yuchenlin/G-PlanET · Datasets at Hugging Face

id stringlengths 31 31	input_task stringlengths 6 164	input_table sequence	input_table_md stringlengths 3.62k 13.5k	output_text sequence	output_list sequence	label stringclasses 1 value
trial_T20190909_045123_249769-1	Look at a newspaper under a lit lamp.	[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " -0.75", " 0.900", " 0.75", " 0", " 180", " 0", "" ], [ "1", " Plate", " -5.516", " 0.786", " 4.246", " 0", " 0", " 0", " 37" ], [ "2", " Newspaper", " -5.885", " 0.786", " 4.689", " 0", " 0", " 0", " 37" ], [ "3", " Newspaper", " 0.922", " 0.548", " 6.382", " 0", " 0", " 0", " 34" ], [ "4", " Newspaper", " -5.762", " 0.781", " 5.575", " 0", " 0", " 0", " 37" ], [ "5", " CellPhone", " -5.516", " 0.790", " 5.575", " 0", " 0", " 0", " 37" ], [ "6", " CellPhone", " 0.718", " 0.102", " 3.847", " 0", " 0", " 0", " 51" ], [ "7", " CreditCard", " 0.684", " 0.099", " 3.074", " 0", " 0", " 0", " 46" ], [ "8", " CreditCard", " -5.762", " 0.782", " 4.689", " 0", " 0", " 0", " 37" ], [ "9", " RemoteControl", " 0.753", " 0.538", " 4.013", " 0", " 0", " 0", " 50" ], [ "10", " RemoteControl", " -1.905", " 0.310", " 2.655", " 0", " 39.022", " 0", " 36" ], [ "11", " Box", " -1.591", " 0.498", " 2.277", " 0", " 26.831", " 0", " 36" ], [ "12", " CellPhone", " 0.784", " 0.985", " 3.714", " 0", " 0", " 0", " 49" ], [ "13", " WateringCan", " 0.829", " -0.001", " 2.339", " 0", " 45", " 0", " Floor\|-03.10\|" ], [ "14", " Newspaper", " -1.208", " 0.312", " 2.585", " 0", " 39.022", " 0", " 36" ], [ "15", " KeyChain", " 0.718", " 0.539", " 4.179", " 0", " 90", " 0", " 50" ], [ "16", " Plate", " -5.516", " 0.790", " 4.689", " 0", " 0", " 0", " 37" ], [ "17", " Pillow", " -2.719", " 0.609", " 2.768", " 0", " 320.647", " 0", " 45" ], [ "18", " RemoteControl", " -1.561", " 0.314", " 2.707", " 0", " 39.022", " 0", " 36" ], [ "19", " CreditCard", " -6.009", " 0.786", " 4.246", " 0", " 0", " 0", " 37" ], [ "20", " Laptop", " -5.464", " 0.779", " 5.252", " 0", " 306.871", " 0", " 37" ], [ "21", " Statue", " -3.407", " 0.559", " 1.822", " 0", " 0", " 0", " 33" ], [ "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", " ", " ", " ", " ", " ", " ", " ", "" ], [ "52", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "53", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "54", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "55", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]	id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -0.75 0.900 0.75 0 180 0 1 Plate -5.516 0.786 4.246 0 0 0 37 2 Newspaper -5.885 0.786 4.689 0 0 0 37 3 Newspaper 0.922 0.548 6.382 0 0 0 34 4 Newspaper -5.762 0.781 5.575 0 0 0 37 5 CellPhone -5.516 0.790 5.575 0 0 0 37 6 CellPhone 0.718 0.102 3.847 0 0 0 51 7 CreditCard 0.684 0.099 3.074 0 0 0 46 8 CreditCard -5.762 0.782 4.689 0 0 0 37 9 RemoteControl 0.753 0.538 4.013 0 0 0 50 10 RemoteControl -1.905 0.310 2.655 0 39.022 0 36 11 Box -1.591 0.498 2.277 0 26.831 0 36 12 CellPhone 0.784 0.985 3.714 0 0 0 49 13 WateringCan 0.829 -0.001 2.339 0 45 0 Floor\|-03.10\| 14 Newspaper -1.208 0.312 2.585 0 39.022 0 36 15 KeyChain 0.718 0.539 4.179 0 90 0 50 16 Plate -5.516 0.790 4.689 0 0 0 37 17 Pillow -2.719 0.609 2.768 0 320.647 0 45 18 RemoteControl -1.561 0.314 2.707 0 39.022 0 36 19 CreditCard -6.009 0.786 4.246 0 0 0 37 20 Laptop -5.464 0.779 5.252 0 306.871 0 37 21 Statue -3.407 0.559 1.822 0 0 0 33 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 52 NorthWall 53 EastWall 54 SouthWall 55 WestWall	[ "STEP 1: Turn around and walk along the perimeter of the room until the small table with the newspaper on it is reached in the corner. \| STEP 2: Turn on the lamp on the table. \| STEP 3: Pick up the newspaper from the table. \| END" ]	[ [ "STEP 1: Turn around and walk along the perimeter of the room until the small table with the newspaper on it is reached in the corner. ", " STEP 2: Turn on the lamp on the table. ", " STEP 3: Pick up the newspaper from the table. ", " END" ] ]	seen
trial_T20190909_045123_249769-2	turn on the lamp to pick up the newspaper	[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " -0.75", " 0.900", " 0.75", " 0", " 180", " 0", "" ], [ "1", " Plate", " -5.516", " 0.786", " 4.246", " 0", " 0", " 0", " 37" ], [ "2", " Newspaper", " -5.885", " 0.786", " 4.689", " 0", " 0", " 0", " 37" ], [ "3", " Newspaper", " 0.922", " 0.548", " 6.382", " 0", " 0", " 0", " 34" ], [ "4", " Newspaper", " -5.762", " 0.781", " 5.575", " 0", " 0", " 0", " 37" ], [ "5", " CellPhone", " -5.516", " 0.790", " 5.575", " 0", " 0", " 0", " 37" ], [ "6", " CellPhone", " 0.718", " 0.102", " 3.847", " 0", " 0", " 0", " 51" ], [ "7", " CreditCard", " 0.684", " 0.099", " 3.074", " 0", " 0", " 0", " 46" ], [ "8", " CreditCard", " -5.762", " 0.782", " 4.689", " 0", " 0", " 0", " 37" ], [ "9", " RemoteControl", " 0.753", " 0.538", " 4.013", " 0", " 0", " 0", " 50" ], [ "10", " RemoteControl", " -1.905", " 0.310", " 2.655", " 0", " 39.022", " 0", " 36" ], [ "11", " Box", " -1.591", " 0.498", " 2.277", " 0", " 26.831", " 0", " 36" ], [ "12", " CellPhone", " 0.784", " 0.985", " 3.714", " 0", " 0", " 0", " 49" ], [ "13", " WateringCan", " 0.829", " -0.001", " 2.339", " 0", " 45", " 0", " Floor\|-03.10\|" ], [ "14", " Newspaper", " -1.208", " 0.312", " 2.585", " 0", " 39.022", " 0", " 36" ], [ "15", " KeyChain", " 0.718", " 0.539", " 4.179", " 0", " 90", " 0", " 50" ], [ "16", " Plate", " -5.516", " 0.790", " 4.689", " 0", " 0", " 0", " 37" ], [ "17", " Pillow", " -2.719", " 0.609", " 2.768", " 0", " 320.647", " 0", " 45" ], [ "18", " RemoteControl", " -1.561", " 0.314", " 2.707", " 0", " 39.022", " 0", " 36" ], [ "19", " CreditCard", " -6.009", " 0.786", " 4.246", " 0", " 0", " 0", " 37" ], [ "20", " Laptop", " -5.464", " 0.779", " 5.252", " 0", " 306.871", " 0", " 37" ], [ "21", " Statue", " -3.407", " 0.559", " 1.822", " 0", " 0", " 0", " 33" ], [ "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", " ", " ", " ", " ", " ", " ", " ", "" ], [ "52", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "53", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "54", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "55", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]	id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -0.75 0.900 0.75 0 180 0 1 Plate -5.516 0.786 4.246 0 0 0 37 2 Newspaper -5.885 0.786 4.689 0 0 0 37 3 Newspaper 0.922 0.548 6.382 0 0 0 34 4 Newspaper -5.762 0.781 5.575 0 0 0 37 5 CellPhone -5.516 0.790 5.575 0 0 0 37 6 CellPhone 0.718 0.102 3.847 0 0 0 51 7 CreditCard 0.684 0.099 3.074 0 0 0 46 8 CreditCard -5.762 0.782 4.689 0 0 0 37 9 RemoteControl 0.753 0.538 4.013 0 0 0 50 10 RemoteControl -1.905 0.310 2.655 0 39.022 0 36 11 Box -1.591 0.498 2.277 0 26.831 0 36 12 CellPhone 0.784 0.985 3.714 0 0 0 49 13 WateringCan 0.829 -0.001 2.339 0 45 0 Floor\|-03.10\| 14 Newspaper -1.208 0.312 2.585 0 39.022 0 36 15 KeyChain 0.718 0.539 4.179 0 90 0 50 16 Plate -5.516 0.790 4.689 0 0 0 37 17 Pillow -2.719 0.609 2.768 0 320.647 0 45 18 RemoteControl -1.561 0.314 2.707 0 39.022 0 36 19 CreditCard -6.009 0.786 4.246 0 0 0 37 20 Laptop -5.464 0.779 5.252 0 306.871 0 37 21 Statue -3.407 0.559 1.822 0 0 0 33 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 52 NorthWall 53 EastWall 54 SouthWall 55 WestWall	[ "STEP 1: turn around, walk forward, turn right, take a step, turn left, walk to small table with lamp in the corner \| STEP 2: turn the lamp on \| STEP 3: pick up the newspaper that is on the table \| END" ]	[ [ "STEP 1: turn around, walk forward, turn right, take a step, turn left, walk to small table with lamp in the corner ", " STEP 2: turn the lamp on ", " STEP 3: pick up the newspaper that is on the table ", " END" ] ]	seen
trial_T20190908_113742_052509-0	Move two blue bottles to the toilet tank.	[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " -2.5", " 0.900", " 1.0", " 0", " 90", " 0", "" ], [ "1", " Cloth", " -1.825", " 0.124", " 0.263", " 0", " 0", " 0", " 20" ], [ "2", " Cloth", " -3.574", " 0.219", " 0.449", " 0", " 0", " 0", " 41" ], [ "3", " Candle", " -0.633", " 1.134", " 0.288", " 0", " 0", " 0", " 32" ], [ "4", " Candle", " -2.208", " 1.300", " 2.283", " 0", " 0", " 0", " 34" ], [ "5", " SprayBottle", " -0.318", " 0.954", " 2.669", " 0", " 270", " 0", " 40" ], [ "6", " SprayBottle", " -0.931", " 1.135", " 0.347", " 0", " 0", " 0", " 32" ], [ "7", " SoapBottle", " -0.693", " 1.137", " 0.169", " 0", " 0", " 0", " 32" ], [ "8", " HandTowel", " -1.296", " 1.765", " 0.040", " 0", " 180", " 0", " 38" ], [ "9", " SoapBar", " -1.825", " 0.517", " 0.313", " 0", " 0", " 0", " 20" ], [ "10", " ToiletPaper", " -0.921", " 1.124", " 0.210", " 0", " 0", " 0", " 32" ], [ "11", " Plunger", " -0.735", " -0.000", " 2.732", " 0", " 0", " 0", " Floor\|-00.08\|" ], [ "12", " Candle", " -2.162", " 1.300", " 2.143", " 0", " 0", " 0", " 34" ], [ "13", " TissueBox", " -0.858", " 0.119", " 0.311", " 0", " 0", " 0", " 23" ], [ "14", " ToiletPaper", " -0.568", " 0.949", " 2.642", " 0", " 270", " 0", " 40" ], [ "15", " SoapBottle", " -3.084", " 0.692", " 0.104", " 0", " 0", " 0", " 25" ], [ "16", " SprayBottle", " -0.203", " 0.028", " 0.240", " 0", " 0", " 0", " 43" ], [ "17", " Towel", " -2.760", " 1.569", " 0.107", " 0", " 0", " 0", " 35" ], [ "18", " Cloth", " -3.449", " 0.219", " 1.268", " 0", " 0", " 0", " 41" ], [ "19", " ScrubBrush", " -0.657", " -0.000", " 2.560", " 0", " 0", " 0", " Floor\|-00.08\|" ], [ "20", " Cabinet", " -2.344", " 0.457", " 0.524", " 0", " 0", " 0", "" ], [ "21", " Drawer", " -0.813", " 0.956", " 0.384", " 0", " 270", " 0", "" ], [ "22", " Cabinet", " -1.891", " 0.443", " 1.982", " 0", " 0", " 0", "" ], [ "23", " Cabinet", " -0.605", " 0.457", " 0.524", " 0", " 0", " 0", "" ], [ "24", " Drawer", " -2.032", " 0.942", " 2.190", " 0", " 0", " 0", "" ], [ "25", " Bathtub", " -3.450", " 0.178", " 1.029", " 0", " 0", " 0", "" ], [ "26", " CounterTop", " -1.919", " 0.0", " 0.288", " 0", " 0", " 0", "" ], [ "27", " Sink", " -1.924", " 0.772", " 0.326", " 0", " 0", " 0", "" ], [ "28", " Mirror", " -1.934", " 1.666", " 0.107", " 0", " 0", " 0", "" ], [ "29", " Faucet", " -1.925", " 0.958", " 0.179", " 0", " 0", " 0", "" ], [ "30", " Cabinet", " -1.891", " 1.884", " 2.391", " 0", " 0", " 0", "" ], [ "31", " Cabinet", " -0.605", " 1.988", " 0.524", " 0", " 0", " 0", "" ], [ "32", " CounterTop", " -0.812", " 0.093", " 0.288", " 0", " 0", " 0", "" ], [ "33", " Shelf", " -2.029", " 1.183", " 2.189", " 0", " 0", " 0", "" ], [ "34", " Shelf", " -2.123", " 1.393", " 2.189", " 0", " 0", " 0", "" ], [ "35", " TowelHolder", " -2.760", " 1.555", " 0.000", " 0", " 0", " 0", "" ], [ "36", " LightSwitch", " 0.0", " 1.427", " 1.993", " 0", " 270", " 0", "" ], [ "37", " ToiletPaperHanger", " 0.0", " 1.014", " 2.237", " 0", " 270", " 0", "" ], [ "38", " HandTowelHolder", " -1.297", " 1.866", " 0.002", " 0", " 270", " 0", "" ], [ "39", " Window", " -4.149", " 1.717", " 1.154", " 90", " 270", " 0", "" ], [ "40", " Toilet", " -0.456", " -0.000", " 2.257", " 0", " 180", " 0", "" ], [ "41", " BathtubBasin", " -3.520", " 0.210", " 0.940", " 0", " 0", " 0", "" ], [ "42", " SinkBasin", " -1.931", " 0.841", " 0.320", " 0", " 0", " 0", "" ], [ "43", " GarbageCan", " -0.257", " -0.000", " 0.259", " 0", " 0", " 0", "" ], [ "44", " ShowerHead", " -3.522", " 1.719", " 1.776", " 0", " 0", " 0", "" ], [ "45", " ShowerCurtain", " -3.391", " 2.442", " 0.266", " 0", " 0", " 6.838", "" ], [ "46", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "47", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "48", " SouthWall", " ", " ", " ", " ", " ", " ", "" ] ]	id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -2.5 0.900 1.0 0 90 0 1 Cloth -1.825 0.124 0.263 0 0 0 20 2 Cloth -3.574 0.219 0.449 0 0 0 41 3 Candle -0.633 1.134 0.288 0 0 0 32 4 Candle -2.208 1.300 2.283 0 0 0 34 5 SprayBottle -0.318 0.954 2.669 0 270 0 40 6 SprayBottle -0.931 1.135 0.347 0 0 0 32 7 SoapBottle -0.693 1.137 0.169 0 0 0 32 8 HandTowel -1.296 1.765 0.040 0 180 0 38 9 SoapBar -1.825 0.517 0.313 0 0 0 20 10 ToiletPaper -0.921 1.124 0.210 0 0 0 32 11 Plunger -0.735 -0.000 2.732 0 0 0 Floor\|-00.08\| 12 Candle -2.162 1.300 2.143 0 0 0 34 13 TissueBox -0.858 0.119 0.311 0 0 0 23 14 ToiletPaper -0.568 0.949 2.642 0 270 0 40 15 SoapBottle -3.084 0.692 0.104 0 0 0 25 16 SprayBottle -0.203 0.028 0.240 0 0 0 43 17 Towel -2.760 1.569 0.107 0 0 0 35 18 Cloth -3.449 0.219 1.268 0 0 0 41 19 ScrubBrush -0.657 -0.000 2.560 0 0 0 Floor\|-00.08\| 20 Cabinet -2.344 0.457 0.524 0 0 0 21 Drawer -0.813 0.956 0.384 0 270 0 22 Cabinet -1.891 0.443 1.982 0 0 0 23 Cabinet -0.605 0.457 0.524 0 0 0 24 Drawer -2.032 0.942 2.190 0 0 0 25 Bathtub -3.450 0.178 1.029 0 0 0 26 CounterTop -1.919 0.0 0.288 0 0 0 27 Sink -1.924 0.772 0.326 0 0 0 28 Mirror -1.934 1.666 0.107 0 0 0 29 Faucet -1.925 0.958 0.179 0 0 0 30 Cabinet -1.891 1.884 2.391 0 0 0 31 Cabinet -0.605 1.988 0.524 0 0 0 32 CounterTop -0.812 0.093 0.288 0 0 0 33 Shelf -2.029 1.183 2.189 0 0 0 34 Shelf -2.123 1.393 2.189 0 0 0 35 TowelHolder -2.760 1.555 0.000 0 0 0 36 LightSwitch 0.0 1.427 1.993 0 270 0 37 ToiletPaperHanger 0.0 1.014 2.237 0 270 0 38 HandTowelHolder -1.297 1.866 0.002 0 270 0 39 Window -4.149 1.717 1.154 90 270 0 40 Toilet -0.456 -0.000 2.257 0 180 0 41 BathtubBasin -3.520 0.210 0.940 0 0 0 42 SinkBasin -1.931 0.841 0.320 0 0 0 43 GarbageCan -0.257 -0.000 0.259 0 0 0 44 ShowerHead -3.522 1.719 1.776 0 0 0 45 ShowerCurtain -3.391 2.442 0.266 0 0 6.838 46 NorthWall 47 SouthWall 48 SouthWall	[ "STEP 1: Walk over to the door, then turn right and walk up to the cabinet. \| STEP 2: Pick up the blue bottle off of the top of the cabinet. \| STEP 3: Turn right and walk over to the sink, then turn right and walk up to the wall, turn right again to face the toilet. \| STEP 4: Put the blue bottle on top of the toilet tank. \| STEP 5: Turn right and walk over to the left side of the tub. \| STEP 6: Pick up the blue bottle off of the tub. \| STEP 7: Walk back over to the toilet. \| STEP 8: Put the blue bottle on top of the toilet tank. \| END" ]	[ [ "STEP 1: Walk over to the door, then turn right and walk up to the cabinet. ", " STEP 2: Pick up the blue bottle off of the top of the cabinet. ", " STEP 3: Turn right and walk over to the sink, then turn right and walk up to the wall, turn right again to face the toilet. ", " STEP 4: Put the blue bottle on top of the toilet tank. ", " STEP 5: Turn right and walk over to the left side of the tub. ", " STEP 6: Pick up the blue bottle off of the tub. ", " STEP 7: Walk back over to the toilet. ", " STEP 8: Put the blue bottle on top of the toilet tank. ", " END" ] ]	seen
trial_T20190908_113742_052509-1	Put two bottles of soap on top of the toilet tank.	[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " -2.5", " 0.900", " 1.0", " 0", " 90", " 0", "" ], [ "1", " Cloth", " -1.825", " 0.124", " 0.263", " 0", " 0", " 0", " 20" ], [ "2", " Cloth", " -3.574", " 0.219", " 0.449", " 0", " 0", " 0", " 41" ], [ "3", " Candle", " -0.633", " 1.134", " 0.288", " 0", " 0", " 0", " 32" ], [ "4", " Candle", " -2.208", " 1.300", " 2.283", " 0", " 0", " 0", " 34" ], [ "5", " SprayBottle", " -0.318", " 0.954", " 2.669", " 0", " 270", " 0", " 40" ], [ "6", " SprayBottle", " -0.931", " 1.135", " 0.347", " 0", " 0", " 0", " 32" ], [ "7", " SoapBottle", " -0.693", " 1.137", " 0.169", " 0", " 0", " 0", " 32" ], [ "8", " HandTowel", " -1.296", " 1.765", " 0.040", " 0", " 180", " 0", " 38" ], [ "9", " SoapBar", " -1.825", " 0.517", " 0.313", " 0", " 0", " 0", " 20" ], [ "10", " ToiletPaper", " -0.921", " 1.124", " 0.210", " 0", " 0", " 0", " 32" ], [ "11", " Plunger", " -0.735", " -0.000", " 2.732", " 0", " 0", " 0", " Floor\|-00.08\|" ], [ "12", " Candle", " -2.162", " 1.300", " 2.143", " 0", " 0", " 0", " 34" ], [ "13", " TissueBox", " -0.858", " 0.119", " 0.311", " 0", " 0", " 0", " 23" ], [ "14", " ToiletPaper", " -0.568", " 0.949", " 2.642", " 0", " 270", " 0", " 40" ], [ "15", " SoapBottle", " -3.084", " 0.692", " 0.104", " 0", " 0", " 0", " 25" ], [ "16", " SprayBottle", " -0.203", " 0.028", " 0.240", " 0", " 0", " 0", " 43" ], [ "17", " Towel", " -2.760", " 1.569", " 0.107", " 0", " 0", " 0", " 35" ], [ "18", " Cloth", " -3.449", " 0.219", " 1.268", " 0", " 0", " 0", " 41" ], [ "19", " ScrubBrush", " -0.657", " -0.000", " 2.560", " 0", " 0", " 0", " Floor\|-00.08\|" ], [ "20", " Cabinet", " -2.344", " 0.457", " 0.524", " 0", " 0", " 0", "" ], [ "21", " Drawer", " -0.813", " 0.956", " 0.384", " 0", " 270", " 0", "" ], [ "22", " Cabinet", " -1.891", " 0.443", " 1.982", " 0", " 0", " 0", "" ], [ "23", " Cabinet", " -0.605", " 0.457", " 0.524", " 0", " 0", " 0", "" ], [ "24", " Drawer", " -2.032", " 0.942", " 2.190", " 0", " 0", " 0", "" ], [ "25", " Bathtub", " -3.450", " 0.178", " 1.029", " 0", " 0", " 0", "" ], [ "26", " CounterTop", " -1.919", " 0.0", " 0.288", " 0", " 0", " 0", "" ], [ "27", " Sink", " -1.924", " 0.772", " 0.326", " 0", " 0", " 0", "" ], [ "28", " Mirror", " -1.934", " 1.666", " 0.107", " 0", " 0", " 0", "" ], [ "29", " Faucet", " -1.925", " 0.958", " 0.179", " 0", " 0", " 0", "" ], [ "30", " Cabinet", " -1.891", " 1.884", " 2.391", " 0", " 0", " 0", "" ], [ "31", " Cabinet", " -0.605", " 1.988", " 0.524", " 0", " 0", " 0", "" ], [ "32", " CounterTop", " -0.812", " 0.093", " 0.288", " 0", " 0", " 0", "" ], [ "33", " Shelf", " -2.029", " 1.183", " 2.189", " 0", " 0", " 0", "" ], [ "34", " Shelf", " -2.123", " 1.393", " 2.189", " 0", " 0", " 0", "" ], [ "35", " TowelHolder", " -2.760", " 1.555", " 0.000", " 0", " 0", " 0", "" ], [ "36", " LightSwitch", " 0.0", " 1.427", " 1.993", " 0", " 270", " 0", "" ], [ "37", " ToiletPaperHanger", " 0.0", " 1.014", " 2.237", " 0", " 270", " 0", "" ], [ "38", " HandTowelHolder", " -1.297", " 1.866", " 0.002", " 0", " 270", " 0", "" ], [ "39", " Window", " -4.149", " 1.717", " 1.154", " 90", " 270", " 0", "" ], [ "40", " Toilet", " -0.456", " -0.000", " 2.257", " 0", " 180", " 0", "" ], [ "41", " BathtubBasin", " -3.520", " 0.210", " 0.940", " 0", " 0", " 0", "" ], [ "42", " SinkBasin", " -1.931", " 0.841", " 0.320", " 0", " 0", " 0", "" ], [ "43", " GarbageCan", " -0.257", " -0.000", " 0.259", " 0", " 0", " 0", "" ], [ "44", " ShowerHead", " -3.522", " 1.719", " 1.776", " 0", " 0", " 0", "" ], [ "45", " ShowerCurtain", " -3.391", " 2.442", " 0.266", " 0", " 0", " 6.838", "" ], [ "46", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "47", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "48", " SouthWall", " ", " ", " ", " ", " ", " ", "" ] ]	id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -2.5 0.900 1.0 0 90 0 1 Cloth -1.825 0.124 0.263 0 0 0 20 2 Cloth -3.574 0.219 0.449 0 0 0 41 3 Candle -0.633 1.134 0.288 0 0 0 32 4 Candle -2.208 1.300 2.283 0 0 0 34 5 SprayBottle -0.318 0.954 2.669 0 270 0 40 6 SprayBottle -0.931 1.135 0.347 0 0 0 32 7 SoapBottle -0.693 1.137 0.169 0 0 0 32 8 HandTowel -1.296 1.765 0.040 0 180 0 38 9 SoapBar -1.825 0.517 0.313 0 0 0 20 10 ToiletPaper -0.921 1.124 0.210 0 0 0 32 11 Plunger -0.735 -0.000 2.732 0 0 0 Floor\|-00.08\| 12 Candle -2.162 1.300 2.143 0 0 0 34 13 TissueBox -0.858 0.119 0.311 0 0 0 23 14 ToiletPaper -0.568 0.949 2.642 0 270 0 40 15 SoapBottle -3.084 0.692 0.104 0 0 0 25 16 SprayBottle -0.203 0.028 0.240 0 0 0 43 17 Towel -2.760 1.569 0.107 0 0 0 35 18 Cloth -3.449 0.219 1.268 0 0 0 41 19 ScrubBrush -0.657 -0.000 2.560 0 0 0 Floor\|-00.08\| 20 Cabinet -2.344 0.457 0.524 0 0 0 21 Drawer -0.813 0.956 0.384 0 270 0 22 Cabinet -1.891 0.443 1.982 0 0 0 23 Cabinet -0.605 0.457 0.524 0 0 0 24 Drawer -2.032 0.942 2.190 0 0 0 25 Bathtub -3.450 0.178 1.029 0 0 0 26 CounterTop -1.919 0.0 0.288 0 0 0 27 Sink -1.924 0.772 0.326 0 0 0 28 Mirror -1.934 1.666 0.107 0 0 0 29 Faucet -1.925 0.958 0.179 0 0 0 30 Cabinet -1.891 1.884 2.391 0 0 0 31 Cabinet -0.605 1.988 0.524 0 0 0 32 CounterTop -0.812 0.093 0.288 0 0 0 33 Shelf -2.029 1.183 2.189 0 0 0 34 Shelf -2.123 1.393 2.189 0 0 0 35 TowelHolder -2.760 1.555 0.000 0 0 0 36 LightSwitch 0.0 1.427 1.993 0 270 0 37 ToiletPaperHanger 0.0 1.014 2.237 0 270 0 38 HandTowelHolder -1.297 1.866 0.002 0 270 0 39 Window -4.149 1.717 1.154 90 270 0 40 Toilet -0.456 -0.000 2.257 0 180 0 41 BathtubBasin -3.520 0.210 0.940 0 0 0 42 SinkBasin -1.931 0.841 0.320 0 0 0 43 GarbageCan -0.257 -0.000 0.259 0 0 0 44 ShowerHead -3.522 1.719 1.776 0 0 0 45 ShowerCurtain -3.391 2.442 0.266 0 0 6.838 46 NorthWall 47 SouthWall 48 SouthWall	[ "STEP 1: Walk forward and turn to face the upright, two-drawer table. \| STEP 2: Pick up the bottle of soap with the green top. \| STEP 3: Turn right and keep turning right until you see the toilet and walk over to it. \| STEP 4: Place the bottle of soap on top of the toilet tank, to the front left of the empty toilet paper roll. \| STEP 5: Turn right and then turn right again then walk over to tub and turn left to the get to the corner of the tub. \| STEP 6: Pick up the green-topped soap bottle on the tub. \| STEP 7: Turn left then right and walk over to the toilet and stop. \| STEP 8: Put this soap bottle behind the existing soap bottle on top of the toilet tank. \| END" ]	[ [ "STEP 1: Walk forward and turn to face the upright, two-drawer table. ", " STEP 2: Pick up the bottle of soap with the green top. ", " STEP 3: Turn right and keep turning right until you see the toilet and walk over to it. ", " STEP 4: Place the bottle of soap on top of the toilet tank, to the front left of the empty toilet paper roll. ", " STEP 5: Turn right and then turn right again then walk over to tub and turn left to the get to the corner of the tub. ", " STEP 6: Pick up the green-topped soap bottle on the tub. ", " STEP 7: Turn left then right and walk over to the toilet and stop. ", " STEP 8: Put this soap bottle behind the existing soap bottle on top of the toilet tank. ", " END" ] ]	seen
trial_T20190908_113742_052509-2	Move two perfume bottles to the top of a toilet	[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " -2.5", " 0.900", " 1.0", " 0", " 90", " 0", "" ], [ "1", " Cloth", " -1.825", " 0.124", " 0.263", " 0", " 0", " 0", " 20" ], [ "2", " Cloth", " -3.574", " 0.219", " 0.449", " 0", " 0", " 0", " 41" ], [ "3", " Candle", " -0.633", " 1.134", " 0.288", " 0", " 0", " 0", " 32" ], [ "4", " Candle", " -2.208", " 1.300", " 2.283", " 0", " 0", " 0", " 34" ], [ "5", " SprayBottle", " -0.318", " 0.954", " 2.669", " 0", " 270", " 0", " 40" ], [ "6", " SprayBottle", " -0.931", " 1.135", " 0.347", " 0", " 0", " 0", " 32" ], [ "7", " SoapBottle", " -0.693", " 1.137", " 0.169", " 0", " 0", " 0", " 32" ], [ "8", " HandTowel", " -1.296", " 1.765", " 0.040", " 0", " 180", " 0", " 38" ], [ "9", " SoapBar", " -1.825", " 0.517", " 0.313", " 0", " 0", " 0", " 20" ], [ "10", " ToiletPaper", " -0.921", " 1.124", " 0.210", " 0", " 0", " 0", " 32" ], [ "11", " Plunger", " -0.735", " -0.000", " 2.732", " 0", " 0", " 0", " Floor\|-00.08\|" ], [ "12", " Candle", " -2.162", " 1.300", " 2.143", " 0", " 0", " 0", " 34" ], [ "13", " TissueBox", " -0.858", " 0.119", " 0.311", " 0", " 0", " 0", " 23" ], [ "14", " ToiletPaper", " -0.568", " 0.949", " 2.642", " 0", " 270", " 0", " 40" ], [ "15", " SoapBottle", " -3.084", " 0.692", " 0.104", " 0", " 0", " 0", " 25" ], [ "16", " SprayBottle", " -0.203", " 0.028", " 0.240", " 0", " 0", " 0", " 43" ], [ "17", " Towel", " -2.760", " 1.569", " 0.107", " 0", " 0", " 0", " 35" ], [ "18", " Cloth", " -3.449", " 0.219", " 1.268", " 0", " 0", " 0", " 41" ], [ "19", " ScrubBrush", " -0.657", " -0.000", " 2.560", " 0", " 0", " 0", " Floor\|-00.08\|" ], [ "20", " Cabinet", " -2.344", " 0.457", " 0.524", " 0", " 0", " 0", "" ], [ "21", " Drawer", " -0.813", " 0.956", " 0.384", " 0", " 270", " 0", "" ], [ "22", " Cabinet", " -1.891", " 0.443", " 1.982", " 0", " 0", " 0", "" ], [ "23", " Cabinet", " -0.605", " 0.457", " 0.524", " 0", " 0", " 0", "" ], [ "24", " Drawer", " -2.032", " 0.942", " 2.190", " 0", " 0", " 0", "" ], [ "25", " Bathtub", " -3.450", " 0.178", " 1.029", " 0", " 0", " 0", "" ], [ "26", " CounterTop", " -1.919", " 0.0", " 0.288", " 0", " 0", " 0", "" ], [ "27", " Sink", " -1.924", " 0.772", " 0.326", " 0", " 0", " 0", "" ], [ "28", " Mirror", " -1.934", " 1.666", " 0.107", " 0", " 0", " 0", "" ], [ "29", " Faucet", " -1.925", " 0.958", " 0.179", " 0", " 0", " 0", "" ], [ "30", " Cabinet", " -1.891", " 1.884", " 2.391", " 0", " 0", " 0", "" ], [ "31", " Cabinet", " -0.605", " 1.988", " 0.524", " 0", " 0", " 0", "" ], [ "32", " CounterTop", " -0.812", " 0.093", " 0.288", " 0", " 0", " 0", "" ], [ "33", " Shelf", " -2.029", " 1.183", " 2.189", " 0", " 0", " 0", "" ], [ "34", " Shelf", " -2.123", " 1.393", " 2.189", " 0", " 0", " 0", "" ], [ "35", " TowelHolder", " -2.760", " 1.555", " 0.000", " 0", " 0", " 0", "" ], [ "36", " LightSwitch", " 0.0", " 1.427", " 1.993", " 0", " 270", " 0", "" ], [ "37", " ToiletPaperHanger", " 0.0", " 1.014", " 2.237", " 0", " 270", " 0", "" ], [ "38", " HandTowelHolder", " -1.297", " 1.866", " 0.002", " 0", " 270", " 0", "" ], [ "39", " Window", " -4.149", " 1.717", " 1.154", " 90", " 270", " 0", "" ], [ "40", " Toilet", " -0.456", " -0.000", " 2.257", " 0", " 180", " 0", "" ], [ "41", " BathtubBasin", " -3.520", " 0.210", " 0.940", " 0", " 0", " 0", "" ], [ "42", " SinkBasin", " -1.931", " 0.841", " 0.320", " 0", " 0", " 0", "" ], [ "43", " GarbageCan", " -0.257", " -0.000", " 0.259", " 0", " 0", " 0", "" ], [ "44", " ShowerHead", " -3.522", " 1.719", " 1.776", " 0", " 0", " 0", "" ], [ "45", " ShowerCurtain", " -3.391", " 2.442", " 0.266", " 0", " 0", " 6.838", "" ], [ "46", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "47", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "48", " SouthWall", " ", " ", " ", " ", " ", " ", "" ] ]	id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -2.5 0.900 1.0 0 90 0 1 Cloth -1.825 0.124 0.263 0 0 0 20 2 Cloth -3.574 0.219 0.449 0 0 0 41 3 Candle -0.633 1.134 0.288 0 0 0 32 4 Candle -2.208 1.300 2.283 0 0 0 34 5 SprayBottle -0.318 0.954 2.669 0 270 0 40 6 SprayBottle -0.931 1.135 0.347 0 0 0 32 7 SoapBottle -0.693 1.137 0.169 0 0 0 32 8 HandTowel -1.296 1.765 0.040 0 180 0 38 9 SoapBar -1.825 0.517 0.313 0 0 0 20 10 ToiletPaper -0.921 1.124 0.210 0 0 0 32 11 Plunger -0.735 -0.000 2.732 0 0 0 Floor\|-00.08\| 12 Candle -2.162 1.300 2.143 0 0 0 34 13 TissueBox -0.858 0.119 0.311 0 0 0 23 14 ToiletPaper -0.568 0.949 2.642 0 270 0 40 15 SoapBottle -3.084 0.692 0.104 0 0 0 25 16 SprayBottle -0.203 0.028 0.240 0 0 0 43 17 Towel -2.760 1.569 0.107 0 0 0 35 18 Cloth -3.449 0.219 1.268 0 0 0 41 19 ScrubBrush -0.657 -0.000 2.560 0 0 0 Floor\|-00.08\| 20 Cabinet -2.344 0.457 0.524 0 0 0 21 Drawer -0.813 0.956 0.384 0 270 0 22 Cabinet -1.891 0.443 1.982 0 0 0 23 Cabinet -0.605 0.457 0.524 0 0 0 24 Drawer -2.032 0.942 2.190 0 0 0 25 Bathtub -3.450 0.178 1.029 0 0 0 26 CounterTop -1.919 0.0 0.288 0 0 0 27 Sink -1.924 0.772 0.326 0 0 0 28 Mirror -1.934 1.666 0.107 0 0 0 29 Faucet -1.925 0.958 0.179 0 0 0 30 Cabinet -1.891 1.884 2.391 0 0 0 31 Cabinet -0.605 1.988 0.524 0 0 0 32 CounterTop -0.812 0.093 0.288 0 0 0 33 Shelf -2.029 1.183 2.189 0 0 0 34 Shelf -2.123 1.393 2.189 0 0 0 35 TowelHolder -2.760 1.555 0.000 0 0 0 36 LightSwitch 0.0 1.427 1.993 0 270 0 37 ToiletPaperHanger 0.0 1.014 2.237 0 270 0 38 HandTowelHolder -1.297 1.866 0.002 0 270 0 39 Window -4.149 1.717 1.154 90 270 0 40 Toilet -0.456 -0.000 2.257 0 180 0 41 BathtubBasin -3.520 0.210 0.940 0 0 0 42 SinkBasin -1.931 0.841 0.320 0 0 0 43 GarbageCan -0.257 -0.000 0.259 0 0 0 44 ShowerHead -3.522 1.719 1.776 0 0 0 45 ShowerCurtain -3.391 2.442 0.266 0 0 6.838 46 NorthWall 47 SouthWall 48 SouthWall	[ "STEP 1: Go to the counter next to the blue bin \| STEP 2: Pick up the perfume bottle \| STEP 3: Go to the toilet \| STEP 4: Put the perfume bottle on top of the toilet \| STEP 5: Go to the tub \| STEP 6: Pick up the perfume bottle on top of the tub \| STEP 7: Go to the toilet \| STEP 8: Put the perfume bottle on top of the toilet \| END" ]	[ [ "STEP 1: Go to the counter next to the blue bin ", " STEP 2: Pick up the perfume bottle ", " STEP 3: Go to the toilet ", " STEP 4: Put the perfume bottle on top of the toilet ", " STEP 5: Go to the tub ", " STEP 6: Pick up the perfume bottle on top of the tub ", " STEP 7: Go to the toilet ", " STEP 8: Put the perfume bottle on top of the toilet ", " END" ] ]	seen
trial_T20190908_143815_342227-0	Hold a pencil and turn on the lamp.	[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " 0.0", " 0.901", " 0.25", " 0", " 270", " 0", "" ], [ "1", " Pencil", " -1.787", " 0.069", " 1.448", " 0", " 270", " 0", " 34" ], [ "2", " KeyChain", " 1.679", " 0.711", " 0.990", " 0", " 270", " 0", " 40" ], [ "3", " Laptop", " -0.344", " 0.538", " -0.830", " 0", " 0", " 0", " 21" ], [ "4", " Laptop", " -0.583", " 0.538", " -0.408", " 0", " 0", " 0", " 21" ], [ "5", " AlarmClock", " 0.363", " 0.684", " -1.747", " 0", " 0", " 0", " 29" ], [ "6", " AlarmClock", " 1.408", " 0.711", " 0.409", " 0", " 270", " 0", " 40" ], [ "7", " Book", " -1.062", " 0.540", " -0.690", " 0", " 0", " 0", " 21" ], [ "8", " AlarmClock", " 1.408", " 0.711", " 0.796", " 0", " 270", " 0", " 40" ], [ "9", " BasketBall", " 1.510", " 0.120", " -0.105", " 0", " 0", " 0", "" ], [ "10", " TeddyBear", " -1.7", " 0.475", " -0.331", " 0", " 225", " 0", " 21" ], [ "11", " TennisRacket", " 1.551", " 0.000", " 0.654", " 270", " 336.082", " 0", "" ], [ "12", " Pen", " -1.814", " 1.077", " 1.067", " 0", " 270", " 0", " 36" ], [ "13", " Pencil", " 0.789", " 0.688", " -1.705", " 0", " 0", " 0", " 29" ], [ "14", " KeyChain", " -1.695", " 0.640", " 0.135", " 0", " 180", " 0", " 37" ], [ "15", " CreditCard", " -1.906", " 1.071", " 1.067", " 0", " 270", " 0", " 36" ], [ "16", " Laptop", " -1.749", " 0.671", " 0.919", " 0", " 0", " 0", " 37" ], [ "17", " CellPhone", " -1.541", " 0.541", " -0.971", " 0", " 0", " 0", " 21" ], [ "18", " Pillow", " -1.757", " 0.569", " -0.768", " 0", " 285.000", " 0", " 21" ], [ "19", " CD", " 1.744", " 0.049", " 1.674", " 0", " 270", " 0", " 24" ], [ "20", " Curtains", " 1.865", " 2.039", " -0.495", " 0", " 0", " 0", "" ], [ "21", " Bed", " -1.037", " 0.009", " -0.690", " 0", " 270", " 0", "" ], [ "22", " Mirror", " 0.549", " 1.494", " 1.880", " 0", " 0", " 0", "" ], [ "23", " Curtains", " 0.486", " 2.035", " -1.853", " 0", " 90", " 0", "" ], [ "24", " GarbageCan", " 1.683", " -0.018", " 1.670", " 0", " 270", " 0", "" ], [ "25", " LightSwitch", " -0.119", " 1.317", " 1.853", " 0", " 180", " 0", "" ], [ "26", " DeskLamp", " -1.845", " 1.057", " 0.756", " 0", " 0", " 0", "" ], [ "27", " Window", " 1.932", " 1.409", " -0.507", " 90", " 270", " 0", "" ], [ "28", " Window", " 0.481", " 1.411", " -1.932", " 90", " 0", " 0", "" ], [ "29", " SideTable", " 0.626", " 0.0", " -1.705", " 0", " 0", " 0", "" ], [ "30", " Footstool", " 0.176", " 0.006", " -0.358", " 0", " 0", " 0", "" ], [ "31", " Dumbbell", " 1.596", " 0.715", " 0.772", " 0", " 0", " 0", "" ], [ "32", " Dumbbell", " 1.776", " 0.717", " 0.772", " 0", " 0", " 0", "" ], [ "33", " Shelf", " -1.700", " 0.573", " 1.540", " 0", " 90", " 0", "" ], [ "34", " Shelf", " -1.700", " 0.156", " 1.540", " 0", " 90", " 0", "" ], [ "35", " Shelf", " -1.700", " 0.377", " 1.540", " 0", " 90", " 0", "" ], [ "36", " Shelf", " -1.839", " 1.084", " 1.235", " 0", " 90", " 0", "" ], [ "37", " Desk", " -1.722", " 0.003", " 0.920", " 0", " 90", " 0", "" ], [ "38", " Footstool", " 0.175", " 0.004", " -0.652", " 0", " 0", " 0", "" ], [ "39", " GarbageBag", " 1.624", " 0.319", " -1.609", " 270", " 90", " 83.418", "" ], [ "40", " Desk", " 1.519", " 1.823", " 0.385", " 0", " 270", " 0", "" ], [ "41", " Chair", " -1.459", " 0.003", " 0.929", " 0", " 292.527", " 0", "" ], [ "42", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "43", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "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 0.25 0 270 0 1 Pencil -1.787 0.069 1.448 0 270 0 34 2 KeyChain 1.679 0.711 0.990 0 270 0 40 3 Laptop -0.344 0.538 -0.830 0 0 0 21 4 Laptop -0.583 0.538 -0.408 0 0 0 21 5 AlarmClock 0.363 0.684 -1.747 0 0 0 29 6 AlarmClock 1.408 0.711 0.409 0 270 0 40 7 Book -1.062 0.540 -0.690 0 0 0 21 8 AlarmClock 1.408 0.711 0.796 0 270 0 40 9 BasketBall 1.510 0.120 -0.105 0 0 0 10 TeddyBear -1.7 0.475 -0.331 0 225 0 21 11 TennisRacket 1.551 0.000 0.654 270 336.082 0 12 Pen -1.814 1.077 1.067 0 270 0 36 13 Pencil 0.789 0.688 -1.705 0 0 0 29 14 KeyChain -1.695 0.640 0.135 0 180 0 37 15 CreditCard -1.906 1.071 1.067 0 270 0 36 16 Laptop -1.749 0.671 0.919 0 0 0 37 17 CellPhone -1.541 0.541 -0.971 0 0 0 21 18 Pillow -1.757 0.569 -0.768 0 285.000 0 21 19 CD 1.744 0.049 1.674 0 270 0 24 20 Curtains 1.865 2.039 -0.495 0 0 0 21 Bed -1.037 0.009 -0.690 0 270 0 22 Mirror 0.549 1.494 1.880 0 0 0 23 Curtains 0.486 2.035 -1.853 0 90 0 24 GarbageCan 1.683 -0.018 1.670 0 270 0 25 LightSwitch -0.119 1.317 1.853 0 180 0 26 DeskLamp -1.845 1.057 0.756 0 0 0 27 Window 1.932 1.409 -0.507 90 270 0 28 Window 0.481 1.411 -1.932 90 0 0 29 SideTable 0.626 0.0 -1.705 0 0 0 30 Footstool 0.176 0.006 -0.358 0 0 0 31 Dumbbell 1.596 0.715 0.772 0 0 0 32 Dumbbell 1.776 0.717 0.772 0 0 0 33 Shelf -1.700 0.573 1.540 0 90 0 34 Shelf -1.700 0.156 1.540 0 90 0 35 Shelf -1.700 0.377 1.540 0 90 0 36 Shelf -1.839 1.084 1.235 0 90 0 37 Desk -1.722 0.003 0.920 0 90 0 38 Footstool 0.175 0.004 -0.652 0 0 0 39 GarbageBag 1.624 0.319 -1.609 270 90 83.418 40 Desk 1.519 1.823 0.385 0 270 0 41 Chair -1.459 0.003 0.929 0 292.527 0 42 NorthWall 43 EastWall 44 WestWall	[ "STEP 1: Turn around and then right to find the brown dresser. \| STEP 2: Pick up the pencil from on top of the brown dresser. \| STEP 3: Carry the pencil and turn around and then left to the large desk. \| STEP 4: Hold the pencil and turn on the lamp. \| END" ]	[ [ "STEP 1: Turn around and then right to find the brown dresser. ", " STEP 2: Pick up the pencil from on top of the brown dresser. ", " STEP 3: Carry the pencil and turn around and then left to the large desk. ", " STEP 4: Hold the pencil and turn on the lamp. ", " END" ] ]	seen
trial_T20190908_143815_342227-1	Inspect a pencil in lamp light.	[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " 0.0", " 0.901", " 0.25", " 0", " 270", " 0", "" ], [ "1", " Pencil", " -1.787", " 0.069", " 1.448", " 0", " 270", " 0", " 34" ], [ "2", " KeyChain", " 1.679", " 0.711", " 0.990", " 0", " 270", " 0", " 40" ], [ "3", " Laptop", " -0.344", " 0.538", " -0.830", " 0", " 0", " 0", " 21" ], [ "4", " Laptop", " -0.583", " 0.538", " -0.408", " 0", " 0", " 0", " 21" ], [ "5", " AlarmClock", " 0.363", " 0.684", " -1.747", " 0", " 0", " 0", " 29" ], [ "6", " AlarmClock", " 1.408", " 0.711", " 0.409", " 0", " 270", " 0", " 40" ], [ "7", " Book", " -1.062", " 0.540", " -0.690", " 0", " 0", " 0", " 21" ], [ "8", " AlarmClock", " 1.408", " 0.711", " 0.796", " 0", " 270", " 0", " 40" ], [ "9", " BasketBall", " 1.510", " 0.120", " -0.105", " 0", " 0", " 0", "" ], [ "10", " TeddyBear", " -1.7", " 0.475", " -0.331", " 0", " 225", " 0", " 21" ], [ "11", " TennisRacket", " 1.551", " 0.000", " 0.654", " 270", " 336.082", " 0", "" ], [ "12", " Pen", " -1.814", " 1.077", " 1.067", " 0", " 270", " 0", " 36" ], [ "13", " Pencil", " 0.789", " 0.688", " -1.705", " 0", " 0", " 0", " 29" ], [ "14", " KeyChain", " -1.695", " 0.640", " 0.135", " 0", " 180", " 0", " 37" ], [ "15", " CreditCard", " -1.906", " 1.071", " 1.067", " 0", " 270", " 0", " 36" ], [ "16", " Laptop", " -1.749", " 0.671", " 0.919", " 0", " 0", " 0", " 37" ], [ "17", " CellPhone", " -1.541", " 0.541", " -0.971", " 0", " 0", " 0", " 21" ], [ "18", " Pillow", " -1.757", " 0.569", " -0.768", " 0", " 285.000", " 0", " 21" ], [ "19", " CD", " 1.744", " 0.049", " 1.674", " 0", " 270", " 0", " 24" ], [ "20", " Curtains", " 1.865", " 2.039", " -0.495", " 0", " 0", " 0", "" ], [ "21", " Bed", " -1.037", " 0.009", " -0.690", " 0", " 270", " 0", "" ], [ "22", " Mirror", " 0.549", " 1.494", " 1.880", " 0", " 0", " 0", "" ], [ "23", " Curtains", " 0.486", " 2.035", " -1.853", " 0", " 90", " 0", "" ], [ "24", " GarbageCan", " 1.683", " -0.018", " 1.670", " 0", " 270", " 0", "" ], [ "25", " LightSwitch", " -0.119", " 1.317", " 1.853", " 0", " 180", " 0", "" ], [ "26", " DeskLamp", " -1.845", " 1.057", " 0.756", " 0", " 0", " 0", "" ], [ "27", " Window", " 1.932", " 1.409", " -0.507", " 90", " 270", " 0", "" ], [ "28", " Window", " 0.481", " 1.411", " -1.932", " 90", " 0", " 0", "" ], [ "29", " SideTable", " 0.626", " 0.0", " -1.705", " 0", " 0", " 0", "" ], [ "30", " Footstool", " 0.176", " 0.006", " -0.358", " 0", " 0", " 0", "" ], [ "31", " Dumbbell", " 1.596", " 0.715", " 0.772", " 0", " 0", " 0", "" ], [ "32", " Dumbbell", " 1.776", " 0.717", " 0.772", " 0", " 0", " 0", "" ], [ "33", " Shelf", " -1.700", " 0.573", " 1.540", " 0", " 90", " 0", "" ], [ "34", " Shelf", " -1.700", " 0.156", " 1.540", " 0", " 90", " 0", "" ], [ "35", " Shelf", " -1.700", " 0.377", " 1.540", " 0", " 90", " 0", "" ], [ "36", " Shelf", " -1.839", " 1.084", " 1.235", " 0", " 90", " 0", "" ], [ "37", " Desk", " -1.722", " 0.003", " 0.920", " 0", " 90", " 0", "" ], [ "38", " Footstool", " 0.175", " 0.004", " -0.652", " 0", " 0", " 0", "" ], [ "39", " GarbageBag", " 1.624", " 0.319", " -1.609", " 270", " 90", " 83.418", "" ], [ "40", " Desk", " 1.519", " 1.823", " 0.385", " 0", " 270", " 0", "" ], [ "41", " Chair", " -1.459", " 0.003", " 0.929", " 0", " 292.527", " 0", "" ], [ "42", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "43", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "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 0.25 0 270 0 1 Pencil -1.787 0.069 1.448 0 270 0 34 2 KeyChain 1.679 0.711 0.990 0 270 0 40 3 Laptop -0.344 0.538 -0.830 0 0 0 21 4 Laptop -0.583 0.538 -0.408 0 0 0 21 5 AlarmClock 0.363 0.684 -1.747 0 0 0 29 6 AlarmClock 1.408 0.711 0.409 0 270 0 40 7 Book -1.062 0.540 -0.690 0 0 0 21 8 AlarmClock 1.408 0.711 0.796 0 270 0 40 9 BasketBall 1.510 0.120 -0.105 0 0 0 10 TeddyBear -1.7 0.475 -0.331 0 225 0 21 11 TennisRacket 1.551 0.000 0.654 270 336.082 0 12 Pen -1.814 1.077 1.067 0 270 0 36 13 Pencil 0.789 0.688 -1.705 0 0 0 29 14 KeyChain -1.695 0.640 0.135 0 180 0 37 15 CreditCard -1.906 1.071 1.067 0 270 0 36 16 Laptop -1.749 0.671 0.919 0 0 0 37 17 CellPhone -1.541 0.541 -0.971 0 0 0 21 18 Pillow -1.757 0.569 -0.768 0 285.000 0 21 19 CD 1.744 0.049 1.674 0 270 0 24 20 Curtains 1.865 2.039 -0.495 0 0 0 21 Bed -1.037 0.009 -0.690 0 270 0 22 Mirror 0.549 1.494 1.880 0 0 0 23 Curtains 0.486 2.035 -1.853 0 90 0 24 GarbageCan 1.683 -0.018 1.670 0 270 0 25 LightSwitch -0.119 1.317 1.853 0 180 0 26 DeskLamp -1.845 1.057 0.756 0 0 0 27 Window 1.932 1.409 -0.507 90 270 0 28 Window 0.481 1.411 -1.932 90 0 0 29 SideTable 0.626 0.0 -1.705 0 0 0 30 Footstool 0.176 0.006 -0.358 0 0 0 31 Dumbbell 1.596 0.715 0.772 0 0 0 32 Dumbbell 1.776 0.717 0.772 0 0 0 33 Shelf -1.700 0.573 1.540 0 90 0 34 Shelf -1.700 0.156 1.540 0 90 0 35 Shelf -1.700 0.377 1.540 0 90 0 36 Shelf -1.839 1.084 1.235 0 90 0 37 Desk -1.722 0.003 0.920 0 90 0 38 Footstool 0.175 0.004 -0.652 0 0 0 39 GarbageBag 1.624 0.319 -1.609 270 90 83.418 40 Desk 1.519 1.823 0.385 0 270 0 41 Chair -1.459 0.003 0.929 0 292.527 0 42 NorthWall 43 EastWall 44 WestWall	[ "STEP 1: Turn around and walk to the table then turn right and walk to the dresser. \| STEP 2: Pick up the pencil that's in front of you. \| STEP 3: Turn around and walk a step past the bed then turn left and walk to the night stand to the right of the bed. \| STEP 4: Turn on the light that's near the laptop. \| END" ]	[ [ "STEP 1: Turn around and walk to the table then turn right and walk to the dresser. ", " STEP 2: Pick up the pencil that's in front of you. ", " STEP 3: Turn around and walk a step past the bed then turn left and walk to the night stand to the right of the bed. ", " STEP 4: Turn on the light that's near the laptop. ", " END" ] ]	seen
trial_T20190908_143815_342227-2	Pick up a pencil and turn a lamp on.	[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " 0.0", " 0.901", " 0.25", " 0", " 270", " 0", "" ], [ "1", " Pencil", " -1.787", " 0.069", " 1.448", " 0", " 270", " 0", " 34" ], [ "2", " KeyChain", " 1.679", " 0.711", " 0.990", " 0", " 270", " 0", " 40" ], [ "3", " Laptop", " -0.344", " 0.538", " -0.830", " 0", " 0", " 0", " 21" ], [ "4", " Laptop", " -0.583", " 0.538", " -0.408", " 0", " 0", " 0", " 21" ], [ "5", " AlarmClock", " 0.363", " 0.684", " -1.747", " 0", " 0", " 0", " 29" ], [ "6", " AlarmClock", " 1.408", " 0.711", " 0.409", " 0", " 270", " 0", " 40" ], [ "7", " Book", " -1.062", " 0.540", " -0.690", " 0", " 0", " 0", " 21" ], [ "8", " AlarmClock", " 1.408", " 0.711", " 0.796", " 0", " 270", " 0", " 40" ], [ "9", " BasketBall", " 1.510", " 0.120", " -0.105", " 0", " 0", " 0", "" ], [ "10", " TeddyBear", " -1.7", " 0.475", " -0.331", " 0", " 225", " 0", " 21" ], [ "11", " TennisRacket", " 1.551", " 0.000", " 0.654", " 270", " 336.082", " 0", "" ], [ "12", " Pen", " -1.814", " 1.077", " 1.067", " 0", " 270", " 0", " 36" ], [ "13", " Pencil", " 0.789", " 0.688", " -1.705", " 0", " 0", " 0", " 29" ], [ "14", " KeyChain", " -1.695", " 0.640", " 0.135", " 0", " 180", " 0", " 37" ], [ "15", " CreditCard", " -1.906", " 1.071", " 1.067", " 0", " 270", " 0", " 36" ], [ "16", " Laptop", " -1.749", " 0.671", " 0.919", " 0", " 0", " 0", " 37" ], [ "17", " CellPhone", " -1.541", " 0.541", " -0.971", " 0", " 0", " 0", " 21" ], [ "18", " Pillow", " -1.757", " 0.569", " -0.768", " 0", " 285.000", " 0", " 21" ], [ "19", " CD", " 1.744", " 0.049", " 1.674", " 0", " 270", " 0", " 24" ], [ "20", " Curtains", " 1.865", " 2.039", " -0.495", " 0", " 0", " 0", "" ], [ "21", " Bed", " -1.037", " 0.009", " -0.690", " 0", " 270", " 0", "" ], [ "22", " Mirror", " 0.549", " 1.494", " 1.880", " 0", " 0", " 0", "" ], [ "23", " Curtains", " 0.486", " 2.035", " -1.853", " 0", " 90", " 0", "" ], [ "24", " GarbageCan", " 1.683", " -0.018", " 1.670", " 0", " 270", " 0", "" ], [ "25", " LightSwitch", " -0.119", " 1.317", " 1.853", " 0", " 180", " 0", "" ], [ "26", " DeskLamp", " -1.845", " 1.057", " 0.756", " 0", " 0", " 0", "" ], [ "27", " Window", " 1.932", " 1.409", " -0.507", " 90", " 270", " 0", "" ], [ "28", " Window", " 0.481", " 1.411", " -1.932", " 90", " 0", " 0", "" ], [ "29", " SideTable", " 0.626", " 0.0", " -1.705", " 0", " 0", " 0", "" ], [ "30", " Footstool", " 0.176", " 0.006", " -0.358", " 0", " 0", " 0", "" ], [ "31", " Dumbbell", " 1.596", " 0.715", " 0.772", " 0", " 0", " 0", "" ], [ "32", " Dumbbell", " 1.776", " 0.717", " 0.772", " 0", " 0", " 0", "" ], [ "33", " Shelf", " -1.700", " 0.573", " 1.540", " 0", " 90", " 0", "" ], [ "34", " Shelf", " -1.700", " 0.156", " 1.540", " 0", " 90", " 0", "" ], [ "35", " Shelf", " -1.700", " 0.377", " 1.540", " 0", " 90", " 0", "" ], [ "36", " Shelf", " -1.839", " 1.084", " 1.235", " 0", " 90", " 0", "" ], [ "37", " Desk", " -1.722", " 0.003", " 0.920", " 0", " 90", " 0", "" ], [ "38", " Footstool", " 0.175", " 0.004", " -0.652", " 0", " 0", " 0", "" ], [ "39", " GarbageBag", " 1.624", " 0.319", " -1.609", " 270", " 90", " 83.418", "" ], [ "40", " Desk", " 1.519", " 1.823", " 0.385", " 0", " 270", " 0", "" ], [ "41", " Chair", " -1.459", " 0.003", " 0.929", " 0", " 292.527", " 0", "" ], [ "42", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "43", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "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 0.25 0 270 0 1 Pencil -1.787 0.069 1.448 0 270 0 34 2 KeyChain 1.679 0.711 0.990 0 270 0 40 3 Laptop -0.344 0.538 -0.830 0 0 0 21 4 Laptop -0.583 0.538 -0.408 0 0 0 21 5 AlarmClock 0.363 0.684 -1.747 0 0 0 29 6 AlarmClock 1.408 0.711 0.409 0 270 0 40 7 Book -1.062 0.540 -0.690 0 0 0 21 8 AlarmClock 1.408 0.711 0.796 0 270 0 40 9 BasketBall 1.510 0.120 -0.105 0 0 0 10 TeddyBear -1.7 0.475 -0.331 0 225 0 21 11 TennisRacket 1.551 0.000 0.654 270 336.082 0 12 Pen -1.814 1.077 1.067 0 270 0 36 13 Pencil 0.789 0.688 -1.705 0 0 0 29 14 KeyChain -1.695 0.640 0.135 0 180 0 37 15 CreditCard -1.906 1.071 1.067 0 270 0 36 16 Laptop -1.749 0.671 0.919 0 0 0 37 17 CellPhone -1.541 0.541 -0.971 0 0 0 21 18 Pillow -1.757 0.569 -0.768 0 285.000 0 21 19 CD 1.744 0.049 1.674 0 270 0 24 20 Curtains 1.865 2.039 -0.495 0 0 0 21 Bed -1.037 0.009 -0.690 0 270 0 22 Mirror 0.549 1.494 1.880 0 0 0 23 Curtains 0.486 2.035 -1.853 0 90 0 24 GarbageCan 1.683 -0.018 1.670 0 270 0 25 LightSwitch -0.119 1.317 1.853 0 180 0 26 DeskLamp -1.845 1.057 0.756 0 0 0 27 Window 1.932 1.409 -0.507 90 270 0 28 Window 0.481 1.411 -1.932 90 0 0 29 SideTable 0.626 0.0 -1.705 0 0 0 30 Footstool 0.176 0.006 -0.358 0 0 0 31 Dumbbell 1.596 0.715 0.772 0 0 0 32 Dumbbell 1.776 0.717 0.772 0 0 0 33 Shelf -1.700 0.573 1.540 0 90 0 34 Shelf -1.700 0.156 1.540 0 90 0 35 Shelf -1.700 0.377 1.540 0 90 0 36 Shelf -1.839 1.084 1.235 0 90 0 37 Desk -1.722 0.003 0.920 0 90 0 38 Footstool 0.175 0.004 -0.652 0 0 0 39 GarbageBag 1.624 0.319 -1.609 270 90 83.418 40 Desk 1.519 1.823 0.385 0 270 0 41 Chair -1.459 0.003 0.929 0 292.527 0 42 NorthWall 43 EastWall 44 WestWall	[ "STEP 1: Turn around and go right to face the dresser at the end of the bed with the clock on it. \| STEP 2: Pick the pencil up from the dresser. \| STEP 3: Turn around and go left to face the desk. \| STEP 4: Turn the lamp on the desk on. \| END" ]	[ [ "STEP 1: Turn around and go right to face the dresser at the end of the bed with the clock on it. ", " STEP 2: Pick the pencil up from the dresser. ", " STEP 3: Turn around and go left to face the desk. ", " STEP 4: Turn the lamp on the desk on. ", " END" ] ]	seen

trial_T20190909_045123_249769-1

Look at a newspaper under a lit 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 0.75 0 180 0 1 Plate -5.516 0.786 4.246 0 0 0 37 2 Newspaper -5.885 0.786 4.689 0 0 0 37 3 Newspaper 0.922 0.548 6.382 0 0 0 34 4 Newspaper -5.762 0.781 5.575 0 0 0 37 5 CellPhone -5.516 0.790 5.575 0 0 0 37 6 CellPhone 0.718 0.102 3.847 0 0 0 51 7 CreditCard 0.684 0.099 3.074 0 0 0 46 8 CreditCard -5.762 0.782 4.689 0 0 0 37 9 RemoteControl 0.753 0.538 4.013 0 0 0 50 10 RemoteControl -1.905 0.310 2.655 0 39.022 0 36 11 Box -1.591 0.498 2.277 0 26.831 0 36 12 CellPhone 0.784 0.985 3.714 0 0 0 49 13 WateringCan 0.829 -0.001 2.339 0 45 0 Floor|-03.10| 14 Newspaper -1.208 0.312 2.585 0 39.022 0 36 15 KeyChain 0.718 0.539 4.179 0 90 0 50 16 Plate -5.516 0.790 4.689 0 0 0 37 17 Pillow -2.719 0.609 2.768 0 320.647 0 45 18 RemoteControl -1.561 0.314 2.707 0 39.022 0 36 19 CreditCard -6.009 0.786 4.246 0 0 0 37 20 Laptop -5.464 0.779 5.252 0 306.871 0 37 21 Statue -3.407 0.559 1.822 0 0 0 33 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 52 NorthWall 53 EastWall 54 SouthWall 55 WestWall

[ "STEP 1: Turn around and walk along the perimeter of the room until the small table with the newspaper on it is reached in the corner. | STEP 2: Turn on the lamp on the table. | STEP 3: Pick up the newspaper from the table. | END" ]

[ [ "STEP 1: Turn around and walk along the perimeter of the room until the small table with the newspaper on it is reached in the corner. ", " STEP 2: Turn on the lamp on the table. ", " STEP 3: Pick up the newspaper from the table. ", " END" ] ]

seen

trial_T20190909_045123_249769-2

turn on the lamp to pick up the newspaper

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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -0.75 0.900 0.75 0 180 0 1 Plate -5.516 0.786 4.246 0 0 0 37 2 Newspaper -5.885 0.786 4.689 0 0 0 37 3 Newspaper 0.922 0.548 6.382 0 0 0 34 4 Newspaper -5.762 0.781 5.575 0 0 0 37 5 CellPhone -5.516 0.790 5.575 0 0 0 37 6 CellPhone 0.718 0.102 3.847 0 0 0 51 7 CreditCard 0.684 0.099 3.074 0 0 0 46 8 CreditCard -5.762 0.782 4.689 0 0 0 37 9 RemoteControl 0.753 0.538 4.013 0 0 0 50 10 RemoteControl -1.905 0.310 2.655 0 39.022 0 36 11 Box -1.591 0.498 2.277 0 26.831 0 36 12 CellPhone 0.784 0.985 3.714 0 0 0 49 13 WateringCan 0.829 -0.001 2.339 0 45 0 Floor|-03.10| 14 Newspaper -1.208 0.312 2.585 0 39.022 0 36 15 KeyChain 0.718 0.539 4.179 0 90 0 50 16 Plate -5.516 0.790 4.689 0 0 0 37 17 Pillow -2.719 0.609 2.768 0 320.647 0 45 18 RemoteControl -1.561 0.314 2.707 0 39.022 0 36 19 CreditCard -6.009 0.786 4.246 0 0 0 37 20 Laptop -5.464 0.779 5.252 0 306.871 0 37 21 Statue -3.407 0.559 1.822 0 0 0 33 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 52 NorthWall 53 EastWall 54 SouthWall 55 WestWall

[ "STEP 1: turn around, walk forward, turn right, take a step, turn left, walk to small table with lamp in the corner | STEP 2: turn the lamp on | STEP 3: pick up the newspaper that is on the table | END" ]

[ [ "STEP 1: turn around, walk forward, turn right, take a step, turn left, walk to small table with lamp in the corner ", " STEP 2: turn the lamp on ", " STEP 3: pick up the newspaper that is on the table ", " END" ] ]

seen

trial_T20190908_113742_052509-0

Move two blue bottles to the toilet tank.

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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -2.5 0.900 1.0 0 90 0 1 Cloth -1.825 0.124 0.263 0 0 0 20 2 Cloth -3.574 0.219 0.449 0 0 0 41 3 Candle -0.633 1.134 0.288 0 0 0 32 4 Candle -2.208 1.300 2.283 0 0 0 34 5 SprayBottle -0.318 0.954 2.669 0 270 0 40 6 SprayBottle -0.931 1.135 0.347 0 0 0 32 7 SoapBottle -0.693 1.137 0.169 0 0 0 32 8 HandTowel -1.296 1.765 0.040 0 180 0 38 9 SoapBar -1.825 0.517 0.313 0 0 0 20 10 ToiletPaper -0.921 1.124 0.210 0 0 0 32 11 Plunger -0.735 -0.000 2.732 0 0 0 Floor|-00.08| 12 Candle -2.162 1.300 2.143 0 0 0 34 13 TissueBox -0.858 0.119 0.311 0 0 0 23 14 ToiletPaper -0.568 0.949 2.642 0 270 0 40 15 SoapBottle -3.084 0.692 0.104 0 0 0 25 16 SprayBottle -0.203 0.028 0.240 0 0 0 43 17 Towel -2.760 1.569 0.107 0 0 0 35 18 Cloth -3.449 0.219 1.268 0 0 0 41 19 ScrubBrush -0.657 -0.000 2.560 0 0 0 Floor|-00.08| 20 Cabinet -2.344 0.457 0.524 0 0 0 21 Drawer -0.813 0.956 0.384 0 270 0 22 Cabinet -1.891 0.443 1.982 0 0 0 23 Cabinet -0.605 0.457 0.524 0 0 0 24 Drawer -2.032 0.942 2.190 0 0 0 25 Bathtub -3.450 0.178 1.029 0 0 0 26 CounterTop -1.919 0.0 0.288 0 0 0 27 Sink -1.924 0.772 0.326 0 0 0 28 Mirror -1.934 1.666 0.107 0 0 0 29 Faucet -1.925 0.958 0.179 0 0 0 30 Cabinet -1.891 1.884 2.391 0 0 0 31 Cabinet -0.605 1.988 0.524 0 0 0 32 CounterTop -0.812 0.093 0.288 0 0 0 33 Shelf -2.029 1.183 2.189 0 0 0 34 Shelf -2.123 1.393 2.189 0 0 0 35 TowelHolder -2.760 1.555 0.000 0 0 0 36 LightSwitch 0.0 1.427 1.993 0 270 0 37 ToiletPaperHanger 0.0 1.014 2.237 0 270 0 38 HandTowelHolder -1.297 1.866 0.002 0 270 0 39 Window -4.149 1.717 1.154 90 270 0 40 Toilet -0.456 -0.000 2.257 0 180 0 41 BathtubBasin -3.520 0.210 0.940 0 0 0 42 SinkBasin -1.931 0.841 0.320 0 0 0 43 GarbageCan -0.257 -0.000 0.259 0 0 0 44 ShowerHead -3.522 1.719 1.776 0 0 0 45 ShowerCurtain -3.391 2.442 0.266 0 0 6.838 46 NorthWall 47 SouthWall 48 SouthWall

[ "STEP 1: Walk over to the door, then turn right and walk up to the cabinet. | STEP 2: Pick up the blue bottle off of the top of the cabinet. | STEP 3: Turn right and walk over to the sink, then turn right and walk up to the wall, turn right again to face the toilet. | STEP 4: Put the blue bottle on top of the toilet tank. | STEP 5: Turn right and walk over to the left side of the tub. | STEP 6: Pick up the blue bottle off of the tub. | STEP 7: Walk back over to the toilet. | STEP 8: Put the blue bottle on top of the toilet tank. | END" ]

[ [ "STEP 1: Walk over to the door, then turn right and walk up to the cabinet. ", " STEP 2: Pick up the blue bottle off of the top of the cabinet. ", " STEP 3: Turn right and walk over to the sink, then turn right and walk up to the wall, turn right again to face the toilet. ", " STEP 4: Put the blue bottle on top of the toilet tank. ", " STEP 5: Turn right and walk over to the left side of the tub. ", " STEP 6: Pick up the blue bottle off of the tub. ", " STEP 7: Walk back over to the toilet. ", " STEP 8: Put the blue bottle on top of the toilet tank. ", " END" ] ]

seen

trial_T20190908_113742_052509-1

Put two bottles of soap on top of the toilet tank.

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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -2.5 0.900 1.0 0 90 0 1 Cloth -1.825 0.124 0.263 0 0 0 20 2 Cloth -3.574 0.219 0.449 0 0 0 41 3 Candle -0.633 1.134 0.288 0 0 0 32 4 Candle -2.208 1.300 2.283 0 0 0 34 5 SprayBottle -0.318 0.954 2.669 0 270 0 40 6 SprayBottle -0.931 1.135 0.347 0 0 0 32 7 SoapBottle -0.693 1.137 0.169 0 0 0 32 8 HandTowel -1.296 1.765 0.040 0 180 0 38 9 SoapBar -1.825 0.517 0.313 0 0 0 20 10 ToiletPaper -0.921 1.124 0.210 0 0 0 32 11 Plunger -0.735 -0.000 2.732 0 0 0 Floor|-00.08| 12 Candle -2.162 1.300 2.143 0 0 0 34 13 TissueBox -0.858 0.119 0.311 0 0 0 23 14 ToiletPaper -0.568 0.949 2.642 0 270 0 40 15 SoapBottle -3.084 0.692 0.104 0 0 0 25 16 SprayBottle -0.203 0.028 0.240 0 0 0 43 17 Towel -2.760 1.569 0.107 0 0 0 35 18 Cloth -3.449 0.219 1.268 0 0 0 41 19 ScrubBrush -0.657 -0.000 2.560 0 0 0 Floor|-00.08| 20 Cabinet -2.344 0.457 0.524 0 0 0 21 Drawer -0.813 0.956 0.384 0 270 0 22 Cabinet -1.891 0.443 1.982 0 0 0 23 Cabinet -0.605 0.457 0.524 0 0 0 24 Drawer -2.032 0.942 2.190 0 0 0 25 Bathtub -3.450 0.178 1.029 0 0 0 26 CounterTop -1.919 0.0 0.288 0 0 0 27 Sink -1.924 0.772 0.326 0 0 0 28 Mirror -1.934 1.666 0.107 0 0 0 29 Faucet -1.925 0.958 0.179 0 0 0 30 Cabinet -1.891 1.884 2.391 0 0 0 31 Cabinet -0.605 1.988 0.524 0 0 0 32 CounterTop -0.812 0.093 0.288 0 0 0 33 Shelf -2.029 1.183 2.189 0 0 0 34 Shelf -2.123 1.393 2.189 0 0 0 35 TowelHolder -2.760 1.555 0.000 0 0 0 36 LightSwitch 0.0 1.427 1.993 0 270 0 37 ToiletPaperHanger 0.0 1.014 2.237 0 270 0 38 HandTowelHolder -1.297 1.866 0.002 0 270 0 39 Window -4.149 1.717 1.154 90 270 0 40 Toilet -0.456 -0.000 2.257 0 180 0 41 BathtubBasin -3.520 0.210 0.940 0 0 0 42 SinkBasin -1.931 0.841 0.320 0 0 0 43 GarbageCan -0.257 -0.000 0.259 0 0 0 44 ShowerHead -3.522 1.719 1.776 0 0 0 45 ShowerCurtain -3.391 2.442 0.266 0 0 6.838 46 NorthWall 47 SouthWall 48 SouthWall

[ "STEP 1: Walk forward and turn to face the upright, two-drawer table. | STEP 2: Pick up the bottle of soap with the green top. | STEP 3: Turn right and keep turning right until you see the toilet and walk over to it. | STEP 4: Place the bottle of soap on top of the toilet tank, to the front left of the empty toilet paper roll. | STEP 5: Turn right and then turn right again then walk over to tub and turn left to the get to the corner of the tub. | STEP 6: Pick up the green-topped soap bottle on the tub. | STEP 7: Turn left then right and walk over to the toilet and stop. | STEP 8: Put this soap bottle behind the existing soap bottle on top of the toilet tank. | END" ]

[ [ "STEP 1: Walk forward and turn to face the upright, two-drawer table. ", " STEP 2: Pick up the bottle of soap with the green top. ", " STEP 3: Turn right and keep turning right until you see the toilet and walk over to it. ", " STEP 4: Place the bottle of soap on top of the toilet tank, to the front left of the empty toilet paper roll. ", " STEP 5: Turn right and then turn right again then walk over to tub and turn left to the get to the corner of the tub. ", " STEP 6: Pick up the green-topped soap bottle on the tub. ", " STEP 7: Turn left then right and walk over to the toilet and stop. ", " STEP 8: Put this soap bottle behind the existing soap bottle on top of the toilet tank. ", " END" ] ]

seen

trial_T20190908_113742_052509-2

Move two perfume bottles to the top of a toilet

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[ [ "STEP 1: Go to the counter next to the blue bin ", " STEP 2: Pick up the perfume bottle ", " STEP 3: Go to the toilet ", " STEP 4: Put the perfume bottle on top of the toilet ", " STEP 5: Go to the tub ", " STEP 6: Pick up the perfume bottle on top of the tub ", " STEP 7: Go to the toilet ", " STEP 8: Put the perfume bottle on top of the toilet ", " END" ] ]

seen

trial_T20190908_143815_342227-0

Hold a pencil and turn on the lamp.

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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 0.0 0.901 0.25 0 270 0 1 Pencil -1.787 0.069 1.448 0 270 0 34 2 KeyChain 1.679 0.711 0.990 0 270 0 40 3 Laptop -0.344 0.538 -0.830 0 0 0 21 4 Laptop -0.583 0.538 -0.408 0 0 0 21 5 AlarmClock 0.363 0.684 -1.747 0 0 0 29 6 AlarmClock 1.408 0.711 0.409 0 270 0 40 7 Book -1.062 0.540 -0.690 0 0 0 21 8 AlarmClock 1.408 0.711 0.796 0 270 0 40 9 BasketBall 1.510 0.120 -0.105 0 0 0 10 TeddyBear -1.7 0.475 -0.331 0 225 0 21 11 TennisRacket 1.551 0.000 0.654 270 336.082 0 12 Pen -1.814 1.077 1.067 0 270 0 36 13 Pencil 0.789 0.688 -1.705 0 0 0 29 14 KeyChain -1.695 0.640 0.135 0 180 0 37 15 CreditCard -1.906 1.071 1.067 0 270 0 36 16 Laptop -1.749 0.671 0.919 0 0 0 37 17 CellPhone -1.541 0.541 -0.971 0 0 0 21 18 Pillow -1.757 0.569 -0.768 0 285.000 0 21 19 CD 1.744 0.049 1.674 0 270 0 24 20 Curtains 1.865 2.039 -0.495 0 0 0 21 Bed -1.037 0.009 -0.690 0 270 0 22 Mirror 0.549 1.494 1.880 0 0 0 23 Curtains 0.486 2.035 -1.853 0 90 0 24 GarbageCan 1.683 -0.018 1.670 0 270 0 25 LightSwitch -0.119 1.317 1.853 0 180 0 26 DeskLamp -1.845 1.057 0.756 0 0 0 27 Window 1.932 1.409 -0.507 90 270 0 28 Window 0.481 1.411 -1.932 90 0 0 29 SideTable 0.626 0.0 -1.705 0 0 0 30 Footstool 0.176 0.006 -0.358 0 0 0 31 Dumbbell 1.596 0.715 0.772 0 0 0 32 Dumbbell 1.776 0.717 0.772 0 0 0 33 Shelf -1.700 0.573 1.540 0 90 0 34 Shelf -1.700 0.156 1.540 0 90 0 35 Shelf -1.700 0.377 1.540 0 90 0 36 Shelf -1.839 1.084 1.235 0 90 0 37 Desk -1.722 0.003 0.920 0 90 0 38 Footstool 0.175 0.004 -0.652 0 0 0 39 GarbageBag 1.624 0.319 -1.609 270 90 83.418 40 Desk 1.519 1.823 0.385 0 270 0 41 Chair -1.459 0.003 0.929 0 292.527 0 42 NorthWall 43 EastWall 44 WestWall

[ "STEP 1: Turn around and then right to find the brown dresser. | STEP 2: Pick up the pencil from on top of the brown dresser. | STEP 3: Carry the pencil and turn around and then left to the large desk. | STEP 4: Hold the pencil and turn on the lamp. | END" ]

[ [ "STEP 1: Turn around and then right to find the brown dresser. ", " STEP 2: Pick up the pencil from on top of the brown dresser. ", " STEP 3: Carry the pencil and turn around and then left to the large desk. ", " STEP 4: Hold the pencil and turn on the lamp. ", " END" ] ]

seen

trial_T20190908_143815_342227-1

Inspect a pencil in lamp light.

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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 0.0 0.901 0.25 0 270 0 1 Pencil -1.787 0.069 1.448 0 270 0 34 2 KeyChain 1.679 0.711 0.990 0 270 0 40 3 Laptop -0.344 0.538 -0.830 0 0 0 21 4 Laptop -0.583 0.538 -0.408 0 0 0 21 5 AlarmClock 0.363 0.684 -1.747 0 0 0 29 6 AlarmClock 1.408 0.711 0.409 0 270 0 40 7 Book -1.062 0.540 -0.690 0 0 0 21 8 AlarmClock 1.408 0.711 0.796 0 270 0 40 9 BasketBall 1.510 0.120 -0.105 0 0 0 10 TeddyBear -1.7 0.475 -0.331 0 225 0 21 11 TennisRacket 1.551 0.000 0.654 270 336.082 0 12 Pen -1.814 1.077 1.067 0 270 0 36 13 Pencil 0.789 0.688 -1.705 0 0 0 29 14 KeyChain -1.695 0.640 0.135 0 180 0 37 15 CreditCard -1.906 1.071 1.067 0 270 0 36 16 Laptop -1.749 0.671 0.919 0 0 0 37 17 CellPhone -1.541 0.541 -0.971 0 0 0 21 18 Pillow -1.757 0.569 -0.768 0 285.000 0 21 19 CD 1.744 0.049 1.674 0 270 0 24 20 Curtains 1.865 2.039 -0.495 0 0 0 21 Bed -1.037 0.009 -0.690 0 270 0 22 Mirror 0.549 1.494 1.880 0 0 0 23 Curtains 0.486 2.035 -1.853 0 90 0 24 GarbageCan 1.683 -0.018 1.670 0 270 0 25 LightSwitch -0.119 1.317 1.853 0 180 0 26 DeskLamp -1.845 1.057 0.756 0 0 0 27 Window 1.932 1.409 -0.507 90 270 0 28 Window 0.481 1.411 -1.932 90 0 0 29 SideTable 0.626 0.0 -1.705 0 0 0 30 Footstool 0.176 0.006 -0.358 0 0 0 31 Dumbbell 1.596 0.715 0.772 0 0 0 32 Dumbbell 1.776 0.717 0.772 0 0 0 33 Shelf -1.700 0.573 1.540 0 90 0 34 Shelf -1.700 0.156 1.540 0 90 0 35 Shelf -1.700 0.377 1.540 0 90 0 36 Shelf -1.839 1.084 1.235 0 90 0 37 Desk -1.722 0.003 0.920 0 90 0 38 Footstool 0.175 0.004 -0.652 0 0 0 39 GarbageBag 1.624 0.319 -1.609 270 90 83.418 40 Desk 1.519 1.823 0.385 0 270 0 41 Chair -1.459 0.003 0.929 0 292.527 0 42 NorthWall 43 EastWall 44 WestWall

[ "STEP 1: Turn around and walk to the table then turn right and walk to the dresser. | STEP 2: Pick up the pencil that's in front of you. | STEP 3: Turn around and walk a step past the bed then turn left and walk to the night stand to the right of the bed. | STEP 4: Turn on the light that's near the laptop. | END" ]

[ [ "STEP 1: Turn around and walk to the table then turn right and walk to the dresser. ", " STEP 2: Pick up the pencil that's in front of you. ", " STEP 3: Turn around and walk a step past the bed then turn left and walk to the night stand to the right of the bed. ", " STEP 4: Turn on the light that's near the laptop. ", " END" ] ]

seen

trial_T20190908_143815_342227-2

Pick up a pencil and turn a lamp on.

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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 0.0 0.901 0.25 0 270 0 1 Pencil -1.787 0.069 1.448 0 270 0 34 2 KeyChain 1.679 0.711 0.990 0 270 0 40 3 Laptop -0.344 0.538 -0.830 0 0 0 21 4 Laptop -0.583 0.538 -0.408 0 0 0 21 5 AlarmClock 0.363 0.684 -1.747 0 0 0 29 6 AlarmClock 1.408 0.711 0.409 0 270 0 40 7 Book -1.062 0.540 -0.690 0 0 0 21 8 AlarmClock 1.408 0.711 0.796 0 270 0 40 9 BasketBall 1.510 0.120 -0.105 0 0 0 10 TeddyBear -1.7 0.475 -0.331 0 225 0 21 11 TennisRacket 1.551 0.000 0.654 270 336.082 0 12 Pen -1.814 1.077 1.067 0 270 0 36 13 Pencil 0.789 0.688 -1.705 0 0 0 29 14 KeyChain -1.695 0.640 0.135 0 180 0 37 15 CreditCard -1.906 1.071 1.067 0 270 0 36 16 Laptop -1.749 0.671 0.919 0 0 0 37 17 CellPhone -1.541 0.541 -0.971 0 0 0 21 18 Pillow -1.757 0.569 -0.768 0 285.000 0 21 19 CD 1.744 0.049 1.674 0 270 0 24 20 Curtains 1.865 2.039 -0.495 0 0 0 21 Bed -1.037 0.009 -0.690 0 270 0 22 Mirror 0.549 1.494 1.880 0 0 0 23 Curtains 0.486 2.035 -1.853 0 90 0 24 GarbageCan 1.683 -0.018 1.670 0 270 0 25 LightSwitch -0.119 1.317 1.853 0 180 0 26 DeskLamp -1.845 1.057 0.756 0 0 0 27 Window 1.932 1.409 -0.507 90 270 0 28 Window 0.481 1.411 -1.932 90 0 0 29 SideTable 0.626 0.0 -1.705 0 0 0 30 Footstool 0.176 0.006 -0.358 0 0 0 31 Dumbbell 1.596 0.715 0.772 0 0 0 32 Dumbbell 1.776 0.717 0.772 0 0 0 33 Shelf -1.700 0.573 1.540 0 90 0 34 Shelf -1.700 0.156 1.540 0 90 0 35 Shelf -1.700 0.377 1.540 0 90 0 36 Shelf -1.839 1.084 1.235 0 90 0 37 Desk -1.722 0.003 0.920 0 90 0 38 Footstool 0.175 0.004 -0.652 0 0 0 39 GarbageBag 1.624 0.319 -1.609 270 90 83.418 40 Desk 1.519 1.823 0.385 0 270 0 41 Chair -1.459 0.003 0.929 0 292.527 0 42 NorthWall 43 EastWall 44 WestWall

[ "STEP 1: Turn around and go right to face the dresser at the end of the bed with the clock on it. | STEP 2: Pick the pencil up from the dresser. | STEP 3: Turn around and go left to face the desk. | STEP 4: Turn the lamp on the desk on. | END" ]

[ [ "STEP 1: Turn around and go right to face the dresser at the end of the bed with the clock on it. ", " STEP 2: Pick the pencil up from the dresser. ", " STEP 3: Turn around and go left to face the desk. ", " STEP 4: Turn the lamp on the desk on. ", " END" ] ]

seen