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trial_T20190909_145051_133749-1
To put a pen in a cup plus move it 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 1.25 0.900 -1.25 0 0 0 1 TissueBox 1.909 0.800 -1.728 0 0 0 37 2 CellPhone 0.064 0.570 -1.352 0 0 0 24 3 Pen 1.162 0.523 -1.712 0 0 0 39 4 Pen 1.909 0.804 -1.358 0 0 0 37 5 Pencil 2.931 0.551 -1.419 0 0 0 36 6 CreditCard 1.239 0.515 -1.712 0 0 0 39 7 AlarmClock 2.108 0.798 -1.482 0 0 0 37 8 Laptop 0.390 0.568 -0.459 0 0 0 24 9 Laptop 0.064 0.568 -1.129 0 0 0 24 10 Book 2.881 0.791 -1.623 0 39.196 0 37 11 KeyChain 1.070 0.060 -1.593 0 270 0 40 12 TissueBox 3.067 0.536 -1.421 0 0 0 36 13 TeddyBear -0.075 0.562 -0.274 353.177 297.143 5.348 24 14 Pencil 1.317 0.522 -1.752 0 0 0 39 15 CreditCard 1.296 0.059 -1.593 0 180 0 40 16 TennisRacket -0.921 0.344 0.390 13.911 273.938 195.992 Floor|+00.39| 17 Laptop 0.552 0.568 -1.129 0 0 0 24 18 AlarmClock 2.506 0.798 -1.543 0 0 0 37 19 Pen 2.307 0.804 -1.543 0 0 0 37 20 Pillow 0.299 0.643 -1.557 0 0 0 24 21 CellPhone 1.008 0.517 -1.591 0 0 0 39 22 CD 1.394 0.515 -1.591 0 0 0 39 23 Mug 2.307 0.796 -1.420 0 0 0 37 24 Bed 0.227 -0.003 -0.947 0 180 0 25 Mirror 0.615 1.264 1.029 0 0 0 26 GarbageCan 3.166 -0.011 -0.264 4.636 271.335 0 27 DeskLamp 3.164 0.794 -1.664 0 315 0 28 HousePlant -0.833 0.000 0.843 0 0 0 29 LightSwitch 2.010 1.126 1.029 0 180 0 30 Window 1.794 1.677 -1.939 90 180 0 31 Window 0.691 1.361 -1.938 90 180 0 32 Dumbbell 2.628 0.001 -1.613 0 346.954 0 33 Blinds 1.776 1.993 -1.858 0 0 0 34 Blinds 0.670 1.993 -1.858 0 0 0 35 Chair 2.255 0.004 -1.501 0 167.716 0 36 Shelf 3.034 0.637 -1.580 0 0 0 37 Desk 2.500 0.002 -1.596 0 0 0 38 Drawer 1.240 0.354 -1.553 0 0 0 39 SideTable 1.239 0.003 -1.551 0 0 0 40 Drawer 1.240 0.126 -1.553 0 0 0 41 NorthWall 42 EastWall 43 SouthWall 44 WestWall
[ "STEP 1: Turn around to face the desk. | STEP 2: Pick up the pen on the desk. | STEP 3: Place the pen in the cup on the desk. | STEP 4: Pick up the cup with a pen in it. | STEP 5: Step right to face the side table. | STEP 6: Place the cup on the side table. | END" ]
[ [ "STEP 1: Turn around to face the desk. ", " STEP 2: Pick up the pen on the desk. ", " STEP 3: Place the pen in the cup on the desk. ", " STEP 4: Pick up the cup with a pen in it. ", " STEP 5: Step right to face the side table. ", " STEP 6: Place the cup on the side table. ", " END" ] ]
seen
trial_T20190909_145051_133749-2
Place a mug with a pen in it on a nightstand.
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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 -1.25 0 0 0 1 TissueBox 1.909 0.800 -1.728 0 0 0 37 2 CellPhone 0.064 0.570 -1.352 0 0 0 24 3 Pen 1.162 0.523 -1.712 0 0 0 39 4 Pen 1.909 0.804 -1.358 0 0 0 37 5 Pencil 2.931 0.551 -1.419 0 0 0 36 6 CreditCard 1.239 0.515 -1.712 0 0 0 39 7 AlarmClock 2.108 0.798 -1.482 0 0 0 37 8 Laptop 0.390 0.568 -0.459 0 0 0 24 9 Laptop 0.064 0.568 -1.129 0 0 0 24 10 Book 2.881 0.791 -1.623 0 39.196 0 37 11 KeyChain 1.070 0.060 -1.593 0 270 0 40 12 TissueBox 3.067 0.536 -1.421 0 0 0 36 13 TeddyBear -0.075 0.562 -0.274 353.177 297.143 5.348 24 14 Pencil 1.317 0.522 -1.752 0 0 0 39 15 CreditCard 1.296 0.059 -1.593 0 180 0 40 16 TennisRacket -0.921 0.344 0.390 13.911 273.938 195.992 Floor|+00.39| 17 Laptop 0.552 0.568 -1.129 0 0 0 24 18 AlarmClock 2.506 0.798 -1.543 0 0 0 37 19 Pen 2.307 0.804 -1.543 0 0 0 37 20 Pillow 0.299 0.643 -1.557 0 0 0 24 21 CellPhone 1.008 0.517 -1.591 0 0 0 39 22 CD 1.394 0.515 -1.591 0 0 0 39 23 Mug 2.307 0.796 -1.420 0 0 0 37 24 Bed 0.227 -0.003 -0.947 0 180 0 25 Mirror 0.615 1.264 1.029 0 0 0 26 GarbageCan 3.166 -0.011 -0.264 4.636 271.335 0 27 DeskLamp 3.164 0.794 -1.664 0 315 0 28 HousePlant -0.833 0.000 0.843 0 0 0 29 LightSwitch 2.010 1.126 1.029 0 180 0 30 Window 1.794 1.677 -1.939 90 180 0 31 Window 0.691 1.361 -1.938 90 180 0 32 Dumbbell 2.628 0.001 -1.613 0 346.954 0 33 Blinds 1.776 1.993 -1.858 0 0 0 34 Blinds 0.670 1.993 -1.858 0 0 0 35 Chair 2.255 0.004 -1.501 0 167.716 0 36 Shelf 3.034 0.637 -1.580 0 0 0 37 Desk 2.500 0.002 -1.596 0 0 0 38 Drawer 1.240 0.354 -1.553 0 0 0 39 SideTable 1.239 0.003 -1.551 0 0 0 40 Drawer 1.240 0.126 -1.553 0 0 0 41 NorthWall 42 EastWall 43 SouthWall 44 WestWall
[ "STEP 1: Turn right and walk to the desk, facing it. | STEP 2: Pick up the pen behind the black mug. | STEP 3: Place the pen in the mug. | STEP 4: Pick up the mug. | STEP 5: Walk two steps right. | STEP 6: Place the mug on the nightstand by the bed, on top of the CD. | END" ]
[ [ "STEP 1: Turn right and walk to the desk, facing it. ", " STEP 2: Pick up the pen behind the black mug. ", " STEP 3: Place the pen in the mug. ", " STEP 4: Pick up the mug. ", " STEP 5: Walk two steps right. ", " STEP 6: Place the mug on the nightstand by the bed, on top of the CD. ", " END" ] ]
seen
trial_T20190909_153127_089685-0
To cool a slice of lettuce plus place it on the edge of the sink.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -0.5 0.900 3.0 0 180 0 1 Potato -2.710 1.451 2.165 0 90 0 86 2 Potato -1.642 1.402 3.836 0 180 0 83 3 DishSponge 0.781 0.125 2.198 0 0 0 69 4 ButterKnife -1.362 0.702 3.774 0 180 0 89 5 Pot 0.642 0.850 1.375 0 0 0 71 6 Pot 0.913 0.850 1.768 0 0 0 75 7 Spatula -2.374 0.838 3.799 0 0 0 77 8 Spatula 0.927 0.823 2.545 1.256 180 356.864 59 9 Spoon -2.143 0.699 3.699 0 270 0 66 10 Spoon 0.737 0.692 0.980 0 180 0 65 11 Fork -2.497 0.823 3.947 0 270 0 77 12 Egg -2.678 1.643 2.446 0 90 0 86 13 Egg -1.746 1.395 3.836 0 180 0 83 14 Cup -0.921 0.900 1.555 0 90 0 95 15 Knife -0.657 0.923 1.246 0 180 0 95 16 SoapBottle -0.921 0.900 1.349 0 90 0 95 17 Tomato -0.524 0.969 1.555 0 90 0 95 18 Tomato -2.643 1.476 2.389 0 90 0 86 19 Bowl -2.786 1.396 3.936 0 0 0 68 20 SaltShaker 0.650 0.819 2.285 0 0 0 59 21 SaltShaker -2.542 1.845 1.853 0 0 0 79 22 Lettuce -1.317 0.976 1.040 0 90 0 95 23 Bread -2.636 1.048 2.333 0 90 0 86 24 Apple -2.577 0.828 2.333 0 90 0 86 25 Apple -1.317 0.961 1.452 0 90 0 95 26 Plate 0.860 0.812 0.976 0 0 0 54 27 Fork 0.703 0.691 1.016 0 270 0 65 28 Bread 0.824 0.865 2.448 0 0 1.423 54 29 Spatula -0.524 0.915 0.937 0 90 0 95 30 PaperTowelRoll 0.960 0.128 2.977 0 0 0 88 31 Potato -1.185 0.943 1.452 0 90 0 95 32 SoapBottle 0.650 0.822 1.072 0 90 0 54 33 Egg 0.873 0.060 2.889 0 0 0 88 34 Cup -1.309 0.697 3.691 0 0 0 89 35 Pot 0.642 0.850 1.768 0 0 0 81 36 SaltShaker 1.099 0.819 2.458 0 0 0 59 37 Pan -2.667 0.812 3.74 0 137.145 0 77 38 PepperShaker -2.454 0.153 1.446 0 0 0 62 39 ButterKnife 1.024 0.823 2.631 0 0 0 59 40 Tomato 1.024 0.891 2.285 0 0 0 59 41 DishSponge -2.502 1.848 1.181 0 0 0 72 42 Lettuce -0.580 0.956 1.358 31.822 0 0 95 43 Spoon -1.053 0.901 1.555 0 0 0 95 44 Apple -2.752 0.828 2.333 0 90 0 86 45 Knife -0.657 0.923 1.143 0 180 0 95 46 Mug -1.317 0.895 1.555 0 90 0 95 47 Bowl -2.424 1.396 3.897 0 0 0 52 48 Drawer 0.729 0.703 2.199 0 0 0 49 Cabinet -1.962 1.926 3.733 0 0 0 50 Cabinet -2.377 2.014 1.058 0 0 0 51 Drawer 0.729 0.703 2.532 0 0 0 52 Cabinet -2.622 1.925 3.733 0 0 0 53 StoveBurner 0.913 0.843 1.375 0 0 0 54 CounterTop 0.864 0.858 0.984 0 0 0 55 Cabinet -1.976 1.779 3.734 0 0 0 56 Cabinet 0.580 0.385 0.819 0 0 0 57 Cabinet -2.379 1.408 1.677 0 0 0 58 Cabinet -0.419 1.703 3.736 0 0 0 59 CounterTop 0.864 0.858 2.371 0 0 0 60 Sink -1.702 0.726 3.828 0 180 0 61 Cabinet 0.580 0.385 2.694 0 0 0 62 Cabinet -2.379 0.637 1.677 0 0 0 63 Cabinet -0.419 0.674 3.736 0 0 0 64 Cabinet -2.377 2.014 2.558 0 0 0 65 Drawer 0.729 0.703 0.980 0 0 0 66 Drawer -2.114 0.706 3.657 0 0 0 67 Cabinet -2.377 1.691 2.572 0 0 0 68 Cabinet -2.951 1.925 3.733 0 0 0 69 Cabinet 0.580 0.385 2.360 0 0 0 70 Cabinet -2.426 0.435 3.421 0 0 0 71 StoveBurner 0.642 0.843 1.375 0 0 0 72 Cabinet -2.377 1.927 1.686 0 0 0 73 Cabinet -2.377 2.013 3.177 0 0 0 74 Cabinet -1.136 0.385 3.516 0 0 0 75 StoveBurner 0.913 0.843 1.768 0 0 0 76 Cabinet -1.974 0.385 3.516 0 0 0 77 CounterTop -2.081 0.858 3.799 0 0 0 78 Cabinet -2.426 0.435 3.174 0 0 0 79 Cabinet -2.377 2.014 1.693 0 0 0 80 Cabinet -1.986 0.385 3.511 0 0 0 81 StoveBurner 0.642 0.843 1.768 0 0 0 82 Cabinet -1.098 1.926 3.729 0 0 0 83 Microwave -1.529 1.250 3.881 1.622 180 0 84 CoffeeMachine 1.000 0.812 2.492 0 270 0 85 LightSwitch 0.825 1.396 4.082 0 180 0 86 Fridge -2.642 0.0 2.134 0 180 0 87 Window -1.131 1.673 0.808 90 0 0 88 GarbageCan 0.931 -0.000 2.918 0 0 0 89 SinkBasin -1.601 0.686 3.774 0 0 0 90 StoveKnob 1.104 1.002 1.886 0 0 70.346 91 StoveKnob 1.104 1.002 1.733 0 0 70.346 92 StoveKnob 1.104 1.002 1.321 0 0 70.346 93 StoveKnob 1.104 1.002 1.481 0 0 70.346 94 Toaster -2.247 0.812 3.862 0 180 0 95 DiningTable -0.917 -0.000 1.203 0 0 0 96 Stool -0.932 0.000 1.404 1.196 21.715 0 97 Faucet -1.842 0.809 3.984 0 180 0 98 Faucet -1.371 0.809 3.985 0 180 0 99 NorthWall 100 EastWall 101 SouthWall 102 WestWall
[ "STEP 1: Walk forward and turn right to face the end of the white table. | STEP 2: Pick up the knife on the white table. | STEP 3: Cut the lettuce on the table into slices. | STEP 4: Turn right and walk forward to face the sink. | STEP 5: Place the knife on the edge of the sink. | STEP 6: Turn around and cross the room the face the end of the white table. | STEP 7: Pick up a slice of lettuce on the white table. | STEP 8: Step right around the table and walk forward to face the fridge. | STEP 9: Cool the lettuce slice in the fridge and remove it. | STEP 10: Turn right and step forward to face the sink. | STEP 11: Place the lettuce slice on the edge of the sink. | END" ]
[ [ "STEP 1: Walk forward and turn right to face the end of the white table. ", " STEP 2: Pick up the knife on the white table. ", " STEP 3: Cut the lettuce on the table into slices. ", " STEP 4: Turn right and walk forward to face the sink. ", " STEP 5: Place the knife on the edge of the sink. ", " STEP 6: Turn around and cross the room the face the end of the white table. ", " STEP 7: Pick up a slice of lettuce on the white table. ", " STEP 8: Step right around the table and walk forward to face the fridge. ", " STEP 9: Cool the lettuce slice in the fridge and remove it. ", " STEP 10: Turn right and step forward to face the sink. ", " STEP 11: Place the lettuce slice on the edge of the sink. ", " END" ] ]
seen
trial_T20190909_153127_089685-1
place a cold slice 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 -0.5 0.900 3.0 0 180 0 1 Potato -2.710 1.451 2.165 0 90 0 86 2 Potato -1.642 1.402 3.836 0 180 0 83 3 DishSponge 0.781 0.125 2.198 0 0 0 69 4 ButterKnife -1.362 0.702 3.774 0 180 0 89 5 Pot 0.642 0.850 1.375 0 0 0 71 6 Pot 0.913 0.850 1.768 0 0 0 75 7 Spatula -2.374 0.838 3.799 0 0 0 77 8 Spatula 0.927 0.823 2.545 1.256 180 356.864 59 9 Spoon -2.143 0.699 3.699 0 270 0 66 10 Spoon 0.737 0.692 0.980 0 180 0 65 11 Fork -2.497 0.823 3.947 0 270 0 77 12 Egg -2.678 1.643 2.446 0 90 0 86 13 Egg -1.746 1.395 3.836 0 180 0 83 14 Cup -0.921 0.900 1.555 0 90 0 95 15 Knife -0.657 0.923 1.246 0 180 0 95 16 SoapBottle -0.921 0.900 1.349 0 90 0 95 17 Tomato -0.524 0.969 1.555 0 90 0 95 18 Tomato -2.643 1.476 2.389 0 90 0 86 19 Bowl -2.786 1.396 3.936 0 0 0 68 20 SaltShaker 0.650 0.819 2.285 0 0 0 59 21 SaltShaker -2.542 1.845 1.853 0 0 0 79 22 Lettuce -1.317 0.976 1.040 0 90 0 95 23 Bread -2.636 1.048 2.333 0 90 0 86 24 Apple -2.577 0.828 2.333 0 90 0 86 25 Apple -1.317 0.961 1.452 0 90 0 95 26 Plate 0.860 0.812 0.976 0 0 0 54 27 Fork 0.703 0.691 1.016 0 270 0 65 28 Bread 0.824 0.865 2.448 0 0 1.423 54 29 Spatula -0.524 0.915 0.937 0 90 0 95 30 PaperTowelRoll 0.960 0.128 2.977 0 0 0 88 31 Potato -1.185 0.943 1.452 0 90 0 95 32 SoapBottle 0.650 0.822 1.072 0 90 0 54 33 Egg 0.873 0.060 2.889 0 0 0 88 34 Cup -1.309 0.697 3.691 0 0 0 89 35 Pot 0.642 0.850 1.768 0 0 0 81 36 SaltShaker 1.099 0.819 2.458 0 0 0 59 37 Pan -2.667 0.812 3.74 0 137.145 0 77 38 PepperShaker -2.454 0.153 1.446 0 0 0 62 39 ButterKnife 1.024 0.823 2.631 0 0 0 59 40 Tomato 1.024 0.891 2.285 0 0 0 59 41 DishSponge -2.502 1.848 1.181 0 0 0 72 42 Lettuce -0.580 0.956 1.358 31.822 0 0 95 43 Spoon -1.053 0.901 1.555 0 0 0 95 44 Apple -2.752 0.828 2.333 0 90 0 86 45 Knife -0.657 0.923 1.143 0 180 0 95 46 Mug -1.317 0.895 1.555 0 90 0 95 47 Bowl -2.424 1.396 3.897 0 0 0 52 48 Drawer 0.729 0.703 2.199 0 0 0 49 Cabinet -1.962 1.926 3.733 0 0 0 50 Cabinet -2.377 2.014 1.058 0 0 0 51 Drawer 0.729 0.703 2.532 0 0 0 52 Cabinet -2.622 1.925 3.733 0 0 0 53 StoveBurner 0.913 0.843 1.375 0 0 0 54 CounterTop 0.864 0.858 0.984 0 0 0 55 Cabinet -1.976 1.779 3.734 0 0 0 56 Cabinet 0.580 0.385 0.819 0 0 0 57 Cabinet -2.379 1.408 1.677 0 0 0 58 Cabinet -0.419 1.703 3.736 0 0 0 59 CounterTop 0.864 0.858 2.371 0 0 0 60 Sink -1.702 0.726 3.828 0 180 0 61 Cabinet 0.580 0.385 2.694 0 0 0 62 Cabinet -2.379 0.637 1.677 0 0 0 63 Cabinet -0.419 0.674 3.736 0 0 0 64 Cabinet -2.377 2.014 2.558 0 0 0 65 Drawer 0.729 0.703 0.980 0 0 0 66 Drawer -2.114 0.706 3.657 0 0 0 67 Cabinet -2.377 1.691 2.572 0 0 0 68 Cabinet -2.951 1.925 3.733 0 0 0 69 Cabinet 0.580 0.385 2.360 0 0 0 70 Cabinet -2.426 0.435 3.421 0 0 0 71 StoveBurner 0.642 0.843 1.375 0 0 0 72 Cabinet -2.377 1.927 1.686 0 0 0 73 Cabinet -2.377 2.013 3.177 0 0 0 74 Cabinet -1.136 0.385 3.516 0 0 0 75 StoveBurner 0.913 0.843 1.768 0 0 0 76 Cabinet -1.974 0.385 3.516 0 0 0 77 CounterTop -2.081 0.858 3.799 0 0 0 78 Cabinet -2.426 0.435 3.174 0 0 0 79 Cabinet -2.377 2.014 1.693 0 0 0 80 Cabinet -1.986 0.385 3.511 0 0 0 81 StoveBurner 0.642 0.843 1.768 0 0 0 82 Cabinet -1.098 1.926 3.729 0 0 0 83 Microwave -1.529 1.250 3.881 1.622 180 0 84 CoffeeMachine 1.000 0.812 2.492 0 270 0 85 LightSwitch 0.825 1.396 4.082 0 180 0 86 Fridge -2.642 0.0 2.134 0 180 0 87 Window -1.131 1.673 0.808 90 0 0 88 GarbageCan 0.931 -0.000 2.918 0 0 0 89 SinkBasin -1.601 0.686 3.774 0 0 0 90 StoveKnob 1.104 1.002 1.886 0 0 70.346 91 StoveKnob 1.104 1.002 1.733 0 0 70.346 92 StoveKnob 1.104 1.002 1.321 0 0 70.346 93 StoveKnob 1.104 1.002 1.481 0 0 70.346 94 Toaster -2.247 0.812 3.862 0 180 0 95 DiningTable -0.917 -0.000 1.203 0 0 0 96 Stool -0.932 0.000 1.404 1.196 21.715 0 97 Faucet -1.842 0.809 3.984 0 180 0 98 Faucet -1.371 0.809 3.985 0 180 0 99 NorthWall 100 EastWall 101 SouthWall 102 WestWall
[ "STEP 1: move forward to the table | STEP 2: pick up the knife | STEP 3: slice the lettuce on the table | STEP 4: head right to the side of the sink | STEP 5: drop the knife at the side of the sink | STEP 6: turn around to the table | STEP 7: pick up a slice of lettuce | STEP 8: head forward to the fridge, | STEP 9: cool the lettuce and then take it out | STEP 10: head right to the sink | STEP 11: place the lettuce in the sink | END" ]
[ [ "STEP 1: move forward to the table ", " STEP 2: pick up the knife ", " STEP 3: slice the lettuce on the table ", " STEP 4: head right to the side of the sink ", " STEP 5: drop the knife at the side of the sink ", " STEP 6: turn around to the table ", " STEP 7: pick up a slice of lettuce ", " STEP 8: head forward to the fridge, ", " STEP 9: cool the lettuce and then take it out ", " STEP 10: head right to the sink ", " STEP 11: place the lettuce in the sink ", " END" ] ]
seen
trial_T20190909_153127_089685-2
Put a chilled slice of lettuce on the counter in front of the sink.
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", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -0.5 0.900 3.0 0 180 0 1 Potato -2.710 1.451 2.165 0 90 0 86 2 Potato -1.642 1.402 3.836 0 180 0 83 3 DishSponge 0.781 0.125 2.198 0 0 0 69 4 ButterKnife -1.362 0.702 3.774 0 180 0 89 5 Pot 0.642 0.850 1.375 0 0 0 71 6 Pot 0.913 0.850 1.768 0 0 0 75 7 Spatula -2.374 0.838 3.799 0 0 0 77 8 Spatula 0.927 0.823 2.545 1.256 180 356.864 59 9 Spoon -2.143 0.699 3.699 0 270 0 66 10 Spoon 0.737 0.692 0.980 0 180 0 65 11 Fork -2.497 0.823 3.947 0 270 0 77 12 Egg -2.678 1.643 2.446 0 90 0 86 13 Egg -1.746 1.395 3.836 0 180 0 83 14 Cup -0.921 0.900 1.555 0 90 0 95 15 Knife -0.657 0.923 1.246 0 180 0 95 16 SoapBottle -0.921 0.900 1.349 0 90 0 95 17 Tomato -0.524 0.969 1.555 0 90 0 95 18 Tomato -2.643 1.476 2.389 0 90 0 86 19 Bowl -2.786 1.396 3.936 0 0 0 68 20 SaltShaker 0.650 0.819 2.285 0 0 0 59 21 SaltShaker -2.542 1.845 1.853 0 0 0 79 22 Lettuce -1.317 0.976 1.040 0 90 0 95 23 Bread -2.636 1.048 2.333 0 90 0 86 24 Apple -2.577 0.828 2.333 0 90 0 86 25 Apple -1.317 0.961 1.452 0 90 0 95 26 Plate 0.860 0.812 0.976 0 0 0 54 27 Fork 0.703 0.691 1.016 0 270 0 65 28 Bread 0.824 0.865 2.448 0 0 1.423 54 29 Spatula -0.524 0.915 0.937 0 90 0 95 30 PaperTowelRoll 0.960 0.128 2.977 0 0 0 88 31 Potato -1.185 0.943 1.452 0 90 0 95 32 SoapBottle 0.650 0.822 1.072 0 90 0 54 33 Egg 0.873 0.060 2.889 0 0 0 88 34 Cup -1.309 0.697 3.691 0 0 0 89 35 Pot 0.642 0.850 1.768 0 0 0 81 36 SaltShaker 1.099 0.819 2.458 0 0 0 59 37 Pan -2.667 0.812 3.74 0 137.145 0 77 38 PepperShaker -2.454 0.153 1.446 0 0 0 62 39 ButterKnife 1.024 0.823 2.631 0 0 0 59 40 Tomato 1.024 0.891 2.285 0 0 0 59 41 DishSponge -2.502 1.848 1.181 0 0 0 72 42 Lettuce -0.580 0.956 1.358 31.822 0 0 95 43 Spoon -1.053 0.901 1.555 0 0 0 95 44 Apple -2.752 0.828 2.333 0 90 0 86 45 Knife -0.657 0.923 1.143 0 180 0 95 46 Mug -1.317 0.895 1.555 0 90 0 95 47 Bowl -2.424 1.396 3.897 0 0 0 52 48 Drawer 0.729 0.703 2.199 0 0 0 49 Cabinet -1.962 1.926 3.733 0 0 0 50 Cabinet -2.377 2.014 1.058 0 0 0 51 Drawer 0.729 0.703 2.532 0 0 0 52 Cabinet -2.622 1.925 3.733 0 0 0 53 StoveBurner 0.913 0.843 1.375 0 0 0 54 CounterTop 0.864 0.858 0.984 0 0 0 55 Cabinet -1.976 1.779 3.734 0 0 0 56 Cabinet 0.580 0.385 0.819 0 0 0 57 Cabinet -2.379 1.408 1.677 0 0 0 58 Cabinet -0.419 1.703 3.736 0 0 0 59 CounterTop 0.864 0.858 2.371 0 0 0 60 Sink -1.702 0.726 3.828 0 180 0 61 Cabinet 0.580 0.385 2.694 0 0 0 62 Cabinet -2.379 0.637 1.677 0 0 0 63 Cabinet -0.419 0.674 3.736 0 0 0 64 Cabinet -2.377 2.014 2.558 0 0 0 65 Drawer 0.729 0.703 0.980 0 0 0 66 Drawer -2.114 0.706 3.657 0 0 0 67 Cabinet -2.377 1.691 2.572 0 0 0 68 Cabinet -2.951 1.925 3.733 0 0 0 69 Cabinet 0.580 0.385 2.360 0 0 0 70 Cabinet -2.426 0.435 3.421 0 0 0 71 StoveBurner 0.642 0.843 1.375 0 0 0 72 Cabinet -2.377 1.927 1.686 0 0 0 73 Cabinet -2.377 2.013 3.177 0 0 0 74 Cabinet -1.136 0.385 3.516 0 0 0 75 StoveBurner 0.913 0.843 1.768 0 0 0 76 Cabinet -1.974 0.385 3.516 0 0 0 77 CounterTop -2.081 0.858 3.799 0 0 0 78 Cabinet -2.426 0.435 3.174 0 0 0 79 Cabinet -2.377 2.014 1.693 0 0 0 80 Cabinet -1.986 0.385 3.511 0 0 0 81 StoveBurner 0.642 0.843 1.768 0 0 0 82 Cabinet -1.098 1.926 3.729 0 0 0 83 Microwave -1.529 1.250 3.881 1.622 180 0 84 CoffeeMachine 1.000 0.812 2.492 0 270 0 85 LightSwitch 0.825 1.396 4.082 0 180 0 86 Fridge -2.642 0.0 2.134 0 180 0 87 Window -1.131 1.673 0.808 90 0 0 88 GarbageCan 0.931 -0.000 2.918 0 0 0 89 SinkBasin -1.601 0.686 3.774 0 0 0 90 StoveKnob 1.104 1.002 1.886 0 0 70.346 91 StoveKnob 1.104 1.002 1.733 0 0 70.346 92 StoveKnob 1.104 1.002 1.321 0 0 70.346 93 StoveKnob 1.104 1.002 1.481 0 0 70.346 94 Toaster -2.247 0.812 3.862 0 180 0 95 DiningTable -0.917 -0.000 1.203 0 0 0 96 Stool -0.932 0.000 1.404 1.196 21.715 0 97 Faucet -1.842 0.809 3.984 0 180 0 98 Faucet -1.371 0.809 3.985 0 180 0 99 NorthWall 100 EastWall 101 SouthWall 102 WestWall
[ "STEP 1: Go across the room and turn toward the table. | STEP 2: Pick up the knife beside the lettuce on the table. | STEP 3: Cut the lettuce on the table. | STEP 4: Turn right and go across the room to the sink. | STEP 5: Put the knife in front of the sink. | STEP 6: Turn around and go back to the table. | STEP 7: Pick up a slice of lettuce. | STEP 8: Go across the kitchen and to the fridge. | STEP 9: Chill the slice of lettuce in the fridge and pick it back up. | STEP 10: Turn to the right and go to the sink. | STEP 11: Put the slice of lettuce on the counter in front of the sink. | END" ]
[ [ "STEP 1: Go across the room and turn toward the table. ", " STEP 2: Pick up the knife beside the lettuce on the table. ", " STEP 3: Cut the lettuce on the table. ", " STEP 4: Turn right and go across the room to the sink. ", " STEP 5: Put the knife in front of the sink. ", " STEP 6: Turn around and go back to the table. ", " STEP 7: Pick up a slice of lettuce. ", " STEP 8: Go across the kitchen and to the fridge. ", " STEP 9: Chill the slice of lettuce in the fridge and pick it back up. ", " STEP 10: Turn to the right and go to the sink. ", " STEP 11: Put the slice of lettuce on the counter in front of the sink. ", " END" ] ]
seen
trial_T20190908_103252_065529-0
To wash the rag.
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " -1.75", " 0.902", " -0.25", " 0", " 270", " 0", "" ], [ "1", " Cloth", " -2.858", " 0.081", " 0.760", " 0", " 0", " 0", " 17" ], [ "2", " Candle", " -2.093", " 0.122", " 0.631", " 0", " 0", " 0", " 22" ], [ "3", " Candle", " -2.004", " 0.122", " 0.889", " 0", " 0", " 0", " 22" ], [ "4", " SoapBottle", " -0.173", " 0.519", " -0.844", " 0", " 0", " 0", " 20" ], [ "5", " SoapBottle", " -2.856", " 0.184", " -1.584", " 0", " 0", " 0", " 29" ], [ "6", " Towel", " -0.490", " 1.367", " 0.902", " 0", " 180", " 0", " 28" ], [ "7", " Candle", " -2.286", " 1.002", " 0.643", " 0", " 0", " 0", " 18" ], [ "8", " HandTowel", " -3.096", " 1.587", " 0.744", " 0", " 270", " 0", " 32" ], [ "9", " SoapBar", " 0.419", " 0.033", " -0.324", " 0", " 270", " 0", " 30" ], [ "10", " ToiletPaper", " -0.173", " 0.513", " 0.434", " 0", " 0", " 0", " 20" ], [ "11", " Cloth", " 0.211", " 0.034", " 0.118", " 0", " 270", " 0", " 30" ], [ "12", " ToiletPaper", " -1.416", " 0.816", " 0.665", " 0", " 90", " 270", " 33" ], [ "13", " SprayBottle", " -2.992", " 0.082", " 0.825", " 0", " 0", " 0", " 19" ], [ "14", " ScrubBrush", " -0.485", " 0.001", " 0.873", " 0", " 0", " 0", " Floor|-00.81|" ], [ "15", " SoapBottle", " -2.183", " 0.083", " 0.825", " 0", " 0", " 0", " 22" ], [ "16", " Plunger", " -0.710", " 0.000", " 0.828", " 0", " 0", " 0", " Floor|-00.81|" ], [ "17", " Cabinet", " -3.094", " 0.390", " 0.421", " 0", " 0", " 0", "" ], [ "18", " CounterTop", " -2.298", " 0.953", " 0.689", " 0", " 0", " 0", "" ], [ "19", " Cabinet", " -2.305", " 0.415", " 0.425", " 0", " 0", " 0", "" ], [ "20", " Bathtub", " 0.286", " 0.290", " -0.077", " 0", " 0", " 0", "" ], [ "21", " Cabinet", " -1.496", " 0.415", " 0.425", " 0", " 0", " 0", "" ], [ "22", " Cabinet", " -2.286", " 0.390", " 0.421", " 0", " 0", " 0", "" ], [ "23", " Sink", " -1.924", " 0.930", " 0.675", " 0", " 180", " 0", "" ], [ "24", " Faucet", " -1.922", " 1.015", " 0.887", " 0", " 0", " 0", "" ], [ "25", " Mirror", " -2.306", " 1.526", " 1.001", " 0", " 0", " 0", "" ], [ "26", " Faucet", " -2.681", " 1.015", " 0.887", " 0", " 0", " 0", "" ], [ "27", " LightSwitch", " -1.389", " 1.263", " -1.693", " 0", " 0", " 0", "" ], [ "28", " TowelHolder", " -0.490", " 1.353", " 1.009", " 0", " 180", " 0", "" ], [ "29", " GarbageCan", " -2.857", " 0.016", " -1.487", " 0", " 0", " 0", "" ], [ "30", " BathtubBasin", " 0.349", " 0.023", " -0.135", " 0", " 270", " 0", "" ], [ "31", " SinkBasin", " -1.908", " 0.961", " 0.669", " 0", " 180", " 0", "" ], [ "32", " HandTowelHolder", " -3.134", " 1.689", " 0.744", " 0", " 0", " 0", "" ], [ "33", " ToiletPaperHanger", " -1.485", " 0.805", " 0.691", " 0", " 90", " 0", "" ], [ "34", " Toilet", " -1.054", " 0.001", " 0.552", " 0", " 270", " 0", "" ], [ "35", " ShowerCurtain", " -0.292", " 1.886", " -1.033", " 0", " 0", " 0", "" ], [ "36", " Faucet", " 0.270", " 0.670", " 0.906", " 0", " 0", " 0", "" ], [ "37", " SinkBasin", " -2.666", " 0.961", " 0.669", " 0", " 180", " 0", "" ], [ "38", " Sink", " -2.681", " 0.930", " 0.675", " 0", " 180", " 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 -1.75 0.902 -0.25 0 270 0 1 Cloth -2.858 0.081 0.760 0 0 0 17 2 Candle -2.093 0.122 0.631 0 0 0 22 3 Candle -2.004 0.122 0.889 0 0 0 22 4 SoapBottle -0.173 0.519 -0.844 0 0 0 20 5 SoapBottle -2.856 0.184 -1.584 0 0 0 29 6 Towel -0.490 1.367 0.902 0 180 0 28 7 Candle -2.286 1.002 0.643 0 0 0 18 8 HandTowel -3.096 1.587 0.744 0 270 0 32 9 SoapBar 0.419 0.033 -0.324 0 270 0 30 10 ToiletPaper -0.173 0.513 0.434 0 0 0 20 11 Cloth 0.211 0.034 0.118 0 270 0 30 12 ToiletPaper -1.416 0.816 0.665 0 90 270 33 13 SprayBottle -2.992 0.082 0.825 0 0 0 19 14 ScrubBrush -0.485 0.001 0.873 0 0 0 Floor|-00.81| 15 SoapBottle -2.183 0.083 0.825 0 0 0 22 16 Plunger -0.710 0.000 0.828 0 0 0 Floor|-00.81| 17 Cabinet -3.094 0.390 0.421 0 0 0 18 CounterTop -2.298 0.953 0.689 0 0 0 19 Cabinet -2.305 0.415 0.425 0 0 0 20 Bathtub 0.286 0.290 -0.077 0 0 0 21 Cabinet -1.496 0.415 0.425 0 0 0 22 Cabinet -2.286 0.390 0.421 0 0 0 23 Sink -1.924 0.930 0.675 0 180 0 24 Faucet -1.922 1.015 0.887 0 0 0 25 Mirror -2.306 1.526 1.001 0 0 0 26 Faucet -2.681 1.015 0.887 0 0 0 27 LightSwitch -1.389 1.263 -1.693 0 0 0 28 TowelHolder -0.490 1.353 1.009 0 180 0 29 GarbageCan -2.857 0.016 -1.487 0 0 0 30 BathtubBasin 0.349 0.023 -0.135 0 270 0 31 SinkBasin -1.908 0.961 0.669 0 180 0 32 HandTowelHolder -3.134 1.689 0.744 0 0 0 33 ToiletPaperHanger -1.485 0.805 0.691 0 90 0 34 Toilet -1.054 0.001 0.552 0 270 0 35 ShowerCurtain -0.292 1.886 -1.033 0 0 0 36 Faucet 0.270 0.670 0.906 0 0 0 37 SinkBasin -2.666 0.961 0.669 0 180 0 38 Sink -2.681 0.930 0.675 0 180 0 39 NorthWall 40 EastWall 41 SouthWall 42 WestWall
[ "STEP 1: Walk across the room then turn right to face the sink. | STEP 2: Open the cupboard on the left side below the sink and pick up the purple rag. | STEP 3: Turn to the right and take one step, then turn to the left and face the sink. | STEP 4: Put the purple rag in the sink and turn on the water for three seconds, then turn the water off and pick up the rag. | STEP 5: Turn to the left and take one step then turn to the right. | STEP 6: Put the rag on the right side of the sink. | END" ]
[ [ "STEP 1: Walk across the room then turn right to face the sink. ", " STEP 2: Open the cupboard on the left side below the sink and pick up the purple rag. ", " STEP 3: Turn to the right and take one step, then turn to the left and face the sink. ", " STEP 4: Put the purple rag in the sink and turn on the water for three seconds, then turn the water off and pick up the rag. ", " STEP 5: Turn to the left and take one step then turn to the right. ", " STEP 6: Put the rag on the right side of the sink. ", " END" ] ]
seen
trial_T20190908_103252_065529-1
To clean a rag and place it on the counter between the two sinks.
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " -1.75", " 0.902", " -0.25", " 0", " 270", " 0", "" ], [ "1", " Cloth", " -2.858", " 0.081", " 0.760", " 0", " 0", " 0", " 17" ], [ "2", " Candle", " -2.093", " 0.122", " 0.631", " 0", " 0", " 0", " 22" ], [ "3", " Candle", " -2.004", " 0.122", " 0.889", " 0", " 0", " 0", " 22" ], [ "4", " SoapBottle", " -0.173", " 0.519", " -0.844", " 0", " 0", " 0", " 20" ], [ "5", " SoapBottle", " -2.856", " 0.184", " -1.584", " 0", " 0", " 0", " 29" ], [ "6", " Towel", " -0.490", " 1.367", " 0.902", " 0", " 180", " 0", " 28" ], [ "7", " Candle", " -2.286", " 1.002", " 0.643", " 0", " 0", " 0", " 18" ], [ "8", " HandTowel", " -3.096", " 1.587", " 0.744", " 0", " 270", " 0", " 32" ], [ "9", " SoapBar", " 0.419", " 0.033", " -0.324", " 0", " 270", " 0", " 30" ], [ "10", " ToiletPaper", " -0.173", " 0.513", " 0.434", " 0", " 0", " 0", " 20" ], [ "11", " Cloth", " 0.211", " 0.034", " 0.118", " 0", " 270", " 0", " 30" ], [ "12", " ToiletPaper", " -1.416", " 0.816", " 0.665", " 0", " 90", " 270", " 33" ], [ "13", " SprayBottle", " -2.992", " 0.082", " 0.825", " 0", " 0", " 0", " 19" ], [ "14", " ScrubBrush", " -0.485", " 0.001", " 0.873", " 0", " 0", " 0", " Floor|-00.81|" ], [ "15", " SoapBottle", " -2.183", " 0.083", " 0.825", " 0", " 0", " 0", " 22" ], [ "16", " Plunger", " -0.710", " 0.000", " 0.828", " 0", " 0", " 0", " Floor|-00.81|" ], [ "17", " Cabinet", " -3.094", " 0.390", " 0.421", " 0", " 0", " 0", "" ], [ "18", " CounterTop", " -2.298", " 0.953", " 0.689", " 0", " 0", " 0", "" ], [ "19", " Cabinet", " -2.305", " 0.415", " 0.425", " 0", " 0", " 0", "" ], [ "20", " Bathtub", " 0.286", " 0.290", " -0.077", " 0", " 0", " 0", "" ], [ "21", " Cabinet", " -1.496", " 0.415", " 0.425", " 0", " 0", " 0", "" ], [ "22", " Cabinet", " -2.286", " 0.390", " 0.421", " 0", " 0", " 0", "" ], [ "23", " Sink", " -1.924", " 0.930", " 0.675", " 0", " 180", " 0", "" ], [ "24", " Faucet", " -1.922", " 1.015", " 0.887", " 0", " 0", " 0", "" ], [ "25", " Mirror", " -2.306", " 1.526", " 1.001", " 0", " 0", " 0", "" ], [ "26", " Faucet", " -2.681", " 1.015", " 0.887", " 0", " 0", " 0", "" ], [ "27", " LightSwitch", " -1.389", " 1.263", " -1.693", " 0", " 0", " 0", "" ], [ "28", " TowelHolder", " -0.490", " 1.353", " 1.009", " 0", " 180", " 0", "" ], [ "29", " GarbageCan", " -2.857", " 0.016", " -1.487", " 0", " 0", " 0", "" ], [ "30", " BathtubBasin", " 0.349", " 0.023", " -0.135", " 0", " 270", " 0", "" ], [ "31", " SinkBasin", " -1.908", " 0.961", " 0.669", " 0", " 180", " 0", "" ], [ "32", " HandTowelHolder", " -3.134", " 1.689", " 0.744", " 0", " 0", " 0", "" ], [ "33", " ToiletPaperHanger", " -1.485", " 0.805", " 0.691", " 0", " 90", " 0", "" ], [ "34", " Toilet", " -1.054", " 0.001", " 0.552", " 0", " 270", " 0", "" ], [ "35", " ShowerCurtain", " -0.292", " 1.886", " -1.033", " 0", " 0", " 0", "" ], [ "36", " Faucet", " 0.270", " 0.670", " 0.906", " 0", " 0", " 0", "" ], [ "37", " SinkBasin", " -2.666", " 0.961", " 0.669", " 0", " 180", " 0", "" ], [ "38", " Sink", " -2.681", " 0.930", " 0.675", " 0", " 180", " 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 -1.75 0.902 -0.25 0 270 0 1 Cloth -2.858 0.081 0.760 0 0 0 17 2 Candle -2.093 0.122 0.631 0 0 0 22 3 Candle -2.004 0.122 0.889 0 0 0 22 4 SoapBottle -0.173 0.519 -0.844 0 0 0 20 5 SoapBottle -2.856 0.184 -1.584 0 0 0 29 6 Towel -0.490 1.367 0.902 0 180 0 28 7 Candle -2.286 1.002 0.643 0 0 0 18 8 HandTowel -3.096 1.587 0.744 0 270 0 32 9 SoapBar 0.419 0.033 -0.324 0 270 0 30 10 ToiletPaper -0.173 0.513 0.434 0 0 0 20 11 Cloth 0.211 0.034 0.118 0 270 0 30 12 ToiletPaper -1.416 0.816 0.665 0 90 270 33 13 SprayBottle -2.992 0.082 0.825 0 0 0 19 14 ScrubBrush -0.485 0.001 0.873 0 0 0 Floor|-00.81| 15 SoapBottle -2.183 0.083 0.825 0 0 0 22 16 Plunger -0.710 0.000 0.828 0 0 0 Floor|-00.81| 17 Cabinet -3.094 0.390 0.421 0 0 0 18 CounterTop -2.298 0.953 0.689 0 0 0 19 Cabinet -2.305 0.415 0.425 0 0 0 20 Bathtub 0.286 0.290 -0.077 0 0 0 21 Cabinet -1.496 0.415 0.425 0 0 0 22 Cabinet -2.286 0.390 0.421 0 0 0 23 Sink -1.924 0.930 0.675 0 180 0 24 Faucet -1.922 1.015 0.887 0 0 0 25 Mirror -2.306 1.526 1.001 0 0 0 26 Faucet -2.681 1.015 0.887 0 0 0 27 LightSwitch -1.389 1.263 -1.693 0 0 0 28 TowelHolder -0.490 1.353 1.009 0 180 0 29 GarbageCan -2.857 0.016 -1.487 0 0 0 30 BathtubBasin 0.349 0.023 -0.135 0 270 0 31 SinkBasin -1.908 0.961 0.669 0 180 0 32 HandTowelHolder -3.134 1.689 0.744 0 0 0 33 ToiletPaperHanger -1.485 0.805 0.691 0 90 0 34 Toilet -1.054 0.001 0.552 0 270 0 35 ShowerCurtain -0.292 1.886 -1.033 0 0 0 36 Faucet 0.270 0.670 0.906 0 0 0 37 SinkBasin -2.666 0.961 0.669 0 180 0 38 Sink -2.681 0.930 0.675 0 180 0 39 NorthWall 40 EastWall 41 SouthWall 42 WestWall
[ "STEP 1: Turn right and look down to face the cabinet under the sink. | STEP 2: Pick up the dirty rag in the cabinet under the sink. | STEP 3: Look up to face the sink at the left end of the counter. | STEP 4: Wash the rag in the sink and then remove it. | STEP 5: Step to the right to face the counter between the sinks. | STEP 6: Place the clean rag on the counter between the sinks. | END" ]
[ [ "STEP 1: Turn right and look down to face the cabinet under the sink. ", " STEP 2: Pick up the dirty rag in the cabinet under the sink. ", " STEP 3: Look up to face the sink at the left end of the counter. ", " STEP 4: Wash the rag in the sink and then remove it. ", " STEP 5: Step to the right to face the counter between the sinks. ", " STEP 6: Place the clean rag on the counter between the sinks. ", " END" ] ]
seen
trial_T20190908_103252_065529-2
Take the rag from the cabinet, wash it for 3 seconds
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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 0.902 -0.25 0 270 0 1 Cloth -2.858 0.081 0.760 0 0 0 17 2 Candle -2.093 0.122 0.631 0 0 0 22 3 Candle -2.004 0.122 0.889 0 0 0 22 4 SoapBottle -0.173 0.519 -0.844 0 0 0 20 5 SoapBottle -2.856 0.184 -1.584 0 0 0 29 6 Towel -0.490 1.367 0.902 0 180 0 28 7 Candle -2.286 1.002 0.643 0 0 0 18 8 HandTowel -3.096 1.587 0.744 0 270 0 32 9 SoapBar 0.419 0.033 -0.324 0 270 0 30 10 ToiletPaper -0.173 0.513 0.434 0 0 0 20 11 Cloth 0.211 0.034 0.118 0 270 0 30 12 ToiletPaper -1.416 0.816 0.665 0 90 270 33 13 SprayBottle -2.992 0.082 0.825 0 0 0 19 14 ScrubBrush -0.485 0.001 0.873 0 0 0 Floor|-00.81| 15 SoapBottle -2.183 0.083 0.825 0 0 0 22 16 Plunger -0.710 0.000 0.828 0 0 0 Floor|-00.81| 17 Cabinet -3.094 0.390 0.421 0 0 0 18 CounterTop -2.298 0.953 0.689 0 0 0 19 Cabinet -2.305 0.415 0.425 0 0 0 20 Bathtub 0.286 0.290 -0.077 0 0 0 21 Cabinet -1.496 0.415 0.425 0 0 0 22 Cabinet -2.286 0.390 0.421 0 0 0 23 Sink -1.924 0.930 0.675 0 180 0 24 Faucet -1.922 1.015 0.887 0 0 0 25 Mirror -2.306 1.526 1.001 0 0 0 26 Faucet -2.681 1.015 0.887 0 0 0 27 LightSwitch -1.389 1.263 -1.693 0 0 0 28 TowelHolder -0.490 1.353 1.009 0 180 0 29 GarbageCan -2.857 0.016 -1.487 0 0 0 30 BathtubBasin 0.349 0.023 -0.135 0 270 0 31 SinkBasin -1.908 0.961 0.669 0 180 0 32 HandTowelHolder -3.134 1.689 0.744 0 0 0 33 ToiletPaperHanger -1.485 0.805 0.691 0 90 0 34 Toilet -1.054 0.001 0.552 0 270 0 35 ShowerCurtain -0.292 1.886 -1.033 0 0 0 36 Faucet 0.270 0.670 0.906 0 0 0 37 SinkBasin -2.666 0.961 0.669 0 180 0 38 Sink -2.681 0.930 0.675 0 180 0 39 NorthWall 40 EastWall 41 SouthWall 42 WestWall
[ "STEP 1: Head to the sink on the right | STEP 2: Open the cabinet, take the purple rag out of the cabinet, close the cabinet | STEP 3: Head to the right | STEP 4: Put the rag in the sink, turn on the water for 3 seconds | STEP 5: Take the rag out of the sink | STEP 6: Put the rag on the counter | END" ]
[ [ "STEP 1: Head to the sink on the right ", " STEP 2: Open the cabinet, take the purple rag out of the cabinet, close the cabinet ", " STEP 3: Head to the right ", " STEP 4: Put the rag in the sink, turn on the water for 3 seconds ", " STEP 5: Take the rag out of the sink ", " STEP 6: Put the rag on the counter ", " END" ] ]
seen
trial_T20190906_201023_015139-0
Throw away a rinsed bar of soap into a green wastebasket.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.0 0.901 -1.75 0 180 0 1 Candle -0.202 0.917 -1.219 0 0 0 20 2 Candle -2.276 1.086 -0.361 0 90 0 33 3 SoapBar -2.368 1.045 -0.558 0 90 0 33 4 SoapBottle -0.241 0.876 -1.461 0 0 0 20 5 SoapBottle -0.241 0.876 -1.300 0 0 0 20 6 Towel -2.424 1.541 -2.487 0 90 0 24 7 Towel -0.106 1.541 -2.487 0 270 0 25 8 Candle -2.306 1.086 -0.230 0 90 0 33 9 HandTowel -2.496 1.836 -0.907 0 270 0 28 10 Plunger -2.366 0.000 -0.653 0 0 0 Floor|-00.95| 11 SoapBottle -0.146 0.867 -1.296 0 297.848 0 20 12 SoapBar -2.398 1.045 -0.361 0 90 0 33 13 ToiletPaper -2.402 1.036 -0.173 0 0 0 33 14 Cloth -0.757 0.291 -2.574 0 0 0 31 15 ToiletPaper -1.490 1.049 -0.110 0 180 90 27 16 SprayBottle -2.388 1.036 -0.436 0 341.623 0 33 17 ScrubBrush -2.114 0.000 -0.695 0 0 0 Floor|-00.95| 18 Bathtub -1.281 0.277 -2.529 0 0 0 19 Mirror -2.512 1.764 -1.518 0 0 0 20 SideTable -0.153 0.000 -1.465 0 270 0 21 Sink -2.273 0.0 -1.519 0 90 0 22 Drawer -0.218 0.775 -1.466 0 270 0 23 GarbageCan -2.197 -0.034 -1.009 0 90 0 24 TowelHolder -2.530 1.526 -2.486 0 90 0 25 TowelHolder 0.0 1.526 -2.486 0 270 0 26 LightSwitch 0.0 1.324 -1.146 0 270 0 27 ToiletPaperHanger -1.427 1.049 0.0 0 180 0 28 HandTowelHolder -2.534 1.937 -0.907 0 0 0 29 Window -1.291 1.815 -3.121 90 0 0 30 SinkBasin -2.216 0.905 -1.503 0 90 0 31 SinkBasin -1.305 0.280 -2.516 0 0 0 32 HousePlant -0.108 0.870 -1.649 0 0 0 33 Toilet -2.045 0.000 -0.358 0 180 0 34 Faucet -2.446 0.940 -1.516 0 90 0 35 Faucet -0.132 0.706 -2.877 0 29.999 0 36 ShowerCurtain -2.438 1.945 -1.917 0 90 0 37 EastWall 38 EastWall 39 SouthWall
[ "STEP 1: Turn to your right and cross the room to the toilet. | STEP 2: Pick up the bar of soap from the back of the toilet. | STEP 3: Take the bar of soap to the sink on your left. | STEP 4: Rinse the bar of soap off in the sink. | STEP 5: Go to the green wastebasket to the right of the sink. | STEP 6: Throw the soap away in the wastebasket. | END" ]
[ [ "STEP 1: Turn to your right and cross the room to the toilet. ", " STEP 2: Pick up the bar of soap from the back of the toilet. ", " STEP 3: Take the bar of soap to the sink on your left. ", " STEP 4: Rinse the bar of soap off in the sink. ", " STEP 5: Go to the green wastebasket to the right of the sink. ", " STEP 6: Throw the soap away in the wastebasket. ", " END" ] ]
seen
trial_T20190906_201023_015139-1
Put clean soap in a waste basket.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.0 0.901 -1.75 0 180 0 1 Candle -0.202 0.917 -1.219 0 0 0 20 2 Candle -2.276 1.086 -0.361 0 90 0 33 3 SoapBar -2.368 1.045 -0.558 0 90 0 33 4 SoapBottle -0.241 0.876 -1.461 0 0 0 20 5 SoapBottle -0.241 0.876 -1.300 0 0 0 20 6 Towel -2.424 1.541 -2.487 0 90 0 24 7 Towel -0.106 1.541 -2.487 0 270 0 25 8 Candle -2.306 1.086 -0.230 0 90 0 33 9 HandTowel -2.496 1.836 -0.907 0 270 0 28 10 Plunger -2.366 0.000 -0.653 0 0 0 Floor|-00.95| 11 SoapBottle -0.146 0.867 -1.296 0 297.848 0 20 12 SoapBar -2.398 1.045 -0.361 0 90 0 33 13 ToiletPaper -2.402 1.036 -0.173 0 0 0 33 14 Cloth -0.757 0.291 -2.574 0 0 0 31 15 ToiletPaper -1.490 1.049 -0.110 0 180 90 27 16 SprayBottle -2.388 1.036 -0.436 0 341.623 0 33 17 ScrubBrush -2.114 0.000 -0.695 0 0 0 Floor|-00.95| 18 Bathtub -1.281 0.277 -2.529 0 0 0 19 Mirror -2.512 1.764 -1.518 0 0 0 20 SideTable -0.153 0.000 -1.465 0 270 0 21 Sink -2.273 0.0 -1.519 0 90 0 22 Drawer -0.218 0.775 -1.466 0 270 0 23 GarbageCan -2.197 -0.034 -1.009 0 90 0 24 TowelHolder -2.530 1.526 -2.486 0 90 0 25 TowelHolder 0.0 1.526 -2.486 0 270 0 26 LightSwitch 0.0 1.324 -1.146 0 270 0 27 ToiletPaperHanger -1.427 1.049 0.0 0 180 0 28 HandTowelHolder -2.534 1.937 -0.907 0 0 0 29 Window -1.291 1.815 -3.121 90 0 0 30 SinkBasin -2.216 0.905 -1.503 0 90 0 31 SinkBasin -1.305 0.280 -2.516 0 0 0 32 HousePlant -0.108 0.870 -1.649 0 0 0 33 Toilet -2.045 0.000 -0.358 0 180 0 34 Faucet -2.446 0.940 -1.516 0 90 0 35 Faucet -0.132 0.706 -2.877 0 29.999 0 36 ShowerCurtain -2.438 1.945 -1.917 0 90 0 37 EastWall 38 EastWall 39 SouthWall
[ "STEP 1: Turn around and go to the toilet to the left. | STEP 2: Take the soap from the back of the toilet. | STEP 3: Turn left and go to the sink. | STEP 4: Wash the soap in the sink. | STEP 5: Go to the waste basket to the right. | STEP 6: Put the soap in the waste basket. | END" ]
[ [ "STEP 1: Turn around and go to the toilet to the left. ", " STEP 2: Take the soap from the back of the toilet. ", " STEP 3: Turn left and go to the sink. ", " STEP 4: Wash the soap in the sink. ", " STEP 5: Go to the waste basket to the right. ", " STEP 6: Put the soap in the waste basket. ", " END" ] ]
seen
trial_T20190906_201023_015139-2
Clean the bar soap inside the green bin.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.0 0.901 -1.75 0 180 0 1 Candle -0.202 0.917 -1.219 0 0 0 20 2 Candle -2.276 1.086 -0.361 0 90 0 33 3 SoapBar -2.368 1.045 -0.558 0 90 0 33 4 SoapBottle -0.241 0.876 -1.461 0 0 0 20 5 SoapBottle -0.241 0.876 -1.300 0 0 0 20 6 Towel -2.424 1.541 -2.487 0 90 0 24 7 Towel -0.106 1.541 -2.487 0 270 0 25 8 Candle -2.306 1.086 -0.230 0 90 0 33 9 HandTowel -2.496 1.836 -0.907 0 270 0 28 10 Plunger -2.366 0.000 -0.653 0 0 0 Floor|-00.95| 11 SoapBottle -0.146 0.867 -1.296 0 297.848 0 20 12 SoapBar -2.398 1.045 -0.361 0 90 0 33 13 ToiletPaper -2.402 1.036 -0.173 0 0 0 33 14 Cloth -0.757 0.291 -2.574 0 0 0 31 15 ToiletPaper -1.490 1.049 -0.110 0 180 90 27 16 SprayBottle -2.388 1.036 -0.436 0 341.623 0 33 17 ScrubBrush -2.114 0.000 -0.695 0 0 0 Floor|-00.95| 18 Bathtub -1.281 0.277 -2.529 0 0 0 19 Mirror -2.512 1.764 -1.518 0 0 0 20 SideTable -0.153 0.000 -1.465 0 270 0 21 Sink -2.273 0.0 -1.519 0 90 0 22 Drawer -0.218 0.775 -1.466 0 270 0 23 GarbageCan -2.197 -0.034 -1.009 0 90 0 24 TowelHolder -2.530 1.526 -2.486 0 90 0 25 TowelHolder 0.0 1.526 -2.486 0 270 0 26 LightSwitch 0.0 1.324 -1.146 0 270 0 27 ToiletPaperHanger -1.427 1.049 0.0 0 180 0 28 HandTowelHolder -2.534 1.937 -0.907 0 0 0 29 Window -1.291 1.815 -3.121 90 0 0 30 SinkBasin -2.216 0.905 -1.503 0 90 0 31 SinkBasin -1.305 0.280 -2.516 0 0 0 32 HousePlant -0.108 0.870 -1.649 0 0 0 33 Toilet -2.045 0.000 -0.358 0 180 0 34 Faucet -2.446 0.940 -1.516 0 90 0 35 Faucet -0.132 0.706 -2.877 0 29.999 0 36 ShowerCurtain -2.438 1.945 -1.917 0 90 0 37 EastWall 38 EastWall 39 SouthWall
[ "STEP 1: Turn around and walk towards the green bin in between the sink and toilet to your left. | STEP 2: Pick up the pink bar soap inside the bin. | STEP 3: Turn left towards the sink. | STEP 4: Put the bar soap in the sink, rinse it off, and pick it back up. | STEP 5: Turn right and head towards the bin on your left. | STEP 6: Place the soap back in the bin. | END" ]
[ [ "STEP 1: Turn around and walk towards the green bin in between the sink and toilet to your left. ", " STEP 2: Pick up the pink bar soap inside the bin. ", " STEP 3: Turn left towards the sink. ", " STEP 4: Put the bar soap in the sink, rinse it off, and pick it back up. ", " STEP 5: Turn right and head towards the bin on your left. ", " STEP 6: Place the soap back in the bin. ", " END" ] ]
seen
trial_T20190909_102005_152721-0
put toilet roll on toilet roll hanger
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 0.0 0.900 2.75 0 90 0 1 Cloth -1.657 0.074 0.970 0 0 0 18 2 Cloth -1.527 0.074 0.339 0 90 0 18 3 Candle 0.277 0.094 3.863 0 0 0 38 4 Candle -1.782 0.069 3.683 0 0 0 22 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 -1.703 0.013 2.193 0 0 0 19 8 ToiletPaper -1.921 1.041 2.009 0 90 0 35 9 ToiletPaper -1.918 0.763 2.518 0 0 0 17 10 Cloth -1.721 0.074 0.339 0 0 0 18 11 SprayBottle -1.887 0.772 3.765 0 0 0 17 12 Candle 0.060 0.617 3.768 0 0 0 40 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 -0.414 0.447 0.200 0 0 0 16 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 NorthWall 47 EastWall 48 SouthWall 49 WestWall
[ "STEP 1: walk to face sink on left side | STEP 2: pick up toilet roll from sink counter | STEP 3: put toilet roll on toilet roll hanger | END" ]
[ [ "STEP 1: walk to face sink on left side ", " STEP 2: pick up toilet roll from sink counter ", " STEP 3: put toilet roll on toilet roll hanger ", " END" ] ]
seen
trial_T20190909_102005_152721-1
put the toilet paper roll onto the toilet paper holder next to the toilet
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 0.0 0.900 2.75 0 90 0 1 Cloth -1.657 0.074 0.970 0 0 0 18 2 Cloth -1.527 0.074 0.339 0 90 0 18 3 Candle 0.277 0.094 3.863 0 0 0 38 4 Candle -1.782 0.069 3.683 0 0 0 22 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 -1.703 0.013 2.193 0 0 0 19 8 ToiletPaper -1.921 1.041 2.009 0 90 0 35 9 ToiletPaper -1.918 0.763 2.518 0 0 0 17 10 Cloth -1.721 0.074 0.339 0 0 0 18 11 SprayBottle -1.887 0.772 3.765 0 0 0 17 12 Candle 0.060 0.617 3.768 0 0 0 40 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 -0.414 0.447 0.200 0 0 0 16 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 NorthWall 47 EastWall 48 SouthWall 49 WestWall
[ "STEP 1: turn right and walk straight then turn right again and walk straight towards the sink and look down | STEP 2: pick up the toilet paper holder roll off the sink | STEP 3: put the toilet paper roll holder onto the toilet paper roll next to the toilet | END" ]
[ [ "STEP 1: turn right and walk straight then turn right again and walk straight towards the sink and look down ", " STEP 2: pick up the toilet paper holder roll off the sink ", " STEP 3: put the toilet paper roll holder onto the toilet paper roll next to the toilet ", " END" ] ]
seen
trial_T20190909_102005_152721-2
Put an empty roll of toilet paper on the toilet paper dispenser.
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " 0.0", " 0.900", " 2.75", " 0", " 90", " 0", "" ], [ "1", " Cloth", " -1.657", " 0.074", " 0.970", " 0", " 0", " 0", " 18" ], [ "2", " Cloth", " -1.527", " 0.074", " 0.339", " 0", " 90", " 0", " 18" ], [ "3", " Candle", " 0.277", " 0.094", " 3.863", " 0", " 0", " 0", " 38" ], [ "4", " Candle", " -1.782", " 0.069", " 3.683", " 0", " 0", " 0", " 22" ], [ "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", " -1.703", " 0.013", " 2.193", " 0", " 0", " 0", " 19" ], [ "8", " ToiletPaper", " -1.921", " 1.041", " 2.009", " 0", " 90", " 0", " 35" ], [ "9", " ToiletPaper", " -1.918", " 0.763", " 2.518", " 0", " 0", " 0", " 17" ], [ "10", " Cloth", " -1.721", " 0.074", " 0.339", " 0", " 0", " 0", " 18" ], [ "11", " SprayBottle", " -1.887", " 0.772", " 3.765", " 0", " 0", " 0", " 17" ], [ "12", " Candle", " 0.060", " 0.617", " 3.768", " 0", " 0", " 0", " 40" ], [ "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", " -0.414", " 0.447", " 0.200", " 0", " 0", " 0", " 16" ], [ "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", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "47", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "48", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "49", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 0.0 0.900 2.75 0 90 0 1 Cloth -1.657 0.074 0.970 0 0 0 18 2 Cloth -1.527 0.074 0.339 0 90 0 18 3 Candle 0.277 0.094 3.863 0 0 0 38 4 Candle -1.782 0.069 3.683 0 0 0 22 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 -1.703 0.013 2.193 0 0 0 19 8 ToiletPaper -1.921 1.041 2.009 0 90 0 35 9 ToiletPaper -1.918 0.763 2.518 0 0 0 17 10 Cloth -1.721 0.074 0.339 0 0 0 18 11 SprayBottle -1.887 0.772 3.765 0 0 0 17 12 Candle 0.060 0.617 3.768 0 0 0 40 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 -0.414 0.447 0.200 0 0 0 16 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 NorthWall 47 EastWall 48 SouthWall 49 WestWall
[ "STEP 1: Turn around and go to the sink to the right of the toilet. | STEP 2: Pick up the empty toilet paper roll on the back, left corner of the counter. | STEP 3: Put the empty toilet paper roll on the toilet paper holder hanging off the left side of the cabinet, between the red garbage can and the sink. | END" ]
[ [ "STEP 1: Turn around and go to the sink to the right of the toilet. ", " STEP 2: Pick up the empty toilet paper roll on the back, left corner of the counter. ", " STEP 3: Put the empty toilet paper roll on the toilet paper holder hanging off the left side of the cabinet, between the red garbage can and the sink. ", " END" ] ]
seen
trial_T20190907_225356_202464-0
Place two newspapers in a bin.
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " -6.25", " 0.900", " 2.25", " 0", " 0", " 0", "" ], [ "1", " Plate", " 0.827", " 0.552", " 6.556", " 0", " 0", " 0", " 32" ], [ "2", " Newspaper", " -1.788", " 0.531", " 3.691", " 0", " 38.001", " 0", " 43" ], [ "3", " Newspaper", " -3.407", " 0.550", " 1.909", " 0", " 0", " 0", " 31" ], [ "4", " CellPhone", " -2.067", " 0.312", " 2.455", " 0", " 39.022", " 0", " 34" ], [ "5", " CellPhone", " 0.909", " 0.986", " 3.921", " 0", " 0", " 0", " 47" ], [ "6", " CreditCard", " -1.198", " 0.313", " 2.412", " 0", " 39.022", " 0", " 34" ], [ "7", " RemoteControl", " 0.784", " 0.984", " 4.337", " 0", " 0", " 0", " 47" ], [ "8", " Box", " -1.723", " 0.509", " 2.507", " 0", " 309.022", " 0", " 34" ], [ "9", " Box", " -5.762", " 0.977", " 5.575", " 0", " 90", " 0", " 35" ], [ "10", " CellPhone", " -3.121", " 0.552", " 1.909", " 0", " 0", " 0", " 31" ], [ "11", " WateringCan", " 0.829", " -0.001", " 2.339", " 0", " 45", " 0", " Floor|-03.10|" ], [ "12", " Newspaper", " -5.762", " 0.786", " 4.910", " 0", " 0", " 0", " 35" ], [ "13", " KeyChain", " -2.255", " 0.524", " 3.429", " 0", " 38.001", " 0", " 43" ], [ "14", " Plate", " -5.392", " 0.790", " 4.246", " 0", " 0", " 0", " 35" ], [ "15", " Pillow", " -2.719", " 0.609", " 2.768", " 0", " 320.647", " 0", " 43" ], [ "16", " RemoteControl", " 0.784", " 0.984", " 3.298", " 0", " 0", " 0", " 47" ], [ "17", " CreditCard", " -5.885", " 0.786", " 4.689", " 0", " 0", " 0", " 35" ], [ "18", " Laptop", " -5.464", " 0.779", " 5.252", " 0", " 306.871", " 0", " 35" ], [ "19", " Statue", " 0.636", " 0.560", " 6.643", " 0", " 0", " 0", " 32" ], [ "20", " Curtains", " -1.046", " 3.500", " 2.880", " 0", " 0", " 0", "" ], [ "21", " HousePlant", " -3.580", " 0.548", " 1.659", " 0", " 0", " 0", "" ], [ "22", " Television", " 0.852", " 1.460", " 3.726", " 357.954", " 270", " 0", "" ], [ "23", " Painting", " -3.813", " 1.809", " 1.008", " 90", " 90", " 0", "" ], [ "24", " DeskLamp", " 0.890", " 0.545", " 6.822", " 0", " 0", " 0", "" ], [ "25", " GarbageCan", " -7.102", " -0.044", " 2.295", " 0", " 90", " 0", "" ], [ "26", " FloorLamp", " -3.494", " 0.006", " 0.390", " 0", " 0", " 0", "" ], [ "27", " LightSwitch", " -5.234", " 1.391", " 7.031", " 0", " 180", " 0", "" ], [ "28", " Window", " -1.985", " 1.646", " -0.009", " 90", " 180", " 0", "" ], [ "29", " Window", " -4.909", " 0.990", " 2.015", " 90", " 180", " 0", "" ], [ "30", " Window", " -5.796", " 1.072", " 1.871", " 90", " 180", " 0", "" ], [ "31", " SideTable", " -3.407", " 0.005", " 1.656", " 0", " 270", " 0", "" ], [ "32", " SideTable", " 0.732", " 0.005", " 6.634", " 0", " 270", " 0", "" ], [ "33", " Chair", " -0.139", " 0.005", " 6.412", " 0", " 149.999", " 0", "" ], [ "34", " CoffeeTable", " -1.546", " 0.004", " 2.528", " 0", " 39.022", " 0", "" ], [ "35", " DiningTable", " -5.639", " -0.003", " 4.910", " 0", " 270", " 0", "" ], [ "36", " Chair", " -3.159", " 0.005", " 0.869", " 0", " 97.469", " 0", "" ], [ "37", " Chair", " -5.192", " 0.002", " 4.682", " 0", " 281.219", " 0", "" ], [ "38", " Chair", " -5.181", " 0.002", " 5.293", " 0", " 266.218", " 0", "" ], [ "39", " Chair", " -6.046", " 0.002", " 4.560", " 0", " 86.218", " 0", "" ], [ "40", " Chair", " -5.624", " 0.002", " 5.750", " 0", " 180", " 0", "" ], [ "41", " Chair", " -6.036", " 0.002", " 5.235", " 0", " 93.544", " 0", "" ], [ "42", " Chair", " -5.580", " 0.002", " 4.099", " 0", " 357.508", " 0", "" ], [ "43", " Sofa", " -2.465", " 0.004", " 3.281", " 0", " 128.001", " 0", "" ], [ "44", " Drawer", " 0.748", " 0.237", " 3.330", " 0", " 270", " 0", "" ], [ "45", " Drawer", " 0.748", " 0.668", " 3.330", " 0", " 270", " 0", "" ], [ "46", " Drawer", " 0.748", " 0.235", " 4.097", " 0", " 270", " 0", "" ], [ "47", " Dresser", " 0.846", " 0.002", " 3.713", " 0", " 270", " 0", "" ], [ "48", " Drawer", " 0.748", " 0.665", " 4.097", " 0", " 270", " 0", "" ], [ "49", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "50", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "51", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "52", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -6.25 0.900 2.25 0 0 0 1 Plate 0.827 0.552 6.556 0 0 0 32 2 Newspaper -1.788 0.531 3.691 0 38.001 0 43 3 Newspaper -3.407 0.550 1.909 0 0 0 31 4 CellPhone -2.067 0.312 2.455 0 39.022 0 34 5 CellPhone 0.909 0.986 3.921 0 0 0 47 6 CreditCard -1.198 0.313 2.412 0 39.022 0 34 7 RemoteControl 0.784 0.984 4.337 0 0 0 47 8 Box -1.723 0.509 2.507 0 309.022 0 34 9 Box -5.762 0.977 5.575 0 90 0 35 10 CellPhone -3.121 0.552 1.909 0 0 0 31 11 WateringCan 0.829 -0.001 2.339 0 45 0 Floor|-03.10| 12 Newspaper -5.762 0.786 4.910 0 0 0 35 13 KeyChain -2.255 0.524 3.429 0 38.001 0 43 14 Plate -5.392 0.790 4.246 0 0 0 35 15 Pillow -2.719 0.609 2.768 0 320.647 0 43 16 RemoteControl 0.784 0.984 3.298 0 0 0 47 17 CreditCard -5.885 0.786 4.689 0 0 0 35 18 Laptop -5.464 0.779 5.252 0 306.871 0 35 19 Statue 0.636 0.560 6.643 0 0 0 32 20 Curtains -1.046 3.500 2.880 0 0 0 21 HousePlant -3.580 0.548 1.659 0 0 0 22 Television 0.852 1.460 3.726 357.954 270 0 23 Painting -3.813 1.809 1.008 90 90 0 24 DeskLamp 0.890 0.545 6.822 0 0 0 25 GarbageCan -7.102 -0.044 2.295 0 90 0 26 FloorLamp -3.494 0.006 0.390 0 0 0 27 LightSwitch -5.234 1.391 7.031 0 180 0 28 Window -1.985 1.646 -0.009 90 180 0 29 Window -4.909 0.990 2.015 90 180 0 30 Window -5.796 1.072 1.871 90 180 0 31 SideTable -3.407 0.005 1.656 0 270 0 32 SideTable 0.732 0.005 6.634 0 270 0 33 Chair -0.139 0.005 6.412 0 149.999 0 34 CoffeeTable -1.546 0.004 2.528 0 39.022 0 35 DiningTable -5.639 -0.003 4.910 0 270 0 36 Chair -3.159 0.005 0.869 0 97.469 0 37 Chair -5.192 0.002 4.682 0 281.219 0 38 Chair -5.181 0.002 5.293 0 266.218 0 39 Chair -6.046 0.002 4.560 0 86.218 0 40 Chair -5.624 0.002 5.750 0 180 0 41 Chair -6.036 0.002 5.235 0 93.544 0 42 Chair -5.580 0.002 4.099 0 357.508 0 43 Sofa -2.465 0.004 3.281 0 128.001 0 44 Drawer 0.748 0.237 3.330 0 270 0 45 Drawer 0.748 0.668 3.330 0 270 0 46 Drawer 0.748 0.235 4.097 0 270 0 47 Dresser 0.846 0.002 3.713 0 270 0 48 Drawer 0.748 0.665 4.097 0 270 0 49 NorthWall 50 EastWall 51 SouthWall 52 WestWall
[ "STEP 1: Walk ahead to the left side of the table. | STEP 2: Pick up the newspaper on the table. | STEP 3: Turn right and walk to the trash bin. | STEP 4: Put the paper in the bin. | STEP 5: Turn left and walk around the couch to the cushion side. | STEP 6: Pick up the newspaper to the right of the key chain. | STEP 7: Walk around the couch again back to the bin in the left corner of the room. | STEP 8: Place the newspaper in the bin on top of the other newspaper. | END" ]
[ [ "STEP 1: Walk ahead to the left side of the table. ", " STEP 2: Pick up the newspaper on the table. ", " STEP 3: Turn right and walk to the trash bin. ", " STEP 4: Put the paper in the bin. ", " STEP 5: Turn left and walk around the couch to the cushion side. ", " STEP 6: Pick up the newspaper to the right of the key chain. ", " STEP 7: Walk around the couch again back to the bin in the left corner of the room. ", " STEP 8: Place the newspaper in the bin on top of the other newspaper. ", " END" ] ]
seen
trial_T20190907_225356_202464-1
To move two newspapers to the trash can.
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " -6.25", " 0.900", " 2.25", " 0", " 0", " 0", "" ], [ "1", " Plate", " 0.827", " 0.552", " 6.556", " 0", " 0", " 0", " 32" ], [ "2", " Newspaper", " -1.788", " 0.531", " 3.691", " 0", " 38.001", " 0", " 43" ], [ "3", " Newspaper", " -3.407", " 0.550", " 1.909", " 0", " 0", " 0", " 31" ], [ "4", " CellPhone", " -2.067", " 0.312", " 2.455", " 0", " 39.022", " 0", " 34" ], [ "5", " CellPhone", " 0.909", " 0.986", " 3.921", " 0", " 0", " 0", " 47" ], [ "6", " CreditCard", " -1.198", " 0.313", " 2.412", " 0", " 39.022", " 0", " 34" ], [ "7", " RemoteControl", " 0.784", " 0.984", " 4.337", " 0", " 0", " 0", " 47" ], [ "8", " Box", " -1.723", " 0.509", " 2.507", " 0", " 309.022", " 0", " 34" ], [ "9", " Box", " -5.762", " 0.977", " 5.575", " 0", " 90", " 0", " 35" ], [ "10", " CellPhone", " -3.121", " 0.552", " 1.909", " 0", " 0", " 0", " 31" ], [ "11", " WateringCan", " 0.829", " -0.001", " 2.339", " 0", " 45", " 0", " Floor|-03.10|" ], [ "12", " Newspaper", " -5.762", " 0.786", " 4.910", " 0", " 0", " 0", " 35" ], [ "13", " KeyChain", " -2.255", " 0.524", " 3.429", " 0", " 38.001", " 0", " 43" ], [ "14", " Plate", " -5.392", " 0.790", " 4.246", " 0", " 0", " 0", " 35" ], [ "15", " Pillow", " -2.719", " 0.609", " 2.768", " 0", " 320.647", " 0", " 43" ], [ "16", " RemoteControl", " 0.784", " 0.984", " 3.298", " 0", " 0", " 0", " 47" ], [ "17", " CreditCard", " -5.885", " 0.786", " 4.689", " 0", " 0", " 0", " 35" ], [ "18", " Laptop", " -5.464", " 0.779", " 5.252", " 0", " 306.871", " 0", " 35" ], [ "19", " Statue", " 0.636", " 0.560", " 6.643", " 0", " 0", " 0", " 32" ], [ "20", " Curtains", " -1.046", " 3.500", " 2.880", " 0", " 0", " 0", "" ], [ "21", " HousePlant", " -3.580", " 0.548", " 1.659", " 0", " 0", " 0", "" ], [ "22", " Television", " 0.852", " 1.460", " 3.726", " 357.954", " 270", " 0", "" ], [ "23", " Painting", " -3.813", " 1.809", " 1.008", " 90", " 90", " 0", "" ], [ "24", " DeskLamp", " 0.890", " 0.545", " 6.822", " 0", " 0", " 0", "" ], [ "25", " GarbageCan", " -7.102", " -0.044", " 2.295", " 0", " 90", " 0", "" ], [ "26", " FloorLamp", " -3.494", " 0.006", " 0.390", " 0", " 0", " 0", "" ], [ "27", " LightSwitch", " -5.234", " 1.391", " 7.031", " 0", " 180", " 0", "" ], [ "28", " Window", " -1.985", " 1.646", " -0.009", " 90", " 180", " 0", "" ], [ "29", " Window", " -4.909", " 0.990", " 2.015", " 90", " 180", " 0", "" ], [ "30", " Window", " -5.796", " 1.072", " 1.871", " 90", " 180", " 0", "" ], [ "31", " SideTable", " -3.407", " 0.005", " 1.656", " 0", " 270", " 0", "" ], [ "32", " SideTable", " 0.732", " 0.005", " 6.634", " 0", " 270", " 0", "" ], [ "33", " Chair", " -0.139", " 0.005", " 6.412", " 0", " 149.999", " 0", "" ], [ "34", " CoffeeTable", " -1.546", " 0.004", " 2.528", " 0", " 39.022", " 0", "" ], [ "35", " DiningTable", " -5.639", " -0.003", " 4.910", " 0", " 270", " 0", "" ], [ "36", " Chair", " -3.159", " 0.005", " 0.869", " 0", " 97.469", " 0", "" ], [ "37", " Chair", " -5.192", " 0.002", " 4.682", " 0", " 281.219", " 0", "" ], [ "38", " Chair", " -5.181", " 0.002", " 5.293", " 0", " 266.218", " 0", "" ], [ "39", " Chair", " -6.046", " 0.002", " 4.560", " 0", " 86.218", " 0", "" ], [ "40", " Chair", " -5.624", " 0.002", " 5.750", " 0", " 180", " 0", "" ], [ "41", " Chair", " -6.036", " 0.002", " 5.235", " 0", " 93.544", " 0", "" ], [ "42", " Chair", " -5.580", " 0.002", " 4.099", " 0", " 357.508", " 0", "" ], [ "43", " Sofa", " -2.465", " 0.004", " 3.281", " 0", " 128.001", " 0", "" ], [ "44", " Drawer", " 0.748", " 0.237", " 3.330", " 0", " 270", " 0", "" ], [ "45", " Drawer", " 0.748", " 0.668", " 3.330", " 0", " 270", " 0", "" ], [ "46", " Drawer", " 0.748", " 0.235", " 4.097", " 0", " 270", " 0", "" ], [ "47", " Dresser", " 0.846", " 0.002", " 3.713", " 0", " 270", " 0", "" ], [ "48", " Drawer", " 0.748", " 0.665", " 4.097", " 0", " 270", " 0", "" ], [ "49", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "50", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "51", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "52", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -6.25 0.900 2.25 0 0 0 1 Plate 0.827 0.552 6.556 0 0 0 32 2 Newspaper -1.788 0.531 3.691 0 38.001 0 43 3 Newspaper -3.407 0.550 1.909 0 0 0 31 4 CellPhone -2.067 0.312 2.455 0 39.022 0 34 5 CellPhone 0.909 0.986 3.921 0 0 0 47 6 CreditCard -1.198 0.313 2.412 0 39.022 0 34 7 RemoteControl 0.784 0.984 4.337 0 0 0 47 8 Box -1.723 0.509 2.507 0 309.022 0 34 9 Box -5.762 0.977 5.575 0 90 0 35 10 CellPhone -3.121 0.552 1.909 0 0 0 31 11 WateringCan 0.829 -0.001 2.339 0 45 0 Floor|-03.10| 12 Newspaper -5.762 0.786 4.910 0 0 0 35 13 KeyChain -2.255 0.524 3.429 0 38.001 0 43 14 Plate -5.392 0.790 4.246 0 0 0 35 15 Pillow -2.719 0.609 2.768 0 320.647 0 43 16 RemoteControl 0.784 0.984 3.298 0 0 0 47 17 CreditCard -5.885 0.786 4.689 0 0 0 35 18 Laptop -5.464 0.779 5.252 0 306.871 0 35 19 Statue 0.636 0.560 6.643 0 0 0 32 20 Curtains -1.046 3.500 2.880 0 0 0 21 HousePlant -3.580 0.548 1.659 0 0 0 22 Television 0.852 1.460 3.726 357.954 270 0 23 Painting -3.813 1.809 1.008 90 90 0 24 DeskLamp 0.890 0.545 6.822 0 0 0 25 GarbageCan -7.102 -0.044 2.295 0 90 0 26 FloorLamp -3.494 0.006 0.390 0 0 0 27 LightSwitch -5.234 1.391 7.031 0 180 0 28 Window -1.985 1.646 -0.009 90 180 0 29 Window -4.909 0.990 2.015 90 180 0 30 Window -5.796 1.072 1.871 90 180 0 31 SideTable -3.407 0.005 1.656 0 270 0 32 SideTable 0.732 0.005 6.634 0 270 0 33 Chair -0.139 0.005 6.412 0 149.999 0 34 CoffeeTable -1.546 0.004 2.528 0 39.022 0 35 DiningTable -5.639 -0.003 4.910 0 270 0 36 Chair -3.159 0.005 0.869 0 97.469 0 37 Chair -5.192 0.002 4.682 0 281.219 0 38 Chair -5.181 0.002 5.293 0 266.218 0 39 Chair -6.046 0.002 4.560 0 86.218 0 40 Chair -5.624 0.002 5.750 0 180 0 41 Chair -6.036 0.002 5.235 0 93.544 0 42 Chair -5.580 0.002 4.099 0 357.508 0 43 Sofa -2.465 0.004 3.281 0 128.001 0 44 Drawer 0.748 0.237 3.330 0 270 0 45 Drawer 0.748 0.668 3.330 0 270 0 46 Drawer 0.748 0.235 4.097 0 270 0 47 Dresser 0.846 0.002 3.713 0 270 0 48 Drawer 0.748 0.665 4.097 0 270 0 49 NorthWall 50 EastWall 51 SouthWall 52 WestWall
[ "STEP 1: Walk halfway across the room to the left side of the table and turn right to face the table | STEP 2: Pick up the newspaper on the table. | STEP 3: Turn right and walk across the room to face the trash can. | STEP 4: Place the newspaper in the trash can. | STEP 5: Turn around and walk past the kitchen table, then take a right and walk across the room then turn right to face the right end of the couch. | STEP 6: Pick up the newspaper on the couch. | STEP 7: Walk forward past the right arm of the couch to the kitchen table, then take a left and walk forward to face the trash can. | STEP 8: Place the newspaper in the trash with the other newspaper. | END" ]
[ [ "STEP 1: Walk halfway across the room to the left side of the table and turn right to face the table ", " STEP 2: Pick up the newspaper on the table. ", " STEP 3: Turn right and walk across the room to face the trash can. ", " STEP 4: Place the newspaper in the trash can. ", " STEP 5: Turn around and walk past the kitchen table, then take a right and walk across the room then turn right to face the right end of the couch. ", " STEP 6: Pick up the newspaper on the couch. ", " STEP 7: Walk forward past the right arm of the couch to the kitchen table, then take a left and walk forward to face the trash can. ", " STEP 8: Place the newspaper in the trash with the other newspaper. ", " END" ] ]
seen
trial_T20190907_225356_202464-2
Put two papers in a bin.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -6.25 0.900 2.25 0 0 0 1 Plate 0.827 0.552 6.556 0 0 0 32 2 Newspaper -1.788 0.531 3.691 0 38.001 0 43 3 Newspaper -3.407 0.550 1.909 0 0 0 31 4 CellPhone -2.067 0.312 2.455 0 39.022 0 34 5 CellPhone 0.909 0.986 3.921 0 0 0 47 6 CreditCard -1.198 0.313 2.412 0 39.022 0 34 7 RemoteControl 0.784 0.984 4.337 0 0 0 47 8 Box -1.723 0.509 2.507 0 309.022 0 34 9 Box -5.762 0.977 5.575 0 90 0 35 10 CellPhone -3.121 0.552 1.909 0 0 0 31 11 WateringCan 0.829 -0.001 2.339 0 45 0 Floor|-03.10| 12 Newspaper -5.762 0.786 4.910 0 0 0 35 13 KeyChain -2.255 0.524 3.429 0 38.001 0 43 14 Plate -5.392 0.790 4.246 0 0 0 35 15 Pillow -2.719 0.609 2.768 0 320.647 0 43 16 RemoteControl 0.784 0.984 3.298 0 0 0 47 17 CreditCard -5.885 0.786 4.689 0 0 0 35 18 Laptop -5.464 0.779 5.252 0 306.871 0 35 19 Statue 0.636 0.560 6.643 0 0 0 32 20 Curtains -1.046 3.500 2.880 0 0 0 21 HousePlant -3.580 0.548 1.659 0 0 0 22 Television 0.852 1.460 3.726 357.954 270 0 23 Painting -3.813 1.809 1.008 90 90 0 24 DeskLamp 0.890 0.545 6.822 0 0 0 25 GarbageCan -7.102 -0.044 2.295 0 90 0 26 FloorLamp -3.494 0.006 0.390 0 0 0 27 LightSwitch -5.234 1.391 7.031 0 180 0 28 Window -1.985 1.646 -0.009 90 180 0 29 Window -4.909 0.990 2.015 90 180 0 30 Window -5.796 1.072 1.871 90 180 0 31 SideTable -3.407 0.005 1.656 0 270 0 32 SideTable 0.732 0.005 6.634 0 270 0 33 Chair -0.139 0.005 6.412 0 149.999 0 34 CoffeeTable -1.546 0.004 2.528 0 39.022 0 35 DiningTable -5.639 -0.003 4.910 0 270 0 36 Chair -3.159 0.005 0.869 0 97.469 0 37 Chair -5.192 0.002 4.682 0 281.219 0 38 Chair -5.181 0.002 5.293 0 266.218 0 39 Chair -6.046 0.002 4.560 0 86.218 0 40 Chair -5.624 0.002 5.750 0 180 0 41 Chair -6.036 0.002 5.235 0 93.544 0 42 Chair -5.580 0.002 4.099 0 357.508 0 43 Sofa -2.465 0.004 3.281 0 128.001 0 44 Drawer 0.748 0.237 3.330 0 270 0 45 Drawer 0.748 0.668 3.330 0 270 0 46 Drawer 0.748 0.235 4.097 0 270 0 47 Dresser 0.846 0.002 3.713 0 270 0 48 Drawer 0.748 0.665 4.097 0 270 0 49 NorthWall 50 EastWall 51 SouthWall 52 WestWall
[ "STEP 1: move to the table in front of the door | STEP 2: pick up a paper from the table | STEP 3: move to the bin in the corner in front of the door | STEP 4: put the paper in the bin | STEP 5: move to the couch to the left of you | STEP 6: pick up a paper from the couch | STEP 7: move to the bin in the corner in front of the door | STEP 8: put the paper in the bin | END" ]
[ [ "STEP 1: move to the table in front of the door ", " STEP 2: pick up a paper from the table ", " STEP 3: move to the bin in the corner in front of the door ", " STEP 4: put the paper in the bin ", " STEP 5: move to the couch to the left of you ", " STEP 6: pick up a paper from the couch ", " STEP 7: move to the bin in the corner in front of the door ", " STEP 8: put the paper in the bin ", " END" ] ]
seen
trial_T20190907_164114_064314-0
Place a cook apple on the microwave stand.
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " -0.75", " 1.124", " 0.75", " 0", " 270", " 0", "" ], [ "1", " Pan", " 0.636", " 1.322", " -3.164", " 0", " 0", " 0", " 51" ], [ "2", " Pan", " -1.237", " 1.322", " -2.981", " 0", " 0", " 0", " 51" ], [ "3", " Potato", " -1.165", " 1.362", " -3.425", " 0", " 0", " 0", " 51" ], [ "4", " DishSponge", " -1.698", " 1.050", " -0.542", " 0", " 0", " 0", " 69" ], [ "5", " DishSponge", " 0.747", " 0.344", " -1.751", " 0", " 180", " 0", " 50" ], [ "6", " WineBottle", " -1.602", " 0.344", " -2.362", " 0", " 0", " 0", " 47" ], [ "7", " WineBottle", " -1.818", " 0.344", " 1.317", " 0", " 0", " 0", " 52" ], [ "8", " Kettle", " -0.630", " 1.331", " -3.301", " 0", " 180", " 0", " 48" ], [ "9", " Fork", " -1.915", " 1.336", " -0.911", " 0", " 0", " 0", " 58" ], [ "10", " Spoon", " -1.237", " 1.324", " -2.870", " 0", " 0", " 0", " 51" ], [ "11", " Spatula", " -2.004", " 1.343", " -1.117", " 0", " 180", " 0", " 58" ], [ "12", " Pot", " -0.749", " 1.332", " -2.973", " 0", " 0", " 0", " 54" ], [ "13", " Egg", " -1.681", " 0.321", " 2.275", " 0", " 270", " 0", " 66" ], [ "14", " Egg", " 1.017", " 1.715", " 1.663", " 0", " 270", " 0", " 64" ], [ "15", " Cup", " 1.276", " 1.205", " 1.238", " 0", " 0", " 0", " 76" ], [ "16", " SoapBottle", " -1.363", " 1.323", " -0.332", " 0", " 0", " 0", " 51" ], [ "17", " Bowl", " 0.492", " 1.321", " -2.900", " 0", " 0", " 0", " 51" ], [ "18", " PepperShaker", " -2.179", " 1.318", " -1.941", " 0", " 0", " 0", " 51" ], [ "19", " PepperShaker", " -1.727", " 0.338", " -2.162", " 0", " 0", " 0", " 47" ], [ "20", " Bread", " 0.896", " 1.397", " -2.424", " 0", " 0", " 0", " 51" ], [ "21", " Lettuce", " -1.660", " 1.399", " 1.419", " 0", " 0", " 0", " 51" ], [ "22", " Apple", " 0.766", " 1.371", " -2.794", " 0", " 0", " 0", " 51" ], [ "23", " Bread", " -1.513", " 1.380", " 0.662", " 0", " 0", " 0", " 51" ], [ "24", " Pot", " -0.125", " 1.332", " -2.973", " 0", " 0", " 0", " 59" ], [ "25", " Knife", " 0.766", " 1.352", " -3.164", " 0", " 180", " 0", " 51" ], [ "26", " Bowl", " -1.380", " 1.321", " -2.760", " 0", " 0", " 0", " 51" ], [ "27", " Potato", " -1.634", " 0.319", " 2.151", " 0", " 270", " 0", " 66" ], [ "28", " SoapBottle", " 0.824", " 0.345", " -1.854", " 0", " 180", " 0", " 50" ], [ "29", " Fork", " -2.004", " 1.337", " -1.255", " 0", " 180", " 0", " 58" ], [ "30", " Cup", " 0.824", " 0.342", " -2.267", " 0", " 180", " 0", " 50" ], [ "31", " Kettle", " -1.920", " 1.324", " 0.770", " 0", " 0", " 0", " 51" ], [ "32", " Egg", " -2.049", " 1.363", " 1.744", " 0", " 0", " 0", " 51" ], [ "33", " Pan", " -1.881", " 0.327", " -2.035", " 0", " 0", " 0", " 47" ], [ "34", " SaltShaker", " -1.614", " 0.338", " 0.613", " 0", " 0", " 0", " 49" ], [ "35", " WineBottle", " -1.682", " 0.344", " 1.110", " 0", " 0", " 0", " 52" ], [ "36", " Lettuce", " 1.155", " 1.399", " -2.053", " 0", " 0", " 0", " 51" ], [ "37", " Spatula", " -2.179", " 1.337", " 1.744", " 0", " 90", " 0", " 51" ], [ "38", " PaperTowelRoll", " -1.327", " 1.427", " -0.098", " 0", " 0", " 0", " 51" ], [ "39", " Tomato", " 0.920", " 1.558", " 1.724", " 0", " 270", " 0", " 64" ], [ "40", " Plate", " -1.749", " 0.344", " 0.311", " 0", " 0", " 0", " 49" ], [ "41", " PepperShaker", " 0.206", " 1.318", " -2.678", " 0", " 0", " 0", " 51" ], [ "42", " DishSponge", " -2.179", " 1.322", " -3.241", " 0", " 0", " 0", " 51" ], [ "43", " Spoon", " -2.179", " 1.324", " -2.721", " 0", " 0", " 0", " 51" ], [ "44", " Apple", " -2.093", " 1.383", " -1.117", " 0", " 0", " 0", " 58" ], [ "45", " Mug", " 1.115", " 1.305", " 0.913", " 0", " 180", " 0", " 76" ], [ "46", " StoveBurner", " -0.239", " 1.325", " -3.301", " 0", " 180", " 0", "" ], [ "47", " Cabinet", " -1.461", " 0.775", " -2.002", " 0", " 0", " 0", "" ], [ "48", " StoveBurner", " -0.630", " 1.325", " -3.301", " 0", " 180", " 0", "" ], [ "49", " Cabinet", " -1.461", " 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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 0.75 0 270 0 1 Pan 0.636 1.322 -3.164 0 0 0 51 2 Pan -1.237 1.322 -2.981 0 0 0 51 3 Potato -1.165 1.362 -3.425 0 0 0 51 4 DishSponge -1.698 1.050 -0.542 0 0 0 69 5 DishSponge 0.747 0.344 -1.751 0 180 0 50 6 WineBottle -1.602 0.344 -2.362 0 0 0 47 7 WineBottle -1.818 0.344 1.317 0 0 0 52 8 Kettle -0.630 1.331 -3.301 0 180 0 48 9 Fork -1.915 1.336 -0.911 0 0 0 58 10 Spoon -1.237 1.324 -2.870 0 0 0 51 11 Spatula -2.004 1.343 -1.117 0 180 0 58 12 Pot -0.749 1.332 -2.973 0 0 0 54 13 Egg -1.681 0.321 2.275 0 270 0 66 14 Egg 1.017 1.715 1.663 0 270 0 64 15 Cup 1.276 1.205 1.238 0 0 0 76 16 SoapBottle -1.363 1.323 -0.332 0 0 0 51 17 Bowl 0.492 1.321 -2.900 0 0 0 51 18 PepperShaker -2.179 1.318 -1.941 0 0 0 51 19 PepperShaker -1.727 0.338 -2.162 0 0 0 47 20 Bread 0.896 1.397 -2.424 0 0 0 51 21 Lettuce -1.660 1.399 1.419 0 0 0 51 22 Apple 0.766 1.371 -2.794 0 0 0 51 23 Bread -1.513 1.380 0.662 0 0 0 51 24 Pot -0.125 1.332 -2.973 0 0 0 59 25 Knife 0.766 1.352 -3.164 0 180 0 51 26 Bowl -1.380 1.321 -2.760 0 0 0 51 27 Potato -1.634 0.319 2.151 0 270 0 66 28 SoapBottle 0.824 0.345 -1.854 0 180 0 50 29 Fork -2.004 1.337 -1.255 0 180 0 58 30 Cup 0.824 0.342 -2.267 0 180 0 50 31 Kettle -1.920 1.324 0.770 0 0 0 51 32 Egg -2.049 1.363 1.744 0 0 0 51 33 Pan -1.881 0.327 -2.035 0 0 0 47 34 SaltShaker -1.614 0.338 0.613 0 0 0 49 35 WineBottle -1.682 0.344 1.110 0 0 0 52 36 Lettuce 1.155 1.399 -2.053 0 0 0 51 37 Spatula -2.179 1.337 1.744 0 90 0 51 38 PaperTowelRoll -1.327 1.427 -0.098 0 0 0 51 39 Tomato 0.920 1.558 1.724 0 270 0 64 40 Plate -1.749 0.344 0.311 0 0 0 49 41 PepperShaker 0.206 1.318 -2.678 0 0 0 51 42 DishSponge -2.179 1.322 -3.241 0 0 0 51 43 Spoon -2.179 1.324 -2.721 0 0 0 51 44 Apple -2.093 1.383 -1.117 0 0 0 58 45 Mug 1.115 1.305 0.913 0 180 0 76 46 StoveBurner -0.239 1.325 -3.301 0 180 0 47 Cabinet -1.461 0.775 -2.002 0 0 0 48 StoveBurner -0.630 1.325 -3.301 0 180 0 49 Cabinet -1.461 0.775 0.470 0 0 0 50 Cabinet 0.578 0.776 -2.054 0 0 0 51 CounterTop -1.809 1.358 1.182 0 0 0 52 Cabinet -1.461 0.775 1.310 0 0 0 53 Faucet -2.063 1.362 -0.726 0 39.391 0 54 StoveBurner -0.749 1.325 -2.973 0 0 0 55 Drawer -1.610 0.681 -0.430 0 0 0 56 Window -2.566 1.799 -0.822 270 0 0 57 Drawer -1.610 0.681 -1.217 0 0 0 58 Sink -1.990 1.143 -0.975 0 0 0 59 StoveBurner -0.125 1.325 -2.973 0 0 0 60 StoveKnob -0.185 1.338 -2.741 0 270 180 61 StoveKnob -0.336 1.338 -2.741 0 270 180 62 StoveKnob -0.569 1.338 -2.741 0 270 180 63 StoveKnob -0.707 1.338 -2.741 0 270 180 64 Fridge 1.013 0.227 1.917 0 270 0 65 Microwave 0.994 1.310 -2.163 0 270 0 66 GarbageCan -1.633 0.212 2.192 0 270 0 67 LightSwitch 1.386 1.565 -0.657 0 270 0 68 HousePlant -2.027 1.311 -0.026 0 284.058 0 69 SinkBasin -1.835 1.039 -0.542 0 0 0 70 ButterKnife 0.873 0.468 0.651 0 0 0 71 Toaster -1.885 1.310 -2.512 0 90 0 72 CoffeeMachine 1.129 1.310 -1.426 0 270 0 73 Drawer 0.647 1.061 0.680 0 270 0 74 Drawer 0.648 1.061 1.020 0 270 0 75 Drawer 0.648 0.843 1.020 0 270 0 76 SideTable 0.975 0.220 0.869 0 270 0 77 Drawer 0.648 0.602 0.680 0 270 0 78 Drawer 0.648 0.596 1.020 0 270 0 79 Drawer 0.648 0.843 0.680 0 270 0 80 Stool 0.606 0.222 -1.084 1.233 280.489 0 81 NorthWall 82 EastWall 83 SouthWall 84 WestWall
[ "STEP 1: turn to the left and go forward to the stove and turn to the left and go to the counter top | STEP 2: pick up an apple from the counter top | STEP 3: turn to the left and go forward to the front of the microwave and turn to the right and step forward to the microwave | STEP 4: open the microwave door and put the apple in it and close the door and cook the apple and open the door and take out the apple and close the door | STEP 5: turn to the left and take a step and turn to the right | STEP 6: put the apple on the microwave stand | END" ]
[ [ "STEP 1: turn to the left and go forward to the stove and turn to the left and go to the counter top ", " STEP 2: pick up an apple from the counter top ", " STEP 3: turn to the left and go forward to the front of the microwave and turn to the right and step forward to the microwave ", " STEP 4: open the microwave door and put the apple in it and close the door and cook the apple and open the door and take out the apple and close the door ", " STEP 5: turn to the left and take a step and turn to the right ", " STEP 6: put the apple on the microwave stand ", " END" ] ]
seen
trial_T20190907_164114_064314-1
Put a warm apple on the counter.
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"" ], [ "75", " Drawer", " 0.648", " 0.843", " 1.020", " 0", " 270", " 0", "" ], [ "76", " SideTable", " 0.975", " 0.220", " 0.869", " 0", " 270", " 0", "" ], [ "77", " Drawer", " 0.648", " 0.602", " 0.680", " 0", " 270", " 0", "" ], [ "78", " Drawer", " 0.648", " 0.596", " 1.020", " 0", " 270", " 0", "" ], [ "79", " Drawer", " 0.648", " 0.843", " 0.680", " 0", " 270", " 0", "" ], [ "80", " Stool", " 0.606", " 0.222", " -1.084", " 1.233", " 280.489", " 0", "" ], [ "81", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "82", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "83", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "84", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -0.75 1.124 0.75 0 270 0 1 Pan 0.636 1.322 -3.164 0 0 0 51 2 Pan -1.237 1.322 -2.981 0 0 0 51 3 Potato -1.165 1.362 -3.425 0 0 0 51 4 DishSponge -1.698 1.050 -0.542 0 0 0 69 5 DishSponge 0.747 0.344 -1.751 0 180 0 50 6 WineBottle -1.602 0.344 -2.362 0 0 0 47 7 WineBottle -1.818 0.344 1.317 0 0 0 52 8 Kettle -0.630 1.331 -3.301 0 180 0 48 9 Fork -1.915 1.336 -0.911 0 0 0 58 10 Spoon -1.237 1.324 -2.870 0 0 0 51 11 Spatula -2.004 1.343 -1.117 0 180 0 58 12 Pot -0.749 1.332 -2.973 0 0 0 54 13 Egg -1.681 0.321 2.275 0 270 0 66 14 Egg 1.017 1.715 1.663 0 270 0 64 15 Cup 1.276 1.205 1.238 0 0 0 76 16 SoapBottle -1.363 1.323 -0.332 0 0 0 51 17 Bowl 0.492 1.321 -2.900 0 0 0 51 18 PepperShaker -2.179 1.318 -1.941 0 0 0 51 19 PepperShaker -1.727 0.338 -2.162 0 0 0 47 20 Bread 0.896 1.397 -2.424 0 0 0 51 21 Lettuce -1.660 1.399 1.419 0 0 0 51 22 Apple 0.766 1.371 -2.794 0 0 0 51 23 Bread -1.513 1.380 0.662 0 0 0 51 24 Pot -0.125 1.332 -2.973 0 0 0 59 25 Knife 0.766 1.352 -3.164 0 180 0 51 26 Bowl -1.380 1.321 -2.760 0 0 0 51 27 Potato -1.634 0.319 2.151 0 270 0 66 28 SoapBottle 0.824 0.345 -1.854 0 180 0 50 29 Fork -2.004 1.337 -1.255 0 180 0 58 30 Cup 0.824 0.342 -2.267 0 180 0 50 31 Kettle -1.920 1.324 0.770 0 0 0 51 32 Egg -2.049 1.363 1.744 0 0 0 51 33 Pan -1.881 0.327 -2.035 0 0 0 47 34 SaltShaker -1.614 0.338 0.613 0 0 0 49 35 WineBottle -1.682 0.344 1.110 0 0 0 52 36 Lettuce 1.155 1.399 -2.053 0 0 0 51 37 Spatula -2.179 1.337 1.744 0 90 0 51 38 PaperTowelRoll -1.327 1.427 -0.098 0 0 0 51 39 Tomato 0.920 1.558 1.724 0 270 0 64 40 Plate -1.749 0.344 0.311 0 0 0 49 41 PepperShaker 0.206 1.318 -2.678 0 0 0 51 42 DishSponge -2.179 1.322 -3.241 0 0 0 51 43 Spoon -2.179 1.324 -2.721 0 0 0 51 44 Apple -2.093 1.383 -1.117 0 0 0 58 45 Mug 1.115 1.305 0.913 0 180 0 76 46 StoveBurner -0.239 1.325 -3.301 0 180 0 47 Cabinet -1.461 0.775 -2.002 0 0 0 48 StoveBurner -0.630 1.325 -3.301 0 180 0 49 Cabinet -1.461 0.775 0.470 0 0 0 50 Cabinet 0.578 0.776 -2.054 0 0 0 51 CounterTop -1.809 1.358 1.182 0 0 0 52 Cabinet -1.461 0.775 1.310 0 0 0 53 Faucet -2.063 1.362 -0.726 0 39.391 0 54 StoveBurner -0.749 1.325 -2.973 0 0 0 55 Drawer -1.610 0.681 -0.430 0 0 0 56 Window -2.566 1.799 -0.822 270 0 0 57 Drawer -1.610 0.681 -1.217 0 0 0 58 Sink -1.990 1.143 -0.975 0 0 0 59 StoveBurner -0.125 1.325 -2.973 0 0 0 60 StoveKnob -0.185 1.338 -2.741 0 270 180 61 StoveKnob -0.336 1.338 -2.741 0 270 180 62 StoveKnob -0.569 1.338 -2.741 0 270 180 63 StoveKnob -0.707 1.338 -2.741 0 270 180 64 Fridge 1.013 0.227 1.917 0 270 0 65 Microwave 0.994 1.310 -2.163 0 270 0 66 GarbageCan -1.633 0.212 2.192 0 270 0 67 LightSwitch 1.386 1.565 -0.657 0 270 0 68 HousePlant -2.027 1.311 -0.026 0 284.058 0 69 SinkBasin -1.835 1.039 -0.542 0 0 0 70 ButterKnife 0.873 0.468 0.651 0 0 0 71 Toaster -1.885 1.310 -2.512 0 90 0 72 CoffeeMachine 1.129 1.310 -1.426 0 270 0 73 Drawer 0.647 1.061 0.680 0 270 0 74 Drawer 0.648 1.061 1.020 0 270 0 75 Drawer 0.648 0.843 1.020 0 270 0 76 SideTable 0.975 0.220 0.869 0 270 0 77 Drawer 0.648 0.602 0.680 0 270 0 78 Drawer 0.648 0.596 1.020 0 270 0 79 Drawer 0.648 0.843 0.680 0 270 0 80 Stool 0.606 0.222 -1.084 1.233 280.489 0 81 NorthWall 82 EastWall 83 SouthWall 84 WestWall
[ "STEP 1: Turn left and walk to the stove then turn left and walk to the counter. | STEP 2: Pick up the apple to your right. | STEP 3: Turn left and walk until you're even with the microwave on your right then turn right to face it. | STEP 4: Warm the apple in the microwave and then get it back out and close the door. | STEP 5: Take a small step to your left. | STEP 6: Put the apple on the bottom left corner of the surface of the microwave stand. | END" ]
[ [ "STEP 1: Turn left and walk to the stove then turn left and walk to the counter. ", " STEP 2: Pick up the apple to your right. ", " STEP 3: Turn left and walk until you're even with the microwave on your right then turn right to face it. ", " STEP 4: Warm the apple in the microwave and then get it back out and close the door. ", " STEP 5: Take a small step to your left. ", " STEP 6: Put the apple on the bottom left corner of the surface of the microwave stand. ", " END" ] ]
seen
trial_T20190907_164114_064314-2
Put a warmed apple in front of the microwave.
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Spatula", " -2.004", " 1.343", " -1.117", " 0", " 180", " 0", " 58" ], [ "12", " Pot", " -0.749", " 1.332", " -2.973", " 0", " 0", " 0", " 54" ], [ "13", " Egg", " -1.681", " 0.321", " 2.275", " 0", " 270", " 0", " 66" ], [ "14", " Egg", " 1.017", " 1.715", " 1.663", " 0", " 270", " 0", " 64" ], [ "15", " Cup", " 1.276", " 1.205", " 1.238", " 0", " 0", " 0", " 76" ], [ "16", " SoapBottle", " -1.363", " 1.323", " -0.332", " 0", " 0", " 0", " 51" ], [ "17", " Bowl", " 0.492", " 1.321", " -2.900", " 0", " 0", " 0", " 51" ], [ "18", " PepperShaker", " -2.179", " 1.318", " -1.941", " 0", " 0", " 0", " 51" ], [ "19", " PepperShaker", " -1.727", " 0.338", " -2.162", " 0", " 0", " 0", " 47" ], [ "20", " Bread", " 0.896", " 1.397", " -2.424", " 0", " 0", " 0", " 51" ], [ "21", " Lettuce", " -1.660", " 1.399", " 1.419", " 0", " 0", " 0", " 51" ], [ "22", " Apple", " 0.766", " 1.371", " -2.794", " 0", " 0", " 0", " 51" ], [ "23", " Bread", " -1.513", " 1.380", " 0.662", " 0", " 0", " 0", " 51" ], [ "24", " Pot", " -0.125", " 1.332", " -2.973", " 0", " 0", " 0", " 59" ], [ "25", " Knife", " 0.766", " 1.352", " -3.164", " 0", " 180", " 0", " 51" ], [ "26", " Bowl", " -1.380", " 1.321", " -2.760", " 0", " 0", " 0", " 51" ], [ "27", " Potato", " -1.634", " 0.319", " 2.151", " 0", " 270", " 0", " 66" ], [ "28", " SoapBottle", " 0.824", " 0.345", " -1.854", " 0", " 180", " 0", " 50" ], [ "29", " Fork", " -2.004", " 1.337", " -1.255", " 0", " 180", " 0", " 58" ], [ "30", " Cup", " 0.824", " 0.342", " -2.267", " 0", " 180", " 0", " 50" ], [ "31", " Kettle", " -1.920", " 1.324", " 0.770", " 0", " 0", " 0", " 51" ], [ "32", " Egg", " -2.049", " 1.363", " 1.744", " 0", " 0", " 0", " 51" ], [ "33", " Pan", " -1.881", " 0.327", " -2.035", " 0", " 0", " 0", " 47" ], [ "34", " SaltShaker", " -1.614", " 0.338", " 0.613", " 0", " 0", " 0", " 49" ], [ "35", " WineBottle", " -1.682", " 0.344", " 1.110", " 0", " 0", " 0", " 52" ], [ "36", " Lettuce", " 1.155", " 1.399", " -2.053", " 0", " 0", " 0", " 51" ], [ "37", " Spatula", " -2.179", " 1.337", " 1.744", " 0", " 90", " 0", " 51" ], [ "38", " PaperTowelRoll", " -1.327", " 1.427", " -0.098", " 0", " 0", " 0", " 51" ], [ "39", " Tomato", " 0.920", " 1.558", " 1.724", " 0", " 270", " 0", " 64" ], [ "40", " Plate", " -1.749", " 0.344", " 0.311", " 0", " 0", " 0", " 49" ], [ "41", " PepperShaker", " 0.206", " 1.318", " -2.678", " 0", " 0", " 0", " 51" ], [ "42", " DishSponge", " -2.179", " 1.322", " -3.241", " 0", " 0", " 0", " 51" ], [ "43", " Spoon", " -2.179", " 1.324", " -2.721", " 0", " 0", " 0", " 51" ], [ "44", " Apple", " -2.093", " 1.383", " -1.117", " 0", " 0", " 0", " 58" ], [ "45", " Mug", " 1.115", " 1.305", " 0.913", " 0", " 180", " 0", " 76" ], [ "46", " StoveBurner", " -0.239", " 1.325", " -3.301", " 0", " 180", " 0", "" ], [ "47", " Cabinet", " -1.461", " 0.775", " -2.002", " 0", " 0", " 0", "" ], [ "48", " StoveBurner", " -0.630", " 1.325", " -3.301", " 0", " 180", " 0", "" ], [ "49", " Cabinet", " -1.461", " 0.775", " 0.470", " 0", " 0", " 0", "" ], [ "50", " Cabinet", " 0.578", " 0.776", " -2.054", " 0", " 0", " 0", "" ], [ "51", " CounterTop", " -1.809", " 1.358", " 1.182", " 0", " 0", " 0", "" ], [ "52", " Cabinet", " -1.461", " 0.775", " 1.310", " 0", " 0", " 0", "" ], [ "53", " Faucet", " -2.063", " 1.362", " -0.726", " 0", " 39.391", " 0", "" ], [ "54", " StoveBurner", " -0.749", " 1.325", " -2.973", " 0", " 0", " 0", "" ], [ "55", " Drawer", " -1.610", " 0.681", " -0.430", " 0", " 0", " 0", "" ], [ "56", " Window", " -2.566", " 1.799", " -0.822", " 270", " 0", " 0", "" ], [ "57", " Drawer", " -1.610", " 0.681", " -1.217", " 0", " 0", " 0", "" ], [ "58", " Sink", " -1.990", " 1.143", " -0.975", " 0", " 0", " 0", "" ], [ "59", " StoveBurner", " -0.125", " 1.325", " -2.973", " 0", " 0", " 0", "" ], [ "60", " StoveKnob", " -0.185", " 1.338", " -2.741", " 0", " 270", " 180", "" ], [ "61", " StoveKnob", " -0.336", " 1.338", " -2.741", " 0", " 270", " 180", "" ], [ "62", " StoveKnob", " -0.569", " 1.338", " -2.741", " 0", " 270", " 180", "" ], [ "63", " StoveKnob", " -0.707", " 1.338", " -2.741", " 0", " 270", " 180", "" ], [ "64", " Fridge", " 1.013", " 0.227", " 1.917", " 0", " 270", " 0", "" ], [ "65", " Microwave", " 0.994", " 1.310", " -2.163", " 0", " 270", " 0", "" ], [ "66", " GarbageCan", " -1.633", " 0.212", " 2.192", " 0", " 270", " 0", "" ], [ "67", " LightSwitch", " 1.386", " 1.565", " -0.657", " 0", " 270", " 0", "" ], [ "68", " HousePlant", " -2.027", " 1.311", " -0.026", " 0", " 284.058", " 0", "" ], [ "69", " SinkBasin", " -1.835", " 1.039", " -0.542", " 0", " 0", " 0", "" ], [ "70", " ButterKnife", " 0.873", " 0.468", " 0.651", " 0", " 0", " 0", "" ], [ "71", " Toaster", " -1.885", " 1.310", " -2.512", " 0", " 90", " 0", "" ], [ "72", " CoffeeMachine", " 1.129", " 1.310", " -1.426", " 0", " 270", " 0", "" ], [ "73", " Drawer", " 0.647", " 1.061", " 0.680", " 0", " 270", " 0", "" ], [ "74", " Drawer", " 0.648", " 1.061", " 1.020", " 0", " 270", " 0", "" ], [ "75", " Drawer", " 0.648", " 0.843", " 1.020", " 0", " 270", " 0", "" ], [ "76", " SideTable", " 0.975", " 0.220", " 0.869", " 0", " 270", " 0", "" ], [ "77", " Drawer", " 0.648", " 0.602", " 0.680", " 0", " 270", " 0", "" ], [ "78", " Drawer", " 0.648", " 0.596", " 1.020", " 0", " 270", " 0", "" ], [ "79", " Drawer", " 0.648", " 0.843", " 0.680", " 0", " 270", " 0", "" ], [ "80", " Stool", " 0.606", " 0.222", " -1.084", " 1.233", " 280.489", " 0", "" ], [ "81", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "82", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "83", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "84", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -0.75 1.124 0.75 0 270 0 1 Pan 0.636 1.322 -3.164 0 0 0 51 2 Pan -1.237 1.322 -2.981 0 0 0 51 3 Potato -1.165 1.362 -3.425 0 0 0 51 4 DishSponge -1.698 1.050 -0.542 0 0 0 69 5 DishSponge 0.747 0.344 -1.751 0 180 0 50 6 WineBottle -1.602 0.344 -2.362 0 0 0 47 7 WineBottle -1.818 0.344 1.317 0 0 0 52 8 Kettle -0.630 1.331 -3.301 0 180 0 48 9 Fork -1.915 1.336 -0.911 0 0 0 58 10 Spoon -1.237 1.324 -2.870 0 0 0 51 11 Spatula -2.004 1.343 -1.117 0 180 0 58 12 Pot -0.749 1.332 -2.973 0 0 0 54 13 Egg -1.681 0.321 2.275 0 270 0 66 14 Egg 1.017 1.715 1.663 0 270 0 64 15 Cup 1.276 1.205 1.238 0 0 0 76 16 SoapBottle -1.363 1.323 -0.332 0 0 0 51 17 Bowl 0.492 1.321 -2.900 0 0 0 51 18 PepperShaker -2.179 1.318 -1.941 0 0 0 51 19 PepperShaker -1.727 0.338 -2.162 0 0 0 47 20 Bread 0.896 1.397 -2.424 0 0 0 51 21 Lettuce -1.660 1.399 1.419 0 0 0 51 22 Apple 0.766 1.371 -2.794 0 0 0 51 23 Bread -1.513 1.380 0.662 0 0 0 51 24 Pot -0.125 1.332 -2.973 0 0 0 59 25 Knife 0.766 1.352 -3.164 0 180 0 51 26 Bowl -1.380 1.321 -2.760 0 0 0 51 27 Potato -1.634 0.319 2.151 0 270 0 66 28 SoapBottle 0.824 0.345 -1.854 0 180 0 50 29 Fork -2.004 1.337 -1.255 0 180 0 58 30 Cup 0.824 0.342 -2.267 0 180 0 50 31 Kettle -1.920 1.324 0.770 0 0 0 51 32 Egg -2.049 1.363 1.744 0 0 0 51 33 Pan -1.881 0.327 -2.035 0 0 0 47 34 SaltShaker -1.614 0.338 0.613 0 0 0 49 35 WineBottle -1.682 0.344 1.110 0 0 0 52 36 Lettuce 1.155 1.399 -2.053 0 0 0 51 37 Spatula -2.179 1.337 1.744 0 90 0 51 38 PaperTowelRoll -1.327 1.427 -0.098 0 0 0 51 39 Tomato 0.920 1.558 1.724 0 270 0 64 40 Plate -1.749 0.344 0.311 0 0 0 49 41 PepperShaker 0.206 1.318 -2.678 0 0 0 51 42 DishSponge -2.179 1.322 -3.241 0 0 0 51 43 Spoon -2.179 1.324 -2.721 0 0 0 51 44 Apple -2.093 1.383 -1.117 0 0 0 58 45 Mug 1.115 1.305 0.913 0 180 0 76 46 StoveBurner -0.239 1.325 -3.301 0 180 0 47 Cabinet -1.461 0.775 -2.002 0 0 0 48 StoveBurner -0.630 1.325 -3.301 0 180 0 49 Cabinet -1.461 0.775 0.470 0 0 0 50 Cabinet 0.578 0.776 -2.054 0 0 0 51 CounterTop -1.809 1.358 1.182 0 0 0 52 Cabinet -1.461 0.775 1.310 0 0 0 53 Faucet -2.063 1.362 -0.726 0 39.391 0 54 StoveBurner -0.749 1.325 -2.973 0 0 0 55 Drawer -1.610 0.681 -0.430 0 0 0 56 Window -2.566 1.799 -0.822 270 0 0 57 Drawer -1.610 0.681 -1.217 0 0 0 58 Sink -1.990 1.143 -0.975 0 0 0 59 StoveBurner -0.125 1.325 -2.973 0 0 0 60 StoveKnob -0.185 1.338 -2.741 0 270 180 61 StoveKnob -0.336 1.338 -2.741 0 270 180 62 StoveKnob -0.569 1.338 -2.741 0 270 180 63 StoveKnob -0.707 1.338 -2.741 0 270 180 64 Fridge 1.013 0.227 1.917 0 270 0 65 Microwave 0.994 1.310 -2.163 0 270 0 66 GarbageCan -1.633 0.212 2.192 0 270 0 67 LightSwitch 1.386 1.565 -0.657 0 270 0 68 HousePlant -2.027 1.311 -0.026 0 284.058 0 69 SinkBasin -1.835 1.039 -0.542 0 0 0 70 ButterKnife 0.873 0.468 0.651 0 0 0 71 Toaster -1.885 1.310 -2.512 0 90 0 72 CoffeeMachine 1.129 1.310 -1.426 0 270 0 73 Drawer 0.647 1.061 0.680 0 270 0 74 Drawer 0.648 1.061 1.020 0 270 0 75 Drawer 0.648 0.843 1.020 0 270 0 76 SideTable 0.975 0.220 0.869 0 270 0 77 Drawer 0.648 0.602 0.680 0 270 0 78 Drawer 0.648 0.596 1.020 0 270 0 79 Drawer 0.648 0.843 0.680 0 270 0 80 Stool 0.606 0.222 -1.084 1.233 280.489 0 81 NorthWall 82 EastWall 83 SouthWall 84 WestWall
[ "STEP 1: Go left and then left again to face the bread on the counter. | STEP 2: Pick the apple to the right of the counter up from the counter. | STEP 3: Go to the left and turn left to face the microwave. | STEP 4: Put the apple in the microwave and turn it on, then off and take the apple out and shut the door. | STEP 5: Move to the left of the microwave cart. | STEP 6: Set the apple down in front of the microwave. | END" ]
[ [ "STEP 1: Go left and then left again to face the bread on the counter. ", " STEP 2: Pick the apple to the right of the counter up from the counter. ", " STEP 3: Go to the left and turn left to face the microwave. ", " STEP 4: Put the apple in the microwave and turn it on, then off and take the apple out and shut the door. ", " STEP 5: Move to the left of the microwave cart. ", " STEP 6: Set the apple down in front of the microwave. ", " END" ] ]
seen
trial_T20190907_041056_308386-0
Pick up a mug from a desk and turn on the lamp
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 0.5 0.900 -1.25 0 180 0 1 CD -2.484 0.680 -3.304 0 90 0 40 2 CD 2.384 0.896 -3.044 0 0 0 38 3 CellPhone -2.575 0.680 -2.995 0 90 0 40 4 Pen 1.316 0.025 -3.407 0 270 0 29 5 Pen 2.556 0.902 -2.975 0 0 0 38 6 Pencil -2.620 0.685 -2.995 0 90 0 40 7 CreditCard -2.428 0.374 -3.207 0 270 0 41 8 KeyChain 2.732 1.228 1.283 0 270 0 45 9 KeyChain 2.792 1.249 1.708 0 90 0 34 10 Book 1.932 0.079 -3.139 0 90 0 37 11 Book -1.308 0.618 -2.261 0 0 0 25 12 CreditCard -2.620 0.680 -3.304 0 90 0 40 13 Pen 1.867 0.902 -3.044 0 0 0 38 14 Pencil -2.484 0.678 -0.436 0 90 0 47 15 TeddyBear -0.667 0.612 -1.364 0 81.467 0 25 16 Laptop -0.742 0.617 -2.061 0 0 0 25 17 AlarmClock 2.638 1.232 1.397 0 270 0 45 18 CellPhone 2.039 0.896 -3.113 0 0 0 38 19 KeyChain 2.384 0.896 -3.389 0 0 0 38 20 Pillow -2.124 0.658 -1.522 0 28.296 0 25 21 Pillow -1.308 0.680 -1.661 0 0 0 25 22 CD 1.633 0.080 -3.101 0 0 0 37 23 Mug 2.211 0.894 -3.320 0 0 0 38 24 Bowl 2.728 0.898 -3.113 0 0 0 38 25 Bed -1.613 -0.028 -1.861 0 270 0 26 DeskLamp 2.760 0.890 -3.317 0 90 0 27 DeskLamp -2.459 0.668 -0.532 0 90 0 28 LightSwitch -0.700 1.016 0.334 0 90 0 29 GarbageCan 1.343 1.087 -3.374 0 0 0 30 Mirror 0.532 1.419 2.0 0 0 0 31 Window -0.834 1.394 -3.653 90 0 0 32 Window 2.958 1.508 -1.019 90 270 0 33 Sofa 2.383 0.008 -0.288 0 270 0 34 Safe 2.721 1.228 1.784 0 270 0 35 Drawer 1.979 0.486 -2.988 0 0 0 36 Drawer 1.979 0.728 -2.988 0 0 0 37 Drawer 1.979 0.208 -2.988 0 0 0 38 Desk 2.318 -0.009 -3.214 0 0 0 39 Drawer -2.349 0.163 -3.150 0 90 0 40 SideTable -2.416 -0.001 -3.149 0 90 0 41 Drawer -2.349 0.455 -3.150 0 90 0 42 Drawer 2.641 0.172 1.511 0 270 0 43 Drawer 2.641 1.002 1.511 0 270 0 44 Drawer 2.641 0.448 1.511 0 270 0 45 Dresser 2.676 0.002 1.511 0 270 0 46 Drawer 2.641 0.725 1.511 0 270 0 47 SideTable -2.416 -0.001 -0.514 0 90 0 48 Drawer -2.349 0.163 -0.514 0 90 0 49 Drawer -2.349 0.455 -0.514 0 90 0 50 Blinds -0.800 2.087 -3.627 0 0 0 51 Blinds 2.931 2.166 -1.0 0 270 0 52 Chair 2.574 0.002 -2.881 0 175.162 0 53 NorthWall 54 EastWall 55 SouthWall 56 WestWall
[ "STEP 1: Move to the wood desk that is to the left of the silver trash can | STEP 2: Pick up the black mug on the desk | STEP 3: Turn around in a full circle until you are facing the desk again | STEP 4: Turn on the lamp | END" ]
[ [ "STEP 1: Move to the wood desk that is to the left of the silver trash can ", " STEP 2: Pick up the black mug on the desk ", " STEP 3: Turn around in a full circle until you are facing the desk again ", " STEP 4: Turn on the lamp ", " END" ] ]
seen
trial_T20190907_041056_308386-1
Examine a mug by the light of a small 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 0.900 -1.25 0 180 0 1 CD -2.484 0.680 -3.304 0 90 0 40 2 CD 2.384 0.896 -3.044 0 0 0 38 3 CellPhone -2.575 0.680 -2.995 0 90 0 40 4 Pen 1.316 0.025 -3.407 0 270 0 29 5 Pen 2.556 0.902 -2.975 0 0 0 38 6 Pencil -2.620 0.685 -2.995 0 90 0 40 7 CreditCard -2.428 0.374 -3.207 0 270 0 41 8 KeyChain 2.732 1.228 1.283 0 270 0 45 9 KeyChain 2.792 1.249 1.708 0 90 0 34 10 Book 1.932 0.079 -3.139 0 90 0 37 11 Book -1.308 0.618 -2.261 0 0 0 25 12 CreditCard -2.620 0.680 -3.304 0 90 0 40 13 Pen 1.867 0.902 -3.044 0 0 0 38 14 Pencil -2.484 0.678 -0.436 0 90 0 47 15 TeddyBear -0.667 0.612 -1.364 0 81.467 0 25 16 Laptop -0.742 0.617 -2.061 0 0 0 25 17 AlarmClock 2.638 1.232 1.397 0 270 0 45 18 CellPhone 2.039 0.896 -3.113 0 0 0 38 19 KeyChain 2.384 0.896 -3.389 0 0 0 38 20 Pillow -2.124 0.658 -1.522 0 28.296 0 25 21 Pillow -1.308 0.680 -1.661 0 0 0 25 22 CD 1.633 0.080 -3.101 0 0 0 37 23 Mug 2.211 0.894 -3.320 0 0 0 38 24 Bowl 2.728 0.898 -3.113 0 0 0 38 25 Bed -1.613 -0.028 -1.861 0 270 0 26 DeskLamp 2.760 0.890 -3.317 0 90 0 27 DeskLamp -2.459 0.668 -0.532 0 90 0 28 LightSwitch -0.700 1.016 0.334 0 90 0 29 GarbageCan 1.343 1.087 -3.374 0 0 0 30 Mirror 0.532 1.419 2.0 0 0 0 31 Window -0.834 1.394 -3.653 90 0 0 32 Window 2.958 1.508 -1.019 90 270 0 33 Sofa 2.383 0.008 -0.288 0 270 0 34 Safe 2.721 1.228 1.784 0 270 0 35 Drawer 1.979 0.486 -2.988 0 0 0 36 Drawer 1.979 0.728 -2.988 0 0 0 37 Drawer 1.979 0.208 -2.988 0 0 0 38 Desk 2.318 -0.009 -3.214 0 0 0 39 Drawer -2.349 0.163 -3.150 0 90 0 40 SideTable -2.416 -0.001 -3.149 0 90 0 41 Drawer -2.349 0.455 -3.150 0 90 0 42 Drawer 2.641 0.172 1.511 0 270 0 43 Drawer 2.641 1.002 1.511 0 270 0 44 Drawer 2.641 0.448 1.511 0 270 0 45 Dresser 2.676 0.002 1.511 0 270 0 46 Drawer 2.641 0.725 1.511 0 270 0 47 SideTable -2.416 -0.001 -0.514 0 90 0 48 Drawer -2.349 0.163 -0.514 0 90 0 49 Drawer -2.349 0.455 -0.514 0 90 0 50 Blinds -0.800 2.087 -3.627 0 0 0 51 Blinds 2.931 2.166 -1.0 0 270 0 52 Chair 2.574 0.002 -2.881 0 175.162 0 53 NorthWall 54 EastWall 55 SouthWall 56 WestWall
[ "STEP 1: Turn left, cross the room towards the wall and hang a right at the end of the couch to reach the large desk. | STEP 2: Pick up the black mug to the right of the keys on top of the desk. | STEP 3: Turn around to face the couch, hang a left until you reach the wall and turn right to face the large desk. | STEP 4: Turn on the small lamp in the back left corner on top of the desk. | END" ]
[ [ "STEP 1: Turn left, cross the room towards the wall and hang a right at the end of the couch to reach the large desk. ", " STEP 2: Pick up the black mug to the right of the keys on top of the desk. ", " STEP 3: Turn around to face the couch, hang a left until you reach the wall and turn right to face the large desk. ", " STEP 4: Turn on the small lamp in the back left corner on top of the desk. ", " END" ] ]
seen
trial_T20190907_041056_308386-2
Look at the mug in the lamp light.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 0.5 0.900 -1.25 0 180 0 1 CD -2.484 0.680 -3.304 0 90 0 40 2 CD 2.384 0.896 -3.044 0 0 0 38 3 CellPhone -2.575 0.680 -2.995 0 90 0 40 4 Pen 1.316 0.025 -3.407 0 270 0 29 5 Pen 2.556 0.902 -2.975 0 0 0 38 6 Pencil -2.620 0.685 -2.995 0 90 0 40 7 CreditCard -2.428 0.374 -3.207 0 270 0 41 8 KeyChain 2.732 1.228 1.283 0 270 0 45 9 KeyChain 2.792 1.249 1.708 0 90 0 34 10 Book 1.932 0.079 -3.139 0 90 0 37 11 Book -1.308 0.618 -2.261 0 0 0 25 12 CreditCard -2.620 0.680 -3.304 0 90 0 40 13 Pen 1.867 0.902 -3.044 0 0 0 38 14 Pencil -2.484 0.678 -0.436 0 90 0 47 15 TeddyBear -0.667 0.612 -1.364 0 81.467 0 25 16 Laptop -0.742 0.617 -2.061 0 0 0 25 17 AlarmClock 2.638 1.232 1.397 0 270 0 45 18 CellPhone 2.039 0.896 -3.113 0 0 0 38 19 KeyChain 2.384 0.896 -3.389 0 0 0 38 20 Pillow -2.124 0.658 -1.522 0 28.296 0 25 21 Pillow -1.308 0.680 -1.661 0 0 0 25 22 CD 1.633 0.080 -3.101 0 0 0 37 23 Mug 2.211 0.894 -3.320 0 0 0 38 24 Bowl 2.728 0.898 -3.113 0 0 0 38 25 Bed -1.613 -0.028 -1.861 0 270 0 26 DeskLamp 2.760 0.890 -3.317 0 90 0 27 DeskLamp -2.459 0.668 -0.532 0 90 0 28 LightSwitch -0.700 1.016 0.334 0 90 0 29 GarbageCan 1.343 1.087 -3.374 0 0 0 30 Mirror 0.532 1.419 2.0 0 0 0 31 Window -0.834 1.394 -3.653 90 0 0 32 Window 2.958 1.508 -1.019 90 270 0 33 Sofa 2.383 0.008 -0.288 0 270 0 34 Safe 2.721 1.228 1.784 0 270 0 35 Drawer 1.979 0.486 -2.988 0 0 0 36 Drawer 1.979 0.728 -2.988 0 0 0 37 Drawer 1.979 0.208 -2.988 0 0 0 38 Desk 2.318 -0.009 -3.214 0 0 0 39 Drawer -2.349 0.163 -3.150 0 90 0 40 SideTable -2.416 -0.001 -3.149 0 90 0 41 Drawer -2.349 0.455 -3.150 0 90 0 42 Drawer 2.641 0.172 1.511 0 270 0 43 Drawer 2.641 1.002 1.511 0 270 0 44 Drawer 2.641 0.448 1.511 0 270 0 45 Dresser 2.676 0.002 1.511 0 270 0 46 Drawer 2.641 0.725 1.511 0 270 0 47 SideTable -2.416 -0.001 -0.514 0 90 0 48 Drawer -2.349 0.163 -0.514 0 90 0 49 Drawer -2.349 0.455 -0.514 0 90 0 50 Blinds -0.800 2.087 -3.627 0 0 0 51 Blinds 2.931 2.166 -1.0 0 270 0 52 Chair 2.574 0.002 -2.881 0 175.162 0 53 NorthWall 54 EastWall 55 SouthWall 56 WestWall
[ "STEP 1: Turn left and go to the desk. | STEP 2: Pick up the mug. | STEP 3: Move to the left slightly. | STEP 4: Turn on the lamp. | END" ]
[ [ "STEP 1: Turn left and go to the desk. ", " STEP 2: Pick up the mug. ", " STEP 3: Move to the left slightly. ", " STEP 4: Turn on the lamp. ", " END" ] ]
seen
trial_T20190910_183541_490131-0
Move keys from a side table to a dresser.
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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 0.901 0.5 0 180 0 1 CD -0.488 0.605 -1.600 0 270 0 33 2 Pen 0.305 0.611 -1.544 0 270 0 39 3 Pen -0.207 0.805 -1.768 0 270 0 38 4 CreditCard 0.402 0.970 -1.484 0 270 0 34 5 CreditCard -0.303 0.605 -1.544 0 270 0 38 6 Book 1.145 0.417 -0.413 0 0 0 44 7 AlarmClock 0.402 0.971 -1.631 0 270 0 34 8 Box -1.751 0.252 1.499 0 340.773 0 Floor|+00.00| 9 Book 0.649 0.417 -0.247 0 0 0 44 10 Cloth -1.146 0.000 -2.123 0 0 0 Floor|+00.00| 11 CellPhone -0.200 0.974 -1.705 0 270 0 34 12 Pencil 2.259 0.574 1.171 30.734 355.267 177.238 32 13 AlarmClock 2.153 0.565 1.208 0 214.958 0 32 14 TeddyBear -2.236 0.000 1.457 0 319.128 0 Floor|+00.00| 15 CreditCard 0.201 0.970 -1.631 0 270 0 34 16 KeyChain 2.114 0.573 1.348 0 90 0 32 17 Pillow 2.11 0.422 0.331 0 270 0 44 18 Pillow 2.15 0.433 -0.241 0 282.078 0 44 19 Laptop 1.640 0.413 0.252 0 0 0 44 20 Bowl -0.401 0.973 -1.778 0 270 0 34 21 Cloth -1.288 0.000 -1.936 0 357.341 356.936 Floor|+00.00| 22 CD 1.696 0.040 -1.971 0 88.075 0 47 23 Pen -2.194 0.060 -1.785 0 77.664 0 25 24 DeskLamp 2.302 0.561 1.435 0 315 0 25 GarbageCan -2.208 -0.023 -1.742 0 77.663 0 26 Poster 2.439 1.508 0.014 90 270 0 27 LightSwitch -2.457 1.274 -0.096 0 90 0 28 Mirror 2.454 1.322 -1.414 0 90 0 29 Window -1.440 1.815 -2.354 90 0 0 30 Window 1.401 1.815 -2.354 90 0 0 31 Drawer 2.251 0.468 1.333 0 270 0 32 SideTable 2.243 -0.001 1.331 0 270 0 33 Drawer -0.385 0.681 -1.631 0 0 0 34 Dresser 0.011 0.001 -1.676 0 0 0 35 Drawer -0.385 0.105 -1.631 0 0 0 36 Drawer 0.408 0.868 -1.632 0 0 0 37 Drawer -0.385 0.487 -1.631 0 0 0 38 Drawer -0.385 0.868 -1.632 0 0 0 39 Drawer 0.408 0.681 -1.631 0 0 0 40 Drawer 0.408 0.105 -1.631 0 0 0 41 Drawer 0.408 0.292 -1.631 0 0 0 42 Drawer -0.385 0.292 -1.631 0 0 0 43 Drawer 0.408 0.487 -1.631 0 0 0 44 Bed 1.377 0.004 0.072 0 90 0 45 Blinds 1.422 3.115 -2.339 0 0 0 46 Blinds -1.422 3.115 -2.339 0 0 0 47 Safe 1.640 0.000 -2.040 0 355.244 0 48 LaundryHamper -1.564 0.001 -1.927 0 45 0 49 NorthWall 50 EastWall 51 SouthWall 52 WestWall
[ "STEP 1: Turn around completely and walk forward to the side table. | STEP 2: Pick up the keys off the table. | STEP 3: Turn around completely and move forward. Make a left at the bed and go forward to the dresser. | STEP 4: Place the keys on top of the dresser. | END" ]
[ [ "STEP 1: Turn around completely and walk forward to the side table. ", " STEP 2: Pick up the keys off the table. ", " STEP 3: Turn around completely and move forward. Make a left at the bed and go forward to the dresser. ", " STEP 4: Place the keys on top of the dresser. ", " END" ] ]
seen
trial_T20190910_183541_490131-1
Bring the keys to the dresser from the nightstand
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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 0.901 0.5 0 180 0 1 CD -0.488 0.605 -1.600 0 270 0 33 2 Pen 0.305 0.611 -1.544 0 270 0 39 3 Pen -0.207 0.805 -1.768 0 270 0 38 4 CreditCard 0.402 0.970 -1.484 0 270 0 34 5 CreditCard -0.303 0.605 -1.544 0 270 0 38 6 Book 1.145 0.417 -0.413 0 0 0 44 7 AlarmClock 0.402 0.971 -1.631 0 270 0 34 8 Box -1.751 0.252 1.499 0 340.773 0 Floor|+00.00| 9 Book 0.649 0.417 -0.247 0 0 0 44 10 Cloth -1.146 0.000 -2.123 0 0 0 Floor|+00.00| 11 CellPhone -0.200 0.974 -1.705 0 270 0 34 12 Pencil 2.259 0.574 1.171 30.734 355.267 177.238 32 13 AlarmClock 2.153 0.565 1.208 0 214.958 0 32 14 TeddyBear -2.236 0.000 1.457 0 319.128 0 Floor|+00.00| 15 CreditCard 0.201 0.970 -1.631 0 270 0 34 16 KeyChain 2.114 0.573 1.348 0 90 0 32 17 Pillow 2.11 0.422 0.331 0 270 0 44 18 Pillow 2.15 0.433 -0.241 0 282.078 0 44 19 Laptop 1.640 0.413 0.252 0 0 0 44 20 Bowl -0.401 0.973 -1.778 0 270 0 34 21 Cloth -1.288 0.000 -1.936 0 357.341 356.936 Floor|+00.00| 22 CD 1.696 0.040 -1.971 0 88.075 0 47 23 Pen -2.194 0.060 -1.785 0 77.664 0 25 24 DeskLamp 2.302 0.561 1.435 0 315 0 25 GarbageCan -2.208 -0.023 -1.742 0 77.663 0 26 Poster 2.439 1.508 0.014 90 270 0 27 LightSwitch -2.457 1.274 -0.096 0 90 0 28 Mirror 2.454 1.322 -1.414 0 90 0 29 Window -1.440 1.815 -2.354 90 0 0 30 Window 1.401 1.815 -2.354 90 0 0 31 Drawer 2.251 0.468 1.333 0 270 0 32 SideTable 2.243 -0.001 1.331 0 270 0 33 Drawer -0.385 0.681 -1.631 0 0 0 34 Dresser 0.011 0.001 -1.676 0 0 0 35 Drawer -0.385 0.105 -1.631 0 0 0 36 Drawer 0.408 0.868 -1.632 0 0 0 37 Drawer -0.385 0.487 -1.631 0 0 0 38 Drawer -0.385 0.868 -1.632 0 0 0 39 Drawer 0.408 0.681 -1.631 0 0 0 40 Drawer 0.408 0.105 -1.631 0 0 0 41 Drawer 0.408 0.292 -1.631 0 0 0 42 Drawer -0.385 0.292 -1.631 0 0 0 43 Drawer 0.408 0.487 -1.631 0 0 0 44 Bed 1.377 0.004 0.072 0 90 0 45 Blinds 1.422 3.115 -2.339 0 0 0 46 Blinds -1.422 3.115 -2.339 0 0 0 47 Safe 1.640 0.000 -2.040 0 355.244 0 48 LaundryHamper -1.564 0.001 -1.927 0 45 0 49 NorthWall 50 EastWall 51 SouthWall 52 WestWall
[ "STEP 1: Turn left, go forward a bit, turn left, go to the wall, turn right and go to the nightstand | STEP 2: Pick up the keys on the nightstand | STEP 3: Turn around, go forward, turn left at the end of the bed, go forward, turn right at the end of the bed, go forward a bit and turn right in front of the dresser | STEP 4: Put the keys on the dresser | END" ]
[ [ "STEP 1: Turn left, go forward a bit, turn left, go to the wall, turn right and go to the nightstand ", " STEP 2: Pick up the keys on the nightstand ", " STEP 3: Turn around, go forward, turn left at the end of the bed, go forward, turn right at the end of the bed, go forward a bit and turn right in front of the dresser ", " STEP 4: Put the keys on the dresser ", " END" ] ]
seen
trial_T20190910_183541_490131-2
Place some keys on top of 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 -2.25 0.901 0.5 0 180 0 1 CD -0.488 0.605 -1.600 0 270 0 33 2 Pen 0.305 0.611 -1.544 0 270 0 39 3 Pen -0.207 0.805 -1.768 0 270 0 38 4 CreditCard 0.402 0.970 -1.484 0 270 0 34 5 CreditCard -0.303 0.605 -1.544 0 270 0 38 6 Book 1.145 0.417 -0.413 0 0 0 44 7 AlarmClock 0.402 0.971 -1.631 0 270 0 34 8 Box -1.751 0.252 1.499 0 340.773 0 Floor|+00.00| 9 Book 0.649 0.417 -0.247 0 0 0 44 10 Cloth -1.146 0.000 -2.123 0 0 0 Floor|+00.00| 11 CellPhone -0.200 0.974 -1.705 0 270 0 34 12 Pencil 2.259 0.574 1.171 30.734 355.267 177.238 32 13 AlarmClock 2.153 0.565 1.208 0 214.958 0 32 14 TeddyBear -2.236 0.000 1.457 0 319.128 0 Floor|+00.00| 15 CreditCard 0.201 0.970 -1.631 0 270 0 34 16 KeyChain 2.114 0.573 1.348 0 90 0 32 17 Pillow 2.11 0.422 0.331 0 270 0 44 18 Pillow 2.15 0.433 -0.241 0 282.078 0 44 19 Laptop 1.640 0.413 0.252 0 0 0 44 20 Bowl -0.401 0.973 -1.778 0 270 0 34 21 Cloth -1.288 0.000 -1.936 0 357.341 356.936 Floor|+00.00| 22 CD 1.696 0.040 -1.971 0 88.075 0 47 23 Pen -2.194 0.060 -1.785 0 77.664 0 25 24 DeskLamp 2.302 0.561 1.435 0 315 0 25 GarbageCan -2.208 -0.023 -1.742 0 77.663 0 26 Poster 2.439 1.508 0.014 90 270 0 27 LightSwitch -2.457 1.274 -0.096 0 90 0 28 Mirror 2.454 1.322 -1.414 0 90 0 29 Window -1.440 1.815 -2.354 90 0 0 30 Window 1.401 1.815 -2.354 90 0 0 31 Drawer 2.251 0.468 1.333 0 270 0 32 SideTable 2.243 -0.001 1.331 0 270 0 33 Drawer -0.385 0.681 -1.631 0 0 0 34 Dresser 0.011 0.001 -1.676 0 0 0 35 Drawer -0.385 0.105 -1.631 0 0 0 36 Drawer 0.408 0.868 -1.632 0 0 0 37 Drawer -0.385 0.487 -1.631 0 0 0 38 Drawer -0.385 0.868 -1.632 0 0 0 39 Drawer 0.408 0.681 -1.631 0 0 0 40 Drawer 0.408 0.105 -1.631 0 0 0 41 Drawer 0.408 0.292 -1.631 0 0 0 42 Drawer -0.385 0.292 -1.631 0 0 0 43 Drawer 0.408 0.487 -1.631 0 0 0 44 Bed 1.377 0.004 0.072 0 90 0 45 Blinds 1.422 3.115 -2.339 0 0 0 46 Blinds -1.422 3.115 -2.339 0 0 0 47 Safe 1.640 0.000 -2.040 0 355.244 0 48 LaundryHamper -1.564 0.001 -1.927 0 45 0 49 NorthWall 50 EastWall 51 SouthWall 52 WestWall
[ "STEP 1: Turn left and walk forward to the nightstand next to the bed. | STEP 2: Grab the keys from the nightstand. | STEP 3: Turn around walk some steps then turn left and face the dresser. | STEP 4: Place the keys under the red credit card that is beside the clock. | END" ]
[ [ "STEP 1: Turn left and walk forward to the nightstand next to the bed. ", " STEP 2: Grab the keys from the nightstand. ", " STEP 3: Turn around walk some steps then turn left and face the dresser. ", " STEP 4: Place the keys under the red credit card that is beside the clock. ", " END" ] ]
seen
trial_T20190908_122316_002024-0
Place a rinsed sponge in a bath tub.
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[ "STEP 1: Turn around and walk straight, then right to the corner vanity. | STEP 2: Pick up the sponge on the counter. | STEP 3: Turn around and veer left to the sink. | STEP 4: Wash the sponge in the sink. | STEP 5: Turn left to the bath tub. | STEP 6: Place the sponge in the bath tub to the left of the drain. | END" ]
[ [ "STEP 1: Turn around and walk straight, then right to the corner vanity. ", " STEP 2: Pick up the sponge on the counter. ", " STEP 3: Turn around and veer left to the sink. ", " STEP 4: Wash the sponge in the sink. ", " STEP 5: Turn left to the bath tub. ", " STEP 6: Place the sponge in the bath tub to the left of the drain. ", " END" ] ]
seen
trial_T20190908_122316_002024-1
Place a rinsed sponge in a tub.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.0 0.913 0.25 0 270 0 1 Cloth -2.977 0.873 1.317 0 90 0 44 2 Cloth 0.111 0.961 -1.993 0 0 0 25 3 SoapBar -2.808 0.874 1.239 0 90 0 44 4 SprayBottle -2.808 0.240 1.629 0 90 0 44 5 SoapBottle 0.930 0.634 -2.094 0 0 0 33 6 Candle -0.048 0.962 -2.275 0 0 0 25 7 HandTowel -0.885 1.617 -2.503 0 180 0 34 8 Towel 0.465 1.21 -1.095 0 270 0 30 9 SoapBottle -2.977 0.257 1.473 0 90 0 44 10 SoapBar -2.796 0.898 0.759 0 90 0 41 11 ToiletPaper -3.090 0.240 1.707 0 90 0 44 12 Plunger 0.506 0.011 2.268 0 0 0 Floor|-00.35| 13 SprayBottle 0.073 0.962 2.277 0 270 0 39 14 TissueBox 0.270 0.963 -1.805 0 0 0 25 15 ToiletPaper -0.368 0.959 -1.993 0 0 0 25 16 ScrubBrush 0.342 0.012 2.072 0 0 0 Floor|-00.35| 17 Cloth -2.034 0.075 -1.039 0 45 0 Floor|-00.35| 18 DishSponge 0.270 0.964 -2.181 0 0 0 25 19 Footstool -0.325 0.297 -1.98 0 0 0 Floor|-00.35| 20 Bathtub -1.957 0.494 -1.233 0 0 0 21 ShowerDoor 0.650 1.413 2.169 0 0 0 22 ShowerGlass 0.0 0.0 0.0 0 0 0 23 Drawer 0.300 0.304 -1.820 0 0 0 24 Mirror -0.046 1.512 -2.538 0 0 0 25 CounterTop 0.196 0.430 -2.010 0 0 0 26 Sink -2.796 0.328 0.755 0 90 0 27 Drawer 0.300 0.833 -1.820 0 0 0 28 Drawer 0.300 0.682 -1.820 0 0 0 29 Drawer 0.300 0.492 -1.820 0 0 0 30 TowelHolder 0.572 1.195 -1.095 0 270 0 31 GarbageCan -0.564 0.010 2.061 0 195.0 0 32 ToiletPaperHanger -0.574 0.926 2.407 0 180 0 33 Shelf 1.536 0.613 -2.242 0 0 0 34 HandTowelHolder -0.884 1.718 -2.542 0 270 0 35 Window -3.170 1.812 -1.697 90 90 0 36 Window -3.170 1.812 1.597 90 90 0 37 Window -2.144 1.809 -2.573 90 0 0 38 Window -3.170 1.812 -0.054 90 90 0 39 Toilet -0.064 0.012 1.838 0 180 0 40 LightSwitch -1.406 1.472 2.407 0 180 0 41 SinkBasin -2.796 0.875 0.765 0 90 0 42 ShowerHead 1.591 1.700 -2.424 0 90 0 43 Faucet -2.676 0.423 -0.312 0 99.958 0 44 SideTable -2.847 0.013 1.509 0 90 0 45 Faucet -3.106 1.056 0.757 0 90 0 46 47 NorthWall 48 EastWall 49 SouthWall 50 WestWall
[ "STEP 1: Turn around, hang a right at the shower and walk to the vanity table ahead. | STEP 2: Pick up the green sponge behind the box of tissues on top of the vanity counter. | STEP 3: Turn around, hang a left at the shower and turn right at the wall to reach the sink. | STEP 4: Put the sponge in the sink, rinse it for a few seconds and pick it back up. | STEP 5: Turn around to face the white tub. | STEP 6: Put the rinsed sponge in the tub in front of the red towel. | END" ]
[ [ "STEP 1: Turn around, hang a right at the shower and walk to the vanity table ahead. ", " STEP 2: Pick up the green sponge behind the box of tissues on top of the vanity counter. ", " STEP 3: Turn around, hang a left at the shower and turn right at the wall to reach the sink. ", " STEP 4: Put the sponge in the sink, rinse it for a few seconds and pick it back up. ", " STEP 5: Turn around to face the white tub. ", " STEP 6: Put the rinsed sponge in the tub in front of the red towel. ", " END" ] ]
seen
trial_T20190908_122316_002024-2
Wet a sponge for use in a tub.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.0 0.913 0.25 0 270 0 1 Cloth -2.977 0.873 1.317 0 90 0 44 2 Cloth 0.111 0.961 -1.993 0 0 0 25 3 SoapBar -2.808 0.874 1.239 0 90 0 44 4 SprayBottle -2.808 0.240 1.629 0 90 0 44 5 SoapBottle 0.930 0.634 -2.094 0 0 0 33 6 Candle -0.048 0.962 -2.275 0 0 0 25 7 HandTowel -0.885 1.617 -2.503 0 180 0 34 8 Towel 0.465 1.21 -1.095 0 270 0 30 9 SoapBottle -2.977 0.257 1.473 0 90 0 44 10 SoapBar -2.796 0.898 0.759 0 90 0 41 11 ToiletPaper -3.090 0.240 1.707 0 90 0 44 12 Plunger 0.506 0.011 2.268 0 0 0 Floor|-00.35| 13 SprayBottle 0.073 0.962 2.277 0 270 0 39 14 TissueBox 0.270 0.963 -1.805 0 0 0 25 15 ToiletPaper -0.368 0.959 -1.993 0 0 0 25 16 ScrubBrush 0.342 0.012 2.072 0 0 0 Floor|-00.35| 17 Cloth -2.034 0.075 -1.039 0 45 0 Floor|-00.35| 18 DishSponge 0.270 0.964 -2.181 0 0 0 25 19 Footstool -0.325 0.297 -1.98 0 0 0 Floor|-00.35| 20 Bathtub -1.957 0.494 -1.233 0 0 0 21 ShowerDoor 0.650 1.413 2.169 0 0 0 22 ShowerGlass 0.0 0.0 0.0 0 0 0 23 Drawer 0.300 0.304 -1.820 0 0 0 24 Mirror -0.046 1.512 -2.538 0 0 0 25 CounterTop 0.196 0.430 -2.010 0 0 0 26 Sink -2.796 0.328 0.755 0 90 0 27 Drawer 0.300 0.833 -1.820 0 0 0 28 Drawer 0.300 0.682 -1.820 0 0 0 29 Drawer 0.300 0.492 -1.820 0 0 0 30 TowelHolder 0.572 1.195 -1.095 0 270 0 31 GarbageCan -0.564 0.010 2.061 0 195.0 0 32 ToiletPaperHanger -0.574 0.926 2.407 0 180 0 33 Shelf 1.536 0.613 -2.242 0 0 0 34 HandTowelHolder -0.884 1.718 -2.542 0 270 0 35 Window -3.170 1.812 -1.697 90 90 0 36 Window -3.170 1.812 1.597 90 90 0 37 Window -2.144 1.809 -2.573 90 0 0 38 Window -3.170 1.812 -0.054 90 90 0 39 Toilet -0.064 0.012 1.838 0 180 0 40 LightSwitch -1.406 1.472 2.407 0 180 0 41 SinkBasin -2.796 0.875 0.765 0 90 0 42 ShowerHead 1.591 1.700 -2.424 0 90 0 43 Faucet -2.676 0.423 -0.312 0 99.958 0 44 SideTable -2.847 0.013 1.509 0 90 0 45 Faucet -3.106 1.056 0.757 0 90 0 46 47 NorthWall 48 EastWall 49 SouthWall 50 WestWall
[ "STEP 1: Walk to the kitchen counter on your left. | STEP 2: Grab a sponge from the counter. | STEP 3: Walk to the left edge of the kitchen sink. | STEP 4: Place the sponge in the sink, wash it, then grab it. | STEP 5: Turn around to the tub behind you. | STEP 6: Put the sponge in the tub. | END" ]
[ [ "STEP 1: Walk to the kitchen counter on your left. ", " STEP 2: Grab a sponge from the counter. ", " STEP 3: Walk to the left edge of the kitchen sink. ", " STEP 4: Place the sponge in the sink, wash it, then grab it. ", " STEP 5: Turn around to the tub behind you. ", " STEP 6: Put the sponge in the tub. ", " END" ] ]
seen
trial_T20190911_012507_770604-0
place a cup with a fork in it down on the kitchen table
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" 0.755", " 6.261", " 0", " 135", " 0", " 87" ], [ "25", " Lettuce", " 1.449", " 0.932", " 2.050", " 0", " 0", " 0", " 74" ], [ "26", " SoapBottle", " 1.135", " 0.992", " 4.624", " 0", " 0", " 0", " 52" ], [ "27", " Spatula", " -0.312", " 0.775", " 6.291", " 0", " 0", " 0", " 87" ], [ "28", " PaperTowelRoll", " 1.135", " 1.096", " 4.808", " 0", " 0", " 0", " 52" ], [ "29", " Pot", " 0.734", " 0.981", " 0.38", " 0", " 0", " 0", " 51" ], [ "30", " Potato", " 0.169", " 0.794", " 6.807", " 0", " 225", " 0", " 87" ], [ "31", " ButterKnife", " -0.687", " 0.992", " 0.212", " 0", " 0", " 0", " 51" ], [ "32", " PepperShaker", " 1.358", " 2.202", " 3.654", " 0", " 0", " 0", " 55" ], [ "33", " Pan", " 1.32", " 0.988", " 3.848", " 0", " 0", " 0", " 50" ], [ "34", " Tomato", " 2.094", " 1.565", " 5.876", " 0", " 270", " 0", " 73" ], [ "35", " DishSponge", " 1.322", " 0.140", " 3.217", " 0", " 0", " 0", " 62" ], [ "36", " Cup", " 1.442", " 0.887", " 2.474", " 0", " 90", " 0", " 74" ], [ "37", " Spoon", " -0.617", " 0.772", " 0.451", " 0", " 0", " 0", " 47" ], [ "38", " Mug", " -0.384", " 0.987", " 0.212", " 0", " 0", " 0", " 51" ], [ "39", " Cabinet", " 1.307", " 2.455", " 4.360", " 0", " 0", " 0", "" ], [ "40", " Cabinet", " 1.054", " 0.422", " 1.710", " 0", " 0", " 0", "" ], [ "41", " Drawer", " 1.280", " 0.808", " 4.718", " 0", " 0", " 0", "" ], [ "42", " Cabinet", " 1.307", " 2.455", " 3.607", " 0", " 0", " 0", "" ], [ "43", " Drawer", " 0.736", " 0.802", " 0.521", " 0", " 0", " 0", "" ], [ "44", " Drawer", " 1.276", " 0.802", " 3.291", " 0", " 0", " 0", "" ], [ "45", " StoveBurner", " 1.562", " 0.982", " 3.848", " 0", " 0", " 0", "" ], [ "46", " StoveBurner", " 1.317", " 0.982", " 4.294", " 0", " 0", " 0", "" ], [ "47", " Drawer", " -0.482", " 0.802", " 0.521", " 0", " 0", " 0", "" ], [ "48", " Drawer", " 0.124", " 0.802", " 0.521", " 0", " 0", " 0", "" ], [ "49", " StoveBurner", " 1.559", " 0.982", " 4.294", " 0", " 0", " 0", "" ], [ "50", " StoveBurner", " 1.320", " 0.982", " 3.848", " 0", " 0", " 0", "" ], [ "51", " CounterTop", " 1.391", " 1.028", " 0.897", " 0", " 0", " 0", "" ], [ "52", " CounterTop", " 1.391", " 1.028", " 4.716", " 0", " 0", " 0", "" ], [ "53", " Cabinet", " 1.054", " 0.422", " 4.548", " 0", " 0", " 0", "" ], [ "54", " Cabinet", " 1.317", " 2.134", " 0.517", " 0", " 0", " 0", "" ], [ "55", " Cabinet", " 1.317", " 2.134", " 4.889", " 0", " 0", " 0", "" ], [ "56", " Cabinet", " 1.317", " 2.134", " 3.095", " 0", " 0", " 0", "" ], [ "57", " Cabinet", " 0.443", " 0.422", " 0.743", " 0", " 0", " 0", "" ], [ "58", " Cabinet", " 1.270", " 2.134", " 0.434", " 0", " 0", " 0", "" ], [ "59", " Cabinet", " -0.775", " 0.422", " 0.743", " 0", " 0", " 0", "" ], [ "60", " Cabinet", " -0.168", " 0.422", " 0.743", " 0", " 0", " 0", "" ], [ "61", " Cabinet", " 1.317", " 2.134", " 1.534", " 0", " 0", " 0", "" ], [ "62", " Cabinet", " 1.054", " 0.422", " 2.990", " 0", " 0", " 0", "" ], [ "63", " Cabinet", " 1.054", " 0.422", " 2.944", " 0", " 0", " 0", "" ], [ "64", " Cabinet", " -0.263", " 2.134", " 0.434", " 0", " 0", " 0", "" ], [ "65", " Cabinet", " 0.252", " 2.134", " 0.434", " 0", " 0", " 0", "" ], [ "66", " Sink", " 1.391", " 1.006", " 2.326", " 0", " 0", " 0", "" ], [ "67", " Microwave", " 0.108", " 0.981", " 0.262", " 0", " 0", " 0", "" ], [ "68", " HousePlant", " -0.165", " 0.826", " 6.444", " 0", " 0", " 0", "" ], [ "69", " CoffeeMachine", " 1.551", " 0.982", " 0.953", " 0", " 270", " 0", "" ], [ "70", " Toaster", " 1.473", " 0.981", " 4.715", " 0", " 270", " 0", "" ], [ "71", " Window", " -2.065", " 1.916", " 3.626", " 90", " 90", " 0", "" ], [ "72", " Window", " 1.763", " 2.007", " 2.299", " 90", " 270", " 0", "" ], [ "73", " Fridge", " 2.035", " 0.0", " 5.625", " 0", " 0", " 0", "" ], [ "74", " SinkBasin", " 1.387", " 0.880", " 2.338", " 0", " 90", " 0", "" ], [ "75", " GarbageCan", " 2.001", " -0.044", " 6.503", " 0", " 0", " 0", "" ], [ "76", " StoveKnob", " 1.140", " 0.934", " 3.987", " 45", " 270", " 0", "" ], 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83.492", "" ], [ "90", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "91", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "92", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "93", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.5 0.900 3.75 0 180 0 1 Potato 0.273 1.132 0.245 0 0 0 67 2 Potato 1.582 1.027 3.044 0 0 0 51 3 ButterKnife 0.015 0.760 6.742 0 225 0 87 4 Kettle 1.317 0.988 4.294 0 0 0 46 5 Spoon 0.600 0.773 0.507 0 0 0 43 6 Spatula 0.544 1.007 0.212 0 90 0 51 7 Egg 2.009 1.565 6.001 0 270 0 73 8 Bowl 0.622 1.578 0.295 0 0 0 65 9 Bowl -0.483 0.143 0.506 0 0 0 59 10 PepperShaker 1.314 0.987 0.213 0 0 0 51 11 SaltShaker 1.543 1.571 4.633 0 0 0 55 12 Bread 0.150 0.829 6.479 0 270 0 87 13 Lettuce -0.378 0.848 6.698 0 135 0 87 14 Apple -0.312 0.834 6.479 0 270 0 87 15 Apple 2.051 1.590 5.626 0 270 0 73 16 Bowl 1.500 1.576 1.166 0 0 0 61 17 Bread 1.099 1.048 0.434 0 0 0 51 18 Egg 1.225 1.042 3.231 0 0 0 51 19 Knife 0.668 0.802 0.507 0 180 0 43 20 Fork 0.080 0.760 6.895 0 225 0 87 21 Apple 1.314 1.067 3.511 0 0 0 51 22 Kettle 1.562 0.988 3.848 0 0 0 45 23 Plate 1.314 0.993 3.044 0 0 0 51 24 SaltShaker 0.058 0.755 6.261 0 135 0 87 25 Lettuce 1.449 0.932 2.050 0 0 0 74 26 SoapBottle 1.135 0.992 4.624 0 0 0 52 27 Spatula -0.312 0.775 6.291 0 0 0 87 28 PaperTowelRoll 1.135 1.096 4.808 0 0 0 52 29 Pot 0.734 0.981 0.38 0 0 0 51 30 Potato 0.169 0.794 6.807 0 225 0 87 31 ButterKnife -0.687 0.992 0.212 0 0 0 51 32 PepperShaker 1.358 2.202 3.654 0 0 0 55 33 Pan 1.32 0.988 3.848 0 0 0 50 34 Tomato 2.094 1.565 5.876 0 270 0 73 35 DishSponge 1.322 0.140 3.217 0 0 0 62 36 Cup 1.442 0.887 2.474 0 90 0 74 37 Spoon -0.617 0.772 0.451 0 0 0 47 38 Mug -0.384 0.987 0.212 0 0 0 51 39 Cabinet 1.307 2.455 4.360 0 0 0 40 Cabinet 1.054 0.422 1.710 0 0 0 41 Drawer 1.280 0.808 4.718 0 0 0 42 Cabinet 1.307 2.455 3.607 0 0 0 43 Drawer 0.736 0.802 0.521 0 0 0 44 Drawer 1.276 0.802 3.291 0 0 0 45 StoveBurner 1.562 0.982 3.848 0 0 0 46 StoveBurner 1.317 0.982 4.294 0 0 0 47 Drawer -0.482 0.802 0.521 0 0 0 48 Drawer 0.124 0.802 0.521 0 0 0 49 StoveBurner 1.559 0.982 4.294 0 0 0 50 StoveBurner 1.320 0.982 3.848 0 0 0 51 CounterTop 1.391 1.028 0.897 0 0 0 52 CounterTop 1.391 1.028 4.716 0 0 0 53 Cabinet 1.054 0.422 4.548 0 0 0 54 Cabinet 1.317 2.134 0.517 0 0 0 55 Cabinet 1.317 2.134 4.889 0 0 0 56 Cabinet 1.317 2.134 3.095 0 0 0 57 Cabinet 0.443 0.422 0.743 0 0 0 58 Cabinet 1.270 2.134 0.434 0 0 0 59 Cabinet -0.775 0.422 0.743 0 0 0 60 Cabinet -0.168 0.422 0.743 0 0 0 61 Cabinet 1.317 2.134 1.534 0 0 0 62 Cabinet 1.054 0.422 2.990 0 0 0 63 Cabinet 1.054 0.422 2.944 0 0 0 64 Cabinet -0.263 2.134 0.434 0 0 0 65 Cabinet 0.252 2.134 0.434 0 0 0 66 Sink 1.391 1.006 2.326 0 0 0 67 Microwave 0.108 0.981 0.262 0 0 0 68 HousePlant -0.165 0.826 6.444 0 0 0 69 CoffeeMachine 1.551 0.982 0.953 0 270 0 70 Toaster 1.473 0.981 4.715 0 270 0 71 Window -2.065 1.916 3.626 90 90 0 72 Window 1.763 2.007 2.299 90 270 0 73 Fridge 2.035 0.0 5.625 0 0 0 74 SinkBasin 1.387 0.880 2.338 0 90 0 75 GarbageCan 2.001 -0.044 6.503 0 0 0 76 StoveKnob 1.140 0.934 3.987 45 270 0 77 StoveKnob 1.140 0.934 4.309 45 270 0 78 StoveKnob 1.140 0.934 4.140 45 270 0 79 StoveKnob 1.140 0.934 3.824 45 270 0 80 Vase -0.226 0.834 6.993 0 0 0 81 Vase 2.098 0.043 7.070 0 257.232 0 82 Vase -0.594 0.835 6.130 0 225 0 83 LightSwitch -2.0 1.549 6.045 0 90 0 84 Safe 2.046 1.072 7.054 0 257.232 0 85 Faucet 1.534 1.025 2.371 0 294.391 0 86 Blinds 1.738 2.563 2.312 0 90 0 87 DiningTable -0.156 0.000 6.474 0 0 0 88 Chair 0.291 0.002 6.142 0 310.162 0 89 GarbageBag -1.092 0.318 0.268 270 90 83.492 90 NorthWall 91 EastWall 92 SouthWall 93 WestWall
[ "STEP 1: walk to the black kitchen table | STEP 2: grab a fork off of the black table | STEP 3: walk over to the microwave | STEP 4: place the fork inside a cup on the right side of the microwave | STEP 5: pick up the cup next to the microwave | STEP 6: bring the cup with the fork over black circle table | STEP 7: place the cup down on the black table | END" ]
[ [ "STEP 1: walk to the black kitchen table ", " STEP 2: grab a fork off of the black table ", " STEP 3: walk over to the microwave ", " STEP 4: place the fork inside a cup on the right side of the microwave ", " STEP 5: pick up the cup next to the microwave ", " STEP 6: bring the cup with the fork over black circle table ", " STEP 7: place the cup down on the black table ", " END" ] ]
seen
trial_T20190911_012507_770604-1
Put a coffee cup with a fork in it on the table.
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1.543", " 1.571", " 4.633", " 0", " 0", " 0", " 55" ], [ "12", " Bread", " 0.150", " 0.829", " 6.479", " 0", " 270", " 0", " 87" ], [ "13", " Lettuce", " -0.378", " 0.848", " 6.698", " 0", " 135", " 0", " 87" ], [ "14", " Apple", " -0.312", " 0.834", " 6.479", " 0", " 270", " 0", " 87" ], [ "15", " Apple", " 2.051", " 1.590", " 5.626", " 0", " 270", " 0", " 73" ], [ "16", " Bowl", " 1.500", " 1.576", " 1.166", " 0", " 0", " 0", " 61" ], [ "17", " Bread", " 1.099", " 1.048", " 0.434", " 0", " 0", " 0", " 51" ], [ "18", " Egg", " 1.225", " 1.042", " 3.231", " 0", " 0", " 0", " 51" ], [ "19", " Knife", " 0.668", " 0.802", " 0.507", " 0", " 180", " 0", " 43" ], [ "20", " Fork", " 0.080", " 0.760", " 6.895", " 0", " 225", " 0", " 87" ], [ "21", " Apple", " 1.314", " 1.067", " 3.511", " 0", " 0", " 0", " 51" ], [ "22", " Kettle", " 1.562", " 0.988", " 3.848", " 0", " 0", " 0", " 45" ], [ "23", " Plate", " 1.314", " 0.993", " 3.044", " 0", " 0", " 0", " 51" ], [ "24", " SaltShaker", " 0.058", 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Spoon", " -0.617", " 0.772", " 0.451", " 0", " 0", " 0", " 47" ], [ "38", " Mug", " -0.384", " 0.987", " 0.212", " 0", " 0", " 0", " 51" ], [ "39", " Cabinet", " 1.307", " 2.455", " 4.360", " 0", " 0", " 0", "" ], [ "40", " Cabinet", " 1.054", " 0.422", " 1.710", " 0", " 0", " 0", "" ], [ "41", " Drawer", " 1.280", " 0.808", " 4.718", " 0", " 0", " 0", "" ], [ "42", " Cabinet", " 1.307", " 2.455", " 3.607", " 0", " 0", " 0", "" ], [ "43", " Drawer", " 0.736", " 0.802", " 0.521", " 0", " 0", " 0", "" ], [ "44", " Drawer", " 1.276", " 0.802", " 3.291", " 0", " 0", " 0", "" ], [ "45", " StoveBurner", " 1.562", " 0.982", " 3.848", " 0", " 0", " 0", "" ], [ "46", " StoveBurner", " 1.317", " 0.982", " 4.294", " 0", " 0", " 0", "" ], [ "47", " Drawer", " -0.482", " 0.802", " 0.521", " 0", " 0", " 0", "" ], [ "48", " Drawer", " 0.124", " 0.802", " 0.521", " 0", " 0", " 0", "" ], [ "49", " StoveBurner", " 1.559", " 0.982", " 4.294", " 0", " 0", " 0", "" ], [ "50", " StoveBurner", " 1.320", " 0.982", " 3.848", " 0", " 0", " 0", "" ], [ "51", " CounterTop", " 1.391", " 1.028", " 0.897", " 0", " 0", " 0", "" ], [ "52", " CounterTop", " 1.391", " 1.028", " 4.716", " 0", " 0", " 0", "" ], [ "53", " Cabinet", " 1.054", " 0.422", " 4.548", " 0", " 0", " 0", "" ], [ "54", " Cabinet", " 1.317", " 2.134", " 0.517", " 0", " 0", " 0", "" ], [ "55", " Cabinet", " 1.317", " 2.134", " 4.889", " 0", " 0", " 0", "" ], [ "56", " Cabinet", " 1.317", " 2.134", " 3.095", " 0", " 0", " 0", "" ], [ "57", " Cabinet", " 0.443", " 0.422", " 0.743", " 0", " 0", " 0", "" ], [ "58", " Cabinet", " 1.270", " 2.134", " 0.434", " 0", " 0", " 0", "" ], [ "59", " Cabinet", " -0.775", " 0.422", " 0.743", " 0", " 0", " 0", "" ], [ "60", " Cabinet", " -0.168", " 0.422", " 0.743", " 0", " 0", " 0", "" ], [ "61", " Cabinet", " 1.317", " 2.134", " 1.534", " 0", " 0", " 0", "" ], [ "62", " Cabinet", " 1.054", " 0.422", " 2.990", " 0", " 0", " 0", "" ], [ "63", " Cabinet", " 1.054", " 0.422", " 2.944", " 0", " 0", " 0", "" ], [ "64", " Cabinet", " -0.263", " 2.134", " 0.434", " 0", " 0", " 0", "" ], [ "65", " Cabinet", " 0.252", " 2.134", " 0.434", " 0", " 0", " 0", "" ], [ "66", " Sink", " 1.391", " 1.006", " 2.326", " 0", " 0", " 0", "" ], [ "67", " Microwave", " 0.108", " 0.981", " 0.262", " 0", " 0", " 0", "" ], [ "68", " HousePlant", " -0.165", " 0.826", " 6.444", " 0", " 0", " 0", "" ], [ "69", " CoffeeMachine", " 1.551", " 0.982", " 0.953", " 0", " 270", " 0", "" ], [ "70", " Toaster", " 1.473", " 0.981", " 4.715", " 0", " 270", " 0", "" ], [ "71", " Window", " -2.065", " 1.916", " 3.626", " 90", " 90", " 0", "" ], [ "72", " Window", " 1.763", " 2.007", " 2.299", " 90", " 270", " 0", "" ], [ "73", " Fridge", " 2.035", " 0.0", " 5.625", " 0", " 0", " 0", "" ], [ "74", " SinkBasin", " 1.387", " 0.880", " 2.338", " 0", " 90", " 0", "" ], [ "75", " GarbageCan", " 2.001", " -0.044", " 6.503", " 0", " 0", " 0", "" ], [ "76", " StoveKnob", " 1.140", " 0.934", " 3.987", " 45", " 270", " 0", "" ], [ "77", " StoveKnob", " 1.140", " 0.934", " 4.309", " 45", " 270", " 0", "" ], [ "78", " StoveKnob", " 1.140", " 0.934", " 4.140", " 45", " 270", " 0", "" ], [ "79", " StoveKnob", " 1.140", " 0.934", " 3.824", " 45", " 270", " 0", "" ], [ "80", " Vase", " -0.226", " 0.834", " 6.993", " 0", " 0", " 0", "" ], [ "81", " Vase", " 2.098", " 0.043", " 7.070", " 0", " 257.232", " 0", "" ], [ "82", " Vase", " -0.594", " 0.835", " 6.130", " 0", " 225", " 0", "" ], [ "83", " LightSwitch", " -2.0", " 1.549", " 6.045", " 0", " 90", " 0", "" ], [ "84", " Safe", " 2.046", " 1.072", " 7.054", " 0", " 257.232", " 0", "" ], [ "85", " Faucet", " 1.534", " 1.025", " 2.371", " 0", " 294.391", " 0", "" ], [ "86", " Blinds", " 1.738", " 2.563", " 2.312", " 0", " 90", " 0", "" ], [ "87", " DiningTable", " -0.156", " 0.000", " 6.474", " 0", " 0", " 0", "" ], [ "88", " Chair", " 0.291", " 0.002", " 6.142", " 0", " 310.162", " 0", "" ], [ "89", " GarbageBag", " -1.092", " 0.318", " 0.268", " 270", " 90", " 83.492", "" ], [ "90", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "91", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "92", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "93", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.5 0.900 3.75 0 180 0 1 Potato 0.273 1.132 0.245 0 0 0 67 2 Potato 1.582 1.027 3.044 0 0 0 51 3 ButterKnife 0.015 0.760 6.742 0 225 0 87 4 Kettle 1.317 0.988 4.294 0 0 0 46 5 Spoon 0.600 0.773 0.507 0 0 0 43 6 Spatula 0.544 1.007 0.212 0 90 0 51 7 Egg 2.009 1.565 6.001 0 270 0 73 8 Bowl 0.622 1.578 0.295 0 0 0 65 9 Bowl -0.483 0.143 0.506 0 0 0 59 10 PepperShaker 1.314 0.987 0.213 0 0 0 51 11 SaltShaker 1.543 1.571 4.633 0 0 0 55 12 Bread 0.150 0.829 6.479 0 270 0 87 13 Lettuce -0.378 0.848 6.698 0 135 0 87 14 Apple -0.312 0.834 6.479 0 270 0 87 15 Apple 2.051 1.590 5.626 0 270 0 73 16 Bowl 1.500 1.576 1.166 0 0 0 61 17 Bread 1.099 1.048 0.434 0 0 0 51 18 Egg 1.225 1.042 3.231 0 0 0 51 19 Knife 0.668 0.802 0.507 0 180 0 43 20 Fork 0.080 0.760 6.895 0 225 0 87 21 Apple 1.314 1.067 3.511 0 0 0 51 22 Kettle 1.562 0.988 3.848 0 0 0 45 23 Plate 1.314 0.993 3.044 0 0 0 51 24 SaltShaker 0.058 0.755 6.261 0 135 0 87 25 Lettuce 1.449 0.932 2.050 0 0 0 74 26 SoapBottle 1.135 0.992 4.624 0 0 0 52 27 Spatula -0.312 0.775 6.291 0 0 0 87 28 PaperTowelRoll 1.135 1.096 4.808 0 0 0 52 29 Pot 0.734 0.981 0.38 0 0 0 51 30 Potato 0.169 0.794 6.807 0 225 0 87 31 ButterKnife -0.687 0.992 0.212 0 0 0 51 32 PepperShaker 1.358 2.202 3.654 0 0 0 55 33 Pan 1.32 0.988 3.848 0 0 0 50 34 Tomato 2.094 1.565 5.876 0 270 0 73 35 DishSponge 1.322 0.140 3.217 0 0 0 62 36 Cup 1.442 0.887 2.474 0 90 0 74 37 Spoon -0.617 0.772 0.451 0 0 0 47 38 Mug -0.384 0.987 0.212 0 0 0 51 39 Cabinet 1.307 2.455 4.360 0 0 0 40 Cabinet 1.054 0.422 1.710 0 0 0 41 Drawer 1.280 0.808 4.718 0 0 0 42 Cabinet 1.307 2.455 3.607 0 0 0 43 Drawer 0.736 0.802 0.521 0 0 0 44 Drawer 1.276 0.802 3.291 0 0 0 45 StoveBurner 1.562 0.982 3.848 0 0 0 46 StoveBurner 1.317 0.982 4.294 0 0 0 47 Drawer -0.482 0.802 0.521 0 0 0 48 Drawer 0.124 0.802 0.521 0 0 0 49 StoveBurner 1.559 0.982 4.294 0 0 0 50 StoveBurner 1.320 0.982 3.848 0 0 0 51 CounterTop 1.391 1.028 0.897 0 0 0 52 CounterTop 1.391 1.028 4.716 0 0 0 53 Cabinet 1.054 0.422 4.548 0 0 0 54 Cabinet 1.317 2.134 0.517 0 0 0 55 Cabinet 1.317 2.134 4.889 0 0 0 56 Cabinet 1.317 2.134 3.095 0 0 0 57 Cabinet 0.443 0.422 0.743 0 0 0 58 Cabinet 1.270 2.134 0.434 0 0 0 59 Cabinet -0.775 0.422 0.743 0 0 0 60 Cabinet -0.168 0.422 0.743 0 0 0 61 Cabinet 1.317 2.134 1.534 0 0 0 62 Cabinet 1.054 0.422 2.990 0 0 0 63 Cabinet 1.054 0.422 2.944 0 0 0 64 Cabinet -0.263 2.134 0.434 0 0 0 65 Cabinet 0.252 2.134 0.434 0 0 0 66 Sink 1.391 1.006 2.326 0 0 0 67 Microwave 0.108 0.981 0.262 0 0 0 68 HousePlant -0.165 0.826 6.444 0 0 0 69 CoffeeMachine 1.551 0.982 0.953 0 270 0 70 Toaster 1.473 0.981 4.715 0 270 0 71 Window -2.065 1.916 3.626 90 90 0 72 Window 1.763 2.007 2.299 90 270 0 73 Fridge 2.035 0.0 5.625 0 0 0 74 SinkBasin 1.387 0.880 2.338 0 90 0 75 GarbageCan 2.001 -0.044 6.503 0 0 0 76 StoveKnob 1.140 0.934 3.987 45 270 0 77 StoveKnob 1.140 0.934 4.309 45 270 0 78 StoveKnob 1.140 0.934 4.140 45 270 0 79 StoveKnob 1.140 0.934 3.824 45 270 0 80 Vase -0.226 0.834 6.993 0 0 0 81 Vase 2.098 0.043 7.070 0 257.232 0 82 Vase -0.594 0.835 6.130 0 225 0 83 LightSwitch -2.0 1.549 6.045 0 90 0 84 Safe 2.046 1.072 7.054 0 257.232 0 85 Faucet 1.534 1.025 2.371 0 294.391 0 86 Blinds 1.738 2.563 2.312 0 90 0 87 DiningTable -0.156 0.000 6.474 0 0 0 88 Chair 0.291 0.002 6.142 0 310.162 0 89 GarbageBag -1.092 0.318 0.268 270 90 83.492 90 NorthWall 91 EastWall 92 SouthWall 93 WestWall
[ "STEP 1: Look down slightly, turn to the left, walk to the stove, turn left, walk to the table, turn right, walk to the refrigerator, turn left, walk to the wall, turn left, walk closer to the table. | STEP 2: Pick up the fork next to the potato. | STEP 3: Turn around, walk towards the safe, turn right, walk towards the edge of the counter, turn right, cross half of the room, turn left, walk to the other side of the room to the white counter. | STEP 4: Place the fork in the white coffee cup on the counter. | STEP 5: Pick up the white coffee cup with the fork in it. | STEP 6: Turn left, walk to the coffee pot, turn left, walk to the end of the counter, turn right, take a step towards the refrigerator, turn left, walk to the wall, turn left, step closer to the table. | STEP 7: Place the coffee cup on the table. | END" ]
[ [ "STEP 1: Look down slightly, turn to the left, walk to the stove, turn left, walk to the table, turn right, walk to the refrigerator, turn left, walk to the wall, turn left, walk closer to the table. ", " STEP 2: Pick up the fork next to the potato. ", " STEP 3: Turn around, walk towards the safe, turn right, walk towards the edge of the counter, turn right, cross half of the room, turn left, walk to the other side of the room to the white counter. ", " STEP 4: Place the fork in the white coffee cup on the counter. ", " STEP 5: Pick up the white coffee cup with the fork in it. ", " STEP 6: Turn left, walk to the coffee pot, turn left, walk to the end of the counter, turn right, take a step towards the refrigerator, turn left, walk to the wall, turn left, step closer to the table. ", " STEP 7: Place the coffee cup on the table. ", " END" ] ]
seen
trial_T20190911_012507_770604-2
Place a white mug with a fork in it on the round black kitchen table.
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1.543", " 1.571", " 4.633", " 0", " 0", " 0", " 55" ], [ "12", " Bread", " 0.150", " 0.829", " 6.479", " 0", " 270", " 0", " 87" ], [ "13", " Lettuce", " -0.378", " 0.848", " 6.698", " 0", " 135", " 0", " 87" ], [ "14", " Apple", " -0.312", " 0.834", " 6.479", " 0", " 270", " 0", " 87" ], [ "15", " Apple", " 2.051", " 1.590", " 5.626", " 0", " 270", " 0", " 73" ], [ "16", " Bowl", " 1.500", " 1.576", " 1.166", " 0", " 0", " 0", " 61" ], [ "17", " Bread", " 1.099", " 1.048", " 0.434", " 0", " 0", " 0", " 51" ], [ "18", " Egg", " 1.225", " 1.042", " 3.231", " 0", " 0", " 0", " 51" ], [ "19", " Knife", " 0.668", " 0.802", " 0.507", " 0", " 180", " 0", " 43" ], [ "20", " Fork", " 0.080", " 0.760", " 6.895", " 0", " 225", " 0", " 87" ], [ "21", " Apple", " 1.314", " 1.067", " 3.511", " 0", " 0", " 0", " 51" ], [ "22", " Kettle", " 1.562", " 0.988", " 3.848", " 0", " 0", " 0", " 45" ], [ "23", " Plate", " 1.314", " 0.993", " 3.044", " 0", " 0", " 0", " 51" ], [ "24", " SaltShaker", " 0.058", " 0.755", " 6.261", " 0", " 135", " 0", " 87" ], [ "25", " Lettuce", " 1.449", " 0.932", " 2.050", " 0", " 0", " 0", " 74" ], [ "26", " SoapBottle", " 1.135", " 0.992", " 4.624", " 0", " 0", " 0", " 52" ], [ "27", " Spatula", " -0.312", " 0.775", " 6.291", " 0", " 0", " 0", " 87" ], [ "28", " PaperTowelRoll", " 1.135", " 1.096", " 4.808", " 0", " 0", " 0", " 52" ], [ "29", " Pot", " 0.734", " 0.981", " 0.38", " 0", " 0", " 0", " 51" ], [ "30", " Potato", " 0.169", " 0.794", " 6.807", " 0", " 225", " 0", " 87" ], [ "31", " ButterKnife", " -0.687", " 0.992", " 0.212", " 0", " 0", " 0", " 51" ], [ "32", " PepperShaker", " 1.358", " 2.202", " 3.654", " 0", " 0", " 0", " 55" ], [ "33", " Pan", " 1.32", " 0.988", " 3.848", " 0", " 0", " 0", " 50" ], [ "34", " Tomato", " 2.094", " 1.565", " 5.876", " 0", " 270", " 0", " 73" ], [ "35", " DishSponge", " 1.322", " 0.140", " 3.217", " 0", " 0", " 0", " 62" ], [ "36", " Cup", " 1.442", " 0.887", " 2.474", " 0", " 90", " 0", " 74" ], [ "37", " 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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.5 0.900 3.75 0 180 0 1 Potato 0.273 1.132 0.245 0 0 0 67 2 Potato 1.582 1.027 3.044 0 0 0 51 3 ButterKnife 0.015 0.760 6.742 0 225 0 87 4 Kettle 1.317 0.988 4.294 0 0 0 46 5 Spoon 0.600 0.773 0.507 0 0 0 43 6 Spatula 0.544 1.007 0.212 0 90 0 51 7 Egg 2.009 1.565 6.001 0 270 0 73 8 Bowl 0.622 1.578 0.295 0 0 0 65 9 Bowl -0.483 0.143 0.506 0 0 0 59 10 PepperShaker 1.314 0.987 0.213 0 0 0 51 11 SaltShaker 1.543 1.571 4.633 0 0 0 55 12 Bread 0.150 0.829 6.479 0 270 0 87 13 Lettuce -0.378 0.848 6.698 0 135 0 87 14 Apple -0.312 0.834 6.479 0 270 0 87 15 Apple 2.051 1.590 5.626 0 270 0 73 16 Bowl 1.500 1.576 1.166 0 0 0 61 17 Bread 1.099 1.048 0.434 0 0 0 51 18 Egg 1.225 1.042 3.231 0 0 0 51 19 Knife 0.668 0.802 0.507 0 180 0 43 20 Fork 0.080 0.760 6.895 0 225 0 87 21 Apple 1.314 1.067 3.511 0 0 0 51 22 Kettle 1.562 0.988 3.848 0 0 0 45 23 Plate 1.314 0.993 3.044 0 0 0 51 24 SaltShaker 0.058 0.755 6.261 0 135 0 87 25 Lettuce 1.449 0.932 2.050 0 0 0 74 26 SoapBottle 1.135 0.992 4.624 0 0 0 52 27 Spatula -0.312 0.775 6.291 0 0 0 87 28 PaperTowelRoll 1.135 1.096 4.808 0 0 0 52 29 Pot 0.734 0.981 0.38 0 0 0 51 30 Potato 0.169 0.794 6.807 0 225 0 87 31 ButterKnife -0.687 0.992 0.212 0 0 0 51 32 PepperShaker 1.358 2.202 3.654 0 0 0 55 33 Pan 1.32 0.988 3.848 0 0 0 50 34 Tomato 2.094 1.565 5.876 0 270 0 73 35 DishSponge 1.322 0.140 3.217 0 0 0 62 36 Cup 1.442 0.887 2.474 0 90 0 74 37 Spoon -0.617 0.772 0.451 0 0 0 47 38 Mug -0.384 0.987 0.212 0 0 0 51 39 Cabinet 1.307 2.455 4.360 0 0 0 40 Cabinet 1.054 0.422 1.710 0 0 0 41 Drawer 1.280 0.808 4.718 0 0 0 42 Cabinet 1.307 2.455 3.607 0 0 0 43 Drawer 0.736 0.802 0.521 0 0 0 44 Drawer 1.276 0.802 3.291 0 0 0 45 StoveBurner 1.562 0.982 3.848 0 0 0 46 StoveBurner 1.317 0.982 4.294 0 0 0 47 Drawer -0.482 0.802 0.521 0 0 0 48 Drawer 0.124 0.802 0.521 0 0 0 49 StoveBurner 1.559 0.982 4.294 0 0 0 50 StoveBurner 1.320 0.982 3.848 0 0 0 51 CounterTop 1.391 1.028 0.897 0 0 0 52 CounterTop 1.391 1.028 4.716 0 0 0 53 Cabinet 1.054 0.422 4.548 0 0 0 54 Cabinet 1.317 2.134 0.517 0 0 0 55 Cabinet 1.317 2.134 4.889 0 0 0 56 Cabinet 1.317 2.134 3.095 0 0 0 57 Cabinet 0.443 0.422 0.743 0 0 0 58 Cabinet 1.270 2.134 0.434 0 0 0 59 Cabinet -0.775 0.422 0.743 0 0 0 60 Cabinet -0.168 0.422 0.743 0 0 0 61 Cabinet 1.317 2.134 1.534 0 0 0 62 Cabinet 1.054 0.422 2.990 0 0 0 63 Cabinet 1.054 0.422 2.944 0 0 0 64 Cabinet -0.263 2.134 0.434 0 0 0 65 Cabinet 0.252 2.134 0.434 0 0 0 66 Sink 1.391 1.006 2.326 0 0 0 67 Microwave 0.108 0.981 0.262 0 0 0 68 HousePlant -0.165 0.826 6.444 0 0 0 69 CoffeeMachine 1.551 0.982 0.953 0 270 0 70 Toaster 1.473 0.981 4.715 0 270 0 71 Window -2.065 1.916 3.626 90 90 0 72 Window 1.763 2.007 2.299 90 270 0 73 Fridge 2.035 0.0 5.625 0 0 0 74 SinkBasin 1.387 0.880 2.338 0 90 0 75 GarbageCan 2.001 -0.044 6.503 0 0 0 76 StoveKnob 1.140 0.934 3.987 45 270 0 77 StoveKnob 1.140 0.934 4.309 45 270 0 78 StoveKnob 1.140 0.934 4.140 45 270 0 79 StoveKnob 1.140 0.934 3.824 45 270 0 80 Vase -0.226 0.834 6.993 0 0 0 81 Vase 2.098 0.043 7.070 0 257.232 0 82 Vase -0.594 0.835 6.130 0 225 0 83 LightSwitch -2.0 1.549 6.045 0 90 0 84 Safe 2.046 1.072 7.054 0 257.232 0 85 Faucet 1.534 1.025 2.371 0 294.391 0 86 Blinds 1.738 2.563 2.312 0 90 0 87 DiningTable -0.156 0.000 6.474 0 0 0 88 Chair 0.291 0.002 6.142 0 310.162 0 89 GarbageBag -1.092 0.318 0.268 270 90 83.492 90 NorthWall 91 EastWall 92 SouthWall 93 WestWall
[ "STEP 1: Turn left and walk across the room to the stove, then hang a left and walk over to the part of the round black table where the knife, fork, and potato are. | STEP 2: Pick up the metal knife next to the potato. | STEP 3: Turn around, take a step forward, then turn right and walk across the room to the kitchen counter where the microwave is. | STEP 4: Place the metal fork handle down into the white mug to the right of the microwave. | STEP 5: Pick up the white mug with a metal fork in it. | STEP 6: Turn left and walk towards the dishwasher, then hang a left and walk back over to the part of the black round table where you picked up the fork. | STEP 7: Place the white mug with the fork in it down on the table to the left of the potato. | END" ]
[ [ "STEP 1: Turn left and walk across the room to the stove, then hang a left and walk over to the part of the round black table where the knife, fork, and potato are. ", " STEP 2: Pick up the metal knife next to the potato. ", " STEP 3: Turn around, take a step forward, then turn right and walk across the room to the kitchen counter where the microwave is. ", " STEP 4: Place the metal fork handle down into the white mug to the right of the microwave. ", " STEP 5: Pick up the white mug with a metal fork in it. ", " STEP 6: Turn left and walk towards the dishwasher, then hang a left and walk back over to the part of the black round table where you picked up the fork. ", " STEP 7: Place the white mug with the fork in it down on the table to the left of the potato. ", " END" ] ]
seen
trial_T20190906_232820_439205-0
Place a wine glass with a knife in it on the table.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 0.75 0.901 1.0 0 270 0 1 Potato 2.071 0.978 0.361 0 90 0 60 2 Ladle 0.174 0.982 2.618 0 0 0 49 3 DishSponge -0.282 0.937 2.757 0 0 0 49 4 ButterKnife -0.349 0.782 0.713 0 0 0 76 5 ButterKnife -0.042 0.791 1.049 0 0 0 76 6 Spoon -0.138 0.747 2.061 0 90 0 48 7 Spoon -0.119 0.792 0.377 0 0 0 76 8 Fork -0.272 0.791 1.217 0 0 0 76 9 Fork -0.196 0.791 0.545 0 270 0 76 10 Plate 2.059 0.342 -0.369 0 270 0 70 11 Knife 1.884 0.771 1.922 0 90 0 64 12 Knife 0.735 0.827 2.695 0 270 0 73 13 SoapBottle 1.840 0.939 0.583 0 0 0 60 14 Bowl 2.164 0.599 -0.188 0 270 0 70 15 Lettuce 0.033 0.852 0.545 0 180 0 76 16 Apple -0.294 1.085 1.961 0 90 0 74 17 Apple 1.840 0.988 0.361 0 0 0 60 18 Egg 1.276 0.837 2.750 0 0 0 73 19 Lettuce -0.042 0.852 0.377 0 0 0 76 20 Fork 1.837 0.747 0.514 0 90 0 58 21 SoapBottle -0.196 0.791 1.049 0 0 0 76 22 Ladle -0.068 0.791 2.129 0 90 0 48 23 Ladle -0.196 0.835 1.386 0 0 0 76 24 Bread -0.200 0.824 0.827 0 0 0 76 25 SaltShaker -0.425 0.785 0.881 0 0 0 76 26 Potato 2.079 0.642 -0.369 0 270 0 70 27 Pan 2.140 0.935 1.504 0 180 0 44 28 WineBottle 2.148 0.939 0.806 0 0 0 60 29 Spatula 1.223 0.810 2.64 0 0 0 73 30 Knife 1.802 0.772 0.583 0 90 0 58 31 Tomato -0.295 0.083 -0.769 0 90 0 71 32 Apple 2.076 1.569 -0.460 0 270 0 70 33 ButterKnife -0.053 0.937 2.757 0 0 0 49 34 Pot 1.863 0.935 1.106 0 0 0 63 35 PepperShaker -0.272 0.785 0.545 0 0 0 76 36 Cup 1.997 0.935 2.260 0 0 0 49 37 DishSponge -0.078 0.080 1.993 0 0 0 48 38 Plate 1.298 0.085 2.523 0 0 0 55 39 Spoon 1.790 0.938 2.821 0 0 0 49 40 Mug 2.064 0.989 2.462 0 225 0 75 41 Bowl 2.000 1.320 -0.550 0 0 0 70 42 Cabinet 2.041 2.113 2.618 0 0 0 43 Cabinet 0.126 0.388 1.774 0 0 0 44 StoveBurner 2.140 0.929 1.504 0 180 0 45 Cabinet 1.760 0.388 2.346 0 0 0 46 Cabinet 1.760 0.388 0.869 0 0 0 47 Cabinet 2.041 1.810 0.283 0 0 0 48 Drawer -0.024 0.774 2.061 0 0 0 49 CounterTop 1.065 0.973 2.666 0 0 0 50 Cabinet 1.969 2.113 2.618 0 0 0 51 StoveBurner 2.140 0.929 1.106 0 0 0 52 Cabinet 2.041 2.113 1.809 0 0 0 53 StoveBurner 1.866 0.929 1.504 0 180 0 54 Cabinet 2.041 2.113 1.766 0 0 0 55 Cabinet 1.514 0.388 2.360 0 0 0 56 Cabinet 0.351 0.388 2.360 0 0 0 57 Cabinet 2.041 1.810 0.872 0 0 0 58 Drawer 2.167 0.774 0.582 0 0 0 59 Cabinet 2.041 2.113 0.892 0 0 0 60 CounterTop 2.060 0.973 0.583 0 0 0 61 Sink 0.935 0.936 2.646 0 0 0 62 Curtains 0.964 2.061 2.989 0 0 0 63 StoveBurner 1.863 0.929 1.106 0 0 0 64 Drawer 1.911 0.774 2.060 0 0 0 65 StoveKnob 2.326 1.092 1.610 288.013 90 0 66 StoveKnob 2.326 1.092 1.460 288.013 90 0 67 StoveKnob 2.326 1.092 1.210 288.013 90 0 68 StoveKnob 2.326 1.092 1.050 288.013 90 0 69 Toaster 2.126 0.926 0.572 0 270 0 70 Fridge 2.104 0.0 -0.279 0 270 0 71 GarbageCan -0.309 -0.001 -0.807 0 91.471 0 72 LightSwitch 0.354 1.518 -1.031 0 0 0 73 SinkBasin 0.903 0.784 2.640 0 0 0 74 Microwave -0.310 0.926 2.077 0 90 0 75 CoffeeMachine 2.084 0.927 2.667 0 225 0 76 DiningTable -0.153 -0.000 1.073 0 270 0 77 Faucet 1.175 0.926 2.950 270 90 0 78 Faucet 0.686 0.926 2.950 270 90 0 79 Chair -0.077 0.002 0.196 0 15.000 0 80 NorthWall 81 EastWall 82 SouthWall 83 WestWall
[ "STEP 1: Turn right and walk straight until you hit the counter. | STEP 2: Pick up the knife that's above the ice cream scoop. | STEP 3: Turn right and walk straight until you hit the counter. | STEP 4: Put the knife in the wine glass in front of you. | STEP 5: Pick up the wine glass with the knife in it. | STEP 6: Turn around and walk to the dining room table so you are standing centered in front of it looking at the wall. | STEP 7: Put the wine glass on the table. | END" ]
[ [ "STEP 1: Turn right and walk straight until you hit the counter. ", " STEP 2: Pick up the knife that's above the ice cream scoop. ", " STEP 3: Turn right and walk straight until you hit the counter. ", " STEP 4: Put the knife in the wine glass in front of you. ", " STEP 5: Pick up the wine glass with the knife in it. ", " STEP 6: Turn around and walk to the dining room table so you are standing centered in front of it looking at the wall. ", " STEP 7: Put the wine glass on the table. ", " END" ] ]
seen
trial_T20190906_232820_439205-1
Put a cup with a knife 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 0.75 0.901 1.0 0 270 0 1 Potato 2.071 0.978 0.361 0 90 0 60 2 Ladle 0.174 0.982 2.618 0 0 0 49 3 DishSponge -0.282 0.937 2.757 0 0 0 49 4 ButterKnife -0.349 0.782 0.713 0 0 0 76 5 ButterKnife -0.042 0.791 1.049 0 0 0 76 6 Spoon -0.138 0.747 2.061 0 90 0 48 7 Spoon -0.119 0.792 0.377 0 0 0 76 8 Fork -0.272 0.791 1.217 0 0 0 76 9 Fork -0.196 0.791 0.545 0 270 0 76 10 Plate 2.059 0.342 -0.369 0 270 0 70 11 Knife 1.884 0.771 1.922 0 90 0 64 12 Knife 0.735 0.827 2.695 0 270 0 73 13 SoapBottle 1.840 0.939 0.583 0 0 0 60 14 Bowl 2.164 0.599 -0.188 0 270 0 70 15 Lettuce 0.033 0.852 0.545 0 180 0 76 16 Apple -0.294 1.085 1.961 0 90 0 74 17 Apple 1.840 0.988 0.361 0 0 0 60 18 Egg 1.276 0.837 2.750 0 0 0 73 19 Lettuce -0.042 0.852 0.377 0 0 0 76 20 Fork 1.837 0.747 0.514 0 90 0 58 21 SoapBottle -0.196 0.791 1.049 0 0 0 76 22 Ladle -0.068 0.791 2.129 0 90 0 48 23 Ladle -0.196 0.835 1.386 0 0 0 76 24 Bread -0.200 0.824 0.827 0 0 0 76 25 SaltShaker -0.425 0.785 0.881 0 0 0 76 26 Potato 2.079 0.642 -0.369 0 270 0 70 27 Pan 2.140 0.935 1.504 0 180 0 44 28 WineBottle 2.148 0.939 0.806 0 0 0 60 29 Spatula 1.223 0.810 2.64 0 0 0 73 30 Knife 1.802 0.772 0.583 0 90 0 58 31 Tomato -0.295 0.083 -0.769 0 90 0 71 32 Apple 2.076 1.569 -0.460 0 270 0 70 33 ButterKnife -0.053 0.937 2.757 0 0 0 49 34 Pot 1.863 0.935 1.106 0 0 0 63 35 PepperShaker -0.272 0.785 0.545 0 0 0 76 36 Cup 1.997 0.935 2.260 0 0 0 49 37 DishSponge -0.078 0.080 1.993 0 0 0 48 38 Plate 1.298 0.085 2.523 0 0 0 55 39 Spoon 1.790 0.938 2.821 0 0 0 49 40 Mug 2.064 0.989 2.462 0 225 0 75 41 Bowl 2.000 1.320 -0.550 0 0 0 70 42 Cabinet 2.041 2.113 2.618 0 0 0 43 Cabinet 0.126 0.388 1.774 0 0 0 44 StoveBurner 2.140 0.929 1.504 0 180 0 45 Cabinet 1.760 0.388 2.346 0 0 0 46 Cabinet 1.760 0.388 0.869 0 0 0 47 Cabinet 2.041 1.810 0.283 0 0 0 48 Drawer -0.024 0.774 2.061 0 0 0 49 CounterTop 1.065 0.973 2.666 0 0 0 50 Cabinet 1.969 2.113 2.618 0 0 0 51 StoveBurner 2.140 0.929 1.106 0 0 0 52 Cabinet 2.041 2.113 1.809 0 0 0 53 StoveBurner 1.866 0.929 1.504 0 180 0 54 Cabinet 2.041 2.113 1.766 0 0 0 55 Cabinet 1.514 0.388 2.360 0 0 0 56 Cabinet 0.351 0.388 2.360 0 0 0 57 Cabinet 2.041 1.810 0.872 0 0 0 58 Drawer 2.167 0.774 0.582 0 0 0 59 Cabinet 2.041 2.113 0.892 0 0 0 60 CounterTop 2.060 0.973 0.583 0 0 0 61 Sink 0.935 0.936 2.646 0 0 0 62 Curtains 0.964 2.061 2.989 0 0 0 63 StoveBurner 1.863 0.929 1.106 0 0 0 64 Drawer 1.911 0.774 2.060 0 0 0 65 StoveKnob 2.326 1.092 1.610 288.013 90 0 66 StoveKnob 2.326 1.092 1.460 288.013 90 0 67 StoveKnob 2.326 1.092 1.210 288.013 90 0 68 StoveKnob 2.326 1.092 1.050 288.013 90 0 69 Toaster 2.126 0.926 0.572 0 270 0 70 Fridge 2.104 0.0 -0.279 0 270 0 71 GarbageCan -0.309 -0.001 -0.807 0 91.471 0 72 LightSwitch 0.354 1.518 -1.031 0 0 0 73 SinkBasin 0.903 0.784 2.640 0 0 0 74 Microwave -0.310 0.926 2.077 0 90 0 75 CoffeeMachine 2.084 0.927 2.667 0 225 0 76 DiningTable -0.153 -0.000 1.073 0 270 0 77 Faucet 1.175 0.926 2.950 270 90 0 78 Faucet 0.686 0.926 2.950 270 90 0 79 Chair -0.077 0.002 0.196 0 15.000 0 80 NorthWall 81 EastWall 82 SouthWall 83 WestWall
[ "STEP 1: Turn right and walk to the sink. | STEP 2: Pick up the butter knife on the left side of the counter. | STEP 3: Turn right and walk to the counter to the left of the stove. | STEP 4: Place the knife in the cup on the counter. | STEP 5: Pick up the cup. | STEP 6: Turn around and walk left and ahead to the white table. | STEP 7: Put the cup on the table in front of the bread. | END" ]
[ [ "STEP 1: Turn right and walk to the sink. ", " STEP 2: Pick up the butter knife on the left side of the counter. ", " STEP 3: Turn right and walk to the counter to the left of the stove. ", " STEP 4: Place the knife in the cup on the counter. ", " STEP 5: Pick up the cup. ", " STEP 6: Turn around and walk left and ahead to the white table. ", " STEP 7: Put the cup on the table in front of the bread. ", " END" ] ]
seen
trial_T20190906_232820_439205-2
Put a wine glass with a knife in it on the white dining table.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 0.75 0.901 1.0 0 270 0 1 Potato 2.071 0.978 0.361 0 90 0 60 2 Ladle 0.174 0.982 2.618 0 0 0 49 3 DishSponge -0.282 0.937 2.757 0 0 0 49 4 ButterKnife -0.349 0.782 0.713 0 0 0 76 5 ButterKnife -0.042 0.791 1.049 0 0 0 76 6 Spoon -0.138 0.747 2.061 0 90 0 48 7 Spoon -0.119 0.792 0.377 0 0 0 76 8 Fork -0.272 0.791 1.217 0 0 0 76 9 Fork -0.196 0.791 0.545 0 270 0 76 10 Plate 2.059 0.342 -0.369 0 270 0 70 11 Knife 1.884 0.771 1.922 0 90 0 64 12 Knife 0.735 0.827 2.695 0 270 0 73 13 SoapBottle 1.840 0.939 0.583 0 0 0 60 14 Bowl 2.164 0.599 -0.188 0 270 0 70 15 Lettuce 0.033 0.852 0.545 0 180 0 76 16 Apple -0.294 1.085 1.961 0 90 0 74 17 Apple 1.840 0.988 0.361 0 0 0 60 18 Egg 1.276 0.837 2.750 0 0 0 73 19 Lettuce -0.042 0.852 0.377 0 0 0 76 20 Fork 1.837 0.747 0.514 0 90 0 58 21 SoapBottle -0.196 0.791 1.049 0 0 0 76 22 Ladle -0.068 0.791 2.129 0 90 0 48 23 Ladle -0.196 0.835 1.386 0 0 0 76 24 Bread -0.200 0.824 0.827 0 0 0 76 25 SaltShaker -0.425 0.785 0.881 0 0 0 76 26 Potato 2.079 0.642 -0.369 0 270 0 70 27 Pan 2.140 0.935 1.504 0 180 0 44 28 WineBottle 2.148 0.939 0.806 0 0 0 60 29 Spatula 1.223 0.810 2.64 0 0 0 73 30 Knife 1.802 0.772 0.583 0 90 0 58 31 Tomato -0.295 0.083 -0.769 0 90 0 71 32 Apple 2.076 1.569 -0.460 0 270 0 70 33 ButterKnife -0.053 0.937 2.757 0 0 0 49 34 Pot 1.863 0.935 1.106 0 0 0 63 35 PepperShaker -0.272 0.785 0.545 0 0 0 76 36 Cup 1.997 0.935 2.260 0 0 0 49 37 DishSponge -0.078 0.080 1.993 0 0 0 48 38 Plate 1.298 0.085 2.523 0 0 0 55 39 Spoon 1.790 0.938 2.821 0 0 0 49 40 Mug 2.064 0.989 2.462 0 225 0 75 41 Bowl 2.000 1.320 -0.550 0 0 0 70 42 Cabinet 2.041 2.113 2.618 0 0 0 43 Cabinet 0.126 0.388 1.774 0 0 0 44 StoveBurner 2.140 0.929 1.504 0 180 0 45 Cabinet 1.760 0.388 2.346 0 0 0 46 Cabinet 1.760 0.388 0.869 0 0 0 47 Cabinet 2.041 1.810 0.283 0 0 0 48 Drawer -0.024 0.774 2.061 0 0 0 49 CounterTop 1.065 0.973 2.666 0 0 0 50 Cabinet 1.969 2.113 2.618 0 0 0 51 StoveBurner 2.140 0.929 1.106 0 0 0 52 Cabinet 2.041 2.113 1.809 0 0 0 53 StoveBurner 1.866 0.929 1.504 0 180 0 54 Cabinet 2.041 2.113 1.766 0 0 0 55 Cabinet 1.514 0.388 2.360 0 0 0 56 Cabinet 0.351 0.388 2.360 0 0 0 57 Cabinet 2.041 1.810 0.872 0 0 0 58 Drawer 2.167 0.774 0.582 0 0 0 59 Cabinet 2.041 2.113 0.892 0 0 0 60 CounterTop 2.060 0.973 0.583 0 0 0 61 Sink 0.935 0.936 2.646 0 0 0 62 Curtains 0.964 2.061 2.989 0 0 0 63 StoveBurner 1.863 0.929 1.106 0 0 0 64 Drawer 1.911 0.774 2.060 0 0 0 65 StoveKnob 2.326 1.092 1.610 288.013 90 0 66 StoveKnob 2.326 1.092 1.460 288.013 90 0 67 StoveKnob 2.326 1.092 1.210 288.013 90 0 68 StoveKnob 2.326 1.092 1.050 288.013 90 0 69 Toaster 2.126 0.926 0.572 0 270 0 70 Fridge 2.104 0.0 -0.279 0 270 0 71 GarbageCan -0.309 -0.001 -0.807 0 91.471 0 72 LightSwitch 0.354 1.518 -1.031 0 0 0 73 SinkBasin 0.903 0.784 2.640 0 0 0 74 Microwave -0.310 0.926 2.077 0 90 0 75 CoffeeMachine 2.084 0.927 2.667 0 225 0 76 DiningTable -0.153 -0.000 1.073 0 270 0 77 Faucet 1.175 0.926 2.950 270 90 0 78 Faucet 0.686 0.926 2.950 270 90 0 79 Chair -0.077 0.002 0.196 0 15.000 0 80 NorthWall 81 EastWall 82 SouthWall 83 WestWall
[ "STEP 1: Turn right and walk to the sink. | STEP 2: Grab the knife on the counter | STEP 3: Turn right and walk to the counter next to the stove. | STEP 4: Put the knife in the wine glass that's on the counter. | STEP 5: Grab the wine glass with the knife in it. | STEP 6: Turn around and walk to the white dining table. | STEP 7: Place the wine glass with the knife in it on the white dining table. | END" ]
[ [ "STEP 1: Turn right and walk to the sink. ", " STEP 2: Grab the knife on the counter ", " STEP 3: Turn right and walk to the counter next to the stove. ", " STEP 4: Put the knife in the wine glass that's on the counter. ", " STEP 5: Grab the wine glass with the knife in it. ", " STEP 6: Turn around and walk to the white dining table. ", " STEP 7: Place the wine glass with the knife in it on the white dining table. ", " END" ] ]
seen
trial_T20190909_152149_800170-0
Heat the tomato and put it in the fridge
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -2.5 0.901 -2.75 0 180 0 1 DishSponge -2.439 0.716 -0.371 0 270 0 86 2 DishSponge -2.009 0.913 -4.027 0 0 0 42 3 Spatula -0.500 0.761 -3.079 0 90 0 72 4 Spatula -2.608 0.731 -0.150 0 315 0 86 5 Spoon -0.176 0.917 -1.616 0 0 0 69 6 Spoon -0.419 0.917 -1.677 0 0 0 69 7 Fork -0.419 0.916 -1.309 0 0 0 69 8 Fork -0.338 0.916 -0.524 0 0 0 69 9 Egg -0.243 0.949 -3.878 0 0 0 42 10 Egg -3.027 1.434 -1.879 0 90 0 83 11 Cup -3.182 0.641 -1.879 0 90 0 83 12 Plate -2.449 0.911 -3.804 0 0 0 42 13 Knife -0.352 0.779 -1.563 0 90 0 65 14 SoapBottle -0.295 0.081 -3.317 0 270 0 43 15 Bowl -3.155 0.711 -0.608 0 225 0 86 16 Bowl -1.523 0.080 -3.673 0 0 0 58 17 PepperShaker -0.413 0.742 -3.347 0 0 0 70 18 PepperShaker -0.652 0.078 -3.714 0 0 0 44 19 Mug -2.676 0.711 -0.483 0 225 0 86 20 Mug -3.130 1.393 -2.064 0 90 0 83 21 Pot -0.165 0.975 -2.030 0 180 0 73 22 Egg -3.014 0.922 -2.501 0 90 0 83 23 Cup -0.373 0.081 -2.853 0 0 0 53 24 Bread -0.327 0.948 -3.681 0 298.222 0 42 25 Fork -3.053 0.747 -3.078 0 90 0 64 26 Pan -0.394 0.973 -2.414 0 0 0 67 27 Potato -1.707 0.834 -3.832 0 0 0 84 28 Lettuce -2.608 0.801 -0.841 0 135 0 86 29 Tomato -2.629 0.963 -3.729 0 0 0 42 30 Apple -3.123 0.756 -0.841 0 225 0 86 31 SoapBottle -0.253 0.079 0.012 0 270 0 81 32 Spatula -0.500 0.761 -1.408 0 90 0 65 33 SaltShaker -2.270 0.910 -3.804 0 0 0 42 34 Knife -1.058 0.946 -3.655 0 0 0 42 35 PepperShaker -0.014 0.912 -1.616 0 0 0 69 36 ButterKnife -0.419 0.916 -1.555 0 0 0 69 37 Plate -1.262 0.911 -3.952 0 0 0 42 38 DishSponge -1.845 0.790 -3.790 0 0 0 84 39 Spoon -2.664 0.718 -0.697 0 135 0 86 40 Mug -1.214 0.075 -3.712 0 0 0 57 41 Bowl -2.853 0.714 -0.684 0 135 0 86 42 CounterTop -1.789 0.949 -3.803 0 0 0 43 Cabinet -0.577 0.388 -3.476 0 0 0 44 Cabinet -0.605 0.388 -3.511 0 0 0 45 Cabinet -2.976 0.388 -3.201 0 0 0 46 Cabinet -0.577 0.388 -0.447 0 0 0 47 Cabinet -0.577 0.388 -1.725 0 0 0 48 Cabinet -0.226 1.803 -1.743 0 0 0 49 Cabinet -0.228 1.799 -0.447 0 0 0 50 Cabinet -6.010 1.139 -6.019 0 0 0 51 Cabinet -3.022 2.098 -2.681 0 0 0 52 Cabinet -3.022 2.098 -1.743 0 0 0 53 Cabinet -0.577 0.388 -2.736 0 0 0 54 Cabinet -3.232 1.803 -3.343 0 0 0 55 Cabinet -2.811 1.810 -3.764 0 0 0 56 Cabinet -1.233 1.810 -3.764 0 0 0 57 Cabinet -1.364 0.388 -3.511 0 0 0 58 Cabinet -1.380 0.388 -3.511 0 0 0 59 Cabinet -0.226 1.803 -2.725 0 0 0 60 Cabinet -0.236 2.098 -1.767 0 0 0 61 Cabinet -0.236 2.098 -2.705 0 0 0 62 Cabinet -0.193 1.210 -4.239 0 0 0 63 Cabinet -2.148 0.388 -3.511 0 0 0 64 Drawer -3.104 0.797 -2.968 0 0 0 65 Drawer -0.449 0.797 -1.410 0 0 0 66 Sink -1.786 0.902 -3.748 0 0 0 67 StoveBurner -0.376 0.936 -2.451 0 0 0 68 Drawer -0.449 0.797 -0.762 0 0 0 69 CounterTop -0.268 0.951 -1.089 0 0 0 70 Drawer -0.449 0.797 -3.348 0 0 0 71 StoveBurner -0.376 0.936 -2.031 0 180 0 72 Drawer -0.449 0.797 -2.968 0 0 0 73 StoveBurner -0.165 0.936 -2.030 0 180 0 74 StoveBurner -0.165 0.936 -2.450 0 0 0 75 StoveKnob -0.568 0.903 -2.313 45 270 0 76 StoveKnob -0.568 0.903 -2.470 45 270 0 77 StoveKnob -0.568 0.903 -2.166 45 270 0 78 StoveKnob -0.568 0.903 -2.003 45 270 0 79 Microwave -0.143 0.903 -0.908 0 270 0 80 LightSwitch -1.108 1.457 0.338 0 180 0 81 GarbageCan -0.283 -0.032 -0.035 0 270 0 82 CoffeeMachine -3.104 0.837 -0.185 0 135 0 83 Fridge -3.188 0.0 -2.184 0 0 0 84 SinkBasin -1.786 0.779 -3.747 0 0 0 85 Toaster -0.230 0.903 -3.406 0 270 0 86 DiningTable -2.800 0.003 -0.505 0 0 0 87 Chair -3.044 0.003 -1.223 0 32.194 0 88 Faucet -1.791 1.136 -3.913 0 270 0 89 NorthWall 90 EastWall 91 SouthWall 92 WestWall
[ "STEP 1: Walk over to the counter | STEP 2: Grab the tomato | STEP 3: Walk over to the microwave | STEP 4: Heat the tomato in the microwave | STEP 5: Grab the tomato back and head over to the fridge | STEP 6: Place the tomato in the fridge | END" ]
[ [ "STEP 1: Walk over to the counter ", " STEP 2: Grab the tomato ", " STEP 3: Walk over to the microwave ", " STEP 4: Heat the tomato in the microwave ", " STEP 5: Grab the tomato back and head over to the fridge ", " STEP 6: Place the tomato in the fridge ", " END" ] ]
seen
trial_T20190909_152149_800170-1
Place a heated tomato in a fridge.
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[ "STEP 1: Walk ahead to the counter. | STEP 2: Pick up the tomato on the counter. | STEP 3: Turn around and veer right to the microwave. | STEP 4: Heat the tomato in the microwave. | STEP 5: Turn around and walk to the fridge. | STEP 6: Place the tomato in the fridge on the left side of the shelf above the glass. | END" ]
[ [ "STEP 1: Walk ahead to the counter. ", " STEP 2: Pick up the tomato on the counter. ", " STEP 3: Turn around and veer right to the microwave. ", " STEP 4: Heat the tomato in the microwave. ", " STEP 5: Turn around and walk to the fridge. ", " STEP 6: Place the tomato in the fridge on the left side of the shelf above the glass. ", " END" ] ]
seen
trial_T20190909_152149_800170-2
Heat an apple and put it in the refrigerator
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1.210", " -4.239", " 0", " 0", " 0", "" ], [ "63", " Cabinet", " -2.148", " 0.388", " -3.511", " 0", " 0", " 0", "" ], [ "64", " Drawer", " -3.104", " 0.797", " -2.968", " 0", " 0", " 0", "" ], [ "65", " Drawer", " -0.449", " 0.797", " -1.410", " 0", " 0", " 0", "" ], [ "66", " Sink", " -1.786", " 0.902", " -3.748", " 0", " 0", " 0", "" ], [ "67", " StoveBurner", " -0.376", " 0.936", " -2.451", " 0", " 0", " 0", "" ], [ "68", " Drawer", " -0.449", " 0.797", " -0.762", " 0", " 0", " 0", "" ], [ "69", " CounterTop", " -0.268", " 0.951", " -1.089", " 0", " 0", " 0", "" ], [ "70", " Drawer", " -0.449", " 0.797", " -3.348", " 0", " 0", " 0", "" ], [ "71", " StoveBurner", " -0.376", " 0.936", " -2.031", " 0", " 180", " 0", "" ], [ "72", " Drawer", " -0.449", " 0.797", " -2.968", " 0", " 0", " 0", "" ], [ "73", " StoveBurner", " -0.165", " 0.936", " -2.030", " 0", " 180", " 0", "" ], [ "74", " StoveBurner", " -0.165", " 0.936", " -2.450", " 0", " 0", " 0", "" ], [ "75", " StoveKnob", " -0.568", " 0.903", " -2.313", " 45", " 270", " 0", "" ], [ "76", " StoveKnob", " -0.568", " 0.903", " -2.470", " 45", " 270", " 0", "" ], [ "77", " StoveKnob", " -0.568", " 0.903", " -2.166", " 45", " 270", " 0", "" ], [ "78", " StoveKnob", " -0.568", " 0.903", " -2.003", " 45", " 270", " 0", "" ], [ "79", " Microwave", " -0.143", " 0.903", " -0.908", " 0", " 270", " 0", "" ], [ "80", " LightSwitch", " -1.108", " 1.457", " 0.338", " 0", " 180", " 0", "" ], [ "81", " GarbageCan", " -0.283", " -0.032", " -0.035", " 0", " 270", " 0", "" ], [ "82", " CoffeeMachine", " -3.104", " 0.837", " -0.185", " 0", " 135", " 0", "" ], [ "83", " Fridge", " -3.188", " 0.0", " -2.184", " 0", " 0", " 0", "" ], [ "84", " SinkBasin", " -1.786", " 0.779", " -3.747", " 0", " 0", " 0", "" ], [ "85", " Toaster", " -0.230", " 0.903", " -3.406", " 0", " 270", " 0", "" ], [ "86", " DiningTable", " -2.800", " 0.003", " -0.505", " 0", " 0", " 0", "" ], [ "87", " Chair", " -3.044", " 0.003", " -1.223", " 0", " 32.194", " 0", "" ], [ "88", " Faucet", " -1.791", " 1.136", " -3.913", " 0", " 270", " 0", "" ], [ "89", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "90", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "91", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "92", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -2.5 0.901 -2.75 0 180 0 1 DishSponge -2.439 0.716 -0.371 0 270 0 86 2 DishSponge -2.009 0.913 -4.027 0 0 0 42 3 Spatula -0.500 0.761 -3.079 0 90 0 72 4 Spatula -2.608 0.731 -0.150 0 315 0 86 5 Spoon -0.176 0.917 -1.616 0 0 0 69 6 Spoon -0.419 0.917 -1.677 0 0 0 69 7 Fork -0.419 0.916 -1.309 0 0 0 69 8 Fork -0.338 0.916 -0.524 0 0 0 69 9 Egg -0.243 0.949 -3.878 0 0 0 42 10 Egg -3.027 1.434 -1.879 0 90 0 83 11 Cup -3.182 0.641 -1.879 0 90 0 83 12 Plate -2.449 0.911 -3.804 0 0 0 42 13 Knife -0.352 0.779 -1.563 0 90 0 65 14 SoapBottle -0.295 0.081 -3.317 0 270 0 43 15 Bowl -3.155 0.711 -0.608 0 225 0 86 16 Bowl -1.523 0.080 -3.673 0 0 0 58 17 PepperShaker -0.413 0.742 -3.347 0 0 0 70 18 PepperShaker -0.652 0.078 -3.714 0 0 0 44 19 Mug -2.676 0.711 -0.483 0 225 0 86 20 Mug -3.130 1.393 -2.064 0 90 0 83 21 Pot -0.165 0.975 -2.030 0 180 0 73 22 Egg -3.014 0.922 -2.501 0 90 0 83 23 Cup -0.373 0.081 -2.853 0 0 0 53 24 Bread -0.327 0.948 -3.681 0 298.222 0 42 25 Fork -3.053 0.747 -3.078 0 90 0 64 26 Pan -0.394 0.973 -2.414 0 0 0 67 27 Potato -1.707 0.834 -3.832 0 0 0 84 28 Lettuce -2.608 0.801 -0.841 0 135 0 86 29 Tomato -2.629 0.963 -3.729 0 0 0 42 30 Apple -3.123 0.756 -0.841 0 225 0 86 31 SoapBottle -0.253 0.079 0.012 0 270 0 81 32 Spatula -0.500 0.761 -1.408 0 90 0 65 33 SaltShaker -2.270 0.910 -3.804 0 0 0 42 34 Knife -1.058 0.946 -3.655 0 0 0 42 35 PepperShaker -0.014 0.912 -1.616 0 0 0 69 36 ButterKnife -0.419 0.916 -1.555 0 0 0 69 37 Plate -1.262 0.911 -3.952 0 0 0 42 38 DishSponge -1.845 0.790 -3.790 0 0 0 84 39 Spoon -2.664 0.718 -0.697 0 135 0 86 40 Mug -1.214 0.075 -3.712 0 0 0 57 41 Bowl -2.853 0.714 -0.684 0 135 0 86 42 CounterTop -1.789 0.949 -3.803 0 0 0 43 Cabinet -0.577 0.388 -3.476 0 0 0 44 Cabinet -0.605 0.388 -3.511 0 0 0 45 Cabinet -2.976 0.388 -3.201 0 0 0 46 Cabinet -0.577 0.388 -0.447 0 0 0 47 Cabinet -0.577 0.388 -1.725 0 0 0 48 Cabinet -0.226 1.803 -1.743 0 0 0 49 Cabinet -0.228 1.799 -0.447 0 0 0 50 Cabinet -6.010 1.139 -6.019 0 0 0 51 Cabinet -3.022 2.098 -2.681 0 0 0 52 Cabinet -3.022 2.098 -1.743 0 0 0 53 Cabinet -0.577 0.388 -2.736 0 0 0 54 Cabinet -3.232 1.803 -3.343 0 0 0 55 Cabinet -2.811 1.810 -3.764 0 0 0 56 Cabinet -1.233 1.810 -3.764 0 0 0 57 Cabinet -1.364 0.388 -3.511 0 0 0 58 Cabinet -1.380 0.388 -3.511 0 0 0 59 Cabinet -0.226 1.803 -2.725 0 0 0 60 Cabinet -0.236 2.098 -1.767 0 0 0 61 Cabinet -0.236 2.098 -2.705 0 0 0 62 Cabinet -0.193 1.210 -4.239 0 0 0 63 Cabinet -2.148 0.388 -3.511 0 0 0 64 Drawer -3.104 0.797 -2.968 0 0 0 65 Drawer -0.449 0.797 -1.410 0 0 0 66 Sink -1.786 0.902 -3.748 0 0 0 67 StoveBurner -0.376 0.936 -2.451 0 0 0 68 Drawer -0.449 0.797 -0.762 0 0 0 69 CounterTop -0.268 0.951 -1.089 0 0 0 70 Drawer -0.449 0.797 -3.348 0 0 0 71 StoveBurner -0.376 0.936 -2.031 0 180 0 72 Drawer -0.449 0.797 -2.968 0 0 0 73 StoveBurner -0.165 0.936 -2.030 0 180 0 74 StoveBurner -0.165 0.936 -2.450 0 0 0 75 StoveKnob -0.568 0.903 -2.313 45 270 0 76 StoveKnob -0.568 0.903 -2.470 45 270 0 77 StoveKnob -0.568 0.903 -2.166 45 270 0 78 StoveKnob -0.568 0.903 -2.003 45 270 0 79 Microwave -0.143 0.903 -0.908 0 270 0 80 LightSwitch -1.108 1.457 0.338 0 180 0 81 GarbageCan -0.283 -0.032 -0.035 0 270 0 82 CoffeeMachine -3.104 0.837 -0.185 0 135 0 83 Fridge -3.188 0.0 -2.184 0 0 0 84 SinkBasin -1.786 0.779 -3.747 0 0 0 85 Toaster -0.230 0.903 -3.406 0 270 0 86 DiningTable -2.800 0.003 -0.505 0 0 0 87 Chair -3.044 0.003 -1.223 0 32.194 0 88 Faucet -1.791 1.136 -3.913 0 270 0 89 NorthWall 90 EastWall 91 SouthWall 92 WestWall
[ "STEP 1: Turn right move forward slightly then turn left and face to the kitchen counter | STEP 2: Pick up the red apple from the counter | STEP 3: Turn left and walk straight slightly then turn left and across the room turn right and walk up to the microwave on the kitchen counter | STEP 4: Place the apple inside the microwave, heat then remove the apple and close the door | STEP 5: Turn right and move forward slightly then turn right and walk straight to the refrigerator and face it | STEP 6: Open the refrigerator place the apple next to the silver cup then close the doors | END" ]
[ [ "STEP 1: Turn right move forward slightly then turn left and face to the kitchen counter ", " STEP 2: Pick up the red apple from the counter ", " STEP 3: Turn left and walk straight slightly then turn left and across the room turn right and walk up to the microwave on the kitchen counter ", " STEP 4: Place the apple inside the microwave, heat then remove the apple and close the door ", " STEP 5: Turn right and move forward slightly then turn right and walk straight to the refrigerator and face it ", " STEP 6: Open the refrigerator place the apple next to the silver cup then close the doors ", " END" ] ]
seen
trial_T20190907_070913_773085-0
Inspect a remote with a tall lamp.
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " 9.25", " 0.902", " -0.5", " 0", " 0", " 0", "" ], [ "1", " KeyChain", " 9.789", " 0.430", " 3.143", " 0", " 0", " 0", " 42" ], [ "2", " Book", " 14.233", " 0.755", " 1.042", " 0", " 0", " 0", " 34" ], [ "3", " CreditCard", " 10.651", " 0.590", " 0.863", " 0", " 0", " 0", " 41" ], [ "4", " CreditCard", " 14.623", " 0.754", " 1.564", " 0", " 0", " 0", " 34" ], [ "5", " Laptop", " 10.807", " 0.454", " 3.155", " 0", " 0", " 0", " 42" ], [ "6", " Laptop", " 9.499", " 0.427", " 3.143", " 0", " 0", " 0", " 42" ], [ "7", " Pillow", " 11.448", " 0.528", " 3.081", " 0", " 0", " 0", " 49" ], [ "8", " Book", " 14.233", " 0.752", " 1.564", " 0", " 0", " 0", " 34" ], [ "9", " Box", " 14.428", " 1.004", " 2.086", " 0", " 0", " 0", " 34" ], [ "10", " CreditCard", " 12.088", " 0.456", " 2.933", " 0", " 0", " 0", " 49" ], [ "11", " KeyChain", " 10.845", " 0.591", " 0.678", " 0", " 0", " 0", " 41" ], [ "12", " Pillow", " 12.048", " 0.52", " 3.228", " 0", " 0", " 0", " 49" ], [ "13", " Statue", " 11.232", " 0.597", " 0.678", " 0", " 0", " 0", " 41" ], [ "14", " Laptop", " 11.232", " 0.588", " 1.142", " 0", " 0", " 0", " 41" ], [ "15", " RemoteControl", " 9.305", " 0.432", " 3.360", " 0", " 0", " 0", " 42" ], [ "16", " Watch", " 14.135", " 0.752", " 0.519", " 0", " 0", " 0", " 34" ], [ "17", " FloorLamp", " 7.864", " 0.006", " 3.396", " 0", " 0", " 0", "" ], [ "18", " GarbageCan", " 7.785", " -0.027", " -1.145", " 0", " 0", " 0", "" ], [ "19", " Painting", " 7.492", " 1.835", " -0.495", " 90", " 270", " 0", "" ], [ "20", " Painting", " 7.492", " 1.835", " 2.792", " 90", " 270", " 0", "" ], [ "21", " Television", " 14.459", " 1.218", " 0.925", " 358.945", " 270", " 0", "" ], [ "22", " LightSwitch", " 12.979", " 1.399", " 3.767", " 0", " 180", " 0", "" ], [ "23", " Painting", " 7.492", " 1.779", " 1.116", " 90", " 270", " 0", "" ], [ "24", " Painting", " 14.763", " 1.753", " 1.126", " 90", " 270", " 0", "" ], [ "25", " HousePlant", " 11.374", " 0.467", " -1.143", " 0", " 0", " 0", "" ], [ "26", " Window", " 12.029", " 1.687", " -1.595", " 90", " 180", " 0", "" ], [ "27", " Window", " 10.227", " 1.687", " -1.594", " 90", " 180", " 0", "" ], [ "28", " Drawer", " 14.183", " 0.374", " 0.556", " 0", " 270", " 0", "" ], [ "29", " Drawer", " 14.183", " 0.580", " 1.069", " 0", " 270", " 0", "" ], [ "30", " Drawer", " 14.183", " 0.580", " 2.095", " 0", " 270", " 0", "" ], [ "31", " Drawer", " 14.183", " 0.374", " 1.582", " 0", " 270", " 0", "" ], [ "32", " Drawer", " 14.183", " 0.169", " 1.069", " 0", " 270", " 0", "" ], [ "33", " Drawer", " 14.183", " 0.374", " 1.069", " 0", " 270", " 0", "" ], [ "34", " Dresser", " 14.330", " 0.002", " 1.323", " 0", " 270", " 0", "" ], [ "35", " Drawer", " 14.183", " 0.169", " 2.095", " 0", " 270", " 0", "" ], [ "36", " Drawer", " 14.183", " 0.374", " 2.095", " 0", " 270", " 0", "" ], [ "37", " Drawer", " 14.183", " 0.580", " 0.556", " 0", " 270", " 0", "" ], [ "38", " Drawer", " 14.183", " 0.169", " 0.556", " 0", " 270", " 0", "" ], [ "39", " Drawer", " 14.183", " 0.169", " 1.582", " 0", " 270", " 0", "" ], [ "40", " Drawer", " 14.183", " 0.580", " 1.582", " 0", " 270", " 0", "" ], [ "41", " CoffeeTable", " 10.821", " -0.011", " 0.928", " 0", " 0", " 0", "" ], [ "42", " ArmChair", " 9.499", " 0.001", " 3.265", " 0", " 180", " 0", "" ], [ "43", " SideTable", " 11.377", " 0.001", " -1.160", " 0", " 90", " 0", "" ], [ "44", " SideTable", " 14.615", " -0.001", " -0.776", " 0", " 270", " 0", "" ], [ "45", " SideTable", " 14.331", " 0.003", " 0.069", " 0", " 0", " 0", "" ], [ "46", " SideTable", " 14.331", " 0.003", " 2.585", " 0", " 0", " 0", "" ], [ "47", " SideTable", " 12.308", " 0.001", " -1.154", " 0", " 0", " 0", "" ], [ "48", " Chair", " 8.154", " 0.006", " 1.499", " 0", " 90", " 0", "" ], [ "49", " Sofa", " 11.450", " 0.002", " 3.211", " 0", " 180", " 0", "" ], [ "50", " Shelf", " 10.794", " 0.231", " 0.928", " 0", " 0", " 0", "" ], [ "51", " ArmChair", " 8.231", " 0.006", " 0.769", " 0", " 90", " 0", "" ], [ "52", " ArmChair", " 8.224", " 0.006", " -0.082", " 0", " 90", " 0", "" ], [ "53", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "54", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "55", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "56", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 9.25 0.902 -0.5 0 0 0 1 KeyChain 9.789 0.430 3.143 0 0 0 42 2 Book 14.233 0.755 1.042 0 0 0 34 3 CreditCard 10.651 0.590 0.863 0 0 0 41 4 CreditCard 14.623 0.754 1.564 0 0 0 34 5 Laptop 10.807 0.454 3.155 0 0 0 42 6 Laptop 9.499 0.427 3.143 0 0 0 42 7 Pillow 11.448 0.528 3.081 0 0 0 49 8 Book 14.233 0.752 1.564 0 0 0 34 9 Box 14.428 1.004 2.086 0 0 0 34 10 CreditCard 12.088 0.456 2.933 0 0 0 49 11 KeyChain 10.845 0.591 0.678 0 0 0 41 12 Pillow 12.048 0.52 3.228 0 0 0 49 13 Statue 11.232 0.597 0.678 0 0 0 41 14 Laptop 11.232 0.588 1.142 0 0 0 41 15 RemoteControl 9.305 0.432 3.360 0 0 0 42 16 Watch 14.135 0.752 0.519 0 0 0 34 17 FloorLamp 7.864 0.006 3.396 0 0 0 18 GarbageCan 7.785 -0.027 -1.145 0 0 0 19 Painting 7.492 1.835 -0.495 90 270 0 20 Painting 7.492 1.835 2.792 90 270 0 21 Television 14.459 1.218 0.925 358.945 270 0 22 LightSwitch 12.979 1.399 3.767 0 180 0 23 Painting 7.492 1.779 1.116 90 270 0 24 Painting 14.763 1.753 1.126 90 270 0 25 HousePlant 11.374 0.467 -1.143 0 0 0 26 Window 12.029 1.687 -1.595 90 180 0 27 Window 10.227 1.687 -1.594 90 180 0 28 Drawer 14.183 0.374 0.556 0 270 0 29 Drawer 14.183 0.580 1.069 0 270 0 30 Drawer 14.183 0.580 2.095 0 270 0 31 Drawer 14.183 0.374 1.582 0 270 0 32 Drawer 14.183 0.169 1.069 0 270 0 33 Drawer 14.183 0.374 1.069 0 270 0 34 Dresser 14.330 0.002 1.323 0 270 0 35 Drawer 14.183 0.169 2.095 0 270 0 36 Drawer 14.183 0.374 2.095 0 270 0 37 Drawer 14.183 0.580 0.556 0 270 0 38 Drawer 14.183 0.169 0.556 0 270 0 39 Drawer 14.183 0.169 1.582 0 270 0 40 Drawer 14.183 0.580 1.582 0 270 0 41 CoffeeTable 10.821 -0.011 0.928 0 0 0 42 ArmChair 9.499 0.001 3.265 0 180 0 43 SideTable 11.377 0.001 -1.160 0 90 0 44 SideTable 14.615 -0.001 -0.776 0 270 0 45 SideTable 14.331 0.003 0.069 0 0 0 46 SideTable 14.331 0.003 2.585 0 0 0 47 SideTable 12.308 0.001 -1.154 0 0 0 48 Chair 8.154 0.006 1.499 0 90 0 49 Sofa 11.450 0.002 3.211 0 180 0 50 Shelf 10.794 0.231 0.928 0 0 0 51 ArmChair 8.231 0.006 0.769 0 90 0 52 ArmChair 8.224 0.006 -0.082 0 90 0 53 NorthWall 54 EastWall 55 SouthWall 56 WestWall
[ "STEP 1: Move to the arm chair next to the cat post | STEP 2: Pick up a remote from the chair | STEP 3: Move to the lamp behind you | STEP 4: Turn on the lamp | END" ]
[ [ "STEP 1: Move to the arm chair next to the cat post ", " STEP 2: Pick up a remote from the chair ", " STEP 3: Move to the lamp behind you ", " STEP 4: Turn on the lamp ", " END" ] ]
seen
trial_T20190907_070913_773085-1
Examine the remote under the light of the floor lamp
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 9.25 0.902 -0.5 0 0 0 1 KeyChain 9.789 0.430 3.143 0 0 0 42 2 Book 14.233 0.755 1.042 0 0 0 34 3 CreditCard 10.651 0.590 0.863 0 0 0 41 4 CreditCard 14.623 0.754 1.564 0 0 0 34 5 Laptop 10.807 0.454 3.155 0 0 0 42 6 Laptop 9.499 0.427 3.143 0 0 0 42 7 Pillow 11.448 0.528 3.081 0 0 0 49 8 Book 14.233 0.752 1.564 0 0 0 34 9 Box 14.428 1.004 2.086 0 0 0 34 10 CreditCard 12.088 0.456 2.933 0 0 0 49 11 KeyChain 10.845 0.591 0.678 0 0 0 41 12 Pillow 12.048 0.52 3.228 0 0 0 49 13 Statue 11.232 0.597 0.678 0 0 0 41 14 Laptop 11.232 0.588 1.142 0 0 0 41 15 RemoteControl 9.305 0.432 3.360 0 0 0 42 16 Watch 14.135 0.752 0.519 0 0 0 34 17 FloorLamp 7.864 0.006 3.396 0 0 0 18 GarbageCan 7.785 -0.027 -1.145 0 0 0 19 Painting 7.492 1.835 -0.495 90 270 0 20 Painting 7.492 1.835 2.792 90 270 0 21 Television 14.459 1.218 0.925 358.945 270 0 22 LightSwitch 12.979 1.399 3.767 0 180 0 23 Painting 7.492 1.779 1.116 90 270 0 24 Painting 14.763 1.753 1.126 90 270 0 25 HousePlant 11.374 0.467 -1.143 0 0 0 26 Window 12.029 1.687 -1.595 90 180 0 27 Window 10.227 1.687 -1.594 90 180 0 28 Drawer 14.183 0.374 0.556 0 270 0 29 Drawer 14.183 0.580 1.069 0 270 0 30 Drawer 14.183 0.580 2.095 0 270 0 31 Drawer 14.183 0.374 1.582 0 270 0 32 Drawer 14.183 0.169 1.069 0 270 0 33 Drawer 14.183 0.374 1.069 0 270 0 34 Dresser 14.330 0.002 1.323 0 270 0 35 Drawer 14.183 0.169 2.095 0 270 0 36 Drawer 14.183 0.374 2.095 0 270 0 37 Drawer 14.183 0.580 0.556 0 270 0 38 Drawer 14.183 0.169 0.556 0 270 0 39 Drawer 14.183 0.169 1.582 0 270 0 40 Drawer 14.183 0.580 1.582 0 270 0 41 CoffeeTable 10.821 -0.011 0.928 0 0 0 42 ArmChair 9.499 0.001 3.265 0 180 0 43 SideTable 11.377 0.001 -1.160 0 90 0 44 SideTable 14.615 -0.001 -0.776 0 270 0 45 SideTable 14.331 0.003 0.069 0 0 0 46 SideTable 14.331 0.003 2.585 0 0 0 47 SideTable 12.308 0.001 -1.154 0 0 0 48 Chair 8.154 0.006 1.499 0 90 0 49 Sofa 11.450 0.002 3.211 0 180 0 50 Shelf 10.794 0.231 0.928 0 0 0 51 ArmChair 8.231 0.006 0.769 0 90 0 52 ArmChair 8.224 0.006 -0.082 0 90 0 53 NorthWall 54 EastWall 55 SouthWall 56 WestWall
[ "STEP 1: Walk forward across the room to the left most pink arm chair | STEP 2: Pick up the remote from the pink arm chair | STEP 3: Turn around and walk up to the floor lamp in the corner | STEP 4: Turn on the floor lamp | END" ]
[ [ "STEP 1: Walk forward across the room to the left most pink arm chair ", " STEP 2: Pick up the remote from the pink arm chair ", " STEP 3: Turn around and walk up to the floor lamp in the corner ", " STEP 4: Turn on the floor lamp ", " END" ] ]
seen
trial_T20190907_070913_773085-2
Look at the remote by 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 9.25 0.902 -0.5 0 0 0 1 KeyChain 9.789 0.430 3.143 0 0 0 42 2 Book 14.233 0.755 1.042 0 0 0 34 3 CreditCard 10.651 0.590 0.863 0 0 0 41 4 CreditCard 14.623 0.754 1.564 0 0 0 34 5 Laptop 10.807 0.454 3.155 0 0 0 42 6 Laptop 9.499 0.427 3.143 0 0 0 42 7 Pillow 11.448 0.528 3.081 0 0 0 49 8 Book 14.233 0.752 1.564 0 0 0 34 9 Box 14.428 1.004 2.086 0 0 0 34 10 CreditCard 12.088 0.456 2.933 0 0 0 49 11 KeyChain 10.845 0.591 0.678 0 0 0 41 12 Pillow 12.048 0.52 3.228 0 0 0 49 13 Statue 11.232 0.597 0.678 0 0 0 41 14 Laptop 11.232 0.588 1.142 0 0 0 41 15 RemoteControl 9.305 0.432 3.360 0 0 0 42 16 Watch 14.135 0.752 0.519 0 0 0 34 17 FloorLamp 7.864 0.006 3.396 0 0 0 18 GarbageCan 7.785 -0.027 -1.145 0 0 0 19 Painting 7.492 1.835 -0.495 90 270 0 20 Painting 7.492 1.835 2.792 90 270 0 21 Television 14.459 1.218 0.925 358.945 270 0 22 LightSwitch 12.979 1.399 3.767 0 180 0 23 Painting 7.492 1.779 1.116 90 270 0 24 Painting 14.763 1.753 1.126 90 270 0 25 HousePlant 11.374 0.467 -1.143 0 0 0 26 Window 12.029 1.687 -1.595 90 180 0 27 Window 10.227 1.687 -1.594 90 180 0 28 Drawer 14.183 0.374 0.556 0 270 0 29 Drawer 14.183 0.580 1.069 0 270 0 30 Drawer 14.183 0.580 2.095 0 270 0 31 Drawer 14.183 0.374 1.582 0 270 0 32 Drawer 14.183 0.169 1.069 0 270 0 33 Drawer 14.183 0.374 1.069 0 270 0 34 Dresser 14.330 0.002 1.323 0 270 0 35 Drawer 14.183 0.169 2.095 0 270 0 36 Drawer 14.183 0.374 2.095 0 270 0 37 Drawer 14.183 0.580 0.556 0 270 0 38 Drawer 14.183 0.169 0.556 0 270 0 39 Drawer 14.183 0.169 1.582 0 270 0 40 Drawer 14.183 0.580 1.582 0 270 0 41 CoffeeTable 10.821 -0.011 0.928 0 0 0 42 ArmChair 9.499 0.001 3.265 0 180 0 43 SideTable 11.377 0.001 -1.160 0 90 0 44 SideTable 14.615 -0.001 -0.776 0 270 0 45 SideTable 14.331 0.003 0.069 0 0 0 46 SideTable 14.331 0.003 2.585 0 0 0 47 SideTable 12.308 0.001 -1.154 0 0 0 48 Chair 8.154 0.006 1.499 0 90 0 49 Sofa 11.450 0.002 3.211 0 180 0 50 Shelf 10.794 0.231 0.928 0 0 0 51 ArmChair 8.231 0.006 0.769 0 90 0 52 ArmChair 8.224 0.006 -0.082 0 90 0 53 NorthWall 54 EastWall 55 SouthWall 56 WestWall
[ "STEP 1: Walk forward to the chair closest to the lamp. | STEP 2: Pick up the remote from the chair. | STEP 3: Turn around to face the lamp. | STEP 4: Turn on the lamp. | END" ]
[ [ "STEP 1: Walk forward to the chair closest to the lamp. ", " STEP 2: Pick up the remote from the chair. ", " STEP 3: Turn around to face the lamp. ", " STEP 4: Turn on the lamp. ", " END" ] ]
seen
trial_T20190907_070913_773085-3
Turn a lamp on while holding a remote.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 9.25 0.902 -0.5 0 0 0 1 KeyChain 9.789 0.430 3.143 0 0 0 42 2 Book 14.233 0.755 1.042 0 0 0 34 3 CreditCard 10.651 0.590 0.863 0 0 0 41 4 CreditCard 14.623 0.754 1.564 0 0 0 34 5 Laptop 10.807 0.454 3.155 0 0 0 42 6 Laptop 9.499 0.427 3.143 0 0 0 42 7 Pillow 11.448 0.528 3.081 0 0 0 49 8 Book 14.233 0.752 1.564 0 0 0 34 9 Box 14.428 1.004 2.086 0 0 0 34 10 CreditCard 12.088 0.456 2.933 0 0 0 49 11 KeyChain 10.845 0.591 0.678 0 0 0 41 12 Pillow 12.048 0.52 3.228 0 0 0 49 13 Statue 11.232 0.597 0.678 0 0 0 41 14 Laptop 11.232 0.588 1.142 0 0 0 41 15 RemoteControl 9.305 0.432 3.360 0 0 0 42 16 Watch 14.135 0.752 0.519 0 0 0 34 17 FloorLamp 7.864 0.006 3.396 0 0 0 18 GarbageCan 7.785 -0.027 -1.145 0 0 0 19 Painting 7.492 1.835 -0.495 90 270 0 20 Painting 7.492 1.835 2.792 90 270 0 21 Television 14.459 1.218 0.925 358.945 270 0 22 LightSwitch 12.979 1.399 3.767 0 180 0 23 Painting 7.492 1.779 1.116 90 270 0 24 Painting 14.763 1.753 1.126 90 270 0 25 HousePlant 11.374 0.467 -1.143 0 0 0 26 Window 12.029 1.687 -1.595 90 180 0 27 Window 10.227 1.687 -1.594 90 180 0 28 Drawer 14.183 0.374 0.556 0 270 0 29 Drawer 14.183 0.580 1.069 0 270 0 30 Drawer 14.183 0.580 2.095 0 270 0 31 Drawer 14.183 0.374 1.582 0 270 0 32 Drawer 14.183 0.169 1.069 0 270 0 33 Drawer 14.183 0.374 1.069 0 270 0 34 Dresser 14.330 0.002 1.323 0 270 0 35 Drawer 14.183 0.169 2.095 0 270 0 36 Drawer 14.183 0.374 2.095 0 270 0 37 Drawer 14.183 0.580 0.556 0 270 0 38 Drawer 14.183 0.169 0.556 0 270 0 39 Drawer 14.183 0.169 1.582 0 270 0 40 Drawer 14.183 0.580 1.582 0 270 0 41 CoffeeTable 10.821 -0.011 0.928 0 0 0 42 ArmChair 9.499 0.001 3.265 0 180 0 43 SideTable 11.377 0.001 -1.160 0 90 0 44 SideTable 14.615 -0.001 -0.776 0 270 0 45 SideTable 14.331 0.003 0.069 0 0 0 46 SideTable 14.331 0.003 2.585 0 0 0 47 SideTable 12.308 0.001 -1.154 0 0 0 48 Chair 8.154 0.006 1.499 0 90 0 49 Sofa 11.450 0.002 3.211 0 180 0 50 Shelf 10.794 0.231 0.928 0 0 0 51 ArmChair 8.231 0.006 0.769 0 90 0 52 ArmChair 8.224 0.006 -0.082 0 90 0 53 NorthWall 54 EastWall 55 SouthWall 56 WestWall
[ "STEP 1: Cross the room and turn to face the red chair closest to the lamp. | STEP 2: Pick the remote up from the chair. | STEP 3: Move to the left and face the lamp with the pink base. | STEP 4: Turn the lamp on. | END" ]
[ [ "STEP 1: Cross the room and turn to face the red chair closest to the lamp. ", " STEP 2: Pick the remote up from the chair. ", " STEP 3: Move to the left and face the lamp with the pink base. ", " STEP 4: Turn the lamp on. ", " END" ] ]
seen
trial_T20190907_070913_773085-4
Examine the remote in the light of the tall lamp.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 9.25 0.902 -0.5 0 0 0 1 KeyChain 9.789 0.430 3.143 0 0 0 42 2 Book 14.233 0.755 1.042 0 0 0 34 3 CreditCard 10.651 0.590 0.863 0 0 0 41 4 CreditCard 14.623 0.754 1.564 0 0 0 34 5 Laptop 10.807 0.454 3.155 0 0 0 42 6 Laptop 9.499 0.427 3.143 0 0 0 42 7 Pillow 11.448 0.528 3.081 0 0 0 49 8 Book 14.233 0.752 1.564 0 0 0 34 9 Box 14.428 1.004 2.086 0 0 0 34 10 CreditCard 12.088 0.456 2.933 0 0 0 49 11 KeyChain 10.845 0.591 0.678 0 0 0 41 12 Pillow 12.048 0.52 3.228 0 0 0 49 13 Statue 11.232 0.597 0.678 0 0 0 41 14 Laptop 11.232 0.588 1.142 0 0 0 41 15 RemoteControl 9.305 0.432 3.360 0 0 0 42 16 Watch 14.135 0.752 0.519 0 0 0 34 17 FloorLamp 7.864 0.006 3.396 0 0 0 18 GarbageCan 7.785 -0.027 -1.145 0 0 0 19 Painting 7.492 1.835 -0.495 90 270 0 20 Painting 7.492 1.835 2.792 90 270 0 21 Television 14.459 1.218 0.925 358.945 270 0 22 LightSwitch 12.979 1.399 3.767 0 180 0 23 Painting 7.492 1.779 1.116 90 270 0 24 Painting 14.763 1.753 1.126 90 270 0 25 HousePlant 11.374 0.467 -1.143 0 0 0 26 Window 12.029 1.687 -1.595 90 180 0 27 Window 10.227 1.687 -1.594 90 180 0 28 Drawer 14.183 0.374 0.556 0 270 0 29 Drawer 14.183 0.580 1.069 0 270 0 30 Drawer 14.183 0.580 2.095 0 270 0 31 Drawer 14.183 0.374 1.582 0 270 0 32 Drawer 14.183 0.169 1.069 0 270 0 33 Drawer 14.183 0.374 1.069 0 270 0 34 Dresser 14.330 0.002 1.323 0 270 0 35 Drawer 14.183 0.169 2.095 0 270 0 36 Drawer 14.183 0.374 2.095 0 270 0 37 Drawer 14.183 0.580 0.556 0 270 0 38 Drawer 14.183 0.169 0.556 0 270 0 39 Drawer 14.183 0.169 1.582 0 270 0 40 Drawer 14.183 0.580 1.582 0 270 0 41 CoffeeTable 10.821 -0.011 0.928 0 0 0 42 ArmChair 9.499 0.001 3.265 0 180 0 43 SideTable 11.377 0.001 -1.160 0 90 0 44 SideTable 14.615 -0.001 -0.776 0 270 0 45 SideTable 14.331 0.003 0.069 0 0 0 46 SideTable 14.331 0.003 2.585 0 0 0 47 SideTable 12.308 0.001 -1.154 0 0 0 48 Chair 8.154 0.006 1.499 0 90 0 49 Sofa 11.450 0.002 3.211 0 180 0 50 Shelf 10.794 0.231 0.928 0 0 0 51 ArmChair 8.231 0.006 0.769 0 90 0 52 ArmChair 8.224 0.006 -0.082 0 90 0 53 NorthWall 54 EastWall 55 SouthWall 56 WestWall
[ "STEP 1: Head across the room to the red chair on the left. | STEP 2: Pick up the remote on the chair. | STEP 3: Bring the remote to the tall lamp in the corner to the left of the red chair. | STEP 4: Turn on the tall lamp. | END" ]
[ [ "STEP 1: Head across the room to the red chair on the left. ", " STEP 2: Pick up the remote on the chair. ", " STEP 3: Bring the remote to the tall lamp in the corner to the left of the red chair. ", " STEP 4: Turn on the tall lamp. ", " END" ] ]
seen
trial_T20190907_070913_773085-5
Pick up a remote and turn 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 9.25 0.902 -0.5 0 0 0 1 KeyChain 9.789 0.430 3.143 0 0 0 42 2 Book 14.233 0.755 1.042 0 0 0 34 3 CreditCard 10.651 0.590 0.863 0 0 0 41 4 CreditCard 14.623 0.754 1.564 0 0 0 34 5 Laptop 10.807 0.454 3.155 0 0 0 42 6 Laptop 9.499 0.427 3.143 0 0 0 42 7 Pillow 11.448 0.528 3.081 0 0 0 49 8 Book 14.233 0.752 1.564 0 0 0 34 9 Box 14.428 1.004 2.086 0 0 0 34 10 CreditCard 12.088 0.456 2.933 0 0 0 49 11 KeyChain 10.845 0.591 0.678 0 0 0 41 12 Pillow 12.048 0.52 3.228 0 0 0 49 13 Statue 11.232 0.597 0.678 0 0 0 41 14 Laptop 11.232 0.588 1.142 0 0 0 41 15 RemoteControl 9.305 0.432 3.360 0 0 0 42 16 Watch 14.135 0.752 0.519 0 0 0 34 17 FloorLamp 7.864 0.006 3.396 0 0 0 18 GarbageCan 7.785 -0.027 -1.145 0 0 0 19 Painting 7.492 1.835 -0.495 90 270 0 20 Painting 7.492 1.835 2.792 90 270 0 21 Television 14.459 1.218 0.925 358.945 270 0 22 LightSwitch 12.979 1.399 3.767 0 180 0 23 Painting 7.492 1.779 1.116 90 270 0 24 Painting 14.763 1.753 1.126 90 270 0 25 HousePlant 11.374 0.467 -1.143 0 0 0 26 Window 12.029 1.687 -1.595 90 180 0 27 Window 10.227 1.687 -1.594 90 180 0 28 Drawer 14.183 0.374 0.556 0 270 0 29 Drawer 14.183 0.580 1.069 0 270 0 30 Drawer 14.183 0.580 2.095 0 270 0 31 Drawer 14.183 0.374 1.582 0 270 0 32 Drawer 14.183 0.169 1.069 0 270 0 33 Drawer 14.183 0.374 1.069 0 270 0 34 Dresser 14.330 0.002 1.323 0 270 0 35 Drawer 14.183 0.169 2.095 0 270 0 36 Drawer 14.183 0.374 2.095 0 270 0 37 Drawer 14.183 0.580 0.556 0 270 0 38 Drawer 14.183 0.169 0.556 0 270 0 39 Drawer 14.183 0.169 1.582 0 270 0 40 Drawer 14.183 0.580 1.582 0 270 0 41 CoffeeTable 10.821 -0.011 0.928 0 0 0 42 ArmChair 9.499 0.001 3.265 0 180 0 43 SideTable 11.377 0.001 -1.160 0 90 0 44 SideTable 14.615 -0.001 -0.776 0 270 0 45 SideTable 14.331 0.003 0.069 0 0 0 46 SideTable 14.331 0.003 2.585 0 0 0 47 SideTable 12.308 0.001 -1.154 0 0 0 48 Chair 8.154 0.006 1.499 0 90 0 49 Sofa 11.450 0.002 3.211 0 180 0 50 Shelf 10.794 0.231 0.928 0 0 0 51 ArmChair 8.231 0.006 0.769 0 90 0 52 ArmChair 8.224 0.006 -0.082 0 90 0 53 NorthWall 54 EastWall 55 SouthWall 56 WestWall
[ "STEP 1: Go straight across the room, the turn right to face the red chair. | STEP 2: Pick up the remote from the chair. | STEP 3: Carry the remote and turn around to the lamp. | STEP 4: Hold the remote and turn on the lamp. | END" ]
[ [ "STEP 1: Go straight across the room, the turn right to face the red chair. ", " STEP 2: Pick up the remote from the chair. ", " STEP 3: Carry the remote and turn around to the lamp. ", " STEP 4: Hold the remote and turn on the lamp. ", " END" ] ]
seen
trial_T20190908_022322_166452-0
Put two heads of lettuce into a kitchen sink.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.75 0.900 6.25 0 270 0 1 Pan 1.32 0.988 3.848 0 0 0 54 2 Potato 0.150 0.794 6.416 0 270 0 91 3 Potato 2.051 1.550 5.751 0 270 0 77 4 Kettle -0.413 0.145 0.582 0 0 0 63 5 Spoon 1.332 0.892 2.239 0 180 0 78 6 Spoon 0.079 0.761 6.063 0 135 0 91 7 Egg 1.497 0.940 2.034 0 90 0 78 8 Cup -0.289 0.756 6.786 0 135 0 91 9 Plate 0.055 0.144 0.353 0 0 0 64 10 Plate 1.322 0.141 2.012 0 0 0 44 11 Tomato 1.966 1.565 5.501 0 270 0 77 12 SoapBottle 0.847 0.992 0.670 0 0 0 55 13 Bowl 1.406 0.139 3.291 0 0 0 66 14 Bowl 1.455 1.575 4.633 0 0 0 59 15 PepperShaker -0.013 1.574 0.207 0 0 0 68 16 PepperShaker 0.028 0.755 6.014 0 0 0 91 17 SaltShaker 0.956 0.138 0.260 0 0 0 61 18 Lettuce -0.034 0.848 6.787 0 0 0 91 19 Mug 0.107 1.574 0.163 0 0 0 68 20 Bowl 1.450 2.206 4.131 0 0 0 43 21 Bread 1.099 1.048 0.434 0 0 0 55 22 Egg 2.009 1.565 5.251 0 270 0 77 23 Knife 0.260 0.801 0.451 0 90 0 52 24 Fork 1.293 0.771 4.680 0 90 0 45 25 Apple 2.009 1.590 6.001 0 270 0 77 26 Kettle 0.440 1.580 0.251 0 0 0 62 27 Plate 1.322 0.141 2.720 0 0 0 67 28 SaltShaker 1.135 0.987 4.762 0 0 0 56 29 Lettuce -0.384 1.081 0.303 0 90 0 55 30 SoapBottle -0.486 0.760 6.151 0 225 0 91 31 Spatula -0.481 0.787 0.620 0 270 0 51 32 PaperTowelRoll 1.956 0.185 6.498 0 0 0 79 33 Pot 1.317 0.988 4.294 0 0 0 50 34 Potato -0.618 0.794 6.284 0 225 0 91 35 ButterKnife -0.549 0.771 0.451 0 0 0 51 36 PepperShaker -0.346 0.755 6.632 0 0 0 91 37 Pan 1.559 0.988 4.294 0 0 0 53 38 Tomato 1.135 1.042 4.670 0 0 0 56 39 DishSponge 1.332 0.896 2.137 0 90 0 78 40 Cup 0.273 1.093 0.245 0 0 0 71 41 Spoon 1.225 0.993 0.213 0 0 0 55 42 Mug 0.305 0.755 6.416 0 270 0 91 43 Cabinet 1.307 2.455 4.360 0 0 0 44 Cabinet 1.054 0.422 1.710 0 0 0 45 Drawer 1.280 0.808 4.718 0 0 0 46 Cabinet 1.307 2.455 3.607 0 0 0 47 Drawer 0.736 0.802 0.521 0 0 0 48 Drawer 1.276 0.802 3.291 0 0 0 49 StoveBurner 1.562 0.982 3.848 0 0 0 50 StoveBurner 1.317 0.982 4.294 0 0 0 51 Drawer -0.482 0.802 0.521 0 0 0 52 Drawer 0.124 0.802 0.521 0 0 0 53 StoveBurner 1.559 0.982 4.294 0 0 0 54 StoveBurner 1.320 0.982 3.848 0 0 0 55 CounterTop 1.391 1.028 0.897 0 0 0 56 CounterTop 1.391 1.028 4.716 0 0 0 57 Cabinet 1.054 0.422 4.548 0 0 0 58 Cabinet 1.317 2.134 0.517 0 0 0 59 Cabinet 1.317 2.134 4.889 0 0 0 60 Cabinet 1.317 2.134 3.095 0 0 0 61 Cabinet 0.443 0.422 0.743 0 0 0 62 Cabinet 1.270 2.134 0.434 0 0 0 63 Cabinet -0.775 0.422 0.743 0 0 0 64 Cabinet -0.168 0.422 0.743 0 0 0 65 Cabinet 1.317 2.134 1.534 0 0 0 66 Cabinet 1.054 0.422 2.990 0 0 0 67 Cabinet 1.054 0.422 2.944 0 0 0 68 Cabinet -0.263 2.134 0.434 0 0 0 69 Cabinet 0.252 2.134 0.434 0 0 0 70 Sink 1.391 1.006 2.326 0 0 0 71 Microwave 0.108 0.981 0.262 0 0 0 72 HousePlant -0.165 0.826 6.444 0 0 0 73 CoffeeMachine 1.551 0.982 0.953 0 270 0 74 Toaster 1.473 0.981 4.715 0 270 0 75 Window -2.065 1.916 3.626 90 90 0 76 Window 1.763 2.007 2.299 90 270 0 77 Fridge 2.035 0.0 5.625 0 0 0 78 SinkBasin 1.387 0.880 2.338 0 90 0 79 GarbageCan 2.001 -0.044 6.503 0 0 0 80 StoveKnob 1.140 0.934 3.987 45 270 0 81 StoveKnob 1.140 0.934 4.309 45 270 0 82 StoveKnob 1.140 0.934 4.140 45 270 0 83 StoveKnob 1.140 0.934 3.824 45 270 0 84 Vase -0.226 0.834 6.993 0 0 0 85 Vase 2.098 0.043 7.070 0 257.232 0 86 Vase -0.594 0.835 6.130 0 225 0 87 LightSwitch -2.0 1.549 6.045 0 90 0 88 Safe 2.046 1.072 7.054 0 257.232 0 89 Faucet 1.534 1.025 2.371 0 294.391 0 90 Blinds 1.738 2.563 2.312 0 90 0 91 DiningTable -0.156 0.000 6.474 0 0 0 92 Chair 0.291 0.002 6.142 0 310.162 0 93 GarbageBag -1.092 0.318 0.268 270 90 83.492 94 NorthWall 95 EastWall 96 SouthWall 97 WestWall
[ "STEP 1: Turn to your left, then go to the kitchen counter ahead of you. | STEP 2: Grab the lettuce that is on the counter to the right of the microwave. | STEP 3: Go diagonally left to the sink. | STEP 4: Put the head of lettuce into the sink on the right. | STEP 5: Turn left and go forward to the wall, then turn left toward the round black table near the wall. | STEP 6: Pick up the head of lettuce from the round table. | STEP 7: Turn left and carry this head of lettuce back to the sink, then face the sink. | STEP 8: Put the head of lettuce in the left sink. | END" ]
[ [ "STEP 1: Turn to your left, then go to the kitchen counter ahead of you. ", " STEP 2: Grab the lettuce that is on the counter to the right of the microwave. ", " STEP 3: Go diagonally left to the sink. ", " STEP 4: Put the head of lettuce into the sink on the right. ", " STEP 5: Turn left and go forward to the wall, then turn left toward the round black table near the wall. ", " STEP 6: Pick up the head of lettuce from the round table. ", " STEP 7: Turn left and carry this head of lettuce back to the sink, then face the sink. ", " STEP 8: Put the head of lettuce in the left sink. ", " END" ] ]
seen
trial_T20190908_022322_166452-1
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 -1.75 0.900 6.25 0 270 0 1 Pan 1.32 0.988 3.848 0 0 0 54 2 Potato 0.150 0.794 6.416 0 270 0 91 3 Potato 2.051 1.550 5.751 0 270 0 77 4 Kettle -0.413 0.145 0.582 0 0 0 63 5 Spoon 1.332 0.892 2.239 0 180 0 78 6 Spoon 0.079 0.761 6.063 0 135 0 91 7 Egg 1.497 0.940 2.034 0 90 0 78 8 Cup -0.289 0.756 6.786 0 135 0 91 9 Plate 0.055 0.144 0.353 0 0 0 64 10 Plate 1.322 0.141 2.012 0 0 0 44 11 Tomato 1.966 1.565 5.501 0 270 0 77 12 SoapBottle 0.847 0.992 0.670 0 0 0 55 13 Bowl 1.406 0.139 3.291 0 0 0 66 14 Bowl 1.455 1.575 4.633 0 0 0 59 15 PepperShaker -0.013 1.574 0.207 0 0 0 68 16 PepperShaker 0.028 0.755 6.014 0 0 0 91 17 SaltShaker 0.956 0.138 0.260 0 0 0 61 18 Lettuce -0.034 0.848 6.787 0 0 0 91 19 Mug 0.107 1.574 0.163 0 0 0 68 20 Bowl 1.450 2.206 4.131 0 0 0 43 21 Bread 1.099 1.048 0.434 0 0 0 55 22 Egg 2.009 1.565 5.251 0 270 0 77 23 Knife 0.260 0.801 0.451 0 90 0 52 24 Fork 1.293 0.771 4.680 0 90 0 45 25 Apple 2.009 1.590 6.001 0 270 0 77 26 Kettle 0.440 1.580 0.251 0 0 0 62 27 Plate 1.322 0.141 2.720 0 0 0 67 28 SaltShaker 1.135 0.987 4.762 0 0 0 56 29 Lettuce -0.384 1.081 0.303 0 90 0 55 30 SoapBottle -0.486 0.760 6.151 0 225 0 91 31 Spatula -0.481 0.787 0.620 0 270 0 51 32 PaperTowelRoll 1.956 0.185 6.498 0 0 0 79 33 Pot 1.317 0.988 4.294 0 0 0 50 34 Potato -0.618 0.794 6.284 0 225 0 91 35 ButterKnife -0.549 0.771 0.451 0 0 0 51 36 PepperShaker -0.346 0.755 6.632 0 0 0 91 37 Pan 1.559 0.988 4.294 0 0 0 53 38 Tomato 1.135 1.042 4.670 0 0 0 56 39 DishSponge 1.332 0.896 2.137 0 90 0 78 40 Cup 0.273 1.093 0.245 0 0 0 71 41 Spoon 1.225 0.993 0.213 0 0 0 55 42 Mug 0.305 0.755 6.416 0 270 0 91 43 Cabinet 1.307 2.455 4.360 0 0 0 44 Cabinet 1.054 0.422 1.710 0 0 0 45 Drawer 1.280 0.808 4.718 0 0 0 46 Cabinet 1.307 2.455 3.607 0 0 0 47 Drawer 0.736 0.802 0.521 0 0 0 48 Drawer 1.276 0.802 3.291 0 0 0 49 StoveBurner 1.562 0.982 3.848 0 0 0 50 StoveBurner 1.317 0.982 4.294 0 0 0 51 Drawer -0.482 0.802 0.521 0 0 0 52 Drawer 0.124 0.802 0.521 0 0 0 53 StoveBurner 1.559 0.982 4.294 0 0 0 54 StoveBurner 1.320 0.982 3.848 0 0 0 55 CounterTop 1.391 1.028 0.897 0 0 0 56 CounterTop 1.391 1.028 4.716 0 0 0 57 Cabinet 1.054 0.422 4.548 0 0 0 58 Cabinet 1.317 2.134 0.517 0 0 0 59 Cabinet 1.317 2.134 4.889 0 0 0 60 Cabinet 1.317 2.134 3.095 0 0 0 61 Cabinet 0.443 0.422 0.743 0 0 0 62 Cabinet 1.270 2.134 0.434 0 0 0 63 Cabinet -0.775 0.422 0.743 0 0 0 64 Cabinet -0.168 0.422 0.743 0 0 0 65 Cabinet 1.317 2.134 1.534 0 0 0 66 Cabinet 1.054 0.422 2.990 0 0 0 67 Cabinet 1.054 0.422 2.944 0 0 0 68 Cabinet -0.263 2.134 0.434 0 0 0 69 Cabinet 0.252 2.134 0.434 0 0 0 70 Sink 1.391 1.006 2.326 0 0 0 71 Microwave 0.108 0.981 0.262 0 0 0 72 HousePlant -0.165 0.826 6.444 0 0 0 73 CoffeeMachine 1.551 0.982 0.953 0 270 0 74 Toaster 1.473 0.981 4.715 0 270 0 75 Window -2.065 1.916 3.626 90 90 0 76 Window 1.763 2.007 2.299 90 270 0 77 Fridge 2.035 0.0 5.625 0 0 0 78 SinkBasin 1.387 0.880 2.338 0 90 0 79 GarbageCan 2.001 -0.044 6.503 0 0 0 80 StoveKnob 1.140 0.934 3.987 45 270 0 81 StoveKnob 1.140 0.934 4.309 45 270 0 82 StoveKnob 1.140 0.934 4.140 45 270 0 83 StoveKnob 1.140 0.934 3.824 45 270 0 84 Vase -0.226 0.834 6.993 0 0 0 85 Vase 2.098 0.043 7.070 0 257.232 0 86 Vase -0.594 0.835 6.130 0 225 0 87 LightSwitch -2.0 1.549 6.045 0 90 0 88 Safe 2.046 1.072 7.054 0 257.232 0 89 Faucet 1.534 1.025 2.371 0 294.391 0 90 Blinds 1.738 2.563 2.312 0 90 0 91 DiningTable -0.156 0.000 6.474 0 0 0 92 Chair 0.291 0.002 6.142 0 310.162 0 93 GarbageBag -1.092 0.318 0.268 270 90 83.492 94 NorthWall 95 EastWall 96 SouthWall 97 WestWall
[ "STEP 1: move to the counter to the right of the microwave | STEP 2: pick up a lettuce from the counter | STEP 3: move to the sink to the right of the fridge | STEP 4: put the lettuce in the sink | STEP 5: move to the table to the left of you | STEP 6: pick up a lettuce from the table | STEP 7: move to the sink to the right of the fridge | STEP 8: put the lettuce in the sink | END" ]
[ [ "STEP 1: move to the counter to the right of the microwave ", " STEP 2: pick up a lettuce from the counter ", " STEP 3: move to the sink to the right of the fridge ", " STEP 4: put the lettuce in the sink ", " STEP 5: move to the table to the left of you ", " STEP 6: pick up a lettuce from the table ", " STEP 7: move to the sink to the right of the fridge ", " STEP 8: put the lettuce in the sink ", " END" ] ]
seen
trial_T20190908_022322_166452-2
Move the heads of lettuce into 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 -1.75 0.900 6.25 0 270 0 1 Pan 1.32 0.988 3.848 0 0 0 54 2 Potato 0.150 0.794 6.416 0 270 0 91 3 Potato 2.051 1.550 5.751 0 270 0 77 4 Kettle -0.413 0.145 0.582 0 0 0 63 5 Spoon 1.332 0.892 2.239 0 180 0 78 6 Spoon 0.079 0.761 6.063 0 135 0 91 7 Egg 1.497 0.940 2.034 0 90 0 78 8 Cup -0.289 0.756 6.786 0 135 0 91 9 Plate 0.055 0.144 0.353 0 0 0 64 10 Plate 1.322 0.141 2.012 0 0 0 44 11 Tomato 1.966 1.565 5.501 0 270 0 77 12 SoapBottle 0.847 0.992 0.670 0 0 0 55 13 Bowl 1.406 0.139 3.291 0 0 0 66 14 Bowl 1.455 1.575 4.633 0 0 0 59 15 PepperShaker -0.013 1.574 0.207 0 0 0 68 16 PepperShaker 0.028 0.755 6.014 0 0 0 91 17 SaltShaker 0.956 0.138 0.260 0 0 0 61 18 Lettuce -0.034 0.848 6.787 0 0 0 91 19 Mug 0.107 1.574 0.163 0 0 0 68 20 Bowl 1.450 2.206 4.131 0 0 0 43 21 Bread 1.099 1.048 0.434 0 0 0 55 22 Egg 2.009 1.565 5.251 0 270 0 77 23 Knife 0.260 0.801 0.451 0 90 0 52 24 Fork 1.293 0.771 4.680 0 90 0 45 25 Apple 2.009 1.590 6.001 0 270 0 77 26 Kettle 0.440 1.580 0.251 0 0 0 62 27 Plate 1.322 0.141 2.720 0 0 0 67 28 SaltShaker 1.135 0.987 4.762 0 0 0 56 29 Lettuce -0.384 1.081 0.303 0 90 0 55 30 SoapBottle -0.486 0.760 6.151 0 225 0 91 31 Spatula -0.481 0.787 0.620 0 270 0 51 32 PaperTowelRoll 1.956 0.185 6.498 0 0 0 79 33 Pot 1.317 0.988 4.294 0 0 0 50 34 Potato -0.618 0.794 6.284 0 225 0 91 35 ButterKnife -0.549 0.771 0.451 0 0 0 51 36 PepperShaker -0.346 0.755 6.632 0 0 0 91 37 Pan 1.559 0.988 4.294 0 0 0 53 38 Tomato 1.135 1.042 4.670 0 0 0 56 39 DishSponge 1.332 0.896 2.137 0 90 0 78 40 Cup 0.273 1.093 0.245 0 0 0 71 41 Spoon 1.225 0.993 0.213 0 0 0 55 42 Mug 0.305 0.755 6.416 0 270 0 91 43 Cabinet 1.307 2.455 4.360 0 0 0 44 Cabinet 1.054 0.422 1.710 0 0 0 45 Drawer 1.280 0.808 4.718 0 0 0 46 Cabinet 1.307 2.455 3.607 0 0 0 47 Drawer 0.736 0.802 0.521 0 0 0 48 Drawer 1.276 0.802 3.291 0 0 0 49 StoveBurner 1.562 0.982 3.848 0 0 0 50 StoveBurner 1.317 0.982 4.294 0 0 0 51 Drawer -0.482 0.802 0.521 0 0 0 52 Drawer 0.124 0.802 0.521 0 0 0 53 StoveBurner 1.559 0.982 4.294 0 0 0 54 StoveBurner 1.320 0.982 3.848 0 0 0 55 CounterTop 1.391 1.028 0.897 0 0 0 56 CounterTop 1.391 1.028 4.716 0 0 0 57 Cabinet 1.054 0.422 4.548 0 0 0 58 Cabinet 1.317 2.134 0.517 0 0 0 59 Cabinet 1.317 2.134 4.889 0 0 0 60 Cabinet 1.317 2.134 3.095 0 0 0 61 Cabinet 0.443 0.422 0.743 0 0 0 62 Cabinet 1.270 2.134 0.434 0 0 0 63 Cabinet -0.775 0.422 0.743 0 0 0 64 Cabinet -0.168 0.422 0.743 0 0 0 65 Cabinet 1.317 2.134 1.534 0 0 0 66 Cabinet 1.054 0.422 2.990 0 0 0 67 Cabinet 1.054 0.422 2.944 0 0 0 68 Cabinet -0.263 2.134 0.434 0 0 0 69 Cabinet 0.252 2.134 0.434 0 0 0 70 Sink 1.391 1.006 2.326 0 0 0 71 Microwave 0.108 0.981 0.262 0 0 0 72 HousePlant -0.165 0.826 6.444 0 0 0 73 CoffeeMachine 1.551 0.982 0.953 0 270 0 74 Toaster 1.473 0.981 4.715 0 270 0 75 Window -2.065 1.916 3.626 90 90 0 76 Window 1.763 2.007 2.299 90 270 0 77 Fridge 2.035 0.0 5.625 0 0 0 78 SinkBasin 1.387 0.880 2.338 0 90 0 79 GarbageCan 2.001 -0.044 6.503 0 0 0 80 StoveKnob 1.140 0.934 3.987 45 270 0 81 StoveKnob 1.140 0.934 4.309 45 270 0 82 StoveKnob 1.140 0.934 4.140 45 270 0 83 StoveKnob 1.140 0.934 3.824 45 270 0 84 Vase -0.226 0.834 6.993 0 0 0 85 Vase 2.098 0.043 7.070 0 257.232 0 86 Vase -0.594 0.835 6.130 0 225 0 87 LightSwitch -2.0 1.549 6.045 0 90 0 88 Safe 2.046 1.072 7.054 0 257.232 0 89 Faucet 1.534 1.025 2.371 0 294.391 0 90 Blinds 1.738 2.563 2.312 0 90 0 91 DiningTable -0.156 0.000 6.474 0 0 0 92 Chair 0.291 0.002 6.142 0 310.162 0 93 GarbageBag -1.092 0.318 0.268 270 90 83.492 94 NorthWall 95 EastWall 96 SouthWall 97 WestWall
[ "STEP 1: Go to face the counter top to the right of the red microwave. | STEP 2: Pick up the head of lettuce from the counter. | STEP 3: Bring the lettuce to the kitchen sink. | STEP 4: Put the lettuce in the right side of the sink. | STEP 5: Go over to the black table, stand between it and the fridge and face it. | STEP 6: Pick up the head of lettuce from the right of the plant. | STEP 7: Bring the lettuce to the kitchen sink again. | STEP 8: Put the lettuce in the left side of the sink. | END" ]
[ [ "STEP 1: Go to face the counter top to the right of the red microwave. ", " STEP 2: Pick up the head of lettuce from the counter. ", " STEP 3: Bring the lettuce to the kitchen sink. ", " STEP 4: Put the lettuce in the right side of the sink. ", " STEP 5: Go over to the black table, stand between it and the fridge and face it. ", " STEP 6: Pick up the head of lettuce from the right of the plant. ", " STEP 7: Bring the lettuce to the kitchen sink again. ", " STEP 8: Put the lettuce in the left side of the sink. ", " END" ] ]
seen
trial_T20190909_055155_468865-0
Putting two spray bottles in the trash can
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -0.25 0.901 3.75 0 0 0 1 SprayBottle -1.912 0.950 1.696 0 180 0 30 2 SprayBottle -1.694 0.037 2.870 0 0 0 16 3 SoapBottle -1.885 0.953 2.071 0 270 0 30 4 Candle -1.578 0.917 3.097 0 0 0 18 5 HandTowel -1.670 1.496 3.962 0 0 0 28 6 SoapBottle -1.593 0.040 3.227 0 0 0 21 7 Towel 0.833 1.160 2.357 0 0 0 25 8 Cloth -1.694 0.039 3.360 0 270 0 21 9 SoapBar -1.643 0.040 2.464 0 0 0 15 10 ToiletPaper -1.745 0.037 3.811 0 0 0 24 11 Plunger -1.876 0.000 2.276 0 0 0 Floor|-02.00| 12 SprayBottle -1.858 0.950 1.884 0 180 0 30 13 ToiletPaper -1.476 0.042 1.372 0 0 0 27 14 ScrubBrush -1.703 0.000 2.217 0 0 0 Floor|-02.00| 15 Cabinet -1.479 0.348 2.362 0 0 0 16 Cabinet -1.483 0.372 3.152 0 0 0 17 Sink -1.746 0.884 3.553 0 90 0 18 CounterTop -1.758 0.669 3.164 0 0 0 19 Faucet -1.894 1.006 2.730 0 0 0 20 Mirror -1.943 1.532 3.443 0 0 0 21 Cabinet -1.479 0.348 3.170 0 0 0 22 ShowerDoor 0.527 1.039 2.098 0 0 0 23 Painting -0.566 1.591 1.173 0 0 0 24 Cabinet -1.483 0.372 3.960 0 0 0 25 TowelHolder 0.833 1.146 2.250 0 0 0 26 ToiletPaperHanger -1.200 1.013 1.164 0 0 0 27 GarbageCan -1.704 -0.032 1.429 0 2.393 0 28 HandTowelHolder -1.670 1.598 4.000 0 90 0 29 LightSwitch 1.249 1.322 3.635 0 270 0 30 Toilet -1.447 0.000 1.961 0 90 0 31 SinkBasin -1.671 0.935 3.571 0 0 10.090 32 ShowerHead 0.871 1.097 2.009 0 270 0 33 Faucet -1.894 1.006 3.560 0 0 0 34 SinkBasin -1.671 0.935 2.741 0 0 10.090 35 Sink -1.746 0.884 2.723 0 90 0 36 NorthWall 37 EastWall 38 SouthWall 39 WestWall
[ "STEP 1: Turn around and go to the toilet | STEP 2: Grab the spray bottle off of the toilet | STEP 3: Back up and look down at the trash can | STEP 4: Put the bottle in the trash can | STEP 5: Go straight to the toilet | STEP 6: Grab the spray bottle off of the toilet | STEP 7: Back up and look down at the trash can | STEP 8: Put the bottle in the trash can | END" ]
[ [ "STEP 1: Turn around and go to the toilet ", " STEP 2: Grab the spray bottle off of the toilet ", " STEP 3: Back up and look down at the trash can ", " STEP 4: Put the bottle in the trash can ", " STEP 5: Go straight to the toilet ", " STEP 6: Grab the spray bottle off of the toilet ", " STEP 7: Back up and look down at the trash can ", " STEP 8: Put the bottle in the trash can ", " END" ] ]
seen
trial_T20190909_055155_468865-1
Put two bottles in the trash can.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -0.25 0.901 3.75 0 0 0 1 SprayBottle -1.912 0.950 1.696 0 180 0 30 2 SprayBottle -1.694 0.037 2.870 0 0 0 16 3 SoapBottle -1.885 0.953 2.071 0 270 0 30 4 Candle -1.578 0.917 3.097 0 0 0 18 5 HandTowel -1.670 1.496 3.962 0 0 0 28 6 SoapBottle -1.593 0.040 3.227 0 0 0 21 7 Towel 0.833 1.160 2.357 0 0 0 25 8 Cloth -1.694 0.039 3.360 0 270 0 21 9 SoapBar -1.643 0.040 2.464 0 0 0 15 10 ToiletPaper -1.745 0.037 3.811 0 0 0 24 11 Plunger -1.876 0.000 2.276 0 0 0 Floor|-02.00| 12 SprayBottle -1.858 0.950 1.884 0 180 0 30 13 ToiletPaper -1.476 0.042 1.372 0 0 0 27 14 ScrubBrush -1.703 0.000 2.217 0 0 0 Floor|-02.00| 15 Cabinet -1.479 0.348 2.362 0 0 0 16 Cabinet -1.483 0.372 3.152 0 0 0 17 Sink -1.746 0.884 3.553 0 90 0 18 CounterTop -1.758 0.669 3.164 0 0 0 19 Faucet -1.894 1.006 2.730 0 0 0 20 Mirror -1.943 1.532 3.443 0 0 0 21 Cabinet -1.479 0.348 3.170 0 0 0 22 ShowerDoor 0.527 1.039 2.098 0 0 0 23 Painting -0.566 1.591 1.173 0 0 0 24 Cabinet -1.483 0.372 3.960 0 0 0 25 TowelHolder 0.833 1.146 2.250 0 0 0 26 ToiletPaperHanger -1.200 1.013 1.164 0 0 0 27 GarbageCan -1.704 -0.032 1.429 0 2.393 0 28 HandTowelHolder -1.670 1.598 4.000 0 90 0 29 LightSwitch 1.249 1.322 3.635 0 270 0 30 Toilet -1.447 0.000 1.961 0 90 0 31 SinkBasin -1.671 0.935 3.571 0 0 10.090 32 ShowerHead 0.871 1.097 2.009 0 270 0 33 Faucet -1.894 1.006 3.560 0 0 0 34 SinkBasin -1.671 0.935 2.741 0 0 10.090 35 Sink -1.746 0.884 2.723 0 90 0 36 NorthWall 37 EastWall 38 SouthWall 39 WestWall
[ "STEP 1: Turn around and then to the right to face the toilet. | STEP 2: Pick the bottle up from the left side of the back of the toilet. | STEP 3: Back up and face the trash can on the left of the toilet. | STEP 4: Put the bottle in the trash can. | STEP 5: Look up to face the back of the toilet. | STEP 6: Pick the bottle up from the back of the toilet. | STEP 7: Move to the left to face the trash can to the left of the toilet. | STEP 8: Put the bottle in the trash can. | END" ]
[ [ "STEP 1: Turn around and then to the right to face the toilet. ", " STEP 2: Pick the bottle up from the left side of the back of the toilet. ", " STEP 3: Back up and face the trash can on the left of the toilet. ", " STEP 4: Put the bottle in the trash can. ", " STEP 5: Look up to face the back of the toilet. ", " STEP 6: Pick the bottle up from the back of the toilet. ", " STEP 7: Move to the left to face the trash can to the left of the toilet. ", " STEP 8: Put the bottle in the trash can. ", " END" ] ]
seen
trial_T20190909_055155_468865-2
Move two spray bottles to a bathroom waste bin.
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " -0.25", " 0.901", " 3.75", " 0", " 0", " 0", "" ], [ "1", " SprayBottle", " -1.912", " 0.950", " 1.696", " 0", " 180", " 0", " 30" ], [ "2", " SprayBottle", " -1.694", " 0.037", " 2.870", " 0", " 0", " 0", " 16" ], [ "3", " SoapBottle", " -1.885", " 0.953", " 2.071", " 0", " 270", " 0", " 30" ], [ "4", " Candle", " -1.578", " 0.917", " 3.097", " 0", " 0", " 0", " 18" ], [ "5", " HandTowel", " -1.670", " 1.496", " 3.962", " 0", " 0", " 0", " 28" ], [ "6", " SoapBottle", " -1.593", " 0.040", " 3.227", " 0", " 0", " 0", " 21" ], [ "7", " Towel", " 0.833", " 1.160", " 2.357", " 0", " 0", " 0", " 25" ], [ "8", " Cloth", " -1.694", " 0.039", " 3.360", " 0", " 270", " 0", " 21" ], [ "9", " SoapBar", " -1.643", " 0.040", " 2.464", " 0", " 0", " 0", " 15" ], [ "10", " ToiletPaper", " -1.745", " 0.037", " 3.811", " 0", " 0", " 0", " 24" ], [ "11", " Plunger", " -1.876", " 0.000", " 2.276", " 0", " 0", " 0", " Floor|-02.00|" ], [ "12", " SprayBottle", " -1.858", " 0.950", " 1.884", " 0", " 180", " 0", " 30" ], [ "13", " ToiletPaper", " -1.476", " 0.042", " 1.372", " 0", " 0", " 0", " 27" ], [ "14", " ScrubBrush", " -1.703", " 0.000", " 2.217", " 0", " 0", " 0", " Floor|-02.00|" ], [ "15", " Cabinet", " -1.479", " 0.348", " 2.362", " 0", " 0", " 0", "" ], [ "16", " Cabinet", " -1.483", " 0.372", " 3.152", " 0", " 0", " 0", "" ], [ "17", " Sink", " -1.746", " 0.884", " 3.553", " 0", " 90", " 0", "" ], [ "18", " CounterTop", " -1.758", " 0.669", " 3.164", " 0", " 0", " 0", "" ], [ "19", " Faucet", " -1.894", " 1.006", " 2.730", " 0", " 0", " 0", "" ], [ "20", " Mirror", " -1.943", " 1.532", " 3.443", " 0", " 0", " 0", "" ], [ "21", " Cabinet", " -1.479", " 0.348", " 3.170", " 0", " 0", " 0", "" ], [ "22", " ShowerDoor", " 0.527", " 1.039", " 2.098", " 0", " 0", " 0", "" ], [ "23", " Painting", " -0.566", " 1.591", " 1.173", " 0", " 0", " 0", "" ], [ "24", " Cabinet", " -1.483", " 0.372", " 3.960", " 0", " 0", " 0", "" ], [ "25", " TowelHolder", " 0.833", " 1.146", " 2.250", " 0", " 0", " 0", "" ], [ "26", " ToiletPaperHanger", " -1.200", " 1.013", " 1.164", " 0", " 0", " 0", "" ], [ "27", " GarbageCan", " -1.704", " -0.032", " 1.429", " 0", " 2.393", " 0", "" ], [ "28", " HandTowelHolder", " -1.670", " 1.598", " 4.000", " 0", " 90", " 0", "" ], [ "29", " LightSwitch", " 1.249", " 1.322", " 3.635", " 0", " 270", " 0", "" ], [ "30", " Toilet", " -1.447", " 0.000", " 1.961", " 0", " 90", " 0", "" ], [ "31", " SinkBasin", " -1.671", " 0.935", " 3.571", " 0", " 0", " 10.090", "" ], [ "32", " ShowerHead", " 0.871", " 1.097", " 2.009", " 0", " 270", " 0", "" ], [ "33", " Faucet", " -1.894", " 1.006", " 3.560", " 0", " 0", " 0", "" ], [ "34", " SinkBasin", " -1.671", " 0.935", " 2.741", " 0", " 0", " 10.090", "" ], [ "35", " Sink", " -1.746", " 0.884", " 2.723", " 0", " 90", " 0", "" ], [ "36", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "37", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "38", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "39", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -0.25 0.901 3.75 0 0 0 1 SprayBottle -1.912 0.950 1.696 0 180 0 30 2 SprayBottle -1.694 0.037 2.870 0 0 0 16 3 SoapBottle -1.885 0.953 2.071 0 270 0 30 4 Candle -1.578 0.917 3.097 0 0 0 18 5 HandTowel -1.670 1.496 3.962 0 0 0 28 6 SoapBottle -1.593 0.040 3.227 0 0 0 21 7 Towel 0.833 1.160 2.357 0 0 0 25 8 Cloth -1.694 0.039 3.360 0 270 0 21 9 SoapBar -1.643 0.040 2.464 0 0 0 15 10 ToiletPaper -1.745 0.037 3.811 0 0 0 24 11 Plunger -1.876 0.000 2.276 0 0 0 Floor|-02.00| 12 SprayBottle -1.858 0.950 1.884 0 180 0 30 13 ToiletPaper -1.476 0.042 1.372 0 0 0 27 14 ScrubBrush -1.703 0.000 2.217 0 0 0 Floor|-02.00| 15 Cabinet -1.479 0.348 2.362 0 0 0 16 Cabinet -1.483 0.372 3.152 0 0 0 17 Sink -1.746 0.884 3.553 0 90 0 18 CounterTop -1.758 0.669 3.164 0 0 0 19 Faucet -1.894 1.006 2.730 0 0 0 20 Mirror -1.943 1.532 3.443 0 0 0 21 Cabinet -1.479 0.348 3.170 0 0 0 22 ShowerDoor 0.527 1.039 2.098 0 0 0 23 Painting -0.566 1.591 1.173 0 0 0 24 Cabinet -1.483 0.372 3.960 0 0 0 25 TowelHolder 0.833 1.146 2.250 0 0 0 26 ToiletPaperHanger -1.200 1.013 1.164 0 0 0 27 GarbageCan -1.704 -0.032 1.429 0 2.393 0 28 HandTowelHolder -1.670 1.598 4.000 0 90 0 29 LightSwitch 1.249 1.322 3.635 0 270 0 30 Toilet -1.447 0.000 1.961 0 90 0 31 SinkBasin -1.671 0.935 3.571 0 0 10.090 32 ShowerHead 0.871 1.097 2.009 0 270 0 33 Faucet -1.894 1.006 3.560 0 0 0 34 SinkBasin -1.671 0.935 2.741 0 0 10.090 35 Sink -1.746 0.884 2.723 0 90 0 36 NorthWall 37 EastWall 38 SouthWall 39 WestWall
[ "STEP 1: Face the opposite direction and go to the far wall, then turn right to face the toilet and go near the toilet. | STEP 2: Pick up the yellow spray bottle on the left from the back of the toilet. | STEP 3: Turn all the way around to the left one time. | STEP 4: Put the spray bottle into the green bin to the left of the toilet. | STEP 5: Go closer to the toilet. | STEP 6: Pick up the remaining yellow spray bottle. | STEP 7: Turn to look behind you, then face the toilet again. | STEP 8: Put the spray bottle in the bin to the left of the toilet. | END" ]
[ [ "STEP 1: Face the opposite direction and go to the far wall, then turn right to face the toilet and go near the toilet. ", " STEP 2: Pick up the yellow spray bottle on the left from the back of the toilet. ", " STEP 3: Turn all the way around to the left one time. ", " STEP 4: Put the spray bottle into the green bin to the left of the toilet. ", " STEP 5: Go closer to the toilet. ", " STEP 6: Pick up the remaining yellow spray bottle. ", " STEP 7: Turn to look behind you, then face the toilet again. ", " STEP 8: Put the spray bottle in the bin to the left of the toilet. ", " END" ] ]
seen
trial_T20190907_041322_837354-0
Put a wet bar of soap 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", " -1.0", " 0.901", " 1.5", " 0", " 0", " 0", "" ], [ "1", " Candle", " -1.858", " 0.953", " 2.009", " 0", " 180", " 0", " 30" ], [ "2", " SprayBottle", " -1.814", " 0.915", " 3.172", " 0", " 0", " 0", " 18" ], [ "3", " SoapBottle", " -1.872", " 0.918", " 2.371", " 0", " 90", " 0", " 18" ], [ "4", " Candle", " -1.831", " 0.953", " 1.759", " 0", " 180", " 0", " 30" ], [ "5", " HandTowel", " -1.670", " 1.496", " 3.962", " 0", " 0", " 0", " 28" ], [ "6", " SoapBottle", " -1.519", " 0.918", " 3.097", " 0", " 0", " 0", " 18" ], [ "7", " Towel", " 0.833", " 1.160", " 2.357", " 0", " 0", " 0", " 25" ], [ "8", " Cloth", " -1.643", " 0.039", " 2.508", " 0", " 0", " 0", " 15" ], [ "9", " SoapBar", " -1.912", " 0.953", " 1.696", " 0", " 180", " 0", " 30" ], [ "10", " ToiletPaper", " -1.694", " 0.037", " 2.870", " 0", " 0", " 0", " 16" ], [ "11", " Plunger", " -1.876", " 0.000", " 2.276", " 0", " 0", " 0", " Floor|-02.00|" ], [ "12", " SprayBottle", " -1.885", " 0.950", " 1.821", " 0", " 180", " 0", " 30" ], [ "13", " ToiletPaper", " -1.476", " 0.042", " 1.372", " 0", " 0", " 0", " 27" ], [ "14", " ScrubBrush", " -1.703", " 0.000", " 2.217", " 0", " 0", " 0", " Floor|-02.00|" ], [ "15", " Cabinet", " -1.479", " 0.348", " 2.362", " 0", " 0", " 0", "" ], [ "16", " Cabinet", " -1.483", " 0.372", " 3.152", " 0", " 0", " 0", "" ], [ "17", " Sink", " -1.746", " 0.884", " 3.553", " 0", " 90", " 0", "" ], [ "18", " CounterTop", " -1.758", " 0.669", " 3.164", " 0", " 0", " 0", "" ], [ "19", " Faucet", " -1.894", " 1.006", " 2.730", " 0", " 0", " 0", "" ], [ "20", " Mirror", " -1.943", " 1.532", " 3.443", " 0", " 0", " 0", "" ], [ "21", " Cabinet", " -1.479", " 0.348", " 3.170", " 0", " 0", " 0", "" ], [ "22", " ShowerDoor", " 0.527", " 1.039", " 2.098", " 0", " 0", " 0", "" ], [ "23", " Painting", " -0.566", " 1.591", " 1.173", " 0", " 0", " 0", "" ], [ "24", " Cabinet", " -1.483", " 0.372", " 3.960", " 0", " 0", " 0", "" ], [ "25", " TowelHolder", " 0.833", " 1.146", " 2.250", " 0", " 0", " 0", "" ], [ "26", " ToiletPaperHanger", " -1.200", " 1.013", " 1.164", " 0", " 0", " 0", "" ], [ "27", " GarbageCan", " -1.704", " -0.032", " 1.429", " 0", " 2.393", " 0", "" ], [ "28", " HandTowelHolder", " -1.670", " 1.598", " 4.000", " 0", " 90", " 0", "" ], [ "29", " LightSwitch", " 1.249", " 1.322", " 3.635", " 0", " 270", " 0", "" ], [ "30", " Toilet", " -1.447", " 0.000", " 1.961", " 0", " 90", " 0", "" ], [ "31", " SinkBasin", " -1.671", " 0.935", " 3.571", " 0", " 0", " 10.090", "" ], [ "32", " ShowerHead", " 0.871", " 1.097", " 2.009", " 0", " 270", " 0", "" ], [ "33", " Faucet", " -1.894", " 1.006", " 3.560", " 0", " 0", " 0", "" ], [ "34", " SinkBasin", " -1.671", " 0.935", " 2.741", " 0", " 0", " 10.090", "" ], [ "35", " Sink", " -1.746", " 0.884", " 2.723", " 0", " 90", " 0", "" ], [ "36", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "37", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "38", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "39", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.0 0.901 1.5 0 0 0 1 Candle -1.858 0.953 2.009 0 180 0 30 2 SprayBottle -1.814 0.915 3.172 0 0 0 18 3 SoapBottle -1.872 0.918 2.371 0 90 0 18 4 Candle -1.831 0.953 1.759 0 180 0 30 5 HandTowel -1.670 1.496 3.962 0 0 0 28 6 SoapBottle -1.519 0.918 3.097 0 0 0 18 7 Towel 0.833 1.160 2.357 0 0 0 25 8 Cloth -1.643 0.039 2.508 0 0 0 15 9 SoapBar -1.912 0.953 1.696 0 180 0 30 10 ToiletPaper -1.694 0.037 2.870 0 0 0 16 11 Plunger -1.876 0.000 2.276 0 0 0 Floor|-02.00| 12 SprayBottle -1.885 0.950 1.821 0 180 0 30 13 ToiletPaper -1.476 0.042 1.372 0 0 0 27 14 ScrubBrush -1.703 0.000 2.217 0 0 0 Floor|-02.00| 15 Cabinet -1.479 0.348 2.362 0 0 0 16 Cabinet -1.483 0.372 3.152 0 0 0 17 Sink -1.746 0.884 3.553 0 90 0 18 CounterTop -1.758 0.669 3.164 0 0 0 19 Faucet -1.894 1.006 2.730 0 0 0 20 Mirror -1.943 1.532 3.443 0 0 0 21 Cabinet -1.479 0.348 3.170 0 0 0 22 ShowerDoor 0.527 1.039 2.098 0 0 0 23 Painting -0.566 1.591 1.173 0 0 0 24 Cabinet -1.483 0.372 3.960 0 0 0 25 TowelHolder 0.833 1.146 2.250 0 0 0 26 ToiletPaperHanger -1.200 1.013 1.164 0 0 0 27 GarbageCan -1.704 -0.032 1.429 0 2.393 0 28 HandTowelHolder -1.670 1.598 4.000 0 90 0 29 LightSwitch 1.249 1.322 3.635 0 270 0 30 Toilet -1.447 0.000 1.961 0 90 0 31 SinkBasin -1.671 0.935 3.571 0 0 10.090 32 ShowerHead 0.871 1.097 2.009 0 270 0 33 Faucet -1.894 1.006 3.560 0 0 0 34 SinkBasin -1.671 0.935 2.741 0 0 10.090 35 Sink -1.746 0.884 2.723 0 90 0 36 NorthWall 37 EastWall 38 SouthWall 39 WestWall
[ "STEP 1: Turn to face the toilet. | STEP 2: Pick up the bar of soap to the left of the spray bottle. | STEP 3: Walk across the room to the vanity. | STEP 4: Get the soap wet in the sink on the left. | STEP 5: Take the wet soap back to the toilet. | STEP 6: Stand the wet bar of soap on its end on the back of the toilet. | END" ]
[ [ "STEP 1: Turn to face the toilet. ", " STEP 2: Pick up the bar of soap to the left of the spray bottle. ", " STEP 3: Walk across the room to the vanity. ", " STEP 4: Get the soap wet in the sink on the left. ", " STEP 5: Take the wet soap back to the toilet. ", " STEP 6: Stand the wet bar of soap on its end on the back of the toilet. ", " END" ] ]
seen
trial_T20190907_041322_837354-1
place a rinsed off bar of soap on top 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 -1.0 0.901 1.5 0 0 0 1 Candle -1.858 0.953 2.009 0 180 0 30 2 SprayBottle -1.814 0.915 3.172 0 0 0 18 3 SoapBottle -1.872 0.918 2.371 0 90 0 18 4 Candle -1.831 0.953 1.759 0 180 0 30 5 HandTowel -1.670 1.496 3.962 0 0 0 28 6 SoapBottle -1.519 0.918 3.097 0 0 0 18 7 Towel 0.833 1.160 2.357 0 0 0 25 8 Cloth -1.643 0.039 2.508 0 0 0 15 9 SoapBar -1.912 0.953 1.696 0 180 0 30 10 ToiletPaper -1.694 0.037 2.870 0 0 0 16 11 Plunger -1.876 0.000 2.276 0 0 0 Floor|-02.00| 12 SprayBottle -1.885 0.950 1.821 0 180 0 30 13 ToiletPaper -1.476 0.042 1.372 0 0 0 27 14 ScrubBrush -1.703 0.000 2.217 0 0 0 Floor|-02.00| 15 Cabinet -1.479 0.348 2.362 0 0 0 16 Cabinet -1.483 0.372 3.152 0 0 0 17 Sink -1.746 0.884 3.553 0 90 0 18 CounterTop -1.758 0.669 3.164 0 0 0 19 Faucet -1.894 1.006 2.730 0 0 0 20 Mirror -1.943 1.532 3.443 0 0 0 21 Cabinet -1.479 0.348 3.170 0 0 0 22 ShowerDoor 0.527 1.039 2.098 0 0 0 23 Painting -0.566 1.591 1.173 0 0 0 24 Cabinet -1.483 0.372 3.960 0 0 0 25 TowelHolder 0.833 1.146 2.250 0 0 0 26 ToiletPaperHanger -1.200 1.013 1.164 0 0 0 27 GarbageCan -1.704 -0.032 1.429 0 2.393 0 28 HandTowelHolder -1.670 1.598 4.000 0 90 0 29 LightSwitch 1.249 1.322 3.635 0 270 0 30 Toilet -1.447 0.000 1.961 0 90 0 31 SinkBasin -1.671 0.935 3.571 0 0 10.090 32 ShowerHead 0.871 1.097 2.009 0 270 0 33 Faucet -1.894 1.006 3.560 0 0 0 34 SinkBasin -1.671 0.935 2.741 0 0 10.090 35 Sink -1.746 0.884 2.723 0 90 0 36 NorthWall 37 EastWall 38 SouthWall 39 WestWall
[ "STEP 1: turn left to face the toilet | STEP 2: grab the bar of soap off of the top of the toilet to the left of the left candle | STEP 3: turn around and walk past the toilet a bit, then take a left and walk to the left side sink | STEP 4: place the soap in the sink and turn the water on to rinse it off | STEP 5: return back to the toilet to your left | STEP 6: place the soap back on top of the toilet but to the right this time | END" ]
[ [ "STEP 1: turn left to face the toilet ", " STEP 2: grab the bar of soap off of the top of the toilet to the left of the left candle ", " STEP 3: turn around and walk past the toilet a bit, then take a left and walk to the left side sink ", " STEP 4: place the soap in the sink and turn the water on to rinse it off ", " STEP 5: return back to the toilet to your left ", " STEP 6: place the soap back on top of the toilet but to the right this time ", " END" ] ]
seen
trial_T20190907_041322_837354-2
Put clean soap 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 -1.0 0.901 1.5 0 0 0 1 Candle -1.858 0.953 2.009 0 180 0 30 2 SprayBottle -1.814 0.915 3.172 0 0 0 18 3 SoapBottle -1.872 0.918 2.371 0 90 0 18 4 Candle -1.831 0.953 1.759 0 180 0 30 5 HandTowel -1.670 1.496 3.962 0 0 0 28 6 SoapBottle -1.519 0.918 3.097 0 0 0 18 7 Towel 0.833 1.160 2.357 0 0 0 25 8 Cloth -1.643 0.039 2.508 0 0 0 15 9 SoapBar -1.912 0.953 1.696 0 180 0 30 10 ToiletPaper -1.694 0.037 2.870 0 0 0 16 11 Plunger -1.876 0.000 2.276 0 0 0 Floor|-02.00| 12 SprayBottle -1.885 0.950 1.821 0 180 0 30 13 ToiletPaper -1.476 0.042 1.372 0 0 0 27 14 ScrubBrush -1.703 0.000 2.217 0 0 0 Floor|-02.00| 15 Cabinet -1.479 0.348 2.362 0 0 0 16 Cabinet -1.483 0.372 3.152 0 0 0 17 Sink -1.746 0.884 3.553 0 90 0 18 CounterTop -1.758 0.669 3.164 0 0 0 19 Faucet -1.894 1.006 2.730 0 0 0 20 Mirror -1.943 1.532 3.443 0 0 0 21 Cabinet -1.479 0.348 3.170 0 0 0 22 ShowerDoor 0.527 1.039 2.098 0 0 0 23 Painting -0.566 1.591 1.173 0 0 0 24 Cabinet -1.483 0.372 3.960 0 0 0 25 TowelHolder 0.833 1.146 2.250 0 0 0 26 ToiletPaperHanger -1.200 1.013 1.164 0 0 0 27 GarbageCan -1.704 -0.032 1.429 0 2.393 0 28 HandTowelHolder -1.670 1.598 4.000 0 90 0 29 LightSwitch 1.249 1.322 3.635 0 270 0 30 Toilet -1.447 0.000 1.961 0 90 0 31 SinkBasin -1.671 0.935 3.571 0 0 10.090 32 ShowerHead 0.871 1.097 2.009 0 270 0 33 Faucet -1.894 1.006 3.560 0 0 0 34 SinkBasin -1.671 0.935 2.741 0 0 10.090 35 Sink -1.746 0.884 2.723 0 90 0 36 NorthWall 37 EastWall 38 SouthWall 39 WestWall
[ "STEP 1: Move to the left side of the toilet. | STEP 2: Pick the soap up from the back of the toilet. | STEP 3: Turn around and approach the sink? | STEP 4: Put the soap in the sink, turn on the water, turn off the water and take the soap out of the sink. | STEP 5: Move to the left and stand facing the right side of the toilet. | STEP 6: Put the soap on the back of the toilet. | END" ]
[ [ "STEP 1: Move to the left side of the toilet. ", " STEP 2: Pick the soap up from the back of the toilet. ", " STEP 3: Turn around and approach the sink? ", " STEP 4: Put the soap in the sink, turn on the water, turn off the water and take the soap out of the sink. ", " STEP 5: Move to the left and stand facing the right side of the toilet. ", " STEP 6: Put the soap on the back of the toilet. ", " END" ] ]
seen
trial_T20190908_185043_273617-0
Put a warm mug at the coffee maker.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -3.75 0.899 3.25 0 90 0 1 Pencil -3.772 0.747 5.162 0 180 0 77 2 Potato -0.259 1.369 3.355 0 270 0 107 3 WineBottle -0.565 0.926 6.591 0 0 0 59 4 WineBottle -3.639 0.069 6.333 0 270 0 100 5 Pot -2.924 0.930 1.712 0 180 0 71 6 Fork -0.181 0.925 5.932 0 0 0 59 7 Fork -4.184 0.924 5.159 0 90 0 74 8 Spoon -2.026 0.924 1.8 0 0 0 56 9 Spatula -3.613 0.938 5.182 0 90 0 74 10 Cup -2.026 0.922 1.951 0 0 0 56 11 Egg -2.635 1.582 1.666 0 0 0 104 12 Egg -0.508 1.106 3.850 0 270 0 107 13 Plate -3.925 1.459 5.475 0 90 0 78 14 Knife -4.312 0.953 2.300 0 90 0 74 15 Knife -1.610 0.953 1.648 0 90 0 56 16 Tomato -0.259 1.392 3.602 0 270 0 107 17 Bowl -4.196 0.787 3.222 0 270 0 106 18 SaltShaker -3.296 1.449 1.638 0 0 0 48 19 PepperShaker -2.026 0.919 1.648 0 0 0 56 20 PepperShaker -4.066 0.741 4.585 0 90 0 81 21 Bread -0.258 1.004 4.944 0 0 0 59 22 Bread -0.348 1.150 3.479 0 270 0 107 23 Apple -0.342 1.739 3.975 0 270 0 107 24 Egg -4.478 0.959 3.082 0 0 0 74 25 Apple -3.784 0.122 6.292 0 270 0 100 26 Knife -0.411 0.954 4.944 0 0 0 59 27 Potato -0.259 1.719 3.854 0 270 0 107 28 Fork -0.334 0.925 4.615 0 0 0 59 29 Bowl -0.342 1.577 3.349 0 270 0 107 30 Plate -0.301 1.336 3.850 0 270 0 107 31 Lettuce -4.335 1.018 5.159 0 90 0 74 32 Bread -1.860 1.003 1.8 0 0 0 56 33 Tomato -4.411 0.980 4.122 0 90 0 74 34 WineBottle -4.064 0.084 3.175 0 0 0 87 35 Spatula -3.135 0.938 5.336 0 270 0 74 36 PaperTowelRoll -0.411 1.029 5.932 0 0 0 108 37 Cup -3.135 0.922 5.182 0 90 0 74 38 Pencil -3.307 0.747 1.986 0 0 0 80 39 Pan -2.469 0.930 1.712 0 270 0 89 40 Pot -2.924 0.930 2.012 0 0 0 57 41 SaltShaker -1.693 0.919 1.724 0 0 0 56 42 SoapBottle -4.486 0.923 5.418 0 90 0 74 43 PepperShaker -0.473 0.743 4.849 0 270 0 64 44 ButterKnife -0.488 0.925 5.603 0 0 0 59 45 DishSponge -3.748 1.458 5.511 0 90 0 78 46 Spoon -4.196 0.792 3.410 0 270 0 106 47 Mug -0.409 0.955 6.557 0 270 0 95 48 Cabinet -3.203 1.931 1.777 0 0 0 49 Cabinet -3.187 0.390 2.089 0 0 0 50 Cabinet -0.637 0.387 6.882 0 180 0 51 Drawer -3.797 0.781 1.961 0 0 0 52 Cabinet -3.036 0.387 5.029 0 90 0 53 Drawer -0.509 0.775 5.268 0 270 0 54 Drawer -4.125 0.798 2.499 0 0 0 55 Cabinet -0.331 2.249 4.308 0 180 0 56 CounterTop -1.872 0.958 1.799 0 0 0 57 StoveBurner -2.924 0.924 2.012 0 0 0 58 Cabinet -0.331 2.249 6.806 0 180 0 59 CounterTop -0.345 0.960 5.603 0 0 0 60 Cabinet -3.039 1.935 5.321 0 90 0 61 Cabinet -3.922 0.397 2.088 0 0 0 62 StoveBurner -2.467 0.924 2.012 0 0 0 63 Cabinet -0.331 2.249 5.505 0 180 0 64 Drawer -0.509 0.775 4.617 0 270 0 65 Drawer -3.509 0.777 5.157 0 180 0 66 Cabinet -3.961 0.388 2.878 0 0 0 67 Cabinet -3.961 0.388 4.342 0 0 0 68 Cabinet -0.637 0.387 5.582 0 180 0 69 Cabinet -0.637 0.388 4.299 0 180 0 70 Cabinet -0.637 0.388 5.599 0 180 0 71 StoveBurner -2.924 0.924 1.712 0 180 0 72 Drawer -1.859 0.775 1.961 0 0 0 73 Cabinet -0.331 2.249 5.609 0 180 0 74 CounterTop -4.260 0.958 4.943 0 90 0 75 Cabinet -4.284 1.931 2.226 0 0 0 76 Cabinet -0.331 2.249 3.010 0 180 0 77 Drawer -3.801 0.777 5.157 0 180 0 78 Cabinet -4.112 1.935 5.321 0 90 0 79 Cabinet -3.968 0.388 3.662 0 0 0 80 Drawer -3.418 0.777 1.961 0 0 0 81 Drawer -4.090 0.777 4.661 0 90 0 82 Faucet -4.441 0.909 3.288 270 0 0 83 Cabinet -0.331 2.249 4.207 0 180 0 84 Cabinet -3.961 0.388 2.119 0 0 0 85 Drawer -0.509 0.775 5.920 0 270 0 86 Drawer -3.193 0.777 5.157 0 180 0 87 Cabinet -3.968 0.388 2.894 0 0 0 88 Cabinet -3.667 0.387 5.029 0 90 0 89 StoveBurner -2.469 0.924 1.712 0 270 0 90 Cabinet -1.539 0.388 2.090 0 0 0 91 Sink -4.190 0.921 3.279 0 0 0 92 Cabinet -3.641 0.387 5.029 0 90 0 93 Cabinet -1.583 1.931 1.777 0 0 0 94 Drawer -0.509 0.775 6.568 0 270 0 95 CoffeeMachine -0.279 0.912 6.556 0 270 0 96 StoveKnob -2.347 1.095 1.560 288.012 180 180 97 StoveKnob -2.788 1.095 1.560 288.012 180 180 98 StoveKnob -2.965 1.095 1.560 288.012 180 180 99 StoveKnob -2.512 1.095 1.560 288.012 180 180 100 GarbageCan -3.711 -0.030 6.376 0 270 0 101 Toaster -3.578 0.912 1.763 0 0 0 102 Curtains -4.522 2.252 3.391 90 90 0 103 Window -4.868 1.629 3.309 90 270 0 104 Microwave -2.693 1.430 1.689 0 0 0 105 LightSwitch -1.588 1.169 1.506 0 0 0 106 SinkBasin -4.196 0.780 3.276 0 270 0 107 Fridge -0.324 -0.001 3.602 0 0 0 108 109 NorthWall 110 EastWall 111 SouthWall 112 WestWall
[ "STEP 1: Move forward, then turn left and go to the wall, then turn right to go to the counter with the coffee maker. | STEP 2: Pick up the mug at the coffee maker. | STEP 3: Turn around, go forward, turn left to go to the stove, then look up at the microwave. | STEP 4: Put the mug in the microwave and heat it up, then take it out. | STEP 5: Turn around, move forward to the wall then turn right to go to the coffee maker. | STEP 6: Put the mug at the coffee maker. | END" ]
[ [ "STEP 1: Move forward, then turn left and go to the wall, then turn right to go to the counter with the coffee maker. ", " STEP 2: Pick up the mug at the coffee maker. ", " STEP 3: Turn around, go forward, turn left to go to the stove, then look up at the microwave. ", " STEP 4: Put the mug in the microwave and heat it up, then take it out. ", " STEP 5: Turn around, move forward to the wall then turn right to go to the coffee maker. ", " STEP 6: Put the mug at the coffee maker. ", " END" ] ]
seen
trial_T20190908_185043_273617-1
Put the heated mug on the coffee maker
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -3.75 0.899 3.25 0 90 0 1 Pencil -3.772 0.747 5.162 0 180 0 77 2 Potato -0.259 1.369 3.355 0 270 0 107 3 WineBottle -0.565 0.926 6.591 0 0 0 59 4 WineBottle -3.639 0.069 6.333 0 270 0 100 5 Pot -2.924 0.930 1.712 0 180 0 71 6 Fork -0.181 0.925 5.932 0 0 0 59 7 Fork -4.184 0.924 5.159 0 90 0 74 8 Spoon -2.026 0.924 1.8 0 0 0 56 9 Spatula -3.613 0.938 5.182 0 90 0 74 10 Cup -2.026 0.922 1.951 0 0 0 56 11 Egg -2.635 1.582 1.666 0 0 0 104 12 Egg -0.508 1.106 3.850 0 270 0 107 13 Plate -3.925 1.459 5.475 0 90 0 78 14 Knife -4.312 0.953 2.300 0 90 0 74 15 Knife -1.610 0.953 1.648 0 90 0 56 16 Tomato -0.259 1.392 3.602 0 270 0 107 17 Bowl -4.196 0.787 3.222 0 270 0 106 18 SaltShaker -3.296 1.449 1.638 0 0 0 48 19 PepperShaker -2.026 0.919 1.648 0 0 0 56 20 PepperShaker -4.066 0.741 4.585 0 90 0 81 21 Bread -0.258 1.004 4.944 0 0 0 59 22 Bread -0.348 1.150 3.479 0 270 0 107 23 Apple -0.342 1.739 3.975 0 270 0 107 24 Egg -4.478 0.959 3.082 0 0 0 74 25 Apple -3.784 0.122 6.292 0 270 0 100 26 Knife -0.411 0.954 4.944 0 0 0 59 27 Potato -0.259 1.719 3.854 0 270 0 107 28 Fork -0.334 0.925 4.615 0 0 0 59 29 Bowl -0.342 1.577 3.349 0 270 0 107 30 Plate -0.301 1.336 3.850 0 270 0 107 31 Lettuce -4.335 1.018 5.159 0 90 0 74 32 Bread -1.860 1.003 1.8 0 0 0 56 33 Tomato -4.411 0.980 4.122 0 90 0 74 34 WineBottle -4.064 0.084 3.175 0 0 0 87 35 Spatula -3.135 0.938 5.336 0 270 0 74 36 PaperTowelRoll -0.411 1.029 5.932 0 0 0 108 37 Cup -3.135 0.922 5.182 0 90 0 74 38 Pencil -3.307 0.747 1.986 0 0 0 80 39 Pan -2.469 0.930 1.712 0 270 0 89 40 Pot -2.924 0.930 2.012 0 0 0 57 41 SaltShaker -1.693 0.919 1.724 0 0 0 56 42 SoapBottle -4.486 0.923 5.418 0 90 0 74 43 PepperShaker -0.473 0.743 4.849 0 270 0 64 44 ButterKnife -0.488 0.925 5.603 0 0 0 59 45 DishSponge -3.748 1.458 5.511 0 90 0 78 46 Spoon -4.196 0.792 3.410 0 270 0 106 47 Mug -0.409 0.955 6.557 0 270 0 95 48 Cabinet -3.203 1.931 1.777 0 0 0 49 Cabinet -3.187 0.390 2.089 0 0 0 50 Cabinet -0.637 0.387 6.882 0 180 0 51 Drawer -3.797 0.781 1.961 0 0 0 52 Cabinet -3.036 0.387 5.029 0 90 0 53 Drawer -0.509 0.775 5.268 0 270 0 54 Drawer -4.125 0.798 2.499 0 0 0 55 Cabinet -0.331 2.249 4.308 0 180 0 56 CounterTop -1.872 0.958 1.799 0 0 0 57 StoveBurner -2.924 0.924 2.012 0 0 0 58 Cabinet -0.331 2.249 6.806 0 180 0 59 CounterTop -0.345 0.960 5.603 0 0 0 60 Cabinet -3.039 1.935 5.321 0 90 0 61 Cabinet -3.922 0.397 2.088 0 0 0 62 StoveBurner -2.467 0.924 2.012 0 0 0 63 Cabinet -0.331 2.249 5.505 0 180 0 64 Drawer -0.509 0.775 4.617 0 270 0 65 Drawer -3.509 0.777 5.157 0 180 0 66 Cabinet -3.961 0.388 2.878 0 0 0 67 Cabinet -3.961 0.388 4.342 0 0 0 68 Cabinet -0.637 0.387 5.582 0 180 0 69 Cabinet -0.637 0.388 4.299 0 180 0 70 Cabinet -0.637 0.388 5.599 0 180 0 71 StoveBurner -2.924 0.924 1.712 0 180 0 72 Drawer -1.859 0.775 1.961 0 0 0 73 Cabinet -0.331 2.249 5.609 0 180 0 74 CounterTop -4.260 0.958 4.943 0 90 0 75 Cabinet -4.284 1.931 2.226 0 0 0 76 Cabinet -0.331 2.249 3.010 0 180 0 77 Drawer -3.801 0.777 5.157 0 180 0 78 Cabinet -4.112 1.935 5.321 0 90 0 79 Cabinet -3.968 0.388 3.662 0 0 0 80 Drawer -3.418 0.777 1.961 0 0 0 81 Drawer -4.090 0.777 4.661 0 90 0 82 Faucet -4.441 0.909 3.288 270 0 0 83 Cabinet -0.331 2.249 4.207 0 180 0 84 Cabinet -3.961 0.388 2.119 0 0 0 85 Drawer -0.509 0.775 5.920 0 270 0 86 Drawer -3.193 0.777 5.157 0 180 0 87 Cabinet -3.968 0.388 2.894 0 0 0 88 Cabinet -3.667 0.387 5.029 0 90 0 89 StoveBurner -2.469 0.924 1.712 0 270 0 90 Cabinet -1.539 0.388 2.090 0 0 0 91 Sink -4.190 0.921 3.279 0 0 0 92 Cabinet -3.641 0.387 5.029 0 90 0 93 Cabinet -1.583 1.931 1.777 0 0 0 94 Drawer -0.509 0.775 6.568 0 270 0 95 CoffeeMachine -0.279 0.912 6.556 0 270 0 96 StoveKnob -2.347 1.095 1.560 288.012 180 180 97 StoveKnob -2.788 1.095 1.560 288.012 180 180 98 StoveKnob -2.965 1.095 1.560 288.012 180 180 99 StoveKnob -2.512 1.095 1.560 288.012 180 180 100 GarbageCan -3.711 -0.030 6.376 0 270 0 101 Toaster -3.578 0.912 1.763 0 0 0 102 Curtains -4.522 2.252 3.391 90 90 0 103 Window -4.868 1.629 3.309 90 270 0 104 Microwave -2.693 1.430 1.689 0 0 0 105 LightSwitch -1.588 1.169 1.506 0 0 0 106 SinkBasin -4.196 0.780 3.276 0 270 0 107 Fridge -0.324 -0.001 3.602 0 0 0 108 109 NorthWall 110 EastWall 111 SouthWall 112 WestWall
[ "STEP 1: Turn left then walk across the room head to the coffee maker | STEP 2: Pick up the mug on the coffee maker | STEP 3: Turn right then walk straight, turn left head to the microwave | STEP 4: Open the microwave heat the mug, take it out, close the microwave | STEP 5: Turn left walk forward then turn right facing the coffee maker | STEP 6: Put the mug on the coffee maker | END" ]
[ [ "STEP 1: Turn left then walk across the room head to the coffee maker ", " STEP 2: Pick up the mug on the coffee maker ", " STEP 3: Turn right then walk straight, turn left head to the microwave ", " STEP 4: Open the microwave heat the mug, take it out, close the microwave ", " STEP 5: Turn left walk forward then turn right facing the coffee maker ", " STEP 6: Put the mug on the coffee maker ", " END" ] ]
seen
trial_T20190908_185043_273617-2
Put a warm coffee cup in the coffee maker.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -3.75 0.899 3.25 0 90 0 1 Pencil -3.772 0.747 5.162 0 180 0 77 2 Potato -0.259 1.369 3.355 0 270 0 107 3 WineBottle -0.565 0.926 6.591 0 0 0 59 4 WineBottle -3.639 0.069 6.333 0 270 0 100 5 Pot -2.924 0.930 1.712 0 180 0 71 6 Fork -0.181 0.925 5.932 0 0 0 59 7 Fork -4.184 0.924 5.159 0 90 0 74 8 Spoon -2.026 0.924 1.8 0 0 0 56 9 Spatula -3.613 0.938 5.182 0 90 0 74 10 Cup -2.026 0.922 1.951 0 0 0 56 11 Egg -2.635 1.582 1.666 0 0 0 104 12 Egg -0.508 1.106 3.850 0 270 0 107 13 Plate -3.925 1.459 5.475 0 90 0 78 14 Knife -4.312 0.953 2.300 0 90 0 74 15 Knife -1.610 0.953 1.648 0 90 0 56 16 Tomato -0.259 1.392 3.602 0 270 0 107 17 Bowl -4.196 0.787 3.222 0 270 0 106 18 SaltShaker -3.296 1.449 1.638 0 0 0 48 19 PepperShaker -2.026 0.919 1.648 0 0 0 56 20 PepperShaker -4.066 0.741 4.585 0 90 0 81 21 Bread -0.258 1.004 4.944 0 0 0 59 22 Bread -0.348 1.150 3.479 0 270 0 107 23 Apple -0.342 1.739 3.975 0 270 0 107 24 Egg -4.478 0.959 3.082 0 0 0 74 25 Apple -3.784 0.122 6.292 0 270 0 100 26 Knife -0.411 0.954 4.944 0 0 0 59 27 Potato -0.259 1.719 3.854 0 270 0 107 28 Fork -0.334 0.925 4.615 0 0 0 59 29 Bowl -0.342 1.577 3.349 0 270 0 107 30 Plate -0.301 1.336 3.850 0 270 0 107 31 Lettuce -4.335 1.018 5.159 0 90 0 74 32 Bread -1.860 1.003 1.8 0 0 0 56 33 Tomato -4.411 0.980 4.122 0 90 0 74 34 WineBottle -4.064 0.084 3.175 0 0 0 87 35 Spatula -3.135 0.938 5.336 0 270 0 74 36 PaperTowelRoll -0.411 1.029 5.932 0 0 0 108 37 Cup -3.135 0.922 5.182 0 90 0 74 38 Pencil -3.307 0.747 1.986 0 0 0 80 39 Pan -2.469 0.930 1.712 0 270 0 89 40 Pot -2.924 0.930 2.012 0 0 0 57 41 SaltShaker -1.693 0.919 1.724 0 0 0 56 42 SoapBottle -4.486 0.923 5.418 0 90 0 74 43 PepperShaker -0.473 0.743 4.849 0 270 0 64 44 ButterKnife -0.488 0.925 5.603 0 0 0 59 45 DishSponge -3.748 1.458 5.511 0 90 0 78 46 Spoon -4.196 0.792 3.410 0 270 0 106 47 Mug -0.409 0.955 6.557 0 270 0 95 48 Cabinet -3.203 1.931 1.777 0 0 0 49 Cabinet -3.187 0.390 2.089 0 0 0 50 Cabinet -0.637 0.387 6.882 0 180 0 51 Drawer -3.797 0.781 1.961 0 0 0 52 Cabinet -3.036 0.387 5.029 0 90 0 53 Drawer -0.509 0.775 5.268 0 270 0 54 Drawer -4.125 0.798 2.499 0 0 0 55 Cabinet -0.331 2.249 4.308 0 180 0 56 CounterTop -1.872 0.958 1.799 0 0 0 57 StoveBurner -2.924 0.924 2.012 0 0 0 58 Cabinet -0.331 2.249 6.806 0 180 0 59 CounterTop -0.345 0.960 5.603 0 0 0 60 Cabinet -3.039 1.935 5.321 0 90 0 61 Cabinet -3.922 0.397 2.088 0 0 0 62 StoveBurner -2.467 0.924 2.012 0 0 0 63 Cabinet -0.331 2.249 5.505 0 180 0 64 Drawer -0.509 0.775 4.617 0 270 0 65 Drawer -3.509 0.777 5.157 0 180 0 66 Cabinet -3.961 0.388 2.878 0 0 0 67 Cabinet -3.961 0.388 4.342 0 0 0 68 Cabinet -0.637 0.387 5.582 0 180 0 69 Cabinet -0.637 0.388 4.299 0 180 0 70 Cabinet -0.637 0.388 5.599 0 180 0 71 StoveBurner -2.924 0.924 1.712 0 180 0 72 Drawer -1.859 0.775 1.961 0 0 0 73 Cabinet -0.331 2.249 5.609 0 180 0 74 CounterTop -4.260 0.958 4.943 0 90 0 75 Cabinet -4.284 1.931 2.226 0 0 0 76 Cabinet -0.331 2.249 3.010 0 180 0 77 Drawer -3.801 0.777 5.157 0 180 0 78 Cabinet -4.112 1.935 5.321 0 90 0 79 Cabinet -3.968 0.388 3.662 0 0 0 80 Drawer -3.418 0.777 1.961 0 0 0 81 Drawer -4.090 0.777 4.661 0 90 0 82 Faucet -4.441 0.909 3.288 270 0 0 83 Cabinet -0.331 2.249 4.207 0 180 0 84 Cabinet -3.961 0.388 2.119 0 0 0 85 Drawer -0.509 0.775 5.920 0 270 0 86 Drawer -3.193 0.777 5.157 0 180 0 87 Cabinet -3.968 0.388 2.894 0 0 0 88 Cabinet -3.667 0.387 5.029 0 90 0 89 StoveBurner -2.469 0.924 1.712 0 270 0 90 Cabinet -1.539 0.388 2.090 0 0 0 91 Sink -4.190 0.921 3.279 0 0 0 92 Cabinet -3.641 0.387 5.029 0 90 0 93 Cabinet -1.583 1.931 1.777 0 0 0 94 Drawer -0.509 0.775 6.568 0 270 0 95 CoffeeMachine -0.279 0.912 6.556 0 270 0 96 StoveKnob -2.347 1.095 1.560 288.012 180 180 97 StoveKnob -2.788 1.095 1.560 288.012 180 180 98 StoveKnob -2.965 1.095 1.560 288.012 180 180 99 StoveKnob -2.512 1.095 1.560 288.012 180 180 100 GarbageCan -3.711 -0.030 6.376 0 270 0 101 Toaster -3.578 0.912 1.763 0 0 0 102 Curtains -4.522 2.252 3.391 90 90 0 103 Window -4.868 1.629 3.309 90 270 0 104 Microwave -2.693 1.430 1.689 0 0 0 105 LightSwitch -1.588 1.169 1.506 0 0 0 106 SinkBasin -4.196 0.780 3.276 0 270 0 107 Fridge -0.324 -0.001 3.602 0 0 0 108 109 NorthWall 110 EastWall 111 SouthWall 112 WestWall
[ "STEP 1: Turn to your left and walk across the kitchen, then turn to your right and go to the counter across from you, with the coffee maker on top. | STEP 2: Remove the coffee cup from the coffee maker. | STEP 3: Turn around and go to the half wall before the garbage can and turn left, then go across the kitchen to the microwave, above the stove. | STEP 4: Place the coffee cup inside the microwave, to the left of the egg already inside, heat it up, then remove the coffee cup from the microwave. | STEP 5: Turn around and walk across the kitchen, turn right at the wall, and go back to the coffee maker on the counter across from you. | STEP 6: Place the coffee cup back under the spout of the coffee maker. | END" ]
[ [ "STEP 1: Turn to your left and walk across the kitchen, then turn to your right and go to the counter across from you, with the coffee maker on top. ", " STEP 2: Remove the coffee cup from the coffee maker. ", " STEP 3: Turn around and go to the half wall before the garbage can and turn left, then go across the kitchen to the microwave, above the stove. ", " STEP 4: Place the coffee cup inside the microwave, to the left of the egg already inside, heat it up, then remove the coffee cup from the microwave. ", " STEP 5: Turn around and walk across the kitchen, turn right at the wall, and go back to the coffee maker on the counter across from you. ", " STEP 6: Place the coffee cup back under the spout of the coffee maker. ", " END" ] ]
seen
trial_T20190906_222334_320065-0
Taking the orange cup to place it on the brown shelf.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -0.25 0.900 1.0 0 0 0 1 Pan 1.328 0.957 -1.688 0 180 0 58 2 Pan 1.328 0.957 -1.420 0 180 0 59 3 Potato -2.898 0.911 2.983 0 225 0 57 4 ButterKnife -2.996 0.878 3.147 0 270 0 57 5 WineBottle -0.403 0.122 -1.373 0 0 0 64 6 WineBottle 3.743 0.881 1.656 0 270 0 76 7 Spatula 0.179 0.943 -1.356 0 0 0 52 8 Spatula -2.434 0.889 3.236 0 45 0 57 9 Pot 0.974 0.957 -1.419 0 180 0 73 10 Fork -1.269 0.912 -1.572 0 0 0 55 11 Egg 0.307 1.169 2.286 0 180 0 80 12 Knife -2.510 0.900 2.884 0 0 0 57 13 Tomato -3.017 0.925 3.580 0 135 0 57 14 Tomato 1.651 0.957 -1.346 0 0 0 75 15 Bowl 0.663 0.910 -1.369 0 0 0 55 16 Bowl 3.637 0.551 1.553 0 270 0 78 17 SaltShaker -2.828 0.874 3.073 0 270 0 57 18 PepperShaker -2.584 0.871 3.559 0 0 0 57 19 PepperShaker -2.434 0.874 3.207 0 135 0 57 20 Mug -2.659 0.869 3.390 0 0 0 57 21 Apple -0.149 1.199 2.127 0 180 0 80 22 Apple -0.844 0.247 2.136 0 90 0 85 23 Book 0.093 0.111 -1.415 0 0 0 63 24 Fork -2.584 0.879 3.728 0 0 0 57 25 Tomato -0.263 1.619 2.040 0 180 0 80 26 Egg -0.263 0.828 2.194 0 180 0 80 27 Kettle -0.833 0.900 -1.757 0 0 0 55 28 Vase -0.237 0.122 -1.452 0 0 0 64 29 Cup -2.436 0.873 3.053 0 0 0 57 30 WineBottle 1.597 1.656 -1.672 0 0 0 65 31 Plate 0.234 0.932 -1.718 0 270 0 52 32 Spatula -1.982 0.734 -1.716 0 90 0 74 33 Potato -2.807 0.915 3.390 0 0 0 57 34 Pot 0.079 0.805 2.137 0 180 0 80 35 Knife -1.649 0.739 -1.073 0 90 0 70 36 SaltShaker 0.560 0.714 -1.343 0 0 0 72 37 PepperShaker -3.069 0.871 2.916 0 225 0 57 38 Lettuce -3.165 0.943 3.221 0 270 0 57 39 ButterKnife -2.072 0.912 0.363 0 0 0 55 40 Bread -1.849 0.995 -0.614 0 0 0 55 41 Vase -0.943 1.655 -1.712 0 0 0 67 42 DishSponge -2.554 0.878 3.116 0 225 0 57 43 Apple -0.330 0.752 -1.678 0 270 0 84 44 Pan -1.961 0.911 -0.288 0 0 0 55 45 Spoon -2.315 0.875 3.088 0 135 0 57 46 SoapBottle 3.743 0.881 1.963 0 270 0 76 47 Mug -1.112 0.958 -1.479 0 0 0 92 48 Statue 3.676 0.168 1.410 0 334.521 0 78 49 Statue 3.668 0.540 1.800 0 0 0 78 50 Bowl -2.912 0.872 2.758 0 225 0 57 51 Cabinet -2.171 2.009 -1.538 0 0 0 52 Sink 0.024 0.771 -1.708 0 270 0 53 Cabinet 1.444 2.259 -1.542 0 0 0 54 StoveBurner 0.974 0.957 -1.688 0 180 0 55 CounterTop -1.866 0.947 -0.614 0 0 0 56 Cabinet -2.217 0.373 -1.874 0 0 0 57 DiningTable -2.663 0.002 3.208 0 0 0 58 StoveBurner 1.328 0.957 -1.688 0 180 0 59 StoveBurner 1.328 0.957 -1.420 0 180 0 60 Cabinet -1.478 0.373 -1.235 0 0 0 61 Cabinet 1.775 0.372 -1.242 0 0 0 62 Cabinet 0.774 0.372 -1.242 0 0 0 63 Cabinet 0.375 0.372 -1.242 0 0 0 64 Cabinet -0.574 0.372 -1.238 0 0 0 65 Cabinet 1.775 2.009 -1.542 0 0 0 66 Cabinet 0.524 2.009 -1.542 0 0 0 67 Cabinet -0.714 2.009 -1.542 0 0 0 68 Cabinet -1.671 2.009 -1.538 0 0 0 69 Cabinet 0.854 2.259 -1.542 0 0 0 70 Drawer -1.636 0.683 -0.930 0 0 0 71 Drawer 1.650 0.682 -1.396 0 0 0 72 Drawer 0.600 0.682 -1.396 0 0 0 73 StoveBurner 0.974 0.957 -1.419 0 180 0 74 Drawer -2.062 0.683 -1.579 0 0 0 75 CounterTop 1.645 0.945 -1.527 0 0 0 76 Shelf 3.725 0.880 1.671 0 90 0 77 LightSwitch 2.830 1.266 -0.748 0 0 0 78 Shelf 3.726 0.552 1.671 0 90 0 79 Microwave 1.150 1.655 -1.614 0 0 0 80 Fridge -0.035 0.0 2.177 0 180 0 81 Window -0.115 1.802 -1.896 90 0 0 82 Window -4.009 1.799 0.310 90 90 0 83 Shelf 3.726 0.172 1.671 0 90 0 84 SinkBasin -0.330 0.686 -1.581 0 270 0 85 GarbageCan -0.870 -0.001 2.136 0 90 0 86 StoveKnob 1.089 0.913 -1.243 45 0 0 87 StoveKnob 1.208 0.913 -1.243 45 0 0 88 StoveKnob 1.340 0.913 -1.243 45 0 0 89 StoveKnob 0.961 0.913 -1.243 45 0 0 90 Toaster 1.637 0.900 -1.673 0 0 0 91 Chair -3.505 0.002 3.290 0 105.736 0 92 CoffeeMachine -1.111 0.900 -1.726 0 0 0 93 HousePlant -2.663 0.835 3.209 0 0 0 94 Faucet -0.187 0.922 -1.75 0 311.166 0 95 ShelvingUnit 3.726 0.006 1.671 0 90 0 96 Stool -2.501 -0.000 0.062 1.223 91.243 0 97 Stool -2.475 -0.000 -0.802 1.209 69.808 0 98 Chair -2.934 0.002 2.437 0 28.531 0 99 Chair -1.698 0.002 3.235 0 245.204 0 100 NorthWall 101 EastWall 102 SouthWall 103 WestWall
[ "STEP 1: Turn to your left and head towards the brown table. | STEP 2: Pick up the orange cup sitting on the table. | STEP 3: Turn around and take the orange cup over to the refrigerator | STEP 4: Open the fridge and place the orange cup on the shelf, shut the door, then open it back up and take the cup again. | STEP 5: Turn around and go to the left to the brown shelf with the cup. | STEP 6: Place the cup next to the square bowl on the second shelf. | END" ]
[ [ "STEP 1: Turn to your left and head towards the brown table. ", " STEP 2: Pick up the orange cup sitting on the table. ", " STEP 3: Turn around and take the orange cup over to the refrigerator ", " STEP 4: Open the fridge and place the orange cup on the shelf, shut the door, then open it back up and take the cup again. ", " STEP 5: Turn around and go to the left to the brown shelf with the cup. ", " STEP 6: Place the cup next to the square bowl on the second shelf. ", " END" ] ]
seen
trial_T20190906_222334_320065-1
Put the cup from the table onto the shelf.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -0.25 0.900 1.0 0 0 0 1 Pan 1.328 0.957 -1.688 0 180 0 58 2 Pan 1.328 0.957 -1.420 0 180 0 59 3 Potato -2.898 0.911 2.983 0 225 0 57 4 ButterKnife -2.996 0.878 3.147 0 270 0 57 5 WineBottle -0.403 0.122 -1.373 0 0 0 64 6 WineBottle 3.743 0.881 1.656 0 270 0 76 7 Spatula 0.179 0.943 -1.356 0 0 0 52 8 Spatula -2.434 0.889 3.236 0 45 0 57 9 Pot 0.974 0.957 -1.419 0 180 0 73 10 Fork -1.269 0.912 -1.572 0 0 0 55 11 Egg 0.307 1.169 2.286 0 180 0 80 12 Knife -2.510 0.900 2.884 0 0 0 57 13 Tomato -3.017 0.925 3.580 0 135 0 57 14 Tomato 1.651 0.957 -1.346 0 0 0 75 15 Bowl 0.663 0.910 -1.369 0 0 0 55 16 Bowl 3.637 0.551 1.553 0 270 0 78 17 SaltShaker -2.828 0.874 3.073 0 270 0 57 18 PepperShaker -2.584 0.871 3.559 0 0 0 57 19 PepperShaker -2.434 0.874 3.207 0 135 0 57 20 Mug -2.659 0.869 3.390 0 0 0 57 21 Apple -0.149 1.199 2.127 0 180 0 80 22 Apple -0.844 0.247 2.136 0 90 0 85 23 Book 0.093 0.111 -1.415 0 0 0 63 24 Fork -2.584 0.879 3.728 0 0 0 57 25 Tomato -0.263 1.619 2.040 0 180 0 80 26 Egg -0.263 0.828 2.194 0 180 0 80 27 Kettle -0.833 0.900 -1.757 0 0 0 55 28 Vase -0.237 0.122 -1.452 0 0 0 64 29 Cup -2.436 0.873 3.053 0 0 0 57 30 WineBottle 1.597 1.656 -1.672 0 0 0 65 31 Plate 0.234 0.932 -1.718 0 270 0 52 32 Spatula -1.982 0.734 -1.716 0 90 0 74 33 Potato -2.807 0.915 3.390 0 0 0 57 34 Pot 0.079 0.805 2.137 0 180 0 80 35 Knife -1.649 0.739 -1.073 0 90 0 70 36 SaltShaker 0.560 0.714 -1.343 0 0 0 72 37 PepperShaker -3.069 0.871 2.916 0 225 0 57 38 Lettuce -3.165 0.943 3.221 0 270 0 57 39 ButterKnife -2.072 0.912 0.363 0 0 0 55 40 Bread -1.849 0.995 -0.614 0 0 0 55 41 Vase -0.943 1.655 -1.712 0 0 0 67 42 DishSponge -2.554 0.878 3.116 0 225 0 57 43 Apple -0.330 0.752 -1.678 0 270 0 84 44 Pan -1.961 0.911 -0.288 0 0 0 55 45 Spoon -2.315 0.875 3.088 0 135 0 57 46 SoapBottle 3.743 0.881 1.963 0 270 0 76 47 Mug -1.112 0.958 -1.479 0 0 0 92 48 Statue 3.676 0.168 1.410 0 334.521 0 78 49 Statue 3.668 0.540 1.800 0 0 0 78 50 Bowl -2.912 0.872 2.758 0 225 0 57 51 Cabinet -2.171 2.009 -1.538 0 0 0 52 Sink 0.024 0.771 -1.708 0 270 0 53 Cabinet 1.444 2.259 -1.542 0 0 0 54 StoveBurner 0.974 0.957 -1.688 0 180 0 55 CounterTop -1.866 0.947 -0.614 0 0 0 56 Cabinet -2.217 0.373 -1.874 0 0 0 57 DiningTable -2.663 0.002 3.208 0 0 0 58 StoveBurner 1.328 0.957 -1.688 0 180 0 59 StoveBurner 1.328 0.957 -1.420 0 180 0 60 Cabinet -1.478 0.373 -1.235 0 0 0 61 Cabinet 1.775 0.372 -1.242 0 0 0 62 Cabinet 0.774 0.372 -1.242 0 0 0 63 Cabinet 0.375 0.372 -1.242 0 0 0 64 Cabinet -0.574 0.372 -1.238 0 0 0 65 Cabinet 1.775 2.009 -1.542 0 0 0 66 Cabinet 0.524 2.009 -1.542 0 0 0 67 Cabinet -0.714 2.009 -1.542 0 0 0 68 Cabinet -1.671 2.009 -1.538 0 0 0 69 Cabinet 0.854 2.259 -1.542 0 0 0 70 Drawer -1.636 0.683 -0.930 0 0 0 71 Drawer 1.650 0.682 -1.396 0 0 0 72 Drawer 0.600 0.682 -1.396 0 0 0 73 StoveBurner 0.974 0.957 -1.419 0 180 0 74 Drawer -2.062 0.683 -1.579 0 0 0 75 CounterTop 1.645 0.945 -1.527 0 0 0 76 Shelf 3.725 0.880 1.671 0 90 0 77 LightSwitch 2.830 1.266 -0.748 0 0 0 78 Shelf 3.726 0.552 1.671 0 90 0 79 Microwave 1.150 1.655 -1.614 0 0 0 80 Fridge -0.035 0.0 2.177 0 180 0 81 Window -0.115 1.802 -1.896 90 0 0 82 Window -4.009 1.799 0.310 90 90 0 83 Shelf 3.726 0.172 1.671 0 90 0 84 SinkBasin -0.330 0.686 -1.581 0 270 0 85 GarbageCan -0.870 -0.001 2.136 0 90 0 86 StoveKnob 1.089 0.913 -1.243 45 0 0 87 StoveKnob 1.208 0.913 -1.243 45 0 0 88 StoveKnob 1.340 0.913 -1.243 45 0 0 89 StoveKnob 0.961 0.913 -1.243 45 0 0 90 Toaster 1.637 0.900 -1.673 0 0 0 91 Chair -3.505 0.002 3.290 0 105.736 0 92 CoffeeMachine -1.111 0.900 -1.726 0 0 0 93 HousePlant -2.663 0.835 3.209 0 0 0 94 Faucet -0.187 0.922 -1.75 0 311.166 0 95 ShelvingUnit 3.726 0.006 1.671 0 90 0 96 Stool -2.501 -0.000 0.062 1.223 91.243 0 97 Stool -2.475 -0.000 -0.802 1.209 69.808 0 98 Chair -2.934 0.002 2.437 0 28.531 0 99 Chair -1.698 0.002 3.235 0 245.204 0 100 NorthWall 101 EastWall 102 SouthWall 103 WestWall
[ "STEP 1: Turn to your left and go to the dining table. | STEP 2: Pick up the gold cup from the table. | STEP 3: Turn around and go back to the fridge. | STEP 4: Put the cup in the fridge and then take it out again. | STEP 5: Turn to your right and go to the shelf. | STEP 6: Put the cup on the middle shelf. | END" ]
[ [ "STEP 1: Turn to your left and go to the dining table. ", " STEP 2: Pick up the gold cup from the table. ", " STEP 3: Turn around and go back to the fridge. ", " STEP 4: Put the cup in the fridge and then take it out again. ", " STEP 5: Turn to your right and go to the shelf. ", " STEP 6: Put the cup on the middle shelf. ", " END" ] ]
seen
trial_T20190906_222334_320065-2
Chill orange cup, place on shelves
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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 1.0 0 0 0 1 Pan 1.328 0.957 -1.688 0 180 0 58 2 Pan 1.328 0.957 -1.420 0 180 0 59 3 Potato -2.898 0.911 2.983 0 225 0 57 4 ButterKnife -2.996 0.878 3.147 0 270 0 57 5 WineBottle -0.403 0.122 -1.373 0 0 0 64 6 WineBottle 3.743 0.881 1.656 0 270 0 76 7 Spatula 0.179 0.943 -1.356 0 0 0 52 8 Spatula -2.434 0.889 3.236 0 45 0 57 9 Pot 0.974 0.957 -1.419 0 180 0 73 10 Fork -1.269 0.912 -1.572 0 0 0 55 11 Egg 0.307 1.169 2.286 0 180 0 80 12 Knife -2.510 0.900 2.884 0 0 0 57 13 Tomato -3.017 0.925 3.580 0 135 0 57 14 Tomato 1.651 0.957 -1.346 0 0 0 75 15 Bowl 0.663 0.910 -1.369 0 0 0 55 16 Bowl 3.637 0.551 1.553 0 270 0 78 17 SaltShaker -2.828 0.874 3.073 0 270 0 57 18 PepperShaker -2.584 0.871 3.559 0 0 0 57 19 PepperShaker -2.434 0.874 3.207 0 135 0 57 20 Mug -2.659 0.869 3.390 0 0 0 57 21 Apple -0.149 1.199 2.127 0 180 0 80 22 Apple -0.844 0.247 2.136 0 90 0 85 23 Book 0.093 0.111 -1.415 0 0 0 63 24 Fork -2.584 0.879 3.728 0 0 0 57 25 Tomato -0.263 1.619 2.040 0 180 0 80 26 Egg -0.263 0.828 2.194 0 180 0 80 27 Kettle -0.833 0.900 -1.757 0 0 0 55 28 Vase -0.237 0.122 -1.452 0 0 0 64 29 Cup -2.436 0.873 3.053 0 0 0 57 30 WineBottle 1.597 1.656 -1.672 0 0 0 65 31 Plate 0.234 0.932 -1.718 0 270 0 52 32 Spatula -1.982 0.734 -1.716 0 90 0 74 33 Potato -2.807 0.915 3.390 0 0 0 57 34 Pot 0.079 0.805 2.137 0 180 0 80 35 Knife -1.649 0.739 -1.073 0 90 0 70 36 SaltShaker 0.560 0.714 -1.343 0 0 0 72 37 PepperShaker -3.069 0.871 2.916 0 225 0 57 38 Lettuce -3.165 0.943 3.221 0 270 0 57 39 ButterKnife -2.072 0.912 0.363 0 0 0 55 40 Bread -1.849 0.995 -0.614 0 0 0 55 41 Vase -0.943 1.655 -1.712 0 0 0 67 42 DishSponge -2.554 0.878 3.116 0 225 0 57 43 Apple -0.330 0.752 -1.678 0 270 0 84 44 Pan -1.961 0.911 -0.288 0 0 0 55 45 Spoon -2.315 0.875 3.088 0 135 0 57 46 SoapBottle 3.743 0.881 1.963 0 270 0 76 47 Mug -1.112 0.958 -1.479 0 0 0 92 48 Statue 3.676 0.168 1.410 0 334.521 0 78 49 Statue 3.668 0.540 1.800 0 0 0 78 50 Bowl -2.912 0.872 2.758 0 225 0 57 51 Cabinet -2.171 2.009 -1.538 0 0 0 52 Sink 0.024 0.771 -1.708 0 270 0 53 Cabinet 1.444 2.259 -1.542 0 0 0 54 StoveBurner 0.974 0.957 -1.688 0 180 0 55 CounterTop -1.866 0.947 -0.614 0 0 0 56 Cabinet -2.217 0.373 -1.874 0 0 0 57 DiningTable -2.663 0.002 3.208 0 0 0 58 StoveBurner 1.328 0.957 -1.688 0 180 0 59 StoveBurner 1.328 0.957 -1.420 0 180 0 60 Cabinet -1.478 0.373 -1.235 0 0 0 61 Cabinet 1.775 0.372 -1.242 0 0 0 62 Cabinet 0.774 0.372 -1.242 0 0 0 63 Cabinet 0.375 0.372 -1.242 0 0 0 64 Cabinet -0.574 0.372 -1.238 0 0 0 65 Cabinet 1.775 2.009 -1.542 0 0 0 66 Cabinet 0.524 2.009 -1.542 0 0 0 67 Cabinet -0.714 2.009 -1.542 0 0 0 68 Cabinet -1.671 2.009 -1.538 0 0 0 69 Cabinet 0.854 2.259 -1.542 0 0 0 70 Drawer -1.636 0.683 -0.930 0 0 0 71 Drawer 1.650 0.682 -1.396 0 0 0 72 Drawer 0.600 0.682 -1.396 0 0 0 73 StoveBurner 0.974 0.957 -1.419 0 180 0 74 Drawer -2.062 0.683 -1.579 0 0 0 75 CounterTop 1.645 0.945 -1.527 0 0 0 76 Shelf 3.725 0.880 1.671 0 90 0 77 LightSwitch 2.830 1.266 -0.748 0 0 0 78 Shelf 3.726 0.552 1.671 0 90 0 79 Microwave 1.150 1.655 -1.614 0 0 0 80 Fridge -0.035 0.0 2.177 0 180 0 81 Window -0.115 1.802 -1.896 90 0 0 82 Window -4.009 1.799 0.310 90 90 0 83 Shelf 3.726 0.172 1.671 0 90 0 84 SinkBasin -0.330 0.686 -1.581 0 270 0 85 GarbageCan -0.870 -0.001 2.136 0 90 0 86 StoveKnob 1.089 0.913 -1.243 45 0 0 87 StoveKnob 1.208 0.913 -1.243 45 0 0 88 StoveKnob 1.340 0.913 -1.243 45 0 0 89 StoveKnob 0.961 0.913 -1.243 45 0 0 90 Toaster 1.637 0.900 -1.673 0 0 0 91 Chair -3.505 0.002 3.290 0 105.736 0 92 CoffeeMachine -1.111 0.900 -1.726 0 0 0 93 HousePlant -2.663 0.835 3.209 0 0 0 94 Faucet -0.187 0.922 -1.75 0 311.166 0 95 ShelvingUnit 3.726 0.006 1.671 0 90 0 96 Stool -2.501 -0.000 0.062 1.223 91.243 0 97 Stool -2.475 -0.000 -0.802 1.209 69.808 0 98 Chair -2.934 0.002 2.437 0 28.531 0 99 Chair -1.698 0.002 3.235 0 245.204 0 100 NorthWall 101 EastWall 102 SouthWall 103 WestWall
[ "STEP 1: Go to round dining table | STEP 2: Pick up orange cup from table | STEP 3: Go to the refrigerator | STEP 4: Open refrigerator, place orange cup on shelf with pot, close refrigerator door, open refrigerator door, remove cup, close refrigerator door | STEP 5: Go to shelves to the right | STEP 6: Place orange cup on second to bottom shelf to the right of square container in center | END" ]
[ [ "STEP 1: Go to round dining table ", " STEP 2: Pick up orange cup from table ", " STEP 3: Go to the refrigerator ", " STEP 4: Open refrigerator, place orange cup on shelf with pot, close refrigerator door, open refrigerator door, remove cup, close refrigerator door ", " STEP 5: Go to shelves to the right ", " STEP 6: Place orange cup on second to bottom shelf to the right of square container in center ", " END" ] ]
seen
trial_T20190912_215328_269599-0
Put cooked potato in a garbage can.
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1.975", " 0.938", " 0.384", " 0", " 180", " 0", " 60" ], [ "12", " Egg", " -1.789", " 1.086", " 0.013", " 0", " 90", " 0", " 97" ], [ "13", " Egg", " -1.814", " 0.968", " -1.013", " 0", " 0", " 0", " 74" ], [ "14", " Cup", " 0.256", " 0.758", " -1.435", " 0", " 0", " 0", " 98" ], [ "15", " Plate", " 0.107", " 0.924", " 0.738", " 0", " 0", " 0", " 82" ], [ "16", " Plate", " -1.841", " 1.660", " -1.282", " 0", " 90", " 0", " 61" ], [ "17", " Knife", " 0.107", " 0.947", " 0.041", " 0", " 0", " 0", " 82" ], [ "18", " SoapBottle", " -0.106", " 0.929", " 0.506", " 0", " 0", " 0", " 82" ], [ "19", " SoapBottle", " -1.114", " 1.683", " -1.577", " 0", " 0", " 0", " 76" ], [ "20", " Tomato", " 0.321", " 0.980", " 0.970", " 0", " 0", " 0", " 82" ], [ "21", " Bowl", " 0.083", " 0.758", " -1.435", " 0", " 0", " 0", " 98" ], [ "22", " Bowl", " 1.234", " 0.107", " -1.542", " 0", " 0", " 0", " 67" ], [ "23", " SaltShaker", " 0.801", " 0.667", " -1.270", " 0", " 0", " 0", " 55" ], [ "24", " PepperShaker", " -0.106", " 0.921", " 0.970", " 0", " 0", " 0", " 82" ], [ "25", " Bread", " -0.106", " 1.006", " 0.273", " 0", " 0", " 0", " 82" ], [ "26", " Bread", " -0.320", " 1.006", " 0.041", " 0", " 0", " 0", " 82" ], [ "27", " Mug", " -0.175", " 0.755", " -1.546", " 0", " 0", " 0", " 98" ], [ "28", " Mug", " -1.645", " 1.464", " -0.081", " 0", " 90", " 0", " 97" ], [ "29", " SoapBottle", " 1.095", " 1.683", " -1.652", " 0", " 0", " 0", " 73" ], [ "30", " Cup", " -1.692", " 0.561", " 0.013", " 0", " 90", " 0", " 97" ], [ "31", " Pot", " 1.975", " 0.938", " 0.819", " 0", " 180", " 0", " 84" ], [ "32", " Fork", " 1.746", " 0.912", " 0.025", " 0", " 0", " 0", " 74" ], [ "33", " Ladle", " 1.712", " 0.589", " 1.219", " 0", " 0", " 0", " 72" ], [ "34", " Kettle", " -0.638", " 0.912", " -1.610", " 0", " 0", " 0", " 74" ], [ "35", " Egg", " -1.773", " 0.098", " 1.33", " 0", " 270", " 0", " 88" ], [ "36", " Plate", " 0.000", " 0.924", " 1.202", " 0", " 0", " 0", " 82" ], [ "37", " Pan", " -1.286", " 0.9", " -1.348", " 0", " 79.769", " 0", " 74" ], [ "38", " Lettuce", " -1.697", " 1.753", " 0.201", " 0", " 90", " 0", " 97" ], [ "39", " Spatula", " 0.107", " 0.940", " 0.506", " 0", " 270", " 0", " 82" ], [ "40", " Apple", " -1.749", " 0.892", " -0.269", " 0", " 90", " 0", " 97" ], [ "41", " Knife", " 1.986", " 0.933", " 1.107", " 0", " 0", " 0", " 74" ], [ "42", " SaltShaker", " 0.082", " 0.109", " -1.220", " 0", " 0", " 0", " 63" ], [ "43", " PepperShaker", " 0.250", " 0.109", " -1.345", " 0", " 0", " 0", " 63" ], [ "44", " CellPhone", " 1.612", " 0.223", " 1.350", " 0", " 0", " 0", " 83" ], [ "45", " ButterKnife", " 1.662", " 0.461", " 1.153", " 0", " 0", " 0", " 72" ], [ "46", " Bread", " -0.320", " 1.006", " 0.506", " 0", " 0", " 0", " 82" ], [ "47", " Tomato", " -1.663", " 0.618", " -0.269", " 0", " 90", " 0", " 97" ], [ "48", " Potato", " -1.716", " 0.863", " 0.295", " 0", " 90", " 0", " 97" ], [ "49", " DishSponge", " -1.463", " 0.911", " -0.864", " 0", " 0", " 0", " 74" ], [ "50", " Spoon", " 2.119", " 0.912", " 0.025", " 0", " 0", " 0", " 74" ], [ "51", " Mug", " 1.117", " 0.104", " -1.289", " 0", " 0", " 0", " 63" ], [ "52", " Bowl", " -0.361", " 0.113", " -1.472", " 0", " 0", " 0", " 53" ], [ "53", " Cabinet", " -0.495", " 0.474", " -1.149", " 0", " 0", " 0", "" ], [ "54", " Window", " -0.010", " 1.582", " -1.821", " 0", " 0", " 0", "" ], [ "55", " Drawer", " 0.805", " 0.475", " -1.159", " 0", " 0", " 0", "" ], [ "56", " StoveBurner", " 1.764", " 0.902", " 0.601", " 0", " 270", " 0", "" ], [ "57", " Drawer", " 1.5", " 0.196", " -0.019", " 0", " 0", " 0", "" ], [ "58", " Drawer", " 1.5", " 0.629", " -0.018", " 0", " 0", " 0", "" ], [ "59", " Drawer", " 1.5", " 0.602", " -0.019", " 0", " 270", " 0", "" ], [ "60", " StoveBurner", " 1.975", " 0.902", " 0.384", " 0", " 270", " 0", "" ], [ "61", " Cabinet", " -1.703", " 2.022", " -1.453", " 0", " 90", " 0", "" ], [ "62", " Cabinet", " 1.789", " 2.019", " -0.819", " 0", " 270", " 0", "" ], [ "63", " Cabinet", " 0.494", " 0.474", " -1.149", " 0", " 0", " 0", "" ], [ "64", " Cabinet", " 0.409", " 0.475", " 0.444", " 0", " 0", " 0", "" ], [ "65", " Drawer", " -0.696", " 0.475", " -1.159", " 0", " 0", " 0", "" ], [ "66", " Drawer", " 1.5", " 0.140", " 0.599", " 0", " 270", " 0", "" ], [ "67", " Cabinet", " 1.389", " 0.474", " -1.149", " 0", " 0", " 0", "" ], [ "68", " Drawer", " 1.5", " 0.305", " 0.600", " 0", " 0", " 0", "" ], [ "69", " StoveBurner", " 1.975", " 0.902", " 0.601", " 0", " 270", " 0", "" ], [ "70", " Drawer", " 1.5", " 0.429", " -0.019", " 0", " 0", " 0", "" ], [ "71", " StoveBurner", " 1.764", " 0.902", " 0.819", " 0", " 270", " 0", "" ], [ "72", " Drawer", " 1.5", " 0.519", " 1.220", " 0", " 0", " 0", "" ], [ "73", " Cabinet", " 1.705", " 2.019", " -1.449", " 0", " 0", " 0", "" ], [ "74", " CounterTop", " 0.002", " 0.947", " -1.513", " 0", " 0", " 0", "" ], [ "75", " Drawer", " 1.5", " 0.629", " 0.605", " 0", " 0", " 0", "" ], [ "76", " Cabinet", " -0.627", " 2.019", " -1.449", " 0", " 0", " 0", "" ], [ "77", " StoveBurner", " 1.764", " 0.902", " 0.384", " 0", " 270", " 0", "" ], [ "78", " Drawer", " 1.5", " 0.538", " 0.600", " 0", " 0", " 0", "" ], [ "79", " Sink", " 0.0", " 0.893", " -1.434", " 0", " 0", " 0", "" ], [ "80", " Drawer", " 1.5", " 0.782", " 1.220", " 0", " 270", " 0", "" ], [ "81", " Window", " 2.217", " 1.565", " -0.384", " 0", " 0", " 0", "" ], [ "82", " CounterTop", " -0.014", " 0.961", " 0.505", " 0", " 0", " 0", "" ], [ "83", " Drawer", " 1.5", " 0.200", " 1.220", " 0", " 0", " 0", "" ], [ "84", " StoveBurner", " 1.975", " 0.902", " 0.819", " 0", " 270", " 0", "" ], [ "85", " Window", " -3.240", " 1.616", " 2.693", " 0", " 270", " 0", "" ], [ "86", " Cabinet", " -1.389", " 0.474", " -1.149", " 0", " 0", " 0", "" ], [ "87", " LightSwitch", " -0.153", " 1.291", " 3.700", " 0", " 180", " 0", "" ], [ "88", " GarbageCan", " -1.796", " 0.009", " 1.330", " 0", " 270", " 358.295", "" ], [ "89", " StoveKnob", " 1.602", " 0.917", " 0.570", " 0", " 270", " 180", "" ], [ "90", " StoveKnob", " 1.602", " 0.917", " 0.625", " 0", " 270", " 180", "" ], [ "91", " StoveKnob", " 1.602", " 0.917", " 0.739", " 0", " 270", " 180", "" ], [ "92", " StoveKnob", " 1.602", " 0.917", " 0.680", " 0", " 270", " 180", "" ], [ "93", " StoveKnob", " 1.602", " 0.917", " 0.462", " 0", " 270", " 180", "" ], [ "94", " StoveKnob", " 1.602", " 0.917", " 0.517", " 0", " 270", " 180", "" ], [ "95", " Microwave", " 1.932", " 0.899", " -0.766", " 0", " 270", " 0", "" ], [ "96", " CoffeeMachine", " 1.355", " 0.899", " -1.596", " 0", " 0", " 0", "" ], [ "97", " Fridge", " -1.764", " 0.0", " 0.014", " 0", " 90", " 0", "" ], [ "98", " SinkBasin", " -0.014", " 0.736", " -1.435", " 0", " 0", " 0", "" ], [ "99", " Toaster", " 1.977", " 0.900", " -0.336", " 0", " 270", " 0", "" ], [ "100", " Faucet", " -0.020", " 1.137", " -1.605", " 0", " 270", " 0", "" ], [ "101", " Chair", " -9.354", " 0.000", " 1.242", " 0", " 180", " 0", "" ], [ "102", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "103", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "104", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "105", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -0.5 0.900 2.5 0 270 0 1 Pan 1.802 0.911 -1.610 0 180 0 74 2 Ladle -0.106 0.969 0.738 0 0 0 82 3 Ladle 1.117 0.955 -1.415 0 0 0 74 4 Kettle 1.341 1.680 -1.577 0 0 0 73 5 DishSponge 1.612 0.224 1.219 0 0 0 83 6 DishSponge 1.815 0.346 0.667 0 0 0 68 7 ButterKnife 0.170 0.760 -1.435 0 0 0 98 8 ButterKnife 0.214 0.925 -0.190 0 0 0 82 9 Spoon 0.661 0.912 -1.610 0 0 0 74 10 Pot -1.050 0.915 -1.610 0 0 0 74 11 Pot 1.975 0.938 0.384 0 180 0 60 12 Egg -1.789 1.086 0.013 0 90 0 97 13 Egg -1.814 0.968 -1.013 0 0 0 74 14 Cup 0.256 0.758 -1.435 0 0 0 98 15 Plate 0.107 0.924 0.738 0 0 0 82 16 Plate -1.841 1.660 -1.282 0 90 0 61 17 Knife 0.107 0.947 0.041 0 0 0 82 18 SoapBottle -0.106 0.929 0.506 0 0 0 82 19 SoapBottle -1.114 1.683 -1.577 0 0 0 76 20 Tomato 0.321 0.980 0.970 0 0 0 82 21 Bowl 0.083 0.758 -1.435 0 0 0 98 22 Bowl 1.234 0.107 -1.542 0 0 0 67 23 SaltShaker 0.801 0.667 -1.270 0 0 0 55 24 PepperShaker -0.106 0.921 0.970 0 0 0 82 25 Bread -0.106 1.006 0.273 0 0 0 82 26 Bread -0.320 1.006 0.041 0 0 0 82 27 Mug -0.175 0.755 -1.546 0 0 0 98 28 Mug -1.645 1.464 -0.081 0 90 0 97 29 SoapBottle 1.095 1.683 -1.652 0 0 0 73 30 Cup -1.692 0.561 0.013 0 90 0 97 31 Pot 1.975 0.938 0.819 0 180 0 84 32 Fork 1.746 0.912 0.025 0 0 0 74 33 Ladle 1.712 0.589 1.219 0 0 0 72 34 Kettle -0.638 0.912 -1.610 0 0 0 74 35 Egg -1.773 0.098 1.33 0 270 0 88 36 Plate 0.000 0.924 1.202 0 0 0 82 37 Pan -1.286 0.9 -1.348 0 79.769 0 74 38 Lettuce -1.697 1.753 0.201 0 90 0 97 39 Spatula 0.107 0.940 0.506 0 270 0 82 40 Apple -1.749 0.892 -0.269 0 90 0 97 41 Knife 1.986 0.933 1.107 0 0 0 74 42 SaltShaker 0.082 0.109 -1.220 0 0 0 63 43 PepperShaker 0.250 0.109 -1.345 0 0 0 63 44 CellPhone 1.612 0.223 1.350 0 0 0 83 45 ButterKnife 1.662 0.461 1.153 0 0 0 72 46 Bread -0.320 1.006 0.506 0 0 0 82 47 Tomato -1.663 0.618 -0.269 0 90 0 97 48 Potato -1.716 0.863 0.295 0 90 0 97 49 DishSponge -1.463 0.911 -0.864 0 0 0 74 50 Spoon 2.119 0.912 0.025 0 0 0 74 51 Mug 1.117 0.104 -1.289 0 0 0 63 52 Bowl -0.361 0.113 -1.472 0 0 0 53 53 Cabinet -0.495 0.474 -1.149 0 0 0 54 Window -0.010 1.582 -1.821 0 0 0 55 Drawer 0.805 0.475 -1.159 0 0 0 56 StoveBurner 1.764 0.902 0.601 0 270 0 57 Drawer 1.5 0.196 -0.019 0 0 0 58 Drawer 1.5 0.629 -0.018 0 0 0 59 Drawer 1.5 0.602 -0.019 0 270 0 60 StoveBurner 1.975 0.902 0.384 0 270 0 61 Cabinet -1.703 2.022 -1.453 0 90 0 62 Cabinet 1.789 2.019 -0.819 0 270 0 63 Cabinet 0.494 0.474 -1.149 0 0 0 64 Cabinet 0.409 0.475 0.444 0 0 0 65 Drawer -0.696 0.475 -1.159 0 0 0 66 Drawer 1.5 0.140 0.599 0 270 0 67 Cabinet 1.389 0.474 -1.149 0 0 0 68 Drawer 1.5 0.305 0.600 0 0 0 69 StoveBurner 1.975 0.902 0.601 0 270 0 70 Drawer 1.5 0.429 -0.019 0 0 0 71 StoveBurner 1.764 0.902 0.819 0 270 0 72 Drawer 1.5 0.519 1.220 0 0 0 73 Cabinet 1.705 2.019 -1.449 0 0 0 74 CounterTop 0.002 0.947 -1.513 0 0 0 75 Drawer 1.5 0.629 0.605 0 0 0 76 Cabinet -0.627 2.019 -1.449 0 0 0 77 StoveBurner 1.764 0.902 0.384 0 270 0 78 Drawer 1.5 0.538 0.600 0 0 0 79 Sink 0.0 0.893 -1.434 0 0 0 80 Drawer 1.5 0.782 1.220 0 270 0 81 Window 2.217 1.565 -0.384 0 0 0 82 CounterTop -0.014 0.961 0.505 0 0 0 83 Drawer 1.5 0.200 1.220 0 0 0 84 StoveBurner 1.975 0.902 0.819 0 270 0 85 Window -3.240 1.616 2.693 0 270 0 86 Cabinet -1.389 0.474 -1.149 0 0 0 87 LightSwitch -0.153 1.291 3.700 0 180 0 88 GarbageCan -1.796 0.009 1.330 0 270 358.295 89 StoveKnob 1.602 0.917 0.570 0 270 180 90 StoveKnob 1.602 0.917 0.625 0 270 180 91 StoveKnob 1.602 0.917 0.739 0 270 180 92 StoveKnob 1.602 0.917 0.680 0 270 180 93 StoveKnob 1.602 0.917 0.462 0 270 180 94 StoveKnob 1.602 0.917 0.517 0 270 180 95 Microwave 1.932 0.899 -0.766 0 270 0 96 CoffeeMachine 1.355 0.899 -1.596 0 0 0 97 Fridge -1.764 0.0 0.014 0 90 0 98 SinkBasin -0.014 0.736 -1.435 0 0 0 99 Toaster 1.977 0.900 -0.336 0 270 0 100 Faucet -0.020 1.137 -1.605 0 270 0 101 Chair -9.354 0.000 1.242 0 180 0 102 NorthWall 103 EastWall 104 SouthWall 105 WestWall
[ "STEP 1: Turn to the left, go to the counter and hang a left, go to the counter on the left that has the knives on it. | STEP 2: Pick up the butter knife that is on the counter. | STEP 3: Turn to the left, go to the counter, hang a right and go to the fridge that is on the left. | STEP 4: Open the fridge, cut the potato that is in the fridge into slices, close the fridge. | STEP 5: Turn to the left, go to the counter, hang a left, go forward to the microwave. | STEP 6: Open the microwave, put the knife inside, close the microwave. | STEP 7: Turn around, go to the counter and hang a right, go to the fridge that is on the left. | STEP 8: Open the fridge, pick up a slice of the potato, close the fridge. | STEP 9: Turn to the left, go to the counter and hang a left, go forward to the microwave. | STEP 10: Put the potato in the microwave and turn it on to cook, remove the potato when it is done cooking. | STEP 11: Turn around, go to the counter and hang a right, go past the fridge to the garbage can that is on the left. | STEP 12: Put the potato in the garbage can. | END" ]
[ [ "STEP 1: Turn to the left, go to the counter and hang a left, go to the counter on the left that has the knives on it. ", " STEP 2: Pick up the butter knife that is on the counter. ", " STEP 3: Turn to the left, go to the counter, hang a right and go to the fridge that is on the left. ", " STEP 4: Open the fridge, cut the potato that is in the fridge into slices, close the fridge. ", " STEP 5: Turn to the left, go to the counter, hang a left, go forward to the microwave. ", " STEP 6: Open the microwave, put the knife inside, close the microwave. ", " STEP 7: Turn around, go to the counter and hang a right, go to the fridge that is on the left. ", " STEP 8: Open the fridge, pick up a slice of the potato, close the fridge. ", " STEP 9: Turn to the left, go to the counter and hang a left, go forward to the microwave. ", " STEP 10: Put the potato in the microwave and turn it on to cook, remove the potato when it is done cooking. ", " STEP 11: Turn around, go to the counter and hang a right, go past the fridge to the garbage can that is on the left. ", " STEP 12: Put the potato in the garbage can. ", " END" ] ]
seen
trial_T20190912_215328_269599-1
To heat up a slice of potato.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -0.5 0.900 2.5 0 270 0 1 Pan 1.802 0.911 -1.610 0 180 0 74 2 Ladle -0.106 0.969 0.738 0 0 0 82 3 Ladle 1.117 0.955 -1.415 0 0 0 74 4 Kettle 1.341 1.680 -1.577 0 0 0 73 5 DishSponge 1.612 0.224 1.219 0 0 0 83 6 DishSponge 1.815 0.346 0.667 0 0 0 68 7 ButterKnife 0.170 0.760 -1.435 0 0 0 98 8 ButterKnife 0.214 0.925 -0.190 0 0 0 82 9 Spoon 0.661 0.912 -1.610 0 0 0 74 10 Pot -1.050 0.915 -1.610 0 0 0 74 11 Pot 1.975 0.938 0.384 0 180 0 60 12 Egg -1.789 1.086 0.013 0 90 0 97 13 Egg -1.814 0.968 -1.013 0 0 0 74 14 Cup 0.256 0.758 -1.435 0 0 0 98 15 Plate 0.107 0.924 0.738 0 0 0 82 16 Plate -1.841 1.660 -1.282 0 90 0 61 17 Knife 0.107 0.947 0.041 0 0 0 82 18 SoapBottle -0.106 0.929 0.506 0 0 0 82 19 SoapBottle -1.114 1.683 -1.577 0 0 0 76 20 Tomato 0.321 0.980 0.970 0 0 0 82 21 Bowl 0.083 0.758 -1.435 0 0 0 98 22 Bowl 1.234 0.107 -1.542 0 0 0 67 23 SaltShaker 0.801 0.667 -1.270 0 0 0 55 24 PepperShaker -0.106 0.921 0.970 0 0 0 82 25 Bread -0.106 1.006 0.273 0 0 0 82 26 Bread -0.320 1.006 0.041 0 0 0 82 27 Mug -0.175 0.755 -1.546 0 0 0 98 28 Mug -1.645 1.464 -0.081 0 90 0 97 29 SoapBottle 1.095 1.683 -1.652 0 0 0 73 30 Cup -1.692 0.561 0.013 0 90 0 97 31 Pot 1.975 0.938 0.819 0 180 0 84 32 Fork 1.746 0.912 0.025 0 0 0 74 33 Ladle 1.712 0.589 1.219 0 0 0 72 34 Kettle -0.638 0.912 -1.610 0 0 0 74 35 Egg -1.773 0.098 1.33 0 270 0 88 36 Plate 0.000 0.924 1.202 0 0 0 82 37 Pan -1.286 0.9 -1.348 0 79.769 0 74 38 Lettuce -1.697 1.753 0.201 0 90 0 97 39 Spatula 0.107 0.940 0.506 0 270 0 82 40 Apple -1.749 0.892 -0.269 0 90 0 97 41 Knife 1.986 0.933 1.107 0 0 0 74 42 SaltShaker 0.082 0.109 -1.220 0 0 0 63 43 PepperShaker 0.250 0.109 -1.345 0 0 0 63 44 CellPhone 1.612 0.223 1.350 0 0 0 83 45 ButterKnife 1.662 0.461 1.153 0 0 0 72 46 Bread -0.320 1.006 0.506 0 0 0 82 47 Tomato -1.663 0.618 -0.269 0 90 0 97 48 Potato -1.716 0.863 0.295 0 90 0 97 49 DishSponge -1.463 0.911 -0.864 0 0 0 74 50 Spoon 2.119 0.912 0.025 0 0 0 74 51 Mug 1.117 0.104 -1.289 0 0 0 63 52 Bowl -0.361 0.113 -1.472 0 0 0 53 53 Cabinet -0.495 0.474 -1.149 0 0 0 54 Window -0.010 1.582 -1.821 0 0 0 55 Drawer 0.805 0.475 -1.159 0 0 0 56 StoveBurner 1.764 0.902 0.601 0 270 0 57 Drawer 1.5 0.196 -0.019 0 0 0 58 Drawer 1.5 0.629 -0.018 0 0 0 59 Drawer 1.5 0.602 -0.019 0 270 0 60 StoveBurner 1.975 0.902 0.384 0 270 0 61 Cabinet -1.703 2.022 -1.453 0 90 0 62 Cabinet 1.789 2.019 -0.819 0 270 0 63 Cabinet 0.494 0.474 -1.149 0 0 0 64 Cabinet 0.409 0.475 0.444 0 0 0 65 Drawer -0.696 0.475 -1.159 0 0 0 66 Drawer 1.5 0.140 0.599 0 270 0 67 Cabinet 1.389 0.474 -1.149 0 0 0 68 Drawer 1.5 0.305 0.600 0 0 0 69 StoveBurner 1.975 0.902 0.601 0 270 0 70 Drawer 1.5 0.429 -0.019 0 0 0 71 StoveBurner 1.764 0.902 0.819 0 270 0 72 Drawer 1.5 0.519 1.220 0 0 0 73 Cabinet 1.705 2.019 -1.449 0 0 0 74 CounterTop 0.002 0.947 -1.513 0 0 0 75 Drawer 1.5 0.629 0.605 0 0 0 76 Cabinet -0.627 2.019 -1.449 0 0 0 77 StoveBurner 1.764 0.902 0.384 0 270 0 78 Drawer 1.5 0.538 0.600 0 0 0 79 Sink 0.0 0.893 -1.434 0 0 0 80 Drawer 1.5 0.782 1.220 0 270 0 81 Window 2.217 1.565 -0.384 0 0 0 82 CounterTop -0.014 0.961 0.505 0 0 0 83 Drawer 1.5 0.200 1.220 0 0 0 84 StoveBurner 1.975 0.902 0.819 0 270 0 85 Window -3.240 1.616 2.693 0 270 0 86 Cabinet -1.389 0.474 -1.149 0 0 0 87 LightSwitch -0.153 1.291 3.700 0 180 0 88 GarbageCan -1.796 0.009 1.330 0 270 358.295 89 StoveKnob 1.602 0.917 0.570 0 270 180 90 StoveKnob 1.602 0.917 0.625 0 270 180 91 StoveKnob 1.602 0.917 0.739 0 270 180 92 StoveKnob 1.602 0.917 0.680 0 270 180 93 StoveKnob 1.602 0.917 0.462 0 270 180 94 StoveKnob 1.602 0.917 0.517 0 270 180 95 Microwave 1.932 0.899 -0.766 0 270 0 96 CoffeeMachine 1.355 0.899 -1.596 0 0 0 97 Fridge -1.764 0.0 0.014 0 90 0 98 SinkBasin -0.014 0.736 -1.435 0 0 0 99 Toaster 1.977 0.900 -0.336 0 270 0 100 Faucet -0.020 1.137 -1.605 0 270 0 101 Chair -9.354 0.000 1.242 0 180 0 102 NorthWall 103 EastWall 104 SouthWall 105 WestWall
[ "STEP 1: Turn left and walk across the room, turn left and take one step then turn left toward the counter. | STEP 2: Pick up the silver knife on the counter. | STEP 3: Turn left and walk to the counter, then turn right and take two steps, then turn left and face the fridge. | STEP 4: Open the fridge and use the knife to cut the potato, then close the fridge. | STEP 5: Turn left and walk to the counter, then turn left and walk across the room. | STEP 6: Open the microwave and put the knife inside then close the microwave door. | STEP 7: Turn to the right and walk across the room, then turn right and take two steps, then turn left and face the fridge. | STEP 8: Open the fridge and take out a slice of potato, then close the fridge door. | STEP 9: Turn left and walk across the room, then turn left and walk across the room. | STEP 10: Open the microwave and place the slice of potato inside to the left of the plate. Turn the microwave on for two seconds, then remove the slice of potato from the microwave. | STEP 11: Turn around and walk across the room, then turn right and walk to the end of the counter, then turn left to face the trash can. | STEP 12: Put the potato in the trash can. | END" ]
[ [ "STEP 1: Turn left and walk across the room, turn left and take one step then turn left toward the counter. ", " STEP 2: Pick up the silver knife on the counter. ", " STEP 3: Turn left and walk to the counter, then turn right and take two steps, then turn left and face the fridge. ", " STEP 4: Open the fridge and use the knife to cut the potato, then close the fridge. ", " STEP 5: Turn left and walk to the counter, then turn left and walk across the room. ", " STEP 6: Open the microwave and put the knife inside then close the microwave door. ", " STEP 7: Turn to the right and walk across the room, then turn right and take two steps, then turn left and face the fridge. ", " STEP 8: Open the fridge and take out a slice of potato, then close the fridge door. ", " STEP 9: Turn left and walk across the room, then turn left and walk across the room. ", " STEP 10: Open the microwave and place the slice of potato inside to the left of the plate. Turn the microwave on for two seconds, then remove the slice of potato from the microwave. ", " STEP 11: Turn around and walk across the room, then turn right and walk to the end of the counter, then turn left to face the trash can. ", " STEP 12: Put the potato in the trash can. ", " END" ] ]
seen
trial_T20190912_215328_269599-2
Slice the potato inside the fridge, cook a slice in the microwave, put slice of cooked potato in the trash
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" 0.570", " 0", " 270", " 180", "" ], [ "90", " StoveKnob", " 1.602", " 0.917", " 0.625", " 0", " 270", " 180", "" ], [ "91", " StoveKnob", " 1.602", " 0.917", " 0.739", " 0", " 270", " 180", "" ], [ "92", " StoveKnob", " 1.602", " 0.917", " 0.680", " 0", " 270", " 180", "" ], [ "93", " StoveKnob", " 1.602", " 0.917", " 0.462", " 0", " 270", " 180", "" ], [ "94", " StoveKnob", " 1.602", " 0.917", " 0.517", " 0", " 270", " 180", "" ], [ "95", " Microwave", " 1.932", " 0.899", " -0.766", " 0", " 270", " 0", "" ], [ "96", " CoffeeMachine", " 1.355", " 0.899", " -1.596", " 0", " 0", " 0", "" ], [ "97", " Fridge", " -1.764", " 0.0", " 0.014", " 0", " 90", " 0", "" ], [ "98", " SinkBasin", " -0.014", " 0.736", " -1.435", " 0", " 0", " 0", "" ], [ "99", " Toaster", " 1.977", " 0.900", " -0.336", " 0", " 270", " 0", "" ], [ "100", " Faucet", " -0.020", " 1.137", " -1.605", " 0", " 270", " 0", "" ], [ "101", " Chair", " -9.354", " 0.000", " 1.242", " 0", " 180", " 0", "" ], [ "102", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "103", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "104", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "105", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -0.5 0.900 2.5 0 270 0 1 Pan 1.802 0.911 -1.610 0 180 0 74 2 Ladle -0.106 0.969 0.738 0 0 0 82 3 Ladle 1.117 0.955 -1.415 0 0 0 74 4 Kettle 1.341 1.680 -1.577 0 0 0 73 5 DishSponge 1.612 0.224 1.219 0 0 0 83 6 DishSponge 1.815 0.346 0.667 0 0 0 68 7 ButterKnife 0.170 0.760 -1.435 0 0 0 98 8 ButterKnife 0.214 0.925 -0.190 0 0 0 82 9 Spoon 0.661 0.912 -1.610 0 0 0 74 10 Pot -1.050 0.915 -1.610 0 0 0 74 11 Pot 1.975 0.938 0.384 0 180 0 60 12 Egg -1.789 1.086 0.013 0 90 0 97 13 Egg -1.814 0.968 -1.013 0 0 0 74 14 Cup 0.256 0.758 -1.435 0 0 0 98 15 Plate 0.107 0.924 0.738 0 0 0 82 16 Plate -1.841 1.660 -1.282 0 90 0 61 17 Knife 0.107 0.947 0.041 0 0 0 82 18 SoapBottle -0.106 0.929 0.506 0 0 0 82 19 SoapBottle -1.114 1.683 -1.577 0 0 0 76 20 Tomato 0.321 0.980 0.970 0 0 0 82 21 Bowl 0.083 0.758 -1.435 0 0 0 98 22 Bowl 1.234 0.107 -1.542 0 0 0 67 23 SaltShaker 0.801 0.667 -1.270 0 0 0 55 24 PepperShaker -0.106 0.921 0.970 0 0 0 82 25 Bread -0.106 1.006 0.273 0 0 0 82 26 Bread -0.320 1.006 0.041 0 0 0 82 27 Mug -0.175 0.755 -1.546 0 0 0 98 28 Mug -1.645 1.464 -0.081 0 90 0 97 29 SoapBottle 1.095 1.683 -1.652 0 0 0 73 30 Cup -1.692 0.561 0.013 0 90 0 97 31 Pot 1.975 0.938 0.819 0 180 0 84 32 Fork 1.746 0.912 0.025 0 0 0 74 33 Ladle 1.712 0.589 1.219 0 0 0 72 34 Kettle -0.638 0.912 -1.610 0 0 0 74 35 Egg -1.773 0.098 1.33 0 270 0 88 36 Plate 0.000 0.924 1.202 0 0 0 82 37 Pan -1.286 0.9 -1.348 0 79.769 0 74 38 Lettuce -1.697 1.753 0.201 0 90 0 97 39 Spatula 0.107 0.940 0.506 0 270 0 82 40 Apple -1.749 0.892 -0.269 0 90 0 97 41 Knife 1.986 0.933 1.107 0 0 0 74 42 SaltShaker 0.082 0.109 -1.220 0 0 0 63 43 PepperShaker 0.250 0.109 -1.345 0 0 0 63 44 CellPhone 1.612 0.223 1.350 0 0 0 83 45 ButterKnife 1.662 0.461 1.153 0 0 0 72 46 Bread -0.320 1.006 0.506 0 0 0 82 47 Tomato -1.663 0.618 -0.269 0 90 0 97 48 Potato -1.716 0.863 0.295 0 90 0 97 49 DishSponge -1.463 0.911 -0.864 0 0 0 74 50 Spoon 2.119 0.912 0.025 0 0 0 74 51 Mug 1.117 0.104 -1.289 0 0 0 63 52 Bowl -0.361 0.113 -1.472 0 0 0 53 53 Cabinet -0.495 0.474 -1.149 0 0 0 54 Window -0.010 1.582 -1.821 0 0 0 55 Drawer 0.805 0.475 -1.159 0 0 0 56 StoveBurner 1.764 0.902 0.601 0 270 0 57 Drawer 1.5 0.196 -0.019 0 0 0 58 Drawer 1.5 0.629 -0.018 0 0 0 59 Drawer 1.5 0.602 -0.019 0 270 0 60 StoveBurner 1.975 0.902 0.384 0 270 0 61 Cabinet -1.703 2.022 -1.453 0 90 0 62 Cabinet 1.789 2.019 -0.819 0 270 0 63 Cabinet 0.494 0.474 -1.149 0 0 0 64 Cabinet 0.409 0.475 0.444 0 0 0 65 Drawer -0.696 0.475 -1.159 0 0 0 66 Drawer 1.5 0.140 0.599 0 270 0 67 Cabinet 1.389 0.474 -1.149 0 0 0 68 Drawer 1.5 0.305 0.600 0 0 0 69 StoveBurner 1.975 0.902 0.601 0 270 0 70 Drawer 1.5 0.429 -0.019 0 0 0 71 StoveBurner 1.764 0.902 0.819 0 270 0 72 Drawer 1.5 0.519 1.220 0 0 0 73 Cabinet 1.705 2.019 -1.449 0 0 0 74 CounterTop 0.002 0.947 -1.513 0 0 0 75 Drawer 1.5 0.629 0.605 0 0 0 76 Cabinet -0.627 2.019 -1.449 0 0 0 77 StoveBurner 1.764 0.902 0.384 0 270 0 78 Drawer 1.5 0.538 0.600 0 0 0 79 Sink 0.0 0.893 -1.434 0 0 0 80 Drawer 1.5 0.782 1.220 0 270 0 81 Window 2.217 1.565 -0.384 0 0 0 82 CounterTop -0.014 0.961 0.505 0 0 0 83 Drawer 1.5 0.200 1.220 0 0 0 84 StoveBurner 1.975 0.902 0.819 0 270 0 85 Window -3.240 1.616 2.693 0 270 0 86 Cabinet -1.389 0.474 -1.149 0 0 0 87 LightSwitch -0.153 1.291 3.700 0 180 0 88 GarbageCan -1.796 0.009 1.330 0 270 358.295 89 StoveKnob 1.602 0.917 0.570 0 270 180 90 StoveKnob 1.602 0.917 0.625 0 270 180 91 StoveKnob 1.602 0.917 0.739 0 270 180 92 StoveKnob 1.602 0.917 0.680 0 270 180 93 StoveKnob 1.602 0.917 0.462 0 270 180 94 StoveKnob 1.602 0.917 0.517 0 270 180 95 Microwave 1.932 0.899 -0.766 0 270 0 96 CoffeeMachine 1.355 0.899 -1.596 0 0 0 97 Fridge -1.764 0.0 0.014 0 90 0 98 SinkBasin -0.014 0.736 -1.435 0 0 0 99 Toaster 1.977 0.900 -0.336 0 270 0 100 Faucet -0.020 1.137 -1.605 0 270 0 101 Chair -9.354 0.000 1.242 0 180 0 102 NorthWall 103 EastWall 104 SouthWall 105 WestWall
[ "STEP 1: Walk towards the island counter in the middle | STEP 2: Grab a knife from the island counter | STEP 3: Walk with the knife towards the fridge | STEP 4: Open the fridge slice the potato inside the fridge | STEP 5: Walk with the knife towards the microwave | STEP 6: Put the knife inside the microwave | STEP 7: Walk towards the fridge | STEP 8: Open the fridge and take a slice of the potato | STEP 9: Walk with the slice of potato and put it inside the microwave | STEP 10: Cook the slice of potato and take it out of the microwave | STEP 11: Walk with the slice of the potato towards the trash can next to the fridge | STEP 12: Put the slice of potato inside the trash can | END" ]
[ [ "STEP 1: Walk towards the island counter in the middle ", " STEP 2: Grab a knife from the island counter ", " STEP 3: Walk with the knife towards the fridge ", " STEP 4: Open the fridge slice the potato inside the fridge ", " STEP 5: Walk with the knife towards the microwave ", " STEP 6: Put the knife inside the microwave ", " STEP 7: Walk towards the fridge ", " STEP 8: Open the fridge and take a slice of the potato ", " STEP 9: Walk with the slice of potato and put it inside the microwave ", " STEP 10: Cook the slice of potato and take it out of the microwave ", " STEP 11: Walk with the slice of the potato towards the trash can next to the fridge ", " STEP 12: Put the slice of potato inside the trash can ", " END" ] ]
seen
trial_T20190907_173906_510898-0
Move the towel from the holder to the toilet.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -0.75 0.902 1.5 0 90 0 1 Cloth -3.948 0.038 0.224 0 0 0 44 2 Cloth -3.775 0.038 0.595 0 0 0 44 3 TissueBox -2.575 0.704 -0.585 0 90 0 30 4 SoapBar -0.857 0.954 -0.802 0 90 0 42 5 SoapBar -3.250 0.612 -0.367 0 0 0 35 6 DishSponge -2.791 0.178 -0.732 0 90 0 29 7 SoapBottle -1.892 0.706 -0.642 0 90 0 30 8 SoapBottle -3.215 0.615 1.647 0 0 0 35 9 HandTowel -2.576 1.683 2.244 0 0 0 39 10 Towel -3.66 1.567 -0.459 0 0 0 37 11 Candle -3.180 0.611 1.723 0 0 0 35 12 HandTowel -1.275 1.683 2.244 0 0 0 40 13 SoapBar -1.920 1.029 2.010 0 180 0 45 14 ToiletPaper -1.380 0.695 -0.751 0 0 0 30 15 Plunger -1.088 0.000 -0.526 0 0 0 Floor|-02.42| 16 SprayBottle -0.544 0.951 -0.722 0 90 0 42 17 SoapBottle -2.079 1.095 2.164 0 180 0 25 18 TissueBox -1.942 0.442 -0.635 0 90 0 31 19 ToiletPaper -1.493 0.438 -0.635 0 90 0 24 20 PaperTowelRoll -2.120 0.809 -0.585 0 90 0 30 21 ScrubBrush -1.041 0.001 -0.707 0 0 0 Floor|-02.42| 22 Cloth -3.948 0.038 1.150 0 0 0 44 23 DishSponge -3.689 0.040 0.965 0 0 0 35 24 Drawer -1.444 0.531 -0.620 0 90 0 25 Sink -1.919 0.441 2.032 0 180 0 26 Drawer -2.343 0.531 -0.620 0 90 0 27 Drawer -2.343 0.271 -0.620 0 90 0 28 Drawer -1.894 0.271 -0.620 0 90 0 29 Drawer -2.791 0.271 -0.620 0 90 0 30 CounterTop -2.799 0.001 -0.593 0 90 0 31 Drawer -1.894 0.531 -0.620 0 90 0 32 Mirror -1.909 1.748 2.280 0 0 0 33 Drawer -2.791 0.531 -0.620 0 90 0 34 Drawer -1.444 0.271 -0.620 0 90 0 35 Bathtub -3.706 0.342 0.636 0 0 0 36 Faucet -1.919 1.064 2.182 0 180 0 37 TowelHolder -3.660 1.552 -0.558 0 0 0 38 GarbageCan -1.560 -0.000 1.909 0 164.999 0 39 HandTowelHolder -2.575 1.784 2.282 0 90 0 40 HandTowelHolder -1.274 1.784 2.282 0 90 0 41 LightSwitch -0.558 1.282 2.281 0 180 0 42 Toilet -0.720 0.001 -0.310 0 0 0 43 ToiletPaperHanger -0.427 0.940 0.187 0 270 0 44 BathtubBasin -3.788 0.028 0.595 0 0 0 45 SinkBasin -1.908 1.011 1.981 0 180 0 46 ShowerHead -3.740 1.858 1.827 0 0 0 47 ShowerCurtain -3.039 2.229 1.720 0 180 0 48 NorthWall 49 EastWall 50 SouthWall 51 WestWall
[ "STEP 1: Turn around and face the holder on the wall to the right. | STEP 2: Take the towel from the holder. | STEP 3: Carry the towel and turn around to face the toilet. | STEP 4: Place the towel on the back of the toilet. | END" ]
[ [ "STEP 1: Turn around and face the holder on the wall to the right. ", " STEP 2: Take the towel from the holder. ", " STEP 3: Carry the towel and turn around to face the toilet. ", " STEP 4: Place the towel on the back of the toilet. ", " END" ] ]
seen
trial_T20190907_173906_510898-1
move towel from towel rack to 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 -0.75 0.902 1.5 0 90 0 1 Cloth -3.948 0.038 0.224 0 0 0 44 2 Cloth -3.775 0.038 0.595 0 0 0 44 3 TissueBox -2.575 0.704 -0.585 0 90 0 30 4 SoapBar -0.857 0.954 -0.802 0 90 0 42 5 SoapBar -3.250 0.612 -0.367 0 0 0 35 6 DishSponge -2.791 0.178 -0.732 0 90 0 29 7 SoapBottle -1.892 0.706 -0.642 0 90 0 30 8 SoapBottle -3.215 0.615 1.647 0 0 0 35 9 HandTowel -2.576 1.683 2.244 0 0 0 39 10 Towel -3.66 1.567 -0.459 0 0 0 37 11 Candle -3.180 0.611 1.723 0 0 0 35 12 HandTowel -1.275 1.683 2.244 0 0 0 40 13 SoapBar -1.920 1.029 2.010 0 180 0 45 14 ToiletPaper -1.380 0.695 -0.751 0 0 0 30 15 Plunger -1.088 0.000 -0.526 0 0 0 Floor|-02.42| 16 SprayBottle -0.544 0.951 -0.722 0 90 0 42 17 SoapBottle -2.079 1.095 2.164 0 180 0 25 18 TissueBox -1.942 0.442 -0.635 0 90 0 31 19 ToiletPaper -1.493 0.438 -0.635 0 90 0 24 20 PaperTowelRoll -2.120 0.809 -0.585 0 90 0 30 21 ScrubBrush -1.041 0.001 -0.707 0 0 0 Floor|-02.42| 22 Cloth -3.948 0.038 1.150 0 0 0 44 23 DishSponge -3.689 0.040 0.965 0 0 0 35 24 Drawer -1.444 0.531 -0.620 0 90 0 25 Sink -1.919 0.441 2.032 0 180 0 26 Drawer -2.343 0.531 -0.620 0 90 0 27 Drawer -2.343 0.271 -0.620 0 90 0 28 Drawer -1.894 0.271 -0.620 0 90 0 29 Drawer -2.791 0.271 -0.620 0 90 0 30 CounterTop -2.799 0.001 -0.593 0 90 0 31 Drawer -1.894 0.531 -0.620 0 90 0 32 Mirror -1.909 1.748 2.280 0 0 0 33 Drawer -2.791 0.531 -0.620 0 90 0 34 Drawer -1.444 0.271 -0.620 0 90 0 35 Bathtub -3.706 0.342 0.636 0 0 0 36 Faucet -1.919 1.064 2.182 0 180 0 37 TowelHolder -3.660 1.552 -0.558 0 0 0 38 GarbageCan -1.560 -0.000 1.909 0 164.999 0 39 HandTowelHolder -2.575 1.784 2.282 0 90 0 40 HandTowelHolder -1.274 1.784 2.282 0 90 0 41 LightSwitch -0.558 1.282 2.281 0 180 0 42 Toilet -0.720 0.001 -0.310 0 0 0 43 ToiletPaperHanger -0.427 0.940 0.187 0 270 0 44 BathtubBasin -3.788 0.028 0.595 0 0 0 45 SinkBasin -1.908 1.011 1.981 0 180 0 46 ShowerHead -3.740 1.858 1.827 0 0 0 47 ShowerCurtain -3.039 2.229 1.720 0 180 0 48 NorthWall 49 EastWall 50 SouthWall 51 WestWall
[ "STEP 1: turn around, walk forward a few steps, stop to face towel rack to the right of the sink | STEP 2: take towel down from the towel rack | STEP 3: turn around, walk towards the toilet | STEP 4: put the towel on the back of the toilet | END" ]
[ [ "STEP 1: turn around, walk forward a few steps, stop to face towel rack to the right of the sink ", " STEP 2: take towel down from the towel rack ", " STEP 3: turn around, walk towards the toilet ", " STEP 4: put the towel on the back of the toilet ", " END" ] ]
seen
trial_T20190907_173906_510898-2
Place a towel on a toilet tank
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -0.75 0.902 1.5 0 90 0 1 Cloth -3.948 0.038 0.224 0 0 0 44 2 Cloth -3.775 0.038 0.595 0 0 0 44 3 TissueBox -2.575 0.704 -0.585 0 90 0 30 4 SoapBar -0.857 0.954 -0.802 0 90 0 42 5 SoapBar -3.250 0.612 -0.367 0 0 0 35 6 DishSponge -2.791 0.178 -0.732 0 90 0 29 7 SoapBottle -1.892 0.706 -0.642 0 90 0 30 8 SoapBottle -3.215 0.615 1.647 0 0 0 35 9 HandTowel -2.576 1.683 2.244 0 0 0 39 10 Towel -3.66 1.567 -0.459 0 0 0 37 11 Candle -3.180 0.611 1.723 0 0 0 35 12 HandTowel -1.275 1.683 2.244 0 0 0 40 13 SoapBar -1.920 1.029 2.010 0 180 0 45 14 ToiletPaper -1.380 0.695 -0.751 0 0 0 30 15 Plunger -1.088 0.000 -0.526 0 0 0 Floor|-02.42| 16 SprayBottle -0.544 0.951 -0.722 0 90 0 42 17 SoapBottle -2.079 1.095 2.164 0 180 0 25 18 TissueBox -1.942 0.442 -0.635 0 90 0 31 19 ToiletPaper -1.493 0.438 -0.635 0 90 0 24 20 PaperTowelRoll -2.120 0.809 -0.585 0 90 0 30 21 ScrubBrush -1.041 0.001 -0.707 0 0 0 Floor|-02.42| 22 Cloth -3.948 0.038 1.150 0 0 0 44 23 DishSponge -3.689 0.040 0.965 0 0 0 35 24 Drawer -1.444 0.531 -0.620 0 90 0 25 Sink -1.919 0.441 2.032 0 180 0 26 Drawer -2.343 0.531 -0.620 0 90 0 27 Drawer -2.343 0.271 -0.620 0 90 0 28 Drawer -1.894 0.271 -0.620 0 90 0 29 Drawer -2.791 0.271 -0.620 0 90 0 30 CounterTop -2.799 0.001 -0.593 0 90 0 31 Drawer -1.894 0.531 -0.620 0 90 0 32 Mirror -1.909 1.748 2.280 0 0 0 33 Drawer -2.791 0.531 -0.620 0 90 0 34 Drawer -1.444 0.271 -0.620 0 90 0 35 Bathtub -3.706 0.342 0.636 0 0 0 36 Faucet -1.919 1.064 2.182 0 180 0 37 TowelHolder -3.660 1.552 -0.558 0 0 0 38 GarbageCan -1.560 -0.000 1.909 0 164.999 0 39 HandTowelHolder -2.575 1.784 2.282 0 90 0 40 HandTowelHolder -1.274 1.784 2.282 0 90 0 41 LightSwitch -0.558 1.282 2.281 0 180 0 42 Toilet -0.720 0.001 -0.310 0 0 0 43 ToiletPaperHanger -0.427 0.940 0.187 0 270 0 44 BathtubBasin -3.788 0.028 0.595 0 0 0 45 SinkBasin -1.908 1.011 1.981 0 180 0 46 ShowerHead -3.740 1.858 1.827 0 0 0 47 ShowerCurtain -3.039 2.229 1.720 0 180 0 48 NorthWall 49 EastWall 50 SouthWall 51 WestWall
[ "STEP 1: turn to the left twice and take a few steps and turn to the right | STEP 2: take the towel from the towel ring | STEP 3: turn to the right and go to the door and turn to the right and go to the toilet | STEP 4: Put the towel on the toilet tank | END" ]
[ [ "STEP 1: turn to the left twice and take a few steps and turn to the right ", " STEP 2: take the towel from the towel ring ", " STEP 3: turn to the right and go to the door and turn to the right and go to the toilet ", " STEP 4: Put the towel on the toilet tank ", " END" ] ]
seen
trial_T20190908_055652_759052-0
Place a clean rag in a bathtub
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[ "STEP 1: Turn around and go to the bathtub | STEP 2: Pick up the dirty red rag that is on the left | STEP 3: Turn around and then go to the sink that is on your right | STEP 4: Place the rag into the sink and turn on the water to rinse the rag. Then turn off the water and pick up the cleaned rag | STEP 5: Turn around and head to the toilet, make a left and face the bathtub | STEP 6: Place the clean red rag in the bathtub to the right of the soap and left of the dirty red rag. | END" ]
[ [ "STEP 1: Turn around and go to the bathtub ", " STEP 2: Pick up the dirty red rag that is on the left ", " STEP 3: Turn around and then go to the sink that is on your right ", " STEP 4: Place the rag into the sink and turn on the water to rinse the rag. Then turn off the water and pick up the cleaned rag ", " STEP 5: Turn around and head to the toilet, make a left and face the bathtub ", " STEP 6: Place the clean red rag in the bathtub to the right of the soap and left of the dirty red rag. ", " END" ] ]
seen
trial_T20190908_055652_759052-1
Place a rinsed towel in a tub.
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[ "STEP 1: Turn around to face the white tub. | STEP 2: Pick up the red towel from inside the tub on the left side. | STEP 3: Turn around and walk to the sink on the right. | STEP 4: Put the towel in the sink, rinse it for a few seconds and pick it back up. | STEP 5: Turn around and return to the tub on the left side. | STEP 6: Put the rinsed towel in between the bar of soap and the other towel. | END" ]
[ [ "STEP 1: Turn around to face the white tub. ", " STEP 2: Pick up the red towel from inside the tub on the left side. ", " STEP 3: Turn around and walk to the sink on the right. ", " STEP 4: Put the towel in the sink, rinse it for a few seconds and pick it back up. ", " STEP 5: Turn around and return to the tub on the left side. ", " STEP 6: Put the rinsed towel in between the bar of soap and the other towel. ", " END" ] ]
seen
trial_T20190908_055652_759052-2
wash the cloth from the tub, put it back in the tub
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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 1.75 0 0 0 1 Cloth -0.106 0.181 0.527 0 0 0 35 2 Cloth 0.809 0.742 2.409 0 0 0 23 3 SoapBar -0.497 0.180 0.527 0 0 0 35 4 SoapBottle -2.524 1.046 1.691 0 90 0 39 5 SoapBottle -2.337 0.587 0.133 0 0 0 26 6 Towel 0.931 1.193 0.495 0 270 0 31 7 HandTowel 1.033 1.671 3.127 0 90 0 36 8 Towel 0.474 1.182 0.134 0 0 0 32 9 SoapBar -2.524 1.046 1.559 0 90 0 39 10 ToiletPaper -2.626 0.790 1.235 0 90 270 33 11 SoapBottle 0.731 0.114 3.016 0 0 0 38 12 ToiletPaper 0.658 0.738 1.369 0 0 0 23 13 ScrubBrush -2.557 0.001 2.200 0 0 0 14 Plunger -2.568 0.000 1.992 0 0 0 15 Cloth -1.083 0.181 0.432 0 0 0 35 16 Candle -2.616 1.044 1.822 0 90 0 39 17 SprayBottle 0.583 0.743 1.442 0 0 0 23 18 Window -2.808 0.962 0.514 0 0 0 19 Bathtub -1.062 0.300 0.427 0 0 0 20 Drawer 0.409 0.551 1.486 0 0 0 21 Mirror 0.986 1.676 1.896 0 0 0 22 ShowerDoor -2.671 1.001 2.797 0 0 0 23 CounterTop 0.732 0.697 1.955 0 0 0 24 Drawer 0.409 0.314 2.420 0 0 0 25 ShowerGlass -1.713 1.276 3.298 0 0 0 26 CounterTop -0.298 0.157 0.531 0 0 0 27 Sink 0.812 0.703 1.920 0 270 0 28 Drawer 0.409 0.551 2.420 0 0 0 29 Window -0.957 1.563 -0.059 0 0 0 30 Drawer 0.409 0.314 1.486 0 0 0 31 TowelHolder 1.038 1.179 0.495 0 270 0 32 TowelHolder 0.474 1.168 0.027 0 0 0 33 ToiletPaperHanger -2.695 0.929 1.200 0 90 0 34 SinkBasin 0.720 0.812 1.896 349.201 270 0 35 BathtubBasin -0.721 0.171 0.479 0 0 0 36 HandTowelHolder 1.071 1.773 3.127 0 180 0 37 LightSwitch 0.220 1.416 3.998 0 180 0 38 GarbageCan 0.713 -0.028 3.110 0 0 0 39 Toilet -2.232 0.001 1.628 0 180 0 40 ShowerHead -2.619 1.819 3.361 0 270 0 41 Faucet 1.047 1.036 1.921 0 0 0 42 Faucet 0.318 0.631 0.479 0 0 0 43 NorthWall 44 EastWall 45 SouthWall 46 WestWall
[ "STEP 1: turn around to the tub | STEP 2: grab the cloth on the left | STEP 3: turn left to the sink | STEP 4: put the cloth in the sink, wash the cloth with water, take the cloth out | STEP 5: turn right to the tub | STEP 6: put the cloth back in the tub | END" ]
[ [ "STEP 1: turn around to the tub ", " STEP 2: grab the cloth on the left ", " STEP 3: turn left to the sink ", " STEP 4: put the cloth in the sink, wash the cloth with water, take the cloth out ", " STEP 5: turn right to the tub ", " STEP 6: put the cloth back in the tub ", " END" ] ]
seen
trial_T20190907_225734_462221-0
Heat a slice of tomato and place it in the trash can.
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" 0.122", " 2.081", " 0", " 0", " 0", " 55" ], [ "25", " ButterKnife", " -1.317", " 0.900", " 1.349", " 0", " 90", " 0", " 81" ], [ "26", " Tomato", " -0.657", " 0.969", " 1.555", " 0", " 90", " 0", " 81" ], [ "27", " DishSponge", " -2.542", " 1.848", " 1.853", " 0", " 0", " 0", " 65" ], [ "28", " Lettuce", " -0.580", " 0.956", " 1.358", " 31.822", " 0", " 0", " 81" ], [ "29", " Spoon", " -1.317", " 0.901", " 1.040", " 0", " 0", " 0", " 81" ], [ "30", " Apple", " -2.694", " 0.828", " 2.277", " 0", " 90", " 0", " 72" ], [ "31", " Knife", " -0.921", " 0.923", " 1.349", " 0", " 270", " 0", " 81" ], [ "32", " Mug", " -1.109", " 0.940", " 1.203", " 0", " 0", " 0", " 81" ], [ "33", " Bowl", " -1.185", " 0.898", " 1.452", " 0", " 90", " 0", " 81" ], [ "34", " Drawer", " 0.729", " 0.703", " 2.199", " 0", " 0", " 0", "" ], [ "35", " Cabinet", " -1.962", " 1.926", " 3.733", " 0", " 0", " 0", "" ], [ "36", " Cabinet", " -2.377", " 2.014", " 1.058", " 0", " 0", " 0", "" ], [ "37", " Drawer", " 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2.558", " 0", " 0", " 0", "" ], [ "51", " Drawer", " 0.729", " 0.703", " 0.980", " 0", " 0", " 0", "" ], [ "52", " Drawer", " -2.114", " 0.706", " 3.657", " 0", " 0", " 0", "" ], [ "53", " Cabinet", " -2.377", " 1.691", " 2.572", " 0", " 0", " 0", "" ], [ "54", " Cabinet", " -2.951", " 1.925", " 3.733", " 0", " 0", " 0", "" ], [ "55", " Cabinet", " 0.580", " 0.385", " 2.360", " 0", " 0", " 0", "" ], [ "56", " Cabinet", " -2.426", " 0.435", " 3.421", " 0", " 0", " 0", "" ], [ "57", " StoveBurner", " 0.642", " 0.843", " 1.375", " 0", " 0", " 0", "" ], [ "58", " Cabinet", " -2.377", " 1.927", " 1.686", " 0", " 0", " 0", "" ], [ "59", " Cabinet", " -2.377", " 2.013", " 3.177", " 0", " 0", " 0", "" ], [ "60", " Cabinet", " -1.136", " 0.385", " 3.516", " 0", " 0", " 0", "" ], [ "61", " StoveBurner", " 0.913", " 0.843", " 1.768", " 0", " 0", " 0", "" ], [ "62", " Cabinet", " -1.974", " 0.385", " 3.516", " 0", " 0", " 0", "" ], [ "63", " CounterTop", " -2.081", " 0.858", " 3.799", " 0", " 0", " 0", "" ], [ "64", " Cabinet", " -2.426", " 0.435", " 3.174", " 0", " 0", " 0", "" ], [ "65", " Cabinet", " -2.377", " 2.014", " 1.693", " 0", " 0", " 0", "" ], [ "66", " Cabinet", " -1.986", " 0.385", " 3.511", " 0", " 0", " 0", "" ], [ "67", " StoveBurner", " 0.642", " 0.843", " 1.768", " 0", " 0", " 0", "" ], [ "68", " Cabinet", " -1.098", " 1.926", " 3.729", " 0", " 0", " 0", "" ], [ "69", " Microwave", " -1.529", " 1.250", " 3.881", " 1.622", " 180", " 0", "" ], [ "70", " CoffeeMachine", " 1.000", " 0.812", " 2.492", " 0", " 270", " 0", "" ], [ "71", " LightSwitch", " 0.825", " 1.396", " 4.082", " 0", " 180", " 0", "" ], [ "72", " Fridge", " -2.642", " 0.0", " 2.134", " 0", " 180", " 0", "" ], [ "73", " Window", " -1.131", " 1.673", " 0.808", " 90", " 0", " 0", "" ], [ "74", " GarbageCan", " 0.931", " -0.000", " 2.918", " 0", " 0", " 0", "" ], [ "75", " SinkBasin", " -1.601", " 0.686", " 3.774", " 0", " 0", " 0", "" ], [ "76", " StoveKnob", " 1.104", " 1.002", " 1.886", " 0", " 0", " 70.346", "" ], [ "77", " StoveKnob", " 1.104", " 1.002", " 1.733", " 0", " 0", " 70.346", "" ], [ "78", " StoveKnob", " 1.104", " 1.002", " 1.321", " 0", " 0", " 70.346", "" ], [ "79", " StoveKnob", " 1.104", " 1.002", " 1.481", " 0", " 0", " 70.346", "" ], [ "80", " Toaster", " -2.247", " 0.812", " 3.862", " 0", " 180", " 0", "" ], [ "81", " DiningTable", " -0.917", " -0.000", " 1.203", " 0", " 0", " 0", "" ], [ "82", " Stool", " -0.932", " 0.000", " 1.404", " 1.196", " 21.715", " 0", "" ], [ "83", " Faucet", " -1.842", " 0.809", " 3.984", " 0", " 180", " 0", "" ], [ "84", " Faucet", " -1.371", " 0.809", " 3.985", " 0", " 180", " 0", "" ], [ "85", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "86", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "87", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "88", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.5 0.900 2.25 0 270 0 1 Potato -2.519 1.234 2.221 0 90 0 72 2 Egg -2.752 1.227 2.165 0 90 0 72 3 Plate -2.563 0.826 3.331 0 0 0 63 4 Plate 0.742 0.129 0.981 0 0 0 42 5 Cup -2.454 1.041 1.220 0 0 0 43 6 Cup -1.836 0.702 3.774 0 0 0 75 7 Knife -1.336 0.846 3.545 0 0 0 63 8 Bowl -2.519 0.765 2.277 0 90 0 72 9 Lettuce -1.317 0.976 0.937 0 90 0 81 10 Bread -2.519 1.048 2.221 0 90 0 72 11 Mug -2.454 0.152 1.220 0 0 0 48 12 Plate -1.749 1.687 3.897 0 0 0 35 13 Fork -0.789 0.901 1.452 0 180 0 81 14 Bread 0.827 0.861 2.449 0 0 0 40 15 Spatula 0.875 0.838 0.895 0 90 0 40 16 PaperTowelRoll 0.800 0.927 2.111 0 0 0 45 17 Potato -2.678 1.650 2.221 0 90 0 72 18 SoapBottle 0.950 0.822 1.072 0 90 0 40 19 Egg -2.710 1.444 2.221 0 90 0 72 20 Cup 1.099 0.822 2.458 0 0 0 45 21 Pot 0.642 0.850 1.768 0 0 0 67 22 SaltShaker -0.524 0.896 1.555 0 90 0 81 23 Pan -2.667 0.812 3.74 0 137.145 0 63 24 PepperShaker 0.743 0.122 2.081 0 0 0 55 25 ButterKnife -1.317 0.900 1.349 0 90 0 81 26 Tomato -0.657 0.969 1.555 0 90 0 81 27 DishSponge -2.542 1.848 1.853 0 0 0 65 28 Lettuce -0.580 0.956 1.358 31.822 0 0 81 29 Spoon -1.317 0.901 1.040 0 0 0 81 30 Apple -2.694 0.828 2.277 0 90 0 72 31 Knife -0.921 0.923 1.349 0 270 0 81 32 Mug -1.109 0.940 1.203 0 0 0 81 33 Bowl -1.185 0.898 1.452 0 90 0 81 34 Drawer 0.729 0.703 2.199 0 0 0 35 Cabinet -1.962 1.926 3.733 0 0 0 36 Cabinet -2.377 2.014 1.058 0 0 0 37 Drawer 0.729 0.703 2.532 0 0 0 38 Cabinet -2.622 1.925 3.733 0 0 0 39 StoveBurner 0.913 0.843 1.375 0 0 0 40 CounterTop 0.864 0.858 0.984 0 0 0 41 Cabinet -1.976 1.779 3.734 0 0 0 42 Cabinet 0.580 0.385 0.819 0 0 0 43 Cabinet -2.379 1.408 1.677 0 0 0 44 Cabinet -0.419 1.703 3.736 0 0 0 45 CounterTop 0.864 0.858 2.371 0 0 0 46 Sink -1.702 0.726 3.828 0 180 0 47 Cabinet 0.580 0.385 2.694 0 0 0 48 Cabinet -2.379 0.637 1.677 0 0 0 49 Cabinet -0.419 0.674 3.736 0 0 0 50 Cabinet -2.377 2.014 2.558 0 0 0 51 Drawer 0.729 0.703 0.980 0 0 0 52 Drawer -2.114 0.706 3.657 0 0 0 53 Cabinet -2.377 1.691 2.572 0 0 0 54 Cabinet -2.951 1.925 3.733 0 0 0 55 Cabinet 0.580 0.385 2.360 0 0 0 56 Cabinet -2.426 0.435 3.421 0 0 0 57 StoveBurner 0.642 0.843 1.375 0 0 0 58 Cabinet -2.377 1.927 1.686 0 0 0 59 Cabinet -2.377 2.013 3.177 0 0 0 60 Cabinet -1.136 0.385 3.516 0 0 0 61 StoveBurner 0.913 0.843 1.768 0 0 0 62 Cabinet -1.974 0.385 3.516 0 0 0 63 CounterTop -2.081 0.858 3.799 0 0 0 64 Cabinet -2.426 0.435 3.174 0 0 0 65 Cabinet -2.377 2.014 1.693 0 0 0 66 Cabinet -1.986 0.385 3.511 0 0 0 67 StoveBurner 0.642 0.843 1.768 0 0 0 68 Cabinet -1.098 1.926 3.729 0 0 0 69 Microwave -1.529 1.250 3.881 1.622 180 0 70 CoffeeMachine 1.000 0.812 2.492 0 270 0 71 LightSwitch 0.825 1.396 4.082 0 180 0 72 Fridge -2.642 0.0 2.134 0 180 0 73 Window -1.131 1.673 0.808 90 0 0 74 GarbageCan 0.931 -0.000 2.918 0 0 0 75 SinkBasin -1.601 0.686 3.774 0 0 0 76 StoveKnob 1.104 1.002 1.886 0 0 70.346 77 StoveKnob 1.104 1.002 1.733 0 0 70.346 78 StoveKnob 1.104 1.002 1.321 0 0 70.346 79 StoveKnob 1.104 1.002 1.481 0 0 70.346 80 Toaster -2.247 0.812 3.862 0 180 0 81 DiningTable -0.917 -0.000 1.203 0 0 0 82 Stool -0.932 0.000 1.404 1.196 21.715 0 83 Faucet -1.842 0.809 3.984 0 180 0 84 Faucet -1.371 0.809 3.985 0 180 0 85 NorthWall 86 EastWall 87 SouthWall 88 WestWall
[ "STEP 1: Turn around and face the end of the long table. | STEP 2: Pick up the knife on the table. | STEP 3: Walk around the table to face the tomato on the table. | STEP 4: Cut the tomato on the table into slices. | STEP 5: Turn around and walk across the room to face the microwave. | STEP 6: Place the knife in the microwave. | STEP 7: Turn around and step forward to face the tomato. | STEP 8: Pick up a slice of tomato. | STEP 9: Turn around and walk across the room to face the microwave. | STEP 10: Heat the tomato slice in the microwave and then remove it. | STEP 11: Turn left and walk across the room to face the trash can. | STEP 12: Place the tomato slice in the trash can. | END" ]
[ [ "STEP 1: Turn around and face the end of the long table. ", " STEP 2: Pick up the knife on the table. ", " STEP 3: Walk around the table to face the tomato on the table. ", " STEP 4: Cut the tomato on the table into slices. ", " STEP 5: Turn around and walk across the room to face the microwave. ", " STEP 6: Place the knife in the microwave. ", " STEP 7: Turn around and step forward to face the tomato. ", " STEP 8: Pick up a slice of tomato. ", " STEP 9: Turn around and walk across the room to face the microwave. ", " STEP 10: Heat the tomato slice in the microwave and then remove it. ", " STEP 11: Turn left and walk across the room to face the trash can. ", " STEP 12: Place the tomato slice in the trash can. ", " END" ] ]
seen
trial_T20190907_225734_462221-1
Microwave the slice of tomato and throw it away.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.5 0.900 2.25 0 270 0 1 Potato -2.519 1.234 2.221 0 90 0 72 2 Egg -2.752 1.227 2.165 0 90 0 72 3 Plate -2.563 0.826 3.331 0 0 0 63 4 Plate 0.742 0.129 0.981 0 0 0 42 5 Cup -2.454 1.041 1.220 0 0 0 43 6 Cup -1.836 0.702 3.774 0 0 0 75 7 Knife -1.336 0.846 3.545 0 0 0 63 8 Bowl -2.519 0.765 2.277 0 90 0 72 9 Lettuce -1.317 0.976 0.937 0 90 0 81 10 Bread -2.519 1.048 2.221 0 90 0 72 11 Mug -2.454 0.152 1.220 0 0 0 48 12 Plate -1.749 1.687 3.897 0 0 0 35 13 Fork -0.789 0.901 1.452 0 180 0 81 14 Bread 0.827 0.861 2.449 0 0 0 40 15 Spatula 0.875 0.838 0.895 0 90 0 40 16 PaperTowelRoll 0.800 0.927 2.111 0 0 0 45 17 Potato -2.678 1.650 2.221 0 90 0 72 18 SoapBottle 0.950 0.822 1.072 0 90 0 40 19 Egg -2.710 1.444 2.221 0 90 0 72 20 Cup 1.099 0.822 2.458 0 0 0 45 21 Pot 0.642 0.850 1.768 0 0 0 67 22 SaltShaker -0.524 0.896 1.555 0 90 0 81 23 Pan -2.667 0.812 3.74 0 137.145 0 63 24 PepperShaker 0.743 0.122 2.081 0 0 0 55 25 ButterKnife -1.317 0.900 1.349 0 90 0 81 26 Tomato -0.657 0.969 1.555 0 90 0 81 27 DishSponge -2.542 1.848 1.853 0 0 0 65 28 Lettuce -0.580 0.956 1.358 31.822 0 0 81 29 Spoon -1.317 0.901 1.040 0 0 0 81 30 Apple -2.694 0.828 2.277 0 90 0 72 31 Knife -0.921 0.923 1.349 0 270 0 81 32 Mug -1.109 0.940 1.203 0 0 0 81 33 Bowl -1.185 0.898 1.452 0 90 0 81 34 Drawer 0.729 0.703 2.199 0 0 0 35 Cabinet -1.962 1.926 3.733 0 0 0 36 Cabinet -2.377 2.014 1.058 0 0 0 37 Drawer 0.729 0.703 2.532 0 0 0 38 Cabinet -2.622 1.925 3.733 0 0 0 39 StoveBurner 0.913 0.843 1.375 0 0 0 40 CounterTop 0.864 0.858 0.984 0 0 0 41 Cabinet -1.976 1.779 3.734 0 0 0 42 Cabinet 0.580 0.385 0.819 0 0 0 43 Cabinet -2.379 1.408 1.677 0 0 0 44 Cabinet -0.419 1.703 3.736 0 0 0 45 CounterTop 0.864 0.858 2.371 0 0 0 46 Sink -1.702 0.726 3.828 0 180 0 47 Cabinet 0.580 0.385 2.694 0 0 0 48 Cabinet -2.379 0.637 1.677 0 0 0 49 Cabinet -0.419 0.674 3.736 0 0 0 50 Cabinet -2.377 2.014 2.558 0 0 0 51 Drawer 0.729 0.703 0.980 0 0 0 52 Drawer -2.114 0.706 3.657 0 0 0 53 Cabinet -2.377 1.691 2.572 0 0 0 54 Cabinet -2.951 1.925 3.733 0 0 0 55 Cabinet 0.580 0.385 2.360 0 0 0 56 Cabinet -2.426 0.435 3.421 0 0 0 57 StoveBurner 0.642 0.843 1.375 0 0 0 58 Cabinet -2.377 1.927 1.686 0 0 0 59 Cabinet -2.377 2.013 3.177 0 0 0 60 Cabinet -1.136 0.385 3.516 0 0 0 61 StoveBurner 0.913 0.843 1.768 0 0 0 62 Cabinet -1.974 0.385 3.516 0 0 0 63 CounterTop -2.081 0.858 3.799 0 0 0 64 Cabinet -2.426 0.435 3.174 0 0 0 65 Cabinet -2.377 2.014 1.693 0 0 0 66 Cabinet -1.986 0.385 3.511 0 0 0 67 StoveBurner 0.642 0.843 1.768 0 0 0 68 Cabinet -1.098 1.926 3.729 0 0 0 69 Microwave -1.529 1.250 3.881 1.622 180 0 70 CoffeeMachine 1.000 0.812 2.492 0 270 0 71 LightSwitch 0.825 1.396 4.082 0 180 0 72 Fridge -2.642 0.0 2.134 0 180 0 73 Window -1.131 1.673 0.808 90 0 0 74 GarbageCan 0.931 -0.000 2.918 0 0 0 75 SinkBasin -1.601 0.686 3.774 0 0 0 76 StoveKnob 1.104 1.002 1.886 0 0 70.346 77 StoveKnob 1.104 1.002 1.733 0 0 70.346 78 StoveKnob 1.104 1.002 1.321 0 0 70.346 79 StoveKnob 1.104 1.002 1.481 0 0 70.346 80 Toaster -2.247 0.812 3.862 0 180 0 81 DiningTable -0.917 -0.000 1.203 0 0 0 82 Stool -0.932 0.000 1.404 1.196 21.715 0 83 Faucet -1.842 0.809 3.984 0 180 0 84 Faucet -1.371 0.809 3.985 0 180 0 85 NorthWall 86 EastWall 87 SouthWall 88 WestWall
[ "STEP 1: Turn around to go to the right side of gray table against the wall. | STEP 2: Pick up the gray knife on the table. | STEP 3: Go to the front of the table. | STEP 4: Slice only half of the red bell pepper. | STEP 5: Turn around and go to the microwave above the sink. | STEP 6: Place the gray knife in the microwave. | STEP 7: Turn around to go back to the white table. | STEP 8: Pick up one slice of the tomato. | STEP 9: Turn around to go back to the microwave. | STEP 10: Microwave the slice of tomato next to the gray knife and take it out. | STEP 11: Turn right to go to the brass trash can on the floor. | STEP 12: Place the slice of tomato in the trash can. | END" ]
[ [ "STEP 1: Turn around to go to the right side of gray table against the wall. ", " STEP 2: Pick up the gray knife on the table. ", " STEP 3: Go to the front of the table. ", " STEP 4: Slice only half of the red bell pepper. ", " STEP 5: Turn around and go to the microwave above the sink. ", " STEP 6: Place the gray knife in the microwave. ", " STEP 7: Turn around to go back to the white table. ", " STEP 8: Pick up one slice of the tomato. ", " STEP 9: Turn around to go back to the microwave. ", " STEP 10: Microwave the slice of tomato next to the gray knife and take it out. ", " STEP 11: Turn right to go to the brass trash can on the floor. ", " STEP 12: Place the slice of tomato in the trash can. ", " END" ] ]
seen
trial_T20190907_225734_462221-2
Throw a warm tomato slice into the trash.
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" 0", "" ], [ "64", " Cabinet", " -2.426", " 0.435", " 3.174", " 0", " 0", " 0", "" ], [ "65", " Cabinet", " -2.377", " 2.014", " 1.693", " 0", " 0", " 0", "" ], [ "66", " Cabinet", " -1.986", " 0.385", " 3.511", " 0", " 0", " 0", "" ], [ "67", " StoveBurner", " 0.642", " 0.843", " 1.768", " 0", " 0", " 0", "" ], [ "68", " Cabinet", " -1.098", " 1.926", " 3.729", " 0", " 0", " 0", "" ], [ "69", " Microwave", " -1.529", " 1.250", " 3.881", " 1.622", " 180", " 0", "" ], [ "70", " CoffeeMachine", " 1.000", " 0.812", " 2.492", " 0", " 270", " 0", "" ], [ "71", " LightSwitch", " 0.825", " 1.396", " 4.082", " 0", " 180", " 0", "" ], [ "72", " Fridge", " -2.642", " 0.0", " 2.134", " 0", " 180", " 0", "" ], [ "73", " Window", " -1.131", " 1.673", " 0.808", " 90", " 0", " 0", "" ], [ "74", " GarbageCan", " 0.931", " -0.000", " 2.918", " 0", " 0", " 0", "" ], [ "75", " SinkBasin", " -1.601", " 0.686", " 3.774", " 0", " 0", " 0", "" ], [ "76", " StoveKnob", " 1.104", " 1.002", " 1.886", " 0", " 0", " 70.346", "" ], [ "77", " StoveKnob", " 1.104", " 1.002", " 1.733", " 0", " 0", " 70.346", "" ], [ "78", " StoveKnob", " 1.104", " 1.002", " 1.321", " 0", " 0", " 70.346", "" ], [ "79", " StoveKnob", " 1.104", " 1.002", " 1.481", " 0", " 0", " 70.346", "" ], [ "80", " Toaster", " -2.247", " 0.812", " 3.862", " 0", " 180", " 0", "" ], [ "81", " DiningTable", " -0.917", " -0.000", " 1.203", " 0", " 0", " 0", "" ], [ "82", " Stool", " -0.932", " 0.000", " 1.404", " 1.196", " 21.715", " 0", "" ], [ "83", " Faucet", " -1.842", " 0.809", " 3.984", " 0", " 180", " 0", "" ], [ "84", " Faucet", " -1.371", " 0.809", " 3.985", " 0", " 180", " 0", "" ], [ "85", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "86", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "87", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "88", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.5 0.900 2.25 0 270 0 1 Potato -2.519 1.234 2.221 0 90 0 72 2 Egg -2.752 1.227 2.165 0 90 0 72 3 Plate -2.563 0.826 3.331 0 0 0 63 4 Plate 0.742 0.129 0.981 0 0 0 42 5 Cup -2.454 1.041 1.220 0 0 0 43 6 Cup -1.836 0.702 3.774 0 0 0 75 7 Knife -1.336 0.846 3.545 0 0 0 63 8 Bowl -2.519 0.765 2.277 0 90 0 72 9 Lettuce -1.317 0.976 0.937 0 90 0 81 10 Bread -2.519 1.048 2.221 0 90 0 72 11 Mug -2.454 0.152 1.220 0 0 0 48 12 Plate -1.749 1.687 3.897 0 0 0 35 13 Fork -0.789 0.901 1.452 0 180 0 81 14 Bread 0.827 0.861 2.449 0 0 0 40 15 Spatula 0.875 0.838 0.895 0 90 0 40 16 PaperTowelRoll 0.800 0.927 2.111 0 0 0 45 17 Potato -2.678 1.650 2.221 0 90 0 72 18 SoapBottle 0.950 0.822 1.072 0 90 0 40 19 Egg -2.710 1.444 2.221 0 90 0 72 20 Cup 1.099 0.822 2.458 0 0 0 45 21 Pot 0.642 0.850 1.768 0 0 0 67 22 SaltShaker -0.524 0.896 1.555 0 90 0 81 23 Pan -2.667 0.812 3.74 0 137.145 0 63 24 PepperShaker 0.743 0.122 2.081 0 0 0 55 25 ButterKnife -1.317 0.900 1.349 0 90 0 81 26 Tomato -0.657 0.969 1.555 0 90 0 81 27 DishSponge -2.542 1.848 1.853 0 0 0 65 28 Lettuce -0.580 0.956 1.358 31.822 0 0 81 29 Spoon -1.317 0.901 1.040 0 0 0 81 30 Apple -2.694 0.828 2.277 0 90 0 72 31 Knife -0.921 0.923 1.349 0 270 0 81 32 Mug -1.109 0.940 1.203 0 0 0 81 33 Bowl -1.185 0.898 1.452 0 90 0 81 34 Drawer 0.729 0.703 2.199 0 0 0 35 Cabinet -1.962 1.926 3.733 0 0 0 36 Cabinet -2.377 2.014 1.058 0 0 0 37 Drawer 0.729 0.703 2.532 0 0 0 38 Cabinet -2.622 1.925 3.733 0 0 0 39 StoveBurner 0.913 0.843 1.375 0 0 0 40 CounterTop 0.864 0.858 0.984 0 0 0 41 Cabinet -1.976 1.779 3.734 0 0 0 42 Cabinet 0.580 0.385 0.819 0 0 0 43 Cabinet -2.379 1.408 1.677 0 0 0 44 Cabinet -0.419 1.703 3.736 0 0 0 45 CounterTop 0.864 0.858 2.371 0 0 0 46 Sink -1.702 0.726 3.828 0 180 0 47 Cabinet 0.580 0.385 2.694 0 0 0 48 Cabinet -2.379 0.637 1.677 0 0 0 49 Cabinet -0.419 0.674 3.736 0 0 0 50 Cabinet -2.377 2.014 2.558 0 0 0 51 Drawer 0.729 0.703 0.980 0 0 0 52 Drawer -2.114 0.706 3.657 0 0 0 53 Cabinet -2.377 1.691 2.572 0 0 0 54 Cabinet -2.951 1.925 3.733 0 0 0 55 Cabinet 0.580 0.385 2.360 0 0 0 56 Cabinet -2.426 0.435 3.421 0 0 0 57 StoveBurner 0.642 0.843 1.375 0 0 0 58 Cabinet -2.377 1.927 1.686 0 0 0 59 Cabinet -2.377 2.013 3.177 0 0 0 60 Cabinet -1.136 0.385 3.516 0 0 0 61 StoveBurner 0.913 0.843 1.768 0 0 0 62 Cabinet -1.974 0.385 3.516 0 0 0 63 CounterTop -2.081 0.858 3.799 0 0 0 64 Cabinet -2.426 0.435 3.174 0 0 0 65 Cabinet -2.377 2.014 1.693 0 0 0 66 Cabinet -1.986 0.385 3.511 0 0 0 67 StoveBurner 0.642 0.843 1.768 0 0 0 68 Cabinet -1.098 1.926 3.729 0 0 0 69 Microwave -1.529 1.250 3.881 1.622 180 0 70 CoffeeMachine 1.000 0.812 2.492 0 270 0 71 LightSwitch 0.825 1.396 4.082 0 180 0 72 Fridge -2.642 0.0 2.134 0 180 0 73 Window -1.131 1.673 0.808 90 0 0 74 GarbageCan 0.931 -0.000 2.918 0 0 0 75 SinkBasin -1.601 0.686 3.774 0 0 0 76 StoveKnob 1.104 1.002 1.886 0 0 70.346 77 StoveKnob 1.104 1.002 1.733 0 0 70.346 78 StoveKnob 1.104 1.002 1.321 0 0 70.346 79 StoveKnob 1.104 1.002 1.481 0 0 70.346 80 Toaster -2.247 0.812 3.862 0 180 0 81 DiningTable -0.917 -0.000 1.203 0 0 0 82 Stool -0.932 0.000 1.404 1.196 21.715 0 83 Faucet -1.842 0.809 3.984 0 180 0 84 Faucet -1.371 0.809 3.985 0 180 0 85 NorthWall 86 EastWall 87 SouthWall 88 WestWall
[ "STEP 1: Walk backwards, turn to the left and walk to the table that the coffee pot is on. | STEP 2: Pick up the solid silver knife from the table. | STEP 3: Turn to the left and walk around the table the the opposite side. | STEP 4: Slice the tomato that is on the front, left corner beside the salt shaker. | STEP 5: Turn to the right and walk over to the sink with knife in hand. | STEP 6: Open the microwave door that is above the sink, place the knife inside and close the door. | STEP 7: Turn to the right and walk back to the table. | STEP 8: Pick up a tomato slice. | STEP 9: Turn right and walk to the sink. | STEP 10: Open the microwave door above the sink, place the tomato slice inside, close the door, open the door, remove the tomato, close the door. | STEP 11: Turn right and walk to the trash bin. | STEP 12: Toss the tomato slice into the trash bin. | END" ]
[ [ "STEP 1: Walk backwards, turn to the left and walk to the table that the coffee pot is on. ", " STEP 2: Pick up the solid silver knife from the table. ", " STEP 3: Turn to the left and walk around the table the the opposite side. ", " STEP 4: Slice the tomato that is on the front, left corner beside the salt shaker. ", " STEP 5: Turn to the right and walk over to the sink with knife in hand. ", " STEP 6: Open the microwave door that is above the sink, place the knife inside and close the door. ", " STEP 7: Turn to the right and walk back to the table. ", " STEP 8: Pick up a tomato slice. ", " STEP 9: Turn right and walk to the sink. ", " STEP 10: Open the microwave door above the sink, place the tomato slice inside, close the door, open the door, remove the tomato, close the door. ", " STEP 11: Turn right and walk to the trash bin. ", " STEP 12: Toss the tomato slice into the trash bin. ", " END" ] ]
seen
trial_T20190908_125613_266139-0
examine a pen with the lamp
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " 0.5", " 0.900", " -2.75", " 0", " 90", " 0", "" ], [ "1", " Mug", " -2.439", " 0.679", " -0.281", " 0", " 90", " 0", " 47" ], [ "2", " Mug", " 1.694", " 0.894", " -2.975", " 0", " 0", " 0", " 38" ], [ "3", " CellPhone", " 2.678", " 0.369", " 1.257", " 0", " 270", " 0", " 44" ], [ "4", " Pen", " 2.039", " 0.902", " -3.320", " 0", " 0", " 0", " 38" ], [ "5", " Pen", " 1.344", " 0.025", " -3.342", " 0", " 90", " 0", " 29" ], [ "6", " Pen", " 2.638", " 1.234", " 1.511", " 0", " 270", " 0", " 45" ], [ "7", " Pencil", " -2.620", " 0.685", " -0.436", " 0", " 90", " 0", " 47" ], [ "8", " Pencil", " 2.211", " 0.901", " -3.044", " 0", " 0", " 0", " 38" ], [ "9", " CreditCard", " -2.452", " 0.374", " -0.628", " 0", " 270", " 0", " 49" ], [ "10", " KeyChain", " -2.381", " 0.374", " -3.207", " 0", " 0", " 0", " 41" ], [ "11", " Book", " -1.308", " 0.618", " -2.261", " 0", " 0", " 0", " 25" ], [ "12", " CreditCard", " 2.544", " 1.228", " 1.283", " 0", " 270", " 0", " 45" ], [ "13", " Pen", " 2.591", " 1.234", " 1.168", " 0", " 270", " 0", " 45" ], [ "14", " Pencil", " 1.711", " 0.647", " -3.100", " 0", " 0", " 0", " 36" ], [ "15", " TeddyBear", " -0.667", " 0.612", " -1.364", " 0", " 81.467", " 0", " 25" ], [ "16", " Laptop", " -2.440", " 0.617", " -1.861", " 0", " 0", " 0", " 25" ], [ "17", " AlarmClock", " -2.447", " 0.674", " -2.988", " 0", " 0", " 0", " 40" ], [ "18", " CellPhone", " 2.713", " 0.645", " 1.764", " 0", " 270", " 0", " 46" ], [ "19", " KeyChain", " 2.779", " 1.228", " 1.283", " 0", " 270", " 0", " 45" ], [ "20", " Pillow", " -2.124", " 0.658", " -1.522", " 0", " 28.296", " 0", " 25" ], [ "21", " Pillow", " -1.874", " 0.680", " -2.061", " 0", " 0", " 0", " 25" ], [ "22", " CD", " -2.575", " 0.680", " -0.281", " 0", " 90", " 0", " 47" ], [ "23", " Mug", " 1.867", " 0.894", " -2.975", " 0", " 0", " 0", " 38" ], [ "24", " Bowl", " -2.530", " 0.683", " -3.227", " 0", " 90", " 0", " 40" ], [ "25", " Bed", " -1.613", " -0.028", " -1.861", " 0", " 270", " 0", "" ], [ "26", " DeskLamp", " 2.760", " 0.890", " -3.317", " 0", " 90", " 0", "" ], [ "27", " DeskLamp", " -2.459", " 0.668", " -0.532", " 0", " 90", " 0", "" ], [ "28", " LightSwitch", " -0.700", " 1.016", " 0.334", " 0", " 90", " 0", "" ], [ "29", " GarbageCan", " 1.343", " 1.087", " -3.374", " 0", " 0", " 0", "" ], [ "30", " Mirror", " 0.532", " 1.419", " 2.0", " 0", " 0", " 0", "" ], [ "31", " Window", " -0.834", " 1.394", " -3.653", " 90", " 0", " 0", "" ], [ "32", " Window", " 2.958", " 1.508", " -1.019", " 90", " 270", " 0", "" ], [ "33", " Sofa", " 2.383", " 0.008", " -0.288", " 0", " 270", " 0", "" ], [ "34", " Safe", " 2.721", " 1.228", " 1.784", " 0", " 270", " 0", "" ], [ "35", " Drawer", " 1.979", " 0.486", " -2.988", " 0", " 0", " 0", "" ], [ "36", " Drawer", " 1.979", " 0.728", " -2.988", " 0", " 0", " 0", "" ], [ "37", " Drawer", " 1.979", " 0.208", " -2.988", " 0", " 0", " 0", "" ], [ "38", " Desk", " 2.318", " -0.009", " -3.214", " 0", " 0", " 0", "" ], [ "39", " Drawer", " -2.349", " 0.163", " -3.150", " 0", " 90", " 0", "" ], [ "40", " SideTable", " -2.416", " -0.001", " -3.149", " 0", " 90", " 0", "" ], [ "41", " Drawer", " -2.349", " 0.455", " -3.150", " 0", " 90", " 0", "" ], [ "42", " Drawer", " 2.641", " 0.172", " 1.511", " 0", " 270", " 0", "" ], [ "43", " Drawer", " 2.641", " 1.002", " 1.511", " 0", " 270", " 0", "" ], [ "44", " Drawer", " 2.641", " 0.448", " 1.511", " 0", " 270", " 0", "" ], [ "45", " Dresser", " 2.676", " 0.002", " 1.511", " 0", " 270", " 0", "" ], [ "46", " Drawer", " 2.641", " 0.725", " 1.511", " 0", " 270", " 0", "" ], [ "47", " SideTable", " -2.416", " -0.001", " -0.514", " 0", " 90", " 0", "" ], [ "48", " Drawer", " -2.349", " 0.163", " -0.514", " 0", " 90", " 0", "" ], [ "49", " Drawer", " -2.349", " 0.455", " -0.514", " 0", " 90", " 0", "" ], [ "50", " Blinds", " -0.800", " 2.087", " -3.627", " 0", " 0", " 0", "" ], [ "51", " Blinds", " 2.931", " 2.166", " -1.0", " 0", " 270", " 0", "" ], [ "52", " Chair", " 2.574", " 0.002", " -2.881", " 0", " 175.162", " 0", "" ], [ "53", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "54", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "55", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "56", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 0.5 0.900 -2.75 0 90 0 1 Mug -2.439 0.679 -0.281 0 90 0 47 2 Mug 1.694 0.894 -2.975 0 0 0 38 3 CellPhone 2.678 0.369 1.257 0 270 0 44 4 Pen 2.039 0.902 -3.320 0 0 0 38 5 Pen 1.344 0.025 -3.342 0 90 0 29 6 Pen 2.638 1.234 1.511 0 270 0 45 7 Pencil -2.620 0.685 -0.436 0 90 0 47 8 Pencil 2.211 0.901 -3.044 0 0 0 38 9 CreditCard -2.452 0.374 -0.628 0 270 0 49 10 KeyChain -2.381 0.374 -3.207 0 0 0 41 11 Book -1.308 0.618 -2.261 0 0 0 25 12 CreditCard 2.544 1.228 1.283 0 270 0 45 13 Pen 2.591 1.234 1.168 0 270 0 45 14 Pencil 1.711 0.647 -3.100 0 0 0 36 15 TeddyBear -0.667 0.612 -1.364 0 81.467 0 25 16 Laptop -2.440 0.617 -1.861 0 0 0 25 17 AlarmClock -2.447 0.674 -2.988 0 0 0 40 18 CellPhone 2.713 0.645 1.764 0 270 0 46 19 KeyChain 2.779 1.228 1.283 0 270 0 45 20 Pillow -2.124 0.658 -1.522 0 28.296 0 25 21 Pillow -1.874 0.680 -2.061 0 0 0 25 22 CD -2.575 0.680 -0.281 0 90 0 47 23 Mug 1.867 0.894 -2.975 0 0 0 38 24 Bowl -2.530 0.683 -3.227 0 90 0 40 25 Bed -1.613 -0.028 -1.861 0 270 0 26 DeskLamp 2.760 0.890 -3.317 0 90 0 27 DeskLamp -2.459 0.668 -0.532 0 90 0 28 LightSwitch -0.700 1.016 0.334 0 90 0 29 GarbageCan 1.343 1.087 -3.374 0 0 0 30 Mirror 0.532 1.419 2.0 0 0 0 31 Window -0.834 1.394 -3.653 90 0 0 32 Window 2.958 1.508 -1.019 90 270 0 33 Sofa 2.383 0.008 -0.288 0 270 0 34 Safe 2.721 1.228 1.784 0 270 0 35 Drawer 1.979 0.486 -2.988 0 0 0 36 Drawer 1.979 0.728 -2.988 0 0 0 37 Drawer 1.979 0.208 -2.988 0 0 0 38 Desk 2.318 -0.009 -3.214 0 0 0 39 Drawer -2.349 0.163 -3.150 0 90 0 40 SideTable -2.416 -0.001 -3.149 0 90 0 41 Drawer -2.349 0.455 -3.150 0 90 0 42 Drawer 2.641 0.172 1.511 0 270 0 43 Drawer 2.641 1.002 1.511 0 270 0 44 Drawer 2.641 0.448 1.511 0 270 0 45 Dresser 2.676 0.002 1.511 0 270 0 46 Drawer 2.641 0.725 1.511 0 270 0 47 SideTable -2.416 -0.001 -0.514 0 90 0 48 Drawer -2.349 0.163 -0.514 0 90 0 49 Drawer -2.349 0.455 -0.514 0 90 0 50 Blinds -0.800 2.087 -3.627 0 0 0 51 Blinds 2.931 2.166 -1.0 0 270 0 52 Chair 2.574 0.002 -2.881 0 175.162 0 53 NorthWall 54 EastWall 55 SouthWall 56 WestWall
[ "STEP 1: turn left, take a step, turn right, walk forward, turn right to face the desk | STEP 2: pick up the pen that is on the desk | STEP 3: take two steps to the left to face the lamp | STEP 4: turn the lamp on | END" ]
[ [ "STEP 1: turn left, take a step, turn right, walk forward, turn right to face the desk ", " STEP 2: pick up the pen that is on the desk ", " STEP 3: take two steps to the left to face the lamp ", " STEP 4: turn the lamp on ", " END" ] ]
seen
trial_T20190908_125613_266139-1
take the red pen from the desk, turn on the lamp
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 0.5 0.900 -2.75 0 90 0 1 Mug -2.439 0.679 -0.281 0 90 0 47 2 Mug 1.694 0.894 -2.975 0 0 0 38 3 CellPhone 2.678 0.369 1.257 0 270 0 44 4 Pen 2.039 0.902 -3.320 0 0 0 38 5 Pen 1.344 0.025 -3.342 0 90 0 29 6 Pen 2.638 1.234 1.511 0 270 0 45 7 Pencil -2.620 0.685 -0.436 0 90 0 47 8 Pencil 2.211 0.901 -3.044 0 0 0 38 9 CreditCard -2.452 0.374 -0.628 0 270 0 49 10 KeyChain -2.381 0.374 -3.207 0 0 0 41 11 Book -1.308 0.618 -2.261 0 0 0 25 12 CreditCard 2.544 1.228 1.283 0 270 0 45 13 Pen 2.591 1.234 1.168 0 270 0 45 14 Pencil 1.711 0.647 -3.100 0 0 0 36 15 TeddyBear -0.667 0.612 -1.364 0 81.467 0 25 16 Laptop -2.440 0.617 -1.861 0 0 0 25 17 AlarmClock -2.447 0.674 -2.988 0 0 0 40 18 CellPhone 2.713 0.645 1.764 0 270 0 46 19 KeyChain 2.779 1.228 1.283 0 270 0 45 20 Pillow -2.124 0.658 -1.522 0 28.296 0 25 21 Pillow -1.874 0.680 -2.061 0 0 0 25 22 CD -2.575 0.680 -0.281 0 90 0 47 23 Mug 1.867 0.894 -2.975 0 0 0 38 24 Bowl -2.530 0.683 -3.227 0 90 0 40 25 Bed -1.613 -0.028 -1.861 0 270 0 26 DeskLamp 2.760 0.890 -3.317 0 90 0 27 DeskLamp -2.459 0.668 -0.532 0 90 0 28 LightSwitch -0.700 1.016 0.334 0 90 0 29 GarbageCan 1.343 1.087 -3.374 0 0 0 30 Mirror 0.532 1.419 2.0 0 0 0 31 Window -0.834 1.394 -3.653 90 0 0 32 Window 2.958 1.508 -1.019 90 270 0 33 Sofa 2.383 0.008 -0.288 0 270 0 34 Safe 2.721 1.228 1.784 0 270 0 35 Drawer 1.979 0.486 -2.988 0 0 0 36 Drawer 1.979 0.728 -2.988 0 0 0 37 Drawer 1.979 0.208 -2.988 0 0 0 38 Desk 2.318 -0.009 -3.214 0 0 0 39 Drawer -2.349 0.163 -3.150 0 90 0 40 SideTable -2.416 -0.001 -3.149 0 90 0 41 Drawer -2.349 0.455 -3.150 0 90 0 42 Drawer 2.641 0.172 1.511 0 270 0 43 Drawer 2.641 1.002 1.511 0 270 0 44 Drawer 2.641 0.448 1.511 0 270 0 45 Dresser 2.676 0.002 1.511 0 270 0 46 Drawer 2.641 0.725 1.511 0 270 0 47 SideTable -2.416 -0.001 -0.514 0 90 0 48 Drawer -2.349 0.163 -0.514 0 90 0 49 Drawer -2.349 0.455 -0.514 0 90 0 50 Blinds -0.800 2.087 -3.627 0 0 0 51 Blinds 2.931 2.166 -1.0 0 270 0 52 Chair 2.574 0.002 -2.881 0 175.162 0 53 NorthWall 54 EastWall 55 SouthWall 56 WestWall
[ "STEP 1: head to the desk | STEP 2: take the red pen from the desk | STEP 3: turn around, take a step to the left, turn around | STEP 4: turn on the lamp | END" ]
[ [ "STEP 1: head to the desk ", " STEP 2: take the red pen from the desk ", " STEP 3: turn around, take a step to the left, turn around ", " STEP 4: turn on the lamp ", " END" ] ]
seen
trial_T20190908_125613_266139-2
Look at a pen by the lamp light.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 0.5 0.900 -2.75 0 90 0 1 Mug -2.439 0.679 -0.281 0 90 0 47 2 Mug 1.694 0.894 -2.975 0 0 0 38 3 CellPhone 2.678 0.369 1.257 0 270 0 44 4 Pen 2.039 0.902 -3.320 0 0 0 38 5 Pen 1.344 0.025 -3.342 0 90 0 29 6 Pen 2.638 1.234 1.511 0 270 0 45 7 Pencil -2.620 0.685 -0.436 0 90 0 47 8 Pencil 2.211 0.901 -3.044 0 0 0 38 9 CreditCard -2.452 0.374 -0.628 0 270 0 49 10 KeyChain -2.381 0.374 -3.207 0 0 0 41 11 Book -1.308 0.618 -2.261 0 0 0 25 12 CreditCard 2.544 1.228 1.283 0 270 0 45 13 Pen 2.591 1.234 1.168 0 270 0 45 14 Pencil 1.711 0.647 -3.100 0 0 0 36 15 TeddyBear -0.667 0.612 -1.364 0 81.467 0 25 16 Laptop -2.440 0.617 -1.861 0 0 0 25 17 AlarmClock -2.447 0.674 -2.988 0 0 0 40 18 CellPhone 2.713 0.645 1.764 0 270 0 46 19 KeyChain 2.779 1.228 1.283 0 270 0 45 20 Pillow -2.124 0.658 -1.522 0 28.296 0 25 21 Pillow -1.874 0.680 -2.061 0 0 0 25 22 CD -2.575 0.680 -0.281 0 90 0 47 23 Mug 1.867 0.894 -2.975 0 0 0 38 24 Bowl -2.530 0.683 -3.227 0 90 0 40 25 Bed -1.613 -0.028 -1.861 0 270 0 26 DeskLamp 2.760 0.890 -3.317 0 90 0 27 DeskLamp -2.459 0.668 -0.532 0 90 0 28 LightSwitch -0.700 1.016 0.334 0 90 0 29 GarbageCan 1.343 1.087 -3.374 0 0 0 30 Mirror 0.532 1.419 2.0 0 0 0 31 Window -0.834 1.394 -3.653 90 0 0 32 Window 2.958 1.508 -1.019 90 270 0 33 Sofa 2.383 0.008 -0.288 0 270 0 34 Safe 2.721 1.228 1.784 0 270 0 35 Drawer 1.979 0.486 -2.988 0 0 0 36 Drawer 1.979 0.728 -2.988 0 0 0 37 Drawer 1.979 0.208 -2.988 0 0 0 38 Desk 2.318 -0.009 -3.214 0 0 0 39 Drawer -2.349 0.163 -3.150 0 90 0 40 SideTable -2.416 -0.001 -3.149 0 90 0 41 Drawer -2.349 0.455 -3.150 0 90 0 42 Drawer 2.641 0.172 1.511 0 270 0 43 Drawer 2.641 1.002 1.511 0 270 0 44 Drawer 2.641 0.448 1.511 0 270 0 45 Dresser 2.676 0.002 1.511 0 270 0 46 Drawer 2.641 0.725 1.511 0 270 0 47 SideTable -2.416 -0.001 -0.514 0 90 0 48 Drawer -2.349 0.163 -0.514 0 90 0 49 Drawer -2.349 0.455 -0.514 0 90 0 50 Blinds -0.800 2.087 -3.627 0 0 0 51 Blinds 2.931 2.166 -1.0 0 270 0 52 Chair 2.574 0.002 -2.881 0 175.162 0 53 NorthWall 54 EastWall 55 SouthWall 56 WestWall
[ "STEP 1: Walk forward and face the desk. | STEP 2: Pick up the red pen from the desk. | STEP 3: Move to the left side of the desk. | STEP 4: Turn on the lamp. | END" ]
[ [ "STEP 1: Walk forward and face the desk. ", " STEP 2: Pick up the red pen from the desk. ", " STEP 3: Move to the left side of the desk. ", " STEP 4: Turn on the lamp. ", " END" ] ]
seen
trial_T20190909_051014_277741-0
Putting a pot with a slice of cabbage in it 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 0.5 0.908 1.25 0 0 0 1 SprayBottle 1.087 0.116 0.071 0 0 0 61 2 Potato 1.450 0.931 2.153 0 0 0 99 3 Potato -0.919 0.794 1.902 0 0 0 48 4 CellPhone -1.475 0.747 2.087 0 0 0 48 5 DishSponge 1.049 0.911 -0.144 0 0 0 67 6 DishSponge 0.994 2.154 -0.787 0 0 0 51 7 Spoon 0.165 0.759 -0.573 0 270 0 94 8 Spoon -1.099 0.777 -0.205 0 90 0 71 9 Fork -1.437 0.912 -0.477 0 0 0 73 10 Spatula -0.144 0.773 -0.612 0 180 0 94 11 Pot 0.502 0.939 -0.469 0 0 0 80 12 Cup -1.105 0.748 1.902 0 0 0 48 13 Cup 1.365 0.910 0.422 0 0 0 67 14 Plate -1.197 0.749 2.644 0 0 0 48 15 Tomato -1.378 0.800 0.673 0 90 0 87 16 Tomato -1.105 0.798 2.087 0 0 0 48 17 Bowl 1.128 0.909 0.139 0 0 0 67 18 Bowl 0.127 0.115 -0.533 0 0 0 62 19 Lettuce 1.200 0.957 2.261 0 0 0 99 20 Lettuce -1.320 1.492 0.778 0 90 0 87 21 PepperShaker 1.207 0.907 0.706 0 0 0 67 22 Bread 1.128 0.974 0.422 0 0 0 67 23 Glassbottle -1.149 0.751 0.778 0 90 0 87 24 Fork 1.245 0.875 2.505 0 333.480 0 99 25 Kettle -1.357 0.739 3.024 0 240.000 0 48 26 Tomato 1.367 0.936 2.369 0 0 0 99 27 Plate 1.286 0.912 -0.144 0 0 0 67 28 CellPhone 1.128 0.909 -0.428 0 0 0 67 29 Lettuce -1.383 0.820 2.459 0 0 0 48 30 Pot 0.802 0.939 -0.740 0 90 0 76 31 SoapBottle 1.294 2.158 0.686 0 0 0 58 32 WineBottle -1.149 0.752 1.197 0 90 0 87 33 Spatula -0.919 0.764 2.644 0 0 0 48 34 Bowl -0.211 0.115 -0.533 0 0 0 63 35 Apple 1.414 0.146 1.440 0 0 0 88 36 Cup 1.450 0.885 2.584 0 0 0 99 37 Knife -1.012 0.771 2.087 0 90 0 48 38 Egg -1.263 1.035 0.150 0 90 0 93 39 SaltShaker 1.286 0.907 -0.428 0 0 0 67 40 PepperShaker 1.267 1.656 0.135 0 0 0 49 41 Potato -0.919 0.794 2.830 0 0 0 48 42 ButterKnife 1.117 0.886 2.800 0 0 0 99 43 DishSponge 1.034 0.885 2.153 0 0 0 99 44 Pan -1.332 0.9 -0.699 0 345.0 0 73 45 Spoon 1.155 0.777 1.050 0 90 0 77 46 SprayBottle 1.444 0.910 0.422 0 0 0 67 47 Mug -1.296 1.010 -0.005 0 90 0 93 48 DiningTable -1.182 0.006 2.414 0 90 0 49 Cabinet 1.184 2.059 0.375 0 0 0 50 Cabinet 1.184 2.059 -0.635 0 0 0 51 Cabinet 0.591 2.309 -0.645 0 0 0 52 Cabinet -0.574 2.059 -0.644 0 0 0 53 Cabinet -1.103 2.059 -0.644 0 0 0 54 Cabinet -1.185 2.059 -0.331 0 0 0 55 Cabinet -1.185 2.059 -0.281 0 0 0 56 Cabinet -1.185 2.059 0.375 0 0 0 57 Cabinet 1.184 2.309 1.174 0 0 0 58 Cabinet 1.184 2.309 0.424 0 0 0 59 Cabinet 0.988 0.402 0.581 0 0 0 60 Cabinet 0.988 0.402 0.531 0 0 0 61 Cabinet 0.988 0.402 -0.178 0 0 0 62 Cabinet 0.335 0.402 -0.348 0 0 0 63 Cabinet -0.374 0.402 -0.348 0 0 0 64 Cabinet 0.988 0.402 1.231 0 0 0 65 Cabinet -1.185 2.309 1.374 0 0 0 66 Cabinet -1.185 2.309 0.424 0 0 0 67 CounterTop 1.274 0.947 0.064 0 0 0 68 Drawer 1.116 0.792 -0.015 0 0 0 69 Drawer -1.116 0.792 0.210 0 180 0 70 Cabinet -0.990 0.402 0.374 0 180 0 71 Drawer -1.116 0.792 -0.170 0 180 0 72 Cabinet -0.990 0.402 -0.335 0 180 0 73 CounterTop -1.001 0.947 -0.669 0 0 0 74 StoveBurner 0.502 0.932 -0.740 0 90 0 75 StoveBurner 0.801 0.932 -0.473 0 0 0 76 StoveBurner 0.801 0.932 -0.740 0 90 0 77 Drawer 1.116 0.792 1.081 0 0 0 78 Sink -0.013 0.912 -0.615 0 0 0 79 Drawer 1.116 0.792 0.732 0 0 0 80 StoveBurner 0.502 0.932 -0.469 0 0 0 81 Drawer 1.116 0.792 0.367 0 0 0 82 StoveKnob 0.550 1.085 -0.912 287.970 180 0 83 StoveKnob 0.884 1.085 -0.912 287.970 180 0 84 StoveKnob 0.432 1.085 -0.912 287.970 180 0 85 StoveKnob 0.777 1.085 -0.912 287.970 180 0 86 CoffeeMachine 1.304 0.900 -0.741 0 320.314 0 87 Fridge -1.300 0.008 0.987 0 90 0 88 GarbageCan 1.296 -0.024 1.465 0 0 0 89 Window -0.012 1.641 -0.972 90 0 0 90 Window 1.598 1.646 2.489 90 270 0 91 Toaster 1.356 0.900 1.044 0 270 0 92 LightSwitch 0.118 1.353 3.799 0 180 0 93 Microwave -1.343 0.900 0.053 0 90 0 94 SinkBasin -0.029 0.748 -0.612 0 0 0 95 Faucet -0.026 0.927 -0.808 0 0 0 96 Shelf -1.182 0.127 2.414 0 90 0 97 Stool 1.140 0.007 3.262 1.206 20.753 0 98 Shelf -1.182 0.435 2.414 0 90 0 99 DiningTable 1.169 0.014 2.569 0 0 1.896 100 NorthWall 101 EastWall 102 SouthWall 103 WestWall
[ "STEP 1: Turn around the face the white table | STEP 2: Grab the knife off of the table | STEP 3: Turn right and head to the white table | STEP 4: Slice the cabbage on the table with the knife | STEP 5: Turn right and head to the counter to the right of the sink | STEP 6: Place the knife on the counter | STEP 7: Turn around and head to the white table on the left | STEP 8: Grab one of the slices of cabbage | STEP 9: Turn to your left and head to the oven | STEP 10: Place the cabbage in the pot on the stove | STEP 11: Grab the pot off the stove | STEP 12: Turn to your right and stop at the counter to the right of the sink | STEP 13: Place the pot to the right of the knife on the counter | END" ]
[ [ "STEP 1: Turn around the face the white table ", " STEP 2: Grab the knife off of the table ", " STEP 3: Turn right and head to the white table ", " STEP 4: Slice the cabbage on the table with the knife ", " STEP 5: Turn right and head to the counter to the right of the sink ", " STEP 6: Place the knife on the counter ", " STEP 7: Turn around and head to the white table on the left ", " STEP 8: Grab one of the slices of cabbage ", " STEP 9: Turn to your left and head to the oven ", " STEP 10: Place the cabbage in the pot on the stove ", " STEP 11: Grab the pot off the stove ", " STEP 12: Turn to your right and stop at the counter to the right of the sink ", " STEP 13: Place the pot to the right of the knife on the counter ", " END" ] ]
seen
trial_T20190909_051014_277741-1
Put the pot with the lettuce slice 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 0.5 0.908 1.25 0 0 0 1 SprayBottle 1.087 0.116 0.071 0 0 0 61 2 Potato 1.450 0.931 2.153 0 0 0 99 3 Potato -0.919 0.794 1.902 0 0 0 48 4 CellPhone -1.475 0.747 2.087 0 0 0 48 5 DishSponge 1.049 0.911 -0.144 0 0 0 67 6 DishSponge 0.994 2.154 -0.787 0 0 0 51 7 Spoon 0.165 0.759 -0.573 0 270 0 94 8 Spoon -1.099 0.777 -0.205 0 90 0 71 9 Fork -1.437 0.912 -0.477 0 0 0 73 10 Spatula -0.144 0.773 -0.612 0 180 0 94 11 Pot 0.502 0.939 -0.469 0 0 0 80 12 Cup -1.105 0.748 1.902 0 0 0 48 13 Cup 1.365 0.910 0.422 0 0 0 67 14 Plate -1.197 0.749 2.644 0 0 0 48 15 Tomato -1.378 0.800 0.673 0 90 0 87 16 Tomato -1.105 0.798 2.087 0 0 0 48 17 Bowl 1.128 0.909 0.139 0 0 0 67 18 Bowl 0.127 0.115 -0.533 0 0 0 62 19 Lettuce 1.200 0.957 2.261 0 0 0 99 20 Lettuce -1.320 1.492 0.778 0 90 0 87 21 PepperShaker 1.207 0.907 0.706 0 0 0 67 22 Bread 1.128 0.974 0.422 0 0 0 67 23 Glassbottle -1.149 0.751 0.778 0 90 0 87 24 Fork 1.245 0.875 2.505 0 333.480 0 99 25 Kettle -1.357 0.739 3.024 0 240.000 0 48 26 Tomato 1.367 0.936 2.369 0 0 0 99 27 Plate 1.286 0.912 -0.144 0 0 0 67 28 CellPhone 1.128 0.909 -0.428 0 0 0 67 29 Lettuce -1.383 0.820 2.459 0 0 0 48 30 Pot 0.802 0.939 -0.740 0 90 0 76 31 SoapBottle 1.294 2.158 0.686 0 0 0 58 32 WineBottle -1.149 0.752 1.197 0 90 0 87 33 Spatula -0.919 0.764 2.644 0 0 0 48 34 Bowl -0.211 0.115 -0.533 0 0 0 63 35 Apple 1.414 0.146 1.440 0 0 0 88 36 Cup 1.450 0.885 2.584 0 0 0 99 37 Knife -1.012 0.771 2.087 0 90 0 48 38 Egg -1.263 1.035 0.150 0 90 0 93 39 SaltShaker 1.286 0.907 -0.428 0 0 0 67 40 PepperShaker 1.267 1.656 0.135 0 0 0 49 41 Potato -0.919 0.794 2.830 0 0 0 48 42 ButterKnife 1.117 0.886 2.800 0 0 0 99 43 DishSponge 1.034 0.885 2.153 0 0 0 99 44 Pan -1.332 0.9 -0.699 0 345.0 0 73 45 Spoon 1.155 0.777 1.050 0 90 0 77 46 SprayBottle 1.444 0.910 0.422 0 0 0 67 47 Mug -1.296 1.010 -0.005 0 90 0 93 48 DiningTable -1.182 0.006 2.414 0 90 0 49 Cabinet 1.184 2.059 0.375 0 0 0 50 Cabinet 1.184 2.059 -0.635 0 0 0 51 Cabinet 0.591 2.309 -0.645 0 0 0 52 Cabinet -0.574 2.059 -0.644 0 0 0 53 Cabinet -1.103 2.059 -0.644 0 0 0 54 Cabinet -1.185 2.059 -0.331 0 0 0 55 Cabinet -1.185 2.059 -0.281 0 0 0 56 Cabinet -1.185 2.059 0.375 0 0 0 57 Cabinet 1.184 2.309 1.174 0 0 0 58 Cabinet 1.184 2.309 0.424 0 0 0 59 Cabinet 0.988 0.402 0.581 0 0 0 60 Cabinet 0.988 0.402 0.531 0 0 0 61 Cabinet 0.988 0.402 -0.178 0 0 0 62 Cabinet 0.335 0.402 -0.348 0 0 0 63 Cabinet -0.374 0.402 -0.348 0 0 0 64 Cabinet 0.988 0.402 1.231 0 0 0 65 Cabinet -1.185 2.309 1.374 0 0 0 66 Cabinet -1.185 2.309 0.424 0 0 0 67 CounterTop 1.274 0.947 0.064 0 0 0 68 Drawer 1.116 0.792 -0.015 0 0 0 69 Drawer -1.116 0.792 0.210 0 180 0 70 Cabinet -0.990 0.402 0.374 0 180 0 71 Drawer -1.116 0.792 -0.170 0 180 0 72 Cabinet -0.990 0.402 -0.335 0 180 0 73 CounterTop -1.001 0.947 -0.669 0 0 0 74 StoveBurner 0.502 0.932 -0.740 0 90 0 75 StoveBurner 0.801 0.932 -0.473 0 0 0 76 StoveBurner 0.801 0.932 -0.740 0 90 0 77 Drawer 1.116 0.792 1.081 0 0 0 78 Sink -0.013 0.912 -0.615 0 0 0 79 Drawer 1.116 0.792 0.732 0 0 0 80 StoveBurner 0.502 0.932 -0.469 0 0 0 81 Drawer 1.116 0.792 0.367 0 0 0 82 StoveKnob 0.550 1.085 -0.912 287.970 180 0 83 StoveKnob 0.884 1.085 -0.912 287.970 180 0 84 StoveKnob 0.432 1.085 -0.912 287.970 180 0 85 StoveKnob 0.777 1.085 -0.912 287.970 180 0 86 CoffeeMachine 1.304 0.900 -0.741 0 320.314 0 87 Fridge -1.300 0.008 0.987 0 90 0 88 GarbageCan 1.296 -0.024 1.465 0 0 0 89 Window -0.012 1.641 -0.972 90 0 0 90 Window 1.598 1.646 2.489 90 270 0 91 Toaster 1.356 0.900 1.044 0 270 0 92 LightSwitch 0.118 1.353 3.799 0 180 0 93 Microwave -1.343 0.900 0.053 0 90 0 94 SinkBasin -0.029 0.748 -0.612 0 0 0 95 Faucet -0.026 0.927 -0.808 0 0 0 96 Shelf -1.182 0.127 2.414 0 90 0 97 Stool 1.140 0.007 3.262 1.206 20.753 0 98 Shelf -1.182 0.435 2.414 0 90 0 99 DiningTable 1.169 0.014 2.569 0 0 1.896 100 NorthWall 101 EastWall 102 SouthWall 103 WestWall
[ "STEP 1: Walk to the other side of the white table. | STEP 2: Pick up the butter knife next to the fork. | STEP 3: Turn to the right, walk over to the white table on the other side of the room. | STEP 4: Slice the lettuce on the white table. | STEP 5: Turn to the left, walk to the counter. | STEP 6: Put the butter knife on the counter. | STEP 7: Turn around, cross the room, turn to the table on the left. | STEP 8: Pick up a slice of lettuce. | STEP 9: Turn around, cross the room, turn to the left, walk to the stove. | STEP 10: Put the lettuce slice in the pot closest to the sink. | STEP 11: Pick up the pot with the lettuce slice. | STEP 12: Walk to the other side of the sink. | STEP 13: Set the pot to the right of the butter knife. | END" ]
[ [ "STEP 1: Walk to the other side of the white table. ", " STEP 2: Pick up the butter knife next to the fork. ", " STEP 3: Turn to the right, walk over to the white table on the other side of the room. ", " STEP 4: Slice the lettuce on the white table. ", " STEP 5: Turn to the left, walk to the counter. ", " STEP 6: Put the butter knife on the counter. ", " STEP 7: Turn around, cross the room, turn to the table on the left. ", " STEP 8: Pick up a slice of lettuce. ", " STEP 9: Turn around, cross the room, turn to the left, walk to the stove. ", " STEP 10: Put the lettuce slice in the pot closest to the sink. ", " STEP 11: Pick up the pot with the lettuce slice. ", " STEP 12: Walk to the other side of the sink. ", " STEP 13: Set the pot to the right of the butter knife. ", " END" ] ]
seen
trial_T20190909_051014_277741-2
place a pot with a slice of lettuce in it down on the kitchen counter
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 0.5 0.908 1.25 0 0 0 1 SprayBottle 1.087 0.116 0.071 0 0 0 61 2 Potato 1.450 0.931 2.153 0 0 0 99 3 Potato -0.919 0.794 1.902 0 0 0 48 4 CellPhone -1.475 0.747 2.087 0 0 0 48 5 DishSponge 1.049 0.911 -0.144 0 0 0 67 6 DishSponge 0.994 2.154 -0.787 0 0 0 51 7 Spoon 0.165 0.759 -0.573 0 270 0 94 8 Spoon -1.099 0.777 -0.205 0 90 0 71 9 Fork -1.437 0.912 -0.477 0 0 0 73 10 Spatula -0.144 0.773 -0.612 0 180 0 94 11 Pot 0.502 0.939 -0.469 0 0 0 80 12 Cup -1.105 0.748 1.902 0 0 0 48 13 Cup 1.365 0.910 0.422 0 0 0 67 14 Plate -1.197 0.749 2.644 0 0 0 48 15 Tomato -1.378 0.800 0.673 0 90 0 87 16 Tomato -1.105 0.798 2.087 0 0 0 48 17 Bowl 1.128 0.909 0.139 0 0 0 67 18 Bowl 0.127 0.115 -0.533 0 0 0 62 19 Lettuce 1.200 0.957 2.261 0 0 0 99 20 Lettuce -1.320 1.492 0.778 0 90 0 87 21 PepperShaker 1.207 0.907 0.706 0 0 0 67 22 Bread 1.128 0.974 0.422 0 0 0 67 23 Glassbottle -1.149 0.751 0.778 0 90 0 87 24 Fork 1.245 0.875 2.505 0 333.480 0 99 25 Kettle -1.357 0.739 3.024 0 240.000 0 48 26 Tomato 1.367 0.936 2.369 0 0 0 99 27 Plate 1.286 0.912 -0.144 0 0 0 67 28 CellPhone 1.128 0.909 -0.428 0 0 0 67 29 Lettuce -1.383 0.820 2.459 0 0 0 48 30 Pot 0.802 0.939 -0.740 0 90 0 76 31 SoapBottle 1.294 2.158 0.686 0 0 0 58 32 WineBottle -1.149 0.752 1.197 0 90 0 87 33 Spatula -0.919 0.764 2.644 0 0 0 48 34 Bowl -0.211 0.115 -0.533 0 0 0 63 35 Apple 1.414 0.146 1.440 0 0 0 88 36 Cup 1.450 0.885 2.584 0 0 0 99 37 Knife -1.012 0.771 2.087 0 90 0 48 38 Egg -1.263 1.035 0.150 0 90 0 93 39 SaltShaker 1.286 0.907 -0.428 0 0 0 67 40 PepperShaker 1.267 1.656 0.135 0 0 0 49 41 Potato -0.919 0.794 2.830 0 0 0 48 42 ButterKnife 1.117 0.886 2.800 0 0 0 99 43 DishSponge 1.034 0.885 2.153 0 0 0 99 44 Pan -1.332 0.9 -0.699 0 345.0 0 73 45 Spoon 1.155 0.777 1.050 0 90 0 77 46 SprayBottle 1.444 0.910 0.422 0 0 0 67 47 Mug -1.296 1.010 -0.005 0 90 0 93 48 DiningTable -1.182 0.006 2.414 0 90 0 49 Cabinet 1.184 2.059 0.375 0 0 0 50 Cabinet 1.184 2.059 -0.635 0 0 0 51 Cabinet 0.591 2.309 -0.645 0 0 0 52 Cabinet -0.574 2.059 -0.644 0 0 0 53 Cabinet -1.103 2.059 -0.644 0 0 0 54 Cabinet -1.185 2.059 -0.331 0 0 0 55 Cabinet -1.185 2.059 -0.281 0 0 0 56 Cabinet -1.185 2.059 0.375 0 0 0 57 Cabinet 1.184 2.309 1.174 0 0 0 58 Cabinet 1.184 2.309 0.424 0 0 0 59 Cabinet 0.988 0.402 0.581 0 0 0 60 Cabinet 0.988 0.402 0.531 0 0 0 61 Cabinet 0.988 0.402 -0.178 0 0 0 62 Cabinet 0.335 0.402 -0.348 0 0 0 63 Cabinet -0.374 0.402 -0.348 0 0 0 64 Cabinet 0.988 0.402 1.231 0 0 0 65 Cabinet -1.185 2.309 1.374 0 0 0 66 Cabinet -1.185 2.309 0.424 0 0 0 67 CounterTop 1.274 0.947 0.064 0 0 0 68 Drawer 1.116 0.792 -0.015 0 0 0 69 Drawer -1.116 0.792 0.210 0 180 0 70 Cabinet -0.990 0.402 0.374 0 180 0 71 Drawer -1.116 0.792 -0.170 0 180 0 72 Cabinet -0.990 0.402 -0.335 0 180 0 73 CounterTop -1.001 0.947 -0.669 0 0 0 74 StoveBurner 0.502 0.932 -0.740 0 90 0 75 StoveBurner 0.801 0.932 -0.473 0 0 0 76 StoveBurner 0.801 0.932 -0.740 0 90 0 77 Drawer 1.116 0.792 1.081 0 0 0 78 Sink -0.013 0.912 -0.615 0 0 0 79 Drawer 1.116 0.792 0.732 0 0 0 80 StoveBurner 0.502 0.932 -0.469 0 0 0 81 Drawer 1.116 0.792 0.367 0 0 0 82 StoveKnob 0.550 1.085 -0.912 287.970 180 0 83 StoveKnob 0.884 1.085 -0.912 287.970 180 0 84 StoveKnob 0.432 1.085 -0.912 287.970 180 0 85 StoveKnob 0.777 1.085 -0.912 287.970 180 0 86 CoffeeMachine 1.304 0.900 -0.741 0 320.314 0 87 Fridge -1.300 0.008 0.987 0 90 0 88 GarbageCan 1.296 -0.024 1.465 0 0 0 89 Window -0.012 1.641 -0.972 90 0 0 90 Window 1.598 1.646 2.489 90 270 0 91 Toaster 1.356 0.900 1.044 0 270 0 92 LightSwitch 0.118 1.353 3.799 0 180 0 93 Microwave -1.343 0.900 0.053 0 90 0 94 SinkBasin -0.029 0.748 -0.612 0 0 0 95 Faucet -0.026 0.927 -0.808 0 0 0 96 Shelf -1.182 0.127 2.414 0 90 0 97 Stool 1.140 0.007 3.262 1.206 20.753 0 98 Shelf -1.182 0.435 2.414 0 90 0 99 DiningTable 1.169 0.014 2.569 0 0 1.896 100 NorthWall 101 EastWall 102 SouthWall 103 WestWall
[ "STEP 1: walk forwards to the wall at the end of the room, then turn right and walk to the wall again, then turn right to face the table | STEP 2: grab the butter knife off of the table | STEP 3: turn right and walk over to the center of the table at the end of the room | STEP 4: slice up the lettuce on the back end of the table | STEP 5: turn left and walk over to the kitchen counter at the end of the room | STEP 6: place the butter knife down on the kitchen counter to the right of the sink | STEP 7: turn around and walk over to the kitchen table on the left side of the room | STEP 8: grab a lettuce slice off of the back side of the table | STEP 9: turn around and walk over to the stove at the end of the room on the right | STEP 10: place the slice of lettuce inside of the pot on the front right burner | STEP 11: take the pot off of the stove with the lettuce piece in it | STEP 12: turn right and walk over to the right side of the kitchen sink on the left | STEP 13: place the pot down on the kitchen counter on the right | END" ]
[ [ "STEP 1: walk forwards to the wall at the end of the room, then turn right and walk to the wall again, then turn right to face the table ", " STEP 2: grab the butter knife off of the table ", " STEP 3: turn right and walk over to the center of the table at the end of the room ", " STEP 4: slice up the lettuce on the back end of the table ", " STEP 5: turn left and walk over to the kitchen counter at the end of the room ", " STEP 6: place the butter knife down on the kitchen counter to the right of the sink ", " STEP 7: turn around and walk over to the kitchen table on the left side of the room ", " STEP 8: grab a lettuce slice off of the back side of the table ", " STEP 9: turn around and walk over to the stove at the end of the room on the right ", " STEP 10: place the slice of lettuce inside of the pot on the front right burner ", " STEP 11: take the pot off of the stove with the lettuce piece in it ", " STEP 12: turn right and walk over to the right side of the kitchen sink on the left ", " STEP 13: place the pot down on the kitchen counter on the right ", " END" ] ]
seen
trial_T20190909_051014_277741-3
To cut a vegetable plus put a slice of it into a pot as well as set the pot 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 0.5 0.908 1.25 0 0 0 1 SprayBottle 1.087 0.116 0.071 0 0 0 61 2 Potato 1.450 0.931 2.153 0 0 0 99 3 Potato -0.919 0.794 1.902 0 0 0 48 4 CellPhone -1.475 0.747 2.087 0 0 0 48 5 DishSponge 1.049 0.911 -0.144 0 0 0 67 6 DishSponge 0.994 2.154 -0.787 0 0 0 51 7 Spoon 0.165 0.759 -0.573 0 270 0 94 8 Spoon -1.099 0.777 -0.205 0 90 0 71 9 Fork -1.437 0.912 -0.477 0 0 0 73 10 Spatula -0.144 0.773 -0.612 0 180 0 94 11 Pot 0.502 0.939 -0.469 0 0 0 80 12 Cup -1.105 0.748 1.902 0 0 0 48 13 Cup 1.365 0.910 0.422 0 0 0 67 14 Plate -1.197 0.749 2.644 0 0 0 48 15 Tomato -1.378 0.800 0.673 0 90 0 87 16 Tomato -1.105 0.798 2.087 0 0 0 48 17 Bowl 1.128 0.909 0.139 0 0 0 67 18 Bowl 0.127 0.115 -0.533 0 0 0 62 19 Lettuce 1.200 0.957 2.261 0 0 0 99 20 Lettuce -1.320 1.492 0.778 0 90 0 87 21 PepperShaker 1.207 0.907 0.706 0 0 0 67 22 Bread 1.128 0.974 0.422 0 0 0 67 23 Glassbottle -1.149 0.751 0.778 0 90 0 87 24 Fork 1.245 0.875 2.505 0 333.480 0 99 25 Kettle -1.357 0.739 3.024 0 240.000 0 48 26 Tomato 1.367 0.936 2.369 0 0 0 99 27 Plate 1.286 0.912 -0.144 0 0 0 67 28 CellPhone 1.128 0.909 -0.428 0 0 0 67 29 Lettuce -1.383 0.820 2.459 0 0 0 48 30 Pot 0.802 0.939 -0.740 0 90 0 76 31 SoapBottle 1.294 2.158 0.686 0 0 0 58 32 WineBottle -1.149 0.752 1.197 0 90 0 87 33 Spatula -0.919 0.764 2.644 0 0 0 48 34 Bowl -0.211 0.115 -0.533 0 0 0 63 35 Apple 1.414 0.146 1.440 0 0 0 88 36 Cup 1.450 0.885 2.584 0 0 0 99 37 Knife -1.012 0.771 2.087 0 90 0 48 38 Egg -1.263 1.035 0.150 0 90 0 93 39 SaltShaker 1.286 0.907 -0.428 0 0 0 67 40 PepperShaker 1.267 1.656 0.135 0 0 0 49 41 Potato -0.919 0.794 2.830 0 0 0 48 42 ButterKnife 1.117 0.886 2.800 0 0 0 99 43 DishSponge 1.034 0.885 2.153 0 0 0 99 44 Pan -1.332 0.9 -0.699 0 345.0 0 73 45 Spoon 1.155 0.777 1.050 0 90 0 77 46 SprayBottle 1.444 0.910 0.422 0 0 0 67 47 Mug -1.296 1.010 -0.005 0 90 0 93 48 DiningTable -1.182 0.006 2.414 0 90 0 49 Cabinet 1.184 2.059 0.375 0 0 0 50 Cabinet 1.184 2.059 -0.635 0 0 0 51 Cabinet 0.591 2.309 -0.645 0 0 0 52 Cabinet -0.574 2.059 -0.644 0 0 0 53 Cabinet -1.103 2.059 -0.644 0 0 0 54 Cabinet -1.185 2.059 -0.331 0 0 0 55 Cabinet -1.185 2.059 -0.281 0 0 0 56 Cabinet -1.185 2.059 0.375 0 0 0 57 Cabinet 1.184 2.309 1.174 0 0 0 58 Cabinet 1.184 2.309 0.424 0 0 0 59 Cabinet 0.988 0.402 0.581 0 0 0 60 Cabinet 0.988 0.402 0.531 0 0 0 61 Cabinet 0.988 0.402 -0.178 0 0 0 62 Cabinet 0.335 0.402 -0.348 0 0 0 63 Cabinet -0.374 0.402 -0.348 0 0 0 64 Cabinet 0.988 0.402 1.231 0 0 0 65 Cabinet -1.185 2.309 1.374 0 0 0 66 Cabinet -1.185 2.309 0.424 0 0 0 67 CounterTop 1.274 0.947 0.064 0 0 0 68 Drawer 1.116 0.792 -0.015 0 0 0 69 Drawer -1.116 0.792 0.210 0 180 0 70 Cabinet -0.990 0.402 0.374 0 180 0 71 Drawer -1.116 0.792 -0.170 0 180 0 72 Cabinet -0.990 0.402 -0.335 0 180 0 73 CounterTop -1.001 0.947 -0.669 0 0 0 74 StoveBurner 0.502 0.932 -0.740 0 90 0 75 StoveBurner 0.801 0.932 -0.473 0 0 0 76 StoveBurner 0.801 0.932 -0.740 0 90 0 77 Drawer 1.116 0.792 1.081 0 0 0 78 Sink -0.013 0.912 -0.615 0 0 0 79 Drawer 1.116 0.792 0.732 0 0 0 80 StoveBurner 0.502 0.932 -0.469 0 0 0 81 Drawer 1.116 0.792 0.367 0 0 0 82 StoveKnob 0.550 1.085 -0.912 287.970 180 0 83 StoveKnob 0.884 1.085 -0.912 287.970 180 0 84 StoveKnob 0.432 1.085 -0.912 287.970 180 0 85 StoveKnob 0.777 1.085 -0.912 287.970 180 0 86 CoffeeMachine 1.304 0.900 -0.741 0 320.314 0 87 Fridge -1.300 0.008 0.987 0 90 0 88 GarbageCan 1.296 -0.024 1.465 0 0 0 89 Window -0.012 1.641 -0.972 90 0 0 90 Window 1.598 1.646 2.489 90 270 0 91 Toaster 1.356 0.900 1.044 0 270 0 92 LightSwitch 0.118 1.353 3.799 0 180 0 93 Microwave -1.343 0.900 0.053 0 90 0 94 SinkBasin -0.029 0.748 -0.612 0 0 0 95 Faucet -0.026 0.927 -0.808 0 0 0 96 Shelf -1.182 0.127 2.414 0 90 0 97 Stool 1.140 0.007 3.262 1.206 20.753 0 98 Shelf -1.182 0.435 2.414 0 90 0 99 DiningTable 1.169 0.014 2.569 0 0 1.896 100 NorthWall 101 EastWall 102 SouthWall 103 WestWall
[ "STEP 1: Walk around to the opposite end of the kitchen table on the right and face the end. | STEP 2: Pick up the knife of the table. | STEP 3: Turn to the right and walk forward to the table across room and face it. | STEP 4: Cut the green vegetable on the table into slices. | STEP 5: Turn to the left and walk forward to face the counter to the right of the sink. | STEP 6: Set the knife on the counter. | STEP 7: Turn around and walk halfway across the room, then face the table on the left. | STEP 8: Pick up a slice of the cut vegetable on the table. | STEP 9: Turn around, walk across the room, then turn right and walk forward to face the stove. | STEP 10: Put the slice of vegetable in the pot on the bottom right corner of the stove. | STEP 11: Pick up the pot with the slice of vegetable in it. | STEP 12: Turn to the right, walk across the room and face the counter on the left. | STEP 13: Set the pot with the vegetable in it on the counter to the right of the knife. | END" ]
[ [ "STEP 1: Walk around to the opposite end of the kitchen table on the right and face the end. ", " STEP 2: Pick up the knife of the table. ", " STEP 3: Turn to the right and walk forward to the table across room and face it. ", " STEP 4: Cut the green vegetable on the table into slices. ", " STEP 5: Turn to the left and walk forward to face the counter to the right of the sink. ", " STEP 6: Set the knife on the counter. ", " STEP 7: Turn around and walk halfway across the room, then face the table on the left. ", " STEP 8: Pick up a slice of the cut vegetable on the table. ", " STEP 9: Turn around, walk across the room, then turn right and walk forward to face the stove. ", " STEP 10: Put the slice of vegetable in the pot on the bottom right corner of the stove. ", " STEP 11: Pick up the pot with the slice of vegetable in it. ", " STEP 12: Turn to the right, walk across the room and face the counter on the left. ", " STEP 13: Set the pot with the vegetable in it on the counter to the right of the knife. ", " END" ] ]
seen
trial_T20190909_051014_277741-4
Cut a slice of cabbage and place it in a pot on the right side of the counter top
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"102", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "103", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 0.5 0.908 1.25 0 0 0 1 SprayBottle 1.087 0.116 0.071 0 0 0 61 2 Potato 1.450 0.931 2.153 0 0 0 99 3 Potato -0.919 0.794 1.902 0 0 0 48 4 CellPhone -1.475 0.747 2.087 0 0 0 48 5 DishSponge 1.049 0.911 -0.144 0 0 0 67 6 DishSponge 0.994 2.154 -0.787 0 0 0 51 7 Spoon 0.165 0.759 -0.573 0 270 0 94 8 Spoon -1.099 0.777 -0.205 0 90 0 71 9 Fork -1.437 0.912 -0.477 0 0 0 73 10 Spatula -0.144 0.773 -0.612 0 180 0 94 11 Pot 0.502 0.939 -0.469 0 0 0 80 12 Cup -1.105 0.748 1.902 0 0 0 48 13 Cup 1.365 0.910 0.422 0 0 0 67 14 Plate -1.197 0.749 2.644 0 0 0 48 15 Tomato -1.378 0.800 0.673 0 90 0 87 16 Tomato -1.105 0.798 2.087 0 0 0 48 17 Bowl 1.128 0.909 0.139 0 0 0 67 18 Bowl 0.127 0.115 -0.533 0 0 0 62 19 Lettuce 1.200 0.957 2.261 0 0 0 99 20 Lettuce -1.320 1.492 0.778 0 90 0 87 21 PepperShaker 1.207 0.907 0.706 0 0 0 67 22 Bread 1.128 0.974 0.422 0 0 0 67 23 Glassbottle -1.149 0.751 0.778 0 90 0 87 24 Fork 1.245 0.875 2.505 0 333.480 0 99 25 Kettle -1.357 0.739 3.024 0 240.000 0 48 26 Tomato 1.367 0.936 2.369 0 0 0 99 27 Plate 1.286 0.912 -0.144 0 0 0 67 28 CellPhone 1.128 0.909 -0.428 0 0 0 67 29 Lettuce -1.383 0.820 2.459 0 0 0 48 30 Pot 0.802 0.939 -0.740 0 90 0 76 31 SoapBottle 1.294 2.158 0.686 0 0 0 58 32 WineBottle -1.149 0.752 1.197 0 90 0 87 33 Spatula -0.919 0.764 2.644 0 0 0 48 34 Bowl -0.211 0.115 -0.533 0 0 0 63 35 Apple 1.414 0.146 1.440 0 0 0 88 36 Cup 1.450 0.885 2.584 0 0 0 99 37 Knife -1.012 0.771 2.087 0 90 0 48 38 Egg -1.263 1.035 0.150 0 90 0 93 39 SaltShaker 1.286 0.907 -0.428 0 0 0 67 40 PepperShaker 1.267 1.656 0.135 0 0 0 49 41 Potato -0.919 0.794 2.830 0 0 0 48 42 ButterKnife 1.117 0.886 2.800 0 0 0 99 43 DishSponge 1.034 0.885 2.153 0 0 0 99 44 Pan -1.332 0.9 -0.699 0 345.0 0 73 45 Spoon 1.155 0.777 1.050 0 90 0 77 46 SprayBottle 1.444 0.910 0.422 0 0 0 67 47 Mug -1.296 1.010 -0.005 0 90 0 93 48 DiningTable -1.182 0.006 2.414 0 90 0 49 Cabinet 1.184 2.059 0.375 0 0 0 50 Cabinet 1.184 2.059 -0.635 0 0 0 51 Cabinet 0.591 2.309 -0.645 0 0 0 52 Cabinet -0.574 2.059 -0.644 0 0 0 53 Cabinet -1.103 2.059 -0.644 0 0 0 54 Cabinet -1.185 2.059 -0.331 0 0 0 55 Cabinet -1.185 2.059 -0.281 0 0 0 56 Cabinet -1.185 2.059 0.375 0 0 0 57 Cabinet 1.184 2.309 1.174 0 0 0 58 Cabinet 1.184 2.309 0.424 0 0 0 59 Cabinet 0.988 0.402 0.581 0 0 0 60 Cabinet 0.988 0.402 0.531 0 0 0 61 Cabinet 0.988 0.402 -0.178 0 0 0 62 Cabinet 0.335 0.402 -0.348 0 0 0 63 Cabinet -0.374 0.402 -0.348 0 0 0 64 Cabinet 0.988 0.402 1.231 0 0 0 65 Cabinet -1.185 2.309 1.374 0 0 0 66 Cabinet -1.185 2.309 0.424 0 0 0 67 CounterTop 1.274 0.947 0.064 0 0 0 68 Drawer 1.116 0.792 -0.015 0 0 0 69 Drawer -1.116 0.792 0.210 0 180 0 70 Cabinet -0.990 0.402 0.374 0 180 0 71 Drawer -1.116 0.792 -0.170 0 180 0 72 Cabinet -0.990 0.402 -0.335 0 180 0 73 CounterTop -1.001 0.947 -0.669 0 0 0 74 StoveBurner 0.502 0.932 -0.740 0 90 0 75 StoveBurner 0.801 0.932 -0.473 0 0 0 76 StoveBurner 0.801 0.932 -0.740 0 90 0 77 Drawer 1.116 0.792 1.081 0 0 0 78 Sink -0.013 0.912 -0.615 0 0 0 79 Drawer 1.116 0.792 0.732 0 0 0 80 StoveBurner 0.502 0.932 -0.469 0 0 0 81 Drawer 1.116 0.792 0.367 0 0 0 82 StoveKnob 0.550 1.085 -0.912 287.970 180 0 83 StoveKnob 0.884 1.085 -0.912 287.970 180 0 84 StoveKnob 0.432 1.085 -0.912 287.970 180 0 85 StoveKnob 0.777 1.085 -0.912 287.970 180 0 86 CoffeeMachine 1.304 0.900 -0.741 0 320.314 0 87 Fridge -1.300 0.008 0.987 0 90 0 88 GarbageCan 1.296 -0.024 1.465 0 0 0 89 Window -0.012 1.641 -0.972 90 0 0 90 Window 1.598 1.646 2.489 90 270 0 91 Toaster 1.356 0.900 1.044 0 270 0 92 LightSwitch 0.118 1.353 3.799 0 180 0 93 Microwave -1.343 0.900 0.053 0 90 0 94 SinkBasin -0.029 0.748 -0.612 0 0 0 95 Faucet -0.026 0.927 -0.808 0 0 0 96 Shelf -1.182 0.127 2.414 0 90 0 97 Stool 1.140 0.007 3.262 1.206 20.753 0 98 Shelf -1.182 0.435 2.414 0 90 0 99 DiningTable 1.169 0.014 2.569 0 0 1.896 100 NorthWall 101 EastWall 102 SouthWall 103 WestWall
[ "STEP 1: Walk towards the door then turn right, walk towards the wall then turn right and stand in front of the white table under the window. | STEP 2: Pick up the knife on the table underneath the window. | STEP 3: Turn right then walk across the room towards the white table against the wall. | STEP 4: Cut the cabbage into slices. | STEP 5: Turn left and walk towards the sink. | STEP 6: Place the knife on the right side of the sink on the counter top. | STEP 7: Turn right and walk towards the door, then turn left, stand in front of the white table against the wall. | STEP 8: Pick up a slice of cabbage. | STEP 9: Turn around and walk towards the white table underneath the window, then turn right and walk towards the stove. | STEP 10: Place the slice of cabbage in the pot located on the right front burner of the stove. | STEP 11: Pick up the pot located on the right front burner of the stove. | STEP 12: Turn right and walk towards the microwave, then turn left and stand in front of the counter top. | STEP 13: Place the pot on the right side of the knife on the counter top. | END" ]
[ [ "STEP 1: Walk towards the door then turn right, walk towards the wall then turn right and stand in front of the white table under the window. ", " STEP 2: Pick up the knife on the table underneath the window. ", " STEP 3: Turn right then walk across the room towards the white table against the wall. ", " STEP 4: Cut the cabbage into slices. ", " STEP 5: Turn left and walk towards the sink. ", " STEP 6: Place the knife on the right side of the sink on the counter top. ", " STEP 7: Turn right and walk towards the door, then turn left, stand in front of the white table against the wall. ", " STEP 8: Pick up a slice of cabbage. ", " STEP 9: Turn around and walk towards the white table underneath the window, then turn right and walk towards the stove. ", " STEP 10: Place the slice of cabbage in the pot located on the right front burner of the stove. ", " STEP 11: Pick up the pot located on the right front burner of the stove. ", " STEP 12: Turn right and walk towards the microwave, then turn left and stand in front of the counter top. ", " STEP 13: Place the pot on the right side of the knife on the counter top. ", " END" ] ]
seen
trial_T20190907_072317_014092-0
move an alarm clock from a table to a desk
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" 90", " 270", " 0", "" ], [ "37", " GarbageCan", " 1.306", " -0.001", " -2.451", " 0", " 317.376", " 0", "" ], [ "38", " Mirror", " 1.5", " 1.361", " -0.542", " 0", " 90", " 0", "" ], [ "39", " Window", " 1.721", " 1.365", " -1.597", " 90", " 270", " 0", "" ], [ "40", " Shelf", " -1.605", " 0.435", " -0.686", " 0", " 90", " 0", "" ], [ "41", " Shelf", " -1.613", " 1.154", " -0.904", " 0", " 90", " 0", "" ], [ "42", " ShelvingUnit", " -1.611", " 0.005", " -0.904", " 0", " 90", " 0", "" ], [ "43", " Shelf", " -1.605", " 0.719", " -1.122", " 0", " 90", " 0", "" ], [ "44", " Shelf", " -1.605", " 0.435", " -1.122", " 0", " 90", " 0", "" ], [ "45", " Shelf", " -1.605", " 1.006", " -1.122", " 0", " 90", " 0", "" ], [ "46", " Shelf", " -1.605", " 0.148", " -0.686", " 0", " 90", " 0", "" ], [ "47", " Shelf", " -1.605", " 0.149", " -1.122", " 0", " 90", " 0", "" ], [ "48", " Shelf", " -1.605", " 1.006", " -0.686", " 0", " 90", " 0", "" ], [ "49", " Shelf", " -1.605", " 0.719", " -0.686", " 0", " 90", " 0", "" ], [ "50", " SideTable", " 1.484", " 0.001", " -1.481", " 0", " 270", " 0", "" ], [ "51", " Blinds", " 1.699", " 2.096", " -1.575", " 0", " 270", " 0", "" ], [ "52", " Desk", " 0.244", " 0.004", " -2.356", " 0", " 0", " 0", "" ], [ "53", " Chair", " -0.626", " 1.439", " -2.199", " 0", " 171.006", " 0", "" ], [ "54", " Chair", " 0.220", " 1.466", " -2.214", " 0", " 188.269", " 0", "" ], [ "55", " Shelf", " -0.978", " 1.387", " -2.479", " 0", " 0", " 0", "" ], [ "56", " Drawer", " -1.389", " 0.197", " -2.261", " 0", " 0", " 0", "" ], [ "57", " Drawer", " -1.389", " 0.480", " -2.261", " 0", " 0", " 0", "" ], [ "58", " Drawer", " -1.389", " 0.731", " -2.261", " 0", " 0", " 0", "" ], [ "59", " Desk", " -0.973", " 1.162", " -2.351", " 0", " 0", " 0", "" ], [ "60", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "61", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "62", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "63", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 1.0 0.900 -2.0 0 90 0 1 CellPhone -1.393 0.861 -2.373 0 0 0 59 2 Pencil -1.406 0.375 -2.325 0 0 0 57 3 CreditCard 1.550 0.823 -1.570 0 270 0 50 4 CreditCard -0.425 1.362 -2.468 0 0 0 55 5 KeyChain 0.146 0.812 -2.236 0 0 0 52 6 KeyChain 0.146 0.812 -2.507 0 90 0 52 7 Book -0.621 0.774 1.657 0 0 0 30 8 Book 1.103 0.774 0.850 0 0 0 30 9 Laptop -0.333 0.772 1.012 0 0 0 30 10 AlarmClock 0.563 0.812 -2.507 0 0 0 52 11 AlarmClock 0.251 0.812 -2.507 0 0 0 52 12 AlarmClock 1.439 0.824 -1.776 0 270 0 50 13 Book 0.241 0.774 0.850 0 0 0 30 14 Cloth 1.303 0.0 -0.696 0 303.212 0 15 Cloth 1.273 0.0 -0.969 0 0 0 16 CellPhone 1.103 0.774 1.496 0 0 0 30 17 Pencil -0.061 0.816 -2.236 0 0 0 52 18 Laptop -0.998 0.855 -2.401 0 13.355 0 59 19 AlarmClock 0.355 0.813 -2.372 0 0 0 52 20 CreditCard -1.393 0.861 -2.561 0 0 0 59 21 KeyChain -1.580 0.088 -2.401 0 0 0 56 22 TennisRacket -1.704 0.345 1.743 345.000 90 180 23 RemoteControl -0.386 0.863 -2.561 0 0 0 59 24 Pillow -0.046 0.902 1.657 0 0 0 30 25 CD 1.521 0.817 -1.727 0 0 0 50 26 CD 0.527 0.806 -2.485 0 0 0 52 27 CD -1.406 0.371 -2.249 0 0 0 57 28 Pen 0.355 0.817 -2.236 0 0 0 52 29 Bowl -0.386 0.863 -2.311 0 0 0 59 30 Bed 0.270 0.001 1.331 0 90 0 31 LaundryHamper -1.329 0.001 1.829 0 180 0 32 Television -1.664 1.479 -0.912 0 90 0 33 DeskLamp 0.049 0.815 -2.481 0 0 0 34 LightSwitch -1.799 1.213 0.680 0 90 0 35 Painting 0.492 1.684 -2.629 90 0 0 36 Poster -1.799 1.690 -1.491 90 270 0 37 GarbageCan 1.306 -0.001 -2.451 0 317.376 0 38 Mirror 1.5 1.361 -0.542 0 90 0 39 Window 1.721 1.365 -1.597 90 270 0 40 Shelf -1.605 0.435 -0.686 0 90 0 41 Shelf -1.613 1.154 -0.904 0 90 0 42 ShelvingUnit -1.611 0.005 -0.904 0 90 0 43 Shelf -1.605 0.719 -1.122 0 90 0 44 Shelf -1.605 0.435 -1.122 0 90 0 45 Shelf -1.605 1.006 -1.122 0 90 0 46 Shelf -1.605 0.148 -0.686 0 90 0 47 Shelf -1.605 0.149 -1.122 0 90 0 48 Shelf -1.605 1.006 -0.686 0 90 0 49 Shelf -1.605 0.719 -0.686 0 90 0 50 SideTable 1.484 0.001 -1.481 0 270 0 51 Blinds 1.699 2.096 -1.575 0 270 0 52 Desk 0.244 0.004 -2.356 0 0 0 53 Chair -0.626 1.439 -2.199 0 171.006 0 54 Chair 0.220 1.466 -2.214 0 188.269 0 55 Shelf -0.978 1.387 -2.479 0 0 0 56 Drawer -1.389 0.197 -2.261 0 0 0 57 Drawer -1.389 0.480 -2.261 0 0 0 58 Drawer -1.389 0.731 -2.261 0 0 0 59 Desk -0.973 1.162 -2.351 0 0 0 60 NorthWall 61 EastWall 62 SouthWall 63 WestWall
[ "STEP 1: turn around and walk forward stop to face the small table to the left of the desk | STEP 2: pick up an alarm clock that is on the desk | STEP 3: turn to the right, walk forward, stop at the far end of the desk, face the desk to the left | STEP 4: put the alarm clock on to the desk | END" ]
[ [ "STEP 1: turn around and walk forward stop to face the small table to the left of the desk ", " STEP 2: pick up an alarm clock that is on the desk ", " STEP 3: turn to the right, walk forward, stop at the far end of the desk, face the desk to the left ", " STEP 4: put the alarm clock on to the desk ", " END" ] ]
seen
trial_T20190907_072317_014092-1
Carry a clock to the desk to place on top of the desk
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " 1.0", " 0.900", " -2.0", " 0", " 90", " 0", "" ], [ "1", " CellPhone", " -1.393", " 0.861", " -2.373", " 0", " 0", " 0", " 59" ], [ "2", " Pencil", " -1.406", " 0.375", " -2.325", " 0", " 0", " 0", " 57" ], [ "3", " CreditCard", " 1.550", " 0.823", " -1.570", " 0", " 270", " 0", " 50" ], [ "4", " CreditCard", " -0.425", " 1.362", " -2.468", " 0", " 0", " 0", " 55" ], [ "5", " KeyChain", " 0.146", " 0.812", " -2.236", " 0", " 0", " 0", " 52" ], [ "6", " KeyChain", " 0.146", " 0.812", " -2.507", " 0", " 90", " 0", " 52" ], [ "7", " Book", " -0.621", " 0.774", " 1.657", " 0", " 0", " 0", " 30" ], [ "8", " Book", " 1.103", " 0.774", " 0.850", " 0", " 0", " 0", " 30" ], [ "9", " Laptop", " -0.333", " 0.772", " 1.012", " 0", " 0", " 0", " 30" ], [ "10", " AlarmClock", " 0.563", " 0.812", " -2.507", " 0", " 0", " 0", " 52" ], [ "11", " AlarmClock", " 0.251", " 0.812", " -2.507", " 0", " 0", " 0", " 52" ], [ "12", " AlarmClock", " 1.439", " 0.824", " -1.776", " 0", " 270", " 0", " 50" ], [ "13", " Book", " 0.241", " 0.774", " 0.850", " 0", " 0", " 0", " 30" ], [ "14", " Cloth", " 1.303", " 0.0", " -0.696", " 0", " 303.212", " 0", "" ], [ "15", " Cloth", " 1.273", " 0.0", " -0.969", " 0", " 0", " 0", "" ], [ "16", " CellPhone", " 1.103", " 0.774", " 1.496", " 0", " 0", " 0", " 30" ], [ "17", " Pencil", " -0.061", " 0.816", " -2.236", " 0", " 0", " 0", " 52" ], [ "18", " Laptop", " -0.998", " 0.855", " -2.401", " 0", " 13.355", " 0", " 59" ], [ "19", " AlarmClock", " 0.355", " 0.813", " -2.372", " 0", " 0", " 0", " 52" ], [ "20", " CreditCard", " -1.393", " 0.861", " -2.561", " 0", " 0", " 0", " 59" ], [ "21", " KeyChain", " -1.580", " 0.088", " -2.401", " 0", " 0", " 0", " 56" ], [ "22", " TennisRacket", " -1.704", " 0.345", " 1.743", " 345.000", " 90", " 180", "" ], [ "23", " RemoteControl", " -0.386", " 0.863", " -2.561", " 0", " 0", " 0", " 59" ], [ "24", " Pillow", " -0.046", " 0.902", " 1.657", " 0", " 0", " 0", " 30" ], [ "25", " CD", " 1.521", " 0.817", " -1.727", " 0", " 0", " 0", " 50" ], [ "26", " CD", " 0.527", " 0.806", " -2.485", " 0", " 0", " 0", " 52" ], [ "27", " CD", " -1.406", " 0.371", " -2.249", " 0", " 0", " 0", " 57" ], [ "28", " Pen", " 0.355", " 0.817", " -2.236", " 0", " 0", " 0", " 52" ], [ "29", " Bowl", " -0.386", " 0.863", " -2.311", " 0", " 0", " 0", " 59" ], [ "30", " Bed", " 0.270", " 0.001", " 1.331", " 0", " 90", " 0", "" ], [ "31", " LaundryHamper", " -1.329", " 0.001", " 1.829", " 0", " 180", " 0", "" ], [ "32", " Television", " -1.664", " 1.479", " -0.912", " 0", " 90", " 0", "" ], [ "33", " DeskLamp", " 0.049", " 0.815", " -2.481", " 0", " 0", " 0", "" ], [ "34", " LightSwitch", " -1.799", " 1.213", " 0.680", " 0", " 90", " 0", "" ], [ "35", " Painting", " 0.492", " 1.684", " -2.629", " 90", " 0", " 0", "" ], [ "36", " Poster", " -1.799", " 1.690", " -1.491", " 90", " 270", " 0", "" ], [ "37", " GarbageCan", " 1.306", " -0.001", " -2.451", " 0", " 317.376", " 0", "" ], [ "38", " Mirror", " 1.5", " 1.361", " -0.542", " 0", " 90", " 0", "" ], [ "39", " Window", " 1.721", " 1.365", " -1.597", " 90", " 270", " 0", "" ], [ "40", " Shelf", " -1.605", " 0.435", " -0.686", " 0", " 90", " 0", "" ], [ "41", " Shelf", " -1.613", " 1.154", " -0.904", " 0", " 90", " 0", "" ], [ "42", " ShelvingUnit", " -1.611", " 0.005", " -0.904", " 0", " 90", " 0", "" ], [ "43", " Shelf", " -1.605", " 0.719", " -1.122", " 0", " 90", " 0", "" ], [ "44", " Shelf", " -1.605", " 0.435", " -1.122", " 0", " 90", " 0", "" ], [ "45", " Shelf", " -1.605", " 1.006", " -1.122", " 0", " 90", " 0", "" ], [ "46", " Shelf", " -1.605", " 0.148", " -0.686", " 0", " 90", " 0", "" ], [ "47", " Shelf", " -1.605", " 0.149", " -1.122", " 0", " 90", " 0", "" ], [ "48", " Shelf", " -1.605", " 1.006", " -0.686", " 0", " 90", " 0", "" ], [ "49", " Shelf", " -1.605", " 0.719", " -0.686", " 0", " 90", " 0", "" ], [ "50", " SideTable", " 1.484", " 0.001", " -1.481", " 0", " 270", " 0", "" ], [ "51", " Blinds", " 1.699", " 2.096", " -1.575", " 0", " 270", " 0", "" ], [ "52", " Desk", " 0.244", " 0.004", " -2.356", " 0", " 0", " 0", "" ], [ "53", " Chair", " -0.626", " 1.439", " -2.199", " 0", " 171.006", " 0", "" ], [ "54", " Chair", " 0.220", " 1.466", " -2.214", " 0", " 188.269", " 0", "" ], [ "55", " Shelf", " -0.978", " 1.387", " -2.479", " 0", " 0", " 0", "" ], [ "56", " Drawer", " -1.389", " 0.197", " -2.261", " 0", " 0", " 0", "" ], [ "57", " Drawer", " -1.389", " 0.480", " -2.261", " 0", " 0", " 0", "" ], [ "58", " Drawer", " -1.389", " 0.731", " -2.261", " 0", " 0", " 0", "" ], [ "59", " Desk", " -0.973", " 1.162", " -2.351", " 0", " 0", " 0", "" ], [ "60", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "61", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "62", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "63", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 1.0 0.900 -2.0 0 90 0 1 CellPhone -1.393 0.861 -2.373 0 0 0 59 2 Pencil -1.406 0.375 -2.325 0 0 0 57 3 CreditCard 1.550 0.823 -1.570 0 270 0 50 4 CreditCard -0.425 1.362 -2.468 0 0 0 55 5 KeyChain 0.146 0.812 -2.236 0 0 0 52 6 KeyChain 0.146 0.812 -2.507 0 90 0 52 7 Book -0.621 0.774 1.657 0 0 0 30 8 Book 1.103 0.774 0.850 0 0 0 30 9 Laptop -0.333 0.772 1.012 0 0 0 30 10 AlarmClock 0.563 0.812 -2.507 0 0 0 52 11 AlarmClock 0.251 0.812 -2.507 0 0 0 52 12 AlarmClock 1.439 0.824 -1.776 0 270 0 50 13 Book 0.241 0.774 0.850 0 0 0 30 14 Cloth 1.303 0.0 -0.696 0 303.212 0 15 Cloth 1.273 0.0 -0.969 0 0 0 16 CellPhone 1.103 0.774 1.496 0 0 0 30 17 Pencil -0.061 0.816 -2.236 0 0 0 52 18 Laptop -0.998 0.855 -2.401 0 13.355 0 59 19 AlarmClock 0.355 0.813 -2.372 0 0 0 52 20 CreditCard -1.393 0.861 -2.561 0 0 0 59 21 KeyChain -1.580 0.088 -2.401 0 0 0 56 22 TennisRacket -1.704 0.345 1.743 345.000 90 180 23 RemoteControl -0.386 0.863 -2.561 0 0 0 59 24 Pillow -0.046 0.902 1.657 0 0 0 30 25 CD 1.521 0.817 -1.727 0 0 0 50 26 CD 0.527 0.806 -2.485 0 0 0 52 27 CD -1.406 0.371 -2.249 0 0 0 57 28 Pen 0.355 0.817 -2.236 0 0 0 52 29 Bowl -0.386 0.863 -2.311 0 0 0 59 30 Bed 0.270 0.001 1.331 0 90 0 31 LaundryHamper -1.329 0.001 1.829 0 180 0 32 Television -1.664 1.479 -0.912 0 90 0 33 DeskLamp 0.049 0.815 -2.481 0 0 0 34 LightSwitch -1.799 1.213 0.680 0 90 0 35 Painting 0.492 1.684 -2.629 90 0 0 36 Poster -1.799 1.690 -1.491 90 270 0 37 GarbageCan 1.306 -0.001 -2.451 0 317.376 0 38 Mirror 1.5 1.361 -0.542 0 90 0 39 Window 1.721 1.365 -1.597 90 270 0 40 Shelf -1.605 0.435 -0.686 0 90 0 41 Shelf -1.613 1.154 -0.904 0 90 0 42 ShelvingUnit -1.611 0.005 -0.904 0 90 0 43 Shelf -1.605 0.719 -1.122 0 90 0 44 Shelf -1.605 0.435 -1.122 0 90 0 45 Shelf -1.605 1.006 -1.122 0 90 0 46 Shelf -1.605 0.148 -0.686 0 90 0 47 Shelf -1.605 0.149 -1.122 0 90 0 48 Shelf -1.605 1.006 -0.686 0 90 0 49 Shelf -1.605 0.719 -0.686 0 90 0 50 SideTable 1.484 0.001 -1.481 0 270 0 51 Blinds 1.699 2.096 -1.575 0 270 0 52 Desk 0.244 0.004 -2.356 0 0 0 53 Chair -0.626 1.439 -2.199 0 171.006 0 54 Chair 0.220 1.466 -2.214 0 188.269 0 55 Shelf -0.978 1.387 -2.479 0 0 0 56 Drawer -1.389 0.197 -2.261 0 0 0 57 Drawer -1.389 0.480 -2.261 0 0 0 58 Drawer -1.389 0.731 -2.261 0 0 0 59 Desk -0.973 1.162 -2.351 0 0 0 60 NorthWall 61 EastWall 62 SouthWall 63 WestWall
[ "STEP 1: Move to the desk that has three clocks sitting on top of it | STEP 2: Pick up the clock that is on the far right on top of the desk | STEP 3: Carry the clock to the larger desk on the left where the phone is sitting | STEP 4: Place the clock on the desk to the right of the phone | END" ]
[ [ "STEP 1: Move to the desk that has three clocks sitting on top of it ", " STEP 2: Pick up the clock that is on the far right on top of the desk ", " STEP 3: Carry the clock to the larger desk on the left where the phone is sitting ", " STEP 4: Place the clock on the desk to the right of the phone ", " END" ] ]
seen
trial_T20190907_072317_014092-2
Move one alarm clock to the other desk.
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-2.561", " 0", " 0", " 0", " 59" ], [ "24", " Pillow", " -0.046", " 0.902", " 1.657", " 0", " 0", " 0", " 30" ], [ "25", " CD", " 1.521", " 0.817", " -1.727", " 0", " 0", " 0", " 50" ], [ "26", " CD", " 0.527", " 0.806", " -2.485", " 0", " 0", " 0", " 52" ], [ "27", " CD", " -1.406", " 0.371", " -2.249", " 0", " 0", " 0", " 57" ], [ "28", " Pen", " 0.355", " 0.817", " -2.236", " 0", " 0", " 0", " 52" ], [ "29", " Bowl", " -0.386", " 0.863", " -2.311", " 0", " 0", " 0", " 59" ], [ "30", " Bed", " 0.270", " 0.001", " 1.331", " 0", " 90", " 0", "" ], [ "31", " LaundryHamper", " -1.329", " 0.001", " 1.829", " 0", " 180", " 0", "" ], [ "32", " Television", " -1.664", " 1.479", " -0.912", " 0", " 90", " 0", "" ], [ "33", " DeskLamp", " 0.049", " 0.815", " -2.481", " 0", " 0", " 0", "" ], [ "34", " LightSwitch", " -1.799", " 1.213", " 0.680", " 0", " 90", " 0", "" ], [ "35", " Painting", " 0.492", " 1.684", " -2.629", " 90", " 0", " 0", "" ], [ "36", " Poster", " -1.799", " 1.690", " -1.491", " 90", " 270", " 0", "" ], [ "37", " GarbageCan", " 1.306", " -0.001", " -2.451", " 0", " 317.376", " 0", "" ], [ "38", " Mirror", " 1.5", " 1.361", " -0.542", " 0", " 90", " 0", "" ], [ "39", " Window", " 1.721", " 1.365", " -1.597", " 90", " 270", " 0", "" ], [ "40", " Shelf", " -1.605", " 0.435", " -0.686", " 0", " 90", " 0", "" ], [ "41", " Shelf", " -1.613", " 1.154", " -0.904", " 0", " 90", " 0", "" ], [ "42", " ShelvingUnit", " -1.611", " 0.005", " -0.904", " 0", " 90", " 0", "" ], [ "43", " Shelf", " -1.605", " 0.719", " -1.122", " 0", " 90", " 0", "" ], [ "44", " Shelf", " -1.605", " 0.435", " -1.122", " 0", " 90", " 0", "" ], [ "45", " Shelf", " -1.605", " 1.006", " -1.122", " 0", " 90", " 0", "" ], [ "46", " Shelf", " -1.605", " 0.148", " -0.686", " 0", " 90", " 0", "" ], [ "47", " Shelf", " -1.605", " 0.149", " -1.122", " 0", " 90", " 0", "" ], [ "48", " Shelf", " -1.605", " 1.006", " -0.686", " 0", " 90", " 0", "" ], [ "49", " Shelf", " -1.605", " 0.719", " -0.686", " 0", " 90", " 0", "" ], [ "50", " SideTable", " 1.484", " 0.001", " -1.481", " 0", " 270", " 0", "" ], [ "51", " Blinds", " 1.699", " 2.096", " -1.575", " 0", " 270", " 0", "" ], [ "52", " Desk", " 0.244", " 0.004", " -2.356", " 0", " 0", " 0", "" ], [ "53", " Chair", " -0.626", " 1.439", " -2.199", " 0", " 171.006", " 0", "" ], [ "54", " Chair", " 0.220", " 1.466", " -2.214", " 0", " 188.269", " 0", "" ], [ "55", " Shelf", " -0.978", " 1.387", " -2.479", " 0", " 0", " 0", "" ], [ "56", " Drawer", " -1.389", " 0.197", " -2.261", " 0", " 0", " 0", "" ], [ "57", " Drawer", " -1.389", " 0.480", " -2.261", " 0", " 0", " 0", "" ], [ "58", " Drawer", " -1.389", " 0.731", " -2.261", " 0", " 0", " 0", "" ], [ "59", " Desk", " -0.973", " 1.162", " -2.351", " 0", " 0", " 0", "" ], [ "60", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "61", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "62", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "63", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 1.0 0.900 -2.0 0 90 0 1 CellPhone -1.393 0.861 -2.373 0 0 0 59 2 Pencil -1.406 0.375 -2.325 0 0 0 57 3 CreditCard 1.550 0.823 -1.570 0 270 0 50 4 CreditCard -0.425 1.362 -2.468 0 0 0 55 5 KeyChain 0.146 0.812 -2.236 0 0 0 52 6 KeyChain 0.146 0.812 -2.507 0 90 0 52 7 Book -0.621 0.774 1.657 0 0 0 30 8 Book 1.103 0.774 0.850 0 0 0 30 9 Laptop -0.333 0.772 1.012 0 0 0 30 10 AlarmClock 0.563 0.812 -2.507 0 0 0 52 11 AlarmClock 0.251 0.812 -2.507 0 0 0 52 12 AlarmClock 1.439 0.824 -1.776 0 270 0 50 13 Book 0.241 0.774 0.850 0 0 0 30 14 Cloth 1.303 0.0 -0.696 0 303.212 0 15 Cloth 1.273 0.0 -0.969 0 0 0 16 CellPhone 1.103 0.774 1.496 0 0 0 30 17 Pencil -0.061 0.816 -2.236 0 0 0 52 18 Laptop -0.998 0.855 -2.401 0 13.355 0 59 19 AlarmClock 0.355 0.813 -2.372 0 0 0 52 20 CreditCard -1.393 0.861 -2.561 0 0 0 59 21 KeyChain -1.580 0.088 -2.401 0 0 0 56 22 TennisRacket -1.704 0.345 1.743 345.000 90 180 23 RemoteControl -0.386 0.863 -2.561 0 0 0 59 24 Pillow -0.046 0.902 1.657 0 0 0 30 25 CD 1.521 0.817 -1.727 0 0 0 50 26 CD 0.527 0.806 -2.485 0 0 0 52 27 CD -1.406 0.371 -2.249 0 0 0 57 28 Pen 0.355 0.817 -2.236 0 0 0 52 29 Bowl -0.386 0.863 -2.311 0 0 0 59 30 Bed 0.270 0.001 1.331 0 90 0 31 LaundryHamper -1.329 0.001 1.829 0 180 0 32 Television -1.664 1.479 -0.912 0 90 0 33 DeskLamp 0.049 0.815 -2.481 0 0 0 34 LightSwitch -1.799 1.213 0.680 0 90 0 35 Painting 0.492 1.684 -2.629 90 0 0 36 Poster -1.799 1.690 -1.491 90 270 0 37 GarbageCan 1.306 -0.001 -2.451 0 317.376 0 38 Mirror 1.5 1.361 -0.542 0 90 0 39 Window 1.721 1.365 -1.597 90 270 0 40 Shelf -1.605 0.435 -0.686 0 90 0 41 Shelf -1.613 1.154 -0.904 0 90 0 42 ShelvingUnit -1.611 0.005 -0.904 0 90 0 43 Shelf -1.605 0.719 -1.122 0 90 0 44 Shelf -1.605 0.435 -1.122 0 90 0 45 Shelf -1.605 1.006 -1.122 0 90 0 46 Shelf -1.605 0.148 -0.686 0 90 0 47 Shelf -1.605 0.149 -1.122 0 90 0 48 Shelf -1.605 1.006 -0.686 0 90 0 49 Shelf -1.605 0.719 -0.686 0 90 0 50 SideTable 1.484 0.001 -1.481 0 270 0 51 Blinds 1.699 2.096 -1.575 0 270 0 52 Desk 0.244 0.004 -2.356 0 0 0 53 Chair -0.626 1.439 -2.199 0 171.006 0 54 Chair 0.220 1.466 -2.214 0 188.269 0 55 Shelf -0.978 1.387 -2.479 0 0 0 56 Drawer -1.389 0.197 -2.261 0 0 0 57 Drawer -1.389 0.480 -2.261 0 0 0 58 Drawer -1.389 0.731 -2.261 0 0 0 59 Desk -0.973 1.162 -2.351 0 0 0 60 NorthWall 61 EastWall 62 SouthWall 63 WestWall
[ "STEP 1: Turn around and face the desk on the left. | STEP 2: Pick up the alarm clock that's closest to the lamp. | STEP 3: Walk over to the right side of the desk that's on the right. | STEP 4: Place the alarm clock to the right of the cell phone. | END" ]
[ [ "STEP 1: Turn around and face the desk on the left. ", " STEP 2: Pick up the alarm clock that's closest to the lamp. ", " STEP 3: Walk over to the right side of the desk that's on the right. ", " STEP 4: Place the alarm clock to the right of the cell phone. ", " END" ] ]
seen
trial_T20190907_072317_014092-3
Put an alarm clock on the large desk.
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " 1.0", " 0.900", " -2.0", " 0", " 90", " 0", "" ], [ "1", " CellPhone", " -1.393", " 0.861", " -2.373", " 0", " 0", " 0", " 59" ], [ "2", " Pencil", " -1.406", " 0.375", " -2.325", " 0", " 0", " 0", " 57" ], [ "3", " CreditCard", " 1.550", " 0.823", " -1.570", " 0", " 270", " 0", " 50" ], [ "4", " CreditCard", " -0.425", " 1.362", " -2.468", " 0", " 0", " 0", " 55" ], [ "5", " KeyChain", " 0.146", " 0.812", " -2.236", " 0", " 0", " 0", " 52" ], [ "6", " KeyChain", " 0.146", " 0.812", " -2.507", " 0", " 90", " 0", " 52" ], [ "7", " Book", " -0.621", " 0.774", " 1.657", " 0", " 0", " 0", " 30" ], [ "8", " Book", " 1.103", " 0.774", " 0.850", " 0", " 0", " 0", " 30" ], [ "9", " Laptop", " -0.333", " 0.772", " 1.012", " 0", " 0", " 0", " 30" ], [ "10", " AlarmClock", " 0.563", " 0.812", " -2.507", " 0", " 0", " 0", " 52" ], [ "11", " AlarmClock", " 0.251", " 0.812", " -2.507", " 0", " 0", " 0", " 52" ], [ "12", " AlarmClock", " 1.439", " 0.824", " -1.776", " 0", " 270", " 0", " 50" ], [ "13", " Book", " 0.241", " 0.774", " 0.850", " 0", " 0", " 0", " 30" ], [ "14", " Cloth", " 1.303", " 0.0", " -0.696", " 0", " 303.212", " 0", "" ], [ "15", " Cloth", " 1.273", " 0.0", " -0.969", " 0", " 0", " 0", "" ], [ "16", " CellPhone", " 1.103", " 0.774", " 1.496", " 0", " 0", " 0", " 30" ], [ "17", " Pencil", " -0.061", " 0.816", " -2.236", " 0", " 0", " 0", " 52" ], [ "18", " Laptop", " -0.998", " 0.855", " -2.401", " 0", " 13.355", " 0", " 59" ], [ "19", " AlarmClock", " 0.355", " 0.813", " -2.372", " 0", " 0", " 0", " 52" ], [ "20", " CreditCard", " -1.393", " 0.861", " -2.561", " 0", " 0", " 0", " 59" ], [ "21", " KeyChain", " -1.580", " 0.088", " -2.401", " 0", " 0", " 0", " 56" ], [ "22", " TennisRacket", " -1.704", " 0.345", " 1.743", " 345.000", " 90", " 180", "" ], [ "23", " RemoteControl", " -0.386", " 0.863", " 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"" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 1.0 0.900 -2.0 0 90 0 1 CellPhone -1.393 0.861 -2.373 0 0 0 59 2 Pencil -1.406 0.375 -2.325 0 0 0 57 3 CreditCard 1.550 0.823 -1.570 0 270 0 50 4 CreditCard -0.425 1.362 -2.468 0 0 0 55 5 KeyChain 0.146 0.812 -2.236 0 0 0 52 6 KeyChain 0.146 0.812 -2.507 0 90 0 52 7 Book -0.621 0.774 1.657 0 0 0 30 8 Book 1.103 0.774 0.850 0 0 0 30 9 Laptop -0.333 0.772 1.012 0 0 0 30 10 AlarmClock 0.563 0.812 -2.507 0 0 0 52 11 AlarmClock 0.251 0.812 -2.507 0 0 0 52 12 AlarmClock 1.439 0.824 -1.776 0 270 0 50 13 Book 0.241 0.774 0.850 0 0 0 30 14 Cloth 1.303 0.0 -0.696 0 303.212 0 15 Cloth 1.273 0.0 -0.969 0 0 0 16 CellPhone 1.103 0.774 1.496 0 0 0 30 17 Pencil -0.061 0.816 -2.236 0 0 0 52 18 Laptop -0.998 0.855 -2.401 0 13.355 0 59 19 AlarmClock 0.355 0.813 -2.372 0 0 0 52 20 CreditCard -1.393 0.861 -2.561 0 0 0 59 21 KeyChain -1.580 0.088 -2.401 0 0 0 56 22 TennisRacket -1.704 0.345 1.743 345.000 90 180 23 RemoteControl -0.386 0.863 -2.561 0 0 0 59 24 Pillow -0.046 0.902 1.657 0 0 0 30 25 CD 1.521 0.817 -1.727 0 0 0 50 26 CD 0.527 0.806 -2.485 0 0 0 52 27 CD -1.406 0.371 -2.249 0 0 0 57 28 Pen 0.355 0.817 -2.236 0 0 0 52 29 Bowl -0.386 0.863 -2.311 0 0 0 59 30 Bed 0.270 0.001 1.331 0 90 0 31 LaundryHamper -1.329 0.001 1.829 0 180 0 32 Television -1.664 1.479 -0.912 0 90 0 33 DeskLamp 0.049 0.815 -2.481 0 0 0 34 LightSwitch -1.799 1.213 0.680 0 90 0 35 Painting 0.492 1.684 -2.629 90 0 0 36 Poster -1.799 1.690 -1.491 90 270 0 37 GarbageCan 1.306 -0.001 -2.451 0 317.376 0 38 Mirror 1.5 1.361 -0.542 0 90 0 39 Window 1.721 1.365 -1.597 90 270 0 40 Shelf -1.605 0.435 -0.686 0 90 0 41 Shelf -1.613 1.154 -0.904 0 90 0 42 ShelvingUnit -1.611 0.005 -0.904 0 90 0 43 Shelf -1.605 0.719 -1.122 0 90 0 44 Shelf -1.605 0.435 -1.122 0 90 0 45 Shelf -1.605 1.006 -1.122 0 90 0 46 Shelf -1.605 0.148 -0.686 0 90 0 47 Shelf -1.605 0.149 -1.122 0 90 0 48 Shelf -1.605 1.006 -0.686 0 90 0 49 Shelf -1.605 0.719 -0.686 0 90 0 50 SideTable 1.484 0.001 -1.481 0 270 0 51 Blinds 1.699 2.096 -1.575 0 270 0 52 Desk 0.244 0.004 -2.356 0 0 0 53 Chair -0.626 1.439 -2.199 0 171.006 0 54 Chair 0.220 1.466 -2.214 0 188.269 0 55 Shelf -0.978 1.387 -2.479 0 0 0 56 Drawer -1.389 0.197 -2.261 0 0 0 57 Drawer -1.389 0.480 -2.261 0 0 0 58 Drawer -1.389 0.731 -2.261 0 0 0 59 Desk -0.973 1.162 -2.351 0 0 0 60 NorthWall 61 EastWall 62 SouthWall 63 WestWall
[ "STEP 1: Turn around and go to the smaller desk. | STEP 2: Pick up an alarm clock. | STEP 3: Move to stand in front of the larger desk on the right. | STEP 4: Put the alarm clock on the desk. | END" ]
[ [ "STEP 1: Turn around and go to the smaller desk. ", " STEP 2: Pick up an alarm clock. ", " STEP 3: Move to stand in front of the larger desk on the right. ", " STEP 4: Put the alarm clock on the desk. ", " END" ] ]
seen
trial_T20190909_100552_124528-0
Place a warmed plate on a counter.
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Fork", " 0.525", " 0.912", " -1.776", " 0", " 90", " 0", " 54" ], [ "12", " Egg", " -0.035", " 0.414", " 1.967", " 0", " 180", " 0", " 79" ], [ "13", " Egg", " -0.377", " 1.169", " 2.286", " 0", " 180", " 0", " 79" ], [ "14", " Cup", " -1.444", " 1.655", " -1.637", " 0", " 0", " 0", " 67" ], [ "15", " SoapBottle", " -1.501", " 1.657", " -1.784", " 0", " 0", " 0", " 67" ], [ "16", " SoapBottle", " -0.871", " 0.193", " 2.058", " 0", " 90", " 0", " 84" ], [ "17", " SaltShaker", " 1.703", " 0.716", " -1.443", " 0", " 0", " 0", " 70" ], [ "18", " SaltShaker", " 0.716", " 0.112", " -1.445", " 0", " 0", " 0", " 61" ], [ "19", " Bread", " 0.571", " 0.995", " -1.369", " 0", " 0", " 0", " 54" ], [ "20", " Lettuce", " -2.584", " 0.943", " 3.559", " 0", " 0", " 0", " 56" ], [ "21", " Apple", " -0.149", " 0.444", " 1.996", " 0", " 180", " 0", " 79" ], [ "22", " Book", " -2.050", " 0.116", " -1.433", " 0", " 0", " 0", " 55" ], [ "23", " Fork", " -2.807", " 0.875", " 3.559", " 0", " 90", " 0", " 56" 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0", " 0", " 0", " 70" ], [ "37", " Lettuce", " -2.898", " 0.943", " 3.460", " 0", " 135", " 0", " 56" ], [ "38", " ButterKnife", " -2.152", " 0.874", " 3.296", " 0", " 270", " 0", " 56" ], [ "39", " Bread", " -2.152", " 0.961", " 3.073", " 0", " 270", " 0", " 56" ], [ "40", " Vase", " -2.072", " 0.913", " -0.614", " 0", " 0", " 0", " 54" ], [ "41", " DishSponge", " 0.521", " 0.718", " -1.376", " 0", " 0", " 0", " 71" ], [ "42", " Apple", " -0.897", " 0.247", " 2.213", " 0", " 90", " 0", " 84" ], [ "43", " Pan", " -3.017", " 0.874", " 2.863", " 0", " 225", " 0", " 56" ], [ "44", " Spoon", " 1.760", " 0.911", " -1.709", " 0", " 90", " 0", " 74" ], [ "45", " SoapBottle", " -2.434", " 0.879", " 3.207", " 0", " 135", " 0", " 56" ], [ "46", " Mug", " -1.649", " 0.114", " -0.691", " 0", " 270", " 0", " 59" ], [ "47", " Statue", " 3.586", " 0.560", " 1.656", " 0", " 270", " 0", " 77" ], [ "48", " Statue", " 3.668", " 0.540", " 1.800", " 0", " 0", " 0", " 77" ], [ "49", " Bowl", " -0.149", " 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"" ], [ "102", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -2.75 0.900 1.5 0 270 0 1 Pan 0.974 0.957 -1.419 0 180 0 72 2 Potato 0.124 0.965 -1.790 0 270 0 51 3 Potato -0.149 1.608 2.279 0 180 0 79 4 Book -1.738 0.908 0.037 0 0 0 54 5 ButterKnife -2.592 0.874 3.393 0 225 0 56 6 Kettle -1.627 0.913 -1.591 0 0 0 54 7 WineBottle 0.595 1.654 -1.712 0 0 0 65 8 WineBottle -2.525 0.875 2.878 0 135 0 56 9 Spatula -1.627 0.927 -0.288 0 0 0 54 10 Pot -2.659 0.877 2.715 0 0 0 56 11 Fork 0.525 0.912 -1.776 0 90 0 54 12 Egg -0.035 0.414 1.967 0 180 0 79 13 Egg -0.377 1.169 2.286 0 180 0 79 14 Cup -1.444 1.655 -1.637 0 0 0 67 15 SoapBottle -1.501 1.657 -1.784 0 0 0 67 16 SoapBottle -0.871 0.193 2.058 0 90 0 84 17 SaltShaker 1.703 0.716 -1.443 0 0 0 70 18 SaltShaker 0.716 0.112 -1.445 0 0 0 61 19 Bread 0.571 0.995 -1.369 0 0 0 54 20 Lettuce -2.584 0.943 3.559 0 0 0 56 21 Apple -0.149 0.444 1.996 0 180 0 79 22 Book -2.050 0.116 -1.433 0 0 0 55 23 Fork -2.807 0.875 3.559 0 90 0 56 24 Tomato 0.307 0.436 2.054 0 180 0 79 25 Egg -0.034 1.169 2.286 0 180 0 79 26 Kettle 0.974 0.957 -1.688 0 180 0 53 27 Vase 3.671 0.168 1.841 0 0 0 77 28 Cup -0.149 1.570 1.981 0 180 0 79 29 WineBottle -0.943 1.655 -1.712 0 0 0 66 30 Plate 0.307 1.576 2.100 0 180 0 79 31 Spatula -2.081 0.733 -1.579 0 270 0 73 32 Potato -0.255 0.733 -1.573 0 270 0 83 33 Pot -2.072 0.914 -0.288 0 0 0 54 34 Knife -1.748 0.739 -0.930 0 90 0 69 35 SaltShaker 0.560 0.714 -1.476 0 0 0 71 36 PepperShaker 1.622 0.716 -1.443 0 0 0 70 37 Lettuce -2.898 0.943 3.460 0 135 0 56 38 ButterKnife -2.152 0.874 3.296 0 270 0 56 39 Bread -2.152 0.961 3.073 0 270 0 56 40 Vase -2.072 0.913 -0.614 0 0 0 54 41 DishSponge 0.521 0.718 -1.376 0 0 0 71 42 Apple -0.897 0.247 2.213 0 90 0 84 43 Pan -3.017 0.874 2.863 0 225 0 56 44 Spoon 1.760 0.911 -1.709 0 90 0 74 45 SoapBottle -2.434 0.879 3.207 0 135 0 56 46 Mug -1.649 0.114 -0.691 0 270 0 59 47 Statue 3.586 0.560 1.656 0 270 0 77 48 Statue 3.668 0.540 1.800 0 0 0 77 49 Bowl -0.149 0.800 2.080 0 180 0 79 50 Cabinet -2.171 2.009 -1.538 0 0 0 51 Sink 0.024 0.771 -1.708 0 270 0 52 Cabinet 1.444 2.259 -1.542 0 0 0 53 StoveBurner 0.974 0.957 -1.688 0 180 0 54 CounterTop -1.866 0.947 -0.614 0 0 0 55 Cabinet -2.217 0.373 -1.874 0 0 0 56 DiningTable -2.663 0.002 3.208 0 0 0 57 StoveBurner 1.328 0.957 -1.688 0 180 0 58 StoveBurner 1.328 0.957 -1.420 0 180 0 59 Cabinet -1.478 0.373 -1.235 0 0 0 60 Cabinet 1.775 0.372 -1.242 0 0 0 61 Cabinet 0.774 0.372 -1.242 0 0 0 62 Cabinet 0.375 0.372 -1.242 0 0 0 63 Cabinet -0.574 0.372 -1.238 0 0 0 64 Cabinet 1.775 2.009 -1.542 0 0 0 65 Cabinet 0.524 2.009 -1.542 0 0 0 66 Cabinet -0.714 2.009 -1.542 0 0 0 67 Cabinet -1.671 2.009 -1.538 0 0 0 68 Cabinet 0.854 2.259 -1.542 0 0 0 69 Drawer -1.636 0.683 -0.930 0 0 0 70 Drawer 1.650 0.682 -1.396 0 0 0 71 Drawer 0.600 0.682 -1.396 0 0 0 72 StoveBurner 0.974 0.957 -1.419 0 180 0 73 Drawer -2.062 0.683 -1.579 0 0 0 74 CounterTop 1.645 0.945 -1.527 0 0 0 75 Shelf 3.725 0.880 1.671 0 90 0 76 LightSwitch 2.830 1.266 -0.748 0 0 0 77 Shelf 3.726 0.552 1.671 0 90 0 78 Microwave 1.150 1.655 -1.614 0 0 0 79 Fridge -0.035 0.0 2.177 0 180 0 80 Window -0.115 1.802 -1.896 90 0 0 81 Window -4.009 1.799 0.310 90 90 0 82 Shelf 3.726 0.172 1.671 0 90 0 83 SinkBasin -0.330 0.686 -1.581 0 270 0 84 GarbageCan -0.870 -0.001 2.136 0 90 0 85 StoveKnob 1.089 0.913 -1.243 45 0 0 86 StoveKnob 1.208 0.913 -1.243 45 0 0 87 StoveKnob 1.340 0.913 -1.243 45 0 0 88 StoveKnob 0.961 0.913 -1.243 45 0 0 89 Toaster 1.637 0.900 -1.673 0 0 0 90 Chair -3.505 0.002 3.290 0 105.736 0 91 CoffeeMachine -1.111 0.900 -1.726 0 0 0 92 HousePlant -2.663 0.835 3.209 0 0 0 93 Faucet -0.187 0.922 -1.75 0 311.166 0 94 ShelvingUnit 3.726 0.006 1.671 0 90 0 95 Stool -2.501 -0.000 0.062 1.223 91.243 0 96 Stool -2.475 -0.000 -0.802 1.209 69.808 0 97 Chair -2.934 0.002 2.437 0 28.531 0 98 Chair -1.698 0.002 3.235 0 245.204 0 99 NorthWall 100 EastWall 101 SouthWall 102 WestWall
[ "STEP 1: Turn around and walk ahead to the fridge. | STEP 2: Take the plate out of the freezer compartment of the fridge. | STEP 3: Turn around and walk to the stove. | STEP 4: Heat the plate in the microwave. | STEP 5: Take a step left. | STEP 6: Place the plate on the counter in front of the toaster. | END" ]
[ [ "STEP 1: Turn around and walk ahead to the fridge. ", " STEP 2: Take the plate out of the freezer compartment of the fridge. ", " STEP 3: Turn around and walk to the stove. ", " STEP 4: Heat the plate in the microwave. ", " STEP 5: Take a step left. ", " STEP 6: Place the plate on the counter in front of the toaster. ", " END" ] ]
seen
trial_T20190909_100552_124528-1
Put a warm plate on the counter.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -2.75 0.900 1.5 0 270 0 1 Pan 0.974 0.957 -1.419 0 180 0 72 2 Potato 0.124 0.965 -1.790 0 270 0 51 3 Potato -0.149 1.608 2.279 0 180 0 79 4 Book -1.738 0.908 0.037 0 0 0 54 5 ButterKnife -2.592 0.874 3.393 0 225 0 56 6 Kettle -1.627 0.913 -1.591 0 0 0 54 7 WineBottle 0.595 1.654 -1.712 0 0 0 65 8 WineBottle -2.525 0.875 2.878 0 135 0 56 9 Spatula -1.627 0.927 -0.288 0 0 0 54 10 Pot -2.659 0.877 2.715 0 0 0 56 11 Fork 0.525 0.912 -1.776 0 90 0 54 12 Egg -0.035 0.414 1.967 0 180 0 79 13 Egg -0.377 1.169 2.286 0 180 0 79 14 Cup -1.444 1.655 -1.637 0 0 0 67 15 SoapBottle -1.501 1.657 -1.784 0 0 0 67 16 SoapBottle -0.871 0.193 2.058 0 90 0 84 17 SaltShaker 1.703 0.716 -1.443 0 0 0 70 18 SaltShaker 0.716 0.112 -1.445 0 0 0 61 19 Bread 0.571 0.995 -1.369 0 0 0 54 20 Lettuce -2.584 0.943 3.559 0 0 0 56 21 Apple -0.149 0.444 1.996 0 180 0 79 22 Book -2.050 0.116 -1.433 0 0 0 55 23 Fork -2.807 0.875 3.559 0 90 0 56 24 Tomato 0.307 0.436 2.054 0 180 0 79 25 Egg -0.034 1.169 2.286 0 180 0 79 26 Kettle 0.974 0.957 -1.688 0 180 0 53 27 Vase 3.671 0.168 1.841 0 0 0 77 28 Cup -0.149 1.570 1.981 0 180 0 79 29 WineBottle -0.943 1.655 -1.712 0 0 0 66 30 Plate 0.307 1.576 2.100 0 180 0 79 31 Spatula -2.081 0.733 -1.579 0 270 0 73 32 Potato -0.255 0.733 -1.573 0 270 0 83 33 Pot -2.072 0.914 -0.288 0 0 0 54 34 Knife -1.748 0.739 -0.930 0 90 0 69 35 SaltShaker 0.560 0.714 -1.476 0 0 0 71 36 PepperShaker 1.622 0.716 -1.443 0 0 0 70 37 Lettuce -2.898 0.943 3.460 0 135 0 56 38 ButterKnife -2.152 0.874 3.296 0 270 0 56 39 Bread -2.152 0.961 3.073 0 270 0 56 40 Vase -2.072 0.913 -0.614 0 0 0 54 41 DishSponge 0.521 0.718 -1.376 0 0 0 71 42 Apple -0.897 0.247 2.213 0 90 0 84 43 Pan -3.017 0.874 2.863 0 225 0 56 44 Spoon 1.760 0.911 -1.709 0 90 0 74 45 SoapBottle -2.434 0.879 3.207 0 135 0 56 46 Mug -1.649 0.114 -0.691 0 270 0 59 47 Statue 3.586 0.560 1.656 0 270 0 77 48 Statue 3.668 0.540 1.800 0 0 0 77 49 Bowl -0.149 0.800 2.080 0 180 0 79 50 Cabinet -2.171 2.009 -1.538 0 0 0 51 Sink 0.024 0.771 -1.708 0 270 0 52 Cabinet 1.444 2.259 -1.542 0 0 0 53 StoveBurner 0.974 0.957 -1.688 0 180 0 54 CounterTop -1.866 0.947 -0.614 0 0 0 55 Cabinet -2.217 0.373 -1.874 0 0 0 56 DiningTable -2.663 0.002 3.208 0 0 0 57 StoveBurner 1.328 0.957 -1.688 0 180 0 58 StoveBurner 1.328 0.957 -1.420 0 180 0 59 Cabinet -1.478 0.373 -1.235 0 0 0 60 Cabinet 1.775 0.372 -1.242 0 0 0 61 Cabinet 0.774 0.372 -1.242 0 0 0 62 Cabinet 0.375 0.372 -1.242 0 0 0 63 Cabinet -0.574 0.372 -1.238 0 0 0 64 Cabinet 1.775 2.009 -1.542 0 0 0 65 Cabinet 0.524 2.009 -1.542 0 0 0 66 Cabinet -0.714 2.009 -1.542 0 0 0 67 Cabinet -1.671 2.009 -1.538 0 0 0 68 Cabinet 0.854 2.259 -1.542 0 0 0 69 Drawer -1.636 0.683 -0.930 0 0 0 70 Drawer 1.650 0.682 -1.396 0 0 0 71 Drawer 0.600 0.682 -1.396 0 0 0 72 StoveBurner 0.974 0.957 -1.419 0 180 0 73 Drawer -2.062 0.683 -1.579 0 0 0 74 CounterTop 1.645 0.945 -1.527 0 0 0 75 Shelf 3.725 0.880 1.671 0 90 0 76 LightSwitch 2.830 1.266 -0.748 0 0 0 77 Shelf 3.726 0.552 1.671 0 90 0 78 Microwave 1.150 1.655 -1.614 0 0 0 79 Fridge -0.035 0.0 2.177 0 180 0 80 Window -0.115 1.802 -1.896 90 0 0 81 Window -4.009 1.799 0.310 90 90 0 82 Shelf 3.726 0.172 1.671 0 90 0 83 SinkBasin -0.330 0.686 -1.581 0 270 0 84 GarbageCan -0.870 -0.001 2.136 0 90 0 85 StoveKnob 1.089 0.913 -1.243 45 0 0 86 StoveKnob 1.208 0.913 -1.243 45 0 0 87 StoveKnob 1.340 0.913 -1.243 45 0 0 88 StoveKnob 0.961 0.913 -1.243 45 0 0 89 Toaster 1.637 0.900 -1.673 0 0 0 90 Chair -3.505 0.002 3.290 0 105.736 0 91 CoffeeMachine -1.111 0.900 -1.726 0 0 0 92 HousePlant -2.663 0.835 3.209 0 0 0 93 Faucet -0.187 0.922 -1.75 0 311.166 0 94 ShelvingUnit 3.726 0.006 1.671 0 90 0 95 Stool -2.501 -0.000 0.062 1.223 91.243 0 96 Stool -2.475 -0.000 -0.802 1.209 69.808 0 97 Chair -2.934 0.002 2.437 0 28.531 0 98 Chair -1.698 0.002 3.235 0 245.204 0 99 NorthWall 100 EastWall 101 SouthWall 102 WestWall
[ "STEP 1: Turn around and walk to the fridge then turn left to face it. | STEP 2: Open the freezer and grab the black plate then close the door. | STEP 3: Turn around and walk to the stove that's in front of you to your left. | STEP 4: Look up and warm the plate in the microwave then take it back out and close the door. | STEP 5: Move a small step to your left. | STEP 6: Put the plate under the toaster. | END" ]
[ [ "STEP 1: Turn around and walk to the fridge then turn left to face it. ", " STEP 2: Open the freezer and grab the black plate then close the door. ", " STEP 3: Turn around and walk to the stove that's in front of you to your left. ", " STEP 4: Look up and warm the plate in the microwave then take it back out and close the door. ", " STEP 5: Move a small step to your left. ", " STEP 6: Put the plate under the toaster. ", " END" ] ]
seen
trial_T20190909_100552_124528-2
Place a heated plate on a counter.
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " -2.75", " 0.900", " 1.5", " 0", " 270", " 0", "" ], [ "1", " Pan", " 0.974", " 0.957", " -1.419", " 0", " 180", " 0", " 72" ], [ "2", " Potato", " 0.124", " 0.965", " -1.790", " 0", " 270", " 0", " 51" ], [ "3", " Potato", " -0.149", " 1.608", " 2.279", " 0", " 180", " 0", " 79" ], [ "4", " Book", " -1.738", " 0.908", " 0.037", " 0", " 0", " 0", " 54" ], [ "5", " ButterKnife", " -2.592", " 0.874", " 3.393", " 0", " 225", " 0", " 56" ], [ "6", " Kettle", " -1.627", " 0.913", " -1.591", " 0", " 0", " 0", " 54" ], [ "7", " WineBottle", " 0.595", " 1.654", " -1.712", " 0", " 0", " 0", " 65" ], [ "8", " WineBottle", " -2.525", " 0.875", " 2.878", " 0", " 135", " 0", " 56" ], [ "9", " Spatula", " -1.627", " 0.927", " -0.288", " 0", " 0", " 0", " 54" ], [ "10", " Pot", " -2.659", " 0.877", " 2.715", " 0", " 0", " 0", " 56" ], [ "11", " Fork", " 0.525", " 0.912", " -1.776", " 0", " 90", " 0", " 54" ], [ "12", " Egg", " -0.035", " 0.414", " 1.967", " 0", " 180", " 0", " 79" ], [ "13", " Egg", " -0.377", " 1.169", " 2.286", " 0", " 180", " 0", " 79" ], [ "14", " Cup", " -1.444", " 1.655", " -1.637", " 0", " 0", " 0", " 67" ], [ "15", " SoapBottle", " -1.501", " 1.657", " -1.784", " 0", " 0", " 0", " 67" ], [ "16", " SoapBottle", " -0.871", " 0.193", " 2.058", " 0", " 90", " 0", " 84" ], [ "17", " SaltShaker", " 1.703", " 0.716", " -1.443", " 0", " 0", " 0", " 70" ], [ "18", " SaltShaker", " 0.716", " 0.112", " -1.445", " 0", " 0", " 0", " 61" ], [ "19", " Bread", " 0.571", " 0.995", " -1.369", " 0", " 0", " 0", " 54" ], [ "20", " Lettuce", " -2.584", " 0.943", " 3.559", " 0", " 0", " 0", " 56" ], [ "21", " Apple", " -0.149", " 0.444", " 1.996", " 0", " 180", " 0", " 79" ], [ "22", " Book", " -2.050", " 0.116", " -1.433", " 0", " 0", " 0", " 55" ], [ "23", " Fork", " -2.807", " 0.875", " 3.559", " 0", " 90", " 0", " 56" ], [ "24", " Tomato", " 0.307", " 0.436", " 2.054", " 0", " 180", " 0", " 79" ], [ "25", " Egg", " -0.034", " 1.169", " 2.286", " 0", " 180", " 0", " 79" ], [ "26", " Kettle", " 0.974", " 0.957", " -1.688", " 0", " 180", " 0", " 53" ], [ "27", " Vase", " 3.671", " 0.168", " 1.841", " 0", " 0", " 0", " 77" ], [ "28", " Cup", " -0.149", " 1.570", " 1.981", " 0", " 180", " 0", " 79" ], [ "29", " WineBottle", " -0.943", " 1.655", " -1.712", " 0", " 0", " 0", " 66" ], [ "30", " Plate", " 0.307", " 1.576", " 2.100", " 0", " 180", " 0", " 79" ], [ "31", " Spatula", " -2.081", " 0.733", " -1.579", " 0", " 270", " 0", " 73" ], [ "32", " Potato", " -0.255", " 0.733", " -1.573", " 0", " 270", " 0", " 83" ], [ "33", " Pot", " -2.072", " 0.914", " -0.288", " 0", " 0", " 0", " 54" ], [ "34", " Knife", " -1.748", " 0.739", " -0.930", " 0", " 90", " 0", " 69" ], [ "35", " SaltShaker", " 0.560", " 0.714", " -1.476", " 0", " 0", " 0", " 71" ], [ "36", " PepperShaker", " 1.622", " 0.716", " -1.443", " 0", " 0", " 0", " 70" ], [ "37", " Lettuce", " -2.898", " 0.943", " 3.460", " 0", " 135", " 0", " 56" ], [ "38", " ButterKnife", " -2.152", " 0.874", " 3.296", " 0", " 270", " 0", " 56" ], [ "39", " Bread", " -2.152", " 0.961", " 3.073", " 0", " 270", " 0", " 56" ], [ "40", " Vase", " -2.072", " 0.913", " -0.614", " 0", " 0", " 0", " 54" ], [ "41", " DishSponge", " 0.521", " 0.718", " -1.376", " 0", " 0", " 0", " 71" ], [ "42", " Apple", " -0.897", " 0.247", " 2.213", " 0", " 90", " 0", " 84" ], [ "43", " Pan", " -3.017", " 0.874", " 2.863", " 0", " 225", " 0", " 56" ], [ "44", " Spoon", " 1.760", " 0.911", " -1.709", " 0", " 90", " 0", " 74" ], [ "45", " SoapBottle", " -2.434", " 0.879", " 3.207", " 0", " 135", " 0", " 56" ], [ "46", " Mug", " -1.649", " 0.114", " -0.691", " 0", " 270", " 0", " 59" ], [ "47", " Statue", " 3.586", " 0.560", " 1.656", " 0", " 270", " 0", " 77" ], [ "48", " Statue", " 3.668", " 0.540", " 1.800", " 0", " 0", " 0", " 77" ], [ "49", " Bowl", " -0.149", " 0.800", " 2.080", " 0", " 180", " 0", " 79" ], [ "50", " Cabinet", " -2.171", " 2.009", " -1.538", " 0", " 0", " 0", "" ], [ "51", " Sink", " 0.024", " 0.771", " -1.708", " 0", " 270", " 0", "" ], [ "52", " Cabinet", " 1.444", " 2.259", " -1.542", " 0", " 0", " 0", "" ], [ "53", " StoveBurner", " 0.974", " 0.957", " -1.688", " 0", " 180", " 0", "" ], [ "54", " CounterTop", " -1.866", " 0.947", " -0.614", " 0", " 0", " 0", "" ], [ "55", " Cabinet", " -2.217", " 0.373", " -1.874", " 0", " 0", " 0", "" ], [ "56", " DiningTable", " -2.663", " 0.002", " 3.208", " 0", " 0", " 0", "" ], [ "57", " StoveBurner", " 1.328", " 0.957", " -1.688", " 0", " 180", " 0", "" ], [ "58", " StoveBurner", " 1.328", " 0.957", " -1.420", " 0", " 180", " 0", "" ], [ "59", " Cabinet", " -1.478", " 0.373", " -1.235", " 0", " 0", " 0", "" ], [ "60", " Cabinet", " 1.775", " 0.372", " -1.242", " 0", " 0", " 0", "" ], [ "61", " Cabinet", " 0.774", " 0.372", " -1.242", " 0", " 0", " 0", "" ], [ "62", " Cabinet", " 0.375", " 0.372", " -1.242", " 0", " 0", " 0", "" ], [ "63", " Cabinet", " -0.574", " 0.372", " -1.238", " 0", " 0", " 0", "" ], [ "64", " Cabinet", " 1.775", " 2.009", " -1.542", " 0", " 0", " 0", "" ], [ "65", " Cabinet", " 0.524", " 2.009", " -1.542", " 0", " 0", " 0", "" ], [ "66", " Cabinet", " -0.714", " 2.009", " -1.542", " 0", " 0", " 0", "" ], [ "67", " Cabinet", " -1.671", " 2.009", " -1.538", " 0", " 0", " 0", "" ], [ "68", " Cabinet", " 0.854", " 2.259", " -1.542", " 0", " 0", " 0", "" ], [ "69", " Drawer", " -1.636", " 0.683", " -0.930", " 0", " 0", " 0", "" ], [ "70", " Drawer", " 1.650", " 0.682", " -1.396", " 0", " 0", " 0", "" ], [ "71", " Drawer", " 0.600", " 0.682", " -1.396", " 0", " 0", " 0", "" ], [ "72", " StoveBurner", " 0.974", " 0.957", " -1.419", " 0", " 180", " 0", "" ], [ "73", " Drawer", " -2.062", " 0.683", " -1.579", " 0", " 0", " 0", "" ], [ "74", " CounterTop", " 1.645", " 0.945", " -1.527", " 0", " 0", " 0", "" ], [ "75", " Shelf", " 3.725", " 0.880", " 1.671", " 0", " 90", " 0", "" ], [ "76", " LightSwitch", " 2.830", " 1.266", " -0.748", " 0", " 0", " 0", "" ], [ "77", " Shelf", " 3.726", " 0.552", " 1.671", " 0", " 90", " 0", "" ], [ "78", " Microwave", " 1.150", " 1.655", " -1.614", " 0", " 0", " 0", "" ], [ "79", " Fridge", " -0.035", " 0.0", " 2.177", " 0", " 180", " 0", "" ], [ "80", " Window", " -0.115", " 1.802", " -1.896", " 90", " 0", " 0", "" ], [ "81", " Window", " -4.009", " 1.799", " 0.310", " 90", " 90", " 0", "" ], [ "82", " Shelf", " 3.726", " 0.172", " 1.671", " 0", " 90", " 0", "" ], [ "83", " SinkBasin", " -0.330", " 0.686", " -1.581", " 0", " 270", " 0", "" ], [ "84", " GarbageCan", " -0.870", " -0.001", " 2.136", " 0", " 90", " 0", "" ], [ "85", " StoveKnob", " 1.089", " 0.913", " -1.243", " 45", " 0", " 0", "" ], [ "86", " StoveKnob", " 1.208", " 0.913", " -1.243", " 45", " 0", " 0", "" ], [ "87", " StoveKnob", " 1.340", " 0.913", " -1.243", " 45", " 0", " 0", "" ], [ "88", " StoveKnob", " 0.961", " 0.913", " -1.243", " 45", " 0", " 0", "" ], [ "89", " Toaster", " 1.637", " 0.900", " -1.673", " 0", " 0", " 0", "" ], [ "90", " Chair", " -3.505", " 0.002", " 3.290", " 0", " 105.736", " 0", "" ], [ "91", " CoffeeMachine", " -1.111", " 0.900", " -1.726", " 0", " 0", " 0", "" ], [ "92", " HousePlant", " -2.663", " 0.835", " 3.209", " 0", " 0", " 0", "" ], [ "93", " Faucet", " -0.187", " 0.922", " -1.75", " 0", " 311.166", " 0", "" ], [ "94", " ShelvingUnit", " 3.726", " 0.006", " 1.671", " 0", " 90", " 0", "" ], [ "95", " Stool", " -2.501", " -0.000", " 0.062", " 1.223", " 91.243", " 0", "" ], [ "96", " Stool", " -2.475", " -0.000", " -0.802", " 1.209", " 69.808", " 0", "" ], [ "97", " Chair", " -2.934", " 0.002", " 2.437", " 0", " 28.531", " 0", "" ], [ "98", " Chair", " -1.698", " 0.002", " 3.235", " 0", " 245.204", " 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 -2.75 0.900 1.5 0 270 0 1 Pan 0.974 0.957 -1.419 0 180 0 72 2 Potato 0.124 0.965 -1.790 0 270 0 51 3 Potato -0.149 1.608 2.279 0 180 0 79 4 Book -1.738 0.908 0.037 0 0 0 54 5 ButterKnife -2.592 0.874 3.393 0 225 0 56 6 Kettle -1.627 0.913 -1.591 0 0 0 54 7 WineBottle 0.595 1.654 -1.712 0 0 0 65 8 WineBottle -2.525 0.875 2.878 0 135 0 56 9 Spatula -1.627 0.927 -0.288 0 0 0 54 10 Pot -2.659 0.877 2.715 0 0 0 56 11 Fork 0.525 0.912 -1.776 0 90 0 54 12 Egg -0.035 0.414 1.967 0 180 0 79 13 Egg -0.377 1.169 2.286 0 180 0 79 14 Cup -1.444 1.655 -1.637 0 0 0 67 15 SoapBottle -1.501 1.657 -1.784 0 0 0 67 16 SoapBottle -0.871 0.193 2.058 0 90 0 84 17 SaltShaker 1.703 0.716 -1.443 0 0 0 70 18 SaltShaker 0.716 0.112 -1.445 0 0 0 61 19 Bread 0.571 0.995 -1.369 0 0 0 54 20 Lettuce -2.584 0.943 3.559 0 0 0 56 21 Apple -0.149 0.444 1.996 0 180 0 79 22 Book -2.050 0.116 -1.433 0 0 0 55 23 Fork -2.807 0.875 3.559 0 90 0 56 24 Tomato 0.307 0.436 2.054 0 180 0 79 25 Egg -0.034 1.169 2.286 0 180 0 79 26 Kettle 0.974 0.957 -1.688 0 180 0 53 27 Vase 3.671 0.168 1.841 0 0 0 77 28 Cup -0.149 1.570 1.981 0 180 0 79 29 WineBottle -0.943 1.655 -1.712 0 0 0 66 30 Plate 0.307 1.576 2.100 0 180 0 79 31 Spatula -2.081 0.733 -1.579 0 270 0 73 32 Potato -0.255 0.733 -1.573 0 270 0 83 33 Pot -2.072 0.914 -0.288 0 0 0 54 34 Knife -1.748 0.739 -0.930 0 90 0 69 35 SaltShaker 0.560 0.714 -1.476 0 0 0 71 36 PepperShaker 1.622 0.716 -1.443 0 0 0 70 37 Lettuce -2.898 0.943 3.460 0 135 0 56 38 ButterKnife -2.152 0.874 3.296 0 270 0 56 39 Bread -2.152 0.961 3.073 0 270 0 56 40 Vase -2.072 0.913 -0.614 0 0 0 54 41 DishSponge 0.521 0.718 -1.376 0 0 0 71 42 Apple -0.897 0.247 2.213 0 90 0 84 43 Pan -3.017 0.874 2.863 0 225 0 56 44 Spoon 1.760 0.911 -1.709 0 90 0 74 45 SoapBottle -2.434 0.879 3.207 0 135 0 56 46 Mug -1.649 0.114 -0.691 0 270 0 59 47 Statue 3.586 0.560 1.656 0 270 0 77 48 Statue 3.668 0.540 1.800 0 0 0 77 49 Bowl -0.149 0.800 2.080 0 180 0 79 50 Cabinet -2.171 2.009 -1.538 0 0 0 51 Sink 0.024 0.771 -1.708 0 270 0 52 Cabinet 1.444 2.259 -1.542 0 0 0 53 StoveBurner 0.974 0.957 -1.688 0 180 0 54 CounterTop -1.866 0.947 -0.614 0 0 0 55 Cabinet -2.217 0.373 -1.874 0 0 0 56 DiningTable -2.663 0.002 3.208 0 0 0 57 StoveBurner 1.328 0.957 -1.688 0 180 0 58 StoveBurner 1.328 0.957 -1.420 0 180 0 59 Cabinet -1.478 0.373 -1.235 0 0 0 60 Cabinet 1.775 0.372 -1.242 0 0 0 61 Cabinet 0.774 0.372 -1.242 0 0 0 62 Cabinet 0.375 0.372 -1.242 0 0 0 63 Cabinet -0.574 0.372 -1.238 0 0 0 64 Cabinet 1.775 2.009 -1.542 0 0 0 65 Cabinet 0.524 2.009 -1.542 0 0 0 66 Cabinet -0.714 2.009 -1.542 0 0 0 67 Cabinet -1.671 2.009 -1.538 0 0 0 68 Cabinet 0.854 2.259 -1.542 0 0 0 69 Drawer -1.636 0.683 -0.930 0 0 0 70 Drawer 1.650 0.682 -1.396 0 0 0 71 Drawer 0.600 0.682 -1.396 0 0 0 72 StoveBurner 0.974 0.957 -1.419 0 180 0 73 Drawer -2.062 0.683 -1.579 0 0 0 74 CounterTop 1.645 0.945 -1.527 0 0 0 75 Shelf 3.725 0.880 1.671 0 90 0 76 LightSwitch 2.830 1.266 -0.748 0 0 0 77 Shelf 3.726 0.552 1.671 0 90 0 78 Microwave 1.150 1.655 -1.614 0 0 0 79 Fridge -0.035 0.0 2.177 0 180 0 80 Window -0.115 1.802 -1.896 90 0 0 81 Window -4.009 1.799 0.310 90 90 0 82 Shelf 3.726 0.172 1.671 0 90 0 83 SinkBasin -0.330 0.686 -1.581 0 270 0 84 GarbageCan -0.870 -0.001 2.136 0 90 0 85 StoveKnob 1.089 0.913 -1.243 45 0 0 86 StoveKnob 1.208 0.913 -1.243 45 0 0 87 StoveKnob 1.340 0.913 -1.243 45 0 0 88 StoveKnob 0.961 0.913 -1.243 45 0 0 89 Toaster 1.637 0.900 -1.673 0 0 0 90 Chair -3.505 0.002 3.290 0 105.736 0 91 CoffeeMachine -1.111 0.900 -1.726 0 0 0 92 HousePlant -2.663 0.835 3.209 0 0 0 93 Faucet -0.187 0.922 -1.75 0 311.166 0 94 ShelvingUnit 3.726 0.006 1.671 0 90 0 95 Stool -2.501 -0.000 0.062 1.223 91.243 0 96 Stool -2.475 -0.000 -0.802 1.209 69.808 0 97 Chair -2.934 0.002 2.437 0 28.531 0 98 Chair -1.698 0.002 3.235 0 245.204 0 99 NorthWall 100 EastWall 101 SouthWall 102 WestWall
[ "STEP 1: Turn around and walk to the black fridge on the left. | STEP 2: Pick up the black plate from inside the fridge on the top shelf on the right and close the door. | STEP 3: Turn right and walk to the white stove on the right. | STEP 4: Put the plate inside the microwave above the stove, heat it, remove it, and close the door. | STEP 5: Turn left and walk to the small counter to the right next to the stove. | STEP 6: Put the heated plate on the counter in front of the toaster. | END" ]
[ [ "STEP 1: Turn around and walk to the black fridge on the left. ", " STEP 2: Pick up the black plate from inside the fridge on the top shelf on the right and close the door. ", " STEP 3: Turn right and walk to the white stove on the right. ", " STEP 4: Put the plate inside the microwave above the stove, heat it, remove it, and close the door. ", " STEP 5: Turn left and walk to the small counter to the right next to the stove. ", " STEP 6: Put the heated plate on the counter in front of the toaster. ", " END" ] ]
seen
trial_T20190907_181551_510121-0
Cool the glass from the shelf so you can return it to a lower shelf
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-1.963", " 0.804", " -1.760", " 0", " 90", " 0", " 102" ], [ "12", " Egg", " -0.277", " 1.825", " -2.578", " 0", " 0", " 0", " 93" ], [ "13", " Tomato", " -1.290", " 0.950", " -2.560", " 0", " 0", " 0", " 92" ], [ "14", " Tomato", " -1.999", " 0.265", " 0.920", " 0", " 90", " 0", " 100" ], [ "15", " PepperShaker", " 1.123", " 0.311", " -2.286", " 0", " 0", " 0", " 71" ], [ "16", " Bread", " 0.217", " 1.184", " -0.001", " 0", " 0", " 0", " 67" ], [ "17", " Bread", " -2.080", " 0.612", " 0.920", " 0", " 90", " 0", " 100" ], [ "18", " Knife", " 0.840", " 0.936", " -2.407", " 0", " 180", " 0", " 69" ], [ "19", " Knife", " -0.995", " 0.936", " -2.253", " 0", " 0", " 0", " 92" ], [ "20", " Fork", " 0.355", " 1.112", " 0.251", " 0", " 0", " 0", " 67" ], [ "21", " Fork", " -1.963", " 0.770", " -1.242", " 0", " 180", " 0", " 102" ], [ "22", " Spoon", " 0.892", " 0.647", " -2.417", " 0", " 0", " 0", " 72" ], [ "23", " Spoon", " -0.848", " 0.912", " -2.637", " 0", " 0", " 0", " 92" ], [ "24", " Mug", " -1.731", " 0.956", " -0.168", " 0", " 90", " 0", " 101" ], [ "25", " Spatula", " 1.119", " 0.791", " -2.291", " 0", " 270", " 0", " 63" ], [ "26", " Pot", " -0.465", " 0.950", " -2.372", " 0", " 90", " 0", " 65" ], [ "27", " ButterKnife", " -1.586", " 0.911", " -2.253", " 0", " 0", " 0", " 92" ], [ "28", " ButterKnife", " -0.335", " 1.111", " 0.251", " 0", " 0", " 0", " 67" ], [ "29", " Glassbottle", " -1.665", " 0.130", " 0.248", " 0", " 90", " 0", " 73" ], [ "30", " DishSponge", " 1.582", " 0.552", " -2.562", " 0", " 180", " 0", " 97" ], [ "31", " Bowl", " -1.908", " 0.766", " -1.501", " 0", " 90", " 0", " 102" ], [ "32", " Book", " 0.155", " 1.1", " 0.617", " 0", " 315", " 0", " 67" ], [ "33", " Glassbottle", " -1.907", " 0.048", " 1.981", " 0", " 270", " 0", " 98" ], [ "34", " Knife", " 0.582", " 0.936", " -2.484", " 0", " 0", " 0", " 69" ], [ "35", " Bread", " 0.079", " 1.184", " -0.506", " 0", " 0", " 0", " 67" ], [ "36", " Fork", " -1.908", " 0.770", " -1.587", " 0", " 270", " 0", " 102" ], [ "37", " Potato", " -0.277", " 1.820", " -2.514", " 0", " 0", " 0", " 93" ], [ "38", " SoapBottle", " 1.478", " 0.554", " -2.562", " 0", " 180", " 0", " 97" ], [ "39", " Kettle", " 0.450", " 0.141", " -2.436", " 0", " 0", " 0", " 84" ], [ "40", " Pan", " 0.721", " 0.9", " -2.415", " 0", " 0", " 0", " 69" ], [ "41", " Plate", " -1.143", " 0.908", " -2.406", " 0", " 0", " 0", " 92" ], [ "42", " Tomato", " -1.143", " 0.950", " -2.637", " 0", " 0", " 0", " 92" ], [ "43", " Vase", " -1.296", " 0.139", " -2.402", " 0", " 0", " 0", " 85" ], [ "44", " Egg", " -1.962", " 0.083", " 2.076", " 0", " 270", " 0", " 98" ], [ "45", " CreditCard", " 0.453", " 0.907", " -2.253", " 0", " 0", " 0", " 69" ], [ "46", " Statue", " 1.955", " 0.168", " -2.543", " 0", " 0", " 0", " 99" ], [ "47", " WineBottle", " 0.324", " 0.911", " -2.560", " 0", " 0", " 0", " 69" ], [ "48", " Pot", " -0.059", " 1.115", " -0.759", " 0", " 0", " 0", " 67" ], [ "49", " Spatula", " -1.774", " 0.926", " -2.256", " 0", " 0", " 0", " 92" ], [ "50", " PaperTowelRoll", " 0.969", " 1.014", " -2.253", " 0", " 0", " 0", " 69" ], [ "51", " Cup", " 1.685", " 0.550", " -2.614", " 0", " 180", " 0", " 97" ], [ "52", " Vase", " 0.079", " 1.109", " -0.001", " 0", " 0", " 0", " 67" ], [ "53", " Bowl", " -0.848", " 0.908", " -2.329", " 0", " 0", " 0", " 92" ], [ "54", " SaltShaker", " -1.824", " 0.474", " -0.148", " 0", " 90", " 0", " 82" ], [ "55", " PepperShaker", " 1.893", " 0.549", " -2.562", " 0", " 180", " 0", " 97" ], [ "56", " Lettuce", " 0.355", " 1.191", " -0.506", " 0", " 0", " 0", " 67" ], [ "57", " ButterKnife", " -0.059", " 1.111", " -0.253", " 0", " 0", " 0", " 67" ], [ "58", " Apple", " -0.473", " 1.162", " -0.759", " 0", " 0", " 0", " 67" ], [ "59", " DishSponge", " 0.951", " 0.314", " -2.286", " 0", " 0", " 0", " 71" ], [ "60", " Spoon", " -0.335", " 1.112", " -0.506", " 0", " 0", " 0", " 67" ], [ "61", " Mug", " -1.611", " 0.906", " -2.366", " 0", " 0", " 0", " 92" ], [ "62", " StoveBurner", " -0.036", " 0.915", " -2.372", " 0", " 0", " 0", "" ], [ "63", " Drawer", " 0.949", " 0.832", " -2.197", " 0", " 0", " 0", "" ], [ "64", " Drawer", " -1.560", " 0.839", " 0.204", " 0", " 90", " 0", "" ], [ "65", " StoveBurner", " -0.465", " 0.915", " -2.371", " 0", " 180", " 0", "" ], [ "66", " Drawer", " -1.560", " 0.839", " -0.197", " 0", " 90", " 0", "" ], [ "67", " CounterTop", " -0.079", " 1.147", " -0.001", " 0", " 0", " 0", "" ], [ "68", " Cabinet", " -1.549", " 0.494", " -1.964", " 0", " 90", " 0", "" ], [ "69", " CounterTop", " 0.693", " 0.946", " -2.483", " 0", " 0", " 0", "" ], [ "70", " StoveBurner", " -0.036", " 0.915", " -2.576", " 0", " 0", " 0", "" ], [ "71", " Drawer", " 0.949", " 0.393", " -2.200", " 0", " 0", " 0", "" ], [ "72", " Drawer", " 0.949", " 0.708", " -2.200", " 0", " 0", " 0", "" ], [ "73", " Cabinet", " -1.549", " 0.494", " 0.379", " 0", " 90", " 0", "" ], [ "74", " StoveKnob", " -0.022", " 0.881", " -2.187", " 45", " 0", " 0", "" ], [ "75", " Drawer", " 0.949", " 0.560", " -2.201", " 0", " 0", " 0", "" ], [ "76", " StoveBurner", " -0.465", " 0.915", " -2.575", " 0", " 180", " 0", "" ], [ "77", " Window", " -2.230", " 1.429", " -1.203", " 0", " 0", " 0", "" ], [ "78", " StoveKnob", " -0.483", " 0.881", " -2.187", " 45", " 0", " 0", "" ], [ "79", " Sink", " -1.899", " 0.964", " -1.5", " 0", " 90", " 0", "" ], [ "80", " StoveKnob", " -0.328", " 0.881", " -2.187", " 45", " 0", " 0", "" ], [ "81", " Cabinet", " -0.727", " 2.015", " -2.460", " 0", " 0", " 0", "" ], [ "82", " Drawer", " -1.560", " 0.655", " -0.196", " 0", " 90", " 0", "" ], [ "83", " Cabinet", " -1.685", " 2.015", " -2.461", " 0", " 0", " 0", "" ], [ "84", " Cabinet", " 0.680", " 0.494", " -2.200", " 0", " 0", " 0", "" ], [ "85", " Cabinet", " -1.179", " 0.494", " -2.200", " 0", " 0", " 0", "" ], [ "86", " Cabinet", " -1.849", " 2.015", " 0.379", " 0", " 90", " 0", "" ], [ "87", " Drawer", " 0.949", " 0.221", " -2.200", " 0", " 0", " 0", "" ], [ "88", " StoveKnob", " -0.183", " 0.881", " -2.187", " 45", " 0", " 0", "" ], [ "89", " Cabinet", " 0.719", " 2.015", " -2.460", " 0", " 0", " 0", "" ], [ "90", " Drawer", " -1.560", " 0.331", " -0.196", " 0", " 90", " 0", "" ], [ "91", " Cabinet", " 0.680", " 2.015", " -2.460", " 0", " 0", " 0", "" ], [ "92", " CounterTop", " -1.868", " 0.946", " -1.205", " 0", " 0", " 0", "" ], [ "93", " Microwave", " -0.236", " 1.689", " -2.525", " 0", " 0", " 0", "" ], [ "94", " Shelf", " 1.751", " 0.880", " -2.560", " 0", " 0", " 0", "" ], [ "95", " HousePlant", " -1.948", " 0.889", " -2.520", " 0", " 5.334", " 0", "" ], [ "96", " Toaster", " -1.835", " 0.900", " 0.134", " 0", " 90", " 0", "" ], [ "97", " Shelf", " 1.750", " 0.552", " -2.559", " 0", " 0", " 0", "" ], [ "98", " GarbageCan", " -1.935", " -0.002", " 2.029", " 0", " 270", " 0", "" ], [ "99", " Shelf", " 1.750", " 0.172", " -2.559", " 0", " 0", " 0", "" ], [ "100", " Fridge", " -2.096", " 0.0", " 1.088", " 0", " 0", " 0", "" ], [ "101", " CoffeeMachine", " -1.977", " 0.900", " -0.188", " 0", " 90", " 0", "" ], [ "102", " SinkBasin", " -1.908", " 0.759", " -1.488", " 0", " 90", " 0", "" ], [ "103", " LightSwitch", " 2.329", " 1.309", " -0.159", " 0", " 270", " 0", "" ], [ "104", " ShelvingUnit", " 1.750", " 0.006", " -2.559", " 0", " 0", " 0", "" ], [ "105", " Stool", " 0.702", " 0.000", " -0.514", " 1.202", " 65.108", " 0", "" ], [ "106", " Stool", " 0.743", " 0.000", " 0.563", " 1.227", " 106.706", " 0", "" ], [ "107", " Faucet", " -2.070", " 1.132", " -1.514", " 0", " 0", " 0", "" ], [ "108", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "109", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "110", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "111", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 1.75 0.900 0.75 0 90 0 1 Pan -0.036 0.950 -2.372 0 270 0 62 2 Statue -1.774 0.910 -0.698 0 0 0 92 3 Statue -0.335 1.110 -0.001 0 90 0 67 4 Vase 2.100 0.550 -2.562 0 180 0 97 5 Potato -1.995 0.828 1.334 0 90 0 100 6 Potato -1.290 0.941 -2.253 0 0 0 92 7 CreditCard 0.453 0.907 -2.637 0 0 0 69 8 Plate -2.040 1.499 0.925 0 90 0 100 9 Cup 1.891 0.878 -2.590 0 180 0 94 10 Cup -0.173 1.788 -2.546 0 0 0 93 11 Egg -1.963 0.804 -1.760 0 90 0 102 12 Egg -0.277 1.825 -2.578 0 0 0 93 13 Tomato -1.290 0.950 -2.560 0 0 0 92 14 Tomato -1.999 0.265 0.920 0 90 0 100 15 PepperShaker 1.123 0.311 -2.286 0 0 0 71 16 Bread 0.217 1.184 -0.001 0 0 0 67 17 Bread -2.080 0.612 0.920 0 90 0 100 18 Knife 0.840 0.936 -2.407 0 180 0 69 19 Knife -0.995 0.936 -2.253 0 0 0 92 20 Fork 0.355 1.112 0.251 0 0 0 67 21 Fork -1.963 0.770 -1.242 0 180 0 102 22 Spoon 0.892 0.647 -2.417 0 0 0 72 23 Spoon -0.848 0.912 -2.637 0 0 0 92 24 Mug -1.731 0.956 -0.168 0 90 0 101 25 Spatula 1.119 0.791 -2.291 0 270 0 63 26 Pot -0.465 0.950 -2.372 0 90 0 65 27 ButterKnife -1.586 0.911 -2.253 0 0 0 92 28 ButterKnife -0.335 1.111 0.251 0 0 0 67 29 Glassbottle -1.665 0.130 0.248 0 90 0 73 30 DishSponge 1.582 0.552 -2.562 0 180 0 97 31 Bowl -1.908 0.766 -1.501 0 90 0 102 32 Book 0.155 1.1 0.617 0 315 0 67 33 Glassbottle -1.907 0.048 1.981 0 270 0 98 34 Knife 0.582 0.936 -2.484 0 0 0 69 35 Bread 0.079 1.184 -0.506 0 0 0 67 36 Fork -1.908 0.770 -1.587 0 270 0 102 37 Potato -0.277 1.820 -2.514 0 0 0 93 38 SoapBottle 1.478 0.554 -2.562 0 180 0 97 39 Kettle 0.450 0.141 -2.436 0 0 0 84 40 Pan 0.721 0.9 -2.415 0 0 0 69 41 Plate -1.143 0.908 -2.406 0 0 0 92 42 Tomato -1.143 0.950 -2.637 0 0 0 92 43 Vase -1.296 0.139 -2.402 0 0 0 85 44 Egg -1.962 0.083 2.076 0 270 0 98 45 CreditCard 0.453 0.907 -2.253 0 0 0 69 46 Statue 1.955 0.168 -2.543 0 0 0 99 47 WineBottle 0.324 0.911 -2.560 0 0 0 69 48 Pot -0.059 1.115 -0.759 0 0 0 67 49 Spatula -1.774 0.926 -2.256 0 0 0 92 50 PaperTowelRoll 0.969 1.014 -2.253 0 0 0 69 51 Cup 1.685 0.550 -2.614 0 180 0 97 52 Vase 0.079 1.109 -0.001 0 0 0 67 53 Bowl -0.848 0.908 -2.329 0 0 0 92 54 SaltShaker -1.824 0.474 -0.148 0 90 0 82 55 PepperShaker 1.893 0.549 -2.562 0 180 0 97 56 Lettuce 0.355 1.191 -0.506 0 0 0 67 57 ButterKnife -0.059 1.111 -0.253 0 0 0 67 58 Apple -0.473 1.162 -0.759 0 0 0 67 59 DishSponge 0.951 0.314 -2.286 0 0 0 71 60 Spoon -0.335 1.112 -0.506 0 0 0 67 61 Mug -1.611 0.906 -2.366 0 0 0 92 62 StoveBurner -0.036 0.915 -2.372 0 0 0 63 Drawer 0.949 0.832 -2.197 0 0 0 64 Drawer -1.560 0.839 0.204 0 90 0 65 StoveBurner -0.465 0.915 -2.371 0 180 0 66 Drawer -1.560 0.839 -0.197 0 90 0 67 CounterTop -0.079 1.147 -0.001 0 0 0 68 Cabinet -1.549 0.494 -1.964 0 90 0 69 CounterTop 0.693 0.946 -2.483 0 0 0 70 StoveBurner -0.036 0.915 -2.576 0 0 0 71 Drawer 0.949 0.393 -2.200 0 0 0 72 Drawer 0.949 0.708 -2.200 0 0 0 73 Cabinet -1.549 0.494 0.379 0 90 0 74 StoveKnob -0.022 0.881 -2.187 45 0 0 75 Drawer 0.949 0.560 -2.201 0 0 0 76 StoveBurner -0.465 0.915 -2.575 0 180 0 77 Window -2.230 1.429 -1.203 0 0 0 78 StoveKnob -0.483 0.881 -2.187 45 0 0 79 Sink -1.899 0.964 -1.5 0 90 0 80 StoveKnob -0.328 0.881 -2.187 45 0 0 81 Cabinet -0.727 2.015 -2.460 0 0 0 82 Drawer -1.560 0.655 -0.196 0 90 0 83 Cabinet -1.685 2.015 -2.461 0 0 0 84 Cabinet 0.680 0.494 -2.200 0 0 0 85 Cabinet -1.179 0.494 -2.200 0 0 0 86 Cabinet -1.849 2.015 0.379 0 90 0 87 Drawer 0.949 0.221 -2.200 0 0 0 88 StoveKnob -0.183 0.881 -2.187 45 0 0 89 Cabinet 0.719 2.015 -2.460 0 0 0 90 Drawer -1.560 0.331 -0.196 0 90 0 91 Cabinet 0.680 2.015 -2.460 0 0 0 92 CounterTop -1.868 0.946 -1.205 0 0 0 93 Microwave -0.236 1.689 -2.525 0 0 0 94 Shelf 1.751 0.880 -2.560 0 0 0 95 HousePlant -1.948 0.889 -2.520 0 5.334 0 96 Toaster -1.835 0.900 0.134 0 90 0 97 Shelf 1.750 0.552 -2.559 0 0 0 98 GarbageCan -1.935 -0.002 2.029 0 270 0 99 Shelf 1.750 0.172 -2.559 0 0 0 100 Fridge -2.096 0.0 1.088 0 0 0 101 CoffeeMachine -1.977 0.900 -0.188 0 90 0 102 SinkBasin -1.908 0.759 -1.488 0 90 0 103 LightSwitch 2.329 1.309 -0.159 0 270 0 104 ShelvingUnit 1.750 0.006 -2.559 0 0 0 105 Stool 0.702 0.000 -0.514 1.202 65.108 0 106 Stool 0.743 0.000 0.563 1.227 106.706 0 107 Faucet -2.070 1.132 -1.514 0 0 0 108 NorthWall 109 EastWall 110 SouthWall 111 WestWall
[ "STEP 1: turn right and go straight to the wall with the brown shelf | STEP 2: pick up the glass cup on the top shelf | STEP 3: Turn around, make a left and go straight to the sink, then turn right and face the refrigerator | STEP 4: open the refrigerator, place the glass on the top shelf, and close the door for a few seconds before taking the glass back out | STEP 5: make a left, turn right around the center counter top island, and stop in front of the brown shelf | STEP 6: place the glass on the second shelf from the top, in front of the baby bottle | END" ]
[ [ "STEP 1: turn right and go straight to the wall with the brown shelf ", " STEP 2: pick up the glass cup on the top shelf ", " STEP 3: Turn around, make a left and go straight to the sink, then turn right and face the refrigerator ", " STEP 4: open the refrigerator, place the glass on the top shelf, and close the door for a few seconds before taking the glass back out ", " STEP 5: make a left, turn right around the center counter top island, and stop in front of the brown shelf ", " STEP 6: place the glass on the second shelf from the top, in front of the baby bottle ", " END" ] ]
seen
trial_T20190907_181551_510121-1
Chill the glass in the fridge and return it to the shelf.
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " 1.75", " 0.900", " 0.75", " 0", " 90", " 0", "" ], [ "1", " Pan", " -0.036", " 0.950", " -2.372", " 0", " 270", " 0", " 62" ], [ "2", " Statue", " -1.774", " 0.910", " -0.698", " 0", " 0", " 0", " 92" ], [ "3", " Statue", " -0.335", " 1.110", " -0.001", " 0", " 90", " 0", " 67" ], [ "4", " Vase", " 2.100", " 0.550", " -2.562", " 0", " 180", " 0", " 97" ], [ "5", " Potato", " -1.995", " 0.828", " 1.334", " 0", " 90", " 0", " 100" ], [ "6", " Potato", " -1.290", " 0.941", " -2.253", " 0", " 0", " 0", " 92" ], [ "7", " CreditCard", " 0.453", " 0.907", " -2.637", " 0", " 0", " 0", " 69" ], [ "8", " Plate", " -2.040", " 1.499", " 0.925", " 0", " 90", " 0", " 100" ], [ "9", " Cup", " 1.891", " 0.878", " -2.590", " 0", " 180", " 0", " 94" ], [ "10", " Cup", " -0.173", " 1.788", " -2.546", " 0", " 0", " 0", " 93" ], [ "11", " Egg", " -1.963", " 0.804", " -1.760", " 0", " 90", " 0", " 102" ], [ "12", " Egg", " -0.277", " 1.825", " -2.578", " 0", " 0", " 0", " 93" ], [ "13", " Tomato", " -1.290", " 0.950", " -2.560", " 0", " 0", " 0", " 92" ], [ "14", " Tomato", " -1.999", " 0.265", " 0.920", " 0", " 90", " 0", " 100" ], [ "15", " PepperShaker", " 1.123", " 0.311", " -2.286", " 0", " 0", " 0", " 71" ], [ "16", " Bread", " 0.217", " 1.184", " -0.001", " 0", " 0", " 0", " 67" ], [ "17", " Bread", " -2.080", " 0.612", " 0.920", " 0", " 90", " 0", " 100" ], [ "18", " Knife", " 0.840", " 0.936", " -2.407", " 0", " 180", " 0", " 69" ], [ "19", " Knife", " -0.995", " 0.936", " -2.253", " 0", " 0", " 0", " 92" ], [ "20", " Fork", " 0.355", " 1.112", " 0.251", " 0", " 0", " 0", " 67" ], [ "21", " Fork", " -1.963", " 0.770", " -1.242", " 0", " 180", " 0", " 102" ], [ "22", " Spoon", " 0.892", " 0.647", " -2.417", " 0", " 0", " 0", " 72" ], [ "23", " Spoon", " -0.848", " 0.912", " -2.637", " 0", " 0", " 0", " 92" ], [ "24", " Mug", " -1.731", " 0.956", " -0.168", " 0", " 90", " 0", " 101" ], [ "25", " Spatula", " 1.119", " 0.791", " -2.291", " 0", " 270", " 0", " 63" ], [ "26", " Pot", " -0.465", " 0.950", " -2.372", " 0", " 90", " 0", " 65" ], [ "27", " ButterKnife", " -1.586", " 0.911", " -2.253", " 0", " 0", " 0", " 92" ], [ "28", " ButterKnife", " -0.335", " 1.111", " 0.251", " 0", " 0", " 0", " 67" ], [ "29", " Glassbottle", " -1.665", " 0.130", " 0.248", " 0", " 90", " 0", " 73" ], [ "30", " DishSponge", " 1.582", " 0.552", " -2.562", " 0", " 180", " 0", " 97" ], [ "31", " Bowl", " -1.908", " 0.766", " -1.501", " 0", " 90", " 0", " 102" ], [ "32", " Book", " 0.155", " 1.1", " 0.617", " 0", " 315", " 0", " 67" ], [ "33", " Glassbottle", " -1.907", " 0.048", " 1.981", " 0", " 270", " 0", " 98" ], [ "34", " Knife", " 0.582", " 0.936", " -2.484", " 0", " 0", " 0", " 69" ], [ "35", " Bread", " 0.079", " 1.184", " -0.506", " 0", " 0", " 0", " 67" ], [ "36", " Fork", " -1.908", " 0.770", " -1.587", " 0", " 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"75", " Drawer", " 0.949", " 0.560", " -2.201", " 0", " 0", " 0", "" ], [ "76", " StoveBurner", " -0.465", " 0.915", " -2.575", " 0", " 180", " 0", "" ], [ "77", " Window", " -2.230", " 1.429", " -1.203", " 0", " 0", " 0", "" ], [ "78", " StoveKnob", " -0.483", " 0.881", " -2.187", " 45", " 0", " 0", "" ], [ "79", " Sink", " -1.899", " 0.964", " -1.5", " 0", " 90", " 0", "" ], [ "80", " StoveKnob", " -0.328", " 0.881", " -2.187", " 45", " 0", " 0", "" ], [ "81", " Cabinet", " -0.727", " 2.015", " -2.460", " 0", " 0", " 0", "" ], [ "82", " Drawer", " -1.560", " 0.655", " -0.196", " 0", " 90", " 0", "" ], [ "83", " Cabinet", " -1.685", " 2.015", " -2.461", " 0", " 0", " 0", "" ], [ "84", " Cabinet", " 0.680", " 0.494", " -2.200", " 0", " 0", " 0", "" ], [ "85", " Cabinet", " -1.179", " 0.494", " -2.200", " 0", " 0", " 0", "" ], [ "86", " Cabinet", " -1.849", " 2.015", " 0.379", " 0", " 90", " 0", "" ], [ "87", " Drawer", " 0.949", " 0.221", " -2.200", " 0", " 0", " 0", "" ], [ "88", " 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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 0.75 0 90 0 1 Pan -0.036 0.950 -2.372 0 270 0 62 2 Statue -1.774 0.910 -0.698 0 0 0 92 3 Statue -0.335 1.110 -0.001 0 90 0 67 4 Vase 2.100 0.550 -2.562 0 180 0 97 5 Potato -1.995 0.828 1.334 0 90 0 100 6 Potato -1.290 0.941 -2.253 0 0 0 92 7 CreditCard 0.453 0.907 -2.637 0 0 0 69 8 Plate -2.040 1.499 0.925 0 90 0 100 9 Cup 1.891 0.878 -2.590 0 180 0 94 10 Cup -0.173 1.788 -2.546 0 0 0 93 11 Egg -1.963 0.804 -1.760 0 90 0 102 12 Egg -0.277 1.825 -2.578 0 0 0 93 13 Tomato -1.290 0.950 -2.560 0 0 0 92 14 Tomato -1.999 0.265 0.920 0 90 0 100 15 PepperShaker 1.123 0.311 -2.286 0 0 0 71 16 Bread 0.217 1.184 -0.001 0 0 0 67 17 Bread -2.080 0.612 0.920 0 90 0 100 18 Knife 0.840 0.936 -2.407 0 180 0 69 19 Knife -0.995 0.936 -2.253 0 0 0 92 20 Fork 0.355 1.112 0.251 0 0 0 67 21 Fork -1.963 0.770 -1.242 0 180 0 102 22 Spoon 0.892 0.647 -2.417 0 0 0 72 23 Spoon -0.848 0.912 -2.637 0 0 0 92 24 Mug -1.731 0.956 -0.168 0 90 0 101 25 Spatula 1.119 0.791 -2.291 0 270 0 63 26 Pot -0.465 0.950 -2.372 0 90 0 65 27 ButterKnife -1.586 0.911 -2.253 0 0 0 92 28 ButterKnife -0.335 1.111 0.251 0 0 0 67 29 Glassbottle -1.665 0.130 0.248 0 90 0 73 30 DishSponge 1.582 0.552 -2.562 0 180 0 97 31 Bowl -1.908 0.766 -1.501 0 90 0 102 32 Book 0.155 1.1 0.617 0 315 0 67 33 Glassbottle -1.907 0.048 1.981 0 270 0 98 34 Knife 0.582 0.936 -2.484 0 0 0 69 35 Bread 0.079 1.184 -0.506 0 0 0 67 36 Fork -1.908 0.770 -1.587 0 270 0 102 37 Potato -0.277 1.820 -2.514 0 0 0 93 38 SoapBottle 1.478 0.554 -2.562 0 180 0 97 39 Kettle 0.450 0.141 -2.436 0 0 0 84 40 Pan 0.721 0.9 -2.415 0 0 0 69 41 Plate -1.143 0.908 -2.406 0 0 0 92 42 Tomato -1.143 0.950 -2.637 0 0 0 92 43 Vase -1.296 0.139 -2.402 0 0 0 85 44 Egg -1.962 0.083 2.076 0 270 0 98 45 CreditCard 0.453 0.907 -2.253 0 0 0 69 46 Statue 1.955 0.168 -2.543 0 0 0 99 47 WineBottle 0.324 0.911 -2.560 0 0 0 69 48 Pot -0.059 1.115 -0.759 0 0 0 67 49 Spatula -1.774 0.926 -2.256 0 0 0 92 50 PaperTowelRoll 0.969 1.014 -2.253 0 0 0 69 51 Cup 1.685 0.550 -2.614 0 180 0 97 52 Vase 0.079 1.109 -0.001 0 0 0 67 53 Bowl -0.848 0.908 -2.329 0 0 0 92 54 SaltShaker -1.824 0.474 -0.148 0 90 0 82 55 PepperShaker 1.893 0.549 -2.562 0 180 0 97 56 Lettuce 0.355 1.191 -0.506 0 0 0 67 57 ButterKnife -0.059 1.111 -0.253 0 0 0 67 58 Apple -0.473 1.162 -0.759 0 0 0 67 59 DishSponge 0.951 0.314 -2.286 0 0 0 71 60 Spoon -0.335 1.112 -0.506 0 0 0 67 61 Mug -1.611 0.906 -2.366 0 0 0 92 62 StoveBurner -0.036 0.915 -2.372 0 0 0 63 Drawer 0.949 0.832 -2.197 0 0 0 64 Drawer -1.560 0.839 0.204 0 90 0 65 StoveBurner -0.465 0.915 -2.371 0 180 0 66 Drawer -1.560 0.839 -0.197 0 90 0 67 CounterTop -0.079 1.147 -0.001 0 0 0 68 Cabinet -1.549 0.494 -1.964 0 90 0 69 CounterTop 0.693 0.946 -2.483 0 0 0 70 StoveBurner -0.036 0.915 -2.576 0 0 0 71 Drawer 0.949 0.393 -2.200 0 0 0 72 Drawer 0.949 0.708 -2.200 0 0 0 73 Cabinet -1.549 0.494 0.379 0 90 0 74 StoveKnob -0.022 0.881 -2.187 45 0 0 75 Drawer 0.949 0.560 -2.201 0 0 0 76 StoveBurner -0.465 0.915 -2.575 0 180 0 77 Window -2.230 1.429 -1.203 0 0 0 78 StoveKnob -0.483 0.881 -2.187 45 0 0 79 Sink -1.899 0.964 -1.5 0 90 0 80 StoveKnob -0.328 0.881 -2.187 45 0 0 81 Cabinet -0.727 2.015 -2.460 0 0 0 82 Drawer -1.560 0.655 -0.196 0 90 0 83 Cabinet -1.685 2.015 -2.461 0 0 0 84 Cabinet 0.680 0.494 -2.200 0 0 0 85 Cabinet -1.179 0.494 -2.200 0 0 0 86 Cabinet -1.849 2.015 0.379 0 90 0 87 Drawer 0.949 0.221 -2.200 0 0 0 88 StoveKnob -0.183 0.881 -2.187 45 0 0 89 Cabinet 0.719 2.015 -2.460 0 0 0 90 Drawer -1.560 0.331 -0.196 0 90 0 91 Cabinet 0.680 2.015 -2.460 0 0 0 92 CounterTop -1.868 0.946 -1.205 0 0 0 93 Microwave -0.236 1.689 -2.525 0 0 0 94 Shelf 1.751 0.880 -2.560 0 0 0 95 HousePlant -1.948 0.889 -2.520 0 5.334 0 96 Toaster -1.835 0.900 0.134 0 90 0 97 Shelf 1.750 0.552 -2.559 0 0 0 98 GarbageCan -1.935 -0.002 2.029 0 270 0 99 Shelf 1.750 0.172 -2.559 0 0 0 100 Fridge -2.096 0.0 1.088 0 0 0 101 CoffeeMachine -1.977 0.900 -0.188 0 90 0 102 SinkBasin -1.908 0.759 -1.488 0 90 0 103 LightSwitch 2.329 1.309 -0.159 0 270 0 104 ShelvingUnit 1.750 0.006 -2.559 0 0 0 105 Stool 0.702 0.000 -0.514 1.202 65.108 0 106 Stool 0.743 0.000 0.563 1.227 106.706 0 107 Faucet -2.070 1.132 -1.514 0 0 0 108 NorthWall 109 EastWall 110 SouthWall 111 WestWall
[ "STEP 1: Turn right and walk over to the shelves. | STEP 2: Pick up the glass from the shelf. | STEP 3: Turn right and walk to the sink, then turn right again and walk to the fridge and face it. | STEP 4: Open the fridge and set the glass in there and close the door, wait a few seconds and take the glass out again. | STEP 5: Turn left and walk to the sink and turn left again and walk back to the shelves. | STEP 6: Set the glass on the second shelf. | END" ]
[ [ "STEP 1: Turn right and walk over to the shelves. ", " STEP 2: Pick up the glass from the shelf. ", " STEP 3: Turn right and walk to the sink, then turn right again and walk to the fridge and face it. ", " STEP 4: Open the fridge and set the glass in there and close the door, wait a few seconds and take the glass out again. ", " STEP 5: Turn left and walk to the sink and turn left again and walk back to the shelves. ", " STEP 6: Set the glass on the second shelf. ", " END" ] ]
seen
trial_T20190907_181551_510121-2
Chill a glass and put it away on the shelf.
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-1.963", " 0.804", " -1.760", " 0", " 90", " 0", " 102" ], [ "12", " Egg", " -0.277", " 1.825", " -2.578", " 0", " 0", " 0", " 93" ], [ "13", " Tomato", " -1.290", " 0.950", " -2.560", " 0", " 0", " 0", " 92" ], [ "14", " Tomato", " -1.999", " 0.265", " 0.920", " 0", " 90", " 0", " 100" ], [ "15", " PepperShaker", " 1.123", " 0.311", " -2.286", " 0", " 0", " 0", " 71" ], [ "16", " Bread", " 0.217", " 1.184", " -0.001", " 0", " 0", " 0", " 67" ], [ "17", " Bread", " -2.080", " 0.612", " 0.920", " 0", " 90", " 0", " 100" ], [ "18", " Knife", " 0.840", " 0.936", " -2.407", " 0", " 180", " 0", " 69" ], [ "19", " Knife", " -0.995", " 0.936", " -2.253", " 0", " 0", " 0", " 92" ], [ "20", " Fork", " 0.355", " 1.112", " 0.251", " 0", " 0", " 0", " 67" ], [ "21", " Fork", " -1.963", " 0.770", " -1.242", " 0", " 180", " 0", " 102" ], [ "22", " Spoon", " 0.892", " 0.647", " -2.417", " 0", " 0", " 0", " 72" ], [ "23", " Spoon", " -0.848", " 0.912", " -2.637", " 0", " 0", " 0", " 92" ], [ "24", " Mug", " -1.731", " 0.956", " -0.168", " 0", " 90", " 0", " 101" ], [ "25", " Spatula", " 1.119", " 0.791", " -2.291", " 0", " 270", " 0", " 63" ], [ "26", " Pot", " -0.465", " 0.950", " -2.372", " 0", " 90", " 0", " 65" ], [ "27", " ButterKnife", " -1.586", " 0.911", " -2.253", " 0", " 0", " 0", " 92" ], [ "28", " ButterKnife", " -0.335", " 1.111", " 0.251", " 0", " 0", " 0", " 67" ], [ "29", " Glassbottle", " -1.665", " 0.130", " 0.248", " 0", " 90", " 0", " 73" ], [ "30", " DishSponge", " 1.582", " 0.552", " -2.562", " 0", " 180", " 0", " 97" ], [ "31", " Bowl", " -1.908", " 0.766", " -1.501", " 0", " 90", " 0", " 102" ], [ "32", " Book", " 0.155", " 1.1", " 0.617", " 0", " 315", " 0", " 67" ], [ "33", " Glassbottle", " -1.907", " 0.048", " 1.981", " 0", " 270", " 0", " 98" ], [ "34", " Knife", " 0.582", " 0.936", " -2.484", " 0", " 0", " 0", " 69" ], [ "35", " Bread", " 0.079", " 1.184", " -0.506", " 0", " 0", " 0", " 67" ], [ "36", " Fork", " -1.908", " 0.770", " -1.587", " 0", " 270", " 0", " 102" ], [ "37", " Potato", " -0.277", " 1.820", " -2.514", " 0", " 0", " 0", " 93" ], [ "38", " SoapBottle", " 1.478", " 0.554", " -2.562", " 0", " 180", " 0", " 97" ], [ "39", " Kettle", " 0.450", " 0.141", " -2.436", " 0", " 0", " 0", " 84" ], [ "40", " Pan", " 0.721", " 0.9", " -2.415", " 0", " 0", " 0", " 69" ], [ "41", " Plate", " -1.143", " 0.908", " -2.406", " 0", " 0", " 0", " 92" ], [ "42", " Tomato", " -1.143", " 0.950", " -2.637", " 0", " 0", " 0", " 92" ], [ "43", " Vase", " -1.296", " 0.139", " -2.402", " 0", " 0", " 0", " 85" ], [ "44", " Egg", " -1.962", " 0.083", " 2.076", " 0", " 270", " 0", " 98" ], [ "45", " CreditCard", " 0.453", " 0.907", " -2.253", " 0", " 0", " 0", " 69" ], [ "46", " Statue", " 1.955", " 0.168", " -2.543", " 0", " 0", " 0", " 99" ], [ "47", " WineBottle", " 0.324", " 0.911", " -2.560", " 0", " 0", " 0", " 69" ], [ "48", " Pot", " -0.059", " 1.115", " -0.759", " 0", " 0", " 0", " 67" ], [ "49", " Spatula", " -1.774", " 0.926", " -2.256", " 0", " 0", " 0", " 92" ], [ "50", " PaperTowelRoll", " 0.969", " 1.014", " -2.253", " 0", " 0", " 0", " 69" ], [ "51", " Cup", " 1.685", " 0.550", " -2.614", " 0", " 180", " 0", " 97" ], [ "52", " Vase", " 0.079", " 1.109", " -0.001", " 0", " 0", " 0", " 67" ], [ "53", " Bowl", " -0.848", " 0.908", " -2.329", " 0", " 0", " 0", " 92" ], [ "54", " SaltShaker", " -1.824", " 0.474", " -0.148", " 0", " 90", " 0", " 82" ], [ "55", " PepperShaker", " 1.893", " 0.549", " -2.562", " 0", " 180", " 0", " 97" ], [ "56", " Lettuce", " 0.355", " 1.191", " -0.506", " 0", " 0", " 0", " 67" ], [ "57", " ButterKnife", " -0.059", " 1.111", " -0.253", " 0", " 0", " 0", " 67" ], [ "58", " Apple", " -0.473", " 1.162", " -0.759", " 0", " 0", " 0", " 67" ], [ "59", " DishSponge", " 0.951", " 0.314", " -2.286", " 0", " 0", " 0", " 71" ], [ "60", " Spoon", " -0.335", " 1.112", " -0.506", " 0", " 0", " 0", " 67" ], [ "61", " Mug", " -1.611", " 0.906", " -2.366", " 0", " 0", " 0", " 92" ], [ "62", " StoveBurner", " -0.036", " 0.915", " -2.372", " 0", " 0", " 0", "" ], [ "63", " Drawer", " 0.949", " 0.832", " -2.197", " 0", " 0", " 0", "" ], [ "64", " Drawer", " -1.560", " 0.839", " 0.204", " 0", " 90", " 0", "" ], [ "65", " StoveBurner", " -0.465", " 0.915", " -2.371", " 0", " 180", " 0", "" ], [ "66", " Drawer", " -1.560", " 0.839", " -0.197", " 0", " 90", " 0", "" ], [ "67", " CounterTop", " -0.079", " 1.147", " -0.001", " 0", " 0", " 0", "" ], [ "68", " Cabinet", " -1.549", " 0.494", " -1.964", " 0", " 90", " 0", "" ], [ "69", " CounterTop", " 0.693", " 0.946", " -2.483", " 0", " 0", " 0", "" ], [ "70", " StoveBurner", " -0.036", " 0.915", " -2.576", " 0", " 0", " 0", "" ], [ "71", " Drawer", " 0.949", " 0.393", " -2.200", " 0", " 0", " 0", "" ], [ "72", " Drawer", " 0.949", " 0.708", " -2.200", " 0", " 0", " 0", "" ], [ "73", " Cabinet", " -1.549", " 0.494", " 0.379", " 0", " 90", " 0", "" ], [ "74", " StoveKnob", " -0.022", " 0.881", " -2.187", " 45", " 0", " 0", "" ], [ "75", " Drawer", " 0.949", " 0.560", " -2.201", " 0", " 0", " 0", "" ], [ "76", " StoveBurner", " -0.465", " 0.915", " -2.575", " 0", " 180", " 0", "" ], [ "77", " Window", " -2.230", " 1.429", " -1.203", " 0", " 0", " 0", "" ], [ "78", " StoveKnob", " -0.483", " 0.881", " -2.187", " 45", " 0", " 0", "" ], [ "79", " Sink", " -1.899", " 0.964", " -1.5", " 0", " 90", " 0", "" ], [ "80", " StoveKnob", " -0.328", " 0.881", " -2.187", " 45", " 0", " 0", "" ], [ "81", " Cabinet", " -0.727", " 2.015", " -2.460", " 0", " 0", " 0", "" ], [ "82", " Drawer", " -1.560", " 0.655", " -0.196", " 0", " 90", " 0", "" ], [ "83", " Cabinet", " -1.685", " 2.015", " -2.461", " 0", " 0", " 0", "" ], [ "84", " Cabinet", " 0.680", " 0.494", " -2.200", " 0", " 0", " 0", "" ], [ "85", " Cabinet", " -1.179", " 0.494", " -2.200", " 0", " 0", " 0", "" ], [ "86", " Cabinet", " -1.849", " 2.015", " 0.379", " 0", " 90", " 0", "" ], [ "87", " Drawer", " 0.949", " 0.221", " -2.200", " 0", " 0", " 0", "" ], [ "88", " StoveKnob", " -0.183", " 0.881", " -2.187", " 45", " 0", " 0", "" ], [ "89", " Cabinet", " 0.719", " 2.015", " -2.460", " 0", " 0", " 0", "" ], [ "90", " Drawer", " -1.560", " 0.331", " -0.196", " 0", " 90", " 0", "" ], [ "91", " Cabinet", " 0.680", " 2.015", " -2.460", " 0", " 0", " 0", "" ], [ "92", " CounterTop", " -1.868", " 0.946", " -1.205", " 0", " 0", " 0", "" ], [ "93", " Microwave", " -0.236", " 1.689", " -2.525", " 0", " 0", " 0", "" ], [ "94", " Shelf", " 1.751", " 0.880", " -2.560", " 0", " 0", " 0", "" ], [ "95", " HousePlant", " -1.948", " 0.889", " -2.520", " 0", " 5.334", " 0", "" ], [ "96", " Toaster", " -1.835", " 0.900", " 0.134", " 0", " 90", " 0", "" ], [ "97", " Shelf", " 1.750", " 0.552", " -2.559", " 0", " 0", " 0", "" ], [ "98", " GarbageCan", " -1.935", " -0.002", " 2.029", " 0", " 270", " 0", "" ], [ "99", " Shelf", " 1.750", " 0.172", " -2.559", " 0", " 0", " 0", "" ], [ "100", " Fridge", " -2.096", " 0.0", " 1.088", " 0", " 0", " 0", "" ], [ "101", " CoffeeMachine", " -1.977", " 0.900", " -0.188", " 0", " 90", " 0", "" ], [ "102", " SinkBasin", " -1.908", " 0.759", " -1.488", " 0", " 90", " 0", "" ], [ "103", " LightSwitch", " 2.329", " 1.309", " -0.159", " 0", " 270", " 0", "" ], [ "104", " ShelvingUnit", " 1.750", " 0.006", " -2.559", " 0", " 0", " 0", "" ], [ "105", " Stool", " 0.702", " 0.000", " -0.514", " 1.202", " 65.108", " 0", "" ], [ "106", " Stool", " 0.743", " 0.000", " 0.563", " 1.227", " 106.706", " 0", "" ], [ "107", " Faucet", " -2.070", " 1.132", " -1.514", " 0", " 0", " 0", "" ], [ "108", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "109", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "110", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "111", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 1.75 0.900 0.75 0 90 0 1 Pan -0.036 0.950 -2.372 0 270 0 62 2 Statue -1.774 0.910 -0.698 0 0 0 92 3 Statue -0.335 1.110 -0.001 0 90 0 67 4 Vase 2.100 0.550 -2.562 0 180 0 97 5 Potato -1.995 0.828 1.334 0 90 0 100 6 Potato -1.290 0.941 -2.253 0 0 0 92 7 CreditCard 0.453 0.907 -2.637 0 0 0 69 8 Plate -2.040 1.499 0.925 0 90 0 100 9 Cup 1.891 0.878 -2.590 0 180 0 94 10 Cup -0.173 1.788 -2.546 0 0 0 93 11 Egg -1.963 0.804 -1.760 0 90 0 102 12 Egg -0.277 1.825 -2.578 0 0 0 93 13 Tomato -1.290 0.950 -2.560 0 0 0 92 14 Tomato -1.999 0.265 0.920 0 90 0 100 15 PepperShaker 1.123 0.311 -2.286 0 0 0 71 16 Bread 0.217 1.184 -0.001 0 0 0 67 17 Bread -2.080 0.612 0.920 0 90 0 100 18 Knife 0.840 0.936 -2.407 0 180 0 69 19 Knife -0.995 0.936 -2.253 0 0 0 92 20 Fork 0.355 1.112 0.251 0 0 0 67 21 Fork -1.963 0.770 -1.242 0 180 0 102 22 Spoon 0.892 0.647 -2.417 0 0 0 72 23 Spoon -0.848 0.912 -2.637 0 0 0 92 24 Mug -1.731 0.956 -0.168 0 90 0 101 25 Spatula 1.119 0.791 -2.291 0 270 0 63 26 Pot -0.465 0.950 -2.372 0 90 0 65 27 ButterKnife -1.586 0.911 -2.253 0 0 0 92 28 ButterKnife -0.335 1.111 0.251 0 0 0 67 29 Glassbottle -1.665 0.130 0.248 0 90 0 73 30 DishSponge 1.582 0.552 -2.562 0 180 0 97 31 Bowl -1.908 0.766 -1.501 0 90 0 102 32 Book 0.155 1.1 0.617 0 315 0 67 33 Glassbottle -1.907 0.048 1.981 0 270 0 98 34 Knife 0.582 0.936 -2.484 0 0 0 69 35 Bread 0.079 1.184 -0.506 0 0 0 67 36 Fork -1.908 0.770 -1.587 0 270 0 102 37 Potato -0.277 1.820 -2.514 0 0 0 93 38 SoapBottle 1.478 0.554 -2.562 0 180 0 97 39 Kettle 0.450 0.141 -2.436 0 0 0 84 40 Pan 0.721 0.9 -2.415 0 0 0 69 41 Plate -1.143 0.908 -2.406 0 0 0 92 42 Tomato -1.143 0.950 -2.637 0 0 0 92 43 Vase -1.296 0.139 -2.402 0 0 0 85 44 Egg -1.962 0.083 2.076 0 270 0 98 45 CreditCard 0.453 0.907 -2.253 0 0 0 69 46 Statue 1.955 0.168 -2.543 0 0 0 99 47 WineBottle 0.324 0.911 -2.560 0 0 0 69 48 Pot -0.059 1.115 -0.759 0 0 0 67 49 Spatula -1.774 0.926 -2.256 0 0 0 92 50 PaperTowelRoll 0.969 1.014 -2.253 0 0 0 69 51 Cup 1.685 0.550 -2.614 0 180 0 97 52 Vase 0.079 1.109 -0.001 0 0 0 67 53 Bowl -0.848 0.908 -2.329 0 0 0 92 54 SaltShaker -1.824 0.474 -0.148 0 90 0 82 55 PepperShaker 1.893 0.549 -2.562 0 180 0 97 56 Lettuce 0.355 1.191 -0.506 0 0 0 67 57 ButterKnife -0.059 1.111 -0.253 0 0 0 67 58 Apple -0.473 1.162 -0.759 0 0 0 67 59 DishSponge 0.951 0.314 -2.286 0 0 0 71 60 Spoon -0.335 1.112 -0.506 0 0 0 67 61 Mug -1.611 0.906 -2.366 0 0 0 92 62 StoveBurner -0.036 0.915 -2.372 0 0 0 63 Drawer 0.949 0.832 -2.197 0 0 0 64 Drawer -1.560 0.839 0.204 0 90 0 65 StoveBurner -0.465 0.915 -2.371 0 180 0 66 Drawer -1.560 0.839 -0.197 0 90 0 67 CounterTop -0.079 1.147 -0.001 0 0 0 68 Cabinet -1.549 0.494 -1.964 0 90 0 69 CounterTop 0.693 0.946 -2.483 0 0 0 70 StoveBurner -0.036 0.915 -2.576 0 0 0 71 Drawer 0.949 0.393 -2.200 0 0 0 72 Drawer 0.949 0.708 -2.200 0 0 0 73 Cabinet -1.549 0.494 0.379 0 90 0 74 StoveKnob -0.022 0.881 -2.187 45 0 0 75 Drawer 0.949 0.560 -2.201 0 0 0 76 StoveBurner -0.465 0.915 -2.575 0 180 0 77 Window -2.230 1.429 -1.203 0 0 0 78 StoveKnob -0.483 0.881 -2.187 45 0 0 79 Sink -1.899 0.964 -1.5 0 90 0 80 StoveKnob -0.328 0.881 -2.187 45 0 0 81 Cabinet -0.727 2.015 -2.460 0 0 0 82 Drawer -1.560 0.655 -0.196 0 90 0 83 Cabinet -1.685 2.015 -2.461 0 0 0 84 Cabinet 0.680 0.494 -2.200 0 0 0 85 Cabinet -1.179 0.494 -2.200 0 0 0 86 Cabinet -1.849 2.015 0.379 0 90 0 87 Drawer 0.949 0.221 -2.200 0 0 0 88 StoveKnob -0.183 0.881 -2.187 45 0 0 89 Cabinet 0.719 2.015 -2.460 0 0 0 90 Drawer -1.560 0.331 -0.196 0 90 0 91 Cabinet 0.680 2.015 -2.460 0 0 0 92 CounterTop -1.868 0.946 -1.205 0 0 0 93 Microwave -0.236 1.689 -2.525 0 0 0 94 Shelf 1.751 0.880 -2.560 0 0 0 95 HousePlant -1.948 0.889 -2.520 0 5.334 0 96 Toaster -1.835 0.900 0.134 0 90 0 97 Shelf 1.750 0.552 -2.559 0 0 0 98 GarbageCan -1.935 -0.002 2.029 0 270 0 99 Shelf 1.750 0.172 -2.559 0 0 0 100 Fridge -2.096 0.0 1.088 0 0 0 101 CoffeeMachine -1.977 0.900 -0.188 0 90 0 102 SinkBasin -1.908 0.759 -1.488 0 90 0 103 LightSwitch 2.329 1.309 -0.159 0 270 0 104 ShelvingUnit 1.750 0.006 -2.559 0 0 0 105 Stool 0.702 0.000 -0.514 1.202 65.108 0 106 Stool 0.743 0.000 0.563 1.227 106.706 0 107 Faucet -2.070 1.132 -1.514 0 0 0 108 NorthWall 109 EastWall 110 SouthWall 111 WestWall
[ "STEP 1: Turn to the right and go straight back to the brown shelf. | STEP 2: Pick up the glass from the brown shelf. | STEP 3: Carry the glass and turn right to go around the island and find the fridge across the room. | STEP 4: Place the glass inside and shut the door. Open the door and take the glass out, then shut the door. | STEP 5: Hold the glass and turn left around the island to go back to the brown shelf. | STEP 6: Place the glass near the bottom of the brown shelf. | END" ]
[ [ "STEP 1: Turn to the right and go straight back to the brown shelf. ", " STEP 2: Pick up the glass from the brown shelf. ", " STEP 3: Carry the glass and turn right to go around the island and find the fridge across the room. ", " STEP 4: Place the glass inside and shut the door. Open the door and take the glass out, then shut the door. ", " STEP 5: Hold the glass and turn left around the island to go back to the brown shelf. ", " STEP 6: Place the glass near the bottom of the brown shelf. ", " END" ] ]
seen
trial_T20190907_140402_751385-0
Put a cardboard roll on a toilet paper roll holder.
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " -0.75", " 0.901", " -1.5", " 0", " 180", " 0", "" ], [ "1", " Candle", " -2.434", " 0.764", " -2.095", " 0", " 0", " 0", " 15" ], [ "2", " SoapBar", " -0.197", " 0.755", " -1.461", " 0", " 0", " 0", " 19" ], [ "3", " Towel", " -2.424", " 1.541", " -2.487", " 0", " 90", " 0", " 21" ], [ "4", " Towel", " -0.106", " 1.541", " -2.487", " 0", " 270", " 0", " 22" ], [ "5", " Candle", " -0.241", " 0.917", " -1.380", " 0", " 0", " 0", " 17" ], [ "6", " HandTowel", " -2.496", " 1.836", " -0.907", " 0", " 270", " 0", " 25" ], [ "7", " Plunger", " -2.366", " 0.000", " -0.653", " 0", " 0", " 0", " Floor|-00.95|" ], [ "8", " SoapBottle", " -2.337", " 1.045", " -0.492", " 0", " 90", " 0", " 30" ], [ "9", " SoapBar", " -2.337", " 1.045", " -0.558", " 0", " 90", " 0", " 30" ], [ "10", " ToiletPaper", " -2.402", " 1.036", " -0.173", " 0", " 0", " 0", " 30" ], [ "11", " Cloth", " -1.013", " 0.291", " -2.517", " 0", " 0", " 0", " 28" ], [ "12", " ToiletPaper", " -0.086", " 0.872", " -1.461", " 0", " 0", " 0", " 17" ], [ "13", " SprayBottle", " -2.306", " 1.046", " -0.361", " 0", " 90", " 0", " 30" ], [ "14", " ScrubBrush", " -2.114", " 0.000", " -0.695", " 0", " 0", " 0", " Floor|-00.95|" ], [ "15", " Bathtub", " -1.281", " 0.277", " -2.529", " 0", " 0", " 0", "" ], [ "16", " Mirror", " -2.512", " 1.764", " -1.518", " 0", " 0", " 0", "" ], [ "17", " SideTable", " -0.153", " 0.000", " -1.465", " 0", " 270", " 0", "" ], [ "18", " Sink", " -2.273", " 0.0", " -1.519", " 0", " 90", " 0", "" ], [ "19", " Drawer", " -0.218", " 0.775", " -1.466", " 0", " 270", " 0", "" ], [ "20", " GarbageCan", " -2.197", " -0.034", " -1.009", " 0", " 90", " 0", "" ], [ "21", " TowelHolder", " -2.530", " 1.526", " -2.486", " 0", " 90", " 0", "" ], [ "22", " TowelHolder", " 0.0", " 1.526", " -2.486", " 0", " 270", " 0", "" ], [ "23", " LightSwitch", " 0.0", " 1.324", " -1.146", " 0", " 270", " 0", "" ], [ "24", " ToiletPaperHanger", " -1.427", " 1.049", " 0.0", " 0", " 180", " 0", "" ], [ "25", " HandTowelHolder", " -2.534", " 1.937", " -0.907", " 0", " 0", " 0", "" ], [ "26", " Window", " -1.291", " 1.815", " -3.121", " 90", " 0", " 0", "" ], [ "27", " SinkBasin", " -2.216", " 0.905", " -1.503", " 0", " 90", " 0", "" ], [ "28", " SinkBasin", " -1.305", " 0.280", " -2.516", " 0", " 0", " 0", "" ], [ "29", " HousePlant", " -0.108", " 0.870", " -1.649", " 0", " 0", " 0", "" ], [ "30", " Toilet", " -2.045", " 0.000", " -0.358", " 0", " 180", " 0", "" ], [ "31", " Faucet", " -2.446", " 0.940", " -1.516", " 0", " 90", " 0", "" ], [ "32", " Faucet", " -0.132", " 0.706", " -2.877", " 0", " 29.999", " 0", "" ], [ "33", " ShowerCurtain", " -2.438", " 1.945", " -1.917", " 0", " 90", " 0", "" ], [ "34", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "35", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "36", " SouthWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -0.75 0.901 -1.5 0 180 0 1 Candle -2.434 0.764 -2.095 0 0 0 15 2 SoapBar -0.197 0.755 -1.461 0 0 0 19 3 Towel -2.424 1.541 -2.487 0 90 0 21 4 Towel -0.106 1.541 -2.487 0 270 0 22 5 Candle -0.241 0.917 -1.380 0 0 0 17 6 HandTowel -2.496 1.836 -0.907 0 270 0 25 7 Plunger -2.366 0.000 -0.653 0 0 0 Floor|-00.95| 8 SoapBottle -2.337 1.045 -0.492 0 90 0 30 9 SoapBar -2.337 1.045 -0.558 0 90 0 30 10 ToiletPaper -2.402 1.036 -0.173 0 0 0 30 11 Cloth -1.013 0.291 -2.517 0 0 0 28 12 ToiletPaper -0.086 0.872 -1.461 0 0 0 17 13 SprayBottle -2.306 1.046 -0.361 0 90 0 30 14 ScrubBrush -2.114 0.000 -0.695 0 0 0 Floor|-00.95| 15 Bathtub -1.281 0.277 -2.529 0 0 0 16 Mirror -2.512 1.764 -1.518 0 0 0 17 SideTable -0.153 0.000 -1.465 0 270 0 18 Sink -2.273 0.0 -1.519 0 90 0 19 Drawer -0.218 0.775 -1.466 0 270 0 20 GarbageCan -2.197 -0.034 -1.009 0 90 0 21 TowelHolder -2.530 1.526 -2.486 0 90 0 22 TowelHolder 0.0 1.526 -2.486 0 270 0 23 LightSwitch 0.0 1.324 -1.146 0 270 0 24 ToiletPaperHanger -1.427 1.049 0.0 0 180 0 25 HandTowelHolder -2.534 1.937 -0.907 0 0 0 26 Window -1.291 1.815 -3.121 90 0 0 27 SinkBasin -2.216 0.905 -1.503 0 90 0 28 SinkBasin -1.305 0.280 -2.516 0 0 0 29 HousePlant -0.108 0.870 -1.649 0 0 0 30 Toilet -2.045 0.000 -0.358 0 180 0 31 Faucet -2.446 0.940 -1.516 0 90 0 32 Faucet -0.132 0.706 -2.877 0 29.999 0 33 ShowerCurtain -2.438 1.945 -1.917 0 90 0 34 EastWall 35 EastWall 36 SouthWall
[ "STEP 1: Turn left to face the black stand. | STEP 2: Take the cardboard roll from the stand. | STEP 3: Turn around, go towards the sink, turn right, go to the toilet paper roll holder. | STEP 4: Put the cardboard roll on the toilet paper roll holder. | END" ]
[ [ "STEP 1: Turn left to face the black stand. ", " STEP 2: Take the cardboard roll from the stand. ", " STEP 3: Turn around, go towards the sink, turn right, go to the toilet paper roll holder. ", " STEP 4: Put the cardboard roll on the toilet paper roll holder. ", " END" ] ]
seen
trial_T20190907_140402_751385-1
To place the toilet paper roll on the dispenser.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -0.75 0.901 -1.5 0 180 0 1 Candle -2.434 0.764 -2.095 0 0 0 15 2 SoapBar -0.197 0.755 -1.461 0 0 0 19 3 Towel -2.424 1.541 -2.487 0 90 0 21 4 Towel -0.106 1.541 -2.487 0 270 0 22 5 Candle -0.241 0.917 -1.380 0 0 0 17 6 HandTowel -2.496 1.836 -0.907 0 270 0 25 7 Plunger -2.366 0.000 -0.653 0 0 0 Floor|-00.95| 8 SoapBottle -2.337 1.045 -0.492 0 90 0 30 9 SoapBar -2.337 1.045 -0.558 0 90 0 30 10 ToiletPaper -2.402 1.036 -0.173 0 0 0 30 11 Cloth -1.013 0.291 -2.517 0 0 0 28 12 ToiletPaper -0.086 0.872 -1.461 0 0 0 17 13 SprayBottle -2.306 1.046 -0.361 0 90 0 30 14 ScrubBrush -2.114 0.000 -0.695 0 0 0 Floor|-00.95| 15 Bathtub -1.281 0.277 -2.529 0 0 0 16 Mirror -2.512 1.764 -1.518 0 0 0 17 SideTable -0.153 0.000 -1.465 0 270 0 18 Sink -2.273 0.0 -1.519 0 90 0 19 Drawer -0.218 0.775 -1.466 0 270 0 20 GarbageCan -2.197 -0.034 -1.009 0 90 0 21 TowelHolder -2.530 1.526 -2.486 0 90 0 22 TowelHolder 0.0 1.526 -2.486 0 270 0 23 LightSwitch 0.0 1.324 -1.146 0 270 0 24 ToiletPaperHanger -1.427 1.049 0.0 0 180 0 25 HandTowelHolder -2.534 1.937 -0.907 0 0 0 26 Window -1.291 1.815 -3.121 90 0 0 27 SinkBasin -2.216 0.905 -1.503 0 90 0 28 SinkBasin -1.305 0.280 -2.516 0 0 0 29 HousePlant -0.108 0.870 -1.649 0 0 0 30 Toilet -2.045 0.000 -0.358 0 180 0 31 Faucet -2.446 0.940 -1.516 0 90 0 32 Faucet -0.132 0.706 -2.877 0 29.999 0 33 ShowerCurtain -2.438 1.945 -1.917 0 90 0 34 EastWall 35 EastWall 36 SouthWall
[ "STEP 1: Turn to the left and face the black table with the plant on it. | STEP 2: Take the roll that is next to the plant on the table. | STEP 3: Turn around and walk to the sink across the room then turn right and walk across the room to the toilet paper dispenser on the wall. | STEP 4: Place the roll on the dispenser on the wall. | END" ]
[ [ "STEP 1: Turn to the left and face the black table with the plant on it. ", " STEP 2: Take the roll that is next to the plant on the table. ", " STEP 3: Turn around and walk to the sink across the room then turn right and walk across the room to the toilet paper dispenser on the wall. ", " STEP 4: Place the roll on the dispenser on the wall. ", " END" ] ]
seen
trial_T20190907_140402_751385-2
Place an empty toilet paper roll on a toilet paper holder.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -0.75 0.901 -1.5 0 180 0 1 Candle -2.434 0.764 -2.095 0 0 0 15 2 SoapBar -0.197 0.755 -1.461 0 0 0 19 3 Towel -2.424 1.541 -2.487 0 90 0 21 4 Towel -0.106 1.541 -2.487 0 270 0 22 5 Candle -0.241 0.917 -1.380 0 0 0 17 6 HandTowel -2.496 1.836 -0.907 0 270 0 25 7 Plunger -2.366 0.000 -0.653 0 0 0 Floor|-00.95| 8 SoapBottle -2.337 1.045 -0.492 0 90 0 30 9 SoapBar -2.337 1.045 -0.558 0 90 0 30 10 ToiletPaper -2.402 1.036 -0.173 0 0 0 30 11 Cloth -1.013 0.291 -2.517 0 0 0 28 12 ToiletPaper -0.086 0.872 -1.461 0 0 0 17 13 SprayBottle -2.306 1.046 -0.361 0 90 0 30 14 ScrubBrush -2.114 0.000 -0.695 0 0 0 Floor|-00.95| 15 Bathtub -1.281 0.277 -2.529 0 0 0 16 Mirror -2.512 1.764 -1.518 0 0 0 17 SideTable -0.153 0.000 -1.465 0 270 0 18 Sink -2.273 0.0 -1.519 0 90 0 19 Drawer -0.218 0.775 -1.466 0 270 0 20 GarbageCan -2.197 -0.034 -1.009 0 90 0 21 TowelHolder -2.530 1.526 -2.486 0 90 0 22 TowelHolder 0.0 1.526 -2.486 0 270 0 23 LightSwitch 0.0 1.324 -1.146 0 270 0 24 ToiletPaperHanger -1.427 1.049 0.0 0 180 0 25 HandTowelHolder -2.534 1.937 -0.907 0 0 0 26 Window -1.291 1.815 -3.121 90 0 0 27 SinkBasin -2.216 0.905 -1.503 0 90 0 28 SinkBasin -1.305 0.280 -2.516 0 0 0 29 HousePlant -0.108 0.870 -1.649 0 0 0 30 Toilet -2.045 0.000 -0.358 0 180 0 31 Faucet -2.446 0.940 -1.516 0 90 0 32 Faucet -0.132 0.706 -2.877 0 29.999 0 33 ShowerCurtain -2.438 1.945 -1.917 0 90 0 34 EastWall 35 EastWall 36 SouthWall
[ "STEP 1: Turn left to the black table beside you. | STEP 2: Pick up the empty toilet paper roll | STEP 3: Turn around and head toward the toilet on the right | STEP 4: Place the empty toilet paper roll on the toilet paper holder that is on the wall next to the toilet | END" ]
[ [ "STEP 1: Turn left to the black table beside you. ", " STEP 2: Pick up the empty toilet paper roll ", " STEP 3: Turn around and head toward the toilet on the right ", " STEP 4: Place the empty toilet paper roll on the toilet paper holder that is on the wall next to the toilet ", " END" ] ]
seen
trial_T20190906_165037_674542-0
Put the keys in a box to put on chair.
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " -3.25", " 0.906", " 2.0", " 0", " 0", " 0", "" ], [ "1", " Watch", " -0.553", " 0.765", " 3.128", " 0", " 270", " 0", " 38" ], [ "2", " Newspaper", " -0.403", " 0.763", " 2.978", " 0", " 270", " 0", " 38" ], [ "3", " Newspaper", " -0.253", " 0.763", " 2.678", " 0", " 270", " 0", " 38" ], [ "4", " RemoteControl", " -0.328", " 0.766", " 2.828", " 0", " 270", " 0", " 38" ], [ "5", " Box", " -2.111", " 0.293", " 2.930", " 0", " 0", " 0", " 31" ], [ "6", " CreditCard", " -2.618", " 0.396", " 4.412", " 0", " 0", " 0", " 41" ], [ "7", " TissueBox", " -0.178", " 0.766", " 2.978", " 0", " 270", " 0", " 38" ], [ "8", " Laptop", " -0.335", " 0.758", " 2.38", " 0", " 33.790", " 0", " 38" ], [ "9", " Vase", " -2.880", " 1.518", " 0.144", " 0", " 0", " 0", "" ], [ "10", " RemoteControl", " -1.816", " 0.196", " 2.643", " 0", " 0", " 0", " 31" ], [ "11", " Pillow", " -1.379", " 0.479", " 4.520", " 0", " 0", " 0", " 41" ], [ "12", " KeyChain", " -2.865", " 0.419", " 4.570", " 0", " 0", " 0", " 41" ], [ "13", " Watch", " -0.499", " 0.183", " 2.363", " 0", " 270", " 0", " 37" ], [ "14", " Newspaper", " -1.816", " 0.197", " 2.872", " 0", " 0", " 0", " 31" ], [ "15", " Statue", " -0.439", " 0.173", " 2.652", " 0", " 270", " 0", " 36" ], [ "16", " Statue", " -0.178", " 0.775", " 3.128", " 0", " 0", " 0", " 38" ], [ "17", " Curtains", " -1.030", " 2.113", " 0.0", " 0", " 0", " 0", "" ], [ "18", " Curtains", " -3.927", " 2.113", " 0.0", " 0", " 0", " 0", "" ], [ "19", " HousePlant", " -3.127", " 1.507", " 0.118", " 0", " 0", " 0", "" ], [ "20", " Television", " 0.0", " 1.376", " 2.661", " 0", " 270", " 0", "" ], [ "21", " GarbageCan", " -0.227", " 0.005", " 4.778", " 0", " 0", " 0", "" ], [ "22", " DeskLamp", " -4.658", " 0.508", " 3.318", " 0", " 270", " 0", "" ], [ "23", " Painting", " -2.507", " 1.817", " 0.108", " 90", " 0", " 0", "" ], [ "24", " FloorLamp", " -4.596", " 0.006", " 0.399", " 0", " 65.211", " 0", "" ], [ "25", " LightSwitch", " -3.233", " 1.343", " 5.0", " 0", " 180", " 0", "" ], [ "26", " Window", " -1.011", " 1.391", " 0.029", " 90", " 180", " 0", "" ], [ "27", " Window", " -3.900", " 1.391", " 0.029", " 90", " 180", " 0", "" ], [ "28", " Drawer", " -4.433", " 0.473", " 3.344", " 0", " 90", " 0", "" ], [ "29", " SideTable", " -4.612", " 0.009", " 3.346", " 0", " 90", " 0", "" ], [ "30", " Chair", " -4.572", " 0.005", " 3.862", " 0", " 113.899", " 0", "" ], [ "31", " CoffeeTable", " -1.972", " 0.002", " 2.615", " 0", " 270", " 0", "" ], [ "32", " ArmChair", " -0.875", " 0.005", " 0.566", " 0", " 0", " 0", "" ], [ "33", " Shelf", " -0.340", " 0.480", " 3.046", " 0", " 270", " 0", "" ], [ "34", " Shelf", " -0.340", " 0.649", " 3.046", " 0", " 270", " 0", "" ], [ "35", " Shelf", " -0.340", " 0.603", " 2.312", " 0", " 270", " 0", "" ], [ "36", " Shelf", " -0.340", " 0.448", " 2.678", " 0", " 270", " 0", "" ], [ "37", " Shelf", " -0.340", " 0.308", " 2.312", " 0", " 270", " 0", "" ], [ "38", " TVStand", " -0.335", " 0.005", " 2.679", " 0", " 270", " 0", "" ], [ "39", " Shelf", " -0.340", " 0.279", " 3.046", " 0", " 270", " 0", "" ], [ "40", " Sofa", " -4.566", " 0.009", " 1.880", " 0", " 90", " 0", "" ], [ "41", " Sofa", " -2.124", " 0.009", " 4.558", " 0", " 180", " 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 -3.25 0.906 2.0 0 0 0 1 Watch -0.553 0.765 3.128 0 270 0 38 2 Newspaper -0.403 0.763 2.978 0 270 0 38 3 Newspaper -0.253 0.763 2.678 0 270 0 38 4 RemoteControl -0.328 0.766 2.828 0 270 0 38 5 Box -2.111 0.293 2.930 0 0 0 31 6 CreditCard -2.618 0.396 4.412 0 0 0 41 7 TissueBox -0.178 0.766 2.978 0 270 0 38 8 Laptop -0.335 0.758 2.38 0 33.790 0 38 9 Vase -2.880 1.518 0.144 0 0 0 10 RemoteControl -1.816 0.196 2.643 0 0 0 31 11 Pillow -1.379 0.479 4.520 0 0 0 41 12 KeyChain -2.865 0.419 4.570 0 0 0 41 13 Watch -0.499 0.183 2.363 0 270 0 37 14 Newspaper -1.816 0.197 2.872 0 0 0 31 15 Statue -0.439 0.173 2.652 0 270 0 36 16 Statue -0.178 0.775 3.128 0 0 0 38 17 Curtains -1.030 2.113 0.0 0 0 0 18 Curtains -3.927 2.113 0.0 0 0 0 19 HousePlant -3.127 1.507 0.118 0 0 0 20 Television 0.0 1.376 2.661 0 270 0 21 GarbageCan -0.227 0.005 4.778 0 0 0 22 DeskLamp -4.658 0.508 3.318 0 270 0 23 Painting -2.507 1.817 0.108 90 0 0 24 FloorLamp -4.596 0.006 0.399 0 65.211 0 25 LightSwitch -3.233 1.343 5.0 0 180 0 26 Window -1.011 1.391 0.029 90 180 0 27 Window -3.900 1.391 0.029 90 180 0 28 Drawer -4.433 0.473 3.344 0 90 0 29 SideTable -4.612 0.009 3.346 0 90 0 30 Chair -4.572 0.005 3.862 0 113.899 0 31 CoffeeTable -1.972 0.002 2.615 0 270 0 32 ArmChair -0.875 0.005 0.566 0 0 0 33 Shelf -0.340 0.480 3.046 0 270 0 34 Shelf -0.340 0.649 3.046 0 270 0 35 Shelf -0.340 0.603 2.312 0 270 0 36 Shelf -0.340 0.448 2.678 0 270 0 37 Shelf -0.340 0.308 2.312 0 270 0 38 TVStand -0.335 0.005 2.679 0 270 0 39 Shelf -0.340 0.279 3.046 0 270 0 40 Sofa -4.566 0.009 1.880 0 90 0 41 Sofa -2.124 0.009 4.558 0 180 0 42 NorthWall 43 SouthWall 44 SouthWall
[ "STEP 1: Turn and go to the left side of the couch. | STEP 2: Pick up the keys that are on the couch. | STEP 3: With the keys in hand turn and face the coffee table. | STEP 4: Place the keys in the box that is on the coffee table. | STEP 5: Pick up the box with the keys in it. | STEP 6: Turn and take the box with the keys to the chair that is to the left of the fireplace. | STEP 7: Place the box on the chair that is next to the fireplace. | END" ]
[ [ "STEP 1: Turn and go to the left side of the couch. ", " STEP 2: Pick up the keys that are on the couch. ", " STEP 3: With the keys in hand turn and face the coffee table. ", " STEP 4: Place the keys in the box that is on the coffee table. ", " STEP 5: Pick up the box with the keys in it. ", " STEP 6: Turn and take the box with the keys to the chair that is to the left of the fireplace. ", " STEP 7: Place the box on the chair that is next to the fireplace. ", " END" ] ]
seen
trial_T20190906_165037_674542-1
Put a box with keys in it on the chair.
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " -3.25", " 0.906", " 2.0", " 0", " 0", " 0", "" ], [ "1", " Watch", " -0.553", " 0.765", " 3.128", " 0", " 270", " 0", " 38" ], [ "2", " Newspaper", " -0.403", " 0.763", " 2.978", " 0", " 270", " 0", " 38" ], [ "3", " Newspaper", " -0.253", " 0.763", " 2.678", " 0", " 270", " 0", " 38" ], [ "4", " RemoteControl", " -0.328", " 0.766", " 2.828", " 0", " 270", " 0", " 38" ], [ "5", " Box", " -2.111", " 0.293", " 2.930", " 0", " 0", " 0", " 31" ], [ "6", " CreditCard", " -2.618", " 0.396", " 4.412", " 0", " 0", " 0", " 41" ], [ "7", " TissueBox", " -0.178", " 0.766", " 2.978", " 0", " 270", " 0", " 38" ], [ "8", " Laptop", " -0.335", " 0.758", " 2.38", " 0", " 33.790", " 0", " 38" ], [ "9", " Vase", " -2.880", " 1.518", " 0.144", " 0", " 0", " 0", "" ], [ "10", " RemoteControl", " -1.816", " 0.196", " 2.643", " 0", " 0", " 0", " 31" ], [ "11", " Pillow", " -1.379", " 0.479", " 4.520", " 0", " 0", " 0", " 41" ], [ "12", " KeyChain", " -2.865", " 0.419", " 4.570", " 0", " 0", " 0", " 41" ], [ "13", " Watch", " -0.499", " 0.183", " 2.363", " 0", " 270", " 0", " 37" ], [ "14", " Newspaper", " -1.816", " 0.197", " 2.872", " 0", " 0", " 0", " 31" ], [ "15", " Statue", " -0.439", " 0.173", " 2.652", " 0", " 270", " 0", " 36" ], [ "16", " Statue", " -0.178", " 0.775", " 3.128", " 0", " 0", " 0", " 38" ], [ "17", " Curtains", " -1.030", " 2.113", " 0.0", " 0", " 0", " 0", "" ], [ "18", " Curtains", " -3.927", " 2.113", " 0.0", " 0", " 0", " 0", "" ], [ "19", " HousePlant", " -3.127", " 1.507", " 0.118", " 0", " 0", " 0", "" ], [ "20", " Television", " 0.0", " 1.376", " 2.661", " 0", " 270", " 0", "" ], [ "21", " GarbageCan", " -0.227", " 0.005", " 4.778", " 0", " 0", " 0", "" ], [ "22", " DeskLamp", " -4.658", " 0.508", " 3.318", " 0", " 270", " 0", "" ], [ "23", " Painting", " -2.507", " 1.817", " 0.108", " 90", " 0", " 0", "" ], [ "24", " FloorLamp", " -4.596", " 0.006", " 0.399", " 0", " 65.211", " 0", "" ], [ "25", " LightSwitch", " -3.233", " 1.343", " 5.0", " 0", " 180", " 0", "" ], [ "26", " Window", " -1.011", " 1.391", " 0.029", " 90", " 180", " 0", "" ], [ "27", " Window", " -3.900", " 1.391", " 0.029", " 90", " 180", " 0", "" ], [ "28", " Drawer", " -4.433", " 0.473", " 3.344", " 0", " 90", " 0", "" ], [ "29", " SideTable", " -4.612", " 0.009", " 3.346", " 0", " 90", " 0", "" ], [ "30", " Chair", " -4.572", " 0.005", " 3.862", " 0", " 113.899", " 0", "" ], [ "31", " CoffeeTable", " -1.972", " 0.002", " 2.615", " 0", " 270", " 0", "" ], [ "32", " ArmChair", " -0.875", " 0.005", " 0.566", " 0", " 0", " 0", "" ], [ "33", " Shelf", " -0.340", " 0.480", " 3.046", " 0", " 270", " 0", "" ], [ "34", " Shelf", " -0.340", " 0.649", " 3.046", " 0", " 270", " 0", "" ], [ "35", " Shelf", " -0.340", " 0.603", " 2.312", " 0", " 270", " 0", "" ], [ "36", " Shelf", " -0.340", " 0.448", " 2.678", " 0", " 270", " 0", "" ], [ "37", " Shelf", " -0.340", " 0.308", " 2.312", " 0", " 270", " 0", "" ], [ "38", " TVStand", " -0.335", " 0.005", " 2.679", " 0", " 270", " 0", "" ], [ "39", " Shelf", " -0.340", " 0.279", " 3.046", " 0", " 270", " 0", "" ], [ "40", " Sofa", " -4.566", " 0.009", " 1.880", " 0", " 90", " 0", "" ], [ "41", " Sofa", " -2.124", " 0.009", " 4.558", " 0", " 180", " 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 -3.25 0.906 2.0 0 0 0 1 Watch -0.553 0.765 3.128 0 270 0 38 2 Newspaper -0.403 0.763 2.978 0 270 0 38 3 Newspaper -0.253 0.763 2.678 0 270 0 38 4 RemoteControl -0.328 0.766 2.828 0 270 0 38 5 Box -2.111 0.293 2.930 0 0 0 31 6 CreditCard -2.618 0.396 4.412 0 0 0 41 7 TissueBox -0.178 0.766 2.978 0 270 0 38 8 Laptop -0.335 0.758 2.38 0 33.790 0 38 9 Vase -2.880 1.518 0.144 0 0 0 10 RemoteControl -1.816 0.196 2.643 0 0 0 31 11 Pillow -1.379 0.479 4.520 0 0 0 41 12 KeyChain -2.865 0.419 4.570 0 0 0 41 13 Watch -0.499 0.183 2.363 0 270 0 37 14 Newspaper -1.816 0.197 2.872 0 0 0 31 15 Statue -0.439 0.173 2.652 0 270 0 36 16 Statue -0.178 0.775 3.128 0 0 0 38 17 Curtains -1.030 2.113 0.0 0 0 0 18 Curtains -3.927 2.113 0.0 0 0 0 19 HousePlant -3.127 1.507 0.118 0 0 0 20 Television 0.0 1.376 2.661 0 270 0 21 GarbageCan -0.227 0.005 4.778 0 0 0 22 DeskLamp -4.658 0.508 3.318 0 270 0 23 Painting -2.507 1.817 0.108 90 0 0 24 FloorLamp -4.596 0.006 0.399 0 65.211 0 25 LightSwitch -3.233 1.343 5.0 0 180 0 26 Window -1.011 1.391 0.029 90 180 0 27 Window -3.900 1.391 0.029 90 180 0 28 Drawer -4.433 0.473 3.344 0 90 0 29 SideTable -4.612 0.009 3.346 0 90 0 30 Chair -4.572 0.005 3.862 0 113.899 0 31 CoffeeTable -1.972 0.002 2.615 0 270 0 32 ArmChair -0.875 0.005 0.566 0 0 0 33 Shelf -0.340 0.480 3.046 0 270 0 34 Shelf -0.340 0.649 3.046 0 270 0 35 Shelf -0.340 0.603 2.312 0 270 0 36 Shelf -0.340 0.448 2.678 0 270 0 37 Shelf -0.340 0.308 2.312 0 270 0 38 TVStand -0.335 0.005 2.679 0 270 0 39 Shelf -0.340 0.279 3.046 0 270 0 40 Sofa -4.566 0.009 1.880 0 90 0 41 Sofa -2.124 0.009 4.558 0 180 0 42 NorthWall 43 SouthWall 44 SouthWall
[ "STEP 1: Turn right and walk to the strange white object then turn left and walk to the couch. | STEP 2: Pick up the keys that are on the couch. | STEP 3: Turn right and take a step then turn right and take a step towards the small white table. | STEP 4: Put the keys in the box on the table. | STEP 5: Pick up the box with the keys in it. | STEP 6: Turn left and walk to the tv stand then turn right and walk to the chair. | STEP 7: Put the box on the chair. | END" ]
[ [ "STEP 1: Turn right and walk to the strange white object then turn left and walk to the couch. ", " STEP 2: Pick up the keys that are on the couch. ", " STEP 3: Turn right and take a step then turn right and take a step towards the small white table. ", " STEP 4: Put the keys in the box on the table. ", " STEP 5: Pick up the box with the keys in it. ", " STEP 6: Turn left and walk to the tv stand then turn right and walk to the chair. ", " STEP 7: Put the box on the chair. ", " END" ] ]
seen
trial_T20190906_165037_674542-2
Move keys to a box and move both to a chair.
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " -3.25", " 0.906", " 2.0", " 0", " 0", " 0", "" ], [ "1", " Watch", " -0.553", " 0.765", " 3.128", " 0", " 270", " 0", " 38" ], [ "2", " Newspaper", " -0.403", " 0.763", " 2.978", " 0", " 270", " 0", " 38" ], [ "3", " Newspaper", " -0.253", " 0.763", " 2.678", " 0", " 270", " 0", " 38" ], [ "4", " RemoteControl", " -0.328", " 0.766", " 2.828", " 0", " 270", " 0", " 38" ], [ "5", " Box", " -2.111", " 0.293", " 2.930", " 0", " 0", " 0", " 31" ], [ "6", " CreditCard", " -2.618", " 0.396", " 4.412", " 0", " 0", " 0", " 41" ], [ "7", " TissueBox", " -0.178", " 0.766", " 2.978", " 0", " 270", " 0", " 38" ], [ "8", " Laptop", " -0.335", " 0.758", " 2.38", " 0", " 33.790", " 0", " 38" ], [ "9", " Vase", " -2.880", " 1.518", " 0.144", " 0", " 0", " 0", "" ], [ "10", " RemoteControl", " -1.816", " 0.196", " 2.643", " 0", " 0", " 0", " 31" ], [ "11", " Pillow", " -1.379", " 0.479", " 4.520", " 0", " 0", " 0", " 41" ], [ "12", " KeyChain", " -2.865", " 0.419", " 4.570", " 0", " 0", " 0", " 41" ], [ "13", " Watch", " -0.499", " 0.183", " 2.363", " 0", " 270", " 0", " 37" ], [ "14", " Newspaper", " -1.816", " 0.197", " 2.872", " 0", " 0", " 0", " 31" ], [ "15", " Statue", " -0.439", " 0.173", " 2.652", " 0", " 270", " 0", " 36" ], [ "16", " Statue", " -0.178", " 0.775", " 3.128", " 0", " 0", " 0", " 38" ], [ "17", " Curtains", " -1.030", " 2.113", " 0.0", " 0", " 0", " 0", "" ], [ "18", " Curtains", " -3.927", " 2.113", " 0.0", " 0", " 0", " 0", "" ], [ "19", " HousePlant", " -3.127", " 1.507", " 0.118", " 0", " 0", " 0", "" ], [ "20", " Television", " 0.0", " 1.376", " 2.661", " 0", " 270", " 0", "" ], [ "21", " GarbageCan", " -0.227", " 0.005", " 4.778", " 0", " 0", " 0", "" ], [ "22", " DeskLamp", " -4.658", " 0.508", " 3.318", " 0", " 270", " 0", "" ], [ "23", " Painting", " -2.507", " 1.817", " 0.108", " 90", " 0", " 0", "" ], [ "24", " FloorLamp", " -4.596", " 0.006", " 0.399", " 0", " 65.211", " 0", "" ], [ "25", " LightSwitch", " -3.233", " 1.343", " 5.0", " 0", " 180", " 0", "" ], [ "26", " Window", " -1.011", " 1.391", " 0.029", " 90", " 180", " 0", "" ], [ "27", " Window", " -3.900", " 1.391", " 0.029", " 90", " 180", " 0", "" ], [ "28", " Drawer", " -4.433", " 0.473", " 3.344", " 0", " 90", " 0", "" ], [ "29", " SideTable", " -4.612", " 0.009", " 3.346", " 0", " 90", " 0", "" ], [ "30", " Chair", " -4.572", " 0.005", " 3.862", " 0", " 113.899", " 0", "" ], [ "31", " CoffeeTable", " -1.972", " 0.002", " 2.615", " 0", " 270", " 0", "" ], [ "32", " ArmChair", " -0.875", " 0.005", " 0.566", " 0", " 0", " 0", "" ], [ "33", " Shelf", " -0.340", " 0.480", " 3.046", " 0", " 270", " 0", "" ], [ "34", " Shelf", " -0.340", " 0.649", " 3.046", " 0", " 270", " 0", "" ], [ "35", " Shelf", " -0.340", " 0.603", " 2.312", " 0", " 270", " 0", "" ], [ "36", " Shelf", " -0.340", " 0.448", " 2.678", " 0", " 270", " 0", "" ], [ "37", " Shelf", " -0.340", " 0.308", " 2.312", " 0", " 270", " 0", "" ], [ "38", " TVStand", " -0.335", " 0.005", " 2.679", " 0", " 270", " 0", "" ], [ "39", " Shelf", " -0.340", " 0.279", " 3.046", " 0", " 270", " 0", "" ], [ "40", " Sofa", " -4.566", " 0.009", " 1.880", " 0", " 90", " 0", "" ], [ "41", " Sofa", " -2.124", " 0.009", " 4.558", " 0", " 180", " 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 -3.25 0.906 2.0 0 0 0 1 Watch -0.553 0.765 3.128 0 270 0 38 2 Newspaper -0.403 0.763 2.978 0 270 0 38 3 Newspaper -0.253 0.763 2.678 0 270 0 38 4 RemoteControl -0.328 0.766 2.828 0 270 0 38 5 Box -2.111 0.293 2.930 0 0 0 31 6 CreditCard -2.618 0.396 4.412 0 0 0 41 7 TissueBox -0.178 0.766 2.978 0 270 0 38 8 Laptop -0.335 0.758 2.38 0 33.790 0 38 9 Vase -2.880 1.518 0.144 0 0 0 10 RemoteControl -1.816 0.196 2.643 0 0 0 31 11 Pillow -1.379 0.479 4.520 0 0 0 41 12 KeyChain -2.865 0.419 4.570 0 0 0 41 13 Watch -0.499 0.183 2.363 0 270 0 37 14 Newspaper -1.816 0.197 2.872 0 0 0 31 15 Statue -0.439 0.173 2.652 0 270 0 36 16 Statue -0.178 0.775 3.128 0 0 0 38 17 Curtains -1.030 2.113 0.0 0 0 0 18 Curtains -3.927 2.113 0.0 0 0 0 19 HousePlant -3.127 1.507 0.118 0 0 0 20 Television 0.0 1.376 2.661 0 270 0 21 GarbageCan -0.227 0.005 4.778 0 0 0 22 DeskLamp -4.658 0.508 3.318 0 270 0 23 Painting -2.507 1.817 0.108 90 0 0 24 FloorLamp -4.596 0.006 0.399 0 65.211 0 25 LightSwitch -3.233 1.343 5.0 0 180 0 26 Window -1.011 1.391 0.029 90 180 0 27 Window -3.900 1.391 0.029 90 180 0 28 Drawer -4.433 0.473 3.344 0 90 0 29 SideTable -4.612 0.009 3.346 0 90 0 30 Chair -4.572 0.005 3.862 0 113.899 0 31 CoffeeTable -1.972 0.002 2.615 0 270 0 32 ArmChair -0.875 0.005 0.566 0 0 0 33 Shelf -0.340 0.480 3.046 0 270 0 34 Shelf -0.340 0.649 3.046 0 270 0 35 Shelf -0.340 0.603 2.312 0 270 0 36 Shelf -0.340 0.448 2.678 0 270 0 37 Shelf -0.340 0.308 2.312 0 270 0 38 TVStand -0.335 0.005 2.679 0 270 0 39 Shelf -0.340 0.279 3.046 0 270 0 40 Sofa -4.566 0.009 1.880 0 90 0 41 Sofa -2.124 0.009 4.558 0 180 0 42 NorthWall 43 SouthWall 44 SouthWall
[ "STEP 1: Move forward to the back couch along the wall. | STEP 2: Pick up the keys from the left side of the couch. | STEP 3: Take the keys, and turn around to the coffee table. | STEP 4: Place the keys inside the box. | STEP 5: Pick up the box from the coffee table. | STEP 6: Carry the box and turn to the left and then the right to find a chair in the corner. | STEP 7: Place the box on the chair. | END" ]
[ [ "STEP 1: Move forward to the back couch along the wall. ", " STEP 2: Pick up the keys from the left side of the couch. ", " STEP 3: Take the keys, and turn around to the coffee table. ", " STEP 4: Place the keys inside the box. ", " STEP 5: Pick up the box from the coffee table. ", " STEP 6: Carry the box and turn to the left and then the right to find a chair in the corner. ", " STEP 7: Place the box on the chair. ", " END" ] ]
seen
trial_T20190906_165037_674542-3
Put a box with keys onto the chair
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -3.25 0.906 2.0 0 0 0 1 Watch -0.553 0.765 3.128 0 270 0 38 2 Newspaper -0.403 0.763 2.978 0 270 0 38 3 Newspaper -0.253 0.763 2.678 0 270 0 38 4 RemoteControl -0.328 0.766 2.828 0 270 0 38 5 Box -2.111 0.293 2.930 0 0 0 31 6 CreditCard -2.618 0.396 4.412 0 0 0 41 7 TissueBox -0.178 0.766 2.978 0 270 0 38 8 Laptop -0.335 0.758 2.38 0 33.790 0 38 9 Vase -2.880 1.518 0.144 0 0 0 10 RemoteControl -1.816 0.196 2.643 0 0 0 31 11 Pillow -1.379 0.479 4.520 0 0 0 41 12 KeyChain -2.865 0.419 4.570 0 0 0 41 13 Watch -0.499 0.183 2.363 0 270 0 37 14 Newspaper -1.816 0.197 2.872 0 0 0 31 15 Statue -0.439 0.173 2.652 0 270 0 36 16 Statue -0.178 0.775 3.128 0 0 0 38 17 Curtains -1.030 2.113 0.0 0 0 0 18 Curtains -3.927 2.113 0.0 0 0 0 19 HousePlant -3.127 1.507 0.118 0 0 0 20 Television 0.0 1.376 2.661 0 270 0 21 GarbageCan -0.227 0.005 4.778 0 0 0 22 DeskLamp -4.658 0.508 3.318 0 270 0 23 Painting -2.507 1.817 0.108 90 0 0 24 FloorLamp -4.596 0.006 0.399 0 65.211 0 25 LightSwitch -3.233 1.343 5.0 0 180 0 26 Window -1.011 1.391 0.029 90 180 0 27 Window -3.900 1.391 0.029 90 180 0 28 Drawer -4.433 0.473 3.344 0 90 0 29 SideTable -4.612 0.009 3.346 0 90 0 30 Chair -4.572 0.005 3.862 0 113.899 0 31 CoffeeTable -1.972 0.002 2.615 0 270 0 32 ArmChair -0.875 0.005 0.566 0 0 0 33 Shelf -0.340 0.480 3.046 0 270 0 34 Shelf -0.340 0.649 3.046 0 270 0 35 Shelf -0.340 0.603 2.312 0 270 0 36 Shelf -0.340 0.448 2.678 0 270 0 37 Shelf -0.340 0.308 2.312 0 270 0 38 TVStand -0.335 0.005 2.679 0 270 0 39 Shelf -0.340 0.279 3.046 0 270 0 40 Sofa -4.566 0.009 1.880 0 90 0 41 Sofa -2.124 0.009 4.558 0 180 0 42 NorthWall 43 SouthWall 44 SouthWall
[ "STEP 1: Walk over to the dark sofa | STEP 2: Pick up the keys from the sofa | STEP 3: Turn around and approach the small white coffee table | STEP 4: Put the keys into the box on the coffee table | STEP 5: Pick up the box from the table | STEP 6: Walk over to the chair to the left of the fireplace | STEP 7: Put the box on the chair | END" ]
[ [ "STEP 1: Walk over to the dark sofa ", " STEP 2: Pick up the keys from the sofa ", " STEP 3: Turn around and approach the small white coffee table ", " STEP 4: Put the keys into the box on the coffee table ", " STEP 5: Pick up the box from the table ", " STEP 6: Walk over to the chair to the left of the fireplace ", " STEP 7: Put the box on the chair ", " END" ] ]
seen
trial_T20190906_165037_674542-4
Put the box with the keys inside onto the black 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 0.906 2.0 0 0 0 1 Watch -0.553 0.765 3.128 0 270 0 38 2 Newspaper -0.403 0.763 2.978 0 270 0 38 3 Newspaper -0.253 0.763 2.678 0 270 0 38 4 RemoteControl -0.328 0.766 2.828 0 270 0 38 5 Box -2.111 0.293 2.930 0 0 0 31 6 CreditCard -2.618 0.396 4.412 0 0 0 41 7 TissueBox -0.178 0.766 2.978 0 270 0 38 8 Laptop -0.335 0.758 2.38 0 33.790 0 38 9 Vase -2.880 1.518 0.144 0 0 0 10 RemoteControl -1.816 0.196 2.643 0 0 0 31 11 Pillow -1.379 0.479 4.520 0 0 0 41 12 KeyChain -2.865 0.419 4.570 0 0 0 41 13 Watch -0.499 0.183 2.363 0 270 0 37 14 Newspaper -1.816 0.197 2.872 0 0 0 31 15 Statue -0.439 0.173 2.652 0 270 0 36 16 Statue -0.178 0.775 3.128 0 0 0 38 17 Curtains -1.030 2.113 0.0 0 0 0 18 Curtains -3.927 2.113 0.0 0 0 0 19 HousePlant -3.127 1.507 0.118 0 0 0 20 Television 0.0 1.376 2.661 0 270 0 21 GarbageCan -0.227 0.005 4.778 0 0 0 22 DeskLamp -4.658 0.508 3.318 0 270 0 23 Painting -2.507 1.817 0.108 90 0 0 24 FloorLamp -4.596 0.006 0.399 0 65.211 0 25 LightSwitch -3.233 1.343 5.0 0 180 0 26 Window -1.011 1.391 0.029 90 180 0 27 Window -3.900 1.391 0.029 90 180 0 28 Drawer -4.433 0.473 3.344 0 90 0 29 SideTable -4.612 0.009 3.346 0 90 0 30 Chair -4.572 0.005 3.862 0 113.899 0 31 CoffeeTable -1.972 0.002 2.615 0 270 0 32 ArmChair -0.875 0.005 0.566 0 0 0 33 Shelf -0.340 0.480 3.046 0 270 0 34 Shelf -0.340 0.649 3.046 0 270 0 35 Shelf -0.340 0.603 2.312 0 270 0 36 Shelf -0.340 0.448 2.678 0 270 0 37 Shelf -0.340 0.308 2.312 0 270 0 38 TVStand -0.335 0.005 2.679 0 270 0 39 Shelf -0.340 0.279 3.046 0 270 0 40 Sofa -4.566 0.009 1.880 0 90 0 41 Sofa -2.124 0.009 4.558 0 180 0 42 NorthWall 43 SouthWall 44 SouthWall
[ "STEP 1: Turn to the right and walk to just before the coffee table then turn left and walk to the sofa\n | STEP 2: Pick up the keys from the sofa | STEP 3: Turn around and go to the coffee table | STEP 4: Put the keys in the box that is on the coffee table\n | STEP 5: Pick up the box from the coffee table | STEP 6: Turn to the left and go past the coffee table then turn to the right and go to the black chair | STEP 7: Put the box on the chair | END" ]
[ [ "STEP 1: Turn to the right and walk to just before the coffee table then turn left and walk to the sofa\n ", " STEP 2: Pick up the keys from the sofa ", " STEP 3: Turn around and go to the coffee table ", " STEP 4: Put the keys in the box that is on the coffee table\n ", " STEP 5: Pick up the box from the coffee table ", " STEP 6: Turn to the left and go past the coffee table then turn to the right and go to the black chair ", " STEP 7: Put the box on the chair ", " END" ] ]
seen
trial_T20190906_165037_674542-5
Put a box with keys on it on the chair.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -3.25 0.906 2.0 0 0 0 1 Watch -0.553 0.765 3.128 0 270 0 38 2 Newspaper -0.403 0.763 2.978 0 270 0 38 3 Newspaper -0.253 0.763 2.678 0 270 0 38 4 RemoteControl -0.328 0.766 2.828 0 270 0 38 5 Box -2.111 0.293 2.930 0 0 0 31 6 CreditCard -2.618 0.396 4.412 0 0 0 41 7 TissueBox -0.178 0.766 2.978 0 270 0 38 8 Laptop -0.335 0.758 2.38 0 33.790 0 38 9 Vase -2.880 1.518 0.144 0 0 0 10 RemoteControl -1.816 0.196 2.643 0 0 0 31 11 Pillow -1.379 0.479 4.520 0 0 0 41 12 KeyChain -2.865 0.419 4.570 0 0 0 41 13 Watch -0.499 0.183 2.363 0 270 0 37 14 Newspaper -1.816 0.197 2.872 0 0 0 31 15 Statue -0.439 0.173 2.652 0 270 0 36 16 Statue -0.178 0.775 3.128 0 0 0 38 17 Curtains -1.030 2.113 0.0 0 0 0 18 Curtains -3.927 2.113 0.0 0 0 0 19 HousePlant -3.127 1.507 0.118 0 0 0 20 Television 0.0 1.376 2.661 0 270 0 21 GarbageCan -0.227 0.005 4.778 0 0 0 22 DeskLamp -4.658 0.508 3.318 0 270 0 23 Painting -2.507 1.817 0.108 90 0 0 24 FloorLamp -4.596 0.006 0.399 0 65.211 0 25 LightSwitch -3.233 1.343 5.0 0 180 0 26 Window -1.011 1.391 0.029 90 180 0 27 Window -3.900 1.391 0.029 90 180 0 28 Drawer -4.433 0.473 3.344 0 90 0 29 SideTable -4.612 0.009 3.346 0 90 0 30 Chair -4.572 0.005 3.862 0 113.899 0 31 CoffeeTable -1.972 0.002 2.615 0 270 0 32 ArmChair -0.875 0.005 0.566 0 0 0 33 Shelf -0.340 0.480 3.046 0 270 0 34 Shelf -0.340 0.649 3.046 0 270 0 35 Shelf -0.340 0.603 2.312 0 270 0 36 Shelf -0.340 0.448 2.678 0 270 0 37 Shelf -0.340 0.308 2.312 0 270 0 38 TVStand -0.335 0.005 2.679 0 270 0 39 Shelf -0.340 0.279 3.046 0 270 0 40 Sofa -4.566 0.009 1.880 0 90 0 41 Sofa -2.124 0.009 4.558 0 180 0 42 NorthWall 43 SouthWall 44 SouthWall
[ "STEP 1: Walk ahead to the couch. | STEP 2: Pick the keys up from the table. | STEP 3: Turn around and look at the table. | STEP 4: Place the keys in the box on the table. | STEP 5: Pick up the box. | STEP 6: Walk ahead and to the left to the chair in the corner of the room. | STEP 7: Place the box on the chair. | END" ]
[ [ "STEP 1: Walk ahead to the couch. ", " STEP 2: Pick the keys up from the table. ", " STEP 3: Turn around and look at the table. ", " STEP 4: Place the keys in the box on the table. ", " STEP 5: Pick up the box. ", " STEP 6: Walk ahead and to the left to the chair in the corner of the room. ", " STEP 7: Place the box on the chair. ", " END" ] ]
seen
trial_T20190907_144205_820330-0
Put a warmed pan in a cabinet.
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" 0.683", " -0.930", " 0", " 0", " 0", "" ], [ "76", " Drawer", " 1.650", " 0.682", " -1.396", " 0", " 0", " 0", "" ], [ "77", " Drawer", " 0.600", " 0.682", " -1.396", " 0", " 0", " 0", "" ], [ "78", " StoveBurner", " 0.974", " 0.957", " -1.419", " 0", " 180", " 0", "" ], [ "79", " Drawer", " -2.062", " 0.683", " -1.579", " 0", " 0", " 0", "" ], [ "80", " CounterTop", " 1.645", " 0.945", " -1.527", " 0", " 0", " 0", "" ], [ "81", " Shelf", " 3.725", " 0.880", " 1.671", " 0", " 90", " 0", "" ], [ "82", " LightSwitch", " 2.830", " 1.266", " -0.748", " 0", " 0", " 0", "" ], [ "83", " Shelf", " 3.726", " 0.552", " 1.671", " 0", " 90", " 0", "" ], [ "84", " Microwave", " 1.150", " 1.655", " -1.614", " 0", " 0", " 0", "" ], [ "85", " Fridge", " -0.035", " 0.0", " 2.177", " 0", " 180", " 0", "" ], [ "86", " Window", " -0.115", " 1.802", " -1.896", " 90", " 0", " 0", "" ], [ "87", " Window", " -4.009", " 1.799", " 0.310", " 90", " 90", " 0", "" ], [ "88", " Shelf", " 3.726", " 0.172", " 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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -3.0 0.900 -0.75 0 270 0 1 Potato -2.584 0.915 3.221 0 0 0 62 2 Potato -2.807 0.911 2.884 0 0 0 62 3 DishSponge 1.614 0.909 -1.255 0 0 0 80 4 ButterKnife 0.069 0.928 -1.790 0 0 0 57 5 Kettle 0.974 0.957 -1.419 0 180 0 78 6 WineBottle -1.557 1.658 -1.784 0 0 0 73 7 WineBottle -2.183 0.913 -0.939 0 0 0 60 8 Spatula -1.961 0.927 0.037 0 0 0 60 9 Spatula -1.649 0.732 -1.073 0 90 0 75 10 Pot 1.328 0.957 -1.420 0 180 0 64 11 Fork -0.040 0.929 -1.501 0 270 0 57 12 Fork -2.964 0.875 2.811 0 225 0 62 13 Egg -0.149 1.169 2.127 0 180 0 85 14 Egg 0.193 0.414 1.967 0 180 0 85 15 Cup 0.124 0.927 -1.429 0 270 0 57 16 Plate 1.648 0.118 -1.450 0 0 0 66 17 Knife -2.644 0.900 2.997 0 225 0 62 18 Tomato -3.165 0.925 3.073 0 270 0 62 19 Bowl 3.689 0.551 1.449 0 270 0 83 20 SaltShaker 3.743 0.877 1.554 0 270 0 81 21 Bread -0.263 0.886 2.194 0 180 0 85 22 Bread -2.300 0.958 3.580 0 225 0 62 23 Lettuce -2.321 0.939 3.221 0 270 0 62 24 Lettuce -2.584 0.943 3.728 0 0 0 62 25 Mug -2.996 0.873 3.073 0 270 0 62 26 Apple 0.663 0.967 -1.776 0 0 0 60 27 Apple -2.539 0.933 3.341 0 225 0 62 28 Book 0.599 0.715 -1.410 0 0 0 77 29 Fork -0.330 0.708 -1.573 0 270 0 89 30 Tomato -2.740 0.925 3.618 0 135 0 62 31 Egg 0.079 0.828 2.023 0 180 0 85 32 Kettle -0.833 0.900 -1.757 0 0 0 60 33 Vase -1.388 1.658 -1.710 0 0 0 73 34 Cup -0.149 1.570 2.279 0 180 0 85 35 WineBottle 3.662 0.881 1.861 0 270 0 81 36 Plate -2.898 0.878 3.460 0 135 0 62 37 Spatula -2.315 0.893 3.088 0 225 0 62 38 Potato -2.321 0.911 3.370 0 270 0 62 39 Pot 0.974 0.957 -1.688 0 180 0 59 40 Knife 0.234 0.950 -1.573 0 270 0 57 41 SaltShaker 1.760 0.906 -1.346 0 0 0 80 42 PepperShaker -2.584 0.871 2.715 0 0 0 62 43 Lettuce -1.849 0.977 -0.614 0 0 0 60 44 ButterKnife -3.002 0.878 3.355 0 135 0 62 45 Bread -2.300 0.958 2.863 0 135 0 62 46 Vase 0.036 0.115 -1.379 0 0 0 68 47 DishSponge -2.964 0.878 3.632 0 135 0 62 48 Apple -1.627 0.967 -0.614 0 0 0 60 49 Pan -1.849 0.911 0.363 0 0 0 60 50 Spoon -2.015 0.719 -1.716 0 0 0 79 51 SoapBottle 3.689 0.881 1.963 0 270 0 81 52 Mug -2.539 0.869 3.102 0 135 0 62 53 Statue 3.676 0.168 1.410 0 334.521 0 83 54 Statue 3.668 0.540 1.800 0 0 0 83 55 Bowl -0.035 1.570 2.040 0 180 0 85 56 Cabinet -2.171 2.009 -1.538 0 0 0 57 Sink 0.024 0.771 -1.708 0 270 0 58 Cabinet 1.444 2.259 -1.542 0 0 0 59 StoveBurner 0.974 0.957 -1.688 0 180 0 60 CounterTop -1.866 0.947 -0.614 0 0 0 61 Cabinet -2.217 0.373 -1.874 0 0 0 62 DiningTable -2.663 0.002 3.208 0 0 0 63 StoveBurner 1.328 0.957 -1.688 0 180 0 64 StoveBurner 1.328 0.957 -1.420 0 180 0 65 Cabinet -1.478 0.373 -1.235 0 0 0 66 Cabinet 1.775 0.372 -1.242 0 0 0 67 Cabinet 0.774 0.372 -1.242 0 0 0 68 Cabinet 0.375 0.372 -1.242 0 0 0 69 Cabinet -0.574 0.372 -1.238 0 0 0 70 Cabinet 1.775 2.009 -1.542 0 0 0 71 Cabinet 0.524 2.009 -1.542 0 0 0 72 Cabinet -0.714 2.009 -1.542 0 0 0 73 Cabinet -1.671 2.009 -1.538 0 0 0 74 Cabinet 0.854 2.259 -1.542 0 0 0 75 Drawer -1.636 0.683 -0.930 0 0 0 76 Drawer 1.650 0.682 -1.396 0 0 0 77 Drawer 0.600 0.682 -1.396 0 0 0 78 StoveBurner 0.974 0.957 -1.419 0 180 0 79 Drawer -2.062 0.683 -1.579 0 0 0 80 CounterTop 1.645 0.945 -1.527 0 0 0 81 Shelf 3.725 0.880 1.671 0 90 0 82 LightSwitch 2.830 1.266 -0.748 0 0 0 83 Shelf 3.726 0.552 1.671 0 90 0 84 Microwave 1.150 1.655 -1.614 0 0 0 85 Fridge -0.035 0.0 2.177 0 180 0 86 Window -0.115 1.802 -1.896 90 0 0 87 Window -4.009 1.799 0.310 90 90 0 88 Shelf 3.726 0.172 1.671 0 90 0 89 SinkBasin -0.330 0.686 -1.581 0 270 0 90 GarbageCan -0.870 -0.001 2.136 0 90 0 91 StoveKnob 1.089 0.913 -1.243 45 0 0 92 StoveKnob 1.208 0.913 -1.243 45 0 0 93 StoveKnob 1.340 0.913 -1.243 45 0 0 94 StoveKnob 0.961 0.913 -1.243 45 0 0 95 Toaster 1.637 0.900 -1.673 0 0 0 96 Chair -3.505 0.002 3.290 0 105.736 0 97 CoffeeMachine -1.111 0.900 -1.726 0 0 0 98 HousePlant -2.663 0.835 3.209 0 0 0 99 Faucet -0.187 0.922 -1.75 0 311.166 0 100 ShelvingUnit 3.726 0.006 1.671 0 90 0 101 Stool -2.501 -0.000 0.062 1.223 91.243 0 102 Stool -2.475 -0.000 -0.802 1.209 69.808 0 103 Chair -2.934 0.002 2.437 0 28.531 0 104 Chair -1.698 0.002 3.235 0 245.204 0 105 NorthWall 106 EastWall 107 SouthWall 108 WestWall
[ "STEP 1: Turn around and go to the right and then right again to stand in front of the counter to the left of the stove. | STEP 2: Open the lower cabinet and pick up the pan from inside it. | STEP 3: Go right and stand in front of the microwave. | STEP 4: Put the pan in the microwave and turn it on and then take the pan out and shut the door. | STEP 5: Move left to face the lower cabinets to the left of the stove. | STEP 6: Open the lower cabinet on the left and put the pan inside and then shut the door. | END" ]
[ [ "STEP 1: Turn around and go to the right and then right again to stand in front of the counter to the left of the stove. ", " STEP 2: Open the lower cabinet and pick up the pan from inside it. ", " STEP 3: Go right and stand in front of the microwave. ", " STEP 4: Put the pan in the microwave and turn it on and then take the pan out and shut the door. ", " STEP 5: Move left to face the lower cabinets to the left of the stove. ", " STEP 6: Open the lower cabinet on the left and put the pan inside and then shut the door. ", " END" ] ]
seen
trial_T20190907_144205_820330-1
Heat and replace the plate in the cabinet to the left of the stove.
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"11", " Fork", " -0.040", " 0.929", " -1.501", " 0", " 270", " 0", " 57" ], [ "12", " Fork", " -2.964", " 0.875", " 2.811", " 0", " 225", " 0", " 62" ], [ "13", " Egg", " -0.149", " 1.169", " 2.127", " 0", " 180", " 0", " 85" ], [ "14", " Egg", " 0.193", " 0.414", " 1.967", " 0", " 180", " 0", " 85" ], [ "15", " Cup", " 0.124", " 0.927", " -1.429", " 0", " 270", " 0", " 57" ], [ "16", " Plate", " 1.648", " 0.118", " -1.450", " 0", " 0", " 0", " 66" ], [ "17", " Knife", " -2.644", " 0.900", " 2.997", " 0", " 225", " 0", " 62" ], [ "18", " Tomato", " -3.165", " 0.925", " 3.073", " 0", " 270", " 0", " 62" ], [ "19", " Bowl", " 3.689", " 0.551", " 1.449", " 0", " 270", " 0", " 83" ], [ "20", " SaltShaker", " 3.743", " 0.877", " 1.554", " 0", " 270", " 0", " 81" ], [ "21", " Bread", " -0.263", " 0.886", " 2.194", " 0", " 180", " 0", " 85" ], [ "22", " Bread", " -2.300", " 0.958", " 3.580", " 0", " 225", " 0", " 62" ], [ "23", " Lettuce", " -2.321", " 0.939", " 3.221", " 0", " 270", " 0", " 62" ], [ "24", " Lettuce", " -2.584", " 0.943", " 3.728", " 0", " 0", " 0", " 62" ], [ "25", " Mug", " -2.996", " 0.873", " 3.073", " 0", " 270", " 0", " 62" ], [ "26", " Apple", " 0.663", " 0.967", " -1.776", " 0", " 0", " 0", " 60" ], [ "27", " Apple", " -2.539", " 0.933", " 3.341", " 0", " 225", " 0", " 62" ], [ "28", " Book", " 0.599", " 0.715", " -1.410", " 0", " 0", " 0", " 77" ], [ "29", " Fork", " -0.330", " 0.708", " -1.573", " 0", " 270", " 0", " 89" ], [ "30", " Tomato", " -2.740", " 0.925", " 3.618", " 0", " 135", " 0", " 62" ], [ "31", " Egg", " 0.079", " 0.828", " 2.023", " 0", " 180", " 0", " 85" ], [ "32", " Kettle", " -0.833", " 0.900", " -1.757", " 0", " 0", " 0", " 60" ], [ "33", " Vase", " -1.388", " 1.658", " -1.710", " 0", " 0", " 0", " 73" ], [ "34", " Cup", " -0.149", " 1.570", " 2.279", " 0", " 180", " 0", " 85" ], [ "35", " WineBottle", " 3.662", " 0.881", " 1.861", " 0", " 270", " 0", " 81" ], [ "36", " Plate", " -2.898", " 0.878", " 3.460", " 0", " 135", " 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1.671", " 0", " 90", " 0", "" ], [ "89", " SinkBasin", " -0.330", " 0.686", " -1.581", " 0", " 270", " 0", "" ], [ "90", " GarbageCan", " -0.870", " -0.001", " 2.136", " 0", " 90", " 0", "" ], [ "91", " StoveKnob", " 1.089", " 0.913", " -1.243", " 45", " 0", " 0", "" ], [ "92", " StoveKnob", " 1.208", " 0.913", " -1.243", " 45", " 0", " 0", "" ], [ "93", " StoveKnob", " 1.340", " 0.913", " -1.243", " 45", " 0", " 0", "" ], [ "94", " StoveKnob", " 0.961", " 0.913", " -1.243", " 45", " 0", " 0", "" ], [ "95", " Toaster", " 1.637", " 0.900", " -1.673", " 0", " 0", " 0", "" ], [ "96", " Chair", " -3.505", " 0.002", " 3.290", " 0", " 105.736", " 0", "" ], [ "97", " CoffeeMachine", " -1.111", " 0.900", " -1.726", " 0", " 0", " 0", "" ], [ "98", " HousePlant", " -2.663", " 0.835", " 3.209", " 0", " 0", " 0", "" ], [ "99", " Faucet", " -0.187", " 0.922", " -1.75", " 0", " 311.166", " 0", "" ], [ "100", " ShelvingUnit", " 3.726", " 0.006", " 1.671", " 0", " 90", " 0", "" ], [ "101", " Stool", " -2.501", " -0.000", " 0.062", " 1.223", " 91.243", " 0", "" ], [ "102", " Stool", " -2.475", " -0.000", " -0.802", " 1.209", " 69.808", " 0", "" ], [ "103", " Chair", " -2.934", " 0.002", " 2.437", " 0", " 28.531", " 0", "" ], [ "104", " Chair", " -1.698", " 0.002", " 3.235", " 0", " 245.204", " 0", "" ], [ "105", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "106", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "107", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "108", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -3.0 0.900 -0.75 0 270 0 1 Potato -2.584 0.915 3.221 0 0 0 62 2 Potato -2.807 0.911 2.884 0 0 0 62 3 DishSponge 1.614 0.909 -1.255 0 0 0 80 4 ButterKnife 0.069 0.928 -1.790 0 0 0 57 5 Kettle 0.974 0.957 -1.419 0 180 0 78 6 WineBottle -1.557 1.658 -1.784 0 0 0 73 7 WineBottle -2.183 0.913 -0.939 0 0 0 60 8 Spatula -1.961 0.927 0.037 0 0 0 60 9 Spatula -1.649 0.732 -1.073 0 90 0 75 10 Pot 1.328 0.957 -1.420 0 180 0 64 11 Fork -0.040 0.929 -1.501 0 270 0 57 12 Fork -2.964 0.875 2.811 0 225 0 62 13 Egg -0.149 1.169 2.127 0 180 0 85 14 Egg 0.193 0.414 1.967 0 180 0 85 15 Cup 0.124 0.927 -1.429 0 270 0 57 16 Plate 1.648 0.118 -1.450 0 0 0 66 17 Knife -2.644 0.900 2.997 0 225 0 62 18 Tomato -3.165 0.925 3.073 0 270 0 62 19 Bowl 3.689 0.551 1.449 0 270 0 83 20 SaltShaker 3.743 0.877 1.554 0 270 0 81 21 Bread -0.263 0.886 2.194 0 180 0 85 22 Bread -2.300 0.958 3.580 0 225 0 62 23 Lettuce -2.321 0.939 3.221 0 270 0 62 24 Lettuce -2.584 0.943 3.728 0 0 0 62 25 Mug -2.996 0.873 3.073 0 270 0 62 26 Apple 0.663 0.967 -1.776 0 0 0 60 27 Apple -2.539 0.933 3.341 0 225 0 62 28 Book 0.599 0.715 -1.410 0 0 0 77 29 Fork -0.330 0.708 -1.573 0 270 0 89 30 Tomato -2.740 0.925 3.618 0 135 0 62 31 Egg 0.079 0.828 2.023 0 180 0 85 32 Kettle -0.833 0.900 -1.757 0 0 0 60 33 Vase -1.388 1.658 -1.710 0 0 0 73 34 Cup -0.149 1.570 2.279 0 180 0 85 35 WineBottle 3.662 0.881 1.861 0 270 0 81 36 Plate -2.898 0.878 3.460 0 135 0 62 37 Spatula -2.315 0.893 3.088 0 225 0 62 38 Potato -2.321 0.911 3.370 0 270 0 62 39 Pot 0.974 0.957 -1.688 0 180 0 59 40 Knife 0.234 0.950 -1.573 0 270 0 57 41 SaltShaker 1.760 0.906 -1.346 0 0 0 80 42 PepperShaker -2.584 0.871 2.715 0 0 0 62 43 Lettuce -1.849 0.977 -0.614 0 0 0 60 44 ButterKnife -3.002 0.878 3.355 0 135 0 62 45 Bread -2.300 0.958 2.863 0 135 0 62 46 Vase 0.036 0.115 -1.379 0 0 0 68 47 DishSponge -2.964 0.878 3.632 0 135 0 62 48 Apple -1.627 0.967 -0.614 0 0 0 60 49 Pan -1.849 0.911 0.363 0 0 0 60 50 Spoon -2.015 0.719 -1.716 0 0 0 79 51 SoapBottle 3.689 0.881 1.963 0 270 0 81 52 Mug -2.539 0.869 3.102 0 135 0 62 53 Statue 3.676 0.168 1.410 0 334.521 0 83 54 Statue 3.668 0.540 1.800 0 0 0 83 55 Bowl -0.035 1.570 2.040 0 180 0 85 56 Cabinet -2.171 2.009 -1.538 0 0 0 57 Sink 0.024 0.771 -1.708 0 270 0 58 Cabinet 1.444 2.259 -1.542 0 0 0 59 StoveBurner 0.974 0.957 -1.688 0 180 0 60 CounterTop -1.866 0.947 -0.614 0 0 0 61 Cabinet -2.217 0.373 -1.874 0 0 0 62 DiningTable -2.663 0.002 3.208 0 0 0 63 StoveBurner 1.328 0.957 -1.688 0 180 0 64 StoveBurner 1.328 0.957 -1.420 0 180 0 65 Cabinet -1.478 0.373 -1.235 0 0 0 66 Cabinet 1.775 0.372 -1.242 0 0 0 67 Cabinet 0.774 0.372 -1.242 0 0 0 68 Cabinet 0.375 0.372 -1.242 0 0 0 69 Cabinet -0.574 0.372 -1.238 0 0 0 70 Cabinet 1.775 2.009 -1.542 0 0 0 71 Cabinet 0.524 2.009 -1.542 0 0 0 72 Cabinet -0.714 2.009 -1.542 0 0 0 73 Cabinet -1.671 2.009 -1.538 0 0 0 74 Cabinet 0.854 2.259 -1.542 0 0 0 75 Drawer -1.636 0.683 -0.930 0 0 0 76 Drawer 1.650 0.682 -1.396 0 0 0 77 Drawer 0.600 0.682 -1.396 0 0 0 78 StoveBurner 0.974 0.957 -1.419 0 180 0 79 Drawer -2.062 0.683 -1.579 0 0 0 80 CounterTop 1.645 0.945 -1.527 0 0 0 81 Shelf 3.725 0.880 1.671 0 90 0 82 LightSwitch 2.830 1.266 -0.748 0 0 0 83 Shelf 3.726 0.552 1.671 0 90 0 84 Microwave 1.150 1.655 -1.614 0 0 0 85 Fridge -0.035 0.0 2.177 0 180 0 86 Window -0.115 1.802 -1.896 90 0 0 87 Window -4.009 1.799 0.310 90 90 0 88 Shelf 3.726 0.172 1.671 0 90 0 89 SinkBasin -0.330 0.686 -1.581 0 270 0 90 GarbageCan -0.870 -0.001 2.136 0 90 0 91 StoveKnob 1.089 0.913 -1.243 45 0 0 92 StoveKnob 1.208 0.913 -1.243 45 0 0 93 StoveKnob 1.340 0.913 -1.243 45 0 0 94 StoveKnob 0.961 0.913 -1.243 45 0 0 95 Toaster 1.637 0.900 -1.673 0 0 0 96 Chair -3.505 0.002 3.290 0 105.736 0 97 CoffeeMachine -1.111 0.900 -1.726 0 0 0 98 HousePlant -2.663 0.835 3.209 0 0 0 99 Faucet -0.187 0.922 -1.75 0 311.166 0 100 ShelvingUnit 3.726 0.006 1.671 0 90 0 101 Stool -2.501 -0.000 0.062 1.223 91.243 0 102 Stool -2.475 -0.000 -0.802 1.209 69.808 0 103 Chair -2.934 0.002 2.437 0 28.531 0 104 Chair -1.698 0.002 3.235 0 245.204 0 105 NorthWall 106 EastWall 107 SouthWall 108 WestWall
[ "STEP 1: Move to the cabinet to the left of the stove. | STEP 2: Open the bottom cabinet to the left of the stove and pick up the plate and close the door. | STEP 3: Move to the middle of the stove at the microwave. | STEP 4: Open the microwave and place the plate inside and heat it, retrieve the plate from the microwave and close the door. | STEP 5: Move to the cabinet to the left of you. | STEP 6: Place the plate on the bottom left cabinet and close the door. | END" ]
[ [ "STEP 1: Move to the cabinet to the left of the stove. ", " STEP 2: Open the bottom cabinet to the left of the stove and pick up the plate and close the door. ", " STEP 3: Move to the middle of the stove at the microwave. ", " STEP 4: Open the microwave and place the plate inside and heat it, retrieve the plate from the microwave and close the door. ", " STEP 5: Move to the cabinet to the left of you. ", " STEP 6: Place the plate on the bottom left cabinet and close the door. ", " END" ] ]
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