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trial_T20190907_011645_037846-2
View a watch by lamp light.
[ [ "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: Go to the entertainment center behind you. | STEP 2: Pick up the watch that is in front of the television. | STEP 3: Go to the lamp that is to your left. | STEP 4: Turn on the lamp. | END" ]
[ [ "STEP 1: Go to the entertainment center behind you. ", " STEP 2: Pick up the watch that is in front of the television. ", " STEP 3: Go to the lamp that is to your left. ", " STEP 4: Turn on the lamp. ", " END" ] ]
seen
trial_T20190908_154238_160623-0
Move a book into a cabinet.
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " 0.5", " 0.900", " -2.0", " 0", " 0", " 0", "" ], [ "1", " CD", " -0.474", " 1.777", " -2.341", " 0", " 0", " 0", " 39" ], [ "2", " CD", " 0.127", " 0.143", " -2.080", " 0", " 90", " 0", " 29" ], [ "3", " CellPhone", " 2.004", " 0.647", " 0.239", " 0", " 0", " 0", " 26" ], [ "4", " Pen", " -0.967", " 1.353", " -2.074", " 0", " 0", " 0", " 42" ], [ "5", " Pen", " -0.967", " 1.353", " -2.222", " 0", " 0", " 0", " 42" ], [ "6", " Pencil", " -0.705", " 0.841", " -2.185", " 0", " 0", " 0", " 39" ], [ "7", " CreditCard", " -0.901", " 1.347", " -2.025", " 0", " 0", " 0", " 42" ], [ "8", " KeyChain", " 1.626", " 0.681", " -1.142", " 0", " 90", " 0", " 34" ], [ "9", " KeyChain", " -1.626", " 1.777", " -2.041", " 0", " 0", " 0", " 39" ], [ "10", " AlarmClock", " -0.935", " 1.777", " -2.281", " 0", " 0", " 0", " 39" ], [ "11", " Book", " 0.868", " 0.646", " 0.598", " 0", " 0", " 0", " 26" ], [ "12", " Box", " -0.424", " 2.065", " -2.027", " 0", " 352.503", " 0", " 39" ], [ "13", " Pillow", " 1.152", " 0.739", " 0.418", " 0", " 0", " 0", " 26" ], [ "14", " AlarmClock", " -1.165", " 1.777", " -2.041", " 0", " 0", " 0", " 39" ], [ "15", " BasketBall", " -0.337", " 0.120", " 1.031", " 0", " 0", " 0", " Floor|-00.16|" ], [ "16", " BaseballBat", " -1.602", " 0.022", " 0.356", " 90", " 8.736", " 0", " Floor|-00.16|" ], [ "17", " Pen", " 1.762", " 0.686", " -1.065", " 0", " 270", " 0", " 34" ], [ "18", " CellPhone", " 2.004", " 0.647", " 0.598", " 0", " 0", " 0", " 26" ], [ "19", " TennisRacket", " -1.667", " 0.0", " 0.818", " 90", " 29.999", " 0", " Floor|-00.16|" ], [ "20", " Laptop", " 0.584", " 0.643", " 0.059", " 0", " 0", " 0", " 26" ], [ "21", " Pencil", " 1.626", " 0.684", " -0.833", " 0", " 270", " 0", " 34" ], [ "22", " KeyChain", " 1.592", " 0.082", " -1.159", " 0", " 180", " 0", " 33" ], [ "23", " CreditCard", " 1.626", " 0.680", " -0.988", " 0", " 270", " 0", " 34" ], [ "24", " CD", " -1.273", " 1.346", " -2.134", " 0", " 0", " 0", " 40" ], [ "25", " Mirror", " 0.883", " 1.582", " -2.399", " 0", " 180", " 0", "" ], [ "26", " Bed", " 1.176", " -0.002", " 0.238", " 0", " 90", " 0", "" ], [ "27", " LightSwitch", " 1.899", " 1.297", " -1.302", " 0", " 270", " 0", "" ], [ "28", " Poster", " -1.927", " 1.411", " -1.455", " 90", " 90", " 0", "" ], [ "29", " GarbageCan", " 0.128", " -0.030", " -2.146", " 0", " 90", " 0", "" ], [ "30", " Window", " -2.028", " 1.388", " -0.270", " 90", " 270", " 0", "" ], [ "31", " DeskLamp", " -1.673", " 1.774", " -2.190", " 0", " 0", " 0", "" ], [ "32", " Drawer", " 1.624", " 0.453", " -0.987", " 0", " 270", " 0", "" ], [ "33", " Drawer", " 1.624", " 0.163", " -0.987", " 0", " 270", " 0", "" ], [ "34", " SideTable", " 1.691", " 0.002", " -0.988", " 0", " 270", " 0", "" ], [ "35", " Chair", " -1.089", " 0.009", " -1.570", " 0", " 166.824", " 0", "" ], [ "36", " Blinds", " -1.949", " 2.158", " -0.252", " 0", " 90", " 0", "" ], [ "37", " Cabinet", " -0.241", " 1.534", " -2.101", " 0", " 0", " 0", "" ], [ "38", " Cabinet", " -1.301", " 1.534", " -2.101", " 0", " 0", " 0", "" ], [ "39", " Desk", " -0.962", " 0.003", " -1.942", " 0", " 0", " 0", "" ], [ "40", " Cabinet", " -1.683", " 1.534", " -2.101", " 0", " 0", " 0", "" ], [ "41", " Cabinet", " -0.623", " 1.534", " -2.101", " 0", " 0", " 0", "" ], [ "42", " Shelf", " -0.962", " 1.534", " -2.101", " 0", " 0", " 0", "" ], [ "43", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "44", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "45", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "46", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 0.5 0.900 -2.0 0 0 0 1 CD -0.474 1.777 -2.341 0 0 0 39 2 CD 0.127 0.143 -2.080 0 90 0 29 3 CellPhone 2.004 0.647 0.239 0 0 0 26 4 Pen -0.967 1.353 -2.074 0 0 0 42 5 Pen -0.967 1.353 -2.222 0 0 0 42 6 Pencil -0.705 0.841 -2.185 0 0 0 39 7 CreditCard -0.901 1.347 -2.025 0 0 0 42 8 KeyChain 1.626 0.681 -1.142 0 90 0 34 9 KeyChain -1.626 1.777 -2.041 0 0 0 39 10 AlarmClock -0.935 1.777 -2.281 0 0 0 39 11 Book 0.868 0.646 0.598 0 0 0 26 12 Box -0.424 2.065 -2.027 0 352.503 0 39 13 Pillow 1.152 0.739 0.418 0 0 0 26 14 AlarmClock -1.165 1.777 -2.041 0 0 0 39 15 BasketBall -0.337 0.120 1.031 0 0 0 Floor|-00.16| 16 BaseballBat -1.602 0.022 0.356 90 8.736 0 Floor|-00.16| 17 Pen 1.762 0.686 -1.065 0 270 0 34 18 CellPhone 2.004 0.647 0.598 0 0 0 26 19 TennisRacket -1.667 0.0 0.818 90 29.999 0 Floor|-00.16| 20 Laptop 0.584 0.643 0.059 0 0 0 26 21 Pencil 1.626 0.684 -0.833 0 270 0 34 22 KeyChain 1.592 0.082 -1.159 0 180 0 33 23 CreditCard 1.626 0.680 -0.988 0 270 0 34 24 CD -1.273 1.346 -2.134 0 0 0 40 25 Mirror 0.883 1.582 -2.399 0 180 0 26 Bed 1.176 -0.002 0.238 0 90 0 27 LightSwitch 1.899 1.297 -1.302 0 270 0 28 Poster -1.927 1.411 -1.455 90 90 0 29 GarbageCan 0.128 -0.030 -2.146 0 90 0 30 Window -2.028 1.388 -0.270 90 270 0 31 DeskLamp -1.673 1.774 -2.190 0 0 0 32 Drawer 1.624 0.453 -0.987 0 270 0 33 Drawer 1.624 0.163 -0.987 0 270 0 34 SideTable 1.691 0.002 -0.988 0 270 0 35 Chair -1.089 0.009 -1.570 0 166.824 0 36 Blinds -1.949 2.158 -0.252 0 90 0 37 Cabinet -0.241 1.534 -2.101 0 0 0 38 Cabinet -1.301 1.534 -2.101 0 0 0 39 Desk -0.962 0.003 -1.942 0 0 0 40 Cabinet -1.683 1.534 -2.101 0 0 0 41 Cabinet -0.623 1.534 -2.101 0 0 0 42 Shelf -0.962 1.534 -2.101 0 0 0 43 NorthWall 44 EastWall 45 SouthWall 46 WestWall
[ "STEP 1: Walk up to the bed. | STEP 2: Pick up the book off of the bed. | STEP 3: Turn left and walk towards the wall, then turn left, walk up to the wooden table and look up at the cabinets. | STEP 4: Open the leftmost cabinet door and put the book inside, then close the door. | END" ]
[ [ "STEP 1: Walk up to the bed. ", " STEP 2: Pick up the book off of the bed. ", " STEP 3: Turn left and walk towards the wall, then turn left, walk up to the wooden table and look up at the cabinets. ", " STEP 4: Open the leftmost cabinet door and put the book inside, then close the door. ", " END" ] ]
seen
trial_T20190908_154238_160623-1
To move a book from the bed to the cabinet.
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " 0.5", " 0.900", " -2.0", " 0", " 0", " 0", "" ], [ "1", " CD", " -0.474", " 1.777", " -2.341", " 0", " 0", " 0", " 39" ], [ "2", " CD", " 0.127", " 0.143", " -2.080", " 0", " 90", " 0", " 29" ], [ "3", " CellPhone", " 2.004", " 0.647", " 0.239", " 0", " 0", " 0", " 26" ], [ "4", " Pen", " -0.967", " 1.353", " -2.074", " 0", " 0", " 0", " 42" ], [ "5", " Pen", " -0.967", " 1.353", " -2.222", " 0", " 0", " 0", " 42" ], [ "6", " Pencil", " -0.705", " 0.841", " -2.185", " 0", " 0", " 0", " 39" ], [ "7", " CreditCard", " -0.901", " 1.347", " -2.025", " 0", " 0", " 0", " 42" ], [ "8", " KeyChain", " 1.626", " 0.681", " -1.142", " 0", " 90", " 0", " 34" ], [ "9", " KeyChain", " -1.626", " 1.777", " -2.041", " 0", " 0", " 0", " 39" ], [ "10", " AlarmClock", " -0.935", " 1.777", " -2.281", " 0", " 0", " 0", " 39" ], [ "11", " Book", " 0.868", " 0.646", " 0.598", " 0", " 0", " 0", " 26" ], [ "12", " Box", " -0.424", " 2.065", " -2.027", " 0", " 352.503", " 0", " 39" ], [ "13", " Pillow", " 1.152", " 0.739", " 0.418", " 0", " 0", " 0", " 26" ], [ "14", " AlarmClock", " -1.165", " 1.777", " -2.041", " 0", " 0", " 0", " 39" ], [ "15", " BasketBall", " -0.337", " 0.120", " 1.031", " 0", " 0", " 0", " Floor|-00.16|" ], [ "16", " BaseballBat", " -1.602", " 0.022", " 0.356", " 90", " 8.736", " 0", " Floor|-00.16|" ], [ "17", " Pen", " 1.762", " 0.686", " -1.065", " 0", " 270", " 0", " 34" ], [ "18", " CellPhone", " 2.004", " 0.647", " 0.598", " 0", " 0", " 0", " 26" ], [ "19", " TennisRacket", " -1.667", " 0.0", " 0.818", " 90", " 29.999", " 0", " Floor|-00.16|" ], [ "20", " Laptop", " 0.584", " 0.643", " 0.059", " 0", " 0", " 0", " 26" ], [ "21", " Pencil", " 1.626", " 0.684", " -0.833", " 0", " 270", " 0", " 34" ], [ "22", " KeyChain", " 1.592", " 0.082", " -1.159", " 0", " 180", " 0", " 33" ], [ "23", " CreditCard", " 1.626", " 0.680", " -0.988", " 0", " 270", " 0", " 34" ], [ "24", " CD", " -1.273", " 1.346", " -2.134", " 0", " 0", " 0", " 40" ], [ "25", " Mirror", " 0.883", " 1.582", " -2.399", " 0", " 180", " 0", "" ], [ "26", " Bed", " 1.176", " -0.002", " 0.238", " 0", " 90", " 0", "" ], [ "27", " LightSwitch", " 1.899", " 1.297", " -1.302", " 0", " 270", " 0", "" ], [ "28", " Poster", " -1.927", " 1.411", " -1.455", " 90", " 90", " 0", "" ], [ "29", " GarbageCan", " 0.128", " -0.030", " -2.146", " 0", " 90", " 0", "" ], [ "30", " Window", " -2.028", " 1.388", " -0.270", " 90", " 270", " 0", "" ], [ "31", " DeskLamp", " -1.673", " 1.774", " -2.190", " 0", " 0", " 0", "" ], [ "32", " Drawer", " 1.624", " 0.453", " -0.987", " 0", " 270", " 0", "" ], [ "33", " Drawer", " 1.624", " 0.163", " -0.987", " 0", " 270", " 0", "" ], [ "34", " SideTable", " 1.691", " 0.002", " -0.988", " 0", " 270", " 0", "" ], [ "35", " Chair", " -1.089", " 0.009", " -1.570", " 0", " 166.824", " 0", "" ], [ "36", " Blinds", " -1.949", " 2.158", " -0.252", " 0", " 90", " 0", "" ], [ "37", " Cabinet", " -0.241", " 1.534", " -2.101", " 0", " 0", " 0", "" ], [ "38", " Cabinet", " -1.301", " 1.534", " -2.101", " 0", " 0", " 0", "" ], [ "39", " Desk", " -0.962", " 0.003", " -1.942", " 0", " 0", " 0", "" ], [ "40", " Cabinet", " -1.683", " 1.534", " -2.101", " 0", " 0", " 0", "" ], [ "41", " Cabinet", " -0.623", " 1.534", " -2.101", " 0", " 0", " 0", "" ], [ "42", " Shelf", " -0.962", " 1.534", " -2.101", " 0", " 0", " 0", "" ], [ "43", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "44", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "45", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "46", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 0.5 0.900 -2.0 0 0 0 1 CD -0.474 1.777 -2.341 0 0 0 39 2 CD 0.127 0.143 -2.080 0 90 0 29 3 CellPhone 2.004 0.647 0.239 0 0 0 26 4 Pen -0.967 1.353 -2.074 0 0 0 42 5 Pen -0.967 1.353 -2.222 0 0 0 42 6 Pencil -0.705 0.841 -2.185 0 0 0 39 7 CreditCard -0.901 1.347 -2.025 0 0 0 42 8 KeyChain 1.626 0.681 -1.142 0 90 0 34 9 KeyChain -1.626 1.777 -2.041 0 0 0 39 10 AlarmClock -0.935 1.777 -2.281 0 0 0 39 11 Book 0.868 0.646 0.598 0 0 0 26 12 Box -0.424 2.065 -2.027 0 352.503 0 39 13 Pillow 1.152 0.739 0.418 0 0 0 26 14 AlarmClock -1.165 1.777 -2.041 0 0 0 39 15 BasketBall -0.337 0.120 1.031 0 0 0 Floor|-00.16| 16 BaseballBat -1.602 0.022 0.356 90 8.736 0 Floor|-00.16| 17 Pen 1.762 0.686 -1.065 0 270 0 34 18 CellPhone 2.004 0.647 0.598 0 0 0 26 19 TennisRacket -1.667 0.0 0.818 90 29.999 0 Floor|-00.16| 20 Laptop 0.584 0.643 0.059 0 0 0 26 21 Pencil 1.626 0.684 -0.833 0 270 0 34 22 KeyChain 1.592 0.082 -1.159 0 180 0 33 23 CreditCard 1.626 0.680 -0.988 0 270 0 34 24 CD -1.273 1.346 -2.134 0 0 0 40 25 Mirror 0.883 1.582 -2.399 0 180 0 26 Bed 1.176 -0.002 0.238 0 90 0 27 LightSwitch 1.899 1.297 -1.302 0 270 0 28 Poster -1.927 1.411 -1.455 90 90 0 29 GarbageCan 0.128 -0.030 -2.146 0 90 0 30 Window -2.028 1.388 -0.270 90 270 0 31 DeskLamp -1.673 1.774 -2.190 0 0 0 32 Drawer 1.624 0.453 -0.987 0 270 0 33 Drawer 1.624 0.163 -0.987 0 270 0 34 SideTable 1.691 0.002 -0.988 0 270 0 35 Chair -1.089 0.009 -1.570 0 166.824 0 36 Blinds -1.949 2.158 -0.252 0 90 0 37 Cabinet -0.241 1.534 -2.101 0 0 0 38 Cabinet -1.301 1.534 -2.101 0 0 0 39 Desk -0.962 0.003 -1.942 0 0 0 40 Cabinet -1.683 1.534 -2.101 0 0 0 41 Cabinet -0.623 1.534 -2.101 0 0 0 42 Shelf -0.962 1.534 -2.101 0 0 0 43 NorthWall 44 EastWall 45 SouthWall 46 WestWall
[ "STEP 1: Walk to the bed in front of you. | STEP 2: Pick up the book behind the cushion on the bed. | STEP 3: turn around and walk to the desk, and look up at cabinets above the desk. | STEP 4: Open the cabinet door on the left side, place the book inside of the cabinet, close the door. | END" ]
[ [ "STEP 1: Walk to the bed in front of you. ", " STEP 2: Pick up the book behind the cushion on the bed. ", " STEP 3: turn around and walk to the desk, and look up at cabinets above the desk. ", " STEP 4: Open the cabinet door on the left side, place the book inside of the cabinet, close the door. ", " END" ] ]
seen
trial_T20190908_154238_160623-2
Put the book from the bed in the upper left cabinet over 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 0.5 0.900 -2.0 0 0 0 1 CD -0.474 1.777 -2.341 0 0 0 39 2 CD 0.127 0.143 -2.080 0 90 0 29 3 CellPhone 2.004 0.647 0.239 0 0 0 26 4 Pen -0.967 1.353 -2.074 0 0 0 42 5 Pen -0.967 1.353 -2.222 0 0 0 42 6 Pencil -0.705 0.841 -2.185 0 0 0 39 7 CreditCard -0.901 1.347 -2.025 0 0 0 42 8 KeyChain 1.626 0.681 -1.142 0 90 0 34 9 KeyChain -1.626 1.777 -2.041 0 0 0 39 10 AlarmClock -0.935 1.777 -2.281 0 0 0 39 11 Book 0.868 0.646 0.598 0 0 0 26 12 Box -0.424 2.065 -2.027 0 352.503 0 39 13 Pillow 1.152 0.739 0.418 0 0 0 26 14 AlarmClock -1.165 1.777 -2.041 0 0 0 39 15 BasketBall -0.337 0.120 1.031 0 0 0 Floor|-00.16| 16 BaseballBat -1.602 0.022 0.356 90 8.736 0 Floor|-00.16| 17 Pen 1.762 0.686 -1.065 0 270 0 34 18 CellPhone 2.004 0.647 0.598 0 0 0 26 19 TennisRacket -1.667 0.0 0.818 90 29.999 0 Floor|-00.16| 20 Laptop 0.584 0.643 0.059 0 0 0 26 21 Pencil 1.626 0.684 -0.833 0 270 0 34 22 KeyChain 1.592 0.082 -1.159 0 180 0 33 23 CreditCard 1.626 0.680 -0.988 0 270 0 34 24 CD -1.273 1.346 -2.134 0 0 0 40 25 Mirror 0.883 1.582 -2.399 0 180 0 26 Bed 1.176 -0.002 0.238 0 90 0 27 LightSwitch 1.899 1.297 -1.302 0 270 0 28 Poster -1.927 1.411 -1.455 90 90 0 29 GarbageCan 0.128 -0.030 -2.146 0 90 0 30 Window -2.028 1.388 -0.270 90 270 0 31 DeskLamp -1.673 1.774 -2.190 0 0 0 32 Drawer 1.624 0.453 -0.987 0 270 0 33 Drawer 1.624 0.163 -0.987 0 270 0 34 SideTable 1.691 0.002 -0.988 0 270 0 35 Chair -1.089 0.009 -1.570 0 166.824 0 36 Blinds -1.949 2.158 -0.252 0 90 0 37 Cabinet -0.241 1.534 -2.101 0 0 0 38 Cabinet -1.301 1.534 -2.101 0 0 0 39 Desk -0.962 0.003 -1.942 0 0 0 40 Cabinet -1.683 1.534 -2.101 0 0 0 41 Cabinet -0.623 1.534 -2.101 0 0 0 42 Shelf -0.962 1.534 -2.101 0 0 0 43 NorthWall 44 EastWall 45 SouthWall 46 WestWall
[ "STEP 1: Walk forward and stand at the bed. | STEP 2: Pick up the book from the bed. | STEP 3: Turn around and go to the desk. | STEP 4: Put the book in the upper left cabinet over the desk. | END" ]
[ [ "STEP 1: Walk forward and stand at the bed. ", " STEP 2: Pick up the book from the bed. ", " STEP 3: Turn around and go to the desk. ", " STEP 4: Put the book in the upper left cabinet over the desk. ", " END" ] ]
seen
trial_T20190907_200622_451724-0
Take both CD's from the dresser and put them on the book shelf
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 1.0 0.901 -2.0 0 0 0 1 Mug 1.788 1.176 -2.298 0 0 0 28 2 Pen -1.582 0.604 -0.250 0 0 0 46 3 Pencil -1.714 0.602 -0.533 0 0 0 46 4 Pencil -1.794 0.220 -1.149 0 0 0 47 5 CreditCard -1.912 0.599 0.031 0 0 0 46 6 KeyChain 1.257 1.578 -2.298 0 0 0 32 7 KeyChain 0.359 0.415 -2.606 0 90 0 41 8 Box 1.996 0.316 -1.042 0 254.839 0 9 Book 0.339 0.723 -2.65 0 165.000 0 39 10 Pillow -1.024 0.491 -1.855 0 0 0 45 11 CellPhone -1.024 0.417 -2.100 0 0 0 45 12 Vase 1.320 1.179 -2.298 0 0 0 27 13 BaseballBat -1.629 0.649 0.416 14.491 0 0 14 CreditCard 0.651 0.730 -2.530 0 180 0 39 15 TennisRacket 2.244 0.279 -1.901 335.402 251.974 201.714 16 KeyChain -1.582 0.599 -0.675 0 90 0 46 17 AlarmClock -1.853 0.501 -1.174 0 285.157 0 46 18 Cloth 2.176 0.0 -0.571 0 335.474 0 19 Laptop -1.764 0.591 -0.112 0 113.510 0 46 20 CD 0.766 0.730 -2.647 0 180 0 39 21 CD 0.076 0.728 -2.471 0 180 0 39 22 Pen 0.450 0.119 -2.550 0 0 0 40 23 Pencil 1.981 0.981 -2.277 0 0 0 26 24 Mug -1.515 0.597 -0.392 0 0 0 46 25 Shelf 1.311 0.969 -2.298 0 0 0 26 Shelf 1.843 0.969 -2.298 0 0 0 27 Shelf 1.311 1.171 -2.298 0 0 0 28 Shelf 1.843 1.171 -2.298 0 0 0 29 Shelf 1.311 1.368 -2.298 0 0 0 30 Shelf 1.843 1.570 -2.298 0 0 0 31 Shelf 1.843 1.368 -2.298 0 0 0 32 Shelf 1.311 1.570 -2.298 0 0 0 33 DeskLamp -1.848 0.592 -0.786 0 90 0 34 GarbageCan 2.197 -0.007 0.298 0 232.025 0 35 LightSwitch -0.638 1.149 0.499 0 180 0 36 Poster 0.001 1.495 -2.642 90 90 0 37 Mirror -1.072 1.469 0.497 0 0 0 38 Window 0.435 1.398 -2.855 90 0 0 39 SideTable 0.435 0.036 -2.647 0 0 0 40 Drawer 0.433 0.203 -2.445 0 0 0 41 Drawer 0.433 0.505 -2.445 0 0 0 42 Dumbbell -1.656 0.602 -0.534 0 90 0 43 Blinds 0.449 2.164 -2.845 0 0 0 44 GarbageBag 1.730 0.318 0.222 270 90 83.412 45 Bed -1.047 -0.000 -1.851 0 270 0 46 Desk -1.710 0.000 -0.374 0 90 0 47 Drawer -1.790 0.245 -1.144 0 90 0 48 SideTable -1.824 0.000 -1.144 0 90 0 49 Drawer -1.790 0.392 -1.144 0 90 0 50 Drawer -1.790 0.097 -1.144 0 90 0 51 Chair -1.453 0.005 -0.311 0 286.095 0 52 Shelf 1.591 0.606 -2.305 0 0 0 53 ShelvingUnit 1.588 0.004 -2.326 0 0 0 54 Shelf 1.854 0.453 -2.298 0 0 0 55 Shelf 1.321 0.155 -2.296 0 0 0 56 Shelf 1.323 0.456 -2.300 0 0 0 57 Shelf 1.852 0.152 -2.294 0 0 0 58 NorthWall 59 EastWall 60 SouthWall 61 WestWall
[ "STEP 1: Turn around, face the dresser | STEP 2: Pick up the CD from the dresser | STEP 3: Turn left, walk a few steps, turn right, stand in front of the book shelf | STEP 4: Put the CD on the shelf | STEP 5: Turn right, take a few steps, turn left, stand in front of the dresser | STEP 6: Pick up the CD from the dresser | STEP 7: Turn left, walk a few steps, turn right, stand in front of the book shelf | STEP 8: Put the CD on the shelf | END" ]
[ [ "STEP 1: Turn around, face the dresser ", " STEP 2: Pick up the CD from the dresser ", " STEP 3: Turn left, walk a few steps, turn right, stand in front of the book shelf ", " STEP 4: Put the CD on the shelf ", " STEP 5: Turn right, take a few steps, turn left, stand in front of the dresser ", " STEP 6: Pick up the CD from the dresser ", " STEP 7: Turn left, walk a few steps, turn right, stand in front of the book shelf ", " STEP 8: Put the CD on the shelf ", " END" ] ]
seen
trial_T20190907_200622_451724-1
Move two discs to 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 1.0 0.901 -2.0 0 0 0 1 Mug 1.788 1.176 -2.298 0 0 0 28 2 Pen -1.582 0.604 -0.250 0 0 0 46 3 Pencil -1.714 0.602 -0.533 0 0 0 46 4 Pencil -1.794 0.220 -1.149 0 0 0 47 5 CreditCard -1.912 0.599 0.031 0 0 0 46 6 KeyChain 1.257 1.578 -2.298 0 0 0 32 7 KeyChain 0.359 0.415 -2.606 0 90 0 41 8 Box 1.996 0.316 -1.042 0 254.839 0 9 Book 0.339 0.723 -2.65 0 165.000 0 39 10 Pillow -1.024 0.491 -1.855 0 0 0 45 11 CellPhone -1.024 0.417 -2.100 0 0 0 45 12 Vase 1.320 1.179 -2.298 0 0 0 27 13 BaseballBat -1.629 0.649 0.416 14.491 0 0 14 CreditCard 0.651 0.730 -2.530 0 180 0 39 15 TennisRacket 2.244 0.279 -1.901 335.402 251.974 201.714 16 KeyChain -1.582 0.599 -0.675 0 90 0 46 17 AlarmClock -1.853 0.501 -1.174 0 285.157 0 46 18 Cloth 2.176 0.0 -0.571 0 335.474 0 19 Laptop -1.764 0.591 -0.112 0 113.510 0 46 20 CD 0.766 0.730 -2.647 0 180 0 39 21 CD 0.076 0.728 -2.471 0 180 0 39 22 Pen 0.450 0.119 -2.550 0 0 0 40 23 Pencil 1.981 0.981 -2.277 0 0 0 26 24 Mug -1.515 0.597 -0.392 0 0 0 46 25 Shelf 1.311 0.969 -2.298 0 0 0 26 Shelf 1.843 0.969 -2.298 0 0 0 27 Shelf 1.311 1.171 -2.298 0 0 0 28 Shelf 1.843 1.171 -2.298 0 0 0 29 Shelf 1.311 1.368 -2.298 0 0 0 30 Shelf 1.843 1.570 -2.298 0 0 0 31 Shelf 1.843 1.368 -2.298 0 0 0 32 Shelf 1.311 1.570 -2.298 0 0 0 33 DeskLamp -1.848 0.592 -0.786 0 90 0 34 GarbageCan 2.197 -0.007 0.298 0 232.025 0 35 LightSwitch -0.638 1.149 0.499 0 180 0 36 Poster 0.001 1.495 -2.642 90 90 0 37 Mirror -1.072 1.469 0.497 0 0 0 38 Window 0.435 1.398 -2.855 90 0 0 39 SideTable 0.435 0.036 -2.647 0 0 0 40 Drawer 0.433 0.203 -2.445 0 0 0 41 Drawer 0.433 0.505 -2.445 0 0 0 42 Dumbbell -1.656 0.602 -0.534 0 90 0 43 Blinds 0.449 2.164 -2.845 0 0 0 44 GarbageBag 1.730 0.318 0.222 270 90 83.412 45 Bed -1.047 -0.000 -1.851 0 270 0 46 Desk -1.710 0.000 -0.374 0 90 0 47 Drawer -1.790 0.245 -1.144 0 90 0 48 SideTable -1.824 0.000 -1.144 0 90 0 49 Drawer -1.790 0.392 -1.144 0 90 0 50 Drawer -1.790 0.097 -1.144 0 90 0 51 Chair -1.453 0.005 -0.311 0 286.095 0 52 Shelf 1.591 0.606 -2.305 0 0 0 53 ShelvingUnit 1.588 0.004 -2.326 0 0 0 54 Shelf 1.854 0.453 -2.298 0 0 0 55 Shelf 1.321 0.155 -2.296 0 0 0 56 Shelf 1.323 0.456 -2.300 0 0 0 57 Shelf 1.852 0.152 -2.294 0 0 0 58 NorthWall 59 EastWall 60 SouthWall 61 WestWall
[ "STEP 1: Turn left and walk towards the bed, then turn left to face the dresser. | STEP 2: Pick up the disc closest to the red credit card off of the dresser. | STEP 3: Turn left and walk over to the right side shelving unit on the wall. | STEP 4: Put the disc on the middle shelf of the shelving unit on the wall to the right of the yellow vase. | STEP 5: Turn right and walk towards the bed, then turn left to face the dresser. | STEP 6: Pick up the disc off of the dresser. | STEP 7: Turn left and walk over to the right side of the shelving unit on the wall. | STEP 8: Put the disc on the middle shelf of the shelving unit on the wall to the left of the yellow vase. | END" ]
[ [ "STEP 1: Turn left and walk towards the bed, then turn left to face the dresser. ", " STEP 2: Pick up the disc closest to the red credit card off of the dresser. ", " STEP 3: Turn left and walk over to the right side shelving unit on the wall. ", " STEP 4: Put the disc on the middle shelf of the shelving unit on the wall to the right of the yellow vase. ", " STEP 5: Turn right and walk towards the bed, then turn left to face the dresser. ", " STEP 6: Pick up the disc off of the dresser. ", " STEP 7: Turn left and walk over to the right side of the shelving unit on the wall. ", " STEP 8: Put the disc on the middle shelf of the shelving unit on the wall to the left of the yellow vase. ", " END" ] ]
seen
trial_T20190907_200622_451724-2
Move two CDs from the dresser to the shelf.
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " 1.0", " 0.901", " -2.0", " 0", " 0", " 0", "" ], [ "1", " Mug", " 1.788", " 1.176", " -2.298", " 0", " 0", " 0", " 28" ], [ "2", " Pen", " -1.582", " 0.604", " -0.250", " 0", " 0", " 0", " 46" ], [ "3", " Pencil", " -1.714", " 0.602", " -0.533", " 0", " 0", " 0", " 46" ], [ "4", " Pencil", " -1.794", " 0.220", " -1.149", " 0", " 0", " 0", " 47" ], [ "5", " CreditCard", " -1.912", " 0.599", " 0.031", " 0", " 0", " 0", " 46" ], [ "6", " KeyChain", " 1.257", " 1.578", " -2.298", " 0", " 0", " 0", " 32" ], [ "7", " KeyChain", " 0.359", " 0.415", " -2.606", " 0", " 90", " 0", " 41" ], [ "8", " Box", " 1.996", " 0.316", " -1.042", " 0", " 254.839", " 0", "" ], [ "9", " Book", " 0.339", " 0.723", " -2.65", " 0", " 165.000", " 0", " 39" ], [ "10", " Pillow", " -1.024", " 0.491", " -1.855", " 0", " 0", " 0", " 45" ], [ "11", " CellPhone", " -1.024", " 0.417", " -2.100", " 0", " 0", " 0", " 45" ], [ "12", " Vase", " 1.320", " 1.179", " -2.298", " 0", " 0", " 0", " 27" ], [ "13", " BaseballBat", " -1.629", " 0.649", " 0.416", " 14.491", " 0", " 0", "" ], [ "14", " CreditCard", " 0.651", " 0.730", " -2.530", " 0", " 180", " 0", " 39" ], [ "15", " TennisRacket", " 2.244", " 0.279", " -1.901", " 335.402", " 251.974", " 201.714", "" ], [ "16", " KeyChain", " -1.582", " 0.599", " -0.675", " 0", " 90", " 0", " 46" ], [ "17", " AlarmClock", " -1.853", " 0.501", " -1.174", " 0", " 285.157", " 0", " 46" ], [ "18", " Cloth", " 2.176", " 0.0", " -0.571", " 0", " 335.474", " 0", "" ], [ "19", " Laptop", " -1.764", " 0.591", " -0.112", " 0", " 113.510", " 0", " 46" ], [ "20", " CD", " 0.766", " 0.730", " -2.647", " 0", " 180", " 0", " 39" ], [ "21", " CD", " 0.076", " 0.728", " -2.471", " 0", " 180", " 0", " 39" ], [ "22", " Pen", " 0.450", " 0.119", " -2.550", " 0", " 0", " 0", " 40" ], [ "23", " Pencil", " 1.981", " 0.981", " -2.277", " 0", " 0", " 0", " 26" ], [ "24", " Mug", " -1.515", " 0.597", " -0.392", " 0", " 0", " 0", " 46" ], [ "25", " Shelf", " 1.311", " 0.969", " -2.298", " 0", " 0", " 0", "" ], [ "26", " Shelf", " 1.843", " 0.969", " -2.298", " 0", " 0", " 0", "" ], [ "27", " Shelf", " 1.311", " 1.171", " -2.298", " 0", " 0", " 0", "" ], [ "28", " Shelf", " 1.843", " 1.171", " -2.298", " 0", " 0", " 0", "" ], [ "29", " Shelf", " 1.311", " 1.368", " -2.298", " 0", " 0", " 0", "" ], [ "30", " Shelf", " 1.843", " 1.570", " -2.298", " 0", " 0", " 0", "" ], [ "31", " Shelf", " 1.843", " 1.368", " -2.298", " 0", " 0", " 0", "" ], [ "32", " Shelf", " 1.311", " 1.570", " -2.298", " 0", " 0", " 0", "" ], [ "33", " DeskLamp", " -1.848", " 0.592", " -0.786", " 0", " 90", " 0", "" ], [ "34", " GarbageCan", " 2.197", " -0.007", " 0.298", " 0", " 232.025", " 0", "" ], [ "35", " LightSwitch", " -0.638", " 1.149", " 0.499", " 0", " 180", " 0", "" ], [ "36", " Poster", " 0.001", " 1.495", " -2.642", " 90", " 90", " 0", "" ], [ "37", " Mirror", " -1.072", " 1.469", " 0.497", " 0", " 0", " 0", "" ], [ "38", " Window", " 0.435", " 1.398", " -2.855", " 90", " 0", " 0", "" ], [ "39", " SideTable", " 0.435", " 0.036", " -2.647", " 0", " 0", " 0", "" ], [ "40", " Drawer", " 0.433", " 0.203", " -2.445", " 0", " 0", " 0", "" ], [ "41", " Drawer", " 0.433", " 0.505", " -2.445", " 0", " 0", " 0", "" ], [ "42", " Dumbbell", " -1.656", " 0.602", " -0.534", " 0", " 90", " 0", "" ], [ "43", " Blinds", " 0.449", " 2.164", " -2.845", " 0", " 0", " 0", "" ], [ "44", " GarbageBag", " 1.730", " 0.318", " 0.222", " 270", " 90", " 83.412", "" ], [ "45", " Bed", " -1.047", " -0.000", " -1.851", " 0", " 270", " 0", "" ], [ "46", " Desk", " -1.710", " 0.000", " -0.374", " 0", " 90", " 0", "" ], [ "47", " Drawer", " -1.790", " 0.245", " -1.144", " 0", " 90", " 0", "" ], [ "48", " SideTable", " -1.824", " 0.000", " -1.144", " 0", " 90", " 0", "" ], [ "49", " Drawer", " -1.790", " 0.392", " -1.144", " 0", " 90", " 0", "" ], [ "50", " Drawer", " -1.790", " 0.097", " -1.144", " 0", " 90", " 0", "" ], [ "51", " Chair", " -1.453", " 0.005", " -0.311", " 0", " 286.095", " 0", "" ], [ "52", " Shelf", " 1.591", " 0.606", " -2.305", " 0", " 0", " 0", "" ], [ "53", " ShelvingUnit", " 1.588", " 0.004", " -2.326", " 0", " 0", " 0", "" ], [ "54", " Shelf", " 1.854", " 0.453", " -2.298", " 0", " 0", " 0", "" ], [ "55", " Shelf", " 1.321", " 0.155", " -2.296", " 0", " 0", " 0", "" ], [ "56", " Shelf", " 1.323", " 0.456", " -2.300", " 0", " 0", " 0", "" ], [ "57", " Shelf", " 1.852", " 0.152", " -2.294", " 0", " 0", " 0", "" ], [ "58", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "59", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "60", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "61", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 1.0 0.901 -2.0 0 0 0 1 Mug 1.788 1.176 -2.298 0 0 0 28 2 Pen -1.582 0.604 -0.250 0 0 0 46 3 Pencil -1.714 0.602 -0.533 0 0 0 46 4 Pencil -1.794 0.220 -1.149 0 0 0 47 5 CreditCard -1.912 0.599 0.031 0 0 0 46 6 KeyChain 1.257 1.578 -2.298 0 0 0 32 7 KeyChain 0.359 0.415 -2.606 0 90 0 41 8 Box 1.996 0.316 -1.042 0 254.839 0 9 Book 0.339 0.723 -2.65 0 165.000 0 39 10 Pillow -1.024 0.491 -1.855 0 0 0 45 11 CellPhone -1.024 0.417 -2.100 0 0 0 45 12 Vase 1.320 1.179 -2.298 0 0 0 27 13 BaseballBat -1.629 0.649 0.416 14.491 0 0 14 CreditCard 0.651 0.730 -2.530 0 180 0 39 15 TennisRacket 2.244 0.279 -1.901 335.402 251.974 201.714 16 KeyChain -1.582 0.599 -0.675 0 90 0 46 17 AlarmClock -1.853 0.501 -1.174 0 285.157 0 46 18 Cloth 2.176 0.0 -0.571 0 335.474 0 19 Laptop -1.764 0.591 -0.112 0 113.510 0 46 20 CD 0.766 0.730 -2.647 0 180 0 39 21 CD 0.076 0.728 -2.471 0 180 0 39 22 Pen 0.450 0.119 -2.550 0 0 0 40 23 Pencil 1.981 0.981 -2.277 0 0 0 26 24 Mug -1.515 0.597 -0.392 0 0 0 46 25 Shelf 1.311 0.969 -2.298 0 0 0 26 Shelf 1.843 0.969 -2.298 0 0 0 27 Shelf 1.311 1.171 -2.298 0 0 0 28 Shelf 1.843 1.171 -2.298 0 0 0 29 Shelf 1.311 1.368 -2.298 0 0 0 30 Shelf 1.843 1.570 -2.298 0 0 0 31 Shelf 1.843 1.368 -2.298 0 0 0 32 Shelf 1.311 1.570 -2.298 0 0 0 33 DeskLamp -1.848 0.592 -0.786 0 90 0 34 GarbageCan 2.197 -0.007 0.298 0 232.025 0 35 LightSwitch -0.638 1.149 0.499 0 180 0 36 Poster 0.001 1.495 -2.642 90 90 0 37 Mirror -1.072 1.469 0.497 0 0 0 38 Window 0.435 1.398 -2.855 90 0 0 39 SideTable 0.435 0.036 -2.647 0 0 0 40 Drawer 0.433 0.203 -2.445 0 0 0 41 Drawer 0.433 0.505 -2.445 0 0 0 42 Dumbbell -1.656 0.602 -0.534 0 90 0 43 Blinds 0.449 2.164 -2.845 0 0 0 44 GarbageBag 1.730 0.318 0.222 270 90 83.412 45 Bed -1.047 -0.000 -1.851 0 270 0 46 Desk -1.710 0.000 -0.374 0 90 0 47 Drawer -1.790 0.245 -1.144 0 90 0 48 SideTable -1.824 0.000 -1.144 0 90 0 49 Drawer -1.790 0.392 -1.144 0 90 0 50 Drawer -1.790 0.097 -1.144 0 90 0 51 Chair -1.453 0.005 -0.311 0 286.095 0 52 Shelf 1.591 0.606 -2.305 0 0 0 53 ShelvingUnit 1.588 0.004 -2.326 0 0 0 54 Shelf 1.854 0.453 -2.298 0 0 0 55 Shelf 1.321 0.155 -2.296 0 0 0 56 Shelf 1.323 0.456 -2.300 0 0 0 57 Shelf 1.852 0.152 -2.294 0 0 0 58 NorthWall 59 EastWall 60 SouthWall 61 WestWall
[ "STEP 1: Move to the dresser under the mirror | STEP 2: Pick up a CD from the dresser | STEP 3: Move to the shelf to the left of the dresser | STEP 4: Put CD on the shelf | STEP 5: Move to the dresser under the mirror | STEP 6: Pick up a CD from the dresser | STEP 7: Move to the shelf to the left of the dresser | STEP 8: Put CD on the shelf | END" ]
[ [ "STEP 1: Move to the dresser under the mirror ", " STEP 2: Pick up a CD from the dresser ", " STEP 3: Move to the shelf to the left of the dresser ", " STEP 4: Put CD on the shelf ", " STEP 5: Move to the dresser under the mirror ", " STEP 6: Pick up a CD from the dresser ", " STEP 7: Move to the shelf to the left of the dresser ", " STEP 8: Put CD on the shelf ", " END" ] ]
seen
trial_T20190909_011401_611613-0
Move two pencils to a shelf.
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " 0.25", " 0.900", " -1.0", " 0", " 180", " 0", "" ], [ "1", " Mug", " 1.839", " 0.793", " -1.282", " 0", " 0", " 0", " 53" ], [ "2", " TissueBox", " -1.294", " 0.969", " -0.954", " 0", " 0", " 0", " 52" ], [ "3", " Watch", " 2.482", " 1.044", " -1.383", " 0", " 0", " 0", " 40" ], [ "4", " Watch", " 1.651", " 0.795", " -1.282", " 0", " 0", " 0", " 53" ], [ "5", " CD", " 2.764", " 0.126", " -1.190", " 0", " 0", " 0", " 54" ], [ "6", " CD", " -1.387", " 1.234", " -0.840", " 0", " 0", " 0", " 48" ], [ "7", " CellPhone", " -1.387", " 1.236", " -0.458", " 0", " 0", " 0", " 48" ], [ "8", " Pencil", " -1.352", " 1.238", " -0.745", " 0", " 0", " 0", " 48" ], [ "9", " AlarmClock", " 2.215", " 0.796", " -1.217", " 0", " 0", " 0", " 53" ], [ "10", " Book", " -0.979", " 0.565", " 0.358", " 0", " 0", " 0", " 29" ], [ "11", " Box", " 2.734", " 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Shelf", " 2.476", " 0.919", " -1.384", " 0", " 0", " 0", "" ], [ "38", " Shelf", " 2.251", " 1.503", " -1.383", " 0", " 0", " 0", "" ], [ "39", " Shelf", " 2.700", " 1.510", " -1.380", " 0", " 0", " 0", "" ], [ "40", " Shelf", " 2.476", " 1.153", " -1.384", " 0", " 0", " 0", "" ], [ "41", " Shelf", " 1.803", " 1.386", " -1.384", " 0", " 0", " 0", "" ], [ "42", " Shelf", " 1.803", " 0.919", " -1.381", " 0", " 0", " 0", "" ], [ "43", " DogBed", " 0.920", " 0.013", " -1.044", " 0", " 0", " 0", "" ], [ "44", " Drawer", " -1.305", " 0.454", " -0.918", " 0", " 90", " 0", "" ], [ "45", " Drawer", " -1.305", " 0.752", " -0.919", " 0", " 90", " 0", "" ], [ "46", " Drawer", " -1.305", " 0.178", " -0.918", " 0", " 90", " 0", "" ], [ "47", " Drawer", " -1.305", " 0.752", " -0.579", " 0", " 90", " 0", "" ], [ "48", " Dresser", " -1.328", " 0.011", " -0.744", " 0", " 90", " 0", "" ], [ "49", " Drawer", " -1.306", " 1.031", " -0.579", " 0", " 90", " 0", "" ], [ "50", " Drawer", " -1.305", " 0.454", " -0.578", " 0", " 90", " 0", "" ], [ "51", " Drawer", " -1.305", " 0.178", " -0.578", " 0", " 90", " 0", "" ], [ "52", " Drawer", " -1.305", " 1.031", " -0.919", " 0", " 90", " 0", "" ], [ "53", " Desk", " 2.211", " 0.009", " -1.259", " 0", " 0", " 0", "" ], [ "54", " Drawer", " 2.817", " 0.189", " -1.176", " 0", " 0", " 0", "" ], [ "55", " Drawer", " 1.940", " 0.632", " -1.176", " 0", " 0", " 0", "" ], [ "56", " Drawer", " 1.940", " 0.189", " -1.176", " 0", " 0", " 0", "" ], [ "57", " Drawer", " 1.623", " 0.632", " -1.176", " 0", " 0", " 0", "" ], [ "58", " Drawer", " 2.817", " 0.632", " -1.176", " 0", " 0", " 0", "" ], [ "59", " Drawer", " 2.817", " 0.411", " -1.176", " 0", " 0", " 0", "" ], [ "60", " Drawer", " 1.623", " 0.189", " -1.176", " 0", " 0", " 0", "" ], [ "61", " Drawer", " 1.623", " 0.410", " -1.176", " 0", " 0", " 0", "" ], [ "62", " Drawer", " 1.940", " 0.410", " -1.176", " 0", " 0", " 0", "" ], [ "63", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "64", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "65", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "66", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 0.25 0.900 -1.0 0 180 0 1 Mug 1.839 0.793 -1.282 0 0 0 53 2 TissueBox -1.294 0.969 -0.954 0 0 0 52 3 Watch 2.482 1.044 -1.383 0 0 0 40 4 Watch 1.651 0.795 -1.282 0 0 0 53 5 CD 2.764 0.126 -1.190 0 0 0 54 6 CD -1.387 1.234 -0.840 0 0 0 48 7 CellPhone -1.387 1.236 -0.458 0 0 0 48 8 Pencil -1.352 1.238 -0.745 0 0 0 48 9 AlarmClock 2.215 0.796 -1.217 0 0 0 53 10 Book -0.979 0.565 0.358 0 0 0 29 11 Box 2.734 0.195 0.89 0 0 0 12 Laptop -0.5 0.56 0.286 0 63.464 0 29 13 CellPhone -0.289 0.566 1.091 0 0 0 29 14 BaseballBat 2.847 0.643 1.838 0 0 335.111 15 BasketBall 1.019 0.330 -0.976 346.948 295.819 0 16 TissueBox 1.594 0.129 -1.218 0 0 0 60 17 CreditCard 2.587 1.044 -1.413 0 0 0 40 18 AlarmClock 2.591 0.796 -1.185 0 0 0 53 19 Pencil 1.839 0.799 -1.121 0 0 0 53 20 Boots -1.279 0.000 -1.343 0 27.143 0 21 Pillow -0.634 0.63 1.611 0 0 0 29 22 KeyChain 2.259 1.278 -1.387 0 0 0 38 23 Bowl 2.451 0.788 -1.207 0 0 0 53 24 Watch -1.318 1.235 -0.649 0 0 0 48 25 CD 1.911 0.126 -1.218 0 0 0 56 26 Pen 1.707 0.808 -1.370 0 0 0 53 27 Mug 2.821 0.788 -1.223 0 0 0 53 28 Statue 1.823 1.036 -1.419 0 0 0 53 29 Bed -0.640 0.008 0.871 0 0 0 30 DeskLamp -1.319 1.238 -0.994 0 90 0 31 GarbageCan 2.838 0.007 0.215 0 270 0 32 Blinds 0.111 2.337 -1.436 0 0 0 33 Mirror 1.985 1.381 1.875 0 0 0 34 Window 0.118 1.496 -1.588 90 180 0 35 LightSwitch 2.654 1.276 1.899 0 180 0 36 Chair 2.457 0.011 -0.997 0 189.124 0 37 Shelf 2.476 0.919 -1.384 0 0 0 38 Shelf 2.251 1.503 -1.383 0 0 0 39 Shelf 2.700 1.510 -1.380 0 0 0 40 Shelf 2.476 1.153 -1.384 0 0 0 41 Shelf 1.803 1.386 -1.384 0 0 0 42 Shelf 1.803 0.919 -1.381 0 0 0 43 DogBed 0.920 0.013 -1.044 0 0 0 44 Drawer -1.305 0.454 -0.918 0 90 0 45 Drawer -1.305 0.752 -0.919 0 90 0 46 Drawer -1.305 0.178 -0.918 0 90 0 47 Drawer -1.305 0.752 -0.579 0 90 0 48 Dresser -1.328 0.011 -0.744 0 90 0 49 Drawer -1.306 1.031 -0.579 0 90 0 50 Drawer -1.305 0.454 -0.578 0 90 0 51 Drawer -1.305 0.178 -0.578 0 90 0 52 Drawer -1.305 1.031 -0.919 0 90 0 53 Desk 2.211 0.009 -1.259 0 0 0 54 Drawer 2.817 0.189 -1.176 0 0 0 55 Drawer 1.940 0.632 -1.176 0 0 0 56 Drawer 1.940 0.189 -1.176 0 0 0 57 Drawer 1.623 0.632 -1.176 0 0 0 58 Drawer 2.817 0.632 -1.176 0 0 0 59 Drawer 2.817 0.411 -1.176 0 0 0 60 Drawer 1.623 0.189 -1.176 0 0 0 61 Drawer 1.623 0.410 -1.176 0 0 0 62 Drawer 1.940 0.410 -1.176 0 0 0 63 NorthWall 64 EastWall 65 SouthWall 66 WestWall
[ "STEP 1: Turn around and walk over to the white desk on your right. | STEP 2: Pick up the blue pencil off of the white desk. | STEP 3: Look up at the shelf behind the desk. | STEP 4: Put the blue pencil on the shelf with the golden statue on it. | STEP 5: Walk over to the tall white dresser next to the bed on your right. | STEP 6: Pick up the blue pencil off of the dresser. | STEP 7: Turn around and walk back over to the shelf behind the white desk. | STEP 8: Put the blue pencil on the shelf with the golden statue | END" ]
[ [ "STEP 1: Turn around and walk over to the white desk on your right. ", " STEP 2: Pick up the blue pencil off of the white desk. ", " STEP 3: Look up at the shelf behind the desk. ", " STEP 4: Put the blue pencil on the shelf with the golden statue on it. ", " STEP 5: Walk over to the tall white dresser next to the bed on your right. ", " STEP 6: Pick up the blue pencil off of the dresser. ", " STEP 7: Turn around and walk back over to the shelf behind the white desk. ", " STEP 8: Put the blue pencil on the shelf with the golden statue ", " END" ] ]
seen
trial_T20190909_011401_611613-1
Put two pencils on a shelf on a desk.
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Shelf", " 2.476", " 0.919", " -1.384", " 0", " 0", " 0", "" ], [ "38", " Shelf", " 2.251", " 1.503", " -1.383", " 0", " 0", " 0", "" ], [ "39", " Shelf", " 2.700", " 1.510", " -1.380", " 0", " 0", " 0", "" ], [ "40", " Shelf", " 2.476", " 1.153", " -1.384", " 0", " 0", " 0", "" ], [ "41", " Shelf", " 1.803", " 1.386", " -1.384", " 0", " 0", " 0", "" ], [ "42", " Shelf", " 1.803", " 0.919", " -1.381", " 0", " 0", " 0", "" ], [ "43", " DogBed", " 0.920", " 0.013", " -1.044", " 0", " 0", " 0", "" ], [ "44", " Drawer", " -1.305", " 0.454", " -0.918", " 0", " 90", " 0", "" ], [ "45", " Drawer", " -1.305", " 0.752", " -0.919", " 0", " 90", " 0", "" ], [ "46", " Drawer", " -1.305", " 0.178", " -0.918", " 0", " 90", " 0", "" ], [ "47", " Drawer", " -1.305", " 0.752", " -0.579", " 0", " 90", " 0", "" ], [ "48", " Dresser", " -1.328", " 0.011", " -0.744", " 0", " 90", " 0", "" ], [ "49", " Drawer", " -1.306", " 1.031", " -0.579", " 0", " 90", " 0", "" ], [ "50", " Drawer", " -1.305", " 0.454", " -0.578", " 0", " 90", " 0", "" ], [ "51", " Drawer", " -1.305", " 0.178", " -0.578", " 0", " 90", " 0", "" ], [ "52", " Drawer", " -1.305", " 1.031", " -0.919", " 0", " 90", " 0", "" ], [ "53", " Desk", " 2.211", " 0.009", " -1.259", " 0", " 0", " 0", "" ], [ "54", " Drawer", " 2.817", " 0.189", " -1.176", " 0", " 0", " 0", "" ], [ "55", " Drawer", " 1.940", " 0.632", " -1.176", " 0", " 0", " 0", "" ], [ "56", " Drawer", " 1.940", " 0.189", " -1.176", " 0", " 0", " 0", "" ], [ "57", " Drawer", " 1.623", " 0.632", " -1.176", " 0", " 0", " 0", "" ], [ "58", " Drawer", " 2.817", " 0.632", " -1.176", " 0", " 0", " 0", "" ], [ "59", " Drawer", " 2.817", " 0.411", " -1.176", " 0", " 0", " 0", "" ], [ "60", " Drawer", " 1.623", " 0.189", " -1.176", " 0", " 0", " 0", "" ], [ "61", " Drawer", " 1.623", " 0.410", " -1.176", " 0", " 0", " 0", "" ], [ "62", " Drawer", " 1.940", " 0.410", " -1.176", " 0", " 0", " 0", "" ], [ "63", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "64", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "65", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "66", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 0.25 0.900 -1.0 0 180 0 1 Mug 1.839 0.793 -1.282 0 0 0 53 2 TissueBox -1.294 0.969 -0.954 0 0 0 52 3 Watch 2.482 1.044 -1.383 0 0 0 40 4 Watch 1.651 0.795 -1.282 0 0 0 53 5 CD 2.764 0.126 -1.190 0 0 0 54 6 CD -1.387 1.234 -0.840 0 0 0 48 7 CellPhone -1.387 1.236 -0.458 0 0 0 48 8 Pencil -1.352 1.238 -0.745 0 0 0 48 9 AlarmClock 2.215 0.796 -1.217 0 0 0 53 10 Book -0.979 0.565 0.358 0 0 0 29 11 Box 2.734 0.195 0.89 0 0 0 12 Laptop -0.5 0.56 0.286 0 63.464 0 29 13 CellPhone -0.289 0.566 1.091 0 0 0 29 14 BaseballBat 2.847 0.643 1.838 0 0 335.111 15 BasketBall 1.019 0.330 -0.976 346.948 295.819 0 16 TissueBox 1.594 0.129 -1.218 0 0 0 60 17 CreditCard 2.587 1.044 -1.413 0 0 0 40 18 AlarmClock 2.591 0.796 -1.185 0 0 0 53 19 Pencil 1.839 0.799 -1.121 0 0 0 53 20 Boots -1.279 0.000 -1.343 0 27.143 0 21 Pillow -0.634 0.63 1.611 0 0 0 29 22 KeyChain 2.259 1.278 -1.387 0 0 0 38 23 Bowl 2.451 0.788 -1.207 0 0 0 53 24 Watch -1.318 1.235 -0.649 0 0 0 48 25 CD 1.911 0.126 -1.218 0 0 0 56 26 Pen 1.707 0.808 -1.370 0 0 0 53 27 Mug 2.821 0.788 -1.223 0 0 0 53 28 Statue 1.823 1.036 -1.419 0 0 0 53 29 Bed -0.640 0.008 0.871 0 0 0 30 DeskLamp -1.319 1.238 -0.994 0 90 0 31 GarbageCan 2.838 0.007 0.215 0 270 0 32 Blinds 0.111 2.337 -1.436 0 0 0 33 Mirror 1.985 1.381 1.875 0 0 0 34 Window 0.118 1.496 -1.588 90 180 0 35 LightSwitch 2.654 1.276 1.899 0 180 0 36 Chair 2.457 0.011 -0.997 0 189.124 0 37 Shelf 2.476 0.919 -1.384 0 0 0 38 Shelf 2.251 1.503 -1.383 0 0 0 39 Shelf 2.700 1.510 -1.380 0 0 0 40 Shelf 2.476 1.153 -1.384 0 0 0 41 Shelf 1.803 1.386 -1.384 0 0 0 42 Shelf 1.803 0.919 -1.381 0 0 0 43 DogBed 0.920 0.013 -1.044 0 0 0 44 Drawer -1.305 0.454 -0.918 0 90 0 45 Drawer -1.305 0.752 -0.919 0 90 0 46 Drawer -1.305 0.178 -0.918 0 90 0 47 Drawer -1.305 0.752 -0.579 0 90 0 48 Dresser -1.328 0.011 -0.744 0 90 0 49 Drawer -1.306 1.031 -0.579 0 90 0 50 Drawer -1.305 0.454 -0.578 0 90 0 51 Drawer -1.305 0.178 -0.578 0 90 0 52 Drawer -1.305 1.031 -0.919 0 90 0 53 Desk 2.211 0.009 -1.259 0 0 0 54 Drawer 2.817 0.189 -1.176 0 0 0 55 Drawer 1.940 0.632 -1.176 0 0 0 56 Drawer 1.940 0.189 -1.176 0 0 0 57 Drawer 1.623 0.632 -1.176 0 0 0 58 Drawer 2.817 0.632 -1.176 0 0 0 59 Drawer 2.817 0.411 -1.176 0 0 0 60 Drawer 1.623 0.189 -1.176 0 0 0 61 Drawer 1.623 0.410 -1.176 0 0 0 62 Drawer 1.940 0.410 -1.176 0 0 0 63 NorthWall 64 EastWall 65 SouthWall 66 WestWall
[ "STEP 1: Turn around, go forward to the bed, turn right, go forward, turn right to the right side of the desk, go to the desk. | STEP 2: Take the blue pencil from the desk. | STEP 3: Stay at the desk. | STEP 4: Put the pencil on the shelf with the gold sculpture. | STEP 5: Turn right, go forward to the dresser to the left of the bed. | STEP 6: Take the blue pencil from the dresser. | STEP 7: Turn around, go back to the right side of the desk. | STEP 8: Put the pencil on the shelf with the gold sculpture. | END" ]
[ [ "STEP 1: Turn around, go forward to the bed, turn right, go forward, turn right to the right side of the desk, go to the desk. ", " STEP 2: Take the blue pencil from the desk. ", " STEP 3: Stay at the desk. ", " STEP 4: Put the pencil on the shelf with the gold sculpture. ", " STEP 5: Turn right, go forward to the dresser to the left of the bed. ", " STEP 6: Take the blue pencil from the dresser. ", " STEP 7: Turn around, go back to the right side of the desk. ", " STEP 8: Put the pencil on the shelf with the gold sculpture. ", " END" ] ]
seen
trial_T20190909_011401_611613-2
Move pencil to the top shelf of the desk.
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " 0.25", " 0.900", " -1.0", " 0", " 180", " 0", "" ], [ "1", " Mug", " 1.839", " 0.793", " -1.282", " 0", " 0", " 0", " 53" ], [ "2", " TissueBox", " -1.294", " 0.969", " -0.954", " 0", " 0", " 0", " 52" ], [ "3", " Watch", " 2.482", " 1.044", " -1.383", " 0", " 0", " 0", " 40" ], [ "4", " Watch", " 1.651", " 0.795", " -1.282", " 0", " 0", " 0", " 53" ], [ "5", " CD", " 2.764", " 0.126", " -1.190", " 0", " 0", " 0", " 54" ], [ "6", " CD", " -1.387", " 1.234", " -0.840", " 0", " 0", " 0", " 48" ], [ "7", " CellPhone", " -1.387", " 1.236", " -0.458", " 0", " 0", " 0", " 48" ], [ "8", " Pencil", " -1.352", " 1.238", " -0.745", " 0", " 0", " 0", " 48" ], [ "9", " AlarmClock", " 2.215", " 0.796", " -1.217", " 0", " 0", " 0", " 53" ], [ "10", " Book", " -0.979", " 0.565", " 0.358", " 0", " 0", " 0", " 29" ], [ "11", " Box", " 2.734", " 0.195", " 0.89", " 0", " 0", " 0", "" ], [ "12", " Laptop", " -0.5", " 0.56", " 0.286", " 0", " 63.464", " 0", " 29" ], [ "13", " CellPhone", " -0.289", " 0.566", " 1.091", " 0", " 0", " 0", " 29" ], [ "14", " BaseballBat", " 2.847", " 0.643", " 1.838", " 0", " 0", " 335.111", "" ], [ "15", " BasketBall", " 1.019", " 0.330", " -0.976", " 346.948", " 295.819", " 0", "" ], [ "16", " TissueBox", " 1.594", " 0.129", " -1.218", " 0", " 0", " 0", " 60" ], [ "17", " CreditCard", " 2.587", " 1.044", " -1.413", " 0", " 0", " 0", " 40" ], [ "18", " AlarmClock", " 2.591", " 0.796", " -1.185", " 0", " 0", " 0", " 53" ], [ "19", " Pencil", " 1.839", " 0.799", " -1.121", " 0", " 0", " 0", " 53" ], [ "20", " Boots", " -1.279", " 0.000", " -1.343", " 0", " 27.143", " 0", "" ], [ "21", " Pillow", " -0.634", " 0.63", " 1.611", " 0", " 0", " 0", " 29" ], [ "22", " KeyChain", " 2.259", " 1.278", " -1.387", " 0", " 0", " 0", " 38" ], [ "23", " Bowl", " 2.451", " 0.788", " -1.207", " 0", " 0", " 0", " 53" ], [ "24", " Watch", " -1.318", " 1.235", " -0.649", " 0", " 0", " 0", " 48" ], [ "25", " CD", " 1.911", " 0.126", " -1.218", " 0", " 0", " 0", " 56" ], [ "26", " Pen", " 1.707", " 0.808", " -1.370", " 0", " 0", " 0", " 53" ], [ "27", " Mug", " 2.821", " 0.788", " -1.223", " 0", " 0", " 0", " 53" ], [ "28", " Statue", " 1.823", " 1.036", " -1.419", " 0", " 0", " 0", " 53" ], [ "29", " Bed", " -0.640", " 0.008", " 0.871", " 0", " 0", " 0", "" ], [ "30", " DeskLamp", " -1.319", " 1.238", " -0.994", " 0", " 90", " 0", "" ], [ "31", " GarbageCan", " 2.838", " 0.007", " 0.215", " 0", " 270", " 0", "" ], [ "32", " Blinds", " 0.111", " 2.337", " -1.436", " 0", " 0", " 0", "" ], [ "33", " Mirror", " 1.985", " 1.381", " 1.875", " 0", " 0", " 0", "" ], [ "34", " Window", " 0.118", " 1.496", " -1.588", " 90", " 180", " 0", "" ], [ "35", " LightSwitch", " 2.654", " 1.276", " 1.899", " 0", " 180", " 0", "" ], [ "36", " Chair", " 2.457", " 0.011", " -0.997", " 0", " 189.124", " 0", "" ], [ "37", " Shelf", " 2.476", " 0.919", " -1.384", " 0", " 0", " 0", "" ], [ "38", " Shelf", " 2.251", " 1.503", " -1.383", " 0", " 0", " 0", "" ], [ "39", " Shelf", " 2.700", " 1.510", " -1.380", " 0", " 0", " 0", "" ], [ "40", " Shelf", " 2.476", " 1.153", " -1.384", " 0", " 0", " 0", "" ], [ "41", " Shelf", " 1.803", " 1.386", " -1.384", " 0", " 0", " 0", "" ], [ "42", " Shelf", " 1.803", " 0.919", " -1.381", " 0", " 0", " 0", "" ], [ "43", " DogBed", " 0.920", " 0.013", " -1.044", " 0", " 0", " 0", "" ], [ "44", " Drawer", " -1.305", " 0.454", " -0.918", " 0", " 90", " 0", "" ], [ "45", " Drawer", " -1.305", " 0.752", " -0.919", " 0", " 90", " 0", "" ], [ "46", " Drawer", " -1.305", " 0.178", " -0.918", " 0", " 90", " 0", "" ], [ "47", " Drawer", " -1.305", " 0.752", " -0.579", " 0", " 90", " 0", "" ], [ "48", " Dresser", " -1.328", " 0.011", " -0.744", " 0", " 90", " 0", "" ], [ "49", " Drawer", " -1.306", " 1.031", " -0.579", " 0", " 90", " 0", "" ], [ "50", " Drawer", " -1.305", " 0.454", " -0.578", " 0", " 90", " 0", "" ], [ "51", " Drawer", " -1.305", " 0.178", " -0.578", " 0", " 90", " 0", "" ], [ "52", " Drawer", " -1.305", " 1.031", " -0.919", " 0", " 90", " 0", "" ], [ "53", " Desk", " 2.211", " 0.009", " -1.259", " 0", " 0", " 0", "" ], [ "54", " Drawer", " 2.817", " 0.189", " -1.176", " 0", " 0", " 0", "" ], [ "55", " Drawer", " 1.940", " 0.632", " -1.176", " 0", " 0", " 0", "" ], [ "56", " Drawer", " 1.940", " 0.189", " -1.176", " 0", " 0", " 0", "" ], [ "57", " Drawer", " 1.623", " 0.632", " -1.176", " 0", " 0", " 0", "" ], [ "58", " Drawer", " 2.817", " 0.632", " -1.176", " 0", " 0", " 0", "" ], [ "59", " Drawer", " 2.817", " 0.411", " -1.176", " 0", " 0", " 0", "" ], [ "60", " Drawer", " 1.623", " 0.189", " -1.176", " 0", " 0", " 0", "" ], [ "61", " Drawer", " 1.623", " 0.410", " -1.176", " 0", " 0", " 0", "" ], [ "62", " Drawer", " 1.940", " 0.410", " -1.176", " 0", " 0", " 0", "" ], [ "63", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "64", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "65", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "66", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 0.25 0.900 -1.0 0 180 0 1 Mug 1.839 0.793 -1.282 0 0 0 53 2 TissueBox -1.294 0.969 -0.954 0 0 0 52 3 Watch 2.482 1.044 -1.383 0 0 0 40 4 Watch 1.651 0.795 -1.282 0 0 0 53 5 CD 2.764 0.126 -1.190 0 0 0 54 6 CD -1.387 1.234 -0.840 0 0 0 48 7 CellPhone -1.387 1.236 -0.458 0 0 0 48 8 Pencil -1.352 1.238 -0.745 0 0 0 48 9 AlarmClock 2.215 0.796 -1.217 0 0 0 53 10 Book -0.979 0.565 0.358 0 0 0 29 11 Box 2.734 0.195 0.89 0 0 0 12 Laptop -0.5 0.56 0.286 0 63.464 0 29 13 CellPhone -0.289 0.566 1.091 0 0 0 29 14 BaseballBat 2.847 0.643 1.838 0 0 335.111 15 BasketBall 1.019 0.330 -0.976 346.948 295.819 0 16 TissueBox 1.594 0.129 -1.218 0 0 0 60 17 CreditCard 2.587 1.044 -1.413 0 0 0 40 18 AlarmClock 2.591 0.796 -1.185 0 0 0 53 19 Pencil 1.839 0.799 -1.121 0 0 0 53 20 Boots -1.279 0.000 -1.343 0 27.143 0 21 Pillow -0.634 0.63 1.611 0 0 0 29 22 KeyChain 2.259 1.278 -1.387 0 0 0 38 23 Bowl 2.451 0.788 -1.207 0 0 0 53 24 Watch -1.318 1.235 -0.649 0 0 0 48 25 CD 1.911 0.126 -1.218 0 0 0 56 26 Pen 1.707 0.808 -1.370 0 0 0 53 27 Mug 2.821 0.788 -1.223 0 0 0 53 28 Statue 1.823 1.036 -1.419 0 0 0 53 29 Bed -0.640 0.008 0.871 0 0 0 30 DeskLamp -1.319 1.238 -0.994 0 90 0 31 GarbageCan 2.838 0.007 0.215 0 270 0 32 Blinds 0.111 2.337 -1.436 0 0 0 33 Mirror 1.985 1.381 1.875 0 0 0 34 Window 0.118 1.496 -1.588 90 180 0 35 LightSwitch 2.654 1.276 1.899 0 180 0 36 Chair 2.457 0.011 -0.997 0 189.124 0 37 Shelf 2.476 0.919 -1.384 0 0 0 38 Shelf 2.251 1.503 -1.383 0 0 0 39 Shelf 2.700 1.510 -1.380 0 0 0 40 Shelf 2.476 1.153 -1.384 0 0 0 41 Shelf 1.803 1.386 -1.384 0 0 0 42 Shelf 1.803 0.919 -1.381 0 0 0 43 DogBed 0.920 0.013 -1.044 0 0 0 44 Drawer -1.305 0.454 -0.918 0 90 0 45 Drawer -1.305 0.752 -0.919 0 90 0 46 Drawer -1.305 0.178 -0.918 0 90 0 47 Drawer -1.305 0.752 -0.579 0 90 0 48 Dresser -1.328 0.011 -0.744 0 90 0 49 Drawer -1.306 1.031 -0.579 0 90 0 50 Drawer -1.305 0.454 -0.578 0 90 0 51 Drawer -1.305 0.178 -0.578 0 90 0 52 Drawer -1.305 1.031 -0.919 0 90 0 53 Desk 2.211 0.009 -1.259 0 0 0 54 Drawer 2.817 0.189 -1.176 0 0 0 55 Drawer 1.940 0.632 -1.176 0 0 0 56 Drawer 1.940 0.189 -1.176 0 0 0 57 Drawer 1.623 0.632 -1.176 0 0 0 58 Drawer 2.817 0.632 -1.176 0 0 0 59 Drawer 2.817 0.411 -1.176 0 0 0 60 Drawer 1.623 0.189 -1.176 0 0 0 61 Drawer 1.623 0.410 -1.176 0 0 0 62 Drawer 1.940 0.410 -1.176 0 0 0 63 NorthWall 64 EastWall 65 SouthWall 66 WestWall
[ "STEP 1: Turn around, then right and face the desk to your right. | STEP 2: Take the pencil off of the desk in front of you. | STEP 3: Face the top shelf of the desk. | STEP 4: Place the pencil on the top shelf of the desk in front of you. | STEP 5: Turn around then left and face the desk with the lamp in front of you. | STEP 6: Take the pencil from the desk in front of you. | STEP 7: Turn around then face the desk on your right. | STEP 8: Place the pencil on the top shelf of the desk in front of you. | END" ]
[ [ "STEP 1: Turn around, then right and face the desk to your right. ", " STEP 2: Take the pencil off of the desk in front of you. ", " STEP 3: Face the top shelf of the desk. ", " STEP 4: Place the pencil on the top shelf of the desk in front of you. ", " STEP 5: Turn around then left and face the desk with the lamp in front of you. ", " STEP 6: Take the pencil from the desk in front of you. ", " STEP 7: Turn around then face the desk on your right. ", " STEP 8: Place the pencil on the top shelf of the desk in front of you. ", " END" ] ]
seen
trial_T20190908_124528_692571-0
Move watch from to stand to table.
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CreditCard", " -1.025", " 0.437", " 6.224", " 0", " 135", " 0", " 44" ], [ "12", " RemoteControl", " -2.712", " 0.691", " 1.670", " 0", " 0", " 0", " 45" ], [ "13", " RemoteControl", " -2.490", " 0.691", " 1.175", " 0", " 0", " 0", " 58" ], [ "14", " Box", " -1.609", " 0.678", " 3.346", " 0", " 180", " 0", " 51" ], [ "15", " Book", " -2.139", " 0.482", " 3.525", " 0", " 0", " 0", " 51" ], [ "16", " Box", " -2.404", " 0.678", " 3.525", " 0", " 90", " 0", " 51" ], [ "17", " Statue", " -0.252", " 0.711", " 3.200", " 0", " 0", " 0", " 41" ], [ "18", " Laptop", " -1.698", " 0.680", " 1.659", " 0", " 329.236", " 0", " 57" ], [ "19", " TissueBox", " -2.396", " 0.602", " 4.654", " 0", " 0", " 0", " 46" ], [ "20", " CreditCard", " -2.003", " 0.724", " 6.134", " 0", " 0", " 0", " 50" ], [ "21", " Plate", " -2.396", " 0.600", " 4.809", " 0", " 0", " 0", " 46" ], [ "22", " KeyChain", " -1.008", " 0.433", " 5.847", " 0", " 225", " 0", " 44" ], [ "23", " Vase", " -2.241", " 0.352", " 4.887", " 0", " 0", " 0", " 47" ], [ "24", " Pencil", " -2.385", " 0.241", " 6.010", " 0", " 0", " 0", " 48" ], [ "25", " Pillow", " -3.271", " 0.661", " 3.44", " 0", " 0", " 331.220", " 51" ], [ "26", " Bowl", " -2.934", " 0.688", " 1.793", " 0", " 0", " 0", " 45" ], [ "27", " RemoteControl", " -4.457", " 0.449", " 5.902", " 0", " 59.999", " 0", " 43" ], [ "28", " Watch", " -2.257", " 0.724", " 6.053", " 0", " 180", " 0", " 50" ], [ "29", " Pen", " -2.473", " 0.351", " 4.731", " 0", " 0", " 0", " 47" ], [ "30", " Newspaper", " -2.253", " 0.749", " -0.028", " 0", " 0", " 0", " 53" ], [ "31", " Painting", " -2.048", " 1.615", " -0.303", " 0", " 0", " 0", "" ], [ "32", " Curtains", " -0.083", " 2.420", " 0.969", " 0", " 0", " 0", "" ], [ "33", " Television", " -2.357", " 1.205", " 6.245", " 0", " 180", " 0", "" ], [ "34", " HousePlant", " -2.933", " 0.595", " -0.093", " 0", " 0", " 0", "" ], [ "35", " GarbageCan", " -4.864", " -0.001", " 0.267", " 0", " 90", " 0", "" ], [ "36", " FloorLamp", " -0.566", " 0.002", " 0.024", " 0", " 316.932", " 0", "" ], [ "37", " DeskLamp", " -0.273", " 0.700", " 3.612", " 0", " 0", " 0", "" ], [ "38", " Window", " -0.057", " 0.925", " 1.764", " 90", " 270", " 0", "" ], [ "39", " Window", " -0.057", " 1.130", " 4.886", " 90", " 270", " 0", "" ], [ "40", " LightSwitch", " -3.305", " 1.340", " -0.314", " 0", " 0", " 0", "" ], [ "41", " SideTable", " -0.255", " 0.001", " 3.369", " 0", " 270", " 0", "" ], [ "42", " Drawer", " -0.306", " 0.626", " 3.369", " 0", " 270", " 0", "" ], [ "43", " ArmChair", " -4.376", " -8.374", " 6.016", " 0", " 152.639", " 0", "" ], [ "44", " ArmChair", " -0.847", " -8.106", " 5.983", " 0", " 231.318", " 0", "" ], [ "45", " DiningTable", " -2.268", " -0.016", " 1.422", " 0", " 0", " 0", "" ], [ "46", " CoffeeTable", " -2.326", " 0.002", " 4.922", " 0", " 0", " 0", "" ], [ "47", " Shelf", " -2.326", " 0.338", " 4.922", " 0", " 0", " 0", "" ], [ "48", " Shelf", " -2.385", " 0.238", " 6.296", " 0", " 0", " 0", "" ], [ "49", " Shelf", " -2.326", " 0.089", " 4.922", " 0", " 0", " 0", "" ], [ "50", " TVStand", " -2.385", " 0.006", " 6.296", " 0", " 0", " 0", "" ], [ "51", " Sofa", " -2.404", " -0.003", " 3.417", " 0", " 0", " 0", "" ], [ "52", " SideTable", " -2.935", " 0.004", " -0.103", " 0", " 0", " 0", "" ], [ "53", " SideTable", " -2.113", " 0.002", " -0.139", " 0", " 0", " 0", "" ], [ "54", " Drawer", " -2.113", " 0.654", " -0.069", " 0", " 0", " 0", "" ], [ "55", " Chair", " -1.862", " 0.020", " 1.035", " 0", " 0", " 0", "" ], [ "56", " Chair", " -3.122", " 0.020", " 1.410", " 0", " 104.999", " 0", "" ], [ "57", " Chair", " -1.864", " 0.020", " 1.838", " 0", " 185.032", " 0", "" ], [ "58", " Chair", " -2.507", " 0.020", " 0.991", " 0", " 6.189", " 0", "" ], [ "59", " Chair", " -2.519", " 0.020", " 1.882", " 0", " 164.977", " 0", "" ], [ "60", " Chair", " -1.335", " 0.020", " 1.430", " 0", " 270", " 0", "" ], [ "61", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "62", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "63", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "64", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -3.75 0.902 2.75 0 180 0 1 Bowl -2.269 0.688 1.423 0 0 0 45 2 TissueBox -2.164 0.099 5.042 0 0 0 49 3 TissueBox -2.532 0.749 -0.115 0 0 0 53 4 Newspaper -2.396 0.097 5.120 0 0 0 49 5 Newspaper -2.047 0.690 1.299 0 0 0 55 6 Vase -2.241 0.101 4.731 0 0 0 49 7 Pen -2.510 0.243 6.083 0 0 0 48 8 Pencil -2.761 0.241 6.010 0 0 0 48 9 Pencil -2.259 0.241 6.119 0 0 0 48 10 KeyChain -1.859 0.649 -0.133 0 90 0 54 11 CreditCard -1.025 0.437 6.224 0 135 0 44 12 RemoteControl -2.712 0.691 1.670 0 0 0 45 13 RemoteControl -2.490 0.691 1.175 0 0 0 58 14 Box -1.609 0.678 3.346 0 180 0 51 15 Book -2.139 0.482 3.525 0 0 0 51 16 Box -2.404 0.678 3.525 0 90 0 51 17 Statue -0.252 0.711 3.200 0 0 0 41 18 Laptop -1.698 0.680 1.659 0 329.236 0 57 19 TissueBox -2.396 0.602 4.654 0 0 0 46 20 CreditCard -2.003 0.724 6.134 0 0 0 50 21 Plate -2.396 0.600 4.809 0 0 0 46 22 KeyChain -1.008 0.433 5.847 0 225 0 44 23 Vase -2.241 0.352 4.887 0 0 0 47 24 Pencil -2.385 0.241 6.010 0 0 0 48 25 Pillow -3.271 0.661 3.44 0 0 331.220 51 26 Bowl -2.934 0.688 1.793 0 0 0 45 27 RemoteControl -4.457 0.449 5.902 0 59.999 0 43 28 Watch -2.257 0.724 6.053 0 180 0 50 29 Pen -2.473 0.351 4.731 0 0 0 47 30 Newspaper -2.253 0.749 -0.028 0 0 0 53 31 Painting -2.048 1.615 -0.303 0 0 0 32 Curtains -0.083 2.420 0.969 0 0 0 33 Television -2.357 1.205 6.245 0 180 0 34 HousePlant -2.933 0.595 -0.093 0 0 0 35 GarbageCan -4.864 -0.001 0.267 0 90 0 36 FloorLamp -0.566 0.002 0.024 0 316.932 0 37 DeskLamp -0.273 0.700 3.612 0 0 0 38 Window -0.057 0.925 1.764 90 270 0 39 Window -0.057 1.130 4.886 90 270 0 40 LightSwitch -3.305 1.340 -0.314 0 0 0 41 SideTable -0.255 0.001 3.369 0 270 0 42 Drawer -0.306 0.626 3.369 0 270 0 43 ArmChair -4.376 -8.374 6.016 0 152.639 0 44 ArmChair -0.847 -8.106 5.983 0 231.318 0 45 DiningTable -2.268 -0.016 1.422 0 0 0 46 CoffeeTable -2.326 0.002 4.922 0 0 0 47 Shelf -2.326 0.338 4.922 0 0 0 48 Shelf -2.385 0.238 6.296 0 0 0 49 Shelf -2.326 0.089 4.922 0 0 0 50 TVStand -2.385 0.006 6.296 0 0 0 51 Sofa -2.404 -0.003 3.417 0 0 0 52 SideTable -2.935 0.004 -0.103 0 0 0 53 SideTable -2.113 0.002 -0.139 0 0 0 54 Drawer -2.113 0.654 -0.069 0 0 0 55 Chair -1.862 0.020 1.035 0 0 0 56 Chair -3.122 0.020 1.410 0 104.999 0 57 Chair -1.864 0.020 1.838 0 185.032 0 58 Chair -2.507 0.020 0.991 0 6.189 0 59 Chair -2.519 0.020 1.882 0 164.977 0 60 Chair -1.335 0.020 1.430 0 270 0 61 NorthWall 62 EastWall 63 SouthWall 64 WestWall
[ "STEP 1: Turn around, proceed past couch on right. Turn right, then left to face tv stand. Proceed to tv stand. | STEP 2: Remove watch from tv stand. | STEP 3: Turn left, proceed to chair. Proceed to couch, turn left. | STEP 4: Place watch on glass table, directly under the tissue box. | END" ]
[ [ "STEP 1: Turn around, proceed past couch on right. Turn right, then left to face tv stand. Proceed to tv stand. ", " STEP 2: Remove watch from tv stand. ", " STEP 3: Turn left, proceed to chair. Proceed to couch, turn left. ", " STEP 4: Place watch on glass table, directly under the tissue box. ", " END" ] ]
seen
trial_T20190908_124528_692571-1
Place a watch on a coffee table.
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[ "STEP 1: Turn around and walk ahead, veering right to the TV stand. | STEP 2: Pick up the watch on the TV stand. | STEP 3: Turn around and walk to the right side of the coffee table. | STEP 4: Place the watch on the front left corner facing you. | END" ]
[ [ "STEP 1: Turn around and walk ahead, veering right to the TV stand. ", " STEP 2: Pick up the watch on the TV stand. ", " STEP 3: Turn around and walk to the right side of the coffee table. ", " STEP 4: Place the watch on the front left corner facing you. ", " END" ] ]
seen
trial_T20190908_124528_692571-2
Put a watch on the coffee table.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -3.75 0.902 2.75 0 180 0 1 Bowl -2.269 0.688 1.423 0 0 0 45 2 TissueBox -2.164 0.099 5.042 0 0 0 49 3 TissueBox -2.532 0.749 -0.115 0 0 0 53 4 Newspaper -2.396 0.097 5.120 0 0 0 49 5 Newspaper -2.047 0.690 1.299 0 0 0 55 6 Vase -2.241 0.101 4.731 0 0 0 49 7 Pen -2.510 0.243 6.083 0 0 0 48 8 Pencil -2.761 0.241 6.010 0 0 0 48 9 Pencil -2.259 0.241 6.119 0 0 0 48 10 KeyChain -1.859 0.649 -0.133 0 90 0 54 11 CreditCard -1.025 0.437 6.224 0 135 0 44 12 RemoteControl -2.712 0.691 1.670 0 0 0 45 13 RemoteControl -2.490 0.691 1.175 0 0 0 58 14 Box -1.609 0.678 3.346 0 180 0 51 15 Book -2.139 0.482 3.525 0 0 0 51 16 Box -2.404 0.678 3.525 0 90 0 51 17 Statue -0.252 0.711 3.200 0 0 0 41 18 Laptop -1.698 0.680 1.659 0 329.236 0 57 19 TissueBox -2.396 0.602 4.654 0 0 0 46 20 CreditCard -2.003 0.724 6.134 0 0 0 50 21 Plate -2.396 0.600 4.809 0 0 0 46 22 KeyChain -1.008 0.433 5.847 0 225 0 44 23 Vase -2.241 0.352 4.887 0 0 0 47 24 Pencil -2.385 0.241 6.010 0 0 0 48 25 Pillow -3.271 0.661 3.44 0 0 331.220 51 26 Bowl -2.934 0.688 1.793 0 0 0 45 27 RemoteControl -4.457 0.449 5.902 0 59.999 0 43 28 Watch -2.257 0.724 6.053 0 180 0 50 29 Pen -2.473 0.351 4.731 0 0 0 47 30 Newspaper -2.253 0.749 -0.028 0 0 0 53 31 Painting -2.048 1.615 -0.303 0 0 0 32 Curtains -0.083 2.420 0.969 0 0 0 33 Television -2.357 1.205 6.245 0 180 0 34 HousePlant -2.933 0.595 -0.093 0 0 0 35 GarbageCan -4.864 -0.001 0.267 0 90 0 36 FloorLamp -0.566 0.002 0.024 0 316.932 0 37 DeskLamp -0.273 0.700 3.612 0 0 0 38 Window -0.057 0.925 1.764 90 270 0 39 Window -0.057 1.130 4.886 90 270 0 40 LightSwitch -3.305 1.340 -0.314 0 0 0 41 SideTable -0.255 0.001 3.369 0 270 0 42 Drawer -0.306 0.626 3.369 0 270 0 43 ArmChair -4.376 -8.374 6.016 0 152.639 0 44 ArmChair -0.847 -8.106 5.983 0 231.318 0 45 DiningTable -2.268 -0.016 1.422 0 0 0 46 CoffeeTable -2.326 0.002 4.922 0 0 0 47 Shelf -2.326 0.338 4.922 0 0 0 48 Shelf -2.385 0.238 6.296 0 0 0 49 Shelf -2.326 0.089 4.922 0 0 0 50 TVStand -2.385 0.006 6.296 0 0 0 51 Sofa -2.404 -0.003 3.417 0 0 0 52 SideTable -2.935 0.004 -0.103 0 0 0 53 SideTable -2.113 0.002 -0.139 0 0 0 54 Drawer -2.113 0.654 -0.069 0 0 0 55 Chair -1.862 0.020 1.035 0 0 0 56 Chair -3.122 0.020 1.410 0 104.999 0 57 Chair -1.864 0.020 1.838 0 185.032 0 58 Chair -2.507 0.020 0.991 0 6.189 0 59 Chair -2.519 0.020 1.882 0 164.977 0 60 Chair -1.335 0.020 1.430 0 270 0 61 NorthWall 62 EastWall 63 SouthWall 64 WestWall
[ "STEP 1: Turn around and take a tiny step left then walk past the couch and turn right and walk to the area just before the coffee table then turn left and walk to the tv stand then turn right and walk to the middle of the tv then turn left. | STEP 2: Pick up the watch that's in front of you. | STEP 3: Turn left and walk to the chair then turn left and walk to the couch then turn left. | STEP 4: Put the watch under the tissues on the coffee table. | END" ]
[ [ "STEP 1: Turn around and take a tiny step left then walk past the couch and turn right and walk to the area just before the coffee table then turn left and walk to the tv stand then turn right and walk to the middle of the tv then turn left. ", " STEP 2: Pick up the watch that's in front of you. ", " STEP 3: Turn left and walk to the chair then turn left and walk to the couch then turn left. ", " STEP 4: Put the watch under the tissues on the coffee table. ", " END" ] ]
seen
trial_T20190909_100440_807536-0
put soap in drawer
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " -1.0", " 0.901", " 1.75", " 0", " 270", " 0", "" ], [ "1", " Towel", " 0.609", " 1.376", " 0.583", " 0", " 270", " 0", " 26" ], [ "2", " HandTowel", " 0.634", " 1.512", " 3.564", " 0", " 90", " 0", " 33" ], [ "3", " SoapBottle", " 0.594", " 1.052", " 1.533", " 0", " 270", " 0", " 34" ], [ "4", " HandTowel", " 0.634", " 1.512", " 1.892", " 0", " 90", " 0", " 32" ], [ "5", " Towel", " -0.442", " 1.375", " 1.282", " 0", " 0", " 0", " 27" ], [ "6", " SoapBar", " 0.655", " 1.044", " 1.664", " 0", " 270", " 0", " 34" ], [ "7", " ToiletPaper", " 0.361", " 0.504", " 2.174", " 0", " 0", " 0", " 18" ], [ "8", " ToiletPaper", " 0.390", " 0.508", " 3.231", " 0", " 0", " 0", " 14" ], [ "9", " Candle", " 0.588", " 0.821", " 2.380", " 0", " 0", " 0", " 22" ], [ "10", " ScrubBrush", " 0.553", " 0.000", " 1.725", " 0", " 0", " 0", "" ], [ "11", " Cloth", " 0.502", " 0.215", " 2.196", " 0", " 0", " 0", " 15" ], [ "12", " Plunger", " 0.594", " -0.000", " 1.898", " 0", " 0", " 0", "" ], [ "13", " SprayBottle", " 0.455", " 0.820", " 2.325", " 0", " 0", " 0", " 22" ], [ "14", " Drawer", " 0.443", " 0.624", " 3.310", " 0", " 0", " 0", "" ], [ "15", " Drawer", " 0.443", " 0.323", " 2.194", " 0", " 0", " 0", "" ], [ "16", " ShowerDoor", " -0.923", " 1.032", " 1.155", " 0", " 0", " 0", "" ], [ "17", " Sink", " 0.495", " 0.661", " 2.756", " 0", " 270", " 0", "" ], [ "18", " Drawer", " 0.443", " 0.624", " 2.193", " 0", " 0", " 0", "" ], [ "19", " Faucet", " 0.717", " 0.982", " 2.756", " 0", " 0", " 0", "" ], [ "20", " Mirror", " 0.629", " 1.532", " 2.697", " 0", " 0", " 0", "" ], [ "21", " ShowerGlass", " -0.152", " 1.266", " 1.156", " 0", " 0", " 0", "" ], [ "22", " CounterTop", " 0.458", " 0.789", " 2.759", " 0", " 0", " 0", "" ], [ "23", " Drawer", " 0.443", " 0.323", " 2.566", " 0", " 0", " 0", "" ], [ "24", " Drawer", " 0.443", " 0.323", " 2.937", " 0", " 0", " 0", "" ], [ "25", " Drawer", " 0.443", " 0.323", " 3.310", " 0", " 0", " 0", "" ], [ "26", " TowelHolder", " 0.716", " 1.361", " 0.583", " 0", " 270", " 0", "" ], [ "27", " TowelHolder", " -0.442", " 1.361", " 1.175", " 0", " 0", " 0", "" ], [ "28", " LightSwitch", " -1.749", " 1.429", " 3.325", " 0", " 90", " 0", "" ], [ "29", " ToiletPaperHanger", " 0.376", " 0.648", " 2.009", " 0", " 180", " 0", "" ], [ "30", " GarbageCan", " 0.412", " -0.029", " 3.728", " 0", " 0", " 0", "" ], [ "31", " SinkBasin", " 0.440", " 0.667", " 2.746", " 0", " 270", " 0", "" ], [ "32", " HandTowelHolder", " 0.673", " 1.613", " 1.891", " 0", " 180", " 0", "" ], [ "33", " HandTowelHolder", " 0.673", " 1.613", " 3.563", " 0", " 180", " 0", "" ], [ "34", " Toilet", " 0.270", " 0.000", " 1.463", " 0", " 0", " 0", "" ], [ "35", " ShowerHead", " -1.705", " 1.894", " 0.587", " 0", " 270", " 0", "" ], [ "36", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "37", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "38", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "39", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.0 0.901 1.75 0 270 0 1 Towel 0.609 1.376 0.583 0 270 0 26 2 HandTowel 0.634 1.512 3.564 0 90 0 33 3 SoapBottle 0.594 1.052 1.533 0 270 0 34 4 HandTowel 0.634 1.512 1.892 0 90 0 32 5 Towel -0.442 1.375 1.282 0 0 0 27 6 SoapBar 0.655 1.044 1.664 0 270 0 34 7 ToiletPaper 0.361 0.504 2.174 0 0 0 18 8 ToiletPaper 0.390 0.508 3.231 0 0 0 14 9 Candle 0.588 0.821 2.380 0 0 0 22 10 ScrubBrush 0.553 0.000 1.725 0 0 0 11 Cloth 0.502 0.215 2.196 0 0 0 15 12 Plunger 0.594 -0.000 1.898 0 0 0 13 SprayBottle 0.455 0.820 2.325 0 0 0 22 14 Drawer 0.443 0.624 3.310 0 0 0 15 Drawer 0.443 0.323 2.194 0 0 0 16 ShowerDoor -0.923 1.032 1.155 0 0 0 17 Sink 0.495 0.661 2.756 0 270 0 18 Drawer 0.443 0.624 2.193 0 0 0 19 Faucet 0.717 0.982 2.756 0 0 0 20 Mirror 0.629 1.532 2.697 0 0 0 21 ShowerGlass -0.152 1.266 1.156 0 0 0 22 CounterTop 0.458 0.789 2.759 0 0 0 23 Drawer 0.443 0.323 2.566 0 0 0 24 Drawer 0.443 0.323 2.937 0 0 0 25 Drawer 0.443 0.323 3.310 0 0 0 26 TowelHolder 0.716 1.361 0.583 0 270 0 27 TowelHolder -0.442 1.361 1.175 0 0 0 28 LightSwitch -1.749 1.429 3.325 0 90 0 29 ToiletPaperHanger 0.376 0.648 2.009 0 180 0 30 GarbageCan 0.412 -0.029 3.728 0 0 0 31 SinkBasin 0.440 0.667 2.746 0 270 0 32 HandTowelHolder 0.673 1.613 1.891 0 180 0 33 HandTowelHolder 0.673 1.613 3.563 0 180 0 34 Toilet 0.270 0.000 1.463 0 0 0 35 ShowerHead -1.705 1.894 0.587 0 270 0 36 NorthWall 37 EastWall 38 SouthWall 39 WestWall
[ "STEP 1: walk to face toilet | STEP 2: pick up soap bar from toilet tank | STEP 3: turn left to face sink drawers | STEP 4: put soap in drawer | END" ]
[ [ "STEP 1: walk to face toilet ", " STEP 2: pick up soap bar from toilet tank ", " STEP 3: turn left to face sink drawers ", " STEP 4: put soap in drawer ", " END" ] ]
seen
trial_T20190909_100440_807536-1
Place a bar of soap in a drawer.
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " -1.0", " 0.901", " 1.75", " 0", " 270", " 0", "" ], [ "1", " Towel", " 0.609", " 1.376", " 0.583", " 0", " 270", " 0", " 26" ], [ "2", " HandTowel", " 0.634", " 1.512", " 3.564", " 0", " 90", " 0", " 33" ], [ "3", " SoapBottle", " 0.594", " 1.052", " 1.533", " 0", " 270", " 0", " 34" ], [ "4", " HandTowel", " 0.634", " 1.512", " 1.892", " 0", " 90", " 0", " 32" ], [ "5", " Towel", " -0.442", " 1.375", " 1.282", " 0", " 0", " 0", " 27" ], [ "6", " SoapBar", " 0.655", " 1.044", " 1.664", " 0", " 270", " 0", " 34" ], [ "7", " ToiletPaper", " 0.361", " 0.504", " 2.174", " 0", " 0", " 0", " 18" ], [ "8", " ToiletPaper", " 0.390", " 0.508", " 3.231", " 0", " 0", " 0", " 14" ], [ "9", " Candle", " 0.588", " 0.821", " 2.380", " 0", " 0", " 0", " 22" ], [ "10", " ScrubBrush", " 0.553", " 0.000", " 1.725", " 0", " 0", " 0", "" ], [ "11", " Cloth", " 0.502", " 0.215", " 2.196", " 0", " 0", " 0", " 15" ], [ "12", " Plunger", " 0.594", " -0.000", " 1.898", " 0", " 0", " 0", "" ], [ "13", " SprayBottle", " 0.455", " 0.820", " 2.325", " 0", " 0", " 0", " 22" ], [ "14", " Drawer", " 0.443", " 0.624", " 3.310", " 0", " 0", " 0", "" ], [ "15", " Drawer", " 0.443", " 0.323", " 2.194", " 0", " 0", " 0", "" ], [ "16", " ShowerDoor", " -0.923", " 1.032", " 1.155", " 0", " 0", " 0", "" ], [ "17", " Sink", " 0.495", " 0.661", " 2.756", " 0", " 270", " 0", "" ], [ "18", " Drawer", " 0.443", " 0.624", " 2.193", " 0", " 0", " 0", "" ], [ "19", " Faucet", " 0.717", " 0.982", " 2.756", " 0", " 0", " 0", "" ], [ "20", " Mirror", " 0.629", " 1.532", " 2.697", " 0", " 0", " 0", "" ], [ "21", " ShowerGlass", " -0.152", " 1.266", " 1.156", " 0", " 0", " 0", "" ], [ "22", " CounterTop", " 0.458", " 0.789", " 2.759", " 0", " 0", " 0", "" ], [ "23", " Drawer", " 0.443", " 0.323", " 2.566", " 0", " 0", " 0", "" ], [ "24", " Drawer", " 0.443", " 0.323", " 2.937", " 0", " 0", " 0", "" ], [ "25", " Drawer", " 0.443", " 0.323", " 3.310", " 0", " 0", " 0", "" ], [ "26", " TowelHolder", " 0.716", " 1.361", " 0.583", " 0", " 270", " 0", "" ], [ "27", " TowelHolder", " -0.442", " 1.361", " 1.175", " 0", " 0", " 0", "" ], [ "28", " LightSwitch", " -1.749", " 1.429", " 3.325", " 0", " 90", " 0", "" ], [ "29", " ToiletPaperHanger", " 0.376", " 0.648", " 2.009", " 0", " 180", " 0", "" ], [ "30", " GarbageCan", " 0.412", " -0.029", " 3.728", " 0", " 0", " 0", "" ], [ "31", " SinkBasin", " 0.440", " 0.667", " 2.746", " 0", " 270", " 0", "" ], [ "32", " HandTowelHolder", " 0.673", " 1.613", " 1.891", " 0", " 180", " 0", "" ], [ "33", " HandTowelHolder", " 0.673", " 1.613", " 3.563", " 0", " 180", " 0", "" ], [ "34", " Toilet", " 0.270", " 0.000", " 1.463", " 0", " 0", " 0", "" ], [ "35", " ShowerHead", " -1.705", " 1.894", " 0.587", " 0", " 270", " 0", "" ], [ "36", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "37", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "38", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "39", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.0 0.901 1.75 0 270 0 1 Towel 0.609 1.376 0.583 0 270 0 26 2 HandTowel 0.634 1.512 3.564 0 90 0 33 3 SoapBottle 0.594 1.052 1.533 0 270 0 34 4 HandTowel 0.634 1.512 1.892 0 90 0 32 5 Towel -0.442 1.375 1.282 0 0 0 27 6 SoapBar 0.655 1.044 1.664 0 270 0 34 7 ToiletPaper 0.361 0.504 2.174 0 0 0 18 8 ToiletPaper 0.390 0.508 3.231 0 0 0 14 9 Candle 0.588 0.821 2.380 0 0 0 22 10 ScrubBrush 0.553 0.000 1.725 0 0 0 11 Cloth 0.502 0.215 2.196 0 0 0 15 12 Plunger 0.594 -0.000 1.898 0 0 0 13 SprayBottle 0.455 0.820 2.325 0 0 0 22 14 Drawer 0.443 0.624 3.310 0 0 0 15 Drawer 0.443 0.323 2.194 0 0 0 16 ShowerDoor -0.923 1.032 1.155 0 0 0 17 Sink 0.495 0.661 2.756 0 270 0 18 Drawer 0.443 0.624 2.193 0 0 0 19 Faucet 0.717 0.982 2.756 0 0 0 20 Mirror 0.629 1.532 2.697 0 0 0 21 ShowerGlass -0.152 1.266 1.156 0 0 0 22 CounterTop 0.458 0.789 2.759 0 0 0 23 Drawer 0.443 0.323 2.566 0 0 0 24 Drawer 0.443 0.323 2.937 0 0 0 25 Drawer 0.443 0.323 3.310 0 0 0 26 TowelHolder 0.716 1.361 0.583 0 270 0 27 TowelHolder -0.442 1.361 1.175 0 0 0 28 LightSwitch -1.749 1.429 3.325 0 90 0 29 ToiletPaperHanger 0.376 0.648 2.009 0 180 0 30 GarbageCan 0.412 -0.029 3.728 0 0 0 31 SinkBasin 0.440 0.667 2.746 0 270 0 32 HandTowelHolder 0.673 1.613 1.891 0 180 0 33 HandTowelHolder 0.673 1.613 3.563 0 180 0 34 Toilet 0.270 0.000 1.463 0 0 0 35 ShowerHead -1.705 1.894 0.587 0 270 0 36 NorthWall 37 EastWall 38 SouthWall 39 WestWall
[ "STEP 1: Turn around and walk to the white toilet ahead. | STEP 2: Pick up the bar of soap from the left side of the toilet tank. | STEP 3: Turn around, take a right and face the cabinets under the vanity to the right. | STEP 4: Open the second cabinet on the bottom from the right, put the bar of soap inside and close the drawer. | END" ]
[ [ "STEP 1: Turn around and walk to the white toilet ahead. ", " STEP 2: Pick up the bar of soap from the left side of the toilet tank. ", " STEP 3: Turn around, take a right and face the cabinets under the vanity to the right. ", " STEP 4: Open the second cabinet on the bottom from the right, put the bar of soap inside and close the drawer. ", " END" ] ]
seen
trial_T20190909_100440_807536-2
Put a bar of soap under the sink.
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " -1.0", " 0.901", " 1.75", " 0", " 270", " 0", "" ], [ "1", " Towel", " 0.609", " 1.376", " 0.583", " 0", " 270", " 0", " 26" ], [ "2", " HandTowel", " 0.634", " 1.512", " 3.564", " 0", " 90", " 0", " 33" ], [ "3", " SoapBottle", " 0.594", " 1.052", " 1.533", " 0", " 270", " 0", " 34" ], [ "4", " HandTowel", " 0.634", " 1.512", " 1.892", " 0", " 90", " 0", " 32" ], [ "5", " Towel", " -0.442", " 1.375", " 1.282", " 0", " 0", " 0", " 27" ], [ "6", " SoapBar", " 0.655", " 1.044", " 1.664", " 0", " 270", " 0", " 34" ], [ "7", " ToiletPaper", " 0.361", " 0.504", " 2.174", " 0", " 0", " 0", " 18" ], [ "8", " ToiletPaper", " 0.390", " 0.508", " 3.231", " 0", " 0", " 0", " 14" ], [ "9", " Candle", " 0.588", " 0.821", " 2.380", " 0", " 0", " 0", " 22" ], [ "10", " ScrubBrush", " 0.553", " 0.000", " 1.725", " 0", " 0", " 0", "" ], [ "11", " Cloth", " 0.502", " 0.215", " 2.196", " 0", " 0", " 0", " 15" ], [ "12", " Plunger", " 0.594", " -0.000", " 1.898", " 0", " 0", " 0", "" ], [ "13", " SprayBottle", " 0.455", " 0.820", " 2.325", " 0", " 0", " 0", " 22" ], [ "14", " Drawer", " 0.443", " 0.624", " 3.310", " 0", " 0", " 0", "" ], [ "15", " Drawer", " 0.443", " 0.323", " 2.194", " 0", " 0", " 0", "" ], [ "16", " ShowerDoor", " -0.923", " 1.032", " 1.155", " 0", " 0", " 0", "" ], [ "17", " Sink", " 0.495", " 0.661", " 2.756", " 0", " 270", " 0", "" ], [ "18", " Drawer", " 0.443", " 0.624", " 2.193", " 0", " 0", " 0", "" ], [ "19", " Faucet", " 0.717", " 0.982", " 2.756", " 0", " 0", " 0", "" ], [ "20", " Mirror", " 0.629", " 1.532", " 2.697", " 0", " 0", " 0", "" ], [ "21", " ShowerGlass", " -0.152", " 1.266", " 1.156", " 0", " 0", " 0", "" ], [ "22", " CounterTop", " 0.458", " 0.789", " 2.759", " 0", " 0", " 0", "" ], [ "23", " Drawer", " 0.443", " 0.323", " 2.566", " 0", " 0", " 0", "" ], [ "24", " Drawer", " 0.443", " 0.323", " 2.937", " 0", " 0", " 0", "" ], [ "25", " Drawer", " 0.443", " 0.323", " 3.310", " 0", " 0", " 0", "" ], [ "26", " TowelHolder", " 0.716", " 1.361", " 0.583", " 0", " 270", " 0", "" ], [ "27", " TowelHolder", " -0.442", " 1.361", " 1.175", " 0", " 0", " 0", "" ], [ "28", " LightSwitch", " -1.749", " 1.429", " 3.325", " 0", " 90", " 0", "" ], [ "29", " ToiletPaperHanger", " 0.376", " 0.648", " 2.009", " 0", " 180", " 0", "" ], [ "30", " GarbageCan", " 0.412", " -0.029", " 3.728", " 0", " 0", " 0", "" ], [ "31", " SinkBasin", " 0.440", " 0.667", " 2.746", " 0", " 270", " 0", "" ], [ "32", " HandTowelHolder", " 0.673", " 1.613", " 1.891", " 0", " 180", " 0", "" ], [ "33", " HandTowelHolder", " 0.673", " 1.613", " 3.563", " 0", " 180", " 0", "" ], [ "34", " Toilet", " 0.270", " 0.000", " 1.463", " 0", " 0", " 0", "" ], [ "35", " ShowerHead", " -1.705", " 1.894", " 0.587", " 0", " 270", " 0", "" ], [ "36", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "37", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "38", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "39", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.0 0.901 1.75 0 270 0 1 Towel 0.609 1.376 0.583 0 270 0 26 2 HandTowel 0.634 1.512 3.564 0 90 0 33 3 SoapBottle 0.594 1.052 1.533 0 270 0 34 4 HandTowel 0.634 1.512 1.892 0 90 0 32 5 Towel -0.442 1.375 1.282 0 0 0 27 6 SoapBar 0.655 1.044 1.664 0 270 0 34 7 ToiletPaper 0.361 0.504 2.174 0 0 0 18 8 ToiletPaper 0.390 0.508 3.231 0 0 0 14 9 Candle 0.588 0.821 2.380 0 0 0 22 10 ScrubBrush 0.553 0.000 1.725 0 0 0 11 Cloth 0.502 0.215 2.196 0 0 0 15 12 Plunger 0.594 -0.000 1.898 0 0 0 13 SprayBottle 0.455 0.820 2.325 0 0 0 22 14 Drawer 0.443 0.624 3.310 0 0 0 15 Drawer 0.443 0.323 2.194 0 0 0 16 ShowerDoor -0.923 1.032 1.155 0 0 0 17 Sink 0.495 0.661 2.756 0 270 0 18 Drawer 0.443 0.624 2.193 0 0 0 19 Faucet 0.717 0.982 2.756 0 0 0 20 Mirror 0.629 1.532 2.697 0 0 0 21 ShowerGlass -0.152 1.266 1.156 0 0 0 22 CounterTop 0.458 0.789 2.759 0 0 0 23 Drawer 0.443 0.323 2.566 0 0 0 24 Drawer 0.443 0.323 2.937 0 0 0 25 Drawer 0.443 0.323 3.310 0 0 0 26 TowelHolder 0.716 1.361 0.583 0 270 0 27 TowelHolder -0.442 1.361 1.175 0 0 0 28 LightSwitch -1.749 1.429 3.325 0 90 0 29 ToiletPaperHanger 0.376 0.648 2.009 0 180 0 30 GarbageCan 0.412 -0.029 3.728 0 0 0 31 SinkBasin 0.440 0.667 2.746 0 270 0 32 HandTowelHolder 0.673 1.613 1.891 0 180 0 33 HandTowelHolder 0.673 1.613 3.563 0 180 0 34 Toilet 0.270 0.000 1.463 0 0 0 35 ShowerHead -1.705 1.894 0.587 0 270 0 36 NorthWall 37 EastWall 38 SouthWall 39 WestWall
[ "STEP 1: Turn around and walk to the front of the toilet. | STEP 2: Pick up the bar of soap from the toilet. | STEP 3: Take a side step to the left. | STEP 4: Put the bar of soap in the drawer under the sink. | END" ]
[ [ "STEP 1: Turn around and walk to the front of the toilet. ", " STEP 2: Pick up the bar of soap from the toilet. ", " STEP 3: Take a side step to the left. ", " STEP 4: Put the bar of soap in the drawer under the sink. ", " END" ] ]
seen
trial_T20190906_200435_424001-0
Pick up the CD behind the clock.
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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 -0.75 0 270 0 1 Bowl -0.990 0.863 -2.373 0 0 0 52 2 Pencil -1.393 0.865 -2.373 0 0 0 52 3 Book 0.816 0.774 1.496 0 0 0 23 4 Pillow -0.333 0.902 1.335 0 0 0 23 5 Laptop 0.241 0.772 0.850 0 0 0 23 6 Book -1.493 0.087 -2.325 0 0 0 49 7 Cloth 1.303 0.0 -0.696 0 303.212 0 8 Cloth 1.273 0.0 -0.969 0 0 0 9 CellPhone -1.192 0.861 -2.311 0 0 0 52 10 Pencil 1.411 0.827 -1.673 0 270 0 43 11 Laptop -0.046 0.772 1.819 0 0 0 23 12 AlarmClock 0.459 0.813 -2.440 0 0 0 45 13 CreditCard 0.146 0.812 -2.169 0 0 0 45 14 KeyChain -0.789 0.862 -2.373 0 0 0 52 15 TennisRacket -1.704 0.345 1.743 345.000 90 180 16 RemoteControl -1.594 0.863 -2.436 0 0 0 52 17 Pillow 1.073 0.876 1.326 0 262.063 0 23 18 CD -0.061 0.812 -2.575 0 0 0 45 19 CD 0.355 0.812 -2.575 0 0 0 45 20 CD 0.355 0.812 -2.169 0 0 0 45 21 Pen 0.146 0.818 -2.236 0 0 0 45 22 Bowl -0.674 0.855 -2.499 0 323.153 0 52 23 Bed 0.270 0.001 1.331 0 90 0 24 LaundryHamper -1.329 0.001 1.829 0 180 0 25 Television -1.664 1.479 -0.912 0 90 0 26 DeskLamp 0.049 0.815 -2.481 0 0 0 27 LightSwitch -1.799 1.213 0.680 0 90 0 28 Painting 0.492 1.684 -2.629 90 0 0 29 Poster -1.799 1.690 -1.491 90 270 0 30 GarbageCan 1.306 -0.001 -2.451 0 317.376 0 31 Mirror 1.5 1.361 -0.542 0 90 0 32 Window 1.721 1.365 -1.597 90 270 0 33 Shelf -1.605 0.435 -0.686 0 90 0 34 Shelf -1.613 1.154 -0.904 0 90 0 35 ShelvingUnit -1.611 0.005 -0.904 0 90 0 36 Shelf -1.605 0.719 -1.122 0 90 0 37 Shelf -1.605 0.435 -1.122 0 90 0 38 Shelf -1.605 1.006 -1.122 0 90 0 39 Shelf -1.605 0.148 -0.686 0 90 0 40 Shelf -1.605 0.149 -1.122 0 90 0 41 Shelf -1.605 1.006 -0.686 0 90 0 42 Shelf -1.605 0.719 -0.686 0 90 0 43 SideTable 1.484 0.001 -1.481 0 270 0 44 Blinds 1.699 2.096 -1.575 0 270 0 45 Desk 0.244 0.004 -2.356 0 0 0 46 Chair -0.626 1.439 -2.199 0 171.006 0 47 Chair 0.220 1.466 -2.214 0 188.269 0 48 Shelf -0.978 1.387 -2.479 0 0 0 49 Drawer -1.389 0.197 -2.261 0 0 0 50 Drawer -1.389 0.480 -2.261 0 0 0 51 Drawer -1.389 0.731 -2.261 0 0 0 52 Desk -0.973 1.162 -2.351 0 0 0 53 NorthWall 54 EastWall 55 SouthWall 56 WestWall
[ "STEP 1: Move to the table with the lamp. | STEP 2: Turn on the lamp. | STEP 3: Pick up the CD from behind the clock. | END" ]
[ [ "STEP 1: Move to the table with the lamp. ", " STEP 2: Turn on the lamp. ", " STEP 3: Pick up the CD from behind the clock. ", " END" ] ]
seen
trial_T20190906_200435_424001-1
Turn on the lamp on the table, take the CD near the clock
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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 -0.75 0 270 0 1 Bowl -0.990 0.863 -2.373 0 0 0 52 2 Pencil -1.393 0.865 -2.373 0 0 0 52 3 Book 0.816 0.774 1.496 0 0 0 23 4 Pillow -0.333 0.902 1.335 0 0 0 23 5 Laptop 0.241 0.772 0.850 0 0 0 23 6 Book -1.493 0.087 -2.325 0 0 0 49 7 Cloth 1.303 0.0 -0.696 0 303.212 0 8 Cloth 1.273 0.0 -0.969 0 0 0 9 CellPhone -1.192 0.861 -2.311 0 0 0 52 10 Pencil 1.411 0.827 -1.673 0 270 0 43 11 Laptop -0.046 0.772 1.819 0 0 0 23 12 AlarmClock 0.459 0.813 -2.440 0 0 0 45 13 CreditCard 0.146 0.812 -2.169 0 0 0 45 14 KeyChain -0.789 0.862 -2.373 0 0 0 52 15 TennisRacket -1.704 0.345 1.743 345.000 90 180 16 RemoteControl -1.594 0.863 -2.436 0 0 0 52 17 Pillow 1.073 0.876 1.326 0 262.063 0 23 18 CD -0.061 0.812 -2.575 0 0 0 45 19 CD 0.355 0.812 -2.575 0 0 0 45 20 CD 0.355 0.812 -2.169 0 0 0 45 21 Pen 0.146 0.818 -2.236 0 0 0 45 22 Bowl -0.674 0.855 -2.499 0 323.153 0 52 23 Bed 0.270 0.001 1.331 0 90 0 24 LaundryHamper -1.329 0.001 1.829 0 180 0 25 Television -1.664 1.479 -0.912 0 90 0 26 DeskLamp 0.049 0.815 -2.481 0 0 0 27 LightSwitch -1.799 1.213 0.680 0 90 0 28 Painting 0.492 1.684 -2.629 90 0 0 29 Poster -1.799 1.690 -1.491 90 270 0 30 GarbageCan 1.306 -0.001 -2.451 0 317.376 0 31 Mirror 1.5 1.361 -0.542 0 90 0 32 Window 1.721 1.365 -1.597 90 270 0 33 Shelf -1.605 0.435 -0.686 0 90 0 34 Shelf -1.613 1.154 -0.904 0 90 0 35 ShelvingUnit -1.611 0.005 -0.904 0 90 0 36 Shelf -1.605 0.719 -1.122 0 90 0 37 Shelf -1.605 0.435 -1.122 0 90 0 38 Shelf -1.605 1.006 -1.122 0 90 0 39 Shelf -1.605 0.148 -0.686 0 90 0 40 Shelf -1.605 0.149 -1.122 0 90 0 41 Shelf -1.605 1.006 -0.686 0 90 0 42 Shelf -1.605 0.719 -0.686 0 90 0 43 SideTable 1.484 0.001 -1.481 0 270 0 44 Blinds 1.699 2.096 -1.575 0 270 0 45 Desk 0.244 0.004 -2.356 0 0 0 46 Chair -0.626 1.439 -2.199 0 171.006 0 47 Chair 0.220 1.466 -2.214 0 188.269 0 48 Shelf -0.978 1.387 -2.479 0 0 0 49 Drawer -1.389 0.197 -2.261 0 0 0 50 Drawer -1.389 0.480 -2.261 0 0 0 51 Drawer -1.389 0.731 -2.261 0 0 0 52 Desk -0.973 1.162 -2.351 0 0 0 53 NorthWall 54 EastWall 55 SouthWall 56 WestWall
[ "STEP 1: Turn left, walk to the table | STEP 2: Turn on the lamp on the table | STEP 3: Take the CD near the clock | END" ]
[ [ "STEP 1: Turn left, walk to the table ", " STEP 2: Turn on the lamp on the table ", " STEP 3: Take the CD near the clock ", " END" ] ]
seen
trial_T20190906_200435_424001-2
Pick up a CD.
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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 -0.75 0 270 0 1 Bowl -0.990 0.863 -2.373 0 0 0 52 2 Pencil -1.393 0.865 -2.373 0 0 0 52 3 Book 0.816 0.774 1.496 0 0 0 23 4 Pillow -0.333 0.902 1.335 0 0 0 23 5 Laptop 0.241 0.772 0.850 0 0 0 23 6 Book -1.493 0.087 -2.325 0 0 0 49 7 Cloth 1.303 0.0 -0.696 0 303.212 0 8 Cloth 1.273 0.0 -0.969 0 0 0 9 CellPhone -1.192 0.861 -2.311 0 0 0 52 10 Pencil 1.411 0.827 -1.673 0 270 0 43 11 Laptop -0.046 0.772 1.819 0 0 0 23 12 AlarmClock 0.459 0.813 -2.440 0 0 0 45 13 CreditCard 0.146 0.812 -2.169 0 0 0 45 14 KeyChain -0.789 0.862 -2.373 0 0 0 52 15 TennisRacket -1.704 0.345 1.743 345.000 90 180 16 RemoteControl -1.594 0.863 -2.436 0 0 0 52 17 Pillow 1.073 0.876 1.326 0 262.063 0 23 18 CD -0.061 0.812 -2.575 0 0 0 45 19 CD 0.355 0.812 -2.575 0 0 0 45 20 CD 0.355 0.812 -2.169 0 0 0 45 21 Pen 0.146 0.818 -2.236 0 0 0 45 22 Bowl -0.674 0.855 -2.499 0 323.153 0 52 23 Bed 0.270 0.001 1.331 0 90 0 24 LaundryHamper -1.329 0.001 1.829 0 180 0 25 Television -1.664 1.479 -0.912 0 90 0 26 DeskLamp 0.049 0.815 -2.481 0 0 0 27 LightSwitch -1.799 1.213 0.680 0 90 0 28 Painting 0.492 1.684 -2.629 90 0 0 29 Poster -1.799 1.690 -1.491 90 270 0 30 GarbageCan 1.306 -0.001 -2.451 0 317.376 0 31 Mirror 1.5 1.361 -0.542 0 90 0 32 Window 1.721 1.365 -1.597 90 270 0 33 Shelf -1.605 0.435 -0.686 0 90 0 34 Shelf -1.613 1.154 -0.904 0 90 0 35 ShelvingUnit -1.611 0.005 -0.904 0 90 0 36 Shelf -1.605 0.719 -1.122 0 90 0 37 Shelf -1.605 0.435 -1.122 0 90 0 38 Shelf -1.605 1.006 -1.122 0 90 0 39 Shelf -1.605 0.148 -0.686 0 90 0 40 Shelf -1.605 0.149 -1.122 0 90 0 41 Shelf -1.605 1.006 -0.686 0 90 0 42 Shelf -1.605 0.719 -0.686 0 90 0 43 SideTable 1.484 0.001 -1.481 0 270 0 44 Blinds 1.699 2.096 -1.575 0 270 0 45 Desk 0.244 0.004 -2.356 0 0 0 46 Chair -0.626 1.439 -2.199 0 171.006 0 47 Chair 0.220 1.466 -2.214 0 188.269 0 48 Shelf -0.978 1.387 -2.479 0 0 0 49 Drawer -1.389 0.197 -2.261 0 0 0 50 Drawer -1.389 0.480 -2.261 0 0 0 51 Drawer -1.389 0.731 -2.261 0 0 0 52 Desk -0.973 1.162 -2.351 0 0 0 53 NorthWall 54 EastWall 55 SouthWall 56 WestWall
[ "STEP 1: Turn left and walk to the small desk on the left. | STEP 2: Turn the lamp on. | STEP 3: Pick up the CD in the back, the one next to the alarm clock. | END" ]
[ [ "STEP 1: Turn left and walk to the small desk on the left. ", " STEP 2: Turn the lamp on. ", " STEP 3: Pick up the CD in the back, the one next to the alarm clock. ", " END" ] ]
seen
trial_T20190907_210244_406018-0
Put cold lettuce 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 -1.5 0.900 -0.75 0 90 0 1 DishSponge -2.638 1.537 0.702 0 0 0 69 2 DishSponge -2.638 1.537 2.129 0 0 0 57 3 ButterKnife 1.512 0.911 0.494 0 0 0 54 4 Kettle 1.691 0.929 -0.335 0 0 0 53 5 Kettle -2.538 0.911 0.931 0 0 0 73 6 Fork -2.372 0.911 1.530 0 0 0 73 7 Fork -2.379 0.774 1.322 0 90 0 76 8 Spoon 1.570 0.912 -0.868 0 45 0 55 9 Spoon -0.211 0.912 1.094 0 0 0 45 10 Spatula -2.227 0.788 0.343 0 90 0 62 11 Spatula -0.341 0.925 0.870 0 0 0 45 12 Cup -2.455 0.908 0.031 0 0 0 73 13 Cup -0.601 0.908 1.764 0 0 0 45 14 Plate -0.341 0.913 1.317 0 0 0 45 15 Plate -0.211 0.913 1.764 0 0 0 45 16 Tomato 1.855 0.953 -0.726 0 0 0 55 17 PepperShaker -2.484 1.578 -1.485 0 180 0 72 18 Mug -2.241 0.109 0.334 0 0 0 70 19 Mug 0.464 0.955 -1.593 0 0 0 55 20 Apple -2.206 0.972 0.631 0 0 0 73 21 Apple -2.538 0.972 1.230 0 0 0 73 22 Pan 0.0 0.9 0.948 0 29.999 0 45 23 Knife -0.471 0.936 1.540 0 0 0 45 24 Apple -2.393 1.150 -0.885 0 90 0 77 25 Bowl -2.439 1.297 -0.885 0 90 0 77 26 Fork -0.471 0.911 1.764 0 0 0 45 27 Bread -0.601 0.996 0.647 0 0 0 45 28 Plate 1.407 0.921 -1.185 0 225 0 59 29 Egg 1.294 0.949 -1.018 0 225 0 59 30 Kettle 1.771 1.657 0.239 0 0 0 64 31 Potato -2.559 0.631 -1.051 0 90 0 77 32 SaltShaker -2.685 1.532 0.125 0 0 0 68 33 Lettuce -0.601 0.994 0.423 0 0 0 45 34 Cup -2.599 1.535 0.846 0 0 0 69 35 SoapBottle -2.289 0.912 0.931 0 0 0 73 36 Spatula -2.318 0.788 0.534 0 270 0 62 37 PaperTowelRoll 0.999 1.015 -1.758 0 45 0 55 38 ButterKnife -2.621 0.910 0.631 0 0 0 73 39 PepperShaker 1.881 0.905 -0.897 0 0 0 55 40 DishSponge 1.698 1.663 -0.263 0 0 0 65 41 Pot 1.691 0.929 0.064 0 0 0 56 42 Spoon -2.196 0.775 0.809 0 90 0 50 43 Tomato 1.604 0.227 0.679 0 0 0 84 44 Mug -2.578 1.295 -0.602 0 180 0 77 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 forward to the counter, hang a left, go to the counter that is left of the stove. | STEP 2: Pick up the butter knife that is on the counter. | STEP 3: Go to the right towards the dishwasher, hang a right and go to the fridge, hang a right and go to the counter where the bread and lettuce are on the right. | STEP 4: Use the knife to cut the lettuce into slices. | STEP 5: Turn to the right and go forward, then turn right and go to the fridge. | STEP 6: Open the freezer, put the knife in the freezer, close the freezer. | STEP 7: Turn to the right, go forward, turn to the right and go to the counter where the bread and lettuce are. | STEP 8: Pick a slice of lettuce up off the counter. | STEP 9: Turn to the right, go forward, then turn right and go to the fridge. | STEP 10: Put the lettuce in the fridge to get cold, close the door, remove the cold lettuce from the fridge, close the fridge. | STEP 11: Turn around, go to the stove, hang a left, go forward to the garbage can on the right | STEP 12: Put the lettuce in the garbage can. | END" ]
[ [ "STEP 1: Go forward to the counter, hang a left, go to the counter that is left of the stove. ", " STEP 2: Pick up the butter knife that is on the counter. ", " STEP 3: Go to the right towards the dishwasher, hang a right and go to the fridge, hang a right and go to the counter where the bread and lettuce are on the right. ", " STEP 4: Use the knife to cut the lettuce into slices. ", " STEP 5: Turn to the right and go forward, then turn right and go to the fridge. ", " STEP 6: Open the freezer, put the knife in the freezer, close the freezer. ", " STEP 7: Turn to the right, go forward, turn to the right and go to the counter where the bread and lettuce are. ", " STEP 8: Pick a slice of lettuce up off the counter. ", " STEP 9: Turn to the right, go forward, then turn right and go to the fridge. ", " STEP 10: Put the lettuce in the fridge to get cold, close the door, remove the cold lettuce from the fridge, close the fridge. ", " STEP 11: Turn around, go to the stove, hang a left, go forward to the garbage can on the right ", " STEP 12: Put the lettuce in the garbage can. ", " END" ] ]
seen
trial_T20190907_210244_406018-1
Put a slice of lettuce on the floor by the kitchen window.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.5 0.900 -0.75 0 90 0 1 DishSponge -2.638 1.537 0.702 0 0 0 69 2 DishSponge -2.638 1.537 2.129 0 0 0 57 3 ButterKnife 1.512 0.911 0.494 0 0 0 54 4 Kettle 1.691 0.929 -0.335 0 0 0 53 5 Kettle -2.538 0.911 0.931 0 0 0 73 6 Fork -2.372 0.911 1.530 0 0 0 73 7 Fork -2.379 0.774 1.322 0 90 0 76 8 Spoon 1.570 0.912 -0.868 0 45 0 55 9 Spoon -0.211 0.912 1.094 0 0 0 45 10 Spatula -2.227 0.788 0.343 0 90 0 62 11 Spatula -0.341 0.925 0.870 0 0 0 45 12 Cup -2.455 0.908 0.031 0 0 0 73 13 Cup -0.601 0.908 1.764 0 0 0 45 14 Plate -0.341 0.913 1.317 0 0 0 45 15 Plate -0.211 0.913 1.764 0 0 0 45 16 Tomato 1.855 0.953 -0.726 0 0 0 55 17 PepperShaker -2.484 1.578 -1.485 0 180 0 72 18 Mug -2.241 0.109 0.334 0 0 0 70 19 Mug 0.464 0.955 -1.593 0 0 0 55 20 Apple -2.206 0.972 0.631 0 0 0 73 21 Apple -2.538 0.972 1.230 0 0 0 73 22 Pan 0.0 0.9 0.948 0 29.999 0 45 23 Knife -0.471 0.936 1.540 0 0 0 45 24 Apple -2.393 1.150 -0.885 0 90 0 77 25 Bowl -2.439 1.297 -0.885 0 90 0 77 26 Fork -0.471 0.911 1.764 0 0 0 45 27 Bread -0.601 0.996 0.647 0 0 0 45 28 Plate 1.407 0.921 -1.185 0 225 0 59 29 Egg 1.294 0.949 -1.018 0 225 0 59 30 Kettle 1.771 1.657 0.239 0 0 0 64 31 Potato -2.559 0.631 -1.051 0 90 0 77 32 SaltShaker -2.685 1.532 0.125 0 0 0 68 33 Lettuce -0.601 0.994 0.423 0 0 0 45 34 Cup -2.599 1.535 0.846 0 0 0 69 35 SoapBottle -2.289 0.912 0.931 0 0 0 73 36 Spatula -2.318 0.788 0.534 0 270 0 62 37 PaperTowelRoll 0.999 1.015 -1.758 0 45 0 55 38 ButterKnife -2.621 0.910 0.631 0 0 0 73 39 PepperShaker 1.881 0.905 -0.897 0 0 0 55 40 DishSponge 1.698 1.663 -0.263 0 0 0 65 41 Pot 1.691 0.929 0.064 0 0 0 56 42 Spoon -2.196 0.775 0.809 0 90 0 50 43 Tomato 1.604 0.227 0.679 0 0 0 84 44 Mug -2.578 1.295 -0.602 0 180 0 77 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: Move forward to just past the island, turn left and move forward to the counter left of the stove, turn right and move to the counter. | STEP 2: Pick up the knife. | STEP 3: Turn around, move to the island, turn left, move to just past the island, turn right, move just past the island, turn right, move alongside the bread and lettuce on the island, turn right. | STEP 4: Slice the lettuce. | STEP 5: Turn right, move past the island, turn right, move to the fridge. | STEP 6: Open the fridge doors, put the knife in the freezer, close the doors. | STEP 7: Turn right, move just past the fridge, turn right, move to the island, turn left, move to the lettuce on the island, turn right, move to the island. | STEP 8: Pick up a slice of lettuce. | STEP 9: turn right, move to past the island, turn right, move to the fridge, | STEP 10: OPen the fridge doors, put the lettuce on the top fridge shelf, close the fridge doors, wait 7 seconds, open the fridge doors, remove the lettuce slice, close the fridge doors. | STEP 11: Turn right, move just past the fridge, turn right, move forward just past the island, turn left, move forward to the window on the right, turn right. | STEP 12: Drop the lettuce. | END" ]
[ [ "STEP 1: Move forward to just past the island, turn left and move forward to the counter left of the stove, turn right and move to the counter. ", " STEP 2: Pick up the knife. ", " STEP 3: Turn around, move to the island, turn left, move to just past the island, turn right, move just past the island, turn right, move alongside the bread and lettuce on the island, turn right. ", " STEP 4: Slice the lettuce. ", " STEP 5: Turn right, move past the island, turn right, move to the fridge. ", " STEP 6: Open the fridge doors, put the knife in the freezer, close the doors. ", " STEP 7: Turn right, move just past the fridge, turn right, move to the island, turn left, move to the lettuce on the island, turn right, move to the island. ", " STEP 8: Pick up a slice of lettuce. ", " STEP 9: turn right, move to past the island, turn right, move to the fridge, ", " STEP 10: OPen the fridge doors, put the lettuce on the top fridge shelf, close the fridge doors, wait 7 seconds, open the fridge doors, remove the lettuce slice, close the fridge doors. ", " STEP 11: Turn right, move just past the fridge, turn right, move forward just past the island, turn left, move forward to the window on the right, turn right. ", " STEP 12: Drop the lettuce. ", " END" ] ]
seen
trial_T20190907_210244_406018-2
slice some lettuce, cool it off in the refrigerator, and discard it.
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"" ], [ "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 -1.5 0.900 -0.75 0 90 0 1 DishSponge -2.638 1.537 0.702 0 0 0 69 2 DishSponge -2.638 1.537 2.129 0 0 0 57 3 ButterKnife 1.512 0.911 0.494 0 0 0 54 4 Kettle 1.691 0.929 -0.335 0 0 0 53 5 Kettle -2.538 0.911 0.931 0 0 0 73 6 Fork -2.372 0.911 1.530 0 0 0 73 7 Fork -2.379 0.774 1.322 0 90 0 76 8 Spoon 1.570 0.912 -0.868 0 45 0 55 9 Spoon -0.211 0.912 1.094 0 0 0 45 10 Spatula -2.227 0.788 0.343 0 90 0 62 11 Spatula -0.341 0.925 0.870 0 0 0 45 12 Cup -2.455 0.908 0.031 0 0 0 73 13 Cup -0.601 0.908 1.764 0 0 0 45 14 Plate -0.341 0.913 1.317 0 0 0 45 15 Plate -0.211 0.913 1.764 0 0 0 45 16 Tomato 1.855 0.953 -0.726 0 0 0 55 17 PepperShaker -2.484 1.578 -1.485 0 180 0 72 18 Mug -2.241 0.109 0.334 0 0 0 70 19 Mug 0.464 0.955 -1.593 0 0 0 55 20 Apple -2.206 0.972 0.631 0 0 0 73 21 Apple -2.538 0.972 1.230 0 0 0 73 22 Pan 0.0 0.9 0.948 0 29.999 0 45 23 Knife -0.471 0.936 1.540 0 0 0 45 24 Apple -2.393 1.150 -0.885 0 90 0 77 25 Bowl -2.439 1.297 -0.885 0 90 0 77 26 Fork -0.471 0.911 1.764 0 0 0 45 27 Bread -0.601 0.996 0.647 0 0 0 45 28 Plate 1.407 0.921 -1.185 0 225 0 59 29 Egg 1.294 0.949 -1.018 0 225 0 59 30 Kettle 1.771 1.657 0.239 0 0 0 64 31 Potato -2.559 0.631 -1.051 0 90 0 77 32 SaltShaker -2.685 1.532 0.125 0 0 0 68 33 Lettuce -0.601 0.994 0.423 0 0 0 45 34 Cup -2.599 1.535 0.846 0 0 0 69 35 SoapBottle -2.289 0.912 0.931 0 0 0 73 36 Spatula -2.318 0.788 0.534 0 270 0 62 37 PaperTowelRoll 0.999 1.015 -1.758 0 45 0 55 38 ButterKnife -2.621 0.910 0.631 0 0 0 73 39 PepperShaker 1.881 0.905 -0.897 0 0 0 55 40 DishSponge 1.698 1.663 -0.263 0 0 0 65 41 Pot 1.691 0.929 0.064 0 0 0 56 42 Spoon -2.196 0.775 0.809 0 90 0 50 43 Tomato 1.604 0.227 0.679 0 0 0 84 44 Mug -2.578 1.295 -0.602 0 180 0 77 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 past the oven and face the trash can to the left | STEP 2: pick up the knife from edge of the counter top | STEP 3: go straight and turn right around the center counter, then face the center counter top | STEP 4: slice the lettuce next to the bread | STEP 5: go to the refrigerator behind you and face it | STEP 6: open the door and place the knife on the bottom shelf of the refrigerator | STEP 7: turn around and go back to the middle counter | STEP 8: pick up a piece of lettuce | STEP 9: go back to the refrigerator | STEP 10: open the door and place the slice of lettuce on the same shelf as the knife, then close the door for a few seconds before taking the slice of lettuce out | STEP 11: go to the trash can | STEP 12: throw the slice of lettuce in the trash can | END" ]
[ [ "STEP 1: go past the oven and face the trash can to the left ", " STEP 2: pick up the knife from edge of the counter top ", " STEP 3: go straight and turn right around the center counter, then face the center counter top ", " STEP 4: slice the lettuce next to the bread ", " STEP 5: go to the refrigerator behind you and face it ", " STEP 6: open the door and place the knife on the bottom shelf of the refrigerator ", " STEP 7: turn around and go back to the middle counter ", " STEP 8: pick up a piece of lettuce ", " STEP 9: go back to the refrigerator ", " STEP 10: open the door and place the slice of lettuce on the same shelf as the knife, then close the door for a few seconds before taking the slice of lettuce out ", " STEP 11: go to the trash can ", " STEP 12: throw the slice of lettuce in the trash can ", " END" ] ]
seen
trial_T20190908_014255_071929-0
Carry a laptop while turning on a lamp
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -0.75 0.900 -0.5 0 90 0 1 CD 1.316 0.019 -3.342 0 0 0 25 2 CD -2.405 0.082 -3.092 0 270 0 37 3 Pen 1.694 0.902 -3.320 0 0 0 34 4 Pen 2.638 1.234 1.168 0 270 0 41 5 Pencil -2.349 0.685 -0.668 0 90 0 43 6 KeyChain 2.764 1.249 1.796 0 0 0 30 7 Book 1.858 0.360 -3.139 0 90 0 31 8 CreditCard 2.608 0.094 1.426 0 270 0 38 9 Pen 2.779 1.234 1.283 0 270 0 41 10 Pencil -2.394 0.678 -0.436 0 90 0 43 11 TeddyBear -0.667 0.612 -1.364 0 81.467 0 21 12 Laptop -1.31 0.612 -1.542 0 0 0 21 13 AlarmClock -2.447 0.674 -2.988 0 0 0 36 14 CellPhone 2.556 0.896 -3.320 0 0 0 34 15 KeyChain -2.349 0.681 -3.304 0 90 0 36 16 Pillow -1.308 0.680 -2.061 0 0 0 21 17 Pillow -2.378 0.637 -2.330 0 0 0 21 18 CD 2.556 0.896 -3.113 0 0 0 34 19 Mug -2.439 0.679 -3.304 0 90 0 36 20 Bowl 1.840 0.889 -3.239 0 0 0 34 21 Bed -1.613 -0.028 -1.861 0 270 0 22 DeskLamp 2.760 0.890 -3.317 0 90 0 23 DeskLamp -2.459 0.668 -0.532 0 90 0 24 LightSwitch -0.700 1.016 0.334 0 90 0 25 GarbageCan 1.343 1.087 -3.374 0 0 0 26 Mirror 0.532 1.419 2.0 0 0 0 27 Window -0.834 1.394 -3.653 90 0 0 28 Window 2.958 1.508 -1.019 90 270 0 29 Sofa 2.383 0.008 -0.288 0 270 0 30 Safe 2.721 1.228 1.784 0 270 0 31 Drawer 1.979 0.486 -2.988 0 0 0 32 Drawer 1.979 0.728 -2.988 0 0 0 33 Drawer 1.979 0.208 -2.988 0 0 0 34 Desk 2.318 -0.009 -3.214 0 0 0 35 Drawer -2.349 0.163 -3.150 0 90 0 36 SideTable -2.416 -0.001 -3.149 0 90 0 37 Drawer -2.349 0.455 -3.150 0 90 0 38 Drawer 2.641 0.172 1.511 0 270 0 39 Drawer 2.641 1.002 1.511 0 270 0 40 Drawer 2.641 0.448 1.511 0 270 0 41 Dresser 2.676 0.002 1.511 0 270 0 42 Drawer 2.641 0.725 1.511 0 270 0 43 SideTable -2.416 -0.001 -0.514 0 90 0 44 Drawer -2.349 0.163 -0.514 0 90 0 45 Drawer -2.349 0.455 -0.514 0 90 0 46 Blinds -0.800 2.087 -3.627 0 0 0 47 Blinds 2.931 2.166 -1.0 0 270 0 48 Chair 2.574 0.002 -2.881 0 175.162 0 49 NorthWall 50 EastWall 51 SouthWall 52 WestWall
[ "STEP 1: Move to the right hand side of the bed next to the teddy bear and laptop | STEP 2: Pick up the laptop on top of the bed | STEP 3: Carry the laptop over to the night stand to the right facing the lamp on top of the night stand | STEP 4: Turn on the lamp | END" ]
[ [ "STEP 1: Move to the right hand side of the bed next to the teddy bear and laptop ", " STEP 2: Pick up the laptop on top of the bed ", " STEP 3: Carry the laptop over to the night stand to the right facing the lamp on top of the night stand ", " STEP 4: Turn on the lamp ", " END" ] ]
seen
trial_T20190908_014255_071929-1
Inspect a laptop by the light of a lamp.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -0.75 0.900 -0.5 0 90 0 1 CD 1.316 0.019 -3.342 0 0 0 25 2 CD -2.405 0.082 -3.092 0 270 0 37 3 Pen 1.694 0.902 -3.320 0 0 0 34 4 Pen 2.638 1.234 1.168 0 270 0 41 5 Pencil -2.349 0.685 -0.668 0 90 0 43 6 KeyChain 2.764 1.249 1.796 0 0 0 30 7 Book 1.858 0.360 -3.139 0 90 0 31 8 CreditCard 2.608 0.094 1.426 0 270 0 38 9 Pen 2.779 1.234 1.283 0 270 0 41 10 Pencil -2.394 0.678 -0.436 0 90 0 43 11 TeddyBear -0.667 0.612 -1.364 0 81.467 0 21 12 Laptop -1.31 0.612 -1.542 0 0 0 21 13 AlarmClock -2.447 0.674 -2.988 0 0 0 36 14 CellPhone 2.556 0.896 -3.320 0 0 0 34 15 KeyChain -2.349 0.681 -3.304 0 90 0 36 16 Pillow -1.308 0.680 -2.061 0 0 0 21 17 Pillow -2.378 0.637 -2.330 0 0 0 21 18 CD 2.556 0.896 -3.113 0 0 0 34 19 Mug -2.439 0.679 -3.304 0 90 0 36 20 Bowl 1.840 0.889 -3.239 0 0 0 34 21 Bed -1.613 -0.028 -1.861 0 270 0 22 DeskLamp 2.760 0.890 -3.317 0 90 0 23 DeskLamp -2.459 0.668 -0.532 0 90 0 24 LightSwitch -0.700 1.016 0.334 0 90 0 25 GarbageCan 1.343 1.087 -3.374 0 0 0 26 Mirror 0.532 1.419 2.0 0 0 0 27 Window -0.834 1.394 -3.653 90 0 0 28 Window 2.958 1.508 -1.019 90 270 0 29 Sofa 2.383 0.008 -0.288 0 270 0 30 Safe 2.721 1.228 1.784 0 270 0 31 Drawer 1.979 0.486 -2.988 0 0 0 32 Drawer 1.979 0.728 -2.988 0 0 0 33 Drawer 1.979 0.208 -2.988 0 0 0 34 Desk 2.318 -0.009 -3.214 0 0 0 35 Drawer -2.349 0.163 -3.150 0 90 0 36 SideTable -2.416 -0.001 -3.149 0 90 0 37 Drawer -2.349 0.455 -3.150 0 90 0 38 Drawer 2.641 0.172 1.511 0 270 0 39 Drawer 2.641 1.002 1.511 0 270 0 40 Drawer 2.641 0.448 1.511 0 270 0 41 Dresser 2.676 0.002 1.511 0 270 0 42 Drawer 2.641 0.725 1.511 0 270 0 43 SideTable -2.416 -0.001 -0.514 0 90 0 44 Drawer -2.349 0.163 -0.514 0 90 0 45 Drawer -2.349 0.455 -0.514 0 90 0 46 Blinds -0.800 2.087 -3.627 0 0 0 47 Blinds 2.931 2.166 -1.0 0 270 0 48 Chair 2.574 0.002 -2.881 0 175.162 0 49 NorthWall 50 EastWall 51 SouthWall 52 WestWall
[ "STEP 1: Turn to your right and walk over to the bed. | STEP 2: Close the laptop that is on the bed and pick it up. | STEP 3: Turn to your right and walk up to the nightstand. | STEP 4: Turn on the lamp that is on the nightstand. | END" ]
[ [ "STEP 1: Turn to your right and walk over to the bed. ", " STEP 2: Close the laptop that is on the bed and pick it up. ", " STEP 3: Turn to your right and walk up to the nightstand. ", " STEP 4: Turn on the lamp that is on the nightstand. ", " END" ] ]
seen
trial_T20190908_014255_071929-2
turn on the bed lamp while holding a laptop
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -0.75 0.900 -0.5 0 90 0 1 CD 1.316 0.019 -3.342 0 0 0 25 2 CD -2.405 0.082 -3.092 0 270 0 37 3 Pen 1.694 0.902 -3.320 0 0 0 34 4 Pen 2.638 1.234 1.168 0 270 0 41 5 Pencil -2.349 0.685 -0.668 0 90 0 43 6 KeyChain 2.764 1.249 1.796 0 0 0 30 7 Book 1.858 0.360 -3.139 0 90 0 31 8 CreditCard 2.608 0.094 1.426 0 270 0 38 9 Pen 2.779 1.234 1.283 0 270 0 41 10 Pencil -2.394 0.678 -0.436 0 90 0 43 11 TeddyBear -0.667 0.612 -1.364 0 81.467 0 21 12 Laptop -1.31 0.612 -1.542 0 0 0 21 13 AlarmClock -2.447 0.674 -2.988 0 0 0 36 14 CellPhone 2.556 0.896 -3.320 0 0 0 34 15 KeyChain -2.349 0.681 -3.304 0 90 0 36 16 Pillow -1.308 0.680 -2.061 0 0 0 21 17 Pillow -2.378 0.637 -2.330 0 0 0 21 18 CD 2.556 0.896 -3.113 0 0 0 34 19 Mug -2.439 0.679 -3.304 0 90 0 36 20 Bowl 1.840 0.889 -3.239 0 0 0 34 21 Bed -1.613 -0.028 -1.861 0 270 0 22 DeskLamp 2.760 0.890 -3.317 0 90 0 23 DeskLamp -2.459 0.668 -0.532 0 90 0 24 LightSwitch -0.700 1.016 0.334 0 90 0 25 GarbageCan 1.343 1.087 -3.374 0 0 0 26 Mirror 0.532 1.419 2.0 0 0 0 27 Window -0.834 1.394 -3.653 90 0 0 28 Window 2.958 1.508 -1.019 90 270 0 29 Sofa 2.383 0.008 -0.288 0 270 0 30 Safe 2.721 1.228 1.784 0 270 0 31 Drawer 1.979 0.486 -2.988 0 0 0 32 Drawer 1.979 0.728 -2.988 0 0 0 33 Drawer 1.979 0.208 -2.988 0 0 0 34 Desk 2.318 -0.009 -3.214 0 0 0 35 Drawer -2.349 0.163 -3.150 0 90 0 36 SideTable -2.416 -0.001 -3.149 0 90 0 37 Drawer -2.349 0.455 -3.150 0 90 0 38 Drawer 2.641 0.172 1.511 0 270 0 39 Drawer 2.641 1.002 1.511 0 270 0 40 Drawer 2.641 0.448 1.511 0 270 0 41 Dresser 2.676 0.002 1.511 0 270 0 42 Drawer 2.641 0.725 1.511 0 270 0 43 SideTable -2.416 -0.001 -0.514 0 90 0 44 Drawer -2.349 0.163 -0.514 0 90 0 45 Drawer -2.349 0.455 -0.514 0 90 0 46 Blinds -0.800 2.087 -3.627 0 0 0 47 Blinds 2.931 2.166 -1.0 0 270 0 48 Chair 2.574 0.002 -2.881 0 175.162 0 49 NorthWall 50 EastWall 51 SouthWall 52 WestWall
[ "STEP 1: turn right towards the bed | STEP 2: pick up the laptop from the bed | STEP 3: turn right and head for the lamp | STEP 4: turn on the lamp | END" ]
[ [ "STEP 1: turn right towards the bed ", " STEP 2: pick up the laptop from the bed ", " STEP 3: turn right and head for the lamp ", " STEP 4: turn on the lamp ", " END" ] ]
seen
trial_T20190909_060837_922186-0
Examine a remote control by the light of a floor lamp.
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " -3.0", " 0.901", " 2.0", " 0", " 270", " 0", "" ], [ "1", " Book", " -1.852", " 0.547", " 0.650", " 0", " 0", " 0", " 29" ], [ "2", " Statue", " -1.648", " 0.716", " 3.539", " 0", " 0", " 0", " 30" ], [ "3", " Statue", " -1.200", " 0.716", " 3.649", " 0", " 0", " 0", " 30" ], [ "4", " KeyChain", " -1.349", " 0.711", " 3.869", " 0", " 0", " 0", " 30" ], [ "5", " KeyChain", " -1.349", " 0.707", " 3.649", " 0", " 0", " 0", " 30" ], [ "6", " RemoteControl", " -1.602", " 0.547", " 0.650", " 0", " 0", " 0", " 29" ], [ "7", " RemoteControl", " 1.006", " 0.241", " 0.545", " 0", " 0", " 0", " 31" ], [ "8", " RemoteControl", " -1.335", " 0.449", " 2.441", " 0", " 0", " 0", " 28" ], [ "9", " Book", " 0.627", " 0.719", " 0.502", " 0", " 90", " 0", " 27" ], [ "10", " Box", " 0.332", " 0.892", " 0.488", " 0", " 0", " 0", " 27" ], [ "11", " Laptop", " -1.101", " 0.544", " 0.740", " 0", " 0", " 0", " 29" ], [ "12", " KeyChain", " 1.006", " 0.714", " 0.583", " 0", " 0", " 0", " 27" ], [ "13", " Pillow", " -0.506", " 0.664", " 0.431", " 36.288", " 0", " 0", " 29" ], [ "14", " Statue", " -1.587", " 0.453", " 2.200", " 0", " 0", " 0", " 28" ], [ "15", " RemoteControl", " 0.247", " 0.241", " 0.466", " 0", " 0", " 0", " 31" ], [ "16", " CreditCard", " -2.093", " 0.447", " 2.601", " 0", " 0", " 0", " 28" ], [ "17", " Watch", " -1.840", " 0.448", " 2.601", " 0", " 0", " 0", " 28" ], [ "18", " Painting", " -3.049", " 1.690", " 4.341", " 0", " 0", " 0", "" ], [ "19", " Curtains", " -3.973", " 2.254", " 1.453", " 0", " 0", " 0", "" ], [ "20", " Painting", " -1.096", " 1.773", " -0.017", " 0", " 0", " 0", "" ], [ "21", " LightSwitch", " -0.129", " 1.407", " 4.348", " 0", " 180", " 0", "" ], [ "22", " GarbageCan", " -0.376", " 0.003", " 4.103", " 0", " 180", " 0", "" ], [ "23", " Television", " -1.504", " 1.189", " 4.126", " 0", " 180", " 0", "" ], [ "24", " HousePlant", " -2.015", " 0.447", " 2.357", " 0", " 0", " 0", "" ], [ "25", " FloorLamp", " -3.686", " -0.001", " 4.013", " 0", " 0", " 0", "" ], [ "26", " Window", " -4.051", " 1.197", " 1.312", " 90", " 270", " 0", "" ], [ "27", " SideTable", " 0.626", " 0.006", " 0.340", " 0", " 0", " 0", "" ], [ "28", " CoffeeTable", " -1.735", " 0.005", " 2.360", " 0", " 0", " 0", "" ], [ "29", " Sofa", " -1.135", " -0.004", " 0.517", " 0", " 0", " 0", "" ], [ "30", " TVStand", " -1.566", " 0.004", " 3.869", " 0", " 0", " 0", "" ], [ "31", " Shelf", " 0.622", " 0.238", " 0.340", " 0", " 0", " 0", "" ], [ "32", " ArmChair", " -3.063", " 0.000", " 0.517", " 0", " 0", " 0", "" ], [ "33", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "34", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "35", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "36", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -3.0 0.901 2.0 0 270 0 1 Book -1.852 0.547 0.650 0 0 0 29 2 Statue -1.648 0.716 3.539 0 0 0 30 3 Statue -1.200 0.716 3.649 0 0 0 30 4 KeyChain -1.349 0.711 3.869 0 0 0 30 5 KeyChain -1.349 0.707 3.649 0 0 0 30 6 RemoteControl -1.602 0.547 0.650 0 0 0 29 7 RemoteControl 1.006 0.241 0.545 0 0 0 31 8 RemoteControl -1.335 0.449 2.441 0 0 0 28 9 Book 0.627 0.719 0.502 0 90 0 27 10 Box 0.332 0.892 0.488 0 0 0 27 11 Laptop -1.101 0.544 0.740 0 0 0 29 12 KeyChain 1.006 0.714 0.583 0 0 0 27 13 Pillow -0.506 0.664 0.431 36.288 0 0 29 14 Statue -1.587 0.453 2.200 0 0 0 28 15 RemoteControl 0.247 0.241 0.466 0 0 0 31 16 CreditCard -2.093 0.447 2.601 0 0 0 28 17 Watch -1.840 0.448 2.601 0 0 0 28 18 Painting -3.049 1.690 4.341 0 0 0 19 Curtains -3.973 2.254 1.453 0 0 0 20 Painting -1.096 1.773 -0.017 0 0 0 21 LightSwitch -0.129 1.407 4.348 0 180 0 22 GarbageCan -0.376 0.003 4.103 0 180 0 23 Television -1.504 1.189 4.126 0 180 0 24 HousePlant -2.015 0.447 2.357 0 0 0 25 FloorLamp -3.686 -0.001 4.013 0 0 0 26 Window -4.051 1.197 1.312 90 270 0 27 SideTable 0.626 0.006 0.340 0 0 0 28 CoffeeTable -1.735 0.005 2.360 0 0 0 29 Sofa -1.135 -0.004 0.517 0 0 0 30 TVStand -1.566 0.004 3.869 0 0 0 31 Shelf 0.622 0.238 0.340 0 0 0 32 ArmChair -3.063 0.000 0.517 0 0 0 33 NorthWall 34 EastWall 35 SouthWall 36 WestWall
[ "STEP 1: Turn around and walk across the room to the table that is to the left of the blue sofa on your right. | STEP 2: Pick up the remote control which is on the right side of the bottom shelf of the table. | STEP 3: Turn around, walk forward to the door, then turn left and walk across the room to the tall lamp in the corner. | STEP 4: Turn on the lamp. | END" ]
[ [ "STEP 1: Turn around and walk across the room to the table that is to the left of the blue sofa on your right. ", " STEP 2: Pick up the remote control which is on the right side of the bottom shelf of the table. ", " STEP 3: Turn around, walk forward to the door, then turn left and walk across the room to the tall lamp in the corner. ", " STEP 4: Turn on the lamp. ", " END" ] ]
seen
trial_T20190909_060837_922186-1
Examine a remote control by the light of a tall lamp.
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " -3.0", " 0.901", " 2.0", " 0", " 270", " 0", "" ], [ "1", " Book", " -1.852", " 0.547", " 0.650", " 0", " 0", " 0", " 29" ], [ "2", " Statue", " -1.648", " 0.716", " 3.539", " 0", " 0", " 0", " 30" ], [ "3", " Statue", " -1.200", " 0.716", " 3.649", " 0", " 0", " 0", " 30" ], [ "4", " KeyChain", " -1.349", " 0.711", " 3.869", " 0", " 0", " 0", " 30" ], [ "5", " KeyChain", " -1.349", " 0.707", " 3.649", " 0", " 0", " 0", " 30" ], [ "6", " RemoteControl", " -1.602", " 0.547", " 0.650", " 0", " 0", " 0", " 29" ], [ "7", " RemoteControl", " 1.006", " 0.241", " 0.545", " 0", " 0", " 0", " 31" ], [ "8", " RemoteControl", " -1.335", " 0.449", " 2.441", " 0", " 0", " 0", " 28" ], [ "9", " Book", " 0.627", " 0.719", " 0.502", " 0", " 90", " 0", " 27" ], [ "10", " Box", " 0.332", " 0.892", " 0.488", " 0", " 0", " 0", " 27" ], [ "11", " Laptop", " -1.101", " 0.544", " 0.740", " 0", " 0", " 0", " 29" ], [ "12", " KeyChain", " 1.006", " 0.714", " 0.583", " 0", " 0", " 0", " 27" ], [ "13", " Pillow", " -0.506", " 0.664", " 0.431", " 36.288", " 0", " 0", " 29" ], [ "14", " Statue", " -1.587", " 0.453", " 2.200", " 0", " 0", " 0", " 28" ], [ "15", " RemoteControl", " 0.247", " 0.241", " 0.466", " 0", " 0", " 0", " 31" ], [ "16", " CreditCard", " -2.093", " 0.447", " 2.601", " 0", " 0", " 0", " 28" ], [ "17", " Watch", " -1.840", " 0.448", " 2.601", " 0", " 0", " 0", " 28" ], [ "18", " Painting", " -3.049", " 1.690", " 4.341", " 0", " 0", " 0", "" ], [ "19", " Curtains", " -3.973", " 2.254", " 1.453", " 0", " 0", " 0", "" ], [ "20", " Painting", " -1.096", " 1.773", " -0.017", " 0", " 0", " 0", "" ], [ "21", " LightSwitch", " -0.129", " 1.407", " 4.348", " 0", " 180", " 0", "" ], [ "22", " GarbageCan", " -0.376", " 0.003", " 4.103", " 0", " 180", " 0", "" ], [ "23", " Television", " -1.504", " 1.189", " 4.126", " 0", " 180", " 0", "" ], [ "24", " HousePlant", " -2.015", " 0.447", " 2.357", " 0", " 0", " 0", "" ], [ "25", " FloorLamp", " -3.686", " -0.001", " 4.013", " 0", " 0", " 0", "" ], [ "26", " Window", " -4.051", " 1.197", " 1.312", " 90", " 270", " 0", "" ], [ "27", " SideTable", " 0.626", " 0.006", " 0.340", " 0", " 0", " 0", "" ], [ "28", " CoffeeTable", " -1.735", " 0.005", " 2.360", " 0", " 0", " 0", "" ], [ "29", " Sofa", " -1.135", " -0.004", " 0.517", " 0", " 0", " 0", "" ], [ "30", " TVStand", " -1.566", " 0.004", " 3.869", " 0", " 0", " 0", "" ], [ "31", " Shelf", " 0.622", " 0.238", " 0.340", " 0", " 0", " 0", "" ], [ "32", " ArmChair", " -3.063", " 0.000", " 0.517", " 0", " 0", " 0", "" ], [ "33", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "34", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "35", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "36", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -3.0 0.901 2.0 0 270 0 1 Book -1.852 0.547 0.650 0 0 0 29 2 Statue -1.648 0.716 3.539 0 0 0 30 3 Statue -1.200 0.716 3.649 0 0 0 30 4 KeyChain -1.349 0.711 3.869 0 0 0 30 5 KeyChain -1.349 0.707 3.649 0 0 0 30 6 RemoteControl -1.602 0.547 0.650 0 0 0 29 7 RemoteControl 1.006 0.241 0.545 0 0 0 31 8 RemoteControl -1.335 0.449 2.441 0 0 0 28 9 Book 0.627 0.719 0.502 0 90 0 27 10 Box 0.332 0.892 0.488 0 0 0 27 11 Laptop -1.101 0.544 0.740 0 0 0 29 12 KeyChain 1.006 0.714 0.583 0 0 0 27 13 Pillow -0.506 0.664 0.431 36.288 0 0 29 14 Statue -1.587 0.453 2.200 0 0 0 28 15 RemoteControl 0.247 0.241 0.466 0 0 0 31 16 CreditCard -2.093 0.447 2.601 0 0 0 28 17 Watch -1.840 0.448 2.601 0 0 0 28 18 Painting -3.049 1.690 4.341 0 0 0 19 Curtains -3.973 2.254 1.453 0 0 0 20 Painting -1.096 1.773 -0.017 0 0 0 21 LightSwitch -0.129 1.407 4.348 0 180 0 22 GarbageCan -0.376 0.003 4.103 0 180 0 23 Television -1.504 1.189 4.126 0 180 0 24 HousePlant -2.015 0.447 2.357 0 0 0 25 FloorLamp -3.686 -0.001 4.013 0 0 0 26 Window -4.051 1.197 1.312 90 270 0 27 SideTable 0.626 0.006 0.340 0 0 0 28 CoffeeTable -1.735 0.005 2.360 0 0 0 29 Sofa -1.135 -0.004 0.517 0 0 0 30 TVStand -1.566 0.004 3.869 0 0 0 31 Shelf 0.622 0.238 0.340 0 0 0 32 ArmChair -3.063 0.000 0.517 0 0 0 33 NorthWall 34 EastWall 35 SouthWall 36 WestWall
[ "STEP 1: Turn around, hang a right at the wall and walk to the small side table next to the couch. | STEP 2: Pick up the remote control from the right side of the shelf below the table top. | STEP 3: Turn around, hang a left at the door and walk to the tall lamp across the room on the right. | STEP 4: Turn on the tall lamp. | END" ]
[ [ "STEP 1: Turn around, hang a right at the wall and walk to the small side table next to the couch. ", " STEP 2: Pick up the remote control from the right side of the shelf below the table top. ", " STEP 3: Turn around, hang a left at the door and walk to the tall lamp across the room on the right. ", " STEP 4: Turn on the tall lamp. ", " END" ] ]
seen
trial_T20190909_060837_922186-2
Look at a remote using a lamp.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -3.0 0.901 2.0 0 270 0 1 Book -1.852 0.547 0.650 0 0 0 29 2 Statue -1.648 0.716 3.539 0 0 0 30 3 Statue -1.200 0.716 3.649 0 0 0 30 4 KeyChain -1.349 0.711 3.869 0 0 0 30 5 KeyChain -1.349 0.707 3.649 0 0 0 30 6 RemoteControl -1.602 0.547 0.650 0 0 0 29 7 RemoteControl 1.006 0.241 0.545 0 0 0 31 8 RemoteControl -1.335 0.449 2.441 0 0 0 28 9 Book 0.627 0.719 0.502 0 90 0 27 10 Box 0.332 0.892 0.488 0 0 0 27 11 Laptop -1.101 0.544 0.740 0 0 0 29 12 KeyChain 1.006 0.714 0.583 0 0 0 27 13 Pillow -0.506 0.664 0.431 36.288 0 0 29 14 Statue -1.587 0.453 2.200 0 0 0 28 15 RemoteControl 0.247 0.241 0.466 0 0 0 31 16 CreditCard -2.093 0.447 2.601 0 0 0 28 17 Watch -1.840 0.448 2.601 0 0 0 28 18 Painting -3.049 1.690 4.341 0 0 0 19 Curtains -3.973 2.254 1.453 0 0 0 20 Painting -1.096 1.773 -0.017 0 0 0 21 LightSwitch -0.129 1.407 4.348 0 180 0 22 GarbageCan -0.376 0.003 4.103 0 180 0 23 Television -1.504 1.189 4.126 0 180 0 24 HousePlant -2.015 0.447 2.357 0 0 0 25 FloorLamp -3.686 -0.001 4.013 0 0 0 26 Window -4.051 1.197 1.312 90 270 0 27 SideTable 0.626 0.006 0.340 0 0 0 28 CoffeeTable -1.735 0.005 2.360 0 0 0 29 Sofa -1.135 -0.004 0.517 0 0 0 30 TVStand -1.566 0.004 3.869 0 0 0 31 Shelf 0.622 0.238 0.340 0 0 0 32 ArmChair -3.063 0.000 0.517 0 0 0 33 NorthWall 34 EastWall 35 SouthWall 36 WestWall
[ "STEP 1: Walk to the end table next to the black sofa behind you. | STEP 2: Grab a remote from the table. | STEP 3: Walk around the table to the lamp on the corner of the room. | STEP 4: Turn the lamp on. | END" ]
[ [ "STEP 1: Walk to the end table next to the black sofa behind you. ", " STEP 2: Grab a remote from the table. ", " STEP 3: Walk around the table to the lamp on the corner of the room. ", " STEP 4: Turn the lamp on. ", " END" ] ]
seen
trial_T20190908_172924_904292-0
Put a plate with a piece of apple on it on a table.
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37" ], [ "24", " Tomato", " -0.284", " 0.129", " -0.030", " 0", " 270", " 0", " 76" ], [ "25", " Apple", " -0.158", " 1.055", " -0.752", " 0", " 270", " 0", " 74" ], [ "26", " SoapBottle", " -2.897", " 0.713", " -0.729", " 0", " 135", " 0", " 81" ], [ "27", " Spatula", " -0.039", " 0.928", " -3.655", " 0", " 270", " 0", " 37" ], [ "28", " SaltShaker", " -2.803", " 0.710", " -0.211", " 0", " 0", " 0", " 81" ], [ "29", " Knife", " -0.257", " 0.948", " -1.493", " 0", " 0", " 0", " 64" ], [ "30", " PepperShaker", " -1.666", " 0.910", " -4.046", " 0", " 0", " 0", " 37" ], [ "31", " ButterKnife", " -0.419", " 0.916", " -0.490", " 0", " 0", " 0", " 64" ], [ "32", " Plate", " -0.650", " 0.911", " -3.952", " 0", " 0", " 0", " 37" ], [ "33", " DishSponge", " -3.393", " 0.913", " -3.428", " 0", " 0", " 0", " 37" ], [ "34", " Spoon", " -2.519", " 0.718", " -0.753", " 0", " 135", " 0", " 81" ], [ "35", " Mug", " 0.007", " 0.908", " -3.112", " 0", " 0", " 0", " 37" ], [ "36", " Bowl", " -3.182", " 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1.803", " -3.343", " 0", " 0", " 0", "" ], [ "50", " Cabinet", " -2.811", " 1.810", " -3.764", " 0", " 0", " 0", "" ], [ "51", " Cabinet", " -1.233", " 1.810", " -3.764", " 0", " 0", " 0", "" ], [ "52", " Cabinet", " -1.364", " 0.388", " -3.511", " 0", " 0", " 0", "" ], [ "53", " Cabinet", " -1.380", " 0.388", " -3.511", " 0", " 0", " 0", "" ], [ "54", " Cabinet", " -0.226", " 1.803", " -2.725", " 0", " 0", " 0", "" ], [ "55", " Cabinet", " -0.236", " 2.098", " -1.767", " 0", " 0", " 0", "" ], [ "56", " Cabinet", " -0.236", " 2.098", " -2.705", " 0", " 0", " 0", "" ], [ "57", " Cabinet", " -0.193", " 1.210", " -4.239", " 0", " 0", " 0", "" ], [ "58", " Cabinet", " -2.148", " 0.388", " -3.511", " 0", " 0", " 0", "" ], [ "59", " Drawer", " -3.104", " 0.797", " -2.968", " 0", " 0", " 0", "" ], [ "60", " Drawer", " -0.449", " 0.797", " -1.410", " 0", " 0", " 0", "" ], [ "61", " Sink", " -1.786", " 0.902", " -3.748", " 0", " 0", " 0", "" ], [ "62", " StoveBurner", " -0.376", " 0.936", " 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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 0.901 -2.5 0 180 0 1 Potato -1.058 0.957 -3.878 0 0 0 37 2 Potato -3.234 1.442 -1.941 0 90 0 78 3 Spoon -0.257 0.917 -1.616 0 0 0 64 4 Spoon -2.620 0.718 -0.339 0 315 0 81 5 Fork -0.328 0.914 -3.012 0 90 0 37 6 Fork -0.447 0.914 -3.952 0 0 0 37 7 Cup -3.182 1.399 -2.125 0 90 0 78 8 Cup -3.182 0.641 -2.125 0 90 0 78 9 Plate -3.309 0.911 -3.227 0 0 0 37 10 Knife -1.780 0.946 -3.519 0 0 0 37 11 Bowl -2.652 0.714 -0.886 0 135 0 81 12 Bowl -0.413 0.078 -0.838 0 0 0 41 13 SaltShaker -2.934 0.713 -0.829 0 225 0 81 14 PepperShaker -0.169 1.290 -1.656 0 0 0 43 15 Bread -3.155 0.754 -0.608 0 225 0 81 16 Pot -0.376 0.975 -2.031 0 180 0 66 17 Egg -0.127 1.048 -0.950 0 270 0 74 18 Cup -0.412 0.914 -3.012 0 0 0 37 19 Bread -0.327 0.948 -3.681 0 298.222 0 37 20 Fork -3.292 0.714 -0.370 0 270 0 81 21 Pan -0.376 0.975 -2.451 0 0 0 62 22 Potato -2.723 0.760 -0.621 0 270 0 81 23 Lettuce -3.167 1.001 -3.804 0 0 0 37 24 Tomato -0.284 0.129 -0.030 0 270 0 76 25 Apple -0.158 1.055 -0.752 0 270 0 74 26 SoapBottle -2.897 0.713 -0.729 0 135 0 81 27 Spatula -0.039 0.928 -3.655 0 270 0 37 28 SaltShaker -2.803 0.710 -0.211 0 0 0 81 29 Knife -0.257 0.948 -1.493 0 0 0 64 30 PepperShaker -1.666 0.910 -4.046 0 0 0 37 31 ButterKnife -0.419 0.916 -0.490 0 0 0 64 32 Plate -0.650 0.911 -3.952 0 0 0 37 33 DishSponge -3.393 0.913 -3.428 0 0 0 37 34 Spoon -2.519 0.718 -0.753 0 135 0 81 35 Mug 0.007 0.908 -3.112 0 0 0 37 36 Bowl -3.182 0.638 -1.879 0 90 0 78 37 CounterTop -1.789 0.949 -3.803 0 0 0 38 Cabinet -0.577 0.388 -3.476 0 0 0 39 Cabinet -0.605 0.388 -3.511 0 0 0 40 Cabinet -2.976 0.388 -3.201 0 0 0 41 Cabinet -0.577 0.388 -0.447 0 0 0 42 Cabinet -0.577 0.388 -1.725 0 0 0 43 Cabinet -0.226 1.803 -1.743 0 0 0 44 Cabinet -0.228 1.799 -0.447 0 0 0 45 Cabinet -6.010 1.139 -6.019 0 0 0 46 Cabinet -3.022 2.098 -2.681 0 0 0 47 Cabinet -3.022 2.098 -1.743 0 0 0 48 Cabinet -0.577 0.388 -2.736 0 0 0 49 Cabinet -3.232 1.803 -3.343 0 0 0 50 Cabinet -2.811 1.810 -3.764 0 0 0 51 Cabinet -1.233 1.810 -3.764 0 0 0 52 Cabinet -1.364 0.388 -3.511 0 0 0 53 Cabinet -1.380 0.388 -3.511 0 0 0 54 Cabinet -0.226 1.803 -2.725 0 0 0 55 Cabinet -0.236 2.098 -1.767 0 0 0 56 Cabinet -0.236 2.098 -2.705 0 0 0 57 Cabinet -0.193 1.210 -4.239 0 0 0 58 Cabinet -2.148 0.388 -3.511 0 0 0 59 Drawer -3.104 0.797 -2.968 0 0 0 60 Drawer -0.449 0.797 -1.410 0 0 0 61 Sink -1.786 0.902 -3.748 0 0 0 62 StoveBurner -0.376 0.936 -2.451 0 0 0 63 Drawer -0.449 0.797 -0.762 0 0 0 64 CounterTop -0.268 0.951 -1.089 0 0 0 65 Drawer -0.449 0.797 -3.348 0 0 0 66 StoveBurner -0.376 0.936 -2.031 0 180 0 67 Drawer -0.449 0.797 -2.968 0 0 0 68 StoveBurner -0.165 0.936 -2.030 0 180 0 69 StoveBurner -0.165 0.936 -2.450 0 0 0 70 StoveKnob -0.568 0.903 -2.313 45 270 0 71 StoveKnob -0.568 0.903 -2.470 45 270 0 72 StoveKnob -0.568 0.903 -2.166 45 270 0 73 StoveKnob -0.568 0.903 -2.003 45 270 0 74 Microwave -0.143 0.903 -0.908 0 270 0 75 LightSwitch -1.108 1.457 0.338 0 180 0 76 GarbageCan -0.283 -0.032 -0.035 0 270 0 77 CoffeeMachine -3.104 0.837 -0.185 0 135 0 78 Fridge -3.188 0.0 -2.184 0 0 0 79 SinkBasin -1.786 0.779 -3.747 0 0 0 80 Toaster -0.230 0.903 -3.406 0 270 0 81 DiningTable -2.800 0.003 -0.505 0 0 0 82 Chair -3.044 0.003 -1.223 0 32.194 0 83 Faucet -1.791 1.136 -3.913 0 270 0 84 NorthWall 85 EastWall 86 SouthWall 87 WestWall
[ "STEP 1: Turn around, go forward, turn left after passing the oven, go forward to the counter to the left of the oven. | STEP 2: Take the knife from the counter. | STEP 3: Go to the left and face the microwave. | STEP 4: Cut the apple in the microwave into pieces. | STEP 5: Stay at the microwave. | STEP 6: Put the knife in the microwave. | STEP 7: Stay at the microwave. | STEP 8: Take a piece of apple from the microwave. | STEP 9: Turn right, go forward to the counter, turn right, go forward to the counter to the left of the fridge. | STEP 10: Put the apple on the plate on the counter. | STEP 11: Take the plate from the counter. | STEP 12: Turn right, go forward to the round table, go to the left a step, face the table. | STEP 13: Put the plate on the table to the left of the salt. | END" ]
[ [ "STEP 1: Turn around, go forward, turn left after passing the oven, go forward to the counter to the left of the oven. ", " STEP 2: Take the knife from the counter. ", " STEP 3: Go to the left and face the microwave. ", " STEP 4: Cut the apple in the microwave into pieces. ", " STEP 5: Stay at the microwave. ", " STEP 6: Put the knife in the microwave. ", " STEP 7: Stay at the microwave. ", " STEP 8: Take a piece of apple from the microwave. ", " STEP 9: Turn right, go forward to the counter, turn right, go forward to the counter to the left of the fridge. ", " STEP 10: Put the apple on the plate on the counter. ", " STEP 11: Take the plate from the counter. ", " STEP 12: Turn right, go forward to the round table, go to the left a step, face the table. ", " STEP 13: Put the plate on the table to the left of the salt. ", " END" ] ]
seen
trial_T20190908_172924_904292-1
Put a slice of apple on a plate on the table.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.5 0.901 -2.5 0 180 0 1 Potato -1.058 0.957 -3.878 0 0 0 37 2 Potato -3.234 1.442 -1.941 0 90 0 78 3 Spoon -0.257 0.917 -1.616 0 0 0 64 4 Spoon -2.620 0.718 -0.339 0 315 0 81 5 Fork -0.328 0.914 -3.012 0 90 0 37 6 Fork -0.447 0.914 -3.952 0 0 0 37 7 Cup -3.182 1.399 -2.125 0 90 0 78 8 Cup -3.182 0.641 -2.125 0 90 0 78 9 Plate -3.309 0.911 -3.227 0 0 0 37 10 Knife -1.780 0.946 -3.519 0 0 0 37 11 Bowl -2.652 0.714 -0.886 0 135 0 81 12 Bowl -0.413 0.078 -0.838 0 0 0 41 13 SaltShaker -2.934 0.713 -0.829 0 225 0 81 14 PepperShaker -0.169 1.290 -1.656 0 0 0 43 15 Bread -3.155 0.754 -0.608 0 225 0 81 16 Pot -0.376 0.975 -2.031 0 180 0 66 17 Egg -0.127 1.048 -0.950 0 270 0 74 18 Cup -0.412 0.914 -3.012 0 0 0 37 19 Bread -0.327 0.948 -3.681 0 298.222 0 37 20 Fork -3.292 0.714 -0.370 0 270 0 81 21 Pan -0.376 0.975 -2.451 0 0 0 62 22 Potato -2.723 0.760 -0.621 0 270 0 81 23 Lettuce -3.167 1.001 -3.804 0 0 0 37 24 Tomato -0.284 0.129 -0.030 0 270 0 76 25 Apple -0.158 1.055 -0.752 0 270 0 74 26 SoapBottle -2.897 0.713 -0.729 0 135 0 81 27 Spatula -0.039 0.928 -3.655 0 270 0 37 28 SaltShaker -2.803 0.710 -0.211 0 0 0 81 29 Knife -0.257 0.948 -1.493 0 0 0 64 30 PepperShaker -1.666 0.910 -4.046 0 0 0 37 31 ButterKnife -0.419 0.916 -0.490 0 0 0 64 32 Plate -0.650 0.911 -3.952 0 0 0 37 33 DishSponge -3.393 0.913 -3.428 0 0 0 37 34 Spoon -2.519 0.718 -0.753 0 135 0 81 35 Mug 0.007 0.908 -3.112 0 0 0 37 36 Bowl -3.182 0.638 -1.879 0 90 0 78 37 CounterTop -1.789 0.949 -3.803 0 0 0 38 Cabinet -0.577 0.388 -3.476 0 0 0 39 Cabinet -0.605 0.388 -3.511 0 0 0 40 Cabinet -2.976 0.388 -3.201 0 0 0 41 Cabinet -0.577 0.388 -0.447 0 0 0 42 Cabinet -0.577 0.388 -1.725 0 0 0 43 Cabinet -0.226 1.803 -1.743 0 0 0 44 Cabinet -0.228 1.799 -0.447 0 0 0 45 Cabinet -6.010 1.139 -6.019 0 0 0 46 Cabinet -3.022 2.098 -2.681 0 0 0 47 Cabinet -3.022 2.098 -1.743 0 0 0 48 Cabinet -0.577 0.388 -2.736 0 0 0 49 Cabinet -3.232 1.803 -3.343 0 0 0 50 Cabinet -2.811 1.810 -3.764 0 0 0 51 Cabinet -1.233 1.810 -3.764 0 0 0 52 Cabinet -1.364 0.388 -3.511 0 0 0 53 Cabinet -1.380 0.388 -3.511 0 0 0 54 Cabinet -0.226 1.803 -2.725 0 0 0 55 Cabinet -0.236 2.098 -1.767 0 0 0 56 Cabinet -0.236 2.098 -2.705 0 0 0 57 Cabinet -0.193 1.210 -4.239 0 0 0 58 Cabinet -2.148 0.388 -3.511 0 0 0 59 Drawer -3.104 0.797 -2.968 0 0 0 60 Drawer -0.449 0.797 -1.410 0 0 0 61 Sink -1.786 0.902 -3.748 0 0 0 62 StoveBurner -0.376 0.936 -2.451 0 0 0 63 Drawer -0.449 0.797 -0.762 0 0 0 64 CounterTop -0.268 0.951 -1.089 0 0 0 65 Drawer -0.449 0.797 -3.348 0 0 0 66 StoveBurner -0.376 0.936 -2.031 0 180 0 67 Drawer -0.449 0.797 -2.968 0 0 0 68 StoveBurner -0.165 0.936 -2.030 0 180 0 69 StoveBurner -0.165 0.936 -2.450 0 0 0 70 StoveKnob -0.568 0.903 -2.313 45 270 0 71 StoveKnob -0.568 0.903 -2.470 45 270 0 72 StoveKnob -0.568 0.903 -2.166 45 270 0 73 StoveKnob -0.568 0.903 -2.003 45 270 0 74 Microwave -0.143 0.903 -0.908 0 270 0 75 LightSwitch -1.108 1.457 0.338 0 180 0 76 GarbageCan -0.283 -0.032 -0.035 0 270 0 77 CoffeeMachine -3.104 0.837 -0.185 0 135 0 78 Fridge -3.188 0.0 -2.184 0 0 0 79 SinkBasin -1.786 0.779 -3.747 0 0 0 80 Toaster -0.230 0.903 -3.406 0 270 0 81 DiningTable -2.800 0.003 -0.505 0 0 0 82 Chair -3.044 0.003 -1.223 0 32.194 0 83 Faucet -1.791 1.136 -3.913 0 270 0 84 NorthWall 85 EastWall 86 SouthWall 87 WestWall
[ "STEP 1: Turn around, go half way across the room, turn right towards the counter with the microwave. | STEP 2: Pick up the knife to the right of the microwave. | STEP 3: Move left and go to the microwave. | STEP 4: Cut the apple in the microwave. | STEP 5: Look down at the counter. | STEP 6: Put the knife in the microwave. | STEP 7: Look up at the microwave. | STEP 8: Take a slice of apple from the microwave. | STEP 9: Turn around and head to the counter to the left of the fridge. | STEP 10: Put the slice of apple on the plate. | STEP 11: Pick up the plate with the apple on it. | STEP 12: Turn right and head to the table. | STEP 13: Put the plate to the left of the salt on the table. | END" ]
[ [ "STEP 1: Turn around, go half way across the room, turn right towards the counter with the microwave. ", " STEP 2: Pick up the knife to the right of the microwave. ", " STEP 3: Move left and go to the microwave. ", " STEP 4: Cut the apple in the microwave. ", " STEP 5: Look down at the counter. ", " STEP 6: Put the knife in the microwave. ", " STEP 7: Look up at the microwave. ", " STEP 8: Take a slice of apple from the microwave. ", " STEP 9: Turn around and head to the counter to the left of the fridge. ", " STEP 10: Put the slice of apple on the plate. ", " STEP 11: Pick up the plate with the apple on it. ", " STEP 12: Turn right and head to the table. ", " STEP 13: Put the plate to the left of the salt on the table. ", " END" ] ]
seen
trial_T20190908_172924_904292-2
put a plate with a piece of an apple in it on the table
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.5 0.901 -2.5 0 180 0 1 Potato -1.058 0.957 -3.878 0 0 0 37 2 Potato -3.234 1.442 -1.941 0 90 0 78 3 Spoon -0.257 0.917 -1.616 0 0 0 64 4 Spoon -2.620 0.718 -0.339 0 315 0 81 5 Fork -0.328 0.914 -3.012 0 90 0 37 6 Fork -0.447 0.914 -3.952 0 0 0 37 7 Cup -3.182 1.399 -2.125 0 90 0 78 8 Cup -3.182 0.641 -2.125 0 90 0 78 9 Plate -3.309 0.911 -3.227 0 0 0 37 10 Knife -1.780 0.946 -3.519 0 0 0 37 11 Bowl -2.652 0.714 -0.886 0 135 0 81 12 Bowl -0.413 0.078 -0.838 0 0 0 41 13 SaltShaker -2.934 0.713 -0.829 0 225 0 81 14 PepperShaker -0.169 1.290 -1.656 0 0 0 43 15 Bread -3.155 0.754 -0.608 0 225 0 81 16 Pot -0.376 0.975 -2.031 0 180 0 66 17 Egg -0.127 1.048 -0.950 0 270 0 74 18 Cup -0.412 0.914 -3.012 0 0 0 37 19 Bread -0.327 0.948 -3.681 0 298.222 0 37 20 Fork -3.292 0.714 -0.370 0 270 0 81 21 Pan -0.376 0.975 -2.451 0 0 0 62 22 Potato -2.723 0.760 -0.621 0 270 0 81 23 Lettuce -3.167 1.001 -3.804 0 0 0 37 24 Tomato -0.284 0.129 -0.030 0 270 0 76 25 Apple -0.158 1.055 -0.752 0 270 0 74 26 SoapBottle -2.897 0.713 -0.729 0 135 0 81 27 Spatula -0.039 0.928 -3.655 0 270 0 37 28 SaltShaker -2.803 0.710 -0.211 0 0 0 81 29 Knife -0.257 0.948 -1.493 0 0 0 64 30 PepperShaker -1.666 0.910 -4.046 0 0 0 37 31 ButterKnife -0.419 0.916 -0.490 0 0 0 64 32 Plate -0.650 0.911 -3.952 0 0 0 37 33 DishSponge -3.393 0.913 -3.428 0 0 0 37 34 Spoon -2.519 0.718 -0.753 0 135 0 81 35 Mug 0.007 0.908 -3.112 0 0 0 37 36 Bowl -3.182 0.638 -1.879 0 90 0 78 37 CounterTop -1.789 0.949 -3.803 0 0 0 38 Cabinet -0.577 0.388 -3.476 0 0 0 39 Cabinet -0.605 0.388 -3.511 0 0 0 40 Cabinet -2.976 0.388 -3.201 0 0 0 41 Cabinet -0.577 0.388 -0.447 0 0 0 42 Cabinet -0.577 0.388 -1.725 0 0 0 43 Cabinet -0.226 1.803 -1.743 0 0 0 44 Cabinet -0.228 1.799 -0.447 0 0 0 45 Cabinet -6.010 1.139 -6.019 0 0 0 46 Cabinet -3.022 2.098 -2.681 0 0 0 47 Cabinet -3.022 2.098 -1.743 0 0 0 48 Cabinet -0.577 0.388 -2.736 0 0 0 49 Cabinet -3.232 1.803 -3.343 0 0 0 50 Cabinet -2.811 1.810 -3.764 0 0 0 51 Cabinet -1.233 1.810 -3.764 0 0 0 52 Cabinet -1.364 0.388 -3.511 0 0 0 53 Cabinet -1.380 0.388 -3.511 0 0 0 54 Cabinet -0.226 1.803 -2.725 0 0 0 55 Cabinet -0.236 2.098 -1.767 0 0 0 56 Cabinet -0.236 2.098 -2.705 0 0 0 57 Cabinet -0.193 1.210 -4.239 0 0 0 58 Cabinet -2.148 0.388 -3.511 0 0 0 59 Drawer -3.104 0.797 -2.968 0 0 0 60 Drawer -0.449 0.797 -1.410 0 0 0 61 Sink -1.786 0.902 -3.748 0 0 0 62 StoveBurner -0.376 0.936 -2.451 0 0 0 63 Drawer -0.449 0.797 -0.762 0 0 0 64 CounterTop -0.268 0.951 -1.089 0 0 0 65 Drawer -0.449 0.797 -3.348 0 0 0 66 StoveBurner -0.376 0.936 -2.031 0 180 0 67 Drawer -0.449 0.797 -2.968 0 0 0 68 StoveBurner -0.165 0.936 -2.030 0 180 0 69 StoveBurner -0.165 0.936 -2.450 0 0 0 70 StoveKnob -0.568 0.903 -2.313 45 270 0 71 StoveKnob -0.568 0.903 -2.470 45 270 0 72 StoveKnob -0.568 0.903 -2.166 45 270 0 73 StoveKnob -0.568 0.903 -2.003 45 270 0 74 Microwave -0.143 0.903 -0.908 0 270 0 75 LightSwitch -1.108 1.457 0.338 0 180 0 76 GarbageCan -0.283 -0.032 -0.035 0 270 0 77 CoffeeMachine -3.104 0.837 -0.185 0 135 0 78 Fridge -3.188 0.0 -2.184 0 0 0 79 SinkBasin -1.786 0.779 -3.747 0 0 0 80 Toaster -0.230 0.903 -3.406 0 270 0 81 DiningTable -2.800 0.003 -0.505 0 0 0 82 Chair -3.044 0.003 -1.223 0 32.194 0 83 Faucet -1.791 1.136 -3.913 0 270 0 84 NorthWall 85 EastWall 86 SouthWall 87 WestWall
[ "STEP 1: turn around to the left go right towards the counter | STEP 2: pick up the knife from the counter | STEP 3: turn to the left go right towards the microwave | STEP 4: open the microwave cut the apple into pieces | STEP 5: open back up the microwave door put the knife inside of it | STEP 6: close the door open back up get once piece of apple out | STEP 7: turn to the right | STEP 8: turn to the right | STEP 9: turn to the left go right go forward towards the counter | STEP 10: put the apple on a plate that is on the counter | STEP 11: pick up the plate from the counter | STEP 12: turn around to the left go right to the left go forward to the brown table | STEP 13: put the plate on top of the table | END" ]
[ [ "STEP 1: turn around to the left go right towards the counter ", " STEP 2: pick up the knife from the counter ", " STEP 3: turn to the left go right towards the microwave ", " STEP 4: open the microwave cut the apple into pieces ", " STEP 5: open back up the microwave door put the knife inside of it ", " STEP 6: close the door open back up get once piece of apple out ", " STEP 7: turn to the right ", " STEP 8: turn to the right ", " STEP 9: turn to the left go right go forward towards the counter ", " STEP 10: put the apple on a plate that is on the counter ", " STEP 11: pick up the plate from the counter ", " STEP 12: turn around to the left go right to the left go forward to the brown table ", " STEP 13: put the plate on top of the table ", " END" ] ]
seen
trial_T20190908_030848_480173-0
Place a toilet paper roll on the holder.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -2.25 0.900 2.25 0 0 0 1 SoapBar -1.459 0.994 4.835 0 180 0 43 2 Candle -0.178 0.972 5.084 0 0 0 24 3 Candle -0.285 1.053 3.289 0 270 0 38 4 ToiletPaper -3.597 0.538 0.557 0 90 0 34 5 Candle -0.207 0.972 4.809 0 0 0 24 6 SoapBottle -3.655 0.546 1.293 0 90 0 34 7 HandTowel -0.112 1.467 4.811 0 270 0 36 8 Towel -0.181 1.419 2.425 0 270 0 32 9 SoapBar -3.363 0.185 2.194 0 0 0 17 10 ToiletPaper -1.929 0.960 5.015 0 0 0 24 11 TissueBox -3.540 0.541 1.477 0 90 0 19 12 Cloth -1.796 0.038 4.768 0 0 0 26 13 ToiletPaper -3.828 0.538 1.109 0 90 0 34 14 SprayBottle -0.811 0.038 4.768 0 0 0 27 15 ScrubBrush -0.231 -0.000 3.857 0 0 0 Floor|+00.00| 16 Plunger -0.212 -0.000 3.536 0 0 0 Floor|+00.00| 17 BathtubBasin -3.404 0.166 2.904 0 0 0 18 Cabinet -0.124 0.364 4.634 0 0 0 19 Bathtub -2.896 0.667 2.860 0 0 0 20 Faucet -3.475 0.711 3.811 0 0 0 21 ShowerGlass 0.0 0.0 0.0 0 0 0 22 ShowerDoor -0.282 1.228 1.730 0 0 0 23 Faucet -1.524 1.047 5.096 0 180 0 24 CounterTop -1.023 0.954 4.884 0 0 0 25 Mirror -0.975 1.577 5.145 0 0 0 26 Cabinet -1.962 0.364 4.634 0 0 0 27 Cabinet -1.027 0.364 4.634 0 0 0 28 Cabinet -1.059 0.364 4.634 0 0 0 29 Window -1.993 1.888 0.144 0 0 0 30 LightSwitch -2.496 1.366 5.146 0 180 0 31 TowelHolder -1.720 1.213 1.740 0 0 0 32 TowelHolder -0.074 1.404 2.424 0 270 0 33 GarbageCan -2.346 0.002 4.878 0 180 0 34 Shelf -3.713 0.531 0.951 0 90 0 35 HandTowelHolder -2.094 1.544 5.145 0 90 0 36 HandTowelHolder -0.074 1.569 4.810 0 180 0 37 ToiletPaperHanger -0.074 1.126 3.686 0 270 0 38 Toilet -0.517 -0.000 3.220 0 0 0 39 ShowerHead -0.182 1.256 0.875 0 0 0 40 SinkBasin -0.569 0.986 4.886 0 180 0 41 Sink -0.579 0.926 4.874 0 180 0 42 Sink -1.524 0.926 4.874 0 180 0 43 SinkBasin -1.514 0.986 4.886 0 180 0 44 Faucet -0.583 1.047 5.096 0 180 0 45 NorthWall 46 EastWall 47 SouthWall 48 WestWall
[ "STEP 1: Walk straight to the left edge of the sink. | STEP 2: Grab the toilet paper off of the sink. | STEP 3: Turn left and face the toilet paper holder. | STEP 4: Place the toilet paper on the holder. | END" ]
[ [ "STEP 1: Walk straight to the left edge of the sink. ", " STEP 2: Grab the toilet paper off of the sink. ", " STEP 3: Turn left and face the toilet paper holder. ", " STEP 4: Place the toilet paper on the holder. ", " END" ] ]
seen
trial_T20190908_030848_480173-1
Put toilet paper on the holder.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -2.25 0.900 2.25 0 0 0 1 SoapBar -1.459 0.994 4.835 0 180 0 43 2 Candle -0.178 0.972 5.084 0 0 0 24 3 Candle -0.285 1.053 3.289 0 270 0 38 4 ToiletPaper -3.597 0.538 0.557 0 90 0 34 5 Candle -0.207 0.972 4.809 0 0 0 24 6 SoapBottle -3.655 0.546 1.293 0 90 0 34 7 HandTowel -0.112 1.467 4.811 0 270 0 36 8 Towel -0.181 1.419 2.425 0 270 0 32 9 SoapBar -3.363 0.185 2.194 0 0 0 17 10 ToiletPaper -1.929 0.960 5.015 0 0 0 24 11 TissueBox -3.540 0.541 1.477 0 90 0 19 12 Cloth -1.796 0.038 4.768 0 0 0 26 13 ToiletPaper -3.828 0.538 1.109 0 90 0 34 14 SprayBottle -0.811 0.038 4.768 0 0 0 27 15 ScrubBrush -0.231 -0.000 3.857 0 0 0 Floor|+00.00| 16 Plunger -0.212 -0.000 3.536 0 0 0 Floor|+00.00| 17 BathtubBasin -3.404 0.166 2.904 0 0 0 18 Cabinet -0.124 0.364 4.634 0 0 0 19 Bathtub -2.896 0.667 2.860 0 0 0 20 Faucet -3.475 0.711 3.811 0 0 0 21 ShowerGlass 0.0 0.0 0.0 0 0 0 22 ShowerDoor -0.282 1.228 1.730 0 0 0 23 Faucet -1.524 1.047 5.096 0 180 0 24 CounterTop -1.023 0.954 4.884 0 0 0 25 Mirror -0.975 1.577 5.145 0 0 0 26 Cabinet -1.962 0.364 4.634 0 0 0 27 Cabinet -1.027 0.364 4.634 0 0 0 28 Cabinet -1.059 0.364 4.634 0 0 0 29 Window -1.993 1.888 0.144 0 0 0 30 LightSwitch -2.496 1.366 5.146 0 180 0 31 TowelHolder -1.720 1.213 1.740 0 0 0 32 TowelHolder -0.074 1.404 2.424 0 270 0 33 GarbageCan -2.346 0.002 4.878 0 180 0 34 Shelf -3.713 0.531 0.951 0 90 0 35 HandTowelHolder -2.094 1.544 5.145 0 90 0 36 HandTowelHolder -0.074 1.569 4.810 0 180 0 37 ToiletPaperHanger -0.074 1.126 3.686 0 270 0 38 Toilet -0.517 -0.000 3.220 0 0 0 39 ShowerHead -0.182 1.256 0.875 0 0 0 40 SinkBasin -0.569 0.986 4.886 0 180 0 41 Sink -0.579 0.926 4.874 0 180 0 42 Sink -1.524 0.926 4.874 0 180 0 43 SinkBasin -1.514 0.986 4.886 0 180 0 44 Faucet -0.583 1.047 5.096 0 180 0 45 NorthWall 46 EastWall 47 SouthWall 48 WestWall
[ "STEP 1: Move forward and to the right to the sink. | STEP 2: Pick up the toilet paper next to the sink. | STEP 3: Turn right, head to the toilet paper holder left of the toilet. | STEP 4: Put the toilet paper on the holder. | END" ]
[ [ "STEP 1: Move forward and to the right to the sink. ", " STEP 2: Pick up the toilet paper next to the sink. ", " STEP 3: Turn right, head to the toilet paper holder left of the toilet. ", " STEP 4: Put the toilet paper on the holder. ", " END" ] ]
seen
trial_T20190908_030848_480173-2
Refresh the toilet paper supply next 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 -2.25 0.900 2.25 0 0 0 1 SoapBar -1.459 0.994 4.835 0 180 0 43 2 Candle -0.178 0.972 5.084 0 0 0 24 3 Candle -0.285 1.053 3.289 0 270 0 38 4 ToiletPaper -3.597 0.538 0.557 0 90 0 34 5 Candle -0.207 0.972 4.809 0 0 0 24 6 SoapBottle -3.655 0.546 1.293 0 90 0 34 7 HandTowel -0.112 1.467 4.811 0 270 0 36 8 Towel -0.181 1.419 2.425 0 270 0 32 9 SoapBar -3.363 0.185 2.194 0 0 0 17 10 ToiletPaper -1.929 0.960 5.015 0 0 0 24 11 TissueBox -3.540 0.541 1.477 0 90 0 19 12 Cloth -1.796 0.038 4.768 0 0 0 26 13 ToiletPaper -3.828 0.538 1.109 0 90 0 34 14 SprayBottle -0.811 0.038 4.768 0 0 0 27 15 ScrubBrush -0.231 -0.000 3.857 0 0 0 Floor|+00.00| 16 Plunger -0.212 -0.000 3.536 0 0 0 Floor|+00.00| 17 BathtubBasin -3.404 0.166 2.904 0 0 0 18 Cabinet -0.124 0.364 4.634 0 0 0 19 Bathtub -2.896 0.667 2.860 0 0 0 20 Faucet -3.475 0.711 3.811 0 0 0 21 ShowerGlass 0.0 0.0 0.0 0 0 0 22 ShowerDoor -0.282 1.228 1.730 0 0 0 23 Faucet -1.524 1.047 5.096 0 180 0 24 CounterTop -1.023 0.954 4.884 0 0 0 25 Mirror -0.975 1.577 5.145 0 0 0 26 Cabinet -1.962 0.364 4.634 0 0 0 27 Cabinet -1.027 0.364 4.634 0 0 0 28 Cabinet -1.059 0.364 4.634 0 0 0 29 Window -1.993 1.888 0.144 0 0 0 30 LightSwitch -2.496 1.366 5.146 0 180 0 31 TowelHolder -1.720 1.213 1.740 0 0 0 32 TowelHolder -0.074 1.404 2.424 0 270 0 33 GarbageCan -2.346 0.002 4.878 0 180 0 34 Shelf -3.713 0.531 0.951 0 90 0 35 HandTowelHolder -2.094 1.544 5.145 0 90 0 36 HandTowelHolder -0.074 1.569 4.810 0 180 0 37 ToiletPaperHanger -0.074 1.126 3.686 0 270 0 38 Toilet -0.517 -0.000 3.220 0 0 0 39 ShowerHead -0.182 1.256 0.875 0 0 0 40 SinkBasin -0.569 0.986 4.886 0 180 0 41 Sink -0.579 0.926 4.874 0 180 0 42 Sink -1.524 0.926 4.874 0 180 0 43 SinkBasin -1.514 0.986 4.886 0 180 0 44 Faucet -0.583 1.047 5.096 0 180 0 45 NorthWall 46 EastWall 47 SouthWall 48 WestWall
[ "STEP 1: Cross the bathroom and face the counter to the left of the sink. | STEP 2: Pick up the roll of toilet paper from the left side of the sink. | STEP 3: Bring the toilet paper with you to face the toilet paper holder that's on the right side of the toilet. | STEP 4: Put the roll of toilet paper on the holder. | END" ]
[ [ "STEP 1: Cross the bathroom and face the counter to the left of the sink. ", " STEP 2: Pick up the roll of toilet paper from the left side of the sink. ", " STEP 3: Bring the toilet paper with you to face the toilet paper holder that's on the right side of the toilet. ", " STEP 4: Put the roll of toilet paper on the holder. ", " END" ] ]
seen
trial_T20190907_170428_254428-0
put the two plates on the coffee table
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[ "STEP 1: turn right, walk to the computer on the right | STEP 2: grab he plate by the compute | STEP 3: turn right, walk around the sofa to the coffee table | STEP 4: put the plate on the second layer of the coffee table | STEP 5: turn around, walk to the door, turn left, walk to the dining table | STEP 6: grab the plate on the table | STEP 7: turn left, turn right, walk around the sofa to the coffee table | STEP 8: put the plate on the coffee table | END" ]
[ [ "STEP 1: turn right, walk to the computer on the right ", " STEP 2: grab he plate by the compute ", " STEP 3: turn right, walk around the sofa to the coffee table ", " STEP 4: put the plate on the second layer of the coffee table ", " STEP 5: turn around, walk to the door, turn left, walk to the dining table ", " STEP 6: grab the plate on the table ", " STEP 7: turn left, turn right, walk around the sofa to the coffee table ", " STEP 8: put the plate on the coffee table ", " END" ] ]
seen
trial_T20190907_170428_254428-1
Put two plates on the coffee table.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -4.0 0.902 2.25 0 0 0 1 Bowl -2.473 0.348 5.042 0 0 0 45 2 Plate -2.712 0.689 1.052 0 0 0 56 3 TissueBox -2.318 0.602 4.731 0 0 0 44 4 TissueBox -1.695 0.749 -0.028 0 0 0 51 5 Newspaper -2.668 0.481 3.795 0 0 0 49 6 Watch -2.510 0.238 6.119 0 0 0 46 7 Statue -2.490 0.695 1.423 0 0 0 43 8 Statue -2.490 0.695 1.052 0 0 0 56 9 Pencil -1.731 0.651 -0.077 0 0 0 52 10 CreditCard -2.139 0.479 3.615 0 0 0 49 11 RemoteControl -4.126 0.435 5.701 0 59.999 0 41 12 Pillow -2.404 0.557 3.525 0 0 0 49 13 Book -2.318 0.100 4.887 0 0 0 47 14 Box -3.362 0.219 6.426 0 0 0 46 15 Statue -2.532 0.753 -0.072 0 0 0 51 16 Laptop -1.698 0.680 1.659 0 329.236 0 55 17 TissueBox -2.761 0.239 6.119 0 0 0 46 18 CreditCard -2.241 0.649 -0.077 0 0 0 52 19 Plate -2.047 0.689 1.670 0 0 0 55 20 KeyChain -3.198 0.480 3.436 0 0 0 49 21 Vase -2.047 0.693 1.299 0 0 0 53 22 Pencil -4.840 0.056 0.362 0 90 0 33 23 Pillow -3.271 0.661 3.44 0 0 331.220 49 24 Bowl -1.825 0.688 1.175 0 0 0 53 25 RemoteControl -1.874 0.482 3.346 0 0 0 49 26 Watch -2.259 0.238 6.192 0 0 0 46 27 Pen -2.368 0.654 -0.077 0 0 0 52 28 Newspaper -1.974 0.749 -0.159 0 0 0 51 29 Painting -2.048 1.615 -0.303 0 0 0 30 Curtains -0.083 2.420 0.969 0 0 0 31 Television -2.357 1.205 6.245 0 180 0 32 HousePlant -2.933 0.595 -0.093 0 0 0 33 GarbageCan -4.864 -0.001 0.267 0 90 0 34 FloorLamp -0.566 0.002 0.024 0 316.932 0 35 DeskLamp -0.273 0.700 3.612 0 0 0 36 Window -0.057 0.925 1.764 90 270 0 37 Window -0.057 1.130 4.886 90 270 0 38 LightSwitch -3.305 1.340 -0.314 0 0 0 39 SideTable -0.255 0.001 3.369 0 270 0 40 Drawer -0.306 0.626 3.369 0 270 0 41 ArmChair -4.376 -8.374 6.016 0 152.639 0 42 ArmChair -0.847 -8.106 5.983 0 231.318 0 43 DiningTable -2.268 -0.016 1.422 0 0 0 44 CoffeeTable -2.326 0.002 4.922 0 0 0 45 Shelf -2.326 0.338 4.922 0 0 0 46 Shelf -2.385 0.238 6.296 0 0 0 47 Shelf -2.326 0.089 4.922 0 0 0 48 TVStand -2.385 0.006 6.296 0 0 0 49 Sofa -2.404 -0.003 3.417 0 0 0 50 SideTable -2.935 0.004 -0.103 0 0 0 51 SideTable -2.113 0.002 -0.139 0 0 0 52 Drawer -2.113 0.654 -0.069 0 0 0 53 Chair -1.862 0.020 1.035 0 0 0 54 Chair -3.122 0.020 1.410 0 104.999 0 55 Chair -1.864 0.020 1.838 0 185.032 0 56 Chair -2.507 0.020 0.991 0 6.189 0 57 Chair -2.519 0.020 1.882 0 164.977 0 58 Chair -1.335 0.020 1.430 0 270 0 59 NorthWall 60 EastWall 61 SouthWall 62 WestWall
[ "STEP 1: Turn right, go forward, then turn right to face the dining table. | STEP 2: Pick up the plate on the dining table, to the right of the computer. | STEP 3: Turn right, go forward, turn right to go around the couch, go forward, to approach the coffee table. | STEP 4: Put the plate on the middle shelf of the coffee table, to the right of the bowl. | STEP 5: Turn around, go forward, turn left, go straight toward the door, then turn right, then turn left to face the dining table. | STEP 6: Pick up the plate on the dining table, next to the statue. | STEP 7: Turn left, go forward, turn right, go around the couch, then go straight to face the coffee table. | STEP 8: Put the plate on the top of the coffee table, to the left of the tissues. | END" ]
[ [ "STEP 1: Turn right, go forward, then turn right to face the dining table. ", " STEP 2: Pick up the plate on the dining table, to the right of the computer. ", " STEP 3: Turn right, go forward, turn right to go around the couch, go forward, to approach the coffee table. ", " STEP 4: Put the plate on the middle shelf of the coffee table, to the right of the bowl. ", " STEP 5: Turn around, go forward, turn left, go straight toward the door, then turn right, then turn left to face the dining table. ", " STEP 6: Pick up the plate on the dining table, next to the statue. ", " STEP 7: Turn left, go forward, turn right, go around the couch, then go straight to face the coffee table. ", " STEP 8: Put the plate on the top of the coffee table, to the left of the tissues. ", " END" ] ]
seen
trial_T20190907_170428_254428-2
Put the two plates on the coffee table.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -4.0 0.902 2.25 0 0 0 1 Bowl -2.473 0.348 5.042 0 0 0 45 2 Plate -2.712 0.689 1.052 0 0 0 56 3 TissueBox -2.318 0.602 4.731 0 0 0 44 4 TissueBox -1.695 0.749 -0.028 0 0 0 51 5 Newspaper -2.668 0.481 3.795 0 0 0 49 6 Watch -2.510 0.238 6.119 0 0 0 46 7 Statue -2.490 0.695 1.423 0 0 0 43 8 Statue -2.490 0.695 1.052 0 0 0 56 9 Pencil -1.731 0.651 -0.077 0 0 0 52 10 CreditCard -2.139 0.479 3.615 0 0 0 49 11 RemoteControl -4.126 0.435 5.701 0 59.999 0 41 12 Pillow -2.404 0.557 3.525 0 0 0 49 13 Book -2.318 0.100 4.887 0 0 0 47 14 Box -3.362 0.219 6.426 0 0 0 46 15 Statue -2.532 0.753 -0.072 0 0 0 51 16 Laptop -1.698 0.680 1.659 0 329.236 0 55 17 TissueBox -2.761 0.239 6.119 0 0 0 46 18 CreditCard -2.241 0.649 -0.077 0 0 0 52 19 Plate -2.047 0.689 1.670 0 0 0 55 20 KeyChain -3.198 0.480 3.436 0 0 0 49 21 Vase -2.047 0.693 1.299 0 0 0 53 22 Pencil -4.840 0.056 0.362 0 90 0 33 23 Pillow -3.271 0.661 3.44 0 0 331.220 49 24 Bowl -1.825 0.688 1.175 0 0 0 53 25 RemoteControl -1.874 0.482 3.346 0 0 0 49 26 Watch -2.259 0.238 6.192 0 0 0 46 27 Pen -2.368 0.654 -0.077 0 0 0 52 28 Newspaper -1.974 0.749 -0.159 0 0 0 51 29 Painting -2.048 1.615 -0.303 0 0 0 30 Curtains -0.083 2.420 0.969 0 0 0 31 Television -2.357 1.205 6.245 0 180 0 32 HousePlant -2.933 0.595 -0.093 0 0 0 33 GarbageCan -4.864 -0.001 0.267 0 90 0 34 FloorLamp -0.566 0.002 0.024 0 316.932 0 35 DeskLamp -0.273 0.700 3.612 0 0 0 36 Window -0.057 0.925 1.764 90 270 0 37 Window -0.057 1.130 4.886 90 270 0 38 LightSwitch -3.305 1.340 -0.314 0 0 0 39 SideTable -0.255 0.001 3.369 0 270 0 40 Drawer -0.306 0.626 3.369 0 270 0 41 ArmChair -4.376 -8.374 6.016 0 152.639 0 42 ArmChair -0.847 -8.106 5.983 0 231.318 0 43 DiningTable -2.268 -0.016 1.422 0 0 0 44 CoffeeTable -2.326 0.002 4.922 0 0 0 45 Shelf -2.326 0.338 4.922 0 0 0 46 Shelf -2.385 0.238 6.296 0 0 0 47 Shelf -2.326 0.089 4.922 0 0 0 48 TVStand -2.385 0.006 6.296 0 0 0 49 Sofa -2.404 -0.003 3.417 0 0 0 50 SideTable -2.935 0.004 -0.103 0 0 0 51 SideTable -2.113 0.002 -0.139 0 0 0 52 Drawer -2.113 0.654 -0.069 0 0 0 53 Chair -1.862 0.020 1.035 0 0 0 54 Chair -3.122 0.020 1.410 0 104.999 0 55 Chair -1.864 0.020 1.838 0 185.032 0 56 Chair -2.507 0.020 0.991 0 6.189 0 57 Chair -2.519 0.020 1.882 0 164.977 0 58 Chair -1.335 0.020 1.430 0 270 0 59 NorthWall 60 EastWall 61 SouthWall 62 WestWall
[ "STEP 1: Turn to the right, walk to the computer on the table. | STEP 2: Pick up the plate off of the table. | STEP 3: Turn to the right, walk around the couch, go to the glass coffee table. | STEP 4: Put the plate on the middle shelf of the coffee table. | STEP 5: Turn around, walk back around the couch, go to the table. | STEP 6: Pick up the plate next to the statue. | STEP 7: Turn around, walk back to the coffee table. | STEP 8: Put the plate on top of the coffee table. | END" ]
[ [ "STEP 1: Turn to the right, walk to the computer on the table. ", " STEP 2: Pick up the plate off of the table. ", " STEP 3: Turn to the right, walk around the couch, go to the glass coffee table. ", " STEP 4: Put the plate on the middle shelf of the coffee table. ", " STEP 5: Turn around, walk back around the couch, go to the table. ", " STEP 6: Pick up the plate next to the statue. ", " STEP 7: Turn around, walk back to the coffee table. ", " STEP 8: Put the plate on top of the coffee table. ", " END" ] ]
seen
trial_T20190906_204738_151897-0
place pan on the table
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0", " 107.976", " 0", "" ], [ "115", " Faucet", " -1.120", " 1.013", " 1.334", " 0", " 90", " 0", "" ], [ "116", " Chair", " 2.759", " 0.004", " 3.086", " 0", " 358.967", " 0", "" ], [ "117", " ", " ", " ", " ", " ", " ", " ", "" ], [ "118", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "119", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "120", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "121", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 0.25 0.900 0.5 0 180 0 1 Potato -0.794 1.069 0.323 0 0 0 59 2 Potato -0.794 1.069 2.066 0 0 0 59 3 DishSponge -0.762 1.763 0.305 0 0 0 91 4 DishSponge 2.055 1.026 1.256 0 136.999 0 56 5 WineBottle -0.945 1.782 1.537 0 0 0 90 6 Glassbottle 2.626 0.765 4.118 0 270 0 57 7 Glassbottle 2.451 0.765 4.32 0 0 0 57 8 Pot 2.177 1.027 -1.599 0 0 0 55 9 Pot 1.761 1.027 -1.599 0 0 0 99 10 Spatula 1.396 0.805 -1.459 0 270 0 63 11 Spatula 3.043 1.041 -0.541 0 0 0 56 12 Spoon -0.645 0.817 1.414 0 90 0 113 13 Spoon 2.698 0.765 3.688 0 329.999 0 57 14 Fork 1.409 1.027 -1.987 0 90 0 56 15 Cup -0.544 1.026 0.692 0 0 0 59 16 Cup 2.239 0.763 4.484 0 329.999 0 57 17 Plate 2.840 0.764 4.359 0 225 0 57 18 Tomato -0.669 1.081 2.189 0 0 0 59 19 Tomato -0.875 0.130 2.842 0 0 0 111 20 Bowl -1.013 1.440 -0.073 0 90 0 100 21 Bowl 2.086 0.762 3.815 0 225 0 57 22 SaltShaker 2.537 1.023 -1.762 0 0 0 56 23 Bread 2.525 0.832 3.62 0 0 0 57 24 Bread 2.451 0.832 3.97 0 270 0 57 25 Lettuce 2.621 1.085 -0.236 0 0 0 56 26 Mug -1.013 1.437 -0.516 0 90 0 100 27 Apple -1.187 1.077 1.150 0 0 0 59 28 Pan 2.042 1.017 1.779 0 0 0 56 29 Glassbottle -0.987 0.786 -0.738 0 90 0 100 30 Knife -0.590 0.826 2.418 0 0 0 62 31 SoapBottle 2.302 0.763 3.445 0 0 0 57 32 Egg -0.907 0.378 -0.295 0 90 0 100 33 Fork -0.669 1.028 0.600 0 180 0 59 34 Potato 1.290 1.068 -1.454 0 90 0 56 35 Ladle -0.669 1.066 2.434 0 0 0 59 36 Tomato 2.975 0.818 4.118 0 270 0 57 37 Pot 1.836 1.027 -1.84 0 90 0 54 38 WineBottle 2.451 0.765 4.495 0 0 0 57 39 Plate 2.875 1.027 -1.456 0 0 0 56 40 Spatula -0.645 0.831 1.181 0 90 0 113 41 PaperTowelRoll -0.544 1.131 1.943 0 0 0 59 42 Lettuce -0.851 0.874 1.337 0 90 0 113 43 Apple -0.418 1.077 2.189 0 0 0 59 44 SaltShaker 2.191 0.760 3.710 0 225 0 57 45 PepperShaker 1.301 1.777 -1.950 0 0 0 96 46 ButterKnife 2.370 1.026 1.550 0 136.999 0 56 47 Bread -0.987 0.854 -0.184 0 90 0 100 48 Cup 2.053 1.859 -1.775 0 0 0 102 49 DishSponge 2.551 0.764 4.240 0 329.999 0 57 50 Bowl 1.895 1.859 -1.809 0 0 0 102 51 Spoon -0.803 0.802 2.510 0 270 0 62 52 Mug 2.607 1.775 -1.833 0 0 0 95 53 Sink -0.716 1.023 1.333 0 0 0 54 StoveBurner 1.835 1.018 -1.840 0 90 0 55 StoveBurner 2.177 1.018 -1.599 0 0 0 56 CounterTop 2.812 0.992 0.675 0 0 0 57 DiningTable 2.419 0.003 3.930 0 0 0 58 Drawer -0.643 0.828 0.616 0 0 0 59 CounterTop -0.813 1.062 2.188 0 0 0 60 StoveBurner 2.115 1.018 -1.840 0 270 0 61 Drawer -0.643 0.831 1.953 0 0 0 62 Drawer -0.643 0.833 2.418 0 0 0 63 Drawer 1.347 0.836 -1.539 0 0 0 64 Drawer 2.693 0.833 -1.131 0 0 0 65 Drawer 2.693 0.833 -0.699 0 0 0 66 Drawer 2.693 0.833 -0.267 0 0 0 67 Drawer 2.693 0.833 0.163 0 0 0 68 Drawer 2.524 0.833 0.720 0 2.000 0 69 Drawer 2.232 0.833 1.036 0 2.000 0 70 Drawer 1.936 0.833 1.354 0 2.000 0 71 Drawer 1.646 0.833 1.670 0 2.000 0 72 Cabinet 1.504 2.475 -1.710 0 0 0 73 Cabinet -0.823 2.220 1.621 0 0 0 74 Cabinet -0.823 2.220 0.615 0 0 0 75 Cabinet 1.136 0.388 -1.355 0 0 0 76 Cabinet -0.356 0.383 2.626 0 0 0 77 Cabinet 2.745 2.220 -1.690 0 0 0 78 Cabinet 1.882 0.383 1.017 0 0 0 79 Cabinet 1.307 0.473 1.640 0 0 0 80 Cabinet 1.892 0.383 1.006 0 0 0 81 Cabinet 2.467 0.383 0.383 0 0 0 82 Cabinet 2.466 0.383 -0.475 0 0 0 83 Cabinet 2.466 0.473 0.371 0 0 0 84 Cabinet 2.386 2.475 -1.710 0 0 0 85 Cabinet -0.356 0.383 1.712 0 0 0 86 Cabinet 2.745 2.220 0.019 0 0 0 87 Cabinet -0.663 2.496 0.157 0 0 0 88 Cabinet -0.663 2.496 -0.868 0 0 0 89 Cabinet -0.356 0.383 0.269 0 0 0 90 Cabinet -0.823 2.220 1.603 0 0 0 91 Cabinet -0.662 2.234 0.586 0 0 0 92 Cabinet 2.745 2.220 -0.843 0 0 0 93 Cabinet 2.745 2.220 -0.827 0 0 0 94 Cabinet -0.823 2.220 2.608 0 0 0 95 Cabinet 2.732 2.226 -1.709 0 0 0 96 Cabinet 1.137 2.226 -1.709 0 0 0 97 Cabinet 2.466 0.383 -0.491 0 0 0 98 Cabinet 2.466 0.383 -1.339 0 0 0 99 StoveBurner 1.761 1.018 -1.599 0 0 0 100 Fridge -0.908 0.0 -0.405 0 0 0 101 HousePlant 2.517 1.016 1.822 0 0 0 102 Microwave 1.939 1.745 -1.826 0 0 0 103 StoveKnob 2.017 1.041 -1.514 0 180 180 104 StoveKnob 1.934 1.041 -1.514 0 180 180 105 StoveKnob 2.017 1.041 -1.589 0 180 180 106 StoveKnob 1.934 1.041 -1.589 0 180 180 107 Window 1.756 1.608 4.762 90 0 0 108 HousePlant 2.171 1.004 2.091 0 0 0 109 CoffeeMachine -0.942 1.018 0.645 0 90 0 110 LightSwitch -0.099 1.410 -2.066 0 0 0 111 GarbageCan -0.951 -0.029 2.826 0 0 0 112 Toaster -1.007 1.018 2.238 0 90 0 113 SinkBasin -0.714 0.805 1.348 0 90 0 114 Chair 1.615 0.004 4.310 0 107.976 0 115 Faucet -1.120 1.013 1.334 0 90 0 116 Chair 2.759 0.004 3.086 0 358.967 0 117 118 NorthWall 119 EastWall 120 SouthWall 121 WestWall
[ "STEP 1: turn to your left turn to your left walk straight turn to your right go straight turn left | STEP 2: pick up the spoon on the table | STEP 3: turn to your left walk straight turn to your left | STEP 4: pick up pan on the counter | STEP 5: turn to the left | STEP 6: walk straight turn to your right walk straight | STEP 7: turn to your left place pan on the table | END" ]
[ [ "STEP 1: turn to your left turn to your left walk straight turn to your right go straight turn left ", " STEP 2: pick up the spoon on the table ", " STEP 3: turn to your left walk straight turn to your left ", " STEP 4: pick up pan on the counter ", " STEP 5: turn to the left ", " STEP 6: walk straight turn to your right walk straight ", " STEP 7: turn to your left place pan on the table ", " END" ] ]
seen
trial_T20190906_204738_151897-1
Put a pot with a spoon a white round 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 0.5 0 180 0 1 Potato -0.794 1.069 0.323 0 0 0 59 2 Potato -0.794 1.069 2.066 0 0 0 59 3 DishSponge -0.762 1.763 0.305 0 0 0 91 4 DishSponge 2.055 1.026 1.256 0 136.999 0 56 5 WineBottle -0.945 1.782 1.537 0 0 0 90 6 Glassbottle 2.626 0.765 4.118 0 270 0 57 7 Glassbottle 2.451 0.765 4.32 0 0 0 57 8 Pot 2.177 1.027 -1.599 0 0 0 55 9 Pot 1.761 1.027 -1.599 0 0 0 99 10 Spatula 1.396 0.805 -1.459 0 270 0 63 11 Spatula 3.043 1.041 -0.541 0 0 0 56 12 Spoon -0.645 0.817 1.414 0 90 0 113 13 Spoon 2.698 0.765 3.688 0 329.999 0 57 14 Fork 1.409 1.027 -1.987 0 90 0 56 15 Cup -0.544 1.026 0.692 0 0 0 59 16 Cup 2.239 0.763 4.484 0 329.999 0 57 17 Plate 2.840 0.764 4.359 0 225 0 57 18 Tomato -0.669 1.081 2.189 0 0 0 59 19 Tomato -0.875 0.130 2.842 0 0 0 111 20 Bowl -1.013 1.440 -0.073 0 90 0 100 21 Bowl 2.086 0.762 3.815 0 225 0 57 22 SaltShaker 2.537 1.023 -1.762 0 0 0 56 23 Bread 2.525 0.832 3.62 0 0 0 57 24 Bread 2.451 0.832 3.97 0 270 0 57 25 Lettuce 2.621 1.085 -0.236 0 0 0 56 26 Mug -1.013 1.437 -0.516 0 90 0 100 27 Apple -1.187 1.077 1.150 0 0 0 59 28 Pan 2.042 1.017 1.779 0 0 0 56 29 Glassbottle -0.987 0.786 -0.738 0 90 0 100 30 Knife -0.590 0.826 2.418 0 0 0 62 31 SoapBottle 2.302 0.763 3.445 0 0 0 57 32 Egg -0.907 0.378 -0.295 0 90 0 100 33 Fork -0.669 1.028 0.600 0 180 0 59 34 Potato 1.290 1.068 -1.454 0 90 0 56 35 Ladle -0.669 1.066 2.434 0 0 0 59 36 Tomato 2.975 0.818 4.118 0 270 0 57 37 Pot 1.836 1.027 -1.84 0 90 0 54 38 WineBottle 2.451 0.765 4.495 0 0 0 57 39 Plate 2.875 1.027 -1.456 0 0 0 56 40 Spatula -0.645 0.831 1.181 0 90 0 113 41 PaperTowelRoll -0.544 1.131 1.943 0 0 0 59 42 Lettuce -0.851 0.874 1.337 0 90 0 113 43 Apple -0.418 1.077 2.189 0 0 0 59 44 SaltShaker 2.191 0.760 3.710 0 225 0 57 45 PepperShaker 1.301 1.777 -1.950 0 0 0 96 46 ButterKnife 2.370 1.026 1.550 0 136.999 0 56 47 Bread -0.987 0.854 -0.184 0 90 0 100 48 Cup 2.053 1.859 -1.775 0 0 0 102 49 DishSponge 2.551 0.764 4.240 0 329.999 0 57 50 Bowl 1.895 1.859 -1.809 0 0 0 102 51 Spoon -0.803 0.802 2.510 0 270 0 62 52 Mug 2.607 1.775 -1.833 0 0 0 95 53 Sink -0.716 1.023 1.333 0 0 0 54 StoveBurner 1.835 1.018 -1.840 0 90 0 55 StoveBurner 2.177 1.018 -1.599 0 0 0 56 CounterTop 2.812 0.992 0.675 0 0 0 57 DiningTable 2.419 0.003 3.930 0 0 0 58 Drawer -0.643 0.828 0.616 0 0 0 59 CounterTop -0.813 1.062 2.188 0 0 0 60 StoveBurner 2.115 1.018 -1.840 0 270 0 61 Drawer -0.643 0.831 1.953 0 0 0 62 Drawer -0.643 0.833 2.418 0 0 0 63 Drawer 1.347 0.836 -1.539 0 0 0 64 Drawer 2.693 0.833 -1.131 0 0 0 65 Drawer 2.693 0.833 -0.699 0 0 0 66 Drawer 2.693 0.833 -0.267 0 0 0 67 Drawer 2.693 0.833 0.163 0 0 0 68 Drawer 2.524 0.833 0.720 0 2.000 0 69 Drawer 2.232 0.833 1.036 0 2.000 0 70 Drawer 1.936 0.833 1.354 0 2.000 0 71 Drawer 1.646 0.833 1.670 0 2.000 0 72 Cabinet 1.504 2.475 -1.710 0 0 0 73 Cabinet -0.823 2.220 1.621 0 0 0 74 Cabinet -0.823 2.220 0.615 0 0 0 75 Cabinet 1.136 0.388 -1.355 0 0 0 76 Cabinet -0.356 0.383 2.626 0 0 0 77 Cabinet 2.745 2.220 -1.690 0 0 0 78 Cabinet 1.882 0.383 1.017 0 0 0 79 Cabinet 1.307 0.473 1.640 0 0 0 80 Cabinet 1.892 0.383 1.006 0 0 0 81 Cabinet 2.467 0.383 0.383 0 0 0 82 Cabinet 2.466 0.383 -0.475 0 0 0 83 Cabinet 2.466 0.473 0.371 0 0 0 84 Cabinet 2.386 2.475 -1.710 0 0 0 85 Cabinet -0.356 0.383 1.712 0 0 0 86 Cabinet 2.745 2.220 0.019 0 0 0 87 Cabinet -0.663 2.496 0.157 0 0 0 88 Cabinet -0.663 2.496 -0.868 0 0 0 89 Cabinet -0.356 0.383 0.269 0 0 0 90 Cabinet -0.823 2.220 1.603 0 0 0 91 Cabinet -0.662 2.234 0.586 0 0 0 92 Cabinet 2.745 2.220 -0.843 0 0 0 93 Cabinet 2.745 2.220 -0.827 0 0 0 94 Cabinet -0.823 2.220 2.608 0 0 0 95 Cabinet 2.732 2.226 -1.709 0 0 0 96 Cabinet 1.137 2.226 -1.709 0 0 0 97 Cabinet 2.466 0.383 -0.491 0 0 0 98 Cabinet 2.466 0.383 -1.339 0 0 0 99 StoveBurner 1.761 1.018 -1.599 0 0 0 100 Fridge -0.908 0.0 -0.405 0 0 0 101 HousePlant 2.517 1.016 1.822 0 0 0 102 Microwave 1.939 1.745 -1.826 0 0 0 103 StoveKnob 2.017 1.041 -1.514 0 180 180 104 StoveKnob 1.934 1.041 -1.514 0 180 180 105 StoveKnob 2.017 1.041 -1.589 0 180 180 106 StoveKnob 1.934 1.041 -1.589 0 180 180 107 Window 1.756 1.608 4.762 90 0 0 108 HousePlant 2.171 1.004 2.091 0 0 0 109 CoffeeMachine -0.942 1.018 0.645 0 90 0 110 LightSwitch -0.099 1.410 -2.066 0 0 0 111 GarbageCan -0.951 -0.029 2.826 0 0 0 112 Toaster -1.007 1.018 2.238 0 90 0 113 SinkBasin -0.714 0.805 1.348 0 90 0 114 Chair 1.615 0.004 4.310 0 107.976 0 115 Faucet -1.120 1.013 1.334 0 90 0 116 Chair 2.759 0.004 3.086 0 358.967 0 117 118 NorthWall 119 EastWall 120 SouthWall 121 WestWall
[ "STEP 1: Turn left, then left again, turn right and face the white round table on your left. | STEP 2: Take the spoon from the white round table in front of you. | STEP 3: Turn left, then left again and face the counter on your left. | STEP 4: Place the spoon in the pot on the counter in front of you. | STEP 5: Pick up the pan with the spoon in front of you. | STEP 6: Turn left, then right and face the white round table on your left. | STEP 7: Place the pot and spoon on the white round table in front of you. | END" ]
[ [ "STEP 1: Turn left, then left again, turn right and face the white round table on your left. ", " STEP 2: Take the spoon from the white round table in front of you. ", " STEP 3: Turn left, then left again and face the counter on your left. ", " STEP 4: Place the spoon in the pot on the counter in front of you. ", " STEP 5: Pick up the pan with the spoon in front of you. ", " STEP 6: Turn left, then right and face the white round table on your left. ", " STEP 7: Place the pot and spoon on the white round table in front of you. ", " END" ] ]
seen
trial_T20190906_204738_151897-2
Put the frying pan under the spoon 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 0.25 0.900 0.5 0 180 0 1 Potato -0.794 1.069 0.323 0 0 0 59 2 Potato -0.794 1.069 2.066 0 0 0 59 3 DishSponge -0.762 1.763 0.305 0 0 0 91 4 DishSponge 2.055 1.026 1.256 0 136.999 0 56 5 WineBottle -0.945 1.782 1.537 0 0 0 90 6 Glassbottle 2.626 0.765 4.118 0 270 0 57 7 Glassbottle 2.451 0.765 4.32 0 0 0 57 8 Pot 2.177 1.027 -1.599 0 0 0 55 9 Pot 1.761 1.027 -1.599 0 0 0 99 10 Spatula 1.396 0.805 -1.459 0 270 0 63 11 Spatula 3.043 1.041 -0.541 0 0 0 56 12 Spoon -0.645 0.817 1.414 0 90 0 113 13 Spoon 2.698 0.765 3.688 0 329.999 0 57 14 Fork 1.409 1.027 -1.987 0 90 0 56 15 Cup -0.544 1.026 0.692 0 0 0 59 16 Cup 2.239 0.763 4.484 0 329.999 0 57 17 Plate 2.840 0.764 4.359 0 225 0 57 18 Tomato -0.669 1.081 2.189 0 0 0 59 19 Tomato -0.875 0.130 2.842 0 0 0 111 20 Bowl -1.013 1.440 -0.073 0 90 0 100 21 Bowl 2.086 0.762 3.815 0 225 0 57 22 SaltShaker 2.537 1.023 -1.762 0 0 0 56 23 Bread 2.525 0.832 3.62 0 0 0 57 24 Bread 2.451 0.832 3.97 0 270 0 57 25 Lettuce 2.621 1.085 -0.236 0 0 0 56 26 Mug -1.013 1.437 -0.516 0 90 0 100 27 Apple -1.187 1.077 1.150 0 0 0 59 28 Pan 2.042 1.017 1.779 0 0 0 56 29 Glassbottle -0.987 0.786 -0.738 0 90 0 100 30 Knife -0.590 0.826 2.418 0 0 0 62 31 SoapBottle 2.302 0.763 3.445 0 0 0 57 32 Egg -0.907 0.378 -0.295 0 90 0 100 33 Fork -0.669 1.028 0.600 0 180 0 59 34 Potato 1.290 1.068 -1.454 0 90 0 56 35 Ladle -0.669 1.066 2.434 0 0 0 59 36 Tomato 2.975 0.818 4.118 0 270 0 57 37 Pot 1.836 1.027 -1.84 0 90 0 54 38 WineBottle 2.451 0.765 4.495 0 0 0 57 39 Plate 2.875 1.027 -1.456 0 0 0 56 40 Spatula -0.645 0.831 1.181 0 90 0 113 41 PaperTowelRoll -0.544 1.131 1.943 0 0 0 59 42 Lettuce -0.851 0.874 1.337 0 90 0 113 43 Apple -0.418 1.077 2.189 0 0 0 59 44 SaltShaker 2.191 0.760 3.710 0 225 0 57 45 PepperShaker 1.301 1.777 -1.950 0 0 0 96 46 ButterKnife 2.370 1.026 1.550 0 136.999 0 56 47 Bread -0.987 0.854 -0.184 0 90 0 100 48 Cup 2.053 1.859 -1.775 0 0 0 102 49 DishSponge 2.551 0.764 4.240 0 329.999 0 57 50 Bowl 1.895 1.859 -1.809 0 0 0 102 51 Spoon -0.803 0.802 2.510 0 270 0 62 52 Mug 2.607 1.775 -1.833 0 0 0 95 53 Sink -0.716 1.023 1.333 0 0 0 54 StoveBurner 1.835 1.018 -1.840 0 90 0 55 StoveBurner 2.177 1.018 -1.599 0 0 0 56 CounterTop 2.812 0.992 0.675 0 0 0 57 DiningTable 2.419 0.003 3.930 0 0 0 58 Drawer -0.643 0.828 0.616 0 0 0 59 CounterTop -0.813 1.062 2.188 0 0 0 60 StoveBurner 2.115 1.018 -1.840 0 270 0 61 Drawer -0.643 0.831 1.953 0 0 0 62 Drawer -0.643 0.833 2.418 0 0 0 63 Drawer 1.347 0.836 -1.539 0 0 0 64 Drawer 2.693 0.833 -1.131 0 0 0 65 Drawer 2.693 0.833 -0.699 0 0 0 66 Drawer 2.693 0.833 -0.267 0 0 0 67 Drawer 2.693 0.833 0.163 0 0 0 68 Drawer 2.524 0.833 0.720 0 2.000 0 69 Drawer 2.232 0.833 1.036 0 2.000 0 70 Drawer 1.936 0.833 1.354 0 2.000 0 71 Drawer 1.646 0.833 1.670 0 2.000 0 72 Cabinet 1.504 2.475 -1.710 0 0 0 73 Cabinet -0.823 2.220 1.621 0 0 0 74 Cabinet -0.823 2.220 0.615 0 0 0 75 Cabinet 1.136 0.388 -1.355 0 0 0 76 Cabinet -0.356 0.383 2.626 0 0 0 77 Cabinet 2.745 2.220 -1.690 0 0 0 78 Cabinet 1.882 0.383 1.017 0 0 0 79 Cabinet 1.307 0.473 1.640 0 0 0 80 Cabinet 1.892 0.383 1.006 0 0 0 81 Cabinet 2.467 0.383 0.383 0 0 0 82 Cabinet 2.466 0.383 -0.475 0 0 0 83 Cabinet 2.466 0.473 0.371 0 0 0 84 Cabinet 2.386 2.475 -1.710 0 0 0 85 Cabinet -0.356 0.383 1.712 0 0 0 86 Cabinet 2.745 2.220 0.019 0 0 0 87 Cabinet -0.663 2.496 0.157 0 0 0 88 Cabinet -0.663 2.496 -0.868 0 0 0 89 Cabinet -0.356 0.383 0.269 0 0 0 90 Cabinet -0.823 2.220 1.603 0 0 0 91 Cabinet -0.662 2.234 0.586 0 0 0 92 Cabinet 2.745 2.220 -0.843 0 0 0 93 Cabinet 2.745 2.220 -0.827 0 0 0 94 Cabinet -0.823 2.220 2.608 0 0 0 95 Cabinet 2.732 2.226 -1.709 0 0 0 96 Cabinet 1.137 2.226 -1.709 0 0 0 97 Cabinet 2.466 0.383 -0.491 0 0 0 98 Cabinet 2.466 0.383 -1.339 0 0 0 99 StoveBurner 1.761 1.018 -1.599 0 0 0 100 Fridge -0.908 0.0 -0.405 0 0 0 101 HousePlant 2.517 1.016 1.822 0 0 0 102 Microwave 1.939 1.745 -1.826 0 0 0 103 StoveKnob 2.017 1.041 -1.514 0 180 180 104 StoveKnob 1.934 1.041 -1.514 0 180 180 105 StoveKnob 2.017 1.041 -1.589 0 180 180 106 StoveKnob 1.934 1.041 -1.589 0 180 180 107 Window 1.756 1.608 4.762 90 0 0 108 HousePlant 2.171 1.004 2.091 0 0 0 109 CoffeeMachine -0.942 1.018 0.645 0 90 0 110 LightSwitch -0.099 1.410 -2.066 0 0 0 111 GarbageCan -0.951 -0.029 2.826 0 0 0 112 Toaster -1.007 1.018 2.238 0 90 0 113 SinkBasin -0.714 0.805 1.348 0 90 0 114 Chair 1.615 0.004 4.310 0 107.976 0 115 Faucet -1.120 1.013 1.334 0 90 0 116 Chair 2.759 0.004 3.086 0 358.967 0 117 118 NorthWall 119 EastWall 120 SouthWall 121 WestWall
[ "STEP 1: Turn around and walk across the room to the table. | STEP 2: Pick up the spoon next to the bread. | STEP 3: Turn around and go to the end of the counter with the frying pan on it. | STEP 4: Set the spoon down in the frying pan. | STEP 5: Pick up the frying pan with the spoon in it. | STEP 6: Turn around and walk back to the table. | STEP 7: Set the frying pan with the spoon in front of the tomato. | END" ]
[ [ "STEP 1: Turn around and walk across the room to the table. ", " STEP 2: Pick up the spoon next to the bread. ", " STEP 3: Turn around and go to the end of the counter with the frying pan on it. ", " STEP 4: Set the spoon down in the frying pan. ", " STEP 5: Pick up the frying pan with the spoon in it. ", " STEP 6: Turn around and walk back to the table. ", " STEP 7: Set the frying pan with the spoon in front of the tomato. ", " END" ] ]
seen
trial_T20190906_180944_590665-0
Put a clean egg in a green bin.
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" 0", " 65" ], [ "24", " Bowl", " -0.359", " 0.911", " -1.489", " 0", " 0", " 0", " 50" ], [ "25", " Kettle", " -2.477", " 0.953", " 0.255", " 0", " 90", " 0", " 83" ], [ "26", " Cup", " -2.31", " 1.050", " -1.806", " 0", " 0", " 0", " 80" ], [ "27", " Tomato", " -2.614", " 1.001", " 0.524", " 0", " 90", " 0", " 83" ], [ "28", " SoapBottle", " 0.517", " 0.107", " -1.434", " 0", " 180", " 0", " 47" ], [ "29", " Plate", " -0.569", " 1.329", " -1.809", " 0", " 180", " 0", " 44" ], [ "30", " Pot", " 1.007", " 0.962", " 0.561", " 0", " 270", " 0", " 52" ], [ "31", " Spatula", " 1.601", " 0.927", " 0.292", " 0", " 90", " 0", " 65" ], [ "32", " PaperTowelRoll", " -2.065", " 1.056", " 0.435", " 0", " 90", " 0", " 83" ], [ "33", " Egg", " 1.907", " 0.947", " 0.292", " 0", " 0", " 0", " 65" ], [ "34", " Lettuce", " 1.781", " 1.002", " -1.489", " 0", " 0", " 0", " 50" ], [ "35", " SaltShaker", " -2.477", " 0.948", " 0.704", " 0", " 90", " 0", " 83" ], [ "36", " PepperShaker", " 1.535", " 1.325", 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0.280", " 0.947", " 0.458", " 0", " 0", " 0", "" ], [ "50", " CounterTop", " -0.680", " 0.947", " -1.654", " 0", " 0", " 0", "" ], [ "51", " Drawer", " 1.825", " 0.792", " 0.296", " 0", " 0", " 0", "" ], [ "52", " StoveBurner", " 1.007", " 0.957", " 0.561", " 0", " 270", " 0", "" ], [ "53", " Drawer", " -0.150", " 0.792", " -1.496", " 0", " 0", " 0", "" ], [ "54", " Drawer", " -0.586", " 0.792", " -1.496", " 0", " 0", " 0", "" ], [ "55", " StoveBurner", " 1.360", " 0.957", " 0.561", " 0", " 270", " 0", "" ], [ "56", " Drawer", " 0.024", " 0.792", " 0.296", " 0", " 0", " 0", "" ], [ "57", " Cabinet", " 1.079", " 0.400", " -1.349", " 0", " 180", " 0", "" ], [ "58", " Cabinet", " 1.669", " 0.402", " 0.151", " 0", " 0", " 0", "" ], [ "59", " Cabinet", " 0.055", " 0.402", " -1.351", " 0", " 0", " 0", "" ], [ "60", " Cabinet", " -0.180", " 0.402", " 0.151", " 0", " 0", " 0", "" ], [ "61", " Cabinet", " 0.729", " 0.402", " 0.151", " 0", " 0", " 0", "" ], [ "62", " StoveBurner", " 1.007", " 0.957", " 0.293", " 0", " 180", " 0", "" ], [ "63", " Drawer", " -1.100", " 0.792", " -1.496", " 0", " 0", " 0", "" ], [ "64", " Cabinet", " -0.396", " 0.402", " -1.351", " 0", " 0", " 0", "" ], [ "65", " CounterTop", " 1.776", " 0.947", " 0.458", " 0", " 0", " 0", "" ], [ "66", " Cabinet", " 1.974", " 1.688", " -1.648", " 0", " 180", " 0", "" ], [ "67", " Cabinet", " -0.820", " 0.400", " -1.349", " 0", " 180", " 0", "" ], [ "68", " Toaster", " 0.305", " 0.900", " 0.552", " 0", " 180", " 0", "" ], [ "69", " LightSwitch", " -2.756", " 1.307", " -0.987", " 0", " 90", " 0", "" ], [ "70", " Window", " 0.582", " 1.613", " -1.967", " 90", " 0", " 0", "" ], [ "71", " Window", " 1.969", " 1.5", " -0.615", " 90", " 270", " 0", "" ], [ "72", " Microwave", " -1.037", " 0.900", " -1.723", " 0", " 0", " 0", "" ], [ "73", " SinkBasin", " 0.377", " 0.765", " -1.655", " 0", " 270", " 0", "" ], [ "74", " CoffeeMachine", " 0.618", " 0.900", " 0.600", " 0", " 180", " 0", "" ], [ "75", " StoveKnob", " 1.246", " 0.913", " 0.118", " 45", " 180", " 0", "" ], [ "76", " StoveKnob", " 1.373", " 0.913", " 0.118", " 45", " 180", " 0", "" ], [ "77", " StoveKnob", " 0.995", " 0.913", " 0.118", " 45", " 180", " 0", "" ], [ "78", " StoveKnob", " 1.126", " 0.913", " 0.118", " 45", " 180", " 0", "" ], [ "79", " GarbageCan", " -0.368", " -0.029", " 0.539", " 0", " 90", " 0", "" ], [ "80", " Fridge", " -2.134", " 0.0", " -1.690", " 0", " 0", " 0", "" ], [ "81", " Faucet", " 0.549", " 1.046", " -1.833", " 0", " 232.527", " 0", "" ], [ "82", " Stool", " -1.475", " 0.000", " 0.414", " 1.233", " 280.375", " 0", "" ], [ "83", " DiningTable", " -2.255", " -0.004", " 0.432", " 0", " 0", " 0", "" ], [ "84", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "85", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "86", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "87", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 1.25 0.900 -0.75 0 0 0 1 Potato -1.96 0.298 -1.692 0 0 0 80 2 Potato -2.203 0.982 0.345 0 90 0 83 3 DishSponge 0.753 0.919 -1.516 0 270 0 48 4 ButterKnife 0.804 0.919 -1.582 0 270 0 48 5 ButterKnife 0.960 0.919 -1.582 0 270 0 48 6 Pot 1.361 0.962 0.561 0 270 0 55 7 Spoon 0.341 0.777 -1.600 0 90 0 73 8 Spatula 1.412 0.927 -1.903 0 90 0 50 9 Spatula 1.658 0.927 -1.406 0 0 0 50 10 Cup -1.791 0.950 0.524 0 90 0 83 11 SoapBottle 0.172 0.105 0.397 0 0 0 60 12 Tomato 0.035 0.961 0.375 0 0 0 49 13 Tomato 0.908 0.968 -1.516 0 270 0 48 14 PepperShaker 1.608 1.325 -1.809 0 180 0 66 15 PepperShaker 0.148 0.104 -1.584 0 180 0 59 16 Bread -1.928 1.035 0.165 0 90 0 83 17 Lettuce -2.047 0.601 -1.763 0 0 0 80 18 Lettuce 1.785 1.002 0.375 0 0 0 65 19 Apple -0.975 1.082 -1.803 0 0 0 72 20 Apple -1.791 1.019 0.704 0 90 0 83 21 Bread -0.096 0.995 0.458 0 0 0 49 22 Knife 1.165 0.906 -1.656 90 285.000 0 50 23 Fork 1.663 0.912 0.458 0 90 0 65 24 Bowl -0.359 0.911 -1.489 0 0 0 50 25 Kettle -2.477 0.953 0.255 0 90 0 83 26 Cup -2.31 1.050 -1.806 0 0 0 80 27 Tomato -2.614 1.001 0.524 0 90 0 83 28 SoapBottle 0.517 0.107 -1.434 0 180 0 47 29 Plate -0.569 1.329 -1.809 0 180 0 44 30 Pot 1.007 0.962 0.561 0 270 0 52 31 Spatula 1.601 0.927 0.292 0 90 0 65 32 PaperTowelRoll -2.065 1.056 0.435 0 90 0 83 33 Egg 1.907 0.947 0.292 0 0 0 65 34 Lettuce 1.781 1.002 -1.489 0 0 0 50 35 SaltShaker -2.477 0.948 0.704 0 90 0 83 36 PepperShaker 1.535 1.325 -1.736 0 180 0 66 37 Apple -0.394 0.137 0.525 0 90 0 79 38 ButterKnife 1.412 0.912 -1.406 0 0 0 50 39 Potato 0.804 0.949 -1.848 0 270 0 48 40 Pan 1.022 0.959 0.288 0 219.190 0 62 41 DishSponge 1.907 0.911 0.623 0 0 0 65 42 Spoon 0.701 0.920 -1.715 0 270 0 48 43 Mug 0.148 0.103 -1.472 0 180 0 47 44 Cabinet -0.193 1.688 -1.648 0 180 0 45 StoveBurner 1.360 0.957 0.293 0 180 0 46 Drawer 0.499 0.792 0.296 0 0 0 47 Cabinet 0.095 0.400 -1.352 0 180 0 48 Sink 0.711 0.817 -1.772 0 270 0 49 CounterTop 0.280 0.947 0.458 0 0 0 50 CounterTop -0.680 0.947 -1.654 0 0 0 51 Drawer 1.825 0.792 0.296 0 0 0 52 StoveBurner 1.007 0.957 0.561 0 270 0 53 Drawer -0.150 0.792 -1.496 0 0 0 54 Drawer -0.586 0.792 -1.496 0 0 0 55 StoveBurner 1.360 0.957 0.561 0 270 0 56 Drawer 0.024 0.792 0.296 0 0 0 57 Cabinet 1.079 0.400 -1.349 0 180 0 58 Cabinet 1.669 0.402 0.151 0 0 0 59 Cabinet 0.055 0.402 -1.351 0 0 0 60 Cabinet -0.180 0.402 0.151 0 0 0 61 Cabinet 0.729 0.402 0.151 0 0 0 62 StoveBurner 1.007 0.957 0.293 0 180 0 63 Drawer -1.100 0.792 -1.496 0 0 0 64 Cabinet -0.396 0.402 -1.351 0 0 0 65 CounterTop 1.776 0.947 0.458 0 0 0 66 Cabinet 1.974 1.688 -1.648 0 180 0 67 Cabinet -0.820 0.400 -1.349 0 180 0 68 Toaster 0.305 0.900 0.552 0 180 0 69 LightSwitch -2.756 1.307 -0.987 0 90 0 70 Window 0.582 1.613 -1.967 90 0 0 71 Window 1.969 1.5 -0.615 90 270 0 72 Microwave -1.037 0.900 -1.723 0 0 0 73 SinkBasin 0.377 0.765 -1.655 0 270 0 74 CoffeeMachine 0.618 0.900 0.600 0 180 0 75 StoveKnob 1.246 0.913 0.118 45 180 0 76 StoveKnob 1.373 0.913 0.118 45 180 0 77 StoveKnob 0.995 0.913 0.118 45 180 0 78 StoveKnob 1.126 0.913 0.118 45 180 0 79 GarbageCan -0.368 -0.029 0.539 0 90 0 80 Fridge -2.134 0.0 -1.690 0 0 0 81 Faucet 0.549 1.046 -1.833 0 232.527 0 82 Stool -1.475 0.000 0.414 1.233 280.375 0 83 DiningTable -2.255 -0.004 0.432 0 0 0 84 NorthWall 85 EastWall 86 SouthWall 87 WestWall
[ "STEP 1: Turn right and walk up to the window, then turn left and walk up to the counter. | STEP 2: Pick up the egg off of the counter. | STEP 3: Turn left and begin walking across the room, then turn left and walk up to the sink. | STEP 4: Put the egg in the sink basin then turn on the water, after a couple seconds turn the water off and take the now clean egg out of the sink. | STEP 5: Turn right and begin walking across the room, then hang a right and walk up to the green bin next to the counter. | STEP 6: Put the clean egg into the green bin. | END" ]
[ [ "STEP 1: Turn right and walk up to the window, then turn left and walk up to the counter. ", " STEP 2: Pick up the egg off of the counter. ", " STEP 3: Turn left and begin walking across the room, then turn left and walk up to the sink. ", " STEP 4: Put the egg in the sink basin then turn on the water, after a couple seconds turn the water off and take the now clean egg out of the sink. ", " STEP 5: Turn right and begin walking across the room, then hang a right and walk up to the green bin next to the counter. ", " STEP 6: Put the clean egg into the green bin. ", " END" ] ]
seen
trial_T20190906_180944_590665-1
Move an egg to the green trash can
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" 0", " 65" ], [ "24", " Bowl", " -0.359", " 0.911", " -1.489", " 0", " 0", " 0", " 50" ], [ "25", " Kettle", " -2.477", " 0.953", " 0.255", " 0", " 90", " 0", " 83" ], [ "26", " Cup", " -2.31", " 1.050", " -1.806", " 0", " 0", " 0", " 80" ], [ "27", " Tomato", " -2.614", " 1.001", " 0.524", " 0", " 90", " 0", " 83" ], [ "28", " SoapBottle", " 0.517", " 0.107", " -1.434", " 0", " 180", " 0", " 47" ], [ "29", " Plate", " -0.569", " 1.329", " -1.809", " 0", " 180", " 0", " 44" ], [ "30", " Pot", " 1.007", " 0.962", " 0.561", " 0", " 270", " 0", " 52" ], [ "31", " Spatula", " 1.601", " 0.927", " 0.292", " 0", " 90", " 0", " 65" ], [ "32", " PaperTowelRoll", " -2.065", " 1.056", " 0.435", " 0", " 90", " 0", " 83" ], [ "33", " Egg", " 1.907", " 0.947", " 0.292", " 0", " 0", " 0", " 65" ], [ "34", " Lettuce", " 1.781", " 1.002", " -1.489", " 0", " 0", " 0", " 50" ], [ "35", " SaltShaker", " -2.477", " 0.948", " 0.704", " 0", " 90", " 0", " 83" ], [ "36", " PepperShaker", " 1.535", " 1.325", " -1.736", " 0", " 180", " 0", " 66" ], [ "37", " Apple", " -0.394", " 0.137", " 0.525", " 0", " 90", " 0", " 79" ], [ "38", " ButterKnife", " 1.412", " 0.912", " -1.406", " 0", " 0", " 0", " 50" ], [ "39", " Potato", " 0.804", " 0.949", " -1.848", " 0", " 270", " 0", " 48" ], [ "40", " Pan", " 1.022", " 0.959", " 0.288", " 0", " 219.190", " 0", " 62" ], [ "41", " DishSponge", " 1.907", " 0.911", " 0.623", " 0", " 0", " 0", " 65" ], [ "42", " Spoon", " 0.701", " 0.920", " -1.715", " 0", " 270", " 0", " 48" ], [ "43", " Mug", " 0.148", " 0.103", " -1.472", " 0", " 180", " 0", " 47" ], [ "44", " Cabinet", " -0.193", " 1.688", " -1.648", " 0", " 180", " 0", "" ], [ "45", " StoveBurner", " 1.360", " 0.957", " 0.293", " 0", " 180", " 0", "" ], [ "46", " Drawer", " 0.499", " 0.792", " 0.296", " 0", " 0", " 0", "" ], [ "47", " Cabinet", " 0.095", " 0.400", " -1.352", " 0", " 180", " 0", "" ], [ "48", " Sink", " 0.711", " 0.817", " -1.772", " 0", " 270", " 0", "" ], [ "49", " CounterTop", " 0.280", " 0.947", " 0.458", " 0", " 0", " 0", "" ], [ "50", " CounterTop", " -0.680", " 0.947", " -1.654", " 0", " 0", " 0", "" ], [ "51", " Drawer", " 1.825", " 0.792", " 0.296", " 0", " 0", " 0", "" ], [ "52", " StoveBurner", " 1.007", " 0.957", " 0.561", " 0", " 270", " 0", "" ], [ "53", " Drawer", " -0.150", " 0.792", " -1.496", " 0", " 0", " 0", "" ], [ "54", " Drawer", " -0.586", " 0.792", " -1.496", " 0", " 0", " 0", "" ], [ "55", " StoveBurner", " 1.360", " 0.957", " 0.561", " 0", " 270", " 0", "" ], [ "56", " Drawer", " 0.024", " 0.792", " 0.296", " 0", " 0", " 0", "" ], [ "57", " Cabinet", " 1.079", " 0.400", " -1.349", " 0", " 180", " 0", "" ], [ "58", " Cabinet", " 1.669", " 0.402", " 0.151", " 0", " 0", " 0", "" ], [ "59", " Cabinet", " 0.055", " 0.402", " -1.351", " 0", " 0", " 0", "" ], [ "60", " Cabinet", " -0.180", " 0.402", " 0.151", " 0", " 0", " 0", "" ], [ "61", " Cabinet", " 0.729", " 0.402", " 0.151", " 0", " 0", " 0", "" ], [ "62", " StoveBurner", " 1.007", " 0.957", " 0.293", " 0", " 180", " 0", "" ], [ "63", " Drawer", " -1.100", " 0.792", " -1.496", " 0", " 0", " 0", "" ], [ "64", " Cabinet", " -0.396", " 0.402", " -1.351", " 0", " 0", " 0", "" ], [ "65", " CounterTop", " 1.776", " 0.947", " 0.458", " 0", " 0", " 0", "" ], [ "66", " Cabinet", " 1.974", " 1.688", " -1.648", " 0", " 180", " 0", "" ], [ "67", " Cabinet", " -0.820", " 0.400", " -1.349", " 0", " 180", " 0", "" ], [ "68", " Toaster", " 0.305", " 0.900", " 0.552", " 0", " 180", " 0", "" ], [ "69", " LightSwitch", " -2.756", " 1.307", " -0.987", " 0", " 90", " 0", "" ], [ "70", " Window", " 0.582", " 1.613", " -1.967", " 90", " 0", " 0", "" ], [ "71", " Window", " 1.969", " 1.5", " -0.615", " 90", " 270", " 0", "" ], [ "72", " Microwave", " -1.037", " 0.900", " -1.723", " 0", " 0", " 0", "" ], [ "73", " SinkBasin", " 0.377", " 0.765", " -1.655", " 0", " 270", " 0", "" ], [ "74", " CoffeeMachine", " 0.618", " 0.900", " 0.600", " 0", " 180", " 0", "" ], [ "75", " StoveKnob", " 1.246", " 0.913", " 0.118", " 45", " 180", " 0", "" ], [ "76", " StoveKnob", " 1.373", " 0.913", " 0.118", " 45", " 180", " 0", "" ], [ "77", " StoveKnob", " 0.995", " 0.913", " 0.118", " 45", " 180", " 0", "" ], [ "78", " StoveKnob", " 1.126", " 0.913", " 0.118", " 45", " 180", " 0", "" ], [ "79", " GarbageCan", " -0.368", " -0.029", " 0.539", " 0", " 90", " 0", "" ], [ "80", " Fridge", " -2.134", " 0.0", " -1.690", " 0", " 0", " 0", "" ], [ "81", " Faucet", " 0.549", " 1.046", " -1.833", " 0", " 232.527", " 0", "" ], [ "82", " Stool", " -1.475", " 0.000", " 0.414", " 1.233", " 280.375", " 0", "" ], [ "83", " DiningTable", " -2.255", " -0.004", " 0.432", " 0", " 0", " 0", "" ], [ "84", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "85", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "86", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "87", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 1.25 0.900 -0.75 0 0 0 1 Potato -1.96 0.298 -1.692 0 0 0 80 2 Potato -2.203 0.982 0.345 0 90 0 83 3 DishSponge 0.753 0.919 -1.516 0 270 0 48 4 ButterKnife 0.804 0.919 -1.582 0 270 0 48 5 ButterKnife 0.960 0.919 -1.582 0 270 0 48 6 Pot 1.361 0.962 0.561 0 270 0 55 7 Spoon 0.341 0.777 -1.600 0 90 0 73 8 Spatula 1.412 0.927 -1.903 0 90 0 50 9 Spatula 1.658 0.927 -1.406 0 0 0 50 10 Cup -1.791 0.950 0.524 0 90 0 83 11 SoapBottle 0.172 0.105 0.397 0 0 0 60 12 Tomato 0.035 0.961 0.375 0 0 0 49 13 Tomato 0.908 0.968 -1.516 0 270 0 48 14 PepperShaker 1.608 1.325 -1.809 0 180 0 66 15 PepperShaker 0.148 0.104 -1.584 0 180 0 59 16 Bread -1.928 1.035 0.165 0 90 0 83 17 Lettuce -2.047 0.601 -1.763 0 0 0 80 18 Lettuce 1.785 1.002 0.375 0 0 0 65 19 Apple -0.975 1.082 -1.803 0 0 0 72 20 Apple -1.791 1.019 0.704 0 90 0 83 21 Bread -0.096 0.995 0.458 0 0 0 49 22 Knife 1.165 0.906 -1.656 90 285.000 0 50 23 Fork 1.663 0.912 0.458 0 90 0 65 24 Bowl -0.359 0.911 -1.489 0 0 0 50 25 Kettle -2.477 0.953 0.255 0 90 0 83 26 Cup -2.31 1.050 -1.806 0 0 0 80 27 Tomato -2.614 1.001 0.524 0 90 0 83 28 SoapBottle 0.517 0.107 -1.434 0 180 0 47 29 Plate -0.569 1.329 -1.809 0 180 0 44 30 Pot 1.007 0.962 0.561 0 270 0 52 31 Spatula 1.601 0.927 0.292 0 90 0 65 32 PaperTowelRoll -2.065 1.056 0.435 0 90 0 83 33 Egg 1.907 0.947 0.292 0 0 0 65 34 Lettuce 1.781 1.002 -1.489 0 0 0 50 35 SaltShaker -2.477 0.948 0.704 0 90 0 83 36 PepperShaker 1.535 1.325 -1.736 0 180 0 66 37 Apple -0.394 0.137 0.525 0 90 0 79 38 ButterKnife 1.412 0.912 -1.406 0 0 0 50 39 Potato 0.804 0.949 -1.848 0 270 0 48 40 Pan 1.022 0.959 0.288 0 219.190 0 62 41 DishSponge 1.907 0.911 0.623 0 0 0 65 42 Spoon 0.701 0.920 -1.715 0 270 0 48 43 Mug 0.148 0.103 -1.472 0 180 0 47 44 Cabinet -0.193 1.688 -1.648 0 180 0 45 StoveBurner 1.360 0.957 0.293 0 180 0 46 Drawer 0.499 0.792 0.296 0 0 0 47 Cabinet 0.095 0.400 -1.352 0 180 0 48 Sink 0.711 0.817 -1.772 0 270 0 49 CounterTop 0.280 0.947 0.458 0 0 0 50 CounterTop -0.680 0.947 -1.654 0 0 0 51 Drawer 1.825 0.792 0.296 0 0 0 52 StoveBurner 1.007 0.957 0.561 0 270 0 53 Drawer -0.150 0.792 -1.496 0 0 0 54 Drawer -0.586 0.792 -1.496 0 0 0 55 StoveBurner 1.360 0.957 0.561 0 270 0 56 Drawer 0.024 0.792 0.296 0 0 0 57 Cabinet 1.079 0.400 -1.349 0 180 0 58 Cabinet 1.669 0.402 0.151 0 0 0 59 Cabinet 0.055 0.402 -1.351 0 0 0 60 Cabinet -0.180 0.402 0.151 0 0 0 61 Cabinet 0.729 0.402 0.151 0 0 0 62 StoveBurner 1.007 0.957 0.293 0 180 0 63 Drawer -1.100 0.792 -1.496 0 0 0 64 Cabinet -0.396 0.402 -1.351 0 0 0 65 CounterTop 1.776 0.947 0.458 0 0 0 66 Cabinet 1.974 1.688 -1.648 0 180 0 67 Cabinet -0.820 0.400 -1.349 0 180 0 68 Toaster 0.305 0.900 0.552 0 180 0 69 LightSwitch -2.756 1.307 -0.987 0 90 0 70 Window 0.582 1.613 -1.967 90 0 0 71 Window 1.969 1.5 -0.615 90 270 0 72 Microwave -1.037 0.900 -1.723 0 0 0 73 SinkBasin 0.377 0.765 -1.655 0 270 0 74 CoffeeMachine 0.618 0.900 0.600 0 180 0 75 StoveKnob 1.246 0.913 0.118 45 180 0 76 StoveKnob 1.373 0.913 0.118 45 180 0 77 StoveKnob 0.995 0.913 0.118 45 180 0 78 StoveKnob 1.126 0.913 0.118 45 180 0 79 GarbageCan -0.368 -0.029 0.539 0 90 0 80 Fridge -2.134 0.0 -1.690 0 0 0 81 Faucet 0.549 1.046 -1.833 0 232.527 0 82 Stool -1.475 0.000 0.414 1.233 280.375 0 83 DiningTable -2.255 -0.004 0.432 0 0 0 84 NorthWall 85 EastWall 86 SouthWall 87 WestWall
[ "STEP 1: Move right to the counter top to the right of the stove | STEP 2: Pick up the egg on top of the counter top | STEP 3: Carry the egg over to the kitchen sink | STEP 4: Place the egg in the sink to wash the egg then pick it up again | STEP 5: Turn right then move to the green trash can | STEP 6: Place the egg inside of the green trash can | END" ]
[ [ "STEP 1: Move right to the counter top to the right of the stove ", " STEP 2: Pick up the egg on top of the counter top ", " STEP 3: Carry the egg over to the kitchen sink ", " STEP 4: Place the egg in the sink to wash the egg then pick it up again ", " STEP 5: Turn right then move to the green trash can ", " STEP 6: Place the egg inside of the green trash can ", " END" ] ]
seen
trial_T20190906_180944_590665-2
Place a washed egg in the recycling bin.
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SoapBottle", " 0.172", " 0.105", " 0.397", " 0", " 0", " 0", " 60" ], [ "12", " Tomato", " 0.035", " 0.961", " 0.375", " 0", " 0", " 0", " 49" ], [ "13", " Tomato", " 0.908", " 0.968", " -1.516", " 0", " 270", " 0", " 48" ], [ "14", " PepperShaker", " 1.608", " 1.325", " -1.809", " 0", " 180", " 0", " 66" ], [ "15", " PepperShaker", " 0.148", " 0.104", " -1.584", " 0", " 180", " 0", " 59" ], [ "16", " Bread", " -1.928", " 1.035", " 0.165", " 0", " 90", " 0", " 83" ], [ "17", " Lettuce", " -2.047", " 0.601", " -1.763", " 0", " 0", " 0", " 80" ], [ "18", " Lettuce", " 1.785", " 1.002", " 0.375", " 0", " 0", " 0", " 65" ], [ "19", " Apple", " -0.975", " 1.082", " -1.803", " 0", " 0", " 0", " 72" ], [ "20", " Apple", " -1.791", " 1.019", " 0.704", " 0", " 90", " 0", " 83" ], [ "21", " Bread", " -0.096", " 0.995", " 0.458", " 0", " 0", " 0", " 49" ], [ "22", " Knife", " 1.165", " 0.906", " -1.656", " 90", " 285.000", " 0", " 50" ], [ "23", " Fork", " 1.663", " 0.912", " 0.458", " 0", " 90", " 0", " 65" ], [ "24", " Bowl", " -0.359", " 0.911", " -1.489", " 0", " 0", " 0", " 50" ], [ "25", " Kettle", " -2.477", " 0.953", " 0.255", " 0", " 90", " 0", " 83" ], [ "26", " Cup", " -2.31", " 1.050", " -1.806", " 0", " 0", " 0", " 80" ], [ "27", " Tomato", " -2.614", " 1.001", " 0.524", " 0", " 90", " 0", " 83" ], [ "28", " SoapBottle", " 0.517", " 0.107", " -1.434", " 0", " 180", " 0", " 47" ], [ "29", " Plate", " -0.569", " 1.329", " -1.809", " 0", " 180", " 0", " 44" ], [ "30", " Pot", " 1.007", " 0.962", " 0.561", " 0", " 270", " 0", " 52" ], [ "31", " Spatula", " 1.601", " 0.927", " 0.292", " 0", " 90", " 0", " 65" ], [ "32", " PaperTowelRoll", " -2.065", " 1.056", " 0.435", " 0", " 90", " 0", " 83" ], [ "33", " Egg", " 1.907", " 0.947", " 0.292", " 0", " 0", " 0", " 65" ], [ "34", " Lettuce", " 1.781", " 1.002", " -1.489", " 0", " 0", " 0", " 50" ], [ "35", " SaltShaker", " -2.477", " 0.948", " 0.704", " 0", " 90", " 0", " 83" ], [ "36", " PepperShaker", " 1.535", " 1.325", " -1.736", " 0", " 180", " 0", " 66" ], [ "37", " Apple", " -0.394", " 0.137", " 0.525", " 0", " 90", " 0", " 79" ], [ "38", " ButterKnife", " 1.412", " 0.912", " -1.406", " 0", " 0", " 0", " 50" ], [ "39", " Potato", " 0.804", " 0.949", " -1.848", " 0", " 270", " 0", " 48" ], [ "40", " Pan", " 1.022", " 0.959", " 0.288", " 0", " 219.190", " 0", " 62" ], [ "41", " DishSponge", " 1.907", " 0.911", " 0.623", " 0", " 0", " 0", " 65" ], [ "42", " Spoon", " 0.701", " 0.920", " -1.715", " 0", " 270", " 0", " 48" ], [ "43", " Mug", " 0.148", " 0.103", " -1.472", " 0", " 180", " 0", " 47" ], [ "44", " Cabinet", " -0.193", " 1.688", " -1.648", " 0", " 180", " 0", "" ], [ "45", " StoveBurner", " 1.360", " 0.957", " 0.293", " 0", " 180", " 0", "" ], [ "46", " Drawer", " 0.499", " 0.792", " 0.296", " 0", " 0", " 0", "" ], [ "47", " Cabinet", " 0.095", " 0.400", " -1.352", " 0", " 180", " 0", "" ], [ "48", " Sink", " 0.711", " 0.817", " -1.772", " 0", " 270", " 0", "" ], [ "49", " CounterTop", " 0.280", " 0.947", " 0.458", " 0", " 0", " 0", "" ], [ "50", " CounterTop", " -0.680", " 0.947", " -1.654", " 0", " 0", " 0", "" ], [ "51", " Drawer", " 1.825", " 0.792", " 0.296", " 0", " 0", " 0", "" ], [ "52", " StoveBurner", " 1.007", " 0.957", " 0.561", " 0", " 270", " 0", "" ], [ "53", " Drawer", " -0.150", " 0.792", " -1.496", " 0", " 0", " 0", "" ], [ "54", " Drawer", " -0.586", " 0.792", " -1.496", " 0", " 0", " 0", "" ], [ "55", " StoveBurner", " 1.360", " 0.957", " 0.561", " 0", " 270", " 0", "" ], [ "56", " Drawer", " 0.024", " 0.792", " 0.296", " 0", " 0", " 0", "" ], [ "57", " Cabinet", " 1.079", " 0.400", " -1.349", " 0", " 180", " 0", "" ], [ "58", " Cabinet", " 1.669", " 0.402", " 0.151", " 0", " 0", " 0", "" ], [ "59", " Cabinet", " 0.055", " 0.402", " -1.351", " 0", " 0", " 0", "" ], [ "60", " Cabinet", " -0.180", " 0.402", " 0.151", " 0", " 0", " 0", "" ], [ "61", " Cabinet", " 0.729", " 0.402", " 0.151", " 0", " 0", " 0", "" ], [ "62", " StoveBurner", " 1.007", " 0.957", " 0.293", " 0", " 180", " 0", "" ], [ "63", " Drawer", " -1.100", " 0.792", " -1.496", " 0", " 0", " 0", "" ], [ "64", " Cabinet", " -0.396", " 0.402", " -1.351", " 0", " 0", " 0", "" ], [ "65", " CounterTop", " 1.776", " 0.947", " 0.458", " 0", " 0", " 0", "" ], [ "66", " Cabinet", " 1.974", " 1.688", " -1.648", " 0", " 180", " 0", "" ], [ "67", " Cabinet", " -0.820", " 0.400", " -1.349", " 0", " 180", " 0", "" ], [ "68", " Toaster", " 0.305", " 0.900", " 0.552", " 0", " 180", " 0", "" ], [ "69", " LightSwitch", " -2.756", " 1.307", " -0.987", " 0", " 90", " 0", "" ], [ "70", " Window", " 0.582", " 1.613", " -1.967", " 90", " 0", " 0", "" ], [ "71", " Window", " 1.969", " 1.5", " -0.615", " 90", " 270", " 0", "" ], [ "72", " Microwave", " -1.037", " 0.900", " -1.723", " 0", " 0", " 0", "" ], [ "73", " SinkBasin", " 0.377", " 0.765", " -1.655", " 0", " 270", " 0", "" ], [ "74", " CoffeeMachine", " 0.618", " 0.900", " 0.600", " 0", " 180", " 0", "" ], [ "75", " StoveKnob", " 1.246", " 0.913", " 0.118", " 45", " 180", " 0", "" ], [ "76", " StoveKnob", " 1.373", " 0.913", " 0.118", " 45", " 180", " 0", "" ], [ "77", " StoveKnob", " 0.995", " 0.913", " 0.118", " 45", " 180", " 0", "" ], [ "78", " StoveKnob", " 1.126", " 0.913", " 0.118", " 45", " 180", " 0", "" ], [ "79", " GarbageCan", " -0.368", " -0.029", " 0.539", " 0", " 90", " 0", "" ], [ "80", " Fridge", " -2.134", " 0.0", " -1.690", " 0", " 0", " 0", "" ], [ "81", " Faucet", " 0.549", " 1.046", " -1.833", " 0", " 232.527", " 0", "" ], [ "82", " Stool", " -1.475", " 0.000", " 0.414", " 1.233", " 280.375", " 0", "" ], [ "83", " DiningTable", " -2.255", " -0.004", " 0.432", " 0", " 0", " 0", "" ], [ "84", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "85", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "86", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "87", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 1.25 0.900 -0.75 0 0 0 1 Potato -1.96 0.298 -1.692 0 0 0 80 2 Potato -2.203 0.982 0.345 0 90 0 83 3 DishSponge 0.753 0.919 -1.516 0 270 0 48 4 ButterKnife 0.804 0.919 -1.582 0 270 0 48 5 ButterKnife 0.960 0.919 -1.582 0 270 0 48 6 Pot 1.361 0.962 0.561 0 270 0 55 7 Spoon 0.341 0.777 -1.600 0 90 0 73 8 Spatula 1.412 0.927 -1.903 0 90 0 50 9 Spatula 1.658 0.927 -1.406 0 0 0 50 10 Cup -1.791 0.950 0.524 0 90 0 83 11 SoapBottle 0.172 0.105 0.397 0 0 0 60 12 Tomato 0.035 0.961 0.375 0 0 0 49 13 Tomato 0.908 0.968 -1.516 0 270 0 48 14 PepperShaker 1.608 1.325 -1.809 0 180 0 66 15 PepperShaker 0.148 0.104 -1.584 0 180 0 59 16 Bread -1.928 1.035 0.165 0 90 0 83 17 Lettuce -2.047 0.601 -1.763 0 0 0 80 18 Lettuce 1.785 1.002 0.375 0 0 0 65 19 Apple -0.975 1.082 -1.803 0 0 0 72 20 Apple -1.791 1.019 0.704 0 90 0 83 21 Bread -0.096 0.995 0.458 0 0 0 49 22 Knife 1.165 0.906 -1.656 90 285.000 0 50 23 Fork 1.663 0.912 0.458 0 90 0 65 24 Bowl -0.359 0.911 -1.489 0 0 0 50 25 Kettle -2.477 0.953 0.255 0 90 0 83 26 Cup -2.31 1.050 -1.806 0 0 0 80 27 Tomato -2.614 1.001 0.524 0 90 0 83 28 SoapBottle 0.517 0.107 -1.434 0 180 0 47 29 Plate -0.569 1.329 -1.809 0 180 0 44 30 Pot 1.007 0.962 0.561 0 270 0 52 31 Spatula 1.601 0.927 0.292 0 90 0 65 32 PaperTowelRoll -2.065 1.056 0.435 0 90 0 83 33 Egg 1.907 0.947 0.292 0 0 0 65 34 Lettuce 1.781 1.002 -1.489 0 0 0 50 35 SaltShaker -2.477 0.948 0.704 0 90 0 83 36 PepperShaker 1.535 1.325 -1.736 0 180 0 66 37 Apple -0.394 0.137 0.525 0 90 0 79 38 ButterKnife 1.412 0.912 -1.406 0 0 0 50 39 Potato 0.804 0.949 -1.848 0 270 0 48 40 Pan 1.022 0.959 0.288 0 219.190 0 62 41 DishSponge 1.907 0.911 0.623 0 0 0 65 42 Spoon 0.701 0.920 -1.715 0 270 0 48 43 Mug 0.148 0.103 -1.472 0 180 0 47 44 Cabinet -0.193 1.688 -1.648 0 180 0 45 StoveBurner 1.360 0.957 0.293 0 180 0 46 Drawer 0.499 0.792 0.296 0 0 0 47 Cabinet 0.095 0.400 -1.352 0 180 0 48 Sink 0.711 0.817 -1.772 0 270 0 49 CounterTop 0.280 0.947 0.458 0 0 0 50 CounterTop -0.680 0.947 -1.654 0 0 0 51 Drawer 1.825 0.792 0.296 0 0 0 52 StoveBurner 1.007 0.957 0.561 0 270 0 53 Drawer -0.150 0.792 -1.496 0 0 0 54 Drawer -0.586 0.792 -1.496 0 0 0 55 StoveBurner 1.360 0.957 0.561 0 270 0 56 Drawer 0.024 0.792 0.296 0 0 0 57 Cabinet 1.079 0.400 -1.349 0 180 0 58 Cabinet 1.669 0.402 0.151 0 0 0 59 Cabinet 0.055 0.402 -1.351 0 0 0 60 Cabinet -0.180 0.402 0.151 0 0 0 61 Cabinet 0.729 0.402 0.151 0 0 0 62 StoveBurner 1.007 0.957 0.293 0 180 0 63 Drawer -1.100 0.792 -1.496 0 0 0 64 Cabinet -0.396 0.402 -1.351 0 0 0 65 CounterTop 1.776 0.947 0.458 0 0 0 66 Cabinet 1.974 1.688 -1.648 0 180 0 67 Cabinet -0.820 0.400 -1.349 0 180 0 68 Toaster 0.305 0.900 0.552 0 180 0 69 LightSwitch -2.756 1.307 -0.987 0 90 0 70 Window 0.582 1.613 -1.967 90 0 0 71 Window 1.969 1.5 -0.615 90 270 0 72 Microwave -1.037 0.900 -1.723 0 0 0 73 SinkBasin 0.377 0.765 -1.655 0 270 0 74 CoffeeMachine 0.618 0.900 0.600 0 180 0 75 StoveKnob 1.246 0.913 0.118 45 180 0 76 StoveKnob 1.373 0.913 0.118 45 180 0 77 StoveKnob 0.995 0.913 0.118 45 180 0 78 StoveKnob 1.126 0.913 0.118 45 180 0 79 GarbageCan -0.368 -0.029 0.539 0 90 0 80 Fridge -2.134 0.0 -1.690 0 0 0 81 Faucet 0.549 1.046 -1.833 0 232.527 0 82 Stool -1.475 0.000 0.414 1.233 280.375 0 83 DiningTable -2.255 -0.004 0.432 0 0 0 84 NorthWall 85 EastWall 86 SouthWall 87 WestWall
[ "STEP 1: Move to the counter top area between the range on the left and the wall on the right. | STEP 2: Pick up the white egg to the right of the lettuce from the counter top. | STEP 3: Turn to the left, move toward the brown door, then turn to the left and face the sink. | STEP 4: Wash the egg in the sink using water from the faucet, let the water drain, and pick up the egg from the sink. | STEP 5: Turn to the right, move past the red coffee maker, the turn to the right and move to the green recycling bin at the end of the counter. | STEP 6: Place the egg in the recycling bin to the rear of the apple. | END" ]
[ [ "STEP 1: Move to the counter top area between the range on the left and the wall on the right. ", " STEP 2: Pick up the white egg to the right of the lettuce from the counter top. ", " STEP 3: Turn to the left, move toward the brown door, then turn to the left and face the sink. ", " STEP 4: Wash the egg in the sink using water from the faucet, let the water drain, and pick up the egg from the sink. ", " STEP 5: Turn to the right, move past the red coffee maker, the turn to the right and move to the green recycling bin at the end of the counter. ", " STEP 6: Place the egg in the recycling bin to the rear of the apple. ", " END" ] ]
seen
trial_T20190906_180944_590665-3
Put the egg into the recycling bin.
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SoapBottle", " 0.172", " 0.105", " 0.397", " 0", " 0", " 0", " 60" ], [ "12", " Tomato", " 0.035", " 0.961", " 0.375", " 0", " 0", " 0", " 49" ], [ "13", " Tomato", " 0.908", " 0.968", " -1.516", " 0", " 270", " 0", " 48" ], [ "14", " PepperShaker", " 1.608", " 1.325", " -1.809", " 0", " 180", " 0", " 66" ], [ "15", " PepperShaker", " 0.148", " 0.104", " -1.584", " 0", " 180", " 0", " 59" ], [ "16", " Bread", " -1.928", " 1.035", " 0.165", " 0", " 90", " 0", " 83" ], [ "17", " Lettuce", " -2.047", " 0.601", " -1.763", " 0", " 0", " 0", " 80" ], [ "18", " Lettuce", " 1.785", " 1.002", " 0.375", " 0", " 0", " 0", " 65" ], [ "19", " Apple", " -0.975", " 1.082", " -1.803", " 0", " 0", " 0", " 72" ], [ "20", " Apple", " -1.791", " 1.019", " 0.704", " 0", " 90", " 0", " 83" ], [ "21", " Bread", " -0.096", " 0.995", " 0.458", " 0", " 0", " 0", " 49" ], [ "22", " Knife", " 1.165", " 0.906", " -1.656", " 90", " 285.000", " 0", " 50" ], [ "23", " Fork", " 1.663", " 0.912", " 0.458", " 0", " 90", " 0", " 65" ], [ "24", " Bowl", " -0.359", " 0.911", " -1.489", " 0", " 0", " 0", " 50" ], [ "25", " Kettle", " -2.477", " 0.953", " 0.255", " 0", " 90", " 0", " 83" ], [ "26", " Cup", " -2.31", " 1.050", " -1.806", " 0", " 0", " 0", " 80" ], [ "27", " Tomato", " -2.614", " 1.001", " 0.524", " 0", " 90", " 0", " 83" ], [ "28", " SoapBottle", " 0.517", " 0.107", " -1.434", " 0", " 180", " 0", " 47" ], [ "29", " Plate", " -0.569", " 1.329", " -1.809", " 0", " 180", " 0", " 44" ], [ "30", " Pot", " 1.007", " 0.962", " 0.561", " 0", " 270", " 0", " 52" ], [ "31", " Spatula", " 1.601", " 0.927", " 0.292", " 0", " 90", " 0", " 65" ], [ "32", " PaperTowelRoll", " -2.065", " 1.056", " 0.435", " 0", " 90", " 0", " 83" ], [ "33", " Egg", " 1.907", " 0.947", " 0.292", " 0", " 0", " 0", " 65" ], [ "34", " Lettuce", " 1.781", " 1.002", " -1.489", " 0", " 0", " 0", " 50" ], [ "35", " SaltShaker", " -2.477", " 0.948", " 0.704", " 0", " 90", " 0", " 83" ], [ "36", " PepperShaker", " 1.535", " 1.325", 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0.280", " 0.947", " 0.458", " 0", " 0", " 0", "" ], [ "50", " CounterTop", " -0.680", " 0.947", " -1.654", " 0", " 0", " 0", "" ], [ "51", " Drawer", " 1.825", " 0.792", " 0.296", " 0", " 0", " 0", "" ], [ "52", " StoveBurner", " 1.007", " 0.957", " 0.561", " 0", " 270", " 0", "" ], [ "53", " Drawer", " -0.150", " 0.792", " -1.496", " 0", " 0", " 0", "" ], [ "54", " Drawer", " -0.586", " 0.792", " -1.496", " 0", " 0", " 0", "" ], [ "55", " StoveBurner", " 1.360", " 0.957", " 0.561", " 0", " 270", " 0", "" ], [ "56", " Drawer", " 0.024", " 0.792", " 0.296", " 0", " 0", " 0", "" ], [ "57", " Cabinet", " 1.079", " 0.400", " -1.349", " 0", " 180", " 0", "" ], [ "58", " Cabinet", " 1.669", " 0.402", " 0.151", " 0", " 0", " 0", "" ], [ "59", " Cabinet", " 0.055", " 0.402", " -1.351", " 0", " 0", " 0", "" ], [ "60", " Cabinet", " -0.180", " 0.402", " 0.151", " 0", " 0", " 0", "" ], [ "61", " Cabinet", " 0.729", " 0.402", " 0.151", " 0", " 0", " 0", "" ], [ "62", " StoveBurner", " 1.007", " 0.957", " 0.293", " 0", " 180", " 0", "" ], [ "63", " Drawer", " -1.100", " 0.792", " -1.496", " 0", " 0", " 0", "" ], [ "64", " Cabinet", " -0.396", " 0.402", " -1.351", " 0", " 0", " 0", "" ], [ "65", " CounterTop", " 1.776", " 0.947", " 0.458", " 0", " 0", " 0", "" ], [ "66", " Cabinet", " 1.974", " 1.688", " -1.648", " 0", " 180", " 0", "" ], [ "67", " Cabinet", " -0.820", " 0.400", " -1.349", " 0", " 180", " 0", "" ], [ "68", " Toaster", " 0.305", " 0.900", " 0.552", " 0", " 180", " 0", "" ], [ "69", " LightSwitch", " -2.756", " 1.307", " -0.987", " 0", " 90", " 0", "" ], [ "70", " Window", " 0.582", " 1.613", " -1.967", " 90", " 0", " 0", "" ], [ "71", " Window", " 1.969", " 1.5", " -0.615", " 90", " 270", " 0", "" ], [ "72", " Microwave", " -1.037", " 0.900", " -1.723", " 0", " 0", " 0", "" ], [ "73", " SinkBasin", " 0.377", " 0.765", " -1.655", " 0", " 270", " 0", "" ], [ "74", " CoffeeMachine", " 0.618", " 0.900", " 0.600", " 0", " 180", " 0", "" ], [ "75", " StoveKnob", " 1.246", " 0.913", " 0.118", " 45", " 180", " 0", "" ], [ "76", " StoveKnob", " 1.373", " 0.913", " 0.118", " 45", " 180", " 0", "" ], [ "77", " StoveKnob", " 0.995", " 0.913", " 0.118", " 45", " 180", " 0", "" ], [ "78", " StoveKnob", " 1.126", " 0.913", " 0.118", " 45", " 180", " 0", "" ], [ "79", " GarbageCan", " -0.368", " -0.029", " 0.539", " 0", " 90", " 0", "" ], [ "80", " Fridge", " -2.134", " 0.0", " -1.690", " 0", " 0", " 0", "" ], [ "81", " Faucet", " 0.549", " 1.046", " -1.833", " 0", " 232.527", " 0", "" ], [ "82", " Stool", " -1.475", " 0.000", " 0.414", " 1.233", " 280.375", " 0", "" ], [ "83", " DiningTable", " -2.255", " -0.004", " 0.432", " 0", " 0", " 0", "" ], [ "84", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "85", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "86", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "87", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 1.25 0.900 -0.75 0 0 0 1 Potato -1.96 0.298 -1.692 0 0 0 80 2 Potato -2.203 0.982 0.345 0 90 0 83 3 DishSponge 0.753 0.919 -1.516 0 270 0 48 4 ButterKnife 0.804 0.919 -1.582 0 270 0 48 5 ButterKnife 0.960 0.919 -1.582 0 270 0 48 6 Pot 1.361 0.962 0.561 0 270 0 55 7 Spoon 0.341 0.777 -1.600 0 90 0 73 8 Spatula 1.412 0.927 -1.903 0 90 0 50 9 Spatula 1.658 0.927 -1.406 0 0 0 50 10 Cup -1.791 0.950 0.524 0 90 0 83 11 SoapBottle 0.172 0.105 0.397 0 0 0 60 12 Tomato 0.035 0.961 0.375 0 0 0 49 13 Tomato 0.908 0.968 -1.516 0 270 0 48 14 PepperShaker 1.608 1.325 -1.809 0 180 0 66 15 PepperShaker 0.148 0.104 -1.584 0 180 0 59 16 Bread -1.928 1.035 0.165 0 90 0 83 17 Lettuce -2.047 0.601 -1.763 0 0 0 80 18 Lettuce 1.785 1.002 0.375 0 0 0 65 19 Apple -0.975 1.082 -1.803 0 0 0 72 20 Apple -1.791 1.019 0.704 0 90 0 83 21 Bread -0.096 0.995 0.458 0 0 0 49 22 Knife 1.165 0.906 -1.656 90 285.000 0 50 23 Fork 1.663 0.912 0.458 0 90 0 65 24 Bowl -0.359 0.911 -1.489 0 0 0 50 25 Kettle -2.477 0.953 0.255 0 90 0 83 26 Cup -2.31 1.050 -1.806 0 0 0 80 27 Tomato -2.614 1.001 0.524 0 90 0 83 28 SoapBottle 0.517 0.107 -1.434 0 180 0 47 29 Plate -0.569 1.329 -1.809 0 180 0 44 30 Pot 1.007 0.962 0.561 0 270 0 52 31 Spatula 1.601 0.927 0.292 0 90 0 65 32 PaperTowelRoll -2.065 1.056 0.435 0 90 0 83 33 Egg 1.907 0.947 0.292 0 0 0 65 34 Lettuce 1.781 1.002 -1.489 0 0 0 50 35 SaltShaker -2.477 0.948 0.704 0 90 0 83 36 PepperShaker 1.535 1.325 -1.736 0 180 0 66 37 Apple -0.394 0.137 0.525 0 90 0 79 38 ButterKnife 1.412 0.912 -1.406 0 0 0 50 39 Potato 0.804 0.949 -1.848 0 270 0 48 40 Pan 1.022 0.959 0.288 0 219.190 0 62 41 DishSponge 1.907 0.911 0.623 0 0 0 65 42 Spoon 0.701 0.920 -1.715 0 270 0 48 43 Mug 0.148 0.103 -1.472 0 180 0 47 44 Cabinet -0.193 1.688 -1.648 0 180 0 45 StoveBurner 1.360 0.957 0.293 0 180 0 46 Drawer 0.499 0.792 0.296 0 0 0 47 Cabinet 0.095 0.400 -1.352 0 180 0 48 Sink 0.711 0.817 -1.772 0 270 0 49 CounterTop 0.280 0.947 0.458 0 0 0 50 CounterTop -0.680 0.947 -1.654 0 0 0 51 Drawer 1.825 0.792 0.296 0 0 0 52 StoveBurner 1.007 0.957 0.561 0 270 0 53 Drawer -0.150 0.792 -1.496 0 0 0 54 Drawer -0.586 0.792 -1.496 0 0 0 55 StoveBurner 1.360 0.957 0.561 0 270 0 56 Drawer 0.024 0.792 0.296 0 0 0 57 Cabinet 1.079 0.400 -1.349 0 180 0 58 Cabinet 1.669 0.402 0.151 0 0 0 59 Cabinet 0.055 0.402 -1.351 0 0 0 60 Cabinet -0.180 0.402 0.151 0 0 0 61 Cabinet 0.729 0.402 0.151 0 0 0 62 StoveBurner 1.007 0.957 0.293 0 180 0 63 Drawer -1.100 0.792 -1.496 0 0 0 64 Cabinet -0.396 0.402 -1.351 0 0 0 65 CounterTop 1.776 0.947 0.458 0 0 0 66 Cabinet 1.974 1.688 -1.648 0 180 0 67 Cabinet -0.820 0.400 -1.349 0 180 0 68 Toaster 0.305 0.900 0.552 0 180 0 69 LightSwitch -2.756 1.307 -0.987 0 90 0 70 Window 0.582 1.613 -1.967 90 0 0 71 Window 1.969 1.5 -0.615 90 270 0 72 Microwave -1.037 0.900 -1.723 0 0 0 73 SinkBasin 0.377 0.765 -1.655 0 270 0 74 CoffeeMachine 0.618 0.900 0.600 0 180 0 75 StoveKnob 1.246 0.913 0.118 45 180 0 76 StoveKnob 1.373 0.913 0.118 45 180 0 77 StoveKnob 0.995 0.913 0.118 45 180 0 78 StoveKnob 1.126 0.913 0.118 45 180 0 79 GarbageCan -0.368 -0.029 0.539 0 90 0 80 Fridge -2.134 0.0 -1.690 0 0 0 81 Faucet 0.549 1.046 -1.833 0 232.527 0 82 Stool -1.475 0.000 0.414 1.233 280.375 0 83 DiningTable -2.255 -0.004 0.432 0 0 0 84 NorthWall 85 EastWall 86 SouthWall 87 WestWall
[ "STEP 1: Move to the counter right of the stove. | STEP 2: Pick up the egg from the counter. | STEP 3: Bring the egg to the sink. | STEP 4: Place the egg into the sink and turn on the water. | STEP 5: Pick up the egg from the sink and bring it to the recycling bin. | STEP 6: Put the egg into the recycling bin. | END" ]
[ [ "STEP 1: Move to the counter right of the stove. ", " STEP 2: Pick up the egg from the counter. ", " STEP 3: Bring the egg to the sink. ", " STEP 4: Place the egg into the sink and turn on the water. ", " STEP 5: Pick up the egg from the sink and bring it to the recycling bin. ", " STEP 6: Put the egg into the recycling bin. ", " END" ] ]
seen
trial_T20190906_180944_590665-4
Throw away the egg.
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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 -0.75 0 0 0 1 Potato -1.96 0.298 -1.692 0 0 0 80 2 Potato -2.203 0.982 0.345 0 90 0 83 3 DishSponge 0.753 0.919 -1.516 0 270 0 48 4 ButterKnife 0.804 0.919 -1.582 0 270 0 48 5 ButterKnife 0.960 0.919 -1.582 0 270 0 48 6 Pot 1.361 0.962 0.561 0 270 0 55 7 Spoon 0.341 0.777 -1.600 0 90 0 73 8 Spatula 1.412 0.927 -1.903 0 90 0 50 9 Spatula 1.658 0.927 -1.406 0 0 0 50 10 Cup -1.791 0.950 0.524 0 90 0 83 11 SoapBottle 0.172 0.105 0.397 0 0 0 60 12 Tomato 0.035 0.961 0.375 0 0 0 49 13 Tomato 0.908 0.968 -1.516 0 270 0 48 14 PepperShaker 1.608 1.325 -1.809 0 180 0 66 15 PepperShaker 0.148 0.104 -1.584 0 180 0 59 16 Bread -1.928 1.035 0.165 0 90 0 83 17 Lettuce -2.047 0.601 -1.763 0 0 0 80 18 Lettuce 1.785 1.002 0.375 0 0 0 65 19 Apple -0.975 1.082 -1.803 0 0 0 72 20 Apple -1.791 1.019 0.704 0 90 0 83 21 Bread -0.096 0.995 0.458 0 0 0 49 22 Knife 1.165 0.906 -1.656 90 285.000 0 50 23 Fork 1.663 0.912 0.458 0 90 0 65 24 Bowl -0.359 0.911 -1.489 0 0 0 50 25 Kettle -2.477 0.953 0.255 0 90 0 83 26 Cup -2.31 1.050 -1.806 0 0 0 80 27 Tomato -2.614 1.001 0.524 0 90 0 83 28 SoapBottle 0.517 0.107 -1.434 0 180 0 47 29 Plate -0.569 1.329 -1.809 0 180 0 44 30 Pot 1.007 0.962 0.561 0 270 0 52 31 Spatula 1.601 0.927 0.292 0 90 0 65 32 PaperTowelRoll -2.065 1.056 0.435 0 90 0 83 33 Egg 1.907 0.947 0.292 0 0 0 65 34 Lettuce 1.781 1.002 -1.489 0 0 0 50 35 SaltShaker -2.477 0.948 0.704 0 90 0 83 36 PepperShaker 1.535 1.325 -1.736 0 180 0 66 37 Apple -0.394 0.137 0.525 0 90 0 79 38 ButterKnife 1.412 0.912 -1.406 0 0 0 50 39 Potato 0.804 0.949 -1.848 0 270 0 48 40 Pan 1.022 0.959 0.288 0 219.190 0 62 41 DishSponge 1.907 0.911 0.623 0 0 0 65 42 Spoon 0.701 0.920 -1.715 0 270 0 48 43 Mug 0.148 0.103 -1.472 0 180 0 47 44 Cabinet -0.193 1.688 -1.648 0 180 0 45 StoveBurner 1.360 0.957 0.293 0 180 0 46 Drawer 0.499 0.792 0.296 0 0 0 47 Cabinet 0.095 0.400 -1.352 0 180 0 48 Sink 0.711 0.817 -1.772 0 270 0 49 CounterTop 0.280 0.947 0.458 0 0 0 50 CounterTop -0.680 0.947 -1.654 0 0 0 51 Drawer 1.825 0.792 0.296 0 0 0 52 StoveBurner 1.007 0.957 0.561 0 270 0 53 Drawer -0.150 0.792 -1.496 0 0 0 54 Drawer -0.586 0.792 -1.496 0 0 0 55 StoveBurner 1.360 0.957 0.561 0 270 0 56 Drawer 0.024 0.792 0.296 0 0 0 57 Cabinet 1.079 0.400 -1.349 0 180 0 58 Cabinet 1.669 0.402 0.151 0 0 0 59 Cabinet 0.055 0.402 -1.351 0 0 0 60 Cabinet -0.180 0.402 0.151 0 0 0 61 Cabinet 0.729 0.402 0.151 0 0 0 62 StoveBurner 1.007 0.957 0.293 0 180 0 63 Drawer -1.100 0.792 -1.496 0 0 0 64 Cabinet -0.396 0.402 -1.351 0 0 0 65 CounterTop 1.776 0.947 0.458 0 0 0 66 Cabinet 1.974 1.688 -1.648 0 180 0 67 Cabinet -0.820 0.400 -1.349 0 180 0 68 Toaster 0.305 0.900 0.552 0 180 0 69 LightSwitch -2.756 1.307 -0.987 0 90 0 70 Window 0.582 1.613 -1.967 90 0 0 71 Window 1.969 1.5 -0.615 90 270 0 72 Microwave -1.037 0.900 -1.723 0 0 0 73 SinkBasin 0.377 0.765 -1.655 0 270 0 74 CoffeeMachine 0.618 0.900 0.600 0 180 0 75 StoveKnob 1.246 0.913 0.118 45 180 0 76 StoveKnob 1.373 0.913 0.118 45 180 0 77 StoveKnob 0.995 0.913 0.118 45 180 0 78 StoveKnob 1.126 0.913 0.118 45 180 0 79 GarbageCan -0.368 -0.029 0.539 0 90 0 80 Fridge -2.134 0.0 -1.690 0 0 0 81 Faucet 0.549 1.046 -1.833 0 232.527 0 82 Stool -1.475 0.000 0.414 1.233 280.375 0 83 DiningTable -2.255 -0.004 0.432 0 0 0 84 NorthWall 85 EastWall 86 SouthWall 87 WestWall
[ "STEP 1: Turn right and walk to the window, then turn left and walk to the counter. | STEP 2: Pick up the egg on the counter. | STEP 3: Turn left and walk across the room, then turn left and walk to the sink. | STEP 4: Place the egg in the right side of the sink next to the spoon, rinse and remove egg. | STEP 5: Turn right, walk across the room, turn right and walk to the trash bin. | STEP 6: Place the egg in the trash bin. | END" ]
[ [ "STEP 1: Turn right and walk to the window, then turn left and walk to the counter. ", " STEP 2: Pick up the egg on the counter. ", " STEP 3: Turn left and walk across the room, then turn left and walk to the sink. ", " STEP 4: Place the egg in the right side of the sink next to the spoon, rinse and remove egg. ", " STEP 5: Turn right, walk across the room, turn right and walk to the trash bin. ", " STEP 6: Place the egg in the trash bin. ", " END" ] ]
seen
trial_T20190906_180944_590665-5
Place the washed egg inside the recycling bin.
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0.957", " 0.293", " 0", " 180", " 0", "" ], [ "63", " Drawer", " -1.100", " 0.792", " -1.496", " 0", " 0", " 0", "" ], [ "64", " Cabinet", " -0.396", " 0.402", " -1.351", " 0", " 0", " 0", "" ], [ "65", " CounterTop", " 1.776", " 0.947", " 0.458", " 0", " 0", " 0", "" ], [ "66", " Cabinet", " 1.974", " 1.688", " -1.648", " 0", " 180", " 0", "" ], [ "67", " Cabinet", " -0.820", " 0.400", " -1.349", " 0", " 180", " 0", "" ], [ "68", " Toaster", " 0.305", " 0.900", " 0.552", " 0", " 180", " 0", "" ], [ "69", " LightSwitch", " -2.756", " 1.307", " -0.987", " 0", " 90", " 0", "" ], [ "70", " Window", " 0.582", " 1.613", " -1.967", " 90", " 0", " 0", "" ], [ "71", " Window", " 1.969", " 1.5", " -0.615", " 90", " 270", " 0", "" ], [ "72", " Microwave", " -1.037", " 0.900", " -1.723", " 0", " 0", " 0", "" ], [ "73", " SinkBasin", " 0.377", " 0.765", " -1.655", " 0", " 270", " 0", "" ], [ "74", " CoffeeMachine", " 0.618", " 0.900", " 0.600", " 0", " 180", " 0", "" ], [ "75", " StoveKnob", " 1.246", " 0.913", " 0.118", " 45", " 180", " 0", "" ], [ "76", " StoveKnob", " 1.373", " 0.913", " 0.118", " 45", " 180", " 0", "" ], [ "77", " StoveKnob", " 0.995", " 0.913", " 0.118", " 45", " 180", " 0", "" ], [ "78", " StoveKnob", " 1.126", " 0.913", " 0.118", " 45", " 180", " 0", "" ], [ "79", " GarbageCan", " -0.368", " -0.029", " 0.539", " 0", " 90", " 0", "" ], [ "80", " Fridge", " -2.134", " 0.0", " -1.690", " 0", " 0", " 0", "" ], [ "81", " Faucet", " 0.549", " 1.046", " -1.833", " 0", " 232.527", " 0", "" ], [ "82", " Stool", " -1.475", " 0.000", " 0.414", " 1.233", " 280.375", " 0", "" ], [ "83", " DiningTable", " -2.255", " -0.004", " 0.432", " 0", " 0", " 0", "" ], [ "84", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "85", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "86", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "87", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 1.25 0.900 -0.75 0 0 0 1 Potato -1.96 0.298 -1.692 0 0 0 80 2 Potato -2.203 0.982 0.345 0 90 0 83 3 DishSponge 0.753 0.919 -1.516 0 270 0 48 4 ButterKnife 0.804 0.919 -1.582 0 270 0 48 5 ButterKnife 0.960 0.919 -1.582 0 270 0 48 6 Pot 1.361 0.962 0.561 0 270 0 55 7 Spoon 0.341 0.777 -1.600 0 90 0 73 8 Spatula 1.412 0.927 -1.903 0 90 0 50 9 Spatula 1.658 0.927 -1.406 0 0 0 50 10 Cup -1.791 0.950 0.524 0 90 0 83 11 SoapBottle 0.172 0.105 0.397 0 0 0 60 12 Tomato 0.035 0.961 0.375 0 0 0 49 13 Tomato 0.908 0.968 -1.516 0 270 0 48 14 PepperShaker 1.608 1.325 -1.809 0 180 0 66 15 PepperShaker 0.148 0.104 -1.584 0 180 0 59 16 Bread -1.928 1.035 0.165 0 90 0 83 17 Lettuce -2.047 0.601 -1.763 0 0 0 80 18 Lettuce 1.785 1.002 0.375 0 0 0 65 19 Apple -0.975 1.082 -1.803 0 0 0 72 20 Apple -1.791 1.019 0.704 0 90 0 83 21 Bread -0.096 0.995 0.458 0 0 0 49 22 Knife 1.165 0.906 -1.656 90 285.000 0 50 23 Fork 1.663 0.912 0.458 0 90 0 65 24 Bowl -0.359 0.911 -1.489 0 0 0 50 25 Kettle -2.477 0.953 0.255 0 90 0 83 26 Cup -2.31 1.050 -1.806 0 0 0 80 27 Tomato -2.614 1.001 0.524 0 90 0 83 28 SoapBottle 0.517 0.107 -1.434 0 180 0 47 29 Plate -0.569 1.329 -1.809 0 180 0 44 30 Pot 1.007 0.962 0.561 0 270 0 52 31 Spatula 1.601 0.927 0.292 0 90 0 65 32 PaperTowelRoll -2.065 1.056 0.435 0 90 0 83 33 Egg 1.907 0.947 0.292 0 0 0 65 34 Lettuce 1.781 1.002 -1.489 0 0 0 50 35 SaltShaker -2.477 0.948 0.704 0 90 0 83 36 PepperShaker 1.535 1.325 -1.736 0 180 0 66 37 Apple -0.394 0.137 0.525 0 90 0 79 38 ButterKnife 1.412 0.912 -1.406 0 0 0 50 39 Potato 0.804 0.949 -1.848 0 270 0 48 40 Pan 1.022 0.959 0.288 0 219.190 0 62 41 DishSponge 1.907 0.911 0.623 0 0 0 65 42 Spoon 0.701 0.920 -1.715 0 270 0 48 43 Mug 0.148 0.103 -1.472 0 180 0 47 44 Cabinet -0.193 1.688 -1.648 0 180 0 45 StoveBurner 1.360 0.957 0.293 0 180 0 46 Drawer 0.499 0.792 0.296 0 0 0 47 Cabinet 0.095 0.400 -1.352 0 180 0 48 Sink 0.711 0.817 -1.772 0 270 0 49 CounterTop 0.280 0.947 0.458 0 0 0 50 CounterTop -0.680 0.947 -1.654 0 0 0 51 Drawer 1.825 0.792 0.296 0 0 0 52 StoveBurner 1.007 0.957 0.561 0 270 0 53 Drawer -0.150 0.792 -1.496 0 0 0 54 Drawer -0.586 0.792 -1.496 0 0 0 55 StoveBurner 1.360 0.957 0.561 0 270 0 56 Drawer 0.024 0.792 0.296 0 0 0 57 Cabinet 1.079 0.400 -1.349 0 180 0 58 Cabinet 1.669 0.402 0.151 0 0 0 59 Cabinet 0.055 0.402 -1.351 0 0 0 60 Cabinet -0.180 0.402 0.151 0 0 0 61 Cabinet 0.729 0.402 0.151 0 0 0 62 StoveBurner 1.007 0.957 0.293 0 180 0 63 Drawer -1.100 0.792 -1.496 0 0 0 64 Cabinet -0.396 0.402 -1.351 0 0 0 65 CounterTop 1.776 0.947 0.458 0 0 0 66 Cabinet 1.974 1.688 -1.648 0 180 0 67 Cabinet -0.820 0.400 -1.349 0 180 0 68 Toaster 0.305 0.900 0.552 0 180 0 69 LightSwitch -2.756 1.307 -0.987 0 90 0 70 Window 0.582 1.613 -1.967 90 0 0 71 Window 1.969 1.5 -0.615 90 270 0 72 Microwave -1.037 0.900 -1.723 0 0 0 73 SinkBasin 0.377 0.765 -1.655 0 270 0 74 CoffeeMachine 0.618 0.900 0.600 0 180 0 75 StoveKnob 1.246 0.913 0.118 45 180 0 76 StoveKnob 1.373 0.913 0.118 45 180 0 77 StoveKnob 0.995 0.913 0.118 45 180 0 78 StoveKnob 1.126 0.913 0.118 45 180 0 79 GarbageCan -0.368 -0.029 0.539 0 90 0 80 Fridge -2.134 0.0 -1.690 0 0 0 81 Faucet 0.549 1.046 -1.833 0 232.527 0 82 Stool -1.475 0.000 0.414 1.233 280.375 0 83 DiningTable -2.255 -0.004 0.432 0 0 0 84 NorthWall 85 EastWall 86 SouthWall 87 WestWall
[ "STEP 1: Turn right, walk towards the window, turn left towards the lettuce. | STEP 2: Pick up the egg next to the lettuce. | STEP 3: Turn around and walk towards the sink. | STEP 4: Place the egg in the sink to wash it and pick up the egg. | STEP 5: Turn around and walk towards the recycling bin. | STEP 6: Place the egg in side the bin to the top right corner. | END" ]
[ [ "STEP 1: Turn right, walk towards the window, turn left towards the lettuce. ", " STEP 2: Pick up the egg next to the lettuce. ", " STEP 3: Turn around and walk towards the sink. ", " STEP 4: Place the egg in the sink to wash it and pick up the egg. ", " STEP 5: Turn around and walk towards the recycling bin. ", " STEP 6: Place the egg in side the bin to the top right corner. ", " END" ] ]
seen
trial_T20190909_095516_427126-0
put mug inside kitchen cabinet
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " -1.75", " 0.900", " 1.75", " 0", " 270", " 0", "" ], [ "1", " Potato", " -2.671", " 0.863", " 2.397", " 0", " 90", " 0", " 62" ], [ "2", " Potato", " -2.023", " 0.736", " 0.253", " 0", " 0", " 0", " 71" ], [ "3", " DishSponge", " -2.687", " 0.121", " 1.589", " 0", " 0", " 0", " 55" ], [ "4", " DishSponge", " -2.530", " 0.121", " 1.550", " 0", " 0", " 0", " 55" ], [ "5", " Spoon", " -2.581", " 0.824", " 0.789", " 0", " 0", " 0", " 44" ], [ "6", " Spoon", " -1.161", " 0.699", " 0.377", " 0", " 90", " 0", " 48" ], [ "7", " Spatula", " -0.314", " 0.838", " 0.426", " 0", " 180", " 0", " 44" ], [ "8", " Egg", " -2.781", " 1.167", " 1.957", " 0", " 90", " 0", " 62" ], [ "9", " Cup", " -2.659", " 1.435", " 0.223", " 0", " 45", " 0", " 50" ], [ "10", " Knife", " -0.246", " 0.849", " 1.103", " 0", " 180", " 0", " 44" ], [ "11", " Knife", " -1.542", " 0.849", " 0.528", " 0", " 0", " 0", " 44" ], [ "12", " Tomato", " -2.837", " 1.193", " 2.485", " 0", " 90", " 0", " 62" ], [ "13", " SoapBottle", " -0.362", " 0.054", " 2.539", " 0", " 0", " 0", " 64" ], [ "14", " Bowl", " -2.781", " 1.140", " 2.133", " 0", " 90", " 0", " 62" ], [ "15", " Apple", " -2.504", " 0.896", " 0.789", " 0", " 0", " 0", " 44" ], [ "16", " Apple", " -1.538", " 0.748", " 0.186", " 0", " 0", " 0", " 71" ], [ "17", " Fork", " -2.211", " 0.824", " 0.528", " 0", " 0", " 0", " 44" ], [ "18", " Ladle", " -0.371", " 0.738", " 0.879", " 0", " 45", " 0", " 46" ], [ "19", " Pan", " -0.391", " 0.812", " 1.108", " 0", " 0", " 0", " 44" ], [ "20", " SoapBottle", " -2.491", " 0.821", " 0.055", " 0", " 0", " 0", " 44" ], [ "21", " Pot", " -0.518", " 0.829", " 1.684", " 0", " 0", " 0", " 45" ], [ "22", " Tomato", " -2.813", " 0.873", " 0.953", " 0", " 0", " 0", " 44" ], [ "23", " Potato", " -1.151", " 0.862", " 0.352", " 0", " 0", " 0", " 44" ], [ "24", " SaltShaker", " -2.648", " 0.116", " 1.471", " 0", " 0", " 0", " 55" ], [ "25", " Plate", " -2.115", " 0.130", " 0.362", " 0", " 0", " 0", " 56" ], [ "26", " Spatula", " -0.341", " 0.696", " 1.194", " 0", " 45", " 0", " 40" ], [ "27", " Knife", " -2.662", " 0.819", " 0.557", " 90", " 300.034", " 0", " 44" ], [ "28", " Egg", " -1.412", " 0.721", " 0.338", " 0", " 0", " 0", " 71" ], [ "29", " Cup", " -2.671", " 1.445", " 2.485", " 0", " 90", " 0", " 62" ], [ "30", " ButterKnife", " -2.044", " 0.823", " 0.549", " 0", " 0", " 0", " 44" ], [ "31", " Lettuce", " -1.836", " 0.741", " 0.238", " 0", " 55.910", " 0", " 71" ], [ "32", " PepperShaker", " -2.840", " 0.818", " 0.426", " 0", " 0", " 0", " 44" ], [ "33", " DishSponge", " -2.504", " 0.823", " 0.625", " 0", " 0", " 0", " 44" ], [ "34", " Bread", " -0.979", " 0.855", " 0.249", " 0", " 29.999", " 0", " 44" ], [ "35", " Spoon", " -2.044", " 0.824", " 0.528", " 0", " 0", " 0", " 44" ], [ "36", " Mug", " -1.407", " 0.120", " 0.440", " 0", " 0", " 0", " 57" ], [ "37", " Bowl", " -2.782", " 0.821", " 2.221", " 0", " 90", " 0", " 62" ], [ "38", " Cabinet", " -2.377", " 2.015", " 1.720", " 0", " 0", " 0", "" ], [ "39", " StoveBurner", " -0.244", " 0.820", " 2.075", " 0", " 180", " 0", "" ], [ "40", " Drawer", " -0.402", " 0.703", " 1.252", " 0", " 0", " 0", "" ], [ "41", " StoveBurner", " -0.518", " 0.820", " 2.075", " 0", " 180", " 0", "" ], [ "42", " Sink", " -1.838", " 0.726", " 0.343", " 0", " 180", " 0", "" ], [ "43", " StoveBurner", " -0.244", " 0.820", " 1.684", " 0", " 0", " 0", "" ], [ "44", " CounterTop", " -1.557", " 0.859", " 0.277", " 0", " 0", " 0", "" ], [ "45", " StoveBurner", " -0.518", " 0.820", " 1.684", " 0", " 0", " 0", "" ], [ "46", " Drawer", " -0.404", " 0.704", " 0.912", " 0", " 0", " 0", "" ], [ "47", " Drawer", " -0.861", " 0.709", " 0.420", " 0", " 0", " 0", "" ], [ "48", " Drawer", " -1.133", " 0.706", " 0.418", " 0", " 0", " 0", "" ], [ "49", " Drawer", " -2.589", " 0.703", " 1.511", " 0", " 0", " 0", "" ], [ "50", " Cabinet", " -2.772", " 1.803", " 0.508", " 0", " 0", " 0", "" ], [ "51", " Cabinet", " -2.460", " 1.803", " 0.231", " 0", " 0", " 0", "" ], [ "52", " Cabinet", " -2.781", " 1.798", " 0.825", " 0", " 0", " 0", "" ], [ "53", " Cabinet", " -2.781", " 1.798", " 0.815", " 0", " 0", " 0", "" ], [ "54", " Cabinet", " -2.377", " 2.009", " 2.581", " 0", " 0", " 0", "" ], [ "55", " Cabinet", " -2.442", " 0.385", " 1.672", " 0", " 0", " 0", "" ], [ "56", " Cabinet", " -2.238", " 0.385", " 0.564", " 0", " 0", " 0", "" ], [ "57", " Cabinet", " -1.286", " 0.385", " 0.564", " 0", " 0", " 0", "" ], [ "58", " Cabinet", " -1.262", " 0.385", " 0.565", " 0", " 0", " 0", "" ], [ "59", " Cabinet", " -0.734", " 0.385", " 0.565", " 0", " 0", " 0", "" ], [ "60", " Cabinet", " -0.549", " 0.385", " 0.751", " 0", " 0", " 0", "" ], [ "61", " Cabinet", " -0.549", " 0.385", " 1.412", " 0", " 0", " 0", "" ], [ "62", " Fridge", " -2.782", " 0.0", " 2.221", " 0", " 0", " 0", "" ], [ "63", " Microwave", " -2.794", " 0.812", " 1.348", " 0", " 90", " 0", "" ], [ "64", " GarbageCan", " -0.329", " 2.205", " 2.606", " 0", " 0", " 0", "" ], [ "65", " StoveKnob", " -0.069", " 0.998", " 1.773", " 0", " 180", " 107.470", "" ], [ "66", " StoveKnob", " -0.069", " 0.998", " 1.613", " 0", " 180", " 107.470", "" ], [ "67", " StoveKnob", " -0.069", " 0.998", " 2.171", " 0", " 180", " 107.470", "" ], [ "68", " StoveKnob", " -0.069", " 0.998", " 2.024", " 0", " 180", " 107.470", "" ], [ "69", " Window", " -1.720", " 1.342", " -0.208", " 90", " 0", " 0", "" ], [ "70", " Toaster", " -0.171", " 0.812", " 0.735", " 0", " 270", " 0", "" ], [ "71", " SinkBasin", " -1.745", " 0.687", " 0.295", " 0", " 0", " 0", "" ], [ "72", " CoffeeMachine", " -0.539", " 0.812", " 0.185", " 0", " 0", " 0", "" ], [ "73", " LightSwitch", " -0.615", " 1.378", " 3.0", " 0", " 180", " 0", "" ], [ "74", " Faucet", " -1.686", " 0.954", " 0.176", " 0", " 236.223", " 0", "" ], [ "75", " Stool", " -1.008", " 0.008", " 1.955", " 0", " 18.279", " 0", "" ], [ "76", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "77", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "78", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "79", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.75 0.900 1.75 0 270 0 1 Potato -2.671 0.863 2.397 0 90 0 62 2 Potato -2.023 0.736 0.253 0 0 0 71 3 DishSponge -2.687 0.121 1.589 0 0 0 55 4 DishSponge -2.530 0.121 1.550 0 0 0 55 5 Spoon -2.581 0.824 0.789 0 0 0 44 6 Spoon -1.161 0.699 0.377 0 90 0 48 7 Spatula -0.314 0.838 0.426 0 180 0 44 8 Egg -2.781 1.167 1.957 0 90 0 62 9 Cup -2.659 1.435 0.223 0 45 0 50 10 Knife -0.246 0.849 1.103 0 180 0 44 11 Knife -1.542 0.849 0.528 0 0 0 44 12 Tomato -2.837 1.193 2.485 0 90 0 62 13 SoapBottle -0.362 0.054 2.539 0 0 0 64 14 Bowl -2.781 1.140 2.133 0 90 0 62 15 Apple -2.504 0.896 0.789 0 0 0 44 16 Apple -1.538 0.748 0.186 0 0 0 71 17 Fork -2.211 0.824 0.528 0 0 0 44 18 Ladle -0.371 0.738 0.879 0 45 0 46 19 Pan -0.391 0.812 1.108 0 0 0 44 20 SoapBottle -2.491 0.821 0.055 0 0 0 44 21 Pot -0.518 0.829 1.684 0 0 0 45 22 Tomato -2.813 0.873 0.953 0 0 0 44 23 Potato -1.151 0.862 0.352 0 0 0 44 24 SaltShaker -2.648 0.116 1.471 0 0 0 55 25 Plate -2.115 0.130 0.362 0 0 0 56 26 Spatula -0.341 0.696 1.194 0 45 0 40 27 Knife -2.662 0.819 0.557 90 300.034 0 44 28 Egg -1.412 0.721 0.338 0 0 0 71 29 Cup -2.671 1.445 2.485 0 90 0 62 30 ButterKnife -2.044 0.823 0.549 0 0 0 44 31 Lettuce -1.836 0.741 0.238 0 55.910 0 71 32 PepperShaker -2.840 0.818 0.426 0 0 0 44 33 DishSponge -2.504 0.823 0.625 0 0 0 44 34 Bread -0.979 0.855 0.249 0 29.999 0 44 35 Spoon -2.044 0.824 0.528 0 0 0 44 36 Mug -1.407 0.120 0.440 0 0 0 57 37 Bowl -2.782 0.821 2.221 0 90 0 62 38 Cabinet -2.377 2.015 1.720 0 0 0 39 StoveBurner -0.244 0.820 2.075 0 180 0 40 Drawer -0.402 0.703 1.252 0 0 0 41 StoveBurner -0.518 0.820 2.075 0 180 0 42 Sink -1.838 0.726 0.343 0 180 0 43 StoveBurner -0.244 0.820 1.684 0 0 0 44 CounterTop -1.557 0.859 0.277 0 0 0 45 StoveBurner -0.518 0.820 1.684 0 0 0 46 Drawer -0.404 0.704 0.912 0 0 0 47 Drawer -0.861 0.709 0.420 0 0 0 48 Drawer -1.133 0.706 0.418 0 0 0 49 Drawer -2.589 0.703 1.511 0 0 0 50 Cabinet -2.772 1.803 0.508 0 0 0 51 Cabinet -2.460 1.803 0.231 0 0 0 52 Cabinet -2.781 1.798 0.825 0 0 0 53 Cabinet -2.781 1.798 0.815 0 0 0 54 Cabinet -2.377 2.009 2.581 0 0 0 55 Cabinet -2.442 0.385 1.672 0 0 0 56 Cabinet -2.238 0.385 0.564 0 0 0 57 Cabinet -1.286 0.385 0.564 0 0 0 58 Cabinet -1.262 0.385 0.565 0 0 0 59 Cabinet -0.734 0.385 0.565 0 0 0 60 Cabinet -0.549 0.385 0.751 0 0 0 61 Cabinet -0.549 0.385 1.412 0 0 0 62 Fridge -2.782 0.0 2.221 0 0 0 63 Microwave -2.794 0.812 1.348 0 90 0 64 GarbageCan -0.329 2.205 2.606 0 0 0 65 StoveKnob -0.069 0.998 1.773 0 180 107.470 66 StoveKnob -0.069 0.998 1.613 0 180 107.470 67 StoveKnob -0.069 0.998 2.171 0 180 107.470 68 StoveKnob -0.069 0.998 2.024 0 180 107.470 69 Window -1.720 1.342 -0.208 90 0 0 70 Toaster -0.171 0.812 0.735 0 270 0 71 SinkBasin -1.745 0.687 0.295 0 0 0 72 CoffeeMachine -0.539 0.812 0.185 0 0 0 73 LightSwitch -0.615 1.378 3.0 0 180 0 74 Faucet -1.686 0.954 0.176 0 236.223 0 75 Stool -1.008 0.008 1.955 0 18.279 0 76 NorthWall 77 EastWall 78 SouthWall 79 WestWall
[ "STEP 1: walk to face sink cabinets | STEP 2: remove mug from cabinet under sink | STEP 3: walk to face microwave | STEP 4: heat and remove mug from microwave | STEP 5: look up to face cabinets above microwave | STEP 6: put mug inside cabinet | END" ]
[ [ "STEP 1: walk to face sink cabinets ", " STEP 2: remove mug from cabinet under sink ", " STEP 3: walk to face microwave ", " STEP 4: heat and remove mug from microwave ", " STEP 5: look up to face cabinets above microwave ", " STEP 6: put mug inside cabinet ", " END" ] ]
seen
trial_T20190909_095516_427126-1
take the mug from underneath the sink, warm it up in the microwave, place the mug into the cupboard.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.75 0.900 1.75 0 270 0 1 Potato -2.671 0.863 2.397 0 90 0 62 2 Potato -2.023 0.736 0.253 0 0 0 71 3 DishSponge -2.687 0.121 1.589 0 0 0 55 4 DishSponge -2.530 0.121 1.550 0 0 0 55 5 Spoon -2.581 0.824 0.789 0 0 0 44 6 Spoon -1.161 0.699 0.377 0 90 0 48 7 Spatula -0.314 0.838 0.426 0 180 0 44 8 Egg -2.781 1.167 1.957 0 90 0 62 9 Cup -2.659 1.435 0.223 0 45 0 50 10 Knife -0.246 0.849 1.103 0 180 0 44 11 Knife -1.542 0.849 0.528 0 0 0 44 12 Tomato -2.837 1.193 2.485 0 90 0 62 13 SoapBottle -0.362 0.054 2.539 0 0 0 64 14 Bowl -2.781 1.140 2.133 0 90 0 62 15 Apple -2.504 0.896 0.789 0 0 0 44 16 Apple -1.538 0.748 0.186 0 0 0 71 17 Fork -2.211 0.824 0.528 0 0 0 44 18 Ladle -0.371 0.738 0.879 0 45 0 46 19 Pan -0.391 0.812 1.108 0 0 0 44 20 SoapBottle -2.491 0.821 0.055 0 0 0 44 21 Pot -0.518 0.829 1.684 0 0 0 45 22 Tomato -2.813 0.873 0.953 0 0 0 44 23 Potato -1.151 0.862 0.352 0 0 0 44 24 SaltShaker -2.648 0.116 1.471 0 0 0 55 25 Plate -2.115 0.130 0.362 0 0 0 56 26 Spatula -0.341 0.696 1.194 0 45 0 40 27 Knife -2.662 0.819 0.557 90 300.034 0 44 28 Egg -1.412 0.721 0.338 0 0 0 71 29 Cup -2.671 1.445 2.485 0 90 0 62 30 ButterKnife -2.044 0.823 0.549 0 0 0 44 31 Lettuce -1.836 0.741 0.238 0 55.910 0 71 32 PepperShaker -2.840 0.818 0.426 0 0 0 44 33 DishSponge -2.504 0.823 0.625 0 0 0 44 34 Bread -0.979 0.855 0.249 0 29.999 0 44 35 Spoon -2.044 0.824 0.528 0 0 0 44 36 Mug -1.407 0.120 0.440 0 0 0 57 37 Bowl -2.782 0.821 2.221 0 90 0 62 38 Cabinet -2.377 2.015 1.720 0 0 0 39 StoveBurner -0.244 0.820 2.075 0 180 0 40 Drawer -0.402 0.703 1.252 0 0 0 41 StoveBurner -0.518 0.820 2.075 0 180 0 42 Sink -1.838 0.726 0.343 0 180 0 43 StoveBurner -0.244 0.820 1.684 0 0 0 44 CounterTop -1.557 0.859 0.277 0 0 0 45 StoveBurner -0.518 0.820 1.684 0 0 0 46 Drawer -0.404 0.704 0.912 0 0 0 47 Drawer -0.861 0.709 0.420 0 0 0 48 Drawer -1.133 0.706 0.418 0 0 0 49 Drawer -2.589 0.703 1.511 0 0 0 50 Cabinet -2.772 1.803 0.508 0 0 0 51 Cabinet -2.460 1.803 0.231 0 0 0 52 Cabinet -2.781 1.798 0.825 0 0 0 53 Cabinet -2.781 1.798 0.815 0 0 0 54 Cabinet -2.377 2.009 2.581 0 0 0 55 Cabinet -2.442 0.385 1.672 0 0 0 56 Cabinet -2.238 0.385 0.564 0 0 0 57 Cabinet -1.286 0.385 0.564 0 0 0 58 Cabinet -1.262 0.385 0.565 0 0 0 59 Cabinet -0.734 0.385 0.565 0 0 0 60 Cabinet -0.549 0.385 0.751 0 0 0 61 Cabinet -0.549 0.385 1.412 0 0 0 62 Fridge -2.782 0.0 2.221 0 0 0 63 Microwave -2.794 0.812 1.348 0 90 0 64 GarbageCan -0.329 2.205 2.606 0 0 0 65 StoveKnob -0.069 0.998 1.773 0 180 107.470 66 StoveKnob -0.069 0.998 1.613 0 180 107.470 67 StoveKnob -0.069 0.998 2.171 0 180 107.470 68 StoveKnob -0.069 0.998 2.024 0 180 107.470 69 Window -1.720 1.342 -0.208 90 0 0 70 Toaster -0.171 0.812 0.735 0 270 0 71 SinkBasin -1.745 0.687 0.295 0 0 0 72 CoffeeMachine -0.539 0.812 0.185 0 0 0 73 LightSwitch -0.615 1.378 3.0 0 180 0 74 Faucet -1.686 0.954 0.176 0 236.223 0 75 Stool -1.008 0.008 1.955 0 18.279 0 76 NorthWall 77 EastWall 78 SouthWall 79 WestWall
[ "STEP 1: turn right and face towards the sink | STEP 2: reach underneath the sink in left cabinet and take the mug out | STEP 3: turn around and move forward and turn left and face the microwave | STEP 4: Place the mug inside the microwave and warm it up and then take it out and shut the door | STEP 5: look up above the microwave and see the cabinet | STEP 6: place the mug above the microwave inside the cupboard on the right side | END" ]
[ [ "STEP 1: turn right and face towards the sink ", " STEP 2: reach underneath the sink in left cabinet and take the mug out ", " STEP 3: turn around and move forward and turn left and face the microwave ", " STEP 4: Place the mug inside the microwave and warm it up and then take it out and shut the door ", " STEP 5: look up above the microwave and see the cabinet ", " STEP 6: place the mug above the microwave inside the cupboard on the right side ", " END" ] ]
seen
trial_T20190909_095516_427126-2
Put a warm mug in the cabinet.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.75 0.900 1.75 0 270 0 1 Potato -2.671 0.863 2.397 0 90 0 62 2 Potato -2.023 0.736 0.253 0 0 0 71 3 DishSponge -2.687 0.121 1.589 0 0 0 55 4 DishSponge -2.530 0.121 1.550 0 0 0 55 5 Spoon -2.581 0.824 0.789 0 0 0 44 6 Spoon -1.161 0.699 0.377 0 90 0 48 7 Spatula -0.314 0.838 0.426 0 180 0 44 8 Egg -2.781 1.167 1.957 0 90 0 62 9 Cup -2.659 1.435 0.223 0 45 0 50 10 Knife -0.246 0.849 1.103 0 180 0 44 11 Knife -1.542 0.849 0.528 0 0 0 44 12 Tomato -2.837 1.193 2.485 0 90 0 62 13 SoapBottle -0.362 0.054 2.539 0 0 0 64 14 Bowl -2.781 1.140 2.133 0 90 0 62 15 Apple -2.504 0.896 0.789 0 0 0 44 16 Apple -1.538 0.748 0.186 0 0 0 71 17 Fork -2.211 0.824 0.528 0 0 0 44 18 Ladle -0.371 0.738 0.879 0 45 0 46 19 Pan -0.391 0.812 1.108 0 0 0 44 20 SoapBottle -2.491 0.821 0.055 0 0 0 44 21 Pot -0.518 0.829 1.684 0 0 0 45 22 Tomato -2.813 0.873 0.953 0 0 0 44 23 Potato -1.151 0.862 0.352 0 0 0 44 24 SaltShaker -2.648 0.116 1.471 0 0 0 55 25 Plate -2.115 0.130 0.362 0 0 0 56 26 Spatula -0.341 0.696 1.194 0 45 0 40 27 Knife -2.662 0.819 0.557 90 300.034 0 44 28 Egg -1.412 0.721 0.338 0 0 0 71 29 Cup -2.671 1.445 2.485 0 90 0 62 30 ButterKnife -2.044 0.823 0.549 0 0 0 44 31 Lettuce -1.836 0.741 0.238 0 55.910 0 71 32 PepperShaker -2.840 0.818 0.426 0 0 0 44 33 DishSponge -2.504 0.823 0.625 0 0 0 44 34 Bread -0.979 0.855 0.249 0 29.999 0 44 35 Spoon -2.044 0.824 0.528 0 0 0 44 36 Mug -1.407 0.120 0.440 0 0 0 57 37 Bowl -2.782 0.821 2.221 0 90 0 62 38 Cabinet -2.377 2.015 1.720 0 0 0 39 StoveBurner -0.244 0.820 2.075 0 180 0 40 Drawer -0.402 0.703 1.252 0 0 0 41 StoveBurner -0.518 0.820 2.075 0 180 0 42 Sink -1.838 0.726 0.343 0 180 0 43 StoveBurner -0.244 0.820 1.684 0 0 0 44 CounterTop -1.557 0.859 0.277 0 0 0 45 StoveBurner -0.518 0.820 1.684 0 0 0 46 Drawer -0.404 0.704 0.912 0 0 0 47 Drawer -0.861 0.709 0.420 0 0 0 48 Drawer -1.133 0.706 0.418 0 0 0 49 Drawer -2.589 0.703 1.511 0 0 0 50 Cabinet -2.772 1.803 0.508 0 0 0 51 Cabinet -2.460 1.803 0.231 0 0 0 52 Cabinet -2.781 1.798 0.825 0 0 0 53 Cabinet -2.781 1.798 0.815 0 0 0 54 Cabinet -2.377 2.009 2.581 0 0 0 55 Cabinet -2.442 0.385 1.672 0 0 0 56 Cabinet -2.238 0.385 0.564 0 0 0 57 Cabinet -1.286 0.385 0.564 0 0 0 58 Cabinet -1.262 0.385 0.565 0 0 0 59 Cabinet -0.734 0.385 0.565 0 0 0 60 Cabinet -0.549 0.385 0.751 0 0 0 61 Cabinet -0.549 0.385 1.412 0 0 0 62 Fridge -2.782 0.0 2.221 0 0 0 63 Microwave -2.794 0.812 1.348 0 90 0 64 GarbageCan -0.329 2.205 2.606 0 0 0 65 StoveKnob -0.069 0.998 1.773 0 180 107.470 66 StoveKnob -0.069 0.998 1.613 0 180 107.470 67 StoveKnob -0.069 0.998 2.171 0 180 107.470 68 StoveKnob -0.069 0.998 2.024 0 180 107.470 69 Window -1.720 1.342 -0.208 90 0 0 70 Toaster -0.171 0.812 0.735 0 270 0 71 SinkBasin -1.745 0.687 0.295 0 0 0 72 CoffeeMachine -0.539 0.812 0.185 0 0 0 73 LightSwitch -0.615 1.378 3.0 0 180 0 74 Faucet -1.686 0.954 0.176 0 236.223 0 75 Stool -1.008 0.008 1.955 0 18.279 0 76 NorthWall 77 EastWall 78 SouthWall 79 WestWall
[ "STEP 1: Turn left and walk to the sink then take a small step to your left. | STEP 2: Open the cabinet under the left sink and grab the mug that's down there and close the door. | STEP 3: Turn right and walk to the microwave. | STEP 4: Warm the mug in the microwave then take it back out and close the door. | STEP 5: Look up at the cabinets. | STEP 6: Open the cabinets and put the mug in there then close the door. | END" ]
[ [ "STEP 1: Turn left and walk to the sink then take a small step to your left. ", " STEP 2: Open the cabinet under the left sink and grab the mug that's down there and close the door. ", " STEP 3: Turn right and walk to the microwave. ", " STEP 4: Warm the mug in the microwave then take it back out and close the door. ", " STEP 5: Look up at the cabinets. ", " STEP 6: Open the cabinets and put the mug in there then close the door. ", " END" ] ]
seen
trial_T20190908_235555_653612-0
Set a cooked tomato slice on the counter.
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" -1.961", " 0.913", " -0.288", " 0", " 0", " 0", " 59" ], [ "12", " Spoon", " 1.760", " 0.911", " -1.709", " 0", " 90", " 0", " 79" ], [ "13", " Cup", " -2.436", " 0.873", " 2.715", " 0", " 0", " 0", " 61" ], [ "14", " Cup", " -0.263", " 0.387", " 2.054", " 0", " 180", " 0", " 84" ], [ "15", " Knife", " -2.072", " 0.934", " -1.591", " 0", " 0", " 0", " 59" ], [ "16", " Tomato", " -0.871", " 0.240", " 2.058", " 0", " 90", " 0", " 89" ], [ "17", " Tomato", " -0.377", " 1.191", " 2.246", " 0", " 180", " 0", " 84" ], [ "18", " SaltShaker", " 3.662", " 0.877", " 1.861", " 0", " 270", " 0", " 80" ], [ "19", " SaltShaker", " 1.584", " 0.111", " -1.301", " 0", " 0", " 0", " 65" ], [ "20", " PepperShaker", " 0.321", " 0.110", " -1.451", " 0", " 0", " 0", " 67" ], [ "21", " PepperShaker", " 3.689", " 0.877", " 1.759", " 0", " 270", " 0", " 80" ], [ "22", " Bread", " -2.592", " 0.958", " 3.049", " 0", " 135", " 0", " 61" ], [ "23", " Lettuce", " -2.912", " 0.943", " 2.758", " 0", " 225", " 0", " 61" ], [ "24", " Lettuce", " -3.055", " 0.939", " 3.140", " 0", " 225", " 0", " 61" ], [ "25", " Mug", " -1.112", " 0.958", " -1.479", " 0", " 0", " 0", " 96" ], [ "26", " Apple", " -0.035", " 1.627", " 2.100", " 0", " 180", " 0", " 84" ], [ "27", " Book", " -2.183", " 0.908", " -0.939", " 0", " 0", " 0", " 59" ], [ "28", " Fork", " -2.152", " 0.879", " 3.221", " 0", " 270", " 0", " 61" ], [ "29", " Tomato", " -1.961", " 0.959", " -0.939", " 0", " 0", " 0", " 59" ], [ "30", " Egg", " -0.035", " 0.414", " 2.054", " 0", " 180", " 0", " 84" ], [ "31", " Kettle", " -2.183", " 0.913", " -0.288", " 0", " 270", " 0", " 59" ], [ "32", " Vase", " -1.516", " 0.913", " -1.265", " 0", " 0", " 0", " 59" ], [ "33", " Cup", " 1.578", " 0.908", " -1.346", " 0", " 0", " 0", " 79" ], [ "34", " WineBottle", " -2.088", " 0.120", " -1.580", " 0", " 0", " 0", " 60" ], [ "35", " Plate", " 0.307", " 1.148", " 2.206", " 0", " 180", " 0", " 84" ], [ "36", " Spatula", " 0.234", " 0.945", " -1.646", " 0", " 90", " 0", " 56" ], [ "37", " Potato", " -0.923", " 0.229", " 2.213", " 0", " 90", " 0", " 89" ], [ "38", " Pot", " 1.328", " 0.957", " -1.688", " 0", " 180", " 0", " 62" ], [ "39", " Knife", " -2.950", " 0.896", " 3.035", " 0", " 45", " 0", " 61" ], [ "40", " SaltShaker", " -2.881", " 0.874", " 3.053", " 0", " 0", " 0", " 61" ], [ "41", " PepperShaker", " -1.982", " 0.714", " -1.579", " 0", " 0", " 0", " 78" ], [ "42", " Lettuce", " -2.525", " 0.939", " 3.565", " 0", " 225", " 0", " 61" ], [ "43", " ButterKnife", " -3.017", " 0.878", " 3.580", " 0", " 135", " 0", " 61" ], [ "44", " Bread", " -2.152", " 0.961", " 3.073", " 0", " 270", " 0", " 61" ], [ "45", " Vase", " -2.183", " 0.913", " -1.265", " 0", " 0", " 0", " 59" ], [ "46", " DishSponge", " 1.614", " 0.909", " -1.437", " 0", " 0", " 0", " 79" ], [ "47", " Apple", " -2.152", " 0.929", " 3.296", " 0", " 270", " 0", " 61" ], [ "48", " Pan", " 1.328", " 0.957", " -1.420", " 0", " 180", " 0", " 63" ], [ "49", " Spoon", " -0.833", " 0.913", " -1.471", " 0", " 0", " 0", " 59" ], [ "50", " SoapBottle", " 0.069", " 0.929", " -1.501", " 0", " 270", " 0", " 56" ], [ "51", " Mug", " -0.292", " 0.692", " -1.678", " 0", " 0", " 0", " 88" ], [ "52", " Statue", " 3.676", " 0.168", " 1.410", " 0", " 334.521", " 0", " 82" ], [ "53", " Statue", " 0.709", " 0.910", " -1.674", " 0", " 270", " 0", " 59" ], [ "54", " Bowl", " 0.193", " 1.570", " 2.160", " 0", " 180", " 0", " 84" ], [ "55", " Cabinet", " -2.171", " 2.009", " -1.538", " 0", " 0", " 0", "" ], [ "56", " Sink", " 0.024", " 0.771", " -1.708", " 0", " 270", " 0", "" ], [ "57", " Cabinet", " 1.444", " 2.259", " -1.542", " 0", " 0", " 0", "" ], [ "58", " StoveBurner", " 0.974", " 0.957", " -1.688", " 0", " 180", " 0", "" ], [ "59", " CounterTop", " -1.866", " 0.947", " -0.614", " 0", " 0", " 0", "" ], [ "60", " Cabinet", " -2.217", " 0.373", " -1.874", " 0", " 0", " 0", "" ], [ "61", " DiningTable", " -2.663", " 0.002", " 3.208", " 0", " 0", " 0", "" ], [ "62", " 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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 0.5 0 0 0 1 Pan 0.974 0.957 -1.419 0 180 0 77 2 Potato 1.724 0.946 -1.255 0 0 0 79 3 Potato -0.149 0.425 2.025 0 180 0 84 4 DishSponge 3.793 0.552 1.449 0 270 0 82 5 Kettle -1.516 0.913 0.037 0 0 0 59 6 WineBottle -1.331 1.658 -1.784 0 0 0 72 7 WineBottle -1.160 0.913 -1.267 0 0 0 59 8 Pot 0.974 0.957 -1.688 0 180 0 58 9 Fork -2.659 0.875 3.390 0 90 0 61 10 Fork -2.606 0.875 3.274 0 135 0 61 11 Spoon -1.961 0.913 -0.288 0 0 0 59 12 Spoon 1.760 0.911 -1.709 0 90 0 79 13 Cup -2.436 0.873 2.715 0 0 0 61 14 Cup -0.263 0.387 2.054 0 180 0 84 15 Knife -2.072 0.934 -1.591 0 0 0 59 16 Tomato -0.871 0.240 2.058 0 90 0 89 17 Tomato -0.377 1.191 2.246 0 180 0 84 18 SaltShaker 3.662 0.877 1.861 0 270 0 80 19 SaltShaker 1.584 0.111 -1.301 0 0 0 65 20 PepperShaker 0.321 0.110 -1.451 0 0 0 67 21 PepperShaker 3.689 0.877 1.759 0 270 0 80 22 Bread -2.592 0.958 3.049 0 135 0 61 23 Lettuce -2.912 0.943 2.758 0 225 0 61 24 Lettuce -3.055 0.939 3.140 0 225 0 61 25 Mug -1.112 0.958 -1.479 0 0 0 96 26 Apple -0.035 1.627 2.100 0 180 0 84 27 Book -2.183 0.908 -0.939 0 0 0 59 28 Fork -2.152 0.879 3.221 0 270 0 61 29 Tomato -1.961 0.959 -0.939 0 0 0 59 30 Egg -0.035 0.414 2.054 0 180 0 84 31 Kettle -2.183 0.913 -0.288 0 270 0 59 32 Vase -1.516 0.913 -1.265 0 0 0 59 33 Cup 1.578 0.908 -1.346 0 0 0 79 34 WineBottle -2.088 0.120 -1.580 0 0 0 60 35 Plate 0.307 1.148 2.206 0 180 0 84 36 Spatula 0.234 0.945 -1.646 0 90 0 56 37 Potato -0.923 0.229 2.213 0 90 0 89 38 Pot 1.328 0.957 -1.688 0 180 0 62 39 Knife -2.950 0.896 3.035 0 45 0 61 40 SaltShaker -2.881 0.874 3.053 0 0 0 61 41 PepperShaker -1.982 0.714 -1.579 0 0 0 78 42 Lettuce -2.525 0.939 3.565 0 225 0 61 43 ButterKnife -3.017 0.878 3.580 0 135 0 61 44 Bread -2.152 0.961 3.073 0 270 0 61 45 Vase -2.183 0.913 -1.265 0 0 0 59 46 DishSponge 1.614 0.909 -1.437 0 0 0 79 47 Apple -2.152 0.929 3.296 0 270 0 61 48 Pan 1.328 0.957 -1.420 0 180 0 63 49 Spoon -0.833 0.913 -1.471 0 0 0 59 50 SoapBottle 0.069 0.929 -1.501 0 270 0 56 51 Mug -0.292 0.692 -1.678 0 0 0 88 52 Statue 3.676 0.168 1.410 0 334.521 0 82 53 Statue 0.709 0.910 -1.674 0 270 0 59 54 Bowl 0.193 1.570 2.160 0 180 0 84 55 Cabinet -2.171 2.009 -1.538 0 0 0 56 Sink 0.024 0.771 -1.708 0 270 0 57 Cabinet 1.444 2.259 -1.542 0 0 0 58 StoveBurner 0.974 0.957 -1.688 0 180 0 59 CounterTop -1.866 0.947 -0.614 0 0 0 60 Cabinet -2.217 0.373 -1.874 0 0 0 61 DiningTable -2.663 0.002 3.208 0 0 0 62 StoveBurner 1.328 0.957 -1.688 0 180 0 63 StoveBurner 1.328 0.957 -1.420 0 180 0 64 Cabinet -1.478 0.373 -1.235 0 0 0 65 Cabinet 1.775 0.372 -1.242 0 0 0 66 Cabinet 0.774 0.372 -1.242 0 0 0 67 Cabinet 0.375 0.372 -1.242 0 0 0 68 Cabinet -0.574 0.372 -1.238 0 0 0 69 Cabinet 1.775 2.009 -1.542 0 0 0 70 Cabinet 0.524 2.009 -1.542 0 0 0 71 Cabinet -0.714 2.009 -1.542 0 0 0 72 Cabinet -1.671 2.009 -1.538 0 0 0 73 Cabinet 0.854 2.259 -1.542 0 0 0 74 Drawer -1.636 0.683 -0.930 0 0 0 75 Drawer 1.650 0.682 -1.396 0 0 0 76 Drawer 0.600 0.682 -1.396 0 0 0 77 StoveBurner 0.974 0.957 -1.419 0 180 0 78 Drawer -2.062 0.683 -1.579 0 0 0 79 CounterTop 1.645 0.945 -1.527 0 0 0 80 Shelf 3.725 0.880 1.671 0 90 0 81 LightSwitch 2.830 1.266 -0.748 0 0 0 82 Shelf 3.726 0.552 1.671 0 90 0 83 Microwave 1.150 1.655 -1.614 0 0 0 84 Fridge -0.035 0.0 2.177 0 180 0 85 Window -0.115 1.802 -1.896 90 0 0 86 Window -4.009 1.799 0.310 90 90 0 87 Shelf 3.726 0.172 1.671 0 90 0 88 SinkBasin -0.330 0.686 -1.581 0 270 0 89 GarbageCan -0.870 -0.001 2.136 0 90 0 90 StoveKnob 1.089 0.913 -1.243 45 0 0 91 StoveKnob 1.208 0.913 -1.243 45 0 0 92 StoveKnob 1.340 0.913 -1.243 45 0 0 93 StoveKnob 0.961 0.913 -1.243 45 0 0 94 Toaster 1.637 0.900 -1.673 0 0 0 95 Chair -3.505 0.002 3.290 0 105.736 0 96 CoffeeMachine -1.111 0.900 -1.726 0 0 0 97 HousePlant -2.663 0.835 3.209 0 0 0 98 Faucet -0.187 0.922 -1.75 0 311.166 0 99 ShelvingUnit 3.726 0.006 1.671 0 90 0 100 Stool -2.501 -0.000 0.062 1.223 91.243 0 101 Stool -2.475 -0.000 -0.802 1.209 69.808 0 102 Chair -2.934 0.002 2.437 0 28.531 0 103 Chair -1.698 0.002 3.235 0 245.204 0 104 NorthWall 105 EastWall 106 SouthWall 107 WestWall
[ "STEP 1: Turn and go across the room past the fridge on the right and take a left after the counter on the left. | STEP 2: Pick up the chef's knife on the end of the counter. | STEP 3: Move over to the left on the same counter. | STEP 4: Slice the tomato on the counter. | STEP 5: Set the knife down on the counter. | STEP 6: Pick a tomato slice on the counter. | STEP 7: Take the tomato slice to the microwave. | STEP 8: Heat the tomato slice in the microwave. | STEP 9: Go to the counter to the left of the stove. | STEP 10: Set the tomato slice on the counter. | END" ]
[ [ "STEP 1: Turn and go across the room past the fridge on the right and take a left after the counter on the left. ", " STEP 2: Pick up the chef's knife on the end of the counter. ", " STEP 3: Move over to the left on the same counter. ", " STEP 4: Slice the tomato on the counter. ", " STEP 5: Set the knife down on the counter. ", " STEP 6: Pick a tomato slice on the counter. ", " STEP 7: Take the tomato slice to the microwave. ", " STEP 8: Heat the tomato slice in the microwave. ", " STEP 9: Go to the counter to the left of the stove. ", " STEP 10: Set the tomato slice on the counter. ", " END" ] ]
seen
trial_T20190908_235555_653612-1
Put a heated slice of 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 3.75 0.900 0.5 0 0 0 1 Pan 0.974 0.957 -1.419 0 180 0 77 2 Potato 1.724 0.946 -1.255 0 0 0 79 3 Potato -0.149 0.425 2.025 0 180 0 84 4 DishSponge 3.793 0.552 1.449 0 270 0 82 5 Kettle -1.516 0.913 0.037 0 0 0 59 6 WineBottle -1.331 1.658 -1.784 0 0 0 72 7 WineBottle -1.160 0.913 -1.267 0 0 0 59 8 Pot 0.974 0.957 -1.688 0 180 0 58 9 Fork -2.659 0.875 3.390 0 90 0 61 10 Fork -2.606 0.875 3.274 0 135 0 61 11 Spoon -1.961 0.913 -0.288 0 0 0 59 12 Spoon 1.760 0.911 -1.709 0 90 0 79 13 Cup -2.436 0.873 2.715 0 0 0 61 14 Cup -0.263 0.387 2.054 0 180 0 84 15 Knife -2.072 0.934 -1.591 0 0 0 59 16 Tomato -0.871 0.240 2.058 0 90 0 89 17 Tomato -0.377 1.191 2.246 0 180 0 84 18 SaltShaker 3.662 0.877 1.861 0 270 0 80 19 SaltShaker 1.584 0.111 -1.301 0 0 0 65 20 PepperShaker 0.321 0.110 -1.451 0 0 0 67 21 PepperShaker 3.689 0.877 1.759 0 270 0 80 22 Bread -2.592 0.958 3.049 0 135 0 61 23 Lettuce -2.912 0.943 2.758 0 225 0 61 24 Lettuce -3.055 0.939 3.140 0 225 0 61 25 Mug -1.112 0.958 -1.479 0 0 0 96 26 Apple -0.035 1.627 2.100 0 180 0 84 27 Book -2.183 0.908 -0.939 0 0 0 59 28 Fork -2.152 0.879 3.221 0 270 0 61 29 Tomato -1.961 0.959 -0.939 0 0 0 59 30 Egg -0.035 0.414 2.054 0 180 0 84 31 Kettle -2.183 0.913 -0.288 0 270 0 59 32 Vase -1.516 0.913 -1.265 0 0 0 59 33 Cup 1.578 0.908 -1.346 0 0 0 79 34 WineBottle -2.088 0.120 -1.580 0 0 0 60 35 Plate 0.307 1.148 2.206 0 180 0 84 36 Spatula 0.234 0.945 -1.646 0 90 0 56 37 Potato -0.923 0.229 2.213 0 90 0 89 38 Pot 1.328 0.957 -1.688 0 180 0 62 39 Knife -2.950 0.896 3.035 0 45 0 61 40 SaltShaker -2.881 0.874 3.053 0 0 0 61 41 PepperShaker -1.982 0.714 -1.579 0 0 0 78 42 Lettuce -2.525 0.939 3.565 0 225 0 61 43 ButterKnife -3.017 0.878 3.580 0 135 0 61 44 Bread -2.152 0.961 3.073 0 270 0 61 45 Vase -2.183 0.913 -1.265 0 0 0 59 46 DishSponge 1.614 0.909 -1.437 0 0 0 79 47 Apple -2.152 0.929 3.296 0 270 0 61 48 Pan 1.328 0.957 -1.420 0 180 0 63 49 Spoon -0.833 0.913 -1.471 0 0 0 59 50 SoapBottle 0.069 0.929 -1.501 0 270 0 56 51 Mug -0.292 0.692 -1.678 0 0 0 88 52 Statue 3.676 0.168 1.410 0 334.521 0 82 53 Statue 0.709 0.910 -1.674 0 270 0 59 54 Bowl 0.193 1.570 2.160 0 180 0 84 55 Cabinet -2.171 2.009 -1.538 0 0 0 56 Sink 0.024 0.771 -1.708 0 270 0 57 Cabinet 1.444 2.259 -1.542 0 0 0 58 StoveBurner 0.974 0.957 -1.688 0 180 0 59 CounterTop -1.866 0.947 -0.614 0 0 0 60 Cabinet -2.217 0.373 -1.874 0 0 0 61 DiningTable -2.663 0.002 3.208 0 0 0 62 StoveBurner 1.328 0.957 -1.688 0 180 0 63 StoveBurner 1.328 0.957 -1.420 0 180 0 64 Cabinet -1.478 0.373 -1.235 0 0 0 65 Cabinet 1.775 0.372 -1.242 0 0 0 66 Cabinet 0.774 0.372 -1.242 0 0 0 67 Cabinet 0.375 0.372 -1.242 0 0 0 68 Cabinet -0.574 0.372 -1.238 0 0 0 69 Cabinet 1.775 2.009 -1.542 0 0 0 70 Cabinet 0.524 2.009 -1.542 0 0 0 71 Cabinet -0.714 2.009 -1.542 0 0 0 72 Cabinet -1.671 2.009 -1.538 0 0 0 73 Cabinet 0.854 2.259 -1.542 0 0 0 74 Drawer -1.636 0.683 -0.930 0 0 0 75 Drawer 1.650 0.682 -1.396 0 0 0 76 Drawer 0.600 0.682 -1.396 0 0 0 77 StoveBurner 0.974 0.957 -1.419 0 180 0 78 Drawer -2.062 0.683 -1.579 0 0 0 79 CounterTop 1.645 0.945 -1.527 0 0 0 80 Shelf 3.725 0.880 1.671 0 90 0 81 LightSwitch 2.830 1.266 -0.748 0 0 0 82 Shelf 3.726 0.552 1.671 0 90 0 83 Microwave 1.150 1.655 -1.614 0 0 0 84 Fridge -0.035 0.0 2.177 0 180 0 85 Window -0.115 1.802 -1.896 90 0 0 86 Window -4.009 1.799 0.310 90 90 0 87 Shelf 3.726 0.172 1.671 0 90 0 88 SinkBasin -0.330 0.686 -1.581 0 270 0 89 GarbageCan -0.870 -0.001 2.136 0 90 0 90 StoveKnob 1.089 0.913 -1.243 45 0 0 91 StoveKnob 1.208 0.913 -1.243 45 0 0 92 StoveKnob 1.340 0.913 -1.243 45 0 0 93 StoveKnob 0.961 0.913 -1.243 45 0 0 94 Toaster 1.637 0.900 -1.673 0 0 0 95 Chair -3.505 0.002 3.290 0 105.736 0 96 CoffeeMachine -1.111 0.900 -1.726 0 0 0 97 HousePlant -2.663 0.835 3.209 0 0 0 98 Faucet -0.187 0.922 -1.75 0 311.166 0 99 ShelvingUnit 3.726 0.006 1.671 0 90 0 100 Stool -2.501 -0.000 0.062 1.223 91.243 0 101 Stool -2.475 -0.000 -0.802 1.209 69.808 0 102 Chair -2.934 0.002 2.437 0 28.531 0 103 Chair -1.698 0.002 3.235 0 245.204 0 104 NorthWall 105 EastWall 106 SouthWall 107 WestWall
[ "STEP 1: Turn left and go across the kitchen around the counter to the other side. | STEP 2: Pick up the yellow knife on the counter next to the red bottle. | STEP 3: Turn left and go around to the counter with red tomato and red bottle on top. | STEP 4: Slice the red tomato on the counter top. | STEP 5: Place the yellow knife on the left of the white and blue magazine on the top of the counter. | STEP 6: Pick up one slice of the tomato from the counter top. | STEP 7: Turn left and go around the counter through the kitchen to the stove on the right. | STEP 8: Heat the slice of tomato in the microwave above the stove and take it out. | STEP 9: Move over left to the counter space on the left of the stove. | STEP 10: Place the tomato slice on the counter in front of the orange glass. | END" ]
[ [ "STEP 1: Turn left and go across the kitchen around the counter to the other side. ", " STEP 2: Pick up the yellow knife on the counter next to the red bottle. ", " STEP 3: Turn left and go around to the counter with red tomato and red bottle on top. ", " STEP 4: Slice the red tomato on the counter top. ", " STEP 5: Place the yellow knife on the left of the white and blue magazine on the top of the counter. ", " STEP 6: Pick up one slice of the tomato from the counter top. ", " STEP 7: Turn left and go around the counter through the kitchen to the stove on the right. ", " STEP 8: Heat the slice of tomato in the microwave above the stove and take it out. ", " STEP 9: Move over left to the counter space on the left of the stove. ", " STEP 10: Place the tomato slice on the counter in front of the orange glass. ", " END" ] ]
seen
trial_T20190908_235555_653612-2
put a cooked tomato slice on 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 3.75 0.900 0.5 0 0 0 1 Pan 0.974 0.957 -1.419 0 180 0 77 2 Potato 1.724 0.946 -1.255 0 0 0 79 3 Potato -0.149 0.425 2.025 0 180 0 84 4 DishSponge 3.793 0.552 1.449 0 270 0 82 5 Kettle -1.516 0.913 0.037 0 0 0 59 6 WineBottle -1.331 1.658 -1.784 0 0 0 72 7 WineBottle -1.160 0.913 -1.267 0 0 0 59 8 Pot 0.974 0.957 -1.688 0 180 0 58 9 Fork -2.659 0.875 3.390 0 90 0 61 10 Fork -2.606 0.875 3.274 0 135 0 61 11 Spoon -1.961 0.913 -0.288 0 0 0 59 12 Spoon 1.760 0.911 -1.709 0 90 0 79 13 Cup -2.436 0.873 2.715 0 0 0 61 14 Cup -0.263 0.387 2.054 0 180 0 84 15 Knife -2.072 0.934 -1.591 0 0 0 59 16 Tomato -0.871 0.240 2.058 0 90 0 89 17 Tomato -0.377 1.191 2.246 0 180 0 84 18 SaltShaker 3.662 0.877 1.861 0 270 0 80 19 SaltShaker 1.584 0.111 -1.301 0 0 0 65 20 PepperShaker 0.321 0.110 -1.451 0 0 0 67 21 PepperShaker 3.689 0.877 1.759 0 270 0 80 22 Bread -2.592 0.958 3.049 0 135 0 61 23 Lettuce -2.912 0.943 2.758 0 225 0 61 24 Lettuce -3.055 0.939 3.140 0 225 0 61 25 Mug -1.112 0.958 -1.479 0 0 0 96 26 Apple -0.035 1.627 2.100 0 180 0 84 27 Book -2.183 0.908 -0.939 0 0 0 59 28 Fork -2.152 0.879 3.221 0 270 0 61 29 Tomato -1.961 0.959 -0.939 0 0 0 59 30 Egg -0.035 0.414 2.054 0 180 0 84 31 Kettle -2.183 0.913 -0.288 0 270 0 59 32 Vase -1.516 0.913 -1.265 0 0 0 59 33 Cup 1.578 0.908 -1.346 0 0 0 79 34 WineBottle -2.088 0.120 -1.580 0 0 0 60 35 Plate 0.307 1.148 2.206 0 180 0 84 36 Spatula 0.234 0.945 -1.646 0 90 0 56 37 Potato -0.923 0.229 2.213 0 90 0 89 38 Pot 1.328 0.957 -1.688 0 180 0 62 39 Knife -2.950 0.896 3.035 0 45 0 61 40 SaltShaker -2.881 0.874 3.053 0 0 0 61 41 PepperShaker -1.982 0.714 -1.579 0 0 0 78 42 Lettuce -2.525 0.939 3.565 0 225 0 61 43 ButterKnife -3.017 0.878 3.580 0 135 0 61 44 Bread -2.152 0.961 3.073 0 270 0 61 45 Vase -2.183 0.913 -1.265 0 0 0 59 46 DishSponge 1.614 0.909 -1.437 0 0 0 79 47 Apple -2.152 0.929 3.296 0 270 0 61 48 Pan 1.328 0.957 -1.420 0 180 0 63 49 Spoon -0.833 0.913 -1.471 0 0 0 59 50 SoapBottle 0.069 0.929 -1.501 0 270 0 56 51 Mug -0.292 0.692 -1.678 0 0 0 88 52 Statue 3.676 0.168 1.410 0 334.521 0 82 53 Statue 0.709 0.910 -1.674 0 270 0 59 54 Bowl 0.193 1.570 2.160 0 180 0 84 55 Cabinet -2.171 2.009 -1.538 0 0 0 56 Sink 0.024 0.771 -1.708 0 270 0 57 Cabinet 1.444 2.259 -1.542 0 0 0 58 StoveBurner 0.974 0.957 -1.688 0 180 0 59 CounterTop -1.866 0.947 -0.614 0 0 0 60 Cabinet -2.217 0.373 -1.874 0 0 0 61 DiningTable -2.663 0.002 3.208 0 0 0 62 StoveBurner 1.328 0.957 -1.688 0 180 0 63 StoveBurner 1.328 0.957 -1.420 0 180 0 64 Cabinet -1.478 0.373 -1.235 0 0 0 65 Cabinet 1.775 0.372 -1.242 0 0 0 66 Cabinet 0.774 0.372 -1.242 0 0 0 67 Cabinet 0.375 0.372 -1.242 0 0 0 68 Cabinet -0.574 0.372 -1.238 0 0 0 69 Cabinet 1.775 2.009 -1.542 0 0 0 70 Cabinet 0.524 2.009 -1.542 0 0 0 71 Cabinet -0.714 2.009 -1.542 0 0 0 72 Cabinet -1.671 2.009 -1.538 0 0 0 73 Cabinet 0.854 2.259 -1.542 0 0 0 74 Drawer -1.636 0.683 -0.930 0 0 0 75 Drawer 1.650 0.682 -1.396 0 0 0 76 Drawer 0.600 0.682 -1.396 0 0 0 77 StoveBurner 0.974 0.957 -1.419 0 180 0 78 Drawer -2.062 0.683 -1.579 0 0 0 79 CounterTop 1.645 0.945 -1.527 0 0 0 80 Shelf 3.725 0.880 1.671 0 90 0 81 LightSwitch 2.830 1.266 -0.748 0 0 0 82 Shelf 3.726 0.552 1.671 0 90 0 83 Microwave 1.150 1.655 -1.614 0 0 0 84 Fridge -0.035 0.0 2.177 0 180 0 85 Window -0.115 1.802 -1.896 90 0 0 86 Window -4.009 1.799 0.310 90 90 0 87 Shelf 3.726 0.172 1.671 0 90 0 88 SinkBasin -0.330 0.686 -1.581 0 270 0 89 GarbageCan -0.870 -0.001 2.136 0 90 0 90 StoveKnob 1.089 0.913 -1.243 45 0 0 91 StoveKnob 1.208 0.913 -1.243 45 0 0 92 StoveKnob 1.340 0.913 -1.243 45 0 0 93 StoveKnob 0.961 0.913 -1.243 45 0 0 94 Toaster 1.637 0.900 -1.673 0 0 0 95 Chair -3.505 0.002 3.290 0 105.736 0 96 CoffeeMachine -1.111 0.900 -1.726 0 0 0 97 HousePlant -2.663 0.835 3.209 0 0 0 98 Faucet -0.187 0.922 -1.75 0 311.166 0 99 ShelvingUnit 3.726 0.006 1.671 0 90 0 100 Stool -2.501 -0.000 0.062 1.223 91.243 0 101 Stool -2.475 -0.000 -0.802 1.209 69.808 0 102 Chair -2.934 0.002 2.437 0 28.531 0 103 Chair -1.698 0.002 3.235 0 245.204 0 104 NorthWall 105 EastWall 106 SouthWall 107 WestWall
[ "STEP 1: turn to the left and move forward all the way across the room, turn left at the window and move towards the door, turning to the left at the door to face the counter top | STEP 2: pick up the sharp knife with the yellow handle from the counter | STEP 3: move to the left a few steps to face the counter in front of the tomato | STEP 4: slice the tomato that is on the counter with the knife | STEP 5: put the knife on the counter | STEP 6: pick up the end slice of the tomato from the counter | STEP 7: turn to the left to move to the end of the counter and make a right, move forward passed the fridge on the left and turn right and move forward to the stove | STEP 8: open the door of the microwave that is above the stove, put the tomato slice in to the microwave, cook the slice for 3 seconds, open the door and remove the tomato slice | STEP 9: move slightly to the left to face the small counter to the left of the stove | STEP 10: put the tomato slice on to the counter to the right of the potato | END" ]
[ [ "STEP 1: turn to the left and move forward all the way across the room, turn left at the window and move towards the door, turning to the left at the door to face the counter top ", " STEP 2: pick up the sharp knife with the yellow handle from the counter ", " STEP 3: move to the left a few steps to face the counter in front of the tomato ", " STEP 4: slice the tomato that is on the counter with the knife ", " STEP 5: put the knife on the counter ", " STEP 6: pick up the end slice of the tomato from the counter ", " STEP 7: turn to the left to move to the end of the counter and make a right, move forward passed the fridge on the left and turn right and move forward to the stove ", " STEP 8: open the door of the microwave that is above the stove, put the tomato slice in to the microwave, cook the slice for 3 seconds, open the door and remove the tomato slice ", " STEP 9: move slightly to the left to face the small counter to the left of the stove ", " STEP 10: put the tomato slice on to the counter to the right of the potato ", " END" ] ]
seen
trial_T20190906_200412_559520-0
Take a CD to a new desk
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " -1.25", " 0.900", " 0.0", " 0", " 180", " 0", "" ], [ "1", " CD", " -1.192", " 0.861", " -2.561", " 0", " 0", " 0", " 58" ], [ "2", " CellPhone", " 0.355", " 0.812", " -2.440", " 0", " 0", " 0", " 51" ], [ "3", " CellPhone", " 1.103", " 0.774", " 1.657", " 0", " 0", " 0", " 29" ], [ "4", " Pencil", " -0.990", " 0.865", " -2.248", " 0", " 0", " 0", " 58" ], [ "5", " Pencil", " 1.467", " 0.827", " -1.363", " 0", " 270", " 0", " 49" ], [ "6", " KeyChain", " 0.459", " 0.812", " -2.304", " 0", " 0", " 0", " 51" ], [ "7", " Book", " -0.333", " 0.774", " 1.012", " 0", " 0", " 0", " 29" ], [ "8", " Book", " 0.241", " 0.774", " 0.850", " 0", " 0", " 0", " 29" ], [ "9", " Laptop", " 0.528", " 0.772", " 1.819", " 0", " 0", " 0", " 29" ], [ "10", " AlarmClock", " -0.587", " 0.862", " -2.248", " 0", " 0", " 0", " 58" ], [ "11", " AlarmClock", " 1.467", " 0.824", " -1.776", " 0", " 270", " 0", " 49" ], [ "12", " Book", " -1.393", " 0.861", " -2.498", " 0", " 0", " 0", " 58" ], [ "13", " Cloth", " 1.303", " 0.0", " -0.696", " 0", " 303.212", " 0", "" ], [ "14", " Cloth", " 1.273", " 0.0", " -0.969", " 0", " 0", " 0", "" ], [ "15", " CellPhone", " -1.580", " 0.652", " -2.325", " 0", " 0", " 0", " 57" ], [ "16", " Pencil", " -1.232", " 0.656", " -2.325", " 0", " 0", " 0", " 57" ], [ "17", " Laptop", " 0.528", " 0.772", " 1.173", " 0", " 0", " 0", " 29" ], [ "18", " AlarmClock", " -0.061", " 0.812", " -2.440", " 0", " 0", " 0", " 51" ], [ "19", " CreditCard", " 1.522", " 0.823", " -1.467", " 0", " 270", " 0", " 49" ], [ "20", " KeyChain", " -1.192", " 0.862", " -2.436", " 0", " 0", " 0", " 58" ], [ "21", " TennisRacket", " -1.704", " 0.345", " 1.743", " 345.000", " 90", " 180", "" ], [ "22", " RemoteControl", " -1.232", " 0.373", " -2.325", " 0", " 0", " 0", " 56" ], [ "23", " Pillow", " -0.046", " 0.902", " 1.335", " 0", " 0", " 0", " 29" ], [ "24", " CD", " -1.667", " 0.087", " -2.325", " 0", " 0", " 0", " 55" ], [ "25", " CD", " -0.990", " 0.861", " -2.498", " 0", " 0", " 0", " 58" ], [ "26", " CD", " -0.990", " 0.861", " -2.373", " 0", " 0", " 0", " 58" ], [ "27", " Pen", " -1.406", " 0.093", " -2.325", " 0", " 0", " 0", " 55" ], [ "28", " Bowl", " 0.042", " 0.813", " -2.236", " 0", " 0", " 0", " 51" ], [ "29", " Bed", " 0.270", " 0.001", " 1.331", " 0", " 90", " 0", "" ], [ "30", " LaundryHamper", " -1.329", " 0.001", " 1.829", " 0", " 180", " 0", "" ], [ "31", " Television", " -1.664", " 1.479", " -0.912", " 0", " 90", " 0", "" ], [ "32", " DeskLamp", " 0.049", " 0.815", " -2.481", " 0", " 0", " 0", "" ], [ "33", " LightSwitch", " -1.799", " 1.213", " 0.680", " 0", " 90", " 0", "" ], [ "34", " Painting", " 0.492", " 1.684", " -2.629", " 90", " 0", " 0", "" ], [ "35", " Poster", " -1.799", " 1.690", " -1.491", " 90", " 270", " 0", "" ], [ "36", " GarbageCan", " 1.306", " -0.001", " -2.451", " 0", " 317.376", " 0", "" ], [ "37", " Mirror", " 1.5", " 1.361", " -0.542", " 0", " 90", " 0", "" ], [ "38", " Window", " 1.721", " 1.365", " -1.597", " 90", " 270", " 0", "" ], [ "39", " Shelf", " -1.605", " 0.435", " -0.686", " 0", " 90", " 0", "" ], [ "40", " Shelf", " -1.613", " 1.154", " -0.904", " 0", " 90", " 0", "" ], [ "41", " ShelvingUnit", " -1.611", " 0.005", " -0.904", " 0", " 90", " 0", "" ], [ "42", " Shelf", " -1.605", " 0.719", " -1.122", " 0", " 90", " 0", "" ], [ "43", " Shelf", " -1.605", " 0.435", " -1.122", " 0", " 90", " 0", "" ], [ "44", " Shelf", " -1.605", " 1.006", " -1.122", " 0", " 90", " 0", "" ], [ "45", " Shelf", " -1.605", " 0.148", " -0.686", " 0", " 90", " 0", "" ], [ "46", " Shelf", " -1.605", " 0.149", " -1.122", " 0", " 90", " 0", "" ], [ "47", " Shelf", " -1.605", " 1.006", " -0.686", " 0", " 90", " 0", "" ], [ "48", " Shelf", " -1.605", " 0.719", " -0.686", " 0", " 90", " 0", "" ], [ "49", " SideTable", " 1.484", " 0.001", " -1.481", " 0", " 270", " 0", "" ], [ "50", " Blinds", " 1.699", " 2.096", " -1.575", " 0", " 270", " 0", "" ], [ "51", " Desk", " 0.244", " 0.004", " -2.356", " 0", " 0", " 0", "" ], [ "52", " Chair", " -0.626", " 1.439", " -2.199", " 0", " 171.006", " 0", "" ], [ "53", " Chair", " 0.220", " 1.466", " -2.214", " 0", " 188.269", " 0", "" ], [ "54", " Shelf", " -0.978", " 1.387", " -2.479", " 0", " 0", " 0", "" ], [ "55", " Drawer", " -1.389", " 0.197", " -2.261", " 0", " 0", " 0", "" ], [ "56", " Drawer", " -1.389", " 0.480", " -2.261", " 0", " 0", " 0", "" ], [ "57", " Drawer", " -1.389", " 0.731", " -2.261", " 0", " 0", " 0", "" ], [ "58", " Desk", " -0.973", " 1.162", " -2.351", " 0", " 0", " 0", "" ], [ "59", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "60", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "61", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "62", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.25 0.900 0.0 0 180 0 1 CD -1.192 0.861 -2.561 0 0 0 58 2 CellPhone 0.355 0.812 -2.440 0 0 0 51 3 CellPhone 1.103 0.774 1.657 0 0 0 29 4 Pencil -0.990 0.865 -2.248 0 0 0 58 5 Pencil 1.467 0.827 -1.363 0 270 0 49 6 KeyChain 0.459 0.812 -2.304 0 0 0 51 7 Book -0.333 0.774 1.012 0 0 0 29 8 Book 0.241 0.774 0.850 0 0 0 29 9 Laptop 0.528 0.772 1.819 0 0 0 29 10 AlarmClock -0.587 0.862 -2.248 0 0 0 58 11 AlarmClock 1.467 0.824 -1.776 0 270 0 49 12 Book -1.393 0.861 -2.498 0 0 0 58 13 Cloth 1.303 0.0 -0.696 0 303.212 0 14 Cloth 1.273 0.0 -0.969 0 0 0 15 CellPhone -1.580 0.652 -2.325 0 0 0 57 16 Pencil -1.232 0.656 -2.325 0 0 0 57 17 Laptop 0.528 0.772 1.173 0 0 0 29 18 AlarmClock -0.061 0.812 -2.440 0 0 0 51 19 CreditCard 1.522 0.823 -1.467 0 270 0 49 20 KeyChain -1.192 0.862 -2.436 0 0 0 58 21 TennisRacket -1.704 0.345 1.743 345.000 90 180 22 RemoteControl -1.232 0.373 -2.325 0 0 0 56 23 Pillow -0.046 0.902 1.335 0 0 0 29 24 CD -1.667 0.087 -2.325 0 0 0 55 25 CD -0.990 0.861 -2.498 0 0 0 58 26 CD -0.990 0.861 -2.373 0 0 0 58 27 Pen -1.406 0.093 -2.325 0 0 0 55 28 Bowl 0.042 0.813 -2.236 0 0 0 51 29 Bed 0.270 0.001 1.331 0 90 0 30 LaundryHamper -1.329 0.001 1.829 0 180 0 31 Television -1.664 1.479 -0.912 0 90 0 32 DeskLamp 0.049 0.815 -2.481 0 0 0 33 LightSwitch -1.799 1.213 0.680 0 90 0 34 Painting 0.492 1.684 -2.629 90 0 0 35 Poster -1.799 1.690 -1.491 90 270 0 36 GarbageCan 1.306 -0.001 -2.451 0 317.376 0 37 Mirror 1.5 1.361 -0.542 0 90 0 38 Window 1.721 1.365 -1.597 90 270 0 39 Shelf -1.605 0.435 -0.686 0 90 0 40 Shelf -1.613 1.154 -0.904 0 90 0 41 ShelvingUnit -1.611 0.005 -0.904 0 90 0 42 Shelf -1.605 0.719 -1.122 0 90 0 43 Shelf -1.605 0.435 -1.122 0 90 0 44 Shelf -1.605 1.006 -1.122 0 90 0 45 Shelf -1.605 0.148 -0.686 0 90 0 46 Shelf -1.605 0.149 -1.122 0 90 0 47 Shelf -1.605 1.006 -0.686 0 90 0 48 Shelf -1.605 0.719 -0.686 0 90 0 49 SideTable 1.484 0.001 -1.481 0 270 0 50 Blinds 1.699 2.096 -1.575 0 270 0 51 Desk 0.244 0.004 -2.356 0 0 0 52 Chair -0.626 1.439 -2.199 0 171.006 0 53 Chair 0.220 1.466 -2.214 0 188.269 0 54 Shelf -0.978 1.387 -2.479 0 0 0 55 Drawer -1.389 0.197 -2.261 0 0 0 56 Drawer -1.389 0.480 -2.261 0 0 0 57 Drawer -1.389 0.731 -2.261 0 0 0 58 Desk -0.973 1.162 -2.351 0 0 0 59 NorthWall 60 EastWall 61 SouthWall 62 WestWall
[ "STEP 1: walk towards the desk that is on the right | STEP 2: pick up the bottom most CD from the desk | STEP 3: turn around 180 degrees, then turn right and stop at the next desk | STEP 4: turn the light on at the desk | END" ]
[ [ "STEP 1: walk towards the desk that is on the right ", " STEP 2: pick up the bottom most CD from the desk ", " STEP 3: turn around 180 degrees, then turn right and stop at the next desk ", " STEP 4: turn the light on at the desk ", " END" ] ]
seen
trial_T20190906_200412_559520-1
Examine a CD by the light of a table lamp.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.25 0.900 0.0 0 180 0 1 CD -1.192 0.861 -2.561 0 0 0 58 2 CellPhone 0.355 0.812 -2.440 0 0 0 51 3 CellPhone 1.103 0.774 1.657 0 0 0 29 4 Pencil -0.990 0.865 -2.248 0 0 0 58 5 Pencil 1.467 0.827 -1.363 0 270 0 49 6 KeyChain 0.459 0.812 -2.304 0 0 0 51 7 Book -0.333 0.774 1.012 0 0 0 29 8 Book 0.241 0.774 0.850 0 0 0 29 9 Laptop 0.528 0.772 1.819 0 0 0 29 10 AlarmClock -0.587 0.862 -2.248 0 0 0 58 11 AlarmClock 1.467 0.824 -1.776 0 270 0 49 12 Book -1.393 0.861 -2.498 0 0 0 58 13 Cloth 1.303 0.0 -0.696 0 303.212 0 14 Cloth 1.273 0.0 -0.969 0 0 0 15 CellPhone -1.580 0.652 -2.325 0 0 0 57 16 Pencil -1.232 0.656 -2.325 0 0 0 57 17 Laptop 0.528 0.772 1.173 0 0 0 29 18 AlarmClock -0.061 0.812 -2.440 0 0 0 51 19 CreditCard 1.522 0.823 -1.467 0 270 0 49 20 KeyChain -1.192 0.862 -2.436 0 0 0 58 21 TennisRacket -1.704 0.345 1.743 345.000 90 180 22 RemoteControl -1.232 0.373 -2.325 0 0 0 56 23 Pillow -0.046 0.902 1.335 0 0 0 29 24 CD -1.667 0.087 -2.325 0 0 0 55 25 CD -0.990 0.861 -2.498 0 0 0 58 26 CD -0.990 0.861 -2.373 0 0 0 58 27 Pen -1.406 0.093 -2.325 0 0 0 55 28 Bowl 0.042 0.813 -2.236 0 0 0 51 29 Bed 0.270 0.001 1.331 0 90 0 30 LaundryHamper -1.329 0.001 1.829 0 180 0 31 Television -1.664 1.479 -0.912 0 90 0 32 DeskLamp 0.049 0.815 -2.481 0 0 0 33 LightSwitch -1.799 1.213 0.680 0 90 0 34 Painting 0.492 1.684 -2.629 90 0 0 35 Poster -1.799 1.690 -1.491 90 270 0 36 GarbageCan 1.306 -0.001 -2.451 0 317.376 0 37 Mirror 1.5 1.361 -0.542 0 90 0 38 Window 1.721 1.365 -1.597 90 270 0 39 Shelf -1.605 0.435 -0.686 0 90 0 40 Shelf -1.613 1.154 -0.904 0 90 0 41 ShelvingUnit -1.611 0.005 -0.904 0 90 0 42 Shelf -1.605 0.719 -1.122 0 90 0 43 Shelf -1.605 0.435 -1.122 0 90 0 44 Shelf -1.605 1.006 -1.122 0 90 0 45 Shelf -1.605 0.148 -0.686 0 90 0 46 Shelf -1.605 0.149 -1.122 0 90 0 47 Shelf -1.605 1.006 -0.686 0 90 0 48 Shelf -1.605 0.719 -0.686 0 90 0 49 SideTable 1.484 0.001 -1.481 0 270 0 50 Blinds 1.699 2.096 -1.575 0 270 0 51 Desk 0.244 0.004 -2.356 0 0 0 52 Chair -0.626 1.439 -2.199 0 171.006 0 53 Chair 0.220 1.466 -2.214 0 188.269 0 54 Shelf -0.978 1.387 -2.479 0 0 0 55 Drawer -1.389 0.197 -2.261 0 0 0 56 Drawer -1.389 0.480 -2.261 0 0 0 57 Drawer -1.389 0.731 -2.261 0 0 0 58 Desk -0.973 1.162 -2.351 0 0 0 59 NorthWall 60 EastWall 61 SouthWall 62 WestWall
[ "STEP 1: Walk forward to the desk. | STEP 2: Pick up the CD which is closest to you. | STEP 3: Turn left and walk towards the lamp at the edge of the desk. | STEP 4: Turn on the lamp. | END" ]
[ [ "STEP 1: Walk forward to the desk. ", " STEP 2: Pick up the CD which is closest to you. ", " STEP 3: Turn left and walk towards the lamp at the edge of the desk. ", " STEP 4: Turn on the lamp. ", " END" ] ]
seen
trial_T20190906_200412_559520-2
Examine a CD by the light of a lamp.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.25 0.900 0.0 0 180 0 1 CD -1.192 0.861 -2.561 0 0 0 58 2 CellPhone 0.355 0.812 -2.440 0 0 0 51 3 CellPhone 1.103 0.774 1.657 0 0 0 29 4 Pencil -0.990 0.865 -2.248 0 0 0 58 5 Pencil 1.467 0.827 -1.363 0 270 0 49 6 KeyChain 0.459 0.812 -2.304 0 0 0 51 7 Book -0.333 0.774 1.012 0 0 0 29 8 Book 0.241 0.774 0.850 0 0 0 29 9 Laptop 0.528 0.772 1.819 0 0 0 29 10 AlarmClock -0.587 0.862 -2.248 0 0 0 58 11 AlarmClock 1.467 0.824 -1.776 0 270 0 49 12 Book -1.393 0.861 -2.498 0 0 0 58 13 Cloth 1.303 0.0 -0.696 0 303.212 0 14 Cloth 1.273 0.0 -0.969 0 0 0 15 CellPhone -1.580 0.652 -2.325 0 0 0 57 16 Pencil -1.232 0.656 -2.325 0 0 0 57 17 Laptop 0.528 0.772 1.173 0 0 0 29 18 AlarmClock -0.061 0.812 -2.440 0 0 0 51 19 CreditCard 1.522 0.823 -1.467 0 270 0 49 20 KeyChain -1.192 0.862 -2.436 0 0 0 58 21 TennisRacket -1.704 0.345 1.743 345.000 90 180 22 RemoteControl -1.232 0.373 -2.325 0 0 0 56 23 Pillow -0.046 0.902 1.335 0 0 0 29 24 CD -1.667 0.087 -2.325 0 0 0 55 25 CD -0.990 0.861 -2.498 0 0 0 58 26 CD -0.990 0.861 -2.373 0 0 0 58 27 Pen -1.406 0.093 -2.325 0 0 0 55 28 Bowl 0.042 0.813 -2.236 0 0 0 51 29 Bed 0.270 0.001 1.331 0 90 0 30 LaundryHamper -1.329 0.001 1.829 0 180 0 31 Television -1.664 1.479 -0.912 0 90 0 32 DeskLamp 0.049 0.815 -2.481 0 0 0 33 LightSwitch -1.799 1.213 0.680 0 90 0 34 Painting 0.492 1.684 -2.629 90 0 0 35 Poster -1.799 1.690 -1.491 90 270 0 36 GarbageCan 1.306 -0.001 -2.451 0 317.376 0 37 Mirror 1.5 1.361 -0.542 0 90 0 38 Window 1.721 1.365 -1.597 90 270 0 39 Shelf -1.605 0.435 -0.686 0 90 0 40 Shelf -1.613 1.154 -0.904 0 90 0 41 ShelvingUnit -1.611 0.005 -0.904 0 90 0 42 Shelf -1.605 0.719 -1.122 0 90 0 43 Shelf -1.605 0.435 -1.122 0 90 0 44 Shelf -1.605 1.006 -1.122 0 90 0 45 Shelf -1.605 0.148 -0.686 0 90 0 46 Shelf -1.605 0.149 -1.122 0 90 0 47 Shelf -1.605 1.006 -0.686 0 90 0 48 Shelf -1.605 0.719 -0.686 0 90 0 49 SideTable 1.484 0.001 -1.481 0 270 0 50 Blinds 1.699 2.096 -1.575 0 270 0 51 Desk 0.244 0.004 -2.356 0 0 0 52 Chair -0.626 1.439 -2.199 0 171.006 0 53 Chair 0.220 1.466 -2.214 0 188.269 0 54 Shelf -0.978 1.387 -2.479 0 0 0 55 Drawer -1.389 0.197 -2.261 0 0 0 56 Drawer -1.389 0.480 -2.261 0 0 0 57 Drawer -1.389 0.731 -2.261 0 0 0 58 Desk -0.973 1.162 -2.351 0 0 0 59 NorthWall 60 EastWall 61 SouthWall 62 WestWall
[ "STEP 1: Walk straight towards the desk. | STEP 2: Pick up the CD that is closest to you. | STEP 3: Turn left and walk towards the lamp on your right. | STEP 4: Turn on the lamp. | END" ]
[ [ "STEP 1: Walk straight towards the desk. ", " STEP 2: Pick up the CD that is closest to you. ", " STEP 3: Turn left and walk towards the lamp on your right. ", " STEP 4: Turn on the lamp. ", " END" ] ]
seen
trial_T20190909_020256_557442-0
Put a chilled wine glass on a table.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 0.25 0.900 3.25 0 0 0 1 Potato -0.657 0.943 1.143 0 90 0 88 2 DishSponge -2.501 1.398 3.858 0 0 0 61 3 ButterKnife 1.024 0.823 2.285 0 0 0 52 4 Spatula -2.851 0.838 3.479 0 90 0 70 5 Egg -2.403 1.227 2.333 0 90 0 79 6 Egg 0.875 0.859 1.028 0 0 0 47 7 Plate -1.359 1.687 3.897 0 0 0 75 8 Cup -1.317 0.900 1.452 0 90 0 88 9 Cup -1.917 0.127 3.752 0 0 0 69 10 Knife -0.657 0.923 1.246 0 180 0 88 11 Knife -1.053 0.923 1.452 0 180 0 88 12 SoapBottle 0.650 0.822 1.072 0 90 0 47 13 SoapBottle 1.024 0.812 2.458 0 0 0 52 14 Tomato -2.636 1.259 2.221 0 90 0 79 15 Tomato -2.851 0.891 3.331 0 0 0 70 16 PepperShaker -1.053 0.896 1.349 0 90 0 88 17 Lettuce -2.636 0.843 2.165 0 90 0 79 18 Apple 0.902 0.085 2.918 0 0 0 81 19 Apple -1.317 0.961 1.040 0 90 0 88 20 Plate -1.697 1.687 3.897 0 0 0 42 21 Fork -1.698 0.823 3.535 0 0 0 70 22 Bread 0.818 0.863 2.447 0 1.703 1.209 47 23 Spatula 0.712 0.848 2.134 0 200.845 0 52 24 PaperTowelRoll 0.950 0.927 1.072 0 0 0 47 25 Potato -1.415 0.740 3.857 0 0 0 82 26 SoapBottle -1.185 0.900 1.555 0 90 0 88 27 Egg -2.744 1.643 2.165 0 90 0 79 28 Cup -0.921 0.900 1.246 0 90 0 88 29 Pot -2.577 0.994 2.277 0 90 0 79 30 SaltShaker -0.524 0.896 1.555 0 90 0 88 31 Pan -2.667 0.812 3.74 0 137.145 0 70 32 PepperShaker -1.053 0.896 1.555 0 90 0 88 33 ButterKnife 0.800 0.823 0.984 0 0 0 47 34 Tomato -2.636 1.259 2.389 0 90 0 79 35 DishSponge -0.921 0.900 1.555 0 90 0 88 36 Lettuce -0.580 0.956 1.358 31.822 0 0 88 37 Spoon -0.921 0.901 1.349 0 180 0 88 38 Apple -1.317 0.961 1.143 0 90 0 88 39 Mug 1.024 0.818 2.631 0 0 0 52 40 Bowl -2.136 1.396 3.858 0 0 0 48 41 Drawer 0.729 0.703 2.199 0 0 0 42 Cabinet -1.962 1.926 3.733 0 0 0 43 Cabinet -2.377 2.014 1.058 0 0 0 44 Drawer 0.729 0.703 2.532 0 0 0 45 Cabinet -2.622 1.925 3.733 0 0 0 46 StoveBurner 0.913 0.843 1.375 0 0 0 47 CounterTop 0.864 0.858 0.984 0 0 0 48 Cabinet -1.976 1.779 3.734 0 0 0 49 Cabinet 0.580 0.385 0.819 0 0 0 50 Cabinet -2.379 1.408 1.677 0 0 0 51 Cabinet -0.419 1.703 3.736 0 0 0 52 CounterTop 0.864 0.858 2.371 0 0 0 53 Sink -1.702 0.726 3.828 0 180 0 54 Cabinet 0.580 0.385 2.694 0 0 0 55 Cabinet -2.379 0.637 1.677 0 0 0 56 Cabinet -0.419 0.674 3.736 0 0 0 57 Cabinet -2.377 2.014 2.558 0 0 0 58 Drawer 0.729 0.703 0.980 0 0 0 59 Drawer -2.114 0.706 3.657 0 0 0 60 Cabinet -2.377 1.691 2.572 0 0 0 61 Cabinet -2.951 1.925 3.733 0 0 0 62 Cabinet 0.580 0.385 2.360 0 0 0 63 Cabinet -2.426 0.435 3.421 0 0 0 64 StoveBurner 0.642 0.843 1.375 0 0 0 65 Cabinet -2.377 1.927 1.686 0 0 0 66 Cabinet -2.377 2.013 3.177 0 0 0 67 Cabinet -1.136 0.385 3.516 0 0 0 68 StoveBurner 0.913 0.843 1.768 0 0 0 69 Cabinet -1.974 0.385 3.516 0 0 0 70 CounterTop -2.081 0.858 3.799 0 0 0 71 Cabinet -2.426 0.435 3.174 0 0 0 72 Cabinet -2.377 2.014 1.693 0 0 0 73 Cabinet -1.986 0.385 3.511 0 0 0 74 StoveBurner 0.642 0.843 1.768 0 0 0 75 Cabinet -1.098 1.926 3.729 0 0 0 76 Microwave -1.529 1.250 3.881 1.622 180 0 77 CoffeeMachine 1.000 0.812 2.492 0 270 0 78 LightSwitch 0.825 1.396 4.082 0 180 0 79 Fridge -2.642 0.0 2.134 0 180 0 80 Window -1.131 1.673 0.808 90 0 0 81 GarbageCan 0.931 -0.000 2.918 0 0 0 82 SinkBasin -1.601 0.686 3.774 0 0 0 83 StoveKnob 1.104 1.002 1.886 0 0 70.346 84 StoveKnob 1.104 1.002 1.733 0 0 70.346 85 StoveKnob 1.104 1.002 1.321 0 0 70.346 86 StoveKnob 1.104 1.002 1.481 0 0 70.346 87 Toaster -2.247 0.812 3.862 0 180 0 88 DiningTable -0.917 -0.000 1.203 0 0 0 89 Stool -0.932 0.000 1.404 1.196 21.715 0 90 Faucet -1.842 0.809 3.984 0 180 0 91 Faucet -1.371 0.809 3.985 0 180 0 92 NorthWall 93 EastWall 94 SouthWall 95 WestWall
[ "STEP 1: Go left and then left again and turn to the left to face the table with the coffee maker. | STEP 2: Pick the wine glass up from the table. | STEP 3: Go left and then turn to the left to face the fridge. | STEP 4: Put the wine glass in the fridge and shut the door and then open the door and pick up the wine glass again. | STEP 5: Turn around and face the table with the coffee maker. | STEP 6: Put the wine glass on the table. | END" ]
[ [ "STEP 1: Go left and then left again and turn to the left to face the table with the coffee maker. ", " STEP 2: Pick the wine glass up from the table. ", " STEP 3: Go left and then turn to the left to face the fridge. ", " STEP 4: Put the wine glass in the fridge and shut the door and then open the door and pick up the wine glass again. ", " STEP 5: Turn around and face the table with the coffee maker. ", " STEP 6: Put the wine glass on the table. ", " END" ] ]
seen
trial_T20190909_020256_557442-1
Put the chilled wine glass 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 0.25 0.900 3.25 0 0 0 1 Potato -0.657 0.943 1.143 0 90 0 88 2 DishSponge -2.501 1.398 3.858 0 0 0 61 3 ButterKnife 1.024 0.823 2.285 0 0 0 52 4 Spatula -2.851 0.838 3.479 0 90 0 70 5 Egg -2.403 1.227 2.333 0 90 0 79 6 Egg 0.875 0.859 1.028 0 0 0 47 7 Plate -1.359 1.687 3.897 0 0 0 75 8 Cup -1.317 0.900 1.452 0 90 0 88 9 Cup -1.917 0.127 3.752 0 0 0 69 10 Knife -0.657 0.923 1.246 0 180 0 88 11 Knife -1.053 0.923 1.452 0 180 0 88 12 SoapBottle 0.650 0.822 1.072 0 90 0 47 13 SoapBottle 1.024 0.812 2.458 0 0 0 52 14 Tomato -2.636 1.259 2.221 0 90 0 79 15 Tomato -2.851 0.891 3.331 0 0 0 70 16 PepperShaker -1.053 0.896 1.349 0 90 0 88 17 Lettuce -2.636 0.843 2.165 0 90 0 79 18 Apple 0.902 0.085 2.918 0 0 0 81 19 Apple -1.317 0.961 1.040 0 90 0 88 20 Plate -1.697 1.687 3.897 0 0 0 42 21 Fork -1.698 0.823 3.535 0 0 0 70 22 Bread 0.818 0.863 2.447 0 1.703 1.209 47 23 Spatula 0.712 0.848 2.134 0 200.845 0 52 24 PaperTowelRoll 0.950 0.927 1.072 0 0 0 47 25 Potato -1.415 0.740 3.857 0 0 0 82 26 SoapBottle -1.185 0.900 1.555 0 90 0 88 27 Egg -2.744 1.643 2.165 0 90 0 79 28 Cup -0.921 0.900 1.246 0 90 0 88 29 Pot -2.577 0.994 2.277 0 90 0 79 30 SaltShaker -0.524 0.896 1.555 0 90 0 88 31 Pan -2.667 0.812 3.74 0 137.145 0 70 32 PepperShaker -1.053 0.896 1.555 0 90 0 88 33 ButterKnife 0.800 0.823 0.984 0 0 0 47 34 Tomato -2.636 1.259 2.389 0 90 0 79 35 DishSponge -0.921 0.900 1.555 0 90 0 88 36 Lettuce -0.580 0.956 1.358 31.822 0 0 88 37 Spoon -0.921 0.901 1.349 0 180 0 88 38 Apple -1.317 0.961 1.143 0 90 0 88 39 Mug 1.024 0.818 2.631 0 0 0 52 40 Bowl -2.136 1.396 3.858 0 0 0 48 41 Drawer 0.729 0.703 2.199 0 0 0 42 Cabinet -1.962 1.926 3.733 0 0 0 43 Cabinet -2.377 2.014 1.058 0 0 0 44 Drawer 0.729 0.703 2.532 0 0 0 45 Cabinet -2.622 1.925 3.733 0 0 0 46 StoveBurner 0.913 0.843 1.375 0 0 0 47 CounterTop 0.864 0.858 0.984 0 0 0 48 Cabinet -1.976 1.779 3.734 0 0 0 49 Cabinet 0.580 0.385 0.819 0 0 0 50 Cabinet -2.379 1.408 1.677 0 0 0 51 Cabinet -0.419 1.703 3.736 0 0 0 52 CounterTop 0.864 0.858 2.371 0 0 0 53 Sink -1.702 0.726 3.828 0 180 0 54 Cabinet 0.580 0.385 2.694 0 0 0 55 Cabinet -2.379 0.637 1.677 0 0 0 56 Cabinet -0.419 0.674 3.736 0 0 0 57 Cabinet -2.377 2.014 2.558 0 0 0 58 Drawer 0.729 0.703 0.980 0 0 0 59 Drawer -2.114 0.706 3.657 0 0 0 60 Cabinet -2.377 1.691 2.572 0 0 0 61 Cabinet -2.951 1.925 3.733 0 0 0 62 Cabinet 0.580 0.385 2.360 0 0 0 63 Cabinet -2.426 0.435 3.421 0 0 0 64 StoveBurner 0.642 0.843 1.375 0 0 0 65 Cabinet -2.377 1.927 1.686 0 0 0 66 Cabinet -2.377 2.013 3.177 0 0 0 67 Cabinet -1.136 0.385 3.516 0 0 0 68 StoveBurner 0.913 0.843 1.768 0 0 0 69 Cabinet -1.974 0.385 3.516 0 0 0 70 CounterTop -2.081 0.858 3.799 0 0 0 71 Cabinet -2.426 0.435 3.174 0 0 0 72 Cabinet -2.377 2.014 1.693 0 0 0 73 Cabinet -1.986 0.385 3.511 0 0 0 74 StoveBurner 0.642 0.843 1.768 0 0 0 75 Cabinet -1.098 1.926 3.729 0 0 0 76 Microwave -1.529 1.250 3.881 1.622 180 0 77 CoffeeMachine 1.000 0.812 2.492 0 270 0 78 LightSwitch 0.825 1.396 4.082 0 180 0 79 Fridge -2.642 0.0 2.134 0 180 0 80 Window -1.131 1.673 0.808 90 0 0 81 GarbageCan 0.931 -0.000 2.918 0 0 0 82 SinkBasin -1.601 0.686 3.774 0 0 0 83 StoveKnob 1.104 1.002 1.886 0 0 70.346 84 StoveKnob 1.104 1.002 1.733 0 0 70.346 85 StoveKnob 1.104 1.002 1.321 0 0 70.346 86 StoveKnob 1.104 1.002 1.481 0 0 70.346 87 Toaster -2.247 0.812 3.862 0 180 0 88 DiningTable -0.917 -0.000 1.203 0 0 0 89 Stool -0.932 0.000 1.404 1.196 21.715 0 90 Faucet -1.842 0.809 3.984 0 180 0 91 Faucet -1.371 0.809 3.985 0 180 0 92 NorthWall 93 EastWall 94 SouthWall 95 WestWall
[ "STEP 1: Turn left walk forward then turn left head to the right side of the table | STEP 2: Pick up the wine glass to the table | STEP 3: Turn left then face the fridge | STEP 4: Open the fridge chill the wine glass take it out then close the fridge | STEP 5: Turn left then go to the table | STEP 6: Put the glass on the table beside the cabbage | END" ]
[ [ "STEP 1: Turn left walk forward then turn left head to the right side of the table ", " STEP 2: Pick up the wine glass to the table ", " STEP 3: Turn left then face the fridge ", " STEP 4: Open the fridge chill the wine glass take it out then close the fridge ", " STEP 5: Turn left then go to the table ", " STEP 6: Put the glass on the table beside the cabbage ", " END" ] ]
seen
trial_T20190909_020256_557442-2
Put a cold wine glass 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 0.25 0.900 3.25 0 0 0 1 Potato -0.657 0.943 1.143 0 90 0 88 2 DishSponge -2.501 1.398 3.858 0 0 0 61 3 ButterKnife 1.024 0.823 2.285 0 0 0 52 4 Spatula -2.851 0.838 3.479 0 90 0 70 5 Egg -2.403 1.227 2.333 0 90 0 79 6 Egg 0.875 0.859 1.028 0 0 0 47 7 Plate -1.359 1.687 3.897 0 0 0 75 8 Cup -1.317 0.900 1.452 0 90 0 88 9 Cup -1.917 0.127 3.752 0 0 0 69 10 Knife -0.657 0.923 1.246 0 180 0 88 11 Knife -1.053 0.923 1.452 0 180 0 88 12 SoapBottle 0.650 0.822 1.072 0 90 0 47 13 SoapBottle 1.024 0.812 2.458 0 0 0 52 14 Tomato -2.636 1.259 2.221 0 90 0 79 15 Tomato -2.851 0.891 3.331 0 0 0 70 16 PepperShaker -1.053 0.896 1.349 0 90 0 88 17 Lettuce -2.636 0.843 2.165 0 90 0 79 18 Apple 0.902 0.085 2.918 0 0 0 81 19 Apple -1.317 0.961 1.040 0 90 0 88 20 Plate -1.697 1.687 3.897 0 0 0 42 21 Fork -1.698 0.823 3.535 0 0 0 70 22 Bread 0.818 0.863 2.447 0 1.703 1.209 47 23 Spatula 0.712 0.848 2.134 0 200.845 0 52 24 PaperTowelRoll 0.950 0.927 1.072 0 0 0 47 25 Potato -1.415 0.740 3.857 0 0 0 82 26 SoapBottle -1.185 0.900 1.555 0 90 0 88 27 Egg -2.744 1.643 2.165 0 90 0 79 28 Cup -0.921 0.900 1.246 0 90 0 88 29 Pot -2.577 0.994 2.277 0 90 0 79 30 SaltShaker -0.524 0.896 1.555 0 90 0 88 31 Pan -2.667 0.812 3.74 0 137.145 0 70 32 PepperShaker -1.053 0.896 1.555 0 90 0 88 33 ButterKnife 0.800 0.823 0.984 0 0 0 47 34 Tomato -2.636 1.259 2.389 0 90 0 79 35 DishSponge -0.921 0.900 1.555 0 90 0 88 36 Lettuce -0.580 0.956 1.358 31.822 0 0 88 37 Spoon -0.921 0.901 1.349 0 180 0 88 38 Apple -1.317 0.961 1.143 0 90 0 88 39 Mug 1.024 0.818 2.631 0 0 0 52 40 Bowl -2.136 1.396 3.858 0 0 0 48 41 Drawer 0.729 0.703 2.199 0 0 0 42 Cabinet -1.962 1.926 3.733 0 0 0 43 Cabinet -2.377 2.014 1.058 0 0 0 44 Drawer 0.729 0.703 2.532 0 0 0 45 Cabinet -2.622 1.925 3.733 0 0 0 46 StoveBurner 0.913 0.843 1.375 0 0 0 47 CounterTop 0.864 0.858 0.984 0 0 0 48 Cabinet -1.976 1.779 3.734 0 0 0 49 Cabinet 0.580 0.385 0.819 0 0 0 50 Cabinet -2.379 1.408 1.677 0 0 0 51 Cabinet -0.419 1.703 3.736 0 0 0 52 CounterTop 0.864 0.858 2.371 0 0 0 53 Sink -1.702 0.726 3.828 0 180 0 54 Cabinet 0.580 0.385 2.694 0 0 0 55 Cabinet -2.379 0.637 1.677 0 0 0 56 Cabinet -0.419 0.674 3.736 0 0 0 57 Cabinet -2.377 2.014 2.558 0 0 0 58 Drawer 0.729 0.703 0.980 0 0 0 59 Drawer -2.114 0.706 3.657 0 0 0 60 Cabinet -2.377 1.691 2.572 0 0 0 61 Cabinet -2.951 1.925 3.733 0 0 0 62 Cabinet 0.580 0.385 2.360 0 0 0 63 Cabinet -2.426 0.435 3.421 0 0 0 64 StoveBurner 0.642 0.843 1.375 0 0 0 65 Cabinet -2.377 1.927 1.686 0 0 0 66 Cabinet -2.377 2.013 3.177 0 0 0 67 Cabinet -1.136 0.385 3.516 0 0 0 68 StoveBurner 0.913 0.843 1.768 0 0 0 69 Cabinet -1.974 0.385 3.516 0 0 0 70 CounterTop -2.081 0.858 3.799 0 0 0 71 Cabinet -2.426 0.435 3.174 0 0 0 72 Cabinet -2.377 2.014 1.693 0 0 0 73 Cabinet -1.986 0.385 3.511 0 0 0 74 StoveBurner 0.642 0.843 1.768 0 0 0 75 Cabinet -1.098 1.926 3.729 0 0 0 76 Microwave -1.529 1.250 3.881 1.622 180 0 77 CoffeeMachine 1.000 0.812 2.492 0 270 0 78 LightSwitch 0.825 1.396 4.082 0 180 0 79 Fridge -2.642 0.0 2.134 0 180 0 80 Window -1.131 1.673 0.808 90 0 0 81 GarbageCan 0.931 -0.000 2.918 0 0 0 82 SinkBasin -1.601 0.686 3.774 0 0 0 83 StoveKnob 1.104 1.002 1.886 0 0 70.346 84 StoveKnob 1.104 1.002 1.733 0 0 70.346 85 StoveKnob 1.104 1.002 1.321 0 0 70.346 86 StoveKnob 1.104 1.002 1.481 0 0 70.346 87 Toaster -2.247 0.812 3.862 0 180 0 88 DiningTable -0.917 -0.000 1.203 0 0 0 89 Stool -0.932 0.000 1.404 1.196 21.715 0 90 Faucet -1.842 0.809 3.984 0 180 0 91 Faucet -1.371 0.809 3.985 0 180 0 92 NorthWall 93 EastWall 94 SouthWall 95 WestWall
[ "STEP 1: Turn left and walk to the counter then turn left and walk to the wall then turn left to face the table. | STEP 2: Pick up the wine glass that's above the coffee maker. | STEP 3: Turn left and take a step then turn left to face the fridge. | STEP 4: Chill the glass in the fridge then get it back out and close the door. | STEP 5: Turn around and take a step forward the turn right to face the table. | STEP 6: Put the glass to the left of the sponge. | END" ]
[ [ "STEP 1: Turn left and walk to the counter then turn left and walk to the wall then turn left to face the table. ", " STEP 2: Pick up the wine glass that's above the coffee maker. ", " STEP 3: Turn left and take a step then turn left to face the fridge. ", " STEP 4: Chill the glass in the fridge then get it back out and close the door. ", " STEP 5: Turn around and take a step forward the turn right to face the table. ", " STEP 6: Put the glass to the left of the sponge. ", " END" ] ]
seen
trial_T20190907_125547_175997-0
Cook the potato and throw it out.
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Cabinet", " -0.913", " 2.113", " 0.583", " 0", " 0", " 0", "" ], [ "51", " Cabinet", " -0.913", " 2.113", " 2.082", " 0", " 0", " 0", "" ], [ "52", " Cabinet", " -0.913", " 2.113", " 1.207", " 0", " 0", " 0", "" ], [ "53", " Cabinet", " 1.500", " 2.113", " 2.082", " 0", " 0", " 0", "" ], [ "54", " Cabinet", " 1.500", " 2.113", " 1.207", " 0", " 0", " 0", "" ], [ "55", " Cabinet", " 1.500", " 1.810", " 2.691", " 0", " 0", " 0", "" ], [ "56", " Cabinet", " 1.500", " 1.810", " 2.101", " 0", " 0", " 0", "" ], [ "57", " Cabinet", " -0.633", " 0.388", " 2.105", " 0", " 0", " 0", "" ], [ "58", " Cabinet", " -0.911", " 1.810", " 2.700", " 0", " 180", " 0", "" ], [ "59", " Drawer", " -0.783", " 0.774", " 0.915", " 0", " 180", " 0", "" ], [ "60", " StoveBurner", " -1.108", " 0.922", " 1.865", " 0", " 0", " 0", "" ], [ "61", " CounterTop", " -0.972", " 0.973", " 0.921", " 0", " 0", " 0", "" ], [ "62", " Cabinet", " 1.219", " 0.388", " 0.631", " 0", " 0", " 0", "" ], [ "63", " Sink", " 1.544", " 0.869", " 1.639", " 0", " 180", " 0", "" ], [ "64", " StoveBurner", " -0.832", " 0.922", " 1.865", " 0", " 0", " 0", "" ], [ "65", " StoveBurner", " -0.831", " 0.922", " 1.470", " 0", " 0", " 0", "" ], [ "66", " Drawer", " 1.370", " 0.774", " 0.916", " 0", " 0", " 0", "" ], [ "67", " Cabinet", " -0.911", " 1.810", " 2.111", " 0", " 180", " 0", "" ], [ "68", " Fridge", " -1.001", " 0.0", " 0.119", " 0", " 0", " 0", "" ], [ "69", " StoveKnob", " -0.648", " 0.926", " 1.923", " 0", " 270", " 0", "" ], [ "70", " StoveKnob", " -0.648", " 0.926", " 1.363", " 0", " 270", " 0", "" ], [ "71", " StoveKnob", " -0.648", " 0.926", " 1.513", " 0", " 270", " 0", "" ], [ "72", " StoveKnob", " -0.648", " 0.926", " 1.763", " 0", " 270", " 0", "" ], [ "73", " Toaster", " -1.002", " 0.926", " 2.561", " 0", " 90", " 0", "" ], [ "74", " GarbageCan", " 1.451", " -0.029", " 2.912", " 0", " 0", " 0", "" ], [ "75", " Microwave", " 1.632", " 1.480", " 1.645", " 0", " 270", " 0", "" ], [ "76", " Window", " 0.224", 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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 0.75 0.900 1.0 0 270 0 1 DishSponge 1.379 0.746 2.391 0 0 0 39 2 Fork -1.127 0.928 2.234 0 0 0 36 3 Spoon -0.876 0.939 0.765 0 0 0 61 4 Pot -1.109 0.930 1.865 0 0 0 60 5 Tomato -1.209 0.999 0.998 0 0 0 61 6 Tomato -1.018 1.380 0.272 0 90 0 68 7 SoapBottle -1.209 0.937 0.687 0 0 0 61 8 SoapBottle -1.043 0.937 1.076 0 0 0 61 9 Bowl -1.039 1.825 -0.174 0 0 0 49 10 Bowl 1.391 0.078 2.462 0 0 0 45 11 SaltShaker 1.362 0.934 2.022 0 0 0 41 12 SaltShaker -0.876 0.934 1.154 0 0 0 61 13 Mug -1.126 0.932 0.843 0 0 0 61 14 Apple -0.964 0.864 -0.034 0 90 0 68 15 Lettuce 1.460 1.014 1.678 5.141 59.327 356.544 63 16 SoapBottle -1.078 1.501 0.757 0 0 0 47 17 Bread -0.921 0.990 2.267 0 303.021 0 36 18 Fork -0.793 0.938 1.154 0 0 0 61 19 Tomato -0.877 1.560 0.348 0 90 0 68 20 Bowl -0.791 0.080 0.915 0 0 0 48 21 Pot -1.109 0.930 1.470 0 0 0 38 22 Spatula -0.723 0.761 1.050 0 270 0 59 23 Knife 1.483 0.768 1.052 0 270 0 66 24 SaltShaker 1.362 0.934 0.940 0 0 0 41 25 Apple -0.924 1.548 0.042 0 90 0 68 26 PepperShaker -0.827 0.742 2.177 0 180 0 37 27 ButterKnife -0.960 0.937 0.921 0 0 0 61 28 Potato -1.127 0.970 2.159 0 0 0 36 29 Plate 1.391 0.086 0.777 0 0 0 62 30 DishSponge 1.746 0.937 0.940 0 0 0 41 31 Egg -0.830 1.534 -0.110 0 90 0 68 32 Cup -1.001 1.500 1.083 0 0 0 47 33 Pan 1.378 1.737 0.392 0 270 0 44 34 Spoon 1.669 0.939 2.118 0 180 0 41 35 Mug 1.388 0.838 1.341 0 180 0 78 36 CounterTop -0.973 0.973 2.386 0 0 0 37 Drawer -0.783 0.774 2.381 0 180 0 38 StoveBurner -1.108 0.922 1.470 0 0 0 39 Drawer 1.370 0.774 2.391 0 0 0 40 Stool -0.748 0.008 3.116 0 0 0 41 CounterTop 1.504 0.973 2.309 0 0 0 42 Cabinet 1.219 1.388 0.591 0 0 0 43 Cabinet 1.500 2.113 1.164 0 0 0 44 Cabinet 1.219 2.010 0.591 0 0 0 45 Cabinet 1.219 0.388 2.105 0 0 0 46 Cabinet 1.219 0.553 0.591 0 0 0 47 Cabinet -0.913 2.113 1.164 0 0 0 48 Cabinet -0.633 0.388 0.627 0 0 0 49 Cabinet -0.913 2.050 -0.329 0 0 0 50 Cabinet -0.913 2.113 0.583 0 0 0 51 Cabinet -0.913 2.113 2.082 0 0 0 52 Cabinet -0.913 2.113 1.207 0 0 0 53 Cabinet 1.500 2.113 2.082 0 0 0 54 Cabinet 1.500 2.113 1.207 0 0 0 55 Cabinet 1.500 1.810 2.691 0 0 0 56 Cabinet 1.500 1.810 2.101 0 0 0 57 Cabinet -0.633 0.388 2.105 0 0 0 58 Cabinet -0.911 1.810 2.700 0 180 0 59 Drawer -0.783 0.774 0.915 0 180 0 60 StoveBurner -1.108 0.922 1.865 0 0 0 61 CounterTop -0.972 0.973 0.921 0 0 0 62 Cabinet 1.219 0.388 0.631 0 0 0 63 Sink 1.544 0.869 1.639 0 180 0 64 StoveBurner -0.832 0.922 1.865 0 0 0 65 StoveBurner -0.831 0.922 1.470 0 0 0 66 Drawer 1.370 0.774 0.916 0 0 0 67 Cabinet -0.911 1.810 2.111 0 180 0 68 Fridge -1.001 0.0 0.119 0 0 0 69 StoveKnob -0.648 0.926 1.923 0 270 0 70 StoveKnob -0.648 0.926 1.363 0 270 0 71 StoveKnob -0.648 0.926 1.513 0 270 0 72 StoveKnob -0.648 0.926 1.763 0 270 0 73 Toaster -1.002 0.926 2.561 0 90 0 74 GarbageCan 1.451 -0.029 2.912 0 0 0 75 Microwave 1.632 1.480 1.645 0 270 0 76 Window 0.224 1.601 3.509 90 0 0 77 CoffeeMachine 1.692 0.926 2.453 0 270 0 78 SinkBasin 1.461 0.833 1.369 0 180 0 79 LightSwitch 0.451 1.412 -1.674 0 0 0 80 Faucet 1.707 0.925 1.363 0 270 0 81 NorthWall 82 EastWall 83 SouthWall 84 WestWall
[ "STEP 1: Go to the counter with the bread, potato and toaster on it. | STEP 2: Pick up the potato from the counter. | STEP 3: Turn left and cross the room to the sink, which has a microwave over it. | STEP 4: Place the potato in the microwave and cook it. | STEP 5: Remove the potato from the microwave, turn left, cross the room and turn right to face the garbage can. | STEP 6: Put the potato in the garbage can. | END" ]
[ [ "STEP 1: Go to the counter with the bread, potato and toaster on it. ", " STEP 2: Pick up the potato from the counter. ", " STEP 3: Turn left and cross the room to the sink, which has a microwave over it. ", " STEP 4: Place the potato in the microwave and cook it. ", " STEP 5: Remove the potato from the microwave, turn left, cross the room and turn right to face the garbage can. ", " STEP 6: Put the potato in the garbage can. ", " END" ] ]
seen
trial_T20190907_125547_175997-1
Put a heated potato in the bin.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 0.75 0.900 1.0 0 270 0 1 DishSponge 1.379 0.746 2.391 0 0 0 39 2 Fork -1.127 0.928 2.234 0 0 0 36 3 Spoon -0.876 0.939 0.765 0 0 0 61 4 Pot -1.109 0.930 1.865 0 0 0 60 5 Tomato -1.209 0.999 0.998 0 0 0 61 6 Tomato -1.018 1.380 0.272 0 90 0 68 7 SoapBottle -1.209 0.937 0.687 0 0 0 61 8 SoapBottle -1.043 0.937 1.076 0 0 0 61 9 Bowl -1.039 1.825 -0.174 0 0 0 49 10 Bowl 1.391 0.078 2.462 0 0 0 45 11 SaltShaker 1.362 0.934 2.022 0 0 0 41 12 SaltShaker -0.876 0.934 1.154 0 0 0 61 13 Mug -1.126 0.932 0.843 0 0 0 61 14 Apple -0.964 0.864 -0.034 0 90 0 68 15 Lettuce 1.460 1.014 1.678 5.141 59.327 356.544 63 16 SoapBottle -1.078 1.501 0.757 0 0 0 47 17 Bread -0.921 0.990 2.267 0 303.021 0 36 18 Fork -0.793 0.938 1.154 0 0 0 61 19 Tomato -0.877 1.560 0.348 0 90 0 68 20 Bowl -0.791 0.080 0.915 0 0 0 48 21 Pot -1.109 0.930 1.470 0 0 0 38 22 Spatula -0.723 0.761 1.050 0 270 0 59 23 Knife 1.483 0.768 1.052 0 270 0 66 24 SaltShaker 1.362 0.934 0.940 0 0 0 41 25 Apple -0.924 1.548 0.042 0 90 0 68 26 PepperShaker -0.827 0.742 2.177 0 180 0 37 27 ButterKnife -0.960 0.937 0.921 0 0 0 61 28 Potato -1.127 0.970 2.159 0 0 0 36 29 Plate 1.391 0.086 0.777 0 0 0 62 30 DishSponge 1.746 0.937 0.940 0 0 0 41 31 Egg -0.830 1.534 -0.110 0 90 0 68 32 Cup -1.001 1.500 1.083 0 0 0 47 33 Pan 1.378 1.737 0.392 0 270 0 44 34 Spoon 1.669 0.939 2.118 0 180 0 41 35 Mug 1.388 0.838 1.341 0 180 0 78 36 CounterTop -0.973 0.973 2.386 0 0 0 37 Drawer -0.783 0.774 2.381 0 180 0 38 StoveBurner -1.108 0.922 1.470 0 0 0 39 Drawer 1.370 0.774 2.391 0 0 0 40 Stool -0.748 0.008 3.116 0 0 0 41 CounterTop 1.504 0.973 2.309 0 0 0 42 Cabinet 1.219 1.388 0.591 0 0 0 43 Cabinet 1.500 2.113 1.164 0 0 0 44 Cabinet 1.219 2.010 0.591 0 0 0 45 Cabinet 1.219 0.388 2.105 0 0 0 46 Cabinet 1.219 0.553 0.591 0 0 0 47 Cabinet -0.913 2.113 1.164 0 0 0 48 Cabinet -0.633 0.388 0.627 0 0 0 49 Cabinet -0.913 2.050 -0.329 0 0 0 50 Cabinet -0.913 2.113 0.583 0 0 0 51 Cabinet -0.913 2.113 2.082 0 0 0 52 Cabinet -0.913 2.113 1.207 0 0 0 53 Cabinet 1.500 2.113 2.082 0 0 0 54 Cabinet 1.500 2.113 1.207 0 0 0 55 Cabinet 1.500 1.810 2.691 0 0 0 56 Cabinet 1.500 1.810 2.101 0 0 0 57 Cabinet -0.633 0.388 2.105 0 0 0 58 Cabinet -0.911 1.810 2.700 0 180 0 59 Drawer -0.783 0.774 0.915 0 180 0 60 StoveBurner -1.108 0.922 1.865 0 0 0 61 CounterTop -0.972 0.973 0.921 0 0 0 62 Cabinet 1.219 0.388 0.631 0 0 0 63 Sink 1.544 0.869 1.639 0 180 0 64 StoveBurner -0.832 0.922 1.865 0 0 0 65 StoveBurner -0.831 0.922 1.470 0 0 0 66 Drawer 1.370 0.774 0.916 0 0 0 67 Cabinet -0.911 1.810 2.111 0 180 0 68 Fridge -1.001 0.0 0.119 0 0 0 69 StoveKnob -0.648 0.926 1.923 0 270 0 70 StoveKnob -0.648 0.926 1.363 0 270 0 71 StoveKnob -0.648 0.926 1.513 0 270 0 72 StoveKnob -0.648 0.926 1.763 0 270 0 73 Toaster -1.002 0.926 2.561 0 90 0 74 GarbageCan 1.451 -0.029 2.912 0 0 0 75 Microwave 1.632 1.480 1.645 0 270 0 76 Window 0.224 1.601 3.509 90 0 0 77 CoffeeMachine 1.692 0.926 2.453 0 270 0 78 SinkBasin 1.461 0.833 1.369 0 180 0 79 LightSwitch 0.451 1.412 -1.674 0 0 0 80 Faucet 1.707 0.925 1.363 0 270 0 81 NorthWall 82 EastWall 83 SouthWall 84 WestWall
[ "STEP 1: Move to the right side of the stove. | STEP 2: Pick up a potato from the counter. | STEP 3: Move to the microwave above the sink behind you. | STEP 4: Put the potato inside and heat it for a few seconds before removing it and close the door. | STEP 5: Move the the bin to the left of the sink at the end of the counter. | STEP 6: Place the potato inside the bin. | END" ]
[ [ "STEP 1: Move to the right side of the stove. ", " STEP 2: Pick up a potato from the counter. ", " STEP 3: Move to the microwave above the sink behind you. ", " STEP 4: Put the potato inside and heat it for a few seconds before removing it and close the door. ", " STEP 5: Move the the bin to the left of the sink at the end of the counter. ", " STEP 6: Place the potato inside the bin. ", " END" ] ]
seen
trial_T20190907_125547_175997-2
Throw out a hot potato
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 0.75 0.900 1.0 0 270 0 1 DishSponge 1.379 0.746 2.391 0 0 0 39 2 Fork -1.127 0.928 2.234 0 0 0 36 3 Spoon -0.876 0.939 0.765 0 0 0 61 4 Pot -1.109 0.930 1.865 0 0 0 60 5 Tomato -1.209 0.999 0.998 0 0 0 61 6 Tomato -1.018 1.380 0.272 0 90 0 68 7 SoapBottle -1.209 0.937 0.687 0 0 0 61 8 SoapBottle -1.043 0.937 1.076 0 0 0 61 9 Bowl -1.039 1.825 -0.174 0 0 0 49 10 Bowl 1.391 0.078 2.462 0 0 0 45 11 SaltShaker 1.362 0.934 2.022 0 0 0 41 12 SaltShaker -0.876 0.934 1.154 0 0 0 61 13 Mug -1.126 0.932 0.843 0 0 0 61 14 Apple -0.964 0.864 -0.034 0 90 0 68 15 Lettuce 1.460 1.014 1.678 5.141 59.327 356.544 63 16 SoapBottle -1.078 1.501 0.757 0 0 0 47 17 Bread -0.921 0.990 2.267 0 303.021 0 36 18 Fork -0.793 0.938 1.154 0 0 0 61 19 Tomato -0.877 1.560 0.348 0 90 0 68 20 Bowl -0.791 0.080 0.915 0 0 0 48 21 Pot -1.109 0.930 1.470 0 0 0 38 22 Spatula -0.723 0.761 1.050 0 270 0 59 23 Knife 1.483 0.768 1.052 0 270 0 66 24 SaltShaker 1.362 0.934 0.940 0 0 0 41 25 Apple -0.924 1.548 0.042 0 90 0 68 26 PepperShaker -0.827 0.742 2.177 0 180 0 37 27 ButterKnife -0.960 0.937 0.921 0 0 0 61 28 Potato -1.127 0.970 2.159 0 0 0 36 29 Plate 1.391 0.086 0.777 0 0 0 62 30 DishSponge 1.746 0.937 0.940 0 0 0 41 31 Egg -0.830 1.534 -0.110 0 90 0 68 32 Cup -1.001 1.500 1.083 0 0 0 47 33 Pan 1.378 1.737 0.392 0 270 0 44 34 Spoon 1.669 0.939 2.118 0 180 0 41 35 Mug 1.388 0.838 1.341 0 180 0 78 36 CounterTop -0.973 0.973 2.386 0 0 0 37 Drawer -0.783 0.774 2.381 0 180 0 38 StoveBurner -1.108 0.922 1.470 0 0 0 39 Drawer 1.370 0.774 2.391 0 0 0 40 Stool -0.748 0.008 3.116 0 0 0 41 CounterTop 1.504 0.973 2.309 0 0 0 42 Cabinet 1.219 1.388 0.591 0 0 0 43 Cabinet 1.500 2.113 1.164 0 0 0 44 Cabinet 1.219 2.010 0.591 0 0 0 45 Cabinet 1.219 0.388 2.105 0 0 0 46 Cabinet 1.219 0.553 0.591 0 0 0 47 Cabinet -0.913 2.113 1.164 0 0 0 48 Cabinet -0.633 0.388 0.627 0 0 0 49 Cabinet -0.913 2.050 -0.329 0 0 0 50 Cabinet -0.913 2.113 0.583 0 0 0 51 Cabinet -0.913 2.113 2.082 0 0 0 52 Cabinet -0.913 2.113 1.207 0 0 0 53 Cabinet 1.500 2.113 2.082 0 0 0 54 Cabinet 1.500 2.113 1.207 0 0 0 55 Cabinet 1.500 1.810 2.691 0 0 0 56 Cabinet 1.500 1.810 2.101 0 0 0 57 Cabinet -0.633 0.388 2.105 0 0 0 58 Cabinet -0.911 1.810 2.700 0 180 0 59 Drawer -0.783 0.774 0.915 0 180 0 60 StoveBurner -1.108 0.922 1.865 0 0 0 61 CounterTop -0.972 0.973 0.921 0 0 0 62 Cabinet 1.219 0.388 0.631 0 0 0 63 Sink 1.544 0.869 1.639 0 180 0 64 StoveBurner -0.832 0.922 1.865 0 0 0 65 StoveBurner -0.831 0.922 1.470 0 0 0 66 Drawer 1.370 0.774 0.916 0 0 0 67 Cabinet -0.911 1.810 2.111 0 180 0 68 Fridge -1.001 0.0 0.119 0 0 0 69 StoveKnob -0.648 0.926 1.923 0 270 0 70 StoveKnob -0.648 0.926 1.363 0 270 0 71 StoveKnob -0.648 0.926 1.513 0 270 0 72 StoveKnob -0.648 0.926 1.763 0 270 0 73 Toaster -1.002 0.926 2.561 0 90 0 74 GarbageCan 1.451 -0.029 2.912 0 0 0 75 Microwave 1.632 1.480 1.645 0 270 0 76 Window 0.224 1.601 3.509 90 0 0 77 CoffeeMachine 1.692 0.926 2.453 0 270 0 78 SinkBasin 1.461 0.833 1.369 0 180 0 79 LightSwitch 0.451 1.412 -1.674 0 0 0 80 Faucet 1.707 0.925 1.363 0 270 0 81 NorthWall 82 EastWall 83 SouthWall 84 WestWall
[ "STEP 1: Cross the room to the counter to the right of the stove | STEP 2: Take the potato from the back left corner of the counter | STEP 3: turn around, and cross the room to the sink, then look up at the microwave | STEP 4: Cook the potato in the microwave for 3 seconds, and then remove it when the cooking is done. | STEP 5: Turn left and go to the wall, then turn right to face the trash can | STEP 6: Put the potato in the trash can | END" ]
[ [ "STEP 1: Cross the room to the counter to the right of the stove ", " STEP 2: Take the potato from the back left corner of the counter ", " STEP 3: turn around, and cross the room to the sink, then look up at the microwave ", " STEP 4: Cook the potato in the microwave for 3 seconds, and then remove it when the cooking is done. ", " STEP 5: Turn left and go to the wall, then turn right to face the trash can ", " STEP 6: Put the potato in the trash can ", " END" ] ]
seen
trial_T20190907_191053_355058-0
Put a chilled loaf of bread on the table.
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SoapBottle", " -2.013", " 0.120", " -1.799", " 0", " 0", " 0", " 53" ], [ "12", " Bowl", " -2.539", " 0.872", " 3.341", " 0", " 225", " 0", " 54" ], [ "13", " Bowl", " -2.510", " 0.876", " 3.053", " 0", " 0", " 0", " 54" ], [ "14", " SaltShaker", " 1.578", " 0.906", " -1.437", " 0", " 0", " 0", " 72" ], [ "15", " PepperShaker", " 0.630", " 1.649", " -1.639", " 0", " 0", " 0", " 63" ], [ "16", " PepperShaker", " -2.072", " 0.908", " -0.614", " 0", " 0", " 0", " 52" ], [ "17", " Bread", " -1.961", " 0.995", " -0.288", " 0", " 0", " 0", " 52" ], [ "18", " Lettuce", " -0.330", " 0.772", " -1.573", " 0", " 270", " 0", " 81" ], [ "19", " Lettuce", " 0.079", " 1.637", " 2.160", " 0", " 180", " 0", " 77" ], [ "20", " Book", " -0.292", " 0.118", " -1.413", " 0", " 0", " 0", " 61" ], [ "21", " Fork", " 1.760", " 0.910", " -1.437", " 0", " 90", " 0", " 72" ], [ "22", " Tomato", " -3.069", " 0.925", " 3.527", " 0", " 135", " 0", " 54" ], [ "23", " Egg", " -0.377", " 0.828", " 2.251", " 0", " 180", " 0", " 77" ], [ "24", " Kettle", " 1.328", " 0.957", " -1.420", " 0", " 180", " 0", " 56" ], [ "25", " Vase", " -1.849", " 0.913", " -0.939", " 0", " 0", " 0", " 52" ], [ "26", " Cup", " -2.013", " 0.118", " -1.506", " 0", " 0", " 0", " 53" ], [ "27", " WineBottle", " -2.510", " 0.879", " 2.884", " 0", " 0", " 0", " 54" ], [ "28", " Plate", " -1.444", " 1.661", " -1.747", " 0", " 0", " 0", " 65" ], [ "29", " Spatula", " -1.715", " 0.732", " -1.073", " 0", " 90", " 0", " 67" ], [ "30", " Potato", " -3.002", " 0.911", " 3.088", " 0", " 225", " 0", " 54" ], [ "31", " Pot", " -0.263", " 1.574", " 2.100", " 0", " 180", " 0", " 77" ], [ "32", " Knife", " -1.738", " 0.934", " -1.265", " 0", " 0", " 0", " 67" ], [ "33", " SaltShaker", " -2.300", " 0.871", " 2.863", " 0", " 135", " 0", " 54" ], [ "34", " PepperShaker", " -2.072", " 0.908", " 0.037", " 0", " 0", " 0", " 52" ], [ "35", " Lettuce", " -2.807", " 0.943", " 2.884", " 0", " 0", " 0", " 54" ], [ "36", " ButterKnife", " -0.040", " 0.928", " -1.501", " 0", " 270", " 0", " 49" ], [ "37", " Bread", " -2.793", " 0.961", " 3.565", " 0", " 135", " 0", " 54" ], [ "38", " Vase", " -1.961", " 0.913", " -1.591", " 0", " 0", " 0", " 52" ], [ "39", " DishSponge", " 0.124", " 0.928", " -1.718", " 0", " 270", " 0", " 49" ], [ "40", " Apple", " 0.069", " 0.983", " -1.501", " 0", " 270", " 0", " 49" ], [ "41", " Pan", " 0.974", " 0.957", " -1.688", " 0", " 180", " 0", " 51" ], [ "42", " Spoon", " -0.292", " 0.698", " -1.468", " 0", " 0", " 0", " 81" ], [ "43", " SoapBottle", " -0.844", " 0.193", " 2.213", " 0", " 90", " 0", " 82" ], [ "44", " Mug", " 1.316", " 1.756", " -1.663", " 0", " 0", " 0", " 76" ], [ "45", " Statue", " 3.676", " 0.168", " 1.410", " 0", " 334.521", " 0", " 75" ], [ "46", " Statue", " 3.668", " 0.540", " 1.800", " 0", " 0", " 0", " 75" ], [ "47", " Bowl", " -3.165", " 0.872", " 3.221", " 0", " 270", " 0", " 54" ], [ "48", " Cabinet", " -2.171", " 2.009", " -1.538", " 0", " 0", " 0", "" ], [ "49", " Sink", " 0.024", " 0.771", " -1.708", " 0", " 270", " 0", "" ], [ "50", " Cabinet", " 1.444", " 2.259", " -1.542", " 0", " 0", " 0", "" ], [ "51", " StoveBurner", " 0.974", " 0.957", " -1.688", " 0", " 180", " 0", "" ], [ "52", " CounterTop", " -1.866", " 0.947", " -0.614", " 0", " 0", " 0", "" ], [ "53", " Cabinet", " -2.217", " 0.373", " -1.874", " 0", " 0", " 0", "" ], [ "54", " DiningTable", " -2.663", " 0.002", " 3.208", " 0", " 0", " 0", "" ], [ "55", " StoveBurner", " 1.328", " 0.957", " -1.688", " 0", " 180", " 0", "" ], [ "56", " StoveBurner", " 1.328", " 0.957", " -1.420", " 0", " 180", " 0", "" ], [ "57", " Cabinet", " -1.478", " 0.373", " -1.235", " 0", " 0", " 0", "" ], [ "58", " Cabinet", " 1.775", " 0.372", " -1.242", " 0", " 0", " 0", "" ], [ "59", " Cabinet", " 0.774", " 0.372", " -1.242", " 0", " 0", " 0", "" ], [ "60", " Cabinet", " 0.375", " 0.372", " -1.242", " 0", " 0", " 0", "" ], [ "61", " Cabinet", " -0.574", " 0.372", " -1.238", " 0", " 0", " 0", "" ], [ "62", " 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3.726", " 0.552", " 1.671", " 0", " 90", " 0", "" ], [ "76", " Microwave", " 1.150", " 1.655", " -1.614", " 0", " 0", " 0", "" ], [ "77", " Fridge", " -0.035", " 0.0", " 2.177", " 0", " 180", " 0", "" ], [ "78", " Window", " -0.115", " 1.802", " -1.896", " 90", " 0", " 0", "" ], [ "79", " Window", " -4.009", " 1.799", " 0.310", " 90", " 90", " 0", "" ], [ "80", " Shelf", " 3.726", " 0.172", " 1.671", " 0", " 90", " 0", "" ], [ "81", " SinkBasin", " -0.330", " 0.686", " -1.581", " 0", " 270", " 0", "" ], [ "82", " GarbageCan", " -0.870", " -0.001", " 2.136", " 0", " 90", " 0", "" ], [ "83", " StoveKnob", " 1.089", " 0.913", " -1.243", " 45", " 0", " 0", "" ], [ "84", " StoveKnob", " 1.208", " 0.913", " -1.243", " 45", " 0", " 0", "" ], [ "85", " StoveKnob", " 1.340", " 0.913", " -1.243", " 45", " 0", " 0", "" ], [ "86", " StoveKnob", " 0.961", " 0.913", " -1.243", " 45", " 0", " 0", "" ], [ "87", " Toaster", " 1.637", " 0.900", " -1.673", " 0", " 0", " 0", "" ], [ "88", " Chair", " 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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 0.5 0 0 0 1 Potato -0.923 0.229 2.174 0 90 0 82 2 Book -0.943 1.651 -1.712 0 0 0 64 3 ButterKnife -2.321 0.874 3.296 0 0 0 54 4 ButterKnife -3.165 0.878 3.073 0 270 0 54 5 WineBottle 0.525 0.913 -1.471 0 0 0 52 6 Fork 0.179 0.929 -1.573 0 270 0 49 7 Spoon 0.521 0.719 -1.443 0 90 0 69 8 Spoon -2.048 0.720 -1.441 0 0 0 71 9 Egg -0.149 0.414 1.967 0 180 0 77 10 Plate -1.627 0.916 0.363 0 0 0 52 11 SoapBottle -2.013 0.120 -1.799 0 0 0 53 12 Bowl -2.539 0.872 3.341 0 225 0 54 13 Bowl -2.510 0.876 3.053 0 0 0 54 14 SaltShaker 1.578 0.906 -1.437 0 0 0 72 15 PepperShaker 0.630 1.649 -1.639 0 0 0 63 16 PepperShaker -2.072 0.908 -0.614 0 0 0 52 17 Bread -1.961 0.995 -0.288 0 0 0 52 18 Lettuce -0.330 0.772 -1.573 0 270 0 81 19 Lettuce 0.079 1.637 2.160 0 180 0 77 20 Book -0.292 0.118 -1.413 0 0 0 61 21 Fork 1.760 0.910 -1.437 0 90 0 72 22 Tomato -3.069 0.925 3.527 0 135 0 54 23 Egg -0.377 0.828 2.251 0 180 0 77 24 Kettle 1.328 0.957 -1.420 0 180 0 56 25 Vase -1.849 0.913 -0.939 0 0 0 52 26 Cup -2.013 0.118 -1.506 0 0 0 53 27 WineBottle -2.510 0.879 2.884 0 0 0 54 28 Plate -1.444 1.661 -1.747 0 0 0 65 29 Spatula -1.715 0.732 -1.073 0 90 0 67 30 Potato -3.002 0.911 3.088 0 225 0 54 31 Pot -0.263 1.574 2.100 0 180 0 77 32 Knife -1.738 0.934 -1.265 0 0 0 67 33 SaltShaker -2.300 0.871 2.863 0 135 0 54 34 PepperShaker -2.072 0.908 0.037 0 0 0 52 35 Lettuce -2.807 0.943 2.884 0 0 0 54 36 ButterKnife -0.040 0.928 -1.501 0 270 0 49 37 Bread -2.793 0.961 3.565 0 135 0 54 38 Vase -1.961 0.913 -1.591 0 0 0 52 39 DishSponge 0.124 0.928 -1.718 0 270 0 49 40 Apple 0.069 0.983 -1.501 0 270 0 49 41 Pan 0.974 0.957 -1.688 0 180 0 51 42 Spoon -0.292 0.698 -1.468 0 0 0 81 43 SoapBottle -0.844 0.193 2.213 0 90 0 82 44 Mug 1.316 1.756 -1.663 0 0 0 76 45 Statue 3.676 0.168 1.410 0 334.521 0 75 46 Statue 3.668 0.540 1.800 0 0 0 75 47 Bowl -3.165 0.872 3.221 0 270 0 54 48 Cabinet -2.171 2.009 -1.538 0 0 0 49 Sink 0.024 0.771 -1.708 0 270 0 50 Cabinet 1.444 2.259 -1.542 0 0 0 51 StoveBurner 0.974 0.957 -1.688 0 180 0 52 CounterTop -1.866 0.947 -0.614 0 0 0 53 Cabinet -2.217 0.373 -1.874 0 0 0 54 DiningTable -2.663 0.002 3.208 0 0 0 55 StoveBurner 1.328 0.957 -1.688 0 180 0 56 StoveBurner 1.328 0.957 -1.420 0 180 0 57 Cabinet -1.478 0.373 -1.235 0 0 0 58 Cabinet 1.775 0.372 -1.242 0 0 0 59 Cabinet 0.774 0.372 -1.242 0 0 0 60 Cabinet 0.375 0.372 -1.242 0 0 0 61 Cabinet -0.574 0.372 -1.238 0 0 0 62 Cabinet 1.775 2.009 -1.542 0 0 0 63 Cabinet 0.524 2.009 -1.542 0 0 0 64 Cabinet -0.714 2.009 -1.542 0 0 0 65 Cabinet -1.671 2.009 -1.538 0 0 0 66 Cabinet 0.854 2.259 -1.542 0 0 0 67 Drawer -1.636 0.683 -0.930 0 0 0 68 Drawer 1.650 0.682 -1.396 0 0 0 69 Drawer 0.600 0.682 -1.396 0 0 0 70 StoveBurner 0.974 0.957 -1.419 0 180 0 71 Drawer -2.062 0.683 -1.579 0 0 0 72 CounterTop 1.645 0.945 -1.527 0 0 0 73 Shelf 3.725 0.880 1.671 0 90 0 74 LightSwitch 2.830 1.266 -0.748 0 0 0 75 Shelf 3.726 0.552 1.671 0 90 0 76 Microwave 1.150 1.655 -1.614 0 0 0 77 Fridge -0.035 0.0 2.177 0 180 0 78 Window -0.115 1.802 -1.896 90 0 0 79 Window -4.009 1.799 0.310 90 90 0 80 Shelf 3.726 0.172 1.671 0 90 0 81 SinkBasin -0.330 0.686 -1.581 0 270 0 82 GarbageCan -0.870 -0.001 2.136 0 90 0 83 StoveKnob 1.089 0.913 -1.243 45 0 0 84 StoveKnob 1.208 0.913 -1.243 45 0 0 85 StoveKnob 1.340 0.913 -1.243 45 0 0 86 StoveKnob 0.961 0.913 -1.243 45 0 0 87 Toaster 1.637 0.900 -1.673 0 0 0 88 Chair -3.505 0.002 3.290 0 105.736 0 89 CoffeeMachine -1.111 0.900 -1.726 0 0 0 90 HousePlant -2.663 0.835 3.209 0 0 0 91 Faucet -0.187 0.922 -1.75 0 311.166 0 92 ShelvingUnit 3.726 0.006 1.671 0 90 0 93 Stool -2.501 -0.000 0.062 1.223 91.243 0 94 Stool -2.475 -0.000 -0.802 1.209 69.808 0 95 Chair -2.934 0.002 2.437 0 28.531 0 96 Chair -1.698 0.002 3.235 0 245.204 0 97 NorthWall 98 EastWall 99 SouthWall 100 WestWall
[ "STEP 1: Turn around, and turn left toward the gray counter. | STEP 2: Take the bread from the gray counter. | STEP 3: Turn left, go to the end of the gray counter, turn right, go to the refrigerator, and turn left. | STEP 4: Open the refrigerator, put the bread in the refrigerator, close the refrigerator, wait for three seconds, open the refrigerator, take the bread from the refrigerator, and close the refrigerator. | STEP 5: Turn left, go to the wall, turn right, go to the table, and turn right. | STEP 6: Put the bread on the table near the lettuce and the wine. | END" ]
[ [ "STEP 1: Turn around, and turn left toward the gray counter. ", " STEP 2: Take the bread from the gray counter. ", " STEP 3: Turn left, go to the end of the gray counter, turn right, go to the refrigerator, and turn left. ", " STEP 4: Open the refrigerator, put the bread in the refrigerator, close the refrigerator, wait for three seconds, open the refrigerator, take the bread from the refrigerator, and close the refrigerator. ", " STEP 5: Turn left, go to the wall, turn right, go to the table, and turn right. ", " STEP 6: Put the bread on the table near the lettuce and the wine. ", " END" ] ]
seen
trial_T20190907_191053_355058-1
Put a loaf of chilled bread on the dining table.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -2.5 0.900 0.5 0 0 0 1 Potato -0.923 0.229 2.174 0 90 0 82 2 Book -0.943 1.651 -1.712 0 0 0 64 3 ButterKnife -2.321 0.874 3.296 0 0 0 54 4 ButterKnife -3.165 0.878 3.073 0 270 0 54 5 WineBottle 0.525 0.913 -1.471 0 0 0 52 6 Fork 0.179 0.929 -1.573 0 270 0 49 7 Spoon 0.521 0.719 -1.443 0 90 0 69 8 Spoon -2.048 0.720 -1.441 0 0 0 71 9 Egg -0.149 0.414 1.967 0 180 0 77 10 Plate -1.627 0.916 0.363 0 0 0 52 11 SoapBottle -2.013 0.120 -1.799 0 0 0 53 12 Bowl -2.539 0.872 3.341 0 225 0 54 13 Bowl -2.510 0.876 3.053 0 0 0 54 14 SaltShaker 1.578 0.906 -1.437 0 0 0 72 15 PepperShaker 0.630 1.649 -1.639 0 0 0 63 16 PepperShaker -2.072 0.908 -0.614 0 0 0 52 17 Bread -1.961 0.995 -0.288 0 0 0 52 18 Lettuce -0.330 0.772 -1.573 0 270 0 81 19 Lettuce 0.079 1.637 2.160 0 180 0 77 20 Book -0.292 0.118 -1.413 0 0 0 61 21 Fork 1.760 0.910 -1.437 0 90 0 72 22 Tomato -3.069 0.925 3.527 0 135 0 54 23 Egg -0.377 0.828 2.251 0 180 0 77 24 Kettle 1.328 0.957 -1.420 0 180 0 56 25 Vase -1.849 0.913 -0.939 0 0 0 52 26 Cup -2.013 0.118 -1.506 0 0 0 53 27 WineBottle -2.510 0.879 2.884 0 0 0 54 28 Plate -1.444 1.661 -1.747 0 0 0 65 29 Spatula -1.715 0.732 -1.073 0 90 0 67 30 Potato -3.002 0.911 3.088 0 225 0 54 31 Pot -0.263 1.574 2.100 0 180 0 77 32 Knife -1.738 0.934 -1.265 0 0 0 67 33 SaltShaker -2.300 0.871 2.863 0 135 0 54 34 PepperShaker -2.072 0.908 0.037 0 0 0 52 35 Lettuce -2.807 0.943 2.884 0 0 0 54 36 ButterKnife -0.040 0.928 -1.501 0 270 0 49 37 Bread -2.793 0.961 3.565 0 135 0 54 38 Vase -1.961 0.913 -1.591 0 0 0 52 39 DishSponge 0.124 0.928 -1.718 0 270 0 49 40 Apple 0.069 0.983 -1.501 0 270 0 49 41 Pan 0.974 0.957 -1.688 0 180 0 51 42 Spoon -0.292 0.698 -1.468 0 0 0 81 43 SoapBottle -0.844 0.193 2.213 0 90 0 82 44 Mug 1.316 1.756 -1.663 0 0 0 76 45 Statue 3.676 0.168 1.410 0 334.521 0 75 46 Statue 3.668 0.540 1.800 0 0 0 75 47 Bowl -3.165 0.872 3.221 0 270 0 54 48 Cabinet -2.171 2.009 -1.538 0 0 0 49 Sink 0.024 0.771 -1.708 0 270 0 50 Cabinet 1.444 2.259 -1.542 0 0 0 51 StoveBurner 0.974 0.957 -1.688 0 180 0 52 CounterTop -1.866 0.947 -0.614 0 0 0 53 Cabinet -2.217 0.373 -1.874 0 0 0 54 DiningTable -2.663 0.002 3.208 0 0 0 55 StoveBurner 1.328 0.957 -1.688 0 180 0 56 StoveBurner 1.328 0.957 -1.420 0 180 0 57 Cabinet -1.478 0.373 -1.235 0 0 0 58 Cabinet 1.775 0.372 -1.242 0 0 0 59 Cabinet 0.774 0.372 -1.242 0 0 0 60 Cabinet 0.375 0.372 -1.242 0 0 0 61 Cabinet -0.574 0.372 -1.238 0 0 0 62 Cabinet 1.775 2.009 -1.542 0 0 0 63 Cabinet 0.524 2.009 -1.542 0 0 0 64 Cabinet -0.714 2.009 -1.542 0 0 0 65 Cabinet -1.671 2.009 -1.538 0 0 0 66 Cabinet 0.854 2.259 -1.542 0 0 0 67 Drawer -1.636 0.683 -0.930 0 0 0 68 Drawer 1.650 0.682 -1.396 0 0 0 69 Drawer 0.600 0.682 -1.396 0 0 0 70 StoveBurner 0.974 0.957 -1.419 0 180 0 71 Drawer -2.062 0.683 -1.579 0 0 0 72 CounterTop 1.645 0.945 -1.527 0 0 0 73 Shelf 3.725 0.880 1.671 0 90 0 74 LightSwitch 2.830 1.266 -0.748 0 0 0 75 Shelf 3.726 0.552 1.671 0 90 0 76 Microwave 1.150 1.655 -1.614 0 0 0 77 Fridge -0.035 0.0 2.177 0 180 0 78 Window -0.115 1.802 -1.896 90 0 0 79 Window -4.009 1.799 0.310 90 90 0 80 Shelf 3.726 0.172 1.671 0 90 0 81 SinkBasin -0.330 0.686 -1.581 0 270 0 82 GarbageCan -0.870 -0.001 2.136 0 90 0 83 StoveKnob 1.089 0.913 -1.243 45 0 0 84 StoveKnob 1.208 0.913 -1.243 45 0 0 85 StoveKnob 1.340 0.913 -1.243 45 0 0 86 StoveKnob 0.961 0.913 -1.243 45 0 0 87 Toaster 1.637 0.900 -1.673 0 0 0 88 Chair -3.505 0.002 3.290 0 105.736 0 89 CoffeeMachine -1.111 0.900 -1.726 0 0 0 90 HousePlant -2.663 0.835 3.209 0 0 0 91 Faucet -0.187 0.922 -1.75 0 311.166 0 92 ShelvingUnit 3.726 0.006 1.671 0 90 0 93 Stool -2.501 -0.000 0.062 1.223 91.243 0 94 Stool -2.475 -0.000 -0.802 1.209 69.808 0 95 Chair -2.934 0.002 2.437 0 28.531 0 96 Chair -1.698 0.002 3.235 0 245.204 0 97 NorthWall 98 EastWall 99 SouthWall 100 WestWall
[ "STEP 1: Move to the counter to the right of you | STEP 2: pick up the bread from the counter | STEP 3: move to the fridge to the left of you | STEP 4: chill the bread in the fridge for a moment | STEP 5: move to the dining table to the left of you | STEP 6: put the bread on the table | END" ]
[ [ "STEP 1: Move to the counter to the right of you ", " STEP 2: pick up the bread from the counter ", " STEP 3: move to the fridge to the left of you ", " STEP 4: chill the bread in the fridge for a moment ", " STEP 5: move to the dining table to the left of you ", " STEP 6: put the bread on the table ", " END" ] ]
seen
trial_T20190907_191053_355058-2
Chill a loaf of bread and place it on the table.
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SoapBottle", " -2.013", " 0.120", " -1.799", " 0", " 0", " 0", " 53" ], [ "12", " Bowl", " -2.539", " 0.872", " 3.341", " 0", " 225", " 0", " 54" ], [ "13", " Bowl", " -2.510", " 0.876", " 3.053", " 0", " 0", " 0", " 54" ], [ "14", " SaltShaker", " 1.578", " 0.906", " -1.437", " 0", " 0", " 0", " 72" ], [ "15", " PepperShaker", " 0.630", " 1.649", " -1.639", " 0", " 0", " 0", " 63" ], [ "16", " PepperShaker", " -2.072", " 0.908", " -0.614", " 0", " 0", " 0", " 52" ], [ "17", " Bread", " -1.961", " 0.995", " -0.288", " 0", " 0", " 0", " 52" ], [ "18", " Lettuce", " -0.330", " 0.772", " -1.573", " 0", " 270", " 0", " 81" ], [ "19", " Lettuce", " 0.079", " 1.637", " 2.160", " 0", " 180", " 0", " 77" ], [ "20", " Book", " -0.292", " 0.118", " -1.413", " 0", " 0", " 0", " 61" ], [ "21", " Fork", " 1.760", " 0.910", " -1.437", " 0", " 90", " 0", " 72" ], [ "22", " Tomato", " -3.069", " 0.925", " 3.527", " 0", " 135", " 0", " 54" ], [ "23", " Egg", " -0.377", " 0.828", " 2.251", " 0", " 180", " 0", " 77" ], [ "24", " Kettle", " 1.328", " 0.957", " -1.420", " 0", " 180", " 0", " 56" ], [ "25", " Vase", " -1.849", " 0.913", " -0.939", " 0", " 0", " 0", " 52" ], [ "26", " Cup", " -2.013", " 0.118", " -1.506", " 0", " 0", " 0", " 53" ], [ "27", " WineBottle", " -2.510", " 0.879", " 2.884", " 0", " 0", " 0", " 54" ], [ "28", " Plate", " -1.444", " 1.661", " -1.747", " 0", " 0", " 0", " 65" ], [ "29", " Spatula", " -1.715", " 0.732", " -1.073", " 0", " 90", " 0", " 67" ], [ "30", " Potato", " -3.002", " 0.911", " 3.088", " 0", " 225", " 0", " 54" ], [ "31", " Pot", " -0.263", " 1.574", " 2.100", " 0", " 180", " 0", " 77" ], [ "32", " Knife", " -1.738", " 0.934", " -1.265", " 0", " 0", " 0", " 67" ], [ "33", " SaltShaker", " -2.300", " 0.871", " 2.863", " 0", " 135", " 0", " 54" ], [ "34", " PepperShaker", " -2.072", " 0.908", " 0.037", " 0", " 0", " 0", " 52" ], [ "35", " Lettuce", " -2.807", " 0.943", " 2.884", " 0", " 0", " 0", " 54" ], [ "36", " ButterKnife", " -0.040", " 0.928", " -1.501", " 0", " 270", " 0", " 49" ], [ "37", " Bread", " -2.793", " 0.961", " 3.565", " 0", " 135", " 0", " 54" ], [ "38", " Vase", " -1.961", " 0.913", " -1.591", " 0", " 0", " 0", " 52" ], [ "39", " DishSponge", " 0.124", " 0.928", " -1.718", " 0", " 270", " 0", " 49" ], [ "40", " Apple", " 0.069", " 0.983", " -1.501", " 0", " 270", " 0", " 49" ], [ "41", " Pan", " 0.974", " 0.957", " -1.688", " 0", " 180", " 0", " 51" ], [ "42", " Spoon", " -0.292", " 0.698", " -1.468", " 0", " 0", " 0", " 81" ], [ "43", " SoapBottle", " -0.844", " 0.193", " 2.213", " 0", " 90", " 0", " 82" ], [ "44", " Mug", " 1.316", " 1.756", " -1.663", " 0", " 0", " 0", " 76" ], [ "45", " Statue", " 3.676", " 0.168", " 1.410", " 0", " 334.521", " 0", " 75" ], [ "46", " Statue", " 3.668", " 0.540", " 1.800", " 0", " 0", " 0", " 75" ], [ "47", " Bowl", " -3.165", " 0.872", " 3.221", " 0", " 270", " 0", " 54" ], [ "48", " Cabinet", " -2.171", " 2.009", " -1.538", " 0", " 0", " 0", "" ], [ "49", " Sink", " 0.024", " 0.771", " -1.708", " 0", " 270", " 0", "" ], [ "50", " Cabinet", " 1.444", " 2.259", " -1.542", " 0", " 0", " 0", "" ], [ "51", " StoveBurner", " 0.974", " 0.957", " -1.688", " 0", " 180", " 0", "" ], [ "52", " CounterTop", " -1.866", " 0.947", " -0.614", " 0", " 0", " 0", "" ], [ "53", " Cabinet", " -2.217", " 0.373", " -1.874", " 0", " 0", " 0", "" ], [ "54", " DiningTable", " -2.663", " 0.002", " 3.208", " 0", " 0", " 0", "" ], [ "55", " StoveBurner", " 1.328", " 0.957", " -1.688", " 0", " 180", " 0", "" ], [ "56", " StoveBurner", " 1.328", " 0.957", " -1.420", " 0", " 180", " 0", "" ], [ "57", " Cabinet", " -1.478", " 0.373", " -1.235", " 0", " 0", " 0", "" ], [ "58", " Cabinet", " 1.775", " 0.372", " -1.242", " 0", " 0", " 0", "" ], [ "59", " Cabinet", " 0.774", " 0.372", " -1.242", " 0", " 0", " 0", "" ], [ "60", " Cabinet", " 0.375", " 0.372", " -1.242", " 0", " 0", " 0", "" ], [ "61", " Cabinet", " -0.574", " 0.372", " -1.238", " 0", " 0", " 0", "" ], [ "62", " Cabinet", " 1.775", " 2.009", " -1.542", " 0", " 0", " 0", "" ], [ "63", " Cabinet", " 0.524", " 2.009", " -1.542", " 0", " 0", " 0", "" ], [ "64", " Cabinet", " -0.714", " 2.009", " -1.542", " 0", " 0", " 0", "" ], [ "65", " Cabinet", " -1.671", " 2.009", " -1.538", " 0", " 0", " 0", "" ], [ "66", " Cabinet", " 0.854", " 2.259", " -1.542", " 0", " 0", " 0", "" ], [ "67", " Drawer", " -1.636", " 0.683", " -0.930", " 0", " 0", " 0", "" ], [ "68", " Drawer", " 1.650", " 0.682", " -1.396", " 0", " 0", " 0", "" ], [ "69", " Drawer", " 0.600", " 0.682", " -1.396", " 0", " 0", " 0", "" ], [ "70", " StoveBurner", " 0.974", " 0.957", " -1.419", " 0", " 180", " 0", "" ], [ "71", " Drawer", " -2.062", " 0.683", " -1.579", " 0", " 0", " 0", "" ], [ "72", " CounterTop", " 1.645", " 0.945", " -1.527", " 0", " 0", " 0", "" ], [ "73", " Shelf", " 3.725", " 0.880", " 1.671", " 0", " 90", " 0", "" ], [ "74", " LightSwitch", " 2.830", " 1.266", " -0.748", " 0", " 0", " 0", "" ], [ "75", " Shelf", " 3.726", " 0.552", " 1.671", " 0", " 90", " 0", "" ], [ "76", " Microwave", " 1.150", " 1.655", " -1.614", " 0", " 0", " 0", "" ], [ "77", " Fridge", " -0.035", " 0.0", " 2.177", " 0", " 180", " 0", "" ], [ "78", " Window", " -0.115", " 1.802", " -1.896", " 90", " 0", " 0", "" ], [ "79", " Window", " -4.009", " 1.799", " 0.310", " 90", " 90", " 0", "" ], [ "80", " Shelf", " 3.726", " 0.172", " 1.671", " 0", " 90", " 0", "" ], [ "81", " SinkBasin", " -0.330", " 0.686", " -1.581", " 0", " 270", " 0", "" ], [ "82", " GarbageCan", " -0.870", " -0.001", " 2.136", " 0", " 90", " 0", "" ], [ "83", " StoveKnob", " 1.089", " 0.913", " -1.243", " 45", " 0", " 0", "" ], [ "84", " StoveKnob", " 1.208", " 0.913", " -1.243", " 45", " 0", " 0", "" ], [ "85", " StoveKnob", " 1.340", " 0.913", " -1.243", " 45", " 0", " 0", "" ], [ "86", " StoveKnob", " 0.961", " 0.913", " -1.243", " 45", " 0", " 0", "" ], [ "87", " Toaster", " 1.637", " 0.900", " -1.673", " 0", " 0", " 0", "" ], [ "88", " Chair", " -3.505", " 0.002", " 3.290", " 0", " 105.736", " 0", "" ], [ "89", " CoffeeMachine", " -1.111", " 0.900", " -1.726", " 0", " 0", " 0", "" ], [ "90", " HousePlant", " -2.663", " 0.835", " 3.209", " 0", " 0", " 0", "" ], [ "91", " Faucet", " -0.187", " 0.922", " -1.75", " 0", " 311.166", " 0", "" ], [ "92", " ShelvingUnit", " 3.726", " 0.006", " 1.671", " 0", " 90", " 0", "" ], [ "93", " Stool", " -2.501", " -0.000", " 0.062", " 1.223", " 91.243", " 0", "" ], [ "94", " Stool", " -2.475", " -0.000", " -0.802", " 1.209", " 69.808", " 0", "" ], [ "95", " Chair", " -2.934", " 0.002", " 2.437", " 0", " 28.531", " 0", "" ], [ "96", " Chair", " -1.698", " 0.002", " 3.235", " 0", " 245.204", " 0", "" ], [ "97", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "98", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "99", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "100", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -2.5 0.900 0.5 0 0 0 1 Potato -0.923 0.229 2.174 0 90 0 82 2 Book -0.943 1.651 -1.712 0 0 0 64 3 ButterKnife -2.321 0.874 3.296 0 0 0 54 4 ButterKnife -3.165 0.878 3.073 0 270 0 54 5 WineBottle 0.525 0.913 -1.471 0 0 0 52 6 Fork 0.179 0.929 -1.573 0 270 0 49 7 Spoon 0.521 0.719 -1.443 0 90 0 69 8 Spoon -2.048 0.720 -1.441 0 0 0 71 9 Egg -0.149 0.414 1.967 0 180 0 77 10 Plate -1.627 0.916 0.363 0 0 0 52 11 SoapBottle -2.013 0.120 -1.799 0 0 0 53 12 Bowl -2.539 0.872 3.341 0 225 0 54 13 Bowl -2.510 0.876 3.053 0 0 0 54 14 SaltShaker 1.578 0.906 -1.437 0 0 0 72 15 PepperShaker 0.630 1.649 -1.639 0 0 0 63 16 PepperShaker -2.072 0.908 -0.614 0 0 0 52 17 Bread -1.961 0.995 -0.288 0 0 0 52 18 Lettuce -0.330 0.772 -1.573 0 270 0 81 19 Lettuce 0.079 1.637 2.160 0 180 0 77 20 Book -0.292 0.118 -1.413 0 0 0 61 21 Fork 1.760 0.910 -1.437 0 90 0 72 22 Tomato -3.069 0.925 3.527 0 135 0 54 23 Egg -0.377 0.828 2.251 0 180 0 77 24 Kettle 1.328 0.957 -1.420 0 180 0 56 25 Vase -1.849 0.913 -0.939 0 0 0 52 26 Cup -2.013 0.118 -1.506 0 0 0 53 27 WineBottle -2.510 0.879 2.884 0 0 0 54 28 Plate -1.444 1.661 -1.747 0 0 0 65 29 Spatula -1.715 0.732 -1.073 0 90 0 67 30 Potato -3.002 0.911 3.088 0 225 0 54 31 Pot -0.263 1.574 2.100 0 180 0 77 32 Knife -1.738 0.934 -1.265 0 0 0 67 33 SaltShaker -2.300 0.871 2.863 0 135 0 54 34 PepperShaker -2.072 0.908 0.037 0 0 0 52 35 Lettuce -2.807 0.943 2.884 0 0 0 54 36 ButterKnife -0.040 0.928 -1.501 0 270 0 49 37 Bread -2.793 0.961 3.565 0 135 0 54 38 Vase -1.961 0.913 -1.591 0 0 0 52 39 DishSponge 0.124 0.928 -1.718 0 270 0 49 40 Apple 0.069 0.983 -1.501 0 270 0 49 41 Pan 0.974 0.957 -1.688 0 180 0 51 42 Spoon -0.292 0.698 -1.468 0 0 0 81 43 SoapBottle -0.844 0.193 2.213 0 90 0 82 44 Mug 1.316 1.756 -1.663 0 0 0 76 45 Statue 3.676 0.168 1.410 0 334.521 0 75 46 Statue 3.668 0.540 1.800 0 0 0 75 47 Bowl -3.165 0.872 3.221 0 270 0 54 48 Cabinet -2.171 2.009 -1.538 0 0 0 49 Sink 0.024 0.771 -1.708 0 270 0 50 Cabinet 1.444 2.259 -1.542 0 0 0 51 StoveBurner 0.974 0.957 -1.688 0 180 0 52 CounterTop -1.866 0.947 -0.614 0 0 0 53 Cabinet -2.217 0.373 -1.874 0 0 0 54 DiningTable -2.663 0.002 3.208 0 0 0 55 StoveBurner 1.328 0.957 -1.688 0 180 0 56 StoveBurner 1.328 0.957 -1.420 0 180 0 57 Cabinet -1.478 0.373 -1.235 0 0 0 58 Cabinet 1.775 0.372 -1.242 0 0 0 59 Cabinet 0.774 0.372 -1.242 0 0 0 60 Cabinet 0.375 0.372 -1.242 0 0 0 61 Cabinet -0.574 0.372 -1.238 0 0 0 62 Cabinet 1.775 2.009 -1.542 0 0 0 63 Cabinet 0.524 2.009 -1.542 0 0 0 64 Cabinet -0.714 2.009 -1.542 0 0 0 65 Cabinet -1.671 2.009 -1.538 0 0 0 66 Cabinet 0.854 2.259 -1.542 0 0 0 67 Drawer -1.636 0.683 -0.930 0 0 0 68 Drawer 1.650 0.682 -1.396 0 0 0 69 Drawer 0.600 0.682 -1.396 0 0 0 70 StoveBurner 0.974 0.957 -1.419 0 180 0 71 Drawer -2.062 0.683 -1.579 0 0 0 72 CounterTop 1.645 0.945 -1.527 0 0 0 73 Shelf 3.725 0.880 1.671 0 90 0 74 LightSwitch 2.830 1.266 -0.748 0 0 0 75 Shelf 3.726 0.552 1.671 0 90 0 76 Microwave 1.150 1.655 -1.614 0 0 0 77 Fridge -0.035 0.0 2.177 0 180 0 78 Window -0.115 1.802 -1.896 90 0 0 79 Window -4.009 1.799 0.310 90 90 0 80 Shelf 3.726 0.172 1.671 0 90 0 81 SinkBasin -0.330 0.686 -1.581 0 270 0 82 GarbageCan -0.870 -0.001 2.136 0 90 0 83 StoveKnob 1.089 0.913 -1.243 45 0 0 84 StoveKnob 1.208 0.913 -1.243 45 0 0 85 StoveKnob 1.340 0.913 -1.243 45 0 0 86 StoveKnob 0.961 0.913 -1.243 45 0 0 87 Toaster 1.637 0.900 -1.673 0 0 0 88 Chair -3.505 0.002 3.290 0 105.736 0 89 CoffeeMachine -1.111 0.900 -1.726 0 0 0 90 HousePlant -2.663 0.835 3.209 0 0 0 91 Faucet -0.187 0.922 -1.75 0 311.166 0 92 ShelvingUnit 3.726 0.006 1.671 0 90 0 93 Stool -2.501 -0.000 0.062 1.223 91.243 0 94 Stool -2.475 -0.000 -0.802 1.209 69.808 0 95 Chair -2.934 0.002 2.437 0 28.531 0 96 Chair -1.698 0.002 3.235 0 245.204 0 97 NorthWall 98 EastWall 99 SouthWall 100 WestWall
[ "STEP 1: Turn around and find the bread on the counter. | STEP 2: Pick up the bread from the counter. | STEP 3: Carry the bread and turn to the left and then the right to go around the counter. And find the fridge on the left side. | STEP 4: Open the fridge and place the bread inside. Shut the door and then open it again. Take the bread out, and shut the door. | STEP 5: Carry the bread and turn to the left and then the right to find the round table. | STEP 6: Place the bread on the far side of the table, next to the bottle. | END" ]
[ [ "STEP 1: Turn around and find the bread on the counter. ", " STEP 2: Pick up the bread from the counter. ", " STEP 3: Carry the bread and turn to the left and then the right to go around the counter. And find the fridge on the left side. ", " STEP 4: Open the fridge and place the bread inside. Shut the door and then open it again. Take the bread out, and shut the door. ", " STEP 5: Carry the bread and turn to the left and then the right to find the round table. ", " STEP 6: Place the bread on the far side of the table, next to the bottle. ", " END" ] ]
seen
trial_T20190907_162400_978293-0
Move the cell phone from the shelves to desk.
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " -0.75", " 0.900", " -1.75", " 0", " 0", " 0", "" ], [ "1", " Bowl", " 1.259", " 0.383", " -0.675", " 0", " 270", " 0", " 39" ], [ "2", " Bowl", " 1.226", " 0.383", " 0.191", " 0", " 270", " 0", " 39" ], [ "3", " CD", " 1.226", " 0.382", " -0.242", " 0", " 270", " 0", " 39" ], [ "4", " CD", " 1.172", " 0.104", " -1.998", " 0", " 0", " 0", " 28" ], [ "5", " Pen", " 1.277", " 0.376", " -1.998", " 0", " 0", " 0", " 31" ], [ "6", " CellPhone", " -0.962", " 0.611", " 0.057", " 0", " 0", " 0", " 29" ], [ "7", " Pencil", " 1.120", " 0.111", " -1.674", " 0", " 0", " 0", " 34" ], [ "8", " KeyChain", " 1.26", " 0.912", " -0.249", " 0", " 270", " 0", " 38" ], [ "9", " KeyChain", " 0.937", " 0.578", " -2.537", " 0", " 0", " 0", " 47" ], [ "10", " Book", " -0.962", " 0.610", " 0.618", " 0", " 0", " 0", " 29" ], [ "11", " AlarmClock", " 1.260", " 0.383", " -0.097", " 0", " 270", " 0", " 39" ], [ "12", " Pillow", " -1.323", " 0.713", " 0.057", " 0", " 0", " 0", " 29" ], [ "13", " Book", " 0.623", " 0.569", " -2.471", " 0", " 350.999", " 0", " 36" ], [ "14", " KeyChain", " 1.120", " 0.239", " -1.929", " 0", " 0", " 0", " 27" ], [ "15", " BaseballBat", " 1.436", " 0.636", " 1.985", " 21.882", " 0", " 0", "" ], [ "16", " BasketBall", " 1.270", " 0.12", " -1.290", " 0", " 345.557", " 0", "" ], [ "17", " Pencil", " -1.519", " 0.701", " -1.755", " 0", " 0", " 0", " 52" ], [ "18", " CellPhone", " 1.318", " 0.505", " -2.038", " 0", " 270", " 0", " 30" ], [ "19", " CreditCard", " 1.381", " 0.105", " -1.929", " 0", " 0", " 0", " 28" ], [ "20", " Laptop", " 0.076", " 0.569", " -2.456", " 0", " 0", " 0", " 47" ], [ "21", " Pillow", " -1.170", " 0.684", " -0.990", " 0", " 0", " 0", " 29" ], [ "22", " Boots", " 1.288", " 0.000", " -0.961", " 0", " 177.912", " 0", "" ], [ "23", " Pen", " -1.367", " 0.105", " -1.939", " 0", " 0", " 0", " 51" ], [ "24", " AlarmClock", " -1.582", " 0.699", " -2.191", " 0", " 0", " 0", " 52" ], [ "25", " CD", " -1.367", " 0.395", " -2.259", " 0", " 0", " 0", " 53" ], [ "26", " Bowl", " -1.577", " 1.521", " -1.859", " 0", " 270", " 0", " 41" ], [ "27", " Drawer", " 0.980", " 0.271", " -1.963", " 0", " 0", " 0", "" ], [ "28", " Drawer", " 0.980", " 0.139", " -1.963", " 0", " 0", " 0", "" ], [ "29", " Bed", " -1.209", " 0.016", " -0.266", " 0", " 180", " 1.624", "" ], [ "30", " Shelf", " 1.220", " 0.859", " -1.802", " 0", " 270", " 0", "" ], [ "31", " Drawer", " 0.980", " 0.404", " -1.963", " 0", " 0", " 0", "" ], [ "32", " Drawer", " 0.980", " 0.272", " -1.639", " 0", " 0", " 0", "" ], [ "33", " Mirror", " 0.740", " 1.491", " 2.099", " 0", " 0", " 0", "" ], [ "34", " Drawer", " 0.980", " 0.139", " -1.639", " 0", " 0", " 0", "" ], [ "35", " Drawer", " 0.980", " 0.404", " -1.639", " 0", " 0", " 0", "" ], [ "36", " Chair", " 0.280", " -0.001", " -2.264", " 0", " 180", " 0", "" ], [ "37", " GarbageCan", " -1.542", " 0.013", " 1.919", " 2.249", " 116.925", " 355.175", "" ], [ "38", " Shelf", " 1.259", " 0.903", " -0.269", " 0", " 270", " 0", "" ], [ "39", " Shelf", " 1.259", " 0.375", " -0.263", " 0", " 270", " 0", "" ], [ "40", " Shelf", " 1.259", " 1.402", " -0.259", " 0", " 270", " 0", "" ], [ "41", " Shelf", " -1.577", " 1.513", " -2.025", " 0", " 270", " 0", "" ], [ "42", " LightSwitch", " -0.755", " 1.176", " 2.099", " 0", " 180", " 0", "" ], [ "43", " DeskLamp", " -1.489", " 0.669", " -2.419", " 0", " 0", " 0", "" ], [ "44", " Window", " 0.243", " 0.963", " -2.678", " 90", " 0", " 0", "" ], [ "45", " Window", " -0.361", " 0.963", " -2.679", " 90", " 0", " 0", "" ], [ "46", " Window", " -0.962", " 0.963", " -2.678", " 90", " 0", " 0", "" ], [ "47", " Desk", " 0.445", " 0.001", " -2.430", " 0", " 0", " 0", "" ], [ "48", " Blinds", " -0.349", " 2.186", " -2.685", " 0", " 0", " 0", "" ], [ "49", " Blinds", " 0.250", " 2.186", " -2.685", " 0", " 0", " 0", "" ], [ "50", " Blinds", " -0.952", " 2.186", " -2.685", " 0", " 0", " 0", "" ], [ "51", " Drawer", " -1.314", " 0.163", " -2.051", " 0", " 90", " 0", "" ], [ "52", " SideTable", " -1.444", " -0.001", " -2.051", " 0", " 90", " 0", "" ], [ "53", " Drawer", " -1.314", " 0.455", " -2.051", " 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 -0.75 0.900 -1.75 0 0 0 1 Bowl 1.259 0.383 -0.675 0 270 0 39 2 Bowl 1.226 0.383 0.191 0 270 0 39 3 CD 1.226 0.382 -0.242 0 270 0 39 4 CD 1.172 0.104 -1.998 0 0 0 28 5 Pen 1.277 0.376 -1.998 0 0 0 31 6 CellPhone -0.962 0.611 0.057 0 0 0 29 7 Pencil 1.120 0.111 -1.674 0 0 0 34 8 KeyChain 1.26 0.912 -0.249 0 270 0 38 9 KeyChain 0.937 0.578 -2.537 0 0 0 47 10 Book -0.962 0.610 0.618 0 0 0 29 11 AlarmClock 1.260 0.383 -0.097 0 270 0 39 12 Pillow -1.323 0.713 0.057 0 0 0 29 13 Book 0.623 0.569 -2.471 0 350.999 0 36 14 KeyChain 1.120 0.239 -1.929 0 0 0 27 15 BaseballBat 1.436 0.636 1.985 21.882 0 0 16 BasketBall 1.270 0.12 -1.290 0 345.557 0 17 Pencil -1.519 0.701 -1.755 0 0 0 52 18 CellPhone 1.318 0.505 -2.038 0 270 0 30 19 CreditCard 1.381 0.105 -1.929 0 0 0 28 20 Laptop 0.076 0.569 -2.456 0 0 0 47 21 Pillow -1.170 0.684 -0.990 0 0 0 29 22 Boots 1.288 0.000 -0.961 0 177.912 0 23 Pen -1.367 0.105 -1.939 0 0 0 51 24 AlarmClock -1.582 0.699 -2.191 0 0 0 52 25 CD -1.367 0.395 -2.259 0 0 0 53 26 Bowl -1.577 1.521 -1.859 0 270 0 41 27 Drawer 0.980 0.271 -1.963 0 0 0 28 Drawer 0.980 0.139 -1.963 0 0 0 29 Bed -1.209 0.016 -0.266 0 180 1.624 30 Shelf 1.220 0.859 -1.802 0 270 0 31 Drawer 0.980 0.404 -1.963 0 0 0 32 Drawer 0.980 0.272 -1.639 0 0 0 33 Mirror 0.740 1.491 2.099 0 0 0 34 Drawer 0.980 0.139 -1.639 0 0 0 35 Drawer 0.980 0.404 -1.639 0 0 0 36 Chair 0.280 -0.001 -2.264 0 180 0 37 GarbageCan -1.542 0.013 1.919 2.249 116.925 355.175 38 Shelf 1.259 0.903 -0.269 0 270 0 39 Shelf 1.259 0.375 -0.263 0 270 0 40 Shelf 1.259 1.402 -0.259 0 270 0 41 Shelf -1.577 1.513 -2.025 0 270 0 42 LightSwitch -0.755 1.176 2.099 0 180 0 43 DeskLamp -1.489 0.669 -2.419 0 0 0 44 Window 0.243 0.963 -2.678 90 0 0 45 Window -0.361 0.963 -2.679 90 0 0 46 Window -0.962 0.963 -2.678 90 0 0 47 Desk 0.445 0.001 -2.430 0 0 0 48 Blinds -0.349 2.186 -2.685 0 0 0 49 Blinds 0.250 2.186 -2.685 0 0 0 50 Blinds -0.952 2.186 -2.685 0 0 0 51 Drawer -1.314 0.163 -2.051 0 90 0 52 SideTable -1.444 -0.001 -2.051 0 90 0 53 Drawer -1.314 0.455 -2.051 0 90 0 54 NorthWall 55 EastWall 56 SouthWall 57 WestWall
[ "STEP 1: Turn around and go to the shelf by the desk. | STEP 2: Pick up the cell phone on the shelf. | STEP 3: Turn around and go to the desk. | STEP 4: Turn around and put the cell phone on the desk. | END" ]
[ [ "STEP 1: Turn around and go to the shelf by the desk. ", " STEP 2: Pick up the cell phone on the shelf. ", " STEP 3: Turn around and go to the desk. ", " STEP 4: Turn around and put the cell phone on the desk. ", " END" ] ]
seen
trial_T20190907_162400_978293-1
Move a phone over to the desk.
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " -0.75", " 0.900", " -1.75", " 0", " 0", " 0", "" ], [ "1", " Bowl", " 1.259", " 0.383", " -0.675", " 0", " 270", " 0", " 39" ], [ "2", " Bowl", " 1.226", " 0.383", " 0.191", " 0", " 270", " 0", " 39" ], [ "3", " CD", " 1.226", " 0.382", " -0.242", " 0", " 270", " 0", " 39" ], [ "4", " CD", " 1.172", " 0.104", " -1.998", " 0", " 0", " 0", " 28" ], [ "5", " Pen", " 1.277", " 0.376", " -1.998", " 0", " 0", " 0", " 31" ], [ "6", " CellPhone", " -0.962", " 0.611", " 0.057", " 0", " 0", " 0", " 29" ], [ "7", " Pencil", " 1.120", " 0.111", " -1.674", " 0", " 0", " 0", " 34" ], [ "8", " KeyChain", " 1.26", " 0.912", " -0.249", " 0", " 270", " 0", " 38" ], [ "9", " KeyChain", " 0.937", " 0.578", " -2.537", " 0", " 0", " 0", " 47" ], [ "10", " Book", " -0.962", " 0.610", " 0.618", " 0", " 0", " 0", " 29" ], [ "11", " AlarmClock", " 1.260", " 0.383", " -0.097", " 0", " 270", " 0", " 39" ], [ "12", " Pillow", " -1.323", " 0.713", " 0.057", " 0", " 0", " 0", " 29" ], [ "13", " Book", " 0.623", " 0.569", " -2.471", " 0", " 350.999", " 0", " 36" ], [ "14", " KeyChain", " 1.120", " 0.239", " -1.929", " 0", " 0", " 0", " 27" ], [ "15", " BaseballBat", " 1.436", " 0.636", " 1.985", " 21.882", " 0", " 0", "" ], [ "16", " BasketBall", " 1.270", " 0.12", " -1.290", " 0", " 345.557", " 0", "" ], [ "17", " Pencil", " -1.519", " 0.701", " -1.755", " 0", " 0", " 0", " 52" ], [ "18", " CellPhone", " 1.318", " 0.505", " -2.038", " 0", " 270", " 0", " 30" ], [ "19", " CreditCard", " 1.381", " 0.105", " -1.929", " 0", " 0", " 0", " 28" ], [ "20", " Laptop", " 0.076", " 0.569", " -2.456", " 0", " 0", " 0", " 47" ], [ "21", " Pillow", " -1.170", " 0.684", " -0.990", " 0", " 0", " 0", " 29" ], [ "22", " Boots", " 1.288", " 0.000", " -0.961", " 0", " 177.912", " 0", "" ], [ "23", " Pen", " -1.367", " 0.105", " -1.939", " 0", " 0", " 0", " 51" ], [ "24", " AlarmClock", " -1.582", " 0.699", " -2.191", " 0", " 0", " 0", " 52" ], [ "25", " CD", " -1.367", " 0.395", " -2.259", " 0", " 0", " 0", " 53" ], [ "26", " Bowl", " -1.577", " 1.521", " -1.859", " 0", " 270", " 0", " 41" ], [ "27", " Drawer", " 0.980", " 0.271", " -1.963", " 0", " 0", " 0", "" ], [ "28", " Drawer", " 0.980", " 0.139", " -1.963", " 0", " 0", " 0", "" ], [ "29", " Bed", " -1.209", " 0.016", " -0.266", " 0", " 180", " 1.624", "" ], [ "30", " Shelf", " 1.220", " 0.859", " -1.802", " 0", " 270", " 0", "" ], [ "31", " Drawer", " 0.980", " 0.404", " -1.963", " 0", " 0", " 0", "" ], [ "32", " Drawer", " 0.980", " 0.272", " -1.639", " 0", " 0", " 0", "" ], [ "33", " Mirror", " 0.740", " 1.491", " 2.099", " 0", " 0", " 0", "" ], [ "34", " Drawer", " 0.980", " 0.139", " -1.639", " 0", " 0", " 0", "" ], [ "35", " Drawer", " 0.980", " 0.404", " -1.639", " 0", " 0", " 0", "" ], [ "36", " Chair", " 0.280", " -0.001", " -2.264", " 0", " 180", " 0", "" ], [ "37", " GarbageCan", " -1.542", " 0.013", " 1.919", " 2.249", " 116.925", " 355.175", "" ], [ "38", " Shelf", " 1.259", " 0.903", " -0.269", " 0", " 270", " 0", "" ], [ "39", " Shelf", " 1.259", " 0.375", " -0.263", " 0", " 270", " 0", "" ], [ "40", " Shelf", " 1.259", " 1.402", " -0.259", " 0", " 270", " 0", "" ], [ "41", " Shelf", " -1.577", " 1.513", " -2.025", " 0", " 270", " 0", "" ], [ "42", " LightSwitch", " -0.755", " 1.176", " 2.099", " 0", " 180", " 0", "" ], [ "43", " DeskLamp", " -1.489", " 0.669", " -2.419", " 0", " 0", " 0", "" ], [ "44", " Window", " 0.243", " 0.963", " -2.678", " 90", " 0", " 0", "" ], [ "45", " Window", " -0.361", " 0.963", " -2.679", " 90", " 0", " 0", "" ], [ "46", " Window", " -0.962", " 0.963", " -2.678", " 90", " 0", " 0", "" ], [ "47", " Desk", " 0.445", " 0.001", " -2.430", " 0", " 0", " 0", "" ], [ "48", " Blinds", " -0.349", " 2.186", " -2.685", " 0", " 0", " 0", "" ], [ "49", " Blinds", " 0.250", " 2.186", " -2.685", " 0", " 0", " 0", "" ], [ "50", " Blinds", " -0.952", " 2.186", " -2.685", " 0", " 0", " 0", "" ], [ "51", " Drawer", " -1.314", " 0.163", " -2.051", " 0", " 90", " 0", "" ], [ "52", " SideTable", " -1.444", " -0.001", " -2.051", " 0", " 90", " 0", "" ], [ "53", " Drawer", " -1.314", " 0.455", " -2.051", " 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 -0.75 0.900 -1.75 0 0 0 1 Bowl 1.259 0.383 -0.675 0 270 0 39 2 Bowl 1.226 0.383 0.191 0 270 0 39 3 CD 1.226 0.382 -0.242 0 270 0 39 4 CD 1.172 0.104 -1.998 0 0 0 28 5 Pen 1.277 0.376 -1.998 0 0 0 31 6 CellPhone -0.962 0.611 0.057 0 0 0 29 7 Pencil 1.120 0.111 -1.674 0 0 0 34 8 KeyChain 1.26 0.912 -0.249 0 270 0 38 9 KeyChain 0.937 0.578 -2.537 0 0 0 47 10 Book -0.962 0.610 0.618 0 0 0 29 11 AlarmClock 1.260 0.383 -0.097 0 270 0 39 12 Pillow -1.323 0.713 0.057 0 0 0 29 13 Book 0.623 0.569 -2.471 0 350.999 0 36 14 KeyChain 1.120 0.239 -1.929 0 0 0 27 15 BaseballBat 1.436 0.636 1.985 21.882 0 0 16 BasketBall 1.270 0.12 -1.290 0 345.557 0 17 Pencil -1.519 0.701 -1.755 0 0 0 52 18 CellPhone 1.318 0.505 -2.038 0 270 0 30 19 CreditCard 1.381 0.105 -1.929 0 0 0 28 20 Laptop 0.076 0.569 -2.456 0 0 0 47 21 Pillow -1.170 0.684 -0.990 0 0 0 29 22 Boots 1.288 0.000 -0.961 0 177.912 0 23 Pen -1.367 0.105 -1.939 0 0 0 51 24 AlarmClock -1.582 0.699 -2.191 0 0 0 52 25 CD -1.367 0.395 -2.259 0 0 0 53 26 Bowl -1.577 1.521 -1.859 0 270 0 41 27 Drawer 0.980 0.271 -1.963 0 0 0 28 Drawer 0.980 0.139 -1.963 0 0 0 29 Bed -1.209 0.016 -0.266 0 180 1.624 30 Shelf 1.220 0.859 -1.802 0 270 0 31 Drawer 0.980 0.404 -1.963 0 0 0 32 Drawer 0.980 0.272 -1.639 0 0 0 33 Mirror 0.740 1.491 2.099 0 0 0 34 Drawer 0.980 0.139 -1.639 0 0 0 35 Drawer 0.980 0.404 -1.639 0 0 0 36 Chair 0.280 -0.001 -2.264 0 180 0 37 GarbageCan -1.542 0.013 1.919 2.249 116.925 355.175 38 Shelf 1.259 0.903 -0.269 0 270 0 39 Shelf 1.259 0.375 -0.263 0 270 0 40 Shelf 1.259 1.402 -0.259 0 270 0 41 Shelf -1.577 1.513 -2.025 0 270 0 42 LightSwitch -0.755 1.176 2.099 0 180 0 43 DeskLamp -1.489 0.669 -2.419 0 0 0 44 Window 0.243 0.963 -2.678 90 0 0 45 Window -0.361 0.963 -2.679 90 0 0 46 Window -0.962 0.963 -2.678 90 0 0 47 Desk 0.445 0.001 -2.430 0 0 0 48 Blinds -0.349 2.186 -2.685 0 0 0 49 Blinds 0.250 2.186 -2.685 0 0 0 50 Blinds -0.952 2.186 -2.685 0 0 0 51 Drawer -1.314 0.163 -2.051 0 90 0 52 SideTable -1.444 -0.001 -2.051 0 90 0 53 Drawer -1.314 0.455 -2.051 0 90 0 54 NorthWall 55 EastWall 56 SouthWall 57 WestWall
[ "STEP 1: Turn to your right and walk up to the built-in shelving. | STEP 2: Pick up the phone that is sitting on the shelving. | STEP 3: Turn around until you are facing the white desk that the laptop is sitting on. | STEP 4: Place the phone to the left of the laptop. | END" ]
[ [ "STEP 1: Turn to your right and walk up to the built-in shelving. ", " STEP 2: Pick up the phone that is sitting on the shelving. ", " STEP 3: Turn around until you are facing the white desk that the laptop is sitting on. ", " STEP 4: Place the phone to the left of the laptop. ", " END" ] ]
seen
trial_T20190907_162400_978293-2
move a phone from shelf to desk
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " -0.75", " 0.900", " -1.75", " 0", " 0", " 0", "" ], [ "1", " Bowl", " 1.259", " 0.383", " -0.675", " 0", " 270", " 0", " 39" ], [ "2", " Bowl", " 1.226", " 0.383", " 0.191", " 0", " 270", " 0", " 39" ], [ "3", " CD", " 1.226", " 0.382", " -0.242", " 0", " 270", " 0", " 39" ], [ "4", " CD", " 1.172", " 0.104", " -1.998", " 0", " 0", " 0", " 28" ], [ "5", " Pen", " 1.277", " 0.376", " -1.998", " 0", " 0", " 0", " 31" ], [ "6", " CellPhone", " -0.962", " 0.611", " 0.057", " 0", " 0", " 0", " 29" ], [ "7", " Pencil", " 1.120", " 0.111", " -1.674", " 0", " 0", " 0", " 34" ], [ "8", " KeyChain", " 1.26", " 0.912", " -0.249", " 0", " 270", " 0", " 38" ], [ "9", " KeyChain", " 0.937", " 0.578", " -2.537", " 0", " 0", " 0", " 47" ], [ "10", " Book", " -0.962", " 0.610", " 0.618", " 0", " 0", " 0", " 29" ], [ "11", " AlarmClock", " 1.260", " 0.383", " -0.097", " 0", " 270", " 0", " 39" ], [ "12", " Pillow", " -1.323", " 0.713", " 0.057", " 0", " 0", " 0", " 29" ], [ "13", " Book", " 0.623", " 0.569", " -2.471", " 0", " 350.999", " 0", " 36" ], [ "14", " KeyChain", " 1.120", " 0.239", " -1.929", " 0", " 0", " 0", " 27" ], [ "15", " BaseballBat", " 1.436", " 0.636", " 1.985", " 21.882", " 0", " 0", "" ], [ "16", " BasketBall", " 1.270", " 0.12", " -1.290", " 0", " 345.557", " 0", "" ], [ "17", " Pencil", " -1.519", " 0.701", " -1.755", " 0", " 0", " 0", " 52" ], [ "18", " CellPhone", " 1.318", " 0.505", " -2.038", " 0", " 270", " 0", " 30" ], [ "19", " CreditCard", " 1.381", " 0.105", " -1.929", " 0", " 0", " 0", " 28" ], [ "20", " Laptop", " 0.076", " 0.569", " -2.456", " 0", " 0", " 0", " 47" ], [ "21", " Pillow", " -1.170", " 0.684", " -0.990", " 0", " 0", " 0", " 29" ], [ "22", " Boots", " 1.288", " 0.000", " -0.961", " 0", " 177.912", " 0", "" ], [ "23", " Pen", " -1.367", " 0.105", " -1.939", " 0", " 0", " 0", " 51" ], [ "24", " AlarmClock", " -1.582", " 0.699", " -2.191", " 0", " 0", " 0", " 52" ], [ "25", " CD", " -1.367", " 0.395", " -2.259", " 0", " 0", " 0", " 53" ], [ "26", " Bowl", " -1.577", " 1.521", " -1.859", " 0", " 270", " 0", " 41" ], [ "27", " Drawer", " 0.980", " 0.271", " -1.963", " 0", " 0", " 0", "" ], [ "28", " Drawer", " 0.980", " 0.139", " -1.963", " 0", " 0", " 0", "" ], [ "29", " Bed", " -1.209", " 0.016", " -0.266", " 0", " 180", " 1.624", "" ], [ "30", " Shelf", " 1.220", " 0.859", " -1.802", " 0", " 270", " 0", "" ], [ "31", " Drawer", " 0.980", " 0.404", " -1.963", " 0", " 0", " 0", "" ], [ "32", " Drawer", " 0.980", " 0.272", " -1.639", " 0", " 0", " 0", "" ], [ "33", " Mirror", " 0.740", " 1.491", " 2.099", " 0", " 0", " 0", "" ], [ "34", " Drawer", " 0.980", " 0.139", " -1.639", " 0", " 0", " 0", "" ], [ "35", " Drawer", " 0.980", " 0.404", " -1.639", " 0", " 0", " 0", "" ], [ "36", " Chair", " 0.280", " -0.001", " -2.264", " 0", " 180", " 0", "" ], [ "37", " GarbageCan", " -1.542", " 0.013", " 1.919", " 2.249", " 116.925", " 355.175", "" ], [ "38", " Shelf", " 1.259", " 0.903", " -0.269", " 0", " 270", " 0", "" ], [ "39", " Shelf", " 1.259", " 0.375", " -0.263", " 0", " 270", " 0", "" ], [ "40", " Shelf", " 1.259", " 1.402", " -0.259", " 0", " 270", " 0", "" ], [ "41", " Shelf", " -1.577", " 1.513", " -2.025", " 0", " 270", " 0", "" ], [ "42", " LightSwitch", " -0.755", " 1.176", " 2.099", " 0", " 180", " 0", "" ], [ "43", " DeskLamp", " -1.489", " 0.669", " -2.419", " 0", " 0", " 0", "" ], [ "44", " Window", " 0.243", " 0.963", " -2.678", " 90", " 0", " 0", "" ], [ "45", " Window", " -0.361", " 0.963", " -2.679", " 90", " 0", " 0", "" ], [ "46", " Window", " -0.962", " 0.963", " -2.678", " 90", " 0", " 0", "" ], [ "47", " Desk", " 0.445", " 0.001", " -2.430", " 0", " 0", " 0", "" ], [ "48", " Blinds", " -0.349", " 2.186", " -2.685", " 0", " 0", " 0", "" ], [ "49", " Blinds", " 0.250", " 2.186", " -2.685", " 0", " 0", " 0", "" ], [ "50", " Blinds", " -0.952", " 2.186", " -2.685", " 0", " 0", " 0", "" ], [ "51", " Drawer", " -1.314", " 0.163", " -2.051", " 0", " 90", " 0", "" ], [ "52", " SideTable", " -1.444", " -0.001", " -2.051", " 0", " 90", " 0", "" ], [ "53", " Drawer", " -1.314", " 0.455", " -2.051", " 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 -0.75 0.900 -1.75 0 0 0 1 Bowl 1.259 0.383 -0.675 0 270 0 39 2 Bowl 1.226 0.383 0.191 0 270 0 39 3 CD 1.226 0.382 -0.242 0 270 0 39 4 CD 1.172 0.104 -1.998 0 0 0 28 5 Pen 1.277 0.376 -1.998 0 0 0 31 6 CellPhone -0.962 0.611 0.057 0 0 0 29 7 Pencil 1.120 0.111 -1.674 0 0 0 34 8 KeyChain 1.26 0.912 -0.249 0 270 0 38 9 KeyChain 0.937 0.578 -2.537 0 0 0 47 10 Book -0.962 0.610 0.618 0 0 0 29 11 AlarmClock 1.260 0.383 -0.097 0 270 0 39 12 Pillow -1.323 0.713 0.057 0 0 0 29 13 Book 0.623 0.569 -2.471 0 350.999 0 36 14 KeyChain 1.120 0.239 -1.929 0 0 0 27 15 BaseballBat 1.436 0.636 1.985 21.882 0 0 16 BasketBall 1.270 0.12 -1.290 0 345.557 0 17 Pencil -1.519 0.701 -1.755 0 0 0 52 18 CellPhone 1.318 0.505 -2.038 0 270 0 30 19 CreditCard 1.381 0.105 -1.929 0 0 0 28 20 Laptop 0.076 0.569 -2.456 0 0 0 47 21 Pillow -1.170 0.684 -0.990 0 0 0 29 22 Boots 1.288 0.000 -0.961 0 177.912 0 23 Pen -1.367 0.105 -1.939 0 0 0 51 24 AlarmClock -1.582 0.699 -2.191 0 0 0 52 25 CD -1.367 0.395 -2.259 0 0 0 53 26 Bowl -1.577 1.521 -1.859 0 270 0 41 27 Drawer 0.980 0.271 -1.963 0 0 0 28 Drawer 0.980 0.139 -1.963 0 0 0 29 Bed -1.209 0.016 -0.266 0 180 1.624 30 Shelf 1.220 0.859 -1.802 0 270 0 31 Drawer 0.980 0.404 -1.963 0 0 0 32 Drawer 0.980 0.272 -1.639 0 0 0 33 Mirror 0.740 1.491 2.099 0 0 0 34 Drawer 0.980 0.139 -1.639 0 0 0 35 Drawer 0.980 0.404 -1.639 0 0 0 36 Chair 0.280 -0.001 -2.264 0 180 0 37 GarbageCan -1.542 0.013 1.919 2.249 116.925 355.175 38 Shelf 1.259 0.903 -0.269 0 270 0 39 Shelf 1.259 0.375 -0.263 0 270 0 40 Shelf 1.259 1.402 -0.259 0 270 0 41 Shelf -1.577 1.513 -2.025 0 270 0 42 LightSwitch -0.755 1.176 2.099 0 180 0 43 DeskLamp -1.489 0.669 -2.419 0 0 0 44 Window 0.243 0.963 -2.678 90 0 0 45 Window -0.361 0.963 -2.679 90 0 0 46 Window -0.962 0.963 -2.678 90 0 0 47 Desk 0.445 0.001 -2.430 0 0 0 48 Blinds -0.349 2.186 -2.685 0 0 0 49 Blinds 0.250 2.186 -2.685 0 0 0 50 Blinds -0.952 2.186 -2.685 0 0 0 51 Drawer -1.314 0.163 -2.051 0 90 0 52 SideTable -1.444 -0.001 -2.051 0 90 0 53 Drawer -1.314 0.455 -2.051 0 90 0 54 NorthWall 55 EastWall 56 SouthWall 57 WestWall
[ "STEP 1: turn right, turn left, talk a step, turn right, take a few steps, turn right, walk towards desk, turn left to face shelf | STEP 2: pick up the phone that is on the shelf | STEP 3: turn around to face the desk with a computer on it | STEP 4: put the phone next to the computer | END" ]
[ [ "STEP 1: turn right, turn left, talk a step, turn right, take a few steps, turn right, walk towards desk, turn left to face shelf ", " STEP 2: pick up the phone that is on the shelf ", " STEP 3: turn around to face the desk with a computer on it ", " STEP 4: put the phone next to the computer ", " END" ] ]
seen
trial_T20190908_225233_432920-0
Move two potatoes to the refrigerator.
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " -1.5", " 0.900", " 1.0", " 0", " 180", " 0", "" ], [ "1", " Potato", " -2.375", " 0.862", " 0.426", " 0", " 0", " 0", " 45" ], [ "2", " DishSponge", " -0.832", " 0.710", " 0.411", " 0", " 0", " 0", " 48" ], [ "3", " ButterKnife", " -1.876", " 0.823", " 0.549", " 0", " 0", " 0", " 45" ], [ "4", " Fork", " -2.664", " 0.693", " 1.547", " 0", " 270", " 0", " 50" ], [ "5", " Fork", " -2.375", " 0.824", " 0.203", " 0", " 0", " 0", " 45" ], [ "6", " Egg", " -2.044", " 0.847", " 0.539", " 0", " 0", " 0", " 45" ], [ "7", " Cup", " -2.837", " 1.445", " 2.309", " 0", " 90", " 0", " 63" ], [ "8", " Plate", " -2.726", " 0.829", " 2.133", " 0", " 90", " 0", " 63" ], [ "9", " Tomato", " -2.837", " 1.193", " 2.045", " 0", " 90", " 0", " 63" ], [ "10", " SoapBottle", " -0.817", " 0.821", " 0.129", " 0", " 0", " 0", " 45" ], [ "11", " Bowl", " -2.540", " 1.845", " 1.926", " 0", " 0", " 0", " 39" ], [ "12", " SaltShaker", " -2.840", " 0.818", " 0.352", " 0", " 0", " 0", " 45" ], [ "13", " PepperShaker", " -2.377", " 1.431", " 0.087", " 0", " 0", " 0", " 52" ], [ "14", " PepperShaker", " -2.669", " 1.430", " 0.343", " 0", " 225", " 0", " 51" ], [ "15", " Apple", " -2.837", " 0.897", " 2.397", " 0", " 90", " 0", " 63" ], [ "16", " Apple", " -2.810", " 0.994", " 1.284", " 0", " 90", " 0", " 64" ], [ "17", " Apple", " -0.395", " 0.129", " 2.572", " 0", " 90", " 0", " 65" ], [ "18", " Fork", " -2.597", " 0.693", " 1.547", " 0", " 270", " 0", " 50" ], [ "19", " Ladle", " -0.371", " 0.738", " 0.879", " 0", " 45", " 0", " 47" ], [ "20", " Pan", " -0.244", " 0.829", " 1.684", " 0", " 0", " 0", " 44" ], [ "21", " SoapBottle", " -1.350", " 0.123", " 0.323", " 0", " 0", " 0", " 58" ], [ "22", " Pot", " -0.518", " 0.829", " 2.075", " 0", " 180", " 0", " 42" ], [ "23", " Tomato", " -2.735", " 0.873", " 0.953", " 0", " 0", " 0", " 45" ], [ "24", " Potato", " -0.477", " 0.862", " 1.326", " 0", " 0", " 0", " 45" ], [ "25", " SaltShaker", " -2.929", " 1.429", " 1.264", " 0", " 0", " 0", " 53" ], [ "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", " -2.608", " 0.849", " 0.203", " 0", " 0", " 0", " 45" ], [ "29", " Egg", " -2.581", " 0.847", " 0.871", " 0", " 0", " 0", " 45" ], [ "30", " Cup", " -2.258", " 0.823", " 0.203", " 0", " 0", " 0", " 45" ], [ "31", " ButterKnife", " -1.207", " 0.823", " 0.528", " 0", " 0", " 0", " 45" ], [ "32", " Lettuce", " -1.836", " 0.741", " 0.238", " 0", " 55.910", " 0", " 72" ], [ "33", " PepperShaker", " -0.817", " 0.818", " 0.500", " 0", " 0", " 0", " 45" ], [ "34", " DishSponge", " -2.872", " 1.434", " 0.270", " 0", " 45", " 0", " 51" ], [ "35", " Bread", " -0.979", " 0.855", " 0.249", " 0", " 29.999", " 0", " 45" ], [ "36", " Spoon", " -0.916", " 0.711", " 0.378", " 0", " 90", " 0", " 48" ], [ "37", " Mug", " -0.646", " 0.888", " 0.367", " 0", " 0", " 0", " 73" ], [ "38", " Bowl", " -1.522", " 0.121", " 0.401", " 0", " 0", " 0", " 58" ], [ "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", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.5 0.900 1.0 0 180 0 1 Potato -2.375 0.862 0.426 0 0 0 45 2 DishSponge -0.832 0.710 0.411 0 0 0 48 3 ButterKnife -1.876 0.823 0.549 0 0 0 45 4 Fork -2.664 0.693 1.547 0 270 0 50 5 Fork -2.375 0.824 0.203 0 0 0 45 6 Egg -2.044 0.847 0.539 0 0 0 45 7 Cup -2.837 1.445 2.309 0 90 0 63 8 Plate -2.726 0.829 2.133 0 90 0 63 9 Tomato -2.837 1.193 2.045 0 90 0 63 10 SoapBottle -0.817 0.821 0.129 0 0 0 45 11 Bowl -2.540 1.845 1.926 0 0 0 39 12 SaltShaker -2.840 0.818 0.352 0 0 0 45 13 PepperShaker -2.377 1.431 0.087 0 0 0 52 14 PepperShaker -2.669 1.430 0.343 0 225 0 51 15 Apple -2.837 0.897 2.397 0 90 0 63 16 Apple -2.810 0.994 1.284 0 90 0 64 17 Apple -0.395 0.129 2.572 0 90 0 65 18 Fork -2.597 0.693 1.547 0 270 0 50 19 Ladle -0.371 0.738 0.879 0 45 0 47 20 Pan -0.244 0.829 1.684 0 0 0 44 21 SoapBottle -1.350 0.123 0.323 0 0 0 58 22 Pot -0.518 0.829 2.075 0 180 0 42 23 Tomato -2.735 0.873 0.953 0 0 0 45 24 Potato -0.477 0.862 1.326 0 0 0 45 25 SaltShaker -2.929 1.429 1.264 0 0 0 53 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 -2.608 0.849 0.203 0 0 0 45 29 Egg -2.581 0.847 0.871 0 0 0 45 30 Cup -2.258 0.823 0.203 0 0 0 45 31 ButterKnife -1.207 0.823 0.528 0 0 0 45 32 Lettuce -1.836 0.741 0.238 0 55.910 0 72 33 PepperShaker -0.817 0.818 0.500 0 0 0 45 34 DishSponge -2.872 1.434 0.270 0 45 0 51 35 Bread -0.979 0.855 0.249 0 29.999 0 45 36 Spoon -0.916 0.711 0.378 0 90 0 48 37 Mug -0.646 0.888 0.367 0 0 0 73 38 Bowl -1.522 0.121 0.401 0 0 0 58 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: Turn and go to the counter by the stove. | STEP 2: Pick up a potato on the counter. | STEP 3: Turn and go to the refrigerator. | STEP 4: Put the potato in the refrigerator. | STEP 5: Turn and go to the counter by the sink. | STEP 6: Pick up a potato on the counter. | STEP 7: Turn and go to the refrigerator. | STEP 8: Put the potato in the refrigerator. | END" ]
[ [ "STEP 1: Turn and go to the counter by the stove. ", " STEP 2: Pick up a potato on the counter. ", " STEP 3: Turn and go to the refrigerator. ", " STEP 4: Put the potato in the refrigerator. ", " STEP 5: Turn and go to the counter by the sink. ", " STEP 6: Pick up a potato on the counter. ", " STEP 7: Turn and go to the refrigerator. ", " STEP 8: Put the potato in the refrigerator. ", " END" ] ]
seen
trial_T20190908_225233_432920-1
Put two potatoes in the fridge.
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" 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", 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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.5 0.900 1.0 0 180 0 1 Potato -2.375 0.862 0.426 0 0 0 45 2 DishSponge -0.832 0.710 0.411 0 0 0 48 3 ButterKnife -1.876 0.823 0.549 0 0 0 45 4 Fork -2.664 0.693 1.547 0 270 0 50 5 Fork -2.375 0.824 0.203 0 0 0 45 6 Egg -2.044 0.847 0.539 0 0 0 45 7 Cup -2.837 1.445 2.309 0 90 0 63 8 Plate -2.726 0.829 2.133 0 90 0 63 9 Tomato -2.837 1.193 2.045 0 90 0 63 10 SoapBottle -0.817 0.821 0.129 0 0 0 45 11 Bowl -2.540 1.845 1.926 0 0 0 39 12 SaltShaker -2.840 0.818 0.352 0 0 0 45 13 PepperShaker -2.377 1.431 0.087 0 0 0 52 14 PepperShaker -2.669 1.430 0.343 0 225 0 51 15 Apple -2.837 0.897 2.397 0 90 0 63 16 Apple -2.810 0.994 1.284 0 90 0 64 17 Apple -0.395 0.129 2.572 0 90 0 65 18 Fork -2.597 0.693 1.547 0 270 0 50 19 Ladle -0.371 0.738 0.879 0 45 0 47 20 Pan -0.244 0.829 1.684 0 0 0 44 21 SoapBottle -1.350 0.123 0.323 0 0 0 58 22 Pot -0.518 0.829 2.075 0 180 0 42 23 Tomato -2.735 0.873 0.953 0 0 0 45 24 Potato -0.477 0.862 1.326 0 0 0 45 25 SaltShaker -2.929 1.429 1.264 0 0 0 53 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 -2.608 0.849 0.203 0 0 0 45 29 Egg -2.581 0.847 0.871 0 0 0 45 30 Cup -2.258 0.823 0.203 0 0 0 45 31 ButterKnife -1.207 0.823 0.528 0 0 0 45 32 Lettuce -1.836 0.741 0.238 0 55.910 0 72 33 PepperShaker -0.817 0.818 0.500 0 0 0 45 34 DishSponge -2.872 1.434 0.270 0 45 0 51 35 Bread -0.979 0.855 0.249 0 29.999 0 45 36 Spoon -0.916 0.711 0.378 0 90 0 48 37 Mug -0.646 0.888 0.367 0 0 0 73 38 Bowl -1.522 0.121 0.401 0 0 0 58 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: Turn to the left and approach the counter. | STEP 2: Pick up the potato from the counter. | STEP 3: Turn around and head to the fridge. | STEP 4: Put the potato on the second shelf of the fridge. | STEP 5: Turn left and head to the sink. | STEP 6: Pick up the potato on the left of the sink. | STEP 7: Turn around and head back to the fridge. | STEP 8: Put the potato in the fridge to the right of the other potato. | END" ]
[ [ "STEP 1: Turn to the left and approach the counter. ", " STEP 2: Pick up the potato from the counter. ", " STEP 3: Turn around and head to the fridge. ", " STEP 4: Put the potato on the second shelf of the fridge. ", " STEP 5: Turn left and head to the sink. ", " STEP 6: Pick up the potato on the left of the sink. ", " STEP 7: Turn around and head back to the fridge. ", " STEP 8: Put the potato in the fridge to the right of the other potato. ", " END" ] ]
seen
trial_T20190908_225233_432920-2
To move two potatoes to the fridge.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.5 0.900 1.0 0 180 0 1 Potato -2.375 0.862 0.426 0 0 0 45 2 DishSponge -0.832 0.710 0.411 0 0 0 48 3 ButterKnife -1.876 0.823 0.549 0 0 0 45 4 Fork -2.664 0.693 1.547 0 270 0 50 5 Fork -2.375 0.824 0.203 0 0 0 45 6 Egg -2.044 0.847 0.539 0 0 0 45 7 Cup -2.837 1.445 2.309 0 90 0 63 8 Plate -2.726 0.829 2.133 0 90 0 63 9 Tomato -2.837 1.193 2.045 0 90 0 63 10 SoapBottle -0.817 0.821 0.129 0 0 0 45 11 Bowl -2.540 1.845 1.926 0 0 0 39 12 SaltShaker -2.840 0.818 0.352 0 0 0 45 13 PepperShaker -2.377 1.431 0.087 0 0 0 52 14 PepperShaker -2.669 1.430 0.343 0 225 0 51 15 Apple -2.837 0.897 2.397 0 90 0 63 16 Apple -2.810 0.994 1.284 0 90 0 64 17 Apple -0.395 0.129 2.572 0 90 0 65 18 Fork -2.597 0.693 1.547 0 270 0 50 19 Ladle -0.371 0.738 0.879 0 45 0 47 20 Pan -0.244 0.829 1.684 0 0 0 44 21 SoapBottle -1.350 0.123 0.323 0 0 0 58 22 Pot -0.518 0.829 2.075 0 180 0 42 23 Tomato -2.735 0.873 0.953 0 0 0 45 24 Potato -0.477 0.862 1.326 0 0 0 45 25 SaltShaker -2.929 1.429 1.264 0 0 0 53 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 -2.608 0.849 0.203 0 0 0 45 29 Egg -2.581 0.847 0.871 0 0 0 45 30 Cup -2.258 0.823 0.203 0 0 0 45 31 ButterKnife -1.207 0.823 0.528 0 0 0 45 32 Lettuce -1.836 0.741 0.238 0 55.910 0 72 33 PepperShaker -0.817 0.818 0.500 0 0 0 45 34 DishSponge -2.872 1.434 0.270 0 45 0 51 35 Bread -0.979 0.855 0.249 0 29.999 0 45 36 Spoon -0.916 0.711 0.378 0 90 0 48 37 Mug -0.646 0.888 0.367 0 0 0 73 38 Bowl -1.522 0.121 0.401 0 0 0 58 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: Turn around and walk to the counter to the right of the stove. | STEP 2: Pick up the potato from the counter. | STEP 3: Turn around and walk to the fridge. | STEP 4: Put the potato on the top shelf of the fridge, close the door. | STEP 5: Turn left and walk to the sink. | STEP 6: Pick up the potato on the counter on the right side of the sink. | STEP 7: Turn around and walk back to the fridge. | STEP 8: Open the fridge door, put the potato on the shelf to the right of the first potato, close the door. | END" ]
[ [ "STEP 1: Turn around and walk to the counter to the right of the stove. ", " STEP 2: Pick up the potato from the counter. ", " STEP 3: Turn around and walk to the fridge. ", " STEP 4: Put the potato on the top shelf of the fridge, close the door. ", " STEP 5: Turn left and walk to the sink. ", " STEP 6: Pick up the potato on the counter on the right side of the sink. ", " STEP 7: Turn around and walk back to the fridge. ", " STEP 8: Open the fridge door, put the potato on the shelf to the right of the first potato, close the door. ", " END" ] ]
seen
trial_T20190909_023714_997770-0
Move a credit card to an armchair.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.75 0.900 0.5 0 270 0 1 Bowl -1.871 0.760 -0.820 0 90 0 42 2 Bowl -1.848 0.171 -1.003 0 90 0 44 3 KeyChain 0.794 0.546 0.906 0 180 0 35 4 CreditCard -0.451 0.760 -2.322 0 0 0 30 5 Laptop -0.115 0.475 -1.057 0 180 0 38 6 Box 2.513 0.144 -1.093 0 318.382 0 48 7 Bowl -1.743 0.757 -0.350 0 90 0 42 8 KeyChain 1.982 0.513 -2.058 0 270 0 48 9 Vase -1.588 0.168 -0.531 0 0 0 43 10 Statue -1.802 1.315 -2.467 0 270 0 40 11 Pillow 0.133 0.622 0.906 0 180 0 35 12 Laptop -0.528 0.543 0.814 0 180 0 35 13 Vase -1.808 1.615 -2.597 0 0 0 39 14 Statue 0.448 0.861 -2.172 0 0 0 30 15 RemoteControl -0.115 0.478 -1.245 0 180 0 38 16 Vase 0.009 0.168 -2.264 0 0 0 32 17 CreditCard -1.871 0.760 -0.585 0 90 0 42 18 Vase -1.807 0.760 -1.290 0 90 0 42 19 Statue -1.743 0.767 -1.526 0 90 0 42 20 Painting 0.172 1.781 1.934 0 0 0 21 HousePlant -1.646 0.755 -1.792 0 0 0 22 LightSwitch 1.406 1.294 1.651 0 180 0 23 Television -0.035 1.239 -2.439 0 0 0 24 FloorLamp -1.573 -0.003 1.302 0 0 0 25 GarbageCan 0.742 -0.000 -2.522 0 270 0 26 Window -0.816 1.534 -2.719 90 0 0 27 Window 0.791 1.534 -2.718 90 0 0 28 Shelf 0.340 0.474 -2.377 0 0 0 29 Shelf 0.341 0.273 -2.377 0 0 0 30 TVStand -0.025 -0.000 -2.385 0 0 0 31 Shelf -0.393 0.302 -2.382 0 0 0 32 Shelf -0.026 0.442 -2.380 0 0 0 33 Shelf -0.393 0.597 -2.382 0 0 0 34 Shelf 0.340 0.643 -2.377 0 0 0 35 Sofa 0.124 0.008 1.032 0 180 0 36 Cabinet -1.827 0.729 -2.357 0 90 0 37 Shelf -1.827 2.041 -2.356 0 90 0 38 CoffeeTable 0.017 -0.000 -1.108 0 180 0 39 Shelf -1.827 1.744 -2.356 0 90 0 40 Shelf -1.827 1.452 -2.356 0 90 0 41 Shelf -1.730 0.278 -1.635 0 90 0 42 TVStand -1.733 -0.000 -1.058 0 90 0 43 Shelf -1.730 0.302 -0.479 0 90 0 44 Shelf -1.732 0.446 -1.056 0 90 0 45 Shelf -1.731 0.596 -0.478 0 90 0 46 Shelf -1.733 0.648 -1.635 0 90 0 47 Shelf -1.730 0.477 -1.635 0 90 0 48 ArmChair 2.344 0.002 -2.041 0 270 0 49 ShelvingUnit -1.847 0.001 -2.357 0 90 0 50 NorthWall 51 EastWall 52 SouthWall 53 WestWall
[ "STEP 1: Turn to the left then turn right. Make a left to face the TV stand. | STEP 2: Pick up the credit card from the tv stand. | STEP 3: Step to the left then turn right and head to the armchair. | STEP 4: Place the card on the armchair. | END" ]
[ [ "STEP 1: Turn to the left then turn right. Make a left to face the TV stand. ", " STEP 2: Pick up the credit card from the tv stand. ", " STEP 3: Step to the left then turn right and head to the armchair. ", " STEP 4: Place the card on the armchair. ", " END" ] ]
seen
trial_T20190909_023714_997770-1
put credit card on plush chair
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.75 0.900 0.5 0 270 0 1 Bowl -1.871 0.760 -0.820 0 90 0 42 2 Bowl -1.848 0.171 -1.003 0 90 0 44 3 KeyChain 0.794 0.546 0.906 0 180 0 35 4 CreditCard -0.451 0.760 -2.322 0 0 0 30 5 Laptop -0.115 0.475 -1.057 0 180 0 38 6 Box 2.513 0.144 -1.093 0 318.382 0 48 7 Bowl -1.743 0.757 -0.350 0 90 0 42 8 KeyChain 1.982 0.513 -2.058 0 270 0 48 9 Vase -1.588 0.168 -0.531 0 0 0 43 10 Statue -1.802 1.315 -2.467 0 270 0 40 11 Pillow 0.133 0.622 0.906 0 180 0 35 12 Laptop -0.528 0.543 0.814 0 180 0 35 13 Vase -1.808 1.615 -2.597 0 0 0 39 14 Statue 0.448 0.861 -2.172 0 0 0 30 15 RemoteControl -0.115 0.478 -1.245 0 180 0 38 16 Vase 0.009 0.168 -2.264 0 0 0 32 17 CreditCard -1.871 0.760 -0.585 0 90 0 42 18 Vase -1.807 0.760 -1.290 0 90 0 42 19 Statue -1.743 0.767 -1.526 0 90 0 42 20 Painting 0.172 1.781 1.934 0 0 0 21 HousePlant -1.646 0.755 -1.792 0 0 0 22 LightSwitch 1.406 1.294 1.651 0 180 0 23 Television -0.035 1.239 -2.439 0 0 0 24 FloorLamp -1.573 -0.003 1.302 0 0 0 25 GarbageCan 0.742 -0.000 -2.522 0 270 0 26 Window -0.816 1.534 -2.719 90 0 0 27 Window 0.791 1.534 -2.718 90 0 0 28 Shelf 0.340 0.474 -2.377 0 0 0 29 Shelf 0.341 0.273 -2.377 0 0 0 30 TVStand -0.025 -0.000 -2.385 0 0 0 31 Shelf -0.393 0.302 -2.382 0 0 0 32 Shelf -0.026 0.442 -2.380 0 0 0 33 Shelf -0.393 0.597 -2.382 0 0 0 34 Shelf 0.340 0.643 -2.377 0 0 0 35 Sofa 0.124 0.008 1.032 0 180 0 36 Cabinet -1.827 0.729 -2.357 0 90 0 37 Shelf -1.827 2.041 -2.356 0 90 0 38 CoffeeTable 0.017 -0.000 -1.108 0 180 0 39 Shelf -1.827 1.744 -2.356 0 90 0 40 Shelf -1.827 1.452 -2.356 0 90 0 41 Shelf -1.730 0.278 -1.635 0 90 0 42 TVStand -1.733 -0.000 -1.058 0 90 0 43 Shelf -1.730 0.302 -0.479 0 90 0 44 Shelf -1.732 0.446 -1.056 0 90 0 45 Shelf -1.731 0.596 -0.478 0 90 0 46 Shelf -1.733 0.648 -1.635 0 90 0 47 Shelf -1.730 0.477 -1.635 0 90 0 48 ArmChair 2.344 0.002 -2.041 0 270 0 49 ShelvingUnit -1.847 0.001 -2.357 0 90 0 50 NorthWall 51 EastWall 52 SouthWall 53 WestWall
[ "STEP 1: walk to face left side of tv stand | STEP 2: pick up credit card from tv stand | STEP 3: walk to face plush blue chair | STEP 4: put credit card on chair | END" ]
[ [ "STEP 1: walk to face left side of tv stand ", " STEP 2: pick up credit card from tv stand ", " STEP 3: walk to face plush blue chair ", " STEP 4: put credit card on chair ", " END" ] ]
seen
trial_T20190909_023714_997770-2
move a credit card from the tv to the chair
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.75 0.900 0.5 0 270 0 1 Bowl -1.871 0.760 -0.820 0 90 0 42 2 Bowl -1.848 0.171 -1.003 0 90 0 44 3 KeyChain 0.794 0.546 0.906 0 180 0 35 4 CreditCard -0.451 0.760 -2.322 0 0 0 30 5 Laptop -0.115 0.475 -1.057 0 180 0 38 6 Box 2.513 0.144 -1.093 0 318.382 0 48 7 Bowl -1.743 0.757 -0.350 0 90 0 42 8 KeyChain 1.982 0.513 -2.058 0 270 0 48 9 Vase -1.588 0.168 -0.531 0 0 0 43 10 Statue -1.802 1.315 -2.467 0 270 0 40 11 Pillow 0.133 0.622 0.906 0 180 0 35 12 Laptop -0.528 0.543 0.814 0 180 0 35 13 Vase -1.808 1.615 -2.597 0 0 0 39 14 Statue 0.448 0.861 -2.172 0 0 0 30 15 RemoteControl -0.115 0.478 -1.245 0 180 0 38 16 Vase 0.009 0.168 -2.264 0 0 0 32 17 CreditCard -1.871 0.760 -0.585 0 90 0 42 18 Vase -1.807 0.760 -1.290 0 90 0 42 19 Statue -1.743 0.767 -1.526 0 90 0 42 20 Painting 0.172 1.781 1.934 0 0 0 21 HousePlant -1.646 0.755 -1.792 0 0 0 22 LightSwitch 1.406 1.294 1.651 0 180 0 23 Television -0.035 1.239 -2.439 0 0 0 24 FloorLamp -1.573 -0.003 1.302 0 0 0 25 GarbageCan 0.742 -0.000 -2.522 0 270 0 26 Window -0.816 1.534 -2.719 90 0 0 27 Window 0.791 1.534 -2.718 90 0 0 28 Shelf 0.340 0.474 -2.377 0 0 0 29 Shelf 0.341 0.273 -2.377 0 0 0 30 TVStand -0.025 -0.000 -2.385 0 0 0 31 Shelf -0.393 0.302 -2.382 0 0 0 32 Shelf -0.026 0.442 -2.380 0 0 0 33 Shelf -0.393 0.597 -2.382 0 0 0 34 Shelf 0.340 0.643 -2.377 0 0 0 35 Sofa 0.124 0.008 1.032 0 180 0 36 Cabinet -1.827 0.729 -2.357 0 90 0 37 Shelf -1.827 2.041 -2.356 0 90 0 38 CoffeeTable 0.017 -0.000 -1.108 0 180 0 39 Shelf -1.827 1.744 -2.356 0 90 0 40 Shelf -1.827 1.452 -2.356 0 90 0 41 Shelf -1.730 0.278 -1.635 0 90 0 42 TVStand -1.733 -0.000 -1.058 0 90 0 43 Shelf -1.730 0.302 -0.479 0 90 0 44 Shelf -1.732 0.446 -1.056 0 90 0 45 Shelf -1.731 0.596 -0.478 0 90 0 46 Shelf -1.733 0.648 -1.635 0 90 0 47 Shelf -1.730 0.477 -1.635 0 90 0 48 ArmChair 2.344 0.002 -2.041 0 270 0 49 ShelvingUnit -1.847 0.001 -2.357 0 90 0 50 NorthWall 51 EastWall 52 SouthWall 53 WestWall
[ "STEP 1: turn left and walk straight towards the table then left again then walk straight then turn right then walk straight to the window and turn left | STEP 2: pick up the credit card by the tv | STEP 3: turn left walk straight then turn right by the table and walk straight to the blue chair then turn right then turn left towards the blue chair | STEP 4: put the credit card down on the blue chair next to the keys | END" ]
[ [ "STEP 1: turn left and walk straight towards the table then left again then walk straight then turn right then walk straight to the window and turn left ", " STEP 2: pick up the credit card by the tv ", " STEP 3: turn left walk straight then turn right by the table and walk straight to the blue chair then turn right then turn left towards the blue chair ", " STEP 4: put the credit card down on the blue chair next to the keys ", " END" ] ]
seen
trial_T20190909_105338_371212-0
Put a cardboard box with keys in it on a red chair.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -3.0 0.901 0.5 0 180 0 1 Statue -2.005 0.847 6.765 0 0 0 40 2 Statue -1.451 0.761 0.852 0 0 0 43 3 KeyChain -3.593 0.068 6.723 0 0 0 32 4 KeyChain -1.310 0.756 1.695 0 0 0 43 5 RemoteControl -2.014 0.758 1.554 0 0 0 43 6 RemoteControl -4.300 0.480 5.556 0 0 0 34 7 Box -2.014 0.867 0.993 0 270 0 43 8 Laptop -4.300 0.486 5.094 0 0 0 34 9 Box -1.607 0.151 6.854 0 0 0 40 10 Statue -1.169 0.761 0.852 0 0 0 43 11 Watch -1.169 0.756 1.414 0 0 0 43 12 WateringCan -0.208 -0.000 3.225 0 63.928 0 13 Laptop -1.683 0.747 1.489 0 338.703 0 43 14 CreditCard -4.380 0.477 4.863 0 0 0 34 15 KeyChain -4.153 0.484 3.549 0 0 0 27 16 Pillow -4.335 0.465 4.398 0 0 0 34 17 RemoteControl -4.077 0.486 3.626 0 0 0 27 18 Curtains -0.037 2.148 0.999 0 0 0 19 Painting -0.016 2.061 5.380 0 0 0 20 GarbageCan -0.256 -0.010 6.799 0 0 0 21 FloorLamp -4.721 -0.001 3.687 0 0 0 22 Television -3.192 1.184 6.767 0 180 0 23 HousePlant -0.173 0.610 3.994 0 0 0 24 LightSwitch -3.483 1.470 0.001 0 0 0 25 DeskLamp -0.258 0.611 3.312 0 0 0 26 Window -0.008 1.340 1.725 90 270 0 27 SideTable -4.190 0.000 3.587 0 0 0 28 Drawer -2.925 0.475 6.717 0 180 0 29 Drawer -3.476 0.475 6.717 0 180 0 30 Dresser -3.201 -0.001 6.791 0 180 0 31 Drawer -2.925 0.165 6.719 0 180 0 32 Drawer -3.476 0.165 6.719 0 180 0 33 ArmChair -2.448 0.002 3.501 0 0 0 34 Sofa -4.425 0.014 5.062 0 90 0 35 Ottoman -2.374 0.000 4.483 0 0 0 36 Chair -2.151 0.004 1.284 0 90 0 37 Chair -1.549 0.004 1.780 0 195.000 0 38 Chair -1.626 0.004 0.778 0 10.166 0 39 Chair -1.076 0.004 1.292 0 265.171 0 40 SideTable -2.071 0.000 6.699 0 0 0 41 SideTable -0.244 -0.000 3.524 0 270 0 42 ArmChair -3.545 0.005 3.579 0 0 0 43 DiningTable -1.592 0.006 1.274 0 0 0 44 NorthWall 45 SouthWall 46 SouthWall
[ "STEP 1: Turn right and walk towards the wall, then hang a right and walk over to the small black table next to the couch. | STEP 2: Pick up the set of keys off of the small black table. | STEP 3: Turn around and walk over to the door, then turn left and walk over to the glass table. | STEP 4: Put the set of keys in the cardboard box on the table. | STEP 5: Pick up the cardboard box with the keys in it off of the table. | STEP 6: Turn left and walk forward, then hang a right and walk around the glass table to the back of the red chair. | STEP 7: Put the cardboard box with the keys in it on the seat of the red chair. | END" ]
[ [ "STEP 1: Turn right and walk towards the wall, then hang a right and walk over to the small black table next to the couch. ", " STEP 2: Pick up the set of keys off of the small black table. ", " STEP 3: Turn around and walk over to the door, then turn left and walk over to the glass table. ", " STEP 4: Put the set of keys in the cardboard box on the table. ", " STEP 5: Pick up the cardboard box with the keys in it off of the table. ", " STEP 6: Turn left and walk forward, then hang a right and walk around the glass table to the back of the red chair. ", " STEP 7: Put the cardboard box with the keys in it on the seat of the red chair. ", " END" ] ]
seen
trial_T20190909_105338_371212-1
To put a set of keys in a box as well as move them to the red arm chair.
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " -3.0", " 0.901", " 0.5", " 0", " 180", " 0", "" ], [ "1", " Statue", " -2.005", " 0.847", " 6.765", " 0", " 0", " 0", " 40" ], [ "2", " Statue", " -1.451", " 0.761", " 0.852", " 0", " 0", " 0", " 43" ], [ "3", " KeyChain", " -3.593", " 0.068", " 6.723", " 0", " 0", " 0", " 32" ], [ "4", " KeyChain", " -1.310", " 0.756", " 1.695", " 0", " 0", " 0", " 43" ], [ "5", " RemoteControl", " -2.014", " 0.758", " 1.554", " 0", " 0", " 0", " 43" ], [ "6", " RemoteControl", " -4.300", " 0.480", " 5.556", " 0", " 0", " 0", " 34" ], [ "7", " Box", " -2.014", " 0.867", " 0.993", " 0", " 270", " 0", " 43" ], [ "8", " Laptop", " -4.300", " 0.486", " 5.094", " 0", " 0", " 0", " 34" ], [ "9", " Box", " -1.607", " 0.151", " 6.854", " 0", " 0", " 0", " 40" ], [ "10", " Statue", " -1.169", " 0.761", " 0.852", " 0", " 0", " 0", " 43" ], [ "11", " Watch", " -1.169", " 0.756", " 1.414", " 0", " 0", " 0", " 43" ], [ "12", " WateringCan", " -0.208", " -0.000", " 3.225", " 0", " 63.928", " 0", "" ], [ "13", " Laptop", " -1.683", " 0.747", " 1.489", " 0", " 338.703", " 0", " 43" ], [ "14", " CreditCard", " -4.380", " 0.477", " 4.863", " 0", " 0", " 0", " 34" ], [ "15", " KeyChain", " -4.153", " 0.484", " 3.549", " 0", " 0", " 0", " 27" ], [ "16", " Pillow", " -4.335", " 0.465", " 4.398", " 0", " 0", " 0", " 34" ], [ "17", " RemoteControl", " -4.077", " 0.486", " 3.626", " 0", " 0", " 0", " 27" ], [ "18", " Curtains", " -0.037", " 2.148", " 0.999", " 0", " 0", " 0", "" ], [ "19", " Painting", " -0.016", " 2.061", " 5.380", " 0", " 0", " 0", "" ], [ "20", " GarbageCan", " -0.256", " -0.010", " 6.799", " 0", " 0", " 0", "" ], [ "21", " FloorLamp", " -4.721", " -0.001", " 3.687", " 0", " 0", " 0", "" ], [ "22", " Television", " -3.192", " 1.184", " 6.767", " 0", " 180", " 0", "" ], [ "23", " HousePlant", " -0.173", " 0.610", " 3.994", " 0", " 0", " 0", "" ], [ "24", " LightSwitch", " -3.483", " 1.470", " 0.001", " 0", " 0", " 0", "" ], [ "25", " DeskLamp", " -0.258", " 0.611", " 3.312", " 0", " 0", " 0", "" ], [ "26", " Window", " -0.008", " 1.340", " 1.725", " 90", " 270", " 0", "" ], [ "27", " SideTable", " -4.190", " 0.000", " 3.587", " 0", " 0", " 0", "" ], [ "28", " Drawer", " -2.925", " 0.475", " 6.717", " 0", " 180", " 0", "" ], [ "29", " Drawer", " -3.476", " 0.475", " 6.717", " 0", " 180", " 0", "" ], [ "30", " Dresser", " -3.201", " -0.001", " 6.791", " 0", " 180", " 0", "" ], [ "31", " Drawer", " -2.925", " 0.165", " 6.719", " 0", " 180", " 0", "" ], [ "32", " Drawer", " -3.476", " 0.165", " 6.719", " 0", " 180", " 0", "" ], [ "33", " ArmChair", " -2.448", " 0.002", " 3.501", " 0", " 0", " 0", "" ], [ "34", " Sofa", " -4.425", " 0.014", " 5.062", " 0", " 90", " 0", "" ], [ "35", " Ottoman", " -2.374", " 0.000", " 4.483", " 0", " 0", " 0", "" ], [ "36", " Chair", " -2.151", " 0.004", " 1.284", " 0", " 90", " 0", "" ], [ "37", " Chair", " -1.549", " 0.004", " 1.780", " 0", " 195.000", " 0", "" ], [ "38", " Chair", " -1.626", " 0.004", " 0.778", " 0", " 10.166", " 0", "" ], [ "39", " Chair", " -1.076", " 0.004", " 1.292", " 0", " 265.171", " 0", "" ], [ "40", " SideTable", " -2.071", " 0.000", " 6.699", " 0", " 0", " 0", "" ], [ "41", " SideTable", " -0.244", " -0.000", " 3.524", " 0", " 270", " 0", "" ], [ "42", " ArmChair", " -3.545", " 0.005", " 3.579", " 0", " 0", " 0", "" ], [ "43", " DiningTable", " -1.592", " 0.006", " 1.274", " 0", " 0", " 0", "" ], [ "44", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "45", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "46", " SouthWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -3.0 0.901 0.5 0 180 0 1 Statue -2.005 0.847 6.765 0 0 0 40 2 Statue -1.451 0.761 0.852 0 0 0 43 3 KeyChain -3.593 0.068 6.723 0 0 0 32 4 KeyChain -1.310 0.756 1.695 0 0 0 43 5 RemoteControl -2.014 0.758 1.554 0 0 0 43 6 RemoteControl -4.300 0.480 5.556 0 0 0 34 7 Box -2.014 0.867 0.993 0 270 0 43 8 Laptop -4.300 0.486 5.094 0 0 0 34 9 Box -1.607 0.151 6.854 0 0 0 40 10 Statue -1.169 0.761 0.852 0 0 0 43 11 Watch -1.169 0.756 1.414 0 0 0 43 12 WateringCan -0.208 -0.000 3.225 0 63.928 0 13 Laptop -1.683 0.747 1.489 0 338.703 0 43 14 CreditCard -4.380 0.477 4.863 0 0 0 34 15 KeyChain -4.153 0.484 3.549 0 0 0 27 16 Pillow -4.335 0.465 4.398 0 0 0 34 17 RemoteControl -4.077 0.486 3.626 0 0 0 27 18 Curtains -0.037 2.148 0.999 0 0 0 19 Painting -0.016 2.061 5.380 0 0 0 20 GarbageCan -0.256 -0.010 6.799 0 0 0 21 FloorLamp -4.721 -0.001 3.687 0 0 0 22 Television -3.192 1.184 6.767 0 180 0 23 HousePlant -0.173 0.610 3.994 0 0 0 24 LightSwitch -3.483 1.470 0.001 0 0 0 25 DeskLamp -0.258 0.611 3.312 0 0 0 26 Window -0.008 1.340 1.725 90 270 0 27 SideTable -4.190 0.000 3.587 0 0 0 28 Drawer -2.925 0.475 6.717 0 180 0 29 Drawer -3.476 0.475 6.717 0 180 0 30 Dresser -3.201 -0.001 6.791 0 180 0 31 Drawer -2.925 0.165 6.719 0 180 0 32 Drawer -3.476 0.165 6.719 0 180 0 33 ArmChair -2.448 0.002 3.501 0 0 0 34 Sofa -4.425 0.014 5.062 0 90 0 35 Ottoman -2.374 0.000 4.483 0 0 0 36 Chair -2.151 0.004 1.284 0 90 0 37 Chair -1.549 0.004 1.780 0 195.000 0 38 Chair -1.626 0.004 0.778 0 10.166 0 39 Chair -1.076 0.004 1.292 0 265.171 0 40 SideTable -2.071 0.000 6.699 0 0 0 41 SideTable -0.244 -0.000 3.524 0 270 0 42 ArmChair -3.545 0.005 3.579 0 0 0 43 DiningTable -1.592 0.006 1.274 0 0 0 44 NorthWall 45 SouthWall 46 SouthWall
[ "STEP 1: Turn around and cross the room to face the keys on the small table. | STEP 2: Pick up the keys on the small table. | STEP 3: Turn right and walk forward to face the dining room table. | STEP 4: Place the keys in the box on the table. | STEP 5: Pick up the box on the table. | STEP 6: Turn left and walk forward to face the back of the red arm chair. | STEP 7: Place the box on the red arm chair. | END" ]
[ [ "STEP 1: Turn around and cross the room to face the keys on the small table. ", " STEP 2: Pick up the keys on the small table. ", " STEP 3: Turn right and walk forward to face the dining room table. ", " STEP 4: Place the keys in the box on the table. ", " STEP 5: Pick up the box on the table. ", " STEP 6: Turn left and walk forward to face the back of the red arm chair. ", " STEP 7: Place the box on the red arm chair. ", " END" ] ]
seen
trial_T20190909_105338_371212-2
Move keys to a box on the chair
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " -3.0", " 0.901", " 0.5", " 0", " 180", " 0", "" ], [ "1", " Statue", " -2.005", " 0.847", " 6.765", " 0", " 0", " 0", " 40" ], [ "2", " Statue", " -1.451", " 0.761", " 0.852", " 0", " 0", " 0", " 43" ], [ "3", " KeyChain", " -3.593", " 0.068", " 6.723", " 0", " 0", " 0", " 32" ], [ "4", " KeyChain", " -1.310", " 0.756", " 1.695", " 0", " 0", " 0", " 43" ], [ "5", " RemoteControl", " -2.014", " 0.758", " 1.554", " 0", " 0", " 0", " 43" ], [ "6", " RemoteControl", " -4.300", " 0.480", " 5.556", " 0", " 0", " 0", " 34" ], [ "7", " Box", " -2.014", " 0.867", " 0.993", " 0", " 270", " 0", " 43" ], [ "8", " Laptop", " -4.300", " 0.486", " 5.094", " 0", " 0", " 0", " 34" ], [ "9", " Box", " -1.607", " 0.151", " 6.854", " 0", " 0", " 0", " 40" ], [ "10", " Statue", " -1.169", " 0.761", " 0.852", " 0", " 0", " 0", " 43" ], [ "11", " Watch", " -1.169", " 0.756", " 1.414", " 0", " 0", " 0", " 43" ], [ "12", " WateringCan", " -0.208", " -0.000", " 3.225", " 0", " 63.928", " 0", "" ], [ "13", " Laptop", " -1.683", " 0.747", " 1.489", " 0", " 338.703", " 0", " 43" ], [ "14", " CreditCard", " -4.380", " 0.477", " 4.863", " 0", " 0", " 0", " 34" ], [ "15", " KeyChain", " -4.153", " 0.484", " 3.549", " 0", " 0", " 0", " 27" ], [ "16", " Pillow", " -4.335", " 0.465", " 4.398", " 0", " 0", " 0", " 34" ], [ "17", " RemoteControl", " -4.077", " 0.486", " 3.626", " 0", " 0", " 0", " 27" ], [ "18", " Curtains", " -0.037", " 2.148", " 0.999", " 0", " 0", " 0", "" ], [ "19", " Painting", " -0.016", " 2.061", " 5.380", " 0", " 0", " 0", "" ], [ "20", " GarbageCan", " -0.256", " -0.010", " 6.799", " 0", " 0", " 0", "" ], [ "21", " FloorLamp", " -4.721", " -0.001", " 3.687", " 0", " 0", " 0", "" ], [ "22", " Television", " -3.192", " 1.184", " 6.767", " 0", " 180", " 0", "" ], [ "23", " HousePlant", " -0.173", " 0.610", " 3.994", " 0", " 0", " 0", "" ], [ "24", " LightSwitch", " -3.483", " 1.470", " 0.001", " 0", " 0", " 0", "" ], [ "25", " DeskLamp", " -0.258", " 0.611", " 3.312", " 0", " 0", " 0", "" ], [ "26", " Window", " -0.008", " 1.340", " 1.725", " 90", " 270", " 0", "" ], [ "27", " SideTable", " -4.190", " 0.000", " 3.587", " 0", " 0", " 0", "" ], [ "28", " Drawer", " -2.925", " 0.475", " 6.717", " 0", " 180", " 0", "" ], [ "29", " Drawer", " -3.476", " 0.475", " 6.717", " 0", " 180", " 0", "" ], [ "30", " Dresser", " -3.201", " -0.001", " 6.791", " 0", " 180", " 0", "" ], [ "31", " Drawer", " -2.925", " 0.165", " 6.719", " 0", " 180", " 0", "" ], [ "32", " Drawer", " -3.476", " 0.165", " 6.719", " 0", " 180", " 0", "" ], [ "33", " ArmChair", " -2.448", " 0.002", " 3.501", " 0", " 0", " 0", "" ], [ "34", " Sofa", " -4.425", " 0.014", " 5.062", " 0", " 90", " 0", "" ], [ "35", " Ottoman", " -2.374", " 0.000", " 4.483", " 0", " 0", " 0", "" ], [ "36", " Chair", " -2.151", " 0.004", " 1.284", " 0", " 90", " 0", "" ], [ "37", " Chair", " -1.549", " 0.004", " 1.780", " 0", " 195.000", " 0", "" ], [ "38", " Chair", " -1.626", " 0.004", " 0.778", " 0", " 10.166", " 0", "" ], [ "39", " Chair", " -1.076", " 0.004", " 1.292", " 0", " 265.171", " 0", "" ], [ "40", " SideTable", " -2.071", " 0.000", " 6.699", " 0", " 0", " 0", "" ], [ "41", " SideTable", " -0.244", " -0.000", " 3.524", " 0", " 270", " 0", "" ], [ "42", " ArmChair", " -3.545", " 0.005", " 3.579", " 0", " 0", " 0", "" ], [ "43", " DiningTable", " -1.592", " 0.006", " 1.274", " 0", " 0", " 0", "" ], [ "44", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "45", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "46", " SouthWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -3.0 0.901 0.5 0 180 0 1 Statue -2.005 0.847 6.765 0 0 0 40 2 Statue -1.451 0.761 0.852 0 0 0 43 3 KeyChain -3.593 0.068 6.723 0 0 0 32 4 KeyChain -1.310 0.756 1.695 0 0 0 43 5 RemoteControl -2.014 0.758 1.554 0 0 0 43 6 RemoteControl -4.300 0.480 5.556 0 0 0 34 7 Box -2.014 0.867 0.993 0 270 0 43 8 Laptop -4.300 0.486 5.094 0 0 0 34 9 Box -1.607 0.151 6.854 0 0 0 40 10 Statue -1.169 0.761 0.852 0 0 0 43 11 Watch -1.169 0.756 1.414 0 0 0 43 12 WateringCan -0.208 -0.000 3.225 0 63.928 0 13 Laptop -1.683 0.747 1.489 0 338.703 0 43 14 CreditCard -4.380 0.477 4.863 0 0 0 34 15 KeyChain -4.153 0.484 3.549 0 0 0 27 16 Pillow -4.335 0.465 4.398 0 0 0 34 17 RemoteControl -4.077 0.486 3.626 0 0 0 27 18 Curtains -0.037 2.148 0.999 0 0 0 19 Painting -0.016 2.061 5.380 0 0 0 20 GarbageCan -0.256 -0.010 6.799 0 0 0 21 FloorLamp -4.721 -0.001 3.687 0 0 0 22 Television -3.192 1.184 6.767 0 180 0 23 HousePlant -0.173 0.610 3.994 0 0 0 24 LightSwitch -3.483 1.470 0.001 0 0 0 25 DeskLamp -0.258 0.611 3.312 0 0 0 26 Window -0.008 1.340 1.725 90 270 0 27 SideTable -4.190 0.000 3.587 0 0 0 28 Drawer -2.925 0.475 6.717 0 180 0 29 Drawer -3.476 0.475 6.717 0 180 0 30 Dresser -3.201 -0.001 6.791 0 180 0 31 Drawer -2.925 0.165 6.719 0 180 0 32 Drawer -3.476 0.165 6.719 0 180 0 33 ArmChair -2.448 0.002 3.501 0 0 0 34 Sofa -4.425 0.014 5.062 0 90 0 35 Ottoman -2.374 0.000 4.483 0 0 0 36 Chair -2.151 0.004 1.284 0 90 0 37 Chair -1.549 0.004 1.780 0 195.000 0 38 Chair -1.626 0.004 0.778 0 10.166 0 39 Chair -1.076 0.004 1.292 0 265.171 0 40 SideTable -2.071 0.000 6.699 0 0 0 41 SideTable -0.244 -0.000 3.524 0 270 0 42 ArmChair -3.545 0.005 3.579 0 0 0 43 DiningTable -1.592 0.006 1.274 0 0 0 44 NorthWall 45 SouthWall 46 SouthWall
[ "STEP 1: Turn right and move forward slightly then turn right and walk straight to the lamp | STEP 2: Pick up the keys from the table next to the lamp and sofa | STEP 3: Turn around and walk straight to the door then turn left and walk to the kitchen table with a box on it and face it | STEP 4: Place the keys in the box on the table | STEP 5: Pick up the box with the keys inside | STEP 6: Turn left walk straight slightly then turn right and walk to the red sofa chair and face it | STEP 7: Place the box on the seat cushion of the red chair | END" ]
[ [ "STEP 1: Turn right and move forward slightly then turn right and walk straight to the lamp ", " STEP 2: Pick up the keys from the table next to the lamp and sofa ", " STEP 3: Turn around and walk straight to the door then turn left and walk to the kitchen table with a box on it and face it ", " STEP 4: Place the keys in the box on the table ", " STEP 5: Pick up the box with the keys inside ", " STEP 6: Turn left walk straight slightly then turn right and walk to the red sofa chair and face it ", " STEP 7: Place the box on the seat cushion of the red chair ", " END" ] ]
seen
trial_T20190907_231928_721968-0
Move two cell phones to the sofa.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.5 0.900 5.25 0 0 0 1 Statue -5.885 0.796 5.353 0 0 0 37 2 Newspaper -1.531 0.308 2.186 0 39.022 0 36 3 KeyChain -5.516 0.787 5.575 0 0 0 37 4 CellPhone -5.392 0.785 4.689 0 0 0 37 5 CellPhone -1.198 0.312 2.412 0 39.022 0 36 6 CreditCard -5.762 0.782 5.132 0 0 0 37 7 RemoteControl -5.762 0.788 5.353 0 0 0 37 8 RemoteControl 0.972 0.983 3.298 0 0 0 49 9 Box -1.632 0.509 2.433 0 39.022 0 36 10 Laptop -5.762 0.784 4.689 0 0 0 37 11 Box -3.311 0.746 1.560 0 270 0 33 12 CellPhone 0.909 0.985 4.337 0 0 0 49 13 WateringCan 0.829 -0.001 2.339 0 45 0 Floor|-03.10| 14 Newspaper -1.379 0.312 2.559 0 39.022 0 36 15 KeyChain -1.480 0.314 2.806 0 129.022 0 36 16 Plate 0.732 0.554 6.556 0 0 0 34 17 Pillow -2.719 0.609 2.768 0 320.647 0 45 18 RemoteControl 0.847 0.984 3.921 0 0 0 49 19 CreditCard 0.787 0.099 3.847 0 0 0 48 20 Laptop -5.464 0.779 5.252 0 306.871 0 37 21 Statue -5.516 0.796 4.246 0 0 0 37 22 Curtains -1.046 3.500 2.880 0 0 0 23 HousePlant -3.580 0.548 1.659 0 0 0 24 Television 0.852 1.460 3.726 357.954 270 0 25 Painting -3.813 1.809 1.008 90 90 0 26 DeskLamp 0.890 0.545 6.822 0 0 0 27 GarbageCan -7.102 -0.044 2.295 0 90 0 28 FloorLamp -3.494 0.006 0.390 0 0 0 29 LightSwitch -5.234 1.391 7.031 0 180 0 30 Window -1.985 1.646 -0.009 90 180 0 31 Window -4.909 0.990 2.015 90 180 0 32 Window -5.796 1.072 1.871 90 180 0 33 SideTable -3.407 0.005 1.656 0 270 0 34 SideTable 0.732 0.005 6.634 0 270 0 35 Chair -0.139 0.005 6.412 0 149.999 0 36 CoffeeTable -1.546 0.004 2.528 0 39.022 0 37 DiningTable -5.639 -0.003 4.910 0 270 0 38 Chair -3.159 0.005 0.869 0 97.469 0 39 Chair -5.192 0.002 4.682 0 281.219 0 40 Chair -5.181 0.002 5.293 0 266.218 0 41 Chair -6.046 0.002 4.560 0 86.218 0 42 Chair -5.624 0.002 5.750 0 180 0 43 Chair -6.036 0.002 5.235 0 93.544 0 44 Chair -5.580 0.002 4.099 0 357.508 0 45 Sofa -2.465 0.004 3.281 0 128.001 0 46 Drawer 0.748 0.237 3.330 0 270 0 47 Drawer 0.748 0.668 3.330 0 270 0 48 Drawer 0.748 0.235 4.097 0 270 0 49 Dresser 0.846 0.002 3.713 0 270 0 50 Drawer 0.748 0.665 4.097 0 270 0 51 NorthWall 52 EastWall 53 SouthWall 54 WestWall
[ "STEP 1: Turn around and move to the television cabinet. | STEP 2: Pick up the cell phone from the back corner of the television cabinet. | STEP 3: Turn around and carry the phone to end of the sofa closest to the television. | STEP 4: Place the cell phone on the cushion of the sofa closest to you. | STEP 5: Move around the coffee table so the windows are at your back. | STEP 6: Pick up the cell phone from the table. | STEP 7: Carry the phone around the coffee table to the end of the sofa where you left the other phone. | STEP 8: Place the phone on the cushion of the sofa closest to you. | END" ]
[ [ "STEP 1: Turn around and move to the television cabinet. ", " STEP 2: Pick up the cell phone from the back corner of the television cabinet. ", " STEP 3: Turn around and carry the phone to end of the sofa closest to the television. ", " STEP 4: Place the cell phone on the cushion of the sofa closest to you. ", " STEP 5: Move around the coffee table so the windows are at your back. ", " STEP 6: Pick up the cell phone from the table. ", " STEP 7: Carry the phone around the coffee table to the end of the sofa where you left the other phone. ", " STEP 8: Place the phone on the cushion of the sofa closest to you. ", " END" ] ]
seen
trial_T20190907_231928_721968-1
Put two phones on the couch.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.5 0.900 5.25 0 0 0 1 Statue -5.885 0.796 5.353 0 0 0 37 2 Newspaper -1.531 0.308 2.186 0 39.022 0 36 3 KeyChain -5.516 0.787 5.575 0 0 0 37 4 CellPhone -5.392 0.785 4.689 0 0 0 37 5 CellPhone -1.198 0.312 2.412 0 39.022 0 36 6 CreditCard -5.762 0.782 5.132 0 0 0 37 7 RemoteControl -5.762 0.788 5.353 0 0 0 37 8 RemoteControl 0.972 0.983 3.298 0 0 0 49 9 Box -1.632 0.509 2.433 0 39.022 0 36 10 Laptop -5.762 0.784 4.689 0 0 0 37 11 Box -3.311 0.746 1.560 0 270 0 33 12 CellPhone 0.909 0.985 4.337 0 0 0 49 13 WateringCan 0.829 -0.001 2.339 0 45 0 Floor|-03.10| 14 Newspaper -1.379 0.312 2.559 0 39.022 0 36 15 KeyChain -1.480 0.314 2.806 0 129.022 0 36 16 Plate 0.732 0.554 6.556 0 0 0 34 17 Pillow -2.719 0.609 2.768 0 320.647 0 45 18 RemoteControl 0.847 0.984 3.921 0 0 0 49 19 CreditCard 0.787 0.099 3.847 0 0 0 48 20 Laptop -5.464 0.779 5.252 0 306.871 0 37 21 Statue -5.516 0.796 4.246 0 0 0 37 22 Curtains -1.046 3.500 2.880 0 0 0 23 HousePlant -3.580 0.548 1.659 0 0 0 24 Television 0.852 1.460 3.726 357.954 270 0 25 Painting -3.813 1.809 1.008 90 90 0 26 DeskLamp 0.890 0.545 6.822 0 0 0 27 GarbageCan -7.102 -0.044 2.295 0 90 0 28 FloorLamp -3.494 0.006 0.390 0 0 0 29 LightSwitch -5.234 1.391 7.031 0 180 0 30 Window -1.985 1.646 -0.009 90 180 0 31 Window -4.909 0.990 2.015 90 180 0 32 Window -5.796 1.072 1.871 90 180 0 33 SideTable -3.407 0.005 1.656 0 270 0 34 SideTable 0.732 0.005 6.634 0 270 0 35 Chair -0.139 0.005 6.412 0 149.999 0 36 CoffeeTable -1.546 0.004 2.528 0 39.022 0 37 DiningTable -5.639 -0.003 4.910 0 270 0 38 Chair -3.159 0.005 0.869 0 97.469 0 39 Chair -5.192 0.002 4.682 0 281.219 0 40 Chair -5.181 0.002 5.293 0 266.218 0 41 Chair -6.046 0.002 4.560 0 86.218 0 42 Chair -5.624 0.002 5.750 0 180 0 43 Chair -6.036 0.002 5.235 0 93.544 0 44 Chair -5.580 0.002 4.099 0 357.508 0 45 Sofa -2.465 0.004 3.281 0 128.001 0 46 Drawer 0.748 0.237 3.330 0 270 0 47 Drawer 0.748 0.668 3.330 0 270 0 48 Drawer 0.748 0.235 4.097 0 270 0 49 Dresser 0.846 0.002 3.713 0 270 0 50 Drawer 0.748 0.665 4.097 0 270 0 51 NorthWall 52 EastWall 53 SouthWall 54 WestWall
[ "STEP 1: Turn right and take a step then turn right and walk to the couch and then turn left and walk to the tv. | STEP 2: Pick up the phone that's to the left of the tv. | STEP 3: Turn right and take a step then turn right and walk to the couch. | STEP 4: Put the phone on the couch cushion. | STEP 5: Turn left and get in position to grab that phone that's on the coffee table in front of you. | STEP 6: Pick up the phone that's on the coffee table. | STEP 7: Go back to where you put put the first phone. | STEP 8: Put the phone next to the first one on the couch. | END" ]
[ [ "STEP 1: Turn right and take a step then turn right and walk to the couch and then turn left and walk to the tv. ", " STEP 2: Pick up the phone that's to the left of the tv. ", " STEP 3: Turn right and take a step then turn right and walk to the couch. ", " STEP 4: Put the phone on the couch cushion. ", " STEP 5: Turn left and get in position to grab that phone that's on the coffee table in front of you. ", " STEP 6: Pick up the phone that's on the coffee table. ", " STEP 7: Go back to where you put put the first phone. ", " STEP 8: Put the phone next to the first one on the couch. ", " END" ] ]
seen
trial_T20190907_231928_721968-2
Place two cell phones 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 5.25 0 0 0 1 Statue -5.885 0.796 5.353 0 0 0 37 2 Newspaper -1.531 0.308 2.186 0 39.022 0 36 3 KeyChain -5.516 0.787 5.575 0 0 0 37 4 CellPhone -5.392 0.785 4.689 0 0 0 37 5 CellPhone -1.198 0.312 2.412 0 39.022 0 36 6 CreditCard -5.762 0.782 5.132 0 0 0 37 7 RemoteControl -5.762 0.788 5.353 0 0 0 37 8 RemoteControl 0.972 0.983 3.298 0 0 0 49 9 Box -1.632 0.509 2.433 0 39.022 0 36 10 Laptop -5.762 0.784 4.689 0 0 0 37 11 Box -3.311 0.746 1.560 0 270 0 33 12 CellPhone 0.909 0.985 4.337 0 0 0 49 13 WateringCan 0.829 -0.001 2.339 0 45 0 Floor|-03.10| 14 Newspaper -1.379 0.312 2.559 0 39.022 0 36 15 KeyChain -1.480 0.314 2.806 0 129.022 0 36 16 Plate 0.732 0.554 6.556 0 0 0 34 17 Pillow -2.719 0.609 2.768 0 320.647 0 45 18 RemoteControl 0.847 0.984 3.921 0 0 0 49 19 CreditCard 0.787 0.099 3.847 0 0 0 48 20 Laptop -5.464 0.779 5.252 0 306.871 0 37 21 Statue -5.516 0.796 4.246 0 0 0 37 22 Curtains -1.046 3.500 2.880 0 0 0 23 HousePlant -3.580 0.548 1.659 0 0 0 24 Television 0.852 1.460 3.726 357.954 270 0 25 Painting -3.813 1.809 1.008 90 90 0 26 DeskLamp 0.890 0.545 6.822 0 0 0 27 GarbageCan -7.102 -0.044 2.295 0 90 0 28 FloorLamp -3.494 0.006 0.390 0 0 0 29 LightSwitch -5.234 1.391 7.031 0 180 0 30 Window -1.985 1.646 -0.009 90 180 0 31 Window -4.909 0.990 2.015 90 180 0 32 Window -5.796 1.072 1.871 90 180 0 33 SideTable -3.407 0.005 1.656 0 270 0 34 SideTable 0.732 0.005 6.634 0 270 0 35 Chair -0.139 0.005 6.412 0 149.999 0 36 CoffeeTable -1.546 0.004 2.528 0 39.022 0 37 DiningTable -5.639 -0.003 4.910 0 270 0 38 Chair -3.159 0.005 0.869 0 97.469 0 39 Chair -5.192 0.002 4.682 0 281.219 0 40 Chair -5.181 0.002 5.293 0 266.218 0 41 Chair -6.046 0.002 4.560 0 86.218 0 42 Chair -5.624 0.002 5.750 0 180 0 43 Chair -6.036 0.002 5.235 0 93.544 0 44 Chair -5.580 0.002 4.099 0 357.508 0 45 Sofa -2.465 0.004 3.281 0 128.001 0 46 Drawer 0.748 0.237 3.330 0 270 0 47 Drawer 0.748 0.668 3.330 0 270 0 48 Drawer 0.748 0.235 4.097 0 270 0 49 Dresser 0.846 0.002 3.713 0 270 0 50 Drawer 0.748 0.665 4.097 0 270 0 51 NorthWall 52 EastWall 53 SouthWall 54 WestWall
[ "STEP 1: Turn around and veer left to the TV stand. | STEP 2: Pick up the phone to the left of the TV stand. | STEP 3: Turn around and walk to the closest cushion of the couch. | STEP 4: Place the phone on the cushion. | STEP 5: Turn around and walk to the side of the coffee table closest to the fireplace. | STEP 6: Pick up the cell phone on the table. | STEP 7: Walk ahead back to the couch cushion. | STEP 8: Place the phone on the couch behind the other phone. | END" ]
[ [ "STEP 1: Turn around and veer left to the TV stand. ", " STEP 2: Pick up the phone to the left of the TV stand. ", " STEP 3: Turn around and walk to the closest cushion of the couch. ", " STEP 4: Place the phone on the cushion. ", " STEP 5: Turn around and walk to the side of the coffee table closest to the fireplace. ", " STEP 6: Pick up the cell phone on the table. ", " STEP 7: Walk ahead back to the couch cushion. ", " STEP 8: Place the phone on the couch behind the other phone. ", " END" ] ]
seen
trial_T20190918_144546_300139-0
Close a cardboard box containing a credit card.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 1.5 0.900 2.25 0 90 0 1 CD -0.297 0.376 -0.377 0 0 0 38 2 CD 2.197 0.049 2.579 0 0 0 30 3 CellPhone -0.603 0.926 -1.032 0 0 0 39 4 CellPhone 2.285 0.844 -0.221 0 0 0 34 5 Pen -0.414 0.930 -0.177 0 0 0 39 6 Pencil -0.194 0.671 -0.561 0 0 0 40 7 Pencil 2.190 0.846 -0.877 0 0 0 34 8 CreditCard -0.131 0.925 -0.818 0 0 0 39 9 CreditCard -0.698 0.925 -1.459 0 0 0 39 10 CreditCard 2.120 0.097 -0.386 0 0 0 33 11 Book -0.351 0.668 -0.192 0 0 0 40 12 Box 2.15 0.14 0.494 0 12.243 0 13 Book 2.143 0.844 -0.484 0 0 0 34 14 BasketBall -0.235 0.120 0.166 0 0 0 15 Pen 2.145 0.100 -0.190 0 90 0 33 16 Pillow 0.333 0.617 0.971 0 0 0 24 17 Pencil -0.299 0.670 -0.561 0 0 0 40 18 CellPhone 2.170 0.099 -0.679 0 0 0 33 19 KeyChain -0.131 0.925 -1.459 0 0 0 39 20 CreditCard -0.509 0.925 -1.459 0 0 0 39 21 AlarmClock 2.190 0.843 -0.746 0 0 0 34 22 CD 2.310 0.048 2.606 0 0 0 30 23 Laptop 0.012 0.548 1.555 0 0 0 24 24 Bed 0.009 -0.004 1.577 0 0 0 25 DeskLamp -0.669 0.923 -0.062 0 90 0 26 Painting -0.787 1.809 -0.215 90 270 0 27 Painting -0.787 1.809 1.023 90 270 0 28 Mirror 2.118 1.277 2.749 0 0 0 29 LightSwitch 0.726 1.200 2.75 0 180 0 30 GarbageCan 2.257 -0.008 2.603 353.970 0 0 31 Window 0.665 1.356 -1.911 90 0 0 32 Drawer 2.119 0.576 -0.491 4.458 270 0 33 Drawer 2.147 0.213 -0.491 4.458 270 0 34 SideTable 2.226 0.013 -0.492 4.458 270 0 35 Chair 0.170 0.011 -1.214 0 261.719 0 36 Blinds 0.695 1.983 -1.867 0 0 0 37 Drawer -0.079 0.513 -0.394 0 90 0 38 Drawer -0.079 0.226 -0.394 0 90 0 39 Desk -0.391 0.001 -0.811 0 90 0 40 Drawer -0.079 0.762 -0.394 0 90 0 41 NorthWall 42 EastWall 43 SouthWall 44 WestWall
[ "STEP 1: Turn to your right and walk to the cardboard box on the floor, in front of the dresser. | STEP 2: Pick up the cardboard box from the floor. | STEP 3: Turn to your right and go towards the window, then make a right and go straight to the desk. | STEP 4: Place the cardboard box on the desk between the credit card and the keys. | STEP 5: Move over to the far left end of the desk. | STEP 6: Pick up the credit card on the desk, closest to you. | STEP 7: Move over to your right so that you are in front of the cardboard box. | STEP 8: Place the credit card in the cardboard box and shut the top. | END" ]
[ [ "STEP 1: Turn to your right and walk to the cardboard box on the floor, in front of the dresser. ", " STEP 2: Pick up the cardboard box from the floor. ", " STEP 3: Turn to your right and go towards the window, then make a right and go straight to the desk. ", " STEP 4: Place the cardboard box on the desk between the credit card and the keys. ", " STEP 5: Move over to the far left end of the desk. ", " STEP 6: Pick up the credit card on the desk, closest to you. ", " STEP 7: Move over to your right so that you are in front of the cardboard box. ", " STEP 8: Place the credit card in the cardboard box and shut the top. ", " END" ] ]
seen
trial_T20190918_144546_300139-1
Put a credit card in a box and close it
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 1.5 0.900 2.25 0 90 0 1 CD -0.297 0.376 -0.377 0 0 0 38 2 CD 2.197 0.049 2.579 0 0 0 30 3 CellPhone -0.603 0.926 -1.032 0 0 0 39 4 CellPhone 2.285 0.844 -0.221 0 0 0 34 5 Pen -0.414 0.930 -0.177 0 0 0 39 6 Pencil -0.194 0.671 -0.561 0 0 0 40 7 Pencil 2.190 0.846 -0.877 0 0 0 34 8 CreditCard -0.131 0.925 -0.818 0 0 0 39 9 CreditCard -0.698 0.925 -1.459 0 0 0 39 10 CreditCard 2.120 0.097 -0.386 0 0 0 33 11 Book -0.351 0.668 -0.192 0 0 0 40 12 Box 2.15 0.14 0.494 0 12.243 0 13 Book 2.143 0.844 -0.484 0 0 0 34 14 BasketBall -0.235 0.120 0.166 0 0 0 15 Pen 2.145 0.100 -0.190 0 90 0 33 16 Pillow 0.333 0.617 0.971 0 0 0 24 17 Pencil -0.299 0.670 -0.561 0 0 0 40 18 CellPhone 2.170 0.099 -0.679 0 0 0 33 19 KeyChain -0.131 0.925 -1.459 0 0 0 39 20 CreditCard -0.509 0.925 -1.459 0 0 0 39 21 AlarmClock 2.190 0.843 -0.746 0 0 0 34 22 CD 2.310 0.048 2.606 0 0 0 30 23 Laptop 0.012 0.548 1.555 0 0 0 24 24 Bed 0.009 -0.004 1.577 0 0 0 25 DeskLamp -0.669 0.923 -0.062 0 90 0 26 Painting -0.787 1.809 -0.215 90 270 0 27 Painting -0.787 1.809 1.023 90 270 0 28 Mirror 2.118 1.277 2.749 0 0 0 29 LightSwitch 0.726 1.200 2.75 0 180 0 30 GarbageCan 2.257 -0.008 2.603 353.970 0 0 31 Window 0.665 1.356 -1.911 90 0 0 32 Drawer 2.119 0.576 -0.491 4.458 270 0 33 Drawer 2.147 0.213 -0.491 4.458 270 0 34 SideTable 2.226 0.013 -0.492 4.458 270 0 35 Chair 0.170 0.011 -1.214 0 261.719 0 36 Blinds 0.695 1.983 -1.867 0 0 0 37 Drawer -0.079 0.513 -0.394 0 90 0 38 Drawer -0.079 0.226 -0.394 0 90 0 39 Desk -0.391 0.001 -0.811 0 90 0 40 Drawer -0.079 0.762 -0.394 0 90 0 41 NorthWall 42 EastWall 43 SouthWall 44 WestWall
[ "STEP 1: Turn to your right and then turn left to face the box | STEP 2: Pick up the box from off of the floor | STEP 3: Turn to your right twice so that you are facing the desk | STEP 4: Set the box down on top of the desk | STEP 5: Take a step to your left | STEP 6: Pick up a credit card from the desk | STEP 7: Take a step to your right | STEP 8: Put the credit card in the box and close it | END" ]
[ [ "STEP 1: Turn to your right and then turn left to face the box ", " STEP 2: Pick up the box from off of the floor ", " STEP 3: Turn to your right twice so that you are facing the desk ", " STEP 4: Set the box down on top of the desk ", " STEP 5: Take a step to your left ", " STEP 6: Pick up a credit card from the desk ", " STEP 7: Take a step to your right ", " STEP 8: Put the credit card in the box and close it ", " END" ] ]
seen
trial_T20190918_144546_300139-2
Put a closed box on the desk with a card inside.
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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 2.25 0 90 0 1 CD -0.297 0.376 -0.377 0 0 0 38 2 CD 2.197 0.049 2.579 0 0 0 30 3 CellPhone -0.603 0.926 -1.032 0 0 0 39 4 CellPhone 2.285 0.844 -0.221 0 0 0 34 5 Pen -0.414 0.930 -0.177 0 0 0 39 6 Pencil -0.194 0.671 -0.561 0 0 0 40 7 Pencil 2.190 0.846 -0.877 0 0 0 34 8 CreditCard -0.131 0.925 -0.818 0 0 0 39 9 CreditCard -0.698 0.925 -1.459 0 0 0 39 10 CreditCard 2.120 0.097 -0.386 0 0 0 33 11 Book -0.351 0.668 -0.192 0 0 0 40 12 Box 2.15 0.14 0.494 0 12.243 0 13 Book 2.143 0.844 -0.484 0 0 0 34 14 BasketBall -0.235 0.120 0.166 0 0 0 15 Pen 2.145 0.100 -0.190 0 90 0 33 16 Pillow 0.333 0.617 0.971 0 0 0 24 17 Pencil -0.299 0.670 -0.561 0 0 0 40 18 CellPhone 2.170 0.099 -0.679 0 0 0 33 19 KeyChain -0.131 0.925 -1.459 0 0 0 39 20 CreditCard -0.509 0.925 -1.459 0 0 0 39 21 AlarmClock 2.190 0.843 -0.746 0 0 0 34 22 CD 2.310 0.048 2.606 0 0 0 30 23 Laptop 0.012 0.548 1.555 0 0 0 24 24 Bed 0.009 -0.004 1.577 0 0 0 25 DeskLamp -0.669 0.923 -0.062 0 90 0 26 Painting -0.787 1.809 -0.215 90 270 0 27 Painting -0.787 1.809 1.023 90 270 0 28 Mirror 2.118 1.277 2.749 0 0 0 29 LightSwitch 0.726 1.200 2.75 0 180 0 30 GarbageCan 2.257 -0.008 2.603 353.970 0 0 31 Window 0.665 1.356 -1.911 90 0 0 32 Drawer 2.119 0.576 -0.491 4.458 270 0 33 Drawer 2.147 0.213 -0.491 4.458 270 0 34 SideTable 2.226 0.013 -0.492 4.458 270 0 35 Chair 0.170 0.011 -1.214 0 261.719 0 36 Blinds 0.695 1.983 -1.867 0 0 0 37 Drawer -0.079 0.513 -0.394 0 90 0 38 Drawer -0.079 0.226 -0.394 0 90 0 39 Desk -0.391 0.001 -0.811 0 90 0 40 Drawer -0.079 0.762 -0.394 0 90 0 41 NorthWall 42 EastWall 43 SouthWall 44 WestWall
[ "STEP 1: move to the dresser to the right of you | STEP 2: pick up a box from the ground | STEP 3: move to the desk at the foot of the bed | STEP 4: put the box on the desk | STEP 5: move to the left side of the desk | STEP 6: pick up a card from the desk | STEP 7: move to the right side of the desk | STEP 8: put the card in the box and close it | END" ]
[ [ "STEP 1: move to the dresser to the right of you ", " STEP 2: pick up a box from the ground ", " STEP 3: move to the desk at the foot of the bed ", " STEP 4: put the box on the desk ", " STEP 5: move to the left side of the desk ", " STEP 6: pick up a card from the desk ", " STEP 7: move to the right side of the desk ", " STEP 8: put the card in the box and close it ", " END" ] ]
seen
trial_T20190906_212541_938472-0
Put a frying pan with a knife in it on the white table.
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"37", " DishSponge", " -3.508", " 1.458", " 1.454", " 0", " 0", " 0", " 58" ], [ "38", " Spoon", " -3.214", " 0.746", " 1.433", " 0", " 90", " 0", " 41" ], [ "39", " Mug", " -3.368", " 0.910", " 3.663", " 0", " 0", " 0", " 40" ], [ "40", " CounterTop", " -3.381", " 0.950", " 3.335", " 0", " 0", " 0", "" ], [ "41", " Drawer", " -3.121", " 0.775", " 1.357", " 0", " 0", " 0", "" ], [ "42", " Drawer", " -3.121", " 0.777", " 2.916", " 0", " 0", " 0", "" ], [ "43", " StoveBurner", " -3.148", " 0.958", " 2.374", " 0", " 0", " 0", "" ], [ "44", " Sink", " -1.797", " 0.917", " 3.660", " 0", " 0", " 0", "" ], [ "45", " Cabinet", " -1.421", " 0.388", " 3.459", " 0", " 0", " 0", "" ], [ "46", " StoveBurner", " -3.424", " 0.958", " 2.374", " 0", " 0", " 0", "" ], [ "47", " Cabinet", " -3.365", " 1.931", " 2.676", " 0", " 0", " 0", "" ], [ "48", " StoveBurner", " -3.424", " 0.958", " 1.971", " 0", " 0", " 0", "" ], [ "49", " CounterTop", " -3.381", " 0.951", " 1.356", " 0", " 0", " 0", "" ], [ "50", " Drawer", " -3.121", " 0.781", " 3.295", " 0", " 0", " 0", "" ], [ "51", " Cabinet", " -2.205", " 0.388", " 3.459", " 0", " 0", " 0", "" ], [ "52", " Cabinet", " -2.963", " 0.388", " 3.459", " 0", " 0", " 0", "" ], [ "53", " Cabinet", " -2.992", " 0.388", " 2.683", " 0", " 0", " 0", "" ], [ "54", " Cabinet", " -3.352", " 2.205", " 1.715", " 0", " 0", " 0", "" ], [ "55", " Cabinet", " -3.352", " 2.205", " 2.653", " 0", " 0", " 0", "" ], [ "56", " Cabinet", " -2.189", " 0.388", " 3.466", " 0", " 0", " 0", "" ], [ "57", " Cabinet", " -3.365", " 1.931", " 3.963", " 0", " 0", " 0", "" ], [ "58", " Cabinet", " -3.365", " 1.931", " 1.056", " 0", " 0", " 0", "" ], [ "59", " Cabinet", " -2.992", " 0.388", " 1.037", " 0", " 0", " 0", "" ], [ "60", " StoveBurner", " -3.143", " 0.958", " 1.971", " 0", " 0", " 0", "" ], [ "61", " StoveKnob", " -3.599", " 1.110", " 2.017", " 0", " 0", " 105.000", "" ], [ "62", " StoveKnob", " -3.599", " 1.110", " 1.867", " 0", " 0", " 105.000", "" ], [ "63", " StoveKnob", " -3.599", " 1.110", " 2.267", " 0", " 0", " 105.000", "" ], [ "64", " StoveKnob", " -3.599", " 1.110", " 2.427", " 0", " 0", " 105.000", "" ], [ "65", " Toaster", " -2.654", " 0.902", " 4.064", " 0", " 180", " 0", "" ], [ "66", " Fridge", " -0.439", " 0.014", " 3.996", " 0", " 0", " 0", "" ], [ "67", " LightSwitch", " 0.25", " 1.383", " 2.085", " 0", " 270", " 0", "" ], [ "68", " Window", " -1.430", " 1.338", " -0.347", " 90", " 0", " 0", "" ], [ "69", " CoffeeMachine", " -3.550", " 0.902", " 3.274", " 0", " 90", " 0", "" ], [ "70", " SinkBasin", " -1.802", " 0.778", " 3.700", " 0", " 0", " 0", "" ], [ "71", " Microwave", " -3.484", " 1.430", " 2.182", " 0", " 90", " 0", "" ], [ "72", " GarbageCan", " -1.184", " -0.020", " 3.794", " 0", " 270", " 0", "" ], [ "73", " Blinds", " -1.404", " 2.092", " -0.296", " 0", " 0", " 0", "" ], [ "74", " Stool", " -1.373", " 0.014", " 1.048", " 1.214", " 20.754", " 0", "" ], [ "75", " Faucet", " -1.788", " 0.903", " 3.931", " 270", " 90", " 0", "" ], [ "76", " DiningTable", " -1.399", " 0.010", " 0.238", " 0", " 0", " 0", "" ], [ "77", " GarbageBag", " -0.291", " 0.336", " -0.034", " 272.372", " 348.812", " 147.313", "" ], [ "78", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "79", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "80", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "81", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -0.75 0.914 1.5 0 270 0 1 Potato -0.089 0.755 3.817 0 180 0 66 2 Potato -1.602 0.821 3.625 0 180 0 70 3 WineBottle -3.272 0.916 1.524 0 0 0 49 4 WineBottle -1.192 0.087 3.820 0 270 0 72 5 Kettle -3.148 0.966 2.374 0 0 0 43 6 Spatula -3.654 0.930 1.440 0 90 0 49 7 Spoon -3.463 0.916 1.524 0 0 0 49 8 Fork -2.402 0.916 3.998 0 0 0 40 9 Pot -3.424 0.966 2.374 0 0 0 46 10 Egg -3.081 0.950 1.273 0 0 0 49 11 Knife -3.559 0.939 1.440 0 90 0 49 12 Knife -3.272 0.939 1.273 0 0 0 49 13 Bowl -2.511 0.079 3.664 0 0 0 51 14 Bowl -0.673 0.985 4.051 0 180 0 66 15 Mug -1.729 0.784 3.7 0 180 0 70 16 Mug -2.718 0.075 3.701 0 0 0 52 17 Egg -1.428 0.950 4.106 0 0 0 40 18 Knife -3.272 0.939 1.189 0 90 0 49 19 Fork -1.921 0.790 3.737 0 270 0 70 20 Bread -1.522 0.963 0.276 0 280.313 0 76 21 Potato -3.463 0.948 1.357 0 0 0 49 22 Plate -3.006 0.904 3.677 0 0 0 40 23 Pot -3.424 0.966 1.971 0 0 0 48 24 Kettle -3.145 0.069 2.920 0 270 0 53 25 WineBottle -1.161 0.088 3.724 0 270 0 72 26 Bowl -3.537 1.545 2.120 0 90 0 71 27 Tomato -0.323 1.342 4.097 0 180 0 66 28 Cup -3.081 0.915 1.106 0 0 0 49 29 Spatula -2.503 0.930 3.783 0 180 0 40 30 SoapBottle -3.081 0.915 3.008 0 0 0 40 31 Lettuce -3.559 1.001 1.189 0 0 0 49 32 Pan -2.614 0.902 3.620 0 0 0 40 33 Apple -0.440 1.601 4.067 0 180 0 66 34 SaltShaker -2.678 0.076 3.509 0 0 0 52 35 PepperShaker -3.097 0.743 3.083 0 0 0 42 36 ButterKnife -3.176 0.915 1.524 0 0 0 49 37 DishSponge -3.508 1.458 1.454 0 0 0 58 38 Spoon -3.214 0.746 1.433 0 90 0 41 39 Mug -3.368 0.910 3.663 0 0 0 40 40 CounterTop -3.381 0.950 3.335 0 0 0 41 Drawer -3.121 0.775 1.357 0 0 0 42 Drawer -3.121 0.777 2.916 0 0 0 43 StoveBurner -3.148 0.958 2.374 0 0 0 44 Sink -1.797 0.917 3.660 0 0 0 45 Cabinet -1.421 0.388 3.459 0 0 0 46 StoveBurner -3.424 0.958 2.374 0 0 0 47 Cabinet -3.365 1.931 2.676 0 0 0 48 StoveBurner -3.424 0.958 1.971 0 0 0 49 CounterTop -3.381 0.951 1.356 0 0 0 50 Drawer -3.121 0.781 3.295 0 0 0 51 Cabinet -2.205 0.388 3.459 0 0 0 52 Cabinet -2.963 0.388 3.459 0 0 0 53 Cabinet -2.992 0.388 2.683 0 0 0 54 Cabinet -3.352 2.205 1.715 0 0 0 55 Cabinet -3.352 2.205 2.653 0 0 0 56 Cabinet -2.189 0.388 3.466 0 0 0 57 Cabinet -3.365 1.931 3.963 0 0 0 58 Cabinet -3.365 1.931 1.056 0 0 0 59 Cabinet -2.992 0.388 1.037 0 0 0 60 StoveBurner -3.143 0.958 1.971 0 0 0 61 StoveKnob -3.599 1.110 2.017 0 0 105.000 62 StoveKnob -3.599 1.110 1.867 0 0 105.000 63 StoveKnob -3.599 1.110 2.267 0 0 105.000 64 StoveKnob -3.599 1.110 2.427 0 0 105.000 65 Toaster -2.654 0.902 4.064 0 180 0 66 Fridge -0.439 0.014 3.996 0 0 0 67 LightSwitch 0.25 1.383 2.085 0 270 0 68 Window -1.430 1.338 -0.347 90 0 0 69 CoffeeMachine -3.550 0.902 3.274 0 90 0 70 SinkBasin -1.802 0.778 3.700 0 0 0 71 Microwave -3.484 1.430 2.182 0 90 0 72 GarbageCan -1.184 -0.020 3.794 0 270 0 73 Blinds -1.404 2.092 -0.296 0 0 0 74 Stool -1.373 0.014 1.048 1.214 20.754 0 75 Faucet -1.788 0.903 3.931 270 90 0 76 DiningTable -1.399 0.010 0.238 0 0 0 77 GarbageBag -0.291 0.336 -0.034 272.372 348.812 147.313 78 NorthWall 79 EastWall 80 SouthWall 81 WestWall
[ "STEP 1: Walk forward all the way to the counter. | STEP 2: Pick up the butter knife under the bottle of wine. | STEP 3: Turn around and take a step then turn left and walk all the way to the counter. | STEP 4: Put the knife in the frying pan. | STEP 5: Pick up the frying pan with the knife in it. | STEP 6: Turn right and walk to the wall then turn right and walk to the wall then turn right. | STEP 7: Put the frying pan on the table near the right corner that's near you. | END" ]
[ [ "STEP 1: Walk forward all the way to the counter. ", " STEP 2: Pick up the butter knife under the bottle of wine. ", " STEP 3: Turn around and take a step then turn left and walk all the way to the counter. ", " STEP 4: Put the knife in the frying pan. ", " STEP 5: Pick up the frying pan with the knife in it. ", " STEP 6: Turn right and walk to the wall then turn right and walk to the wall then turn right. ", " STEP 7: Put the frying pan on the table near the right corner that's near you. ", " END" ] ]
seen
trial_T20190906_212541_938472-1
Put a bowl with a knife in it on the table.
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" Drawer", " -3.121", " 0.781", " 3.295", " 0", " 0", " 0", "" ], [ "51", " Cabinet", " -2.205", " 0.388", " 3.459", " 0", " 0", " 0", "" ], [ "52", " Cabinet", " -2.963", " 0.388", " 3.459", " 0", " 0", " 0", "" ], [ "53", " Cabinet", " -2.992", " 0.388", " 2.683", " 0", " 0", " 0", "" ], [ "54", " Cabinet", " -3.352", " 2.205", " 1.715", " 0", " 0", " 0", "" ], [ "55", " Cabinet", " -3.352", " 2.205", " 2.653", " 0", " 0", " 0", "" ], [ "56", " Cabinet", " -2.189", " 0.388", " 3.466", " 0", " 0", " 0", "" ], [ "57", " Cabinet", " -3.365", " 1.931", " 3.963", " 0", " 0", " 0", "" ], [ "58", " Cabinet", " -3.365", " 1.931", " 1.056", " 0", " 0", " 0", "" ], [ "59", " Cabinet", " -2.992", " 0.388", " 1.037", " 0", " 0", " 0", "" ], [ "60", " StoveBurner", " -3.143", " 0.958", " 1.971", " 0", " 0", " 0", "" ], [ "61", " StoveKnob", " -3.599", " 1.110", " 2.017", " 0", " 0", " 105.000", "" ], [ "62", " StoveKnob", " -3.599", " 1.110", " 1.867", " 0", " 0", " 105.000", "" ], [ "63", " StoveKnob", " -3.599", " 1.110", " 2.267", " 0", " 0", " 105.000", "" ], [ "64", " StoveKnob", " -3.599", " 1.110", " 2.427", " 0", " 0", " 105.000", "" ], [ "65", " Toaster", " -2.654", " 0.902", " 4.064", " 0", " 180", " 0", "" ], [ "66", " Fridge", " -0.439", " 0.014", " 3.996", " 0", " 0", " 0", "" ], [ "67", " LightSwitch", " 0.25", " 1.383", " 2.085", " 0", " 270", " 0", "" ], [ "68", " Window", " -1.430", " 1.338", " -0.347", " 90", " 0", " 0", "" ], [ "69", " CoffeeMachine", " -3.550", " 0.902", " 3.274", " 0", " 90", " 0", "" ], [ "70", " SinkBasin", " -1.802", " 0.778", " 3.700", " 0", " 0", " 0", "" ], [ "71", " Microwave", " -3.484", " 1.430", " 2.182", " 0", " 90", " 0", "" ], [ "72", " GarbageCan", " -1.184", " -0.020", " 3.794", " 0", " 270", " 0", "" ], [ "73", " Blinds", " -1.404", " 2.092", " -0.296", " 0", " 0", " 0", "" ], [ "74", " Stool", " -1.373", " 0.014", " 1.048", " 1.214", " 20.754", " 0", "" ], [ "75", " Faucet", " -1.788", " 0.903", " 3.931", " 270", " 90", " 0", "" ], [ "76", " DiningTable", " -1.399", " 0.010", " 0.238", " 0", " 0", " 0", "" ], [ "77", " GarbageBag", " -0.291", " 0.336", " -0.034", " 272.372", " 348.812", " 147.313", "" ], [ "78", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "79", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "80", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "81", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -0.75 0.914 1.5 0 270 0 1 Potato -0.089 0.755 3.817 0 180 0 66 2 Potato -1.602 0.821 3.625 0 180 0 70 3 WineBottle -3.272 0.916 1.524 0 0 0 49 4 WineBottle -1.192 0.087 3.820 0 270 0 72 5 Kettle -3.148 0.966 2.374 0 0 0 43 6 Spatula -3.654 0.930 1.440 0 90 0 49 7 Spoon -3.463 0.916 1.524 0 0 0 49 8 Fork -2.402 0.916 3.998 0 0 0 40 9 Pot -3.424 0.966 2.374 0 0 0 46 10 Egg -3.081 0.950 1.273 0 0 0 49 11 Knife -3.559 0.939 1.440 0 90 0 49 12 Knife -3.272 0.939 1.273 0 0 0 49 13 Bowl -2.511 0.079 3.664 0 0 0 51 14 Bowl -0.673 0.985 4.051 0 180 0 66 15 Mug -1.729 0.784 3.7 0 180 0 70 16 Mug -2.718 0.075 3.701 0 0 0 52 17 Egg -1.428 0.950 4.106 0 0 0 40 18 Knife -3.272 0.939 1.189 0 90 0 49 19 Fork -1.921 0.790 3.737 0 270 0 70 20 Bread -1.522 0.963 0.276 0 280.313 0 76 21 Potato -3.463 0.948 1.357 0 0 0 49 22 Plate -3.006 0.904 3.677 0 0 0 40 23 Pot -3.424 0.966 1.971 0 0 0 48 24 Kettle -3.145 0.069 2.920 0 270 0 53 25 WineBottle -1.161 0.088 3.724 0 270 0 72 26 Bowl -3.537 1.545 2.120 0 90 0 71 27 Tomato -0.323 1.342 4.097 0 180 0 66 28 Cup -3.081 0.915 1.106 0 0 0 49 29 Spatula -2.503 0.930 3.783 0 180 0 40 30 SoapBottle -3.081 0.915 3.008 0 0 0 40 31 Lettuce -3.559 1.001 1.189 0 0 0 49 32 Pan -2.614 0.902 3.620 0 0 0 40 33 Apple -0.440 1.601 4.067 0 180 0 66 34 SaltShaker -2.678 0.076 3.509 0 0 0 52 35 PepperShaker -3.097 0.743 3.083 0 0 0 42 36 ButterKnife -3.176 0.915 1.524 0 0 0 49 37 DishSponge -3.508 1.458 1.454 0 0 0 58 38 Spoon -3.214 0.746 1.433 0 90 0 41 39 Mug -3.368 0.910 3.663 0 0 0 40 40 CounterTop -3.381 0.950 3.335 0 0 0 41 Drawer -3.121 0.775 1.357 0 0 0 42 Drawer -3.121 0.777 2.916 0 0 0 43 StoveBurner -3.148 0.958 2.374 0 0 0 44 Sink -1.797 0.917 3.660 0 0 0 45 Cabinet -1.421 0.388 3.459 0 0 0 46 StoveBurner -3.424 0.958 2.374 0 0 0 47 Cabinet -3.365 1.931 2.676 0 0 0 48 StoveBurner -3.424 0.958 1.971 0 0 0 49 CounterTop -3.381 0.951 1.356 0 0 0 50 Drawer -3.121 0.781 3.295 0 0 0 51 Cabinet -2.205 0.388 3.459 0 0 0 52 Cabinet -2.963 0.388 3.459 0 0 0 53 Cabinet -2.992 0.388 2.683 0 0 0 54 Cabinet -3.352 2.205 1.715 0 0 0 55 Cabinet -3.352 2.205 2.653 0 0 0 56 Cabinet -2.189 0.388 3.466 0 0 0 57 Cabinet -3.365 1.931 3.963 0 0 0 58 Cabinet -3.365 1.931 1.056 0 0 0 59 Cabinet -2.992 0.388 1.037 0 0 0 60 StoveBurner -3.143 0.958 1.971 0 0 0 61 StoveKnob -3.599 1.110 2.017 0 0 105.000 62 StoveKnob -3.599 1.110 1.867 0 0 105.000 63 StoveKnob -3.599 1.110 2.267 0 0 105.000 64 StoveKnob -3.599 1.110 2.427 0 0 105.000 65 Toaster -2.654 0.902 4.064 0 180 0 66 Fridge -0.439 0.014 3.996 0 0 0 67 LightSwitch 0.25 1.383 2.085 0 270 0 68 Window -1.430 1.338 -0.347 90 0 0 69 CoffeeMachine -3.550 0.902 3.274 0 90 0 70 SinkBasin -1.802 0.778 3.700 0 0 0 71 Microwave -3.484 1.430 2.182 0 90 0 72 GarbageCan -1.184 -0.020 3.794 0 270 0 73 Blinds -1.404 2.092 -0.296 0 0 0 74 Stool -1.373 0.014 1.048 1.214 20.754 0 75 Faucet -1.788 0.903 3.931 270 90 0 76 DiningTable -1.399 0.010 0.238 0 0 0 77 GarbageBag -0.291 0.336 -0.034 272.372 348.812 147.313 78 NorthWall 79 EastWall 80 SouthWall 81 WestWall
[ "STEP 1: Move to the counter left of the stove. | STEP 2: Pick up the knife from the counter in front of the wine bottle. | STEP 3: Bring the knife to the toaster. | STEP 4: Put the knife in the bowl in front of the toaster. | STEP 5: Pick up the bowl from the counter. | STEP 6: Bring the bowl to the table. | STEP 7: Put the bowl on the table next to the bread. | END" ]
[ [ "STEP 1: Move to the counter left of the stove. ", " STEP 2: Pick up the knife from the counter in front of the wine bottle. ", " STEP 3: Bring the knife to the toaster. ", " STEP 4: Put the knife in the bowl in front of the toaster. ", " STEP 5: Pick up the bowl from the counter. ", " STEP 6: Bring the bowl to the table. ", " STEP 7: Put the bowl on the table next to the bread. ", " END" ] ]
seen
trial_T20190906_212541_938472-2
Place a pan containing a knife on the table.
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-3.559", " 0.939", " 1.440", " 0", " 90", " 0", " 49" ], [ "12", " Knife", " -3.272", " 0.939", " 1.273", " 0", " 0", " 0", " 49" ], [ "13", " Bowl", " -2.511", " 0.079", " 3.664", " 0", " 0", " 0", " 51" ], [ "14", " Bowl", " -0.673", " 0.985", " 4.051", " 0", " 180", " 0", " 66" ], [ "15", " Mug", " -1.729", " 0.784", " 3.7", " 0", " 180", " 0", " 70" ], [ "16", " Mug", " -2.718", " 0.075", " 3.701", " 0", " 0", " 0", " 52" ], [ "17", " Egg", " -1.428", " 0.950", " 4.106", " 0", " 0", " 0", " 40" ], [ "18", " Knife", " -3.272", " 0.939", " 1.189", " 0", " 90", " 0", " 49" ], [ "19", " Fork", " -1.921", " 0.790", " 3.737", " 0", " 270", " 0", " 70" ], [ "20", " Bread", " -1.522", " 0.963", " 0.276", " 0", " 280.313", " 0", " 76" ], [ "21", " Potato", " -3.463", " 0.948", " 1.357", " 0", " 0", " 0", " 49" ], [ "22", " Plate", " -3.006", " 0.904", " 3.677", " 0", " 0", " 0", " 40" ], [ "23", " Pot", " -3.424", " 0.966", " 1.971", " 0", " 0", " 0", " 48" ], [ "24", " Kettle", " -3.145", " 0.069", " 2.920", " 0", " 270", " 0", " 53" ], [ "25", " WineBottle", " -1.161", " 0.088", " 3.724", " 0", " 270", " 0", " 72" ], [ "26", " Bowl", " -3.537", " 1.545", " 2.120", " 0", " 90", " 0", " 71" ], [ "27", " Tomato", " -0.323", " 1.342", " 4.097", " 0", " 180", " 0", " 66" ], [ "28", " Cup", " -3.081", " 0.915", " 1.106", " 0", " 0", " 0", " 49" ], [ "29", " Spatula", " -2.503", " 0.930", " 3.783", " 0", " 180", " 0", " 40" ], [ "30", " SoapBottle", " -3.081", " 0.915", " 3.008", " 0", " 0", " 0", " 40" ], [ "31", " Lettuce", " -3.559", " 1.001", " 1.189", " 0", " 0", " 0", " 49" ], [ "32", " Pan", " -2.614", " 0.902", " 3.620", " 0", " 0", " 0", " 40" ], [ "33", " Apple", " -0.440", " 1.601", " 4.067", " 0", " 180", " 0", " 66" ], [ "34", " SaltShaker", " -2.678", " 0.076", " 3.509", " 0", " 0", " 0", " 52" ], [ "35", " PepperShaker", " -3.097", " 0.743", " 3.083", " 0", " 0", " 0", " 42" ], [ "36", " ButterKnife", " -3.176", " 0.915", " 1.524", " 0", " 0", " 0", " 49" ], [ "37", " DishSponge", " -3.508", " 1.458", " 1.454", " 0", " 0", " 0", " 58" ], [ "38", " Spoon", " -3.214", " 0.746", " 1.433", " 0", " 90", " 0", " 41" ], [ "39", " Mug", " -3.368", " 0.910", " 3.663", " 0", " 0", " 0", " 40" ], [ "40", " CounterTop", " -3.381", " 0.950", " 3.335", " 0", " 0", " 0", "" ], [ "41", " Drawer", " -3.121", " 0.775", " 1.357", " 0", " 0", " 0", "" ], [ "42", " Drawer", " -3.121", " 0.777", " 2.916", " 0", " 0", " 0", "" ], [ "43", " StoveBurner", " -3.148", " 0.958", " 2.374", " 0", " 0", " 0", "" ], [ "44", " Sink", " -1.797", " 0.917", " 3.660", " 0", " 0", " 0", "" ], [ "45", " Cabinet", " -1.421", " 0.388", " 3.459", " 0", " 0", " 0", "" ], [ "46", " StoveBurner", " -3.424", " 0.958", " 2.374", " 0", " 0", " 0", "" ], [ "47", " Cabinet", " -3.365", " 1.931", " 2.676", " 0", " 0", " 0", "" ], [ "48", " StoveBurner", " -3.424", " 0.958", " 1.971", " 0", " 0", " 0", "" ], [ "49", " CounterTop", " -3.381", " 0.951", " 1.356", " 0", " 0", " 0", "" ], [ "50", " Drawer", " -3.121", " 0.781", " 3.295", " 0", " 0", " 0", "" ], [ "51", " Cabinet", " -2.205", " 0.388", " 3.459", " 0", " 0", " 0", "" ], [ "52", " Cabinet", " -2.963", " 0.388", " 3.459", " 0", " 0", " 0", "" ], [ "53", " Cabinet", " -2.992", " 0.388", " 2.683", " 0", " 0", " 0", "" ], [ "54", " Cabinet", " -3.352", " 2.205", " 1.715", " 0", " 0", " 0", "" ], [ "55", " Cabinet", " -3.352", " 2.205", " 2.653", " 0", " 0", " 0", "" ], [ "56", " Cabinet", " -2.189", " 0.388", " 3.466", " 0", " 0", " 0", "" ], [ "57", " Cabinet", " -3.365", " 1.931", " 3.963", " 0", " 0", " 0", "" ], [ "58", " Cabinet", " -3.365", " 1.931", " 1.056", " 0", " 0", " 0", "" ], [ "59", " Cabinet", " -2.992", " 0.388", " 1.037", " 0", " 0", " 0", "" ], [ "60", " StoveBurner", " -3.143", " 0.958", " 1.971", " 0", " 0", " 0", "" ], [ "61", " StoveKnob", " -3.599", " 1.110", " 2.017", " 0", " 0", " 105.000", "" ], [ "62", " StoveKnob", " -3.599", " 1.110", " 1.867", " 0", " 0", " 105.000", "" ], [ "63", " StoveKnob", " -3.599", " 1.110", " 2.267", " 0", " 0", " 105.000", "" ], [ "64", " StoveKnob", " -3.599", " 1.110", " 2.427", " 0", " 0", " 105.000", "" ], [ "65", " Toaster", " -2.654", " 0.902", " 4.064", " 0", " 180", " 0", "" ], [ "66", " Fridge", " -0.439", " 0.014", " 3.996", " 0", " 0", " 0", "" ], [ "67", " LightSwitch", " 0.25", " 1.383", " 2.085", " 0", " 270", " 0", "" ], [ "68", " Window", " -1.430", " 1.338", " -0.347", " 90", " 0", " 0", "" ], [ "69", " CoffeeMachine", " -3.550", " 0.902", " 3.274", " 0", " 90", " 0", "" ], [ "70", " SinkBasin", " -1.802", " 0.778", " 3.700", " 0", " 0", " 0", "" ], [ "71", " Microwave", " -3.484", " 1.430", " 2.182", " 0", " 90", " 0", "" ], [ "72", " GarbageCan", " -1.184", " -0.020", " 3.794", " 0", " 270", " 0", "" ], [ "73", " Blinds", " -1.404", " 2.092", " -0.296", " 0", " 0", " 0", "" ], [ "74", " Stool", " -1.373", " 0.014", " 1.048", " 1.214", " 20.754", " 0", "" ], [ "75", " Faucet", " -1.788", " 0.903", " 3.931", " 270", " 90", " 0", "" ], [ "76", " DiningTable", " -1.399", " 0.010", " 0.238", " 0", " 0", " 0", "" ], [ "77", " GarbageBag", " -0.291", " 0.336", " -0.034", " 272.372", " 348.812", " 147.313", "" ], [ "78", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "79", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "80", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "81", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -0.75 0.914 1.5 0 270 0 1 Potato -0.089 0.755 3.817 0 180 0 66 2 Potato -1.602 0.821 3.625 0 180 0 70 3 WineBottle -3.272 0.916 1.524 0 0 0 49 4 WineBottle -1.192 0.087 3.820 0 270 0 72 5 Kettle -3.148 0.966 2.374 0 0 0 43 6 Spatula -3.654 0.930 1.440 0 90 0 49 7 Spoon -3.463 0.916 1.524 0 0 0 49 8 Fork -2.402 0.916 3.998 0 0 0 40 9 Pot -3.424 0.966 2.374 0 0 0 46 10 Egg -3.081 0.950 1.273 0 0 0 49 11 Knife -3.559 0.939 1.440 0 90 0 49 12 Knife -3.272 0.939 1.273 0 0 0 49 13 Bowl -2.511 0.079 3.664 0 0 0 51 14 Bowl -0.673 0.985 4.051 0 180 0 66 15 Mug -1.729 0.784 3.7 0 180 0 70 16 Mug -2.718 0.075 3.701 0 0 0 52 17 Egg -1.428 0.950 4.106 0 0 0 40 18 Knife -3.272 0.939 1.189 0 90 0 49 19 Fork -1.921 0.790 3.737 0 270 0 70 20 Bread -1.522 0.963 0.276 0 280.313 0 76 21 Potato -3.463 0.948 1.357 0 0 0 49 22 Plate -3.006 0.904 3.677 0 0 0 40 23 Pot -3.424 0.966 1.971 0 0 0 48 24 Kettle -3.145 0.069 2.920 0 270 0 53 25 WineBottle -1.161 0.088 3.724 0 270 0 72 26 Bowl -3.537 1.545 2.120 0 90 0 71 27 Tomato -0.323 1.342 4.097 0 180 0 66 28 Cup -3.081 0.915 1.106 0 0 0 49 29 Spatula -2.503 0.930 3.783 0 180 0 40 30 SoapBottle -3.081 0.915 3.008 0 0 0 40 31 Lettuce -3.559 1.001 1.189 0 0 0 49 32 Pan -2.614 0.902 3.620 0 0 0 40 33 Apple -0.440 1.601 4.067 0 180 0 66 34 SaltShaker -2.678 0.076 3.509 0 0 0 52 35 PepperShaker -3.097 0.743 3.083 0 0 0 42 36 ButterKnife -3.176 0.915 1.524 0 0 0 49 37 DishSponge -3.508 1.458 1.454 0 0 0 58 38 Spoon -3.214 0.746 1.433 0 90 0 41 39 Mug -3.368 0.910 3.663 0 0 0 40 40 CounterTop -3.381 0.950 3.335 0 0 0 41 Drawer -3.121 0.775 1.357 0 0 0 42 Drawer -3.121 0.777 2.916 0 0 0 43 StoveBurner -3.148 0.958 2.374 0 0 0 44 Sink -1.797 0.917 3.660 0 0 0 45 Cabinet -1.421 0.388 3.459 0 0 0 46 StoveBurner -3.424 0.958 2.374 0 0 0 47 Cabinet -3.365 1.931 2.676 0 0 0 48 StoveBurner -3.424 0.958 1.971 0 0 0 49 CounterTop -3.381 0.951 1.356 0 0 0 50 Drawer -3.121 0.781 3.295 0 0 0 51 Cabinet -2.205 0.388 3.459 0 0 0 52 Cabinet -2.963 0.388 3.459 0 0 0 53 Cabinet -2.992 0.388 2.683 0 0 0 54 Cabinet -3.352 2.205 1.715 0 0 0 55 Cabinet -3.352 2.205 2.653 0 0 0 56 Cabinet -2.189 0.388 3.466 0 0 0 57 Cabinet -3.365 1.931 3.963 0 0 0 58 Cabinet -3.365 1.931 1.056 0 0 0 59 Cabinet -2.992 0.388 1.037 0 0 0 60 StoveBurner -3.143 0.958 1.971 0 0 0 61 StoveKnob -3.599 1.110 2.017 0 0 105.000 62 StoveKnob -3.599 1.110 1.867 0 0 105.000 63 StoveKnob -3.599 1.110 2.267 0 0 105.000 64 StoveKnob -3.599 1.110 2.427 0 0 105.000 65 Toaster -2.654 0.902 4.064 0 180 0 66 Fridge -0.439 0.014 3.996 0 0 0 67 LightSwitch 0.25 1.383 2.085 0 270 0 68 Window -1.430 1.338 -0.347 90 0 0 69 CoffeeMachine -3.550 0.902 3.274 0 90 0 70 SinkBasin -1.802 0.778 3.700 0 0 0 71 Microwave -3.484 1.430 2.182 0 90 0 72 GarbageCan -1.184 -0.020 3.794 0 270 0 73 Blinds -1.404 2.092 -0.296 0 0 0 74 Stool -1.373 0.014 1.048 1.214 20.754 0 75 Faucet -1.788 0.903 3.931 270 90 0 76 DiningTable -1.399 0.010 0.238 0 0 0 77 GarbageBag -0.291 0.336 -0.034 272.372 348.812 147.313 78 NorthWall 79 EastWall 80 SouthWall 81 WestWall
[ "STEP 1: Move to the counter to the right of the door and the left of the oven. | STEP 2: Pick up the knife in front of the wine bottle on the counter. | STEP 3: Turn right, past the oven, and move to the pan on the counter in front of the toaster. | STEP 4: Place the knife on the pan in front of the toaster. | STEP 5: Pick up the pan containing the knife on top of it. | STEP 6: Turn right, move towards the refrigerator, then turn right, move to the area between the table and the trash bag in the corner, and then turn right to face the table. | STEP 7: Place the pan with the knife in it near the edge of the table and in front of the loaf of bread. | END" ]
[ [ "STEP 1: Move to the counter to the right of the door and the left of the oven. ", " STEP 2: Pick up the knife in front of the wine bottle on the counter. ", " STEP 3: Turn right, past the oven, and move to the pan on the counter in front of the toaster. ", " STEP 4: Place the knife on the pan in front of the toaster. ", " STEP 5: Pick up the pan containing the knife on top of it. ", " STEP 6: Turn right, move towards the refrigerator, then turn right, move to the area between the table and the trash bag in the corner, and then turn right to face the table. ", " STEP 7: Place the pan with the knife in it near the edge of the table and in front of the loaf of bread. ", " END" ] ]
seen
trial_T20190909_032552_158463-0
Turn on a lamp with a credit card.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -0.25 0.998 -0.75 0 180 0 1 Vase -0.345 0.976 -2.493 0 90 0 39 2 KeyChain -3.650 0.878 -1.385 0 0 0 30 3 KeyChain -0.126 0.861 -2.506 0 90 0 38 4 CreditCard 0.064 0.860 -2.531 0 90 0 38 5 CreditCard -0.827 0.454 -0.578 0 0 0 31 6 RemoteControl -1.254 0.526 0.835 0 0 0 35 7 Box -2.863 1.03 -0.958 0 0 0 30 8 Pillow 0.629 0.482 -1.667 0 0 0 27 9 CreditCard -1.428 0.524 0.897 0 0 0 35 10 Plate -3.851 0.875 -1.011 0 0 0 30 11 Laptop -0.959 0.452 -0.738 0 0 0 31 12 RemoteControl 0.748 0.306 -1.614 0 0 0 27 13 Vase -1.354 0.459 -0.578 0 0 0 31 14 Statue 0.257 0.965 -2.518 0 0 0 39 15 KeyChain 0.919 0.305 -1.782 0 270 0 27 16 Pen -2.763 0.887 -1.483 0 0 0 30 17 Curtains -3.013 1.557 -3.082 0 0 0 18 Television -1.063 0.939 -2.439 0 0 0 19 HousePlant 0.753 0.855 -2.467 0 215.129 0 20 HousePlant 0.739 0.855 -1.159 0 310.776 0 21 FloorLamp -2.186 0.096 1.111 0 0 0 22 GarbageCan -1.946 0.097 -2.899 0 216.243 0 23 Painting -4.326 1.817 -1.223 90 270 0 24 Window 0.010 1.087 0.001 90 270 0 25 Window -2.983 1.544 -3.220 90 180 0 26 LightSwitch -3.907 1.371 1.386 0 180 0 27 ArmChair 0.662 0.103 -1.781 0 270 0 28 Stool 0.765 0.108 -1.148 0 0 0 29 Stool 0.765 0.108 -2.460 0 35.380 0 30 DiningTable -3.428 0.099 -1.188 0 0 0 31 CoffeeTable -1.090 0.097 -0.737 0 0 0 32 Chair -3.793 0.098 -0.841 0 164.999 0 33 Chair -3.073 0.098 -1.515 0 11.313 0 34 Chair -3.810 0.098 -1.549 0 352.857 0 35 Sofa -0.905 0.099 0.959 0 180 0 36 CoffeeTable -1.046 0.096 -2.473 0 180 0 37 Chair -3.068 0.098 -0.882 0 180 0 38 Drawer -0.031 0.872 -2.487 0 0 0 39 SideTable -0.030 0.097 -2.552 0 0 0 40 NorthWall 41 EastWall 42 SouthWall 43 WestWall
[ "STEP 1: Turn around then turn right Turn right again to face the couch. | STEP 2: Pick up the credit card from the couch. | STEP 3: Step to the left and turn to face the lamp. | STEP 4: Use the credit card to turn on the lamp. | END" ]
[ [ "STEP 1: Turn around then turn right Turn right again to face the couch. ", " STEP 2: Pick up the credit card from the couch. ", " STEP 3: Step to the left and turn to face the lamp. ", " STEP 4: Use the credit card to turn on the lamp. ", " END" ] ]
seen
trial_T20190909_032552_158463-1
Pick up a credit card and turn on the lamp
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[ "STEP 1: Turn around and go to the left side of the sofa with the remote controller | STEP 2: Pick up the credit card from the sofa | STEP 3: Turn left, take a step, and turn right to face the lamp next to the sofa | STEP 4: Use the card to turn on the lamp | END" ]
[ [ "STEP 1: Turn around and go to the left side of the sofa with the remote controller ", " STEP 2: Pick up the credit card from the sofa ", " STEP 3: Turn left, take a step, and turn right to face the lamp next to the sofa ", " STEP 4: Use the card to turn on the lamp ", " END" ] ]
seen
trial_T20190909_032552_158463-2
Look at a credit card by the light of a lamp.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -0.25 0.998 -0.75 0 180 0 1 Vase -0.345 0.976 -2.493 0 90 0 39 2 KeyChain -3.650 0.878 -1.385 0 0 0 30 3 KeyChain -0.126 0.861 -2.506 0 90 0 38 4 CreditCard 0.064 0.860 -2.531 0 90 0 38 5 CreditCard -0.827 0.454 -0.578 0 0 0 31 6 RemoteControl -1.254 0.526 0.835 0 0 0 35 7 Box -2.863 1.03 -0.958 0 0 0 30 8 Pillow 0.629 0.482 -1.667 0 0 0 27 9 CreditCard -1.428 0.524 0.897 0 0 0 35 10 Plate -3.851 0.875 -1.011 0 0 0 30 11 Laptop -0.959 0.452 -0.738 0 0 0 31 12 RemoteControl 0.748 0.306 -1.614 0 0 0 27 13 Vase -1.354 0.459 -0.578 0 0 0 31 14 Statue 0.257 0.965 -2.518 0 0 0 39 15 KeyChain 0.919 0.305 -1.782 0 270 0 27 16 Pen -2.763 0.887 -1.483 0 0 0 30 17 Curtains -3.013 1.557 -3.082 0 0 0 18 Television -1.063 0.939 -2.439 0 0 0 19 HousePlant 0.753 0.855 -2.467 0 215.129 0 20 HousePlant 0.739 0.855 -1.159 0 310.776 0 21 FloorLamp -2.186 0.096 1.111 0 0 0 22 GarbageCan -1.946 0.097 -2.899 0 216.243 0 23 Painting -4.326 1.817 -1.223 90 270 0 24 Window 0.010 1.087 0.001 90 270 0 25 Window -2.983 1.544 -3.220 90 180 0 26 LightSwitch -3.907 1.371 1.386 0 180 0 27 ArmChair 0.662 0.103 -1.781 0 270 0 28 Stool 0.765 0.108 -1.148 0 0 0 29 Stool 0.765 0.108 -2.460 0 35.380 0 30 DiningTable -3.428 0.099 -1.188 0 0 0 31 CoffeeTable -1.090 0.097 -0.737 0 0 0 32 Chair -3.793 0.098 -0.841 0 164.999 0 33 Chair -3.073 0.098 -1.515 0 11.313 0 34 Chair -3.810 0.098 -1.549 0 352.857 0 35 Sofa -0.905 0.099 0.959 0 180 0 36 CoffeeTable -1.046 0.096 -2.473 0 180 0 37 Chair -3.068 0.098 -0.882 0 180 0 38 Drawer -0.031 0.872 -2.487 0 0 0 39 SideTable -0.030 0.097 -2.552 0 0 0 40 NorthWall 41 EastWall 42 SouthWall 43 WestWall
[ "STEP 1: Turn around and walk left, to the left cushion of the couch. | STEP 2: Pick up the credit card on the couch. | STEP 3: Take a step left. | STEP 4: Turn on the floor lamp. | END" ]
[ [ "STEP 1: Turn around and walk left, to the left cushion of the couch. ", " STEP 2: Pick up the credit card on the couch. ", " STEP 3: Take a step left. ", " STEP 4: Turn on the floor lamp. ", " END" ] ]
seen
trial_T20190908_144232_130522-0
Put the chilled mug in the cabinet
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[ "STEP 1: Turn left walk forward then head to the left cabinet above the microwave | STEP 2: Open the cabinet and pick up the mug then close the cabinet | STEP 3: Turn right then walk forward head to the fridge | STEP 4: Open the fridge put in and out the mug then close the fridge | STEP 5: Turn left and head to the cabinet beside the fridge | STEP 6: Open the cabinet put in the mug then close the cabinet | END" ]
[ [ "STEP 1: Turn left walk forward then head to the left cabinet above the microwave ", " STEP 2: Open the cabinet and pick up the mug then close the cabinet ", " STEP 3: Turn right then walk forward head to the fridge ", " STEP 4: Open the fridge put in and out the mug then close the fridge ", " STEP 5: Turn left and head to the cabinet beside the fridge ", " STEP 6: Open the cabinet put in the mug then close the cabinet ", " END" ] ]
seen
trial_T20190908_144232_130522-1
Store a cold cup in the cabinet under the counter top beside the fridge.
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0", "" ], [ "76", " CoffeeMachine", " 1.124", " 1.100", " 0.312", " 0", " 227.685", " 0", "" ], [ "77", " StoveKnob", " -2.429", " 0.863", " -0.621", " 311.864", " 270", " 180", "" ], [ "78", " StoveKnob", " -2.429", " 0.863", " -0.477", " 311.864", " 270", " 180", "" ], [ "79", " StoveKnob", " -2.429", " 0.863", " -0.782", " 311.864", " 270", " 180", "" ], [ "80", " StoveKnob", " -2.429", " 0.863", " -0.324", " 311.864", " 270", " 180", "" ], [ "81", " Window", " 0.321", " 1.449", " 3.088", " 90", " 0", " 0", "" ], [ "82", " Toaster", " -2.823", " 0.899", " 0.246", " 0", " 90", " 0", "" ], [ "83", " SinkBasin", " -1.344", " 0.838", " -1.25", " 0", " 0", " 0", "" ], [ "84", " GarbageCan", " -2.757", " 1.886", " 1.466", " 0", " 0", " 0", "" ], [ "85", " Fridge", " -2.855", " 0.0", " 0.851", " 0", " 0", " 0", "" ], [ "86", " Microwave", " 0.283", " 0.900", " -1.331", " 0", " 0", " 0", "" ], [ "87", " Stool", " 1.541", " 0.010", " 1.328", " 0", " 45", " 0", "" ], [ "88", " Stool", " 0.983", " 0.010", " 1.793", " 0", " 47.459", " 0", "" ], [ "89", " Faucet", " -1.392", " 1.136", " -1.399", " 0", " 270", " 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 -0.75 0.900 2.5 0 270 0 1 Pan -2.59 0.9 -1.147 0 0 0 73 2 Potato -0.598 0.933 -1.119 0 47.530 0 73 3 Kettle -1.505 0.850 -1.194 0 0 0 83 4 Spoon -2.585 0.747 0.163 0 0 0 71 5 Spoon -2.671 0.747 -0.027 0 90 0 71 6 Fork -2.085 0.911 -1.365 0 0 0 73 7 Fork -0.133 0.911 -1.199 0 90 0 73 8 Cup -1.159 0.848 -1.360 0 0 0 83 9 Plate -2.800 0.821 0.932 0 90 0 85 10 Plate 0.817 1.113 1.056 0 315 0 66 11 Egg -2.815 0.072 1.466 0 0 0 84 12 Knife -2.085 0.934 -0.948 0 0 0 73 13 SoapBottle -2.438 0.912 0.359 0 0 0 65 14 Bowl 0.490 1.110 1.075 0 315 0 66 15 Bowl -2.740 1.672 0.771 0 90 0 85 16 Lettuce 0.644 1.190 1.229 0 315 0 66 17 PepperShaker 0.307 1.108 1.866 0 315 0 66 18 SaltShaker -2.015 1.658 -1.322 0 0 0 48 19 SaltShaker 1.074 0.907 -1.282 0 0 0 73 20 Bread -2.740 1.528 0.771 0 90 0 85 21 Apple 0.241 1.060 -1.281 0 0 0 86 22 Apple -2.757 0.087 1.536 0 0 0 84 23 Apple 0.398 1.057 -1.314 0 0 0 86 24 Fork -2.438 0.911 0.190 0 270 0 71 25 Kettle -0.767 0.912 -1.032 0 0 0 73 26 CreditCard 0.997 0.9 -0.982 0 334.941 0 73 27 Bread 0.765 0.965 -1.282 0 0 0 73 28 Plate -1.684 0.119 -1.031 0 0 0 50 29 SoapBottle -2.699 0.038 1.431 0 0 0 84 30 Spatula -2.552 0.922 0.010 0 0 0 65 31 Lettuce 0.509 1.190 0.748 0 315 0 66 32 SaltShaker -1.879 1.658 -1.435 0 0 0 48 33 Tomato 0.203 1.152 1.056 0 0 0 66 34 PepperShaker -0.156 1.658 -1.284 0 0 0 60 35 ButterKnife -2.222 0.9 -0.997 0 323.977 0 73 36 Pot -2.823 0.928 -0.396 0 0 0 72 37 DishSponge -1.221 0.841 -1.126 0 41.164 0 83 38 Egg -1.332 0.884 -1.305 0 0 0 83 39 Spoon -0.450 0.912 -1.365 0 0 0 73 40 Knife -2.628 0.769 -0.027 0 90 0 71 41 Cup -0.021 1.110 1.910 0 315 0 66 42 Mug 0.372 1.654 -1.353 0 0 0 52 43 Bowl -2.860 0.818 0.690 0 90 0 85 44 Cabinet -2.647 2.075 -0.875 0 0 0 45 Cabinet -2.647 2.075 -0.234 0 0 0 46 Cabinet -0.824 0.469 -0.907 0 0 0 47 Cabinet -1.764 2.009 -1.197 0 0 0 48 Cabinet -1.834 2.009 -1.197 0 0 0 49 Cabinet -1.850 0.389 -0.897 0 0 0 50 Cabinet -1.801 0.469 -0.907 0 0 0 51 Cabinet 1.115 2.009 -1.197 0 0 0 52 Cabinet 0.235 2.009 -1.197 0 0 0 53 Cabinet 1.125 0.470 -0.897 0 0 0 54 Cabinet -2.387 0.389 0.375 0 0 0 55 Cabinet 0.484 0.389 -0.897 0 0 0 56 Cabinet -2.625 2.009 -1.197 0 0 0 57 Cabinet -2.647 2.009 -0.945 0 0 0 58 Cabinet -2.647 2.200 1.664 0 0 0 59 Cabinet -2.647 2.009 0.364 0 0 0 60 Cabinet 0.164 2.009 -1.197 0 0 0 61 Cabinet -0.765 2.009 -1.197 0 0 0 62 Cabinet -0.834 2.009 -1.197 0 0 0 63 Cabinet -2.647 2.200 0.434 0 0 0 64 StoveBurner -2.622 0.886 -0.711 0 0 0 65 CounterTop -2.699 0.946 0.106 0 0 0 66 CounterTop 0.908 1.147 0.788 0 315 0 67 StoveBurner -2.622 0.886 -0.396 0 0 0 68 Drawer -2.026 0.779 -1.082 0 0 0 69 Sink -1.328 0.916 -1.225 0 0 0 70 StoveBurner -2.822 0.886 -0.711 0 0 0 71 Drawer -2.572 0.779 0.099 0 0 0 72 StoveBurner -2.822 0.886 -0.396 0 0 0 73 CounterTop 0.071 0.946 -1.199 0 0 0 74 Drawer 0.254 0.779 -1.082 0 0 0 75 LightSwitch -1.167 1.307 3.0 0 180 0 76 CoffeeMachine 1.124 1.100 0.312 0 227.685 0 77 StoveKnob -2.429 0.863 -0.621 311.864 270 180 78 StoveKnob -2.429 0.863 -0.477 311.864 270 180 79 StoveKnob -2.429 0.863 -0.782 311.864 270 180 80 StoveKnob -2.429 0.863 -0.324 311.864 270 180 81 Window 0.321 1.449 3.088 90 0 0 82 Toaster -2.823 0.899 0.246 0 90 0 83 SinkBasin -1.344 0.838 -1.25 0 0 0 84 GarbageCan -2.757 1.886 1.466 0 0 0 85 Fridge -2.855 0.0 0.851 0 0 0 86 Microwave 0.283 0.900 -1.331 0 0 0 87 Stool 1.541 0.010 1.328 0 45 0 88 Stool 0.983 0.010 1.793 0 47.459 0 89 Faucet -1.392 1.136 -1.399 0 270 0 90 NorthWall 91 EastWall 92 SouthWall 93 WestWall
[ "STEP 1: Walk to the left, turn left near the cabinet, walk straight a little bit, turn right to go to the microwave and look up to the cabinet on top of it. | STEP 2: Open the cabinet, pick up a cup that is in the cabinet and close the cabinet. | STEP 3: Turn around, walk slightly to the front and turn left to go to the fridge. | STEP 4: Open the fridge, put the cup on the rack next to the black plate, close the fridge, let it cool for a while, pick it up again and close the fridge. | STEP 5: Go slightly to the left to the cabinet beside the fridge. | STEP 6: Open the cabinet under the counter top, put the cup in it and close the cabinet. | END" ]
[ [ "STEP 1: Walk to the left, turn left near the cabinet, walk straight a little bit, turn right to go to the microwave and look up to the cabinet on top of it. ", " STEP 2: Open the cabinet, pick up a cup that is in the cabinet and close the cabinet. ", " STEP 3: Turn around, walk slightly to the front and turn left to go to the fridge. ", " STEP 4: Open the fridge, put the cup on the rack next to the black plate, close the fridge, let it cool for a while, pick it up again and close the fridge. ", " STEP 5: Go slightly to the left to the cabinet beside the fridge. ", " STEP 6: Open the cabinet under the counter top, put the cup in it and close the cabinet. ", " END" ] ]
seen
trial_T20190908_144232_130522-2
Put a chilled white mug in a cabinet.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -0.75 0.900 2.5 0 270 0 1 Pan -2.59 0.9 -1.147 0 0 0 73 2 Potato -0.598 0.933 -1.119 0 47.530 0 73 3 Kettle -1.505 0.850 -1.194 0 0 0 83 4 Spoon -2.585 0.747 0.163 0 0 0 71 5 Spoon -2.671 0.747 -0.027 0 90 0 71 6 Fork -2.085 0.911 -1.365 0 0 0 73 7 Fork -0.133 0.911 -1.199 0 90 0 73 8 Cup -1.159 0.848 -1.360 0 0 0 83 9 Plate -2.800 0.821 0.932 0 90 0 85 10 Plate 0.817 1.113 1.056 0 315 0 66 11 Egg -2.815 0.072 1.466 0 0 0 84 12 Knife -2.085 0.934 -0.948 0 0 0 73 13 SoapBottle -2.438 0.912 0.359 0 0 0 65 14 Bowl 0.490 1.110 1.075 0 315 0 66 15 Bowl -2.740 1.672 0.771 0 90 0 85 16 Lettuce 0.644 1.190 1.229 0 315 0 66 17 PepperShaker 0.307 1.108 1.866 0 315 0 66 18 SaltShaker -2.015 1.658 -1.322 0 0 0 48 19 SaltShaker 1.074 0.907 -1.282 0 0 0 73 20 Bread -2.740 1.528 0.771 0 90 0 85 21 Apple 0.241 1.060 -1.281 0 0 0 86 22 Apple -2.757 0.087 1.536 0 0 0 84 23 Apple 0.398 1.057 -1.314 0 0 0 86 24 Fork -2.438 0.911 0.190 0 270 0 71 25 Kettle -0.767 0.912 -1.032 0 0 0 73 26 CreditCard 0.997 0.9 -0.982 0 334.941 0 73 27 Bread 0.765 0.965 -1.282 0 0 0 73 28 Plate -1.684 0.119 -1.031 0 0 0 50 29 SoapBottle -2.699 0.038 1.431 0 0 0 84 30 Spatula -2.552 0.922 0.010 0 0 0 65 31 Lettuce 0.509 1.190 0.748 0 315 0 66 32 SaltShaker -1.879 1.658 -1.435 0 0 0 48 33 Tomato 0.203 1.152 1.056 0 0 0 66 34 PepperShaker -0.156 1.658 -1.284 0 0 0 60 35 ButterKnife -2.222 0.9 -0.997 0 323.977 0 73 36 Pot -2.823 0.928 -0.396 0 0 0 72 37 DishSponge -1.221 0.841 -1.126 0 41.164 0 83 38 Egg -1.332 0.884 -1.305 0 0 0 83 39 Spoon -0.450 0.912 -1.365 0 0 0 73 40 Knife -2.628 0.769 -0.027 0 90 0 71 41 Cup -0.021 1.110 1.910 0 315 0 66 42 Mug 0.372 1.654 -1.353 0 0 0 52 43 Bowl -2.860 0.818 0.690 0 90 0 85 44 Cabinet -2.647 2.075 -0.875 0 0 0 45 Cabinet -2.647 2.075 -0.234 0 0 0 46 Cabinet -0.824 0.469 -0.907 0 0 0 47 Cabinet -1.764 2.009 -1.197 0 0 0 48 Cabinet -1.834 2.009 -1.197 0 0 0 49 Cabinet -1.850 0.389 -0.897 0 0 0 50 Cabinet -1.801 0.469 -0.907 0 0 0 51 Cabinet 1.115 2.009 -1.197 0 0 0 52 Cabinet 0.235 2.009 -1.197 0 0 0 53 Cabinet 1.125 0.470 -0.897 0 0 0 54 Cabinet -2.387 0.389 0.375 0 0 0 55 Cabinet 0.484 0.389 -0.897 0 0 0 56 Cabinet -2.625 2.009 -1.197 0 0 0 57 Cabinet -2.647 2.009 -0.945 0 0 0 58 Cabinet -2.647 2.200 1.664 0 0 0 59 Cabinet -2.647 2.009 0.364 0 0 0 60 Cabinet 0.164 2.009 -1.197 0 0 0 61 Cabinet -0.765 2.009 -1.197 0 0 0 62 Cabinet -0.834 2.009 -1.197 0 0 0 63 Cabinet -2.647 2.200 0.434 0 0 0 64 StoveBurner -2.622 0.886 -0.711 0 0 0 65 CounterTop -2.699 0.946 0.106 0 0 0 66 CounterTop 0.908 1.147 0.788 0 315 0 67 StoveBurner -2.622 0.886 -0.396 0 0 0 68 Drawer -2.026 0.779 -1.082 0 0 0 69 Sink -1.328 0.916 -1.225 0 0 0 70 StoveBurner -2.822 0.886 -0.711 0 0 0 71 Drawer -2.572 0.779 0.099 0 0 0 72 StoveBurner -2.822 0.886 -0.396 0 0 0 73 CounterTop 0.071 0.946 -1.199 0 0 0 74 Drawer 0.254 0.779 -1.082 0 0 0 75 LightSwitch -1.167 1.307 3.0 0 180 0 76 CoffeeMachine 1.124 1.100 0.312 0 227.685 0 77 StoveKnob -2.429 0.863 -0.621 311.864 270 180 78 StoveKnob -2.429 0.863 -0.477 311.864 270 180 79 StoveKnob -2.429 0.863 -0.782 311.864 270 180 80 StoveKnob -2.429 0.863 -0.324 311.864 270 180 81 Window 0.321 1.449 3.088 90 0 0 82 Toaster -2.823 0.899 0.246 0 90 0 83 SinkBasin -1.344 0.838 -1.25 0 0 0 84 GarbageCan -2.757 1.886 1.466 0 0 0 85 Fridge -2.855 0.0 0.851 0 0 0 86 Microwave 0.283 0.900 -1.331 0 0 0 87 Stool 1.541 0.010 1.328 0 45 0 88 Stool 0.983 0.010 1.793 0 47.459 0 89 Faucet -1.392 1.136 -1.399 0 270 0 90 NorthWall 91 EastWall 92 SouthWall 93 WestWall
[ "STEP 1: Turn left and walk over to the microwave and look up at the upper cabinets. | STEP 2: Open the left cabinet in front of you and take out the white mug, then close the cabinet. | STEP 3: Turn around and walk over to the fridge. | STEP 4: Put the mug in the fridge, after a couple seconds take out the mug and close the fridge. | STEP 5: Walk over to the section of counter that is to the left of the fridge. | STEP 6: Open the cabinet door below the counter and put the chilled mug inside, then close the cabinet door. | END" ]
[ [ "STEP 1: Turn left and walk over to the microwave and look up at the upper cabinets. ", " STEP 2: Open the left cabinet in front of you and take out the white mug, then close the cabinet. ", " STEP 3: Turn around and walk over to the fridge. ", " STEP 4: Put the mug in the fridge, after a couple seconds take out the mug and close the fridge. ", " STEP 5: Walk over to the section of counter that is to the left of the fridge. ", " STEP 6: Open the cabinet door below the counter and put the chilled mug inside, then close the cabinet door. ", " END" ] ]
seen
trial_T20190908_162133_952973-0
To put an apple in a bowl and place it in the fridge.
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0", "" ], [ "50", " Cabinet", " -2.474", " 2.046", " 0.392", " 0", " 0", " 0", "" ], [ "51", " Cabinet", " -1.478", " 2.046", " 0.392", " 0", " 0", " 0", "" ], [ "52", " Cabinet", " -0.518", " 2.046", " 0.392", " 0", " 0", " 0", "" ], [ "53", " Cabinet", " -0.479", " 2.046", " 0.392", " 0", " 0", " 0", "" ], [ "54", " CounterTop", " -1.366", " 0.952", " 0.349", " 0", " 0", " 0", "" ], [ "55", " Sink", " -1.108", " 0.926", " 0.340", " 0", " 0", " 0", "" ], [ "56", " StoveBurner", " -0.254", " 0.922", " 4.672", " 0", " 0", " 0", "" ], [ "57", " Drawer", " -1.824", " 0.696", " 0.413", " 0", " 0", " 0", "" ], [ "58", " StoveBurner", " -0.535", " 0.922", " 4.274", " 0", " 0", " 0", "" ], [ "59", " StoveBurner", " -0.254", " 0.922", " 4.274", " 0", " 0", " 0", "" ], [ "60", " StoveBurner", " -0.536", " 0.922", " 4.672", " 0", " 0", " 0", "" ], [ "61", " CounterTop", " -2.780", " 0.971", " 3.487", " 0", " 0", " 0", "" ], [ "62", " Drawer", " -2.323", " 0.696", " 0.413", " 0", " 0", " 0", "" 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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.0 0.901 3.5 0 90 0 1 Pan -0.254 0.928 4.672 0 0 0 56 2 Potato -0.657 0.926 2.731 0 0 0 77 3 Potato -2.377 0.926 2.309 0 0 0 75 4 DishSponge -1.716 0.661 0.464 0 0 0 57 5 DishSponge -2.411 1.773 0.251 0 0 0 50 6 ButterKnife -0.433 0.662 0.409 0 90 0 43 7 ButterKnife -1.770 0.662 0.355 0 0 0 57 8 Spoon -0.143 0.901 2.329 0 90 0 77 9 Spoon -0.400 0.901 2.731 0 0 0 77 10 Fork -0.272 0.662 0.464 0 0 0 43 11 Cup -2.480 0.900 2.309 0 0 0 75 12 Cup -2.878 0.298 4.575 0 90 0 71 13 Plate -1.801 1.777 0.251 0 0 0 49 14 Knife -2.583 0.926 2.177 0 0 0 75 15 Knife -2.737 0.896 1.880 271.41 276.269 86.318 75 16 SoapBottle -0.486 0.900 2.530 0 0 0 77 17 Tomato -2.785 0.362 4.278 0 90 0 71 18 SaltShaker -1.485 0.924 0.650 0 0 0 54 19 SaltShaker -0.249 1.769 0.342 0 0 0 51 20 Lettuce -2.789 0.980 2.309 0 0 0 75 21 Apple -2.785 0.991 3.209 0 0 0 61 22 Egg -0.921 0.829 0.226 0 0 0 72 23 Plate -1.180 0.800 0.337 0 0 0 72 24 Fork -0.400 0.901 3.133 0 0 0 77 25 Bread -2.970 0.940 2.025 0 3.880 0 75 26 Apple -2.764 1.242 4.352 0 90 0 71 27 Lettuce -2.377 0.980 2.573 0 0 0 75 28 Spatula -0.314 0.915 3.133 0 180 0 77 29 Knife -2.686 0.926 2.441 0 180 0 75 30 Potato -2.722 1.212 4.501 0 90 0 71 31 Tomato -0.572 0.964 2.329 0 0 0 77 32 Cup -2.549 0.935 3.580 0 0 0 61 33 SaltShaker -2.706 0.931 3.302 0 0 0 61 34 PepperShaker -0.139 1.769 0.205 0 0 0 52 35 ButterKnife -1.770 0.928 0.602 0 0 0 54 36 SoapBottle -0.657 0.900 3.334 0 0 0 77 37 Pan -0.535 0.928 4.274 0 0 0 58 38 DishSponge -2.900 0.053 0.368 0 26.101 0 68 39 Pot -2.476 0.889 2.050 0 0 0 75 40 Spoon -0.486 0.901 2.329 0 90 0 77 41 Mug -2.888 0.627 4.352 0 90 0 71 42 Bowl -1.303 1.770 0.205 0 0 0 51 43 Drawer -0.325 0.696 0.413 0 0 0 44 Cabinet -0.595 0.490 0.648 0 0 0 45 Cabinet -0.555 0.490 0.646 0 0 0 46 Cabinet -1.591 0.490 0.646 0 0 0 47 Cabinet -1.554 0.490 0.646 0 0 0 48 Cabinet -2.550 0.490 0.646 0 0 0 49 Cabinet -1.514 2.046 0.392 0 0 0 50 Cabinet -2.474 2.046 0.392 0 0 0 51 Cabinet -1.478 2.046 0.392 0 0 0 52 Cabinet -0.518 2.046 0.392 0 0 0 53 Cabinet -0.479 2.046 0.392 0 0 0 54 CounterTop -1.366 0.952 0.349 0 0 0 55 Sink -1.108 0.926 0.340 0 0 0 56 StoveBurner -0.254 0.922 4.672 0 0 0 57 Drawer -1.824 0.696 0.413 0 0 0 58 StoveBurner -0.535 0.922 4.274 0 0 0 59 StoveBurner -0.254 0.922 4.274 0 0 0 60 StoveBurner -0.536 0.922 4.672 0 0 0 61 CounterTop -2.780 0.971 3.487 0 0 0 62 Drawer -2.323 0.696 0.413 0 0 0 63 StoveKnob -0.064 1.090 4.632 0 0 73.865 64 StoveKnob -0.064 1.090 4.782 0 0 73.865 65 StoveKnob -0.064 1.090 4.382 0 0 73.865 66 StoveKnob -0.064 1.090 4.222 0 0 73.865 67 Toaster -0.286 0.861 3.520 0 270 0 68 GarbageCan -2.816 -0.014 0.370 358.702 26.614 2.400 69 LightSwitch -0.064 1.447 1.996 0 270 0 70 Window -3.075 1.593 1.361 90 90 0 71 Fridge -2.802 0.0 4.427 0 0 0 72 SinkBasin -1.106 0.785 0.337 0 0 0 73 Microwave -0.358 0.917 0.224 0 0 0 74 CoffeeMachine -2.938 0.925 3.605 0 90 0 75 DiningTable -2.733 -0.003 2.607 0 270 0 76 Faucet -1.077 0.920 0.028 270 270 0 77 DiningTable -0.488 -0.003 3.182 0 270 0 78 NorthWall 79 EastWall 80 SouthWall 81 WestWall
[ "STEP 1: Turn around and walk forward to face the white table. | STEP 2: Pick up the knife on the white table. | STEP 3: Take a step to the right to face the fridge. | STEP 4: Cut the apple in the freezer into three pieces. | STEP 5: Look down to face the bottom of the fridge. | STEP 6: Place the knife in the fridge. | STEP 7: Look up to face the freezer. | STEP 8: Pick up an apple piece in the freezer. | STEP 9: Turn left and walk across the room to face the cabinet above the sink. | STEP 10: Place the piece of apple in a bowl in the cabinet above the sink. | STEP 11: Pick up the bowl with the apple piece in it from the cabinet above the sink. | STEP 12: Turn around and walk across the room and turn left to face the fridge. | STEP 13: Place the bowl with a piece of apple in the fridge. | END" ]
[ [ "STEP 1: Turn around and walk forward to face the white table. ", " STEP 2: Pick up the knife on the white table. ", " STEP 3: Take a step to the right to face the fridge. ", " STEP 4: Cut the apple in the freezer into three pieces. ", " STEP 5: Look down to face the bottom of the fridge. ", " STEP 6: Place the knife in the fridge. ", " STEP 7: Look up to face the freezer. ", " STEP 8: Pick up an apple piece in the freezer. ", " STEP 9: Turn left and walk across the room to face the cabinet above the sink. ", " STEP 10: Place the piece of apple in a bowl in the cabinet above the sink. ", " STEP 11: Pick up the bowl with the apple piece in it from the cabinet above the sink. ", " STEP 12: Turn around and walk across the room and turn left to face the fridge. ", " STEP 13: Place the bowl with a piece of apple in the fridge. ", " END" ] ]
seen
trial_T20190908_162133_952973-1
Put an apple slice into a bowl and place it inside the fridge.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.0 0.901 3.5 0 90 0 1 Pan -0.254 0.928 4.672 0 0 0 56 2 Potato -0.657 0.926 2.731 0 0 0 77 3 Potato -2.377 0.926 2.309 0 0 0 75 4 DishSponge -1.716 0.661 0.464 0 0 0 57 5 DishSponge -2.411 1.773 0.251 0 0 0 50 6 ButterKnife -0.433 0.662 0.409 0 90 0 43 7 ButterKnife -1.770 0.662 0.355 0 0 0 57 8 Spoon -0.143 0.901 2.329 0 90 0 77 9 Spoon -0.400 0.901 2.731 0 0 0 77 10 Fork -0.272 0.662 0.464 0 0 0 43 11 Cup -2.480 0.900 2.309 0 0 0 75 12 Cup -2.878 0.298 4.575 0 90 0 71 13 Plate -1.801 1.777 0.251 0 0 0 49 14 Knife -2.583 0.926 2.177 0 0 0 75 15 Knife -2.737 0.896 1.880 271.41 276.269 86.318 75 16 SoapBottle -0.486 0.900 2.530 0 0 0 77 17 Tomato -2.785 0.362 4.278 0 90 0 71 18 SaltShaker -1.485 0.924 0.650 0 0 0 54 19 SaltShaker -0.249 1.769 0.342 0 0 0 51 20 Lettuce -2.789 0.980 2.309 0 0 0 75 21 Apple -2.785 0.991 3.209 0 0 0 61 22 Egg -0.921 0.829 0.226 0 0 0 72 23 Plate -1.180 0.800 0.337 0 0 0 72 24 Fork -0.400 0.901 3.133 0 0 0 77 25 Bread -2.970 0.940 2.025 0 3.880 0 75 26 Apple -2.764 1.242 4.352 0 90 0 71 27 Lettuce -2.377 0.980 2.573 0 0 0 75 28 Spatula -0.314 0.915 3.133 0 180 0 77 29 Knife -2.686 0.926 2.441 0 180 0 75 30 Potato -2.722 1.212 4.501 0 90 0 71 31 Tomato -0.572 0.964 2.329 0 0 0 77 32 Cup -2.549 0.935 3.580 0 0 0 61 33 SaltShaker -2.706 0.931 3.302 0 0 0 61 34 PepperShaker -0.139 1.769 0.205 0 0 0 52 35 ButterKnife -1.770 0.928 0.602 0 0 0 54 36 SoapBottle -0.657 0.900 3.334 0 0 0 77 37 Pan -0.535 0.928 4.274 0 0 0 58 38 DishSponge -2.900 0.053 0.368 0 26.101 0 68 39 Pot -2.476 0.889 2.050 0 0 0 75 40 Spoon -0.486 0.901 2.329 0 90 0 77 41 Mug -2.888 0.627 4.352 0 90 0 71 42 Bowl -1.303 1.770 0.205 0 0 0 51 43 Drawer -0.325 0.696 0.413 0 0 0 44 Cabinet -0.595 0.490 0.648 0 0 0 45 Cabinet -0.555 0.490 0.646 0 0 0 46 Cabinet -1.591 0.490 0.646 0 0 0 47 Cabinet -1.554 0.490 0.646 0 0 0 48 Cabinet -2.550 0.490 0.646 0 0 0 49 Cabinet -1.514 2.046 0.392 0 0 0 50 Cabinet -2.474 2.046 0.392 0 0 0 51 Cabinet -1.478 2.046 0.392 0 0 0 52 Cabinet -0.518 2.046 0.392 0 0 0 53 Cabinet -0.479 2.046 0.392 0 0 0 54 CounterTop -1.366 0.952 0.349 0 0 0 55 Sink -1.108 0.926 0.340 0 0 0 56 StoveBurner -0.254 0.922 4.672 0 0 0 57 Drawer -1.824 0.696 0.413 0 0 0 58 StoveBurner -0.535 0.922 4.274 0 0 0 59 StoveBurner -0.254 0.922 4.274 0 0 0 60 StoveBurner -0.536 0.922 4.672 0 0 0 61 CounterTop -2.780 0.971 3.487 0 0 0 62 Drawer -2.323 0.696 0.413 0 0 0 63 StoveKnob -0.064 1.090 4.632 0 0 73.865 64 StoveKnob -0.064 1.090 4.782 0 0 73.865 65 StoveKnob -0.064 1.090 4.382 0 0 73.865 66 StoveKnob -0.064 1.090 4.222 0 0 73.865 67 Toaster -0.286 0.861 3.520 0 270 0 68 GarbageCan -2.816 -0.014 0.370 358.702 26.614 2.400 69 LightSwitch -0.064 1.447 1.996 0 270 0 70 Window -3.075 1.593 1.361 90 90 0 71 Fridge -2.802 0.0 4.427 0 0 0 72 SinkBasin -1.106 0.785 0.337 0 0 0 73 Microwave -0.358 0.917 0.224 0 0 0 74 CoffeeMachine -2.938 0.925 3.605 0 90 0 75 DiningTable -2.733 -0.003 2.607 0 270 0 76 Faucet -1.077 0.920 0.028 270 270 0 77 DiningTable -0.488 -0.003 3.182 0 270 0 78 NorthWall 79 EastWall 80 SouthWall 81 WestWall
[ "STEP 1: Turn around and move to the white table directly in front of you. | STEP 2: Pick up the knife that has the blade facing you off of the table. | STEP 3: Turn to the right and move to the fridge on the left. | STEP 4: Open the freezer and close it after slicing the apple. | STEP 5: Face the fridge. | STEP 6: Place the knife into the fridge. | STEP 7: Face the freezer. | STEP 8: Open the freezer and take out a slice of the apple. | STEP 9: Turn around and move to the cupboard above the sink on the right. | STEP 10: Place the apple in the bowl in the cupboard. | STEP 11: Take out the bowl with the apple inside from the cupboard. | STEP 12: Turn around and move to the fridge on the left. | STEP 13: Place the bowl with the apple inside into the fridge. | END" ]
[ [ "STEP 1: Turn around and move to the white table directly in front of you. ", " STEP 2: Pick up the knife that has the blade facing you off of the table. ", " STEP 3: Turn to the right and move to the fridge on the left. ", " STEP 4: Open the freezer and close it after slicing the apple. ", " STEP 5: Face the fridge. ", " STEP 6: Place the knife into the fridge. ", " STEP 7: Face the freezer. ", " STEP 8: Open the freezer and take out a slice of the apple. ", " STEP 9: Turn around and move to the cupboard above the sink on the right. ", " STEP 10: Place the apple in the bowl in the cupboard. ", " STEP 11: Take out the bowl with the apple inside from the cupboard. ", " STEP 12: Turn around and move to the fridge on the left. ", " STEP 13: Place the bowl with the apple inside into the fridge. ", " END" ] ]
seen
trial_T20190908_162133_952973-2
Put a bowl containing a piece of 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 -1.0 0.901 3.5 0 90 0 1 Pan -0.254 0.928 4.672 0 0 0 56 2 Potato -0.657 0.926 2.731 0 0 0 77 3 Potato -2.377 0.926 2.309 0 0 0 75 4 DishSponge -1.716 0.661 0.464 0 0 0 57 5 DishSponge -2.411 1.773 0.251 0 0 0 50 6 ButterKnife -0.433 0.662 0.409 0 90 0 43 7 ButterKnife -1.770 0.662 0.355 0 0 0 57 8 Spoon -0.143 0.901 2.329 0 90 0 77 9 Spoon -0.400 0.901 2.731 0 0 0 77 10 Fork -0.272 0.662 0.464 0 0 0 43 11 Cup -2.480 0.900 2.309 0 0 0 75 12 Cup -2.878 0.298 4.575 0 90 0 71 13 Plate -1.801 1.777 0.251 0 0 0 49 14 Knife -2.583 0.926 2.177 0 0 0 75 15 Knife -2.737 0.896 1.880 271.41 276.269 86.318 75 16 SoapBottle -0.486 0.900 2.530 0 0 0 77 17 Tomato -2.785 0.362 4.278 0 90 0 71 18 SaltShaker -1.485 0.924 0.650 0 0 0 54 19 SaltShaker -0.249 1.769 0.342 0 0 0 51 20 Lettuce -2.789 0.980 2.309 0 0 0 75 21 Apple -2.785 0.991 3.209 0 0 0 61 22 Egg -0.921 0.829 0.226 0 0 0 72 23 Plate -1.180 0.800 0.337 0 0 0 72 24 Fork -0.400 0.901 3.133 0 0 0 77 25 Bread -2.970 0.940 2.025 0 3.880 0 75 26 Apple -2.764 1.242 4.352 0 90 0 71 27 Lettuce -2.377 0.980 2.573 0 0 0 75 28 Spatula -0.314 0.915 3.133 0 180 0 77 29 Knife -2.686 0.926 2.441 0 180 0 75 30 Potato -2.722 1.212 4.501 0 90 0 71 31 Tomato -0.572 0.964 2.329 0 0 0 77 32 Cup -2.549 0.935 3.580 0 0 0 61 33 SaltShaker -2.706 0.931 3.302 0 0 0 61 34 PepperShaker -0.139 1.769 0.205 0 0 0 52 35 ButterKnife -1.770 0.928 0.602 0 0 0 54 36 SoapBottle -0.657 0.900 3.334 0 0 0 77 37 Pan -0.535 0.928 4.274 0 0 0 58 38 DishSponge -2.900 0.053 0.368 0 26.101 0 68 39 Pot -2.476 0.889 2.050 0 0 0 75 40 Spoon -0.486 0.901 2.329 0 90 0 77 41 Mug -2.888 0.627 4.352 0 90 0 71 42 Bowl -1.303 1.770 0.205 0 0 0 51 43 Drawer -0.325 0.696 0.413 0 0 0 44 Cabinet -0.595 0.490 0.648 0 0 0 45 Cabinet -0.555 0.490 0.646 0 0 0 46 Cabinet -1.591 0.490 0.646 0 0 0 47 Cabinet -1.554 0.490 0.646 0 0 0 48 Cabinet -2.550 0.490 0.646 0 0 0 49 Cabinet -1.514 2.046 0.392 0 0 0 50 Cabinet -2.474 2.046 0.392 0 0 0 51 Cabinet -1.478 2.046 0.392 0 0 0 52 Cabinet -0.518 2.046 0.392 0 0 0 53 Cabinet -0.479 2.046 0.392 0 0 0 54 CounterTop -1.366 0.952 0.349 0 0 0 55 Sink -1.108 0.926 0.340 0 0 0 56 StoveBurner -0.254 0.922 4.672 0 0 0 57 Drawer -1.824 0.696 0.413 0 0 0 58 StoveBurner -0.535 0.922 4.274 0 0 0 59 StoveBurner -0.254 0.922 4.274 0 0 0 60 StoveBurner -0.536 0.922 4.672 0 0 0 61 CounterTop -2.780 0.971 3.487 0 0 0 62 Drawer -2.323 0.696 0.413 0 0 0 63 StoveKnob -0.064 1.090 4.632 0 0 73.865 64 StoveKnob -0.064 1.090 4.782 0 0 73.865 65 StoveKnob -0.064 1.090 4.382 0 0 73.865 66 StoveKnob -0.064 1.090 4.222 0 0 73.865 67 Toaster -0.286 0.861 3.520 0 270 0 68 GarbageCan -2.816 -0.014 0.370 358.702 26.614 2.400 69 LightSwitch -0.064 1.447 1.996 0 270 0 70 Window -3.075 1.593 1.361 90 90 0 71 Fridge -2.802 0.0 4.427 0 0 0 72 SinkBasin -1.106 0.785 0.337 0 0 0 73 Microwave -0.358 0.917 0.224 0 0 0 74 CoffeeMachine -2.938 0.925 3.605 0 90 0 75 DiningTable -2.733 -0.003 2.607 0 270 0 76 Faucet -1.077 0.920 0.028 270 270 0 77 DiningTable -0.488 -0.003 3.182 0 270 0 78 NorthWall 79 EastWall 80 SouthWall 81 WestWall
[ "STEP 1: Turn to the right, go to the end of the table and hang a right, go to the white table across the room. | STEP 2: Pick up the rightmost yellow handled knife from the table. | STEP 3: Hang a right and head to the fridge. | STEP 4: Cut the apple inside the freezer into pieces. | STEP 5: Back up from the fridge. | STEP 6: Put the knife inside the fridge. | STEP 7: Move forward to the freezer. | STEP 8: Take a piece of the apple out of the freezer. | STEP 9: Turn around, go to the stove, hang a right and head to the sink. | STEP 10: Put the apple inside the bowl that is in the right hand cupboard above the sink. | STEP 11: Take the bowl containing the apple out of the cupboard. | STEP 12: Turn around, go to the wall, hang a left and go to the fridge. | STEP 13: Put the bowl inside the fridge. | END" ]
[ [ "STEP 1: Turn to the right, go to the end of the table and hang a right, go to the white table across the room. ", " STEP 2: Pick up the rightmost yellow handled knife from the table. ", " STEP 3: Hang a right and head to the fridge. ", " STEP 4: Cut the apple inside the freezer into pieces. ", " STEP 5: Back up from the fridge. ", " STEP 6: Put the knife inside the fridge. ", " STEP 7: Move forward to the freezer. ", " STEP 8: Take a piece of the apple out of the freezer. ", " STEP 9: Turn around, go to the stove, hang a right and head to the sink. ", " STEP 10: Put the apple inside the bowl that is in the right hand cupboard above the sink. ", " STEP 11: Take the bowl containing the apple out of the cupboard. ", " STEP 12: Turn around, go to the wall, hang a left and go to the fridge. ", " STEP 13: Put the bowl inside the fridge. ", " END" ] ]
seen
trial_T20190909_003049_760772-0
Place bottle in the bin near the toilet.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 0.0 0.901 2.0 0 270 0 1 Cloth -1.570 0.244 1.731 0 0 0 23 2 Candle -1.458 0.772 2.977 0 0 0 21 3 Candle -1.899 1.087 0.616 0 90 0 35 4 SprayBottle -1.715 0.732 2.877 0 0 0 21 5 SprayBottle -1.715 0.732 2.776 0 0 0 21 6 SoapBottle -1.543 0.731 2.726 0 0 0 21 7 SoapBottle -1.801 0.731 2.776 0 0 0 21 8 SoapBottle -1.458 0.731 2.877 0 0 0 21 9 Candle -1.798 1.087 0.616 0 90 0 35 10 HandTowel -1.961 1.588 1.323 0 270 0 28 11 Plunger -1.685 0.000 0.327 0 0 0 Floor|-02.00| 12 Towel 0.871 1.172 2.356 0 0 0 26 13 SoapBottle -1.873 1.046 0.748 0 90 0 35 14 SoapBar -1.446 0.238 3.596 0 0 0 20 15 ToiletPaper -1.566 0.639 0.054 0 0 270 31 16 Cloth -1.488 0.244 1.999 0 0 0 23 17 ToiletPaper -1.553 0.624 0.053 0 0 270 31 18 ScrubBrush -1.849 0.000 0.137 0 0 0 Floor|-02.00| 19 SprayBottle -1.735 0.046 1.273 0 180 0 32 20 Drawer -1.335 0.301 3.329 0 0 0 21 CounterTop -1.608 0.701 2.831 0 0 0 22 ShowerDoor 0.564 1.018 1.115 0 0 0 23 Drawer -1.335 0.301 2.132 0 0 0 24 Mirror -1.924 1.414 2.759 0 0 0 25 Sink -1.695 0.616 2.283 0 90 0 26 TowelHolder 0.870 1.157 2.25 0 0 0 27 HandTowelHolder -1.513 1.562 4.000 0 90 0 28 HandTowelHolder -2.0 1.690 1.323 0 0 0 29 Window -1.037 1.399 0.019 90 0 0 30 Window -1.986 1.396 0.707 90 90 0 31 ToiletPaperHanger -1.498 0.721 0.000 0 0 0 32 GarbageCan -1.739 -0.031 1.268 0 90 0 33 LightSwitch 1.25 1.273 3.634 0 270 0 34 SinkBasin -1.674 0.633 2.274 0 270 0 35 Toilet -1.547 0.000 0.685 0 180 0 36 Sink -1.695 0.616 3.365 0 90 0 37 SinkBasin -1.674 0.633 3.355 0 270 0 38 ShowerHead 0.853 1.797 1.108 0 180 0 39 Faucet -1.926 0.721 2.285 0 90 0 40 Faucet -1.926 0.721 3.368 0 90 0 41 NorthWall 42 EastWall 43 SouthWall 44 WestWall
[ "STEP 1: Move towards the sink in front of you. | STEP 2: Take a bottle from the counter in front of you. | STEP 3: Turn left and face the toilet to the right. | STEP 4: Place the bottle in the bin near the toilet in front of you. | STEP 5: Face the toilet tank in front of you. | STEP 6: Take the bottle from on top of the toilet in front of you. | STEP 7: Face the bin near the toilet in front of you. | STEP 8: Place the bottle in the bin near the toilet in front of you. | END" ]
[ [ "STEP 1: Move towards the sink in front of you. ", " STEP 2: Take a bottle from the counter in front of you. ", " STEP 3: Turn left and face the toilet to the right. ", " STEP 4: Place the bottle in the bin near the toilet in front of you. ", " STEP 5: Face the toilet tank in front of you. ", " STEP 6: Take the bottle from on top of the toilet in front of you. ", " STEP 7: Face the bin near the toilet in front of you. ", " STEP 8: Place the bottle in the bin near the toilet in front of you. ", " END" ] ]
seen
trial_T20190909_003049_760772-1
put two pumper bottles into a bin
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " 0.0", " 0.901", " 2.0", " 0", " 270", " 0", "" ], [ "1", " Cloth", " -1.570", " 0.244", " 1.731", " 0", " 0", " 0", " 23" ], [ "2", " Candle", " -1.458", " 0.772", " 2.977", " 0", " 0", " 0", " 21" ], [ "3", " Candle", " -1.899", " 1.087", " 0.616", " 0", " 90", " 0", " 35" ], [ "4", " SprayBottle", " -1.715", " 0.732", " 2.877", " 0", " 0", " 0", " 21" ], [ "5", " SprayBottle", " -1.715", " 0.732", " 2.776", " 0", " 0", " 0", " 21" ], [ "6", " SoapBottle", " -1.543", " 0.731", " 2.726", " 0", " 0", " 0", " 21" ], [ "7", " SoapBottle", " -1.801", " 0.731", " 2.776", " 0", " 0", " 0", " 21" ], [ "8", " SoapBottle", " -1.458", " 0.731", " 2.877", " 0", " 0", " 0", " 21" ], [ "9", " Candle", " -1.798", " 1.087", " 0.616", " 0", " 90", " 0", " 35" ], [ "10", " HandTowel", " -1.961", " 1.588", " 1.323", " 0", " 270", " 0", " 28" ], [ "11", " Plunger", " -1.685", " 0.000", " 0.327", " 0", " 0", " 0", " Floor|-02.00|" ], [ "12", " Towel", " 0.871", " 1.172", " 2.356", " 0", " 0", " 0", " 26" ], [ "13", " SoapBottle", " -1.873", " 1.046", " 0.748", " 0", " 90", " 0", " 35" ], [ "14", " SoapBar", " -1.446", " 0.238", " 3.596", " 0", " 0", " 0", " 20" ], [ "15", " ToiletPaper", " -1.566", " 0.639", " 0.054", " 0", " 0", " 270", " 31" ], [ "16", " Cloth", " -1.488", " 0.244", " 1.999", " 0", " 0", " 0", " 23" ], [ "17", " ToiletPaper", " -1.553", " 0.624", " 0.053", " 0", " 0", " 270", " 31" ], [ "18", " ScrubBrush", " -1.849", " 0.000", " 0.137", " 0", " 0", " 0", " Floor|-02.00|" ], [ "19", " SprayBottle", " -1.735", " 0.046", " 1.273", " 0", " 180", " 0", " 32" ], [ "20", " Drawer", " -1.335", " 0.301", " 3.329", " 0", " 0", " 0", "" ], [ "21", " CounterTop", " -1.608", " 0.701", " 2.831", " 0", " 0", " 0", "" ], [ "22", " ShowerDoor", " 0.564", " 1.018", " 1.115", " 0", " 0", " 0", "" ], [ "23", " Drawer", " -1.335", " 0.301", " 2.132", " 0", " 0", " 0", "" ], [ "24", " Mirror", " -1.924", " 1.414", " 2.759", " 0", " 0", " 0", "" ], [ "25", " Sink", " -1.695", " 0.616", " 2.283", " 0", " 90", " 0", "" ], [ "26", " TowelHolder", " 0.870", " 1.157", " 2.25", " 0", " 0", " 0", "" ], [ "27", " HandTowelHolder", " -1.513", " 1.562", " 4.000", " 0", " 90", " 0", "" ], [ "28", " HandTowelHolder", " -2.0", " 1.690", " 1.323", " 0", " 0", " 0", "" ], [ "29", " Window", " -1.037", " 1.399", " 0.019", " 90", " 0", " 0", "" ], [ "30", " Window", " -1.986", " 1.396", " 0.707", " 90", " 90", " 0", "" ], [ "31", " ToiletPaperHanger", " -1.498", " 0.721", " 0.000", " 0", " 0", " 0", "" ], [ "32", " GarbageCan", " -1.739", " -0.031", " 1.268", " 0", " 90", " 0", "" ], [ "33", " LightSwitch", " 1.25", " 1.273", " 3.634", " 0", " 270", " 0", "" ], [ "34", " SinkBasin", " -1.674", " 0.633", " 2.274", " 0", " 270", " 0", "" ], [ "35", " Toilet", " -1.547", " 0.000", " 0.685", " 0", " 180", " 0", "" ], [ "36", " Sink", " -1.695", " 0.616", " 3.365", " 0", " 90", " 0", "" ], [ "37", " SinkBasin", " -1.674", " 0.633", " 3.355", " 0", " 270", " 0", "" ], [ "38", " ShowerHead", " 0.853", " 1.797", " 1.108", " 0", " 180", " 0", "" ], [ "39", " Faucet", " -1.926", " 0.721", " 2.285", " 0", " 90", " 0", "" ], [ "40", " Faucet", " -1.926", " 0.721", " 3.368", " 0", " 90", " 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 0.0 0.901 2.0 0 270 0 1 Cloth -1.570 0.244 1.731 0 0 0 23 2 Candle -1.458 0.772 2.977 0 0 0 21 3 Candle -1.899 1.087 0.616 0 90 0 35 4 SprayBottle -1.715 0.732 2.877 0 0 0 21 5 SprayBottle -1.715 0.732 2.776 0 0 0 21 6 SoapBottle -1.543 0.731 2.726 0 0 0 21 7 SoapBottle -1.801 0.731 2.776 0 0 0 21 8 SoapBottle -1.458 0.731 2.877 0 0 0 21 9 Candle -1.798 1.087 0.616 0 90 0 35 10 HandTowel -1.961 1.588 1.323 0 270 0 28 11 Plunger -1.685 0.000 0.327 0 0 0 Floor|-02.00| 12 Towel 0.871 1.172 2.356 0 0 0 26 13 SoapBottle -1.873 1.046 0.748 0 90 0 35 14 SoapBar -1.446 0.238 3.596 0 0 0 20 15 ToiletPaper -1.566 0.639 0.054 0 0 270 31 16 Cloth -1.488 0.244 1.999 0 0 0 23 17 ToiletPaper -1.553 0.624 0.053 0 0 270 31 18 ScrubBrush -1.849 0.000 0.137 0 0 0 Floor|-02.00| 19 SprayBottle -1.735 0.046 1.273 0 180 0 32 20 Drawer -1.335 0.301 3.329 0 0 0 21 CounterTop -1.608 0.701 2.831 0 0 0 22 ShowerDoor 0.564 1.018 1.115 0 0 0 23 Drawer -1.335 0.301 2.132 0 0 0 24 Mirror -1.924 1.414 2.759 0 0 0 25 Sink -1.695 0.616 2.283 0 90 0 26 TowelHolder 0.870 1.157 2.25 0 0 0 27 HandTowelHolder -1.513 1.562 4.000 0 90 0 28 HandTowelHolder -2.0 1.690 1.323 0 0 0 29 Window -1.037 1.399 0.019 90 0 0 30 Window -1.986 1.396 0.707 90 90 0 31 ToiletPaperHanger -1.498 0.721 0.000 0 0 0 32 GarbageCan -1.739 -0.031 1.268 0 90 0 33 LightSwitch 1.25 1.273 3.634 0 270 0 34 SinkBasin -1.674 0.633 2.274 0 270 0 35 Toilet -1.547 0.000 0.685 0 180 0 36 Sink -1.695 0.616 3.365 0 90 0 37 SinkBasin -1.674 0.633 3.355 0 270 0 38 ShowerHead 0.853 1.797 1.108 0 180 0 39 Faucet -1.926 0.721 2.285 0 90 0 40 Faucet -1.926 0.721 3.368 0 90 0 41 NorthWall 42 EastWall 43 SouthWall 44 WestWall
[ "STEP 1: walk to face counter between sinks | STEP 2: pick up blue pumper bottle from counter | STEP 3: walk to face toilet | STEP 4: put pumper bottle in bin to right of toilet | STEP 5: turn to face toilet tank top | STEP 6: pick up pumper bottle from toilet tank top | STEP 7: turn right to look at bin | STEP 8: put pumper bottle in bin to right of toilet | END" ]
[ [ "STEP 1: walk to face counter between sinks ", " STEP 2: pick up blue pumper bottle from counter ", " STEP 3: walk to face toilet ", " STEP 4: put pumper bottle in bin to right of toilet ", " STEP 5: turn to face toilet tank top ", " STEP 6: pick up pumper bottle from toilet tank top ", " STEP 7: turn right to look at bin ", " STEP 8: put pumper bottle in bin to right of toilet ", " END" ] ]
seen
trial_T20190909_003049_760772-2
take bottle off of counter, place in trash can, take bottle off of back of toilet, put in trash can
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[ "STEP 1: turn right then left to the counter | STEP 2: pick up bottle off of counter | STEP 3: turn around and walk then turn right | STEP 4: put the bottle into the trash can | STEP 5: look up at the back of the toilet | STEP 6: pick up the bottle off the back of the toilet | STEP 7: look down to the trash can | STEP 8: place bottle into the trash can | END" ]
[ [ "STEP 1: turn right then left to the counter ", " STEP 2: pick up bottle off of counter ", " STEP 3: turn around and walk then turn right ", " STEP 4: put the bottle into the trash can ", " STEP 5: look up at the back of the toilet ", " STEP 6: pick up the bottle off the back of the toilet ", " STEP 7: look down to the trash can ", " STEP 8: place bottle into the trash can ", " END" ] ]
seen
trial_T20190909_100532_757751-0
Put the washed rag in the drawer.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.25 0.901 1.25 0 180 0 1 SoapBar -3.044 0.691 0.125 0 0 0 23 2 Candle -0.808 0.507 0.182 0 90 0 20 3 SoapBottle -0.200 0.983 3.184 0 180 0 18 4 Towel -2.554 1.597 0.106 0 0 0 29 5 Cloth -3.508 0.219 1.495 0 0 0 38 6 Candle -1.329 0.807 0.286 0 90 0 22 7 HandTowel -0.038 1.68 2.956 0 90 0 33 8 SoapBar -0.639 0.982 3.184 0 180 0 18 9 ToiletPaper -2.250 0.946 2.670 0 0 0 36 10 Plunger -2.307 0.000 3.231 0 0 0 Floor|-00.08| 11 SprayBottle -0.543 0.805 0.352 0 90 0 22 12 TissueBox -0.805 0.808 0.286 0 90 0 22 13 ToiletPaper -0.697 0.199 0.406 0 90 0 21 14 ScrubBrush -2.189 0.000 3.025 0 0 0 Floor|-00.08| 15 SoapBottle -1.067 0.809 0.417 0 90 0 22 16 Drawer -1.324 0.312 0.311 0 90 0 17 Drawer -0.290 0.312 0.311 0 90 0 18 Sink -0.463 -0.013 3.046 0 180 0 19 Mirror -0.504 1.741 3.304 0 0 0 20 Drawer -0.808 0.611 0.311 0 90 0 21 Drawer -0.808 0.312 0.311 0 90 0 22 CounterTop -1.850 0.001 0.342 0 90 0 23 Bathtub -3.499 0.148 0.939 0 0 0 24 Drawer -1.840 0.312 0.311 0 90 0 25 Faucet -0.463 0.969 3.212 0 180 0 26 Drawer -0.290 0.611 0.311 0 90 0 27 Drawer -1.324 0.611 0.311 0 90 0 28 Drawer -1.840 0.611 0.311 0 90 0 29 TowelHolder -2.553 1.582 0.0 0 0 0 30 TowelHolder -2.553 0.859 0.0 0 0 0 31 GarbageCan -2.110 -0.001 1.960 0 104.999 0 32 ToiletPaperHanger -1.628 0.842 3.305 0 180 0 33 HandTowelHolder 0.0 1.781 2.956 0 180 0 34 LightSwitch 0.0 1.368 1.993 0 270 0 35 Window -4.083 1.735 1.162 90 270 0 36 Toilet -1.835 0.000 2.503 0 90 0 37 SinkBasin -0.452 0.888 2.969 0 180 0 38 BathtubBasin -3.518 0.210 0.939 0 0 0 39 ShowerHead -3.540 1.821 1.820 0 0 0 40 ShowerCurtain -3.318 2.572 0.266 0 0 8.184 41 NorthWall 42 SouthWall 43 SouthWall
[ "STEP 1: Turn right and go to the bath tub in front. | STEP 2: Take out the dirty green rag from the bath tub. | STEP 3: Turn around and go to the sink on the left. | STEP 4: Remove the rag from the sink after washing it under running water. | STEP 5: Turn left and go to the white and green drawers across the bathroom. | STEP 6: Place the green rag in the bottom drawer underneath the box of tissues | END" ]
[ [ "STEP 1: Turn right and go to the bath tub in front. ", " STEP 2: Take out the dirty green rag from the bath tub. ", " STEP 3: Turn around and go to the sink on the left. ", " STEP 4: Remove the rag from the sink after washing it under running water. ", " STEP 5: Turn left and go to the white and green drawers across the bathroom. ", " STEP 6: Place the green rag in the bottom drawer underneath the box of tissues ", " END" ] ]
seen
trial_T20190909_100532_757751-1
Place a washed rag in a cabinet.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.25 0.901 1.25 0 180 0 1 SoapBar -3.044 0.691 0.125 0 0 0 23 2 Candle -0.808 0.507 0.182 0 90 0 20 3 SoapBottle -0.200 0.983 3.184 0 180 0 18 4 Towel -2.554 1.597 0.106 0 0 0 29 5 Cloth -3.508 0.219 1.495 0 0 0 38 6 Candle -1.329 0.807 0.286 0 90 0 22 7 HandTowel -0.038 1.68 2.956 0 90 0 33 8 SoapBar -0.639 0.982 3.184 0 180 0 18 9 ToiletPaper -2.250 0.946 2.670 0 0 0 36 10 Plunger -2.307 0.000 3.231 0 0 0 Floor|-00.08| 11 SprayBottle -0.543 0.805 0.352 0 90 0 22 12 TissueBox -0.805 0.808 0.286 0 90 0 22 13 ToiletPaper -0.697 0.199 0.406 0 90 0 21 14 ScrubBrush -2.189 0.000 3.025 0 0 0 Floor|-00.08| 15 SoapBottle -1.067 0.809 0.417 0 90 0 22 16 Drawer -1.324 0.312 0.311 0 90 0 17 Drawer -0.290 0.312 0.311 0 90 0 18 Sink -0.463 -0.013 3.046 0 180 0 19 Mirror -0.504 1.741 3.304 0 0 0 20 Drawer -0.808 0.611 0.311 0 90 0 21 Drawer -0.808 0.312 0.311 0 90 0 22 CounterTop -1.850 0.001 0.342 0 90 0 23 Bathtub -3.499 0.148 0.939 0 0 0 24 Drawer -1.840 0.312 0.311 0 90 0 25 Faucet -0.463 0.969 3.212 0 180 0 26 Drawer -0.290 0.611 0.311 0 90 0 27 Drawer -1.324 0.611 0.311 0 90 0 28 Drawer -1.840 0.611 0.311 0 90 0 29 TowelHolder -2.553 1.582 0.0 0 0 0 30 TowelHolder -2.553 0.859 0.0 0 0 0 31 GarbageCan -2.110 -0.001 1.960 0 104.999 0 32 ToiletPaperHanger -1.628 0.842 3.305 0 180 0 33 HandTowelHolder 0.0 1.781 2.956 0 180 0 34 LightSwitch 0.0 1.368 1.993 0 270 0 35 Window -4.083 1.735 1.162 90 270 0 36 Toilet -1.835 0.000 2.503 0 90 0 37 SinkBasin -0.452 0.888 2.969 0 180 0 38 BathtubBasin -3.518 0.210 0.939 0 0 0 39 ShowerHead -3.540 1.821 1.820 0 0 0 40 ShowerCurtain -3.318 2.572 0.266 0 0 8.184 41 NorthWall 42 SouthWall 43 SouthWall
[ "STEP 1: Turn right and walk to the tub. | STEP 2: Pick up the green rag in the tub. | STEP 3: Turn around and veer left to the sink in the corner. | STEP 4: Wash the rag in the sink. | STEP 5: Turn around and walk to the blue cabinets on the wall. | STEP 6: Open the bottom cabinet under the tissue box and place the rag in it. | END" ]
[ [ "STEP 1: Turn right and walk to the tub. ", " STEP 2: Pick up the green rag in the tub. ", " STEP 3: Turn around and veer left to the sink in the corner. ", " STEP 4: Wash the rag in the sink. ", " STEP 5: Turn around and walk to the blue cabinets on the wall. ", " STEP 6: Open the bottom cabinet under the tissue box and place the rag in it. ", " END" ] ]
seen
trial_T20190909_100532_757751-2
put a clean rag away.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.25 0.901 1.25 0 180 0 1 SoapBar -3.044 0.691 0.125 0 0 0 23 2 Candle -0.808 0.507 0.182 0 90 0 20 3 SoapBottle -0.200 0.983 3.184 0 180 0 18 4 Towel -2.554 1.597 0.106 0 0 0 29 5 Cloth -3.508 0.219 1.495 0 0 0 38 6 Candle -1.329 0.807 0.286 0 90 0 22 7 HandTowel -0.038 1.68 2.956 0 90 0 33 8 SoapBar -0.639 0.982 3.184 0 180 0 18 9 ToiletPaper -2.250 0.946 2.670 0 0 0 36 10 Plunger -2.307 0.000 3.231 0 0 0 Floor|-00.08| 11 SprayBottle -0.543 0.805 0.352 0 90 0 22 12 TissueBox -0.805 0.808 0.286 0 90 0 22 13 ToiletPaper -0.697 0.199 0.406 0 90 0 21 14 ScrubBrush -2.189 0.000 3.025 0 0 0 Floor|-00.08| 15 SoapBottle -1.067 0.809 0.417 0 90 0 22 16 Drawer -1.324 0.312 0.311 0 90 0 17 Drawer -0.290 0.312 0.311 0 90 0 18 Sink -0.463 -0.013 3.046 0 180 0 19 Mirror -0.504 1.741 3.304 0 0 0 20 Drawer -0.808 0.611 0.311 0 90 0 21 Drawer -0.808 0.312 0.311 0 90 0 22 CounterTop -1.850 0.001 0.342 0 90 0 23 Bathtub -3.499 0.148 0.939 0 0 0 24 Drawer -1.840 0.312 0.311 0 90 0 25 Faucet -0.463 0.969 3.212 0 180 0 26 Drawer -0.290 0.611 0.311 0 90 0 27 Drawer -1.324 0.611 0.311 0 90 0 28 Drawer -1.840 0.611 0.311 0 90 0 29 TowelHolder -2.553 1.582 0.0 0 0 0 30 TowelHolder -2.553 0.859 0.0 0 0 0 31 GarbageCan -2.110 -0.001 1.960 0 104.999 0 32 ToiletPaperHanger -1.628 0.842 3.305 0 180 0 33 HandTowelHolder 0.0 1.781 2.956 0 180 0 34 LightSwitch 0.0 1.368 1.993 0 270 0 35 Window -4.083 1.735 1.162 90 270 0 36 Toilet -1.835 0.000 2.503 0 90 0 37 SinkBasin -0.452 0.888 2.969 0 180 0 38 BathtubBasin -3.518 0.210 0.939 0 0 0 39 ShowerHead -3.540 1.821 1.820 0 0 0 40 ShowerCurtain -3.318 2.572 0.266 0 0 8.184 41 NorthWall 42 SouthWall 43 SouthWall
[ "STEP 1: Turn to your right and go straight so that you're facing the bath tub. | STEP 2: Pick up the green rag from the tub. | STEP 3: Bring the rag with you and turn around, cross the room so that you're facing the sink from the left side of it. | STEP 4: Put the rag in the sink and get it wet, then pick it up again. | STEP 5: With the rag in hand, turn around and cross over to the white counter with the blue drawers. | STEP 6: Open the third drawer from the right side of the cabinet and the second one down and put the rag in it, then close it. | END" ]
[ [ "STEP 1: Turn to your right and go straight so that you're facing the bath tub. ", " STEP 2: Pick up the green rag from the tub. ", " STEP 3: Bring the rag with you and turn around, cross the room so that you're facing the sink from the left side of it. ", " STEP 4: Put the rag in the sink and get it wet, then pick it up again. ", " STEP 5: With the rag in hand, turn around and cross over to the white counter with the blue drawers. ", " STEP 6: Open the third drawer from the right side of the cabinet and the second one down and put the rag in it, then close it. ", " END" ] ]
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