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] | Move keys from top of desk to below | [
"STEP 1: Turn around, walk to desk ",
" STEP 2: Pick up keys off of desk ",
" STEP 3: Turn around twice and end up facing the desk ",
" STEP 4: Put keys on top of drawers under the desk ",
" END"
] | [
"Turn around, walk to desk",
"Turn around twice and end up facing the desk",
"Spin three times and face the door",
"Pick up keys off of desk",
"Go straight, run to the window",
"Put keys on top of drawers under the desk"
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(A)",
"(D)",
"(B)",
"(F)"
] |
trial_T20190909_040212_128194-2 | [
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] | Move keys from the desk to the dresser. | [
"STEP 1: Turn around and move to the desk along the wall. ",
" STEP 2: Pick up the keys from the back of the desk. ",
" STEP 3: Carry the keys and turn around. ",
" STEP 4: Place the keys on the brown dresser below the desk. ",
" END"
] | [
"Pick up the keys from the back of the desk.",
"Carry the keys and walk straight.",
"Turn left and walk to the chair near the window.",
"Place the keys on the brown dresser below the desk.",
"Turn around and move to the desk along the wall.",
"Carry the keys and turn around."
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(E)",
"(A)",
"(F)",
"(D)"
] |
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] | Place a microwaved slice of potato into the trash can. | [
"STEP 1: Head towards the door then right towards the sink. ",
" STEP 2: Pick up the knife inside the sink. ",
" STEP 3: Turn around then right towards the wall, turn left towards the counter top. ",
" STEP 4: Cut the potato on the counter top. ",
" STEP 5: Turn left then head towards the stove ",
" STEP 6: Place the knife into the microwave located above the stove. ",
" STEP 7: Turn right then head towards the wall then left towards the counter top. ",
" STEP 8: Pick up a potato slice from the counter top. ",
" STEP 9: Turn left then head towards the stove, turn right towards the microwave. ",
" STEP 10: Place the potato slice into the microwave, close the door then turn it on. ",
" STEP 11: Turn left then head towards wall, right towards the door, then left towards the trash can. ",
" STEP 12: Place the potato slice into the trash can. ",
" END"
] | [
"Cut the potato on the counter top.",
"Place the potato slice into the trash can.",
"Rotate right then move towards the fridge, pivot left towards the toaster.",
"Head towards the door then right towards the sink.",
"Place the potato slice into the microwave, close the door then turn it on.",
"Turn left then head towards the stove",
"Pick up the knife inside the sink.",
"Turn around then right towards the wall, turn left towards the counter top.",
"Take the spoon from the dishwasher.",
"Place the knife into the microwave located above the stove.",
"Turn left then head towards wall, right towards the door, then left towards the trash can.",
"Turn right then head towards the wall then left towards the counter top.",
"Pick up a potato slice from the counter top.",
"Turn left then head towards the stove, turn right towards the microwave."
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)",
"(K)",
"(L)",
"(M)",
"(N)"
] | [
"(D)",
"(G)",
"(H)",
"(A)",
"(F)",
"(J)",
"(L)",
"(M)",
"(N)",
"(E)",
"(K)",
"(B)"
] |
trial_T20190909_113622_708422-0 | [
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{
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" object_type": " Faucet",
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},
{
"id": "86",
" object_type": " Drawer",
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" rotation_z": " 0",
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},
{
"id": "87",
" object_type": " Drawer",
" position_x": " 1.175",
" position_y": " 0.792",
" position_z": " 0.995",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
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},
{
"id": "88",
" object_type": " Cabinet",
" position_x": " 1.723",
" position_y": " 0.402",
" position_z": " -0.296",
" rotation_x": " 0",
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" rotation_z": " 0",
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},
{
"id": "89",
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" position_y": " 1.093",
" position_z": " 1.557",
" rotation_x": " 287.970",
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" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "90",
" object_type": " StoveKnob",
" position_x": " 0.188",
" position_y": " 1.093",
" position_z": " 1.557",
" rotation_x": " 287.970",
" rotation_y": " 0",
" rotation_z": " 0",
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{
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" object_type": " StoveKnob",
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{
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" rotation_z": " 0",
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},
{
"id": "93",
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" position_y": " 0.900",
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" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "94",
" object_type": " LightSwitch",
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" position_y": " 1.427",
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" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
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},
{
"id": "95",
" object_type": " GarbageCan",
" position_x": " -1.965",
" position_y": " -0.029",
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" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
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" object_type": " CoffeeMachine",
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" position_y": " 0.900",
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" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
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" object_type": " Fridge",
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" position_y": " 0.0",
" position_z": " -0.709",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "98",
" object_type": " Window",
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" position_y": " 1.501",
" position_z": " -0.014",
" rotation_x": " 90",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "99",
" object_type": " SinkBasin",
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" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
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" object_type": " Microwave",
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" position_y": " 1.675",
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" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "101",
" object_type": " DiningTable",
" position_x": " -0.836",
" position_y": " 8.404",
" position_z": " -1.258",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
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},
{
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" object_type": " Chair",
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" rotation_x": " 0",
" rotation_y": " 45",
" rotation_z": " 0",
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},
{
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" object_type": " NorthWall",
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},
{
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},
{
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" rotation_z": " ",
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},
{
"id": "106",
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" position_x": " ",
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" rotation_y": " ",
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}
] | Put a chilled bowl away in a kitchen cabinet. | [
"STEP 1: Turn left and go to the left of the stove. ",
" STEP 2: Pick up the bowl from the counter on the left side of the stove. ",
" STEP 3: Turn right and go to the fridge near the far wall. ",
" STEP 4: Chill the bowl in the fridge, then take it out again. ",
" STEP 5: Take the bowl to the cabinet under the countertop to the right of the fridge. ",
" STEP 6: Open the right side door of the cabinet and put the bowl away in it. ",
" END"
] | [
"Place another bowl on the counter to the right side of the stove.",
"Chill the bowl in the fridge, then take it out again.",
"Pick up the bowl from the counter on the left side of the stove.",
"Turn right and go to the fridge near the far wall.",
"Take the bowl to the cabinet under the countertop to the right of the fridge.",
"Bring the bowl to the shelf above the fridge.",
"Turn left and go to the left of the stove.",
"Open the right side door of the cabinet and put the bowl away in it."
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(G)",
"(C)",
"(D)",
"(B)",
"(E)",
"(H)"
] |
trial_T20190908_044339_918732-0 | [{"id":"0"," object_type":" Agent"," position_x":" -0.25"," position_y":" 0.900"," position_z":" 0.2(...TRUNCATED) | "[\n {\n \"id\": \"0\",\n \" object_type\": \" Agent\",\n \" position_x\": \(...TRUNCATED) | Put the chilled tomato slice in the microwave | ["STEP 1: Turn left and walk up to the kitchen counter "," STEP 2: Pick up the butter knife from the(...TRUNCATED) | ["Use the knife to cut the tomato on the counter","Pick up a tomato slice from the counter","Put the(...TRUNCATED) | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)",
"(K)",
"(L)",
"(M)"
] | [
"(E)",
"(I)",
"(A)",
"(H)",
"(D)",
"(M)",
"(B)",
"(F)",
"(G)",
"(K)",
"(C)"
] |
trial_T20190908_123536_170505-2 | [{"id":"0"," object_type":" Agent"," position_x":" 0.5"," position_y":" 0.900"," position_z":" -1.25(...TRUNCATED) | "[\n {\n \"id\": \"0\",\n \" object_type\": \" Agent\",\n \" position_x\": \(...TRUNCATED) | Put a statue down on a table. | ["STEP 1: Go to the left and turn left to face the table with the plant on it. "," STEP 2: Pick the (...TRUNCATED) | ["Turn right and go forward, face the bookshelf","Pick the statue up from the table.","Proceed to th(...TRUNCATED) | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(D)",
"(B)",
"(F)",
"(E)"
] |
trial_T20190908_125234_061434-1 | [{"id":"0"," object_type":" Agent"," position_x":" 1.25"," position_y":" 0.900"," position_z":" 0.5"(...TRUNCATED) | "[\n {\n \"id\": \"0\",\n \" object_type\": \" Agent\",\n \" position_x\": \(...TRUNCATED) | Move the wristwatch from the coffee table to the dresser. | ["STEP 1: Turn left and walk to the coffee table. "," STEP 2: Pick up the wristwatch from the coffee(...TRUNCATED) | ["Turn right and walk towards the bookshelf.","Put the wristwatch down on the dresser to the right o(...TRUNCATED) | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(F)",
"(E)",
"(D)",
"(B)"
] |
trial_T20190918_203807_287151-1 | [{"id":"0"," object_type":" Agent"," position_x":" 0.0"," position_y":" 0.931"," position_z":" -0.25(...TRUNCATED) | "[\n {\n \"id\": \"0\",\n \" object_type\": \" Agent\",\n \" position_x\": \(...TRUNCATED) | Place a warm egg on the counter. | ["STEP 1: Walk to the sink to your left. "," STEP 2: Grab the egg sitting between the bread and knif(...TRUNCATED) | ["Grab the egg sitting between the bread and knife to the left of the sink.","Place the egg next to (...TRUNCATED) | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(D)",
"(A)",
"(G)",
"(B)",
"(E)",
"(C)"
] |
trial_T20190908_044517_056279-2 | [{"id":"0"," object_type":" Agent"," position_x":" -1.5"," position_y":" 0.900"," position_z":" 0.5"(...TRUNCATED) | "[\n {\n \"id\": \"0\",\n \" object_type\": \" Agent\",\n \" position_x\": \(...TRUNCATED) | Place a chilled tomato slice in the microwave. | ["STEP 1: Turn right, move to the counter near the coffee machine. "," STEP 2: Pick up the knife fro(...TRUNCATED) | ["Pick up the knife from the counter.","Turn right, move to in front of the stove.","Turn right, mov(...TRUNCATED) | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)",
"(K)",
"(L)",
"(M)",
"(N)"
] | [
"(D)",
"(A)",
"(H)",
"(J)",
"(I)",
"(B)",
"(C)",
"(N)",
"(H)",
"(J)",
"(K)",
"(L)",
"(G)",
"(B)",
"(C)",
"(M)"
] |
trial_T20190908_143542_788790-1 | [{"id":"0"," object_type":" Agent"," position_x":" 1.25"," position_y":" 0.949"," position_z":" 0.5"(...TRUNCATED) | "[\n {\n \"id\": \"0\",\n \" object_type\": \" Agent\",\n \" position_x\": \(...TRUNCATED) | Put a CD on the book shelf. | ["STEP 1: Turn to your left and go to the dresser against the wall, across from you. "," STEP 2: Pic(...TRUNCATED) | ["Pick up the CD closest to you on the dresser.","Turn to your left and go past the other dresser on(...TRUNCATED) | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(D)",
"(A)",
"(B)",
"(E)"
] |
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