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trial_T20190907_123359_561127-2
Put two spray bottles under the sink.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -2.25 0.909 2.25 0 180 0 1 Cloth -2.725 0.111 0.544 0 0 0 41 2 SoapBar -0.759 0.969 3.007 0 180 0 26 3 SoapBar -2.607 0.598 1.384 0 0 0 42 4 SprayBottle -1.498 1.105 3.137 0 0 0 28 5 SprayBottle -1.337 1.105 3.292 0 0 0 28 6 SprayBottle -0.822 1.072 0.271 0 0 0 47 7 DishSponge -2.812 0.600 1.467 0 0 0 42 8 SoapBottle -0.691 1.073 0.302 0 0 0 47 9 SoapBottle -3.017 0.600 1.384 0 0 0 42 10 Towel 0.861 1.358 2.855 0 270 0 39 11 HandTowel -0.242 1.76 3.427 0 0 0 45 12 Plunger -0.219 0.026 0.490 0 0 0 13 SoapBar -1.535 0.054 3.156 0 0 0 30 14 ToiletPaper -2.915 0.595 1.342 0 0 0 42 15 SoapBottle -1.231 1.106 3.137 0 0 0 28 16 ToiletPaper -0.138 0.058 3.297 0 0 0 43 17 Towel 0.402 1.389 3.359 0 0 0 40 18 PaperTowelRoll -0.560 1.177 0.302 0 0 0 47 19 ScrubBrush -0.351 0.026 0.353 0 0 0 20 Cloth -1.704 0.059 3.088 0 0 0 30 21 Candle -3.222 0.597 1.384 0 0 0 42 22 DishSponge -2.291 0.108 0.815 0 0 0 41 23 SprayBottle -0.757 1.072 0.424 0 0 0 47 24 Window -3.447 1.593 0.648 0 0 0 25 Mirror -1.386 1.595 3.464 0 0 0 26 SinkBasin -0.837 0.960 3.091 0 180 0 27 ShowerDoor -2.477 1.774 2.386 0 0 0 28 CounterTop -1.358 1.094 3.151 0 0 0 29 Sink -0.846 0.952 3.144 0 180 0 30 Cabinet -1.399 0.425 2.867 0 0 0 31 Bathtub -2.234 0.288 0.722 0 0 0 32 Cabinet -0.337 0.425 2.867 0 0 0 33 Cabinet -1.362 0.425 2.867 0 0 0 34 Cabinet -2.423 0.425 2.867 0 0 0 35 ShowerGlass -2.895 1.423 2.342 0 0 0 36 Faucet -0.853 1.094 3.367 0 180 0 37 ShowerHead -2.949 2.154 3.427 0 0 0 38 Window -2.190 1.550 0.086 0 0 0 39 TowelHolder 0.967 1.343 2.855 0 270 0 40 TowelHolder 0.402 1.375 3.466 0 180 0 41 BathtubBasin -2.322 0.096 0.634 0 0 0 42 Shelf -2.930 0.589 1.425 0 0 0 43 GarbageCan -0.061 -0.001 3.131 0 270 0 44 LightSwitch 0.968 1.432 1.128 0 270 0 45 HandTowelHolder -0.241 1.861 3.466 0 90 0 46 ToiletPaperHanger -0.039 0.958 0.201 0 0 0 47 Toilet -0.694 0.026 0.656 0 90 0 48 Faucet -1.944 1.094 3.367 0 180 0 49 Sink -1.934 0.952 3.144 0 180 0 50 SinkBasin -1.926 0.960 3.091 0 180 0 51 Faucet -1.342 0.638 0.629 0 90 0 52 NorthWall 53 EastWall 54 SouthWall 55 WestWall
[ "STEP 1: Turn left and walk to the right of the left sink that's on your left. and face that area. | STEP 2: Pick up the spray bottle on the left. | STEP 3: Back up a step. | STEP 4: Open the second cupboard from the right that's under the sink and put the spray bottle near the edge. | STEP 5: Take a half step right and walk forward. | STEP 6: Pick up the other spray bottle. | STEP 7: Back up a step and take a half step left. | STEP 8: Put this spray bottle to the left of the first one in the cupboard. | END" ]
[ [ "STEP 1: Turn left and walk to the right of the left sink that's on your left. and face that area. ", " STEP 2: Pick up the spray bottle on the left. ", " STEP 3: Back up a step. ", " STEP 4: Open the second cupboard from the right that's under the sink and put the spray bottle near the edge. ", " STEP 5: Take a half step right and walk forward. ", " STEP 6: Pick up the other spray bottle. ", " STEP 7: Back up a step and take a half step left. ", " STEP 8: Put this spray bottle to the left of the first one in the cupboard. ", " END" ] ]
seen
trial_T20190907_123359_561127-3
put the two cleaner bottles on the vanity into the second cabinet from the right
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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 0.909 2.25 0 180 0 1 Cloth -2.725 0.111 0.544 0 0 0 41 2 SoapBar -0.759 0.969 3.007 0 180 0 26 3 SoapBar -2.607 0.598 1.384 0 0 0 42 4 SprayBottle -1.498 1.105 3.137 0 0 0 28 5 SprayBottle -1.337 1.105 3.292 0 0 0 28 6 SprayBottle -0.822 1.072 0.271 0 0 0 47 7 DishSponge -2.812 0.600 1.467 0 0 0 42 8 SoapBottle -0.691 1.073 0.302 0 0 0 47 9 SoapBottle -3.017 0.600 1.384 0 0 0 42 10 Towel 0.861 1.358 2.855 0 270 0 39 11 HandTowel -0.242 1.76 3.427 0 0 0 45 12 Plunger -0.219 0.026 0.490 0 0 0 13 SoapBar -1.535 0.054 3.156 0 0 0 30 14 ToiletPaper -2.915 0.595 1.342 0 0 0 42 15 SoapBottle -1.231 1.106 3.137 0 0 0 28 16 ToiletPaper -0.138 0.058 3.297 0 0 0 43 17 Towel 0.402 1.389 3.359 0 0 0 40 18 PaperTowelRoll -0.560 1.177 0.302 0 0 0 47 19 ScrubBrush -0.351 0.026 0.353 0 0 0 20 Cloth -1.704 0.059 3.088 0 0 0 30 21 Candle -3.222 0.597 1.384 0 0 0 42 22 DishSponge -2.291 0.108 0.815 0 0 0 41 23 SprayBottle -0.757 1.072 0.424 0 0 0 47 24 Window -3.447 1.593 0.648 0 0 0 25 Mirror -1.386 1.595 3.464 0 0 0 26 SinkBasin -0.837 0.960 3.091 0 180 0 27 ShowerDoor -2.477 1.774 2.386 0 0 0 28 CounterTop -1.358 1.094 3.151 0 0 0 29 Sink -0.846 0.952 3.144 0 180 0 30 Cabinet -1.399 0.425 2.867 0 0 0 31 Bathtub -2.234 0.288 0.722 0 0 0 32 Cabinet -0.337 0.425 2.867 0 0 0 33 Cabinet -1.362 0.425 2.867 0 0 0 34 Cabinet -2.423 0.425 2.867 0 0 0 35 ShowerGlass -2.895 1.423 2.342 0 0 0 36 Faucet -0.853 1.094 3.367 0 180 0 37 ShowerHead -2.949 2.154 3.427 0 0 0 38 Window -2.190 1.550 0.086 0 0 0 39 TowelHolder 0.967 1.343 2.855 0 270 0 40 TowelHolder 0.402 1.375 3.466 0 180 0 41 BathtubBasin -2.322 0.096 0.634 0 0 0 42 Shelf -2.930 0.589 1.425 0 0 0 43 GarbageCan -0.061 -0.001 3.131 0 270 0 44 LightSwitch 0.968 1.432 1.128 0 270 0 45 HandTowelHolder -0.241 1.861 3.466 0 90 0 46 ToiletPaperHanger -0.039 0.958 0.201 0 0 0 47 Toilet -0.694 0.026 0.656 0 90 0 48 Faucet -1.944 1.094 3.367 0 180 0 49 Sink -1.934 0.952 3.144 0 180 0 50 SinkBasin -1.926 0.960 3.091 0 180 0 51 Faucet -1.342 0.638 0.629 0 90 0 52 NorthWall 53 EastWall 54 SouthWall 55 WestWall
[ "STEP 1: turn around to the vanity | STEP 2: grab the cleaner on the vanity | STEP 3: turn around, turn around | STEP 4: open the second cabinet door from the right, put the cleaner in, close the cabinet | STEP 5: look on the vanity | STEP 6: grab the cleaner on the vanity | STEP 7: turn around, turn around | STEP 8: open the second cabinet door from the right, put the cleaner in, close the cabinet | END" ]
[ [ "STEP 1: turn around to the vanity ", " STEP 2: grab the cleaner on the vanity ", " STEP 3: turn around, turn around ", " STEP 4: open the second cabinet door from the right, put the cleaner in, close the cabinet ", " STEP 5: look on the vanity ", " STEP 6: grab the cleaner on the vanity ", " STEP 7: turn around, turn around ", " STEP 8: open the second cabinet door from the right, put the cleaner in, close the cabinet ", " END" ] ]
seen
trial_T20190907_123359_561127-4
Move the two spray bottles from the counter to the cabinet underneath.
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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 0.909 2.25 0 180 0 1 Cloth -2.725 0.111 0.544 0 0 0 41 2 SoapBar -0.759 0.969 3.007 0 180 0 26 3 SoapBar -2.607 0.598 1.384 0 0 0 42 4 SprayBottle -1.498 1.105 3.137 0 0 0 28 5 SprayBottle -1.337 1.105 3.292 0 0 0 28 6 SprayBottle -0.822 1.072 0.271 0 0 0 47 7 DishSponge -2.812 0.600 1.467 0 0 0 42 8 SoapBottle -0.691 1.073 0.302 0 0 0 47 9 SoapBottle -3.017 0.600 1.384 0 0 0 42 10 Towel 0.861 1.358 2.855 0 270 0 39 11 HandTowel -0.242 1.76 3.427 0 0 0 45 12 Plunger -0.219 0.026 0.490 0 0 0 13 SoapBar -1.535 0.054 3.156 0 0 0 30 14 ToiletPaper -2.915 0.595 1.342 0 0 0 42 15 SoapBottle -1.231 1.106 3.137 0 0 0 28 16 ToiletPaper -0.138 0.058 3.297 0 0 0 43 17 Towel 0.402 1.389 3.359 0 0 0 40 18 PaperTowelRoll -0.560 1.177 0.302 0 0 0 47 19 ScrubBrush -0.351 0.026 0.353 0 0 0 20 Cloth -1.704 0.059 3.088 0 0 0 30 21 Candle -3.222 0.597 1.384 0 0 0 42 22 DishSponge -2.291 0.108 0.815 0 0 0 41 23 SprayBottle -0.757 1.072 0.424 0 0 0 47 24 Window -3.447 1.593 0.648 0 0 0 25 Mirror -1.386 1.595 3.464 0 0 0 26 SinkBasin -0.837 0.960 3.091 0 180 0 27 ShowerDoor -2.477 1.774 2.386 0 0 0 28 CounterTop -1.358 1.094 3.151 0 0 0 29 Sink -0.846 0.952 3.144 0 180 0 30 Cabinet -1.399 0.425 2.867 0 0 0 31 Bathtub -2.234 0.288 0.722 0 0 0 32 Cabinet -0.337 0.425 2.867 0 0 0 33 Cabinet -1.362 0.425 2.867 0 0 0 34 Cabinet -2.423 0.425 2.867 0 0 0 35 ShowerGlass -2.895 1.423 2.342 0 0 0 36 Faucet -0.853 1.094 3.367 0 180 0 37 ShowerHead -2.949 2.154 3.427 0 0 0 38 Window -2.190 1.550 0.086 0 0 0 39 TowelHolder 0.967 1.343 2.855 0 270 0 40 TowelHolder 0.402 1.375 3.466 0 180 0 41 BathtubBasin -2.322 0.096 0.634 0 0 0 42 Shelf -2.930 0.589 1.425 0 0 0 43 GarbageCan -0.061 -0.001 3.131 0 270 0 44 LightSwitch 0.968 1.432 1.128 0 270 0 45 HandTowelHolder -0.241 1.861 3.466 0 90 0 46 ToiletPaperHanger -0.039 0.958 0.201 0 0 0 47 Toilet -0.694 0.026 0.656 0 90 0 48 Faucet -1.944 1.094 3.367 0 180 0 49 Sink -1.934 0.952 3.144 0 180 0 50 SinkBasin -1.926 0.960 3.091 0 180 0 51 Faucet -1.342 0.638 0.629 0 90 0 52 NorthWall 53 EastWall 54 SouthWall 55 WestWall
[ "STEP 1: Move to the counter in between the two sinks. | STEP 2: Pick up a grey spray bottle from the counter. | STEP 3: Move a few steps back from where you are standing. | STEP 4: Put the bottle in the third cabinet from the left and close the door. | STEP 5: Move to the counter in between the two sinks. | STEP 6: Pick up a grey spray bottle from the counter. | STEP 7: Move a few steps back from where you are standing. | STEP 8: Put the bottle in the third cabinet from the left and close the door. | END" ]
[ [ "STEP 1: Move to the counter in between the two sinks. ", " STEP 2: Pick up a grey spray bottle from the counter. ", " STEP 3: Move a few steps back from where you are standing. ", " STEP 4: Put the bottle in the third cabinet from the left and close the door. ", " STEP 5: Move to the counter in between the two sinks. ", " STEP 6: Pick up a grey spray bottle from the counter. ", " STEP 7: Move a few steps back from where you are standing. ", " STEP 8: Put the bottle in the third cabinet from the left and close the door. ", " END" ] ]
seen
trial_T20190907_123359_561127-5
To move two spray bottles to the cabinet below the sink.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -2.25 0.909 2.25 0 180 0 1 Cloth -2.725 0.111 0.544 0 0 0 41 2 SoapBar -0.759 0.969 3.007 0 180 0 26 3 SoapBar -2.607 0.598 1.384 0 0 0 42 4 SprayBottle -1.498 1.105 3.137 0 0 0 28 5 SprayBottle -1.337 1.105 3.292 0 0 0 28 6 SprayBottle -0.822 1.072 0.271 0 0 0 47 7 DishSponge -2.812 0.600 1.467 0 0 0 42 8 SoapBottle -0.691 1.073 0.302 0 0 0 47 9 SoapBottle -3.017 0.600 1.384 0 0 0 42 10 Towel 0.861 1.358 2.855 0 270 0 39 11 HandTowel -0.242 1.76 3.427 0 0 0 45 12 Plunger -0.219 0.026 0.490 0 0 0 13 SoapBar -1.535 0.054 3.156 0 0 0 30 14 ToiletPaper -2.915 0.595 1.342 0 0 0 42 15 SoapBottle -1.231 1.106 3.137 0 0 0 28 16 ToiletPaper -0.138 0.058 3.297 0 0 0 43 17 Towel 0.402 1.389 3.359 0 0 0 40 18 PaperTowelRoll -0.560 1.177 0.302 0 0 0 47 19 ScrubBrush -0.351 0.026 0.353 0 0 0 20 Cloth -1.704 0.059 3.088 0 0 0 30 21 Candle -3.222 0.597 1.384 0 0 0 42 22 DishSponge -2.291 0.108 0.815 0 0 0 41 23 SprayBottle -0.757 1.072 0.424 0 0 0 47 24 Window -3.447 1.593 0.648 0 0 0 25 Mirror -1.386 1.595 3.464 0 0 0 26 SinkBasin -0.837 0.960 3.091 0 180 0 27 ShowerDoor -2.477 1.774 2.386 0 0 0 28 CounterTop -1.358 1.094 3.151 0 0 0 29 Sink -0.846 0.952 3.144 0 180 0 30 Cabinet -1.399 0.425 2.867 0 0 0 31 Bathtub -2.234 0.288 0.722 0 0 0 32 Cabinet -0.337 0.425 2.867 0 0 0 33 Cabinet -1.362 0.425 2.867 0 0 0 34 Cabinet -2.423 0.425 2.867 0 0 0 35 ShowerGlass -2.895 1.423 2.342 0 0 0 36 Faucet -0.853 1.094 3.367 0 180 0 37 ShowerHead -2.949 2.154 3.427 0 0 0 38 Window -2.190 1.550 0.086 0 0 0 39 TowelHolder 0.967 1.343 2.855 0 270 0 40 TowelHolder 0.402 1.375 3.466 0 180 0 41 BathtubBasin -2.322 0.096 0.634 0 0 0 42 Shelf -2.930 0.589 1.425 0 0 0 43 GarbageCan -0.061 -0.001 3.131 0 270 0 44 LightSwitch 0.968 1.432 1.128 0 270 0 45 HandTowelHolder -0.241 1.861 3.466 0 90 0 46 ToiletPaperHanger -0.039 0.958 0.201 0 0 0 47 Toilet -0.694 0.026 0.656 0 90 0 48 Faucet -1.944 1.094 3.367 0 180 0 49 Sink -1.934 0.952 3.144 0 180 0 50 SinkBasin -1.926 0.960 3.091 0 180 0 51 Faucet -1.342 0.638 0.629 0 90 0 52 NorthWall 53 EastWall 54 SouthWall 55 WestWall
[ "STEP 1: Turn around and walk to the counter space between the two sinks. | STEP 2: Pick up the spray bottle to the right of the sink on the left. | STEP 3: Look down at the cabinets below the sinks. | STEP 4: Open the left cabinet below the right side sink, place the spray bottle inside the cabinet, and close the door. | STEP 5: Move to the counter space in the middle of the two sinks. | STEP 6: Pick up the remaining gray and white spray bottle next to the left sink. | STEP 7: Look down at the cabinets below the sinks. | STEP 8: Open the left cabinet below the right side sink, place the spray bottle inside the cabinet to the left of the first spray bottle, and close the door. | END" ]
[ [ "STEP 1: Turn around and walk to the counter space between the two sinks. ", " STEP 2: Pick up the spray bottle to the right of the sink on the left. ", " STEP 3: Look down at the cabinets below the sinks. ", " STEP 4: Open the left cabinet below the right side sink, place the spray bottle inside the cabinet, and close the door. ", " STEP 5: Move to the counter space in the middle of the two sinks. ", " STEP 6: Pick up the remaining gray and white spray bottle next to the left sink. ", " STEP 7: Look down at the cabinets below the sinks. ", " STEP 8: Open the left cabinet below the right side sink, place the spray bottle inside the cabinet to the left of the first spray bottle, and close the door. ", " END" ] ]
seen
trial_T20190907_124501_787647-0
Put a cleaned pan on the stove, under the kettle.
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"11", " Plate", " -0.420", " 0.911", " 0.188", " 0", " 0", " 0", " 72" ], [ "12", " Knife", " -0.993", " 0.934", " -1.553", " 0", " 90", " 0", " 79" ], [ "13", " SoapBottle", " -1.259", " 0.911", " -1.929", " 0", " 0", " 0", " 79" ], [ "14", " SoapBottle", " -1.404", " 0.911", " -1.806", " 0", " 0", " 0", " 79" ], [ "15", " Bowl", " 0.944", " 1.655", " -2.126", " 0", " 0", " 0", " 52" ], [ "16", " Bowl", " 1.194", " 0.908", " -2.183", " 0", " 0", " 0", " 79" ], [ "17", " SaltShaker", " -0.252", " 0.693", " 0.181", " 0", " 180", " 0", " 78" ], [ "18", " Lettuce", " 1.945", " 0.893", " -0.551", " 0", " 90", " 0", " 86" ], [ "19", " Lettuce", " 1.891", " 1.504", " -0.644", " 0", " 270", " 0", " 86" ], [ "20", " Mug", " -1.322", " 0.906", " -1.638", " 0", " 0", " 0", " 79" ], [ "21", " Pan", " -1.289", " 0.957", " -1.02", " 0", " 0", " 0", " 69" ], [ "22", " Knife", " -0.657", " 0.717", " -1.935", " 0", " 90", " 0", " 49" ], [ "23", " Bowl", " 1.950", " 1.649", " -1.671", " 0", " 0", " 0", " 57" ], [ "24", " Fork", " 1.644", " 0.911", " -1.929", " 0", " 0", " 0", " 79" ], [ "25", " Cup", " 0.101", " 0.750", " -1.938", " 0", " 0", " 0", " 89" ], [ "26", " Ladle", " -0.375", " 1.168", " 0.662", " 0", " 0", " 0", " 75" ], [ "27", " Apple", " 1.878", " 1.064", " -1.245", " 0", " 270", " 0", " 84" ], [ "28", " Kettle", " -1.056", " 0.956", " -1.127", " 0", " 0", " 0", " 76" ], [ "29", " Vase", " 2.798", " 0.554", " 0.245", " 0", " 180", " 0", " 85" ], [ "30", " Potato", " 1.781", " 1.045", " -1.297", " 0", " 270", " 0", " 84" ], [ "31", " Pot", " -1.056", " 0.956", " -0.672", " 0", " 180", " 0", " 51" ], [ "32", " Bread", " -1.149", " 0.984", " -0.190", " 0", " 0", " 1.752", " 72" ], [ "33", " Plate", " -0.598", " 1.129", " 0.529", " 0", " 0", " 0", " 75" ], [ "34", " Spatula", " -1.080", " 0.907", " -0.170", " 0", " 180", " 0", " 72" ], [ "35", " PaperTowelRoll", " -1.259", " 1.015", " -1.845", " 0", " 90", " 0", " 79" ], [ "36", " Vase", " 1.349", " 1.659", " -2.128", " 0", 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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 0.75 0.900 0.5 0 270 0 1 Potato 1.945 1.458 -0.271 0 270 0 86 2 Ladle -0.205 0.950 0.030 0 0 0 72 3 Ladle -1.160 0.173 -0.250 0 90 0 66 4 DishSponge 2.694 0.551 0.038 0 180 0 85 5 DishSponge 1.884 0.062 0.138 0 0 0 82 6 ButterKnife -1.247 0.901 -0.048 0 0 0 72 7 ButterKnife -0.997 0.901 -0.292 0 0 0 72 8 Spatula -1.379 0.926 -2.267 0 90 0 79 9 Spoon -0.759 0.695 -1.846 0 90 0 49 10 Egg 1.836 0.850 -0.737 0 270 0 86 11 Plate -0.420 0.911 0.188 0 0 0 72 12 Knife -0.993 0.934 -1.553 0 90 0 79 13 SoapBottle -1.259 0.911 -1.929 0 0 0 79 14 SoapBottle -1.404 0.911 -1.806 0 0 0 79 15 Bowl 0.944 1.655 -2.126 0 0 0 52 16 Bowl 1.194 0.908 -2.183 0 0 0 79 17 SaltShaker -0.252 0.693 0.181 0 180 0 78 18 Lettuce 1.945 0.893 -0.551 0 90 0 86 19 Lettuce 1.891 1.504 -0.644 0 270 0 86 20 Mug -1.322 0.906 -1.638 0 0 0 79 21 Pan -1.289 0.957 -1.02 0 0 0 69 22 Knife -0.657 0.717 -1.935 0 90 0 49 23 Bowl 1.950 1.649 -1.671 0 0 0 57 24 Fork 1.644 0.911 -1.929 0 0 0 79 25 Cup 0.101 0.750 -1.938 0 0 0 89 26 Ladle -0.375 1.168 0.662 0 0 0 75 27 Apple 1.878 1.064 -1.245 0 270 0 84 28 Kettle -1.056 0.956 -1.127 0 0 0 76 29 Vase 2.798 0.554 0.245 0 180 0 85 30 Potato 1.781 1.045 -1.297 0 270 0 84 31 Pot -1.056 0.956 -0.672 0 180 0 51 32 Bread -1.149 0.984 -0.190 0 0 1.752 72 33 Plate -0.598 1.129 0.529 0 0 0 75 34 Spatula -1.080 0.907 -0.170 0 180 0 72 35 PaperTowelRoll -1.259 1.015 -1.845 0 90 0 79 36 Vase 1.349 1.659 -2.128 0 90 0 52 37 Egg 2.055 1.461 -0.830 0 270 0 86 38 SoapBottle -1.157 0.911 -1.469 0 0 0 79 39 SaltShaker -1.200 1.654 -1.789 0 0 0 61 40 Lettuce 2.000 0.893 -0.365 0 270 0 86 41 PepperShaker -0.186 0.691 0.263 0 180 0 78 42 ButterKnife -0.119 0.697 0.181 0 180 0 78 43 DishSponge -1.018 0.910 -1.929 0 0 0 79 44 Vase 2.979 0.539 0.128 0 0 0 85 45 Spoon -0.152 1.132 0.485 0 0 0 75 46 Tomato -1.063 0.963 0.135 0 0 0 72 47 Mug 1.873 1.654 -1.117 0 0 0 56 48 Statue -1.330 0.920 -0.231 0 90 0 72 49 Drawer -0.819 0.75 -1.690 0 0 0 50 Cabinet -1.149 2.264 -0.838 0 90 0 51 StoveBurner -1.056 0.949 -0.671 0 180 0 52 Cabinet 1.738 2.019 -2.000 0 0 0 53 Cabinet 1.389 0.469 -1.059 0 0 0 54 StoveBurner -1.289 0.949 -0.755 0 180 0 55 Faucet -0.157 1.052 -2.196 0 270 0 56 Cabinet 1.75 2.019 -1.029 0 0 0 57 Cabinet 1.75 2.019 -1.399 0 0 0 58 Cabinet 1.179 2.019 -2.0 0 0 0 59 Cabinet 0.199 2.019 -2.0 0 0 0 60 Cabinet -1.100 2.019 -2.0 0 0 0 61 Cabinet -1.149 2.019 -1.979 0 0 0 62 Cabinet -1.149 2.019 -0.770 0 0 0 63 Cabinet -1.149 2.019 0.380 0 0 0 64 Cabinet -0.819 0.469 -1.689 0 0 0 65 Cabinet -0.839 0.469 -1.664 0 0 0 66 Cabinet -0.839 0.469 -0.049 0 0 0 67 Cabinet -0.414 0.370 -0.009 0 0 0 68 Sink -0.118 0.875 -2.009 0 0 0 69 StoveBurner -1.289 0.949 -1.019 0 0 0 70 Cabinet 0.119 2.264 -2.0 0 0 0 71 Cabinet -0.459 2.264 -2.0 0 0 0 72 CounterTop -0.665 0.949 0.188 0 0 0 73 Drawer -0.449 0.75 -0.010 0 180 0 74 Cabinet -0.450 0.469 -0.009 0 0 0 75 CounterTop -0.630 1.167 0.573 0 0 0 76 StoveBurner -1.056 0.949 -1.126 0 0 0 77 Cabinet 1.376 0.460 -1.685 0 0 0 78 Drawer -0.070 0.75 -0.009 0 180 0 79 CounterTop 1.159 0.946 -2.013 0 0 0 80 Cabinet -1.150 2.264 -1.418 0 90 0 81 HousePlant -1.246 1.108 0.606 0 0 0 82 GarbageCan 1.923 -0.010 0.137 0 0 0 83 Shelf 2.759 0.880 0.144 0 0 0 84 Microwave 1.827 0.900 -1.354 0 270 0 85 Shelf 2.759 0.552 0.145 0 0 0 86 Fridge 1.975 0.0 -0.537 0 0 0 87 LightSwitch 0.404 1.297 2.0 0 180 0 88 Shelf 2.760 0.172 0.145 0 0 0 89 SinkBasin -0.129 0.752 -2.007 0 0 0 90 StoveKnob -0.873 0.903 -0.827 45 90 0 91 StoveKnob -0.873 0.903 -0.676 45 90 0 92 StoveKnob -0.873 0.903 -0.966 45 90 0 93 StoveKnob -0.873 0.903 -1.123 45 90 0 94 Toaster 0.840 0.900 -2.057 0 0 0 95 CoffeeMachine 0.501 0.900 -2.125 0 0 0 96 ShelvingUnit 2.760 0.006 0.144 0 0 0 97 Stool -0.826 0.010 0.908 0 347.513 0 98 Stool -0.132 0.010 0.883 0 71.555 0 99 NorthWall 100 EastWall 101 SouthWall 102 WestWall
[ "STEP 1: Turn left, head forward, turn right, head to the stove. | STEP 2: Pick up the dirty pan on the back of the stove. | STEP 3: Turn around, bring the pan to the sink. | STEP 4: Wash the pan in the sink with water. | STEP 5: Bring the pan back to the stove on the right. | STEP 6: Put the pan on the stove, under the kettle. | END" ]
[ [ "STEP 1: Turn left, head forward, turn right, head to the stove. ", " STEP 2: Pick up the dirty pan on the back of the stove. ", " STEP 3: Turn around, bring the pan to the sink. ", " STEP 4: Wash the pan in the sink with water. ", " STEP 5: Bring the pan back to the stove on the right. ", " STEP 6: Put the pan on the stove, under the kettle. ", " END" ] ]
seen
trial_T20190907_124501_787647-1
place a clean sauce pan on the stove top burner
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"11", " Plate", " -0.420", " 0.911", " 0.188", " 0", " 0", " 0", " 72" ], [ "12", " Knife", " -0.993", " 0.934", " -1.553", " 0", " 90", " 0", " 79" ], [ "13", " SoapBottle", " -1.259", " 0.911", " -1.929", " 0", " 0", " 0", " 79" ], [ "14", " SoapBottle", " -1.404", " 0.911", " -1.806", " 0", " 0", " 0", " 79" ], [ "15", " Bowl", " 0.944", " 1.655", " -2.126", " 0", " 0", " 0", " 52" ], [ "16", " Bowl", " 1.194", " 0.908", " -2.183", " 0", " 0", " 0", " 79" ], [ "17", " SaltShaker", " -0.252", " 0.693", " 0.181", " 0", " 180", " 0", " 78" ], [ "18", " Lettuce", " 1.945", " 0.893", " -0.551", " 0", " 90", " 0", " 86" ], [ "19", " Lettuce", " 1.891", " 1.504", " -0.644", " 0", " 270", " 0", " 86" ], [ "20", " Mug", " -1.322", " 0.906", " -1.638", " 0", " 0", " 0", " 79" ], [ "21", " Pan", " -1.289", " 0.957", " -1.02", " 0", " 0", " 0", " 69" ], [ "22", " Knife", " -0.657", " 0.717", " -1.935", " 0", " 90", " 0", " 49" ], [ "23", " Bowl", " 1.950", " 1.649", " -1.671", " 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 0.75 0.900 0.5 0 270 0 1 Potato 1.945 1.458 -0.271 0 270 0 86 2 Ladle -0.205 0.950 0.030 0 0 0 72 3 Ladle -1.160 0.173 -0.250 0 90 0 66 4 DishSponge 2.694 0.551 0.038 0 180 0 85 5 DishSponge 1.884 0.062 0.138 0 0 0 82 6 ButterKnife -1.247 0.901 -0.048 0 0 0 72 7 ButterKnife -0.997 0.901 -0.292 0 0 0 72 8 Spatula -1.379 0.926 -2.267 0 90 0 79 9 Spoon -0.759 0.695 -1.846 0 90 0 49 10 Egg 1.836 0.850 -0.737 0 270 0 86 11 Plate -0.420 0.911 0.188 0 0 0 72 12 Knife -0.993 0.934 -1.553 0 90 0 79 13 SoapBottle -1.259 0.911 -1.929 0 0 0 79 14 SoapBottle -1.404 0.911 -1.806 0 0 0 79 15 Bowl 0.944 1.655 -2.126 0 0 0 52 16 Bowl 1.194 0.908 -2.183 0 0 0 79 17 SaltShaker -0.252 0.693 0.181 0 180 0 78 18 Lettuce 1.945 0.893 -0.551 0 90 0 86 19 Lettuce 1.891 1.504 -0.644 0 270 0 86 20 Mug -1.322 0.906 -1.638 0 0 0 79 21 Pan -1.289 0.957 -1.02 0 0 0 69 22 Knife -0.657 0.717 -1.935 0 90 0 49 23 Bowl 1.950 1.649 -1.671 0 0 0 57 24 Fork 1.644 0.911 -1.929 0 0 0 79 25 Cup 0.101 0.750 -1.938 0 0 0 89 26 Ladle -0.375 1.168 0.662 0 0 0 75 27 Apple 1.878 1.064 -1.245 0 270 0 84 28 Kettle -1.056 0.956 -1.127 0 0 0 76 29 Vase 2.798 0.554 0.245 0 180 0 85 30 Potato 1.781 1.045 -1.297 0 270 0 84 31 Pot -1.056 0.956 -0.672 0 180 0 51 32 Bread -1.149 0.984 -0.190 0 0 1.752 72 33 Plate -0.598 1.129 0.529 0 0 0 75 34 Spatula -1.080 0.907 -0.170 0 180 0 72 35 PaperTowelRoll -1.259 1.015 -1.845 0 90 0 79 36 Vase 1.349 1.659 -2.128 0 90 0 52 37 Egg 2.055 1.461 -0.830 0 270 0 86 38 SoapBottle -1.157 0.911 -1.469 0 0 0 79 39 SaltShaker -1.200 1.654 -1.789 0 0 0 61 40 Lettuce 2.000 0.893 -0.365 0 270 0 86 41 PepperShaker -0.186 0.691 0.263 0 180 0 78 42 ButterKnife -0.119 0.697 0.181 0 180 0 78 43 DishSponge -1.018 0.910 -1.929 0 0 0 79 44 Vase 2.979 0.539 0.128 0 0 0 85 45 Spoon -0.152 1.132 0.485 0 0 0 75 46 Tomato -1.063 0.963 0.135 0 0 0 72 47 Mug 1.873 1.654 -1.117 0 0 0 56 48 Statue -1.330 0.920 -0.231 0 90 0 72 49 Drawer -0.819 0.75 -1.690 0 0 0 50 Cabinet -1.149 2.264 -0.838 0 90 0 51 StoveBurner -1.056 0.949 -0.671 0 180 0 52 Cabinet 1.738 2.019 -2.000 0 0 0 53 Cabinet 1.389 0.469 -1.059 0 0 0 54 StoveBurner -1.289 0.949 -0.755 0 180 0 55 Faucet -0.157 1.052 -2.196 0 270 0 56 Cabinet 1.75 2.019 -1.029 0 0 0 57 Cabinet 1.75 2.019 -1.399 0 0 0 58 Cabinet 1.179 2.019 -2.0 0 0 0 59 Cabinet 0.199 2.019 -2.0 0 0 0 60 Cabinet -1.100 2.019 -2.0 0 0 0 61 Cabinet -1.149 2.019 -1.979 0 0 0 62 Cabinet -1.149 2.019 -0.770 0 0 0 63 Cabinet -1.149 2.019 0.380 0 0 0 64 Cabinet -0.819 0.469 -1.689 0 0 0 65 Cabinet -0.839 0.469 -1.664 0 0 0 66 Cabinet -0.839 0.469 -0.049 0 0 0 67 Cabinet -0.414 0.370 -0.009 0 0 0 68 Sink -0.118 0.875 -2.009 0 0 0 69 StoveBurner -1.289 0.949 -1.019 0 0 0 70 Cabinet 0.119 2.264 -2.0 0 0 0 71 Cabinet -0.459 2.264 -2.0 0 0 0 72 CounterTop -0.665 0.949 0.188 0 0 0 73 Drawer -0.449 0.75 -0.010 0 180 0 74 Cabinet -0.450 0.469 -0.009 0 0 0 75 CounterTop -0.630 1.167 0.573 0 0 0 76 StoveBurner -1.056 0.949 -1.126 0 0 0 77 Cabinet 1.376 0.460 -1.685 0 0 0 78 Drawer -0.070 0.75 -0.009 0 180 0 79 CounterTop 1.159 0.946 -2.013 0 0 0 80 Cabinet -1.150 2.264 -1.418 0 90 0 81 HousePlant -1.246 1.108 0.606 0 0 0 82 GarbageCan 1.923 -0.010 0.137 0 0 0 83 Shelf 2.759 0.880 0.144 0 0 0 84 Microwave 1.827 0.900 -1.354 0 270 0 85 Shelf 2.759 0.552 0.145 0 0 0 86 Fridge 1.975 0.0 -0.537 0 0 0 87 LightSwitch 0.404 1.297 2.0 0 180 0 88 Shelf 2.760 0.172 0.145 0 0 0 89 SinkBasin -0.129 0.752 -2.007 0 0 0 90 StoveKnob -0.873 0.903 -0.827 45 90 0 91 StoveKnob -0.873 0.903 -0.676 45 90 0 92 StoveKnob -0.873 0.903 -0.966 45 90 0 93 StoveKnob -0.873 0.903 -1.123 45 90 0 94 Toaster 0.840 0.900 -2.057 0 0 0 95 CoffeeMachine 0.501 0.900 -2.125 0 0 0 96 ShelvingUnit 2.760 0.006 0.144 0 0 0 97 Stool -0.826 0.010 0.908 0 347.513 0 98 Stool -0.132 0.010 0.883 0 71.555 0 99 NorthWall 100 EastWall 101 SouthWall 102 WestWall
[ "STEP 1: turn left and walk to the kitchen counter, then turn right and walk over to the stove at the end of the room | STEP 2: grab the dirty sauce pan off of the stove from the back left burner | STEP 3: move over to the sink on your left | STEP 4: place the dirty sauce pan inside of the sink and rinse it off, then pick it back up | STEP 5: turn right and move over to the stove ahead on the right | STEP 6: place the clean sauce pan on the burner | END" ]
[ [ "STEP 1: turn left and walk to the kitchen counter, then turn right and walk over to the stove at the end of the room ", " STEP 2: grab the dirty sauce pan off of the stove from the back left burner ", " STEP 3: move over to the sink on your left ", " STEP 4: place the dirty sauce pan inside of the sink and rinse it off, then pick it back up ", " STEP 5: turn right and move over to the stove ahead on the right ", " STEP 6: place the clean sauce pan on the burner ", " END" ] ]
seen
trial_T20190907_124501_787647-2
Put the clean pan under the kettle on the stove
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 0.75 0.900 0.5 0 270 0 1 Potato 1.945 1.458 -0.271 0 270 0 86 2 Ladle -0.205 0.950 0.030 0 0 0 72 3 Ladle -1.160 0.173 -0.250 0 90 0 66 4 DishSponge 2.694 0.551 0.038 0 180 0 85 5 DishSponge 1.884 0.062 0.138 0 0 0 82 6 ButterKnife -1.247 0.901 -0.048 0 0 0 72 7 ButterKnife -0.997 0.901 -0.292 0 0 0 72 8 Spatula -1.379 0.926 -2.267 0 90 0 79 9 Spoon -0.759 0.695 -1.846 0 90 0 49 10 Egg 1.836 0.850 -0.737 0 270 0 86 11 Plate -0.420 0.911 0.188 0 0 0 72 12 Knife -0.993 0.934 -1.553 0 90 0 79 13 SoapBottle -1.259 0.911 -1.929 0 0 0 79 14 SoapBottle -1.404 0.911 -1.806 0 0 0 79 15 Bowl 0.944 1.655 -2.126 0 0 0 52 16 Bowl 1.194 0.908 -2.183 0 0 0 79 17 SaltShaker -0.252 0.693 0.181 0 180 0 78 18 Lettuce 1.945 0.893 -0.551 0 90 0 86 19 Lettuce 1.891 1.504 -0.644 0 270 0 86 20 Mug -1.322 0.906 -1.638 0 0 0 79 21 Pan -1.289 0.957 -1.02 0 0 0 69 22 Knife -0.657 0.717 -1.935 0 90 0 49 23 Bowl 1.950 1.649 -1.671 0 0 0 57 24 Fork 1.644 0.911 -1.929 0 0 0 79 25 Cup 0.101 0.750 -1.938 0 0 0 89 26 Ladle -0.375 1.168 0.662 0 0 0 75 27 Apple 1.878 1.064 -1.245 0 270 0 84 28 Kettle -1.056 0.956 -1.127 0 0 0 76 29 Vase 2.798 0.554 0.245 0 180 0 85 30 Potato 1.781 1.045 -1.297 0 270 0 84 31 Pot -1.056 0.956 -0.672 0 180 0 51 32 Bread -1.149 0.984 -0.190 0 0 1.752 72 33 Plate -0.598 1.129 0.529 0 0 0 75 34 Spatula -1.080 0.907 -0.170 0 180 0 72 35 PaperTowelRoll -1.259 1.015 -1.845 0 90 0 79 36 Vase 1.349 1.659 -2.128 0 90 0 52 37 Egg 2.055 1.461 -0.830 0 270 0 86 38 SoapBottle -1.157 0.911 -1.469 0 0 0 79 39 SaltShaker -1.200 1.654 -1.789 0 0 0 61 40 Lettuce 2.000 0.893 -0.365 0 270 0 86 41 PepperShaker -0.186 0.691 0.263 0 180 0 78 42 ButterKnife -0.119 0.697 0.181 0 180 0 78 43 DishSponge -1.018 0.910 -1.929 0 0 0 79 44 Vase 2.979 0.539 0.128 0 0 0 85 45 Spoon -0.152 1.132 0.485 0 0 0 75 46 Tomato -1.063 0.963 0.135 0 0 0 72 47 Mug 1.873 1.654 -1.117 0 0 0 56 48 Statue -1.330 0.920 -0.231 0 90 0 72 49 Drawer -0.819 0.75 -1.690 0 0 0 50 Cabinet -1.149 2.264 -0.838 0 90 0 51 StoveBurner -1.056 0.949 -0.671 0 180 0 52 Cabinet 1.738 2.019 -2.000 0 0 0 53 Cabinet 1.389 0.469 -1.059 0 0 0 54 StoveBurner -1.289 0.949 -0.755 0 180 0 55 Faucet -0.157 1.052 -2.196 0 270 0 56 Cabinet 1.75 2.019 -1.029 0 0 0 57 Cabinet 1.75 2.019 -1.399 0 0 0 58 Cabinet 1.179 2.019 -2.0 0 0 0 59 Cabinet 0.199 2.019 -2.0 0 0 0 60 Cabinet -1.100 2.019 -2.0 0 0 0 61 Cabinet -1.149 2.019 -1.979 0 0 0 62 Cabinet -1.149 2.019 -0.770 0 0 0 63 Cabinet -1.149 2.019 0.380 0 0 0 64 Cabinet -0.819 0.469 -1.689 0 0 0 65 Cabinet -0.839 0.469 -1.664 0 0 0 66 Cabinet -0.839 0.469 -0.049 0 0 0 67 Cabinet -0.414 0.370 -0.009 0 0 0 68 Sink -0.118 0.875 -2.009 0 0 0 69 StoveBurner -1.289 0.949 -1.019 0 0 0 70 Cabinet 0.119 2.264 -2.0 0 0 0 71 Cabinet -0.459 2.264 -2.0 0 0 0 72 CounterTop -0.665 0.949 0.188 0 0 0 73 Drawer -0.449 0.75 -0.010 0 180 0 74 Cabinet -0.450 0.469 -0.009 0 0 0 75 CounterTop -0.630 1.167 0.573 0 0 0 76 StoveBurner -1.056 0.949 -1.126 0 0 0 77 Cabinet 1.376 0.460 -1.685 0 0 0 78 Drawer -0.070 0.75 -0.009 0 180 0 79 CounterTop 1.159 0.946 -2.013 0 0 0 80 Cabinet -1.150 2.264 -1.418 0 90 0 81 HousePlant -1.246 1.108 0.606 0 0 0 82 GarbageCan 1.923 -0.010 0.137 0 0 0 83 Shelf 2.759 0.880 0.144 0 0 0 84 Microwave 1.827 0.900 -1.354 0 270 0 85 Shelf 2.759 0.552 0.145 0 0 0 86 Fridge 1.975 0.0 -0.537 0 0 0 87 LightSwitch 0.404 1.297 2.0 0 180 0 88 Shelf 2.760 0.172 0.145 0 0 0 89 SinkBasin -0.129 0.752 -2.007 0 0 0 90 StoveKnob -0.873 0.903 -0.827 45 90 0 91 StoveKnob -0.873 0.903 -0.676 45 90 0 92 StoveKnob -0.873 0.903 -0.966 45 90 0 93 StoveKnob -0.873 0.903 -1.123 45 90 0 94 Toaster 0.840 0.900 -2.057 0 0 0 95 CoffeeMachine 0.501 0.900 -2.125 0 0 0 96 ShelvingUnit 2.760 0.006 0.144 0 0 0 97 Stool -0.826 0.010 0.908 0 347.513 0 98 Stool -0.132 0.010 0.883 0 71.555 0 99 NorthWall 100 EastWall 101 SouthWall 102 WestWall
[ "STEP 1: Turn to your left then turn to your right go straight to the stove | STEP 2: Pick up the pan behind the kettle on the stove | STEP 3: Turn around and walk going to the sink | STEP 4: Put the pan on the sink, rinse it then pick it up | STEP 5: Turn to your right and head back to the stove | STEP 6: Place the pan under the kettle on the stove | END" ]
[ [ "STEP 1: Turn to your left then turn to your right go straight to the stove ", " STEP 2: Pick up the pan behind the kettle on the stove ", " STEP 3: Turn around and walk going to the sink ", " STEP 4: Put the pan on the sink, rinse it then pick it up ", " STEP 5: Turn to your right and head back to the stove ", " STEP 6: Place the pan under the kettle on the stove ", " END" ] ]
seen
trial_T20190907_124501_787647-3
Put a clean pan on the stove.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 0.75 0.900 0.5 0 270 0 1 Potato 1.945 1.458 -0.271 0 270 0 86 2 Ladle -0.205 0.950 0.030 0 0 0 72 3 Ladle -1.160 0.173 -0.250 0 90 0 66 4 DishSponge 2.694 0.551 0.038 0 180 0 85 5 DishSponge 1.884 0.062 0.138 0 0 0 82 6 ButterKnife -1.247 0.901 -0.048 0 0 0 72 7 ButterKnife -0.997 0.901 -0.292 0 0 0 72 8 Spatula -1.379 0.926 -2.267 0 90 0 79 9 Spoon -0.759 0.695 -1.846 0 90 0 49 10 Egg 1.836 0.850 -0.737 0 270 0 86 11 Plate -0.420 0.911 0.188 0 0 0 72 12 Knife -0.993 0.934 -1.553 0 90 0 79 13 SoapBottle -1.259 0.911 -1.929 0 0 0 79 14 SoapBottle -1.404 0.911 -1.806 0 0 0 79 15 Bowl 0.944 1.655 -2.126 0 0 0 52 16 Bowl 1.194 0.908 -2.183 0 0 0 79 17 SaltShaker -0.252 0.693 0.181 0 180 0 78 18 Lettuce 1.945 0.893 -0.551 0 90 0 86 19 Lettuce 1.891 1.504 -0.644 0 270 0 86 20 Mug -1.322 0.906 -1.638 0 0 0 79 21 Pan -1.289 0.957 -1.02 0 0 0 69 22 Knife -0.657 0.717 -1.935 0 90 0 49 23 Bowl 1.950 1.649 -1.671 0 0 0 57 24 Fork 1.644 0.911 -1.929 0 0 0 79 25 Cup 0.101 0.750 -1.938 0 0 0 89 26 Ladle -0.375 1.168 0.662 0 0 0 75 27 Apple 1.878 1.064 -1.245 0 270 0 84 28 Kettle -1.056 0.956 -1.127 0 0 0 76 29 Vase 2.798 0.554 0.245 0 180 0 85 30 Potato 1.781 1.045 -1.297 0 270 0 84 31 Pot -1.056 0.956 -0.672 0 180 0 51 32 Bread -1.149 0.984 -0.190 0 0 1.752 72 33 Plate -0.598 1.129 0.529 0 0 0 75 34 Spatula -1.080 0.907 -0.170 0 180 0 72 35 PaperTowelRoll -1.259 1.015 -1.845 0 90 0 79 36 Vase 1.349 1.659 -2.128 0 90 0 52 37 Egg 2.055 1.461 -0.830 0 270 0 86 38 SoapBottle -1.157 0.911 -1.469 0 0 0 79 39 SaltShaker -1.200 1.654 -1.789 0 0 0 61 40 Lettuce 2.000 0.893 -0.365 0 270 0 86 41 PepperShaker -0.186 0.691 0.263 0 180 0 78 42 ButterKnife -0.119 0.697 0.181 0 180 0 78 43 DishSponge -1.018 0.910 -1.929 0 0 0 79 44 Vase 2.979 0.539 0.128 0 0 0 85 45 Spoon -0.152 1.132 0.485 0 0 0 75 46 Tomato -1.063 0.963 0.135 0 0 0 72 47 Mug 1.873 1.654 -1.117 0 0 0 56 48 Statue -1.330 0.920 -0.231 0 90 0 72 49 Drawer -0.819 0.75 -1.690 0 0 0 50 Cabinet -1.149 2.264 -0.838 0 90 0 51 StoveBurner -1.056 0.949 -0.671 0 180 0 52 Cabinet 1.738 2.019 -2.000 0 0 0 53 Cabinet 1.389 0.469 -1.059 0 0 0 54 StoveBurner -1.289 0.949 -0.755 0 180 0 55 Faucet -0.157 1.052 -2.196 0 270 0 56 Cabinet 1.75 2.019 -1.029 0 0 0 57 Cabinet 1.75 2.019 -1.399 0 0 0 58 Cabinet 1.179 2.019 -2.0 0 0 0 59 Cabinet 0.199 2.019 -2.0 0 0 0 60 Cabinet -1.100 2.019 -2.0 0 0 0 61 Cabinet -1.149 2.019 -1.979 0 0 0 62 Cabinet -1.149 2.019 -0.770 0 0 0 63 Cabinet -1.149 2.019 0.380 0 0 0 64 Cabinet -0.819 0.469 -1.689 0 0 0 65 Cabinet -0.839 0.469 -1.664 0 0 0 66 Cabinet -0.839 0.469 -0.049 0 0 0 67 Cabinet -0.414 0.370 -0.009 0 0 0 68 Sink -0.118 0.875 -2.009 0 0 0 69 StoveBurner -1.289 0.949 -1.019 0 0 0 70 Cabinet 0.119 2.264 -2.0 0 0 0 71 Cabinet -0.459 2.264 -2.0 0 0 0 72 CounterTop -0.665 0.949 0.188 0 0 0 73 Drawer -0.449 0.75 -0.010 0 180 0 74 Cabinet -0.450 0.469 -0.009 0 0 0 75 CounterTop -0.630 1.167 0.573 0 0 0 76 StoveBurner -1.056 0.949 -1.126 0 0 0 77 Cabinet 1.376 0.460 -1.685 0 0 0 78 Drawer -0.070 0.75 -0.009 0 180 0 79 CounterTop 1.159 0.946 -2.013 0 0 0 80 Cabinet -1.150 2.264 -1.418 0 90 0 81 HousePlant -1.246 1.108 0.606 0 0 0 82 GarbageCan 1.923 -0.010 0.137 0 0 0 83 Shelf 2.759 0.880 0.144 0 0 0 84 Microwave 1.827 0.900 -1.354 0 270 0 85 Shelf 2.759 0.552 0.145 0 0 0 86 Fridge 1.975 0.0 -0.537 0 0 0 87 LightSwitch 0.404 1.297 2.0 0 180 0 88 Shelf 2.760 0.172 0.145 0 0 0 89 SinkBasin -0.129 0.752 -2.007 0 0 0 90 StoveKnob -0.873 0.903 -0.827 45 90 0 91 StoveKnob -0.873 0.903 -0.676 45 90 0 92 StoveKnob -0.873 0.903 -0.966 45 90 0 93 StoveKnob -0.873 0.903 -1.123 45 90 0 94 Toaster 0.840 0.900 -2.057 0 0 0 95 CoffeeMachine 0.501 0.900 -2.125 0 0 0 96 ShelvingUnit 2.760 0.006 0.144 0 0 0 97 Stool -0.826 0.010 0.908 0 347.513 0 98 Stool -0.132 0.010 0.883 0 71.555 0 99 NorthWall 100 EastWall 101 SouthWall 102 WestWall
[ "STEP 1: Go left and then right to face the stove. | STEP 2: Pick the pan up from the back left of the stove. | STEP 3: Turn to the left and face the sink. | STEP 4: Put the pan in the sink, turn the water on and then off and pick the pan up. | STEP 5: Turn to the right and face the stove. | STEP 6: Put the pan down on the stove. | END" ]
[ [ "STEP 1: Go left and then right to face the stove. ", " STEP 2: Pick the pan up from the back left of the stove. ", " STEP 3: Turn to the left and face the sink. ", " STEP 4: Put the pan in the sink, turn the water on and then off and pick the pan up. ", " STEP 5: Turn to the right and face the stove. ", " STEP 6: Put the pan down on the stove. ", " END" ] ]
seen
trial_T20190907_124501_787647-4
wash the pan in the sink, put it under the kettle on the stove
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 0.75 0.900 0.5 0 270 0 1 Potato 1.945 1.458 -0.271 0 270 0 86 2 Ladle -0.205 0.950 0.030 0 0 0 72 3 Ladle -1.160 0.173 -0.250 0 90 0 66 4 DishSponge 2.694 0.551 0.038 0 180 0 85 5 DishSponge 1.884 0.062 0.138 0 0 0 82 6 ButterKnife -1.247 0.901 -0.048 0 0 0 72 7 ButterKnife -0.997 0.901 -0.292 0 0 0 72 8 Spatula -1.379 0.926 -2.267 0 90 0 79 9 Spoon -0.759 0.695 -1.846 0 90 0 49 10 Egg 1.836 0.850 -0.737 0 270 0 86 11 Plate -0.420 0.911 0.188 0 0 0 72 12 Knife -0.993 0.934 -1.553 0 90 0 79 13 SoapBottle -1.259 0.911 -1.929 0 0 0 79 14 SoapBottle -1.404 0.911 -1.806 0 0 0 79 15 Bowl 0.944 1.655 -2.126 0 0 0 52 16 Bowl 1.194 0.908 -2.183 0 0 0 79 17 SaltShaker -0.252 0.693 0.181 0 180 0 78 18 Lettuce 1.945 0.893 -0.551 0 90 0 86 19 Lettuce 1.891 1.504 -0.644 0 270 0 86 20 Mug -1.322 0.906 -1.638 0 0 0 79 21 Pan -1.289 0.957 -1.02 0 0 0 69 22 Knife -0.657 0.717 -1.935 0 90 0 49 23 Bowl 1.950 1.649 -1.671 0 0 0 57 24 Fork 1.644 0.911 -1.929 0 0 0 79 25 Cup 0.101 0.750 -1.938 0 0 0 89 26 Ladle -0.375 1.168 0.662 0 0 0 75 27 Apple 1.878 1.064 -1.245 0 270 0 84 28 Kettle -1.056 0.956 -1.127 0 0 0 76 29 Vase 2.798 0.554 0.245 0 180 0 85 30 Potato 1.781 1.045 -1.297 0 270 0 84 31 Pot -1.056 0.956 -0.672 0 180 0 51 32 Bread -1.149 0.984 -0.190 0 0 1.752 72 33 Plate -0.598 1.129 0.529 0 0 0 75 34 Spatula -1.080 0.907 -0.170 0 180 0 72 35 PaperTowelRoll -1.259 1.015 -1.845 0 90 0 79 36 Vase 1.349 1.659 -2.128 0 90 0 52 37 Egg 2.055 1.461 -0.830 0 270 0 86 38 SoapBottle -1.157 0.911 -1.469 0 0 0 79 39 SaltShaker -1.200 1.654 -1.789 0 0 0 61 40 Lettuce 2.000 0.893 -0.365 0 270 0 86 41 PepperShaker -0.186 0.691 0.263 0 180 0 78 42 ButterKnife -0.119 0.697 0.181 0 180 0 78 43 DishSponge -1.018 0.910 -1.929 0 0 0 79 44 Vase 2.979 0.539 0.128 0 0 0 85 45 Spoon -0.152 1.132 0.485 0 0 0 75 46 Tomato -1.063 0.963 0.135 0 0 0 72 47 Mug 1.873 1.654 -1.117 0 0 0 56 48 Statue -1.330 0.920 -0.231 0 90 0 72 49 Drawer -0.819 0.75 -1.690 0 0 0 50 Cabinet -1.149 2.264 -0.838 0 90 0 51 StoveBurner -1.056 0.949 -0.671 0 180 0 52 Cabinet 1.738 2.019 -2.000 0 0 0 53 Cabinet 1.389 0.469 -1.059 0 0 0 54 StoveBurner -1.289 0.949 -0.755 0 180 0 55 Faucet -0.157 1.052 -2.196 0 270 0 56 Cabinet 1.75 2.019 -1.029 0 0 0 57 Cabinet 1.75 2.019 -1.399 0 0 0 58 Cabinet 1.179 2.019 -2.0 0 0 0 59 Cabinet 0.199 2.019 -2.0 0 0 0 60 Cabinet -1.100 2.019 -2.0 0 0 0 61 Cabinet -1.149 2.019 -1.979 0 0 0 62 Cabinet -1.149 2.019 -0.770 0 0 0 63 Cabinet -1.149 2.019 0.380 0 0 0 64 Cabinet -0.819 0.469 -1.689 0 0 0 65 Cabinet -0.839 0.469 -1.664 0 0 0 66 Cabinet -0.839 0.469 -0.049 0 0 0 67 Cabinet -0.414 0.370 -0.009 0 0 0 68 Sink -0.118 0.875 -2.009 0 0 0 69 StoveBurner -1.289 0.949 -1.019 0 0 0 70 Cabinet 0.119 2.264 -2.0 0 0 0 71 Cabinet -0.459 2.264 -2.0 0 0 0 72 CounterTop -0.665 0.949 0.188 0 0 0 73 Drawer -0.449 0.75 -0.010 0 180 0 74 Cabinet -0.450 0.469 -0.009 0 0 0 75 CounterTop -0.630 1.167 0.573 0 0 0 76 StoveBurner -1.056 0.949 -1.126 0 0 0 77 Cabinet 1.376 0.460 -1.685 0 0 0 78 Drawer -0.070 0.75 -0.009 0 180 0 79 CounterTop 1.159 0.946 -2.013 0 0 0 80 Cabinet -1.150 2.264 -1.418 0 90 0 81 HousePlant -1.246 1.108 0.606 0 0 0 82 GarbageCan 1.923 -0.010 0.137 0 0 0 83 Shelf 2.759 0.880 0.144 0 0 0 84 Microwave 1.827 0.900 -1.354 0 270 0 85 Shelf 2.759 0.552 0.145 0 0 0 86 Fridge 1.975 0.0 -0.537 0 0 0 87 LightSwitch 0.404 1.297 2.0 0 180 0 88 Shelf 2.760 0.172 0.145 0 0 0 89 SinkBasin -0.129 0.752 -2.007 0 0 0 90 StoveKnob -0.873 0.903 -0.827 45 90 0 91 StoveKnob -0.873 0.903 -0.676 45 90 0 92 StoveKnob -0.873 0.903 -0.966 45 90 0 93 StoveKnob -0.873 0.903 -1.123 45 90 0 94 Toaster 0.840 0.900 -2.057 0 0 0 95 CoffeeMachine 0.501 0.900 -2.125 0 0 0 96 ShelvingUnit 2.760 0.006 0.144 0 0 0 97 Stool -0.826 0.010 0.908 0 347.513 0 98 Stool -0.132 0.010 0.883 0 71.555 0 99 NorthWall 100 EastWall 101 SouthWall 102 WestWall
[ "STEP 1: turn left, walk to the stove | STEP 2: grab the pan on the stove | STEP 3: turn left, walk to the sink | STEP 4: put the pan in the sink, wash the pan in the sink, take the pan out | STEP 5: turn right, walk to the stove, | STEP 6: put the pan under the kettle on the stove | END" ]
[ [ "STEP 1: turn left, walk to the stove ", " STEP 2: grab the pan on the stove ", " STEP 3: turn left, walk to the sink ", " STEP 4: put the pan in the sink, wash the pan in the sink, take the pan out ", " STEP 5: turn right, walk to the stove, ", " STEP 6: put the pan under the kettle on the stove ", " END" ] ]
seen
trial_T20190907_124501_787647-5
Put a cleaned pan on the stove.
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"11", " Plate", " -0.420", " 0.911", " 0.188", " 0", " 0", " 0", " 72" ], [ "12", " Knife", " -0.993", " 0.934", " -1.553", " 0", " 90", " 0", " 79" ], [ "13", " SoapBottle", " -1.259", " 0.911", " -1.929", " 0", " 0", " 0", " 79" ], [ "14", " SoapBottle", " -1.404", " 0.911", " -1.806", " 0", " 0", " 0", " 79" ], [ "15", " Bowl", " 0.944", " 1.655", " -2.126", " 0", " 0", " 0", " 52" ], [ "16", " Bowl", " 1.194", " 0.908", " -2.183", " 0", " 0", " 0", " 79" ], [ "17", " SaltShaker", " -0.252", " 0.693", " 0.181", " 0", " 180", " 0", " 78" ], [ "18", " Lettuce", " 1.945", " 0.893", " -0.551", " 0", " 90", " 0", " 86" ], [ "19", " Lettuce", " 1.891", " 1.504", " -0.644", " 0", " 270", " 0", " 86" ], [ "20", " Mug", " -1.322", " 0.906", " -1.638", " 0", " 0", " 0", " 79" ], [ "21", " Pan", " -1.289", " 0.957", " -1.02", " 0", " 0", " 0", " 69" ], [ "22", " Knife", " -0.657", " 0.717", " -1.935", " 0", " 90", " 0", " 49" ], [ "23", " Bowl", " 1.950", " 1.649", " -1.671", " 0", " 0", " 0", " 57" ], [ "24", " Fork", " 1.644", " 0.911", " -1.929", " 0", " 0", " 0", " 79" ], [ "25", " Cup", " 0.101", " 0.750", " -1.938", " 0", " 0", " 0", " 89" ], [ "26", " Ladle", " -0.375", " 1.168", " 0.662", " 0", " 0", " 0", " 75" ], [ "27", " Apple", " 1.878", " 1.064", " -1.245", " 0", " 270", " 0", " 84" ], [ "28", " Kettle", " -1.056", " 0.956", " -1.127", " 0", " 0", " 0", " 76" ], [ "29", " Vase", " 2.798", " 0.554", " 0.245", " 0", " 180", " 0", " 85" ], [ "30", " Potato", " 1.781", " 1.045", " -1.297", " 0", " 270", " 0", " 84" ], [ "31", " Pot", " -1.056", " 0.956", " -0.672", " 0", " 180", " 0", " 51" ], [ "32", " Bread", " -1.149", " 0.984", " -0.190", " 0", " 0", " 1.752", " 72" ], [ "33", " Plate", " -0.598", " 1.129", " 0.529", " 0", " 0", " 0", " 75" ], [ "34", " Spatula", " -1.080", " 0.907", " -0.170", " 0", " 180", " 0", " 72" ], [ "35", " PaperTowelRoll", " -1.259", " 1.015", " -1.845", " 0", " 90", " 0", " 79" ], [ "36", " Vase", " 1.349", " 1.659", " -2.128", " 0", " 90", " 0", " 52" ], [ "37", " Egg", " 2.055", " 1.461", " -0.830", " 0", " 270", " 0", " 86" ], [ "38", " SoapBottle", " -1.157", " 0.911", " -1.469", " 0", " 0", " 0", " 79" ], [ "39", " SaltShaker", " -1.200", " 1.654", " -1.789", " 0", " 0", " 0", " 61" ], [ "40", " Lettuce", " 2.000", " 0.893", " -0.365", " 0", " 270", " 0", " 86" ], [ "41", " PepperShaker", " -0.186", " 0.691", " 0.263", " 0", " 180", " 0", " 78" ], [ "42", " ButterKnife", " -0.119", " 0.697", " 0.181", " 0", " 180", " 0", " 78" ], [ "43", " DishSponge", " -1.018", " 0.910", " -1.929", " 0", " 0", " 0", " 79" ], [ "44", " Vase", " 2.979", " 0.539", " 0.128", " 0", " 0", " 0", " 85" ], [ "45", " Spoon", " -0.152", " 1.132", " 0.485", " 0", " 0", " 0", " 75" ], [ "46", " Tomato", " -1.063", " 0.963", " 0.135", " 0", " 0", " 0", " 72" ], [ "47", " Mug", " 1.873", " 1.654", " -1.117", " 0", " 0", " 0", " 56" ], [ "48", " Statue", " -1.330", " 0.920", " -0.231", " 0", " 90", " 0", " 72" ], [ "49", " Drawer", " -0.819", " 0.75", " -1.690", " 0", " 0", " 0", "" ], [ "50", " Cabinet", " -1.149", " 2.264", " -0.838", " 0", " 90", " 0", "" ], [ "51", " StoveBurner", " -1.056", " 0.949", " -0.671", " 0", " 180", " 0", "" ], [ "52", " Cabinet", " 1.738", " 2.019", " -2.000", " 0", " 0", " 0", "" ], [ "53", " Cabinet", " 1.389", " 0.469", " -1.059", " 0", " 0", " 0", "" ], [ "54", " StoveBurner", " -1.289", " 0.949", " -0.755", " 0", " 180", " 0", "" ], [ "55", " Faucet", " -0.157", " 1.052", " -2.196", " 0", " 270", " 0", "" ], [ "56", " Cabinet", " 1.75", " 2.019", " -1.029", " 0", " 0", " 0", "" ], [ "57", " Cabinet", " 1.75", " 2.019", " -1.399", " 0", " 0", " 0", "" ], [ "58", " Cabinet", " 1.179", " 2.019", " -2.0", " 0", " 0", " 0", "" ], [ "59", " Cabinet", " 0.199", " 2.019", " -2.0", " 0", " 0", " 0", "" ], [ "60", " Cabinet", " -1.100", " 2.019", " -2.0", " 0", " 0", " 0", "" ], [ "61", " Cabinet", " -1.149", " 2.019", " -1.979", " 0", " 0", " 0", "" ], [ "62", " Cabinet", " -1.149", " 2.019", " -0.770", " 0", " 0", " 0", "" ], [ "63", " Cabinet", " -1.149", " 2.019", " 0.380", " 0", " 0", " 0", "" ], [ "64", " Cabinet", " -0.819", " 0.469", " -1.689", " 0", " 0", " 0", "" ], [ "65", " Cabinet", " -0.839", " 0.469", " -1.664", " 0", " 0", " 0", "" ], [ "66", " Cabinet", " -0.839", " 0.469", " -0.049", " 0", " 0", " 0", "" ], [ "67", " Cabinet", " -0.414", " 0.370", " -0.009", " 0", " 0", " 0", "" ], [ "68", " Sink", " -0.118", " 0.875", " -2.009", " 0", " 0", " 0", "" ], [ "69", " StoveBurner", " -1.289", " 0.949", " -1.019", " 0", " 0", " 0", "" ], [ "70", " Cabinet", " 0.119", " 2.264", " -2.0", " 0", " 0", " 0", "" ], [ "71", " Cabinet", " -0.459", " 2.264", " -2.0", " 0", " 0", " 0", "" ], [ "72", " CounterTop", " -0.665", " 0.949", " 0.188", " 0", " 0", " 0", "" ], [ "73", " Drawer", " -0.449", " 0.75", " -0.010", " 0", " 180", " 0", "" ], [ "74", " Cabinet", " -0.450", " 0.469", " -0.009", " 0", " 0", " 0", "" ], [ "75", " CounterTop", " -0.630", " 1.167", " 0.573", " 0", " 0", " 0", "" ], [ "76", " StoveBurner", " -1.056", " 0.949", " -1.126", " 0", " 0", " 0", "" ], [ "77", " Cabinet", " 1.376", " 0.460", " -1.685", " 0", " 0", " 0", "" ], [ "78", " Drawer", " -0.070", " 0.75", " -0.009", " 0", " 180", " 0", "" ], [ "79", " CounterTop", " 1.159", " 0.946", " -2.013", " 0", " 0", " 0", "" ], [ "80", " Cabinet", " -1.150", " 2.264", " -1.418", " 0", " 90", " 0", "" ], [ "81", " HousePlant", " -1.246", " 1.108", " 0.606", " 0", " 0", " 0", "" ], [ "82", " GarbageCan", " 1.923", " -0.010", " 0.137", " 0", " 0", " 0", "" ], [ "83", " Shelf", " 2.759", " 0.880", " 0.144", " 0", " 0", " 0", "" ], [ "84", " Microwave", " 1.827", " 0.900", " -1.354", " 0", " 270", " 0", "" ], [ "85", " Shelf", " 2.759", " 0.552", " 0.145", " 0", " 0", " 0", "" ], [ "86", " Fridge", " 1.975", " 0.0", " -0.537", " 0", " 0", " 0", "" ], [ "87", " LightSwitch", " 0.404", " 1.297", " 2.0", " 0", " 180", " 0", "" ], [ "88", " Shelf", " 2.760", " 0.172", " 0.145", " 0", " 0", " 0", "" ], [ "89", " SinkBasin", " -0.129", " 0.752", " -2.007", " 0", " 0", " 0", "" ], [ "90", " StoveKnob", " -0.873", " 0.903", " -0.827", " 45", " 90", " 0", "" ], [ "91", " StoveKnob", " -0.873", " 0.903", " -0.676", " 45", " 90", " 0", "" ], [ "92", " StoveKnob", " -0.873", " 0.903", " -0.966", " 45", " 90", " 0", "" ], [ "93", " StoveKnob", " -0.873", " 0.903", " -1.123", " 45", " 90", " 0", "" ], [ "94", " Toaster", " 0.840", " 0.900", " -2.057", " 0", " 0", " 0", "" ], [ "95", " CoffeeMachine", " 0.501", " 0.900", " -2.125", " 0", " 0", " 0", "" ], [ "96", " ShelvingUnit", " 2.760", " 0.006", " 0.144", " 0", " 0", " 0", "" ], [ "97", " Stool", " -0.826", " 0.010", " 0.908", " 0", " 347.513", " 0", "" ], [ "98", " Stool", " -0.132", " 0.010", " 0.883", " 0", " 71.555", " 0", "" ], [ "99", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "100", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "101", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "102", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 0.75 0.900 0.5 0 270 0 1 Potato 1.945 1.458 -0.271 0 270 0 86 2 Ladle -0.205 0.950 0.030 0 0 0 72 3 Ladle -1.160 0.173 -0.250 0 90 0 66 4 DishSponge 2.694 0.551 0.038 0 180 0 85 5 DishSponge 1.884 0.062 0.138 0 0 0 82 6 ButterKnife -1.247 0.901 -0.048 0 0 0 72 7 ButterKnife -0.997 0.901 -0.292 0 0 0 72 8 Spatula -1.379 0.926 -2.267 0 90 0 79 9 Spoon -0.759 0.695 -1.846 0 90 0 49 10 Egg 1.836 0.850 -0.737 0 270 0 86 11 Plate -0.420 0.911 0.188 0 0 0 72 12 Knife -0.993 0.934 -1.553 0 90 0 79 13 SoapBottle -1.259 0.911 -1.929 0 0 0 79 14 SoapBottle -1.404 0.911 -1.806 0 0 0 79 15 Bowl 0.944 1.655 -2.126 0 0 0 52 16 Bowl 1.194 0.908 -2.183 0 0 0 79 17 SaltShaker -0.252 0.693 0.181 0 180 0 78 18 Lettuce 1.945 0.893 -0.551 0 90 0 86 19 Lettuce 1.891 1.504 -0.644 0 270 0 86 20 Mug -1.322 0.906 -1.638 0 0 0 79 21 Pan -1.289 0.957 -1.02 0 0 0 69 22 Knife -0.657 0.717 -1.935 0 90 0 49 23 Bowl 1.950 1.649 -1.671 0 0 0 57 24 Fork 1.644 0.911 -1.929 0 0 0 79 25 Cup 0.101 0.750 -1.938 0 0 0 89 26 Ladle -0.375 1.168 0.662 0 0 0 75 27 Apple 1.878 1.064 -1.245 0 270 0 84 28 Kettle -1.056 0.956 -1.127 0 0 0 76 29 Vase 2.798 0.554 0.245 0 180 0 85 30 Potato 1.781 1.045 -1.297 0 270 0 84 31 Pot -1.056 0.956 -0.672 0 180 0 51 32 Bread -1.149 0.984 -0.190 0 0 1.752 72 33 Plate -0.598 1.129 0.529 0 0 0 75 34 Spatula -1.080 0.907 -0.170 0 180 0 72 35 PaperTowelRoll -1.259 1.015 -1.845 0 90 0 79 36 Vase 1.349 1.659 -2.128 0 90 0 52 37 Egg 2.055 1.461 -0.830 0 270 0 86 38 SoapBottle -1.157 0.911 -1.469 0 0 0 79 39 SaltShaker -1.200 1.654 -1.789 0 0 0 61 40 Lettuce 2.000 0.893 -0.365 0 270 0 86 41 PepperShaker -0.186 0.691 0.263 0 180 0 78 42 ButterKnife -0.119 0.697 0.181 0 180 0 78 43 DishSponge -1.018 0.910 -1.929 0 0 0 79 44 Vase 2.979 0.539 0.128 0 0 0 85 45 Spoon -0.152 1.132 0.485 0 0 0 75 46 Tomato -1.063 0.963 0.135 0 0 0 72 47 Mug 1.873 1.654 -1.117 0 0 0 56 48 Statue -1.330 0.920 -0.231 0 90 0 72 49 Drawer -0.819 0.75 -1.690 0 0 0 50 Cabinet -1.149 2.264 -0.838 0 90 0 51 StoveBurner -1.056 0.949 -0.671 0 180 0 52 Cabinet 1.738 2.019 -2.000 0 0 0 53 Cabinet 1.389 0.469 -1.059 0 0 0 54 StoveBurner -1.289 0.949 -0.755 0 180 0 55 Faucet -0.157 1.052 -2.196 0 270 0 56 Cabinet 1.75 2.019 -1.029 0 0 0 57 Cabinet 1.75 2.019 -1.399 0 0 0 58 Cabinet 1.179 2.019 -2.0 0 0 0 59 Cabinet 0.199 2.019 -2.0 0 0 0 60 Cabinet -1.100 2.019 -2.0 0 0 0 61 Cabinet -1.149 2.019 -1.979 0 0 0 62 Cabinet -1.149 2.019 -0.770 0 0 0 63 Cabinet -1.149 2.019 0.380 0 0 0 64 Cabinet -0.819 0.469 -1.689 0 0 0 65 Cabinet -0.839 0.469 -1.664 0 0 0 66 Cabinet -0.839 0.469 -0.049 0 0 0 67 Cabinet -0.414 0.370 -0.009 0 0 0 68 Sink -0.118 0.875 -2.009 0 0 0 69 StoveBurner -1.289 0.949 -1.019 0 0 0 70 Cabinet 0.119 2.264 -2.0 0 0 0 71 Cabinet -0.459 2.264 -2.0 0 0 0 72 CounterTop -0.665 0.949 0.188 0 0 0 73 Drawer -0.449 0.75 -0.010 0 180 0 74 Cabinet -0.450 0.469 -0.009 0 0 0 75 CounterTop -0.630 1.167 0.573 0 0 0 76 StoveBurner -1.056 0.949 -1.126 0 0 0 77 Cabinet 1.376 0.460 -1.685 0 0 0 78 Drawer -0.070 0.75 -0.009 0 180 0 79 CounterTop 1.159 0.946 -2.013 0 0 0 80 Cabinet -1.150 2.264 -1.418 0 90 0 81 HousePlant -1.246 1.108 0.606 0 0 0 82 GarbageCan 1.923 -0.010 0.137 0 0 0 83 Shelf 2.759 0.880 0.144 0 0 0 84 Microwave 1.827 0.900 -1.354 0 270 0 85 Shelf 2.759 0.552 0.145 0 0 0 86 Fridge 1.975 0.0 -0.537 0 0 0 87 LightSwitch 0.404 1.297 2.0 0 180 0 88 Shelf 2.760 0.172 0.145 0 0 0 89 SinkBasin -0.129 0.752 -2.007 0 0 0 90 StoveKnob -0.873 0.903 -0.827 45 90 0 91 StoveKnob -0.873 0.903 -0.676 45 90 0 92 StoveKnob -0.873 0.903 -0.966 45 90 0 93 StoveKnob -0.873 0.903 -1.123 45 90 0 94 Toaster 0.840 0.900 -2.057 0 0 0 95 CoffeeMachine 0.501 0.900 -2.125 0 0 0 96 ShelvingUnit 2.760 0.006 0.144 0 0 0 97 Stool -0.826 0.010 0.908 0 347.513 0 98 Stool -0.132 0.010 0.883 0 71.555 0 99 NorthWall 100 EastWall 101 SouthWall 102 WestWall
[ "STEP 1: Move to the stove to the right of the sink | STEP 2: Pick up a pan from the stove | STEP 3: Move to the sink to the left of the stove | STEP 4: Wash the pan in the sink with water and pick it up | STEP 5: Move to the stove to the right of you | STEP 6: Put the pan on the stove | END" ]
[ [ "STEP 1: Move to the stove to the right of the sink ", " STEP 2: Pick up a pan from the stove ", " STEP 3: Move to the sink to the left of the stove ", " STEP 4: Wash the pan in the sink with water and pick it up ", " STEP 5: Move to the stove to the right of you ", " STEP 6: Put the pan on the stove ", " END" ] ]
seen
trial_T20190906_231042_118272-0
put a bowl in the refrigerator
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.75 0.900 -0.5 0 180 0 1 Pan 1.412 0.929 -0.335 0 0 0 43 2 Potato -2.439 1.125 -0.696 0 90 0 74 3 DishSponge -2.572 1.933 -1.034 0 0 0 63 4 DishSponge -2.287 0.773 1.000 0 0 0 47 5 Kettle -2.455 0.911 1.530 0 0 0 70 6 Spoon -0.471 0.912 1.317 0 0 0 42 7 Spoon -0.601 0.912 0.423 0 0 0 42 8 Spatula -2.257 0.789 -0.073 0 90 0 60 9 Pot 1.691 0.929 0.064 0 0 0 53 10 Egg 1.341 0.941 0.406 0 0 0 51 11 Cup -0.341 0.908 1.317 0 0 0 42 12 Cup -2.578 1.298 -0.790 0 90 0 74 13 Plate -2.621 0.913 1.230 0 0 0 70 14 PepperShaker 1.512 0.906 0.465 0 0 0 51 15 SaltShaker -2.455 0.905 0.931 0 0 0 70 16 Bread 0.048 0.996 1.540 0 0 0 42 17 Mug -2.532 1.295 -0.602 0 90 0 74 18 Mug -2.603 0.992 2.380 0 180 0 82 19 Pan -2.621 0.910 0.031 0 270 0 70 20 Knife 0.683 0.936 -1.625 0 0 0 52 21 Apple 0.742 0.972 -1.501 0 45 0 52 22 Bowl 1.697 1.653 0.239 0 0 0 61 23 Fork -2.379 0.773 0.439 0 90 0 59 24 Bread -0.341 0.996 1.094 0 0 0 42 25 Plate -0.341 0.913 1.764 0 0 0 42 26 Egg -2.485 1.331 -1.074 0 90 0 74 27 Kettle 1.691 0.929 -0.335 0 0 0 50 28 Potato -2.558 0.214 -0.791 0 270 0 74 29 SaltShaker -2.605 1.532 2.840 0 0 0 46 30 Lettuce -0.730 0.994 0.870 0 0 0 42 31 Cup -2.669 0.176 -0.570 0 90 0 74 32 SoapBottle -2.206 0.912 0.931 0 0 0 70 33 Spatula -2.348 0.788 1.322 0 90 0 73 34 PaperTowelRoll 1.646 0.289 0.623 0 180 0 81 35 ButterKnife -2.621 0.910 0.331 0 0 0 70 36 PepperShaker -2.524 1.532 2.622 0 0 0 46 37 DishSponge 1.380 0.921 -1.212 0 225 0 56 38 Pot -0.211 0.914 0.423 0 0 0 42 39 Spoon -0.341 0.912 0.423 0 0 0 42 40 Tomato 1.562 0.227 0.679 0 0 0 81 41 Mug 0.464 0.955 -1.593 0 0 0 52 42 CounterTop -0.360 0.946 1.093 0 0 0 43 StoveBurner 1.412 0.923 -0.335 0 0 0 44 StoveKnob 1.878 1.093 0.018 287.989 90 0 45 StoveKnob 1.878 1.093 -0.306 287.989 90 0 46 Cabinet -2.446 1.948 2.924 0 0 0 47 Drawer -2.276 0.792 0.902 0 0 0 48 Cabinet -2.145 0.402 1.578 0 0 0 49 Cabinet 0.149 2.008 -1.603 0 90 0 50 StoveBurner 1.691 0.923 -0.335 0 0 0 51 CounterTop 1.585 0.946 0.405 0 0 0 52 CounterTop 0.474 0.946 -1.625 0 0 0 53 StoveBurner 1.691 0.923 0.064 0 0 0 54 Cabinet -2.446 1.948 1.687 0 0 0 55 Cabinet -2.446 1.948 1.640 0 0 0 56 Sink 1.381 0.810 -1.271 0 225 0 57 StoveKnob 1.878 1.093 0.150 287.989 90 0 58 Cabinet -2.145 0.402 -0.236 0 0 0 59 Drawer -2.276 0.792 0.437 0 0 0 60 Drawer -2.276 0.792 -0.027 0 0 0 61 Cabinet 1.572 2.008 0.474 0 0 0 62 Cabinet 1.572 2.008 -0.775 0 0 0 63 Cabinet -2.445 2.148 -1.275 0 0 0 64 Cabinet -2.446 2.148 -0.284 0 0 0 65 Cabinet -2.446 1.948 0.355 0 0 0 66 Cabinet -2.446 1.948 0.405 0 0 0 67 Cabinet -2.145 0.402 0.644 0 0 0 68 Cabinet -2.145 0.402 0.695 0 0 0 69 Cabinet -2.285 1.968 -1.325 0 180 0 70 CounterTop -1.485 0.946 1.319 0 0 0 71 StoveBurner 1.411 0.923 0.064 0 0 0 72 StoveKnob 1.878 1.093 -0.441 287.989 90 0 73 Drawer -2.276 0.792 1.368 0 0 0 74 Fridge -2.475 0.0 -0.782 0 90 0 75 LightSwitch -0.929 1.350 -1.950 0 0 0 76 Toaster -2.564 0.900 1.876 0 90 0 77 CoffeeMachine 0.464 0.900 -1.810 0 0 0 78 Window 1.508 1.534 -1.496 90 135 0 79 Window 1.973 1.521 1.121 90 90 0 80 SinkBasin 1.149 0.753 -1.380 0 225 0 81 GarbageCan 1.646 -0.000 0.679 0 0 0 82 Microwave -2.580 0.900 2.440 0 90 0 83 Stool 0.439 0.010 0.747 0 0 0 84 Stool -2.303 0.010 1.839 0 0 0 85 Faucet 1.235 1.138 -1.473 0 225 0 86 NorthWall 87 EastWall 88 SouthWall 89 WestWall
[ "STEP 1: walk on over to the kitchen cabinets above the stove | STEP 2: grab a bowl from the cupboard above the stove | STEP 3: bring the bowl over to the refrigerator | STEP 4: put the bowl on the bottom shelf of the top portion of the refrigerator | END" ]
[ [ "STEP 1: walk on over to the kitchen cabinets above the stove ", " STEP 2: grab a bowl from the cupboard above the stove ", " STEP 3: bring the bowl over to the refrigerator ", " STEP 4: put the bowl on the bottom shelf of the top portion of the refrigerator ", " END" ] ]
seen
trial_T20190906_231042_118272-1
Moving a dish from the cupboard to the fridge.
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"76", " Toaster", " -2.564", " 0.900", " 1.876", " 0", " 90", " 0", "" ], [ "77", " CoffeeMachine", " 0.464", " 0.900", " -1.810", " 0", " 0", " 0", "" ], [ "78", " Window", " 1.508", " 1.534", " -1.496", " 90", " 135", " 0", "" ], [ "79", " Window", " 1.973", " 1.521", " 1.121", " 90", " 90", " 0", "" ], [ "80", " SinkBasin", " 1.149", " 0.753", " -1.380", " 0", " 225", " 0", "" ], [ "81", " GarbageCan", " 1.646", " -0.000", " 0.679", " 0", " 0", " 0", "" ], [ "82", " Microwave", " -2.580", " 0.900", " 2.440", " 0", " 90", " 0", "" ], [ "83", " Stool", " 0.439", " 0.010", " 0.747", " 0", " 0", " 0", "" ], [ "84", " Stool", " -2.303", " 0.010", " 1.839", " 0", " 0", " 0", "" ], [ "85", " Faucet", " 1.235", " 1.138", " -1.473", " 0", " 225", " 0", "" ], [ "86", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "87", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "88", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "89", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
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 0 180 0 1 Pan 1.412 0.929 -0.335 0 0 0 43 2 Potato -2.439 1.125 -0.696 0 90 0 74 3 DishSponge -2.572 1.933 -1.034 0 0 0 63 4 DishSponge -2.287 0.773 1.000 0 0 0 47 5 Kettle -2.455 0.911 1.530 0 0 0 70 6 Spoon -0.471 0.912 1.317 0 0 0 42 7 Spoon -0.601 0.912 0.423 0 0 0 42 8 Spatula -2.257 0.789 -0.073 0 90 0 60 9 Pot 1.691 0.929 0.064 0 0 0 53 10 Egg 1.341 0.941 0.406 0 0 0 51 11 Cup -0.341 0.908 1.317 0 0 0 42 12 Cup -2.578 1.298 -0.790 0 90 0 74 13 Plate -2.621 0.913 1.230 0 0 0 70 14 PepperShaker 1.512 0.906 0.465 0 0 0 51 15 SaltShaker -2.455 0.905 0.931 0 0 0 70 16 Bread 0.048 0.996 1.540 0 0 0 42 17 Mug -2.532 1.295 -0.602 0 90 0 74 18 Mug -2.603 0.992 2.380 0 180 0 82 19 Pan -2.621 0.910 0.031 0 270 0 70 20 Knife 0.683 0.936 -1.625 0 0 0 52 21 Apple 0.742 0.972 -1.501 0 45 0 52 22 Bowl 1.697 1.653 0.239 0 0 0 61 23 Fork -2.379 0.773 0.439 0 90 0 59 24 Bread -0.341 0.996 1.094 0 0 0 42 25 Plate -0.341 0.913 1.764 0 0 0 42 26 Egg -2.485 1.331 -1.074 0 90 0 74 27 Kettle 1.691 0.929 -0.335 0 0 0 50 28 Potato -2.558 0.214 -0.791 0 270 0 74 29 SaltShaker -2.605 1.532 2.840 0 0 0 46 30 Lettuce -0.730 0.994 0.870 0 0 0 42 31 Cup -2.669 0.176 -0.570 0 90 0 74 32 SoapBottle -2.206 0.912 0.931 0 0 0 70 33 Spatula -2.348 0.788 1.322 0 90 0 73 34 PaperTowelRoll 1.646 0.289 0.623 0 180 0 81 35 ButterKnife -2.621 0.910 0.331 0 0 0 70 36 PepperShaker -2.524 1.532 2.622 0 0 0 46 37 DishSponge 1.380 0.921 -1.212 0 225 0 56 38 Pot -0.211 0.914 0.423 0 0 0 42 39 Spoon -0.341 0.912 0.423 0 0 0 42 40 Tomato 1.562 0.227 0.679 0 0 0 81 41 Mug 0.464 0.955 -1.593 0 0 0 52 42 CounterTop -0.360 0.946 1.093 0 0 0 43 StoveBurner 1.412 0.923 -0.335 0 0 0 44 StoveKnob 1.878 1.093 0.018 287.989 90 0 45 StoveKnob 1.878 1.093 -0.306 287.989 90 0 46 Cabinet -2.446 1.948 2.924 0 0 0 47 Drawer -2.276 0.792 0.902 0 0 0 48 Cabinet -2.145 0.402 1.578 0 0 0 49 Cabinet 0.149 2.008 -1.603 0 90 0 50 StoveBurner 1.691 0.923 -0.335 0 0 0 51 CounterTop 1.585 0.946 0.405 0 0 0 52 CounterTop 0.474 0.946 -1.625 0 0 0 53 StoveBurner 1.691 0.923 0.064 0 0 0 54 Cabinet -2.446 1.948 1.687 0 0 0 55 Cabinet -2.446 1.948 1.640 0 0 0 56 Sink 1.381 0.810 -1.271 0 225 0 57 StoveKnob 1.878 1.093 0.150 287.989 90 0 58 Cabinet -2.145 0.402 -0.236 0 0 0 59 Drawer -2.276 0.792 0.437 0 0 0 60 Drawer -2.276 0.792 -0.027 0 0 0 61 Cabinet 1.572 2.008 0.474 0 0 0 62 Cabinet 1.572 2.008 -0.775 0 0 0 63 Cabinet -2.445 2.148 -1.275 0 0 0 64 Cabinet -2.446 2.148 -0.284 0 0 0 65 Cabinet -2.446 1.948 0.355 0 0 0 66 Cabinet -2.446 1.948 0.405 0 0 0 67 Cabinet -2.145 0.402 0.644 0 0 0 68 Cabinet -2.145 0.402 0.695 0 0 0 69 Cabinet -2.285 1.968 -1.325 0 180 0 70 CounterTop -1.485 0.946 1.319 0 0 0 71 StoveBurner 1.411 0.923 0.064 0 0 0 72 StoveKnob 1.878 1.093 -0.441 287.989 90 0 73 Drawer -2.276 0.792 1.368 0 0 0 74 Fridge -2.475 0.0 -0.782 0 90 0 75 LightSwitch -0.929 1.350 -1.950 0 0 0 76 Toaster -2.564 0.900 1.876 0 90 0 77 CoffeeMachine 0.464 0.900 -1.810 0 0 0 78 Window 1.508 1.534 -1.496 90 135 0 79 Window 1.973 1.521 1.121 90 90 0 80 SinkBasin 1.149 0.753 -1.380 0 225 0 81 GarbageCan 1.646 -0.000 0.679 0 0 0 82 Microwave -2.580 0.900 2.440 0 90 0 83 Stool 0.439 0.010 0.747 0 0 0 84 Stool -2.303 0.010 1.839 0 0 0 85 Faucet 1.235 1.138 -1.473 0 225 0 86 NorthWall 87 EastWall 88 SouthWall 89 WestWall
[ "STEP 1: Cross the room to the stove. Open the cupboard above the stove. | STEP 2: Take out the black bowl that is on the shelf, and close the cupboard door. | STEP 3: Move back across the room to the refrigerator. Open the door. | STEP 4: Place the pot inside the fridge on the shelf. Close the door. | END" ]
[ [ "STEP 1: Cross the room to the stove. Open the cupboard above the stove. ", " STEP 2: Take out the black bowl that is on the shelf, and close the cupboard door. ", " STEP 3: Move back across the room to the refrigerator. Open the door. ", " STEP 4: Place the pot inside the fridge on the shelf. Close the door. ", " END" ] ]
seen
trial_T20190906_231042_118272-2
Put a bowl in the fridge.
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0.996", " 1.094", " 0", " 0", " 0", " 42" ], [ "25", " Plate", " -0.341", " 0.913", " 1.764", " 0", " 0", " 0", " 42" ], [ "26", " Egg", " -2.485", " 1.331", " -1.074", " 0", " 90", " 0", " 74" ], [ "27", " Kettle", " 1.691", " 0.929", " -0.335", " 0", " 0", " 0", " 50" ], [ "28", " Potato", " -2.558", " 0.214", " -0.791", " 0", " 270", " 0", " 74" ], [ "29", " SaltShaker", " -2.605", " 1.532", " 2.840", " 0", " 0", " 0", " 46" ], [ "30", " Lettuce", " -0.730", " 0.994", " 0.870", " 0", " 0", " 0", " 42" ], [ "31", " Cup", " -2.669", " 0.176", " -0.570", " 0", " 90", " 0", " 74" ], [ "32", " SoapBottle", " -2.206", " 0.912", " 0.931", " 0", " 0", " 0", " 70" ], [ "33", " Spatula", " -2.348", " 0.788", " 1.322", " 0", " 90", " 0", " 73" ], [ "34", " PaperTowelRoll", " 1.646", " 0.289", " 0.623", " 0", " 180", " 0", " 81" ], [ "35", " ButterKnife", " -2.621", " 0.910", " 0.331", " 0", " 0", " 0", " 70" ], [ "36", " PepperShaker", " -2.524", " 1.532", " 2.622", " 0", " 0", " 0", " 46" ], 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"63", " Cabinet", " -2.445", " 2.148", " -1.275", " 0", " 0", " 0", "" ], [ "64", " Cabinet", " -2.446", " 2.148", " -0.284", " 0", " 0", " 0", "" ], [ "65", " Cabinet", " -2.446", " 1.948", " 0.355", " 0", " 0", " 0", "" ], [ "66", " Cabinet", " -2.446", " 1.948", " 0.405", " 0", " 0", " 0", "" ], [ "67", " Cabinet", " -2.145", " 0.402", " 0.644", " 0", " 0", " 0", "" ], [ "68", " Cabinet", " -2.145", " 0.402", " 0.695", " 0", " 0", " 0", "" ], [ "69", " Cabinet", " -2.285", " 1.968", " -1.325", " 0", " 180", " 0", "" ], [ "70", " CounterTop", " -1.485", " 0.946", " 1.319", " 0", " 0", " 0", "" ], [ "71", " StoveBurner", " 1.411", " 0.923", " 0.064", " 0", " 0", " 0", "" ], [ "72", " StoveKnob", " 1.878", " 1.093", " -0.441", " 287.989", " 90", " 0", "" ], [ "73", " Drawer", " -2.276", " 0.792", " 1.368", " 0", " 0", " 0", "" ], [ "74", " Fridge", " -2.475", " 0.0", " -0.782", " 0", " 90", " 0", "" ], [ "75", " LightSwitch", " -0.929", " 1.350", " -1.950", " 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 -1.75 0.900 -0.5 0 180 0 1 Pan 1.412 0.929 -0.335 0 0 0 43 2 Potato -2.439 1.125 -0.696 0 90 0 74 3 DishSponge -2.572 1.933 -1.034 0 0 0 63 4 DishSponge -2.287 0.773 1.000 0 0 0 47 5 Kettle -2.455 0.911 1.530 0 0 0 70 6 Spoon -0.471 0.912 1.317 0 0 0 42 7 Spoon -0.601 0.912 0.423 0 0 0 42 8 Spatula -2.257 0.789 -0.073 0 90 0 60 9 Pot 1.691 0.929 0.064 0 0 0 53 10 Egg 1.341 0.941 0.406 0 0 0 51 11 Cup -0.341 0.908 1.317 0 0 0 42 12 Cup -2.578 1.298 -0.790 0 90 0 74 13 Plate -2.621 0.913 1.230 0 0 0 70 14 PepperShaker 1.512 0.906 0.465 0 0 0 51 15 SaltShaker -2.455 0.905 0.931 0 0 0 70 16 Bread 0.048 0.996 1.540 0 0 0 42 17 Mug -2.532 1.295 -0.602 0 90 0 74 18 Mug -2.603 0.992 2.380 0 180 0 82 19 Pan -2.621 0.910 0.031 0 270 0 70 20 Knife 0.683 0.936 -1.625 0 0 0 52 21 Apple 0.742 0.972 -1.501 0 45 0 52 22 Bowl 1.697 1.653 0.239 0 0 0 61 23 Fork -2.379 0.773 0.439 0 90 0 59 24 Bread -0.341 0.996 1.094 0 0 0 42 25 Plate -0.341 0.913 1.764 0 0 0 42 26 Egg -2.485 1.331 -1.074 0 90 0 74 27 Kettle 1.691 0.929 -0.335 0 0 0 50 28 Potato -2.558 0.214 -0.791 0 270 0 74 29 SaltShaker -2.605 1.532 2.840 0 0 0 46 30 Lettuce -0.730 0.994 0.870 0 0 0 42 31 Cup -2.669 0.176 -0.570 0 90 0 74 32 SoapBottle -2.206 0.912 0.931 0 0 0 70 33 Spatula -2.348 0.788 1.322 0 90 0 73 34 PaperTowelRoll 1.646 0.289 0.623 0 180 0 81 35 ButterKnife -2.621 0.910 0.331 0 0 0 70 36 PepperShaker -2.524 1.532 2.622 0 0 0 46 37 DishSponge 1.380 0.921 -1.212 0 225 0 56 38 Pot -0.211 0.914 0.423 0 0 0 42 39 Spoon -0.341 0.912 0.423 0 0 0 42 40 Tomato 1.562 0.227 0.679 0 0 0 81 41 Mug 0.464 0.955 -1.593 0 0 0 52 42 CounterTop -0.360 0.946 1.093 0 0 0 43 StoveBurner 1.412 0.923 -0.335 0 0 0 44 StoveKnob 1.878 1.093 0.018 287.989 90 0 45 StoveKnob 1.878 1.093 -0.306 287.989 90 0 46 Cabinet -2.446 1.948 2.924 0 0 0 47 Drawer -2.276 0.792 0.902 0 0 0 48 Cabinet -2.145 0.402 1.578 0 0 0 49 Cabinet 0.149 2.008 -1.603 0 90 0 50 StoveBurner 1.691 0.923 -0.335 0 0 0 51 CounterTop 1.585 0.946 0.405 0 0 0 52 CounterTop 0.474 0.946 -1.625 0 0 0 53 StoveBurner 1.691 0.923 0.064 0 0 0 54 Cabinet -2.446 1.948 1.687 0 0 0 55 Cabinet -2.446 1.948 1.640 0 0 0 56 Sink 1.381 0.810 -1.271 0 225 0 57 StoveKnob 1.878 1.093 0.150 287.989 90 0 58 Cabinet -2.145 0.402 -0.236 0 0 0 59 Drawer -2.276 0.792 0.437 0 0 0 60 Drawer -2.276 0.792 -0.027 0 0 0 61 Cabinet 1.572 2.008 0.474 0 0 0 62 Cabinet 1.572 2.008 -0.775 0 0 0 63 Cabinet -2.445 2.148 -1.275 0 0 0 64 Cabinet -2.446 2.148 -0.284 0 0 0 65 Cabinet -2.446 1.948 0.355 0 0 0 66 Cabinet -2.446 1.948 0.405 0 0 0 67 Cabinet -2.145 0.402 0.644 0 0 0 68 Cabinet -2.145 0.402 0.695 0 0 0 69 Cabinet -2.285 1.968 -1.325 0 180 0 70 CounterTop -1.485 0.946 1.319 0 0 0 71 StoveBurner 1.411 0.923 0.064 0 0 0 72 StoveKnob 1.878 1.093 -0.441 287.989 90 0 73 Drawer -2.276 0.792 1.368 0 0 0 74 Fridge -2.475 0.0 -0.782 0 90 0 75 LightSwitch -0.929 1.350 -1.950 0 0 0 76 Toaster -2.564 0.900 1.876 0 90 0 77 CoffeeMachine 0.464 0.900 -1.810 0 0 0 78 Window 1.508 1.534 -1.496 90 135 0 79 Window 1.973 1.521 1.121 90 90 0 80 SinkBasin 1.149 0.753 -1.380 0 225 0 81 GarbageCan 1.646 -0.000 0.679 0 0 0 82 Microwave -2.580 0.900 2.440 0 90 0 83 Stool 0.439 0.010 0.747 0 0 0 84 Stool -2.303 0.010 1.839 0 0 0 85 Faucet 1.235 1.138 -1.473 0 225 0 86 NorthWall 87 EastWall 88 SouthWall 89 WestWall
[ "STEP 1: Move to the cabinet on the left above the stove. | STEP 2: Open up the cabinet and pick up the bowl from in the cabinet. | STEP 3: Bring the bowl to the fridge. | STEP 4: Chill the bowl in the fridge. | END" ]
[ [ "STEP 1: Move to the cabinet on the left above the stove. ", " STEP 2: Open up the cabinet and pick up the bowl from in the cabinet. ", " STEP 3: Bring the bowl to the fridge. ", " STEP 4: Chill the bowl in the fridge. ", " END" ] ]
seen
trial_T20190909_061528_164423-0
To put a pot with a cleaning sponge on the table
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Tomato", " -2.152", " 0.922", " 3.073", " 0", " 270", " 0", " 52" ], [ "12", " Bowl", " -3.017", " 0.876", " 3.580", " 0", " 135", " 0", " 52" ], [ "13", " PepperShaker", " 3.741", " 0.549", " 1.449", " 0", " 270", " 0", " 73" ], [ "14", " Bread", " -3.165", " 0.961", " 3.296", " 0", " 270", " 0", " 52" ], [ "15", " Mug", " -2.490", " 0.869", " 3.444", " 0", " 270", " 0", " 52" ], [ "16", " Apple", " -0.377", " 1.627", " 2.219", " 0", " 180", " 0", " 75" ], [ "17", " Apple", " -2.353", " 0.929", " 2.811", " 0", " 135", " 0", " 52" ], [ "18", " Book", " 3.689", " 0.550", " 1.968", " 0", " 270", " 0", " 73" ], [ "19", " Fork", " -2.606", " 0.879", " 3.169", " 0", " 225", " 0", " 52" ], [ "20", " Tomato", " -0.035", " 0.850", " 2.023", " 0", " 180", " 0", " 75" ], [ "21", " Egg", " -0.263", " 0.414", " 2.025", " 0", " 180", " 0", " 75" ], [ "22", " Kettle", " -1.831", " 1.658", " -1.674", " 0", " 0", " 0", " 46" ], [ "23", " Vase", " 0.633", " 0.117", " -1.370", " 0", " 0", " 0", " 57" ], [ "24", " Cup", " 0.307", " 0.801", " 2.194", " 0", " 180", " 0", " 75" ], [ "25", " WineBottle", " -0.871", " 0.193", " 2.097", " 0", " 90", " 0", " 80" ], [ "26", " Plate", " -0.035", " 1.576", " 2.040", " 0", " 180", " 0", " 75" ], [ "27", " Spatula", " -1.627", " 0.927", " -1.265", " 0", " 0", " 0", " 50" ], [ "28", " Potato", " 0.014", " 0.967", " -1.718", " 0", " 270", " 0", " 47" ], [ "29", " Pot", " 1.328", " 0.957", " -1.688", " 0", " 180", " 0", " 53" ], [ "30", " Knife", " -2.321", " 0.896", " 3.370", " 0", " 270", " 0", " 52" ], [ "31", " SaltShaker", " -2.490", " 0.871", " 3.221", " 0", " 270", " 0", " 52" ], [ "32", " PepperShaker", " -2.248", " 0.871", " 3.527", " 0", " 225", " 0", " 52" ], [ "33", " Lettuce", " -0.263", " 0.867", " 2.137", " 0", " 180", " 0", " 75" ], [ "34", " ButterKnife", " -2.315", " 0.874", " 3.088", " 0", " 135", " 0", " 52" ], [ "35", " Bread", " -2.420", " 0.958", " 2.983", " 0", " 135", " 0", " 52" ], [ "36", " Vase", " -2.072", " 0.913", " 0.037", " 0", " 0", " 0", " 50" ], [ "37", " DishSponge", " 1.649", " 0.719", " -1.377", " 0", " 0", " 0", " 66" ], [ "38", " Apple", " -0.844", " 0.247", " 2.213", " 0", " 90", " 0", " 80" ], [ "39", " Pan", " 0.974", " 0.957", " -1.688", " 0", " 180", " 0", " 49" ], [ "40", " Spoon", " -2.152", " 0.875", " 3.147", " 0", " 90", " 0", " 52" ], [ "41", " SoapBottle", " 0.700", " 1.653", " -1.785", " 0", " 0", " 0", " 61" ], [ "42", " Mug", " -2.673", " 0.869", " 3.446", " 0", " 135", " 0", " 52" ], [ "43", " Statue", " 3.676", " 0.168", " 1.410", " 0", " 334.521", " 0", " 73" ], [ "44", " Statue", " -1.849", " 0.910", " -1.265", " 0", " 180", " 0", " 50" ], [ "45", " Bowl", " -2.807", " 0.872", " 2.715", " 0", " 0", " 0", " 52" ], [ "46", " Cabinet", " -2.171", " 2.009", " -1.538", " 0", " 0", " 0", "" ], [ "47", " Sink", " 0.024", " 0.771", " -1.708", " 0", " 270", " 0", "" ], [ "48", " Cabinet", " 1.444", " 2.259", " -1.542", " 0", " 0", " 0", "" ], [ "49", " StoveBurner", " 0.974", " 0.957", " -1.688", " 0", " 180", " 0", "" ], [ "50", " CounterTop", " -1.866", " 0.947", " -0.614", " 0", " 0", " 0", "" ], [ "51", " Cabinet", " -2.217", " 0.373", " -1.874", " 0", " 0", " 0", "" ], [ "52", " DiningTable", " -2.663", " 0.002", " 3.208", " 0", " 0", " 0", "" ], [ "53", " StoveBurner", " 1.328", " 0.957", " -1.688", " 0", " 180", " 0", "" ], [ "54", " StoveBurner", " 1.328", " 0.957", " -1.420", " 0", " 180", " 0", "" ], [ "55", " Cabinet", " -1.478", " 0.373", " -1.235", " 0", " 0", " 0", "" ], [ "56", " Cabinet", " 1.775", " 0.372", " -1.242", " 0", " 0", " 0", "" ], [ "57", " Cabinet", " 0.774", " 0.372", " -1.242", " 0", " 0", " 0", "" ], [ "58", " Cabinet", " 0.375", " 0.372", " -1.242", " 0", " 0", " 0", "" ], [ "59", " Cabinet", " -0.574", " 0.372", " -1.238", " 0", " 0", " 0", "" ], [ "60", " Cabinet", " 1.775", " 2.009", " -1.542", " 0", " 0", " 0", "" ], [ "61", " Cabinet", " 0.524", " 2.009", " -1.542", " 0", " 0", " 0", "" ], [ "62", " Cabinet", " -0.714", " 2.009", " -1.542", " 0", " 0", " 0", "" ], [ "63", " Cabinet", " -1.671", " 2.009", " -1.538", " 0", " 0", " 0", "" ], [ "64", " Cabinet", " 0.854", " 2.259", " -1.542", " 0", " 0", " 0", "" ], [ "65", " Drawer", " -1.636", " 0.683", " -0.930", " 0", " 0", " 0", "" ], [ "66", " Drawer", " 1.650", " 0.682", " -1.396", " 0", " 0", " 0", "" ], [ "67", " Drawer", " 0.600", " 0.682", " -1.396", " 0", " 0", " 0", "" ], [ "68", " StoveBurner", " 0.974", " 0.957", " -1.419", " 0", " 180", " 0", "" ], [ "69", " Drawer", " -2.062", " 0.683", " -1.579", " 0", " 0", " 0", "" ], [ "70", " CounterTop", " 1.645", " 0.945", " -1.527", " 0", " 0", " 0", "" ], [ "71", " Shelf", " 3.725", " 0.880", " 1.671", " 0", " 90", " 0", "" ], [ "72", " LightSwitch", " 2.830", " 1.266", " -0.748", " 0", " 0", " 0", "" ], [ "73", " Shelf", " 3.726", " 0.552", " 1.671", " 0", " 90", " 0", "" ], [ "74", " Microwave", " 1.150", " 1.655", " -1.614", " 0", " 0", " 0", "" ], [ "75", " Fridge", " -0.035", " 0.0", " 2.177", " 0", " 180", " 0", "" ], [ "76", " Window", " -0.115", " 1.802", " -1.896", " 90", " 0", " 0", "" ], [ "77", " Window", " -4.009", " 1.799", " 0.310", " 90", " 90", " 0", "" ], [ "78", " Shelf", " 3.726", " 0.172", " 1.671", " 0", " 90", " 0", "" ], [ "79", " SinkBasin", " -0.330", " 0.686", " -1.581", " 0", " 270", " 0", "" ], [ "80", " GarbageCan", " -0.870", " -0.001", " 2.136", " 0", " 90", " 0", "" ], [ "81", " StoveKnob", " 1.089", " 0.913", " -1.243", " 45", " 0", " 0", "" ], [ "82", " StoveKnob", " 1.208", " 0.913", " -1.243", " 45", " 0", " 0", "" ], [ "83", " StoveKnob", " 1.340", " 0.913", " -1.243", " 45", " 0", " 0", "" ], [ "84", " StoveKnob", " 0.961", " 0.913", " -1.243", " 45", " 0", " 0", "" ], [ "85", " Toaster", " 1.637", " 0.900", " -1.673", " 0", " 0", " 0", "" ], [ "86", " Chair", " -3.505", " 0.002", " 3.290", " 0", " 105.736", " 0", "" ], [ "87", " CoffeeMachine", " -1.111", " 0.900", " -1.726", " 0", " 0", " 0", "" ], [ "88", " HousePlant", " -2.663", " 0.835", " 3.209", " 0", " 0", " 0", "" ], [ "89", " Faucet", " -0.187", " 0.922", " -1.75", " 0", " 311.166", " 0", "" ], [ "90", " ShelvingUnit", " 3.726", " 0.006", " 1.671", " 0", " 90", " 0", "" ], [ "91", " Stool", " -2.501", " -0.000", " 0.062", " 1.223", " 91.243", " 0", "" ], [ "92", " Stool", " -2.475", " -0.000", " -0.802", " 1.209", " 69.808", " 0", "" ], [ "93", " Chair", " -2.934", " 0.002", " 2.437", " 0", " 28.531", " 0", "" ], [ "94", " Chair", " -1.698", " 0.002", " 3.235", " 0", " 245.204", " 0", "" ], [ "95", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "96", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "97", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "98", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -2.25 0.900 1.0 0 90 0 1 DishSponge 0.124 0.928 -1.501 0 270 0 47 2 DishSponge 3.689 0.880 1.861 0 270 0 73 3 Pot 0.974 0.957 -1.419 0 180 0 68 4 Fork 0.289 0.929 -1.646 0 90 0 47 5 Cup -1.738 0.910 0.363 0 0 0 50 6 Plate -0.367 0.711 -1.573 0 270 0 79 7 Plate 0.193 1.576 2.040 0 180 0 75 8 Knife -1.516 0.934 -0.939 0 90 0 50 9 SoapBottle -2.013 0.120 -1.580 0 0 0 51 10 SoapBottle 1.614 0.910 -1.346 0 0 0 70 11 Tomato -2.152 0.922 3.073 0 270 0 52 12 Bowl -3.017 0.876 3.580 0 135 0 52 13 PepperShaker 3.741 0.549 1.449 0 270 0 73 14 Bread -3.165 0.961 3.296 0 270 0 52 15 Mug -2.490 0.869 3.444 0 270 0 52 16 Apple -0.377 1.627 2.219 0 180 0 75 17 Apple -2.353 0.929 2.811 0 135 0 52 18 Book 3.689 0.550 1.968 0 270 0 73 19 Fork -2.606 0.879 3.169 0 225 0 52 20 Tomato -0.035 0.850 2.023 0 180 0 75 21 Egg -0.263 0.414 2.025 0 180 0 75 22 Kettle -1.831 1.658 -1.674 0 0 0 46 23 Vase 0.633 0.117 -1.370 0 0 0 57 24 Cup 0.307 0.801 2.194 0 180 0 75 25 WineBottle -0.871 0.193 2.097 0 90 0 80 26 Plate -0.035 1.576 2.040 0 180 0 75 27 Spatula -1.627 0.927 -1.265 0 0 0 50 28 Potato 0.014 0.967 -1.718 0 270 0 47 29 Pot 1.328 0.957 -1.688 0 180 0 53 30 Knife -2.321 0.896 3.370 0 270 0 52 31 SaltShaker -2.490 0.871 3.221 0 270 0 52 32 PepperShaker -2.248 0.871 3.527 0 225 0 52 33 Lettuce -0.263 0.867 2.137 0 180 0 75 34 ButterKnife -2.315 0.874 3.088 0 135 0 52 35 Bread -2.420 0.958 2.983 0 135 0 52 36 Vase -2.072 0.913 0.037 0 0 0 50 37 DishSponge 1.649 0.719 -1.377 0 0 0 66 38 Apple -0.844 0.247 2.213 0 90 0 80 39 Pan 0.974 0.957 -1.688 0 180 0 49 40 Spoon -2.152 0.875 3.147 0 90 0 52 41 SoapBottle 0.700 1.653 -1.785 0 0 0 61 42 Mug -2.673 0.869 3.446 0 135 0 52 43 Statue 3.676 0.168 1.410 0 334.521 0 73 44 Statue -1.849 0.910 -1.265 0 180 0 50 45 Bowl -2.807 0.872 2.715 0 0 0 52 46 Cabinet -2.171 2.009 -1.538 0 0 0 47 Sink 0.024 0.771 -1.708 0 270 0 48 Cabinet 1.444 2.259 -1.542 0 0 0 49 StoveBurner 0.974 0.957 -1.688 0 180 0 50 CounterTop -1.866 0.947 -0.614 0 0 0 51 Cabinet -2.217 0.373 -1.874 0 0 0 52 DiningTable -2.663 0.002 3.208 0 0 0 53 StoveBurner 1.328 0.957 -1.688 0 180 0 54 StoveBurner 1.328 0.957 -1.420 0 180 0 55 Cabinet -1.478 0.373 -1.235 0 0 0 56 Cabinet 1.775 0.372 -1.242 0 0 0 57 Cabinet 0.774 0.372 -1.242 0 0 0 58 Cabinet 0.375 0.372 -1.242 0 0 0 59 Cabinet -0.574 0.372 -1.238 0 0 0 60 Cabinet 1.775 2.009 -1.542 0 0 0 61 Cabinet 0.524 2.009 -1.542 0 0 0 62 Cabinet -0.714 2.009 -1.542 0 0 0 63 Cabinet -1.671 2.009 -1.538 0 0 0 64 Cabinet 0.854 2.259 -1.542 0 0 0 65 Drawer -1.636 0.683 -0.930 0 0 0 66 Drawer 1.650 0.682 -1.396 0 0 0 67 Drawer 0.600 0.682 -1.396 0 0 0 68 StoveBurner 0.974 0.957 -1.419 0 180 0 69 Drawer -2.062 0.683 -1.579 0 0 0 70 CounterTop 1.645 0.945 -1.527 0 0 0 71 Shelf 3.725 0.880 1.671 0 90 0 72 LightSwitch 2.830 1.266 -0.748 0 0 0 73 Shelf 3.726 0.552 1.671 0 90 0 74 Microwave 1.150 1.655 -1.614 0 0 0 75 Fridge -0.035 0.0 2.177 0 180 0 76 Window -0.115 1.802 -1.896 90 0 0 77 Window -4.009 1.799 0.310 90 90 0 78 Shelf 3.726 0.172 1.671 0 90 0 79 SinkBasin -0.330 0.686 -1.581 0 270 0 80 GarbageCan -0.870 -0.001 2.136 0 90 0 81 StoveKnob 1.089 0.913 -1.243 45 0 0 82 StoveKnob 1.208 0.913 -1.243 45 0 0 83 StoveKnob 1.340 0.913 -1.243 45 0 0 84 StoveKnob 0.961 0.913 -1.243 45 0 0 85 Toaster 1.637 0.900 -1.673 0 0 0 86 Chair -3.505 0.002 3.290 0 105.736 0 87 CoffeeMachine -1.111 0.900 -1.726 0 0 0 88 HousePlant -2.663 0.835 3.209 0 0 0 89 Faucet -0.187 0.922 -1.75 0 311.166 0 90 ShelvingUnit 3.726 0.006 1.671 0 90 0 91 Stool -2.501 -0.000 0.062 1.223 91.243 0 92 Stool -2.475 -0.000 -0.802 1.209 69.808 0 93 Chair -2.934 0.002 2.437 0 28.531 0 94 Chair -1.698 0.002 3.235 0 245.204 0 95 NorthWall 96 EastWall 97 SouthWall 98 WestWall
[ "STEP 1: Go across the room to face the shelf cabinet on the left corner | STEP 2: Pick up the green sponge from the shelf | STEP 3: Turn around and go to the stove | STEP 4: Put the sponge in the pot on the rear left of the stove | STEP 5: Pick up the pot with the sponge in it | STEP 6: Take the pot to the table at the opposite side of the room | STEP 7: Place the pot on the table | END" ]
[ [ "STEP 1: Go across the room to face the shelf cabinet on the left corner ", " STEP 2: Pick up the green sponge from the shelf ", " STEP 3: Turn around and go to the stove ", " STEP 4: Put the sponge in the pot on the rear left of the stove ", " STEP 5: Pick up the pot with the sponge in it ", " STEP 6: Take the pot to the table at the opposite side of the room ", " STEP 7: Place the pot on the table ", " END" ] ]
seen
trial_T20190909_061528_164423-1
place a pan with a sponge in it on top of the dining table
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " -2.25", " 0.900", " 1.0", " 0", " 90", " 0", "" ], [ "1", " DishSponge", " 0.124", " 0.928", " -1.501", " 0", " 270", " 0", " 47" ], [ "2", " DishSponge", " 3.689", " 0.880", " 1.861", " 0", " 270", " 0", " 73" ], [ "3", " Pot", " 0.974", " 0.957", " -1.419", " 0", " 180", " 0", " 68" ], [ "4", " Fork", " 0.289", " 0.929", " -1.646", " 0", " 90", " 0", " 47" ], [ "5", " Cup", " -1.738", " 0.910", " 0.363", " 0", " 0", " 0", " 50" ], [ "6", " Plate", " -0.367", " 0.711", " -1.573", " 0", " 270", " 0", " 79" ], [ "7", " Plate", " 0.193", " 1.576", " 2.040", " 0", " 180", " 0", " 75" ], [ "8", " Knife", " -1.516", " 0.934", " -0.939", " 0", " 90", " 0", " 50" ], [ "9", " SoapBottle", " -2.013", " 0.120", " -1.580", " 0", " 0", " 0", " 51" ], [ "10", " SoapBottle", " 1.614", " 0.910", " -1.346", " 0", " 0", " 0", " 70" ], [ "11", " Tomato", " -2.152", " 0.922", " 3.073", " 0", " 270", " 0", " 52" ], [ "12", " Bowl", " -3.017", " 0.876", " 3.580", " 0", " 135", " 0", " 52" ], [ "13", " PepperShaker", " 3.741", " 0.549", " 1.449", " 0", " 270", " 0", " 73" ], [ "14", " Bread", " -3.165", " 0.961", " 3.296", " 0", " 270", " 0", " 52" ], [ "15", " Mug", " -2.490", " 0.869", " 3.444", " 0", " 270", " 0", " 52" ], [ "16", " Apple", " -0.377", " 1.627", " 2.219", " 0", " 180", " 0", " 75" ], [ "17", " Apple", " -2.353", " 0.929", " 2.811", " 0", " 135", " 0", " 52" ], [ "18", " Book", " 3.689", " 0.550", " 1.968", " 0", " 270", " 0", " 73" ], [ "19", " Fork", " -2.606", " 0.879", " 3.169", " 0", " 225", " 0", " 52" ], [ "20", " Tomato", " -0.035", " 0.850", " 2.023", " 0", " 180", " 0", " 75" ], [ "21", " Egg", " -0.263", " 0.414", " 2.025", " 0", " 180", " 0", " 75" ], [ "22", " Kettle", " -1.831", " 1.658", " -1.674", " 0", " 0", " 0", " 46" ], [ "23", " Vase", " 0.633", " 0.117", " -1.370", " 0", " 0", " 0", " 57" ], [ "24", " Cup", " 0.307", " 0.801", " 2.194", " 0", " 180", " 0", " 75" ], [ "25", " WineBottle", " -0.871", " 0.193", " 2.097", " 0", " 90", " 0", " 80" ], [ "26", " Plate", " -0.035", " 1.576", " 2.040", " 0", " 180", " 0", " 75" ], [ "27", " Spatula", " -1.627", " 0.927", " -1.265", " 0", " 0", " 0", " 50" ], [ "28", " Potato", " 0.014", " 0.967", " -1.718", " 0", " 270", " 0", " 47" ], [ "29", " Pot", " 1.328", " 0.957", " -1.688", " 0", " 180", " 0", " 53" ], [ "30", " Knife", " -2.321", " 0.896", " 3.370", " 0", " 270", " 0", " 52" ], [ "31", " SaltShaker", " -2.490", " 0.871", " 3.221", " 0", " 270", " 0", " 52" ], [ "32", " PepperShaker", " -2.248", " 0.871", " 3.527", " 0", " 225", " 0", " 52" ], [ "33", " Lettuce", " -0.263", " 0.867", " 2.137", " 0", " 180", " 0", " 75" ], [ "34", " ButterKnife", " -2.315", " 0.874", " 3.088", " 0", " 135", " 0", " 52" ], [ "35", " Bread", " -2.420", " 0.958", " 2.983", " 0", " 135", " 0", " 52" ], [ "36", " Vase", " -2.072", " 0.913", " 0.037", " 0", " 0", " 0", " 50" ], [ "37", " DishSponge", " 1.649", " 0.719", " -1.377", " 0", " 0", " 0", " 66" ], [ "38", " Apple", " -0.844", " 0.247", " 2.213", " 0", " 90", " 0", " 80" ], [ "39", " Pan", " 0.974", " 0.957", " -1.688", " 0", " 180", " 0", " 49" ], [ "40", " Spoon", " -2.152", " 0.875", " 3.147", " 0", " 90", " 0", " 52" ], [ "41", " SoapBottle", " 0.700", " 1.653", " -1.785", " 0", " 0", " 0", " 61" ], [ "42", " Mug", " -2.673", " 0.869", " 3.446", " 0", " 135", " 0", " 52" ], [ "43", " Statue", " 3.676", " 0.168", " 1.410", " 0", " 334.521", " 0", " 73" ], [ "44", " Statue", " -1.849", " 0.910", " -1.265", " 0", " 180", " 0", " 50" ], [ "45", " Bowl", " -2.807", " 0.872", " 2.715", " 0", " 0", " 0", " 52" ], [ "46", " Cabinet", " -2.171", " 2.009", " -1.538", " 0", " 0", " 0", "" ], [ "47", " Sink", " 0.024", " 0.771", " -1.708", " 0", " 270", " 0", "" ], [ "48", " Cabinet", " 1.444", " 2.259", " -1.542", " 0", " 0", " 0", "" ], [ "49", " StoveBurner", " 0.974", " 0.957", " -1.688", " 0", " 180", " 0", "" ], [ "50", " CounterTop", " -1.866", " 0.947", " -0.614", " 0", " 0", " 0", "" ], [ "51", " Cabinet", " -2.217", " 0.373", " -1.874", " 0", " 0", " 0", "" ], [ "52", " DiningTable", " -2.663", " 0.002", " 3.208", " 0", " 0", " 0", "" ], [ "53", " StoveBurner", " 1.328", " 0.957", " -1.688", " 0", " 180", " 0", "" ], [ "54", " StoveBurner", " 1.328", " 0.957", " -1.420", " 0", " 180", " 0", "" ], [ "55", " Cabinet", " -1.478", " 0.373", " -1.235", " 0", " 0", " 0", "" ], [ "56", " Cabinet", " 1.775", " 0.372", " -1.242", " 0", " 0", " 0", "" ], [ "57", " Cabinet", " 0.774", " 0.372", " -1.242", " 0", " 0", " 0", "" ], [ "58", " Cabinet", " 0.375", " 0.372", " -1.242", " 0", " 0", " 0", "" ], [ "59", " Cabinet", " -0.574", " 0.372", " -1.238", " 0", " 0", " 0", "" ], [ "60", " Cabinet", " 1.775", " 2.009", " -1.542", " 0", " 0", " 0", "" ], [ "61", " Cabinet", " 0.524", " 2.009", " -1.542", " 0", " 0", " 0", "" ], [ "62", " Cabinet", " -0.714", " 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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -2.25 0.900 1.0 0 90 0 1 DishSponge 0.124 0.928 -1.501 0 270 0 47 2 DishSponge 3.689 0.880 1.861 0 270 0 73 3 Pot 0.974 0.957 -1.419 0 180 0 68 4 Fork 0.289 0.929 -1.646 0 90 0 47 5 Cup -1.738 0.910 0.363 0 0 0 50 6 Plate -0.367 0.711 -1.573 0 270 0 79 7 Plate 0.193 1.576 2.040 0 180 0 75 8 Knife -1.516 0.934 -0.939 0 90 0 50 9 SoapBottle -2.013 0.120 -1.580 0 0 0 51 10 SoapBottle 1.614 0.910 -1.346 0 0 0 70 11 Tomato -2.152 0.922 3.073 0 270 0 52 12 Bowl -3.017 0.876 3.580 0 135 0 52 13 PepperShaker 3.741 0.549 1.449 0 270 0 73 14 Bread -3.165 0.961 3.296 0 270 0 52 15 Mug -2.490 0.869 3.444 0 270 0 52 16 Apple -0.377 1.627 2.219 0 180 0 75 17 Apple -2.353 0.929 2.811 0 135 0 52 18 Book 3.689 0.550 1.968 0 270 0 73 19 Fork -2.606 0.879 3.169 0 225 0 52 20 Tomato -0.035 0.850 2.023 0 180 0 75 21 Egg -0.263 0.414 2.025 0 180 0 75 22 Kettle -1.831 1.658 -1.674 0 0 0 46 23 Vase 0.633 0.117 -1.370 0 0 0 57 24 Cup 0.307 0.801 2.194 0 180 0 75 25 WineBottle -0.871 0.193 2.097 0 90 0 80 26 Plate -0.035 1.576 2.040 0 180 0 75 27 Spatula -1.627 0.927 -1.265 0 0 0 50 28 Potato 0.014 0.967 -1.718 0 270 0 47 29 Pot 1.328 0.957 -1.688 0 180 0 53 30 Knife -2.321 0.896 3.370 0 270 0 52 31 SaltShaker -2.490 0.871 3.221 0 270 0 52 32 PepperShaker -2.248 0.871 3.527 0 225 0 52 33 Lettuce -0.263 0.867 2.137 0 180 0 75 34 ButterKnife -2.315 0.874 3.088 0 135 0 52 35 Bread -2.420 0.958 2.983 0 135 0 52 36 Vase -2.072 0.913 0.037 0 0 0 50 37 DishSponge 1.649 0.719 -1.377 0 0 0 66 38 Apple -0.844 0.247 2.213 0 90 0 80 39 Pan 0.974 0.957 -1.688 0 180 0 49 40 Spoon -2.152 0.875 3.147 0 90 0 52 41 SoapBottle 0.700 1.653 -1.785 0 0 0 61 42 Mug -2.673 0.869 3.446 0 135 0 52 43 Statue 3.676 0.168 1.410 0 334.521 0 73 44 Statue -1.849 0.910 -1.265 0 180 0 50 45 Bowl -2.807 0.872 2.715 0 0 0 52 46 Cabinet -2.171 2.009 -1.538 0 0 0 47 Sink 0.024 0.771 -1.708 0 270 0 48 Cabinet 1.444 2.259 -1.542 0 0 0 49 StoveBurner 0.974 0.957 -1.688 0 180 0 50 CounterTop -1.866 0.947 -0.614 0 0 0 51 Cabinet -2.217 0.373 -1.874 0 0 0 52 DiningTable -2.663 0.002 3.208 0 0 0 53 StoveBurner 1.328 0.957 -1.688 0 180 0 54 StoveBurner 1.328 0.957 -1.420 0 180 0 55 Cabinet -1.478 0.373 -1.235 0 0 0 56 Cabinet 1.775 0.372 -1.242 0 0 0 57 Cabinet 0.774 0.372 -1.242 0 0 0 58 Cabinet 0.375 0.372 -1.242 0 0 0 59 Cabinet -0.574 0.372 -1.238 0 0 0 60 Cabinet 1.775 2.009 -1.542 0 0 0 61 Cabinet 0.524 2.009 -1.542 0 0 0 62 Cabinet -0.714 2.009 -1.542 0 0 0 63 Cabinet -1.671 2.009 -1.538 0 0 0 64 Cabinet 0.854 2.259 -1.542 0 0 0 65 Drawer -1.636 0.683 -0.930 0 0 0 66 Drawer 1.650 0.682 -1.396 0 0 0 67 Drawer 0.600 0.682 -1.396 0 0 0 68 StoveBurner 0.974 0.957 -1.419 0 180 0 69 Drawer -2.062 0.683 -1.579 0 0 0 70 CounterTop 1.645 0.945 -1.527 0 0 0 71 Shelf 3.725 0.880 1.671 0 90 0 72 LightSwitch 2.830 1.266 -0.748 0 0 0 73 Shelf 3.726 0.552 1.671 0 90 0 74 Microwave 1.150 1.655 -1.614 0 0 0 75 Fridge -0.035 0.0 2.177 0 180 0 76 Window -0.115 1.802 -1.896 90 0 0 77 Window -4.009 1.799 0.310 90 90 0 78 Shelf 3.726 0.172 1.671 0 90 0 79 SinkBasin -0.330 0.686 -1.581 0 270 0 80 GarbageCan -0.870 -0.001 2.136 0 90 0 81 StoveKnob 1.089 0.913 -1.243 45 0 0 82 StoveKnob 1.208 0.913 -1.243 45 0 0 83 StoveKnob 1.340 0.913 -1.243 45 0 0 84 StoveKnob 0.961 0.913 -1.243 45 0 0 85 Toaster 1.637 0.900 -1.673 0 0 0 86 Chair -3.505 0.002 3.290 0 105.736 0 87 CoffeeMachine -1.111 0.900 -1.726 0 0 0 88 HousePlant -2.663 0.835 3.209 0 0 0 89 Faucet -0.187 0.922 -1.75 0 311.166 0 90 ShelvingUnit 3.726 0.006 1.671 0 90 0 91 Stool -2.501 -0.000 0.062 1.223 91.243 0 92 Stool -2.475 -0.000 -0.802 1.209 69.808 0 93 Chair -2.934 0.002 2.437 0 28.531 0 94 Chair -1.698 0.002 3.235 0 245.204 0 95 NorthWall 96 EastWall 97 SouthWall 98 WestWall
[ "STEP 1: walk forwards to the left side corner of the room | STEP 2: grab a sponge off of the brown shelves in the corner of the room | STEP 3: turn around and walk forwards to the fridge on the right, then take a left and walk over to the stove on the left up ahead | STEP 4: place the sponge inside of the pot on the back left burner | STEP 5: pick the pot off of the stove with the sponge in it on the back left burner | STEP 6: turn right and walk to the end of the kitchen counter, then a right to the fridge, then a left to the end of the room, then a right to the dining table | STEP 7: place the pan on top of the dining table | END" ]
[ [ "STEP 1: walk forwards to the left side corner of the room ", " STEP 2: grab a sponge off of the brown shelves in the corner of the room ", " STEP 3: turn around and walk forwards to the fridge on the right, then take a left and walk over to the stove on the left up ahead ", " STEP 4: place the sponge inside of the pot on the back left burner ", " STEP 5: pick the pot off of the stove with the sponge in it on the back left burner ", " STEP 6: turn right and walk to the end of the kitchen counter, then a right to the fridge, then a left to the end of the room, then a right to the dining table ", " STEP 7: place the pan on top of the dining table ", " END" ] ]
seen
trial_T20190909_061528_164423-2
Put a pot containing a sponge on the table.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -2.25 0.900 1.0 0 90 0 1 DishSponge 0.124 0.928 -1.501 0 270 0 47 2 DishSponge 3.689 0.880 1.861 0 270 0 73 3 Pot 0.974 0.957 -1.419 0 180 0 68 4 Fork 0.289 0.929 -1.646 0 90 0 47 5 Cup -1.738 0.910 0.363 0 0 0 50 6 Plate -0.367 0.711 -1.573 0 270 0 79 7 Plate 0.193 1.576 2.040 0 180 0 75 8 Knife -1.516 0.934 -0.939 0 90 0 50 9 SoapBottle -2.013 0.120 -1.580 0 0 0 51 10 SoapBottle 1.614 0.910 -1.346 0 0 0 70 11 Tomato -2.152 0.922 3.073 0 270 0 52 12 Bowl -3.017 0.876 3.580 0 135 0 52 13 PepperShaker 3.741 0.549 1.449 0 270 0 73 14 Bread -3.165 0.961 3.296 0 270 0 52 15 Mug -2.490 0.869 3.444 0 270 0 52 16 Apple -0.377 1.627 2.219 0 180 0 75 17 Apple -2.353 0.929 2.811 0 135 0 52 18 Book 3.689 0.550 1.968 0 270 0 73 19 Fork -2.606 0.879 3.169 0 225 0 52 20 Tomato -0.035 0.850 2.023 0 180 0 75 21 Egg -0.263 0.414 2.025 0 180 0 75 22 Kettle -1.831 1.658 -1.674 0 0 0 46 23 Vase 0.633 0.117 -1.370 0 0 0 57 24 Cup 0.307 0.801 2.194 0 180 0 75 25 WineBottle -0.871 0.193 2.097 0 90 0 80 26 Plate -0.035 1.576 2.040 0 180 0 75 27 Spatula -1.627 0.927 -1.265 0 0 0 50 28 Potato 0.014 0.967 -1.718 0 270 0 47 29 Pot 1.328 0.957 -1.688 0 180 0 53 30 Knife -2.321 0.896 3.370 0 270 0 52 31 SaltShaker -2.490 0.871 3.221 0 270 0 52 32 PepperShaker -2.248 0.871 3.527 0 225 0 52 33 Lettuce -0.263 0.867 2.137 0 180 0 75 34 ButterKnife -2.315 0.874 3.088 0 135 0 52 35 Bread -2.420 0.958 2.983 0 135 0 52 36 Vase -2.072 0.913 0.037 0 0 0 50 37 DishSponge 1.649 0.719 -1.377 0 0 0 66 38 Apple -0.844 0.247 2.213 0 90 0 80 39 Pan 0.974 0.957 -1.688 0 180 0 49 40 Spoon -2.152 0.875 3.147 0 90 0 52 41 SoapBottle 0.700 1.653 -1.785 0 0 0 61 42 Mug -2.673 0.869 3.446 0 135 0 52 43 Statue 3.676 0.168 1.410 0 334.521 0 73 44 Statue -1.849 0.910 -1.265 0 180 0 50 45 Bowl -2.807 0.872 2.715 0 0 0 52 46 Cabinet -2.171 2.009 -1.538 0 0 0 47 Sink 0.024 0.771 -1.708 0 270 0 48 Cabinet 1.444 2.259 -1.542 0 0 0 49 StoveBurner 0.974 0.957 -1.688 0 180 0 50 CounterTop -1.866 0.947 -0.614 0 0 0 51 Cabinet -2.217 0.373 -1.874 0 0 0 52 DiningTable -2.663 0.002 3.208 0 0 0 53 StoveBurner 1.328 0.957 -1.688 0 180 0 54 StoveBurner 1.328 0.957 -1.420 0 180 0 55 Cabinet -1.478 0.373 -1.235 0 0 0 56 Cabinet 1.775 0.372 -1.242 0 0 0 57 Cabinet 0.774 0.372 -1.242 0 0 0 58 Cabinet 0.375 0.372 -1.242 0 0 0 59 Cabinet -0.574 0.372 -1.238 0 0 0 60 Cabinet 1.775 2.009 -1.542 0 0 0 61 Cabinet 0.524 2.009 -1.542 0 0 0 62 Cabinet -0.714 2.009 -1.542 0 0 0 63 Cabinet -1.671 2.009 -1.538 0 0 0 64 Cabinet 0.854 2.259 -1.542 0 0 0 65 Drawer -1.636 0.683 -0.930 0 0 0 66 Drawer 1.650 0.682 -1.396 0 0 0 67 Drawer 0.600 0.682 -1.396 0 0 0 68 StoveBurner 0.974 0.957 -1.419 0 180 0 69 Drawer -2.062 0.683 -1.579 0 0 0 70 CounterTop 1.645 0.945 -1.527 0 0 0 71 Shelf 3.725 0.880 1.671 0 90 0 72 LightSwitch 2.830 1.266 -0.748 0 0 0 73 Shelf 3.726 0.552 1.671 0 90 0 74 Microwave 1.150 1.655 -1.614 0 0 0 75 Fridge -0.035 0.0 2.177 0 180 0 76 Window -0.115 1.802 -1.896 90 0 0 77 Window -4.009 1.799 0.310 90 90 0 78 Shelf 3.726 0.172 1.671 0 90 0 79 SinkBasin -0.330 0.686 -1.581 0 270 0 80 GarbageCan -0.870 -0.001 2.136 0 90 0 81 StoveKnob 1.089 0.913 -1.243 45 0 0 82 StoveKnob 1.208 0.913 -1.243 45 0 0 83 StoveKnob 1.340 0.913 -1.243 45 0 0 84 StoveKnob 0.961 0.913 -1.243 45 0 0 85 Toaster 1.637 0.900 -1.673 0 0 0 86 Chair -3.505 0.002 3.290 0 105.736 0 87 CoffeeMachine -1.111 0.900 -1.726 0 0 0 88 HousePlant -2.663 0.835 3.209 0 0 0 89 Faucet -0.187 0.922 -1.75 0 311.166 0 90 ShelvingUnit 3.726 0.006 1.671 0 90 0 91 Stool -2.501 -0.000 0.062 1.223 91.243 0 92 Stool -2.475 -0.000 -0.802 1.209 69.808 0 93 Chair -2.934 0.002 2.437 0 28.531 0 94 Chair -1.698 0.002 3.235 0 245.204 0 95 NorthWall 96 EastWall 97 SouthWall 98 WestWall
[ "STEP 1: Go across the room to the wooden shelf in the left corner. | STEP 2: Pick up the green sponge on the left of the top shelf. | STEP 3: Turn around walk across the room, the make a left at the refrigerator and go to the stove across from you. | STEP 4: Place the sponge in the large pot on the back, left burner of the stove. | STEP 5: Pick up the large black pot with the sponge inside it, from the stove. | STEP 6: Turn to your right and go across the room, then turn right at the counter and go to the end of it, then make a left, go to the window, turn to your right and go to the table. | STEP 7: Place the pot with the sponge inside it on the back of the table, behind the two coffee cups. | END" ]
[ [ "STEP 1: Go across the room to the wooden shelf in the left corner. ", " STEP 2: Pick up the green sponge on the left of the top shelf. ", " STEP 3: Turn around walk across the room, the make a left at the refrigerator and go to the stove across from you. ", " STEP 4: Place the sponge in the large pot on the back, left burner of the stove. ", " STEP 5: Pick up the large black pot with the sponge inside it, from the stove. ", " STEP 6: Turn to your right and go across the room, then turn right at the counter and go to the end of it, then make a left, go to the window, turn to your right and go to the table. ", " STEP 7: Place the pot with the sponge inside it on the back of the table, behind the two coffee cups. ", " END" ] ]
seen
trial_T20190906_224412_052927-0
Place a sliced piece of potato on top of the black shelf.
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0", " 77" ], [ "11", " Tomato", " -3.665", " 0.810", " -3.515", " 0", " 334.125", " 0", " 78" ], [ "12", " Tomato", " -3.982", " 0.810", " -3.635", " 0", " 244.125", " 0", " 78" ], [ "13", " Bowl", " -3.942", " 0.689", " -0.248", " 0", " 0", " 0", " 77" ], [ "14", " Bowl", " -3.163", " 0.892", " -0.633", " 0", " 270", " 0", " 79" ], [ "15", " Bread", " -3.163", " 0.976", " -0.462", " 0", " 270", " 0", " 79" ], [ "16", " SaltShaker", " -0.473", " 0.937", " -1.406", " 0", " 0", " 0", " 60" ], [ "17", " PepperShaker", " -0.135", " 1.498", " -1.328", " 0", " 0", " 0", " 53" ], [ "18", " PepperShaker", " -0.251", " 1.498", " -2.964", " 0", " 0", " 0", " 54" ], [ "19", " Apple", " -4.242", " 0.752", " -0.430", " 0", " 0", " 0", " 77" ], [ "20", " Apple", " -3.565", " 0.956", " -0.462", " 0", " 270", " 0", " 79" ], [ "21", " SoapBottle", " -0.244", " 0.940", " -2.670", " 0", " 0", " 0", " 42" ], [ "22", " Pot", " -0.437", " 0.961", " -1.845", " 0", " 180", " 0", " 43" ], [ "23", " Fork", " -3.744", " 0.760", " -3.209", " 0", " 334.125", " 0", " 78" ], [ "24", " Cup", " -0.240", " 1.939", " -2.285", " 0", " 0", " 0", " 52" ], [ "25", " Tomato", " -0.321", " 1.539", " -0.646", " 0", " 270", " 0", " 72" ], [ "26", " Pan", " -0.437", " 0.961", " -2.243", " 0", " 0", " 0", " 45" ], [ "27", " Plate", " -3.565", " 0.908", " -0.290", " 0", " 270", " 0", " 79" ], [ "28", " Bread", " -2.560", " 0.976", " -0.462", " 0", " 270", " 0", " 79" ], [ "29", " Spatula", " -2.359", " 0.909", " -0.376", " 0", " 90", " 0", " 79" ], [ "30", " Knife", " -0.157", " 0.966", " -1.494", " 0", " 0", " 0", " 60" ], [ "31", " SaltShaker", " -4.062", " 0.686", " -0.126", " 0", " 0", " 0", " 77" ], [ "32", " PepperShaker", " -4.122", " 0.686", " -0.248", " 0", " 0", " 0", " 77" ], [ "33", " ButterKnife", " -3.163", " 0.894", " -0.290", " 0", " 270", " 0", " 79" ], [ "34", " Apple", " -2.419", " 0.161", " -3.604", " 0", " 0", " 0", " 67" ], [ "35", " DishSponge", " -0.644", " 0.813", " -3.337", " 0", " 315", " 0", " 71" ], [ "36", " Potato", " -2.419", " 0.131", " -3.505", " 0", " 0", " 0", " 67" ], [ "37", " Egg", " -3.839", " 0.801", " -3.570", " 0", " 199.125", " 0", " 78" ], [ "38", " Spoon", " -0.406", " 0.753", " -2.632", " 0", " 270", " 0", " 47" ], [ "39", " Lettuce", " -3.766", " 0.851", " -2.877", " 0", " 334.125", " 0", " 78" ], [ "40", " Mug", " -0.359", " 1.483", " -0.762", " 0", " 270", " 0", " 72" ], [ "41", " Bowl", " -0.293", " 1.284", " -0.646", " 0", " 270", " 0", " 72" ], [ "42", " CounterTop", " -1.937", " 0.977", " -3.673", " 0", " 0", " 0", "" ], [ "43", " StoveBurner", " -0.437", " 0.924", " -1.845", " 0", " 180", " 0", "" ], [ "44", " StoveBurner", " -0.222", " 0.924", " -1.845", " 0", " 180", " 0", "" ], [ "45", " StoveBurner", " -0.437", " 0.924", " -2.243", " 0", " 0", " 0", "" ], [ "46", " Drawer", " -0.500", " 0.779", " -1.450", " 0", " 0", " 0", "" ], [ "47", " Drawer", " -0.481", " 0.777", " -2.739", " 0", " 0", " 0", "" ], [ "48", " Drawer", " -1.154", " 0.782", " -3.499", " 0", " 0", " 0", "" ], [ "49", " Cabinet", " -0.337", " 2.110", " -0.390", " 0", " 0", " 0", "" ], [ "50", " Cabinet", " -0.337", " 2.110", " -1.272", " 0", " 0", " 0", "" ], [ "51", " Cabinet", " -0.337", " 2.110", " -1.631", " 0", " 0", " 0", "" ], [ "52", " Cabinet", " -0.337", " 2.110", " -2.497", " 0", " 0", " 0", "" ], [ "53", " Cabinet", " -0.337", " 1.891", " -1.286", " 0", " 0", " 0", "" ], [ "54", " Cabinet", " -0.346", " 1.891", " -3.293", " 0", " 0", " 0", "" ], [ "55", " Cabinet", " -0.629", " 0.388", " -2.513", " 0", " 0", " 0", "" ], [ "56", " Cabinet", " -0.633", " 0.388", " -3.008", " 0", " 0", " 0", "" ], [ "57", " Cabinet", " -1.010", " 0.388", " -3.368", " 0", " 0", " 0", "" ], [ "58", " Cabinet", " -0.629", " 0.388", " -1.614", " 0", " 0", " 0", "" ], [ "59", " Cabinet", " -0.327", " 1.886", " -2.513", " 0", " 0", " 0", "" ], [ "60", " CounterTop", " -0.326", " 0.976", " -1.450", " 0", " 0", " 0", "" ], [ "61", " StoveBurner", " 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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -3.25 0.900 -2.0 0 90 0 1 Potato -0.185 0.974 -3.012 0 45 0 42 2 Potato -3.580 0.792 -3.202 0 109.125 0 78 3 ButterKnife -2.962 0.894 -0.290 0 270 0 79 4 ButterKnife -4.122 0.690 -0.430 0 0 0 77 5 Pot -3.409 0.761 -2.902 0 199.125 0 78 6 Pot -1.471 0.943 -3.517 0 0 0 42 7 Egg -3.561 0.801 -3.340 0 199.125 0 78 8 Egg -0.268 1.620 -1.884 0 270 0 74 9 SoapBottle -1.139 0.940 -3.773 0 135 0 42 10 SoapBottle -4.062 0.688 -0.369 0 90 0 77 11 Tomato -3.665 0.810 -3.515 0 334.125 0 78 12 Tomato -3.982 0.810 -3.635 0 244.125 0 78 13 Bowl -3.942 0.689 -0.248 0 0 0 77 14 Bowl -3.163 0.892 -0.633 0 270 0 79 15 Bread -3.163 0.976 -0.462 0 270 0 79 16 SaltShaker -0.473 0.937 -1.406 0 0 0 60 17 PepperShaker -0.135 1.498 -1.328 0 0 0 53 18 PepperShaker -0.251 1.498 -2.964 0 0 0 54 19 Apple -4.242 0.752 -0.430 0 0 0 77 20 Apple -3.565 0.956 -0.462 0 270 0 79 21 SoapBottle -0.244 0.940 -2.670 0 0 0 42 22 Pot -0.437 0.961 -1.845 0 180 0 43 23 Fork -3.744 0.760 -3.209 0 334.125 0 78 24 Cup -0.240 1.939 -2.285 0 0 0 52 25 Tomato -0.321 1.539 -0.646 0 270 0 72 26 Pan -0.437 0.961 -2.243 0 0 0 45 27 Plate -3.565 0.908 -0.290 0 270 0 79 28 Bread -2.560 0.976 -0.462 0 270 0 79 29 Spatula -2.359 0.909 -0.376 0 90 0 79 30 Knife -0.157 0.966 -1.494 0 0 0 60 31 SaltShaker -4.062 0.686 -0.126 0 0 0 77 32 PepperShaker -4.122 0.686 -0.248 0 0 0 77 33 ButterKnife -3.163 0.894 -0.290 0 270 0 79 34 Apple -2.419 0.161 -3.604 0 0 0 67 35 DishSponge -0.644 0.813 -3.337 0 315 0 71 36 Potato -2.419 0.131 -3.505 0 0 0 67 37 Egg -3.839 0.801 -3.570 0 199.125 0 78 38 Spoon -0.406 0.753 -2.632 0 270 0 47 39 Lettuce -3.766 0.851 -2.877 0 334.125 0 78 40 Mug -0.359 1.483 -0.762 0 270 0 72 41 Bowl -0.293 1.284 -0.646 0 270 0 72 42 CounterTop -1.937 0.977 -3.673 0 0 0 43 StoveBurner -0.437 0.924 -1.845 0 180 0 44 StoveBurner -0.222 0.924 -1.845 0 180 0 45 StoveBurner -0.437 0.924 -2.243 0 0 0 46 Drawer -0.500 0.779 -1.450 0 0 0 47 Drawer -0.481 0.777 -2.739 0 0 0 48 Drawer -1.154 0.782 -3.499 0 0 0 49 Cabinet -0.337 2.110 -0.390 0 0 0 50 Cabinet -0.337 2.110 -1.272 0 0 0 51 Cabinet -0.337 2.110 -1.631 0 0 0 52 Cabinet -0.337 2.110 -2.497 0 0 0 53 Cabinet -0.337 1.891 -1.286 0 0 0 54 Cabinet -0.346 1.891 -3.293 0 0 0 55 Cabinet -0.629 0.388 -2.513 0 0 0 56 Cabinet -0.633 0.388 -3.008 0 0 0 57 Cabinet -1.010 0.388 -3.368 0 0 0 58 Cabinet -0.629 0.388 -1.614 0 0 0 59 Cabinet -0.327 1.886 -2.513 0 0 0 60 CounterTop -0.326 0.976 -1.450 0 0 0 61 StoveBurner -0.222 0.924 -2.243 0 0 0 62 Sink -0.600 0.929 -3.388 0 0 0 63 StoveKnob -0.617 0.899 -1.833 315 90 180 64 StoveKnob -0.617 0.899 -2.129 315 90 180 65 StoveKnob -0.617 0.899 -2.289 315 90 180 66 StoveKnob -0.617 0.899 -1.975 315 90 180 67 GarbageCan -2.418 -0.032 -3.541 0 0 0 68 CoffeeMachine -2.513 0.930 -3.797 0 0 0 69 Window -1.389 1.610 -4.113 90 0 0 70 LightSwitch -4.372 1.493 -1.031 0 90 0 71 SinkBasin -0.614 0.802 -3.384 0 315 0 72 Fridge -0.314 0.0 -0.646 0 0 0 73 Toaster -1.970 0.930 -3.763 0 0 0 74 Microwave -0.216 1.470 -2.054 0 270 0 75 Blinds -1.373 2.205 -3.961 0 0 0 76 Faucet -0.393 0.930 -3.614 270 225 0 77 SideTable -4.030 0.002 -0.301 0 185.034 0 78 DiningTable -3.586 0.000 -3.258 0 0 0 79 DiningTable -3.224 -0.003 -0.453 0 0 0 80 Shelf -4.030 0.259 -0.301 0 185.034 0 81 Shelf -4.030 0.489 -0.301 0 185.034 0 82 EastWall 83 EastWall 84 SouthWall
[ "STEP 1: To right and face the black kitchen table. | STEP 2: Pick the potato up from off of the kitchen table. | STEP 3: Turn around and walk to black shelf next to the counter. | STEP 4: Place the potato on to the black shelf. | STEP 5: Turn around, go to the left, and face the counter top next to the stove. | STEP 6: Pick the yellow knife up from off of the counter. | STEP 7: Go to the left and stand in front of the black shelf. | STEP 8: Cut the potato that is on the black shelf. | STEP 9: Turn around and walk across the room to stand in front of the coffee maker. | STEP 10: Cut the potato in the green bucket under the coffee maker in to slices. | STEP 11: Place the knife in to the green bucket. | STEP 12: Pick up one of the slices of potato. | STEP 13: Turn around and walk towards the black shelf at the end of the counter. | STEP 14: Place the potato slice on to the black shelf. | END" ]
[ [ "STEP 1: To right and face the black kitchen table. ", " STEP 2: Pick the potato up from off of the kitchen table. ", " STEP 3: Turn around and walk to black shelf next to the counter. ", " STEP 4: Place the potato on to the black shelf. ", " STEP 5: Turn around, go to the left, and face the counter top next to the stove. ", " STEP 6: Pick the yellow knife up from off of the counter. ", " STEP 7: Go to the left and stand in front of the black shelf. ", " STEP 8: Cut the potato that is on the black shelf. ", " STEP 9: Turn around and walk across the room to stand in front of the coffee maker. ", " STEP 10: Cut the potato in the green bucket under the coffee maker in to slices. ", " STEP 11: Place the knife in to the green bucket. ", " STEP 12: Pick up one of the slices of potato. ", " STEP 13: Turn around and walk towards the black shelf at the end of the counter. ", " STEP 14: Place the potato slice on to the black shelf. ", " END" ] ]
seen
trial_T20190906_224412_052927-1
Put a slice of potato next to another sliced potato on a stand.
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-1.154", " 0.782", " -3.499", " 0", " 0", " 0", "" ], [ "49", " Cabinet", " -0.337", " 2.110", " -0.390", " 0", " 0", " 0", "" ], [ "50", " Cabinet", " -0.337", " 2.110", " -1.272", " 0", " 0", " 0", "" ], [ "51", " Cabinet", " -0.337", " 2.110", " -1.631", " 0", " 0", " 0", "" ], [ "52", " Cabinet", " -0.337", " 2.110", " -2.497", " 0", " 0", " 0", "" ], [ "53", " Cabinet", " -0.337", " 1.891", " -1.286", " 0", " 0", " 0", "" ], [ "54", " Cabinet", " -0.346", " 1.891", " -3.293", " 0", " 0", " 0", "" ], [ "55", " Cabinet", " -0.629", " 0.388", " -2.513", " 0", " 0", " 0", "" ], [ "56", " Cabinet", " -0.633", " 0.388", " -3.008", " 0", " 0", " 0", "" ], [ "57", " Cabinet", " -1.010", " 0.388", " -3.368", " 0", " 0", " 0", "" ], [ "58", " Cabinet", " -0.629", " 0.388", " -1.614", " 0", " 0", " 0", "" ], [ "59", " Cabinet", " -0.327", " 1.886", " -2.513", " 0", " 0", " 0", "" ], [ "60", " CounterTop", " -0.326", " 0.976", " -1.450", " 0", " 0", " 0", "" ], [ "61", " StoveBurner", " -0.222", " 0.924", " -2.243", " 0", " 0", " 0", "" ], [ "62", " Sink", " -0.600", " 0.929", " -3.388", " 0", " 0", " 0", "" ], [ "63", " StoveKnob", " -0.617", " 0.899", " -1.833", " 315", " 90", " 180", "" ], [ "64", " StoveKnob", " -0.617", " 0.899", " -2.129", " 315", " 90", " 180", "" ], [ "65", " StoveKnob", " -0.617", " 0.899", " -2.289", " 315", " 90", " 180", "" ], [ "66", " StoveKnob", " -0.617", " 0.899", " -1.975", " 315", " 90", " 180", "" ], [ "67", " GarbageCan", " -2.418", " -0.032", " -3.541", " 0", " 0", " 0", "" ], [ "68", " CoffeeMachine", " -2.513", " 0.930", " -3.797", " 0", " 0", " 0", "" ], [ "69", " Window", " -1.389", " 1.610", " -4.113", " 90", " 0", " 0", "" ], [ "70", " LightSwitch", " -4.372", " 1.493", " -1.031", " 0", " 90", " 0", "" ], [ "71", " SinkBasin", " -0.614", " 0.802", " -3.384", " 0", " 315", " 0", "" ], [ "72", " Fridge", " -0.314", " 0.0", " -0.646", " 0", " 0", " 0", "" ], [ "73", " Toaster", " -1.970", " 0.930", " -3.763", " 0", " 0", " 0", "" ], [ "74", " Microwave", " -0.216", " 1.470", " -2.054", " 0", " 270", " 0", "" ], [ "75", " Blinds", " -1.373", " 2.205", " -3.961", " 0", " 0", " 0", "" ], [ "76", " Faucet", " -0.393", " 0.930", " -3.614", " 270", " 225", " 0", "" ], [ "77", " SideTable", " -4.030", " 0.002", " -0.301", " 0", " 185.034", " 0", "" ], [ "78", " DiningTable", " -3.586", " 0.000", " -3.258", " 0", " 0", " 0", "" ], [ "79", " DiningTable", " -3.224", " -0.003", " -0.453", " 0", " 0", " 0", "" ], [ "80", " Shelf", " -4.030", " 0.259", " -0.301", " 0", " 185.034", " 0", "" ], [ "81", " Shelf", " -4.030", " 0.489", " -0.301", " 0", " 185.034", " 0", "" ], [ "82", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "83", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "84", " SouthWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -3.25 0.900 -2.0 0 90 0 1 Potato -0.185 0.974 -3.012 0 45 0 42 2 Potato -3.580 0.792 -3.202 0 109.125 0 78 3 ButterKnife -2.962 0.894 -0.290 0 270 0 79 4 ButterKnife -4.122 0.690 -0.430 0 0 0 77 5 Pot -3.409 0.761 -2.902 0 199.125 0 78 6 Pot -1.471 0.943 -3.517 0 0 0 42 7 Egg -3.561 0.801 -3.340 0 199.125 0 78 8 Egg -0.268 1.620 -1.884 0 270 0 74 9 SoapBottle -1.139 0.940 -3.773 0 135 0 42 10 SoapBottle -4.062 0.688 -0.369 0 90 0 77 11 Tomato -3.665 0.810 -3.515 0 334.125 0 78 12 Tomato -3.982 0.810 -3.635 0 244.125 0 78 13 Bowl -3.942 0.689 -0.248 0 0 0 77 14 Bowl -3.163 0.892 -0.633 0 270 0 79 15 Bread -3.163 0.976 -0.462 0 270 0 79 16 SaltShaker -0.473 0.937 -1.406 0 0 0 60 17 PepperShaker -0.135 1.498 -1.328 0 0 0 53 18 PepperShaker -0.251 1.498 -2.964 0 0 0 54 19 Apple -4.242 0.752 -0.430 0 0 0 77 20 Apple -3.565 0.956 -0.462 0 270 0 79 21 SoapBottle -0.244 0.940 -2.670 0 0 0 42 22 Pot -0.437 0.961 -1.845 0 180 0 43 23 Fork -3.744 0.760 -3.209 0 334.125 0 78 24 Cup -0.240 1.939 -2.285 0 0 0 52 25 Tomato -0.321 1.539 -0.646 0 270 0 72 26 Pan -0.437 0.961 -2.243 0 0 0 45 27 Plate -3.565 0.908 -0.290 0 270 0 79 28 Bread -2.560 0.976 -0.462 0 270 0 79 29 Spatula -2.359 0.909 -0.376 0 90 0 79 30 Knife -0.157 0.966 -1.494 0 0 0 60 31 SaltShaker -4.062 0.686 -0.126 0 0 0 77 32 PepperShaker -4.122 0.686 -0.248 0 0 0 77 33 ButterKnife -3.163 0.894 -0.290 0 270 0 79 34 Apple -2.419 0.161 -3.604 0 0 0 67 35 DishSponge -0.644 0.813 -3.337 0 315 0 71 36 Potato -2.419 0.131 -3.505 0 0 0 67 37 Egg -3.839 0.801 -3.570 0 199.125 0 78 38 Spoon -0.406 0.753 -2.632 0 270 0 47 39 Lettuce -3.766 0.851 -2.877 0 334.125 0 78 40 Mug -0.359 1.483 -0.762 0 270 0 72 41 Bowl -0.293 1.284 -0.646 0 270 0 72 42 CounterTop -1.937 0.977 -3.673 0 0 0 43 StoveBurner -0.437 0.924 -1.845 0 180 0 44 StoveBurner -0.222 0.924 -1.845 0 180 0 45 StoveBurner -0.437 0.924 -2.243 0 0 0 46 Drawer -0.500 0.779 -1.450 0 0 0 47 Drawer -0.481 0.777 -2.739 0 0 0 48 Drawer -1.154 0.782 -3.499 0 0 0 49 Cabinet -0.337 2.110 -0.390 0 0 0 50 Cabinet -0.337 2.110 -1.272 0 0 0 51 Cabinet -0.337 2.110 -1.631 0 0 0 52 Cabinet -0.337 2.110 -2.497 0 0 0 53 Cabinet -0.337 1.891 -1.286 0 0 0 54 Cabinet -0.346 1.891 -3.293 0 0 0 55 Cabinet -0.629 0.388 -2.513 0 0 0 56 Cabinet -0.633 0.388 -3.008 0 0 0 57 Cabinet -1.010 0.388 -3.368 0 0 0 58 Cabinet -0.629 0.388 -1.614 0 0 0 59 Cabinet -0.327 1.886 -2.513 0 0 0 60 CounterTop -0.326 0.976 -1.450 0 0 0 61 StoveBurner -0.222 0.924 -2.243 0 0 0 62 Sink -0.600 0.929 -3.388 0 0 0 63 StoveKnob -0.617 0.899 -1.833 315 90 180 64 StoveKnob -0.617 0.899 -2.129 315 90 180 65 StoveKnob -0.617 0.899 -2.289 315 90 180 66 StoveKnob -0.617 0.899 -1.975 315 90 180 67 GarbageCan -2.418 -0.032 -3.541 0 0 0 68 CoffeeMachine -2.513 0.930 -3.797 0 0 0 69 Window -1.389 1.610 -4.113 90 0 0 70 LightSwitch -4.372 1.493 -1.031 0 90 0 71 SinkBasin -0.614 0.802 -3.384 0 315 0 72 Fridge -0.314 0.0 -0.646 0 0 0 73 Toaster -1.970 0.930 -3.763 0 0 0 74 Microwave -0.216 1.470 -2.054 0 270 0 75 Blinds -1.373 2.205 -3.961 0 0 0 76 Faucet -0.393 0.930 -3.614 270 225 0 77 SideTable -4.030 0.002 -0.301 0 185.034 0 78 DiningTable -3.586 0.000 -3.258 0 0 0 79 DiningTable -3.224 -0.003 -0.453 0 0 0 80 Shelf -4.030 0.259 -0.301 0 185.034 0 81 Shelf -4.030 0.489 -0.301 0 185.034 0 82 EastWall 83 EastWall 84 SouthWall
[ "STEP 1: Turn right, go to the coffee maker, turn right to face the round black table. | STEP 2: Take the potato next to the fork from the table. | STEP 3: Turn right, go straight and to the left to the black stand next to the white table. | STEP 4: Put the potato on the lower right corner of the stand. | STEP 5: Turn right, go to the counter to the left of the oven. | STEP 6: Take the knife from the counter. | STEP 7: Turn around, go to the door, turn right, go to the black stand. | STEP 8: Cut the potato on the stand into slices. | STEP 9: Turn around, go to the counter with the coffee maker. | STEP 10: Cut the potato in the green bin into slices below the coffee maker counter. | STEP 11: Put the knife in the green bin. | STEP 12: Take a slice of potato from the green bin. | STEP 13: Turn around, go back to the black stand. | STEP 14: Put the slice of potato to the left of the sliced potato on the stand. | END" ]
[ [ "STEP 1: Turn right, go to the coffee maker, turn right to face the round black table. ", " STEP 2: Take the potato next to the fork from the table. ", " STEP 3: Turn right, go straight and to the left to the black stand next to the white table. ", " STEP 4: Put the potato on the lower right corner of the stand. ", " STEP 5: Turn right, go to the counter to the left of the oven. ", " STEP 6: Take the knife from the counter. ", " STEP 7: Turn around, go to the door, turn right, go to the black stand. ", " STEP 8: Cut the potato on the stand into slices. ", " STEP 9: Turn around, go to the counter with the coffee maker. ", " STEP 10: Cut the potato in the green bin into slices below the coffee maker counter. ", " STEP 11: Put the knife in the green bin. ", " STEP 12: Take a slice of potato from the green bin. ", " STEP 13: Turn around, go back to the black stand. ", " STEP 14: Put the slice of potato to the left of the sliced potato on the stand. ", " END" ] ]
seen
trial_T20190906_224412_052927-2
Slice both potatoes, bring a slice from the under the counter pot set it on the table
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0", " 77" ], [ "11", " Tomato", " -3.665", " 0.810", " -3.515", " 0", " 334.125", " 0", " 78" ], [ "12", " Tomato", " -3.982", " 0.810", " -3.635", " 0", " 244.125", " 0", " 78" ], [ "13", " Bowl", " -3.942", " 0.689", " -0.248", " 0", " 0", " 0", " 77" ], [ "14", " Bowl", " -3.163", " 0.892", " -0.633", " 0", " 270", " 0", " 79" ], [ "15", " Bread", " -3.163", " 0.976", " -0.462", " 0", " 270", " 0", " 79" ], [ "16", " SaltShaker", " -0.473", " 0.937", " -1.406", " 0", " 0", " 0", " 60" ], [ "17", " PepperShaker", " -0.135", " 1.498", " -1.328", " 0", " 0", " 0", " 53" ], [ "18", " PepperShaker", " -0.251", " 1.498", " -2.964", " 0", " 0", " 0", " 54" ], [ "19", " Apple", " -4.242", " 0.752", " -0.430", " 0", " 0", " 0", " 77" ], [ "20", " Apple", " -3.565", " 0.956", " -0.462", " 0", " 270", " 0", " 79" ], [ "21", " SoapBottle", " -0.244", " 0.940", " -2.670", " 0", " 0", " 0", " 42" ], [ "22", " Pot", " -0.437", " 0.961", " -1.845", " 0", " 180", " 0", " 43" ], [ "23", " Fork", " -3.744", " 0.760", " -3.209", " 0", " 334.125", " 0", " 78" ], [ "24", " Cup", " -0.240", " 1.939", " -2.285", " 0", " 0", " 0", " 52" ], [ "25", " Tomato", " -0.321", " 1.539", " -0.646", " 0", " 270", " 0", " 72" ], [ "26", " Pan", " -0.437", " 0.961", " -2.243", " 0", " 0", " 0", " 45" ], [ "27", " Plate", " -3.565", " 0.908", " -0.290", " 0", " 270", " 0", " 79" ], [ "28", " Bread", " -2.560", " 0.976", " -0.462", " 0", " 270", " 0", " 79" ], [ "29", " Spatula", " -2.359", " 0.909", " -0.376", " 0", " 90", " 0", " 79" ], [ "30", " Knife", " -0.157", " 0.966", " -1.494", " 0", " 0", " 0", " 60" ], [ "31", " SaltShaker", " -4.062", " 0.686", " -0.126", " 0", " 0", " 0", " 77" ], [ "32", " PepperShaker", " -4.122", " 0.686", " -0.248", " 0", " 0", " 0", " 77" ], [ "33", " ButterKnife", " -3.163", " 0.894", " -0.290", " 0", " 270", " 0", " 79" ], [ "34", " Apple", " -2.419", " 0.161", " -3.604", " 0", " 0", " 0", " 67" ], [ "35", " DishSponge", " -0.644", " 0.813", " -3.337", " 0", " 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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -3.25 0.900 -2.0 0 90 0 1 Potato -0.185 0.974 -3.012 0 45 0 42 2 Potato -3.580 0.792 -3.202 0 109.125 0 78 3 ButterKnife -2.962 0.894 -0.290 0 270 0 79 4 ButterKnife -4.122 0.690 -0.430 0 0 0 77 5 Pot -3.409 0.761 -2.902 0 199.125 0 78 6 Pot -1.471 0.943 -3.517 0 0 0 42 7 Egg -3.561 0.801 -3.340 0 199.125 0 78 8 Egg -0.268 1.620 -1.884 0 270 0 74 9 SoapBottle -1.139 0.940 -3.773 0 135 0 42 10 SoapBottle -4.062 0.688 -0.369 0 90 0 77 11 Tomato -3.665 0.810 -3.515 0 334.125 0 78 12 Tomato -3.982 0.810 -3.635 0 244.125 0 78 13 Bowl -3.942 0.689 -0.248 0 0 0 77 14 Bowl -3.163 0.892 -0.633 0 270 0 79 15 Bread -3.163 0.976 -0.462 0 270 0 79 16 SaltShaker -0.473 0.937 -1.406 0 0 0 60 17 PepperShaker -0.135 1.498 -1.328 0 0 0 53 18 PepperShaker -0.251 1.498 -2.964 0 0 0 54 19 Apple -4.242 0.752 -0.430 0 0 0 77 20 Apple -3.565 0.956 -0.462 0 270 0 79 21 SoapBottle -0.244 0.940 -2.670 0 0 0 42 22 Pot -0.437 0.961 -1.845 0 180 0 43 23 Fork -3.744 0.760 -3.209 0 334.125 0 78 24 Cup -0.240 1.939 -2.285 0 0 0 52 25 Tomato -0.321 1.539 -0.646 0 270 0 72 26 Pan -0.437 0.961 -2.243 0 0 0 45 27 Plate -3.565 0.908 -0.290 0 270 0 79 28 Bread -2.560 0.976 -0.462 0 270 0 79 29 Spatula -2.359 0.909 -0.376 0 90 0 79 30 Knife -0.157 0.966 -1.494 0 0 0 60 31 SaltShaker -4.062 0.686 -0.126 0 0 0 77 32 PepperShaker -4.122 0.686 -0.248 0 0 0 77 33 ButterKnife -3.163 0.894 -0.290 0 270 0 79 34 Apple -2.419 0.161 -3.604 0 0 0 67 35 DishSponge -0.644 0.813 -3.337 0 315 0 71 36 Potato -2.419 0.131 -3.505 0 0 0 67 37 Egg -3.839 0.801 -3.570 0 199.125 0 78 38 Spoon -0.406 0.753 -2.632 0 270 0 47 39 Lettuce -3.766 0.851 -2.877 0 334.125 0 78 40 Mug -0.359 1.483 -0.762 0 270 0 72 41 Bowl -0.293 1.284 -0.646 0 270 0 72 42 CounterTop -1.937 0.977 -3.673 0 0 0 43 StoveBurner -0.437 0.924 -1.845 0 180 0 44 StoveBurner -0.222 0.924 -1.845 0 180 0 45 StoveBurner -0.437 0.924 -2.243 0 0 0 46 Drawer -0.500 0.779 -1.450 0 0 0 47 Drawer -0.481 0.777 -2.739 0 0 0 48 Drawer -1.154 0.782 -3.499 0 0 0 49 Cabinet -0.337 2.110 -0.390 0 0 0 50 Cabinet -0.337 2.110 -1.272 0 0 0 51 Cabinet -0.337 2.110 -1.631 0 0 0 52 Cabinet -0.337 2.110 -2.497 0 0 0 53 Cabinet -0.337 1.891 -1.286 0 0 0 54 Cabinet -0.346 1.891 -3.293 0 0 0 55 Cabinet -0.629 0.388 -2.513 0 0 0 56 Cabinet -0.633 0.388 -3.008 0 0 0 57 Cabinet -1.010 0.388 -3.368 0 0 0 58 Cabinet -0.629 0.388 -1.614 0 0 0 59 Cabinet -0.327 1.886 -2.513 0 0 0 60 CounterTop -0.326 0.976 -1.450 0 0 0 61 StoveBurner -0.222 0.924 -2.243 0 0 0 62 Sink -0.600 0.929 -3.388 0 0 0 63 StoveKnob -0.617 0.899 -1.833 315 90 180 64 StoveKnob -0.617 0.899 -2.129 315 90 180 65 StoveKnob -0.617 0.899 -2.289 315 90 180 66 StoveKnob -0.617 0.899 -1.975 315 90 180 67 GarbageCan -2.418 -0.032 -3.541 0 0 0 68 CoffeeMachine -2.513 0.930 -3.797 0 0 0 69 Window -1.389 1.610 -4.113 90 0 0 70 LightSwitch -4.372 1.493 -1.031 0 90 0 71 SinkBasin -0.614 0.802 -3.384 0 315 0 72 Fridge -0.314 0.0 -0.646 0 0 0 73 Toaster -1.970 0.930 -3.763 0 0 0 74 Microwave -0.216 1.470 -2.054 0 270 0 75 Blinds -1.373 2.205 -3.961 0 0 0 76 Faucet -0.393 0.930 -3.614 270 225 0 77 SideTable -4.030 0.002 -0.301 0 185.034 0 78 DiningTable -3.586 0.000 -3.258 0 0 0 79 DiningTable -3.224 -0.003 -0.453 0 0 0 80 Shelf -4.030 0.259 -0.301 0 185.034 0 81 Shelf -4.030 0.489 -0.301 0 185.034 0 82 EastWall 83 EastWall 84 SouthWall
[ "STEP 1: Walk forward and turn right twice, walk towards the table | STEP 2: Grab the potato from the round table | STEP 3: Walk with the potato towards the small corner table | STEP 4: Set the potato on the corner table | STEP 5: Walk towards the counter next to the stove | STEP 6: Grab a knife from the counter | STEP 7: Walk with the knife towards the small corner table | STEP 8: Slice the potato on the table | STEP 9: Walk with the knife towards the round table | STEP 10: slice the potato on the plastic pot under the counter | STEP 11: Move the apple next to it | STEP 12: Pick up a slice of the potato | STEP 13: Walk with the slice of potato towards the small corner table | STEP 14: Set the slice of potato on the corner table | END" ]
[ [ "STEP 1: Walk forward and turn right twice, walk towards the table ", " STEP 2: Grab the potato from the round table ", " STEP 3: Walk with the potato towards the small corner table ", " STEP 4: Set the potato on the corner table ", " STEP 5: Walk towards the counter next to the stove ", " STEP 6: Grab a knife from the counter ", " STEP 7: Walk with the knife towards the small corner table ", " STEP 8: Slice the potato on the table ", " STEP 9: Walk with the knife towards the round table ", " STEP 10: slice the potato on the plastic pot under the counter ", " STEP 11: Move the apple next to it ", " STEP 12: Pick up a slice of the potato ", " STEP 13: Walk with the slice of potato towards the small corner table ", " STEP 14: Set the slice of potato on the corner table ", " END" ] ]
seen
trial_T20190909_052719_823536-0
Pick up a credit card and view it in the light of the lamp
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -3.25 0.907 6.0 0 270 0 1 Bowl 0.578 0.553 2.153 0 0 0 38 2 Bowl 0.233 0.553 2.153 0 0 0 38 3 TissueBox -4.477 0.756 -0.626 0 0 0 51 4 TissueBox -3.747 0.756 -0.008 0 0 0 52 5 Pencil 0.492 0.555 2.454 0 0 0 38 6 KeyChain -1.340 0.881 0.101 0 90 0 55 7 KeyChain -4.112 0.755 -0.626 0 0 0 53 8 CellPhone -0.970 0.450 3.031 0 0 0 54 9 CellPhone 0.732 0.434 4.883 0 0 0 46 10 CreditCard -1.554 0.449 2.322 0 0 0 54 11 CreditCard -1.554 0.449 3.031 0 0 0 54 12 Book -1.204 0.450 3.031 0 0 0 54 13 Box 0.957 0.286 6.189 0 327.955 0 46 14 Pillow 0.438 0.581 5.162 321.968 0 0 46 15 Bowl -1.029 0.882 0.179 0 90 0 55 16 WateringCan -0.816 0.005 0.189 0 0 0 17 TissueBox 0.578 0.553 2.605 0 0 0 38 18 Newspaper 0.492 0.558 3.056 0 0 0 38 19 CreditCard -1.087 0.453 1.849 0 0 0 54 20 KeyChain 0.628 0.432 4.787 0 0 0 46 21 Boots -6.309 0.006 1.252 0 92.842 0 22 Pencil 0.578 0.555 2.304 0 0 0 38 23 Laptop -4.659 0.752 -0.255 0 0 0 49 24 Vase 0.664 0.554 3.056 0 0 0 38 25 RemoteControl -1.554 0.452 2.559 0 0 0 54 26 Watch -1.311 0.770 0.181 0 90 0 56 27 CellPhone 0.233 0.552 2.454 0 0 0 38 28 Plate -4.842 0.758 -0.626 0 0 0 49 29 Painting -6.5 1.759 -0.341 0 0 0 30 Painting 0.704 1.778 0.782 0 0 0 31 Television 1.5 1.690 2.562 0 270 0 32 FloorLamp 1.111 0.007 6.805 0 0 0 33 GarbageCan -6.128 -0.003 2.800 0 0 0 34 LightSwitch -6.5 1.498 1.345 0 90 0 35 HousePlant -0.753 0.874 0.209 0 0 0 36 Window 1.496 1.712 4.454 90 90 0 37 Window -4.210 1.577 -1.980 90 180 0 38 CoffeeTable 0.405 0.008 2.605 0 270 0 39 Drawer 0.597 0.234 2.604 0 270 0 40 Drawer 0.214 0.393 2.604 0 270 0 41 Drawer 0.214 0.234 2.609 0 270 0 42 Drawer 0.214 0.075 2.604 0 270 0 43 Drawer 0.597 0.075 2.604 0 270 0 44 Drawer 0.597 0.393 2.604 0 270 0 45 Ottoman 0.493 0.006 4.309 0 0 0 46 ArmChair 0.420 0.014 5.129 0 180 0 47 Chair -4.664 0.008 0.164 0 180 0 48 Chair -3.424 0.008 -0.321 0 270 0 49 Chair -4.988 0.008 -0.401 0 90 0 50 Chair -3.904 0.008 -0.827 0 0 0 51 Chair -4.570 0.008 -0.831 0 0 0 52 Chair -3.996 0.008 0.091 0 180 0 53 DiningTable -4.295 0.006 -0.378 0 0 0 54 Sofa -1.527 0.013 2.559 0 90 0 55 SideTable -1.030 0.006 0.160 0 0 0 56 Drawer -1.030 0.780 0.225 0 0 0 57 NorthWall 58 EastWall 59 SouthWall 60 WestWall
[ "STEP 1: look down and turn left then walk straight towards the stairs and turn left and walk straight towards the chair and turn right and walk straight towards the couch and turn right | STEP 2: pick up the credit card behind the book on the couch | STEP 3: turn right then walk straight towards the chair then turn left and walk straight then turn right again and walk straight to the wall and turn right and walk to the lamp and look up | STEP 4: turn the lamp on | END" ]
[ [ "STEP 1: look down and turn left then walk straight towards the stairs and turn left and walk straight towards the chair and turn right and walk straight towards the couch and turn right ", " STEP 2: pick up the credit card behind the book on the couch ", " STEP 3: turn right then walk straight towards the chair then turn left and walk straight then turn right again and walk straight to the wall and turn right and walk to the lamp and look up ", " STEP 4: turn the lamp on ", " END" ] ]
seen
trial_T20190909_052719_823536-1
Retrieve on credit card from couch, turn on floor lamp behind chair
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -3.25 0.907 6.0 0 270 0 1 Bowl 0.578 0.553 2.153 0 0 0 38 2 Bowl 0.233 0.553 2.153 0 0 0 38 3 TissueBox -4.477 0.756 -0.626 0 0 0 51 4 TissueBox -3.747 0.756 -0.008 0 0 0 52 5 Pencil 0.492 0.555 2.454 0 0 0 38 6 KeyChain -1.340 0.881 0.101 0 90 0 55 7 KeyChain -4.112 0.755 -0.626 0 0 0 53 8 CellPhone -0.970 0.450 3.031 0 0 0 54 9 CellPhone 0.732 0.434 4.883 0 0 0 46 10 CreditCard -1.554 0.449 2.322 0 0 0 54 11 CreditCard -1.554 0.449 3.031 0 0 0 54 12 Book -1.204 0.450 3.031 0 0 0 54 13 Box 0.957 0.286 6.189 0 327.955 0 46 14 Pillow 0.438 0.581 5.162 321.968 0 0 46 15 Bowl -1.029 0.882 0.179 0 90 0 55 16 WateringCan -0.816 0.005 0.189 0 0 0 17 TissueBox 0.578 0.553 2.605 0 0 0 38 18 Newspaper 0.492 0.558 3.056 0 0 0 38 19 CreditCard -1.087 0.453 1.849 0 0 0 54 20 KeyChain 0.628 0.432 4.787 0 0 0 46 21 Boots -6.309 0.006 1.252 0 92.842 0 22 Pencil 0.578 0.555 2.304 0 0 0 38 23 Laptop -4.659 0.752 -0.255 0 0 0 49 24 Vase 0.664 0.554 3.056 0 0 0 38 25 RemoteControl -1.554 0.452 2.559 0 0 0 54 26 Watch -1.311 0.770 0.181 0 90 0 56 27 CellPhone 0.233 0.552 2.454 0 0 0 38 28 Plate -4.842 0.758 -0.626 0 0 0 49 29 Painting -6.5 1.759 -0.341 0 0 0 30 Painting 0.704 1.778 0.782 0 0 0 31 Television 1.5 1.690 2.562 0 270 0 32 FloorLamp 1.111 0.007 6.805 0 0 0 33 GarbageCan -6.128 -0.003 2.800 0 0 0 34 LightSwitch -6.5 1.498 1.345 0 90 0 35 HousePlant -0.753 0.874 0.209 0 0 0 36 Window 1.496 1.712 4.454 90 90 0 37 Window -4.210 1.577 -1.980 90 180 0 38 CoffeeTable 0.405 0.008 2.605 0 270 0 39 Drawer 0.597 0.234 2.604 0 270 0 40 Drawer 0.214 0.393 2.604 0 270 0 41 Drawer 0.214 0.234 2.609 0 270 0 42 Drawer 0.214 0.075 2.604 0 270 0 43 Drawer 0.597 0.075 2.604 0 270 0 44 Drawer 0.597 0.393 2.604 0 270 0 45 Ottoman 0.493 0.006 4.309 0 0 0 46 ArmChair 0.420 0.014 5.129 0 180 0 47 Chair -4.664 0.008 0.164 0 180 0 48 Chair -3.424 0.008 -0.321 0 270 0 49 Chair -4.988 0.008 -0.401 0 90 0 50 Chair -3.904 0.008 -0.827 0 0 0 51 Chair -4.570 0.008 -0.831 0 0 0 52 Chair -3.996 0.008 0.091 0 180 0 53 DiningTable -4.295 0.006 -0.378 0 0 0 54 Sofa -1.527 0.013 2.559 0 90 0 55 SideTable -1.030 0.006 0.160 0 0 0 56 Drawer -1.030 0.780 0.225 0 0 0 57 NorthWall 58 EastWall 59 SouthWall 60 WestWall
[ "STEP 1: Turn around walk towards couch, turn left walk towards chair, turn right, walk to couch | STEP 2: Pick up the credit card on the right side of the couch | STEP 3: Turn right, walk towards wall, turn right after chair, walk towards the box on the floor | STEP 4: Turn on the floor lamp | END" ]
[ [ "STEP 1: Turn around walk towards couch, turn left walk towards chair, turn right, walk to couch ", " STEP 2: Pick up the credit card on the right side of the couch ", " STEP 3: Turn right, walk towards wall, turn right after chair, walk towards the box on the floor ", " STEP 4: Turn on the floor lamp ", " END" ] ]
seen
trial_T20190909_052719_823536-2
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 -3.25 0.907 6.0 0 270 0 1 Bowl 0.578 0.553 2.153 0 0 0 38 2 Bowl 0.233 0.553 2.153 0 0 0 38 3 TissueBox -4.477 0.756 -0.626 0 0 0 51 4 TissueBox -3.747 0.756 -0.008 0 0 0 52 5 Pencil 0.492 0.555 2.454 0 0 0 38 6 KeyChain -1.340 0.881 0.101 0 90 0 55 7 KeyChain -4.112 0.755 -0.626 0 0 0 53 8 CellPhone -0.970 0.450 3.031 0 0 0 54 9 CellPhone 0.732 0.434 4.883 0 0 0 46 10 CreditCard -1.554 0.449 2.322 0 0 0 54 11 CreditCard -1.554 0.449 3.031 0 0 0 54 12 Book -1.204 0.450 3.031 0 0 0 54 13 Box 0.957 0.286 6.189 0 327.955 0 46 14 Pillow 0.438 0.581 5.162 321.968 0 0 46 15 Bowl -1.029 0.882 0.179 0 90 0 55 16 WateringCan -0.816 0.005 0.189 0 0 0 17 TissueBox 0.578 0.553 2.605 0 0 0 38 18 Newspaper 0.492 0.558 3.056 0 0 0 38 19 CreditCard -1.087 0.453 1.849 0 0 0 54 20 KeyChain 0.628 0.432 4.787 0 0 0 46 21 Boots -6.309 0.006 1.252 0 92.842 0 22 Pencil 0.578 0.555 2.304 0 0 0 38 23 Laptop -4.659 0.752 -0.255 0 0 0 49 24 Vase 0.664 0.554 3.056 0 0 0 38 25 RemoteControl -1.554 0.452 2.559 0 0 0 54 26 Watch -1.311 0.770 0.181 0 90 0 56 27 CellPhone 0.233 0.552 2.454 0 0 0 38 28 Plate -4.842 0.758 -0.626 0 0 0 49 29 Painting -6.5 1.759 -0.341 0 0 0 30 Painting 0.704 1.778 0.782 0 0 0 31 Television 1.5 1.690 2.562 0 270 0 32 FloorLamp 1.111 0.007 6.805 0 0 0 33 GarbageCan -6.128 -0.003 2.800 0 0 0 34 LightSwitch -6.5 1.498 1.345 0 90 0 35 HousePlant -0.753 0.874 0.209 0 0 0 36 Window 1.496 1.712 4.454 90 90 0 37 Window -4.210 1.577 -1.980 90 180 0 38 CoffeeTable 0.405 0.008 2.605 0 270 0 39 Drawer 0.597 0.234 2.604 0 270 0 40 Drawer 0.214 0.393 2.604 0 270 0 41 Drawer 0.214 0.234 2.609 0 270 0 42 Drawer 0.214 0.075 2.604 0 270 0 43 Drawer 0.597 0.075 2.604 0 270 0 44 Drawer 0.597 0.393 2.604 0 270 0 45 Ottoman 0.493 0.006 4.309 0 0 0 46 ArmChair 0.420 0.014 5.129 0 180 0 47 Chair -4.664 0.008 0.164 0 180 0 48 Chair -3.424 0.008 -0.321 0 270 0 49 Chair -4.988 0.008 -0.401 0 90 0 50 Chair -3.904 0.008 -0.827 0 0 0 51 Chair -4.570 0.008 -0.831 0 0 0 52 Chair -3.996 0.008 0.091 0 180 0 53 DiningTable -4.295 0.006 -0.378 0 0 0 54 Sofa -1.527 0.013 2.559 0 90 0 55 SideTable -1.030 0.006 0.160 0 0 0 56 Drawer -1.030 0.780 0.225 0 0 0 57 NorthWall 58 EastWall 59 SouthWall 60 WestWall
[ "STEP 1: Turn to the left and go forward to the couch. Turn to the left once then right and walk around it make another right to face the couch. | STEP 2: Pick up the credit card from the couch. | STEP 3: Turn to the right and walk forward. Go around the chair and go forward. Turn right to face the lamp. | STEP 4: Use the credit card to turn on the lamp. | END" ]
[ [ "STEP 1: Turn to the left and go forward to the couch. Turn to the left once then right and walk around it make another right to face the couch. ", " STEP 2: Pick up the credit card from the couch. ", " STEP 3: Turn to the right and walk forward. Go around the chair and go forward. Turn right to face the lamp. ", " STEP 4: Use the credit card to turn on the lamp. ", " END" ] ]
seen
trial_T20190906_233908_118479-0
Heat water in cup for coffee maker
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" 1.356", " -2.678", " 0", " 0", " 0", " 50" ], [ "12", " SaltShaker", " -1.665", " 0.338", " -2.362", " 0", " 0", " 0", " 46" ], [ "13", " SaltShaker", " -1.790", " 1.318", " 2.069", " 0", " 0", " 0", " 50" ], [ "14", " PepperShaker", " 1.110", " 1.202", " 1.238", " 0", " 0", " 0", " 75" ], [ "15", " Bread", " -1.790", " 1.397", " -1.941", " 0", " 0", " 0", " 50" ], [ "16", " Lettuce", " -2.049", " 1.399", " 1.094", " 0", " 0", " 0", " 50" ], [ "17", " Mug", " -1.826", " 1.058", " -0.542", " 0", " 0", " 0", " 68" ], [ "18", " Mug", " 0.965", " 1.371", " -1.534", " 0", " 270", " 0", " 71" ], [ "19", " Mug", " -1.750", " 0.338", " 1.523", " 0", " 0", " 0", " 51" ], [ "20", " Apple", " 1.276", " 1.256", " 1.238", " 0", " 0", " 0", " 75" ], [ "21", " Apple", " 0.938", " 1.806", " 2.289", " 0", " 270", " 0", " 63" ], [ "22", " Bread", " -1.920", " 1.397", " 1.744", " 0", " 0", " 0", " 50" ], [ "23", " Pot", " -0.125", " 1.332", " -2.973", " 0", " 0", " 0", " 58" ], [ "24", " Knife", " -1.739", " 1.356", " -1.118", " 0", " 180", " 353.910", " 57" ], [ "25", " Bowl", " 0.900", " 0.343", " -2.267", " 0", " 180", " 0", " 49" ], [ "26", " Potato", " -1.610", " 0.319", " 2.151", " 0", " 270", " 0", " 65" ], [ "27", " SoapBottle", " -1.522", " 1.323", " -2.760", " 0", " 0", " 0", " 50" ], [ "28", " Fork", " 0.939", " 0.740", " 0.983", " 0", " 90", " 0", " 74" ], [ "29", " Cup", " -1.954", " 1.048", " -0.451", " 0", " 0", " 0", " 68" ], [ "30", " Kettle", " -0.630", " 1.331", " -3.301", " 0", " 180", " 0", " 47" ], [ "31", " Egg", " -2.093", " 1.375", " -0.980", " 0", " 0", " 0", " 57" ], [ "32", " Pan", " -1.881", " 0.327", " -2.035", " 0", " 0", " 0", " 46" ], [ "33", " SaltShaker", " -1.602", " 0.338", " -1.863", " 0", " 0", " 0", " 46" ], [ "34", " WineBottle", " -1.308", " 1.323", " -3.092", " 0", " 0", " 0", " 50" ], [ "35", " Lettuce", " -1.939", " 1.397", " -1.048", " 14.484", " 5.030", " 20.057", " 57" ], [ "36", " Spatula", " -1.920", " 1.337", " -3.241", " 0", " 0", " 0", " 50" ], [ "37", " PaperTowelRoll", " -1.634", " 0.384", " 2.234", " 0", " 270", " 0", " 65" ], [ "38", " Tomato", " 0.944", " 1.241", " 1.238", " 0", " 0", " 0", " 75" ], [ "39", " Plate", " -1.660", " 1.323", " 1.094", " 0", " 0", " 0", " 50" ], [ "40", " PepperShaker", " 0.900", " 0.339", " -1.957", " 0", " 180", " 0", " 49" ], [ "41", " DishSponge", " 0.900", " 0.459", " 0.947", " 0", " 0", " 0", " 77" ], [ "42", " Spoon", " 0.277", " 1.324", " -2.789", " 0", " 0", " 0", " 50" ], [ "43", " Apple", " 0.766", " 1.371", " -3.164", " 0", " 0", " 0", " 50" ], [ "44", " Mug", " -1.660", " 1.318", " 2.069", " 0", " 0", " 0", " 50" ], [ "45", " StoveBurner", " -0.239", " 1.325", " -3.301", " 0", " 180", " 0", "" ], [ "46", " Cabinet", " -1.461", " 0.775", " -2.002", " 0", " 0", " 0", "" ], [ "47", " StoveBurner", " -0.630", " 1.325", " -3.301", " 0", " 180", " 0", "" ], [ "48", " Cabinet", " -1.461", " 0.775", " 0.470", " 0", " 0", " 0", "" ], [ "49", " Cabinet", " 0.578", " 0.776", " -2.054", " 0", " 0", " 0", "" ], [ "50", " CounterTop", " -1.809", " 1.358", " 1.182", " 0", " 0", " 0", "" ], [ "51", " Cabinet", " -1.461", " 0.775", " 1.310", " 0", " 0", " 0", "" ], [ "52", " Faucet", " -2.063", " 1.362", " -0.726", " 0", " 39.391", " 0", "" ], [ "53", " StoveBurner", " -0.749", " 1.325", " -2.973", " 0", " 0", " 0", "" ], [ "54", " Drawer", " -1.610", " 0.681", " -0.430", " 0", " 0", " 0", "" ], [ "55", " Window", " -2.566", " 1.799", " -0.822", " 270", " 0", " 0", "" ], [ "56", " Drawer", " -1.610", " 0.681", " -1.217", " 0", " 0", " 0", "" ], [ "57", " Sink", " -1.990", " 1.143", " -0.975", " 0", " 0", " 0", "" ], [ "58", " StoveBurner", " -0.125", " 1.325", " -2.973", " 0", " 0", " 0", "" ], [ "59", " StoveKnob", " -0.185", " 1.338", " -2.741", " 0", " 270", " 180", "" ], [ "60", " StoveKnob", " -0.336", " 1.338", " -2.741", " 0", " 270", " 180", "" ], [ "61", " StoveKnob", " -0.569", " 1.338", " -2.741", " 0", " 270", " 180", "" ], [ "62", " StoveKnob", " -0.707", " 1.338", " -2.741", " 0", " 270", " 180", "" ], [ "63", " Fridge", " 1.013", " 0.227", " 1.917", " 0", " 270", " 0", "" ], [ "64", " Microwave", " 0.994", " 1.310", " -2.163", " 0", " 270", " 0", "" ], [ "65", " GarbageCan", " -1.633", " 0.212", " 2.192", " 0", " 270", " 0", "" ], [ "66", " LightSwitch", " 1.386", " 1.565", " -0.657", " 0", " 270", " 0", "" ], [ "67", " HousePlant", " -2.027", " 1.311", " -0.026", " 0", " 284.058", " 0", "" ], [ "68", " SinkBasin", " -1.835", " 1.039", " -0.542", " 0", " 0", " 0", "" ], [ "69", " ButterKnife", " 0.873", " 0.468", " 0.651", " 0", " 0", " 0", "" ], [ "70", " Toaster", " -1.885", " 1.310", " -2.512", " 0", " 90", " 0", "" ], [ "71", " CoffeeMachine", " 1.129", " 1.310", " -1.426", " 0", " 270", " 0", "" ], [ "72", " Drawer", " 0.647", " 1.061", " 0.680", " 0", " 270", " 0", "" ], [ "73", " Drawer", " 0.648", " 1.061", " 1.020", " 0", " 270", " 0", "" ], [ "74", " Drawer", " 0.648", " 0.843", " 1.020", " 0", " 270", " 0", "" ], [ "75", " SideTable", " 0.975", " 0.220", " 0.869", " 0", " 270", " 0", "" ], [ "76", " Drawer", " 0.648", " 0.602", " 0.680", " 0", " 270", " 0", "" ], [ "77", " Drawer", " 0.648", " 0.596", " 1.020", " 0", " 270", " 0", "" ], [ "78", " Drawer", " 0.648", " 0.843", " 0.680", " 0", " 270", " 0", "" ], [ "79", " Stool", " 0.606", " 0.222", " -1.084", " 1.233", " 280.489", " 0", "" ], [ "80", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "81", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "82", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "83", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 0.25 1.124 1.0 0 180 0 1 DishSponge -1.954 0.343 1.213 0 0 0 51 2 Kettle -2.049 1.324 -1.681 0 0 0 50 3 Fork -1.698 1.051 -0.542 0 0 0 68 4 Pot -0.239 1.331 -3.301 0 180 0 45 5 Pot -0.749 1.332 -2.973 0 0 0 53 6 Cup 0.933 1.943 1.788 0 270 0 63 7 Cup -1.749 0.341 0.713 0 0 0 48 8 Knife 0.636 1.352 -2.794 0 0 0 50 9 SoapBottle -1.886 0.344 1.317 0 0 0 51 10 Tomato -1.165 1.356 -3.314 0 0 0 50 11 Tomato 0.420 1.356 -2.678 0 0 0 50 12 SaltShaker -1.665 0.338 -2.362 0 0 0 46 13 SaltShaker -1.790 1.318 2.069 0 0 0 50 14 PepperShaker 1.110 1.202 1.238 0 0 0 75 15 Bread -1.790 1.397 -1.941 0 0 0 50 16 Lettuce -2.049 1.399 1.094 0 0 0 50 17 Mug -1.826 1.058 -0.542 0 0 0 68 18 Mug 0.965 1.371 -1.534 0 270 0 71 19 Mug -1.750 0.338 1.523 0 0 0 51 20 Apple 1.276 1.256 1.238 0 0 0 75 21 Apple 0.938 1.806 2.289 0 270 0 63 22 Bread -1.920 1.397 1.744 0 0 0 50 23 Pot -0.125 1.332 -2.973 0 0 0 58 24 Knife -1.739 1.356 -1.118 0 180 353.910 57 25 Bowl 0.900 0.343 -2.267 0 180 0 49 26 Potato -1.610 0.319 2.151 0 270 0 65 27 SoapBottle -1.522 1.323 -2.760 0 0 0 50 28 Fork 0.939 0.740 0.983 0 90 0 74 29 Cup -1.954 1.048 -0.451 0 0 0 68 30 Kettle -0.630 1.331 -3.301 0 180 0 47 31 Egg -2.093 1.375 -0.980 0 0 0 57 32 Pan -1.881 0.327 -2.035 0 0 0 46 33 SaltShaker -1.602 0.338 -1.863 0 0 0 46 34 WineBottle -1.308 1.323 -3.092 0 0 0 50 35 Lettuce -1.939 1.397 -1.048 14.484 5.030 20.057 57 36 Spatula -1.920 1.337 -3.241 0 0 0 50 37 PaperTowelRoll -1.634 0.384 2.234 0 270 0 65 38 Tomato 0.944 1.241 1.238 0 0 0 75 39 Plate -1.660 1.323 1.094 0 0 0 50 40 PepperShaker 0.900 0.339 -1.957 0 180 0 49 41 DishSponge 0.900 0.459 0.947 0 0 0 77 42 Spoon 0.277 1.324 -2.789 0 0 0 50 43 Apple 0.766 1.371 -3.164 0 0 0 50 44 Mug -1.660 1.318 2.069 0 0 0 50 45 StoveBurner -0.239 1.325 -3.301 0 180 0 46 Cabinet -1.461 0.775 -2.002 0 0 0 47 StoveBurner -0.630 1.325 -3.301 0 180 0 48 Cabinet -1.461 0.775 0.470 0 0 0 49 Cabinet 0.578 0.776 -2.054 0 0 0 50 CounterTop -1.809 1.358 1.182 0 0 0 51 Cabinet -1.461 0.775 1.310 0 0 0 52 Faucet -2.063 1.362 -0.726 0 39.391 0 53 StoveBurner -0.749 1.325 -2.973 0 0 0 54 Drawer -1.610 0.681 -0.430 0 0 0 55 Window -2.566 1.799 -0.822 270 0 0 56 Drawer -1.610 0.681 -1.217 0 0 0 57 Sink -1.990 1.143 -0.975 0 0 0 58 StoveBurner -0.125 1.325 -2.973 0 0 0 59 StoveKnob -0.185 1.338 -2.741 0 270 180 60 StoveKnob -0.336 1.338 -2.741 0 270 180 61 StoveKnob -0.569 1.338 -2.741 0 270 180 62 StoveKnob -0.707 1.338 -2.741 0 270 180 63 Fridge 1.013 0.227 1.917 0 270 0 64 Microwave 0.994 1.310 -2.163 0 270 0 65 GarbageCan -1.633 0.212 2.192 0 270 0 66 LightSwitch 1.386 1.565 -0.657 0 270 0 67 HousePlant -2.027 1.311 -0.026 0 284.058 0 68 SinkBasin -1.835 1.039 -0.542 0 0 0 69 ButterKnife 0.873 0.468 0.651 0 0 0 70 Toaster -1.885 1.310 -2.512 0 90 0 71 CoffeeMachine 1.129 1.310 -1.426 0 270 0 72 Drawer 0.647 1.061 0.680 0 270 0 73 Drawer 0.648 1.061 1.020 0 270 0 74 Drawer 0.648 0.843 1.020 0 270 0 75 SideTable 0.975 0.220 0.869 0 270 0 76 Drawer 0.648 0.602 0.680 0 270 0 77 Drawer 0.648 0.596 1.020 0 270 0 78 Drawer 0.648 0.843 0.680 0 270 0 79 Stool 0.606 0.222 -1.084 1.233 280.489 0 80 NorthWall 81 EastWall 82 SouthWall 83 WestWall
[ "STEP 1: Go to the coffee maker on your left | STEP 2: Grab the coffee cup on the coffee maker | STEP 3: Go to the microwave to your left | STEP 4: Place coffee cup in microwave and turn on, then remove cup from microwave | STEP 5: Go to coffee maker on your right | STEP 6: Place cup on the coffee maker | END" ]
[ [ "STEP 1: Go to the coffee maker on your left ", " STEP 2: Grab the coffee cup on the coffee maker ", " STEP 3: Go to the microwave to your left ", " STEP 4: Place coffee cup in microwave and turn on, then remove cup from microwave ", " STEP 5: Go to coffee maker on your right ", " STEP 6: Place cup on the coffee maker ", " END" ] ]
seen
trial_T20190906_233908_118479-1
Put a heated mug in the coffee maker.
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0.776", " -2.054", " 0", " 0", " 0", "" ], [ "50", " CounterTop", " -1.809", " 1.358", " 1.182", " 0", " 0", " 0", "" ], [ "51", " Cabinet", " -1.461", " 0.775", " 1.310", " 0", " 0", " 0", "" ], [ "52", " Faucet", " -2.063", " 1.362", " -0.726", " 0", " 39.391", " 0", "" ], [ "53", " StoveBurner", " -0.749", " 1.325", " -2.973", " 0", " 0", " 0", "" ], [ "54", " Drawer", " -1.610", " 0.681", " -0.430", " 0", " 0", " 0", "" ], [ "55", " Window", " -2.566", " 1.799", " -0.822", " 270", " 0", " 0", "" ], [ "56", " Drawer", " -1.610", " 0.681", " -1.217", " 0", " 0", " 0", "" ], [ "57", " Sink", " -1.990", " 1.143", " -0.975", " 0", " 0", " 0", "" ], [ "58", " StoveBurner", " -0.125", " 1.325", " -2.973", " 0", " 0", " 0", "" ], [ "59", " StoveKnob", " -0.185", " 1.338", " -2.741", " 0", " 270", " 180", "" ], [ "60", " StoveKnob", " -0.336", " 1.338", " -2.741", " 0", " 270", " 180", "" ], [ "61", " StoveKnob", " -0.569", " 1.338", " -2.741", " 0", " 270", " 180", "" ], [ "62", " 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" 0", "" ], [ "75", " SideTable", " 0.975", " 0.220", " 0.869", " 0", " 270", " 0", "" ], [ "76", " Drawer", " 0.648", " 0.602", " 0.680", " 0", " 270", " 0", "" ], [ "77", " Drawer", " 0.648", " 0.596", " 1.020", " 0", " 270", " 0", "" ], [ "78", " Drawer", " 0.648", " 0.843", " 0.680", " 0", " 270", " 0", "" ], [ "79", " Stool", " 0.606", " 0.222", " -1.084", " 1.233", " 280.489", " 0", "" ], [ "80", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "81", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "82", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "83", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 0.25 1.124 1.0 0 180 0 1 DishSponge -1.954 0.343 1.213 0 0 0 51 2 Kettle -2.049 1.324 -1.681 0 0 0 50 3 Fork -1.698 1.051 -0.542 0 0 0 68 4 Pot -0.239 1.331 -3.301 0 180 0 45 5 Pot -0.749 1.332 -2.973 0 0 0 53 6 Cup 0.933 1.943 1.788 0 270 0 63 7 Cup -1.749 0.341 0.713 0 0 0 48 8 Knife 0.636 1.352 -2.794 0 0 0 50 9 SoapBottle -1.886 0.344 1.317 0 0 0 51 10 Tomato -1.165 1.356 -3.314 0 0 0 50 11 Tomato 0.420 1.356 -2.678 0 0 0 50 12 SaltShaker -1.665 0.338 -2.362 0 0 0 46 13 SaltShaker -1.790 1.318 2.069 0 0 0 50 14 PepperShaker 1.110 1.202 1.238 0 0 0 75 15 Bread -1.790 1.397 -1.941 0 0 0 50 16 Lettuce -2.049 1.399 1.094 0 0 0 50 17 Mug -1.826 1.058 -0.542 0 0 0 68 18 Mug 0.965 1.371 -1.534 0 270 0 71 19 Mug -1.750 0.338 1.523 0 0 0 51 20 Apple 1.276 1.256 1.238 0 0 0 75 21 Apple 0.938 1.806 2.289 0 270 0 63 22 Bread -1.920 1.397 1.744 0 0 0 50 23 Pot -0.125 1.332 -2.973 0 0 0 58 24 Knife -1.739 1.356 -1.118 0 180 353.910 57 25 Bowl 0.900 0.343 -2.267 0 180 0 49 26 Potato -1.610 0.319 2.151 0 270 0 65 27 SoapBottle -1.522 1.323 -2.760 0 0 0 50 28 Fork 0.939 0.740 0.983 0 90 0 74 29 Cup -1.954 1.048 -0.451 0 0 0 68 30 Kettle -0.630 1.331 -3.301 0 180 0 47 31 Egg -2.093 1.375 -0.980 0 0 0 57 32 Pan -1.881 0.327 -2.035 0 0 0 46 33 SaltShaker -1.602 0.338 -1.863 0 0 0 46 34 WineBottle -1.308 1.323 -3.092 0 0 0 50 35 Lettuce -1.939 1.397 -1.048 14.484 5.030 20.057 57 36 Spatula -1.920 1.337 -3.241 0 0 0 50 37 PaperTowelRoll -1.634 0.384 2.234 0 270 0 65 38 Tomato 0.944 1.241 1.238 0 0 0 75 39 Plate -1.660 1.323 1.094 0 0 0 50 40 PepperShaker 0.900 0.339 -1.957 0 180 0 49 41 DishSponge 0.900 0.459 0.947 0 0 0 77 42 Spoon 0.277 1.324 -2.789 0 0 0 50 43 Apple 0.766 1.371 -3.164 0 0 0 50 44 Mug -1.660 1.318 2.069 0 0 0 50 45 StoveBurner -0.239 1.325 -3.301 0 180 0 46 Cabinet -1.461 0.775 -2.002 0 0 0 47 StoveBurner -0.630 1.325 -3.301 0 180 0 48 Cabinet -1.461 0.775 0.470 0 0 0 49 Cabinet 0.578 0.776 -2.054 0 0 0 50 CounterTop -1.809 1.358 1.182 0 0 0 51 Cabinet -1.461 0.775 1.310 0 0 0 52 Faucet -2.063 1.362 -0.726 0 39.391 0 53 StoveBurner -0.749 1.325 -2.973 0 0 0 54 Drawer -1.610 0.681 -0.430 0 0 0 55 Window -2.566 1.799 -0.822 270 0 0 56 Drawer -1.610 0.681 -1.217 0 0 0 57 Sink -1.990 1.143 -0.975 0 0 0 58 StoveBurner -0.125 1.325 -2.973 0 0 0 59 StoveKnob -0.185 1.338 -2.741 0 270 180 60 StoveKnob -0.336 1.338 -2.741 0 270 180 61 StoveKnob -0.569 1.338 -2.741 0 270 180 62 StoveKnob -0.707 1.338 -2.741 0 270 180 63 Fridge 1.013 0.227 1.917 0 270 0 64 Microwave 0.994 1.310 -2.163 0 270 0 65 GarbageCan -1.633 0.212 2.192 0 270 0 66 LightSwitch 1.386 1.565 -0.657 0 270 0 67 HousePlant -2.027 1.311 -0.026 0 284.058 0 68 SinkBasin -1.835 1.039 -0.542 0 0 0 69 ButterKnife 0.873 0.468 0.651 0 0 0 70 Toaster -1.885 1.310 -2.512 0 90 0 71 CoffeeMachine 1.129 1.310 -1.426 0 270 0 72 Drawer 0.647 1.061 0.680 0 270 0 73 Drawer 0.648 1.061 1.020 0 270 0 74 Drawer 0.648 0.843 1.020 0 270 0 75 SideTable 0.975 0.220 0.869 0 270 0 76 Drawer 0.648 0.602 0.680 0 270 0 77 Drawer 0.648 0.596 1.020 0 270 0 78 Drawer 0.648 0.843 0.680 0 270 0 79 Stool 0.606 0.222 -1.084 1.233 280.489 0 80 NorthWall 81 EastWall 82 SouthWall 83 WestWall
[ "STEP 1: Go to the coffee maker on the table in front of you. | STEP 2: Take the mug from the coffee maker. | STEP 3: Take the mug to the microwave behind you. | STEP 4: Heat the mug in the microwave. | STEP 5: Return to the coffee maker. | STEP 6: Place the mug in the coffee maker. | END" ]
[ [ "STEP 1: Go to the coffee maker on the table in front of you. ", " STEP 2: Take the mug from the coffee maker. ", " STEP 3: Take the mug to the microwave behind you. ", " STEP 4: Heat the mug in the microwave. ", " STEP 5: Return to the coffee maker. ", " STEP 6: Place the mug in the coffee maker. ", " END" ] ]
seen
trial_T20190906_233908_118479-2
To heat up a cup, as well as place it on the coffee maker.
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " 0.25", " 1.124", " 1.0", " 0", " 180", " 0", "" ], [ "1", " DishSponge", " -1.954", " 0.343", " 1.213", " 0", " 0", " 0", " 51" ], [ "2", " Kettle", " -2.049", " 1.324", " -1.681", " 0", " 0", " 0", " 50" ], [ "3", " Fork", " -1.698", " 1.051", " -0.542", " 0", " 0", " 0", " 68" ], [ "4", " Pot", " -0.239", " 1.331", " -3.301", " 0", " 180", " 0", " 45" ], [ "5", " Pot", " -0.749", " 1.332", " -2.973", " 0", " 0", " 0", " 53" ], [ "6", " Cup", " 0.933", " 1.943", " 1.788", " 0", " 270", " 0", " 63" ], [ "7", " Cup", " -1.749", " 0.341", " 0.713", " 0", " 0", " 0", " 48" ], [ "8", " Knife", " 0.636", " 1.352", " -2.794", " 0", " 0", " 0", " 50" ], [ "9", " SoapBottle", " -1.886", " 0.344", " 1.317", " 0", " 0", " 0", " 51" ], [ "10", " Tomato", " -1.165", " 1.356", " -3.314", " 0", " 0", " 0", " 50" ], [ "11", " Tomato", " 0.420", " 1.356", " -2.678", " 0", " 0", " 0", " 50" ], [ "12", " SaltShaker", " -1.665", " 0.338", " -2.362", " 0", " 0", " 0", " 46" ], [ "13", " SaltShaker", " -1.790", " 1.318", " 2.069", " 0", " 0", " 0", " 50" ], [ "14", " PepperShaker", " 1.110", " 1.202", " 1.238", " 0", " 0", " 0", " 75" ], [ "15", " Bread", " -1.790", " 1.397", " -1.941", " 0", " 0", " 0", " 50" ], [ "16", " Lettuce", " -2.049", " 1.399", " 1.094", " 0", " 0", " 0", " 50" ], [ "17", " Mug", " -1.826", " 1.058", " -0.542", " 0", " 0", " 0", " 68" ], [ "18", " Mug", " 0.965", " 1.371", " -1.534", " 0", " 270", " 0", " 71" ], [ "19", " Mug", " -1.750", " 0.338", " 1.523", " 0", " 0", " 0", " 51" ], [ "20", " Apple", " 1.276", " 1.256", " 1.238", " 0", " 0", " 0", " 75" ], [ "21", " Apple", " 0.938", " 1.806", " 2.289", " 0", " 270", " 0", " 63" ], [ "22", " Bread", " -1.920", " 1.397", " 1.744", " 0", " 0", " 0", " 50" ], [ "23", " Pot", " -0.125", " 1.332", " -2.973", " 0", " 0", " 0", " 58" ], [ "24", " Knife", " -1.739", " 1.356", " -1.118", " 0", " 180", " 353.910", " 57" ], [ "25", " Bowl", " 0.900", " 0.343", " -2.267", " 0", " 180", " 0", " 49" ], [ "26", " Potato", " -1.610", " 0.319", " 2.151", " 0", " 270", " 0", " 65" ], [ "27", " SoapBottle", " -1.522", " 1.323", " -2.760", " 0", " 0", " 0", " 50" ], [ "28", " Fork", " 0.939", " 0.740", " 0.983", " 0", " 90", " 0", " 74" ], [ "29", " Cup", " -1.954", " 1.048", " -0.451", " 0", " 0", " 0", " 68" ], [ "30", " Kettle", " -0.630", " 1.331", " -3.301", " 0", " 180", " 0", " 47" ], [ "31", " Egg", " -2.093", " 1.375", " -0.980", " 0", " 0", " 0", " 57" ], [ "32", " Pan", " -1.881", " 0.327", " -2.035", " 0", " 0", " 0", " 46" ], [ "33", " SaltShaker", " -1.602", " 0.338", " -1.863", " 0", " 0", " 0", " 46" ], [ "34", " WineBottle", " -1.308", " 1.323", " -3.092", " 0", " 0", " 0", " 50" ], [ "35", " Lettuce", " -1.939", " 1.397", " -1.048", " 14.484", " 5.030", " 20.057", " 57" ], [ "36", " Spatula", " -1.920", " 1.337", " -3.241", " 0", " 0", " 0", " 50" ], [ "37", " PaperTowelRoll", " -1.634", " 0.384", " 2.234", " 0", " 270", " 0", " 65" ], [ "38", " Tomato", " 0.944", " 1.241", " 1.238", " 0", " 0", " 0", " 75" ], [ "39", " Plate", " -1.660", " 1.323", " 1.094", " 0", " 0", " 0", " 50" ], [ "40", " PepperShaker", " 0.900", " 0.339", " -1.957", " 0", " 180", " 0", " 49" ], [ "41", " DishSponge", " 0.900", " 0.459", " 0.947", " 0", " 0", " 0", " 77" ], [ "42", " Spoon", " 0.277", " 1.324", " -2.789", " 0", " 0", " 0", " 50" ], [ "43", " Apple", " 0.766", " 1.371", " -3.164", " 0", " 0", " 0", " 50" ], [ "44", " Mug", " -1.660", " 1.318", " 2.069", " 0", " 0", " 0", " 50" ], [ "45", " StoveBurner", " -0.239", " 1.325", " -3.301", " 0", " 180", " 0", "" ], [ "46", " Cabinet", " -1.461", " 0.775", " -2.002", " 0", " 0", " 0", "" ], [ "47", " StoveBurner", " -0.630", " 1.325", " -3.301", " 0", " 180", " 0", "" ], [ "48", " Cabinet", " -1.461", " 0.775", " 0.470", " 0", " 0", " 0", "" ], [ "49", " Cabinet", " 0.578", " 0.776", " -2.054", " 0", " 0", " 0", "" ], [ "50", " CounterTop", " -1.809", " 1.358", " 1.182", " 0", " 0", " 0", "" ], [ "51", " Cabinet", " -1.461", " 0.775", " 1.310", " 0", " 0", " 0", "" ], [ "52", " Faucet", " -2.063", " 1.362", " -0.726", " 0", " 39.391", " 0", "" ], [ "53", " StoveBurner", " -0.749", " 1.325", " -2.973", " 0", " 0", " 0", "" ], [ "54", " Drawer", " -1.610", " 0.681", " -0.430", " 0", " 0", " 0", "" ], [ "55", " Window", " -2.566", " 1.799", " -0.822", " 270", " 0", " 0", "" ], [ "56", " Drawer", " -1.610", " 0.681", " -1.217", " 0", " 0", " 0", "" ], [ "57", " Sink", " -1.990", " 1.143", " -0.975", " 0", " 0", " 0", "" ], [ "58", " StoveBurner", " -0.125", " 1.325", " -2.973", " 0", " 0", " 0", "" ], [ "59", " StoveKnob", " -0.185", " 1.338", " -2.741", " 0", " 270", " 180", "" ], [ "60", " StoveKnob", " -0.336", " 1.338", " -2.741", " 0", " 270", " 180", "" ], [ "61", " StoveKnob", " -0.569", " 1.338", " -2.741", " 0", " 270", " 180", "" ], [ "62", " 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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 1.124 1.0 0 180 0 1 DishSponge -1.954 0.343 1.213 0 0 0 51 2 Kettle -2.049 1.324 -1.681 0 0 0 50 3 Fork -1.698 1.051 -0.542 0 0 0 68 4 Pot -0.239 1.331 -3.301 0 180 0 45 5 Pot -0.749 1.332 -2.973 0 0 0 53 6 Cup 0.933 1.943 1.788 0 270 0 63 7 Cup -1.749 0.341 0.713 0 0 0 48 8 Knife 0.636 1.352 -2.794 0 0 0 50 9 SoapBottle -1.886 0.344 1.317 0 0 0 51 10 Tomato -1.165 1.356 -3.314 0 0 0 50 11 Tomato 0.420 1.356 -2.678 0 0 0 50 12 SaltShaker -1.665 0.338 -2.362 0 0 0 46 13 SaltShaker -1.790 1.318 2.069 0 0 0 50 14 PepperShaker 1.110 1.202 1.238 0 0 0 75 15 Bread -1.790 1.397 -1.941 0 0 0 50 16 Lettuce -2.049 1.399 1.094 0 0 0 50 17 Mug -1.826 1.058 -0.542 0 0 0 68 18 Mug 0.965 1.371 -1.534 0 270 0 71 19 Mug -1.750 0.338 1.523 0 0 0 51 20 Apple 1.276 1.256 1.238 0 0 0 75 21 Apple 0.938 1.806 2.289 0 270 0 63 22 Bread -1.920 1.397 1.744 0 0 0 50 23 Pot -0.125 1.332 -2.973 0 0 0 58 24 Knife -1.739 1.356 -1.118 0 180 353.910 57 25 Bowl 0.900 0.343 -2.267 0 180 0 49 26 Potato -1.610 0.319 2.151 0 270 0 65 27 SoapBottle -1.522 1.323 -2.760 0 0 0 50 28 Fork 0.939 0.740 0.983 0 90 0 74 29 Cup -1.954 1.048 -0.451 0 0 0 68 30 Kettle -0.630 1.331 -3.301 0 180 0 47 31 Egg -2.093 1.375 -0.980 0 0 0 57 32 Pan -1.881 0.327 -2.035 0 0 0 46 33 SaltShaker -1.602 0.338 -1.863 0 0 0 46 34 WineBottle -1.308 1.323 -3.092 0 0 0 50 35 Lettuce -1.939 1.397 -1.048 14.484 5.030 20.057 57 36 Spatula -1.920 1.337 -3.241 0 0 0 50 37 PaperTowelRoll -1.634 0.384 2.234 0 270 0 65 38 Tomato 0.944 1.241 1.238 0 0 0 75 39 Plate -1.660 1.323 1.094 0 0 0 50 40 PepperShaker 0.900 0.339 -1.957 0 180 0 49 41 DishSponge 0.900 0.459 0.947 0 0 0 77 42 Spoon 0.277 1.324 -2.789 0 0 0 50 43 Apple 0.766 1.371 -3.164 0 0 0 50 44 Mug -1.660 1.318 2.069 0 0 0 50 45 StoveBurner -0.239 1.325 -3.301 0 180 0 46 Cabinet -1.461 0.775 -2.002 0 0 0 47 StoveBurner -0.630 1.325 -3.301 0 180 0 48 Cabinet -1.461 0.775 0.470 0 0 0 49 Cabinet 0.578 0.776 -2.054 0 0 0 50 CounterTop -1.809 1.358 1.182 0 0 0 51 Cabinet -1.461 0.775 1.310 0 0 0 52 Faucet -2.063 1.362 -0.726 0 39.391 0 53 StoveBurner -0.749 1.325 -2.973 0 0 0 54 Drawer -1.610 0.681 -0.430 0 0 0 55 Window -2.566 1.799 -0.822 270 0 0 56 Drawer -1.610 0.681 -1.217 0 0 0 57 Sink -1.990 1.143 -0.975 0 0 0 58 StoveBurner -0.125 1.325 -2.973 0 0 0 59 StoveKnob -0.185 1.338 -2.741 0 270 180 60 StoveKnob -0.336 1.338 -2.741 0 270 180 61 StoveKnob -0.569 1.338 -2.741 0 270 180 62 StoveKnob -0.707 1.338 -2.741 0 270 180 63 Fridge 1.013 0.227 1.917 0 270 0 64 Microwave 0.994 1.310 -2.163 0 270 0 65 GarbageCan -1.633 0.212 2.192 0 270 0 66 LightSwitch 1.386 1.565 -0.657 0 270 0 67 HousePlant -2.027 1.311 -0.026 0 284.058 0 68 SinkBasin -1.835 1.039 -0.542 0 0 0 69 ButterKnife 0.873 0.468 0.651 0 0 0 70 Toaster -1.885 1.310 -2.512 0 90 0 71 CoffeeMachine 1.129 1.310 -1.426 0 270 0 72 Drawer 0.647 1.061 0.680 0 270 0 73 Drawer 0.648 1.061 1.020 0 270 0 74 Drawer 0.648 0.843 1.020 0 270 0 75 SideTable 0.975 0.220 0.869 0 270 0 76 Drawer 0.648 0.602 0.680 0 270 0 77 Drawer 0.648 0.596 1.020 0 270 0 78 Drawer 0.648 0.843 0.680 0 270 0 79 Stool 0.606 0.222 -1.084 1.233 280.489 0 80 NorthWall 81 EastWall 82 SouthWall 83 WestWall
[ "STEP 1: Turn to the right, take a step, then turn left, then walk across the room, then turn left to face the counter. | STEP 2: Pick up the coffee cup from on the coffee maker. | STEP 3: Turn to the left, walk across the room, then turn right to face the microwave. | STEP 4: Open the microwave, put the cup inside, heat the cup, open the microwave, remove the cup. | STEP 5: Turn around, take a step, take a left, walk across the room, turn to the left to face the coffee maker on the counter. | STEP 6: place the coffee cup on the coffee maker. | END" ]
[ [ "STEP 1: Turn to the right, take a step, then turn left, then walk across the room, then turn left to face the counter. ", " STEP 2: Pick up the coffee cup from on the coffee maker. ", " STEP 3: Turn to the left, walk across the room, then turn right to face the microwave. ", " STEP 4: Open the microwave, put the cup inside, heat the cup, open the microwave, remove the cup. ", " STEP 5: Turn around, take a step, take a left, walk across the room, turn to the left to face the coffee maker on the counter. ", " STEP 6: place the coffee cup on the coffee maker. ", " END" ] ]
seen
trial_T20190906_233908_118479-3
Place coffee mug in a microwave
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StoveKnob", " -0.707", " 1.338", " -2.741", " 0", " 270", " 180", "" ], [ "63", " Fridge", " 1.013", " 0.227", " 1.917", " 0", " 270", " 0", "" ], [ "64", " Microwave", " 0.994", " 1.310", " -2.163", " 0", " 270", " 0", "" ], [ "65", " GarbageCan", " -1.633", " 0.212", " 2.192", " 0", " 270", " 0", "" ], [ "66", " LightSwitch", " 1.386", " 1.565", " -0.657", " 0", " 270", " 0", "" ], [ "67", " HousePlant", " -2.027", " 1.311", " -0.026", " 0", " 284.058", " 0", "" ], [ "68", " SinkBasin", " -1.835", " 1.039", " -0.542", " 0", " 0", " 0", "" ], [ "69", " ButterKnife", " 0.873", " 0.468", " 0.651", " 0", " 0", " 0", "" ], [ "70", " Toaster", " -1.885", " 1.310", " -2.512", " 0", " 90", " 0", "" ], [ "71", " CoffeeMachine", " 1.129", " 1.310", " -1.426", " 0", " 270", " 0", "" ], [ "72", " Drawer", " 0.647", " 1.061", " 0.680", " 0", " 270", " 0", "" ], [ "73", " Drawer", " 0.648", " 1.061", " 1.020", " 0", " 270", " 0", "" ], [ "74", " Drawer", " 0.648", " 0.843", " 1.020", " 0", " 270", 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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 1.124 1.0 0 180 0 1 DishSponge -1.954 0.343 1.213 0 0 0 51 2 Kettle -2.049 1.324 -1.681 0 0 0 50 3 Fork -1.698 1.051 -0.542 0 0 0 68 4 Pot -0.239 1.331 -3.301 0 180 0 45 5 Pot -0.749 1.332 -2.973 0 0 0 53 6 Cup 0.933 1.943 1.788 0 270 0 63 7 Cup -1.749 0.341 0.713 0 0 0 48 8 Knife 0.636 1.352 -2.794 0 0 0 50 9 SoapBottle -1.886 0.344 1.317 0 0 0 51 10 Tomato -1.165 1.356 -3.314 0 0 0 50 11 Tomato 0.420 1.356 -2.678 0 0 0 50 12 SaltShaker -1.665 0.338 -2.362 0 0 0 46 13 SaltShaker -1.790 1.318 2.069 0 0 0 50 14 PepperShaker 1.110 1.202 1.238 0 0 0 75 15 Bread -1.790 1.397 -1.941 0 0 0 50 16 Lettuce -2.049 1.399 1.094 0 0 0 50 17 Mug -1.826 1.058 -0.542 0 0 0 68 18 Mug 0.965 1.371 -1.534 0 270 0 71 19 Mug -1.750 0.338 1.523 0 0 0 51 20 Apple 1.276 1.256 1.238 0 0 0 75 21 Apple 0.938 1.806 2.289 0 270 0 63 22 Bread -1.920 1.397 1.744 0 0 0 50 23 Pot -0.125 1.332 -2.973 0 0 0 58 24 Knife -1.739 1.356 -1.118 0 180 353.910 57 25 Bowl 0.900 0.343 -2.267 0 180 0 49 26 Potato -1.610 0.319 2.151 0 270 0 65 27 SoapBottle -1.522 1.323 -2.760 0 0 0 50 28 Fork 0.939 0.740 0.983 0 90 0 74 29 Cup -1.954 1.048 -0.451 0 0 0 68 30 Kettle -0.630 1.331 -3.301 0 180 0 47 31 Egg -2.093 1.375 -0.980 0 0 0 57 32 Pan -1.881 0.327 -2.035 0 0 0 46 33 SaltShaker -1.602 0.338 -1.863 0 0 0 46 34 WineBottle -1.308 1.323 -3.092 0 0 0 50 35 Lettuce -1.939 1.397 -1.048 14.484 5.030 20.057 57 36 Spatula -1.920 1.337 -3.241 0 0 0 50 37 PaperTowelRoll -1.634 0.384 2.234 0 270 0 65 38 Tomato 0.944 1.241 1.238 0 0 0 75 39 Plate -1.660 1.323 1.094 0 0 0 50 40 PepperShaker 0.900 0.339 -1.957 0 180 0 49 41 DishSponge 0.900 0.459 0.947 0 0 0 77 42 Spoon 0.277 1.324 -2.789 0 0 0 50 43 Apple 0.766 1.371 -3.164 0 0 0 50 44 Mug -1.660 1.318 2.069 0 0 0 50 45 StoveBurner -0.239 1.325 -3.301 0 180 0 46 Cabinet -1.461 0.775 -2.002 0 0 0 47 StoveBurner -0.630 1.325 -3.301 0 180 0 48 Cabinet -1.461 0.775 0.470 0 0 0 49 Cabinet 0.578 0.776 -2.054 0 0 0 50 CounterTop -1.809 1.358 1.182 0 0 0 51 Cabinet -1.461 0.775 1.310 0 0 0 52 Faucet -2.063 1.362 -0.726 0 39.391 0 53 StoveBurner -0.749 1.325 -2.973 0 0 0 54 Drawer -1.610 0.681 -0.430 0 0 0 55 Window -2.566 1.799 -0.822 270 0 0 56 Drawer -1.610 0.681 -1.217 0 0 0 57 Sink -1.990 1.143 -0.975 0 0 0 58 StoveBurner -0.125 1.325 -2.973 0 0 0 59 StoveKnob -0.185 1.338 -2.741 0 270 180 60 StoveKnob -0.336 1.338 -2.741 0 270 180 61 StoveKnob -0.569 1.338 -2.741 0 270 180 62 StoveKnob -0.707 1.338 -2.741 0 270 180 63 Fridge 1.013 0.227 1.917 0 270 0 64 Microwave 0.994 1.310 -2.163 0 270 0 65 GarbageCan -1.633 0.212 2.192 0 270 0 66 LightSwitch 1.386 1.565 -0.657 0 270 0 67 HousePlant -2.027 1.311 -0.026 0 284.058 0 68 SinkBasin -1.835 1.039 -0.542 0 0 0 69 ButterKnife 0.873 0.468 0.651 0 0 0 70 Toaster -1.885 1.310 -2.512 0 90 0 71 CoffeeMachine 1.129 1.310 -1.426 0 270 0 72 Drawer 0.647 1.061 0.680 0 270 0 73 Drawer 0.648 1.061 1.020 0 270 0 74 Drawer 0.648 0.843 1.020 0 270 0 75 SideTable 0.975 0.220 0.869 0 270 0 76 Drawer 0.648 0.602 0.680 0 270 0 77 Drawer 0.648 0.596 1.020 0 270 0 78 Drawer 0.648 0.843 0.680 0 270 0 79 Stool 0.606 0.222 -1.084 1.233 280.489 0 80 NorthWall 81 EastWall 82 SouthWall 83 WestWall
[ "STEP 1: Cross the room and turn to the coffee maker on your left | STEP 2: Pick up the white coffee mug | STEP 3: Turn to your left, cross the room and turn to the microwave that is on your right. | STEP 4: Open the microwave door and place the mug inside and turn on the microwave. Open the microwave door and pick up the coffee mug | STEP 5: Turn to your right and walk across the room to the coffee maker on your left | STEP 6: Place the mug onto the coffee maker | END" ]
[ [ "STEP 1: Cross the room and turn to the coffee maker on your left ", " STEP 2: Pick up the white coffee mug ", " STEP 3: Turn to your left, cross the room and turn to the microwave that is on your right. ", " STEP 4: Open the microwave door and place the mug inside and turn on the microwave. Open the microwave door and pick up the coffee mug ", " STEP 5: Turn to your right and walk across the room to the coffee maker on your left ", " STEP 6: Place the mug onto the coffee maker ", " END" ] ]
seen
trial_T20190909_045218_924054-0
Put a candle on the back of the toilet.
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " -2.5", " 0.899", " -1.75", " 0", " 90", " 0", "" ], [ "1", " Cloth", " -3.544", " 0.083", " -0.827", " 0", " 90", " 0", " 25" ], [ "2", " SoapBar", " -3.477", " 0.925", " -1.056", " 0", " 90", " 0", " 38" ], [ "3", " SoapBar", " -1.892", " 1.043", " -1.999", " 0", " 0", " 0", " 33" ], [ "4", " SoapBottle", " -3.618", " 0.118", " -0.436", " 0", " 0", " 0", " 28" ], [ "5", " Towel", " 0.136", " 1.121", " -2.080", " 0", " 0", " 0", " 27" ], [ "6", " Candle", " -3.278", " 0.952", " -1.284", " 0", " 0", " 0", " 26" ], [ "7", " Cloth", " -3.483", " 0.083", " -1.997", " 0", " 0", " 0", " 16" ], [ "8", " HandTowel", " -3.711", " 1.474", " -0.410", " 0", " 270", " 0", " 30" ], [ "9", " Plunger", " -2.207", " -0.001", " -2.076", " 0", " 0", " 0", " Floor|+00.00|" ], [ "10", " SoapBottle", " -3.295", " 0.084", " -1.634", " 0", " 0", " 0", " 21" ], [ "11", " SoapBar", " -1.695", " 1.043", " -2.122", " 0", " 0", " 0", " 33" ], [ "12", " ToiletPaper", " -3.493", " 0.075", " -1.635", " 0", " 0", " 0", " 21" ], [ "13", " ToiletPaper", " -3.350", " 0.907", " -1.444", " 0", " 0", " 0", " 26" ], [ "14", " SprayBottle", " -1.761", " 1.045", " -2.122", " 0", " 0", " 0", " 33" ], [ "15", " ScrubBrush", " -2.407", " -0.001", " -2.092", " 0", " 0", " 0", " Floor|+00.00|" ], [ "16", " Cabinet", " -3.169", " 0.370", " -2.188", " 0", " 0", " 0", "" ], [ "17", " Window", " -1.737", " 1.292", " -2.286", " 0", " 0", " 0", "" ], [ "18", " ShowerDoor", " -0.447", " 0.909", " -2.191", " 0", " 0", " 0", "" ], [ "19", " Cabinet", " -3.169", " 0.370", " -1.379", " 0", " 0", " 0", "" ], [ "20", " Mirror", " -3.730", " 1.481", " -1.427", " 0", " 0", " 0", "" ], [ "21", " Cabinet", " -3.169", " 0.370", " -1.398", " 0", " 0", " 0", "" ], [ "22", " ShowerGlass", " -0.964", " 0.907", " -0.120", " 0", " 0", " 0", "" ], [ "23", " Sink", " -3.391", " 0.841", " -1.828", " 0", " 90", " 0", "" ], [ "24", " FloorLamp", " -3.539", " 1.020", " -0.932", " 0", " 90", " 0", "" ], [ "25", " Cabinet", " -3.169", " 0.370", " -0.592", " 0", " 0", " 0", "" ], [ "26", " CounterTop", " -3.426", " 0.883", " -1.384", " 0", " 0", " 0", "" ], [ "27", " TowelHolder", " 0.136", " 1.106", " -2.187", " 0", " 0", " 0", "" ], [ "28", " GarbageCan", " -3.520", " -0.030", " -0.349", " 0", " 0", " 0", "" ], [ "29", " SinkBasin", " -3.392", " 0.916", " -1.820", " 0", " 90", " 0", "" ], [ "30", " HandTowelHolder", " -3.750", " 1.575", " -0.410", " 0", " 0", " 0", "" ], [ "31", " HandTowelHolder", " -3.332", " 1.621", " -2.198", " 0", " 270", " 0", "" ], [ "32", " ToiletPaperHanger", " -2.375", " 0.886", " -2.199", " 0", " 0", " 0", "" ], [ "33", " Toilet", " -1.896", " -0.001", " -1.738", " 0", " 90", " 0", "" ], [ "34", " LightSwitch", " -2.052", " 1.292", " 1.000", " 0", " 180", " 0", "" ], [ "35", " FloorLamp", " -3.539", " 1.020", " -1.830", " 0", " 90", " 0", "" ], [ "36", " ShowerHead", " 0.232", " 1.026", " 0.375", " 0", " 315", " 0", "" ], [ "37", " Sink", " -3.391", " 0.841", " -0.931", " 0", " 90", " 0", "" ], [ "38", " SinkBasin", " -3.392", " 0.916", " -0.923", " 0", " 90", " 0", "" ], [ "39", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "40", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "41", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "42", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -2.5 0.899 -1.75 0 90 0 1 Cloth -3.544 0.083 -0.827 0 90 0 25 2 SoapBar -3.477 0.925 -1.056 0 90 0 38 3 SoapBar -1.892 1.043 -1.999 0 0 0 33 4 SoapBottle -3.618 0.118 -0.436 0 0 0 28 5 Towel 0.136 1.121 -2.080 0 0 0 27 6 Candle -3.278 0.952 -1.284 0 0 0 26 7 Cloth -3.483 0.083 -1.997 0 0 0 16 8 HandTowel -3.711 1.474 -0.410 0 270 0 30 9 Plunger -2.207 -0.001 -2.076 0 0 0 Floor|+00.00| 10 SoapBottle -3.295 0.084 -1.634 0 0 0 21 11 SoapBar -1.695 1.043 -2.122 0 0 0 33 12 ToiletPaper -3.493 0.075 -1.635 0 0 0 21 13 ToiletPaper -3.350 0.907 -1.444 0 0 0 26 14 SprayBottle -1.761 1.045 -2.122 0 0 0 33 15 ScrubBrush -2.407 -0.001 -2.092 0 0 0 Floor|+00.00| 16 Cabinet -3.169 0.370 -2.188 0 0 0 17 Window -1.737 1.292 -2.286 0 0 0 18 ShowerDoor -0.447 0.909 -2.191 0 0 0 19 Cabinet -3.169 0.370 -1.379 0 0 0 20 Mirror -3.730 1.481 -1.427 0 0 0 21 Cabinet -3.169 0.370 -1.398 0 0 0 22 ShowerGlass -0.964 0.907 -0.120 0 0 0 23 Sink -3.391 0.841 -1.828 0 90 0 24 FloorLamp -3.539 1.020 -0.932 0 90 0 25 Cabinet -3.169 0.370 -0.592 0 0 0 26 CounterTop -3.426 0.883 -1.384 0 0 0 27 TowelHolder 0.136 1.106 -2.187 0 0 0 28 GarbageCan -3.520 -0.030 -0.349 0 0 0 29 SinkBasin -3.392 0.916 -1.820 0 90 0 30 HandTowelHolder -3.750 1.575 -0.410 0 0 0 31 HandTowelHolder -3.332 1.621 -2.198 0 270 0 32 ToiletPaperHanger -2.375 0.886 -2.199 0 0 0 33 Toilet -1.896 -0.001 -1.738 0 90 0 34 LightSwitch -2.052 1.292 1.000 0 180 0 35 FloorLamp -3.539 1.020 -1.830 0 90 0 36 ShowerHead 0.232 1.026 0.375 0 315 0 37 Sink -3.391 0.841 -0.931 0 90 0 38 SinkBasin -3.392 0.916 -0.923 0 90 0 39 NorthWall 40 EastWall 41 SouthWall 42 WestWall
[ "STEP 1: Turn to the left and face the counter between two sinks. | STEP 2: Pick the candle up from the counter. | STEP 3: Turn around and face the toilet. | STEP 4: Put the candle on the back of the toilet. | END" ]
[ [ "STEP 1: Turn to the left and face the counter between two sinks. ", " STEP 2: Pick the candle up from the counter. ", " STEP 3: Turn around and face the toilet. ", " STEP 4: Put the candle on the back of the toilet. ", " END" ] ]
seen
trial_T20190909_045218_924054-1
Move a gold item 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", " 0.899", " -1.75", " 0", " 90", " 0", "" ], [ "1", " Cloth", " -3.544", " 0.083", " -0.827", " 0", " 90", " 0", " 25" ], [ "2", " SoapBar", " -3.477", " 0.925", " -1.056", " 0", " 90", " 0", " 38" ], [ "3", " SoapBar", " -1.892", " 1.043", " -1.999", " 0", " 0", " 0", " 33" ], [ "4", " SoapBottle", " -3.618", " 0.118", " -0.436", " 0", " 0", " 0", " 28" ], [ "5", " Towel", " 0.136", " 1.121", " -2.080", " 0", " 0", " 0", " 27" ], [ "6", " Candle", " -3.278", " 0.952", " -1.284", " 0", " 0", " 0", " 26" ], [ "7", " Cloth", " -3.483", " 0.083", " -1.997", " 0", " 0", " 0", " 16" ], [ "8", " HandTowel", " -3.711", " 1.474", " -0.410", " 0", " 270", " 0", " 30" ], [ "9", " Plunger", " -2.207", " -0.001", " -2.076", " 0", " 0", " 0", " Floor|+00.00|" ], [ "10", " SoapBottle", " -3.295", " 0.084", " -1.634", " 0", " 0", " 0", " 21" ], [ "11", " SoapBar", " -1.695", " 1.043", " -2.122", " 0", " 0", " 0", " 33" ], [ "12", " ToiletPaper", " -3.493", " 0.075", " -1.635", " 0", " 0", " 0", " 21" ], [ "13", " ToiletPaper", " -3.350", " 0.907", " -1.444", " 0", " 0", " 0", " 26" ], [ "14", " SprayBottle", " -1.761", " 1.045", " -2.122", " 0", " 0", " 0", " 33" ], [ "15", " ScrubBrush", " -2.407", " -0.001", " -2.092", " 0", " 0", " 0", " Floor|+00.00|" ], [ "16", " Cabinet", " -3.169", " 0.370", " -2.188", " 0", " 0", " 0", "" ], [ "17", " Window", " -1.737", " 1.292", " -2.286", " 0", " 0", " 0", "" ], [ "18", " ShowerDoor", " -0.447", " 0.909", " -2.191", " 0", " 0", " 0", "" ], [ "19", " Cabinet", " -3.169", " 0.370", " -1.379", " 0", " 0", " 0", "" ], [ "20", " Mirror", " -3.730", " 1.481", " -1.427", " 0", " 0", " 0", "" ], [ "21", " Cabinet", " -3.169", " 0.370", " -1.398", " 0", " 0", " 0", "" ], [ "22", " ShowerGlass", " -0.964", " 0.907", " -0.120", " 0", " 0", " 0", "" ], [ "23", " Sink", " -3.391", " 0.841", " -1.828", " 0", " 90", " 0", "" ], [ "24", " FloorLamp", " -3.539", " 1.020", " -0.932", " 0", " 90", " 0", "" ], [ "25", " Cabinet", " -3.169", " 0.370", " -0.592", " 0", " 0", " 0", "" ], [ "26", " CounterTop", " -3.426", " 0.883", " -1.384", " 0", " 0", " 0", "" ], [ "27", " TowelHolder", " 0.136", " 1.106", " -2.187", " 0", " 0", " 0", "" ], [ "28", " GarbageCan", " -3.520", " -0.030", " -0.349", " 0", " 0", " 0", "" ], [ "29", " SinkBasin", " -3.392", " 0.916", " -1.820", " 0", " 90", " 0", "" ], [ "30", " HandTowelHolder", " -3.750", " 1.575", " -0.410", " 0", " 0", " 0", "" ], [ "31", " HandTowelHolder", " -3.332", " 1.621", " -2.198", " 0", " 270", " 0", "" ], [ "32", " ToiletPaperHanger", " -2.375", " 0.886", " -2.199", " 0", " 0", " 0", "" ], [ "33", " Toilet", " -1.896", " -0.001", " -1.738", " 0", " 90", " 0", "" ], [ "34", " LightSwitch", " -2.052", " 1.292", " 1.000", " 0", " 180", " 0", "" ], [ "35", " FloorLamp", " -3.539", " 1.020", " -1.830", " 0", " 90", " 0", "" ], [ "36", " ShowerHead", " 0.232", " 1.026", " 0.375", " 0", " 315", " 0", "" ], [ "37", " Sink", " -3.391", " 0.841", " -0.931", " 0", " 90", " 0", "" ], [ "38", " SinkBasin", " -3.392", " 0.916", " -0.923", " 0", " 90", " 0", "" ], [ "39", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "40", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "41", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "42", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -2.5 0.899 -1.75 0 90 0 1 Cloth -3.544 0.083 -0.827 0 90 0 25 2 SoapBar -3.477 0.925 -1.056 0 90 0 38 3 SoapBar -1.892 1.043 -1.999 0 0 0 33 4 SoapBottle -3.618 0.118 -0.436 0 0 0 28 5 Towel 0.136 1.121 -2.080 0 0 0 27 6 Candle -3.278 0.952 -1.284 0 0 0 26 7 Cloth -3.483 0.083 -1.997 0 0 0 16 8 HandTowel -3.711 1.474 -0.410 0 270 0 30 9 Plunger -2.207 -0.001 -2.076 0 0 0 Floor|+00.00| 10 SoapBottle -3.295 0.084 -1.634 0 0 0 21 11 SoapBar -1.695 1.043 -2.122 0 0 0 33 12 ToiletPaper -3.493 0.075 -1.635 0 0 0 21 13 ToiletPaper -3.350 0.907 -1.444 0 0 0 26 14 SprayBottle -1.761 1.045 -2.122 0 0 0 33 15 ScrubBrush -2.407 -0.001 -2.092 0 0 0 Floor|+00.00| 16 Cabinet -3.169 0.370 -2.188 0 0 0 17 Window -1.737 1.292 -2.286 0 0 0 18 ShowerDoor -0.447 0.909 -2.191 0 0 0 19 Cabinet -3.169 0.370 -1.379 0 0 0 20 Mirror -3.730 1.481 -1.427 0 0 0 21 Cabinet -3.169 0.370 -1.398 0 0 0 22 ShowerGlass -0.964 0.907 -0.120 0 0 0 23 Sink -3.391 0.841 -1.828 0 90 0 24 FloorLamp -3.539 1.020 -0.932 0 90 0 25 Cabinet -3.169 0.370 -0.592 0 0 0 26 CounterTop -3.426 0.883 -1.384 0 0 0 27 TowelHolder 0.136 1.106 -2.187 0 0 0 28 GarbageCan -3.520 -0.030 -0.349 0 0 0 29 SinkBasin -3.392 0.916 -1.820 0 90 0 30 HandTowelHolder -3.750 1.575 -0.410 0 0 0 31 HandTowelHolder -3.332 1.621 -2.198 0 270 0 32 ToiletPaperHanger -2.375 0.886 -2.199 0 0 0 33 Toilet -1.896 -0.001 -1.738 0 90 0 34 LightSwitch -2.052 1.292 1.000 0 180 0 35 FloorLamp -3.539 1.020 -1.830 0 90 0 36 ShowerHead 0.232 1.026 0.375 0 315 0 37 Sink -3.391 0.841 -0.931 0 90 0 38 SinkBasin -3.392 0.916 -0.923 0 90 0 39 NorthWall 40 EastWall 41 SouthWall 42 WestWall
[ "STEP 1: Move left then left again to face the gold item on the bathroom counter | STEP 2: Pick up the gold item on the bathroom counter next to the sink | STEP 3: Carry the gold item to the right side of the toilet | STEP 4: Place the gold item on the back of the toilet on the far right | END" ]
[ [ "STEP 1: Move left then left again to face the gold item on the bathroom counter ", " STEP 2: Pick up the gold item on the bathroom counter next to the sink ", " STEP 3: Carry the gold item to the right side of the toilet ", " STEP 4: Place the gold item on the back of the toilet on the far right ", " END" ] ]
seen
trial_T20190909_045218_924054-2
put a bottle of nail polish on the back of the toilet
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -2.5 0.899 -1.75 0 90 0 1 Cloth -3.544 0.083 -0.827 0 90 0 25 2 SoapBar -3.477 0.925 -1.056 0 90 0 38 3 SoapBar -1.892 1.043 -1.999 0 0 0 33 4 SoapBottle -3.618 0.118 -0.436 0 0 0 28 5 Towel 0.136 1.121 -2.080 0 0 0 27 6 Candle -3.278 0.952 -1.284 0 0 0 26 7 Cloth -3.483 0.083 -1.997 0 0 0 16 8 HandTowel -3.711 1.474 -0.410 0 270 0 30 9 Plunger -2.207 -0.001 -2.076 0 0 0 Floor|+00.00| 10 SoapBottle -3.295 0.084 -1.634 0 0 0 21 11 SoapBar -1.695 1.043 -2.122 0 0 0 33 12 ToiletPaper -3.493 0.075 -1.635 0 0 0 21 13 ToiletPaper -3.350 0.907 -1.444 0 0 0 26 14 SprayBottle -1.761 1.045 -2.122 0 0 0 33 15 ScrubBrush -2.407 -0.001 -2.092 0 0 0 Floor|+00.00| 16 Cabinet -3.169 0.370 -2.188 0 0 0 17 Window -1.737 1.292 -2.286 0 0 0 18 ShowerDoor -0.447 0.909 -2.191 0 0 0 19 Cabinet -3.169 0.370 -1.379 0 0 0 20 Mirror -3.730 1.481 -1.427 0 0 0 21 Cabinet -3.169 0.370 -1.398 0 0 0 22 ShowerGlass -0.964 0.907 -0.120 0 0 0 23 Sink -3.391 0.841 -1.828 0 90 0 24 FloorLamp -3.539 1.020 -0.932 0 90 0 25 Cabinet -3.169 0.370 -0.592 0 0 0 26 CounterTop -3.426 0.883 -1.384 0 0 0 27 TowelHolder 0.136 1.106 -2.187 0 0 0 28 GarbageCan -3.520 -0.030 -0.349 0 0 0 29 SinkBasin -3.392 0.916 -1.820 0 90 0 30 HandTowelHolder -3.750 1.575 -0.410 0 0 0 31 HandTowelHolder -3.332 1.621 -2.198 0 270 0 32 ToiletPaperHanger -2.375 0.886 -2.199 0 0 0 33 Toilet -1.896 -0.001 -1.738 0 90 0 34 LightSwitch -2.052 1.292 1.000 0 180 0 35 FloorLamp -3.539 1.020 -1.830 0 90 0 36 ShowerHead 0.232 1.026 0.375 0 315 0 37 Sink -3.391 0.841 -0.931 0 90 0 38 SinkBasin -3.392 0.916 -0.923 0 90 0 39 NorthWall 40 EastWall 41 SouthWall 42 WestWall
[ "STEP 1: turn around to face the double sinks | STEP 2: pick up the bottle of nail polish that is on the counter and closest to the sink on the right | STEP 3: turn back around to face the right side of the toilet | STEP 4: put the bottle of nail polish on the back of the toilet | END" ]
[ [ "STEP 1: turn around to face the double sinks ", " STEP 2: pick up the bottle of nail polish that is on the counter and closest to the sink on the right ", " STEP 3: turn back around to face the right side of the toilet ", " STEP 4: put the bottle of nail polish on the back of the toilet ", " END" ] ]
seen
trial_T20190908_045529_826062-0
Put a heated glass in the fridge.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -2.0 0.900 -0.25 0 90 0 1 Glassbottle -2.780 0.924 -1.423 0 0 0 77 2 Glassbottle -2.210 0.924 -2.115 0 0 0 77 3 Pencil -2.324 0.923 -1.423 0 0 0 77 4 Pen -2.666 0.926 -1.884 0 0 0 77 5 Potato -2.438 0.954 -2.115 0 0 0 77 6 DishSponge -0.302 0.796 -2.082 0 270 0 70 7 WineBottle -2.324 0.924 -2.115 0 0 0 77 8 Spatula -2.324 0.938 -1.423 0 180 0 77 9 Spoon -2.552 0.924 -1.193 0 0 0 77 10 Knife -2.666 0.946 -0.963 0 180 0 77 11 Egg -1.881 0.059 -3.763 0 0 0 68 12 Tomato -0.246 1.162 -0.979 0 270 0 69 13 Tomato -0.295 1.454 -0.455 0 270 0 69 14 Bowl -0.322 1.529 -3.610 0 45 0 60 15 Bowl -2.780 0.922 -1.654 0 0 0 77 16 Lettuce -0.308 1.783 -0.665 0 270 0 69 17 SaltShaker -0.720 0.743 -3.615 0 0 0 51 18 SaltShaker -0.391 0.743 -3.267 0 0 0 63 19 Mug -0.671 0.910 -3.697 0 0 0 52 20 Apple -0.671 0.989 -3.485 0 0 0 52 21 Apple -0.388 1.764 -1.084 0 270 0 69 22 Apple -1.362 1.703 -3.804 0 0 0 65 23 Lettuce -2.438 1.016 -1.423 0 0 0 77 24 Glassbottle -0.383 0.082 -1.849 0 0 0 47 25 Egg -0.246 1.423 -0.665 0 270 0 69 26 Pen -2.324 0.926 -1.654 0 0 0 77 27 Fork -2.210 0.924 -1.193 0 0 0 77 28 SoapBottle -0.382 0.079 -3.267 0 0 0 58 29 Pencil -2.552 0.923 -1.423 0 0 0 77 30 WineBottle -2.666 0.924 -2.345 0 0 0 77 31 Spatula -0.436 0.930 -2.563 0 270 0 52 32 Bread -0.295 1.443 -0.874 0 270 0 69 33 Tomato -1.975 0.090 -3.763 0 0 0 68 34 Pan -1.129 0.935 -3.752 0 90 0 62 35 Cup -2.552 0.922 -2.345 0 0 0 77 36 Pot -2.238 0.913 -1.882 0 0 0 77 37 SaltShaker -2.780 0.919 -2.345 0 0 0 77 38 Potato -2.096 0.954 -2.115 0 0 0 77 39 PepperShaker -1.707 1.965 -3.890 0 0 0 61 40 ButterKnife -2.438 0.923 -1.884 0 0 0 77 41 DishSponge -1.206 1.969 -3.773 0 0 0 53 42 Spoon -0.398 0.798 -1.934 0 270 0 70 43 Plate -0.460 0.083 -2.247 0 0 0 57 44 Knife -2.210 0.946 -2.345 0 0 0 77 45 Mug -0.441 1.093 -0.769 0 270 0 69 46 Bowl -2.666 0.922 -2.115 0 0 0 77 47 Cabinet -0.582 0.388 -1.804 0 0 0 48 StoveBurner -1.515 0.928 -3.752 0 90 0 49 StoveBurner -1.515 0.928 -3.497 0 0 0 50 StoveBurner -1.129 0.928 -3.498 0 0 0 51 Drawer -0.749 0.779 -3.551 0 0 0 52 CounterTop -0.303 0.951 -2.793 0 0 0 53 Cabinet -0.883 2.140 -3.687 0 0 0 54 Cabinet -0.312 2.140 -1.543 0 0 0 55 Sink -0.349 0.907 -2.014 0 0 0 56 Cabinet -0.877 0.388 -3.422 0 0 0 57 Cabinet -0.582 0.388 -2.197 0 0 0 58 Cabinet -0.584 0.388 -3.396 0 0 0 59 Cabinet -0.312 2.140 -2.481 0 0 0 60 Cabinet -0.330 1.921 -3.390 0 0 0 61 Cabinet -1.764 2.140 -3.687 0 0 0 62 StoveBurner -1.129 0.928 -3.752 0 90 0 63 Drawer -0.454 0.779 -3.268 0 0 0 64 Cabinet -0.302 1.916 -2.501 0 0 0 65 Microwave -1.317 1.517 -3.801 0 1.440 0 66 CoffeeMachine -0.153 0.903 -3.144 0 270 0 67 LightSwitch -4.323 1.319 0.0 0 180 0 68 GarbageCan -1.943 -7.152 -3.763 0 0 0 69 Fridge -0.330 0.0 -0.769 0 270 0 70 SinkBasin -0.350 0.786 -2.018 0 270 0 71 StoveKnob -1.582 1.082 -3.958 72.287 0 0 72 StoveKnob -1.177 1.082 -3.958 72.287 0 0 73 StoveKnob -1.424 1.082 -3.958 72.287 0 0 74 StoveKnob -1.028 1.082 -3.958 72.287 0 0 75 Toaster -0.181 0.903 -2.764 0 270 0 76 Window -2.503 1.782 -4.185 90 180 0 77 DiningTable -2.432 0.000 -1.694 0 270 0 78 Shelf -2.432 0.150 -1.694 0 270 0 79 Blinds -2.536 2.699 -3.959 0 0 0 80 Faucet -0.079 0.904 -2.034 270 180 0 81 Chair -3.264 0.002 -2.094 0 53.280 0 82 Chair -3.240 0.002 -1.253 0 117.257 0 83 Shelf -2.432 0.523 -1.694 0 270 0 84 NorthWall 85 EastWall 86 SouthWall 87 WestWall
[ "STEP 1: Turn right, move to the other side of the green table, turn around to face the table. | STEP 2: Pick up the glass on the table. | STEP 3: Turn right, bring the glass to the microwave above the stove on the right. | STEP 4: Heat the glass in the mike. | STEP 5: Bring the heated glass back across the room to the fridge on the right. | STEP 6: Put the glass in the fridge. | END" ]
[ [ "STEP 1: Turn right, move to the other side of the green table, turn around to face the table. ", " STEP 2: Pick up the glass on the table. ", " STEP 3: Turn right, bring the glass to the microwave above the stove on the right. ", " STEP 4: Heat the glass in the mike. ", " STEP 5: Bring the heated glass back across the room to the fridge on the right. ", " STEP 6: Put the glass in the fridge. ", " END" ] ]
seen
trial_T20190908_045529_826062-1
Microwave a empty glass, place the glass into the refrigerator.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -2.0 0.900 -0.25 0 90 0 1 Glassbottle -2.780 0.924 -1.423 0 0 0 77 2 Glassbottle -2.210 0.924 -2.115 0 0 0 77 3 Pencil -2.324 0.923 -1.423 0 0 0 77 4 Pen -2.666 0.926 -1.884 0 0 0 77 5 Potato -2.438 0.954 -2.115 0 0 0 77 6 DishSponge -0.302 0.796 -2.082 0 270 0 70 7 WineBottle -2.324 0.924 -2.115 0 0 0 77 8 Spatula -2.324 0.938 -1.423 0 180 0 77 9 Spoon -2.552 0.924 -1.193 0 0 0 77 10 Knife -2.666 0.946 -0.963 0 180 0 77 11 Egg -1.881 0.059 -3.763 0 0 0 68 12 Tomato -0.246 1.162 -0.979 0 270 0 69 13 Tomato -0.295 1.454 -0.455 0 270 0 69 14 Bowl -0.322 1.529 -3.610 0 45 0 60 15 Bowl -2.780 0.922 -1.654 0 0 0 77 16 Lettuce -0.308 1.783 -0.665 0 270 0 69 17 SaltShaker -0.720 0.743 -3.615 0 0 0 51 18 SaltShaker -0.391 0.743 -3.267 0 0 0 63 19 Mug -0.671 0.910 -3.697 0 0 0 52 20 Apple -0.671 0.989 -3.485 0 0 0 52 21 Apple -0.388 1.764 -1.084 0 270 0 69 22 Apple -1.362 1.703 -3.804 0 0 0 65 23 Lettuce -2.438 1.016 -1.423 0 0 0 77 24 Glassbottle -0.383 0.082 -1.849 0 0 0 47 25 Egg -0.246 1.423 -0.665 0 270 0 69 26 Pen -2.324 0.926 -1.654 0 0 0 77 27 Fork -2.210 0.924 -1.193 0 0 0 77 28 SoapBottle -0.382 0.079 -3.267 0 0 0 58 29 Pencil -2.552 0.923 -1.423 0 0 0 77 30 WineBottle -2.666 0.924 -2.345 0 0 0 77 31 Spatula -0.436 0.930 -2.563 0 270 0 52 32 Bread -0.295 1.443 -0.874 0 270 0 69 33 Tomato -1.975 0.090 -3.763 0 0 0 68 34 Pan -1.129 0.935 -3.752 0 90 0 62 35 Cup -2.552 0.922 -2.345 0 0 0 77 36 Pot -2.238 0.913 -1.882 0 0 0 77 37 SaltShaker -2.780 0.919 -2.345 0 0 0 77 38 Potato -2.096 0.954 -2.115 0 0 0 77 39 PepperShaker -1.707 1.965 -3.890 0 0 0 61 40 ButterKnife -2.438 0.923 -1.884 0 0 0 77 41 DishSponge -1.206 1.969 -3.773 0 0 0 53 42 Spoon -0.398 0.798 -1.934 0 270 0 70 43 Plate -0.460 0.083 -2.247 0 0 0 57 44 Knife -2.210 0.946 -2.345 0 0 0 77 45 Mug -0.441 1.093 -0.769 0 270 0 69 46 Bowl -2.666 0.922 -2.115 0 0 0 77 47 Cabinet -0.582 0.388 -1.804 0 0 0 48 StoveBurner -1.515 0.928 -3.752 0 90 0 49 StoveBurner -1.515 0.928 -3.497 0 0 0 50 StoveBurner -1.129 0.928 -3.498 0 0 0 51 Drawer -0.749 0.779 -3.551 0 0 0 52 CounterTop -0.303 0.951 -2.793 0 0 0 53 Cabinet -0.883 2.140 -3.687 0 0 0 54 Cabinet -0.312 2.140 -1.543 0 0 0 55 Sink -0.349 0.907 -2.014 0 0 0 56 Cabinet -0.877 0.388 -3.422 0 0 0 57 Cabinet -0.582 0.388 -2.197 0 0 0 58 Cabinet -0.584 0.388 -3.396 0 0 0 59 Cabinet -0.312 2.140 -2.481 0 0 0 60 Cabinet -0.330 1.921 -3.390 0 0 0 61 Cabinet -1.764 2.140 -3.687 0 0 0 62 StoveBurner -1.129 0.928 -3.752 0 90 0 63 Drawer -0.454 0.779 -3.268 0 0 0 64 Cabinet -0.302 1.916 -2.501 0 0 0 65 Microwave -1.317 1.517 -3.801 0 1.440 0 66 CoffeeMachine -0.153 0.903 -3.144 0 270 0 67 LightSwitch -4.323 1.319 0.0 0 180 0 68 GarbageCan -1.943 -7.152 -3.763 0 0 0 69 Fridge -0.330 0.0 -0.769 0 270 0 70 SinkBasin -0.350 0.786 -2.018 0 270 0 71 StoveKnob -1.582 1.082 -3.958 72.287 0 0 72 StoveKnob -1.177 1.082 -3.958 72.287 0 0 73 StoveKnob -1.424 1.082 -3.958 72.287 0 0 74 StoveKnob -1.028 1.082 -3.958 72.287 0 0 75 Toaster -0.181 0.903 -2.764 0 270 0 76 Window -2.503 1.782 -4.185 90 180 0 77 DiningTable -2.432 0.000 -1.694 0 270 0 78 Shelf -2.432 0.150 -1.694 0 270 0 79 Blinds -2.536 2.699 -3.959 0 0 0 80 Faucet -0.079 0.904 -2.034 270 180 0 81 Chair -3.264 0.002 -2.094 0 53.280 0 82 Chair -3.240 0.002 -1.253 0 117.257 0 83 Shelf -2.432 0.523 -1.694 0 270 0 84 NorthWall 85 EastWall 86 SouthWall 87 WestWall
[ "STEP 1: Turn right, move to the end of the island, right of the chairs. | STEP 2: Pick up the glass from the island. | STEP 3: Turn right, move to in front of the microwave. | STEP 4: Put the glass in the microwave, cook it, pick it back up. | STEP 5: Turn left, move to in front of the refrigerator. | STEP 6: Put the glass in the refrigerator. | END" ]
[ [ "STEP 1: Turn right, move to the end of the island, right of the chairs. ", " STEP 2: Pick up the glass from the island. ", " STEP 3: Turn right, move to in front of the microwave. ", " STEP 4: Put the glass in the microwave, cook it, pick it back up. ", " STEP 5: Turn left, move to in front of the refrigerator. ", " STEP 6: Put the glass in the refrigerator. ", " END" ] ]
seen
trial_T20190908_045529_826062-2
place a hot glass cup in the fridge
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-3.958", " 72.287", " 0", " 0", "" ], [ "75", " Toaster", " -0.181", " 0.903", " -2.764", " 0", " 270", " 0", "" ], [ "76", " Window", " -2.503", " 1.782", " -4.185", " 90", " 180", " 0", "" ], [ "77", " DiningTable", " -2.432", " 0.000", " -1.694", " 0", " 270", " 0", "" ], [ "78", " Shelf", " -2.432", " 0.150", " -1.694", " 0", " 270", " 0", "" ], [ "79", " Blinds", " -2.536", " 2.699", " -3.959", " 0", " 0", " 0", "" ], [ "80", " Faucet", " -0.079", " 0.904", " -2.034", " 270", " 180", " 0", "" ], [ "81", " Chair", " -3.264", " 0.002", " -2.094", " 0", " 53.280", " 0", "" ], [ "82", " Chair", " -3.240", " 0.002", " -1.253", " 0", " 117.257", " 0", "" ], [ "83", " Shelf", " -2.432", " 0.523", " -1.694", " 0", " 270", " 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 -2.0 0.900 -0.25 0 90 0 1 Glassbottle -2.780 0.924 -1.423 0 0 0 77 2 Glassbottle -2.210 0.924 -2.115 0 0 0 77 3 Pencil -2.324 0.923 -1.423 0 0 0 77 4 Pen -2.666 0.926 -1.884 0 0 0 77 5 Potato -2.438 0.954 -2.115 0 0 0 77 6 DishSponge -0.302 0.796 -2.082 0 270 0 70 7 WineBottle -2.324 0.924 -2.115 0 0 0 77 8 Spatula -2.324 0.938 -1.423 0 180 0 77 9 Spoon -2.552 0.924 -1.193 0 0 0 77 10 Knife -2.666 0.946 -0.963 0 180 0 77 11 Egg -1.881 0.059 -3.763 0 0 0 68 12 Tomato -0.246 1.162 -0.979 0 270 0 69 13 Tomato -0.295 1.454 -0.455 0 270 0 69 14 Bowl -0.322 1.529 -3.610 0 45 0 60 15 Bowl -2.780 0.922 -1.654 0 0 0 77 16 Lettuce -0.308 1.783 -0.665 0 270 0 69 17 SaltShaker -0.720 0.743 -3.615 0 0 0 51 18 SaltShaker -0.391 0.743 -3.267 0 0 0 63 19 Mug -0.671 0.910 -3.697 0 0 0 52 20 Apple -0.671 0.989 -3.485 0 0 0 52 21 Apple -0.388 1.764 -1.084 0 270 0 69 22 Apple -1.362 1.703 -3.804 0 0 0 65 23 Lettuce -2.438 1.016 -1.423 0 0 0 77 24 Glassbottle -0.383 0.082 -1.849 0 0 0 47 25 Egg -0.246 1.423 -0.665 0 270 0 69 26 Pen -2.324 0.926 -1.654 0 0 0 77 27 Fork -2.210 0.924 -1.193 0 0 0 77 28 SoapBottle -0.382 0.079 -3.267 0 0 0 58 29 Pencil -2.552 0.923 -1.423 0 0 0 77 30 WineBottle -2.666 0.924 -2.345 0 0 0 77 31 Spatula -0.436 0.930 -2.563 0 270 0 52 32 Bread -0.295 1.443 -0.874 0 270 0 69 33 Tomato -1.975 0.090 -3.763 0 0 0 68 34 Pan -1.129 0.935 -3.752 0 90 0 62 35 Cup -2.552 0.922 -2.345 0 0 0 77 36 Pot -2.238 0.913 -1.882 0 0 0 77 37 SaltShaker -2.780 0.919 -2.345 0 0 0 77 38 Potato -2.096 0.954 -2.115 0 0 0 77 39 PepperShaker -1.707 1.965 -3.890 0 0 0 61 40 ButterKnife -2.438 0.923 -1.884 0 0 0 77 41 DishSponge -1.206 1.969 -3.773 0 0 0 53 42 Spoon -0.398 0.798 -1.934 0 270 0 70 43 Plate -0.460 0.083 -2.247 0 0 0 57 44 Knife -2.210 0.946 -2.345 0 0 0 77 45 Mug -0.441 1.093 -0.769 0 270 0 69 46 Bowl -2.666 0.922 -2.115 0 0 0 77 47 Cabinet -0.582 0.388 -1.804 0 0 0 48 StoveBurner -1.515 0.928 -3.752 0 90 0 49 StoveBurner -1.515 0.928 -3.497 0 0 0 50 StoveBurner -1.129 0.928 -3.498 0 0 0 51 Drawer -0.749 0.779 -3.551 0 0 0 52 CounterTop -0.303 0.951 -2.793 0 0 0 53 Cabinet -0.883 2.140 -3.687 0 0 0 54 Cabinet -0.312 2.140 -1.543 0 0 0 55 Sink -0.349 0.907 -2.014 0 0 0 56 Cabinet -0.877 0.388 -3.422 0 0 0 57 Cabinet -0.582 0.388 -2.197 0 0 0 58 Cabinet -0.584 0.388 -3.396 0 0 0 59 Cabinet -0.312 2.140 -2.481 0 0 0 60 Cabinet -0.330 1.921 -3.390 0 0 0 61 Cabinet -1.764 2.140 -3.687 0 0 0 62 StoveBurner -1.129 0.928 -3.752 0 90 0 63 Drawer -0.454 0.779 -3.268 0 0 0 64 Cabinet -0.302 1.916 -2.501 0 0 0 65 Microwave -1.317 1.517 -3.801 0 1.440 0 66 CoffeeMachine -0.153 0.903 -3.144 0 270 0 67 LightSwitch -4.323 1.319 0.0 0 180 0 68 GarbageCan -1.943 -7.152 -3.763 0 0 0 69 Fridge -0.330 0.0 -0.769 0 270 0 70 SinkBasin -0.350 0.786 -2.018 0 270 0 71 StoveKnob -1.582 1.082 -3.958 72.287 0 0 72 StoveKnob -1.177 1.082 -3.958 72.287 0 0 73 StoveKnob -1.424 1.082 -3.958 72.287 0 0 74 StoveKnob -1.028 1.082 -3.958 72.287 0 0 75 Toaster -0.181 0.903 -2.764 0 270 0 76 Window -2.503 1.782 -4.185 90 180 0 77 DiningTable -2.432 0.000 -1.694 0 270 0 78 Shelf -2.432 0.150 -1.694 0 270 0 79 Blinds -2.536 2.699 -3.959 0 0 0 80 Faucet -0.079 0.904 -2.034 270 180 0 81 Chair -3.264 0.002 -2.094 0 53.280 0 82 Chair -3.240 0.002 -1.253 0 117.257 0 83 Shelf -2.432 0.523 -1.694 0 270 0 84 NorthWall 85 EastWall 86 SouthWall 87 WestWall
[ "STEP 1: move right to the table | STEP 2: pick up the glass cup | STEP 3: head right to the oven | STEP 4: place the glass cup to head and then take it out | STEP 5: turn around and head to the fridge | STEP 6: place the glass cup in the fridge | END" ]
[ [ "STEP 1: move right to the table ", " STEP 2: pick up the glass cup ", " STEP 3: head right to the oven ", " STEP 4: place the glass cup to head and then take it out ", " STEP 5: turn around and head to the fridge ", " STEP 6: place the glass cup in the fridge ", " END" ] ]
seen
trial_T20190906_184715_596294-0
Place a warmed cup on the coffee maker.
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], [ "24", " SaltShaker", " -2.695", " 0.9", " -0.132", " 0", " 0", " 0", " 57" ], [ "25", " Tomato", " -2.521", " 0.960", " 0.106", " 0", " 0", " 0", " 57" ], [ "26", " PepperShaker", " -2.830", " 0.9", " -0.112", " 0", " 0", " 0", " 57" ], [ "27", " ButterKnife", " 1.413", " 1.111", " 0.614", " 0", " 315", " 0", " 58" ], [ "28", " Pot", " -2.622", " 0.928", " -0.396", " 0", " 0", " 0", " 59" ], [ "29", " DishSponge", " -1.221", " 0.841", " -1.126", " 0", " 41.164", " 0", " 75" ], [ "30", " Egg", " -0.450", " 0.946", " -1.365", " 0", " 0", " 0", " 65" ], [ "31", " Spoon", " -0.157", " 0.9", " -1.015", " 0", " 0", " 0", " 65" ], [ "32", " Knife", " -1.332", " 0.872", " -1.25", " 0", " 90", " 0", " 75" ], [ "33", " Cup", " -1.119", " 0.841", " -1.241", " 0", " 0", " 0", " 75" ], [ "34", " Mug", " 0.372", " 1.654", " -1.353", " 0", " 0", " 0", " 44" ], [ "35", " Bowl", " -2.860", " 0.818", " 0.932", " 0", " 90", " 0", " 77" ], [ "36", " Cabinet", " -2.647", " 2.075", " -0.875", " 0", " 0", " 0", "" ], [ "37", " Cabinet", " -2.647", " 2.075", " -0.234", " 0", " 0", " 0", "" ], [ "38", " Cabinet", " -0.824", " 0.469", " -0.907", " 0", " 0", " 0", "" ], [ "39", " Cabinet", " -1.764", " 2.009", " -1.197", " 0", " 0", " 0", "" ], [ "40", " Cabinet", " -1.834", " 2.009", " -1.197", " 0", " 0", " 0", "" ], [ "41", " Cabinet", " -1.850", " 0.389", " -0.897", " 0", " 0", " 0", "" ], [ "42", " Cabinet", " -1.801", " 0.469", " -0.907", " 0", " 0", " 0", "" ], [ "43", " Cabinet", " 1.115", " 2.009", " -1.197", " 0", " 0", " 0", "" ], [ "44", " Cabinet", " 0.235", " 2.009", " -1.197", " 0", " 0", " 0", "" ], [ "45", " Cabinet", " 1.125", " 0.470", " -0.897", " 0", " 0", " 0", "" ], [ "46", " Cabinet", " -2.387", " 0.389", " 0.375", " 0", " 0", " 0", "" ], [ "47", " Cabinet", " 0.484", " 0.389", " -0.897", " 0", " 0", " 0", "" ], [ "48", " Cabinet", " -2.625", " 2.009", " -1.197", " 0", " 0", " 0", "" ], [ "49", " Cabinet", " -2.647", " 2.009", " -0.945", " 0", " 0", " 0", "" ], [ "50", " Cabinet", " -2.647", " 2.200", " 1.664", " 0", " 0", " 0", "" ], [ "51", " Cabinet", " -2.647", " 2.009", " 0.364", " 0", " 0", " 0", "" ], [ "52", " Cabinet", " 0.164", " 2.009", " -1.197", " 0", " 0", " 0", "" ], [ "53", " Cabinet", " -0.765", " 2.009", " -1.197", " 0", " 0", " 0", "" ], [ "54", " Cabinet", " -0.834", " 2.009", " -1.197", " 0", " 0", " 0", "" ], [ "55", " Cabinet", " -2.647", " 2.200", " 0.434", " 0", " 0", " 0", "" ], [ "56", " StoveBurner", " -2.622", " 0.886", " -0.711", " 0", " 0", " 0", "" ], [ "57", " CounterTop", " -2.699", " 0.946", " 0.106", " 0", " 0", " 0", "" ], [ "58", " CounterTop", " 0.908", " 1.147", " 0.788", " 0", " 315", " 0", "" ], [ "59", " StoveBurner", " -2.622", " 0.886", " -0.396", " 0", " 0", " 0", "" ], [ "60", " Drawer", " -2.026", " 0.779", " -1.082", " 0", " 0", " 0", "" ], [ "61", " Sink", " -1.328", " 0.916", " -1.225", " 0", " 0", " 0", "" ], [ "62", " StoveBurner", " -2.822", " 0.886", " -0.711", " 0", " 0", " 0", "" ], [ "63", " Drawer", " -2.572", " 0.779", " 0.099", " 0", " 0", " 0", "" ], [ "64", " StoveBurner", " -2.822", " 0.886", " -0.396", " 0", " 0", " 0", "" ], [ "65", " CounterTop", " 0.071", " 0.946", " -1.199", " 0", " 0", " 0", "" ], [ "66", " Drawer", " 0.254", " 0.779", " -1.082", " 0", " 0", " 0", "" ], [ "67", " LightSwitch", " -1.167", " 1.307", " 3.0", " 0", " 180", " 0", "" ], [ "68", " CoffeeMachine", " 1.124", " 1.100", " 0.312", " 0", " 227.685", " 0", "" ], [ "69", " StoveKnob", " -2.429", " 0.863", " -0.621", " 311.864", " 270", " 180", "" ], [ "70", " StoveKnob", " -2.429", " 0.863", " -0.477", " 311.864", " 270", " 180", "" ], [ "71", " StoveKnob", " -2.429", " 0.863", " -0.782", " 311.864", " 270", " 180", "" ], [ "72", " StoveKnob", " -2.429", " 0.863", " -0.324", " 311.864", " 270", " 180", "" ], [ "73", " Window", " 0.321", " 1.449", " 3.088", " 90", " 0", " 0", "" ], [ "74", " Toaster", " -2.823", " 0.899", " 0.246", " 0", " 90", " 0", "" ], [ "75", " SinkBasin", " -1.344", " 0.838", " -1.25", " 0", " 0", " 0", "" ], [ "76", " GarbageCan", " -2.757", " 1.886", " 1.466", " 0", " 0", " 0", "" ], [ "77", " Fridge", " -2.855", " 0.0", " 0.851", " 0", " 0", " 0", "" ], [ "78", " Microwave", " 0.283", " 0.900", " -1.331", " 0", " 0", " 0", "" ], [ "79", " Stool", " 1.541", " 0.010", " 1.328", " 0", " 45", " 0", "" ], [ "80", " Stool", " 0.983", " 0.010", " 1.793", " 0", " 47.459", " 0", "" ], [ "81", " Faucet", " -1.392", " 1.136", " -1.399", " 0", " 270", " 0", "" ], [ "82", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "83", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "84", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "85", " 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 0 180 0 1 Potato -0.598 0.933 -1.119 0 47.530 0 65 2 ButterKnife -0.135 1.111 1.772 0 315 0 58 3 ButterKnife -0.137 1.111 1.555 0 315 0 58 4 Pot 0.317 1.112 1.248 0 315 0 58 5 Plate 0.809 1.664 -1.322 0 0 0 43 6 Egg -2.699 0.071 1.501 0 0 0 76 7 Egg -2.786 0.071 1.396 0 0 0 76 8 Knife -2.236 0.934 -1.199 0 0 0 65 9 Knife -2.628 0.769 -0.027 0 90 0 63 10 SoapBottle -1.982 0.117 -0.981 0 0 0 41 11 Tomato -2.740 0.427 1.013 0 90 0 77 12 Bowl 0.836 1.110 0.729 0 315 0 58 13 Bread 0.894 1.166 1.133 0 315 0 58 14 Pan -2.59 0.9 -1.147 0 0 0 65 15 Apple 0.284 1.154 1.580 0 0 0 58 16 Fork -0.276 0.901 -1.118 0 0 0 65 17 Kettle -2.620 0.922 -0.724 0 0 0 56 18 CreditCard 0.997 0.9 -0.982 0 334.941 0 65 19 Bread 0.765 0.965 -1.115 0 0 0 65 20 Plate -0.767 0.913 -1.199 0 0 0 65 21 SoapBottle -2.521 0.912 0.275 0 0 0 57 22 Spatula -2.552 0.922 0.010 0 0 0 57 23 Lettuce -2.660 0.874 0.983 31.046 0 0 77 24 SaltShaker -2.695 0.9 -0.132 0 0 0 57 25 Tomato -2.521 0.960 0.106 0 0 0 57 26 PepperShaker -2.830 0.9 -0.112 0 0 0 57 27 ButterKnife 1.413 1.111 0.614 0 315 0 58 28 Pot -2.622 0.928 -0.396 0 0 0 59 29 DishSponge -1.221 0.841 -1.126 0 41.164 0 75 30 Egg -0.450 0.946 -1.365 0 0 0 65 31 Spoon -0.157 0.9 -1.015 0 0 0 65 32 Knife -1.332 0.872 -1.25 0 90 0 75 33 Cup -1.119 0.841 -1.241 0 0 0 75 34 Mug 0.372 1.654 -1.353 0 0 0 44 35 Bowl -2.860 0.818 0.932 0 90 0 77 36 Cabinet -2.647 2.075 -0.875 0 0 0 37 Cabinet -2.647 2.075 -0.234 0 0 0 38 Cabinet -0.824 0.469 -0.907 0 0 0 39 Cabinet -1.764 2.009 -1.197 0 0 0 40 Cabinet -1.834 2.009 -1.197 0 0 0 41 Cabinet -1.850 0.389 -0.897 0 0 0 42 Cabinet -1.801 0.469 -0.907 0 0 0 43 Cabinet 1.115 2.009 -1.197 0 0 0 44 Cabinet 0.235 2.009 -1.197 0 0 0 45 Cabinet 1.125 0.470 -0.897 0 0 0 46 Cabinet -2.387 0.389 0.375 0 0 0 47 Cabinet 0.484 0.389 -0.897 0 0 0 48 Cabinet -2.625 2.009 -1.197 0 0 0 49 Cabinet -2.647 2.009 -0.945 0 0 0 50 Cabinet -2.647 2.200 1.664 0 0 0 51 Cabinet -2.647 2.009 0.364 0 0 0 52 Cabinet 0.164 2.009 -1.197 0 0 0 53 Cabinet -0.765 2.009 -1.197 0 0 0 54 Cabinet -0.834 2.009 -1.197 0 0 0 55 Cabinet -2.647 2.200 0.434 0 0 0 56 StoveBurner -2.622 0.886 -0.711 0 0 0 57 CounterTop -2.699 0.946 0.106 0 0 0 58 CounterTop 0.908 1.147 0.788 0 315 0 59 StoveBurner -2.622 0.886 -0.396 0 0 0 60 Drawer -2.026 0.779 -1.082 0 0 0 61 Sink -1.328 0.916 -1.225 0 0 0 62 StoveBurner -2.822 0.886 -0.711 0 0 0 63 Drawer -2.572 0.779 0.099 0 0 0 64 StoveBurner -2.822 0.886 -0.396 0 0 0 65 CounterTop 0.071 0.946 -1.199 0 0 0 66 Drawer 0.254 0.779 -1.082 0 0 0 67 LightSwitch -1.167 1.307 3.0 0 180 0 68 CoffeeMachine 1.124 1.100 0.312 0 227.685 0 69 StoveKnob -2.429 0.863 -0.621 311.864 270 180 70 StoveKnob -2.429 0.863 -0.477 311.864 270 180 71 StoveKnob -2.429 0.863 -0.782 311.864 270 180 72 StoveKnob -2.429 0.863 -0.324 311.864 270 180 73 Window 0.321 1.449 3.088 90 0 0 74 Toaster -2.823 0.899 0.246 0 90 0 75 SinkBasin -1.344 0.838 -1.25 0 0 0 76 GarbageCan -2.757 1.886 1.466 0 0 0 77 Fridge -2.855 0.0 0.851 0 0 0 78 Microwave 0.283 0.900 -1.331 0 0 0 79 Stool 1.541 0.010 1.328 0 45 0 80 Stool 0.983 0.010 1.793 0 47.459 0 81 Faucet -1.392 1.136 -1.399 0 270 0 82 NorthWall 83 EastWall 84 SouthWall 85 WestWall
[ "STEP 1: Walk straight towards the microwave on the counter. | STEP 2: Open the left cabinet to the top of the microwave and take out the cup inside of it. | STEP 3: Bring the cup down in front of the microwave. | STEP 4: Open the microwave, heat up the cup, and take it out of the microwave. | STEP 5: Turn around and head towards the coffee maker on the counter. | STEP 6: Place the cup on the coffee maker. | END" ]
[ [ "STEP 1: Walk straight towards the microwave on the counter. ", " STEP 2: Open the left cabinet to the top of the microwave and take out the cup inside of it. ", " STEP 3: Bring the cup down in front of the microwave. ", " STEP 4: Open the microwave, heat up the cup, and take it out of the microwave. ", " STEP 5: Turn around and head towards the coffee maker on the counter. ", " STEP 6: Place the cup on the coffee maker. ", " END" ] ]
seen
trial_T20190906_184715_596294-1
Place a heated mug in the coffee maker.
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"50", " Cabinet", " -2.647", " 2.200", " 1.664", " 0", " 0", " 0", "" ], [ "51", " Cabinet", " -2.647", " 2.009", " 0.364", " 0", " 0", " 0", "" ], [ "52", " Cabinet", " 0.164", " 2.009", " -1.197", " 0", " 0", " 0", "" ], [ "53", " Cabinet", " -0.765", " 2.009", " -1.197", " 0", " 0", " 0", "" ], [ "54", " Cabinet", " -0.834", " 2.009", " -1.197", " 0", " 0", " 0", "" ], [ "55", " Cabinet", " -2.647", " 2.200", " 0.434", " 0", " 0", " 0", "" ], [ "56", " StoveBurner", " -2.622", " 0.886", " -0.711", " 0", " 0", " 0", "" ], [ "57", " CounterTop", " -2.699", " 0.946", " 0.106", " 0", " 0", " 0", "" ], [ "58", " CounterTop", " 0.908", " 1.147", " 0.788", " 0", " 315", " 0", "" ], [ "59", " StoveBurner", " -2.622", " 0.886", " -0.396", " 0", " 0", " 0", "" ], [ "60", " Drawer", " -2.026", " 0.779", " -1.082", " 0", " 0", " 0", "" ], [ "61", " Sink", " -1.328", " 0.916", " -1.225", " 0", " 0", " 0", "" ], [ "62", " StoveBurner", " -2.822", " 0.886", " -0.711", " 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 -0.75 0.900 2.5 0 180 0 1 Potato -0.598 0.933 -1.119 0 47.530 0 65 2 ButterKnife -0.135 1.111 1.772 0 315 0 58 3 ButterKnife -0.137 1.111 1.555 0 315 0 58 4 Pot 0.317 1.112 1.248 0 315 0 58 5 Plate 0.809 1.664 -1.322 0 0 0 43 6 Egg -2.699 0.071 1.501 0 0 0 76 7 Egg -2.786 0.071 1.396 0 0 0 76 8 Knife -2.236 0.934 -1.199 0 0 0 65 9 Knife -2.628 0.769 -0.027 0 90 0 63 10 SoapBottle -1.982 0.117 -0.981 0 0 0 41 11 Tomato -2.740 0.427 1.013 0 90 0 77 12 Bowl 0.836 1.110 0.729 0 315 0 58 13 Bread 0.894 1.166 1.133 0 315 0 58 14 Pan -2.59 0.9 -1.147 0 0 0 65 15 Apple 0.284 1.154 1.580 0 0 0 58 16 Fork -0.276 0.901 -1.118 0 0 0 65 17 Kettle -2.620 0.922 -0.724 0 0 0 56 18 CreditCard 0.997 0.9 -0.982 0 334.941 0 65 19 Bread 0.765 0.965 -1.115 0 0 0 65 20 Plate -0.767 0.913 -1.199 0 0 0 65 21 SoapBottle -2.521 0.912 0.275 0 0 0 57 22 Spatula -2.552 0.922 0.010 0 0 0 57 23 Lettuce -2.660 0.874 0.983 31.046 0 0 77 24 SaltShaker -2.695 0.9 -0.132 0 0 0 57 25 Tomato -2.521 0.960 0.106 0 0 0 57 26 PepperShaker -2.830 0.9 -0.112 0 0 0 57 27 ButterKnife 1.413 1.111 0.614 0 315 0 58 28 Pot -2.622 0.928 -0.396 0 0 0 59 29 DishSponge -1.221 0.841 -1.126 0 41.164 0 75 30 Egg -0.450 0.946 -1.365 0 0 0 65 31 Spoon -0.157 0.9 -1.015 0 0 0 65 32 Knife -1.332 0.872 -1.25 0 90 0 75 33 Cup -1.119 0.841 -1.241 0 0 0 75 34 Mug 0.372 1.654 -1.353 0 0 0 44 35 Bowl -2.860 0.818 0.932 0 90 0 77 36 Cabinet -2.647 2.075 -0.875 0 0 0 37 Cabinet -2.647 2.075 -0.234 0 0 0 38 Cabinet -0.824 0.469 -0.907 0 0 0 39 Cabinet -1.764 2.009 -1.197 0 0 0 40 Cabinet -1.834 2.009 -1.197 0 0 0 41 Cabinet -1.850 0.389 -0.897 0 0 0 42 Cabinet -1.801 0.469 -0.907 0 0 0 43 Cabinet 1.115 2.009 -1.197 0 0 0 44 Cabinet 0.235 2.009 -1.197 0 0 0 45 Cabinet 1.125 0.470 -0.897 0 0 0 46 Cabinet -2.387 0.389 0.375 0 0 0 47 Cabinet 0.484 0.389 -0.897 0 0 0 48 Cabinet -2.625 2.009 -1.197 0 0 0 49 Cabinet -2.647 2.009 -0.945 0 0 0 50 Cabinet -2.647 2.200 1.664 0 0 0 51 Cabinet -2.647 2.009 0.364 0 0 0 52 Cabinet 0.164 2.009 -1.197 0 0 0 53 Cabinet -0.765 2.009 -1.197 0 0 0 54 Cabinet -0.834 2.009 -1.197 0 0 0 55 Cabinet -2.647 2.200 0.434 0 0 0 56 StoveBurner -2.622 0.886 -0.711 0 0 0 57 CounterTop -2.699 0.946 0.106 0 0 0 58 CounterTop 0.908 1.147 0.788 0 315 0 59 StoveBurner -2.622 0.886 -0.396 0 0 0 60 Drawer -2.026 0.779 -1.082 0 0 0 61 Sink -1.328 0.916 -1.225 0 0 0 62 StoveBurner -2.822 0.886 -0.711 0 0 0 63 Drawer -2.572 0.779 0.099 0 0 0 64 StoveBurner -2.822 0.886 -0.396 0 0 0 65 CounterTop 0.071 0.946 -1.199 0 0 0 66 Drawer 0.254 0.779 -1.082 0 0 0 67 LightSwitch -1.167 1.307 3.0 0 180 0 68 CoffeeMachine 1.124 1.100 0.312 0 227.685 0 69 StoveKnob -2.429 0.863 -0.621 311.864 270 180 70 StoveKnob -2.429 0.863 -0.477 311.864 270 180 71 StoveKnob -2.429 0.863 -0.782 311.864 270 180 72 StoveKnob -2.429 0.863 -0.324 311.864 270 180 73 Window 0.321 1.449 3.088 90 0 0 74 Toaster -2.823 0.899 0.246 0 90 0 75 SinkBasin -1.344 0.838 -1.25 0 0 0 76 GarbageCan -2.757 1.886 1.466 0 0 0 77 Fridge -2.855 0.0 0.851 0 0 0 78 Microwave 0.283 0.900 -1.331 0 0 0 79 Stool 1.541 0.010 1.328 0 45 0 80 Stool 0.983 0.010 1.793 0 47.459 0 81 Faucet -1.392 1.136 -1.399 0 270 0 82 NorthWall 83 EastWall 84 SouthWall 85 WestWall
[ "STEP 1: Go to the cabinet above the microwave. | STEP 2: Take the mug from the cabinet. | STEP 3: Place the mug in the microwave. | STEP 4: Heat the mug in the microwave. | STEP 5: Go to the counter behind you. | STEP 6: Place the mug in the coffee maker. | END" ]
[ [ "STEP 1: Go to the cabinet above the microwave. ", " STEP 2: Take the mug from the cabinet. ", " STEP 3: Place the mug in the microwave. ", " STEP 4: Heat the mug in the microwave. ", " STEP 5: Go to the counter behind you. ", " STEP 6: Place the mug in the coffee maker. ", " END" ] ]
seen
trial_T20190906_184715_596294-2
Put a heated mug on the coffee machine.
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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 0 180 0 1 Potato -0.598 0.933 -1.119 0 47.530 0 65 2 ButterKnife -0.135 1.111 1.772 0 315 0 58 3 ButterKnife -0.137 1.111 1.555 0 315 0 58 4 Pot 0.317 1.112 1.248 0 315 0 58 5 Plate 0.809 1.664 -1.322 0 0 0 43 6 Egg -2.699 0.071 1.501 0 0 0 76 7 Egg -2.786 0.071 1.396 0 0 0 76 8 Knife -2.236 0.934 -1.199 0 0 0 65 9 Knife -2.628 0.769 -0.027 0 90 0 63 10 SoapBottle -1.982 0.117 -0.981 0 0 0 41 11 Tomato -2.740 0.427 1.013 0 90 0 77 12 Bowl 0.836 1.110 0.729 0 315 0 58 13 Bread 0.894 1.166 1.133 0 315 0 58 14 Pan -2.59 0.9 -1.147 0 0 0 65 15 Apple 0.284 1.154 1.580 0 0 0 58 16 Fork -0.276 0.901 -1.118 0 0 0 65 17 Kettle -2.620 0.922 -0.724 0 0 0 56 18 CreditCard 0.997 0.9 -0.982 0 334.941 0 65 19 Bread 0.765 0.965 -1.115 0 0 0 65 20 Plate -0.767 0.913 -1.199 0 0 0 65 21 SoapBottle -2.521 0.912 0.275 0 0 0 57 22 Spatula -2.552 0.922 0.010 0 0 0 57 23 Lettuce -2.660 0.874 0.983 31.046 0 0 77 24 SaltShaker -2.695 0.9 -0.132 0 0 0 57 25 Tomato -2.521 0.960 0.106 0 0 0 57 26 PepperShaker -2.830 0.9 -0.112 0 0 0 57 27 ButterKnife 1.413 1.111 0.614 0 315 0 58 28 Pot -2.622 0.928 -0.396 0 0 0 59 29 DishSponge -1.221 0.841 -1.126 0 41.164 0 75 30 Egg -0.450 0.946 -1.365 0 0 0 65 31 Spoon -0.157 0.9 -1.015 0 0 0 65 32 Knife -1.332 0.872 -1.25 0 90 0 75 33 Cup -1.119 0.841 -1.241 0 0 0 75 34 Mug 0.372 1.654 -1.353 0 0 0 44 35 Bowl -2.860 0.818 0.932 0 90 0 77 36 Cabinet -2.647 2.075 -0.875 0 0 0 37 Cabinet -2.647 2.075 -0.234 0 0 0 38 Cabinet -0.824 0.469 -0.907 0 0 0 39 Cabinet -1.764 2.009 -1.197 0 0 0 40 Cabinet -1.834 2.009 -1.197 0 0 0 41 Cabinet -1.850 0.389 -0.897 0 0 0 42 Cabinet -1.801 0.469 -0.907 0 0 0 43 Cabinet 1.115 2.009 -1.197 0 0 0 44 Cabinet 0.235 2.009 -1.197 0 0 0 45 Cabinet 1.125 0.470 -0.897 0 0 0 46 Cabinet -2.387 0.389 0.375 0 0 0 47 Cabinet 0.484 0.389 -0.897 0 0 0 48 Cabinet -2.625 2.009 -1.197 0 0 0 49 Cabinet -2.647 2.009 -0.945 0 0 0 50 Cabinet -2.647 2.200 1.664 0 0 0 51 Cabinet -2.647 2.009 0.364 0 0 0 52 Cabinet 0.164 2.009 -1.197 0 0 0 53 Cabinet -0.765 2.009 -1.197 0 0 0 54 Cabinet -0.834 2.009 -1.197 0 0 0 55 Cabinet -2.647 2.200 0.434 0 0 0 56 StoveBurner -2.622 0.886 -0.711 0 0 0 57 CounterTop -2.699 0.946 0.106 0 0 0 58 CounterTop 0.908 1.147 0.788 0 315 0 59 StoveBurner -2.622 0.886 -0.396 0 0 0 60 Drawer -2.026 0.779 -1.082 0 0 0 61 Sink -1.328 0.916 -1.225 0 0 0 62 StoveBurner -2.822 0.886 -0.711 0 0 0 63 Drawer -2.572 0.779 0.099 0 0 0 64 StoveBurner -2.822 0.886 -0.396 0 0 0 65 CounterTop 0.071 0.946 -1.199 0 0 0 66 Drawer 0.254 0.779 -1.082 0 0 0 67 LightSwitch -1.167 1.307 3.0 0 180 0 68 CoffeeMachine 1.124 1.100 0.312 0 227.685 0 69 StoveKnob -2.429 0.863 -0.621 311.864 270 180 70 StoveKnob -2.429 0.863 -0.477 311.864 270 180 71 StoveKnob -2.429 0.863 -0.782 311.864 270 180 72 StoveKnob -2.429 0.863 -0.324 311.864 270 180 73 Window 0.321 1.449 3.088 90 0 0 74 Toaster -2.823 0.899 0.246 0 90 0 75 SinkBasin -1.344 0.838 -1.25 0 0 0 76 GarbageCan -2.757 1.886 1.466 0 0 0 77 Fridge -2.855 0.0 0.851 0 0 0 78 Microwave 0.283 0.900 -1.331 0 0 0 79 Stool 1.541 0.010 1.328 0 45 0 80 Stool 0.983 0.010 1.793 0 47.459 0 81 Faucet -1.392 1.136 -1.399 0 270 0 82 NorthWall 83 EastWall 84 SouthWall 85 WestWall
[ "STEP 1: Move to the microwave. | STEP 2: Pick up the mug from the cabinet above the microwave. | STEP 3: Bring the mug to the microwave. | STEP 4: Heat the mug in the microwave. | STEP 5: Bring the mug to the coffee machine | STEP 6: Put the mug on the coffee machine. | END" ]
[ [ "STEP 1: Move to the microwave. ", " STEP 2: Pick up the mug from the cabinet above the microwave. ", " STEP 3: Bring the mug to the microwave. ", " STEP 4: Heat the mug in the microwave. ", " STEP 5: Bring the mug to the coffee machine ", " STEP 6: Put the mug on the coffee machine. ", " END" ] ]
seen
trial_T20190907_151125_358475-0
Move two salt shakers from the cabinet above the stove to the drawer.
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0", " 0", " 80" ], [ "11", " Spatula", " -0.420", " 0.928", " 0.030", " 0", " 0", " 0", " 77" ], [ "12", " Fork", " -0.053", " 0.696", " 0.181", " 0", " 180", " 0", " 83" ], [ "13", " Spoon", " -1.278", " 0.914", " 0.241", " 0", " 0", " 0", " 77" ], [ "14", " Egg", " 1.781", " 1.049", " -1.402", " 0", " 270", " 0", " 89" ], [ "15", " Egg", " 2.002", " 0.096", " 0.138", " 0", " 0", " 0", " 87" ], [ "16", " Knife", " -0.822", " 1.155", " 0.529", " 0", " 180", " 0", " 80" ], [ "17", " Tomato", " -0.375", " 1.181", " 0.529", " 0", " 0", " 0", " 80" ], [ "18", " Tomato", " 1.945", " 0.866", " -0.458", " 0", " 270", " 0", " 91" ], [ "19", " Bowl", " -1.259", " 0.908", " -2.182", " 0", " 0", " 0", " 84" ], [ "20", " SaltShaker", " -1.391", " 1.657", " -0.558", " 0", " 0", " 0", " 67" ], [ "21", " SaltShaker", " 1.987", " 1.655", " -1.077", " 0", " 0", " 0", " 61" ], [ "22", " SaltShaker", " -1.232", " 1.657", " -0.285", " 0", " 0", " 0", " 67" ], [ "23", " Mug", " 0.501", " 0.955", " -1.900", " 0", " 0", " 0", " 100" ], [ "24", " Mug", " -0.031", " 0.758", " -2.118", " 0", " 0", " 0", " 94" ], [ "25", " Apple", " -0.031", " 0.811", " -1.952", " 0", " 0", " 0", " 94" ], [ "26", " Pan", " 1.743", " 0.9", " -1.969", " 0", " 308.846", " 0", " 84" ], [ "27", " Knife", " -1.244", " 0.907", " -0.199", " 90", " 5.668", " 0", " 77" ], [ "28", " Bowl", " -0.152", " 1.128", " 0.529", " 0", " 0", " 0", " 80" ], [ "29", " Fork", " 0.008", " 0.914", " 0.083", " 0", " 0", " 0", " 77" ], [ "30", " Cup", " 0.101", " 0.750", " -1.938", " 0", " 0", " 0", " 94" ], [ "31", " Ladle", " -0.252", " 0.733", " 0.181", " 0", " 270", " 0", " 83" ], [ "32", " Apple", " 1.884", " 0.111", " 0.080", " 0", " 0", " 0", " 87" ], [ "33", " Kettle", " -1.063", " 0.914", " 0.241", " 0", " 0", " 0", " 77" ], [ "34", " Vase", " 1.000", " 1.660", " -2.126", " 0", " 0", " 0", " 63" ], [ "35", " Potato", " 1.846", " 1.045", " -1.402", " 0", " 270", " 0", " 89" ], [ "36", " Pot", " -1.056", " 0.956", " -0.672", " 0", " 180", " 0", " 56" ], [ "37", " Bread", " -1.146", " 1.003", " -0.242", " 350.921", " 3.362", " 0", " 77" ], [ "38", " Plate", " -1.073", " 0.127", " -1.501", " 0", " 0", " 0", " 70" ], [ "39", " Spatula", " -1.018", " 0.926", " -1.845", " 0", " 180", " 0", " 84" ], [ "40", " PaperTowelRoll", " -1.018", " 1.015", " -2.267", " 0", " 0", " 0", " 84" ], [ "41", " Vase", " -0.849", " 0.919", " 0.188", " 0", " 0", " 0", " 77" ], [ "42", " Egg", " -0.117", " 0.797", " -1.952", " 0", " 0", " 0", " 94" ], [ "43", " SoapBottle", " 0.071", " 1.131", " 0.662", " 0", " 0", " 0", " 80" ], [ "44", " SaltShaker", " -0.598", " 1.127", " 0.662", " 0", " 0", " 0", " 80" ], [ "45", " Lettuce", " -0.256", " 0.867", " -1.969", " 327.984", " 40.845", " 31.472", " 94" ], [ "46", " PepperShaker", " -1.045", " 1.127", " 0.529", " 0", " 0", " 0", " 80" ], [ "47", " ButterKnife", " 0.008", " 0.913", " 0.241", " 0", " 0", " 0", " 77" ], [ "48", " DishSponge", " -0.577", " 0.693", " 0.190", " 0", " 180", " 0", " 78" ], [ "49", " Vase", " 2.979", " 0.539", " 0.128", " 0", " 0", " 0", " 90" ], [ "50", " Spoon", " 0.079", " 0.698", " 0.222", " 0", " 270", " 0", " 83" ], [ "51", " Tomato", " 1.836", " 1.148", " -0.644", " 0", " 270", " 0", " 91" ], [ "52", " Mug", " 2.055", " 0.812", " -0.737", " 0", " 0", " 0", " 91" ], [ "53", " Statue", " -1.322", " 0.918", " -1.553", " 0", " 0", " 0", " 84" ], [ "54", " Drawer", " -0.819", " 0.75", " -1.690", " 0", " 0", " 0", "" ], [ "55", " Cabinet", " -1.149", " 2.264", " -0.838", " 0", " 90", " 0", "" ], [ "56", " StoveBurner", " -1.056", " 0.949", " -0.671", " 0", " 180", " 0", "" ], [ "57", " Cabinet", " 1.738", " 2.019", " -2.000", " 0", " 0", " 0", "" ], [ "58", " Cabinet", " 1.389", " 0.469", " -1.059", " 0", " 0", " 0", "" ], [ "59", " StoveBurner", " -1.289", " 0.949", " -0.755", " 0", " 180", " 0", "" ], [ "60", " Faucet", " -0.157", " 1.052", " -2.196", " 0", " 270", " 0", "" ], [ "61", " Cabinet", " 1.75", " 2.019", " -1.029", " 0", " 0", " 0", "" ], [ "62", " Cabinet", " 1.75", " 2.019", " -1.399", " 0", " 0", " 0", "" ], [ "63", " Cabinet", " 1.179", " 2.019", " -2.0", " 0", " 0", " 0", "" ], [ "64", " Cabinet", " 0.199", " 2.019", " -2.0", " 0", " 0", " 0", "" ], [ "65", " Cabinet", " -1.100", " 2.019", " -2.0", " 0", " 0", " 0", "" ], [ "66", " Cabinet", " -1.149", " 2.019", " -1.979", " 0", " 0", " 0", "" ], [ "67", " Cabinet", " -1.149", " 2.019", " -0.770", " 0", " 0", " 0", "" ], [ "68", " Cabinet", " -1.149", " 2.019", " 0.380", " 0", " 0", " 0", "" ], [ "69", " Cabinet", " -0.819", " 0.469", " -1.689", " 0", " 0", " 0", "" ], [ "70", " Cabinet", " -0.839", " 0.469", " -1.664", " 0", " 0", " 0", "" ], [ "71", " Cabinet", " -0.839", " 0.469", " -0.049", " 0", " 0", " 0", "" ], [ "72", " Cabinet", " -0.414", " 0.370", " -0.009", " 0", " 0", " 0", "" ], [ "73", " Sink", " -0.118", " 0.875", " -2.009", " 0", " 0", " 0", "" ], [ "74", " StoveBurner", " -1.289", " 0.949", " -1.019", " 0", " 0", " 0", "" ], [ "75", " 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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 -0.25 0 0 0 1 Statue -1.326 0.932 -0.090 73.206 342.219 345.336 77 2 Statue 2.900 0.886 0.141 0 180 0 88 3 Potato 1.836 0.847 -0.458 0 270 0 91 4 Ladle -0.991 0.929 -0.055 339.560 0 346.185 77 5 DishSponge -1.278 0.913 0.135 0 0 0 77 6 DishSponge 3.005 0.551 0.245 0 180 0 90 7 ButterKnife 1.194 0.911 -2.098 0 0 0 84 8 Pot -1.289 0.957 -0.756 0 180 0 59 9 Pot -1.289 0.957 -1.02 0 0 0 74 10 Spatula -0.598 1.146 0.706 0 0 0 80 11 Spatula -0.420 0.928 0.030 0 0 0 77 12 Fork -0.053 0.696 0.181 0 180 0 83 13 Spoon -1.278 0.914 0.241 0 0 0 77 14 Egg 1.781 1.049 -1.402 0 270 0 89 15 Egg 2.002 0.096 0.138 0 0 0 87 16 Knife -0.822 1.155 0.529 0 180 0 80 17 Tomato -0.375 1.181 0.529 0 0 0 80 18 Tomato 1.945 0.866 -0.458 0 270 0 91 19 Bowl -1.259 0.908 -2.182 0 0 0 84 20 SaltShaker -1.391 1.657 -0.558 0 0 0 67 21 SaltShaker 1.987 1.655 -1.077 0 0 0 61 22 SaltShaker -1.232 1.657 -0.285 0 0 0 67 23 Mug 0.501 0.955 -1.900 0 0 0 100 24 Mug -0.031 0.758 -2.118 0 0 0 94 25 Apple -0.031 0.811 -1.952 0 0 0 94 26 Pan 1.743 0.9 -1.969 0 308.846 0 84 27 Knife -1.244 0.907 -0.199 90 5.668 0 77 28 Bowl -0.152 1.128 0.529 0 0 0 80 29 Fork 0.008 0.914 0.083 0 0 0 77 30 Cup 0.101 0.750 -1.938 0 0 0 94 31 Ladle -0.252 0.733 0.181 0 270 0 83 32 Apple 1.884 0.111 0.080 0 0 0 87 33 Kettle -1.063 0.914 0.241 0 0 0 77 34 Vase 1.000 1.660 -2.126 0 0 0 63 35 Potato 1.846 1.045 -1.402 0 270 0 89 36 Pot -1.056 0.956 -0.672 0 180 0 56 37 Bread -1.146 1.003 -0.242 350.921 3.362 0 77 38 Plate -1.073 0.127 -1.501 0 0 0 70 39 Spatula -1.018 0.926 -1.845 0 180 0 84 40 PaperTowelRoll -1.018 1.015 -2.267 0 0 0 84 41 Vase -0.849 0.919 0.188 0 0 0 77 42 Egg -0.117 0.797 -1.952 0 0 0 94 43 SoapBottle 0.071 1.131 0.662 0 0 0 80 44 SaltShaker -0.598 1.127 0.662 0 0 0 80 45 Lettuce -0.256 0.867 -1.969 327.984 40.845 31.472 94 46 PepperShaker -1.045 1.127 0.529 0 0 0 80 47 ButterKnife 0.008 0.913 0.241 0 0 0 77 48 DishSponge -0.577 0.693 0.190 0 180 0 78 49 Vase 2.979 0.539 0.128 0 0 0 90 50 Spoon 0.079 0.698 0.222 0 270 0 83 51 Tomato 1.836 1.148 -0.644 0 270 0 91 52 Mug 2.055 0.812 -0.737 0 0 0 91 53 Statue -1.322 0.918 -1.553 0 0 0 84 54 Drawer -0.819 0.75 -1.690 0 0 0 55 Cabinet -1.149 2.264 -0.838 0 90 0 56 StoveBurner -1.056 0.949 -0.671 0 180 0 57 Cabinet 1.738 2.019 -2.000 0 0 0 58 Cabinet 1.389 0.469 -1.059 0 0 0 59 StoveBurner -1.289 0.949 -0.755 0 180 0 60 Faucet -0.157 1.052 -2.196 0 270 0 61 Cabinet 1.75 2.019 -1.029 0 0 0 62 Cabinet 1.75 2.019 -1.399 0 0 0 63 Cabinet 1.179 2.019 -2.0 0 0 0 64 Cabinet 0.199 2.019 -2.0 0 0 0 65 Cabinet -1.100 2.019 -2.0 0 0 0 66 Cabinet -1.149 2.019 -1.979 0 0 0 67 Cabinet -1.149 2.019 -0.770 0 0 0 68 Cabinet -1.149 2.019 0.380 0 0 0 69 Cabinet -0.819 0.469 -1.689 0 0 0 70 Cabinet -0.839 0.469 -1.664 0 0 0 71 Cabinet -0.839 0.469 -0.049 0 0 0 72 Cabinet -0.414 0.370 -0.009 0 0 0 73 Sink -0.118 0.875 -2.009 0 0 0 74 StoveBurner -1.289 0.949 -1.019 0 0 0 75 Cabinet 0.119 2.264 -2.0 0 0 0 76 Cabinet -0.459 2.264 -2.0 0 0 0 77 CounterTop -0.665 0.949 0.188 0 0 0 78 Drawer -0.449 0.75 -0.010 0 180 0 79 Cabinet -0.450 0.469 -0.009 0 0 0 80 CounterTop -0.630 1.167 0.573 0 0 0 81 StoveBurner -1.056 0.949 -1.126 0 0 0 82 Cabinet 1.376 0.460 -1.685 0 0 0 83 Drawer -0.070 0.75 -0.009 0 180 0 84 CounterTop 1.159 0.946 -2.013 0 0 0 85 Cabinet -1.150 2.264 -1.418 0 90 0 86 HousePlant -1.246 1.108 0.606 0 0 0 87 GarbageCan 1.923 -0.010 0.137 0 0 0 88 Shelf 2.759 0.880 0.144 0 0 0 89 Microwave 1.827 0.900 -1.354 0 270 0 90 Shelf 2.759 0.552 0.145 0 0 0 91 Fridge 1.975 0.0 -0.537 0 0 0 92 LightSwitch 0.404 1.297 2.0 0 180 0 93 Shelf 2.760 0.172 0.145 0 0 0 94 SinkBasin -0.129 0.752 -2.007 0 0 0 95 StoveKnob -0.873 0.903 -0.827 45 90 0 96 StoveKnob -0.873 0.903 -0.676 45 90 0 97 StoveKnob -0.873 0.903 -0.966 45 90 0 98 StoveKnob -0.873 0.903 -1.123 45 90 0 99 Toaster 0.840 0.900 -2.057 0 0 0 100 CoffeeMachine 0.501 0.900 -2.125 0 0 0 101 ShelvingUnit 2.760 0.006 0.144 0 0 0 102 Stool -0.826 0.010 0.908 0 347.513 0 103 Stool -0.132 0.010 0.883 0 71.555 0 104 NorthWall 105 EastWall 106 SouthWall 107 WestWall
[ "STEP 1: Turn around and go to the cabinet above the stove | STEP 2: Take the salt shaker on the left from the cabinet. | STEP 3: Turn around and go to the counter. | STEP 4: Put the salt shaker in the top drawer. | STEP 5: Turn around and go the cabinet above the stove. | STEP 6: Take the salt shaker from the cabinet above the stove. | STEP 7: Turn around and go to the counter. | STEP 8: Put the salt shaker in the top drawer. | END" ]
[ [ "STEP 1: Turn around and go to the cabinet above the stove ", " STEP 2: Take the salt shaker on the left from the cabinet. ", " STEP 3: Turn around and go to the counter. ", " STEP 4: Put the salt shaker in the top drawer. ", " STEP 5: Turn around and go the cabinet above the stove. ", " STEP 6: Take the salt shaker from the cabinet above the stove. ", " STEP 7: Turn around and go to the counter. ", " STEP 8: Put the salt shaker in the top drawer. ", " END" ] ]
seen
trial_T20190907_151125_358475-1
Put two salt shakers in a drawer.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -0.25 0.900 -0.25 0 0 0 1 Statue -1.326 0.932 -0.090 73.206 342.219 345.336 77 2 Statue 2.900 0.886 0.141 0 180 0 88 3 Potato 1.836 0.847 -0.458 0 270 0 91 4 Ladle -0.991 0.929 -0.055 339.560 0 346.185 77 5 DishSponge -1.278 0.913 0.135 0 0 0 77 6 DishSponge 3.005 0.551 0.245 0 180 0 90 7 ButterKnife 1.194 0.911 -2.098 0 0 0 84 8 Pot -1.289 0.957 -0.756 0 180 0 59 9 Pot -1.289 0.957 -1.02 0 0 0 74 10 Spatula -0.598 1.146 0.706 0 0 0 80 11 Spatula -0.420 0.928 0.030 0 0 0 77 12 Fork -0.053 0.696 0.181 0 180 0 83 13 Spoon -1.278 0.914 0.241 0 0 0 77 14 Egg 1.781 1.049 -1.402 0 270 0 89 15 Egg 2.002 0.096 0.138 0 0 0 87 16 Knife -0.822 1.155 0.529 0 180 0 80 17 Tomato -0.375 1.181 0.529 0 0 0 80 18 Tomato 1.945 0.866 -0.458 0 270 0 91 19 Bowl -1.259 0.908 -2.182 0 0 0 84 20 SaltShaker -1.391 1.657 -0.558 0 0 0 67 21 SaltShaker 1.987 1.655 -1.077 0 0 0 61 22 SaltShaker -1.232 1.657 -0.285 0 0 0 67 23 Mug 0.501 0.955 -1.900 0 0 0 100 24 Mug -0.031 0.758 -2.118 0 0 0 94 25 Apple -0.031 0.811 -1.952 0 0 0 94 26 Pan 1.743 0.9 -1.969 0 308.846 0 84 27 Knife -1.244 0.907 -0.199 90 5.668 0 77 28 Bowl -0.152 1.128 0.529 0 0 0 80 29 Fork 0.008 0.914 0.083 0 0 0 77 30 Cup 0.101 0.750 -1.938 0 0 0 94 31 Ladle -0.252 0.733 0.181 0 270 0 83 32 Apple 1.884 0.111 0.080 0 0 0 87 33 Kettle -1.063 0.914 0.241 0 0 0 77 34 Vase 1.000 1.660 -2.126 0 0 0 63 35 Potato 1.846 1.045 -1.402 0 270 0 89 36 Pot -1.056 0.956 -0.672 0 180 0 56 37 Bread -1.146 1.003 -0.242 350.921 3.362 0 77 38 Plate -1.073 0.127 -1.501 0 0 0 70 39 Spatula -1.018 0.926 -1.845 0 180 0 84 40 PaperTowelRoll -1.018 1.015 -2.267 0 0 0 84 41 Vase -0.849 0.919 0.188 0 0 0 77 42 Egg -0.117 0.797 -1.952 0 0 0 94 43 SoapBottle 0.071 1.131 0.662 0 0 0 80 44 SaltShaker -0.598 1.127 0.662 0 0 0 80 45 Lettuce -0.256 0.867 -1.969 327.984 40.845 31.472 94 46 PepperShaker -1.045 1.127 0.529 0 0 0 80 47 ButterKnife 0.008 0.913 0.241 0 0 0 77 48 DishSponge -0.577 0.693 0.190 0 180 0 78 49 Vase 2.979 0.539 0.128 0 0 0 90 50 Spoon 0.079 0.698 0.222 0 270 0 83 51 Tomato 1.836 1.148 -0.644 0 270 0 91 52 Mug 2.055 0.812 -0.737 0 0 0 91 53 Statue -1.322 0.918 -1.553 0 0 0 84 54 Drawer -0.819 0.75 -1.690 0 0 0 55 Cabinet -1.149 2.264 -0.838 0 90 0 56 StoveBurner -1.056 0.949 -0.671 0 180 0 57 Cabinet 1.738 2.019 -2.000 0 0 0 58 Cabinet 1.389 0.469 -1.059 0 0 0 59 StoveBurner -1.289 0.949 -0.755 0 180 0 60 Faucet -0.157 1.052 -2.196 0 270 0 61 Cabinet 1.75 2.019 -1.029 0 0 0 62 Cabinet 1.75 2.019 -1.399 0 0 0 63 Cabinet 1.179 2.019 -2.0 0 0 0 64 Cabinet 0.199 2.019 -2.0 0 0 0 65 Cabinet -1.100 2.019 -2.0 0 0 0 66 Cabinet -1.149 2.019 -1.979 0 0 0 67 Cabinet -1.149 2.019 -0.770 0 0 0 68 Cabinet -1.149 2.019 0.380 0 0 0 69 Cabinet -0.819 0.469 -1.689 0 0 0 70 Cabinet -0.839 0.469 -1.664 0 0 0 71 Cabinet -0.839 0.469 -0.049 0 0 0 72 Cabinet -0.414 0.370 -0.009 0 0 0 73 Sink -0.118 0.875 -2.009 0 0 0 74 StoveBurner -1.289 0.949 -1.019 0 0 0 75 Cabinet 0.119 2.264 -2.0 0 0 0 76 Cabinet -0.459 2.264 -2.0 0 0 0 77 CounterTop -0.665 0.949 0.188 0 0 0 78 Drawer -0.449 0.75 -0.010 0 180 0 79 Cabinet -0.450 0.469 -0.009 0 0 0 80 CounterTop -0.630 1.167 0.573 0 0 0 81 StoveBurner -1.056 0.949 -1.126 0 0 0 82 Cabinet 1.376 0.460 -1.685 0 0 0 83 Drawer -0.070 0.75 -0.009 0 180 0 84 CounterTop 1.159 0.946 -2.013 0 0 0 85 Cabinet -1.150 2.264 -1.418 0 90 0 86 HousePlant -1.246 1.108 0.606 0 0 0 87 GarbageCan 1.923 -0.010 0.137 0 0 0 88 Shelf 2.759 0.880 0.144 0 0 0 89 Microwave 1.827 0.900 -1.354 0 270 0 90 Shelf 2.759 0.552 0.145 0 0 0 91 Fridge 1.975 0.0 -0.537 0 0 0 92 LightSwitch 0.404 1.297 2.0 0 180 0 93 Shelf 2.760 0.172 0.145 0 0 0 94 SinkBasin -0.129 0.752 -2.007 0 0 0 95 StoveKnob -0.873 0.903 -0.827 45 90 0 96 StoveKnob -0.873 0.903 -0.676 45 90 0 97 StoveKnob -0.873 0.903 -0.966 45 90 0 98 StoveKnob -0.873 0.903 -1.123 45 90 0 99 Toaster 0.840 0.900 -2.057 0 0 0 100 CoffeeMachine 0.501 0.900 -2.125 0 0 0 101 ShelvingUnit 2.760 0.006 0.144 0 0 0 102 Stool -0.826 0.010 0.908 0 347.513 0 103 Stool -0.132 0.010 0.883 0 71.555 0 104 NorthWall 105 EastWall 106 SouthWall 107 WestWall
[ "STEP 1: Turn around and face the cabinets above the stove. | STEP 2: Open the cupboard above the stove and take the salt out and shut the door. | STEP 3: Go left and face the counter with the silver ware on it. | STEP 4: Open the drawer and put the salt shaker in and then shut the drawer. | STEP 5: Turn around and face the counter where the bread sits. | STEP 6: Open the cupboard above the counter where the bread is and take out the salt. | STEP 7: Turn and face the cupboards with the silver ware. | STEP 8: Open the drawer on the far right, put the salt in and shut the door. | END" ]
[ [ "STEP 1: Turn around and face the cabinets above the stove. ", " STEP 2: Open the cupboard above the stove and take the salt out and shut the door. ", " STEP 3: Go left and face the counter with the silver ware on it. ", " STEP 4: Open the drawer and put the salt shaker in and then shut the drawer. ", " STEP 5: Turn around and face the counter where the bread sits. ", " STEP 6: Open the cupboard above the counter where the bread is and take out the salt. ", " STEP 7: Turn and face the cupboards with the silver ware. ", " STEP 8: Open the drawer on the far right, put the salt in and shut the door. ", " END" ] ]
seen
trial_T20190907_151125_358475-2
Put two salt shakers in the drawer.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -0.25 0.900 -0.25 0 0 0 1 Statue -1.326 0.932 -0.090 73.206 342.219 345.336 77 2 Statue 2.900 0.886 0.141 0 180 0 88 3 Potato 1.836 0.847 -0.458 0 270 0 91 4 Ladle -0.991 0.929 -0.055 339.560 0 346.185 77 5 DishSponge -1.278 0.913 0.135 0 0 0 77 6 DishSponge 3.005 0.551 0.245 0 180 0 90 7 ButterKnife 1.194 0.911 -2.098 0 0 0 84 8 Pot -1.289 0.957 -0.756 0 180 0 59 9 Pot -1.289 0.957 -1.02 0 0 0 74 10 Spatula -0.598 1.146 0.706 0 0 0 80 11 Spatula -0.420 0.928 0.030 0 0 0 77 12 Fork -0.053 0.696 0.181 0 180 0 83 13 Spoon -1.278 0.914 0.241 0 0 0 77 14 Egg 1.781 1.049 -1.402 0 270 0 89 15 Egg 2.002 0.096 0.138 0 0 0 87 16 Knife -0.822 1.155 0.529 0 180 0 80 17 Tomato -0.375 1.181 0.529 0 0 0 80 18 Tomato 1.945 0.866 -0.458 0 270 0 91 19 Bowl -1.259 0.908 -2.182 0 0 0 84 20 SaltShaker -1.391 1.657 -0.558 0 0 0 67 21 SaltShaker 1.987 1.655 -1.077 0 0 0 61 22 SaltShaker -1.232 1.657 -0.285 0 0 0 67 23 Mug 0.501 0.955 -1.900 0 0 0 100 24 Mug -0.031 0.758 -2.118 0 0 0 94 25 Apple -0.031 0.811 -1.952 0 0 0 94 26 Pan 1.743 0.9 -1.969 0 308.846 0 84 27 Knife -1.244 0.907 -0.199 90 5.668 0 77 28 Bowl -0.152 1.128 0.529 0 0 0 80 29 Fork 0.008 0.914 0.083 0 0 0 77 30 Cup 0.101 0.750 -1.938 0 0 0 94 31 Ladle -0.252 0.733 0.181 0 270 0 83 32 Apple 1.884 0.111 0.080 0 0 0 87 33 Kettle -1.063 0.914 0.241 0 0 0 77 34 Vase 1.000 1.660 -2.126 0 0 0 63 35 Potato 1.846 1.045 -1.402 0 270 0 89 36 Pot -1.056 0.956 -0.672 0 180 0 56 37 Bread -1.146 1.003 -0.242 350.921 3.362 0 77 38 Plate -1.073 0.127 -1.501 0 0 0 70 39 Spatula -1.018 0.926 -1.845 0 180 0 84 40 PaperTowelRoll -1.018 1.015 -2.267 0 0 0 84 41 Vase -0.849 0.919 0.188 0 0 0 77 42 Egg -0.117 0.797 -1.952 0 0 0 94 43 SoapBottle 0.071 1.131 0.662 0 0 0 80 44 SaltShaker -0.598 1.127 0.662 0 0 0 80 45 Lettuce -0.256 0.867 -1.969 327.984 40.845 31.472 94 46 PepperShaker -1.045 1.127 0.529 0 0 0 80 47 ButterKnife 0.008 0.913 0.241 0 0 0 77 48 DishSponge -0.577 0.693 0.190 0 180 0 78 49 Vase 2.979 0.539 0.128 0 0 0 90 50 Spoon 0.079 0.698 0.222 0 270 0 83 51 Tomato 1.836 1.148 -0.644 0 270 0 91 52 Mug 2.055 0.812 -0.737 0 0 0 91 53 Statue -1.322 0.918 -1.553 0 0 0 84 54 Drawer -0.819 0.75 -1.690 0 0 0 55 Cabinet -1.149 2.264 -0.838 0 90 0 56 StoveBurner -1.056 0.949 -0.671 0 180 0 57 Cabinet 1.738 2.019 -2.000 0 0 0 58 Cabinet 1.389 0.469 -1.059 0 0 0 59 StoveBurner -1.289 0.949 -0.755 0 180 0 60 Faucet -0.157 1.052 -2.196 0 270 0 61 Cabinet 1.75 2.019 -1.029 0 0 0 62 Cabinet 1.75 2.019 -1.399 0 0 0 63 Cabinet 1.179 2.019 -2.0 0 0 0 64 Cabinet 0.199 2.019 -2.0 0 0 0 65 Cabinet -1.100 2.019 -2.0 0 0 0 66 Cabinet -1.149 2.019 -1.979 0 0 0 67 Cabinet -1.149 2.019 -0.770 0 0 0 68 Cabinet -1.149 2.019 0.380 0 0 0 69 Cabinet -0.819 0.469 -1.689 0 0 0 70 Cabinet -0.839 0.469 -1.664 0 0 0 71 Cabinet -0.839 0.469 -0.049 0 0 0 72 Cabinet -0.414 0.370 -0.009 0 0 0 73 Sink -0.118 0.875 -2.009 0 0 0 74 StoveBurner -1.289 0.949 -1.019 0 0 0 75 Cabinet 0.119 2.264 -2.0 0 0 0 76 Cabinet -0.459 2.264 -2.0 0 0 0 77 CounterTop -0.665 0.949 0.188 0 0 0 78 Drawer -0.449 0.75 -0.010 0 180 0 79 Cabinet -0.450 0.469 -0.009 0 0 0 80 CounterTop -0.630 1.167 0.573 0 0 0 81 StoveBurner -1.056 0.949 -1.126 0 0 0 82 Cabinet 1.376 0.460 -1.685 0 0 0 83 Drawer -0.070 0.75 -0.009 0 180 0 84 CounterTop 1.159 0.946 -2.013 0 0 0 85 Cabinet -1.150 2.264 -1.418 0 90 0 86 HousePlant -1.246 1.108 0.606 0 0 0 87 GarbageCan 1.923 -0.010 0.137 0 0 0 88 Shelf 2.759 0.880 0.144 0 0 0 89 Microwave 1.827 0.900 -1.354 0 270 0 90 Shelf 2.759 0.552 0.145 0 0 0 91 Fridge 1.975 0.0 -0.537 0 0 0 92 LightSwitch 0.404 1.297 2.0 0 180 0 93 Shelf 2.760 0.172 0.145 0 0 0 94 SinkBasin -0.129 0.752 -2.007 0 0 0 95 StoveKnob -0.873 0.903 -0.827 45 90 0 96 StoveKnob -0.873 0.903 -0.676 45 90 0 97 StoveKnob -0.873 0.903 -0.966 45 90 0 98 StoveKnob -0.873 0.903 -1.123 45 90 0 99 Toaster 0.840 0.900 -2.057 0 0 0 100 CoffeeMachine 0.501 0.900 -2.125 0 0 0 101 ShelvingUnit 2.760 0.006 0.144 0 0 0 102 Stool -0.826 0.010 0.908 0 347.513 0 103 Stool -0.132 0.010 0.883 0 71.555 0 104 NorthWall 105 EastWall 106 SouthWall 107 WestWall
[ "STEP 1: Turn left and approach the cabinet to the right of the stove. | STEP 2: Open the door and take the salt shaker in the cabinet. | STEP 3: Turn around and face the counter on the left. | STEP 4: Open the drawer and place the salt shaker inside then close the door. | STEP 5: Turn left and approach the bread on the counter. | STEP 6: Look up, open the door and take the salt shaker in the cabinet. | STEP 7: Turn around and walk toward the drawer. | STEP 8: Open the drawer, put the shaker inside, and close the drawer. | END" ]
[ [ "STEP 1: Turn left and approach the cabinet to the right of the stove. ", " STEP 2: Open the door and take the salt shaker in the cabinet. ", " STEP 3: Turn around and face the counter on the left. ", " STEP 4: Open the drawer and place the salt shaker inside then close the door. ", " STEP 5: Turn left and approach the bread on the counter. ", " STEP 6: Look up, open the door and take the salt shaker in the cabinet. ", " STEP 7: Turn around and walk toward the drawer. ", " STEP 8: Open the drawer, put the shaker inside, and close the drawer. ", " END" ] ]
seen
trial_T20190908_171606_930881-0
Put a warmed tomato down 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 -1.25 0.900 2.75 0 180 0 1 Potato 0.107 0.949 1.202 0 0 0 83 2 Ladle 1.713 0.514 0.047 0 0 0 71 3 Kettle 0.083 0.761 -1.490 0 0 0 99 4 Kettle 0.321 0.926 0.273 0 0 0 83 5 DishSponge -1.880 1.661 -1.282 0 90 0 62 6 Fork -0.213 0.926 0.041 0 0 0 83 7 Fork 1.661 0.117 -0.157 0 90 0 58 8 Spoon 1.762 0.546 1.284 0 0 0 73 9 Spoon -1.050 0.912 -1.513 0 0 0 75 10 Pot 1.975 0.938 0.384 0 180 0 61 11 Pot 1.975 0.938 0.819 0 180 0 85 12 Egg -0.002 0.817 -1.324 0 0 0 99 13 Egg 0.107 0.982 0.970 0 0 0 83 14 Plate -0.213 0.924 0.506 0 0 0 83 15 Knife 0.109 0.921 0.074 90 4.590 0 83 16 Tomato 0.000 0.980 0.273 0 0 0 83 17 Tomato -1.645 1.524 -0.175 0 90 0 98 18 Tomato -1.855 1.732 0.201 0 90 0 98 19 Bowl 0.107 0.924 0.506 0 0 0 83 20 Bowl -1.880 1.660 -0.980 0 90 0 62 21 SaltShaker -0.213 0.921 -0.190 0 0 0 83 22 SaltShaker 1.156 0.105 -1.226 0 0 0 68 23 PepperShaker -1.902 0.907 -0.815 0 0 0 75 24 PepperShaker -1.114 1.675 -1.652 0 0 0 77 25 Lettuce -1.750 1.752 -0.175 0 90 0 98 26 Mug 2.039 1.654 -1.053 0 270 0 63 27 Mug 1.355 0.955 -1.362 0 0 0 97 28 Apple -1.634 0.616 0.201 0 90 0 98 29 Apple -0.320 0.978 0.738 0 0 0 83 30 SoapBottle 0.000 0.929 -0.190 0 0 0 83 31 Cup 1.117 0.107 -1.479 0 0 0 68 32 Pot -0.867 1.683 -1.614 0 0 0 77 33 Fork -1.551 0.912 -0.914 0 0 0 75 34 Ladle 1.839 0.955 0.103 0 0 0 75 35 Kettle 0.305 0.113 -1.282 0 0 0 54 36 Egg 0.256 0.817 -1.380 0 0 0 99 37 Plate -1.197 0.112 -1.360 0 0 0 87 38 Pan -1.286 0.9 -1.348 0 79.769 0 75 39 Lettuce -1.462 0.988 -1.707 0 0 0 75 40 Spatula 1.769 0.136 0.745 0 0 0 67 41 Apple -0.261 0.814 -1.490 0 0 0 99 42 Knife -0.106 0.947 0.738 0 0 0 83 43 SaltShaker -0.320 0.921 -0.190 0 0 0 83 44 PepperShaker -1.727 0.907 -0.815 0 0 0 75 45 CellPhone 1.610 0.224 0.736 0 0 0 69 46 ButterKnife 1.658 0.583 0.052 0 270 0 60 47 Bread 0.258 0.987 -0.093 0 331.034 0 83 48 Tomato -1.796 0.096 1.371 0 270 0 89 49 Potato -1.803 1.492 -0.081 0 90 0 98 50 DishSponge 0.889 0.911 -1.415 0 0 0 75 51 Spoon 1.658 0.764 1.292 0 270 0 81 52 Mug -1.663 0.558 -0.081 0 90 0 98 53 Bowl -0.137 0.113 -1.534 0 0 0 54 54 Cabinet -0.495 0.474 -1.149 0 0 0 55 Window -0.010 1.582 -1.821 0 0 0 56 Drawer 0.805 0.475 -1.159 0 0 0 57 StoveBurner 1.764 0.902 0.601 0 270 0 58 Drawer 1.5 0.196 -0.019 0 0 0 59 Drawer 1.5 0.629 -0.018 0 0 0 60 Drawer 1.5 0.602 -0.019 0 270 0 61 StoveBurner 1.975 0.902 0.384 0 270 0 62 Cabinet -1.703 2.022 -1.453 0 90 0 63 Cabinet 1.789 2.019 -0.819 0 270 0 64 Cabinet 0.494 0.474 -1.149 0 0 0 65 Cabinet 0.409 0.475 0.444 0 0 0 66 Drawer -0.696 0.475 -1.159 0 0 0 67 Drawer 1.5 0.140 0.599 0 270 0 68 Cabinet 1.389 0.474 -1.149 0 0 0 69 Drawer 1.5 0.305 0.600 0 0 0 70 StoveBurner 1.975 0.902 0.601 0 270 0 71 Drawer 1.5 0.429 -0.019 0 0 0 72 StoveBurner 1.764 0.902 0.819 0 270 0 73 Drawer 1.5 0.519 1.220 0 0 0 74 Cabinet 1.705 2.019 -1.449 0 0 0 75 CounterTop 0.002 0.947 -1.513 0 0 0 76 Drawer 1.5 0.629 0.605 0 0 0 77 Cabinet -0.627 2.019 -1.449 0 0 0 78 StoveBurner 1.764 0.902 0.384 0 270 0 79 Drawer 1.5 0.538 0.600 0 0 0 80 Sink 0.0 0.893 -1.434 0 0 0 81 Drawer 1.5 0.782 1.220 0 270 0 82 Window 2.217 1.565 -0.384 0 0 0 83 CounterTop -0.014 0.961 0.505 0 0 0 84 Drawer 1.5 0.200 1.220 0 0 0 85 StoveBurner 1.975 0.902 0.819 0 270 0 86 Window -3.240 1.616 2.693 0 270 0 87 Cabinet -1.389 0.474 -1.149 0 0 0 88 LightSwitch -0.153 1.291 3.700 0 180 0 89 GarbageCan -1.796 0.009 1.330 0 270 358.295 90 StoveKnob 1.602 0.917 0.570 0 270 180 91 StoveKnob 1.602 0.917 0.625 0 270 180 92 StoveKnob 1.602 0.917 0.739 0 270 180 93 StoveKnob 1.602 0.917 0.680 0 270 180 94 StoveKnob 1.602 0.917 0.462 0 270 180 95 StoveKnob 1.602 0.917 0.517 0 270 180 96 Microwave 1.932 0.899 -0.766 0 270 0 97 CoffeeMachine 1.355 0.899 -1.596 0 0 0 98 Fridge -1.764 0.0 0.014 0 90 0 99 SinkBasin -0.014 0.736 -1.435 0 0 0 100 Toaster 1.977 0.900 -0.336 0 270 0 101 Faucet -0.020 1.137 -1.605 0 270 0 102 Chair -9.354 0.000 1.242 0 180 0 103 NorthWall 104 EastWall 105 SouthWall 106 WestWall
[ "STEP 1: Go left and then right and turn right to face the table with bread and a tea kettle. | STEP 2: Pick the tomato up from the counter. | STEP 3: Go left and then left again to face the microwave. | STEP 4: Put the tomato in the microwave and shut the door and then open the door and pick up the tomato. | STEP 5: Go left and then left again to face the counter with the tea pot. | STEP 6: Put the tomato down on the counter to the right of the tea pot. | END" ]
[ [ "STEP 1: Go left and then right and turn right to face the table with bread and a tea kettle. ", " STEP 2: Pick the tomato up from the counter. ", " STEP 3: Go left and then left again to face the microwave. ", " STEP 4: Put the tomato in the microwave and shut the door and then open the door and pick up the tomato. ", " STEP 5: Go left and then left again to face the counter with the tea pot. ", " STEP 6: Put the tomato down on the counter to the right of the tea pot. ", " END" ] ]
seen
trial_T20190908_171606_930881-1
Put a warm tomato on the kitchen island.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.25 0.900 2.75 0 180 0 1 Potato 0.107 0.949 1.202 0 0 0 83 2 Ladle 1.713 0.514 0.047 0 0 0 71 3 Kettle 0.083 0.761 -1.490 0 0 0 99 4 Kettle 0.321 0.926 0.273 0 0 0 83 5 DishSponge -1.880 1.661 -1.282 0 90 0 62 6 Fork -0.213 0.926 0.041 0 0 0 83 7 Fork 1.661 0.117 -0.157 0 90 0 58 8 Spoon 1.762 0.546 1.284 0 0 0 73 9 Spoon -1.050 0.912 -1.513 0 0 0 75 10 Pot 1.975 0.938 0.384 0 180 0 61 11 Pot 1.975 0.938 0.819 0 180 0 85 12 Egg -0.002 0.817 -1.324 0 0 0 99 13 Egg 0.107 0.982 0.970 0 0 0 83 14 Plate -0.213 0.924 0.506 0 0 0 83 15 Knife 0.109 0.921 0.074 90 4.590 0 83 16 Tomato 0.000 0.980 0.273 0 0 0 83 17 Tomato -1.645 1.524 -0.175 0 90 0 98 18 Tomato -1.855 1.732 0.201 0 90 0 98 19 Bowl 0.107 0.924 0.506 0 0 0 83 20 Bowl -1.880 1.660 -0.980 0 90 0 62 21 SaltShaker -0.213 0.921 -0.190 0 0 0 83 22 SaltShaker 1.156 0.105 -1.226 0 0 0 68 23 PepperShaker -1.902 0.907 -0.815 0 0 0 75 24 PepperShaker -1.114 1.675 -1.652 0 0 0 77 25 Lettuce -1.750 1.752 -0.175 0 90 0 98 26 Mug 2.039 1.654 -1.053 0 270 0 63 27 Mug 1.355 0.955 -1.362 0 0 0 97 28 Apple -1.634 0.616 0.201 0 90 0 98 29 Apple -0.320 0.978 0.738 0 0 0 83 30 SoapBottle 0.000 0.929 -0.190 0 0 0 83 31 Cup 1.117 0.107 -1.479 0 0 0 68 32 Pot -0.867 1.683 -1.614 0 0 0 77 33 Fork -1.551 0.912 -0.914 0 0 0 75 34 Ladle 1.839 0.955 0.103 0 0 0 75 35 Kettle 0.305 0.113 -1.282 0 0 0 54 36 Egg 0.256 0.817 -1.380 0 0 0 99 37 Plate -1.197 0.112 -1.360 0 0 0 87 38 Pan -1.286 0.9 -1.348 0 79.769 0 75 39 Lettuce -1.462 0.988 -1.707 0 0 0 75 40 Spatula 1.769 0.136 0.745 0 0 0 67 41 Apple -0.261 0.814 -1.490 0 0 0 99 42 Knife -0.106 0.947 0.738 0 0 0 83 43 SaltShaker -0.320 0.921 -0.190 0 0 0 83 44 PepperShaker -1.727 0.907 -0.815 0 0 0 75 45 CellPhone 1.610 0.224 0.736 0 0 0 69 46 ButterKnife 1.658 0.583 0.052 0 270 0 60 47 Bread 0.258 0.987 -0.093 0 331.034 0 83 48 Tomato -1.796 0.096 1.371 0 270 0 89 49 Potato -1.803 1.492 -0.081 0 90 0 98 50 DishSponge 0.889 0.911 -1.415 0 0 0 75 51 Spoon 1.658 0.764 1.292 0 270 0 81 52 Mug -1.663 0.558 -0.081 0 90 0 98 53 Bowl -0.137 0.113 -1.534 0 0 0 54 54 Cabinet -0.495 0.474 -1.149 0 0 0 55 Window -0.010 1.582 -1.821 0 0 0 56 Drawer 0.805 0.475 -1.159 0 0 0 57 StoveBurner 1.764 0.902 0.601 0 270 0 58 Drawer 1.5 0.196 -0.019 0 0 0 59 Drawer 1.5 0.629 -0.018 0 0 0 60 Drawer 1.5 0.602 -0.019 0 270 0 61 StoveBurner 1.975 0.902 0.384 0 270 0 62 Cabinet -1.703 2.022 -1.453 0 90 0 63 Cabinet 1.789 2.019 -0.819 0 270 0 64 Cabinet 0.494 0.474 -1.149 0 0 0 65 Cabinet 0.409 0.475 0.444 0 0 0 66 Drawer -0.696 0.475 -1.159 0 0 0 67 Drawer 1.5 0.140 0.599 0 270 0 68 Cabinet 1.389 0.474 -1.149 0 0 0 69 Drawer 1.5 0.305 0.600 0 0 0 70 StoveBurner 1.975 0.902 0.601 0 270 0 71 Drawer 1.5 0.429 -0.019 0 0 0 72 StoveBurner 1.764 0.902 0.819 0 270 0 73 Drawer 1.5 0.519 1.220 0 0 0 74 Cabinet 1.705 2.019 -1.449 0 0 0 75 CounterTop 0.002 0.947 -1.513 0 0 0 76 Drawer 1.5 0.629 0.605 0 0 0 77 Cabinet -0.627 2.019 -1.449 0 0 0 78 StoveBurner 1.764 0.902 0.384 0 270 0 79 Drawer 1.5 0.538 0.600 0 0 0 80 Sink 0.0 0.893 -1.434 0 0 0 81 Drawer 1.5 0.782 1.220 0 270 0 82 Window 2.217 1.565 -0.384 0 0 0 83 CounterTop -0.014 0.961 0.505 0 0 0 84 Drawer 1.5 0.200 1.220 0 0 0 85 StoveBurner 1.975 0.902 0.819 0 270 0 86 Window -3.240 1.616 2.693 0 270 0 87 Cabinet -1.389 0.474 -1.149 0 0 0 88 LightSwitch -0.153 1.291 3.700 0 180 0 89 GarbageCan -1.796 0.009 1.330 0 270 358.295 90 StoveKnob 1.602 0.917 0.570 0 270 180 91 StoveKnob 1.602 0.917 0.625 0 270 180 92 StoveKnob 1.602 0.917 0.739 0 270 180 93 StoveKnob 1.602 0.917 0.680 0 270 180 94 StoveKnob 1.602 0.917 0.462 0 270 180 95 StoveKnob 1.602 0.917 0.517 0 270 180 96 Microwave 1.932 0.899 -0.766 0 270 0 97 CoffeeMachine 1.355 0.899 -1.596 0 0 0 98 Fridge -1.764 0.0 0.014 0 90 0 99 SinkBasin -0.014 0.736 -1.435 0 0 0 100 Toaster 1.977 0.900 -0.336 0 270 0 101 Faucet -0.020 1.137 -1.605 0 270 0 102 Chair -9.354 0.000 1.242 0 180 0 103 NorthWall 104 EastWall 105 SouthWall 106 WestWall
[ "STEP 1: Turn left and go to the wall, then turn right and go straight, then turn right to face the end of the kitchen island. | STEP 2: Pick up the tomato on the kitchen island. | STEP 3: Turn left and go forward, then turn left to face the microwave. | STEP 4: Put the tomato in the microwave, heat it up, then take it out. | STEP 5: Turn left and go forward, then turn left to face the kitchen island. | STEP 6: Put the tomato on the kitchen island. | END" ]
[ [ "STEP 1: Turn left and go to the wall, then turn right and go straight, then turn right to face the end of the kitchen island. ", " STEP 2: Pick up the tomato on the kitchen island. ", " STEP 3: Turn left and go forward, then turn left to face the microwave. ", " STEP 4: Put the tomato in the microwave, heat it up, then take it out. ", " STEP 5: Turn left and go forward, then turn left to face the kitchen island. ", " STEP 6: Put the tomato on the kitchen island. ", " END" ] ]
seen
trial_T20190908_171606_930881-2
Place the heated tomato on the counter.
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0.938", " 0.819", " 0", " 180", " 0", " 85" ], [ "12", " Egg", " -0.002", " 0.817", " -1.324", " 0", " 0", " 0", " 99" ], [ "13", " Egg", " 0.107", " 0.982", " 0.970", " 0", " 0", " 0", " 83" ], [ "14", " Plate", " -0.213", " 0.924", " 0.506", " 0", " 0", " 0", " 83" ], [ "15", " Knife", " 0.109", " 0.921", " 0.074", " 90", " 4.590", " 0", " 83" ], [ "16", " Tomato", " 0.000", " 0.980", " 0.273", " 0", " 0", " 0", " 83" ], [ "17", " Tomato", " -1.645", " 1.524", " -0.175", " 0", " 90", " 0", " 98" ], [ "18", " Tomato", " -1.855", " 1.732", " 0.201", " 0", " 90", " 0", " 98" ], [ "19", " Bowl", " 0.107", " 0.924", " 0.506", " 0", " 0", " 0", " 83" ], [ "20", " Bowl", " -1.880", " 1.660", " -0.980", " 0", " 90", " 0", " 62" ], [ "21", " SaltShaker", " -0.213", " 0.921", " -0.190", " 0", " 0", " 0", " 83" ], [ "22", " SaltShaker", " 1.156", " 0.105", " -1.226", " 0", " 0", " 0", " 68" ], [ "23", " PepperShaker", " -1.902", " 0.907", " -0.815", " 0", " 0", " 0", " 75" ], [ "24", " 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" 0.009", " 1.330", " 0", " 270", " 358.295", "" ], [ "90", " StoveKnob", " 1.602", " 0.917", " 0.570", " 0", " 270", " 180", "" ], [ "91", " StoveKnob", " 1.602", " 0.917", " 0.625", " 0", " 270", " 180", "" ], [ "92", " StoveKnob", " 1.602", " 0.917", " 0.739", " 0", " 270", " 180", "" ], [ "93", " StoveKnob", " 1.602", " 0.917", " 0.680", " 0", " 270", " 180", "" ], [ "94", " StoveKnob", " 1.602", " 0.917", " 0.462", " 0", " 270", " 180", "" ], [ "95", " StoveKnob", " 1.602", " 0.917", " 0.517", " 0", " 270", " 180", "" ], [ "96", " Microwave", " 1.932", " 0.899", " -0.766", " 0", " 270", " 0", "" ], [ "97", " CoffeeMachine", " 1.355", " 0.899", " -1.596", " 0", " 0", " 0", "" ], [ "98", " Fridge", " -1.764", " 0.0", " 0.014", " 0", " 90", " 0", "" ], [ "99", " SinkBasin", " -0.014", " 0.736", " -1.435", " 0", " 0", " 0", "" ], [ "100", " Toaster", " 1.977", " 0.900", " -0.336", " 0", " 270", " 0", "" ], [ "101", " Faucet", " -0.020", " 1.137", " -1.605", " 0", " 270", " 0", "" ], [ "102", " Chair", " -9.354", " 0.000", " 1.242", " 0", " 180", " 0", "" ], [ "103", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "104", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "105", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "106", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.25 0.900 2.75 0 180 0 1 Potato 0.107 0.949 1.202 0 0 0 83 2 Ladle 1.713 0.514 0.047 0 0 0 71 3 Kettle 0.083 0.761 -1.490 0 0 0 99 4 Kettle 0.321 0.926 0.273 0 0 0 83 5 DishSponge -1.880 1.661 -1.282 0 90 0 62 6 Fork -0.213 0.926 0.041 0 0 0 83 7 Fork 1.661 0.117 -0.157 0 90 0 58 8 Spoon 1.762 0.546 1.284 0 0 0 73 9 Spoon -1.050 0.912 -1.513 0 0 0 75 10 Pot 1.975 0.938 0.384 0 180 0 61 11 Pot 1.975 0.938 0.819 0 180 0 85 12 Egg -0.002 0.817 -1.324 0 0 0 99 13 Egg 0.107 0.982 0.970 0 0 0 83 14 Plate -0.213 0.924 0.506 0 0 0 83 15 Knife 0.109 0.921 0.074 90 4.590 0 83 16 Tomato 0.000 0.980 0.273 0 0 0 83 17 Tomato -1.645 1.524 -0.175 0 90 0 98 18 Tomato -1.855 1.732 0.201 0 90 0 98 19 Bowl 0.107 0.924 0.506 0 0 0 83 20 Bowl -1.880 1.660 -0.980 0 90 0 62 21 SaltShaker -0.213 0.921 -0.190 0 0 0 83 22 SaltShaker 1.156 0.105 -1.226 0 0 0 68 23 PepperShaker -1.902 0.907 -0.815 0 0 0 75 24 PepperShaker -1.114 1.675 -1.652 0 0 0 77 25 Lettuce -1.750 1.752 -0.175 0 90 0 98 26 Mug 2.039 1.654 -1.053 0 270 0 63 27 Mug 1.355 0.955 -1.362 0 0 0 97 28 Apple -1.634 0.616 0.201 0 90 0 98 29 Apple -0.320 0.978 0.738 0 0 0 83 30 SoapBottle 0.000 0.929 -0.190 0 0 0 83 31 Cup 1.117 0.107 -1.479 0 0 0 68 32 Pot -0.867 1.683 -1.614 0 0 0 77 33 Fork -1.551 0.912 -0.914 0 0 0 75 34 Ladle 1.839 0.955 0.103 0 0 0 75 35 Kettle 0.305 0.113 -1.282 0 0 0 54 36 Egg 0.256 0.817 -1.380 0 0 0 99 37 Plate -1.197 0.112 -1.360 0 0 0 87 38 Pan -1.286 0.9 -1.348 0 79.769 0 75 39 Lettuce -1.462 0.988 -1.707 0 0 0 75 40 Spatula 1.769 0.136 0.745 0 0 0 67 41 Apple -0.261 0.814 -1.490 0 0 0 99 42 Knife -0.106 0.947 0.738 0 0 0 83 43 SaltShaker -0.320 0.921 -0.190 0 0 0 83 44 PepperShaker -1.727 0.907 -0.815 0 0 0 75 45 CellPhone 1.610 0.224 0.736 0 0 0 69 46 ButterKnife 1.658 0.583 0.052 0 270 0 60 47 Bread 0.258 0.987 -0.093 0 331.034 0 83 48 Tomato -1.796 0.096 1.371 0 270 0 89 49 Potato -1.803 1.492 -0.081 0 90 0 98 50 DishSponge 0.889 0.911 -1.415 0 0 0 75 51 Spoon 1.658 0.764 1.292 0 270 0 81 52 Mug -1.663 0.558 -0.081 0 90 0 98 53 Bowl -0.137 0.113 -1.534 0 0 0 54 54 Cabinet -0.495 0.474 -1.149 0 0 0 55 Window -0.010 1.582 -1.821 0 0 0 56 Drawer 0.805 0.475 -1.159 0 0 0 57 StoveBurner 1.764 0.902 0.601 0 270 0 58 Drawer 1.5 0.196 -0.019 0 0 0 59 Drawer 1.5 0.629 -0.018 0 0 0 60 Drawer 1.5 0.602 -0.019 0 270 0 61 StoveBurner 1.975 0.902 0.384 0 270 0 62 Cabinet -1.703 2.022 -1.453 0 90 0 63 Cabinet 1.789 2.019 -0.819 0 270 0 64 Cabinet 0.494 0.474 -1.149 0 0 0 65 Cabinet 0.409 0.475 0.444 0 0 0 66 Drawer -0.696 0.475 -1.159 0 0 0 67 Drawer 1.5 0.140 0.599 0 270 0 68 Cabinet 1.389 0.474 -1.149 0 0 0 69 Drawer 1.5 0.305 0.600 0 0 0 70 StoveBurner 1.975 0.902 0.601 0 270 0 71 Drawer 1.5 0.429 -0.019 0 0 0 72 StoveBurner 1.764 0.902 0.819 0 270 0 73 Drawer 1.5 0.519 1.220 0 0 0 74 Cabinet 1.705 2.019 -1.449 0 0 0 75 CounterTop 0.002 0.947 -1.513 0 0 0 76 Drawer 1.5 0.629 0.605 0 0 0 77 Cabinet -0.627 2.019 -1.449 0 0 0 78 StoveBurner 1.764 0.902 0.384 0 270 0 79 Drawer 1.5 0.538 0.600 0 0 0 80 Sink 0.0 0.893 -1.434 0 0 0 81 Drawer 1.5 0.782 1.220 0 270 0 82 Window 2.217 1.565 -0.384 0 0 0 83 CounterTop -0.014 0.961 0.505 0 0 0 84 Drawer 1.5 0.200 1.220 0 0 0 85 StoveBurner 1.975 0.902 0.819 0 270 0 86 Window -3.240 1.616 2.693 0 270 0 87 Cabinet -1.389 0.474 -1.149 0 0 0 88 LightSwitch -0.153 1.291 3.700 0 180 0 89 GarbageCan -1.796 0.009 1.330 0 270 358.295 90 StoveKnob 1.602 0.917 0.570 0 270 180 91 StoveKnob 1.602 0.917 0.625 0 270 180 92 StoveKnob 1.602 0.917 0.739 0 270 180 93 StoveKnob 1.602 0.917 0.680 0 270 180 94 StoveKnob 1.602 0.917 0.462 0 270 180 95 StoveKnob 1.602 0.917 0.517 0 270 180 96 Microwave 1.932 0.899 -0.766 0 270 0 97 CoffeeMachine 1.355 0.899 -1.596 0 0 0 98 Fridge -1.764 0.0 0.014 0 90 0 99 SinkBasin -0.014 0.736 -1.435 0 0 0 100 Toaster 1.977 0.900 -0.336 0 270 0 101 Faucet -0.020 1.137 -1.605 0 270 0 102 Chair -9.354 0.000 1.242 0 180 0 103 NorthWall 104 EastWall 105 SouthWall 106 WestWall
[ "STEP 1: Turn left and go to the middle of island on the side facing the stove. | STEP 2: Pick up the red tomato between the yellow knife and the plastic bowl on the counter. | STEP 3: Turn around and go to the microwave on the counter on the right side of the stove. | STEP 4: Heat the red tomato in the microwave and take it out. | STEP 5: Turn around and go back to the middle of the kitchen island. | STEP 6: Place the tomato on the right of the tea kettle and in front of the plastic bowl. | END" ]
[ [ "STEP 1: Turn left and go to the middle of island on the side facing the stove. ", " STEP 2: Pick up the red tomato between the yellow knife and the plastic bowl on the counter. ", " STEP 3: Turn around and go to the microwave on the counter on the right side of the stove. ", " STEP 4: Heat the red tomato in the microwave and take it out. ", " STEP 5: Turn around and go back to the middle of the kitchen island. ", " STEP 6: Place the tomato on the right of the tea kettle and in front of the plastic bowl. ", " END" ] ]
seen
trial_T20190909_010925_167328-0
Put two newspapers in a chair.
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " -1.5", " 0.920", " 4.5", " 0", " 270", " 0", "" ], [ "1", " Newspaper", " -4.049", " 0.546", " 2.627", " 0", " 90", " 0", " 38" ], [ "2", " Vase", " -0.319", " 0.281", " 5.997", " 0", " 270", " 0", " 24" ], [ "3", " CreditCard", " -1.587", " 0.536", " 0.601", " 0", " 0", " 0", " 39" ], [ "4", " Laptop", " -2.402", " 0.445", " 4.722", " 0", " 0", " 0", " 40" ], [ "5", " Box", " -4.279", " 0.663", " 3.232", " 0", " 0", " 0", " 38" ], [ "6", " Plate", " -2.913", " 0.442", " 3.398", " 0", " 0", " 0", " 40" ], [ "7", " Vase", " -2.893", " 0.449", " 4.501", " 0", " 0", " 0", " 40" ], [ "8", " WateringCan", " -0.240", " 0.281", " 5.255", " 0", " 270", " 0", " 24" ], [ "9", " Newspaper", " -0.397", " 0.286", " 6.492", " 0", " 270", " 0", " 24" ], [ "10", " Vase", " -0.750", " 0.621", " 0.764", " 0", " 0", " 0", " 37" ], [ "11", " KeyChain", " -4.623", " 0.537", " 3.232", " 0", " 90", " 0", " 38" ], [ "12", " Pillow", " -1.578", " 0.608", " 0.667", " 0", " 0", " 0", " 39" ], [ "13", " Statue", " -2.280", " 0.452", " 4.058", " 0", " 0", " 0", " 40" ], [ "14", " RemoteControl", " -4.390", " 0.469", " 6.356", " 0", " 0", " 0", " 41" ], [ "15", " CreditCard", " -2.280", " 0.447", " 3.836", " 0", " 0", " 0", " 40" ], [ "16", " Statue", " -0.525", " 1.453", " 5.351", " 0", " 294.738", " 0", " 23" ], [ "17", " Laptop", " -4.342", " 0.523", " 2.224", " 0", " 32.685", " 0", " 38" ], [ "18", " Statue", " -0.598", " 1.452", " 6.794", " 0", " 284.797", " 0", " 23" ], [ "19", " Curtains", " -2.827", " 2.473", " 0.039", " 357.605", " 0", " 0", "" ], [ "20", " Curtains", " -2.184", " 2.473", " 0.039", " 357.605", " 0", " 0", "" ], [ "21", " Curtains", " -0.046", " 2.474", " 2.633", " 0", " 0", " 357.064", "" ], [ "22", " DeskLamp", " -0.484", " 0.612", " 0.691", " 0", " 0", " 1.144", "" ], [ "23", " Shelf", " -0.391", " 1.452", " 5.953", " 0", " 270", " 0", "" ], [ "24", " Shelf", " -0.398", " 0.270", " 5.961", " 0", " 270", " 0", "" ], [ "25", " Television", " -0.75", " 1.661", " 3.936", " 0", " 270", " 0", "" ], [ "26", " GarbageCan", " -0.525", " -0.009", " 2.822", " 0", " 0", " 0", "" ], [ "27", " Painting", " -2.670", " 1.574", " 7.000", " 90", " 180", " 0", "" ], [ "28", " Bowl", " -2.400", " 0.464", " 3.442", " 0", " 0", " 0", "" ], [ "29", " LightSwitch", " -5.0", " 1.246", " 5.857", " 0", " 90", " 0", "" ], [ "30", " Window", " -1.373", " 1.565", " 0.008", " 90", " 180", " 0", "" ], [ "31", " Window", " -0.014", " 1.567", " 1.496", " 90", " 270", " 0", "" ], [ "32", " Window", " -3.726", " 1.565", " 0.008", " 90", " 180", " 0", "" ], [ "33", " FloorLamp", " -4.514", " 0.027", " 0.663", " 0", " 0", " 0", "" ], [ "34", " HousePlant", " -2.659", " 0.466", " 4.165", " 0", " 0", " 0", "" ], [ "35", " Shelf", " -0.594", " 0.104", " 0.841", " 0", " 0", " 0", "" ], [ "36", " Shelf", " -0.594", " 0.359", " 0.841", " 0", " 0", " 0", "" ], [ "37", " SideTable", " -0.594", " 0.018", " 0.841", " 0", " 0", " 0", "" ], [ "38", " Sofa", " -4.360", " 0.028", " 2.929", " 0", " 90", " 0", "" ], [ "39", " Sofa", " -2.493", " 0.028", " 0.725", " 0", " 0", " 0", "" ], [ "40", " CoffeeTable", " -2.648", " 0.019", " 4.058", " 0", " 270", " 0", "" ], [ "41", " ArmChair", " -4.446", " 0.017", " 6.450", " 0", " 90", " 0", "" ], [ "42", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "43", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "44", " SouthWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.5 0.920 4.5 0 270 0 1 Newspaper -4.049 0.546 2.627 0 90 0 38 2 Vase -0.319 0.281 5.997 0 270 0 24 3 CreditCard -1.587 0.536 0.601 0 0 0 39 4 Laptop -2.402 0.445 4.722 0 0 0 40 5 Box -4.279 0.663 3.232 0 0 0 38 6 Plate -2.913 0.442 3.398 0 0 0 40 7 Vase -2.893 0.449 4.501 0 0 0 40 8 WateringCan -0.240 0.281 5.255 0 270 0 24 9 Newspaper -0.397 0.286 6.492 0 270 0 24 10 Vase -0.750 0.621 0.764 0 0 0 37 11 KeyChain -4.623 0.537 3.232 0 90 0 38 12 Pillow -1.578 0.608 0.667 0 0 0 39 13 Statue -2.280 0.452 4.058 0 0 0 40 14 RemoteControl -4.390 0.469 6.356 0 0 0 41 15 CreditCard -2.280 0.447 3.836 0 0 0 40 16 Statue -0.525 1.453 5.351 0 294.738 0 23 17 Laptop -4.342 0.523 2.224 0 32.685 0 38 18 Statue -0.598 1.452 6.794 0 284.797 0 23 19 Curtains -2.827 2.473 0.039 357.605 0 0 20 Curtains -2.184 2.473 0.039 357.605 0 0 21 Curtains -0.046 2.474 2.633 0 0 357.064 22 DeskLamp -0.484 0.612 0.691 0 0 1.144 23 Shelf -0.391 1.452 5.953 0 270 0 24 Shelf -0.398 0.270 5.961 0 270 0 25 Television -0.75 1.661 3.936 0 270 0 26 GarbageCan -0.525 -0.009 2.822 0 0 0 27 Painting -2.670 1.574 7.000 90 180 0 28 Bowl -2.400 0.464 3.442 0 0 0 29 LightSwitch -5.0 1.246 5.857 0 90 0 30 Window -1.373 1.565 0.008 90 180 0 31 Window -0.014 1.567 1.496 90 270 0 32 Window -3.726 1.565 0.008 90 180 0 33 FloorLamp -4.514 0.027 0.663 0 0 0 34 HousePlant -2.659 0.466 4.165 0 0 0 35 Shelf -0.594 0.104 0.841 0 0 0 36 Shelf -0.594 0.359 0.841 0 0 0 37 SideTable -0.594 0.018 0.841 0 0 0 38 Sofa -4.360 0.028 2.929 0 90 0 39 Sofa -2.493 0.028 0.725 0 0 0 40 CoffeeTable -2.648 0.019 4.058 0 270 0 41 ArmChair -4.446 0.017 6.450 0 90 0 42 NorthWall 43 SouthWall 44 SouthWall
[ "STEP 1: Turn to the right, go to the wall, hang a right, go to the black shelf where the newspaper is. | STEP 2: Pick up the newspaper from the shelf. | STEP 3: Turn around and go to the black chair. | STEP 4: Put the newspaper in the black chair. | STEP 5: Turn to the left, go forward to the couch on the right where the newspaper is. | STEP 6: Pick up the newspaper from the couch. | STEP 7: Turn to the right, go to the black chair on the left, turn around and face the chair. | STEP 8: Put the newspaper on the chair to the right of the other newspaper. | END" ]
[ [ "STEP 1: Turn to the right, go to the wall, hang a right, go to the black shelf where the newspaper is. ", " STEP 2: Pick up the newspaper from the shelf. ", " STEP 3: Turn around and go to the black chair. ", " STEP 4: Put the newspaper in the black chair. ", " STEP 5: Turn to the left, go forward to the couch on the right where the newspaper is. ", " STEP 6: Pick up the newspaper from the couch. ", " STEP 7: Turn to the right, go to the black chair on the left, turn around and face the chair. ", " STEP 8: Put the newspaper on the chair to the right of the other newspaper. ", " END" ] ]
seen
trial_T20190909_010925_167328-1
To move two newspapers to the black chair.
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " -1.5", " 0.920", " 4.5", " 0", " 270", " 0", "" ], [ "1", " Newspaper", " -4.049", " 0.546", " 2.627", " 0", " 90", " 0", " 38" ], [ "2", " Vase", " -0.319", " 0.281", " 5.997", " 0", " 270", " 0", " 24" ], [ "3", " CreditCard", " -1.587", " 0.536", " 0.601", " 0", " 0", " 0", " 39" ], [ "4", " Laptop", " -2.402", " 0.445", " 4.722", " 0", " 0", " 0", " 40" ], [ "5", " Box", " -4.279", " 0.663", " 3.232", " 0", " 0", " 0", " 38" ], [ "6", " Plate", " -2.913", " 0.442", " 3.398", " 0", " 0", " 0", " 40" ], [ "7", " Vase", " -2.893", " 0.449", " 4.501", " 0", " 0", " 0", " 40" ], [ "8", " WateringCan", " -0.240", " 0.281", " 5.255", " 0", " 270", " 0", " 24" ], [ "9", " Newspaper", " -0.397", " 0.286", " 6.492", " 0", " 270", " 0", " 24" ], [ "10", " Vase", " -0.750", " 0.621", " 0.764", " 0", " 0", " 0", " 37" ], [ "11", " KeyChain", " -4.623", " 0.537", " 3.232", " 0", " 90", " 0", " 38" ], [ "12", " Pillow", " -1.578", " 0.608", " 0.667", " 0", " 0", " 0", " 39" ], [ "13", " Statue", " -2.280", " 0.452", " 4.058", " 0", " 0", " 0", " 40" ], [ "14", " RemoteControl", " -4.390", " 0.469", " 6.356", " 0", " 0", " 0", " 41" ], [ "15", " CreditCard", " -2.280", " 0.447", " 3.836", " 0", " 0", " 0", " 40" ], [ "16", " Statue", " -0.525", " 1.453", " 5.351", " 0", " 294.738", " 0", " 23" ], [ "17", " Laptop", " -4.342", " 0.523", " 2.224", " 0", " 32.685", " 0", " 38" ], [ "18", " Statue", " -0.598", " 1.452", " 6.794", " 0", " 284.797", " 0", " 23" ], [ "19", " Curtains", " -2.827", " 2.473", " 0.039", " 357.605", " 0", " 0", "" ], [ "20", " Curtains", " -2.184", " 2.473", " 0.039", " 357.605", " 0", " 0", "" ], [ "21", " Curtains", " -0.046", " 2.474", " 2.633", " 0", " 0", " 357.064", "" ], [ "22", " DeskLamp", " -0.484", " 0.612", " 0.691", " 0", " 0", " 1.144", "" ], [ "23", " Shelf", " -0.391", " 1.452", " 5.953", " 0", " 270", " 0", "" ], [ "24", " Shelf", " -0.398", " 0.270", " 5.961", " 0", " 270", " 0", "" ], [ "25", " Television", " -0.75", " 1.661", " 3.936", " 0", " 270", " 0", "" ], [ "26", " GarbageCan", " -0.525", " -0.009", " 2.822", " 0", " 0", " 0", "" ], [ "27", " Painting", " -2.670", " 1.574", " 7.000", " 90", " 180", " 0", "" ], [ "28", " Bowl", " -2.400", " 0.464", " 3.442", " 0", " 0", " 0", "" ], [ "29", " LightSwitch", " -5.0", " 1.246", " 5.857", " 0", " 90", " 0", "" ], [ "30", " Window", " -1.373", " 1.565", " 0.008", " 90", " 180", " 0", "" ], [ "31", " Window", " -0.014", " 1.567", " 1.496", " 90", " 270", " 0", "" ], [ "32", " Window", " -3.726", " 1.565", " 0.008", " 90", " 180", " 0", "" ], [ "33", " FloorLamp", " -4.514", " 0.027", " 0.663", " 0", " 0", " 0", "" ], [ "34", " HousePlant", " -2.659", " 0.466", " 4.165", " 0", " 0", " 0", "" ], [ "35", " Shelf", " -0.594", " 0.104", " 0.841", " 0", " 0", " 0", "" ], [ "36", " Shelf", " -0.594", " 0.359", " 0.841", " 0", " 0", " 0", "" ], [ "37", " SideTable", " -0.594", " 0.018", " 0.841", " 0", " 0", " 0", "" ], [ "38", " Sofa", " -4.360", " 0.028", " 2.929", " 0", " 90", " 0", "" ], [ "39", " Sofa", " -2.493", " 0.028", " 0.725", " 0", " 0", " 0", "" ], [ "40", " CoffeeTable", " -2.648", " 0.019", " 4.058", " 0", " 270", " 0", "" ], [ "41", " ArmChair", " -4.446", " 0.017", " 6.450", " 0", " 90", " 0", "" ], [ "42", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "43", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "44", " SouthWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.5 0.920 4.5 0 270 0 1 Newspaper -4.049 0.546 2.627 0 90 0 38 2 Vase -0.319 0.281 5.997 0 270 0 24 3 CreditCard -1.587 0.536 0.601 0 0 0 39 4 Laptop -2.402 0.445 4.722 0 0 0 40 5 Box -4.279 0.663 3.232 0 0 0 38 6 Plate -2.913 0.442 3.398 0 0 0 40 7 Vase -2.893 0.449 4.501 0 0 0 40 8 WateringCan -0.240 0.281 5.255 0 270 0 24 9 Newspaper -0.397 0.286 6.492 0 270 0 24 10 Vase -0.750 0.621 0.764 0 0 0 37 11 KeyChain -4.623 0.537 3.232 0 90 0 38 12 Pillow -1.578 0.608 0.667 0 0 0 39 13 Statue -2.280 0.452 4.058 0 0 0 40 14 RemoteControl -4.390 0.469 6.356 0 0 0 41 15 CreditCard -2.280 0.447 3.836 0 0 0 40 16 Statue -0.525 1.453 5.351 0 294.738 0 23 17 Laptop -4.342 0.523 2.224 0 32.685 0 38 18 Statue -0.598 1.452 6.794 0 284.797 0 23 19 Curtains -2.827 2.473 0.039 357.605 0 0 20 Curtains -2.184 2.473 0.039 357.605 0 0 21 Curtains -0.046 2.474 2.633 0 0 357.064 22 DeskLamp -0.484 0.612 0.691 0 0 1.144 23 Shelf -0.391 1.452 5.953 0 270 0 24 Shelf -0.398 0.270 5.961 0 270 0 25 Television -0.75 1.661 3.936 0 270 0 26 GarbageCan -0.525 -0.009 2.822 0 0 0 27 Painting -2.670 1.574 7.000 90 180 0 28 Bowl -2.400 0.464 3.442 0 0 0 29 LightSwitch -5.0 1.246 5.857 0 90 0 30 Window -1.373 1.565 0.008 90 180 0 31 Window -0.014 1.567 1.496 90 270 0 32 Window -3.726 1.565 0.008 90 180 0 33 FloorLamp -4.514 0.027 0.663 0 0 0 34 HousePlant -2.659 0.466 4.165 0 0 0 35 Shelf -0.594 0.104 0.841 0 0 0 36 Shelf -0.594 0.359 0.841 0 0 0 37 SideTable -0.594 0.018 0.841 0 0 0 38 Sofa -4.360 0.028 2.929 0 90 0 39 Sofa -2.493 0.028 0.725 0 0 0 40 CoffeeTable -2.648 0.019 4.058 0 270 0 41 ArmChair -4.446 0.017 6.450 0 90 0 42 NorthWall 43 SouthWall 44 SouthWall
[ "STEP 1: Turn right, turn right at the wall, look down at the shelf. | STEP 2: Pick up the newspaper from the shelf. | STEP 3: Turn around and walk to the black chair across the room. | STEP 4: Put the newspaper down on the chair. | STEP 5: Turn left and walk to the couch on the right. | STEP 6: Pick up the newspaper from the left side of the box. | STEP 7: Walk back over to the black chair. | STEP 8: Put the newspaper down on the chair to the right of the other newspaper. | END" ]
[ [ "STEP 1: Turn right, turn right at the wall, look down at the shelf. ", " STEP 2: Pick up the newspaper from the shelf. ", " STEP 3: Turn around and walk to the black chair across the room. ", " STEP 4: Put the newspaper down on the chair. ", " STEP 5: Turn left and walk to the couch on the right. ", " STEP 6: Pick up the newspaper from the left side of the box. ", " STEP 7: Walk back over to the black chair. ", " STEP 8: Put the newspaper down on the chair to the right of the other newspaper. ", " END" ] ]
seen
trial_T20190909_010925_167328-2
Put two newspapers on the living room chair.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.5 0.920 4.5 0 270 0 1 Newspaper -4.049 0.546 2.627 0 90 0 38 2 Vase -0.319 0.281 5.997 0 270 0 24 3 CreditCard -1.587 0.536 0.601 0 0 0 39 4 Laptop -2.402 0.445 4.722 0 0 0 40 5 Box -4.279 0.663 3.232 0 0 0 38 6 Plate -2.913 0.442 3.398 0 0 0 40 7 Vase -2.893 0.449 4.501 0 0 0 40 8 WateringCan -0.240 0.281 5.255 0 270 0 24 9 Newspaper -0.397 0.286 6.492 0 270 0 24 10 Vase -0.750 0.621 0.764 0 0 0 37 11 KeyChain -4.623 0.537 3.232 0 90 0 38 12 Pillow -1.578 0.608 0.667 0 0 0 39 13 Statue -2.280 0.452 4.058 0 0 0 40 14 RemoteControl -4.390 0.469 6.356 0 0 0 41 15 CreditCard -2.280 0.447 3.836 0 0 0 40 16 Statue -0.525 1.453 5.351 0 294.738 0 23 17 Laptop -4.342 0.523 2.224 0 32.685 0 38 18 Statue -0.598 1.452 6.794 0 284.797 0 23 19 Curtains -2.827 2.473 0.039 357.605 0 0 20 Curtains -2.184 2.473 0.039 357.605 0 0 21 Curtains -0.046 2.474 2.633 0 0 357.064 22 DeskLamp -0.484 0.612 0.691 0 0 1.144 23 Shelf -0.391 1.452 5.953 0 270 0 24 Shelf -0.398 0.270 5.961 0 270 0 25 Television -0.75 1.661 3.936 0 270 0 26 GarbageCan -0.525 -0.009 2.822 0 0 0 27 Painting -2.670 1.574 7.000 90 180 0 28 Bowl -2.400 0.464 3.442 0 0 0 29 LightSwitch -5.0 1.246 5.857 0 90 0 30 Window -1.373 1.565 0.008 90 180 0 31 Window -0.014 1.567 1.496 90 270 0 32 Window -3.726 1.565 0.008 90 180 0 33 FloorLamp -4.514 0.027 0.663 0 0 0 34 HousePlant -2.659 0.466 4.165 0 0 0 35 Shelf -0.594 0.104 0.841 0 0 0 36 Shelf -0.594 0.359 0.841 0 0 0 37 SideTable -0.594 0.018 0.841 0 0 0 38 Sofa -4.360 0.028 2.929 0 90 0 39 Sofa -2.493 0.028 0.725 0 0 0 40 CoffeeTable -2.648 0.019 4.058 0 270 0 41 ArmChair -4.446 0.017 6.450 0 90 0 42 NorthWall 43 SouthWall 44 SouthWall
[ "STEP 1: Turn to your right and go to the wall at the end of the room, then turn right and go to the black shelf. | STEP 2: Pick up the newspaper on the left of the black shelf in front of you. | STEP 3: Turn around and go to the arm chair, across the room from you. | STEP 4: Place the newspaper on the left side of the seat of the chair. | STEP 5: Turn to your left and go to the middle of the couch ahead, to your right. | STEP 6: Pick up the newspaper between the computer and the cardboard box, on the couch. | STEP 7: Turn to your right and go back to the chair across the room, on your left. | STEP 8: Place the newspaper on the seat of the chair to the right of the other newspaper. | END" ]
[ [ "STEP 1: Turn to your right and go to the wall at the end of the room, then turn right and go to the black shelf. ", " STEP 2: Pick up the newspaper on the left of the black shelf in front of you. ", " STEP 3: Turn around and go to the arm chair, across the room from you. ", " STEP 4: Place the newspaper on the left side of the seat of the chair. ", " STEP 5: Turn to your left and go to the middle of the couch ahead, to your right. ", " STEP 6: Pick up the newspaper between the computer and the cardboard box, on the couch. ", " STEP 7: Turn to your right and go back to the chair across the room, on your left. ", " STEP 8: Place the newspaper on the seat of the chair to the right of the other newspaper. ", " END" ] ]
seen
trial_T20190907_235824_273660-0
Put a knife and two slices of bread into a trash can.
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[ "114", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "115", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "116", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -3.25 0.899 4.25 0 270 0 1 Pencil -2.026 0.923 1.8 0 270 0 76 2 Potato -0.348 1.104 3.974 0 270 0 111 3 Potato -0.342 1.369 3.231 0 270 0 111 4 ButterKnife -3.255 0.923 5.259 0 90 0 78 5 ButterKnife -2.026 0.923 1.951 0 0 0 60 6 WineBottle -3.748 0.069 6.457 0 270 0 104 7 Pot -0.258 0.926 5.603 0 90 0 63 8 Fork -1.777 0.924 2.026 0 0 0 60 9 Spoon -4.159 0.792 3.410 0 90 0 110 10 Spatula -0.258 0.940 5.932 0 180 0 63 11 Cup -0.383 1.334 3.479 0 270 0 111 12 Cup -1.981 1.452 1.638 0 0 0 97 13 Egg -0.342 1.616 3.168 0 270 0 111 14 Knife -3.686 0.953 1.799 0 0 0 78 15 Knife -0.411 0.954 5.273 0 0 0 63 16 SoapBottle -1.934 0.081 1.971 0 0 0 94 17 SoapBottle -0.334 0.924 5.273 0 0 0 63 18 Tomato -4.033 0.980 3.863 0 90 0 110 19 Tomato -0.383 1.742 3.794 0 270 0 111 20 SaltShaker -3.449 1.449 1.605 0 0 0 52 21 SaltShaker -4.517 0.919 3.315 0 0 0 78 22 PepperShaker -3.839 0.075 5.077 0 90 0 92 23 Lettuce -4.196 0.886 3.347 0 270 0 110 24 Lettuce -0.181 1.020 4.944 0 0 0 63 25 Bread -0.401 1.150 3.726 0 270 0 111 26 Mug -2.688 1.541 1.666 0 0 0 108 27 Mug -0.411 0.920 5.932 0 180 0 112 28 Egg -2.583 1.582 1.633 0 0 0 108 29 Apple -2.026 0.976 2.026 0 0 0 60 30 Knife -4.184 0.953 4.900 0 90 0 78 31 Potato -0.242 1.104 3.355 0 270 0 111 32 Fork -4.233 0.791 3.097 0 180 0 110 33 Bowl -4.089 0.074 4.813 0 0 0 71 34 Plate -3.193 1.460 5.512 0 90 0 64 35 Lettuce -3.712 0.164 6.292 0 270 0 104 36 Bread -1.693 1.003 1.724 0 0 0 60 37 Tomato -0.259 1.637 3.349 0 270 0 111 38 WineBottle -1.860 0.924 1.724 0 0 0 60 39 Spatula -4.033 0.938 4.122 0 90 0 78 40 PaperTowelRoll -1.777 1.027 1.951 0 0 0 60 41 Cup -0.488 0.923 4.944 0 0 0 63 42 Pencil -2.026 0.923 1.724 0 0 0 76 43 Pan -2.454 0.933 2.023 0 240.000 0 66 44 Pot -2.924 0.930 1.712 0 180 0 75 45 SaltShaker -4.381 0.919 2.766 0 0 0 78 46 SoapBottle -4.006 0.080 3.465 0 270 0 83 47 PepperShaker -3.510 0.741 5.192 0 180 0 69 48 ButterKnife -4.196 0.790 3.410 0 0 0 110 49 DishSponge -4.128 0.080 3.419 0 0 0 83 50 Spoon -1.782 0.747 1.956 0 0 0 76 51 Mug -0.301 1.575 3.530 0 270 0 111 52 Cabinet -3.203 1.931 1.777 0 0 0 53 Cabinet -3.187 0.390 2.089 0 0 0 54 Cabinet -0.637 0.387 6.882 0 180 0 55 Drawer -3.797 0.781 1.961 0 0 0 56 Cabinet -3.036 0.387 5.029 0 90 0 57 Drawer -0.509 0.775 5.268 0 270 0 58 Drawer -4.125 0.798 2.499 0 0 0 59 Cabinet -0.331 2.249 4.308 0 180 0 60 CounterTop -1.872 0.958 1.799 0 0 0 61 StoveBurner -2.924 0.924 2.012 0 0 0 62 Cabinet -0.331 2.249 6.806 0 180 0 63 CounterTop -0.345 0.960 5.603 0 0 0 64 Cabinet -3.039 1.935 5.321 0 90 0 65 Cabinet -3.922 0.397 2.088 0 0 0 66 StoveBurner -2.467 0.924 2.012 0 0 0 67 Cabinet -0.331 2.249 5.505 0 180 0 68 Drawer -0.509 0.775 4.617 0 270 0 69 Drawer -3.509 0.777 5.157 0 180 0 70 Cabinet -3.961 0.388 2.878 0 0 0 71 Cabinet -3.961 0.388 4.342 0 0 0 72 Cabinet -0.637 0.387 5.582 0 180 0 73 Cabinet -0.637 0.388 4.299 0 180 0 74 Cabinet -0.637 0.388 5.599 0 180 0 75 StoveBurner -2.924 0.924 1.712 0 180 0 76 Drawer -1.859 0.775 1.961 0 0 0 77 Cabinet -0.331 2.249 5.609 0 180 0 78 CounterTop -4.260 0.958 4.943 0 90 0 79 Cabinet -4.284 1.931 2.226 0 0 0 80 Cabinet -0.331 2.249 3.010 0 180 0 81 Drawer -3.801 0.777 5.157 0 180 0 82 Cabinet -4.112 1.935 5.321 0 90 0 83 Cabinet -3.968 0.388 3.662 0 0 0 84 Drawer -3.418 0.777 1.961 0 0 0 85 Drawer -4.090 0.777 4.661 0 90 0 86 Faucet -4.441 0.909 3.288 270 0 0 87 Cabinet -0.331 2.249 4.207 0 180 0 88 Cabinet -3.961 0.388 2.119 0 0 0 89 Drawer -0.509 0.775 5.920 0 270 0 90 Drawer -3.193 0.777 5.157 0 180 0 91 Cabinet -3.968 0.388 2.894 0 0 0 92 Cabinet -3.667 0.387 5.029 0 90 0 93 StoveBurner -2.469 0.924 1.712 0 270 0 94 Cabinet -1.539 0.388 2.090 0 0 0 95 Sink -4.190 0.921 3.279 0 0 0 96 Cabinet -3.641 0.387 5.029 0 90 0 97 Cabinet -1.583 1.931 1.777 0 0 0 98 Drawer -0.509 0.775 6.568 0 270 0 99 CoffeeMachine -0.279 0.912 6.556 0 270 0 100 StoveKnob -2.347 1.095 1.560 288.012 180 180 101 StoveKnob -2.788 1.095 1.560 288.012 180 180 102 StoveKnob -2.965 1.095 1.560 288.012 180 180 103 StoveKnob -2.512 1.095 1.560 288.012 180 180 104 GarbageCan -3.711 -0.030 6.376 0 270 0 105 Toaster -3.578 0.912 1.763 0 0 0 106 Curtains -4.522 2.252 3.391 90 90 0 107 Window -4.868 1.629 3.309 90 270 0 108 Microwave -2.693 1.430 1.689 0 0 0 109 LightSwitch -1.588 1.169 1.506 0 0 0 110 SinkBasin -4.196 0.780 3.276 0 270 0 111 Fridge -0.324 -0.001 3.602 0 0 0 112 113 NorthWall 114 EastWall 115 SouthWall 116 WestWall
[ "STEP 1: Turn left and walk to the counter to the right of the stove top, facing the toaster. | STEP 2: Pick up the knife that is to the right of the toaster. | STEP 3: Turn left, walking past the stove top towards the fridge. Then turn right around the edge of the counter towards the door. Turn to face the short edge of the counter. | STEP 4: Slice half of the loaf of bread that is on the counter. | STEP 5: Turn right and walk to the fridge. Face the fridge. | STEP 6: Open the fridge (bottom door), slice half of the loaf of bread that is sitting on the top shelf, then close the fridge door. | STEP 7: Still holding the knife, turn left and walk to the wall, then turn left again and walk to the trash can that sits in the corner. | STEP 8: Put the knife into the trash can to the right of the green apple. | STEP 9: Turn around and walk past the fridge towards the door, stopping to face the short edge of the counter that is to the right of the door. | STEP 10: Pick up one slice of bread from off of the counter. | STEP 11: Turn right and walk to the trash can (walk past the fridge to the wall, then turn left to go to the trash can in the corner). | STEP 12: Put the slice of bread into the trash can in front of the bottle. | STEP 13: Turn around and walk to the fridge. | STEP 14: Open the fridge (bottom) door, take out one slice of bread from the top shelf, then close the fridge door. | STEP 15: Turn left and walk back to the trash can that is in the corner along the wall. | STEP 16: Put the slice of bread into the trash can. | END" ]
[ [ "STEP 1: Turn left and walk to the counter to the right of the stove top, facing the toaster. ", " STEP 2: Pick up the knife that is to the right of the toaster. ", " STEP 3: Turn left, walking past the stove top towards the fridge. Then turn right around the edge of the counter towards the door. Turn to face the short edge of the counter. ", " STEP 4: Slice half of the loaf of bread that is on the counter. ", " STEP 5: Turn right and walk to the fridge. Face the fridge. ", " STEP 6: Open the fridge (bottom door), slice half of the loaf of bread that is sitting on the top shelf, then close the fridge door. ", " STEP 7: Still holding the knife, turn left and walk to the wall, then turn left again and walk to the trash can that sits in the corner. ", " STEP 8: Put the knife into the trash can to the right of the green apple. ", " STEP 9: Turn around and walk past the fridge towards the door, stopping to face the short edge of the counter that is to the right of the door. ", " STEP 10: Pick up one slice of bread from off of the counter. ", " STEP 11: Turn right and walk to the trash can (walk past the fridge to the wall, then turn left to go to the trash can in the corner). ", " STEP 12: Put the slice of bread into the trash can in front of the bottle. ", " STEP 13: Turn around and walk to the fridge. ", " STEP 14: Open the fridge (bottom) door, take out one slice of bread from the top shelf, then close the fridge door. ", " STEP 15: Turn left and walk back to the trash can that is in the corner along the wall. ", " STEP 16: Put the slice of bread into the trash can. ", " END" ] ]
seen
trial_T20190907_235824_273660-1
To put two slices of bread from two different loaves into the trash can.
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"11", " Cup", " -0.383", " 1.334", " 3.479", " 0", " 270", " 0", " 111" ], [ "12", " Cup", " -1.981", " 1.452", " 1.638", " 0", " 0", " 0", " 97" ], [ "13", " Egg", " -0.342", " 1.616", " 3.168", " 0", " 270", " 0", " 111" ], [ "14", " Knife", " -3.686", " 0.953", " 1.799", " 0", " 0", " 0", " 78" ], [ "15", " Knife", " -0.411", " 0.954", " 5.273", " 0", " 0", " 0", " 63" ], [ "16", " SoapBottle", " -1.934", " 0.081", " 1.971", " 0", " 0", " 0", " 94" ], [ "17", " SoapBottle", " -0.334", " 0.924", " 5.273", " 0", " 0", " 0", " 63" ], [ "18", " Tomato", " -4.033", " 0.980", " 3.863", " 0", " 90", " 0", " 110" ], [ "19", " Tomato", " -0.383", " 1.742", " 3.794", " 0", " 270", " 0", " 111" ], [ "20", " SaltShaker", " -3.449", " 1.449", " 1.605", " 0", " 0", " 0", " 52" ], [ "21", " SaltShaker", " -4.517", " 0.919", " 3.315", " 0", " 0", " 0", " 78" ], [ "22", " PepperShaker", " -3.839", " 0.075", " 5.077", " 0", " 90", " 0", " 92" ], [ "23", " Lettuce", " -4.196", " 0.886", " 3.347", " 0", " 270", " 0", " 110" ], [ "24", " Lettuce", " -0.181", " 1.020", " 4.944", " 0", " 0", " 0", " 63" ], [ "25", " Bread", " -0.401", " 1.150", " 3.726", " 0", " 270", " 0", " 111" ], [ "26", " Mug", " -2.688", " 1.541", " 1.666", " 0", " 0", " 0", " 108" ], [ "27", " Mug", " -0.411", " 0.920", " 5.932", " 0", " 180", " 0", " 112" ], [ "28", " Egg", " -2.583", " 1.582", " 1.633", " 0", " 0", " 0", " 108" ], [ "29", " Apple", " -2.026", " 0.976", " 2.026", " 0", " 0", " 0", " 60" ], [ "30", " Knife", " -4.184", " 0.953", " 4.900", " 0", " 90", " 0", " 78" ], [ "31", " Potato", " -0.242", " 1.104", " 3.355", " 0", " 270", " 0", " 111" ], [ "32", " Fork", " -4.233", " 0.791", " 3.097", " 0", " 180", " 0", " 110" ], [ "33", " Bowl", " -4.089", " 0.074", " 4.813", " 0", " 0", " 0", " 71" ], [ "34", " Plate", " -3.193", " 1.460", " 5.512", " 0", " 90", " 0", " 64" ], [ "35", " Lettuce", " -3.712", " 0.164", " 6.292", " 0", " 270", " 0", " 104" ], [ "36", " Bread", " -1.693", " 1.003", " 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" Cabinet", " -0.331", " 2.249", " 6.806", " 0", " 180", " 0", "" ], [ "63", " CounterTop", " -0.345", " 0.960", " 5.603", " 0", " 0", " 0", "" ], [ "64", " Cabinet", " -3.039", " 1.935", " 5.321", " 0", " 90", " 0", "" ], [ "65", " Cabinet", " -3.922", " 0.397", " 2.088", " 0", " 0", " 0", "" ], [ "66", " StoveBurner", " -2.467", " 0.924", " 2.012", " 0", " 0", " 0", "" ], [ "67", " Cabinet", " -0.331", " 2.249", " 5.505", " 0", " 180", " 0", "" ], [ "68", " Drawer", " -0.509", " 0.775", " 4.617", " 0", " 270", " 0", "" ], [ "69", " Drawer", " -3.509", " 0.777", " 5.157", " 0", " 180", " 0", "" ], [ "70", " Cabinet", " -3.961", " 0.388", " 2.878", " 0", " 0", " 0", "" ], [ "71", " Cabinet", " -3.961", " 0.388", " 4.342", " 0", " 0", " 0", "" ], [ "72", " Cabinet", " -0.637", " 0.387", " 5.582", " 0", " 180", " 0", "" ], [ "73", " Cabinet", " -0.637", " 0.388", " 4.299", " 0", " 180", " 0", "" ], [ "74", " Cabinet", " -0.637", " 0.388", " 5.599", " 0", " 180", " 0", "" ], [ "75", " 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Cabinet", " -3.961", " 0.388", " 2.119", " 0", " 0", " 0", "" ], [ "89", " Drawer", " -0.509", " 0.775", " 5.920", " 0", " 270", " 0", "" ], [ "90", " Drawer", " -3.193", " 0.777", " 5.157", " 0", " 180", " 0", "" ], [ "91", " Cabinet", " -3.968", " 0.388", " 2.894", " 0", " 0", " 0", "" ], [ "92", " Cabinet", " -3.667", " 0.387", " 5.029", " 0", " 90", " 0", "" ], [ "93", " StoveBurner", " -2.469", " 0.924", " 1.712", " 0", " 270", " 0", "" ], [ "94", " Cabinet", " -1.539", " 0.388", " 2.090", " 0", " 0", " 0", "" ], [ "95", " Sink", " -4.190", " 0.921", " 3.279", " 0", " 0", " 0", "" ], [ "96", " Cabinet", " -3.641", " 0.387", " 5.029", " 0", " 90", " 0", "" ], [ "97", " Cabinet", " -1.583", " 1.931", " 1.777", " 0", " 0", " 0", "" ], [ "98", " Drawer", " -0.509", " 0.775", " 6.568", " 0", " 270", " 0", "" ], [ "99", " CoffeeMachine", " -0.279", " 0.912", " 6.556", " 0", " 270", " 0", "" ], [ "100", " StoveKnob", " -2.347", " 1.095", " 1.560", " 288.012", " 180", " 180", "" ], [ "101", " StoveKnob", " -2.788", " 1.095", " 1.560", " 288.012", " 180", " 180", "" ], [ "102", " StoveKnob", " -2.965", " 1.095", " 1.560", " 288.012", " 180", " 180", "" ], [ "103", " StoveKnob", " -2.512", " 1.095", " 1.560", " 288.012", " 180", " 180", "" ], [ "104", " GarbageCan", " -3.711", " -0.030", " 6.376", " 0", " 270", " 0", "" ], [ "105", " Toaster", " -3.578", " 0.912", " 1.763", " 0", " 0", " 0", "" ], [ "106", " Curtains", " -4.522", " 2.252", " 3.391", " 90", " 90", " 0", "" ], [ "107", " Window", " -4.868", " 1.629", " 3.309", " 90", " 270", " 0", "" ], [ "108", " Microwave", " -2.693", " 1.430", " 1.689", " 0", " 0", " 0", "" ], [ "109", " LightSwitch", " -1.588", " 1.169", " 1.506", " 0", " 0", " 0", "" ], [ "110", " SinkBasin", " -4.196", " 0.780", " 3.276", " 0", " 270", " 0", "" ], [ "111", " Fridge", " -0.324", " -0.001", " 3.602", " 0", " 0", " 0", "" ], [ "112", " ", " ", " ", " ", " ", " ", " ", "" ], [ "113", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "114", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "115", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "116", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -3.25 0.899 4.25 0 270 0 1 Pencil -2.026 0.923 1.8 0 270 0 76 2 Potato -0.348 1.104 3.974 0 270 0 111 3 Potato -0.342 1.369 3.231 0 270 0 111 4 ButterKnife -3.255 0.923 5.259 0 90 0 78 5 ButterKnife -2.026 0.923 1.951 0 0 0 60 6 WineBottle -3.748 0.069 6.457 0 270 0 104 7 Pot -0.258 0.926 5.603 0 90 0 63 8 Fork -1.777 0.924 2.026 0 0 0 60 9 Spoon -4.159 0.792 3.410 0 90 0 110 10 Spatula -0.258 0.940 5.932 0 180 0 63 11 Cup -0.383 1.334 3.479 0 270 0 111 12 Cup -1.981 1.452 1.638 0 0 0 97 13 Egg -0.342 1.616 3.168 0 270 0 111 14 Knife -3.686 0.953 1.799 0 0 0 78 15 Knife -0.411 0.954 5.273 0 0 0 63 16 SoapBottle -1.934 0.081 1.971 0 0 0 94 17 SoapBottle -0.334 0.924 5.273 0 0 0 63 18 Tomato -4.033 0.980 3.863 0 90 0 110 19 Tomato -0.383 1.742 3.794 0 270 0 111 20 SaltShaker -3.449 1.449 1.605 0 0 0 52 21 SaltShaker -4.517 0.919 3.315 0 0 0 78 22 PepperShaker -3.839 0.075 5.077 0 90 0 92 23 Lettuce -4.196 0.886 3.347 0 270 0 110 24 Lettuce -0.181 1.020 4.944 0 0 0 63 25 Bread -0.401 1.150 3.726 0 270 0 111 26 Mug -2.688 1.541 1.666 0 0 0 108 27 Mug -0.411 0.920 5.932 0 180 0 112 28 Egg -2.583 1.582 1.633 0 0 0 108 29 Apple -2.026 0.976 2.026 0 0 0 60 30 Knife -4.184 0.953 4.900 0 90 0 78 31 Potato -0.242 1.104 3.355 0 270 0 111 32 Fork -4.233 0.791 3.097 0 180 0 110 33 Bowl -4.089 0.074 4.813 0 0 0 71 34 Plate -3.193 1.460 5.512 0 90 0 64 35 Lettuce -3.712 0.164 6.292 0 270 0 104 36 Bread -1.693 1.003 1.724 0 0 0 60 37 Tomato -0.259 1.637 3.349 0 270 0 111 38 WineBottle -1.860 0.924 1.724 0 0 0 60 39 Spatula -4.033 0.938 4.122 0 90 0 78 40 PaperTowelRoll -1.777 1.027 1.951 0 0 0 60 41 Cup -0.488 0.923 4.944 0 0 0 63 42 Pencil -2.026 0.923 1.724 0 0 0 76 43 Pan -2.454 0.933 2.023 0 240.000 0 66 44 Pot -2.924 0.930 1.712 0 180 0 75 45 SaltShaker -4.381 0.919 2.766 0 0 0 78 46 SoapBottle -4.006 0.080 3.465 0 270 0 83 47 PepperShaker -3.510 0.741 5.192 0 180 0 69 48 ButterKnife -4.196 0.790 3.410 0 0 0 110 49 DishSponge -4.128 0.080 3.419 0 0 0 83 50 Spoon -1.782 0.747 1.956 0 0 0 76 51 Mug -0.301 1.575 3.530 0 270 0 111 52 Cabinet -3.203 1.931 1.777 0 0 0 53 Cabinet -3.187 0.390 2.089 0 0 0 54 Cabinet -0.637 0.387 6.882 0 180 0 55 Drawer -3.797 0.781 1.961 0 0 0 56 Cabinet -3.036 0.387 5.029 0 90 0 57 Drawer -0.509 0.775 5.268 0 270 0 58 Drawer -4.125 0.798 2.499 0 0 0 59 Cabinet -0.331 2.249 4.308 0 180 0 60 CounterTop -1.872 0.958 1.799 0 0 0 61 StoveBurner -2.924 0.924 2.012 0 0 0 62 Cabinet -0.331 2.249 6.806 0 180 0 63 CounterTop -0.345 0.960 5.603 0 0 0 64 Cabinet -3.039 1.935 5.321 0 90 0 65 Cabinet -3.922 0.397 2.088 0 0 0 66 StoveBurner -2.467 0.924 2.012 0 0 0 67 Cabinet -0.331 2.249 5.505 0 180 0 68 Drawer -0.509 0.775 4.617 0 270 0 69 Drawer -3.509 0.777 5.157 0 180 0 70 Cabinet -3.961 0.388 2.878 0 0 0 71 Cabinet -3.961 0.388 4.342 0 0 0 72 Cabinet -0.637 0.387 5.582 0 180 0 73 Cabinet -0.637 0.388 4.299 0 180 0 74 Cabinet -0.637 0.388 5.599 0 180 0 75 StoveBurner -2.924 0.924 1.712 0 180 0 76 Drawer -1.859 0.775 1.961 0 0 0 77 Cabinet -0.331 2.249 5.609 0 180 0 78 CounterTop -4.260 0.958 4.943 0 90 0 79 Cabinet -4.284 1.931 2.226 0 0 0 80 Cabinet -0.331 2.249 3.010 0 180 0 81 Drawer -3.801 0.777 5.157 0 180 0 82 Cabinet -4.112 1.935 5.321 0 90 0 83 Cabinet -3.968 0.388 3.662 0 0 0 84 Drawer -3.418 0.777 1.961 0 0 0 85 Drawer -4.090 0.777 4.661 0 90 0 86 Faucet -4.441 0.909 3.288 270 0 0 87 Cabinet -0.331 2.249 4.207 0 180 0 88 Cabinet -3.961 0.388 2.119 0 0 0 89 Drawer -0.509 0.775 5.920 0 270 0 90 Drawer -3.193 0.777 5.157 0 180 0 91 Cabinet -3.968 0.388 2.894 0 0 0 92 Cabinet -3.667 0.387 5.029 0 90 0 93 StoveBurner -2.469 0.924 1.712 0 270 0 94 Cabinet -1.539 0.388 2.090 0 0 0 95 Sink -4.190 0.921 3.279 0 0 0 96 Cabinet -3.641 0.387 5.029 0 90 0 97 Cabinet -1.583 1.931 1.777 0 0 0 98 Drawer -0.509 0.775 6.568 0 270 0 99 CoffeeMachine -0.279 0.912 6.556 0 270 0 100 StoveKnob -2.347 1.095 1.560 288.012 180 180 101 StoveKnob -2.788 1.095 1.560 288.012 180 180 102 StoveKnob -2.965 1.095 1.560 288.012 180 180 103 StoveKnob -2.512 1.095 1.560 288.012 180 180 104 GarbageCan -3.711 -0.030 6.376 0 270 0 105 Toaster -3.578 0.912 1.763 0 0 0 106 Curtains -4.522 2.252 3.391 90 90 0 107 Window -4.868 1.629 3.309 90 270 0 108 Microwave -2.693 1.430 1.689 0 0 0 109 LightSwitch -1.588 1.169 1.506 0 0 0 110 SinkBasin -4.196 0.780 3.276 0 270 0 111 Fridge -0.324 -0.001 3.602 0 0 0 112 113 NorthWall 114 EastWall 115 SouthWall 116 WestWall
[ "STEP 1: Turn left and walk forward to face the counter. | STEP 2: Pick up the knife on the counter. | STEP 3: Turn left and walk past the counter and then turn around to the right to face the end of the counter. | STEP 4: Cut the bread on the end of the counter into slices. | STEP 5: Turn to the right and walk forward and turn right to face the fridge. | STEP 6: Cut the loaf of bread in the fridge into slices. | STEP 7: Turn right and walk to the wall, then turn left and walk forward to face the trash can on the floor. | STEP 8: Place the knife in the trash can. | STEP 9: Turn around and walk across the room, then turn right and walk across the room to the end of the counter and turn right to face then end of the counter. | STEP 10: Pick up a slice of bread on the counter. | STEP 11: Turn right and walk to the wall, then turn left and walk forward to face the trash can on the floor. | STEP 12: Place the slice of bread in the trash can. | STEP 13: Turn around and walk across the room, then turn right and walk across the room to the fridge and then turn left to face the fridge. | STEP 14: Pick up a slice of bread from inside the fridge. | STEP 15: Turn left and walk to the wall, then turn left and walk forward to face the trash can on the floor. | STEP 16: Place the slice of bread in the trash can. | END" ]
[ [ "STEP 1: Turn left and walk forward to face the counter. ", " STEP 2: Pick up the knife on the counter. ", " STEP 3: Turn left and walk past the counter and then turn around to the right to face the end of the counter. ", " STEP 4: Cut the bread on the end of the counter into slices. ", " STEP 5: Turn to the right and walk forward and turn right to face the fridge. ", " STEP 6: Cut the loaf of bread in the fridge into slices. ", " STEP 7: Turn right and walk to the wall, then turn left and walk forward to face the trash can on the floor. ", " STEP 8: Place the knife in the trash can. ", " STEP 9: Turn around and walk across the room, then turn right and walk across the room to the end of the counter and turn right to face then end of the counter. ", " STEP 10: Pick up a slice of bread on the counter. ", " STEP 11: Turn right and walk to the wall, then turn left and walk forward to face the trash can on the floor. ", " STEP 12: Place the slice of bread in the trash can. ", " STEP 13: Turn around and walk across the room, then turn right and walk across the room to the fridge and then turn left to face the fridge. ", " STEP 14: Pick up a slice of bread from inside the fridge. ", " STEP 15: Turn left and walk to the wall, then turn left and walk forward to face the trash can on the floor. ", " STEP 16: Place the slice of bread in the trash can. ", " END" ] ]
seen
trial_T20190907_235824_273660-2
Put several items in the trash can.
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " -3.25", " 0.899", " 4.25", " 0", " 270", " 0", "" ], [ "1", " Pencil", " -2.026", " 0.923", " 1.8", " 0", " 270", " 0", " 76" ], [ "2", " Potato", " -0.348", " 1.104", " 3.974", " 0", " 270", " 0", " 111" ], [ "3", " Potato", " -0.342", " 1.369", " 3.231", " 0", " 270", " 0", " 111" ], [ "4", " ButterKnife", " -3.255", " 0.923", " 5.259", " 0", " 90", " 0", " 78" ], [ "5", " ButterKnife", " -2.026", " 0.923", " 1.951", " 0", " 0", " 0", " 60" ], [ "6", " WineBottle", " -3.748", " 0.069", " 6.457", " 0", " 270", " 0", " 104" ], [ "7", " Pot", " -0.258", " 0.926", " 5.603", " 0", " 90", " 0", " 63" ], [ "8", " Fork", " -1.777", " 0.924", " 2.026", " 0", " 0", " 0", " 60" ], [ "9", " Spoon", " -4.159", " 0.792", " 3.410", " 0", " 90", " 0", " 110" ], [ "10", " Spatula", " -0.258", " 0.940", " 5.932", " 0", " 180", " 0", " 63" ], [ "11", " Cup", " -0.383", " 1.334", " 3.479", " 0", " 270", " 0", " 111" ], [ "12", " Cup", " -1.981", " 1.452", " 1.638", " 0", " 0", " 0", " 97" ], [ "13", " Egg", " -0.342", " 1.616", " 3.168", " 0", " 270", " 0", " 111" ], [ "14", " Knife", " -3.686", " 0.953", " 1.799", " 0", " 0", " 0", " 78" ], [ "15", " Knife", " -0.411", " 0.954", " 5.273", " 0", " 0", " 0", " 63" ], [ "16", " SoapBottle", " -1.934", " 0.081", " 1.971", " 0", " 0", " 0", " 94" ], [ "17", " SoapBottle", " -0.334", " 0.924", " 5.273", " 0", " 0", " 0", " 63" ], [ "18", " Tomato", " -4.033", " 0.980", " 3.863", " 0", " 90", " 0", " 110" ], [ "19", " Tomato", " -0.383", " 1.742", " 3.794", " 0", " 270", " 0", " 111" ], [ "20", " SaltShaker", " -3.449", " 1.449", " 1.605", " 0", " 0", " 0", " 52" ], [ "21", " SaltShaker", " -4.517", " 0.919", " 3.315", " 0", " 0", " 0", " 78" ], [ "22", " PepperShaker", " -3.839", " 0.075", " 5.077", " 0", " 90", " 0", " 92" ], [ "23", " Lettuce", " -4.196", " 0.886", " 3.347", " 0", " 270", " 0", " 110" ], [ "24", " Lettuce", " -0.181", " 1.020", " 4.944", " 0", " 0", " 0", " 63" ], [ "25", " Bread", " -0.401", " 1.150", " 3.726", " 0", " 270", " 0", " 111" ], [ "26", " Mug", " -2.688", " 1.541", " 1.666", " 0", " 0", " 0", " 108" ], [ "27", " Mug", " -0.411", " 0.920", " 5.932", " 0", " 180", " 0", " 112" ], [ "28", " Egg", " -2.583", " 1.582", " 1.633", " 0", " 0", " 0", " 108" ], [ "29", " Apple", " -2.026", " 0.976", " 2.026", " 0", " 0", " 0", " 60" ], [ "30", " Knife", " -4.184", " 0.953", " 4.900", " 0", " 90", " 0", " 78" ], [ "31", " Potato", " -0.242", " 1.104", " 3.355", " 0", " 270", " 0", " 111" ], [ "32", " Fork", " -4.233", " 0.791", " 3.097", " 0", " 180", " 0", " 110" ], [ "33", " Bowl", " -4.089", " 0.074", " 4.813", " 0", " 0", " 0", " 71" ], [ "34", " Plate", " -3.193", " 1.460", " 5.512", " 0", " 90", " 0", " 64" ], [ "35", " Lettuce", " -3.712", " 0.164", " 6.292", " 0", " 270", " 0", " 104" ], [ "36", " Bread", " -1.693", " 1.003", " 1.724", " 0", " 0", " 0", " 60" ], [ "37", " Tomato", " -0.259", " 1.637", " 3.349", " 0", " 270", " 0", " 111" ], [ "38", " WineBottle", " -1.860", " 0.924", " 1.724", " 0", " 0", " 0", " 60" ], [ "39", " Spatula", " -4.033", " 0.938", " 4.122", " 0", " 90", " 0", " 78" ], [ "40", " PaperTowelRoll", " -1.777", " 1.027", " 1.951", " 0", " 0", " 0", " 60" ], [ "41", " Cup", " -0.488", " 0.923", " 4.944", " 0", " 0", " 0", " 63" ], [ "42", " Pencil", " -2.026", " 0.923", " 1.724", " 0", " 0", " 0", " 76" ], [ "43", " Pan", " -2.454", " 0.933", " 2.023", " 0", " 240.000", " 0", " 66" ], [ "44", " Pot", " -2.924", " 0.930", " 1.712", " 0", " 180", " 0", " 75" ], [ "45", " SaltShaker", " -4.381", " 0.919", " 2.766", " 0", " 0", " 0", " 78" ], [ "46", " SoapBottle", " -4.006", " 0.080", " 3.465", " 0", " 270", " 0", " 83" ], [ "47", " PepperShaker", " -3.510", " 0.741", " 5.192", " 0", " 180", " 0", " 69" ], [ "48", " ButterKnife", " -4.196", " 0.790", " 3.410", " 0", " 0", " 0", " 110" ], [ "49", " DishSponge", " -4.128", " 0.080", " 3.419", " 0", " 0", " 0", " 83" ], [ "50", " Spoon", " -1.782", " 0.747", " 1.956", " 0", " 0", " 0", " 76" ], [ "51", " Mug", " -0.301", " 1.575", " 3.530", " 0", " 270", " 0", " 111" ], [ "52", " Cabinet", " -3.203", " 1.931", " 1.777", " 0", " 0", " 0", "" ], [ "53", " Cabinet", " -3.187", " 0.390", " 2.089", " 0", " 0", " 0", "" ], [ "54", " Cabinet", " -0.637", " 0.387", " 6.882", " 0", " 180", " 0", "" ], [ "55", " Drawer", " -3.797", " 0.781", " 1.961", " 0", " 0", " 0", "" ], [ "56", " Cabinet", " -3.036", " 0.387", " 5.029", " 0", " 90", " 0", "" ], [ "57", " Drawer", " -0.509", " 0.775", " 5.268", " 0", " 270", " 0", "" ], [ "58", " Drawer", " -4.125", " 0.798", " 2.499", " 0", " 0", " 0", "" ], [ "59", " Cabinet", " -0.331", " 2.249", " 4.308", " 0", " 180", " 0", "" ], [ "60", " CounterTop", " -1.872", " 0.958", " 1.799", " 0", " 0", " 0", "" ], [ "61", " StoveBurner", " -2.924", " 0.924", " 2.012", " 0", " 0", " 0", "" ], [ "62", " Cabinet", " -0.331", " 2.249", " 6.806", " 0", " 180", " 0", "" ], [ "63", " CounterTop", " -0.345", " 0.960", " 5.603", " 0", " 0", " 0", "" ], [ "64", " Cabinet", " -3.039", " 1.935", " 5.321", " 0", " 90", " 0", "" ], [ "65", " Cabinet", " -3.922", " 0.397", " 2.088", " 0", " 0", " 0", "" ], [ "66", " StoveBurner", " -2.467", " 0.924", " 2.012", " 0", " 0", " 0", "" ], [ "67", " Cabinet", " -0.331", " 2.249", " 5.505", " 0", " 180", " 0", "" ], [ "68", " Drawer", " -0.509", " 0.775", " 4.617", " 0", " 270", " 0", "" ], [ "69", " Drawer", " -3.509", " 0.777", " 5.157", " 0", " 180", " 0", "" ], [ "70", " Cabinet", " -3.961", " 0.388", " 2.878", " 0", " 0", " 0", "" ], [ "71", " Cabinet", " -3.961", " 0.388", " 4.342", " 0", " 0", " 0", "" ], [ "72", " Cabinet", " -0.637", " 0.387", " 5.582", " 0", " 180", " 0", "" ], [ "73", " Cabinet", " -0.637", " 0.388", " 4.299", " 0", " 180", " 0", "" ], [ "74", " Cabinet", " -0.637", " 0.388", " 5.599", " 0", " 180", " 0", "" ], [ "75", " StoveBurner", " -2.924", " 0.924", " 1.712", " 0", " 180", " 0", "" ], [ "76", " Drawer", " -1.859", " 0.775", " 1.961", " 0", " 0", " 0", "" ], [ "77", " Cabinet", " -0.331", " 2.249", " 5.609", " 0", " 180", " 0", "" ], [ "78", " CounterTop", " -4.260", " 0.958", " 4.943", " 0", " 90", " 0", "" ], [ "79", " Cabinet", " -4.284", " 1.931", " 2.226", " 0", " 0", " 0", "" ], [ "80", " Cabinet", " -0.331", " 2.249", " 3.010", " 0", " 180", " 0", "" ], [ "81", " Drawer", " -3.801", " 0.777", " 5.157", " 0", " 180", " 0", "" ], [ "82", " Cabinet", " -4.112", " 1.935", " 5.321", " 0", " 90", " 0", "" ], [ "83", " Cabinet", " -3.968", " 0.388", " 3.662", " 0", " 0", " 0", "" ], [ "84", " Drawer", " -3.418", " 0.777", " 1.961", " 0", " 0", " 0", "" ], [ "85", " Drawer", " -4.090", " 0.777", " 4.661", " 0", " 90", " 0", "" ], [ "86", " Faucet", " -4.441", " 0.909", " 3.288", " 270", " 0", " 0", "" ], [ "87", " Cabinet", " -0.331", " 2.249", " 4.207", " 0", " 180", " 0", "" ], [ "88", " Cabinet", " -3.961", " 0.388", " 2.119", " 0", " 0", " 0", "" ], [ "89", " Drawer", " -0.509", " 0.775", " 5.920", " 0", " 270", " 0", "" ], [ "90", " Drawer", " -3.193", " 0.777", " 5.157", " 0", " 180", " 0", "" ], [ "91", " Cabinet", " -3.968", " 0.388", " 2.894", " 0", " 0", " 0", "" ], [ "92", " Cabinet", " -3.667", " 0.387", " 5.029", " 0", " 90", " 0", "" ], [ "93", " StoveBurner", " -2.469", " 0.924", " 1.712", " 0", " 270", " 0", "" ], [ "94", " Cabinet", " -1.539", " 0.388", " 2.090", " 0", " 0", " 0", "" ], [ "95", " Sink", " -4.190", " 0.921", " 3.279", " 0", " 0", " 0", "" ], [ "96", " Cabinet", " -3.641", " 0.387", " 5.029", " 0", " 90", " 0", "" ], [ "97", " Cabinet", " -1.583", " 1.931", " 1.777", " 0", " 0", " 0", "" ], [ "98", " Drawer", " -0.509", " 0.775", " 6.568", " 0", " 270", " 0", "" ], [ "99", " CoffeeMachine", " -0.279", " 0.912", " 6.556", " 0", " 270", " 0", "" ], [ "100", " StoveKnob", " -2.347", " 1.095", " 1.560", " 288.012", " 180", " 180", "" ], [ "101", " StoveKnob", " -2.788", " 1.095", " 1.560", " 288.012", " 180", " 180", "" ], [ "102", " StoveKnob", " -2.965", " 1.095", " 1.560", " 288.012", " 180", " 180", "" ], [ "103", " StoveKnob", " -2.512", " 1.095", " 1.560", " 288.012", " 180", " 180", "" ], [ "104", " GarbageCan", " -3.711", " -0.030", " 6.376", " 0", " 270", " 0", "" ], [ "105", " Toaster", " -3.578", " 0.912", " 1.763", " 0", " 0", " 0", "" ], [ "106", " Curtains", " -4.522", " 2.252", " 3.391", " 90", " 90", " 0", "" ], [ "107", " Window", " -4.868", " 1.629", " 3.309", " 90", " 270", " 0", "" ], [ "108", " Microwave", " -2.693", " 1.430", " 1.689", " 0", " 0", " 0", "" ], [ "109", " LightSwitch", " -1.588", " 1.169", " 1.506", " 0", " 0", " 0", "" ], [ "110", " SinkBasin", " -4.196", " 0.780", " 3.276", " 0", " 270", " 0", "" ], [ "111", " Fridge", " -0.324", " -0.001", " 3.602", " 0", " 0", " 0", "" ], [ "112", " ", " ", " ", " ", " ", " ", " ", "" ], [ "113", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "114", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "115", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "116", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -3.25 0.899 4.25 0 270 0 1 Pencil -2.026 0.923 1.8 0 270 0 76 2 Potato -0.348 1.104 3.974 0 270 0 111 3 Potato -0.342 1.369 3.231 0 270 0 111 4 ButterKnife -3.255 0.923 5.259 0 90 0 78 5 ButterKnife -2.026 0.923 1.951 0 0 0 60 6 WineBottle -3.748 0.069 6.457 0 270 0 104 7 Pot -0.258 0.926 5.603 0 90 0 63 8 Fork -1.777 0.924 2.026 0 0 0 60 9 Spoon -4.159 0.792 3.410 0 90 0 110 10 Spatula -0.258 0.940 5.932 0 180 0 63 11 Cup -0.383 1.334 3.479 0 270 0 111 12 Cup -1.981 1.452 1.638 0 0 0 97 13 Egg -0.342 1.616 3.168 0 270 0 111 14 Knife -3.686 0.953 1.799 0 0 0 78 15 Knife -0.411 0.954 5.273 0 0 0 63 16 SoapBottle -1.934 0.081 1.971 0 0 0 94 17 SoapBottle -0.334 0.924 5.273 0 0 0 63 18 Tomato -4.033 0.980 3.863 0 90 0 110 19 Tomato -0.383 1.742 3.794 0 270 0 111 20 SaltShaker -3.449 1.449 1.605 0 0 0 52 21 SaltShaker -4.517 0.919 3.315 0 0 0 78 22 PepperShaker -3.839 0.075 5.077 0 90 0 92 23 Lettuce -4.196 0.886 3.347 0 270 0 110 24 Lettuce -0.181 1.020 4.944 0 0 0 63 25 Bread -0.401 1.150 3.726 0 270 0 111 26 Mug -2.688 1.541 1.666 0 0 0 108 27 Mug -0.411 0.920 5.932 0 180 0 112 28 Egg -2.583 1.582 1.633 0 0 0 108 29 Apple -2.026 0.976 2.026 0 0 0 60 30 Knife -4.184 0.953 4.900 0 90 0 78 31 Potato -0.242 1.104 3.355 0 270 0 111 32 Fork -4.233 0.791 3.097 0 180 0 110 33 Bowl -4.089 0.074 4.813 0 0 0 71 34 Plate -3.193 1.460 5.512 0 90 0 64 35 Lettuce -3.712 0.164 6.292 0 270 0 104 36 Bread -1.693 1.003 1.724 0 0 0 60 37 Tomato -0.259 1.637 3.349 0 270 0 111 38 WineBottle -1.860 0.924 1.724 0 0 0 60 39 Spatula -4.033 0.938 4.122 0 90 0 78 40 PaperTowelRoll -1.777 1.027 1.951 0 0 0 60 41 Cup -0.488 0.923 4.944 0 0 0 63 42 Pencil -2.026 0.923 1.724 0 0 0 76 43 Pan -2.454 0.933 2.023 0 240.000 0 66 44 Pot -2.924 0.930 1.712 0 180 0 75 45 SaltShaker -4.381 0.919 2.766 0 0 0 78 46 SoapBottle -4.006 0.080 3.465 0 270 0 83 47 PepperShaker -3.510 0.741 5.192 0 180 0 69 48 ButterKnife -4.196 0.790 3.410 0 0 0 110 49 DishSponge -4.128 0.080 3.419 0 0 0 83 50 Spoon -1.782 0.747 1.956 0 0 0 76 51 Mug -0.301 1.575 3.530 0 270 0 111 52 Cabinet -3.203 1.931 1.777 0 0 0 53 Cabinet -3.187 0.390 2.089 0 0 0 54 Cabinet -0.637 0.387 6.882 0 180 0 55 Drawer -3.797 0.781 1.961 0 0 0 56 Cabinet -3.036 0.387 5.029 0 90 0 57 Drawer -0.509 0.775 5.268 0 270 0 58 Drawer -4.125 0.798 2.499 0 0 0 59 Cabinet -0.331 2.249 4.308 0 180 0 60 CounterTop -1.872 0.958 1.799 0 0 0 61 StoveBurner -2.924 0.924 2.012 0 0 0 62 Cabinet -0.331 2.249 6.806 0 180 0 63 CounterTop -0.345 0.960 5.603 0 0 0 64 Cabinet -3.039 1.935 5.321 0 90 0 65 Cabinet -3.922 0.397 2.088 0 0 0 66 StoveBurner -2.467 0.924 2.012 0 0 0 67 Cabinet -0.331 2.249 5.505 0 180 0 68 Drawer -0.509 0.775 4.617 0 270 0 69 Drawer -3.509 0.777 5.157 0 180 0 70 Cabinet -3.961 0.388 2.878 0 0 0 71 Cabinet -3.961 0.388 4.342 0 0 0 72 Cabinet -0.637 0.387 5.582 0 180 0 73 Cabinet -0.637 0.388 4.299 0 180 0 74 Cabinet -0.637 0.388 5.599 0 180 0 75 StoveBurner -2.924 0.924 1.712 0 180 0 76 Drawer -1.859 0.775 1.961 0 0 0 77 Cabinet -0.331 2.249 5.609 0 180 0 78 CounterTop -4.260 0.958 4.943 0 90 0 79 Cabinet -4.284 1.931 2.226 0 0 0 80 Cabinet -0.331 2.249 3.010 0 180 0 81 Drawer -3.801 0.777 5.157 0 180 0 82 Cabinet -4.112 1.935 5.321 0 90 0 83 Cabinet -3.968 0.388 3.662 0 0 0 84 Drawer -3.418 0.777 1.961 0 0 0 85 Drawer -4.090 0.777 4.661 0 90 0 86 Faucet -4.441 0.909 3.288 270 0 0 87 Cabinet -0.331 2.249 4.207 0 180 0 88 Cabinet -3.961 0.388 2.119 0 0 0 89 Drawer -0.509 0.775 5.920 0 270 0 90 Drawer -3.193 0.777 5.157 0 180 0 91 Cabinet -3.968 0.388 2.894 0 0 0 92 Cabinet -3.667 0.387 5.029 0 90 0 93 StoveBurner -2.469 0.924 1.712 0 270 0 94 Cabinet -1.539 0.388 2.090 0 0 0 95 Sink -4.190 0.921 3.279 0 0 0 96 Cabinet -3.641 0.387 5.029 0 90 0 97 Cabinet -1.583 1.931 1.777 0 0 0 98 Drawer -0.509 0.775 6.568 0 270 0 99 CoffeeMachine -0.279 0.912 6.556 0 270 0 100 StoveKnob -2.347 1.095 1.560 288.012 180 180 101 StoveKnob -2.788 1.095 1.560 288.012 180 180 102 StoveKnob -2.965 1.095 1.560 288.012 180 180 103 StoveKnob -2.512 1.095 1.560 288.012 180 180 104 GarbageCan -3.711 -0.030 6.376 0 270 0 105 Toaster -3.578 0.912 1.763 0 0 0 106 Curtains -4.522 2.252 3.391 90 90 0 107 Window -4.868 1.629 3.309 90 270 0 108 Microwave -2.693 1.430 1.689 0 0 0 109 LightSwitch -1.588 1.169 1.506 0 0 0 110 SinkBasin -4.196 0.780 3.276 0 270 0 111 Fridge -0.324 -0.001 3.602 0 0 0 112 113 NorthWall 114 EastWall 115 SouthWall 116 WestWall
[ "STEP 1: Turn left and walk to the toaster. | STEP 2: Pick up the knife from the counter next to the toaster. | STEP 3: Turn left and walk to the loaf of bread. | STEP 4: Slice the loaf of bread on the counter. | STEP 5: Turn right and walk to the refrigerator. | STEP 6: Open and look in the refrigerator and close it again. | STEP 7: Walk to the wall, then turn left to go to the trash can. | STEP 8: Put the knife in the trash can. | STEP 9: Turn around and walk across the room to the sliced loaf of bread. | STEP 10: Pick up a slice of bread from the loaf on the counter. | STEP 11: Walk across the room to the trash can. | STEP 12: Put the slice of bread in the trash can. | STEP 13: Turn around and walk to the refrigerator. | STEP 14: Take a slice of bread out of the refrigerator. | STEP 15: Turn around and walk back to the trash can. | STEP 16: Put the slice of bread in the trash can. | END" ]
[ [ "STEP 1: Turn left and walk to the toaster. ", " STEP 2: Pick up the knife from the counter next to the toaster. ", " STEP 3: Turn left and walk to the loaf of bread. ", " STEP 4: Slice the loaf of bread on the counter. ", " STEP 5: Turn right and walk to the refrigerator. ", " STEP 6: Open and look in the refrigerator and close it again. ", " STEP 7: Walk to the wall, then turn left to go to the trash can. ", " STEP 8: Put the knife in the trash can. ", " STEP 9: Turn around and walk across the room to the sliced loaf of bread. ", " STEP 10: Pick up a slice of bread from the loaf on the counter. ", " STEP 11: Walk across the room to the trash can. ", " STEP 12: Put the slice of bread in the trash can. ", " STEP 13: Turn around and walk to the refrigerator. ", " STEP 14: Take a slice of bread out of the refrigerator. ", " STEP 15: Turn around and walk back to the trash can. ", " STEP 16: Put the slice of bread in the trash can. ", " END" ] ]
seen
trial_T20190906_200354_715647-0
Put a heated slice of bread 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 2.0 0.900 1.5 0 0 0 1 Pan 1.328 0.957 -1.420 0 180 0 56 2 Book -2.525 0.871 3.565 0 225 0 54 3 Book -0.999 1.651 -1.712 0 0 0 64 4 Kettle -2.152 0.879 3.073 0 270 0 54 5 Kettle 0.974 0.957 -1.688 0 180 0 51 6 Spatula 0.069 0.945 -1.646 0 90 0 49 7 Pot 1.328 0.957 -1.688 0 180 0 55 8 Spoon -1.738 0.913 -0.614 0 0 0 67 9 Spoon -2.048 0.719 -1.510 0 90 0 71 10 Plate 0.617 0.916 -1.776 0 0 0 52 11 Tomato -0.871 0.240 2.058 0 90 0 82 12 Tomato -2.072 0.959 -0.614 0 0 0 52 13 Bowl -2.367 0.872 3.408 0 225 0 54 14 SaltShaker -1.961 0.908 -0.939 0 0 0 52 15 PepperShaker 3.586 0.549 1.656 0 270 0 75 16 PepperShaker -1.516 0.908 0.037 0 0 0 52 17 Bread -1.516 0.995 0.363 0 0 0 52 18 Lettuce -0.149 1.637 2.040 0 180 0 77 19 Mug -2.996 0.869 3.370 0 270 0 54 20 Book -1.94 0.900 -1.693 0 0 0 71 21 Fork -0.723 0.912 -1.267 0 0 0 52 22 Tomato -1.378 0.959 -1.674 0 0 0 52 23 Egg -0.377 0.828 1.966 0 180 0 77 24 Kettle 0.633 0.117 -1.370 0 0 0 59 25 Vase 3.671 0.168 1.841 0 0 0 75 26 Cup 0.307 0.801 2.080 0 180 0 77 27 WineBottle -1.849 0.913 -0.939 0 0 0 52 28 Plate -2.584 0.878 2.715 0 0 0 54 29 Spatula -1.649 0.732 -0.788 0 270 0 67 30 Potato 0.234 0.965 -1.429 0 270 0 49 31 Pot 0.974 0.957 -1.419 0 180 0 70 32 Knife 0.069 0.950 -1.790 0 180 0 49 33 SaltShaker 3.662 0.877 1.963 0 270 0 73 34 PepperShaker 0.617 0.908 -1.471 0 0 0 52 35 Lettuce -2.501 0.943 3.064 0 225 0 54 36 ButterKnife -0.040 0.928 -1.646 0 270 0 49 37 Bread -2.793 0.961 3.565 0 135 0 54 38 Vase 1.648 0.115 -1.450 0 0 0 58 39 DishSponge -0.844 0.192 2.213 0 90 0 82 40 Apple 0.079 0.444 2.054 0 180 0 77 41 Pan 0.972 0.959 -1.426 0 0 0 70 42 Spoon 1.760 0.911 -1.618 0 90 0 72 43 SoapBottle 3.689 0.881 1.861 0 270 0 73 44 Mug 0.079 1.567 2.160 0 180 0 77 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 -2.898 0.872 2.983 0 225 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 left, go towards the fridge, turn left, go to the sink. | STEP 2: Take the large knife from the drying rack of the sink. | STEP 3: Turn right, go to the counter, turn right, go past the counter, turn left, go to the window, turn right, go between the table and the wall and face the table. | STEP 4: Cut the bread on the table into slices. | STEP 5: Put the knife on the table. | STEP 6: Take a slice of bread from the table. | STEP 7: Turn right, go to the window, turn left, go past the counter, turn right, go to the oven. | STEP 8: Heat the bread in the microwave above the oven, take the bread from the microwave. | STEP 9: Turn right, go to the counter, turn right, go past the counter, turn left, go to the window, turn right, go between the table and the wall and face the table. | STEP 10: Put the bread in front of the white mug on the table. | END" ]
[ [ "STEP 1: Turn left, go towards the fridge, turn left, go to the sink. ", " STEP 2: Take the large knife from the drying rack of the sink. ", " STEP 3: Turn right, go to the counter, turn right, go past the counter, turn left, go to the window, turn right, go between the table and the wall and face the table. ", " STEP 4: Cut the bread on the table into slices. ", " STEP 5: Put the knife on the table. ", " STEP 6: Take a slice of bread from the table. ", " STEP 7: Turn right, go to the window, turn left, go past the counter, turn right, go to the oven. ", " STEP 8: Heat the bread in the microwave above the oven, take the bread from the microwave. ", " STEP 9: Turn right, go to the counter, turn right, go past the counter, turn left, go to the window, turn right, go between the table and the wall and face the table. ", " STEP 10: Put the bread in front of the white mug on the table. ", " END" ] ]
seen
trial_T20190906_200354_715647-1
place microwaved bread down on the table
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 2.0 0.900 1.5 0 0 0 1 Pan 1.328 0.957 -1.420 0 180 0 56 2 Book -2.525 0.871 3.565 0 225 0 54 3 Book -0.999 1.651 -1.712 0 0 0 64 4 Kettle -2.152 0.879 3.073 0 270 0 54 5 Kettle 0.974 0.957 -1.688 0 180 0 51 6 Spatula 0.069 0.945 -1.646 0 90 0 49 7 Pot 1.328 0.957 -1.688 0 180 0 55 8 Spoon -1.738 0.913 -0.614 0 0 0 67 9 Spoon -2.048 0.719 -1.510 0 90 0 71 10 Plate 0.617 0.916 -1.776 0 0 0 52 11 Tomato -0.871 0.240 2.058 0 90 0 82 12 Tomato -2.072 0.959 -0.614 0 0 0 52 13 Bowl -2.367 0.872 3.408 0 225 0 54 14 SaltShaker -1.961 0.908 -0.939 0 0 0 52 15 PepperShaker 3.586 0.549 1.656 0 270 0 75 16 PepperShaker -1.516 0.908 0.037 0 0 0 52 17 Bread -1.516 0.995 0.363 0 0 0 52 18 Lettuce -0.149 1.637 2.040 0 180 0 77 19 Mug -2.996 0.869 3.370 0 270 0 54 20 Book -1.94 0.900 -1.693 0 0 0 71 21 Fork -0.723 0.912 -1.267 0 0 0 52 22 Tomato -1.378 0.959 -1.674 0 0 0 52 23 Egg -0.377 0.828 1.966 0 180 0 77 24 Kettle 0.633 0.117 -1.370 0 0 0 59 25 Vase 3.671 0.168 1.841 0 0 0 75 26 Cup 0.307 0.801 2.080 0 180 0 77 27 WineBottle -1.849 0.913 -0.939 0 0 0 52 28 Plate -2.584 0.878 2.715 0 0 0 54 29 Spatula -1.649 0.732 -0.788 0 270 0 67 30 Potato 0.234 0.965 -1.429 0 270 0 49 31 Pot 0.974 0.957 -1.419 0 180 0 70 32 Knife 0.069 0.950 -1.790 0 180 0 49 33 SaltShaker 3.662 0.877 1.963 0 270 0 73 34 PepperShaker 0.617 0.908 -1.471 0 0 0 52 35 Lettuce -2.501 0.943 3.064 0 225 0 54 36 ButterKnife -0.040 0.928 -1.646 0 270 0 49 37 Bread -2.793 0.961 3.565 0 135 0 54 38 Vase 1.648 0.115 -1.450 0 0 0 58 39 DishSponge -0.844 0.192 2.213 0 90 0 82 40 Apple 0.079 0.444 2.054 0 180 0 77 41 Pan 0.972 0.959 -1.426 0 0 0 70 42 Spoon 1.760 0.911 -1.618 0 90 0 72 43 SoapBottle 3.689 0.881 1.861 0 270 0 73 44 Mug 0.079 1.567 2.160 0 180 0 77 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 -2.898 0.872 2.983 0 225 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 left and walk to the fridge, then turn left and walk over to the sink | STEP 2: grab the knife off of the left side of the sink | STEP 3: turn right and walk over to the kitchen counter, then take another right and walk to the end of the kitchen counter, a left to the wall, then a right to the table | STEP 4: slice up the bread on the table | STEP 5: place the knife down on the table in front of the cup | STEP 6: grab a slice of bread off of the table | STEP 7: turn right and walk to the end of the counter on the left, then turn left and walk to the near end of the room, turn right there to walk to the kitchen stove | STEP 8: place the bread in the microwave above the stove, microwave it, then take it out | STEP 9: turn right and walk over to the kitchen counter, then take another right and walk to the end of the kitchen counter, a left to the wall, then a right to the table | STEP 10: place the bread down on the table to the left of the knife | END" ]
[ [ "STEP 1: turn left and walk to the fridge, then turn left and walk over to the sink ", " STEP 2: grab the knife off of the left side of the sink ", " STEP 3: turn right and walk over to the kitchen counter, then take another right and walk to the end of the kitchen counter, a left to the wall, then a right to the table ", " STEP 4: slice up the bread on the table ", " STEP 5: place the knife down on the table in front of the cup ", " STEP 6: grab a slice of bread off of the table ", " STEP 7: turn right and walk to the end of the counter on the left, then turn left and walk to the near end of the room, turn right there to walk to the kitchen stove ", " STEP 8: place the bread in the microwave above the stove, microwave it, then take it out ", " STEP 9: turn right and walk over to the kitchen counter, then take another right and walk to the end of the kitchen counter, a left to the wall, then a right to the table ", " STEP 10: place the bread down on the table to the left of the knife ", " END" ] ]
seen
trial_T20190906_200354_715647-2
Place a slice of heated bread next to the coffee mug on the kitchen table.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 2.0 0.900 1.5 0 0 0 1 Pan 1.328 0.957 -1.420 0 180 0 56 2 Book -2.525 0.871 3.565 0 225 0 54 3 Book -0.999 1.651 -1.712 0 0 0 64 4 Kettle -2.152 0.879 3.073 0 270 0 54 5 Kettle 0.974 0.957 -1.688 0 180 0 51 6 Spatula 0.069 0.945 -1.646 0 90 0 49 7 Pot 1.328 0.957 -1.688 0 180 0 55 8 Spoon -1.738 0.913 -0.614 0 0 0 67 9 Spoon -2.048 0.719 -1.510 0 90 0 71 10 Plate 0.617 0.916 -1.776 0 0 0 52 11 Tomato -0.871 0.240 2.058 0 90 0 82 12 Tomato -2.072 0.959 -0.614 0 0 0 52 13 Bowl -2.367 0.872 3.408 0 225 0 54 14 SaltShaker -1.961 0.908 -0.939 0 0 0 52 15 PepperShaker 3.586 0.549 1.656 0 270 0 75 16 PepperShaker -1.516 0.908 0.037 0 0 0 52 17 Bread -1.516 0.995 0.363 0 0 0 52 18 Lettuce -0.149 1.637 2.040 0 180 0 77 19 Mug -2.996 0.869 3.370 0 270 0 54 20 Book -1.94 0.900 -1.693 0 0 0 71 21 Fork -0.723 0.912 -1.267 0 0 0 52 22 Tomato -1.378 0.959 -1.674 0 0 0 52 23 Egg -0.377 0.828 1.966 0 180 0 77 24 Kettle 0.633 0.117 -1.370 0 0 0 59 25 Vase 3.671 0.168 1.841 0 0 0 75 26 Cup 0.307 0.801 2.080 0 180 0 77 27 WineBottle -1.849 0.913 -0.939 0 0 0 52 28 Plate -2.584 0.878 2.715 0 0 0 54 29 Spatula -1.649 0.732 -0.788 0 270 0 67 30 Potato 0.234 0.965 -1.429 0 270 0 49 31 Pot 0.974 0.957 -1.419 0 180 0 70 32 Knife 0.069 0.950 -1.790 0 180 0 49 33 SaltShaker 3.662 0.877 1.963 0 270 0 73 34 PepperShaker 0.617 0.908 -1.471 0 0 0 52 35 Lettuce -2.501 0.943 3.064 0 225 0 54 36 ButterKnife -0.040 0.928 -1.646 0 270 0 49 37 Bread -2.793 0.961 3.565 0 135 0 54 38 Vase 1.648 0.115 -1.450 0 0 0 58 39 DishSponge -0.844 0.192 2.213 0 90 0 82 40 Apple 0.079 0.444 2.054 0 180 0 77 41 Pan 0.972 0.959 -1.426 0 0 0 70 42 Spoon 1.760 0.911 -1.618 0 90 0 72 43 SoapBottle 3.689 0.881 1.861 0 270 0 73 44 Mug 0.079 1.567 2.160 0 180 0 77 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 -2.898 0.872 2.983 0 225 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 kitchen sink. | STEP 2: Pick up the knife from the drying rack in the left side of the sink. | STEP 3: Carry the knife to the kitchen table in the corner of the room. | STEP 4: Slice the loaf of bread on the table. | STEP 5: Place the knife on the kitchen table. | STEP 6: Pick up a slice of bread from the table. | STEP 7: Turn and cross the room to stand in front of the stove while carrying the sliced bread. | STEP 8: Open the microwave above the stove, put the bread inside, turn it on, and remove the bread when it's finished. | STEP 9: Carry the bread back to the kitchen table. | STEP 10: Place the bread on the table next to the white mug. | END" ]
[ [ "STEP 1: Move to the kitchen sink. ", " STEP 2: Pick up the knife from the drying rack in the left side of the sink. ", " STEP 3: Carry the knife to the kitchen table in the corner of the room. ", " STEP 4: Slice the loaf of bread on the table. ", " STEP 5: Place the knife on the kitchen table. ", " STEP 6: Pick up a slice of bread from the table. ", " STEP 7: Turn and cross the room to stand in front of the stove while carrying the sliced bread. ", " STEP 8: Open the microwave above the stove, put the bread inside, turn it on, and remove the bread when it's finished. ", " STEP 9: Carry the bread back to the kitchen table. ", " STEP 10: Place the bread on the table next to the white mug. ", " END" ] ]
seen
trial_T20190906_194730_320895-0
Get a wash rag wet to put on the dresser.
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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 3.25 0 180 0 1 Cloth -1.657 0.074 0.213 0 0 0 18 2 Candle -0.327 0.447 0.126 0 0 0 16 3 SoapBottle 0.303 1.164 3.732 0 0 0 46 4 SoapBottle -1.867 0.069 3.284 0 0 0 26 5 Towel -0.07 1.284 0.106 0 0 0 27 6 HandTowel -1.731 1.333 3.961 0 0 0 29 7 SoapBar -1.795 0.016 2.193 0 0 0 19 8 ToiletPaper -0.370 0.443 0.236 0 0 0 16 9 ToiletPaper -1.918 0.763 2.518 0 0 0 17 10 Cloth -1.786 0.074 0.970 0 0 0 18 11 SprayBottle -1.867 0.068 2.637 0 0 0 19 12 Candle -0.012 0.094 3.792 0 0 0 38 13 ScrubBrush -1.664 -0.000 3.897 0 0 0 Floor|-02.00| 14 Plunger -1.888 -0.000 3.885 0 0 0 Floor|-02.00| 15 SoapBottle -1.695 0.772 3.122 0 0 0 17 16 Bathtub -1.414 -0.002 0.563 0 0 0 17 CounterTop -1.799 0.746 3.122 0 0 0 18 BathtubBasin -1.613 0.052 0.540 0 0 0 19 Cabinet -1.613 0.309 2.493 0 0 0 20 ShowerDoor 0.527 1.037 2.115 0 0 0 21 Mirror -1.993 1.424 3.107 0 0 0 22 Cabinet -1.613 0.309 3.754 0 0 0 23 Faucet -1.873 0.461 0.641 0 0 0 24 Sink -1.834 0.685 2.777 0 90 0 25 Cabinet -1.613 0.309 3.105 0 0 0 26 Cabinet -1.613 0.309 3.140 0 0 0 27 TowelHolder -0.070 1.269 0.0 0 0 0 28 GarbageCan 0.932 -0.029 3.761 0 0 0 29 HandTowelHolder -1.730 1.434 4.0 0 90 0 30 Window -1.039 1.393 0.018 90 0 0 31 Window -1.986 1.392 0.706 90 90 0 32 ToiletPaperHanger -1.776 0.681 2.474 0 180 0 33 SinkBasin -1.795 0.694 2.781 0 90 0 34 LightSwitch 1.250 1.330 3.621 0 270 0 35 Toilet -1.567 -0.000 1.815 0 180 0 36 Drawer 0.204 0.940 3.807 0 180 0 37 Dresser 0.204 0.000 3.832 0 180 0 38 Drawer 0.204 0.160 3.807 0 180 0 39 Drawer 0.204 0.420 3.807 0 180 0 40 Drawer 0.204 0.680 3.807 0 180 0 41 SinkBasin -1.795 0.694 3.476 0 90 0 42 Sink -1.833 0.685 3.472 0 90 0 43 Faucet -1.988 0.947 3.472 0 180 0 44 ShowerHead 0.972 1.222 2.015 0 270 0 45 Faucet -1.988 0.947 2.776 0 180 0 46 47 NorthWall 48 EastWall 49 SouthWall 50 WestWall
[ "STEP 1: Go forward to the tub. Turn right and face the tub. | STEP 2: Pick up the wash rag on the left. | STEP 3: Turn around and go to the sink. | STEP 4: Put the wash rag in the sink. Turn the water on to get it wet. Turn the water off. | STEP 5: Turn around and go to the dresser. | STEP 6: Put the wash rag on the dresser to the left of the bottle. | END" ]
[ [ "STEP 1: Go forward to the tub. Turn right and face the tub. ", " STEP 2: Pick up the wash rag on the left. ", " STEP 3: Turn around and go to the sink. ", " STEP 4: Put the wash rag in the sink. Turn the water on to get it wet. Turn the water off. ", " STEP 5: Turn around and go to the dresser. ", " STEP 6: Put the wash rag on the dresser to the left of the bottle. ", " END" ] ]
seen
trial_T20190906_194730_320895-1
place a wet clean towel on top of the white cabinet in the bathroom
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[ "STEP 1: walk over to the bath tub | STEP 2: grab a dirty towel out of the bath tub | STEP 3: walk over to the bathroom sink | STEP 4: put the dirty towel in the sink and rinse it off, then pick it back up | STEP 5: turn around and bring the towel over to the white cabinet | STEP 6: place the towel on top of the white cabinet | END" ]
[ [ "STEP 1: walk over to the bath tub ", " STEP 2: grab a dirty towel out of the bath tub ", " STEP 3: walk over to the bathroom sink ", " STEP 4: put the dirty towel in the sink and rinse it off, then pick it back up ", " STEP 5: turn around and bring the towel over to the white cabinet ", " STEP 6: place the towel on top of the white cabinet ", " END" ] ]
seen
trial_T20190906_194730_320895-2
Place the clean towel on the dresser.
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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 3.25 0 180 0 1 Cloth -1.657 0.074 0.213 0 0 0 18 2 Candle -0.327 0.447 0.126 0 0 0 16 3 SoapBottle 0.303 1.164 3.732 0 0 0 46 4 SoapBottle -1.867 0.069 3.284 0 0 0 26 5 Towel -0.07 1.284 0.106 0 0 0 27 6 HandTowel -1.731 1.333 3.961 0 0 0 29 7 SoapBar -1.795 0.016 2.193 0 0 0 19 8 ToiletPaper -0.370 0.443 0.236 0 0 0 16 9 ToiletPaper -1.918 0.763 2.518 0 0 0 17 10 Cloth -1.786 0.074 0.970 0 0 0 18 11 SprayBottle -1.867 0.068 2.637 0 0 0 19 12 Candle -0.012 0.094 3.792 0 0 0 38 13 ScrubBrush -1.664 -0.000 3.897 0 0 0 Floor|-02.00| 14 Plunger -1.888 -0.000 3.885 0 0 0 Floor|-02.00| 15 SoapBottle -1.695 0.772 3.122 0 0 0 17 16 Bathtub -1.414 -0.002 0.563 0 0 0 17 CounterTop -1.799 0.746 3.122 0 0 0 18 BathtubBasin -1.613 0.052 0.540 0 0 0 19 Cabinet -1.613 0.309 2.493 0 0 0 20 ShowerDoor 0.527 1.037 2.115 0 0 0 21 Mirror -1.993 1.424 3.107 0 0 0 22 Cabinet -1.613 0.309 3.754 0 0 0 23 Faucet -1.873 0.461 0.641 0 0 0 24 Sink -1.834 0.685 2.777 0 90 0 25 Cabinet -1.613 0.309 3.105 0 0 0 26 Cabinet -1.613 0.309 3.140 0 0 0 27 TowelHolder -0.070 1.269 0.0 0 0 0 28 GarbageCan 0.932 -0.029 3.761 0 0 0 29 HandTowelHolder -1.730 1.434 4.0 0 90 0 30 Window -1.039 1.393 0.018 90 0 0 31 Window -1.986 1.392 0.706 90 90 0 32 ToiletPaperHanger -1.776 0.681 2.474 0 180 0 33 SinkBasin -1.795 0.694 2.781 0 90 0 34 LightSwitch 1.250 1.330 3.621 0 270 0 35 Toilet -1.567 -0.000 1.815 0 180 0 36 Drawer 0.204 0.940 3.807 0 180 0 37 Dresser 0.204 0.000 3.832 0 180 0 38 Drawer 0.204 0.160 3.807 0 180 0 39 Drawer 0.204 0.420 3.807 0 180 0 40 Drawer 0.204 0.680 3.807 0 180 0 41 SinkBasin -1.795 0.694 3.476 0 90 0 42 Sink -1.833 0.685 3.472 0 90 0 43 Faucet -1.988 0.947 3.472 0 180 0 44 ShowerHead 0.972 1.222 2.015 0 270 0 45 Faucet -1.988 0.947 2.776 0 180 0 46 47 NorthWall 48 EastWall 49 SouthWall 50 WestWall
[ "STEP 1: Walk straight towards the bath tub. | STEP 2: Pick up the dirty towel on the left. | STEP 3: Turn around and head towards the sink on your left. | STEP 4: Place the towel in the left sink, wash the towel, and pick it up. | STEP 5: Turn around, head towards the door, turn left, and head towards the dresser. | STEP 6: Place the towel on top of the dresser. | END" ]
[ [ "STEP 1: Walk straight towards the bath tub. ", " STEP 2: Pick up the dirty towel on the left. ", " STEP 3: Turn around and head towards the sink on your left. ", " STEP 4: Place the towel in the left sink, wash the towel, and pick it up. ", " STEP 5: Turn around, head towards the door, turn left, and head towards the dresser. ", " STEP 6: Place the towel on top of the dresser. ", " END" ] ]
seen
trial_T20190907_205906_226110-0
Put two heads of lettuce in the sink.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.25 0.901 2.75 0 270 0 1 Pan -0.254 0.928 4.672 0 0 0 57 2 Pan -0.535 0.928 4.274 0 0 0 59 3 Potato -2.892 0.926 2.706 0 0 0 76 4 DishSponge -1.637 0.927 0.518 0 0 0 55 5 DishSponge -0.272 0.661 0.464 0 0 0 44 6 ButterKnife -2.789 0.900 2.045 0 0 0 76 7 ButterKnife -2.269 0.662 0.355 0 0 0 63 8 Spatula -0.164 0.677 0.519 0 270 0 44 9 Fork -2.628 0.936 3.766 0 0 0 62 10 Egg -1.007 0.832 0.502 0 0 0 73 11 Cup -2.170 0.927 0.433 0 0 0 55 12 Cup -1.266 0.795 0.281 0 0 0 73 13 Knife -0.487 0.688 0.464 0 270 0 44 14 Knife -2.785 0.961 3.209 0 0 0 62 15 Tomato -2.722 0.696 4.427 0 90 0 72 16 Bowl -2.892 0.897 2.309 0 0 0 76 17 Bowl -0.359 1.770 0.114 0 0 0 54 18 PepperShaker -1.824 0.658 0.519 0 0 0 58 19 Bread -2.785 0.356 4.501 0 90 0 72 20 Lettuce -0.657 0.980 2.329 0 0 0 78 21 Lettuce -0.657 0.980 3.334 0 0 0 78 22 Mug -1.266 0.790 0.447 0 0 0 73 23 Egg -1.085 0.961 0.641 0 0 0 55 24 Plate -1.193 1.777 0.251 0 0 0 52 25 Fork -2.628 0.936 3.488 0 90 0 62 26 Bread -0.400 0.957 2.329 0 0 0 78 27 Apple -2.816 0.110 0.453 0 26.101 0 69 28 Lettuce -0.657 0.980 3.133 0 0 0 78 29 Spatula -2.583 0.915 2.177 0 0 0 76 30 Knife -2.037 0.953 0.602 0 0 0 55 31 Potato -2.892 0.926 2.573 0 0 0 76 32 Tomato -0.228 0.964 2.932 0 0 0 78 33 Cup -2.805 0.632 4.649 0 90 0 72 34 SaltShaker -2.480 0.896 2.706 0 0 0 76 35 PepperShaker -1.716 0.658 0.519 0 0 0 58 36 ButterKnife -2.210 0.916 0.619 0 0 0 55 37 SoapBottle -2.583 0.900 2.706 0 0 0 76 38 Pan -0.314 0.900 3.133 0 180 0 78 39 DishSponge -1.414 1.773 0.160 0 0 0 52 40 Pot -2.476 0.889 2.050 0 0 0 76 41 Spoon -2.706 0.936 3.395 0 180 0 62 42 Mug -2.778 1.001 3.714 0 90 0 75 43 Bowl -2.847 1.182 4.501 0 90 0 72 44 Drawer -0.325 0.696 0.413 0 0 0 45 Cabinet -0.595 0.490 0.648 0 0 0 46 Cabinet -0.555 0.490 0.646 0 0 0 47 Cabinet -1.591 0.490 0.646 0 0 0 48 Cabinet -1.554 0.490 0.646 0 0 0 49 Cabinet -2.550 0.490 0.646 0 0 0 50 Cabinet -1.514 2.046 0.392 0 0 0 51 Cabinet -2.474 2.046 0.392 0 0 0 52 Cabinet -1.478 2.046 0.392 0 0 0 53 Cabinet -0.518 2.046 0.392 0 0 0 54 Cabinet -0.479 2.046 0.392 0 0 0 55 CounterTop -1.366 0.952 0.349 0 0 0 56 Sink -1.108 0.926 0.340 0 0 0 57 StoveBurner -0.254 0.922 4.672 0 0 0 58 Drawer -1.824 0.696 0.413 0 0 0 59 StoveBurner -0.535 0.922 4.274 0 0 0 60 StoveBurner -0.254 0.922 4.274 0 0 0 61 StoveBurner -0.536 0.922 4.672 0 0 0 62 CounterTop -2.780 0.971 3.487 0 0 0 63 Drawer -2.323 0.696 0.413 0 0 0 64 StoveKnob -0.064 1.090 4.632 0 0 73.865 65 StoveKnob -0.064 1.090 4.782 0 0 73.865 66 StoveKnob -0.064 1.090 4.382 0 0 73.865 67 StoveKnob -0.064 1.090 4.222 0 0 73.865 68 Toaster -0.286 0.861 3.520 0 270 0 69 GarbageCan -2.816 -0.014 0.370 358.702 26.614 2.400 70 LightSwitch -0.064 1.447 1.996 0 270 0 71 Window -3.075 1.593 1.361 90 90 0 72 Fridge -2.802 0.0 4.427 0 0 0 73 SinkBasin -1.106 0.785 0.337 0 0 0 74 Microwave -0.358 0.917 0.224 0 0 0 75 CoffeeMachine -2.938 0.925 3.605 0 90 0 76 DiningTable -2.733 -0.003 2.607 0 270 0 77 Faucet -1.077 0.920 0.028 270 270 0 78 DiningTable -0.488 -0.003 3.182 0 270 0 79 NorthWall 80 EastWall 81 SouthWall 82 WestWall
[ "STEP 1: Turn around and face the white table. | STEP 2: Pick the lettuce up from the table. | STEP 3: Go right and stand at the sink. | STEP 4: Put the lettuce in the sink. | STEP 5: Turn around and go back to face the white table. | STEP 6: Pick up the lettuce on the right. | STEP 7: Go to the right and stand in front of the sink. | STEP 8: Put the lettuce in the sink. | END" ]
[ [ "STEP 1: Turn around and face the white table. ", " STEP 2: Pick the lettuce up from the table. ", " STEP 3: Go right and stand at the sink. ", " STEP 4: Put the lettuce in the sink. ", " STEP 5: Turn around and go back to face the white table. ", " STEP 6: Pick up the lettuce on the right. ", " STEP 7: Go to the right and stand in front of the sink. ", " STEP 8: Put the lettuce in the sink. ", " END" ] ]
seen
trial_T20190907_205906_226110-1
Put two heads of lettuce in the sink.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.25 0.901 2.75 0 270 0 1 Pan -0.254 0.928 4.672 0 0 0 57 2 Pan -0.535 0.928 4.274 0 0 0 59 3 Potato -2.892 0.926 2.706 0 0 0 76 4 DishSponge -1.637 0.927 0.518 0 0 0 55 5 DishSponge -0.272 0.661 0.464 0 0 0 44 6 ButterKnife -2.789 0.900 2.045 0 0 0 76 7 ButterKnife -2.269 0.662 0.355 0 0 0 63 8 Spatula -0.164 0.677 0.519 0 270 0 44 9 Fork -2.628 0.936 3.766 0 0 0 62 10 Egg -1.007 0.832 0.502 0 0 0 73 11 Cup -2.170 0.927 0.433 0 0 0 55 12 Cup -1.266 0.795 0.281 0 0 0 73 13 Knife -0.487 0.688 0.464 0 270 0 44 14 Knife -2.785 0.961 3.209 0 0 0 62 15 Tomato -2.722 0.696 4.427 0 90 0 72 16 Bowl -2.892 0.897 2.309 0 0 0 76 17 Bowl -0.359 1.770 0.114 0 0 0 54 18 PepperShaker -1.824 0.658 0.519 0 0 0 58 19 Bread -2.785 0.356 4.501 0 90 0 72 20 Lettuce -0.657 0.980 2.329 0 0 0 78 21 Lettuce -0.657 0.980 3.334 0 0 0 78 22 Mug -1.266 0.790 0.447 0 0 0 73 23 Egg -1.085 0.961 0.641 0 0 0 55 24 Plate -1.193 1.777 0.251 0 0 0 52 25 Fork -2.628 0.936 3.488 0 90 0 62 26 Bread -0.400 0.957 2.329 0 0 0 78 27 Apple -2.816 0.110 0.453 0 26.101 0 69 28 Lettuce -0.657 0.980 3.133 0 0 0 78 29 Spatula -2.583 0.915 2.177 0 0 0 76 30 Knife -2.037 0.953 0.602 0 0 0 55 31 Potato -2.892 0.926 2.573 0 0 0 76 32 Tomato -0.228 0.964 2.932 0 0 0 78 33 Cup -2.805 0.632 4.649 0 90 0 72 34 SaltShaker -2.480 0.896 2.706 0 0 0 76 35 PepperShaker -1.716 0.658 0.519 0 0 0 58 36 ButterKnife -2.210 0.916 0.619 0 0 0 55 37 SoapBottle -2.583 0.900 2.706 0 0 0 76 38 Pan -0.314 0.900 3.133 0 180 0 78 39 DishSponge -1.414 1.773 0.160 0 0 0 52 40 Pot -2.476 0.889 2.050 0 0 0 76 41 Spoon -2.706 0.936 3.395 0 180 0 62 42 Mug -2.778 1.001 3.714 0 90 0 75 43 Bowl -2.847 1.182 4.501 0 90 0 72 44 Drawer -0.325 0.696 0.413 0 0 0 45 Cabinet -0.595 0.490 0.648 0 0 0 46 Cabinet -0.555 0.490 0.646 0 0 0 47 Cabinet -1.591 0.490 0.646 0 0 0 48 Cabinet -1.554 0.490 0.646 0 0 0 49 Cabinet -2.550 0.490 0.646 0 0 0 50 Cabinet -1.514 2.046 0.392 0 0 0 51 Cabinet -2.474 2.046 0.392 0 0 0 52 Cabinet -1.478 2.046 0.392 0 0 0 53 Cabinet -0.518 2.046 0.392 0 0 0 54 Cabinet -0.479 2.046 0.392 0 0 0 55 CounterTop -1.366 0.952 0.349 0 0 0 56 Sink -1.108 0.926 0.340 0 0 0 57 StoveBurner -0.254 0.922 4.672 0 0 0 58 Drawer -1.824 0.696 0.413 0 0 0 59 StoveBurner -0.535 0.922 4.274 0 0 0 60 StoveBurner -0.254 0.922 4.274 0 0 0 61 StoveBurner -0.536 0.922 4.672 0 0 0 62 CounterTop -2.780 0.971 3.487 0 0 0 63 Drawer -2.323 0.696 0.413 0 0 0 64 StoveKnob -0.064 1.090 4.632 0 0 73.865 65 StoveKnob -0.064 1.090 4.782 0 0 73.865 66 StoveKnob -0.064 1.090 4.382 0 0 73.865 67 StoveKnob -0.064 1.090 4.222 0 0 73.865 68 Toaster -0.286 0.861 3.520 0 270 0 69 GarbageCan -2.816 -0.014 0.370 358.702 26.614 2.400 70 LightSwitch -0.064 1.447 1.996 0 270 0 71 Window -3.075 1.593 1.361 90 90 0 72 Fridge -2.802 0.0 4.427 0 0 0 73 SinkBasin -1.106 0.785 0.337 0 0 0 74 Microwave -0.358 0.917 0.224 0 0 0 75 CoffeeMachine -2.938 0.925 3.605 0 90 0 76 DiningTable -2.733 -0.003 2.607 0 270 0 77 Faucet -1.077 0.920 0.028 270 270 0 78 DiningTable -0.488 -0.003 3.182 0 270 0 79 NorthWall 80 EastWall 81 SouthWall 82 WestWall
[ "STEP 1: Turn around and take a step to your right then walk to the counter. | STEP 2: Pick up the head of lettuce that's on the table. | STEP 3: Turn right and walk to the sink then take a step left. | STEP 4: Put the lettuce in the sink. | STEP 5: Go back to where you got the lettuce and take two steps to your left so you are looking at two heads of lettuce. | STEP 6: Take the head of lettuce to the right of the other head of lettuce. | STEP 7: Walk back to where you put the first head of lettuce. | STEP 8: Put this head of lettuce in the sink as well please. | END" ]
[ [ "STEP 1: Turn around and take a step to your right then walk to the counter. ", " STEP 2: Pick up the head of lettuce that's on the table. ", " STEP 3: Turn right and walk to the sink then take a step left. ", " STEP 4: Put the lettuce in the sink. ", " STEP 5: Go back to where you got the lettuce and take two steps to your left so you are looking at two heads of lettuce. ", " STEP 6: Take the head of lettuce to the right of the other head of lettuce. ", " STEP 7: Walk back to where you put the first head of lettuce. ", " STEP 8: Put this head of lettuce in the sink as well please. ", " END" ] ]
seen
trial_T20190907_205906_226110-2
To move two heads of lettuce from the table to the sink.
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Drawer", " -2.323", " 0.696", " 0.413", " 0", " 0", " 0", "" ], [ "64", " StoveKnob", " -0.064", " 1.090", " 4.632", " 0", " 0", " 73.865", "" ], [ "65", " StoveKnob", " -0.064", " 1.090", " 4.782", " 0", " 0", " 73.865", "" ], [ "66", " StoveKnob", " -0.064", " 1.090", " 4.382", " 0", " 0", " 73.865", "" ], [ "67", " StoveKnob", " -0.064", " 1.090", " 4.222", " 0", " 0", " 73.865", "" ], [ "68", " Toaster", " -0.286", " 0.861", " 3.520", " 0", " 270", " 0", "" ], [ "69", " GarbageCan", " -2.816", " -0.014", " 0.370", " 358.702", " 26.614", " 2.400", "" ], [ "70", " LightSwitch", " -0.064", " 1.447", " 1.996", " 0", " 270", " 0", "" ], [ "71", " Window", " -3.075", " 1.593", " 1.361", " 90", " 90", " 0", "" ], [ "72", " Fridge", " -2.802", " 0.0", " 4.427", " 0", " 0", " 0", "" ], [ "73", " SinkBasin", " -1.106", " 0.785", " 0.337", " 0", " 0", " 0", "" ], [ "74", " Microwave", " -0.358", " 0.917", " 0.224", " 0", " 0", " 0", "" ], [ "75", " CoffeeMachine", " -2.938", " 0.925", " 3.605", " 0", " 90", " 0", "" ], [ "76", " DiningTable", " -2.733", " -0.003", " 2.607", " 0", " 270", " 0", "" ], [ "77", " Faucet", " -1.077", " 0.920", " 0.028", " 270", " 270", " 0", "" ], [ "78", " DiningTable", " -0.488", " -0.003", " 3.182", " 0", " 270", " 0", "" ], [ "79", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "80", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "81", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "82", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.25 0.901 2.75 0 270 0 1 Pan -0.254 0.928 4.672 0 0 0 57 2 Pan -0.535 0.928 4.274 0 0 0 59 3 Potato -2.892 0.926 2.706 0 0 0 76 4 DishSponge -1.637 0.927 0.518 0 0 0 55 5 DishSponge -0.272 0.661 0.464 0 0 0 44 6 ButterKnife -2.789 0.900 2.045 0 0 0 76 7 ButterKnife -2.269 0.662 0.355 0 0 0 63 8 Spatula -0.164 0.677 0.519 0 270 0 44 9 Fork -2.628 0.936 3.766 0 0 0 62 10 Egg -1.007 0.832 0.502 0 0 0 73 11 Cup -2.170 0.927 0.433 0 0 0 55 12 Cup -1.266 0.795 0.281 0 0 0 73 13 Knife -0.487 0.688 0.464 0 270 0 44 14 Knife -2.785 0.961 3.209 0 0 0 62 15 Tomato -2.722 0.696 4.427 0 90 0 72 16 Bowl -2.892 0.897 2.309 0 0 0 76 17 Bowl -0.359 1.770 0.114 0 0 0 54 18 PepperShaker -1.824 0.658 0.519 0 0 0 58 19 Bread -2.785 0.356 4.501 0 90 0 72 20 Lettuce -0.657 0.980 2.329 0 0 0 78 21 Lettuce -0.657 0.980 3.334 0 0 0 78 22 Mug -1.266 0.790 0.447 0 0 0 73 23 Egg -1.085 0.961 0.641 0 0 0 55 24 Plate -1.193 1.777 0.251 0 0 0 52 25 Fork -2.628 0.936 3.488 0 90 0 62 26 Bread -0.400 0.957 2.329 0 0 0 78 27 Apple -2.816 0.110 0.453 0 26.101 0 69 28 Lettuce -0.657 0.980 3.133 0 0 0 78 29 Spatula -2.583 0.915 2.177 0 0 0 76 30 Knife -2.037 0.953 0.602 0 0 0 55 31 Potato -2.892 0.926 2.573 0 0 0 76 32 Tomato -0.228 0.964 2.932 0 0 0 78 33 Cup -2.805 0.632 4.649 0 90 0 72 34 SaltShaker -2.480 0.896 2.706 0 0 0 76 35 PepperShaker -1.716 0.658 0.519 0 0 0 58 36 ButterKnife -2.210 0.916 0.619 0 0 0 55 37 SoapBottle -2.583 0.900 2.706 0 0 0 76 38 Pan -0.314 0.900 3.133 0 180 0 78 39 DishSponge -1.414 1.773 0.160 0 0 0 52 40 Pot -2.476 0.889 2.050 0 0 0 76 41 Spoon -2.706 0.936 3.395 0 180 0 62 42 Mug -2.778 1.001 3.714 0 90 0 75 43 Bowl -2.847 1.182 4.501 0 90 0 72 44 Drawer -0.325 0.696 0.413 0 0 0 45 Cabinet -0.595 0.490 0.648 0 0 0 46 Cabinet -0.555 0.490 0.646 0 0 0 47 Cabinet -1.591 0.490 0.646 0 0 0 48 Cabinet -1.554 0.490 0.646 0 0 0 49 Cabinet -2.550 0.490 0.646 0 0 0 50 Cabinet -1.514 2.046 0.392 0 0 0 51 Cabinet -2.474 2.046 0.392 0 0 0 52 Cabinet -1.478 2.046 0.392 0 0 0 53 Cabinet -0.518 2.046 0.392 0 0 0 54 Cabinet -0.479 2.046 0.392 0 0 0 55 CounterTop -1.366 0.952 0.349 0 0 0 56 Sink -1.108 0.926 0.340 0 0 0 57 StoveBurner -0.254 0.922 4.672 0 0 0 58 Drawer -1.824 0.696 0.413 0 0 0 59 StoveBurner -0.535 0.922 4.274 0 0 0 60 StoveBurner -0.254 0.922 4.274 0 0 0 61 StoveBurner -0.536 0.922 4.672 0 0 0 62 CounterTop -2.780 0.971 3.487 0 0 0 63 Drawer -2.323 0.696 0.413 0 0 0 64 StoveKnob -0.064 1.090 4.632 0 0 73.865 65 StoveKnob -0.064 1.090 4.782 0 0 73.865 66 StoveKnob -0.064 1.090 4.382 0 0 73.865 67 StoveKnob -0.064 1.090 4.222 0 0 73.865 68 Toaster -0.286 0.861 3.520 0 270 0 69 GarbageCan -2.816 -0.014 0.370 358.702 26.614 2.400 70 LightSwitch -0.064 1.447 1.996 0 270 0 71 Window -3.075 1.593 1.361 90 90 0 72 Fridge -2.802 0.0 4.427 0 0 0 73 SinkBasin -1.106 0.785 0.337 0 0 0 74 Microwave -0.358 0.917 0.224 0 0 0 75 CoffeeMachine -2.938 0.925 3.605 0 90 0 76 DiningTable -2.733 -0.003 2.607 0 270 0 77 Faucet -1.077 0.920 0.028 270 270 0 78 DiningTable -0.488 -0.003 3.182 0 270 0 79 NorthWall 80 EastWall 81 SouthWall 82 WestWall
[ "STEP 1: Turn around and face the head of lettuce and loaf of bread on the white table. | STEP 2: Pick up the head of lettuce in front of the loaf of bread. | STEP 3: Turn right and walk to the sink. | STEP 4: Place the head of lettuce in the sink. | STEP 5: Turn around, walk back to the white table, and face the two heads of lettuce and toaster. | STEP 6: Pick up the head of lettuce on the right side. | STEP 7: Turn right and walk back to the sink. | STEP 8: Place the second head of lettuce to the right of the fist head of lettuce in the sink. | END" ]
[ [ "STEP 1: Turn around and face the head of lettuce and loaf of bread on the white table. ", " STEP 2: Pick up the head of lettuce in front of the loaf of bread. ", " STEP 3: Turn right and walk to the sink. ", " STEP 4: Place the head of lettuce in the sink. ", " STEP 5: Turn around, walk back to the white table, and face the two heads of lettuce and toaster. ", " STEP 6: Pick up the head of lettuce on the right side. ", " STEP 7: Turn right and walk back to the sink. ", " STEP 8: Place the second head of lettuce to the right of the fist head of lettuce in the sink. ", " END" ] ]
seen
trial_T20190909_151623_379326-0
fill a kettle with water to put 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 -0.75 1.124 -0.5 0 90 0 1 Potato -1.610 0.319 2.110 0 270 0 65 2 WineBottle -1.602 0.344 -1.763 0 0 0 46 3 WineBottle -1.094 1.323 -3.314 0 0 0 50 4 Fork 1.023 0.953 0.983 0 90 0 73 5 Pot -0.239 1.331 -3.301 0 180 0 45 6 Pot 1.155 1.329 -2.053 0 0 0 50 7 Cup 1.276 1.205 1.238 0 0 0 75 8 Plate -1.750 0.344 1.110 0 0 0 51 9 Knife -1.790 1.352 1.419 0 0 0 50 10 Knife -1.660 1.352 -2.201 0 0 0 50 11 Tomato 1.027 1.241 1.254 0 0 0 75 12 Tomato 0.920 1.558 1.786 0 270 0 63 13 Bowl -1.614 0.342 0.412 0 0 0 48 14 Bowl 1.017 1.755 2.289 0 270 0 63 15 SaltShaker -1.165 1.318 -3.092 0 0 0 50 16 SaltShaker 0.976 0.339 -1.854 0 180 0 49 17 PepperShaker -1.665 0.338 -1.963 0 0 0 46 18 Bread 0.563 1.397 -3.232 0 0 0 50 19 Lettuce 0.563 1.399 -2.789 0 0 0 50 20 Apple 1.095 1.724 1.604 0 270 0 63 21 Apple -1.401 1.371 -2.201 0 0 0 50 22 Bread -2.049 1.397 -2.721 0 0 0 50 23 Pot -0.125 1.332 -2.973 0 0 0 58 24 Knife 0.715 1.317 -2.202 90 27.324 0 50 25 Bowl -1.681 0.342 0.211 0 0 0 48 26 Potato 1.072 1.564 1.662 0 270 0 63 27 SoapBottle -1.657 0.280 2.234 0 270 0 65 28 Fork -1.530 1.323 0.445 0 0 0 50 29 Cup 1.213 1.307 1.016 0 270 0 75 30 Kettle -1.451 1.324 -2.760 0 0 0 50 31 Egg -2.049 1.363 -1.681 0 0 0 50 32 Pan -0.749 1.332 -2.973 0 0 0 53 33 SaltShaker -1.727 0.338 -2.162 0 0 0 46 34 WineBottle -1.530 1.323 -2.981 0 0 0 50 35 Lettuce -1.891 1.400 -1.072 1.383 0 355.703 57 36 Spatula -2.179 1.337 -2.721 0 90 0 50 37 PaperTowelRoll -1.401 1.427 2.069 0 0 0 50 38 Tomato -2.179 1.356 0.445 0 0 0 50 39 Plate 1.053 0.345 -2.267 0 180 0 49 40 PepperShaker -2.179 1.318 0.770 0 0 0 50 41 DishSponge 1.053 0.344 -1.751 0 180 0 49 42 Spoon -1.920 1.324 0.770 0 0 0 50 43 Apple 0.861 1.256 1.238 0 0 0 75 44 Mug -2.179 1.318 -2.201 0 0 0 50 45 StoveBurner -0.239 1.325 -3.301 0 180 0 46 Cabinet -1.461 0.775 -2.002 0 0 0 47 StoveBurner -0.630 1.325 -3.301 0 180 0 48 Cabinet -1.461 0.775 0.470 0 0 0 49 Cabinet 0.578 0.776 -2.054 0 0 0 50 CounterTop -1.809 1.358 1.182 0 0 0 51 Cabinet -1.461 0.775 1.310 0 0 0 52 Faucet -2.063 1.362 -0.726 0 39.391 0 53 StoveBurner -0.749 1.325 -2.973 0 0 0 54 Drawer -1.610 0.681 -0.430 0 0 0 55 Window -2.566 1.799 -0.822 270 0 0 56 Drawer -1.610 0.681 -1.217 0 0 0 57 Sink -1.990 1.143 -0.975 0 0 0 58 StoveBurner -0.125 1.325 -2.973 0 0 0 59 StoveKnob -0.185 1.338 -2.741 0 270 180 60 StoveKnob -0.336 1.338 -2.741 0 270 180 61 StoveKnob -0.569 1.338 -2.741 0 270 180 62 StoveKnob -0.707 1.338 -2.741 0 270 180 63 Fridge 1.013 0.227 1.917 0 270 0 64 Microwave 0.994 1.310 -2.163 0 270 0 65 GarbageCan -1.633 0.212 2.192 0 270 0 66 LightSwitch 1.386 1.565 -0.657 0 270 0 67 HousePlant -2.027 1.311 -0.026 0 284.058 0 68 SinkBasin -1.835 1.039 -0.542 0 0 0 69 ButterKnife 0.873 0.468 0.651 0 0 0 70 Toaster -1.885 1.310 -2.512 0 90 0 71 CoffeeMachine 1.129 1.310 -1.426 0 270 0 72 Drawer 0.647 1.061 0.680 0 270 0 73 Drawer 0.648 1.061 1.020 0 270 0 74 Drawer 0.648 0.843 1.020 0 270 0 75 SideTable 0.975 0.220 0.869 0 270 0 76 Drawer 0.648 0.602 0.680 0 270 0 77 Drawer 0.648 0.596 1.020 0 270 0 78 Drawer 0.648 0.843 0.680 0 270 0 79 Stool 0.606 0.222 -1.084 1.233 280.489 0 80 NorthWall 81 EastWall 82 SouthWall 83 WestWall
[ "STEP 1: go to the cabinet to the right of the stove | STEP 2: pick up the tea kettle from the cabinet below on the right | STEP 3: take the kettle to the sink | STEP 4: fill the kettle with water from the sink | STEP 5: take the kettle to the bottom cabinet to the left of the sink | STEP 6: put the kettle in the cabinet | END" ]
[ [ "STEP 1: go to the cabinet to the right of the stove ", " STEP 2: pick up the tea kettle from the cabinet below on the right ", " STEP 3: take the kettle to the sink ", " STEP 4: fill the kettle with water from the sink ", " STEP 5: take the kettle to the bottom cabinet to the left of the sink ", " STEP 6: put the kettle in the cabinet ", " END" ] ]
seen
trial_T20190909_151623_379326-1
Place a rinsed tea kettle 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 1.124 -0.5 0 90 0 1 Potato -1.610 0.319 2.110 0 270 0 65 2 WineBottle -1.602 0.344 -1.763 0 0 0 46 3 WineBottle -1.094 1.323 -3.314 0 0 0 50 4 Fork 1.023 0.953 0.983 0 90 0 73 5 Pot -0.239 1.331 -3.301 0 180 0 45 6 Pot 1.155 1.329 -2.053 0 0 0 50 7 Cup 1.276 1.205 1.238 0 0 0 75 8 Plate -1.750 0.344 1.110 0 0 0 51 9 Knife -1.790 1.352 1.419 0 0 0 50 10 Knife -1.660 1.352 -2.201 0 0 0 50 11 Tomato 1.027 1.241 1.254 0 0 0 75 12 Tomato 0.920 1.558 1.786 0 270 0 63 13 Bowl -1.614 0.342 0.412 0 0 0 48 14 Bowl 1.017 1.755 2.289 0 270 0 63 15 SaltShaker -1.165 1.318 -3.092 0 0 0 50 16 SaltShaker 0.976 0.339 -1.854 0 180 0 49 17 PepperShaker -1.665 0.338 -1.963 0 0 0 46 18 Bread 0.563 1.397 -3.232 0 0 0 50 19 Lettuce 0.563 1.399 -2.789 0 0 0 50 20 Apple 1.095 1.724 1.604 0 270 0 63 21 Apple -1.401 1.371 -2.201 0 0 0 50 22 Bread -2.049 1.397 -2.721 0 0 0 50 23 Pot -0.125 1.332 -2.973 0 0 0 58 24 Knife 0.715 1.317 -2.202 90 27.324 0 50 25 Bowl -1.681 0.342 0.211 0 0 0 48 26 Potato 1.072 1.564 1.662 0 270 0 63 27 SoapBottle -1.657 0.280 2.234 0 270 0 65 28 Fork -1.530 1.323 0.445 0 0 0 50 29 Cup 1.213 1.307 1.016 0 270 0 75 30 Kettle -1.451 1.324 -2.760 0 0 0 50 31 Egg -2.049 1.363 -1.681 0 0 0 50 32 Pan -0.749 1.332 -2.973 0 0 0 53 33 SaltShaker -1.727 0.338 -2.162 0 0 0 46 34 WineBottle -1.530 1.323 -2.981 0 0 0 50 35 Lettuce -1.891 1.400 -1.072 1.383 0 355.703 57 36 Spatula -2.179 1.337 -2.721 0 90 0 50 37 PaperTowelRoll -1.401 1.427 2.069 0 0 0 50 38 Tomato -2.179 1.356 0.445 0 0 0 50 39 Plate 1.053 0.345 -2.267 0 180 0 49 40 PepperShaker -2.179 1.318 0.770 0 0 0 50 41 DishSponge 1.053 0.344 -1.751 0 180 0 49 42 Spoon -1.920 1.324 0.770 0 0 0 50 43 Apple 0.861 1.256 1.238 0 0 0 75 44 Mug -2.179 1.318 -2.201 0 0 0 50 45 StoveBurner -0.239 1.325 -3.301 0 180 0 46 Cabinet -1.461 0.775 -2.002 0 0 0 47 StoveBurner -0.630 1.325 -3.301 0 180 0 48 Cabinet -1.461 0.775 0.470 0 0 0 49 Cabinet 0.578 0.776 -2.054 0 0 0 50 CounterTop -1.809 1.358 1.182 0 0 0 51 Cabinet -1.461 0.775 1.310 0 0 0 52 Faucet -2.063 1.362 -0.726 0 39.391 0 53 StoveBurner -0.749 1.325 -2.973 0 0 0 54 Drawer -1.610 0.681 -0.430 0 0 0 55 Window -2.566 1.799 -0.822 270 0 0 56 Drawer -1.610 0.681 -1.217 0 0 0 57 Sink -1.990 1.143 -0.975 0 0 0 58 StoveBurner -0.125 1.325 -2.973 0 0 0 59 StoveKnob -0.185 1.338 -2.741 0 270 180 60 StoveKnob -0.336 1.338 -2.741 0 270 180 61 StoveKnob -0.569 1.338 -2.741 0 270 180 62 StoveKnob -0.707 1.338 -2.741 0 270 180 63 Fridge 1.013 0.227 1.917 0 270 0 64 Microwave 0.994 1.310 -2.163 0 270 0 65 GarbageCan -1.633 0.212 2.192 0 270 0 66 LightSwitch 1.386 1.565 -0.657 0 270 0 67 HousePlant -2.027 1.311 -0.026 0 284.058 0 68 SinkBasin -1.835 1.039 -0.542 0 0 0 69 ButterKnife 0.873 0.468 0.651 0 0 0 70 Toaster -1.885 1.310 -2.512 0 90 0 71 CoffeeMachine 1.129 1.310 -1.426 0 270 0 72 Drawer 0.647 1.061 0.680 0 270 0 73 Drawer 0.648 1.061 1.020 0 270 0 74 Drawer 0.648 0.843 1.020 0 270 0 75 SideTable 0.975 0.220 0.869 0 270 0 76 Drawer 0.648 0.602 0.680 0 270 0 77 Drawer 0.648 0.596 1.020 0 270 0 78 Drawer 0.648 0.843 0.680 0 270 0 79 Stool 0.606 0.222 -1.084 1.233 280.489 0 80 NorthWall 81 EastWall 82 SouthWall 83 WestWall
[ "STEP 1: Turn around, hang a left at the sink and walk to the stove. | STEP 2: Pick up the tea kettle to the right of the stove on the counter. | STEP 3: Turn around and walk to the sink on the left. | STEP 4: Put the tea kettle inside the sink, rinse it for a few seconds and pick it back up. | STEP 5: Turn around and hang a right at the stove to face the cabinet under the counter. | STEP 6: Open the large cabinet on the left, put the rinsed tea kettle inside and close the door. | END" ]
[ [ "STEP 1: Turn around, hang a left at the sink and walk to the stove. ", " STEP 2: Pick up the tea kettle to the right of the stove on the counter. ", " STEP 3: Turn around and walk to the sink on the left. ", " STEP 4: Put the tea kettle inside the sink, rinse it for a few seconds and pick it back up. ", " STEP 5: Turn around and hang a right at the stove to face the cabinet under the counter. ", " STEP 6: Open the large cabinet on the left, put the rinsed tea kettle inside and close the door. ", " END" ] ]
seen
trial_T20190909_151623_379326-2
To rinse a kettle and put it in the cabinet.
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90", " 0", " 50" ], [ "37", " PaperTowelRoll", " -1.401", " 1.427", " 2.069", " 0", " 0", " 0", " 50" ], [ "38", " Tomato", " -2.179", " 1.356", " 0.445", " 0", " 0", " 0", " 50" ], [ "39", " Plate", " 1.053", " 0.345", " -2.267", " 0", " 180", " 0", " 49" ], [ "40", " PepperShaker", " -2.179", " 1.318", " 0.770", " 0", " 0", " 0", " 50" ], [ "41", " DishSponge", " 1.053", " 0.344", " -1.751", " 0", " 180", " 0", " 49" ], [ "42", " Spoon", " -1.920", " 1.324", " 0.770", " 0", " 0", " 0", " 50" ], [ "43", " Apple", " 0.861", " 1.256", " 1.238", " 0", " 0", " 0", " 75" ], [ "44", " Mug", " -2.179", " 1.318", " -2.201", " 0", " 0", " 0", " 50" ], [ "45", " StoveBurner", " -0.239", " 1.325", " -3.301", " 0", " 180", " 0", "" ], [ "46", " Cabinet", " -1.461", " 0.775", " -2.002", " 0", " 0", " 0", "" ], [ "47", " StoveBurner", " -0.630", " 1.325", " -3.301", " 0", " 180", " 0", "" ], [ "48", " Cabinet", " -1.461", " 0.775", " 0.470", " 0", " 0", " 0", "" ], [ "49", " Cabinet", " 0.578", " 0.776", " -2.054", " 0", " 0", " 0", "" ], [ "50", " CounterTop", " -1.809", " 1.358", " 1.182", " 0", " 0", " 0", "" ], [ "51", " Cabinet", " -1.461", " 0.775", " 1.310", " 0", " 0", " 0", "" ], [ "52", " Faucet", " -2.063", " 1.362", " -0.726", " 0", " 39.391", " 0", "" ], [ "53", " StoveBurner", " -0.749", " 1.325", " -2.973", " 0", " 0", " 0", "" ], [ "54", " Drawer", " -1.610", " 0.681", " -0.430", " 0", " 0", " 0", "" ], [ "55", " Window", " -2.566", " 1.799", " -0.822", " 270", " 0", " 0", "" ], [ "56", " Drawer", " -1.610", " 0.681", " -1.217", " 0", " 0", " 0", "" ], [ "57", " Sink", " -1.990", " 1.143", " -0.975", " 0", " 0", " 0", "" ], [ "58", " StoveBurner", " -0.125", " 1.325", " -2.973", " 0", " 0", " 0", "" ], [ "59", " StoveKnob", " -0.185", " 1.338", " -2.741", " 0", " 270", " 180", "" ], [ "60", " StoveKnob", " -0.336", " 1.338", " -2.741", " 0", " 270", " 180", "" ], [ "61", " StoveKnob", " -0.569", " 1.338", " -2.741", " 0", " 270", " 180", "" ], [ "62", " StoveKnob", " -0.707", " 1.338", " -2.741", " 0", " 270", " 180", "" ], [ "63", " Fridge", " 1.013", " 0.227", " 1.917", " 0", " 270", " 0", "" ], [ "64", " Microwave", " 0.994", " 1.310", " -2.163", " 0", " 270", " 0", "" ], [ "65", " GarbageCan", " -1.633", " 0.212", " 2.192", " 0", " 270", " 0", "" ], [ "66", " LightSwitch", " 1.386", " 1.565", " -0.657", " 0", " 270", " 0", "" ], [ "67", " HousePlant", " -2.027", " 1.311", " -0.026", " 0", " 284.058", " 0", "" ], [ "68", " SinkBasin", " -1.835", " 1.039", " -0.542", " 0", " 0", " 0", "" ], [ "69", " ButterKnife", " 0.873", " 0.468", " 0.651", " 0", " 0", " 0", "" ], [ "70", " Toaster", " -1.885", " 1.310", " -2.512", " 0", " 90", " 0", "" ], [ "71", " CoffeeMachine", " 1.129", " 1.310", " -1.426", " 0", " 270", " 0", "" ], [ "72", " Drawer", " 0.647", " 1.061", " 0.680", " 0", " 270", " 0", "" ], [ "73", " Drawer", " 0.648", " 1.061", " 1.020", " 0", " 270", " 0", "" ], [ "74", " Drawer", " 0.648", " 0.843", " 1.020", " 0", " 270", " 0", "" ], [ "75", " SideTable", " 0.975", " 0.220", " 0.869", " 0", " 270", " 0", "" ], [ "76", " Drawer", " 0.648", " 0.602", " 0.680", " 0", " 270", " 0", "" ], [ "77", " Drawer", " 0.648", " 0.596", " 1.020", " 0", " 270", " 0", "" ], [ "78", " Drawer", " 0.648", " 0.843", " 0.680", " 0", " 270", " 0", "" ], [ "79", " Stool", " 0.606", " 0.222", " -1.084", " 1.233", " 280.489", " 0", "" ], [ "80", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "81", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "82", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "83", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -0.75 1.124 -0.5 0 90 0 1 Potato -1.610 0.319 2.110 0 270 0 65 2 WineBottle -1.602 0.344 -1.763 0 0 0 46 3 WineBottle -1.094 1.323 -3.314 0 0 0 50 4 Fork 1.023 0.953 0.983 0 90 0 73 5 Pot -0.239 1.331 -3.301 0 180 0 45 6 Pot 1.155 1.329 -2.053 0 0 0 50 7 Cup 1.276 1.205 1.238 0 0 0 75 8 Plate -1.750 0.344 1.110 0 0 0 51 9 Knife -1.790 1.352 1.419 0 0 0 50 10 Knife -1.660 1.352 -2.201 0 0 0 50 11 Tomato 1.027 1.241 1.254 0 0 0 75 12 Tomato 0.920 1.558 1.786 0 270 0 63 13 Bowl -1.614 0.342 0.412 0 0 0 48 14 Bowl 1.017 1.755 2.289 0 270 0 63 15 SaltShaker -1.165 1.318 -3.092 0 0 0 50 16 SaltShaker 0.976 0.339 -1.854 0 180 0 49 17 PepperShaker -1.665 0.338 -1.963 0 0 0 46 18 Bread 0.563 1.397 -3.232 0 0 0 50 19 Lettuce 0.563 1.399 -2.789 0 0 0 50 20 Apple 1.095 1.724 1.604 0 270 0 63 21 Apple -1.401 1.371 -2.201 0 0 0 50 22 Bread -2.049 1.397 -2.721 0 0 0 50 23 Pot -0.125 1.332 -2.973 0 0 0 58 24 Knife 0.715 1.317 -2.202 90 27.324 0 50 25 Bowl -1.681 0.342 0.211 0 0 0 48 26 Potato 1.072 1.564 1.662 0 270 0 63 27 SoapBottle -1.657 0.280 2.234 0 270 0 65 28 Fork -1.530 1.323 0.445 0 0 0 50 29 Cup 1.213 1.307 1.016 0 270 0 75 30 Kettle -1.451 1.324 -2.760 0 0 0 50 31 Egg -2.049 1.363 -1.681 0 0 0 50 32 Pan -0.749 1.332 -2.973 0 0 0 53 33 SaltShaker -1.727 0.338 -2.162 0 0 0 46 34 WineBottle -1.530 1.323 -2.981 0 0 0 50 35 Lettuce -1.891 1.400 -1.072 1.383 0 355.703 57 36 Spatula -2.179 1.337 -2.721 0 90 0 50 37 PaperTowelRoll -1.401 1.427 2.069 0 0 0 50 38 Tomato -2.179 1.356 0.445 0 0 0 50 39 Plate 1.053 0.345 -2.267 0 180 0 49 40 PepperShaker -2.179 1.318 0.770 0 0 0 50 41 DishSponge 1.053 0.344 -1.751 0 180 0 49 42 Spoon -1.920 1.324 0.770 0 0 0 50 43 Apple 0.861 1.256 1.238 0 0 0 75 44 Mug -2.179 1.318 -2.201 0 0 0 50 45 StoveBurner -0.239 1.325 -3.301 0 180 0 46 Cabinet -1.461 0.775 -2.002 0 0 0 47 StoveBurner -0.630 1.325 -3.301 0 180 0 48 Cabinet -1.461 0.775 0.470 0 0 0 49 Cabinet 0.578 0.776 -2.054 0 0 0 50 CounterTop -1.809 1.358 1.182 0 0 0 51 Cabinet -1.461 0.775 1.310 0 0 0 52 Faucet -2.063 1.362 -0.726 0 39.391 0 53 StoveBurner -0.749 1.325 -2.973 0 0 0 54 Drawer -1.610 0.681 -0.430 0 0 0 55 Window -2.566 1.799 -0.822 270 0 0 56 Drawer -1.610 0.681 -1.217 0 0 0 57 Sink -1.990 1.143 -0.975 0 0 0 58 StoveBurner -0.125 1.325 -2.973 0 0 0 59 StoveKnob -0.185 1.338 -2.741 0 270 180 60 StoveKnob -0.336 1.338 -2.741 0 270 180 61 StoveKnob -0.569 1.338 -2.741 0 270 180 62 StoveKnob -0.707 1.338 -2.741 0 270 180 63 Fridge 1.013 0.227 1.917 0 270 0 64 Microwave 0.994 1.310 -2.163 0 270 0 65 GarbageCan -1.633 0.212 2.192 0 270 0 66 LightSwitch 1.386 1.565 -0.657 0 270 0 67 HousePlant -2.027 1.311 -0.026 0 284.058 0 68 SinkBasin -1.835 1.039 -0.542 0 0 0 69 ButterKnife 0.873 0.468 0.651 0 0 0 70 Toaster -1.885 1.310 -2.512 0 90 0 71 CoffeeMachine 1.129 1.310 -1.426 0 270 0 72 Drawer 0.647 1.061 0.680 0 270 0 73 Drawer 0.648 1.061 1.020 0 270 0 74 Drawer 0.648 0.843 1.020 0 270 0 75 SideTable 0.975 0.220 0.869 0 270 0 76 Drawer 0.648 0.602 0.680 0 270 0 77 Drawer 0.648 0.596 1.020 0 270 0 78 Drawer 0.648 0.843 0.680 0 270 0 79 Stool 0.606 0.222 -1.084 1.233 280.489 0 80 NorthWall 81 EastWall 82 SouthWall 83 WestWall
[ "STEP 1: Walk to the counter to the right of the stove. | STEP 2: Pick up the kettle from the counter. | STEP 3: Turn around and walk to the sink on the left. | STEP 4: Put the kettle down inside the sink, rinse off the kettle, pick it up from the sink. | STEP 5: Face the cabinet below the counter to the left of the sink. | STEP 6: Open the cabinet door, put the kettle in the cabinet, close the door. | END" ]
[ [ "STEP 1: Walk to the counter to the right of the stove. ", " STEP 2: Pick up the kettle from the counter. ", " STEP 3: Turn around and walk to the sink on the left. ", " STEP 4: Put the kettle down inside the sink, rinse off the kettle, pick it up from the sink. ", " STEP 5: Face the cabinet below the counter to the left of the sink. ", " STEP 6: Open the cabinet door, put the kettle in the cabinet, close the door. ", " END" ] ]
seen
trial_T20190906_181446_979303-0
Place a white and a gold bottle on the desk.
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[ "11", " Pillow", " -3.483", " 0.451", " 3.348", " 0", " 90", " 0", " 54" ], [ "12", " RemoteControl", " -0.379", " 0.693", " 5.503", " 0", " 315", " 0", " 45" ], [ "13", " CreditCard", " -1.102", " 0.654", " -2.074", " 0", " 0", " 0", " 51" ], [ "14", " Vase", " -4.247", " 1.656", " 0.771", " 0", " 0", " 0", " 22" ], [ "15", " Statue", " -4.223", " 1.263", " 0.399", " 0", " 0", " 0", " 20" ], [ "16", " Statue", " -1.329", " 0.665", " -2.202", " 0", " 0", " 0", " 51" ], [ "17", " Statue", " -1.948", " 0.506", " 4.122", " 0", " 0", " 0", " 64" ], [ "18", " Shelf", " -4.253", " 2.157", " 0.771", " 0", " 0", " 0", "" ], [ "19", " Painting", " -3.368", " 1.741", " -0.298", " 0", " 0", " 0", "" ], [ "20", " Shelf", " -4.253", " 1.306", " 0.771", " 0", " 0", " 0", "" ], [ "21", " Painting", " -1.756", " 1.424", " -3.595", " 0", " 0", " 0", "" ], [ "22", " Shelf", " -4.253", " 1.690", " 0.771", " 0", " 0", " 0", "" ], [ "23", " Shelf", " -4.261", " 0.833", " 0.771", " 0", " 0", " 0", "" ], [ "24", " Drawer", " 0.411", " 0.581", " 1.221", " 0", " 180", " 0", "" ], [ "25", " Drawer", " -0.000", " 0.170", " 1.221", " 0", " 180", " 0", "" ], [ "26", " Drawer", " -0.000", " 0.581", " 1.221", " 0", " 180", " 0", "" ], [ "27", " Drawer", " 0.411", " 0.375", " 1.221", " 0", " 180", " 0", "" ], [ "28", " Drawer", " 0.411", " 0.170", " 1.221", " 0", " 180", " 0", "" ], [ "29", " Drawer", " -0.000", " 0.375", " 1.221", " 0", " 180", " 0", "" ], [ "30", " Desk", " -0.352", " 0.003", " 1.371", " 0", " 180", " 0", "" ], [ "31", " FloorLamp", " 0.391", " -0.001", " 5.157", " 0", " 0", " 0", "" ], [ "32", " Window", " -2.828", " 0.470", " -0.157", " 90", " 199.328", " 0", "" ], [ "33", " Window", " -4.410", " 1.702", " 1.787", " 90", " 270", " 0", "" ], [ "34", " Window", " -3.638", " 1.702", " 6.735", " 90", " 0", " 0", "" ], [ "35", " Window", " -4.410", " 1.702", " 2.790", " 90", " 270", " 0", "" ], [ "36", " Window", " -2.827", " 1.702", " -0.157", " 90", " 199.328", " 0", "" ], [ "37", " Window", " -0.131", " 1.702", " 6.735", " 90", " 0", " 0", "" ], [ "38", " Window", " -1.013", " 1.702", " -0.154", " 90", " 159.633", " 0", "" ], [ "39", " Window", " -4.410", " 1.702", " 5.980", " 90", " 270", " 0", "" ], [ "40", " Television", " -0.153", " 1.176", " 5.790", " 0", " 225", " 0", "" ], [ "41", " GarbageCan", " 0.357", " 0.003", " 2.159", " 0", " 90", " 0", "" ], [ "42", " DeskLamp", " 0.277", " 0.735", " 1.381", " 0", " 0", " 0", "" ], [ "43", " HousePlant", " -1.819", " 0.641", " -2.011", " 0", " 315", " 0", "" ], [ "44", " LightSwitch", " -2.740", " 1.495", " -0.405", " 0", " 180", " 0", "" ], [ "45", " TVStand", " -0.118", " 0.001", " 5.874", " 0", " 45", " 0", "" ], [ "46", " Chair", " -1.353", " 0.002", " -2.872", " 0", " 349.207", " 0", "" ], [ "47", " Chair", " -2.220", " 0.002", " -1.298", " 0", " 168.118", " 0", "" ], [ "48", " Chair", " -1.515", " 0.007", " -1.331", " 358.639", " 187.454", " 0", "" ], [ "49", " Chair", " -2.189", " 0.002", " -2.835", " 0", " 2.328", " 0", "" ], [ "50", " Safe", " 0.174", " 0.001", " -0.071", " 0", " 323.940", " 0", "" ], [ "51", " DiningTable", " -1.783", " 0.003", " -2.039", " 0", " 0", " 0", "" ], [ "52", " Chair", " -0.636", " 0.010", " 0.993", " 0", " 358.396", " 0", "" ], [ "53", " Sofa", " -2.161", " 0.006", " 6.115", " 0", " 180", " 0", "" ], [ "54", " Sofa", " -3.782", " 0.006", " 4.153", " 0", " 90", " 0", "" ], [ "55", " Shelf", " -1.095", " 0.607", " 1.321", " 0", " 180", " 0", "" ], [ "56", " Shelf", " -1.267", " 0.607", " 1.321", " 0", " 180", " 0", "" ], [ "57", " Shelf", " -1.267", " 0.401", " 1.321", " 0", " 180", " 0", "" ], [ "58", " Shelf", " -1.095", " 0.196", " 1.320", " 0", " 180", " 0", "" ], [ "59", " Shelf", " -1.095", " 0.401", " 1.321", " 0", " 180", " 0", "" ], [ "60", " Shelf", " -1.267", " 0.196", " 1.320", " 0", " 180", " 0", "" ], [ "61", " ArmChair", " -2.628", " 0.009", " 2.421", " 0", " 0", " 0", "" ], [ "62", " Chair", " -0.485", " 0.010", " 4.452", " 0", " 270", " 0", "" ], [ "63", " Chair", " -0.431", " 0.010", " 3.595", " 0", " 270", " 0", "" ], [ "64", " CoffeeTable", " -1.965", " 0.000", " 4.187", " 0", " 0", " 0", "" ], [ "65", " ", " ", " ", " ", " ", " ", " ", "" ], [ "66", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "67", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "68", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "69", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -0.5 0.902 -3.0 0 180 0 1 CreditCard -2.772 0.318 2.384 0 0 0 61 2 Box -1.913 0.679 5.916 0 270 0 53 3 Box -2.011 0.945 -1.820 0 0 0 51 4 Vase -2.386 0.462 4.602 0 0 0 64 5 CellPhone -0.025 0.695 5.425 0 315 0 45 6 WateringCan -3.580 0.003 5.503 4.139 0 0 Floor|-04.41| 7 KeyChain 0.213 0.028 -0.016 0 233.940 0 65 8 Vase -2.386 0.462 4.325 0 0 0 64 9 Vase -1.965 0.457 4.464 0 0 0 64 10 Laptop -2.557 0.316 2.617 0 0 0 61 11 Pillow -3.483 0.451 3.348 0 90 0 54 12 RemoteControl -0.379 0.693 5.503 0 315 0 45 13 CreditCard -1.102 0.654 -2.074 0 0 0 51 14 Vase -4.247 1.656 0.771 0 0 0 22 15 Statue -4.223 1.263 0.399 0 0 0 20 16 Statue -1.329 0.665 -2.202 0 0 0 51 17 Statue -1.948 0.506 4.122 0 0 0 64 18 Shelf -4.253 2.157 0.771 0 0 0 19 Painting -3.368 1.741 -0.298 0 0 0 20 Shelf -4.253 1.306 0.771 0 0 0 21 Painting -1.756 1.424 -3.595 0 0 0 22 Shelf -4.253 1.690 0.771 0 0 0 23 Shelf -4.261 0.833 0.771 0 0 0 24 Drawer 0.411 0.581 1.221 0 180 0 25 Drawer -0.000 0.170 1.221 0 180 0 26 Drawer -0.000 0.581 1.221 0 180 0 27 Drawer 0.411 0.375 1.221 0 180 0 28 Drawer 0.411 0.170 1.221 0 180 0 29 Drawer -0.000 0.375 1.221 0 180 0 30 Desk -0.352 0.003 1.371 0 180 0 31 FloorLamp 0.391 -0.001 5.157 0 0 0 32 Window -2.828 0.470 -0.157 90 199.328 0 33 Window -4.410 1.702 1.787 90 270 0 34 Window -3.638 1.702 6.735 90 0 0 35 Window -4.410 1.702 2.790 90 270 0 36 Window -2.827 1.702 -0.157 90 199.328 0 37 Window -0.131 1.702 6.735 90 0 0 38 Window -1.013 1.702 -0.154 90 159.633 0 39 Window -4.410 1.702 5.980 90 270 0 40 Television -0.153 1.176 5.790 0 225 0 41 GarbageCan 0.357 0.003 2.159 0 90 0 42 DeskLamp 0.277 0.735 1.381 0 0 0 43 HousePlant -1.819 0.641 -2.011 0 315 0 44 LightSwitch -2.740 1.495 -0.405 0 180 0 45 TVStand -0.118 0.001 5.874 0 45 0 46 Chair -1.353 0.002 -2.872 0 349.207 0 47 Chair -2.220 0.002 -1.298 0 168.118 0 48 Chair -1.515 0.007 -1.331 358.639 187.454 0 49 Chair -2.189 0.002 -2.835 0 2.328 0 50 Safe 0.174 0.001 -0.071 0 323.940 0 51 DiningTable -1.783 0.003 -2.039 0 0 0 52 Chair -0.636 0.010 0.993 0 358.396 0 53 Sofa -2.161 0.006 6.115 0 180 0 54 Sofa -3.782 0.006 4.153 0 90 0 55 Shelf -1.095 0.607 1.321 0 180 0 56 Shelf -1.267 0.607 1.321 0 180 0 57 Shelf -1.267 0.401 1.321 0 180 0 58 Shelf -1.095 0.196 1.320 0 180 0 59 Shelf -1.095 0.401 1.321 0 180 0 60 Shelf -1.267 0.196 1.320 0 180 0 61 ArmChair -2.628 0.009 2.421 0 0 0 62 Chair -0.485 0.010 4.452 0 270 0 63 Chair -0.431 0.010 3.595 0 270 0 64 CoffeeTable -1.965 0.000 4.187 0 0 0 65 66 NorthWall 67 EastWall 68 SouthWall 69 WestWall
[ "STEP 1: Turn around and walk to the glass coffee table. | STEP 2: Pick up the gold bottle on the coffee table. | STEP 3: Turn to your right and walk to the desk. | STEP 4: Place the bottle on the desk on the coffee table. | STEP 5: Turn around and walk to the coffee table again. | STEP 6: Pick up the white bottle on the coffee table. | STEP 7: Walk back to the desk. | STEP 8: Place the white bottle next to the gold bottle on the desk. | END" ]
[ [ "STEP 1: Turn around and walk to the glass coffee table. ", " STEP 2: Pick up the gold bottle on the coffee table. ", " STEP 3: Turn to your right and walk to the desk. ", " STEP 4: Place the bottle on the desk on the coffee table. ", " STEP 5: Turn around and walk to the coffee table again. ", " STEP 6: Pick up the white bottle on the coffee table. ", " STEP 7: Walk back to the desk. ", " STEP 8: Place the white bottle next to the gold bottle on the desk. ", " END" ] ]
seen
trial_T20190906_181446_979303-1
Move both vases from the coffee table to the desk.
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[ "11", " Pillow", " -3.483", " 0.451", " 3.348", " 0", " 90", " 0", " 54" ], [ "12", " RemoteControl", " -0.379", " 0.693", " 5.503", " 0", " 315", " 0", " 45" ], [ "13", " CreditCard", " -1.102", " 0.654", " -2.074", " 0", " 0", " 0", " 51" ], [ "14", " Vase", " -4.247", " 1.656", " 0.771", " 0", " 0", " 0", " 22" ], [ "15", " Statue", " -4.223", " 1.263", " 0.399", " 0", " 0", " 0", " 20" ], [ "16", " Statue", " -1.329", " 0.665", " -2.202", " 0", " 0", " 0", " 51" ], [ "17", " Statue", " -1.948", " 0.506", " 4.122", " 0", " 0", " 0", " 64" ], [ "18", " Shelf", " -4.253", " 2.157", " 0.771", " 0", " 0", " 0", "" ], [ "19", " Painting", " -3.368", " 1.741", " -0.298", " 0", " 0", " 0", "" ], [ "20", " Shelf", " -4.253", " 1.306", " 0.771", " 0", " 0", " 0", "" ], [ "21", " Painting", " -1.756", " 1.424", " -3.595", " 0", " 0", " 0", "" ], [ "22", " Shelf", " -4.253", " 1.690", " 0.771", " 0", " 0", " 0", "" ], [ "23", " Shelf", " -4.261", " 0.833", " 0.771", " 0", " 0", " 0", "" ], [ "24", " Drawer", " 0.411", " 0.581", " 1.221", " 0", " 180", " 0", "" ], [ "25", " Drawer", " -0.000", " 0.170", " 1.221", " 0", " 180", " 0", "" ], [ "26", " Drawer", " -0.000", " 0.581", " 1.221", " 0", " 180", " 0", "" ], [ "27", " Drawer", " 0.411", " 0.375", " 1.221", " 0", " 180", " 0", "" ], [ "28", " Drawer", " 0.411", " 0.170", " 1.221", " 0", " 180", " 0", "" ], [ "29", " Drawer", " -0.000", " 0.375", " 1.221", " 0", " 180", " 0", "" ], [ "30", " Desk", " -0.352", " 0.003", " 1.371", " 0", " 180", " 0", "" ], [ "31", " FloorLamp", " 0.391", " -0.001", " 5.157", " 0", " 0", " 0", "" ], [ "32", " Window", " -2.828", " 0.470", " -0.157", " 90", " 199.328", " 0", "" ], [ "33", " Window", " -4.410", " 1.702", " 1.787", " 90", " 270", " 0", "" ], [ "34", " Window", " -3.638", " 1.702", " 6.735", " 90", " 0", " 0", "" ], [ "35", " Window", " -4.410", " 1.702", " 2.790", " 90", " 270", " 0", "" ], [ "36", " Window", " -2.827", " 1.702", " -0.157", " 90", " 199.328", " 0", "" ], [ "37", " Window", " -0.131", " 1.702", " 6.735", " 90", " 0", " 0", "" ], [ "38", " Window", " -1.013", " 1.702", " -0.154", " 90", " 159.633", " 0", "" ], [ "39", " Window", " -4.410", " 1.702", " 5.980", " 90", " 270", " 0", "" ], [ "40", " Television", " -0.153", " 1.176", " 5.790", " 0", " 225", " 0", "" ], [ "41", " GarbageCan", " 0.357", " 0.003", " 2.159", " 0", " 90", " 0", "" ], [ "42", " DeskLamp", " 0.277", " 0.735", " 1.381", " 0", " 0", " 0", "" ], [ "43", " HousePlant", " -1.819", " 0.641", " -2.011", " 0", " 315", " 0", "" ], [ "44", " LightSwitch", " -2.740", " 1.495", " -0.405", " 0", " 180", " 0", "" ], [ "45", " TVStand", " -0.118", " 0.001", " 5.874", " 0", " 45", " 0", "" ], [ "46", " Chair", " -1.353", " 0.002", " -2.872", " 0", " 349.207", " 0", "" ], [ "47", " Chair", " -2.220", " 0.002", " -1.298", " 0", " 168.118", " 0", "" ], [ "48", " Chair", " -1.515", " 0.007", " -1.331", " 358.639", " 187.454", " 0", "" ], [ "49", " Chair", " -2.189", " 0.002", " -2.835", " 0", " 2.328", " 0", "" ], [ "50", " Safe", " 0.174", " 0.001", " -0.071", " 0", " 323.940", " 0", "" ], [ "51", " DiningTable", " -1.783", " 0.003", " -2.039", " 0", " 0", " 0", "" ], [ "52", " Chair", " -0.636", " 0.010", " 0.993", " 0", " 358.396", " 0", "" ], [ "53", " Sofa", " -2.161", " 0.006", " 6.115", " 0", " 180", " 0", "" ], [ "54", " Sofa", " -3.782", " 0.006", " 4.153", " 0", " 90", " 0", "" ], [ "55", " Shelf", " -1.095", " 0.607", " 1.321", " 0", " 180", " 0", "" ], [ "56", " Shelf", " -1.267", " 0.607", " 1.321", " 0", " 180", " 0", "" ], [ "57", " Shelf", " -1.267", " 0.401", " 1.321", " 0", " 180", " 0", "" ], [ "58", " Shelf", " -1.095", " 0.196", " 1.320", " 0", " 180", " 0", "" ], [ "59", " Shelf", " -1.095", " 0.401", " 1.321", " 0", " 180", " 0", "" ], [ "60", " Shelf", " -1.267", " 0.196", " 1.320", " 0", " 180", " 0", "" ], [ "61", " ArmChair", " -2.628", " 0.009", " 2.421", " 0", " 0", " 0", "" ], [ "62", " Chair", " -0.485", " 0.010", " 4.452", " 0", " 270", " 0", "" ], [ "63", " Chair", " -0.431", " 0.010", " 3.595", " 0", " 270", " 0", "" ], [ "64", " CoffeeTable", " -1.965", " 0.000", " 4.187", " 0", " 0", " 0", "" ], [ "65", " ", " ", " ", " ", " ", " ", " ", "" ], [ "66", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "67", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "68", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "69", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -0.5 0.902 -3.0 0 180 0 1 CreditCard -2.772 0.318 2.384 0 0 0 61 2 Box -1.913 0.679 5.916 0 270 0 53 3 Box -2.011 0.945 -1.820 0 0 0 51 4 Vase -2.386 0.462 4.602 0 0 0 64 5 CellPhone -0.025 0.695 5.425 0 315 0 45 6 WateringCan -3.580 0.003 5.503 4.139 0 0 Floor|-04.41| 7 KeyChain 0.213 0.028 -0.016 0 233.940 0 65 8 Vase -2.386 0.462 4.325 0 0 0 64 9 Vase -1.965 0.457 4.464 0 0 0 64 10 Laptop -2.557 0.316 2.617 0 0 0 61 11 Pillow -3.483 0.451 3.348 0 90 0 54 12 RemoteControl -0.379 0.693 5.503 0 315 0 45 13 CreditCard -1.102 0.654 -2.074 0 0 0 51 14 Vase -4.247 1.656 0.771 0 0 0 22 15 Statue -4.223 1.263 0.399 0 0 0 20 16 Statue -1.329 0.665 -2.202 0 0 0 51 17 Statue -1.948 0.506 4.122 0 0 0 64 18 Shelf -4.253 2.157 0.771 0 0 0 19 Painting -3.368 1.741 -0.298 0 0 0 20 Shelf -4.253 1.306 0.771 0 0 0 21 Painting -1.756 1.424 -3.595 0 0 0 22 Shelf -4.253 1.690 0.771 0 0 0 23 Shelf -4.261 0.833 0.771 0 0 0 24 Drawer 0.411 0.581 1.221 0 180 0 25 Drawer -0.000 0.170 1.221 0 180 0 26 Drawer -0.000 0.581 1.221 0 180 0 27 Drawer 0.411 0.375 1.221 0 180 0 28 Drawer 0.411 0.170 1.221 0 180 0 29 Drawer -0.000 0.375 1.221 0 180 0 30 Desk -0.352 0.003 1.371 0 180 0 31 FloorLamp 0.391 -0.001 5.157 0 0 0 32 Window -2.828 0.470 -0.157 90 199.328 0 33 Window -4.410 1.702 1.787 90 270 0 34 Window -3.638 1.702 6.735 90 0 0 35 Window -4.410 1.702 2.790 90 270 0 36 Window -2.827 1.702 -0.157 90 199.328 0 37 Window -0.131 1.702 6.735 90 0 0 38 Window -1.013 1.702 -0.154 90 159.633 0 39 Window -4.410 1.702 5.980 90 270 0 40 Television -0.153 1.176 5.790 0 225 0 41 GarbageCan 0.357 0.003 2.159 0 90 0 42 DeskLamp 0.277 0.735 1.381 0 0 0 43 HousePlant -1.819 0.641 -2.011 0 315 0 44 LightSwitch -2.740 1.495 -0.405 0 180 0 45 TVStand -0.118 0.001 5.874 0 45 0 46 Chair -1.353 0.002 -2.872 0 349.207 0 47 Chair -2.220 0.002 -1.298 0 168.118 0 48 Chair -1.515 0.007 -1.331 358.639 187.454 0 49 Chair -2.189 0.002 -2.835 0 2.328 0 50 Safe 0.174 0.001 -0.071 0 323.940 0 51 DiningTable -1.783 0.003 -2.039 0 0 0 52 Chair -0.636 0.010 0.993 0 358.396 0 53 Sofa -2.161 0.006 6.115 0 180 0 54 Sofa -3.782 0.006 4.153 0 90 0 55 Shelf -1.095 0.607 1.321 0 180 0 56 Shelf -1.267 0.607 1.321 0 180 0 57 Shelf -1.267 0.401 1.321 0 180 0 58 Shelf -1.095 0.196 1.320 0 180 0 59 Shelf -1.095 0.401 1.321 0 180 0 60 Shelf -1.267 0.196 1.320 0 180 0 61 ArmChair -2.628 0.009 2.421 0 0 0 62 Chair -0.485 0.010 4.452 0 270 0 63 Chair -0.431 0.010 3.595 0 270 0 64 CoffeeTable -1.965 0.000 4.187 0 0 0 65 66 NorthWall 67 EastWall 68 SouthWall 69 WestWall
[ "STEP 1: Turn around and go through the doorway into the living room. Move toward the glass coffee table. | STEP 2: Grab the gold vase off of the coffee table. | STEP 3: Move right, then left, then forward, then right again and move towards the black desk. | STEP 4: Place the gold vase onto to the black desk. | STEP 5: Move right, then left, then right again and move towards the glass coffee table. | STEP 6: Pick up the white vase off of the coffee table. | STEP 7: Move right, then left, then forward, then right again and move towards the black desk. | STEP 8: Place the white vase onto the black desk. | END" ]
[ [ "STEP 1: Turn around and go through the doorway into the living room. Move toward the glass coffee table. ", " STEP 2: Grab the gold vase off of the coffee table. ", " STEP 3: Move right, then left, then forward, then right again and move towards the black desk. ", " STEP 4: Place the gold vase onto to the black desk. ", " STEP 5: Move right, then left, then right again and move towards the glass coffee table. ", " STEP 6: Pick up the white vase off of the coffee table. ", " STEP 7: Move right, then left, then forward, then right again and move towards the black desk. ", " STEP 8: Place the white vase onto the black desk. ", " END" ] ]
seen
trial_T20190906_181446_979303-2
Move a two vases from the coffee table to the desk
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" 0", " 2.328", " 0", "" ], [ "50", " Safe", " 0.174", " 0.001", " -0.071", " 0", " 323.940", " 0", "" ], [ "51", " DiningTable", " -1.783", " 0.003", " -2.039", " 0", " 0", " 0", "" ], [ "52", " Chair", " -0.636", " 0.010", " 0.993", " 0", " 358.396", " 0", "" ], [ "53", " Sofa", " -2.161", " 0.006", " 6.115", " 0", " 180", " 0", "" ], [ "54", " Sofa", " -3.782", " 0.006", " 4.153", " 0", " 90", " 0", "" ], [ "55", " Shelf", " -1.095", " 0.607", " 1.321", " 0", " 180", " 0", "" ], [ "56", " Shelf", " -1.267", " 0.607", " 1.321", " 0", " 180", " 0", "" ], [ "57", " Shelf", " -1.267", " 0.401", " 1.321", " 0", " 180", " 0", "" ], [ "58", " Shelf", " -1.095", " 0.196", " 1.320", " 0", " 180", " 0", "" ], [ "59", " Shelf", " -1.095", " 0.401", " 1.321", " 0", " 180", " 0", "" ], [ "60", " Shelf", " -1.267", " 0.196", " 1.320", " 0", " 180", " 0", "" ], [ "61", " ArmChair", " -2.628", " 0.009", " 2.421", " 0", " 0", " 0", "" ], [ "62", " Chair", " -0.485", " 0.010", " 4.452", " 0", " 270", " 0", "" ], [ "63", " Chair", " -0.431", " 0.010", " 3.595", " 0", " 270", " 0", "" ], [ "64", " CoffeeTable", " -1.965", " 0.000", " 4.187", " 0", " 0", " 0", "" ], [ "65", " ", " ", " ", " ", " ", " ", " ", "" ], [ "66", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "67", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "68", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "69", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -0.5 0.902 -3.0 0 180 0 1 CreditCard -2.772 0.318 2.384 0 0 0 61 2 Box -1.913 0.679 5.916 0 270 0 53 3 Box -2.011 0.945 -1.820 0 0 0 51 4 Vase -2.386 0.462 4.602 0 0 0 64 5 CellPhone -0.025 0.695 5.425 0 315 0 45 6 WateringCan -3.580 0.003 5.503 4.139 0 0 Floor|-04.41| 7 KeyChain 0.213 0.028 -0.016 0 233.940 0 65 8 Vase -2.386 0.462 4.325 0 0 0 64 9 Vase -1.965 0.457 4.464 0 0 0 64 10 Laptop -2.557 0.316 2.617 0 0 0 61 11 Pillow -3.483 0.451 3.348 0 90 0 54 12 RemoteControl -0.379 0.693 5.503 0 315 0 45 13 CreditCard -1.102 0.654 -2.074 0 0 0 51 14 Vase -4.247 1.656 0.771 0 0 0 22 15 Statue -4.223 1.263 0.399 0 0 0 20 16 Statue -1.329 0.665 -2.202 0 0 0 51 17 Statue -1.948 0.506 4.122 0 0 0 64 18 Shelf -4.253 2.157 0.771 0 0 0 19 Painting -3.368 1.741 -0.298 0 0 0 20 Shelf -4.253 1.306 0.771 0 0 0 21 Painting -1.756 1.424 -3.595 0 0 0 22 Shelf -4.253 1.690 0.771 0 0 0 23 Shelf -4.261 0.833 0.771 0 0 0 24 Drawer 0.411 0.581 1.221 0 180 0 25 Drawer -0.000 0.170 1.221 0 180 0 26 Drawer -0.000 0.581 1.221 0 180 0 27 Drawer 0.411 0.375 1.221 0 180 0 28 Drawer 0.411 0.170 1.221 0 180 0 29 Drawer -0.000 0.375 1.221 0 180 0 30 Desk -0.352 0.003 1.371 0 180 0 31 FloorLamp 0.391 -0.001 5.157 0 0 0 32 Window -2.828 0.470 -0.157 90 199.328 0 33 Window -4.410 1.702 1.787 90 270 0 34 Window -3.638 1.702 6.735 90 0 0 35 Window -4.410 1.702 2.790 90 270 0 36 Window -2.827 1.702 -0.157 90 199.328 0 37 Window -0.131 1.702 6.735 90 0 0 38 Window -1.013 1.702 -0.154 90 159.633 0 39 Window -4.410 1.702 5.980 90 270 0 40 Television -0.153 1.176 5.790 0 225 0 41 GarbageCan 0.357 0.003 2.159 0 90 0 42 DeskLamp 0.277 0.735 1.381 0 0 0 43 HousePlant -1.819 0.641 -2.011 0 315 0 44 LightSwitch -2.740 1.495 -0.405 0 180 0 45 TVStand -0.118 0.001 5.874 0 45 0 46 Chair -1.353 0.002 -2.872 0 349.207 0 47 Chair -2.220 0.002 -1.298 0 168.118 0 48 Chair -1.515 0.007 -1.331 358.639 187.454 0 49 Chair -2.189 0.002 -2.835 0 2.328 0 50 Safe 0.174 0.001 -0.071 0 323.940 0 51 DiningTable -1.783 0.003 -2.039 0 0 0 52 Chair -0.636 0.010 0.993 0 358.396 0 53 Sofa -2.161 0.006 6.115 0 180 0 54 Sofa -3.782 0.006 4.153 0 90 0 55 Shelf -1.095 0.607 1.321 0 180 0 56 Shelf -1.267 0.607 1.321 0 180 0 57 Shelf -1.267 0.401 1.321 0 180 0 58 Shelf -1.095 0.196 1.320 0 180 0 59 Shelf -1.095 0.401 1.321 0 180 0 60 Shelf -1.267 0.196 1.320 0 180 0 61 ArmChair -2.628 0.009 2.421 0 0 0 62 Chair -0.485 0.010 4.452 0 270 0 63 Chair -0.431 0.010 3.595 0 270 0 64 CoffeeTable -1.965 0.000 4.187 0 0 0 65 66 NorthWall 67 EastWall 68 SouthWall 69 WestWall
[ "STEP 1: turn around to the left and walk through the doorway to the glass coffee table | STEP 2: pick up the yellow vase on the left | STEP 3: go to the desk to your left | STEP 4: place the vase on the desk directly opposite of the desk chair | STEP 5: turn around and go to the glass coffee table | STEP 6: pick up the white vase on the coffee table | STEP 7: go to the desk on your left | STEP 8: place white vase to the left next to yellow vase | END" ]
[ [ "STEP 1: turn around to the left and walk through the doorway to the glass coffee table ", " STEP 2: pick up the yellow vase on the left ", " STEP 3: go to the desk to your left ", " STEP 4: place the vase on the desk directly opposite of the desk chair ", " STEP 5: turn around and go to the glass coffee table ", " STEP 6: pick up the white vase on the coffee table ", " STEP 7: go to the desk on your left ", " STEP 8: place white vase to the left next to yellow vase ", " END" ] ]
seen
trial_T20190906_181446_979303-3
Place two bottles on a desk.
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"24", " Drawer", " 0.411", " 0.581", " 1.221", " 0", " 180", " 0", "" ], [ "25", " Drawer", " -0.000", " 0.170", " 1.221", " 0", " 180", " 0", "" ], [ "26", " Drawer", " -0.000", " 0.581", " 1.221", " 0", " 180", " 0", "" ], [ "27", " Drawer", " 0.411", " 0.375", " 1.221", " 0", " 180", " 0", "" ], [ "28", " Drawer", " 0.411", " 0.170", " 1.221", " 0", " 180", " 0", "" ], [ "29", " Drawer", " -0.000", " 0.375", " 1.221", " 0", " 180", " 0", "" ], [ "30", " Desk", " -0.352", " 0.003", " 1.371", " 0", " 180", " 0", "" ], [ "31", " FloorLamp", " 0.391", " -0.001", " 5.157", " 0", " 0", " 0", "" ], [ "32", " Window", " -2.828", " 0.470", " -0.157", " 90", " 199.328", " 0", "" ], [ "33", " Window", " -4.410", " 1.702", " 1.787", " 90", " 270", " 0", "" ], [ "34", " Window", " -3.638", " 1.702", " 6.735", " 90", " 0", " 0", "" ], [ "35", " Window", " -4.410", " 1.702", " 2.790", " 90", " 270", " 0", "" ], [ "36", " Window", " -2.827", " 1.702", " -0.157", " 90", " 199.328", " 0", "" ], [ "37", " Window", " -0.131", " 1.702", " 6.735", " 90", " 0", " 0", "" ], [ "38", " Window", " -1.013", " 1.702", " -0.154", " 90", " 159.633", " 0", "" ], [ "39", " Window", " -4.410", " 1.702", " 5.980", " 90", " 270", " 0", "" ], [ "40", " Television", " -0.153", " 1.176", " 5.790", " 0", " 225", " 0", "" ], [ "41", " GarbageCan", " 0.357", " 0.003", " 2.159", " 0", " 90", " 0", "" ], [ "42", " DeskLamp", " 0.277", " 0.735", " 1.381", " 0", " 0", " 0", "" ], [ "43", " HousePlant", " -1.819", " 0.641", " -2.011", " 0", " 315", " 0", "" ], [ "44", " LightSwitch", " -2.740", " 1.495", " -0.405", " 0", " 180", " 0", "" ], [ "45", " TVStand", " -0.118", " 0.001", " 5.874", " 0", " 45", " 0", "" ], [ "46", " Chair", " -1.353", " 0.002", " -2.872", " 0", " 349.207", " 0", "" ], [ "47", " Chair", " -2.220", " 0.002", " -1.298", " 0", " 168.118", " 0", "" ], [ "48", " Chair", " -1.515", " 0.007", " -1.331", " 358.639", " 187.454", " 0", "" ], [ "49", " Chair", " -2.189", " 0.002", " -2.835", " 0", " 2.328", " 0", "" ], [ "50", " Safe", " 0.174", " 0.001", " -0.071", " 0", " 323.940", " 0", "" ], [ "51", " DiningTable", " -1.783", " 0.003", " -2.039", " 0", " 0", " 0", "" ], [ "52", " Chair", " -0.636", " 0.010", " 0.993", " 0", " 358.396", " 0", "" ], [ "53", " Sofa", " -2.161", " 0.006", " 6.115", " 0", " 180", " 0", "" ], [ "54", " Sofa", " -3.782", " 0.006", " 4.153", " 0", " 90", " 0", "" ], [ "55", " Shelf", " -1.095", " 0.607", " 1.321", " 0", " 180", " 0", "" ], [ "56", " Shelf", " -1.267", " 0.607", " 1.321", " 0", " 180", " 0", "" ], [ "57", " Shelf", " -1.267", " 0.401", " 1.321", " 0", " 180", " 0", "" ], [ "58", " Shelf", " -1.095", " 0.196", " 1.320", " 0", " 180", " 0", "" ], [ "59", " Shelf", " -1.095", " 0.401", " 1.321", " 0", " 180", " 0", "" ], [ "60", " Shelf", " -1.267", " 0.196", " 1.320", " 0", " 180", " 0", "" ], [ "61", " ArmChair", " -2.628", " 0.009", " 2.421", " 0", " 0", " 0", "" ], [ "62", " Chair", " -0.485", " 0.010", " 4.452", " 0", " 270", " 0", "" ], [ "63", " Chair", " -0.431", " 0.010", " 3.595", " 0", " 270", " 0", "" ], [ "64", " CoffeeTable", " -1.965", " 0.000", " 4.187", " 0", " 0", " 0", "" ], [ "65", " ", " ", " ", " ", " ", " ", " ", "" ], [ "66", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "67", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "68", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "69", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -0.5 0.902 -3.0 0 180 0 1 CreditCard -2.772 0.318 2.384 0 0 0 61 2 Box -1.913 0.679 5.916 0 270 0 53 3 Box -2.011 0.945 -1.820 0 0 0 51 4 Vase -2.386 0.462 4.602 0 0 0 64 5 CellPhone -0.025 0.695 5.425 0 315 0 45 6 WateringCan -3.580 0.003 5.503 4.139 0 0 Floor|-04.41| 7 KeyChain 0.213 0.028 -0.016 0 233.940 0 65 8 Vase -2.386 0.462 4.325 0 0 0 64 9 Vase -1.965 0.457 4.464 0 0 0 64 10 Laptop -2.557 0.316 2.617 0 0 0 61 11 Pillow -3.483 0.451 3.348 0 90 0 54 12 RemoteControl -0.379 0.693 5.503 0 315 0 45 13 CreditCard -1.102 0.654 -2.074 0 0 0 51 14 Vase -4.247 1.656 0.771 0 0 0 22 15 Statue -4.223 1.263 0.399 0 0 0 20 16 Statue -1.329 0.665 -2.202 0 0 0 51 17 Statue -1.948 0.506 4.122 0 0 0 64 18 Shelf -4.253 2.157 0.771 0 0 0 19 Painting -3.368 1.741 -0.298 0 0 0 20 Shelf -4.253 1.306 0.771 0 0 0 21 Painting -1.756 1.424 -3.595 0 0 0 22 Shelf -4.253 1.690 0.771 0 0 0 23 Shelf -4.261 0.833 0.771 0 0 0 24 Drawer 0.411 0.581 1.221 0 180 0 25 Drawer -0.000 0.170 1.221 0 180 0 26 Drawer -0.000 0.581 1.221 0 180 0 27 Drawer 0.411 0.375 1.221 0 180 0 28 Drawer 0.411 0.170 1.221 0 180 0 29 Drawer -0.000 0.375 1.221 0 180 0 30 Desk -0.352 0.003 1.371 0 180 0 31 FloorLamp 0.391 -0.001 5.157 0 0 0 32 Window -2.828 0.470 -0.157 90 199.328 0 33 Window -4.410 1.702 1.787 90 270 0 34 Window -3.638 1.702 6.735 90 0 0 35 Window -4.410 1.702 2.790 90 270 0 36 Window -2.827 1.702 -0.157 90 199.328 0 37 Window -0.131 1.702 6.735 90 0 0 38 Window -1.013 1.702 -0.154 90 159.633 0 39 Window -4.410 1.702 5.980 90 270 0 40 Television -0.153 1.176 5.790 0 225 0 41 GarbageCan 0.357 0.003 2.159 0 90 0 42 DeskLamp 0.277 0.735 1.381 0 0 0 43 HousePlant -1.819 0.641 -2.011 0 315 0 44 LightSwitch -2.740 1.495 -0.405 0 180 0 45 TVStand -0.118 0.001 5.874 0 45 0 46 Chair -1.353 0.002 -2.872 0 349.207 0 47 Chair -2.220 0.002 -1.298 0 168.118 0 48 Chair -1.515 0.007 -1.331 358.639 187.454 0 49 Chair -2.189 0.002 -2.835 0 2.328 0 50 Safe 0.174 0.001 -0.071 0 323.940 0 51 DiningTable -1.783 0.003 -2.039 0 0 0 52 Chair -0.636 0.010 0.993 0 358.396 0 53 Sofa -2.161 0.006 6.115 0 180 0 54 Sofa -3.782 0.006 4.153 0 90 0 55 Shelf -1.095 0.607 1.321 0 180 0 56 Shelf -1.267 0.607 1.321 0 180 0 57 Shelf -1.267 0.401 1.321 0 180 0 58 Shelf -1.095 0.196 1.320 0 180 0 59 Shelf -1.095 0.401 1.321 0 180 0 60 Shelf -1.267 0.196 1.320 0 180 0 61 ArmChair -2.628 0.009 2.421 0 0 0 62 Chair -0.485 0.010 4.452 0 270 0 63 Chair -0.431 0.010 3.595 0 270 0 64 CoffeeTable -1.965 0.000 4.187 0 0 0 65 66 NorthWall 67 EastWall 68 SouthWall 69 WestWall
[ "STEP 1: Turn around, hang a left at the wall, take a right at the table, cross the room, hang a left at the glass table, take a right at the couch and turn left to face the glass table. | STEP 2: Pick up the orange bottle from the left corner of the table. | STEP 3: Turn right, take a left at the chair and walk to the black desk on your right. | STEP 4: Put the orange bottle on the desk in the middle near the edge. | STEP 5: Turn right, take a right at the chair, turn left at the table, take a right at the couch and turn right to face the table. | STEP 6: Pick up the white bottle from the left side of the table. | STEP 7: Turn right, take a left at the chair and walk to the black desk on your right. | STEP 8: Put the white bottle to the left of the orange bottle on the desk. | END" ]
[ [ "STEP 1: Turn around, hang a left at the wall, take a right at the table, cross the room, hang a left at the glass table, take a right at the couch and turn left to face the glass table. ", " STEP 2: Pick up the orange bottle from the left corner of the table. ", " STEP 3: Turn right, take a left at the chair and walk to the black desk on your right. ", " STEP 4: Put the orange bottle on the desk in the middle near the edge. ", " STEP 5: Turn right, take a right at the chair, turn left at the table, take a right at the couch and turn right to face the table. ", " STEP 6: Pick up the white bottle from the left side of the table. ", " STEP 7: Turn right, take a left at the chair and walk to the black desk on your right. ", " STEP 8: Put the white bottle to the left of the orange bottle on the desk. ", " END" ] ]
seen
trial_T20190906_181446_979303-4
Place two glass bottles on the desk in the living room.
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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 0.902 -3.0 0 180 0 1 CreditCard -2.772 0.318 2.384 0 0 0 61 2 Box -1.913 0.679 5.916 0 270 0 53 3 Box -2.011 0.945 -1.820 0 0 0 51 4 Vase -2.386 0.462 4.602 0 0 0 64 5 CellPhone -0.025 0.695 5.425 0 315 0 45 6 WateringCan -3.580 0.003 5.503 4.139 0 0 Floor|-04.41| 7 KeyChain 0.213 0.028 -0.016 0 233.940 0 65 8 Vase -2.386 0.462 4.325 0 0 0 64 9 Vase -1.965 0.457 4.464 0 0 0 64 10 Laptop -2.557 0.316 2.617 0 0 0 61 11 Pillow -3.483 0.451 3.348 0 90 0 54 12 RemoteControl -0.379 0.693 5.503 0 315 0 45 13 CreditCard -1.102 0.654 -2.074 0 0 0 51 14 Vase -4.247 1.656 0.771 0 0 0 22 15 Statue -4.223 1.263 0.399 0 0 0 20 16 Statue -1.329 0.665 -2.202 0 0 0 51 17 Statue -1.948 0.506 4.122 0 0 0 64 18 Shelf -4.253 2.157 0.771 0 0 0 19 Painting -3.368 1.741 -0.298 0 0 0 20 Shelf -4.253 1.306 0.771 0 0 0 21 Painting -1.756 1.424 -3.595 0 0 0 22 Shelf -4.253 1.690 0.771 0 0 0 23 Shelf -4.261 0.833 0.771 0 0 0 24 Drawer 0.411 0.581 1.221 0 180 0 25 Drawer -0.000 0.170 1.221 0 180 0 26 Drawer -0.000 0.581 1.221 0 180 0 27 Drawer 0.411 0.375 1.221 0 180 0 28 Drawer 0.411 0.170 1.221 0 180 0 29 Drawer -0.000 0.375 1.221 0 180 0 30 Desk -0.352 0.003 1.371 0 180 0 31 FloorLamp 0.391 -0.001 5.157 0 0 0 32 Window -2.828 0.470 -0.157 90 199.328 0 33 Window -4.410 1.702 1.787 90 270 0 34 Window -3.638 1.702 6.735 90 0 0 35 Window -4.410 1.702 2.790 90 270 0 36 Window -2.827 1.702 -0.157 90 199.328 0 37 Window -0.131 1.702 6.735 90 0 0 38 Window -1.013 1.702 -0.154 90 159.633 0 39 Window -4.410 1.702 5.980 90 270 0 40 Television -0.153 1.176 5.790 0 225 0 41 GarbageCan 0.357 0.003 2.159 0 90 0 42 DeskLamp 0.277 0.735 1.381 0 0 0 43 HousePlant -1.819 0.641 -2.011 0 315 0 44 LightSwitch -2.740 1.495 -0.405 0 180 0 45 TVStand -0.118 0.001 5.874 0 45 0 46 Chair -1.353 0.002 -2.872 0 349.207 0 47 Chair -2.220 0.002 -1.298 0 168.118 0 48 Chair -1.515 0.007 -1.331 358.639 187.454 0 49 Chair -2.189 0.002 -2.835 0 2.328 0 50 Safe 0.174 0.001 -0.071 0 323.940 0 51 DiningTable -1.783 0.003 -2.039 0 0 0 52 Chair -0.636 0.010 0.993 0 358.396 0 53 Sofa -2.161 0.006 6.115 0 180 0 54 Sofa -3.782 0.006 4.153 0 90 0 55 Shelf -1.095 0.607 1.321 0 180 0 56 Shelf -1.267 0.607 1.321 0 180 0 57 Shelf -1.267 0.401 1.321 0 180 0 58 Shelf -1.095 0.196 1.320 0 180 0 59 Shelf -1.095 0.401 1.321 0 180 0 60 Shelf -1.267 0.196 1.320 0 180 0 61 ArmChair -2.628 0.009 2.421 0 0 0 62 Chair -0.485 0.010 4.452 0 270 0 63 Chair -0.431 0.010 3.595 0 270 0 64 CoffeeTable -1.965 0.000 4.187 0 0 0 65 66 NorthWall 67 EastWall 68 SouthWall 69 WestWall
[ "STEP 1: Turn around and go to the wall then turn left and walk until you are lined up with the glass coffee table in the living room and go to it. | STEP 2: Pick up the yellow bottle on the bottom left corner of the coffee table. | STEP 3: Turn right and walk to the chair then turn left and walk forward until you are lined up with the black desk then walk to the black desk. | STEP 4: Put the yellow bottle near the edge of the black table slightly to the right of the center. | STEP 5: Go back to where you got the first bottle. | STEP 6: Pick up the frosted glass bottle near the edge of the coffee table. | STEP 7: Walk back over to the desk where you put the yellow bottle. | STEP 8: Place the frosted bottle to the left of the yellow bottle. | END" ]
[ [ "STEP 1: Turn around and go to the wall then turn left and walk until you are lined up with the glass coffee table in the living room and go to it. ", " STEP 2: Pick up the yellow bottle on the bottom left corner of the coffee table. ", " STEP 3: Turn right and walk to the chair then turn left and walk forward until you are lined up with the black desk then walk to the black desk. ", " STEP 4: Put the yellow bottle near the edge of the black table slightly to the right of the center. ", " STEP 5: Go back to where you got the first bottle. ", " STEP 6: Pick up the frosted glass bottle near the edge of the coffee table. ", " STEP 7: Walk back over to the desk where you put the yellow bottle. ", " STEP 8: Place the frosted bottle to the left of the yellow bottle. ", " END" ] ]
seen
trial_T20190908_192915_554153-0
Heat up the coffee cup in the microwave.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.0 0.869 -2.5 0 0 0 1 DishSponge 0.149 0.900 0.929 0 270 0 62 2 DishSponge 0.149 0.900 1.187 0 270 0 62 3 ButterKnife -1.970 0.701 -1.416 0 90 0 72 4 ButterKnife 0.671 0.760 -0.061 0 0 0 35 5 Spatula -0.252 0.915 1.272 0 180 0 62 6 Fork 0.715 0.773 -0.570 0 270 0 59 7 Egg 0.824 1.195 -2.035 0 270 0 56 8 Knife 0.574 0.782 -0.252 0 90 0 35 9 Knife 0.866 0.782 0.002 0 270 0 35 10 SoapBottle -0.855 0.899 0.843 0 270 0 62 11 PepperShaker 0.949 1.460 -0.084 0 0 0 47 12 SaltShaker 0.950 0.879 -0.314 0 0 0 36 13 Apple 0.672 0.826 -0.515 0 270 0 59 14 Pot -2.097 0.930 0.785 0 0 0 38 15 Plate -0.051 0.904 1.015 0 270 0 62 16 Fork 0.721 0.665 0.387 0 0 0 41 17 SoapBottle 0.787 0.014 0.011 0 0 0 46 18 Apple 0.841 0.826 -0.735 0 270 0 59 19 Pan -1.555 0.930 1.049 0 0 0 45 20 Egg 0.601 0.701 0.508 0 0 0 41 21 Spatula -1.970 0.716 -1.524 0 0 0 72 22 Potato 0.877 0.916 -0.245 0 0 0 36 23 Cup -1.599 0.698 -3.614 0 0 0 63 24 SaltShaker -1.719 0.698 -1.416 0 0 0 72 25 PepperShaker -1.803 0.698 -0.983 0 0 0 72 26 ButterKnife 0.803 0.883 -0.176 0 0 0 36 27 DishSponge -1.261 0.051 -3.574 0 270 0 51 28 Bread -1.719 0.745 -1.199 0 0 0 72 29 Lettuce -1.084 0.973 0.955 41.443 1.761 3.081 62 30 Tomato 0.841 0.820 -0.625 0 270 0 59 31 Spoon 0.901 0.666 0.569 0 0 0 41 32 Knife -0.453 0.923 1.272 0 0 0 62 33 Mug 0.708 0.460 -2.035 0 270 0 56 34 Bowl 0.676 0.014 -0.637 0 0 0 39 35 Drawer 0.706 0.766 -0.125 0 0 0 36 CounterTop 0.792 0.919 -0.108 0 0 0 37 Mirror 1.093 1.602 -0.643 0 0 0 38 StoveBurner -2.096 0.890 0.785 0 0 0 39 Cabinet 0.507 0.345 -0.426 0 0 0 40 StoveBurner -1.552 0.890 0.785 0 0 0 41 SideTable 0.770 -0.030 0.443 0 0 0 42 Sink 0.753 0.882 -0.680 0 0 0 43 StoveBurner -2.096 0.890 1.049 0 0 0 44 GarbageBag -0.770 0.287 -3.541 270 73.521 83.489 45 StoveBurner -1.554 0.890 1.049 0 0 0 46 Cabinet 0.507 0.345 0.156 0 0 0 47 Cabinet 0.717 1.822 -0.398 0 0 0 48 Cabinet 0.717 1.822 0.669 0 0 0 49 CoffeeMachine 0.873 0.865 -1.256 0 270 0 50 Toaster -0.522 0.886 1.081 0 180 0 51 GarbageCan -1.261 -0.031 -3.610 0 270 0 52 StoveKnob -1.898 0.866 0.519 311.864 0 180 53 StoveKnob -1.754 0.866 0.519 311.864 0 180 54 StoveKnob -2.058 0.866 0.519 311.864 0 180 55 StoveKnob -1.600 0.866 0.519 311.864 0 180 56 Fridge 0.680 -0.031 -1.957 0 0 0 57 Window -2.424 1.639 -2.453 90 270 0 58 Microwave -1.994 0.690 -3.651 0 0 0 59 SinkBasin 0.757 0.762 -0.688 0 270 0 60 LightSwitch 1.102 1.368 -3.737 0 270 0 61 Shelf -0.350 0.124 0.857 0 0 0 62 DiningTable -0.350 -0.025 0.857 0 0 0 63 DiningTable -1.909 -0.032 -3.507 0 0 0 64 Blinds -2.343 2.151 -2.437 0 270 0 65 AluminumFoil 0.762 0.224 0.337 0 184.594 0 66 AluminumFoil 0.751 0.225 0.287 0 0 0 67 AluminumFoil 0.839 0.224 0.392 0 195.128 0 68 Shelf 0.771 0.226 0.445 0 0 0 69 Shelf 0.771 0.456 0.446 0 0 0 70 Faucet 1.025 0.873 -0.678 270 180 0 71 Shelf -0.350 0.497 0.857 0 0 0 72 DiningTable -1.929 -0.035 -1.398 0 90 0 73 Chair -1.610 -0.024 -1.424 358.454 297.426 0 74 NorthWall 75 EastWall 76 SouthWall 77 WestWall
[ "STEP 1: Take one step then turn to the right and walk to the fridge. | STEP 2: Open the fridge door and pick up the coffee cup that is on the shelf. | STEP 3: Turn around and walk across the room, then turn left and walk to the microwave. | STEP 4: Open the microwave and put the coffee cup inside, then close the door and turn the microwave for three seconds, then take the coffee cup out of the microwave. | STEP 5: Turn to the left and take one step, then turn to the left and take two steps, then turn to the right and walk across the room. | STEP 6: Put the coffee cup on the coffee machine. | END" ]
[ [ "STEP 1: Take one step then turn to the right and walk to the fridge. ", " STEP 2: Open the fridge door and pick up the coffee cup that is on the shelf. ", " STEP 3: Turn around and walk across the room, then turn left and walk to the microwave. ", " STEP 4: Open the microwave and put the coffee cup inside, then close the door and turn the microwave for three seconds, then take the coffee cup out of the microwave. ", " STEP 5: Turn to the left and take one step, then turn to the left and take two steps, then turn to the right and walk across the room. ", " STEP 6: Put the coffee cup on the coffee machine. ", " END" ] ]
seen
trial_T20190908_192915_554153-1
Take a warmed coffee cup and set it on the coffee machine.
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0", "" ], [ "62", " DiningTable", " -0.350", " -0.025", " 0.857", " 0", " 0", " 0", "" ], [ "63", " DiningTable", " -1.909", " -0.032", " -3.507", " 0", " 0", " 0", "" ], [ "64", " Blinds", " -2.343", " 2.151", " -2.437", " 0", " 270", " 0", "" ], [ "65", " AluminumFoil", " 0.762", " 0.224", " 0.337", " 0", " 184.594", " 0", "" ], [ "66", " AluminumFoil", " 0.751", " 0.225", " 0.287", " 0", " 0", " 0", "" ], [ "67", " AluminumFoil", " 0.839", " 0.224", " 0.392", " 0", " 195.128", " 0", "" ], [ "68", " Shelf", " 0.771", " 0.226", " 0.445", " 0", " 0", " 0", "" ], [ "69", " Shelf", " 0.771", " 0.456", " 0.446", " 0", " 0", " 0", "" ], [ "70", " Faucet", " 1.025", " 0.873", " -0.678", " 270", " 180", " 0", "" ], [ "71", " Shelf", " -0.350", " 0.497", " 0.857", " 0", " 0", " 0", "" ], [ "72", " DiningTable", " -1.929", " -0.035", " -1.398", " 0", " 90", " 0", "" ], [ "73", " Chair", " -1.610", " -0.024", " -1.424", " 358.454", " 297.426", " 0", "" ], [ "74", " NorthWall", " ", " ", " ", " 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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 0.869 -2.5 0 0 0 1 DishSponge 0.149 0.900 0.929 0 270 0 62 2 DishSponge 0.149 0.900 1.187 0 270 0 62 3 ButterKnife -1.970 0.701 -1.416 0 90 0 72 4 ButterKnife 0.671 0.760 -0.061 0 0 0 35 5 Spatula -0.252 0.915 1.272 0 180 0 62 6 Fork 0.715 0.773 -0.570 0 270 0 59 7 Egg 0.824 1.195 -2.035 0 270 0 56 8 Knife 0.574 0.782 -0.252 0 90 0 35 9 Knife 0.866 0.782 0.002 0 270 0 35 10 SoapBottle -0.855 0.899 0.843 0 270 0 62 11 PepperShaker 0.949 1.460 -0.084 0 0 0 47 12 SaltShaker 0.950 0.879 -0.314 0 0 0 36 13 Apple 0.672 0.826 -0.515 0 270 0 59 14 Pot -2.097 0.930 0.785 0 0 0 38 15 Plate -0.051 0.904 1.015 0 270 0 62 16 Fork 0.721 0.665 0.387 0 0 0 41 17 SoapBottle 0.787 0.014 0.011 0 0 0 46 18 Apple 0.841 0.826 -0.735 0 270 0 59 19 Pan -1.555 0.930 1.049 0 0 0 45 20 Egg 0.601 0.701 0.508 0 0 0 41 21 Spatula -1.970 0.716 -1.524 0 0 0 72 22 Potato 0.877 0.916 -0.245 0 0 0 36 23 Cup -1.599 0.698 -3.614 0 0 0 63 24 SaltShaker -1.719 0.698 -1.416 0 0 0 72 25 PepperShaker -1.803 0.698 -0.983 0 0 0 72 26 ButterKnife 0.803 0.883 -0.176 0 0 0 36 27 DishSponge -1.261 0.051 -3.574 0 270 0 51 28 Bread -1.719 0.745 -1.199 0 0 0 72 29 Lettuce -1.084 0.973 0.955 41.443 1.761 3.081 62 30 Tomato 0.841 0.820 -0.625 0 270 0 59 31 Spoon 0.901 0.666 0.569 0 0 0 41 32 Knife -0.453 0.923 1.272 0 0 0 62 33 Mug 0.708 0.460 -2.035 0 270 0 56 34 Bowl 0.676 0.014 -0.637 0 0 0 39 35 Drawer 0.706 0.766 -0.125 0 0 0 36 CounterTop 0.792 0.919 -0.108 0 0 0 37 Mirror 1.093 1.602 -0.643 0 0 0 38 StoveBurner -2.096 0.890 0.785 0 0 0 39 Cabinet 0.507 0.345 -0.426 0 0 0 40 StoveBurner -1.552 0.890 0.785 0 0 0 41 SideTable 0.770 -0.030 0.443 0 0 0 42 Sink 0.753 0.882 -0.680 0 0 0 43 StoveBurner -2.096 0.890 1.049 0 0 0 44 GarbageBag -0.770 0.287 -3.541 270 73.521 83.489 45 StoveBurner -1.554 0.890 1.049 0 0 0 46 Cabinet 0.507 0.345 0.156 0 0 0 47 Cabinet 0.717 1.822 -0.398 0 0 0 48 Cabinet 0.717 1.822 0.669 0 0 0 49 CoffeeMachine 0.873 0.865 -1.256 0 270 0 50 Toaster -0.522 0.886 1.081 0 180 0 51 GarbageCan -1.261 -0.031 -3.610 0 270 0 52 StoveKnob -1.898 0.866 0.519 311.864 0 180 53 StoveKnob -1.754 0.866 0.519 311.864 0 180 54 StoveKnob -2.058 0.866 0.519 311.864 0 180 55 StoveKnob -1.600 0.866 0.519 311.864 0 180 56 Fridge 0.680 -0.031 -1.957 0 0 0 57 Window -2.424 1.639 -2.453 90 270 0 58 Microwave -1.994 0.690 -3.651 0 0 0 59 SinkBasin 0.757 0.762 -0.688 0 270 0 60 LightSwitch 1.102 1.368 -3.737 0 270 0 61 Shelf -0.350 0.124 0.857 0 0 0 62 DiningTable -0.350 -0.025 0.857 0 0 0 63 DiningTable -1.909 -0.032 -3.507 0 0 0 64 Blinds -2.343 2.151 -2.437 0 270 0 65 AluminumFoil 0.762 0.224 0.337 0 184.594 0 66 AluminumFoil 0.751 0.225 0.287 0 0 0 67 AluminumFoil 0.839 0.224 0.392 0 195.128 0 68 Shelf 0.771 0.226 0.445 0 0 0 69 Shelf 0.771 0.456 0.446 0 0 0 70 Faucet 1.025 0.873 -0.678 270 180 0 71 Shelf -0.350 0.497 0.857 0 0 0 72 DiningTable -1.929 -0.035 -1.398 0 90 0 73 Chair -1.610 -0.024 -1.424 358.454 297.426 0 74 NorthWall 75 EastWall 76 SouthWall 77 WestWall
[ "STEP 1: Take two steps forward, turn right and take four steps and stop in front of the fridge. | STEP 2: Open the fridge door and pick up the coffee mug from the second shelf then shut the fridge door. | STEP 3: Turn right for two steps, turn right again and take six steps, turn left to face the microwave. | STEP 4: Open the microwave door, place the mug on the plate in the microwave, turn on the microwave for a few second, open the door, take out the mug and shut the door again. | STEP 5: Turn left and take three steps, take another left for six steps, turn right and walk to the counter and stand in front of the coffee machine. | STEP 6: Set the coffee cup on the design on the silver metal of the coffee machine. | END" ]
[ [ "STEP 1: Take two steps forward, turn right and take four steps and stop in front of the fridge. ", " STEP 2: Open the fridge door and pick up the coffee mug from the second shelf then shut the fridge door. ", " STEP 3: Turn right for two steps, turn right again and take six steps, turn left to face the microwave. ", " STEP 4: Open the microwave door, place the mug on the plate in the microwave, turn on the microwave for a few second, open the door, take out the mug and shut the door again. ", " STEP 5: Turn left and take three steps, take another left for six steps, turn right and walk to the counter and stand in front of the coffee machine. ", " STEP 6: Set the coffee cup on the design on the silver metal of the coffee machine. ", " END" ] ]
seen
trial_T20190908_192915_554153-2
Place a heated mug on a coffee maker.
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " -1.0", " 0.869", " -2.5", " 0", " 0", " 0", "" ], [ "1", " DishSponge", " 0.149", " 0.900", " 0.929", " 0", " 270", " 0", " 62" ], [ "2", " DishSponge", " 0.149", " 0.900", " 1.187", " 0", " 270", " 0", " 62" ], [ "3", " ButterKnife", " -1.970", " 0.701", " -1.416", " 0", " 90", " 0", " 72" ], [ "4", " ButterKnife", " 0.671", " 0.760", " -0.061", " 0", " 0", " 0", " 35" ], [ "5", " Spatula", " -0.252", " 0.915", " 1.272", " 0", " 180", " 0", " 62" ], [ "6", " Fork", " 0.715", " 0.773", " -0.570", " 0", " 270", " 0", " 59" ], [ "7", " Egg", " 0.824", " 1.195", " -2.035", " 0", " 270", " 0", " 56" ], [ "8", " Knife", " 0.574", " 0.782", " -0.252", " 0", " 90", " 0", " 35" ], [ "9", " Knife", " 0.866", " 0.782", " 0.002", " 0", " 270", " 0", " 35" ], [ "10", " SoapBottle", " -0.855", " 0.899", " 0.843", " 0", " 270", " 0", " 62" ], [ "11", " PepperShaker", " 0.949", " 1.460", " -0.084", " 0", " 0", " 0", " 47" ], [ "12", " SaltShaker", " 0.950", " 0.879", " -0.314", " 0", " 0", " 0", " 36" ], [ "13", " Apple", " 0.672", " 0.826", " -0.515", " 0", " 270", " 0", " 59" ], [ "14", " Pot", " -2.097", " 0.930", " 0.785", " 0", " 0", " 0", " 38" ], [ "15", " Plate", " -0.051", " 0.904", " 1.015", " 0", " 270", " 0", " 62" ], [ "16", " Fork", " 0.721", " 0.665", " 0.387", " 0", " 0", " 0", " 41" ], [ "17", " SoapBottle", " 0.787", " 0.014", " 0.011", " 0", " 0", " 0", " 46" ], [ "18", " Apple", " 0.841", " 0.826", " -0.735", " 0", " 270", " 0", " 59" ], [ "19", " Pan", " -1.555", " 0.930", " 1.049", " 0", " 0", " 0", " 45" ], [ "20", " Egg", " 0.601", " 0.701", " 0.508", " 0", " 0", " 0", " 41" ], [ "21", " Spatula", " -1.970", " 0.716", " -1.524", " 0", " 0", " 0", " 72" ], [ "22", " Potato", " 0.877", " 0.916", " -0.245", " 0", " 0", " 0", " 36" ], [ "23", " Cup", " -1.599", " 0.698", " -3.614", " 0", " 0", " 0", " 63" ], [ "24", " SaltShaker", " -1.719", " 0.698", " -1.416", " 0", " 0", " 0", " 72" ], [ "25", " PepperShaker", " -1.803", " 0.698", " -0.983", " 0", " 0", " 0", " 72" ], [ "26", " ButterKnife", " 0.803", " 0.883", " -0.176", " 0", " 0", " 0", " 36" ], [ "27", " DishSponge", " -1.261", " 0.051", " -3.574", " 0", " 270", " 0", " 51" ], [ "28", " Bread", " -1.719", " 0.745", " -1.199", " 0", " 0", " 0", " 72" ], [ "29", " Lettuce", " -1.084", " 0.973", " 0.955", " 41.443", " 1.761", " 3.081", " 62" ], [ "30", " Tomato", " 0.841", " 0.820", " -0.625", " 0", " 270", " 0", " 59" ], [ "31", " Spoon", " 0.901", " 0.666", " 0.569", " 0", " 0", " 0", " 41" ], [ "32", " Knife", " -0.453", " 0.923", " 1.272", " 0", " 0", " 0", " 62" ], [ "33", " Mug", " 0.708", " 0.460", " -2.035", " 0", " 270", " 0", " 56" ], [ "34", " Bowl", " 0.676", " 0.014", " -0.637", " 0", " 0", " 0", " 39" ], [ "35", " Drawer", " 0.706", " 0.766", " -0.125", " 0", " 0", " 0", "" ], [ "36", " CounterTop", " 0.792", " 0.919", " -0.108", " 0", " 0", " 0", "" ], [ "37", " Mirror", " 1.093", " 1.602", " -0.643", " 0", " 0", " 0", "" ], [ "38", " StoveBurner", " -2.096", " 0.890", " 0.785", " 0", " 0", " 0", "" ], [ "39", " Cabinet", " 0.507", " 0.345", " -0.426", " 0", " 0", " 0", "" ], [ "40", " StoveBurner", " -1.552", " 0.890", " 0.785", " 0", " 0", " 0", "" ], [ "41", " SideTable", " 0.770", " -0.030", " 0.443", " 0", " 0", " 0", "" ], [ "42", " Sink", " 0.753", " 0.882", " -0.680", " 0", " 0", " 0", "" ], [ "43", " StoveBurner", " -2.096", " 0.890", " 1.049", " 0", " 0", " 0", "" ], [ "44", " GarbageBag", " -0.770", " 0.287", " -3.541", " 270", " 73.521", " 83.489", "" ], [ "45", " StoveBurner", " -1.554", " 0.890", " 1.049", " 0", " 0", " 0", "" ], [ "46", " Cabinet", " 0.507", " 0.345", " 0.156", " 0", " 0", " 0", "" ], [ "47", " Cabinet", " 0.717", " 1.822", " -0.398", " 0", " 0", " 0", "" ], [ "48", " Cabinet", " 0.717", " 1.822", " 0.669", " 0", " 0", " 0", "" ], [ "49", " CoffeeMachine", " 0.873", " 0.865", " -1.256", " 0", " 270", " 0", "" ], [ "50", " Toaster", " -0.522", " 0.886", " 1.081", " 0", " 180", " 0", "" ], [ "51", " GarbageCan", " -1.261", " -0.031", " -3.610", " 0", " 270", " 0", "" ], [ "52", " StoveKnob", " -1.898", " 0.866", " 0.519", " 311.864", " 0", " 180", "" ], [ "53", " StoveKnob", " -1.754", " 0.866", " 0.519", " 311.864", " 0", " 180", "" ], [ "54", " StoveKnob", " -2.058", " 0.866", " 0.519", " 311.864", " 0", " 180", "" ], [ "55", " StoveKnob", " -1.600", " 0.866", " 0.519", " 311.864", " 0", " 180", "" ], [ "56", " Fridge", " 0.680", " -0.031", " -1.957", " 0", " 0", " 0", "" ], [ "57", " Window", " -2.424", " 1.639", " -2.453", " 90", " 270", " 0", "" ], [ "58", " Microwave", " -1.994", " 0.690", " -3.651", " 0", " 0", " 0", "" ], [ "59", " SinkBasin", " 0.757", " 0.762", " -0.688", " 0", " 270", " 0", "" ], [ "60", " LightSwitch", " 1.102", " 1.368", " -3.737", " 0", " 270", " 0", "" ], [ "61", " Shelf", " -0.350", " 0.124", " 0.857", " 0", " 0", " 0", "" ], [ "62", " DiningTable", " -0.350", " -0.025", " 0.857", " 0", " 0", " 0", "" ], [ "63", " DiningTable", " -1.909", " -0.032", " -3.507", " 0", " 0", " 0", "" ], [ "64", " Blinds", " -2.343", " 2.151", " -2.437", " 0", " 270", " 0", "" ], [ "65", " AluminumFoil", " 0.762", " 0.224", " 0.337", " 0", " 184.594", " 0", "" ], [ "66", " AluminumFoil", " 0.751", " 0.225", " 0.287", " 0", " 0", " 0", "" ], [ "67", " AluminumFoil", " 0.839", " 0.224", " 0.392", " 0", " 195.128", " 0", "" ], [ "68", " Shelf", " 0.771", " 0.226", " 0.445", " 0", " 0", " 0", "" ], [ "69", " Shelf", " 0.771", " 0.456", " 0.446", " 0", " 0", " 0", "" ], [ "70", " Faucet", " 1.025", " 0.873", " -0.678", " 270", " 180", " 0", "" ], [ "71", " Shelf", " -0.350", " 0.497", " 0.857", " 0", " 0", " 0", "" ], [ "72", " DiningTable", " -1.929", " -0.035", " -1.398", " 0", " 90", " 0", "" ], [ "73", " Chair", " -1.610", " -0.024", " -1.424", " 358.454", " 297.426", " 0", "" ], [ "74", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "75", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "76", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "77", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.0 0.869 -2.5 0 0 0 1 DishSponge 0.149 0.900 0.929 0 270 0 62 2 DishSponge 0.149 0.900 1.187 0 270 0 62 3 ButterKnife -1.970 0.701 -1.416 0 90 0 72 4 ButterKnife 0.671 0.760 -0.061 0 0 0 35 5 Spatula -0.252 0.915 1.272 0 180 0 62 6 Fork 0.715 0.773 -0.570 0 270 0 59 7 Egg 0.824 1.195 -2.035 0 270 0 56 8 Knife 0.574 0.782 -0.252 0 90 0 35 9 Knife 0.866 0.782 0.002 0 270 0 35 10 SoapBottle -0.855 0.899 0.843 0 270 0 62 11 PepperShaker 0.949 1.460 -0.084 0 0 0 47 12 SaltShaker 0.950 0.879 -0.314 0 0 0 36 13 Apple 0.672 0.826 -0.515 0 270 0 59 14 Pot -2.097 0.930 0.785 0 0 0 38 15 Plate -0.051 0.904 1.015 0 270 0 62 16 Fork 0.721 0.665 0.387 0 0 0 41 17 SoapBottle 0.787 0.014 0.011 0 0 0 46 18 Apple 0.841 0.826 -0.735 0 270 0 59 19 Pan -1.555 0.930 1.049 0 0 0 45 20 Egg 0.601 0.701 0.508 0 0 0 41 21 Spatula -1.970 0.716 -1.524 0 0 0 72 22 Potato 0.877 0.916 -0.245 0 0 0 36 23 Cup -1.599 0.698 -3.614 0 0 0 63 24 SaltShaker -1.719 0.698 -1.416 0 0 0 72 25 PepperShaker -1.803 0.698 -0.983 0 0 0 72 26 ButterKnife 0.803 0.883 -0.176 0 0 0 36 27 DishSponge -1.261 0.051 -3.574 0 270 0 51 28 Bread -1.719 0.745 -1.199 0 0 0 72 29 Lettuce -1.084 0.973 0.955 41.443 1.761 3.081 62 30 Tomato 0.841 0.820 -0.625 0 270 0 59 31 Spoon 0.901 0.666 0.569 0 0 0 41 32 Knife -0.453 0.923 1.272 0 0 0 62 33 Mug 0.708 0.460 -2.035 0 270 0 56 34 Bowl 0.676 0.014 -0.637 0 0 0 39 35 Drawer 0.706 0.766 -0.125 0 0 0 36 CounterTop 0.792 0.919 -0.108 0 0 0 37 Mirror 1.093 1.602 -0.643 0 0 0 38 StoveBurner -2.096 0.890 0.785 0 0 0 39 Cabinet 0.507 0.345 -0.426 0 0 0 40 StoveBurner -1.552 0.890 0.785 0 0 0 41 SideTable 0.770 -0.030 0.443 0 0 0 42 Sink 0.753 0.882 -0.680 0 0 0 43 StoveBurner -2.096 0.890 1.049 0 0 0 44 GarbageBag -0.770 0.287 -3.541 270 73.521 83.489 45 StoveBurner -1.554 0.890 1.049 0 0 0 46 Cabinet 0.507 0.345 0.156 0 0 0 47 Cabinet 0.717 1.822 -0.398 0 0 0 48 Cabinet 0.717 1.822 0.669 0 0 0 49 CoffeeMachine 0.873 0.865 -1.256 0 270 0 50 Toaster -0.522 0.886 1.081 0 180 0 51 GarbageCan -1.261 -0.031 -3.610 0 270 0 52 StoveKnob -1.898 0.866 0.519 311.864 0 180 53 StoveKnob -1.754 0.866 0.519 311.864 0 180 54 StoveKnob -2.058 0.866 0.519 311.864 0 180 55 StoveKnob -1.600 0.866 0.519 311.864 0 180 56 Fridge 0.680 -0.031 -1.957 0 0 0 57 Window -2.424 1.639 -2.453 90 270 0 58 Microwave -1.994 0.690 -3.651 0 0 0 59 SinkBasin 0.757 0.762 -0.688 0 270 0 60 LightSwitch 1.102 1.368 -3.737 0 270 0 61 Shelf -0.350 0.124 0.857 0 0 0 62 DiningTable -0.350 -0.025 0.857 0 0 0 63 DiningTable -1.909 -0.032 -3.507 0 0 0 64 Blinds -2.343 2.151 -2.437 0 270 0 65 AluminumFoil 0.762 0.224 0.337 0 184.594 0 66 AluminumFoil 0.751 0.225 0.287 0 0 0 67 AluminumFoil 0.839 0.224 0.392 0 195.128 0 68 Shelf 0.771 0.226 0.445 0 0 0 69 Shelf 0.771 0.456 0.446 0 0 0 70 Faucet 1.025 0.873 -0.678 270 180 0 71 Shelf -0.350 0.497 0.857 0 0 0 72 DiningTable -1.929 -0.035 -1.398 0 90 0 73 Chair -1.610 -0.024 -1.424 358.454 297.426 0 74 NorthWall 75 EastWall 76 SouthWall 77 WestWall
[ "STEP 1: Turn right and walk to the black fridge. | STEP 2: Open the fridge, pick up the white mug from the middle shelf and close the door. | STEP 3: Turn around and walk to the microwave on the left. | STEP 4: Put the mug inside the microwave, heat it, remove it and close the door. | STEP 5: Turn around and walk to the coffee maker on the counter to the right. | STEP 6: Put the heated mug on the platform of the coffee maker. | END" ]
[ [ "STEP 1: Turn right and walk to the black fridge. ", " STEP 2: Open the fridge, pick up the white mug from the middle shelf and close the door. ", " STEP 3: Turn around and walk to the microwave on the left. ", " STEP 4: Put the mug inside the microwave, heat it, remove it and close the door. ", " STEP 5: Turn around and walk to the coffee maker on the counter to the right. ", " STEP 6: Put the heated mug on the platform of the coffee maker. ", " END" ] ]
seen
trial_T20190911_191424_759852-0
Put a box with a credit card in it, on top of the table beside the TV cabinet.
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " -4.75", " 0.901", " 0.5", " 0", " 180", " 0", "" ], [ "1", " Watch", " -3.416", " 0.068", " 6.772", " 0", " 0", " 0", " 33" ], [ "2", " Statue", " -1.169", " 0.761", " 1.274", " 0", " 0", " 0", " 44" ], [ "3", " Statue", " -1.169", " 0.761", " 1.554", " 0", " 0", " 0", " 44" ], [ "4", " KeyChain", " -2.868", " 0.068", " 6.772", " 0", " 270", " 0", " 32" ], [ "5", " KeyChain", " -2.005", " 0.842", " 6.632", " 0", " 0", " 0", " 41" ], [ "6", " CreditCard", " -2.014", " 0.755", " 1.695", " 0", " 0", " 0", " 44" ], [ "7", " CreditCard", " -4.300", " 0.483", " 5.325", " 0", " 0", " 0", " 35" ], [ "8", " RemoteControl", " -1.732", " 0.758", " 1.695", " 0", " 0", " 0", " 44" ], [ "9", " Box", " -4.300", " 0.589", " 5.556", " 0", " 180", " 0", " 35" ], [ "10", " Box", " -1.607", " 0.151", " 6.854", " 0", " 0", " 0", " 41" ], [ "11", " Statue", " -2.014", " 0.761", " 1.274", " 0", " 0", " 0", " 44" ], [ "12", " Watch", " -1.592", " 0.756", " 1.274", " 0", " 0", " 0", " 44" ], [ "13", " WateringCan", " -0.208", " -0.000", " 3.225", " 0", " 63.928", " 0", "" ], [ "14", " Laptop", " -1.683", " 0.747", " 1.489", " 0", " 338.703", " 0", " 44" ], [ "15", " CreditCard", " -2.729", " 0.440", " 3.776", " 0", " 0", " 0", " 34" ], [ "16", " KeyChain", " -2.014", " 0.756", " 1.414", " 0", " 0", " 0", " 44" ], [ "17", " Pillow", " -4.335", " 0.465", " 4.398", " 0", " 0", " 0", " 35" ], [ "18", " RemoteControl", " -1.592", " 0.758", " 0.852", " 0", " 0", " 0", " 44" ], [ "19", " Curtains", " -0.037", " 2.148", " 0.999", " 0", " 0", " 0", "" ], [ "20", " Painting", " -0.016", " 2.061", " 5.380", " 0", " 0", " 0", "" ], [ "21", " GarbageCan", " -0.256", " -0.010", " 6.799", " 0", " 0", " 0", "" ], [ "22", " FloorLamp", " -4.721", " -0.001", " 3.687", " 0", " 0", " 0", "" ], [ "23", " Television", " -3.192", " 1.184", " 6.767", " 0", " 180", " 0", "" ], [ "24", " HousePlant", " -0.173", " 0.610", " 3.994", " 0", " 0", " 0", "" ], [ "25", " LightSwitch", " -3.483", " 1.470", " 0.001", " 0", " 0", " 0", "" ], [ "26", " DeskLamp", " -0.258", " 0.611", " 3.312", " 0", " 0", " 0", "" ], [ "27", " Window", " -0.008", " 1.340", " 1.725", " 90", " 270", " 0", "" ], [ "28", " SideTable", " -4.190", " 0.000", " 3.587", " 0", " 0", " 0", "" ], [ "29", " Drawer", " -2.925", " 0.475", " 6.717", " 0", " 180", " 0", "" ], [ "30", " Drawer", " -3.476", " 0.475", " 6.717", " 0", " 180", " 0", "" ], [ "31", " Dresser", " -3.201", " -0.001", " 6.791", " 0", " 180", " 0", "" ], [ "32", " Drawer", " -2.925", " 0.165", " 6.719", " 0", " 180", " 0", "" ], [ "33", " Drawer", " -3.476", " 0.165", " 6.719", " 0", " 180", " 0", "" ], [ "34", " ArmChair", " -2.448", " 0.002", " 3.501", " 0", " 0", " 0", "" ], [ "35", " Sofa", " -4.425", " 0.014", " 5.062", " 0", " 90", " 0", "" ], [ "36", " Ottoman", " -2.374", " 0.000", " 4.483", " 0", " 0", " 0", "" ], [ "37", " Chair", " -2.151", " 0.004", " 1.284", " 0", " 90", " 0", "" ], [ "38", " Chair", " -1.549", " 0.004", " 1.780", " 0", " 195.000", " 0", "" ], [ "39", " Chair", " -1.626", " 0.004", " 0.778", " 0", " 10.166", " 0", "" ], [ "40", " Chair", " -1.076", " 0.004", " 1.292", " 0", " 265.171", " 0", "" ], [ "41", " SideTable", " -2.071", " 0.000", " 6.699", " 0", " 0", " 0", "" ], [ "42", " SideTable", " -0.244", " -0.000", " 3.524", " 0", " 270", " 0", "" ], [ "43", " ArmChair", " -3.545", " 0.005", " 3.579", " 0", " 0", " 0", "" ], [ "44", " DiningTable", " -1.592", " 0.006", " 1.274", " 0", " 0", " 0", "" ], [ "45", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "46", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "47", " SouthWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -4.75 0.901 0.5 0 180 0 1 Watch -3.416 0.068 6.772 0 0 0 33 2 Statue -1.169 0.761 1.274 0 0 0 44 3 Statue -1.169 0.761 1.554 0 0 0 44 4 KeyChain -2.868 0.068 6.772 0 270 0 32 5 KeyChain -2.005 0.842 6.632 0 0 0 41 6 CreditCard -2.014 0.755 1.695 0 0 0 44 7 CreditCard -4.300 0.483 5.325 0 0 0 35 8 RemoteControl -1.732 0.758 1.695 0 0 0 44 9 Box -4.300 0.589 5.556 0 180 0 35 10 Box -1.607 0.151 6.854 0 0 0 41 11 Statue -2.014 0.761 1.274 0 0 0 44 12 Watch -1.592 0.756 1.274 0 0 0 44 13 WateringCan -0.208 -0.000 3.225 0 63.928 0 14 Laptop -1.683 0.747 1.489 0 338.703 0 44 15 CreditCard -2.729 0.440 3.776 0 0 0 34 16 KeyChain -2.014 0.756 1.414 0 0 0 44 17 Pillow -4.335 0.465 4.398 0 0 0 35 18 RemoteControl -1.592 0.758 0.852 0 0 0 44 19 Curtains -0.037 2.148 0.999 0 0 0 20 Painting -0.016 2.061 5.380 0 0 0 21 GarbageCan -0.256 -0.010 6.799 0 0 0 22 FloorLamp -4.721 -0.001 3.687 0 0 0 23 Television -3.192 1.184 6.767 0 180 0 24 HousePlant -0.173 0.610 3.994 0 0 0 25 LightSwitch -3.483 1.470 0.001 0 0 0 26 DeskLamp -0.258 0.611 3.312 0 0 0 27 Window -0.008 1.340 1.725 90 270 0 28 SideTable -4.190 0.000 3.587 0 0 0 29 Drawer -2.925 0.475 6.717 0 180 0 30 Drawer -3.476 0.475 6.717 0 180 0 31 Dresser -3.201 -0.001 6.791 0 180 0 32 Drawer -2.925 0.165 6.719 0 180 0 33 Drawer -3.476 0.165 6.719 0 180 0 34 ArmChair -2.448 0.002 3.501 0 0 0 35 Sofa -4.425 0.014 5.062 0 90 0 36 Ottoman -2.374 0.000 4.483 0 0 0 37 Chair -2.151 0.004 1.284 0 90 0 38 Chair -1.549 0.004 1.780 0 195.000 0 39 Chair -1.626 0.004 0.778 0 10.166 0 40 Chair -1.076 0.004 1.292 0 265.171 0 41 SideTable -2.071 0.000 6.699 0 0 0 42 SideTable -0.244 -0.000 3.524 0 270 0 43 ArmChair -3.545 0.005 3.579 0 0 0 44 DiningTable -1.592 0.006 1.274 0 0 0 45 NorthWall 46 SouthWall 47 SouthWall
[ "STEP 1: Turn around, walk straight, turn right near the lamp, walk straight, turn left at the end of the couch, walk straight a little bit and turn left to go to the box on the couch. | STEP 2: Pick up a credit card next to the box on top of the couch | STEP 3: Walk slightly to the right to be in front of the box. | STEP 4: Put the credit car in the box. | STEP 5: Pick up the box that has a credit card in it. | STEP 6: Turn around and turn left to go to the table beside the TV cabinet. | STEP 7: Put the box on top of the table. | END" ]
[ [ "STEP 1: Turn around, walk straight, turn right near the lamp, walk straight, turn left at the end of the couch, walk straight a little bit and turn left to go to the box on the couch. ", " STEP 2: Pick up a credit card next to the box on top of the couch ", " STEP 3: Walk slightly to the right to be in front of the box. ", " STEP 4: Put the credit car in the box. ", " STEP 5: Pick up the box that has a credit card in it. ", " STEP 6: Turn around and turn left to go to the table beside the TV cabinet. ", " STEP 7: Put the box on top of the table. ", " END" ] ]
seen
trial_T20190911_191424_759852-1
Place a box with a credit card in it 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 -4.75 0.901 0.5 0 180 0 1 Watch -3.416 0.068 6.772 0 0 0 33 2 Statue -1.169 0.761 1.274 0 0 0 44 3 Statue -1.169 0.761 1.554 0 0 0 44 4 KeyChain -2.868 0.068 6.772 0 270 0 32 5 KeyChain -2.005 0.842 6.632 0 0 0 41 6 CreditCard -2.014 0.755 1.695 0 0 0 44 7 CreditCard -4.300 0.483 5.325 0 0 0 35 8 RemoteControl -1.732 0.758 1.695 0 0 0 44 9 Box -4.300 0.589 5.556 0 180 0 35 10 Box -1.607 0.151 6.854 0 0 0 41 11 Statue -2.014 0.761 1.274 0 0 0 44 12 Watch -1.592 0.756 1.274 0 0 0 44 13 WateringCan -0.208 -0.000 3.225 0 63.928 0 14 Laptop -1.683 0.747 1.489 0 338.703 0 44 15 CreditCard -2.729 0.440 3.776 0 0 0 34 16 KeyChain -2.014 0.756 1.414 0 0 0 44 17 Pillow -4.335 0.465 4.398 0 0 0 35 18 RemoteControl -1.592 0.758 0.852 0 0 0 44 19 Curtains -0.037 2.148 0.999 0 0 0 20 Painting -0.016 2.061 5.380 0 0 0 21 GarbageCan -0.256 -0.010 6.799 0 0 0 22 FloorLamp -4.721 -0.001 3.687 0 0 0 23 Television -3.192 1.184 6.767 0 180 0 24 HousePlant -0.173 0.610 3.994 0 0 0 25 LightSwitch -3.483 1.470 0.001 0 0 0 26 DeskLamp -0.258 0.611 3.312 0 0 0 27 Window -0.008 1.340 1.725 90 270 0 28 SideTable -4.190 0.000 3.587 0 0 0 29 Drawer -2.925 0.475 6.717 0 180 0 30 Drawer -3.476 0.475 6.717 0 180 0 31 Dresser -3.201 -0.001 6.791 0 180 0 32 Drawer -2.925 0.165 6.719 0 180 0 33 Drawer -3.476 0.165 6.719 0 180 0 34 ArmChair -2.448 0.002 3.501 0 0 0 35 Sofa -4.425 0.014 5.062 0 90 0 36 Ottoman -2.374 0.000 4.483 0 0 0 37 Chair -2.151 0.004 1.284 0 90 0 38 Chair -1.549 0.004 1.780 0 195.000 0 39 Chair -1.626 0.004 0.778 0 10.166 0 40 Chair -1.076 0.004 1.292 0 265.171 0 41 SideTable -2.071 0.000 6.699 0 0 0 42 SideTable -0.244 -0.000 3.524 0 270 0 43 ArmChair -3.545 0.005 3.579 0 0 0 44 DiningTable -1.592 0.006 1.274 0 0 0 45 NorthWall 46 SouthWall 47 SouthWall
[ "STEP 1: Go to the sofa | STEP 2: Pick up a credit card from the sofa | STEP 3: Go to the box on the right of the sofa | STEP 4: Place the credit card in the box | STEP 5: Pick up the box | STEP 6: Go to the small round table | STEP 7: Place the box on the table | END" ]
[ [ "STEP 1: Go to the sofa ", " STEP 2: Pick up a credit card from the sofa ", " STEP 3: Go to the box on the right of the sofa ", " STEP 4: Place the credit card in the box ", " STEP 5: Pick up the box ", " STEP 6: Go to the small round table ", " STEP 7: Place the box on the table ", " END" ] ]
seen
trial_T20190911_191424_759852-2
Move the box on the sofa to the 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 -4.75 0.901 0.5 0 180 0 1 Watch -3.416 0.068 6.772 0 0 0 33 2 Statue -1.169 0.761 1.274 0 0 0 44 3 Statue -1.169 0.761 1.554 0 0 0 44 4 KeyChain -2.868 0.068 6.772 0 270 0 32 5 KeyChain -2.005 0.842 6.632 0 0 0 41 6 CreditCard -2.014 0.755 1.695 0 0 0 44 7 CreditCard -4.300 0.483 5.325 0 0 0 35 8 RemoteControl -1.732 0.758 1.695 0 0 0 44 9 Box -4.300 0.589 5.556 0 180 0 35 10 Box -1.607 0.151 6.854 0 0 0 41 11 Statue -2.014 0.761 1.274 0 0 0 44 12 Watch -1.592 0.756 1.274 0 0 0 44 13 WateringCan -0.208 -0.000 3.225 0 63.928 0 14 Laptop -1.683 0.747 1.489 0 338.703 0 44 15 CreditCard -2.729 0.440 3.776 0 0 0 34 16 KeyChain -2.014 0.756 1.414 0 0 0 44 17 Pillow -4.335 0.465 4.398 0 0 0 35 18 RemoteControl -1.592 0.758 0.852 0 0 0 44 19 Curtains -0.037 2.148 0.999 0 0 0 20 Painting -0.016 2.061 5.380 0 0 0 21 GarbageCan -0.256 -0.010 6.799 0 0 0 22 FloorLamp -4.721 -0.001 3.687 0 0 0 23 Television -3.192 1.184 6.767 0 180 0 24 HousePlant -0.173 0.610 3.994 0 0 0 25 LightSwitch -3.483 1.470 0.001 0 0 0 26 DeskLamp -0.258 0.611 3.312 0 0 0 27 Window -0.008 1.340 1.725 90 270 0 28 SideTable -4.190 0.000 3.587 0 0 0 29 Drawer -2.925 0.475 6.717 0 180 0 30 Drawer -3.476 0.475 6.717 0 180 0 31 Dresser -3.201 -0.001 6.791 0 180 0 32 Drawer -2.925 0.165 6.719 0 180 0 33 Drawer -3.476 0.165 6.719 0 180 0 34 ArmChair -2.448 0.002 3.501 0 0 0 35 Sofa -4.425 0.014 5.062 0 90 0 36 Ottoman -2.374 0.000 4.483 0 0 0 37 Chair -2.151 0.004 1.284 0 90 0 38 Chair -1.549 0.004 1.780 0 195.000 0 39 Chair -1.626 0.004 0.778 0 10.166 0 40 Chair -1.076 0.004 1.292 0 265.171 0 41 SideTable -2.071 0.000 6.699 0 0 0 42 SideTable -0.244 -0.000 3.524 0 270 0 43 ArmChair -3.545 0.005 3.579 0 0 0 44 DiningTable -1.592 0.006 1.274 0 0 0 45 NorthWall 46 SouthWall 47 SouthWall
[ "STEP 1: Turn and go to the sofa. | STEP 2: Pick up a credit card on the sofa. | STEP 3: Turn right and go to the box on the sofa. | STEP 4: Put the credit card in the box on the sofa. | STEP 5: Pick up the box on the sofa. | STEP 6: Turn and go to the round table by the television. | STEP 7: Put the box on the round table. | END" ]
[ [ "STEP 1: Turn and go to the sofa. ", " STEP 2: Pick up a credit card on the sofa. ", " STEP 3: Turn right and go to the box on the sofa. ", " STEP 4: Put the credit card in the box on the sofa. ", " STEP 5: Pick up the box on the sofa. ", " STEP 6: Turn and go to the round table by the television. ", " STEP 7: Put the box on the round table. ", " END" ] ]
seen
trial_T20190907_020411_580940-0
Find pen on desk, put into metal bowl, place onto desk.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -0.75 0.900 -2.0 0 90 0 1 Bowl 1.269 0.504 -1.983 0 270 0 26 2 CD 1.192 0.382 -0.531 0 270 0 35 3 CD 1.121 0.504 -1.983 0 270 0 26 4 CellPhone 1.224 0.105 -1.674 0 0 0 30 5 CellPhone -1.334 0.100 -2.046 0 0 0 47 6 Laptop -0.962 0.609 -0.504 0 180 0 25 7 AlarmClock -1.577 1.521 -2.148 0 270 0 37 8 AlarmClock -1.394 0.696 -2.191 0 0 0 48 9 Book -1.203 0.610 0.618 0 0 0 25 10 KeyChain -1.400 0.101 -1.939 0 0 0 47 11 BaseballBat 1.436 0.636 1.985 21.882 0 0 12 BasketBall 1.270 0.12 -1.290 0 345.557 0 13 Pencil 1.329 0.111 -1.639 0 0 0 30 14 CellPhone 1.120 0.239 -1.998 0 0 0 23 15 CreditCard 1.068 0.238 -1.639 0 0 0 28 16 Laptop 0.076 0.569 -2.456 0 0 0 43 17 Pillow -1.170 0.684 -0.990 0 0 0 25 18 Boots 1.288 0.000 -0.961 0 177.912 0 19 Pen -1.332 0.705 -1.755 0 0 0 48 20 AlarmClock -1.544 1.521 -2.437 0 270 0 37 21 CD 1.120 0.105 -1.570 0 0 0 30 22 Bowl 1.269 0.504 -1.819 0 270 0 26 23 Drawer 0.980 0.271 -1.963 0 0 0 24 Drawer 0.980 0.139 -1.963 0 0 0 25 Bed -1.209 0.016 -0.266 0 180 1.624 26 Shelf 1.220 0.859 -1.802 0 270 0 27 Drawer 0.980 0.404 -1.963 0 0 0 28 Drawer 0.980 0.272 -1.639 0 0 0 29 Mirror 0.740 1.491 2.099 0 0 0 30 Drawer 0.980 0.139 -1.639 0 0 0 31 Drawer 0.980 0.404 -1.639 0 0 0 32 Chair 0.280 -0.001 -2.264 0 180 0 33 GarbageCan -1.542 0.013 1.919 2.249 116.925 355.175 34 Shelf 1.259 0.903 -0.269 0 270 0 35 Shelf 1.259 0.375 -0.263 0 270 0 36 Shelf 1.259 1.402 -0.259 0 270 0 37 Shelf -1.577 1.513 -2.025 0 270 0 38 LightSwitch -0.755 1.176 2.099 0 180 0 39 DeskLamp -1.489 0.669 -2.419 0 0 0 40 Window 0.243 0.963 -2.678 90 0 0 41 Window -0.361 0.963 -2.679 90 0 0 42 Window -0.962 0.963 -2.678 90 0 0 43 Desk 0.445 0.001 -2.430 0 0 0 44 Blinds -0.349 2.186 -2.685 0 0 0 45 Blinds 0.250 2.186 -2.685 0 0 0 46 Blinds -0.952 2.186 -2.685 0 0 0 47 Drawer -1.314 0.163 -2.051 0 90 0 48 SideTable -1.444 -0.001 -2.051 0 90 0 49 Drawer -1.314 0.455 -2.051 0 90 0 50 NorthWall 51 EastWall 52 SouthWall 53 WestWall
[ "STEP 1: Turn left towards bed and desk | STEP 2: Pick up white pen on desk | STEP 3: Turn 90 degrees, and go towards desk across the room | STEP 4: Directly place pen into metal bowl | STEP 5: Pick up bowl with pen in it | STEP 6: Turn left towards the desk | STEP 7: Place bowl with pen in it onto desk. | END" ]
[ [ "STEP 1: Turn left towards bed and desk ", " STEP 2: Pick up white pen on desk ", " STEP 3: Turn 90 degrees, and go towards desk across the room ", " STEP 4: Directly place pen into metal bowl ", " STEP 5: Pick up bowl with pen in it ", " STEP 6: Turn left towards the desk ", " STEP 7: Place bowl with pen in it onto desk. ", " END" ] ]
seen
trial_T20190907_020411_580940-1
Put the pen from the table to the bowl on the right, move the bowl to the white table
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -0.75 0.900 -2.0 0 90 0 1 Bowl 1.269 0.504 -1.983 0 270 0 26 2 CD 1.192 0.382 -0.531 0 270 0 35 3 CD 1.121 0.504 -1.983 0 270 0 26 4 CellPhone 1.224 0.105 -1.674 0 0 0 30 5 CellPhone -1.334 0.100 -2.046 0 0 0 47 6 Laptop -0.962 0.609 -0.504 0 180 0 25 7 AlarmClock -1.577 1.521 -2.148 0 270 0 37 8 AlarmClock -1.394 0.696 -2.191 0 0 0 48 9 Book -1.203 0.610 0.618 0 0 0 25 10 KeyChain -1.400 0.101 -1.939 0 0 0 47 11 BaseballBat 1.436 0.636 1.985 21.882 0 0 12 BasketBall 1.270 0.12 -1.290 0 345.557 0 13 Pencil 1.329 0.111 -1.639 0 0 0 30 14 CellPhone 1.120 0.239 -1.998 0 0 0 23 15 CreditCard 1.068 0.238 -1.639 0 0 0 28 16 Laptop 0.076 0.569 -2.456 0 0 0 43 17 Pillow -1.170 0.684 -0.990 0 0 0 25 18 Boots 1.288 0.000 -0.961 0 177.912 0 19 Pen -1.332 0.705 -1.755 0 0 0 48 20 AlarmClock -1.544 1.521 -2.437 0 270 0 37 21 CD 1.120 0.105 -1.570 0 0 0 30 22 Bowl 1.269 0.504 -1.819 0 270 0 26 23 Drawer 0.980 0.271 -1.963 0 0 0 24 Drawer 0.980 0.139 -1.963 0 0 0 25 Bed -1.209 0.016 -0.266 0 180 1.624 26 Shelf 1.220 0.859 -1.802 0 270 0 27 Drawer 0.980 0.404 -1.963 0 0 0 28 Drawer 0.980 0.272 -1.639 0 0 0 29 Mirror 0.740 1.491 2.099 0 0 0 30 Drawer 0.980 0.139 -1.639 0 0 0 31 Drawer 0.980 0.404 -1.639 0 0 0 32 Chair 0.280 -0.001 -2.264 0 180 0 33 GarbageCan -1.542 0.013 1.919 2.249 116.925 355.175 34 Shelf 1.259 0.903 -0.269 0 270 0 35 Shelf 1.259 0.375 -0.263 0 270 0 36 Shelf 1.259 1.402 -0.259 0 270 0 37 Shelf -1.577 1.513 -2.025 0 270 0 38 LightSwitch -0.755 1.176 2.099 0 180 0 39 DeskLamp -1.489 0.669 -2.419 0 0 0 40 Window 0.243 0.963 -2.678 90 0 0 41 Window -0.361 0.963 -2.679 90 0 0 42 Window -0.962 0.963 -2.678 90 0 0 43 Desk 0.445 0.001 -2.430 0 0 0 44 Blinds -0.349 2.186 -2.685 0 0 0 45 Blinds 0.250 2.186 -2.685 0 0 0 46 Blinds -0.952 2.186 -2.685 0 0 0 47 Drawer -1.314 0.163 -2.051 0 90 0 48 SideTable -1.444 -0.001 -2.051 0 90 0 49 Drawer -1.314 0.455 -2.051 0 90 0 50 NorthWall 51 EastWall 52 SouthWall 53 WestWall
[ "STEP 1: Turn around to the table | STEP 2: Grab the pen on the table | STEP 3: Turn around and walk to the cabinet with two bowls on it | STEP 4: Put the pen in the bowl on the right | STEP 5: Take the bowl on the right | STEP 6: Turn right to the white table | STEP 7: Put the bowl down on the table | END" ]
[ [ "STEP 1: Turn around to the table ", " STEP 2: Grab the pen on the table ", " STEP 3: Turn around and walk to the cabinet with two bowls on it ", " STEP 4: Put the pen in the bowl on the right ", " STEP 5: Take the bowl on the right ", " STEP 6: Turn right to the white table ", " STEP 7: Put the bowl down on the table ", " END" ] ]
seen
trial_T20190907_020411_580940-2
Move writing supplies to desk.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -0.75 0.900 -2.0 0 90 0 1 Bowl 1.269 0.504 -1.983 0 270 0 26 2 CD 1.192 0.382 -0.531 0 270 0 35 3 CD 1.121 0.504 -1.983 0 270 0 26 4 CellPhone 1.224 0.105 -1.674 0 0 0 30 5 CellPhone -1.334 0.100 -2.046 0 0 0 47 6 Laptop -0.962 0.609 -0.504 0 180 0 25 7 AlarmClock -1.577 1.521 -2.148 0 270 0 37 8 AlarmClock -1.394 0.696 -2.191 0 0 0 48 9 Book -1.203 0.610 0.618 0 0 0 25 10 KeyChain -1.400 0.101 -1.939 0 0 0 47 11 BaseballBat 1.436 0.636 1.985 21.882 0 0 12 BasketBall 1.270 0.12 -1.290 0 345.557 0 13 Pencil 1.329 0.111 -1.639 0 0 0 30 14 CellPhone 1.120 0.239 -1.998 0 0 0 23 15 CreditCard 1.068 0.238 -1.639 0 0 0 28 16 Laptop 0.076 0.569 -2.456 0 0 0 43 17 Pillow -1.170 0.684 -0.990 0 0 0 25 18 Boots 1.288 0.000 -0.961 0 177.912 0 19 Pen -1.332 0.705 -1.755 0 0 0 48 20 AlarmClock -1.544 1.521 -2.437 0 270 0 37 21 CD 1.120 0.105 -1.570 0 0 0 30 22 Bowl 1.269 0.504 -1.819 0 270 0 26 23 Drawer 0.980 0.271 -1.963 0 0 0 24 Drawer 0.980 0.139 -1.963 0 0 0 25 Bed -1.209 0.016 -0.266 0 180 1.624 26 Shelf 1.220 0.859 -1.802 0 270 0 27 Drawer 0.980 0.404 -1.963 0 0 0 28 Drawer 0.980 0.272 -1.639 0 0 0 29 Mirror 0.740 1.491 2.099 0 0 0 30 Drawer 0.980 0.139 -1.639 0 0 0 31 Drawer 0.980 0.404 -1.639 0 0 0 32 Chair 0.280 -0.001 -2.264 0 180 0 33 GarbageCan -1.542 0.013 1.919 2.249 116.925 355.175 34 Shelf 1.259 0.903 -0.269 0 270 0 35 Shelf 1.259 0.375 -0.263 0 270 0 36 Shelf 1.259 1.402 -0.259 0 270 0 37 Shelf -1.577 1.513 -2.025 0 270 0 38 LightSwitch -0.755 1.176 2.099 0 180 0 39 DeskLamp -1.489 0.669 -2.419 0 0 0 40 Window 0.243 0.963 -2.678 90 0 0 41 Window -0.361 0.963 -2.679 90 0 0 42 Window -0.962 0.963 -2.678 90 0 0 43 Desk 0.445 0.001 -2.430 0 0 0 44 Blinds -0.349 2.186 -2.685 0 0 0 45 Blinds 0.250 2.186 -2.685 0 0 0 46 Blinds -0.952 2.186 -2.685 0 0 0 47 Drawer -1.314 0.163 -2.051 0 90 0 48 SideTable -1.444 -0.001 -2.051 0 90 0 49 Drawer -1.314 0.455 -2.051 0 90 0 50 NorthWall 51 EastWall 52 SouthWall 53 WestWall
[ "STEP 1: Move right to the end table with the lamp and the alarm clock. | STEP 2: Pick up the ink pen that is on the top. | STEP 3: Turn to the left and stop at the dresser in front of you with the silver bowls | STEP 4: Place the pen in the silver bowl on the right. | STEP 5: Pick up the bowl and the pen that are on the flat surface. | STEP 6: Turn to the left to the desk with the laptop. | STEP 7: Place the bowl on the desk next to the laptop computer. | END" ]
[ [ "STEP 1: Move right to the end table with the lamp and the alarm clock. ", " STEP 2: Pick up the ink pen that is on the top. ", " STEP 3: Turn to the left and stop at the dresser in front of you with the silver bowls ", " STEP 4: Place the pen in the silver bowl on the right. ", " STEP 5: Pick up the bowl and the pen that are on the flat surface. ", " STEP 6: Turn to the left to the desk with the laptop. ", " STEP 7: Place the bowl on the desk next to the laptop computer. ", " END" ] ]
seen
trial_T20190909_123604_776156-0
Put a clean plate 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 -2.25 0.899 6.25 0 0 0 1 Pencil -1.860 0.923 1.875 0 0 0 67 2 Pencil -0.503 0.746 4.616 0 270 0 59 3 Potato -3.859 0.956 1.724 0 0 0 69 4 Potato -3.748 0.102 6.333 0 270 0 95 5 WineBottle -0.565 0.926 5.603 0 0 0 54 6 Pot -2.469 0.930 1.712 0 270 0 84 7 Fork -0.488 0.925 4.944 0 0 0 54 8 Spoon -0.503 0.747 5.997 0 270 0 80 9 Spatula -1.860 0.938 1.8 0 180 0 51 10 Egg -3.784 0.104 6.498 0 270 0 95 11 Plate -2.583 1.547 1.666 0 0 0 99 12 Knife -3.859 0.953 1.951 0 0 0 69 13 Bowl -1.943 0.920 1.724 0 0 0 51 14 PepperShaker -1.704 0.742 1.985 0 0 0 67 15 Lettuce -0.301 1.676 3.470 0 270 0 102 16 Bread -0.411 1.004 4.944 0 0 0 54 17 Mug -2.109 0.918 1.951 0 0 0 51 18 Mug -3.494 0.918 5.489 0 90 0 69 19 Egg -0.454 1.106 3.974 0 270 0 102 20 Apple -1.610 0.976 1.648 0 0 0 51 21 Knife -0.181 0.954 5.932 0 0 0 54 22 Potato -0.301 1.719 3.915 0 270 0 102 23 Fork -1.610 0.924 1.875 0 90 0 51 24 Bowl -0.295 1.067 3.850 0 270 0 102 25 Plate -3.374 0.924 5.182 0 90 0 69 26 Lettuce -0.342 1.431 3.231 0 270 0 102 27 Bread -0.301 1.415 3.850 0 270 0 102 28 Tomato -4.411 0.980 4.640 0 90 0 69 29 WineBottle -4.486 0.924 5.418 0 90 0 69 30 Spatula -3.613 0.938 5.336 0 90 0 69 31 PaperTowelRoll -0.334 1.029 4.615 0 0 0 54 32 Cup -0.411 0.923 5.273 0 0 0 54 33 Pencil -0.104 0.925 5.273 0 0 0 54 34 Pan -0.301 1.335 3.479 0 180 0 102 35 Pot -2.924 0.930 1.712 0 180 0 66 36 SaltShaker -4.128 0.074 4.584 0 0 0 62 37 SoapBottle -3.277 0.079 5.116 0 90 0 47 38 PepperShaker -4.067 0.076 3.556 0 0 0 74 39 ButterKnife -2.026 0.923 1.875 0 180 0 51 40 DishSponge -1.777 0.923 2.026 0 0 0 51 41 Spoon -1.860 0.924 1.951 0 0 0 51 42 Mug -0.409 0.955 6.557 0 270 0 90 43 Cabinet -3.203 1.931 1.777 0 0 0 44 Cabinet -3.187 0.390 2.089 0 0 0 45 Cabinet -0.637 0.387 6.882 0 180 0 46 Drawer -3.797 0.781 1.961 0 0 0 47 Cabinet -3.036 0.387 5.029 0 90 0 48 Drawer -0.509 0.775 5.268 0 270 0 49 Drawer -4.125 0.798 2.499 0 0 0 50 Cabinet -0.331 2.249 4.308 0 180 0 51 CounterTop -1.872 0.958 1.799 0 0 0 52 StoveBurner -2.924 0.924 2.012 0 0 0 53 Cabinet -0.331 2.249 6.806 0 180 0 54 CounterTop -0.345 0.960 5.603 0 0 0 55 Cabinet -3.039 1.935 5.321 0 90 0 56 Cabinet -3.922 0.397 2.088 0 0 0 57 StoveBurner -2.467 0.924 2.012 0 0 0 58 Cabinet -0.331 2.249 5.505 0 180 0 59 Drawer -0.509 0.775 4.617 0 270 0 60 Drawer -3.509 0.777 5.157 0 180 0 61 Cabinet -3.961 0.388 2.878 0 0 0 62 Cabinet -3.961 0.388 4.342 0 0 0 63 Cabinet -0.637 0.387 5.582 0 180 0 64 Cabinet -0.637 0.388 4.299 0 180 0 65 Cabinet -0.637 0.388 5.599 0 180 0 66 StoveBurner -2.924 0.924 1.712 0 180 0 67 Drawer -1.859 0.775 1.961 0 0 0 68 Cabinet -0.331 2.249 5.609 0 180 0 69 CounterTop -4.260 0.958 4.943 0 90 0 70 Cabinet -4.284 1.931 2.226 0 0 0 71 Cabinet -0.331 2.249 3.010 0 180 0 72 Drawer -3.801 0.777 5.157 0 180 0 73 Cabinet -4.112 1.935 5.321 0 90 0 74 Cabinet -3.968 0.388 3.662 0 0 0 75 Drawer -3.418 0.777 1.961 0 0 0 76 Drawer -4.090 0.777 4.661 0 90 0 77 Faucet -4.441 0.909 3.288 270 0 0 78 Cabinet -0.331 2.249 4.207 0 180 0 79 Cabinet -3.961 0.388 2.119 0 0 0 80 Drawer -0.509 0.775 5.920 0 270 0 81 Drawer -3.193 0.777 5.157 0 180 0 82 Cabinet -3.968 0.388 2.894 0 0 0 83 Cabinet -3.667 0.387 5.029 0 90 0 84 StoveBurner -2.469 0.924 1.712 0 270 0 85 Cabinet -1.539 0.388 2.090 0 0 0 86 Sink -4.190 0.921 3.279 0 0 0 87 Cabinet -3.641 0.387 5.029 0 90 0 88 Cabinet -1.583 1.931 1.777 0 0 0 89 Drawer -0.509 0.775 6.568 0 270 0 90 CoffeeMachine -0.279 0.912 6.556 0 270 0 91 StoveKnob -2.347 1.095 1.560 288.012 180 180 92 StoveKnob -2.788 1.095 1.560 288.012 180 180 93 StoveKnob -2.965 1.095 1.560 288.012 180 180 94 StoveKnob -2.512 1.095 1.560 288.012 180 180 95 GarbageCan -3.711 -0.030 6.376 0 270 0 96 Toaster -3.578 0.912 1.763 0 0 0 97 Curtains -4.522 2.252 3.391 90 90 0 98 Window -4.868 1.629 3.309 90 270 0 99 Microwave -2.693 1.430 1.689 0 0 0 100 LightSwitch -1.588 1.169 1.506 0 0 0 101 SinkBasin -4.196 0.780 3.276 0 270 0 102 Fridge -0.324 -0.001 3.602 0 0 0 103 NorthWall 104 EastWall 105 SouthWall 106 WestWall
[ "STEP 1: Turn around and go right to the counter. | STEP 2: Pick up the blue plate from the counter. | STEP 3: Go left to the sink. | STEP 4: Wash the plate in the sink and pick it back up. | STEP 5: Turn left and go to the end cabinet with the toaster on it. | STEP 6: Put the plate in the cabinet below the toaster. | END" ]
[ [ "STEP 1: Turn around and go right to the counter. ", " STEP 2: Pick up the blue plate from the counter. ", " STEP 3: Go left to the sink. ", " STEP 4: Wash the plate in the sink and pick it back up. ", " STEP 5: Turn left and go to the end cabinet with the toaster on it. ", " STEP 6: Put the plate in the cabinet below the toaster. ", " END" ] ]
seen
trial_T20190909_123604_776156-1
Put a clean plate in 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 -2.25 0.899 6.25 0 0 0 1 Pencil -1.860 0.923 1.875 0 0 0 67 2 Pencil -0.503 0.746 4.616 0 270 0 59 3 Potato -3.859 0.956 1.724 0 0 0 69 4 Potato -3.748 0.102 6.333 0 270 0 95 5 WineBottle -0.565 0.926 5.603 0 0 0 54 6 Pot -2.469 0.930 1.712 0 270 0 84 7 Fork -0.488 0.925 4.944 0 0 0 54 8 Spoon -0.503 0.747 5.997 0 270 0 80 9 Spatula -1.860 0.938 1.8 0 180 0 51 10 Egg -3.784 0.104 6.498 0 270 0 95 11 Plate -2.583 1.547 1.666 0 0 0 99 12 Knife -3.859 0.953 1.951 0 0 0 69 13 Bowl -1.943 0.920 1.724 0 0 0 51 14 PepperShaker -1.704 0.742 1.985 0 0 0 67 15 Lettuce -0.301 1.676 3.470 0 270 0 102 16 Bread -0.411 1.004 4.944 0 0 0 54 17 Mug -2.109 0.918 1.951 0 0 0 51 18 Mug -3.494 0.918 5.489 0 90 0 69 19 Egg -0.454 1.106 3.974 0 270 0 102 20 Apple -1.610 0.976 1.648 0 0 0 51 21 Knife -0.181 0.954 5.932 0 0 0 54 22 Potato -0.301 1.719 3.915 0 270 0 102 23 Fork -1.610 0.924 1.875 0 90 0 51 24 Bowl -0.295 1.067 3.850 0 270 0 102 25 Plate -3.374 0.924 5.182 0 90 0 69 26 Lettuce -0.342 1.431 3.231 0 270 0 102 27 Bread -0.301 1.415 3.850 0 270 0 102 28 Tomato -4.411 0.980 4.640 0 90 0 69 29 WineBottle -4.486 0.924 5.418 0 90 0 69 30 Spatula -3.613 0.938 5.336 0 90 0 69 31 PaperTowelRoll -0.334 1.029 4.615 0 0 0 54 32 Cup -0.411 0.923 5.273 0 0 0 54 33 Pencil -0.104 0.925 5.273 0 0 0 54 34 Pan -0.301 1.335 3.479 0 180 0 102 35 Pot -2.924 0.930 1.712 0 180 0 66 36 SaltShaker -4.128 0.074 4.584 0 0 0 62 37 SoapBottle -3.277 0.079 5.116 0 90 0 47 38 PepperShaker -4.067 0.076 3.556 0 0 0 74 39 ButterKnife -2.026 0.923 1.875 0 180 0 51 40 DishSponge -1.777 0.923 2.026 0 0 0 51 41 Spoon -1.860 0.924 1.951 0 0 0 51 42 Mug -0.409 0.955 6.557 0 270 0 90 43 Cabinet -3.203 1.931 1.777 0 0 0 44 Cabinet -3.187 0.390 2.089 0 0 0 45 Cabinet -0.637 0.387 6.882 0 180 0 46 Drawer -3.797 0.781 1.961 0 0 0 47 Cabinet -3.036 0.387 5.029 0 90 0 48 Drawer -0.509 0.775 5.268 0 270 0 49 Drawer -4.125 0.798 2.499 0 0 0 50 Cabinet -0.331 2.249 4.308 0 180 0 51 CounterTop -1.872 0.958 1.799 0 0 0 52 StoveBurner -2.924 0.924 2.012 0 0 0 53 Cabinet -0.331 2.249 6.806 0 180 0 54 CounterTop -0.345 0.960 5.603 0 0 0 55 Cabinet -3.039 1.935 5.321 0 90 0 56 Cabinet -3.922 0.397 2.088 0 0 0 57 StoveBurner -2.467 0.924 2.012 0 0 0 58 Cabinet -0.331 2.249 5.505 0 180 0 59 Drawer -0.509 0.775 4.617 0 270 0 60 Drawer -3.509 0.777 5.157 0 180 0 61 Cabinet -3.961 0.388 2.878 0 0 0 62 Cabinet -3.961 0.388 4.342 0 0 0 63 Cabinet -0.637 0.387 5.582 0 180 0 64 Cabinet -0.637 0.388 4.299 0 180 0 65 Cabinet -0.637 0.388 5.599 0 180 0 66 StoveBurner -2.924 0.924 1.712 0 180 0 67 Drawer -1.859 0.775 1.961 0 0 0 68 Cabinet -0.331 2.249 5.609 0 180 0 69 CounterTop -4.260 0.958 4.943 0 90 0 70 Cabinet -4.284 1.931 2.226 0 0 0 71 Cabinet -0.331 2.249 3.010 0 180 0 72 Drawer -3.801 0.777 5.157 0 180 0 73 Cabinet -4.112 1.935 5.321 0 90 0 74 Cabinet -3.968 0.388 3.662 0 0 0 75 Drawer -3.418 0.777 1.961 0 0 0 76 Drawer -4.090 0.777 4.661 0 90 0 77 Faucet -4.441 0.909 3.288 270 0 0 78 Cabinet -0.331 2.249 4.207 0 180 0 79 Cabinet -3.961 0.388 2.119 0 0 0 80 Drawer -0.509 0.775 5.920 0 270 0 81 Drawer -3.193 0.777 5.157 0 180 0 82 Cabinet -3.968 0.388 2.894 0 0 0 83 Cabinet -3.667 0.387 5.029 0 90 0 84 StoveBurner -2.469 0.924 1.712 0 270 0 85 Cabinet -1.539 0.388 2.090 0 0 0 86 Sink -4.190 0.921 3.279 0 0 0 87 Cabinet -3.641 0.387 5.029 0 90 0 88 Cabinet -1.583 1.931 1.777 0 0 0 89 Drawer -0.509 0.775 6.568 0 270 0 90 CoffeeMachine -0.279 0.912 6.556 0 270 0 91 StoveKnob -2.347 1.095 1.560 288.012 180 180 92 StoveKnob -2.788 1.095 1.560 288.012 180 180 93 StoveKnob -2.965 1.095 1.560 288.012 180 180 94 StoveKnob -2.512 1.095 1.560 288.012 180 180 95 GarbageCan -3.711 -0.030 6.376 0 270 0 96 Toaster -3.578 0.912 1.763 0 0 0 97 Curtains -4.522 2.252 3.391 90 90 0 98 Window -4.868 1.629 3.309 90 270 0 99 Microwave -2.693 1.430 1.689 0 0 0 100 LightSwitch -1.588 1.169 1.506 0 0 0 101 SinkBasin -4.196 0.780 3.276 0 270 0 102 Fridge -0.324 -0.001 3.602 0 0 0 103 NorthWall 104 EastWall 105 SouthWall 106 WestWall
[ "STEP 1: Turn around and walk into the kitchen then turn right and walk to the counter then turn right and walk to that counter then move to your right until you're in front of a dirty plate. | STEP 2: Pick up the dirty plate. | STEP 3: Turn around and walk to the sink that's on your right so you are standing in front of it facing it. | STEP 4: Wash the plate in the sink and then pick it back up and shut off the water. | STEP 5: Turn left and take a step.\n | STEP 6: Open the cupboard to the right of the stove and put the plate down there then close the door. | END" ]
[ [ "STEP 1: Turn around and walk into the kitchen then turn right and walk to the counter then turn right and walk to that counter then move to your right until you're in front of a dirty plate. ", " STEP 2: Pick up the dirty plate. ", " STEP 3: Turn around and walk to the sink that's on your right so you are standing in front of it facing it. ", " STEP 4: Wash the plate in the sink and then pick it back up and shut off the water. ", " STEP 5: Turn left and take a step.\n ", " STEP 6: Open the cupboard to the right of the stove and put the plate down there then close the door. ", " END" ] ]
seen
trial_T20190909_123604_776156-2
To clean a plate and put it in the cabinet.
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"89", " Drawer", " -0.509", " 0.775", " 6.568", " 0", " 270", " 0", "" ], [ "90", " CoffeeMachine", " -0.279", " 0.912", " 6.556", " 0", " 270", " 0", "" ], [ "91", " StoveKnob", " -2.347", " 1.095", " 1.560", " 288.012", " 180", " 180", "" ], [ "92", " StoveKnob", " -2.788", " 1.095", " 1.560", " 288.012", " 180", " 180", "" ], [ "93", " StoveKnob", " -2.965", " 1.095", " 1.560", " 288.012", " 180", " 180", "" ], [ "94", " StoveKnob", " -2.512", " 1.095", " 1.560", " 288.012", " 180", " 180", "" ], [ "95", " GarbageCan", " -3.711", " -0.030", " 6.376", " 0", " 270", " 0", "" ], [ "96", " Toaster", " -3.578", " 0.912", " 1.763", " 0", " 0", " 0", "" ], [ "97", " Curtains", " -4.522", " 2.252", " 3.391", " 90", " 90", " 0", "" ], [ "98", " Window", " -4.868", " 1.629", " 3.309", " 90", " 270", " 0", "" ], [ "99", " Microwave", " -2.693", " 1.430", " 1.689", " 0", " 0", " 0", "" ], [ "100", " LightSwitch", " -1.588", " 1.169", " 1.506", " 0", " 0", " 0", "" ], [ "101", " SinkBasin", " -4.196", " 0.780", " 3.276", " 0", " 270", " 0", "" ], [ "102", " Fridge", " -0.324", " -0.001", " 3.602", " 0", " 0", " 0", "" ], [ "103", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "104", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "105", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "106", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -2.25 0.899 6.25 0 0 0 1 Pencil -1.860 0.923 1.875 0 0 0 67 2 Pencil -0.503 0.746 4.616 0 270 0 59 3 Potato -3.859 0.956 1.724 0 0 0 69 4 Potato -3.748 0.102 6.333 0 270 0 95 5 WineBottle -0.565 0.926 5.603 0 0 0 54 6 Pot -2.469 0.930 1.712 0 270 0 84 7 Fork -0.488 0.925 4.944 0 0 0 54 8 Spoon -0.503 0.747 5.997 0 270 0 80 9 Spatula -1.860 0.938 1.8 0 180 0 51 10 Egg -3.784 0.104 6.498 0 270 0 95 11 Plate -2.583 1.547 1.666 0 0 0 99 12 Knife -3.859 0.953 1.951 0 0 0 69 13 Bowl -1.943 0.920 1.724 0 0 0 51 14 PepperShaker -1.704 0.742 1.985 0 0 0 67 15 Lettuce -0.301 1.676 3.470 0 270 0 102 16 Bread -0.411 1.004 4.944 0 0 0 54 17 Mug -2.109 0.918 1.951 0 0 0 51 18 Mug -3.494 0.918 5.489 0 90 0 69 19 Egg -0.454 1.106 3.974 0 270 0 102 20 Apple -1.610 0.976 1.648 0 0 0 51 21 Knife -0.181 0.954 5.932 0 0 0 54 22 Potato -0.301 1.719 3.915 0 270 0 102 23 Fork -1.610 0.924 1.875 0 90 0 51 24 Bowl -0.295 1.067 3.850 0 270 0 102 25 Plate -3.374 0.924 5.182 0 90 0 69 26 Lettuce -0.342 1.431 3.231 0 270 0 102 27 Bread -0.301 1.415 3.850 0 270 0 102 28 Tomato -4.411 0.980 4.640 0 90 0 69 29 WineBottle -4.486 0.924 5.418 0 90 0 69 30 Spatula -3.613 0.938 5.336 0 90 0 69 31 PaperTowelRoll -0.334 1.029 4.615 0 0 0 54 32 Cup -0.411 0.923 5.273 0 0 0 54 33 Pencil -0.104 0.925 5.273 0 0 0 54 34 Pan -0.301 1.335 3.479 0 180 0 102 35 Pot -2.924 0.930 1.712 0 180 0 66 36 SaltShaker -4.128 0.074 4.584 0 0 0 62 37 SoapBottle -3.277 0.079 5.116 0 90 0 47 38 PepperShaker -4.067 0.076 3.556 0 0 0 74 39 ButterKnife -2.026 0.923 1.875 0 180 0 51 40 DishSponge -1.777 0.923 2.026 0 0 0 51 41 Spoon -1.860 0.924 1.951 0 0 0 51 42 Mug -0.409 0.955 6.557 0 270 0 90 43 Cabinet -3.203 1.931 1.777 0 0 0 44 Cabinet -3.187 0.390 2.089 0 0 0 45 Cabinet -0.637 0.387 6.882 0 180 0 46 Drawer -3.797 0.781 1.961 0 0 0 47 Cabinet -3.036 0.387 5.029 0 90 0 48 Drawer -0.509 0.775 5.268 0 270 0 49 Drawer -4.125 0.798 2.499 0 0 0 50 Cabinet -0.331 2.249 4.308 0 180 0 51 CounterTop -1.872 0.958 1.799 0 0 0 52 StoveBurner -2.924 0.924 2.012 0 0 0 53 Cabinet -0.331 2.249 6.806 0 180 0 54 CounterTop -0.345 0.960 5.603 0 0 0 55 Cabinet -3.039 1.935 5.321 0 90 0 56 Cabinet -3.922 0.397 2.088 0 0 0 57 StoveBurner -2.467 0.924 2.012 0 0 0 58 Cabinet -0.331 2.249 5.505 0 180 0 59 Drawer -0.509 0.775 4.617 0 270 0 60 Drawer -3.509 0.777 5.157 0 180 0 61 Cabinet -3.961 0.388 2.878 0 0 0 62 Cabinet -3.961 0.388 4.342 0 0 0 63 Cabinet -0.637 0.387 5.582 0 180 0 64 Cabinet -0.637 0.388 4.299 0 180 0 65 Cabinet -0.637 0.388 5.599 0 180 0 66 StoveBurner -2.924 0.924 1.712 0 180 0 67 Drawer -1.859 0.775 1.961 0 0 0 68 Cabinet -0.331 2.249 5.609 0 180 0 69 CounterTop -4.260 0.958 4.943 0 90 0 70 Cabinet -4.284 1.931 2.226 0 0 0 71 Cabinet -0.331 2.249 3.010 0 180 0 72 Drawer -3.801 0.777 5.157 0 180 0 73 Cabinet -4.112 1.935 5.321 0 90 0 74 Cabinet -3.968 0.388 3.662 0 0 0 75 Drawer -3.418 0.777 1.961 0 0 0 76 Drawer -4.090 0.777 4.661 0 90 0 77 Faucet -4.441 0.909 3.288 270 0 0 78 Cabinet -0.331 2.249 4.207 0 180 0 79 Cabinet -3.961 0.388 2.119 0 0 0 80 Drawer -0.509 0.775 5.920 0 270 0 81 Drawer -3.193 0.777 5.157 0 180 0 82 Cabinet -3.968 0.388 2.894 0 0 0 83 Cabinet -3.667 0.387 5.029 0 90 0 84 StoveBurner -2.469 0.924 1.712 0 270 0 85 Cabinet -1.539 0.388 2.090 0 0 0 86 Sink -4.190 0.921 3.279 0 0 0 87 Cabinet -3.641 0.387 5.029 0 90 0 88 Cabinet -1.583 1.931 1.777 0 0 0 89 Drawer -0.509 0.775 6.568 0 270 0 90 CoffeeMachine -0.279 0.912 6.556 0 270 0 91 StoveKnob -2.347 1.095 1.560 288.012 180 180 92 StoveKnob -2.788 1.095 1.560 288.012 180 180 93 StoveKnob -2.965 1.095 1.560 288.012 180 180 94 StoveKnob -2.512 1.095 1.560 288.012 180 180 95 GarbageCan -3.711 -0.030 6.376 0 270 0 96 Toaster -3.578 0.912 1.763 0 0 0 97 Curtains -4.522 2.252 3.391 90 90 0 98 Window -4.868 1.629 3.309 90 270 0 99 Microwave -2.693 1.430 1.689 0 0 0 100 LightSwitch -1.588 1.169 1.506 0 0 0 101 SinkBasin -4.196 0.780 3.276 0 270 0 102 Fridge -0.324 -0.001 3.602 0 0 0 103 NorthWall 104 EastWall 105 SouthWall 106 WestWall
[ "STEP 1: Turn left, turn left at the red bin, turn right to face the counter on the right. | STEP 2: Pick up the dirty blue plate from the counter. | STEP 3: Turn around and walk to the sink on the right. | STEP 4: Put the plate in the sink, wash the plate with water, pick up the plate from the sink. | STEP 5: Turn left and face the counter with the toaster on it and look at the cabinet below the counter. | STEP 6: Open the cabinet door, put the plate in the cabinet, and close the door. | END" ]
[ [ "STEP 1: Turn left, turn left at the red bin, turn right to face the counter on the right. ", " STEP 2: Pick up the dirty blue plate from the counter. ", " STEP 3: Turn around and walk to the sink on the right. ", " STEP 4: Put the plate in the sink, wash the plate with water, pick up the plate from the sink. ", " STEP 5: Turn left and face the counter with the toaster on it and look at the cabinet below the counter. ", " STEP 6: Open the cabinet door, put the plate in the cabinet, and close the door. ", " END" ] ]
seen
trial_T20190906_201014_115564-0
Place two pencils on 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", " 0.0", " 0", " 90", " 0", "" ], [ "1", " Mug", " 0.741", " 0.699", " -1.716", " 0", " 180", " 0", " 53" ], [ "2", " Mug", " 1.550", " 1.409", " 0.393", " 0", " 270", " 0", " 45" ], [ "3", " TissueBox", " 1.233", " 0.703", " -1.326", " 0", " 180", " 0", " 53" ], [ "4", " TissueBox", " 0.987", " 0.703", " -1.423", " 0", " 180", " 0", " 53" ], [ "5", " CD", " 1.591", " 1.411", " 0.264", " 0", " 270", " 0", " 45" ], [ "6", " CellPhone", " 0.002", " 0.704", " -1.619", " 0", " 180", " 0", " 53" ], [ "7", " Pen", " -0.074", " 0.086", " -1.372", " 0", " 180", " 0", " 49" ], [ "8", " Pen", " 1.511", " 0.493", " -0.534", " 0", " 90", " 0", " 46" ], [ "9", " Pencil", " -0.028", " 0.501", " -1.532", " 0", " 180", " 0", " 48" ], [ "10", " Pencil", " 1.449", " 0.492", " -0.324", " 0", " 270", " 0", " 46" ], [ "11", " Pencil", " 0.064", " 0.292", " -1.372", " 0", " 180", " 0", " 51" ], [ "12", " CreditCard", " 1.480", " 0.488", " -0.254", " 0", " 270", " 0", " 46" ], [ "13", " CreditCard", " 0.248", " 0.703", " -1.814", " 0", " 180", " 0", " 53" ], [ "14", " Book", " -2.217", " 0.527", " -0.814", " 0", " 0", " 0", " 36" ], [ "15", " Book", " 0.002", " 0.701", " -1.423", " 0", " 180", " 0", " 53" ], [ "16", " Laptop", " -1.777", " 0.525", " -0.082", " 0", " 0", " 0", " 36" ], [ "17", " AlarmClock", " 1.511", " 0.489", " -0.464", " 0", " 270", " 0", " 46" ], [ "18", " AlarmClock", " 1.233", " 0.702", " -1.521", " 0", " 180", " 0", " 53" ], [ "19", " Box", " 1.537", " 1.652", " 0.692", " 0", " 0", " 0", " 39" ], [ "20", " Book", " 1.562", " 0.708", " -0.623", " 0", " 0", " 0", " 45" ], [ "21", " AlarmClock", " 1.562", " 0.709", " -0.226", " 0", " 0", " 0", " 45" ], [ "22", " CellPhone", " 1.562", " 0.711", " -0.385", " 0", " 0", " 0", " 45" ], [ "23", " TissueBox", " 1.479", " 0.703", " -1.326", " 0", " 180", " 0", " 53" ], [ "24", " TeddyBear", " -2.204", " 0.500", " 0.181", " 355.000", " 297.467", " 9.162", " 36" ], [ "25", " CreditCard", " 1.671", " 1.411", " 0.007", " 0", " 270", " 0", " 45" ], [ "26", " KeyChain", " 0.064", " 0.082", " -1.639", " 0", " 90", " 0", " 49" ], [ "27", " BaseballBat", " -2.202", " 0.04", " -1.343", " 0", " 45", " 90", " Floor|+00.00|" ], [ "28", " TennisRacket", " -2.254", " 0.324", " -1.806", " 15.000", " 180", " 180", " Floor|+00.00|" ], [ "29", " Pillow", " -1.630", " 0.598", " 0.648", " 0", " 0", " 0", " 36" ], [ "30", " Laptop", " -1.630", " 0.525", " -0.814", " 0", " 0", " 0", " 36" ], [ "31", " CD", " 0.433", " 0.497", " -1.425", " 0", " 180", " 0", " 54" ], [ "32", " Pen", " 0.494", " 0.707", " -1.619", " 0", " 180", " 0", " 53" ], [ "33", " Pencil", " 1.469", " 1.415", " 0.393", " 0", " 270", " 0", " 45" ], [ "34", " Mug", " 0.987", " 0.699", " -1.716", " 0", " 180", " 0", " 53" ], [ "35", " Mirror", " -0.689", " 1.495", " 0.954", " 0", " 0", " 0", "" ], [ "36", " Bed", " -1.742", " 0.000", " -0.071", " 0", " 0", " 0", "" ], [ "37", " Chair", " 0.891", " -0.001", " -1.251", " 0", " 175.104", " 0", "" ], [ "38", " GarbageCan", " -0.606", " -0.021", " 0.799", " 0", " 0", " 0", "" ], [ "39", " ShelvingUnit", " 1.550", " 1.402", " 0.374", " 0", " 270", " 0", "" ], [ "40", " Painting", " -2.401", " 1.700", " -0.859", " 90", " 90", " 0", "" ], [ "41", " DeskLamp", " 1.291", " 0.699", " -1.717", " 0", " 0", " 0", "" ], [ "42", " LightSwitch", " 0.231", " 1.287", " 0.954", " 0", " 180", " 0", "" ], [ "43", " HousePlant", " 1.488", " 1.394", " 0.035", " 0", " 122.291", " 0", "" ], [ "44", " Window", " 0.046", " 1.559", " -2.079", " 90", " 180", " 0", "" ], [ "45", " SideTable", " 1.561", " 0.000", " -0.465", " 0", " 270", " 0", "" ], [ "46", " Shelf", " 1.541", " 0.493", " -0.475", " 0", " 270", " 0", "" ], [ "47", " Blinds", " 0.007", " 2.152", " -2.014", " 0", " 0", " 0", "" ], [ "48", " Drawer", " -0.156", " 0.547", " -1.430", " 0", " 0", " 0", "" ], [ "49", " Drawer", " 0.270", " 0.159", " -1.430", " 0", " 0", " 0", "" ], [ "50", " Drawer", " -0.156", " 0.159", " -1.430", " 0", " 0", " 0", "" ], [ "51", " Drawer", " 0.270", " 0.353", " -1.430", " 0", " 0", " 0", "" ], [ "52", " Drawer", " -0.156", " 0.353", " -1.430", " 0", " 0", " 0", "" ], [ "53", " Desk", " 0.634", " 0.002", " -1.557", " 0", " 0", " 0", "" ], [ "54", " Drawer", " 0.270", " 0.547", " -1.430", " 0", " 0", " 0", "" ], [ "55", " Shelf", " 1.406", " 0.571", " -1.514", " 0", " 0", " 0", "" ], [ "56", " Shelf", " 1.406", " 0.183", " -1.514", " 0", " 0", " 0", "" ], [ "57", " Shelf", " 1.584", " 0.183", " -1.514", " 0", " 0", " 0", "" ], [ "58", " Shelf", " 1.406", " 0.377", " -1.514", " 0", " 0", " 0", "" ], [ "59", " Shelf", " 1.584", " 0.377", " -1.514", " 0", " 0", " 0", "" ], [ "60", " Shelf", " 1.584", " 0.571", " -1.514", " 0", " 0", " 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 -0.75 0.900 0.0 0 90 0 1 Mug 0.741 0.699 -1.716 0 180 0 53 2 Mug 1.550 1.409 0.393 0 270 0 45 3 TissueBox 1.233 0.703 -1.326 0 180 0 53 4 TissueBox 0.987 0.703 -1.423 0 180 0 53 5 CD 1.591 1.411 0.264 0 270 0 45 6 CellPhone 0.002 0.704 -1.619 0 180 0 53 7 Pen -0.074 0.086 -1.372 0 180 0 49 8 Pen 1.511 0.493 -0.534 0 90 0 46 9 Pencil -0.028 0.501 -1.532 0 180 0 48 10 Pencil 1.449 0.492 -0.324 0 270 0 46 11 Pencil 0.064 0.292 -1.372 0 180 0 51 12 CreditCard 1.480 0.488 -0.254 0 270 0 46 13 CreditCard 0.248 0.703 -1.814 0 180 0 53 14 Book -2.217 0.527 -0.814 0 0 0 36 15 Book 0.002 0.701 -1.423 0 180 0 53 16 Laptop -1.777 0.525 -0.082 0 0 0 36 17 AlarmClock 1.511 0.489 -0.464 0 270 0 46 18 AlarmClock 1.233 0.702 -1.521 0 180 0 53 19 Box 1.537 1.652 0.692 0 0 0 39 20 Book 1.562 0.708 -0.623 0 0 0 45 21 AlarmClock 1.562 0.709 -0.226 0 0 0 45 22 CellPhone 1.562 0.711 -0.385 0 0 0 45 23 TissueBox 1.479 0.703 -1.326 0 180 0 53 24 TeddyBear -2.204 0.500 0.181 355.000 297.467 9.162 36 25 CreditCard 1.671 1.411 0.007 0 270 0 45 26 KeyChain 0.064 0.082 -1.639 0 90 0 49 27 BaseballBat -2.202 0.04 -1.343 0 45 90 Floor|+00.00| 28 TennisRacket -2.254 0.324 -1.806 15.000 180 180 Floor|+00.00| 29 Pillow -1.630 0.598 0.648 0 0 0 36 30 Laptop -1.630 0.525 -0.814 0 0 0 36 31 CD 0.433 0.497 -1.425 0 180 0 54 32 Pen 0.494 0.707 -1.619 0 180 0 53 33 Pencil 1.469 1.415 0.393 0 270 0 45 34 Mug 0.987 0.699 -1.716 0 180 0 53 35 Mirror -0.689 1.495 0.954 0 0 0 36 Bed -1.742 0.000 -0.071 0 0 0 37 Chair 0.891 -0.001 -1.251 0 175.104 0 38 GarbageCan -0.606 -0.021 0.799 0 0 0 39 ShelvingUnit 1.550 1.402 0.374 0 270 0 40 Painting -2.401 1.700 -0.859 90 90 0 41 DeskLamp 1.291 0.699 -1.717 0 0 0 42 LightSwitch 0.231 1.287 0.954 0 180 0 43 HousePlant 1.488 1.394 0.035 0 122.291 0 44 Window 0.046 1.559 -2.079 90 180 0 45 SideTable 1.561 0.000 -0.465 0 270 0 46 Shelf 1.541 0.493 -0.475 0 270 0 47 Blinds 0.007 2.152 -2.014 0 0 0 48 Drawer -0.156 0.547 -1.430 0 0 0 49 Drawer 0.270 0.159 -1.430 0 0 0 50 Drawer -0.156 0.159 -1.430 0 0 0 51 Drawer 0.270 0.353 -1.430 0 0 0 52 Drawer -0.156 0.353 -1.430 0 0 0 53 Desk 0.634 0.002 -1.557 0 0 0 54 Drawer 0.270 0.547 -1.430 0 0 0 55 Shelf 1.406 0.571 -1.514 0 0 0 56 Shelf 1.406 0.183 -1.514 0 0 0 57 Shelf 1.584 0.183 -1.514 0 0 0 58 Shelf 1.406 0.377 -1.514 0 0 0 59 Shelf 1.584 0.377 -1.514 0 0 0 60 Shelf 1.584 0.571 -1.514 0 0 0 61 NorthWall 62 EastWall 63 SouthWall 64 WestWall
[ "STEP 1: Turn right and walk one step then turn left and walk to the small table to the right of the bookshelf. | STEP 2: Pick up the pencil that's on the edge of the shelf in front of you. | STEP 3: Turn right and take a step so you are facing the desk. | STEP 4: Put the pencil on the desk under the tissue box all the way to the right of the other two tissue boxes. | STEP 5: Turn around and walk to the door then turn right. | STEP 6: Pick up the pencil that's on the edge of the top of the bookshelf. | STEP 7: Turn right and walk back to the desk. | STEP 8: Lay the pencil on the tissue box to the right of the other two so it is touching both the pencil and the tissue box. | END" ]
[ [ "STEP 1: Turn right and walk one step then turn left and walk to the small table to the right of the bookshelf. ", " STEP 2: Pick up the pencil that's on the edge of the shelf in front of you. ", " STEP 3: Turn right and take a step so you are facing the desk. ", " STEP 4: Put the pencil on the desk under the tissue box all the way to the right of the other two tissue boxes. ", " STEP 5: Turn around and walk to the door then turn right. ", " STEP 6: Pick up the pencil that's on the edge of the top of the bookshelf. ", " STEP 7: Turn right and walk back to the desk. ", " STEP 8: Lay the pencil on the tissue box to the right of the other two so it is touching both the pencil and the tissue box. ", " END" ] ]
seen
trial_T20190906_201014_115564-1
Place two pencils on a desk.
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " -0.75", " 0.900", " 0.0", " 0", " 90", " 0", "" ], [ "1", " Mug", " 0.741", " 0.699", " -1.716", " 0", " 180", " 0", " 53" ], [ "2", " Mug", " 1.550", " 1.409", " 0.393", " 0", " 270", " 0", " 45" ], [ "3", " TissueBox", " 1.233", " 0.703", " -1.326", " 0", " 180", " 0", " 53" ], [ "4", " TissueBox", " 0.987", " 0.703", " -1.423", " 0", " 180", " 0", " 53" ], [ "5", " CD", " 1.591", " 1.411", " 0.264", " 0", " 270", " 0", " 45" ], [ "6", " CellPhone", " 0.002", " 0.704", " -1.619", " 0", " 180", " 0", " 53" ], [ "7", " Pen", " -0.074", " 0.086", " -1.372", " 0", " 180", " 0", " 49" ], [ "8", " Pen", " 1.511", " 0.493", " -0.534", " 0", " 90", " 0", " 46" ], [ "9", " Pencil", " -0.028", " 0.501", " -1.532", " 0", " 180", " 0", " 48" ], [ "10", " Pencil", " 1.449", " 0.492", " -0.324", " 0", " 270", " 0", " 46" ], [ "11", " Pencil", " 0.064", " 0.292", " -1.372", " 0", " 180", " 0", " 51" ], [ "12", " CreditCard", " 1.480", " 0.488", " -0.254", " 0", " 270", " 0", " 46" ], [ "13", " CreditCard", " 0.248", " 0.703", " -1.814", " 0", " 180", " 0", " 53" ], [ "14", " Book", " -2.217", " 0.527", " -0.814", " 0", " 0", " 0", " 36" ], [ "15", " Book", " 0.002", " 0.701", " -1.423", " 0", " 180", " 0", " 53" ], [ "16", " Laptop", " -1.777", " 0.525", " -0.082", " 0", " 0", " 0", " 36" ], [ "17", " AlarmClock", " 1.511", " 0.489", " -0.464", " 0", " 270", " 0", " 46" ], [ "18", " AlarmClock", " 1.233", " 0.702", " -1.521", " 0", " 180", " 0", " 53" ], [ "19", " Box", " 1.537", " 1.652", " 0.692", " 0", " 0", " 0", " 39" ], [ "20", " Book", " 1.562", " 0.708", " -0.623", " 0", " 0", " 0", " 45" ], [ "21", " AlarmClock", " 1.562", " 0.709", " -0.226", " 0", " 0", " 0", " 45" ], [ "22", " CellPhone", " 1.562", " 0.711", " -0.385", " 0", " 0", " 0", " 45" ], [ "23", " TissueBox", " 1.479", " 0.703", " -1.326", " 0", " 180", " 0", " 53" ], [ "24", " TeddyBear", " -2.204", " 0.500", " 0.181", " 355.000", " 297.467", " 9.162", " 36" ], [ "25", " CreditCard", " 1.671", " 1.411", " 0.007", " 0", " 270", " 0", " 45" ], [ "26", " KeyChain", " 0.064", " 0.082", " -1.639", " 0", " 90", " 0", " 49" ], [ "27", " BaseballBat", " -2.202", " 0.04", " -1.343", " 0", " 45", " 90", " Floor|+00.00|" ], [ "28", " TennisRacket", " -2.254", " 0.324", " -1.806", " 15.000", " 180", " 180", " Floor|+00.00|" ], [ "29", " Pillow", " -1.630", " 0.598", " 0.648", " 0", " 0", " 0", " 36" ], [ "30", " Laptop", " -1.630", " 0.525", " -0.814", " 0", " 0", " 0", " 36" ], [ "31", " CD", " 0.433", " 0.497", " -1.425", " 0", " 180", " 0", " 54" ], [ "32", " Pen", " 0.494", " 0.707", " -1.619", " 0", " 180", " 0", " 53" ], [ "33", " Pencil", " 1.469", " 1.415", " 0.393", " 0", " 270", " 0", " 45" ], [ "34", " Mug", " 0.987", " 0.699", " -1.716", " 0", " 180", " 0", " 53" ], [ "35", " Mirror", " -0.689", " 1.495", " 0.954", " 0", " 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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -0.75 0.900 0.0 0 90 0 1 Mug 0.741 0.699 -1.716 0 180 0 53 2 Mug 1.550 1.409 0.393 0 270 0 45 3 TissueBox 1.233 0.703 -1.326 0 180 0 53 4 TissueBox 0.987 0.703 -1.423 0 180 0 53 5 CD 1.591 1.411 0.264 0 270 0 45 6 CellPhone 0.002 0.704 -1.619 0 180 0 53 7 Pen -0.074 0.086 -1.372 0 180 0 49 8 Pen 1.511 0.493 -0.534 0 90 0 46 9 Pencil -0.028 0.501 -1.532 0 180 0 48 10 Pencil 1.449 0.492 -0.324 0 270 0 46 11 Pencil 0.064 0.292 -1.372 0 180 0 51 12 CreditCard 1.480 0.488 -0.254 0 270 0 46 13 CreditCard 0.248 0.703 -1.814 0 180 0 53 14 Book -2.217 0.527 -0.814 0 0 0 36 15 Book 0.002 0.701 -1.423 0 180 0 53 16 Laptop -1.777 0.525 -0.082 0 0 0 36 17 AlarmClock 1.511 0.489 -0.464 0 270 0 46 18 AlarmClock 1.233 0.702 -1.521 0 180 0 53 19 Box 1.537 1.652 0.692 0 0 0 39 20 Book 1.562 0.708 -0.623 0 0 0 45 21 AlarmClock 1.562 0.709 -0.226 0 0 0 45 22 CellPhone 1.562 0.711 -0.385 0 0 0 45 23 TissueBox 1.479 0.703 -1.326 0 180 0 53 24 TeddyBear -2.204 0.500 0.181 355.000 297.467 9.162 36 25 CreditCard 1.671 1.411 0.007 0 270 0 45 26 KeyChain 0.064 0.082 -1.639 0 90 0 49 27 BaseballBat -2.202 0.04 -1.343 0 45 90 Floor|+00.00| 28 TennisRacket -2.254 0.324 -1.806 15.000 180 180 Floor|+00.00| 29 Pillow -1.630 0.598 0.648 0 0 0 36 30 Laptop -1.630 0.525 -0.814 0 0 0 36 31 CD 0.433 0.497 -1.425 0 180 0 54 32 Pen 0.494 0.707 -1.619 0 180 0 53 33 Pencil 1.469 1.415 0.393 0 270 0 45 34 Mug 0.987 0.699 -1.716 0 180 0 53 35 Mirror -0.689 1.495 0.954 0 0 0 36 Bed -1.742 0.000 -0.071 0 0 0 37 Chair 0.891 -0.001 -1.251 0 175.104 0 38 GarbageCan -0.606 -0.021 0.799 0 0 0 39 ShelvingUnit 1.550 1.402 0.374 0 270 0 40 Painting -2.401 1.700 -0.859 90 90 0 41 DeskLamp 1.291 0.699 -1.717 0 0 0 42 LightSwitch 0.231 1.287 0.954 0 180 0 43 HousePlant 1.488 1.394 0.035 0 122.291 0 44 Window 0.046 1.559 -2.079 90 180 0 45 SideTable 1.561 0.000 -0.465 0 270 0 46 Shelf 1.541 0.493 -0.475 0 270 0 47 Blinds 0.007 2.152 -2.014 0 0 0 48 Drawer -0.156 0.547 -1.430 0 0 0 49 Drawer 0.270 0.159 -1.430 0 0 0 50 Drawer -0.156 0.159 -1.430 0 0 0 51 Drawer 0.270 0.353 -1.430 0 0 0 52 Drawer -0.156 0.353 -1.430 0 0 0 53 Desk 0.634 0.002 -1.557 0 0 0 54 Drawer 0.270 0.547 -1.430 0 0 0 55 Shelf 1.406 0.571 -1.514 0 0 0 56 Shelf 1.406 0.183 -1.514 0 0 0 57 Shelf 1.584 0.183 -1.514 0 0 0 58 Shelf 1.406 0.377 -1.514 0 0 0 59 Shelf 1.584 0.377 -1.514 0 0 0 60 Shelf 1.584 0.571 -1.514 0 0 0 61 NorthWall 62 EastWall 63 SouthWall 64 WestWall
[ "STEP 1: Walk ahead and slightly right to the end table. | STEP 2: Pick up the pencil from the shelf | STEP 3: Turn right. | STEP 4: Place the pencil on the desk in front of the rightmost tissue box. | STEP 5: Turn around and take a few steps to the book case. | STEP 6: Pick the pencil up from the top of the book case. | STEP 7: Walk back to the desk. | STEP 8: Place the pencil on top of the other pencil on the desk. | END" ]
[ [ "STEP 1: Walk ahead and slightly right to the end table. ", " STEP 2: Pick up the pencil from the shelf ", " STEP 3: Turn right. ", " STEP 4: Place the pencil on the desk in front of the rightmost tissue box. ", " STEP 5: Turn around and take a few steps to the book case. ", " STEP 6: Pick the pencil up from the top of the book case. ", " STEP 7: Walk back to the desk. ", " STEP 8: Place the pencil on top of the other pencil on the desk. ", " END" ] ]
seen
trial_T20190906_201014_115564-2
Put two pencils on 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 -0.75 0.900 0.0 0 90 0 1 Mug 0.741 0.699 -1.716 0 180 0 53 2 Mug 1.550 1.409 0.393 0 270 0 45 3 TissueBox 1.233 0.703 -1.326 0 180 0 53 4 TissueBox 0.987 0.703 -1.423 0 180 0 53 5 CD 1.591 1.411 0.264 0 270 0 45 6 CellPhone 0.002 0.704 -1.619 0 180 0 53 7 Pen -0.074 0.086 -1.372 0 180 0 49 8 Pen 1.511 0.493 -0.534 0 90 0 46 9 Pencil -0.028 0.501 -1.532 0 180 0 48 10 Pencil 1.449 0.492 -0.324 0 270 0 46 11 Pencil 0.064 0.292 -1.372 0 180 0 51 12 CreditCard 1.480 0.488 -0.254 0 270 0 46 13 CreditCard 0.248 0.703 -1.814 0 180 0 53 14 Book -2.217 0.527 -0.814 0 0 0 36 15 Book 0.002 0.701 -1.423 0 180 0 53 16 Laptop -1.777 0.525 -0.082 0 0 0 36 17 AlarmClock 1.511 0.489 -0.464 0 270 0 46 18 AlarmClock 1.233 0.702 -1.521 0 180 0 53 19 Box 1.537 1.652 0.692 0 0 0 39 20 Book 1.562 0.708 -0.623 0 0 0 45 21 AlarmClock 1.562 0.709 -0.226 0 0 0 45 22 CellPhone 1.562 0.711 -0.385 0 0 0 45 23 TissueBox 1.479 0.703 -1.326 0 180 0 53 24 TeddyBear -2.204 0.500 0.181 355.000 297.467 9.162 36 25 CreditCard 1.671 1.411 0.007 0 270 0 45 26 KeyChain 0.064 0.082 -1.639 0 90 0 49 27 BaseballBat -2.202 0.04 -1.343 0 45 90 Floor|+00.00| 28 TennisRacket -2.254 0.324 -1.806 15.000 180 180 Floor|+00.00| 29 Pillow -1.630 0.598 0.648 0 0 0 36 30 Laptop -1.630 0.525 -0.814 0 0 0 36 31 CD 0.433 0.497 -1.425 0 180 0 54 32 Pen 0.494 0.707 -1.619 0 180 0 53 33 Pencil 1.469 1.415 0.393 0 270 0 45 34 Mug 0.987 0.699 -1.716 0 180 0 53 35 Mirror -0.689 1.495 0.954 0 0 0 36 Bed -1.742 0.000 -0.071 0 0 0 37 Chair 0.891 -0.001 -1.251 0 175.104 0 38 GarbageCan -0.606 -0.021 0.799 0 0 0 39 ShelvingUnit 1.550 1.402 0.374 0 270 0 40 Painting -2.401 1.700 -0.859 90 90 0 41 DeskLamp 1.291 0.699 -1.717 0 0 0 42 LightSwitch 0.231 1.287 0.954 0 180 0 43 HousePlant 1.488 1.394 0.035 0 122.291 0 44 Window 0.046 1.559 -2.079 90 180 0 45 SideTable 1.561 0.000 -0.465 0 270 0 46 Shelf 1.541 0.493 -0.475 0 270 0 47 Blinds 0.007 2.152 -2.014 0 0 0 48 Drawer -0.156 0.547 -1.430 0 0 0 49 Drawer 0.270 0.159 -1.430 0 0 0 50 Drawer -0.156 0.159 -1.430 0 0 0 51 Drawer 0.270 0.353 -1.430 0 0 0 52 Drawer -0.156 0.353 -1.430 0 0 0 53 Desk 0.634 0.002 -1.557 0 0 0 54 Drawer 0.270 0.547 -1.430 0 0 0 55 Shelf 1.406 0.571 -1.514 0 0 0 56 Shelf 1.406 0.183 -1.514 0 0 0 57 Shelf 1.584 0.183 -1.514 0 0 0 58 Shelf 1.406 0.377 -1.514 0 0 0 59 Shelf 1.584 0.377 -1.514 0 0 0 60 Shelf 1.584 0.571 -1.514 0 0 0 61 NorthWall 62 EastWall 63 SouthWall 64 WestWall
[ "STEP 1: Walk over to the bookshelf on the opposite side of the room. | STEP 2: Pick up a pencil from the small stand to the right of the bookshelf. | STEP 3: Turn right and face the desk. | STEP 4: Put the pencil on the desk in front of the computer chair. | STEP 5: Turn around and walk to the door, then turn right and face the bookshelf. | STEP 6: Take the pencil from the top of the bookshelf. | STEP 7: Turn right and walk to the desk. | STEP 8: Put the pencil on top of the other pencil already on the desk at a ninety degree angle, leaning against the box of tissues. | END" ]
[ [ "STEP 1: Walk over to the bookshelf on the opposite side of the room. ", " STEP 2: Pick up a pencil from the small stand to the right of the bookshelf. ", " STEP 3: Turn right and face the desk. ", " STEP 4: Put the pencil on the desk in front of the computer chair. ", " STEP 5: Turn around and walk to the door, then turn right and face the bookshelf. ", " STEP 6: Take the pencil from the top of the bookshelf. ", " STEP 7: Turn right and walk to the desk. ", " STEP 8: Put the pencil on top of the other pencil already on the desk at a ninety degree angle, leaning against the box of tissues. ", " END" ] ]
seen
trial_T20190908_233534_790055-0
Clean a tomato slice and place it on the left side of the microwave stand.
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0", " 0", " 50" ], [ "24", " Knife", " 1.025", " 1.352", " -2.053", " 0", " 0", " 0", " 50" ], [ "25", " Bowl", " -1.614", " 0.342", " 0.713", " 0", " 0", " 0", " 48" ], [ "26", " Potato", " 1.148", " 1.350", " 0.861", " 0", " 270", " 0", " 75" ], [ "27", " SoapBottle", " -1.954", " 0.344", " 1.213", " 0", " 0", " 0", " 51" ], [ "28", " Fork", " -1.645", " 0.420", " -0.495", " 0", " 0", " 0", " 54" ], [ "29", " Cup", " 1.095", " 1.754", " 2.112", " 0", " 270", " 0", " 63" ], [ "30", " Kettle", " -1.691", " 1.310", " -3.156", " 0", " 150.000", " 0", " 50" ], [ "31", " Egg", " -2.179", " 1.363", " -1.941", " 0", " 0", " 0", " 50" ], [ "32", " Pan", " -1.881", " 0.327", " -2.035", " 0", " 0", " 0", " 46" ], [ "33", " SaltShaker", " 0.420", " 1.318", " -2.789", " 0", " 0", " 0", " 50" ], [ "34", " WineBottle", " -1.886", " 0.344", " 1.110", " 0", " 0", " 0", " 51" ], [ "35", " Lettuce", " -1.891", " 1.399", " -1.065", " 7.125", " 0", " 355.856", " 57" ], [ "36", " Spatula", " -1.603", " 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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 1.124 -0.5 0 90 0 1 Potato 0.938 1.796 2.171 0 270 0 63 2 WineBottle -1.634 0.281 2.110 0 270 0 65 3 Fork -1.530 1.323 -2.981 0 0 0 50 4 Fork -1.790 1.323 0.770 0 0 0 50 5 Spatula -2.049 1.337 1.744 0 0 0 50 6 Spatula -1.790 1.337 -2.721 0 270 0 50 7 Pot -0.239 1.331 -3.301 0 180 0 45 8 Pot -0.630 1.331 -3.301 0 180 0 47 9 Plate -1.920 1.323 -1.681 0 0 0 50 10 Plate -1.530 1.323 -1.941 0 0 0 50 11 SoapBottle -1.586 0.280 2.275 0 270 0 65 12 SoapBottle -1.884 0.344 0.512 0 0 0 48 13 Tomato 1.285 1.356 -2.053 0 0 0 50 14 Tomato 0.938 1.709 1.663 0 270 0 63 15 SaltShaker 1.193 1.202 1.222 0 0 0 75 16 SaltShaker -1.530 1.318 1.094 0 0 0 50 17 PepperShaker -1.954 0.338 1.627 0 0 0 51 18 PepperShaker -1.884 0.338 0.713 0 0 0 48 19 Lettuce -2.049 1.399 -2.201 0 0 0 50 20 Mug 0.965 1.371 -1.534 0 270 0 71 21 Mug 0.976 0.339 -1.957 0 180 0 49 22 Bread -1.513 1.380 0.662 0 0 0 50 23 Pot 1.155 1.329 -2.424 0 0 0 50 24 Knife 1.025 1.352 -2.053 0 0 0 50 25 Bowl -1.614 0.342 0.713 0 0 0 48 26 Potato 1.148 1.350 0.861 0 270 0 75 27 SoapBottle -1.954 0.344 1.213 0 0 0 51 28 Fork -1.645 0.420 -0.495 0 0 0 54 29 Cup 1.095 1.754 2.112 0 270 0 63 30 Kettle -1.691 1.310 -3.156 0 150.000 0 50 31 Egg -2.179 1.363 -1.941 0 0 0 50 32 Pan -1.881 0.327 -2.035 0 0 0 46 33 SaltShaker 0.420 1.318 -2.789 0 0 0 50 34 WineBottle -1.886 0.344 1.110 0 0 0 51 35 Lettuce -1.891 1.399 -1.065 7.125 0 355.856 57 36 Spatula -1.603 0.435 -0.298 0 270 0 54 37 PaperTowelRoll -1.634 0.384 2.193 0 0 0 65 38 Tomato 1.095 1.709 1.545 0 270 0 63 39 Plate -1.682 0.344 1.523 0 0 0 51 40 PepperShaker 0.861 1.202 1.238 0 0 0 75 41 DishSponge -1.308 1.322 -2.981 0 0 0 50 42 Spoon -1.687 0.421 -0.364 0 0 0 54 43 Apple -2.049 1.371 -2.721 0 0 0 50 44 Mug 1.148 1.305 1.016 0 270 0 75 45 StoveBurner -0.239 1.325 -3.301 0 180 0 46 Cabinet -1.461 0.775 -2.002 0 0 0 47 StoveBurner -0.630 1.325 -3.301 0 180 0 48 Cabinet -1.461 0.775 0.470 0 0 0 49 Cabinet 0.578 0.776 -2.054 0 0 0 50 CounterTop -1.809 1.358 1.182 0 0 0 51 Cabinet -1.461 0.775 1.310 0 0 0 52 Faucet -2.063 1.362 -0.726 0 39.391 0 53 StoveBurner -0.749 1.325 -2.973 0 0 0 54 Drawer -1.610 0.681 -0.430 0 0 0 55 Window -2.566 1.799 -0.822 270 0 0 56 Drawer -1.610 0.681 -1.217 0 0 0 57 Sink -1.990 1.143 -0.975 0 0 0 58 StoveBurner -0.125 1.325 -2.973 0 0 0 59 StoveKnob -0.185 1.338 -2.741 0 270 180 60 StoveKnob -0.336 1.338 -2.741 0 270 180 61 StoveKnob -0.569 1.338 -2.741 0 270 180 62 StoveKnob -0.707 1.338 -2.741 0 270 180 63 Fridge 1.013 0.227 1.917 0 270 0 64 Microwave 0.994 1.310 -2.163 0 270 0 65 GarbageCan -1.633 0.212 2.192 0 270 0 66 LightSwitch 1.386 1.565 -0.657 0 270 0 67 HousePlant -2.027 1.311 -0.026 0 284.058 0 68 SinkBasin -1.835 1.039 -0.542 0 0 0 69 ButterKnife 0.873 0.468 0.651 0 0 0 70 Toaster -1.885 1.310 -2.512 0 90 0 71 CoffeeMachine 1.129 1.310 -1.426 0 270 0 72 Drawer 0.647 1.061 0.680 0 270 0 73 Drawer 0.648 1.061 1.020 0 270 0 74 Drawer 0.648 0.843 1.020 0 270 0 75 SideTable 0.975 0.220 0.869 0 270 0 76 Drawer 0.648 0.602 0.680 0 270 0 77 Drawer 0.648 0.596 1.020 0 270 0 78 Drawer 0.648 0.843 0.680 0 270 0 79 Stool 0.606 0.222 -1.084 1.233 280.489 0 80 NorthWall 81 EastWall 82 SouthWall 83 WestWall
[ "STEP 1: walk to the right to face the knife on the counter. | STEP 2: Pick up the knife on the counter. | STEP 3: Look up to face the tomato on the back of the table. | STEP 4: Cut the tomato on the back of the sink into slices. | STEP 5: Turn left and walk forward and turn right to face the microwave stand. | STEP 6: Place the knife on the microwave stand. | STEP 7: Turn right and walk across the room and turn left to face the tomato on the back of the counter. | STEP 8: Pick up the tomato slice on the counter. | STEP 9: Turn around and walk across the room to face the sink. | STEP 10: Wash the tomato slice in the sink and remove it. | STEP 11: Turn around and walk across the room to face the microwave stand. | STEP 12: Place the tomato slice on the left side of the microwave stand. | END" ]
[ [ "STEP 1: walk to the right to face the knife on the counter. ", " STEP 2: Pick up the knife on the counter. ", " STEP 3: Look up to face the tomato on the back of the table. ", " STEP 4: Cut the tomato on the back of the sink into slices. ", " STEP 5: Turn left and walk forward and turn right to face the microwave stand. ", " STEP 6: Place the knife on the microwave stand. ", " STEP 7: Turn right and walk across the room and turn left to face the tomato on the back of the counter. ", " STEP 8: Pick up the tomato slice on the counter. ", " STEP 9: Turn around and walk across the room to face the sink. ", " STEP 10: Wash the tomato slice in the sink and remove it. ", " STEP 11: Turn around and walk across the room to face the microwave stand. ", " STEP 12: Place the tomato slice on the left side of the microwave stand. ", " END" ] ]
seen
trial_T20190908_233534_790055-1
Put a washed slice of tomato on the counter by the microwave.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.0 1.124 -0.5 0 90 0 1 Potato 0.938 1.796 2.171 0 270 0 63 2 WineBottle -1.634 0.281 2.110 0 270 0 65 3 Fork -1.530 1.323 -2.981 0 0 0 50 4 Fork -1.790 1.323 0.770 0 0 0 50 5 Spatula -2.049 1.337 1.744 0 0 0 50 6 Spatula -1.790 1.337 -2.721 0 270 0 50 7 Pot -0.239 1.331 -3.301 0 180 0 45 8 Pot -0.630 1.331 -3.301 0 180 0 47 9 Plate -1.920 1.323 -1.681 0 0 0 50 10 Plate -1.530 1.323 -1.941 0 0 0 50 11 SoapBottle -1.586 0.280 2.275 0 270 0 65 12 SoapBottle -1.884 0.344 0.512 0 0 0 48 13 Tomato 1.285 1.356 -2.053 0 0 0 50 14 Tomato 0.938 1.709 1.663 0 270 0 63 15 SaltShaker 1.193 1.202 1.222 0 0 0 75 16 SaltShaker -1.530 1.318 1.094 0 0 0 50 17 PepperShaker -1.954 0.338 1.627 0 0 0 51 18 PepperShaker -1.884 0.338 0.713 0 0 0 48 19 Lettuce -2.049 1.399 -2.201 0 0 0 50 20 Mug 0.965 1.371 -1.534 0 270 0 71 21 Mug 0.976 0.339 -1.957 0 180 0 49 22 Bread -1.513 1.380 0.662 0 0 0 50 23 Pot 1.155 1.329 -2.424 0 0 0 50 24 Knife 1.025 1.352 -2.053 0 0 0 50 25 Bowl -1.614 0.342 0.713 0 0 0 48 26 Potato 1.148 1.350 0.861 0 270 0 75 27 SoapBottle -1.954 0.344 1.213 0 0 0 51 28 Fork -1.645 0.420 -0.495 0 0 0 54 29 Cup 1.095 1.754 2.112 0 270 0 63 30 Kettle -1.691 1.310 -3.156 0 150.000 0 50 31 Egg -2.179 1.363 -1.941 0 0 0 50 32 Pan -1.881 0.327 -2.035 0 0 0 46 33 SaltShaker 0.420 1.318 -2.789 0 0 0 50 34 WineBottle -1.886 0.344 1.110 0 0 0 51 35 Lettuce -1.891 1.399 -1.065 7.125 0 355.856 57 36 Spatula -1.603 0.435 -0.298 0 270 0 54 37 PaperTowelRoll -1.634 0.384 2.193 0 0 0 65 38 Tomato 1.095 1.709 1.545 0 270 0 63 39 Plate -1.682 0.344 1.523 0 0 0 51 40 PepperShaker 0.861 1.202 1.238 0 0 0 75 41 DishSponge -1.308 1.322 -2.981 0 0 0 50 42 Spoon -1.687 0.421 -0.364 0 0 0 54 43 Apple -2.049 1.371 -2.721 0 0 0 50 44 Mug 1.148 1.305 1.016 0 270 0 75 45 StoveBurner -0.239 1.325 -3.301 0 180 0 46 Cabinet -1.461 0.775 -2.002 0 0 0 47 StoveBurner -0.630 1.325 -3.301 0 180 0 48 Cabinet -1.461 0.775 0.470 0 0 0 49 Cabinet 0.578 0.776 -2.054 0 0 0 50 CounterTop -1.809 1.358 1.182 0 0 0 51 Cabinet -1.461 0.775 1.310 0 0 0 52 Faucet -2.063 1.362 -0.726 0 39.391 0 53 StoveBurner -0.749 1.325 -2.973 0 0 0 54 Drawer -1.610 0.681 -0.430 0 0 0 55 Window -2.566 1.799 -0.822 270 0 0 56 Drawer -1.610 0.681 -1.217 0 0 0 57 Sink -1.990 1.143 -0.975 0 0 0 58 StoveBurner -0.125 1.325 -2.973 0 0 0 59 StoveKnob -0.185 1.338 -2.741 0 270 180 60 StoveKnob -0.336 1.338 -2.741 0 270 180 61 StoveKnob -0.569 1.338 -2.741 0 270 180 62 StoveKnob -0.707 1.338 -2.741 0 270 180 63 Fridge 1.013 0.227 1.917 0 270 0 64 Microwave 0.994 1.310 -2.163 0 270 0 65 GarbageCan -1.633 0.212 2.192 0 270 0 66 LightSwitch 1.386 1.565 -0.657 0 270 0 67 HousePlant -2.027 1.311 -0.026 0 284.058 0 68 SinkBasin -1.835 1.039 -0.542 0 0 0 69 ButterKnife 0.873 0.468 0.651 0 0 0 70 Toaster -1.885 1.310 -2.512 0 90 0 71 CoffeeMachine 1.129 1.310 -1.426 0 270 0 72 Drawer 0.647 1.061 0.680 0 270 0 73 Drawer 0.648 1.061 1.020 0 270 0 74 Drawer 0.648 0.843 1.020 0 270 0 75 SideTable 0.975 0.220 0.869 0 270 0 76 Drawer 0.648 0.602 0.680 0 270 0 77 Drawer 0.648 0.596 1.020 0 270 0 78 Drawer 0.648 0.843 0.680 0 270 0 79 Stool 0.606 0.222 -1.084 1.233 280.489 0 80 NorthWall 81 EastWall 82 SouthWall 83 WestWall
[ "STEP 1: Turn and go to the counter by the coffee maker. | STEP 2: Pick up a knife by the coffee maker. | STEP 3: Turn and go to the tomato on the counter. | STEP 4: Cut the tomato on the counter. | STEP 5: Turn and go to the microwave. | STEP 6: Put the knife on the counter by the microwave. | STEP 7: Turn and go to the counter by the coffee maker. | STEP 8: Pick up a slice of tomato by the coffee maker. | STEP 9: Turn and go to the sink. | STEP 10: Wash the slice of tomato in the sink. | STEP 11: Turn and go to the microwave. | STEP 12: Put the slice of tomato on the counter by the microwave. | END" ]
[ [ "STEP 1: Turn and go to the counter by the coffee maker. ", " STEP 2: Pick up a knife by the coffee maker. ", " STEP 3: Turn and go to the tomato on the counter. ", " STEP 4: Cut the tomato on the counter. ", " STEP 5: Turn and go to the microwave. ", " STEP 6: Put the knife on the counter by the microwave. ", " STEP 7: Turn and go to the counter by the coffee maker. ", " STEP 8: Pick up a slice of tomato by the coffee maker. ", " STEP 9: Turn and go to the sink. ", " STEP 10: Wash the slice of tomato in the sink. ", " STEP 11: Turn and go to the microwave. ", " STEP 12: Put the slice of tomato on the counter by the microwave. ", " END" ] ]
seen
trial_T20190908_233534_790055-2
Put a washed tomato slice on the table.
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"49", " Cabinet", " 0.578", " 0.776", " -2.054", " 0", " 0", " 0", "" ], [ "50", " CounterTop", " -1.809", " 1.358", " 1.182", " 0", " 0", " 0", "" ], [ "51", " Cabinet", " -1.461", " 0.775", " 1.310", " 0", " 0", " 0", "" ], [ "52", " Faucet", " -2.063", " 1.362", " -0.726", " 0", " 39.391", " 0", "" ], [ "53", " StoveBurner", " -0.749", " 1.325", " -2.973", " 0", " 0", " 0", "" ], [ "54", " Drawer", " -1.610", " 0.681", " -0.430", " 0", " 0", " 0", "" ], [ "55", " Window", " -2.566", " 1.799", " -0.822", " 270", " 0", " 0", "" ], [ "56", " Drawer", " -1.610", " 0.681", " -1.217", " 0", " 0", " 0", "" ], [ "57", " Sink", " -1.990", " 1.143", " -0.975", " 0", " 0", " 0", "" ], [ "58", " StoveBurner", " -0.125", " 1.325", " -2.973", " 0", " 0", " 0", "" ], [ "59", " StoveKnob", " -0.185", " 1.338", " -2.741", " 0", " 270", " 180", "" ], [ "60", " StoveKnob", " -0.336", " 1.338", " -2.741", " 0", " 270", " 180", "" ], [ "61", " StoveKnob", " -0.569", " 1.338", " -2.741", " 0", " 270", " 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1.020", " 0", " 270", " 0", "" ], [ "75", " SideTable", " 0.975", " 0.220", " 0.869", " 0", " 270", " 0", "" ], [ "76", " Drawer", " 0.648", " 0.602", " 0.680", " 0", " 270", " 0", "" ], [ "77", " Drawer", " 0.648", " 0.596", " 1.020", " 0", " 270", " 0", "" ], [ "78", " Drawer", " 0.648", " 0.843", " 0.680", " 0", " 270", " 0", "" ], [ "79", " Stool", " 0.606", " 0.222", " -1.084", " 1.233", " 280.489", " 0", "" ], [ "80", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "81", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "82", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "83", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.0 1.124 -0.5 0 90 0 1 Potato 0.938 1.796 2.171 0 270 0 63 2 WineBottle -1.634 0.281 2.110 0 270 0 65 3 Fork -1.530 1.323 -2.981 0 0 0 50 4 Fork -1.790 1.323 0.770 0 0 0 50 5 Spatula -2.049 1.337 1.744 0 0 0 50 6 Spatula -1.790 1.337 -2.721 0 270 0 50 7 Pot -0.239 1.331 -3.301 0 180 0 45 8 Pot -0.630 1.331 -3.301 0 180 0 47 9 Plate -1.920 1.323 -1.681 0 0 0 50 10 Plate -1.530 1.323 -1.941 0 0 0 50 11 SoapBottle -1.586 0.280 2.275 0 270 0 65 12 SoapBottle -1.884 0.344 0.512 0 0 0 48 13 Tomato 1.285 1.356 -2.053 0 0 0 50 14 Tomato 0.938 1.709 1.663 0 270 0 63 15 SaltShaker 1.193 1.202 1.222 0 0 0 75 16 SaltShaker -1.530 1.318 1.094 0 0 0 50 17 PepperShaker -1.954 0.338 1.627 0 0 0 51 18 PepperShaker -1.884 0.338 0.713 0 0 0 48 19 Lettuce -2.049 1.399 -2.201 0 0 0 50 20 Mug 0.965 1.371 -1.534 0 270 0 71 21 Mug 0.976 0.339 -1.957 0 180 0 49 22 Bread -1.513 1.380 0.662 0 0 0 50 23 Pot 1.155 1.329 -2.424 0 0 0 50 24 Knife 1.025 1.352 -2.053 0 0 0 50 25 Bowl -1.614 0.342 0.713 0 0 0 48 26 Potato 1.148 1.350 0.861 0 270 0 75 27 SoapBottle -1.954 0.344 1.213 0 0 0 51 28 Fork -1.645 0.420 -0.495 0 0 0 54 29 Cup 1.095 1.754 2.112 0 270 0 63 30 Kettle -1.691 1.310 -3.156 0 150.000 0 50 31 Egg -2.179 1.363 -1.941 0 0 0 50 32 Pan -1.881 0.327 -2.035 0 0 0 46 33 SaltShaker 0.420 1.318 -2.789 0 0 0 50 34 WineBottle -1.886 0.344 1.110 0 0 0 51 35 Lettuce -1.891 1.399 -1.065 7.125 0 355.856 57 36 Spatula -1.603 0.435 -0.298 0 270 0 54 37 PaperTowelRoll -1.634 0.384 2.193 0 0 0 65 38 Tomato 1.095 1.709 1.545 0 270 0 63 39 Plate -1.682 0.344 1.523 0 0 0 51 40 PepperShaker 0.861 1.202 1.238 0 0 0 75 41 DishSponge -1.308 1.322 -2.981 0 0 0 50 42 Spoon -1.687 0.421 -0.364 0 0 0 54 43 Apple -2.049 1.371 -2.721 0 0 0 50 44 Mug 1.148 1.305 1.016 0 270 0 75 45 StoveBurner -0.239 1.325 -3.301 0 180 0 46 Cabinet -1.461 0.775 -2.002 0 0 0 47 StoveBurner -0.630 1.325 -3.301 0 180 0 48 Cabinet -1.461 0.775 0.470 0 0 0 49 Cabinet 0.578 0.776 -2.054 0 0 0 50 CounterTop -1.809 1.358 1.182 0 0 0 51 Cabinet -1.461 0.775 1.310 0 0 0 52 Faucet -2.063 1.362 -0.726 0 39.391 0 53 StoveBurner -0.749 1.325 -2.973 0 0 0 54 Drawer -1.610 0.681 -0.430 0 0 0 55 Window -2.566 1.799 -0.822 270 0 0 56 Drawer -1.610 0.681 -1.217 0 0 0 57 Sink -1.990 1.143 -0.975 0 0 0 58 StoveBurner -0.125 1.325 -2.973 0 0 0 59 StoveKnob -0.185 1.338 -2.741 0 270 180 60 StoveKnob -0.336 1.338 -2.741 0 270 180 61 StoveKnob -0.569 1.338 -2.741 0 270 180 62 StoveKnob -0.707 1.338 -2.741 0 270 180 63 Fridge 1.013 0.227 1.917 0 270 0 64 Microwave 0.994 1.310 -2.163 0 270 0 65 GarbageCan -1.633 0.212 2.192 0 270 0 66 LightSwitch 1.386 1.565 -0.657 0 270 0 67 HousePlant -2.027 1.311 -0.026 0 284.058 0 68 SinkBasin -1.835 1.039 -0.542 0 0 0 69 ButterKnife 0.873 0.468 0.651 0 0 0 70 Toaster -1.885 1.310 -2.512 0 90 0 71 CoffeeMachine 1.129 1.310 -1.426 0 270 0 72 Drawer 0.647 1.061 0.680 0 270 0 73 Drawer 0.648 1.061 1.020 0 270 0 74 Drawer 0.648 0.843 1.020 0 270 0 75 SideTable 0.975 0.220 0.869 0 270 0 76 Drawer 0.648 0.602 0.680 0 270 0 77 Drawer 0.648 0.596 1.020 0 270 0 78 Drawer 0.648 0.843 0.680 0 270 0 79 Stool 0.606 0.222 -1.084 1.233 280.489 0 80 NorthWall 81 EastWall 82 SouthWall 83 WestWall
[ "STEP 1: Turn right and go to the front of the counter with the coffee machine on top. | STEP 2: Pick up the yellow knife between the coffee machine and the gray pot. | STEP 3: Move forward slightly towards the red tomato on the back of the counter. | STEP 4: Slice the red tomato on the counter. | STEP 5: Turn left and go to the small black table with the microwave on top on the right. | STEP 6: Place the knife on the top of the table on the right side of the salt shaker. | STEP 7: Turn right and go back to the counter with the sliced red tomato. | STEP 8: Pick up one slice from the counter. | STEP 9: Turn around and go to the sink across the kitchen on the right. | STEP 10: Wash the tomato slice in the sink under running water. | STEP 11: Turn around and go to the small black table with the microwave on top. | STEP 12: Place the tomato slice on the left front edge in front of the salt shaker. | END" ]
[ [ "STEP 1: Turn right and go to the front of the counter with the coffee machine on top. ", " STEP 2: Pick up the yellow knife between the coffee machine and the gray pot. ", " STEP 3: Move forward slightly towards the red tomato on the back of the counter. ", " STEP 4: Slice the red tomato on the counter. ", " STEP 5: Turn left and go to the small black table with the microwave on top on the right. ", " STEP 6: Place the knife on the top of the table on the right side of the salt shaker. ", " STEP 7: Turn right and go back to the counter with the sliced red tomato. ", " STEP 8: Pick up one slice from the counter. ", " STEP 9: Turn around and go to the sink across the kitchen on the right. ", " STEP 10: Wash the tomato slice in the sink under running water. ", " STEP 11: Turn around and go to the small black table with the microwave on top. ", " STEP 12: Place the tomato slice on the left front edge in front of the salt shaker. ", " END" ] ]
seen
trial_T20190909_030658_091372-0
Put a slice of bread from the loaf on the island in the fridge, put it in the trash.
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0", " 99" ], [ "49", " WineBottle", " 0.840", " 0.911", " -2.637", " 0", " 0", " 0", " 71" ], [ "50", " Pot", " -1.219", " 0.9", " -2.356", " 0", " 0", " 0", " 94" ], [ "51", " Spatula", " -2.100", " 0.926", " -2.366", " 0", " 90", " 0", " 94" ], [ "52", " PaperTowelRoll", " 0.840", " 1.014", " -2.253", " 0", " 0", " 0", " 71" ], [ "53", " Cup", " 1.996", " 0.550", " -2.666", " 0", " 180", " 0", " 99" ], [ "54", " Vase", " -0.840", " 1.653", " -2.604", " 0", " 0", " 0", " 83" ], [ "55", " Bowl", " -1.755", " 0.132", " -1.856", " 0", " 90", " 0", " 70" ], [ "56", " SaltShaker", " 0.451", " 1.656", " -2.525", " 0", " 0", " 0", " 93" ], [ "57", " PepperShaker", " 0.324", " 0.907", " -2.330", " 0", " 0", " 0", " 71" ], [ "58", " Lettuce", " 1.098", " 0.990", " -2.484", " 0", " 0", " 0", " 71" ], [ "59", " ButterKnife", " 0.217", " 1.111", " -0.253", " 0", " 0", " 0", " 69" ], [ "60", " Apple", " 0.217", " 1.162", " 0.251", " 0", " 0", " 0", " 69" ], [ "61", " DishSponge", " -1.825", " 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-1.179", " 0.494", " -2.200", " 0", " 0", " 0", "" ], [ "88", " Cabinet", " -1.849", " 2.015", " 0.379", " 0", " 90", " 0", "" ], [ "89", " Drawer", " 0.949", " 0.221", " -2.200", " 0", " 0", " 0", "" ], [ "90", " StoveKnob", " -0.183", " 0.881", " -2.187", " 45", " 0", " 0", "" ], [ "91", " Cabinet", " 0.719", " 2.015", " -2.460", " 0", " 0", " 0", "" ], [ "92", " Drawer", " -1.560", " 0.331", " -0.196", " 0", " 90", " 0", "" ], [ "93", " Cabinet", " 0.680", " 2.015", " -2.460", " 0", " 0", " 0", "" ], [ "94", " CounterTop", " -1.868", " 0.946", " -1.205", " 0", " 0", " 0", "" ], [ "95", " Microwave", " -0.236", " 1.689", " -2.525", " 0", " 0", " 0", "" ], [ "96", " Shelf", " 1.751", " 0.880", " -2.560", " 0", " 0", " 0", "" ], [ "97", " HousePlant", " -1.948", " 0.889", " -2.520", " 0", " 5.334", " 0", "" ], [ "98", " Toaster", " -1.835", " 0.900", " 0.134", " 0", " 90", " 0", "" ], [ "99", " Shelf", " 1.750", " 0.552", " -2.559", " 0", " 0", " 0", "" ], [ "100", " GarbageCan", " 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"" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -0.25 0.900 -1.25 0 270 0 1 Statue -2.019 0.910 -0.513 0 90 0 94 2 Statue -0.059 1.110 -0.001 0 90 0 69 3 Vase -0.335 1.109 0.757 0 0 0 69 4 CreditCard 1.789 0.877 -2.617 0 180 0 96 5 CreditCard -1.783 0.151 -0.149 0 90 0 92 6 Cup -0.816 0.134 -2.352 0 0 0 87 7 Egg -1.908 0.804 -1.242 0 90 0 104 8 SoapBottle -1.755 0.137 -1.156 0 90 0 70 9 SoapBottle -1.880 0.048 2.172 0 270 0 100 10 SaltShaker 1.686 0.877 -2.563 0 180 0 96 11 SaltShaker -1.864 0.126 0.339 0 90 0 75 12 PepperShaker 0.079 1.107 -0.759 0 0 0 69 13 PepperShaker 1.993 0.877 -2.509 0 180 0 96 14 Bread -0.473 1.184 0.757 0 0 0 69 15 Lettuce -1.290 0.991 -2.560 0 0 0 94 16 Lettuce 0.079 1.191 -0.506 0 0 0 69 17 Apple -0.070 1.841 -2.546 0 0 0 95 18 Apple -1.586 0.961 -2.560 0 0 0 94 19 Fork -1.438 0.911 -2.406 0 0 0 94 20 Spoon -1.782 0.795 0.155 0 270 0 66 21 Spoon -0.995 0.912 -2.329 0 0 0 94 22 Mug -1.797 0.764 -1.242 0 270 0 104 23 Mug -2.120 0.793 1.003 0 90 0 102 24 Spatula -0.335 1.126 -0.001 0 0 0 69 25 Spatula 0.582 0.925 -2.253 0 0 0 71 26 ButterKnife -1.963 0.769 -1.673 0 270 0 104 27 Kettle -1.805 0.137 -1.506 0 90 0 70 28 Kettle -0.465 0.950 -2.372 0 90 0 67 29 Glassbottle -1.962 0.048 2.076 0 270 0 100 30 Glassbottle 0.079 1.112 0.251 0 0 0 69 31 WineBottle 1.891 0.881 -2.563 0 180 0 96 32 DishSponge 0.582 0.910 -2.637 0 0 0 71 33 DishSponge -1.797 0.769 -1.501 0 90 0 104 34 Book 0.155 1.1 0.617 0 315 0 69 35 Glassbottle -1.438 0.912 -2.713 0 0 0 94 36 Knife -1.774 0.936 -2.475 0 90 0 94 37 Bread -1.774 0.983 -0.884 0 0 0 94 38 Fork -1.963 0.770 -1.414 0 90 0 104 39 Potato -2.019 0.941 -2.695 0 0 0 94 40 SoapBottle -1.013 1.657 -2.640 0 0 0 83 41 Kettle -0.036 0.950 -2.576 0 270 0 72 42 Pan -0.473 1.111 0.251 0 0 0 69 43 Plate -2.070 1.302 1.092 0 90 0 102 44 Tomato 0.840 0.949 -2.407 0 0 0 71 45 Vase -1.401 1.660 -2.604 0 0 0 85 46 Egg -0.848 0.946 -2.560 0 0 0 94 47 CreditCard -0.059 1.108 -0.506 0 0 0 69 48 Statue 1.789 0.551 -2.459 0 180 0 99 49 WineBottle 0.840 0.911 -2.637 0 0 0 71 50 Pot -1.219 0.9 -2.356 0 0 0 94 51 Spatula -2.100 0.926 -2.366 0 90 0 94 52 PaperTowelRoll 0.840 1.014 -2.253 0 0 0 71 53 Cup 1.996 0.550 -2.666 0 180 0 99 54 Vase -0.840 1.653 -2.604 0 0 0 83 55 Bowl -1.755 0.132 -1.856 0 90 0 70 56 SaltShaker 0.451 1.656 -2.525 0 0 0 93 57 PepperShaker 0.324 0.907 -2.330 0 0 0 71 58 Lettuce 1.098 0.990 -2.484 0 0 0 71 59 ButterKnife 0.217 1.111 -0.253 0 0 0 69 60 Apple 0.217 1.162 0.251 0 0 0 69 61 DishSponge -1.825 0.793 0.199 0 90 0 66 62 Spoon -0.995 0.912 -2.560 0 0 0 94 63 Mug -0.225 1.785 -2.578 0 0 0 95 64 StoveBurner -0.036 0.915 -2.372 0 0 0 65 Drawer 0.949 0.832 -2.197 0 0 0 66 Drawer -1.560 0.839 0.204 0 90 0 67 StoveBurner -0.465 0.915 -2.371 0 180 0 68 Drawer -1.560 0.839 -0.197 0 90 0 69 CounterTop -0.079 1.147 -0.001 0 0 0 70 Cabinet -1.549 0.494 -1.964 0 90 0 71 CounterTop 0.693 0.946 -2.483 0 0 0 72 StoveBurner -0.036 0.915 -2.576 0 0 0 73 Drawer 0.949 0.393 -2.200 0 0 0 74 Drawer 0.949 0.708 -2.200 0 0 0 75 Cabinet -1.549 0.494 0.379 0 90 0 76 StoveKnob -0.022 0.881 -2.187 45 0 0 77 Drawer 0.949 0.560 -2.201 0 0 0 78 StoveBurner -0.465 0.915 -2.575 0 180 0 79 Window -2.230 1.429 -1.203 0 0 0 80 StoveKnob -0.483 0.881 -2.187 45 0 0 81 Sink -1.899 0.964 -1.5 0 90 0 82 StoveKnob -0.328 0.881 -2.187 45 0 0 83 Cabinet -0.727 2.015 -2.460 0 0 0 84 Drawer -1.560 0.655 -0.196 0 90 0 85 Cabinet -1.685 2.015 -2.461 0 0 0 86 Cabinet 0.680 0.494 -2.200 0 0 0 87 Cabinet -1.179 0.494 -2.200 0 0 0 88 Cabinet -1.849 2.015 0.379 0 90 0 89 Drawer 0.949 0.221 -2.200 0 0 0 90 StoveKnob -0.183 0.881 -2.187 45 0 0 91 Cabinet 0.719 2.015 -2.460 0 0 0 92 Drawer -1.560 0.331 -0.196 0 90 0 93 Cabinet 0.680 2.015 -2.460 0 0 0 94 CounterTop -1.868 0.946 -1.205 0 0 0 95 Microwave -0.236 1.689 -2.525 0 0 0 96 Shelf 1.751 0.880 -2.560 0 0 0 97 HousePlant -1.948 0.889 -2.520 0 5.334 0 98 Toaster -1.835 0.900 0.134 0 90 0 99 Shelf 1.750 0.552 -2.559 0 0 0 100 GarbageCan -1.935 -0.002 2.029 0 270 0 101 Shelf 1.750 0.172 -2.559 0 0 0 102 Fridge -2.096 0.0 1.088 0 0 0 103 CoffeeMachine -1.977 0.900 -0.188 0 90 0 104 SinkBasin -1.908 0.759 -1.488 0 90 0 105 LightSwitch 2.329 1.309 -0.159 0 270 0 106 ShelvingUnit 1.750 0.006 -2.559 0 0 0 107 Stool 0.702 0.000 -0.514 1.202 65.108 0 108 Stool 0.743 0.000 0.563 1.227 106.706 0 109 Faucet -2.070 1.132 -1.514 0 0 0 110 NorthWall 111 EastWall 112 SouthWall 113 WestWall
[ "STEP 1: Stand next to the stove and face the sink. | STEP 2: Walk up to the sink and grab a knife. | STEP 3: Go around the island to the loaf of bread. | STEP 4: Cut the loaf of bread with the knife. | STEP 5: Go to the fridge with the knife. | STEP 6: Put the knife in the fridge. | STEP 7: Go to the loaf of bread. | STEP 8: Grab a slice of bread from the island. | STEP 9: Go to the fridge with the slice of bread. | STEP 10: Put the slice of bread in the fridge then take it back out. | STEP 11: Walk to the trash can. | STEP 12: Put the slice of bread in the trash. | END" ]
[ [ "STEP 1: Stand next to the stove and face the sink. ", " STEP 2: Walk up to the sink and grab a knife. ", " STEP 3: Go around the island to the loaf of bread. ", " STEP 4: Cut the loaf of bread with the knife. ", " STEP 5: Go to the fridge with the knife. ", " STEP 6: Put the knife in the fridge. ", " STEP 7: Go to the loaf of bread. ", " STEP 8: Grab a slice of bread from the island. ", " STEP 9: Go to the fridge with the slice of bread. ", " STEP 10: Put the slice of bread in the fridge then take it back out. ", " STEP 11: Walk to the trash can. ", " STEP 12: Put the slice of bread in the trash. ", " END" ] ]
seen
trial_T20190909_030658_091372-1
Put a cold slice of bread in a garbage can.
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" 0", " 90", " 0", " 102" ], [ "24", " Spatula", " -0.335", " 1.126", " -0.001", " 0", " 0", " 0", " 69" ], [ "25", " Spatula", " 0.582", " 0.925", " -2.253", " 0", " 0", " 0", " 71" ], [ "26", " ButterKnife", " -1.963", " 0.769", " -1.673", " 0", " 270", " 0", " 104" ], [ "27", " Kettle", " -1.805", " 0.137", " -1.506", " 0", " 90", " 0", " 70" ], [ "28", " Kettle", " -0.465", " 0.950", " -2.372", " 0", " 90", " 0", " 67" ], [ "29", " Glassbottle", " -1.962", " 0.048", " 2.076", " 0", " 270", " 0", " 100" ], [ "30", " Glassbottle", " 0.079", " 1.112", " 0.251", " 0", " 0", " 0", " 69" ], [ "31", " WineBottle", " 1.891", " 0.881", " -2.563", " 0", " 180", " 0", " 96" ], [ "32", " DishSponge", " 0.582", " 0.910", " -2.637", " 0", " 0", " 0", " 71" ], [ "33", " DishSponge", " -1.797", " 0.769", " -1.501", " 0", " 90", " 0", " 104" ], [ "34", " Book", " 0.155", " 1.1", " 0.617", " 0", " 315", " 0", " 69" ], [ "35", " Glassbottle", " -1.438", " 0.912", " -2.713", " 0", " 0", " 0", " 94" ], [ "36", " Knife", " -1.774", " 0.936", " -2.475", " 0", " 90", " 0", " 94" ], [ "37", " Bread", " -1.774", " 0.983", " -0.884", " 0", " 0", " 0", " 94" ], [ "38", " Fork", " -1.963", " 0.770", " -1.414", " 0", " 90", " 0", " 104" ], [ "39", " Potato", " -2.019", " 0.941", " -2.695", " 0", " 0", " 0", " 94" ], [ "40", " SoapBottle", " -1.013", " 1.657", " -2.640", " 0", " 0", " 0", " 83" ], [ "41", " Kettle", " -0.036", " 0.950", " -2.576", " 0", " 270", " 0", " 72" ], [ "42", " Pan", " -0.473", " 1.111", " 0.251", " 0", " 0", " 0", " 69" ], [ "43", " Plate", " -2.070", " 1.302", " 1.092", " 0", " 90", " 0", " 102" ], [ "44", " Tomato", " 0.840", " 0.949", " -2.407", " 0", " 0", " 0", " 71" ], [ "45", " Vase", " -1.401", " 1.660", " -2.604", " 0", " 0", " 0", " 85" ], [ "46", " Egg", " -0.848", " 0.946", " -2.560", " 0", " 0", " 0", " 94" ], [ "47", " CreditCard", " -0.059", " 1.108", " -0.506", " 0", " 0", " 0", " 69" ], [ "48", " Statue", " 1.789", " 0.551", " -2.459", " 0", " 180", " 0", " 99" ], [ "49", " WineBottle", " 0.840", " 0.911", " -2.637", " 0", " 0", " 0", " 71" ], [ "50", " Pot", " -1.219", " 0.9", " -2.356", " 0", " 0", " 0", " 94" ], [ "51", " Spatula", " -2.100", " 0.926", " -2.366", " 0", " 90", " 0", " 94" ], [ "52", " PaperTowelRoll", " 0.840", " 1.014", " -2.253", " 0", " 0", " 0", " 71" ], [ "53", " Cup", " 1.996", " 0.550", " -2.666", " 0", " 180", " 0", " 99" ], [ "54", " Vase", " -0.840", " 1.653", " -2.604", " 0", " 0", " 0", " 83" ], [ "55", " Bowl", " -1.755", " 0.132", " -1.856", " 0", " 90", " 0", " 70" ], [ "56", " SaltShaker", " 0.451", " 1.656", " -2.525", " 0", " 0", " 0", " 93" ], [ "57", " PepperShaker", " 0.324", " 0.907", " -2.330", " 0", " 0", " 0", " 71" ], [ "58", " Lettuce", " 1.098", " 0.990", " -2.484", " 0", " 0", " 0", " 71" ], [ "59", " ButterKnife", " 0.217", " 1.111", " -0.253", " 0", " 0", " 0", " 69" ], [ "60", " Apple", " 0.217", " 1.162", " 0.251", " 0", " 0", " 0", " 69" ], [ "61", " DishSponge", " -1.825", " 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-1.935", " -0.002", " 2.029", " 0", " 270", " 0", "" ], [ "101", " Shelf", " 1.750", " 0.172", " -2.559", " 0", " 0", " 0", "" ], [ "102", " Fridge", " -2.096", " 0.0", " 1.088", " 0", " 0", " 0", "" ], [ "103", " CoffeeMachine", " -1.977", " 0.900", " -0.188", " 0", " 90", " 0", "" ], [ "104", " SinkBasin", " -1.908", " 0.759", " -1.488", " 0", " 90", " 0", "" ], [ "105", " LightSwitch", " 2.329", " 1.309", " -0.159", " 0", " 270", " 0", "" ], [ "106", " ShelvingUnit", " 1.750", " 0.006", " -2.559", " 0", " 0", " 0", "" ], [ "107", " Stool", " 0.702", " 0.000", " -0.514", " 1.202", " 65.108", " 0", "" ], [ "108", " Stool", " 0.743", " 0.000", " 0.563", " 1.227", " 106.706", " 0", "" ], [ "109", " Faucet", " -2.070", " 1.132", " -1.514", " 0", " 0", " 0", "" ], [ "110", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "111", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "112", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "113", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -0.25 0.900 -1.25 0 270 0 1 Statue -2.019 0.910 -0.513 0 90 0 94 2 Statue -0.059 1.110 -0.001 0 90 0 69 3 Vase -0.335 1.109 0.757 0 0 0 69 4 CreditCard 1.789 0.877 -2.617 0 180 0 96 5 CreditCard -1.783 0.151 -0.149 0 90 0 92 6 Cup -0.816 0.134 -2.352 0 0 0 87 7 Egg -1.908 0.804 -1.242 0 90 0 104 8 SoapBottle -1.755 0.137 -1.156 0 90 0 70 9 SoapBottle -1.880 0.048 2.172 0 270 0 100 10 SaltShaker 1.686 0.877 -2.563 0 180 0 96 11 SaltShaker -1.864 0.126 0.339 0 90 0 75 12 PepperShaker 0.079 1.107 -0.759 0 0 0 69 13 PepperShaker 1.993 0.877 -2.509 0 180 0 96 14 Bread -0.473 1.184 0.757 0 0 0 69 15 Lettuce -1.290 0.991 -2.560 0 0 0 94 16 Lettuce 0.079 1.191 -0.506 0 0 0 69 17 Apple -0.070 1.841 -2.546 0 0 0 95 18 Apple -1.586 0.961 -2.560 0 0 0 94 19 Fork -1.438 0.911 -2.406 0 0 0 94 20 Spoon -1.782 0.795 0.155 0 270 0 66 21 Spoon -0.995 0.912 -2.329 0 0 0 94 22 Mug -1.797 0.764 -1.242 0 270 0 104 23 Mug -2.120 0.793 1.003 0 90 0 102 24 Spatula -0.335 1.126 -0.001 0 0 0 69 25 Spatula 0.582 0.925 -2.253 0 0 0 71 26 ButterKnife -1.963 0.769 -1.673 0 270 0 104 27 Kettle -1.805 0.137 -1.506 0 90 0 70 28 Kettle -0.465 0.950 -2.372 0 90 0 67 29 Glassbottle -1.962 0.048 2.076 0 270 0 100 30 Glassbottle 0.079 1.112 0.251 0 0 0 69 31 WineBottle 1.891 0.881 -2.563 0 180 0 96 32 DishSponge 0.582 0.910 -2.637 0 0 0 71 33 DishSponge -1.797 0.769 -1.501 0 90 0 104 34 Book 0.155 1.1 0.617 0 315 0 69 35 Glassbottle -1.438 0.912 -2.713 0 0 0 94 36 Knife -1.774 0.936 -2.475 0 90 0 94 37 Bread -1.774 0.983 -0.884 0 0 0 94 38 Fork -1.963 0.770 -1.414 0 90 0 104 39 Potato -2.019 0.941 -2.695 0 0 0 94 40 SoapBottle -1.013 1.657 -2.640 0 0 0 83 41 Kettle -0.036 0.950 -2.576 0 270 0 72 42 Pan -0.473 1.111 0.251 0 0 0 69 43 Plate -2.070 1.302 1.092 0 90 0 102 44 Tomato 0.840 0.949 -2.407 0 0 0 71 45 Vase -1.401 1.660 -2.604 0 0 0 85 46 Egg -0.848 0.946 -2.560 0 0 0 94 47 CreditCard -0.059 1.108 -0.506 0 0 0 69 48 Statue 1.789 0.551 -2.459 0 180 0 99 49 WineBottle 0.840 0.911 -2.637 0 0 0 71 50 Pot -1.219 0.9 -2.356 0 0 0 94 51 Spatula -2.100 0.926 -2.366 0 90 0 94 52 PaperTowelRoll 0.840 1.014 -2.253 0 0 0 71 53 Cup 1.996 0.550 -2.666 0 180 0 99 54 Vase -0.840 1.653 -2.604 0 0 0 83 55 Bowl -1.755 0.132 -1.856 0 90 0 70 56 SaltShaker 0.451 1.656 -2.525 0 0 0 93 57 PepperShaker 0.324 0.907 -2.330 0 0 0 71 58 Lettuce 1.098 0.990 -2.484 0 0 0 71 59 ButterKnife 0.217 1.111 -0.253 0 0 0 69 60 Apple 0.217 1.162 0.251 0 0 0 69 61 DishSponge -1.825 0.793 0.199 0 90 0 66 62 Spoon -0.995 0.912 -2.560 0 0 0 94 63 Mug -0.225 1.785 -2.578 0 0 0 95 64 StoveBurner -0.036 0.915 -2.372 0 0 0 65 Drawer 0.949 0.832 -2.197 0 0 0 66 Drawer -1.560 0.839 0.204 0 90 0 67 StoveBurner -0.465 0.915 -2.371 0 180 0 68 Drawer -1.560 0.839 -0.197 0 90 0 69 CounterTop -0.079 1.147 -0.001 0 0 0 70 Cabinet -1.549 0.494 -1.964 0 90 0 71 CounterTop 0.693 0.946 -2.483 0 0 0 72 StoveBurner -0.036 0.915 -2.576 0 0 0 73 Drawer 0.949 0.393 -2.200 0 0 0 74 Drawer 0.949 0.708 -2.200 0 0 0 75 Cabinet -1.549 0.494 0.379 0 90 0 76 StoveKnob -0.022 0.881 -2.187 45 0 0 77 Drawer 0.949 0.560 -2.201 0 0 0 78 StoveBurner -0.465 0.915 -2.575 0 180 0 79 Window -2.230 1.429 -1.203 0 0 0 80 StoveKnob -0.483 0.881 -2.187 45 0 0 81 Sink -1.899 0.964 -1.5 0 90 0 82 StoveKnob -0.328 0.881 -2.187 45 0 0 83 Cabinet -0.727 2.015 -2.460 0 0 0 84 Drawer -1.560 0.655 -0.196 0 90 0 85 Cabinet -1.685 2.015 -2.461 0 0 0 86 Cabinet 0.680 0.494 -2.200 0 0 0 87 Cabinet -1.179 0.494 -2.200 0 0 0 88 Cabinet -1.849 2.015 0.379 0 90 0 89 Drawer 0.949 0.221 -2.200 0 0 0 90 StoveKnob -0.183 0.881 -2.187 45 0 0 91 Cabinet 0.719 2.015 -2.460 0 0 0 92 Drawer -1.560 0.331 -0.196 0 90 0 93 Cabinet 0.680 2.015 -2.460 0 0 0 94 CounterTop -1.868 0.946 -1.205 0 0 0 95 Microwave -0.236 1.689 -2.525 0 0 0 96 Shelf 1.751 0.880 -2.560 0 0 0 97 HousePlant -1.948 0.889 -2.520 0 5.334 0 98 Toaster -1.835 0.900 0.134 0 90 0 99 Shelf 1.750 0.552 -2.559 0 0 0 100 GarbageCan -1.935 -0.002 2.029 0 270 0 101 Shelf 1.750 0.172 -2.559 0 0 0 102 Fridge -2.096 0.0 1.088 0 0 0 103 CoffeeMachine -1.977 0.900 -0.188 0 90 0 104 SinkBasin -1.908 0.759 -1.488 0 90 0 105 LightSwitch 2.329 1.309 -0.159 0 270 0 106 ShelvingUnit 1.750 0.006 -2.559 0 0 0 107 Stool 0.702 0.000 -0.514 1.202 65.108 0 108 Stool 0.743 0.000 0.563 1.227 106.706 0 109 Faucet -2.070 1.132 -1.514 0 0 0 110 NorthWall 111 EastWall 112 SouthWall 113 WestWall
[ "STEP 1: Go to the left, hang a right and go to the sink. | STEP 2: Pick up the butter knife that is in the sink. | STEP 3: Turn to the right, go to the fridge and hang a right, go to the counter where the loaf of bread is. | STEP 4: Cut the bread on the counter into slices. | STEP 5: Turn to the right and go to the fridge. | STEP 6: Put the knife inside the fridge. | STEP 7: Turn around, go back to the bread that is on the counter. | STEP 8: Pick up a slice of bread from the counter. | STEP 9: Turn to the right and go to the fridge. | STEP 10: Put the bread inside the fridge and close the door. Take the bread out of the fridge once it is cold. | STEP 11: Turn to the right, go to the garbage can to the right of the fridge. | STEP 12: Put the bread inside the garbage can. | END" ]
[ [ "STEP 1: Go to the left, hang a right and go to the sink. ", " STEP 2: Pick up the butter knife that is in the sink. ", " STEP 3: Turn to the right, go to the fridge and hang a right, go to the counter where the loaf of bread is. ", " STEP 4: Cut the bread on the counter into slices. ", " STEP 5: Turn to the right and go to the fridge. ", " STEP 6: Put the knife inside the fridge. ", " STEP 7: Turn around, go back to the bread that is on the counter. ", " STEP 8: Pick up a slice of bread from the counter. ", " STEP 9: Turn to the right and go to the fridge. ", " STEP 10: Put the bread inside the fridge and close the door. Take the bread out of the fridge once it is cold. ", " STEP 11: Turn to the right, go to the garbage can to the right of the fridge. ", " STEP 12: Put the bread inside the garbage can. ", " END" ] ]
seen
trial_T20190909_030658_091372-2
slice a piece of bread, cool it down, dispose of it in the garbage
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96" ], [ "11", " SaltShaker", " -1.864", " 0.126", " 0.339", " 0", " 90", " 0", " 75" ], [ "12", " PepperShaker", " 0.079", " 1.107", " -0.759", " 0", " 0", " 0", " 69" ], [ "13", " PepperShaker", " 1.993", " 0.877", " -2.509", " 0", " 180", " 0", " 96" ], [ "14", " Bread", " -0.473", " 1.184", " 0.757", " 0", " 0", " 0", " 69" ], [ "15", " Lettuce", " -1.290", " 0.991", " -2.560", " 0", " 0", " 0", " 94" ], [ "16", " Lettuce", " 0.079", " 1.191", " -0.506", " 0", " 0", " 0", " 69" ], [ "17", " Apple", " -0.070", " 1.841", " -2.546", " 0", " 0", " 0", " 95" ], [ "18", " Apple", " -1.586", " 0.961", " -2.560", " 0", " 0", " 0", " 94" ], [ "19", " Fork", " -1.438", " 0.911", " -2.406", " 0", " 0", " 0", " 94" ], [ "20", " Spoon", " -1.782", " 0.795", " 0.155", " 0", " 270", " 0", " 66" ], [ "21", " Spoon", " -0.995", " 0.912", " -2.329", " 0", " 0", " 0", " 94" ], [ "22", " Mug", " -1.797", " 0.764", " -1.242", " 0", " 270", " 0", " 104" ], [ "23", " Mug", " -2.120", " 0.793", " 1.003", " 0", " 90", " 0", " 102" ], [ "24", " Spatula", " -0.335", " 1.126", " -0.001", " 0", " 0", " 0", " 69" ], [ "25", " Spatula", " 0.582", " 0.925", " -2.253", " 0", " 0", " 0", " 71" ], [ "26", " ButterKnife", " -1.963", " 0.769", " -1.673", " 0", " 270", " 0", " 104" ], [ "27", " Kettle", " -1.805", " 0.137", " -1.506", " 0", " 90", " 0", " 70" ], [ "28", " Kettle", " -0.465", " 0.950", " -2.372", " 0", " 90", " 0", " 67" ], [ "29", " Glassbottle", " -1.962", " 0.048", " 2.076", " 0", " 270", " 0", " 100" ], [ "30", " Glassbottle", " 0.079", " 1.112", " 0.251", " 0", " 0", " 0", " 69" ], [ "31", " WineBottle", " 1.891", " 0.881", " -2.563", " 0", " 180", " 0", " 96" ], [ "32", " DishSponge", " 0.582", " 0.910", " -2.637", " 0", " 0", " 0", " 71" ], [ "33", " DishSponge", " -1.797", " 0.769", " -1.501", " 0", " 90", " 0", " 104" ], [ "34", " Book", " 0.155", " 1.1", " 0.617", " 0", " 315", " 0", " 69" ], [ "35", " Glassbottle", " -1.438", " 0.912", " -2.713", " 0", " 0", " 0", " 94" ], [ "36", " Knife", " -1.774", " 0.936", " -2.475", " 0", " 90", " 0", " 94" ], [ "37", " Bread", " -1.774", " 0.983", " -0.884", " 0", " 0", " 0", " 94" ], [ "38", " Fork", " -1.963", " 0.770", " -1.414", " 0", " 90", " 0", " 104" ], [ "39", " Potato", " -2.019", " 0.941", " -2.695", " 0", " 0", " 0", " 94" ], [ "40", " SoapBottle", " -1.013", " 1.657", " -2.640", " 0", " 0", " 0", " 83" ], [ "41", " Kettle", " -0.036", " 0.950", " -2.576", " 0", " 270", " 0", " 72" ], [ "42", " Pan", " -0.473", " 1.111", " 0.251", " 0", " 0", " 0", " 69" ], [ "43", " Plate", " -2.070", " 1.302", " 1.092", " 0", " 90", " 0", " 102" ], [ "44", " Tomato", " 0.840", " 0.949", " -2.407", " 0", " 0", " 0", " 71" ], [ "45", " Vase", " -1.401", " 1.660", " -2.604", " 0", " 0", " 0", " 85" ], [ "46", " Egg", " -0.848", " 0.946", " -2.560", " 0", " 0", " 0", " 94" ], [ "47", " CreditCard", " -0.059", " 1.108", " -0.506", " 0", " 0", " 0", " 69" ], [ "48", " Statue", " 1.789", " 0.551", " -2.459", " 0", " 180", " 0", " 99" ], [ "49", " WineBottle", " 0.840", " 0.911", " -2.637", " 0", " 0", " 0", " 71" ], [ "50", " Pot", " -1.219", " 0.9", " -2.356", " 0", " 0", " 0", " 94" ], [ "51", " Spatula", " -2.100", " 0.926", " -2.366", " 0", " 90", " 0", " 94" ], [ "52", " PaperTowelRoll", " 0.840", " 1.014", " -2.253", " 0", " 0", " 0", " 71" ], [ "53", " Cup", " 1.996", " 0.550", " -2.666", " 0", " 180", " 0", " 99" ], [ "54", " Vase", " -0.840", " 1.653", " -2.604", " 0", " 0", " 0", " 83" ], [ "55", " Bowl", " -1.755", " 0.132", " -1.856", " 0", " 90", " 0", " 70" ], [ "56", " SaltShaker", " 0.451", " 1.656", " -2.525", " 0", " 0", " 0", " 93" ], [ "57", " PepperShaker", " 0.324", " 0.907", " -2.330", " 0", " 0", " 0", " 71" ], [ "58", " Lettuce", " 1.098", " 0.990", " -2.484", " 0", " 0", " 0", " 71" ], [ "59", " ButterKnife", " 0.217", " 1.111", " -0.253", " 0", " 0", " 0", " 69" ], [ "60", " Apple", " 0.217", " 1.162", " 0.251", " 0", " 0", " 0", " 69" ], [ "61", " DishSponge", " -1.825", " 0.793", " 0.199", " 0", " 90", " 0", " 66" ], [ "62", " Spoon", " -0.995", " 0.912", " -2.560", " 0", " 0", " 0", " 94" ], [ "63", " Mug", " -0.225", " 1.785", " -2.578", " 0", " 0", " 0", " 95" ], [ "64", " StoveBurner", " -0.036", " 0.915", " -2.372", " 0", " 0", " 0", "" ], [ "65", " Drawer", " 0.949", " 0.832", " -2.197", " 0", " 0", " 0", "" ], [ "66", " Drawer", " -1.560", " 0.839", " 0.204", " 0", " 90", " 0", "" ], [ "67", " StoveBurner", " -0.465", " 0.915", " -2.371", " 0", " 180", " 0", "" ], [ "68", " Drawer", " -1.560", " 0.839", " -0.197", " 0", " 90", " 0", "" ], [ "69", " CounterTop", " -0.079", " 1.147", " -0.001", " 0", " 0", " 0", "" ], [ "70", " Cabinet", " -1.549", " 0.494", " -1.964", " 0", " 90", " 0", "" ], [ "71", " CounterTop", " 0.693", " 0.946", " -2.483", " 0", " 0", " 0", "" ], [ "72", " StoveBurner", " -0.036", " 0.915", " -2.576", " 0", " 0", " 0", "" ], [ "73", " Drawer", " 0.949", " 0.393", " -2.200", " 0", " 0", " 0", "" ], [ "74", " Drawer", " 0.949", " 0.708", " -2.200", " 0", " 0", " 0", "" ], [ "75", " Cabinet", " -1.549", " 0.494", " 0.379", " 0", " 90", " 0", "" ], [ "76", " StoveKnob", " -0.022", " 0.881", " -2.187", " 45", " 0", " 0", "" ], [ "77", " Drawer", " 0.949", " 0.560", " -2.201", " 0", " 0", " 0", "" ], [ "78", " StoveBurner", " -0.465", " 0.915", " -2.575", " 0", " 180", " 0", "" ], [ "79", " Window", " -2.230", " 1.429", " -1.203", " 0", " 0", " 0", "" ], [ "80", " StoveKnob", " -0.483", " 0.881", " -2.187", " 45", " 0", " 0", "" ], [ "81", " Sink", " -1.899", " 0.964", " -1.5", " 0", " 90", " 0", "" ], [ "82", " StoveKnob", " -0.328", " 0.881", " -2.187", " 45", " 0", " 0", "" ], [ "83", " Cabinet", " -0.727", " 2.015", " -2.460", " 0", " 0", " 0", "" ], [ "84", " Drawer", " -1.560", " 0.655", " -0.196", " 0", " 90", " 0", "" ], [ "85", " Cabinet", " -1.685", " 2.015", " -2.461", " 0", " 0", " 0", "" ], [ "86", " Cabinet", " 0.680", " 0.494", " -2.200", " 0", " 0", " 0", "" ], [ "87", " Cabinet", " -1.179", " 0.494", " -2.200", " 0", " 0", " 0", "" ], [ "88", " Cabinet", " -1.849", " 2.015", " 0.379", " 0", " 90", " 0", "" ], [ "89", " Drawer", " 0.949", " 0.221", " -2.200", " 0", " 0", " 0", "" ], [ "90", " StoveKnob", " -0.183", " 0.881", " -2.187", " 45", " 0", " 0", "" ], [ "91", " Cabinet", " 0.719", " 2.015", " -2.460", " 0", " 0", " 0", "" ], [ "92", " Drawer", " -1.560", " 0.331", " -0.196", " 0", " 90", " 0", "" ], [ "93", " Cabinet", " 0.680", " 2.015", " -2.460", " 0", " 0", " 0", "" ], [ "94", " CounterTop", " -1.868", " 0.946", " -1.205", " 0", " 0", " 0", "" ], [ "95", " Microwave", " -0.236", " 1.689", " -2.525", " 0", " 0", " 0", "" ], [ "96", " Shelf", " 1.751", " 0.880", " -2.560", " 0", " 0", " 0", "" ], [ "97", " HousePlant", " -1.948", " 0.889", " -2.520", " 0", " 5.334", " 0", "" ], [ "98", " Toaster", " -1.835", " 0.900", " 0.134", " 0", " 90", " 0", "" ], [ "99", " Shelf", " 1.750", " 0.552", " -2.559", " 0", " 0", " 0", "" ], [ "100", " GarbageCan", " -1.935", " -0.002", " 2.029", " 0", " 270", " 0", "" ], [ "101", " Shelf", " 1.750", " 0.172", " -2.559", " 0", " 0", " 0", "" ], [ "102", " Fridge", " -2.096", " 0.0", " 1.088", " 0", " 0", " 0", "" ], [ "103", " CoffeeMachine", " -1.977", " 0.900", " -0.188", " 0", " 90", " 0", "" ], [ "104", " SinkBasin", " -1.908", " 0.759", " -1.488", " 0", " 90", " 0", "" ], [ "105", " LightSwitch", " 2.329", " 1.309", " -0.159", " 0", " 270", " 0", "" ], [ "106", " ShelvingUnit", " 1.750", " 0.006", " -2.559", " 0", " 0", " 0", "" ], [ "107", " Stool", " 0.702", " 0.000", " -0.514", " 1.202", " 65.108", " 0", "" ], [ "108", " Stool", " 0.743", " 0.000", " 0.563", " 1.227", " 106.706", " 0", "" ], [ "109", " Faucet", " -2.070", " 1.132", " -1.514", " 0", " 0", " 0", "" ], [ "110", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "111", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "112", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "113", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -0.25 0.900 -1.25 0 270 0 1 Statue -2.019 0.910 -0.513 0 90 0 94 2 Statue -0.059 1.110 -0.001 0 90 0 69 3 Vase -0.335 1.109 0.757 0 0 0 69 4 CreditCard 1.789 0.877 -2.617 0 180 0 96 5 CreditCard -1.783 0.151 -0.149 0 90 0 92 6 Cup -0.816 0.134 -2.352 0 0 0 87 7 Egg -1.908 0.804 -1.242 0 90 0 104 8 SoapBottle -1.755 0.137 -1.156 0 90 0 70 9 SoapBottle -1.880 0.048 2.172 0 270 0 100 10 SaltShaker 1.686 0.877 -2.563 0 180 0 96 11 SaltShaker -1.864 0.126 0.339 0 90 0 75 12 PepperShaker 0.079 1.107 -0.759 0 0 0 69 13 PepperShaker 1.993 0.877 -2.509 0 180 0 96 14 Bread -0.473 1.184 0.757 0 0 0 69 15 Lettuce -1.290 0.991 -2.560 0 0 0 94 16 Lettuce 0.079 1.191 -0.506 0 0 0 69 17 Apple -0.070 1.841 -2.546 0 0 0 95 18 Apple -1.586 0.961 -2.560 0 0 0 94 19 Fork -1.438 0.911 -2.406 0 0 0 94 20 Spoon -1.782 0.795 0.155 0 270 0 66 21 Spoon -0.995 0.912 -2.329 0 0 0 94 22 Mug -1.797 0.764 -1.242 0 270 0 104 23 Mug -2.120 0.793 1.003 0 90 0 102 24 Spatula -0.335 1.126 -0.001 0 0 0 69 25 Spatula 0.582 0.925 -2.253 0 0 0 71 26 ButterKnife -1.963 0.769 -1.673 0 270 0 104 27 Kettle -1.805 0.137 -1.506 0 90 0 70 28 Kettle -0.465 0.950 -2.372 0 90 0 67 29 Glassbottle -1.962 0.048 2.076 0 270 0 100 30 Glassbottle 0.079 1.112 0.251 0 0 0 69 31 WineBottle 1.891 0.881 -2.563 0 180 0 96 32 DishSponge 0.582 0.910 -2.637 0 0 0 71 33 DishSponge -1.797 0.769 -1.501 0 90 0 104 34 Book 0.155 1.1 0.617 0 315 0 69 35 Glassbottle -1.438 0.912 -2.713 0 0 0 94 36 Knife -1.774 0.936 -2.475 0 90 0 94 37 Bread -1.774 0.983 -0.884 0 0 0 94 38 Fork -1.963 0.770 -1.414 0 90 0 104 39 Potato -2.019 0.941 -2.695 0 0 0 94 40 SoapBottle -1.013 1.657 -2.640 0 0 0 83 41 Kettle -0.036 0.950 -2.576 0 270 0 72 42 Pan -0.473 1.111 0.251 0 0 0 69 43 Plate -2.070 1.302 1.092 0 90 0 102 44 Tomato 0.840 0.949 -2.407 0 0 0 71 45 Vase -1.401 1.660 -2.604 0 0 0 85 46 Egg -0.848 0.946 -2.560 0 0 0 94 47 CreditCard -0.059 1.108 -0.506 0 0 0 69 48 Statue 1.789 0.551 -2.459 0 180 0 99 49 WineBottle 0.840 0.911 -2.637 0 0 0 71 50 Pot -1.219 0.9 -2.356 0 0 0 94 51 Spatula -2.100 0.926 -2.366 0 90 0 94 52 PaperTowelRoll 0.840 1.014 -2.253 0 0 0 71 53 Cup 1.996 0.550 -2.666 0 180 0 99 54 Vase -0.840 1.653 -2.604 0 0 0 83 55 Bowl -1.755 0.132 -1.856 0 90 0 70 56 SaltShaker 0.451 1.656 -2.525 0 0 0 93 57 PepperShaker 0.324 0.907 -2.330 0 0 0 71 58 Lettuce 1.098 0.990 -2.484 0 0 0 71 59 ButterKnife 0.217 1.111 -0.253 0 0 0 69 60 Apple 0.217 1.162 0.251 0 0 0 69 61 DishSponge -1.825 0.793 0.199 0 90 0 66 62 Spoon -0.995 0.912 -2.560 0 0 0 94 63 Mug -0.225 1.785 -2.578 0 0 0 95 64 StoveBurner -0.036 0.915 -2.372 0 0 0 65 Drawer 0.949 0.832 -2.197 0 0 0 66 Drawer -1.560 0.839 0.204 0 90 0 67 StoveBurner -0.465 0.915 -2.371 0 180 0 68 Drawer -1.560 0.839 -0.197 0 90 0 69 CounterTop -0.079 1.147 -0.001 0 0 0 70 Cabinet -1.549 0.494 -1.964 0 90 0 71 CounterTop 0.693 0.946 -2.483 0 0 0 72 StoveBurner -0.036 0.915 -2.576 0 0 0 73 Drawer 0.949 0.393 -2.200 0 0 0 74 Drawer 0.949 0.708 -2.200 0 0 0 75 Cabinet -1.549 0.494 0.379 0 90 0 76 StoveKnob -0.022 0.881 -2.187 45 0 0 77 Drawer 0.949 0.560 -2.201 0 0 0 78 StoveBurner -0.465 0.915 -2.575 0 180 0 79 Window -2.230 1.429 -1.203 0 0 0 80 StoveKnob -0.483 0.881 -2.187 45 0 0 81 Sink -1.899 0.964 -1.5 0 90 0 82 StoveKnob -0.328 0.881 -2.187 45 0 0 83 Cabinet -0.727 2.015 -2.460 0 0 0 84 Drawer -1.560 0.655 -0.196 0 90 0 85 Cabinet -1.685 2.015 -2.461 0 0 0 86 Cabinet 0.680 0.494 -2.200 0 0 0 87 Cabinet -1.179 0.494 -2.200 0 0 0 88 Cabinet -1.849 2.015 0.379 0 90 0 89 Drawer 0.949 0.221 -2.200 0 0 0 90 StoveKnob -0.183 0.881 -2.187 45 0 0 91 Cabinet 0.719 2.015 -2.460 0 0 0 92 Drawer -1.560 0.331 -0.196 0 90 0 93 Cabinet 0.680 2.015 -2.460 0 0 0 94 CounterTop -1.868 0.946 -1.205 0 0 0 95 Microwave -0.236 1.689 -2.525 0 0 0 96 Shelf 1.751 0.880 -2.560 0 0 0 97 HousePlant -1.948 0.889 -2.520 0 5.334 0 98 Toaster -1.835 0.900 0.134 0 90 0 99 Shelf 1.750 0.552 -2.559 0 0 0 100 GarbageCan -1.935 -0.002 2.029 0 270 0 101 Shelf 1.750 0.172 -2.559 0 0 0 102 Fridge -2.096 0.0 1.088 0 0 0 103 CoffeeMachine -1.977 0.900 -0.188 0 90 0 104 SinkBasin -1.908 0.759 -1.488 0 90 0 105 LightSwitch 2.329 1.309 -0.159 0 270 0 106 ShelvingUnit 1.750 0.006 -2.559 0 0 0 107 Stool 0.702 0.000 -0.514 1.202 65.108 0 108 Stool 0.743 0.000 0.563 1.227 106.706 0 109 Faucet -2.070 1.132 -1.514 0 0 0 110 NorthWall 111 EastWall 112 SouthWall 113 WestWall
[ "STEP 1: look straight to face the kitchen sink | STEP 2: pick up the knife in the sink | STEP 3: go to the center counter top and face the bread on the short edge of the table | STEP 4: slice the bread on the counter top | STEP 5: turn right to face the refrigerator | STEP 6: open the refrigerator door and place the knife on the top shelf | STEP 7: return to the center counter top behind you and face the bread | STEP 8: pick up a slice of bread on the counter top | STEP 9: turn right to face the refrigerator door again | STEP 10: open the door, place the bread on the top shelf behind the knife, and shut the door for a few seconds before removing the bread | STEP 11: look to the right of the refrigerator at the trash bin | STEP 12: throw the bread in the trash bin | END" ]
[ [ "STEP 1: look straight to face the kitchen sink ", " STEP 2: pick up the knife in the sink ", " STEP 3: go to the center counter top and face the bread on the short edge of the table ", " STEP 4: slice the bread on the counter top ", " STEP 5: turn right to face the refrigerator ", " STEP 6: open the refrigerator door and place the knife on the top shelf ", " STEP 7: return to the center counter top behind you and face the bread ", " STEP 8: pick up a slice of bread on the counter top ", " STEP 9: turn right to face the refrigerator door again ", " STEP 10: open the door, place the bread on the top shelf behind the knife, and shut the door for a few seconds before removing the bread ", " STEP 11: look to the right of the refrigerator at the trash bin ", " STEP 12: throw the bread in the trash bin ", " END" ] ]
seen
trial_T20190909_035314_885391-0
examine the statue with 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 -2.25 0.920 6.25 0 90 0 1 Plate -2.893 0.453 4.279 0 0 0 41 2 KeyChain -0.359 0.617 0.997 0 0 0 38 3 KeyChain -4.390 0.460 6.731 0 0 0 42 4 CreditCard -2.525 0.447 4.501 0 0 0 41 5 Pillow -4.508 0.603 2.929 0 90 0 39 6 Box -0.464 0.399 6.548 0 0 0 25 7 Plate -2.648 0.451 4.722 0 0 0 41 8 Vase -2.280 0.449 3.836 0 0 0 41 9 WateringCan -2.648 0.448 3.836 0 0 0 41 10 Newspaper -4.279 0.545 3.232 0 90 0 39 11 Vase -3.015 0.452 3.393 0 0 0 41 12 KeyChain -3.400 0.537 0.697 0 0 0 40 13 Pillow -1.578 0.608 0.667 0 0 0 40 14 Statue -2.770 0.455 3.614 0 0 0 41 15 RemoteControl -0.319 0.281 5.503 0 270 0 25 16 CreditCard -3.400 0.536 0.984 0 0 0 40 17 Statue -0.525 1.453 5.351 0 294.738 0 24 18 Laptop -4.342 0.523 2.224 0 32.685 0 39 19 Statue -3.015 0.454 3.614 0 0 0 41 20 Curtains -2.827 2.473 0.039 357.605 0 0 21 Curtains -2.184 2.473 0.039 357.605 0 0 22 Curtains -0.046 2.474 2.633 0 0 357.064 23 DeskLamp -0.484 0.612 0.691 0 0 1.144 24 Shelf -0.391 1.452 5.953 0 270 0 25 Shelf -0.398 0.270 5.961 0 270 0 26 Television -0.75 1.661 3.936 0 270 0 27 GarbageCan -0.525 -0.009 2.822 0 0 0 28 Painting -2.670 1.574 7.000 90 180 0 29 Bowl -2.400 0.464 3.442 0 0 0 30 LightSwitch -5.0 1.246 5.857 0 90 0 31 Window -1.373 1.565 0.008 90 180 0 32 Window -0.014 1.567 1.496 90 270 0 33 Window -3.726 1.565 0.008 90 180 0 34 FloorLamp -4.514 0.027 0.663 0 0 0 35 HousePlant -2.659 0.466 4.165 0 0 0 36 Shelf -0.594 0.104 0.841 0 0 0 37 Shelf -0.594 0.359 0.841 0 0 0 38 SideTable -0.594 0.018 0.841 0 0 0 39 Sofa -4.360 0.028 2.929 0 90 0 40 Sofa -2.493 0.028 0.725 0 0 0 41 CoffeeTable -2.648 0.019 4.058 0 270 0 42 ArmChair -4.446 0.017 6.450 0 90 0 43 NorthWall 44 SouthWall 45 SouthWall
[ "STEP 1: turn around, walk to the chair, turn left, walk forward, turn left to face the coffee table | STEP 2: pick up the statue that is on the table | STEP 3: turn right, walk two steps, turn left, walk forward to the small table, hold statue up to lamp | STEP 4: turn the lamp on | END" ]
[ [ "STEP 1: turn around, walk to the chair, turn left, walk forward, turn left to face the coffee table ", " STEP 2: pick up the statue that is on the table ", " STEP 3: turn right, walk two steps, turn left, walk forward to the small table, hold statue up to lamp ", " STEP 4: turn the lamp on ", " END" ] ]
seen
trial_T20190909_035314_885391-1
Move a statue from the coffee table to the side table.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -2.25 0.920 6.25 0 90 0 1 Plate -2.893 0.453 4.279 0 0 0 41 2 KeyChain -0.359 0.617 0.997 0 0 0 38 3 KeyChain -4.390 0.460 6.731 0 0 0 42 4 CreditCard -2.525 0.447 4.501 0 0 0 41 5 Pillow -4.508 0.603 2.929 0 90 0 39 6 Box -0.464 0.399 6.548 0 0 0 25 7 Plate -2.648 0.451 4.722 0 0 0 41 8 Vase -2.280 0.449 3.836 0 0 0 41 9 WateringCan -2.648 0.448 3.836 0 0 0 41 10 Newspaper -4.279 0.545 3.232 0 90 0 39 11 Vase -3.015 0.452 3.393 0 0 0 41 12 KeyChain -3.400 0.537 0.697 0 0 0 40 13 Pillow -1.578 0.608 0.667 0 0 0 40 14 Statue -2.770 0.455 3.614 0 0 0 41 15 RemoteControl -0.319 0.281 5.503 0 270 0 25 16 CreditCard -3.400 0.536 0.984 0 0 0 40 17 Statue -0.525 1.453 5.351 0 294.738 0 24 18 Laptop -4.342 0.523 2.224 0 32.685 0 39 19 Statue -3.015 0.454 3.614 0 0 0 41 20 Curtains -2.827 2.473 0.039 357.605 0 0 21 Curtains -2.184 2.473 0.039 357.605 0 0 22 Curtains -0.046 2.474 2.633 0 0 357.064 23 DeskLamp -0.484 0.612 0.691 0 0 1.144 24 Shelf -0.391 1.452 5.953 0 270 0 25 Shelf -0.398 0.270 5.961 0 270 0 26 Television -0.75 1.661 3.936 0 270 0 27 GarbageCan -0.525 -0.009 2.822 0 0 0 28 Painting -2.670 1.574 7.000 90 180 0 29 Bowl -2.400 0.464 3.442 0 0 0 30 LightSwitch -5.0 1.246 5.857 0 90 0 31 Window -1.373 1.565 0.008 90 180 0 32 Window -0.014 1.567 1.496 90 270 0 33 Window -3.726 1.565 0.008 90 180 0 34 FloorLamp -4.514 0.027 0.663 0 0 0 35 HousePlant -2.659 0.466 4.165 0 0 0 36 Shelf -0.594 0.104 0.841 0 0 0 37 Shelf -0.594 0.359 0.841 0 0 0 38 SideTable -0.594 0.018 0.841 0 0 0 39 Sofa -4.360 0.028 2.929 0 90 0 40 Sofa -2.493 0.028 0.725 0 0 0 41 CoffeeTable -2.648 0.019 4.058 0 270 0 42 ArmChair -4.446 0.017 6.450 0 90 0 43 NorthWall 44 SouthWall 45 SouthWall
[ "STEP 1: Turn around and walk around the coffee table to face the middle of it. | STEP 2: Pick up the black statue from the coffee table. | STEP 3: Make a left and walk to the black side table next to the couch. | STEP 4: Set the statue down on the side table. | END" ]
[ [ "STEP 1: Turn around and walk around the coffee table to face the middle of it. ", " STEP 2: Pick up the black statue from the coffee table. ", " STEP 3: Make a left and walk to the black side table next to the couch. ", " STEP 4: Set the statue down on the side table. ", " END" ] ]
seen
trial_T20190909_035314_885391-2
Place a statue on a end table
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " -2.25", " 0.920", " 6.25", " 0", " 90", " 0", "" ], [ "1", " Plate", " -2.893", " 0.453", " 4.279", " 0", " 0", " 0", " 41" ], [ "2", " KeyChain", " -0.359", " 0.617", " 0.997", " 0", " 0", " 0", " 38" ], [ "3", " KeyChain", " -4.390", " 0.460", " 6.731", " 0", " 0", " 0", " 42" ], [ "4", " CreditCard", " -2.525", " 0.447", " 4.501", " 0", " 0", " 0", " 41" ], [ "5", " Pillow", " -4.508", " 0.603", " 2.929", " 0", " 90", " 0", " 39" ], [ "6", " Box", " -0.464", " 0.399", " 6.548", " 0", " 0", " 0", " 25" ], [ "7", " Plate", " -2.648", " 0.451", " 4.722", " 0", " 0", " 0", " 41" ], [ "8", " Vase", " -2.280", " 0.449", " 3.836", " 0", " 0", " 0", " 41" ], [ "9", " WateringCan", " -2.648", " 0.448", " 3.836", " 0", " 0", " 0", " 41" ], [ "10", " Newspaper", " -4.279", " 0.545", " 3.232", " 0", " 90", " 0", " 39" ], [ "11", " Vase", " -3.015", " 0.452", " 3.393", " 0", " 0", " 0", " 41" ], [ "12", " KeyChain", " -3.400", " 0.537", " 0.697", " 0", " 0", " 0", " 40" ], [ "13", " Pillow", " -1.578", " 0.608", " 0.667", " 0", " 0", " 0", " 40" ], [ "14", " Statue", " -2.770", " 0.455", " 3.614", " 0", " 0", " 0", " 41" ], [ "15", " RemoteControl", " -0.319", " 0.281", " 5.503", " 0", " 270", " 0", " 25" ], [ "16", " CreditCard", " -3.400", " 0.536", " 0.984", " 0", " 0", " 0", " 40" ], [ "17", " Statue", " -0.525", " 1.453", " 5.351", " 0", " 294.738", " 0", " 24" ], [ "18", " Laptop", " -4.342", " 0.523", " 2.224", " 0", " 32.685", " 0", " 39" ], [ "19", " Statue", " -3.015", " 0.454", " 3.614", " 0", " 0", " 0", " 41" ], [ "20", " Curtains", " -2.827", " 2.473", " 0.039", " 357.605", " 0", " 0", "" ], [ "21", " Curtains", " -2.184", " 2.473", " 0.039", " 357.605", " 0", " 0", "" ], [ "22", " Curtains", " -0.046", " 2.474", " 2.633", " 0", " 0", " 357.064", "" ], [ "23", " DeskLamp", " -0.484", " 0.612", " 0.691", " 0", " 0", " 1.144", "" ], [ "24", " Shelf", " -0.391", " 1.452", " 5.953", " 0", " 270", " 0", "" ], [ "25", " Shelf", " -0.398", " 0.270", " 5.961", " 0", " 270", " 0", "" ], [ "26", " Television", " -0.75", " 1.661", " 3.936", " 0", " 270", " 0", "" ], [ "27", " GarbageCan", " -0.525", " -0.009", " 2.822", " 0", " 0", " 0", "" ], [ "28", " Painting", " -2.670", " 1.574", " 7.000", " 90", " 180", " 0", "" ], [ "29", " Bowl", " -2.400", " 0.464", " 3.442", " 0", " 0", " 0", "" ], [ "30", " LightSwitch", " -5.0", " 1.246", " 5.857", " 0", " 90", " 0", "" ], [ "31", " Window", " -1.373", " 1.565", " 0.008", " 90", " 180", " 0", "" ], [ "32", " Window", " -0.014", " 1.567", " 1.496", " 90", " 270", " 0", "" ], [ "33", " Window", " -3.726", " 1.565", " 0.008", " 90", " 180", " 0", "" ], [ "34", " FloorLamp", " -4.514", " 0.027", " 0.663", " 0", " 0", " 0", "" ], [ "35", " HousePlant", " -2.659", " 0.466", " 4.165", " 0", " 0", " 0", "" ], [ "36", " Shelf", " -0.594", " 0.104", " 0.841", " 0", " 0", " 0", "" ], [ "37", " Shelf", " -0.594", " 0.359", " 0.841", " 0", " 0", " 0", "" ], [ "38", " SideTable", " -0.594", " 0.018", " 0.841", " 0", " 0", " 0", "" ], [ "39", " Sofa", " -4.360", " 0.028", " 2.929", " 0", " 90", " 0", "" ], [ "40", " Sofa", " -2.493", " 0.028", " 0.725", " 0", " 0", " 0", "" ], [ "41", " CoffeeTable", " -2.648", " 0.019", " 4.058", " 0", " 270", " 0", "" ], [ "42", " ArmChair", " -4.446", " 0.017", " 6.450", " 0", " 90", " 0", "" ], [ "43", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "44", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "45", " SouthWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -2.25 0.920 6.25 0 90 0 1 Plate -2.893 0.453 4.279 0 0 0 41 2 KeyChain -0.359 0.617 0.997 0 0 0 38 3 KeyChain -4.390 0.460 6.731 0 0 0 42 4 CreditCard -2.525 0.447 4.501 0 0 0 41 5 Pillow -4.508 0.603 2.929 0 90 0 39 6 Box -0.464 0.399 6.548 0 0 0 25 7 Plate -2.648 0.451 4.722 0 0 0 41 8 Vase -2.280 0.449 3.836 0 0 0 41 9 WateringCan -2.648 0.448 3.836 0 0 0 41 10 Newspaper -4.279 0.545 3.232 0 90 0 39 11 Vase -3.015 0.452 3.393 0 0 0 41 12 KeyChain -3.400 0.537 0.697 0 0 0 40 13 Pillow -1.578 0.608 0.667 0 0 0 40 14 Statue -2.770 0.455 3.614 0 0 0 41 15 RemoteControl -0.319 0.281 5.503 0 270 0 25 16 CreditCard -3.400 0.536 0.984 0 0 0 40 17 Statue -0.525 1.453 5.351 0 294.738 0 24 18 Laptop -4.342 0.523 2.224 0 32.685 0 39 19 Statue -3.015 0.454 3.614 0 0 0 41 20 Curtains -2.827 2.473 0.039 357.605 0 0 21 Curtains -2.184 2.473 0.039 357.605 0 0 22 Curtains -0.046 2.474 2.633 0 0 357.064 23 DeskLamp -0.484 0.612 0.691 0 0 1.144 24 Shelf -0.391 1.452 5.953 0 270 0 25 Shelf -0.398 0.270 5.961 0 270 0 26 Television -0.75 1.661 3.936 0 270 0 27 GarbageCan -0.525 -0.009 2.822 0 0 0 28 Painting -2.670 1.574 7.000 90 180 0 29 Bowl -2.400 0.464 3.442 0 0 0 30 LightSwitch -5.0 1.246 5.857 0 90 0 31 Window -1.373 1.565 0.008 90 180 0 32 Window -0.014 1.567 1.496 90 270 0 33 Window -3.726 1.565 0.008 90 180 0 34 FloorLamp -4.514 0.027 0.663 0 0 0 35 HousePlant -2.659 0.466 4.165 0 0 0 36 Shelf -0.594 0.104 0.841 0 0 0 37 Shelf -0.594 0.359 0.841 0 0 0 38 SideTable -0.594 0.018 0.841 0 0 0 39 Sofa -4.360 0.028 2.929 0 90 0 40 Sofa -2.493 0.028 0.725 0 0 0 41 CoffeeTable -2.648 0.019 4.058 0 270 0 42 ArmChair -4.446 0.017 6.450 0 90 0 43 NorthWall 44 SouthWall 45 SouthWall
[ "STEP 1: turn to the right twice and go to the chair and turn to the left and go to the end of the table and turn to the left facing the table | STEP 2: pick up the dark statue of the person from the table | STEP 3: turn to the right and take a few steps and turn to the left and go to the waste basket and turn to the right and go to the end table | STEP 4: put the statue of the person on the end table | END" ]
[ [ "STEP 1: turn to the right twice and go to the chair and turn to the left and go to the end of the table and turn to the left facing the table ", " STEP 2: pick up the dark statue of the person from the table ", " STEP 3: turn to the right and take a few steps and turn to the left and go to the waste basket and turn to the right and go to the end table ", " STEP 4: put the statue of the person on the end table ", " END" ] ]
seen
trial_T20190908_102220_103784-0
To cool a slice of tomato and place it in the microwave.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 0.25 0.901 -0.25 0 180 0 1 WineBottle 1.298 0.082 2.523 0 0 0 52 2 DishSponge 1.118 0.794 2.529 0 0 0 70 3 ButterKnife -0.349 0.791 0.881 0 0 0 73 4 Spatula 0.682 0.810 2.750 0 270 0 70 5 Spoon 1.223 0.796 2.64 0 0 0 70 6 Fork -0.042 0.791 0.377 0 0 0 73 7 Egg -0.261 1.078 1.961 0 90 0 71 8 Egg -0.196 0.833 1.049 0 0 0 73 9 Cup 2.164 0.600 -0.007 0 270 0 67 10 Knife 1.850 0.771 2.197 0 270 0 61 11 SaltShaker -0.196 0.785 1.386 0 0 0 73 12 Mug 0.788 0.790 2.529 0 0 0 70 13 Apple -0.349 0.840 1.217 0 0 0 73 14 Apple 2.071 0.988 0.361 0 0 0 57 15 Egg -0.395 1.078 2.014 0 90 0 71 16 Lettuce 2.059 0.400 -0.188 0 270 0 67 17 Fork 0.060 0.938 2.548 0 0 0 46 18 SoapBottle 0.033 0.791 0.545 0 0 0 73 19 Ladle 1.923 0.126 0.724 0 0 0 43 20 Ladle 1.989 0.791 2.197 0 270 0 61 21 Bread 2.074 0.985 1.964 0 0 0 46 22 SaltShaker 1.844 0.932 2.359 0 0 0 46 23 Potato 2.132 0.378 -0.550 0 270 0 67 24 Pan 2.140 0.935 1.504 0 180 0 41 25 WineBottle -0.042 0.791 1.217 0 0 0 73 26 Spatula 1.802 0.760 0.721 0 270 0 55 27 Knife -0.068 0.771 2.197 0 270 0 45 28 Tomato -0.196 0.837 0.545 0 0 0 73 29 Apple 2.000 1.373 -0.007 0 270 0 67 30 ButterKnife 1.917 0.938 0.509 0 180 0 57 31 Pot 1.854 0.937 1.497 0 0 0 50 32 PepperShaker -0.042 0.785 0.881 0 0 0 73 33 Cup 2.241 1.501 0.785 0 0 0 54 34 DishSponge -0.358 0.036 -0.832 0 90 0 68 35 Plate 1.923 0.086 0.512 0 0 0 43 36 Spoon 0.002 0.747 1.993 0 0 0 45 37 Mug -0.196 0.785 1.217 0 0 0 73 38 Bowl 1.156 0.078 2.523 0 0 0 52 39 Cabinet 2.041 2.113 2.618 0 0 0 40 Cabinet 0.126 0.388 1.774 0 0 0 41 StoveBurner 2.140 0.929 1.504 0 180 0 42 Cabinet 1.760 0.388 2.346 0 0 0 43 Cabinet 1.760 0.388 0.869 0 0 0 44 Cabinet 2.041 1.810 0.283 0 0 0 45 Drawer -0.024 0.774 2.061 0 0 0 46 CounterTop 1.065 0.973 2.666 0 0 0 47 Cabinet 1.969 2.113 2.618 0 0 0 48 StoveBurner 2.140 0.929 1.106 0 0 0 49 Cabinet 2.041 2.113 1.809 0 0 0 50 StoveBurner 1.866 0.929 1.504 0 180 0 51 Cabinet 2.041 2.113 1.766 0 0 0 52 Cabinet 1.514 0.388 2.360 0 0 0 53 Cabinet 0.351 0.388 2.360 0 0 0 54 Cabinet 2.041 1.810 0.872 0 0 0 55 Drawer 2.167 0.774 0.582 0 0 0 56 Cabinet 2.041 2.113 0.892 0 0 0 57 CounterTop 2.060 0.973 0.583 0 0 0 58 Sink 0.935 0.936 2.646 0 0 0 59 Curtains 0.964 2.061 2.989 0 0 0 60 StoveBurner 1.863 0.929 1.106 0 0 0 61 Drawer 1.911 0.774 2.060 0 0 0 62 StoveKnob 2.326 1.092 1.610 288.013 90 0 63 StoveKnob 2.326 1.092 1.460 288.013 90 0 64 StoveKnob 2.326 1.092 1.210 288.013 90 0 65 StoveKnob 2.326 1.092 1.050 288.013 90 0 66 Toaster 2.126 0.926 0.572 0 270 0 67 Fridge 2.104 0.0 -0.279 0 270 0 68 GarbageCan -0.309 -0.001 -0.807 0 91.471 0 69 LightSwitch 0.354 1.518 -1.031 0 0 0 70 SinkBasin 0.903 0.784 2.640 0 0 0 71 Microwave -0.310 0.926 2.077 0 90 0 72 CoffeeMachine 2.084 0.927 2.667 0 225 0 73 DiningTable -0.153 -0.000 1.073 0 270 0 74 Faucet 1.175 0.926 2.950 270 90 0 75 Faucet 0.686 0.926 2.950 270 90 0 76 Chair -0.077 0.002 0.196 0 15.000 0 77 NorthWall 78 EastWall 79 SouthWall 80 WestWall
[ "STEP 1: Turn to the right to face the white table. | STEP 2: Pick up the knife on the table. | STEP 3: Take a step to the left and face the tomato on the table. | STEP 4: Cut the tomato on the counter into slices. | STEP 5: Take a step to the right to face the table. | STEP 6: Place the knife on the table. | STEP 7: Step to the left and face the slice of tomato. | STEP 8: Pick up a slice of tomato. | STEP 9: Turn around and walk forward to face the fridge. | STEP 10: Cool the tomato slice in the fridge and then remove it. | STEP 11: Turn around and walk across the room to face the microwave. | STEP 12: Place the tomato slice in the microwave. | END" ]
[ [ "STEP 1: Turn to the right to face the white table. ", " STEP 2: Pick up the knife on the table. ", " STEP 3: Take a step to the left and face the tomato on the table. ", " STEP 4: Cut the tomato on the counter into slices. ", " STEP 5: Take a step to the right to face the table. ", " STEP 6: Place the knife on the table. ", " STEP 7: Step to the left and face the slice of tomato. ", " STEP 8: Pick up a slice of tomato. ", " STEP 9: Turn around and walk forward to face the fridge. ", " STEP 10: Cool the tomato slice in the fridge and then remove it. ", " STEP 11: Turn around and walk across the room to face the microwave. ", " STEP 12: Place the tomato slice in the microwave. ", " END" ] ]
seen
trial_T20190908_102220_103784-1
Put cold tomato in the microwave.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 0.25 0.901 -0.25 0 180 0 1 WineBottle 1.298 0.082 2.523 0 0 0 52 2 DishSponge 1.118 0.794 2.529 0 0 0 70 3 ButterKnife -0.349 0.791 0.881 0 0 0 73 4 Spatula 0.682 0.810 2.750 0 270 0 70 5 Spoon 1.223 0.796 2.64 0 0 0 70 6 Fork -0.042 0.791 0.377 0 0 0 73 7 Egg -0.261 1.078 1.961 0 90 0 71 8 Egg -0.196 0.833 1.049 0 0 0 73 9 Cup 2.164 0.600 -0.007 0 270 0 67 10 Knife 1.850 0.771 2.197 0 270 0 61 11 SaltShaker -0.196 0.785 1.386 0 0 0 73 12 Mug 0.788 0.790 2.529 0 0 0 70 13 Apple -0.349 0.840 1.217 0 0 0 73 14 Apple 2.071 0.988 0.361 0 0 0 57 15 Egg -0.395 1.078 2.014 0 90 0 71 16 Lettuce 2.059 0.400 -0.188 0 270 0 67 17 Fork 0.060 0.938 2.548 0 0 0 46 18 SoapBottle 0.033 0.791 0.545 0 0 0 73 19 Ladle 1.923 0.126 0.724 0 0 0 43 20 Ladle 1.989 0.791 2.197 0 270 0 61 21 Bread 2.074 0.985 1.964 0 0 0 46 22 SaltShaker 1.844 0.932 2.359 0 0 0 46 23 Potato 2.132 0.378 -0.550 0 270 0 67 24 Pan 2.140 0.935 1.504 0 180 0 41 25 WineBottle -0.042 0.791 1.217 0 0 0 73 26 Spatula 1.802 0.760 0.721 0 270 0 55 27 Knife -0.068 0.771 2.197 0 270 0 45 28 Tomato -0.196 0.837 0.545 0 0 0 73 29 Apple 2.000 1.373 -0.007 0 270 0 67 30 ButterKnife 1.917 0.938 0.509 0 180 0 57 31 Pot 1.854 0.937 1.497 0 0 0 50 32 PepperShaker -0.042 0.785 0.881 0 0 0 73 33 Cup 2.241 1.501 0.785 0 0 0 54 34 DishSponge -0.358 0.036 -0.832 0 90 0 68 35 Plate 1.923 0.086 0.512 0 0 0 43 36 Spoon 0.002 0.747 1.993 0 0 0 45 37 Mug -0.196 0.785 1.217 0 0 0 73 38 Bowl 1.156 0.078 2.523 0 0 0 52 39 Cabinet 2.041 2.113 2.618 0 0 0 40 Cabinet 0.126 0.388 1.774 0 0 0 41 StoveBurner 2.140 0.929 1.504 0 180 0 42 Cabinet 1.760 0.388 2.346 0 0 0 43 Cabinet 1.760 0.388 0.869 0 0 0 44 Cabinet 2.041 1.810 0.283 0 0 0 45 Drawer -0.024 0.774 2.061 0 0 0 46 CounterTop 1.065 0.973 2.666 0 0 0 47 Cabinet 1.969 2.113 2.618 0 0 0 48 StoveBurner 2.140 0.929 1.106 0 0 0 49 Cabinet 2.041 2.113 1.809 0 0 0 50 StoveBurner 1.866 0.929 1.504 0 180 0 51 Cabinet 2.041 2.113 1.766 0 0 0 52 Cabinet 1.514 0.388 2.360 0 0 0 53 Cabinet 0.351 0.388 2.360 0 0 0 54 Cabinet 2.041 1.810 0.872 0 0 0 55 Drawer 2.167 0.774 0.582 0 0 0 56 Cabinet 2.041 2.113 0.892 0 0 0 57 CounterTop 2.060 0.973 0.583 0 0 0 58 Sink 0.935 0.936 2.646 0 0 0 59 Curtains 0.964 2.061 2.989 0 0 0 60 StoveBurner 1.863 0.929 1.106 0 0 0 61 Drawer 1.911 0.774 2.060 0 0 0 62 StoveKnob 2.326 1.092 1.610 288.013 90 0 63 StoveKnob 2.326 1.092 1.460 288.013 90 0 64 StoveKnob 2.326 1.092 1.210 288.013 90 0 65 StoveKnob 2.326 1.092 1.050 288.013 90 0 66 Toaster 2.126 0.926 0.572 0 270 0 67 Fridge 2.104 0.0 -0.279 0 270 0 68 GarbageCan -0.309 -0.001 -0.807 0 91.471 0 69 LightSwitch 0.354 1.518 -1.031 0 0 0 70 SinkBasin 0.903 0.784 2.640 0 0 0 71 Microwave -0.310 0.926 2.077 0 90 0 72 CoffeeMachine 2.084 0.927 2.667 0 225 0 73 DiningTable -0.153 -0.000 1.073 0 270 0 74 Faucet 1.175 0.926 2.950 270 90 0 75 Faucet 0.686 0.926 2.950 270 90 0 76 Chair -0.077 0.002 0.196 0 15.000 0 77 NorthWall 78 EastWall 79 SouthWall 80 WestWall
[ "STEP 1: Back up, turn to the left, go forward, turn to the left, go forward to the table on the left where the pepper mill is. | STEP 2: Pick up the butter knife that is on the table behind the pepper mill. | STEP 3: Turn to the left, go forward, then turn to the right to where the fork is on the table. | STEP 4: Use the knife the cut the tomato into slices. | STEP 5: Turn to the right, go forward, turn to the left to the table where the pepper mill is, back up. | STEP 6: Put the butter knife down on the table to the left of the pepper mill. | STEP 7: Go forward, turn to the left, go forward, turn to the right to the table where the tomato is. | STEP 8: Pick up a slice of tomato from the table. | STEP 9: Turn to the left, go forward, turn to the left, go to the fridge. | STEP 10: Open the fridge, put the tomato on the top shelf to get cold, close the fridge, remove the cold tomato from the fridge, close the fridge. | STEP 11: Turn to the left, go to the sink, turn to the left, go to the microwave. | STEP 12: Put the tomato inside the microwave and close the door. | END" ]
[ [ "STEP 1: Back up, turn to the left, go forward, turn to the left, go forward to the table on the left where the pepper mill is. ", " STEP 2: Pick up the butter knife that is on the table behind the pepper mill. ", " STEP 3: Turn to the left, go forward, then turn to the right to where the fork is on the table. ", " STEP 4: Use the knife the cut the tomato into slices. ", " STEP 5: Turn to the right, go forward, turn to the left to the table where the pepper mill is, back up. ", " STEP 6: Put the butter knife down on the table to the left of the pepper mill. ", " STEP 7: Go forward, turn to the left, go forward, turn to the right to the table where the tomato is. ", " STEP 8: Pick up a slice of tomato from the table. ", " STEP 9: Turn to the left, go forward, turn to the left, go to the fridge. ", " STEP 10: Open the fridge, put the tomato on the top shelf to get cold, close the fridge, remove the cold tomato from the fridge, close the fridge. ", " STEP 11: Turn to the left, go to the sink, turn to the left, go to the microwave. ", " STEP 12: Put the tomato inside the microwave and close the door. ", " END" ] ]
seen
trial_T20190908_102220_103784-2
Put a slice of chilled pepper in the microwave.
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288.013", " 90", " 0", "" ], [ "64", " StoveKnob", " 2.326", " 1.092", " 1.210", " 288.013", " 90", " 0", "" ], [ "65", " StoveKnob", " 2.326", " 1.092", " 1.050", " 288.013", " 90", " 0", "" ], [ "66", " Toaster", " 2.126", " 0.926", " 0.572", " 0", " 270", " 0", "" ], [ "67", " Fridge", " 2.104", " 0.0", " -0.279", " 0", " 270", " 0", "" ], [ "68", " GarbageCan", " -0.309", " -0.001", " -0.807", " 0", " 91.471", " 0", "" ], [ "69", " LightSwitch", " 0.354", " 1.518", " -1.031", " 0", " 0", " 0", "" ], [ "70", " SinkBasin", " 0.903", " 0.784", " 2.640", " 0", " 0", " 0", "" ], [ "71", " Microwave", " -0.310", " 0.926", " 2.077", " 0", " 90", " 0", "" ], [ "72", " CoffeeMachine", " 2.084", " 0.927", " 2.667", " 0", " 225", " 0", "" ], [ "73", " DiningTable", " -0.153", " -0.000", " 1.073", " 0", " 270", " 0", "" ], [ "74", " Faucet", " 1.175", " 0.926", " 2.950", " 270", " 90", " 0", "" ], [ "75", " Faucet", " 0.686", " 0.926", " 2.950", " 270", " 90", " 0", "" ], [ "76", " Chair", " -0.077", " 0.002", " 0.196", " 0", " 15.000", " 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 0.25 0.901 -0.25 0 180 0 1 WineBottle 1.298 0.082 2.523 0 0 0 52 2 DishSponge 1.118 0.794 2.529 0 0 0 70 3 ButterKnife -0.349 0.791 0.881 0 0 0 73 4 Spatula 0.682 0.810 2.750 0 270 0 70 5 Spoon 1.223 0.796 2.64 0 0 0 70 6 Fork -0.042 0.791 0.377 0 0 0 73 7 Egg -0.261 1.078 1.961 0 90 0 71 8 Egg -0.196 0.833 1.049 0 0 0 73 9 Cup 2.164 0.600 -0.007 0 270 0 67 10 Knife 1.850 0.771 2.197 0 270 0 61 11 SaltShaker -0.196 0.785 1.386 0 0 0 73 12 Mug 0.788 0.790 2.529 0 0 0 70 13 Apple -0.349 0.840 1.217 0 0 0 73 14 Apple 2.071 0.988 0.361 0 0 0 57 15 Egg -0.395 1.078 2.014 0 90 0 71 16 Lettuce 2.059 0.400 -0.188 0 270 0 67 17 Fork 0.060 0.938 2.548 0 0 0 46 18 SoapBottle 0.033 0.791 0.545 0 0 0 73 19 Ladle 1.923 0.126 0.724 0 0 0 43 20 Ladle 1.989 0.791 2.197 0 270 0 61 21 Bread 2.074 0.985 1.964 0 0 0 46 22 SaltShaker 1.844 0.932 2.359 0 0 0 46 23 Potato 2.132 0.378 -0.550 0 270 0 67 24 Pan 2.140 0.935 1.504 0 180 0 41 25 WineBottle -0.042 0.791 1.217 0 0 0 73 26 Spatula 1.802 0.760 0.721 0 270 0 55 27 Knife -0.068 0.771 2.197 0 270 0 45 28 Tomato -0.196 0.837 0.545 0 0 0 73 29 Apple 2.000 1.373 -0.007 0 270 0 67 30 ButterKnife 1.917 0.938 0.509 0 180 0 57 31 Pot 1.854 0.937 1.497 0 0 0 50 32 PepperShaker -0.042 0.785 0.881 0 0 0 73 33 Cup 2.241 1.501 0.785 0 0 0 54 34 DishSponge -0.358 0.036 -0.832 0 90 0 68 35 Plate 1.923 0.086 0.512 0 0 0 43 36 Spoon 0.002 0.747 1.993 0 0 0 45 37 Mug -0.196 0.785 1.217 0 0 0 73 38 Bowl 1.156 0.078 2.523 0 0 0 52 39 Cabinet 2.041 2.113 2.618 0 0 0 40 Cabinet 0.126 0.388 1.774 0 0 0 41 StoveBurner 2.140 0.929 1.504 0 180 0 42 Cabinet 1.760 0.388 2.346 0 0 0 43 Cabinet 1.760 0.388 0.869 0 0 0 44 Cabinet 2.041 1.810 0.283 0 0 0 45 Drawer -0.024 0.774 2.061 0 0 0 46 CounterTop 1.065 0.973 2.666 0 0 0 47 Cabinet 1.969 2.113 2.618 0 0 0 48 StoveBurner 2.140 0.929 1.106 0 0 0 49 Cabinet 2.041 2.113 1.809 0 0 0 50 StoveBurner 1.866 0.929 1.504 0 180 0 51 Cabinet 2.041 2.113 1.766 0 0 0 52 Cabinet 1.514 0.388 2.360 0 0 0 53 Cabinet 0.351 0.388 2.360 0 0 0 54 Cabinet 2.041 1.810 0.872 0 0 0 55 Drawer 2.167 0.774 0.582 0 0 0 56 Cabinet 2.041 2.113 0.892 0 0 0 57 CounterTop 2.060 0.973 0.583 0 0 0 58 Sink 0.935 0.936 2.646 0 0 0 59 Curtains 0.964 2.061 2.989 0 0 0 60 StoveBurner 1.863 0.929 1.106 0 0 0 61 Drawer 1.911 0.774 2.060 0 0 0 62 StoveKnob 2.326 1.092 1.610 288.013 90 0 63 StoveKnob 2.326 1.092 1.460 288.013 90 0 64 StoveKnob 2.326 1.092 1.210 288.013 90 0 65 StoveKnob 2.326 1.092 1.050 288.013 90 0 66 Toaster 2.126 0.926 0.572 0 270 0 67 Fridge 2.104 0.0 -0.279 0 270 0 68 GarbageCan -0.309 -0.001 -0.807 0 91.471 0 69 LightSwitch 0.354 1.518 -1.031 0 0 0 70 SinkBasin 0.903 0.784 2.640 0 0 0 71 Microwave -0.310 0.926 2.077 0 90 0 72 CoffeeMachine 2.084 0.927 2.667 0 225 0 73 DiningTable -0.153 -0.000 1.073 0 270 0 74 Faucet 1.175 0.926 2.950 270 90 0 75 Faucet 0.686 0.926 2.950 270 90 0 76 Chair -0.077 0.002 0.196 0 15.000 0 77 NorthWall 78 EastWall 79 SouthWall 80 WestWall
[ "STEP 1: Turn around and face the white table. | STEP 2: Pick up the knife from behind the pepper shaker. | STEP 3: Move slightly to the left and face the table again. | STEP 4: Use the knife to slice the red pepper on the table. | STEP 5: Take a step back to the right and face the table. | STEP 6: Put the knife down on the table between the soap dispenser and the pepper shaker. | STEP 7: Take a step to the left and face the table. | STEP 8: Pick up a slice of the red pepper from the table. | STEP 9: Bring the pepper and move to face the black fridge. | STEP 10: Open the fridge and put the pepper on the top shelf, close the fridge and let the pepper get cool, then open it and take the pepper back out. | STEP 11: Bring the pepper slice over to the red microwave. | STEP 12: Open the microwave and put the pepper inside. | END" ]
[ [ "STEP 1: Turn around and face the white table. ", " STEP 2: Pick up the knife from behind the pepper shaker. ", " STEP 3: Move slightly to the left and face the table again. ", " STEP 4: Use the knife to slice the red pepper on the table. ", " STEP 5: Take a step back to the right and face the table. ", " STEP 6: Put the knife down on the table between the soap dispenser and the pepper shaker. ", " STEP 7: Take a step to the left and face the table. ", " STEP 8: Pick up a slice of the red pepper from the table. ", " STEP 9: Bring the pepper and move to face the black fridge. ", " STEP 10: Open the fridge and put the pepper on the top shelf, close the fridge and let the pepper get cool, then open it and take the pepper back out. ", " STEP 11: Bring the pepper slice over to the red microwave. ", " STEP 12: Open the microwave and put the pepper inside. ", " END" ] ]
seen
trial_T20190907_052838_203742-0
To see the basketball in the light.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -0.5 0.901 0.25 0 270 0 1 CellPhone -1.875 1.072 1.067 0 270 0 38 2 CellPhone -1.815 0.674 1.493 0 0 0 39 3 Pen -1.749 0.679 0.776 0 0 0 39 4 KeyChain -1.894 0.507 1.315 0 180 0 35 5 Book -1.828 0.640 0.370 0 180 0 39 6 Book -1.301 0.540 -0.830 0 0 0 23 7 Laptop -1.749 0.671 1.206 0 0 0 39 8 Laptop -0.344 0.538 -0.971 0 0 0 23 9 Book -1.787 0.286 1.448 0 270 0 37 10 AlarmClock 0.505 0.684 -1.622 0 0 0 31 11 BasketBall 1.510 0.120 -0.105 0 0 0 12 TeddyBear -1.7 0.475 -0.331 0 225 0 23 13 TennisRacket 1.551 0.000 0.654 270 336.082 0 14 Pen 1.228 0.717 0.022 0 270 0 42 15 Pencil 1.769 0.715 0.409 0 270 0 42 16 KeyChain 1.228 0.711 -0.171 0 270 0 42 17 CreditCard 1.228 0.711 0.602 0 270 0 42 18 Laptop -0.583 0.538 -0.549 0 0 0 23 19 CellPhone 1.498 0.712 0.215 0 270 0 42 20 Pillow -0.823 0.618 -0.971 0 0 0 23 21 CD -1.629 0.640 0.057 0 180 0 39 22 Curtains 1.865 2.039 -0.495 0 0 0 23 Bed -1.037 0.009 -0.690 0 270 0 24 Mirror 0.549 1.494 1.880 0 0 0 25 Curtains 0.486 2.035 -1.853 0 90 0 26 GarbageCan 1.683 -0.018 1.670 0 270 0 27 LightSwitch -0.119 1.317 1.853 0 180 0 28 DeskLamp -1.845 1.057 0.756 0 0 0 29 Window 1.932 1.409 -0.507 90 270 0 30 Window 0.481 1.411 -1.932 90 0 0 31 SideTable 0.626 0.0 -1.705 0 0 0 32 Footstool 0.176 0.006 -0.358 0 0 0 33 Dumbbell 1.596 0.715 0.772 0 0 0 34 Dumbbell 1.776 0.717 0.772 0 0 0 35 Shelf -1.700 0.573 1.540 0 90 0 36 Shelf -1.700 0.156 1.540 0 90 0 37 Shelf -1.700 0.377 1.540 0 90 0 38 Shelf -1.839 1.084 1.235 0 90 0 39 Desk -1.722 0.003 0.920 0 90 0 40 Footstool 0.175 0.004 -0.652 0 0 0 41 GarbageBag 1.624 0.319 -1.609 270 90 83.418 42 Desk 1.519 1.823 0.385 0 270 0 43 Chair -1.459 0.003 0.929 0 292.527 0 44 NorthWall 45 EastWall 46 WestWall
[ "STEP 1: Turn around and walk across the room to the window, then turn left to face the table. | STEP 2: Take the basketball from underneath the edge of the table. | STEP 3: Turn around and walk across the room to the desk. | STEP 4: Turn on the lamp on the upper shelf of the desk. | END" ]
[ [ "STEP 1: Turn around and walk across the room to the window, then turn left to face the table. ", " STEP 2: Take the basketball from underneath the edge of the table. ", " STEP 3: Turn around and walk across the room to the desk. ", " STEP 4: Turn on the lamp on the upper shelf of the desk. ", " END" ] ]
seen
trial_T20190907_052838_203742-1
Carry a basketball 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 -0.5 0.901 0.25 0 270 0 1 CellPhone -1.875 1.072 1.067 0 270 0 38 2 CellPhone -1.815 0.674 1.493 0 0 0 39 3 Pen -1.749 0.679 0.776 0 0 0 39 4 KeyChain -1.894 0.507 1.315 0 180 0 35 5 Book -1.828 0.640 0.370 0 180 0 39 6 Book -1.301 0.540 -0.830 0 0 0 23 7 Laptop -1.749 0.671 1.206 0 0 0 39 8 Laptop -0.344 0.538 -0.971 0 0 0 23 9 Book -1.787 0.286 1.448 0 270 0 37 10 AlarmClock 0.505 0.684 -1.622 0 0 0 31 11 BasketBall 1.510 0.120 -0.105 0 0 0 12 TeddyBear -1.7 0.475 -0.331 0 225 0 23 13 TennisRacket 1.551 0.000 0.654 270 336.082 0 14 Pen 1.228 0.717 0.022 0 270 0 42 15 Pencil 1.769 0.715 0.409 0 270 0 42 16 KeyChain 1.228 0.711 -0.171 0 270 0 42 17 CreditCard 1.228 0.711 0.602 0 270 0 42 18 Laptop -0.583 0.538 -0.549 0 0 0 23 19 CellPhone 1.498 0.712 0.215 0 270 0 42 20 Pillow -0.823 0.618 -0.971 0 0 0 23 21 CD -1.629 0.640 0.057 0 180 0 39 22 Curtains 1.865 2.039 -0.495 0 0 0 23 Bed -1.037 0.009 -0.690 0 270 0 24 Mirror 0.549 1.494 1.880 0 0 0 25 Curtains 0.486 2.035 -1.853 0 90 0 26 GarbageCan 1.683 -0.018 1.670 0 270 0 27 LightSwitch -0.119 1.317 1.853 0 180 0 28 DeskLamp -1.845 1.057 0.756 0 0 0 29 Window 1.932 1.409 -0.507 90 270 0 30 Window 0.481 1.411 -1.932 90 0 0 31 SideTable 0.626 0.0 -1.705 0 0 0 32 Footstool 0.176 0.006 -0.358 0 0 0 33 Dumbbell 1.596 0.715 0.772 0 0 0 34 Dumbbell 1.776 0.717 0.772 0 0 0 35 Shelf -1.700 0.573 1.540 0 90 0 36 Shelf -1.700 0.156 1.540 0 90 0 37 Shelf -1.700 0.377 1.540 0 90 0 38 Shelf -1.839 1.084 1.235 0 90 0 39 Desk -1.722 0.003 0.920 0 90 0 40 Footstool 0.175 0.004 -0.652 0 0 0 41 GarbageBag 1.624 0.319 -1.609 270 90 83.418 42 Desk 1.519 1.823 0.385 0 270 0 43 Chair -1.459 0.003 0.929 0 292.527 0 44 NorthWall 45 EastWall 46 WestWall
[ "STEP 1: Move across the room to the white desk under the bedroom window | STEP 2: pick up the basketball sitting under the desk | STEP 3: Carry the basketball and move to the wood colored desk located to the right of the bed | STEP 4: Turn on the lamp sitting on top of the desk | END" ]
[ [ "STEP 1: Move across the room to the white desk under the bedroom window ", " STEP 2: pick up the basketball sitting under the desk ", " STEP 3: Carry the basketball and move to the wood colored desk located to the right of the bed ", " STEP 4: Turn on the lamp sitting on top of the desk ", " END" ] ]
seen
trial_T20190907_052838_203742-2
Grab the basketball under the desk, turn on the lamp 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 -0.5 0.901 0.25 0 270 0 1 CellPhone -1.875 1.072 1.067 0 270 0 38 2 CellPhone -1.815 0.674 1.493 0 0 0 39 3 Pen -1.749 0.679 0.776 0 0 0 39 4 KeyChain -1.894 0.507 1.315 0 180 0 35 5 Book -1.828 0.640 0.370 0 180 0 39 6 Book -1.301 0.540 -0.830 0 0 0 23 7 Laptop -1.749 0.671 1.206 0 0 0 39 8 Laptop -0.344 0.538 -0.971 0 0 0 23 9 Book -1.787 0.286 1.448 0 270 0 37 10 AlarmClock 0.505 0.684 -1.622 0 0 0 31 11 BasketBall 1.510 0.120 -0.105 0 0 0 12 TeddyBear -1.7 0.475 -0.331 0 225 0 23 13 TennisRacket 1.551 0.000 0.654 270 336.082 0 14 Pen 1.228 0.717 0.022 0 270 0 42 15 Pencil 1.769 0.715 0.409 0 270 0 42 16 KeyChain 1.228 0.711 -0.171 0 270 0 42 17 CreditCard 1.228 0.711 0.602 0 270 0 42 18 Laptop -0.583 0.538 -0.549 0 0 0 23 19 CellPhone 1.498 0.712 0.215 0 270 0 42 20 Pillow -0.823 0.618 -0.971 0 0 0 23 21 CD -1.629 0.640 0.057 0 180 0 39 22 Curtains 1.865 2.039 -0.495 0 0 0 23 Bed -1.037 0.009 -0.690 0 270 0 24 Mirror 0.549 1.494 1.880 0 0 0 25 Curtains 0.486 2.035 -1.853 0 90 0 26 GarbageCan 1.683 -0.018 1.670 0 270 0 27 LightSwitch -0.119 1.317 1.853 0 180 0 28 DeskLamp -1.845 1.057 0.756 0 0 0 29 Window 1.932 1.409 -0.507 90 270 0 30 Window 0.481 1.411 -1.932 90 0 0 31 SideTable 0.626 0.0 -1.705 0 0 0 32 Footstool 0.176 0.006 -0.358 0 0 0 33 Dumbbell 1.596 0.715 0.772 0 0 0 34 Dumbbell 1.776 0.717 0.772 0 0 0 35 Shelf -1.700 0.573 1.540 0 90 0 36 Shelf -1.700 0.156 1.540 0 90 0 37 Shelf -1.700 0.377 1.540 0 90 0 38 Shelf -1.839 1.084 1.235 0 90 0 39 Desk -1.722 0.003 0.920 0 90 0 40 Footstool 0.175 0.004 -0.652 0 0 0 41 GarbageBag 1.624 0.319 -1.609 270 90 83.418 42 Desk 1.519 1.823 0.385 0 270 0 43 Chair -1.459 0.003 0.929 0 292.527 0 44 NorthWall 45 EastWall 46 WestWall
[ "STEP 1: Turn around, walk to the white table, turn right, walk to the side of the table | STEP 2: Grab the basketball under the table on the floor | STEP 3: Turn left, walk to the desk by the bed | STEP 4: Turn on the lamp on the desk | END" ]
[ [ "STEP 1: Turn around, walk to the white table, turn right, walk to the side of the table ", " STEP 2: Grab the basketball under the table on the floor ", " STEP 3: Turn left, walk to the desk by the bed ", " STEP 4: Turn on the lamp on the desk ", " END" ] ]
seen
trial_T20190907_232204_574574-0
Examine a bowl by the light of a desk lamp.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.5 0.906 -0.5 0 90 0 1 Bowl -1.400 0.982 -1.606 0 0 0 41 2 KeyChain -1.572 1.536 -1.671 0 0 0 43 3 CD -1.238 0.097 -1.390 0 0 0 39 4 CD -0.590 0.981 -1.687 0 0 0 41 5 CellPhone -0.995 0.982 -1.362 0 0 0 41 6 CellPhone -1.708 0.896 1.453 0 0 0 35 7 Pencil -1.400 0.984 -1.443 0 0 0 41 8 Pencil -1.001 1.539 -1.593 0 0 0 43 9 Book -1.571 0.897 0.575 0 0 0 35 10 Book -0.875 2.053 0.575 0 0 0 35 11 Pillow -1.026 0.952 1.746 0 0 0 35 12 AlarmClock -1.603 0.982 -1.524 0 0 0 41 13 AlarmClock -1.198 0.982 -1.606 0 90 0 41 14 Book -1.299 0.897 2.332 0 0 0 35 15 Box 1.563 0.286 -1.069 0 347.500 0 16 BasketBall -1.657 0.126 -0.090 0 0 0 17 Pen -1.198 0.988 -1.281 0 0 0 41 18 Pencil -1.413 0.425 -1.345 0 0 0 42 19 Laptop -1.435 0.894 1.746 0 0 0 35 20 Pillow -1.435 0.952 1.160 0 0 0 35 21 KeyChain -0.792 0.982 -1.524 0 90 0 41 22 Bowl -0.811 1.537 -1.553 0 0 0 43 23 CreditCard -1.191 1.536 -1.632 0 0 0 43 24 CellPhone -0.940 2.053 1.746 0 0 0 35 25 CD -0.995 0.981 -1.606 0 0 0 41 26 AlarmClock -1.400 0.982 -1.200 0 0 0 41 27 Mug -0.621 1.534 -1.593 0 0 0 43 28 Statue -1.603 0.988 -1.281 0 0 0 41 29 Mirror 1.907 1.387 0.973 0 90 0 30 LaundryHamper -0.351 0.007 2.368 0 164.999 0 31 DeskLamp -0.343 1.545 -1.564 0 0 0 32 GarbageCan -0.035 0.007 -1.530 0 270 0 33 Window 1.009 1.514 -2.089 90 0 0 34 LightSwitch 0.397 1.197 2.729 0 180 0 35 Bed -1.299 1.937 1.441 0 0 0 36 Blinds 1.064 2.382 -2.094 0 0 0 37 Chair 0.884 0.012 -1.433 0 29.871 0 38 Chair -0.646 0.007 -1.206 0 195.000 0 39 Drawer -1.409 0.233 -1.303 0 0 0 40 Drawer -1.407 0.847 -1.302 0 0 0 41 Desk -0.993 0.006 -1.410 0 0 0 42 Drawer -1.408 0.558 -1.302 0 0 0 43 Shelf 0.003 0.013 0.035 0 0 0 44 NorthWall 45 EastWall 46 SouthWall 47 WestWall
[ "STEP 1: Turn right towards the desk. | STEP 2: Pick up the bowl which is on the top shelf of the desk. | STEP 3: Walk to the left side of the desk and stand to the left of the lamp on the desk. | STEP 4: Turn on the lamp. | END" ]
[ [ "STEP 1: Turn right towards the desk. ", " STEP 2: Pick up the bowl which is on the top shelf of the desk. ", " STEP 3: Walk to the left side of the desk and stand to the left of the lamp on the desk. ", " STEP 4: Turn on the lamp. ", " END" ] ]
seen
trial_T20190907_232204_574574-1
Pick up bowl, turn on light.
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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 0.906 -0.5 0 90 0 1 Bowl -1.400 0.982 -1.606 0 0 0 41 2 KeyChain -1.572 1.536 -1.671 0 0 0 43 3 CD -1.238 0.097 -1.390 0 0 0 39 4 CD -0.590 0.981 -1.687 0 0 0 41 5 CellPhone -0.995 0.982 -1.362 0 0 0 41 6 CellPhone -1.708 0.896 1.453 0 0 0 35 7 Pencil -1.400 0.984 -1.443 0 0 0 41 8 Pencil -1.001 1.539 -1.593 0 0 0 43 9 Book -1.571 0.897 0.575 0 0 0 35 10 Book -0.875 2.053 0.575 0 0 0 35 11 Pillow -1.026 0.952 1.746 0 0 0 35 12 AlarmClock -1.603 0.982 -1.524 0 0 0 41 13 AlarmClock -1.198 0.982 -1.606 0 90 0 41 14 Book -1.299 0.897 2.332 0 0 0 35 15 Box 1.563 0.286 -1.069 0 347.500 0 16 BasketBall -1.657 0.126 -0.090 0 0 0 17 Pen -1.198 0.988 -1.281 0 0 0 41 18 Pencil -1.413 0.425 -1.345 0 0 0 42 19 Laptop -1.435 0.894 1.746 0 0 0 35 20 Pillow -1.435 0.952 1.160 0 0 0 35 21 KeyChain -0.792 0.982 -1.524 0 90 0 41 22 Bowl -0.811 1.537 -1.553 0 0 0 43 23 CreditCard -1.191 1.536 -1.632 0 0 0 43 24 CellPhone -0.940 2.053 1.746 0 0 0 35 25 CD -0.995 0.981 -1.606 0 0 0 41 26 AlarmClock -1.400 0.982 -1.200 0 0 0 41 27 Mug -0.621 1.534 -1.593 0 0 0 43 28 Statue -1.603 0.988 -1.281 0 0 0 41 29 Mirror 1.907 1.387 0.973 0 90 0 30 LaundryHamper -0.351 0.007 2.368 0 164.999 0 31 DeskLamp -0.343 1.545 -1.564 0 0 0 32 GarbageCan -0.035 0.007 -1.530 0 270 0 33 Window 1.009 1.514 -2.089 90 0 0 34 LightSwitch 0.397 1.197 2.729 0 180 0 35 Bed -1.299 1.937 1.441 0 0 0 36 Blinds 1.064 2.382 -2.094 0 0 0 37 Chair 0.884 0.012 -1.433 0 29.871 0 38 Chair -0.646 0.007 -1.206 0 195.000 0 39 Drawer -1.409 0.233 -1.303 0 0 0 40 Drawer -1.407 0.847 -1.302 0 0 0 41 Desk -0.993 0.006 -1.410 0 0 0 42 Drawer -1.408 0.558 -1.302 0 0 0 43 Shelf 0.003 0.013 0.035 0 0 0 44 NorthWall 45 EastWall 46 SouthWall 47 WestWall
[ "STEP 1: Turn right and face desk with shelf. | STEP 2: Remove bowl from shelf, to the right of the cup. | STEP 3: Turn left, proceed to end of desk, turn right to face wall. | STEP 4: Turn on lamp above you. | END" ]
[ [ "STEP 1: Turn right and face desk with shelf. ", " STEP 2: Remove bowl from shelf, to the right of the cup. ", " STEP 3: Turn left, proceed to end of desk, turn right to face wall. ", " STEP 4: Turn on lamp above you. ", " END" ] ]
seen
trial_T20190907_232204_574574-2
Carry a bowl while turning on a lamp
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " -1.5", " 0.906", " -0.5", " 0", " 90", " 0", "" ], [ "1", " Bowl", " -1.400", " 0.982", " -1.606", " 0", " 0", " 0", " 41" ], [ "2", " KeyChain", " -1.572", " 1.536", " -1.671", " 0", " 0", " 0", " 43" ], [ "3", " CD", " -1.238", " 0.097", " -1.390", " 0", " 0", " 0", " 39" ], [ "4", " CD", " -0.590", " 0.981", " -1.687", " 0", " 0", " 0", " 41" ], [ "5", " CellPhone", " -0.995", " 0.982", " -1.362", " 0", " 0", " 0", " 41" ], [ "6", " CellPhone", " -1.708", " 0.896", " 1.453", " 0", " 0", " 0", " 35" ], [ "7", " Pencil", " -1.400", " 0.984", " -1.443", " 0", " 0", " 0", " 41" ], [ "8", " Pencil", " -1.001", " 1.539", " -1.593", " 0", " 0", " 0", " 43" ], [ "9", " Book", " -1.571", " 0.897", " 0.575", " 0", " 0", " 0", " 35" ], [ "10", " Book", " -0.875", " 2.053", " 0.575", " 0", " 0", " 0", " 35" ], [ "11", " Pillow", " -1.026", " 0.952", " 1.746", " 0", " 0", " 0", " 35" ], [ "12", " AlarmClock", " -1.603", " 0.982", " -1.524", " 0", " 0", " 0", " 41" ], [ "13", " AlarmClock", " -1.198", " 0.982", " -1.606", " 0", " 90", " 0", " 41" ], [ "14", " Book", " -1.299", " 0.897", " 2.332", " 0", " 0", " 0", " 35" ], [ "15", " Box", " 1.563", " 0.286", " -1.069", " 0", " 347.500", " 0", "" ], [ "16", " BasketBall", " -1.657", " 0.126", " -0.090", " 0", " 0", " 0", "" ], [ "17", " Pen", " -1.198", " 0.988", " -1.281", " 0", " 0", " 0", " 41" ], [ "18", " Pencil", " -1.413", " 0.425", " -1.345", " 0", " 0", " 0", " 42" ], [ "19", " Laptop", " -1.435", " 0.894", " 1.746", " 0", " 0", " 0", " 35" ], [ "20", " Pillow", " -1.435", " 0.952", " 1.160", " 0", " 0", " 0", " 35" ], [ "21", " KeyChain", " -0.792", " 0.982", " -1.524", " 0", " 90", " 0", " 41" ], [ "22", " Bowl", " -0.811", " 1.537", " -1.553", " 0", " 0", " 0", " 43" ], [ "23", " CreditCard", " -1.191", " 1.536", " -1.632", " 0", " 0", " 0", " 43" ], [ "24", " CellPhone", " -0.940", " 2.053", " 1.746", " 0", " 0", " 0", " 35" ], [ "25", " CD", " -0.995", " 0.981", " -1.606", " 0", " 0", " 0", " 41" ], [ "26", " AlarmClock", " -1.400", " 0.982", " -1.200", " 0", " 0", " 0", " 41" ], [ "27", " Mug", " -0.621", " 1.534", " -1.593", " 0", " 0", " 0", " 43" ], [ "28", " Statue", " -1.603", " 0.988", " -1.281", " 0", " 0", " 0", " 41" ], [ "29", " Mirror", " 1.907", " 1.387", " 0.973", " 0", " 90", " 0", "" ], [ "30", " LaundryHamper", " -0.351", " 0.007", " 2.368", " 0", " 164.999", " 0", "" ], [ "31", " DeskLamp", " -0.343", " 1.545", " -1.564", " 0", " 0", " 0", "" ], [ "32", " GarbageCan", " -0.035", " 0.007", " -1.530", " 0", " 270", " 0", "" ], [ "33", " Window", " 1.009", " 1.514", " -2.089", " 90", " 0", " 0", "" ], [ "34", " LightSwitch", " 0.397", " 1.197", " 2.729", " 0", " 180", " 0", "" ], [ "35", " Bed", " -1.299", " 1.937", " 1.441", " 0", " 0", " 0", "" ], [ "36", " Blinds", " 1.064", " 2.382", " -2.094", " 0", " 0", " 0", "" ], [ "37", " Chair", " 0.884", " 0.012", " -1.433", " 0", " 29.871", " 0", "" ], [ "38", " Chair", " -0.646", " 0.007", " -1.206", " 0", " 195.000", " 0", "" ], [ "39", " Drawer", " -1.409", " 0.233", " -1.303", " 0", " 0", " 0", "" ], [ "40", " Drawer", " -1.407", " 0.847", " -1.302", " 0", " 0", " 0", "" ], [ "41", " Desk", " -0.993", " 0.006", " -1.410", " 0", " 0", " 0", "" ], [ "42", " Drawer", " -1.408", " 0.558", " -1.302", " 0", " 0", " 0", "" ], [ "43", " Shelf", " 0.003", " 0.013", " 0.035", " 0", " 0", " 0", "" ], [ "44", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "45", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "46", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "47", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.5 0.906 -0.5 0 90 0 1 Bowl -1.400 0.982 -1.606 0 0 0 41 2 KeyChain -1.572 1.536 -1.671 0 0 0 43 3 CD -1.238 0.097 -1.390 0 0 0 39 4 CD -0.590 0.981 -1.687 0 0 0 41 5 CellPhone -0.995 0.982 -1.362 0 0 0 41 6 CellPhone -1.708 0.896 1.453 0 0 0 35 7 Pencil -1.400 0.984 -1.443 0 0 0 41 8 Pencil -1.001 1.539 -1.593 0 0 0 43 9 Book -1.571 0.897 0.575 0 0 0 35 10 Book -0.875 2.053 0.575 0 0 0 35 11 Pillow -1.026 0.952 1.746 0 0 0 35 12 AlarmClock -1.603 0.982 -1.524 0 0 0 41 13 AlarmClock -1.198 0.982 -1.606 0 90 0 41 14 Book -1.299 0.897 2.332 0 0 0 35 15 Box 1.563 0.286 -1.069 0 347.500 0 16 BasketBall -1.657 0.126 -0.090 0 0 0 17 Pen -1.198 0.988 -1.281 0 0 0 41 18 Pencil -1.413 0.425 -1.345 0 0 0 42 19 Laptop -1.435 0.894 1.746 0 0 0 35 20 Pillow -1.435 0.952 1.160 0 0 0 35 21 KeyChain -0.792 0.982 -1.524 0 90 0 41 22 Bowl -0.811 1.537 -1.553 0 0 0 43 23 CreditCard -1.191 1.536 -1.632 0 0 0 43 24 CellPhone -0.940 2.053 1.746 0 0 0 35 25 CD -0.995 0.981 -1.606 0 0 0 41 26 AlarmClock -1.400 0.982 -1.200 0 0 0 41 27 Mug -0.621 1.534 -1.593 0 0 0 43 28 Statue -1.603 0.988 -1.281 0 0 0 41 29 Mirror 1.907 1.387 0.973 0 90 0 30 LaundryHamper -0.351 0.007 2.368 0 164.999 0 31 DeskLamp -0.343 1.545 -1.564 0 0 0 32 GarbageCan -0.035 0.007 -1.530 0 270 0 33 Window 1.009 1.514 -2.089 90 0 0 34 LightSwitch 0.397 1.197 2.729 0 180 0 35 Bed -1.299 1.937 1.441 0 0 0 36 Blinds 1.064 2.382 -2.094 0 0 0 37 Chair 0.884 0.012 -1.433 0 29.871 0 38 Chair -0.646 0.007 -1.206 0 195.000 0 39 Drawer -1.409 0.233 -1.303 0 0 0 40 Drawer -1.407 0.847 -1.302 0 0 0 41 Desk -0.993 0.006 -1.410 0 0 0 42 Drawer -1.408 0.558 -1.302 0 0 0 43 Shelf 0.003 0.013 0.035 0 0 0 44 NorthWall 45 EastWall 46 SouthWall 47 WestWall
[ "STEP 1: Move to the right facing the top desk shelf with the bowl on top | STEP 2: Pick up the bowl on top of the desk shelf to the left | STEP 3: Carry the bowl over to the far left side of the desk shelf where the lamp is | STEP 4: Turn on the lamp | END" ]
[ [ "STEP 1: Move to the right facing the top desk shelf with the bowl on top ", " STEP 2: Pick up the bowl on top of the desk shelf to the left ", " STEP 3: Carry the bowl over to the far left side of the desk shelf where the lamp is ", " STEP 4: Turn on the lamp ", " END" ] ]
seen
trial_T20190909_151141_967451-0
Look at a watch by the light of a lamp.
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2.734", " 0.195", " 0.89", " 0", " 0", " 0", "" ], [ "12", " Laptop", " -0.5", " 0.56", " 0.286", " 0", " 63.464", " 0", " 29" ], [ "13", " CellPhone", " -0.117", " 0.686", " 1.580", " 0", " 0", " 0", " 29" ], [ "14", " BaseballBat", " 2.847", " 0.643", " 1.838", " 0", " 0", " 335.111", "" ], [ "15", " BasketBall", " 1.019", " 0.330", " -0.977", " 346.775", " 295.617", " 1.021", "" ], [ "16", " TissueBox", " 1.946", " 0.129", " -1.218", " 0", " 0", " 0", " 56" ], [ "17", " CreditCard", " -1.293", " 0.105", " -0.544", " 0", " 0", " 0", " 51" ], [ "18", " AlarmClock", " -1.270", " 1.227", " -0.471", " 0", " 228.043", " 0", " 48" ], [ "19", " Pencil", " 2.591", " 0.798", " -1.217", " 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", " 1.962", " 1.047", " -1.388", " 0", " 0", " 0", " 41" ], [ "23", " Bowl", " 2.451", " 0.788", " -1.207", " 0", " 0", " 0", " 53" ], [ "24", " Watch", " -1.248", " 1.235", " -0.840", " 0", " 0", " 0", " 48" ], [ "25", " CD", " -1.248", " 1.234", " -0.745", " 0", " 0", " 0", " 48" ], [ "26", " Pen", " -1.352", " 1.233", " -0.458", " 0", " 0", " 0", " 48" ], [ "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 1.25 0.900 0.5 0 180 0 1 Watch 1.961 0.803 -1.415 0 0 0 53 2 Watch 2.482 1.044 -1.398 0 0 0 40 3 Watch -1.294 0.968 -0.883 0 0 0 52 4 CellPhone -1.352 1.238 -0.745 0 0 0 48 5 CellPhone 1.651 0.799 -1.217 0 0 0 53 6 Pen 2.027 0.801 -1.217 0 0 0 53 7 Pencil 2.795 0.814 -1.367 0 0 0 37 8 Pencil -1.283 1.236 -0.649 0 0 0 48 9 KeyChain 1.839 0.795 -1.217 0 0 0 53 10 Book -0.902 0.574 1.179 0 332.922 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 -0.117 0.686 1.580 0 0 0 29 14 BaseballBat 2.847 0.643 1.838 0 0 335.111 15 BasketBall 1.019 0.330 -0.977 346.775 295.617 1.021 16 TissueBox 1.946 0.129 -1.218 0 0 0 56 17 CreditCard -1.293 0.105 -0.544 0 0 0 51 18 AlarmClock -1.270 1.227 -0.471 0 228.043 0 48 19 Pencil 2.591 0.798 -1.217 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 1.962 1.047 -1.388 0 0 0 41 23 Bowl 2.451 0.788 -1.207 0 0 0 53 24 Watch -1.248 1.235 -0.840 0 0 0 48 25 CD -1.248 1.234 -0.745 0 0 0 48 26 Pen -1.352 1.233 -0.458 0 0 0 48 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: Take a step left and then walk ahead to the desk. | STEP 2: Pick up the watch on the desk, the one under the set of keys. | STEP 3: Turn right and walk to the dresser at the foot of the bed. | STEP 4: Turn on the lamp. | END" ]
[ [ "STEP 1: Take a step left and then walk ahead to the desk. ", " STEP 2: Pick up the watch on the desk, the one under the set of keys. ", " STEP 3: Turn right and walk to the dresser at the foot of the bed. ", " STEP 4: Turn on the lamp. ", " END" ] ]
seen
trial_T20190909_151141_967451-1
examine watch with the lamp
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " 1.25", " 0.900", " 0.5", " 0", " 180", " 0", "" ], [ "1", " Watch", " 1.961", " 0.803", " -1.415", " 0", " 0", " 0", " 53" ], [ "2", " Watch", " 2.482", " 1.044", " -1.398", " 0", " 0", " 0", " 40" ], [ "3", " Watch", " -1.294", " 0.968", " -0.883", " 0", " 0", " 0", " 52" ], [ "4", " CellPhone", " -1.352", " 1.238", " -0.745", " 0", " 0", " 0", " 48" ], [ "5", " CellPhone", " 1.651", " 0.799", " -1.217", " 0", " 0", " 0", " 53" ], [ "6", " Pen", " 2.027", " 0.801", " -1.217", " 0", " 0", " 0", " 53" ], [ "7", " Pencil", " 2.795", " 0.814", " -1.367", " 0", " 0", " 0", " 37" ], [ "8", " Pencil", " -1.283", " 1.236", " -0.649", " 0", " 0", " 0", " 48" ], [ "9", " KeyChain", " 1.839", " 0.795", " -1.217", " 0", " 0", " 0", " 53" ], [ "10", " Book", " -0.902", " 0.574", " 1.179", " 0", " 332.922", " 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", " -0.117", " 0.686", " 1.580", " 0", " 0", " 0", " 29" ], [ "14", " BaseballBat", " 2.847", " 0.643", " 1.838", " 0", " 0", " 335.111", "" ], [ "15", " BasketBall", " 1.019", " 0.330", " -0.977", " 346.775", " 295.617", " 1.021", "" ], [ "16", " TissueBox", " 1.946", " 0.129", " -1.218", " 0", " 0", " 0", " 56" ], [ "17", " CreditCard", " -1.293", " 0.105", " -0.544", " 0", " 0", " 0", " 51" ], [ "18", " AlarmClock", " -1.270", " 1.227", " -0.471", " 0", " 228.043", " 0", " 48" ], [ "19", " Pencil", " 2.591", " 0.798", " -1.217", " 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", " 1.962", " 1.047", " -1.388", " 0", " 0", " 0", " 41" ], [ "23", " Bowl", " 2.451", " 0.788", " -1.207", " 0", " 0", " 0", " 53" ], [ "24", " Watch", " -1.248", " 1.235", " -0.840", " 0", " 0", " 0", " 48" ], [ "25", " CD", " -1.248", " 1.234", " -0.745", " 0", " 0", " 0", " 48" ], [ "26", " Pen", " -1.352", " 1.233", " -0.458", " 0", " 0", " 0", " 48" ], [ "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 1.25 0.900 0.5 0 180 0 1 Watch 1.961 0.803 -1.415 0 0 0 53 2 Watch 2.482 1.044 -1.398 0 0 0 40 3 Watch -1.294 0.968 -0.883 0 0 0 52 4 CellPhone -1.352 1.238 -0.745 0 0 0 48 5 CellPhone 1.651 0.799 -1.217 0 0 0 53 6 Pen 2.027 0.801 -1.217 0 0 0 53 7 Pencil 2.795 0.814 -1.367 0 0 0 37 8 Pencil -1.283 1.236 -0.649 0 0 0 48 9 KeyChain 1.839 0.795 -1.217 0 0 0 53 10 Book -0.902 0.574 1.179 0 332.922 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 -0.117 0.686 1.580 0 0 0 29 14 BaseballBat 2.847 0.643 1.838 0 0 335.111 15 BasketBall 1.019 0.330 -0.977 346.775 295.617 1.021 16 TissueBox 1.946 0.129 -1.218 0 0 0 56 17 CreditCard -1.293 0.105 -0.544 0 0 0 51 18 AlarmClock -1.270 1.227 -0.471 0 228.043 0 48 19 Pencil 2.591 0.798 -1.217 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 1.962 1.047 -1.388 0 0 0 41 23 Bowl 2.451 0.788 -1.207 0 0 0 53 24 Watch -1.248 1.235 -0.840 0 0 0 48 25 CD -1.248 1.234 -0.745 0 0 0 48 26 Pen -1.352 1.233 -0.458 0 0 0 48 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 left, walk forward, turn right, walk to the desk | STEP 2: pick up the watch that is on the desk | STEP 3: turn right, walk across the room to the dresser, hold watch up to lamp | STEP 4: turn the lamp on | END" ]
[ [ "STEP 1: turn left, walk forward, turn right, walk to the desk ", " STEP 2: pick up the watch that is on the desk ", " STEP 3: turn right, walk across the room to the dresser, hold watch up to lamp ", " STEP 4: turn the lamp on ", " END" ] ]
seen
trial_T20190909_151141_967451-2
Examine a watch by the light of a lamp on a dresser.
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2.734", " 0.195", " 0.89", " 0", " 0", " 0", "" ], [ "12", " Laptop", " -0.5", " 0.56", " 0.286", " 0", " 63.464", " 0", " 29" ], [ "13", " CellPhone", " -0.117", " 0.686", " 1.580", " 0", " 0", " 0", " 29" ], [ "14", " BaseballBat", " 2.847", " 0.643", " 1.838", " 0", " 0", " 335.111", "" ], [ "15", " BasketBall", " 1.019", " 0.330", " -0.977", " 346.775", " 295.617", " 1.021", "" ], [ "16", " TissueBox", " 1.946", " 0.129", " -1.218", " 0", " 0", " 0", " 56" ], [ "17", " CreditCard", " -1.293", " 0.105", " -0.544", " 0", " 0", " 0", " 51" ], [ "18", " AlarmClock", " -1.270", " 1.227", " -0.471", " 0", " 228.043", " 0", " 48" ], [ "19", " Pencil", " 2.591", " 0.798", " -1.217", " 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", " 1.962", " 1.047", " -1.388", " 0", " 0", " 0", " 41" ], [ "23", " Bowl", " 2.451", " 0.788", " -1.207", " 0", " 0", " 0", " 53" ], [ "24", " Watch", " -1.248", " 1.235", " -0.840", " 0", " 0", " 0", " 48" ], [ "25", " CD", " -1.248", " 1.234", " -0.745", " 0", " 0", " 0", " 48" ], [ "26", " Pen", " -1.352", " 1.233", " -0.458", " 0", " 0", " 0", " 48" ], [ "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 1.25 0.900 0.5 0 180 0 1 Watch 1.961 0.803 -1.415 0 0 0 53 2 Watch 2.482 1.044 -1.398 0 0 0 40 3 Watch -1.294 0.968 -0.883 0 0 0 52 4 CellPhone -1.352 1.238 -0.745 0 0 0 48 5 CellPhone 1.651 0.799 -1.217 0 0 0 53 6 Pen 2.027 0.801 -1.217 0 0 0 53 7 Pencil 2.795 0.814 -1.367 0 0 0 37 8 Pencil -1.283 1.236 -0.649 0 0 0 48 9 KeyChain 1.839 0.795 -1.217 0 0 0 53 10 Book -0.902 0.574 1.179 0 332.922 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 -0.117 0.686 1.580 0 0 0 29 14 BaseballBat 2.847 0.643 1.838 0 0 335.111 15 BasketBall 1.019 0.330 -0.977 346.775 295.617 1.021 16 TissueBox 1.946 0.129 -1.218 0 0 0 56 17 CreditCard -1.293 0.105 -0.544 0 0 0 51 18 AlarmClock -1.270 1.227 -0.471 0 228.043 0 48 19 Pencil 2.591 0.798 -1.217 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 1.962 1.047 -1.388 0 0 0 41 23 Bowl 2.451 0.788 -1.207 0 0 0 53 24 Watch -1.248 1.235 -0.840 0 0 0 48 25 CD -1.248 1.234 -0.745 0 0 0 48 26 Pen -1.352 1.233 -0.458 0 0 0 48 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 left, walk to the box on the floor, then turn right and walk to the desk. | STEP 2: Pick up the watch on the desk closest to the cell phone. | STEP 3: Turn right, walk across the room to the small lamp on the white dresser. | STEP 4: Turn on the lamp. | END" ]
[ [ "STEP 1: Turn left, walk to the box on the floor, then turn right and walk to the desk. ", " STEP 2: Pick up the watch on the desk closest to the cell phone. ", " STEP 3: Turn right, walk across the room to the small lamp on the white dresser. ", " STEP 4: Turn on the lamp. ", " END" ] ]
seen