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trial_T20190908_182711_300162-0
Move a pencil to a different area.
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " -0.25", " 0.900", " 0.0", " 0", " 180", " 0", "" ], [ "1", " CD", " 0.064", " 0.080", " -1.425", " 0", " 180", " 0", " 41" ], [ "2", " CD", " 1.600", " 0.708", " -0.465", " 0", " 0", " 0", " 37" ], [ "3", " CellPhone", " -1.483", " 0.530", " 0.160", " 0", " 0", " 0", " 28" ], [ "4", " CellPhone", " 0.002", " 0.704", " -1.814", " 0", " 180", " 0", " 45" ], [ "5", " Pen", " 0.494", " 0.707", " -1.521", " 0", " 180", " 0", " 45" ], [ "6", " Pencil", " 1.233", " 0.707", " -1.619", " 0", " 180", " 0", " 45" ], [ "7", " KeyChain", " 1.524", " 0.709", " -0.385", " 0", " 0", " 0", " 37" ], [ "8", " Pillow", " -1.923", " 0.598", " -0.814", " 0", " 0", " 0", " 28" ], [ "9", " AlarmClock", " 1.600", " 0.709", " -0.623", " 0", " 90", " 0", " 37" ], [ "10", " AlarmClock", " 0.494", " 0.704", " -1.326", " 0", " 180", " 0", " 45" ], [ "11", " Box", " 1.537", " 1.652", " 0.692", " 0", " 0", " 0", " 31" ], [ "12", " Book", " -1.336", " 0.527", " -0.814", " 0", " 0", " 0", " 28" ], [ "13", " AlarmClock", " 1.233", " 0.704", " -1.423", " 0", " 180", " 0", " 45" ], [ "14", " CellPhone", " -1.483", " 0.530", " 0.648", " 0", " 0", " 0", " 28" ], [ "15", " TissueBox", " 0.002", " 0.703", " -1.423", " 0", " 180", " 0", " 45" ], [ "16", " TeddyBear", " -2.204", " 0.500", " 0.181", " 355.000", " 297.467", " 9.162", " 28" ], [ "17", " CreditCard", " 1.429", " 1.411", " 0.393", " 0", " 270", " 0", " 37" ], [ "18", " KeyChain", " -0.074", " 0.081", " -1.319", " 0", " 270", " 0", " 42" ], [ "19", " BaseballBat", " -2.202", " 0.04", " -1.343", " 0", " 45", " 90", " Floor|+00.00|" ], [ "20", " TennisRacket", " -2.254", " 0.324", " -1.806", " 15.000", " 180", " 180", " Floor|+00.00|" ], [ "21", " Pillow", " -2.039", " 0.545", " 0.677", " 0", " 0", " 0", " 28" ], [ "22", " Laptop", " -1.923", " 0.525", " -0.326", " 0", " 0", " 0", " 28" ], [ "23", " CD", " 1.479", " 0.701", " -1.814", " 0", " 180", " 0", " 47" ], [ "24", " Pen", " 0.018", " 0.087", " -1.585", " 0", " 180", " 0", " 41" ], [ "25", " Pencil", " 0.987", " 0.705", " -1.521", " 0", " 180", " 0", " 45" ], [ "26", " Mug", " 1.631", " 1.409", " 0.264", " 0", " 270", " 0", " 37" ], [ "27", " Mirror", " -0.689", " 1.495", " 0.954", " 0", " 0", " 0", "" ], [ "28", " Bed", " -1.742", " 0.000", " -0.071", " 0", " 0", " 0", "" ], [ "29", " Chair", " 0.891", " -0.001", " -1.251", " 0", " 175.104", " 0", "" ], [ "30", " GarbageCan", " -0.606", " -0.021", " 0.799", " 0", " 0", " 0", "" ], [ "31", " ShelvingUnit", " 1.550", " 1.402", " 0.374", " 0", " 270", " 0", "" ], [ "32", " Painting", " -2.401", " 1.700", " -0.859", " 90", " 90", " 0", "" ], [ "33", " DeskLamp", " 1.291", " 0.699", " -1.717", " 0", " 0", " 0", "" ], [ "34", " LightSwitch", " 0.231", " 1.287", " 0.954", " 0", " 180", " 0", "" ], [ "35", " HousePlant", " 1.488", " 1.394", " 0.035", " 0", " 122.291", " 0", "" ], [ "36", " Window", " 0.046", " 1.559", " -2.079", " 90", " 180", " 0", "" ], [ "37", " SideTable", " 1.561", " 0.000", " -0.465", " 0", " 270", " 0", "" ], [ "38", " Shelf", " 1.541", " 0.493", " -0.475", " 0", " 270", " 0", "" ], [ "39", " Blinds", " 0.007", " 2.152", " -2.014", " 0", " 0", " 0", "" ], [ "40", " Drawer", " -0.156", " 0.547", " -1.430", " 0", " 0", " 0", "" ], [ "41", " Drawer", " 0.270", " 0.159", " -1.430", " 0", " 0", " 0", "" ], [ "42", " Drawer", " -0.156", " 0.159", " -1.430", " 0", " 0", " 0", "" ], [ "43", " Drawer", " 0.270", " 0.353", " -1.430", " 0", " 0", " 0", "" ], [ "44", " Drawer", " -0.156", " 0.353", " -1.430", " 0", " 0", " 0", "" ], [ "45", " Desk", " 0.634", " 0.002", " -1.557", " 0", " 0", " 0", "" ], [ "46", " Drawer", " 0.270", " 0.547", " -1.430", " 0", " 0", " 0", "" ], [ "47", " Shelf", " 1.406", " 0.571", " -1.514", " 0", " 0", " 0", "" ], [ "48", " Shelf", " 1.406", " 0.183", " -1.514", " 0", " 0", " 0", "" ], [ "49", " Shelf", " 1.584", " 0.183", " -1.514", " 0", " 0", " 0", "" ], [ "50", " Shelf", " 1.406", " 0.377", " -1.514", " 0", " 0", " 0", "" ], [ "51", " Shelf", " 1.584", " 0.377", " -1.514", " 0", " 0", " 0", "" ], [ "52", " Shelf", " 1.584", " 0.571", " -1.514", " 0", " 0", " 0", "" ], [ "53", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "54", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "55", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "56", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -0.25 0.900 0.0 0 180 0 1 CD 0.064 0.080 -1.425 0 180 0 41 2 CD 1.600 0.708 -0.465 0 0 0 37 3 CellPhone -1.483 0.530 0.160 0 0 0 28 4 CellPhone 0.002 0.704 -1.814 0 180 0 45 5 Pen 0.494 0.707 -1.521 0 180 0 45 6 Pencil 1.233 0.707 -1.619 0 180 0 45 7 KeyChain 1.524 0.709 -0.385 0 0 0 37 8 Pillow -1.923 0.598 -0.814 0 0 0 28 9 AlarmClock 1.600 0.709 -0.623 0 90 0 37 10 AlarmClock 0.494 0.704 -1.326 0 180 0 45 11 Box 1.537 1.652 0.692 0 0 0 31 12 Book -1.336 0.527 -0.814 0 0 0 28 13 AlarmClock 1.233 0.704 -1.423 0 180 0 45 14 CellPhone -1.483 0.530 0.648 0 0 0 28 15 TissueBox 0.002 0.703 -1.423 0 180 0 45 16 TeddyBear -2.204 0.500 0.181 355.000 297.467 9.162 28 17 CreditCard 1.429 1.411 0.393 0 270 0 37 18 KeyChain -0.074 0.081 -1.319 0 270 0 42 19 BaseballBat -2.202 0.04 -1.343 0 45 90 Floor|+00.00| 20 TennisRacket -2.254 0.324 -1.806 15.000 180 180 Floor|+00.00| 21 Pillow -2.039 0.545 0.677 0 0 0 28 22 Laptop -1.923 0.525 -0.326 0 0 0 28 23 CD 1.479 0.701 -1.814 0 180 0 47 24 Pen 0.018 0.087 -1.585 0 180 0 41 25 Pencil 0.987 0.705 -1.521 0 180 0 45 26 Mug 1.631 1.409 0.264 0 270 0 37 27 Mirror -0.689 1.495 0.954 0 0 0 28 Bed -1.742 0.000 -0.071 0 0 0 29 Chair 0.891 -0.001 -1.251 0 175.104 0 30 GarbageCan -0.606 -0.021 0.799 0 0 0 31 ShelvingUnit 1.550 1.402 0.374 0 270 0 32 Painting -2.401 1.700 -0.859 90 90 0 33 DeskLamp 1.291 0.699 -1.717 0 0 0 34 LightSwitch 0.231 1.287 0.954 0 180 0 35 HousePlant 1.488 1.394 0.035 0 122.291 0 36 Window 0.046 1.559 -2.079 90 180 0 37 SideTable 1.561 0.000 -0.465 0 270 0 38 Shelf 1.541 0.493 -0.475 0 270 0 39 Blinds 0.007 2.152 -2.014 0 0 0 40 Drawer -0.156 0.547 -1.430 0 0 0 41 Drawer 0.270 0.159 -1.430 0 0 0 42 Drawer -0.156 0.159 -1.430 0 0 0 43 Drawer 0.270 0.353 -1.430 0 0 0 44 Drawer -0.156 0.353 -1.430 0 0 0 45 Desk 0.634 0.002 -1.557 0 0 0 46 Drawer 0.270 0.547 -1.430 0 0 0 47 Shelf 1.406 0.571 -1.514 0 0 0 48 Shelf 1.406 0.183 -1.514 0 0 0 49 Shelf 1.584 0.183 -1.514 0 0 0 50 Shelf 1.406 0.377 -1.514 0 0 0 51 Shelf 1.584 0.377 -1.514 0 0 0 52 Shelf 1.584 0.571 -1.514 0 0 0 53 NorthWall 54 EastWall 55 SouthWall 56 WestWall
[ "STEP 1: Turn to the left and walk to the book case. Turn to the right and walk forward to the desk. | STEP 2: Pick up the pencil off of the desk. | STEP 3: Turn around completely and face the small shelving unit. | STEP 4: Place the pencil on the shelving unit. | END" ]
[ [ "STEP 1: Turn to the left and walk to the book case. Turn to the right and walk forward to the desk. ", " STEP 2: Pick up the pencil off of the desk. ", " STEP 3: Turn around completely and face the small shelving unit. ", " STEP 4: Place the pencil on the shelving unit. ", " END" ] ]
seen
trial_T20190908_182711_300162-1
Move a pencil to a small 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 -0.25 0.900 0.0 0 180 0 1 CD 0.064 0.080 -1.425 0 180 0 41 2 CD 1.600 0.708 -0.465 0 0 0 37 3 CellPhone -1.483 0.530 0.160 0 0 0 28 4 CellPhone 0.002 0.704 -1.814 0 180 0 45 5 Pen 0.494 0.707 -1.521 0 180 0 45 6 Pencil 1.233 0.707 -1.619 0 180 0 45 7 KeyChain 1.524 0.709 -0.385 0 0 0 37 8 Pillow -1.923 0.598 -0.814 0 0 0 28 9 AlarmClock 1.600 0.709 -0.623 0 90 0 37 10 AlarmClock 0.494 0.704 -1.326 0 180 0 45 11 Box 1.537 1.652 0.692 0 0 0 31 12 Book -1.336 0.527 -0.814 0 0 0 28 13 AlarmClock 1.233 0.704 -1.423 0 180 0 45 14 CellPhone -1.483 0.530 0.648 0 0 0 28 15 TissueBox 0.002 0.703 -1.423 0 180 0 45 16 TeddyBear -2.204 0.500 0.181 355.000 297.467 9.162 28 17 CreditCard 1.429 1.411 0.393 0 270 0 37 18 KeyChain -0.074 0.081 -1.319 0 270 0 42 19 BaseballBat -2.202 0.04 -1.343 0 45 90 Floor|+00.00| 20 TennisRacket -2.254 0.324 -1.806 15.000 180 180 Floor|+00.00| 21 Pillow -2.039 0.545 0.677 0 0 0 28 22 Laptop -1.923 0.525 -0.326 0 0 0 28 23 CD 1.479 0.701 -1.814 0 180 0 47 24 Pen 0.018 0.087 -1.585 0 180 0 41 25 Pencil 0.987 0.705 -1.521 0 180 0 45 26 Mug 1.631 1.409 0.264 0 270 0 37 27 Mirror -0.689 1.495 0.954 0 0 0 28 Bed -1.742 0.000 -0.071 0 0 0 29 Chair 0.891 -0.001 -1.251 0 175.104 0 30 GarbageCan -0.606 -0.021 0.799 0 0 0 31 ShelvingUnit 1.550 1.402 0.374 0 270 0 32 Painting -2.401 1.700 -0.859 90 90 0 33 DeskLamp 1.291 0.699 -1.717 0 0 0 34 LightSwitch 0.231 1.287 0.954 0 180 0 35 HousePlant 1.488 1.394 0.035 0 122.291 0 36 Window 0.046 1.559 -2.079 90 180 0 37 SideTable 1.561 0.000 -0.465 0 270 0 38 Shelf 1.541 0.493 -0.475 0 270 0 39 Blinds 0.007 2.152 -2.014 0 0 0 40 Drawer -0.156 0.547 -1.430 0 0 0 41 Drawer 0.270 0.159 -1.430 0 0 0 42 Drawer -0.156 0.159 -1.430 0 0 0 43 Drawer 0.270 0.353 -1.430 0 0 0 44 Drawer -0.156 0.353 -1.430 0 0 0 45 Desk 0.634 0.002 -1.557 0 0 0 46 Drawer 0.270 0.547 -1.430 0 0 0 47 Shelf 1.406 0.571 -1.514 0 0 0 48 Shelf 1.406 0.183 -1.514 0 0 0 49 Shelf 1.584 0.183 -1.514 0 0 0 50 Shelf 1.406 0.377 -1.514 0 0 0 51 Shelf 1.584 0.377 -1.514 0 0 0 52 Shelf 1.584 0.571 -1.514 0 0 0 53 NorthWall 54 EastWall 55 SouthWall 56 WestWall
[ "STEP 1: Turn left and walk over to the bookcase, then turn right and walk up to the desk. | STEP 2: Pick up the pencil off of the desk. | STEP 3: Turn right and walk towards the bed, then turn right and walk towards the door, turn right again to face the small end table. | STEP 4: Put the pencil on the shelf of the small end table. | END" ]
[ [ "STEP 1: Turn left and walk over to the bookcase, then turn right and walk up to the desk. ", " STEP 2: Pick up the pencil off of the desk. ", " STEP 3: Turn right and walk towards the bed, then turn right and walk towards the door, turn right again to face the small end table. ", " STEP 4: Put the pencil on the shelf of the small end table. ", " END" ] ]
seen
trial_T20190908_182711_300162-2
Place a pencil 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 -0.25 0.900 0.0 0 180 0 1 CD 0.064 0.080 -1.425 0 180 0 41 2 CD 1.600 0.708 -0.465 0 0 0 37 3 CellPhone -1.483 0.530 0.160 0 0 0 28 4 CellPhone 0.002 0.704 -1.814 0 180 0 45 5 Pen 0.494 0.707 -1.521 0 180 0 45 6 Pencil 1.233 0.707 -1.619 0 180 0 45 7 KeyChain 1.524 0.709 -0.385 0 0 0 37 8 Pillow -1.923 0.598 -0.814 0 0 0 28 9 AlarmClock 1.600 0.709 -0.623 0 90 0 37 10 AlarmClock 0.494 0.704 -1.326 0 180 0 45 11 Box 1.537 1.652 0.692 0 0 0 31 12 Book -1.336 0.527 -0.814 0 0 0 28 13 AlarmClock 1.233 0.704 -1.423 0 180 0 45 14 CellPhone -1.483 0.530 0.648 0 0 0 28 15 TissueBox 0.002 0.703 -1.423 0 180 0 45 16 TeddyBear -2.204 0.500 0.181 355.000 297.467 9.162 28 17 CreditCard 1.429 1.411 0.393 0 270 0 37 18 KeyChain -0.074 0.081 -1.319 0 270 0 42 19 BaseballBat -2.202 0.04 -1.343 0 45 90 Floor|+00.00| 20 TennisRacket -2.254 0.324 -1.806 15.000 180 180 Floor|+00.00| 21 Pillow -2.039 0.545 0.677 0 0 0 28 22 Laptop -1.923 0.525 -0.326 0 0 0 28 23 CD 1.479 0.701 -1.814 0 180 0 47 24 Pen 0.018 0.087 -1.585 0 180 0 41 25 Pencil 0.987 0.705 -1.521 0 180 0 45 26 Mug 1.631 1.409 0.264 0 270 0 37 27 Mirror -0.689 1.495 0.954 0 0 0 28 Bed -1.742 0.000 -0.071 0 0 0 29 Chair 0.891 -0.001 -1.251 0 175.104 0 30 GarbageCan -0.606 -0.021 0.799 0 0 0 31 ShelvingUnit 1.550 1.402 0.374 0 270 0 32 Painting -2.401 1.700 -0.859 90 90 0 33 DeskLamp 1.291 0.699 -1.717 0 0 0 34 LightSwitch 0.231 1.287 0.954 0 180 0 35 HousePlant 1.488 1.394 0.035 0 122.291 0 36 Window 0.046 1.559 -2.079 90 180 0 37 SideTable 1.561 0.000 -0.465 0 270 0 38 Shelf 1.541 0.493 -0.475 0 270 0 39 Blinds 0.007 2.152 -2.014 0 0 0 40 Drawer -0.156 0.547 -1.430 0 0 0 41 Drawer 0.270 0.159 -1.430 0 0 0 42 Drawer -0.156 0.159 -1.430 0 0 0 43 Drawer 0.270 0.353 -1.430 0 0 0 44 Drawer -0.156 0.353 -1.430 0 0 0 45 Desk 0.634 0.002 -1.557 0 0 0 46 Drawer 0.270 0.547 -1.430 0 0 0 47 Shelf 1.406 0.571 -1.514 0 0 0 48 Shelf 1.406 0.183 -1.514 0 0 0 49 Shelf 1.584 0.183 -1.514 0 0 0 50 Shelf 1.406 0.377 -1.514 0 0 0 51 Shelf 1.584 0.377 -1.514 0 0 0 52 Shelf 1.584 0.571 -1.514 0 0 0 53 NorthWall 54 EastWall 55 SouthWall 56 WestWall
[ "STEP 1: Turn left and walk to the black desk on the right. | STEP 2: Pick up the white pencil in the middle of the desk closest to the small lamp. | STEP 3: Turn around and face the small black table on the right. | STEP 4: Put the pencil on the left side of the shelf below the top of the table. | END" ]
[ [ "STEP 1: Turn left and walk to the black desk on the right. ", " STEP 2: Pick up the white pencil in the middle of the desk closest to the small lamp. ", " STEP 3: Turn around and face the small black table on the right. ", " STEP 4: Put the pencil on the left side of the shelf below the top of the table. ", " END" ] ]
seen
trial_T20190908_185916_759840-0
Place two rags inside the vanity 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 0.902 3.25 0 270 0 1 Cloth -0.497 0.181 0.48 0 0 0 37 2 SoapBar 0.404 0.741 2.173 0 0 0 25 3 SoapBar 0.604 0.254 2.523 0 0 0 26 4 Candle 0.748 0.585 0.484 0 0 0 28 5 Candle -2.463 1.044 1.494 0 90 0 41 6 SprayBottle -2.463 1.047 1.822 0 90 0 41 7 SprayBottle -2.554 1.047 1.691 0 90 0 41 8 SoapBottle 0.731 0.119 3.04 0 0 0 40 9 HandTowel 1.033 1.671 3.127 0 90 0 38 10 Towel 0.931 1.193 0.495 0 270 0 33 11 SoapBar 0.615 0.586 0.133 0 0 0 28 12 ToiletPaper 0.604 0.251 2.420 0 0 0 26 13 SoapBottle 0.824 0.114 3.04 0 0 0 40 14 ToiletPaper 0.884 0.738 1.152 0 0 0 25 15 ScrubBrush -2.557 0.001 2.200 0 0 0 16 Plunger -2.568 0.000 1.992 0 0 0 17 Cloth 0.677 0.830 1.852 349.201 270 0 25 18 Candle -2.616 1.044 1.822 0 90 0 41 19 SprayBottle 0.734 0.743 2.648 0 0 0 25 20 Window -2.808 0.962 0.514 0 0 0 21 Bathtub -1.062 0.300 0.427 0 0 0 22 Drawer 0.409 0.551 1.486 0 0 0 23 Mirror 0.986 1.676 1.896 0 0 0 24 ShowerDoor -2.671 1.001 2.797 0 0 0 25 CounterTop 0.732 0.697 1.955 0 0 0 26 Drawer 0.409 0.314 2.420 0 0 0 27 ShowerGlass -1.713 1.276 3.298 0 0 0 28 CounterTop -0.298 0.157 0.531 0 0 0 29 Sink 0.812 0.703 1.920 0 270 0 30 Drawer 0.409 0.551 2.420 0 0 0 31 Window -0.957 1.563 -0.059 0 0 0 32 Drawer 0.409 0.314 1.486 0 0 0 33 TowelHolder 1.038 1.179 0.495 0 270 0 34 TowelHolder 0.474 1.168 0.027 0 0 0 35 ToiletPaperHanger -2.695 0.929 1.200 0 90 0 36 SinkBasin 0.720 0.812 1.896 349.201 270 0 37 BathtubBasin -0.721 0.171 0.479 0 0 0 38 HandTowelHolder 1.071 1.773 3.127 0 180 0 39 LightSwitch 0.220 1.416 3.998 0 180 0 40 GarbageCan 0.713 -0.028 3.110 0 0 0 41 Toilet -2.232 0.001 1.628 0 180 0 42 ShowerHead -2.619 1.819 3.361 0 270 0 43 Faucet 1.047 1.036 1.921 0 0 0 44 Faucet 0.318 0.631 0.479 0 0 0 45 NorthWall 46 EastWall 47 SouthWall 48 WestWall
[ "STEP 1: Turn left and walk to the bathroom sink on the left. | STEP 2: Pick up the red rag in the sink. | STEP 3: Turn around, step forward and turn around to face the vanity. | STEP 4: Open the right side drawer, place the rag in the lower left corner, close the drawer. | STEP 5: Turn around, step forward, then turn left to see a red rag on the bath tub. | STEP 6: Pick up the red rag on the edge of the bath tub. | STEP 7: Return to the bathroom vanity drawers. | STEP 8: Open the draw, place the rag on top of the other rag, close the draw. | END" ]
[ [ "STEP 1: Turn left and walk to the bathroom sink on the left. ", " STEP 2: Pick up the red rag in the sink. ", " STEP 3: Turn around, step forward and turn around to face the vanity. ", " STEP 4: Open the right side drawer, place the rag in the lower left corner, close the drawer. ", " STEP 5: Turn around, step forward, then turn left to see a red rag on the bath tub. ", " STEP 6: Pick up the red rag on the edge of the bath tub. ", " STEP 7: Return to the bathroom vanity drawers. ", " STEP 8: Open the draw, place the rag on top of the other rag, close the draw. ", " END" ] ]
seen
trial_T20190908_185916_759840-1
Put two rags in the bathroom drawer.
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[ "STEP 1: Turn to the left and go to the front of the sink to your left. | STEP 2: Remove the rag from the sink. | STEP 3: Move over to the right side of the sink. | STEP 4: Place the rag in the drawer, under the right side of the sink. | STEP 5: Turn to the bath tub on your right. | STEP 6: Take the rag out of the bath tub. | STEP 7: Turn back to the right side of the sink. | STEP 8: Place the rag inside the drawer, under the right side of the sink, on top of the other rag. | END" ]
[ [ "STEP 1: Turn to the left and go to the front of the sink to your left. ", " STEP 2: Remove the rag from the sink. ", " STEP 3: Move over to the right side of the sink. ", " STEP 4: Place the rag in the drawer, under the right side of the sink. ", " STEP 5: Turn to the bath tub on your right. ", " STEP 6: Take the rag out of the bath tub. ", " STEP 7: Turn back to the right side of the sink. ", " STEP 8: Place the rag inside the drawer, under the right side of the sink, on top of the other rag. ", " END" ] ]
seen
trial_T20190908_185916_759840-2
put two red clothes in a drawer under the counter to the right of the sink
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[ "STEP 1: walk to the front of the sink | STEP 2: take the red cloth from the sink | STEP 3: take the cloth to the right side of the sink | STEP 4: put the cloth in the top drawer on the right | STEP 5: go to the tub basin | STEP 6: pick up the red cloth from the basin | STEP 7: take the cloth to the drawer by the sink | STEP 8: put the cloth in the drawer | END" ]
[ [ "STEP 1: walk to the front of the sink ", " STEP 2: take the red cloth from the sink ", " STEP 3: take the cloth to the right side of the sink ", " STEP 4: put the cloth in the top drawer on the right ", " STEP 5: go to the tub basin ", " STEP 6: pick up the red cloth from the basin ", " STEP 7: take the cloth to the drawer by the sink ", " STEP 8: put the cloth in the drawer ", " END" ] ]
seen
trial_T20190908_005830_510030-0
Put the chilled tomato 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 -2.0 0.900 2.5 0 270 0 1 Pan -0.213 0.925 1.202 0 0 0 72 2 Potato -1.645 1.492 0.201 0 90 0 87 3 CellPhone 0.107 0.923 0.273 0 0 0 72 4 CellPhone 0.107 0.923 0.970 0 0 0 72 5 Fork -0.213 0.926 0.273 0 0 0 72 6 Spoon -0.648 0.672 -1.270 0 0 0 55 7 Spatula 1.812 0.476 1.350 0 270 0 62 8 Spatula -0.261 0.775 -1.435 0 180 0 88 9 Pot 1.962 1.663 -0.977 0 270 0 52 10 Pot 1.975 0.938 0.601 0 180 0 59 11 Egg 2.020 1.063 -0.651 0 270 0 85 12 Tomato 1.986 0.966 1.182 0 0 0 64 13 SaltShaker 1.986 0.907 1.032 0 0 0 64 14 SaltShaker 1.812 0.541 1.350 0 0 0 62 15 Bread -1.697 1.549 -0.081 0 90 0 87 16 Lettuce -0.106 1.002 0.041 0 0 0 72 17 Lettuce 0.170 0.837 -1.435 0 0 0 88 18 Mug -1.663 0.558 -0.269 0 90 0 87 19 SoapBottle -1.841 1.665 -1.131 0 90 0 51 20 Cup -0.320 0.923 0.506 0 0 0 72 21 Pot -1.551 0.915 -1.013 0 0 0 64 22 Fork -0.213 0.926 -0.190 0 0 0 72 23 Ladle 1.764 0.624 0.667 0 0 0 68 24 Kettle -0.193 0.115 -1.284 0 0 0 43 25 Egg 0.214 0.982 -0.190 0 0 0 72 26 Plate 1.986 0.910 1.408 0 0 0 64 27 Pan -1.360 1.679 -1.614 0 270 0 66 28 Lettuce 0.321 1.002 0.738 0 0 0 72 29 Spatula 1.559 0.474 0.736 0 270 0 68 30 Apple -1.803 1.522 -0.269 0 90 0 87 31 Knife 1.658 0.605 0.052 0 180 0 49 32 SaltShaker 1.273 0.105 -1.416 0 0 0 57 33 PepperShaker -1.957 1.658 -1.358 0 90 0 51 34 CellPhone 0.107 0.923 0.041 0 0 0 72 35 ButterKnife 1.713 0.346 0.667 0 0 0 68 36 Bread -0.106 1.006 0.273 0 0 0 72 37 Tomato 0.107 0.980 0.506 0 0 0 72 38 Potato -0.106 0.949 0.506 0 0 0 72 39 DishSponge 0.194 0.112 -1.408 0 0 0 53 40 Spoon -1.902 0.912 -1.063 0 0 0 64 41 Mug -1.290 0.108 -1.360 0 0 0 76 42 Bowl 0.305 0.111 -1.282 0 0 0 53 43 Cabinet -0.495 0.474 -1.149 0 0 0 44 Window -0.010 1.582 -1.821 0 0 0 45 Drawer 0.805 0.475 -1.159 0 0 0 46 StoveBurner 1.764 0.902 0.601 0 270 0 47 Drawer 1.5 0.196 -0.019 0 0 0 48 Drawer 1.5 0.629 -0.018 0 0 0 49 Drawer 1.5 0.602 -0.019 0 270 0 50 StoveBurner 1.975 0.902 0.384 0 270 0 51 Cabinet -1.703 2.022 -1.453 0 90 0 52 Cabinet 1.789 2.019 -0.819 0 270 0 53 Cabinet 0.494 0.474 -1.149 0 0 0 54 Cabinet 0.409 0.475 0.444 0 0 0 55 Drawer -0.696 0.475 -1.159 0 0 0 56 Drawer 1.5 0.140 0.599 0 270 0 57 Cabinet 1.389 0.474 -1.149 0 0 0 58 Drawer 1.5 0.305 0.600 0 0 0 59 StoveBurner 1.975 0.902 0.601 0 270 0 60 Drawer 1.5 0.429 -0.019 0 0 0 61 StoveBurner 1.764 0.902 0.819 0 270 0 62 Drawer 1.5 0.519 1.220 0 0 0 63 Cabinet 1.705 2.019 -1.449 0 0 0 64 CounterTop 0.002 0.947 -1.513 0 0 0 65 Drawer 1.5 0.629 0.605 0 0 0 66 Cabinet -0.627 2.019 -1.449 0 0 0 67 StoveBurner 1.764 0.902 0.384 0 270 0 68 Drawer 1.5 0.538 0.600 0 0 0 69 Sink 0.0 0.893 -1.434 0 0 0 70 Drawer 1.5 0.782 1.220 0 270 0 71 Window 2.217 1.565 -0.384 0 0 0 72 CounterTop -0.014 0.961 0.505 0 0 0 73 Drawer 1.5 0.200 1.220 0 0 0 74 StoveBurner 1.975 0.902 0.819 0 270 0 75 Window -3.240 1.616 2.693 0 270 0 76 Cabinet -1.389 0.474 -1.149 0 0 0 77 LightSwitch -0.153 1.291 3.700 0 180 0 78 GarbageCan -1.796 0.009 1.330 0 270 358.295 79 StoveKnob 1.602 0.917 0.570 0 270 180 80 StoveKnob 1.602 0.917 0.625 0 270 180 81 StoveKnob 1.602 0.917 0.739 0 270 180 82 StoveKnob 1.602 0.917 0.680 0 270 180 83 StoveKnob 1.602 0.917 0.462 0 270 180 84 StoveKnob 1.602 0.917 0.517 0 270 180 85 Microwave 1.932 0.899 -0.766 0 270 0 86 CoffeeMachine 1.355 0.899 -1.596 0 0 0 87 Fridge -1.764 0.0 0.014 0 90 0 88 SinkBasin -0.014 0.736 -1.435 0 0 0 89 Toaster 1.977 0.900 -0.336 0 270 0 90 Faucet -0.020 1.137 -1.605 0 270 0 91 Chair -9.354 0.000 1.242 0 180 0 92 NorthWall 93 EastWall 94 SouthWall 95 WestWall
[ "STEP 1: Turn around and walk across the room then turn right and walk to the kitchen island opposite the stove | STEP 2: Pick up the tomato from the kitchen island | STEP 3: Turn left and walk around the kitchen island to the fridge | STEP 4: Open the fridge and put the tomato in it then remove it | STEP 5: Turn left and walk back around the kitchen island to the microwave | STEP 6: Put the tomato in the microwave | END" ]
[ [ "STEP 1: Turn around and walk across the room then turn right and walk to the kitchen island opposite the stove ", " STEP 2: Pick up the tomato from the kitchen island ", " STEP 3: Turn left and walk around the kitchen island to the fridge ", " STEP 4: Open the fridge and put the tomato in it then remove it ", " STEP 5: Turn left and walk back around the kitchen island to the microwave ", " STEP 6: Put the tomato in the microwave ", " END" ] ]
seen
trial_T20190908_005830_510030-1
Put a cold tomato 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 -2.0 0.900 2.5 0 270 0 1 Pan -0.213 0.925 1.202 0 0 0 72 2 Potato -1.645 1.492 0.201 0 90 0 87 3 CellPhone 0.107 0.923 0.273 0 0 0 72 4 CellPhone 0.107 0.923 0.970 0 0 0 72 5 Fork -0.213 0.926 0.273 0 0 0 72 6 Spoon -0.648 0.672 -1.270 0 0 0 55 7 Spatula 1.812 0.476 1.350 0 270 0 62 8 Spatula -0.261 0.775 -1.435 0 180 0 88 9 Pot 1.962 1.663 -0.977 0 270 0 52 10 Pot 1.975 0.938 0.601 0 180 0 59 11 Egg 2.020 1.063 -0.651 0 270 0 85 12 Tomato 1.986 0.966 1.182 0 0 0 64 13 SaltShaker 1.986 0.907 1.032 0 0 0 64 14 SaltShaker 1.812 0.541 1.350 0 0 0 62 15 Bread -1.697 1.549 -0.081 0 90 0 87 16 Lettuce -0.106 1.002 0.041 0 0 0 72 17 Lettuce 0.170 0.837 -1.435 0 0 0 88 18 Mug -1.663 0.558 -0.269 0 90 0 87 19 SoapBottle -1.841 1.665 -1.131 0 90 0 51 20 Cup -0.320 0.923 0.506 0 0 0 72 21 Pot -1.551 0.915 -1.013 0 0 0 64 22 Fork -0.213 0.926 -0.190 0 0 0 72 23 Ladle 1.764 0.624 0.667 0 0 0 68 24 Kettle -0.193 0.115 -1.284 0 0 0 43 25 Egg 0.214 0.982 -0.190 0 0 0 72 26 Plate 1.986 0.910 1.408 0 0 0 64 27 Pan -1.360 1.679 -1.614 0 270 0 66 28 Lettuce 0.321 1.002 0.738 0 0 0 72 29 Spatula 1.559 0.474 0.736 0 270 0 68 30 Apple -1.803 1.522 -0.269 0 90 0 87 31 Knife 1.658 0.605 0.052 0 180 0 49 32 SaltShaker 1.273 0.105 -1.416 0 0 0 57 33 PepperShaker -1.957 1.658 -1.358 0 90 0 51 34 CellPhone 0.107 0.923 0.041 0 0 0 72 35 ButterKnife 1.713 0.346 0.667 0 0 0 68 36 Bread -0.106 1.006 0.273 0 0 0 72 37 Tomato 0.107 0.980 0.506 0 0 0 72 38 Potato -0.106 0.949 0.506 0 0 0 72 39 DishSponge 0.194 0.112 -1.408 0 0 0 53 40 Spoon -1.902 0.912 -1.063 0 0 0 64 41 Mug -1.290 0.108 -1.360 0 0 0 76 42 Bowl 0.305 0.111 -1.282 0 0 0 53 43 Cabinet -0.495 0.474 -1.149 0 0 0 44 Window -0.010 1.582 -1.821 0 0 0 45 Drawer 0.805 0.475 -1.159 0 0 0 46 StoveBurner 1.764 0.902 0.601 0 270 0 47 Drawer 1.5 0.196 -0.019 0 0 0 48 Drawer 1.5 0.629 -0.018 0 0 0 49 Drawer 1.5 0.602 -0.019 0 270 0 50 StoveBurner 1.975 0.902 0.384 0 270 0 51 Cabinet -1.703 2.022 -1.453 0 90 0 52 Cabinet 1.789 2.019 -0.819 0 270 0 53 Cabinet 0.494 0.474 -1.149 0 0 0 54 Cabinet 0.409 0.475 0.444 0 0 0 55 Drawer -0.696 0.475 -1.159 0 0 0 56 Drawer 1.5 0.140 0.599 0 270 0 57 Cabinet 1.389 0.474 -1.149 0 0 0 58 Drawer 1.5 0.305 0.600 0 0 0 59 StoveBurner 1.975 0.902 0.601 0 270 0 60 Drawer 1.5 0.429 -0.019 0 0 0 61 StoveBurner 1.764 0.902 0.819 0 270 0 62 Drawer 1.5 0.519 1.220 0 0 0 63 Cabinet 1.705 2.019 -1.449 0 0 0 64 CounterTop 0.002 0.947 -1.513 0 0 0 65 Drawer 1.5 0.629 0.605 0 0 0 66 Cabinet -0.627 2.019 -1.449 0 0 0 67 StoveBurner 1.764 0.902 0.384 0 270 0 68 Drawer 1.5 0.538 0.600 0 0 0 69 Sink 0.0 0.893 -1.434 0 0 0 70 Drawer 1.5 0.782 1.220 0 270 0 71 Window 2.217 1.565 -0.384 0 0 0 72 CounterTop -0.014 0.961 0.505 0 0 0 73 Drawer 1.5 0.200 1.220 0 0 0 74 StoveBurner 1.975 0.902 0.819 0 270 0 75 Window -3.240 1.616 2.693 0 270 0 76 Cabinet -1.389 0.474 -1.149 0 0 0 77 LightSwitch -0.153 1.291 3.700 0 180 0 78 GarbageCan -1.796 0.009 1.330 0 270 358.295 79 StoveKnob 1.602 0.917 0.570 0 270 180 80 StoveKnob 1.602 0.917 0.625 0 270 180 81 StoveKnob 1.602 0.917 0.739 0 270 180 82 StoveKnob 1.602 0.917 0.680 0 270 180 83 StoveKnob 1.602 0.917 0.462 0 270 180 84 StoveKnob 1.602 0.917 0.517 0 270 180 85 Microwave 1.932 0.899 -0.766 0 270 0 86 CoffeeMachine 1.355 0.899 -1.596 0 0 0 87 Fridge -1.764 0.0 0.014 0 90 0 88 SinkBasin -0.014 0.736 -1.435 0 0 0 89 Toaster 1.977 0.900 -0.336 0 270 0 90 Faucet -0.020 1.137 -1.605 0 270 0 91 Chair -9.354 0.000 1.242 0 180 0 92 NorthWall 93 EastWall 94 SouthWall 95 WestWall
[ "STEP 1: Turn around and walk to the wall then turn right and walk until you're even with the tomato on the counter to your right then when you get to it turn right to face it. | STEP 2: Pick up the aforementioned tomato. | STEP 3: Turn left and walk to the counter then turn right and walk to the counter then turn right and walk to the fridge and when you get to it turn left to face it. | STEP 4: Chill the tomato in the fridge then get it back out and close the door. | STEP 5: Turn left and walk to the counter then turn left and walk to the microwave. | STEP 6: Put the tomato in the microwave and close the door. | END" ]
[ [ "STEP 1: Turn around and walk to the wall then turn right and walk until you're even with the tomato on the counter to your right then when you get to it turn right to face it. ", " STEP 2: Pick up the aforementioned tomato. ", " STEP 3: Turn left and walk to the counter then turn right and walk to the counter then turn right and walk to the fridge and when you get to it turn left to face it. ", " STEP 4: Chill the tomato in the fridge then get it back out and close the door. ", " STEP 5: Turn left and walk to the counter then turn left and walk to the microwave. ", " STEP 6: Put the tomato in the microwave and close the door. ", " END" ] ]
seen
trial_T20190908_005830_510030-2
Place a chilled tomato in a microwave
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" 0", " 0", "" ], [ "77", " LightSwitch", " -0.153", " 1.291", " 3.700", " 0", " 180", " 0", "" ], [ "78", " GarbageCan", " -1.796", " 0.009", " 1.330", " 0", " 270", " 358.295", "" ], [ "79", " StoveKnob", " 1.602", " 0.917", " 0.570", " 0", " 270", " 180", "" ], [ "80", " StoveKnob", " 1.602", " 0.917", " 0.625", " 0", " 270", " 180", "" ], [ "81", " StoveKnob", " 1.602", " 0.917", " 0.739", " 0", " 270", " 180", "" ], [ "82", " StoveKnob", " 1.602", " 0.917", " 0.680", " 0", " 270", " 180", "" ], [ "83", " StoveKnob", " 1.602", " 0.917", " 0.462", " 0", " 270", " 180", "" ], [ "84", " StoveKnob", " 1.602", " 0.917", " 0.517", " 0", " 270", " 180", "" ], [ "85", " Microwave", " 1.932", " 0.899", " -0.766", " 0", " 270", " 0", "" ], [ "86", " CoffeeMachine", " 1.355", " 0.899", " -1.596", " 0", " 0", " 0", "" ], [ "87", " Fridge", " -1.764", " 0.0", " 0.014", " 0", " 90", " 0", "" ], [ "88", " SinkBasin", " -0.014", " 0.736", " -1.435", " 0", " 0", " 0", "" ], [ "89", " Toaster", " 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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 2.5 0 270 0 1 Pan -0.213 0.925 1.202 0 0 0 72 2 Potato -1.645 1.492 0.201 0 90 0 87 3 CellPhone 0.107 0.923 0.273 0 0 0 72 4 CellPhone 0.107 0.923 0.970 0 0 0 72 5 Fork -0.213 0.926 0.273 0 0 0 72 6 Spoon -0.648 0.672 -1.270 0 0 0 55 7 Spatula 1.812 0.476 1.350 0 270 0 62 8 Spatula -0.261 0.775 -1.435 0 180 0 88 9 Pot 1.962 1.663 -0.977 0 270 0 52 10 Pot 1.975 0.938 0.601 0 180 0 59 11 Egg 2.020 1.063 -0.651 0 270 0 85 12 Tomato 1.986 0.966 1.182 0 0 0 64 13 SaltShaker 1.986 0.907 1.032 0 0 0 64 14 SaltShaker 1.812 0.541 1.350 0 0 0 62 15 Bread -1.697 1.549 -0.081 0 90 0 87 16 Lettuce -0.106 1.002 0.041 0 0 0 72 17 Lettuce 0.170 0.837 -1.435 0 0 0 88 18 Mug -1.663 0.558 -0.269 0 90 0 87 19 SoapBottle -1.841 1.665 -1.131 0 90 0 51 20 Cup -0.320 0.923 0.506 0 0 0 72 21 Pot -1.551 0.915 -1.013 0 0 0 64 22 Fork -0.213 0.926 -0.190 0 0 0 72 23 Ladle 1.764 0.624 0.667 0 0 0 68 24 Kettle -0.193 0.115 -1.284 0 0 0 43 25 Egg 0.214 0.982 -0.190 0 0 0 72 26 Plate 1.986 0.910 1.408 0 0 0 64 27 Pan -1.360 1.679 -1.614 0 270 0 66 28 Lettuce 0.321 1.002 0.738 0 0 0 72 29 Spatula 1.559 0.474 0.736 0 270 0 68 30 Apple -1.803 1.522 -0.269 0 90 0 87 31 Knife 1.658 0.605 0.052 0 180 0 49 32 SaltShaker 1.273 0.105 -1.416 0 0 0 57 33 PepperShaker -1.957 1.658 -1.358 0 90 0 51 34 CellPhone 0.107 0.923 0.041 0 0 0 72 35 ButterKnife 1.713 0.346 0.667 0 0 0 68 36 Bread -0.106 1.006 0.273 0 0 0 72 37 Tomato 0.107 0.980 0.506 0 0 0 72 38 Potato -0.106 0.949 0.506 0 0 0 72 39 DishSponge 0.194 0.112 -1.408 0 0 0 53 40 Spoon -1.902 0.912 -1.063 0 0 0 64 41 Mug -1.290 0.108 -1.360 0 0 0 76 42 Bowl 0.305 0.111 -1.282 0 0 0 53 43 Cabinet -0.495 0.474 -1.149 0 0 0 44 Window -0.010 1.582 -1.821 0 0 0 45 Drawer 0.805 0.475 -1.159 0 0 0 46 StoveBurner 1.764 0.902 0.601 0 270 0 47 Drawer 1.5 0.196 -0.019 0 0 0 48 Drawer 1.5 0.629 -0.018 0 0 0 49 Drawer 1.5 0.602 -0.019 0 270 0 50 StoveBurner 1.975 0.902 0.384 0 270 0 51 Cabinet -1.703 2.022 -1.453 0 90 0 52 Cabinet 1.789 2.019 -0.819 0 270 0 53 Cabinet 0.494 0.474 -1.149 0 0 0 54 Cabinet 0.409 0.475 0.444 0 0 0 55 Drawer -0.696 0.475 -1.159 0 0 0 56 Drawer 1.5 0.140 0.599 0 270 0 57 Cabinet 1.389 0.474 -1.149 0 0 0 58 Drawer 1.5 0.305 0.600 0 0 0 59 StoveBurner 1.975 0.902 0.601 0 270 0 60 Drawer 1.5 0.429 -0.019 0 0 0 61 StoveBurner 1.764 0.902 0.819 0 270 0 62 Drawer 1.5 0.519 1.220 0 0 0 63 Cabinet 1.705 2.019 -1.449 0 0 0 64 CounterTop 0.002 0.947 -1.513 0 0 0 65 Drawer 1.5 0.629 0.605 0 0 0 66 Cabinet -0.627 2.019 -1.449 0 0 0 67 StoveBurner 1.764 0.902 0.384 0 270 0 68 Drawer 1.5 0.538 0.600 0 0 0 69 Sink 0.0 0.893 -1.434 0 0 0 70 Drawer 1.5 0.782 1.220 0 270 0 71 Window 2.217 1.565 -0.384 0 0 0 72 CounterTop -0.014 0.961 0.505 0 0 0 73 Drawer 1.5 0.200 1.220 0 0 0 74 StoveBurner 1.975 0.902 0.819 0 270 0 75 Window -3.240 1.616 2.693 0 270 0 76 Cabinet -1.389 0.474 -1.149 0 0 0 77 LightSwitch -0.153 1.291 3.700 0 180 0 78 GarbageCan -1.796 0.009 1.330 0 270 358.295 79 StoveKnob 1.602 0.917 0.570 0 270 180 80 StoveKnob 1.602 0.917 0.625 0 270 180 81 StoveKnob 1.602 0.917 0.739 0 270 180 82 StoveKnob 1.602 0.917 0.680 0 270 180 83 StoveKnob 1.602 0.917 0.462 0 270 180 84 StoveKnob 1.602 0.917 0.517 0 270 180 85 Microwave 1.932 0.899 -0.766 0 270 0 86 CoffeeMachine 1.355 0.899 -1.596 0 0 0 87 Fridge -1.764 0.0 0.014 0 90 0 88 SinkBasin -0.014 0.736 -1.435 0 0 0 89 Toaster 1.977 0.900 -0.336 0 270 0 90 Faucet -0.020 1.137 -1.605 0 270 0 91 Chair -9.354 0.000 1.242 0 180 0 92 NorthWall 93 EastWall 94 SouthWall 95 WestWall
[ "STEP 1: Turn around and cross the room then head right then turn right at the oven to face the island counter top | STEP 2: Pick up the tomato that is sitting on the counter top | STEP 3: Turn left and walk to the cabinet, the take a right and head to the black fridge across the room | STEP 4: Open the fridge and place the tomato on the top shelf, then close the fridge. Open the fridge and pick up the tomato on the top shelf then close the fridge | STEP 5: Head left, then take another left at the counter to head to the microwave | STEP 6: Open the microwave and place the tomato on the plate in front of then egg then close the microwave | END" ]
[ [ "STEP 1: Turn around and cross the room then head right then turn right at the oven to face the island counter top ", " STEP 2: Pick up the tomato that is sitting on the counter top ", " STEP 3: Turn left and walk to the cabinet, the take a right and head to the black fridge across the room ", " STEP 4: Open the fridge and place the tomato on the top shelf, then close the fridge. Open the fridge and pick up the tomato on the top shelf then close the fridge ", " STEP 5: Head left, then take another left at the counter to head to the microwave ", " STEP 6: Open the microwave and place the tomato on the plate in front of then egg then close the microwave ", " END" ] ]
seen
trial_T20190907_224053_726820-0
Place a pen 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 0 0 1 Mug 1.373 1.136 1.402 0 270 0 32 2 Pencil -0.007 0.391 -1.640 0 0 0 39 3 Laptop 0.829 0.776 -0.714 0 0 0 24 4 Book 0.955 0.780 -1.262 0 0 0 24 5 Box -1.233 0.263 -1.435 0 312.675 0 6 CellPhone 0.704 0.782 -0.988 0 0 0 24 7 BaseballBat -1.717 0.708 -0.677 0 0 12.045 8 Bowl 1.353 0.721 0.891 0 0 0 35 9 BasketBall -1.64 0.127 -1.652 0 0 0 10 Laptop 1.223 0.721 1.342 0 255.000 0 35 11 CreditCard -0.352 0.388 -1.617 0 0 0 39 12 KeyChain 0.138 0.694 -1.838 0 90 0 37 13 AlarmClock 1.084 0.729 1.727 0 0 0 35 14 Pencil 1.288 0.732 1.066 0 0 0 35 15 Pillow 0.704 0.849 0.107 0 0 0 24 16 CD 1.173 0.075 1.666 0 0 0 33 17 Pen 1.084 0.734 1.892 0 0 0 35 18 Mug -0.095 0.691 -1.616 0 0 0 37 19 Poster 0.978 1.970 -1.868 90 0 0 20 Mirror -0.884 1.350 2.086 0 0 0 21 Poster 1.483 1.978 -1.210 90 270 0 22 Poster 1.483 1.503 -0.128 90 270 0 23 Poster 1.483 2.138 -0.128 90 270 0 24 Bed 0.955 0.002 -0.722 0 0 0 25 GarbageCan 1.133 0.032 0.581 0 0 0 26 DeskLamp -0.396 0.664 -1.666 0 315 0 27 LightSwitch 0.554 1.154 2.079 0 180 0 28 Window -0.174 1.006 -2.009 90 0 0 29 LaundryHamper -1.425 0.006 1.676 0 149.999 0 30 Chair 1.127 -8.434 1.053 0 90 0 31 Blinds -0.145 1.679 -1.986 0 0 0 32 Shelf 1.316 1.174 1.388 0 270 0 33 Drawer 1.099 0.167 1.724 0 270 0 34 Drawer 1.099 0.622 1.724 0 270 0 35 Desk 1.189 0.002 1.384 0 270 0 36 Drawer 1.099 0.408 1.724 0 270 0 37 SideTable -0.103 -0.000 -1.691 0 0 0 38 Drawer -0.104 0.157 -1.618 0 0 0 39 Drawer -0.104 0.456 -1.618 0 0 0 40 NorthWall 41 EastWall 42 SouthWall 43 WestWall
[ "STEP 1: Cross the room to the door then hang a right and walk to the desk | STEP 2: Pick up the pen that is sitting on the left side of the desk | STEP 3: Take a step to the right. | STEP 4: Open the drawer that is on the left side of the desk and place the pen inside the drawer then close it | END" ]
[ [ "STEP 1: Cross the room to the door then hang a right and walk to the desk ", " STEP 2: Pick up the pen that is sitting on the left side of the desk ", " STEP 3: Take a step to the right. ", " STEP 4: Open the drawer that is on the left side of the desk and place the pen inside the drawer then close it ", " END" ] ]
seen
trial_T20190907_224053_726820-1
Put a pen in the desk 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 0 0 1 Mug 1.373 1.136 1.402 0 270 0 32 2 Pencil -0.007 0.391 -1.640 0 0 0 39 3 Laptop 0.829 0.776 -0.714 0 0 0 24 4 Book 0.955 0.780 -1.262 0 0 0 24 5 Box -1.233 0.263 -1.435 0 312.675 0 6 CellPhone 0.704 0.782 -0.988 0 0 0 24 7 BaseballBat -1.717 0.708 -0.677 0 0 12.045 8 Bowl 1.353 0.721 0.891 0 0 0 35 9 BasketBall -1.64 0.127 -1.652 0 0 0 10 Laptop 1.223 0.721 1.342 0 255.000 0 35 11 CreditCard -0.352 0.388 -1.617 0 0 0 39 12 KeyChain 0.138 0.694 -1.838 0 90 0 37 13 AlarmClock 1.084 0.729 1.727 0 0 0 35 14 Pencil 1.288 0.732 1.066 0 0 0 35 15 Pillow 0.704 0.849 0.107 0 0 0 24 16 CD 1.173 0.075 1.666 0 0 0 33 17 Pen 1.084 0.734 1.892 0 0 0 35 18 Mug -0.095 0.691 -1.616 0 0 0 37 19 Poster 0.978 1.970 -1.868 90 0 0 20 Mirror -0.884 1.350 2.086 0 0 0 21 Poster 1.483 1.978 -1.210 90 270 0 22 Poster 1.483 1.503 -0.128 90 270 0 23 Poster 1.483 2.138 -0.128 90 270 0 24 Bed 0.955 0.002 -0.722 0 0 0 25 GarbageCan 1.133 0.032 0.581 0 0 0 26 DeskLamp -0.396 0.664 -1.666 0 315 0 27 LightSwitch 0.554 1.154 2.079 0 180 0 28 Window -0.174 1.006 -2.009 90 0 0 29 LaundryHamper -1.425 0.006 1.676 0 149.999 0 30 Chair 1.127 -8.434 1.053 0 90 0 31 Blinds -0.145 1.679 -1.986 0 0 0 32 Shelf 1.316 1.174 1.388 0 270 0 33 Drawer 1.099 0.167 1.724 0 270 0 34 Drawer 1.099 0.622 1.724 0 270 0 35 Desk 1.189 0.002 1.384 0 270 0 36 Drawer 1.099 0.408 1.724 0 270 0 37 SideTable -0.103 -0.000 -1.691 0 0 0 38 Drawer -0.104 0.157 -1.618 0 0 0 39 Drawer -0.104 0.456 -1.618 0 0 0 40 NorthWall 41 EastWall 42 SouthWall 43 WestWall
[ "STEP 1: Walk across the room and make a right at the door, then walk up to the far left side of the desk. | STEP 2: Pick up the pen, on the desk, in front of the books. | STEP 3: Step back from the desk so that there is an arms length distance between you and the desk. | STEP 4: Place the pen in the top drawers of the desk. | END" ]
[ [ "STEP 1: Walk across the room and make a right at the door, then walk up to the far left side of the desk. ", " STEP 2: Pick up the pen, on the desk, in front of the books. ", " STEP 3: Step back from the desk so that there is an arms length distance between you and the desk. ", " STEP 4: Place the pen in the top drawers of the desk. ", " END" ] ]
seen
trial_T20190907_224053_726820-2
Move a pen to the drawer of the desk
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -0.25 0.900 -1.25 0 0 0 1 Mug 1.373 1.136 1.402 0 270 0 32 2 Pencil -0.007 0.391 -1.640 0 0 0 39 3 Laptop 0.829 0.776 -0.714 0 0 0 24 4 Book 0.955 0.780 -1.262 0 0 0 24 5 Box -1.233 0.263 -1.435 0 312.675 0 6 CellPhone 0.704 0.782 -0.988 0 0 0 24 7 BaseballBat -1.717 0.708 -0.677 0 0 12.045 8 Bowl 1.353 0.721 0.891 0 0 0 35 9 BasketBall -1.64 0.127 -1.652 0 0 0 10 Laptop 1.223 0.721 1.342 0 255.000 0 35 11 CreditCard -0.352 0.388 -1.617 0 0 0 39 12 KeyChain 0.138 0.694 -1.838 0 90 0 37 13 AlarmClock 1.084 0.729 1.727 0 0 0 35 14 Pencil 1.288 0.732 1.066 0 0 0 35 15 Pillow 0.704 0.849 0.107 0 0 0 24 16 CD 1.173 0.075 1.666 0 0 0 33 17 Pen 1.084 0.734 1.892 0 0 0 35 18 Mug -0.095 0.691 -1.616 0 0 0 37 19 Poster 0.978 1.970 -1.868 90 0 0 20 Mirror -0.884 1.350 2.086 0 0 0 21 Poster 1.483 1.978 -1.210 90 270 0 22 Poster 1.483 1.503 -0.128 90 270 0 23 Poster 1.483 2.138 -0.128 90 270 0 24 Bed 0.955 0.002 -0.722 0 0 0 25 GarbageCan 1.133 0.032 0.581 0 0 0 26 DeskLamp -0.396 0.664 -1.666 0 315 0 27 LightSwitch 0.554 1.154 2.079 0 180 0 28 Window -0.174 1.006 -2.009 90 0 0 29 LaundryHamper -1.425 0.006 1.676 0 149.999 0 30 Chair 1.127 -8.434 1.053 0 90 0 31 Blinds -0.145 1.679 -1.986 0 0 0 32 Shelf 1.316 1.174 1.388 0 270 0 33 Drawer 1.099 0.167 1.724 0 270 0 34 Drawer 1.099 0.622 1.724 0 270 0 35 Desk 1.189 0.002 1.384 0 270 0 36 Drawer 1.099 0.408 1.724 0 270 0 37 SideTable -0.103 -0.000 -1.691 0 0 0 38 Drawer -0.104 0.157 -1.618 0 0 0 39 Drawer -0.104 0.456 -1.618 0 0 0 40 NorthWall 41 EastWall 42 SouthWall 43 WestWall
[ "STEP 1: Move to the far left side of the wooden desk where the pen is sitting on the desk | STEP 2: Pick up the pen on the edge of the desk | STEP 3: Carry the pen and adjust facing the far left drawer of the desk | STEP 4: Place the pen inside of the drawer, close the drawer | END" ]
[ [ "STEP 1: Move to the far left side of the wooden desk where the pen is sitting on the desk ", " STEP 2: Pick up the pen on the edge of the desk ", " STEP 3: Carry the pen and adjust facing the far left drawer of the desk ", " STEP 4: Place the pen inside of the drawer, close the drawer ", " END" ] ]
seen
trial_T20190906_203744_920699-0
Put the heated mug on the wooden rack.
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" -2.0", " 0", " 0", " 0", "" ], [ "63", " Cabinet", " -1.149", " 2.019", " -1.979", " 0", " 0", " 0", "" ], [ "64", " Cabinet", " -1.149", " 2.019", " -0.770", " 0", " 0", " 0", "" ], [ "65", " Cabinet", " -1.149", " 2.019", " 0.380", " 0", " 0", " 0", "" ], [ "66", " Cabinet", " -0.819", " 0.469", " -1.689", " 0", " 0", " 0", "" ], [ "67", " Cabinet", " -0.839", " 0.469", " -1.664", " 0", " 0", " 0", "" ], [ "68", " Cabinet", " -0.839", " 0.469", " -0.049", " 0", " 0", " 0", "" ], [ "69", " Cabinet", " -0.414", " 0.370", " -0.009", " 0", " 0", " 0", "" ], [ "70", " Sink", " -0.118", " 0.875", " -2.009", " 0", " 0", " 0", "" ], [ "71", " StoveBurner", " -1.289", " 0.949", " -1.019", " 0", " 0", " 0", "" ], [ "72", " Cabinet", " 0.119", " 2.264", " -2.0", " 0", " 0", " 0", "" ], [ "73", " Cabinet", " -0.459", " 2.264", " -2.0", " 0", " 0", " 0", "" ], [ "74", " CounterTop", " -0.665", " 0.949", " 0.188", " 0", " 0", " 0", "" ], [ "75", " Drawer", " -0.449", " 0.75", " -0.010", " 0", " 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0", "" ], [ "89", " LightSwitch", " 0.404", " 1.297", " 2.0", " 0", " 180", " 0", "" ], [ "90", " Shelf", " 2.760", " 0.172", " 0.145", " 0", " 0", " 0", "" ], [ "91", " SinkBasin", " -0.129", " 0.752", " -2.007", " 0", " 0", " 0", "" ], [ "92", " StoveKnob", " -0.873", " 0.903", " -0.827", " 45", " 90", " 0", "" ], [ "93", " StoveKnob", " -0.873", " 0.903", " -0.676", " 45", " 90", " 0", "" ], [ "94", " StoveKnob", " -0.873", " 0.903", " -0.966", " 45", " 90", " 0", "" ], [ "95", " StoveKnob", " -0.873", " 0.903", " -1.123", " 45", " 90", " 0", "" ], [ "96", " Toaster", " 0.840", " 0.900", " -2.057", " 0", " 0", " 0", "" ], [ "97", " CoffeeMachine", " 0.501", " 0.900", " -2.125", " 0", " 0", " 0", "" ], [ "98", " ShelvingUnit", " 2.760", " 0.006", " 0.144", " 0", " 0", " 0", "" ], [ "99", " Stool", " -0.826", " 0.010", " 0.908", " 0", " 347.513", " 0", "" ], [ "100", " Stool", " -0.132", " 0.010", " 0.883", " 0", " 71.555", " 0", "" ], [ "101", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "102", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "103", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "104", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -0.5 0.900 -1.25 0 90 0 1 Potato 1.878 1.045 -1.350 0 270 0 86 2 DishSponge -0.580 0.111 -1.832 0 0 0 66 3 DishSponge -1.322 0.910 -1.638 0 0 0 81 4 ButterKnife -1.018 0.911 -2.098 0 0 0 81 5 ButterKnife -0.186 0.697 0.181 0 180 0 80 6 Kettle -1.289 0.957 -0.756 0 180 0 56 7 Pot -1.056 0.956 -0.672 0 180 0 53 8 Spatula -0.725 0.709 -1.979 0 90 0 51 9 Spatula -0.290 0.778 -2.118 0 90 0 91 10 Egg 1.194 0.944 -2.267 0 0 0 81 11 Egg 1.813 1.049 -1.297 0 270 0 86 12 Knife 0.969 0.934 -2.014 0 90 0 81 13 Knife -0.822 1.155 0.618 0 180 0 77 14 Tomato 1.891 1.477 -0.644 0 270 0 88 15 Tomato -0.598 1.181 0.485 0 0 0 77 16 Bowl 1.513 0.114 -1.397 0 0 0 55 17 SaltShaker -1.395 1.654 -1.789 0 0 0 63 18 Lettuce 2.000 0.893 -0.737 0 270 0 88 19 Lettuce 2.000 1.504 -0.365 0 270 0 88 20 Mug 1.836 0.812 -0.458 0 270 0 88 21 Apple 1.884 0.111 0.166 0 0 0 84 22 Apple 1.781 1.476 -0.271 0 270 0 88 23 Pan 1.743 0.9 -1.969 0 308.846 0 81 24 Knife -1.045 1.155 0.706 0 0 0 77 25 Bowl -0.650 0.109 0.218 0 180 0 76 26 Fork -1.330 0.914 -0.170 0 0 0 74 27 Cup 0.101 0.750 -1.938 0 0 0 91 28 Ladle -0.152 1.168 0.441 0 0 0 77 29 Apple -1.404 0.959 -1.891 0 0 0 81 30 Kettle -0.634 0.914 0.294 0 180 0 74 31 Vase -1.330 0.915 -0.292 0 0 0 74 32 Potato 1.945 0.847 -0.365 0 270 0 88 33 Pot -1.056 0.956 -1.127 0 0 0 78 34 Bread -1.147 0.982 -0.189 0 0 0 74 35 Plate -1.063 0.911 0.188 0 0 0 74 36 Spatula -0.913 0.907 -0.048 358.832 0 0 74 37 PaperTowelRoll 2.042 0.167 0.195 0 0 0 84 38 Vase -1.278 0.919 0.188 0 0 0 74 39 Egg 1.878 1.049 -1.245 0 270 0 86 40 SoapBottle 0.008 0.913 0.135 0 0 0 74 41 SaltShaker 3.105 0.876 0.141 0 180 0 85 42 Lettuce 0.071 1.208 0.529 0 0 0 77 43 PepperShaker 1.644 0.907 -2.183 0 0 0 81 44 ButterKnife -0.203 0.763 -2.008 0 0 0 91 45 DishSponge -0.611 0.691 0.102 0 180 0 75 46 Vase 2.979 0.539 0.128 0 0 0 87 47 Spoon -1.259 0.912 -2.014 0 0 0 81 48 Tomato -1.075 0.960 -1.384 0 0 0 81 49 Mug -0.031 0.758 -1.952 0 0 0 91 50 Statue -0.420 0.920 0.030 0 0 0 74 51 Drawer -0.819 0.75 -1.690 0 0 0 52 Cabinet -1.149 2.264 -0.838 0 90 0 53 StoveBurner -1.056 0.949 -0.671 0 180 0 54 Cabinet 1.738 2.019 -2.000 0 0 0 55 Cabinet 1.389 0.469 -1.059 0 0 0 56 StoveBurner -1.289 0.949 -0.755 0 180 0 57 Faucet -0.157 1.052 -2.196 0 270 0 58 Cabinet 1.75 2.019 -1.029 0 0 0 59 Cabinet 1.75 2.019 -1.399 0 0 0 60 Cabinet 1.179 2.019 -2.0 0 0 0 61 Cabinet 0.199 2.019 -2.0 0 0 0 62 Cabinet -1.100 2.019 -2.0 0 0 0 63 Cabinet -1.149 2.019 -1.979 0 0 0 64 Cabinet -1.149 2.019 -0.770 0 0 0 65 Cabinet -1.149 2.019 0.380 0 0 0 66 Cabinet -0.819 0.469 -1.689 0 0 0 67 Cabinet -0.839 0.469 -1.664 0 0 0 68 Cabinet -0.839 0.469 -0.049 0 0 0 69 Cabinet -0.414 0.370 -0.009 0 0 0 70 Sink -0.118 0.875 -2.009 0 0 0 71 StoveBurner -1.289 0.949 -1.019 0 0 0 72 Cabinet 0.119 2.264 -2.0 0 0 0 73 Cabinet -0.459 2.264 -2.0 0 0 0 74 CounterTop -0.665 0.949 0.188 0 0 0 75 Drawer -0.449 0.75 -0.010 0 180 0 76 Cabinet -0.450 0.469 -0.009 0 0 0 77 CounterTop -0.630 1.167 0.573 0 0 0 78 StoveBurner -1.056 0.949 -1.126 0 0 0 79 Cabinet 1.376 0.460 -1.685 0 0 0 80 Drawer -0.070 0.75 -0.009 0 180 0 81 CounterTop 1.159 0.946 -2.013 0 0 0 82 Cabinet -1.150 2.264 -1.418 0 90 0 83 HousePlant -1.246 1.108 0.606 0 0 0 84 GarbageCan 1.923 -0.010 0.137 0 0 0 85 Shelf 2.759 0.880 0.144 0 0 0 86 Microwave 1.827 0.900 -1.354 0 270 0 87 Shelf 2.759 0.552 0.145 0 0 0 88 Fridge 1.975 0.0 -0.537 0 0 0 89 LightSwitch 0.404 1.297 2.0 0 180 0 90 Shelf 2.760 0.172 0.145 0 0 0 91 SinkBasin -0.129 0.752 -2.007 0 0 0 92 StoveKnob -0.873 0.903 -0.827 45 90 0 93 StoveKnob -0.873 0.903 -0.676 45 90 0 94 StoveKnob -0.873 0.903 -0.966 45 90 0 95 StoveKnob -0.873 0.903 -1.123 45 90 0 96 Toaster 0.840 0.900 -2.057 0 0 0 97 CoffeeMachine 0.501 0.900 -2.125 0 0 0 98 ShelvingUnit 2.760 0.006 0.144 0 0 0 99 Stool -0.826 0.010 0.908 0 347.513 0 100 Stool -0.132 0.010 0.883 0 71.555 0 101 NorthWall 102 EastWall 103 SouthWall 104 WestWall
[ "STEP 1: Turn to face the sink on the right. | STEP 2: Pick up the mug from the sink. | STEP 3: Bring the mug to the microwave. | STEP 4: Heat the mug in the microwave for a few seconds. | STEP 5: Bring the mug to the wooden rack. | STEP 6: Place the mug on the wooden rack. | END" ]
[ [ "STEP 1: Turn to face the sink on the right. ", " STEP 2: Pick up the mug from the sink. ", " STEP 3: Bring the mug to the microwave. ", " STEP 4: Heat the mug in the microwave for a few seconds. ", " STEP 5: Bring the mug to the wooden rack. ", " STEP 6: Place the mug on the wooden rack. ", " END" ] ]
seen
trial_T20190906_203744_920699-1
Put a warm cup on the shelf.
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], [ "11", " Egg", " 1.813", " 1.049", " -1.297", " 0", " 270", " 0", " 86" ], [ "12", " Knife", " 0.969", " 0.934", " -2.014", " 0", " 90", " 0", " 81" ], [ "13", " Knife", " -0.822", " 1.155", " 0.618", " 0", " 180", " 0", " 77" ], [ "14", " Tomato", " 1.891", " 1.477", " -0.644", " 0", " 270", " 0", " 88" ], [ "15", " Tomato", " -0.598", " 1.181", " 0.485", " 0", " 0", " 0", " 77" ], [ "16", " Bowl", " 1.513", " 0.114", " -1.397", " 0", " 0", " 0", " 55" ], [ "17", " SaltShaker", " -1.395", " 1.654", " -1.789", " 0", " 0", " 0", " 63" ], [ "18", " Lettuce", " 2.000", " 0.893", " -0.737", " 0", " 270", " 0", " 88" ], [ "19", " Lettuce", " 2.000", " 1.504", " -0.365", " 0", " 270", " 0", " 88" ], [ "20", " Mug", " 1.836", " 0.812", " -0.458", " 0", " 270", " 0", " 88" ], [ "21", " Apple", " 1.884", " 0.111", " 0.166", " 0", " 0", " 0", " 84" ], [ "22", " Apple", " 1.781", " 1.476", " -0.271", " 0", " 270", " 0", " 88" ], [ "23", " Pan", " 1.743", " 0.9", " -1.969", " 0", " 308.846", " 0", " 81" ], [ "24", " Knife", " -1.045", " 1.155", " 0.706", " 0", " 0", " 0", " 77" ], [ "25", " Bowl", " -0.650", " 0.109", " 0.218", " 0", " 180", " 0", " 76" ], [ "26", " Fork", " -1.330", " 0.914", " -0.170", " 0", " 0", " 0", " 74" ], [ "27", " Cup", " 0.101", " 0.750", " -1.938", " 0", " 0", " 0", " 91" ], [ "28", " Ladle", " -0.152", " 1.168", " 0.441", " 0", " 0", " 0", " 77" ], [ "29", " Apple", " -1.404", " 0.959", " -1.891", " 0", " 0", " 0", " 81" ], [ "30", " Kettle", " -0.634", " 0.914", " 0.294", " 0", " 180", " 0", " 74" ], [ "31", " Vase", " -1.330", " 0.915", " -0.292", " 0", " 0", " 0", " 74" ], [ "32", " Potato", " 1.945", " 0.847", " -0.365", " 0", " 270", " 0", " 88" ], [ "33", " Pot", " -1.056", " 0.956", " -1.127", " 0", " 0", " 0", " 78" ], [ "34", " Bread", " -1.147", " 0.982", " -0.189", " 0", " 0", " 0", " 74" ], [ "35", " Plate", " -1.063", " 0.911", " 0.188", " 0", " 0", " 0", " 74" ], [ "36", " Spatula", " -0.913", " 0.907", " -0.048", " 358.832", " 0", " 0", " 74" ], [ "37", " PaperTowelRoll", " 2.042", " 0.167", " 0.195", " 0", " 0", " 0", " 84" ], [ "38", " Vase", " -1.278", " 0.919", " 0.188", " 0", " 0", " 0", " 74" ], [ "39", " Egg", " 1.878", " 1.049", " -1.245", " 0", " 270", " 0", " 86" ], [ "40", " SoapBottle", " 0.008", " 0.913", " 0.135", " 0", " 0", " 0", " 74" ], [ "41", " SaltShaker", " 3.105", " 0.876", " 0.141", " 0", " 180", " 0", " 85" ], [ "42", " Lettuce", " 0.071", " 1.208", " 0.529", " 0", " 0", " 0", " 77" ], [ "43", " PepperShaker", " 1.644", " 0.907", " -2.183", " 0", " 0", " 0", " 81" ], [ "44", " ButterKnife", " -0.203", " 0.763", " -2.008", " 0", " 0", " 0", " 91" ], [ "45", " DishSponge", " -0.611", " 0.691", " 0.102", " 0", " 180", " 0", " 75" ], [ "46", " Vase", " 2.979", " 0.539", " 0.128", " 0", " 0", " 0", " 87" ], [ "47", " Spoon", " -1.259", " 0.912", " -2.014", " 0", " 0", " 0", " 81" ], [ "48", " Tomato", " -1.075", " 0.960", " -1.384", " 0", " 0", " 0", " 81" ], [ "49", " Mug", " -0.031", " 0.758", " -1.952", " 0", " 0", " 0", " 91" ], [ "50", " Statue", " -0.420", " 0.920", " 0.030", " 0", " 0", " 0", " 74" ], [ "51", " Drawer", " -0.819", " 0.75", " -1.690", " 0", " 0", " 0", "" ], [ "52", " Cabinet", " -1.149", " 2.264", " -0.838", " 0", " 90", " 0", "" ], [ "53", " StoveBurner", " -1.056", " 0.949", " -0.671", " 0", " 180", " 0", "" ], [ "54", " Cabinet", " 1.738", " 2.019", " -2.000", " 0", " 0", " 0", "" ], [ "55", " Cabinet", " 1.389", " 0.469", " -1.059", " 0", " 0", " 0", "" ], [ "56", " StoveBurner", " -1.289", " 0.949", " -0.755", " 0", " 180", " 0", "" ], [ "57", " Faucet", " -0.157", " 1.052", " -2.196", " 0", " 270", " 0", "" ], [ "58", " Cabinet", " 1.75", " 2.019", " -1.029", " 0", " 0", " 0", "" ], [ "59", " Cabinet", " 1.75", " 2.019", " -1.399", " 0", " 0", " 0", "" ], [ "60", " Cabinet", " 1.179", " 2.019", " -2.0", " 0", " 0", " 0", "" ], [ "61", " Cabinet", " 0.199", " 2.019", " -2.0", " 0", " 0", " 0", "" ], [ "62", " Cabinet", " -1.100", " 2.019", " -2.0", " 0", " 0", " 0", "" ], [ "63", " Cabinet", " -1.149", " 2.019", " -1.979", " 0", " 0", " 0", "" ], [ "64", " Cabinet", " -1.149", " 2.019", " -0.770", " 0", " 0", " 0", "" ], [ "65", " Cabinet", " -1.149", " 2.019", " 0.380", " 0", " 0", " 0", "" ], [ "66", " Cabinet", " -0.819", " 0.469", " -1.689", " 0", " 0", " 0", "" ], [ "67", " Cabinet", " -0.839", " 0.469", " -1.664", " 0", " 0", " 0", "" ], [ "68", " Cabinet", " -0.839", " 0.469", " -0.049", " 0", " 0", " 0", "" ], [ "69", " Cabinet", " -0.414", " 0.370", " -0.009", " 0", " 0", " 0", "" ], [ "70", " Sink", " -0.118", " 0.875", " -2.009", " 0", " 0", " 0", "" ], [ "71", " StoveBurner", " -1.289", " 0.949", " -1.019", " 0", " 0", " 0", "" ], [ "72", " Cabinet", " 0.119", " 2.264", " -2.0", " 0", " 0", " 0", "" ], [ "73", " Cabinet", " -0.459", " 2.264", " -2.0", " 0", " 0", " 0", "" ], [ "74", " CounterTop", " -0.665", " 0.949", " 0.188", " 0", " 0", " 0", "" ], [ "75", " Drawer", " -0.449", " 0.75", " -0.010", " 0", " 180", " 0", "" ], [ "76", " Cabinet", " -0.450", " 0.469", " -0.009", " 0", " 0", " 0", "" ], [ "77", " CounterTop", " -0.630", " 1.167", " 0.573", " 0", " 0", " 0", "" ], [ "78", " StoveBurner", " -1.056", " 0.949", " -1.126", " 0", " 0", " 0", "" ], [ "79", " Cabinet", " 1.376", " 0.460", " -1.685", " 0", " 0", " 0", "" ], [ "80", " Drawer", " -0.070", " 0.75", " -0.009", " 0", " 180", " 0", "" ], [ "81", " CounterTop", " 1.159", " 0.946", " -2.013", " 0", " 0", " 0", "" ], [ "82", " Cabinet", " -1.150", " 2.264", " -1.418", " 0", " 90", " 0", "" ], [ "83", " HousePlant", " -1.246", " 1.108", " 0.606", " 0", " 0", " 0", "" ], [ "84", " GarbageCan", " 1.923", " -0.010", " 0.137", " 0", " 0", " 0", "" ], [ "85", " Shelf", " 2.759", " 0.880", " 0.144", " 0", " 0", " 0", "" ], [ "86", " Microwave", " 1.827", " 0.900", " -1.354", " 0", " 270", " 0", "" ], [ "87", " Shelf", " 2.759", " 0.552", " 0.145", " 0", " 0", " 0", "" ], [ "88", " Fridge", " 1.975", " 0.0", " -0.537", " 0", " 0", " 0", "" ], [ "89", " LightSwitch", " 0.404", " 1.297", " 2.0", " 0", " 180", " 0", "" ], [ "90", " Shelf", " 2.760", " 0.172", " 0.145", " 0", " 0", " 0", "" ], [ "91", " SinkBasin", " -0.129", " 0.752", " -2.007", " 0", " 0", " 0", "" ], [ "92", " StoveKnob", " -0.873", " 0.903", " -0.827", " 45", " 90", " 0", "" ], [ "93", " StoveKnob", " -0.873", " 0.903", " -0.676", " 45", " 90", " 0", "" ], [ "94", " StoveKnob", " -0.873", " 0.903", " -0.966", " 45", " 90", " 0", "" ], [ "95", " StoveKnob", " -0.873", " 0.903", " -1.123", " 45", " 90", " 0", "" ], [ "96", " Toaster", " 0.840", " 0.900", " -2.057", " 0", " 0", " 0", "" ], [ "97", " CoffeeMachine", " 0.501", " 0.900", " -2.125", " 0", " 0", " 0", "" ], [ "98", " ShelvingUnit", " 2.760", " 0.006", " 0.144", " 0", " 0", " 0", "" ], [ "99", " Stool", " -0.826", " 0.010", " 0.908", " 0", " 347.513", " 0", "" ], [ "100", " Stool", " -0.132", " 0.010", " 0.883", " 0", " 71.555", " 0", "" ], [ "101", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "102", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "103", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "104", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -0.5 0.900 -1.25 0 90 0 1 Potato 1.878 1.045 -1.350 0 270 0 86 2 DishSponge -0.580 0.111 -1.832 0 0 0 66 3 DishSponge -1.322 0.910 -1.638 0 0 0 81 4 ButterKnife -1.018 0.911 -2.098 0 0 0 81 5 ButterKnife -0.186 0.697 0.181 0 180 0 80 6 Kettle -1.289 0.957 -0.756 0 180 0 56 7 Pot -1.056 0.956 -0.672 0 180 0 53 8 Spatula -0.725 0.709 -1.979 0 90 0 51 9 Spatula -0.290 0.778 -2.118 0 90 0 91 10 Egg 1.194 0.944 -2.267 0 0 0 81 11 Egg 1.813 1.049 -1.297 0 270 0 86 12 Knife 0.969 0.934 -2.014 0 90 0 81 13 Knife -0.822 1.155 0.618 0 180 0 77 14 Tomato 1.891 1.477 -0.644 0 270 0 88 15 Tomato -0.598 1.181 0.485 0 0 0 77 16 Bowl 1.513 0.114 -1.397 0 0 0 55 17 SaltShaker -1.395 1.654 -1.789 0 0 0 63 18 Lettuce 2.000 0.893 -0.737 0 270 0 88 19 Lettuce 2.000 1.504 -0.365 0 270 0 88 20 Mug 1.836 0.812 -0.458 0 270 0 88 21 Apple 1.884 0.111 0.166 0 0 0 84 22 Apple 1.781 1.476 -0.271 0 270 0 88 23 Pan 1.743 0.9 -1.969 0 308.846 0 81 24 Knife -1.045 1.155 0.706 0 0 0 77 25 Bowl -0.650 0.109 0.218 0 180 0 76 26 Fork -1.330 0.914 -0.170 0 0 0 74 27 Cup 0.101 0.750 -1.938 0 0 0 91 28 Ladle -0.152 1.168 0.441 0 0 0 77 29 Apple -1.404 0.959 -1.891 0 0 0 81 30 Kettle -0.634 0.914 0.294 0 180 0 74 31 Vase -1.330 0.915 -0.292 0 0 0 74 32 Potato 1.945 0.847 -0.365 0 270 0 88 33 Pot -1.056 0.956 -1.127 0 0 0 78 34 Bread -1.147 0.982 -0.189 0 0 0 74 35 Plate -1.063 0.911 0.188 0 0 0 74 36 Spatula -0.913 0.907 -0.048 358.832 0 0 74 37 PaperTowelRoll 2.042 0.167 0.195 0 0 0 84 38 Vase -1.278 0.919 0.188 0 0 0 74 39 Egg 1.878 1.049 -1.245 0 270 0 86 40 SoapBottle 0.008 0.913 0.135 0 0 0 74 41 SaltShaker 3.105 0.876 0.141 0 180 0 85 42 Lettuce 0.071 1.208 0.529 0 0 0 77 43 PepperShaker 1.644 0.907 -2.183 0 0 0 81 44 ButterKnife -0.203 0.763 -2.008 0 0 0 91 45 DishSponge -0.611 0.691 0.102 0 180 0 75 46 Vase 2.979 0.539 0.128 0 0 0 87 47 Spoon -1.259 0.912 -2.014 0 0 0 81 48 Tomato -1.075 0.960 -1.384 0 0 0 81 49 Mug -0.031 0.758 -1.952 0 0 0 91 50 Statue -0.420 0.920 0.030 0 0 0 74 51 Drawer -0.819 0.75 -1.690 0 0 0 52 Cabinet -1.149 2.264 -0.838 0 90 0 53 StoveBurner -1.056 0.949 -0.671 0 180 0 54 Cabinet 1.738 2.019 -2.000 0 0 0 55 Cabinet 1.389 0.469 -1.059 0 0 0 56 StoveBurner -1.289 0.949 -0.755 0 180 0 57 Faucet -0.157 1.052 -2.196 0 270 0 58 Cabinet 1.75 2.019 -1.029 0 0 0 59 Cabinet 1.75 2.019 -1.399 0 0 0 60 Cabinet 1.179 2.019 -2.0 0 0 0 61 Cabinet 0.199 2.019 -2.0 0 0 0 62 Cabinet -1.100 2.019 -2.0 0 0 0 63 Cabinet -1.149 2.019 -1.979 0 0 0 64 Cabinet -1.149 2.019 -0.770 0 0 0 65 Cabinet -1.149 2.019 0.380 0 0 0 66 Cabinet -0.819 0.469 -1.689 0 0 0 67 Cabinet -0.839 0.469 -1.664 0 0 0 68 Cabinet -0.839 0.469 -0.049 0 0 0 69 Cabinet -0.414 0.370 -0.009 0 0 0 70 Sink -0.118 0.875 -2.009 0 0 0 71 StoveBurner -1.289 0.949 -1.019 0 0 0 72 Cabinet 0.119 2.264 -2.0 0 0 0 73 Cabinet -0.459 2.264 -2.0 0 0 0 74 CounterTop -0.665 0.949 0.188 0 0 0 75 Drawer -0.449 0.75 -0.010 0 180 0 76 Cabinet -0.450 0.469 -0.009 0 0 0 77 CounterTop -0.630 1.167 0.573 0 0 0 78 StoveBurner -1.056 0.949 -1.126 0 0 0 79 Cabinet 1.376 0.460 -1.685 0 0 0 80 Drawer -0.070 0.75 -0.009 0 180 0 81 CounterTop 1.159 0.946 -2.013 0 0 0 82 Cabinet -1.150 2.264 -1.418 0 90 0 83 HousePlant -1.246 1.108 0.606 0 0 0 84 GarbageCan 1.923 -0.010 0.137 0 0 0 85 Shelf 2.759 0.880 0.144 0 0 0 86 Microwave 1.827 0.900 -1.354 0 270 0 87 Shelf 2.759 0.552 0.145 0 0 0 88 Fridge 1.975 0.0 -0.537 0 0 0 89 LightSwitch 0.404 1.297 2.0 0 180 0 90 Shelf 2.760 0.172 0.145 0 0 0 91 SinkBasin -0.129 0.752 -2.007 0 0 0 92 StoveKnob -0.873 0.903 -0.827 45 90 0 93 StoveKnob -0.873 0.903 -0.676 45 90 0 94 StoveKnob -0.873 0.903 -0.966 45 90 0 95 StoveKnob -0.873 0.903 -1.123 45 90 0 96 Toaster 0.840 0.900 -2.057 0 0 0 97 CoffeeMachine 0.501 0.900 -2.125 0 0 0 98 ShelvingUnit 2.760 0.006 0.144 0 0 0 99 Stool -0.826 0.010 0.908 0 347.513 0 100 Stool -0.132 0.010 0.883 0 71.555 0 101 NorthWall 102 EastWall 103 SouthWall 104 WestWall
[ "STEP 1: Go to the sink to your right. | STEP 2: Remove the cup on the right from the sink. | STEP 3: Take the cup to the microwave. | STEP 4: Heat the cup in the microwave. | STEP 5: That the cup to the shelves behind you and to your right. | STEP 6: Place the cup on the top shelf. | END" ]
[ [ "STEP 1: Go to the sink to your right. ", " STEP 2: Remove the cup on the right from the sink. ", " STEP 3: Take the cup to the microwave. ", " STEP 4: Heat the cup in the microwave. ", " STEP 5: That the cup to the shelves behind you and to your right. ", " STEP 6: Place the cup on the top shelf. ", " END" ] ]
seen
trial_T20190906_203744_920699-2
Place the warmed cup on the wooden shelf.
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], [ "11", " Egg", " 1.813", " 1.049", " -1.297", " 0", " 270", " 0", " 86" ], [ "12", " Knife", " 0.969", " 0.934", " -2.014", " 0", " 90", " 0", " 81" ], [ "13", " Knife", " -0.822", " 1.155", " 0.618", " 0", " 180", " 0", " 77" ], [ "14", " Tomato", " 1.891", " 1.477", " -0.644", " 0", " 270", " 0", " 88" ], [ "15", " Tomato", " -0.598", " 1.181", " 0.485", " 0", " 0", " 0", " 77" ], [ "16", " Bowl", " 1.513", " 0.114", " -1.397", " 0", " 0", " 0", " 55" ], [ "17", " SaltShaker", " -1.395", " 1.654", " -1.789", " 0", " 0", " 0", " 63" ], [ "18", " Lettuce", " 2.000", " 0.893", " -0.737", " 0", " 270", " 0", " 88" ], [ "19", " Lettuce", " 2.000", " 1.504", " -0.365", " 0", " 270", " 0", " 88" ], [ "20", " Mug", " 1.836", " 0.812", " -0.458", " 0", " 270", " 0", " 88" ], [ "21", " Apple", " 1.884", " 0.111", " 0.166", " 0", " 0", " 0", " 84" ], [ "22", " Apple", " 1.781", " 1.476", " -0.271", " 0", " 270", " 0", " 88" ], [ "23", " Pan", " 1.743", " 0.9", " -1.969", " 0", " 308.846", " 0", " 81" ], [ "24", " Knife", " -1.045", " 1.155", " 0.706", " 0", " 0", " 0", " 77" ], [ "25", " Bowl", " -0.650", " 0.109", " 0.218", " 0", " 180", " 0", " 76" ], [ "26", " Fork", " -1.330", " 0.914", " -0.170", " 0", " 0", " 0", " 74" ], [ "27", " Cup", " 0.101", " 0.750", " -1.938", " 0", " 0", " 0", " 91" ], [ "28", " Ladle", " -0.152", " 1.168", " 0.441", " 0", " 0", " 0", " 77" ], [ "29", " Apple", " -1.404", " 0.959", " -1.891", " 0", " 0", " 0", " 81" ], [ "30", " Kettle", " -0.634", " 0.914", " 0.294", " 0", " 180", " 0", " 74" ], [ "31", " Vase", " -1.330", " 0.915", " -0.292", " 0", " 0", " 0", " 74" ], [ "32", " Potato", " 1.945", " 0.847", " -0.365", " 0", " 270", " 0", " 88" ], [ "33", " Pot", " -1.056", " 0.956", " -1.127", " 0", " 0", " 0", " 78" ], [ "34", " Bread", " -1.147", " 0.982", " -0.189", " 0", " 0", " 0", " 74" ], [ "35", " Plate", " -1.063", " 0.911", " 0.188", " 0", " 0", " 0", " 74" ], [ "36", " Spatula", " -0.913", " 0.907", " -0.048", " 358.832", " 0", 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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -0.5 0.900 -1.25 0 90 0 1 Potato 1.878 1.045 -1.350 0 270 0 86 2 DishSponge -0.580 0.111 -1.832 0 0 0 66 3 DishSponge -1.322 0.910 -1.638 0 0 0 81 4 ButterKnife -1.018 0.911 -2.098 0 0 0 81 5 ButterKnife -0.186 0.697 0.181 0 180 0 80 6 Kettle -1.289 0.957 -0.756 0 180 0 56 7 Pot -1.056 0.956 -0.672 0 180 0 53 8 Spatula -0.725 0.709 -1.979 0 90 0 51 9 Spatula -0.290 0.778 -2.118 0 90 0 91 10 Egg 1.194 0.944 -2.267 0 0 0 81 11 Egg 1.813 1.049 -1.297 0 270 0 86 12 Knife 0.969 0.934 -2.014 0 90 0 81 13 Knife -0.822 1.155 0.618 0 180 0 77 14 Tomato 1.891 1.477 -0.644 0 270 0 88 15 Tomato -0.598 1.181 0.485 0 0 0 77 16 Bowl 1.513 0.114 -1.397 0 0 0 55 17 SaltShaker -1.395 1.654 -1.789 0 0 0 63 18 Lettuce 2.000 0.893 -0.737 0 270 0 88 19 Lettuce 2.000 1.504 -0.365 0 270 0 88 20 Mug 1.836 0.812 -0.458 0 270 0 88 21 Apple 1.884 0.111 0.166 0 0 0 84 22 Apple 1.781 1.476 -0.271 0 270 0 88 23 Pan 1.743 0.9 -1.969 0 308.846 0 81 24 Knife -1.045 1.155 0.706 0 0 0 77 25 Bowl -0.650 0.109 0.218 0 180 0 76 26 Fork -1.330 0.914 -0.170 0 0 0 74 27 Cup 0.101 0.750 -1.938 0 0 0 91 28 Ladle -0.152 1.168 0.441 0 0 0 77 29 Apple -1.404 0.959 -1.891 0 0 0 81 30 Kettle -0.634 0.914 0.294 0 180 0 74 31 Vase -1.330 0.915 -0.292 0 0 0 74 32 Potato 1.945 0.847 -0.365 0 270 0 88 33 Pot -1.056 0.956 -1.127 0 0 0 78 34 Bread -1.147 0.982 -0.189 0 0 0 74 35 Plate -1.063 0.911 0.188 0 0 0 74 36 Spatula -0.913 0.907 -0.048 358.832 0 0 74 37 PaperTowelRoll 2.042 0.167 0.195 0 0 0 84 38 Vase -1.278 0.919 0.188 0 0 0 74 39 Egg 1.878 1.049 -1.245 0 270 0 86 40 SoapBottle 0.008 0.913 0.135 0 0 0 74 41 SaltShaker 3.105 0.876 0.141 0 180 0 85 42 Lettuce 0.071 1.208 0.529 0 0 0 77 43 PepperShaker 1.644 0.907 -2.183 0 0 0 81 44 ButterKnife -0.203 0.763 -2.008 0 0 0 91 45 DishSponge -0.611 0.691 0.102 0 180 0 75 46 Vase 2.979 0.539 0.128 0 0 0 87 47 Spoon -1.259 0.912 -2.014 0 0 0 81 48 Tomato -1.075 0.960 -1.384 0 0 0 81 49 Mug -0.031 0.758 -1.952 0 0 0 91 50 Statue -0.420 0.920 0.030 0 0 0 74 51 Drawer -0.819 0.75 -1.690 0 0 0 52 Cabinet -1.149 2.264 -0.838 0 90 0 53 StoveBurner -1.056 0.949 -0.671 0 180 0 54 Cabinet 1.738 2.019 -2.000 0 0 0 55 Cabinet 1.389 0.469 -1.059 0 0 0 56 StoveBurner -1.289 0.949 -0.755 0 180 0 57 Faucet -0.157 1.052 -2.196 0 270 0 58 Cabinet 1.75 2.019 -1.029 0 0 0 59 Cabinet 1.75 2.019 -1.399 0 0 0 60 Cabinet 1.179 2.019 -2.0 0 0 0 61 Cabinet 0.199 2.019 -2.0 0 0 0 62 Cabinet -1.100 2.019 -2.0 0 0 0 63 Cabinet -1.149 2.019 -1.979 0 0 0 64 Cabinet -1.149 2.019 -0.770 0 0 0 65 Cabinet -1.149 2.019 0.380 0 0 0 66 Cabinet -0.819 0.469 -1.689 0 0 0 67 Cabinet -0.839 0.469 -1.664 0 0 0 68 Cabinet -0.839 0.469 -0.049 0 0 0 69 Cabinet -0.414 0.370 -0.009 0 0 0 70 Sink -0.118 0.875 -2.009 0 0 0 71 StoveBurner -1.289 0.949 -1.019 0 0 0 72 Cabinet 0.119 2.264 -2.0 0 0 0 73 Cabinet -0.459 2.264 -2.0 0 0 0 74 CounterTop -0.665 0.949 0.188 0 0 0 75 Drawer -0.449 0.75 -0.010 0 180 0 76 Cabinet -0.450 0.469 -0.009 0 0 0 77 CounterTop -0.630 1.167 0.573 0 0 0 78 StoveBurner -1.056 0.949 -1.126 0 0 0 79 Cabinet 1.376 0.460 -1.685 0 0 0 80 Drawer -0.070 0.75 -0.009 0 180 0 81 CounterTop 1.159 0.946 -2.013 0 0 0 82 Cabinet -1.150 2.264 -1.418 0 90 0 83 HousePlant -1.246 1.108 0.606 0 0 0 84 GarbageCan 1.923 -0.010 0.137 0 0 0 85 Shelf 2.759 0.880 0.144 0 0 0 86 Microwave 1.827 0.900 -1.354 0 270 0 87 Shelf 2.759 0.552 0.145 0 0 0 88 Fridge 1.975 0.0 -0.537 0 0 0 89 LightSwitch 0.404 1.297 2.0 0 180 0 90 Shelf 2.760 0.172 0.145 0 0 0 91 SinkBasin -0.129 0.752 -2.007 0 0 0 92 StoveKnob -0.873 0.903 -0.827 45 90 0 93 StoveKnob -0.873 0.903 -0.676 45 90 0 94 StoveKnob -0.873 0.903 -0.966 45 90 0 95 StoveKnob -0.873 0.903 -1.123 45 90 0 96 Toaster 0.840 0.900 -2.057 0 0 0 97 CoffeeMachine 0.501 0.900 -2.125 0 0 0 98 ShelvingUnit 2.760 0.006 0.144 0 0 0 99 Stool -0.826 0.010 0.908 0 347.513 0 100 Stool -0.132 0.010 0.883 0 71.555 0 101 NorthWall 102 EastWall 103 SouthWall 104 WestWall
[ "STEP 1: Turn right to face the sink. | STEP 2: Pick up the white cup from the sink. | STEP 3: Turn left and walk towards the microwave. | STEP 4: Open the microwave, place the cup in it, heat it up, and take the cup out of it. | STEP 5: Turn left, walk past the fridge, then turn left towards the wooden shelf on your right. | STEP 6: Place the cup next to the salt shaker on the shelf. | END" ]
[ [ "STEP 1: Turn right to face the sink. ", " STEP 2: Pick up the white cup from the sink. ", " STEP 3: Turn left and walk towards the microwave. ", " STEP 4: Open the microwave, place the cup in it, heat it up, and take the cup out of it. ", " STEP 5: Turn left, walk past the fridge, then turn left towards the wooden shelf on your right. ", " STEP 6: Place the cup next to the salt shaker on the shelf. ", " END" ] ]
seen
trial_T20190907_191128_519194-0
Put a cold loaf of bread 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 -3.25 0.900 1.0 0 0 0 1 Pan -0.035 1.571 2.160 0 180 0 76 2 Pan -1.627 0.911 -1.265 0 0 0 51 3 Potato -2.510 0.915 3.559 0 0 0 53 4 Potato -0.255 0.733 -1.468 0 270 0 80 5 Book 0.093 0.111 -1.415 0 0 0 59 6 Book -1.444 1.654 -1.710 0 0 0 64 7 ButterKnife -3.017 0.878 2.863 0 225 0 53 8 Kettle -2.183 0.913 -0.939 0 0 0 51 9 Kettle 0.974 0.957 -1.419 0 180 0 69 10 Spatula -2.436 0.889 2.884 0 90 0 53 11 Knife -1.550 0.739 -0.788 0 270 0 66 12 Knife -1.748 0.741 -1.001 0 90 0 66 13 SoapBottle -1.378 0.912 -1.572 0 0 0 51 14 SoapBottle -2.152 0.875 3.370 0 270 0 53 15 SaltShaker 3.741 0.549 1.449 0 270 0 74 16 Lettuce -2.740 0.939 3.618 0 135 0 53 17 Lettuce 0.571 0.977 -1.674 0 0 0 51 18 Apple -2.950 0.933 3.408 0 135 0 53 19 Book -1.94 0.900 -1.693 0 0 0 70 20 Fork -2.248 0.875 3.527 0 225 0 53 21 Tomato -0.833 0.959 -1.369 0 0 0 51 22 Egg -0.377 0.828 2.308 0 180 0 76 23 Kettle -2.050 0.120 -1.580 0 0 0 52 24 Vase -0.833 0.913 -1.674 0 0 0 51 25 Cup 0.179 0.927 -1.501 0 270 0 48 26 WineBottle 1.687 0.911 -1.437 0 0 0 71 27 Plate -0.263 0.807 2.023 0 180 0 76 28 Spatula -3.017 0.889 3.580 0 135 0 53 29 Potato 0.234 0.967 -1.646 0 270 0 48 30 Pot 0.974 0.957 -1.688 0 180 0 50 31 Knife -2.539 0.900 3.102 0 135 0 53 32 SaltShaker 0.630 1.649 -1.639 0 0 0 62 33 PepperShaker -2.183 0.908 0.037 0 0 0 51 34 Lettuce -0.034 1.208 2.206 0 180 0 76 35 ButterKnife -2.726 0.874 3.393 0 135 0 53 36 Bread -1.601 0.980 -0.837 0 334.888 0 51 37 Vase -0.888 1.655 -1.712 0 0 0 63 38 DishSponge 3.689 0.880 1.963 0 270 0 74 39 Apple 0.079 0.858 2.194 0 180 0 76 40 Pan 0.972 0.959 -1.426 0 0 0 69 41 Spoon 0.014 0.929 -1.718 0 270 0 48 42 SoapBottle -2.584 0.875 2.884 0 0 0 53 43 Mug -1.686 0.114 -0.766 0 0 0 56 44 Statue 3.676 0.168 1.410 0 334.521 0 74 45 Statue 3.668 0.540 1.800 0 0 0 74 46 Bowl -0.348 0.119 -1.413 0 0 0 60 47 Cabinet -2.171 2.009 -1.538 0 0 0 48 Sink 0.024 0.771 -1.708 0 270 0 49 Cabinet 1.444 2.259 -1.542 0 0 0 50 StoveBurner 0.974 0.957 -1.688 0 180 0 51 CounterTop -1.866 0.947 -0.614 0 0 0 52 Cabinet -2.217 0.373 -1.874 0 0 0 53 DiningTable -2.663 0.002 3.208 0 0 0 54 StoveBurner 1.328 0.957 -1.688 0 180 0 55 StoveBurner 1.328 0.957 -1.420 0 180 0 56 Cabinet -1.478 0.373 -1.235 0 0 0 57 Cabinet 1.775 0.372 -1.242 0 0 0 58 Cabinet 0.774 0.372 -1.242 0 0 0 59 Cabinet 0.375 0.372 -1.242 0 0 0 60 Cabinet -0.574 0.372 -1.238 0 0 0 61 Cabinet 1.775 2.009 -1.542 0 0 0 62 Cabinet 0.524 2.009 -1.542 0 0 0 63 Cabinet -0.714 2.009 -1.542 0 0 0 64 Cabinet -1.671 2.009 -1.538 0 0 0 65 Cabinet 0.854 2.259 -1.542 0 0 0 66 Drawer -1.636 0.683 -0.930 0 0 0 67 Drawer 1.650 0.682 -1.396 0 0 0 68 Drawer 0.600 0.682 -1.396 0 0 0 69 StoveBurner 0.974 0.957 -1.419 0 180 0 70 Drawer -2.062 0.683 -1.579 0 0 0 71 CounterTop 1.645 0.945 -1.527 0 0 0 72 Shelf 3.725 0.880 1.671 0 90 0 73 LightSwitch 2.830 1.266 -0.748 0 0 0 74 Shelf 3.726 0.552 1.671 0 90 0 75 Microwave 1.150 1.655 -1.614 0 0 0 76 Fridge -0.035 0.0 2.177 0 180 0 77 Window -0.115 1.802 -1.896 90 0 0 78 Window -4.009 1.799 0.310 90 90 0 79 Shelf 3.726 0.172 1.671 0 90 0 80 SinkBasin -0.330 0.686 -1.581 0 270 0 81 GarbageCan -0.870 -0.001 2.136 0 90 0 82 StoveKnob 1.089 0.913 -1.243 45 0 0 83 StoveKnob 1.208 0.913 -1.243 45 0 0 84 StoveKnob 1.340 0.913 -1.243 45 0 0 85 StoveKnob 0.961 0.913 -1.243 45 0 0 86 Toaster 1.637 0.900 -1.673 0 0 0 87 Chair -3.505 0.002 3.290 0 105.736 0 88 CoffeeMachine -1.111 0.900 -1.726 0 0 0 89 HousePlant -2.663 0.835 3.209 0 0 0 90 Faucet -0.187 0.922 -1.75 0 311.166 0 91 ShelvingUnit 3.726 0.006 1.671 0 90 0 92 Stool -2.501 -0.000 0.062 1.223 91.243 0 93 Stool -2.475 -0.000 -0.802 1.209 69.808 0 94 Chair -2.934 0.002 2.437 0 28.531 0 95 Chair -1.698 0.002 3.235 0 245.204 0 96 NorthWall 97 EastWall 98 SouthWall 99 WestWall
[ "STEP 1: Turn right and approach the coffee maker. | STEP 2: Pick up the loaf of bread from the counter. | STEP 3: Turn around and go to the fridge. | STEP 4: Chill the bread and then pick it up again. | STEP 5: Go to the table in the corner to your left. | STEP 6: Put the bread on the table. | END" ]
[ [ "STEP 1: Turn right and approach the coffee maker. ", " STEP 2: Pick up the loaf of bread from the counter. ", " STEP 3: Turn around and go to the fridge. ", " STEP 4: Chill the bread and then pick it up again. ", " STEP 5: Go to the table in the corner to your left. ", " STEP 6: Put the bread on the table. ", " END" ] ]
seen
trial_T20190907_191128_519194-1
pick up the loaf of bread, chill it briefly in the fridge, put it on the dining room table
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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 1.0 0 0 0 1 Pan -0.035 1.571 2.160 0 180 0 76 2 Pan -1.627 0.911 -1.265 0 0 0 51 3 Potato -2.510 0.915 3.559 0 0 0 53 4 Potato -0.255 0.733 -1.468 0 270 0 80 5 Book 0.093 0.111 -1.415 0 0 0 59 6 Book -1.444 1.654 -1.710 0 0 0 64 7 ButterKnife -3.017 0.878 2.863 0 225 0 53 8 Kettle -2.183 0.913 -0.939 0 0 0 51 9 Kettle 0.974 0.957 -1.419 0 180 0 69 10 Spatula -2.436 0.889 2.884 0 90 0 53 11 Knife -1.550 0.739 -0.788 0 270 0 66 12 Knife -1.748 0.741 -1.001 0 90 0 66 13 SoapBottle -1.378 0.912 -1.572 0 0 0 51 14 SoapBottle -2.152 0.875 3.370 0 270 0 53 15 SaltShaker 3.741 0.549 1.449 0 270 0 74 16 Lettuce -2.740 0.939 3.618 0 135 0 53 17 Lettuce 0.571 0.977 -1.674 0 0 0 51 18 Apple -2.950 0.933 3.408 0 135 0 53 19 Book -1.94 0.900 -1.693 0 0 0 70 20 Fork -2.248 0.875 3.527 0 225 0 53 21 Tomato -0.833 0.959 -1.369 0 0 0 51 22 Egg -0.377 0.828 2.308 0 180 0 76 23 Kettle -2.050 0.120 -1.580 0 0 0 52 24 Vase -0.833 0.913 -1.674 0 0 0 51 25 Cup 0.179 0.927 -1.501 0 270 0 48 26 WineBottle 1.687 0.911 -1.437 0 0 0 71 27 Plate -0.263 0.807 2.023 0 180 0 76 28 Spatula -3.017 0.889 3.580 0 135 0 53 29 Potato 0.234 0.967 -1.646 0 270 0 48 30 Pot 0.974 0.957 -1.688 0 180 0 50 31 Knife -2.539 0.900 3.102 0 135 0 53 32 SaltShaker 0.630 1.649 -1.639 0 0 0 62 33 PepperShaker -2.183 0.908 0.037 0 0 0 51 34 Lettuce -0.034 1.208 2.206 0 180 0 76 35 ButterKnife -2.726 0.874 3.393 0 135 0 53 36 Bread -1.601 0.980 -0.837 0 334.888 0 51 37 Vase -0.888 1.655 -1.712 0 0 0 63 38 DishSponge 3.689 0.880 1.963 0 270 0 74 39 Apple 0.079 0.858 2.194 0 180 0 76 40 Pan 0.972 0.959 -1.426 0 0 0 69 41 Spoon 0.014 0.929 -1.718 0 270 0 48 42 SoapBottle -2.584 0.875 2.884 0 0 0 53 43 Mug -1.686 0.114 -0.766 0 0 0 56 44 Statue 3.676 0.168 1.410 0 334.521 0 74 45 Statue 3.668 0.540 1.800 0 0 0 74 46 Bowl -0.348 0.119 -1.413 0 0 0 60 47 Cabinet -2.171 2.009 -1.538 0 0 0 48 Sink 0.024 0.771 -1.708 0 270 0 49 Cabinet 1.444 2.259 -1.542 0 0 0 50 StoveBurner 0.974 0.957 -1.688 0 180 0 51 CounterTop -1.866 0.947 -0.614 0 0 0 52 Cabinet -2.217 0.373 -1.874 0 0 0 53 DiningTable -2.663 0.002 3.208 0 0 0 54 StoveBurner 1.328 0.957 -1.688 0 180 0 55 StoveBurner 1.328 0.957 -1.420 0 180 0 56 Cabinet -1.478 0.373 -1.235 0 0 0 57 Cabinet 1.775 0.372 -1.242 0 0 0 58 Cabinet 0.774 0.372 -1.242 0 0 0 59 Cabinet 0.375 0.372 -1.242 0 0 0 60 Cabinet -0.574 0.372 -1.238 0 0 0 61 Cabinet 1.775 2.009 -1.542 0 0 0 62 Cabinet 0.524 2.009 -1.542 0 0 0 63 Cabinet -0.714 2.009 -1.542 0 0 0 64 Cabinet -1.671 2.009 -1.538 0 0 0 65 Cabinet 0.854 2.259 -1.542 0 0 0 66 Drawer -1.636 0.683 -0.930 0 0 0 67 Drawer 1.650 0.682 -1.396 0 0 0 68 Drawer 0.600 0.682 -1.396 0 0 0 69 StoveBurner 0.974 0.957 -1.419 0 180 0 70 Drawer -2.062 0.683 -1.579 0 0 0 71 CounterTop 1.645 0.945 -1.527 0 0 0 72 Shelf 3.725 0.880 1.671 0 90 0 73 LightSwitch 2.830 1.266 -0.748 0 0 0 74 Shelf 3.726 0.552 1.671 0 90 0 75 Microwave 1.150 1.655 -1.614 0 0 0 76 Fridge -0.035 0.0 2.177 0 180 0 77 Window -0.115 1.802 -1.896 90 0 0 78 Window -4.009 1.799 0.310 90 90 0 79 Shelf 3.726 0.172 1.671 0 90 0 80 SinkBasin -0.330 0.686 -1.581 0 270 0 81 GarbageCan -0.870 -0.001 2.136 0 90 0 82 StoveKnob 1.089 0.913 -1.243 45 0 0 83 StoveKnob 1.208 0.913 -1.243 45 0 0 84 StoveKnob 1.340 0.913 -1.243 45 0 0 85 StoveKnob 0.961 0.913 -1.243 45 0 0 86 Toaster 1.637 0.900 -1.673 0 0 0 87 Chair -3.505 0.002 3.290 0 105.736 0 88 CoffeeMachine -1.111 0.900 -1.726 0 0 0 89 HousePlant -2.663 0.835 3.209 0 0 0 90 Faucet -0.187 0.922 -1.75 0 311.166 0 91 ShelvingUnit 3.726 0.006 1.671 0 90 0 92 Stool -2.501 -0.000 0.062 1.223 91.243 0 93 Stool -2.475 -0.000 -0.802 1.209 69.808 0 94 Chair -2.934 0.002 2.437 0 28.531 0 95 Chair -1.698 0.002 3.235 0 245.204 0 96 NorthWall 97 EastWall 98 SouthWall 99 WestWall
[ "STEP 1: turn right and walk into the kitchen, keep walking until you reach the counter tops, turn right and face the counter top that has a loaf of bread on it | STEP 2: pick up the loaf of bread | STEP 3: turn right and walk until you face the black fridge | STEP 4: open the fridge, place the bread on the top shelf, close the door, wait, open the door, pick up the loaf of bread again | STEP 5: turn left, walk into the dining room, turn right and face the dining room table | STEP 6: put the loaf of bread on the table | END" ]
[ [ "STEP 1: turn right and walk into the kitchen, keep walking until you reach the counter tops, turn right and face the counter top that has a loaf of bread on it ", " STEP 2: pick up the loaf of bread ", " STEP 3: turn right and walk until you face the black fridge ", " STEP 4: open the fridge, place the bread on the top shelf, close the door, wait, open the door, pick up the loaf of bread again ", " STEP 5: turn left, walk into the dining room, turn right and face the dining room table ", " STEP 6: put the loaf of bread on the table ", " END" ] ]
seen
trial_T20190907_191128_519194-2
Put a chilled loaf of bread on the round wooden table.
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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 1.0 0 0 0 1 Pan -0.035 1.571 2.160 0 180 0 76 2 Pan -1.627 0.911 -1.265 0 0 0 51 3 Potato -2.510 0.915 3.559 0 0 0 53 4 Potato -0.255 0.733 -1.468 0 270 0 80 5 Book 0.093 0.111 -1.415 0 0 0 59 6 Book -1.444 1.654 -1.710 0 0 0 64 7 ButterKnife -3.017 0.878 2.863 0 225 0 53 8 Kettle -2.183 0.913 -0.939 0 0 0 51 9 Kettle 0.974 0.957 -1.419 0 180 0 69 10 Spatula -2.436 0.889 2.884 0 90 0 53 11 Knife -1.550 0.739 -0.788 0 270 0 66 12 Knife -1.748 0.741 -1.001 0 90 0 66 13 SoapBottle -1.378 0.912 -1.572 0 0 0 51 14 SoapBottle -2.152 0.875 3.370 0 270 0 53 15 SaltShaker 3.741 0.549 1.449 0 270 0 74 16 Lettuce -2.740 0.939 3.618 0 135 0 53 17 Lettuce 0.571 0.977 -1.674 0 0 0 51 18 Apple -2.950 0.933 3.408 0 135 0 53 19 Book -1.94 0.900 -1.693 0 0 0 70 20 Fork -2.248 0.875 3.527 0 225 0 53 21 Tomato -0.833 0.959 -1.369 0 0 0 51 22 Egg -0.377 0.828 2.308 0 180 0 76 23 Kettle -2.050 0.120 -1.580 0 0 0 52 24 Vase -0.833 0.913 -1.674 0 0 0 51 25 Cup 0.179 0.927 -1.501 0 270 0 48 26 WineBottle 1.687 0.911 -1.437 0 0 0 71 27 Plate -0.263 0.807 2.023 0 180 0 76 28 Spatula -3.017 0.889 3.580 0 135 0 53 29 Potato 0.234 0.967 -1.646 0 270 0 48 30 Pot 0.974 0.957 -1.688 0 180 0 50 31 Knife -2.539 0.900 3.102 0 135 0 53 32 SaltShaker 0.630 1.649 -1.639 0 0 0 62 33 PepperShaker -2.183 0.908 0.037 0 0 0 51 34 Lettuce -0.034 1.208 2.206 0 180 0 76 35 ButterKnife -2.726 0.874 3.393 0 135 0 53 36 Bread -1.601 0.980 -0.837 0 334.888 0 51 37 Vase -0.888 1.655 -1.712 0 0 0 63 38 DishSponge 3.689 0.880 1.963 0 270 0 74 39 Apple 0.079 0.858 2.194 0 180 0 76 40 Pan 0.972 0.959 -1.426 0 0 0 69 41 Spoon 0.014 0.929 -1.718 0 270 0 48 42 SoapBottle -2.584 0.875 2.884 0 0 0 53 43 Mug -1.686 0.114 -0.766 0 0 0 56 44 Statue 3.676 0.168 1.410 0 334.521 0 74 45 Statue 3.668 0.540 1.800 0 0 0 74 46 Bowl -0.348 0.119 -1.413 0 0 0 60 47 Cabinet -2.171 2.009 -1.538 0 0 0 48 Sink 0.024 0.771 -1.708 0 270 0 49 Cabinet 1.444 2.259 -1.542 0 0 0 50 StoveBurner 0.974 0.957 -1.688 0 180 0 51 CounterTop -1.866 0.947 -0.614 0 0 0 52 Cabinet -2.217 0.373 -1.874 0 0 0 53 DiningTable -2.663 0.002 3.208 0 0 0 54 StoveBurner 1.328 0.957 -1.688 0 180 0 55 StoveBurner 1.328 0.957 -1.420 0 180 0 56 Cabinet -1.478 0.373 -1.235 0 0 0 57 Cabinet 1.775 0.372 -1.242 0 0 0 58 Cabinet 0.774 0.372 -1.242 0 0 0 59 Cabinet 0.375 0.372 -1.242 0 0 0 60 Cabinet -0.574 0.372 -1.238 0 0 0 61 Cabinet 1.775 2.009 -1.542 0 0 0 62 Cabinet 0.524 2.009 -1.542 0 0 0 63 Cabinet -0.714 2.009 -1.542 0 0 0 64 Cabinet -1.671 2.009 -1.538 0 0 0 65 Cabinet 0.854 2.259 -1.542 0 0 0 66 Drawer -1.636 0.683 -0.930 0 0 0 67 Drawer 1.650 0.682 -1.396 0 0 0 68 Drawer 0.600 0.682 -1.396 0 0 0 69 StoveBurner 0.974 0.957 -1.419 0 180 0 70 Drawer -2.062 0.683 -1.579 0 0 0 71 CounterTop 1.645 0.945 -1.527 0 0 0 72 Shelf 3.725 0.880 1.671 0 90 0 73 LightSwitch 2.830 1.266 -0.748 0 0 0 74 Shelf 3.726 0.552 1.671 0 90 0 75 Microwave 1.150 1.655 -1.614 0 0 0 76 Fridge -0.035 0.0 2.177 0 180 0 77 Window -0.115 1.802 -1.896 90 0 0 78 Window -4.009 1.799 0.310 90 90 0 79 Shelf 3.726 0.172 1.671 0 90 0 80 SinkBasin -0.330 0.686 -1.581 0 270 0 81 GarbageCan -0.870 -0.001 2.136 0 90 0 82 StoveKnob 1.089 0.913 -1.243 45 0 0 83 StoveKnob 1.208 0.913 -1.243 45 0 0 84 StoveKnob 1.340 0.913 -1.243 45 0 0 85 StoveKnob 0.961 0.913 -1.243 45 0 0 86 Toaster 1.637 0.900 -1.673 0 0 0 87 Chair -3.505 0.002 3.290 0 105.736 0 88 CoffeeMachine -1.111 0.900 -1.726 0 0 0 89 HousePlant -2.663 0.835 3.209 0 0 0 90 Faucet -0.187 0.922 -1.75 0 311.166 0 91 ShelvingUnit 3.726 0.006 1.671 0 90 0 92 Stool -2.501 -0.000 0.062 1.223 91.243 0 93 Stool -2.475 -0.000 -0.802 1.209 69.808 0 94 Chair -2.934 0.002 2.437 0 28.531 0 95 Chair -1.698 0.002 3.235 0 245.204 0 96 NorthWall 97 EastWall 98 SouthWall 99 WestWall
[ "STEP 1: Turn right and begin walking across the room, then hang a right and walk over to the coffee machine, turn right to face the counter once there. | STEP 2: Pick up the loaf of bread off of the counter. | STEP 3: Turn around and begin walking across the room then hang a left and walk up to the fridge. | STEP 4: Put the loaf of bread in the fridge for a couple seconds to let it get cold, then take it out and close the fridge. | STEP 5: Turn left and walk over to the wall, then hang a right and walk over to the chair, once there turn right to face the round wooden table. | STEP 6: Place the chilled loaf of bread onto the round wooden table to the right of the apple. | END" ]
[ [ "STEP 1: Turn right and begin walking across the room, then hang a right and walk over to the coffee machine, turn right to face the counter once there. ", " STEP 2: Pick up the loaf of bread off of the counter. ", " STEP 3: Turn around and begin walking across the room then hang a left and walk up to the fridge. ", " STEP 4: Put the loaf of bread in the fridge for a couple seconds to let it get cold, then take it out and close the fridge. ", " STEP 5: Turn left and walk over to the wall, then hang a right and walk over to the chair, once there turn right to face the round wooden table. ", " STEP 6: Place the chilled loaf of bread onto the round wooden table to the right of the apple. ", " END" ] ]
seen
trial_T20190907_144603_396680-0
Put two tomatoes 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 -2.0 0.901 -3.25 0 90 0 1 Pan -0.376 0.975 -2.451 0 0 0 67 2 Pan -2.270 0.912 -3.952 0 180 0 42 3 Potato -0.253 0.123 0.012 0 270 0 81 4 DishSponge -2.797 0.713 -0.829 0 135 0 86 5 ButterKnife -0.095 0.916 -1.616 0 0 0 69 6 Spatula -2.723 0.731 -0.433 0 180 0 86 7 Spatula -0.500 0.761 -0.837 0 90 0 68 8 Spoon -0.419 0.917 -1.493 0 0 0 69 9 Spoon -3.167 0.914 -3.804 0 0 0 42 10 Tomato -3.292 0.763 -0.433 0 270 0 86 11 SoapBottle -0.312 1.296 -3.858 0 315 0 62 12 SoapBottle -0.419 0.915 -1.309 0 0 0 69 13 Bowl -3.182 1.396 -2.064 0 90 0 83 14 Bowl -0.076 0.911 -3.012 0 0 0 42 15 SaltShaker -3.082 0.742 -2.912 0 0 0 64 16 SaltShaker -0.338 0.912 -0.524 0 0 0 69 17 Lettuce -2.777 0.801 -0.584 0 225 0 86 18 Mug -1.066 0.075 -3.673 0 0 0 57 19 Mug -3.234 0.636 -1.941 0 90 0 83 20 Apple -3.007 0.759 -0.683 0 270 0 86 21 Pot -2.836 0.903 -3.745 0 92.628 0 42 22 Egg -1.569 0.826 -3.832 0 0 0 84 23 Cup -2.652 0.714 -0.105 0 225 0 86 24 Bread -0.327 0.948 -3.681 0 298.222 0 42 25 Fork -3.292 0.714 -0.495 0 270 0 86 26 Pan -0.165 0.975 -2.030 0 180 0 73 27 Potato -0.096 1.056 -0.802 0 270 0 79 28 Lettuce -1.324 0.988 -3.759 1.589 253.806 357.401 42 29 Tomato -3.255 0.763 -0.709 0 225 0 86 30 Apple -3.014 0.929 -2.501 0 90 0 83 31 SoapBottle -0.496 1.296 -3.762 0 45 0 62 32 Spatula -0.014 0.930 -1.555 0 0 0 69 33 SaltShaker -0.382 0.742 -2.913 0 0 0 72 34 Knife -3.309 0.946 -3.227 0 0 0 42 35 PepperShaker -0.412 0.910 -2.811 0 0 0 42 36 ButterKnife -2.241 0.903 -3.591 0 14.999 0 42 37 Plate -0.374 0.078 -0.605 0 0 0 46 38 DishSponge -1.776 0.790 -3.832 0 0 0 84 39 Spoon -2.629 0.914 -3.804 0 0 0 42 40 Mug -2.930 0.762 -0.358 0 135 0 82 41 Bowl -2.608 0.714 -0.841 0 135 0 86 42 CounterTop -1.789 0.949 -3.803 0 0 0 43 Cabinet -0.577 0.388 -3.476 0 0 0 44 Cabinet -0.605 0.388 -3.511 0 0 0 45 Cabinet -2.976 0.388 -3.201 0 0 0 46 Cabinet -0.577 0.388 -0.447 0 0 0 47 Cabinet -0.577 0.388 -1.725 0 0 0 48 Cabinet -0.226 1.803 -1.743 0 0 0 49 Cabinet -0.228 1.799 -0.447 0 0 0 50 Cabinet -6.010 1.139 -6.019 0 0 0 51 Cabinet -3.022 2.098 -2.681 0 0 0 52 Cabinet -3.022 2.098 -1.743 0 0 0 53 Cabinet -0.577 0.388 -2.736 0 0 0 54 Cabinet -3.232 1.803 -3.343 0 0 0 55 Cabinet -2.811 1.810 -3.764 0 0 0 56 Cabinet -1.233 1.810 -3.764 0 0 0 57 Cabinet -1.364 0.388 -3.511 0 0 0 58 Cabinet -1.380 0.388 -3.511 0 0 0 59 Cabinet -0.226 1.803 -2.725 0 0 0 60 Cabinet -0.236 2.098 -1.767 0 0 0 61 Cabinet -0.236 2.098 -2.705 0 0 0 62 Cabinet -0.193 1.210 -4.239 0 0 0 63 Cabinet -2.148 0.388 -3.511 0 0 0 64 Drawer -3.104 0.797 -2.968 0 0 0 65 Drawer -0.449 0.797 -1.410 0 0 0 66 Sink -1.786 0.902 -3.748 0 0 0 67 StoveBurner -0.376 0.936 -2.451 0 0 0 68 Drawer -0.449 0.797 -0.762 0 0 0 69 CounterTop -0.268 0.951 -1.089 0 0 0 70 Drawer -0.449 0.797 -3.348 0 0 0 71 StoveBurner -0.376 0.936 -2.031 0 180 0 72 Drawer -0.449 0.797 -2.968 0 0 0 73 StoveBurner -0.165 0.936 -2.030 0 180 0 74 StoveBurner -0.165 0.936 -2.450 0 0 0 75 StoveKnob -0.568 0.903 -2.313 45 270 0 76 StoveKnob -0.568 0.903 -2.470 45 270 0 77 StoveKnob -0.568 0.903 -2.166 45 270 0 78 StoveKnob -0.568 0.903 -2.003 45 270 0 79 Microwave -0.143 0.903 -0.908 0 270 0 80 LightSwitch -1.108 1.457 0.338 0 180 0 81 GarbageCan -0.283 -0.032 -0.035 0 270 0 82 CoffeeMachine -3.104 0.837 -0.185 0 135 0 83 Fridge -3.188 0.0 -2.184 0 0 0 84 SinkBasin -1.786 0.779 -3.747 0 0 0 85 Toaster -0.230 0.903 -3.406 0 270 0 86 DiningTable -2.800 0.003 -0.505 0 0 0 87 Chair -3.044 0.003 -1.223 0 32.194 0 88 Faucet -1.791 1.136 -3.913 0 270 0 89 NorthWall 90 EastWall 91 SouthWall 92 WestWall
[ "STEP 1: Turn left, go straight, then turn left past the fridge, then turn right to face the table. | STEP 2: Pick up the tomato, nearest to the coffee maker. | STEP 3: Turn right and then go toward the microwave in front of you. | STEP 4: Put the tomato on the right front corner of the counter. | STEP 5: Turn around and return to the table. | STEP 6: Pick up the tomato, on the table and near the fork. | STEP 7: Turn right and return to the counter with the microwave. | STEP 8: Put the tomato on the counter, behind the other tomato. | END" ]
[ [ "STEP 1: Turn left, go straight, then turn left past the fridge, then turn right to face the table. ", " STEP 2: Pick up the tomato, nearest to the coffee maker. ", " STEP 3: Turn right and then go toward the microwave in front of you. ", " STEP 4: Put the tomato on the right front corner of the counter. ", " STEP 5: Turn around and return to the table. ", " STEP 6: Pick up the tomato, on the table and near the fork. ", " STEP 7: Turn right and return to the counter with the microwave. ", " STEP 8: Put the tomato on the counter, behind the other tomato. ", " END" ] ]
seen
trial_T20190907_144603_396680-1
Put the two tomato on the counter
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -2.0 0.901 -3.25 0 90 0 1 Pan -0.376 0.975 -2.451 0 0 0 67 2 Pan -2.270 0.912 -3.952 0 180 0 42 3 Potato -0.253 0.123 0.012 0 270 0 81 4 DishSponge -2.797 0.713 -0.829 0 135 0 86 5 ButterKnife -0.095 0.916 -1.616 0 0 0 69 6 Spatula -2.723 0.731 -0.433 0 180 0 86 7 Spatula -0.500 0.761 -0.837 0 90 0 68 8 Spoon -0.419 0.917 -1.493 0 0 0 69 9 Spoon -3.167 0.914 -3.804 0 0 0 42 10 Tomato -3.292 0.763 -0.433 0 270 0 86 11 SoapBottle -0.312 1.296 -3.858 0 315 0 62 12 SoapBottle -0.419 0.915 -1.309 0 0 0 69 13 Bowl -3.182 1.396 -2.064 0 90 0 83 14 Bowl -0.076 0.911 -3.012 0 0 0 42 15 SaltShaker -3.082 0.742 -2.912 0 0 0 64 16 SaltShaker -0.338 0.912 -0.524 0 0 0 69 17 Lettuce -2.777 0.801 -0.584 0 225 0 86 18 Mug -1.066 0.075 -3.673 0 0 0 57 19 Mug -3.234 0.636 -1.941 0 90 0 83 20 Apple -3.007 0.759 -0.683 0 270 0 86 21 Pot -2.836 0.903 -3.745 0 92.628 0 42 22 Egg -1.569 0.826 -3.832 0 0 0 84 23 Cup -2.652 0.714 -0.105 0 225 0 86 24 Bread -0.327 0.948 -3.681 0 298.222 0 42 25 Fork -3.292 0.714 -0.495 0 270 0 86 26 Pan -0.165 0.975 -2.030 0 180 0 73 27 Potato -0.096 1.056 -0.802 0 270 0 79 28 Lettuce -1.324 0.988 -3.759 1.589 253.806 357.401 42 29 Tomato -3.255 0.763 -0.709 0 225 0 86 30 Apple -3.014 0.929 -2.501 0 90 0 83 31 SoapBottle -0.496 1.296 -3.762 0 45 0 62 32 Spatula -0.014 0.930 -1.555 0 0 0 69 33 SaltShaker -0.382 0.742 -2.913 0 0 0 72 34 Knife -3.309 0.946 -3.227 0 0 0 42 35 PepperShaker -0.412 0.910 -2.811 0 0 0 42 36 ButterKnife -2.241 0.903 -3.591 0 14.999 0 42 37 Plate -0.374 0.078 -0.605 0 0 0 46 38 DishSponge -1.776 0.790 -3.832 0 0 0 84 39 Spoon -2.629 0.914 -3.804 0 0 0 42 40 Mug -2.930 0.762 -0.358 0 135 0 82 41 Bowl -2.608 0.714 -0.841 0 135 0 86 42 CounterTop -1.789 0.949 -3.803 0 0 0 43 Cabinet -0.577 0.388 -3.476 0 0 0 44 Cabinet -0.605 0.388 -3.511 0 0 0 45 Cabinet -2.976 0.388 -3.201 0 0 0 46 Cabinet -0.577 0.388 -0.447 0 0 0 47 Cabinet -0.577 0.388 -1.725 0 0 0 48 Cabinet -0.226 1.803 -1.743 0 0 0 49 Cabinet -0.228 1.799 -0.447 0 0 0 50 Cabinet -6.010 1.139 -6.019 0 0 0 51 Cabinet -3.022 2.098 -2.681 0 0 0 52 Cabinet -3.022 2.098 -1.743 0 0 0 53 Cabinet -0.577 0.388 -2.736 0 0 0 54 Cabinet -3.232 1.803 -3.343 0 0 0 55 Cabinet -2.811 1.810 -3.764 0 0 0 56 Cabinet -1.233 1.810 -3.764 0 0 0 57 Cabinet -1.364 0.388 -3.511 0 0 0 58 Cabinet -1.380 0.388 -3.511 0 0 0 59 Cabinet -0.226 1.803 -2.725 0 0 0 60 Cabinet -0.236 2.098 -1.767 0 0 0 61 Cabinet -0.236 2.098 -2.705 0 0 0 62 Cabinet -0.193 1.210 -4.239 0 0 0 63 Cabinet -2.148 0.388 -3.511 0 0 0 64 Drawer -3.104 0.797 -2.968 0 0 0 65 Drawer -0.449 0.797 -1.410 0 0 0 66 Sink -1.786 0.902 -3.748 0 0 0 67 StoveBurner -0.376 0.936 -2.451 0 0 0 68 Drawer -0.449 0.797 -0.762 0 0 0 69 CounterTop -0.268 0.951 -1.089 0 0 0 70 Drawer -0.449 0.797 -3.348 0 0 0 71 StoveBurner -0.376 0.936 -2.031 0 180 0 72 Drawer -0.449 0.797 -2.968 0 0 0 73 StoveBurner -0.165 0.936 -2.030 0 180 0 74 StoveBurner -0.165 0.936 -2.450 0 0 0 75 StoveKnob -0.568 0.903 -2.313 45 270 0 76 StoveKnob -0.568 0.903 -2.470 45 270 0 77 StoveKnob -0.568 0.903 -2.166 45 270 0 78 StoveKnob -0.568 0.903 -2.003 45 270 0 79 Microwave -0.143 0.903 -0.908 0 270 0 80 LightSwitch -1.108 1.457 0.338 0 180 0 81 GarbageCan -0.283 -0.032 -0.035 0 270 0 82 CoffeeMachine -3.104 0.837 -0.185 0 135 0 83 Fridge -3.188 0.0 -2.184 0 0 0 84 SinkBasin -1.786 0.779 -3.747 0 0 0 85 Toaster -0.230 0.903 -3.406 0 270 0 86 DiningTable -2.800 0.003 -0.505 0 0 0 87 Chair -3.044 0.003 -1.223 0 32.194 0 88 Faucet -1.791 1.136 -3.913 0 270 0 89 NorthWall 90 EastWall 91 SouthWall 92 WestWall
[ "STEP 1: Turn to your left cross the room then turn left stay beside the fridge | STEP 2: Pick up the furthest tomato on table beside the coffee maker | STEP 3: Turn to your right walk towards the counter beside the stove | STEP 4: Place the tomato beside the spoon on the counter | STEP 5: Turn around to your right then head to the table | STEP 6: Pick up the tomato that is at the edge of the table | STEP 7: Pick up the tomato that is at the edge of the table | STEP 8: Put the tomato right next to the other tomato | END" ]
[ [ "STEP 1: Turn to your left cross the room then turn left stay beside the fridge ", " STEP 2: Pick up the furthest tomato on table beside the coffee maker ", " STEP 3: Turn to your right walk towards the counter beside the stove ", " STEP 4: Place the tomato beside the spoon on the counter ", " STEP 5: Turn around to your right then head to the table ", " STEP 6: Pick up the tomato that is at the edge of the table ", " STEP 7: Pick up the tomato that is at the edge of the table ", " STEP 8: Put the tomato right next to the other tomato ", " END" ] ]
seen
trial_T20190907_144603_396680-2
Put two tomatoes on a counter to the left of the stove.
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[ "STEP 1: Turn to your left and cross the room to the round table in the corner. | STEP 2: Pick up the tomato that is closest to the coffee maker. | STEP 3: Turn right and cross the room to the microwave. | STEP 4: Put the tomato of the right front corner of the counter the microwave is sitting on, just to the left of the stove. | STEP 5: Go back to the round corner table. | STEP 6: Pick up the remaining tomato. | STEP 7: Carry the tomato to the counter where the other tomato is. | STEP 8: Place the tomato on the counter, behind the first tomato. | END" ]
[ [ "STEP 1: Turn to your left and cross the room to the round table in the corner. ", " STEP 2: Pick up the tomato that is closest to the coffee maker. ", " STEP 3: Turn right and cross the room to the microwave. ", " STEP 4: Put the tomato of the right front corner of the counter the microwave is sitting on, just to the left of the stove. ", " STEP 5: Go back to the round corner table. ", " STEP 6: Pick up the remaining tomato. ", " STEP 7: Carry the tomato to the counter where the other tomato is. ", " STEP 8: Place the tomato on the counter, behind the first tomato. ", " END" ] ]
seen
trial_T20190907_144603_396680-3
Put the tomatoes on the kitchen counter
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -2.0 0.901 -3.25 0 90 0 1 Pan -0.376 0.975 -2.451 0 0 0 67 2 Pan -2.270 0.912 -3.952 0 180 0 42 3 Potato -0.253 0.123 0.012 0 270 0 81 4 DishSponge -2.797 0.713 -0.829 0 135 0 86 5 ButterKnife -0.095 0.916 -1.616 0 0 0 69 6 Spatula -2.723 0.731 -0.433 0 180 0 86 7 Spatula -0.500 0.761 -0.837 0 90 0 68 8 Spoon -0.419 0.917 -1.493 0 0 0 69 9 Spoon -3.167 0.914 -3.804 0 0 0 42 10 Tomato -3.292 0.763 -0.433 0 270 0 86 11 SoapBottle -0.312 1.296 -3.858 0 315 0 62 12 SoapBottle -0.419 0.915 -1.309 0 0 0 69 13 Bowl -3.182 1.396 -2.064 0 90 0 83 14 Bowl -0.076 0.911 -3.012 0 0 0 42 15 SaltShaker -3.082 0.742 -2.912 0 0 0 64 16 SaltShaker -0.338 0.912 -0.524 0 0 0 69 17 Lettuce -2.777 0.801 -0.584 0 225 0 86 18 Mug -1.066 0.075 -3.673 0 0 0 57 19 Mug -3.234 0.636 -1.941 0 90 0 83 20 Apple -3.007 0.759 -0.683 0 270 0 86 21 Pot -2.836 0.903 -3.745 0 92.628 0 42 22 Egg -1.569 0.826 -3.832 0 0 0 84 23 Cup -2.652 0.714 -0.105 0 225 0 86 24 Bread -0.327 0.948 -3.681 0 298.222 0 42 25 Fork -3.292 0.714 -0.495 0 270 0 86 26 Pan -0.165 0.975 -2.030 0 180 0 73 27 Potato -0.096 1.056 -0.802 0 270 0 79 28 Lettuce -1.324 0.988 -3.759 1.589 253.806 357.401 42 29 Tomato -3.255 0.763 -0.709 0 225 0 86 30 Apple -3.014 0.929 -2.501 0 90 0 83 31 SoapBottle -0.496 1.296 -3.762 0 45 0 62 32 Spatula -0.014 0.930 -1.555 0 0 0 69 33 SaltShaker -0.382 0.742 -2.913 0 0 0 72 34 Knife -3.309 0.946 -3.227 0 0 0 42 35 PepperShaker -0.412 0.910 -2.811 0 0 0 42 36 ButterKnife -2.241 0.903 -3.591 0 14.999 0 42 37 Plate -0.374 0.078 -0.605 0 0 0 46 38 DishSponge -1.776 0.790 -3.832 0 0 0 84 39 Spoon -2.629 0.914 -3.804 0 0 0 42 40 Mug -2.930 0.762 -0.358 0 135 0 82 41 Bowl -2.608 0.714 -0.841 0 135 0 86 42 CounterTop -1.789 0.949 -3.803 0 0 0 43 Cabinet -0.577 0.388 -3.476 0 0 0 44 Cabinet -0.605 0.388 -3.511 0 0 0 45 Cabinet -2.976 0.388 -3.201 0 0 0 46 Cabinet -0.577 0.388 -0.447 0 0 0 47 Cabinet -0.577 0.388 -1.725 0 0 0 48 Cabinet -0.226 1.803 -1.743 0 0 0 49 Cabinet -0.228 1.799 -0.447 0 0 0 50 Cabinet -6.010 1.139 -6.019 0 0 0 51 Cabinet -3.022 2.098 -2.681 0 0 0 52 Cabinet -3.022 2.098 -1.743 0 0 0 53 Cabinet -0.577 0.388 -2.736 0 0 0 54 Cabinet -3.232 1.803 -3.343 0 0 0 55 Cabinet -2.811 1.810 -3.764 0 0 0 56 Cabinet -1.233 1.810 -3.764 0 0 0 57 Cabinet -1.364 0.388 -3.511 0 0 0 58 Cabinet -1.380 0.388 -3.511 0 0 0 59 Cabinet -0.226 1.803 -2.725 0 0 0 60 Cabinet -0.236 2.098 -1.767 0 0 0 61 Cabinet -0.236 2.098 -2.705 0 0 0 62 Cabinet -0.193 1.210 -4.239 0 0 0 63 Cabinet -2.148 0.388 -3.511 0 0 0 64 Drawer -3.104 0.797 -2.968 0 0 0 65 Drawer -0.449 0.797 -1.410 0 0 0 66 Sink -1.786 0.902 -3.748 0 0 0 67 StoveBurner -0.376 0.936 -2.451 0 0 0 68 Drawer -0.449 0.797 -0.762 0 0 0 69 CounterTop -0.268 0.951 -1.089 0 0 0 70 Drawer -0.449 0.797 -3.348 0 0 0 71 StoveBurner -0.376 0.936 -2.031 0 180 0 72 Drawer -0.449 0.797 -2.968 0 0 0 73 StoveBurner -0.165 0.936 -2.030 0 180 0 74 StoveBurner -0.165 0.936 -2.450 0 0 0 75 StoveKnob -0.568 0.903 -2.313 45 270 0 76 StoveKnob -0.568 0.903 -2.470 45 270 0 77 StoveKnob -0.568 0.903 -2.166 45 270 0 78 StoveKnob -0.568 0.903 -2.003 45 270 0 79 Microwave -0.143 0.903 -0.908 0 270 0 80 LightSwitch -1.108 1.457 0.338 0 180 0 81 GarbageCan -0.283 -0.032 -0.035 0 270 0 82 CoffeeMachine -3.104 0.837 -0.185 0 135 0 83 Fridge -3.188 0.0 -2.184 0 0 0 84 SinkBasin -1.786 0.779 -3.747 0 0 0 85 Toaster -0.230 0.903 -3.406 0 270 0 86 DiningTable -2.800 0.003 -0.505 0 0 0 87 Chair -3.044 0.003 -1.223 0 32.194 0 88 Faucet -1.791 1.136 -3.913 0 270 0 89 NorthWall 90 EastWall 91 SouthWall 92 WestWall
[ "STEP 1: Turn left and walk over to the round wooden table | STEP 2: \nPick up the tomato nearest the coffee maker from the table | STEP 3: Turn right and walk across to the kitchen counter by the microwave | STEP 4: Put the tomato down on the counter just left of the oven | STEP 5: Turn around and walk back to the round table | STEP 6: Pick up the other tomato from the round table | STEP 7: Turn right and walk back to the counter by the microwave | STEP 8: Put the tomato down on the counter just behind the other tomato | END" ]
[ [ "STEP 1: Turn left and walk over to the round wooden table ", " STEP 2: \nPick up the tomato nearest the coffee maker from the table ", " STEP 3: Turn right and walk across to the kitchen counter by the microwave ", " STEP 4: Put the tomato down on the counter just left of the oven ", " STEP 5: Turn around and walk back to the round table ", " STEP 6: Pick up the other tomato from the round table ", " STEP 7: Turn right and walk back to the counter by the microwave ", " STEP 8: Put the tomato down on the counter just behind the other tomato ", " END" ] ]
seen
trial_T20190907_144603_396680-4
To move two tomatoes to the counter with the microwave on it.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -2.0 0.901 -3.25 0 90 0 1 Pan -0.376 0.975 -2.451 0 0 0 67 2 Pan -2.270 0.912 -3.952 0 180 0 42 3 Potato -0.253 0.123 0.012 0 270 0 81 4 DishSponge -2.797 0.713 -0.829 0 135 0 86 5 ButterKnife -0.095 0.916 -1.616 0 0 0 69 6 Spatula -2.723 0.731 -0.433 0 180 0 86 7 Spatula -0.500 0.761 -0.837 0 90 0 68 8 Spoon -0.419 0.917 -1.493 0 0 0 69 9 Spoon -3.167 0.914 -3.804 0 0 0 42 10 Tomato -3.292 0.763 -0.433 0 270 0 86 11 SoapBottle -0.312 1.296 -3.858 0 315 0 62 12 SoapBottle -0.419 0.915 -1.309 0 0 0 69 13 Bowl -3.182 1.396 -2.064 0 90 0 83 14 Bowl -0.076 0.911 -3.012 0 0 0 42 15 SaltShaker -3.082 0.742 -2.912 0 0 0 64 16 SaltShaker -0.338 0.912 -0.524 0 0 0 69 17 Lettuce -2.777 0.801 -0.584 0 225 0 86 18 Mug -1.066 0.075 -3.673 0 0 0 57 19 Mug -3.234 0.636 -1.941 0 90 0 83 20 Apple -3.007 0.759 -0.683 0 270 0 86 21 Pot -2.836 0.903 -3.745 0 92.628 0 42 22 Egg -1.569 0.826 -3.832 0 0 0 84 23 Cup -2.652 0.714 -0.105 0 225 0 86 24 Bread -0.327 0.948 -3.681 0 298.222 0 42 25 Fork -3.292 0.714 -0.495 0 270 0 86 26 Pan -0.165 0.975 -2.030 0 180 0 73 27 Potato -0.096 1.056 -0.802 0 270 0 79 28 Lettuce -1.324 0.988 -3.759 1.589 253.806 357.401 42 29 Tomato -3.255 0.763 -0.709 0 225 0 86 30 Apple -3.014 0.929 -2.501 0 90 0 83 31 SoapBottle -0.496 1.296 -3.762 0 45 0 62 32 Spatula -0.014 0.930 -1.555 0 0 0 69 33 SaltShaker -0.382 0.742 -2.913 0 0 0 72 34 Knife -3.309 0.946 -3.227 0 0 0 42 35 PepperShaker -0.412 0.910 -2.811 0 0 0 42 36 ButterKnife -2.241 0.903 -3.591 0 14.999 0 42 37 Plate -0.374 0.078 -0.605 0 0 0 46 38 DishSponge -1.776 0.790 -3.832 0 0 0 84 39 Spoon -2.629 0.914 -3.804 0 0 0 42 40 Mug -2.930 0.762 -0.358 0 135 0 82 41 Bowl -2.608 0.714 -0.841 0 135 0 86 42 CounterTop -1.789 0.949 -3.803 0 0 0 43 Cabinet -0.577 0.388 -3.476 0 0 0 44 Cabinet -0.605 0.388 -3.511 0 0 0 45 Cabinet -2.976 0.388 -3.201 0 0 0 46 Cabinet -0.577 0.388 -0.447 0 0 0 47 Cabinet -0.577 0.388 -1.725 0 0 0 48 Cabinet -0.226 1.803 -1.743 0 0 0 49 Cabinet -0.228 1.799 -0.447 0 0 0 50 Cabinet -6.010 1.139 -6.019 0 0 0 51 Cabinet -3.022 2.098 -2.681 0 0 0 52 Cabinet -3.022 2.098 -1.743 0 0 0 53 Cabinet -0.577 0.388 -2.736 0 0 0 54 Cabinet -3.232 1.803 -3.343 0 0 0 55 Cabinet -2.811 1.810 -3.764 0 0 0 56 Cabinet -1.233 1.810 -3.764 0 0 0 57 Cabinet -1.364 0.388 -3.511 0 0 0 58 Cabinet -1.380 0.388 -3.511 0 0 0 59 Cabinet -0.226 1.803 -2.725 0 0 0 60 Cabinet -0.236 2.098 -1.767 0 0 0 61 Cabinet -0.236 2.098 -2.705 0 0 0 62 Cabinet -0.193 1.210 -4.239 0 0 0 63 Cabinet -2.148 0.388 -3.511 0 0 0 64 Drawer -3.104 0.797 -2.968 0 0 0 65 Drawer -0.449 0.797 -1.410 0 0 0 66 Sink -1.786 0.902 -3.748 0 0 0 67 StoveBurner -0.376 0.936 -2.451 0 0 0 68 Drawer -0.449 0.797 -0.762 0 0 0 69 CounterTop -0.268 0.951 -1.089 0 0 0 70 Drawer -0.449 0.797 -3.348 0 0 0 71 StoveBurner -0.376 0.936 -2.031 0 180 0 72 Drawer -0.449 0.797 -2.968 0 0 0 73 StoveBurner -0.165 0.936 -2.030 0 180 0 74 StoveBurner -0.165 0.936 -2.450 0 0 0 75 StoveKnob -0.568 0.903 -2.313 45 270 0 76 StoveKnob -0.568 0.903 -2.470 45 270 0 77 StoveKnob -0.568 0.903 -2.166 45 270 0 78 StoveKnob -0.568 0.903 -2.003 45 270 0 79 Microwave -0.143 0.903 -0.908 0 270 0 80 LightSwitch -1.108 1.457 0.338 0 180 0 81 GarbageCan -0.283 -0.032 -0.035 0 270 0 82 CoffeeMachine -3.104 0.837 -0.185 0 135 0 83 Fridge -3.188 0.0 -2.184 0 0 0 84 SinkBasin -1.786 0.779 -3.747 0 0 0 85 Toaster -0.230 0.903 -3.406 0 270 0 86 DiningTable -2.800 0.003 -0.505 0 0 0 87 Chair -3.044 0.003 -1.223 0 32.194 0 88 Faucet -1.791 1.136 -3.913 0 270 0 89 NorthWall 90 EastWall 91 SouthWall 92 WestWall
[ "STEP 1: Turn left and walk to the table, face the table where the three tomatoes are. | STEP 2: Pick up the tomato to the left of the coffee maker. | STEP 3: Move to the counter with the microwave on it. | STEP 4: Place the tomato on the counter to the right of the spoon. | STEP 5: Turn around and walk back to the table, face the table where the two tomatoes are. | STEP 6: Pick up the tomato that's on the left edge of the table. | STEP 7: Turn right and walk back to the counter with the microwave on it. | STEP 8: Put the tomato down on the counter behind the first tomato. | END" ]
[ [ "STEP 1: Turn left and walk to the table, face the table where the three tomatoes are. ", " STEP 2: Pick up the tomato to the left of the coffee maker. ", " STEP 3: Move to the counter with the microwave on it. ", " STEP 4: Place the tomato on the counter to the right of the spoon. ", " STEP 5: Turn around and walk back to the table, face the table where the two tomatoes are. ", " STEP 6: Pick up the tomato that's on the left edge of the table. ", " STEP 7: Turn right and walk back to the counter with the microwave on it. ", " STEP 8: Put the tomato down on the counter behind the first tomato. ", " END" ] ]
seen
trial_T20190907_144603_396680-5
Move two tomatoes to 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 -2.0 0.901 -3.25 0 90 0 1 Pan -0.376 0.975 -2.451 0 0 0 67 2 Pan -2.270 0.912 -3.952 0 180 0 42 3 Potato -0.253 0.123 0.012 0 270 0 81 4 DishSponge -2.797 0.713 -0.829 0 135 0 86 5 ButterKnife -0.095 0.916 -1.616 0 0 0 69 6 Spatula -2.723 0.731 -0.433 0 180 0 86 7 Spatula -0.500 0.761 -0.837 0 90 0 68 8 Spoon -0.419 0.917 -1.493 0 0 0 69 9 Spoon -3.167 0.914 -3.804 0 0 0 42 10 Tomato -3.292 0.763 -0.433 0 270 0 86 11 SoapBottle -0.312 1.296 -3.858 0 315 0 62 12 SoapBottle -0.419 0.915 -1.309 0 0 0 69 13 Bowl -3.182 1.396 -2.064 0 90 0 83 14 Bowl -0.076 0.911 -3.012 0 0 0 42 15 SaltShaker -3.082 0.742 -2.912 0 0 0 64 16 SaltShaker -0.338 0.912 -0.524 0 0 0 69 17 Lettuce -2.777 0.801 -0.584 0 225 0 86 18 Mug -1.066 0.075 -3.673 0 0 0 57 19 Mug -3.234 0.636 -1.941 0 90 0 83 20 Apple -3.007 0.759 -0.683 0 270 0 86 21 Pot -2.836 0.903 -3.745 0 92.628 0 42 22 Egg -1.569 0.826 -3.832 0 0 0 84 23 Cup -2.652 0.714 -0.105 0 225 0 86 24 Bread -0.327 0.948 -3.681 0 298.222 0 42 25 Fork -3.292 0.714 -0.495 0 270 0 86 26 Pan -0.165 0.975 -2.030 0 180 0 73 27 Potato -0.096 1.056 -0.802 0 270 0 79 28 Lettuce -1.324 0.988 -3.759 1.589 253.806 357.401 42 29 Tomato -3.255 0.763 -0.709 0 225 0 86 30 Apple -3.014 0.929 -2.501 0 90 0 83 31 SoapBottle -0.496 1.296 -3.762 0 45 0 62 32 Spatula -0.014 0.930 -1.555 0 0 0 69 33 SaltShaker -0.382 0.742 -2.913 0 0 0 72 34 Knife -3.309 0.946 -3.227 0 0 0 42 35 PepperShaker -0.412 0.910 -2.811 0 0 0 42 36 ButterKnife -2.241 0.903 -3.591 0 14.999 0 42 37 Plate -0.374 0.078 -0.605 0 0 0 46 38 DishSponge -1.776 0.790 -3.832 0 0 0 84 39 Spoon -2.629 0.914 -3.804 0 0 0 42 40 Mug -2.930 0.762 -0.358 0 135 0 82 41 Bowl -2.608 0.714 -0.841 0 135 0 86 42 CounterTop -1.789 0.949 -3.803 0 0 0 43 Cabinet -0.577 0.388 -3.476 0 0 0 44 Cabinet -0.605 0.388 -3.511 0 0 0 45 Cabinet -2.976 0.388 -3.201 0 0 0 46 Cabinet -0.577 0.388 -0.447 0 0 0 47 Cabinet -0.577 0.388 -1.725 0 0 0 48 Cabinet -0.226 1.803 -1.743 0 0 0 49 Cabinet -0.228 1.799 -0.447 0 0 0 50 Cabinet -6.010 1.139 -6.019 0 0 0 51 Cabinet -3.022 2.098 -2.681 0 0 0 52 Cabinet -3.022 2.098 -1.743 0 0 0 53 Cabinet -0.577 0.388 -2.736 0 0 0 54 Cabinet -3.232 1.803 -3.343 0 0 0 55 Cabinet -2.811 1.810 -3.764 0 0 0 56 Cabinet -1.233 1.810 -3.764 0 0 0 57 Cabinet -1.364 0.388 -3.511 0 0 0 58 Cabinet -1.380 0.388 -3.511 0 0 0 59 Cabinet -0.226 1.803 -2.725 0 0 0 60 Cabinet -0.236 2.098 -1.767 0 0 0 61 Cabinet -0.236 2.098 -2.705 0 0 0 62 Cabinet -0.193 1.210 -4.239 0 0 0 63 Cabinet -2.148 0.388 -3.511 0 0 0 64 Drawer -3.104 0.797 -2.968 0 0 0 65 Drawer -0.449 0.797 -1.410 0 0 0 66 Sink -1.786 0.902 -3.748 0 0 0 67 StoveBurner -0.376 0.936 -2.451 0 0 0 68 Drawer -0.449 0.797 -0.762 0 0 0 69 CounterTop -0.268 0.951 -1.089 0 0 0 70 Drawer -0.449 0.797 -3.348 0 0 0 71 StoveBurner -0.376 0.936 -2.031 0 180 0 72 Drawer -0.449 0.797 -2.968 0 0 0 73 StoveBurner -0.165 0.936 -2.030 0 180 0 74 StoveBurner -0.165 0.936 -2.450 0 0 0 75 StoveKnob -0.568 0.903 -2.313 45 270 0 76 StoveKnob -0.568 0.903 -2.470 45 270 0 77 StoveKnob -0.568 0.903 -2.166 45 270 0 78 StoveKnob -0.568 0.903 -2.003 45 270 0 79 Microwave -0.143 0.903 -0.908 0 270 0 80 LightSwitch -1.108 1.457 0.338 0 180 0 81 GarbageCan -0.283 -0.032 -0.035 0 270 0 82 CoffeeMachine -3.104 0.837 -0.185 0 135 0 83 Fridge -3.188 0.0 -2.184 0 0 0 84 SinkBasin -1.786 0.779 -3.747 0 0 0 85 Toaster -0.230 0.903 -3.406 0 270 0 86 DiningTable -2.800 0.003 -0.505 0 0 0 87 Chair -3.044 0.003 -1.223 0 32.194 0 88 Faucet -1.791 1.136 -3.913 0 270 0 89 NorthWall 90 EastWall 91 SouthWall 92 WestWall
[ "STEP 1: Turn left, move forward, turn left, then turn right to face the table. | STEP 2: Pick up the tomato on the table, nearest to the coffee maker. | STEP 3: Turn right and go to the counter ahead, near the microwave. | STEP 4: Put the tomato on the counter, to the right of the spoon. | STEP 5: Turn around, go straight, then turn right to return to the table. | STEP 6: Pick up a tomato on the table, to the left of the apple. | STEP 7: Turn right, and return to the counter in front of you. | STEP 8: Put the tomato on the counter, behind the other tomato. | END" ]
[ [ "STEP 1: Turn left, move forward, turn left, then turn right to face the table. ", " STEP 2: Pick up the tomato on the table, nearest to the coffee maker. ", " STEP 3: Turn right and go to the counter ahead, near the microwave. ", " STEP 4: Put the tomato on the counter, to the right of the spoon. ", " STEP 5: Turn around, go straight, then turn right to return to the table. ", " STEP 6: Pick up a tomato on the table, to the left of the apple. ", " STEP 7: Turn right, and return to the counter in front of you. ", " STEP 8: Put the tomato on the counter, behind the other tomato. ", " END" ] ]
seen
trial_T20190908_023755_570633-0
To clean a slice of potato and put it on the top shelf in the fridge.
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" -1.138", " 0.912", " -2.098", " 0", " 0", " 0", " 81" ], [ "12", " Plate", " 1.891", " 0.815", " -0.365", " 0", " 270", " 0", " 88" ], [ "13", " Knife", " -0.152", " 1.155", " 0.485", " 0", " 0", " 0", " 77" ], [ "14", " SoapBottle", " -1.404", " 0.911", " -1.469", " 0", " 0", " 0", " 81" ], [ "15", " SoapBottle", " -1.239", " 1.658", " -1.600", " 0", " 0", " 0", " 63" ], [ "16", " Tomato", " -0.777", " 0.960", " -1.845", " 0", " 0", " 0", " 81" ], [ "17", " Tomato", " 1.891", " 1.477", " -0.271", " 0", " 270", " 0", " 88" ], [ "18", " PepperShaker", " 2.694", " 0.548", " 0.142", " 0", " 180", " 0", " 87" ], [ "19", " PepperShaker", " -0.725", " 0.690", " -2.023", " 0", " 0", " 0", " 51" ], [ "20", " Lettuce", " -0.993", " 0.987", " -1.384", " 0", " 90", " 0", " 81" ], [ "21", " Lettuce", " -1.259", " 0.987", " -2.267", " 0", " 270", " 0", " 81" ], [ "22", " Mug", " -0.849", " 0.908", " 0.030", " 0", " 0", " 0", " 74" ], [ "23", " Pan", " 1.743", " 0.9", " -1.969", " 0", " 308.846", " 0", " 81" ], [ "24", " Knife", " -1.278", " 0.937", " 0.083", " 0", " 0", " 0", " 74" ], [ "25", " Bowl", " -0.657", " 0.908", " -2.014", " 0", " 0", " 0", " 81" ], [ "26", " Fork", " 0.969", " 0.911", " -1.844", " 0", " 90", " 0", " 81" ], [ "27", " Cup", " 0.101", " 0.750", " -1.938", " 0", " 0", " 0", " 91" ], [ "28", " Ladle", " -0.205", " 0.950", " 0.135", " 0", " 0", " 0", " 74" ], [ "29", " Apple", " -1.239", " 0.959", " -1.806", " 0", " 0", " 0", " 81" ], [ "30", " Kettle", " -1.047", " 0.953", " -2.094", " 0", " 0", " 0", " 81" ], [ "31", " Vase", " -0.192", " 0.118", " 0.163", " 0", " 180", " 0", " 69" ], [ "32", " Potato", " 1.891", " 1.129", " -0.458", " 0", " 270", " 0", " 88" ], [ "33", " Pot", " -1.289", " 0.957", " -1.02", " 0", " 0", " 0", " 71" ], [ "34", " Bread", " -1.148", " 0.981", " -0.192", " 0", " 0", " 0", " 74" ], [ "35", " Plate", " -0.420", " 0.911", " 0.241", " 0", " 0", " 0", " 74" ], [ "36", " Spatula", " -0.117", " 0.778", " -1.897", " 0", " 270", " 0", " 91" ], [ "37", " PaperTowelRoll", " 1.845", " 0.167", " 0.138", " 0", " 0", " 0", " 84" ], [ "38", " Vase", " -0.822", " 1.137", " 0.573", " 0", " 0", " 0", " 77" ], [ "39", " Egg", " 1.781", " 1.461", " -0.271", " 0", " 270", " 0", " 88" ], [ "40", " SoapBottle", " 2.002", " 0.063", " 0.138", " 0", " 0", " 0", " 84" ], [ "41", " SaltShaker", " -1.330", " 0.909", " -0.170", " 0", " 0", " 0", " 74" ], [ "42", " Lettuce", " -0.256", " 0.867", " -1.969", " 327.984", " 40.845", " 31.472", " 91" ], [ "43", " PepperShaker", " 0.071", " 1.127", " 0.618", " 0", " 0", " 0", " 77" ], [ "44", " ButterKnife", " 1.419", " 0.911", " -1.929", " 0", " 0", " 0", " 81" ], [ "45", " DishSponge", " 1.419", " 0.910", " -2.183", " 0", " 0", " 0", " 81" ], [ "46", " Vase", " 2.979", " 0.539", " 0.128", " 0", " 0", " 0", " 87" ], [ "47", " Spoon", " -0.252", " 0.698", " 0.181", " 0", " 180", " 0", " 80" ], [ "48", " Tomato", " 0.055", " 0.812", " -2.118", " 0", " 0", " 0", " 91" ], [ "49", " Mug", " 0.501", " 0.955", " -1.900", " 0", " 0", " 0", " 97" ], [ "50", " Statue", " 2.900", " 0.886", " 0.195", " 0", " 180", " 0", " 85" ], [ "51", " Drawer", " -0.819", " 0.75", " -1.690", " 0", " 0", " 0", "" ], [ "52", " Cabinet", " -1.149", " 2.264", " -0.838", " 0", " 90", " 0", "" ], [ "53", " StoveBurner", " -1.056", " 0.949", " -0.671", " 0", " 180", " 0", "" ], [ "54", " Cabinet", " 1.738", " 2.019", " -2.000", " 0", " 0", " 0", "" ], [ "55", " Cabinet", " 1.389", " 0.469", " -1.059", " 0", " 0", " 0", "" ], [ "56", " StoveBurner", " -1.289", " 0.949", " -0.755", " 0", " 180", " 0", "" ], [ "57", " Faucet", " -0.157", " 1.052", " -2.196", " 0", " 270", " 0", "" ], [ "58", " Cabinet", " 1.75", " 2.019", " -1.029", " 0", " 0", " 0", "" ], [ "59", " Cabinet", " 1.75", " 2.019", " -1.399", " 0", " 0", " 0", "" ], [ "60", " Cabinet", " 1.179", " 2.019", " -2.0", " 0", " 0", " 0", "" ], [ "61", " Cabinet", " 0.199", " 2.019", " -2.0", " 0", " 0", " 0", "" ], [ "62", " Cabinet", " -1.100", 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-0.010", " 0", " 180", " 0", "" ], [ "76", " Cabinet", " -0.450", " 0.469", " -0.009", " 0", " 0", " 0", "" ], [ "77", " CounterTop", " -0.630", " 1.167", " 0.573", " 0", " 0", " 0", "" ], [ "78", " StoveBurner", " -1.056", " 0.949", " -1.126", " 0", " 0", " 0", "" ], [ "79", " Cabinet", " 1.376", " 0.460", " -1.685", " 0", " 0", " 0", "" ], [ "80", " Drawer", " -0.070", " 0.75", " -0.009", " 0", " 180", " 0", "" ], [ "81", " CounterTop", " 1.159", " 0.946", " -2.013", " 0", " 0", " 0", "" ], [ "82", " Cabinet", " -1.150", " 2.264", " -1.418", " 0", " 90", " 0", "" ], [ "83", " HousePlant", " -1.246", " 1.108", " 0.606", " 0", " 0", " 0", "" ], [ "84", " GarbageCan", " 1.923", " -0.010", " 0.137", " 0", " 0", " 0", "" ], [ "85", " Shelf", " 2.759", " 0.880", " 0.144", " 0", " 0", " 0", "" ], [ "86", " Microwave", " 1.827", " 0.900", " -1.354", " 0", " 270", " 0", "" ], [ "87", " Shelf", " 2.759", " 0.552", " 0.145", " 0", " 0", " 0", "" ], [ "88", " Fridge", " 1.975", " 0.0", " -0.537", " 0", " 0", " 0", "" ], [ "89", " LightSwitch", " 0.404", " 1.297", " 2.0", " 0", " 180", " 0", "" ], [ "90", " Shelf", " 2.760", " 0.172", " 0.145", " 0", " 0", " 0", "" ], [ "91", " SinkBasin", " -0.129", " 0.752", " -2.007", " 0", " 0", " 0", "" ], [ "92", " StoveKnob", " -0.873", " 0.903", " -0.827", " 45", " 90", " 0", "" ], [ "93", " StoveKnob", " -0.873", " 0.903", " -0.676", " 45", " 90", " 0", "" ], [ "94", " StoveKnob", " -0.873", " 0.903", " -0.966", " 45", " 90", " 0", "" ], [ "95", " StoveKnob", " -0.873", " 0.903", " -1.123", " 45", " 90", " 0", "" ], [ "96", " Toaster", " 0.840", " 0.900", " -2.057", " 0", " 0", " 0", "" ], [ "97", " CoffeeMachine", " 0.501", " 0.900", " -2.125", " 0", " 0", " 0", "" ], [ "98", " ShelvingUnit", " 2.760", " 0.006", " 0.144", " 0", " 0", " 0", "" ], [ "99", " Stool", " -0.826", " 0.010", " 0.908", " 0", " 347.513", " 0", "" ], [ "100", " Stool", " -0.132", " 0.010", " 0.883", " 0", " 71.555", " 0", "" ], [ "101", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "102", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "103", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "104", " 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 90 0 1 Pan 1.945 1.427 -0.737 0 180 0 88 2 Potato -0.913 0.943 -0.109 0 0 0 74 3 Potato -1.045 1.161 0.485 0 0 0 77 4 DishSponge 1.63 0.116 -1.397 0 0 0 55 5 DishSponge -0.623 0.693 -1.802 0 0 0 51 6 Kettle -1.157 0.912 -1.638 0 0 0 81 7 Pot -1.289 0.957 -0.756 0 180 0 56 8 Spatula -0.117 0.778 -2.008 0 180 0 91 9 Spatula -0.897 0.926 -1.929 0 0 0 81 10 Spoon -0.375 1.132 0.529 0 0 0 77 11 Spoon -1.138 0.912 -2.098 0 0 0 81 12 Plate 1.891 0.815 -0.365 0 270 0 88 13 Knife -0.152 1.155 0.485 0 0 0 77 14 SoapBottle -1.404 0.911 -1.469 0 0 0 81 15 SoapBottle -1.239 1.658 -1.600 0 0 0 63 16 Tomato -0.777 0.960 -1.845 0 0 0 81 17 Tomato 1.891 1.477 -0.271 0 270 0 88 18 PepperShaker 2.694 0.548 0.142 0 180 0 87 19 PepperShaker -0.725 0.690 -2.023 0 0 0 51 20 Lettuce -0.993 0.987 -1.384 0 90 0 81 21 Lettuce -1.259 0.987 -2.267 0 270 0 81 22 Mug -0.849 0.908 0.030 0 0 0 74 23 Pan 1.743 0.9 -1.969 0 308.846 0 81 24 Knife -1.278 0.937 0.083 0 0 0 74 25 Bowl -0.657 0.908 -2.014 0 0 0 81 26 Fork 0.969 0.911 -1.844 0 90 0 81 27 Cup 0.101 0.750 -1.938 0 0 0 91 28 Ladle -0.205 0.950 0.135 0 0 0 74 29 Apple -1.239 0.959 -1.806 0 0 0 81 30 Kettle -1.047 0.953 -2.094 0 0 0 81 31 Vase -0.192 0.118 0.163 0 180 0 69 32 Potato 1.891 1.129 -0.458 0 270 0 88 33 Pot -1.289 0.957 -1.02 0 0 0 71 34 Bread -1.148 0.981 -0.192 0 0 0 74 35 Plate -0.420 0.911 0.241 0 0 0 74 36 Spatula -0.117 0.778 -1.897 0 270 0 91 37 PaperTowelRoll 1.845 0.167 0.138 0 0 0 84 38 Vase -0.822 1.137 0.573 0 0 0 77 39 Egg 1.781 1.461 -0.271 0 270 0 88 40 SoapBottle 2.002 0.063 0.138 0 0 0 84 41 SaltShaker -1.330 0.909 -0.170 0 0 0 74 42 Lettuce -0.256 0.867 -1.969 327.984 40.845 31.472 91 43 PepperShaker 0.071 1.127 0.618 0 0 0 77 44 ButterKnife 1.419 0.911 -1.929 0 0 0 81 45 DishSponge 1.419 0.910 -2.183 0 0 0 81 46 Vase 2.979 0.539 0.128 0 0 0 87 47 Spoon -0.252 0.698 0.181 0 180 0 80 48 Tomato 0.055 0.812 -2.118 0 0 0 91 49 Mug 0.501 0.955 -1.900 0 0 0 97 50 Statue 2.900 0.886 0.195 0 180 0 85 51 Drawer -0.819 0.75 -1.690 0 0 0 52 Cabinet -1.149 2.264 -0.838 0 90 0 53 StoveBurner -1.056 0.949 -0.671 0 180 0 54 Cabinet 1.738 2.019 -2.000 0 0 0 55 Cabinet 1.389 0.469 -1.059 0 0 0 56 StoveBurner -1.289 0.949 -0.755 0 180 0 57 Faucet -0.157 1.052 -2.196 0 270 0 58 Cabinet 1.75 2.019 -1.029 0 0 0 59 Cabinet 1.75 2.019 -1.399 0 0 0 60 Cabinet 1.179 2.019 -2.0 0 0 0 61 Cabinet 0.199 2.019 -2.0 0 0 0 62 Cabinet -1.100 2.019 -2.0 0 0 0 63 Cabinet -1.149 2.019 -1.979 0 0 0 64 Cabinet -1.149 2.019 -0.770 0 0 0 65 Cabinet -1.149 2.019 0.380 0 0 0 66 Cabinet -0.819 0.469 -1.689 0 0 0 67 Cabinet -0.839 0.469 -1.664 0 0 0 68 Cabinet -0.839 0.469 -0.049 0 0 0 69 Cabinet -0.414 0.370 -0.009 0 0 0 70 Sink -0.118 0.875 -2.009 0 0 0 71 StoveBurner -1.289 0.949 -1.019 0 0 0 72 Cabinet 0.119 2.264 -2.0 0 0 0 73 Cabinet -0.459 2.264 -2.0 0 0 0 74 CounterTop -0.665 0.949 0.188 0 0 0 75 Drawer -0.449 0.75 -0.010 0 180 0 76 Cabinet -0.450 0.469 -0.009 0 0 0 77 CounterTop -0.630 1.167 0.573 0 0 0 78 StoveBurner -1.056 0.949 -1.126 0 0 0 79 Cabinet 1.376 0.460 -1.685 0 0 0 80 Drawer -0.070 0.75 -0.009 0 180 0 81 CounterTop 1.159 0.946 -2.013 0 0 0 82 Cabinet -1.150 2.264 -1.418 0 90 0 83 HousePlant -1.246 1.108 0.606 0 0 0 84 GarbageCan 1.923 -0.010 0.137 0 0 0 85 Shelf 2.759 0.880 0.144 0 0 0 86 Microwave 1.827 0.900 -1.354 0 270 0 87 Shelf 2.759 0.552 0.145 0 0 0 88 Fridge 1.975 0.0 -0.537 0 0 0 89 LightSwitch 0.404 1.297 2.0 0 180 0 90 Shelf 2.760 0.172 0.145 0 0 0 91 SinkBasin -0.129 0.752 -2.007 0 0 0 92 StoveKnob -0.873 0.903 -0.827 45 90 0 93 StoveKnob -0.873 0.903 -0.676 45 90 0 94 StoveKnob -0.873 0.903 -0.966 45 90 0 95 StoveKnob -0.873 0.903 -1.123 45 90 0 96 Toaster 0.840 0.900 -2.057 0 0 0 97 CoffeeMachine 0.501 0.900 -2.125 0 0 0 98 ShelvingUnit 2.760 0.006 0.144 0 0 0 99 Stool -0.826 0.010 0.908 0 347.513 0 100 Stool -0.132 0.010 0.883 0 71.555 0 101 NorthWall 102 EastWall 103 SouthWall 104 WestWall
[ "STEP 1: Turn right and walk forward to face the corner of the counter. | STEP 2: Pick up the knife on the counter. | STEP 3: Turn to the left to face the fridge. | STEP 4: Cut the potato on the top shelf of the fridge and shut the door. | STEP 5: Look down to face the fridge. | STEP 6: Place the knife on the middle shelf in the fridge and shut the door. | STEP 7: Look up to face the fridge. | STEP 8: Take a slice of potato from the top shelf of the fridge. | STEP 9: Turn right and walk across the room to face the sink. | STEP 10: Place the potato slice in the sink, wash it, and pick it back up. | STEP 11: Turn left and walk across the room to face the fridge. | STEP 12: Place the potato slice back on the shelf with the rest of the potato. | END" ]
[ [ "STEP 1: Turn right and walk forward to face the corner of the counter. ", " STEP 2: Pick up the knife on the counter. ", " STEP 3: Turn to the left to face the fridge. ", " STEP 4: Cut the potato on the top shelf of the fridge and shut the door. ", " STEP 5: Look down to face the fridge. ", " STEP 6: Place the knife on the middle shelf in the fridge and shut the door. ", " STEP 7: Look up to face the fridge. ", " STEP 8: Take a slice of potato from the top shelf of the fridge. ", " STEP 9: Turn right and walk across the room to face the sink. ", " STEP 10: Place the potato slice in the sink, wash it, and pick it back up. ", " STEP 11: Turn left and walk across the room to face the fridge. ", " STEP 12: Place the potato slice back on the shelf with the rest of the potato. ", " END" ] ]
seen
trial_T20190908_023755_570633-1
Slice a potato rinse it off putting inside the refrigerator
[ [ "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", " 90", " 0", "" ], [ "1", " Pan", " 1.945", " 1.427", " -0.737", " 0", " 180", " 0", " 88" ], [ "2", " Potato", " -0.913", " 0.943", " -0.109", " 0", " 0", " 0", " 74" ], [ "3", " Potato", " -1.045", " 1.161", " 0.485", " 0", " 0", " 0", " 77" ], [ "4", " DishSponge", " 1.63", " 0.116", " -1.397", " 0", " 0", " 0", " 55" ], [ "5", " DishSponge", " -0.623", " 0.693", " -1.802", " 0", " 0", " 0", " 51" ], [ "6", " Kettle", " -1.157", " 0.912", " -1.638", " 0", " 0", " 0", " 81" ], [ "7", " Pot", " -1.289", " 0.957", " -0.756", " 0", " 180", " 0", " 56" ], [ "8", " Spatula", " -0.117", " 0.778", " -2.008", " 0", " 180", " 0", " 91" ], [ "9", " Spatula", " -0.897", " 0.926", " -1.929", " 0", " 0", " 0", " 81" ], [ "10", " Spoon", " -0.375", " 1.132", " 0.529", " 0", " 0", " 0", " 77" ], [ "11", " Spoon", " -1.138", " 0.912", " -2.098", " 0", " 0", " 0", " 81" ], [ "12", " Plate", " 1.891", " 0.815", " -0.365", " 0", " 270", " 0", " 88" ], [ "13", " Knife", " -0.152", " 1.155", " 0.485", " 0", " 0", " 0", " 77" ], [ "14", " SoapBottle", " -1.404", " 0.911", " -1.469", " 0", " 0", " 0", " 81" ], [ "15", " SoapBottle", " -1.239", " 1.658", " -1.600", " 0", " 0", " 0", " 63" ], [ "16", " Tomato", " -0.777", " 0.960", " -1.845", " 0", " 0", " 0", " 81" ], [ "17", " Tomato", " 1.891", " 1.477", " -0.271", " 0", " 270", " 0", " 88" ], [ "18", " PepperShaker", " 2.694", " 0.548", " 0.142", " 0", " 180", " 0", " 87" ], [ "19", " PepperShaker", " -0.725", " 0.690", " -2.023", " 0", " 0", " 0", " 51" ], [ "20", " Lettuce", " -0.993", " 0.987", " -1.384", " 0", " 90", " 0", " 81" ], [ "21", " Lettuce", " -1.259", " 0.987", " -2.267", " 0", " 270", " 0", " 81" ], [ "22", " Mug", " -0.849", " 0.908", " 0.030", " 0", " 0", " 0", " 74" ], [ "23", " Pan", " 1.743", " 0.9", " -1.969", " 0", " 308.846", 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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 90 0 1 Pan 1.945 1.427 -0.737 0 180 0 88 2 Potato -0.913 0.943 -0.109 0 0 0 74 3 Potato -1.045 1.161 0.485 0 0 0 77 4 DishSponge 1.63 0.116 -1.397 0 0 0 55 5 DishSponge -0.623 0.693 -1.802 0 0 0 51 6 Kettle -1.157 0.912 -1.638 0 0 0 81 7 Pot -1.289 0.957 -0.756 0 180 0 56 8 Spatula -0.117 0.778 -2.008 0 180 0 91 9 Spatula -0.897 0.926 -1.929 0 0 0 81 10 Spoon -0.375 1.132 0.529 0 0 0 77 11 Spoon -1.138 0.912 -2.098 0 0 0 81 12 Plate 1.891 0.815 -0.365 0 270 0 88 13 Knife -0.152 1.155 0.485 0 0 0 77 14 SoapBottle -1.404 0.911 -1.469 0 0 0 81 15 SoapBottle -1.239 1.658 -1.600 0 0 0 63 16 Tomato -0.777 0.960 -1.845 0 0 0 81 17 Tomato 1.891 1.477 -0.271 0 270 0 88 18 PepperShaker 2.694 0.548 0.142 0 180 0 87 19 PepperShaker -0.725 0.690 -2.023 0 0 0 51 20 Lettuce -0.993 0.987 -1.384 0 90 0 81 21 Lettuce -1.259 0.987 -2.267 0 270 0 81 22 Mug -0.849 0.908 0.030 0 0 0 74 23 Pan 1.743 0.9 -1.969 0 308.846 0 81 24 Knife -1.278 0.937 0.083 0 0 0 74 25 Bowl -0.657 0.908 -2.014 0 0 0 81 26 Fork 0.969 0.911 -1.844 0 90 0 81 27 Cup 0.101 0.750 -1.938 0 0 0 91 28 Ladle -0.205 0.950 0.135 0 0 0 74 29 Apple -1.239 0.959 -1.806 0 0 0 81 30 Kettle -1.047 0.953 -2.094 0 0 0 81 31 Vase -0.192 0.118 0.163 0 180 0 69 32 Potato 1.891 1.129 -0.458 0 270 0 88 33 Pot -1.289 0.957 -1.02 0 0 0 71 34 Bread -1.148 0.981 -0.192 0 0 0 74 35 Plate -0.420 0.911 0.241 0 0 0 74 36 Spatula -0.117 0.778 -1.897 0 270 0 91 37 PaperTowelRoll 1.845 0.167 0.138 0 0 0 84 38 Vase -0.822 1.137 0.573 0 0 0 77 39 Egg 1.781 1.461 -0.271 0 270 0 88 40 SoapBottle 2.002 0.063 0.138 0 0 0 84 41 SaltShaker -1.330 0.909 -0.170 0 0 0 74 42 Lettuce -0.256 0.867 -1.969 327.984 40.845 31.472 91 43 PepperShaker 0.071 1.127 0.618 0 0 0 77 44 ButterKnife 1.419 0.911 -1.929 0 0 0 81 45 DishSponge 1.419 0.910 -2.183 0 0 0 81 46 Vase 2.979 0.539 0.128 0 0 0 87 47 Spoon -0.252 0.698 0.181 0 180 0 80 48 Tomato 0.055 0.812 -2.118 0 0 0 91 49 Mug 0.501 0.955 -1.900 0 0 0 97 50 Statue 2.900 0.886 0.195 0 180 0 85 51 Drawer -0.819 0.75 -1.690 0 0 0 52 Cabinet -1.149 2.264 -0.838 0 90 0 53 StoveBurner -1.056 0.949 -0.671 0 180 0 54 Cabinet 1.738 2.019 -2.000 0 0 0 55 Cabinet 1.389 0.469 -1.059 0 0 0 56 StoveBurner -1.289 0.949 -0.755 0 180 0 57 Faucet -0.157 1.052 -2.196 0 270 0 58 Cabinet 1.75 2.019 -1.029 0 0 0 59 Cabinet 1.75 2.019 -1.399 0 0 0 60 Cabinet 1.179 2.019 -2.0 0 0 0 61 Cabinet 0.199 2.019 -2.0 0 0 0 62 Cabinet -1.100 2.019 -2.0 0 0 0 63 Cabinet -1.149 2.019 -1.979 0 0 0 64 Cabinet -1.149 2.019 -0.770 0 0 0 65 Cabinet -1.149 2.019 0.380 0 0 0 66 Cabinet -0.819 0.469 -1.689 0 0 0 67 Cabinet -0.839 0.469 -1.664 0 0 0 68 Cabinet -0.839 0.469 -0.049 0 0 0 69 Cabinet -0.414 0.370 -0.009 0 0 0 70 Sink -0.118 0.875 -2.009 0 0 0 71 StoveBurner -1.289 0.949 -1.019 0 0 0 72 Cabinet 0.119 2.264 -2.0 0 0 0 73 Cabinet -0.459 2.264 -2.0 0 0 0 74 CounterTop -0.665 0.949 0.188 0 0 0 75 Drawer -0.449 0.75 -0.010 0 180 0 76 Cabinet -0.450 0.469 -0.009 0 0 0 77 CounterTop -0.630 1.167 0.573 0 0 0 78 StoveBurner -1.056 0.949 -1.126 0 0 0 79 Cabinet 1.376 0.460 -1.685 0 0 0 80 Drawer -0.070 0.75 -0.009 0 180 0 81 CounterTop 1.159 0.946 -2.013 0 0 0 82 Cabinet -1.150 2.264 -1.418 0 90 0 83 HousePlant -1.246 1.108 0.606 0 0 0 84 GarbageCan 1.923 -0.010 0.137 0 0 0 85 Shelf 2.759 0.880 0.144 0 0 0 86 Microwave 1.827 0.900 -1.354 0 270 0 87 Shelf 2.759 0.552 0.145 0 0 0 88 Fridge 1.975 0.0 -0.537 0 0 0 89 LightSwitch 0.404 1.297 2.0 0 180 0 90 Shelf 2.760 0.172 0.145 0 0 0 91 SinkBasin -0.129 0.752 -2.007 0 0 0 92 StoveKnob -0.873 0.903 -0.827 45 90 0 93 StoveKnob -0.873 0.903 -0.676 45 90 0 94 StoveKnob -0.873 0.903 -0.966 45 90 0 95 StoveKnob -0.873 0.903 -1.123 45 90 0 96 Toaster 0.840 0.900 -2.057 0 0 0 97 CoffeeMachine 0.501 0.900 -2.125 0 0 0 98 ShelvingUnit 2.760 0.006 0.144 0 0 0 99 Stool -0.826 0.010 0.908 0 347.513 0 100 Stool -0.132 0.010 0.883 0 71.555 0 101 NorthWall 102 EastWall 103 SouthWall 104 WestWall
[ "STEP 1: Turn to the right across the room face the counter | STEP 2: Pick up the knife from the counter | STEP 3: Turn to the left towards the refrigerator open the refrigerator | STEP 4: Slice the potato that is inside the refrigerator close the refrigerator door | STEP 5: Open the refrigerator door put the knife inside | STEP 6: Close the refrigerator door | STEP 7: Open the refrigerator door back again | STEP 8: Get a slice of the potato | STEP 9: Turn around to the right towards the sink | STEP 10: Put the slice of the potato inside the sink and rinse it off | STEP 11: Turn around to the left towards the refrigerator | STEP 12: Open the refrigerator and put the potato slice inside the refrigerator | END" ]
[ [ "STEP 1: Turn to the right across the room face the counter ", " STEP 2: Pick up the knife from the counter ", " STEP 3: Turn to the left towards the refrigerator open the refrigerator ", " STEP 4: Slice the potato that is inside the refrigerator close the refrigerator door ", " STEP 5: Open the refrigerator door put the knife inside ", " STEP 6: Close the refrigerator door ", " STEP 7: Open the refrigerator door back again ", " STEP 8: Get a slice of the potato ", " STEP 9: Turn around to the right towards the sink ", " STEP 10: Put the slice of the potato inside the sink and rinse it off ", " STEP 11: Turn around to the left towards the refrigerator ", " STEP 12: Open the refrigerator and put the potato slice inside the refrigerator ", " END" ] ]
seen
trial_T20190908_023755_570633-2
Slice potato in fridge and wash a slice.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 0.5 0.900 1.0 0 90 0 1 Pan 1.945 1.427 -0.737 0 180 0 88 2 Potato -0.913 0.943 -0.109 0 0 0 74 3 Potato -1.045 1.161 0.485 0 0 0 77 4 DishSponge 1.63 0.116 -1.397 0 0 0 55 5 DishSponge -0.623 0.693 -1.802 0 0 0 51 6 Kettle -1.157 0.912 -1.638 0 0 0 81 7 Pot -1.289 0.957 -0.756 0 180 0 56 8 Spatula -0.117 0.778 -2.008 0 180 0 91 9 Spatula -0.897 0.926 -1.929 0 0 0 81 10 Spoon -0.375 1.132 0.529 0 0 0 77 11 Spoon -1.138 0.912 -2.098 0 0 0 81 12 Plate 1.891 0.815 -0.365 0 270 0 88 13 Knife -0.152 1.155 0.485 0 0 0 77 14 SoapBottle -1.404 0.911 -1.469 0 0 0 81 15 SoapBottle -1.239 1.658 -1.600 0 0 0 63 16 Tomato -0.777 0.960 -1.845 0 0 0 81 17 Tomato 1.891 1.477 -0.271 0 270 0 88 18 PepperShaker 2.694 0.548 0.142 0 180 0 87 19 PepperShaker -0.725 0.690 -2.023 0 0 0 51 20 Lettuce -0.993 0.987 -1.384 0 90 0 81 21 Lettuce -1.259 0.987 -2.267 0 270 0 81 22 Mug -0.849 0.908 0.030 0 0 0 74 23 Pan 1.743 0.9 -1.969 0 308.846 0 81 24 Knife -1.278 0.937 0.083 0 0 0 74 25 Bowl -0.657 0.908 -2.014 0 0 0 81 26 Fork 0.969 0.911 -1.844 0 90 0 81 27 Cup 0.101 0.750 -1.938 0 0 0 91 28 Ladle -0.205 0.950 0.135 0 0 0 74 29 Apple -1.239 0.959 -1.806 0 0 0 81 30 Kettle -1.047 0.953 -2.094 0 0 0 81 31 Vase -0.192 0.118 0.163 0 180 0 69 32 Potato 1.891 1.129 -0.458 0 270 0 88 33 Pot -1.289 0.957 -1.02 0 0 0 71 34 Bread -1.148 0.981 -0.192 0 0 0 74 35 Plate -0.420 0.911 0.241 0 0 0 74 36 Spatula -0.117 0.778 -1.897 0 270 0 91 37 PaperTowelRoll 1.845 0.167 0.138 0 0 0 84 38 Vase -0.822 1.137 0.573 0 0 0 77 39 Egg 1.781 1.461 -0.271 0 270 0 88 40 SoapBottle 2.002 0.063 0.138 0 0 0 84 41 SaltShaker -1.330 0.909 -0.170 0 0 0 74 42 Lettuce -0.256 0.867 -1.969 327.984 40.845 31.472 91 43 PepperShaker 0.071 1.127 0.618 0 0 0 77 44 ButterKnife 1.419 0.911 -1.929 0 0 0 81 45 DishSponge 1.419 0.910 -2.183 0 0 0 81 46 Vase 2.979 0.539 0.128 0 0 0 87 47 Spoon -0.252 0.698 0.181 0 180 0 80 48 Tomato 0.055 0.812 -2.118 0 0 0 91 49 Mug 0.501 0.955 -1.900 0 0 0 97 50 Statue 2.900 0.886 0.195 0 180 0 85 51 Drawer -0.819 0.75 -1.690 0 0 0 52 Cabinet -1.149 2.264 -0.838 0 90 0 53 StoveBurner -1.056 0.949 -0.671 0 180 0 54 Cabinet 1.738 2.019 -2.000 0 0 0 55 Cabinet 1.389 0.469 -1.059 0 0 0 56 StoveBurner -1.289 0.949 -0.755 0 180 0 57 Faucet -0.157 1.052 -2.196 0 270 0 58 Cabinet 1.75 2.019 -1.029 0 0 0 59 Cabinet 1.75 2.019 -1.399 0 0 0 60 Cabinet 1.179 2.019 -2.0 0 0 0 61 Cabinet 0.199 2.019 -2.0 0 0 0 62 Cabinet -1.100 2.019 -2.0 0 0 0 63 Cabinet -1.149 2.019 -1.979 0 0 0 64 Cabinet -1.149 2.019 -0.770 0 0 0 65 Cabinet -1.149 2.019 0.380 0 0 0 66 Cabinet -0.819 0.469 -1.689 0 0 0 67 Cabinet -0.839 0.469 -1.664 0 0 0 68 Cabinet -0.839 0.469 -0.049 0 0 0 69 Cabinet -0.414 0.370 -0.009 0 0 0 70 Sink -0.118 0.875 -2.009 0 0 0 71 StoveBurner -1.289 0.949 -1.019 0 0 0 72 Cabinet 0.119 2.264 -2.0 0 0 0 73 Cabinet -0.459 2.264 -2.0 0 0 0 74 CounterTop -0.665 0.949 0.188 0 0 0 75 Drawer -0.449 0.75 -0.010 0 180 0 76 Cabinet -0.450 0.469 -0.009 0 0 0 77 CounterTop -0.630 1.167 0.573 0 0 0 78 StoveBurner -1.056 0.949 -1.126 0 0 0 79 Cabinet 1.376 0.460 -1.685 0 0 0 80 Drawer -0.070 0.75 -0.009 0 180 0 81 CounterTop 1.159 0.946 -2.013 0 0 0 82 Cabinet -1.150 2.264 -1.418 0 90 0 83 HousePlant -1.246 1.108 0.606 0 0 0 84 GarbageCan 1.923 -0.010 0.137 0 0 0 85 Shelf 2.759 0.880 0.144 0 0 0 86 Microwave 1.827 0.900 -1.354 0 270 0 87 Shelf 2.759 0.552 0.145 0 0 0 88 Fridge 1.975 0.0 -0.537 0 0 0 89 LightSwitch 0.404 1.297 2.0 0 180 0 90 Shelf 2.760 0.172 0.145 0 0 0 91 SinkBasin -0.129 0.752 -2.007 0 0 0 92 StoveKnob -0.873 0.903 -0.827 45 90 0 93 StoveKnob -0.873 0.903 -0.676 45 90 0 94 StoveKnob -0.873 0.903 -0.966 45 90 0 95 StoveKnob -0.873 0.903 -1.123 45 90 0 96 Toaster 0.840 0.900 -2.057 0 0 0 97 CoffeeMachine 0.501 0.900 -2.125 0 0 0 98 ShelvingUnit 2.760 0.006 0.144 0 0 0 99 Stool -0.826 0.010 0.908 0 347.513 0 100 Stool -0.132 0.010 0.883 0 71.555 0 101 NorthWall 102 EastWall 103 SouthWall 104 WestWall
[ "STEP 1: Take right, walk forward, take left to fridge | STEP 2: Take right, walk to counter, pick up the butter knife | STEP 3: Turn around, walk to fridge | STEP 4: Open fridge, cut potato on top shelf | STEP 5: Close the fridge, step back from fridge | STEP 6: Open fridge, place knife on shelf next to plate | STEP 7: Close the fridge and look up to the top | STEP 8: open fridge, grab out a slice of potato | STEP 9: Close fridge, turn around, walk to oven, take left | STEP 10: Walk to sink, place slice of potato in sink, use water, pick slice back out of sink | STEP 11: Turn around and walk toward counter, take right, walk to fridge | STEP 12: open fridge door, place slice of potato in front of potato, close fridge | END" ]
[ [ "STEP 1: Take right, walk forward, take left to fridge ", " STEP 2: Take right, walk to counter, pick up the butter knife ", " STEP 3: Turn around, walk to fridge ", " STEP 4: Open fridge, cut potato on top shelf ", " STEP 5: Close the fridge, step back from fridge ", " STEP 6: Open fridge, place knife on shelf next to plate ", " STEP 7: Close the fridge and look up to the top ", " STEP 8: open fridge, grab out a slice of potato ", " STEP 9: Close fridge, turn around, walk to oven, take left ", " STEP 10: Walk to sink, place slice of potato in sink, use water, pick slice back out of sink ", " STEP 11: Turn around and walk toward counter, take right, walk to fridge ", " STEP 12: open fridge door, place slice of potato in front of potato, close fridge ", " END" ] ]
seen
trial_T20190907_221803_588693-0
Fill a pan with water from the kitchen sink
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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 0.900 -2.25 0 90 0 1 Pencil -0.671 0.916 -3.839 0 0 0 47 2 Pencil -0.449 0.747 -3.297 0 270 0 58 3 Potato -0.815 0.947 -3.555 0 180 0 47 4 DishSponge -0.370 1.530 -3.768 0 45 0 55 5 WineBottle -2.666 0.924 -1.884 0 0 0 72 6 Spatula -0.600 0.930 -3.485 0 0 0 47 7 Cup -0.180 1.969 -2.363 0 0 0 54 8 Cup -0.228 1.689 -0.455 0 270 0 64 9 Egg -0.428 1.723 -0.455 0 270 0 64 10 Egg -0.222 0.948 -3.771 0 0 0 47 11 Tomato -2.780 0.987 -1.423 0 0 0 72 12 Tomato -1.943 0.090 -3.690 0 0 0 63 13 Bowl -2.324 0.922 -1.423 0 0 0 72 14 Mug -0.268 1.685 -1.084 0 270 0 64 15 Apple -0.246 1.172 -0.560 0 270 0 64 16 Apple -0.441 1.464 -0.769 0 270 0 64 17 Apple -1.204 1.703 -3.903 0 0 0 60 18 Lettuce -2.210 1.016 -0.963 0 0 0 72 19 Glassbottle -2.552 0.924 -1.423 0 0 0 72 20 Egg -0.348 1.723 -0.874 0 270 0 64 21 Pen -2.780 0.926 -2.345 0 0 0 72 22 Fork -2.096 0.924 -1.193 0 0 0 72 23 SoapBottle -0.457 0.914 -3.839 0 0 0 47 24 Pencil -0.420 0.747 -3.297 0 270 0 58 25 WineBottle -2.666 0.924 -2.115 0 0 0 72 26 Spatula -2.438 0.938 -2.345 0 0 0 72 27 Bread -0.415 0.952 -3.625 0 0 0 47 28 Tomato -0.388 1.754 -0.979 0 270 0 64 29 Pan -1.129 0.935 -3.752 0 90 0 57 30 Cup -1.048 1.968 -3.851 0 0 0 48 31 Pot -2.238 0.913 -1.882 0 0 0 72 32 SaltShaker -0.778 0.743 -3.556 0 0 0 46 33 Potato -0.222 0.947 -3.368 0 0 0 47 34 PepperShaker -0.306 0.077 -1.941 0 0 0 52 35 ButterKnife -2.210 0.923 -1.423 0 0 0 72 36 DishSponge -0.743 0.915 -3.697 0 0 0 47 37 Spoon -2.096 0.924 -1.884 0 90 0 72 38 Plate -0.392 1.101 -0.769 0 270 0 64 39 Knife -2.438 0.946 -1.884 0 0 0 72 40 Mug -0.343 1.385 -0.455 0 270 0 64 41 Bowl -2.438 0.922 -1.193 0 0 0 72 42 Cabinet -0.582 0.388 -1.804 0 0 0 43 StoveBurner -1.515 0.928 -3.752 0 90 0 44 StoveBurner -1.515 0.928 -3.497 0 0 0 45 StoveBurner -1.129 0.928 -3.498 0 0 0 46 Drawer -0.749 0.779 -3.551 0 0 0 47 CounterTop -0.303 0.951 -2.793 0 0 0 48 Cabinet -0.883 2.140 -3.687 0 0 0 49 Cabinet -0.312 2.140 -1.543 0 0 0 50 Sink -0.349 0.907 -2.014 0 0 0 51 Cabinet -0.877 0.388 -3.422 0 0 0 52 Cabinet -0.582 0.388 -2.197 0 0 0 53 Cabinet -0.584 0.388 -3.396 0 0 0 54 Cabinet -0.312 2.140 -2.481 0 0 0 55 Cabinet -0.330 1.921 -3.390 0 0 0 56 Cabinet -1.764 2.140 -3.687 0 0 0 57 StoveBurner -1.129 0.928 -3.752 0 90 0 58 Drawer -0.454 0.779 -3.268 0 0 0 59 Cabinet -0.302 1.916 -2.501 0 0 0 60 Microwave -1.317 1.517 -3.801 0 1.440 0 61 CoffeeMachine -0.153 0.903 -3.144 0 270 0 62 LightSwitch -4.323 1.319 0.0 0 180 0 63 GarbageCan -1.943 -7.152 -3.763 0 0 0 64 Fridge -0.330 0.0 -0.769 0 270 0 65 SinkBasin -0.350 0.786 -2.018 0 270 0 66 StoveKnob -1.582 1.082 -3.958 72.287 0 0 67 StoveKnob -1.177 1.082 -3.958 72.287 0 0 68 StoveKnob -1.424 1.082 -3.958 72.287 0 0 69 StoveKnob -1.028 1.082 -3.958 72.287 0 0 70 Toaster -0.181 0.903 -2.764 0 270 0 71 Window -2.503 1.782 -4.185 90 180 0 72 DiningTable -2.432 0.000 -1.694 0 270 0 73 Shelf -2.432 0.150 -1.694 0 270 0 74 Blinds -2.536 2.699 -3.959 0 0 0 75 Faucet -0.079 0.904 -2.034 270 180 0 76 Chair -3.264 0.002 -2.094 0 53.280 0 77 Chair -3.240 0.002 -1.253 0 117.257 0 78 Shelf -2.432 0.523 -1.694 0 270 0 79 NorthWall 80 EastWall 81 SouthWall 82 WestWall
[ "STEP 1: turn right and move towards the window, then turn left around the middle table and face it | STEP 2: pick up the medium sized pan on the table in front of the milk bottle | STEP 3: turn around and face the sink | STEP 4: place the pan in the kitchen sink, then turn the sink on and fill the pan with water. Pick it up out of the sink | STEP 5: turn around and face the table again | STEP 6: place the water filled pan on the far left corner of the table | END" ]
[ [ "STEP 1: turn right and move towards the window, then turn left around the middle table and face it ", " STEP 2: pick up the medium sized pan on the table in front of the milk bottle ", " STEP 3: turn around and face the sink ", " STEP 4: place the pan in the kitchen sink, then turn the sink on and fill the pan with water. Pick it up out of the sink ", " STEP 5: turn around and face the table again ", " STEP 6: place the water filled pan on the far left corner of the table ", " END" ] ]
seen
trial_T20190907_221803_588693-1
Put a clean bowl of water on the kitchen island.
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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 0.900 -2.25 0 90 0 1 Pencil -0.671 0.916 -3.839 0 0 0 47 2 Pencil -0.449 0.747 -3.297 0 270 0 58 3 Potato -0.815 0.947 -3.555 0 180 0 47 4 DishSponge -0.370 1.530 -3.768 0 45 0 55 5 WineBottle -2.666 0.924 -1.884 0 0 0 72 6 Spatula -0.600 0.930 -3.485 0 0 0 47 7 Cup -0.180 1.969 -2.363 0 0 0 54 8 Cup -0.228 1.689 -0.455 0 270 0 64 9 Egg -0.428 1.723 -0.455 0 270 0 64 10 Egg -0.222 0.948 -3.771 0 0 0 47 11 Tomato -2.780 0.987 -1.423 0 0 0 72 12 Tomato -1.943 0.090 -3.690 0 0 0 63 13 Bowl -2.324 0.922 -1.423 0 0 0 72 14 Mug -0.268 1.685 -1.084 0 270 0 64 15 Apple -0.246 1.172 -0.560 0 270 0 64 16 Apple -0.441 1.464 -0.769 0 270 0 64 17 Apple -1.204 1.703 -3.903 0 0 0 60 18 Lettuce -2.210 1.016 -0.963 0 0 0 72 19 Glassbottle -2.552 0.924 -1.423 0 0 0 72 20 Egg -0.348 1.723 -0.874 0 270 0 64 21 Pen -2.780 0.926 -2.345 0 0 0 72 22 Fork -2.096 0.924 -1.193 0 0 0 72 23 SoapBottle -0.457 0.914 -3.839 0 0 0 47 24 Pencil -0.420 0.747 -3.297 0 270 0 58 25 WineBottle -2.666 0.924 -2.115 0 0 0 72 26 Spatula -2.438 0.938 -2.345 0 0 0 72 27 Bread -0.415 0.952 -3.625 0 0 0 47 28 Tomato -0.388 1.754 -0.979 0 270 0 64 29 Pan -1.129 0.935 -3.752 0 90 0 57 30 Cup -1.048 1.968 -3.851 0 0 0 48 31 Pot -2.238 0.913 -1.882 0 0 0 72 32 SaltShaker -0.778 0.743 -3.556 0 0 0 46 33 Potato -0.222 0.947 -3.368 0 0 0 47 34 PepperShaker -0.306 0.077 -1.941 0 0 0 52 35 ButterKnife -2.210 0.923 -1.423 0 0 0 72 36 DishSponge -0.743 0.915 -3.697 0 0 0 47 37 Spoon -2.096 0.924 -1.884 0 90 0 72 38 Plate -0.392 1.101 -0.769 0 270 0 64 39 Knife -2.438 0.946 -1.884 0 0 0 72 40 Mug -0.343 1.385 -0.455 0 270 0 64 41 Bowl -2.438 0.922 -1.193 0 0 0 72 42 Cabinet -0.582 0.388 -1.804 0 0 0 43 StoveBurner -1.515 0.928 -3.752 0 90 0 44 StoveBurner -1.515 0.928 -3.497 0 0 0 45 StoveBurner -1.129 0.928 -3.498 0 0 0 46 Drawer -0.749 0.779 -3.551 0 0 0 47 CounterTop -0.303 0.951 -2.793 0 0 0 48 Cabinet -0.883 2.140 -3.687 0 0 0 49 Cabinet -0.312 2.140 -1.543 0 0 0 50 Sink -0.349 0.907 -2.014 0 0 0 51 Cabinet -0.877 0.388 -3.422 0 0 0 52 Cabinet -0.582 0.388 -2.197 0 0 0 53 Cabinet -0.584 0.388 -3.396 0 0 0 54 Cabinet -0.312 2.140 -2.481 0 0 0 55 Cabinet -0.330 1.921 -3.390 0 0 0 56 Cabinet -1.764 2.140 -3.687 0 0 0 57 StoveBurner -1.129 0.928 -3.752 0 90 0 58 Drawer -0.454 0.779 -3.268 0 0 0 59 Cabinet -0.302 1.916 -2.501 0 0 0 60 Microwave -1.317 1.517 -3.801 0 1.440 0 61 CoffeeMachine -0.153 0.903 -3.144 0 270 0 62 LightSwitch -4.323 1.319 0.0 0 180 0 63 GarbageCan -1.943 -7.152 -3.763 0 0 0 64 Fridge -0.330 0.0 -0.769 0 270 0 65 SinkBasin -0.350 0.786 -2.018 0 270 0 66 StoveKnob -1.582 1.082 -3.958 72.287 0 0 67 StoveKnob -1.177 1.082 -3.958 72.287 0 0 68 StoveKnob -1.424 1.082 -3.958 72.287 0 0 69 StoveKnob -1.028 1.082 -3.958 72.287 0 0 70 Toaster -0.181 0.903 -2.764 0 270 0 71 Window -2.503 1.782 -4.185 90 180 0 72 DiningTable -2.432 0.000 -1.694 0 270 0 73 Shelf -2.432 0.150 -1.694 0 270 0 74 Blinds -2.536 2.699 -3.959 0 0 0 75 Faucet -0.079 0.904 -2.034 270 180 0 76 Chair -3.264 0.002 -2.094 0 53.280 0 77 Chair -3.240 0.002 -1.253 0 117.257 0 78 Shelf -2.432 0.523 -1.694 0 270 0 79 NorthWall 80 EastWall 81 SouthWall 82 WestWall
[ "STEP 1: Turn right and begin walking across the room, then hang a left and walk over to the far side of the kitchen island. | STEP 2: Pick up the dirty bowl that is closest to the bottle of wine on the kitchen island. | STEP 3: Turn left and take a step forward, then turn left and walk up to the sink. | STEP 4: Put the dirty bowl in the sink and turn on the water, after a couple seconds turn the water off and remove the now clean bowl filled with water. | STEP 5: Turn around and take a step forward so you are facing the kitchen island. | STEP 6: Put the clean bowl of water on the island on the left corner. | END" ]
[ [ "STEP 1: Turn right and begin walking across the room, then hang a left and walk over to the far side of the kitchen island. ", " STEP 2: Pick up the dirty bowl that is closest to the bottle of wine on the kitchen island. ", " STEP 3: Turn left and take a step forward, then turn left and walk up to the sink. ", " STEP 4: Put the dirty bowl in the sink and turn on the water, after a couple seconds turn the water off and remove the now clean bowl filled with water. ", " STEP 5: Turn around and take a step forward so you are facing the kitchen island. ", " STEP 6: Put the clean bowl of water on the island on the left corner. ", " END" ] ]
seen
trial_T20190907_221803_588693-2
Put bowl with water on the table
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" -0.312", " 2.140", " -1.543", " 0", " 0", " 0", "" ], [ "50", " Sink", " -0.349", " 0.907", " -2.014", " 0", " 0", " 0", "" ], [ "51", " Cabinet", " -0.877", " 0.388", " -3.422", " 0", " 0", " 0", "" ], [ "52", " Cabinet", " -0.582", " 0.388", " -2.197", " 0", " 0", " 0", "" ], [ "53", " Cabinet", " -0.584", " 0.388", " -3.396", " 0", " 0", " 0", "" ], [ "54", " Cabinet", " -0.312", " 2.140", " -2.481", " 0", " 0", " 0", "" ], [ "55", " Cabinet", " -0.330", " 1.921", " -3.390", " 0", " 0", " 0", "" ], [ "56", " Cabinet", " -1.764", " 2.140", " -3.687", " 0", " 0", " 0", "" ], [ "57", " StoveBurner", " -1.129", " 0.928", " -3.752", " 0", " 90", " 0", "" ], [ "58", " Drawer", " -0.454", " 0.779", " -3.268", " 0", " 0", " 0", "" ], [ "59", " Cabinet", " -0.302", " 1.916", " -2.501", " 0", " 0", " 0", "" ], [ "60", " Microwave", " -1.317", " 1.517", " -3.801", " 0", " 1.440", " 0", "" ], [ "61", " CoffeeMachine", " -0.153", " 0.903", " -3.144", " 0", " 270", " 0", "" ], [ "62", " 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[ "STEP 1: Turn to your right move forward the turn left then head towards the the table facing the two chairs | STEP 2: Pick up the bowl in front of you beside the clear bottle | STEP 3: Turn to your left and head to the sink | STEP 4: Put the bowl in the sink then rinse it and fill it with water | STEP 5: Pick up the bowl with water then turn around to your right facing the table | STEP 6: Put the bowl on the left side edge of the table | END" ]
[ [ "STEP 1: Turn to your right move forward the turn left then head towards the the table facing the two chairs ", " STEP 2: Pick up the bowl in front of you beside the clear bottle ", " STEP 3: Turn to your left and head to the sink ", " STEP 4: Put the bowl in the sink then rinse it and fill it with water ", " STEP 5: Pick up the bowl with water then turn around to your right facing the table ", " STEP 6: Put the bowl on the left side edge of the table ", " END" ] ]
seen
trial_T20190909_150140_960275-0
take the candle from the sink to 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 -1.25 0.900 3.25 0 270 0 1 Cloth -3.552 0.185 3.529 0 347.395 0 21 2 Cloth -3.242 0.185 2.917 0 347.395 0 21 3 SoapBar -0.661 0.037 5.066 0 0 0 31 4 SoapBar -1.746 0.037 4.827 0 0 0 30 5 SprayBottle -0.711 0.038 4.768 0 0 0 31 6 SoapBottle -3.597 0.546 1.109 0 90 0 38 7 SoapBottle -1.279 0.044 4.828 0 0 0 32 8 Towel -0.181 1.419 2.425 0 270 0 36 9 Candle -0.252 0.972 4.946 0 0 0 28 10 SoapBottle -0.224 1.049 3.092 0 270 0 42 11 HandTowel -2.093 1.442 5.107 0 0 0 39 12 Towel -1.719 1.228 1.846 0 0 0 35 13 SoapBar -0.222 0.963 5.084 0 0 0 28 14 ToiletPaper -0.153 1.126 3.705 0 270 270 41 15 TissueBox -3.597 0.541 0.373 0 90 0 38 16 Cloth -1.095 0.964 4.933 0 0 0 28 17 ToiletPaper -0.911 0.034 4.768 0 0 0 31 18 SprayBottle -1.008 0.964 5.065 0 0 0 28 19 ScrubBrush -0.231 -0.000 3.857 0 0 0 Floor|+00.00| 20 Plunger -0.212 -0.000 3.536 0 0 0 Floor|+00.00| 21 BathtubBasin -3.404 0.166 2.904 0 0 0 22 Cabinet -0.124 0.364 4.634 0 0 0 23 Bathtub -2.896 0.667 2.860 0 0 0 24 Faucet -3.475 0.711 3.811 0 0 0 25 ShowerGlass 0.0 0.0 0.0 0 0 0 26 ShowerDoor -0.282 1.228 1.730 0 0 0 27 Faucet -1.524 1.047 5.096 0 180 0 28 CounterTop -1.023 0.954 4.884 0 0 0 29 Mirror -0.975 1.577 5.145 0 0 0 30 Cabinet -1.962 0.364 4.634 0 0 0 31 Cabinet -1.027 0.364 4.634 0 0 0 32 Cabinet -1.059 0.364 4.634 0 0 0 33 Window -1.993 1.888 0.144 0 0 0 34 LightSwitch -2.496 1.366 5.146 0 180 0 35 TowelHolder -1.720 1.213 1.740 0 0 0 36 TowelHolder -0.074 1.404 2.424 0 270 0 37 GarbageCan -2.346 0.002 4.878 0 180 0 38 Shelf -3.713 0.531 0.951 0 90 0 39 HandTowelHolder -2.094 1.544 5.145 0 90 0 40 HandTowelHolder -0.074 1.569 4.810 0 180 0 41 ToiletPaperHanger -0.074 1.126 3.686 0 270 0 42 Toilet -0.517 -0.000 3.220 0 0 0 43 ShowerHead -0.182 1.256 0.875 0 0 0 44 SinkBasin -0.569 0.986 4.886 0 180 0 45 Sink -0.579 0.926 4.874 0 180 0 46 Sink -1.524 0.926 4.874 0 180 0 47 SinkBasin -1.514 0.986 4.886 0 180 0 48 Faucet -0.583 1.047 5.096 0 180 0 49 NorthWall 50 EastWall 51 SouthWall 52 WestWall
[ "STEP 1: go to the sink | STEP 2: pick up the candle to the right of the sink | STEP 3: take the candle to the toilet | STEP 4: put the candle on the toilet tank | END" ]
[ [ "STEP 1: go to the sink ", " STEP 2: pick up the candle to the right of the sink ", " STEP 3: take the candle to the toilet ", " STEP 4: put the candle on the toilet tank ", " END" ] ]
seen
trial_T20190909_150140_960275-1
Move a candle to the toilet tank
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.25 0.900 3.25 0 270 0 1 Cloth -3.552 0.185 3.529 0 347.395 0 21 2 Cloth -3.242 0.185 2.917 0 347.395 0 21 3 SoapBar -0.661 0.037 5.066 0 0 0 31 4 SoapBar -1.746 0.037 4.827 0 0 0 30 5 SprayBottle -0.711 0.038 4.768 0 0 0 31 6 SoapBottle -3.597 0.546 1.109 0 90 0 38 7 SoapBottle -1.279 0.044 4.828 0 0 0 32 8 Towel -0.181 1.419 2.425 0 270 0 36 9 Candle -0.252 0.972 4.946 0 0 0 28 10 SoapBottle -0.224 1.049 3.092 0 270 0 42 11 HandTowel -2.093 1.442 5.107 0 0 0 39 12 Towel -1.719 1.228 1.846 0 0 0 35 13 SoapBar -0.222 0.963 5.084 0 0 0 28 14 ToiletPaper -0.153 1.126 3.705 0 270 270 41 15 TissueBox -3.597 0.541 0.373 0 90 0 38 16 Cloth -1.095 0.964 4.933 0 0 0 28 17 ToiletPaper -0.911 0.034 4.768 0 0 0 31 18 SprayBottle -1.008 0.964 5.065 0 0 0 28 19 ScrubBrush -0.231 -0.000 3.857 0 0 0 Floor|+00.00| 20 Plunger -0.212 -0.000 3.536 0 0 0 Floor|+00.00| 21 BathtubBasin -3.404 0.166 2.904 0 0 0 22 Cabinet -0.124 0.364 4.634 0 0 0 23 Bathtub -2.896 0.667 2.860 0 0 0 24 Faucet -3.475 0.711 3.811 0 0 0 25 ShowerGlass 0.0 0.0 0.0 0 0 0 26 ShowerDoor -0.282 1.228 1.730 0 0 0 27 Faucet -1.524 1.047 5.096 0 180 0 28 CounterTop -1.023 0.954 4.884 0 0 0 29 Mirror -0.975 1.577 5.145 0 0 0 30 Cabinet -1.962 0.364 4.634 0 0 0 31 Cabinet -1.027 0.364 4.634 0 0 0 32 Cabinet -1.059 0.364 4.634 0 0 0 33 Window -1.993 1.888 0.144 0 0 0 34 LightSwitch -2.496 1.366 5.146 0 180 0 35 TowelHolder -1.720 1.213 1.740 0 0 0 36 TowelHolder -0.074 1.404 2.424 0 270 0 37 GarbageCan -2.346 0.002 4.878 0 180 0 38 Shelf -3.713 0.531 0.951 0 90 0 39 HandTowelHolder -2.094 1.544 5.145 0 90 0 40 HandTowelHolder -0.074 1.569 4.810 0 180 0 41 ToiletPaperHanger -0.074 1.126 3.686 0 270 0 42 Toilet -0.517 -0.000 3.220 0 0 0 43 ShowerHead -0.182 1.256 0.875 0 0 0 44 SinkBasin -0.569 0.986 4.886 0 180 0 45 Sink -0.579 0.926 4.874 0 180 0 46 Sink -1.524 0.926 4.874 0 180 0 47 SinkBasin -1.514 0.986 4.886 0 180 0 48 Faucet -0.583 1.047 5.096 0 180 0 49 NorthWall 50 EastWall 51 SouthWall 52 WestWall
[ "STEP 1: Move right then face the far right side of the counter top right of the sink | STEP 2: Pick up the candle stick on top of the sink | STEP 3: Carry the candle stick over to the toilet | STEP 4: Place the candle stick on top of the toilet on the far right side of the toilet tank | END" ]
[ [ "STEP 1: Move right then face the far right side of the counter top right of the sink ", " STEP 2: Pick up the candle stick on top of the sink ", " STEP 3: Carry the candle stick over to the toilet ", " STEP 4: Place the candle stick on top of the toilet on the far right side of the toilet tank ", " END" ] ]
seen
trial_T20190909_150140_960275-2
Put a candle on a toilet.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.25 0.900 3.25 0 270 0 1 Cloth -3.552 0.185 3.529 0 347.395 0 21 2 Cloth -3.242 0.185 2.917 0 347.395 0 21 3 SoapBar -0.661 0.037 5.066 0 0 0 31 4 SoapBar -1.746 0.037 4.827 0 0 0 30 5 SprayBottle -0.711 0.038 4.768 0 0 0 31 6 SoapBottle -3.597 0.546 1.109 0 90 0 38 7 SoapBottle -1.279 0.044 4.828 0 0 0 32 8 Towel -0.181 1.419 2.425 0 270 0 36 9 Candle -0.252 0.972 4.946 0 0 0 28 10 SoapBottle -0.224 1.049 3.092 0 270 0 42 11 HandTowel -2.093 1.442 5.107 0 0 0 39 12 Towel -1.719 1.228 1.846 0 0 0 35 13 SoapBar -0.222 0.963 5.084 0 0 0 28 14 ToiletPaper -0.153 1.126 3.705 0 270 270 41 15 TissueBox -3.597 0.541 0.373 0 90 0 38 16 Cloth -1.095 0.964 4.933 0 0 0 28 17 ToiletPaper -0.911 0.034 4.768 0 0 0 31 18 SprayBottle -1.008 0.964 5.065 0 0 0 28 19 ScrubBrush -0.231 -0.000 3.857 0 0 0 Floor|+00.00| 20 Plunger -0.212 -0.000 3.536 0 0 0 Floor|+00.00| 21 BathtubBasin -3.404 0.166 2.904 0 0 0 22 Cabinet -0.124 0.364 4.634 0 0 0 23 Bathtub -2.896 0.667 2.860 0 0 0 24 Faucet -3.475 0.711 3.811 0 0 0 25 ShowerGlass 0.0 0.0 0.0 0 0 0 26 ShowerDoor -0.282 1.228 1.730 0 0 0 27 Faucet -1.524 1.047 5.096 0 180 0 28 CounterTop -1.023 0.954 4.884 0 0 0 29 Mirror -0.975 1.577 5.145 0 0 0 30 Cabinet -1.962 0.364 4.634 0 0 0 31 Cabinet -1.027 0.364 4.634 0 0 0 32 Cabinet -1.059 0.364 4.634 0 0 0 33 Window -1.993 1.888 0.144 0 0 0 34 LightSwitch -2.496 1.366 5.146 0 180 0 35 TowelHolder -1.720 1.213 1.740 0 0 0 36 TowelHolder -0.074 1.404 2.424 0 270 0 37 GarbageCan -2.346 0.002 4.878 0 180 0 38 Shelf -3.713 0.531 0.951 0 90 0 39 HandTowelHolder -2.094 1.544 5.145 0 90 0 40 HandTowelHolder -0.074 1.569 4.810 0 180 0 41 ToiletPaperHanger -0.074 1.126 3.686 0 270 0 42 Toilet -0.517 -0.000 3.220 0 0 0 43 ShowerHead -0.182 1.256 0.875 0 0 0 44 SinkBasin -0.569 0.986 4.886 0 180 0 45 Sink -0.579 0.926 4.874 0 180 0 46 Sink -1.524 0.926 4.874 0 180 0 47 SinkBasin -1.514 0.986 4.886 0 180 0 48 Faucet -0.583 1.047 5.096 0 180 0 49 NorthWall 50 EastWall 51 SouthWall 52 WestWall
[ "STEP 1: Turn to the right and face the sink on the right. | STEP 2: Pick the candle up from the right of the sink. | STEP 3: Turn around and cross the room to stand on the right side of the toilet. | STEP 4: Put the candle down on the back of the toilet. | END" ]
[ [ "STEP 1: Turn to the right and face the sink on the right. ", " STEP 2: Pick the candle up from the right of the sink. ", " STEP 3: Turn around and cross the room to stand on the right side of the toilet. ", " STEP 4: Put the candle down on the back of the toilet. ", " END" ] ]
seen
trial_T20190906_203615_424745-0
Put two credit cards on the couch.
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " 1.5", " 0.900", " -0.25", " 0", " 90", " 0", "" ], [ "1", " Bowl", " -1.640", " 0.569", " -1.550", " 0", " 90", " 0", " 46" ], [ "2", " RemoteControl", " -0.416", " 0.478", " -1.245", " 0", " 180", " 0", " 42" ], [ "3", " RemoteControl", " 0.133", " 0.554", " 0.997", " 0", " 180", " 0", " 39" ], [ "4", " CreditCard", " -1.895", " 1.619", " -2.495", " 0", " 90", " 0", " 50" ], [ "5", " CreditCard", " 0.035", " 0.477", " -1.245", " 0", " 180", " 0", " 42" ], [ "6", " CreditCard", " 0.487", " 0.473", " -0.995", " 0", " 180", " 0", " 42" ], [ "7", " Box", " -1.680", " 0.892", " -0.585", " 0", " 90", " 0", " 46" ], [ "8", " Laptop", " 0.133", " 0.553", " 0.814", " 0", " 180", " 0", " 39" ], [ "9", " Pillow", " 0.794", " 0.609", " 0.906", " 0", " 180", " 0", " 39" ], [ "10", " Box", " 2.513", " 0.144", " -1.093", " 0", " 318.382", " 0", " 52" ], [ "11", " Bowl", " -1.616", " 0.757", " -1.526", " 0", " 90", " 0", " 46" ], [ "12", " KeyChain", " 0.573", " 0.546", " 1.089", " 0", " 180", " 0", " 39" ], [ "13", " Vase", " -1.588", " 0.168", " -0.531", " 0", " 0", " 0", " 47" ], [ "14", " Statue", " -1.680", " 0.758", " -0.350", " 0", " 270", " 0", " 46" ], [ "15", " Pillow", " -0.495", " 0.593", " 0.955", " 0", " 0", " 0", " 39" ], [ "16", " Laptop", " -0.265", " 0.471", " -1.057", " 0", " 180", " 0", " 42" ], [ "17", " Vase", " -1.808", " 1.615", " -2.597", " 0", " 0", " 0", " 43" ], [ "18", " Statue", " 0.145", " 0.551", " -1.129", " 0", " 0", " 0", " 42" ], [ "19", " RemoteControl", " 2.067", " 0.453", " -1.890", " 0", " 270", " 0", " 52" ], [ "20", " Vase", " 0.009", " 0.168", " -2.264", " 0", " 0", " 0", " 36" ], [ "21", " CreditCard", " -0.451", " 0.760", " -2.322", " 0", " 0", " 0", " 34" ], [ "22", " Vase", " -1.680", " 0.760", " -1.055", " 0", " 90", " 0", " 46" ], [ "23", " Statue", " -1.696", " 0.753", " -1.294", " 0", " 74.999", " 0", " 46" ], [ "24", " Painting", " 0.172", " 1.781", " 1.934", " 0", " 0", " 0", "" ], [ "25", " HousePlant", " -1.646", " 0.755", " -1.792", " 0", " 0", " 0", "" ], [ "26", " LightSwitch", " 1.406", " 1.294", " 1.651", " 0", " 180", " 0", "" ], [ "27", " Television", " -0.035", " 1.239", " -2.439", " 0", " 0", " 0", "" ], [ "28", " FloorLamp", " -1.573", " -0.003", " 1.302", " 0", " 0", " 0", "" ], [ "29", " GarbageCan", " 0.742", " -0.000", " -2.522", " 0", " 270", " 0", "" ], [ "30", " Window", " -0.816", " 1.534", " -2.719", " 90", " 0", " 0", "" ], [ "31", " Window", " 0.791", " 1.534", " -2.718", " 90", " 0", " 0", "" ], [ "32", " Shelf", " 0.340", " 0.474", " -2.377", " 0", " 0", " 0", "" ], [ "33", " Shelf", " 0.341", " 0.273", " -2.377", " 0", " 0", " 0", "" ], [ "34", " TVStand", " -0.025", " -0.000", " -2.385", " 0", " 0", " 0", "" ], [ "35", " Shelf", " -0.393", " 0.302", " -2.382", " 0", " 0", " 0", "" ], [ "36", " Shelf", " -0.026", " 0.442", " -2.380", " 0", " 0", " 0", "" ], [ "37", " Shelf", " -0.393", " 0.597", " -2.382", " 0", " 0", " 0", "" ], [ "38", " Shelf", " 0.340", " 0.643", " -2.377", " 0", " 0", " 0", "" ], [ "39", " Sofa", " 0.124", " 0.008", " 1.032", " 0", " 180", " 0", "" ], [ "40", " Cabinet", " -1.827", " 0.729", " -2.357", " 0", " 90", " 0", "" ], [ "41", " Shelf", " -1.827", " 2.041", " -2.356", " 0", " 90", " 0", "" ], [ "42", " CoffeeTable", " 0.017", " -0.000", " -1.108", " 0", " 180", " 0", "" ], [ "43", " Shelf", " -1.827", " 1.744", " -2.356", " 0", " 90", " 0", "" ], [ "44", " Shelf", " -1.827", " 1.452", " -2.356", " 0", " 90", " 0", "" ], [ "45", " Shelf", " -1.730", " 0.278", " -1.635", " 0", " 90", " 0", "" ], [ "46", " TVStand", " -1.733", " -0.000", " -1.058", " 0", " 90", " 0", "" ], [ "47", " Shelf", " -1.730", " 0.302", " -0.479", " 0", " 90", " 0", "" ], [ "48", " Shelf", " -1.732", " 0.446", " -1.056", " 0", " 90", " 0", "" ], [ "49", " Shelf", " -1.731", " 0.596", " -0.478", " 0", " 90", " 0", "" ], [ "50", " Shelf", " -1.733", " 0.648", " -1.635", " 0", " 90", " 0", "" ], [ "51", " Shelf", " -1.730", " 0.477", " -1.635", " 0", " 90", " 0", "" ], [ "52", " ArmChair", " 2.344", " 0.002", " -2.041", " 0", " 270", " 0", "" ], [ "53", " ShelvingUnit", " -1.847", " 0.001", " -2.357", " 0", " 90", " 0", "" ], [ "54", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "55", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "56", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "57", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 1.5 0.900 -0.25 0 90 0 1 Bowl -1.640 0.569 -1.550 0 90 0 46 2 RemoteControl -0.416 0.478 -1.245 0 180 0 42 3 RemoteControl 0.133 0.554 0.997 0 180 0 39 4 CreditCard -1.895 1.619 -2.495 0 90 0 50 5 CreditCard 0.035 0.477 -1.245 0 180 0 42 6 CreditCard 0.487 0.473 -0.995 0 180 0 42 7 Box -1.680 0.892 -0.585 0 90 0 46 8 Laptop 0.133 0.553 0.814 0 180 0 39 9 Pillow 0.794 0.609 0.906 0 180 0 39 10 Box 2.513 0.144 -1.093 0 318.382 0 52 11 Bowl -1.616 0.757 -1.526 0 90 0 46 12 KeyChain 0.573 0.546 1.089 0 180 0 39 13 Vase -1.588 0.168 -0.531 0 0 0 47 14 Statue -1.680 0.758 -0.350 0 270 0 46 15 Pillow -0.495 0.593 0.955 0 0 0 39 16 Laptop -0.265 0.471 -1.057 0 180 0 42 17 Vase -1.808 1.615 -2.597 0 0 0 43 18 Statue 0.145 0.551 -1.129 0 0 0 42 19 RemoteControl 2.067 0.453 -1.890 0 270 0 52 20 Vase 0.009 0.168 -2.264 0 0 0 36 21 CreditCard -0.451 0.760 -2.322 0 0 0 34 22 Vase -1.680 0.760 -1.055 0 90 0 46 23 Statue -1.696 0.753 -1.294 0 74.999 0 46 24 Painting 0.172 1.781 1.934 0 0 0 25 HousePlant -1.646 0.755 -1.792 0 0 0 26 LightSwitch 1.406 1.294 1.651 0 180 0 27 Television -0.035 1.239 -2.439 0 0 0 28 FloorLamp -1.573 -0.003 1.302 0 0 0 29 GarbageCan 0.742 -0.000 -2.522 0 270 0 30 Window -0.816 1.534 -2.719 90 0 0 31 Window 0.791 1.534 -2.718 90 0 0 32 Shelf 0.340 0.474 -2.377 0 0 0 33 Shelf 0.341 0.273 -2.377 0 0 0 34 TVStand -0.025 -0.000 -2.385 0 0 0 35 Shelf -0.393 0.302 -2.382 0 0 0 36 Shelf -0.026 0.442 -2.380 0 0 0 37 Shelf -0.393 0.597 -2.382 0 0 0 38 Shelf 0.340 0.643 -2.377 0 0 0 39 Sofa 0.124 0.008 1.032 0 180 0 40 Cabinet -1.827 0.729 -2.357 0 90 0 41 Shelf -1.827 2.041 -2.356 0 90 0 42 CoffeeTable 0.017 -0.000 -1.108 0 180 0 43 Shelf -1.827 1.744 -2.356 0 90 0 44 Shelf -1.827 1.452 -2.356 0 90 0 45 Shelf -1.730 0.278 -1.635 0 90 0 46 TVStand -1.733 -0.000 -1.058 0 90 0 47 Shelf -1.730 0.302 -0.479 0 90 0 48 Shelf -1.732 0.446 -1.056 0 90 0 49 Shelf -1.731 0.596 -0.478 0 90 0 50 Shelf -1.733 0.648 -1.635 0 90 0 51 Shelf -1.730 0.477 -1.635 0 90 0 52 ArmChair 2.344 0.002 -2.041 0 270 0 53 ShelvingUnit -1.847 0.001 -2.357 0 90 0 54 NorthWall 55 EastWall 56 SouthWall 57 WestWall
[ "STEP 1: Turn around and walk until you are even with the coffee table on your left and then turn left to face it. | STEP 2: Pick up the credit card that's in front of you. | STEP 3: Turn around to face the laptop and shift ever so slightly to your right. | STEP 4: Set the credit card on the edge of the couch to the right of the laptop. | STEP 5: Walk around to the other side of the coffee table so it's between you and the couch. | STEP 6: Pick up the other credit card that's in front of you. | STEP 7: Walk back to where you put the first credit card. | STEP 8: Set the credit card about half a foot to the right of the first credit card and line them up so they are both going the same direction. | END" ]
[ [ "STEP 1: Turn around and walk until you are even with the coffee table on your left and then turn left to face it. ", " STEP 2: Pick up the credit card that's in front of you. ", " STEP 3: Turn around to face the laptop and shift ever so slightly to your right. ", " STEP 4: Set the credit card on the edge of the couch to the right of the laptop. ", " STEP 5: Walk around to the other side of the coffee table so it's between you and the couch. ", " STEP 6: Pick up the other credit card that's in front of you. ", " STEP 7: Walk back to where you put the first credit card. ", " STEP 8: Set the credit card about half a foot to the right of the first credit card and line them up so they are both going the same direction. ", " END" ] ]
seen
trial_T20190906_203615_424745-1
Place two credit cards on a couch.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 1.5 0.900 -0.25 0 90 0 1 Bowl -1.640 0.569 -1.550 0 90 0 46 2 RemoteControl -0.416 0.478 -1.245 0 180 0 42 3 RemoteControl 0.133 0.554 0.997 0 180 0 39 4 CreditCard -1.895 1.619 -2.495 0 90 0 50 5 CreditCard 0.035 0.477 -1.245 0 180 0 42 6 CreditCard 0.487 0.473 -0.995 0 180 0 42 7 Box -1.680 0.892 -0.585 0 90 0 46 8 Laptop 0.133 0.553 0.814 0 180 0 39 9 Pillow 0.794 0.609 0.906 0 180 0 39 10 Box 2.513 0.144 -1.093 0 318.382 0 52 11 Bowl -1.616 0.757 -1.526 0 90 0 46 12 KeyChain 0.573 0.546 1.089 0 180 0 39 13 Vase -1.588 0.168 -0.531 0 0 0 47 14 Statue -1.680 0.758 -0.350 0 270 0 46 15 Pillow -0.495 0.593 0.955 0 0 0 39 16 Laptop -0.265 0.471 -1.057 0 180 0 42 17 Vase -1.808 1.615 -2.597 0 0 0 43 18 Statue 0.145 0.551 -1.129 0 0 0 42 19 RemoteControl 2.067 0.453 -1.890 0 270 0 52 20 Vase 0.009 0.168 -2.264 0 0 0 36 21 CreditCard -0.451 0.760 -2.322 0 0 0 34 22 Vase -1.680 0.760 -1.055 0 90 0 46 23 Statue -1.696 0.753 -1.294 0 74.999 0 46 24 Painting 0.172 1.781 1.934 0 0 0 25 HousePlant -1.646 0.755 -1.792 0 0 0 26 LightSwitch 1.406 1.294 1.651 0 180 0 27 Television -0.035 1.239 -2.439 0 0 0 28 FloorLamp -1.573 -0.003 1.302 0 0 0 29 GarbageCan 0.742 -0.000 -2.522 0 270 0 30 Window -0.816 1.534 -2.719 90 0 0 31 Window 0.791 1.534 -2.718 90 0 0 32 Shelf 0.340 0.474 -2.377 0 0 0 33 Shelf 0.341 0.273 -2.377 0 0 0 34 TVStand -0.025 -0.000 -2.385 0 0 0 35 Shelf -0.393 0.302 -2.382 0 0 0 36 Shelf -0.026 0.442 -2.380 0 0 0 37 Shelf -0.393 0.597 -2.382 0 0 0 38 Shelf 0.340 0.643 -2.377 0 0 0 39 Sofa 0.124 0.008 1.032 0 180 0 40 Cabinet -1.827 0.729 -2.357 0 90 0 41 Shelf -1.827 2.041 -2.356 0 90 0 42 CoffeeTable 0.017 -0.000 -1.108 0 180 0 43 Shelf -1.827 1.744 -2.356 0 90 0 44 Shelf -1.827 1.452 -2.356 0 90 0 45 Shelf -1.730 0.278 -1.635 0 90 0 46 TVStand -1.733 -0.000 -1.058 0 90 0 47 Shelf -1.730 0.302 -0.479 0 90 0 48 Shelf -1.732 0.446 -1.056 0 90 0 49 Shelf -1.731 0.596 -0.478 0 90 0 50 Shelf -1.733 0.648 -1.635 0 90 0 51 Shelf -1.730 0.477 -1.635 0 90 0 52 ArmChair 2.344 0.002 -2.041 0 270 0 53 ShelvingUnit -1.847 0.001 -2.357 0 90 0 54 NorthWall 55 EastWall 56 SouthWall 57 WestWall
[ "STEP 1: Turn around and walk to the long side of the coffee table closest to your position. | STEP 2: Pick up the credit card on the coffee table. | STEP 3: Turn around and face the couch. | STEP 4: Put the credit card to the right of the laptop. | STEP 5: Turn around and walk around to the other side of the coffee table. | STEP 6: Pick up the credit card on the table. | STEP 7: Walk around the table and back to the couch. | STEP 8: Place the credit card to the right of the other card and in front of the pillow. | END" ]
[ [ "STEP 1: Turn around and walk to the long side of the coffee table closest to your position. ", " STEP 2: Pick up the credit card on the coffee table. ", " STEP 3: Turn around and face the couch. ", " STEP 4: Put the credit card to the right of the laptop. ", " STEP 5: Turn around and walk around to the other side of the coffee table. ", " STEP 6: Pick up the credit card on the table. ", " STEP 7: Walk around the table and back to the couch. ", " STEP 8: Place the credit card to the right of the other card and in front of the pillow. ", " END" ] ]
seen
trial_T20190906_203615_424745-2
Pick up the two credit cards. Put them on the couch.
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " 1.5", " 0.900", " -0.25", " 0", " 90", " 0", "" ], [ "1", " Bowl", " -1.640", " 0.569", " -1.550", " 0", " 90", " 0", " 46" ], [ "2", " RemoteControl", " -0.416", " 0.478", " -1.245", " 0", " 180", " 0", " 42" ], [ "3", " RemoteControl", " 0.133", " 0.554", " 0.997", " 0", " 180", " 0", " 39" ], [ "4", " CreditCard", " -1.895", " 1.619", " -2.495", " 0", " 90", " 0", " 50" ], [ "5", " CreditCard", " 0.035", " 0.477", " -1.245", " 0", " 180", " 0", " 42" ], [ "6", " CreditCard", " 0.487", " 0.473", " -0.995", " 0", " 180", " 0", " 42" ], [ "7", " Box", " -1.680", " 0.892", " -0.585", " 0", " 90", " 0", " 46" ], [ "8", " Laptop", " 0.133", " 0.553", " 0.814", " 0", " 180", " 0", " 39" ], [ "9", " Pillow", " 0.794", " 0.609", " 0.906", " 0", " 180", " 0", " 39" ], [ "10", " Box", " 2.513", " 0.144", " -1.093", " 0", " 318.382", " 0", " 52" ], [ "11", " Bowl", " -1.616", " 0.757", " -1.526", " 0", " 90", " 0", " 46" ], [ "12", " KeyChain", " 0.573", " 0.546", " 1.089", " 0", " 180", " 0", " 39" ], [ "13", " Vase", " -1.588", " 0.168", " -0.531", " 0", " 0", " 0", " 47" ], [ "14", " Statue", " -1.680", " 0.758", " -0.350", " 0", " 270", " 0", " 46" ], [ "15", " Pillow", " -0.495", " 0.593", " 0.955", " 0", " 0", " 0", " 39" ], [ "16", " Laptop", " -0.265", " 0.471", " -1.057", " 0", " 180", " 0", " 42" ], [ "17", " Vase", " -1.808", " 1.615", " -2.597", " 0", " 0", " 0", " 43" ], [ "18", " Statue", " 0.145", " 0.551", " -1.129", " 0", " 0", " 0", " 42" ], [ "19", " RemoteControl", " 2.067", " 0.453", " -1.890", " 0", " 270", " 0", " 52" ], [ "20", " Vase", " 0.009", " 0.168", " -2.264", " 0", " 0", " 0", " 36" ], [ "21", " CreditCard", " -0.451", " 0.760", " -2.322", " 0", " 0", " 0", " 34" ], [ "22", " Vase", " -1.680", " 0.760", " -1.055", " 0", " 90", " 0", " 46" ], [ "23", " Statue", " -1.696", " 0.753", " -1.294", " 0", " 74.999", " 0", " 46" ], [ "24", " Painting", " 0.172", " 1.781", " 1.934", " 0", " 0", " 0", "" ], [ "25", " HousePlant", " -1.646", " 0.755", " -1.792", " 0", " 0", " 0", "" ], [ "26", " LightSwitch", " 1.406", " 1.294", " 1.651", " 0", " 180", " 0", "" ], [ "27", " Television", " -0.035", " 1.239", " -2.439", " 0", " 0", " 0", "" ], [ "28", " FloorLamp", " -1.573", " -0.003", " 1.302", " 0", " 0", " 0", "" ], [ "29", " GarbageCan", " 0.742", " -0.000", " -2.522", " 0", " 270", " 0", "" ], [ "30", " Window", " -0.816", " 1.534", " -2.719", " 90", " 0", " 0", "" ], [ "31", " Window", " 0.791", " 1.534", " -2.718", " 90", " 0", " 0", "" ], [ "32", " Shelf", " 0.340", " 0.474", " -2.377", " 0", " 0", " 0", "" ], [ "33", " Shelf", " 0.341", " 0.273", " -2.377", " 0", " 0", " 0", "" ], [ "34", " TVStand", " -0.025", " -0.000", " -2.385", " 0", " 0", " 0", "" ], [ "35", " Shelf", " -0.393", " 0.302", " -2.382", " 0", " 0", " 0", "" ], [ "36", " Shelf", " -0.026", " 0.442", " -2.380", " 0", " 0", " 0", "" ], [ "37", " Shelf", " -0.393", " 0.597", " -2.382", " 0", " 0", " 0", "" ], [ "38", " Shelf", " 0.340", " 0.643", " -2.377", " 0", " 0", " 0", "" ], [ "39", " Sofa", " 0.124", " 0.008", " 1.032", " 0", " 180", " 0", "" ], [ "40", " Cabinet", " -1.827", " 0.729", " -2.357", " 0", " 90", " 0", "" ], [ "41", " Shelf", " -1.827", " 2.041", " -2.356", " 0", " 90", " 0", "" ], [ "42", " CoffeeTable", " 0.017", " -0.000", " -1.108", " 0", " 180", " 0", "" ], [ "43", " Shelf", " -1.827", " 1.744", " -2.356", " 0", " 90", " 0", "" ], [ "44", " Shelf", " -1.827", " 1.452", " -2.356", " 0", " 90", " 0", "" ], [ "45", " Shelf", " -1.730", " 0.278", " -1.635", " 0", " 90", " 0", "" ], [ "46", " TVStand", " -1.733", " -0.000", " -1.058", " 0", " 90", " 0", "" ], [ "47", " Shelf", " -1.730", " 0.302", " -0.479", " 0", " 90", " 0", "" ], [ "48", " Shelf", " -1.732", " 0.446", " -1.056", " 0", " 90", " 0", "" ], [ "49", " Shelf", " -1.731", " 0.596", " -0.478", " 0", " 90", " 0", "" ], [ "50", " Shelf", " -1.733", " 0.648", " -1.635", " 0", " 90", " 0", "" ], [ "51", " Shelf", " -1.730", " 0.477", " -1.635", " 0", " 90", " 0", "" ], [ "52", " ArmChair", " 2.344", " 0.002", " -2.041", " 0", " 270", " 0", "" ], [ "53", " ShelvingUnit", " -1.847", " 0.001", " -2.357", " 0", " 90", " 0", "" ], [ "54", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "55", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "56", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "57", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 1.5 0.900 -0.25 0 90 0 1 Bowl -1.640 0.569 -1.550 0 90 0 46 2 RemoteControl -0.416 0.478 -1.245 0 180 0 42 3 RemoteControl 0.133 0.554 0.997 0 180 0 39 4 CreditCard -1.895 1.619 -2.495 0 90 0 50 5 CreditCard 0.035 0.477 -1.245 0 180 0 42 6 CreditCard 0.487 0.473 -0.995 0 180 0 42 7 Box -1.680 0.892 -0.585 0 90 0 46 8 Laptop 0.133 0.553 0.814 0 180 0 39 9 Pillow 0.794 0.609 0.906 0 180 0 39 10 Box 2.513 0.144 -1.093 0 318.382 0 52 11 Bowl -1.616 0.757 -1.526 0 90 0 46 12 KeyChain 0.573 0.546 1.089 0 180 0 39 13 Vase -1.588 0.168 -0.531 0 0 0 47 14 Statue -1.680 0.758 -0.350 0 270 0 46 15 Pillow -0.495 0.593 0.955 0 0 0 39 16 Laptop -0.265 0.471 -1.057 0 180 0 42 17 Vase -1.808 1.615 -2.597 0 0 0 43 18 Statue 0.145 0.551 -1.129 0 0 0 42 19 RemoteControl 2.067 0.453 -1.890 0 270 0 52 20 Vase 0.009 0.168 -2.264 0 0 0 36 21 CreditCard -0.451 0.760 -2.322 0 0 0 34 22 Vase -1.680 0.760 -1.055 0 90 0 46 23 Statue -1.696 0.753 -1.294 0 74.999 0 46 24 Painting 0.172 1.781 1.934 0 0 0 25 HousePlant -1.646 0.755 -1.792 0 0 0 26 LightSwitch 1.406 1.294 1.651 0 180 0 27 Television -0.035 1.239 -2.439 0 0 0 28 FloorLamp -1.573 -0.003 1.302 0 0 0 29 GarbageCan 0.742 -0.000 -2.522 0 270 0 30 Window -0.816 1.534 -2.719 90 0 0 31 Window 0.791 1.534 -2.718 90 0 0 32 Shelf 0.340 0.474 -2.377 0 0 0 33 Shelf 0.341 0.273 -2.377 0 0 0 34 TVStand -0.025 -0.000 -2.385 0 0 0 35 Shelf -0.393 0.302 -2.382 0 0 0 36 Shelf -0.026 0.442 -2.380 0 0 0 37 Shelf -0.393 0.597 -2.382 0 0 0 38 Shelf 0.340 0.643 -2.377 0 0 0 39 Sofa 0.124 0.008 1.032 0 180 0 40 Cabinet -1.827 0.729 -2.357 0 90 0 41 Shelf -1.827 2.041 -2.356 0 90 0 42 CoffeeTable 0.017 -0.000 -1.108 0 180 0 43 Shelf -1.827 1.744 -2.356 0 90 0 44 Shelf -1.827 1.452 -2.356 0 90 0 45 Shelf -1.730 0.278 -1.635 0 90 0 46 TVStand -1.733 -0.000 -1.058 0 90 0 47 Shelf -1.730 0.302 -0.479 0 90 0 48 Shelf -1.732 0.446 -1.056 0 90 0 49 Shelf -1.731 0.596 -0.478 0 90 0 50 Shelf -1.733 0.648 -1.635 0 90 0 51 Shelf -1.730 0.477 -1.635 0 90 0 52 ArmChair 2.344 0.002 -2.041 0 270 0 53 ShelvingUnit -1.847 0.001 -2.357 0 90 0 54 NorthWall 55 EastWall 56 SouthWall 57 WestWall
[ "STEP 1: Turn right to the book case | STEP 2: Turn left to the coffee table | STEP 3: Pick up the credit card on the table | STEP 4: Put the credit card on the couch | STEP 5: Go to the computer on the table. | STEP 6: Pick up the credit card on the table | STEP 7: Take the credit card to the couch | STEP 8: Put the credit card on the couch | END" ]
[ [ "STEP 1: Turn right to the book case ", " STEP 2: Turn left to the coffee table ", " STEP 3: Pick up the credit card on the table ", " STEP 4: Put the credit card on the couch ", " STEP 5: Go to the computer on the table. ", " STEP 6: Pick up the credit card on the table ", " STEP 7: Take the credit card to the couch ", " STEP 8: Put the credit card on the couch ", " END" ] ]
seen
trial_T20190908_234137_732626-0
Put a wet sponge on the toilet.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.0 0.902 0.5 0 90 0 1 Cloth -1.396 0.441 -0.586 0 90 0 25 2 TissueBox -2.347 0.704 -0.755 0 90 0 31 3 TissueBox -1.665 0.704 -0.698 0 90 0 31 4 SprayBottle -0.544 0.951 -0.748 0 90 0 43 5 DishSponge -3.176 0.613 1.321 0 0 0 36 6 DishSponge -0.794 0.955 -0.775 0 90 0 43 7 SoapBottle -3.215 0.615 1.571 0 0 0 36 8 SoapBottle -1.892 0.706 -0.528 0 90 0 31 9 HandTowel -1.275 1.683 2.244 0 0 0 41 10 ToiletPaper -0.669 0.951 -0.748 0 90 0 43 11 Towel -3.66 1.567 -0.459 0 0 0 38 12 Candle -2.198 0.442 -0.781 0 90 0 27 13 HandTowel -2.576 1.683 2.244 0 0 0 40 14 SoapBar -2.246 0.441 -0.635 0 90 0 27 15 ToiletPaper -3.176 0.609 -0.044 0 0 0 36 16 Plunger -1.088 0.000 -0.526 0 0 0 Floor|-02.42| 17 SprayBottle -2.120 0.700 -0.471 0 90 0 31 18 SoapBottle -3.180 0.615 1.762 0 90 0 36 19 TissueBox -2.120 0.704 -0.585 0 90 0 31 20 ToiletPaper -0.529 0.941 0.245 0 270 90 44 21 PaperTowelRoll -2.347 0.809 -0.585 0 90 0 31 22 ScrubBrush -1.041 0.001 -0.707 0 0 0 Floor|-02.42| 23 Cloth -3.861 0.038 0.409 0 0 0 45 24 DishSponge -4.034 0.040 0.780 0 0 0 36 25 Drawer -1.444 0.531 -0.620 0 90 0 26 Sink -1.919 0.441 2.032 0 180 0 27 Drawer -2.343 0.531 -0.620 0 90 0 28 Drawer -2.343 0.271 -0.620 0 90 0 29 Drawer -1.894 0.271 -0.620 0 90 0 30 Drawer -2.791 0.271 -0.620 0 90 0 31 CounterTop -2.799 0.001 -0.593 0 90 0 32 Drawer -1.894 0.531 -0.620 0 90 0 33 Mirror -1.909 1.748 2.280 0 0 0 34 Drawer -2.791 0.531 -0.620 0 90 0 35 Drawer -1.444 0.271 -0.620 0 90 0 36 Bathtub -3.706 0.342 0.636 0 0 0 37 Faucet -1.919 1.064 2.182 0 180 0 38 TowelHolder -3.660 1.552 -0.558 0 0 0 39 GarbageCan -1.560 -0.000 1.909 0 164.999 0 40 HandTowelHolder -2.575 1.784 2.282 0 90 0 41 HandTowelHolder -1.274 1.784 2.282 0 90 0 42 LightSwitch -0.558 1.282 2.281 0 180 0 43 Toilet -0.720 0.001 -0.310 0 0 0 44 ToiletPaperHanger -0.427 0.940 0.187 0 270 0 45 BathtubBasin -3.788 0.028 0.595 0 0 0 46 SinkBasin -1.908 1.011 1.981 0 180 0 47 ShowerHead -3.740 1.858 1.827 0 0 0 48 ShowerCurtain -3.039 2.229 1.720 0 180 0 49 NorthWall 50 EastWall 51 SouthWall 52 WestWall
[ "STEP 1: Turn right and walk to the toilet. | STEP 2: Pick up the green backed sponge that's in front of you. | STEP 3: Turn right and walk to the tub then turn right and walk to the wall then turn right to face the sink. | STEP 4: Get the sponge wet in the sink and then pick it back up and shut off the water. | STEP 5: Turn right and take a step then turn left and walk to the door then turn right and walk to the toilet. | STEP 6: Put the sponge on the back of the toilet near the front right corner. | END" ]
[ [ "STEP 1: Turn right and walk to the toilet. ", " STEP 2: Pick up the green backed sponge that's in front of you. ", " STEP 3: Turn right and walk to the tub then turn right and walk to the wall then turn right to face the sink. ", " STEP 4: Get the sponge wet in the sink and then pick it back up and shut off the water. ", " STEP 5: Turn right and take a step then turn left and walk to the door then turn right and walk to the toilet. ", " STEP 6: Put the sponge on the back of the toilet near the front right corner. ", " END" ] ]
seen
trial_T20190908_234137_732626-1
place a clean sponge on top of the bathroom 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 0.5 0 90 0 1 Cloth -1.396 0.441 -0.586 0 90 0 25 2 TissueBox -2.347 0.704 -0.755 0 90 0 31 3 TissueBox -1.665 0.704 -0.698 0 90 0 31 4 SprayBottle -0.544 0.951 -0.748 0 90 0 43 5 DishSponge -3.176 0.613 1.321 0 0 0 36 6 DishSponge -0.794 0.955 -0.775 0 90 0 43 7 SoapBottle -3.215 0.615 1.571 0 0 0 36 8 SoapBottle -1.892 0.706 -0.528 0 90 0 31 9 HandTowel -1.275 1.683 2.244 0 0 0 41 10 ToiletPaper -0.669 0.951 -0.748 0 90 0 43 11 Towel -3.66 1.567 -0.459 0 0 0 38 12 Candle -2.198 0.442 -0.781 0 90 0 27 13 HandTowel -2.576 1.683 2.244 0 0 0 40 14 SoapBar -2.246 0.441 -0.635 0 90 0 27 15 ToiletPaper -3.176 0.609 -0.044 0 0 0 36 16 Plunger -1.088 0.000 -0.526 0 0 0 Floor|-02.42| 17 SprayBottle -2.120 0.700 -0.471 0 90 0 31 18 SoapBottle -3.180 0.615 1.762 0 90 0 36 19 TissueBox -2.120 0.704 -0.585 0 90 0 31 20 ToiletPaper -0.529 0.941 0.245 0 270 90 44 21 PaperTowelRoll -2.347 0.809 -0.585 0 90 0 31 22 ScrubBrush -1.041 0.001 -0.707 0 0 0 Floor|-02.42| 23 Cloth -3.861 0.038 0.409 0 0 0 45 24 DishSponge -4.034 0.040 0.780 0 0 0 36 25 Drawer -1.444 0.531 -0.620 0 90 0 26 Sink -1.919 0.441 2.032 0 180 0 27 Drawer -2.343 0.531 -0.620 0 90 0 28 Drawer -2.343 0.271 -0.620 0 90 0 29 Drawer -1.894 0.271 -0.620 0 90 0 30 Drawer -2.791 0.271 -0.620 0 90 0 31 CounterTop -2.799 0.001 -0.593 0 90 0 32 Drawer -1.894 0.531 -0.620 0 90 0 33 Mirror -1.909 1.748 2.280 0 0 0 34 Drawer -2.791 0.531 -0.620 0 90 0 35 Drawer -1.444 0.271 -0.620 0 90 0 36 Bathtub -3.706 0.342 0.636 0 0 0 37 Faucet -1.919 1.064 2.182 0 180 0 38 TowelHolder -3.660 1.552 -0.558 0 0 0 39 GarbageCan -1.560 -0.000 1.909 0 164.999 0 40 HandTowelHolder -2.575 1.784 2.282 0 90 0 41 HandTowelHolder -1.274 1.784 2.282 0 90 0 42 LightSwitch -0.558 1.282 2.281 0 180 0 43 Toilet -0.720 0.001 -0.310 0 0 0 44 ToiletPaperHanger -0.427 0.940 0.187 0 270 0 45 BathtubBasin -3.788 0.028 0.595 0 0 0 46 SinkBasin -1.908 1.011 1.981 0 180 0 47 ShowerHead -3.740 1.858 1.827 0 0 0 48 ShowerCurtain -3.039 2.229 1.720 0 180 0 49 NorthWall 50 EastWall 51 SouthWall 52 WestWall
[ "STEP 1: turn right and walk up to the toilet ahead | STEP 2: grab a sponge off of the top of the toilet there | STEP 3: turn around and walk to the bathroom sink ahead | STEP 4: rinse the sponge off in the sink, then take it back out | STEP 5: turn right and walk over to the top of the bathroom toilet | STEP 6: place the sponge on top of the bathroom toilet | END" ]
[ [ "STEP 1: turn right and walk up to the toilet ahead ", " STEP 2: grab a sponge off of the top of the toilet there ", " STEP 3: turn around and walk to the bathroom sink ahead ", " STEP 4: rinse the sponge off in the sink, then take it back out ", " STEP 5: turn right and walk over to the top of the bathroom toilet ", " STEP 6: place the sponge on top of the bathroom toilet ", " END" ] ]
seen
trial_T20190908_234137_732626-2
Place a rinsed sponge on a toilet tank.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.0 0.902 0.5 0 90 0 1 Cloth -1.396 0.441 -0.586 0 90 0 25 2 TissueBox -2.347 0.704 -0.755 0 90 0 31 3 TissueBox -1.665 0.704 -0.698 0 90 0 31 4 SprayBottle -0.544 0.951 -0.748 0 90 0 43 5 DishSponge -3.176 0.613 1.321 0 0 0 36 6 DishSponge -0.794 0.955 -0.775 0 90 0 43 7 SoapBottle -3.215 0.615 1.571 0 0 0 36 8 SoapBottle -1.892 0.706 -0.528 0 90 0 31 9 HandTowel -1.275 1.683 2.244 0 0 0 41 10 ToiletPaper -0.669 0.951 -0.748 0 90 0 43 11 Towel -3.66 1.567 -0.459 0 0 0 38 12 Candle -2.198 0.442 -0.781 0 90 0 27 13 HandTowel -2.576 1.683 2.244 0 0 0 40 14 SoapBar -2.246 0.441 -0.635 0 90 0 27 15 ToiletPaper -3.176 0.609 -0.044 0 0 0 36 16 Plunger -1.088 0.000 -0.526 0 0 0 Floor|-02.42| 17 SprayBottle -2.120 0.700 -0.471 0 90 0 31 18 SoapBottle -3.180 0.615 1.762 0 90 0 36 19 TissueBox -2.120 0.704 -0.585 0 90 0 31 20 ToiletPaper -0.529 0.941 0.245 0 270 90 44 21 PaperTowelRoll -2.347 0.809 -0.585 0 90 0 31 22 ScrubBrush -1.041 0.001 -0.707 0 0 0 Floor|-02.42| 23 Cloth -3.861 0.038 0.409 0 0 0 45 24 DishSponge -4.034 0.040 0.780 0 0 0 36 25 Drawer -1.444 0.531 -0.620 0 90 0 26 Sink -1.919 0.441 2.032 0 180 0 27 Drawer -2.343 0.531 -0.620 0 90 0 28 Drawer -2.343 0.271 -0.620 0 90 0 29 Drawer -1.894 0.271 -0.620 0 90 0 30 Drawer -2.791 0.271 -0.620 0 90 0 31 CounterTop -2.799 0.001 -0.593 0 90 0 32 Drawer -1.894 0.531 -0.620 0 90 0 33 Mirror -1.909 1.748 2.280 0 0 0 34 Drawer -2.791 0.531 -0.620 0 90 0 35 Drawer -1.444 0.271 -0.620 0 90 0 36 Bathtub -3.706 0.342 0.636 0 0 0 37 Faucet -1.919 1.064 2.182 0 180 0 38 TowelHolder -3.660 1.552 -0.558 0 0 0 39 GarbageCan -1.560 -0.000 1.909 0 164.999 0 40 HandTowelHolder -2.575 1.784 2.282 0 90 0 41 HandTowelHolder -1.274 1.784 2.282 0 90 0 42 LightSwitch -0.558 1.282 2.281 0 180 0 43 Toilet -0.720 0.001 -0.310 0 0 0 44 ToiletPaperHanger -0.427 0.940 0.187 0 270 0 45 BathtubBasin -3.788 0.028 0.595 0 0 0 46 SinkBasin -1.908 1.011 1.981 0 180 0 47 ShowerHead -3.740 1.858 1.827 0 0 0 48 ShowerCurtain -3.039 2.229 1.720 0 180 0 49 NorthWall 50 EastWall 51 SouthWall 52 WestWall
[ "STEP 1: Turn right and walk to the white toilet. | STEP 2: Pick up the green sponge from the right side of the toilet tank. | STEP 3: Turn left and walk to the side of the sink on the right. | STEP 4: Put the sponge inside the sink, rinse it for a few seconds and pick it back up. | STEP 5: Turn right and hang a right at the door to the left to reach the white toilet. | STEP 6: Put the rinsed sponge on the right side of the toilet tank. | END" ]
[ [ "STEP 1: Turn right and walk to the white toilet. ", " STEP 2: Pick up the green sponge from the right side of the toilet tank. ", " STEP 3: Turn left and walk to the side of the sink on the right. ", " STEP 4: Put the sponge inside the sink, rinse it for a few seconds and pick it back up. ", " STEP 5: Turn right and hang a right at the door to the left to reach the white toilet. ", " STEP 6: Put the rinsed sponge on the right side of the toilet tank. ", " END" ] ]
seen
trial_T20190911_205333_848673-0
Rinse a bowl and place it in the fridge.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -0.5 0.900 -1.0 0 180 0 1 DishSponge -0.081 0.910 1.764 0 0 0 45 2 Fork -0.471 0.911 1.094 0 0 0 45 3 Spoon -2.538 0.912 0.331 0 0 0 73 4 Spatula -2.318 0.788 0.391 0 90 0 62 5 Pot 1.411 0.929 0.064 0 0 0 74 6 Egg -0.081 0.941 0.423 0 0 0 45 7 Egg -2.347 1.331 -1.074 0 90 0 77 8 Cup 1.428 0.908 -0.810 0 0 0 55 9 Cup -2.603 1.013 2.481 0 90 0 85 10 Plate -0.341 0.913 0.870 0 0 0 45 11 Plate -2.538 0.913 0.931 0 0 0 73 12 Knife -2.287 0.798 0.022 0 270 0 63 13 SoapBottle 1.461 0.924 -1.131 0 225 0 59 14 Bowl 0.048 0.908 1.540 0 0 0 45 15 Bowl -2.485 1.297 -0.696 0 90 0 77 16 PepperShaker 1.512 0.906 0.465 0 0 0 54 17 SaltShaker -2.677 1.533 1.768 0 0 0 57 18 SaltShaker -2.237 0.109 -0.122 0 0 0 61 19 Bread -2.206 0.996 1.530 0 0 0 73 20 Bread 0.048 0.996 0.647 0 0 0 45 21 Mug -2.393 1.084 -0.602 0 90 0 77 22 Pan 1.691 0.929 0.064 0 0 0 56 23 Knife -2.257 0.798 0.486 0 270 0 62 24 Apple 1.775 0.972 -0.963 0 0 0 55 25 Bowl -2.621 0.908 0.031 0 0 0 73 26 Fork -0.471 0.911 1.540 0 0 0 45 27 Bread -2.621 0.996 0.631 0 0 0 73 28 Plate -2.372 0.913 1.230 0 0 0 73 29 Egg -2.570 1.046 2.278 0 90 0 85 30 Kettle -2.448 1.584 -1.631 0 180 0 72 31 Potato -2.289 0.947 0.031 0 0 0 73 32 SaltShaker -2.448 1.578 -1.485 0 180 0 72 33 Lettuce -2.372 0.994 0.631 0 0 0 73 34 Cup -2.485 1.298 -0.507 0 90 0 77 35 SoapBottle 0.845 0.912 -1.604 0 45 0 55 36 Spatula 1.684 0.925 -0.726 0 0 0 55 37 PaperTowelRoll 1.426 1.015 0.435 0 0 0 54 38 ButterKnife 1.337 0.918 -1.115 0 225 0 59 39 PepperShaker -2.496 1.928 -1.034 0 270 0 66 40 DishSponge 1.687 0.184 0.651 0 0 0 84 41 Pot 1.412 0.929 -0.335 0 0 0 46 42 Spoon -2.379 0.774 -0.025 0 90 0 63 43 Tomato 1.353 0.964 -1.239 0 225 0 59 44 Mug -0.730 0.905 1.094 0 0 0 45 45 CounterTop -0.360 0.946 1.093 0 0 0 46 StoveBurner 1.412 0.923 -0.335 0 0 0 47 StoveKnob 1.878 1.093 0.018 287.989 90 0 48 StoveKnob 1.878 1.093 -0.306 287.989 90 0 49 Cabinet -2.446 1.948 2.924 0 0 0 50 Drawer -2.276 0.792 0.902 0 0 0 51 Cabinet -2.145 0.402 1.578 0 0 0 52 Cabinet 0.149 2.008 -1.603 0 90 0 53 StoveBurner 1.691 0.923 -0.335 0 0 0 54 CounterTop 1.585 0.946 0.405 0 0 0 55 CounterTop 0.474 0.946 -1.625 0 0 0 56 StoveBurner 1.691 0.923 0.064 0 0 0 57 Cabinet -2.446 1.948 1.687 0 0 0 58 Cabinet -2.446 1.948 1.640 0 0 0 59 Sink 1.381 0.810 -1.271 0 225 0 60 StoveKnob 1.878 1.093 0.150 287.989 90 0 61 Cabinet -2.145 0.402 -0.236 0 0 0 62 Drawer -2.276 0.792 0.437 0 0 0 63 Drawer -2.276 0.792 -0.027 0 0 0 64 Cabinet 1.572 2.008 0.474 0 0 0 65 Cabinet 1.572 2.008 -0.775 0 0 0 66 Cabinet -2.445 2.148 -1.275 0 0 0 67 Cabinet -2.446 2.148 -0.284 0 0 0 68 Cabinet -2.446 1.948 0.355 0 0 0 69 Cabinet -2.446 1.948 0.405 0 0 0 70 Cabinet -2.145 0.402 0.644 0 0 0 71 Cabinet -2.145 0.402 0.695 0 0 0 72 Cabinet -2.285 1.968 -1.325 0 180 0 73 CounterTop -1.485 0.946 1.319 0 0 0 74 StoveBurner 1.411 0.923 0.064 0 0 0 75 StoveKnob 1.878 1.093 -0.441 287.989 90 0 76 Drawer -2.276 0.792 1.368 0 0 0 77 Fridge -2.475 0.0 -0.782 0 90 0 78 LightSwitch -0.929 1.350 -1.950 0 0 0 79 Toaster -2.564 0.900 1.876 0 90 0 80 CoffeeMachine 0.464 0.900 -1.810 0 0 0 81 Window 1.508 1.534 -1.496 90 135 0 82 Window 1.973 1.521 1.121 90 90 0 83 SinkBasin 1.149 0.753 -1.380 0 225 0 84 GarbageCan 1.646 -0.000 0.679 0 0 0 85 Microwave -2.580 0.900 2.440 0 90 0 86 Stool 0.439 0.010 0.747 0 0 0 87 Stool -2.303 0.010 1.839 0 0 0 88 Faucet 1.235 1.138 -1.473 0 225 0 89 NorthWall 90 EastWall 91 SouthWall 92 WestWall
[ "STEP 1: Turn around, then to the left to find the fridge. | STEP 2: Take out a bowl from the fridge. | STEP 3: Carry the bowl and turn to the left, then find the sink on the right. | STEP 4: Place the bowl inside the sink, and turn on the water. Turn it off and pick up the bowl. | STEP 5: Hold the bowl and turn to the right and go back to the fridge. | STEP 6: Open the fridge and place the bowl inside, then shut the door. | END" ]
[ [ "STEP 1: Turn around, then to the left to find the fridge. ", " STEP 2: Take out a bowl from the fridge. ", " STEP 3: Carry the bowl and turn to the left, then find the sink on the right. ", " STEP 4: Place the bowl inside the sink, and turn on the water. Turn it off and pick up the bowl. ", " STEP 5: Hold the bowl and turn to the right and go back to the fridge. ", " STEP 6: Open the fridge and place the bowl inside, then shut the door. ", " END" ] ]
seen
trial_T20190911_205333_848673-1
Put a clean bowl with water in it in 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 -0.5 0.900 -1.0 0 180 0 1 DishSponge -0.081 0.910 1.764 0 0 0 45 2 Fork -0.471 0.911 1.094 0 0 0 45 3 Spoon -2.538 0.912 0.331 0 0 0 73 4 Spatula -2.318 0.788 0.391 0 90 0 62 5 Pot 1.411 0.929 0.064 0 0 0 74 6 Egg -0.081 0.941 0.423 0 0 0 45 7 Egg -2.347 1.331 -1.074 0 90 0 77 8 Cup 1.428 0.908 -0.810 0 0 0 55 9 Cup -2.603 1.013 2.481 0 90 0 85 10 Plate -0.341 0.913 0.870 0 0 0 45 11 Plate -2.538 0.913 0.931 0 0 0 73 12 Knife -2.287 0.798 0.022 0 270 0 63 13 SoapBottle 1.461 0.924 -1.131 0 225 0 59 14 Bowl 0.048 0.908 1.540 0 0 0 45 15 Bowl -2.485 1.297 -0.696 0 90 0 77 16 PepperShaker 1.512 0.906 0.465 0 0 0 54 17 SaltShaker -2.677 1.533 1.768 0 0 0 57 18 SaltShaker -2.237 0.109 -0.122 0 0 0 61 19 Bread -2.206 0.996 1.530 0 0 0 73 20 Bread 0.048 0.996 0.647 0 0 0 45 21 Mug -2.393 1.084 -0.602 0 90 0 77 22 Pan 1.691 0.929 0.064 0 0 0 56 23 Knife -2.257 0.798 0.486 0 270 0 62 24 Apple 1.775 0.972 -0.963 0 0 0 55 25 Bowl -2.621 0.908 0.031 0 0 0 73 26 Fork -0.471 0.911 1.540 0 0 0 45 27 Bread -2.621 0.996 0.631 0 0 0 73 28 Plate -2.372 0.913 1.230 0 0 0 73 29 Egg -2.570 1.046 2.278 0 90 0 85 30 Kettle -2.448 1.584 -1.631 0 180 0 72 31 Potato -2.289 0.947 0.031 0 0 0 73 32 SaltShaker -2.448 1.578 -1.485 0 180 0 72 33 Lettuce -2.372 0.994 0.631 0 0 0 73 34 Cup -2.485 1.298 -0.507 0 90 0 77 35 SoapBottle 0.845 0.912 -1.604 0 45 0 55 36 Spatula 1.684 0.925 -0.726 0 0 0 55 37 PaperTowelRoll 1.426 1.015 0.435 0 0 0 54 38 ButterKnife 1.337 0.918 -1.115 0 225 0 59 39 PepperShaker -2.496 1.928 -1.034 0 270 0 66 40 DishSponge 1.687 0.184 0.651 0 0 0 84 41 Pot 1.412 0.929 -0.335 0 0 0 46 42 Spoon -2.379 0.774 -0.025 0 90 0 63 43 Tomato 1.353 0.964 -1.239 0 225 0 59 44 Mug -0.730 0.905 1.094 0 0 0 45 45 CounterTop -0.360 0.946 1.093 0 0 0 46 StoveBurner 1.412 0.923 -0.335 0 0 0 47 StoveKnob 1.878 1.093 0.018 287.989 90 0 48 StoveKnob 1.878 1.093 -0.306 287.989 90 0 49 Cabinet -2.446 1.948 2.924 0 0 0 50 Drawer -2.276 0.792 0.902 0 0 0 51 Cabinet -2.145 0.402 1.578 0 0 0 52 Cabinet 0.149 2.008 -1.603 0 90 0 53 StoveBurner 1.691 0.923 -0.335 0 0 0 54 CounterTop 1.585 0.946 0.405 0 0 0 55 CounterTop 0.474 0.946 -1.625 0 0 0 56 StoveBurner 1.691 0.923 0.064 0 0 0 57 Cabinet -2.446 1.948 1.687 0 0 0 58 Cabinet -2.446 1.948 1.640 0 0 0 59 Sink 1.381 0.810 -1.271 0 225 0 60 StoveKnob 1.878 1.093 0.150 287.989 90 0 61 Cabinet -2.145 0.402 -0.236 0 0 0 62 Drawer -2.276 0.792 0.437 0 0 0 63 Drawer -2.276 0.792 -0.027 0 0 0 64 Cabinet 1.572 2.008 0.474 0 0 0 65 Cabinet 1.572 2.008 -0.775 0 0 0 66 Cabinet -2.445 2.148 -1.275 0 0 0 67 Cabinet -2.446 2.148 -0.284 0 0 0 68 Cabinet -2.446 1.948 0.355 0 0 0 69 Cabinet -2.446 1.948 0.405 0 0 0 70 Cabinet -2.145 0.402 0.644 0 0 0 71 Cabinet -2.145 0.402 0.695 0 0 0 72 Cabinet -2.285 1.968 -1.325 0 180 0 73 CounterTop -1.485 0.946 1.319 0 0 0 74 StoveBurner 1.411 0.923 0.064 0 0 0 75 StoveKnob 1.878 1.093 -0.441 287.989 90 0 76 Drawer -2.276 0.792 1.368 0 0 0 77 Fridge -2.475 0.0 -0.782 0 90 0 78 LightSwitch -0.929 1.350 -1.950 0 0 0 79 Toaster -2.564 0.900 1.876 0 90 0 80 CoffeeMachine 0.464 0.900 -1.810 0 0 0 81 Window 1.508 1.534 -1.496 90 135 0 82 Window 1.973 1.521 1.121 90 90 0 83 SinkBasin 1.149 0.753 -1.380 0 225 0 84 GarbageCan 1.646 -0.000 0.679 0 0 0 85 Microwave -2.580 0.900 2.440 0 90 0 86 Stool 0.439 0.010 0.747 0 0 0 87 Stool -2.303 0.010 1.839 0 0 0 88 Faucet 1.235 1.138 -1.473 0 225 0 89 NorthWall 90 EastWall 91 SouthWall 92 WestWall
[ "STEP 1: Turn around, step forward, then turn left to approach the fridge. | STEP 2: Take the bowl from the freezer. | STEP 3: Go to the sink behind you, to the left of the coffee maker. | STEP 4: Clean the bowl and fill it with water in the sink. | STEP 5: Turn around and go back to the fridge. | STEP 6: Put the bowl in the freezer. | END" ]
[ [ "STEP 1: Turn around, step forward, then turn left to approach the fridge. ", " STEP 2: Take the bowl from the freezer. ", " STEP 3: Go to the sink behind you, to the left of the coffee maker. ", " STEP 4: Clean the bowl and fill it with water in the sink. ", " STEP 5: Turn around and go back to the fridge. ", " STEP 6: Put the bowl in the freezer. ", " END" ] ]
seen
trial_T20190911_205333_848673-2
Put a cold bowl of water in the freezer.
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0", " 225", " 0", "" ], [ "89", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "90", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "91", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "92", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -0.5 0.900 -1.0 0 180 0 1 DishSponge -0.081 0.910 1.764 0 0 0 45 2 Fork -0.471 0.911 1.094 0 0 0 45 3 Spoon -2.538 0.912 0.331 0 0 0 73 4 Spatula -2.318 0.788 0.391 0 90 0 62 5 Pot 1.411 0.929 0.064 0 0 0 74 6 Egg -0.081 0.941 0.423 0 0 0 45 7 Egg -2.347 1.331 -1.074 0 90 0 77 8 Cup 1.428 0.908 -0.810 0 0 0 55 9 Cup -2.603 1.013 2.481 0 90 0 85 10 Plate -0.341 0.913 0.870 0 0 0 45 11 Plate -2.538 0.913 0.931 0 0 0 73 12 Knife -2.287 0.798 0.022 0 270 0 63 13 SoapBottle 1.461 0.924 -1.131 0 225 0 59 14 Bowl 0.048 0.908 1.540 0 0 0 45 15 Bowl -2.485 1.297 -0.696 0 90 0 77 16 PepperShaker 1.512 0.906 0.465 0 0 0 54 17 SaltShaker -2.677 1.533 1.768 0 0 0 57 18 SaltShaker -2.237 0.109 -0.122 0 0 0 61 19 Bread -2.206 0.996 1.530 0 0 0 73 20 Bread 0.048 0.996 0.647 0 0 0 45 21 Mug -2.393 1.084 -0.602 0 90 0 77 22 Pan 1.691 0.929 0.064 0 0 0 56 23 Knife -2.257 0.798 0.486 0 270 0 62 24 Apple 1.775 0.972 -0.963 0 0 0 55 25 Bowl -2.621 0.908 0.031 0 0 0 73 26 Fork -0.471 0.911 1.540 0 0 0 45 27 Bread -2.621 0.996 0.631 0 0 0 73 28 Plate -2.372 0.913 1.230 0 0 0 73 29 Egg -2.570 1.046 2.278 0 90 0 85 30 Kettle -2.448 1.584 -1.631 0 180 0 72 31 Potato -2.289 0.947 0.031 0 0 0 73 32 SaltShaker -2.448 1.578 -1.485 0 180 0 72 33 Lettuce -2.372 0.994 0.631 0 0 0 73 34 Cup -2.485 1.298 -0.507 0 90 0 77 35 SoapBottle 0.845 0.912 -1.604 0 45 0 55 36 Spatula 1.684 0.925 -0.726 0 0 0 55 37 PaperTowelRoll 1.426 1.015 0.435 0 0 0 54 38 ButterKnife 1.337 0.918 -1.115 0 225 0 59 39 PepperShaker -2.496 1.928 -1.034 0 270 0 66 40 DishSponge 1.687 0.184 0.651 0 0 0 84 41 Pot 1.412 0.929 -0.335 0 0 0 46 42 Spoon -2.379 0.774 -0.025 0 90 0 63 43 Tomato 1.353 0.964 -1.239 0 225 0 59 44 Mug -0.730 0.905 1.094 0 0 0 45 45 CounterTop -0.360 0.946 1.093 0 0 0 46 StoveBurner 1.412 0.923 -0.335 0 0 0 47 StoveKnob 1.878 1.093 0.018 287.989 90 0 48 StoveKnob 1.878 1.093 -0.306 287.989 90 0 49 Cabinet -2.446 1.948 2.924 0 0 0 50 Drawer -2.276 0.792 0.902 0 0 0 51 Cabinet -2.145 0.402 1.578 0 0 0 52 Cabinet 0.149 2.008 -1.603 0 90 0 53 StoveBurner 1.691 0.923 -0.335 0 0 0 54 CounterTop 1.585 0.946 0.405 0 0 0 55 CounterTop 0.474 0.946 -1.625 0 0 0 56 StoveBurner 1.691 0.923 0.064 0 0 0 57 Cabinet -2.446 1.948 1.687 0 0 0 58 Cabinet -2.446 1.948 1.640 0 0 0 59 Sink 1.381 0.810 -1.271 0 225 0 60 StoveKnob 1.878 1.093 0.150 287.989 90 0 61 Cabinet -2.145 0.402 -0.236 0 0 0 62 Drawer -2.276 0.792 0.437 0 0 0 63 Drawer -2.276 0.792 -0.027 0 0 0 64 Cabinet 1.572 2.008 0.474 0 0 0 65 Cabinet 1.572 2.008 -0.775 0 0 0 66 Cabinet -2.445 2.148 -1.275 0 0 0 67 Cabinet -2.446 2.148 -0.284 0 0 0 68 Cabinet -2.446 1.948 0.355 0 0 0 69 Cabinet -2.446 1.948 0.405 0 0 0 70 Cabinet -2.145 0.402 0.644 0 0 0 71 Cabinet -2.145 0.402 0.695 0 0 0 72 Cabinet -2.285 1.968 -1.325 0 180 0 73 CounterTop -1.485 0.946 1.319 0 0 0 74 StoveBurner 1.411 0.923 0.064 0 0 0 75 StoveKnob 1.878 1.093 -0.441 287.989 90 0 76 Drawer -2.276 0.792 1.368 0 0 0 77 Fridge -2.475 0.0 -0.782 0 90 0 78 LightSwitch -0.929 1.350 -1.950 0 0 0 79 Toaster -2.564 0.900 1.876 0 90 0 80 CoffeeMachine 0.464 0.900 -1.810 0 0 0 81 Window 1.508 1.534 -1.496 90 135 0 82 Window 1.973 1.521 1.121 90 90 0 83 SinkBasin 1.149 0.753 -1.380 0 225 0 84 GarbageCan 1.646 -0.000 0.679 0 0 0 85 Microwave -2.580 0.900 2.440 0 90 0 86 Stool 0.439 0.010 0.747 0 0 0 87 Stool -2.303 0.010 1.839 0 0 0 88 Faucet 1.235 1.138 -1.473 0 225 0 89 NorthWall 90 EastWall 91 SouthWall 92 WestWall
[ "STEP 1: Go to the refrigerator on your right. | STEP 2: Remove the frosted bowl, on the top shelf of the freezer. | STEP 3: Turn around and go to the sink. | STEP 4: Place the bowl in the sink, turn the water on, fill the bowl with water, turn the water off, and remove the bowl from the sink. | STEP 5: Turn to your right and go to the refrigerator. | STEP 6: Place the bowl of water, in the freezer, on the bottom shelf. | END" ]
[ [ "STEP 1: Go to the refrigerator on your right. ", " STEP 2: Remove the frosted bowl, on the top shelf of the freezer. ", " STEP 3: Turn around and go to the sink. ", " STEP 4: Place the bowl in the sink, turn the water on, fill the bowl with water, turn the water off, and remove the bowl from the sink. ", " STEP 5: Turn to your right and go to the refrigerator. ", " STEP 6: Place the bowl of water, in the freezer, on the bottom shelf. ", " END" ] ]
seen
trial_T20190907_160608_331487-0
Put a pan in the sink with a scoop on it.
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-1.855", " 1.524", " 0.107", " 0", " 90", " 0", " 87" ], [ "12", " Bowl", " 0.000", " 0.924", " 0.041", " 0", " 0", " 0", " 72" ], [ "13", " Bowl", " 0.214", " 0.924", " 0.738", " 0", " 0", " 0", " 72" ], [ "14", " SaltShaker", " -0.106", " 0.921", " 1.202", " 0", " 0", " 0", " 72" ], [ "15", " Mug", " 1.355", " 0.955", " -1.362", " 0", " 0", " 0", " 86" ], [ "16", " Mug", " 1.892", " 1.001", " -0.704", " 0", " 270", " 0", " 85" ], [ "17", " Apple", " 2.025", " 0.964", " 0.182", " 0", " 0", " 0", " 64" ], [ "18", " Apple", " -0.213", " 0.978", " 0.506", " 0", " 0", " 0", " 72" ], [ "19", " SoapBottle", " -0.320", " 0.929", " 0.273", " 0", " 0", " 0", " 72" ], [ "20", " Cup", " -1.697", " 1.467", " 0.295", " 0", " 90", " 0", " 87" ], [ "21", " Pot", " -0.213", " 0.929", " -0.190", " 0", " 0", " 0", " 72" ], [ "22", " Fork", " -1.050", " 0.912", " -1.415", " 0", " 0", " 0", " 64" ], [ "23", " Ladle", " 0.214", " 0.969", " 1.202", " 0", " 0", " 0", " 72" ], [ "24", " Kettle", " 1.975", " 0.938", " 0.384", " 0", " 180", " 0", " 50" ], [ "25", " Egg", " -1.692", " 0.620", " -0.269", " 0", " 90", " 0", " 87" ], [ "26", " Plate", " -0.213", " 0.924", " 0.738", " 0", " 0", " 0", " 72" ], [ "27", " Pan", " -0.867", " 1.679", " -1.614", " 0", " 90", " 0", " 66" ], [ "28", " Lettuce", " 0.214", " 1.002", " 0.273", " 0", " 0", " 0", " 72" ], [ "29", " Spatula", " 1.610", " 0.704", " 0.113", " 0", " 270", " 0", " 48" ], [ "30", " Apple", " -1.771", " 1.082", " 0.107", " 0", " 90", " 0", " 87" ], [ "31", " Knife", " 0.000", " 0.947", " -0.190", " 0", " 270", " 0", " 72" ], [ "32", " SaltShaker", " -0.844", " 0.907", " -1.221", " 0", " 0", " 0", " 64" ], [ "33", " PepperShaker", " 1.924", " 1.655", " -1.280", " 0", " 270", " 0", " 52" ], [ "34", " CellPhone", " 2.025", " 0.909", " -0.131", " 0", " 0", " 0", " 64" ], [ "35", " ButterKnife", " -0.213", " 0.925", " 0.273", " 0", " 0", " 0", " 72" ], [ "36", " Bread", " 1.553", " 0.992", " 1.408", " 0", " 0", " 0", " 64" ], [ "37", " Tomato", " -1.463", " 0.966", " -0.914", " 0", " 0", " 0", " 64" ], [ "38", " Potato", " -0.213", " 0.949", " 1.202", " 0", " 0", " 0", " 72" ], [ "39", " DishSponge", " 1.610", " 0.225", " 0.667", " 0", " 0", " 0", " 58" ], [ "40", " Spoon", " 1.712", " 0.142", " 1.088", " 0", " 0", " 0", " 73" ], [ "41", " Mug", " 2.020", " 1.001", " -0.861", " 0", " 0", " 0", " 85" ], [ "42", " Bowl", " -0.361", " 0.113", " -1.409", " 0", " 0", " 0", " 43" ], [ "43", " Cabinet", " -0.495", " 0.474", " -1.149", " 0", " 0", " 0", "" ], [ "44", " Window", " -0.010", " 1.582", " -1.821", " 0", " 0", " 0", "" ], [ "45", " Drawer", " 0.805", " 0.475", " -1.159", " 0", " 0", " 0", "" ], [ "46", " StoveBurner", " 1.764", " 0.902", " 0.601", " 0", " 270", " 0", "" ], [ "47", " Drawer", " 1.5", " 0.196", " -0.019", " 0", " 0", " 0", "" ], [ "48", " Drawer", " 1.5", " 0.629", " -0.018", " 0", " 0", " 0", "" ], [ "49", " Drawer", " 1.5", " 0.602", " -0.019", " 0", " 270", " 0", "" ], [ "50", " StoveBurner", " 1.975", " 0.902", " 0.384", " 0", " 270", " 0", "" ], [ "51", " Cabinet", " -1.703", " 2.022", " -1.453", " 0", " 90", " 0", "" ], [ "52", " Cabinet", " 1.789", " 2.019", " -0.819", " 0", " 270", " 0", "" ], [ "53", " Cabinet", " 0.494", " 0.474", " -1.149", " 0", " 0", " 0", "" ], [ "54", " Cabinet", " 0.409", " 0.475", " 0.444", " 0", " 0", " 0", "" ], [ "55", " Drawer", " -0.696", " 0.475", " -1.159", " 0", " 0", " 0", "" ], [ "56", " Drawer", " 1.5", " 0.140", " 0.599", " 0", " 270", " 0", "" ], [ "57", " Cabinet", " 1.389", " 0.474", " -1.149", " 0", " 0", " 0", "" ], [ "58", " Drawer", " 1.5", " 0.305", " 0.600", " 0", " 0", " 0", "" ], [ "59", " StoveBurner", " 1.975", " 0.902", " 0.601", " 0", " 270", " 0", "" ], [ "60", " Drawer", " 1.5", " 0.429", " -0.019", " 0", " 0", " 0", "" ], [ "61", " StoveBurner", " 1.764", " 0.902", " 0.819", " 0", " 270", " 0", "" ], [ "62", " Drawer", " 1.5", " 0.519", " 1.220", " 0", " 0", " 0", "" ], [ "63", " Cabinet", " 1.705", " 2.019", " -1.449", " 0", " 0", " 0", "" ], [ "64", " CounterTop", " 0.002", " 0.947", " -1.513", " 0", " 0", " 0", "" ], [ "65", " Drawer", " 1.5", " 0.629", " 0.605", " 0", " 0", " 0", "" ], [ "66", " Cabinet", " -0.627", " 2.019", " -1.449", " 0", " 0", " 0", "" ], [ "67", " StoveBurner", " 1.764", " 0.902", " 0.384", " 0", " 270", " 0", "" ], [ "68", " Drawer", " 1.5", " 0.538", " 0.600", " 0", " 0", " 0", "" ], [ "69", " Sink", " 0.0", " 0.893", " -1.434", " 0", " 0", " 0", "" ], [ "70", " Drawer", " 1.5", " 0.782", " 1.220", " 0", " 270", " 0", "" ], [ "71", " Window", " 2.217", " 1.565", " -0.384", " 0", " 0", " 0", "" ], [ "72", " CounterTop", " -0.014", " 0.961", " 0.505", " 0", " 0", " 0", "" ], [ "73", " Drawer", " 1.5", " 0.200", " 1.220", " 0", " 0", " 0", "" ], [ "74", " StoveBurner", " 1.975", " 0.902", " 0.819", " 0", " 270", " 0", "" ], [ "75", " Window", " -3.240", " 1.616", " 2.693", " 0", " 270", " 0", "" ], [ "76", " Cabinet", " -1.389", " 0.474", " -1.149", " 0", " 0", " 0", "" ], [ "77", " LightSwitch", " -0.153", " 1.291", " 3.700", " 0", " 180", " 0", "" ], [ "78", " GarbageCan", " -1.796", " 0.009", " 1.330", " 0", " 270", " 358.295", "" ], [ "79", " StoveKnob", " 1.602", " 0.917", " 0.570", " 0", " 270", " 180", "" ], [ "80", " StoveKnob", " 1.602", " 0.917", " 0.625", " 0", " 270", " 180", "" ], [ "81", " StoveKnob", " 1.602", " 0.917", " 0.739", " 0", " 270", " 180", "" ], [ "82", " StoveKnob", " 1.602", " 0.917", " 0.680", " 0", " 270", " 180", "" ], [ "83", " StoveKnob", " 1.602", " 0.917", " 0.462", " 0", " 270", " 180", "" ], [ "84", " StoveKnob", " 1.602", " 0.917", " 0.517", " 0", " 270", " 180", "" ], [ "85", " Microwave", " 1.932", " 0.899", " -0.766", " 0", " 270", " 0", "" ], [ "86", " CoffeeMachine", " 1.355", " 0.899", " -1.596", " 0", " 0", " 0", "" ], [ "87", " Fridge", " -1.764", " 0.0", " 0.014", " 0", " 90", " 0", "" ], [ "88", " SinkBasin", " -0.014", " 0.736", " -1.435", " 0", " 0", " 0", "" ], [ "89", " Toaster", " 1.977", " 0.900", " -0.336", " 0", " 270", " 0", "" ], [ "90", " Faucet", " -0.020", " 1.137", " -1.605", " 0", " 270", " 0", "" ], [ "91", " Chair", " -9.354", " 0.000", " 1.242", " 0", " 180", " 0", "" ], [ "92", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "93", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "94", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "95", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -0.75 0.900 3.25 0 90 0 1 CellPhone 1.610 0.468 0.047 0 0 0 60 2 Ladle 1.117 0.955 -1.415 0 0 0 64 3 Kettle 1.975 0.938 0.819 0 180 0 74 4 Kettle 0.107 0.926 0.506 0 0 0 72 5 ButterKnife 2.030 0.911 -1.415 0 0 0 64 6 Spoon 1.662 0.226 1.284 0 0 0 73 7 Egg -1.749 0.896 0.107 0 90 0 87 8 Egg -1.773 0.098 1.412 0 270 0 78 9 SoapBottle 0.661 0.915 -1.707 0 0 0 64 10 Tomato -1.727 0.966 -1.013 0 0 0 64 11 Tomato -1.855 1.524 0.107 0 90 0 87 12 Bowl 0.000 0.924 0.041 0 0 0 72 13 Bowl 0.214 0.924 0.738 0 0 0 72 14 SaltShaker -0.106 0.921 1.202 0 0 0 72 15 Mug 1.355 0.955 -1.362 0 0 0 86 16 Mug 1.892 1.001 -0.704 0 270 0 85 17 Apple 2.025 0.964 0.182 0 0 0 64 18 Apple -0.213 0.978 0.506 0 0 0 72 19 SoapBottle -0.320 0.929 0.273 0 0 0 72 20 Cup -1.697 1.467 0.295 0 90 0 87 21 Pot -0.213 0.929 -0.190 0 0 0 72 22 Fork -1.050 0.912 -1.415 0 0 0 64 23 Ladle 0.214 0.969 1.202 0 0 0 72 24 Kettle 1.975 0.938 0.384 0 180 0 50 25 Egg -1.692 0.620 -0.269 0 90 0 87 26 Plate -0.213 0.924 0.738 0 0 0 72 27 Pan -0.867 1.679 -1.614 0 90 0 66 28 Lettuce 0.214 1.002 0.273 0 0 0 72 29 Spatula 1.610 0.704 0.113 0 270 0 48 30 Apple -1.771 1.082 0.107 0 90 0 87 31 Knife 0.000 0.947 -0.190 0 270 0 72 32 SaltShaker -0.844 0.907 -1.221 0 0 0 64 33 PepperShaker 1.924 1.655 -1.280 0 270 0 52 34 CellPhone 2.025 0.909 -0.131 0 0 0 64 35 ButterKnife -0.213 0.925 0.273 0 0 0 72 36 Bread 1.553 0.992 1.408 0 0 0 64 37 Tomato -1.463 0.966 -0.914 0 0 0 64 38 Potato -0.213 0.949 1.202 0 0 0 72 39 DishSponge 1.610 0.225 0.667 0 0 0 58 40 Spoon 1.712 0.142 1.088 0 0 0 73 41 Mug 2.020 1.001 -0.861 0 0 0 85 42 Bowl -0.361 0.113 -1.409 0 0 0 43 43 Cabinet -0.495 0.474 -1.149 0 0 0 44 Window -0.010 1.582 -1.821 0 0 0 45 Drawer 0.805 0.475 -1.159 0 0 0 46 StoveBurner 1.764 0.902 0.601 0 270 0 47 Drawer 1.5 0.196 -0.019 0 0 0 48 Drawer 1.5 0.629 -0.018 0 0 0 49 Drawer 1.5 0.602 -0.019 0 270 0 50 StoveBurner 1.975 0.902 0.384 0 270 0 51 Cabinet -1.703 2.022 -1.453 0 90 0 52 Cabinet 1.789 2.019 -0.819 0 270 0 53 Cabinet 0.494 0.474 -1.149 0 0 0 54 Cabinet 0.409 0.475 0.444 0 0 0 55 Drawer -0.696 0.475 -1.159 0 0 0 56 Drawer 1.5 0.140 0.599 0 270 0 57 Cabinet 1.389 0.474 -1.149 0 0 0 58 Drawer 1.5 0.305 0.600 0 0 0 59 StoveBurner 1.975 0.902 0.601 0 270 0 60 Drawer 1.5 0.429 -0.019 0 0 0 61 StoveBurner 1.764 0.902 0.819 0 270 0 62 Drawer 1.5 0.519 1.220 0 0 0 63 Cabinet 1.705 2.019 -1.449 0 0 0 64 CounterTop 0.002 0.947 -1.513 0 0 0 65 Drawer 1.5 0.629 0.605 0 0 0 66 Cabinet -0.627 2.019 -1.449 0 0 0 67 StoveBurner 1.764 0.902 0.384 0 270 0 68 Drawer 1.5 0.538 0.600 0 0 0 69 Sink 0.0 0.893 -1.434 0 0 0 70 Drawer 1.5 0.782 1.220 0 270 0 71 Window 2.217 1.565 -0.384 0 0 0 72 CounterTop -0.014 0.961 0.505 0 0 0 73 Drawer 1.5 0.200 1.220 0 0 0 74 StoveBurner 1.975 0.902 0.819 0 270 0 75 Window -3.240 1.616 2.693 0 270 0 76 Cabinet -1.389 0.474 -1.149 0 0 0 77 LightSwitch -0.153 1.291 3.700 0 180 0 78 GarbageCan -1.796 0.009 1.330 0 270 358.295 79 StoveKnob 1.602 0.917 0.570 0 270 180 80 StoveKnob 1.602 0.917 0.625 0 270 180 81 StoveKnob 1.602 0.917 0.739 0 270 180 82 StoveKnob 1.602 0.917 0.680 0 270 180 83 StoveKnob 1.602 0.917 0.462 0 270 180 84 StoveKnob 1.602 0.917 0.517 0 270 180 85 Microwave 1.932 0.899 -0.766 0 270 0 86 CoffeeMachine 1.355 0.899 -1.596 0 0 0 87 Fridge -1.764 0.0 0.014 0 90 0 88 SinkBasin -0.014 0.736 -1.435 0 0 0 89 Toaster 1.977 0.900 -0.336 0 270 0 90 Faucet -0.020 1.137 -1.605 0 270 0 91 Chair -9.354 0.000 1.242 0 180 0 92 NorthWall 93 EastWall 94 SouthWall 95 WestWall
[ "STEP 1: Move to the counter to the left of the sink | STEP 2: Pick up the scoop from the counter | STEP 3: Move to the counter on the right of the sink | STEP 4: Put the scoop on a pan in the cabinet | STEP 5: Pick up the pan from the cabinet | STEP 6: Move to the sink to the left | STEP 7: Put the pan in the sink | END" ]
[ [ "STEP 1: Move to the counter to the left of the sink ", " STEP 2: Pick up the scoop from the counter ", " STEP 3: Move to the counter on the right of the sink ", " STEP 4: Put the scoop on a pan in the cabinet ", " STEP 5: Pick up the pan from the cabinet ", " STEP 6: Move to the sink to the left ", " STEP 7: Put the pan in the sink ", " END" ] ]
seen
trial_T20190907_160608_331487-1
Put a frying pan with an ice cream scoop in it in the frying pan.
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0.938", " 0.384", " 0", " 180", " 0", " 50" ], [ "25", " Egg", " -1.692", " 0.620", " -0.269", " 0", " 90", " 0", " 87" ], [ "26", " Plate", " -0.213", " 0.924", " 0.738", " 0", " 0", " 0", " 72" ], [ "27", " Pan", " -0.867", " 1.679", " -1.614", " 0", " 90", " 0", " 66" ], [ "28", " Lettuce", " 0.214", " 1.002", " 0.273", " 0", " 0", " 0", " 72" ], [ "29", " Spatula", " 1.610", " 0.704", " 0.113", " 0", " 270", " 0", " 48" ], [ "30", " Apple", " -1.771", " 1.082", " 0.107", " 0", " 90", " 0", " 87" ], [ "31", " Knife", " 0.000", " 0.947", " -0.190", " 0", " 270", " 0", " 72" ], [ "32", " SaltShaker", " -0.844", " 0.907", " -1.221", " 0", " 0", " 0", " 64" ], [ "33", " PepperShaker", " 1.924", " 1.655", " -1.280", " 0", " 270", " 0", " 52" ], [ "34", " CellPhone", " 2.025", " 0.909", " -0.131", " 0", " 0", " 0", " 64" ], [ "35", " ButterKnife", " -0.213", " 0.925", " 0.273", " 0", " 0", " 0", " 72" ], [ "36", " Bread", " 1.553", " 0.992", " 1.408", " 0", " 0", " 0", " 64" ], [ "37", " 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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 3.25 0 90 0 1 CellPhone 1.610 0.468 0.047 0 0 0 60 2 Ladle 1.117 0.955 -1.415 0 0 0 64 3 Kettle 1.975 0.938 0.819 0 180 0 74 4 Kettle 0.107 0.926 0.506 0 0 0 72 5 ButterKnife 2.030 0.911 -1.415 0 0 0 64 6 Spoon 1.662 0.226 1.284 0 0 0 73 7 Egg -1.749 0.896 0.107 0 90 0 87 8 Egg -1.773 0.098 1.412 0 270 0 78 9 SoapBottle 0.661 0.915 -1.707 0 0 0 64 10 Tomato -1.727 0.966 -1.013 0 0 0 64 11 Tomato -1.855 1.524 0.107 0 90 0 87 12 Bowl 0.000 0.924 0.041 0 0 0 72 13 Bowl 0.214 0.924 0.738 0 0 0 72 14 SaltShaker -0.106 0.921 1.202 0 0 0 72 15 Mug 1.355 0.955 -1.362 0 0 0 86 16 Mug 1.892 1.001 -0.704 0 270 0 85 17 Apple 2.025 0.964 0.182 0 0 0 64 18 Apple -0.213 0.978 0.506 0 0 0 72 19 SoapBottle -0.320 0.929 0.273 0 0 0 72 20 Cup -1.697 1.467 0.295 0 90 0 87 21 Pot -0.213 0.929 -0.190 0 0 0 72 22 Fork -1.050 0.912 -1.415 0 0 0 64 23 Ladle 0.214 0.969 1.202 0 0 0 72 24 Kettle 1.975 0.938 0.384 0 180 0 50 25 Egg -1.692 0.620 -0.269 0 90 0 87 26 Plate -0.213 0.924 0.738 0 0 0 72 27 Pan -0.867 1.679 -1.614 0 90 0 66 28 Lettuce 0.214 1.002 0.273 0 0 0 72 29 Spatula 1.610 0.704 0.113 0 270 0 48 30 Apple -1.771 1.082 0.107 0 90 0 87 31 Knife 0.000 0.947 -0.190 0 270 0 72 32 SaltShaker -0.844 0.907 -1.221 0 0 0 64 33 PepperShaker 1.924 1.655 -1.280 0 270 0 52 34 CellPhone 2.025 0.909 -0.131 0 0 0 64 35 ButterKnife -0.213 0.925 0.273 0 0 0 72 36 Bread 1.553 0.992 1.408 0 0 0 64 37 Tomato -1.463 0.966 -0.914 0 0 0 64 38 Potato -0.213 0.949 1.202 0 0 0 72 39 DishSponge 1.610 0.225 0.667 0 0 0 58 40 Spoon 1.712 0.142 1.088 0 0 0 73 41 Mug 2.020 1.001 -0.861 0 0 0 85 42 Bowl -0.361 0.113 -1.409 0 0 0 43 43 Cabinet -0.495 0.474 -1.149 0 0 0 44 Window -0.010 1.582 -1.821 0 0 0 45 Drawer 0.805 0.475 -1.159 0 0 0 46 StoveBurner 1.764 0.902 0.601 0 270 0 47 Drawer 1.5 0.196 -0.019 0 0 0 48 Drawer 1.5 0.629 -0.018 0 0 0 49 Drawer 1.5 0.602 -0.019 0 270 0 50 StoveBurner 1.975 0.902 0.384 0 270 0 51 Cabinet -1.703 2.022 -1.453 0 90 0 52 Cabinet 1.789 2.019 -0.819 0 270 0 53 Cabinet 0.494 0.474 -1.149 0 0 0 54 Cabinet 0.409 0.475 0.444 0 0 0 55 Drawer -0.696 0.475 -1.159 0 0 0 56 Drawer 1.5 0.140 0.599 0 270 0 57 Cabinet 1.389 0.474 -1.149 0 0 0 58 Drawer 1.5 0.305 0.600 0 0 0 59 StoveBurner 1.975 0.902 0.601 0 270 0 60 Drawer 1.5 0.429 -0.019 0 0 0 61 StoveBurner 1.764 0.902 0.819 0 270 0 62 Drawer 1.5 0.519 1.220 0 0 0 63 Cabinet 1.705 2.019 -1.449 0 0 0 64 CounterTop 0.002 0.947 -1.513 0 0 0 65 Drawer 1.5 0.629 0.605 0 0 0 66 Cabinet -0.627 2.019 -1.449 0 0 0 67 StoveBurner 1.764 0.902 0.384 0 270 0 68 Drawer 1.5 0.538 0.600 0 0 0 69 Sink 0.0 0.893 -1.434 0 0 0 70 Drawer 1.5 0.782 1.220 0 270 0 71 Window 2.217 1.565 -0.384 0 0 0 72 CounterTop -0.014 0.961 0.505 0 0 0 73 Drawer 1.5 0.200 1.220 0 0 0 74 StoveBurner 1.975 0.902 0.819 0 270 0 75 Window -3.240 1.616 2.693 0 270 0 76 Cabinet -1.389 0.474 -1.149 0 0 0 77 LightSwitch -0.153 1.291 3.700 0 180 0 78 GarbageCan -1.796 0.009 1.330 0 270 358.295 79 StoveKnob 1.602 0.917 0.570 0 270 180 80 StoveKnob 1.602 0.917 0.625 0 270 180 81 StoveKnob 1.602 0.917 0.739 0 270 180 82 StoveKnob 1.602 0.917 0.680 0 270 180 83 StoveKnob 1.602 0.917 0.462 0 270 180 84 StoveKnob 1.602 0.917 0.517 0 270 180 85 Microwave 1.932 0.899 -0.766 0 270 0 86 CoffeeMachine 1.355 0.899 -1.596 0 0 0 87 Fridge -1.764 0.0 0.014 0 90 0 88 SinkBasin -0.014 0.736 -1.435 0 0 0 89 Toaster 1.977 0.900 -0.336 0 270 0 90 Faucet -0.020 1.137 -1.605 0 270 0 91 Chair -9.354 0.000 1.242 0 180 0 92 NorthWall 93 EastWall 94 SouthWall 95 WestWall
[ "STEP 1: Walk forward to the wall then turn right and walk to the counter. | STEP 2: Pick up the ice cream scoop that is touching the coffee maker. | STEP 3: Turn right and walk to the salt shaker on the counter to your left and then turn left to face it. | STEP 4: Open the cupboard above the salt shaker and put the ice cream scoop in the frying pan. | STEP 5: Pick up the frying pan with the ice cream scoop in it. | STEP 6: Turn left and walk to the sink that's on your right then turn right to face it. | STEP 7: Put the frying pan with the ice cream scoop in it in the sink. | END" ]
[ [ "STEP 1: Walk forward to the wall then turn right and walk to the counter. ", " STEP 2: Pick up the ice cream scoop that is touching the coffee maker. ", " STEP 3: Turn right and walk to the salt shaker on the counter to your left and then turn left to face it. ", " STEP 4: Open the cupboard above the salt shaker and put the ice cream scoop in the frying pan. ", " STEP 5: Pick up the frying pan with the ice cream scoop in it. ", " STEP 6: Turn left and walk to the sink that's on your right then turn right to face it. ", " STEP 7: Put the frying pan with the ice cream scoop in it in the sink. ", " END" ] ]
seen
trial_T20190907_160608_331487-2
drop a pan with a spoon in it inside 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 -0.75 0.900 3.25 0 90 0 1 CellPhone 1.610 0.468 0.047 0 0 0 60 2 Ladle 1.117 0.955 -1.415 0 0 0 64 3 Kettle 1.975 0.938 0.819 0 180 0 74 4 Kettle 0.107 0.926 0.506 0 0 0 72 5 ButterKnife 2.030 0.911 -1.415 0 0 0 64 6 Spoon 1.662 0.226 1.284 0 0 0 73 7 Egg -1.749 0.896 0.107 0 90 0 87 8 Egg -1.773 0.098 1.412 0 270 0 78 9 SoapBottle 0.661 0.915 -1.707 0 0 0 64 10 Tomato -1.727 0.966 -1.013 0 0 0 64 11 Tomato -1.855 1.524 0.107 0 90 0 87 12 Bowl 0.000 0.924 0.041 0 0 0 72 13 Bowl 0.214 0.924 0.738 0 0 0 72 14 SaltShaker -0.106 0.921 1.202 0 0 0 72 15 Mug 1.355 0.955 -1.362 0 0 0 86 16 Mug 1.892 1.001 -0.704 0 270 0 85 17 Apple 2.025 0.964 0.182 0 0 0 64 18 Apple -0.213 0.978 0.506 0 0 0 72 19 SoapBottle -0.320 0.929 0.273 0 0 0 72 20 Cup -1.697 1.467 0.295 0 90 0 87 21 Pot -0.213 0.929 -0.190 0 0 0 72 22 Fork -1.050 0.912 -1.415 0 0 0 64 23 Ladle 0.214 0.969 1.202 0 0 0 72 24 Kettle 1.975 0.938 0.384 0 180 0 50 25 Egg -1.692 0.620 -0.269 0 90 0 87 26 Plate -0.213 0.924 0.738 0 0 0 72 27 Pan -0.867 1.679 -1.614 0 90 0 66 28 Lettuce 0.214 1.002 0.273 0 0 0 72 29 Spatula 1.610 0.704 0.113 0 270 0 48 30 Apple -1.771 1.082 0.107 0 90 0 87 31 Knife 0.000 0.947 -0.190 0 270 0 72 32 SaltShaker -0.844 0.907 -1.221 0 0 0 64 33 PepperShaker 1.924 1.655 -1.280 0 270 0 52 34 CellPhone 2.025 0.909 -0.131 0 0 0 64 35 ButterKnife -0.213 0.925 0.273 0 0 0 72 36 Bread 1.553 0.992 1.408 0 0 0 64 37 Tomato -1.463 0.966 -0.914 0 0 0 64 38 Potato -0.213 0.949 1.202 0 0 0 72 39 DishSponge 1.610 0.225 0.667 0 0 0 58 40 Spoon 1.712 0.142 1.088 0 0 0 73 41 Mug 2.020 1.001 -0.861 0 0 0 85 42 Bowl -0.361 0.113 -1.409 0 0 0 43 43 Cabinet -0.495 0.474 -1.149 0 0 0 44 Window -0.010 1.582 -1.821 0 0 0 45 Drawer 0.805 0.475 -1.159 0 0 0 46 StoveBurner 1.764 0.902 0.601 0 270 0 47 Drawer 1.5 0.196 -0.019 0 0 0 48 Drawer 1.5 0.629 -0.018 0 0 0 49 Drawer 1.5 0.602 -0.019 0 270 0 50 StoveBurner 1.975 0.902 0.384 0 270 0 51 Cabinet -1.703 2.022 -1.453 0 90 0 52 Cabinet 1.789 2.019 -0.819 0 270 0 53 Cabinet 0.494 0.474 -1.149 0 0 0 54 Cabinet 0.409 0.475 0.444 0 0 0 55 Drawer -0.696 0.475 -1.159 0 0 0 56 Drawer 1.5 0.140 0.599 0 270 0 57 Cabinet 1.389 0.474 -1.149 0 0 0 58 Drawer 1.5 0.305 0.600 0 0 0 59 StoveBurner 1.975 0.902 0.601 0 270 0 60 Drawer 1.5 0.429 -0.019 0 0 0 61 StoveBurner 1.764 0.902 0.819 0 270 0 62 Drawer 1.5 0.519 1.220 0 0 0 63 Cabinet 1.705 2.019 -1.449 0 0 0 64 CounterTop 0.002 0.947 -1.513 0 0 0 65 Drawer 1.5 0.629 0.605 0 0 0 66 Cabinet -0.627 2.019 -1.449 0 0 0 67 StoveBurner 1.764 0.902 0.384 0 270 0 68 Drawer 1.5 0.538 0.600 0 0 0 69 Sink 0.0 0.893 -1.434 0 0 0 70 Drawer 1.5 0.782 1.220 0 270 0 71 Window 2.217 1.565 -0.384 0 0 0 72 CounterTop -0.014 0.961 0.505 0 0 0 73 Drawer 1.5 0.200 1.220 0 0 0 74 StoveBurner 1.975 0.902 0.819 0 270 0 75 Window -3.240 1.616 2.693 0 270 0 76 Cabinet -1.389 0.474 -1.149 0 0 0 77 LightSwitch -0.153 1.291 3.700 0 180 0 78 GarbageCan -1.796 0.009 1.330 0 270 358.295 79 StoveKnob 1.602 0.917 0.570 0 270 180 80 StoveKnob 1.602 0.917 0.625 0 270 180 81 StoveKnob 1.602 0.917 0.739 0 270 180 82 StoveKnob 1.602 0.917 0.680 0 270 180 83 StoveKnob 1.602 0.917 0.462 0 270 180 84 StoveKnob 1.602 0.917 0.517 0 270 180 85 Microwave 1.932 0.899 -0.766 0 270 0 86 CoffeeMachine 1.355 0.899 -1.596 0 0 0 87 Fridge -1.764 0.0 0.014 0 90 0 88 SinkBasin -0.014 0.736 -1.435 0 0 0 89 Toaster 1.977 0.900 -0.336 0 270 0 90 Faucet -0.020 1.137 -1.605 0 270 0 91 Chair -9.354 0.000 1.242 0 180 0 92 NorthWall 93 EastWall 94 SouthWall 95 WestWall
[ "STEP 1: turn right and move towards the coffee maker | STEP 2: pick up the spoon at the right hand side of the coffee maker | STEP 3: turn right and head towards the sink | STEP 4: place the spoon in the pan inside the cupboard above the sink | STEP 5: pick up the pan | STEP 6: turn left towards the sink | STEP 7: drop the pan inside the sink | END" ]
[ [ "STEP 1: turn right and move towards the coffee maker ", " STEP 2: pick up the spoon at the right hand side of the coffee maker ", " STEP 3: turn right and head towards the sink ", " STEP 4: place the spoon in the pan inside the cupboard above the sink ", " STEP 5: pick up the pan ", " STEP 6: turn left towards the sink ", " STEP 7: drop the pan inside the sink ", " END" ] ]
seen
trial_T20190910_013914_498289-0
Put the plate with turner 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 -2.0 0.901 -2.0 0 270 0 1 Pan -0.376 0.975 -2.451 0 0 0 72 2 DishSponge -1.914 0.790 -3.661 0 0 0 89 3 DishSponge -0.412 0.745 -0.609 0 0 0 73 4 ButterKnife -0.160 0.913 -2.811 0 0 0 47 5 Spatula -3.150 0.728 -0.683 0 0 0 91 6 Spoon -0.419 0.917 -1.493 0 0 0 74 7 Spoon -0.095 0.917 -1.616 0 0 0 74 8 Fork -3.140 0.914 -3.227 0 0 0 47 9 Egg -0.158 1.048 -0.851 0 270 0 84 10 Egg -2.581 0.749 -0.371 0 270 0 91 11 Cup -2.431 0.714 -0.665 0 135 0 91 12 Cup -0.500 0.916 -1.309 0 0 0 74 13 Knife -3.393 0.946 -2.926 0 0 0 47 14 Knife -3.054 0.749 -0.483 0 225 0 91 15 Tomato -2.629 0.963 -3.804 0 0 0 47 16 Tomato -3.130 0.690 -2.125 0 90 0 88 17 SoapBottle -2.652 0.713 -0.105 0 225 0 91 18 SaltShaker -3.199 0.710 -0.564 0 225 0 91 19 SaltShaker -0.471 0.743 -2.858 0 0 0 77 20 PepperShaker -2.660 1.291 -4.005 0 0 0 60 21 Lettuce -3.123 0.804 -0.841 0 225 0 91 22 Bread -2.803 0.757 -0.780 0 0 0 91 23 Mug -2.930 0.763 -0.358 0 135 0 87 24 Apple -2.797 0.756 -0.162 0 225 0 91 25 Apple -3.182 0.683 -1.817 0 90 0 88 26 Pot -2.836 0.903 -3.745 0 92.628 0 47 27 Egg -3.034 0.749 -0.930 0 225 0 91 28 Cup -3.234 1.399 -2.187 0 90 0 88 29 Bread -0.327 0.948 -3.681 0 298.222 0 47 30 Fork -0.338 0.916 -1.616 0 0 0 74 31 Pan -0.376 0.975 -2.031 0 180 0 76 32 Potato -0.412 0.957 -3.213 0 0 0 47 33 Lettuce -1.323 0.988 -3.759 1.535 253.822 357.477 47 34 Tomato -3.167 0.963 -3.804 0 0 0 47 35 Apple -1.914 0.833 -3.790 0 0 0 89 36 SoapBottle -0.489 0.081 -3.379 0 0 0 48 37 Spatula -2.723 0.728 -0.558 0 90 0 91 38 SaltShaker -0.257 0.912 -1.370 0 0 0 74 39 Knife -2.629 0.946 -3.581 0 0 0 47 40 PepperShaker -0.382 0.742 -3.024 0 0 0 77 41 ButterKnife -1.776 0.790 -3.747 0 0 0 89 42 Plate -3.346 0.911 -3.729 0 0 0 47 43 DishSponge -0.413 0.745 -3.347 0 0 0 75 44 Spoon -0.530 0.747 -1.331 0 90 0 70 45 Mug -3.234 1.393 -1.941 0 90 0 88 46 Bowl -3.079 1.011 -2.002 0 90 0 88 47 CounterTop -1.789 0.949 -3.803 0 0 0 48 Cabinet -0.577 0.388 -3.476 0 0 0 49 Cabinet -0.605 0.388 -3.511 0 0 0 50 Cabinet -2.976 0.388 -3.201 0 0 0 51 Cabinet -0.577 0.388 -0.447 0 0 0 52 Cabinet -0.577 0.388 -1.725 0 0 0 53 Cabinet -0.226 1.803 -1.743 0 0 0 54 Cabinet -0.228 1.799 -0.447 0 0 0 55 Cabinet -6.010 1.139 -6.019 0 0 0 56 Cabinet -3.022 2.098 -2.681 0 0 0 57 Cabinet -3.022 2.098 -1.743 0 0 0 58 Cabinet -0.577 0.388 -2.736 0 0 0 59 Cabinet -3.232 1.803 -3.343 0 0 0 60 Cabinet -2.811 1.810 -3.764 0 0 0 61 Cabinet -1.233 1.810 -3.764 0 0 0 62 Cabinet -1.364 0.388 -3.511 0 0 0 63 Cabinet -1.380 0.388 -3.511 0 0 0 64 Cabinet -0.226 1.803 -2.725 0 0 0 65 Cabinet -0.236 2.098 -1.767 0 0 0 66 Cabinet -0.236 2.098 -2.705 0 0 0 67 Cabinet -0.193 1.210 -4.239 0 0 0 68 Cabinet -2.148 0.388 -3.511 0 0 0 69 Drawer -3.104 0.797 -2.968 0 0 0 70 Drawer -0.449 0.797 -1.410 0 0 0 71 Sink -1.786 0.902 -3.748 0 0 0 72 StoveBurner -0.376 0.936 -2.451 0 0 0 73 Drawer -0.449 0.797 -0.762 0 0 0 74 CounterTop -0.268 0.951 -1.089 0 0 0 75 Drawer -0.449 0.797 -3.348 0 0 0 76 StoveBurner -0.376 0.936 -2.031 0 180 0 77 Drawer -0.449 0.797 -2.968 0 0 0 78 StoveBurner -0.165 0.936 -2.030 0 180 0 79 StoveBurner -0.165 0.936 -2.450 0 0 0 80 StoveKnob -0.568 0.903 -2.313 45 270 0 81 StoveKnob -0.568 0.903 -2.470 45 270 0 82 StoveKnob -0.568 0.903 -2.166 45 270 0 83 StoveKnob -0.568 0.903 -2.003 45 270 0 84 Microwave -0.143 0.903 -0.908 0 270 0 85 LightSwitch -1.108 1.457 0.338 0 180 0 86 GarbageCan -0.283 -0.032 -0.035 0 270 0 87 CoffeeMachine -3.104 0.837 -0.185 0 135 0 88 Fridge -3.188 0.0 -2.184 0 0 0 89 SinkBasin -1.786 0.779 -3.747 0 0 0 90 Toaster -0.230 0.903 -3.406 0 270 0 91 DiningTable -2.800 0.003 -0.505 0 0 0 92 Chair -3.044 0.003 -1.223 0 32.194 0 93 Faucet -1.791 1.136 -3.913 0 270 0 94 NorthWall 95 EastWall 96 SouthWall 97 WestWall
[ "STEP 1: Turn to your right then move forward face the table | STEP 2: Pick up the turner beside the bread on the table | STEP 3: Turn to your left cross the room head to the sink counter | STEP 4: Put the turner on the plate which is on the counter | STEP 5: Pick up the plate with turner | STEP 6: Turn to your right walk straight then head to the table | STEP 7: Put the plate with turner on the table | END" ]
[ [ "STEP 1: Turn to your right then move forward face the table ", " STEP 2: Pick up the turner beside the bread on the table ", " STEP 3: Turn to your left cross the room head to the sink counter ", " STEP 4: Put the turner on the plate which is on the counter ", " STEP 5: Pick up the plate with turner ", " STEP 6: Turn to your right walk straight then head to the table ", " STEP 7: Put the plate with turner on the table ", " END" ] ]
seen
trial_T20190910_013914_498289-1
Put a plate with a spatula on it on the table.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -2.0 0.901 -2.0 0 270 0 1 Pan -0.376 0.975 -2.451 0 0 0 72 2 DishSponge -1.914 0.790 -3.661 0 0 0 89 3 DishSponge -0.412 0.745 -0.609 0 0 0 73 4 ButterKnife -0.160 0.913 -2.811 0 0 0 47 5 Spatula -3.150 0.728 -0.683 0 0 0 91 6 Spoon -0.419 0.917 -1.493 0 0 0 74 7 Spoon -0.095 0.917 -1.616 0 0 0 74 8 Fork -3.140 0.914 -3.227 0 0 0 47 9 Egg -0.158 1.048 -0.851 0 270 0 84 10 Egg -2.581 0.749 -0.371 0 270 0 91 11 Cup -2.431 0.714 -0.665 0 135 0 91 12 Cup -0.500 0.916 -1.309 0 0 0 74 13 Knife -3.393 0.946 -2.926 0 0 0 47 14 Knife -3.054 0.749 -0.483 0 225 0 91 15 Tomato -2.629 0.963 -3.804 0 0 0 47 16 Tomato -3.130 0.690 -2.125 0 90 0 88 17 SoapBottle -2.652 0.713 -0.105 0 225 0 91 18 SaltShaker -3.199 0.710 -0.564 0 225 0 91 19 SaltShaker -0.471 0.743 -2.858 0 0 0 77 20 PepperShaker -2.660 1.291 -4.005 0 0 0 60 21 Lettuce -3.123 0.804 -0.841 0 225 0 91 22 Bread -2.803 0.757 -0.780 0 0 0 91 23 Mug -2.930 0.763 -0.358 0 135 0 87 24 Apple -2.797 0.756 -0.162 0 225 0 91 25 Apple -3.182 0.683 -1.817 0 90 0 88 26 Pot -2.836 0.903 -3.745 0 92.628 0 47 27 Egg -3.034 0.749 -0.930 0 225 0 91 28 Cup -3.234 1.399 -2.187 0 90 0 88 29 Bread -0.327 0.948 -3.681 0 298.222 0 47 30 Fork -0.338 0.916 -1.616 0 0 0 74 31 Pan -0.376 0.975 -2.031 0 180 0 76 32 Potato -0.412 0.957 -3.213 0 0 0 47 33 Lettuce -1.323 0.988 -3.759 1.535 253.822 357.477 47 34 Tomato -3.167 0.963 -3.804 0 0 0 47 35 Apple -1.914 0.833 -3.790 0 0 0 89 36 SoapBottle -0.489 0.081 -3.379 0 0 0 48 37 Spatula -2.723 0.728 -0.558 0 90 0 91 38 SaltShaker -0.257 0.912 -1.370 0 0 0 74 39 Knife -2.629 0.946 -3.581 0 0 0 47 40 PepperShaker -0.382 0.742 -3.024 0 0 0 77 41 ButterKnife -1.776 0.790 -3.747 0 0 0 89 42 Plate -3.346 0.911 -3.729 0 0 0 47 43 DishSponge -0.413 0.745 -3.347 0 0 0 75 44 Spoon -0.530 0.747 -1.331 0 90 0 70 45 Mug -3.234 1.393 -1.941 0 90 0 88 46 Bowl -3.079 1.011 -2.002 0 90 0 88 47 CounterTop -1.789 0.949 -3.803 0 0 0 48 Cabinet -0.577 0.388 -3.476 0 0 0 49 Cabinet -0.605 0.388 -3.511 0 0 0 50 Cabinet -2.976 0.388 -3.201 0 0 0 51 Cabinet -0.577 0.388 -0.447 0 0 0 52 Cabinet -0.577 0.388 -1.725 0 0 0 53 Cabinet -0.226 1.803 -1.743 0 0 0 54 Cabinet -0.228 1.799 -0.447 0 0 0 55 Cabinet -6.010 1.139 -6.019 0 0 0 56 Cabinet -3.022 2.098 -2.681 0 0 0 57 Cabinet -3.022 2.098 -1.743 0 0 0 58 Cabinet -0.577 0.388 -2.736 0 0 0 59 Cabinet -3.232 1.803 -3.343 0 0 0 60 Cabinet -2.811 1.810 -3.764 0 0 0 61 Cabinet -1.233 1.810 -3.764 0 0 0 62 Cabinet -1.364 0.388 -3.511 0 0 0 63 Cabinet -1.380 0.388 -3.511 0 0 0 64 Cabinet -0.226 1.803 -2.725 0 0 0 65 Cabinet -0.236 2.098 -1.767 0 0 0 66 Cabinet -0.236 2.098 -2.705 0 0 0 67 Cabinet -0.193 1.210 -4.239 0 0 0 68 Cabinet -2.148 0.388 -3.511 0 0 0 69 Drawer -3.104 0.797 -2.968 0 0 0 70 Drawer -0.449 0.797 -1.410 0 0 0 71 Sink -1.786 0.902 -3.748 0 0 0 72 StoveBurner -0.376 0.936 -2.451 0 0 0 73 Drawer -0.449 0.797 -0.762 0 0 0 74 CounterTop -0.268 0.951 -1.089 0 0 0 75 Drawer -0.449 0.797 -3.348 0 0 0 76 StoveBurner -0.376 0.936 -2.031 0 180 0 77 Drawer -0.449 0.797 -2.968 0 0 0 78 StoveBurner -0.165 0.936 -2.030 0 180 0 79 StoveBurner -0.165 0.936 -2.450 0 0 0 80 StoveKnob -0.568 0.903 -2.313 45 270 0 81 StoveKnob -0.568 0.903 -2.470 45 270 0 82 StoveKnob -0.568 0.903 -2.166 45 270 0 83 StoveKnob -0.568 0.903 -2.003 45 270 0 84 Microwave -0.143 0.903 -0.908 0 270 0 85 LightSwitch -1.108 1.457 0.338 0 180 0 86 GarbageCan -0.283 -0.032 -0.035 0 270 0 87 CoffeeMachine -3.104 0.837 -0.185 0 135 0 88 Fridge -3.188 0.0 -2.184 0 0 0 89 SinkBasin -1.786 0.779 -3.747 0 0 0 90 Toaster -0.230 0.903 -3.406 0 270 0 91 DiningTable -2.800 0.003 -0.505 0 0 0 92 Chair -3.044 0.003 -1.223 0 32.194 0 93 Faucet -1.791 1.136 -3.913 0 270 0 94 NorthWall 95 EastWall 96 SouthWall 97 WestWall
[ "STEP 1: Turn right and walk to the chair then turn left. | STEP 2: Pick up the spatula that's on the table. | STEP 3: Turn left and walk to the sink then turn right and walk to the counter. | STEP 4: Put the spatula on the plate under the cupboards. | STEP 5: Pick up the plate. | STEP 6: Turn right and take a step to your right then walk to the table and take a step to your left. | STEP 7: Put the plate to the right of the bread. | END" ]
[ [ "STEP 1: Turn right and walk to the chair then turn left. ", " STEP 2: Pick up the spatula that's on the table. ", " STEP 3: Turn left and walk to the sink then turn right and walk to the counter. ", " STEP 4: Put the spatula on the plate under the cupboards. ", " STEP 5: Pick up the plate. ", " STEP 6: Turn right and take a step to your right then walk to the table and take a step to your left. ", " STEP 7: Put the plate to the right of the bread. ", " END" ] ]
seen
trial_T20190910_013914_498289-2
Place a plate under the spatula on the table.
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" -0.489", " 0.081", " -3.379", " 0", " 0", " 0", " 48" ], [ "37", " Spatula", " -2.723", " 0.728", " -0.558", " 0", " 90", " 0", " 91" ], [ "38", " SaltShaker", " -0.257", " 0.912", " -1.370", " 0", " 0", " 0", " 74" ], [ "39", " Knife", " -2.629", " 0.946", " -3.581", " 0", " 0", " 0", " 47" ], [ "40", " PepperShaker", " -0.382", " 0.742", " -3.024", " 0", " 0", " 0", " 77" ], [ "41", " ButterKnife", " -1.776", " 0.790", " -3.747", " 0", " 0", " 0", " 89" ], [ "42", " Plate", " -3.346", " 0.911", " -3.729", " 0", " 0", " 0", " 47" ], [ "43", " DishSponge", " -0.413", " 0.745", " -3.347", " 0", " 0", " 0", " 75" ], [ "44", " Spoon", " -0.530", " 0.747", " -1.331", " 0", " 90", " 0", " 70" ], [ "45", " Mug", " -3.234", " 1.393", " -1.941", " 0", " 90", " 0", " 88" ], [ "46", " Bowl", " -3.079", " 1.011", " -2.002", " 0", " 90", " 0", " 88" ], [ "47", " CounterTop", " -1.789", " 0.949", " -3.803", " 0", " 0", " 0", "" ], [ "48", " Cabinet", " -0.577", " 0.388", " -3.476", " 0", " 0", " 0", "" ], [ "49", " Cabinet", " -0.605", " 0.388", " -3.511", " 0", " 0", " 0", "" ], [ "50", " Cabinet", " -2.976", " 0.388", " -3.201", " 0", " 0", " 0", "" ], [ "51", " Cabinet", " -0.577", " 0.388", " -0.447", " 0", " 0", " 0", "" ], [ "52", " Cabinet", " -0.577", " 0.388", " -1.725", " 0", " 0", " 0", "" ], [ "53", " Cabinet", " -0.226", " 1.803", " -1.743", " 0", " 0", " 0", "" ], [ "54", " Cabinet", " -0.228", " 1.799", " -0.447", " 0", " 0", " 0", "" ], [ "55", " Cabinet", " -6.010", " 1.139", " -6.019", " 0", " 0", " 0", "" ], [ "56", " Cabinet", " -3.022", " 2.098", " -2.681", " 0", " 0", " 0", "" ], [ "57", " Cabinet", " -3.022", " 2.098", " -1.743", " 0", " 0", " 0", "" ], [ "58", " Cabinet", " -0.577", " 0.388", " -2.736", " 0", " 0", " 0", "" ], [ "59", " Cabinet", " -3.232", " 1.803", " -3.343", " 0", " 0", " 0", "" ], [ "60", " Cabinet", " -2.811", " 1.810", " -3.764", " 0", " 0", " 0", "" ], [ "61", " Cabinet", " -1.233", " 1.810", " -3.764", " 0", " 0", " 0", "" ], [ "62", " Cabinet", " -1.364", " 0.388", " -3.511", " 0", " 0", " 0", "" ], [ "63", " Cabinet", " -1.380", " 0.388", " -3.511", " 0", " 0", " 0", "" ], [ "64", " Cabinet", " -0.226", " 1.803", " -2.725", " 0", " 0", " 0", "" ], [ "65", " Cabinet", " -0.236", " 2.098", " -1.767", " 0", " 0", " 0", "" ], [ "66", " Cabinet", " -0.236", " 2.098", " -2.705", " 0", " 0", " 0", "" ], [ "67", " Cabinet", " -0.193", " 1.210", " -4.239", " 0", " 0", " 0", "" ], [ "68", " Cabinet", " -2.148", " 0.388", " -3.511", " 0", " 0", " 0", "" ], [ "69", " Drawer", " -3.104", " 0.797", " -2.968", " 0", " 0", " 0", "" ], [ "70", " Drawer", " -0.449", " 0.797", " -1.410", " 0", " 0", " 0", "" ], [ "71", " Sink", " -1.786", " 0.902", " -3.748", " 0", " 0", " 0", "" ], [ "72", " StoveBurner", " -0.376", " 0.936", " -2.451", " 0", " 0", " 0", "" ], [ "73", " Drawer", " -0.449", " 0.797", " -0.762", " 0", " 0", " 0", "" ], [ "74", " CounterTop", " -0.268", " 0.951", " -1.089", " 0", " 0", " 0", "" ], [ "75", " Drawer", " -0.449", " 0.797", " -3.348", " 0", " 0", " 0", "" ], [ "76", " StoveBurner", " -0.376", " 0.936", " -2.031", " 0", " 180", " 0", "" ], [ "77", " Drawer", " -0.449", " 0.797", " -2.968", " 0", " 0", " 0", "" ], [ "78", " StoveBurner", " -0.165", " 0.936", " -2.030", " 0", " 180", " 0", "" ], [ "79", " StoveBurner", " -0.165", " 0.936", " -2.450", " 0", " 0", " 0", "" ], [ "80", " StoveKnob", " -0.568", " 0.903", " -2.313", " 45", " 270", " 0", "" ], [ "81", " StoveKnob", " -0.568", " 0.903", " -2.470", " 45", " 270", " 0", "" ], [ "82", " StoveKnob", " -0.568", " 0.903", " -2.166", " 45", " 270", " 0", "" ], [ "83", " StoveKnob", " -0.568", " 0.903", " -2.003", " 45", " 270", " 0", "" ], [ "84", " Microwave", " -0.143", " 0.903", " -0.908", " 0", " 270", " 0", "" ], [ "85", " LightSwitch", " -1.108", " 1.457", " 0.338", " 0", " 180", " 0", "" ], [ "86", " GarbageCan", " -0.283", " -0.032", " -0.035", " 0", " 270", " 0", "" ], [ "87", " CoffeeMachine", " -3.104", " 0.837", " -0.185", " 0", " 135", " 0", "" ], [ "88", " Fridge", " -3.188", " 0.0", " -2.184", " 0", " 0", " 0", "" ], [ "89", " SinkBasin", " -1.786", " 0.779", " -3.747", " 0", " 0", " 0", "" ], [ "90", " Toaster", " -0.230", " 0.903", " -3.406", " 0", " 270", " 0", "" ], [ "91", " DiningTable", " -2.800", " 0.003", " -0.505", " 0", " 0", " 0", "" ], [ "92", " Chair", " -3.044", " 0.003", " -1.223", " 0", " 32.194", " 0", "" ], [ "93", " Faucet", " -1.791", " 1.136", " -3.913", " 0", " 270", " 0", "" ], [ "94", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "95", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "96", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "97", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -2.0 0.901 -2.0 0 270 0 1 Pan -0.376 0.975 -2.451 0 0 0 72 2 DishSponge -1.914 0.790 -3.661 0 0 0 89 3 DishSponge -0.412 0.745 -0.609 0 0 0 73 4 ButterKnife -0.160 0.913 -2.811 0 0 0 47 5 Spatula -3.150 0.728 -0.683 0 0 0 91 6 Spoon -0.419 0.917 -1.493 0 0 0 74 7 Spoon -0.095 0.917 -1.616 0 0 0 74 8 Fork -3.140 0.914 -3.227 0 0 0 47 9 Egg -0.158 1.048 -0.851 0 270 0 84 10 Egg -2.581 0.749 -0.371 0 270 0 91 11 Cup -2.431 0.714 -0.665 0 135 0 91 12 Cup -0.500 0.916 -1.309 0 0 0 74 13 Knife -3.393 0.946 -2.926 0 0 0 47 14 Knife -3.054 0.749 -0.483 0 225 0 91 15 Tomato -2.629 0.963 -3.804 0 0 0 47 16 Tomato -3.130 0.690 -2.125 0 90 0 88 17 SoapBottle -2.652 0.713 -0.105 0 225 0 91 18 SaltShaker -3.199 0.710 -0.564 0 225 0 91 19 SaltShaker -0.471 0.743 -2.858 0 0 0 77 20 PepperShaker -2.660 1.291 -4.005 0 0 0 60 21 Lettuce -3.123 0.804 -0.841 0 225 0 91 22 Bread -2.803 0.757 -0.780 0 0 0 91 23 Mug -2.930 0.763 -0.358 0 135 0 87 24 Apple -2.797 0.756 -0.162 0 225 0 91 25 Apple -3.182 0.683 -1.817 0 90 0 88 26 Pot -2.836 0.903 -3.745 0 92.628 0 47 27 Egg -3.034 0.749 -0.930 0 225 0 91 28 Cup -3.234 1.399 -2.187 0 90 0 88 29 Bread -0.327 0.948 -3.681 0 298.222 0 47 30 Fork -0.338 0.916 -1.616 0 0 0 74 31 Pan -0.376 0.975 -2.031 0 180 0 76 32 Potato -0.412 0.957 -3.213 0 0 0 47 33 Lettuce -1.323 0.988 -3.759 1.535 253.822 357.477 47 34 Tomato -3.167 0.963 -3.804 0 0 0 47 35 Apple -1.914 0.833 -3.790 0 0 0 89 36 SoapBottle -0.489 0.081 -3.379 0 0 0 48 37 Spatula -2.723 0.728 -0.558 0 90 0 91 38 SaltShaker -0.257 0.912 -1.370 0 0 0 74 39 Knife -2.629 0.946 -3.581 0 0 0 47 40 PepperShaker -0.382 0.742 -3.024 0 0 0 77 41 ButterKnife -1.776 0.790 -3.747 0 0 0 89 42 Plate -3.346 0.911 -3.729 0 0 0 47 43 DishSponge -0.413 0.745 -3.347 0 0 0 75 44 Spoon -0.530 0.747 -1.331 0 90 0 70 45 Mug -3.234 1.393 -1.941 0 90 0 88 46 Bowl -3.079 1.011 -2.002 0 90 0 88 47 CounterTop -1.789 0.949 -3.803 0 0 0 48 Cabinet -0.577 0.388 -3.476 0 0 0 49 Cabinet -0.605 0.388 -3.511 0 0 0 50 Cabinet -2.976 0.388 -3.201 0 0 0 51 Cabinet -0.577 0.388 -0.447 0 0 0 52 Cabinet -0.577 0.388 -1.725 0 0 0 53 Cabinet -0.226 1.803 -1.743 0 0 0 54 Cabinet -0.228 1.799 -0.447 0 0 0 55 Cabinet -6.010 1.139 -6.019 0 0 0 56 Cabinet -3.022 2.098 -2.681 0 0 0 57 Cabinet -3.022 2.098 -1.743 0 0 0 58 Cabinet -0.577 0.388 -2.736 0 0 0 59 Cabinet -3.232 1.803 -3.343 0 0 0 60 Cabinet -2.811 1.810 -3.764 0 0 0 61 Cabinet -1.233 1.810 -3.764 0 0 0 62 Cabinet -1.364 0.388 -3.511 0 0 0 63 Cabinet -1.380 0.388 -3.511 0 0 0 64 Cabinet -0.226 1.803 -2.725 0 0 0 65 Cabinet -0.236 2.098 -1.767 0 0 0 66 Cabinet -0.236 2.098 -2.705 0 0 0 67 Cabinet -0.193 1.210 -4.239 0 0 0 68 Cabinet -2.148 0.388 -3.511 0 0 0 69 Drawer -3.104 0.797 -2.968 0 0 0 70 Drawer -0.449 0.797 -1.410 0 0 0 71 Sink -1.786 0.902 -3.748 0 0 0 72 StoveBurner -0.376 0.936 -2.451 0 0 0 73 Drawer -0.449 0.797 -0.762 0 0 0 74 CounterTop -0.268 0.951 -1.089 0 0 0 75 Drawer -0.449 0.797 -3.348 0 0 0 76 StoveBurner -0.376 0.936 -2.031 0 180 0 77 Drawer -0.449 0.797 -2.968 0 0 0 78 StoveBurner -0.165 0.936 -2.030 0 180 0 79 StoveBurner -0.165 0.936 -2.450 0 0 0 80 StoveKnob -0.568 0.903 -2.313 45 270 0 81 StoveKnob -0.568 0.903 -2.470 45 270 0 82 StoveKnob -0.568 0.903 -2.166 45 270 0 83 StoveKnob -0.568 0.903 -2.003 45 270 0 84 Microwave -0.143 0.903 -0.908 0 270 0 85 LightSwitch -1.108 1.457 0.338 0 180 0 86 GarbageCan -0.283 -0.032 -0.035 0 270 0 87 CoffeeMachine -3.104 0.837 -0.185 0 135 0 88 Fridge -3.188 0.0 -2.184 0 0 0 89 SinkBasin -1.786 0.779 -3.747 0 0 0 90 Toaster -0.230 0.903 -3.406 0 270 0 91 DiningTable -2.800 0.003 -0.505 0 0 0 92 Chair -3.044 0.003 -1.223 0 32.194 0 93 Faucet -1.791 1.136 -3.913 0 270 0 94 NorthWall 95 EastWall 96 SouthWall 97 WestWall
[ "STEP 1: Turn right and move to the round kitchen table in the corner. | STEP 2: Pick up the spatula from the table. | STEP 3: Turn and carry the spatula to the sink. | STEP 4: Turn right again and carry the spatula to the counter space left of the fridge. | STEP 5: Place the spatula on the round plate in the corner on the counter. | STEP 6: Pick up the plate with the spatula on it from the counter, turn right, and move to stand between the fridge and kitchen table, facing the table. | STEP 7: Place the plate and spatula on the table between the loaf of bread and drinking glass. | END" ]
[ [ "STEP 1: Turn right and move to the round kitchen table in the corner. ", " STEP 2: Pick up the spatula from the table. ", " STEP 3: Turn and carry the spatula to the sink. ", " STEP 4: Turn right again and carry the spatula to the counter space left of the fridge. ", " STEP 5: Place the spatula on the round plate in the corner on the counter. ", " STEP 6: Pick up the plate with the spatula on it from the counter, turn right, and move to stand between the fridge and kitchen table, facing the table. ", " STEP 7: Place the plate and spatula on the table between the loaf of bread and drinking glass. ", " END" ] ]
seen
trial_T20190907_160608_380799-0
Inspect a credit card by the light of a lamp.
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " -1.5", " 0.900", " -0.5", " 0", " 180", " 0", "" ], [ "1", " TissueBox", " -0.806", " 0.129", " 1.274", " 0", " 0", " 0", " 38" ], [ "2", " TissueBox", " -1.121", " 0.635", " 1.255", " 0", " 0", " 0", " 39" ], [ "3", " Newspaper", " 0.098", " 0.898", " 1.234", " 0", " 0", " 0", " 40" ], [ "4", " Newspaper", " 0.057", " 0.559", " -1.151", " 0", " 0", " 0", " 37" ], [ "5", " CreditCard", " -0.806", " 0.127", " 1.129", " 0", " 0", " 0", " 38" ], [ "6", " Box", " -3.780", " 1.305", " 0.457", " 0", " 0", " 0", " 28" ], [ "7", " Vase", " -0.359", " 0.899", " 1.234", " 0", " 0", " 0", " 40" ], [ "8", " TissueBox", " -4.204", " 1.064", " 0.511", " 0", " 135", " 0", " 28" ], [ "9", " Newspaper", " 0.283", " 0.481", " -1.151", " 0", " 0", " 0", " 37" ], [ "10", " KeyChain", " -0.169", " 0.552", " -1.235", " 0", " 0", " 0", " 37" ], [ "11", " Vase", " 1.492", " 0.665", " -1.338", " 0", " 0", " 0", " 33" ], [ "12", " Statue", " -1.29", " 0.891", " 1.219", " 0", " 180", " 0", " 40" ], [ "13", " RemoteControl", " -4.093", " 1.064", " 0.066", " 0", " 45", " 0", " 28" ], [ "14", " Pillow", " -1.827", " 0.585", " -1.251", " 0", " 0", " 0", " 31" ], [ "15", " CreditCard", " 1.629", " 0.460", " -1.355", " 0", " 0", " 0", " 32" ], [ "16", " Laptop", " 0.434", " 0.541", " -1.187", " 0", " 0", " 0", " 37" ], [ "17", " Vase", " -0.516", " 0.114", " 1.201", " 0", " 0", " 0", " 38" ], [ "18", " Statue", " 1.745", " 0.757", " -1.413", " 0", " 0", " 0", " 33" ], [ "19", " DeskLamp", " 1.657", " 0.654", " -1.605", " 0", " 0", " 0", "" ], [ "20", " FloorLamp", " -4.569", " 0.005", " -1.616", " 0", " 15.092", " 0", "" ], [ "21", " LightSwitch", " -2.464", " 1.230", " -1.950", " 0", " 0", " 0", "" ], [ "22", " GarbageCan", " -4.581", " -0.032", " 1.126", " 0", " 90", " 0", "" ], [ "23", " Television", " -0.549", " 1.516", " 1.450", " 0", " 180", " 0", "" ], [ "24", " HousePlant", " 1.555", " 0.650", " 1.166", " 0", " 0", " 0", "" ], [ "25", " Window", " -2.012", " 1.501", " 1.468", " 90", " 0", " 0", "" ], [ "26", " Window", " 0.986", " 1.501", " 1.468", " 90", " 0", " 0", "" ], [ "27", " Painting", " -0.698", " 1.835", " -1.911", " 90", " 0", " 0", "" ], [ "28", " DiningTable", " -3.941", " 0.005", " 0.257", " 0", " 0", " 0", "" ], [ "29", " SideTable", " 1.102", " -0.000", " 1.118", " 0", " 180", " 0", "" ], [ "30", " Drawer", " 1.103", " 0.519", " 0.834", " 0", " 180", " 0", "" ], [ "31", " ArmChair", " -1.832", " 0.010", " -1.349", " 0", " 0", " 0", "" ], [ "32", " Drawer", " 1.581", " 0.523", " -1.199", " 0", " 0", " 0", "" ], [ "33", " SideTable", " 1.581", " 0.003", " -1.488", " 0", " 0", " 0", "" ], [ "34", " Painting", " -4.910", " 1.763", " -0.098", " 90", " 270", " 0", "" ], [ "35", " Chair", " -4.398", " 0.002", " 0.274", " 0", " 85.162", " 0", "" ], [ "36", " Chair", " -3.825", " 0.002", " -0.223", " 0", " 340.163", " 0", "" ], [ "37", " Sofa", " 0.057", " -0.002", " -1.386", " 0", " 0", " 0", "" ], [ "38", " Shelf", " -0.552", " 0.114", " 1.252", " 0", " 180", " 0", "" ], [ "39", " Drawer", " -1.020", " 0.728", " 1.032", " 0", " 180", " 0", "" ], [ "40", " SideTable", " -0.589", " 0.000", " 1.227", " 0", " 180", " 0", "" ], [ "41", " Drawer", " -0.157", " 0.728", " 1.032", " 0", " 180", " 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 -1.5 0.900 -0.5 0 180 0 1 TissueBox -0.806 0.129 1.274 0 0 0 38 2 TissueBox -1.121 0.635 1.255 0 0 0 39 3 Newspaper 0.098 0.898 1.234 0 0 0 40 4 Newspaper 0.057 0.559 -1.151 0 0 0 37 5 CreditCard -0.806 0.127 1.129 0 0 0 38 6 Box -3.780 1.305 0.457 0 0 0 28 7 Vase -0.359 0.899 1.234 0 0 0 40 8 TissueBox -4.204 1.064 0.511 0 135 0 28 9 Newspaper 0.283 0.481 -1.151 0 0 0 37 10 KeyChain -0.169 0.552 -1.235 0 0 0 37 11 Vase 1.492 0.665 -1.338 0 0 0 33 12 Statue -1.29 0.891 1.219 0 180 0 40 13 RemoteControl -4.093 1.064 0.066 0 45 0 28 14 Pillow -1.827 0.585 -1.251 0 0 0 31 15 CreditCard 1.629 0.460 -1.355 0 0 0 32 16 Laptop 0.434 0.541 -1.187 0 0 0 37 17 Vase -0.516 0.114 1.201 0 0 0 38 18 Statue 1.745 0.757 -1.413 0 0 0 33 19 DeskLamp 1.657 0.654 -1.605 0 0 0 20 FloorLamp -4.569 0.005 -1.616 0 15.092 0 21 LightSwitch -2.464 1.230 -1.950 0 0 0 22 GarbageCan -4.581 -0.032 1.126 0 90 0 23 Television -0.549 1.516 1.450 0 180 0 24 HousePlant 1.555 0.650 1.166 0 0 0 25 Window -2.012 1.501 1.468 90 0 0 26 Window 0.986 1.501 1.468 90 0 0 27 Painting -0.698 1.835 -1.911 90 0 0 28 DiningTable -3.941 0.005 0.257 0 0 0 29 SideTable 1.102 -0.000 1.118 0 180 0 30 Drawer 1.103 0.519 0.834 0 180 0 31 ArmChair -1.832 0.010 -1.349 0 0 0 32 Drawer 1.581 0.523 -1.199 0 0 0 33 SideTable 1.581 0.003 -1.488 0 0 0 34 Painting -4.910 1.763 -0.098 90 270 0 35 Chair -4.398 0.002 0.274 0 85.162 0 36 Chair -3.825 0.002 -0.223 0 340.163 0 37 Sofa 0.057 -0.002 -1.386 0 0 0 38 Shelf -0.552 0.114 1.252 0 180 0 39 Drawer -1.020 0.728 1.032 0 180 0 40 SideTable -0.589 0.000 1.227 0 180 0 41 Drawer -0.157 0.728 1.032 0 180 0 42 NorthWall 43 EastWall 44 SouthWall 45 WestWall
[ "STEP 1: Turn left, move to the shelves in front of the TV. | STEP 2: Pick up the credit card from the low shelf. | STEP 3: Turn left, move to the tall lamp. | STEP 4: Turn on the tall lamp. | END" ]
[ [ "STEP 1: Turn left, move to the shelves in front of the TV. ", " STEP 2: Pick up the credit card from the low shelf. ", " STEP 3: Turn left, move to the tall lamp. ", " STEP 4: Turn on the tall lamp. ", " END" ] ]
seen
trial_T20190907_160608_380799-1
Examine the credit card under the light of the floor lamp
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.5 0.900 -0.5 0 180 0 1 TissueBox -0.806 0.129 1.274 0 0 0 38 2 TissueBox -1.121 0.635 1.255 0 0 0 39 3 Newspaper 0.098 0.898 1.234 0 0 0 40 4 Newspaper 0.057 0.559 -1.151 0 0 0 37 5 CreditCard -0.806 0.127 1.129 0 0 0 38 6 Box -3.780 1.305 0.457 0 0 0 28 7 Vase -0.359 0.899 1.234 0 0 0 40 8 TissueBox -4.204 1.064 0.511 0 135 0 28 9 Newspaper 0.283 0.481 -1.151 0 0 0 37 10 KeyChain -0.169 0.552 -1.235 0 0 0 37 11 Vase 1.492 0.665 -1.338 0 0 0 33 12 Statue -1.29 0.891 1.219 0 180 0 40 13 RemoteControl -4.093 1.064 0.066 0 45 0 28 14 Pillow -1.827 0.585 -1.251 0 0 0 31 15 CreditCard 1.629 0.460 -1.355 0 0 0 32 16 Laptop 0.434 0.541 -1.187 0 0 0 37 17 Vase -0.516 0.114 1.201 0 0 0 38 18 Statue 1.745 0.757 -1.413 0 0 0 33 19 DeskLamp 1.657 0.654 -1.605 0 0 0 20 FloorLamp -4.569 0.005 -1.616 0 15.092 0 21 LightSwitch -2.464 1.230 -1.950 0 0 0 22 GarbageCan -4.581 -0.032 1.126 0 90 0 23 Television -0.549 1.516 1.450 0 180 0 24 HousePlant 1.555 0.650 1.166 0 0 0 25 Window -2.012 1.501 1.468 90 0 0 26 Window 0.986 1.501 1.468 90 0 0 27 Painting -0.698 1.835 -1.911 90 0 0 28 DiningTable -3.941 0.005 0.257 0 0 0 29 SideTable 1.102 -0.000 1.118 0 180 0 30 Drawer 1.103 0.519 0.834 0 180 0 31 ArmChair -1.832 0.010 -1.349 0 0 0 32 Drawer 1.581 0.523 -1.199 0 0 0 33 SideTable 1.581 0.003 -1.488 0 0 0 34 Painting -4.910 1.763 -0.098 90 270 0 35 Chair -4.398 0.002 0.274 0 85.162 0 36 Chair -3.825 0.002 -0.223 0 340.163 0 37 Sofa 0.057 -0.002 -1.386 0 0 0 38 Shelf -0.552 0.114 1.252 0 180 0 39 Drawer -1.020 0.728 1.032 0 180 0 40 SideTable -0.589 0.000 1.227 0 180 0 41 Drawer -0.157 0.728 1.032 0 180 0 42 NorthWall 43 EastWall 44 SouthWall 45 WestWall
[ "STEP 1: Turn around and walk over to the wooden cabinet under the TV | STEP 2: Pick up the blue credit card from the cabinet | STEP 3: Turn around and walk to the floor lamp in the corner | STEP 4: Turn on the floor lamp | END" ]
[ [ "STEP 1: Turn around and walk over to the wooden cabinet under the TV ", " STEP 2: Pick up the blue credit card from the cabinet ", " STEP 3: Turn around and walk to the floor lamp in the corner ", " STEP 4: Turn on the floor lamp ", " END" ] ]
seen
trial_T20190907_160608_380799-2
Turn a lamp on with a credit card 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 -1.5 0.900 -0.5 0 180 0 1 TissueBox -0.806 0.129 1.274 0 0 0 38 2 TissueBox -1.121 0.635 1.255 0 0 0 39 3 Newspaper 0.098 0.898 1.234 0 0 0 40 4 Newspaper 0.057 0.559 -1.151 0 0 0 37 5 CreditCard -0.806 0.127 1.129 0 0 0 38 6 Box -3.780 1.305 0.457 0 0 0 28 7 Vase -0.359 0.899 1.234 0 0 0 40 8 TissueBox -4.204 1.064 0.511 0 135 0 28 9 Newspaper 0.283 0.481 -1.151 0 0 0 37 10 KeyChain -0.169 0.552 -1.235 0 0 0 37 11 Vase 1.492 0.665 -1.338 0 0 0 33 12 Statue -1.29 0.891 1.219 0 180 0 40 13 RemoteControl -4.093 1.064 0.066 0 45 0 28 14 Pillow -1.827 0.585 -1.251 0 0 0 31 15 CreditCard 1.629 0.460 -1.355 0 0 0 32 16 Laptop 0.434 0.541 -1.187 0 0 0 37 17 Vase -0.516 0.114 1.201 0 0 0 38 18 Statue 1.745 0.757 -1.413 0 0 0 33 19 DeskLamp 1.657 0.654 -1.605 0 0 0 20 FloorLamp -4.569 0.005 -1.616 0 15.092 0 21 LightSwitch -2.464 1.230 -1.950 0 0 0 22 GarbageCan -4.581 -0.032 1.126 0 90 0 23 Television -0.549 1.516 1.450 0 180 0 24 HousePlant 1.555 0.650 1.166 0 0 0 25 Window -2.012 1.501 1.468 90 0 0 26 Window 0.986 1.501 1.468 90 0 0 27 Painting -0.698 1.835 -1.911 90 0 0 28 DiningTable -3.941 0.005 0.257 0 0 0 29 SideTable 1.102 -0.000 1.118 0 180 0 30 Drawer 1.103 0.519 0.834 0 180 0 31 ArmChair -1.832 0.010 -1.349 0 0 0 32 Drawer 1.581 0.523 -1.199 0 0 0 33 SideTable 1.581 0.003 -1.488 0 0 0 34 Painting -4.910 1.763 -0.098 90 270 0 35 Chair -4.398 0.002 0.274 0 85.162 0 36 Chair -3.825 0.002 -0.223 0 340.163 0 37 Sofa 0.057 -0.002 -1.386 0 0 0 38 Shelf -0.552 0.114 1.252 0 180 0 39 Drawer -1.020 0.728 1.032 0 180 0 40 SideTable -0.589 0.000 1.227 0 180 0 41 Drawer -0.157 0.728 1.032 0 180 0 42 NorthWall 43 EastWall 44 SouthWall 45 WestWall
[ "STEP 1: Turn around and face the brown cabinet. | STEP 2: Pick the credit card up from the lower shelf of the brown cabinet. | STEP 3: Go left and then left again and turn to stand in front of the lamp in the corner. | STEP 4: Turn the lamp on. | END" ]
[ [ "STEP 1: Turn around and face the brown cabinet. ", " STEP 2: Pick the credit card up from the lower shelf of the brown cabinet. ", " STEP 3: Go left and then left again and turn to stand in front of the lamp in the corner. ", " STEP 4: Turn the lamp on. ", " END" ] ]
seen
trial_T20190906_233458_108018-0
place a green sponge on the drying racks
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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 0.913 -0.75 0 0 0 1 Cloth -2.796 0.897 0.759 0 90 0 48 2 TissueBox 0.430 0.963 -2.087 0 0 0 32 3 Candle 2.204 0.622 -2.389 0 0 0 40 4 Candle -2.921 0.243 1.395 0 90 0 51 5 SoapBar 1.780 0.623 -2.242 0 0 0 40 6 SprayBottle -0.208 0.959 -2.181 0 0 0 32 7 SprayBottle -0.527 0.959 -2.181 0 0 0 32 8 DishSponge 0.414 0.439 -1.872 0 0 0 36 9 DishSponge 1.142 0.624 -2.020 0 0 0 40 10 DishSponge 0.010 0.966 2.250 0 270 0 46 11 SoapBottle -2.921 0.885 1.317 0 90 0 51 12 SoapBottle 1.355 0.634 -2.168 0 0 0 40 13 Candle -0.051 0.965 2.330 0 270 0 46 14 HandTowel -0.885 1.617 -2.503 0 180 0 41 15 Towel 0.465 1.21 -1.095 0 270 0 37 16 SoapBottle 0.135 0.976 2.223 0 270 0 46 17 SoapBar -0.048 0.962 -1.805 0 0 0 32 18 ToiletPaper 0.430 0.959 -2.369 0 0 0 32 19 Plunger 0.506 0.011 2.268 0 0 0 Floor|-00.35| 20 SprayBottle -0.208 0.959 -2.087 0 0 0 32 21 TissueBox -2.808 0.244 1.473 0 90 0 51 22 ToiletPaper -0.515 0.031 2.338 0 0 90 38 23 ScrubBrush 0.342 0.012 2.072 0 0 0 Floor|-00.35| 24 Cloth 0.185 0.248 -1.905 0 0 0 30 25 DishSponge 1.780 0.624 -2.094 0 0 0 40 26 Footstool -0.325 0.297 -1.98 0 0 0 Floor|-00.35| 27 Bathtub -1.957 0.494 -1.233 0 0 0 28 ShowerDoor 0.650 1.413 2.169 0 0 0 29 ShowerGlass 0.0 0.0 0.0 0 0 0 30 Drawer 0.300 0.304 -1.820 0 0 0 31 Mirror -0.046 1.512 -2.538 0 0 0 32 CounterTop 0.196 0.430 -2.010 0 0 0 33 Sink -2.796 0.328 0.755 0 90 0 34 Drawer 0.300 0.833 -1.820 0 0 0 35 Drawer 0.300 0.682 -1.820 0 0 0 36 Drawer 0.300 0.492 -1.820 0 0 0 37 TowelHolder 0.572 1.195 -1.095 0 270 0 38 GarbageCan -0.564 0.010 2.061 0 195.0 0 39 ToiletPaperHanger -0.574 0.926 2.407 0 180 0 40 Shelf 1.536 0.613 -2.242 0 0 0 41 HandTowelHolder -0.884 1.718 -2.542 0 270 0 42 Window -3.170 1.812 -1.697 90 90 0 43 Window -3.170 1.812 1.597 90 90 0 44 Window -2.144 1.809 -2.573 90 0 0 45 Window -3.170 1.812 -0.054 90 90 0 46 Toilet -0.064 0.012 1.838 0 180 0 47 LightSwitch -1.406 1.472 2.407 0 180 0 48 SinkBasin -2.796 0.875 0.765 0 90 0 49 ShowerHead 1.591 1.700 -2.424 0 90 0 50 Faucet -2.676 0.423 -0.312 0 99.958 0 51 SideTable -2.847 0.013 1.509 0 90 0 52 Faucet -3.106 1.056 0.757 0 90 0 53 54 NorthWall 55 EastWall 56 SouthWall 57 WestWall
[ "STEP 1: walk on over to the toilet | STEP 2: grab the green sponge off the top of the toilet | STEP 3: walk over to the sink | STEP 4: place the sponge in the sink and rinse it off, then pick it up again | STEP 5: bring the sponge over to the drying racks | STEP 6: place the sponge on the rack | END" ]
[ [ "STEP 1: walk on over to the toilet ", " STEP 2: grab the green sponge off the top of the toilet ", " STEP 3: walk over to the sink ", " STEP 4: place the sponge in the sink and rinse it off, then pick it up again ", " STEP 5: bring the sponge over to the drying racks ", " STEP 6: place the sponge on the rack ", " END" ] ]
seen
trial_T20190906_233458_108018-1
Put a clean sponge on the rack next to the sink.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.0 0.913 -0.75 0 0 0 1 Cloth -2.796 0.897 0.759 0 90 0 48 2 TissueBox 0.430 0.963 -2.087 0 0 0 32 3 Candle 2.204 0.622 -2.389 0 0 0 40 4 Candle -2.921 0.243 1.395 0 90 0 51 5 SoapBar 1.780 0.623 -2.242 0 0 0 40 6 SprayBottle -0.208 0.959 -2.181 0 0 0 32 7 SprayBottle -0.527 0.959 -2.181 0 0 0 32 8 DishSponge 0.414 0.439 -1.872 0 0 0 36 9 DishSponge 1.142 0.624 -2.020 0 0 0 40 10 DishSponge 0.010 0.966 2.250 0 270 0 46 11 SoapBottle -2.921 0.885 1.317 0 90 0 51 12 SoapBottle 1.355 0.634 -2.168 0 0 0 40 13 Candle -0.051 0.965 2.330 0 270 0 46 14 HandTowel -0.885 1.617 -2.503 0 180 0 41 15 Towel 0.465 1.21 -1.095 0 270 0 37 16 SoapBottle 0.135 0.976 2.223 0 270 0 46 17 SoapBar -0.048 0.962 -1.805 0 0 0 32 18 ToiletPaper 0.430 0.959 -2.369 0 0 0 32 19 Plunger 0.506 0.011 2.268 0 0 0 Floor|-00.35| 20 SprayBottle -0.208 0.959 -2.087 0 0 0 32 21 TissueBox -2.808 0.244 1.473 0 90 0 51 22 ToiletPaper -0.515 0.031 2.338 0 0 90 38 23 ScrubBrush 0.342 0.012 2.072 0 0 0 Floor|-00.35| 24 Cloth 0.185 0.248 -1.905 0 0 0 30 25 DishSponge 1.780 0.624 -2.094 0 0 0 40 26 Footstool -0.325 0.297 -1.98 0 0 0 Floor|-00.35| 27 Bathtub -1.957 0.494 -1.233 0 0 0 28 ShowerDoor 0.650 1.413 2.169 0 0 0 29 ShowerGlass 0.0 0.0 0.0 0 0 0 30 Drawer 0.300 0.304 -1.820 0 0 0 31 Mirror -0.046 1.512 -2.538 0 0 0 32 CounterTop 0.196 0.430 -2.010 0 0 0 33 Sink -2.796 0.328 0.755 0 90 0 34 Drawer 0.300 0.833 -1.820 0 0 0 35 Drawer 0.300 0.682 -1.820 0 0 0 36 Drawer 0.300 0.492 -1.820 0 0 0 37 TowelHolder 0.572 1.195 -1.095 0 270 0 38 GarbageCan -0.564 0.010 2.061 0 195.0 0 39 ToiletPaperHanger -0.574 0.926 2.407 0 180 0 40 Shelf 1.536 0.613 -2.242 0 0 0 41 HandTowelHolder -0.884 1.718 -2.542 0 270 0 42 Window -3.170 1.812 -1.697 90 90 0 43 Window -3.170 1.812 1.597 90 90 0 44 Window -2.144 1.809 -2.573 90 0 0 45 Window -3.170 1.812 -0.054 90 90 0 46 Toilet -0.064 0.012 1.838 0 180 0 47 LightSwitch -1.406 1.472 2.407 0 180 0 48 SinkBasin -2.796 0.875 0.765 0 90 0 49 ShowerHead 1.591 1.700 -2.424 0 90 0 50 Faucet -2.676 0.423 -0.312 0 99.958 0 51 SideTable -2.847 0.013 1.509 0 90 0 52 Faucet -3.106 1.056 0.757 0 90 0 53 54 NorthWall 55 EastWall 56 SouthWall 57 WestWall
[ "STEP 1: Go near the toilet. | STEP 2: Pick up the sponge that is on the back of the toilet. | STEP 3: Take the sponge to the sink to your left. | STEP 4: Wash the sponge in the sink. | STEP 5: Go forward to the rack at the right of the sink. | STEP 6: Place the sponge vertically on the rack. | END" ]
[ [ "STEP 1: Go near the toilet. ", " STEP 2: Pick up the sponge that is on the back of the toilet. ", " STEP 3: Take the sponge to the sink to your left. ", " STEP 4: Wash the sponge in the sink. ", " STEP 5: Go forward to the rack at the right of the sink. ", " STEP 6: Place the sponge vertically on the rack. ", " END" ] ]
seen
trial_T20190906_233458_108018-2
Place a wet sponge on the 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 -1.0 0.913 -0.75 0 0 0 1 Cloth -2.796 0.897 0.759 0 90 0 48 2 TissueBox 0.430 0.963 -2.087 0 0 0 32 3 Candle 2.204 0.622 -2.389 0 0 0 40 4 Candle -2.921 0.243 1.395 0 90 0 51 5 SoapBar 1.780 0.623 -2.242 0 0 0 40 6 SprayBottle -0.208 0.959 -2.181 0 0 0 32 7 SprayBottle -0.527 0.959 -2.181 0 0 0 32 8 DishSponge 0.414 0.439 -1.872 0 0 0 36 9 DishSponge 1.142 0.624 -2.020 0 0 0 40 10 DishSponge 0.010 0.966 2.250 0 270 0 46 11 SoapBottle -2.921 0.885 1.317 0 90 0 51 12 SoapBottle 1.355 0.634 -2.168 0 0 0 40 13 Candle -0.051 0.965 2.330 0 270 0 46 14 HandTowel -0.885 1.617 -2.503 0 180 0 41 15 Towel 0.465 1.21 -1.095 0 270 0 37 16 SoapBottle 0.135 0.976 2.223 0 270 0 46 17 SoapBar -0.048 0.962 -1.805 0 0 0 32 18 ToiletPaper 0.430 0.959 -2.369 0 0 0 32 19 Plunger 0.506 0.011 2.268 0 0 0 Floor|-00.35| 20 SprayBottle -0.208 0.959 -2.087 0 0 0 32 21 TissueBox -2.808 0.244 1.473 0 90 0 51 22 ToiletPaper -0.515 0.031 2.338 0 0 90 38 23 ScrubBrush 0.342 0.012 2.072 0 0 0 Floor|-00.35| 24 Cloth 0.185 0.248 -1.905 0 0 0 30 25 DishSponge 1.780 0.624 -2.094 0 0 0 40 26 Footstool -0.325 0.297 -1.98 0 0 0 Floor|-00.35| 27 Bathtub -1.957 0.494 -1.233 0 0 0 28 ShowerDoor 0.650 1.413 2.169 0 0 0 29 ShowerGlass 0.0 0.0 0.0 0 0 0 30 Drawer 0.300 0.304 -1.820 0 0 0 31 Mirror -0.046 1.512 -2.538 0 0 0 32 CounterTop 0.196 0.430 -2.010 0 0 0 33 Sink -2.796 0.328 0.755 0 90 0 34 Drawer 0.300 0.833 -1.820 0 0 0 35 Drawer 0.300 0.682 -1.820 0 0 0 36 Drawer 0.300 0.492 -1.820 0 0 0 37 TowelHolder 0.572 1.195 -1.095 0 270 0 38 GarbageCan -0.564 0.010 2.061 0 195.0 0 39 ToiletPaperHanger -0.574 0.926 2.407 0 180 0 40 Shelf 1.536 0.613 -2.242 0 0 0 41 HandTowelHolder -0.884 1.718 -2.542 0 270 0 42 Window -3.170 1.812 -1.697 90 90 0 43 Window -3.170 1.812 1.597 90 90 0 44 Window -2.144 1.809 -2.573 90 0 0 45 Window -3.170 1.812 -0.054 90 90 0 46 Toilet -0.064 0.012 1.838 0 180 0 47 LightSwitch -1.406 1.472 2.407 0 180 0 48 SinkBasin -2.796 0.875 0.765 0 90 0 49 ShowerHead 1.591 1.700 -2.424 0 90 0 50 Faucet -2.676 0.423 -0.312 0 99.958 0 51 SideTable -2.847 0.013 1.509 0 90 0 52 Faucet -3.106 1.056 0.757 0 90 0 53 54 NorthWall 55 EastWall 56 SouthWall 57 WestWall
[ "STEP 1: Move to the toilet. | STEP 2: Pick up the sponge from the toilet lid tank. | STEP 3: Bring the sponge to the sink. | STEP 4: Wet the sponge in the sink with water. | STEP 5: Bring the sponge to the metal rack. | STEP 6: Put the sponge on the metal rack. | END" ]
[ [ "STEP 1: Move to the toilet. ", " STEP 2: Pick up the sponge from the toilet lid tank. ", " STEP 3: Bring the sponge to the sink. ", " STEP 4: Wet the sponge in the sink with water. ", " STEP 5: Bring the sponge to the metal rack. ", " STEP 6: Put the sponge on the metal rack. ", " END" ] ]
seen
trial_T20190907_145719_972520-0
Clean the fork and put it away
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-2.222", " 0.815", " -1.806", " 0", " 0", " 0", " 86" ], [ "12", " Egg", " -1.079", " 1.050", " -1.704", " 0", " 0", " 0", " 78" ], [ "13", " Cup", " 0.035", " 0.910", " 0.458", " 0", " 0", " 0", " 55" ], [ "14", " Cup", " 0.697", " 0.910", " 0.292", " 0", " 0", " 0", " 55" ], [ "15", " Plate", " 0.271", " 0.109", " -1.509", " 0", " 180", " 0", " 53" ], [ "16", " Knife", " 1.658", " 0.937", " -1.820", " 0", " 0", " 0", " 56" ], [ "17", " SoapBottle", " 0.753", " 0.918", " -1.449", " 0", " 270", " 0", " 54" ], [ "18", " Tomato", " 1.781", " 0.961", " -1.654", " 0", " 0", " 0", " 56" ], [ "19", " Tomato", " -2.31", " 1.100", " -1.720", " 0", " 0", " 0", " 86" ], [ "20", " SaltShaker", " 1.828", " 1.325", " -1.919", " 0", " 180", " 0", " 72" ], [ "21", " SaltShaker", " -2.203", " 0.948", " 0.345", " 0", " 90", " 0", " 89" ], [ "22", " PepperShaker", " 1.289", " 0.908", " -1.654", " 0", " 0", " 0", " 56" ], [ "23", " PepperShaker", " -2.203", " 0.948", " 0.165", " 0", " 90", " 0", " 89" ], [ "24", " Bread", " -0.096", " 0.995", " 0.458", " 0", " 0", " 0", " 55" ], [ "25", " Apple", " -0.267", " 0.979", " -1.406", " 0", " 0", " 0", " 56" ], [ "26", " Apple", " -1.872", " 0.578", " -1.677", " 0", " 0", " 0", " 86" ], [ "27", " Bread", " -2.065", " 1.035", " 0.614", " 0", " 90", " 0", " 89" ], [ "28", " Knife", " 0.701", " 0.944", " -1.582", " 0", " 270", " 0", " 54" ], [ "29", " Fork", " -1.791", " 0.952", " 0.524", " 0", " 90", " 0", " 89" ], [ "30", " Bowl", " 1.867", " 0.107", " 0.348", " 0", " 0", " 0", " 64" ], [ "31", " Kettle", " -0.055", " 0.9", " 0.643", " 0", " 0", " 0", " 55" ], [ "32", " Cup", " 1.601", " 0.910", " 0.623", " 0", " 0", " 0", " 71" ], [ "33", " Tomato", " -0.362", " 0.119", " 0.569", " 0", " 90", " 0", " 85" ], [ "34", " SoapBottle", " -1.928", " 0.950", " 0.255", " 0", " 90", " 0", " 89" ], [ "35", " Plate", " 0.562", " 0.111", " 0.308", " 0", " 0", " 0", " 67" ], [ "36", " Pot", " 1.361", " 0.962", " 0.561", " 0", " 270", " 0", " 61" ], [ "37", " Spatula", " -2.065", " 0.967", " 0.255", " 0", " 0", " 0", " 89" ], [ "38", " PaperTowelRoll", " -0.394", " 0.174", " 0.396", " 0", " 90", " 0", " 85" ], [ "39", " Egg", " 1.412", " 0.947", " -1.654", " 0", " 0", " 0", " 56" ], [ "40", " Lettuce", " 1.846", " 1.002", " 0.292", " 0", " 0", " 0", " 71" ], [ "41", " SaltShaker", " -1.791", " 0.948", " 0.704", " 0", " 90", " 0", " 89" ], [ "42", " PepperShaker", " 0.167", " 0.908", " 0.706", " 0", " 0", " 0", " 55" ], [ "43", " Apple", " -2.135", " 0.578", " -1.763", " 0", " 0", " 0", " 86" ], [ "44", " ButterKnife", " -0.451", " 0.912", " -1.737", " 0", " 0", " 0", " 56" ], [ "45", " Potato", " -0.975", " 1.045", " -1.737", " 0", " 0", " 0", " 78" ], [ "46", " Pan", " 1.022", " 0.959", " 0.288", " 0", " 219.190", " 0", " 68" ], [ "47", " DishSponge", " -2.477", " 0.951", " 0.704", " 0", " 90", " 0", " 89" ], [ "48", " Spoon", " -0.096", " 0.913", " 0.209", " 0", " 0", " 0", " 55" ], [ "49", " Mug", " 0.753", " 0.914", " -1.715", " 0", " 180", " 0", " 54" ], [ "50", " Cabinet", " -0.193", " 1.688", " -1.648", " 0", " 180", " 0", "" ], [ "51", " StoveBurner", " 1.360", " 0.957", " 0.293", " 0", " 180", " 0", "" ], [ "52", " Drawer", " 0.499", " 0.792", " 0.296", " 0", " 0", " 0", "" ], [ "53", " Cabinet", " 0.095", " 0.400", " -1.352", " 0", " 180", " 0", "" ], [ "54", " Sink", " 0.711", " 0.817", " -1.772", " 0", " 270", " 0", "" ], [ "55", " CounterTop", " 0.280", " 0.947", " 0.458", " 0", " 0", " 0", "" ], [ "56", " CounterTop", " -0.680", " 0.947", " -1.654", " 0", " 0", " 0", "" ], [ "57", " Drawer", " 1.825", " 0.792", " 0.296", " 0", " 0", " 0", "" ], [ "58", " StoveBurner", " 1.007", " 0.957", " 0.561", " 0", " 270", " 0", "" ], [ "59", " Drawer", " -0.150", " 0.792", " -1.496", " 0", " 0", " 0", "" ], [ "60", " Drawer", " -0.586", " 0.792", " -1.496", " 0", " 0", " 0", "" ], [ "61", " StoveBurner", " 1.360", " 0.957", " 0.561", " 0", " 270", " 0", "" ], [ "62", " Drawer", " 0.024", " 0.792", " 0.296", " 0", " 0", " 0", "" ], [ "63", " Cabinet", " 1.079", " 0.400", " -1.349", " 0", " 180", " 0", "" ], [ "64", " Cabinet", " 1.669", " 0.402", " 0.151", " 0", " 0", " 0", "" ], [ "65", " Cabinet", " 0.055", " 0.402", " -1.351", " 0", " 0", " 0", "" ], [ "66", " Cabinet", " -0.180", " 0.402", " 0.151", " 0", " 0", " 0", "" ], [ "67", " Cabinet", " 0.729", " 0.402", " 0.151", " 0", " 0", " 0", "" ], [ "68", " StoveBurner", " 1.007", " 0.957", " 0.293", " 0", " 180", " 0", "" ], [ "69", " Drawer", " -1.100", " 0.792", " -1.496", " 0", " 0", " 0", "" ], [ "70", " Cabinet", " -0.396", " 0.402", " -1.351", " 0", " 0", " 0", "" ], [ "71", " CounterTop", " 1.776", " 0.947", " 0.458", " 0", " 0", " 0", "" ], [ "72", " Cabinet", " 1.974", " 1.688", " -1.648", " 0", " 180", " 0", "" ], [ "73", " Cabinet", " -0.820", " 0.400", " -1.349", " 0", " 180", " 0", "" ], [ "74", " Toaster", " 0.305", " 0.900", " 0.552", " 0", " 180", " 0", "" ], [ "75", " LightSwitch", " -2.756", " 1.307", " -0.987", " 0", " 90", " 0", "" ], [ "76", " Window", " 0.582", " 1.613", " -1.967", " 90", " 0", " 0", "" ], [ "77", " Window", " 1.969", " 1.5", " -0.615", " 90", " 270", " 0", "" ], [ "78", " Microwave", " -1.037", " 0.900", " -1.723", " 0", " 0", " 0", "" ], [ "79", " SinkBasin", " 0.377", " 0.765", " -1.655", " 0", " 270", " 0", "" ], [ "80", " CoffeeMachine", " 0.618", " 0.900", " 0.600", " 0", " 180", " 0", "" ], [ "81", " StoveKnob", " 1.246", " 0.913", " 0.118", " 45", " 180", " 0", "" ], [ "82", " StoveKnob", " 1.373", " 0.913", " 0.118", " 45", " 180", " 0", "" ], [ "83", " StoveKnob", " 0.995", " 0.913", " 0.118", " 45", " 180", " 0", "" ], [ "84", " StoveKnob", " 1.126", " 0.913", " 0.118", " 45", " 180", " 0", "" ], [ "85", " GarbageCan", " -0.368", " -0.029", " 0.539", " 0", " 90", " 0", "" ], [ "86", " Fridge", " -2.134", " 0.0", " -1.690", " 0", " 0", " 0", "" ], [ "87", " Faucet", " 0.549", " 1.046", " -1.833", " 0", " 232.527", " 0", "" ], [ "88", " Stool", " -1.475", " 0.000", " 0.414", " 1.233", " 280.375", " 0", "" ], [ "89", " DiningTable", " -2.255", " -0.004", " 0.432", " 0", " 0", " 0", "" ], [ "90", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "91", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "92", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "93", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -2.5 0.900 -0.75 0 90 0 1 DishSponge -2.614 0.951 0.165 0 90 0 89 2 ButterKnife -0.175 0.912 -1.737 0 0 0 56 3 Pot 1.007 0.962 0.561 0 270 0 58 4 Fork -0.359 0.912 -1.571 0 0 0 56 5 Fork 0.167 0.912 0.209 0 0 0 55 6 Fork 0.432 0.912 0.209 0 180 0 55 7 Spoon 0.300 0.913 0.209 0 0 0 55 8 Spoon 1.785 0.913 0.292 0 0 0 71 9 Spatula -2.065 0.967 0.435 0 90 0 89 10 Spatula -1.928 0.967 0.165 0 180 0 89 11 Egg -2.222 0.815 -1.806 0 0 0 86 12 Egg -1.079 1.050 -1.704 0 0 0 78 13 Cup 0.035 0.910 0.458 0 0 0 55 14 Cup 0.697 0.910 0.292 0 0 0 55 15 Plate 0.271 0.109 -1.509 0 180 0 53 16 Knife 1.658 0.937 -1.820 0 0 0 56 17 SoapBottle 0.753 0.918 -1.449 0 270 0 54 18 Tomato 1.781 0.961 -1.654 0 0 0 56 19 Tomato -2.31 1.100 -1.720 0 0 0 86 20 SaltShaker 1.828 1.325 -1.919 0 180 0 72 21 SaltShaker -2.203 0.948 0.345 0 90 0 89 22 PepperShaker 1.289 0.908 -1.654 0 0 0 56 23 PepperShaker -2.203 0.948 0.165 0 90 0 89 24 Bread -0.096 0.995 0.458 0 0 0 55 25 Apple -0.267 0.979 -1.406 0 0 0 56 26 Apple -1.872 0.578 -1.677 0 0 0 86 27 Bread -2.065 1.035 0.614 0 90 0 89 28 Knife 0.701 0.944 -1.582 0 270 0 54 29 Fork -1.791 0.952 0.524 0 90 0 89 30 Bowl 1.867 0.107 0.348 0 0 0 64 31 Kettle -0.055 0.9 0.643 0 0 0 55 32 Cup 1.601 0.910 0.623 0 0 0 71 33 Tomato -0.362 0.119 0.569 0 90 0 85 34 SoapBottle -1.928 0.950 0.255 0 90 0 89 35 Plate 0.562 0.111 0.308 0 0 0 67 36 Pot 1.361 0.962 0.561 0 270 0 61 37 Spatula -2.065 0.967 0.255 0 0 0 89 38 PaperTowelRoll -0.394 0.174 0.396 0 90 0 85 39 Egg 1.412 0.947 -1.654 0 0 0 56 40 Lettuce 1.846 1.002 0.292 0 0 0 71 41 SaltShaker -1.791 0.948 0.704 0 90 0 89 42 PepperShaker 0.167 0.908 0.706 0 0 0 55 43 Apple -2.135 0.578 -1.763 0 0 0 86 44 ButterKnife -0.451 0.912 -1.737 0 0 0 56 45 Potato -0.975 1.045 -1.737 0 0 0 78 46 Pan 1.022 0.959 0.288 0 219.190 0 68 47 DishSponge -2.477 0.951 0.704 0 90 0 89 48 Spoon -0.096 0.913 0.209 0 0 0 55 49 Mug 0.753 0.914 -1.715 0 180 0 54 50 Cabinet -0.193 1.688 -1.648 0 180 0 51 StoveBurner 1.360 0.957 0.293 0 180 0 52 Drawer 0.499 0.792 0.296 0 0 0 53 Cabinet 0.095 0.400 -1.352 0 180 0 54 Sink 0.711 0.817 -1.772 0 270 0 55 CounterTop 0.280 0.947 0.458 0 0 0 56 CounterTop -0.680 0.947 -1.654 0 0 0 57 Drawer 1.825 0.792 0.296 0 0 0 58 StoveBurner 1.007 0.957 0.561 0 270 0 59 Drawer -0.150 0.792 -1.496 0 0 0 60 Drawer -0.586 0.792 -1.496 0 0 0 61 StoveBurner 1.360 0.957 0.561 0 270 0 62 Drawer 0.024 0.792 0.296 0 0 0 63 Cabinet 1.079 0.400 -1.349 0 180 0 64 Cabinet 1.669 0.402 0.151 0 0 0 65 Cabinet 0.055 0.402 -1.351 0 0 0 66 Cabinet -0.180 0.402 0.151 0 0 0 67 Cabinet 0.729 0.402 0.151 0 0 0 68 StoveBurner 1.007 0.957 0.293 0 180 0 69 Drawer -1.100 0.792 -1.496 0 0 0 70 Cabinet -0.396 0.402 -1.351 0 0 0 71 CounterTop 1.776 0.947 0.458 0 0 0 72 Cabinet 1.974 1.688 -1.648 0 180 0 73 Cabinet -0.820 0.400 -1.349 0 180 0 74 Toaster 0.305 0.900 0.552 0 180 0 75 LightSwitch -2.756 1.307 -0.987 0 90 0 76 Window 0.582 1.613 -1.967 90 0 0 77 Window 1.969 1.5 -0.615 90 270 0 78 Microwave -1.037 0.900 -1.723 0 0 0 79 SinkBasin 0.377 0.765 -1.655 0 270 0 80 CoffeeMachine 0.618 0.900 0.600 0 180 0 81 StoveKnob 1.246 0.913 0.118 45 180 0 82 StoveKnob 1.373 0.913 0.118 45 180 0 83 StoveKnob 0.995 0.913 0.118 45 180 0 84 StoveKnob 1.126 0.913 0.118 45 180 0 85 GarbageCan -0.368 -0.029 0.539 0 90 0 86 Fridge -2.134 0.0 -1.690 0 0 0 87 Faucet 0.549 1.046 -1.833 0 232.527 0 88 Stool -1.475 0.000 0.414 1.233 280.375 0 89 DiningTable -2.255 -0.004 0.432 0 0 0 90 NorthWall 91 EastWall 92 SouthWall 93 WestWall
[ "STEP 1: Walk straight turn to the left | STEP 2: Pick up the fork and put it in the sink | STEP 3: Place the fork in the sink | STEP 4: Turn on the water and wash it | STEP 5: Pick the fork up and carry it to the drawer | STEP 6: Place the clean fork into the drawer | END" ]
[ [ "STEP 1: Walk straight turn to the left ", " STEP 2: Pick up the fork and put it in the sink ", " STEP 3: Place the fork in the sink ", " STEP 4: Turn on the water and wash it ", " STEP 5: Pick the fork up and carry it to the drawer ", " STEP 6: Place the clean fork into the drawer ", " END" ] ]
seen
trial_T20190907_145719_972520-1
Put a cleaned fork in a drawer.
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0", " 0", "" ], [ "63", " Cabinet", " 1.079", " 0.400", " -1.349", " 0", " 180", " 0", "" ], [ "64", " Cabinet", " 1.669", " 0.402", " 0.151", " 0", " 0", " 0", "" ], [ "65", " Cabinet", " 0.055", " 0.402", " -1.351", " 0", " 0", " 0", "" ], [ "66", " Cabinet", " -0.180", " 0.402", " 0.151", " 0", " 0", " 0", "" ], [ "67", " Cabinet", " 0.729", " 0.402", " 0.151", " 0", " 0", " 0", "" ], [ "68", " StoveBurner", " 1.007", " 0.957", " 0.293", " 0", " 180", " 0", "" ], [ "69", " Drawer", " -1.100", " 0.792", " -1.496", " 0", " 0", " 0", "" ], [ "70", " Cabinet", " -0.396", " 0.402", " -1.351", " 0", " 0", " 0", "" ], [ "71", " CounterTop", " 1.776", " 0.947", " 0.458", " 0", " 0", " 0", "" ], [ "72", " Cabinet", " 1.974", " 1.688", " -1.648", " 0", " 180", " 0", "" ], [ "73", " Cabinet", " -0.820", " 0.400", " -1.349", " 0", " 180", " 0", "" ], [ "74", " Toaster", " 0.305", " 0.900", " 0.552", " 0", " 180", " 0", "" ], [ "75", " LightSwitch", " -2.756", " 1.307", " -0.987", " 0", " 90", " 0", "" ], [ "76", " Window", " 0.582", " 1.613", " -1.967", " 90", " 0", " 0", "" ], [ "77", " Window", " 1.969", " 1.5", " -0.615", " 90", " 270", " 0", "" ], [ "78", " Microwave", " -1.037", " 0.900", " -1.723", " 0", " 0", " 0", "" ], [ "79", " SinkBasin", " 0.377", " 0.765", " -1.655", " 0", " 270", " 0", "" ], [ "80", " CoffeeMachine", " 0.618", " 0.900", " 0.600", " 0", " 180", " 0", "" ], [ "81", " StoveKnob", " 1.246", " 0.913", " 0.118", " 45", " 180", " 0", "" ], [ "82", " StoveKnob", " 1.373", " 0.913", " 0.118", " 45", " 180", " 0", "" ], [ "83", " StoveKnob", " 0.995", " 0.913", " 0.118", " 45", " 180", " 0", "" ], [ "84", " StoveKnob", " 1.126", " 0.913", " 0.118", " 45", " 180", " 0", "" ], [ "85", " GarbageCan", " -0.368", " -0.029", " 0.539", " 0", " 90", " 0", "" ], [ "86", " Fridge", " -2.134", " 0.0", " -1.690", " 0", " 0", " 0", "" ], [ "87", " Faucet", " 0.549", " 1.046", " -1.833", " 0", " 232.527", " 0", "" ], [ "88", " Stool", " -1.475", " 0.000", " 0.414", " 1.233", " 280.375", " 0", "" ], [ "89", " DiningTable", " -2.255", " -0.004", " 0.432", " 0", " 0", " 0", "" ], [ "90", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "91", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "92", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "93", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -2.5 0.900 -0.75 0 90 0 1 DishSponge -2.614 0.951 0.165 0 90 0 89 2 ButterKnife -0.175 0.912 -1.737 0 0 0 56 3 Pot 1.007 0.962 0.561 0 270 0 58 4 Fork -0.359 0.912 -1.571 0 0 0 56 5 Fork 0.167 0.912 0.209 0 0 0 55 6 Fork 0.432 0.912 0.209 0 180 0 55 7 Spoon 0.300 0.913 0.209 0 0 0 55 8 Spoon 1.785 0.913 0.292 0 0 0 71 9 Spatula -2.065 0.967 0.435 0 90 0 89 10 Spatula -1.928 0.967 0.165 0 180 0 89 11 Egg -2.222 0.815 -1.806 0 0 0 86 12 Egg -1.079 1.050 -1.704 0 0 0 78 13 Cup 0.035 0.910 0.458 0 0 0 55 14 Cup 0.697 0.910 0.292 0 0 0 55 15 Plate 0.271 0.109 -1.509 0 180 0 53 16 Knife 1.658 0.937 -1.820 0 0 0 56 17 SoapBottle 0.753 0.918 -1.449 0 270 0 54 18 Tomato 1.781 0.961 -1.654 0 0 0 56 19 Tomato -2.31 1.100 -1.720 0 0 0 86 20 SaltShaker 1.828 1.325 -1.919 0 180 0 72 21 SaltShaker -2.203 0.948 0.345 0 90 0 89 22 PepperShaker 1.289 0.908 -1.654 0 0 0 56 23 PepperShaker -2.203 0.948 0.165 0 90 0 89 24 Bread -0.096 0.995 0.458 0 0 0 55 25 Apple -0.267 0.979 -1.406 0 0 0 56 26 Apple -1.872 0.578 -1.677 0 0 0 86 27 Bread -2.065 1.035 0.614 0 90 0 89 28 Knife 0.701 0.944 -1.582 0 270 0 54 29 Fork -1.791 0.952 0.524 0 90 0 89 30 Bowl 1.867 0.107 0.348 0 0 0 64 31 Kettle -0.055 0.9 0.643 0 0 0 55 32 Cup 1.601 0.910 0.623 0 0 0 71 33 Tomato -0.362 0.119 0.569 0 90 0 85 34 SoapBottle -1.928 0.950 0.255 0 90 0 89 35 Plate 0.562 0.111 0.308 0 0 0 67 36 Pot 1.361 0.962 0.561 0 270 0 61 37 Spatula -2.065 0.967 0.255 0 0 0 89 38 PaperTowelRoll -0.394 0.174 0.396 0 90 0 85 39 Egg 1.412 0.947 -1.654 0 0 0 56 40 Lettuce 1.846 1.002 0.292 0 0 0 71 41 SaltShaker -1.791 0.948 0.704 0 90 0 89 42 PepperShaker 0.167 0.908 0.706 0 0 0 55 43 Apple -2.135 0.578 -1.763 0 0 0 86 44 ButterKnife -0.451 0.912 -1.737 0 0 0 56 45 Potato -0.975 1.045 -1.737 0 0 0 78 46 Pan 1.022 0.959 0.288 0 219.190 0 68 47 DishSponge -2.477 0.951 0.704 0 90 0 89 48 Spoon -0.096 0.913 0.209 0 0 0 55 49 Mug 0.753 0.914 -1.715 0 180 0 54 50 Cabinet -0.193 1.688 -1.648 0 180 0 51 StoveBurner 1.360 0.957 0.293 0 180 0 52 Drawer 0.499 0.792 0.296 0 0 0 53 Cabinet 0.095 0.400 -1.352 0 180 0 54 Sink 0.711 0.817 -1.772 0 270 0 55 CounterTop 0.280 0.947 0.458 0 0 0 56 CounterTop -0.680 0.947 -1.654 0 0 0 57 Drawer 1.825 0.792 0.296 0 0 0 58 StoveBurner 1.007 0.957 0.561 0 270 0 59 Drawer -0.150 0.792 -1.496 0 0 0 60 Drawer -0.586 0.792 -1.496 0 0 0 61 StoveBurner 1.360 0.957 0.561 0 270 0 62 Drawer 0.024 0.792 0.296 0 0 0 63 Cabinet 1.079 0.400 -1.349 0 180 0 64 Cabinet 1.669 0.402 0.151 0 0 0 65 Cabinet 0.055 0.402 -1.351 0 0 0 66 Cabinet -0.180 0.402 0.151 0 0 0 67 Cabinet 0.729 0.402 0.151 0 0 0 68 StoveBurner 1.007 0.957 0.293 0 180 0 69 Drawer -1.100 0.792 -1.496 0 0 0 70 Cabinet -0.396 0.402 -1.351 0 0 0 71 CounterTop 1.776 0.947 0.458 0 0 0 72 Cabinet 1.974 1.688 -1.648 0 180 0 73 Cabinet -0.820 0.400 -1.349 0 180 0 74 Toaster 0.305 0.900 0.552 0 180 0 75 LightSwitch -2.756 1.307 -0.987 0 90 0 76 Window 0.582 1.613 -1.967 90 0 0 77 Window 1.969 1.5 -0.615 90 270 0 78 Microwave -1.037 0.900 -1.723 0 0 0 79 SinkBasin 0.377 0.765 -1.655 0 270 0 80 CoffeeMachine 0.618 0.900 0.600 0 180 0 81 StoveKnob 1.246 0.913 0.118 45 180 0 82 StoveKnob 1.373 0.913 0.118 45 180 0 83 StoveKnob 0.995 0.913 0.118 45 180 0 84 StoveKnob 1.126 0.913 0.118 45 180 0 85 GarbageCan -0.368 -0.029 0.539 0 90 0 86 Fridge -2.134 0.0 -1.690 0 0 0 87 Faucet 0.549 1.046 -1.833 0 232.527 0 88 Stool -1.475 0.000 0.414 1.233 280.375 0 89 DiningTable -2.255 -0.004 0.432 0 0 0 90 NorthWall 91 EastWall 92 SouthWall 93 WestWall
[ "STEP 1: Head forward and then turn left to the toaster. | STEP 2: Pick up the fork on the left. | STEP 3: Turn around and bring the fork to the sink. | STEP 4: Wash the fork in the sink. | STEP 5: Bring the cleaned fork back to the toaster. | STEP 6: Open up the drawer in front of the toaster and put the fork in there. | END" ]
[ [ "STEP 1: Head forward and then turn left to the toaster. ", " STEP 2: Pick up the fork on the left. ", " STEP 3: Turn around and bring the fork to the sink. ", " STEP 4: Wash the fork in the sink. ", " STEP 5: Bring the cleaned fork back to the toaster. ", " STEP 6: Open up the drawer in front of the toaster and put the fork in there. ", " END" ] ]
seen
trial_T20190907_145719_972520-2
Put the clean for inside the cabinet
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -2.5 0.900 -0.75 0 90 0 1 DishSponge -2.614 0.951 0.165 0 90 0 89 2 ButterKnife -0.175 0.912 -1.737 0 0 0 56 3 Pot 1.007 0.962 0.561 0 270 0 58 4 Fork -0.359 0.912 -1.571 0 0 0 56 5 Fork 0.167 0.912 0.209 0 0 0 55 6 Fork 0.432 0.912 0.209 0 180 0 55 7 Spoon 0.300 0.913 0.209 0 0 0 55 8 Spoon 1.785 0.913 0.292 0 0 0 71 9 Spatula -2.065 0.967 0.435 0 90 0 89 10 Spatula -1.928 0.967 0.165 0 180 0 89 11 Egg -2.222 0.815 -1.806 0 0 0 86 12 Egg -1.079 1.050 -1.704 0 0 0 78 13 Cup 0.035 0.910 0.458 0 0 0 55 14 Cup 0.697 0.910 0.292 0 0 0 55 15 Plate 0.271 0.109 -1.509 0 180 0 53 16 Knife 1.658 0.937 -1.820 0 0 0 56 17 SoapBottle 0.753 0.918 -1.449 0 270 0 54 18 Tomato 1.781 0.961 -1.654 0 0 0 56 19 Tomato -2.31 1.100 -1.720 0 0 0 86 20 SaltShaker 1.828 1.325 -1.919 0 180 0 72 21 SaltShaker -2.203 0.948 0.345 0 90 0 89 22 PepperShaker 1.289 0.908 -1.654 0 0 0 56 23 PepperShaker -2.203 0.948 0.165 0 90 0 89 24 Bread -0.096 0.995 0.458 0 0 0 55 25 Apple -0.267 0.979 -1.406 0 0 0 56 26 Apple -1.872 0.578 -1.677 0 0 0 86 27 Bread -2.065 1.035 0.614 0 90 0 89 28 Knife 0.701 0.944 -1.582 0 270 0 54 29 Fork -1.791 0.952 0.524 0 90 0 89 30 Bowl 1.867 0.107 0.348 0 0 0 64 31 Kettle -0.055 0.9 0.643 0 0 0 55 32 Cup 1.601 0.910 0.623 0 0 0 71 33 Tomato -0.362 0.119 0.569 0 90 0 85 34 SoapBottle -1.928 0.950 0.255 0 90 0 89 35 Plate 0.562 0.111 0.308 0 0 0 67 36 Pot 1.361 0.962 0.561 0 270 0 61 37 Spatula -2.065 0.967 0.255 0 0 0 89 38 PaperTowelRoll -0.394 0.174 0.396 0 90 0 85 39 Egg 1.412 0.947 -1.654 0 0 0 56 40 Lettuce 1.846 1.002 0.292 0 0 0 71 41 SaltShaker -1.791 0.948 0.704 0 90 0 89 42 PepperShaker 0.167 0.908 0.706 0 0 0 55 43 Apple -2.135 0.578 -1.763 0 0 0 86 44 ButterKnife -0.451 0.912 -1.737 0 0 0 56 45 Potato -0.975 1.045 -1.737 0 0 0 78 46 Pan 1.022 0.959 0.288 0 219.190 0 68 47 DishSponge -2.477 0.951 0.704 0 90 0 89 48 Spoon -0.096 0.913 0.209 0 0 0 55 49 Mug 0.753 0.914 -1.715 0 180 0 54 50 Cabinet -0.193 1.688 -1.648 0 180 0 51 StoveBurner 1.360 0.957 0.293 0 180 0 52 Drawer 0.499 0.792 0.296 0 0 0 53 Cabinet 0.095 0.400 -1.352 0 180 0 54 Sink 0.711 0.817 -1.772 0 270 0 55 CounterTop 0.280 0.947 0.458 0 0 0 56 CounterTop -0.680 0.947 -1.654 0 0 0 57 Drawer 1.825 0.792 0.296 0 0 0 58 StoveBurner 1.007 0.957 0.561 0 270 0 59 Drawer -0.150 0.792 -1.496 0 0 0 60 Drawer -0.586 0.792 -1.496 0 0 0 61 StoveBurner 1.360 0.957 0.561 0 270 0 62 Drawer 0.024 0.792 0.296 0 0 0 63 Cabinet 1.079 0.400 -1.349 0 180 0 64 Cabinet 1.669 0.402 0.151 0 0 0 65 Cabinet 0.055 0.402 -1.351 0 0 0 66 Cabinet -0.180 0.402 0.151 0 0 0 67 Cabinet 0.729 0.402 0.151 0 0 0 68 StoveBurner 1.007 0.957 0.293 0 180 0 69 Drawer -1.100 0.792 -1.496 0 0 0 70 Cabinet -0.396 0.402 -1.351 0 0 0 71 CounterTop 1.776 0.947 0.458 0 0 0 72 Cabinet 1.974 1.688 -1.648 0 180 0 73 Cabinet -0.820 0.400 -1.349 0 180 0 74 Toaster 0.305 0.900 0.552 0 180 0 75 LightSwitch -2.756 1.307 -0.987 0 90 0 76 Window 0.582 1.613 -1.967 90 0 0 77 Window 1.969 1.5 -0.615 90 270 0 78 Microwave -1.037 0.900 -1.723 0 0 0 79 SinkBasin 0.377 0.765 -1.655 0 270 0 80 CoffeeMachine 0.618 0.900 0.600 0 180 0 81 StoveKnob 1.246 0.913 0.118 45 180 0 82 StoveKnob 1.373 0.913 0.118 45 180 0 83 StoveKnob 0.995 0.913 0.118 45 180 0 84 StoveKnob 1.126 0.913 0.118 45 180 0 85 GarbageCan -0.368 -0.029 0.539 0 90 0 86 Fridge -2.134 0.0 -1.690 0 0 0 87 Faucet 0.549 1.046 -1.833 0 232.527 0 88 Stool -1.475 0.000 0.414 1.233 280.375 0 89 DiningTable -2.255 -0.004 0.432 0 0 0 90 NorthWall 91 EastWall 92 SouthWall 93 WestWall
[ "STEP 1: Walk straight then turn to the counter on your left | STEP 2: Pick up the second fork from your left | STEP 3: Turn around and go to the sink | STEP 4: Put the fork on the sink and rinse it | STEP 5: Pick up the fork then turn around to your left then move towards the end of the counted | STEP 6: Pull the first cabinet on your left and put the fork inside then close the cabinet | END" ]
[ [ "STEP 1: Walk straight then turn to the counter on your left ", " STEP 2: Pick up the second fork from your left ", " STEP 3: Turn around and go to the sink ", " STEP 4: Put the fork on the sink and rinse it ", " STEP 5: Pick up the fork then turn around to your left then move towards the end of the counted ", " STEP 6: Pull the first cabinet on your left and put the fork inside then close the cabinet ", " END" ] ]
seen
trial_T20190910_151939_914332-0
Place a cooked egg inside the waste basket.
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0.926", " 1.763", " 0", " 270", " 0", "" ], [ "77", " Toaster", " -1.002", " 0.926", " 2.561", " 0", " 90", " 0", "" ], [ "78", " GarbageCan", " 1.451", " -0.029", " 2.912", " 0", " 0", " 0", "" ], [ "79", " Microwave", " 1.632", " 1.480", " 1.645", " 0", " 270", " 0", "" ], [ "80", " Window", " 0.224", " 1.601", " 3.509", " 90", " 0", " 0", "" ], [ "81", " CoffeeMachine", " 1.692", " 0.926", " 2.453", " 0", " 270", " 0", "" ], [ "82", " SinkBasin", " 1.461", " 0.833", " 1.369", " 0", " 180", " 0", "" ], [ "83", " LightSwitch", " 0.451", " 1.412", " -1.674", " 0", " 0", " 0", "" ], [ "84", " Faucet", " 1.707", " 0.925", " 1.363", " 0", " 270", " 0", "" ], [ "85", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "86", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "87", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "88", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 0.75 0.900 2.25 0 180 0 1 Potato -1.012 0.847 0.272 0 90 0 72 2 DishSponge 1.414 0.746 0.984 0 0 0 70 3 ButterKnife -1.127 0.937 2.159 0 0 0 40 4 Fork -0.876 0.938 1.076 0 0 0 65 5 Egg 1.556 0.105 3.010 0 0 0 78 6 Egg 1.315 0.979 1.589 0 180 0 67 7 Egg 1.390 0.105 3.010 0 0 0 78 8 Cup -1.043 0.936 0.687 0 0 0 65 9 Plate -1.126 0.942 1.076 0 0 0 65 10 Plate -1.078 1.506 0.822 0 0 0 51 11 Knife -0.896 0.768 2.517 0 270 0 41 12 Tomato -1.065 1.380 0.272 0 90 0 72 13 SoapBottle -1.038 1.827 0.303 0 0 0 54 14 Bowl 1.700 1.944 1.830 0 0 0 57 15 PepperShaker -0.712 0.934 2.159 0 0 0 41 16 Lettuce -0.937 0.656 -0.034 0 90 0 72 17 Mug -0.946 0.195 -0.044 0 90 0 72 18 Apple -0.971 1.368 0.042 0 90 0 72 19 Lettuce 1.457 1.014 1.681 4.271 59.966 0 67 20 SoapBottle 1.390 0.069 2.912 0 0 0 78 21 Bread -0.923 0.990 2.265 0 302.470 0 40 22 Fork -0.960 0.938 0.765 0 90 0 65 23 Tomato -0.937 0.627 0.119 0 90 0 72 24 Bowl -1.069 1.947 1.458 0 0 0 56 25 Pot -1.109 0.930 1.865 0 0 0 64 26 Spatula 1.414 0.761 2.527 0 270 0 43 27 Knife -0.723 0.768 1.050 0 270 0 63 28 SaltShaker 1.285 0.934 0.806 0 0 0 45 29 Apple 1.388 0.892 1.369 0 180 0 82 30 PepperShaker 1.669 0.934 1.007 0 0 0 45 31 ButterKnife 1.376 0.736 2.234 0 29.999 0 43 32 Potato -0.976 0.598 0.272 0 90 0 72 33 Plate 1.382 0.105 0.373 0 0 0 50 34 DishSponge 1.379 0.746 0.780 0 0 0 70 35 Egg 1.597 0.979 1.756 0 180 0 67 36 Cup -1.121 1.499 2.524 0 180 0 62 37 Pan -1.109 0.930 1.470 0 0 0 42 38 Spoon -0.689 0.747 0.914 0 270 0 63 39 Mug 1.592 0.932 0.739 0 0 0 45 40 CounterTop -0.973 0.973 2.386 0 0 0 41 Drawer -0.783 0.774 2.381 0 180 0 42 StoveBurner -1.108 0.922 1.470 0 0 0 43 Drawer 1.370 0.774 2.391 0 0 0 44 Stool -0.748 0.008 3.116 0 0 0 45 CounterTop 1.504 0.973 2.309 0 0 0 46 Cabinet 1.219 1.388 0.591 0 0 0 47 Cabinet 1.500 2.113 1.164 0 0 0 48 Cabinet 1.219 2.010 0.591 0 0 0 49 Cabinet 1.219 0.388 2.105 0 0 0 50 Cabinet 1.219 0.553 0.591 0 0 0 51 Cabinet -0.913 2.113 1.164 0 0 0 52 Cabinet -0.633 0.388 0.627 0 0 0 53 Cabinet -0.913 2.050 -0.329 0 0 0 54 Cabinet -0.913 2.113 0.583 0 0 0 55 Cabinet -0.913 2.113 2.082 0 0 0 56 Cabinet -0.913 2.113 1.207 0 0 0 57 Cabinet 1.500 2.113 2.082 0 0 0 58 Cabinet 1.500 2.113 1.207 0 0 0 59 Cabinet 1.500 1.810 2.691 0 0 0 60 Cabinet 1.500 1.810 2.101 0 0 0 61 Cabinet -0.633 0.388 2.105 0 0 0 62 Cabinet -0.911 1.810 2.700 0 180 0 63 Drawer -0.783 0.774 0.915 0 180 0 64 StoveBurner -1.108 0.922 1.865 0 0 0 65 CounterTop -0.972 0.973 0.921 0 0 0 66 Cabinet 1.219 0.388 0.631 0 0 0 67 Sink 1.544 0.869 1.639 0 180 0 68 StoveBurner -0.832 0.922 1.865 0 0 0 69 StoveBurner -0.831 0.922 1.470 0 0 0 70 Drawer 1.370 0.774 0.916 0 0 0 71 Cabinet -0.911 1.810 2.111 0 180 0 72 Fridge -1.001 0.0 0.119 0 0 0 73 StoveKnob -0.648 0.926 1.923 0 270 0 74 StoveKnob -0.648 0.926 1.363 0 270 0 75 StoveKnob -0.648 0.926 1.513 0 270 0 76 StoveKnob -0.648 0.926 1.763 0 270 0 77 Toaster -1.002 0.926 2.561 0 90 0 78 GarbageCan 1.451 -0.029 2.912 0 0 0 79 Microwave 1.632 1.480 1.645 0 270 0 80 Window 0.224 1.601 3.509 90 0 0 81 CoffeeMachine 1.692 0.926 2.453 0 270 0 82 SinkBasin 1.461 0.833 1.369 0 180 0 83 LightSwitch 0.451 1.412 -1.674 0 0 0 84 Faucet 1.707 0.925 1.363 0 270 0 85 NorthWall 86 EastWall 87 SouthWall 88 WestWall
[ "STEP 1: Walk to the sink to your left. | STEP 2: Pick up the egg sitting on the ledge of the counter between the lettuce and apple. | STEP 3: Look up to the microwave. | STEP 4: Place the egg inside the microwave, cook it then remove it. | STEP 5: With the egg, look down and walk to the waste basket to your left. | STEP 6: Place the cooked egg inside the waste basket. | END" ]
[ [ "STEP 1: Walk to the sink to your left. ", " STEP 2: Pick up the egg sitting on the ledge of the counter between the lettuce and apple. ", " STEP 3: Look up to the microwave. ", " STEP 4: Place the egg inside the microwave, cook it then remove it. ", " STEP 5: With the egg, look down and walk to the waste basket to your left. ", " STEP 6: Place the cooked egg inside the waste basket. ", " END" ] ]
seen
trial_T20190910_151939_914332-1
Put a cooked egg in a garbage 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 2.25 0 180 0 1 Potato -1.012 0.847 0.272 0 90 0 72 2 DishSponge 1.414 0.746 0.984 0 0 0 70 3 ButterKnife -1.127 0.937 2.159 0 0 0 40 4 Fork -0.876 0.938 1.076 0 0 0 65 5 Egg 1.556 0.105 3.010 0 0 0 78 6 Egg 1.315 0.979 1.589 0 180 0 67 7 Egg 1.390 0.105 3.010 0 0 0 78 8 Cup -1.043 0.936 0.687 0 0 0 65 9 Plate -1.126 0.942 1.076 0 0 0 65 10 Plate -1.078 1.506 0.822 0 0 0 51 11 Knife -0.896 0.768 2.517 0 270 0 41 12 Tomato -1.065 1.380 0.272 0 90 0 72 13 SoapBottle -1.038 1.827 0.303 0 0 0 54 14 Bowl 1.700 1.944 1.830 0 0 0 57 15 PepperShaker -0.712 0.934 2.159 0 0 0 41 16 Lettuce -0.937 0.656 -0.034 0 90 0 72 17 Mug -0.946 0.195 -0.044 0 90 0 72 18 Apple -0.971 1.368 0.042 0 90 0 72 19 Lettuce 1.457 1.014 1.681 4.271 59.966 0 67 20 SoapBottle 1.390 0.069 2.912 0 0 0 78 21 Bread -0.923 0.990 2.265 0 302.470 0 40 22 Fork -0.960 0.938 0.765 0 90 0 65 23 Tomato -0.937 0.627 0.119 0 90 0 72 24 Bowl -1.069 1.947 1.458 0 0 0 56 25 Pot -1.109 0.930 1.865 0 0 0 64 26 Spatula 1.414 0.761 2.527 0 270 0 43 27 Knife -0.723 0.768 1.050 0 270 0 63 28 SaltShaker 1.285 0.934 0.806 0 0 0 45 29 Apple 1.388 0.892 1.369 0 180 0 82 30 PepperShaker 1.669 0.934 1.007 0 0 0 45 31 ButterKnife 1.376 0.736 2.234 0 29.999 0 43 32 Potato -0.976 0.598 0.272 0 90 0 72 33 Plate 1.382 0.105 0.373 0 0 0 50 34 DishSponge 1.379 0.746 0.780 0 0 0 70 35 Egg 1.597 0.979 1.756 0 180 0 67 36 Cup -1.121 1.499 2.524 0 180 0 62 37 Pan -1.109 0.930 1.470 0 0 0 42 38 Spoon -0.689 0.747 0.914 0 270 0 63 39 Mug 1.592 0.932 0.739 0 0 0 45 40 CounterTop -0.973 0.973 2.386 0 0 0 41 Drawer -0.783 0.774 2.381 0 180 0 42 StoveBurner -1.108 0.922 1.470 0 0 0 43 Drawer 1.370 0.774 2.391 0 0 0 44 Stool -0.748 0.008 3.116 0 0 0 45 CounterTop 1.504 0.973 2.309 0 0 0 46 Cabinet 1.219 1.388 0.591 0 0 0 47 Cabinet 1.500 2.113 1.164 0 0 0 48 Cabinet 1.219 2.010 0.591 0 0 0 49 Cabinet 1.219 0.388 2.105 0 0 0 50 Cabinet 1.219 0.553 0.591 0 0 0 51 Cabinet -0.913 2.113 1.164 0 0 0 52 Cabinet -0.633 0.388 0.627 0 0 0 53 Cabinet -0.913 2.050 -0.329 0 0 0 54 Cabinet -0.913 2.113 0.583 0 0 0 55 Cabinet -0.913 2.113 2.082 0 0 0 56 Cabinet -0.913 2.113 1.207 0 0 0 57 Cabinet 1.500 2.113 2.082 0 0 0 58 Cabinet 1.500 2.113 1.207 0 0 0 59 Cabinet 1.500 1.810 2.691 0 0 0 60 Cabinet 1.500 1.810 2.101 0 0 0 61 Cabinet -0.633 0.388 2.105 0 0 0 62 Cabinet -0.911 1.810 2.700 0 180 0 63 Drawer -0.783 0.774 0.915 0 180 0 64 StoveBurner -1.108 0.922 1.865 0 0 0 65 CounterTop -0.972 0.973 0.921 0 0 0 66 Cabinet 1.219 0.388 0.631 0 0 0 67 Sink 1.544 0.869 1.639 0 180 0 68 StoveBurner -0.832 0.922 1.865 0 0 0 69 StoveBurner -0.831 0.922 1.470 0 0 0 70 Drawer 1.370 0.774 0.916 0 0 0 71 Cabinet -0.911 1.810 2.111 0 180 0 72 Fridge -1.001 0.0 0.119 0 0 0 73 StoveKnob -0.648 0.926 1.923 0 270 0 74 StoveKnob -0.648 0.926 1.363 0 270 0 75 StoveKnob -0.648 0.926 1.513 0 270 0 76 StoveKnob -0.648 0.926 1.763 0 270 0 77 Toaster -1.002 0.926 2.561 0 90 0 78 GarbageCan 1.451 -0.029 2.912 0 0 0 79 Microwave 1.632 1.480 1.645 0 270 0 80 Window 0.224 1.601 3.509 90 0 0 81 CoffeeMachine 1.692 0.926 2.453 0 270 0 82 SinkBasin 1.461 0.833 1.369 0 180 0 83 LightSwitch 0.451 1.412 -1.674 0 0 0 84 Faucet 1.707 0.925 1.363 0 270 0 85 NorthWall 86 EastWall 87 SouthWall 88 WestWall
[ "STEP 1: Go forward, turn to the sink on the left. | STEP 2: Pick up the egg that is on the sink. | STEP 3: Raise the egg up to the microwave. | STEP 4: Put the egg into the microwave and turn it on to cook, remove the egg when it is done cooking. | STEP 5: Hang a left, go to the garbage can at the end of the counter. | STEP 6: Put the egg in the garbage can. | END" ]
[ [ "STEP 1: Go forward, turn to the sink on the left. ", " STEP 2: Pick up the egg that is on the sink. ", " STEP 3: Raise the egg up to the microwave. ", " STEP 4: Put the egg into the microwave and turn it on to cook, remove the egg when it is done cooking. ", " STEP 5: Hang a left, go to the garbage can at the end of the counter. ", " STEP 6: Put the egg in the garbage can. ", " END" ] ]
seen
trial_T20190910_151939_914332-2
cook the egg from the sink and then throw 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 2.25 0 180 0 1 Potato -1.012 0.847 0.272 0 90 0 72 2 DishSponge 1.414 0.746 0.984 0 0 0 70 3 ButterKnife -1.127 0.937 2.159 0 0 0 40 4 Fork -0.876 0.938 1.076 0 0 0 65 5 Egg 1.556 0.105 3.010 0 0 0 78 6 Egg 1.315 0.979 1.589 0 180 0 67 7 Egg 1.390 0.105 3.010 0 0 0 78 8 Cup -1.043 0.936 0.687 0 0 0 65 9 Plate -1.126 0.942 1.076 0 0 0 65 10 Plate -1.078 1.506 0.822 0 0 0 51 11 Knife -0.896 0.768 2.517 0 270 0 41 12 Tomato -1.065 1.380 0.272 0 90 0 72 13 SoapBottle -1.038 1.827 0.303 0 0 0 54 14 Bowl 1.700 1.944 1.830 0 0 0 57 15 PepperShaker -0.712 0.934 2.159 0 0 0 41 16 Lettuce -0.937 0.656 -0.034 0 90 0 72 17 Mug -0.946 0.195 -0.044 0 90 0 72 18 Apple -0.971 1.368 0.042 0 90 0 72 19 Lettuce 1.457 1.014 1.681 4.271 59.966 0 67 20 SoapBottle 1.390 0.069 2.912 0 0 0 78 21 Bread -0.923 0.990 2.265 0 302.470 0 40 22 Fork -0.960 0.938 0.765 0 90 0 65 23 Tomato -0.937 0.627 0.119 0 90 0 72 24 Bowl -1.069 1.947 1.458 0 0 0 56 25 Pot -1.109 0.930 1.865 0 0 0 64 26 Spatula 1.414 0.761 2.527 0 270 0 43 27 Knife -0.723 0.768 1.050 0 270 0 63 28 SaltShaker 1.285 0.934 0.806 0 0 0 45 29 Apple 1.388 0.892 1.369 0 180 0 82 30 PepperShaker 1.669 0.934 1.007 0 0 0 45 31 ButterKnife 1.376 0.736 2.234 0 29.999 0 43 32 Potato -0.976 0.598 0.272 0 90 0 72 33 Plate 1.382 0.105 0.373 0 0 0 50 34 DishSponge 1.379 0.746 0.780 0 0 0 70 35 Egg 1.597 0.979 1.756 0 180 0 67 36 Cup -1.121 1.499 2.524 0 180 0 62 37 Pan -1.109 0.930 1.470 0 0 0 42 38 Spoon -0.689 0.747 0.914 0 270 0 63 39 Mug 1.592 0.932 0.739 0 0 0 45 40 CounterTop -0.973 0.973 2.386 0 0 0 41 Drawer -0.783 0.774 2.381 0 180 0 42 StoveBurner -1.108 0.922 1.470 0 0 0 43 Drawer 1.370 0.774 2.391 0 0 0 44 Stool -0.748 0.008 3.116 0 0 0 45 CounterTop 1.504 0.973 2.309 0 0 0 46 Cabinet 1.219 1.388 0.591 0 0 0 47 Cabinet 1.500 2.113 1.164 0 0 0 48 Cabinet 1.219 2.010 0.591 0 0 0 49 Cabinet 1.219 0.388 2.105 0 0 0 50 Cabinet 1.219 0.553 0.591 0 0 0 51 Cabinet -0.913 2.113 1.164 0 0 0 52 Cabinet -0.633 0.388 0.627 0 0 0 53 Cabinet -0.913 2.050 -0.329 0 0 0 54 Cabinet -0.913 2.113 0.583 0 0 0 55 Cabinet -0.913 2.113 2.082 0 0 0 56 Cabinet -0.913 2.113 1.207 0 0 0 57 Cabinet 1.500 2.113 2.082 0 0 0 58 Cabinet 1.500 2.113 1.207 0 0 0 59 Cabinet 1.500 1.810 2.691 0 0 0 60 Cabinet 1.500 1.810 2.101 0 0 0 61 Cabinet -0.633 0.388 2.105 0 0 0 62 Cabinet -0.911 1.810 2.700 0 180 0 63 Drawer -0.783 0.774 0.915 0 180 0 64 StoveBurner -1.108 0.922 1.865 0 0 0 65 CounterTop -0.972 0.973 0.921 0 0 0 66 Cabinet 1.219 0.388 0.631 0 0 0 67 Sink 1.544 0.869 1.639 0 180 0 68 StoveBurner -0.832 0.922 1.865 0 0 0 69 StoveBurner -0.831 0.922 1.470 0 0 0 70 Drawer 1.370 0.774 0.916 0 0 0 71 Cabinet -0.911 1.810 2.111 0 180 0 72 Fridge -1.001 0.0 0.119 0 0 0 73 StoveKnob -0.648 0.926 1.923 0 270 0 74 StoveKnob -0.648 0.926 1.363 0 270 0 75 StoveKnob -0.648 0.926 1.513 0 270 0 76 StoveKnob -0.648 0.926 1.763 0 270 0 77 Toaster -1.002 0.926 2.561 0 90 0 78 GarbageCan 1.451 -0.029 2.912 0 0 0 79 Microwave 1.632 1.480 1.645 0 270 0 80 Window 0.224 1.601 3.509 90 0 0 81 CoffeeMachine 1.692 0.926 2.453 0 270 0 82 SinkBasin 1.461 0.833 1.369 0 180 0 83 LightSwitch 0.451 1.412 -1.674 0 0 0 84 Faucet 1.707 0.925 1.363 0 270 0 85 NorthWall 86 EastWall 87 SouthWall 88 WestWall
[ "STEP 1: walk forward then turn left towards the sink | STEP 2: pick up egg from the sink | STEP 3: lift egg up towards microwave | STEP 4: place egg in microwave cook the egg and pull it back out | STEP 5: turn left walk forward and turn right at the trash can | STEP 6: throw egg in the trash can | END" ]
[ [ "STEP 1: walk forward then turn left towards the sink ", " STEP 2: pick up egg from the sink ", " STEP 3: lift egg up towards microwave ", " STEP 4: place egg in microwave cook the egg and pull it back out ", " STEP 5: turn left walk forward and turn right at the trash can ", " STEP 6: throw egg in the trash can ", " END" ] ]
seen
trial_T20190906_221655_762597-0
Examine the pencil by the light of 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 -5.0 0.907 1.0 0 0 0 1 Plate -3.930 0.758 -0.502 0 0 0 52 2 TissueBox -4.842 0.756 -0.131 0 0 0 51 3 Watch 0.226 0.198 2.346 0 180 0 43 4 Vase -4.477 0.757 -0.379 0 0 0 55 5 Vase 0.492 0.554 3.056 0 0 0 40 6 Pencil 0.664 0.555 2.304 0 0 0 40 7 KeyChain 0.816 0.424 4.121 0 90 0 47 8 KeyChain -1.204 0.450 3.031 0 0 0 56 9 Book 0.319 0.552 2.755 0 0 0 40 10 CellPhone -1.087 0.450 2.322 0 0 0 56 11 CreditCard -1.554 0.449 3.031 0 0 0 56 12 CreditCard 0.147 0.551 2.905 0 0 0 40 13 RemoteControl 0.709 0.426 4.246 0 90 0 47 14 Book -1.236 0.880 0.218 0 90 0 57 15 Box 0.957 0.286 6.189 0 327.955 0 48 16 Pillow 0.438 0.581 5.162 321.968 0 0 48 17 Bowl -4.477 0.756 -0.008 0 0 0 49 18 WateringCan -0.816 0.005 0.189 0 0 0 19 TissueBox 0.233 0.553 2.454 0 0 0 40 20 Newspaper 0.424 0.418 4.301 0 18.749 0 47 21 CreditCard 0.226 0.200 2.863 0 180 0 43 22 KeyChain 0.664 0.552 2.755 0 0 0 40 23 Boots -6.309 0.006 1.252 0 92.842 0 24 Pencil -4.477 0.758 -0.502 0 0 0 55 25 Laptop 0.405 0.549 2.153 0 0 0 40 26 Vase -3.747 0.757 -0.008 0 0 0 55 27 RemoteControl -1.320 0.452 2.322 0 0 0 56 28 Watch 0.578 0.552 3.056 0 0 0 40 29 CellPhone 0.171 0.424 4.309 0 90 0 47 30 Plate -4.044 0.748 -0.078 0 0 0 54 31 Painting -6.5 1.759 -0.341 0 0 0 32 Painting 0.704 1.778 0.782 0 0 0 33 Television 1.5 1.690 2.562 0 270 0 34 FloorLamp 1.111 0.007 6.805 0 0 0 35 GarbageCan -6.128 -0.003 2.800 0 0 0 36 LightSwitch -6.5 1.498 1.345 0 90 0 37 HousePlant -0.753 0.874 0.209 0 0 0 38 Window 1.496 1.712 4.454 90 90 0 39 Window -4.210 1.577 -1.980 90 180 0 40 CoffeeTable 0.405 0.008 2.605 0 270 0 41 Drawer 0.597 0.234 2.604 0 270 0 42 Drawer 0.214 0.393 2.604 0 270 0 43 Drawer 0.214 0.234 2.609 0 270 0 44 Drawer 0.214 0.075 2.604 0 270 0 45 Drawer 0.597 0.075 2.604 0 270 0 46 Drawer 0.597 0.393 2.604 0 270 0 47 Ottoman 0.493 0.006 4.309 0 0 0 48 ArmChair 0.420 0.014 5.129 0 180 0 49 Chair -4.664 0.008 0.164 0 180 0 50 Chair -3.424 0.008 -0.321 0 270 0 51 Chair -4.988 0.008 -0.401 0 90 0 52 Chair -3.904 0.008 -0.827 0 0 0 53 Chair -4.570 0.008 -0.831 0 0 0 54 Chair -3.996 0.008 0.091 0 180 0 55 DiningTable -4.295 0.006 -0.378 0 0 0 56 Sofa -1.527 0.013 2.559 0 90 0 57 SideTable -1.030 0.006 0.160 0 0 0 58 Drawer -1.030 0.780 0.225 0 0 0 59 NorthWall 60 EastWall 61 SouthWall 62 WestWall
[ "STEP 1: Move to the coffee table. | STEP 2: Pick up the pencil from the coffee table. | STEP 3: Bring the pencil to the lamp in the corner. | STEP 4: Turn on the lamp. | END" ]
[ [ "STEP 1: Move to the coffee table. ", " STEP 2: Pick up the pencil from the coffee table. ", " STEP 3: Bring the pencil to the lamp in the corner. ", " STEP 4: Turn on the lamp. ", " END" ] ]
seen
trial_T20190906_221655_762597-1
Grab the pencil on the coffee table, turn on the floor 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 -5.0 0.907 1.0 0 0 0 1 Plate -3.930 0.758 -0.502 0 0 0 52 2 TissueBox -4.842 0.756 -0.131 0 0 0 51 3 Watch 0.226 0.198 2.346 0 180 0 43 4 Vase -4.477 0.757 -0.379 0 0 0 55 5 Vase 0.492 0.554 3.056 0 0 0 40 6 Pencil 0.664 0.555 2.304 0 0 0 40 7 KeyChain 0.816 0.424 4.121 0 90 0 47 8 KeyChain -1.204 0.450 3.031 0 0 0 56 9 Book 0.319 0.552 2.755 0 0 0 40 10 CellPhone -1.087 0.450 2.322 0 0 0 56 11 CreditCard -1.554 0.449 3.031 0 0 0 56 12 CreditCard 0.147 0.551 2.905 0 0 0 40 13 RemoteControl 0.709 0.426 4.246 0 90 0 47 14 Book -1.236 0.880 0.218 0 90 0 57 15 Box 0.957 0.286 6.189 0 327.955 0 48 16 Pillow 0.438 0.581 5.162 321.968 0 0 48 17 Bowl -4.477 0.756 -0.008 0 0 0 49 18 WateringCan -0.816 0.005 0.189 0 0 0 19 TissueBox 0.233 0.553 2.454 0 0 0 40 20 Newspaper 0.424 0.418 4.301 0 18.749 0 47 21 CreditCard 0.226 0.200 2.863 0 180 0 43 22 KeyChain 0.664 0.552 2.755 0 0 0 40 23 Boots -6.309 0.006 1.252 0 92.842 0 24 Pencil -4.477 0.758 -0.502 0 0 0 55 25 Laptop 0.405 0.549 2.153 0 0 0 40 26 Vase -3.747 0.757 -0.008 0 0 0 55 27 RemoteControl -1.320 0.452 2.322 0 0 0 56 28 Watch 0.578 0.552 3.056 0 0 0 40 29 CellPhone 0.171 0.424 4.309 0 90 0 47 30 Plate -4.044 0.748 -0.078 0 0 0 54 31 Painting -6.5 1.759 -0.341 0 0 0 32 Painting 0.704 1.778 0.782 0 0 0 33 Television 1.5 1.690 2.562 0 270 0 34 FloorLamp 1.111 0.007 6.805 0 0 0 35 GarbageCan -6.128 -0.003 2.800 0 0 0 36 LightSwitch -6.5 1.498 1.345 0 90 0 37 HousePlant -0.753 0.874 0.209 0 0 0 38 Window 1.496 1.712 4.454 90 90 0 39 Window -4.210 1.577 -1.980 90 180 0 40 CoffeeTable 0.405 0.008 2.605 0 270 0 41 Drawer 0.597 0.234 2.604 0 270 0 42 Drawer 0.214 0.393 2.604 0 270 0 43 Drawer 0.214 0.234 2.609 0 270 0 44 Drawer 0.214 0.075 2.604 0 270 0 45 Drawer 0.597 0.075 2.604 0 270 0 46 Drawer 0.597 0.393 2.604 0 270 0 47 Ottoman 0.493 0.006 4.309 0 0 0 48 ArmChair 0.420 0.014 5.129 0 180 0 49 Chair -4.664 0.008 0.164 0 180 0 50 Chair -3.424 0.008 -0.321 0 270 0 51 Chair -4.988 0.008 -0.401 0 90 0 52 Chair -3.904 0.008 -0.827 0 0 0 53 Chair -4.570 0.008 -0.831 0 0 0 54 Chair -3.996 0.008 0.091 0 180 0 55 DiningTable -4.295 0.006 -0.378 0 0 0 56 Sofa -1.527 0.013 2.559 0 90 0 57 SideTable -1.030 0.006 0.160 0 0 0 58 Drawer -1.030 0.780 0.225 0 0 0 59 NorthWall 60 EastWall 61 SouthWall 62 WestWall
[ "STEP 1: Turn right, walk straight to the furnace, turn left to the coffee table | STEP 2: Grab the pencil on the coffee table | STEP 3: Turn right, walk around the coffee table, go behind the sofa chair, walk to the corner | STEP 4: Turn on the floor lamp | END" ]
[ [ "STEP 1: Turn right, walk straight to the furnace, turn left to the coffee table ", " STEP 2: Grab the pencil on the coffee table ", " STEP 3: Turn right, walk around the coffee table, go behind the sofa chair, walk to the corner ", " STEP 4: Turn on the floor lamp ", " END" ] ]
seen
trial_T20190906_221655_762597-2
pick up a pencil with the lamp on
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -5.0 0.907 1.0 0 0 0 1 Plate -3.930 0.758 -0.502 0 0 0 52 2 TissueBox -4.842 0.756 -0.131 0 0 0 51 3 Watch 0.226 0.198 2.346 0 180 0 43 4 Vase -4.477 0.757 -0.379 0 0 0 55 5 Vase 0.492 0.554 3.056 0 0 0 40 6 Pencil 0.664 0.555 2.304 0 0 0 40 7 KeyChain 0.816 0.424 4.121 0 90 0 47 8 KeyChain -1.204 0.450 3.031 0 0 0 56 9 Book 0.319 0.552 2.755 0 0 0 40 10 CellPhone -1.087 0.450 2.322 0 0 0 56 11 CreditCard -1.554 0.449 3.031 0 0 0 56 12 CreditCard 0.147 0.551 2.905 0 0 0 40 13 RemoteControl 0.709 0.426 4.246 0 90 0 47 14 Book -1.236 0.880 0.218 0 90 0 57 15 Box 0.957 0.286 6.189 0 327.955 0 48 16 Pillow 0.438 0.581 5.162 321.968 0 0 48 17 Bowl -4.477 0.756 -0.008 0 0 0 49 18 WateringCan -0.816 0.005 0.189 0 0 0 19 TissueBox 0.233 0.553 2.454 0 0 0 40 20 Newspaper 0.424 0.418 4.301 0 18.749 0 47 21 CreditCard 0.226 0.200 2.863 0 180 0 43 22 KeyChain 0.664 0.552 2.755 0 0 0 40 23 Boots -6.309 0.006 1.252 0 92.842 0 24 Pencil -4.477 0.758 -0.502 0 0 0 55 25 Laptop 0.405 0.549 2.153 0 0 0 40 26 Vase -3.747 0.757 -0.008 0 0 0 55 27 RemoteControl -1.320 0.452 2.322 0 0 0 56 28 Watch 0.578 0.552 3.056 0 0 0 40 29 CellPhone 0.171 0.424 4.309 0 90 0 47 30 Plate -4.044 0.748 -0.078 0 0 0 54 31 Painting -6.5 1.759 -0.341 0 0 0 32 Painting 0.704 1.778 0.782 0 0 0 33 Television 1.5 1.690 2.562 0 270 0 34 FloorLamp 1.111 0.007 6.805 0 0 0 35 GarbageCan -6.128 -0.003 2.800 0 0 0 36 LightSwitch -6.5 1.498 1.345 0 90 0 37 HousePlant -0.753 0.874 0.209 0 0 0 38 Window 1.496 1.712 4.454 90 90 0 39 Window -4.210 1.577 -1.980 90 180 0 40 CoffeeTable 0.405 0.008 2.605 0 270 0 41 Drawer 0.597 0.234 2.604 0 270 0 42 Drawer 0.214 0.393 2.604 0 270 0 43 Drawer 0.214 0.234 2.609 0 270 0 44 Drawer 0.214 0.075 2.604 0 270 0 45 Drawer 0.597 0.075 2.604 0 270 0 46 Drawer 0.597 0.393 2.604 0 270 0 47 Ottoman 0.493 0.006 4.309 0 0 0 48 ArmChair 0.420 0.014 5.129 0 180 0 49 Chair -4.664 0.008 0.164 0 180 0 50 Chair -3.424 0.008 -0.321 0 270 0 51 Chair -4.988 0.008 -0.401 0 90 0 52 Chair -3.904 0.008 -0.827 0 0 0 53 Chair -4.570 0.008 -0.831 0 0 0 54 Chair -3.996 0.008 0.091 0 180 0 55 DiningTable -4.295 0.006 -0.378 0 0 0 56 Sofa -1.527 0.013 2.559 0 90 0 57 SideTable -1.030 0.006 0.160 0 0 0 58 Drawer -1.030 0.780 0.225 0 0 0 59 NorthWall 60 EastWall 61 SouthWall 62 WestWall
[ "STEP 1: turn right and towards the wall, then turn left towards the table at the left | STEP 2: pick up a pencil from the table | STEP 3: turn right and move towards the lamp stand | STEP 4: turn on the lamp | END" ]
[ [ "STEP 1: turn right and towards the wall, then turn left towards the table at the left ", " STEP 2: pick up a pencil from the table ", " STEP 3: turn right and move towards the lamp stand ", " STEP 4: turn on the lamp ", " END" ] ]
seen
trial_T20190909_192407_939684-0
Put a bowl with a credit card inside on top of the dresser.
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"24", " CD", " -1.657", " 0.971", " -0.540", " 0", " 0", " 0", " 45" ], [ "25", " Bowl", " -1.699", " 1.146", " -1.845", " 0", " 90", " 0", " 40" ], [ "26", " Statue", " -1.509", " 0.980", " -0.540", " 0", " 0", " 0", " 45" ], [ "27", " Bed", " 1.017", " 0.003", " -0.686", " 0", " 180", " 0", "" ], [ "28", " HousePlant", " -1.749", " 0.971", " 0.463", " 0", " 0", " 0", "" ], [ "29", " GarbageCan", " -1.665", " -0.000", " 0.953", " 0", " 45", " 0", "" ], [ "30", " Painting", " 0.381", " 1.976", " -1.895", " 90", " 0", " 0", "" ], [ "31", " Painting", " 0.879", " 1.976", " -1.895", " 90", " 0", " 0", "" ], [ "32", " Painting", " 1.373", " 1.976", " -1.895", " 90", " 0", " 0", "" ], [ "33", " LightSwitch", " -0.164", " 1.085", " 2.450", " 0", " 180", " 0", "" ], [ "34", " Mirror", " -1.950", " 1.735", " -0.206", " 0", " 270", " 0", "" ], [ "35", " Window", " -1.098", " 1.570", " -3.230", " 90", " 0", " 0", "" ], [ "36", " DeskLamp", " 1.404", " 0.668", " 2.209", " 0", " 0", " 0", "" ], [ "37", " DeskLamp", " 2.596", " 0.668", " -1.710", " 0", " 0", " 0", "" ], [ "38", " Blinds", " -1.062", " 2.361", " -3.173", " 0", " 0", " 0", "" ], [ "39", " Shelf", " -1.675", " 1.871", " -2.053", " 0", " 90", " 0", "" ], [ "40", " Shelf", " -1.675", " 1.383", " -2.053", " 0", " 90", " 0", "" ], [ "41", " Drawer", " -1.715", " 0.832", " -2.053", " 0", " 90", " 0", "" ], [ "42", " ShelvingUnit", " -1.723", " 0.007", " -2.053", " 0", " 90", " 0", "" ], [ "43", " Drawer", " -1.713", " 0.339", " -2.053", " 0", " 90", " 0", "" ], [ "44", " Drawer", " -1.629", " 0.104", " 0.243", " 0", " 90", " 0", "" ], [ "45", " Dresser", " -1.674", " 0.000", " -0.153", " 0", " 90", " 0", "" ], [ "46", " Drawer", " -1.630", " 0.868", " -0.550", " 0", " 90", " 0", "" ], [ "47", " Drawer", " -1.630", " 0.680", " 0.243", " 0", " 90", " 0", "" ], [ "48", " Drawer", " -1.629", " 0.104", " -0.550", " 0", " 90", " 0", "" ], [ "49", " Drawer", " -1.630", " 0.680", " -0.550", " 0", " 90", " 0", "" ], [ "50", " Drawer", " -1.630", " 0.868", " 0.243", " 0", " 90", " 0", "" ], [ "51", " Drawer", " -1.629", " 0.486", " -0.550", " 0", " 90", " 0", "" ], [ "52", " Drawer", " -1.629", " 0.291", " 0.243", " 0", " 90", " 0", "" ], [ "53", " Drawer", " -1.629", " 0.291", " -0.550", " 0", " 90", " 0", "" ], [ "54", " Drawer", " -1.630", " 0.486", " 0.243", " 0", " 90", " 0", "" ], [ "55", " SideTable", " 1.576", " -0.001", " 2.137", " 0", " 180", " 0", "" ], [ "56", " Drawer", " 1.576", " 0.163", " 2.070", " 0", " 180", " 0", "" ], [ "57", " Drawer", " 1.576", " 0.455", " 2.070", " 0", " 180", " 0", "" ], [ "58", " SideTable", " 2.437", " -0.001", " -1.603", " 0", " 0", " 0", "" ], [ "59", " Drawer", " 2.438", " 0.163", " -1.536", " 0", " 0", " 0", "" ], [ "60", " Drawer", " 2.438", " 0.455", " -1.536", " 0", " 0", " 0", "" ], [ "61", " ArmChair", " 2.393", " -0.001", " 1.943", " 0", " 180", " 0", "" ], [ "62", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "63", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "64", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "65", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -0.75 0.900 -1.75 0 0 0 1 Statue -1.657 0.980 -0.742 0 180 0 45 2 CD -1.636 1.637 -2.073 0 90 0 39 3 CellPhone 2.592 0.433 1.584 0 90 0 61 4 CellPhone 1.731 0.681 2.308 0 0 0 55 5 Pen -1.730 0.976 0.464 0 0 0 45 6 Pencil 1.498 0.686 2.262 0 180 0 55 7 CreditCard 2.129 0.432 1.675 0 90 0 61 8 KeyChain -1.605 1.147 -2.073 0 90 0 40 9 KeyChain 2.499 0.434 1.585 0 90 0 61 10 Pillow 1.02 0.836 -0.990 0 0 0 27 11 Book 0.296 0.774 -0.695 0 0 0 27 12 KeyChain 1.576 0.682 2.353 0 0 0 55 13 AlarmClock -1.636 1.637 -1.731 0 90 0 39 14 Pillow 1.502 0.836 -0.401 0 0 0 27 15 Pillow 1.02 0.836 -0.401 0 0 0 27 16 Vase -1.509 0.971 0.263 0 0 0 45 17 Laptop 1.743 0.773 0.188 0 0 0 27 18 Vase -1.650 1.626 -2.316 0 0 0 39 19 Pencil -1.668 1.643 -2.415 0 90 0 39 20 CreditCard 2.205 0.680 -1.536 0 0 0 58 21 Boots -1.842 0.000 -1.077 0 135 0 22 Pen 1.731 0.686 2.262 0 0 0 55 23 CellPhone 1.808 0.681 2.172 0 0 0 55 24 CD -1.657 0.971 -0.540 0 0 0 45 25 Bowl -1.699 1.146 -1.845 0 90 0 40 26 Statue -1.509 0.980 -0.540 0 0 0 45 27 Bed 1.017 0.003 -0.686 0 180 0 28 HousePlant -1.749 0.971 0.463 0 0 0 29 GarbageCan -1.665 -0.000 0.953 0 45 0 30 Painting 0.381 1.976 -1.895 90 0 0 31 Painting 0.879 1.976 -1.895 90 0 0 32 Painting 1.373 1.976 -1.895 90 0 0 33 LightSwitch -0.164 1.085 2.450 0 180 0 34 Mirror -1.950 1.735 -0.206 0 270 0 35 Window -1.098 1.570 -3.230 90 0 0 36 DeskLamp 1.404 0.668 2.209 0 0 0 37 DeskLamp 2.596 0.668 -1.710 0 0 0 38 Blinds -1.062 2.361 -3.173 0 0 0 39 Shelf -1.675 1.871 -2.053 0 90 0 40 Shelf -1.675 1.383 -2.053 0 90 0 41 Drawer -1.715 0.832 -2.053 0 90 0 42 ShelvingUnit -1.723 0.007 -2.053 0 90 0 43 Drawer -1.713 0.339 -2.053 0 90 0 44 Drawer -1.629 0.104 0.243 0 90 0 45 Dresser -1.674 0.000 -0.153 0 90 0 46 Drawer -1.630 0.868 -0.550 0 90 0 47 Drawer -1.630 0.680 0.243 0 90 0 48 Drawer -1.629 0.104 -0.550 0 90 0 49 Drawer -1.630 0.680 -0.550 0 90 0 50 Drawer -1.630 0.868 0.243 0 90 0 51 Drawer -1.629 0.486 -0.550 0 90 0 52 Drawer -1.629 0.291 0.243 0 90 0 53 Drawer -1.629 0.291 -0.550 0 90 0 54 Drawer -1.630 0.486 0.243 0 90 0 55 SideTable 1.576 -0.001 2.137 0 180 0 56 Drawer 1.576 0.163 2.070 0 180 0 57 Drawer 1.576 0.455 2.070 0 180 0 58 SideTable 2.437 -0.001 -1.603 0 0 0 59 Drawer 2.438 0.163 -1.536 0 0 0 60 Drawer 2.438 0.455 -1.536 0 0 0 61 ArmChair 2.393 -0.001 1.943 0 180 0 62 NorthWall 63 EastWall 64 SouthWall 65 WestWall
[ "STEP 1: Go past the dresser on the left and hang a right to the nightstand by the bed. | STEP 2: Pick up the green credit card on the nightstand. | STEP 3: Take the credit card to the shelf by the window. | STEP 4: Put the card into the bowl on the shelf. | STEP 5: Pick up the bowl with the card in it. | STEP 6: Take the bowl with the card in it to the dresser. | STEP 7: Set the bowl and card down on the top of the dresser. | END" ]
[ [ "STEP 1: Go past the dresser on the left and hang a right to the nightstand by the bed. ", " STEP 2: Pick up the green credit card on the nightstand. ", " STEP 3: Take the credit card to the shelf by the window. ", " STEP 4: Put the card into the bowl on the shelf. ", " STEP 5: Pick up the bowl with the card in it. ", " STEP 6: Take the bowl with the card in it to the dresser. ", " STEP 7: Set the bowl and card down on the top of the dresser. ", " END" ] ]
seen
trial_T20190909_192407_939684-1
Put the bowl with credit card on the large cabinet drawer
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[ "STEP 1: Walk towards the door, turn right to the bed, then turn right face the side table | STEP 2: Pick up the credit card on the table | STEP 3: Turn around to your right walk straight, then left and another left head to the furthest drawer | STEP 4: Put the credit card on the bowl at the drawer | STEP 5: Pick up the bowl on the drawer | STEP 6: Turn around to your right then walk towards the next drawer | STEP 7: Put the bowl with credit card on the drawer | END" ]
[ [ "STEP 1: Walk towards the door, turn right to the bed, then turn right face the side table ", " STEP 2: Pick up the credit card on the table ", " STEP 3: Turn around to your right walk straight, then left and another left head to the furthest drawer ", " STEP 4: Put the credit card on the bowl at the drawer ", " STEP 5: Pick up the bowl on the drawer ", " STEP 6: Turn around to your right then walk towards the next drawer ", " STEP 7: Put the bowl with credit card on the drawer ", " END" ] ]
seen
trial_T20190909_192407_939684-2
place a bowl with a credit card in it on top of the dresser
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[ "STEP 1: walk forwards to the end of the bed on the right, then take a right and walk to the night stand on the right side of the end of the room ahead | STEP 2: grab the credit card off of the night stand | STEP 3: move around to the other side of the bed, and continue walking to the end of the room where the tall cabinet is on the right | STEP 4: place the credit card in a bowl on the cabinet | STEP 5: grab the bowl off of the cabinet | STEP 6: move to the right to the black dresser, and turn to face it | STEP 7: place the bowl down on top of the dresser there | END" ]
[ [ "STEP 1: walk forwards to the end of the bed on the right, then take a right and walk to the night stand on the right side of the end of the room ahead ", " STEP 2: grab the credit card off of the night stand ", " STEP 3: move around to the other side of the bed, and continue walking to the end of the room where the tall cabinet is on the right ", " STEP 4: place the credit card in a bowl on the cabinet ", " STEP 5: grab the bowl off of the cabinet ", " STEP 6: move to the right to the black dresser, and turn to face it ", " STEP 7: place the bowl down on top of the dresser there ", " END" ] ]
seen
trial_T20190909_192407_939684-3
Put a bowl with credit card in it on the dresser.
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", " ", "" ], [ "64", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "65", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -0.75 0.900 -1.75 0 0 0 1 Statue -1.657 0.980 -0.742 0 180 0 45 2 CD -1.636 1.637 -2.073 0 90 0 39 3 CellPhone 2.592 0.433 1.584 0 90 0 61 4 CellPhone 1.731 0.681 2.308 0 0 0 55 5 Pen -1.730 0.976 0.464 0 0 0 45 6 Pencil 1.498 0.686 2.262 0 180 0 55 7 CreditCard 2.129 0.432 1.675 0 90 0 61 8 KeyChain -1.605 1.147 -2.073 0 90 0 40 9 KeyChain 2.499 0.434 1.585 0 90 0 61 10 Pillow 1.02 0.836 -0.990 0 0 0 27 11 Book 0.296 0.774 -0.695 0 0 0 27 12 KeyChain 1.576 0.682 2.353 0 0 0 55 13 AlarmClock -1.636 1.637 -1.731 0 90 0 39 14 Pillow 1.502 0.836 -0.401 0 0 0 27 15 Pillow 1.02 0.836 -0.401 0 0 0 27 16 Vase -1.509 0.971 0.263 0 0 0 45 17 Laptop 1.743 0.773 0.188 0 0 0 27 18 Vase -1.650 1.626 -2.316 0 0 0 39 19 Pencil -1.668 1.643 -2.415 0 90 0 39 20 CreditCard 2.205 0.680 -1.536 0 0 0 58 21 Boots -1.842 0.000 -1.077 0 135 0 22 Pen 1.731 0.686 2.262 0 0 0 55 23 CellPhone 1.808 0.681 2.172 0 0 0 55 24 CD -1.657 0.971 -0.540 0 0 0 45 25 Bowl -1.699 1.146 -1.845 0 90 0 40 26 Statue -1.509 0.980 -0.540 0 0 0 45 27 Bed 1.017 0.003 -0.686 0 180 0 28 HousePlant -1.749 0.971 0.463 0 0 0 29 GarbageCan -1.665 -0.000 0.953 0 45 0 30 Painting 0.381 1.976 -1.895 90 0 0 31 Painting 0.879 1.976 -1.895 90 0 0 32 Painting 1.373 1.976 -1.895 90 0 0 33 LightSwitch -0.164 1.085 2.450 0 180 0 34 Mirror -1.950 1.735 -0.206 0 270 0 35 Window -1.098 1.570 -3.230 90 0 0 36 DeskLamp 1.404 0.668 2.209 0 0 0 37 DeskLamp 2.596 0.668 -1.710 0 0 0 38 Blinds -1.062 2.361 -3.173 0 0 0 39 Shelf -1.675 1.871 -2.053 0 90 0 40 Shelf -1.675 1.383 -2.053 0 90 0 41 Drawer -1.715 0.832 -2.053 0 90 0 42 ShelvingUnit -1.723 0.007 -2.053 0 90 0 43 Drawer -1.713 0.339 -2.053 0 90 0 44 Drawer -1.629 0.104 0.243 0 90 0 45 Dresser -1.674 0.000 -0.153 0 90 0 46 Drawer -1.630 0.868 -0.550 0 90 0 47 Drawer -1.630 0.680 0.243 0 90 0 48 Drawer -1.629 0.104 -0.550 0 90 0 49 Drawer -1.630 0.680 -0.550 0 90 0 50 Drawer -1.630 0.868 0.243 0 90 0 51 Drawer -1.629 0.486 -0.550 0 90 0 52 Drawer -1.629 0.291 0.243 0 90 0 53 Drawer -1.629 0.291 -0.550 0 90 0 54 Drawer -1.630 0.486 0.243 0 90 0 55 SideTable 1.576 -0.001 2.137 0 180 0 56 Drawer 1.576 0.163 2.070 0 180 0 57 Drawer 1.576 0.455 2.070 0 180 0 58 SideTable 2.437 -0.001 -1.603 0 0 0 59 Drawer 2.438 0.163 -1.536 0 0 0 60 Drawer 2.438 0.455 -1.536 0 0 0 61 ArmChair 2.393 -0.001 1.943 0 180 0 62 NorthWall 63 EastWall 64 SouthWall 65 WestWall
[ "STEP 1: Turn right, walk forward, turn right at the other side of the bed, walk forward, walk to the nightstand. | STEP 2: Pick up credit card from nightstand. | STEP 3: Turn right, and right again, walk to the end of the bed, turn left, walk to wall, turn right, go to the tall dresser. | STEP 4: Put credit card in the bowl to the right of the keys. | STEP 5: Pick up the bowl from the shelf. | STEP 6: Walk to dresser to the right of this dresser and face it. | STEP 7: Put the bowl on the dresser to the right of the statues. | END" ]
[ [ "STEP 1: Turn right, walk forward, turn right at the other side of the bed, walk forward, walk to the nightstand. ", " STEP 2: Pick up credit card from nightstand. ", " STEP 3: Turn right, and right again, walk to the end of the bed, turn left, walk to wall, turn right, go to the tall dresser. ", " STEP 4: Put credit card in the bowl to the right of the keys. ", " STEP 5: Pick up the bowl from the shelf. ", " STEP 6: Walk to dresser to the right of this dresser and face it. ", " STEP 7: Put the bowl on the dresser to the right of the statues. ", " END" ] ]
seen
trial_T20190909_192407_939684-4
Place a bowl containing a credit card on top of a chest of drawers
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"37", " DeskLamp", " 2.596", " 0.668", " -1.710", " 0", " 0", " 0", "" ], [ "38", " Blinds", " -1.062", " 2.361", " -3.173", " 0", " 0", " 0", "" ], [ "39", " Shelf", " -1.675", " 1.871", " -2.053", " 0", " 90", " 0", "" ], [ "40", " Shelf", " -1.675", " 1.383", " -2.053", " 0", " 90", " 0", "" ], [ "41", " Drawer", " -1.715", " 0.832", " -2.053", " 0", " 90", " 0", "" ], [ "42", " ShelvingUnit", " -1.723", " 0.007", " -2.053", " 0", " 90", " 0", "" ], [ "43", " Drawer", " -1.713", " 0.339", " -2.053", " 0", " 90", " 0", "" ], [ "44", " Drawer", " -1.629", " 0.104", " 0.243", " 0", " 90", " 0", "" ], [ "45", " Dresser", " -1.674", " 0.000", " -0.153", " 0", " 90", " 0", "" ], [ "46", " Drawer", " -1.630", " 0.868", " -0.550", " 0", " 90", " 0", "" ], [ "47", " Drawer", " -1.630", " 0.680", " 0.243", " 0", " 90", " 0", "" ], [ "48", " Drawer", " -1.629", " 0.104", " -0.550", " 0", " 90", " 0", "" ], [ "49", " Drawer", " -1.630", " 0.680", " -0.550", " 0", " 90", " 0", "" ], [ "50", " 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", " ", "" ], [ "64", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "65", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -0.75 0.900 -1.75 0 0 0 1 Statue -1.657 0.980 -0.742 0 180 0 45 2 CD -1.636 1.637 -2.073 0 90 0 39 3 CellPhone 2.592 0.433 1.584 0 90 0 61 4 CellPhone 1.731 0.681 2.308 0 0 0 55 5 Pen -1.730 0.976 0.464 0 0 0 45 6 Pencil 1.498 0.686 2.262 0 180 0 55 7 CreditCard 2.129 0.432 1.675 0 90 0 61 8 KeyChain -1.605 1.147 -2.073 0 90 0 40 9 KeyChain 2.499 0.434 1.585 0 90 0 61 10 Pillow 1.02 0.836 -0.990 0 0 0 27 11 Book 0.296 0.774 -0.695 0 0 0 27 12 KeyChain 1.576 0.682 2.353 0 0 0 55 13 AlarmClock -1.636 1.637 -1.731 0 90 0 39 14 Pillow 1.502 0.836 -0.401 0 0 0 27 15 Pillow 1.02 0.836 -0.401 0 0 0 27 16 Vase -1.509 0.971 0.263 0 0 0 45 17 Laptop 1.743 0.773 0.188 0 0 0 27 18 Vase -1.650 1.626 -2.316 0 0 0 39 19 Pencil -1.668 1.643 -2.415 0 90 0 39 20 CreditCard 2.205 0.680 -1.536 0 0 0 58 21 Boots -1.842 0.000 -1.077 0 135 0 22 Pen 1.731 0.686 2.262 0 0 0 55 23 CellPhone 1.808 0.681 2.172 0 0 0 55 24 CD -1.657 0.971 -0.540 0 0 0 45 25 Bowl -1.699 1.146 -1.845 0 90 0 40 26 Statue -1.509 0.980 -0.540 0 0 0 45 27 Bed 1.017 0.003 -0.686 0 180 0 28 HousePlant -1.749 0.971 0.463 0 0 0 29 GarbageCan -1.665 -0.000 0.953 0 45 0 30 Painting 0.381 1.976 -1.895 90 0 0 31 Painting 0.879 1.976 -1.895 90 0 0 32 Painting 1.373 1.976 -1.895 90 0 0 33 LightSwitch -0.164 1.085 2.450 0 180 0 34 Mirror -1.950 1.735 -0.206 0 270 0 35 Window -1.098 1.570 -3.230 90 0 0 36 DeskLamp 1.404 0.668 2.209 0 0 0 37 DeskLamp 2.596 0.668 -1.710 0 0 0 38 Blinds -1.062 2.361 -3.173 0 0 0 39 Shelf -1.675 1.871 -2.053 0 90 0 40 Shelf -1.675 1.383 -2.053 0 90 0 41 Drawer -1.715 0.832 -2.053 0 90 0 42 ShelvingUnit -1.723 0.007 -2.053 0 90 0 43 Drawer -1.713 0.339 -2.053 0 90 0 44 Drawer -1.629 0.104 0.243 0 90 0 45 Dresser -1.674 0.000 -0.153 0 90 0 46 Drawer -1.630 0.868 -0.550 0 90 0 47 Drawer -1.630 0.680 0.243 0 90 0 48 Drawer -1.629 0.104 -0.550 0 90 0 49 Drawer -1.630 0.680 -0.550 0 90 0 50 Drawer -1.630 0.868 0.243 0 90 0 51 Drawer -1.629 0.486 -0.550 0 90 0 52 Drawer -1.629 0.291 0.243 0 90 0 53 Drawer -1.629 0.291 -0.550 0 90 0 54 Drawer -1.630 0.486 0.243 0 90 0 55 SideTable 1.576 -0.001 2.137 0 180 0 56 Drawer 1.576 0.163 2.070 0 180 0 57 Drawer 1.576 0.455 2.070 0 180 0 58 SideTable 2.437 -0.001 -1.603 0 0 0 59 Drawer 2.438 0.163 -1.536 0 0 0 60 Drawer 2.438 0.455 -1.536 0 0 0 61 ArmChair 2.393 -0.001 1.943 0 180 0 62 NorthWall 63 EastWall 64 SouthWall 65 WestWall
[ "STEP 1: Walk past the bed, turning right twice until you reach the bedside table. | STEP 2: Pick up the credit card off of the desk | STEP 3: Turn around, and follow the bed, turning left twice, before turning right and walking up to the shelves. | STEP 4: Drop the credit card into the plastic tub | STEP 5: Pick up the plastic bowl with the credit card inside | STEP 6: Turn around and head to the chest of drawers on the left. | STEP 7: Place the bowl with the credit card inside on top of the chest of drawers. | END" ]
[ [ "STEP 1: Walk past the bed, turning right twice until you reach the bedside table. ", " STEP 2: Pick up the credit card off of the desk ", " STEP 3: Turn around, and follow the bed, turning left twice, before turning right and walking up to the shelves. ", " STEP 4: Drop the credit card into the plastic tub ", " STEP 5: Pick up the plastic bowl with the credit card inside ", " STEP 6: Turn around and head to the chest of drawers on the left. ", " STEP 7: Place the bowl with the credit card inside on top of the chest of drawers. ", " END" ] ]
seen
trial_T20190907_184947_274026-0
Put a candle 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 -2.5 0.901 -1.5 0 90 0 1 Cloth -2.620 0.806 -2.394 0 0 0 23 2 Cloth -2.764 0.066 -2.964 0 0 0 16 3 SoapBar -2.669 0.872 -3.007 0 90 0 29 4 HandTowel -2.962 1.584 -3.550 0 270 0 26 5 Candle -2.532 0.815 -2.525 0 0 0 23 6 Cloth -2.443 0.806 -3.707 0 0 0 23 7 HandTowel -2.962 1.584 -2.569 0 270 0 27 8 Plunger -0.125 0.000 -3.493 0 0 0 Floor|-00.04| 9 SoapBar -0.160 1.045 -3.180 0 270 0 32 10 ToiletPaper -0.365 0.054 -3.86 0 0 0 30 11 ToiletPaper -0.068 1.042 -3.048 0 270 0 32 12 Towel -1.291 1.386 -0.63 0 270 0 24 13 SoapBottle -0.099 1.047 -2.983 0 0 0 32 14 SprayBottle -2.387 0.067 -3.023 0 0 0 16 15 ScrubBrush -0.325 0.000 -3.342 0 0 0 Floor|-00.04| 16 Cabinet -2.293 0.324 -3.254 0 0 0 17 Mirror -3.0 1.659 -3.069 0 0 0 18 Sink -2.661 0.785 -3.069 0 90 0 19 ShowerGlass -0.599 1.097 -1.124 0 0 0 20 Cabinet -2.299 0.345 -2.250 0 0 0 21 Cabinet -2.293 0.324 -3.814 0 0 0 22 ShowerDoor -1.179 1.090 -1.220 0 0 0 23 CounterTop -2.632 0.843 -3.040 0 0 0 24 TowelHolder -1.184 1.371 -0.629 0 270 0 25 ToiletPaperHanger 0.0 0.943 -2.536 0 270 0 26 HandTowelHolder -3.000 1.685 -3.550 0 0 0 27 HandTowelHolder -3.000 1.685 -2.569 0 0 0 28 Window -0.567 1.706 -4.002 90 0 0 29 SinkBasin -2.669 0.863 -3.063 0 90 0 30 GarbageCan -0.459 -0.043 -3.769 0 0 0 31 LightSwitch -1.945 1.503 0.000 0 180 0 32 Toilet -0.452 0.000 -3.052 0 0 0 33 Faucet -3.0 1.167 -3.073 0 180 0 34 ShowerHead -0.614 1.934 -0.013 0 0 0 35 EastWall 36 EastWall 37 SouthWall
[ "STEP 1: Turn to your right and go to the counter on the right side of the sink. | STEP 2: Pick up the yellow candle from the counter. | STEP 3: Face the opposite direction and go over near the left side of the toilet. | STEP 4: Set the candle on the left side of the toilet tank cover. | END" ]
[ [ "STEP 1: Turn to your right and go to the counter on the right side of the sink. ", " STEP 2: Pick up the yellow candle from the counter. ", " STEP 3: Face the opposite direction and go over near the left side of the toilet. ", " STEP 4: Set the candle on the left side of the toilet tank cover. ", " END" ] ]
seen
trial_T20190907_184947_274026-1
pick up the yellow candle and put it 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 -2.5 0.901 -1.5 0 90 0 1 Cloth -2.620 0.806 -2.394 0 0 0 23 2 Cloth -2.764 0.066 -2.964 0 0 0 16 3 SoapBar -2.669 0.872 -3.007 0 90 0 29 4 HandTowel -2.962 1.584 -3.550 0 270 0 26 5 Candle -2.532 0.815 -2.525 0 0 0 23 6 Cloth -2.443 0.806 -3.707 0 0 0 23 7 HandTowel -2.962 1.584 -2.569 0 270 0 27 8 Plunger -0.125 0.000 -3.493 0 0 0 Floor|-00.04| 9 SoapBar -0.160 1.045 -3.180 0 270 0 32 10 ToiletPaper -0.365 0.054 -3.86 0 0 0 30 11 ToiletPaper -0.068 1.042 -3.048 0 270 0 32 12 Towel -1.291 1.386 -0.63 0 270 0 24 13 SoapBottle -0.099 1.047 -2.983 0 0 0 32 14 SprayBottle -2.387 0.067 -3.023 0 0 0 16 15 ScrubBrush -0.325 0.000 -3.342 0 0 0 Floor|-00.04| 16 Cabinet -2.293 0.324 -3.254 0 0 0 17 Mirror -3.0 1.659 -3.069 0 0 0 18 Sink -2.661 0.785 -3.069 0 90 0 19 ShowerGlass -0.599 1.097 -1.124 0 0 0 20 Cabinet -2.299 0.345 -2.250 0 0 0 21 Cabinet -2.293 0.324 -3.814 0 0 0 22 ShowerDoor -1.179 1.090 -1.220 0 0 0 23 CounterTop -2.632 0.843 -3.040 0 0 0 24 TowelHolder -1.184 1.371 -0.629 0 270 0 25 ToiletPaperHanger 0.0 0.943 -2.536 0 270 0 26 HandTowelHolder -3.000 1.685 -3.550 0 0 0 27 HandTowelHolder -3.000 1.685 -2.569 0 0 0 28 Window -0.567 1.706 -4.002 90 0 0 29 SinkBasin -2.669 0.863 -3.063 0 90 0 30 GarbageCan -0.459 -0.043 -3.769 0 0 0 31 LightSwitch -1.945 1.503 0.000 0 180 0 32 Toilet -0.452 0.000 -3.052 0 0 0 33 Faucet -3.0 1.167 -3.073 0 180 0 34 ShowerHead -0.614 1.934 -0.013 0 0 0 35 EastWall 36 EastWall 37 SouthWall
[ "STEP 1: turn to the right and face the counter top to the right of the sink | STEP 2: pick up the yellow candle | STEP 3: turn left and walk over to the toilet | STEP 4: put the candle on top of the toilet to the left of the soap dispenser | END" ]
[ [ "STEP 1: turn to the right and face the counter top to the right of the sink ", " STEP 2: pick up the yellow candle ", " STEP 3: turn left and walk over to the toilet ", " STEP 4: put the candle on top of the toilet to the left of the soap dispenser ", " END" ] ]
seen
trial_T20190907_184947_274026-2
Set a candle on the toilet.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -2.5 0.901 -1.5 0 90 0 1 Cloth -2.620 0.806 -2.394 0 0 0 23 2 Cloth -2.764 0.066 -2.964 0 0 0 16 3 SoapBar -2.669 0.872 -3.007 0 90 0 29 4 HandTowel -2.962 1.584 -3.550 0 270 0 26 5 Candle -2.532 0.815 -2.525 0 0 0 23 6 Cloth -2.443 0.806 -3.707 0 0 0 23 7 HandTowel -2.962 1.584 -2.569 0 270 0 27 8 Plunger -0.125 0.000 -3.493 0 0 0 Floor|-00.04| 9 SoapBar -0.160 1.045 -3.180 0 270 0 32 10 ToiletPaper -0.365 0.054 -3.86 0 0 0 30 11 ToiletPaper -0.068 1.042 -3.048 0 270 0 32 12 Towel -1.291 1.386 -0.63 0 270 0 24 13 SoapBottle -0.099 1.047 -2.983 0 0 0 32 14 SprayBottle -2.387 0.067 -3.023 0 0 0 16 15 ScrubBrush -0.325 0.000 -3.342 0 0 0 Floor|-00.04| 16 Cabinet -2.293 0.324 -3.254 0 0 0 17 Mirror -3.0 1.659 -3.069 0 0 0 18 Sink -2.661 0.785 -3.069 0 90 0 19 ShowerGlass -0.599 1.097 -1.124 0 0 0 20 Cabinet -2.299 0.345 -2.250 0 0 0 21 Cabinet -2.293 0.324 -3.814 0 0 0 22 ShowerDoor -1.179 1.090 -1.220 0 0 0 23 CounterTop -2.632 0.843 -3.040 0 0 0 24 TowelHolder -1.184 1.371 -0.629 0 270 0 25 ToiletPaperHanger 0.0 0.943 -2.536 0 270 0 26 HandTowelHolder -3.000 1.685 -3.550 0 0 0 27 HandTowelHolder -3.000 1.685 -2.569 0 0 0 28 Window -0.567 1.706 -4.002 90 0 0 29 SinkBasin -2.669 0.863 -3.063 0 90 0 30 GarbageCan -0.459 -0.043 -3.769 0 0 0 31 LightSwitch -1.945 1.503 0.000 0 180 0 32 Toilet -0.452 0.000 -3.052 0 0 0 33 Faucet -3.0 1.167 -3.073 0 180 0 34 ShowerHead -0.614 1.934 -0.013 0 0 0 35 EastWall 36 EastWall 37 SouthWall
[ "STEP 1: Turn and go to the counter next to the sink. | STEP 2: Pick up the candle next to the cloth on the counter. | STEP 3: Turn around and go to the toilet. | STEP 4: Set the candle on the toilet to the left of the lotion. | END" ]
[ [ "STEP 1: Turn and go to the counter next to the sink. ", " STEP 2: Pick up the candle next to the cloth on the counter. ", " STEP 3: Turn around and go to the toilet. ", " STEP 4: Set the candle on the toilet to the left of the lotion. ", " END" ] ]
seen
trial_T20190909_104051_611181-0
move the candle from the bath tub counter to the top of the toilet
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[ "STEP 1: turn right walk straight then turn right towards the towel on the wall | STEP 2: pick up the candle on the edge of the bath tub | STEP 3: turn around and walk straight then turn left towards the sink and turn left towards the toilet | STEP 4: put the candle down on top of the toilet | END" ]
[ [ "STEP 1: turn right walk straight then turn right towards the towel on the wall ", " STEP 2: pick up the candle on the edge of the bath tub ", " STEP 3: turn around and walk straight then turn left towards the sink and turn left towards the toilet ", " STEP 4: put the candle down on top of the toilet ", " END" ] ]
seen
trial_T20190909_104051_611181-1
Move a candle to the toilet tank
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -0.5 0.900 1.75 0 0 0 1 Cloth -1.721 0.074 0.339 0 0 0 18 2 SoapBar 0.277 0.092 3.792 0 0 0 38 3 SoapBar -1.786 0.073 0.718 0 0 0 18 4 SprayBottle -1.829 1.045 1.943 0 270 0 35 5 Towel -0.07 1.284 0.106 0 0 0 27 6 HandTowel -1.731 1.333 3.961 0 0 0 29 7 SoapBar -1.734 0.016 2.166 0 0 0 19 8 ToiletPaper -0.089 1.159 3.765 0 0 0 46 9 ToiletPaper 0.349 0.612 3.815 0 0 0 40 10 Cloth -1.160 0.074 0.576 0 315 0 18 11 SprayBottle -1.700 0.069 2.927 0 0 0 25 12 Candle -0.370 0.447 0.126 0 0 0 16 13 ScrubBrush -1.664 -0.000 3.897 0 0 0 Floor|-02.00| 14 Plunger -1.888 -0.000 3.885 0 0 0 Floor|-02.00| 15 SoapBottle -1.860 1.046 1.746 0 90 0 35 16 Bathtub -1.414 -0.002 0.563 0 0 0 17 CounterTop -1.799 0.746 3.122 0 0 0 18 BathtubBasin -1.613 0.052 0.540 0 0 0 19 Cabinet -1.613 0.309 2.493 0 0 0 20 ShowerDoor 0.527 1.037 2.115 0 0 0 21 Mirror -1.993 1.424 3.107 0 0 0 22 Cabinet -1.613 0.309 3.754 0 0 0 23 Faucet -1.873 0.461 0.641 0 0 0 24 Sink -1.834 0.685 2.777 0 90 0 25 Cabinet -1.613 0.309 3.105 0 0 0 26 Cabinet -1.613 0.309 3.140 0 0 0 27 TowelHolder -0.070 1.269 0.0 0 0 0 28 GarbageCan 0.932 -0.029 3.761 0 0 0 29 HandTowelHolder -1.730 1.434 4.0 0 90 0 30 Window -1.039 1.393 0.018 90 0 0 31 Window -1.986 1.392 0.706 90 90 0 32 ToiletPaperHanger -1.776 0.681 2.474 0 180 0 33 SinkBasin -1.795 0.694 2.781 0 90 0 34 LightSwitch 1.250 1.330 3.621 0 270 0 35 Toilet -1.567 -0.000 1.815 0 180 0 36 Drawer 0.204 0.940 3.807 0 180 0 37 Dresser 0.204 0.000 3.832 0 180 0 38 Drawer 0.204 0.160 3.807 0 180 0 39 Drawer 0.204 0.420 3.807 0 180 0 40 Drawer 0.204 0.680 3.807 0 180 0 41 SinkBasin -1.795 0.694 3.476 0 90 0 42 Sink -1.833 0.685 3.472 0 90 0 43 Faucet -1.988 0.947 3.472 0 180 0 44 ShowerHead 0.972 1.222 2.015 0 270 0 45 Faucet -1.988 0.947 2.776 0 180 0 46 47 NorthWall 48 EastWall 49 SouthWall 50 WestWall
[ "STEP 1: Move right then forward to the green candle on the edge of the tub | STEP 2: Pick up the green candle on top of the edge of the tub | STEP 3: Carry the green candle to the toilet tank | STEP 4: Place the green candle on the back of the toilet on the left side | END" ]
[ [ "STEP 1: Move right then forward to the green candle on the edge of the tub ", " STEP 2: Pick up the green candle on top of the edge of the tub ", " STEP 3: Carry the green candle to the toilet tank ", " STEP 4: Place the green candle on the back of the toilet on the left side ", " END" ] ]
seen
trial_T20190909_104051_611181-2
move candle from tub to back of toilet
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -0.5 0.900 1.75 0 0 0 1 Cloth -1.721 0.074 0.339 0 0 0 18 2 SoapBar 0.277 0.092 3.792 0 0 0 38 3 SoapBar -1.786 0.073 0.718 0 0 0 18 4 SprayBottle -1.829 1.045 1.943 0 270 0 35 5 Towel -0.07 1.284 0.106 0 0 0 27 6 HandTowel -1.731 1.333 3.961 0 0 0 29 7 SoapBar -1.734 0.016 2.166 0 0 0 19 8 ToiletPaper -0.089 1.159 3.765 0 0 0 46 9 ToiletPaper 0.349 0.612 3.815 0 0 0 40 10 Cloth -1.160 0.074 0.576 0 315 0 18 11 SprayBottle -1.700 0.069 2.927 0 0 0 25 12 Candle -0.370 0.447 0.126 0 0 0 16 13 ScrubBrush -1.664 -0.000 3.897 0 0 0 Floor|-02.00| 14 Plunger -1.888 -0.000 3.885 0 0 0 Floor|-02.00| 15 SoapBottle -1.860 1.046 1.746 0 90 0 35 16 Bathtub -1.414 -0.002 0.563 0 0 0 17 CounterTop -1.799 0.746 3.122 0 0 0 18 BathtubBasin -1.613 0.052 0.540 0 0 0 19 Cabinet -1.613 0.309 2.493 0 0 0 20 ShowerDoor 0.527 1.037 2.115 0 0 0 21 Mirror -1.993 1.424 3.107 0 0 0 22 Cabinet -1.613 0.309 3.754 0 0 0 23 Faucet -1.873 0.461 0.641 0 0 0 24 Sink -1.834 0.685 2.777 0 90 0 25 Cabinet -1.613 0.309 3.105 0 0 0 26 Cabinet -1.613 0.309 3.140 0 0 0 27 TowelHolder -0.070 1.269 0.0 0 0 0 28 GarbageCan 0.932 -0.029 3.761 0 0 0 29 HandTowelHolder -1.730 1.434 4.0 0 90 0 30 Window -1.039 1.393 0.018 90 0 0 31 Window -1.986 1.392 0.706 90 90 0 32 ToiletPaperHanger -1.776 0.681 2.474 0 180 0 33 SinkBasin -1.795 0.694 2.781 0 90 0 34 LightSwitch 1.250 1.330 3.621 0 270 0 35 Toilet -1.567 -0.000 1.815 0 180 0 36 Drawer 0.204 0.940 3.807 0 180 0 37 Dresser 0.204 0.000 3.832 0 180 0 38 Drawer 0.204 0.160 3.807 0 180 0 39 Drawer 0.204 0.420 3.807 0 180 0 40 Drawer 0.204 0.680 3.807 0 180 0 41 SinkBasin -1.795 0.694 3.476 0 90 0 42 Sink -1.833 0.685 3.472 0 90 0 43 Faucet -1.988 0.947 3.472 0 180 0 44 ShowerHead 0.972 1.222 2.015 0 270 0 45 Faucet -1.988 0.947 2.776 0 180 0 46 47 NorthWall 48 EastWall 49 SouthWall 50 WestWall
[ "STEP 1: turn around, walk to towel rack | STEP 2: pick up the candle that is on the edge of the tub to the right | STEP 3: turn around, walk towards white dresser, turn left, walk to sink, turn left to face toilet | STEP 4: put the candle on the back of the toilet | END" ]
[ [ "STEP 1: turn around, walk to towel rack ", " STEP 2: pick up the candle that is on the edge of the tub to the right ", " STEP 3: turn around, walk towards white dresser, turn left, walk to sink, turn left to face toilet ", " STEP 4: put the candle on the back of the toilet ", " END" ] ]
seen
trial_T20190909_101522_923920-0
Throw away the spray bottle.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -0.75 0.901 2.0 0 90 0 1 Cloth -1.643 0.039 3.767 0 0 0 23 2 Candle -1.814 0.917 2.360 0 0 0 17 3 Candle -1.846 0.040 3.448 0 0 0 20 4 HandTowel -1.670 1.496 3.962 0 0 0 27 5 SoapBottle -1.694 0.040 2.420 0 0 0 14 6 Towel 0.833 1.160 2.357 0 0 0 24 7 Cloth -1.694 0.039 3.360 0 0 0 20 8 SoapBar -1.578 0.918 3.196 0 0 0 17 9 ToiletPaper -1.831 0.950 1.884 0 180 0 29 10 Plunger -1.876 0.000 2.276 0 0 0 Floor|-02.00| 11 SprayBottle -1.755 0.915 3.147 0 0 0 17 12 ToiletPaper -1.140 1.013 1.256 0 0 90 25 13 ScrubBrush -1.703 0.000 2.217 0 0 0 Floor|-02.00| 14 Cabinet -1.479 0.348 2.362 0 0 0 15 Cabinet -1.483 0.372 3.152 0 0 0 16 Sink -1.746 0.884 3.553 0 90 0 17 CounterTop -1.758 0.669 3.164 0 0 0 18 Faucet -1.894 1.006 2.730 0 0 0 19 Mirror -1.943 1.532 3.443 0 0 0 20 Cabinet -1.479 0.348 3.170 0 0 0 21 ShowerDoor 0.527 1.039 2.098 0 0 0 22 Painting -0.566 1.591 1.173 0 0 0 23 Cabinet -1.483 0.372 3.960 0 0 0 24 TowelHolder 0.833 1.146 2.250 0 0 0 25 ToiletPaperHanger -1.200 1.013 1.164 0 0 0 26 GarbageCan -1.704 -0.032 1.429 0 2.393 0 27 HandTowelHolder -1.670 1.598 4.000 0 90 0 28 LightSwitch 1.249 1.322 3.635 0 270 0 29 Toilet -1.447 0.000 1.961 0 90 0 30 SinkBasin -1.671 0.935 3.571 0 0 10.090 31 ShowerHead 0.871 1.097 2.009 0 270 0 32 Faucet -1.894 1.006 3.560 0 0 0 33 SinkBasin -1.671 0.935 2.741 0 0 10.090 34 Sink -1.746 0.884 2.723 0 90 0 35 NorthWall 36 EastWall 37 SouthWall 38 WestWall
[ "STEP 1: Turn around and go to face the bathroom counter where the soap and the spray bottle are. | STEP 2: Pick up the yellow spray bottle from behind the soap. | STEP 3: Bring the spray bottle with you and go to your left so that you're facing the toilet and the trash can. | STEP 4: Throw the spray bottle in the trash can. | END" ]
[ [ "STEP 1: Turn around and go to face the bathroom counter where the soap and the spray bottle are. ", " STEP 2: Pick up the yellow spray bottle from behind the soap. ", " STEP 3: Bring the spray bottle with you and go to your left so that you're facing the toilet and the trash can. ", " STEP 4: Throw the spray bottle in the trash can. ", " END" ] ]
seen
trial_T20190909_101522_923920-1
Place a spray bottle in a bin.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -0.75 0.901 2.0 0 90 0 1 Cloth -1.643 0.039 3.767 0 0 0 23 2 Candle -1.814 0.917 2.360 0 0 0 17 3 Candle -1.846 0.040 3.448 0 0 0 20 4 HandTowel -1.670 1.496 3.962 0 0 0 27 5 SoapBottle -1.694 0.040 2.420 0 0 0 14 6 Towel 0.833 1.160 2.357 0 0 0 24 7 Cloth -1.694 0.039 3.360 0 0 0 20 8 SoapBar -1.578 0.918 3.196 0 0 0 17 9 ToiletPaper -1.831 0.950 1.884 0 180 0 29 10 Plunger -1.876 0.000 2.276 0 0 0 Floor|-02.00| 11 SprayBottle -1.755 0.915 3.147 0 0 0 17 12 ToiletPaper -1.140 1.013 1.256 0 0 90 25 13 ScrubBrush -1.703 0.000 2.217 0 0 0 Floor|-02.00| 14 Cabinet -1.479 0.348 2.362 0 0 0 15 Cabinet -1.483 0.372 3.152 0 0 0 16 Sink -1.746 0.884 3.553 0 90 0 17 CounterTop -1.758 0.669 3.164 0 0 0 18 Faucet -1.894 1.006 2.730 0 0 0 19 Mirror -1.943 1.532 3.443 0 0 0 20 Cabinet -1.479 0.348 3.170 0 0 0 21 ShowerDoor 0.527 1.039 2.098 0 0 0 22 Painting -0.566 1.591 1.173 0 0 0 23 Cabinet -1.483 0.372 3.960 0 0 0 24 TowelHolder 0.833 1.146 2.250 0 0 0 25 ToiletPaperHanger -1.200 1.013 1.164 0 0 0 26 GarbageCan -1.704 -0.032 1.429 0 2.393 0 27 HandTowelHolder -1.670 1.598 4.000 0 90 0 28 LightSwitch 1.249 1.322 3.635 0 270 0 29 Toilet -1.447 0.000 1.961 0 90 0 30 SinkBasin -1.671 0.935 3.571 0 0 10.090 31 ShowerHead 0.871 1.097 2.009 0 270 0 32 Faucet -1.894 1.006 3.560 0 0 0 33 SinkBasin -1.671 0.935 2.741 0 0 10.090 34 Sink -1.746 0.884 2.723 0 90 0 35 NorthWall 36 EastWall 37 SouthWall 38 WestWall
[ "STEP 1: Turn left and walk to the counter in between the sinks on the vanity. | STEP 2: Pick up the yellow spray bottle in between the sinks. | STEP 3: Turn around and hang a right to the white toilet. | STEP 4: Put the spray bottle in the green bin on the floor to the left of the toilet. | END" ]
[ [ "STEP 1: Turn left and walk to the counter in between the sinks on the vanity. ", " STEP 2: Pick up the yellow spray bottle in between the sinks. ", " STEP 3: Turn around and hang a right to the white toilet. ", " STEP 4: Put the spray bottle in the green bin on the floor to the left of the toilet. ", " END" ] ]
seen
trial_T20190909_101522_923920-2
Move a spray bottle to the trash
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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 2.0 0 90 0 1 Cloth -1.643 0.039 3.767 0 0 0 23 2 Candle -1.814 0.917 2.360 0 0 0 17 3 Candle -1.846 0.040 3.448 0 0 0 20 4 HandTowel -1.670 1.496 3.962 0 0 0 27 5 SoapBottle -1.694 0.040 2.420 0 0 0 14 6 Towel 0.833 1.160 2.357 0 0 0 24 7 Cloth -1.694 0.039 3.360 0 0 0 20 8 SoapBar -1.578 0.918 3.196 0 0 0 17 9 ToiletPaper -1.831 0.950 1.884 0 180 0 29 10 Plunger -1.876 0.000 2.276 0 0 0 Floor|-02.00| 11 SprayBottle -1.755 0.915 3.147 0 0 0 17 12 ToiletPaper -1.140 1.013 1.256 0 0 90 25 13 ScrubBrush -1.703 0.000 2.217 0 0 0 Floor|-02.00| 14 Cabinet -1.479 0.348 2.362 0 0 0 15 Cabinet -1.483 0.372 3.152 0 0 0 16 Sink -1.746 0.884 3.553 0 90 0 17 CounterTop -1.758 0.669 3.164 0 0 0 18 Faucet -1.894 1.006 2.730 0 0 0 19 Mirror -1.943 1.532 3.443 0 0 0 20 Cabinet -1.479 0.348 3.170 0 0 0 21 ShowerDoor 0.527 1.039 2.098 0 0 0 22 Painting -0.566 1.591 1.173 0 0 0 23 Cabinet -1.483 0.372 3.960 0 0 0 24 TowelHolder 0.833 1.146 2.250 0 0 0 25 ToiletPaperHanger -1.200 1.013 1.164 0 0 0 26 GarbageCan -1.704 -0.032 1.429 0 2.393 0 27 HandTowelHolder -1.670 1.598 4.000 0 90 0 28 LightSwitch 1.249 1.322 3.635 0 270 0 29 Toilet -1.447 0.000 1.961 0 90 0 30 SinkBasin -1.671 0.935 3.571 0 0 10.090 31 ShowerHead 0.871 1.097 2.009 0 270 0 32 Faucet -1.894 1.006 3.560 0 0 0 33 SinkBasin -1.671 0.935 2.741 0 0 10.090 34 Sink -1.746 0.884 2.723 0 90 0 35 NorthWall 36 EastWall 37 SouthWall 38 WestWall
[ "STEP 1: Move left then left again to face the counter between the two sinks | STEP 2: Pick up the yellow spray bottle on the counter top | STEP 3: Carry the yellow spray bottle over to the trash can left of the toilet | STEP 4: Place the spray bottle in the trash bin | END" ]
[ [ "STEP 1: Move left then left again to face the counter between the two sinks ", " STEP 2: Pick up the yellow spray bottle on the counter top ", " STEP 3: Carry the yellow spray bottle over to the trash can left of the toilet ", " STEP 4: Place the spray bottle in the trash bin ", " END" ] ]
seen
trial_T20190908_234229_979522-0
Put a cold egg in the microwave.
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0", " 47" ], [ "24", " Bread", " 0.827", " 0.861", " 2.449", " 0", " 0", " 0", " 50" ], [ "25", " Spatula", " -0.657", " 0.915", " 1.040", " 0", " 180", " 0", " 91" ], [ "26", " PaperTowelRoll", " -0.921", " 1.004", " 1.246", " 0", " 90", " 0", " 91" ], [ "27", " Potato", " -1.415", " 0.740", " 3.691", " 0", " 180", " 0", " 85" ], [ "28", " SoapBottle", " -1.185", " 0.900", " 1.555", " 0", " 90", " 0", " 91" ], [ "29", " Egg", " -1.468", " 0.733", " 3.857", " 0", " 0", " 0", " 85" ], [ "30", " Cup", " -2.540", " 1.398", " 3.858", " 0", " 0", " 0", " 48" ], [ "31", " Pot", " 0.913", " 0.850", " 1.768", " 0", " 0", " 0", " 71" ], [ "32", " SaltShaker", " -2.542", " 1.845", " 2.346", " 0", " 0", " 0", " 60" ], [ "33", " Pan", " -2.667", " 0.812", " 3.74", " 0", " 137.145", " 0", " 73" ], [ "34", " PepperShaker", " 1.099", " 0.819", " 0.939", " 0", " 0", " 0", " 50" ], [ "35", " ButterKnife", " -0.524", " 0.900", " 1.349", " 0", " 90", " 0", " 91" ], [ "36", " Tomato", " -2.461", " 1.259", 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1.375", " 0", " 0", " 0", "" ], [ "50", " CounterTop", " 0.864", " 0.858", " 0.984", " 0", " 0", " 0", "" ], [ "51", " Cabinet", " -1.976", " 1.779", " 3.734", " 0", " 0", " 0", "" ], [ "52", " Cabinet", " 0.580", " 0.385", " 0.819", " 0", " 0", " 0", "" ], [ "53", " Cabinet", " -2.379", " 1.408", " 1.677", " 0", " 0", " 0", "" ], [ "54", " Cabinet", " -0.419", " 1.703", " 3.736", " 0", " 0", " 0", "" ], [ "55", " CounterTop", " 0.864", " 0.858", " 2.371", " 0", " 0", " 0", "" ], [ "56", " Sink", " -1.702", " 0.726", " 3.828", " 0", " 180", " 0", "" ], [ "57", " Cabinet", " 0.580", " 0.385", " 2.694", " 0", " 0", " 0", "" ], [ "58", " Cabinet", " -2.379", " 0.637", " 1.677", " 0", " 0", " 0", "" ], [ "59", " Cabinet", " -0.419", " 0.674", " 3.736", " 0", " 0", " 0", "" ], [ "60", " Cabinet", " -2.377", " 2.014", " 2.558", " 0", " 0", " 0", "" ], [ "61", " Drawer", " 0.729", " 0.703", " 0.980", " 0", " 0", " 0", "" ], [ "62", " Drawer", " -2.114", " 0.706", " 3.657", " 0", " 0", " 0", "" ], [ "63", " Cabinet", " -2.377", " 1.691", " 2.572", " 0", " 0", " 0", "" ], [ "64", " Cabinet", " -2.951", " 1.925", " 3.733", " 0", " 0", " 0", "" ], [ "65", " Cabinet", " 0.580", " 0.385", " 2.360", " 0", " 0", " 0", "" ], [ "66", " Cabinet", " -2.426", " 0.435", " 3.421", " 0", " 0", " 0", "" ], [ "67", " StoveBurner", " 0.642", " 0.843", " 1.375", " 0", " 0", " 0", "" ], [ "68", " Cabinet", " -2.377", " 1.927", " 1.686", " 0", " 0", " 0", "" ], [ "69", " Cabinet", " -2.377", " 2.013", " 3.177", " 0", " 0", " 0", "" ], [ "70", " Cabinet", " -1.136", " 0.385", " 3.516", " 0", " 0", " 0", "" ], [ "71", " StoveBurner", " 0.913", " 0.843", " 1.768", " 0", " 0", " 0", "" ], [ "72", " Cabinet", " -1.974", " 0.385", " 3.516", " 0", " 0", " 0", "" ], [ "73", " CounterTop", " -2.081", " 0.858", " 3.799", " 0", " 0", " 0", "" ], [ "74", " Cabinet", " -2.426", " 0.435", " 3.174", " 0", " 0", " 0", "" ], [ "75", " Cabinet", " -2.377", " 2.014", " 1.693", " 0", " 0", " 0", "" ], [ "76", " Cabinet", " -1.986", " 0.385", " 3.511", " 0", " 0", " 0", "" ], [ "77", " StoveBurner", " 0.642", " 0.843", " 1.768", " 0", " 0", " 0", "" ], [ "78", " Cabinet", " -1.098", " 1.926", " 3.729", " 0", " 0", " 0", "" ], [ "79", " Microwave", " -1.529", " 1.250", " 3.881", " 1.622", " 180", " 0", "" ], [ "80", " CoffeeMachine", " 1.000", " 0.812", " 2.492", " 0", " 270", " 0", "" ], [ "81", " LightSwitch", " 0.825", " 1.396", " 4.082", " 0", " 180", " 0", "" ], [ "82", " Fridge", " -2.642", " 0.0", " 2.134", " 0", " 180", " 0", "" ], [ "83", " Window", " -1.131", " 1.673", " 0.808", " 90", " 0", " 0", "" ], [ "84", " GarbageCan", " 0.931", " -0.000", " 2.918", " 0", " 0", " 0", "" ], [ "85", " SinkBasin", " -1.601", " 0.686", " 3.774", " 0", " 0", " 0", "" ], [ "86", " StoveKnob", " 1.104", " 1.002", " 1.886", " 0", " 0", " 70.346", "" ], [ "87", " StoveKnob", " 1.104", " 1.002", " 1.733", " 0", " 0", " 70.346", "" ], [ "88", " StoveKnob", " 1.104", " 1.002", " 1.321", " 0", " 0", " 70.346", "" ], [ "89", " StoveKnob", " 1.104", " 1.002", " 1.481", " 0", " 0", " 70.346", "" ], [ "90", " Toaster", " -2.247", " 0.812", " 3.862", " 0", " 180", " 0", "" ], [ "91", " DiningTable", " -0.917", " -0.000", " 1.203", " 0", " 0", " 0", "" ], [ "92", " Stool", " -0.932", " 0.000", " 1.404", " 1.196", " 21.715", " 0", "" ], [ "93", " Faucet", " -1.842", " 0.809", " 3.984", " 0", " 180", " 0", "" ], [ "94", " Faucet", " -1.371", " 0.809", " 3.985", " 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 -1.25 0.900 2.0 0 180 0 1 DishSponge -2.463 1.634 2.651 0 0 0 63 2 DishSponge 0.770 0.691 2.605 0 0 0 47 3 ButterKnife -1.053 0.900 1.349 0 90 0 91 4 ButterKnife -0.789 0.900 1.246 0 90 0 91 5 Spoon -1.317 0.901 1.452 0 180 0 91 6 Fork 0.703 0.692 2.235 0 270 0 44 7 Fork 0.805 0.692 2.235 0 270 0 44 8 Plate -2.136 1.402 3.897 0 0 0 51 9 Cup -1.853 1.683 3.975 0 0 0 45 10 Cup 0.875 0.822 2.198 0 0 0 55 11 SoapBottle 1.024 0.822 1.072 0 90 0 50 12 SoapBottle -0.921 0.900 1.452 0 90 0 91 13 Tomato -0.524 0.969 1.246 0 90 0 91 14 Tomato -2.694 1.259 2.389 0 90 0 82 15 PepperShaker -1.698 0.819 3.545 0 0 0 73 16 SaltShaker -2.589 0.123 3.243 0 0 0 74 17 SaltShaker -1.917 0.124 3.598 0 0 0 72 18 Lettuce -1.317 0.976 1.143 0 90 0 91 19 Mug -1.109 0.940 1.203 0 0 0 91 20 Apple -2.636 0.828 2.389 0 90 0 82 21 Apple -0.657 0.961 1.555 0 90 0 91 22 Plate 0.860 0.812 0.976 0 0 0 50 23 Fork 0.668 0.692 2.496 0 90 0 47 24 Bread 0.827 0.861 2.449 0 0 0 50 25 Spatula -0.657 0.915 1.040 0 180 0 91 26 PaperTowelRoll -0.921 1.004 1.246 0 90 0 91 27 Potato -1.415 0.740 3.691 0 180 0 85 28 SoapBottle -1.185 0.900 1.555 0 90 0 91 29 Egg -1.468 0.733 3.857 0 0 0 85 30 Cup -2.540 1.398 3.858 0 0 0 48 31 Pot 0.913 0.850 1.768 0 0 0 71 32 SaltShaker -2.542 1.845 2.346 0 0 0 60 33 Pan -2.667 0.812 3.74 0 137.145 0 73 34 PepperShaker 1.099 0.819 0.939 0 0 0 50 35 ButterKnife -0.524 0.900 1.349 0 90 0 91 36 Tomato -2.461 1.259 2.389 0 90 0 82 37 DishSponge -1.317 0.900 0.937 0 90 0 91 38 Lettuce -2.519 1.071 2.389 0 90 0 82 39 Spoon 0.737 0.692 1.016 0 0 0 61 40 Apple 0.902 0.085 2.947 0 0 0 84 41 Knife -0.657 0.923 0.937 0 180 0 91 42 Mug -1.694 1.354 3.967 0 270 0 79 43 Bowl -2.541 1.847 1.181 0 0 0 46 44 Drawer 0.729 0.703 2.199 0 0 0 45 Cabinet -1.962 1.926 3.733 0 0 0 46 Cabinet -2.377 2.014 1.058 0 0 0 47 Drawer 0.729 0.703 2.532 0 0 0 48 Cabinet -2.622 1.925 3.733 0 0 0 49 StoveBurner 0.913 0.843 1.375 0 0 0 50 CounterTop 0.864 0.858 0.984 0 0 0 51 Cabinet -1.976 1.779 3.734 0 0 0 52 Cabinet 0.580 0.385 0.819 0 0 0 53 Cabinet -2.379 1.408 1.677 0 0 0 54 Cabinet -0.419 1.703 3.736 0 0 0 55 CounterTop 0.864 0.858 2.371 0 0 0 56 Sink -1.702 0.726 3.828 0 180 0 57 Cabinet 0.580 0.385 2.694 0 0 0 58 Cabinet -2.379 0.637 1.677 0 0 0 59 Cabinet -0.419 0.674 3.736 0 0 0 60 Cabinet -2.377 2.014 2.558 0 0 0 61 Drawer 0.729 0.703 0.980 0 0 0 62 Drawer -2.114 0.706 3.657 0 0 0 63 Cabinet -2.377 1.691 2.572 0 0 0 64 Cabinet -2.951 1.925 3.733 0 0 0 65 Cabinet 0.580 0.385 2.360 0 0 0 66 Cabinet -2.426 0.435 3.421 0 0 0 67 StoveBurner 0.642 0.843 1.375 0 0 0 68 Cabinet -2.377 1.927 1.686 0 0 0 69 Cabinet -2.377 2.013 3.177 0 0 0 70 Cabinet -1.136 0.385 3.516 0 0 0 71 StoveBurner 0.913 0.843 1.768 0 0 0 72 Cabinet -1.974 0.385 3.516 0 0 0 73 CounterTop -2.081 0.858 3.799 0 0 0 74 Cabinet -2.426 0.435 3.174 0 0 0 75 Cabinet -2.377 2.014 1.693 0 0 0 76 Cabinet -1.986 0.385 3.511 0 0 0 77 StoveBurner 0.642 0.843 1.768 0 0 0 78 Cabinet -1.098 1.926 3.729 0 0 0 79 Microwave -1.529 1.250 3.881 1.622 180 0 80 CoffeeMachine 1.000 0.812 2.492 0 270 0 81 LightSwitch 0.825 1.396 4.082 0 180 0 82 Fridge -2.642 0.0 2.134 0 180 0 83 Window -1.131 1.673 0.808 90 0 0 84 GarbageCan 0.931 -0.000 2.918 0 0 0 85 SinkBasin -1.601 0.686 3.774 0 0 0 86 StoveKnob 1.104 1.002 1.886 0 0 70.346 87 StoveKnob 1.104 1.002 1.733 0 0 70.346 88 StoveKnob 1.104 1.002 1.321 0 0 70.346 89 StoveKnob 1.104 1.002 1.481 0 0 70.346 90 Toaster -2.247 0.812 3.862 0 180 0 91 DiningTable -0.917 -0.000 1.203 0 0 0 92 Stool -0.932 0.000 1.404 1.196 21.715 0 93 Faucet -1.842 0.809 3.984 0 180 0 94 Faucet -1.371 0.809 3.985 0 180 0 95 NorthWall 96 EastWall 97 SouthWall 98 WestWall
[ "STEP 1: Turn around and go across the kitchen to the large sink on the right. | STEP 2: Pick up the egg in the back of the sink, behind the potato. | STEP 3: Turn around and go to the refrigerator ahead, to your right. | STEP 4: Place the egg on the second shelf of the refrigerator, wait a moment for it to chill, then remove the egg from the refrigerator. | STEP 5: Turn to your right and go to the microwave above the sink. | STEP 6: Place the egg in the microwave. | END" ]
[ [ "STEP 1: Turn around and go across the kitchen to the large sink on the right. ", " STEP 2: Pick up the egg in the back of the sink, behind the potato. ", " STEP 3: Turn around and go to the refrigerator ahead, to your right. ", " STEP 4: Place the egg on the second shelf of the refrigerator, wait a moment for it to chill, then remove the egg from the refrigerator. ", " STEP 5: Turn to your right and go to the microwave above the sink. ", " STEP 6: Place the egg in the microwave. ", " END" ] ]
seen
trial_T20190908_234229_979522-1
Place a chilled egg 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 -1.25 0.900 2.0 0 180 0 1 DishSponge -2.463 1.634 2.651 0 0 0 63 2 DishSponge 0.770 0.691 2.605 0 0 0 47 3 ButterKnife -1.053 0.900 1.349 0 90 0 91 4 ButterKnife -0.789 0.900 1.246 0 90 0 91 5 Spoon -1.317 0.901 1.452 0 180 0 91 6 Fork 0.703 0.692 2.235 0 270 0 44 7 Fork 0.805 0.692 2.235 0 270 0 44 8 Plate -2.136 1.402 3.897 0 0 0 51 9 Cup -1.853 1.683 3.975 0 0 0 45 10 Cup 0.875 0.822 2.198 0 0 0 55 11 SoapBottle 1.024 0.822 1.072 0 90 0 50 12 SoapBottle -0.921 0.900 1.452 0 90 0 91 13 Tomato -0.524 0.969 1.246 0 90 0 91 14 Tomato -2.694 1.259 2.389 0 90 0 82 15 PepperShaker -1.698 0.819 3.545 0 0 0 73 16 SaltShaker -2.589 0.123 3.243 0 0 0 74 17 SaltShaker -1.917 0.124 3.598 0 0 0 72 18 Lettuce -1.317 0.976 1.143 0 90 0 91 19 Mug -1.109 0.940 1.203 0 0 0 91 20 Apple -2.636 0.828 2.389 0 90 0 82 21 Apple -0.657 0.961 1.555 0 90 0 91 22 Plate 0.860 0.812 0.976 0 0 0 50 23 Fork 0.668 0.692 2.496 0 90 0 47 24 Bread 0.827 0.861 2.449 0 0 0 50 25 Spatula -0.657 0.915 1.040 0 180 0 91 26 PaperTowelRoll -0.921 1.004 1.246 0 90 0 91 27 Potato -1.415 0.740 3.691 0 180 0 85 28 SoapBottle -1.185 0.900 1.555 0 90 0 91 29 Egg -1.468 0.733 3.857 0 0 0 85 30 Cup -2.540 1.398 3.858 0 0 0 48 31 Pot 0.913 0.850 1.768 0 0 0 71 32 SaltShaker -2.542 1.845 2.346 0 0 0 60 33 Pan -2.667 0.812 3.74 0 137.145 0 73 34 PepperShaker 1.099 0.819 0.939 0 0 0 50 35 ButterKnife -0.524 0.900 1.349 0 90 0 91 36 Tomato -2.461 1.259 2.389 0 90 0 82 37 DishSponge -1.317 0.900 0.937 0 90 0 91 38 Lettuce -2.519 1.071 2.389 0 90 0 82 39 Spoon 0.737 0.692 1.016 0 0 0 61 40 Apple 0.902 0.085 2.947 0 0 0 84 41 Knife -0.657 0.923 0.937 0 180 0 91 42 Mug -1.694 1.354 3.967 0 270 0 79 43 Bowl -2.541 1.847 1.181 0 0 0 46 44 Drawer 0.729 0.703 2.199 0 0 0 45 Cabinet -1.962 1.926 3.733 0 0 0 46 Cabinet -2.377 2.014 1.058 0 0 0 47 Drawer 0.729 0.703 2.532 0 0 0 48 Cabinet -2.622 1.925 3.733 0 0 0 49 StoveBurner 0.913 0.843 1.375 0 0 0 50 CounterTop 0.864 0.858 0.984 0 0 0 51 Cabinet -1.976 1.779 3.734 0 0 0 52 Cabinet 0.580 0.385 0.819 0 0 0 53 Cabinet -2.379 1.408 1.677 0 0 0 54 Cabinet -0.419 1.703 3.736 0 0 0 55 CounterTop 0.864 0.858 2.371 0 0 0 56 Sink -1.702 0.726 3.828 0 180 0 57 Cabinet 0.580 0.385 2.694 0 0 0 58 Cabinet -2.379 0.637 1.677 0 0 0 59 Cabinet -0.419 0.674 3.736 0 0 0 60 Cabinet -2.377 2.014 2.558 0 0 0 61 Drawer 0.729 0.703 0.980 0 0 0 62 Drawer -2.114 0.706 3.657 0 0 0 63 Cabinet -2.377 1.691 2.572 0 0 0 64 Cabinet -2.951 1.925 3.733 0 0 0 65 Cabinet 0.580 0.385 2.360 0 0 0 66 Cabinet -2.426 0.435 3.421 0 0 0 67 StoveBurner 0.642 0.843 1.375 0 0 0 68 Cabinet -2.377 1.927 1.686 0 0 0 69 Cabinet -2.377 2.013 3.177 0 0 0 70 Cabinet -1.136 0.385 3.516 0 0 0 71 StoveBurner 0.913 0.843 1.768 0 0 0 72 Cabinet -1.974 0.385 3.516 0 0 0 73 CounterTop -2.081 0.858 3.799 0 0 0 74 Cabinet -2.426 0.435 3.174 0 0 0 75 Cabinet -2.377 2.014 1.693 0 0 0 76 Cabinet -1.986 0.385 3.511 0 0 0 77 StoveBurner 0.642 0.843 1.768 0 0 0 78 Cabinet -1.098 1.926 3.729 0 0 0 79 Microwave -1.529 1.250 3.881 1.622 180 0 80 CoffeeMachine 1.000 0.812 2.492 0 270 0 81 LightSwitch 0.825 1.396 4.082 0 180 0 82 Fridge -2.642 0.0 2.134 0 180 0 83 Window -1.131 1.673 0.808 90 0 0 84 GarbageCan 0.931 -0.000 2.918 0 0 0 85 SinkBasin -1.601 0.686 3.774 0 0 0 86 StoveKnob 1.104 1.002 1.886 0 0 70.346 87 StoveKnob 1.104 1.002 1.733 0 0 70.346 88 StoveKnob 1.104 1.002 1.321 0 0 70.346 89 StoveKnob 1.104 1.002 1.481 0 0 70.346 90 Toaster -2.247 0.812 3.862 0 180 0 91 DiningTable -0.917 -0.000 1.203 0 0 0 92 Stool -0.932 0.000 1.404 1.196 21.715 0 93 Faucet -1.842 0.809 3.984 0 180 0 94 Faucet -1.371 0.809 3.985 0 180 0 95 NorthWall 96 EastWall 97 SouthWall 98 WestWall
[ "STEP 1: Turn around and walk to the sink | STEP 2: Pick up the egg that is sitting in the sink on the right, behind the potato | STEP 3: Turn around and walk to the fridge on your right | STEP 4: Open the fridge and place the egg on the second shelf to the left of the lettuce and apple then close the fridge. Then open the fridge and pick up the egg then shut the door | STEP 5: Turn to the right and walk to the sink | STEP 6: Open the microwave that is above the sink and place the egg on the right side of the plate inside then close the door | END" ]
[ [ "STEP 1: Turn around and walk to the sink ", " STEP 2: Pick up the egg that is sitting in the sink on the right, behind the potato ", " STEP 3: Turn around and walk to the fridge on your right ", " STEP 4: Open the fridge and place the egg on the second shelf to the left of the lettuce and apple then close the fridge. Then open the fridge and pick up the egg then shut the door ", " STEP 5: Turn to the right and walk to the sink ", " STEP 6: Open the microwave that is above the sink and place the egg on the right side of the plate inside then close the door ", " END" ] ]
seen
trial_T20190908_234229_979522-2
Put a chilled egg in the microwave.
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1.375", " 0", " 0", " 0", "" ], [ "50", " CounterTop", " 0.864", " 0.858", " 0.984", " 0", " 0", " 0", "" ], [ "51", " Cabinet", " -1.976", " 1.779", " 3.734", " 0", " 0", " 0", "" ], [ "52", " Cabinet", " 0.580", " 0.385", " 0.819", " 0", " 0", " 0", "" ], [ "53", " Cabinet", " -2.379", " 1.408", " 1.677", " 0", " 0", " 0", "" ], [ "54", " Cabinet", " -0.419", " 1.703", " 3.736", " 0", " 0", " 0", "" ], [ "55", " CounterTop", " 0.864", " 0.858", " 2.371", " 0", " 0", " 0", "" ], [ "56", " Sink", " -1.702", " 0.726", " 3.828", " 0", " 180", " 0", "" ], [ "57", " Cabinet", " 0.580", " 0.385", " 2.694", " 0", " 0", " 0", "" ], [ "58", " Cabinet", " -2.379", " 0.637", " 1.677", " 0", " 0", " 0", "" ], [ "59", " Cabinet", " -0.419", " 0.674", " 3.736", " 0", " 0", " 0", "" ], [ "60", " Cabinet", " -2.377", " 2.014", " 2.558", " 0", " 0", " 0", "" ], [ "61", " Drawer", " 0.729", " 0.703", " 0.980", " 0", " 0", " 0", "" ], [ "62", " Drawer", " -2.114", " 0.706", " 3.657", " 0", " 0", " 0", "" ], [ "63", " Cabinet", " -2.377", " 1.691", " 2.572", " 0", " 0", " 0", "" ], [ "64", " Cabinet", " -2.951", " 1.925", " 3.733", " 0", " 0", " 0", "" ], [ "65", " Cabinet", " 0.580", " 0.385", " 2.360", " 0", " 0", " 0", "" ], [ "66", " Cabinet", " -2.426", " 0.435", " 3.421", " 0", " 0", " 0", "" ], [ "67", " StoveBurner", " 0.642", " 0.843", " 1.375", " 0", " 0", " 0", "" ], [ "68", " Cabinet", " -2.377", " 1.927", " 1.686", " 0", " 0", " 0", "" ], [ "69", " Cabinet", " -2.377", " 2.013", " 3.177", " 0", " 0", " 0", "" ], [ "70", " Cabinet", " -1.136", " 0.385", " 3.516", " 0", " 0", " 0", "" ], [ "71", " StoveBurner", " 0.913", " 0.843", " 1.768", " 0", " 0", " 0", "" ], [ "72", " Cabinet", " -1.974", " 0.385", " 3.516", " 0", " 0", " 0", "" ], [ "73", " CounterTop", " -2.081", " 0.858", " 3.799", " 0", " 0", " 0", "" ], [ "74", " Cabinet", " -2.426", " 0.435", " 3.174", " 0", " 0", " 0", "" ], [ "75", " Cabinet", " -2.377", " 2.014", " 1.693", " 0", " 0", " 0", "" ], [ "76", " Cabinet", " -1.986", " 0.385", " 3.511", " 0", " 0", " 0", "" ], [ "77", " StoveBurner", " 0.642", " 0.843", " 1.768", " 0", " 0", " 0", "" ], [ "78", " Cabinet", " -1.098", " 1.926", " 3.729", " 0", " 0", " 0", "" ], [ "79", " Microwave", " -1.529", " 1.250", " 3.881", " 1.622", " 180", " 0", "" ], [ "80", " CoffeeMachine", " 1.000", " 0.812", " 2.492", " 0", " 270", " 0", "" ], [ "81", " LightSwitch", " 0.825", " 1.396", " 4.082", " 0", " 180", " 0", "" ], [ "82", " Fridge", " -2.642", " 0.0", " 2.134", " 0", " 180", " 0", "" ], [ "83", " Window", " -1.131", " 1.673", " 0.808", " 90", " 0", " 0", "" ], [ "84", " GarbageCan", " 0.931", " -0.000", " 2.918", " 0", " 0", " 0", "" ], [ "85", " SinkBasin", " -1.601", " 0.686", " 3.774", " 0", " 0", " 0", "" ], [ "86", " StoveKnob", " 1.104", " 1.002", " 1.886", " 0", " 0", " 70.346", "" ], [ "87", " StoveKnob", " 1.104", " 1.002", " 1.733", " 0", " 0", " 70.346", "" ], [ "88", " StoveKnob", " 1.104", " 1.002", " 1.321", " 0", " 0", " 70.346", "" ], [ "89", " StoveKnob", " 1.104", " 1.002", " 1.481", " 0", " 0", " 70.346", "" ], [ "90", " Toaster", " -2.247", " 0.812", " 3.862", " 0", " 180", " 0", "" ], [ "91", " DiningTable", " -0.917", " -0.000", " 1.203", " 0", " 0", " 0", "" ], [ "92", " Stool", " -0.932", " 0.000", " 1.404", " 1.196", " 21.715", " 0", "" ], [ "93", " Faucet", " -1.842", " 0.809", " 3.984", " 0", " 180", " 0", "" ], [ "94", " Faucet", " -1.371", " 0.809", " 3.985", " 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 -1.25 0.900 2.0 0 180 0 1 DishSponge -2.463 1.634 2.651 0 0 0 63 2 DishSponge 0.770 0.691 2.605 0 0 0 47 3 ButterKnife -1.053 0.900 1.349 0 90 0 91 4 ButterKnife -0.789 0.900 1.246 0 90 0 91 5 Spoon -1.317 0.901 1.452 0 180 0 91 6 Fork 0.703 0.692 2.235 0 270 0 44 7 Fork 0.805 0.692 2.235 0 270 0 44 8 Plate -2.136 1.402 3.897 0 0 0 51 9 Cup -1.853 1.683 3.975 0 0 0 45 10 Cup 0.875 0.822 2.198 0 0 0 55 11 SoapBottle 1.024 0.822 1.072 0 90 0 50 12 SoapBottle -0.921 0.900 1.452 0 90 0 91 13 Tomato -0.524 0.969 1.246 0 90 0 91 14 Tomato -2.694 1.259 2.389 0 90 0 82 15 PepperShaker -1.698 0.819 3.545 0 0 0 73 16 SaltShaker -2.589 0.123 3.243 0 0 0 74 17 SaltShaker -1.917 0.124 3.598 0 0 0 72 18 Lettuce -1.317 0.976 1.143 0 90 0 91 19 Mug -1.109 0.940 1.203 0 0 0 91 20 Apple -2.636 0.828 2.389 0 90 0 82 21 Apple -0.657 0.961 1.555 0 90 0 91 22 Plate 0.860 0.812 0.976 0 0 0 50 23 Fork 0.668 0.692 2.496 0 90 0 47 24 Bread 0.827 0.861 2.449 0 0 0 50 25 Spatula -0.657 0.915 1.040 0 180 0 91 26 PaperTowelRoll -0.921 1.004 1.246 0 90 0 91 27 Potato -1.415 0.740 3.691 0 180 0 85 28 SoapBottle -1.185 0.900 1.555 0 90 0 91 29 Egg -1.468 0.733 3.857 0 0 0 85 30 Cup -2.540 1.398 3.858 0 0 0 48 31 Pot 0.913 0.850 1.768 0 0 0 71 32 SaltShaker -2.542 1.845 2.346 0 0 0 60 33 Pan -2.667 0.812 3.74 0 137.145 0 73 34 PepperShaker 1.099 0.819 0.939 0 0 0 50 35 ButterKnife -0.524 0.900 1.349 0 90 0 91 36 Tomato -2.461 1.259 2.389 0 90 0 82 37 DishSponge -1.317 0.900 0.937 0 90 0 91 38 Lettuce -2.519 1.071 2.389 0 90 0 82 39 Spoon 0.737 0.692 1.016 0 0 0 61 40 Apple 0.902 0.085 2.947 0 0 0 84 41 Knife -0.657 0.923 0.937 0 180 0 91 42 Mug -1.694 1.354 3.967 0 270 0 79 43 Bowl -2.541 1.847 1.181 0 0 0 46 44 Drawer 0.729 0.703 2.199 0 0 0 45 Cabinet -1.962 1.926 3.733 0 0 0 46 Cabinet -2.377 2.014 1.058 0 0 0 47 Drawer 0.729 0.703 2.532 0 0 0 48 Cabinet -2.622 1.925 3.733 0 0 0 49 StoveBurner 0.913 0.843 1.375 0 0 0 50 CounterTop 0.864 0.858 0.984 0 0 0 51 Cabinet -1.976 1.779 3.734 0 0 0 52 Cabinet 0.580 0.385 0.819 0 0 0 53 Cabinet -2.379 1.408 1.677 0 0 0 54 Cabinet -0.419 1.703 3.736 0 0 0 55 CounterTop 0.864 0.858 2.371 0 0 0 56 Sink -1.702 0.726 3.828 0 180 0 57 Cabinet 0.580 0.385 2.694 0 0 0 58 Cabinet -2.379 0.637 1.677 0 0 0 59 Cabinet -0.419 0.674 3.736 0 0 0 60 Cabinet -2.377 2.014 2.558 0 0 0 61 Drawer 0.729 0.703 0.980 0 0 0 62 Drawer -2.114 0.706 3.657 0 0 0 63 Cabinet -2.377 1.691 2.572 0 0 0 64 Cabinet -2.951 1.925 3.733 0 0 0 65 Cabinet 0.580 0.385 2.360 0 0 0 66 Cabinet -2.426 0.435 3.421 0 0 0 67 StoveBurner 0.642 0.843 1.375 0 0 0 68 Cabinet -2.377 1.927 1.686 0 0 0 69 Cabinet -2.377 2.013 3.177 0 0 0 70 Cabinet -1.136 0.385 3.516 0 0 0 71 StoveBurner 0.913 0.843 1.768 0 0 0 72 Cabinet -1.974 0.385 3.516 0 0 0 73 CounterTop -2.081 0.858 3.799 0 0 0 74 Cabinet -2.426 0.435 3.174 0 0 0 75 Cabinet -2.377 2.014 1.693 0 0 0 76 Cabinet -1.986 0.385 3.511 0 0 0 77 StoveBurner 0.642 0.843 1.768 0 0 0 78 Cabinet -1.098 1.926 3.729 0 0 0 79 Microwave -1.529 1.250 3.881 1.622 180 0 80 CoffeeMachine 1.000 0.812 2.492 0 270 0 81 LightSwitch 0.825 1.396 4.082 0 180 0 82 Fridge -2.642 0.0 2.134 0 180 0 83 Window -1.131 1.673 0.808 90 0 0 84 GarbageCan 0.931 -0.000 2.918 0 0 0 85 SinkBasin -1.601 0.686 3.774 0 0 0 86 StoveKnob 1.104 1.002 1.886 0 0 70.346 87 StoveKnob 1.104 1.002 1.733 0 0 70.346 88 StoveKnob 1.104 1.002 1.321 0 0 70.346 89 StoveKnob 1.104 1.002 1.481 0 0 70.346 90 Toaster -2.247 0.812 3.862 0 180 0 91 DiningTable -0.917 -0.000 1.203 0 0 0 92 Stool -0.932 0.000 1.404 1.196 21.715 0 93 Faucet -1.842 0.809 3.984 0 180 0 94 Faucet -1.371 0.809 3.985 0 180 0 95 NorthWall 96 EastWall 97 SouthWall 98 WestWall
[ "STEP 1: Turn right and walk up to the fridge, then turn right and walk over to the sink. | STEP 2: Pick up the egg out of the sink. | STEP 3: Turn around and walk forward, then turn right and walk up to the fridge. | STEP 4: Open the fridge and put the egg inside on the top shelf then close the fridge, after a couple seconds open the fridge back up and take out the now chilled egg, then close the fridge. | STEP 5: Turn around and walk forward, then hang a left and walk up to the sink and look up at the microwave. | STEP 6: Open the microwave and put the chilled egg inside on the right side, then close the microwave. | END" ]
[ [ "STEP 1: Turn right and walk up to the fridge, then turn right and walk over to the sink. ", " STEP 2: Pick up the egg out of the sink. ", " STEP 3: Turn around and walk forward, then turn right and walk up to the fridge. ", " STEP 4: Open the fridge and put the egg inside on the top shelf then close the fridge, after a couple seconds open the fridge back up and take out the now chilled egg, then close the fridge. ", " STEP 5: Turn around and walk forward, then hang a left and walk up to the sink and look up at the microwave. ", " STEP 6: Open the microwave and put the chilled egg inside on the right side, then close the microwave. ", " END" ] ]
seen
trial_T20190906_172408_729431-0
Put all the boxes of tissues on the barred rack.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -2.25 0.913 1.75 0 90 0 1 Cloth 1.355 0.622 -2.389 0 0 0 41 2 Cloth -1.787 0.075 -1.498 0 45 0 Floor|-00.35| 3 TissueBox 1.992 0.624 -2.315 0 0 0 41 4 TissueBox 0.073 0.966 2.277 0 270 0 47 5 TissueBox 1.992 0.624 -2.094 0 0 0 41 6 Candle -2.808 0.873 1.551 0 90 0 52 7 Candle -2.977 0.873 1.551 0 90 0 52 8 SoapBar 0.270 0.962 -2.087 0 0 0 33 9 SoapBar 0.185 0.627 -1.939 0 0 0 36 10 SprayBottle -2.933 0.053 2.115 0 90 0 52 11 SprayBottle 1.355 0.620 -2.020 0 0 0 41 12 DishSponge -1.969 0.078 -1.210 0 45 0 33 13 DishSponge -2.921 0.245 1.707 0 90 0 52 14 Candle 0.930 0.622 -2.389 0 0 0 41 15 HandTowel -0.885 1.617 -2.503 0 180 0 42 16 Towel 0.465 1.21 -1.095 0 270 0 38 17 SoapBottle -0.176 0.976 2.250 0 270 0 47 18 SoapBar -0.527 0.962 -2.181 0 0 0 33 19 ToiletPaper -2.977 0.240 1.395 0 90 0 52 20 Plunger 0.506 0.011 2.268 0 0 0 Floor|-00.35| 21 SprayBottle -2.808 0.240 1.395 0 90 0 52 22 TissueBox -0.208 0.963 -2.369 0 0 0 33 23 ToiletPaper -0.051 0.962 2.277 0 270 0 47 24 ScrubBrush 0.342 0.012 2.072 0 0 0 Floor|-00.35| 25 Cloth -2.977 0.873 1.317 0 90 0 52 26 DishSponge 0.430 0.964 -1.899 0 0 0 33 27 Footstool -0.325 0.297 -1.98 0 0 0 Floor|-00.35| 28 Bathtub -1.957 0.494 -1.233 0 0 0 29 ShowerDoor 0.650 1.413 2.169 0 0 0 30 ShowerGlass 0.0 0.0 0.0 0 0 0 31 Drawer 0.300 0.304 -1.820 0 0 0 32 Mirror -0.046 1.512 -2.538 0 0 0 33 CounterTop 0.196 0.430 -2.010 0 0 0 34 Sink -2.796 0.328 0.755 0 90 0 35 Drawer 0.300 0.833 -1.820 0 0 0 36 Drawer 0.300 0.682 -1.820 0 0 0 37 Drawer 0.300 0.492 -1.820 0 0 0 38 TowelHolder 0.572 1.195 -1.095 0 270 0 39 GarbageCan -0.564 0.010 2.061 0 195.0 0 40 ToiletPaperHanger -0.574 0.926 2.407 0 180 0 41 Shelf 1.536 0.613 -2.242 0 0 0 42 HandTowelHolder -0.884 1.718 -2.542 0 270 0 43 Window -3.170 1.812 -1.697 90 90 0 44 Window -3.170 1.812 1.597 90 90 0 45 Window -2.144 1.809 -2.573 90 0 0 46 Window -3.170 1.812 -0.054 90 90 0 47 Toilet -0.064 0.012 1.838 0 180 0 48 LightSwitch -1.406 1.472 2.407 0 180 0 49 SinkBasin -2.796 0.875 0.765 0 90 0 50 ShowerHead 1.591 1.700 -2.424 0 90 0 51 Faucet -2.676 0.423 -0.312 0 99.958 0 52 SideTable -2.847 0.013 1.509 0 90 0 53 Faucet -3.106 1.056 0.757 0 90 0 54 55 NorthWall 56 EastWall 57 SouthWall 58 WestWall
[ "STEP 1: Walk towards the toilet, turn right, walk in front of the makeup vanity. | STEP 2: Take the box of tissues from the makeup vanity. | STEP 3: Turn around, walks towards the toilet, turn left, walk in front of the barred rack. | STEP 4: Put the tissues on the barred rack. | STEP 5: Turn around, walks in front of the toilet. | STEP 6: Take the box of tissues from the top of the toilet. | STEP 7: Turn left, walk in front of the barred rack. | STEP 8: Put the tissues on the barred rack. | END" ]
[ [ "STEP 1: Walk towards the toilet, turn right, walk in front of the makeup vanity. ", " STEP 2: Take the box of tissues from the makeup vanity. ", " STEP 3: Turn around, walks towards the toilet, turn left, walk in front of the barred rack. ", " STEP 4: Put the tissues on the barred rack. ", " STEP 5: Turn around, walks in front of the toilet. ", " STEP 6: Take the box of tissues from the top of the toilet. ", " STEP 7: Turn left, walk in front of the barred rack. ", " STEP 8: Put the tissues on the barred rack. ", " END" ] ]
seen
trial_T20190906_172408_729431-1
Place two boxes of tissue on the top shelf of the 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 -2.25 0.913 1.75 0 90 0 1 Cloth 1.355 0.622 -2.389 0 0 0 41 2 Cloth -1.787 0.075 -1.498 0 45 0 Floor|-00.35| 3 TissueBox 1.992 0.624 -2.315 0 0 0 41 4 TissueBox 0.073 0.966 2.277 0 270 0 47 5 TissueBox 1.992 0.624 -2.094 0 0 0 41 6 Candle -2.808 0.873 1.551 0 90 0 52 7 Candle -2.977 0.873 1.551 0 90 0 52 8 SoapBar 0.270 0.962 -2.087 0 0 0 33 9 SoapBar 0.185 0.627 -1.939 0 0 0 36 10 SprayBottle -2.933 0.053 2.115 0 90 0 52 11 SprayBottle 1.355 0.620 -2.020 0 0 0 41 12 DishSponge -1.969 0.078 -1.210 0 45 0 33 13 DishSponge -2.921 0.245 1.707 0 90 0 52 14 Candle 0.930 0.622 -2.389 0 0 0 41 15 HandTowel -0.885 1.617 -2.503 0 180 0 42 16 Towel 0.465 1.21 -1.095 0 270 0 38 17 SoapBottle -0.176 0.976 2.250 0 270 0 47 18 SoapBar -0.527 0.962 -2.181 0 0 0 33 19 ToiletPaper -2.977 0.240 1.395 0 90 0 52 20 Plunger 0.506 0.011 2.268 0 0 0 Floor|-00.35| 21 SprayBottle -2.808 0.240 1.395 0 90 0 52 22 TissueBox -0.208 0.963 -2.369 0 0 0 33 23 ToiletPaper -0.051 0.962 2.277 0 270 0 47 24 ScrubBrush 0.342 0.012 2.072 0 0 0 Floor|-00.35| 25 Cloth -2.977 0.873 1.317 0 90 0 52 26 DishSponge 0.430 0.964 -1.899 0 0 0 33 27 Footstool -0.325 0.297 -1.98 0 0 0 Floor|-00.35| 28 Bathtub -1.957 0.494 -1.233 0 0 0 29 ShowerDoor 0.650 1.413 2.169 0 0 0 30 ShowerGlass 0.0 0.0 0.0 0 0 0 31 Drawer 0.300 0.304 -1.820 0 0 0 32 Mirror -0.046 1.512 -2.538 0 0 0 33 CounterTop 0.196 0.430 -2.010 0 0 0 34 Sink -2.796 0.328 0.755 0 90 0 35 Drawer 0.300 0.833 -1.820 0 0 0 36 Drawer 0.300 0.682 -1.820 0 0 0 37 Drawer 0.300 0.492 -1.820 0 0 0 38 TowelHolder 0.572 1.195 -1.095 0 270 0 39 GarbageCan -0.564 0.010 2.061 0 195.0 0 40 ToiletPaperHanger -0.574 0.926 2.407 0 180 0 41 Shelf 1.536 0.613 -2.242 0 0 0 42 HandTowelHolder -0.884 1.718 -2.542 0 270 0 43 Window -3.170 1.812 -1.697 90 90 0 44 Window -3.170 1.812 1.597 90 90 0 45 Window -2.144 1.809 -2.573 90 0 0 46 Window -3.170 1.812 -0.054 90 90 0 47 Toilet -0.064 0.012 1.838 0 180 0 48 LightSwitch -1.406 1.472 2.407 0 180 0 49 SinkBasin -2.796 0.875 0.765 0 90 0 50 ShowerHead 1.591 1.700 -2.424 0 90 0 51 Faucet -2.676 0.423 -0.312 0 99.958 0 52 SideTable -2.847 0.013 1.509 0 90 0 53 Faucet -3.106 1.056 0.757 0 90 0 54 55 NorthWall 56 EastWall 57 SouthWall 58 WestWall
[ "STEP 1: Walk to the toilet, turn right walk to the front of the toilet, turn left to walk in front of the toilet, turn right to face the vanity, walk across the room to the vanity. | STEP 2: Pick up the box of tissues on the vanity next to the mirror. | STEP 3: Turn around to face the toilet, walk across the room to the toilet, turn left and walk past the toilet and turn right, walk to the wall and turn left, walk across the room to the metal rack. | STEP 4: Place the tissues on the top shelf of the metal rack near the front edge. | STEP 5: Turn around to the left to face the toilet, walk to the front of the toilet, turn left and face the toilet. | STEP 6: Pick up the box of tissues on the back of the toilet on the right side. | STEP 7: Turn left walk past the toilet, turn right walk to the wall, turn left and walk across the room to the metal rack. | STEP 8: Place the box of tissues on the top shelf of the metal rack on the right side of the candles. | END" ]
[ [ "STEP 1: Walk to the toilet, turn right walk to the front of the toilet, turn left to walk in front of the toilet, turn right to face the vanity, walk across the room to the vanity. ", " STEP 2: Pick up the box of tissues on the vanity next to the mirror. ", " STEP 3: Turn around to face the toilet, walk across the room to the toilet, turn left and walk past the toilet and turn right, walk to the wall and turn left, walk across the room to the metal rack. ", " STEP 4: Place the tissues on the top shelf of the metal rack near the front edge. ", " STEP 5: Turn around to the left to face the toilet, walk to the front of the toilet, turn left and face the toilet. ", " STEP 6: Pick up the box of tissues on the back of the toilet on the right side. ", " STEP 7: Turn left walk past the toilet, turn right walk to the wall, turn left and walk across the room to the metal rack. ", " STEP 8: Place the box of tissues on the top shelf of the metal rack on the right side of the candles. ", " END" ] ]
seen
trial_T20190906_172408_729431-2
Move two tissue boxes to the top shelf of a metal shelving unit.
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " -2.25", " 0.913", " 1.75", " 0", " 90", " 0", "" ], [ "1", " Cloth", " 1.355", " 0.622", " -2.389", " 0", " 0", " 0", " 41" ], [ "2", " Cloth", " -1.787", " 0.075", " -1.498", " 0", " 45", " 0", " Floor|-00.35|" ], [ "3", " TissueBox", " 1.992", " 0.624", " -2.315", " 0", " 0", " 0", " 41" ], [ "4", " TissueBox", " 0.073", " 0.966", " 2.277", " 0", " 270", " 0", " 47" ], [ "5", " TissueBox", " 1.992", " 0.624", " -2.094", " 0", " 0", " 0", " 41" ], [ "6", " Candle", " -2.808", " 0.873", " 1.551", " 0", " 90", " 0", " 52" ], [ "7", " Candle", " -2.977", " 0.873", " 1.551", " 0", " 90", " 0", " 52" ], [ "8", " SoapBar", " 0.270", " 0.962", " -2.087", " 0", " 0", " 0", " 33" ], [ "9", " SoapBar", " 0.185", " 0.627", " -1.939", " 0", " 0", " 0", " 36" ], [ "10", " SprayBottle", " -2.933", " 0.053", " 2.115", " 0", " 90", " 0", " 52" ], [ "11", " SprayBottle", " 1.355", " 0.620", " -2.020", " 0", " 0", " 0", " 41" ], [ "12", " DishSponge", " -1.969", " 0.078", " -1.210", " 0", " 45", " 0", " 33" ], [ "13", " DishSponge", " -2.921", " 0.245", " 1.707", " 0", " 90", " 0", " 52" ], [ "14", " Candle", " 0.930", " 0.622", " -2.389", " 0", " 0", " 0", " 41" ], [ "15", " HandTowel", " -0.885", " 1.617", " -2.503", " 0", " 180", " 0", " 42" ], [ "16", " Towel", " 0.465", " 1.21", " -1.095", " 0", " 270", " 0", " 38" ], [ "17", " SoapBottle", " -0.176", " 0.976", " 2.250", " 0", " 270", " 0", " 47" ], [ "18", " SoapBar", " -0.527", " 0.962", " -2.181", " 0", " 0", " 0", " 33" ], [ "19", " ToiletPaper", " -2.977", " 0.240", " 1.395", " 0", " 90", " 0", " 52" ], [ "20", " Plunger", " 0.506", " 0.011", " 2.268", " 0", " 0", " 0", " Floor|-00.35|" ], [ "21", " SprayBottle", " -2.808", " 0.240", " 1.395", " 0", " 90", " 0", " 52" ], [ "22", " TissueBox", " -0.208", " 0.963", " -2.369", " 0", " 0", " 0", " 33" ], [ "23", " ToiletPaper", " -0.051", " 0.962", " 2.277", " 0", " 270", " 0", " 47" ], [ "24", " ScrubBrush", " 0.342", " 0.012", " 2.072", " 0", " 0", " 0", " Floor|-00.35|" ], [ "25", " Cloth", " -2.977", " 0.873", " 1.317", " 0", " 90", " 0", " 52" ], [ "26", " DishSponge", " 0.430", " 0.964", " -1.899", " 0", " 0", " 0", " 33" ], [ "27", " Footstool", " -0.325", " 0.297", " -1.98", " 0", " 0", " 0", " Floor|-00.35|" ], [ "28", " Bathtub", " -1.957", " 0.494", " -1.233", " 0", " 0", " 0", "" ], [ "29", " ShowerDoor", " 0.650", " 1.413", " 2.169", " 0", " 0", " 0", "" ], [ "30", " ShowerGlass", " 0.0", " 0.0", " 0.0", " 0", " 0", " 0", "" ], [ "31", " Drawer", " 0.300", " 0.304", " -1.820", " 0", " 0", " 0", "" ], [ "32", " Mirror", " -0.046", " 1.512", " -2.538", " 0", " 0", " 0", "" ], [ "33", " CounterTop", " 0.196", " 0.430", " -2.010", " 0", " 0", " 0", "" ], [ "34", " Sink", " -2.796", " 0.328", " 0.755", " 0", " 90", " 0", "" ], [ "35", " Drawer", " 0.300", " 0.833", " -1.820", " 0", " 0", " 0", "" ], [ "36", " Drawer", " 0.300", " 0.682", " -1.820", " 0", " 0", " 0", "" ], [ "37", " Drawer", " 0.300", " 0.492", " -1.820", " 0", " 0", " 0", "" ], [ "38", " TowelHolder", " 0.572", " 1.195", " -1.095", " 0", " 270", " 0", "" ], [ "39", " GarbageCan", " -0.564", " 0.010", " 2.061", " 0", " 195.0", " 0", "" ], [ "40", " ToiletPaperHanger", " -0.574", " 0.926", " 2.407", " 0", " 180", " 0", "" ], [ "41", " Shelf", " 1.536", " 0.613", " -2.242", " 0", " 0", " 0", "" ], [ "42", " HandTowelHolder", " -0.884", " 1.718", " -2.542", " 0", " 270", " 0", "" ], [ "43", " Window", " -3.170", " 1.812", " -1.697", " 90", " 90", " 0", "" ], [ "44", " Window", " -3.170", " 1.812", " 1.597", " 90", " 90", " 0", "" ], [ "45", " Window", " -2.144", " 1.809", " -2.573", " 90", " 0", " 0", "" ], [ "46", " Window", " -3.170", " 1.812", " -0.054", " 90", " 90", " 0", "" ], [ "47", " Toilet", " -0.064", " 0.012", " 1.838", " 0", " 180", " 0", "" ], [ "48", " LightSwitch", " -1.406", " 1.472", " 2.407", " 0", " 180", " 0", "" ], [ "49", " SinkBasin", " -2.796", " 0.875", " 0.765", " 0", " 90", " 0", "" ], [ "50", " ShowerHead", " 1.591", " 1.700", " -2.424", " 0", " 90", " 0", "" ], [ "51", " Faucet", " -2.676", " 0.423", " -0.312", " 0", " 99.958", " 0", "" ], [ "52", " SideTable", " -2.847", " 0.013", " 1.509", " 0", " 90", " 0", "" ], [ "53", " Faucet", " -3.106", " 1.056", " 0.757", " 0", " 90", " 0", "" ], [ "54", " ", " ", " ", " ", " ", " ", " ", "" ], [ "55", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "56", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "57", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "58", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -2.25 0.913 1.75 0 90 0 1 Cloth 1.355 0.622 -2.389 0 0 0 41 2 Cloth -1.787 0.075 -1.498 0 45 0 Floor|-00.35| 3 TissueBox 1.992 0.624 -2.315 0 0 0 41 4 TissueBox 0.073 0.966 2.277 0 270 0 47 5 TissueBox 1.992 0.624 -2.094 0 0 0 41 6 Candle -2.808 0.873 1.551 0 90 0 52 7 Candle -2.977 0.873 1.551 0 90 0 52 8 SoapBar 0.270 0.962 -2.087 0 0 0 33 9 SoapBar 0.185 0.627 -1.939 0 0 0 36 10 SprayBottle -2.933 0.053 2.115 0 90 0 52 11 SprayBottle 1.355 0.620 -2.020 0 0 0 41 12 DishSponge -1.969 0.078 -1.210 0 45 0 33 13 DishSponge -2.921 0.245 1.707 0 90 0 52 14 Candle 0.930 0.622 -2.389 0 0 0 41 15 HandTowel -0.885 1.617 -2.503 0 180 0 42 16 Towel 0.465 1.21 -1.095 0 270 0 38 17 SoapBottle -0.176 0.976 2.250 0 270 0 47 18 SoapBar -0.527 0.962 -2.181 0 0 0 33 19 ToiletPaper -2.977 0.240 1.395 0 90 0 52 20 Plunger 0.506 0.011 2.268 0 0 0 Floor|-00.35| 21 SprayBottle -2.808 0.240 1.395 0 90 0 52 22 TissueBox -0.208 0.963 -2.369 0 0 0 33 23 ToiletPaper -0.051 0.962 2.277 0 270 0 47 24 ScrubBrush 0.342 0.012 2.072 0 0 0 Floor|-00.35| 25 Cloth -2.977 0.873 1.317 0 90 0 52 26 DishSponge 0.430 0.964 -1.899 0 0 0 33 27 Footstool -0.325 0.297 -1.98 0 0 0 Floor|-00.35| 28 Bathtub -1.957 0.494 -1.233 0 0 0 29 ShowerDoor 0.650 1.413 2.169 0 0 0 30 ShowerGlass 0.0 0.0 0.0 0 0 0 31 Drawer 0.300 0.304 -1.820 0 0 0 32 Mirror -0.046 1.512 -2.538 0 0 0 33 CounterTop 0.196 0.430 -2.010 0 0 0 34 Sink -2.796 0.328 0.755 0 90 0 35 Drawer 0.300 0.833 -1.820 0 0 0 36 Drawer 0.300 0.682 -1.820 0 0 0 37 Drawer 0.300 0.492 -1.820 0 0 0 38 TowelHolder 0.572 1.195 -1.095 0 270 0 39 GarbageCan -0.564 0.010 2.061 0 195.0 0 40 ToiletPaperHanger -0.574 0.926 2.407 0 180 0 41 Shelf 1.536 0.613 -2.242 0 0 0 42 HandTowelHolder -0.884 1.718 -2.542 0 270 0 43 Window -3.170 1.812 -1.697 90 90 0 44 Window -3.170 1.812 1.597 90 90 0 45 Window -2.144 1.809 -2.573 90 0 0 46 Window -3.170 1.812 -0.054 90 90 0 47 Toilet -0.064 0.012 1.838 0 180 0 48 LightSwitch -1.406 1.472 2.407 0 180 0 49 SinkBasin -2.796 0.875 0.765 0 90 0 50 ShowerHead 1.591 1.700 -2.424 0 90 0 51 Faucet -2.676 0.423 -0.312 0 99.958 0 52 SideTable -2.847 0.013 1.509 0 90 0 53 Faucet -3.106 1.056 0.757 0 90 0 54 55 NorthWall 56 EastWall 57 SouthWall 58 WestWall
[ "STEP 1: Walk up to the toilet, then turn right and walk over to the counter. | STEP 2: Pick up the tissue box off of the counter. | STEP 3: Turn around and walk to the toilet, then turn left and walk up to the metal shelving unit. | STEP 4: Put the tissue box on the top shelf of the metal shelving unit in front of the pink rag. | STEP 5: Turn left and take a step forward, then turn left again and walk over to the toilet. | STEP 6: Pick up the tissue box off of the toilet tank. | STEP 7: Turn left and walk over to the metal shelving unit. | STEP 8: Put the tissue box on the top shelf of the metal shelving unit to the right of the candles. | END" ]
[ [ "STEP 1: Walk up to the toilet, then turn right and walk over to the counter. ", " STEP 2: Pick up the tissue box off of the counter. ", " STEP 3: Turn around and walk to the toilet, then turn left and walk up to the metal shelving unit. ", " STEP 4: Put the tissue box on the top shelf of the metal shelving unit in front of the pink rag. ", " STEP 5: Turn left and take a step forward, then turn left again and walk over to the toilet. ", " STEP 6: Pick up the tissue box off of the toilet tank. ", " STEP 7: Turn left and walk over to the metal shelving unit. ", " STEP 8: Put the tissue box on the top shelf of the metal shelving unit to the right of the candles. ", " END" ] ]
seen
trial_T20190906_172408_729431-3
Put two boxes of tissues on the top shelf of the 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 -2.25 0.913 1.75 0 90 0 1 Cloth 1.355 0.622 -2.389 0 0 0 41 2 Cloth -1.787 0.075 -1.498 0 45 0 Floor|-00.35| 3 TissueBox 1.992 0.624 -2.315 0 0 0 41 4 TissueBox 0.073 0.966 2.277 0 270 0 47 5 TissueBox 1.992 0.624 -2.094 0 0 0 41 6 Candle -2.808 0.873 1.551 0 90 0 52 7 Candle -2.977 0.873 1.551 0 90 0 52 8 SoapBar 0.270 0.962 -2.087 0 0 0 33 9 SoapBar 0.185 0.627 -1.939 0 0 0 36 10 SprayBottle -2.933 0.053 2.115 0 90 0 52 11 SprayBottle 1.355 0.620 -2.020 0 0 0 41 12 DishSponge -1.969 0.078 -1.210 0 45 0 33 13 DishSponge -2.921 0.245 1.707 0 90 0 52 14 Candle 0.930 0.622 -2.389 0 0 0 41 15 HandTowel -0.885 1.617 -2.503 0 180 0 42 16 Towel 0.465 1.21 -1.095 0 270 0 38 17 SoapBottle -0.176 0.976 2.250 0 270 0 47 18 SoapBar -0.527 0.962 -2.181 0 0 0 33 19 ToiletPaper -2.977 0.240 1.395 0 90 0 52 20 Plunger 0.506 0.011 2.268 0 0 0 Floor|-00.35| 21 SprayBottle -2.808 0.240 1.395 0 90 0 52 22 TissueBox -0.208 0.963 -2.369 0 0 0 33 23 ToiletPaper -0.051 0.962 2.277 0 270 0 47 24 ScrubBrush 0.342 0.012 2.072 0 0 0 Floor|-00.35| 25 Cloth -2.977 0.873 1.317 0 90 0 52 26 DishSponge 0.430 0.964 -1.899 0 0 0 33 27 Footstool -0.325 0.297 -1.98 0 0 0 Floor|-00.35| 28 Bathtub -1.957 0.494 -1.233 0 0 0 29 ShowerDoor 0.650 1.413 2.169 0 0 0 30 ShowerGlass 0.0 0.0 0.0 0 0 0 31 Drawer 0.300 0.304 -1.820 0 0 0 32 Mirror -0.046 1.512 -2.538 0 0 0 33 CounterTop 0.196 0.430 -2.010 0 0 0 34 Sink -2.796 0.328 0.755 0 90 0 35 Drawer 0.300 0.833 -1.820 0 0 0 36 Drawer 0.300 0.682 -1.820 0 0 0 37 Drawer 0.300 0.492 -1.820 0 0 0 38 TowelHolder 0.572 1.195 -1.095 0 270 0 39 GarbageCan -0.564 0.010 2.061 0 195.0 0 40 ToiletPaperHanger -0.574 0.926 2.407 0 180 0 41 Shelf 1.536 0.613 -2.242 0 0 0 42 HandTowelHolder -0.884 1.718 -2.542 0 270 0 43 Window -3.170 1.812 -1.697 90 90 0 44 Window -3.170 1.812 1.597 90 90 0 45 Window -2.144 1.809 -2.573 90 0 0 46 Window -3.170 1.812 -0.054 90 90 0 47 Toilet -0.064 0.012 1.838 0 180 0 48 LightSwitch -1.406 1.472 2.407 0 180 0 49 SinkBasin -2.796 0.875 0.765 0 90 0 50 ShowerHead 1.591 1.700 -2.424 0 90 0 51 Faucet -2.676 0.423 -0.312 0 99.958 0 52 SideTable -2.847 0.013 1.509 0 90 0 53 Faucet -3.106 1.056 0.757 0 90 0 54 55 NorthWall 56 EastWall 57 SouthWall 58 WestWall
[ "STEP 1: Turn right and move to the sink | STEP 2: Pick up the box of tissues. | STEP 3: Turn right and head to the metal rack under the window to the right of the sink. | STEP 4: Set the box of tissues down on its end on the top shelf of the metal rack in front of the pink rag. | STEP 5: Turn around and move to the toilet. | STEP 6: Pick up the box of tissues from the back of the toilet. | STEP 7: Turn left and head back to the metal rack under the window. | STEP 8: Set the box of tissue down on its end to the right of the pink tooth brushes. | END" ]
[ [ "STEP 1: Turn right and move to the sink ", " STEP 2: Pick up the box of tissues. ", " STEP 3: Turn right and head to the metal rack under the window to the right of the sink. ", " STEP 4: Set the box of tissues down on its end on the top shelf of the metal rack in front of the pink rag. ", " STEP 5: Turn around and move to the toilet. ", " STEP 6: Pick up the box of tissues from the back of the toilet. ", " STEP 7: Turn left and head back to the metal rack under the window. ", " STEP 8: Set the box of tissue down on its end to the right of the pink tooth brushes. ", " END" ] ]
seen
trial_T20190906_172408_729431-4
Place all the tissue boxes on the metal shelf in the bathroom.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -2.25 0.913 1.75 0 90 0 1 Cloth 1.355 0.622 -2.389 0 0 0 41 2 Cloth -1.787 0.075 -1.498 0 45 0 Floor|-00.35| 3 TissueBox 1.992 0.624 -2.315 0 0 0 41 4 TissueBox 0.073 0.966 2.277 0 270 0 47 5 TissueBox 1.992 0.624 -2.094 0 0 0 41 6 Candle -2.808 0.873 1.551 0 90 0 52 7 Candle -2.977 0.873 1.551 0 90 0 52 8 SoapBar 0.270 0.962 -2.087 0 0 0 33 9 SoapBar 0.185 0.627 -1.939 0 0 0 36 10 SprayBottle -2.933 0.053 2.115 0 90 0 52 11 SprayBottle 1.355 0.620 -2.020 0 0 0 41 12 DishSponge -1.969 0.078 -1.210 0 45 0 33 13 DishSponge -2.921 0.245 1.707 0 90 0 52 14 Candle 0.930 0.622 -2.389 0 0 0 41 15 HandTowel -0.885 1.617 -2.503 0 180 0 42 16 Towel 0.465 1.21 -1.095 0 270 0 38 17 SoapBottle -0.176 0.976 2.250 0 270 0 47 18 SoapBar -0.527 0.962 -2.181 0 0 0 33 19 ToiletPaper -2.977 0.240 1.395 0 90 0 52 20 Plunger 0.506 0.011 2.268 0 0 0 Floor|-00.35| 21 SprayBottle -2.808 0.240 1.395 0 90 0 52 22 TissueBox -0.208 0.963 -2.369 0 0 0 33 23 ToiletPaper -0.051 0.962 2.277 0 270 0 47 24 ScrubBrush 0.342 0.012 2.072 0 0 0 Floor|-00.35| 25 Cloth -2.977 0.873 1.317 0 90 0 52 26 DishSponge 0.430 0.964 -1.899 0 0 0 33 27 Footstool -0.325 0.297 -1.98 0 0 0 Floor|-00.35| 28 Bathtub -1.957 0.494 -1.233 0 0 0 29 ShowerDoor 0.650 1.413 2.169 0 0 0 30 ShowerGlass 0.0 0.0 0.0 0 0 0 31 Drawer 0.300 0.304 -1.820 0 0 0 32 Mirror -0.046 1.512 -2.538 0 0 0 33 CounterTop 0.196 0.430 -2.010 0 0 0 34 Sink -2.796 0.328 0.755 0 90 0 35 Drawer 0.300 0.833 -1.820 0 0 0 36 Drawer 0.300 0.682 -1.820 0 0 0 37 Drawer 0.300 0.492 -1.820 0 0 0 38 TowelHolder 0.572 1.195 -1.095 0 270 0 39 GarbageCan -0.564 0.010 2.061 0 195.0 0 40 ToiletPaperHanger -0.574 0.926 2.407 0 180 0 41 Shelf 1.536 0.613 -2.242 0 0 0 42 HandTowelHolder -0.884 1.718 -2.542 0 270 0 43 Window -3.170 1.812 -1.697 90 90 0 44 Window -3.170 1.812 1.597 90 90 0 45 Window -2.144 1.809 -2.573 90 0 0 46 Window -3.170 1.812 -0.054 90 90 0 47 Toilet -0.064 0.012 1.838 0 180 0 48 LightSwitch -1.406 1.472 2.407 0 180 0 49 SinkBasin -2.796 0.875 0.765 0 90 0 50 ShowerHead 1.591 1.700 -2.424 0 90 0 51 Faucet -2.676 0.423 -0.312 0 99.958 0 52 SideTable -2.847 0.013 1.509 0 90 0 53 Faucet -3.106 1.056 0.757 0 90 0 54 55 NorthWall 56 EastWall 57 SouthWall 58 WestWall
[ "STEP 1: Walk towards the toilet and then turn right towards the bathroom vanity. | STEP 2: Pick up the tissue box from the vanity. | STEP 3: Turn around, walk towards the toilet, make a left towards the metal shelf. | STEP 4: Place the tissue box on the top shelf next to the red towel. | STEP 5: Turn around, walk towards the toilet. | STEP 6: Pick up the tissue box on top of the toilet. | STEP 7: Turn left and walk towards the metal shelf. | STEP 8: Place the tissue box to the right of the two candles. | END" ]
[ [ "STEP 1: Walk towards the toilet and then turn right towards the bathroom vanity. ", " STEP 2: Pick up the tissue box from the vanity. ", " STEP 3: Turn around, walk towards the toilet, make a left towards the metal shelf. ", " STEP 4: Place the tissue box on the top shelf next to the red towel. ", " STEP 5: Turn around, walk towards the toilet. ", " STEP 6: Pick up the tissue box on top of the toilet. ", " STEP 7: Turn left and walk towards the metal shelf. ", " STEP 8: Place the tissue box to the right of the two candles. ", " END" ] ]
seen
trial_T20190906_172408_729431-5
Putting two tissue boxes on the bathroom rack
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " -2.25", " 0.913", " 1.75", " 0", " 90", " 0", "" ], [ "1", " Cloth", " 1.355", " 0.622", " -2.389", " 0", " 0", " 0", " 41" ], [ "2", " Cloth", " -1.787", " 0.075", " -1.498", " 0", " 45", " 0", " Floor|-00.35|" ], [ "3", " TissueBox", " 1.992", " 0.624", " -2.315", " 0", " 0", " 0", " 41" ], [ "4", " TissueBox", " 0.073", " 0.966", " 2.277", " 0", " 270", " 0", " 47" ], [ "5", " TissueBox", " 1.992", " 0.624", " -2.094", " 0", " 0", " 0", " 41" ], [ "6", " Candle", " -2.808", " 0.873", " 1.551", " 0", " 90", " 0", " 52" ], [ "7", " Candle", " -2.977", " 0.873", " 1.551", " 0", " 90", " 0", " 52" ], [ "8", " SoapBar", " 0.270", " 0.962", " -2.087", " 0", " 0", " 0", " 33" ], [ "9", " SoapBar", " 0.185", " 0.627", " -1.939", " 0", " 0", " 0", " 36" ], [ "10", " SprayBottle", " -2.933", " 0.053", " 2.115", " 0", " 90", " 0", " 52" ], [ "11", " SprayBottle", " 1.355", " 0.620", " -2.020", " 0", " 0", " 0", " 41" ], [ "12", " DishSponge", " -1.969", " 0.078", " -1.210", " 0", " 45", " 0", " 33" ], [ "13", " DishSponge", " -2.921", " 0.245", " 1.707", " 0", " 90", " 0", " 52" ], [ "14", " Candle", " 0.930", " 0.622", " -2.389", " 0", " 0", " 0", " 41" ], [ "15", " HandTowel", " -0.885", " 1.617", " -2.503", " 0", " 180", " 0", " 42" ], [ "16", " Towel", " 0.465", " 1.21", " -1.095", " 0", " 270", " 0", " 38" ], [ "17", " SoapBottle", " -0.176", " 0.976", " 2.250", " 0", " 270", " 0", " 47" ], [ "18", " SoapBar", " -0.527", " 0.962", " -2.181", " 0", " 0", " 0", " 33" ], [ "19", " ToiletPaper", " -2.977", " 0.240", " 1.395", " 0", " 90", " 0", " 52" ], [ "20", " Plunger", " 0.506", " 0.011", " 2.268", " 0", " 0", " 0", " Floor|-00.35|" ], [ "21", " SprayBottle", " -2.808", " 0.240", " 1.395", " 0", " 90", " 0", " 52" ], [ "22", " TissueBox", " -0.208", " 0.963", " -2.369", " 0", " 0", " 0", " 33" ], [ "23", " ToiletPaper", " -0.051", " 0.962", " 2.277", " 0", " 270", " 0", " 47" ], [ "24", " ScrubBrush", " 0.342", " 0.012", " 2.072", " 0", " 0", " 0", " Floor|-00.35|" ], [ "25", " Cloth", " -2.977", " 0.873", " 1.317", " 0", " 90", " 0", " 52" ], [ "26", " DishSponge", " 0.430", " 0.964", " -1.899", " 0", " 0", " 0", " 33" ], [ "27", " Footstool", " -0.325", " 0.297", " -1.98", " 0", " 0", " 0", " Floor|-00.35|" ], [ "28", " Bathtub", " -1.957", " 0.494", " -1.233", " 0", " 0", " 0", "" ], [ "29", " ShowerDoor", " 0.650", " 1.413", " 2.169", " 0", " 0", " 0", "" ], [ "30", " ShowerGlass", " 0.0", " 0.0", " 0.0", " 0", " 0", " 0", "" ], [ "31", " Drawer", " 0.300", " 0.304", " -1.820", " 0", " 0", " 0", "" ], [ "32", " Mirror", " -0.046", " 1.512", " -2.538", " 0", " 0", " 0", "" ], [ "33", " CounterTop", " 0.196", " 0.430", " -2.010", " 0", " 0", " 0", "" ], [ "34", " Sink", " -2.796", " 0.328", " 0.755", " 0", " 90", " 0", "" ], [ "35", " Drawer", " 0.300", " 0.833", " -1.820", " 0", " 0", " 0", "" ], [ "36", " Drawer", " 0.300", " 0.682", " -1.820", " 0", " 0", " 0", "" ], [ "37", " Drawer", " 0.300", " 0.492", " -1.820", " 0", " 0", " 0", "" ], [ "38", " TowelHolder", " 0.572", " 1.195", " -1.095", " 0", " 270", " 0", "" ], [ "39", " GarbageCan", " -0.564", " 0.010", " 2.061", " 0", " 195.0", " 0", "" ], [ "40", " ToiletPaperHanger", " -0.574", " 0.926", " 2.407", " 0", " 180", " 0", "" ], [ "41", " Shelf", " 1.536", " 0.613", " -2.242", " 0", " 0", " 0", "" ], [ "42", " HandTowelHolder", " -0.884", " 1.718", " -2.542", " 0", " 270", " 0", "" ], [ "43", " Window", " -3.170", " 1.812", " -1.697", " 90", " 90", " 0", "" ], [ "44", " Window", " -3.170", " 1.812", " 1.597", " 90", " 90", " 0", "" ], [ "45", " Window", " -2.144", " 1.809", " -2.573", " 90", " 0", " 0", "" ], [ "46", " Window", " -3.170", " 1.812", " -0.054", " 90", " 90", " 0", "" ], [ "47", " Toilet", " -0.064", " 0.012", " 1.838", " 0", " 180", " 0", "" ], [ "48", " LightSwitch", " -1.406", " 1.472", " 2.407", " 0", " 180", " 0", "" ], [ "49", " SinkBasin", " -2.796", " 0.875", " 0.765", " 0", " 90", " 0", "" ], [ "50", " ShowerHead", " 1.591", " 1.700", " -2.424", " 0", " 90", " 0", "" ], [ "51", " Faucet", " -2.676", " 0.423", " -0.312", " 0", " 99.958", " 0", "" ], [ "52", " SideTable", " -2.847", " 0.013", " 1.509", " 0", " 90", " 0", "" ], [ "53", " Faucet", " -3.106", " 1.056", " 0.757", " 0", " 90", " 0", "" ], [ "54", " ", " ", " ", " ", " ", " ", " ", "" ], [ "55", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "56", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "57", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "58", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -2.25 0.913 1.75 0 90 0 1 Cloth 1.355 0.622 -2.389 0 0 0 41 2 Cloth -1.787 0.075 -1.498 0 45 0 Floor|-00.35| 3 TissueBox 1.992 0.624 -2.315 0 0 0 41 4 TissueBox 0.073 0.966 2.277 0 270 0 47 5 TissueBox 1.992 0.624 -2.094 0 0 0 41 6 Candle -2.808 0.873 1.551 0 90 0 52 7 Candle -2.977 0.873 1.551 0 90 0 52 8 SoapBar 0.270 0.962 -2.087 0 0 0 33 9 SoapBar 0.185 0.627 -1.939 0 0 0 36 10 SprayBottle -2.933 0.053 2.115 0 90 0 52 11 SprayBottle 1.355 0.620 -2.020 0 0 0 41 12 DishSponge -1.969 0.078 -1.210 0 45 0 33 13 DishSponge -2.921 0.245 1.707 0 90 0 52 14 Candle 0.930 0.622 -2.389 0 0 0 41 15 HandTowel -0.885 1.617 -2.503 0 180 0 42 16 Towel 0.465 1.21 -1.095 0 270 0 38 17 SoapBottle -0.176 0.976 2.250 0 270 0 47 18 SoapBar -0.527 0.962 -2.181 0 0 0 33 19 ToiletPaper -2.977 0.240 1.395 0 90 0 52 20 Plunger 0.506 0.011 2.268 0 0 0 Floor|-00.35| 21 SprayBottle -2.808 0.240 1.395 0 90 0 52 22 TissueBox -0.208 0.963 -2.369 0 0 0 33 23 ToiletPaper -0.051 0.962 2.277 0 270 0 47 24 ScrubBrush 0.342 0.012 2.072 0 0 0 Floor|-00.35| 25 Cloth -2.977 0.873 1.317 0 90 0 52 26 DishSponge 0.430 0.964 -1.899 0 0 0 33 27 Footstool -0.325 0.297 -1.98 0 0 0 Floor|-00.35| 28 Bathtub -1.957 0.494 -1.233 0 0 0 29 ShowerDoor 0.650 1.413 2.169 0 0 0 30 ShowerGlass 0.0 0.0 0.0 0 0 0 31 Drawer 0.300 0.304 -1.820 0 0 0 32 Mirror -0.046 1.512 -2.538 0 0 0 33 CounterTop 0.196 0.430 -2.010 0 0 0 34 Sink -2.796 0.328 0.755 0 90 0 35 Drawer 0.300 0.833 -1.820 0 0 0 36 Drawer 0.300 0.682 -1.820 0 0 0 37 Drawer 0.300 0.492 -1.820 0 0 0 38 TowelHolder 0.572 1.195 -1.095 0 270 0 39 GarbageCan -0.564 0.010 2.061 0 195.0 0 40 ToiletPaperHanger -0.574 0.926 2.407 0 180 0 41 Shelf 1.536 0.613 -2.242 0 0 0 42 HandTowelHolder -0.884 1.718 -2.542 0 270 0 43 Window -3.170 1.812 -1.697 90 90 0 44 Window -3.170 1.812 1.597 90 90 0 45 Window -2.144 1.809 -2.573 90 0 0 46 Window -3.170 1.812 -0.054 90 90 0 47 Toilet -0.064 0.012 1.838 0 180 0 48 LightSwitch -1.406 1.472 2.407 0 180 0 49 SinkBasin -2.796 0.875 0.765 0 90 0 50 ShowerHead 1.591 1.700 -2.424 0 90 0 51 Faucet -2.676 0.423 -0.312 0 99.958 0 52 SideTable -2.847 0.013 1.509 0 90 0 53 Faucet -3.106 1.056 0.757 0 90 0 54 55 NorthWall 56 EastWall 57 SouthWall 58 WestWall
[ "STEP 1: Turn right and go to the white table | STEP 2: Grab the tissue box on the table | STEP 3: Turn around and head to the silver rack | STEP 4: Put the tissue box on the top rack | STEP 5: Turn around and go to the toilet | STEP 6: Grab the tissue box that is on top of the toilet | STEP 7: Turn left and go to the silver rack | STEP 8: Put the tissue box on the top rack | END" ]
[ [ "STEP 1: Turn right and go to the white table ", " STEP 2: Grab the tissue box on the table ", " STEP 3: Turn around and head to the silver rack ", " STEP 4: Put the tissue box on the top rack ", " STEP 5: Turn around and go to the toilet ", " STEP 6: Grab the tissue box that is on top of the toilet ", " STEP 7: Turn left and go to the silver rack ", " STEP 8: Put the tissue box on the top rack ", " END" ] ]
seen
trial_T20190909_012711_107920-0
Put a clean tomato on the counter.
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Cup", " 0.476", " 0.908", " 0.827", " 0", " 90", " 0", " 41" ], [ "12", " Tomato", " -0.644", " 0.814", " -1.524", " 0", " 0", " 0", " 68" ], [ "13", " Tomato", " 1.739", " 0.134", " 1.779", " 0", " 270", " 0", " 59" ], [ "14", " SaltShaker", " 1.840", " 1.640", " -1.765", " 0", " 0", " 0", " 55" ], [ "15", " PepperShaker", " 1.451", " 0.905", " 0.518", " 0", " 90", " 0", " 41" ], [ "16", " PepperShaker", " 1.762", " 0.905", " 0.570", " 0", " 90", " 0", " 41" ], [ "17", " Apple", " -0.790", " 0.517", " -1.412", " 0", " 0", " 0", " 68" ], [ "18", " Apple", " -0.790", " 1.740", " -1.629", " 0", " 0", " 0", " 68" ], [ "19", " Plate", " 1.656", " 0.912", " -1.631", " 0", " 90", " 0", " 45" ], [ "20", " SoapBottle", " 1.805", " 1.633", " -1.419", " 0", " 0", " 0", " 54" ], [ "21", " Cup", " 1.771", " 1.013", " -0.888", " 0", " 270", " 0", " 65" ], [ "22", " Egg", " 0.476", " 0.945", " 1.092", " 0", " 90", " 0", " 41" ], [ "23", " Fork", " 0.988", " 0.911", " 1.180", " 0", " 90", " 0", " 41" ], [ "24", " Ladle", " 1.201", " 0.926", " 0.743", " 3.402", " 0", " 346.985", " 41" ], [ "25", " Apple", " 1.757", " 0.967", " 1.180", " 0", " 90", " 0", " 41" ], [ "26", " SaltShaker", " 1.656", " 0.906", " -1.802", " 0", " 90", " 0", " 45" ], [ "27", " Pan", " 1.281", " 0.900", " 1.190", " 0", " 0", " 0", " 41" ], [ "28", " Tomato", " 1.865", " 0.975", " -1.374", " 0", " 90", " 0", " 45" ], [ "29", " Spatula", " 1.684", " 0.925", " 0.415", " 0", " 180", " 0", " 41" ], [ "30", " Potato", " 0.989", " 0.950", " 0.915", " 0", " 90", " 0", " 41" ], [ "31", " Knife", " 1.796", " 0.943", " -1.545", " 0", " 90", " 0", " 45" ], [ "32", " ButterKnife", " 0.296", " 0.9", " -1.296", " 0", " 14.568", " 0", " 45" ], [ "33", " Bread", " 0.732", " 0.987", " 0.915", " 0", " 90", " 0", " 41" ], [ "34", " Lettuce", " 0.220", " 1.010", " 0.915", " 0", " 90", " 0", " 41" ], [ "35", " PepperShaker", " 1.733", " 1.648", " -0.401", " 0", " 0", " 0", " 52" ], [ "36", " Pot", " 1.548", " 0.909", " 0.075", " 0", " 180", " 0", " 47" ], [ "37", " DishSponge", " 0.476", " 0.910", " 1.180", " 0", " 90", " 0", " 41" ], [ "38", " Spoon", " 1.607", " 0.911", " 0.363", " 0", " 90", " 0", " 41" ], [ "39", " Bowl", " 1.808", " 1.638", " 0.431", " 0", " 0", " 0", " 50" ], [ "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 1.0 0.900 3.0 0 90 0 1 Pan 1.543 0.909 -0.320 0 90 0 44 2 Potato -0.644 1.723 -1.629 0 0 0 68 3 Potato -0.838 0.500 -1.605 0 0 0 68 4 Ladle 1.586 0.955 -1.374 0 90 0 45 5 ButterKnife 1.757 0.910 1.004 0 90 0 41 6 ButterKnife 0.220 0.910 0.915 0 90 0 41 7 DishSponge 1.769 2.136 0.805 0 0 0 49 8 DishSponge 1.800 0.069 1.588 0 270 0 59 9 Spoon 1.839 0.911 0.467 0 90 0 41 10 Spatula 1.796 0.926 -1.288 0 0 0 45 11 Cup 0.476 0.908 0.827 0 90 0 41 12 Tomato -0.644 0.814 -1.524 0 0 0 68 13 Tomato 1.739 0.134 1.779 0 270 0 59 14 SaltShaker 1.840 1.640 -1.765 0 0 0 55 15 PepperShaker 1.451 0.905 0.518 0 90 0 41 16 PepperShaker 1.762 0.905 0.570 0 90 0 41 17 Apple -0.790 0.517 -1.412 0 0 0 68 18 Apple -0.790 1.740 -1.629 0 0 0 68 19 Plate 1.656 0.912 -1.631 0 90 0 45 20 SoapBottle 1.805 1.633 -1.419 0 0 0 54 21 Cup 1.771 1.013 -0.888 0 270 0 65 22 Egg 0.476 0.945 1.092 0 90 0 41 23 Fork 0.988 0.911 1.180 0 90 0 41 24 Ladle 1.201 0.926 0.743 3.402 0 346.985 41 25 Apple 1.757 0.967 1.180 0 90 0 41 26 SaltShaker 1.656 0.906 -1.802 0 90 0 45 27 Pan 1.281 0.900 1.190 0 0 0 41 28 Tomato 1.865 0.975 -1.374 0 90 0 45 29 Spatula 1.684 0.925 0.415 0 180 0 41 30 Potato 0.989 0.950 0.915 0 90 0 41 31 Knife 1.796 0.943 -1.545 0 90 0 45 32 ButterKnife 0.296 0.9 -1.296 0 14.568 0 45 33 Bread 0.732 0.987 0.915 0 90 0 41 34 Lettuce 0.220 1.010 0.915 0 90 0 41 35 PepperShaker 1.733 1.648 -0.401 0 0 0 52 36 Pot 1.548 0.909 0.075 0 180 0 47 37 DishSponge 0.476 0.910 1.180 0 90 0 41 38 Spoon 1.607 0.911 0.363 0 90 0 41 39 Bowl 1.808 1.638 0.431 0 0 0 50 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 and go toward the door, then turn left and go to the fridge, then turn left to go to the microwave. | STEP 2: Pick up the tomato on the counter, to the right of the microwave. | STEP 3: Turn right to face the sink. | STEP 4: Clean the tomato inside the sink. | STEP 5: Turn right and go forward, then turn left to face the counter with the coffee maker. | STEP 6: Place the tomato on the counter. | END" ]
[ [ "STEP 1: Turn around and go toward the door, then turn left and go to the fridge, then turn left to go to the microwave. ", " STEP 2: Pick up the tomato on the counter, to the right of the microwave. ", " STEP 3: Turn right to face the sink. ", " STEP 4: Clean the tomato inside the sink. ", " STEP 5: Turn right and go forward, then turn left to face the counter with the coffee maker. ", " STEP 6: Place the tomato on the counter. ", " END" ] ]
seen
trial_T20190909_012711_107920-1
put washed tomato on counter
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 1.0 0.900 3.0 0 90 0 1 Pan 1.543 0.909 -0.320 0 90 0 44 2 Potato -0.644 1.723 -1.629 0 0 0 68 3 Potato -0.838 0.500 -1.605 0 0 0 68 4 Ladle 1.586 0.955 -1.374 0 90 0 45 5 ButterKnife 1.757 0.910 1.004 0 90 0 41 6 ButterKnife 0.220 0.910 0.915 0 90 0 41 7 DishSponge 1.769 2.136 0.805 0 0 0 49 8 DishSponge 1.800 0.069 1.588 0 270 0 59 9 Spoon 1.839 0.911 0.467 0 90 0 41 10 Spatula 1.796 0.926 -1.288 0 0 0 45 11 Cup 0.476 0.908 0.827 0 90 0 41 12 Tomato -0.644 0.814 -1.524 0 0 0 68 13 Tomato 1.739 0.134 1.779 0 270 0 59 14 SaltShaker 1.840 1.640 -1.765 0 0 0 55 15 PepperShaker 1.451 0.905 0.518 0 90 0 41 16 PepperShaker 1.762 0.905 0.570 0 90 0 41 17 Apple -0.790 0.517 -1.412 0 0 0 68 18 Apple -0.790 1.740 -1.629 0 0 0 68 19 Plate 1.656 0.912 -1.631 0 90 0 45 20 SoapBottle 1.805 1.633 -1.419 0 0 0 54 21 Cup 1.771 1.013 -0.888 0 270 0 65 22 Egg 0.476 0.945 1.092 0 90 0 41 23 Fork 0.988 0.911 1.180 0 90 0 41 24 Ladle 1.201 0.926 0.743 3.402 0 346.985 41 25 Apple 1.757 0.967 1.180 0 90 0 41 26 SaltShaker 1.656 0.906 -1.802 0 90 0 45 27 Pan 1.281 0.900 1.190 0 0 0 41 28 Tomato 1.865 0.975 -1.374 0 90 0 45 29 Spatula 1.684 0.925 0.415 0 180 0 41 30 Potato 0.989 0.950 0.915 0 90 0 41 31 Knife 1.796 0.943 -1.545 0 90 0 45 32 ButterKnife 0.296 0.9 -1.296 0 14.568 0 45 33 Bread 0.732 0.987 0.915 0 90 0 41 34 Lettuce 0.220 1.010 0.915 0 90 0 41 35 PepperShaker 1.733 1.648 -0.401 0 0 0 52 36 Pot 1.548 0.909 0.075 0 180 0 47 37 DishSponge 0.476 0.910 1.180 0 90 0 41 38 Spoon 1.607 0.911 0.363 0 90 0 41 39 Bowl 1.808 1.638 0.431 0 0 0 50 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: walk to face microwave | STEP 2: pick up tomato to right of microwave | STEP 3: walk to face sink | STEP 4: wash tomato in sink, pick up tomato from sink | STEP 5: walk to the right to face coffee maker on counter | STEP 6: put tomato on counter in front of coffee maker | END" ]
[ [ "STEP 1: walk to face microwave ", " STEP 2: pick up tomato to right of microwave ", " STEP 3: walk to face sink ", " STEP 4: wash tomato in sink, pick up tomato from sink ", " STEP 5: walk to the right to face coffee maker on counter ", " STEP 6: put tomato on counter in front of coffee maker ", " END" ] ]
seen
trial_T20190909_012711_107920-2
Put a cleaned tomato on a counter.
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[ "STEP 1: Turn around, walk toward the door, then turn left and walk to the refrigerator, then turn left and walk to the microwave. | STEP 2: Pick up the tomato which is on the counter to the right of the microwave. | STEP 3: Turn right towards the sink. | STEP 4: Put the tomato in the sink, rinse it off, and take it back out. | STEP 5: Walk slightly to the right and turn left to face the coffee machine on the counter. | STEP 6: Put the tomato on the counter in front of the coffee machine. | END" ]
[ [ "STEP 1: Turn around, walk toward the door, then turn left and walk to the refrigerator, then turn left and walk to the microwave. ", " STEP 2: Pick up the tomato which is on the counter to the right of the microwave. ", " STEP 3: Turn right towards the sink. ", " STEP 4: Put the tomato in the sink, rinse it off, and take it back out. ", " STEP 5: Walk slightly to the right and turn left to face the coffee machine on the counter. ", " STEP 6: Put the tomato on the counter in front of the coffee machine. ", " END" ] ]
seen
trial_T20190908_051008_166025-0
Cook the apple from the sink in the microwave and put it in the fridge.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -2.0 0.900 2.25 0 180 0 1 DishSponge -2.882 1.434 1.049 0 0 0 53 2 DishSponge -2.735 0.823 0.953 0 0 0 45 3 ButterKnife -1.151 0.823 0.426 0 0 0 45 4 ButterKnife -1.709 0.823 0.549 0 0 0 45 5 Fork -0.330 0.697 0.949 0 270 0 47 6 Spoon -0.860 0.712 0.378 0 90 0 48 7 Cup -2.579 1.849 2.316 0 0 0 55 8 Cup -2.741 1.435 0.140 0 45 0 51 9 Plate -2.569 0.126 1.550 0 0 0 56 10 Plate -1.580 0.130 0.401 0 0 0 58 11 Knife -0.169 0.849 1.103 0 0 0 45 12 Tomato -0.395 0.106 2.539 0 0 0 65 13 SoapBottle -0.262 0.054 2.539 0 0 0 65 14 SoapBottle -0.295 0.054 2.674 0 0 0 65 15 SaltShaker -0.482 0.818 0.500 0 0 0 45 16 SaltShaker -2.637 1.430 0.310 0 225 0 51 17 Apple -1.967 0.775 0.295 0 0 0 72 18 Fork -2.724 0.824 0.352 0 0 0 45 19 Ladle -2.000 0.169 0.401 0 0 0 57 20 Pan -0.244 0.829 2.075 0 180 0 40 21 SoapBottle -1.407 0.123 0.440 0 0 0 58 22 Pot -0.531 0.822 2.096 0 0 0 42 23 Tomato -2.837 1.193 2.045 0 90 0 63 24 Potato -2.890 0.862 0.462 0 90 0 45 25 SaltShaker -2.881 1.430 0.674 0 0 0 54 26 Plate -2.671 1.148 2.221 0 90 0 63 27 Spatula -0.341 0.696 1.194 0 45 0 41 28 Knife -2.375 0.849 0.500 0 0 0 45 29 Egg -1.801 0.721 0.295 0 0 0 72 30 Cup -2.726 0.825 2.309 0 90 0 63 31 ButterKnife -2.658 0.823 0.789 0 0 0 45 32 Lettuce -2.726 1.529 2.045 0 90 0 63 33 PepperShaker -0.092 0.818 1.326 0 0 0 45 34 DishSponge -2.608 0.823 0.426 0 0 0 45 35 Bread -0.979 0.855 0.249 0 29.999 0 45 36 Spoon -1.876 0.824 0.539 0 0 0 45 37 Mug -2.671 1.138 1.957 0 90 0 63 38 Bowl -0.397 0.115 0.914 0 0 0 61 39 Cabinet -2.377 2.015 1.720 0 0 0 40 StoveBurner -0.244 0.820 2.075 0 180 0 41 Drawer -0.402 0.703 1.252 0 0 0 42 StoveBurner -0.518 0.820 2.075 0 180 0 43 Sink -1.838 0.726 0.343 0 180 0 44 StoveBurner -0.244 0.820 1.684 0 0 0 45 CounterTop -1.557 0.859 0.277 0 0 0 46 StoveBurner -0.518 0.820 1.684 0 0 0 47 Drawer -0.404 0.704 0.912 0 0 0 48 Drawer -0.861 0.709 0.420 0 0 0 49 Drawer -1.133 0.706 0.418 0 0 0 50 Drawer -2.589 0.703 1.511 0 0 0 51 Cabinet -2.772 1.803 0.508 0 0 0 52 Cabinet -2.460 1.803 0.231 0 0 0 53 Cabinet -2.781 1.798 0.825 0 0 0 54 Cabinet -2.781 1.798 0.815 0 0 0 55 Cabinet -2.377 2.009 2.581 0 0 0 56 Cabinet -2.442 0.385 1.672 0 0 0 57 Cabinet -2.238 0.385 0.564 0 0 0 58 Cabinet -1.286 0.385 0.564 0 0 0 59 Cabinet -1.262 0.385 0.565 0 0 0 60 Cabinet -0.734 0.385 0.565 0 0 0 61 Cabinet -0.549 0.385 0.751 0 0 0 62 Cabinet -0.549 0.385 1.412 0 0 0 63 Fridge -2.782 0.0 2.221 0 0 0 64 Microwave -2.794 0.812 1.348 0 90 0 65 GarbageCan -0.329 2.205 2.606 0 0 0 66 StoveKnob -0.069 0.998 1.773 0 180 107.470 67 StoveKnob -0.069 0.998 1.613 0 180 107.470 68 StoveKnob -0.069 0.998 2.171 0 180 107.470 69 StoveKnob -0.069 0.998 2.024 0 180 107.470 70 Window -1.720 1.342 -0.208 90 0 0 71 Toaster -0.171 0.812 0.735 0 270 0 72 SinkBasin -1.745 0.687 0.295 0 0 0 73 CoffeeMachine -0.539 0.812 0.185 0 0 0 74 LightSwitch -0.615 1.378 3.0 0 180 0 75 Faucet -1.686 0.954 0.176 0 236.223 0 76 Stool -1.008 0.008 1.955 0 18.279 0 77 NorthWall 78 EastWall 79 SouthWall 80 WestWall
[ "STEP 1: Walk to the sink. | STEP 2: Pick up the apple from the sink. | STEP 3: Turn around then turn left to face the microwave. | STEP 4: Put the apple in the microwave and cook it then take it out. | STEP 5: Turn right and walk to the fridge. | STEP 6: Put the apple in the fridge. | END" ]
[ [ "STEP 1: Walk to the sink. ", " STEP 2: Pick up the apple from the sink. ", " STEP 3: Turn around then turn left to face the microwave. ", " STEP 4: Put the apple in the microwave and cook it then take it out. ", " STEP 5: Turn right and walk to the fridge. ", " STEP 6: Put the apple in the fridge. ", " END" ] ]
seen
trial_T20190908_051008_166025-1
Put a microwaved apple into 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 -2.0 0.900 2.25 0 180 0 1 DishSponge -2.882 1.434 1.049 0 0 0 53 2 DishSponge -2.735 0.823 0.953 0 0 0 45 3 ButterKnife -1.151 0.823 0.426 0 0 0 45 4 ButterKnife -1.709 0.823 0.549 0 0 0 45 5 Fork -0.330 0.697 0.949 0 270 0 47 6 Spoon -0.860 0.712 0.378 0 90 0 48 7 Cup -2.579 1.849 2.316 0 0 0 55 8 Cup -2.741 1.435 0.140 0 45 0 51 9 Plate -2.569 0.126 1.550 0 0 0 56 10 Plate -1.580 0.130 0.401 0 0 0 58 11 Knife -0.169 0.849 1.103 0 0 0 45 12 Tomato -0.395 0.106 2.539 0 0 0 65 13 SoapBottle -0.262 0.054 2.539 0 0 0 65 14 SoapBottle -0.295 0.054 2.674 0 0 0 65 15 SaltShaker -0.482 0.818 0.500 0 0 0 45 16 SaltShaker -2.637 1.430 0.310 0 225 0 51 17 Apple -1.967 0.775 0.295 0 0 0 72 18 Fork -2.724 0.824 0.352 0 0 0 45 19 Ladle -2.000 0.169 0.401 0 0 0 57 20 Pan -0.244 0.829 2.075 0 180 0 40 21 SoapBottle -1.407 0.123 0.440 0 0 0 58 22 Pot -0.531 0.822 2.096 0 0 0 42 23 Tomato -2.837 1.193 2.045 0 90 0 63 24 Potato -2.890 0.862 0.462 0 90 0 45 25 SaltShaker -2.881 1.430 0.674 0 0 0 54 26 Plate -2.671 1.148 2.221 0 90 0 63 27 Spatula -0.341 0.696 1.194 0 45 0 41 28 Knife -2.375 0.849 0.500 0 0 0 45 29 Egg -1.801 0.721 0.295 0 0 0 72 30 Cup -2.726 0.825 2.309 0 90 0 63 31 ButterKnife -2.658 0.823 0.789 0 0 0 45 32 Lettuce -2.726 1.529 2.045 0 90 0 63 33 PepperShaker -0.092 0.818 1.326 0 0 0 45 34 DishSponge -2.608 0.823 0.426 0 0 0 45 35 Bread -0.979 0.855 0.249 0 29.999 0 45 36 Spoon -1.876 0.824 0.539 0 0 0 45 37 Mug -2.671 1.138 1.957 0 90 0 63 38 Bowl -0.397 0.115 0.914 0 0 0 61 39 Cabinet -2.377 2.015 1.720 0 0 0 40 StoveBurner -0.244 0.820 2.075 0 180 0 41 Drawer -0.402 0.703 1.252 0 0 0 42 StoveBurner -0.518 0.820 2.075 0 180 0 43 Sink -1.838 0.726 0.343 0 180 0 44 StoveBurner -0.244 0.820 1.684 0 0 0 45 CounterTop -1.557 0.859 0.277 0 0 0 46 StoveBurner -0.518 0.820 1.684 0 0 0 47 Drawer -0.404 0.704 0.912 0 0 0 48 Drawer -0.861 0.709 0.420 0 0 0 49 Drawer -1.133 0.706 0.418 0 0 0 50 Drawer -2.589 0.703 1.511 0 0 0 51 Cabinet -2.772 1.803 0.508 0 0 0 52 Cabinet -2.460 1.803 0.231 0 0 0 53 Cabinet -2.781 1.798 0.825 0 0 0 54 Cabinet -2.781 1.798 0.815 0 0 0 55 Cabinet -2.377 2.009 2.581 0 0 0 56 Cabinet -2.442 0.385 1.672 0 0 0 57 Cabinet -2.238 0.385 0.564 0 0 0 58 Cabinet -1.286 0.385 0.564 0 0 0 59 Cabinet -1.262 0.385 0.565 0 0 0 60 Cabinet -0.734 0.385 0.565 0 0 0 61 Cabinet -0.549 0.385 0.751 0 0 0 62 Cabinet -0.549 0.385 1.412 0 0 0 63 Fridge -2.782 0.0 2.221 0 0 0 64 Microwave -2.794 0.812 1.348 0 90 0 65 GarbageCan -0.329 2.205 2.606 0 0 0 66 StoveKnob -0.069 0.998 1.773 0 180 107.470 67 StoveKnob -0.069 0.998 1.613 0 180 107.470 68 StoveKnob -0.069 0.998 2.171 0 180 107.470 69 StoveKnob -0.069 0.998 2.024 0 180 107.470 70 Window -1.720 1.342 -0.208 90 0 0 71 Toaster -0.171 0.812 0.735 0 270 0 72 SinkBasin -1.745 0.687 0.295 0 0 0 73 CoffeeMachine -0.539 0.812 0.185 0 0 0 74 LightSwitch -0.615 1.378 3.0 0 180 0 75 Faucet -1.686 0.954 0.176 0 236.223 0 76 Stool -1.008 0.008 1.955 0 18.279 0 77 NorthWall 78 EastWall 79 SouthWall 80 WestWall
[ "STEP 1: Walk forward to the sink and stop. | STEP 2: Pick up the apple from the sink. | STEP 3: Turn around, take one step and turn left to face the microwave. | STEP 4: Open the microwave door, put the apple inside on the left side of the black plate, turn on the microwave for a a few seconds, open the door and take out the cooked apple, then shut the microwave door. | STEP 5: Turn right and take four steps, turn left to face the refrigerator. | STEP 6: Open the fridge and place the apple on the second shelf to the left of the green goblet. | END" ]
[ [ "STEP 1: Walk forward to the sink and stop. ", " STEP 2: Pick up the apple from the sink. ", " STEP 3: Turn around, take one step and turn left to face the microwave. ", " STEP 4: Open the microwave door, put the apple inside on the left side of the black plate, turn on the microwave for a a few seconds, open the door and take out the cooked apple, then shut the microwave door. ", " STEP 5: Turn right and take four steps, turn left to face the refrigerator. ", " STEP 6: Open the fridge and place the apple on the second shelf to the left of the green goblet. ", " END" ] ]
seen
trial_T20190908_051008_166025-2
Put a heated apple in the fridge.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -2.0 0.900 2.25 0 180 0 1 DishSponge -2.882 1.434 1.049 0 0 0 53 2 DishSponge -2.735 0.823 0.953 0 0 0 45 3 ButterKnife -1.151 0.823 0.426 0 0 0 45 4 ButterKnife -1.709 0.823 0.549 0 0 0 45 5 Fork -0.330 0.697 0.949 0 270 0 47 6 Spoon -0.860 0.712 0.378 0 90 0 48 7 Cup -2.579 1.849 2.316 0 0 0 55 8 Cup -2.741 1.435 0.140 0 45 0 51 9 Plate -2.569 0.126 1.550 0 0 0 56 10 Plate -1.580 0.130 0.401 0 0 0 58 11 Knife -0.169 0.849 1.103 0 0 0 45 12 Tomato -0.395 0.106 2.539 0 0 0 65 13 SoapBottle -0.262 0.054 2.539 0 0 0 65 14 SoapBottle -0.295 0.054 2.674 0 0 0 65 15 SaltShaker -0.482 0.818 0.500 0 0 0 45 16 SaltShaker -2.637 1.430 0.310 0 225 0 51 17 Apple -1.967 0.775 0.295 0 0 0 72 18 Fork -2.724 0.824 0.352 0 0 0 45 19 Ladle -2.000 0.169 0.401 0 0 0 57 20 Pan -0.244 0.829 2.075 0 180 0 40 21 SoapBottle -1.407 0.123 0.440 0 0 0 58 22 Pot -0.531 0.822 2.096 0 0 0 42 23 Tomato -2.837 1.193 2.045 0 90 0 63 24 Potato -2.890 0.862 0.462 0 90 0 45 25 SaltShaker -2.881 1.430 0.674 0 0 0 54 26 Plate -2.671 1.148 2.221 0 90 0 63 27 Spatula -0.341 0.696 1.194 0 45 0 41 28 Knife -2.375 0.849 0.500 0 0 0 45 29 Egg -1.801 0.721 0.295 0 0 0 72 30 Cup -2.726 0.825 2.309 0 90 0 63 31 ButterKnife -2.658 0.823 0.789 0 0 0 45 32 Lettuce -2.726 1.529 2.045 0 90 0 63 33 PepperShaker -0.092 0.818 1.326 0 0 0 45 34 DishSponge -2.608 0.823 0.426 0 0 0 45 35 Bread -0.979 0.855 0.249 0 29.999 0 45 36 Spoon -1.876 0.824 0.539 0 0 0 45 37 Mug -2.671 1.138 1.957 0 90 0 63 38 Bowl -0.397 0.115 0.914 0 0 0 61 39 Cabinet -2.377 2.015 1.720 0 0 0 40 StoveBurner -0.244 0.820 2.075 0 180 0 41 Drawer -0.402 0.703 1.252 0 0 0 42 StoveBurner -0.518 0.820 2.075 0 180 0 43 Sink -1.838 0.726 0.343 0 180 0 44 StoveBurner -0.244 0.820 1.684 0 0 0 45 CounterTop -1.557 0.859 0.277 0 0 0 46 StoveBurner -0.518 0.820 1.684 0 0 0 47 Drawer -0.404 0.704 0.912 0 0 0 48 Drawer -0.861 0.709 0.420 0 0 0 49 Drawer -1.133 0.706 0.418 0 0 0 50 Drawer -2.589 0.703 1.511 0 0 0 51 Cabinet -2.772 1.803 0.508 0 0 0 52 Cabinet -2.460 1.803 0.231 0 0 0 53 Cabinet -2.781 1.798 0.825 0 0 0 54 Cabinet -2.781 1.798 0.815 0 0 0 55 Cabinet -2.377 2.009 2.581 0 0 0 56 Cabinet -2.442 0.385 1.672 0 0 0 57 Cabinet -2.238 0.385 0.564 0 0 0 58 Cabinet -1.286 0.385 0.564 0 0 0 59 Cabinet -1.262 0.385 0.565 0 0 0 60 Cabinet -0.734 0.385 0.565 0 0 0 61 Cabinet -0.549 0.385 0.751 0 0 0 62 Cabinet -0.549 0.385 1.412 0 0 0 63 Fridge -2.782 0.0 2.221 0 0 0 64 Microwave -2.794 0.812 1.348 0 90 0 65 GarbageCan -0.329 2.205 2.606 0 0 0 66 StoveKnob -0.069 0.998 1.773 0 180 107.470 67 StoveKnob -0.069 0.998 1.613 0 180 107.470 68 StoveKnob -0.069 0.998 2.171 0 180 107.470 69 StoveKnob -0.069 0.998 2.024 0 180 107.470 70 Window -1.720 1.342 -0.208 90 0 0 71 Toaster -0.171 0.812 0.735 0 270 0 72 SinkBasin -1.745 0.687 0.295 0 0 0 73 CoffeeMachine -0.539 0.812 0.185 0 0 0 74 LightSwitch -0.615 1.378 3.0 0 180 0 75 Faucet -1.686 0.954 0.176 0 236.223 0 76 Stool -1.008 0.008 1.955 0 18.279 0 77 NorthWall 78 EastWall 79 SouthWall 80 WestWall
[ "STEP 1: Go forward and stand to face the sink with the apple in it. | STEP 2: Pick the apple up out of the sink. | STEP 3: Turn to the right and face the microwave. | STEP 4: Put the apple in and shut the door and then open the door and take the apple out and shut the door again. | STEP 5: Move to the right and stand to face the fridge. | STEP 6: Put the apple in the fridge and shut the door. | END" ]
[ [ "STEP 1: Go forward and stand to face the sink with the apple in it. ", " STEP 2: Pick the apple up out of the sink. ", " STEP 3: Turn to the right and face the microwave. ", " STEP 4: Put the apple in and shut the door and then open the door and take the apple out and shut the door again. ", " STEP 5: Move to the right and stand to face the fridge. ", " STEP 6: Put the apple in the fridge and shut the door. ", " END" ] ]
seen
trial_T20190907_152834_016179-0
place the toilet paper roll roller in the toilet paper roll holder
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " -0.5", " 0.901", " 2.75", " 0", " 270", " 0", "" ], [ "1", " Cloth", " 0.334", " 0.215", " 2.236", " 0", " 0", " 0", " 20" ], [ "2", " Cloth", " 0.389", " 0.824", " 2.325", " 0", " 0", " 0", " 27" ], [ "3", " SoapBar", " 0.447", " 0.207", " 3.803", " 0", " 0", " 0", " 35" ], [ "4", " Candle", " 0.588", " 0.821", " 3.184", " 0", " 0", " 0", " 27" ], [ "5", " HandTowel", " 0.634", " 1.512", " 1.892", " 0", " 90", " 0", " 37" ], [ "6", " ToiletPaper", " 0.655", " 1.041", " 1.533", " 0", " 270", " 0", " 39" ], [ "7", " ToiletPaper", " 0.521", " 0.816", " 2.161", " 0", " 0", " 0", " 27" ], [ "8", " SoapBottle", " 0.593", " 1.052", " 1.270", " 0", " 270", " 0", " 39" ], [ "9", " HandTowel", " 0.634", " 1.512", " 3.564", " 0", " 90", " 0", " 38" ], [ "10", " Towel", " 0.609", " 1.376", " 0.583", " 0", " 270", " 0", " 31" ], [ "11", " SoapBar", " 0.566", " 0.207", " 3.824", " 0", " 0", " 0", " 35" ], [ "12", " ToiletPaper", " 0.334", " 0.207", " 2.979", " 0", " 0", " 0", " 29" ], [ "13", " ToiletPaper", " 0.390", " 0.208", " 3.271", " 0", " 0", " 0", " 29" ], [ "14", " Candle", " 0.389", " 0.821", " 2.106", " 0", " 0", " 0", " 27" ], [ "15", " ScrubBrush", " 0.553", " 0.000", " 1.725", " 0", " 0", " 0", "" ], [ "16", " Cloth", " 0.558", " 0.215", " 2.527", " 0", " 0", " 0", " 20" ], [ "17", " Plunger", " 0.594", " -0.000", " 1.898", " 0", " 0", " 0", "" ], [ "18", " SprayBottle", " 0.588", " 0.820", " 3.403", " 0", " 0", " 0", " 27" ], [ "19", " Drawer", " 0.443", " 0.624", " 3.310", " 0", " 0", " 0", "" ], [ "20", " Drawer", " 0.443", " 0.323", " 2.194", " 0", " 0", " 0", "" ], [ "21", " ShowerDoor", " -0.923", " 1.032", " 1.155", " 0", " 0", " 0", "" ], [ "22", " Sink", " 0.495", " 0.661", " 2.756", " 0", " 270", " 0", "" ], [ "23", " Drawer", " 0.443", " 0.624", " 2.193", " 0", " 0", " 0", "" ], [ "24", " Faucet", " 0.717", " 0.982", " 2.756", " 0", " 0", " 0", "" ], [ "25", " Mirror", " 0.629", " 1.532", " 2.697", " 0", " 0", " 0", "" ], [ "26", " ShowerGlass", " -0.152", " 1.266", " 1.156", " 0", " 0", " 0", "" ], [ "27", " CounterTop", " 0.458", " 0.789", " 2.759", " 0", " 0", " 0", "" ], [ "28", " Drawer", " 0.443", " 0.323", " 2.566", " 0", " 0", " 0", "" ], [ "29", " Drawer", " 0.443", " 0.323", " 2.937", " 0", " 0", " 0", "" ], [ "30", " Drawer", " 0.443", " 0.323", " 3.310", " 0", " 0", " 0", "" ], [ "31", " TowelHolder", " 0.716", " 1.361", " 0.583", " 0", " 270", " 0", "" ], [ "32", " TowelHolder", " -0.442", " 1.361", " 1.175", " 0", " 0", " 0", "" ], [ "33", " LightSwitch", " -1.749", " 1.429", " 3.325", " 0", " 90", " 0", "" ], [ "34", " ToiletPaperHanger", " 0.376", " 0.648", " 2.009", " 0", " 180", " 0", "" ], [ "35", " GarbageCan", " 0.412", " -0.029", " 3.728", " 0", " 0", " 0", "" ], [ "36", " SinkBasin", " 0.440", " 0.667", " 2.746", " 0", " 270", " 0", "" ], [ "37", " HandTowelHolder", " 0.673", " 1.613", " 1.891", " 0", " 180", " 0", "" ], [ "38", " HandTowelHolder", " 0.673", " 1.613", " 3.563", " 0", " 180", " 0", "" ], [ "39", " Toilet", " 0.270", " 0.000", " 1.463", " 0", " 0", " 0", "" ], [ "40", " ShowerHead", " -1.705", " 1.894", " 0.587", " 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 0.901 2.75 0 270 0 1 Cloth 0.334 0.215 2.236 0 0 0 20 2 Cloth 0.389 0.824 2.325 0 0 0 27 3 SoapBar 0.447 0.207 3.803 0 0 0 35 4 Candle 0.588 0.821 3.184 0 0 0 27 5 HandTowel 0.634 1.512 1.892 0 90 0 37 6 ToiletPaper 0.655 1.041 1.533 0 270 0 39 7 ToiletPaper 0.521 0.816 2.161 0 0 0 27 8 SoapBottle 0.593 1.052 1.270 0 270 0 39 9 HandTowel 0.634 1.512 3.564 0 90 0 38 10 Towel 0.609 1.376 0.583 0 270 0 31 11 SoapBar 0.566 0.207 3.824 0 0 0 35 12 ToiletPaper 0.334 0.207 2.979 0 0 0 29 13 ToiletPaper 0.390 0.208 3.271 0 0 0 29 14 Candle 0.389 0.821 2.106 0 0 0 27 15 ScrubBrush 0.553 0.000 1.725 0 0 0 16 Cloth 0.558 0.215 2.527 0 0 0 20 17 Plunger 0.594 -0.000 1.898 0 0 0 18 SprayBottle 0.588 0.820 3.403 0 0 0 27 19 Drawer 0.443 0.624 3.310 0 0 0 20 Drawer 0.443 0.323 2.194 0 0 0 21 ShowerDoor -0.923 1.032 1.155 0 0 0 22 Sink 0.495 0.661 2.756 0 270 0 23 Drawer 0.443 0.624 2.193 0 0 0 24 Faucet 0.717 0.982 2.756 0 0 0 25 Mirror 0.629 1.532 2.697 0 0 0 26 ShowerGlass -0.152 1.266 1.156 0 0 0 27 CounterTop 0.458 0.789 2.759 0 0 0 28 Drawer 0.443 0.323 2.566 0 0 0 29 Drawer 0.443 0.323 2.937 0 0 0 30 Drawer 0.443 0.323 3.310 0 0 0 31 TowelHolder 0.716 1.361 0.583 0 270 0 32 TowelHolder -0.442 1.361 1.175 0 0 0 33 LightSwitch -1.749 1.429 3.325 0 90 0 34 ToiletPaperHanger 0.376 0.648 2.009 0 180 0 35 GarbageCan 0.412 -0.029 3.728 0 0 0 36 SinkBasin 0.440 0.667 2.746 0 270 0 37 HandTowelHolder 0.673 1.613 1.891 0 180 0 38 HandTowelHolder 0.673 1.613 3.563 0 180 0 39 Toilet 0.270 0.000 1.463 0 0 0 40 ShowerHead -1.705 1.894 0.587 0 270 0 41 NorthWall 42 EastWall 43 SouthWall 44 WestWall
[ "STEP 1: turn left and walk forwards a bit, then hang a left to face the right side of the bathroom cabinet counter | STEP 2: grab the toilet paper roll roller off of the counter top | STEP 3: move to the right a bit and then face the toilet paper bar on the right side of the bathroom cabinet | STEP 4: place the toilet paper roll roller on the toilet paper roll holder | END" ]
[ [ "STEP 1: turn left and walk forwards a bit, then hang a left to face the right side of the bathroom cabinet counter ", " STEP 2: grab the toilet paper roll roller off of the counter top ", " STEP 3: move to the right a bit and then face the toilet paper bar on the right side of the bathroom cabinet ", " STEP 4: place the toilet paper roll roller on the toilet paper roll holder ", " END" ] ]
seen
trial_T20190907_152834_016179-1
Place an empty roll of toilet paper on a toilet paper holder.
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " -0.5", " 0.901", " 2.75", " 0", " 270", " 0", "" ], [ "1", " Cloth", " 0.334", " 0.215", " 2.236", " 0", " 0", " 0", " 20" ], [ "2", " Cloth", " 0.389", " 0.824", " 2.325", " 0", " 0", " 0", " 27" ], [ "3", " SoapBar", " 0.447", " 0.207", " 3.803", " 0", " 0", " 0", " 35" ], [ "4", " Candle", " 0.588", " 0.821", " 3.184", " 0", " 0", " 0", " 27" ], [ "5", " HandTowel", " 0.634", " 1.512", " 1.892", " 0", " 90", " 0", " 37" ], [ "6", " ToiletPaper", " 0.655", " 1.041", " 1.533", " 0", " 270", " 0", " 39" ], [ "7", " ToiletPaper", " 0.521", " 0.816", " 2.161", " 0", " 0", " 0", " 27" ], [ "8", " SoapBottle", " 0.593", " 1.052", " 1.270", " 0", " 270", " 0", " 39" ], [ "9", " HandTowel", " 0.634", " 1.512", " 3.564", " 0", " 90", " 0", " 38" ], [ "10", " Towel", " 0.609", " 1.376", " 0.583", " 0", " 270", " 0", " 31" ], [ "11", " SoapBar", " 0.566", " 0.207", " 3.824", " 0", " 0", " 0", " 35" ], [ "12", " ToiletPaper", " 0.334", " 0.207", " 2.979", " 0", " 0", " 0", " 29" ], [ "13", " ToiletPaper", " 0.390", " 0.208", " 3.271", " 0", " 0", " 0", " 29" ], [ "14", " Candle", " 0.389", " 0.821", " 2.106", " 0", " 0", " 0", " 27" ], [ "15", " ScrubBrush", " 0.553", " 0.000", " 1.725", " 0", " 0", " 0", "" ], [ "16", " Cloth", " 0.558", " 0.215", " 2.527", " 0", " 0", " 0", " 20" ], [ "17", " Plunger", " 0.594", " -0.000", " 1.898", " 0", " 0", " 0", "" ], [ "18", " SprayBottle", " 0.588", " 0.820", " 3.403", " 0", " 0", " 0", " 27" ], [ "19", " Drawer", " 0.443", " 0.624", " 3.310", " 0", " 0", " 0", "" ], [ "20", " Drawer", " 0.443", " 0.323", " 2.194", " 0", " 0", " 0", "" ], [ "21", " ShowerDoor", " -0.923", " 1.032", " 1.155", " 0", " 0", " 0", "" ], [ "22", " Sink", " 0.495", " 0.661", " 2.756", " 0", " 270", " 0", "" ], [ "23", " Drawer", " 0.443", " 0.624", " 2.193", " 0", " 0", " 0", "" ], [ "24", " Faucet", " 0.717", " 0.982", " 2.756", " 0", " 0", " 0", "" ], [ "25", " Mirror", " 0.629", " 1.532", " 2.697", " 0", " 0", " 0", "" ], [ "26", " ShowerGlass", " -0.152", " 1.266", " 1.156", " 0", " 0", " 0", "" ], [ "27", " CounterTop", " 0.458", " 0.789", " 2.759", " 0", " 0", " 0", "" ], [ "28", " Drawer", " 0.443", " 0.323", " 2.566", " 0", " 0", " 0", "" ], [ "29", " Drawer", " 0.443", " 0.323", " 2.937", " 0", " 0", " 0", "" ], [ "30", " Drawer", " 0.443", " 0.323", " 3.310", " 0", " 0", " 0", "" ], [ "31", " TowelHolder", " 0.716", " 1.361", " 0.583", " 0", " 270", " 0", "" ], [ "32", " TowelHolder", " -0.442", " 1.361", " 1.175", " 0", " 0", " 0", "" ], [ "33", " LightSwitch", " -1.749", " 1.429", " 3.325", " 0", " 90", " 0", "" ], [ "34", " ToiletPaperHanger", " 0.376", " 0.648", " 2.009", " 0", " 180", " 0", "" ], [ "35", " GarbageCan", " 0.412", " -0.029", " 3.728", " 0", " 0", " 0", "" ], [ "36", " SinkBasin", " 0.440", " 0.667", " 2.746", " 0", " 270", " 0", "" ], [ "37", " HandTowelHolder", " 0.673", " 1.613", " 1.891", " 0", " 180", " 0", "" ], [ "38", " HandTowelHolder", " 0.673", " 1.613", " 3.563", " 0", " 180", " 0", "" ], [ "39", " Toilet", " 0.270", " 0.000", " 1.463", " 0", " 0", " 0", "" ], [ "40", " ShowerHead", " -1.705", " 1.894", " 0.587", " 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 0.901 2.75 0 270 0 1 Cloth 0.334 0.215 2.236 0 0 0 20 2 Cloth 0.389 0.824 2.325 0 0 0 27 3 SoapBar 0.447 0.207 3.803 0 0 0 35 4 Candle 0.588 0.821 3.184 0 0 0 27 5 HandTowel 0.634 1.512 1.892 0 90 0 37 6 ToiletPaper 0.655 1.041 1.533 0 270 0 39 7 ToiletPaper 0.521 0.816 2.161 0 0 0 27 8 SoapBottle 0.593 1.052 1.270 0 270 0 39 9 HandTowel 0.634 1.512 3.564 0 90 0 38 10 Towel 0.609 1.376 0.583 0 270 0 31 11 SoapBar 0.566 0.207 3.824 0 0 0 35 12 ToiletPaper 0.334 0.207 2.979 0 0 0 29 13 ToiletPaper 0.390 0.208 3.271 0 0 0 29 14 Candle 0.389 0.821 2.106 0 0 0 27 15 ScrubBrush 0.553 0.000 1.725 0 0 0 16 Cloth 0.558 0.215 2.527 0 0 0 20 17 Plunger 0.594 -0.000 1.898 0 0 0 18 SprayBottle 0.588 0.820 3.403 0 0 0 27 19 Drawer 0.443 0.624 3.310 0 0 0 20 Drawer 0.443 0.323 2.194 0 0 0 21 ShowerDoor -0.923 1.032 1.155 0 0 0 22 Sink 0.495 0.661 2.756 0 270 0 23 Drawer 0.443 0.624 2.193 0 0 0 24 Faucet 0.717 0.982 2.756 0 0 0 25 Mirror 0.629 1.532 2.697 0 0 0 26 ShowerGlass -0.152 1.266 1.156 0 0 0 27 CounterTop 0.458 0.789 2.759 0 0 0 28 Drawer 0.443 0.323 2.566 0 0 0 29 Drawer 0.443 0.323 2.937 0 0 0 30 Drawer 0.443 0.323 3.310 0 0 0 31 TowelHolder 0.716 1.361 0.583 0 270 0 32 TowelHolder -0.442 1.361 1.175 0 0 0 33 LightSwitch -1.749 1.429 3.325 0 90 0 34 ToiletPaperHanger 0.376 0.648 2.009 0 180 0 35 GarbageCan 0.412 -0.029 3.728 0 0 0 36 SinkBasin 0.440 0.667 2.746 0 270 0 37 HandTowelHolder 0.673 1.613 1.891 0 180 0 38 HandTowelHolder 0.673 1.613 3.563 0 180 0 39 Toilet 0.270 0.000 1.463 0 0 0 40 ShowerHead -1.705 1.894 0.587 0 270 0 41 NorthWall 42 EastWall 43 SouthWall 44 WestWall
[ "STEP 1: Turn around and walk to the sink. | STEP 2: Pick up the empty roll of toilet paper from the counter. | STEP 3: Walk slightly to the right to the empty toilet paper holder. | STEP 4: Place the empty roll of toilet paper on the toilet paper holder. | END" ]
[ [ "STEP 1: Turn around and walk to the sink. ", " STEP 2: Pick up the empty roll of toilet paper from the counter. ", " STEP 3: Walk slightly to the right to the empty toilet paper holder. ", " STEP 4: Place the empty roll of toilet paper on the toilet paper holder. ", " END" ] ]
seen
trial_T20190907_152834_016179-2
To put an empty toilet paper roll onto a plunger.
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " -0.5", " 0.901", " 2.75", " 0", " 270", " 0", "" ], [ "1", " Cloth", " 0.334", " 0.215", " 2.236", " 0", " 0", " 0", " 20" ], [ "2", " Cloth", " 0.389", " 0.824", " 2.325", " 0", " 0", " 0", " 27" ], [ "3", " SoapBar", " 0.447", " 0.207", " 3.803", " 0", " 0", " 0", " 35" ], [ "4", " Candle", " 0.588", " 0.821", " 3.184", " 0", " 0", " 0", " 27" ], [ "5", " HandTowel", " 0.634", " 1.512", " 1.892", " 0", " 90", " 0", " 37" ], [ "6", " ToiletPaper", " 0.655", " 1.041", " 1.533", " 0", " 270", " 0", " 39" ], [ "7", " ToiletPaper", " 0.521", " 0.816", " 2.161", " 0", " 0", " 0", " 27" ], [ "8", " SoapBottle", " 0.593", " 1.052", " 1.270", " 0", " 270", " 0", " 39" ], [ "9", " HandTowel", " 0.634", " 1.512", " 3.564", " 0", " 90", " 0", " 38" ], [ "10", " Towel", " 0.609", " 1.376", " 0.583", " 0", " 270", " 0", " 31" ], [ "11", " SoapBar", " 0.566", " 0.207", " 3.824", " 0", " 0", " 0", " 35" ], [ "12", " ToiletPaper", " 0.334", " 0.207", " 2.979", " 0", " 0", " 0", " 29" ], [ "13", " ToiletPaper", " 0.390", " 0.208", " 3.271", " 0", " 0", " 0", " 29" ], [ "14", " Candle", " 0.389", " 0.821", " 2.106", " 0", " 0", " 0", " 27" ], [ "15", " ScrubBrush", " 0.553", " 0.000", " 1.725", " 0", " 0", " 0", "" ], [ "16", " Cloth", " 0.558", " 0.215", " 2.527", " 0", " 0", " 0", " 20" ], [ "17", " Plunger", " 0.594", " -0.000", " 1.898", " 0", " 0", " 0", "" ], [ "18", " SprayBottle", " 0.588", " 0.820", " 3.403", " 0", " 0", " 0", " 27" ], [ "19", " Drawer", " 0.443", " 0.624", " 3.310", " 0", " 0", " 0", "" ], [ "20", " Drawer", " 0.443", " 0.323", " 2.194", " 0", " 0", " 0", "" ], [ "21", " ShowerDoor", " -0.923", " 1.032", " 1.155", " 0", " 0", " 0", "" ], [ "22", " Sink", " 0.495", " 0.661", " 2.756", " 0", " 270", " 0", "" ], [ "23", " Drawer", " 0.443", " 0.624", " 2.193", " 0", " 0", " 0", "" ], [ "24", " Faucet", " 0.717", " 0.982", " 2.756", " 0", " 0", " 0", "" ], [ "25", " Mirror", " 0.629", " 1.532", " 2.697", " 0", " 0", " 0", "" ], [ "26", " ShowerGlass", " -0.152", " 1.266", " 1.156", " 0", " 0", " 0", "" ], [ "27", " CounterTop", " 0.458", " 0.789", " 2.759", " 0", " 0", " 0", "" ], [ "28", " Drawer", " 0.443", " 0.323", " 2.566", " 0", " 0", " 0", "" ], [ "29", " Drawer", " 0.443", " 0.323", " 2.937", " 0", " 0", " 0", "" ], [ "30", " Drawer", " 0.443", " 0.323", " 3.310", " 0", " 0", " 0", "" ], [ "31", " TowelHolder", " 0.716", " 1.361", " 0.583", " 0", " 270", " 0", "" ], [ "32", " TowelHolder", " -0.442", " 1.361", " 1.175", " 0", " 0", " 0", "" ], [ "33", " LightSwitch", " -1.749", " 1.429", " 3.325", " 0", " 90", " 0", "" ], [ "34", " ToiletPaperHanger", " 0.376", " 0.648", " 2.009", " 0", " 180", " 0", "" ], [ "35", " GarbageCan", " 0.412", " -0.029", " 3.728", " 0", " 0", " 0", "" ], [ "36", " SinkBasin", " 0.440", " 0.667", " 2.746", " 0", " 270", " 0", "" ], [ "37", " HandTowelHolder", " 0.673", " 1.613", " 1.891", " 0", " 180", " 0", "" ], [ "38", " HandTowelHolder", " 0.673", " 1.613", " 3.563", " 0", " 180", " 0", "" ], [ "39", " Toilet", " 0.270", " 0.000", " 1.463", " 0", " 0", " 0", "" ], [ "40", " ShowerHead", " -1.705", " 1.894", " 0.587", " 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 0.901 2.75 0 270 0 1 Cloth 0.334 0.215 2.236 0 0 0 20 2 Cloth 0.389 0.824 2.325 0 0 0 27 3 SoapBar 0.447 0.207 3.803 0 0 0 35 4 Candle 0.588 0.821 3.184 0 0 0 27 5 HandTowel 0.634 1.512 1.892 0 90 0 37 6 ToiletPaper 0.655 1.041 1.533 0 270 0 39 7 ToiletPaper 0.521 0.816 2.161 0 0 0 27 8 SoapBottle 0.593 1.052 1.270 0 270 0 39 9 HandTowel 0.634 1.512 3.564 0 90 0 38 10 Towel 0.609 1.376 0.583 0 270 0 31 11 SoapBar 0.566 0.207 3.824 0 0 0 35 12 ToiletPaper 0.334 0.207 2.979 0 0 0 29 13 ToiletPaper 0.390 0.208 3.271 0 0 0 29 14 Candle 0.389 0.821 2.106 0 0 0 27 15 ScrubBrush 0.553 0.000 1.725 0 0 0 16 Cloth 0.558 0.215 2.527 0 0 0 20 17 Plunger 0.594 -0.000 1.898 0 0 0 18 SprayBottle 0.588 0.820 3.403 0 0 0 27 19 Drawer 0.443 0.624 3.310 0 0 0 20 Drawer 0.443 0.323 2.194 0 0 0 21 ShowerDoor -0.923 1.032 1.155 0 0 0 22 Sink 0.495 0.661 2.756 0 270 0 23 Drawer 0.443 0.624 2.193 0 0 0 24 Faucet 0.717 0.982 2.756 0 0 0 25 Mirror 0.629 1.532 2.697 0 0 0 26 ShowerGlass -0.152 1.266 1.156 0 0 0 27 CounterTop 0.458 0.789 2.759 0 0 0 28 Drawer 0.443 0.323 2.566 0 0 0 29 Drawer 0.443 0.323 2.937 0 0 0 30 Drawer 0.443 0.323 3.310 0 0 0 31 TowelHolder 0.716 1.361 0.583 0 270 0 32 TowelHolder -0.442 1.361 1.175 0 0 0 33 LightSwitch -1.749 1.429 3.325 0 90 0 34 ToiletPaperHanger 0.376 0.648 2.009 0 180 0 35 GarbageCan 0.412 -0.029 3.728 0 0 0 36 SinkBasin 0.440 0.667 2.746 0 270 0 37 HandTowelHolder 0.673 1.613 1.891 0 180 0 38 HandTowelHolder 0.673 1.613 3.563 0 180 0 39 Toilet 0.270 0.000 1.463 0 0 0 40 ShowerHead -1.705 1.894 0.587 0 270 0 41 NorthWall 42 EastWall 43 SouthWall 44 WestWall
[ "STEP 1: Turn around to face the sink. | STEP 2: Pick up the empty toilet paper roll on the sink. | STEP 3: Take a step to the right and look down to focus on the plunger to the right of the sink. | STEP 4: Place the empty toilet paper roll on the plunger. | END" ]
[ [ "STEP 1: Turn around to face the sink. ", " STEP 2: Pick up the empty toilet paper roll on the sink. ", " STEP 3: Take a step to the right and look down to focus on the plunger to the right of the sink. ", " STEP 4: Place the empty toilet paper roll on the plunger. ", " END" ] ]
seen
trial_T20190909_085833_355057-0
Place a kettle on a stove.
[ [ "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", " 270", " 0", "" ], [ "1", " Potato", " -0.002", " 0.784", " -1.546", " 0", " 0", " 0", " 94" ], [ "2", " CellPhone", " 1.603", " 0.581", " -0.092", " 0", " 270", " 0", " 55" ], [ "3", " CellPhone", " 1.662", " 0.139", " 1.284", " 0", " 0", " 0", " 79" ], [ "4", " Ladle", " -0.213", " 0.969", " 0.506", " 0", " 0", " 0", " 78" ], [ "5", " Ladle", " 0.194", " 0.157", " -1.471", " 0", " 0", " 0", " 59" ], [ "6", " DishSponge", " 1.610", " 0.349", " -0.157", " 0", " 0", " 0", " 66" ], [ "7", " ButterKnife", " -1.814", " 0.911", " -0.964", " 0", " 0", " 0", " 70" ], [ "8", " ButterKnife", " 0.107", " 0.925", " -0.190", " 0", " 0", " 0", " 78" ], [ "9", " Fork", " 1.812", " 0.545", " 1.350", " 0", " 270", " 0", " 68" ], [ "10", " Fork", " 1.640", " 0.912", " 1.107", " 0", " 0", " 0", " 70" ], [ "11", " Spoon", " 1.714", " 0.763", " 1.001", " 0", " 0", " 0", " 76" ], [ "12", " Pot", " 1.975", " 0.938", " 0.601", " 0", " 180", " 0", " 65" ], [ "13", " Pot", " -1.668", " 0.915", " -1.610", " 0", " 0", " 0", " 70" ], [ "14", " Egg", " 1.924", " 1.063", " -0.756", " 0", " 270", " 0", " 91" ], [ "15", " Egg", " -1.663", " 0.620", " 0.201", " 0", " 90", " 0", " 93" ], [ "16", " Plate", " -1.841", " 1.660", " -1.056", " 0", " 90", " 0", " 57" ], [ "17", " Plate", " 0.000", " 0.924", " 0.041", " 0", " 0", " 0", " 78" ], [ "18", " Knife", " 1.562", " 0.567", " 1.219", " 0", " 90", " 0", " 68" ], [ "19", " SoapBottle", " -0.361", " 0.118", " -1.534", " 0", " 0", " 0", " 49" ], [ "20", " Tomato", " -1.050", " 0.966", " -1.513", " 0", " 0", " 0", " 70" ], [ "21", " Tomato", " 0.107", " 0.980", " 0.506", " 0", " 0", " 0", " 78" ], [ "22", " SaltShaker", " 0.107", " 0.921", " 0.738", " 0", " 0", " 0", " 78" ], [ "23", " PepperShaker", " 1.612", " 0.221", " 1.153", " 0", " 0", " 0", " 79" ], [ "24", " PepperShaker", " 0.801", " 0.667", " -1.270", " 0", " 0", " 0", " 51" ], [ "25", " SoapBottle", " 1.802", " 0.915", " -1.610", " 0", " 0", " 0", " 70" ], [ "26", " Cup", " 2.020", " 1.004", " -0.651", " 0", " 270", " 0", " 91" ], [ "27", " Pot", " 1.962", " 1.663", " -1.129", " 0", " 270", " 0", " 58" ], [ "28", " Fork", " 1.559", " 0.470", " 0.116", " 0", " 270", " 0", " 55" ], [ "29", " Ladle", " -0.867", " 1.724", " -1.614", " 0", " 0", " 0", " 72" ], [ "30", " Kettle", " -0.320", " 0.926", " -0.190", " 0", " 0", " 0", " 78" ], [ "31", " Egg", " 1.892", " 1.063", " -0.599", " 0", " 270", " 0", " 91" ], [ "32", " Plate", " 0.170", " 0.759", " -1.435", " 0", " 0", " 0", " 94" ], [ "33", " Pan", " 0.889", " 0.911", " -1.513", " 0", " 0", " 0", " 70" ], [ "34", " Lettuce", " -0.320", " 1.002", " 0.273", " 0", " 0", " 0", " 78" ], [ "35", " Spatula", " 0.107", " 0.940", " 0.273", " 0", " 180", " 0", " 78" ], [ "36", " Apple", " 0.661", " 0.964", " -1.415", " 0", " 0", " 0", " 70" ], [ "37", " Knife", " -0.106", " 0.947", " 0.738", " 0", " 0", " 0", " 78" ], [ "38", " SaltShaker", " -1.551", " 0.907", " -1.013", " 0", " 0", " 0", " 70" ], [ "39", " PepperShaker", " 0.321", " 0.921", " 0.273", " 0", " 0", " 0", " 78" ], [ "40", " CellPhone", " -0.844", " 0.909", " -1.610", " 0", " 0", " 0", " 70" ], [ "41", " ButterKnife", " 0.000", " 0.925", " 1.202", " 0", " 0", " 0", " 78" ], [ "42", " Bread", " 0.321", " 1.006", " 0.738", " 0", " 0", " 0", " 78" ], [ "43", " Tomato", " -1.796", " 0.096", " 1.371", " 0", " 270", " 0", " 84" ], [ "44", " Potato", " -1.648", " 0.863", " 0.201", " 0", " 90", " 0", " 93" ], [ "45", " DishSponge", " -0.249", " 0.114", " -1.347", " 0", " 0", " 0", " 49" ], [ "46", " Spoon", " -0.175", " 0.761", " -1.435", " 0", " 0", " 0", " 94" ], [ "47", " Mug", " -1.990", " 0.906", " -1.063", " 0", " 90", " 0", " 70" ], [ "48", " Bowl", " -0.320", " 0.924", " 0.970", " 0", " 0", " 0", " 78" ], [ "49", " Cabinet", " -0.495", " 0.474", " -1.149", " 0", " 0", " 0", "" ], [ "50", " Window", " -0.010", " 1.582", " -1.821", " 0", " 0", " 0", "" ], [ "51", " Drawer", " 0.805", " 0.475", " -1.159", " 0", " 0", " 0", "" ], [ "52", " StoveBurner", " 1.764", " 0.902", " 0.601", " 0", " 270", " 0", "" ], [ "53", " Drawer", " 1.5", " 0.196", " -0.019", " 0", " 0", " 0", "" ], [ "54", " Drawer", " 1.5", " 0.629", " -0.018", " 0", " 0", " 0", "" ], [ "55", " Drawer", " 1.5", " 0.602", " -0.019", " 0", " 270", " 0", "" ], [ "56", " StoveBurner", " 1.975", " 0.902", " 0.384", " 0", " 270", " 0", "" ], [ "57", " Cabinet", " -1.703", " 2.022", " -1.453", " 0", " 90", " 0", "" ], [ "58", " Cabinet", " 1.789", " 2.019", " -0.819", " 0", " 270", " 0", "" ], [ "59", " Cabinet", " 0.494", " 0.474", " -1.149", " 0", " 0", " 0", "" ], [ "60", " Cabinet", " 0.409", " 0.475", " 0.444", " 0", " 0", " 0", "" ], [ "61", " Drawer", " -0.696", " 0.475", " -1.159", " 0", " 0", " 0", "" ], [ "62", " Drawer", " 1.5", " 0.140", " 0.599", " 0", " 270", " 0", "" ], [ "63", " Cabinet", " 1.389", " 0.474", " -1.149", " 0", " 0", " 0", "" ], [ "64", " Drawer", " 1.5", " 0.305", " 0.600", " 0", " 0", " 0", "" ], [ "65", " StoveBurner", " 1.975", " 0.902", " 0.601", " 0", " 270", " 0", "" ], [ "66", " Drawer", " 1.5", " 0.429", " -0.019", " 0", " 0", " 0", "" ], [ "67", " StoveBurner", " 1.764", " 0.902", " 0.819", " 0", " 270", " 0", "" ], [ "68", " Drawer", " 1.5", " 0.519", " 1.220", " 0", " 0", " 0", "" ], [ "69", " Cabinet", " 1.705", " 2.019", " -1.449", " 0", " 0", " 0", "" ], [ "70", " CounterTop", " 0.002", " 0.947", " -1.513", " 0", " 0", " 0", "" ], [ "71", " Drawer", " 1.5", " 0.629", " 0.605", " 0", " 0", " 0", "" ], [ "72", " Cabinet", " -0.627", " 2.019", " -1.449", " 0", " 0", " 0", "" ], [ "73", " StoveBurner", " 1.764", " 0.902", " 0.384", " 0", " 270", " 0", "" ], [ "74", " Drawer", " 1.5", " 0.538", " 0.600", " 0", " 0", " 0", "" ], [ "75", " Sink", " 0.0", " 0.893", " -1.434", " 0", " 0", " 0", "" ], [ "76", " Drawer", " 1.5", " 0.782", " 1.220", " 0", " 270", " 0", "" ], [ "77", " Window", " 2.217", " 1.565", " -0.384", " 0", " 0", " 0", "" ], [ "78", " CounterTop", " -0.014", " 0.961", " 0.505", " 0", " 0", " 0", "" ], [ "79", " Drawer", " 1.5", " 0.200", " 1.220", " 0", " 0", " 0", "" ], [ "80", " StoveBurner", " 1.975", " 0.902", " 0.819", " 0", " 270", " 0", "" ], [ "81", " Window", " -3.240", " 1.616", " 2.693", " 0", " 270", " 0", "" ], [ "82", " Cabinet", " -1.389", " 0.474", " -1.149", " 0", " 0", " 0", "" ], [ "83", " LightSwitch", " -0.153", " 1.291", " 3.700", " 0", " 180", " 0", "" ], [ "84", " GarbageCan", " -1.796", " 0.009", " 1.330", " 0", " 270", " 358.295", "" ], [ "85", " StoveKnob", " 1.602", " 0.917", " 0.570", " 0", " 270", " 180", "" ], [ "86", " StoveKnob", " 1.602", " 0.917", " 0.625", " 0", " 270", " 180", "" ], [ "87", " StoveKnob", " 1.602", " 0.917", " 0.739", " 0", " 270", " 180", "" ], [ "88", " StoveKnob", " 1.602", " 0.917", " 0.680", " 0", " 270", " 180", "" ], [ "89", " StoveKnob", " 1.602", " 0.917", " 0.462", " 0", " 270", " 180", "" ], [ "90", " StoveKnob", " 1.602", " 0.917", " 0.517", " 0", " 270", " 180", "" ], [ "91", " Microwave", " 1.932", " 0.899", " -0.766", " 0", " 270", " 0", "" ], [ "92", " CoffeeMachine", " 1.355", " 0.899", " -1.596", " 0", " 0", " 0", "" ], [ "93", " Fridge", " -1.764", " 0.0", " 0.014", " 0", " 90", " 0", "" ], [ "94", " SinkBasin", " -0.014", " 0.736", " -1.435", " 0", " 0", " 0", "" ], [ "95", " Toaster", " 1.977", " 0.900", " -0.336", " 0", " 270", " 0", "" ], [ "96", " Faucet", " -0.020", " 1.137", " -1.605", " 0", " 270", " 0", "" ], [ "97", " Chair", " -9.354", " 0.000", " 1.242", " 0", " 180", " 0", "" ], [ "98", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "99", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "100", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "101", " 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 0 270 0 1 Potato -0.002 0.784 -1.546 0 0 0 94 2 CellPhone 1.603 0.581 -0.092 0 270 0 55 3 CellPhone 1.662 0.139 1.284 0 0 0 79 4 Ladle -0.213 0.969 0.506 0 0 0 78 5 Ladle 0.194 0.157 -1.471 0 0 0 59 6 DishSponge 1.610 0.349 -0.157 0 0 0 66 7 ButterKnife -1.814 0.911 -0.964 0 0 0 70 8 ButterKnife 0.107 0.925 -0.190 0 0 0 78 9 Fork 1.812 0.545 1.350 0 270 0 68 10 Fork 1.640 0.912 1.107 0 0 0 70 11 Spoon 1.714 0.763 1.001 0 0 0 76 12 Pot 1.975 0.938 0.601 0 180 0 65 13 Pot -1.668 0.915 -1.610 0 0 0 70 14 Egg 1.924 1.063 -0.756 0 270 0 91 15 Egg -1.663 0.620 0.201 0 90 0 93 16 Plate -1.841 1.660 -1.056 0 90 0 57 17 Plate 0.000 0.924 0.041 0 0 0 78 18 Knife 1.562 0.567 1.219 0 90 0 68 19 SoapBottle -0.361 0.118 -1.534 0 0 0 49 20 Tomato -1.050 0.966 -1.513 0 0 0 70 21 Tomato 0.107 0.980 0.506 0 0 0 78 22 SaltShaker 0.107 0.921 0.738 0 0 0 78 23 PepperShaker 1.612 0.221 1.153 0 0 0 79 24 PepperShaker 0.801 0.667 -1.270 0 0 0 51 25 SoapBottle 1.802 0.915 -1.610 0 0 0 70 26 Cup 2.020 1.004 -0.651 0 270 0 91 27 Pot 1.962 1.663 -1.129 0 270 0 58 28 Fork 1.559 0.470 0.116 0 270 0 55 29 Ladle -0.867 1.724 -1.614 0 0 0 72 30 Kettle -0.320 0.926 -0.190 0 0 0 78 31 Egg 1.892 1.063 -0.599 0 270 0 91 32 Plate 0.170 0.759 -1.435 0 0 0 94 33 Pan 0.889 0.911 -1.513 0 0 0 70 34 Lettuce -0.320 1.002 0.273 0 0 0 78 35 Spatula 0.107 0.940 0.273 0 180 0 78 36 Apple 0.661 0.964 -1.415 0 0 0 70 37 Knife -0.106 0.947 0.738 0 0 0 78 38 SaltShaker -1.551 0.907 -1.013 0 0 0 70 39 PepperShaker 0.321 0.921 0.273 0 0 0 78 40 CellPhone -0.844 0.909 -1.610 0 0 0 70 41 ButterKnife 0.000 0.925 1.202 0 0 0 78 42 Bread 0.321 1.006 0.738 0 0 0 78 43 Tomato -1.796 0.096 1.371 0 270 0 84 44 Potato -1.648 0.863 0.201 0 90 0 93 45 DishSponge -0.249 0.114 -1.347 0 0 0 49 46 Spoon -0.175 0.761 -1.435 0 0 0 94 47 Mug -1.990 0.906 -1.063 0 90 0 70 48 Bowl -0.320 0.924 0.970 0 0 0 78 49 Cabinet -0.495 0.474 -1.149 0 0 0 50 Window -0.010 1.582 -1.821 0 0 0 51 Drawer 0.805 0.475 -1.159 0 0 0 52 StoveBurner 1.764 0.902 0.601 0 270 0 53 Drawer 1.5 0.196 -0.019 0 0 0 54 Drawer 1.5 0.629 -0.018 0 0 0 55 Drawer 1.5 0.602 -0.019 0 270 0 56 StoveBurner 1.975 0.902 0.384 0 270 0 57 Cabinet -1.703 2.022 -1.453 0 90 0 58 Cabinet 1.789 2.019 -0.819 0 270 0 59 Cabinet 0.494 0.474 -1.149 0 0 0 60 Cabinet 0.409 0.475 0.444 0 0 0 61 Drawer -0.696 0.475 -1.159 0 0 0 62 Drawer 1.5 0.140 0.599 0 270 0 63 Cabinet 1.389 0.474 -1.149 0 0 0 64 Drawer 1.5 0.305 0.600 0 0 0 65 StoveBurner 1.975 0.902 0.601 0 270 0 66 Drawer 1.5 0.429 -0.019 0 0 0 67 StoveBurner 1.764 0.902 0.819 0 270 0 68 Drawer 1.5 0.519 1.220 0 0 0 69 Cabinet 1.705 2.019 -1.449 0 0 0 70 CounterTop 0.002 0.947 -1.513 0 0 0 71 Drawer 1.5 0.629 0.605 0 0 0 72 Cabinet -0.627 2.019 -1.449 0 0 0 73 StoveBurner 1.764 0.902 0.384 0 270 0 74 Drawer 1.5 0.538 0.600 0 0 0 75 Sink 0.0 0.893 -1.434 0 0 0 76 Drawer 1.5 0.782 1.220 0 270 0 77 Window 2.217 1.565 -0.384 0 0 0 78 CounterTop -0.014 0.961 0.505 0 0 0 79 Drawer 1.5 0.200 1.220 0 0 0 80 StoveBurner 1.975 0.902 0.819 0 270 0 81 Window -3.240 1.616 2.693 0 270 0 82 Cabinet -1.389 0.474 -1.149 0 0 0 83 LightSwitch -0.153 1.291 3.700 0 180 0 84 GarbageCan -1.796 0.009 1.330 0 270 358.295 85 StoveKnob 1.602 0.917 0.570 0 270 180 86 StoveKnob 1.602 0.917 0.625 0 270 180 87 StoveKnob 1.602 0.917 0.739 0 270 180 88 StoveKnob 1.602 0.917 0.680 0 270 180 89 StoveKnob 1.602 0.917 0.462 0 270 180 90 StoveKnob 1.602 0.917 0.517 0 270 180 91 Microwave 1.932 0.899 -0.766 0 270 0 92 CoffeeMachine 1.355 0.899 -1.596 0 0 0 93 Fridge -1.764 0.0 0.014 0 90 0 94 SinkBasin -0.014 0.736 -1.435 0 0 0 95 Toaster 1.977 0.900 -0.336 0 270 0 96 Faucet -0.020 1.137 -1.605 0 270 0 97 Chair -9.354 0.000 1.242 0 180 0 98 NorthWall 99 EastWall 100 SouthWall 101 WestWall
[ "STEP 1: Turn around and veer right, turning left at the fridge to face the counter. | STEP 2: Pick up the kettle on the counter. | STEP 3: Turn right and walk around the counter to the stove. | STEP 4: Place the kettle on the front right burner. | END" ]
[ [ "STEP 1: Turn around and veer right, turning left at the fridge to face the counter. ", " STEP 2: Pick up the kettle on the counter. ", " STEP 3: Turn right and walk around the counter to the stove. ", " STEP 4: Place the kettle on the front right burner. ", " END" ] ]
seen
trial_T20190909_085833_355057-1
Move the kettle to the stove.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.5 0.900 2.0 0 270 0 1 Potato -0.002 0.784 -1.546 0 0 0 94 2 CellPhone 1.603 0.581 -0.092 0 270 0 55 3 CellPhone 1.662 0.139 1.284 0 0 0 79 4 Ladle -0.213 0.969 0.506 0 0 0 78 5 Ladle 0.194 0.157 -1.471 0 0 0 59 6 DishSponge 1.610 0.349 -0.157 0 0 0 66 7 ButterKnife -1.814 0.911 -0.964 0 0 0 70 8 ButterKnife 0.107 0.925 -0.190 0 0 0 78 9 Fork 1.812 0.545 1.350 0 270 0 68 10 Fork 1.640 0.912 1.107 0 0 0 70 11 Spoon 1.714 0.763 1.001 0 0 0 76 12 Pot 1.975 0.938 0.601 0 180 0 65 13 Pot -1.668 0.915 -1.610 0 0 0 70 14 Egg 1.924 1.063 -0.756 0 270 0 91 15 Egg -1.663 0.620 0.201 0 90 0 93 16 Plate -1.841 1.660 -1.056 0 90 0 57 17 Plate 0.000 0.924 0.041 0 0 0 78 18 Knife 1.562 0.567 1.219 0 90 0 68 19 SoapBottle -0.361 0.118 -1.534 0 0 0 49 20 Tomato -1.050 0.966 -1.513 0 0 0 70 21 Tomato 0.107 0.980 0.506 0 0 0 78 22 SaltShaker 0.107 0.921 0.738 0 0 0 78 23 PepperShaker 1.612 0.221 1.153 0 0 0 79 24 PepperShaker 0.801 0.667 -1.270 0 0 0 51 25 SoapBottle 1.802 0.915 -1.610 0 0 0 70 26 Cup 2.020 1.004 -0.651 0 270 0 91 27 Pot 1.962 1.663 -1.129 0 270 0 58 28 Fork 1.559 0.470 0.116 0 270 0 55 29 Ladle -0.867 1.724 -1.614 0 0 0 72 30 Kettle -0.320 0.926 -0.190 0 0 0 78 31 Egg 1.892 1.063 -0.599 0 270 0 91 32 Plate 0.170 0.759 -1.435 0 0 0 94 33 Pan 0.889 0.911 -1.513 0 0 0 70 34 Lettuce -0.320 1.002 0.273 0 0 0 78 35 Spatula 0.107 0.940 0.273 0 180 0 78 36 Apple 0.661 0.964 -1.415 0 0 0 70 37 Knife -0.106 0.947 0.738 0 0 0 78 38 SaltShaker -1.551 0.907 -1.013 0 0 0 70 39 PepperShaker 0.321 0.921 0.273 0 0 0 78 40 CellPhone -0.844 0.909 -1.610 0 0 0 70 41 ButterKnife 0.000 0.925 1.202 0 0 0 78 42 Bread 0.321 1.006 0.738 0 0 0 78 43 Tomato -1.796 0.096 1.371 0 270 0 84 44 Potato -1.648 0.863 0.201 0 90 0 93 45 DishSponge -0.249 0.114 -1.347 0 0 0 49 46 Spoon -0.175 0.761 -1.435 0 0 0 94 47 Mug -1.990 0.906 -1.063 0 90 0 70 48 Bowl -0.320 0.924 0.970 0 0 0 78 49 Cabinet -0.495 0.474 -1.149 0 0 0 50 Window -0.010 1.582 -1.821 0 0 0 51 Drawer 0.805 0.475 -1.159 0 0 0 52 StoveBurner 1.764 0.902 0.601 0 270 0 53 Drawer 1.5 0.196 -0.019 0 0 0 54 Drawer 1.5 0.629 -0.018 0 0 0 55 Drawer 1.5 0.602 -0.019 0 270 0 56 StoveBurner 1.975 0.902 0.384 0 270 0 57 Cabinet -1.703 2.022 -1.453 0 90 0 58 Cabinet 1.789 2.019 -0.819 0 270 0 59 Cabinet 0.494 0.474 -1.149 0 0 0 60 Cabinet 0.409 0.475 0.444 0 0 0 61 Drawer -0.696 0.475 -1.159 0 0 0 62 Drawer 1.5 0.140 0.599 0 270 0 63 Cabinet 1.389 0.474 -1.149 0 0 0 64 Drawer 1.5 0.305 0.600 0 0 0 65 StoveBurner 1.975 0.902 0.601 0 270 0 66 Drawer 1.5 0.429 -0.019 0 0 0 67 StoveBurner 1.764 0.902 0.819 0 270 0 68 Drawer 1.5 0.519 1.220 0 0 0 69 Cabinet 1.705 2.019 -1.449 0 0 0 70 CounterTop 0.002 0.947 -1.513 0 0 0 71 Drawer 1.5 0.629 0.605 0 0 0 72 Cabinet -0.627 2.019 -1.449 0 0 0 73 StoveBurner 1.764 0.902 0.384 0 270 0 74 Drawer 1.5 0.538 0.600 0 0 0 75 Sink 0.0 0.893 -1.434 0 0 0 76 Drawer 1.5 0.782 1.220 0 270 0 77 Window 2.217 1.565 -0.384 0 0 0 78 CounterTop -0.014 0.961 0.505 0 0 0 79 Drawer 1.5 0.200 1.220 0 0 0 80 StoveBurner 1.975 0.902 0.819 0 270 0 81 Window -3.240 1.616 2.693 0 270 0 82 Cabinet -1.389 0.474 -1.149 0 0 0 83 LightSwitch -0.153 1.291 3.700 0 180 0 84 GarbageCan -1.796 0.009 1.330 0 270 358.295 85 StoveKnob 1.602 0.917 0.570 0 270 180 86 StoveKnob 1.602 0.917 0.625 0 270 180 87 StoveKnob 1.602 0.917 0.739 0 270 180 88 StoveKnob 1.602 0.917 0.680 0 270 180 89 StoveKnob 1.602 0.917 0.462 0 270 180 90 StoveKnob 1.602 0.917 0.517 0 270 180 91 Microwave 1.932 0.899 -0.766 0 270 0 92 CoffeeMachine 1.355 0.899 -1.596 0 0 0 93 Fridge -1.764 0.0 0.014 0 90 0 94 SinkBasin -0.014 0.736 -1.435 0 0 0 95 Toaster 1.977 0.900 -0.336 0 270 0 96 Faucet -0.020 1.137 -1.605 0 270 0 97 Chair -9.354 0.000 1.242 0 180 0 98 NorthWall 99 EastWall 100 SouthWall 101 WestWall
[ "STEP 1: Turn around and move forward, then turn right to go toward the counter, then turn left to face the kitchen island. | STEP 2: Pick up the kettle on the kitchen island. | STEP 3: Turn right and go to the counter, then turn left and go toward the microwave, turn left and go forward, then turn right to face the stove. | STEP 4: Put the kettle on the stove, on the front rightmost corner. | END" ]
[ [ "STEP 1: Turn around and move forward, then turn right to go toward the counter, then turn left to face the kitchen island. ", " STEP 2: Pick up the kettle on the kitchen island. ", " STEP 3: Turn right and go to the counter, then turn left and go toward the microwave, turn left and go forward, then turn right to face the stove. ", " STEP 4: Put the kettle on the stove, on the front rightmost corner. ", " END" ] ]
seen
trial_T20190909_085833_355057-2
put kettle on stove
[ [ "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", " 270", " 0", "" ], [ "1", " Potato", " -0.002", " 0.784", " -1.546", " 0", " 0", " 0", " 94" ], [ "2", " CellPhone", " 1.603", " 0.581", " -0.092", " 0", " 270", " 0", " 55" ], [ "3", " CellPhone", " 1.662", " 0.139", " 1.284", " 0", " 0", " 0", " 79" ], [ "4", " Ladle", " -0.213", " 0.969", " 0.506", " 0", " 0", " 0", " 78" ], [ "5", " Ladle", " 0.194", " 0.157", " -1.471", " 0", " 0", " 0", " 59" ], [ "6", " DishSponge", " 1.610", " 0.349", " -0.157", " 0", " 0", " 0", " 66" ], [ "7", " ButterKnife", " -1.814", " 0.911", " -0.964", " 0", " 0", " 0", " 70" ], [ "8", " ButterKnife", " 0.107", " 0.925", " -0.190", " 0", " 0", " 0", " 78" ], [ "9", " Fork", " 1.812", " 0.545", " 1.350", " 0", " 270", " 0", " 68" ], [ "10", " Fork", " 1.640", " 0.912", " 1.107", " 0", " 0", " 0", " 70" ], [ "11", " Spoon", " 1.714", " 0.763", " 1.001", " 0", " 0", " 0", " 76" ], [ "12", " Pot", " 1.975", " 0.938", " 0.601", " 0", " 180", " 0", " 65" ], [ "13", " Pot", " -1.668", " 0.915", " -1.610", " 0", " 0", " 0", " 70" ], [ "14", " Egg", " 1.924", " 1.063", " -0.756", " 0", " 270", " 0", " 91" ], [ "15", " Egg", " -1.663", " 0.620", " 0.201", " 0", " 90", " 0", " 93" ], [ "16", " Plate", " -1.841", " 1.660", " -1.056", " 0", " 90", " 0", " 57" ], [ "17", " Plate", " 0.000", " 0.924", " 0.041", " 0", " 0", " 0", " 78" ], [ "18", " Knife", " 1.562", " 0.567", " 1.219", " 0", " 90", " 0", " 68" ], [ "19", " SoapBottle", " -0.361", " 0.118", " -1.534", " 0", " 0", " 0", " 49" ], [ "20", " Tomato", " -1.050", " 0.966", " -1.513", " 0", " 0", " 0", " 70" ], [ "21", " Tomato", " 0.107", " 0.980", " 0.506", " 0", " 0", " 0", " 78" ], [ "22", " SaltShaker", " 0.107", " 0.921", " 0.738", " 0", " 0", " 0", " 78" ], [ "23", " PepperShaker", " 1.612", " 0.221", " 1.153", " 0", " 0", " 0", " 79" ], [ "24", " PepperShaker", " 0.801", " 0.667", " -1.270", " 0", " 0", " 0", " 51" ], [ "25", " SoapBottle", " 1.802", " 0.915", " -1.610", " 0", " 0", " 0", " 70" ], [ "26", " Cup", " 2.020", " 1.004", " -0.651", " 0", " 270", " 0", " 91" ], [ "27", " Pot", " 1.962", " 1.663", " -1.129", " 0", " 270", " 0", " 58" ], [ "28", " Fork", " 1.559", " 0.470", " 0.116", " 0", " 270", " 0", " 55" ], [ "29", " Ladle", " -0.867", " 1.724", " -1.614", " 0", " 0", " 0", " 72" ], [ "30", " Kettle", " -0.320", " 0.926", " -0.190", " 0", " 0", " 0", " 78" ], [ "31", " Egg", " 1.892", " 1.063", " -0.599", " 0", " 270", " 0", " 91" ], [ "32", " Plate", " 0.170", " 0.759", " -1.435", " 0", " 0", " 0", " 94" ], [ "33", " Pan", " 0.889", " 0.911", " -1.513", " 0", " 0", " 0", " 70" ], [ "34", " Lettuce", " -0.320", " 1.002", " 0.273", " 0", " 0", " 0", " 78" ], [ "35", " Spatula", " 0.107", " 0.940", " 0.273", " 0", " 180", " 0", " 78" ], [ "36", " Apple", " 0.661", " 0.964", " -1.415", " 0", " 0", " 0", " 70" ], [ "37", " Knife", " -0.106", " 0.947", " 0.738", " 0", " 0", " 0", " 78" ], [ "38", " SaltShaker", " -1.551", " 0.907", " -1.013", " 0", " 0", " 0", " 70" ], [ "39", " PepperShaker", " 0.321", " 0.921", " 0.273", " 0", " 0", " 0", " 78" ], [ "40", " CellPhone", " -0.844", " 0.909", " -1.610", " 0", " 0", " 0", " 70" ], [ "41", " ButterKnife", " 0.000", " 0.925", " 1.202", " 0", " 0", " 0", " 78" ], [ "42", " Bread", " 0.321", " 1.006", " 0.738", " 0", " 0", " 0", " 78" ], [ "43", " Tomato", " -1.796", " 0.096", " 1.371", " 0", " 270", " 0", " 84" ], [ "44", " Potato", " -1.648", " 0.863", " 0.201", " 0", " 90", " 0", " 93" ], [ "45", " DishSponge", " -0.249", " 0.114", " -1.347", " 0", " 0", " 0", " 49" ], [ "46", " Spoon", " -0.175", " 0.761", " -1.435", " 0", " 0", " 0", " 94" ], [ "47", " Mug", " -1.990", " 0.906", " -1.063", " 0", " 90", " 0", " 70" ], [ "48", " Bowl", " -0.320", " 0.924", " 0.970", " 0", " 0", " 0", " 78" ], [ "49", " Cabinet", " -0.495", " 0.474", " -1.149", " 0", " 0", " 0", "" ], [ "50", " Window", " -0.010", " 1.582", " -1.821", " 0", " 0", " 0", "" ], [ "51", " Drawer", " 0.805", " 0.475", " -1.159", " 0", " 0", " 0", "" ], [ "52", " StoveBurner", " 1.764", " 0.902", " 0.601", " 0", " 270", " 0", "" ], [ "53", " Drawer", " 1.5", " 0.196", " -0.019", " 0", " 0", " 0", "" ], [ "54", " Drawer", " 1.5", " 0.629", " -0.018", " 0", " 0", " 0", "" ], [ "55", " Drawer", " 1.5", " 0.602", " -0.019", " 0", " 270", " 0", "" ], [ "56", " StoveBurner", " 1.975", " 0.902", " 0.384", " 0", " 270", " 0", "" ], [ "57", " Cabinet", " -1.703", " 2.022", " -1.453", " 0", " 90", " 0", "" ], [ "58", " Cabinet", " 1.789", " 2.019", " -0.819", " 0", " 270", " 0", "" ], [ "59", " Cabinet", " 0.494", " 0.474", " -1.149", " 0", " 0", " 0", "" ], [ "60", " Cabinet", " 0.409", " 0.475", " 0.444", " 0", " 0", " 0", "" ], [ "61", " Drawer", " -0.696", " 0.475", " -1.159", " 0", " 0", " 0", "" ], [ "62", " Drawer", " 1.5", " 0.140", " 0.599", " 0", " 270", " 0", "" ], [ "63", " Cabinet", " 1.389", " 0.474", " -1.149", " 0", " 0", " 0", "" ], [ "64", " Drawer", " 1.5", " 0.305", " 0.600", " 0", " 0", " 0", "" ], [ "65", " StoveBurner", " 1.975", " 0.902", " 0.601", " 0", " 270", " 0", "" ], [ "66", " Drawer", " 1.5", " 0.429", " -0.019", " 0", " 0", " 0", "" ], [ "67", " StoveBurner", " 1.764", " 0.902", " 0.819", " 0", " 270", " 0", "" ], [ "68", " Drawer", " 1.5", " 0.519", " 1.220", " 0", " 0", " 0", "" ], [ "69", " Cabinet", " 1.705", " 2.019", " -1.449", " 0", " 0", " 0", "" ], [ "70", " CounterTop", " 0.002", " 0.947", " -1.513", " 0", " 0", " 0", "" ], [ "71", " Drawer", " 1.5", " 0.629", " 0.605", " 0", " 0", " 0", "" ], [ "72", " Cabinet", " -0.627", " 2.019", " -1.449", " 0", " 0", " 0", "" ], [ "73", " StoveBurner", " 1.764", " 0.902", " 0.384", " 0", " 270", " 0", "" ], [ "74", " Drawer", " 1.5", " 0.538", " 0.600", " 0", " 0", " 0", "" ], [ "75", " Sink", " 0.0", " 0.893", " -1.434", " 0", " 0", " 0", "" ], [ "76", " Drawer", " 1.5", " 0.782", " 1.220", " 0", " 270", " 0", "" ], [ "77", " Window", " 2.217", " 1.565", " -0.384", " 0", " 0", " 0", "" ], [ "78", " CounterTop", " -0.014", " 0.961", " 0.505", " 0", " 0", " 0", "" ], [ "79", " Drawer", " 1.5", " 0.200", " 1.220", " 0", " 0", " 0", "" ], [ "80", " StoveBurner", " 1.975", " 0.902", " 0.819", " 0", " 270", " 0", "" ], [ "81", " Window", " -3.240", " 1.616", " 2.693", " 0", " 270", " 0", "" ], [ "82", " Cabinet", " -1.389", " 0.474", " -1.149", " 0", " 0", " 0", "" ], [ "83", " LightSwitch", " -0.153", " 1.291", " 3.700", " 0", " 180", " 0", "" ], [ "84", " GarbageCan", " -1.796", " 0.009", " 1.330", " 0", " 270", " 358.295", "" ], [ "85", " StoveKnob", " 1.602", " 0.917", " 0.570", " 0", " 270", " 180", "" ], [ "86", " StoveKnob", " 1.602", " 0.917", " 0.625", " 0", " 270", " 180", "" ], [ "87", " StoveKnob", " 1.602", " 0.917", " 0.739", " 0", " 270", " 180", "" ], [ "88", " StoveKnob", " 1.602", " 0.917", " 0.680", " 0", " 270", " 180", "" ], [ "89", " StoveKnob", " 1.602", " 0.917", " 0.462", " 0", " 270", " 180", "" ], [ "90", " StoveKnob", " 1.602", " 0.917", " 0.517", " 0", " 270", " 180", "" ], [ "91", " Microwave", " 1.932", " 0.899", " -0.766", " 0", " 270", " 0", "" ], [ "92", " CoffeeMachine", " 1.355", " 0.899", " -1.596", " 0", " 0", " 0", "" ], [ "93", " Fridge", " -1.764", " 0.0", " 0.014", " 0", " 90", " 0", "" ], [ "94", " SinkBasin", " -0.014", " 0.736", " -1.435", " 0", " 0", " 0", "" ], [ "95", " Toaster", " 1.977", " 0.900", " -0.336", " 0", " 270", " 0", "" ], [ "96", " Faucet", " -0.020", " 1.137", " -1.605", " 0", " 270", " 0", "" ], [ "97", " Chair", " -9.354", " 0.000", " 1.242", " 0", " 180", " 0", "" ], [ "98", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "99", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "100", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "101", " 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 0 270 0 1 Potato -0.002 0.784 -1.546 0 0 0 94 2 CellPhone 1.603 0.581 -0.092 0 270 0 55 3 CellPhone 1.662 0.139 1.284 0 0 0 79 4 Ladle -0.213 0.969 0.506 0 0 0 78 5 Ladle 0.194 0.157 -1.471 0 0 0 59 6 DishSponge 1.610 0.349 -0.157 0 0 0 66 7 ButterKnife -1.814 0.911 -0.964 0 0 0 70 8 ButterKnife 0.107 0.925 -0.190 0 0 0 78 9 Fork 1.812 0.545 1.350 0 270 0 68 10 Fork 1.640 0.912 1.107 0 0 0 70 11 Spoon 1.714 0.763 1.001 0 0 0 76 12 Pot 1.975 0.938 0.601 0 180 0 65 13 Pot -1.668 0.915 -1.610 0 0 0 70 14 Egg 1.924 1.063 -0.756 0 270 0 91 15 Egg -1.663 0.620 0.201 0 90 0 93 16 Plate -1.841 1.660 -1.056 0 90 0 57 17 Plate 0.000 0.924 0.041 0 0 0 78 18 Knife 1.562 0.567 1.219 0 90 0 68 19 SoapBottle -0.361 0.118 -1.534 0 0 0 49 20 Tomato -1.050 0.966 -1.513 0 0 0 70 21 Tomato 0.107 0.980 0.506 0 0 0 78 22 SaltShaker 0.107 0.921 0.738 0 0 0 78 23 PepperShaker 1.612 0.221 1.153 0 0 0 79 24 PepperShaker 0.801 0.667 -1.270 0 0 0 51 25 SoapBottle 1.802 0.915 -1.610 0 0 0 70 26 Cup 2.020 1.004 -0.651 0 270 0 91 27 Pot 1.962 1.663 -1.129 0 270 0 58 28 Fork 1.559 0.470 0.116 0 270 0 55 29 Ladle -0.867 1.724 -1.614 0 0 0 72 30 Kettle -0.320 0.926 -0.190 0 0 0 78 31 Egg 1.892 1.063 -0.599 0 270 0 91 32 Plate 0.170 0.759 -1.435 0 0 0 94 33 Pan 0.889 0.911 -1.513 0 0 0 70 34 Lettuce -0.320 1.002 0.273 0 0 0 78 35 Spatula 0.107 0.940 0.273 0 180 0 78 36 Apple 0.661 0.964 -1.415 0 0 0 70 37 Knife -0.106 0.947 0.738 0 0 0 78 38 SaltShaker -1.551 0.907 -1.013 0 0 0 70 39 PepperShaker 0.321 0.921 0.273 0 0 0 78 40 CellPhone -0.844 0.909 -1.610 0 0 0 70 41 ButterKnife 0.000 0.925 1.202 0 0 0 78 42 Bread 0.321 1.006 0.738 0 0 0 78 43 Tomato -1.796 0.096 1.371 0 270 0 84 44 Potato -1.648 0.863 0.201 0 90 0 93 45 DishSponge -0.249 0.114 -1.347 0 0 0 49 46 Spoon -0.175 0.761 -1.435 0 0 0 94 47 Mug -1.990 0.906 -1.063 0 90 0 70 48 Bowl -0.320 0.924 0.970 0 0 0 78 49 Cabinet -0.495 0.474 -1.149 0 0 0 50 Window -0.010 1.582 -1.821 0 0 0 51 Drawer 0.805 0.475 -1.159 0 0 0 52 StoveBurner 1.764 0.902 0.601 0 270 0 53 Drawer 1.5 0.196 -0.019 0 0 0 54 Drawer 1.5 0.629 -0.018 0 0 0 55 Drawer 1.5 0.602 -0.019 0 270 0 56 StoveBurner 1.975 0.902 0.384 0 270 0 57 Cabinet -1.703 2.022 -1.453 0 90 0 58 Cabinet 1.789 2.019 -0.819 0 270 0 59 Cabinet 0.494 0.474 -1.149 0 0 0 60 Cabinet 0.409 0.475 0.444 0 0 0 61 Drawer -0.696 0.475 -1.159 0 0 0 62 Drawer 1.5 0.140 0.599 0 270 0 63 Cabinet 1.389 0.474 -1.149 0 0 0 64 Drawer 1.5 0.305 0.600 0 0 0 65 StoveBurner 1.975 0.902 0.601 0 270 0 66 Drawer 1.5 0.429 -0.019 0 0 0 67 StoveBurner 1.764 0.902 0.819 0 270 0 68 Drawer 1.5 0.519 1.220 0 0 0 69 Cabinet 1.705 2.019 -1.449 0 0 0 70 CounterTop 0.002 0.947 -1.513 0 0 0 71 Drawer 1.5 0.629 0.605 0 0 0 72 Cabinet -0.627 2.019 -1.449 0 0 0 73 StoveBurner 1.764 0.902 0.384 0 270 0 74 Drawer 1.5 0.538 0.600 0 0 0 75 Sink 0.0 0.893 -1.434 0 0 0 76 Drawer 1.5 0.782 1.220 0 270 0 77 Window 2.217 1.565 -0.384 0 0 0 78 CounterTop -0.014 0.961 0.505 0 0 0 79 Drawer 1.5 0.200 1.220 0 0 0 80 StoveBurner 1.975 0.902 0.819 0 270 0 81 Window -3.240 1.616 2.693 0 270 0 82 Cabinet -1.389 0.474 -1.149 0 0 0 83 LightSwitch -0.153 1.291 3.700 0 180 0 84 GarbageCan -1.796 0.009 1.330 0 270 358.295 85 StoveKnob 1.602 0.917 0.570 0 270 180 86 StoveKnob 1.602 0.917 0.625 0 270 180 87 StoveKnob 1.602 0.917 0.739 0 270 180 88 StoveKnob 1.602 0.917 0.680 0 270 180 89 StoveKnob 1.602 0.917 0.462 0 270 180 90 StoveKnob 1.602 0.917 0.517 0 270 180 91 Microwave 1.932 0.899 -0.766 0 270 0 92 CoffeeMachine 1.355 0.899 -1.596 0 0 0 93 Fridge -1.764 0.0 0.014 0 90 0 94 SinkBasin -0.014 0.736 -1.435 0 0 0 95 Toaster 1.977 0.900 -0.336 0 270 0 96 Faucet -0.020 1.137 -1.605 0 270 0 97 Chair -9.354 0.000 1.242 0 180 0 98 NorthWall 99 EastWall 100 SouthWall 101 WestWall
[ "STEP 1: walk to face kitchen island | STEP 2: pick up kettle from island | STEP 3: walk to face stove | STEP 4: put kettle on stove | END" ]
[ [ "STEP 1: walk to face kitchen island ", " STEP 2: pick up kettle from island ", " STEP 3: walk to face stove ", " STEP 4: put kettle on stove ", " END" ] ]
seen
trial_T20190907_011645_037846-0
Take a watch with you to turn on the lamp
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " -3.25", " 0.901", " 3.75", " 0", " 0", " 0", "" ], [ "1", " Watch", " -4.656", " 0.985", " 2.879", " 0", " 0", " 0", " 32" ], [ "2", " KeyChain", " -0.152", " 0.468", " 3.033", " 0", " 0", " 0", " 36" ], [ "3", " CreditCard", " -0.681", " 0.526", " 1.436", " 0", " 0", " 0", " 37" ], [ "4", " Box", " -4.668", " 0.405", " 2.337", " 0", " 90", " 0", " 34" ], [ "5", " Box", " -2.180", " 0.670", " 2.428", " 0", " 350.086", " 0", " 35" ], [ "6", " WateringCan", " -0.277", " -0.000", " 4.860", " 0", " 0", " 0", " Floor|+00.38|" ], [ "7", " CreditCard", " -4.744", " 0.988", " 2.595", " 0", " 0", " 0", " 32" ], [ "8", " KeyChain", " -2.532", " 0.453", " 2.263", " 0", " 0", " 0", " 35" ], [ "9", " Pillow", " -0.417", " 0.611", " 1.714", " 0", " 0", " 0", " 37" ], [ "10", " Laptop", " -0.417", " 0.547", " 3.311", " 0", " 0", " 0", " 36" ], [ "11", " RemoteControl", " -4.744", " 0.990", " 3.163", " 0", " 0", " 0", " 32" ], [ "12", " Watch", " -5.007", " 0.988", " 2.879", " 0", " 0", " 0", " 32" ], [ "13", " Statue", " -5.007", " 1.086", " 3.163", " 0", " 0", " 0", " 32" ], [ "14", " Curtains", " -2.535", " 2.596", " 0.111", " 0", " 0", " 0", "" ], [ "15", " FloorLamp", " -4.661", " 0.009", " 0.422", " 0", " 0", " 0", "" ], [ "16", " Television", " -4.883", " 1.472", " 2.434", " 0", " 90", " 0", "" ], [ "17", " GarbageCan", " -4.810", " -0.032", " 1.236", " 0", " 180", " 0", "" ], [ "18", " Painting", " -0.293", " 1.820", " 0.016", " 90", " 0", " 0", "" ], [ "19", " LightSwitch", " -1.016", " 1.243", " 5.0", " 0", " 180", " 0", "" ], [ "20", " Painting", " -5.118", " 1.480", " 4.396", " 90", " 270", " 0", "" ], [ "21", " Painting", " -5.118", " 1.480", " 0.656", " 90", " 270", " 0", "" ], [ "22", " Window", " -1.715", " 1.554", " 0.006", " 90", " 180", " 0", "" ], [ "23", " Window", " -3.244", " 1.554", " 0.006", " 90", " 180", " 0", "" ], [ "24", " DeskLamp", " 0.015", " 0.704", " 4.676", " 0", " 0", " 0", "" ], [ "25", " HousePlant", " -4.824", " 0.984", " 1.572", " 0", " 0", " 0", "" ], [ "26", " Drawer", " -4.497", " 0.901", " 2.854", " 0", " 90", " 0", "" ], [ "27", " Drawer", " -4.497", " 0.901", " 2.339", " 0", " 90", " 0", "" ], [ "28", " Cabinet", " -4.409", " 0.498", " 2.603", " 0", " 90", " 0", "" ], [ "29", " Cabinet", " -4.409", " 0.498", " 3.622", " 0", " 90", " 0", "" ], [ "30", " Drawer", " -4.497", " 0.901", " 3.372", " 0", " 90", " 0", "" ], [ "31", " Cabinet", " -4.409", " 0.498", " 1.569", " 0", " 90", " 0", "" ], [ "32", " Dresser", " -4.744", " 4.321", " 2.595", " 0", " 90", " 0", "" ], [ "33", " Drawer", " -4.497", " 0.901", " 1.818", " 0", " 90", " 0", "" ], [ "34", " Cabinet", " -4.409", " 0.498", " 2.588", " 0", " 90", " 0", "" ], [ "35", " CoffeeTable", " -2.405", " -0.000", " 2.546", " 0", " 0", " 0", "" ], [ "36", " ArmChair", " -0.298", " 0.002", " 3.310", " 0", " 270", " 0", "" ], [ "37", " ArmChair", " -0.298", " 0.002", " 1.713", " 0", " 270", " 0", "" ], [ "38", " Sofa", " -2.464", " -0.002", " 0.700", " 0", " 0", " 0", "" ], [ "39", " Chair", " -4.735", " 0.011", " 4.609", " 1.215", " 90", " 0", "" ], [ "40", " SideTable", " -0.041", " 0.002", " 4.619", " 0", " 0", " 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 -3.25 0.901 3.75 0 0 0 1 Watch -4.656 0.985 2.879 0 0 0 32 2 KeyChain -0.152 0.468 3.033 0 0 0 36 3 CreditCard -0.681 0.526 1.436 0 0 0 37 4 Box -4.668 0.405 2.337 0 90 0 34 5 Box -2.180 0.670 2.428 0 350.086 0 35 6 WateringCan -0.277 -0.000 4.860 0 0 0 Floor|+00.38| 7 CreditCard -4.744 0.988 2.595 0 0 0 32 8 KeyChain -2.532 0.453 2.263 0 0 0 35 9 Pillow -0.417 0.611 1.714 0 0 0 37 10 Laptop -0.417 0.547 3.311 0 0 0 36 11 RemoteControl -4.744 0.990 3.163 0 0 0 32 12 Watch -5.007 0.988 2.879 0 0 0 32 13 Statue -5.007 1.086 3.163 0 0 0 32 14 Curtains -2.535 2.596 0.111 0 0 0 15 FloorLamp -4.661 0.009 0.422 0 0 0 16 Television -4.883 1.472 2.434 0 90 0 17 GarbageCan -4.810 -0.032 1.236 0 180 0 18 Painting -0.293 1.820 0.016 90 0 0 19 LightSwitch -1.016 1.243 5.0 0 180 0 20 Painting -5.118 1.480 4.396 90 270 0 21 Painting -5.118 1.480 0.656 90 270 0 22 Window -1.715 1.554 0.006 90 180 0 23 Window -3.244 1.554 0.006 90 180 0 24 DeskLamp 0.015 0.704 4.676 0 0 0 25 HousePlant -4.824 0.984 1.572 0 0 0 26 Drawer -4.497 0.901 2.854 0 90 0 27 Drawer -4.497 0.901 2.339 0 90 0 28 Cabinet -4.409 0.498 2.603 0 90 0 29 Cabinet -4.409 0.498 3.622 0 90 0 30 Drawer -4.497 0.901 3.372 0 90 0 31 Cabinet -4.409 0.498 1.569 0 90 0 32 Dresser -4.744 4.321 2.595 0 90 0 33 Drawer -4.497 0.901 1.818 0 90 0 34 Cabinet -4.409 0.498 2.588 0 90 0 35 CoffeeTable -2.405 -0.000 2.546 0 0 0 36 ArmChair -0.298 0.002 3.310 0 270 0 37 ArmChair -0.298 0.002 1.713 0 270 0 38 Sofa -2.464 -0.002 0.700 0 0 0 39 Chair -4.735 0.011 4.609 1.215 90 0 40 SideTable -0.041 0.002 4.619 0 0 0 41 NorthWall 42 EastWall 43 SouthWall 44 WestWall
[ "STEP 1: Turn around and go to the black entertainment center on your right | STEP 2: Pick up the watch that's in front of you | STEP 3: Turn to your left and take the watch over to the lamp in the corner just ahead of you, to your right. | STEP 4: Turn on the lamp | END" ]
[ [ "STEP 1: Turn around and go to the black entertainment center on your right ", " STEP 2: Pick up the watch that's in front of you ", " STEP 3: Turn to your left and take the watch over to the lamp in the corner just ahead of you, to your right. ", " STEP 4: Turn on the lamp ", " END" ] ]
seen
trial_T20190907_011645_037846-1
Examine a watch in the light of a lamp.
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " -3.25", " 0.901", " 3.75", " 0", " 0", " 0", "" ], [ "1", " Watch", " -4.656", " 0.985", " 2.879", " 0", " 0", " 0", " 32" ], [ "2", " KeyChain", " -0.152", " 0.468", " 3.033", " 0", " 0", " 0", " 36" ], [ "3", " CreditCard", " -0.681", " 0.526", " 1.436", " 0", " 0", " 0", " 37" ], [ "4", " Box", " -4.668", " 0.405", " 2.337", " 0", " 90", " 0", " 34" ], [ "5", " Box", " -2.180", " 0.670", " 2.428", " 0", " 350.086", " 0", " 35" ], [ "6", " WateringCan", " -0.277", " -0.000", " 4.860", " 0", " 0", " 0", " Floor|+00.38|" ], [ "7", " CreditCard", " -4.744", " 0.988", " 2.595", " 0", " 0", " 0", " 32" ], [ "8", " KeyChain", " -2.532", " 0.453", " 2.263", " 0", " 0", " 0", " 35" ], [ "9", " Pillow", " -0.417", " 0.611", " 1.714", " 0", " 0", " 0", " 37" ], [ "10", " Laptop", " -0.417", " 0.547", " 3.311", " 0", " 0", " 0", " 36" ], [ "11", " RemoteControl", " -4.744", " 0.990", " 3.163", " 0", " 0", " 0", " 32" ], [ "12", " Watch", " -5.007", " 0.988", " 2.879", " 0", " 0", " 0", " 32" ], [ "13", " Statue", " -5.007", " 1.086", " 3.163", " 0", " 0", " 0", " 32" ], [ "14", " Curtains", " -2.535", " 2.596", " 0.111", " 0", " 0", " 0", "" ], [ "15", " FloorLamp", " -4.661", " 0.009", " 0.422", " 0", " 0", " 0", "" ], [ "16", " Television", " -4.883", " 1.472", " 2.434", " 0", " 90", " 0", "" ], [ "17", " GarbageCan", " -4.810", " -0.032", " 1.236", " 0", " 180", " 0", "" ], [ "18", " Painting", " -0.293", " 1.820", " 0.016", " 90", " 0", " 0", "" ], [ "19", " LightSwitch", " -1.016", " 1.243", " 5.0", " 0", " 180", " 0", "" ], [ "20", " Painting", " -5.118", " 1.480", " 4.396", " 90", " 270", " 0", "" ], [ "21", " Painting", " -5.118", " 1.480", " 0.656", " 90", " 270", " 0", "" ], [ "22", " Window", " -1.715", " 1.554", " 0.006", " 90", " 180", " 0", "" ], [ "23", " Window", " -3.244", " 1.554", " 0.006", " 90", " 180", " 0", "" ], [ "24", " DeskLamp", " 0.015", " 0.704", " 4.676", " 0", " 0", " 0", "" ], [ "25", " HousePlant", " -4.824", " 0.984", " 1.572", " 0", " 0", " 0", "" ], [ "26", " Drawer", " -4.497", " 0.901", " 2.854", " 0", " 90", " 0", "" ], [ "27", " Drawer", " -4.497", " 0.901", " 2.339", " 0", " 90", " 0", "" ], [ "28", " Cabinet", " -4.409", " 0.498", " 2.603", " 0", " 90", " 0", "" ], [ "29", " Cabinet", " -4.409", " 0.498", " 3.622", " 0", " 90", " 0", "" ], [ "30", " Drawer", " -4.497", " 0.901", " 3.372", " 0", " 90", " 0", "" ], [ "31", " Cabinet", " -4.409", " 0.498", " 1.569", " 0", " 90", " 0", "" ], [ "32", " Dresser", " -4.744", " 4.321", " 2.595", " 0", " 90", " 0", "" ], [ "33", " Drawer", " -4.497", " 0.901", " 1.818", " 0", " 90", " 0", "" ], [ "34", " Cabinet", " -4.409", " 0.498", " 2.588", " 0", " 90", " 0", "" ], [ "35", " CoffeeTable", " -2.405", " -0.000", " 2.546", " 0", " 0", " 0", "" ], [ "36", " ArmChair", " -0.298", " 0.002", " 3.310", " 0", " 270", " 0", "" ], [ "37", " ArmChair", " -0.298", " 0.002", " 1.713", " 0", " 270", " 0", "" ], [ "38", " Sofa", " -2.464", " -0.002", " 0.700", " 0", " 0", " 0", "" ], [ "39", " Chair", " -4.735", " 0.011", " 4.609", " 1.215", " 90", " 0", "" ], [ "40", " SideTable", " -0.041", " 0.002", " 4.619", " 0", " 0", " 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 -3.25 0.901 3.75 0 0 0 1 Watch -4.656 0.985 2.879 0 0 0 32 2 KeyChain -0.152 0.468 3.033 0 0 0 36 3 CreditCard -0.681 0.526 1.436 0 0 0 37 4 Box -4.668 0.405 2.337 0 90 0 34 5 Box -2.180 0.670 2.428 0 350.086 0 35 6 WateringCan -0.277 -0.000 4.860 0 0 0 Floor|+00.38| 7 CreditCard -4.744 0.988 2.595 0 0 0 32 8 KeyChain -2.532 0.453 2.263 0 0 0 35 9 Pillow -0.417 0.611 1.714 0 0 0 37 10 Laptop -0.417 0.547 3.311 0 0 0 36 11 RemoteControl -4.744 0.990 3.163 0 0 0 32 12 Watch -5.007 0.988 2.879 0 0 0 32 13 Statue -5.007 1.086 3.163 0 0 0 32 14 Curtains -2.535 2.596 0.111 0 0 0 15 FloorLamp -4.661 0.009 0.422 0 0 0 16 Television -4.883 1.472 2.434 0 90 0 17 GarbageCan -4.810 -0.032 1.236 0 180 0 18 Painting -0.293 1.820 0.016 90 0 0 19 LightSwitch -1.016 1.243 5.0 0 180 0 20 Painting -5.118 1.480 4.396 90 270 0 21 Painting -5.118 1.480 0.656 90 270 0 22 Window -1.715 1.554 0.006 90 180 0 23 Window -3.244 1.554 0.006 90 180 0 24 DeskLamp 0.015 0.704 4.676 0 0 0 25 HousePlant -4.824 0.984 1.572 0 0 0 26 Drawer -4.497 0.901 2.854 0 90 0 27 Drawer -4.497 0.901 2.339 0 90 0 28 Cabinet -4.409 0.498 2.603 0 90 0 29 Cabinet -4.409 0.498 3.622 0 90 0 30 Drawer -4.497 0.901 3.372 0 90 0 31 Cabinet -4.409 0.498 1.569 0 90 0 32 Dresser -4.744 4.321 2.595 0 90 0 33 Drawer -4.497 0.901 1.818 0 90 0 34 Cabinet -4.409 0.498 2.588 0 90 0 35 CoffeeTable -2.405 -0.000 2.546 0 0 0 36 ArmChair -0.298 0.002 3.310 0 270 0 37 ArmChair -0.298 0.002 1.713 0 270 0 38 Sofa -2.464 -0.002 0.700 0 0 0 39 Chair -4.735 0.011 4.609 1.215 90 0 40 SideTable -0.041 0.002 4.619 0 0 0 41 NorthWall 42 EastWall 43 SouthWall 44 WestWall
[ "STEP 1: Turn around, begin walking towards the cough, then hang a right and walk up to the television. | STEP 2: Pick the watch up off of the dresser in front of you. | STEP 3: Turn left, walk over to the lamp in the corner of the room. | STEP 4: Turn on the lamp. | END" ]
[ [ "STEP 1: Turn around, begin walking towards the cough, then hang a right and walk up to the television. ", " STEP 2: Pick the watch up off of the dresser in front of you. ", " STEP 3: Turn left, walk over to the lamp in the corner of the room. ", " STEP 4: Turn on the lamp. ", " END" ] ]
seen