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31
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trial_T20190908_054430_044367-0
Put the spatulas in the kitchen drawer
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -0.25 0.900 1.0 0 0 0 1 Pan -2.59 0.9 -1.147 0 0 0 68 2 Potato -0.598 0.933 -1.119 0 47.530 0 68 3 CreditCard -2.628 0.743 0.290 0 0 0 68 4 ButterKnife 0.997 0.911 -0.948 0 0 0 68 5 Spoon -0.111 1.112 1.748 0 315 0 61 6 Spoon -2.628 0.747 0.163 0 0 0 66 7 Spatula -2.438 0.926 -0.062 0 90 0 60 8 Knife -1.073 0.874 -1.194 0 270 0 78 9 SoapBottle -2.728 0.038 1.466 0 0 0 79 10 Tomato -2.800 1.722 0.932 0 90 0 80 11 Tomato -2.860 0.869 0.771 0 90 0 80 12 Bowl -2.740 1.472 0.690 0 90 0 80 13 PepperShaker -2.309 1.658 -1.360 0 0 0 51 14 PepperShaker -1.924 1.658 -1.284 0 0 0 43 15 Mug 0.398 1.000 -1.347 0 0 0 81 16 Apple -1.332 0.901 -1.084 0 0 0 78 17 Apple -1.246 0.901 -1.360 0 0 0 78 18 Apple -2.236 0.963 -1.365 0 0 0 68 19 Fork -0.276 0.901 -1.118 0 0 0 68 20 Kettle -2.620 0.922 -0.724 0 0 0 59 21 CreditCard -1.948 0.743 -1.094 0 0 0 63 22 Bread -0.401 0.948 -1.291 0 0 0 68 23 Plate -1.458 0.843 -1.235 0 0 0 78 24 SoapBottle 0.997 0.912 -1.282 0 0 0 68 25 Spatula 0.842 0.926 -1.449 0 90 0 68 26 Lettuce 0.586 1.190 0.825 0 315 0 61 27 SaltShaker -2.695 0.9 -0.132 0 0 0 60 28 Tomato -2.920 1.523 0.851 0 90 0 80 29 PepperShaker 0.231 1.108 1.790 0 315 0 61 30 ButterKnife 0.027 1.111 1.541 0 315 0 61 31 Pot -2.823 0.928 -0.396 0 0 0 67 32 DishSponge -1.221 0.841 -1.126 0 41.164 0 78 33 Egg 0.136 1.136 1.274 0 0 0 61 34 Spoon 0.765 0.912 -1.115 0 0 0 68 35 Knife 0.276 1.134 1.746 0 315 0 61 36 Cup -1.119 0.841 -1.241 0 0 0 78 37 Mug -2.740 0.373 0.609 0 90 0 80 38 Bowl -2.860 0.377 0.932 0 90 0 80 39 Cabinet -2.647 2.075 -0.875 0 0 0 40 Cabinet -2.647 2.075 -0.234 0 0 0 41 Cabinet -0.824 0.469 -0.907 0 0 0 42 Cabinet -1.764 2.009 -1.197 0 0 0 43 Cabinet -1.834 2.009 -1.197 0 0 0 44 Cabinet -1.850 0.389 -0.897 0 0 0 45 Cabinet -1.801 0.469 -0.907 0 0 0 46 Cabinet 1.115 2.009 -1.197 0 0 0 47 Cabinet 0.235 2.009 -1.197 0 0 0 48 Cabinet 1.125 0.470 -0.897 0 0 0 49 Cabinet -2.387 0.389 0.375 0 0 0 50 Cabinet 0.484 0.389 -0.897 0 0 0 51 Cabinet -2.625 2.009 -1.197 0 0 0 52 Cabinet -2.647 2.009 -0.945 0 0 0 53 Cabinet -2.647 2.200 1.664 0 0 0 54 Cabinet -2.647 2.009 0.364 0 0 0 55 Cabinet 0.164 2.009 -1.197 0 0 0 56 Cabinet -0.765 2.009 -1.197 0 0 0 57 Cabinet -0.834 2.009 -1.197 0 0 0 58 Cabinet -2.647 2.200 0.434 0 0 0 59 StoveBurner -2.622 0.886 -0.711 0 0 0 60 CounterTop -2.699 0.946 0.106 0 0 0 61 CounterTop 0.908 1.147 0.788 0 315 0 62 StoveBurner -2.622 0.886 -0.396 0 0 0 63 Drawer -2.026 0.779 -1.082 0 0 0 64 Sink -1.328 0.916 -1.225 0 0 0 65 StoveBurner -2.822 0.886 -0.711 0 0 0 66 Drawer -2.572 0.779 0.099 0 0 0 67 StoveBurner -2.822 0.886 -0.396 0 0 0 68 CounterTop 0.071 0.946 -1.199 0 0 0 69 Drawer 0.254 0.779 -1.082 0 0 0 70 LightSwitch -1.167 1.307 3.0 0 180 0 71 CoffeeMachine 1.124 1.100 0.312 0 227.685 0 72 StoveKnob -2.429 0.863 -0.621 311.864 270 180 73 StoveKnob -2.429 0.863 -0.477 311.864 270 180 74 StoveKnob -2.429 0.863 -0.782 311.864 270 180 75 StoveKnob -2.429 0.863 -0.324 311.864 270 180 76 Window 0.321 1.449 3.088 90 0 0 77 Toaster -2.823 0.899 0.246 0 90 0 78 SinkBasin -1.344 0.838 -1.25 0 0 0 79 GarbageCan -2.757 1.886 1.466 0 0 0 80 Fridge -2.855 0.0 0.851 0 0 0 81 Microwave 0.283 0.900 -1.331 0 0 0 82 Stool 1.541 0.010 1.328 0 45 0 83 Stool 0.983 0.010 1.793 0 47.459 0 84 Faucet -1.392 1.136 -1.399 0 270 0 85 NorthWall 86 EastWall 87 SouthWall 88 WestWall
[ "STEP 1: Turn left and walk up to the kitchen counter right of the oven | STEP 2: Pick up the spatula from the counter | STEP 3: Turn around and walk down to the kitchen counter by the microwave | STEP 4: Open the kitchen drawer under the microwave and put the spatula in it | STEP 5: Walk a couple feet further left past the microwave and turn to face the counter | STEP 6: Pick up the spatula from the counter | STEP 7: Move a couple feet right and turn to face the counter by the microwave | STEP 8: Open the kitchen drawer under the microwave and put the spatula in it | END" ]
[ [ "STEP 1: Turn left and walk up to the kitchen counter right of the oven ", " STEP 2: Pick up the spatula from the counter ", " STEP 3: Turn around and walk down to the kitchen counter by the microwave ", " STEP 4: Open the kitchen drawer under the microwave and put the spatula in it ", " STEP 5: Walk a couple feet further left past the microwave and turn to face the counter ", " STEP 6: Pick up the spatula from the counter ", " STEP 7: Move a couple feet right and turn to face the counter by the microwave ", " STEP 8: Open the kitchen drawer under the microwave and put the spatula in it ", " END" ] ]
seen
trial_T20190908_054430_044367-1
To move two spatulas to the drawer below the microwave.
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" -2.429", " 0.863", " -0.324", " 311.864", " 270", " 180", "" ], [ "76", " Window", " 0.321", " 1.449", " 3.088", " 90", " 0", " 0", "" ], [ "77", " Toaster", " -2.823", " 0.899", " 0.246", " 0", " 90", " 0", "" ], [ "78", " SinkBasin", " -1.344", " 0.838", " -1.25", " 0", " 0", " 0", "" ], [ "79", " GarbageCan", " -2.757", " 1.886", " 1.466", " 0", " 0", " 0", "" ], [ "80", " Fridge", " -2.855", " 0.0", " 0.851", " 0", " 0", " 0", "" ], [ "81", " Microwave", " 0.283", " 0.900", " -1.331", " 0", " 0", " 0", "" ], [ "82", " Stool", " 1.541", " 0.010", " 1.328", " 0", " 45", " 0", "" ], [ "83", " Stool", " 0.983", " 0.010", " 1.793", " 0", " 47.459", " 0", "" ], [ "84", " Faucet", " -1.392", " 1.136", " -1.399", " 0", " 270", " 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 -0.25 0.900 1.0 0 0 0 1 Pan -2.59 0.9 -1.147 0 0 0 68 2 Potato -0.598 0.933 -1.119 0 47.530 0 68 3 CreditCard -2.628 0.743 0.290 0 0 0 68 4 ButterKnife 0.997 0.911 -0.948 0 0 0 68 5 Spoon -0.111 1.112 1.748 0 315 0 61 6 Spoon -2.628 0.747 0.163 0 0 0 66 7 Spatula -2.438 0.926 -0.062 0 90 0 60 8 Knife -1.073 0.874 -1.194 0 270 0 78 9 SoapBottle -2.728 0.038 1.466 0 0 0 79 10 Tomato -2.800 1.722 0.932 0 90 0 80 11 Tomato -2.860 0.869 0.771 0 90 0 80 12 Bowl -2.740 1.472 0.690 0 90 0 80 13 PepperShaker -2.309 1.658 -1.360 0 0 0 51 14 PepperShaker -1.924 1.658 -1.284 0 0 0 43 15 Mug 0.398 1.000 -1.347 0 0 0 81 16 Apple -1.332 0.901 -1.084 0 0 0 78 17 Apple -1.246 0.901 -1.360 0 0 0 78 18 Apple -2.236 0.963 -1.365 0 0 0 68 19 Fork -0.276 0.901 -1.118 0 0 0 68 20 Kettle -2.620 0.922 -0.724 0 0 0 59 21 CreditCard -1.948 0.743 -1.094 0 0 0 63 22 Bread -0.401 0.948 -1.291 0 0 0 68 23 Plate -1.458 0.843 -1.235 0 0 0 78 24 SoapBottle 0.997 0.912 -1.282 0 0 0 68 25 Spatula 0.842 0.926 -1.449 0 90 0 68 26 Lettuce 0.586 1.190 0.825 0 315 0 61 27 SaltShaker -2.695 0.9 -0.132 0 0 0 60 28 Tomato -2.920 1.523 0.851 0 90 0 80 29 PepperShaker 0.231 1.108 1.790 0 315 0 61 30 ButterKnife 0.027 1.111 1.541 0 315 0 61 31 Pot -2.823 0.928 -0.396 0 0 0 67 32 DishSponge -1.221 0.841 -1.126 0 41.164 0 78 33 Egg 0.136 1.136 1.274 0 0 0 61 34 Spoon 0.765 0.912 -1.115 0 0 0 68 35 Knife 0.276 1.134 1.746 0 315 0 61 36 Cup -1.119 0.841 -1.241 0 0 0 78 37 Mug -2.740 0.373 0.609 0 90 0 80 38 Bowl -2.860 0.377 0.932 0 90 0 80 39 Cabinet -2.647 2.075 -0.875 0 0 0 40 Cabinet -2.647 2.075 -0.234 0 0 0 41 Cabinet -0.824 0.469 -0.907 0 0 0 42 Cabinet -1.764 2.009 -1.197 0 0 0 43 Cabinet -1.834 2.009 -1.197 0 0 0 44 Cabinet -1.850 0.389 -0.897 0 0 0 45 Cabinet -1.801 0.469 -0.907 0 0 0 46 Cabinet 1.115 2.009 -1.197 0 0 0 47 Cabinet 0.235 2.009 -1.197 0 0 0 48 Cabinet 1.125 0.470 -0.897 0 0 0 49 Cabinet -2.387 0.389 0.375 0 0 0 50 Cabinet 0.484 0.389 -0.897 0 0 0 51 Cabinet -2.625 2.009 -1.197 0 0 0 52 Cabinet -2.647 2.009 -0.945 0 0 0 53 Cabinet -2.647 2.200 1.664 0 0 0 54 Cabinet -2.647 2.009 0.364 0 0 0 55 Cabinet 0.164 2.009 -1.197 0 0 0 56 Cabinet -0.765 2.009 -1.197 0 0 0 57 Cabinet -0.834 2.009 -1.197 0 0 0 58 Cabinet -2.647 2.200 0.434 0 0 0 59 StoveBurner -2.622 0.886 -0.711 0 0 0 60 CounterTop -2.699 0.946 0.106 0 0 0 61 CounterTop 0.908 1.147 0.788 0 315 0 62 StoveBurner -2.622 0.886 -0.396 0 0 0 63 Drawer -2.026 0.779 -1.082 0 0 0 64 Sink -1.328 0.916 -1.225 0 0 0 65 StoveBurner -2.822 0.886 -0.711 0 0 0 66 Drawer -2.572 0.779 0.099 0 0 0 67 StoveBurner -2.822 0.886 -0.396 0 0 0 68 CounterTop 0.071 0.946 -1.199 0 0 0 69 Drawer 0.254 0.779 -1.082 0 0 0 70 LightSwitch -1.167 1.307 3.0 0 180 0 71 CoffeeMachine 1.124 1.100 0.312 0 227.685 0 72 StoveKnob -2.429 0.863 -0.621 311.864 270 180 73 StoveKnob -2.429 0.863 -0.477 311.864 270 180 74 StoveKnob -2.429 0.863 -0.782 311.864 270 180 75 StoveKnob -2.429 0.863 -0.324 311.864 270 180 76 Window 0.321 1.449 3.088 90 0 0 77 Toaster -2.823 0.899 0.246 0 90 0 78 SinkBasin -1.344 0.838 -1.25 0 0 0 79 GarbageCan -2.757 1.886 1.466 0 0 0 80 Fridge -2.855 0.0 0.851 0 0 0 81 Microwave 0.283 0.900 -1.331 0 0 0 82 Stool 1.541 0.010 1.328 0 45 0 83 Stool 0.983 0.010 1.793 0 47.459 0 84 Faucet -1.392 1.136 -1.399 0 270 0 85 NorthWall 86 EastWall 87 SouthWall 88 WestWall
[ "STEP 1: Turn around and walk to the counter to the right of the stove. | STEP 2: Pick up the spatula from the edge of the counter. | STEP 3: Turn and walk to the microwave on the right. | STEP 4: Open the drawer below the counter where the microwave is, place the spatula inside the drawer, close the drawer. | STEP 5: Walk to the counter to the left of the microwave. | STEP 6: Pick up the spatula to the left of the microwave. | STEP 7: Move to the front of the microwave. | STEP 8: Open the drawer below the microwave, place the spatula in the drawer behind the first spatula, close the drawer. | END" ]
[ [ "STEP 1: Turn around and walk to the counter to the right of the stove. ", " STEP 2: Pick up the spatula from the edge of the counter. ", " STEP 3: Turn and walk to the microwave on the right. ", " STEP 4: Open the drawer below the counter where the microwave is, place the spatula inside the drawer, close the drawer. ", " STEP 5: Walk to the counter to the left of the microwave. ", " STEP 6: Pick up the spatula to the left of the microwave. ", " STEP 7: Move to the front of the microwave. ", " STEP 8: Open the drawer below the microwave, place the spatula in the drawer behind the first spatula, close the drawer. ", " END" ] ]
seen
trial_T20190908_054430_044367-2
Put two spatulas in a drawer.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -0.25 0.900 1.0 0 0 0 1 Pan -2.59 0.9 -1.147 0 0 0 68 2 Potato -0.598 0.933 -1.119 0 47.530 0 68 3 CreditCard -2.628 0.743 0.290 0 0 0 68 4 ButterKnife 0.997 0.911 -0.948 0 0 0 68 5 Spoon -0.111 1.112 1.748 0 315 0 61 6 Spoon -2.628 0.747 0.163 0 0 0 66 7 Spatula -2.438 0.926 -0.062 0 90 0 60 8 Knife -1.073 0.874 -1.194 0 270 0 78 9 SoapBottle -2.728 0.038 1.466 0 0 0 79 10 Tomato -2.800 1.722 0.932 0 90 0 80 11 Tomato -2.860 0.869 0.771 0 90 0 80 12 Bowl -2.740 1.472 0.690 0 90 0 80 13 PepperShaker -2.309 1.658 -1.360 0 0 0 51 14 PepperShaker -1.924 1.658 -1.284 0 0 0 43 15 Mug 0.398 1.000 -1.347 0 0 0 81 16 Apple -1.332 0.901 -1.084 0 0 0 78 17 Apple -1.246 0.901 -1.360 0 0 0 78 18 Apple -2.236 0.963 -1.365 0 0 0 68 19 Fork -0.276 0.901 -1.118 0 0 0 68 20 Kettle -2.620 0.922 -0.724 0 0 0 59 21 CreditCard -1.948 0.743 -1.094 0 0 0 63 22 Bread -0.401 0.948 -1.291 0 0 0 68 23 Plate -1.458 0.843 -1.235 0 0 0 78 24 SoapBottle 0.997 0.912 -1.282 0 0 0 68 25 Spatula 0.842 0.926 -1.449 0 90 0 68 26 Lettuce 0.586 1.190 0.825 0 315 0 61 27 SaltShaker -2.695 0.9 -0.132 0 0 0 60 28 Tomato -2.920 1.523 0.851 0 90 0 80 29 PepperShaker 0.231 1.108 1.790 0 315 0 61 30 ButterKnife 0.027 1.111 1.541 0 315 0 61 31 Pot -2.823 0.928 -0.396 0 0 0 67 32 DishSponge -1.221 0.841 -1.126 0 41.164 0 78 33 Egg 0.136 1.136 1.274 0 0 0 61 34 Spoon 0.765 0.912 -1.115 0 0 0 68 35 Knife 0.276 1.134 1.746 0 315 0 61 36 Cup -1.119 0.841 -1.241 0 0 0 78 37 Mug -2.740 0.373 0.609 0 90 0 80 38 Bowl -2.860 0.377 0.932 0 90 0 80 39 Cabinet -2.647 2.075 -0.875 0 0 0 40 Cabinet -2.647 2.075 -0.234 0 0 0 41 Cabinet -0.824 0.469 -0.907 0 0 0 42 Cabinet -1.764 2.009 -1.197 0 0 0 43 Cabinet -1.834 2.009 -1.197 0 0 0 44 Cabinet -1.850 0.389 -0.897 0 0 0 45 Cabinet -1.801 0.469 -0.907 0 0 0 46 Cabinet 1.115 2.009 -1.197 0 0 0 47 Cabinet 0.235 2.009 -1.197 0 0 0 48 Cabinet 1.125 0.470 -0.897 0 0 0 49 Cabinet -2.387 0.389 0.375 0 0 0 50 Cabinet 0.484 0.389 -0.897 0 0 0 51 Cabinet -2.625 2.009 -1.197 0 0 0 52 Cabinet -2.647 2.009 -0.945 0 0 0 53 Cabinet -2.647 2.200 1.664 0 0 0 54 Cabinet -2.647 2.009 0.364 0 0 0 55 Cabinet 0.164 2.009 -1.197 0 0 0 56 Cabinet -0.765 2.009 -1.197 0 0 0 57 Cabinet -0.834 2.009 -1.197 0 0 0 58 Cabinet -2.647 2.200 0.434 0 0 0 59 StoveBurner -2.622 0.886 -0.711 0 0 0 60 CounterTop -2.699 0.946 0.106 0 0 0 61 CounterTop 0.908 1.147 0.788 0 315 0 62 StoveBurner -2.622 0.886 -0.396 0 0 0 63 Drawer -2.026 0.779 -1.082 0 0 0 64 Sink -1.328 0.916 -1.225 0 0 0 65 StoveBurner -2.822 0.886 -0.711 0 0 0 66 Drawer -2.572 0.779 0.099 0 0 0 67 StoveBurner -2.822 0.886 -0.396 0 0 0 68 CounterTop 0.071 0.946 -1.199 0 0 0 69 Drawer 0.254 0.779 -1.082 0 0 0 70 LightSwitch -1.167 1.307 3.0 0 180 0 71 CoffeeMachine 1.124 1.100 0.312 0 227.685 0 72 StoveKnob -2.429 0.863 -0.621 311.864 270 180 73 StoveKnob -2.429 0.863 -0.477 311.864 270 180 74 StoveKnob -2.429 0.863 -0.782 311.864 270 180 75 StoveKnob -2.429 0.863 -0.324 311.864 270 180 76 Window 0.321 1.449 3.088 90 0 0 77 Toaster -2.823 0.899 0.246 0 90 0 78 SinkBasin -1.344 0.838 -1.25 0 0 0 79 GarbageCan -2.757 1.886 1.466 0 0 0 80 Fridge -2.855 0.0 0.851 0 0 0 81 Microwave 0.283 0.900 -1.331 0 0 0 82 Stool 1.541 0.010 1.328 0 45 0 83 Stool 0.983 0.010 1.793 0 47.459 0 84 Faucet -1.392 1.136 -1.399 0 270 0 85 NorthWall 86 EastWall 87 SouthWall 88 WestWall
[ "STEP 1: Turn around and walk forward to the counter, then turn right and walk to the spatula on the counter top by the toaster. | STEP 2: Pick up the spatula from the counter top. | STEP 3: Turn around and walk forward across the room to the microwave on the counter. | STEP 4: Open the drawer directly underneath the microwave, put the spatula in it and close the drawer. | STEP 5: Walk left to the spatula on the counter top to the left of the microwave. | STEP 6: Pick up the spatula from the counter top. | STEP 7: Turn right and walk back to the same drawer where you put the first spatula in. | STEP 8: Open that drawer and put the spatula in it, behind the first spatula, then close the drawer. | END" ]
[ [ "STEP 1: Turn around and walk forward to the counter, then turn right and walk to the spatula on the counter top by the toaster. ", " STEP 2: Pick up the spatula from the counter top. ", " STEP 3: Turn around and walk forward across the room to the microwave on the counter. ", " STEP 4: Open the drawer directly underneath the microwave, put the spatula in it and close the drawer. ", " STEP 5: Walk left to the spatula on the counter top to the left of the microwave. ", " STEP 6: Pick up the spatula from the counter top. ", " STEP 7: Turn right and walk back to the same drawer where you put the first spatula in. ", " STEP 8: Open that drawer and put the spatula in it, behind the first spatula, then close the drawer. ", " END" ] ]
seen
trial_T20190909_064559_200594-0
Pick up a pencil after turning the light on.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -0.5 0.901 -0.25 0 270 0 1 Vase 0.766 0.729 -2.588 0 180 0 43 2 Vase 1.788 1.578 -2.298 0 0 0 34 3 CD 0.191 0.728 -2.705 0 180 0 43 4 Pen 0.421 0.736 -2.705 0 270 0 43 5 Pen 0.651 0.734 -2.705 0 270 0 43 6 CreditCard 0.722 0.113 -2.606 0 0 0 44 7 CreditCard 0.191 0.728 -2.471 0 180 0 43 8 KeyChain -1.582 0.599 -0.392 0 0 0 50 9 KeyChain 0.541 0.113 -2.578 0 0 0 44 10 Pillow -1.024 0.491 -1.733 0 0 0 49 11 AlarmClock -1.582 0.599 -0.533 0 0 0 50 12 Box 1.996 0.316 -1.042 0 254.839 0 13 Book -0.564 0.418 -2.100 0 0 0 49 14 Pillow -1.548 0.457 -1.831 0 90 0 49 15 CellPhone -0.333 0.417 -1.610 0 0 0 49 16 Vase -1.846 0.599 -0.533 0 0 0 50 17 BaseballBat -1.629 0.649 0.416 14.491 0 0 18 CreditCard 1.660 0.977 -2.256 0 0 0 30 19 TennisRacket 2.244 0.279 -1.901 335.402 251.974 201.714 20 KeyChain 0.421 0.731 -2.822 0 180 0 43 21 AlarmClock 0.766 0.730 -2.764 0 180 0 43 22 Cloth 2.176 0.0 -0.571 0 335.474 0 23 Laptop -1.764 0.591 -0.112 0 113.510 0 50 24 CD -1.901 0.508 -1.232 0 0 0 52 25 CD -1.791 0.508 -1.107 0 0 0 52 26 Pen 1.723 0.060 -2.240 0 0 0 61 27 Pencil -1.864 0.512 -1.023 0 0 0 52 28 Mug 0.651 0.728 -2.471 0 0 0 43 29 Shelf 1.311 0.969 -2.298 0 0 0 30 Shelf 1.843 0.969 -2.298 0 0 0 31 Shelf 1.311 1.171 -2.298 0 0 0 32 Shelf 1.843 1.171 -2.298 0 0 0 33 Shelf 1.311 1.368 -2.298 0 0 0 34 Shelf 1.843 1.570 -2.298 0 0 0 35 Shelf 1.843 1.368 -2.298 0 0 0 36 Shelf 1.311 1.570 -2.298 0 0 0 37 DeskLamp -1.848 0.592 -0.786 0 90 0 38 GarbageCan 2.197 -0.007 0.298 0 232.025 0 39 LightSwitch -0.638 1.149 0.499 0 180 0 40 Poster 0.001 1.495 -2.642 90 90 0 41 Mirror -1.072 1.469 0.497 0 0 0 42 Window 0.435 1.398 -2.855 90 0 0 43 SideTable 0.435 0.036 -2.647 0 0 0 44 Drawer 0.433 0.203 -2.445 0 0 0 45 Drawer 0.433 0.505 -2.445 0 0 0 46 Dumbbell -1.656 0.602 -0.534 0 90 0 47 Blinds 0.449 2.164 -2.845 0 0 0 48 GarbageBag 1.730 0.318 0.222 270 90 83.412 49 Bed -1.047 -0.000 -1.851 0 270 0 50 Desk -1.710 0.000 -0.374 0 90 0 51 Drawer -1.790 0.245 -1.144 0 90 0 52 SideTable -1.824 0.000 -1.144 0 90 0 53 Drawer -1.790 0.392 -1.144 0 90 0 54 Drawer -1.790 0.097 -1.144 0 90 0 55 Chair -1.453 0.005 -0.311 0 286.095 0 56 Shelf 1.591 0.606 -2.305 0 0 0 57 ShelvingUnit 1.588 0.004 -2.326 0 0 0 58 Shelf 1.854 0.453 -2.298 0 0 0 59 Shelf 1.321 0.155 -2.296 0 0 0 60 Shelf 1.323 0.456 -2.300 0 0 0 61 Shelf 1.852 0.152 -2.294 0 0 0 62 NorthWall 63 EastWall 64 SouthWall 65 WestWall
[ "STEP 1: Go to the left side of the desk in front of you. | STEP 2: Turn on the lamp in the back, left corner of the desk. | STEP 3: Reach over to the night stand on your left and pick up the pencil on the right edge of the night stand. | END" ]
[ [ "STEP 1: Go to the left side of the desk in front of you. ", " STEP 2: Turn on the lamp in the back, left corner of the desk. ", " STEP 3: Reach over to the night stand on your left and pick up the pencil on the right edge of the night stand. ", " END" ] ]
seen
trial_T20190909_064559_200594-1
Pick up a pencil using the light of a lamp.
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0", "" ], [ "37", " DeskLamp", " -1.848", " 0.592", " -0.786", " 0", " 90", " 0", "" ], [ "38", " GarbageCan", " 2.197", " -0.007", " 0.298", " 0", " 232.025", " 0", "" ], [ "39", " LightSwitch", " -0.638", " 1.149", " 0.499", " 0", " 180", " 0", "" ], [ "40", " Poster", " 0.001", " 1.495", " -2.642", " 90", " 90", " 0", "" ], [ "41", " Mirror", " -1.072", " 1.469", " 0.497", " 0", " 0", " 0", "" ], [ "42", " Window", " 0.435", " 1.398", " -2.855", " 90", " 0", " 0", "" ], [ "43", " SideTable", " 0.435", " 0.036", " -2.647", " 0", " 0", " 0", "" ], [ "44", " Drawer", " 0.433", " 0.203", " -2.445", " 0", " 0", " 0", "" ], [ "45", " Drawer", " 0.433", " 0.505", " -2.445", " 0", " 0", " 0", "" ], [ "46", " Dumbbell", " -1.656", " 0.602", " -0.534", " 0", " 90", " 0", "" ], [ "47", " Blinds", " 0.449", " 2.164", " -2.845", " 0", " 0", " 0", "" ], [ "48", " GarbageBag", " 1.730", " 0.318", " 0.222", " 270", " 90", " 83.412", "" ], [ "49", " Bed", " -1.047", " -0.000", " -1.851", " 0", " 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[ "STEP 1: Walk ahead and slightly left, to the left side of the desk. | STEP 2: Turn on the lamp on the desk. | STEP 3: Pick up the pencil on the table to the left of the desk. | END" ]
[ [ "STEP 1: Walk ahead and slightly left, to the left side of the desk. ", " STEP 2: Turn on the lamp on the desk. ", " STEP 3: Pick up the pencil on the table to the left of the desk. ", " END" ] ]
seen
trial_T20190909_064559_200594-2
Turn on the lamp and pick up a pencil.
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[ "STEP 1: Turn to the left and then right to face the small table. | STEP 2: Turn on the lamp on the table to the right. | STEP 3: Pick up the pencil from the right side of the small table. | END" ]
[ [ "STEP 1: Turn to the left and then right to face the small table. ", " STEP 2: Turn on the lamp on the table to the right. ", " STEP 3: Pick up the pencil from the right side of the small table. ", " END" ] ]
seen
trial_T20190906_200229_166300-0
Put away brown bowl.
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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 0.930 -1.5 0 0 0 1 Pan -0.862 0.899 -0.047 0 90 0 63 2 Potato 1.242 1.111 -1.531 0 0 0 109 3 Potato 3.152 0.785 -0.100 0 0 0 108 4 Ladle 0.622 0.947 0.727 0 0 0 94 5 DishSponge -0.950 0.130 0.751 0 0 0 93 6 DishSponge -0.868 0.130 -0.186 0 0 0 83 7 Glassbottle -0.080 0.901 -1.244 0 45 0 84 8 Glassbottle 0.904 1.675 -1.410 0 0 0 78 9 Spatula -0.786 0.533 1.343 0 90 0 51 10 Fork 0.833 0.908 0.291 0 36.810 0 94 11 CellPhone 0.022 0.897 -1.731 0 0 0 84 12 Mug -0.985 0.992 1.258 0 90 0 111 13 Apple 3.044 0.974 -0.798 0 0 0 62 14 Bread 0.722 0.989 0.374 0 36.810 0 94 15 SaltShaker -0.868 0.703 1.343 0 0 0 56 16 SaltShaker -0.950 0.322 1.255 0 0 0 98 17 PepperShaker 0.468 0.509 -1.556 0 0 0 49 18 Tomato 1.164 0.750 -1.381 0 0 0 109 19 Egg -0.043 0.952 -1.486 0 45 0 84 20 Cup 1.086 1.071 -1.503 0 0 0 109 21 Cup 0.356 0.908 0.426 0 0 0 94 22 Knife 0.716 0.933 0.135 0 36.810 0 94 23 Knife 3.070 0.738 -0.361 0 270 0 59 24 Plate 1.208 1.687 -1.480 0 0 0 54 25 Glassbottle 3.355 0.901 -0.798 0 0 0 62 26 SoapBottle 3.208 0.110 1.519 0 225 0 104 27 Potato -1.119 1.036 1.258 0 90 0 111 28 Fork -0.827 0.327 0.576 0 0 0 64 29 Ladle -0.285 0.937 -1.450 0 135 0 84 30 Pot -0.600 0.902 -1.090 0 135 0 52 31 Kettle -0.239 0.902 -1.089 0 315 0 92 32 Spatula -0.786 0.532 1.255 0 0 0 51 33 Knife -0.936 0.925 -0.695 0 135 0 63 34 Lettuce 0.851 0.951 -1.503 0 0 0 109 35 Cup 0.839 0.908 0.530 0 36.810 0 94 36 SaltShaker 1.351 1.671 -1.689 0 0 0 54 37 Egg 2.987 0.799 0.098 0 90 0 108 38 PepperShaker -0.950 0.127 0.489 0 0 0 64 39 ButterKnife 0.533 0.911 0.928 0 0 0 94 40 Apple -1.008 0.974 0.399 0 0 0 63 41 Pan 0.341 0.873 -1.649 0 167.065 0 84 42 Bread 1.534 0.972 0.486 0 289.287 0 94 43 CellPhone -0.786 0.703 -0.186 0 0 0 70 44 DishSponge -0.827 0.706 0.576 0 0 0 67 45 Tomato -1.153 0.937 0.846 0 0 0 63 46 Spoon -0.671 0.901 -0.858 0 135 0 63 47 Bowl -0.853 0.897 -0.877 0 45 0 63 48 Mug 1.242 0.881 -1.503 0 0 0 109 49 Drawer 0.376 0.572 -1.509 0 0 0 50 Drawer 3.020 0.769 -0.783 0 180 0 51 Drawer -0.860 0.577 1.429 0 0 0 52 StoveBurner -0.600 0.897 -1.090 0 135 0 53 Drawer 0.376 0.191 -1.509 0 0 0 54 Cabinet 1.402 1.874 -1.259 0 0 0 55 Cabinet -0.202 1.963 -1.328 0 0 0 56 Drawer -0.860 0.765 1.429 0 0 0 57 Drawer -0.677 0.765 -0.700 0 0 0 58 StoveBurner -0.420 0.897 -0.920 0 135 0 59 Drawer 3.020 0.769 -0.407 0 180 0 60 Drawer -0.860 0.577 0.663 0 0 0 61 Cabinet 2.819 1.768 -1.850 0 0 0 62 CounterTop 3.111 0.936 0.019 0 0 0 63 CounterTop -1.007 0.935 -0.039 0 0 0 64 Drawer -0.860 0.385 0.663 0 0 0 65 StoveBurner -0.419 0.897 -1.269 0 315 0 66 Drawer -0.047 0.573 -1.324 0 0 0 67 Drawer -0.860 0.765 0.663 0 0 0 68 Drawer -0.860 0.385 -0.100 0 0 0 69 Drawer 0.376 0.380 -1.509 0 0 0 70 Drawer -0.860 0.765 -0.100 0 0 0 71 Drawer 0.376 0.765 -1.509 0 0 0 72 Cabinet 2.849 0.419 0.409 0 0 0 73 Drawer -0.047 0.765 -1.324 0 0 0 74 Cabinet 2.849 0.419 -0.610 0 0 0 75 Cabinet 2.849 0.419 -0.959 0 0 0 76 Cabinet 3.069 1.666 -0.709 0 0 0 77 Cabinet 2.819 1.768 -1.047 0 0 0 78 Cabinet 0.620 1.874 -1.259 0 0 0 79 Cabinet 0.140 1.666 -1.559 0 0 0 80 Cabinet -0.189 1.666 -1.340 0 0 0 81 Cabinet -0.709 1.963 -0.819 0 0 0 82 Cabinet -0.920 1.665 -0.620 0 0 0 83 Drawer -0.860 0.190 -0.100 0 0 0 84 CounterTop 0.133 0.935 -1.457 0 0 0 85 Drawer 3.020 0.769 0.695 0 180 0 86 Drawer -0.677 0.577 -0.700 0 0 0 87 Drawer -0.860 0.190 1.429 0 0 0 88 Drawer -0.047 0.192 -1.324 0 0 0 89 Drawer -0.677 0.193 -0.700 0 0 0 90 Drawer -0.860 0.577 -0.100 0 0 0 91 Sink 3.078 0.887 0.086 0 0 0 92 StoveBurner -0.239 0.897 -1.089 0 315 0 93 Drawer -0.860 0.190 0.663 0 0 0 94 CounterTop 1.210 0.937 0.463 0 0 0 95 Drawer -0.047 0.381 -1.324 0 0 0 96 Drawer -0.677 0.387 -0.700 0 0 0 97 Mirror -1.295 1.630 0.045 0 0 0 98 Drawer -0.860 0.385 1.429 0 0 0 99 HousePlant 3.196 0.891 -0.368 0 0 0 100 StoveKnob -0.090 0.790 -1.009 270 45 0 101 StoveKnob -0.280 0.790 -0.819 270 45 0 102 StoveKnob -0.180 0.790 -0.920 270 45 0 103 StoveKnob -0.370 0.790 -0.720 270 45 0 104 GarbageCan 3.137 0.025 1.545 0 225 0 105 Window 3.703 1.675 0.046 90 90 0 106 CoffeeMachine 3.214 0.890 0.697 0 270 0 107 LightSwitch 2.592 1.309 -1.880 0 0 0 108 SinkBasin 3.069 0.736 0.108 0 90 0 109 Fridge 1.008 0.029 -1.467 0 0 0 110 Toaster -1.035 0.873 -0.396 0 90 0 111 Microwave -1.034 0.874 1.428 0 90 0 112 Faucet 3.305 0.886 0.094 270 180 0 113 NorthWall 114 EastWall 115 SouthWall 116 WestWall
[ "STEP 1: Turn left and walk around the counter and face the bread. | STEP 2: Pick up brown bowl from the counter. | STEP 3: Turn left, then left again and head towards the microwave. | STEP 4: Open the microwave, put the bowl in, close it, heat it up and take it out. | STEP 5: Turn left and get in front of the cabinet above the toaster. | STEP 6: Open the cabinet, put the bowl in and close the cabinet. | END" ]
[ [ "STEP 1: Turn left and walk around the counter and face the bread. ", " STEP 2: Pick up brown bowl from the counter. ", " STEP 3: Turn left, then left again and head towards the microwave. ", " STEP 4: Open the microwave, put the bowl in, close it, heat it up and take it out. ", " STEP 5: Turn left and get in front of the cabinet above the toaster. ", " STEP 6: Open the cabinet, put the bowl in and close the cabinet. ", " END" ] ]
seen
trial_T20190906_200229_166300-1
Place the warm cup in the cabinet above the toaster.
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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 0.930 -1.5 0 0 0 1 Pan -0.862 0.899 -0.047 0 90 0 63 2 Potato 1.242 1.111 -1.531 0 0 0 109 3 Potato 3.152 0.785 -0.100 0 0 0 108 4 Ladle 0.622 0.947 0.727 0 0 0 94 5 DishSponge -0.950 0.130 0.751 0 0 0 93 6 DishSponge -0.868 0.130 -0.186 0 0 0 83 7 Glassbottle -0.080 0.901 -1.244 0 45 0 84 8 Glassbottle 0.904 1.675 -1.410 0 0 0 78 9 Spatula -0.786 0.533 1.343 0 90 0 51 10 Fork 0.833 0.908 0.291 0 36.810 0 94 11 CellPhone 0.022 0.897 -1.731 0 0 0 84 12 Mug -0.985 0.992 1.258 0 90 0 111 13 Apple 3.044 0.974 -0.798 0 0 0 62 14 Bread 0.722 0.989 0.374 0 36.810 0 94 15 SaltShaker -0.868 0.703 1.343 0 0 0 56 16 SaltShaker -0.950 0.322 1.255 0 0 0 98 17 PepperShaker 0.468 0.509 -1.556 0 0 0 49 18 Tomato 1.164 0.750 -1.381 0 0 0 109 19 Egg -0.043 0.952 -1.486 0 45 0 84 20 Cup 1.086 1.071 -1.503 0 0 0 109 21 Cup 0.356 0.908 0.426 0 0 0 94 22 Knife 0.716 0.933 0.135 0 36.810 0 94 23 Knife 3.070 0.738 -0.361 0 270 0 59 24 Plate 1.208 1.687 -1.480 0 0 0 54 25 Glassbottle 3.355 0.901 -0.798 0 0 0 62 26 SoapBottle 3.208 0.110 1.519 0 225 0 104 27 Potato -1.119 1.036 1.258 0 90 0 111 28 Fork -0.827 0.327 0.576 0 0 0 64 29 Ladle -0.285 0.937 -1.450 0 135 0 84 30 Pot -0.600 0.902 -1.090 0 135 0 52 31 Kettle -0.239 0.902 -1.089 0 315 0 92 32 Spatula -0.786 0.532 1.255 0 0 0 51 33 Knife -0.936 0.925 -0.695 0 135 0 63 34 Lettuce 0.851 0.951 -1.503 0 0 0 109 35 Cup 0.839 0.908 0.530 0 36.810 0 94 36 SaltShaker 1.351 1.671 -1.689 0 0 0 54 37 Egg 2.987 0.799 0.098 0 90 0 108 38 PepperShaker -0.950 0.127 0.489 0 0 0 64 39 ButterKnife 0.533 0.911 0.928 0 0 0 94 40 Apple -1.008 0.974 0.399 0 0 0 63 41 Pan 0.341 0.873 -1.649 0 167.065 0 84 42 Bread 1.534 0.972 0.486 0 289.287 0 94 43 CellPhone -0.786 0.703 -0.186 0 0 0 70 44 DishSponge -0.827 0.706 0.576 0 0 0 67 45 Tomato -1.153 0.937 0.846 0 0 0 63 46 Spoon -0.671 0.901 -0.858 0 135 0 63 47 Bowl -0.853 0.897 -0.877 0 45 0 63 48 Mug 1.242 0.881 -1.503 0 0 0 109 49 Drawer 0.376 0.572 -1.509 0 0 0 50 Drawer 3.020 0.769 -0.783 0 180 0 51 Drawer -0.860 0.577 1.429 0 0 0 52 StoveBurner -0.600 0.897 -1.090 0 135 0 53 Drawer 0.376 0.191 -1.509 0 0 0 54 Cabinet 1.402 1.874 -1.259 0 0 0 55 Cabinet -0.202 1.963 -1.328 0 0 0 56 Drawer -0.860 0.765 1.429 0 0 0 57 Drawer -0.677 0.765 -0.700 0 0 0 58 StoveBurner -0.420 0.897 -0.920 0 135 0 59 Drawer 3.020 0.769 -0.407 0 180 0 60 Drawer -0.860 0.577 0.663 0 0 0 61 Cabinet 2.819 1.768 -1.850 0 0 0 62 CounterTop 3.111 0.936 0.019 0 0 0 63 CounterTop -1.007 0.935 -0.039 0 0 0 64 Drawer -0.860 0.385 0.663 0 0 0 65 StoveBurner -0.419 0.897 -1.269 0 315 0 66 Drawer -0.047 0.573 -1.324 0 0 0 67 Drawer -0.860 0.765 0.663 0 0 0 68 Drawer -0.860 0.385 -0.100 0 0 0 69 Drawer 0.376 0.380 -1.509 0 0 0 70 Drawer -0.860 0.765 -0.100 0 0 0 71 Drawer 0.376 0.765 -1.509 0 0 0 72 Cabinet 2.849 0.419 0.409 0 0 0 73 Drawer -0.047 0.765 -1.324 0 0 0 74 Cabinet 2.849 0.419 -0.610 0 0 0 75 Cabinet 2.849 0.419 -0.959 0 0 0 76 Cabinet 3.069 1.666 -0.709 0 0 0 77 Cabinet 2.819 1.768 -1.047 0 0 0 78 Cabinet 0.620 1.874 -1.259 0 0 0 79 Cabinet 0.140 1.666 -1.559 0 0 0 80 Cabinet -0.189 1.666 -1.340 0 0 0 81 Cabinet -0.709 1.963 -0.819 0 0 0 82 Cabinet -0.920 1.665 -0.620 0 0 0 83 Drawer -0.860 0.190 -0.100 0 0 0 84 CounterTop 0.133 0.935 -1.457 0 0 0 85 Drawer 3.020 0.769 0.695 0 180 0 86 Drawer -0.677 0.577 -0.700 0 0 0 87 Drawer -0.860 0.190 1.429 0 0 0 88 Drawer -0.047 0.192 -1.324 0 0 0 89 Drawer -0.677 0.193 -0.700 0 0 0 90 Drawer -0.860 0.577 -0.100 0 0 0 91 Sink 3.078 0.887 0.086 0 0 0 92 StoveBurner -0.239 0.897 -1.089 0 315 0 93 Drawer -0.860 0.190 0.663 0 0 0 94 CounterTop 1.210 0.937 0.463 0 0 0 95 Drawer -0.047 0.381 -1.324 0 0 0 96 Drawer -0.677 0.387 -0.700 0 0 0 97 Mirror -1.295 1.630 0.045 0 0 0 98 Drawer -0.860 0.385 1.429 0 0 0 99 HousePlant 3.196 0.891 -0.368 0 0 0 100 StoveKnob -0.090 0.790 -1.009 270 45 0 101 StoveKnob -0.280 0.790 -0.819 270 45 0 102 StoveKnob -0.180 0.790 -0.920 270 45 0 103 StoveKnob -0.370 0.790 -0.720 270 45 0 104 GarbageCan 3.137 0.025 1.545 0 225 0 105 Window 3.703 1.675 0.046 90 90 0 106 CoffeeMachine 3.214 0.890 0.697 0 270 0 107 LightSwitch 2.592 1.309 -1.880 0 0 0 108 SinkBasin 3.069 0.736 0.108 0 90 0 109 Fridge 1.008 0.029 -1.467 0 0 0 110 Toaster -1.035 0.873 -0.396 0 90 0 111 Microwave -1.034 0.874 1.428 0 90 0 112 Faucet 3.305 0.886 0.094 270 180 0 113 NorthWall 114 EastWall 115 SouthWall 116 WestWall
[ "STEP 1: Turn left, walk towards the stove, turn right and walk towards the kitchen island to your right. | STEP 2: Pick up the cup on the kitchen island. | STEP 3: Turn left and walk towards the microwave to your left. | STEP 4: Open the microwave, place the cup in it, warm it cup, and take it out of the microwave. | STEP 5: Turn left and head towards the toaster on your right. | STEP 6: Place the cup in the cabinet directly above the toaster. | END" ]
[ [ "STEP 1: Turn left, walk towards the stove, turn right and walk towards the kitchen island to your right. ", " STEP 2: Pick up the cup on the kitchen island. ", " STEP 3: Turn left and walk towards the microwave to your left. ", " STEP 4: Open the microwave, place the cup in it, warm it cup, and take it out of the microwave. ", " STEP 5: Turn left and head towards the toaster on your right. ", " STEP 6: Place the cup in the cabinet directly above the toaster. ", " END" ] ]
seen
trial_T20190906_200229_166300-2
put a hot treated cup away in the microwave
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2.849", " 0.419", " -0.959", " 0", " 0", " 0", "" ], [ "76", " Cabinet", " 3.069", " 1.666", " -0.709", " 0", " 0", " 0", "" ], [ "77", " Cabinet", " 2.819", " 1.768", " -1.047", " 0", " 0", " 0", "" ], [ "78", " Cabinet", " 0.620", " 1.874", " -1.259", " 0", " 0", " 0", "" ], [ "79", " Cabinet", " 0.140", " 1.666", " -1.559", " 0", " 0", " 0", "" ], [ "80", " Cabinet", " -0.189", " 1.666", " -1.340", " 0", " 0", " 0", "" ], [ "81", " Cabinet", " -0.709", " 1.963", " -0.819", " 0", " 0", " 0", "" ], [ "82", " Cabinet", " -0.920", " 1.665", " -0.620", " 0", " 0", " 0", "" ], [ "83", " Drawer", " -0.860", " 0.190", " -0.100", " 0", " 0", " 0", "" ], [ "84", " CounterTop", " 0.133", " 0.935", " -1.457", " 0", " 0", " 0", "" ], [ "85", " Drawer", " 3.020", " 0.769", " 0.695", " 0", " 180", " 0", "" ], [ "86", " Drawer", " -0.677", " 0.577", " -0.700", " 0", " 0", " 0", "" ], [ "87", " Drawer", " -0.860", " 0.190", " 1.429", " 0", " 0", " 0", "" ], [ "88", " Drawer", " -0.047", " 0.192", " -1.324", " 0", " 0", " 0", "" ], [ "89", " Drawer", " -0.677", " 0.193", " -0.700", " 0", " 0", " 0", "" ], [ "90", " Drawer", " -0.860", " 0.577", " -0.100", " 0", " 0", " 0", "" ], [ "91", " Sink", " 3.078", " 0.887", " 0.086", " 0", " 0", " 0", "" ], [ "92", " StoveBurner", " -0.239", " 0.897", " -1.089", " 0", " 315", " 0", "" ], [ "93", " Drawer", " -0.860", " 0.190", " 0.663", " 0", " 0", " 0", "" ], [ "94", " CounterTop", " 1.210", " 0.937", " 0.463", " 0", " 0", " 0", "" ], [ "95", " Drawer", " -0.047", " 0.381", " -1.324", " 0", " 0", " 0", "" ], [ "96", " Drawer", " -0.677", " 0.387", " -0.700", " 0", " 0", " 0", "" ], [ "97", " Mirror", " -1.295", " 1.630", " 0.045", " 0", " 0", " 0", "" ], [ "98", " Drawer", " -0.860", " 0.385", " 1.429", " 0", " 0", " 0", "" ], [ "99", " HousePlant", " 3.196", " 0.891", " -0.368", " 0", " 0", " 0", "" ], [ "100", " StoveKnob", " -0.090", " 0.790", " -1.009", " 270", " 45", " 0", "" ], [ "101", " StoveKnob", " -0.280", " 0.790", " -0.819", " 270", " 45", " 0", "" ], [ "102", " StoveKnob", " -0.180", " 0.790", " -0.920", " 270", " 45", " 0", "" ], [ "103", " StoveKnob", " -0.370", " 0.790", " -0.720", " 270", " 45", " 0", "" ], [ "104", " GarbageCan", " 3.137", " 0.025", " 1.545", " 0", " 225", " 0", "" ], [ "105", " Window", " 3.703", " 1.675", " 0.046", " 90", " 90", " 0", "" ], [ "106", " CoffeeMachine", " 3.214", " 0.890", " 0.697", " 0", " 270", " 0", "" ], [ "107", " LightSwitch", " 2.592", " 1.309", " -1.880", " 0", " 0", " 0", "" ], [ "108", " SinkBasin", " 3.069", " 0.736", " 0.108", " 0", " 90", " 0", "" ], [ "109", " Fridge", " 1.008", " 0.029", " -1.467", " 0", " 0", " 0", "" ], [ "110", " Toaster", " -1.035", " 0.873", " -0.396", " 0", " 90", " 0", "" ], [ "111", " Microwave", " -1.034", " 0.874", " 1.428", " 0", " 90", " 0", "" ], [ "112", " Faucet", " 3.305", " 0.886", " 0.094", " 270", " 180", " 0", "" ], [ "113", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "114", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "115", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "116", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 2.25 0.930 -1.5 0 0 0 1 Pan -0.862 0.899 -0.047 0 90 0 63 2 Potato 1.242 1.111 -1.531 0 0 0 109 3 Potato 3.152 0.785 -0.100 0 0 0 108 4 Ladle 0.622 0.947 0.727 0 0 0 94 5 DishSponge -0.950 0.130 0.751 0 0 0 93 6 DishSponge -0.868 0.130 -0.186 0 0 0 83 7 Glassbottle -0.080 0.901 -1.244 0 45 0 84 8 Glassbottle 0.904 1.675 -1.410 0 0 0 78 9 Spatula -0.786 0.533 1.343 0 90 0 51 10 Fork 0.833 0.908 0.291 0 36.810 0 94 11 CellPhone 0.022 0.897 -1.731 0 0 0 84 12 Mug -0.985 0.992 1.258 0 90 0 111 13 Apple 3.044 0.974 -0.798 0 0 0 62 14 Bread 0.722 0.989 0.374 0 36.810 0 94 15 SaltShaker -0.868 0.703 1.343 0 0 0 56 16 SaltShaker -0.950 0.322 1.255 0 0 0 98 17 PepperShaker 0.468 0.509 -1.556 0 0 0 49 18 Tomato 1.164 0.750 -1.381 0 0 0 109 19 Egg -0.043 0.952 -1.486 0 45 0 84 20 Cup 1.086 1.071 -1.503 0 0 0 109 21 Cup 0.356 0.908 0.426 0 0 0 94 22 Knife 0.716 0.933 0.135 0 36.810 0 94 23 Knife 3.070 0.738 -0.361 0 270 0 59 24 Plate 1.208 1.687 -1.480 0 0 0 54 25 Glassbottle 3.355 0.901 -0.798 0 0 0 62 26 SoapBottle 3.208 0.110 1.519 0 225 0 104 27 Potato -1.119 1.036 1.258 0 90 0 111 28 Fork -0.827 0.327 0.576 0 0 0 64 29 Ladle -0.285 0.937 -1.450 0 135 0 84 30 Pot -0.600 0.902 -1.090 0 135 0 52 31 Kettle -0.239 0.902 -1.089 0 315 0 92 32 Spatula -0.786 0.532 1.255 0 0 0 51 33 Knife -0.936 0.925 -0.695 0 135 0 63 34 Lettuce 0.851 0.951 -1.503 0 0 0 109 35 Cup 0.839 0.908 0.530 0 36.810 0 94 36 SaltShaker 1.351 1.671 -1.689 0 0 0 54 37 Egg 2.987 0.799 0.098 0 90 0 108 38 PepperShaker -0.950 0.127 0.489 0 0 0 64 39 ButterKnife 0.533 0.911 0.928 0 0 0 94 40 Apple -1.008 0.974 0.399 0 0 0 63 41 Pan 0.341 0.873 -1.649 0 167.065 0 84 42 Bread 1.534 0.972 0.486 0 289.287 0 94 43 CellPhone -0.786 0.703 -0.186 0 0 0 70 44 DishSponge -0.827 0.706 0.576 0 0 0 67 45 Tomato -1.153 0.937 0.846 0 0 0 63 46 Spoon -0.671 0.901 -0.858 0 135 0 63 47 Bowl -0.853 0.897 -0.877 0 45 0 63 48 Mug 1.242 0.881 -1.503 0 0 0 109 49 Drawer 0.376 0.572 -1.509 0 0 0 50 Drawer 3.020 0.769 -0.783 0 180 0 51 Drawer -0.860 0.577 1.429 0 0 0 52 StoveBurner -0.600 0.897 -1.090 0 135 0 53 Drawer 0.376 0.191 -1.509 0 0 0 54 Cabinet 1.402 1.874 -1.259 0 0 0 55 Cabinet -0.202 1.963 -1.328 0 0 0 56 Drawer -0.860 0.765 1.429 0 0 0 57 Drawer -0.677 0.765 -0.700 0 0 0 58 StoveBurner -0.420 0.897 -0.920 0 135 0 59 Drawer 3.020 0.769 -0.407 0 180 0 60 Drawer -0.860 0.577 0.663 0 0 0 61 Cabinet 2.819 1.768 -1.850 0 0 0 62 CounterTop 3.111 0.936 0.019 0 0 0 63 CounterTop -1.007 0.935 -0.039 0 0 0 64 Drawer -0.860 0.385 0.663 0 0 0 65 StoveBurner -0.419 0.897 -1.269 0 315 0 66 Drawer -0.047 0.573 -1.324 0 0 0 67 Drawer -0.860 0.765 0.663 0 0 0 68 Drawer -0.860 0.385 -0.100 0 0 0 69 Drawer 0.376 0.380 -1.509 0 0 0 70 Drawer -0.860 0.765 -0.100 0 0 0 71 Drawer 0.376 0.765 -1.509 0 0 0 72 Cabinet 2.849 0.419 0.409 0 0 0 73 Drawer -0.047 0.765 -1.324 0 0 0 74 Cabinet 2.849 0.419 -0.610 0 0 0 75 Cabinet 2.849 0.419 -0.959 0 0 0 76 Cabinet 3.069 1.666 -0.709 0 0 0 77 Cabinet 2.819 1.768 -1.047 0 0 0 78 Cabinet 0.620 1.874 -1.259 0 0 0 79 Cabinet 0.140 1.666 -1.559 0 0 0 80 Cabinet -0.189 1.666 -1.340 0 0 0 81 Cabinet -0.709 1.963 -0.819 0 0 0 82 Cabinet -0.920 1.665 -0.620 0 0 0 83 Drawer -0.860 0.190 -0.100 0 0 0 84 CounterTop 0.133 0.935 -1.457 0 0 0 85 Drawer 3.020 0.769 0.695 0 180 0 86 Drawer -0.677 0.577 -0.700 0 0 0 87 Drawer -0.860 0.190 1.429 0 0 0 88 Drawer -0.047 0.192 -1.324 0 0 0 89 Drawer -0.677 0.193 -0.700 0 0 0 90 Drawer -0.860 0.577 -0.100 0 0 0 91 Sink 3.078 0.887 0.086 0 0 0 92 StoveBurner -0.239 0.897 -1.089 0 315 0 93 Drawer -0.860 0.190 0.663 0 0 0 94 CounterTop 1.210 0.937 0.463 0 0 0 95 Drawer -0.047 0.381 -1.324 0 0 0 96 Drawer -0.677 0.387 -0.700 0 0 0 97 Mirror -1.295 1.630 0.045 0 0 0 98 Drawer -0.860 0.385 1.429 0 0 0 99 HousePlant 3.196 0.891 -0.368 0 0 0 100 StoveKnob -0.090 0.790 -1.009 270 45 0 101 StoveKnob -0.280 0.790 -0.819 270 45 0 102 StoveKnob -0.180 0.790 -0.920 270 45 0 103 StoveKnob -0.370 0.790 -0.720 270 45 0 104 GarbageCan 3.137 0.025 1.545 0 225 0 105 Window 3.703 1.675 0.046 90 90 0 106 CoffeeMachine 3.214 0.890 0.697 0 270 0 107 LightSwitch 2.592 1.309 -1.880 0 0 0 108 SinkBasin 3.069 0.736 0.108 0 90 0 109 Fridge 1.008 0.029 -1.467 0 0 0 110 Toaster -1.035 0.873 -0.396 0 90 0 111 Microwave -1.034 0.874 1.428 0 90 0 112 Faucet 3.305 0.886 0.094 270 180 0 113 NorthWall 114 EastWall 115 SouthWall 116 WestWall
[ "STEP 1: walk towards the kitchen island to face it | STEP 2: grab the cup off of the kitchen island | STEP 3: walk over to the microwave with the cup | STEP 4: put the cup inside the microwave, microwave the cup, and then pick it up again | STEP 5: walk over to the kitchen counter with the toaster on top | STEP 6: put the cup away in the cupboard cabinet top left of the toaster | END" ]
[ [ "STEP 1: walk towards the kitchen island to face it ", " STEP 2: grab the cup off of the kitchen island ", " STEP 3: walk over to the microwave with the cup ", " STEP 4: put the cup inside the microwave, microwave the cup, and then pick it up again ", " STEP 5: walk over to the kitchen counter with the toaster on top ", " STEP 6: put the cup away in the cupboard cabinet top left of the toaster ", " END" ] ]
seen
trial_T20190909_152910_413839-0
Move a white cup to the TV console.
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " -0.25", " 0.910", " 0.25", " 0", " 180", " 0", "" ], [ "1", " Mug", " 2.471", " 0.743", " -1.472", " 0", " 90", " 0", " 47" ], [ "2", " CellPhone", " -1.073", " 0.714", " 2.539", " 0", " 0", " 0", " 24" ], [ "3", " CellPhone", " -0.881", " 0.913", " 4.35", " 0", " 0", " 0", " 27" ], [ "4", " Pen", " -1.012", " 0.919", " 4.166", " 0", " 0", " 0", " 27" ], [ "5", " Pencil", " 2.533", " 0.464", " 0.330", " 0", " 0", " 0", " 41" ], [ "6", " CreditCard", " -0.684", " 0.913", " 3.982", " 0", " 0", " 0", " 27" ], [ "7", " CreditCard", " -0.946", " 0.913", " 4.717", " 0", " 0", " 0", " 27" ], [ "8", " RemoteControl", " 2.850", " 0.844", " 1.017", " 0", " 0", " 0", " 39" ], [ "9", " AlarmClock", " -1.012", " 0.921", " 4.900", " 0", " 0", " 0", " 27" ], [ "10", " Book", " 0.123", " 0.713", " 2.256", " 0", " 0", " 0", " 24" ], [ "11", " AlarmClock", " 2.614", " 0.752", " -1.619", " 0", " 90", " 0", " 47" ], [ "12", " CellPhone", " 2.533", " 0.097", " 0.428", " 0", " 0", " 0", " 40" ], [ "13", " Bowl", " 2.784", " 0.809", " 2.613", " 0", " 0", " 0", " 38" ], [ "14", " CreditCard", " -0.815", " 0.913", " 3.799", " 0", " 0", " 0", " 27" ], [ "15", " KeyChain", " 2.496", " 0.746", " -1.588", " 0", " 270", " 0", " 47" ], [ "16", " RemoteControl", " -1.012", " 0.914", " 4.717", " 0", " 0", " 0", " 27" ], [ "17", " Laptop", " -1.073", " 0.712", " 1.973", " 0", " 0", " 0", " 24" ], [ "18", " Pencil", " 2.770", " 0.846", " 0.755", " 0", " 0", " 0", " 39" ], [ "19", " Pillow", " -0.959", " 0.752", " 2.977", " 0", " 0", " 0", " 24" ], [ "20", " Pillow", " -0.116", " 0.785", " 1.408", " 0", " 0", " 0", " 24" ], [ "21", " CD", " 2.595", " 0.744", " -1.300", " 0", " 0", " 0", " 35" ], [ "22", " Pen", " 2.533", " 0.102", " 0.917", " 0", " 90", " 0", " 40" ], [ "23", " Mug", " -0.684", " 0.911", " 4.717", " 0", " 0", " 0", " 27" ], [ "24", " Bed", " -0.594", " 0.009", " 2.298", " 0", " 0", " 0", "" ], [ "25", " Mirror", " -1.184", " 1.603", " 4.348", " 0", " 0", " 0", "" ], [ "26", " Television", " 2.738", " 1.330", " 0.622", " 0", " 270", " 0", "" ], [ "27", " CounterTop", " -0.890", " 0.951", " 4.349", " 0", " 0", " 0", "" ], [ "28", " LightSwitch", " 0.800", " 1.371", " 5.245", " 0", " 90", " 0", "" ], [ "29", " Painting", " 2.992", " 1.529", " 3.415", " 90", " 270", " 0", "" ], [ "30", " Painting", " 2.992", " 1.529", " 2.553", " 90", " 270", " 0", "" ], [ "31", " DeskLamp", " 2.625", " 0.772", " -1.469", " 0", " 0", " 0", "" ], [ "32", " DeskLamp", " 2.668", " 0.810", " 3.082", " 0", " 358.947", " 0", "" ], [ "33", " GarbageCan", " -0.626", " -0.009", " 3.742", " 0", " 0", " 0", "" ], [ "34", " Window", " -0.453", " 1.450", " -2.058", " 90", " 180", " 0", "" ], [ "35", " SideTable", " 2.565", " 0.009", " -1.534", " 0", " 0", " 0", "" ], [ "36", " ArmChair", " -1.277", " 0.009", " -1.169", " 0", " 90", " 0", "" ], [ "37", " Blinds", " -0.5", " 2.174", " -1.957", " 0", " 0", " 0", "" ], [ "38", " Desk", " 2.572", " 0.011", " 3.054", " 0", " 270", " 0", "" ], [ "39", " SideTable", " 2.645", " 0.009", " 0.624", " 0", " 270", " 0", "" ], [ "40", " Drawer", " 2.525", " 0.214", " 0.624", " 0", " 270", " 0", "" ], [ "41", " Drawer", " 2.525", " 0.578", " 0.624", " 0", " 270", " 0", "" ], [ "42", " ArmChair", " 2.424", " 0.009", " -0.564", " 0", " 270", " 0", "" ], [ "43", " LaundryHamper", " 3.457", " 0.009", " 4.555", " 0", " 270", " 0", "" ], [ "44", " Chair", " 2.591", " 0.020", " 2.015", " 0", " 0", " 0", "" ], [ "45", " Chair", " 2.184", " 0.020", " 3.440", " 0", " 120.016", " 0", "" ], [ "46", " Chair", " 2.211", " 0.020", " 2.592", " 0", " 74.981", " 0", "" ], [ "47", " ", " ", " ", " ", " ", " ", " ", "" ], [ "48", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "49", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "50", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "51", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -0.25 0.910 0.25 0 180 0 1 Mug 2.471 0.743 -1.472 0 90 0 47 2 CellPhone -1.073 0.714 2.539 0 0 0 24 3 CellPhone -0.881 0.913 4.35 0 0 0 27 4 Pen -1.012 0.919 4.166 0 0 0 27 5 Pencil 2.533 0.464 0.330 0 0 0 41 6 CreditCard -0.684 0.913 3.982 0 0 0 27 7 CreditCard -0.946 0.913 4.717 0 0 0 27 8 RemoteControl 2.850 0.844 1.017 0 0 0 39 9 AlarmClock -1.012 0.921 4.900 0 0 0 27 10 Book 0.123 0.713 2.256 0 0 0 24 11 AlarmClock 2.614 0.752 -1.619 0 90 0 47 12 CellPhone 2.533 0.097 0.428 0 0 0 40 13 Bowl 2.784 0.809 2.613 0 0 0 38 14 CreditCard -0.815 0.913 3.799 0 0 0 27 15 KeyChain 2.496 0.746 -1.588 0 270 0 47 16 RemoteControl -1.012 0.914 4.717 0 0 0 27 17 Laptop -1.073 0.712 1.973 0 0 0 24 18 Pencil 2.770 0.846 0.755 0 0 0 39 19 Pillow -0.959 0.752 2.977 0 0 0 24 20 Pillow -0.116 0.785 1.408 0 0 0 24 21 CD 2.595 0.744 -1.300 0 0 0 35 22 Pen 2.533 0.102 0.917 0 90 0 40 23 Mug -0.684 0.911 4.717 0 0 0 27 24 Bed -0.594 0.009 2.298 0 0 0 25 Mirror -1.184 1.603 4.348 0 0 0 26 Television 2.738 1.330 0.622 0 270 0 27 CounterTop -0.890 0.951 4.349 0 0 0 28 LightSwitch 0.800 1.371 5.245 0 90 0 29 Painting 2.992 1.529 3.415 90 270 0 30 Painting 2.992 1.529 2.553 90 270 0 31 DeskLamp 2.625 0.772 -1.469 0 0 0 32 DeskLamp 2.668 0.810 3.082 0 358.947 0 33 GarbageCan -0.626 -0.009 3.742 0 0 0 34 Window -0.453 1.450 -2.058 90 180 0 35 SideTable 2.565 0.009 -1.534 0 0 0 36 ArmChair -1.277 0.009 -1.169 0 90 0 37 Blinds -0.5 2.174 -1.957 0 0 0 38 Desk 2.572 0.011 3.054 0 270 0 39 SideTable 2.645 0.009 0.624 0 270 0 40 Drawer 2.525 0.214 0.624 0 270 0 41 Drawer 2.525 0.578 0.624 0 270 0 42 ArmChair 2.424 0.009 -0.564 0 270 0 43 LaundryHamper 3.457 0.009 4.555 0 270 0 44 Chair 2.591 0.020 2.015 0 0 0 45 Chair 2.184 0.020 3.440 0 120.016 0 46 Chair 2.211 0.020 2.592 0 74.981 0 47 48 NorthWall 49 EastWall 50 SouthWall 51 WestWall
[ "STEP 1: Turn to walk to the small round white table in the corner of the room. | STEP 2: Pick up the white cup from the table. | STEP 3: Turn left to walk to the TV console. | STEP 4: Set the white cup down on the TV console. | END" ]
[ [ "STEP 1: Turn to walk to the small round white table in the corner of the room. ", " STEP 2: Pick up the white cup from the table. ", " STEP 3: Turn left to walk to the TV console. ", " STEP 4: Set the white cup down on the TV console. ", " END" ] ]
seen
trial_T20190909_152910_413839-1
Put a mug on the entertainment center.
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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 0.910 0.25 0 180 0 1 Mug 2.471 0.743 -1.472 0 90 0 47 2 CellPhone -1.073 0.714 2.539 0 0 0 24 3 CellPhone -0.881 0.913 4.35 0 0 0 27 4 Pen -1.012 0.919 4.166 0 0 0 27 5 Pencil 2.533 0.464 0.330 0 0 0 41 6 CreditCard -0.684 0.913 3.982 0 0 0 27 7 CreditCard -0.946 0.913 4.717 0 0 0 27 8 RemoteControl 2.850 0.844 1.017 0 0 0 39 9 AlarmClock -1.012 0.921 4.900 0 0 0 27 10 Book 0.123 0.713 2.256 0 0 0 24 11 AlarmClock 2.614 0.752 -1.619 0 90 0 47 12 CellPhone 2.533 0.097 0.428 0 0 0 40 13 Bowl 2.784 0.809 2.613 0 0 0 38 14 CreditCard -0.815 0.913 3.799 0 0 0 27 15 KeyChain 2.496 0.746 -1.588 0 270 0 47 16 RemoteControl -1.012 0.914 4.717 0 0 0 27 17 Laptop -1.073 0.712 1.973 0 0 0 24 18 Pencil 2.770 0.846 0.755 0 0 0 39 19 Pillow -0.959 0.752 2.977 0 0 0 24 20 Pillow -0.116 0.785 1.408 0 0 0 24 21 CD 2.595 0.744 -1.300 0 0 0 35 22 Pen 2.533 0.102 0.917 0 90 0 40 23 Mug -0.684 0.911 4.717 0 0 0 27 24 Bed -0.594 0.009 2.298 0 0 0 25 Mirror -1.184 1.603 4.348 0 0 0 26 Television 2.738 1.330 0.622 0 270 0 27 CounterTop -0.890 0.951 4.349 0 0 0 28 LightSwitch 0.800 1.371 5.245 0 90 0 29 Painting 2.992 1.529 3.415 90 270 0 30 Painting 2.992 1.529 2.553 90 270 0 31 DeskLamp 2.625 0.772 -1.469 0 0 0 32 DeskLamp 2.668 0.810 3.082 0 358.947 0 33 GarbageCan -0.626 -0.009 3.742 0 0 0 34 Window -0.453 1.450 -2.058 90 180 0 35 SideTable 2.565 0.009 -1.534 0 0 0 36 ArmChair -1.277 0.009 -1.169 0 90 0 37 Blinds -0.5 2.174 -1.957 0 0 0 38 Desk 2.572 0.011 3.054 0 270 0 39 SideTable 2.645 0.009 0.624 0 270 0 40 Drawer 2.525 0.214 0.624 0 270 0 41 Drawer 2.525 0.578 0.624 0 270 0 42 ArmChair 2.424 0.009 -0.564 0 270 0 43 LaundryHamper 3.457 0.009 4.555 0 270 0 44 Chair 2.591 0.020 2.015 0 0 0 45 Chair 2.184 0.020 3.440 0 120.016 0 46 Chair 2.211 0.020 2.592 0 74.981 0 47 48 NorthWall 49 EastWall 50 SouthWall 51 WestWall
[ "STEP 1: Move forward toward the wall, then turn left to go to the black table. | STEP 2: Pick up the mug from the black table. | STEP 3: Turn around and step forward, then go to the right, then turn right at the entertainment center. | STEP 4: Place the mug on the entertainment center, in front of the TV. | END" ]
[ [ "STEP 1: Move forward toward the wall, then turn left to go to the black table. ", " STEP 2: Pick up the mug from the black table. ", " STEP 3: Turn around and step forward, then go to the right, then turn right at the entertainment center. ", " STEP 4: Place the mug on the entertainment center, in front of the TV. ", " END" ] ]
seen
trial_T20190909_152910_413839-2
Place a white mug on a television stand.
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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 0.910 0.25 0 180 0 1 Mug 2.471 0.743 -1.472 0 90 0 47 2 CellPhone -1.073 0.714 2.539 0 0 0 24 3 CellPhone -0.881 0.913 4.35 0 0 0 27 4 Pen -1.012 0.919 4.166 0 0 0 27 5 Pencil 2.533 0.464 0.330 0 0 0 41 6 CreditCard -0.684 0.913 3.982 0 0 0 27 7 CreditCard -0.946 0.913 4.717 0 0 0 27 8 RemoteControl 2.850 0.844 1.017 0 0 0 39 9 AlarmClock -1.012 0.921 4.900 0 0 0 27 10 Book 0.123 0.713 2.256 0 0 0 24 11 AlarmClock 2.614 0.752 -1.619 0 90 0 47 12 CellPhone 2.533 0.097 0.428 0 0 0 40 13 Bowl 2.784 0.809 2.613 0 0 0 38 14 CreditCard -0.815 0.913 3.799 0 0 0 27 15 KeyChain 2.496 0.746 -1.588 0 270 0 47 16 RemoteControl -1.012 0.914 4.717 0 0 0 27 17 Laptop -1.073 0.712 1.973 0 0 0 24 18 Pencil 2.770 0.846 0.755 0 0 0 39 19 Pillow -0.959 0.752 2.977 0 0 0 24 20 Pillow -0.116 0.785 1.408 0 0 0 24 21 CD 2.595 0.744 -1.300 0 0 0 35 22 Pen 2.533 0.102 0.917 0 90 0 40 23 Mug -0.684 0.911 4.717 0 0 0 27 24 Bed -0.594 0.009 2.298 0 0 0 25 Mirror -1.184 1.603 4.348 0 0 0 26 Television 2.738 1.330 0.622 0 270 0 27 CounterTop -0.890 0.951 4.349 0 0 0 28 LightSwitch 0.800 1.371 5.245 0 90 0 29 Painting 2.992 1.529 3.415 90 270 0 30 Painting 2.992 1.529 2.553 90 270 0 31 DeskLamp 2.625 0.772 -1.469 0 0 0 32 DeskLamp 2.668 0.810 3.082 0 358.947 0 33 GarbageCan -0.626 -0.009 3.742 0 0 0 34 Window -0.453 1.450 -2.058 90 180 0 35 SideTable 2.565 0.009 -1.534 0 0 0 36 ArmChair -1.277 0.009 -1.169 0 90 0 37 Blinds -0.5 2.174 -1.957 0 0 0 38 Desk 2.572 0.011 3.054 0 270 0 39 SideTable 2.645 0.009 0.624 0 270 0 40 Drawer 2.525 0.214 0.624 0 270 0 41 Drawer 2.525 0.578 0.624 0 270 0 42 ArmChair 2.424 0.009 -0.564 0 270 0 43 LaundryHamper 3.457 0.009 4.555 0 270 0 44 Chair 2.591 0.020 2.015 0 0 0 45 Chair 2.184 0.020 3.440 0 120.016 0 46 Chair 2.211 0.020 2.592 0 74.981 0 47 48 NorthWall 49 EastWall 50 SouthWall 51 WestWall
[ "STEP 1: Hang a left at the wall and walk to the round black table. | STEP 2: Pick up the white mug from the round table. | STEP 3: Turn around and walk to the television stand to the right. | STEP 4: Put the white mug on the left side of the stand. | END" ]
[ [ "STEP 1: Hang a left at the wall and walk to the round black table. ", " STEP 2: Pick up the white mug from the round table. ", " STEP 3: Turn around and walk to the television stand to the right. ", " STEP 4: Put the white mug on the left side of the stand. ", " END" ] ]
seen
trial_T20190909_081031_028962-0
Move phone from table to box, move box with phone from couch to chair.
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], [ "37", " Desk", " -0.352", " 0.003", " 1.371", " 0", " 180", " 0", "" ], [ "38", " FloorLamp", " 0.391", " -0.001", " 5.157", " 0", " 0", " 0", "" ], [ "39", " Window", " -2.828", " 0.470", " -0.157", " 90", " 199.328", " 0", "" ], [ "40", " Window", " -4.410", " 1.702", " 1.787", " 90", " 270", " 0", "" ], [ "41", " Window", " -3.638", " 1.702", " 6.735", " 90", " 0", " 0", "" ], [ "42", " Window", " -4.410", " 1.702", " 2.790", " 90", " 270", " 0", "" ], [ "43", " Window", " -2.827", " 1.702", " -0.157", " 90", " 199.328", " 0", "" ], [ "44", " Window", " -0.131", " 1.702", " 6.735", " 90", " 0", " 0", "" ], [ "45", " Window", " -1.013", " 1.702", " -0.154", " 90", " 159.633", " 0", "" ], [ "46", " Window", " -4.410", " 1.702", " 5.980", " 90", " 270", " 0", "" ], [ "47", " Television", " -0.153", " 1.176", " 5.790", " 0", " 225", " 0", "" ], [ "48", " GarbageCan", " 0.357", " 0.003", " 2.159", " 0", " 90", " 0", "" ], [ "49", " DeskLamp", " 0.277", " 0.735", " 1.381", " 0", " 0", " 0", "" ], [ "50", " HousePlant", " -1.819", " 0.641", " -2.011", " 0", " 315", " 0", "" ], [ "51", " LightSwitch", " -2.740", " 1.495", " -0.405", " 0", " 180", " 0", "" ], [ "52", " TVStand", " -0.118", " 0.001", " 5.874", " 0", " 45", " 0", "" ], [ "53", " Chair", " -1.353", " 0.002", " -2.872", " 0", " 349.207", " 0", "" ], [ "54", " Chair", " -2.220", " 0.002", " -1.298", " 0", " 168.118", " 0", "" ], [ "55", " Chair", " -1.515", " 0.007", " -1.331", " 358.639", " 187.454", " 0", "" ], [ "56", " Chair", " -2.189", " 0.002", " -2.835", " 0", " 2.328", " 0", "" ], [ "57", " Safe", " 0.174", " 0.001", " -0.071", " 0", " 323.940", " 0", "" ], [ "58", " DiningTable", " -1.783", " 0.003", " -2.039", " 0", " 0", " 0", "" ], [ "59", " Chair", " -0.636", " 0.010", " 0.993", " 0", " 358.396", " 0", "" ], [ "60", " Sofa", " -2.161", " 0.006", " 6.115", " 0", " 180", " 0", "" ], [ "61", " Sofa", " -3.782", " 0.006", " 4.153", " 0", " 90", " 0", "" ], [ "62", " Shelf", " -1.095", " 0.607", " 1.321", " 0", " 180", " 0", "" ], [ "63", " Shelf", " -1.267", " 0.607", " 1.321", " 0", " 180", " 0", "" ], [ "64", " Shelf", " -1.267", " 0.401", " 1.321", " 0", " 180", " 0", "" ], [ "65", " Shelf", " -1.095", " 0.196", " 1.320", " 0", " 180", " 0", "" ], [ "66", " Shelf", " -1.095", " 0.401", " 1.321", " 0", " 180", " 0", "" ], [ "67", " Shelf", " -1.267", " 0.196", " 1.320", " 0", " 180", " 0", "" ], [ "68", " ArmChair", " -2.628", " 0.009", " 2.421", " 0", " 0", " 0", "" ], [ "69", " Chair", " -0.485", " 0.010", " 4.452", " 0", " 270", " 0", "" ], [ "70", " Chair", " -0.431", " 0.010", " 3.595", " 0", " 270", " 0", "" ], [ "71", " CoffeeTable", " -1.965", " 0.000", " 4.187", " 0", " 0", " 0", "" ], [ "72", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "73", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "74", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "75", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -2.75 0.902 -0.75 0 270 0 1 CellPhone -1.556 0.658 -2.074 0 0 0 58 2 CellPhone -2.246 0.456 3.771 0 0 0 71 3 CreditCard -1.913 0.389 6.095 0 180 0 60 4 CreditCard -0.847 0.741 1.593 0 0 0 37 5 Box -2.011 0.945 -1.820 0 90 0 58 6 Box -2.664 0.679 6.095 0 0 0 60 7 Box -1.329 0.945 -2.456 0 180 0 58 8 Laptop -1.093 0.739 1.300 0 0 0 37 9 Laptop -3.585 0.392 4.415 0 90 0 61 10 Box -2.238 0.945 -2.456 0 180 0 58 11 Vase -1.545 0.462 4.602 0 0 0 71 12 CellPhone 0.414 0.540 1.364 0 0 0 31 13 WateringCan -3.580 0.003 5.507 2.684 0 0 Floor|-04.41| 14 KeyChain -1.102 0.655 -1.820 0 0 0 58 15 Vase -4.242 0.789 1.181 0 0 0 30 16 Vase -1.783 0.660 -2.202 0 0 0 58 17 Laptop -0.108 0.739 1.593 0 0 0 37 18 Pillow -3.587 0.643 5.016 317.310 0 0 61 19 RemoteControl -1.783 0.656 -2.074 0 0 0 58 20 CreditCard -0.047 0.121 1.258 0 0 0 32 21 Vase -4.225 0.789 0.382 0 0 0 30 22 Statue -4.223 1.263 0.399 0 0 0 27 23 Statue -1.783 0.665 -1.693 0 0 0 58 24 Statue -1.948 0.506 4.122 0 0 0 71 25 Shelf -4.253 2.157 0.771 0 0 0 26 Painting -3.368 1.741 -0.298 0 0 0 27 Shelf -4.253 1.306 0.771 0 0 0 28 Painting -1.756 1.424 -3.595 0 0 0 29 Shelf -4.253 1.690 0.771 0 0 0 30 Shelf -4.261 0.833 0.771 0 0 0 31 Drawer 0.411 0.581 1.221 0 180 0 32 Drawer -0.000 0.170 1.221 0 180 0 33 Drawer -0.000 0.581 1.221 0 180 0 34 Drawer 0.411 0.375 1.221 0 180 0 35 Drawer 0.411 0.170 1.221 0 180 0 36 Drawer -0.000 0.375 1.221 0 180 0 37 Desk -0.352 0.003 1.371 0 180 0 38 FloorLamp 0.391 -0.001 5.157 0 0 0 39 Window -2.828 0.470 -0.157 90 199.328 0 40 Window -4.410 1.702 1.787 90 270 0 41 Window -3.638 1.702 6.735 90 0 0 42 Window -4.410 1.702 2.790 90 270 0 43 Window -2.827 1.702 -0.157 90 199.328 0 44 Window -0.131 1.702 6.735 90 0 0 45 Window -1.013 1.702 -0.154 90 159.633 0 46 Window -4.410 1.702 5.980 90 270 0 47 Television -0.153 1.176 5.790 0 225 0 48 GarbageCan 0.357 0.003 2.159 0 90 0 49 DeskLamp 0.277 0.735 1.381 0 0 0 50 HousePlant -1.819 0.641 -2.011 0 315 0 51 LightSwitch -2.740 1.495 -0.405 0 180 0 52 TVStand -0.118 0.001 5.874 0 45 0 53 Chair -1.353 0.002 -2.872 0 349.207 0 54 Chair -2.220 0.002 -1.298 0 168.118 0 55 Chair -1.515 0.007 -1.331 358.639 187.454 0 56 Chair -2.189 0.002 -2.835 0 2.328 0 57 Safe 0.174 0.001 -0.071 0 323.940 0 58 DiningTable -1.783 0.003 -2.039 0 0 0 59 Chair -0.636 0.010 0.993 0 358.396 0 60 Sofa -2.161 0.006 6.115 0 180 0 61 Sofa -3.782 0.006 4.153 0 90 0 62 Shelf -1.095 0.607 1.321 0 180 0 63 Shelf -1.267 0.607 1.321 0 180 0 64 Shelf -1.267 0.401 1.321 0 180 0 65 Shelf -1.095 0.196 1.320 0 180 0 66 Shelf -1.095 0.401 1.321 0 180 0 67 Shelf -1.267 0.196 1.320 0 180 0 68 ArmChair -2.628 0.009 2.421 0 0 0 69 Chair -0.485 0.010 4.452 0 270 0 70 Chair -0.431 0.010 3.595 0 270 0 71 CoffeeTable -1.965 0.000 4.187 0 0 0 72 NorthWall 73 EastWall 74 SouthWall 75 WestWall
[ "STEP 1: Turn right, proceed to coffee table. | STEP 2: Pick up phone from coffee table. | STEP 3: Turn left, then turn right when reach couch. Proceed to couch with box on it. | STEP 4: Put phone in box on couch. | STEP 5: Pick up box with phone in it from couch. | STEP 6: Turn around, proceed to chair. | STEP 7: Put box with phone in it on chair. | END" ]
[ [ "STEP 1: Turn right, proceed to coffee table. ", " STEP 2: Pick up phone from coffee table. ", " STEP 3: Turn left, then turn right when reach couch. Proceed to couch with box on it. ", " STEP 4: Put phone in box on couch. ", " STEP 5: Pick up box with phone in it from couch. ", " STEP 6: Turn around, proceed to chair. ", " STEP 7: Put box with phone in it on chair. ", " END" ] ]
seen
trial_T20190909_081031_028962-1
Put a cardboard box with a phone in it on the seat of a chair.
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], [ "37", " Desk", " -0.352", " 0.003", " 1.371", " 0", " 180", " 0", "" ], [ "38", " FloorLamp", " 0.391", " -0.001", " 5.157", " 0", " 0", " 0", "" ], [ "39", " Window", " -2.828", " 0.470", " -0.157", " 90", " 199.328", " 0", "" ], [ "40", " Window", " -4.410", " 1.702", " 1.787", " 90", " 270", " 0", "" ], [ "41", " Window", " -3.638", " 1.702", " 6.735", " 90", " 0", " 0", "" ], [ "42", " Window", " -4.410", " 1.702", " 2.790", " 90", " 270", " 0", "" ], [ "43", " Window", " -2.827", " 1.702", " -0.157", " 90", " 199.328", " 0", "" ], [ "44", " Window", " -0.131", " 1.702", " 6.735", " 90", " 0", " 0", "" ], [ "45", " Window", " -1.013", " 1.702", " -0.154", " 90", " 159.633", " 0", "" ], [ "46", " Window", " -4.410", " 1.702", " 5.980", " 90", " 270", " 0", "" ], [ "47", " Television", " -0.153", " 1.176", " 5.790", " 0", " 225", " 0", "" ], [ "48", " GarbageCan", " 0.357", " 0.003", " 2.159", " 0", " 90", " 0", "" ], [ "49", " DeskLamp", " 0.277", " 0.735", " 1.381", " 0", " 0", " 0", "" ], [ "50", " HousePlant", " -1.819", " 0.641", " -2.011", " 0", " 315", " 0", "" ], [ "51", " LightSwitch", " -2.740", " 1.495", " -0.405", " 0", " 180", " 0", "" ], [ "52", " TVStand", " -0.118", " 0.001", " 5.874", " 0", " 45", " 0", "" ], [ "53", " Chair", " -1.353", " 0.002", " -2.872", " 0", " 349.207", " 0", "" ], [ "54", " Chair", " -2.220", " 0.002", " -1.298", " 0", " 168.118", " 0", "" ], [ "55", " Chair", " -1.515", " 0.007", " -1.331", " 358.639", " 187.454", " 0", "" ], [ "56", " Chair", " -2.189", " 0.002", " -2.835", " 0", " 2.328", " 0", "" ], [ "57", " Safe", " 0.174", " 0.001", " -0.071", " 0", " 323.940", " 0", "" ], [ "58", " DiningTable", " -1.783", " 0.003", " -2.039", " 0", " 0", " 0", "" ], [ "59", " Chair", " -0.636", " 0.010", " 0.993", " 0", " 358.396", " 0", "" ], [ "60", " Sofa", " -2.161", " 0.006", " 6.115", " 0", " 180", " 0", "" ], [ "61", " Sofa", " -3.782", " 0.006", " 4.153", " 0", " 90", " 0", "" ], [ "62", " Shelf", " -1.095", " 0.607", " 1.321", " 0", " 180", " 0", "" ], [ "63", " Shelf", " -1.267", " 0.607", " 1.321", " 0", " 180", " 0", "" ], [ "64", " Shelf", " -1.267", " 0.401", " 1.321", " 0", " 180", " 0", "" ], [ "65", " Shelf", " -1.095", " 0.196", " 1.320", " 0", " 180", " 0", "" ], [ "66", " Shelf", " -1.095", " 0.401", " 1.321", " 0", " 180", " 0", "" ], [ "67", " Shelf", " -1.267", " 0.196", " 1.320", " 0", " 180", " 0", "" ], [ "68", " ArmChair", " -2.628", " 0.009", " 2.421", " 0", " 0", " 0", "" ], [ "69", " Chair", " -0.485", " 0.010", " 4.452", " 0", " 270", " 0", "" ], [ "70", " Chair", " -0.431", " 0.010", " 3.595", " 0", " 270", " 0", "" ], [ "71", " CoffeeTable", " -1.965", " 0.000", " 4.187", " 0", " 0", " 0", "" ], [ "72", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "73", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "74", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "75", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -2.75 0.902 -0.75 0 270 0 1 CellPhone -1.556 0.658 -2.074 0 0 0 58 2 CellPhone -2.246 0.456 3.771 0 0 0 71 3 CreditCard -1.913 0.389 6.095 0 180 0 60 4 CreditCard -0.847 0.741 1.593 0 0 0 37 5 Box -2.011 0.945 -1.820 0 90 0 58 6 Box -2.664 0.679 6.095 0 0 0 60 7 Box -1.329 0.945 -2.456 0 180 0 58 8 Laptop -1.093 0.739 1.300 0 0 0 37 9 Laptop -3.585 0.392 4.415 0 90 0 61 10 Box -2.238 0.945 -2.456 0 180 0 58 11 Vase -1.545 0.462 4.602 0 0 0 71 12 CellPhone 0.414 0.540 1.364 0 0 0 31 13 WateringCan -3.580 0.003 5.507 2.684 0 0 Floor|-04.41| 14 KeyChain -1.102 0.655 -1.820 0 0 0 58 15 Vase -4.242 0.789 1.181 0 0 0 30 16 Vase -1.783 0.660 -2.202 0 0 0 58 17 Laptop -0.108 0.739 1.593 0 0 0 37 18 Pillow -3.587 0.643 5.016 317.310 0 0 61 19 RemoteControl -1.783 0.656 -2.074 0 0 0 58 20 CreditCard -0.047 0.121 1.258 0 0 0 32 21 Vase -4.225 0.789 0.382 0 0 0 30 22 Statue -4.223 1.263 0.399 0 0 0 27 23 Statue -1.783 0.665 -1.693 0 0 0 58 24 Statue -1.948 0.506 4.122 0 0 0 71 25 Shelf -4.253 2.157 0.771 0 0 0 26 Painting -3.368 1.741 -0.298 0 0 0 27 Shelf -4.253 1.306 0.771 0 0 0 28 Painting -1.756 1.424 -3.595 0 0 0 29 Shelf -4.253 1.690 0.771 0 0 0 30 Shelf -4.261 0.833 0.771 0 0 0 31 Drawer 0.411 0.581 1.221 0 180 0 32 Drawer -0.000 0.170 1.221 0 180 0 33 Drawer -0.000 0.581 1.221 0 180 0 34 Drawer 0.411 0.375 1.221 0 180 0 35 Drawer 0.411 0.170 1.221 0 180 0 36 Drawer -0.000 0.375 1.221 0 180 0 37 Desk -0.352 0.003 1.371 0 180 0 38 FloorLamp 0.391 -0.001 5.157 0 0 0 39 Window -2.828 0.470 -0.157 90 199.328 0 40 Window -4.410 1.702 1.787 90 270 0 41 Window -3.638 1.702 6.735 90 0 0 42 Window -4.410 1.702 2.790 90 270 0 43 Window -2.827 1.702 -0.157 90 199.328 0 44 Window -0.131 1.702 6.735 90 0 0 45 Window -1.013 1.702 -0.154 90 159.633 0 46 Window -4.410 1.702 5.980 90 270 0 47 Television -0.153 1.176 5.790 0 225 0 48 GarbageCan 0.357 0.003 2.159 0 90 0 49 DeskLamp 0.277 0.735 1.381 0 0 0 50 HousePlant -1.819 0.641 -2.011 0 315 0 51 LightSwitch -2.740 1.495 -0.405 0 180 0 52 TVStand -0.118 0.001 5.874 0 45 0 53 Chair -1.353 0.002 -2.872 0 349.207 0 54 Chair -2.220 0.002 -1.298 0 168.118 0 55 Chair -1.515 0.007 -1.331 358.639 187.454 0 56 Chair -2.189 0.002 -2.835 0 2.328 0 57 Safe 0.174 0.001 -0.071 0 323.940 0 58 DiningTable -1.783 0.003 -2.039 0 0 0 59 Chair -0.636 0.010 0.993 0 358.396 0 60 Sofa -2.161 0.006 6.115 0 180 0 61 Sofa -3.782 0.006 4.153 0 90 0 62 Shelf -1.095 0.607 1.321 0 180 0 63 Shelf -1.267 0.607 1.321 0 180 0 64 Shelf -1.267 0.401 1.321 0 180 0 65 Shelf -1.095 0.196 1.320 0 180 0 66 Shelf -1.095 0.401 1.321 0 180 0 67 Shelf -1.267 0.196 1.320 0 180 0 68 ArmChair -2.628 0.009 2.421 0 0 0 69 Chair -0.485 0.010 4.452 0 270 0 70 Chair -0.431 0.010 3.595 0 270 0 71 CoffeeTable -1.965 0.000 4.187 0 0 0 72 NorthWall 73 EastWall 74 SouthWall 75 WestWall
[ "STEP 1: Turn around and walk forward, then hang a left and walk over to the glass coffee table in the other room. | STEP 2: Pick up the phone off of the glass coffee table. | STEP 3: Turn left and walk over to the couch, then turn right and walk up to the cardboard box on the couch in front of you. | STEP 4: Put the phone into the cardboard box on the couch. | STEP 5: Pick up the cardboard box with the phone in it off of the couch. | STEP 6: Turn around and walk up to the chair directly in front of you. | STEP 7: Put the cardboard box with the phone in it on the seat of the chair. | END" ]
[ [ "STEP 1: Turn around and walk forward, then hang a left and walk over to the glass coffee table in the other room. ", " STEP 2: Pick up the phone off of the glass coffee table. ", " STEP 3: Turn left and walk over to the couch, then turn right and walk up to the cardboard box on the couch in front of you. ", " STEP 4: Put the phone into the cardboard box on the couch. ", " STEP 5: Pick up the cardboard box with the phone in it off of the couch. ", " STEP 6: Turn around and walk up to the chair directly in front of you. ", " STEP 7: Put the cardboard box with the phone in it on the seat of the chair. ", " END" ] ]
seen
trial_T20190909_081031_028962-2
Get the remote and put into the box and move it to the chair.
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Vase", " -1.545", " 0.462", " 4.602", " 0", " 0", " 0", " 71" ], [ "12", " CellPhone", " 0.414", " 0.540", " 1.364", " 0", " 0", " 0", " 31" ], [ "13", " WateringCan", " -3.580", " 0.003", " 5.507", " 2.684", " 0", " 0", " Floor|-04.41|" ], [ "14", " KeyChain", " -1.102", " 0.655", " -1.820", " 0", " 0", " 0", " 58" ], [ "15", " Vase", " -4.242", " 0.789", " 1.181", " 0", " 0", " 0", " 30" ], [ "16", " Vase", " -1.783", " 0.660", " -2.202", " 0", " 0", " 0", " 58" ], [ "17", " Laptop", " -0.108", " 0.739", " 1.593", " 0", " 0", " 0", " 37" ], [ "18", " Pillow", " -3.587", " 0.643", " 5.016", " 317.310", " 0", " 0", " 61" ], [ "19", " RemoteControl", " -1.783", " 0.656", " -2.074", " 0", " 0", " 0", " 58" ], [ "20", " CreditCard", " -0.047", " 0.121", " 1.258", " 0", " 0", " 0", " 32" ], [ "21", " Vase", " -4.225", " 0.789", " 0.382", " 0", " 0", " 0", " 30" ], [ "22", " Statue", " -4.223", " 1.263", " 0.399", " 0", " 0", " 0", " 27" ], [ "23", " Statue", " -1.783", " 0.665", " -1.693", " 0", " 0", " 0", " 58" ], [ "24", " Statue", " -1.948", " 0.506", " 4.122", " 0", " 0", " 0", " 71" ], [ "25", " Shelf", " -4.253", " 2.157", " 0.771", " 0", " 0", " 0", "" ], [ "26", " Painting", " -3.368", " 1.741", " -0.298", " 0", " 0", " 0", "" ], [ "27", " Shelf", " -4.253", " 1.306", " 0.771", " 0", " 0", " 0", "" ], [ "28", " Painting", " -1.756", " 1.424", " -3.595", " 0", " 0", " 0", "" ], [ "29", " Shelf", " -4.253", " 1.690", " 0.771", " 0", " 0", " 0", "" ], [ "30", " Shelf", " -4.261", " 0.833", " 0.771", " 0", " 0", " 0", "" ], [ "31", " Drawer", " 0.411", " 0.581", " 1.221", " 0", " 180", " 0", "" ], [ "32", " Drawer", " -0.000", " 0.170", " 1.221", " 0", " 180", " 0", "" ], [ "33", " Drawer", " -0.000", " 0.581", " 1.221", " 0", " 180", " 0", "" ], [ "34", " Drawer", " 0.411", " 0.375", " 1.221", " 0", " 180", " 0", "" ], [ "35", " Drawer", " 0.411", " 0.170", " 1.221", " 0", " 180", " 0", "" ], [ "36", " Drawer", " -0.000", " 0.375", " 1.221", " 0", " 180", " 0", "" ], [ "37", " Desk", " -0.352", " 0.003", " 1.371", " 0", " 180", " 0", "" ], [ "38", " FloorLamp", " 0.391", " -0.001", " 5.157", " 0", " 0", " 0", "" ], [ "39", " Window", " -2.828", " 0.470", " -0.157", " 90", " 199.328", " 0", "" ], [ "40", " Window", " -4.410", " 1.702", " 1.787", " 90", " 270", " 0", "" ], [ "41", " Window", " -3.638", " 1.702", " 6.735", " 90", " 0", " 0", "" ], [ "42", " Window", " -4.410", " 1.702", " 2.790", " 90", " 270", " 0", "" ], [ "43", " Window", " -2.827", " 1.702", " -0.157", " 90", " 199.328", " 0", "" ], [ "44", " Window", " -0.131", " 1.702", " 6.735", " 90", " 0", " 0", "" ], [ "45", " Window", " -1.013", " 1.702", " -0.154", " 90", " 159.633", " 0", "" ], [ "46", " Window", " -4.410", " 1.702", " 5.980", " 90", " 270", " 0", "" ], [ "47", " Television", " -0.153", " 1.176", " 5.790", " 0", " 225", " 0", "" ], [ "48", " GarbageCan", " 0.357", " 0.003", " 2.159", " 0", " 90", " 0", "" ], [ "49", " DeskLamp", " 0.277", " 0.735", " 1.381", " 0", " 0", " 0", "" ], [ "50", " HousePlant", " -1.819", " 0.641", " -2.011", " 0", " 315", " 0", "" ], [ "51", " LightSwitch", " -2.740", " 1.495", " -0.405", " 0", " 180", " 0", "" ], [ "52", " TVStand", " -0.118", " 0.001", " 5.874", " 0", " 45", " 0", "" ], [ "53", " Chair", " -1.353", " 0.002", " -2.872", " 0", " 349.207", " 0", "" ], [ "54", " Chair", " -2.220", " 0.002", " -1.298", " 0", " 168.118", " 0", "" ], [ "55", " Chair", " -1.515", " 0.007", " -1.331", " 358.639", " 187.454", " 0", "" ], [ "56", " Chair", " -2.189", " 0.002", " -2.835", " 0", " 2.328", " 0", "" ], [ "57", " Safe", " 0.174", " 0.001", " -0.071", " 0", " 323.940", " 0", "" ], [ "58", " DiningTable", " -1.783", " 0.003", " -2.039", " 0", " 0", " 0", "" ], [ "59", " Chair", " -0.636", " 0.010", " 0.993", " 0", " 358.396", " 0", "" ], [ "60", " Sofa", " -2.161", " 0.006", " 6.115", " 0", " 180", " 0", "" ], [ "61", " Sofa", " -3.782", " 0.006", " 4.153", " 0", " 90", " 0", "" ], [ "62", " Shelf", " -1.095", " 0.607", " 1.321", " 0", " 180", " 0", "" ], [ "63", " Shelf", " -1.267", " 0.607", " 1.321", " 0", " 180", " 0", "" ], [ "64", " Shelf", " -1.267", " 0.401", " 1.321", " 0", " 180", " 0", "" ], [ "65", " Shelf", " -1.095", " 0.196", " 1.320", " 0", " 180", " 0", "" ], [ "66", " Shelf", " -1.095", " 0.401", " 1.321", " 0", " 180", " 0", "" ], [ "67", " Shelf", " -1.267", " 0.196", " 1.320", " 0", " 180", " 0", "" ], [ "68", " ArmChair", " -2.628", " 0.009", " 2.421", " 0", " 0", " 0", "" ], [ "69", " Chair", " -0.485", " 0.010", " 4.452", " 0", " 270", " 0", "" ], [ "70", " Chair", " -0.431", " 0.010", " 3.595", " 0", " 270", " 0", "" ], [ "71", " CoffeeTable", " -1.965", " 0.000", " 4.187", " 0", " 0", " 0", "" ], [ "72", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "73", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "74", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "75", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -2.75 0.902 -0.75 0 270 0 1 CellPhone -1.556 0.658 -2.074 0 0 0 58 2 CellPhone -2.246 0.456 3.771 0 0 0 71 3 CreditCard -1.913 0.389 6.095 0 180 0 60 4 CreditCard -0.847 0.741 1.593 0 0 0 37 5 Box -2.011 0.945 -1.820 0 90 0 58 6 Box -2.664 0.679 6.095 0 0 0 60 7 Box -1.329 0.945 -2.456 0 180 0 58 8 Laptop -1.093 0.739 1.300 0 0 0 37 9 Laptop -3.585 0.392 4.415 0 90 0 61 10 Box -2.238 0.945 -2.456 0 180 0 58 11 Vase -1.545 0.462 4.602 0 0 0 71 12 CellPhone 0.414 0.540 1.364 0 0 0 31 13 WateringCan -3.580 0.003 5.507 2.684 0 0 Floor|-04.41| 14 KeyChain -1.102 0.655 -1.820 0 0 0 58 15 Vase -4.242 0.789 1.181 0 0 0 30 16 Vase -1.783 0.660 -2.202 0 0 0 58 17 Laptop -0.108 0.739 1.593 0 0 0 37 18 Pillow -3.587 0.643 5.016 317.310 0 0 61 19 RemoteControl -1.783 0.656 -2.074 0 0 0 58 20 CreditCard -0.047 0.121 1.258 0 0 0 32 21 Vase -4.225 0.789 0.382 0 0 0 30 22 Statue -4.223 1.263 0.399 0 0 0 27 23 Statue -1.783 0.665 -1.693 0 0 0 58 24 Statue -1.948 0.506 4.122 0 0 0 71 25 Shelf -4.253 2.157 0.771 0 0 0 26 Painting -3.368 1.741 -0.298 0 0 0 27 Shelf -4.253 1.306 0.771 0 0 0 28 Painting -1.756 1.424 -3.595 0 0 0 29 Shelf -4.253 1.690 0.771 0 0 0 30 Shelf -4.261 0.833 0.771 0 0 0 31 Drawer 0.411 0.581 1.221 0 180 0 32 Drawer -0.000 0.170 1.221 0 180 0 33 Drawer -0.000 0.581 1.221 0 180 0 34 Drawer 0.411 0.375 1.221 0 180 0 35 Drawer 0.411 0.170 1.221 0 180 0 36 Drawer -0.000 0.375 1.221 0 180 0 37 Desk -0.352 0.003 1.371 0 180 0 38 FloorLamp 0.391 -0.001 5.157 0 0 0 39 Window -2.828 0.470 -0.157 90 199.328 0 40 Window -4.410 1.702 1.787 90 270 0 41 Window -3.638 1.702 6.735 90 0 0 42 Window -4.410 1.702 2.790 90 270 0 43 Window -2.827 1.702 -0.157 90 199.328 0 44 Window -0.131 1.702 6.735 90 0 0 45 Window -1.013 1.702 -0.154 90 159.633 0 46 Window -4.410 1.702 5.980 90 270 0 47 Television -0.153 1.176 5.790 0 225 0 48 GarbageCan 0.357 0.003 2.159 0 90 0 49 DeskLamp 0.277 0.735 1.381 0 0 0 50 HousePlant -1.819 0.641 -2.011 0 315 0 51 LightSwitch -2.740 1.495 -0.405 0 180 0 52 TVStand -0.118 0.001 5.874 0 45 0 53 Chair -1.353 0.002 -2.872 0 349.207 0 54 Chair -2.220 0.002 -1.298 0 168.118 0 55 Chair -1.515 0.007 -1.331 358.639 187.454 0 56 Chair -2.189 0.002 -2.835 0 2.328 0 57 Safe 0.174 0.001 -0.071 0 323.940 0 58 DiningTable -1.783 0.003 -2.039 0 0 0 59 Chair -0.636 0.010 0.993 0 358.396 0 60 Sofa -2.161 0.006 6.115 0 180 0 61 Sofa -3.782 0.006 4.153 0 90 0 62 Shelf -1.095 0.607 1.321 0 180 0 63 Shelf -1.267 0.607 1.321 0 180 0 64 Shelf -1.267 0.401 1.321 0 180 0 65 Shelf -1.095 0.196 1.320 0 180 0 66 Shelf -1.095 0.401 1.321 0 180 0 67 Shelf -1.267 0.196 1.320 0 180 0 68 ArmChair -2.628 0.009 2.421 0 0 0 69 Chair -0.485 0.010 4.452 0 270 0 70 Chair -0.431 0.010 3.595 0 270 0 71 CoffeeTable -1.965 0.000 4.187 0 0 0 72 NorthWall 73 EastWall 74 SouthWall 75 WestWall
[ "STEP 1: Turn around and go to the coffee table in the living room to the corner between the couch and the chair. | STEP 2: Pick up the cell phone the left side of the sculpture. | STEP 3: Go around the corner of the coffee table down to the end of the couch with the box on it. | STEP 4: Place the phone inside the box. | STEP 5: Pick up the box off of the couch. | STEP 6: Turn around and head towards the chair at the end of the coffee table. | STEP 7: Place the box in the middle of the cushion on the chair. | END" ]
[ [ "STEP 1: Turn around and go to the coffee table in the living room to the corner between the couch and the chair. ", " STEP 2: Pick up the cell phone the left side of the sculpture. ", " STEP 3: Go around the corner of the coffee table down to the end of the couch with the box on it. ", " STEP 4: Place the phone inside the box. ", " STEP 5: Pick up the box off of the couch. ", " STEP 6: Turn around and head towards the chair at the end of the coffee table. ", " STEP 7: Place the box in the middle of the cushion on the chair. ", " END" ] ]
seen
trial_T20190908_024658_735745-0
Place sponge one and two on the toilet.
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " -0.25", " 0.909", " 2.25", " 0", " 270", " 0", "" ], [ "1", " SoapBar", " -1.639", " 0.106", " 0.454", " 0", " 0", " 0", " 37" ], [ "2", " SprayBottle", " -3.222", " 0.599", " 1.426", " 0", " 0", " 0", " 38" ], [ "3", " SprayBottle", " -2.915", " 0.599", " 1.384", " 0", " 0", " 0", " 38" ], [ "4", " Candle", " -0.494", " 1.069", " 0.241", " 0", " 0", " 0", " 43" ], [ "5", " DishSponge", " -1.284", " 1.106", " 3.060", " 0", " 0", " 0", " 24" ], [ "6", " SoapBottle", " -1.266", " 0.601", " 0.347", " 0", " 0", " 0", " 27" ], [ "7", " HandTowel", " -0.242", " 1.76", " 3.427", " 0", " 0", " 0", " 41" ], [ "8", " Plunger", " -0.219", " 0.026", " 0.490", " 0", " 0", " 0", "" ], [ "9", " SoapBar", " -2.297", " 0.599", " 1.156", " 0", " 0", " 0", " 27" ], [ "10", " ToiletPaper", " -2.130", " 0.596", " 1.128", " 0", " 0", " 0", " 27" ], [ "11", " SoapBottle", " -0.625", " 1.073", " 0.302", " 0", " 0", " 0", " 43" ], [ "12", " ToiletPaper", " -0.138", " 0.058", " 3.297", " 0", " 0", " 0", " 39" ], [ "13", " Towel", " 0.402", " 1.389", " 3.359", " 0", " 0", " 0", " 36" ], [ "14", " PaperTowelRoll", " -1.391", " 1.210", " 3.292", " 0", " 0", " 0", " 24" ], [ "15", " ScrubBrush", " -0.351", " 0.026", " 0.353", " 0", " 0", " 0", "" ], [ "16", " Cloth", " -2.942", " 0.111", " 0.725", " 0", " 0", " 0", " 37" ], [ "17", " Candle", " -1.361", " 1.103", " 3.412", " 0", " 0", " 0", " 24" ], [ "18", " DishSponge", " -1.704", " 0.056", " 3.156", " 0", " 0", " 0", " 26" ], [ "19", " SprayBottle", " -3.120", " 0.599", " 1.550", " 0", " 0", " 0", " 38" ], [ "20", " Window", " -3.447", " 1.593", " 0.648", " 0", " 0", " 0", "" ], [ "21", " Mirror", " -1.386", " 1.595", " 3.464", " 0", " 0", " 0", "" ], [ "22", " SinkBasin", " -0.837", " 0.960", " 3.091", " 0", " 180", " 0", "" ], [ "23", " ShowerDoor", " -2.477", " 1.774", " 2.386", " 0", " 0", " 0", "" ], [ "24", " CounterTop", " -1.358", " 1.094", " 3.151", " 0", " 0", " 0", "" ], [ "25", " Sink", " -0.846", " 0.952", " 3.144", " 0", " 180", " 0", "" ], [ "26", " Cabinet", " -1.399", " 0.425", " 2.867", " 0", " 0", " 0", "" ], [ "27", " Bathtub", " -2.234", " 0.288", " 0.722", " 0", " 0", " 0", "" ], [ "28", " Cabinet", " -0.337", " 0.425", " 2.867", " 0", " 0", " 0", "" ], [ "29", " Cabinet", " -1.362", " 0.425", " 2.867", " 0", " 0", " 0", "" ], [ "30", " Cabinet", " -2.423", " 0.425", " 2.867", " 0", " 0", " 0", "" ], [ "31", " ShowerGlass", " -2.895", " 1.423", " 2.342", " 0", " 0", " 0", "" ], [ "32", " Faucet", " -0.853", " 1.094", " 3.367", " 0", " 180", " 0", "" ], [ "33", " ShowerHead", " -2.949", " 2.154", " 3.427", " 0", " 0", " 0", "" ], [ "34", " Window", " -2.190", " 1.550", " 0.086", " 0", " 0", " 0", "" ], [ "35", " TowelHolder", " 0.967", " 1.343", " 2.855", " 0", " 270", " 0", "" ], [ "36", " TowelHolder", " 0.402", " 1.375", " 3.466", " 0", " 180", " 0", "" ], [ "37", " BathtubBasin", " -2.322", " 0.096", " 0.634", " 0", " 0", " 0", "" ], [ "38", " Shelf", " -2.930", " 0.589", " 1.425", " 0", " 0", " 0", "" ], [ "39", " GarbageCan", " -0.061", " -0.001", " 3.131", " 0", " 270", " 0", "" ], [ "40", " LightSwitch", " 0.968", " 1.432", " 1.128", " 0", " 270", " 0", "" ], [ "41", " HandTowelHolder", " -0.241", " 1.861", " 3.466", " 0", " 90", " 0", "" ], [ "42", " ToiletPaperHanger", " -0.039", " 0.958", " 0.201", " 0", " 0", " 0", "" ], [ "43", " Toilet", " -0.694", " 0.026", " 0.656", " 0", " 90", " 0", "" ], [ "44", " Faucet", " -1.944", " 1.094", " 3.367", " 0", " 180", " 0", "" ], [ "45", " Sink", " -1.934", " 0.952", " 3.144", " 0", " 180", " 0", "" ], [ "46", " SinkBasin", " -1.926", " 0.960", " 3.091", " 0", " 180", " 0", "" ], [ "47", " Faucet", " -1.342", " 0.638", " 0.629", " 0", " 90", " 0", "" ], [ "48", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "49", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "50", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "51", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -0.25 0.909 2.25 0 270 0 1 SoapBar -1.639 0.106 0.454 0 0 0 37 2 SprayBottle -3.222 0.599 1.426 0 0 0 38 3 SprayBottle -2.915 0.599 1.384 0 0 0 38 4 Candle -0.494 1.069 0.241 0 0 0 43 5 DishSponge -1.284 1.106 3.060 0 0 0 24 6 SoapBottle -1.266 0.601 0.347 0 0 0 27 7 HandTowel -0.242 1.76 3.427 0 0 0 41 8 Plunger -0.219 0.026 0.490 0 0 0 9 SoapBar -2.297 0.599 1.156 0 0 0 27 10 ToiletPaper -2.130 0.596 1.128 0 0 0 27 11 SoapBottle -0.625 1.073 0.302 0 0 0 43 12 ToiletPaper -0.138 0.058 3.297 0 0 0 39 13 Towel 0.402 1.389 3.359 0 0 0 36 14 PaperTowelRoll -1.391 1.210 3.292 0 0 0 24 15 ScrubBrush -0.351 0.026 0.353 0 0 0 16 Cloth -2.942 0.111 0.725 0 0 0 37 17 Candle -1.361 1.103 3.412 0 0 0 24 18 DishSponge -1.704 0.056 3.156 0 0 0 26 19 SprayBottle -3.120 0.599 1.550 0 0 0 38 20 Window -3.447 1.593 0.648 0 0 0 21 Mirror -1.386 1.595 3.464 0 0 0 22 SinkBasin -0.837 0.960 3.091 0 180 0 23 ShowerDoor -2.477 1.774 2.386 0 0 0 24 CounterTop -1.358 1.094 3.151 0 0 0 25 Sink -0.846 0.952 3.144 0 180 0 26 Cabinet -1.399 0.425 2.867 0 0 0 27 Bathtub -2.234 0.288 0.722 0 0 0 28 Cabinet -0.337 0.425 2.867 0 0 0 29 Cabinet -1.362 0.425 2.867 0 0 0 30 Cabinet -2.423 0.425 2.867 0 0 0 31 ShowerGlass -2.895 1.423 2.342 0 0 0 32 Faucet -0.853 1.094 3.367 0 180 0 33 ShowerHead -2.949 2.154 3.427 0 0 0 34 Window -2.190 1.550 0.086 0 0 0 35 TowelHolder 0.967 1.343 2.855 0 270 0 36 TowelHolder 0.402 1.375 3.466 0 180 0 37 BathtubBasin -2.322 0.096 0.634 0 0 0 38 Shelf -2.930 0.589 1.425 0 0 0 39 GarbageCan -0.061 -0.001 3.131 0 270 0 40 LightSwitch 0.968 1.432 1.128 0 270 0 41 HandTowelHolder -0.241 1.861 3.466 0 90 0 42 ToiletPaperHanger -0.039 0.958 0.201 0 0 0 43 Toilet -0.694 0.026 0.656 0 90 0 44 Faucet -1.944 1.094 3.367 0 180 0 45 Sink -1.934 0.952 3.144 0 180 0 46 SinkBasin -1.926 0.960 3.091 0 180 0 47 Faucet -1.342 0.638 0.629 0 90 0 48 NorthWall 49 EastWall 50 SouthWall 51 WestWall
[ "STEP 1: Walk to the sink to your right. | STEP 2: Grab the sponge from the cabinet below. | STEP 3: Turn right and bring the sponge to the toilet to your right. | STEP 4: Place the sponge on the toilet. | STEP 5: Walk to the sink to your right. | STEP 6: Grab the sponge on top of the counter. | STEP 7: Turn right and bring the sponge to the toilet to your right. | STEP 8: Stand the sponge next the the laying sponge on the toilet. | END" ]
[ [ "STEP 1: Walk to the sink to your right. ", " STEP 2: Grab the sponge from the cabinet below. ", " STEP 3: Turn right and bring the sponge to the toilet to your right. ", " STEP 4: Place the sponge on the toilet. ", " STEP 5: Walk to the sink to your right. ", " STEP 6: Grab the sponge on top of the counter. ", " STEP 7: Turn right and bring the sponge to the toilet to your right. ", " STEP 8: Stand the sponge next the the laying sponge on the toilet. ", " END" ] ]
seen
trial_T20190908_024658_735745-1
Put two sponges 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 -0.25 0.909 2.25 0 270 0 1 SoapBar -1.639 0.106 0.454 0 0 0 37 2 SprayBottle -3.222 0.599 1.426 0 0 0 38 3 SprayBottle -2.915 0.599 1.384 0 0 0 38 4 Candle -0.494 1.069 0.241 0 0 0 43 5 DishSponge -1.284 1.106 3.060 0 0 0 24 6 SoapBottle -1.266 0.601 0.347 0 0 0 27 7 HandTowel -0.242 1.76 3.427 0 0 0 41 8 Plunger -0.219 0.026 0.490 0 0 0 9 SoapBar -2.297 0.599 1.156 0 0 0 27 10 ToiletPaper -2.130 0.596 1.128 0 0 0 27 11 SoapBottle -0.625 1.073 0.302 0 0 0 43 12 ToiletPaper -0.138 0.058 3.297 0 0 0 39 13 Towel 0.402 1.389 3.359 0 0 0 36 14 PaperTowelRoll -1.391 1.210 3.292 0 0 0 24 15 ScrubBrush -0.351 0.026 0.353 0 0 0 16 Cloth -2.942 0.111 0.725 0 0 0 37 17 Candle -1.361 1.103 3.412 0 0 0 24 18 DishSponge -1.704 0.056 3.156 0 0 0 26 19 SprayBottle -3.120 0.599 1.550 0 0 0 38 20 Window -3.447 1.593 0.648 0 0 0 21 Mirror -1.386 1.595 3.464 0 0 0 22 SinkBasin -0.837 0.960 3.091 0 180 0 23 ShowerDoor -2.477 1.774 2.386 0 0 0 24 CounterTop -1.358 1.094 3.151 0 0 0 25 Sink -0.846 0.952 3.144 0 180 0 26 Cabinet -1.399 0.425 2.867 0 0 0 27 Bathtub -2.234 0.288 0.722 0 0 0 28 Cabinet -0.337 0.425 2.867 0 0 0 29 Cabinet -1.362 0.425 2.867 0 0 0 30 Cabinet -2.423 0.425 2.867 0 0 0 31 ShowerGlass -2.895 1.423 2.342 0 0 0 32 Faucet -0.853 1.094 3.367 0 180 0 33 ShowerHead -2.949 2.154 3.427 0 0 0 34 Window -2.190 1.550 0.086 0 0 0 35 TowelHolder 0.967 1.343 2.855 0 270 0 36 TowelHolder 0.402 1.375 3.466 0 180 0 37 BathtubBasin -2.322 0.096 0.634 0 0 0 38 Shelf -2.930 0.589 1.425 0 0 0 39 GarbageCan -0.061 -0.001 3.131 0 270 0 40 LightSwitch 0.968 1.432 1.128 0 270 0 41 HandTowelHolder -0.241 1.861 3.466 0 90 0 42 ToiletPaperHanger -0.039 0.958 0.201 0 0 0 43 Toilet -0.694 0.026 0.656 0 90 0 44 Faucet -1.944 1.094 3.367 0 180 0 45 Sink -1.934 0.952 3.144 0 180 0 46 SinkBasin -1.926 0.960 3.091 0 180 0 47 Faucet -1.342 0.638 0.629 0 90 0 48 NorthWall 49 EastWall 50 SouthWall 51 WestWall
[ "STEP 1: Walk towards the shower, then stop and turn to your right at the second sink. | STEP 2: Pull out a green and yellow sponge from the right cabinet door, under the sink. | STEP 3: Turn around and walk to the toilet. | STEP 4: Place the sponge on the tank of the toilet, to the left of the pump bottle. | STEP 5: Turn around and go back to the counter between the two sinks. | STEP 6: Pick up the green and yellow sponge on the counter, between the two sinks. | STEP 7: Turn around and go back to the toilet across from you. | STEP 8: Place the green and yellow sponge on the tank of the toilet on the right of the other sponge, and in front of the pump bottle. | END" ]
[ [ "STEP 1: Walk towards the shower, then stop and turn to your right at the second sink. ", " STEP 2: Pull out a green and yellow sponge from the right cabinet door, under the sink. ", " STEP 3: Turn around and walk to the toilet. ", " STEP 4: Place the sponge on the tank of the toilet, to the left of the pump bottle. ", " STEP 5: Turn around and go back to the counter between the two sinks. ", " STEP 6: Pick up the green and yellow sponge on the counter, between the two sinks. ", " STEP 7: Turn around and go back to the toilet across from you. ", " STEP 8: Place the green and yellow sponge on the tank of the toilet on the right of the other sponge, and in front of the pump bottle. ", " END" ] ]
seen
trial_T20190908_024658_735745-2
Gather the sponges and put them on the toilet water tank.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -0.25 0.909 2.25 0 270 0 1 SoapBar -1.639 0.106 0.454 0 0 0 37 2 SprayBottle -3.222 0.599 1.426 0 0 0 38 3 SprayBottle -2.915 0.599 1.384 0 0 0 38 4 Candle -0.494 1.069 0.241 0 0 0 43 5 DishSponge -1.284 1.106 3.060 0 0 0 24 6 SoapBottle -1.266 0.601 0.347 0 0 0 27 7 HandTowel -0.242 1.76 3.427 0 0 0 41 8 Plunger -0.219 0.026 0.490 0 0 0 9 SoapBar -2.297 0.599 1.156 0 0 0 27 10 ToiletPaper -2.130 0.596 1.128 0 0 0 27 11 SoapBottle -0.625 1.073 0.302 0 0 0 43 12 ToiletPaper -0.138 0.058 3.297 0 0 0 39 13 Towel 0.402 1.389 3.359 0 0 0 36 14 PaperTowelRoll -1.391 1.210 3.292 0 0 0 24 15 ScrubBrush -0.351 0.026 0.353 0 0 0 16 Cloth -2.942 0.111 0.725 0 0 0 37 17 Candle -1.361 1.103 3.412 0 0 0 24 18 DishSponge -1.704 0.056 3.156 0 0 0 26 19 SprayBottle -3.120 0.599 1.550 0 0 0 38 20 Window -3.447 1.593 0.648 0 0 0 21 Mirror -1.386 1.595 3.464 0 0 0 22 SinkBasin -0.837 0.960 3.091 0 180 0 23 ShowerDoor -2.477 1.774 2.386 0 0 0 24 CounterTop -1.358 1.094 3.151 0 0 0 25 Sink -0.846 0.952 3.144 0 180 0 26 Cabinet -1.399 0.425 2.867 0 0 0 27 Bathtub -2.234 0.288 0.722 0 0 0 28 Cabinet -0.337 0.425 2.867 0 0 0 29 Cabinet -1.362 0.425 2.867 0 0 0 30 Cabinet -2.423 0.425 2.867 0 0 0 31 ShowerGlass -2.895 1.423 2.342 0 0 0 32 Faucet -0.853 1.094 3.367 0 180 0 33 ShowerHead -2.949 2.154 3.427 0 0 0 34 Window -2.190 1.550 0.086 0 0 0 35 TowelHolder 0.967 1.343 2.855 0 270 0 36 TowelHolder 0.402 1.375 3.466 0 180 0 37 BathtubBasin -2.322 0.096 0.634 0 0 0 38 Shelf -2.930 0.589 1.425 0 0 0 39 GarbageCan -0.061 -0.001 3.131 0 270 0 40 LightSwitch 0.968 1.432 1.128 0 270 0 41 HandTowelHolder -0.241 1.861 3.466 0 90 0 42 ToiletPaperHanger -0.039 0.958 0.201 0 0 0 43 Toilet -0.694 0.026 0.656 0 90 0 44 Faucet -1.944 1.094 3.367 0 180 0 45 Sink -1.934 0.952 3.144 0 180 0 46 SinkBasin -1.926 0.960 3.091 0 180 0 47 Faucet -1.342 0.638 0.629 0 90 0 48 NorthWall 49 EastWall 50 SouthWall 51 WestWall
[ "STEP 1: Go to the sink on the right side. | STEP 2: Open the cabinet under the sink and pick up the green sponge. | STEP 3: Turn around and go to the left side of the toilet. | STEP 4: Place the sponge next to the hand soap on the top of the water tank on the toilet. | STEP 5: Go back to the sink on the right. | STEP 6: Pick up the green sponge on the top of the sink. | STEP 7: Go back to the left side of the toilet. | STEP 8: Place the sponge standing up to the right of the first sponge. | END" ]
[ [ "STEP 1: Go to the sink on the right side. ", " STEP 2: Open the cabinet under the sink and pick up the green sponge. ", " STEP 3: Turn around and go to the left side of the toilet. ", " STEP 4: Place the sponge next to the hand soap on the top of the water tank on the toilet. ", " STEP 5: Go back to the sink on the right. ", " STEP 6: Pick up the green sponge on the top of the sink. ", " STEP 7: Go back to the left side of the toilet. ", " STEP 8: Place the sponge standing up to the right of the first sponge. ", " END" ] ]
seen
trial_T20190907_085559_213102-0
Place a warm slice of apple 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 -2.25 0.899 5.0 0 90 0 1 Pencil -3.613 0.923 5.489 0 90 0 76 2 Pencil -1.860 0.923 1.724 0 0 0 74 3 Potato -0.259 1.614 3.228 0 270 0 109 4 Potato -0.104 0.958 4.615 0 0 0 61 5 DishSponge -4.057 1.455 1.810 0 45 0 77 6 ButterKnife -0.488 0.925 5.603 0 0 0 61 7 Pot -2.469 0.930 1.712 0 270 0 91 8 Fork -4.517 0.924 3.432 0 90 0 76 9 Spoon -1.777 0.924 1.951 0 90 0 58 10 Spatula -4.055 0.769 2.768 0 270 0 56 11 Spatula -4.451 0.938 2.533 0 90 0 76 12 Egg -2.688 1.582 1.698 0 0 0 106 13 Egg -4.271 0.826 3.159 0 270 0 108 14 Plate -0.342 1.581 3.409 0 270 0 109 15 Plate -3.340 0.924 1.875 0 0 0 76 16 Knife -1.777 0.953 1.648 0 90 0 58 17 Knife -1.610 0.953 1.8 0 90 0 58 18 SoapBottle -0.104 0.924 5.273 0 0 0 61 19 Tomato -4.121 0.848 3.222 0 270 0 108 20 Tomato -1.860 0.980 1.951 0 0 0 58 21 Bowl -3.373 1.450 1.638 0 0 0 50 22 SaltShaker -0.203 2.132 6.469 0 180 0 60 23 Apple -4.121 0.844 3.097 0 270 0 108 24 Apple -4.159 0.844 3.410 0 270 0 108 25 Apple -3.852 0.976 5.336 0 90 0 76 26 Egg -4.271 0.826 3.285 0 270 0 108 27 Apple -1.943 0.976 1.648 0 0 0 58 28 Knife -0.258 0.954 4.944 0 0 0 61 29 Potato -0.411 0.958 4.615 0 0 0 61 30 Fork -3.852 0.924 5.259 0 180 0 76 31 Bowl -0.259 1.332 3.602 0 270 0 109 32 Plate -0.342 1.336 3.231 0 270 0 109 33 Lettuce -0.242 1.165 3.355 0 90 0 109 34 Bread -0.565 1.004 5.273 0 0 0 61 35 Tomato -0.383 1.392 3.850 0 270 0 109 36 WineBottle -0.181 0.926 5.932 0 0 0 61 37 Spatula -3.613 0.938 5.412 0 90 0 76 38 PaperTowelRoll -3.748 0.172 6.416 0 270 0 102 39 Cup -3.494 0.922 5.336 0 90 0 76 40 Pencil -2.026 0.923 1.951 0 0 0 74 41 Pan -2.454 0.933 2.023 0 240.000 0 64 42 Pot -2.924 0.930 1.712 0 180 0 73 43 SaltShaker -0.334 0.921 4.944 0 0 0 61 44 SoapBottle -0.181 0.924 5.603 0 0 0 61 45 PepperShaker -3.229 0.741 5.162 0 180 0 88 46 ButterKnife -3.859 0.923 1.875 0 0 0 76 47 DishSponge -1.782 0.746 1.985 0 0 0 74 48 Spoon -0.334 0.926 5.603 0 0 0 61 49 Mug -3.807 0.074 5.116 0 90 0 90 50 Cabinet -3.203 1.931 1.777 0 0 0 51 Cabinet -3.187 0.390 2.089 0 0 0 52 Cabinet -0.637 0.387 6.882 0 180 0 53 Drawer -3.797 0.781 1.961 0 0 0 54 Cabinet -3.036 0.387 5.029 0 90 0 55 Drawer -0.509 0.775 5.268 0 270 0 56 Drawer -4.125 0.798 2.499 0 0 0 57 Cabinet -0.331 2.249 4.308 0 180 0 58 CounterTop -1.872 0.958 1.799 0 0 0 59 StoveBurner -2.924 0.924 2.012 0 0 0 60 Cabinet -0.331 2.249 6.806 0 180 0 61 CounterTop -0.345 0.960 5.603 0 0 0 62 Cabinet -3.039 1.935 5.321 0 90 0 63 Cabinet -3.922 0.397 2.088 0 0 0 64 StoveBurner -2.467 0.924 2.012 0 0 0 65 Cabinet -0.331 2.249 5.505 0 180 0 66 Drawer -0.509 0.775 4.617 0 270 0 67 Drawer -3.509 0.777 5.157 0 180 0 68 Cabinet -3.961 0.388 2.878 0 0 0 69 Cabinet -3.961 0.388 4.342 0 0 0 70 Cabinet -0.637 0.387 5.582 0 180 0 71 Cabinet -0.637 0.388 4.299 0 180 0 72 Cabinet -0.637 0.388 5.599 0 180 0 73 StoveBurner -2.924 0.924 1.712 0 180 0 74 Drawer -1.859 0.775 1.961 0 0 0 75 Cabinet -0.331 2.249 5.609 0 180 0 76 CounterTop -4.260 0.958 4.943 0 90 0 77 Cabinet -4.284 1.931 2.226 0 0 0 78 Cabinet -0.331 2.249 3.010 0 180 0 79 Drawer -3.801 0.777 5.157 0 180 0 80 Cabinet -4.112 1.935 5.321 0 90 0 81 Cabinet -3.968 0.388 3.662 0 0 0 82 Drawer -3.418 0.777 1.961 0 0 0 83 Drawer -4.090 0.777 4.661 0 90 0 84 Faucet -4.441 0.909 3.288 270 0 0 85 Cabinet -0.331 2.249 4.207 0 180 0 86 Cabinet -3.961 0.388 2.119 0 0 0 87 Drawer -0.509 0.775 5.920 0 270 0 88 Drawer -3.193 0.777 5.157 0 180 0 89 Cabinet -3.968 0.388 2.894 0 0 0 90 Cabinet -3.667 0.387 5.029 0 90 0 91 StoveBurner -2.469 0.924 1.712 0 270 0 92 Cabinet -1.539 0.388 2.090 0 0 0 93 Sink -4.190 0.921 3.279 0 0 0 94 Cabinet -3.641 0.387 5.029 0 90 0 95 Cabinet -1.583 1.931 1.777 0 0 0 96 Drawer -0.509 0.775 6.568 0 270 0 97 CoffeeMachine -0.279 0.912 6.556 0 270 0 98 StoveKnob -2.347 1.095 1.560 288.012 180 180 99 StoveKnob -2.788 1.095 1.560 288.012 180 180 100 StoveKnob -2.965 1.095 1.560 288.012 180 180 101 StoveKnob -2.512 1.095 1.560 288.012 180 180 102 GarbageCan -3.711 -0.030 6.376 0 270 0 103 Toaster -3.578 0.912 1.763 0 0 0 104 Curtains -4.522 2.252 3.391 90 90 0 105 Window -4.868 1.629 3.309 90 270 0 106 Microwave -2.693 1.430 1.689 0 0 0 107 LightSwitch -1.588 1.169 1.506 0 0 0 108 SinkBasin -4.196 0.780 3.276 0 270 0 109 Fridge -0.324 -0.001 3.602 0 0 0 110 NorthWall 111 EastWall 112 SouthWall 113 WestWall
[ "STEP 1: Turn around, walk towards the counter, and then turn left towards the toaster on the count. | STEP 2: Pick up the knife to the right of the toaster. | STEP 3: Turn around and head towards the sink on your left. | STEP 4: Slice the apple in the sink into three pieces. | STEP 5: Place the knife in the sink. | STEP 6: Pick up a slice of apple from the sink. | STEP 7: Turn left and head towards the microwave above the oven. | STEP 8: Place the apple in the microwave, heat it up, and take it back out. | STEP 9: Take a step left to face the counter. | STEP 10: Place the apple to the left of the spoon on the counter. | END" ]
[ [ "STEP 1: Turn around, walk towards the counter, and then turn left towards the toaster on the count. ", " STEP 2: Pick up the knife to the right of the toaster. ", " STEP 3: Turn around and head towards the sink on your left. ", " STEP 4: Slice the apple in the sink into three pieces. ", " STEP 5: Place the knife in the sink. ", " STEP 6: Pick up a slice of apple from the sink. ", " STEP 7: Turn left and head towards the microwave above the oven. ", " STEP 8: Place the apple in the microwave, heat it up, and take it back out. ", " STEP 9: Take a step left to face the counter. ", " STEP 10: Place the apple to the left of the spoon on the counter. ", " END" ] ]
seen
trial_T20190907_085559_213102-1
Put a heated apple slice on the counter.
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-3.807", " 0.074", " 5.116", " 0", " 90", " 0", " 90" ], [ "50", " Cabinet", " -3.203", " 1.931", " 1.777", " 0", " 0", " 0", "" ], [ "51", " Cabinet", " -3.187", " 0.390", " 2.089", " 0", " 0", " 0", "" ], [ "52", " Cabinet", " -0.637", " 0.387", " 6.882", " 0", " 180", " 0", "" ], [ "53", " Drawer", " -3.797", " 0.781", " 1.961", " 0", " 0", " 0", "" ], [ "54", " Cabinet", " -3.036", " 0.387", " 5.029", " 0", " 90", " 0", "" ], [ "55", " Drawer", " -0.509", " 0.775", " 5.268", " 0", " 270", " 0", "" ], [ "56", " Drawer", " -4.125", " 0.798", " 2.499", " 0", " 0", " 0", "" ], [ "57", " Cabinet", " -0.331", " 2.249", " 4.308", " 0", " 180", " 0", "" ], [ "58", " CounterTop", " -1.872", " 0.958", " 1.799", " 0", " 0", " 0", "" ], [ "59", " StoveBurner", " -2.924", " 0.924", " 2.012", " 0", " 0", " 0", "" ], [ "60", " Cabinet", " -0.331", " 2.249", " 6.806", " 0", " 180", " 0", "" ], [ "61", " CounterTop", " -0.345", " 0.960", " 5.603", " 0", " 0", " 0", "" ], [ "62", " Cabinet", " -3.039", " 1.935", " 5.321", " 0", " 90", " 0", "" ], [ "63", " Cabinet", " -3.922", " 0.397", " 2.088", " 0", " 0", " 0", "" ], [ "64", " StoveBurner", " -2.467", " 0.924", " 2.012", " 0", " 0", " 0", "" ], [ "65", " Cabinet", " -0.331", " 2.249", " 5.505", " 0", " 180", " 0", "" ], [ "66", " Drawer", " -0.509", " 0.775", " 4.617", " 0", " 270", " 0", "" ], [ "67", " Drawer", " -3.509", " 0.777", " 5.157", " 0", " 180", " 0", "" ], [ "68", " Cabinet", " -3.961", " 0.388", " 2.878", " 0", " 0", " 0", "" ], [ "69", " Cabinet", " -3.961", " 0.388", " 4.342", " 0", " 0", " 0", "" ], [ "70", " Cabinet", " -0.637", " 0.387", " 5.582", " 0", " 180", " 0", "" ], [ "71", " Cabinet", " -0.637", " 0.388", " 4.299", " 0", " 180", " 0", "" ], [ "72", " Cabinet", " -0.637", " 0.388", " 5.599", " 0", " 180", " 0", "" ], [ "73", " StoveBurner", " -2.924", " 0.924", " 1.712", " 0", " 180", " 0", "" ], [ "74", " Drawer", " -1.859", " 0.775", " 1.961", " 0", " 0", " 0", "" ], [ "75", " Cabinet", " -0.331", " 2.249", " 5.609", " 0", " 180", " 0", "" ], [ "76", " CounterTop", " -4.260", " 0.958", " 4.943", " 0", " 90", " 0", "" ], [ "77", " Cabinet", " -4.284", " 1.931", " 2.226", " 0", " 0", " 0", "" ], [ "78", " Cabinet", " -0.331", " 2.249", " 3.010", " 0", " 180", " 0", "" ], [ "79", " Drawer", " -3.801", " 0.777", " 5.157", " 0", " 180", " 0", "" ], [ "80", " Cabinet", " -4.112", " 1.935", " 5.321", " 0", " 90", " 0", "" ], [ "81", " Cabinet", " -3.968", " 0.388", " 3.662", " 0", " 0", " 0", "" ], [ "82", " Drawer", " -3.418", " 0.777", " 1.961", " 0", " 0", " 0", "" ], [ "83", " Drawer", " -4.090", " 0.777", " 4.661", " 0", " 90", " 0", "" ], [ "84", " Faucet", " -4.441", " 0.909", " 3.288", " 270", " 0", " 0", "" ], [ "85", " Cabinet", " -0.331", " 2.249", " 4.207", " 0", " 180", " 0", "" ], [ "86", " Cabinet", " -3.961", " 0.388", " 2.119", " 0", " 0", " 0", "" ], [ "87", " Drawer", " -0.509", " 0.775", " 5.920", " 0", " 270", " 0", "" ], [ "88", " Drawer", " -3.193", " 0.777", " 5.157", " 0", " 180", " 0", "" ], [ "89", " Cabinet", " -3.968", " 0.388", " 2.894", " 0", " 0", " 0", "" ], [ "90", " Cabinet", " -3.667", " 0.387", " 5.029", " 0", " 90", " 0", "" ], [ "91", " StoveBurner", " -2.469", " 0.924", " 1.712", " 0", " 270", " 0", "" ], [ "92", " Cabinet", " -1.539", " 0.388", " 2.090", " 0", " 0", " 0", "" ], [ "93", " Sink", " -4.190", " 0.921", " 3.279", " 0", " 0", " 0", "" ], [ "94", " Cabinet", " -3.641", " 0.387", " 5.029", " 0", " 90", " 0", "" ], [ "95", " Cabinet", " -1.583", " 1.931", " 1.777", " 0", " 0", " 0", "" ], [ "96", " Drawer", " -0.509", " 0.775", " 6.568", " 0", " 270", " 0", "" ], [ "97", " CoffeeMachine", " -0.279", " 0.912", " 6.556", " 0", " 270", " 0", "" ], [ "98", " StoveKnob", " -2.347", " 1.095", " 1.560", " 288.012", " 180", " 180", "" ], [ "99", " StoveKnob", " -2.788", " 1.095", " 1.560", " 288.012", " 180", " 180", "" ], [ "100", " StoveKnob", " -2.965", " 1.095", " 1.560", " 288.012", " 180", " 180", "" ], [ "101", " StoveKnob", " -2.512", " 1.095", " 1.560", " 288.012", " 180", " 180", "" ], [ "102", " GarbageCan", " -3.711", " -0.030", " 6.376", " 0", " 270", " 0", "" ], [ "103", " Toaster", " -3.578", " 0.912", " 1.763", " 0", " 0", " 0", "" ], [ "104", " Curtains", " -4.522", " 2.252", " 3.391", " 90", " 90", " 0", "" ], [ "105", " Window", " -4.868", " 1.629", " 3.309", " 90", " 270", " 0", "" ], [ "106", " Microwave", " -2.693", " 1.430", " 1.689", " 0", " 0", " 0", "" ], [ "107", " LightSwitch", " -1.588", " 1.169", " 1.506", " 0", " 0", " 0", "" ], [ "108", " SinkBasin", " -4.196", " 0.780", " 3.276", " 0", " 270", " 0", "" ], [ "109", " Fridge", " -0.324", " -0.001", " 3.602", " 0", " 0", " 0", "" ], [ "110", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "111", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "112", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "113", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -2.25 0.899 5.0 0 90 0 1 Pencil -3.613 0.923 5.489 0 90 0 76 2 Pencil -1.860 0.923 1.724 0 0 0 74 3 Potato -0.259 1.614 3.228 0 270 0 109 4 Potato -0.104 0.958 4.615 0 0 0 61 5 DishSponge -4.057 1.455 1.810 0 45 0 77 6 ButterKnife -0.488 0.925 5.603 0 0 0 61 7 Pot -2.469 0.930 1.712 0 270 0 91 8 Fork -4.517 0.924 3.432 0 90 0 76 9 Spoon -1.777 0.924 1.951 0 90 0 58 10 Spatula -4.055 0.769 2.768 0 270 0 56 11 Spatula -4.451 0.938 2.533 0 90 0 76 12 Egg -2.688 1.582 1.698 0 0 0 106 13 Egg -4.271 0.826 3.159 0 270 0 108 14 Plate -0.342 1.581 3.409 0 270 0 109 15 Plate -3.340 0.924 1.875 0 0 0 76 16 Knife -1.777 0.953 1.648 0 90 0 58 17 Knife -1.610 0.953 1.8 0 90 0 58 18 SoapBottle -0.104 0.924 5.273 0 0 0 61 19 Tomato -4.121 0.848 3.222 0 270 0 108 20 Tomato -1.860 0.980 1.951 0 0 0 58 21 Bowl -3.373 1.450 1.638 0 0 0 50 22 SaltShaker -0.203 2.132 6.469 0 180 0 60 23 Apple -4.121 0.844 3.097 0 270 0 108 24 Apple -4.159 0.844 3.410 0 270 0 108 25 Apple -3.852 0.976 5.336 0 90 0 76 26 Egg -4.271 0.826 3.285 0 270 0 108 27 Apple -1.943 0.976 1.648 0 0 0 58 28 Knife -0.258 0.954 4.944 0 0 0 61 29 Potato -0.411 0.958 4.615 0 0 0 61 30 Fork -3.852 0.924 5.259 0 180 0 76 31 Bowl -0.259 1.332 3.602 0 270 0 109 32 Plate -0.342 1.336 3.231 0 270 0 109 33 Lettuce -0.242 1.165 3.355 0 90 0 109 34 Bread -0.565 1.004 5.273 0 0 0 61 35 Tomato -0.383 1.392 3.850 0 270 0 109 36 WineBottle -0.181 0.926 5.932 0 0 0 61 37 Spatula -3.613 0.938 5.412 0 90 0 76 38 PaperTowelRoll -3.748 0.172 6.416 0 270 0 102 39 Cup -3.494 0.922 5.336 0 90 0 76 40 Pencil -2.026 0.923 1.951 0 0 0 74 41 Pan -2.454 0.933 2.023 0 240.000 0 64 42 Pot -2.924 0.930 1.712 0 180 0 73 43 SaltShaker -0.334 0.921 4.944 0 0 0 61 44 SoapBottle -0.181 0.924 5.603 0 0 0 61 45 PepperShaker -3.229 0.741 5.162 0 180 0 88 46 ButterKnife -3.859 0.923 1.875 0 0 0 76 47 DishSponge -1.782 0.746 1.985 0 0 0 74 48 Spoon -0.334 0.926 5.603 0 0 0 61 49 Mug -3.807 0.074 5.116 0 90 0 90 50 Cabinet -3.203 1.931 1.777 0 0 0 51 Cabinet -3.187 0.390 2.089 0 0 0 52 Cabinet -0.637 0.387 6.882 0 180 0 53 Drawer -3.797 0.781 1.961 0 0 0 54 Cabinet -3.036 0.387 5.029 0 90 0 55 Drawer -0.509 0.775 5.268 0 270 0 56 Drawer -4.125 0.798 2.499 0 0 0 57 Cabinet -0.331 2.249 4.308 0 180 0 58 CounterTop -1.872 0.958 1.799 0 0 0 59 StoveBurner -2.924 0.924 2.012 0 0 0 60 Cabinet -0.331 2.249 6.806 0 180 0 61 CounterTop -0.345 0.960 5.603 0 0 0 62 Cabinet -3.039 1.935 5.321 0 90 0 63 Cabinet -3.922 0.397 2.088 0 0 0 64 StoveBurner -2.467 0.924 2.012 0 0 0 65 Cabinet -0.331 2.249 5.505 0 180 0 66 Drawer -0.509 0.775 4.617 0 270 0 67 Drawer -3.509 0.777 5.157 0 180 0 68 Cabinet -3.961 0.388 2.878 0 0 0 69 Cabinet -3.961 0.388 4.342 0 0 0 70 Cabinet -0.637 0.387 5.582 0 180 0 71 Cabinet -0.637 0.388 4.299 0 180 0 72 Cabinet -0.637 0.388 5.599 0 180 0 73 StoveBurner -2.924 0.924 1.712 0 180 0 74 Drawer -1.859 0.775 1.961 0 0 0 75 Cabinet -0.331 2.249 5.609 0 180 0 76 CounterTop -4.260 0.958 4.943 0 90 0 77 Cabinet -4.284 1.931 2.226 0 0 0 78 Cabinet -0.331 2.249 3.010 0 180 0 79 Drawer -3.801 0.777 5.157 0 180 0 80 Cabinet -4.112 1.935 5.321 0 90 0 81 Cabinet -3.968 0.388 3.662 0 0 0 82 Drawer -3.418 0.777 1.961 0 0 0 83 Drawer -4.090 0.777 4.661 0 90 0 84 Faucet -4.441 0.909 3.288 270 0 0 85 Cabinet -0.331 2.249 4.207 0 180 0 86 Cabinet -3.961 0.388 2.119 0 0 0 87 Drawer -0.509 0.775 5.920 0 270 0 88 Drawer -3.193 0.777 5.157 0 180 0 89 Cabinet -3.968 0.388 2.894 0 0 0 90 Cabinet -3.667 0.387 5.029 0 90 0 91 StoveBurner -2.469 0.924 1.712 0 270 0 92 Cabinet -1.539 0.388 2.090 0 0 0 93 Sink -4.190 0.921 3.279 0 0 0 94 Cabinet -3.641 0.387 5.029 0 90 0 95 Cabinet -1.583 1.931 1.777 0 0 0 96 Drawer -0.509 0.775 6.568 0 270 0 97 CoffeeMachine -0.279 0.912 6.556 0 270 0 98 StoveKnob -2.347 1.095 1.560 288.012 180 180 99 StoveKnob -2.788 1.095 1.560 288.012 180 180 100 StoveKnob -2.965 1.095 1.560 288.012 180 180 101 StoveKnob -2.512 1.095 1.560 288.012 180 180 102 GarbageCan -3.711 -0.030 6.376 0 270 0 103 Toaster -3.578 0.912 1.763 0 0 0 104 Curtains -4.522 2.252 3.391 90 90 0 105 Window -4.868 1.629 3.309 90 270 0 106 Microwave -2.693 1.430 1.689 0 0 0 107 LightSwitch -1.588 1.169 1.506 0 0 0 108 SinkBasin -4.196 0.780 3.276 0 270 0 109 Fridge -0.324 -0.001 3.602 0 0 0 110 NorthWall 111 EastWall 112 SouthWall 113 WestWall
[ "STEP 1: Turn right and take a step forward, then turn right again and walk over to the counter and turn left, then walk up to the toaster on the counter. | STEP 2: Pick up the butter knife to the left of the toaster on the counter. | STEP 3: Turn around and walk over to the sink. | STEP 4: Slice up the rightmost apple in the sink basin. | STEP 5: Place the butter knife in the sink to the right of the sliced apple. | STEP 6: Pick up an apple slice out of the sink basin. | STEP 7: Turn around and begin walking across the room, the hang a right and walk over to the oven and look up at the microwave. | STEP 8: Open the microwave door and put the apple slice in to the right of the egg, then microwave it for a couple seconds, after that remove the apple slice and close the microwave door. | STEP 9: Turn left and walk over to the end of the counter, then turn right to face the counter. | STEP 10: Put the heated apple slice on the edge of the counter to the left of the spoon o the counter in front of you. | END" ]
[ [ "STEP 1: Turn right and take a step forward, then turn right again and walk over to the counter and turn left, then walk up to the toaster on the counter. ", " STEP 2: Pick up the butter knife to the left of the toaster on the counter. ", " STEP 3: Turn around and walk over to the sink. ", " STEP 4: Slice up the rightmost apple in the sink basin. ", " STEP 5: Place the butter knife in the sink to the right of the sliced apple. ", " STEP 6: Pick up an apple slice out of the sink basin. ", " STEP 7: Turn around and begin walking across the room, the hang a right and walk over to the oven and look up at the microwave. ", " STEP 8: Open the microwave door and put the apple slice in to the right of the egg, then microwave it for a couple seconds, after that remove the apple slice and close the microwave door. ", " STEP 9: Turn left and walk over to the end of the counter, then turn right to face the counter. ", " STEP 10: Put the heated apple slice on the edge of the counter to the left of the spoon o the counter in front of you. ", " END" ] ]
seen
trial_T20190907_085559_213102-2
Put a cooked piece of apple on a counter.
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"101", " StoveKnob", " -2.512", " 1.095", " 1.560", " 288.012", " 180", " 180", "" ], [ "102", " GarbageCan", " -3.711", " -0.030", " 6.376", " 0", " 270", " 0", "" ], [ "103", " Toaster", " -3.578", " 0.912", " 1.763", " 0", " 0", " 0", "" ], [ "104", " Curtains", " -4.522", " 2.252", " 3.391", " 90", " 90", " 0", "" ], [ "105", " Window", " -4.868", " 1.629", " 3.309", " 90", " 270", " 0", "" ], [ "106", " Microwave", " -2.693", " 1.430", " 1.689", " 0", " 0", " 0", "" ], [ "107", " LightSwitch", " -1.588", " 1.169", " 1.506", " 0", " 0", " 0", "" ], [ "108", " SinkBasin", " -4.196", " 0.780", " 3.276", " 0", " 270", " 0", "" ], [ "109", " Fridge", " -0.324", " -0.001", " 3.602", " 0", " 0", " 0", "" ], [ "110", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "111", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "112", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "113", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -2.25 0.899 5.0 0 90 0 1 Pencil -3.613 0.923 5.489 0 90 0 76 2 Pencil -1.860 0.923 1.724 0 0 0 74 3 Potato -0.259 1.614 3.228 0 270 0 109 4 Potato -0.104 0.958 4.615 0 0 0 61 5 DishSponge -4.057 1.455 1.810 0 45 0 77 6 ButterKnife -0.488 0.925 5.603 0 0 0 61 7 Pot -2.469 0.930 1.712 0 270 0 91 8 Fork -4.517 0.924 3.432 0 90 0 76 9 Spoon -1.777 0.924 1.951 0 90 0 58 10 Spatula -4.055 0.769 2.768 0 270 0 56 11 Spatula -4.451 0.938 2.533 0 90 0 76 12 Egg -2.688 1.582 1.698 0 0 0 106 13 Egg -4.271 0.826 3.159 0 270 0 108 14 Plate -0.342 1.581 3.409 0 270 0 109 15 Plate -3.340 0.924 1.875 0 0 0 76 16 Knife -1.777 0.953 1.648 0 90 0 58 17 Knife -1.610 0.953 1.8 0 90 0 58 18 SoapBottle -0.104 0.924 5.273 0 0 0 61 19 Tomato -4.121 0.848 3.222 0 270 0 108 20 Tomato -1.860 0.980 1.951 0 0 0 58 21 Bowl -3.373 1.450 1.638 0 0 0 50 22 SaltShaker -0.203 2.132 6.469 0 180 0 60 23 Apple -4.121 0.844 3.097 0 270 0 108 24 Apple -4.159 0.844 3.410 0 270 0 108 25 Apple -3.852 0.976 5.336 0 90 0 76 26 Egg -4.271 0.826 3.285 0 270 0 108 27 Apple -1.943 0.976 1.648 0 0 0 58 28 Knife -0.258 0.954 4.944 0 0 0 61 29 Potato -0.411 0.958 4.615 0 0 0 61 30 Fork -3.852 0.924 5.259 0 180 0 76 31 Bowl -0.259 1.332 3.602 0 270 0 109 32 Plate -0.342 1.336 3.231 0 270 0 109 33 Lettuce -0.242 1.165 3.355 0 90 0 109 34 Bread -0.565 1.004 5.273 0 0 0 61 35 Tomato -0.383 1.392 3.850 0 270 0 109 36 WineBottle -0.181 0.926 5.932 0 0 0 61 37 Spatula -3.613 0.938 5.412 0 90 0 76 38 PaperTowelRoll -3.748 0.172 6.416 0 270 0 102 39 Cup -3.494 0.922 5.336 0 90 0 76 40 Pencil -2.026 0.923 1.951 0 0 0 74 41 Pan -2.454 0.933 2.023 0 240.000 0 64 42 Pot -2.924 0.930 1.712 0 180 0 73 43 SaltShaker -0.334 0.921 4.944 0 0 0 61 44 SoapBottle -0.181 0.924 5.603 0 0 0 61 45 PepperShaker -3.229 0.741 5.162 0 180 0 88 46 ButterKnife -3.859 0.923 1.875 0 0 0 76 47 DishSponge -1.782 0.746 1.985 0 0 0 74 48 Spoon -0.334 0.926 5.603 0 0 0 61 49 Mug -3.807 0.074 5.116 0 90 0 90 50 Cabinet -3.203 1.931 1.777 0 0 0 51 Cabinet -3.187 0.390 2.089 0 0 0 52 Cabinet -0.637 0.387 6.882 0 180 0 53 Drawer -3.797 0.781 1.961 0 0 0 54 Cabinet -3.036 0.387 5.029 0 90 0 55 Drawer -0.509 0.775 5.268 0 270 0 56 Drawer -4.125 0.798 2.499 0 0 0 57 Cabinet -0.331 2.249 4.308 0 180 0 58 CounterTop -1.872 0.958 1.799 0 0 0 59 StoveBurner -2.924 0.924 2.012 0 0 0 60 Cabinet -0.331 2.249 6.806 0 180 0 61 CounterTop -0.345 0.960 5.603 0 0 0 62 Cabinet -3.039 1.935 5.321 0 90 0 63 Cabinet -3.922 0.397 2.088 0 0 0 64 StoveBurner -2.467 0.924 2.012 0 0 0 65 Cabinet -0.331 2.249 5.505 0 180 0 66 Drawer -0.509 0.775 4.617 0 270 0 67 Drawer -3.509 0.777 5.157 0 180 0 68 Cabinet -3.961 0.388 2.878 0 0 0 69 Cabinet -3.961 0.388 4.342 0 0 0 70 Cabinet -0.637 0.387 5.582 0 180 0 71 Cabinet -0.637 0.388 4.299 0 180 0 72 Cabinet -0.637 0.388 5.599 0 180 0 73 StoveBurner -2.924 0.924 1.712 0 180 0 74 Drawer -1.859 0.775 1.961 0 0 0 75 Cabinet -0.331 2.249 5.609 0 180 0 76 CounterTop -4.260 0.958 4.943 0 90 0 77 Cabinet -4.284 1.931 2.226 0 0 0 78 Cabinet -0.331 2.249 3.010 0 180 0 79 Drawer -3.801 0.777 5.157 0 180 0 80 Cabinet -4.112 1.935 5.321 0 90 0 81 Cabinet -3.968 0.388 3.662 0 0 0 82 Drawer -3.418 0.777 1.961 0 0 0 83 Drawer -4.090 0.777 4.661 0 90 0 84 Faucet -4.441 0.909 3.288 270 0 0 85 Cabinet -0.331 2.249 4.207 0 180 0 86 Cabinet -3.961 0.388 2.119 0 0 0 87 Drawer -0.509 0.775 5.920 0 270 0 88 Drawer -3.193 0.777 5.157 0 180 0 89 Cabinet -3.968 0.388 2.894 0 0 0 90 Cabinet -3.667 0.387 5.029 0 90 0 91 StoveBurner -2.469 0.924 1.712 0 270 0 92 Cabinet -1.539 0.388 2.090 0 0 0 93 Sink -4.190 0.921 3.279 0 0 0 94 Cabinet -3.641 0.387 5.029 0 90 0 95 Cabinet -1.583 1.931 1.777 0 0 0 96 Drawer -0.509 0.775 6.568 0 270 0 97 CoffeeMachine -0.279 0.912 6.556 0 270 0 98 StoveKnob -2.347 1.095 1.560 288.012 180 180 99 StoveKnob -2.788 1.095 1.560 288.012 180 180 100 StoveKnob -2.965 1.095 1.560 288.012 180 180 101 StoveKnob -2.512 1.095 1.560 288.012 180 180 102 GarbageCan -3.711 -0.030 6.376 0 270 0 103 Toaster -3.578 0.912 1.763 0 0 0 104 Curtains -4.522 2.252 3.391 90 90 0 105 Window -4.868 1.629 3.309 90 270 0 106 Microwave -2.693 1.430 1.689 0 0 0 107 LightSwitch -1.588 1.169 1.506 0 0 0 108 SinkBasin -4.196 0.780 3.276 0 270 0 109 Fridge -0.324 -0.001 3.602 0 0 0 110 NorthWall 111 EastWall 112 SouthWall 113 WestWall
[ "STEP 1: Turn around, go forward to the counter, turn left, go forward to the counter with the toaster. | STEP 2: Take the knife on the right of the toaster. | STEP 3: Turn around, go forward then make a left towards the sink. | STEP 4: Cut the right apple in the sink into pieces. | STEP 5: Put the knife in the sink to the right of the cut apple. | STEP 6: Take a piece of apple from the sink. | STEP 7: Turn around, go forward, turn right and go forward to the oven. | STEP 8: Cook the apple in the microwave. Take the apple from the microwave. | STEP 9: Go to the counter to the left of the oven and face it. | STEP 10: Put the apple on the left of the spoon on the counter. | END" ]
[ [ "STEP 1: Turn around, go forward to the counter, turn left, go forward to the counter with the toaster. ", " STEP 2: Take the knife on the right of the toaster. ", " STEP 3: Turn around, go forward then make a left towards the sink. ", " STEP 4: Cut the right apple in the sink into pieces. ", " STEP 5: Put the knife in the sink to the right of the cut apple. ", " STEP 6: Take a piece of apple from the sink. ", " STEP 7: Turn around, go forward, turn right and go forward to the oven. ", " STEP 8: Cook the apple in the microwave. Take the apple from the microwave. ", " STEP 9: Go to the counter to the left of the oven and face it. ", " STEP 10: Put the apple on the left of the spoon on the counter. ", " END" ] ]
seen
trial_T20190907_085559_213102-3
To heat a slice of apple and place 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 -2.25 0.899 5.0 0 90 0 1 Pencil -3.613 0.923 5.489 0 90 0 76 2 Pencil -1.860 0.923 1.724 0 0 0 74 3 Potato -0.259 1.614 3.228 0 270 0 109 4 Potato -0.104 0.958 4.615 0 0 0 61 5 DishSponge -4.057 1.455 1.810 0 45 0 77 6 ButterKnife -0.488 0.925 5.603 0 0 0 61 7 Pot -2.469 0.930 1.712 0 270 0 91 8 Fork -4.517 0.924 3.432 0 90 0 76 9 Spoon -1.777 0.924 1.951 0 90 0 58 10 Spatula -4.055 0.769 2.768 0 270 0 56 11 Spatula -4.451 0.938 2.533 0 90 0 76 12 Egg -2.688 1.582 1.698 0 0 0 106 13 Egg -4.271 0.826 3.159 0 270 0 108 14 Plate -0.342 1.581 3.409 0 270 0 109 15 Plate -3.340 0.924 1.875 0 0 0 76 16 Knife -1.777 0.953 1.648 0 90 0 58 17 Knife -1.610 0.953 1.8 0 90 0 58 18 SoapBottle -0.104 0.924 5.273 0 0 0 61 19 Tomato -4.121 0.848 3.222 0 270 0 108 20 Tomato -1.860 0.980 1.951 0 0 0 58 21 Bowl -3.373 1.450 1.638 0 0 0 50 22 SaltShaker -0.203 2.132 6.469 0 180 0 60 23 Apple -4.121 0.844 3.097 0 270 0 108 24 Apple -4.159 0.844 3.410 0 270 0 108 25 Apple -3.852 0.976 5.336 0 90 0 76 26 Egg -4.271 0.826 3.285 0 270 0 108 27 Apple -1.943 0.976 1.648 0 0 0 58 28 Knife -0.258 0.954 4.944 0 0 0 61 29 Potato -0.411 0.958 4.615 0 0 0 61 30 Fork -3.852 0.924 5.259 0 180 0 76 31 Bowl -0.259 1.332 3.602 0 270 0 109 32 Plate -0.342 1.336 3.231 0 270 0 109 33 Lettuce -0.242 1.165 3.355 0 90 0 109 34 Bread -0.565 1.004 5.273 0 0 0 61 35 Tomato -0.383 1.392 3.850 0 270 0 109 36 WineBottle -0.181 0.926 5.932 0 0 0 61 37 Spatula -3.613 0.938 5.412 0 90 0 76 38 PaperTowelRoll -3.748 0.172 6.416 0 270 0 102 39 Cup -3.494 0.922 5.336 0 90 0 76 40 Pencil -2.026 0.923 1.951 0 0 0 74 41 Pan -2.454 0.933 2.023 0 240.000 0 64 42 Pot -2.924 0.930 1.712 0 180 0 73 43 SaltShaker -0.334 0.921 4.944 0 0 0 61 44 SoapBottle -0.181 0.924 5.603 0 0 0 61 45 PepperShaker -3.229 0.741 5.162 0 180 0 88 46 ButterKnife -3.859 0.923 1.875 0 0 0 76 47 DishSponge -1.782 0.746 1.985 0 0 0 74 48 Spoon -0.334 0.926 5.603 0 0 0 61 49 Mug -3.807 0.074 5.116 0 90 0 90 50 Cabinet -3.203 1.931 1.777 0 0 0 51 Cabinet -3.187 0.390 2.089 0 0 0 52 Cabinet -0.637 0.387 6.882 0 180 0 53 Drawer -3.797 0.781 1.961 0 0 0 54 Cabinet -3.036 0.387 5.029 0 90 0 55 Drawer -0.509 0.775 5.268 0 270 0 56 Drawer -4.125 0.798 2.499 0 0 0 57 Cabinet -0.331 2.249 4.308 0 180 0 58 CounterTop -1.872 0.958 1.799 0 0 0 59 StoveBurner -2.924 0.924 2.012 0 0 0 60 Cabinet -0.331 2.249 6.806 0 180 0 61 CounterTop -0.345 0.960 5.603 0 0 0 62 Cabinet -3.039 1.935 5.321 0 90 0 63 Cabinet -3.922 0.397 2.088 0 0 0 64 StoveBurner -2.467 0.924 2.012 0 0 0 65 Cabinet -0.331 2.249 5.505 0 180 0 66 Drawer -0.509 0.775 4.617 0 270 0 67 Drawer -3.509 0.777 5.157 0 180 0 68 Cabinet -3.961 0.388 2.878 0 0 0 69 Cabinet -3.961 0.388 4.342 0 0 0 70 Cabinet -0.637 0.387 5.582 0 180 0 71 Cabinet -0.637 0.388 4.299 0 180 0 72 Cabinet -0.637 0.388 5.599 0 180 0 73 StoveBurner -2.924 0.924 1.712 0 180 0 74 Drawer -1.859 0.775 1.961 0 0 0 75 Cabinet -0.331 2.249 5.609 0 180 0 76 CounterTop -4.260 0.958 4.943 0 90 0 77 Cabinet -4.284 1.931 2.226 0 0 0 78 Cabinet -0.331 2.249 3.010 0 180 0 79 Drawer -3.801 0.777 5.157 0 180 0 80 Cabinet -4.112 1.935 5.321 0 90 0 81 Cabinet -3.968 0.388 3.662 0 0 0 82 Drawer -3.418 0.777 1.961 0 0 0 83 Drawer -4.090 0.777 4.661 0 90 0 84 Faucet -4.441 0.909 3.288 270 0 0 85 Cabinet -0.331 2.249 4.207 0 180 0 86 Cabinet -3.961 0.388 2.119 0 0 0 87 Drawer -0.509 0.775 5.920 0 270 0 88 Drawer -3.193 0.777 5.157 0 180 0 89 Cabinet -3.968 0.388 2.894 0 0 0 90 Cabinet -3.667 0.387 5.029 0 90 0 91 StoveBurner -2.469 0.924 1.712 0 270 0 92 Cabinet -1.539 0.388 2.090 0 0 0 93 Sink -4.190 0.921 3.279 0 0 0 94 Cabinet -3.641 0.387 5.029 0 90 0 95 Cabinet -1.583 1.931 1.777 0 0 0 96 Drawer -0.509 0.775 6.568 0 270 0 97 CoffeeMachine -0.279 0.912 6.556 0 270 0 98 StoveKnob -2.347 1.095 1.560 288.012 180 180 99 StoveKnob -2.788 1.095 1.560 288.012 180 180 100 StoveKnob -2.965 1.095 1.560 288.012 180 180 101 StoveKnob -2.512 1.095 1.560 288.012 180 180 102 GarbageCan -3.711 -0.030 6.376 0 270 0 103 Toaster -3.578 0.912 1.763 0 0 0 104 Curtains -4.522 2.252 3.391 90 90 0 105 Window -4.868 1.629 3.309 90 270 0 106 Microwave -2.693 1.430 1.689 0 0 0 107 LightSwitch -1.588 1.169 1.506 0 0 0 108 SinkBasin -4.196 0.780 3.276 0 270 0 109 Fridge -0.324 -0.001 3.602 0 0 0 110 NorthWall 111 EastWall 112 SouthWall 113 WestWall
[ "STEP 1: Turn around and walk to the counter to the right of the stove. | STEP 2: Pick up the butter knife to the right of the toaster. | STEP 3: Turn and walk to the sink on the left. | STEP 4: Slice the red apple that's in the right side of the sink. | STEP 5: Put the knife down in the sink to the right of the sliced red apple. | STEP 6: Pick up a slice of the red apple closest to the butter knife. | STEP 7: Turn around and walk to the microwave above the stove. | STEP 8: Put the apple slice in the microwave to the right of the egg, heat up the apple slice, take the apple slice out of the microwave. | STEP 9: Walk to the counter to the left of the stove. | STEP 10: Place the piece of apple to the left of the spoon on the edge of the counter. | END" ]
[ [ "STEP 1: Turn around and walk to the counter to the right of the stove. ", " STEP 2: Pick up the butter knife to the right of the toaster. ", " STEP 3: Turn and walk to the sink on the left. ", " STEP 4: Slice the red apple that's in the right side of the sink. ", " STEP 5: Put the knife down in the sink to the right of the sliced red apple. ", " STEP 6: Pick up a slice of the red apple closest to the butter knife. ", " STEP 7: Turn around and walk to the microwave above the stove. ", " STEP 8: Put the apple slice in the microwave to the right of the egg, heat up the apple slice, take the apple slice out of the microwave. ", " STEP 9: Walk to the counter to the left of the stove. ", " STEP 10: Place the piece of apple to the left of the spoon on the edge of the counter. ", " END" ] ]
seen
trial_T20190907_085559_213102-4
Put a heated apple slice on the counter.
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"101", " StoveKnob", " -2.512", " 1.095", " 1.560", " 288.012", " 180", " 180", "" ], [ "102", " GarbageCan", " -3.711", " -0.030", " 6.376", " 0", " 270", " 0", "" ], [ "103", " Toaster", " -3.578", " 0.912", " 1.763", " 0", " 0", " 0", "" ], [ "104", " Curtains", " -4.522", " 2.252", " 3.391", " 90", " 90", " 0", "" ], [ "105", " Window", " -4.868", " 1.629", " 3.309", " 90", " 270", " 0", "" ], [ "106", " Microwave", " -2.693", " 1.430", " 1.689", " 0", " 0", " 0", "" ], [ "107", " LightSwitch", " -1.588", " 1.169", " 1.506", " 0", " 0", " 0", "" ], [ "108", " SinkBasin", " -4.196", " 0.780", " 3.276", " 0", " 270", " 0", "" ], [ "109", " Fridge", " -0.324", " -0.001", " 3.602", " 0", " 0", " 0", "" ], [ "110", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "111", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "112", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "113", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -2.25 0.899 5.0 0 90 0 1 Pencil -3.613 0.923 5.489 0 90 0 76 2 Pencil -1.860 0.923 1.724 0 0 0 74 3 Potato -0.259 1.614 3.228 0 270 0 109 4 Potato -0.104 0.958 4.615 0 0 0 61 5 DishSponge -4.057 1.455 1.810 0 45 0 77 6 ButterKnife -0.488 0.925 5.603 0 0 0 61 7 Pot -2.469 0.930 1.712 0 270 0 91 8 Fork -4.517 0.924 3.432 0 90 0 76 9 Spoon -1.777 0.924 1.951 0 90 0 58 10 Spatula -4.055 0.769 2.768 0 270 0 56 11 Spatula -4.451 0.938 2.533 0 90 0 76 12 Egg -2.688 1.582 1.698 0 0 0 106 13 Egg -4.271 0.826 3.159 0 270 0 108 14 Plate -0.342 1.581 3.409 0 270 0 109 15 Plate -3.340 0.924 1.875 0 0 0 76 16 Knife -1.777 0.953 1.648 0 90 0 58 17 Knife -1.610 0.953 1.8 0 90 0 58 18 SoapBottle -0.104 0.924 5.273 0 0 0 61 19 Tomato -4.121 0.848 3.222 0 270 0 108 20 Tomato -1.860 0.980 1.951 0 0 0 58 21 Bowl -3.373 1.450 1.638 0 0 0 50 22 SaltShaker -0.203 2.132 6.469 0 180 0 60 23 Apple -4.121 0.844 3.097 0 270 0 108 24 Apple -4.159 0.844 3.410 0 270 0 108 25 Apple -3.852 0.976 5.336 0 90 0 76 26 Egg -4.271 0.826 3.285 0 270 0 108 27 Apple -1.943 0.976 1.648 0 0 0 58 28 Knife -0.258 0.954 4.944 0 0 0 61 29 Potato -0.411 0.958 4.615 0 0 0 61 30 Fork -3.852 0.924 5.259 0 180 0 76 31 Bowl -0.259 1.332 3.602 0 270 0 109 32 Plate -0.342 1.336 3.231 0 270 0 109 33 Lettuce -0.242 1.165 3.355 0 90 0 109 34 Bread -0.565 1.004 5.273 0 0 0 61 35 Tomato -0.383 1.392 3.850 0 270 0 109 36 WineBottle -0.181 0.926 5.932 0 0 0 61 37 Spatula -3.613 0.938 5.412 0 90 0 76 38 PaperTowelRoll -3.748 0.172 6.416 0 270 0 102 39 Cup -3.494 0.922 5.336 0 90 0 76 40 Pencil -2.026 0.923 1.951 0 0 0 74 41 Pan -2.454 0.933 2.023 0 240.000 0 64 42 Pot -2.924 0.930 1.712 0 180 0 73 43 SaltShaker -0.334 0.921 4.944 0 0 0 61 44 SoapBottle -0.181 0.924 5.603 0 0 0 61 45 PepperShaker -3.229 0.741 5.162 0 180 0 88 46 ButterKnife -3.859 0.923 1.875 0 0 0 76 47 DishSponge -1.782 0.746 1.985 0 0 0 74 48 Spoon -0.334 0.926 5.603 0 0 0 61 49 Mug -3.807 0.074 5.116 0 90 0 90 50 Cabinet -3.203 1.931 1.777 0 0 0 51 Cabinet -3.187 0.390 2.089 0 0 0 52 Cabinet -0.637 0.387 6.882 0 180 0 53 Drawer -3.797 0.781 1.961 0 0 0 54 Cabinet -3.036 0.387 5.029 0 90 0 55 Drawer -0.509 0.775 5.268 0 270 0 56 Drawer -4.125 0.798 2.499 0 0 0 57 Cabinet -0.331 2.249 4.308 0 180 0 58 CounterTop -1.872 0.958 1.799 0 0 0 59 StoveBurner -2.924 0.924 2.012 0 0 0 60 Cabinet -0.331 2.249 6.806 0 180 0 61 CounterTop -0.345 0.960 5.603 0 0 0 62 Cabinet -3.039 1.935 5.321 0 90 0 63 Cabinet -3.922 0.397 2.088 0 0 0 64 StoveBurner -2.467 0.924 2.012 0 0 0 65 Cabinet -0.331 2.249 5.505 0 180 0 66 Drawer -0.509 0.775 4.617 0 270 0 67 Drawer -3.509 0.777 5.157 0 180 0 68 Cabinet -3.961 0.388 2.878 0 0 0 69 Cabinet -3.961 0.388 4.342 0 0 0 70 Cabinet -0.637 0.387 5.582 0 180 0 71 Cabinet -0.637 0.388 4.299 0 180 0 72 Cabinet -0.637 0.388 5.599 0 180 0 73 StoveBurner -2.924 0.924 1.712 0 180 0 74 Drawer -1.859 0.775 1.961 0 0 0 75 Cabinet -0.331 2.249 5.609 0 180 0 76 CounterTop -4.260 0.958 4.943 0 90 0 77 Cabinet -4.284 1.931 2.226 0 0 0 78 Cabinet -0.331 2.249 3.010 0 180 0 79 Drawer -3.801 0.777 5.157 0 180 0 80 Cabinet -4.112 1.935 5.321 0 90 0 81 Cabinet -3.968 0.388 3.662 0 0 0 82 Drawer -3.418 0.777 1.961 0 0 0 83 Drawer -4.090 0.777 4.661 0 90 0 84 Faucet -4.441 0.909 3.288 270 0 0 85 Cabinet -0.331 2.249 4.207 0 180 0 86 Cabinet -3.961 0.388 2.119 0 0 0 87 Drawer -0.509 0.775 5.920 0 270 0 88 Drawer -3.193 0.777 5.157 0 180 0 89 Cabinet -3.968 0.388 2.894 0 0 0 90 Cabinet -3.667 0.387 5.029 0 90 0 91 StoveBurner -2.469 0.924 1.712 0 270 0 92 Cabinet -1.539 0.388 2.090 0 0 0 93 Sink -4.190 0.921 3.279 0 0 0 94 Cabinet -3.641 0.387 5.029 0 90 0 95 Cabinet -1.583 1.931 1.777 0 0 0 96 Drawer -0.509 0.775 6.568 0 270 0 97 CoffeeMachine -0.279 0.912 6.556 0 270 0 98 StoveKnob -2.347 1.095 1.560 288.012 180 180 99 StoveKnob -2.788 1.095 1.560 288.012 180 180 100 StoveKnob -2.965 1.095 1.560 288.012 180 180 101 StoveKnob -2.512 1.095 1.560 288.012 180 180 102 GarbageCan -3.711 -0.030 6.376 0 270 0 103 Toaster -3.578 0.912 1.763 0 0 0 104 Curtains -4.522 2.252 3.391 90 90 0 105 Window -4.868 1.629 3.309 90 270 0 106 Microwave -2.693 1.430 1.689 0 0 0 107 LightSwitch -1.588 1.169 1.506 0 0 0 108 SinkBasin -4.196 0.780 3.276 0 270 0 109 Fridge -0.324 -0.001 3.602 0 0 0 110 NorthWall 111 EastWall 112 SouthWall 113 WestWall
[ "STEP 1: Turn right and walk forward, then turn right and walk over to the toaster on the counter. | STEP 2: Pick up the metal knife that is on the counter to the right of the toaster. | STEP 3: Turn around and walk over to the kitchen sink. | STEP 4: Slice up the rightmost tomato that is in the sink basin. | STEP 5: Put the metal knife into the sink basin to the right of the sliced apple. | STEP 6: Pick up an apple slice out of the sink basin. | STEP 7: Turn around and walk forward, then hang a right and walk over to the microwave. | STEP 8: Open the microwave and put the apple slice in to the right of the egg then close the door and turn on the microwave, after a couple seconds take the apple slice out and close the microwave. | STEP 9: Turn left and walk over to the section of counter to the left of the stove. | STEP 10: Put the heated piece of sliced apple on the counter to the left of the spoon. | END" ]
[ [ "STEP 1: Turn right and walk forward, then turn right and walk over to the toaster on the counter. ", " STEP 2: Pick up the metal knife that is on the counter to the right of the toaster. ", " STEP 3: Turn around and walk over to the kitchen sink. ", " STEP 4: Slice up the rightmost tomato that is in the sink basin. ", " STEP 5: Put the metal knife into the sink basin to the right of the sliced apple. ", " STEP 6: Pick up an apple slice out of the sink basin. ", " STEP 7: Turn around and walk forward, then hang a right and walk over to the microwave. ", " STEP 8: Open the microwave and put the apple slice in to the right of the egg then close the door and turn on the microwave, after a couple seconds take the apple slice out and close the microwave. ", " STEP 9: Turn left and walk over to the section of counter to the left of the stove. ", " STEP 10: Put the heated piece of sliced apple on the counter to the left of the spoon. ", " END" ] ]
seen
trial_T20190907_232933_346638-0
To put a knife and sliced lettuce on a pan as well as put the pan in the fridge.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.0 0.900 2.5 0 180 0 1 Potato -2.744 0.960 1.125 0 0 0 63 2 Potato -2.491 0.862 0.129 0 0 0 44 3 Ladle -2.540 1.893 2.420 0 0 0 54 4 Ladle -2.608 0.867 0.352 0 0 0 44 5 DishSponge -2.375 0.823 0.203 0 0 0 44 6 Fork -2.658 0.824 0.625 0 180 0 44 7 Spatula -2.023 0.712 0.295 0 180 0 71 8 Plate -2.115 0.130 0.362 0 0 0 56 9 Knife -1.876 0.849 0.498 0 0 0 44 10 Bowl -2.569 0.118 1.550 0 0 0 55 11 PepperShaker -1.151 0.818 0.129 0 0 0 44 12 PepperShaker -1.151 0.818 0.426 0 0 0 44 13 Lettuce -2.781 1.529 2.133 0 90 0 62 14 Mug -2.892 0.819 1.957 0 90 0 62 15 Mug -2.744 0.916 1.390 0 0 0 63 16 Apple -2.491 0.896 0.278 0 180 0 44 17 Fork -2.597 0.692 1.547 0 270 0 49 18 Ladle -0.371 0.738 0.879 0 45 0 46 19 Pan -0.244 0.829 2.075 0 180 0 39 20 SoapBottle -1.885 0.123 0.323 0 0 0 56 21 Pot -0.531 0.822 2.096 0 0 0 41 22 Tomato -0.262 0.106 2.674 0 0 0 64 23 Potato -0.295 0.095 2.539 0 0 0 64 24 SaltShaker -2.929 1.429 1.480 0 0 0 52 25 Plate -2.691 1.439 0.255 0 45 0 50 26 Spatula -0.341 0.696 1.194 0 45 0 40 27 Knife -1.542 0.849 0.539 0 0 0 44 28 Egg -1.801 0.721 0.381 0 0 0 71 29 Cup -2.882 1.434 1.372 0 0 0 52 30 ButterKnife -2.813 0.823 0.871 0 0 0 44 31 Lettuce -2.837 0.908 2.221 0 90 0 62 32 PepperShaker -2.881 1.430 0.640 0 0 0 53 33 DishSponge -2.581 0.823 0.871 0 0 0 44 34 Bread -0.979 0.855 0.249 0 29.999 0 44 35 Spoon -1.161 0.699 0.444 0 270 0 48 36 Mug -0.646 0.888 0.367 0 0 0 72 37 Bowl -1.522 0.121 0.401 0 0 0 57 38 Cabinet -2.377 2.015 1.720 0 0 0 39 StoveBurner -0.244 0.820 2.075 0 180 0 40 Drawer -0.402 0.703 1.252 0 0 0 41 StoveBurner -0.518 0.820 2.075 0 180 0 42 Sink -1.838 0.726 0.343 0 180 0 43 StoveBurner -0.244 0.820 1.684 0 0 0 44 CounterTop -1.557 0.859 0.277 0 0 0 45 StoveBurner -0.518 0.820 1.684 0 0 0 46 Drawer -0.404 0.704 0.912 0 0 0 47 Drawer -0.861 0.709 0.420 0 0 0 48 Drawer -1.133 0.706 0.418 0 0 0 49 Drawer -2.589 0.703 1.511 0 0 0 50 Cabinet -2.772 1.803 0.508 0 0 0 51 Cabinet -2.460 1.803 0.231 0 0 0 52 Cabinet -2.781 1.798 0.825 0 0 0 53 Cabinet -2.781 1.798 0.815 0 0 0 54 Cabinet -2.377 2.009 2.581 0 0 0 55 Cabinet -2.442 0.385 1.672 0 0 0 56 Cabinet -2.238 0.385 0.564 0 0 0 57 Cabinet -1.286 0.385 0.564 0 0 0 58 Cabinet -1.262 0.385 0.565 0 0 0 59 Cabinet -0.734 0.385 0.565 0 0 0 60 Cabinet -0.549 0.385 0.751 0 0 0 61 Cabinet -0.549 0.385 1.412 0 0 0 62 Fridge -2.782 0.0 2.221 0 0 0 63 Microwave -2.794 0.812 1.348 0 90 0 64 GarbageCan -0.329 2.205 2.606 0 0 0 65 StoveKnob -0.069 0.998 1.773 0 180 107.470 66 StoveKnob -0.069 0.998 1.613 0 180 107.470 67 StoveKnob -0.069 0.998 2.171 0 180 107.470 68 StoveKnob -0.069 0.998 2.024 0 180 107.470 69 Window -1.720 1.342 -0.208 90 0 0 70 Toaster -0.171 0.812 0.735 0 270 0 71 SinkBasin -1.745 0.687 0.295 0 0 0 72 CoffeeMachine -0.539 0.812 0.185 0 0 0 73 LightSwitch -0.615 1.378 3.0 0 180 0 74 Faucet -1.686 0.954 0.176 0 236.223 0 75 Stool -1.008 0.008 1.955 0 18.279 0 76 NorthWall 77 EastWall 78 SouthWall 79 WestWall
[ "STEP 1: Turn right and walk across the room to face the fridge. | STEP 2: Take the head of lettuce out of the fridge. | STEP 3: Turn around and walk across the room to face the stove. | STEP 4: Place the head of lettuce on the pan on the back left burner. | STEP 5: Turn right and walk across the room to face a knife on the floor in front of the sink. | STEP 6: Pick up the knife on the floor. | STEP 7: Turn around and cross the room, then turn right and face the lettuce on the pan on the stove. | STEP 8: Cut the head of lettuce into slices. | STEP 9: Place the knife on the pan with the sliced lettuce on it. | STEP 10: Pick up the pan with the sliced lettuce and knife on it. | STEP 11: Turn around and walk across the room to face the fridge. | STEP 12: Place the pan with the knife and sliced lettuce on it in the fridge. | END" ]
[ [ "STEP 1: Turn right and walk across the room to face the fridge. ", " STEP 2: Take the head of lettuce out of the fridge. ", " STEP 3: Turn around and walk across the room to face the stove. ", " STEP 4: Place the head of lettuce on the pan on the back left burner. ", " STEP 5: Turn right and walk across the room to face a knife on the floor in front of the sink. ", " STEP 6: Pick up the knife on the floor. ", " STEP 7: Turn around and cross the room, then turn right and face the lettuce on the pan on the stove. ", " STEP 8: Cut the head of lettuce into slices. ", " STEP 9: Place the knife on the pan with the sliced lettuce on it. ", " STEP 10: Pick up the pan with the sliced lettuce and knife on it. ", " STEP 11: Turn around and walk across the room to face the fridge. ", " STEP 12: Place the pan with the knife and sliced lettuce on it in the fridge. ", " END" ] ]
seen
trial_T20190907_232933_346638-1
Put a pan with cut lettuce and knife in the refrigerator
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.0 0.900 2.5 0 180 0 1 Potato -2.744 0.960 1.125 0 0 0 63 2 Potato -2.491 0.862 0.129 0 0 0 44 3 Ladle -2.540 1.893 2.420 0 0 0 54 4 Ladle -2.608 0.867 0.352 0 0 0 44 5 DishSponge -2.375 0.823 0.203 0 0 0 44 6 Fork -2.658 0.824 0.625 0 180 0 44 7 Spatula -2.023 0.712 0.295 0 180 0 71 8 Plate -2.115 0.130 0.362 0 0 0 56 9 Knife -1.876 0.849 0.498 0 0 0 44 10 Bowl -2.569 0.118 1.550 0 0 0 55 11 PepperShaker -1.151 0.818 0.129 0 0 0 44 12 PepperShaker -1.151 0.818 0.426 0 0 0 44 13 Lettuce -2.781 1.529 2.133 0 90 0 62 14 Mug -2.892 0.819 1.957 0 90 0 62 15 Mug -2.744 0.916 1.390 0 0 0 63 16 Apple -2.491 0.896 0.278 0 180 0 44 17 Fork -2.597 0.692 1.547 0 270 0 49 18 Ladle -0.371 0.738 0.879 0 45 0 46 19 Pan -0.244 0.829 2.075 0 180 0 39 20 SoapBottle -1.885 0.123 0.323 0 0 0 56 21 Pot -0.531 0.822 2.096 0 0 0 41 22 Tomato -0.262 0.106 2.674 0 0 0 64 23 Potato -0.295 0.095 2.539 0 0 0 64 24 SaltShaker -2.929 1.429 1.480 0 0 0 52 25 Plate -2.691 1.439 0.255 0 45 0 50 26 Spatula -0.341 0.696 1.194 0 45 0 40 27 Knife -1.542 0.849 0.539 0 0 0 44 28 Egg -1.801 0.721 0.381 0 0 0 71 29 Cup -2.882 1.434 1.372 0 0 0 52 30 ButterKnife -2.813 0.823 0.871 0 0 0 44 31 Lettuce -2.837 0.908 2.221 0 90 0 62 32 PepperShaker -2.881 1.430 0.640 0 0 0 53 33 DishSponge -2.581 0.823 0.871 0 0 0 44 34 Bread -0.979 0.855 0.249 0 29.999 0 44 35 Spoon -1.161 0.699 0.444 0 270 0 48 36 Mug -0.646 0.888 0.367 0 0 0 72 37 Bowl -1.522 0.121 0.401 0 0 0 57 38 Cabinet -2.377 2.015 1.720 0 0 0 39 StoveBurner -0.244 0.820 2.075 0 180 0 40 Drawer -0.402 0.703 1.252 0 0 0 41 StoveBurner -0.518 0.820 2.075 0 180 0 42 Sink -1.838 0.726 0.343 0 180 0 43 StoveBurner -0.244 0.820 1.684 0 0 0 44 CounterTop -1.557 0.859 0.277 0 0 0 45 StoveBurner -0.518 0.820 1.684 0 0 0 46 Drawer -0.404 0.704 0.912 0 0 0 47 Drawer -0.861 0.709 0.420 0 0 0 48 Drawer -1.133 0.706 0.418 0 0 0 49 Drawer -2.589 0.703 1.511 0 0 0 50 Cabinet -2.772 1.803 0.508 0 0 0 51 Cabinet -2.460 1.803 0.231 0 0 0 52 Cabinet -2.781 1.798 0.825 0 0 0 53 Cabinet -2.781 1.798 0.815 0 0 0 54 Cabinet -2.377 2.009 2.581 0 0 0 55 Cabinet -2.442 0.385 1.672 0 0 0 56 Cabinet -2.238 0.385 0.564 0 0 0 57 Cabinet -1.286 0.385 0.564 0 0 0 58 Cabinet -1.262 0.385 0.565 0 0 0 59 Cabinet -0.734 0.385 0.565 0 0 0 60 Cabinet -0.549 0.385 0.751 0 0 0 61 Cabinet -0.549 0.385 1.412 0 0 0 62 Fridge -2.782 0.0 2.221 0 0 0 63 Microwave -2.794 0.812 1.348 0 90 0 64 GarbageCan -0.329 2.205 2.606 0 0 0 65 StoveKnob -0.069 0.998 1.773 0 180 107.470 66 StoveKnob -0.069 0.998 1.613 0 180 107.470 67 StoveKnob -0.069 0.998 2.171 0 180 107.470 68 StoveKnob -0.069 0.998 2.024 0 180 107.470 69 Window -1.720 1.342 -0.208 90 0 0 70 Toaster -0.171 0.812 0.735 0 270 0 71 SinkBasin -1.745 0.687 0.295 0 0 0 72 CoffeeMachine -0.539 0.812 0.185 0 0 0 73 LightSwitch -0.615 1.378 3.0 0 180 0 74 Faucet -1.686 0.954 0.176 0 236.223 0 75 Stool -1.008 0.008 1.955 0 18.279 0 76 NorthWall 77 EastWall 78 SouthWall 79 WestWall
[ "STEP 1: Go to the front of the refrigerator | STEP 2: Take out the lettuce from the refrigerator. | STEP 3: Turn around and go to the stove. | STEP 4: Place the lettuce in the pan on the left back burner. | STEP 5: Turn right to go to the sink. | STEP 6: Pick up the wooden handled knife on the floor. | STEP 7: Turn around to go back to the stove. | STEP 8: Cut the lettuce in the pan on the stove. | STEP 9: Place the knife on in the pan. | STEP 10: Pick up the pan with the lettuce and the knife. | STEP 11: Turn around and go to the refrigerator. | STEP 12: Place the pan with lettuce and knife on the middle shelf in the refrigerator. | END" ]
[ [ "STEP 1: Go to the front of the refrigerator ", " STEP 2: Take out the lettuce from the refrigerator. ", " STEP 3: Turn around and go to the stove. ", " STEP 4: Place the lettuce in the pan on the left back burner. ", " STEP 5: Turn right to go to the sink. ", " STEP 6: Pick up the wooden handled knife on the floor. ", " STEP 7: Turn around to go back to the stove. ", " STEP 8: Cut the lettuce in the pan on the stove. ", " STEP 9: Place the knife on in the pan. ", " STEP 10: Pick up the pan with the lettuce and the knife. ", " STEP 11: Turn around and go to the refrigerator. ", " STEP 12: Place the pan with lettuce and knife on the middle shelf in the refrigerator. ", " END" ] ]
seen
trial_T20190907_232933_346638-2
drop a lettuce with a knife in a pan in the fridge
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[ "50", " Cabinet", " -2.772", " 1.803", " 0.508", " 0", " 0", " 0", "" ], [ "51", " Cabinet", " -2.460", " 1.803", " 0.231", " 0", " 0", " 0", "" ], [ "52", " Cabinet", " -2.781", " 1.798", " 0.825", " 0", " 0", " 0", "" ], [ "53", " Cabinet", " -2.781", " 1.798", " 0.815", " 0", " 0", " 0", "" ], [ "54", " Cabinet", " -2.377", " 2.009", " 2.581", " 0", " 0", " 0", "" ], [ "55", " Cabinet", " -2.442", " 0.385", " 1.672", " 0", " 0", " 0", "" ], [ "56", " Cabinet", " -2.238", " 0.385", " 0.564", " 0", " 0", " 0", "" ], [ "57", " Cabinet", " -1.286", " 0.385", " 0.564", " 0", " 0", " 0", "" ], [ "58", " Cabinet", " -1.262", " 0.385", " 0.565", " 0", " 0", " 0", "" ], [ "59", " Cabinet", " -0.734", " 0.385", " 0.565", " 0", " 0", " 0", "" ], [ "60", " Cabinet", " -0.549", " 0.385", " 0.751", " 0", " 0", " 0", "" ], [ "61", " Cabinet", " -0.549", " 0.385", " 1.412", " 0", " 0", " 0", "" ], [ "62", " Fridge", " -2.782", " 0.0", " 2.221", " 0", " 0", " 0", "" ], [ "63", " Microwave", " 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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 2.5 0 180 0 1 Potato -2.744 0.960 1.125 0 0 0 63 2 Potato -2.491 0.862 0.129 0 0 0 44 3 Ladle -2.540 1.893 2.420 0 0 0 54 4 Ladle -2.608 0.867 0.352 0 0 0 44 5 DishSponge -2.375 0.823 0.203 0 0 0 44 6 Fork -2.658 0.824 0.625 0 180 0 44 7 Spatula -2.023 0.712 0.295 0 180 0 71 8 Plate -2.115 0.130 0.362 0 0 0 56 9 Knife -1.876 0.849 0.498 0 0 0 44 10 Bowl -2.569 0.118 1.550 0 0 0 55 11 PepperShaker -1.151 0.818 0.129 0 0 0 44 12 PepperShaker -1.151 0.818 0.426 0 0 0 44 13 Lettuce -2.781 1.529 2.133 0 90 0 62 14 Mug -2.892 0.819 1.957 0 90 0 62 15 Mug -2.744 0.916 1.390 0 0 0 63 16 Apple -2.491 0.896 0.278 0 180 0 44 17 Fork -2.597 0.692 1.547 0 270 0 49 18 Ladle -0.371 0.738 0.879 0 45 0 46 19 Pan -0.244 0.829 2.075 0 180 0 39 20 SoapBottle -1.885 0.123 0.323 0 0 0 56 21 Pot -0.531 0.822 2.096 0 0 0 41 22 Tomato -0.262 0.106 2.674 0 0 0 64 23 Potato -0.295 0.095 2.539 0 0 0 64 24 SaltShaker -2.929 1.429 1.480 0 0 0 52 25 Plate -2.691 1.439 0.255 0 45 0 50 26 Spatula -0.341 0.696 1.194 0 45 0 40 27 Knife -1.542 0.849 0.539 0 0 0 44 28 Egg -1.801 0.721 0.381 0 0 0 71 29 Cup -2.882 1.434 1.372 0 0 0 52 30 ButterKnife -2.813 0.823 0.871 0 0 0 44 31 Lettuce -2.837 0.908 2.221 0 90 0 62 32 PepperShaker -2.881 1.430 0.640 0 0 0 53 33 DishSponge -2.581 0.823 0.871 0 0 0 44 34 Bread -0.979 0.855 0.249 0 29.999 0 44 35 Spoon -1.161 0.699 0.444 0 270 0 48 36 Mug -0.646 0.888 0.367 0 0 0 72 37 Bowl -1.522 0.121 0.401 0 0 0 57 38 Cabinet -2.377 2.015 1.720 0 0 0 39 StoveBurner -0.244 0.820 2.075 0 180 0 40 Drawer -0.402 0.703 1.252 0 0 0 41 StoveBurner -0.518 0.820 2.075 0 180 0 42 Sink -1.838 0.726 0.343 0 180 0 43 StoveBurner -0.244 0.820 1.684 0 0 0 44 CounterTop -1.557 0.859 0.277 0 0 0 45 StoveBurner -0.518 0.820 1.684 0 0 0 46 Drawer -0.404 0.704 0.912 0 0 0 47 Drawer -0.861 0.709 0.420 0 0 0 48 Drawer -1.133 0.706 0.418 0 0 0 49 Drawer -2.589 0.703 1.511 0 0 0 50 Cabinet -2.772 1.803 0.508 0 0 0 51 Cabinet -2.460 1.803 0.231 0 0 0 52 Cabinet -2.781 1.798 0.825 0 0 0 53 Cabinet -2.781 1.798 0.815 0 0 0 54 Cabinet -2.377 2.009 2.581 0 0 0 55 Cabinet -2.442 0.385 1.672 0 0 0 56 Cabinet -2.238 0.385 0.564 0 0 0 57 Cabinet -1.286 0.385 0.564 0 0 0 58 Cabinet -1.262 0.385 0.565 0 0 0 59 Cabinet -0.734 0.385 0.565 0 0 0 60 Cabinet -0.549 0.385 0.751 0 0 0 61 Cabinet -0.549 0.385 1.412 0 0 0 62 Fridge -2.782 0.0 2.221 0 0 0 63 Microwave -2.794 0.812 1.348 0 90 0 64 GarbageCan -0.329 2.205 2.606 0 0 0 65 StoveKnob -0.069 0.998 1.773 0 180 107.470 66 StoveKnob -0.069 0.998 1.613 0 180 107.470 67 StoveKnob -0.069 0.998 2.171 0 180 107.470 68 StoveKnob -0.069 0.998 2.024 0 180 107.470 69 Window -1.720 1.342 -0.208 90 0 0 70 Toaster -0.171 0.812 0.735 0 270 0 71 SinkBasin -1.745 0.687 0.295 0 0 0 72 CoffeeMachine -0.539 0.812 0.185 0 0 0 73 LightSwitch -0.615 1.378 3.0 0 180 0 74 Faucet -1.686 0.954 0.176 0 236.223 0 75 Stool -1.008 0.008 1.955 0 18.279 0 76 NorthWall 77 EastWall 78 SouthWall 79 WestWall
[ "STEP 1: move right to the fridge | STEP 2: take out the lettuce | STEP 3: turn around and drop it in the pan | STEP 4: move right to the sink | STEP 5: pick up the knife | STEP 6: turn to the lettuce | STEP 7: slice the lettuce withe the knife | STEP 8: drop the knife on the tray | STEP 9: pick up the tray | STEP 10: turn around and head to the fridge | STEP 11: drop the lettuce in the fridge | STEP 12: drop the pan in the fridge | END" ]
[ [ "STEP 1: move right to the fridge ", " STEP 2: take out the lettuce ", " STEP 3: turn around and drop it in the pan ", " STEP 4: move right to the sink ", " STEP 5: pick up the knife ", " STEP 6: turn to the lettuce ", " STEP 7: slice the lettuce withe the knife ", " STEP 8: drop the knife on the tray ", " STEP 9: pick up the tray ", " STEP 10: turn around and head to the fridge ", " STEP 11: drop the lettuce in the fridge ", " STEP 12: drop the pan in the fridge ", " END" ] ]
seen
trial_T20190907_054931_955559-0
Putting the plate from the sink to the fridge, putting it back to 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 -1.0 0.900 -0.25 0 270 0 1 Pan -2.59 0.9 -1.147 0 0 0 80 2 Potato -0.598 0.933 -1.119 0 47.530 0 80 3 CreditCard 0.284 1.108 1.888 0 315 0 73 4 CreditCard -2.585 0.743 0.099 0 0 0 80 5 DishSponge -2.103 0.746 -1.094 0 0 0 75 6 DishSponge 0.359 0.747 -1.095 0 0 0 81 7 ButterKnife -1.824 0.911 -0.894 0 0 0 80 8 Kettle -2.622 0.928 -0.711 0 0 0 71 9 Spoon -1.987 0.748 -0.966 0 0 0 75 10 Fork -1.948 0.747 -1.094 0 90 0 75 11 Fork 0.202 0.746 -1.095 0 90 0 81 12 Cup 0.346 1.004 -1.314 0 0 0 93 13 Cup 0.842 0.909 -0.948 0 0 0 80 14 Egg -1.159 0.886 -1.305 0 0 0 90 15 Egg -1.159 0.886 -1.360 0 0 0 90 16 Knife -1.073 0.874 -1.194 0 270 0 90 17 Knife 0.142 1.134 1.879 0 315 0 73 18 SoapBottle -0.048 1.112 1.466 0 315 0 73 19 Tomato -2.786 0.085 1.501 0 0 0 91 20 Bowl 0.842 0.910 -1.199 0 0 0 80 21 Bowl 0.836 1.110 0.729 0 315 0 73 22 Lettuce -2.740 1.553 0.690 0 90 0 92 23 Lettuce 0.490 1.190 1.075 0 315 0 73 24 PepperShaker -2.886 2.039 0.576 0 0 0 70 25 PepperShaker 0.548 1.108 1.479 0 315 0 73 26 SaltShaker -0.103 1.658 -1.360 0 0 0 67 27 SaltShaker -2.810 1.791 -0.305 0 0 0 52 28 Bread -2.800 1.528 1.013 0 90 0 92 29 Bread 0.721 1.166 1.306 0 315 0 73 30 Apple 0.284 1.154 1.580 0 0 0 73 31 Fork -2.843 0.911 -1.282 0 0 0 80 32 Kettle 0.452 1.112 1.729 0 315 0 73 33 CreditCard -2.026 0.743 -1.051 0 0 0 75 34 Bread -2.740 1.727 0.771 0 90 0 92 35 Plate -1.458 0.843 -1.235 0 0 0 90 36 SoapBottle -0.239 0.912 -0.948 0 0 0 80 37 Spatula -2.552 0.922 0.010 0 0 0 72 38 Lettuce -2.860 0.457 0.690 0 90 0 92 39 SaltShaker -0.039 1.108 1.844 0 315 0 73 40 Tomato -2.920 0.869 0.690 0 90 0 92 41 PepperShaker 0.842 0.907 -1.032 0 0 0 80 42 ButterKnife 1.336 1.111 0.537 0 315 0 73 43 Pot -2.622 0.928 -0.396 0 0 0 74 44 DishSponge -1.655 1.662 -1.360 0 0 0 54 45 Egg 1.074 0.946 -1.365 0 0 0 80 46 Spoon 0.610 0.912 -1.199 0 90 0 80 47 Knife -2.714 0.769 0.099 0 90 0 78 48 Cup -2.604 0.909 -0.147 0 0 0 72 49 Mug 0.372 1.654 -1.353 0 0 0 59 50 Bowl -2.860 0.818 0.932 0 90 0 92 51 Cabinet -2.647 2.075 -0.875 0 0 0 52 Cabinet -2.647 2.075 -0.234 0 0 0 53 Cabinet -0.824 0.469 -0.907 0 0 0 54 Cabinet -1.764 2.009 -1.197 0 0 0 55 Cabinet -1.834 2.009 -1.197 0 0 0 56 Cabinet -1.850 0.389 -0.897 0 0 0 57 Cabinet -1.801 0.469 -0.907 0 0 0 58 Cabinet 1.115 2.009 -1.197 0 0 0 59 Cabinet 0.235 2.009 -1.197 0 0 0 60 Cabinet 1.125 0.470 -0.897 0 0 0 61 Cabinet -2.387 0.389 0.375 0 0 0 62 Cabinet 0.484 0.389 -0.897 0 0 0 63 Cabinet -2.625 2.009 -1.197 0 0 0 64 Cabinet -2.647 2.009 -0.945 0 0 0 65 Cabinet -2.647 2.200 1.664 0 0 0 66 Cabinet -2.647 2.009 0.364 0 0 0 67 Cabinet 0.164 2.009 -1.197 0 0 0 68 Cabinet -0.765 2.009 -1.197 0 0 0 69 Cabinet -0.834 2.009 -1.197 0 0 0 70 Cabinet -2.647 2.200 0.434 0 0 0 71 StoveBurner -2.622 0.886 -0.711 0 0 0 72 CounterTop -2.699 0.946 0.106 0 0 0 73 CounterTop 0.908 1.147 0.788 0 315 0 74 StoveBurner -2.622 0.886 -0.396 0 0 0 75 Drawer -2.026 0.779 -1.082 0 0 0 76 Sink -1.328 0.916 -1.225 0 0 0 77 StoveBurner -2.822 0.886 -0.711 0 0 0 78 Drawer -2.572 0.779 0.099 0 0 0 79 StoveBurner -2.822 0.886 -0.396 0 0 0 80 CounterTop 0.071 0.946 -1.199 0 0 0 81 Drawer 0.254 0.779 -1.082 0 0 0 82 LightSwitch -1.167 1.307 3.0 0 180 0 83 CoffeeMachine 1.124 1.100 0.312 0 227.685 0 84 StoveKnob -2.429 0.863 -0.621 311.864 270 180 85 StoveKnob -2.429 0.863 -0.477 311.864 270 180 86 StoveKnob -2.429 0.863 -0.782 311.864 270 180 87 StoveKnob -2.429 0.863 -0.324 311.864 270 180 88 Window 0.321 1.449 3.088 90 0 0 89 Toaster -2.823 0.899 0.246 0 90 0 90 SinkBasin -1.344 0.838 -1.25 0 0 0 91 GarbageCan -2.757 1.886 1.466 0 0 0 92 Fridge -2.855 0.0 0.851 0 0 0 93 Microwave 0.283 0.900 -1.331 0 0 0 94 Stool 1.541 0.010 1.328 0 45 0 95 Stool 0.983 0.010 1.793 0 47.459 0 96 Faucet -1.392 1.136 -1.399 0 270 0 97 NorthWall 98 EastWall 99 SouthWall 100 WestWall
[ "STEP 1: Turn to your left and go to the sink | STEP 2: Pick up the plate on the sink | STEP 3: Turn to your right, head to the fridge on your left | STEP 4: Open the fridge, put the plate right next to the tomato and close it again | STEP 5: Open the fridge, pick up the plate then close the fridge. Turn around and head to the sink | STEP 6: Put the plate on the sink | END" ]
[ [ "STEP 1: Turn to your left and go to the sink ", " STEP 2: Pick up the plate on the sink ", " STEP 3: Turn to your right, head to the fridge on your left ", " STEP 4: Open the fridge, put the plate right next to the tomato and close it again ", " STEP 5: Open the fridge, pick up the plate then close the fridge. Turn around and head to the sink ", " STEP 6: Put the plate on the sink ", " END" ] ]
seen
trial_T20190907_054931_955559-1
put a plate in the refrigerator place it back 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 -1.0 0.900 -0.25 0 270 0 1 Pan -2.59 0.9 -1.147 0 0 0 80 2 Potato -0.598 0.933 -1.119 0 47.530 0 80 3 CreditCard 0.284 1.108 1.888 0 315 0 73 4 CreditCard -2.585 0.743 0.099 0 0 0 80 5 DishSponge -2.103 0.746 -1.094 0 0 0 75 6 DishSponge 0.359 0.747 -1.095 0 0 0 81 7 ButterKnife -1.824 0.911 -0.894 0 0 0 80 8 Kettle -2.622 0.928 -0.711 0 0 0 71 9 Spoon -1.987 0.748 -0.966 0 0 0 75 10 Fork -1.948 0.747 -1.094 0 90 0 75 11 Fork 0.202 0.746 -1.095 0 90 0 81 12 Cup 0.346 1.004 -1.314 0 0 0 93 13 Cup 0.842 0.909 -0.948 0 0 0 80 14 Egg -1.159 0.886 -1.305 0 0 0 90 15 Egg -1.159 0.886 -1.360 0 0 0 90 16 Knife -1.073 0.874 -1.194 0 270 0 90 17 Knife 0.142 1.134 1.879 0 315 0 73 18 SoapBottle -0.048 1.112 1.466 0 315 0 73 19 Tomato -2.786 0.085 1.501 0 0 0 91 20 Bowl 0.842 0.910 -1.199 0 0 0 80 21 Bowl 0.836 1.110 0.729 0 315 0 73 22 Lettuce -2.740 1.553 0.690 0 90 0 92 23 Lettuce 0.490 1.190 1.075 0 315 0 73 24 PepperShaker -2.886 2.039 0.576 0 0 0 70 25 PepperShaker 0.548 1.108 1.479 0 315 0 73 26 SaltShaker -0.103 1.658 -1.360 0 0 0 67 27 SaltShaker -2.810 1.791 -0.305 0 0 0 52 28 Bread -2.800 1.528 1.013 0 90 0 92 29 Bread 0.721 1.166 1.306 0 315 0 73 30 Apple 0.284 1.154 1.580 0 0 0 73 31 Fork -2.843 0.911 -1.282 0 0 0 80 32 Kettle 0.452 1.112 1.729 0 315 0 73 33 CreditCard -2.026 0.743 -1.051 0 0 0 75 34 Bread -2.740 1.727 0.771 0 90 0 92 35 Plate -1.458 0.843 -1.235 0 0 0 90 36 SoapBottle -0.239 0.912 -0.948 0 0 0 80 37 Spatula -2.552 0.922 0.010 0 0 0 72 38 Lettuce -2.860 0.457 0.690 0 90 0 92 39 SaltShaker -0.039 1.108 1.844 0 315 0 73 40 Tomato -2.920 0.869 0.690 0 90 0 92 41 PepperShaker 0.842 0.907 -1.032 0 0 0 80 42 ButterKnife 1.336 1.111 0.537 0 315 0 73 43 Pot -2.622 0.928 -0.396 0 0 0 74 44 DishSponge -1.655 1.662 -1.360 0 0 0 54 45 Egg 1.074 0.946 -1.365 0 0 0 80 46 Spoon 0.610 0.912 -1.199 0 90 0 80 47 Knife -2.714 0.769 0.099 0 90 0 78 48 Cup -2.604 0.909 -0.147 0 0 0 72 49 Mug 0.372 1.654 -1.353 0 0 0 59 50 Bowl -2.860 0.818 0.932 0 90 0 92 51 Cabinet -2.647 2.075 -0.875 0 0 0 52 Cabinet -2.647 2.075 -0.234 0 0 0 53 Cabinet -0.824 0.469 -0.907 0 0 0 54 Cabinet -1.764 2.009 -1.197 0 0 0 55 Cabinet -1.834 2.009 -1.197 0 0 0 56 Cabinet -1.850 0.389 -0.897 0 0 0 57 Cabinet -1.801 0.469 -0.907 0 0 0 58 Cabinet 1.115 2.009 -1.197 0 0 0 59 Cabinet 0.235 2.009 -1.197 0 0 0 60 Cabinet 1.125 0.470 -0.897 0 0 0 61 Cabinet -2.387 0.389 0.375 0 0 0 62 Cabinet 0.484 0.389 -0.897 0 0 0 63 Cabinet -2.625 2.009 -1.197 0 0 0 64 Cabinet -2.647 2.009 -0.945 0 0 0 65 Cabinet -2.647 2.200 1.664 0 0 0 66 Cabinet -2.647 2.009 0.364 0 0 0 67 Cabinet 0.164 2.009 -1.197 0 0 0 68 Cabinet -0.765 2.009 -1.197 0 0 0 69 Cabinet -0.834 2.009 -1.197 0 0 0 70 Cabinet -2.647 2.200 0.434 0 0 0 71 StoveBurner -2.622 0.886 -0.711 0 0 0 72 CounterTop -2.699 0.946 0.106 0 0 0 73 CounterTop 0.908 1.147 0.788 0 315 0 74 StoveBurner -2.622 0.886 -0.396 0 0 0 75 Drawer -2.026 0.779 -1.082 0 0 0 76 Sink -1.328 0.916 -1.225 0 0 0 77 StoveBurner -2.822 0.886 -0.711 0 0 0 78 Drawer -2.572 0.779 0.099 0 0 0 79 StoveBurner -2.822 0.886 -0.396 0 0 0 80 CounterTop 0.071 0.946 -1.199 0 0 0 81 Drawer 0.254 0.779 -1.082 0 0 0 82 LightSwitch -1.167 1.307 3.0 0 180 0 83 CoffeeMachine 1.124 1.100 0.312 0 227.685 0 84 StoveKnob -2.429 0.863 -0.621 311.864 270 180 85 StoveKnob -2.429 0.863 -0.477 311.864 270 180 86 StoveKnob -2.429 0.863 -0.782 311.864 270 180 87 StoveKnob -2.429 0.863 -0.324 311.864 270 180 88 Window 0.321 1.449 3.088 90 0 0 89 Toaster -2.823 0.899 0.246 0 90 0 90 SinkBasin -1.344 0.838 -1.25 0 0 0 91 GarbageCan -2.757 1.886 1.466 0 0 0 92 Fridge -2.855 0.0 0.851 0 0 0 93 Microwave 0.283 0.900 -1.331 0 0 0 94 Stool 1.541 0.010 1.328 0 45 0 95 Stool 0.983 0.010 1.793 0 47.459 0 96 Faucet -1.392 1.136 -1.399 0 270 0 97 NorthWall 98 EastWall 99 SouthWall 100 WestWall
[ "STEP 1: turn left to face the sink | STEP 2: pick up plate in the sink | STEP 3: turn around and walk towards the refrigerator and turn left to face it | STEP 4: open the refrigerator, then put the plate in it, close the door to the refrigerator. now take the plate out the refrigerator and close the door. | STEP 5: turn left and walk back towards the sink. | STEP 6: put the plate back in the sink | END" ]
[ [ "STEP 1: turn left to face the sink ", " STEP 2: pick up plate in the sink ", " STEP 3: turn around and walk towards the refrigerator and turn left to face it ", " STEP 4: open the refrigerator, then put the plate in it, close the door to the refrigerator. now take the plate out the refrigerator and close the door. ", " STEP 5: turn left and walk back towards the sink. ", " STEP 6: put the plate back in the sink ", " END" ] ]
seen
trial_T20190907_054931_955559-2
Put a cold plate 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 -1.0 0.900 -0.25 0 270 0 1 Pan -2.59 0.9 -1.147 0 0 0 80 2 Potato -0.598 0.933 -1.119 0 47.530 0 80 3 CreditCard 0.284 1.108 1.888 0 315 0 73 4 CreditCard -2.585 0.743 0.099 0 0 0 80 5 DishSponge -2.103 0.746 -1.094 0 0 0 75 6 DishSponge 0.359 0.747 -1.095 0 0 0 81 7 ButterKnife -1.824 0.911 -0.894 0 0 0 80 8 Kettle -2.622 0.928 -0.711 0 0 0 71 9 Spoon -1.987 0.748 -0.966 0 0 0 75 10 Fork -1.948 0.747 -1.094 0 90 0 75 11 Fork 0.202 0.746 -1.095 0 90 0 81 12 Cup 0.346 1.004 -1.314 0 0 0 93 13 Cup 0.842 0.909 -0.948 0 0 0 80 14 Egg -1.159 0.886 -1.305 0 0 0 90 15 Egg -1.159 0.886 -1.360 0 0 0 90 16 Knife -1.073 0.874 -1.194 0 270 0 90 17 Knife 0.142 1.134 1.879 0 315 0 73 18 SoapBottle -0.048 1.112 1.466 0 315 0 73 19 Tomato -2.786 0.085 1.501 0 0 0 91 20 Bowl 0.842 0.910 -1.199 0 0 0 80 21 Bowl 0.836 1.110 0.729 0 315 0 73 22 Lettuce -2.740 1.553 0.690 0 90 0 92 23 Lettuce 0.490 1.190 1.075 0 315 0 73 24 PepperShaker -2.886 2.039 0.576 0 0 0 70 25 PepperShaker 0.548 1.108 1.479 0 315 0 73 26 SaltShaker -0.103 1.658 -1.360 0 0 0 67 27 SaltShaker -2.810 1.791 -0.305 0 0 0 52 28 Bread -2.800 1.528 1.013 0 90 0 92 29 Bread 0.721 1.166 1.306 0 315 0 73 30 Apple 0.284 1.154 1.580 0 0 0 73 31 Fork -2.843 0.911 -1.282 0 0 0 80 32 Kettle 0.452 1.112 1.729 0 315 0 73 33 CreditCard -2.026 0.743 -1.051 0 0 0 75 34 Bread -2.740 1.727 0.771 0 90 0 92 35 Plate -1.458 0.843 -1.235 0 0 0 90 36 SoapBottle -0.239 0.912 -0.948 0 0 0 80 37 Spatula -2.552 0.922 0.010 0 0 0 72 38 Lettuce -2.860 0.457 0.690 0 90 0 92 39 SaltShaker -0.039 1.108 1.844 0 315 0 73 40 Tomato -2.920 0.869 0.690 0 90 0 92 41 PepperShaker 0.842 0.907 -1.032 0 0 0 80 42 ButterKnife 1.336 1.111 0.537 0 315 0 73 43 Pot -2.622 0.928 -0.396 0 0 0 74 44 DishSponge -1.655 1.662 -1.360 0 0 0 54 45 Egg 1.074 0.946 -1.365 0 0 0 80 46 Spoon 0.610 0.912 -1.199 0 90 0 80 47 Knife -2.714 0.769 0.099 0 90 0 78 48 Cup -2.604 0.909 -0.147 0 0 0 72 49 Mug 0.372 1.654 -1.353 0 0 0 59 50 Bowl -2.860 0.818 0.932 0 90 0 92 51 Cabinet -2.647 2.075 -0.875 0 0 0 52 Cabinet -2.647 2.075 -0.234 0 0 0 53 Cabinet -0.824 0.469 -0.907 0 0 0 54 Cabinet -1.764 2.009 -1.197 0 0 0 55 Cabinet -1.834 2.009 -1.197 0 0 0 56 Cabinet -1.850 0.389 -0.897 0 0 0 57 Cabinet -1.801 0.469 -0.907 0 0 0 58 Cabinet 1.115 2.009 -1.197 0 0 0 59 Cabinet 0.235 2.009 -1.197 0 0 0 60 Cabinet 1.125 0.470 -0.897 0 0 0 61 Cabinet -2.387 0.389 0.375 0 0 0 62 Cabinet 0.484 0.389 -0.897 0 0 0 63 Cabinet -2.625 2.009 -1.197 0 0 0 64 Cabinet -2.647 2.009 -0.945 0 0 0 65 Cabinet -2.647 2.200 1.664 0 0 0 66 Cabinet -2.647 2.009 0.364 0 0 0 67 Cabinet 0.164 2.009 -1.197 0 0 0 68 Cabinet -0.765 2.009 -1.197 0 0 0 69 Cabinet -0.834 2.009 -1.197 0 0 0 70 Cabinet -2.647 2.200 0.434 0 0 0 71 StoveBurner -2.622 0.886 -0.711 0 0 0 72 CounterTop -2.699 0.946 0.106 0 0 0 73 CounterTop 0.908 1.147 0.788 0 315 0 74 StoveBurner -2.622 0.886 -0.396 0 0 0 75 Drawer -2.026 0.779 -1.082 0 0 0 76 Sink -1.328 0.916 -1.225 0 0 0 77 StoveBurner -2.822 0.886 -0.711 0 0 0 78 Drawer -2.572 0.779 0.099 0 0 0 79 StoveBurner -2.822 0.886 -0.396 0 0 0 80 CounterTop 0.071 0.946 -1.199 0 0 0 81 Drawer 0.254 0.779 -1.082 0 0 0 82 LightSwitch -1.167 1.307 3.0 0 180 0 83 CoffeeMachine 1.124 1.100 0.312 0 227.685 0 84 StoveKnob -2.429 0.863 -0.621 311.864 270 180 85 StoveKnob -2.429 0.863 -0.477 311.864 270 180 86 StoveKnob -2.429 0.863 -0.782 311.864 270 180 87 StoveKnob -2.429 0.863 -0.324 311.864 270 180 88 Window 0.321 1.449 3.088 90 0 0 89 Toaster -2.823 0.899 0.246 0 90 0 90 SinkBasin -1.344 0.838 -1.25 0 0 0 91 GarbageCan -2.757 1.886 1.466 0 0 0 92 Fridge -2.855 0.0 0.851 0 0 0 93 Microwave 0.283 0.900 -1.331 0 0 0 94 Stool 1.541 0.010 1.328 0 45 0 95 Stool 0.983 0.010 1.793 0 47.459 0 96 Faucet -1.392 1.136 -1.399 0 270 0 97 NorthWall 98 EastWall 99 SouthWall 100 WestWall
[ "STEP 1: Take a step forward then turn left and walk to the sink. | STEP 2: Get the black plate from the sink. | STEP 3: Turn around and walk until your even with the fridge on your left then turn left and walk to the fridge. | STEP 4: Put the plate in the fridge under the tomato and close the door and let it cool down before opening the door and retrieving it making sure to close the door when you're done. | STEP 5: Walk back to teh sink. | STEP 6: Put the plate back in the sink. | END" ]
[ [ "STEP 1: Take a step forward then turn left and walk to the sink. ", " STEP 2: Get the black plate from the sink. ", " STEP 3: Turn around and walk until your even with the fridge on your left then turn left and walk to the fridge. ", " STEP 4: Put the plate in the fridge under the tomato and close the door and let it cool down before opening the door and retrieving it making sure to close the door when you're done. ", " STEP 5: Walk back to teh sink. ", " STEP 6: Put the plate back in the sink. ", " END" ] ]
seen
trial_T20190908_062417_287639-0
Put the chilled pan 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 0.25 0.900 -0.75 0 180 0 1 DishSponge -1.039 1.501 0.757 0 0 0 50 2 Fork -0.689 0.747 1.050 0 270 0 62 3 Spoon 1.362 0.945 1.840 0 180 0 66 4 Spoon -0.827 0.747 2.245 0 270 0 40 5 Egg 1.388 0.878 1.426 0 180 0 81 6 Knife -0.758 0.768 2.245 0 90 0 40 7 Knife 1.275 0.768 0.848 0 90 0 69 8 Tomato -0.976 0.627 0.195 0 90 0 71 9 Tomato 1.669 0.999 2.022 0 0 0 44 10 Bowl 1.700 1.944 1.410 0 0 0 57 11 Bowl 1.352 0.078 2.462 0 0 0 48 12 SaltShaker -0.861 0.742 0.914 0 180 0 62 13 SaltShaker -1.116 1.825 -0.266 0 0 0 52 14 PepperShaker -1.192 1.498 0.757 0 0 0 50 15 PepperShaker -0.827 0.742 2.381 0 180 0 40 16 Apple 1.587 1.645 1.598 0 270 0 78 17 Apple -0.964 0.864 0.118 0 90 0 71 18 Lettuce 1.457 1.014 1.681 4.271 59.966 0 66 19 SoapBottle 1.748 0.937 1.244 0 0 0 44 20 Bread -0.923 0.990 2.265 0 302.470 0 39 21 Fork 1.310 0.747 0.848 0 90 0 69 22 Tomato 1.456 0.131 2.945 0 0 0 77 23 Bowl -1.018 1.315 0.272 0 90 0 71 24 Pot -1.109 0.930 1.470 0 0 0 41 25 Spatula 1.310 0.761 2.256 0 90 0 42 26 Knife -0.689 0.768 2.381 0 270 0 40 27 SaltShaker -1.192 1.824 0.303 0 0 0 53 28 Apple -0.860 0.615 0.042 0 90 0 71 29 PepperShaker 1.448 0.743 0.712 0 0 0 69 30 ButterKnife 1.439 0.937 0.806 0 0 0 44 31 Potato -0.971 1.531 0.118 0 90 0 71 32 Plate -0.791 0.088 0.985 0 0 0 51 33 DishSponge -1.001 1.500 2.275 0 180 0 70 34 Egg 1.357 0.105 2.945 0 0 0 77 35 Cup -1.121 1.499 2.275 0 180 0 70 36 Pan -1.109 0.930 1.865 0 0 0 63 37 Spoon -0.827 0.747 2.517 0 90 0 40 38 Mug 1.528 1.002 2.345 0 270 0 44 39 CounterTop -0.973 0.973 2.386 0 0 0 40 Drawer -0.783 0.774 2.381 0 180 0 41 StoveBurner -1.108 0.922 1.470 0 0 0 42 Drawer 1.370 0.774 2.391 0 0 0 43 Stool -0.748 0.008 3.116 0 0 0 44 CounterTop 1.504 0.973 2.309 0 0 0 45 Cabinet 1.219 1.388 0.591 0 0 0 46 Cabinet 1.500 2.113 1.164 0 0 0 47 Cabinet 1.219 2.010 0.591 0 0 0 48 Cabinet 1.219 0.388 2.105 0 0 0 49 Cabinet 1.219 0.553 0.591 0 0 0 50 Cabinet -0.913 2.113 1.164 0 0 0 51 Cabinet -0.633 0.388 0.627 0 0 0 52 Cabinet -0.913 2.050 -0.329 0 0 0 53 Cabinet -0.913 2.113 0.583 0 0 0 54 Cabinet -0.913 2.113 2.082 0 0 0 55 Cabinet -0.913 2.113 1.207 0 0 0 56 Cabinet 1.500 2.113 2.082 0 0 0 57 Cabinet 1.500 2.113 1.207 0 0 0 58 Cabinet 1.500 1.810 2.691 0 0 0 59 Cabinet 1.500 1.810 2.101 0 0 0 60 Cabinet -0.633 0.388 2.105 0 0 0 61 Cabinet -0.911 1.810 2.700 0 180 0 62 Drawer -0.783 0.774 0.915 0 180 0 63 StoveBurner -1.108 0.922 1.865 0 0 0 64 CounterTop -0.972 0.973 0.921 0 0 0 65 Cabinet 1.219 0.388 0.631 0 0 0 66 Sink 1.544 0.869 1.639 0 180 0 67 StoveBurner -0.832 0.922 1.865 0 0 0 68 StoveBurner -0.831 0.922 1.470 0 0 0 69 Drawer 1.370 0.774 0.916 0 0 0 70 Cabinet -0.911 1.810 2.111 0 180 0 71 Fridge -1.001 0.0 0.119 0 0 0 72 StoveKnob -0.648 0.926 1.923 0 270 0 73 StoveKnob -0.648 0.926 1.363 0 270 0 74 StoveKnob -0.648 0.926 1.513 0 270 0 75 StoveKnob -0.648 0.926 1.763 0 270 0 76 Toaster -1.002 0.926 2.561 0 90 0 77 GarbageCan 1.451 -0.029 2.912 0 0 0 78 Microwave 1.632 1.480 1.645 0 270 0 79 Window 0.224 1.601 3.509 90 0 0 80 CoffeeMachine 1.692 0.926 2.453 0 270 0 81 SinkBasin 1.461 0.833 1.369 0 180 0 82 LightSwitch 0.451 1.412 -1.674 0 0 0 83 Faucet 1.707 0.925 1.363 0 270 0 84 NorthWall 85 EastWall 86 SouthWall 87 WestWall
[ "STEP 1: Turn around and go to the front of the stove. | STEP 2: Pick up the cast iron pan on the back burner. | STEP 3: Turn left to go to the front of the refrigerator on the right. | STEP 4: Chill the pan in the refrigerator on the bottom shelf below the apple and take it out and close the refrigerator door. | STEP 5: Turn right and move over to the counter on the left of the stove. | STEP 6: Place the pan on the counter top on the left side. | END" ]
[ [ "STEP 1: Turn around and go to the front of the stove. ", " STEP 2: Pick up the cast iron pan on the back burner. ", " STEP 3: Turn left to go to the front of the refrigerator on the right. ", " STEP 4: Chill the pan in the refrigerator on the bottom shelf below the apple and take it out and close the refrigerator door. ", " STEP 5: Turn right and move over to the counter on the left of the stove. ", " STEP 6: Place the pan on the counter top on the left side. ", " END" ] ]
seen
trial_T20190908_062417_287639-1
Place a chilled pan on a counter.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 0.25 0.900 -0.75 0 180 0 1 DishSponge -1.039 1.501 0.757 0 0 0 50 2 Fork -0.689 0.747 1.050 0 270 0 62 3 Spoon 1.362 0.945 1.840 0 180 0 66 4 Spoon -0.827 0.747 2.245 0 270 0 40 5 Egg 1.388 0.878 1.426 0 180 0 81 6 Knife -0.758 0.768 2.245 0 90 0 40 7 Knife 1.275 0.768 0.848 0 90 0 69 8 Tomato -0.976 0.627 0.195 0 90 0 71 9 Tomato 1.669 0.999 2.022 0 0 0 44 10 Bowl 1.700 1.944 1.410 0 0 0 57 11 Bowl 1.352 0.078 2.462 0 0 0 48 12 SaltShaker -0.861 0.742 0.914 0 180 0 62 13 SaltShaker -1.116 1.825 -0.266 0 0 0 52 14 PepperShaker -1.192 1.498 0.757 0 0 0 50 15 PepperShaker -0.827 0.742 2.381 0 180 0 40 16 Apple 1.587 1.645 1.598 0 270 0 78 17 Apple -0.964 0.864 0.118 0 90 0 71 18 Lettuce 1.457 1.014 1.681 4.271 59.966 0 66 19 SoapBottle 1.748 0.937 1.244 0 0 0 44 20 Bread -0.923 0.990 2.265 0 302.470 0 39 21 Fork 1.310 0.747 0.848 0 90 0 69 22 Tomato 1.456 0.131 2.945 0 0 0 77 23 Bowl -1.018 1.315 0.272 0 90 0 71 24 Pot -1.109 0.930 1.470 0 0 0 41 25 Spatula 1.310 0.761 2.256 0 90 0 42 26 Knife -0.689 0.768 2.381 0 270 0 40 27 SaltShaker -1.192 1.824 0.303 0 0 0 53 28 Apple -0.860 0.615 0.042 0 90 0 71 29 PepperShaker 1.448 0.743 0.712 0 0 0 69 30 ButterKnife 1.439 0.937 0.806 0 0 0 44 31 Potato -0.971 1.531 0.118 0 90 0 71 32 Plate -0.791 0.088 0.985 0 0 0 51 33 DishSponge -1.001 1.500 2.275 0 180 0 70 34 Egg 1.357 0.105 2.945 0 0 0 77 35 Cup -1.121 1.499 2.275 0 180 0 70 36 Pan -1.109 0.930 1.865 0 0 0 63 37 Spoon -0.827 0.747 2.517 0 90 0 40 38 Mug 1.528 1.002 2.345 0 270 0 44 39 CounterTop -0.973 0.973 2.386 0 0 0 40 Drawer -0.783 0.774 2.381 0 180 0 41 StoveBurner -1.108 0.922 1.470 0 0 0 42 Drawer 1.370 0.774 2.391 0 0 0 43 Stool -0.748 0.008 3.116 0 0 0 44 CounterTop 1.504 0.973 2.309 0 0 0 45 Cabinet 1.219 1.388 0.591 0 0 0 46 Cabinet 1.500 2.113 1.164 0 0 0 47 Cabinet 1.219 2.010 0.591 0 0 0 48 Cabinet 1.219 0.388 2.105 0 0 0 49 Cabinet 1.219 0.553 0.591 0 0 0 50 Cabinet -0.913 2.113 1.164 0 0 0 51 Cabinet -0.633 0.388 0.627 0 0 0 52 Cabinet -0.913 2.050 -0.329 0 0 0 53 Cabinet -0.913 2.113 0.583 0 0 0 54 Cabinet -0.913 2.113 2.082 0 0 0 55 Cabinet -0.913 2.113 1.207 0 0 0 56 Cabinet 1.500 2.113 2.082 0 0 0 57 Cabinet 1.500 2.113 1.207 0 0 0 58 Cabinet 1.500 1.810 2.691 0 0 0 59 Cabinet 1.500 1.810 2.101 0 0 0 60 Cabinet -0.633 0.388 2.105 0 0 0 61 Cabinet -0.911 1.810 2.700 0 180 0 62 Drawer -0.783 0.774 0.915 0 180 0 63 StoveBurner -1.108 0.922 1.865 0 0 0 64 CounterTop -0.972 0.973 0.921 0 0 0 65 Cabinet 1.219 0.388 0.631 0 0 0 66 Sink 1.544 0.869 1.639 0 180 0 67 StoveBurner -0.832 0.922 1.865 0 0 0 68 StoveBurner -0.831 0.922 1.470 0 0 0 69 Drawer 1.370 0.774 0.916 0 0 0 70 Cabinet -0.911 1.810 2.111 0 180 0 71 Fridge -1.001 0.0 0.119 0 0 0 72 StoveKnob -0.648 0.926 1.923 0 270 0 73 StoveKnob -0.648 0.926 1.363 0 270 0 74 StoveKnob -0.648 0.926 1.513 0 270 0 75 StoveKnob -0.648 0.926 1.763 0 270 0 76 Toaster -1.002 0.926 2.561 0 90 0 77 GarbageCan 1.451 -0.029 2.912 0 0 0 78 Microwave 1.632 1.480 1.645 0 270 0 79 Window 0.224 1.601 3.509 90 0 0 80 CoffeeMachine 1.692 0.926 2.453 0 270 0 81 SinkBasin 1.461 0.833 1.369 0 180 0 82 LightSwitch 0.451 1.412 -1.674 0 0 0 83 Faucet 1.707 0.925 1.363 0 270 0 84 NorthWall 85 EastWall 86 SouthWall 87 WestWall
[ "STEP 1: Turn around and head to the white stove on the left. | STEP 2: Pick up the black pan from the back right corner of the stove. | STEP 3: Turn left and walk to the black fridge on your right. | STEP 4: Put the pan inside the fridge on the left side of the bottom shelf, chill it for seven seconds, remove it and close the doors. | STEP 5: Turn right and walk to the counter next to the fridge on the left side. | STEP 6: Put the chilled pan on the left side of the counter. | END" ]
[ [ "STEP 1: Turn around and head to the white stove on the left. ", " STEP 2: Pick up the black pan from the back right corner of the stove. ", " STEP 3: Turn left and walk to the black fridge on your right. ", " STEP 4: Put the pan inside the fridge on the left side of the bottom shelf, chill it for seven seconds, remove it and close the doors. ", " STEP 5: Turn right and walk to the counter next to the fridge on the left side. ", " STEP 6: Put the chilled pan on the left side of the counter. ", " END" ] ]
seen
trial_T20190908_062417_287639-2
Chill a pot and place 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 0.25 0.900 -0.75 0 180 0 1 DishSponge -1.039 1.501 0.757 0 0 0 50 2 Fork -0.689 0.747 1.050 0 270 0 62 3 Spoon 1.362 0.945 1.840 0 180 0 66 4 Spoon -0.827 0.747 2.245 0 270 0 40 5 Egg 1.388 0.878 1.426 0 180 0 81 6 Knife -0.758 0.768 2.245 0 90 0 40 7 Knife 1.275 0.768 0.848 0 90 0 69 8 Tomato -0.976 0.627 0.195 0 90 0 71 9 Tomato 1.669 0.999 2.022 0 0 0 44 10 Bowl 1.700 1.944 1.410 0 0 0 57 11 Bowl 1.352 0.078 2.462 0 0 0 48 12 SaltShaker -0.861 0.742 0.914 0 180 0 62 13 SaltShaker -1.116 1.825 -0.266 0 0 0 52 14 PepperShaker -1.192 1.498 0.757 0 0 0 50 15 PepperShaker -0.827 0.742 2.381 0 180 0 40 16 Apple 1.587 1.645 1.598 0 270 0 78 17 Apple -0.964 0.864 0.118 0 90 0 71 18 Lettuce 1.457 1.014 1.681 4.271 59.966 0 66 19 SoapBottle 1.748 0.937 1.244 0 0 0 44 20 Bread -0.923 0.990 2.265 0 302.470 0 39 21 Fork 1.310 0.747 0.848 0 90 0 69 22 Tomato 1.456 0.131 2.945 0 0 0 77 23 Bowl -1.018 1.315 0.272 0 90 0 71 24 Pot -1.109 0.930 1.470 0 0 0 41 25 Spatula 1.310 0.761 2.256 0 90 0 42 26 Knife -0.689 0.768 2.381 0 270 0 40 27 SaltShaker -1.192 1.824 0.303 0 0 0 53 28 Apple -0.860 0.615 0.042 0 90 0 71 29 PepperShaker 1.448 0.743 0.712 0 0 0 69 30 ButterKnife 1.439 0.937 0.806 0 0 0 44 31 Potato -0.971 1.531 0.118 0 90 0 71 32 Plate -0.791 0.088 0.985 0 0 0 51 33 DishSponge -1.001 1.500 2.275 0 180 0 70 34 Egg 1.357 0.105 2.945 0 0 0 77 35 Cup -1.121 1.499 2.275 0 180 0 70 36 Pan -1.109 0.930 1.865 0 0 0 63 37 Spoon -0.827 0.747 2.517 0 90 0 40 38 Mug 1.528 1.002 2.345 0 270 0 44 39 CounterTop -0.973 0.973 2.386 0 0 0 40 Drawer -0.783 0.774 2.381 0 180 0 41 StoveBurner -1.108 0.922 1.470 0 0 0 42 Drawer 1.370 0.774 2.391 0 0 0 43 Stool -0.748 0.008 3.116 0 0 0 44 CounterTop 1.504 0.973 2.309 0 0 0 45 Cabinet 1.219 1.388 0.591 0 0 0 46 Cabinet 1.500 2.113 1.164 0 0 0 47 Cabinet 1.219 2.010 0.591 0 0 0 48 Cabinet 1.219 0.388 2.105 0 0 0 49 Cabinet 1.219 0.553 0.591 0 0 0 50 Cabinet -0.913 2.113 1.164 0 0 0 51 Cabinet -0.633 0.388 0.627 0 0 0 52 Cabinet -0.913 2.050 -0.329 0 0 0 53 Cabinet -0.913 2.113 0.583 0 0 0 54 Cabinet -0.913 2.113 2.082 0 0 0 55 Cabinet -0.913 2.113 1.207 0 0 0 56 Cabinet 1.500 2.113 2.082 0 0 0 57 Cabinet 1.500 2.113 1.207 0 0 0 58 Cabinet 1.500 1.810 2.691 0 0 0 59 Cabinet 1.500 1.810 2.101 0 0 0 60 Cabinet -0.633 0.388 2.105 0 0 0 61 Cabinet -0.911 1.810 2.700 0 180 0 62 Drawer -0.783 0.774 0.915 0 180 0 63 StoveBurner -1.108 0.922 1.865 0 0 0 64 CounterTop -0.972 0.973 0.921 0 0 0 65 Cabinet 1.219 0.388 0.631 0 0 0 66 Sink 1.544 0.869 1.639 0 180 0 67 StoveBurner -0.832 0.922 1.865 0 0 0 68 StoveBurner -0.831 0.922 1.470 0 0 0 69 Drawer 1.370 0.774 0.916 0 0 0 70 Cabinet -0.911 1.810 2.111 0 180 0 71 Fridge -1.001 0.0 0.119 0 0 0 72 StoveKnob -0.648 0.926 1.923 0 270 0 73 StoveKnob -0.648 0.926 1.363 0 270 0 74 StoveKnob -0.648 0.926 1.513 0 270 0 75 StoveKnob -0.648 0.926 1.763 0 270 0 76 Toaster -1.002 0.926 2.561 0 90 0 77 GarbageCan 1.451 -0.029 2.912 0 0 0 78 Microwave 1.632 1.480 1.645 0 270 0 79 Window 0.224 1.601 3.509 90 0 0 80 CoffeeMachine 1.692 0.926 2.453 0 270 0 81 SinkBasin 1.461 0.833 1.369 0 180 0 82 LightSwitch 0.451 1.412 -1.674 0 0 0 83 Faucet 1.707 0.925 1.363 0 270 0 84 NorthWall 85 EastWall 86 SouthWall 87 WestWall
[ "STEP 1: Turn around and find the stove on the left. | STEP 2: Pick up the pot from the back right burner. | STEP 3: Carry the pot and move to the left to find the fridge. | STEP 4: Open the fridge and place the pot inside. Shut the fridge the open it and take the pot out. Shut the door. | STEP 5: Carry the pot and move a few steps right. | STEP 6: Place the pot on the counter, to the right of the fridge. | END" ]
[ [ "STEP 1: Turn around and find the stove on the left. ", " STEP 2: Pick up the pot from the back right burner. ", " STEP 3: Carry the pot and move to the left to find the fridge. ", " STEP 4: Open the fridge and place the pot inside. Shut the fridge the open it and take the pot out. Shut the door. ", " STEP 5: Carry the pot and move a few steps right. ", " STEP 6: Place the pot on the counter, to the right of the fridge. ", " END" ] ]
seen
trial_T20190907_205031_274716-0
Put a tomato in the microwave.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 0.25 0.900 0.25 0 90 0 1 SprayBottle -1.732 0.909 -1.620 0 0 0 70 2 Pen 0.852 0.913 -1.448 0 0 0 72 3 Potato -2.079 0.952 0.463 0 0 0 74 4 Potato 1.302 0.256 1.051 0 0 0 89 5 Ladle -2.201 0.954 0.032 0 0 0 74 6 Kettle -1.431 0.949 -1.525 0 0 0 80 7 ButterKnife -2.201 0.910 0.291 0 0 0 74 8 Glassbottle 0.171 0.115 -1.488 0 90 0 69 9 Glassbottle 1.176 0.912 0.031 0 0 0 72 10 Spatula 0.949 0.788 -1.178 0 90 0 50 11 Spatula 1.035 0.788 0.323 0 90 0 49 12 Cup 1.476 1.367 1.975 0 270 0 91 13 Cup -1.952 1.656 -1.926 0 90 0 53 14 Plate 1.461 1.656 -1.500 0 0 0 64 15 Knife -1.886 0.940 -1.448 0 180 0 70 16 Tomato 1.176 0.951 -0.65 0 0 0 72 17 PepperShaker 1.494 1.157 -1.688 0 0 0 78 18 SaltShaker -0.530 1.650 -1.876 0 0 0 54 19 Lettuce -1.835 0.979 0.291 0 0 0 74 20 Mug 0.771 0.112 -1.680 0 90 0 66 21 Mug 1.376 1.362 2.351 0 270 0 91 22 Apple 1.343 0.945 0.031 0 0 0 72 23 Tomato 1.426 1.407 1.850 0 270 0 91 24 Glassbottle 1.335 1.162 -1.345 0 0 0 78 25 Knife 0.251 0.949 -1.657 0 270 0 51 26 Plate 0.645 1.656 -1.839 0 0 0 61 27 Fork -1.809 0.911 -1.793 0 90 0 70 28 Ladle -0.401 0.955 -1.534 0 90 0 72 29 Potato 1.420 0.256 1.051 0 0 0 89 30 Lettuce -2.323 0.979 0.291 0 0 0 74 31 Kettle 0.770 0.9 -1.836 0 0 0 72 32 Pen -1.765 0.775 -1.500 0 90 0 77 33 SaltShaker -0.996 1.845 -1.802 0 0 0 52 34 Cup -2.107 0.112 -1.487 0 0 0 75 35 Egg 1.505 1.294 0.188 0 270 0 94 36 Spatula -1.957 0.925 0.377 0 0 0 74 37 Bowl -0.685 0.112 -1.632 0 0 0 59 38 SprayBottle -2.193 0.909 -1.965 0 0 0 70 39 Pan -1.079 0.945 -1.528 0 0 0 73 40 SoapBottle -0.627 0.911 -1.789 0 0 0 72 41 Pot -1.081 0.949 -1.81 0 0 0 68 42 ButterKnife 1.260 0.911 -0.309 0 0 0 72 43 PepperShaker -0.748 1.650 -1.839 0 0 0 54 44 DishSponge 1.090 0.114 -0.699 0 0 0 56 45 Bread 1.454 1.240 -1.002 0 0 0 78 46 Apple -1.886 0.945 -1.879 0 0 0 70 47 Spoon 1.101 0.776 0.377 0 90 0 49 48 Mug 1.283 1.651 -1.106 0 0 0 60 49 Drawer 0.860 0.75 0.430 0 0 0 50 Drawer 0.871 0.75 -1.134 0 0 0 51 Sink 0.156 0.817 -1.801 0 270 0 52 Cabinet -0.868 2.005 -1.690 0 0 0 53 Cabinet -1.661 2.059 -1.684 0 90 0 54 Cabinet -0.817 2.059 -1.689 0 0 0 55 Cabinet 0.860 0.402 0.665 0 0 0 56 Cabinet 0.860 0.402 -0.552 0 0 0 57 Cabinet 0.860 0.402 -1.365 0 0 0 58 Cabinet -0.244 0.402 -1.389 0 0 0 59 Cabinet -0.815 0.402 -1.389 0 0 0 60 Cabinet 1.159 2.059 -0.334 0 0 0 61 Cabinet 0.488 2.059 -1.689 0 0 0 62 Cabinet -0.193 2.059 -1.689 0 0 0 63 Drawer 0.860 0.75 -0.699 0 0 0 64 Cabinet 1.159 2.059 -1.019 0 0 0 65 Cabinet -1.611 2.005 -1.690 0 0 0 66 Cabinet 0.832 0.401 -1.393 0 90 0 67 Drawer -2.105 0.75 -1.389 0 0 0 68 StoveBurner -1.081 0.941 -1.809 0 0 0 69 Cabinet -0.202 0.401 -1.391 0 90 0 70 CounterTop -1.973 0.945 -1.707 0 0 0 71 Drawer -0.375 0.75 -1.389 0 0 0 72 CounterTop 1.164 0.946 -0.649 0 0 0 73 StoveBurner -1.081 0.941 -1.527 0 0 0 74 CounterTop -2.096 0.945 0.291 0 0 0 75 Cabinet -2.237 0.402 -1.389 0 0 0 76 Drawer 0.584 0.75 -1.389 0 0 0 77 Drawer -1.795 0.75 -1.389 0 0 0 78 CounterTop 1.5 1.197 -0.654 0 0 0 79 Cabinet -1.667 0.402 -1.389 0 0 0 80 StoveBurner -1.430 0.941 -1.525 0 0 0 81 Drawer -0.685 0.75 -1.389 0 0 0 82 StoveBurner -1.430 0.941 -1.809 0 0 0 83 LightSwitch -2.539 1.289 2.568 0 90 0 84 StoveKnob -1.362 1.095 -1.983 287.970 180 0 85 StoveKnob -0.962 1.095 -1.983 287.970 180 0 86 StoveKnob -1.522 1.095 -1.983 287.970 180 0 87 StoveKnob -1.112 1.095 -1.983 287.970 180 0 88 CoffeeMachine 1.082 0.900 -1.848 0 0 0 89 GarbageCan 1.343 0.015 1.041 0 0 0 90 HousePlant 1.440 1.153 0.593 0 0 0 91 Fridge 1.417 0.0 2.101 0 0 0 92 Window -0.486 1.452 3.302 90 0 0 93 SinkBasin -0.063 0.765 -1.713 0 270 0 94 Microwave 1.422 1.150 0.022 0 270 0 95 Toaster -2.066 0.900 -1.848 0 0 0 96 Stool -1.994 0.010 0.882 0 0 0 97 Faucet -0.096 1.041 -1.867 0 270 0 98 NorthWall 99 EastWall 100 SouthWall 101 WestWall
[ "STEP 1: Move to the right and face the counter. | STEP 2: Pick up the tomato from the counter. | STEP 3: Move to the left and face the microwave. | STEP 4: Put the tomato in the microwave. | END" ]
[ [ "STEP 1: Move to the right and face the counter. ", " STEP 2: Pick up the tomato from the counter. ", " STEP 3: Move to the left and face the microwave. ", " STEP 4: Put the tomato in the microwave. ", " END" ] ]
seen
trial_T20190907_205031_274716-1
Put the tomato into the microwave
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 0.25 0.900 0.25 0 90 0 1 SprayBottle -1.732 0.909 -1.620 0 0 0 70 2 Pen 0.852 0.913 -1.448 0 0 0 72 3 Potato -2.079 0.952 0.463 0 0 0 74 4 Potato 1.302 0.256 1.051 0 0 0 89 5 Ladle -2.201 0.954 0.032 0 0 0 74 6 Kettle -1.431 0.949 -1.525 0 0 0 80 7 ButterKnife -2.201 0.910 0.291 0 0 0 74 8 Glassbottle 0.171 0.115 -1.488 0 90 0 69 9 Glassbottle 1.176 0.912 0.031 0 0 0 72 10 Spatula 0.949 0.788 -1.178 0 90 0 50 11 Spatula 1.035 0.788 0.323 0 90 0 49 12 Cup 1.476 1.367 1.975 0 270 0 91 13 Cup -1.952 1.656 -1.926 0 90 0 53 14 Plate 1.461 1.656 -1.500 0 0 0 64 15 Knife -1.886 0.940 -1.448 0 180 0 70 16 Tomato 1.176 0.951 -0.65 0 0 0 72 17 PepperShaker 1.494 1.157 -1.688 0 0 0 78 18 SaltShaker -0.530 1.650 -1.876 0 0 0 54 19 Lettuce -1.835 0.979 0.291 0 0 0 74 20 Mug 0.771 0.112 -1.680 0 90 0 66 21 Mug 1.376 1.362 2.351 0 270 0 91 22 Apple 1.343 0.945 0.031 0 0 0 72 23 Tomato 1.426 1.407 1.850 0 270 0 91 24 Glassbottle 1.335 1.162 -1.345 0 0 0 78 25 Knife 0.251 0.949 -1.657 0 270 0 51 26 Plate 0.645 1.656 -1.839 0 0 0 61 27 Fork -1.809 0.911 -1.793 0 90 0 70 28 Ladle -0.401 0.955 -1.534 0 90 0 72 29 Potato 1.420 0.256 1.051 0 0 0 89 30 Lettuce -2.323 0.979 0.291 0 0 0 74 31 Kettle 0.770 0.9 -1.836 0 0 0 72 32 Pen -1.765 0.775 -1.500 0 90 0 77 33 SaltShaker -0.996 1.845 -1.802 0 0 0 52 34 Cup -2.107 0.112 -1.487 0 0 0 75 35 Egg 1.505 1.294 0.188 0 270 0 94 36 Spatula -1.957 0.925 0.377 0 0 0 74 37 Bowl -0.685 0.112 -1.632 0 0 0 59 38 SprayBottle -2.193 0.909 -1.965 0 0 0 70 39 Pan -1.079 0.945 -1.528 0 0 0 73 40 SoapBottle -0.627 0.911 -1.789 0 0 0 72 41 Pot -1.081 0.949 -1.81 0 0 0 68 42 ButterKnife 1.260 0.911 -0.309 0 0 0 72 43 PepperShaker -0.748 1.650 -1.839 0 0 0 54 44 DishSponge 1.090 0.114 -0.699 0 0 0 56 45 Bread 1.454 1.240 -1.002 0 0 0 78 46 Apple -1.886 0.945 -1.879 0 0 0 70 47 Spoon 1.101 0.776 0.377 0 90 0 49 48 Mug 1.283 1.651 -1.106 0 0 0 60 49 Drawer 0.860 0.75 0.430 0 0 0 50 Drawer 0.871 0.75 -1.134 0 0 0 51 Sink 0.156 0.817 -1.801 0 270 0 52 Cabinet -0.868 2.005 -1.690 0 0 0 53 Cabinet -1.661 2.059 -1.684 0 90 0 54 Cabinet -0.817 2.059 -1.689 0 0 0 55 Cabinet 0.860 0.402 0.665 0 0 0 56 Cabinet 0.860 0.402 -0.552 0 0 0 57 Cabinet 0.860 0.402 -1.365 0 0 0 58 Cabinet -0.244 0.402 -1.389 0 0 0 59 Cabinet -0.815 0.402 -1.389 0 0 0 60 Cabinet 1.159 2.059 -0.334 0 0 0 61 Cabinet 0.488 2.059 -1.689 0 0 0 62 Cabinet -0.193 2.059 -1.689 0 0 0 63 Drawer 0.860 0.75 -0.699 0 0 0 64 Cabinet 1.159 2.059 -1.019 0 0 0 65 Cabinet -1.611 2.005 -1.690 0 0 0 66 Cabinet 0.832 0.401 -1.393 0 90 0 67 Drawer -2.105 0.75 -1.389 0 0 0 68 StoveBurner -1.081 0.941 -1.809 0 0 0 69 Cabinet -0.202 0.401 -1.391 0 90 0 70 CounterTop -1.973 0.945 -1.707 0 0 0 71 Drawer -0.375 0.75 -1.389 0 0 0 72 CounterTop 1.164 0.946 -0.649 0 0 0 73 StoveBurner -1.081 0.941 -1.527 0 0 0 74 CounterTop -2.096 0.945 0.291 0 0 0 75 Cabinet -2.237 0.402 -1.389 0 0 0 76 Drawer 0.584 0.75 -1.389 0 0 0 77 Drawer -1.795 0.75 -1.389 0 0 0 78 CounterTop 1.5 1.197 -0.654 0 0 0 79 Cabinet -1.667 0.402 -1.389 0 0 0 80 StoveBurner -1.430 0.941 -1.525 0 0 0 81 Drawer -0.685 0.75 -1.389 0 0 0 82 StoveBurner -1.430 0.941 -1.809 0 0 0 83 LightSwitch -2.539 1.289 2.568 0 90 0 84 StoveKnob -1.362 1.095 -1.983 287.970 180 0 85 StoveKnob -0.962 1.095 -1.983 287.970 180 0 86 StoveKnob -1.522 1.095 -1.983 287.970 180 0 87 StoveKnob -1.112 1.095 -1.983 287.970 180 0 88 CoffeeMachine 1.082 0.900 -1.848 0 0 0 89 GarbageCan 1.343 0.015 1.041 0 0 0 90 HousePlant 1.440 1.153 0.593 0 0 0 91 Fridge 1.417 0.0 2.101 0 0 0 92 Window -0.486 1.452 3.302 90 0 0 93 SinkBasin -0.063 0.765 -1.713 0 270 0 94 Microwave 1.422 1.150 0.022 0 270 0 95 Toaster -2.066 0.900 -1.848 0 0 0 96 Stool -1.994 0.010 0.882 0 0 0 97 Faucet -0.096 1.041 -1.867 0 270 0 98 NorthWall 99 EastWall 100 SouthWall 101 WestWall
[ "STEP 1: Turn right and walk a few feet then turn left to face the kitchen counter | STEP 2: Pick up the tomato from the counter | STEP 3: Turn and walk a few feet left then turn right to face the microwave | STEP 4: Put the tomato into the microwave | END" ]
[ [ "STEP 1: Turn right and walk a few feet then turn left to face the kitchen counter ", " STEP 2: Pick up the tomato from the counter ", " STEP 3: Turn and walk a few feet left then turn right to face the microwave ", " STEP 4: Put the tomato into the microwave ", " END" ] ]
seen
trial_T20190907_205031_274716-2
Pick up tomato and place in microwave.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 0.25 0.900 0.25 0 90 0 1 SprayBottle -1.732 0.909 -1.620 0 0 0 70 2 Pen 0.852 0.913 -1.448 0 0 0 72 3 Potato -2.079 0.952 0.463 0 0 0 74 4 Potato 1.302 0.256 1.051 0 0 0 89 5 Ladle -2.201 0.954 0.032 0 0 0 74 6 Kettle -1.431 0.949 -1.525 0 0 0 80 7 ButterKnife -2.201 0.910 0.291 0 0 0 74 8 Glassbottle 0.171 0.115 -1.488 0 90 0 69 9 Glassbottle 1.176 0.912 0.031 0 0 0 72 10 Spatula 0.949 0.788 -1.178 0 90 0 50 11 Spatula 1.035 0.788 0.323 0 90 0 49 12 Cup 1.476 1.367 1.975 0 270 0 91 13 Cup -1.952 1.656 -1.926 0 90 0 53 14 Plate 1.461 1.656 -1.500 0 0 0 64 15 Knife -1.886 0.940 -1.448 0 180 0 70 16 Tomato 1.176 0.951 -0.65 0 0 0 72 17 PepperShaker 1.494 1.157 -1.688 0 0 0 78 18 SaltShaker -0.530 1.650 -1.876 0 0 0 54 19 Lettuce -1.835 0.979 0.291 0 0 0 74 20 Mug 0.771 0.112 -1.680 0 90 0 66 21 Mug 1.376 1.362 2.351 0 270 0 91 22 Apple 1.343 0.945 0.031 0 0 0 72 23 Tomato 1.426 1.407 1.850 0 270 0 91 24 Glassbottle 1.335 1.162 -1.345 0 0 0 78 25 Knife 0.251 0.949 -1.657 0 270 0 51 26 Plate 0.645 1.656 -1.839 0 0 0 61 27 Fork -1.809 0.911 -1.793 0 90 0 70 28 Ladle -0.401 0.955 -1.534 0 90 0 72 29 Potato 1.420 0.256 1.051 0 0 0 89 30 Lettuce -2.323 0.979 0.291 0 0 0 74 31 Kettle 0.770 0.9 -1.836 0 0 0 72 32 Pen -1.765 0.775 -1.500 0 90 0 77 33 SaltShaker -0.996 1.845 -1.802 0 0 0 52 34 Cup -2.107 0.112 -1.487 0 0 0 75 35 Egg 1.505 1.294 0.188 0 270 0 94 36 Spatula -1.957 0.925 0.377 0 0 0 74 37 Bowl -0.685 0.112 -1.632 0 0 0 59 38 SprayBottle -2.193 0.909 -1.965 0 0 0 70 39 Pan -1.079 0.945 -1.528 0 0 0 73 40 SoapBottle -0.627 0.911 -1.789 0 0 0 72 41 Pot -1.081 0.949 -1.81 0 0 0 68 42 ButterKnife 1.260 0.911 -0.309 0 0 0 72 43 PepperShaker -0.748 1.650 -1.839 0 0 0 54 44 DishSponge 1.090 0.114 -0.699 0 0 0 56 45 Bread 1.454 1.240 -1.002 0 0 0 78 46 Apple -1.886 0.945 -1.879 0 0 0 70 47 Spoon 1.101 0.776 0.377 0 90 0 49 48 Mug 1.283 1.651 -1.106 0 0 0 60 49 Drawer 0.860 0.75 0.430 0 0 0 50 Drawer 0.871 0.75 -1.134 0 0 0 51 Sink 0.156 0.817 -1.801 0 270 0 52 Cabinet -0.868 2.005 -1.690 0 0 0 53 Cabinet -1.661 2.059 -1.684 0 90 0 54 Cabinet -0.817 2.059 -1.689 0 0 0 55 Cabinet 0.860 0.402 0.665 0 0 0 56 Cabinet 0.860 0.402 -0.552 0 0 0 57 Cabinet 0.860 0.402 -1.365 0 0 0 58 Cabinet -0.244 0.402 -1.389 0 0 0 59 Cabinet -0.815 0.402 -1.389 0 0 0 60 Cabinet 1.159 2.059 -0.334 0 0 0 61 Cabinet 0.488 2.059 -1.689 0 0 0 62 Cabinet -0.193 2.059 -1.689 0 0 0 63 Drawer 0.860 0.75 -0.699 0 0 0 64 Cabinet 1.159 2.059 -1.019 0 0 0 65 Cabinet -1.611 2.005 -1.690 0 0 0 66 Cabinet 0.832 0.401 -1.393 0 90 0 67 Drawer -2.105 0.75 -1.389 0 0 0 68 StoveBurner -1.081 0.941 -1.809 0 0 0 69 Cabinet -0.202 0.401 -1.391 0 90 0 70 CounterTop -1.973 0.945 -1.707 0 0 0 71 Drawer -0.375 0.75 -1.389 0 0 0 72 CounterTop 1.164 0.946 -0.649 0 0 0 73 StoveBurner -1.081 0.941 -1.527 0 0 0 74 CounterTop -2.096 0.945 0.291 0 0 0 75 Cabinet -2.237 0.402 -1.389 0 0 0 76 Drawer 0.584 0.75 -1.389 0 0 0 77 Drawer -1.795 0.75 -1.389 0 0 0 78 CounterTop 1.5 1.197 -0.654 0 0 0 79 Cabinet -1.667 0.402 -1.389 0 0 0 80 StoveBurner -1.430 0.941 -1.525 0 0 0 81 Drawer -0.685 0.75 -1.389 0 0 0 82 StoveBurner -1.430 0.941 -1.809 0 0 0 83 LightSwitch -2.539 1.289 2.568 0 90 0 84 StoveKnob -1.362 1.095 -1.983 287.970 180 0 85 StoveKnob -0.962 1.095 -1.983 287.970 180 0 86 StoveKnob -1.522 1.095 -1.983 287.970 180 0 87 StoveKnob -1.112 1.095 -1.983 287.970 180 0 88 CoffeeMachine 1.082 0.900 -1.848 0 0 0 89 GarbageCan 1.343 0.015 1.041 0 0 0 90 HousePlant 1.440 1.153 0.593 0 0 0 91 Fridge 1.417 0.0 2.101 0 0 0 92 Window -0.486 1.452 3.302 90 0 0 93 SinkBasin -0.063 0.765 -1.713 0 270 0 94 Microwave 1.422 1.150 0.022 0 270 0 95 Toaster -2.066 0.900 -1.848 0 0 0 96 Stool -1.994 0.010 0.882 0 0 0 97 Faucet -0.096 1.041 -1.867 0 270 0 98 NorthWall 99 EastWall 100 SouthWall 101 WestWall
[ "STEP 1: Turn right, go towards sink. Turn left to face counter top with tomato on it. | STEP 2: Pick up tomato from counter. | STEP 3: Turn left, carry tomato to counter with microwave on it on the right. | STEP 4: Open microwave, put tomato on plate to the right of egg, on the right side of the plate. Close the microwave. | END" ]
[ [ "STEP 1: Turn right, go towards sink. Turn left to face counter top with tomato on it. ", " STEP 2: Pick up tomato from counter. ", " STEP 3: Turn left, carry tomato to counter with microwave on it on the right. ", " STEP 4: Open microwave, put tomato on plate to the right of egg, on the right side of the plate. Close the microwave. ", " END" ] ]
seen
trial_T20190909_054057_376864-0
pick up knife, cut bread, cook bread in microwave, place bread into 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 1.75 0.900 -1.25 0 270 0 1 Statue 0.079 1.110 -0.001 0 270 0 59 2 Potato -1.880 0.078 1.885 0 270 0 90 3 CreditCard -1.733 0.908 -2.713 0 0 0 84 4 CreditCard -1.438 0.908 -2.329 0 0 0 84 5 Plate -0.912 0.133 -2.402 0 0 0 77 6 Cup -1.143 0.909 -2.637 0 0 0 84 7 Egg 0.324 0.945 -2.714 0 0 0 61 8 Egg -2.038 0.575 1.168 0 90 0 92 9 Tomato -2.162 0.837 1.334 0 90 0 92 10 SaltShaker -1.864 0.126 0.294 0 90 0 65 11 SaltShaker 1.685 0.549 -2.718 0 180 0 89 12 PepperShaker -1.296 0.133 -2.352 0 0 0 77 13 Knife -1.586 0.936 -2.406 0 0 0 84 14 Spoon -0.197 1.112 -0.506 0 0 0 59 15 Mug -2.081 1.497 1.260 0 90 0 92 16 Spatula 0.355 1.126 -0.253 0 0 0 59 17 Spatula 0.969 0.925 -2.560 0 0 0 61 18 Pot -0.465 0.950 -2.576 0 90 0 68 19 ButterKnife -1.852 0.769 -1.328 0 270 0 94 20 Glassbottle -0.197 1.112 0.757 0 0 0 59 21 Glassbottle -2.018 0.770 -1.760 0 90 0 94 22 DishSponge -1.512 1.657 -2.531 0 0 0 75 23 Bowl -2.114 1.305 1.008 0 90 0 92 24 Book 0.155 1.1 0.617 0 315 0 59 25 Glassbottle -1.962 0.048 2.076 0 270 0 90 26 Knife -0.335 1.136 -0.001 0 0 0 59 27 Bread 0.355 1.184 -0.506 0 0 0 59 28 Fork -1.586 0.911 -2.560 0 0 0 84 29 Potato 0.324 0.941 -2.407 0 0 0 61 30 SoapBottle 1.482 0.881 -2.509 0 180 0 86 31 Kettle -0.473 1.112 0.757 0 0 0 59 32 Pan 0.721 0.9 -2.415 0 0 0 61 33 Plate 0.505 1.656 -2.596 0 0 0 83 34 Tomato -2.162 0.837 1.085 0 90 0 92 35 Vase -0.335 1.113 0.251 0 0 0 59 36 Egg -0.197 1.146 -0.253 0 0 0 59 37 CreditCard 0.217 1.108 -0.001 0 0 0 59 38 Statue 0.079 1.110 -0.759 0 0 0 59 39 WineBottle -1.805 0.137 -1.273 0 90 0 60 40 Pot -0.036 0.950 -2.576 0 270 0 62 41 Spatula 0.217 1.126 0.251 0 180 0 59 42 PaperTowelRoll 1.098 1.014 -2.714 0 0 0 61 43 Cup -0.898 1.654 -2.568 0 0 0 73 44 Vase -1.655 0.133 -1.389 0 90 0 60 45 Bowl -1.852 0.766 -1.414 0 90 0 94 46 SaltShaker 2.096 0.877 -2.509 0 180 0 86 47 PepperShaker -1.824 0.474 -0.245 0 90 0 74 48 Lettuce -1.693 0.991 -0.698 0 0 0 84 49 ButterKnife 0.582 0.910 -2.407 0 0 0 61 50 Apple -1.693 0.961 -2.256 0 0 0 84 51 DishSponge -1.797 0.769 -1.673 0 90 0 94 52 Spoon -1.774 0.912 -2.146 0 0 0 84 53 Mug 0.453 0.905 -2.714 0 0 0 61 54 StoveBurner -0.036 0.915 -2.372 0 0 0 55 Drawer 0.949 0.832 -2.197 0 0 0 56 Drawer -1.560 0.839 0.204 0 90 0 57 StoveBurner -0.465 0.915 -2.371 0 180 0 58 Drawer -1.560 0.839 -0.197 0 90 0 59 CounterTop -0.079 1.147 -0.001 0 0 0 60 Cabinet -1.549 0.494 -1.964 0 90 0 61 CounterTop 0.693 0.946 -2.483 0 0 0 62 StoveBurner -0.036 0.915 -2.576 0 0 0 63 Drawer 0.949 0.393 -2.200 0 0 0 64 Drawer 0.949 0.708 -2.200 0 0 0 65 Cabinet -1.549 0.494 0.379 0 90 0 66 StoveKnob -0.022 0.881 -2.187 45 0 0 67 Drawer 0.949 0.560 -2.201 0 0 0 68 StoveBurner -0.465 0.915 -2.575 0 180 0 69 Window -2.230 1.429 -1.203 0 0 0 70 StoveKnob -0.483 0.881 -2.187 45 0 0 71 Sink -1.899 0.964 -1.5 0 90 0 72 StoveKnob -0.328 0.881 -2.187 45 0 0 73 Cabinet -0.727 2.015 -2.460 0 0 0 74 Drawer -1.560 0.655 -0.196 0 90 0 75 Cabinet -1.685 2.015 -2.461 0 0 0 76 Cabinet 0.680 0.494 -2.200 0 0 0 77 Cabinet -1.179 0.494 -2.200 0 0 0 78 Cabinet -1.849 2.015 0.379 0 90 0 79 Drawer 0.949 0.221 -2.200 0 0 0 80 StoveKnob -0.183 0.881 -2.187 45 0 0 81 Cabinet 0.719 2.015 -2.460 0 0 0 82 Drawer -1.560 0.331 -0.196 0 90 0 83 Cabinet 0.680 2.015 -2.460 0 0 0 84 CounterTop -1.868 0.946 -1.205 0 0 0 85 Microwave -0.236 1.689 -2.525 0 0 0 86 Shelf 1.751 0.880 -2.560 0 0 0 87 HousePlant -1.948 0.889 -2.520 0 5.334 0 88 Toaster -1.835 0.900 0.134 0 90 0 89 Shelf 1.750 0.552 -2.559 0 0 0 90 GarbageCan -1.935 -0.002 2.029 0 270 0 91 Shelf 1.750 0.172 -2.559 0 0 0 92 Fridge -2.096 0.0 1.088 0 0 0 93 CoffeeMachine -1.977 0.900 -0.188 0 90 0 94 SinkBasin -1.908 0.759 -1.488 0 90 0 95 LightSwitch 2.329 1.309 -0.159 0 270 0 96 ShelvingUnit 1.750 0.006 -2.559 0 0 0 97 Stool 0.702 0.000 -0.514 1.202 65.108 0 98 Stool 0.743 0.000 0.563 1.227 106.706 0 99 Faucet -2.070 1.132 -1.514 0 0 0 100 NorthWall 101 EastWall 102 SouthWall 103 WestWall
[ "STEP 1: walk straight , turn left to counter | STEP 2: pick up knife from the counter | STEP 3: turn around to the island counter | STEP 4: slice in to the bread with the knife | STEP 5: turn around and walk to the microwave | STEP 6: open microwave door, place knife into microwave, close door | STEP 7: turn to the left, turn left to the island counter | STEP 8: pick up slice of bread from the counter | STEP 9: turn around and walk to the microwave | STEP 10: open microwave door, place bread in, close door, cook, open door, remove bread, close door | STEP 11: turn right, turn right, walk straight, turn left to the trash can | STEP 12: place bread into the trash can | END" ]
[ [ "STEP 1: walk straight , turn left to counter ", " STEP 2: pick up knife from the counter ", " STEP 3: turn around to the island counter ", " STEP 4: slice in to the bread with the knife ", " STEP 5: turn around and walk to the microwave ", " STEP 6: open microwave door, place knife into microwave, close door ", " STEP 7: turn to the left, turn left to the island counter ", " STEP 8: pick up slice of bread from the counter ", " STEP 9: turn around and walk to the microwave ", " STEP 10: open microwave door, place bread in, close door, cook, open door, remove bread, close door ", " STEP 11: turn right, turn right, walk straight, turn left to the trash can ", " STEP 12: place bread into the trash can ", " END" ] ]
seen
trial_T20190909_054057_376864-1
Slice a bread, cook a slice and put it in the bin
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 1.75 0.900 -1.25 0 270 0 1 Statue 0.079 1.110 -0.001 0 270 0 59 2 Potato -1.880 0.078 1.885 0 270 0 90 3 CreditCard -1.733 0.908 -2.713 0 0 0 84 4 CreditCard -1.438 0.908 -2.329 0 0 0 84 5 Plate -0.912 0.133 -2.402 0 0 0 77 6 Cup -1.143 0.909 -2.637 0 0 0 84 7 Egg 0.324 0.945 -2.714 0 0 0 61 8 Egg -2.038 0.575 1.168 0 90 0 92 9 Tomato -2.162 0.837 1.334 0 90 0 92 10 SaltShaker -1.864 0.126 0.294 0 90 0 65 11 SaltShaker 1.685 0.549 -2.718 0 180 0 89 12 PepperShaker -1.296 0.133 -2.352 0 0 0 77 13 Knife -1.586 0.936 -2.406 0 0 0 84 14 Spoon -0.197 1.112 -0.506 0 0 0 59 15 Mug -2.081 1.497 1.260 0 90 0 92 16 Spatula 0.355 1.126 -0.253 0 0 0 59 17 Spatula 0.969 0.925 -2.560 0 0 0 61 18 Pot -0.465 0.950 -2.576 0 90 0 68 19 ButterKnife -1.852 0.769 -1.328 0 270 0 94 20 Glassbottle -0.197 1.112 0.757 0 0 0 59 21 Glassbottle -2.018 0.770 -1.760 0 90 0 94 22 DishSponge -1.512 1.657 -2.531 0 0 0 75 23 Bowl -2.114 1.305 1.008 0 90 0 92 24 Book 0.155 1.1 0.617 0 315 0 59 25 Glassbottle -1.962 0.048 2.076 0 270 0 90 26 Knife -0.335 1.136 -0.001 0 0 0 59 27 Bread 0.355 1.184 -0.506 0 0 0 59 28 Fork -1.586 0.911 -2.560 0 0 0 84 29 Potato 0.324 0.941 -2.407 0 0 0 61 30 SoapBottle 1.482 0.881 -2.509 0 180 0 86 31 Kettle -0.473 1.112 0.757 0 0 0 59 32 Pan 0.721 0.9 -2.415 0 0 0 61 33 Plate 0.505 1.656 -2.596 0 0 0 83 34 Tomato -2.162 0.837 1.085 0 90 0 92 35 Vase -0.335 1.113 0.251 0 0 0 59 36 Egg -0.197 1.146 -0.253 0 0 0 59 37 CreditCard 0.217 1.108 -0.001 0 0 0 59 38 Statue 0.079 1.110 -0.759 0 0 0 59 39 WineBottle -1.805 0.137 -1.273 0 90 0 60 40 Pot -0.036 0.950 -2.576 0 270 0 62 41 Spatula 0.217 1.126 0.251 0 180 0 59 42 PaperTowelRoll 1.098 1.014 -2.714 0 0 0 61 43 Cup -0.898 1.654 -2.568 0 0 0 73 44 Vase -1.655 0.133 -1.389 0 90 0 60 45 Bowl -1.852 0.766 -1.414 0 90 0 94 46 SaltShaker 2.096 0.877 -2.509 0 180 0 86 47 PepperShaker -1.824 0.474 -0.245 0 90 0 74 48 Lettuce -1.693 0.991 -0.698 0 0 0 84 49 ButterKnife 0.582 0.910 -2.407 0 0 0 61 50 Apple -1.693 0.961 -2.256 0 0 0 84 51 DishSponge -1.797 0.769 -1.673 0 90 0 94 52 Spoon -1.774 0.912 -2.146 0 0 0 84 53 Mug 0.453 0.905 -2.714 0 0 0 61 54 StoveBurner -0.036 0.915 -2.372 0 0 0 55 Drawer 0.949 0.832 -2.197 0 0 0 56 Drawer -1.560 0.839 0.204 0 90 0 57 StoveBurner -0.465 0.915 -2.371 0 180 0 58 Drawer -1.560 0.839 -0.197 0 90 0 59 CounterTop -0.079 1.147 -0.001 0 0 0 60 Cabinet -1.549 0.494 -1.964 0 90 0 61 CounterTop 0.693 0.946 -2.483 0 0 0 62 StoveBurner -0.036 0.915 -2.576 0 0 0 63 Drawer 0.949 0.393 -2.200 0 0 0 64 Drawer 0.949 0.708 -2.200 0 0 0 65 Cabinet -1.549 0.494 0.379 0 90 0 66 StoveKnob -0.022 0.881 -2.187 45 0 0 67 Drawer 0.949 0.560 -2.201 0 0 0 68 StoveBurner -0.465 0.915 -2.575 0 180 0 69 Window -2.230 1.429 -1.203 0 0 0 70 StoveKnob -0.483 0.881 -2.187 45 0 0 71 Sink -1.899 0.964 -1.5 0 90 0 72 StoveKnob -0.328 0.881 -2.187 45 0 0 73 Cabinet -0.727 2.015 -2.460 0 0 0 74 Drawer -1.560 0.655 -0.196 0 90 0 75 Cabinet -1.685 2.015 -2.461 0 0 0 76 Cabinet 0.680 0.494 -2.200 0 0 0 77 Cabinet -1.179 0.494 -2.200 0 0 0 78 Cabinet -1.849 2.015 0.379 0 90 0 79 Drawer 0.949 0.221 -2.200 0 0 0 80 StoveKnob -0.183 0.881 -2.187 45 0 0 81 Cabinet 0.719 2.015 -2.460 0 0 0 82 Drawer -1.560 0.331 -0.196 0 90 0 83 Cabinet 0.680 2.015 -2.460 0 0 0 84 CounterTop -1.868 0.946 -1.205 0 0 0 85 Microwave -0.236 1.689 -2.525 0 0 0 86 Shelf 1.751 0.880 -2.560 0 0 0 87 HousePlant -1.948 0.889 -2.520 0 5.334 0 88 Toaster -1.835 0.900 0.134 0 90 0 89 Shelf 1.750 0.552 -2.559 0 0 0 90 GarbageCan -1.935 -0.002 2.029 0 270 0 91 Shelf 1.750 0.172 -2.559 0 0 0 92 Fridge -2.096 0.0 1.088 0 0 0 93 CoffeeMachine -1.977 0.900 -0.188 0 90 0 94 SinkBasin -1.908 0.759 -1.488 0 90 0 95 LightSwitch 2.329 1.309 -0.159 0 270 0 96 ShelvingUnit 1.750 0.006 -2.559 0 0 0 97 Stool 0.702 0.000 -0.514 1.202 65.108 0 98 Stool 0.743 0.000 0.563 1.227 106.706 0 99 Faucet -2.070 1.132 -1.514 0 0 0 100 NorthWall 101 EastWall 102 SouthWall 103 WestWall
[ "STEP 1: Go forward, turn left at the counter | STEP 2: Pick up the knife from the counter | STEP 3: Turn around, go to the table | STEP 4: Slice the bread on the table | STEP 5: Turn around, go to the microwave | STEP 6: Put the knife in the microwave | STEP 7: Turn around go to the table | STEP 8: Pick up a bread slice from the table | STEP 9: Turn around, go to the microwave | STEP 10: \nPut the bread slice in the microwave, start the microwave, wait, pick up the bread slice from the microwave | STEP 11: Turn right, go forward, turn right, go forward, turn left to the bin | STEP 12: Put the bread slice in the bin | END" ]
[ [ "STEP 1: Go forward, turn left at the counter ", " STEP 2: Pick up the knife from the counter ", " STEP 3: Turn around, go to the table ", " STEP 4: Slice the bread on the table ", " STEP 5: Turn around, go to the microwave ", " STEP 6: Put the knife in the microwave ", " STEP 7: Turn around go to the table ", " STEP 8: Pick up a bread slice from the table ", " STEP 9: Turn around, go to the microwave ", " STEP 10: \nPut the bread slice in the microwave, start the microwave, wait, pick up the bread slice from the microwave ", " STEP 11: Turn right, go forward, turn right, go forward, turn left to the bin ", " STEP 12: Put the bread slice in the bin ", " END" ] ]
seen
trial_T20190909_054057_376864-2
Put a hot slice of bread in the trash.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 1.75 0.900 -1.25 0 270 0 1 Statue 0.079 1.110 -0.001 0 270 0 59 2 Potato -1.880 0.078 1.885 0 270 0 90 3 CreditCard -1.733 0.908 -2.713 0 0 0 84 4 CreditCard -1.438 0.908 -2.329 0 0 0 84 5 Plate -0.912 0.133 -2.402 0 0 0 77 6 Cup -1.143 0.909 -2.637 0 0 0 84 7 Egg 0.324 0.945 -2.714 0 0 0 61 8 Egg -2.038 0.575 1.168 0 90 0 92 9 Tomato -2.162 0.837 1.334 0 90 0 92 10 SaltShaker -1.864 0.126 0.294 0 90 0 65 11 SaltShaker 1.685 0.549 -2.718 0 180 0 89 12 PepperShaker -1.296 0.133 -2.352 0 0 0 77 13 Knife -1.586 0.936 -2.406 0 0 0 84 14 Spoon -0.197 1.112 -0.506 0 0 0 59 15 Mug -2.081 1.497 1.260 0 90 0 92 16 Spatula 0.355 1.126 -0.253 0 0 0 59 17 Spatula 0.969 0.925 -2.560 0 0 0 61 18 Pot -0.465 0.950 -2.576 0 90 0 68 19 ButterKnife -1.852 0.769 -1.328 0 270 0 94 20 Glassbottle -0.197 1.112 0.757 0 0 0 59 21 Glassbottle -2.018 0.770 -1.760 0 90 0 94 22 DishSponge -1.512 1.657 -2.531 0 0 0 75 23 Bowl -2.114 1.305 1.008 0 90 0 92 24 Book 0.155 1.1 0.617 0 315 0 59 25 Glassbottle -1.962 0.048 2.076 0 270 0 90 26 Knife -0.335 1.136 -0.001 0 0 0 59 27 Bread 0.355 1.184 -0.506 0 0 0 59 28 Fork -1.586 0.911 -2.560 0 0 0 84 29 Potato 0.324 0.941 -2.407 0 0 0 61 30 SoapBottle 1.482 0.881 -2.509 0 180 0 86 31 Kettle -0.473 1.112 0.757 0 0 0 59 32 Pan 0.721 0.9 -2.415 0 0 0 61 33 Plate 0.505 1.656 -2.596 0 0 0 83 34 Tomato -2.162 0.837 1.085 0 90 0 92 35 Vase -0.335 1.113 0.251 0 0 0 59 36 Egg -0.197 1.146 -0.253 0 0 0 59 37 CreditCard 0.217 1.108 -0.001 0 0 0 59 38 Statue 0.079 1.110 -0.759 0 0 0 59 39 WineBottle -1.805 0.137 -1.273 0 90 0 60 40 Pot -0.036 0.950 -2.576 0 270 0 62 41 Spatula 0.217 1.126 0.251 0 180 0 59 42 PaperTowelRoll 1.098 1.014 -2.714 0 0 0 61 43 Cup -0.898 1.654 -2.568 0 0 0 73 44 Vase -1.655 0.133 -1.389 0 90 0 60 45 Bowl -1.852 0.766 -1.414 0 90 0 94 46 SaltShaker 2.096 0.877 -2.509 0 180 0 86 47 PepperShaker -1.824 0.474 -0.245 0 90 0 74 48 Lettuce -1.693 0.991 -0.698 0 0 0 84 49 ButterKnife 0.582 0.910 -2.407 0 0 0 61 50 Apple -1.693 0.961 -2.256 0 0 0 84 51 DishSponge -1.797 0.769 -1.673 0 90 0 94 52 Spoon -1.774 0.912 -2.146 0 0 0 84 53 Mug 0.453 0.905 -2.714 0 0 0 61 54 StoveBurner -0.036 0.915 -2.372 0 0 0 55 Drawer 0.949 0.832 -2.197 0 0 0 56 Drawer -1.560 0.839 0.204 0 90 0 57 StoveBurner -0.465 0.915 -2.371 0 180 0 58 Drawer -1.560 0.839 -0.197 0 90 0 59 CounterTop -0.079 1.147 -0.001 0 0 0 60 Cabinet -1.549 0.494 -1.964 0 90 0 61 CounterTop 0.693 0.946 -2.483 0 0 0 62 StoveBurner -0.036 0.915 -2.576 0 0 0 63 Drawer 0.949 0.393 -2.200 0 0 0 64 Drawer 0.949 0.708 -2.200 0 0 0 65 Cabinet -1.549 0.494 0.379 0 90 0 66 StoveKnob -0.022 0.881 -2.187 45 0 0 67 Drawer 0.949 0.560 -2.201 0 0 0 68 StoveBurner -0.465 0.915 -2.575 0 180 0 69 Window -2.230 1.429 -1.203 0 0 0 70 StoveKnob -0.483 0.881 -2.187 45 0 0 71 Sink -1.899 0.964 -1.5 0 90 0 72 StoveKnob -0.328 0.881 -2.187 45 0 0 73 Cabinet -0.727 2.015 -2.460 0 0 0 74 Drawer -1.560 0.655 -0.196 0 90 0 75 Cabinet -1.685 2.015 -2.461 0 0 0 76 Cabinet 0.680 0.494 -2.200 0 0 0 77 Cabinet -1.179 0.494 -2.200 0 0 0 78 Cabinet -1.849 2.015 0.379 0 90 0 79 Drawer 0.949 0.221 -2.200 0 0 0 80 StoveKnob -0.183 0.881 -2.187 45 0 0 81 Cabinet 0.719 2.015 -2.460 0 0 0 82 Drawer -1.560 0.331 -0.196 0 90 0 83 Cabinet 0.680 2.015 -2.460 0 0 0 84 CounterTop -1.868 0.946 -1.205 0 0 0 85 Microwave -0.236 1.689 -2.525 0 0 0 86 Shelf 1.751 0.880 -2.560 0 0 0 87 HousePlant -1.948 0.889 -2.520 0 5.334 0 88 Toaster -1.835 0.900 0.134 0 90 0 89 Shelf 1.750 0.552 -2.559 0 0 0 90 GarbageCan -1.935 -0.002 2.029 0 270 0 91 Shelf 1.750 0.172 -2.559 0 0 0 92 Fridge -2.096 0.0 1.088 0 0 0 93 CoffeeMachine -1.977 0.900 -0.188 0 90 0 94 SinkBasin -1.908 0.759 -1.488 0 90 0 95 LightSwitch 2.329 1.309 -0.159 0 270 0 96 ShelvingUnit 1.750 0.006 -2.559 0 0 0 97 Stool 0.702 0.000 -0.514 1.202 65.108 0 98 Stool 0.743 0.000 0.563 1.227 106.706 0 99 Faucet -2.070 1.132 -1.514 0 0 0 100 NorthWall 101 EastWall 102 SouthWall 103 WestWall
[ "STEP 1: Go to the counter to the left of the stove. | STEP 2: Pick up the butter knife to the left of the potato. | STEP 3: Go to the island near the loaf of bread next to the silver hand. | STEP 4: Slice the loaf of bread on the island. | STEP 5: Take the butter knife to the microwave. | STEP 6: Put the butter knife in the microwave. | STEP 7: Go back to the end of the island with the sliced bread. | STEP 8: Pick up a slice of bread. | STEP 9: Go to the microwave. | STEP 10: Heat the slice in the microwave. | STEP 11: Go to the trash on the right of the fridge. | STEP 12: Put the hot bread in the trash. | END" ]
[ [ "STEP 1: Go to the counter to the left of the stove. ", " STEP 2: Pick up the butter knife to the left of the potato. ", " STEP 3: Go to the island near the loaf of bread next to the silver hand. ", " STEP 4: Slice the loaf of bread on the island. ", " STEP 5: Take the butter knife to the microwave. ", " STEP 6: Put the butter knife in the microwave. ", " STEP 7: Go back to the end of the island with the sliced bread. ", " STEP 8: Pick up a slice of bread. ", " STEP 9: Go to the microwave. ", " STEP 10: Heat the slice in the microwave. ", " STEP 11: Go to the trash on the right of the fridge. ", " STEP 12: Put the hot bread in the trash. ", " END" ] ]
seen
trial_T20190912_065413_070433-0
cool the tomato in the refrigerator, put the tomato in the microwave
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 0.5 0.908 1.5 0 270 0 1 SprayBottle -1.325 2.152 0.763 0 0 0 69 2 SprayBottle 1.245 0.085 1.377 0 0 0 91 3 CellPhone 1.049 0.909 0.706 0 0 0 70 4 DishSponge 1.155 0.776 0.701 0 0 0 82 5 ButterKnife 1.367 0.886 2.584 0 0 0 102 6 Glassbottle -1.194 0.342 1.302 0 90 0 90 7 Glassbottle 1.414 0.086 1.472 0 0 0 91 8 WineBottle -1.383 0.750 2.087 0 0 0 51 9 Kettle 0.502 0.939 -0.740 0 90 0 77 10 Kettle 0.802 0.939 -0.740 0 90 0 79 11 Spoon 1.034 0.887 2.800 0 0 0 102 12 Spoon -1.156 0.777 -0.136 0 270 0 74 13 Spatula 1.207 0.926 -0.144 0 90 0 70 14 Spatula -1.012 0.763 2.644 0 90 0 51 15 Egg -1.206 1.455 0.673 0 90 0 90 16 Egg -1.263 1.049 -0.005 0 90 0 96 17 Cup 1.034 0.885 2.153 0 0 0 102 18 Knife 1.286 0.933 0.422 0 180 0 70 19 Knife 1.284 0.908 2.800 0 0 0 102 20 SoapBottle -1.325 2.154 1.206 0 0 0 69 21 Bread -1.105 0.813 1.902 0 0 0 51 22 Lettuce 1.200 0.957 2.369 0 0 0 102 23 Apple 1.523 0.971 -0.144 0 0 0 70 24 Apple -1.105 0.809 2.273 0 0 0 51 25 Bread -1.197 0.813 2.644 0 0 0 51 26 Glassbottle -0.144 0.759 -0.533 0 0 0 97 27 Fork 1.117 0.886 2.584 0 0 0 102 28 Kettle -0.968 0.913 -0.828 0 0 0 76 29 Tomato 1.450 0.936 2.261 0 0 0 102 30 Plate -1.197 0.750 3.015 0 0 0 51 31 CellPhone -0.919 0.747 2.087 0 0 0 51 32 Lettuce -1.320 1.707 1.086 0 90 0 90 33 Pot 0.502 0.939 -0.469 0 0 0 83 34 SoapBottle 1.049 0.912 -0.144 0 0 0 70 35 WineBottle -0.813 0.913 -0.589 0 0 0 76 36 Spatula -1.123 0.927 -0.907 0 90 0 76 37 Bowl -1.263 0.749 0.883 0 90 0 90 38 Apple -1.105 0.809 2.087 0 0 0 51 39 Cup -0.020 0.757 -0.691 0 0 0 97 40 Knife 0.054 0.934 -0.365 0 0 0 76 41 Egg -1.475 0.783 2.830 0 0 0 51 42 SaltShaker -1.263 1.652 -0.090 0 0 0 58 43 PepperShaker 1.450 0.882 2.800 0 0 0 102 44 Potato -1.320 1.333 0.883 0 90 0 90 45 ButterKnife 1.034 0.886 2.800 0 0 0 102 46 DishSponge 1.174 0.116 -0.052 0 0 0 64 47 Pan -1.332 0.9 -0.699 0 345.0 0 76 48 Spoon -0.919 0.750 2.830 0 0 0 51 49 SprayBottle -1.012 0.748 2.459 0 0 0 51 50 Mug -1.211 0.907 -0.477 0 0 0 76 51 DiningTable -1.182 0.006 2.414 0 90 0 52 Cabinet 1.184 2.059 0.375 0 0 0 53 Cabinet 1.184 2.059 -0.635 0 0 0 54 Cabinet 0.591 2.309 -0.645 0 0 0 55 Cabinet -0.574 2.059 -0.644 0 0 0 56 Cabinet -1.103 2.059 -0.644 0 0 0 57 Cabinet -1.185 2.059 -0.331 0 0 0 58 Cabinet -1.185 2.059 -0.281 0 0 0 59 Cabinet -1.185 2.059 0.375 0 0 0 60 Cabinet 1.184 2.309 1.174 0 0 0 61 Cabinet 1.184 2.309 0.424 0 0 0 62 Cabinet 0.988 0.402 0.581 0 0 0 63 Cabinet 0.988 0.402 0.531 0 0 0 64 Cabinet 0.988 0.402 -0.178 0 0 0 65 Cabinet 0.335 0.402 -0.348 0 0 0 66 Cabinet -0.374 0.402 -0.348 0 0 0 67 Cabinet 0.988 0.402 1.231 0 0 0 68 Cabinet -1.185 2.309 1.374 0 0 0 69 Cabinet -1.185 2.309 0.424 0 0 0 70 CounterTop 1.274 0.947 0.064 0 0 0 71 Drawer 1.116 0.792 -0.015 0 0 0 72 Drawer -1.116 0.792 0.210 0 180 0 73 Cabinet -0.990 0.402 0.374 0 180 0 74 Drawer -1.116 0.792 -0.170 0 180 0 75 Cabinet -0.990 0.402 -0.335 0 180 0 76 CounterTop -1.001 0.947 -0.669 0 0 0 77 StoveBurner 0.502 0.932 -0.740 0 90 0 78 StoveBurner 0.801 0.932 -0.473 0 0 0 79 StoveBurner 0.801 0.932 -0.740 0 90 0 80 Drawer 1.116 0.792 1.081 0 0 0 81 Sink -0.013 0.912 -0.615 0 0 0 82 Drawer 1.116 0.792 0.732 0 0 0 83 StoveBurner 0.502 0.932 -0.469 0 0 0 84 Drawer 1.116 0.792 0.367 0 0 0 85 StoveKnob 0.550 1.085 -0.912 287.970 180 0 86 StoveKnob 0.884 1.085 -0.912 287.970 180 0 87 StoveKnob 0.432 1.085 -0.912 287.970 180 0 88 StoveKnob 0.777 1.085 -0.912 287.970 180 0 89 CoffeeMachine 1.304 0.900 -0.741 0 320.314 0 90 Fridge -1.300 0.008 0.987 0 90 0 91 GarbageCan 1.296 -0.024 1.465 0 0 0 92 Window -0.012 1.641 -0.972 90 0 0 93 Window 1.598 1.646 2.489 90 270 0 94 Toaster 1.356 0.900 1.044 0 270 0 95 LightSwitch 0.118 1.353 3.799 0 180 0 96 Microwave -1.343 0.900 0.053 0 90 0 97 SinkBasin -0.029 0.748 -0.612 0 0 0 98 Faucet -0.026 0.927 -0.808 0 0 0 99 Shelf -1.182 0.127 2.414 0 90 0 100 Stool 1.140 0.007 3.262 1.206 20.753 0 101 Shelf -1.182 0.435 2.414 0 90 0 102 DiningTable 1.169 0.014 2.569 0 0 1.896 103 NorthWall 104 EastWall 105 SouthWall 106 WestWall
[ "STEP 1: turn right, walk to the white table on the right | STEP 2: grab the tomato on the table | STEP 3: turn right, walk to the refrigerator on the right | STEP 4: open the refrigerator, put the tomato in, wait a while, take the tomato out | STEP 5: walk to the left to the microwave | STEP 6: open the microwave,put the tomato in | END" ]
[ [ "STEP 1: turn right, walk to the white table on the right ", " STEP 2: grab the tomato on the table ", " STEP 3: turn right, walk to the refrigerator on the right ", " STEP 4: open the refrigerator, put the tomato in, wait a while, take the tomato out ", " STEP 5: walk to the left to the microwave ", " STEP 6: open the microwave,put the tomato in ", " END" ] ]
seen
trial_T20190912_065413_070433-1
Put a chilled tomato in the microwave.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 0.5 0.908 1.5 0 270 0 1 SprayBottle -1.325 2.152 0.763 0 0 0 69 2 SprayBottle 1.245 0.085 1.377 0 0 0 91 3 CellPhone 1.049 0.909 0.706 0 0 0 70 4 DishSponge 1.155 0.776 0.701 0 0 0 82 5 ButterKnife 1.367 0.886 2.584 0 0 0 102 6 Glassbottle -1.194 0.342 1.302 0 90 0 90 7 Glassbottle 1.414 0.086 1.472 0 0 0 91 8 WineBottle -1.383 0.750 2.087 0 0 0 51 9 Kettle 0.502 0.939 -0.740 0 90 0 77 10 Kettle 0.802 0.939 -0.740 0 90 0 79 11 Spoon 1.034 0.887 2.800 0 0 0 102 12 Spoon -1.156 0.777 -0.136 0 270 0 74 13 Spatula 1.207 0.926 -0.144 0 90 0 70 14 Spatula -1.012 0.763 2.644 0 90 0 51 15 Egg -1.206 1.455 0.673 0 90 0 90 16 Egg -1.263 1.049 -0.005 0 90 0 96 17 Cup 1.034 0.885 2.153 0 0 0 102 18 Knife 1.286 0.933 0.422 0 180 0 70 19 Knife 1.284 0.908 2.800 0 0 0 102 20 SoapBottle -1.325 2.154 1.206 0 0 0 69 21 Bread -1.105 0.813 1.902 0 0 0 51 22 Lettuce 1.200 0.957 2.369 0 0 0 102 23 Apple 1.523 0.971 -0.144 0 0 0 70 24 Apple -1.105 0.809 2.273 0 0 0 51 25 Bread -1.197 0.813 2.644 0 0 0 51 26 Glassbottle -0.144 0.759 -0.533 0 0 0 97 27 Fork 1.117 0.886 2.584 0 0 0 102 28 Kettle -0.968 0.913 -0.828 0 0 0 76 29 Tomato 1.450 0.936 2.261 0 0 0 102 30 Plate -1.197 0.750 3.015 0 0 0 51 31 CellPhone -0.919 0.747 2.087 0 0 0 51 32 Lettuce -1.320 1.707 1.086 0 90 0 90 33 Pot 0.502 0.939 -0.469 0 0 0 83 34 SoapBottle 1.049 0.912 -0.144 0 0 0 70 35 WineBottle -0.813 0.913 -0.589 0 0 0 76 36 Spatula -1.123 0.927 -0.907 0 90 0 76 37 Bowl -1.263 0.749 0.883 0 90 0 90 38 Apple -1.105 0.809 2.087 0 0 0 51 39 Cup -0.020 0.757 -0.691 0 0 0 97 40 Knife 0.054 0.934 -0.365 0 0 0 76 41 Egg -1.475 0.783 2.830 0 0 0 51 42 SaltShaker -1.263 1.652 -0.090 0 0 0 58 43 PepperShaker 1.450 0.882 2.800 0 0 0 102 44 Potato -1.320 1.333 0.883 0 90 0 90 45 ButterKnife 1.034 0.886 2.800 0 0 0 102 46 DishSponge 1.174 0.116 -0.052 0 0 0 64 47 Pan -1.332 0.9 -0.699 0 345.0 0 76 48 Spoon -0.919 0.750 2.830 0 0 0 51 49 SprayBottle -1.012 0.748 2.459 0 0 0 51 50 Mug -1.211 0.907 -0.477 0 0 0 76 51 DiningTable -1.182 0.006 2.414 0 90 0 52 Cabinet 1.184 2.059 0.375 0 0 0 53 Cabinet 1.184 2.059 -0.635 0 0 0 54 Cabinet 0.591 2.309 -0.645 0 0 0 55 Cabinet -0.574 2.059 -0.644 0 0 0 56 Cabinet -1.103 2.059 -0.644 0 0 0 57 Cabinet -1.185 2.059 -0.331 0 0 0 58 Cabinet -1.185 2.059 -0.281 0 0 0 59 Cabinet -1.185 2.059 0.375 0 0 0 60 Cabinet 1.184 2.309 1.174 0 0 0 61 Cabinet 1.184 2.309 0.424 0 0 0 62 Cabinet 0.988 0.402 0.581 0 0 0 63 Cabinet 0.988 0.402 0.531 0 0 0 64 Cabinet 0.988 0.402 -0.178 0 0 0 65 Cabinet 0.335 0.402 -0.348 0 0 0 66 Cabinet -0.374 0.402 -0.348 0 0 0 67 Cabinet 0.988 0.402 1.231 0 0 0 68 Cabinet -1.185 2.309 1.374 0 0 0 69 Cabinet -1.185 2.309 0.424 0 0 0 70 CounterTop 1.274 0.947 0.064 0 0 0 71 Drawer 1.116 0.792 -0.015 0 0 0 72 Drawer -1.116 0.792 0.210 0 180 0 73 Cabinet -0.990 0.402 0.374 0 180 0 74 Drawer -1.116 0.792 -0.170 0 180 0 75 Cabinet -0.990 0.402 -0.335 0 180 0 76 CounterTop -1.001 0.947 -0.669 0 0 0 77 StoveBurner 0.502 0.932 -0.740 0 90 0 78 StoveBurner 0.801 0.932 -0.473 0 0 0 79 StoveBurner 0.801 0.932 -0.740 0 90 0 80 Drawer 1.116 0.792 1.081 0 0 0 81 Sink -0.013 0.912 -0.615 0 0 0 82 Drawer 1.116 0.792 0.732 0 0 0 83 StoveBurner 0.502 0.932 -0.469 0 0 0 84 Drawer 1.116 0.792 0.367 0 0 0 85 StoveKnob 0.550 1.085 -0.912 287.970 180 0 86 StoveKnob 0.884 1.085 -0.912 287.970 180 0 87 StoveKnob 0.432 1.085 -0.912 287.970 180 0 88 StoveKnob 0.777 1.085 -0.912 287.970 180 0 89 CoffeeMachine 1.304 0.900 -0.741 0 320.314 0 90 Fridge -1.300 0.008 0.987 0 90 0 91 GarbageCan 1.296 -0.024 1.465 0 0 0 92 Window -0.012 1.641 -0.972 90 0 0 93 Window 1.598 1.646 2.489 90 270 0 94 Toaster 1.356 0.900 1.044 0 270 0 95 LightSwitch 0.118 1.353 3.799 0 180 0 96 Microwave -1.343 0.900 0.053 0 90 0 97 SinkBasin -0.029 0.748 -0.612 0 0 0 98 Faucet -0.026 0.927 -0.808 0 0 0 99 Shelf -1.182 0.127 2.414 0 90 0 100 Stool 1.140 0.007 3.262 1.206 20.753 0 101 Shelf -1.182 0.435 2.414 0 90 0 102 DiningTable 1.169 0.014 2.569 0 0 1.896 103 NorthWall 104 EastWall 105 SouthWall 106 WestWall
[ "STEP 1: Turn around, move to the square table. | STEP 2: Pick up the tomato on the table. | STEP 3: Bring the tomato to the fridge behind you. | STEP 4: Cool the tomato down in the fridge for a few seconds. | STEP 5: Bring the chilled tomato to the microwave on the left side of the fridge. | STEP 6: Put the chilled tomato in the microwave. | END" ]
[ [ "STEP 1: Turn around, move to the square table. ", " STEP 2: Pick up the tomato on the table. ", " STEP 3: Bring the tomato to the fridge behind you. ", " STEP 4: Cool the tomato down in the fridge for a few seconds. ", " STEP 5: Bring the chilled tomato to the microwave on the left side of the fridge. ", " STEP 6: Put the chilled tomato in the microwave. ", " END" ] ]
seen
trial_T20190912_065413_070433-2
place a cold tomato in the microwave oven
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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 1.5 0 270 0 1 SprayBottle -1.325 2.152 0.763 0 0 0 69 2 SprayBottle 1.245 0.085 1.377 0 0 0 91 3 CellPhone 1.049 0.909 0.706 0 0 0 70 4 DishSponge 1.155 0.776 0.701 0 0 0 82 5 ButterKnife 1.367 0.886 2.584 0 0 0 102 6 Glassbottle -1.194 0.342 1.302 0 90 0 90 7 Glassbottle 1.414 0.086 1.472 0 0 0 91 8 WineBottle -1.383 0.750 2.087 0 0 0 51 9 Kettle 0.502 0.939 -0.740 0 90 0 77 10 Kettle 0.802 0.939 -0.740 0 90 0 79 11 Spoon 1.034 0.887 2.800 0 0 0 102 12 Spoon -1.156 0.777 -0.136 0 270 0 74 13 Spatula 1.207 0.926 -0.144 0 90 0 70 14 Spatula -1.012 0.763 2.644 0 90 0 51 15 Egg -1.206 1.455 0.673 0 90 0 90 16 Egg -1.263 1.049 -0.005 0 90 0 96 17 Cup 1.034 0.885 2.153 0 0 0 102 18 Knife 1.286 0.933 0.422 0 180 0 70 19 Knife 1.284 0.908 2.800 0 0 0 102 20 SoapBottle -1.325 2.154 1.206 0 0 0 69 21 Bread -1.105 0.813 1.902 0 0 0 51 22 Lettuce 1.200 0.957 2.369 0 0 0 102 23 Apple 1.523 0.971 -0.144 0 0 0 70 24 Apple -1.105 0.809 2.273 0 0 0 51 25 Bread -1.197 0.813 2.644 0 0 0 51 26 Glassbottle -0.144 0.759 -0.533 0 0 0 97 27 Fork 1.117 0.886 2.584 0 0 0 102 28 Kettle -0.968 0.913 -0.828 0 0 0 76 29 Tomato 1.450 0.936 2.261 0 0 0 102 30 Plate -1.197 0.750 3.015 0 0 0 51 31 CellPhone -0.919 0.747 2.087 0 0 0 51 32 Lettuce -1.320 1.707 1.086 0 90 0 90 33 Pot 0.502 0.939 -0.469 0 0 0 83 34 SoapBottle 1.049 0.912 -0.144 0 0 0 70 35 WineBottle -0.813 0.913 -0.589 0 0 0 76 36 Spatula -1.123 0.927 -0.907 0 90 0 76 37 Bowl -1.263 0.749 0.883 0 90 0 90 38 Apple -1.105 0.809 2.087 0 0 0 51 39 Cup -0.020 0.757 -0.691 0 0 0 97 40 Knife 0.054 0.934 -0.365 0 0 0 76 41 Egg -1.475 0.783 2.830 0 0 0 51 42 SaltShaker -1.263 1.652 -0.090 0 0 0 58 43 PepperShaker 1.450 0.882 2.800 0 0 0 102 44 Potato -1.320 1.333 0.883 0 90 0 90 45 ButterKnife 1.034 0.886 2.800 0 0 0 102 46 DishSponge 1.174 0.116 -0.052 0 0 0 64 47 Pan -1.332 0.9 -0.699 0 345.0 0 76 48 Spoon -0.919 0.750 2.830 0 0 0 51 49 SprayBottle -1.012 0.748 2.459 0 0 0 51 50 Mug -1.211 0.907 -0.477 0 0 0 76 51 DiningTable -1.182 0.006 2.414 0 90 0 52 Cabinet 1.184 2.059 0.375 0 0 0 53 Cabinet 1.184 2.059 -0.635 0 0 0 54 Cabinet 0.591 2.309 -0.645 0 0 0 55 Cabinet -0.574 2.059 -0.644 0 0 0 56 Cabinet -1.103 2.059 -0.644 0 0 0 57 Cabinet -1.185 2.059 -0.331 0 0 0 58 Cabinet -1.185 2.059 -0.281 0 0 0 59 Cabinet -1.185 2.059 0.375 0 0 0 60 Cabinet 1.184 2.309 1.174 0 0 0 61 Cabinet 1.184 2.309 0.424 0 0 0 62 Cabinet 0.988 0.402 0.581 0 0 0 63 Cabinet 0.988 0.402 0.531 0 0 0 64 Cabinet 0.988 0.402 -0.178 0 0 0 65 Cabinet 0.335 0.402 -0.348 0 0 0 66 Cabinet -0.374 0.402 -0.348 0 0 0 67 Cabinet 0.988 0.402 1.231 0 0 0 68 Cabinet -1.185 2.309 1.374 0 0 0 69 Cabinet -1.185 2.309 0.424 0 0 0 70 CounterTop 1.274 0.947 0.064 0 0 0 71 Drawer 1.116 0.792 -0.015 0 0 0 72 Drawer -1.116 0.792 0.210 0 180 0 73 Cabinet -0.990 0.402 0.374 0 180 0 74 Drawer -1.116 0.792 -0.170 0 180 0 75 Cabinet -0.990 0.402 -0.335 0 180 0 76 CounterTop -1.001 0.947 -0.669 0 0 0 77 StoveBurner 0.502 0.932 -0.740 0 90 0 78 StoveBurner 0.801 0.932 -0.473 0 0 0 79 StoveBurner 0.801 0.932 -0.740 0 90 0 80 Drawer 1.116 0.792 1.081 0 0 0 81 Sink -0.013 0.912 -0.615 0 0 0 82 Drawer 1.116 0.792 0.732 0 0 0 83 StoveBurner 0.502 0.932 -0.469 0 0 0 84 Drawer 1.116 0.792 0.367 0 0 0 85 StoveKnob 0.550 1.085 -0.912 287.970 180 0 86 StoveKnob 0.884 1.085 -0.912 287.970 180 0 87 StoveKnob 0.432 1.085 -0.912 287.970 180 0 88 StoveKnob 0.777 1.085 -0.912 287.970 180 0 89 CoffeeMachine 1.304 0.900 -0.741 0 320.314 0 90 Fridge -1.300 0.008 0.987 0 90 0 91 GarbageCan 1.296 -0.024 1.465 0 0 0 92 Window -0.012 1.641 -0.972 90 0 0 93 Window 1.598 1.646 2.489 90 270 0 94 Toaster 1.356 0.900 1.044 0 270 0 95 LightSwitch 0.118 1.353 3.799 0 180 0 96 Microwave -1.343 0.900 0.053 0 90 0 97 SinkBasin -0.029 0.748 -0.612 0 0 0 98 Faucet -0.026 0.927 -0.808 0 0 0 99 Shelf -1.182 0.127 2.414 0 90 0 100 Stool 1.140 0.007 3.262 1.206 20.753 0 101 Shelf -1.182 0.435 2.414 0 90 0 102 DiningTable 1.169 0.014 2.569 0 0 1.896 103 NorthWall 104 EastWall 105 SouthWall 106 WestWall
[ "STEP 1: move around to the table | STEP 2: pick up the tomato from the table | STEP 3: turn around to the fridge | STEP 4: place the tomato to cool and take it out | STEP 5: turn left to the microwave oven | STEP 6: place the tomato in the oven | END" ]
[ [ "STEP 1: move around to the table ", " STEP 2: pick up the tomato from the table ", " STEP 3: turn around to the fridge ", " STEP 4: place the tomato to cool and take it out ", " STEP 5: turn left to the microwave oven ", " STEP 6: place the tomato in the oven ", " END" ] ]
seen
trial_T20190907_153332_888821-0
Place two bowls on the coffee table.
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" 58" ], [ "24", " KeyChain", " -1.217", " 0.770", " 0.181", " 0", " 90", " 0", " 60" ], [ "25", " Boots", " -6.309", " 0.006", " 1.252", " 0", " 92.842", " 0", "" ], [ "26", " Pencil", " -0.925", " 0.884", " 0.101", " 0", " 90", " 0", " 59" ], [ "27", " Laptop", " -1.204", " 0.448", " 2.086", " 0", " 0", " 0", " 58" ], [ "28", " Vase", " -4.272", " 0.748", " -0.436", " 0", " 0", " 0", " 57" ], [ "29", " RemoteControl", " -3.930", " 0.757", " -0.379", " 0", " 0", " 0", " 57" ], [ "30", " Watch", " -3.747", " 0.754", " -0.131", " 0", " 0", " 0", " 57" ], [ "31", " CellPhone", " -1.340", " 0.879", " 0.140", " 0", " 90", " 0", " 59" ], [ "32", " Plate", " -4.044", " 0.748", " -0.078", " 0", " 0", " 0", " 56" ], [ "33", " Painting", " -6.5", " 1.759", " -0.341", " 0", " 0", " 0", "" ], [ "34", " Painting", " 0.704", " 1.778", " 0.782", " 0", " 0", " 0", "" ], [ "35", " Television", " 1.5", " 1.690", " 2.562", " 0", " 270", " 0", "" ], [ "36", " FloorLamp", " 1.111", " 0.007", " 6.805", " 0", " 0", " 0", "" ], [ "37", " GarbageCan", " -6.128", " -0.003", " 2.800", " 0", " 0", " 0", "" ], [ "38", " LightSwitch", " -6.5", " 1.498", " 1.345", " 0", " 90", " 0", "" ], [ "39", " HousePlant", " -0.753", " 0.874", " 0.209", " 0", " 0", " 0", "" ], [ "40", " Window", " 1.496", " 1.712", " 4.454", " 90", " 90", " 0", "" ], [ "41", " Window", " -4.210", " 1.577", " -1.980", " 90", " 180", " 0", "" ], [ "42", " CoffeeTable", " 0.405", " 0.008", " 2.605", " 0", " 270", " 0", "" ], [ "43", " Drawer", " 0.597", " 0.234", " 2.604", " 0", " 270", " 0", "" ], [ "44", " Drawer", " 0.214", " 0.393", " 2.604", " 0", " 270", " 0", "" ], [ "45", " Drawer", " 0.214", " 0.234", " 2.609", " 0", " 270", " 0", "" ], [ "46", " Drawer", " 0.214", " 0.075", " 2.604", " 0", " 270", " 0", "" ], [ "47", " Drawer", " 0.597", " 0.075", " 2.604", " 0", " 270", " 0", "" ], [ "48", " Drawer", " 0.597", " 0.393", " 2.604", " 0", " 270", " 0", "" ], [ "49", " Ottoman", " 0.493", " 0.006", " 4.309", " 0", " 0", " 0", "" ], [ "50", " ArmChair", " 0.420", " 0.014", " 5.129", " 0", " 180", " 0", "" ], [ "51", " Chair", " -4.664", " 0.008", " 0.164", " 0", " 180", " 0", "" ], [ "52", " Chair", " -3.424", " 0.008", " -0.321", " 0", " 270", " 0", "" ], [ "53", " Chair", " -4.988", " 0.008", " -0.401", " 0", " 90", " 0", "" ], [ "54", " Chair", " -3.904", " 0.008", " -0.827", " 0", " 0", " 0", "" ], [ "55", " Chair", " -4.570", " 0.008", " -0.831", " 0", " 0", " 0", "" ], [ "56", " Chair", " -3.996", " 0.008", " 0.091", " 0", " 180", " 0", "" ], [ "57", " DiningTable", " -4.295", " 0.006", " -0.378", " 0", " 0", " 0", "" ], [ "58", " Sofa", " -1.527", " 0.013", " 2.559", " 0", " 90", " 0", "" ], [ "59", " SideTable", " -1.030", " 0.006", " 0.160", " 0", " 0", " 0", "" ], [ "60", " Drawer", " -1.030", " 0.780", " 0.225", " 0", " 0", " 0", "" ], [ "61", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "62", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "63", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "64", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -4.0 0.907 4.75 0 270 0 1 Bowl -4.477 0.756 -0.749 0 0 0 55 2 Bowl -4.659 0.756 -0.379 0 0 0 57 3 Bowl -1.029 0.880 0.140 0 90 0 59 4 TissueBox 0.233 0.553 3.056 0 0 0 42 5 Newspaper -4.659 0.761 -0.131 0 0 0 51 6 Newspaper -4.842 0.761 -0.626 0 0 0 53 7 Watch 0.618 0.037 2.216 0 0 0 47 8 Watch 0.319 0.552 2.454 0 0 0 42 9 Pencil -0.821 0.882 0.101 0 90 0 59 10 Pencil -6.005 0.064 2.823 0 90 0 37 11 Book 0.578 0.552 2.605 0 0 0 42 12 CellPhone 0.171 0.424 4.309 0 90 0 49 13 RemoteControl 0.147 0.554 2.755 0 0 0 42 14 RemoteControl 0.405 0.554 2.905 0 0 0 42 15 Laptop 0.319 0.549 2.153 0 0 0 42 16 Book -4.112 0.755 -0.626 0 0 0 54 17 Box 0.957 0.286 6.189 0 327.955 0 50 18 Pillow 0.438 0.581 5.162 321.968 0 0 50 19 Bowl -4.477 0.756 -0.379 0 0 0 57 20 WateringCan -0.816 0.005 0.189 0 0 0 21 TissueBox 0.578 0.553 2.304 0 0 0 42 22 Newspaper -1.204 0.456 3.031 0 0 0 58 23 CreditCard -1.671 0.449 2.795 0 0 0 58 24 KeyChain -1.217 0.770 0.181 0 90 0 60 25 Boots -6.309 0.006 1.252 0 92.842 0 26 Pencil -0.925 0.884 0.101 0 90 0 59 27 Laptop -1.204 0.448 2.086 0 0 0 58 28 Vase -4.272 0.748 -0.436 0 0 0 57 29 RemoteControl -3.930 0.757 -0.379 0 0 0 57 30 Watch -3.747 0.754 -0.131 0 0 0 57 31 CellPhone -1.340 0.879 0.140 0 90 0 59 32 Plate -4.044 0.748 -0.078 0 0 0 56 33 Painting -6.5 1.759 -0.341 0 0 0 34 Painting 0.704 1.778 0.782 0 0 0 35 Television 1.5 1.690 2.562 0 270 0 36 FloorLamp 1.111 0.007 6.805 0 0 0 37 GarbageCan -6.128 -0.003 2.800 0 0 0 38 LightSwitch -6.5 1.498 1.345 0 90 0 39 HousePlant -0.753 0.874 0.209 0 0 0 40 Window 1.496 1.712 4.454 90 90 0 41 Window -4.210 1.577 -1.980 90 180 0 42 CoffeeTable 0.405 0.008 2.605 0 270 0 43 Drawer 0.597 0.234 2.604 0 270 0 44 Drawer 0.214 0.393 2.604 0 270 0 45 Drawer 0.214 0.234 2.609 0 270 0 46 Drawer 0.214 0.075 2.604 0 270 0 47 Drawer 0.597 0.075 2.604 0 270 0 48 Drawer 0.597 0.393 2.604 0 270 0 49 Ottoman 0.493 0.006 4.309 0 0 0 50 ArmChair 0.420 0.014 5.129 0 180 0 51 Chair -4.664 0.008 0.164 0 180 0 52 Chair -3.424 0.008 -0.321 0 270 0 53 Chair -4.988 0.008 -0.401 0 90 0 54 Chair -3.904 0.008 -0.827 0 0 0 55 Chair -4.570 0.008 -0.831 0 0 0 56 Chair -3.996 0.008 0.091 0 180 0 57 DiningTable -4.295 0.006 -0.378 0 0 0 58 Sofa -1.527 0.013 2.559 0 90 0 59 SideTable -1.030 0.006 0.160 0 0 0 60 Drawer -1.030 0.780 0.225 0 0 0 61 NorthWall 62 EastWall 63 SouthWall 64 WestWall
[ "STEP 1: Turn around and walk toward the chair, then turn right and walk toward the wall, and turn left and walk to the black table and turn to face it. | STEP 2: Pick up the grey bowl of off the black table. | STEP 3: Turn around and walk toward the table, then turn left. | STEP 4: Place the bowl on the coffee table. | STEP 5: Turn right and walk toward the black table, then right again and walk to the table, then turn right and face the table. | STEP 6: Pick the bowl up off the table. | STEP 7: Walk back to the coffee table. | STEP 8: Place the bowl in the corner of the table by the laptop. | END" ]
[ [ "STEP 1: Turn around and walk toward the chair, then turn right and walk toward the wall, and turn left and walk to the black table and turn to face it. ", " STEP 2: Pick up the grey bowl of off the black table. ", " STEP 3: Turn around and walk toward the table, then turn left. ", " STEP 4: Place the bowl on the coffee table. ", " STEP 5: Turn right and walk toward the black table, then right again and walk to the table, then turn right and face the table. ", " STEP 6: Pick the bowl up off the table. ", " STEP 7: Walk back to the coffee table. ", " STEP 8: Place the bowl in the corner of the table by the laptop. ", " END" ] ]
seen
trial_T20190907_153332_888821-1
Put two bowls on the coffee table by the fire place.
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" 58" ], [ "24", " KeyChain", " -1.217", " 0.770", " 0.181", " 0", " 90", " 0", " 60" ], [ "25", " Boots", " -6.309", " 0.006", " 1.252", " 0", " 92.842", " 0", "" ], [ "26", " Pencil", " -0.925", " 0.884", " 0.101", " 0", " 90", " 0", " 59" ], [ "27", " Laptop", " -1.204", " 0.448", " 2.086", " 0", " 0", " 0", " 58" ], [ "28", " Vase", " -4.272", " 0.748", " -0.436", " 0", " 0", " 0", " 57" ], [ "29", " RemoteControl", " -3.930", " 0.757", " -0.379", " 0", " 0", " 0", " 57" ], [ "30", " Watch", " -3.747", " 0.754", " -0.131", " 0", " 0", " 0", " 57" ], [ "31", " CellPhone", " -1.340", " 0.879", " 0.140", " 0", " 90", " 0", " 59" ], [ "32", " Plate", " -4.044", " 0.748", " -0.078", " 0", " 0", " 0", " 56" ], [ "33", " Painting", " -6.5", " 1.759", " -0.341", " 0", " 0", " 0", "" ], [ "34", " Painting", " 0.704", " 1.778", " 0.782", " 0", " 0", " 0", "" ], [ "35", " Television", " 1.5", " 1.690", " 2.562", " 0", " 270", " 0", "" ], [ "36", " FloorLamp", " 1.111", " 0.007", " 6.805", " 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[ "STEP 1: Move to the end table to the right of the fire place | STEP 2: Pick up a bowl from the end table | STEP 3: Move to the coffee table to the left of the fire place | STEP 4: Place the bowl on the coffee table | STEP 5: Move to the dining table to the right of the fire place | STEP 6: Pick up a bowl from the dining table | STEP 7: Move to the coffee table to the left of the fire place | STEP 8: Place the bowl on the coffee table | END" ]
[ [ "STEP 1: Move to the end table to the right of the fire place ", " STEP 2: Pick up a bowl from the end table ", " STEP 3: Move to the coffee table to the left of the fire place ", " STEP 4: Place the bowl on the coffee table ", " STEP 5: Move to the dining table to the right of the fire place ", " STEP 6: Pick up a bowl from the dining table ", " STEP 7: Move to the coffee table to the left of the fire place ", " STEP 8: Place the bowl on the coffee table ", " END" ] ]
seen
trial_T20190907_153332_888821-2
Put two bowls on the coffee table by the fire place.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -4.0 0.907 4.75 0 270 0 1 Bowl -4.477 0.756 -0.749 0 0 0 55 2 Bowl -4.659 0.756 -0.379 0 0 0 57 3 Bowl -1.029 0.880 0.140 0 90 0 59 4 TissueBox 0.233 0.553 3.056 0 0 0 42 5 Newspaper -4.659 0.761 -0.131 0 0 0 51 6 Newspaper -4.842 0.761 -0.626 0 0 0 53 7 Watch 0.618 0.037 2.216 0 0 0 47 8 Watch 0.319 0.552 2.454 0 0 0 42 9 Pencil -0.821 0.882 0.101 0 90 0 59 10 Pencil -6.005 0.064 2.823 0 90 0 37 11 Book 0.578 0.552 2.605 0 0 0 42 12 CellPhone 0.171 0.424 4.309 0 90 0 49 13 RemoteControl 0.147 0.554 2.755 0 0 0 42 14 RemoteControl 0.405 0.554 2.905 0 0 0 42 15 Laptop 0.319 0.549 2.153 0 0 0 42 16 Book -4.112 0.755 -0.626 0 0 0 54 17 Box 0.957 0.286 6.189 0 327.955 0 50 18 Pillow 0.438 0.581 5.162 321.968 0 0 50 19 Bowl -4.477 0.756 -0.379 0 0 0 57 20 WateringCan -0.816 0.005 0.189 0 0 0 21 TissueBox 0.578 0.553 2.304 0 0 0 42 22 Newspaper -1.204 0.456 3.031 0 0 0 58 23 CreditCard -1.671 0.449 2.795 0 0 0 58 24 KeyChain -1.217 0.770 0.181 0 90 0 60 25 Boots -6.309 0.006 1.252 0 92.842 0 26 Pencil -0.925 0.884 0.101 0 90 0 59 27 Laptop -1.204 0.448 2.086 0 0 0 58 28 Vase -4.272 0.748 -0.436 0 0 0 57 29 RemoteControl -3.930 0.757 -0.379 0 0 0 57 30 Watch -3.747 0.754 -0.131 0 0 0 57 31 CellPhone -1.340 0.879 0.140 0 90 0 59 32 Plate -4.044 0.748 -0.078 0 0 0 56 33 Painting -6.5 1.759 -0.341 0 0 0 34 Painting 0.704 1.778 0.782 0 0 0 35 Television 1.5 1.690 2.562 0 270 0 36 FloorLamp 1.111 0.007 6.805 0 0 0 37 GarbageCan -6.128 -0.003 2.800 0 0 0 38 LightSwitch -6.5 1.498 1.345 0 90 0 39 HousePlant -0.753 0.874 0.209 0 0 0 40 Window 1.496 1.712 4.454 90 90 0 41 Window -4.210 1.577 -1.980 90 180 0 42 CoffeeTable 0.405 0.008 2.605 0 270 0 43 Drawer 0.597 0.234 2.604 0 270 0 44 Drawer 0.214 0.393 2.604 0 270 0 45 Drawer 0.214 0.234 2.609 0 270 0 46 Drawer 0.214 0.075 2.604 0 270 0 47 Drawer 0.597 0.075 2.604 0 270 0 48 Drawer 0.597 0.393 2.604 0 270 0 49 Ottoman 0.493 0.006 4.309 0 0 0 50 ArmChair 0.420 0.014 5.129 0 180 0 51 Chair -4.664 0.008 0.164 0 180 0 52 Chair -3.424 0.008 -0.321 0 270 0 53 Chair -4.988 0.008 -0.401 0 90 0 54 Chair -3.904 0.008 -0.827 0 0 0 55 Chair -4.570 0.008 -0.831 0 0 0 56 Chair -3.996 0.008 0.091 0 180 0 57 DiningTable -4.295 0.006 -0.378 0 0 0 58 Sofa -1.527 0.013 2.559 0 90 0 59 SideTable -1.030 0.006 0.160 0 0 0 60 Drawer -1.030 0.780 0.225 0 0 0 61 NorthWall 62 EastWall 63 SouthWall 64 WestWall
[ "STEP 1: Move to the display table to the right of the fire place. | STEP 2: Pick up the blue vase from the table. | STEP 3: Move to the coffee table behind you to the left of the fire place. | STEP 4: Place the bowl on the coffee table. | STEP 5: Move to the dining table behind you around the couch. | STEP 6: Pick up a bowl from the table. | STEP 7: Move to the coffee table around the couch in front of you. | STEP 8: Place the bowl on the coffee table. | END" ]
[ [ "STEP 1: Move to the display table to the right of the fire place. ", " STEP 2: Pick up the blue vase from the table. ", " STEP 3: Move to the coffee table behind you to the left of the fire place. ", " STEP 4: Place the bowl on the coffee table. ", " STEP 5: Move to the dining table behind you around the couch. ", " STEP 6: Pick up a bowl from the table. ", " STEP 7: Move to the coffee table around the couch in front of you. ", " STEP 8: Place the bowl on the coffee table. ", " END" ] ]
seen
trial_T20190907_153332_888821-3
Put two bowls on a table.
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" 58" ], [ "24", " KeyChain", " -1.217", " 0.770", " 0.181", " 0", " 90", " 0", " 60" ], [ "25", " Boots", " -6.309", " 0.006", " 1.252", " 0", " 92.842", " 0", "" ], [ "26", " Pencil", " -0.925", " 0.884", " 0.101", " 0", " 90", " 0", " 59" ], [ "27", " Laptop", " -1.204", " 0.448", " 2.086", " 0", " 0", " 0", " 58" ], [ "28", " Vase", " -4.272", " 0.748", " -0.436", " 0", " 0", " 0", " 57" ], [ "29", " RemoteControl", " -3.930", " 0.757", " -0.379", " 0", " 0", " 0", " 57" ], [ "30", " Watch", " -3.747", " 0.754", " -0.131", " 0", " 0", " 0", " 57" ], [ "31", " CellPhone", " -1.340", " 0.879", " 0.140", " 0", " 90", " 0", " 59" ], [ "32", " Plate", " -4.044", " 0.748", " -0.078", " 0", " 0", " 0", " 56" ], [ "33", " Painting", " -6.5", " 1.759", " -0.341", " 0", " 0", " 0", "" ], [ "34", " Painting", " 0.704", " 1.778", " 0.782", " 0", " 0", " 0", "" ], [ "35", " Television", " 1.5", " 1.690", " 2.562", " 0", " 270", " 0", "" ], [ "36", " FloorLamp", " 1.111", " 0.007", " 6.805", " 0", " 0", " 0", "" ], [ "37", " GarbageCan", " -6.128", " -0.003", " 2.800", " 0", " 0", " 0", "" ], [ "38", " LightSwitch", " -6.5", " 1.498", " 1.345", " 0", " 90", " 0", "" ], [ "39", " HousePlant", " -0.753", " 0.874", " 0.209", " 0", " 0", " 0", "" ], [ "40", " Window", " 1.496", " 1.712", " 4.454", " 90", " 90", " 0", "" ], [ "41", " Window", " -4.210", " 1.577", " -1.980", " 90", " 180", " 0", "" ], [ "42", " CoffeeTable", " 0.405", " 0.008", " 2.605", " 0", " 270", " 0", "" ], [ "43", " Drawer", " 0.597", " 0.234", " 2.604", " 0", " 270", " 0", "" ], [ "44", " Drawer", " 0.214", " 0.393", " 2.604", " 0", " 270", " 0", "" ], [ "45", " Drawer", " 0.214", " 0.234", " 2.609", " 0", " 270", " 0", "" ], [ "46", " Drawer", " 0.214", " 0.075", " 2.604", " 0", " 270", " 0", "" ], [ "47", " Drawer", " 0.597", " 0.075", " 2.604", " 0", " 270", " 0", "" ], [ "48", " Drawer", " 0.597", " 0.393", " 2.604", " 0", " 270", " 0", "" ], [ "49", " Ottoman", " 0.493", " 0.006", " 4.309", " 0", " 0", " 0", "" ], [ "50", " ArmChair", " 0.420", " 0.014", " 5.129", " 0", " 180", " 0", "" ], [ "51", " Chair", " -4.664", " 0.008", " 0.164", " 0", " 180", " 0", "" ], [ "52", " Chair", " -3.424", " 0.008", " -0.321", " 0", " 270", " 0", "" ], [ "53", " Chair", " -4.988", " 0.008", " -0.401", " 0", " 90", " 0", "" ], [ "54", " Chair", " -3.904", " 0.008", " -0.827", " 0", " 0", " 0", "" ], [ "55", " Chair", " -4.570", " 0.008", " -0.831", " 0", " 0", " 0", "" ], [ "56", " Chair", " -3.996", " 0.008", " 0.091", " 0", " 180", " 0", "" ], [ "57", " DiningTable", " -4.295", " 0.006", " -0.378", " 0", " 0", " 0", "" ], [ "58", " Sofa", " -1.527", " 0.013", " 2.559", " 0", " 90", " 0", "" ], [ "59", " SideTable", " -1.030", " 0.006", " 0.160", " 0", " 0", " 0", "" ], [ "60", " Drawer", " -1.030", " 0.780", " 0.225", " 0", " 0", " 0", "" ], [ "61", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "62", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "63", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "64", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -4.0 0.907 4.75 0 270 0 1 Bowl -4.477 0.756 -0.749 0 0 0 55 2 Bowl -4.659 0.756 -0.379 0 0 0 57 3 Bowl -1.029 0.880 0.140 0 90 0 59 4 TissueBox 0.233 0.553 3.056 0 0 0 42 5 Newspaper -4.659 0.761 -0.131 0 0 0 51 6 Newspaper -4.842 0.761 -0.626 0 0 0 53 7 Watch 0.618 0.037 2.216 0 0 0 47 8 Watch 0.319 0.552 2.454 0 0 0 42 9 Pencil -0.821 0.882 0.101 0 90 0 59 10 Pencil -6.005 0.064 2.823 0 90 0 37 11 Book 0.578 0.552 2.605 0 0 0 42 12 CellPhone 0.171 0.424 4.309 0 90 0 49 13 RemoteControl 0.147 0.554 2.755 0 0 0 42 14 RemoteControl 0.405 0.554 2.905 0 0 0 42 15 Laptop 0.319 0.549 2.153 0 0 0 42 16 Book -4.112 0.755 -0.626 0 0 0 54 17 Box 0.957 0.286 6.189 0 327.955 0 50 18 Pillow 0.438 0.581 5.162 321.968 0 0 50 19 Bowl -4.477 0.756 -0.379 0 0 0 57 20 WateringCan -0.816 0.005 0.189 0 0 0 21 TissueBox 0.578 0.553 2.304 0 0 0 42 22 Newspaper -1.204 0.456 3.031 0 0 0 58 23 CreditCard -1.671 0.449 2.795 0 0 0 58 24 KeyChain -1.217 0.770 0.181 0 90 0 60 25 Boots -6.309 0.006 1.252 0 92.842 0 26 Pencil -0.925 0.884 0.101 0 90 0 59 27 Laptop -1.204 0.448 2.086 0 0 0 58 28 Vase -4.272 0.748 -0.436 0 0 0 57 29 RemoteControl -3.930 0.757 -0.379 0 0 0 57 30 Watch -3.747 0.754 -0.131 0 0 0 57 31 CellPhone -1.340 0.879 0.140 0 90 0 59 32 Plate -4.044 0.748 -0.078 0 0 0 56 33 Painting -6.5 1.759 -0.341 0 0 0 34 Painting 0.704 1.778 0.782 0 0 0 35 Television 1.5 1.690 2.562 0 270 0 36 FloorLamp 1.111 0.007 6.805 0 0 0 37 GarbageCan -6.128 -0.003 2.800 0 0 0 38 LightSwitch -6.5 1.498 1.345 0 90 0 39 HousePlant -0.753 0.874 0.209 0 0 0 40 Window 1.496 1.712 4.454 90 90 0 41 Window -4.210 1.577 -1.980 90 180 0 42 CoffeeTable 0.405 0.008 2.605 0 270 0 43 Drawer 0.597 0.234 2.604 0 270 0 44 Drawer 0.214 0.393 2.604 0 270 0 45 Drawer 0.214 0.234 2.609 0 270 0 46 Drawer 0.214 0.075 2.604 0 270 0 47 Drawer 0.597 0.075 2.604 0 270 0 48 Drawer 0.597 0.393 2.604 0 270 0 49 Ottoman 0.493 0.006 4.309 0 0 0 50 ArmChair 0.420 0.014 5.129 0 180 0 51 Chair -4.664 0.008 0.164 0 180 0 52 Chair -3.424 0.008 -0.321 0 270 0 53 Chair -4.988 0.008 -0.401 0 90 0 54 Chair -3.904 0.008 -0.827 0 0 0 55 Chair -4.570 0.008 -0.831 0 0 0 56 Chair -3.996 0.008 0.091 0 180 0 57 DiningTable -4.295 0.006 -0.378 0 0 0 58 Sofa -1.527 0.013 2.559 0 90 0 59 SideTable -1.030 0.006 0.160 0 0 0 60 Drawer -1.030 0.780 0.225 0 0 0 61 NorthWall 62 EastWall 63 SouthWall 64 WestWall
[ "STEP 1: Cross the room and stand in front of the black table with the plant. | STEP 2: Pick up the bowl from the table. | STEP 3: Turn around and face the table in front of the couch. | STEP 4: Put the bowl on the table. | STEP 5: Turn and cross the room to face the book on the dining table. | STEP 6: Pick the bowl on the left up from the table. | STEP 7: Walk around the table and past the couch to turn and face the table in front of the couch | STEP 8: Set the bowl on the table. | END" ]
[ [ "STEP 1: Cross the room and stand in front of the black table with the plant. ", " STEP 2: Pick up the bowl from the table. ", " STEP 3: Turn around and face the table in front of the couch. ", " STEP 4: Put the bowl on the table. ", " STEP 5: Turn and cross the room to face the book on the dining table. ", " STEP 6: Pick the bowl on the left up from the table. ", " STEP 7: Walk around the table and past the couch to turn and face the table in front of the couch ", " STEP 8: Set the bowl on the table. ", " END" ] ]
seen
trial_T20190907_153332_888821-4
Place two bowls on the desk.
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" 58" ], [ "24", " KeyChain", " -1.217", " 0.770", " 0.181", " 0", " 90", " 0", " 60" ], [ "25", " Boots", " -6.309", " 0.006", " 1.252", " 0", " 92.842", " 0", "" ], [ "26", " Pencil", " -0.925", " 0.884", " 0.101", " 0", " 90", " 0", " 59" ], [ "27", " Laptop", " -1.204", " 0.448", " 2.086", " 0", " 0", " 0", " 58" ], [ "28", " Vase", " -4.272", " 0.748", " -0.436", " 0", " 0", " 0", " 57" ], [ "29", " RemoteControl", " -3.930", " 0.757", " -0.379", " 0", " 0", " 0", " 57" ], [ "30", " Watch", " -3.747", " 0.754", " -0.131", " 0", " 0", " 0", " 57" ], [ "31", " CellPhone", " -1.340", " 0.879", " 0.140", " 0", " 90", " 0", " 59" ], [ "32", " Plate", " -4.044", " 0.748", " -0.078", " 0", " 0", " 0", " 56" ], [ "33", " Painting", " -6.5", " 1.759", " -0.341", " 0", " 0", " 0", "" ], [ "34", " Painting", " 0.704", " 1.778", " 0.782", " 0", " 0", " 0", "" ], [ "35", " Television", " 1.5", " 1.690", " 2.562", " 0", " 270", " 0", "" ], [ "36", " FloorLamp", " 1.111", " 0.007", " 6.805", " 0", " 0", " 0", "" ], [ "37", " GarbageCan", " -6.128", " -0.003", " 2.800", " 0", " 0", " 0", "" ], [ "38", " LightSwitch", " -6.5", " 1.498", " 1.345", " 0", " 90", " 0", "" ], [ "39", " HousePlant", " -0.753", " 0.874", " 0.209", " 0", " 0", " 0", "" ], [ "40", " Window", " 1.496", " 1.712", " 4.454", " 90", " 90", " 0", "" ], [ "41", " Window", " -4.210", " 1.577", " -1.980", " 90", " 180", " 0", "" ], [ "42", " CoffeeTable", " 0.405", " 0.008", " 2.605", " 0", " 270", " 0", "" ], [ "43", " Drawer", " 0.597", " 0.234", " 2.604", " 0", " 270", " 0", "" ], [ "44", " Drawer", " 0.214", " 0.393", " 2.604", " 0", " 270", " 0", "" ], [ "45", " Drawer", " 0.214", " 0.234", " 2.609", " 0", " 270", " 0", "" ], [ "46", " Drawer", " 0.214", " 0.075", " 2.604", " 0", " 270", " 0", "" ], [ "47", " Drawer", " 0.597", " 0.075", " 2.604", " 0", " 270", " 0", "" ], [ "48", " Drawer", " 0.597", " 0.393", " 2.604", " 0", " 270", " 0", "" ], [ "49", " Ottoman", " 0.493", " 0.006", " 4.309", " 0", " 0", " 0", "" ], [ "50", " ArmChair", " 0.420", " 0.014", " 5.129", " 0", " 180", " 0", "" ], [ "51", " Chair", " -4.664", " 0.008", " 0.164", " 0", " 180", " 0", "" ], [ "52", " Chair", " -3.424", " 0.008", " -0.321", " 0", " 270", " 0", "" ], [ "53", " Chair", " -4.988", " 0.008", " -0.401", " 0", " 90", " 0", "" ], [ "54", " Chair", " -3.904", " 0.008", " -0.827", " 0", " 0", " 0", "" ], [ "55", " Chair", " -4.570", " 0.008", " -0.831", " 0", " 0", " 0", "" ], [ "56", " Chair", " -3.996", " 0.008", " 0.091", " 0", " 180", " 0", "" ], [ "57", " DiningTable", " -4.295", " 0.006", " -0.378", " 0", " 0", " 0", "" ], [ "58", " Sofa", " -1.527", " 0.013", " 2.559", " 0", " 90", " 0", "" ], [ "59", " SideTable", " -1.030", " 0.006", " 0.160", " 0", " 0", " 0", "" ], [ "60", " Drawer", " -1.030", " 0.780", " 0.225", " 0", " 0", " 0", "" ], [ "61", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "62", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "63", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "64", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -4.0 0.907 4.75 0 270 0 1 Bowl -4.477 0.756 -0.749 0 0 0 55 2 Bowl -4.659 0.756 -0.379 0 0 0 57 3 Bowl -1.029 0.880 0.140 0 90 0 59 4 TissueBox 0.233 0.553 3.056 0 0 0 42 5 Newspaper -4.659 0.761 -0.131 0 0 0 51 6 Newspaper -4.842 0.761 -0.626 0 0 0 53 7 Watch 0.618 0.037 2.216 0 0 0 47 8 Watch 0.319 0.552 2.454 0 0 0 42 9 Pencil -0.821 0.882 0.101 0 90 0 59 10 Pencil -6.005 0.064 2.823 0 90 0 37 11 Book 0.578 0.552 2.605 0 0 0 42 12 CellPhone 0.171 0.424 4.309 0 90 0 49 13 RemoteControl 0.147 0.554 2.755 0 0 0 42 14 RemoteControl 0.405 0.554 2.905 0 0 0 42 15 Laptop 0.319 0.549 2.153 0 0 0 42 16 Book -4.112 0.755 -0.626 0 0 0 54 17 Box 0.957 0.286 6.189 0 327.955 0 50 18 Pillow 0.438 0.581 5.162 321.968 0 0 50 19 Bowl -4.477 0.756 -0.379 0 0 0 57 20 WateringCan -0.816 0.005 0.189 0 0 0 21 TissueBox 0.578 0.553 2.304 0 0 0 42 22 Newspaper -1.204 0.456 3.031 0 0 0 58 23 CreditCard -1.671 0.449 2.795 0 0 0 58 24 KeyChain -1.217 0.770 0.181 0 90 0 60 25 Boots -6.309 0.006 1.252 0 92.842 0 26 Pencil -0.925 0.884 0.101 0 90 0 59 27 Laptop -1.204 0.448 2.086 0 0 0 58 28 Vase -4.272 0.748 -0.436 0 0 0 57 29 RemoteControl -3.930 0.757 -0.379 0 0 0 57 30 Watch -3.747 0.754 -0.131 0 0 0 57 31 CellPhone -1.340 0.879 0.140 0 90 0 59 32 Plate -4.044 0.748 -0.078 0 0 0 56 33 Painting -6.5 1.759 -0.341 0 0 0 34 Painting 0.704 1.778 0.782 0 0 0 35 Television 1.5 1.690 2.562 0 270 0 36 FloorLamp 1.111 0.007 6.805 0 0 0 37 GarbageCan -6.128 -0.003 2.800 0 0 0 38 LightSwitch -6.5 1.498 1.345 0 90 0 39 HousePlant -0.753 0.874 0.209 0 0 0 40 Window 1.496 1.712 4.454 90 90 0 41 Window -4.210 1.577 -1.980 90 180 0 42 CoffeeTable 0.405 0.008 2.605 0 270 0 43 Drawer 0.597 0.234 2.604 0 270 0 44 Drawer 0.214 0.393 2.604 0 270 0 45 Drawer 0.214 0.234 2.609 0 270 0 46 Drawer 0.214 0.075 2.604 0 270 0 47 Drawer 0.597 0.075 2.604 0 270 0 48 Drawer 0.597 0.393 2.604 0 270 0 49 Ottoman 0.493 0.006 4.309 0 0 0 50 ArmChair 0.420 0.014 5.129 0 180 0 51 Chair -4.664 0.008 0.164 0 180 0 52 Chair -3.424 0.008 -0.321 0 270 0 53 Chair -4.988 0.008 -0.401 0 90 0 54 Chair -3.904 0.008 -0.827 0 0 0 55 Chair -4.570 0.008 -0.831 0 0 0 56 Chair -3.996 0.008 0.091 0 180 0 57 DiningTable -4.295 0.006 -0.378 0 0 0 58 Sofa -1.527 0.013 2.559 0 90 0 59 SideTable -1.030 0.006 0.160 0 0 0 60 Drawer -1.030 0.780 0.225 0 0 0 61 NorthWall 62 EastWall 63 SouthWall 64 WestWall
[ "STEP 1: Turn around, hang a right at the stairs, turn left at the end of the couch and face left to reach the black side table. | STEP 2: Pick up the black round bowl from the middle of the table. | STEP 3: Turn around and head left around the couch, and face to the right to reach the wooden desk. | STEP 4: Put the round bowl on the wooden desk to the left of the watch. | STEP 5: Turn right, hang a right at the black table, turn left at the end of the couch towards the wall, hang a right and turn right at the window to face the dining table. | STEP 6: Pick up the black round bowl to the left of the book on the table. | STEP 7: Turn around, hang a left towards the wall, turn left at the wall, turn right at the couch, hang a left at the black table and face the wooden desk to the right. | STEP 8: Place the round bowl on the wooden desk to the right of the tissue box in the upper right corner. | END" ]
[ [ "STEP 1: Turn around, hang a right at the stairs, turn left at the end of the couch and face left to reach the black side table. ", " STEP 2: Pick up the black round bowl from the middle of the table. ", " STEP 3: Turn around and head left around the couch, and face to the right to reach the wooden desk. ", " STEP 4: Put the round bowl on the wooden desk to the left of the watch. ", " STEP 5: Turn right, hang a right at the black table, turn left at the end of the couch towards the wall, hang a right and turn right at the window to face the dining table. ", " STEP 6: Pick up the black round bowl to the left of the book on the table. ", " STEP 7: Turn around, hang a left towards the wall, turn left at the wall, turn right at the couch, hang a left at the black table and face the wooden desk to the right. ", " STEP 8: Place the round bowl on the wooden desk to the right of the tissue box in the upper right corner. ", " END" ] ]
seen
trial_T20190909_091617_854251-0
Put a book on a chair.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -5.0 0.902 -1.0 0 0 0 1 Newspaper -2.680 0.593 -1.996 0 0 0 37 2 Watch -2.648 0.704 -5.235 0 0 0 40 3 Watch -4.358 0.705 -4.952 0 0 0 40 4 Statue -2.469 0.594 -2.326 0 0 0 37 5 KeyChain -3.091 0.385 -5.050 0 0 0 41 6 KeyChain -2.363 0.588 -2.492 0 0 0 37 7 Book -3.218 0.703 -5.093 0 0 0 40 8 Book -2.680 0.587 -2.326 0 0 0 37 9 Box -2.362 0.261 -1.647 0 76.161 0 Floor|-04.47| 10 Book -3.503 0.703 -5.141 0 0 0 40 11 Newspaper -4.265 0.34 -2.164 0 0 0 39 12 Watch -3.091 0.076 -4.976 0 0 0 43 13 Pen -3.788 0.709 -4.999 0 0 0 40 14 WateringCan -7.991 0.000 -4.629 0 296.796 0 Floor|-04.47| 15 Pillow -4.282 0.454 -1.736 0 270 0 39 16 CreditCard -3.908 0.076 -4.976 0 0 0 42 17 Vase -4.477 0.697 -5.076 0 0 0 40 18 KeyChain -2.648 0.705 -5.093 0 0 0 40 19 Vase -4.218 0.697 -5.046 0 0 0 40 20 Laptop -2.363 0.585 -1.996 0 0 0 37 21 Statue -2.933 0.710 -5.188 0 0 0 40 22 Vase -2.680 0.592 -2.657 0 0 0 37 23 RemoteControl -5.217 0.484 -5.129 0 0 0 38 24 Vase -2.016 0.482 -5.119 0 0 0 36 25 Mirror -3.402 2.028 0.000 0 0 0 26 FloorLamp -4.821 0.000 -5.118 0 0 0 27 LightSwitch -5.763 1.330 0.010 0 180 0 28 GarbageCan -0.969 -0.027 -5.058 0 0 0 29 HousePlant -5.629 0.478 -5.126 0 0 0 30 Painting -3.372 1.800 -5.392 90 180 0 31 Television -0.606 1.674 -2.602 0 270 0 32 Window -8.237 1.411 -1.509 90 270 0 33 Window -8.237 1.411 -4.081 90 270 0 34 ArmChair -4.334 0.001 -3.528 0 90 0 35 Shelf -2.475 0.124 -2.486 0 90 0 36 SideTable -2.016 0.002 -5.075 0 180 0 37 CoffeeTable -2.474 0.001 -2.489 0 90 0 38 SideTable -5.428 0.002 -5.123 0 180 0 39 Sofa -4.354 0.009 -2.089 0 90 0 40 Dresser -3.505 0.003 -5.101 0 0 0 41 Drawer -2.981 0.481 -5.031 0 0 0 42 Drawer -4.022 0.169 -5.013 0 0 0 43 Drawer -2.978 0.169 -5.013 0 0 0 44 Drawer -4.022 0.477 -5.013 0 0 0 45 NorthWall 46 EastWall 47 SouthWall 48 WestWall
[ "STEP 1: Turn to the right and then the right again to cross the room and stand in front of the brown cabinet with two books and a statue on it. | STEP 2: Pick the book on the right up from the cabinet. | STEP 3: Turn around and face the gray chair. | STEP 4: Put the book on the chair. | END" ]
[ [ "STEP 1: Turn to the right and then the right again to cross the room and stand in front of the brown cabinet with two books and a statue on it. ", " STEP 2: Pick the book on the right up from the cabinet. ", " STEP 3: Turn around and face the gray chair. ", " STEP 4: Put the book on the chair. ", " END" ] ]
seen
trial_T20190909_091617_854251-1
Move a book from a dresser to an armchair.
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[ "STEP 1: Turn right, walk forward just past the sofa, then turn right and walk across the room to the books on the dresser. | STEP 2: Pick up the book on the right. | STEP 3: Turn around, walk forward slightly and turn left towards the armchair. | STEP 4: Put the book on the seat of the armchair. | END" ]
[ [ "STEP 1: Turn right, walk forward just past the sofa, then turn right and walk across the room to the books on the dresser. ", " STEP 2: Pick up the book on the right. ", " STEP 3: Turn around, walk forward slightly and turn left towards the armchair. ", " STEP 4: Put the book on the seat of the armchair. ", " END" ] ]
seen
trial_T20190909_091617_854251-2
Move a book to the chair
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -5.0 0.902 -1.0 0 0 0 1 Newspaper -2.680 0.593 -1.996 0 0 0 37 2 Watch -2.648 0.704 -5.235 0 0 0 40 3 Watch -4.358 0.705 -4.952 0 0 0 40 4 Statue -2.469 0.594 -2.326 0 0 0 37 5 KeyChain -3.091 0.385 -5.050 0 0 0 41 6 KeyChain -2.363 0.588 -2.492 0 0 0 37 7 Book -3.218 0.703 -5.093 0 0 0 40 8 Book -2.680 0.587 -2.326 0 0 0 37 9 Box -2.362 0.261 -1.647 0 76.161 0 Floor|-04.47| 10 Book -3.503 0.703 -5.141 0 0 0 40 11 Newspaper -4.265 0.34 -2.164 0 0 0 39 12 Watch -3.091 0.076 -4.976 0 0 0 43 13 Pen -3.788 0.709 -4.999 0 0 0 40 14 WateringCan -7.991 0.000 -4.629 0 296.796 0 Floor|-04.47| 15 Pillow -4.282 0.454 -1.736 0 270 0 39 16 CreditCard -3.908 0.076 -4.976 0 0 0 42 17 Vase -4.477 0.697 -5.076 0 0 0 40 18 KeyChain -2.648 0.705 -5.093 0 0 0 40 19 Vase -4.218 0.697 -5.046 0 0 0 40 20 Laptop -2.363 0.585 -1.996 0 0 0 37 21 Statue -2.933 0.710 -5.188 0 0 0 40 22 Vase -2.680 0.592 -2.657 0 0 0 37 23 RemoteControl -5.217 0.484 -5.129 0 0 0 38 24 Vase -2.016 0.482 -5.119 0 0 0 36 25 Mirror -3.402 2.028 0.000 0 0 0 26 FloorLamp -4.821 0.000 -5.118 0 0 0 27 LightSwitch -5.763 1.330 0.010 0 180 0 28 GarbageCan -0.969 -0.027 -5.058 0 0 0 29 HousePlant -5.629 0.478 -5.126 0 0 0 30 Painting -3.372 1.800 -5.392 90 180 0 31 Television -0.606 1.674 -2.602 0 270 0 32 Window -8.237 1.411 -1.509 90 270 0 33 Window -8.237 1.411 -4.081 90 270 0 34 ArmChair -4.334 0.001 -3.528 0 90 0 35 Shelf -2.475 0.124 -2.486 0 90 0 36 SideTable -2.016 0.002 -5.075 0 180 0 37 CoffeeTable -2.474 0.001 -2.489 0 90 0 38 SideTable -5.428 0.002 -5.123 0 180 0 39 Sofa -4.354 0.009 -2.089 0 90 0 40 Dresser -3.505 0.003 -5.101 0 0 0 41 Drawer -2.981 0.481 -5.031 0 0 0 42 Drawer -4.022 0.169 -5.013 0 0 0 43 Drawer -2.978 0.169 -5.013 0 0 0 44 Drawer -4.022 0.477 -5.013 0 0 0 45 NorthWall 46 EastWall 47 SouthWall 48 WestWall
[ "STEP 1: Move to the brown end table against the wall with the two blue books on top of it | STEP 2: Pick up the blue book on the right side of the table | STEP 3: Carry the book over to the small grey chair on the left side | STEP 4: Place the book on top of the grey chair | END" ]
[ [ "STEP 1: Move to the brown end table against the wall with the two blue books on top of it ", " STEP 2: Pick up the blue book on the right side of the table ", " STEP 3: Carry the book over to the small grey chair on the left side ", " STEP 4: Place the book on top of the grey chair ", " END" ] ]
seen
trial_T20190908_075144_817104-0
Move two discs to a small black table.
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " 2.0", " 0.900", " -1.75", " 0", " 180", " 0", "" ], [ "1", " CD", " 2.930", " 0.779", " -1.679", " 0", " 0", " 0", " 38" ], [ "2", " CellPhone", " 1.119", " 0.433", " -2.345", " 0", " 330.000", " 0", " 36" ], [ "3", " CellPhone", " 0.806", " 0.447", " -2.312", " 0", " 330.000", " 0", " 36" ], [ "4", " Pen", " 0.357", " 0.710", " 1.380", " 0", " 90", " 0", " 32" ], [ "5", " Pen", " 2.930", " 0.785", " -1.59", " 0", " 0", " 0", " 38" ], [ "6", " Pencil", " 0.226", " 0.708", " 1.380", " 0", " 90", " 0", " 32" ], [ "7", " Pencil", " 0.291", " 0.708", " 1.213", " 0", " 90", " 0", " 32" ], [ "8", " Book", " 1.171", " 0.596", " 0.722", " 0", " 0", " 0", " 25" ], [ "9", " AlarmClock", " 3.393", " 0.779", " -1.322", " 0", " 0", " 0", " 38" ], [ "10", " AlarmClock", " 3.701", " 0.779", " -1.679", " 0", " 0", " 0", " 38" ], [ "11", " Book", " 0.968", " 0.596", " 0.145", " 0", " 0", " 0", " 25" ], [ "12", " KeyChain", " 0.980", " 0.434", " -2.104", " 0", " 150.000", " 0", " 36" ], [ "13", " Pillow", " 1.171", " 0.677", " -0.238", " 0", " 90", " 0", " 25" ], [ "14", " Pillow", " 0.535", " 0.638", " -0.119", " 0", " 279.121", " 0", " 25" ], [ "15", " CreditCard", " 0.291", " 0.705", " 1.047", " 0", " 90", " 0", " 32" ], [ "16", " Pen", " 2.776", " 0.785", " -1.500", " 0", " 0", " 0", " 38" ], [ "17", " Pencil", " 2.930", " 0.782", " -1.411", " 0", " 0", " 0", " 38" ], [ "18", " TissueBox", " 3.084", " 0.781", " -1.411", " 0", " 0", " 0", " 38" ], [ "19", " Laptop", " 3.452", " 0.773", " -1.667", " 0", " 210.000", " 0", " 38" ], [ "20", " CellPhone", " 0.226", " 0.705", " 1.130", " 0", " 90", " 0", " 32" ], [ "21", " AlarmClock", " 3.701", " 0.779", " -1.857", " 0", " 0", " 0", " 38" ], [ "22", " CD", " 0.887", " 0.432", " -1.943", " 0", " 330.000", " 0", " 36" ], [ "23", " Chair", " 3.232", " 0.002", " -1.873", " 0", " 350.846", " 0", "" ], [ "24", " Mirror", " 1.083", " 1.228", " 1.700", " 0", " 0", " 0", "" ], [ "25", " Bed", " 0.898", " -0.002", " 0.141", " 0", " 270", " 0", "" ], [ "26", " GarbageCan", " 3.633", " 8.165", " -0.982", " 0", " 209.052", " 0", "" ], [ "27", " DeskLamp", " 3.681", " 0.785", " -1.386", " 0", " 0", " 0", "" ], [ "28", " DeskLamp", " 0.347", " 0.698", " -0.979", " 0", " 0", " 0", "" ], [ "29", " Painting", " 0.100", " 1.432", " -2.053", " 90", " 270", " 0", "" ], [ "30", " Window", " 2.270", " 1.547", " -2.915", " 90", " 0", " 0", "" ], [ "31", " LightSwitch", " 1.809", " 1.169", " 1.700", " 0", " 180", " 0", "" ], [ "32", " SideTable", " 0.277", " 0.000", " 1.299", " 0", " 90", " 0", "" ], [ "33", " SideTable", " 0.276", " 0.000", " -1.017", " 0", " 90", " 0", "" ], [ "34", " Drawer", " 0.328", " 0.624", " 1.299", " 0", " 90", " 0", "" ], [ "35", " Drawer", " 0.328", " 0.624", " -1.017", " 0", " 90", " 0", "" ], [ "36", " ArmChair", " 0.849", " -0.001", " -2.141", " 0", " 66.451", " 0", "" ], [ "37", " Blinds", " 2.299", " 2.525", " -2.892", " 0", " 0", " 0", "" ], [ "38", " Desk", " 3.238", " 0.003", " -1.590", " 0", " 0", " 0", "" ], [ "39", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "40", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "41", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "42", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 2.0 0.900 -1.75 0 180 0 1 CD 2.930 0.779 -1.679 0 0 0 38 2 CellPhone 1.119 0.433 -2.345 0 330.000 0 36 3 CellPhone 0.806 0.447 -2.312 0 330.000 0 36 4 Pen 0.357 0.710 1.380 0 90 0 32 5 Pen 2.930 0.785 -1.59 0 0 0 38 6 Pencil 0.226 0.708 1.380 0 90 0 32 7 Pencil 0.291 0.708 1.213 0 90 0 32 8 Book 1.171 0.596 0.722 0 0 0 25 9 AlarmClock 3.393 0.779 -1.322 0 0 0 38 10 AlarmClock 3.701 0.779 -1.679 0 0 0 38 11 Book 0.968 0.596 0.145 0 0 0 25 12 KeyChain 0.980 0.434 -2.104 0 150.000 0 36 13 Pillow 1.171 0.677 -0.238 0 90 0 25 14 Pillow 0.535 0.638 -0.119 0 279.121 0 25 15 CreditCard 0.291 0.705 1.047 0 90 0 32 16 Pen 2.776 0.785 -1.500 0 0 0 38 17 Pencil 2.930 0.782 -1.411 0 0 0 38 18 TissueBox 3.084 0.781 -1.411 0 0 0 38 19 Laptop 3.452 0.773 -1.667 0 210.000 0 38 20 CellPhone 0.226 0.705 1.130 0 90 0 32 21 AlarmClock 3.701 0.779 -1.857 0 0 0 38 22 CD 0.887 0.432 -1.943 0 330.000 0 36 23 Chair 3.232 0.002 -1.873 0 350.846 0 24 Mirror 1.083 1.228 1.700 0 0 0 25 Bed 0.898 -0.002 0.141 0 270 0 26 GarbageCan 3.633 8.165 -0.982 0 209.052 0 27 DeskLamp 3.681 0.785 -1.386 0 0 0 28 DeskLamp 0.347 0.698 -0.979 0 0 0 29 Painting 0.100 1.432 -2.053 90 270 0 30 Window 2.270 1.547 -2.915 90 0 0 31 LightSwitch 1.809 1.169 1.700 0 180 0 32 SideTable 0.277 0.000 1.299 0 90 0 33 SideTable 0.276 0.000 -1.017 0 90 0 34 Drawer 0.328 0.624 1.299 0 90 0 35 Drawer 0.328 0.624 -1.017 0 90 0 36 ArmChair 0.849 -0.001 -2.141 0 66.451 0 37 Blinds 2.299 2.525 -2.892 0 0 0 38 Desk 3.238 0.003 -1.590 0 0 0 39 NorthWall 40 EastWall 41 SouthWall 42 WestWall
[ "STEP 1: Turn right and walk over to the chair. | STEP 2: Pick up the disc off of the seat of the chair. | STEP 3: Turn right and walk over to the bed, then turn left and walk up to the small black table. | STEP 4: Put the disc on the small black table to the left of the lamp. | STEP 5: Turn around and walk over to the wooden table. | STEP 6: Pick up the disc off of the wooden table. | STEP 7: Turn right and walk over to the small black table to the left of the bed. | STEP 8: Put the disc on the small black table to the right of the lamp. | END" ]
[ [ "STEP 1: Turn right and walk over to the chair. ", " STEP 2: Pick up the disc off of the seat of the chair. ", " STEP 3: Turn right and walk over to the bed, then turn left and walk up to the small black table. ", " STEP 4: Put the disc on the small black table to the left of the lamp. ", " STEP 5: Turn around and walk over to the wooden table. ", " STEP 6: Pick up the disc off of the wooden table. ", " STEP 7: Turn right and walk over to the small black table to the left of the bed. ", " STEP 8: Put the disc on the small black table to the right of the lamp. ", " END" ] ]
seen
trial_T20190908_075144_817104-1
Moving 2 cd's to a table beside the bed
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " 2.0", " 0.900", " -1.75", " 0", " 180", " 0", "" ], [ "1", " CD", " 2.930", " 0.779", " -1.679", " 0", " 0", " 0", " 38" ], [ "2", " CellPhone", " 1.119", " 0.433", " -2.345", " 0", " 330.000", " 0", " 36" ], [ "3", " CellPhone", " 0.806", " 0.447", " -2.312", " 0", " 330.000", " 0", " 36" ], [ "4", " Pen", " 0.357", " 0.710", " 1.380", " 0", " 90", " 0", " 32" ], [ "5", " Pen", " 2.930", " 0.785", " -1.59", " 0", " 0", " 0", " 38" ], [ "6", " Pencil", " 0.226", " 0.708", " 1.380", " 0", " 90", " 0", " 32" ], [ "7", " Pencil", " 0.291", " 0.708", " 1.213", " 0", " 90", " 0", " 32" ], [ "8", " Book", " 1.171", " 0.596", " 0.722", " 0", " 0", " 0", " 25" ], [ "9", " AlarmClock", " 3.393", " 0.779", " -1.322", " 0", " 0", " 0", " 38" ], [ "10", " AlarmClock", " 3.701", " 0.779", " -1.679", " 0", " 0", " 0", " 38" ], [ "11", " Book", " 0.968", " 0.596", " 0.145", " 0", " 0", " 0", " 25" ], [ "12", " KeyChain", " 0.980", " 0.434", " -2.104", " 0", " 150.000", " 0", " 36" ], [ "13", " Pillow", " 1.171", " 0.677", " -0.238", " 0", " 90", " 0", " 25" ], [ "14", " Pillow", " 0.535", " 0.638", " -0.119", " 0", " 279.121", " 0", " 25" ], [ "15", " CreditCard", " 0.291", " 0.705", " 1.047", " 0", " 90", " 0", " 32" ], [ "16", " Pen", " 2.776", " 0.785", " -1.500", " 0", " 0", " 0", " 38" ], [ "17", " Pencil", " 2.930", " 0.782", " -1.411", " 0", " 0", " 0", " 38" ], [ "18", " TissueBox", " 3.084", " 0.781", " -1.411", " 0", " 0", " 0", " 38" ], [ "19", " Laptop", " 3.452", " 0.773", " -1.667", " 0", " 210.000", " 0", " 38" ], [ "20", " CellPhone", " 0.226", " 0.705", " 1.130", " 0", " 90", " 0", " 32" ], [ "21", " AlarmClock", " 3.701", " 0.779", " -1.857", " 0", " 0", " 0", " 38" ], [ "22", " CD", " 0.887", " 0.432", " -1.943", " 0", " 330.000", " 0", " 36" ], [ "23", " Chair", " 3.232", " 0.002", " -1.873", " 0", " 350.846", " 0", "" ], [ "24", " Mirror", " 1.083", " 1.228", " 1.700", " 0", " 0", " 0", "" ], [ "25", " Bed", " 0.898", " -0.002", " 0.141", " 0", " 270", " 0", "" ], [ "26", " GarbageCan", " 3.633", " 8.165", " -0.982", " 0", " 209.052", " 0", "" ], [ "27", " DeskLamp", " 3.681", " 0.785", " -1.386", " 0", " 0", " 0", "" ], [ "28", " DeskLamp", " 0.347", " 0.698", " -0.979", " 0", " 0", " 0", "" ], [ "29", " Painting", " 0.100", " 1.432", " -2.053", " 90", " 270", " 0", "" ], [ "30", " Window", " 2.270", " 1.547", " -2.915", " 90", " 0", " 0", "" ], [ "31", " LightSwitch", " 1.809", " 1.169", " 1.700", " 0", " 180", " 0", "" ], [ "32", " SideTable", " 0.277", " 0.000", " 1.299", " 0", " 90", " 0", "" ], [ "33", " SideTable", " 0.276", " 0.000", " -1.017", " 0", " 90", " 0", "" ], [ "34", " Drawer", " 0.328", " 0.624", " 1.299", " 0", " 90", " 0", "" ], [ "35", " Drawer", " 0.328", " 0.624", " -1.017", " 0", " 90", " 0", "" ], [ "36", " ArmChair", " 0.849", " -0.001", " -2.141", " 0", " 66.451", " 0", "" ], [ "37", " Blinds", " 2.299", " 2.525", " -2.892", " 0", " 0", " 0", "" ], [ "38", " Desk", " 3.238", " 0.003", " -1.590", " 0", " 0", " 0", "" ], [ "39", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "40", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "41", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "42", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 2.0 0.900 -1.75 0 180 0 1 CD 2.930 0.779 -1.679 0 0 0 38 2 CellPhone 1.119 0.433 -2.345 0 330.000 0 36 3 CellPhone 0.806 0.447 -2.312 0 330.000 0 36 4 Pen 0.357 0.710 1.380 0 90 0 32 5 Pen 2.930 0.785 -1.59 0 0 0 38 6 Pencil 0.226 0.708 1.380 0 90 0 32 7 Pencil 0.291 0.708 1.213 0 90 0 32 8 Book 1.171 0.596 0.722 0 0 0 25 9 AlarmClock 3.393 0.779 -1.322 0 0 0 38 10 AlarmClock 3.701 0.779 -1.679 0 0 0 38 11 Book 0.968 0.596 0.145 0 0 0 25 12 KeyChain 0.980 0.434 -2.104 0 150.000 0 36 13 Pillow 1.171 0.677 -0.238 0 90 0 25 14 Pillow 0.535 0.638 -0.119 0 279.121 0 25 15 CreditCard 0.291 0.705 1.047 0 90 0 32 16 Pen 2.776 0.785 -1.500 0 0 0 38 17 Pencil 2.930 0.782 -1.411 0 0 0 38 18 TissueBox 3.084 0.781 -1.411 0 0 0 38 19 Laptop 3.452 0.773 -1.667 0 210.000 0 38 20 CellPhone 0.226 0.705 1.130 0 90 0 32 21 AlarmClock 3.701 0.779 -1.857 0 0 0 38 22 CD 0.887 0.432 -1.943 0 330.000 0 36 23 Chair 3.232 0.002 -1.873 0 350.846 0 24 Mirror 1.083 1.228 1.700 0 0 0 25 Bed 0.898 -0.002 0.141 0 270 0 26 GarbageCan 3.633 8.165 -0.982 0 209.052 0 27 DeskLamp 3.681 0.785 -1.386 0 0 0 28 DeskLamp 0.347 0.698 -0.979 0 0 0 29 Painting 0.100 1.432 -2.053 90 270 0 30 Window 2.270 1.547 -2.915 90 0 0 31 LightSwitch 1.809 1.169 1.700 0 180 0 32 SideTable 0.277 0.000 1.299 0 90 0 33 SideTable 0.276 0.000 -1.017 0 90 0 34 Drawer 0.328 0.624 1.299 0 90 0 35 Drawer 0.328 0.624 -1.017 0 90 0 36 ArmChair 0.849 -0.001 -2.141 0 66.451 0 37 Blinds 2.299 2.525 -2.892 0 0 0 38 Desk 3.238 0.003 -1.590 0 0 0 39 NorthWall 40 EastWall 41 SouthWall 42 WestWall
[ "STEP 1: Turn right towards the brown chair | STEP 2: Pick up the CD from the chair | STEP 3: Turn to the table on the right between the chair and the bed | STEP 4: Place the CD on the table | STEP 5: Turn around and go to the table and turn right to face the clock and tissues | STEP 6: Pick up the CD from behind the pencil on the table | STEP 7: Turn around and go to the table between the chair and the bed | STEP 8: Put the CD to the right of the lamp | END" ]
[ [ "STEP 1: Turn right towards the brown chair ", " STEP 2: Pick up the CD from the chair ", " STEP 3: Turn to the table on the right between the chair and the bed ", " STEP 4: Place the CD on the table ", " STEP 5: Turn around and go to the table and turn right to face the clock and tissues ", " STEP 6: Pick up the CD from behind the pencil on the table ", " STEP 7: Turn around and go to the table between the chair and the bed ", " STEP 8: Put the CD to the right of the lamp ", " END" ] ]
seen
trial_T20190908_075144_817104-2
Put two cd on 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 2.0 0.900 -1.75 0 180 0 1 CD 2.930 0.779 -1.679 0 0 0 38 2 CellPhone 1.119 0.433 -2.345 0 330.000 0 36 3 CellPhone 0.806 0.447 -2.312 0 330.000 0 36 4 Pen 0.357 0.710 1.380 0 90 0 32 5 Pen 2.930 0.785 -1.59 0 0 0 38 6 Pencil 0.226 0.708 1.380 0 90 0 32 7 Pencil 0.291 0.708 1.213 0 90 0 32 8 Book 1.171 0.596 0.722 0 0 0 25 9 AlarmClock 3.393 0.779 -1.322 0 0 0 38 10 AlarmClock 3.701 0.779 -1.679 0 0 0 38 11 Book 0.968 0.596 0.145 0 0 0 25 12 KeyChain 0.980 0.434 -2.104 0 150.000 0 36 13 Pillow 1.171 0.677 -0.238 0 90 0 25 14 Pillow 0.535 0.638 -0.119 0 279.121 0 25 15 CreditCard 0.291 0.705 1.047 0 90 0 32 16 Pen 2.776 0.785 -1.500 0 0 0 38 17 Pencil 2.930 0.782 -1.411 0 0 0 38 18 TissueBox 3.084 0.781 -1.411 0 0 0 38 19 Laptop 3.452 0.773 -1.667 0 210.000 0 38 20 CellPhone 0.226 0.705 1.130 0 90 0 32 21 AlarmClock 3.701 0.779 -1.857 0 0 0 38 22 CD 0.887 0.432 -1.943 0 330.000 0 36 23 Chair 3.232 0.002 -1.873 0 350.846 0 24 Mirror 1.083 1.228 1.700 0 0 0 25 Bed 0.898 -0.002 0.141 0 270 0 26 GarbageCan 3.633 8.165 -0.982 0 209.052 0 27 DeskLamp 3.681 0.785 -1.386 0 0 0 28 DeskLamp 0.347 0.698 -0.979 0 0 0 29 Painting 0.100 1.432 -2.053 90 270 0 30 Window 2.270 1.547 -2.915 90 0 0 31 LightSwitch 1.809 1.169 1.700 0 180 0 32 SideTable 0.277 0.000 1.299 0 90 0 33 SideTable 0.276 0.000 -1.017 0 90 0 34 Drawer 0.328 0.624 1.299 0 90 0 35 Drawer 0.328 0.624 -1.017 0 90 0 36 ArmChair 0.849 -0.001 -2.141 0 66.451 0 37 Blinds 2.299 2.525 -2.892 0 0 0 38 Desk 3.238 0.003 -1.590 0 0 0 39 NorthWall 40 EastWall 41 SouthWall 42 WestWall
[ "STEP 1: Turn right and go to the chair | STEP 2: Pick up the cd on the chair | STEP 3: Turn right, go to the bed, turn left, go to the nightstand | STEP 4: Put the cd on the nightstand | STEP 5: Turn around, go to the desk, turn right | STEP 6: Pick up the cd on the desk | STEP 7: Turn right and go to the nightstand | STEP 8: Put the cd on the nightstand | END" ]
[ [ "STEP 1: Turn right and go to the chair ", " STEP 2: Pick up the cd on the chair ", " STEP 3: Turn right, go to the bed, turn left, go to the nightstand ", " STEP 4: Put the cd on the nightstand ", " STEP 5: Turn around, go to the desk, turn right ", " STEP 6: Pick up the cd on the desk ", " STEP 7: Turn right and go to the nightstand ", " STEP 8: Put the cd on the nightstand ", " END" ] ]
seen
trial_T20190909_124332_831471-0
To chill a pan and put it on the counter next to 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 -1.5 0 90 0 1 Pan -0.465 0.950 -2.576 0 90 0 71 2 Statue 1.685 0.551 -2.562 0 0 0 92 3 Vase 0.951 1.658 -2.636 0 0 0 84 4 CreditCard -0.059 1.108 0.757 0 0 0 62 5 CreditCard 1.122 0.478 -2.478 0 0 0 70 6 Plate 0.079 1.108 -0.253 0 0 0 62 7 Cup -1.963 0.767 -1.673 0 90 0 97 8 Cup -0.122 1.788 -2.610 0 0 0 88 9 SaltShaker 0.324 0.907 -2.714 0 0 0 64 10 SaltShaker -1.696 0.150 -0.197 0 90 0 85 11 Bread -0.848 0.983 -2.406 0 0 0 87 12 Apple -0.335 1.162 0.251 0 0 0 62 13 Apple -1.907 0.098 2.076 0 270 0 93 14 Knife -1.937 0.936 -0.698 0 0 0 87 15 Knife -0.335 1.136 -0.759 0 180 0 62 16 Fork 0.217 1.112 -0.759 0 0 0 62 17 Fork 0.893 0.777 -2.334 0 0 0 58 18 Spoon 0.892 0.646 -2.375 0 0 0 67 19 Mug -1.013 1.651 -2.532 0 0 0 76 20 Mug -2.026 1.301 1.092 0 90 0 95 21 ButterKnife -1.733 0.911 -2.483 0 0 0 87 22 WineBottle -1.935 0.048 1.933 0 270 0 93 23 WineBottle -0.898 1.657 -2.604 0 0 0 76 24 DishSponge -0.059 1.111 0.251 0 0 0 62 25 DishSponge 0.950 0.481 -2.380 0 0 0 67 26 Bowl -1.715 0.126 0.248 0 90 0 68 27 Book 0.155 1.1 0.617 0 315 0 62 28 Glassbottle 2.096 0.881 -2.536 0 180 0 89 29 Knife -1.963 0.795 -1.242 0 180 0 97 30 Bread 0.217 1.184 -0.506 0 0 0 62 31 Fork -1.438 0.911 -2.329 0 0 0 87 32 Potato 0.355 1.142 -0.506 0 0 0 62 33 SoapBottle -1.693 0.912 -2.256 0 0 0 87 34 Kettle 1.037 0.9 -2.596 0 0 0 64 35 Pan -0.036 0.950 -2.372 0 270 0 57 36 Plate -2.121 0.537 0.920 0 90 0 95 37 Tomato -1.963 0.808 -1.414 0 90 0 97 38 Vase -0.335 1.113 -0.506 0 0 0 62 39 Egg 0.324 0.945 -2.484 0 0 0 64 40 CreditCard 1.893 0.550 -2.614 0 180 0 92 41 Statue 1.955 0.168 -2.543 0 0 0 94 42 WineBottle 0.450 0.141 -2.485 0 0 0 79 43 Pot 0.711 0.914 -2.407 0 0 0 64 44 Spatula -1.654 0.809 0.331 0 0 0 59 45 PaperTowelRoll -1.962 0.152 2.172 0 270 0 93 46 Cup -1.392 0.134 -2.503 0 0 0 80 47 Vase 1.478 0.550 -2.562 0 180 0 92 48 Bowl -2.080 0.537 1.168 0 90 0 95 49 SaltShaker -1.655 0.132 -1.856 0 90 0 63 50 PepperShaker -1.143 0.907 -2.637 0 0 0 87 51 Lettuce 0.969 0.990 -2.330 0 0 0 64 52 ButterKnife 0.951 0.315 -2.383 0 0 0 66 53 Apple -2.114 1.356 1.343 0 90 0 95 54 DishSponge -1.856 0.910 -2.366 0 0 0 87 55 Spoon -1.852 0.770 -1.414 0 90 0 97 56 Mug -2.078 0.793 1.168 0 90 0 95 57 StoveBurner -0.036 0.915 -2.372 0 0 0 58 Drawer 0.949 0.832 -2.197 0 0 0 59 Drawer -1.560 0.839 0.204 0 90 0 60 StoveBurner -0.465 0.915 -2.371 0 180 0 61 Drawer -1.560 0.839 -0.197 0 90 0 62 CounterTop -0.079 1.147 -0.001 0 0 0 63 Cabinet -1.549 0.494 -1.964 0 90 0 64 CounterTop 0.693 0.946 -2.483 0 0 0 65 StoveBurner -0.036 0.915 -2.576 0 0 0 66 Drawer 0.949 0.393 -2.200 0 0 0 67 Drawer 0.949 0.708 -2.200 0 0 0 68 Cabinet -1.549 0.494 0.379 0 90 0 69 StoveKnob -0.022 0.881 -2.187 45 0 0 70 Drawer 0.949 0.560 -2.201 0 0 0 71 StoveBurner -0.465 0.915 -2.575 0 180 0 72 Window -2.230 1.429 -1.203 0 0 0 73 StoveKnob -0.483 0.881 -2.187 45 0 0 74 Sink -1.899 0.964 -1.5 0 90 0 75 StoveKnob -0.328 0.881 -2.187 45 0 0 76 Cabinet -0.727 2.015 -2.460 0 0 0 77 Drawer -1.560 0.655 -0.196 0 90 0 78 Cabinet -1.685 2.015 -2.461 0 0 0 79 Cabinet 0.680 0.494 -2.200 0 0 0 80 Cabinet -1.179 0.494 -2.200 0 0 0 81 Cabinet -1.849 2.015 0.379 0 90 0 82 Drawer 0.949 0.221 -2.200 0 0 0 83 StoveKnob -0.183 0.881 -2.187 45 0 0 84 Cabinet 0.719 2.015 -2.460 0 0 0 85 Drawer -1.560 0.331 -0.196 0 90 0 86 Cabinet 0.680 2.015 -2.460 0 0 0 87 CounterTop -1.868 0.946 -1.205 0 0 0 88 Microwave -0.236 1.689 -2.525 0 0 0 89 Shelf 1.751 0.880 -2.560 0 0 0 90 HousePlant -1.948 0.889 -2.520 0 5.334 0 91 Toaster -1.835 0.900 0.134 0 90 0 92 Shelf 1.750 0.552 -2.559 0 0 0 93 GarbageCan -1.935 -0.002 2.029 0 270 0 94 Shelf 1.750 0.172 -2.559 0 0 0 95 Fridge -2.096 0.0 1.088 0 0 0 96 CoffeeMachine -1.977 0.900 -0.188 0 90 0 97 SinkBasin -1.908 0.759 -1.488 0 90 0 98 LightSwitch 2.329 1.309 -0.159 0 270 0 99 ShelvingUnit 1.750 0.006 -2.559 0 0 0 100 Stool 0.702 0.000 -0.514 1.202 65.108 0 101 Stool 0.743 0.000 0.563 1.227 106.706 0 102 Faucet -2.070 1.132 -1.514 0 0 0 103 NorthWall 104 EastWall 105 SouthWall 106 WestWall
[ "STEP 1: Turn around and walk to the counter to the left of the stove. | STEP 2: Pick up the pan from the counter. | STEP 3: Walk over to face the fridge. | STEP 4: Open the fridge door, put the pan inside of the fridge, close the door, open the door, take the pan out, close the door. | STEP 5: Walk over to the sink on the right. | STEP 6: Put the pan down on the counter to the left of the sink. | END" ]
[ [ "STEP 1: Turn around and walk to the counter to the left of the stove. ", " STEP 2: Pick up the pan from the counter. ", " STEP 3: Walk over to face the fridge. ", " STEP 4: Open the fridge door, put the pan inside of the fridge, close the door, open the door, take the pan out, close the door. ", " STEP 5: Walk over to the sink on the right. ", " STEP 6: Put the pan down on the counter to the left of the sink. ", " END" ] ]
seen
trial_T20190909_124332_831471-1
Put a cold 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 1.75 0.900 -1.5 0 90 0 1 Pan -0.465 0.950 -2.576 0 90 0 71 2 Statue 1.685 0.551 -2.562 0 0 0 92 3 Vase 0.951 1.658 -2.636 0 0 0 84 4 CreditCard -0.059 1.108 0.757 0 0 0 62 5 CreditCard 1.122 0.478 -2.478 0 0 0 70 6 Plate 0.079 1.108 -0.253 0 0 0 62 7 Cup -1.963 0.767 -1.673 0 90 0 97 8 Cup -0.122 1.788 -2.610 0 0 0 88 9 SaltShaker 0.324 0.907 -2.714 0 0 0 64 10 SaltShaker -1.696 0.150 -0.197 0 90 0 85 11 Bread -0.848 0.983 -2.406 0 0 0 87 12 Apple -0.335 1.162 0.251 0 0 0 62 13 Apple -1.907 0.098 2.076 0 270 0 93 14 Knife -1.937 0.936 -0.698 0 0 0 87 15 Knife -0.335 1.136 -0.759 0 180 0 62 16 Fork 0.217 1.112 -0.759 0 0 0 62 17 Fork 0.893 0.777 -2.334 0 0 0 58 18 Spoon 0.892 0.646 -2.375 0 0 0 67 19 Mug -1.013 1.651 -2.532 0 0 0 76 20 Mug -2.026 1.301 1.092 0 90 0 95 21 ButterKnife -1.733 0.911 -2.483 0 0 0 87 22 WineBottle -1.935 0.048 1.933 0 270 0 93 23 WineBottle -0.898 1.657 -2.604 0 0 0 76 24 DishSponge -0.059 1.111 0.251 0 0 0 62 25 DishSponge 0.950 0.481 -2.380 0 0 0 67 26 Bowl -1.715 0.126 0.248 0 90 0 68 27 Book 0.155 1.1 0.617 0 315 0 62 28 Glassbottle 2.096 0.881 -2.536 0 180 0 89 29 Knife -1.963 0.795 -1.242 0 180 0 97 30 Bread 0.217 1.184 -0.506 0 0 0 62 31 Fork -1.438 0.911 -2.329 0 0 0 87 32 Potato 0.355 1.142 -0.506 0 0 0 62 33 SoapBottle -1.693 0.912 -2.256 0 0 0 87 34 Kettle 1.037 0.9 -2.596 0 0 0 64 35 Pan -0.036 0.950 -2.372 0 270 0 57 36 Plate -2.121 0.537 0.920 0 90 0 95 37 Tomato -1.963 0.808 -1.414 0 90 0 97 38 Vase -0.335 1.113 -0.506 0 0 0 62 39 Egg 0.324 0.945 -2.484 0 0 0 64 40 CreditCard 1.893 0.550 -2.614 0 180 0 92 41 Statue 1.955 0.168 -2.543 0 0 0 94 42 WineBottle 0.450 0.141 -2.485 0 0 0 79 43 Pot 0.711 0.914 -2.407 0 0 0 64 44 Spatula -1.654 0.809 0.331 0 0 0 59 45 PaperTowelRoll -1.962 0.152 2.172 0 270 0 93 46 Cup -1.392 0.134 -2.503 0 0 0 80 47 Vase 1.478 0.550 -2.562 0 180 0 92 48 Bowl -2.080 0.537 1.168 0 90 0 95 49 SaltShaker -1.655 0.132 -1.856 0 90 0 63 50 PepperShaker -1.143 0.907 -2.637 0 0 0 87 51 Lettuce 0.969 0.990 -2.330 0 0 0 64 52 ButterKnife 0.951 0.315 -2.383 0 0 0 66 53 Apple -2.114 1.356 1.343 0 90 0 95 54 DishSponge -1.856 0.910 -2.366 0 0 0 87 55 Spoon -1.852 0.770 -1.414 0 90 0 97 56 Mug -2.078 0.793 1.168 0 90 0 95 57 StoveBurner -0.036 0.915 -2.372 0 0 0 58 Drawer 0.949 0.832 -2.197 0 0 0 59 Drawer -1.560 0.839 0.204 0 90 0 60 StoveBurner -0.465 0.915 -2.371 0 180 0 61 Drawer -1.560 0.839 -0.197 0 90 0 62 CounterTop -0.079 1.147 -0.001 0 0 0 63 Cabinet -1.549 0.494 -1.964 0 90 0 64 CounterTop 0.693 0.946 -2.483 0 0 0 65 StoveBurner -0.036 0.915 -2.576 0 0 0 66 Drawer 0.949 0.393 -2.200 0 0 0 67 Drawer 0.949 0.708 -2.200 0 0 0 68 Cabinet -1.549 0.494 0.379 0 90 0 69 StoveKnob -0.022 0.881 -2.187 45 0 0 70 Drawer 0.949 0.560 -2.201 0 0 0 71 StoveBurner -0.465 0.915 -2.575 0 180 0 72 Window -2.230 1.429 -1.203 0 0 0 73 StoveKnob -0.483 0.881 -2.187 45 0 0 74 Sink -1.899 0.964 -1.5 0 90 0 75 StoveKnob -0.328 0.881 -2.187 45 0 0 76 Cabinet -0.727 2.015 -2.460 0 0 0 77 Drawer -1.560 0.655 -0.196 0 90 0 78 Cabinet -1.685 2.015 -2.461 0 0 0 79 Cabinet 0.680 0.494 -2.200 0 0 0 80 Cabinet -1.179 0.494 -2.200 0 0 0 81 Cabinet -1.849 2.015 0.379 0 90 0 82 Drawer 0.949 0.221 -2.200 0 0 0 83 StoveKnob -0.183 0.881 -2.187 45 0 0 84 Cabinet 0.719 2.015 -2.460 0 0 0 85 Drawer -1.560 0.331 -0.196 0 90 0 86 Cabinet 0.680 2.015 -2.460 0 0 0 87 CounterTop -1.868 0.946 -1.205 0 0 0 88 Microwave -0.236 1.689 -2.525 0 0 0 89 Shelf 1.751 0.880 -2.560 0 0 0 90 HousePlant -1.948 0.889 -2.520 0 5.334 0 91 Toaster -1.835 0.900 0.134 0 90 0 92 Shelf 1.750 0.552 -2.559 0 0 0 93 GarbageCan -1.935 -0.002 2.029 0 270 0 94 Shelf 1.750 0.172 -2.559 0 0 0 95 Fridge -2.096 0.0 1.088 0 0 0 96 CoffeeMachine -1.977 0.900 -0.188 0 90 0 97 SinkBasin -1.908 0.759 -1.488 0 90 0 98 LightSwitch 2.329 1.309 -0.159 0 270 0 99 ShelvingUnit 1.750 0.006 -2.559 0 0 0 100 Stool 0.702 0.000 -0.514 1.202 65.108 0 101 Stool 0.743 0.000 0.563 1.227 106.706 0 102 Faucet -2.070 1.132 -1.514 0 0 0 103 NorthWall 104 EastWall 105 SouthWall 106 WestWall
[ "STEP 1: Turn around and go straight, then turn left at the counter with the pot on it. | STEP 2: Pick up the pot from the counter. | STEP 3: Turn right and go forward to the end of the counter, turn right and go forward, then turn left of the fridge. | STEP 4: Open the fridge, put the pot inside, chill it, then take it out. | STEP 5: Turn left and go forward, then turn right to face the sink. | STEP 6: Put the pot on the counter to the left of the sink. | END" ]
[ [ "STEP 1: Turn around and go straight, then turn left at the counter with the pot on it. ", " STEP 2: Pick up the pot from the counter. ", " STEP 3: Turn right and go forward to the end of the counter, turn right and go forward, then turn left of the fridge. ", " STEP 4: Open the fridge, put the pot inside, chill it, then take it out. ", " STEP 5: Turn left and go forward, then turn right to face the sink. ", " STEP 6: Put the pot on the counter to the left of the sink. ", " END" ] ]
seen
trial_T20190909_124332_831471-2
Place a chilled pot to the left 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 1.75 0.900 -1.5 0 90 0 1 Pan -0.465 0.950 -2.576 0 90 0 71 2 Statue 1.685 0.551 -2.562 0 0 0 92 3 Vase 0.951 1.658 -2.636 0 0 0 84 4 CreditCard -0.059 1.108 0.757 0 0 0 62 5 CreditCard 1.122 0.478 -2.478 0 0 0 70 6 Plate 0.079 1.108 -0.253 0 0 0 62 7 Cup -1.963 0.767 -1.673 0 90 0 97 8 Cup -0.122 1.788 -2.610 0 0 0 88 9 SaltShaker 0.324 0.907 -2.714 0 0 0 64 10 SaltShaker -1.696 0.150 -0.197 0 90 0 85 11 Bread -0.848 0.983 -2.406 0 0 0 87 12 Apple -0.335 1.162 0.251 0 0 0 62 13 Apple -1.907 0.098 2.076 0 270 0 93 14 Knife -1.937 0.936 -0.698 0 0 0 87 15 Knife -0.335 1.136 -0.759 0 180 0 62 16 Fork 0.217 1.112 -0.759 0 0 0 62 17 Fork 0.893 0.777 -2.334 0 0 0 58 18 Spoon 0.892 0.646 -2.375 0 0 0 67 19 Mug -1.013 1.651 -2.532 0 0 0 76 20 Mug -2.026 1.301 1.092 0 90 0 95 21 ButterKnife -1.733 0.911 -2.483 0 0 0 87 22 WineBottle -1.935 0.048 1.933 0 270 0 93 23 WineBottle -0.898 1.657 -2.604 0 0 0 76 24 DishSponge -0.059 1.111 0.251 0 0 0 62 25 DishSponge 0.950 0.481 -2.380 0 0 0 67 26 Bowl -1.715 0.126 0.248 0 90 0 68 27 Book 0.155 1.1 0.617 0 315 0 62 28 Glassbottle 2.096 0.881 -2.536 0 180 0 89 29 Knife -1.963 0.795 -1.242 0 180 0 97 30 Bread 0.217 1.184 -0.506 0 0 0 62 31 Fork -1.438 0.911 -2.329 0 0 0 87 32 Potato 0.355 1.142 -0.506 0 0 0 62 33 SoapBottle -1.693 0.912 -2.256 0 0 0 87 34 Kettle 1.037 0.9 -2.596 0 0 0 64 35 Pan -0.036 0.950 -2.372 0 270 0 57 36 Plate -2.121 0.537 0.920 0 90 0 95 37 Tomato -1.963 0.808 -1.414 0 90 0 97 38 Vase -0.335 1.113 -0.506 0 0 0 62 39 Egg 0.324 0.945 -2.484 0 0 0 64 40 CreditCard 1.893 0.550 -2.614 0 180 0 92 41 Statue 1.955 0.168 -2.543 0 0 0 94 42 WineBottle 0.450 0.141 -2.485 0 0 0 79 43 Pot 0.711 0.914 -2.407 0 0 0 64 44 Spatula -1.654 0.809 0.331 0 0 0 59 45 PaperTowelRoll -1.962 0.152 2.172 0 270 0 93 46 Cup -1.392 0.134 -2.503 0 0 0 80 47 Vase 1.478 0.550 -2.562 0 180 0 92 48 Bowl -2.080 0.537 1.168 0 90 0 95 49 SaltShaker -1.655 0.132 -1.856 0 90 0 63 50 PepperShaker -1.143 0.907 -2.637 0 0 0 87 51 Lettuce 0.969 0.990 -2.330 0 0 0 64 52 ButterKnife 0.951 0.315 -2.383 0 0 0 66 53 Apple -2.114 1.356 1.343 0 90 0 95 54 DishSponge -1.856 0.910 -2.366 0 0 0 87 55 Spoon -1.852 0.770 -1.414 0 90 0 97 56 Mug -2.078 0.793 1.168 0 90 0 95 57 StoveBurner -0.036 0.915 -2.372 0 0 0 58 Drawer 0.949 0.832 -2.197 0 0 0 59 Drawer -1.560 0.839 0.204 0 90 0 60 StoveBurner -0.465 0.915 -2.371 0 180 0 61 Drawer -1.560 0.839 -0.197 0 90 0 62 CounterTop -0.079 1.147 -0.001 0 0 0 63 Cabinet -1.549 0.494 -1.964 0 90 0 64 CounterTop 0.693 0.946 -2.483 0 0 0 65 StoveBurner -0.036 0.915 -2.576 0 0 0 66 Drawer 0.949 0.393 -2.200 0 0 0 67 Drawer 0.949 0.708 -2.200 0 0 0 68 Cabinet -1.549 0.494 0.379 0 90 0 69 StoveKnob -0.022 0.881 -2.187 45 0 0 70 Drawer 0.949 0.560 -2.201 0 0 0 71 StoveBurner -0.465 0.915 -2.575 0 180 0 72 Window -2.230 1.429 -1.203 0 0 0 73 StoveKnob -0.483 0.881 -2.187 45 0 0 74 Sink -1.899 0.964 -1.5 0 90 0 75 StoveKnob -0.328 0.881 -2.187 45 0 0 76 Cabinet -0.727 2.015 -2.460 0 0 0 77 Drawer -1.560 0.655 -0.196 0 90 0 78 Cabinet -1.685 2.015 -2.461 0 0 0 79 Cabinet 0.680 0.494 -2.200 0 0 0 80 Cabinet -1.179 0.494 -2.200 0 0 0 81 Cabinet -1.849 2.015 0.379 0 90 0 82 Drawer 0.949 0.221 -2.200 0 0 0 83 StoveKnob -0.183 0.881 -2.187 45 0 0 84 Cabinet 0.719 2.015 -2.460 0 0 0 85 Drawer -1.560 0.331 -0.196 0 90 0 86 Cabinet 0.680 2.015 -2.460 0 0 0 87 CounterTop -1.868 0.946 -1.205 0 0 0 88 Microwave -0.236 1.689 -2.525 0 0 0 89 Shelf 1.751 0.880 -2.560 0 0 0 90 HousePlant -1.948 0.889 -2.520 0 5.334 0 91 Toaster -1.835 0.900 0.134 0 90 0 92 Shelf 1.750 0.552 -2.559 0 0 0 93 GarbageCan -1.935 -0.002 2.029 0 270 0 94 Shelf 1.750 0.172 -2.559 0 0 0 95 Fridge -2.096 0.0 1.088 0 0 0 96 CoffeeMachine -1.977 0.900 -0.188 0 90 0 97 SinkBasin -1.908 0.759 -1.488 0 90 0 98 LightSwitch 2.329 1.309 -0.159 0 270 0 99 ShelvingUnit 1.750 0.006 -2.559 0 0 0 100 Stool 0.702 0.000 -0.514 1.202 65.108 0 101 Stool 0.743 0.000 0.563 1.227 106.706 0 102 Faucet -2.070 1.132 -1.514 0 0 0 103 NorthWall 104 EastWall 105 SouthWall 106 WestWall
[ "STEP 1: Turn around and walk left to the counter to the left of the stove. | STEP 2: Grab the pot from the counter. | STEP 3: Turn right and walk and turn right again and walk to the fridge on the left. | STEP 4: Chill the pot for 2 seconds in the fridge. | STEP 5: Turn left and walk to the sink. | STEP 6: Place the pot to the left of the sink. | END" ]
[ [ "STEP 1: Turn around and walk left to the counter to the left of the stove. ", " STEP 2: Grab the pot from the counter. ", " STEP 3: Turn right and walk and turn right again and walk to the fridge on the left. ", " STEP 4: Chill the pot for 2 seconds in the fridge. ", " STEP 5: Turn left and walk to the sink. ", " STEP 6: Place the pot to the left of the sink. ", " END" ] ]
seen
trial_T20190908_103912_011927-0
Move a pot and sponge to the sink.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 2.0 0.900 -1.25 0 180 0 1 Pan -2.078 0.798 1.085 0 180 0 97 2 CreditCard -1.610 0.791 -0.054 0 90 0 63 3 Plate -0.848 0.908 -2.637 0 0 0 89 4 Plate -2.114 1.302 1.260 0 90 0 97 5 Cup 1.893 0.550 -2.718 0 180 0 94 6 Cup 2.096 0.878 -2.509 0 180 0 91 7 Egg -1.953 0.833 0.920 0 90 0 97 8 Tomato 0.969 0.949 -2.330 0 0 0 66 9 PepperShaker 0.355 1.107 -0.001 0 0 0 64 10 PepperShaker -1.008 0.133 -2.503 0 0 0 82 11 Bread -0.473 1.184 0.251 0 0 0 64 12 Lettuce 0.217 1.191 -0.001 0 0 0 64 13 Lettuce 0.355 1.191 -0.506 0 0 0 64 14 Fork -1.738 0.479 -0.051 0 180 0 79 15 Mug -0.816 0.132 -2.301 0 0 0 82 16 Mug -0.225 1.785 -2.546 0 0 0 90 17 Spatula 0.969 0.925 -2.253 0 0 0 66 18 Pot -2.040 1.507 1.176 0 90 0 97 19 ButterKnife 0.582 0.910 -2.560 0 0 0 66 20 ButterKnife -1.693 0.911 -0.698 0 0 0 89 21 Kettle -0.473 1.112 0.757 0 0 0 64 22 Kettle -1.346 1.659 -2.641 0 0 0 80 23 WineBottle -1.143 0.912 -2.713 0 0 0 89 24 WineBottle -2.019 0.912 -0.513 0 0 0 89 25 DishSponge 1.064 0.645 -2.459 0 0 0 69 26 DishSponge -0.848 0.910 -2.253 0 0 0 89 27 Bowl -1.567 1.654 -2.567 0 0 0 80 28 Bowl -0.197 1.108 0.757 0 0 0 64 29 Book -0.059 1.110 -0.759 0 0 0 64 30 Glassbottle 1.478 0.553 -2.459 0 180 0 94 31 Knife -1.597 0.936 -1.682 0 90 0 99 32 Bread -0.197 1.184 -0.001 0 0 0 64 33 Fork -0.335 1.112 -0.506 0 0 0 64 34 Potato -0.335 1.142 -0.001 0 0 0 64 35 SoapBottle 0.324 0.911 -2.253 0 0 0 66 36 Kettle -0.036 0.950 -2.372 0 270 0 59 37 Pan -0.465 0.950 -2.576 0 90 0 73 38 Plate -1.805 0.133 -1.623 0 90 0 65 39 Tomato -0.335 1.150 -0.253 0 0 0 64 40 Vase 0.217 1.113 0.504 0 0 0 64 41 Egg -1.935 0.083 1.885 0 270 0 95 42 CreditCard 0.582 0.907 -2.637 0 0 0 66 43 Statue 1.955 0.168 -2.543 0 0 0 96 44 WineBottle -1.611 0.912 -2.036 0 0 0 89 45 Pot -1.219 0.9 -2.356 0 0 0 89 46 Spatula 1.098 0.925 -2.484 0 0 0 66 47 PaperTowelRoll -2.019 1.015 -2.036 0 0 0 89 48 Cup 0.217 1.109 0.251 0 0 0 64 49 Vase 1.789 0.878 -2.563 0 180 0 91 50 Bowl -1.008 0.133 -2.352 0 0 0 82 51 SaltShaker 1.121 0.138 -2.382 0 0 0 84 52 PepperShaker -1.715 0.126 0.248 0 90 0 70 53 Lettuce 1.098 0.990 -2.637 0 0 0 66 54 ButterKnife 0.582 0.910 -2.253 0 0 0 66 55 Apple -0.473 1.162 -0.759 0 0 0 64 56 DishSponge -1.962 0.047 2.076 0 270 0 95 57 Spoon 0.079 1.112 0.251 0 0 0 64 58 Mug -0.070 1.785 -2.578 0 0 0 90 59 StoveBurner -0.036 0.915 -2.372 0 0 0 60 Drawer 0.949 0.832 -2.197 0 0 0 61 Drawer -1.560 0.839 0.204 0 90 0 62 StoveBurner -0.465 0.915 -2.371 0 180 0 63 Drawer -1.560 0.839 -0.197 0 90 0 64 CounterTop -0.079 1.147 -0.001 0 0 0 65 Cabinet -1.549 0.494 -1.964 0 90 0 66 CounterTop 0.693 0.946 -2.483 0 0 0 67 StoveBurner -0.036 0.915 -2.576 0 0 0 68 Drawer 0.949 0.393 -2.200 0 0 0 69 Drawer 0.949 0.708 -2.200 0 0 0 70 Cabinet -1.549 0.494 0.379 0 90 0 71 StoveKnob -0.022 0.881 -2.187 45 0 0 72 Drawer 0.949 0.560 -2.201 0 0 0 73 StoveBurner -0.465 0.915 -2.575 0 180 0 74 Window -2.230 1.429 -1.203 0 0 0 75 StoveKnob -0.483 0.881 -2.187 45 0 0 76 Sink -1.899 0.964 -1.5 0 90 0 77 StoveKnob -0.328 0.881 -2.187 45 0 0 78 Cabinet -0.727 2.015 -2.460 0 0 0 79 Drawer -1.560 0.655 -0.196 0 90 0 80 Cabinet -1.685 2.015 -2.461 0 0 0 81 Cabinet 0.680 0.494 -2.200 0 0 0 82 Cabinet -1.179 0.494 -2.200 0 0 0 83 Cabinet -1.849 2.015 0.379 0 90 0 84 Drawer 0.949 0.221 -2.200 0 0 0 85 StoveKnob -0.183 0.881 -2.187 45 0 0 86 Cabinet 0.719 2.015 -2.460 0 0 0 87 Drawer -1.560 0.331 -0.196 0 90 0 88 Cabinet 0.680 2.015 -2.460 0 0 0 89 CounterTop -1.868 0.946 -1.205 0 0 0 90 Microwave -0.236 1.689 -2.525 0 0 0 91 Shelf 1.751 0.880 -2.560 0 0 0 92 HousePlant -1.948 0.889 -2.520 0 5.334 0 93 Toaster -1.835 0.900 0.134 0 90 0 94 Shelf 1.750 0.552 -2.559 0 0 0 95 GarbageCan -1.935 -0.002 2.029 0 270 0 96 Shelf 1.750 0.172 -2.559 0 0 0 97 Fridge -2.096 0.0 1.088 0 0 0 98 CoffeeMachine -1.977 0.900 -0.188 0 90 0 99 SinkBasin -1.908 0.759 -1.488 0 90 0 100 LightSwitch 2.329 1.309 -0.159 0 270 0 101 ShelvingUnit 1.750 0.006 -2.559 0 0 0 102 Stool 0.702 0.000 -0.514 1.202 65.108 0 103 Stool 0.743 0.000 0.563 1.227 106.706 0 104 Faucet -2.070 1.132 -1.514 0 0 0 105 NorthWall 106 EastWall 107 SouthWall 108 WestWall
[ "STEP 1: Turn to the right and turn left to the counter. | STEP 2: Pick up the sponge from the counter. | STEP 3: Carry the sponge and take a step to the right. | STEP 4: Place the sponge in the pot on the counter. | STEP 5: Pick up the pot from the counter. | STEP 6: Carry the pot and turn to the right to find the sink. | STEP 7: Place the pot in the sink. | END" ]
[ [ "STEP 1: Turn to the right and turn left to the counter. ", " STEP 2: Pick up the sponge from the counter. ", " STEP 3: Carry the sponge and take a step to the right. ", " STEP 4: Place the sponge in the pot on the counter. ", " STEP 5: Pick up the pot from the counter. ", " STEP 6: Carry the pot and turn to the right to find the sink. ", " STEP 7: Place the pot in the sink. ", " END" ] ]
seen
trial_T20190908_103912_011927-1
Put pan containing a sponge in the sink.
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Bread", " -0.473", " 1.184", " 0.251", " 0", " 0", " 0", " 64" ], [ "12", " Lettuce", " 0.217", " 1.191", " -0.001", " 0", " 0", " 0", " 64" ], [ "13", " Lettuce", " 0.355", " 1.191", " -0.506", " 0", " 0", " 0", " 64" ], [ "14", " Fork", " -1.738", " 0.479", " -0.051", " 0", " 180", " 0", " 79" ], [ "15", " Mug", " -0.816", " 0.132", " -2.301", " 0", " 0", " 0", " 82" ], [ "16", " Mug", " -0.225", " 1.785", " -2.546", " 0", " 0", " 0", " 90" ], [ "17", " Spatula", " 0.969", " 0.925", " -2.253", " 0", " 0", " 0", " 66" ], [ "18", " Pot", " -2.040", " 1.507", " 1.176", " 0", " 90", " 0", " 97" ], [ "19", " ButterKnife", " 0.582", " 0.910", " -2.560", " 0", " 0", " 0", " 66" ], [ "20", " ButterKnife", " -1.693", " 0.911", " -0.698", " 0", " 0", " 0", " 89" ], [ "21", " Kettle", " -0.473", " 1.112", " 0.757", " 0", " 0", " 0", " 64" ], [ "22", " Kettle", " -1.346", " 1.659", " -2.641", " 0", " 0", " 0", " 80" ], [ "23", " WineBottle", " -1.143", " 0.912", " -2.713", " 0", " 0", " 0", " 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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 2.0 0.900 -1.25 0 180 0 1 Pan -2.078 0.798 1.085 0 180 0 97 2 CreditCard -1.610 0.791 -0.054 0 90 0 63 3 Plate -0.848 0.908 -2.637 0 0 0 89 4 Plate -2.114 1.302 1.260 0 90 0 97 5 Cup 1.893 0.550 -2.718 0 180 0 94 6 Cup 2.096 0.878 -2.509 0 180 0 91 7 Egg -1.953 0.833 0.920 0 90 0 97 8 Tomato 0.969 0.949 -2.330 0 0 0 66 9 PepperShaker 0.355 1.107 -0.001 0 0 0 64 10 PepperShaker -1.008 0.133 -2.503 0 0 0 82 11 Bread -0.473 1.184 0.251 0 0 0 64 12 Lettuce 0.217 1.191 -0.001 0 0 0 64 13 Lettuce 0.355 1.191 -0.506 0 0 0 64 14 Fork -1.738 0.479 -0.051 0 180 0 79 15 Mug -0.816 0.132 -2.301 0 0 0 82 16 Mug -0.225 1.785 -2.546 0 0 0 90 17 Spatula 0.969 0.925 -2.253 0 0 0 66 18 Pot -2.040 1.507 1.176 0 90 0 97 19 ButterKnife 0.582 0.910 -2.560 0 0 0 66 20 ButterKnife -1.693 0.911 -0.698 0 0 0 89 21 Kettle -0.473 1.112 0.757 0 0 0 64 22 Kettle -1.346 1.659 -2.641 0 0 0 80 23 WineBottle -1.143 0.912 -2.713 0 0 0 89 24 WineBottle -2.019 0.912 -0.513 0 0 0 89 25 DishSponge 1.064 0.645 -2.459 0 0 0 69 26 DishSponge -0.848 0.910 -2.253 0 0 0 89 27 Bowl -1.567 1.654 -2.567 0 0 0 80 28 Bowl -0.197 1.108 0.757 0 0 0 64 29 Book -0.059 1.110 -0.759 0 0 0 64 30 Glassbottle 1.478 0.553 -2.459 0 180 0 94 31 Knife -1.597 0.936 -1.682 0 90 0 99 32 Bread -0.197 1.184 -0.001 0 0 0 64 33 Fork -0.335 1.112 -0.506 0 0 0 64 34 Potato -0.335 1.142 -0.001 0 0 0 64 35 SoapBottle 0.324 0.911 -2.253 0 0 0 66 36 Kettle -0.036 0.950 -2.372 0 270 0 59 37 Pan -0.465 0.950 -2.576 0 90 0 73 38 Plate -1.805 0.133 -1.623 0 90 0 65 39 Tomato -0.335 1.150 -0.253 0 0 0 64 40 Vase 0.217 1.113 0.504 0 0 0 64 41 Egg -1.935 0.083 1.885 0 270 0 95 42 CreditCard 0.582 0.907 -2.637 0 0 0 66 43 Statue 1.955 0.168 -2.543 0 0 0 96 44 WineBottle -1.611 0.912 -2.036 0 0 0 89 45 Pot -1.219 0.9 -2.356 0 0 0 89 46 Spatula 1.098 0.925 -2.484 0 0 0 66 47 PaperTowelRoll -2.019 1.015 -2.036 0 0 0 89 48 Cup 0.217 1.109 0.251 0 0 0 64 49 Vase 1.789 0.878 -2.563 0 180 0 91 50 Bowl -1.008 0.133 -2.352 0 0 0 82 51 SaltShaker 1.121 0.138 -2.382 0 0 0 84 52 PepperShaker -1.715 0.126 0.248 0 90 0 70 53 Lettuce 1.098 0.990 -2.637 0 0 0 66 54 ButterKnife 0.582 0.910 -2.253 0 0 0 66 55 Apple -0.473 1.162 -0.759 0 0 0 64 56 DishSponge -1.962 0.047 2.076 0 270 0 95 57 Spoon 0.079 1.112 0.251 0 0 0 64 58 Mug -0.070 1.785 -2.578 0 0 0 90 59 StoveBurner -0.036 0.915 -2.372 0 0 0 60 Drawer 0.949 0.832 -2.197 0 0 0 61 Drawer -1.560 0.839 0.204 0 90 0 62 StoveBurner -0.465 0.915 -2.371 0 180 0 63 Drawer -1.560 0.839 -0.197 0 90 0 64 CounterTop -0.079 1.147 -0.001 0 0 0 65 Cabinet -1.549 0.494 -1.964 0 90 0 66 CounterTop 0.693 0.946 -2.483 0 0 0 67 StoveBurner -0.036 0.915 -2.576 0 0 0 68 Drawer 0.949 0.393 -2.200 0 0 0 69 Drawer 0.949 0.708 -2.200 0 0 0 70 Cabinet -1.549 0.494 0.379 0 90 0 71 StoveKnob -0.022 0.881 -2.187 45 0 0 72 Drawer 0.949 0.560 -2.201 0 0 0 73 StoveBurner -0.465 0.915 -2.575 0 180 0 74 Window -2.230 1.429 -1.203 0 0 0 75 StoveKnob -0.483 0.881 -2.187 45 0 0 76 Sink -1.899 0.964 -1.5 0 90 0 77 StoveKnob -0.328 0.881 -2.187 45 0 0 78 Cabinet -0.727 2.015 -2.460 0 0 0 79 Drawer -1.560 0.655 -0.196 0 90 0 80 Cabinet -1.685 2.015 -2.461 0 0 0 81 Cabinet 0.680 0.494 -2.200 0 0 0 82 Cabinet -1.179 0.494 -2.200 0 0 0 83 Cabinet -1.849 2.015 0.379 0 90 0 84 Drawer 0.949 0.221 -2.200 0 0 0 85 StoveKnob -0.183 0.881 -2.187 45 0 0 86 Cabinet 0.719 2.015 -2.460 0 0 0 87 Drawer -1.560 0.331 -0.196 0 90 0 88 Cabinet 0.680 2.015 -2.460 0 0 0 89 CounterTop -1.868 0.946 -1.205 0 0 0 90 Microwave -0.236 1.689 -2.525 0 0 0 91 Shelf 1.751 0.880 -2.560 0 0 0 92 HousePlant -1.948 0.889 -2.520 0 5.334 0 93 Toaster -1.835 0.900 0.134 0 90 0 94 Shelf 1.750 0.552 -2.559 0 0 0 95 GarbageCan -1.935 -0.002 2.029 0 270 0 96 Shelf 1.750 0.172 -2.559 0 0 0 97 Fridge -2.096 0.0 1.088 0 0 0 98 CoffeeMachine -1.977 0.900 -0.188 0 90 0 99 SinkBasin -1.908 0.759 -1.488 0 90 0 100 LightSwitch 2.329 1.309 -0.159 0 270 0 101 ShelvingUnit 1.750 0.006 -2.559 0 0 0 102 Stool 0.702 0.000 -0.514 1.202 65.108 0 103 Stool 0.743 0.000 0.563 1.227 106.706 0 104 Faucet -2.070 1.132 -1.514 0 0 0 105 NorthWall 106 EastWall 107 SouthWall 108 WestWall
[ "STEP 1: Turn to your right and go between the kitchen island and the counter top, on the left just past the stove, then turn right towards the counter top on your left. | STEP 2: Pick up the green sponge on the front, right corner of the counter top. | STEP 3: Move over to the corner of the counter, on your right. | STEP 4: Place the sponge in the pan near the edge of the counter. | STEP 5: Pick up the pan with the sponge inside it. | STEP 6: Turn to the sink on your right. | STEP 7: Place the pan with the sponge inside it, in the center of the sink. | END" ]
[ [ "STEP 1: Turn to your right and go between the kitchen island and the counter top, on the left just past the stove, then turn right towards the counter top on your left. ", " STEP 2: Pick up the green sponge on the front, right corner of the counter top. ", " STEP 3: Move over to the corner of the counter, on your right. ", " STEP 4: Place the sponge in the pan near the edge of the counter. ", " STEP 5: Pick up the pan with the sponge inside it. ", " STEP 6: Turn to the sink on your right. ", " STEP 7: Place the pan with the sponge inside it, in the center of the sink. ", " END" ] ]
seen
trial_T20190908_103912_011927-2
place a pan with a sponge in it in the sink on the right
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"101", " ShelvingUnit", " 1.750", " 0.006", " -2.559", " 0", " 0", " 0", "" ], [ "102", " Stool", " 0.702", " 0.000", " -0.514", " 1.202", " 65.108", " 0", "" ], [ "103", " Stool", " 0.743", " 0.000", " 0.563", " 1.227", " 106.706", " 0", "" ], [ "104", " Faucet", " -2.070", " 1.132", " -1.514", " 0", " 0", " 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 2.0 0.900 -1.25 0 180 0 1 Pan -2.078 0.798 1.085 0 180 0 97 2 CreditCard -1.610 0.791 -0.054 0 90 0 63 3 Plate -0.848 0.908 -2.637 0 0 0 89 4 Plate -2.114 1.302 1.260 0 90 0 97 5 Cup 1.893 0.550 -2.718 0 180 0 94 6 Cup 2.096 0.878 -2.509 0 180 0 91 7 Egg -1.953 0.833 0.920 0 90 0 97 8 Tomato 0.969 0.949 -2.330 0 0 0 66 9 PepperShaker 0.355 1.107 -0.001 0 0 0 64 10 PepperShaker -1.008 0.133 -2.503 0 0 0 82 11 Bread -0.473 1.184 0.251 0 0 0 64 12 Lettuce 0.217 1.191 -0.001 0 0 0 64 13 Lettuce 0.355 1.191 -0.506 0 0 0 64 14 Fork -1.738 0.479 -0.051 0 180 0 79 15 Mug -0.816 0.132 -2.301 0 0 0 82 16 Mug -0.225 1.785 -2.546 0 0 0 90 17 Spatula 0.969 0.925 -2.253 0 0 0 66 18 Pot -2.040 1.507 1.176 0 90 0 97 19 ButterKnife 0.582 0.910 -2.560 0 0 0 66 20 ButterKnife -1.693 0.911 -0.698 0 0 0 89 21 Kettle -0.473 1.112 0.757 0 0 0 64 22 Kettle -1.346 1.659 -2.641 0 0 0 80 23 WineBottle -1.143 0.912 -2.713 0 0 0 89 24 WineBottle -2.019 0.912 -0.513 0 0 0 89 25 DishSponge 1.064 0.645 -2.459 0 0 0 69 26 DishSponge -0.848 0.910 -2.253 0 0 0 89 27 Bowl -1.567 1.654 -2.567 0 0 0 80 28 Bowl -0.197 1.108 0.757 0 0 0 64 29 Book -0.059 1.110 -0.759 0 0 0 64 30 Glassbottle 1.478 0.553 -2.459 0 180 0 94 31 Knife -1.597 0.936 -1.682 0 90 0 99 32 Bread -0.197 1.184 -0.001 0 0 0 64 33 Fork -0.335 1.112 -0.506 0 0 0 64 34 Potato -0.335 1.142 -0.001 0 0 0 64 35 SoapBottle 0.324 0.911 -2.253 0 0 0 66 36 Kettle -0.036 0.950 -2.372 0 270 0 59 37 Pan -0.465 0.950 -2.576 0 90 0 73 38 Plate -1.805 0.133 -1.623 0 90 0 65 39 Tomato -0.335 1.150 -0.253 0 0 0 64 40 Vase 0.217 1.113 0.504 0 0 0 64 41 Egg -1.935 0.083 1.885 0 270 0 95 42 CreditCard 0.582 0.907 -2.637 0 0 0 66 43 Statue 1.955 0.168 -2.543 0 0 0 96 44 WineBottle -1.611 0.912 -2.036 0 0 0 89 45 Pot -1.219 0.9 -2.356 0 0 0 89 46 Spatula 1.098 0.925 -2.484 0 0 0 66 47 PaperTowelRoll -2.019 1.015 -2.036 0 0 0 89 48 Cup 0.217 1.109 0.251 0 0 0 64 49 Vase 1.789 0.878 -2.563 0 180 0 91 50 Bowl -1.008 0.133 -2.352 0 0 0 82 51 SaltShaker 1.121 0.138 -2.382 0 0 0 84 52 PepperShaker -1.715 0.126 0.248 0 90 0 70 53 Lettuce 1.098 0.990 -2.637 0 0 0 66 54 ButterKnife 0.582 0.910 -2.253 0 0 0 66 55 Apple -0.473 1.162 -0.759 0 0 0 64 56 DishSponge -1.962 0.047 2.076 0 270 0 95 57 Spoon 0.079 1.112 0.251 0 0 0 64 58 Mug -0.070 1.785 -2.578 0 0 0 90 59 StoveBurner -0.036 0.915 -2.372 0 0 0 60 Drawer 0.949 0.832 -2.197 0 0 0 61 Drawer -1.560 0.839 0.204 0 90 0 62 StoveBurner -0.465 0.915 -2.371 0 180 0 63 Drawer -1.560 0.839 -0.197 0 90 0 64 CounterTop -0.079 1.147 -0.001 0 0 0 65 Cabinet -1.549 0.494 -1.964 0 90 0 66 CounterTop 0.693 0.946 -2.483 0 0 0 67 StoveBurner -0.036 0.915 -2.576 0 0 0 68 Drawer 0.949 0.393 -2.200 0 0 0 69 Drawer 0.949 0.708 -2.200 0 0 0 70 Cabinet -1.549 0.494 0.379 0 90 0 71 StoveKnob -0.022 0.881 -2.187 45 0 0 72 Drawer 0.949 0.560 -2.201 0 0 0 73 StoveBurner -0.465 0.915 -2.575 0 180 0 74 Window -2.230 1.429 -1.203 0 0 0 75 StoveKnob -0.483 0.881 -2.187 45 0 0 76 Sink -1.899 0.964 -1.5 0 90 0 77 StoveKnob -0.328 0.881 -2.187 45 0 0 78 Cabinet -0.727 2.015 -2.460 0 0 0 79 Drawer -1.560 0.655 -0.196 0 90 0 80 Cabinet -1.685 2.015 -2.461 0 0 0 81 Cabinet 0.680 0.494 -2.200 0 0 0 82 Cabinet -1.179 0.494 -2.200 0 0 0 83 Cabinet -1.849 2.015 0.379 0 90 0 84 Drawer 0.949 0.221 -2.200 0 0 0 85 StoveKnob -0.183 0.881 -2.187 45 0 0 86 Cabinet 0.719 2.015 -2.460 0 0 0 87 Drawer -1.560 0.331 -0.196 0 90 0 88 Cabinet 0.680 2.015 -2.460 0 0 0 89 CounterTop -1.868 0.946 -1.205 0 0 0 90 Microwave -0.236 1.689 -2.525 0 0 0 91 Shelf 1.751 0.880 -2.560 0 0 0 92 HousePlant -1.948 0.889 -2.520 0 5.334 0 93 Toaster -1.835 0.900 0.134 0 90 0 94 Shelf 1.750 0.552 -2.559 0 0 0 95 GarbageCan -1.935 -0.002 2.029 0 270 0 96 Shelf 1.750 0.172 -2.559 0 0 0 97 Fridge -2.096 0.0 1.088 0 0 0 98 CoffeeMachine -1.977 0.900 -0.188 0 90 0 99 SinkBasin -1.908 0.759 -1.488 0 90 0 100 LightSwitch 2.329 1.309 -0.159 0 270 0 101 ShelvingUnit 1.750 0.006 -2.559 0 0 0 102 Stool 0.702 0.000 -0.514 1.202 65.108 0 103 Stool 0.743 0.000 0.563 1.227 106.706 0 104 Faucet -2.070 1.132 -1.514 0 0 0 105 NorthWall 106 EastWall 107 SouthWall 108 WestWall
[ "STEP 1: turn right and walk to the right side of the stove on your left | STEP 2: grab the sponge off of the counter to the right of the stove | STEP 3: move to the right a bit and face the kitchen counter | STEP 4: place the sponge inside of the pan on the kitchen counter | STEP 5: pick up the pan off of the counter | STEP 6: turn right to face the kitchen sink | STEP 7: place the pan inside of the right side kitchen sink | END" ]
[ [ "STEP 1: turn right and walk to the right side of the stove on your left ", " STEP 2: grab the sponge off of the counter to the right of the stove ", " STEP 3: move to the right a bit and face the kitchen counter ", " STEP 4: place the sponge inside of the pan on the kitchen counter ", " STEP 5: pick up the pan off of the counter ", " STEP 6: turn right to face the kitchen sink ", " STEP 7: place the pan inside of the right side kitchen sink ", " END" ] ]
seen
trial_T20190907_054206_228086-0
Put a clean teapot on the stove.
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" 0", " 0", " 0", "" ], [ "50", " CounterTop", " -1.809", " 1.358", " 1.182", " 0", " 0", " 0", "" ], [ "51", " Cabinet", " -1.461", " 0.775", " 1.310", " 0", " 0", " 0", "" ], [ "52", " Faucet", " -2.063", " 1.362", " -0.726", " 0", " 39.391", " 0", "" ], [ "53", " StoveBurner", " -0.749", " 1.325", " -2.973", " 0", " 0", " 0", "" ], [ "54", " Drawer", " -1.610", " 0.681", " -0.430", " 0", " 0", " 0", "" ], [ "55", " Window", " -2.566", " 1.799", " -0.822", " 270", " 0", " 0", "" ], [ "56", " Drawer", " -1.610", " 0.681", " -1.217", " 0", " 0", " 0", "" ], [ "57", " Sink", " -1.990", " 1.143", " -0.975", " 0", " 0", " 0", "" ], [ "58", " StoveBurner", " -0.125", " 1.325", " -2.973", " 0", " 0", " 0", "" ], [ "59", " StoveKnob", " -0.185", " 1.338", " -2.741", " 0", " 270", " 180", "" ], [ "60", " StoveKnob", " -0.336", " 1.338", " -2.741", " 0", " 270", " 180", "" ], [ "61", " StoveKnob", " -0.569", " 1.338", " -2.741", " 0", " 270", " 180", "" ], [ "62", " StoveKnob", " -0.707", " 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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.0 1.124 -1.0 0 90 0 1 WineBottle -1.530 1.323 -1.941 0 0 0 50 2 WineBottle -1.789 0.344 -1.763 0 0 0 46 3 Kettle -1.401 1.324 2.069 0 0 0 50 4 Fork -1.790 1.323 0.770 0 0 0 50 5 Spoon 0.766 1.324 -1.683 0 0 0 50 6 Spoon -1.165 1.324 -3.314 0 0 0 50 7 Spatula 0.563 1.337 -3.343 0 0 0 50 8 Spatula -1.401 1.337 -2.461 0 0 0 50 9 Pot -0.630 1.331 -3.301 0 180 0 47 10 Pot -0.125 1.332 -2.973 0 0 0 58 11 Plate -1.530 1.323 0.770 0 0 0 50 12 Knife -2.049 1.352 1.419 0 0 0 50 13 Tomato -2.049 1.356 2.069 0 0 0 50 14 Bowl -1.789 0.342 -2.262 0 270 0 46 15 Bowl -1.886 0.342 1.523 0 0 0 51 16 PepperShaker 1.193 1.202 1.222 0 0 0 75 17 PepperShaker -1.522 1.318 -3.314 0 0 0 50 18 Bread -1.363 1.397 -0.098 0 0 0 50 19 Lettuce 0.506 1.399 -1.312 0 0 0 50 20 Mug 0.824 0.339 -2.061 0 180 0 49 21 Apple -1.380 1.371 -2.760 0 0 0 50 22 Bread 0.766 1.397 -2.053 0 0 0 50 23 Pot -0.239 1.331 -3.301 0 180 0 45 24 Knife -1.920 1.352 -1.681 0 0 0 50 25 Bowl -1.614 0.342 0.211 0 0 0 48 26 Potato 0.206 1.362 -3.232 0 0 0 50 27 SoapBottle -1.681 0.280 2.275 0 0 0 65 28 Fork -1.772 0.420 -0.364 0 90 0 54 29 Cup -1.165 1.320 -3.425 0 0 0 50 30 Kettle -1.920 1.324 -2.201 0 0 0 50 31 Egg 1.213 1.351 0.913 0 270 0 75 32 Pan -1.881 0.327 -2.035 0 0 0 46 33 SaltShaker 0.778 1.202 1.254 0 0 0 75 34 WineBottle 1.129 0.345 -1.751 0 180 0 49 35 Lettuce 1.155 1.399 -0.942 0 0 0 50 36 Spatula -1.645 0.435 -0.561 0 90 0 54 37 PaperTowelRoll -1.237 1.427 -2.870 0 0 0 50 38 Tomato -2.179 1.356 -2.461 0 0 0 50 39 Plate 0.900 0.345 -2.267 0 180 0 49 40 PepperShaker -1.730 0.417 -1.348 0 0 0 56 41 DishSponge 1.023 0.953 1.054 0 0 0 73 42 Spoon -1.920 1.324 -2.721 0 0 0 50 43 Apple -1.634 0.329 2.110 0 270 0 65 44 Mug 1.027 1.202 1.238 0 0 0 75 45 StoveBurner -0.239 1.325 -3.301 0 180 0 46 Cabinet -1.461 0.775 -2.002 0 0 0 47 StoveBurner -0.630 1.325 -3.301 0 180 0 48 Cabinet -1.461 0.775 0.470 0 0 0 49 Cabinet 0.578 0.776 -2.054 0 0 0 50 CounterTop -1.809 1.358 1.182 0 0 0 51 Cabinet -1.461 0.775 1.310 0 0 0 52 Faucet -2.063 1.362 -0.726 0 39.391 0 53 StoveBurner -0.749 1.325 -2.973 0 0 0 54 Drawer -1.610 0.681 -0.430 0 0 0 55 Window -2.566 1.799 -0.822 270 0 0 56 Drawer -1.610 0.681 -1.217 0 0 0 57 Sink -1.990 1.143 -0.975 0 0 0 58 StoveBurner -0.125 1.325 -2.973 0 0 0 59 StoveKnob -0.185 1.338 -2.741 0 270 180 60 StoveKnob -0.336 1.338 -2.741 0 270 180 61 StoveKnob -0.569 1.338 -2.741 0 270 180 62 StoveKnob -0.707 1.338 -2.741 0 270 180 63 Fridge 1.013 0.227 1.917 0 270 0 64 Microwave 0.994 1.310 -2.163 0 270 0 65 GarbageCan -1.633 0.212 2.192 0 270 0 66 LightSwitch 1.386 1.565 -0.657 0 270 0 67 HousePlant -2.027 1.311 -0.026 0 284.058 0 68 SinkBasin -1.835 1.039 -0.542 0 0 0 69 ButterKnife 0.873 0.468 0.651 0 0 0 70 Toaster -1.885 1.310 -2.512 0 90 0 71 CoffeeMachine 1.129 1.310 -1.426 0 270 0 72 Drawer 0.647 1.061 0.680 0 270 0 73 Drawer 0.648 1.061 1.020 0 270 0 74 Drawer 0.648 0.843 1.020 0 270 0 75 SideTable 0.975 0.220 0.869 0 270 0 76 Drawer 0.648 0.602 0.680 0 270 0 77 Drawer 0.648 0.596 1.020 0 270 0 78 Drawer 0.648 0.843 0.680 0 270 0 79 Stool 0.606 0.222 -1.084 1.233 280.489 0 80 NorthWall 81 EastWall 82 SouthWall 83 WestWall
[ "STEP 1: Turn right and walk to the stove then turn right to face the counter. | STEP 2: Pick up the tea pot that's to the right of the toaster. | STEP 3: Turn right and walk to the sink that's on your left then turn left to face it. | STEP 4: Clean the teapot off in the sink and then pick it back up and close the tap. | STEP 5: Walk back over to the stove and face the stove this time. | STEP 6: Put the teapot on the bottom right burner. | END" ]
[ [ "STEP 1: Turn right and walk to the stove then turn right to face the counter. ", " STEP 2: Pick up the tea pot that's to the right of the toaster. ", " STEP 3: Turn right and walk to the sink that's on your left then turn left to face it. ", " STEP 4: Clean the teapot off in the sink and then pick it back up and close the tap. ", " STEP 5: Walk back over to the stove and face the stove this time. ", " STEP 6: Put the teapot on the bottom right burner. ", " END" ] ]
seen
trial_T20190907_054206_228086-1
Put a kettle of water on the stove.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.0 1.124 -1.0 0 90 0 1 WineBottle -1.530 1.323 -1.941 0 0 0 50 2 WineBottle -1.789 0.344 -1.763 0 0 0 46 3 Kettle -1.401 1.324 2.069 0 0 0 50 4 Fork -1.790 1.323 0.770 0 0 0 50 5 Spoon 0.766 1.324 -1.683 0 0 0 50 6 Spoon -1.165 1.324 -3.314 0 0 0 50 7 Spatula 0.563 1.337 -3.343 0 0 0 50 8 Spatula -1.401 1.337 -2.461 0 0 0 50 9 Pot -0.630 1.331 -3.301 0 180 0 47 10 Pot -0.125 1.332 -2.973 0 0 0 58 11 Plate -1.530 1.323 0.770 0 0 0 50 12 Knife -2.049 1.352 1.419 0 0 0 50 13 Tomato -2.049 1.356 2.069 0 0 0 50 14 Bowl -1.789 0.342 -2.262 0 270 0 46 15 Bowl -1.886 0.342 1.523 0 0 0 51 16 PepperShaker 1.193 1.202 1.222 0 0 0 75 17 PepperShaker -1.522 1.318 -3.314 0 0 0 50 18 Bread -1.363 1.397 -0.098 0 0 0 50 19 Lettuce 0.506 1.399 -1.312 0 0 0 50 20 Mug 0.824 0.339 -2.061 0 180 0 49 21 Apple -1.380 1.371 -2.760 0 0 0 50 22 Bread 0.766 1.397 -2.053 0 0 0 50 23 Pot -0.239 1.331 -3.301 0 180 0 45 24 Knife -1.920 1.352 -1.681 0 0 0 50 25 Bowl -1.614 0.342 0.211 0 0 0 48 26 Potato 0.206 1.362 -3.232 0 0 0 50 27 SoapBottle -1.681 0.280 2.275 0 0 0 65 28 Fork -1.772 0.420 -0.364 0 90 0 54 29 Cup -1.165 1.320 -3.425 0 0 0 50 30 Kettle -1.920 1.324 -2.201 0 0 0 50 31 Egg 1.213 1.351 0.913 0 270 0 75 32 Pan -1.881 0.327 -2.035 0 0 0 46 33 SaltShaker 0.778 1.202 1.254 0 0 0 75 34 WineBottle 1.129 0.345 -1.751 0 180 0 49 35 Lettuce 1.155 1.399 -0.942 0 0 0 50 36 Spatula -1.645 0.435 -0.561 0 90 0 54 37 PaperTowelRoll -1.237 1.427 -2.870 0 0 0 50 38 Tomato -2.179 1.356 -2.461 0 0 0 50 39 Plate 0.900 0.345 -2.267 0 180 0 49 40 PepperShaker -1.730 0.417 -1.348 0 0 0 56 41 DishSponge 1.023 0.953 1.054 0 0 0 73 42 Spoon -1.920 1.324 -2.721 0 0 0 50 43 Apple -1.634 0.329 2.110 0 270 0 65 44 Mug 1.027 1.202 1.238 0 0 0 75 45 StoveBurner -0.239 1.325 -3.301 0 180 0 46 Cabinet -1.461 0.775 -2.002 0 0 0 47 StoveBurner -0.630 1.325 -3.301 0 180 0 48 Cabinet -1.461 0.775 0.470 0 0 0 49 Cabinet 0.578 0.776 -2.054 0 0 0 50 CounterTop -1.809 1.358 1.182 0 0 0 51 Cabinet -1.461 0.775 1.310 0 0 0 52 Faucet -2.063 1.362 -0.726 0 39.391 0 53 StoveBurner -0.749 1.325 -2.973 0 0 0 54 Drawer -1.610 0.681 -0.430 0 0 0 55 Window -2.566 1.799 -0.822 270 0 0 56 Drawer -1.610 0.681 -1.217 0 0 0 57 Sink -1.990 1.143 -0.975 0 0 0 58 StoveBurner -0.125 1.325 -2.973 0 0 0 59 StoveKnob -0.185 1.338 -2.741 0 270 180 60 StoveKnob -0.336 1.338 -2.741 0 270 180 61 StoveKnob -0.569 1.338 -2.741 0 270 180 62 StoveKnob -0.707 1.338 -2.741 0 270 180 63 Fridge 1.013 0.227 1.917 0 270 0 64 Microwave 0.994 1.310 -2.163 0 270 0 65 GarbageCan -1.633 0.212 2.192 0 270 0 66 LightSwitch 1.386 1.565 -0.657 0 270 0 67 HousePlant -2.027 1.311 -0.026 0 284.058 0 68 SinkBasin -1.835 1.039 -0.542 0 0 0 69 ButterKnife 0.873 0.468 0.651 0 0 0 70 Toaster -1.885 1.310 -2.512 0 90 0 71 CoffeeMachine 1.129 1.310 -1.426 0 270 0 72 Drawer 0.647 1.061 0.680 0 270 0 73 Drawer 0.648 1.061 1.020 0 270 0 74 Drawer 0.648 0.843 1.020 0 270 0 75 SideTable 0.975 0.220 0.869 0 270 0 76 Drawer 0.648 0.602 0.680 0 270 0 77 Drawer 0.648 0.596 1.020 0 270 0 78 Drawer 0.648 0.843 0.680 0 270 0 79 Stool 0.606 0.222 -1.084 1.233 280.489 0 80 NorthWall 81 EastWall 82 SouthWall 83 WestWall
[ "STEP 1: Turn around to face the toaster. | STEP 2: Pick up the tea kettle from the counter. | STEP 3: Go to the sink on your right. | STEP 4: Fill the kettle with water | STEP 5: Go to the stove on your left. | STEP 6: Put the kettle on the front right burner. | END" ]
[ [ "STEP 1: Turn around to face the toaster. ", " STEP 2: Pick up the tea kettle from the counter. ", " STEP 3: Go to the sink on your right. ", " STEP 4: Fill the kettle with water ", " STEP 5: Go to the stove on your left. ", " STEP 6: Put the kettle on the front right burner. ", " END" ] ]
seen
trial_T20190907_054206_228086-2
Put a kettle of water on the stove.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.0 1.124 -1.0 0 90 0 1 WineBottle -1.530 1.323 -1.941 0 0 0 50 2 WineBottle -1.789 0.344 -1.763 0 0 0 46 3 Kettle -1.401 1.324 2.069 0 0 0 50 4 Fork -1.790 1.323 0.770 0 0 0 50 5 Spoon 0.766 1.324 -1.683 0 0 0 50 6 Spoon -1.165 1.324 -3.314 0 0 0 50 7 Spatula 0.563 1.337 -3.343 0 0 0 50 8 Spatula -1.401 1.337 -2.461 0 0 0 50 9 Pot -0.630 1.331 -3.301 0 180 0 47 10 Pot -0.125 1.332 -2.973 0 0 0 58 11 Plate -1.530 1.323 0.770 0 0 0 50 12 Knife -2.049 1.352 1.419 0 0 0 50 13 Tomato -2.049 1.356 2.069 0 0 0 50 14 Bowl -1.789 0.342 -2.262 0 270 0 46 15 Bowl -1.886 0.342 1.523 0 0 0 51 16 PepperShaker 1.193 1.202 1.222 0 0 0 75 17 PepperShaker -1.522 1.318 -3.314 0 0 0 50 18 Bread -1.363 1.397 -0.098 0 0 0 50 19 Lettuce 0.506 1.399 -1.312 0 0 0 50 20 Mug 0.824 0.339 -2.061 0 180 0 49 21 Apple -1.380 1.371 -2.760 0 0 0 50 22 Bread 0.766 1.397 -2.053 0 0 0 50 23 Pot -0.239 1.331 -3.301 0 180 0 45 24 Knife -1.920 1.352 -1.681 0 0 0 50 25 Bowl -1.614 0.342 0.211 0 0 0 48 26 Potato 0.206 1.362 -3.232 0 0 0 50 27 SoapBottle -1.681 0.280 2.275 0 0 0 65 28 Fork -1.772 0.420 -0.364 0 90 0 54 29 Cup -1.165 1.320 -3.425 0 0 0 50 30 Kettle -1.920 1.324 -2.201 0 0 0 50 31 Egg 1.213 1.351 0.913 0 270 0 75 32 Pan -1.881 0.327 -2.035 0 0 0 46 33 SaltShaker 0.778 1.202 1.254 0 0 0 75 34 WineBottle 1.129 0.345 -1.751 0 180 0 49 35 Lettuce 1.155 1.399 -0.942 0 0 0 50 36 Spatula -1.645 0.435 -0.561 0 90 0 54 37 PaperTowelRoll -1.237 1.427 -2.870 0 0 0 50 38 Tomato -2.179 1.356 -2.461 0 0 0 50 39 Plate 0.900 0.345 -2.267 0 180 0 49 40 PepperShaker -1.730 0.417 -1.348 0 0 0 56 41 DishSponge 1.023 0.953 1.054 0 0 0 73 42 Spoon -1.920 1.324 -2.721 0 0 0 50 43 Apple -1.634 0.329 2.110 0 270 0 65 44 Mug 1.027 1.202 1.238 0 0 0 75 45 StoveBurner -0.239 1.325 -3.301 0 180 0 46 Cabinet -1.461 0.775 -2.002 0 0 0 47 StoveBurner -0.630 1.325 -3.301 0 180 0 48 Cabinet -1.461 0.775 0.470 0 0 0 49 Cabinet 0.578 0.776 -2.054 0 0 0 50 CounterTop -1.809 1.358 1.182 0 0 0 51 Cabinet -1.461 0.775 1.310 0 0 0 52 Faucet -2.063 1.362 -0.726 0 39.391 0 53 StoveBurner -0.749 1.325 -2.973 0 0 0 54 Drawer -1.610 0.681 -0.430 0 0 0 55 Window -2.566 1.799 -0.822 270 0 0 56 Drawer -1.610 0.681 -1.217 0 0 0 57 Sink -1.990 1.143 -0.975 0 0 0 58 StoveBurner -0.125 1.325 -2.973 0 0 0 59 StoveKnob -0.185 1.338 -2.741 0 270 180 60 StoveKnob -0.336 1.338 -2.741 0 270 180 61 StoveKnob -0.569 1.338 -2.741 0 270 180 62 StoveKnob -0.707 1.338 -2.741 0 270 180 63 Fridge 1.013 0.227 1.917 0 270 0 64 Microwave 0.994 1.310 -2.163 0 270 0 65 GarbageCan -1.633 0.212 2.192 0 270 0 66 LightSwitch 1.386 1.565 -0.657 0 270 0 67 HousePlant -2.027 1.311 -0.026 0 284.058 0 68 SinkBasin -1.835 1.039 -0.542 0 0 0 69 ButterKnife 0.873 0.468 0.651 0 0 0 70 Toaster -1.885 1.310 -2.512 0 90 0 71 CoffeeMachine 1.129 1.310 -1.426 0 270 0 72 Drawer 0.647 1.061 0.680 0 270 0 73 Drawer 0.648 1.061 1.020 0 270 0 74 Drawer 0.648 0.843 1.020 0 270 0 75 SideTable 0.975 0.220 0.869 0 270 0 76 Drawer 0.648 0.602 0.680 0 270 0 77 Drawer 0.648 0.596 1.020 0 270 0 78 Drawer 0.648 0.843 0.680 0 270 0 79 Stool 0.606 0.222 -1.084 1.233 280.489 0 80 NorthWall 81 EastWall 82 SouthWall 83 WestWall
[ "STEP 1: Face the opposite direction and go to the counter where the toaster is. | STEP 2: Pick up the teakettle from the counter. | STEP 3: Take the kettle to the sink on your left. | STEP 4: Fill the kettle with water at the sink. | STEP 5: Carry the kettle of water to the stove on your left. | STEP 6: Put the kettle on the stove. | END" ]
[ [ "STEP 1: Face the opposite direction and go to the counter where the toaster is. ", " STEP 2: Pick up the teakettle from the counter. ", " STEP 3: Take the kettle to the sink on your left. ", " STEP 4: Fill the kettle with water at the sink. ", " STEP 5: Carry the kettle of water to the stove on your left. ", " STEP 6: Put the kettle on the stove. ", " END" ] ]
seen
trial_T20190908_032410_853210-0
Place a cooked slice of potato on the table
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 2.25 0.900 1.0 0 0 0 1 Pan 1.328 0.957 -1.688 0 180 0 62 2 Vase -0.833 1.655 -1.750 0 0 0 71 3 Potato -2.434 0.915 3.207 0 135 0 61 4 Potato -0.377 0.425 1.996 0 180 0 84 5 DishSponge 0.014 0.930 -1.718 0 270 0 56 6 WineBottle 3.743 0.881 1.861 0 270 0 80 7 Spatula -2.081 0.733 -1.579 0 90 0 78 8 Fork -2.353 0.879 3.632 0 225 0 61 9 Spoon 0.482 0.719 -1.376 0 270 0 76 10 Spoon 0.014 0.929 -1.501 0 270 0 56 11 Egg 0.307 0.828 2.137 0 180 0 84 12 Egg -0.149 0.828 2.137 0 180 0 84 13 Cup 0.234 0.927 -1.573 0 270 0 56 14 Cup -2.300 0.873 2.863 0 135 0 61 15 Plate -2.152 0.878 3.296 0 270 0 61 16 Knife -2.659 0.896 2.999 0 0 0 61 17 Knife -2.584 0.900 2.715 0 0 0 61 18 SoapBottle -3.122 0.875 2.968 0 225 0 61 19 SoapBottle -0.844 0.193 2.174 0 0 0 89 20 SaltShaker 1.651 0.906 -1.437 0 0 0 79 21 PepperShaker 3.743 0.877 1.554 0 270 0 80 22 PepperShaker 0.755 0.908 -1.369 0 0 0 59 23 Bread -2.510 0.961 3.390 0 0 0 61 24 Bread -1.738 0.995 0.363 0 0 0 59 25 Apple 0.079 1.627 2.040 0 180 0 84 26 Apple 0.079 1.199 2.167 0 180 0 84 27 Book -1.738 0.908 -0.614 0 0 0 59 28 Fork -2.659 0.875 3.390 0 90 0 61 29 Tomato 0.307 1.619 1.981 0 180 0 84 30 Egg -0.149 1.169 2.206 0 180 0 84 31 Kettle -1.961 0.913 -1.265 0 0 0 59 32 Vase 3.741 0.554 1.553 0 270 0 82 33 Cup -0.377 0.801 2.194 0 180 0 84 34 WineBottle -2.793 0.875 3.565 0 135 0 61 35 Plate -0.149 0.393 2.025 0 180 0 84 36 Spatula -2.262 0.893 3.140 0 225 0 61 37 Potato 0.234 0.967 -1.718 0 270 0 56 38 Pot 0.974 0.957 -1.419 0 180 0 77 39 Knife -2.996 0.900 3.221 0 0 0 61 40 SaltShaker 3.689 0.877 1.759 0 270 0 80 41 PepperShaker 1.631 1.651 -1.785 0 0 0 69 42 Lettuce -0.149 1.637 2.100 0 180 0 84 43 ButterKnife 0.234 0.928 -1.501 0 270 0 56 44 Bread 0.571 0.995 -1.369 0 0 0 59 45 Vase -0.237 0.122 -1.373 0 0 0 68 46 DishSponge -2.996 0.878 3.444 0 270 0 61 47 Apple -2.472 0.933 2.930 0 135 0 61 48 Pan 1.328 0.957 -1.420 0 180 0 63 49 Spoon 1.703 0.720 -1.377 0 270 0 75 50 SoapBottle -0.871 0.193 2.058 0 90 0 89 51 Mug -0.404 0.692 -1.678 0 180 0 88 52 Statue 3.676 0.168 1.410 0 334.521 0 82 53 Statue -0.833 0.910 -1.471 0 0 0 59 54 Bowl -1.944 1.655 -1.710 0 0 0 55 55 Cabinet -2.171 2.009 -1.538 0 0 0 56 Sink 0.024 0.771 -1.708 0 270 0 57 Cabinet 1.444 2.259 -1.542 0 0 0 58 StoveBurner 0.974 0.957 -1.688 0 180 0 59 CounterTop -1.866 0.947 -0.614 0 0 0 60 Cabinet -2.217 0.373 -1.874 0 0 0 61 DiningTable -2.663 0.002 3.208 0 0 0 62 StoveBurner 1.328 0.957 -1.688 0 180 0 63 StoveBurner 1.328 0.957 -1.420 0 180 0 64 Cabinet -1.478 0.373 -1.235 0 0 0 65 Cabinet 1.775 0.372 -1.242 0 0 0 66 Cabinet 0.774 0.372 -1.242 0 0 0 67 Cabinet 0.375 0.372 -1.242 0 0 0 68 Cabinet -0.574 0.372 -1.238 0 0 0 69 Cabinet 1.775 2.009 -1.542 0 0 0 70 Cabinet 0.524 2.009 -1.542 0 0 0 71 Cabinet -0.714 2.009 -1.542 0 0 0 72 Cabinet -1.671 2.009 -1.538 0 0 0 73 Cabinet 0.854 2.259 -1.542 0 0 0 74 Drawer -1.636 0.683 -0.930 0 0 0 75 Drawer 1.650 0.682 -1.396 0 0 0 76 Drawer 0.600 0.682 -1.396 0 0 0 77 StoveBurner 0.974 0.957 -1.419 0 180 0 78 Drawer -2.062 0.683 -1.579 0 0 0 79 CounterTop 1.645 0.945 -1.527 0 0 0 80 Shelf 3.725 0.880 1.671 0 90 0 81 LightSwitch 2.830 1.266 -0.748 0 0 0 82 Shelf 3.726 0.552 1.671 0 90 0 83 Microwave 1.150 1.655 -1.614 0 0 0 84 Fridge -0.035 0.0 2.177 0 180 0 85 Window -0.115 1.802 -1.896 90 0 0 86 Window -4.009 1.799 0.310 90 90 0 87 Shelf 3.726 0.172 1.671 0 90 0 88 SinkBasin -0.330 0.686 -1.581 0 270 0 89 GarbageCan -0.870 -0.001 2.136 0 90 0 90 StoveKnob 1.089 0.913 -1.243 45 0 0 91 StoveKnob 1.208 0.913 -1.243 45 0 0 92 StoveKnob 1.340 0.913 -1.243 45 0 0 93 StoveKnob 0.961 0.913 -1.243 45 0 0 94 Toaster 1.637 0.900 -1.673 0 0 0 95 Chair -3.505 0.002 3.290 0 105.736 0 96 CoffeeMachine -1.111 0.900 -1.726 0 0 0 97 HousePlant -2.663 0.835 3.209 0 0 0 98 Faucet -0.187 0.922 -1.75 0 311.166 0 99 ShelvingUnit 3.726 0.006 1.671 0 90 0 100 Stool -2.501 -0.000 0.062 1.223 91.243 0 101 Stool -2.475 -0.000 -0.802 1.209 69.808 0 102 Chair -2.934 0.002 2.437 0 28.531 0 103 Chair -1.698 0.002 3.235 0 245.204 0 104 NorthWall 105 EastWall 106 SouthWall 107 WestWall
[ "STEP 1: turn towards your left and go to the wall | STEP 2: turn right and go towards the kitchen table | STEP 3: pick up the closest knife with a yellow handle | STEP 4: turn to your right | STEP 5: turn back to the table and to the right again | STEP 6: carry the knife across the room to the stove | STEP 7: open the microwave and place the knife inside it | STEP 8: shut the microwave door and return to the kitchen table | STEP 9: pick up a potato slice from the table and carry it to the microwave across the room | STEP 10: cook the potato slice and the knife (!!!) | STEP 11: carry the cooked potato slice to the left side of the kitchen table | STEP 12: place the potato slice on the table between the sponge and the yellow handled knife | END" ]
[ [ "STEP 1: turn towards your left and go to the wall ", " STEP 2: turn right and go towards the kitchen table ", " STEP 3: pick up the closest knife with a yellow handle ", " STEP 4: turn to your right ", " STEP 5: turn back to the table and to the right again ", " STEP 6: carry the knife across the room to the stove ", " STEP 7: open the microwave and place the knife inside it ", " STEP 8: shut the microwave door and return to the kitchen table ", " STEP 9: pick up a potato slice from the table and carry it to the microwave across the room ", " STEP 10: cook the potato slice and the knife (!!!) ", " STEP 11: carry the cooked potato slice to the left side of the kitchen table ", " STEP 12: place the potato slice on the table between the sponge and the yellow handled knife ", " END" ] ]
seen
trial_T20190908_032410_853210-1
To heat a potato slice and place it on the back of the kitchen table.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 2.25 0.900 1.0 0 0 0 1 Pan 1.328 0.957 -1.688 0 180 0 62 2 Vase -0.833 1.655 -1.750 0 0 0 71 3 Potato -2.434 0.915 3.207 0 135 0 61 4 Potato -0.377 0.425 1.996 0 180 0 84 5 DishSponge 0.014 0.930 -1.718 0 270 0 56 6 WineBottle 3.743 0.881 1.861 0 270 0 80 7 Spatula -2.081 0.733 -1.579 0 90 0 78 8 Fork -2.353 0.879 3.632 0 225 0 61 9 Spoon 0.482 0.719 -1.376 0 270 0 76 10 Spoon 0.014 0.929 -1.501 0 270 0 56 11 Egg 0.307 0.828 2.137 0 180 0 84 12 Egg -0.149 0.828 2.137 0 180 0 84 13 Cup 0.234 0.927 -1.573 0 270 0 56 14 Cup -2.300 0.873 2.863 0 135 0 61 15 Plate -2.152 0.878 3.296 0 270 0 61 16 Knife -2.659 0.896 2.999 0 0 0 61 17 Knife -2.584 0.900 2.715 0 0 0 61 18 SoapBottle -3.122 0.875 2.968 0 225 0 61 19 SoapBottle -0.844 0.193 2.174 0 0 0 89 20 SaltShaker 1.651 0.906 -1.437 0 0 0 79 21 PepperShaker 3.743 0.877 1.554 0 270 0 80 22 PepperShaker 0.755 0.908 -1.369 0 0 0 59 23 Bread -2.510 0.961 3.390 0 0 0 61 24 Bread -1.738 0.995 0.363 0 0 0 59 25 Apple 0.079 1.627 2.040 0 180 0 84 26 Apple 0.079 1.199 2.167 0 180 0 84 27 Book -1.738 0.908 -0.614 0 0 0 59 28 Fork -2.659 0.875 3.390 0 90 0 61 29 Tomato 0.307 1.619 1.981 0 180 0 84 30 Egg -0.149 1.169 2.206 0 180 0 84 31 Kettle -1.961 0.913 -1.265 0 0 0 59 32 Vase 3.741 0.554 1.553 0 270 0 82 33 Cup -0.377 0.801 2.194 0 180 0 84 34 WineBottle -2.793 0.875 3.565 0 135 0 61 35 Plate -0.149 0.393 2.025 0 180 0 84 36 Spatula -2.262 0.893 3.140 0 225 0 61 37 Potato 0.234 0.967 -1.718 0 270 0 56 38 Pot 0.974 0.957 -1.419 0 180 0 77 39 Knife -2.996 0.900 3.221 0 0 0 61 40 SaltShaker 3.689 0.877 1.759 0 270 0 80 41 PepperShaker 1.631 1.651 -1.785 0 0 0 69 42 Lettuce -0.149 1.637 2.100 0 180 0 84 43 ButterKnife 0.234 0.928 -1.501 0 270 0 56 44 Bread 0.571 0.995 -1.369 0 0 0 59 45 Vase -0.237 0.122 -1.373 0 0 0 68 46 DishSponge -2.996 0.878 3.444 0 270 0 61 47 Apple -2.472 0.933 2.930 0 135 0 61 48 Pan 1.328 0.957 -1.420 0 180 0 63 49 Spoon 1.703 0.720 -1.377 0 270 0 75 50 SoapBottle -0.871 0.193 2.058 0 90 0 89 51 Mug -0.404 0.692 -1.678 0 180 0 88 52 Statue 3.676 0.168 1.410 0 334.521 0 82 53 Statue -0.833 0.910 -1.471 0 0 0 59 54 Bowl -1.944 1.655 -1.710 0 0 0 55 55 Cabinet -2.171 2.009 -1.538 0 0 0 56 Sink 0.024 0.771 -1.708 0 270 0 57 Cabinet 1.444 2.259 -1.542 0 0 0 58 StoveBurner 0.974 0.957 -1.688 0 180 0 59 CounterTop -1.866 0.947 -0.614 0 0 0 60 Cabinet -2.217 0.373 -1.874 0 0 0 61 DiningTable -2.663 0.002 3.208 0 0 0 62 StoveBurner 1.328 0.957 -1.688 0 180 0 63 StoveBurner 1.328 0.957 -1.420 0 180 0 64 Cabinet -1.478 0.373 -1.235 0 0 0 65 Cabinet 1.775 0.372 -1.242 0 0 0 66 Cabinet 0.774 0.372 -1.242 0 0 0 67 Cabinet 0.375 0.372 -1.242 0 0 0 68 Cabinet -0.574 0.372 -1.238 0 0 0 69 Cabinet 1.775 2.009 -1.542 0 0 0 70 Cabinet 0.524 2.009 -1.542 0 0 0 71 Cabinet -0.714 2.009 -1.542 0 0 0 72 Cabinet -1.671 2.009 -1.538 0 0 0 73 Cabinet 0.854 2.259 -1.542 0 0 0 74 Drawer -1.636 0.683 -0.930 0 0 0 75 Drawer 1.650 0.682 -1.396 0 0 0 76 Drawer 0.600 0.682 -1.396 0 0 0 77 StoveBurner 0.974 0.957 -1.419 0 180 0 78 Drawer -2.062 0.683 -1.579 0 0 0 79 CounterTop 1.645 0.945 -1.527 0 0 0 80 Shelf 3.725 0.880 1.671 0 90 0 81 LightSwitch 2.830 1.266 -0.748 0 0 0 82 Shelf 3.726 0.552 1.671 0 90 0 83 Microwave 1.150 1.655 -1.614 0 0 0 84 Fridge -0.035 0.0 2.177 0 180 0 85 Window -0.115 1.802 -1.896 90 0 0 86 Window -4.009 1.799 0.310 90 90 0 87 Shelf 3.726 0.172 1.671 0 90 0 88 SinkBasin -0.330 0.686 -1.581 0 270 0 89 GarbageCan -0.870 -0.001 2.136 0 90 0 90 StoveKnob 1.089 0.913 -1.243 45 0 0 91 StoveKnob 1.208 0.913 -1.243 45 0 0 92 StoveKnob 1.340 0.913 -1.243 45 0 0 93 StoveKnob 0.961 0.913 -1.243 45 0 0 94 Toaster 1.637 0.900 -1.673 0 0 0 95 Chair -3.505 0.002 3.290 0 105.736 0 96 CoffeeMachine -1.111 0.900 -1.726 0 0 0 97 HousePlant -2.663 0.835 3.209 0 0 0 98 Faucet -0.187 0.922 -1.75 0 311.166 0 99 ShelvingUnit 3.726 0.006 1.671 0 90 0 100 Stool -2.501 -0.000 0.062 1.223 91.243 0 101 Stool -2.475 -0.000 -0.802 1.209 69.808 0 102 Chair -2.934 0.002 2.437 0 28.531 0 103 Chair -1.698 0.002 3.235 0 245.204 0 104 NorthWall 105 EastWall 106 SouthWall 107 WestWall
[ "STEP 1: Turn left and walk across the room and then turn right to face the kitchen table. | STEP 2: Pick up the knife in the middle of the kitchen table. | STEP 3: Step to the right to face the potato on the kitchen table. | STEP 4: Cut the potato on the kitchen table into slices. | STEP 5: Turn around and walk across the room to the left to face the microwave above the stove. | STEP 6: Place the knife in the microwave and shut the door. | STEP 7: Turn around and walk across the room to the left to face the kitchen table. | STEP 8: Pick up a slice of potato on the kitchen table. | STEP 9: Turn around and walk across the room to the left to face the microwave above the stove. | STEP 10: Heat the potato slice in the microwave and then remove it. | STEP 11: Turn around and walk across the room to the left to face the kitchen table. | STEP 12: Place the heated potato slice on the back of the kitchen table. | END" ]
[ [ "STEP 1: Turn left and walk across the room and then turn right to face the kitchen table. ", " STEP 2: Pick up the knife in the middle of the kitchen table. ", " STEP 3: Step to the right to face the potato on the kitchen table. ", " STEP 4: Cut the potato on the kitchen table into slices. ", " STEP 5: Turn around and walk across the room to the left to face the microwave above the stove. ", " STEP 6: Place the knife in the microwave and shut the door. ", " STEP 7: Turn around and walk across the room to the left to face the kitchen table. ", " STEP 8: Pick up a slice of potato on the kitchen table. ", " STEP 9: Turn around and walk across the room to the left to face the microwave above the stove. ", " STEP 10: Heat the potato slice in the microwave and then remove it. ", " STEP 11: Turn around and walk across the room to the left to face the kitchen table. ", " STEP 12: Place the heated potato slice on the back of the kitchen table. ", " END" ] ]
seen
trial_T20190908_032410_853210-2
Slice a potato, microwave a slice, put the slice on the table
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 2.25 0.900 1.0 0 0 0 1 Pan 1.328 0.957 -1.688 0 180 0 62 2 Vase -0.833 1.655 -1.750 0 0 0 71 3 Potato -2.434 0.915 3.207 0 135 0 61 4 Potato -0.377 0.425 1.996 0 180 0 84 5 DishSponge 0.014 0.930 -1.718 0 270 0 56 6 WineBottle 3.743 0.881 1.861 0 270 0 80 7 Spatula -2.081 0.733 -1.579 0 90 0 78 8 Fork -2.353 0.879 3.632 0 225 0 61 9 Spoon 0.482 0.719 -1.376 0 270 0 76 10 Spoon 0.014 0.929 -1.501 0 270 0 56 11 Egg 0.307 0.828 2.137 0 180 0 84 12 Egg -0.149 0.828 2.137 0 180 0 84 13 Cup 0.234 0.927 -1.573 0 270 0 56 14 Cup -2.300 0.873 2.863 0 135 0 61 15 Plate -2.152 0.878 3.296 0 270 0 61 16 Knife -2.659 0.896 2.999 0 0 0 61 17 Knife -2.584 0.900 2.715 0 0 0 61 18 SoapBottle -3.122 0.875 2.968 0 225 0 61 19 SoapBottle -0.844 0.193 2.174 0 0 0 89 20 SaltShaker 1.651 0.906 -1.437 0 0 0 79 21 PepperShaker 3.743 0.877 1.554 0 270 0 80 22 PepperShaker 0.755 0.908 -1.369 0 0 0 59 23 Bread -2.510 0.961 3.390 0 0 0 61 24 Bread -1.738 0.995 0.363 0 0 0 59 25 Apple 0.079 1.627 2.040 0 180 0 84 26 Apple 0.079 1.199 2.167 0 180 0 84 27 Book -1.738 0.908 -0.614 0 0 0 59 28 Fork -2.659 0.875 3.390 0 90 0 61 29 Tomato 0.307 1.619 1.981 0 180 0 84 30 Egg -0.149 1.169 2.206 0 180 0 84 31 Kettle -1.961 0.913 -1.265 0 0 0 59 32 Vase 3.741 0.554 1.553 0 270 0 82 33 Cup -0.377 0.801 2.194 0 180 0 84 34 WineBottle -2.793 0.875 3.565 0 135 0 61 35 Plate -0.149 0.393 2.025 0 180 0 84 36 Spatula -2.262 0.893 3.140 0 225 0 61 37 Potato 0.234 0.967 -1.718 0 270 0 56 38 Pot 0.974 0.957 -1.419 0 180 0 77 39 Knife -2.996 0.900 3.221 0 0 0 61 40 SaltShaker 3.689 0.877 1.759 0 270 0 80 41 PepperShaker 1.631 1.651 -1.785 0 0 0 69 42 Lettuce -0.149 1.637 2.100 0 180 0 84 43 ButterKnife 0.234 0.928 -1.501 0 270 0 56 44 Bread 0.571 0.995 -1.369 0 0 0 59 45 Vase -0.237 0.122 -1.373 0 0 0 68 46 DishSponge -2.996 0.878 3.444 0 270 0 61 47 Apple -2.472 0.933 2.930 0 135 0 61 48 Pan 1.328 0.957 -1.420 0 180 0 63 49 Spoon 1.703 0.720 -1.377 0 270 0 75 50 SoapBottle -0.871 0.193 2.058 0 90 0 89 51 Mug -0.404 0.692 -1.678 0 180 0 88 52 Statue 3.676 0.168 1.410 0 334.521 0 82 53 Statue -0.833 0.910 -1.471 0 0 0 59 54 Bowl -1.944 1.655 -1.710 0 0 0 55 55 Cabinet -2.171 2.009 -1.538 0 0 0 56 Sink 0.024 0.771 -1.708 0 270 0 57 Cabinet 1.444 2.259 -1.542 0 0 0 58 StoveBurner 0.974 0.957 -1.688 0 180 0 59 CounterTop -1.866 0.947 -0.614 0 0 0 60 Cabinet -2.217 0.373 -1.874 0 0 0 61 DiningTable -2.663 0.002 3.208 0 0 0 62 StoveBurner 1.328 0.957 -1.688 0 180 0 63 StoveBurner 1.328 0.957 -1.420 0 180 0 64 Cabinet -1.478 0.373 -1.235 0 0 0 65 Cabinet 1.775 0.372 -1.242 0 0 0 66 Cabinet 0.774 0.372 -1.242 0 0 0 67 Cabinet 0.375 0.372 -1.242 0 0 0 68 Cabinet -0.574 0.372 -1.238 0 0 0 69 Cabinet 1.775 2.009 -1.542 0 0 0 70 Cabinet 0.524 2.009 -1.542 0 0 0 71 Cabinet -0.714 2.009 -1.542 0 0 0 72 Cabinet -1.671 2.009 -1.538 0 0 0 73 Cabinet 0.854 2.259 -1.542 0 0 0 74 Drawer -1.636 0.683 -0.930 0 0 0 75 Drawer 1.650 0.682 -1.396 0 0 0 76 Drawer 0.600 0.682 -1.396 0 0 0 77 StoveBurner 0.974 0.957 -1.419 0 180 0 78 Drawer -2.062 0.683 -1.579 0 0 0 79 CounterTop 1.645 0.945 -1.527 0 0 0 80 Shelf 3.725 0.880 1.671 0 90 0 81 LightSwitch 2.830 1.266 -0.748 0 0 0 82 Shelf 3.726 0.552 1.671 0 90 0 83 Microwave 1.150 1.655 -1.614 0 0 0 84 Fridge -0.035 0.0 2.177 0 180 0 85 Window -0.115 1.802 -1.896 90 0 0 86 Window -4.009 1.799 0.310 90 90 0 87 Shelf 3.726 0.172 1.671 0 90 0 88 SinkBasin -0.330 0.686 -1.581 0 270 0 89 GarbageCan -0.870 -0.001 2.136 0 90 0 90 StoveKnob 1.089 0.913 -1.243 45 0 0 91 StoveKnob 1.208 0.913 -1.243 45 0 0 92 StoveKnob 1.340 0.913 -1.243 45 0 0 93 StoveKnob 0.961 0.913 -1.243 45 0 0 94 Toaster 1.637 0.900 -1.673 0 0 0 95 Chair -3.505 0.002 3.290 0 105.736 0 96 CoffeeMachine -1.111 0.900 -1.726 0 0 0 97 HousePlant -2.663 0.835 3.209 0 0 0 98 Faucet -0.187 0.922 -1.75 0 311.166 0 99 ShelvingUnit 3.726 0.006 1.671 0 90 0 100 Stool -2.501 -0.000 0.062 1.223 91.243 0 101 Stool -2.475 -0.000 -0.802 1.209 69.808 0 102 Chair -2.934 0.002 2.437 0 28.531 0 103 Chair -1.698 0.002 3.235 0 245.204 0 104 NorthWall 105 EastWall 106 SouthWall 107 WestWall
[ "STEP 1: While facing the wall, turn to your left and walk toward the window, hang a right to the table. | STEP 2: Pick up the middle of the three knives nearest and to the left of the apple on the table. | STEP 3: Turn to your right in the direction of the green recycling bin, and turn back to the table. | STEP 4: Slice the potato in front of the loaf of bread. | STEP 5: Turn to your right and carry the knife to the stove. | STEP 6: Look up to the microwave oven above the stove. | STEP 7: Open the microwave door, place the knife in the microwave, close the door. | STEP 8: Turn to your right and walk back to the table. | STEP 9: Pick up a center slice from the potato, turn and walk back to the stove. | STEP 10: Look up to the microwave, open the door, put the slice behind the knife, turn the microwave on; after the microwave finishes cooking, open the door, remove the potato slice, close the door. | STEP 11: Turn to your right and walk to the left side of the table. | STEP 12: Place the potato slice in front of and to the right of the green sponge. | END" ]
[ [ "STEP 1: While facing the wall, turn to your left and walk toward the window, hang a right to the table. ", " STEP 2: Pick up the middle of the three knives nearest and to the left of the apple on the table. ", " STEP 3: Turn to your right in the direction of the green recycling bin, and turn back to the table. ", " STEP 4: Slice the potato in front of the loaf of bread. ", " STEP 5: Turn to your right and carry the knife to the stove. ", " STEP 6: Look up to the microwave oven above the stove. ", " STEP 7: Open the microwave door, place the knife in the microwave, close the door. ", " STEP 8: Turn to your right and walk back to the table. ", " STEP 9: Pick up a center slice from the potato, turn and walk back to the stove. ", " STEP 10: Look up to the microwave, open the door, put the slice behind the knife, turn the microwave on; after the microwave finishes cooking, open the door, remove the potato slice, close the door. ", " STEP 11: Turn to your right and walk to the left side of the table. ", " STEP 12: Place the potato slice in front of and to the right of the green sponge. ", " END" ] ]
seen
trial_T20190910_151557_680217-0
Throw away a slice of cold lettuce.
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Cabinet", " -2.377", " 2.009", " 2.581", " 0", " 0", " 0", "" ], [ "51", " Cabinet", " -2.442", " 0.385", " 1.672", " 0", " 0", " 0", "" ], [ "52", " Cabinet", " -2.238", " 0.385", " 0.564", " 0", " 0", " 0", "" ], [ "53", " Cabinet", " -1.286", " 0.385", " 0.564", " 0", " 0", " 0", "" ], [ "54", " Cabinet", " -1.262", " 0.385", " 0.565", " 0", " 0", " 0", "" ], [ "55", " Cabinet", " -0.734", " 0.385", " 0.565", " 0", " 0", " 0", "" ], [ "56", " Cabinet", " -0.549", " 0.385", " 0.751", " 0", " 0", " 0", "" ], [ "57", " Cabinet", " -0.549", " 0.385", " 1.412", " 0", " 0", " 0", "" ], [ "58", " Fridge", " -2.782", " 0.0", " 2.221", " 0", " 0", " 0", "" ], [ "59", " Microwave", " -2.794", " 0.812", " 1.348", " 0", " 90", " 0", "" ], [ "60", " GarbageCan", " -0.329", " 2.205", " 2.606", " 0", " 0", " 0", "" ], [ "61", " StoveKnob", " -0.069", " 0.998", " 1.773", " 0", " 180", " 107.470", "" ], [ "62", " StoveKnob", " -0.069", " 0.998", " 1.613", " 0", " 180", " 107.470", "" ], [ "63", " StoveKnob", " -0.069", " 0.998", " 2.171", " 0", " 180", " 107.470", "" ], [ "64", " StoveKnob", " -0.069", " 0.998", " 2.024", " 0", " 180", " 107.470", "" ], [ "65", " Window", " -1.720", " 1.342", " -0.208", " 90", " 0", " 0", "" ], [ "66", " Toaster", " -0.171", " 0.812", " 0.735", " 0", " 270", " 0", "" ], [ "67", " SinkBasin", " -1.745", " 0.687", " 0.295", " 0", " 0", " 0", "" ], [ "68", " CoffeeMachine", " -0.539", " 0.812", " 0.185", " 0", " 0", " 0", "" ], [ "69", " LightSwitch", " -0.615", " 1.378", " 3.0", " 0", " 180", " 0", "" ], [ "70", " Faucet", " -1.686", " 0.954", " 0.176", " 0", " 236.223", " 0", "" ], [ "71", " Stool", " -1.008", " 0.008", " 1.955", " 0", " 18.279", " 0", "" ], [ "72", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "73", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "74", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "75", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.25 0.900 1.75 0 270 0 1 Pan -0.244 0.829 1.684 0 0 0 39 2 Ladle -2.540 1.893 1.926 0 0 0 34 3 DishSponge -2.608 0.823 0.278 0 0 0 40 4 Fork -0.496 0.696 1.288 0 270 0 36 5 Spoon -1.161 0.699 0.377 0 90 0 44 6 Egg -0.429 0.080 2.505 0 0 0 60 7 Egg -2.724 0.847 0.352 0 0 0 40 8 Plate -2.671 0.829 2.221 0 90 0 58 9 Knife -2.375 0.849 0.203 0 0 0 40 10 Knife -1.876 0.849 0.528 0 0 0 40 11 Apple -0.362 0.129 2.606 0 0 0 60 12 Apple -2.844 0.994 1.178 0 90 0 59 13 Fork -2.597 0.693 1.474 0 90 0 45 14 Ladle -2.609 0.165 1.471 0 0 0 51 15 Pan -0.244 0.829 2.075 0 180 0 35 16 SoapBottle -2.905 1.432 1.372 0 0 0 48 17 Pot -0.531 0.822 2.096 0 0 0 37 18 Tomato -2.837 0.874 2.397 0 90 0 58 19 Potato -0.400 0.862 1.326 0 0 0 40 20 SaltShaker -2.609 0.116 1.550 0 0 0 51 21 Plate -2.837 1.148 2.133 0 90 0 58 22 Spatula -2.957 0.838 0.278 0 90 0 40 23 Knife -2.662 0.819 0.557 90 300.034 0 40 24 Egg -2.711 0.945 1.390 0 90 0 59 25 Cup -2.619 1.849 2.264 0 0 0 50 26 ButterKnife -1.151 0.823 0.500 0 0 0 40 27 Lettuce -1.836 0.741 0.238 0 55.910 0 67 28 PepperShaker -0.477 0.818 0.770 0 0 0 40 29 DishSponge -0.888 0.709 0.411 0 0 0 43 30 Bread -0.979 0.855 0.249 0 29.999 0 40 31 Spoon -2.375 0.824 0.500 0 0 0 40 32 Mug -0.646 0.888 0.367 0 0 0 68 33 Bowl -2.782 1.140 2.397 0 90 0 58 34 Cabinet -2.377 2.015 1.720 0 0 0 35 StoveBurner -0.244 0.820 2.075 0 180 0 36 Drawer -0.402 0.703 1.252 0 0 0 37 StoveBurner -0.518 0.820 2.075 0 180 0 38 Sink -1.838 0.726 0.343 0 180 0 39 StoveBurner -0.244 0.820 1.684 0 0 0 40 CounterTop -1.557 0.859 0.277 0 0 0 41 StoveBurner -0.518 0.820 1.684 0 0 0 42 Drawer -0.404 0.704 0.912 0 0 0 43 Drawer -0.861 0.709 0.420 0 0 0 44 Drawer -1.133 0.706 0.418 0 0 0 45 Drawer -2.589 0.703 1.511 0 0 0 46 Cabinet -2.772 1.803 0.508 0 0 0 47 Cabinet -2.460 1.803 0.231 0 0 0 48 Cabinet -2.781 1.798 0.825 0 0 0 49 Cabinet -2.781 1.798 0.815 0 0 0 50 Cabinet -2.377 2.009 2.581 0 0 0 51 Cabinet -2.442 0.385 1.672 0 0 0 52 Cabinet -2.238 0.385 0.564 0 0 0 53 Cabinet -1.286 0.385 0.564 0 0 0 54 Cabinet -1.262 0.385 0.565 0 0 0 55 Cabinet -0.734 0.385 0.565 0 0 0 56 Cabinet -0.549 0.385 0.751 0 0 0 57 Cabinet -0.549 0.385 1.412 0 0 0 58 Fridge -2.782 0.0 2.221 0 0 0 59 Microwave -2.794 0.812 1.348 0 90 0 60 GarbageCan -0.329 2.205 2.606 0 0 0 61 StoveKnob -0.069 0.998 1.773 0 180 107.470 62 StoveKnob -0.069 0.998 1.613 0 180 107.470 63 StoveKnob -0.069 0.998 2.171 0 180 107.470 64 StoveKnob -0.069 0.998 2.024 0 180 107.470 65 Window -1.720 1.342 -0.208 90 0 0 66 Toaster -0.171 0.812 0.735 0 270 0 67 SinkBasin -1.745 0.687 0.295 0 0 0 68 CoffeeMachine -0.539 0.812 0.185 0 0 0 69 LightSwitch -0.615 1.378 3.0 0 180 0 70 Faucet -1.686 0.954 0.176 0 236.223 0 71 Stool -1.008 0.008 1.955 0 18.279 0 72 NorthWall 73 EastWall 74 SouthWall 75 WestWall
[ "STEP 1: Turn left and move to the sink. | STEP 2: Pick up the butter knife from the counter to the left of the sink. | STEP 3: Take a step to the right to stand in front of the right sink. | STEP 4: Slice the lettuce in the right sink with the knife. | STEP 5: Take a step to the left to stand in front of the left sink and then turn right to face the dishwasher. | STEP 6: Open the cupboard to the right of the dishwasher and place the knife inside. | STEP 7: Turn back around to face the sink. | STEP 8: Pick up a slice of lettuce from the sink. | STEP 9: Turn around and carry the lettuce to the fridge. | STEP 10: Place the lettuce on the plate in the fridge, close the door, then open the door and remove the lettuce after a couple seconds. | STEP 11: Turn around and move to the green trash bin in the corner across from the fridge. | STEP 12: Place the slice of lettuce in the green trash bin. | END" ]
[ [ "STEP 1: Turn left and move to the sink. ", " STEP 2: Pick up the butter knife from the counter to the left of the sink. ", " STEP 3: Take a step to the right to stand in front of the right sink. ", " STEP 4: Slice the lettuce in the right sink with the knife. ", " STEP 5: Take a step to the left to stand in front of the left sink and then turn right to face the dishwasher. ", " STEP 6: Open the cupboard to the right of the dishwasher and place the knife inside. ", " STEP 7: Turn back around to face the sink. ", " STEP 8: Pick up a slice of lettuce from the sink. ", " STEP 9: Turn around and carry the lettuce to the fridge. ", " STEP 10: Place the lettuce on the plate in the fridge, close the door, then open the door and remove the lettuce after a couple seconds. ", " STEP 11: Turn around and move to the green trash bin in the corner across from the fridge. ", " STEP 12: Place the slice of lettuce in the green trash bin. ", " END" ] ]
seen
trial_T20190910_151557_680217-1
Place a chilled slice of lettuce in the rubbish bin.
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Cabinet", " -2.377", " 2.009", " 2.581", " 0", " 0", " 0", "" ], [ "51", " Cabinet", " -2.442", " 0.385", " 1.672", " 0", " 0", " 0", "" ], [ "52", " Cabinet", " -2.238", " 0.385", " 0.564", " 0", " 0", " 0", "" ], [ "53", " Cabinet", " -1.286", " 0.385", " 0.564", " 0", " 0", " 0", "" ], [ "54", " Cabinet", " -1.262", " 0.385", " 0.565", " 0", " 0", " 0", "" ], [ "55", " Cabinet", " -0.734", " 0.385", " 0.565", " 0", " 0", " 0", "" ], [ "56", " Cabinet", " -0.549", " 0.385", " 0.751", " 0", " 0", " 0", "" ], [ "57", " Cabinet", " -0.549", " 0.385", " 1.412", " 0", " 0", " 0", "" ], [ "58", " Fridge", " -2.782", " 0.0", " 2.221", " 0", " 0", " 0", "" ], [ "59", " Microwave", " -2.794", " 0.812", " 1.348", " 0", " 90", " 0", "" ], [ "60", " GarbageCan", " -0.329", " 2.205", " 2.606", " 0", " 0", " 0", "" ], [ "61", " StoveKnob", " -0.069", " 0.998", " 1.773", " 0", " 180", " 107.470", "" ], [ "62", " StoveKnob", " -0.069", " 0.998", " 1.613", " 0", " 180", " 107.470", "" ], [ "63", " 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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.25 0.900 1.75 0 270 0 1 Pan -0.244 0.829 1.684 0 0 0 39 2 Ladle -2.540 1.893 1.926 0 0 0 34 3 DishSponge -2.608 0.823 0.278 0 0 0 40 4 Fork -0.496 0.696 1.288 0 270 0 36 5 Spoon -1.161 0.699 0.377 0 90 0 44 6 Egg -0.429 0.080 2.505 0 0 0 60 7 Egg -2.724 0.847 0.352 0 0 0 40 8 Plate -2.671 0.829 2.221 0 90 0 58 9 Knife -2.375 0.849 0.203 0 0 0 40 10 Knife -1.876 0.849 0.528 0 0 0 40 11 Apple -0.362 0.129 2.606 0 0 0 60 12 Apple -2.844 0.994 1.178 0 90 0 59 13 Fork -2.597 0.693 1.474 0 90 0 45 14 Ladle -2.609 0.165 1.471 0 0 0 51 15 Pan -0.244 0.829 2.075 0 180 0 35 16 SoapBottle -2.905 1.432 1.372 0 0 0 48 17 Pot -0.531 0.822 2.096 0 0 0 37 18 Tomato -2.837 0.874 2.397 0 90 0 58 19 Potato -0.400 0.862 1.326 0 0 0 40 20 SaltShaker -2.609 0.116 1.550 0 0 0 51 21 Plate -2.837 1.148 2.133 0 90 0 58 22 Spatula -2.957 0.838 0.278 0 90 0 40 23 Knife -2.662 0.819 0.557 90 300.034 0 40 24 Egg -2.711 0.945 1.390 0 90 0 59 25 Cup -2.619 1.849 2.264 0 0 0 50 26 ButterKnife -1.151 0.823 0.500 0 0 0 40 27 Lettuce -1.836 0.741 0.238 0 55.910 0 67 28 PepperShaker -0.477 0.818 0.770 0 0 0 40 29 DishSponge -0.888 0.709 0.411 0 0 0 43 30 Bread -0.979 0.855 0.249 0 29.999 0 40 31 Spoon -2.375 0.824 0.500 0 0 0 40 32 Mug -0.646 0.888 0.367 0 0 0 68 33 Bowl -2.782 1.140 2.397 0 90 0 58 34 Cabinet -2.377 2.015 1.720 0 0 0 35 StoveBurner -0.244 0.820 2.075 0 180 0 36 Drawer -0.402 0.703 1.252 0 0 0 37 StoveBurner -0.518 0.820 2.075 0 180 0 38 Sink -1.838 0.726 0.343 0 180 0 39 StoveBurner -0.244 0.820 1.684 0 0 0 40 CounterTop -1.557 0.859 0.277 0 0 0 41 StoveBurner -0.518 0.820 1.684 0 0 0 42 Drawer -0.404 0.704 0.912 0 0 0 43 Drawer -0.861 0.709 0.420 0 0 0 44 Drawer -1.133 0.706 0.418 0 0 0 45 Drawer -2.589 0.703 1.511 0 0 0 46 Cabinet -2.772 1.803 0.508 0 0 0 47 Cabinet -2.460 1.803 0.231 0 0 0 48 Cabinet -2.781 1.798 0.825 0 0 0 49 Cabinet -2.781 1.798 0.815 0 0 0 50 Cabinet -2.377 2.009 2.581 0 0 0 51 Cabinet -2.442 0.385 1.672 0 0 0 52 Cabinet -2.238 0.385 0.564 0 0 0 53 Cabinet -1.286 0.385 0.564 0 0 0 54 Cabinet -1.262 0.385 0.565 0 0 0 55 Cabinet -0.734 0.385 0.565 0 0 0 56 Cabinet -0.549 0.385 0.751 0 0 0 57 Cabinet -0.549 0.385 1.412 0 0 0 58 Fridge -2.782 0.0 2.221 0 0 0 59 Microwave -2.794 0.812 1.348 0 90 0 60 GarbageCan -0.329 2.205 2.606 0 0 0 61 StoveKnob -0.069 0.998 1.773 0 180 107.470 62 StoveKnob -0.069 0.998 1.613 0 180 107.470 63 StoveKnob -0.069 0.998 2.171 0 180 107.470 64 StoveKnob -0.069 0.998 2.024 0 180 107.470 65 Window -1.720 1.342 -0.208 90 0 0 66 Toaster -0.171 0.812 0.735 0 270 0 67 SinkBasin -1.745 0.687 0.295 0 0 0 68 CoffeeMachine -0.539 0.812 0.185 0 0 0 69 LightSwitch -0.615 1.378 3.0 0 180 0 70 Faucet -1.686 0.954 0.176 0 236.223 0 71 Stool -1.008 0.008 1.955 0 18.279 0 72 NorthWall 73 EastWall 74 SouthWall 75 WestWall
[ "STEP 1: Turn left and move to the sink in front of the window. | STEP 2: Pick up the knife between the loaf of bread and the sink from the counter. | STEP 3: Move to the right and face the sink. | STEP 4: Slice the head of lettuce in the sink using the knife. | STEP 5: Turn to the right and face the dishwasher underneath the microwave. | STEP 6: Open the cabinet door to the right of the dishwasher, place the knife on top of the ladle, then close the cabinet door. | STEP 7: Turn to the left and face the sink. | STEP 8: Pick up a slice of lettuce from the sink. | STEP 9: Turn around and move to the silver refrigerator. | STEP 10: Open the refrigerator, place the lettuce on the plate on the bottom shelf, let the lettuce chill in the refrigerator, then open the refrigerator, pick up the slice of lettuce, and then close the refrigerator door. | STEP 11: Turn around and move to the green rubbish bin to the left of the range. | STEP 12: Place the slice of lettuce in the rubbish bin to the left of the tomato. | END" ]
[ [ "STEP 1: Turn left and move to the sink in front of the window. ", " STEP 2: Pick up the knife between the loaf of bread and the sink from the counter. ", " STEP 3: Move to the right and face the sink. ", " STEP 4: Slice the head of lettuce in the sink using the knife. ", " STEP 5: Turn to the right and face the dishwasher underneath the microwave. ", " STEP 6: Open the cabinet door to the right of the dishwasher, place the knife on top of the ladle, then close the cabinet door. ", " STEP 7: Turn to the left and face the sink. ", " STEP 8: Pick up a slice of lettuce from the sink. ", " STEP 9: Turn around and move to the silver refrigerator. ", " STEP 10: Open the refrigerator, place the lettuce on the plate on the bottom shelf, let the lettuce chill in the refrigerator, then open the refrigerator, pick up the slice of lettuce, and then close the refrigerator door. ", " STEP 11: Turn around and move to the green rubbish bin to the left of the range. ", " STEP 12: Place the slice of lettuce in the rubbish bin to the left of the tomato. ", " END" ] ]
seen
trial_T20190910_151557_680217-2
Put a slice of chilled lettuce in a garbage bin
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.25 0.900 1.75 0 270 0 1 Pan -0.244 0.829 1.684 0 0 0 39 2 Ladle -2.540 1.893 1.926 0 0 0 34 3 DishSponge -2.608 0.823 0.278 0 0 0 40 4 Fork -0.496 0.696 1.288 0 270 0 36 5 Spoon -1.161 0.699 0.377 0 90 0 44 6 Egg -0.429 0.080 2.505 0 0 0 60 7 Egg -2.724 0.847 0.352 0 0 0 40 8 Plate -2.671 0.829 2.221 0 90 0 58 9 Knife -2.375 0.849 0.203 0 0 0 40 10 Knife -1.876 0.849 0.528 0 0 0 40 11 Apple -0.362 0.129 2.606 0 0 0 60 12 Apple -2.844 0.994 1.178 0 90 0 59 13 Fork -2.597 0.693 1.474 0 90 0 45 14 Ladle -2.609 0.165 1.471 0 0 0 51 15 Pan -0.244 0.829 2.075 0 180 0 35 16 SoapBottle -2.905 1.432 1.372 0 0 0 48 17 Pot -0.531 0.822 2.096 0 0 0 37 18 Tomato -2.837 0.874 2.397 0 90 0 58 19 Potato -0.400 0.862 1.326 0 0 0 40 20 SaltShaker -2.609 0.116 1.550 0 0 0 51 21 Plate -2.837 1.148 2.133 0 90 0 58 22 Spatula -2.957 0.838 0.278 0 90 0 40 23 Knife -2.662 0.819 0.557 90 300.034 0 40 24 Egg -2.711 0.945 1.390 0 90 0 59 25 Cup -2.619 1.849 2.264 0 0 0 50 26 ButterKnife -1.151 0.823 0.500 0 0 0 40 27 Lettuce -1.836 0.741 0.238 0 55.910 0 67 28 PepperShaker -0.477 0.818 0.770 0 0 0 40 29 DishSponge -0.888 0.709 0.411 0 0 0 43 30 Bread -0.979 0.855 0.249 0 29.999 0 40 31 Spoon -2.375 0.824 0.500 0 0 0 40 32 Mug -0.646 0.888 0.367 0 0 0 68 33 Bowl -2.782 1.140 2.397 0 90 0 58 34 Cabinet -2.377 2.015 1.720 0 0 0 35 StoveBurner -0.244 0.820 2.075 0 180 0 36 Drawer -0.402 0.703 1.252 0 0 0 37 StoveBurner -0.518 0.820 2.075 0 180 0 38 Sink -1.838 0.726 0.343 0 180 0 39 StoveBurner -0.244 0.820 1.684 0 0 0 40 CounterTop -1.557 0.859 0.277 0 0 0 41 StoveBurner -0.518 0.820 1.684 0 0 0 42 Drawer -0.404 0.704 0.912 0 0 0 43 Drawer -0.861 0.709 0.420 0 0 0 44 Drawer -1.133 0.706 0.418 0 0 0 45 Drawer -2.589 0.703 1.511 0 0 0 46 Cabinet -2.772 1.803 0.508 0 0 0 47 Cabinet -2.460 1.803 0.231 0 0 0 48 Cabinet -2.781 1.798 0.825 0 0 0 49 Cabinet -2.781 1.798 0.815 0 0 0 50 Cabinet -2.377 2.009 2.581 0 0 0 51 Cabinet -2.442 0.385 1.672 0 0 0 52 Cabinet -2.238 0.385 0.564 0 0 0 53 Cabinet -1.286 0.385 0.564 0 0 0 54 Cabinet -1.262 0.385 0.565 0 0 0 55 Cabinet -0.734 0.385 0.565 0 0 0 56 Cabinet -0.549 0.385 0.751 0 0 0 57 Cabinet -0.549 0.385 1.412 0 0 0 58 Fridge -2.782 0.0 2.221 0 0 0 59 Microwave -2.794 0.812 1.348 0 90 0 60 GarbageCan -0.329 2.205 2.606 0 0 0 61 StoveKnob -0.069 0.998 1.773 0 180 107.470 62 StoveKnob -0.069 0.998 1.613 0 180 107.470 63 StoveKnob -0.069 0.998 2.171 0 180 107.470 64 StoveKnob -0.069 0.998 2.024 0 180 107.470 65 Window -1.720 1.342 -0.208 90 0 0 66 Toaster -0.171 0.812 0.735 0 270 0 67 SinkBasin -1.745 0.687 0.295 0 0 0 68 CoffeeMachine -0.539 0.812 0.185 0 0 0 69 LightSwitch -0.615 1.378 3.0 0 180 0 70 Faucet -1.686 0.954 0.176 0 236.223 0 71 Stool -1.008 0.008 1.955 0 18.279 0 72 NorthWall 73 EastWall 74 SouthWall 75 WestWall
[ "STEP 1: Turn left and go to the sink | STEP 2: Pick up the knife that is to the right of the loaf of bread on the counter | STEP 3: Turn right and then turn left and go to the larger of the two sinks | STEP 4: Slice the head of lettuce in half that is in the larger sink | STEP 5: Turn left then turn right to face the smaller sink, then turn right | STEP 6: Open the cupboard to the right of the dishwasher and put the knife inside | STEP 7: Turn left to face the two sinks | STEP 8: Cut a slice of the lettuce that is in the larger sink and pick up the slice | STEP 9: Turn around and go to the wall then turn left to face the fridge | STEP 10: Put the slice of lettuce in the fridge to chill then take it back out | STEP 11: Turn around and head to the green garbage bin that is between the stove and the wall | STEP 12: Put the slice of lettuce in the green garbage bin | END" ]
[ [ "STEP 1: Turn left and go to the sink ", " STEP 2: Pick up the knife that is to the right of the loaf of bread on the counter ", " STEP 3: Turn right and then turn left and go to the larger of the two sinks ", " STEP 4: Slice the head of lettuce in half that is in the larger sink ", " STEP 5: Turn left then turn right to face the smaller sink, then turn right ", " STEP 6: Open the cupboard to the right of the dishwasher and put the knife inside ", " STEP 7: Turn left to face the two sinks ", " STEP 8: Cut a slice of the lettuce that is in the larger sink and pick up the slice ", " STEP 9: Turn around and go to the wall then turn left to face the fridge ", " STEP 10: Put the slice of lettuce in the fridge to chill then take it back out ", " STEP 11: Turn around and head to the green garbage bin that is between the stove and the wall ", " STEP 12: Put the slice of lettuce in the green garbage bin ", " END" ] ]
seen
trial_T20190908_012346_002439-0
put a ladle, pan, and knife into a kitchen sink basin
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.25 0.900 2.75 0 270 0 1 Potato -2.658 0.862 0.707 0 0 0 52 2 DishSponge -2.504 0.823 0.953 0 0 0 52 3 ButterKnife -0.496 0.695 1.252 0 90 0 48 4 ButterKnife -1.207 0.823 0.518 0 0 0 52 5 Fork -0.292 0.695 1.215 0 90 0 48 6 Spoon -2.258 0.824 0.129 0 0 0 52 7 Spoon -0.400 0.824 0.770 0 0 0 52 8 Egg -0.329 0.080 2.708 0 0 0 72 9 Egg -0.362 0.080 2.640 0 0 0 72 10 Cup -2.892 0.825 1.957 0 90 0 70 11 Plate -2.115 0.130 0.362 0 0 0 64 12 Plate -2.648 0.126 1.471 0 0 0 63 13 Knife -0.816 0.818 0.325 271.519 39.219 139.37 52 14 Tomato -2.837 0.874 2.397 0 90 0 70 15 SoapBottle -2.491 0.821 0.129 0 0 0 52 16 SoapBottle -2.504 0.821 0.625 0 0 0 52 17 Bowl -2.540 1.845 1.875 0 0 0 46 18 Bowl -2.784 1.431 0.293 0 45 0 58 19 SaltShaker -1.522 0.120 0.518 0 180 0 65 20 SaltShaker -2.840 0.818 0.129 0 0 0 52 21 Mug -0.646 0.888 0.367 0 0 0 80 22 Apple -0.395 0.129 2.539 0 90 0 72 23 Apple -2.671 1.518 2.397 0 90 0 70 24 Apple -2.782 0.897 2.221 0 90 0 70 25 Fork -0.462 0.695 1.215 0 90 0 48 26 Ladle -2.375 0.867 0.352 0 0 0 52 27 Pan -0.244 0.829 2.075 0 180 0 47 28 SoapBottle -0.477 0.821 0.658 0 0 0 52 29 Pot -0.531 0.822 2.096 0 0 0 49 30 Tomato -0.262 0.106 2.539 0 0 0 72 31 Potato -2.947 1.182 1.957 0 90 0 70 32 SaltShaker -0.817 0.818 0.500 0 0 0 52 33 Plate -2.586 0.813 0.309 0 0 0 52 34 Spatula -2.735 0.838 0.625 0 180 0 52 35 Knife -2.044 0.849 0.539 0 0 0 52 36 Egg -1.550 0.721 0.295 0 0 0 79 37 Cup -2.810 0.921 1.390 0 90 0 71 38 ButterKnife -0.400 0.823 0.770 0 0 0 52 39 Lettuce -2.726 1.227 2.133 0 90 0 70 40 PepperShaker -0.169 0.818 1.326 0 0 0 52 41 DishSponge -2.563 0.691 1.438 0 0 0 57 42 Bread -0.995 0.862 0.253 357.898 24.928 0 52 43 Spoon -1.049 0.699 0.444 0 270 0 56 44 Mug -2.840 0.818 0.426 0 0 0 52 45 Bowl -2.540 1.845 2.420 0 0 0 62 46 Cabinet -2.377 2.015 1.720 0 0 0 47 StoveBurner -0.244 0.820 2.075 0 180 0 48 Drawer -0.402 0.703 1.252 0 0 0 49 StoveBurner -0.518 0.820 2.075 0 180 0 50 Sink -1.838 0.726 0.343 0 180 0 51 StoveBurner -0.244 0.820 1.684 0 0 0 52 CounterTop -1.557 0.859 0.277 0 0 0 53 StoveBurner -0.518 0.820 1.684 0 0 0 54 Drawer -0.404 0.704 0.912 0 0 0 55 Drawer -0.861 0.709 0.420 0 0 0 56 Drawer -1.133 0.706 0.418 0 0 0 57 Drawer -2.589 0.703 1.511 0 0 0 58 Cabinet -2.772 1.803 0.508 0 0 0 59 Cabinet -2.460 1.803 0.231 0 0 0 60 Cabinet -2.781 1.798 0.825 0 0 0 61 Cabinet -2.781 1.798 0.815 0 0 0 62 Cabinet -2.377 2.009 2.581 0 0 0 63 Cabinet -2.442 0.385 1.672 0 0 0 64 Cabinet -2.238 0.385 0.564 0 0 0 65 Cabinet -1.286 0.385 0.564 0 0 0 66 Cabinet -1.262 0.385 0.565 0 0 0 67 Cabinet -0.734 0.385 0.565 0 0 0 68 Cabinet -0.549 0.385 0.751 0 0 0 69 Cabinet -0.549 0.385 1.412 0 0 0 70 Fridge -2.782 0.0 2.221 0 0 0 71 Microwave -2.794 0.812 1.348 0 90 0 72 GarbageCan -0.329 2.205 2.606 0 0 0 73 StoveKnob -0.069 0.998 1.773 0 180 107.470 74 StoveKnob -0.069 0.998 1.613 0 180 107.470 75 StoveKnob -0.069 0.998 2.171 0 180 107.470 76 StoveKnob -0.069 0.998 2.024 0 180 107.470 77 Window -1.720 1.342 -0.208 90 0 0 78 Toaster -0.171 0.812 0.735 0 270 0 79 SinkBasin -1.745 0.687 0.295 0 0 0 80 CoffeeMachine -0.539 0.812 0.185 0 0 0 81 LightSwitch -0.615 1.378 3.0 0 180 0 82 Faucet -1.686 0.954 0.176 0 236.223 0 83 Stool -1.008 0.008 1.955 0 18.279 0 84 NorthWall 85 EastWall 86 SouthWall 87 WestWall
[ "STEP 1: walk to face the kitchen sinks | STEP 2: pick up the butter knife from the counter left of the sinks | STEP 3: walk slightly to the right to face counter to the right of the sinks | STEP 4: put the butter knife in the pan to the very right of the counter | STEP 5: pick up the pan and the ladle with the aqua handle | STEP 6: walk slightly left to face the sinks and counter left of the sinks | STEP 7: place the ladle and pan into the right most sink basin | END" ]
[ [ "STEP 1: walk to face the kitchen sinks ", " STEP 2: pick up the butter knife from the counter left of the sinks ", " STEP 3: walk slightly to the right to face counter to the right of the sinks ", " STEP 4: put the butter knife in the pan to the very right of the counter ", " STEP 5: pick up the pan and the ladle with the aqua handle ", " STEP 6: walk slightly left to face the sinks and counter left of the sinks ", " STEP 7: place the ladle and pan into the right most sink basin ", " END" ] ]
seen
trial_T20190908_012346_002439-1
Put a pan containing a knife and ladle in the sink.
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-2.115", " 0.130", " 0.362", " 0", " 0", " 0", " 64" ], [ "12", " Plate", " -2.648", " 0.126", " 1.471", " 0", " 0", " 0", " 63" ], [ "13", " Knife", " -0.816", " 0.818", " 0.325", " 271.519", " 39.219", " 139.37", " 52" ], [ "14", " Tomato", " -2.837", " 0.874", " 2.397", " 0", " 90", " 0", " 70" ], [ "15", " SoapBottle", " -2.491", " 0.821", " 0.129", " 0", " 0", " 0", " 52" ], [ "16", " SoapBottle", " -2.504", " 0.821", " 0.625", " 0", " 0", " 0", " 52" ], [ "17", " Bowl", " -2.540", " 1.845", " 1.875", " 0", " 0", " 0", " 46" ], [ "18", " Bowl", " -2.784", " 1.431", " 0.293", " 0", " 45", " 0", " 58" ], [ "19", " SaltShaker", " -1.522", " 0.120", " 0.518", " 0", " 180", " 0", " 65" ], [ "20", " SaltShaker", " -2.840", " 0.818", " 0.129", " 0", " 0", " 0", " 52" ], [ "21", " Mug", " -0.646", " 0.888", " 0.367", " 0", " 0", " 0", " 80" ], [ "22", " Apple", " -0.395", " 0.129", " 2.539", " 0", " 90", " 0", " 72" ], [ "23", " Apple", " -2.671", " 1.518", " 2.397", " 0", " 90", " 0", " 70" ], [ "24", " Apple", " -2.782", " 0.897", " 2.221", " 0", " 90", " 0", " 70" ], [ "25", " Fork", " -0.462", " 0.695", " 1.215", " 0", " 90", " 0", " 48" ], [ "26", " Ladle", " -2.375", " 0.867", " 0.352", " 0", " 0", " 0", " 52" ], [ "27", " Pan", " -0.244", " 0.829", " 2.075", " 0", " 180", " 0", " 47" ], [ "28", " SoapBottle", " -0.477", " 0.821", " 0.658", " 0", " 0", " 0", " 52" ], [ "29", " Pot", " -0.531", " 0.822", " 2.096", " 0", " 0", " 0", " 49" ], [ "30", " Tomato", " -0.262", " 0.106", " 2.539", " 0", " 0", " 0", " 72" ], [ "31", " Potato", " -2.947", " 1.182", " 1.957", " 0", " 90", " 0", " 70" ], [ "32", " SaltShaker", " -0.817", " 0.818", " 0.500", " 0", " 0", " 0", " 52" ], [ "33", " Plate", " -2.586", " 0.813", " 0.309", " 0", " 0", " 0", " 52" ], [ "34", " Spatula", " -2.735", " 0.838", " 0.625", " 0", " 180", " 0", " 52" ], [ "35", " Knife", " -2.044", " 0.849", " 0.539", " 0", " 0", " 0", " 52" ], [ "36", " Egg", " -1.550", " 0.721", " 0.295", " 0", " 0", " 0", " 79" ], [ "37", " Cup", " -2.810", " 0.921", " 1.390", " 0", " 90", " 0", " 71" ], [ "38", " ButterKnife", " -0.400", " 0.823", " 0.770", " 0", " 0", " 0", " 52" ], [ "39", " Lettuce", " -2.726", " 1.227", " 2.133", " 0", " 90", " 0", " 70" ], [ "40", " PepperShaker", " -0.169", " 0.818", " 1.326", " 0", " 0", " 0", " 52" ], [ "41", " DishSponge", " -2.563", " 0.691", " 1.438", " 0", " 0", " 0", " 57" ], [ "42", " Bread", " -0.995", " 0.862", " 0.253", " 357.898", " 24.928", " 0", " 52" ], [ "43", " Spoon", " -1.049", " 0.699", " 0.444", " 0", " 270", " 0", " 56" ], [ "44", " Mug", " -2.840", " 0.818", " 0.426", " 0", " 0", " 0", " 52" ], [ "45", " Bowl", " -2.540", " 1.845", " 2.420", " 0", " 0", " 0", " 62" ], [ "46", " Cabinet", " -2.377", " 2.015", " 1.720", " 0", " 0", " 0", "" ], [ "47", " StoveBurner", " -0.244", " 0.820", " 2.075", " 0", " 180", " 0", "" ], [ "48", " Drawer", " -0.402", " 0.703", " 1.252", " 0", " 0", " 0", "" ], [ "49", " StoveBurner", " -0.518", " 0.820", " 2.075", " 0", " 180", " 0", "" ], [ "50", " Sink", " -1.838", " 0.726", " 0.343", " 0", " 180", " 0", "" ], [ "51", " StoveBurner", " -0.244", " 0.820", " 1.684", " 0", " 0", " 0", "" ], [ "52", " CounterTop", " -1.557", " 0.859", " 0.277", " 0", " 0", " 0", "" ], [ "53", " StoveBurner", " -0.518", " 0.820", " 1.684", " 0", " 0", " 0", "" ], [ "54", " Drawer", " -0.404", " 0.704", " 0.912", " 0", " 0", " 0", "" ], [ "55", " Drawer", " -0.861", " 0.709", " 0.420", " 0", " 0", " 0", "" ], [ "56", " Drawer", " -1.133", " 0.706", " 0.418", " 0", " 0", " 0", "" ], [ "57", " Drawer", " -2.589", " 0.703", " 1.511", " 0", " 0", " 0", "" ], [ "58", " Cabinet", " -2.772", " 1.803", " 0.508", " 0", " 0", " 0", "" ], [ "59", " Cabinet", " -2.460", " 1.803", " 0.231", " 0", " 0", " 0", "" ], [ "60", " Cabinet", " -2.781", " 1.798", " 0.825", " 0", " 0", " 0", "" ], [ "61", " Cabinet", " -2.781", " 1.798", " 0.815", " 0", " 0", " 0", "" ], [ "62", " Cabinet", " -2.377", " 2.009", " 2.581", " 0", " 0", " 0", "" ], [ "63", " Cabinet", " -2.442", " 0.385", " 1.672", " 0", " 0", " 0", "" ], [ "64", " Cabinet", " -2.238", " 0.385", " 0.564", " 0", " 0", " 0", "" ], [ "65", " Cabinet", " -1.286", " 0.385", " 0.564", " 0", " 0", " 0", "" ], [ "66", " Cabinet", " -1.262", " 0.385", " 0.565", " 0", " 0", " 0", "" ], [ "67", " Cabinet", " -0.734", " 0.385", " 0.565", " 0", " 0", " 0", "" ], [ "68", " Cabinet", " -0.549", " 0.385", " 0.751", " 0", " 0", " 0", "" ], [ "69", " Cabinet", " -0.549", " 0.385", " 1.412", " 0", " 0", " 0", "" ], [ "70", " Fridge", " -2.782", " 0.0", " 2.221", " 0", " 0", " 0", "" ], [ "71", " Microwave", " -2.794", " 0.812", " 1.348", " 0", " 90", " 0", "" ], [ "72", " GarbageCan", " -0.329", " 2.205", " 2.606", " 0", " 0", " 0", "" ], [ "73", " StoveKnob", " -0.069", " 0.998", " 1.773", " 0", " 180", " 107.470", "" ], [ "74", " StoveKnob", " -0.069", " 0.998", " 1.613", " 0", " 180", " 107.470", "" ], [ "75", " StoveKnob", " -0.069", " 0.998", " 2.171", " 0", " 180", " 107.470", "" ], [ "76", " StoveKnob", " -0.069", " 0.998", " 2.024", " 0", " 180", " 107.470", "" ], [ "77", " Window", " -1.720", " 1.342", " -0.208", " 90", " 0", " 0", "" ], [ "78", " Toaster", " -0.171", " 0.812", " 0.735", " 0", " 270", " 0", "" ], [ "79", " SinkBasin", " -1.745", " 0.687", " 0.295", " 0", " 0", " 0", "" ], [ "80", " CoffeeMachine", " -0.539", " 0.812", " 0.185", " 0", " 0", " 0", "" ], [ "81", " LightSwitch", " -0.615", " 1.378", " 3.0", " 0", " 180", " 0", "" ], [ "82", " Faucet", " -1.686", " 0.954", " 0.176", " 0", " 236.223", " 0", "" ], [ "83", " Stool", " -1.008", " 0.008", " 1.955", " 0", " 18.279", " 0", "" ], [ "84", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "85", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "86", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "87", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.25 0.900 2.75 0 270 0 1 Potato -2.658 0.862 0.707 0 0 0 52 2 DishSponge -2.504 0.823 0.953 0 0 0 52 3 ButterKnife -0.496 0.695 1.252 0 90 0 48 4 ButterKnife -1.207 0.823 0.518 0 0 0 52 5 Fork -0.292 0.695 1.215 0 90 0 48 6 Spoon -2.258 0.824 0.129 0 0 0 52 7 Spoon -0.400 0.824 0.770 0 0 0 52 8 Egg -0.329 0.080 2.708 0 0 0 72 9 Egg -0.362 0.080 2.640 0 0 0 72 10 Cup -2.892 0.825 1.957 0 90 0 70 11 Plate -2.115 0.130 0.362 0 0 0 64 12 Plate -2.648 0.126 1.471 0 0 0 63 13 Knife -0.816 0.818 0.325 271.519 39.219 139.37 52 14 Tomato -2.837 0.874 2.397 0 90 0 70 15 SoapBottle -2.491 0.821 0.129 0 0 0 52 16 SoapBottle -2.504 0.821 0.625 0 0 0 52 17 Bowl -2.540 1.845 1.875 0 0 0 46 18 Bowl -2.784 1.431 0.293 0 45 0 58 19 SaltShaker -1.522 0.120 0.518 0 180 0 65 20 SaltShaker -2.840 0.818 0.129 0 0 0 52 21 Mug -0.646 0.888 0.367 0 0 0 80 22 Apple -0.395 0.129 2.539 0 90 0 72 23 Apple -2.671 1.518 2.397 0 90 0 70 24 Apple -2.782 0.897 2.221 0 90 0 70 25 Fork -0.462 0.695 1.215 0 90 0 48 26 Ladle -2.375 0.867 0.352 0 0 0 52 27 Pan -0.244 0.829 2.075 0 180 0 47 28 SoapBottle -0.477 0.821 0.658 0 0 0 52 29 Pot -0.531 0.822 2.096 0 0 0 49 30 Tomato -0.262 0.106 2.539 0 0 0 72 31 Potato -2.947 1.182 1.957 0 90 0 70 32 SaltShaker -0.817 0.818 0.500 0 0 0 52 33 Plate -2.586 0.813 0.309 0 0 0 52 34 Spatula -2.735 0.838 0.625 0 180 0 52 35 Knife -2.044 0.849 0.539 0 0 0 52 36 Egg -1.550 0.721 0.295 0 0 0 79 37 Cup -2.810 0.921 1.390 0 90 0 71 38 ButterKnife -0.400 0.823 0.770 0 0 0 52 39 Lettuce -2.726 1.227 2.133 0 90 0 70 40 PepperShaker -0.169 0.818 1.326 0 0 0 52 41 DishSponge -2.563 0.691 1.438 0 0 0 57 42 Bread -0.995 0.862 0.253 357.898 24.928 0 52 43 Spoon -1.049 0.699 0.444 0 270 0 56 44 Mug -2.840 0.818 0.426 0 0 0 52 45 Bowl -2.540 1.845 2.420 0 0 0 62 46 Cabinet -2.377 2.015 1.720 0 0 0 47 StoveBurner -0.244 0.820 2.075 0 180 0 48 Drawer -0.402 0.703 1.252 0 0 0 49 StoveBurner -0.518 0.820 2.075 0 180 0 50 Sink -1.838 0.726 0.343 0 180 0 51 StoveBurner -0.244 0.820 1.684 0 0 0 52 CounterTop -1.557 0.859 0.277 0 0 0 53 StoveBurner -0.518 0.820 1.684 0 0 0 54 Drawer -0.404 0.704 0.912 0 0 0 55 Drawer -0.861 0.709 0.420 0 0 0 56 Drawer -1.133 0.706 0.418 0 0 0 57 Drawer -2.589 0.703 1.511 0 0 0 58 Cabinet -2.772 1.803 0.508 0 0 0 59 Cabinet -2.460 1.803 0.231 0 0 0 60 Cabinet -2.781 1.798 0.825 0 0 0 61 Cabinet -2.781 1.798 0.815 0 0 0 62 Cabinet -2.377 2.009 2.581 0 0 0 63 Cabinet -2.442 0.385 1.672 0 0 0 64 Cabinet -2.238 0.385 0.564 0 0 0 65 Cabinet -1.286 0.385 0.564 0 0 0 66 Cabinet -1.262 0.385 0.565 0 0 0 67 Cabinet -0.734 0.385 0.565 0 0 0 68 Cabinet -0.549 0.385 0.751 0 0 0 69 Cabinet -0.549 0.385 1.412 0 0 0 70 Fridge -2.782 0.0 2.221 0 0 0 71 Microwave -2.794 0.812 1.348 0 90 0 72 GarbageCan -0.329 2.205 2.606 0 0 0 73 StoveKnob -0.069 0.998 1.773 0 180 107.470 74 StoveKnob -0.069 0.998 1.613 0 180 107.470 75 StoveKnob -0.069 0.998 2.171 0 180 107.470 76 StoveKnob -0.069 0.998 2.024 0 180 107.470 77 Window -1.720 1.342 -0.208 90 0 0 78 Toaster -0.171 0.812 0.735 0 270 0 79 SinkBasin -1.745 0.687 0.295 0 0 0 80 CoffeeMachine -0.539 0.812 0.185 0 0 0 81 LightSwitch -0.615 1.378 3.0 0 180 0 82 Faucet -1.686 0.954 0.176 0 236.223 0 83 Stool -1.008 0.008 1.955 0 18.279 0 84 NorthWall 85 EastWall 86 SouthWall 87 WestWall
[ "STEP 1: Turn to your left and walk to the sink. | STEP 2: Pick up the butter knife to the front, left of the sink, on the counter. | STEP 3: Move over to your right so that you are in front of the counter to the right of the sink. | STEP 4: Place the knife on the pan that is on the counter, with the ladle. | STEP 5: Pick up the pan with the knife and ladle. | STEP 6: Move over to your left so that you are in front of the large sink, on the right. | STEP 7: Place the pan with the knife and ladle, in the large sink on the right. | END" ]
[ [ "STEP 1: Turn to your left and walk to the sink. ", " STEP 2: Pick up the butter knife to the front, left of the sink, on the counter. ", " STEP 3: Move over to your right so that you are in front of the counter to the right of the sink. ", " STEP 4: Place the knife on the pan that is on the counter, with the ladle. ", " STEP 5: Pick up the pan with the knife and ladle. ", " STEP 6: Move over to your left so that you are in front of the large sink, on the right. ", " STEP 7: Place the pan with the knife and ladle, in the large sink on the right. ", " END" ] ]
seen
trial_T20190908_012346_002439-2
Place the plate along with the knife and scoop in the right sink.
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-2.115", " 0.130", " 0.362", " 0", " 0", " 0", " 64" ], [ "12", " Plate", " -2.648", " 0.126", " 1.471", " 0", " 0", " 0", " 63" ], [ "13", " Knife", " -0.816", " 0.818", " 0.325", " 271.519", " 39.219", " 139.37", " 52" ], [ "14", " Tomato", " -2.837", " 0.874", " 2.397", " 0", " 90", " 0", " 70" ], [ "15", " SoapBottle", " -2.491", " 0.821", " 0.129", " 0", " 0", " 0", " 52" ], [ "16", " SoapBottle", " -2.504", " 0.821", " 0.625", " 0", " 0", " 0", " 52" ], [ "17", " Bowl", " -2.540", " 1.845", " 1.875", " 0", " 0", " 0", " 46" ], [ "18", " Bowl", " -2.784", " 1.431", " 0.293", " 0", " 45", " 0", " 58" ], [ "19", " SaltShaker", " -1.522", " 0.120", " 0.518", " 0", " 180", " 0", " 65" ], [ "20", " SaltShaker", " -2.840", " 0.818", " 0.129", " 0", " 0", " 0", " 52" ], [ "21", " Mug", " -0.646", " 0.888", " 0.367", " 0", " 0", " 0", " 80" ], [ "22", " Apple", " -0.395", " 0.129", " 2.539", " 0", " 90", " 0", " 72" ], [ "23", " Apple", " -2.671", " 1.518", " 2.397", " 0", " 90", " 0", " 70" ], [ "24", " Apple", " -2.782", " 0.897", " 2.221", " 0", " 90", " 0", " 70" ], [ "25", " Fork", " -0.462", " 0.695", " 1.215", " 0", " 90", " 0", " 48" ], [ "26", " Ladle", " -2.375", " 0.867", " 0.352", " 0", " 0", " 0", " 52" ], [ "27", " Pan", " -0.244", " 0.829", " 2.075", " 0", " 180", " 0", " 47" ], [ "28", " SoapBottle", " -0.477", " 0.821", " 0.658", " 0", " 0", " 0", " 52" ], [ "29", " Pot", " -0.531", " 0.822", " 2.096", " 0", " 0", " 0", " 49" ], [ "30", " Tomato", " -0.262", " 0.106", " 2.539", " 0", " 0", " 0", " 72" ], [ "31", " Potato", " -2.947", " 1.182", " 1.957", " 0", " 90", " 0", " 70" ], [ "32", " SaltShaker", " -0.817", " 0.818", " 0.500", " 0", " 0", " 0", " 52" ], [ "33", " Plate", " -2.586", " 0.813", " 0.309", " 0", " 0", " 0", " 52" ], [ "34", " Spatula", " -2.735", " 0.838", " 0.625", " 0", " 180", " 0", " 52" ], [ "35", " Knife", " -2.044", " 0.849", " 0.539", " 0", " 0", " 0", " 52" ], [ "36", " Egg", " -1.550", " 0.721", " 0.295", " 0", " 0", " 0", " 79" ], [ "37", " Cup", " -2.810", " 0.921", " 1.390", " 0", " 90", " 0", " 71" ], [ "38", " ButterKnife", " -0.400", " 0.823", " 0.770", " 0", " 0", " 0", " 52" ], [ "39", " Lettuce", " -2.726", " 1.227", " 2.133", " 0", " 90", " 0", " 70" ], [ "40", " PepperShaker", " -0.169", " 0.818", " 1.326", " 0", " 0", " 0", " 52" ], [ "41", " DishSponge", " -2.563", " 0.691", " 1.438", " 0", " 0", " 0", " 57" ], [ "42", " Bread", " -0.995", " 0.862", " 0.253", " 357.898", " 24.928", " 0", " 52" ], [ "43", " Spoon", " -1.049", " 0.699", " 0.444", " 0", " 270", " 0", " 56" ], [ "44", " Mug", " -2.840", " 0.818", " 0.426", " 0", " 0", " 0", " 52" ], [ "45", " Bowl", " -2.540", " 1.845", " 2.420", " 0", " 0", " 0", " 62" ], [ "46", " Cabinet", " -2.377", " 2.015", " 1.720", " 0", " 0", " 0", "" ], [ "47", " StoveBurner", " -0.244", " 0.820", " 2.075", " 0", " 180", " 0", "" ], [ "48", " Drawer", " -0.402", " 0.703", " 1.252", " 0", " 0", " 0", "" ], [ "49", " StoveBurner", " -0.518", " 0.820", " 2.075", " 0", " 180", " 0", "" ], [ "50", " Sink", " -1.838", " 0.726", " 0.343", " 0", " 180", " 0", "" ], [ "51", " StoveBurner", " -0.244", " 0.820", " 1.684", " 0", " 0", " 0", "" ], [ "52", " CounterTop", " -1.557", " 0.859", " 0.277", " 0", " 0", " 0", "" ], [ "53", " StoveBurner", " -0.518", " 0.820", " 1.684", " 0", " 0", " 0", "" ], [ "54", " Drawer", " -0.404", " 0.704", " 0.912", " 0", " 0", " 0", "" ], [ "55", " Drawer", " -0.861", " 0.709", " 0.420", " 0", " 0", " 0", "" ], [ "56", " Drawer", " -1.133", " 0.706", " 0.418", " 0", " 0", " 0", "" ], [ "57", " Drawer", " -2.589", " 0.703", " 1.511", " 0", " 0", " 0", "" ], [ "58", " Cabinet", " -2.772", " 1.803", " 0.508", " 0", " 0", " 0", "" ], [ "59", " Cabinet", " -2.460", " 1.803", " 0.231", " 0", " 0", " 0", "" ], [ "60", " Cabinet", " -2.781", " 1.798", " 0.825", " 0", " 0", " 0", "" ], [ "61", " Cabinet", " -2.781", " 1.798", " 0.815", " 0", " 0", " 0", "" ], [ "62", " Cabinet", " -2.377", " 2.009", " 2.581", " 0", " 0", " 0", "" ], [ "63", " Cabinet", " -2.442", " 0.385", " 1.672", " 0", " 0", " 0", "" ], [ "64", " Cabinet", " -2.238", " 0.385", " 0.564", " 0", " 0", " 0", "" ], [ "65", " Cabinet", " -1.286", " 0.385", " 0.564", " 0", " 0", " 0", "" ], [ "66", " Cabinet", " -1.262", " 0.385", " 0.565", " 0", " 0", " 0", "" ], [ "67", " Cabinet", " -0.734", " 0.385", " 0.565", " 0", " 0", " 0", "" ], [ "68", " Cabinet", " -0.549", " 0.385", " 0.751", " 0", " 0", " 0", "" ], [ "69", " Cabinet", " -0.549", " 0.385", " 1.412", " 0", " 0", " 0", "" ], [ "70", " Fridge", " -2.782", " 0.0", " 2.221", " 0", " 0", " 0", "" ], [ "71", " Microwave", " -2.794", " 0.812", " 1.348", " 0", " 90", " 0", "" ], [ "72", " GarbageCan", " -0.329", " 2.205", " 2.606", " 0", " 0", " 0", "" ], [ "73", " StoveKnob", " -0.069", " 0.998", " 1.773", " 0", " 180", " 107.470", "" ], [ "74", " StoveKnob", " -0.069", " 0.998", " 1.613", " 0", " 180", " 107.470", "" ], [ "75", " StoveKnob", " -0.069", " 0.998", " 2.171", " 0", " 180", " 107.470", "" ], [ "76", " StoveKnob", " -0.069", " 0.998", " 2.024", " 0", " 180", " 107.470", "" ], [ "77", " Window", " -1.720", " 1.342", " -0.208", " 90", " 0", " 0", "" ], [ "78", " Toaster", " -0.171", " 0.812", " 0.735", " 0", " 270", " 0", "" ], [ "79", " SinkBasin", " -1.745", " 0.687", " 0.295", " 0", " 0", " 0", "" ], [ "80", " CoffeeMachine", " -0.539", " 0.812", " 0.185", " 0", " 0", " 0", "" ], [ "81", " LightSwitch", " -0.615", " 1.378", " 3.0", " 0", " 180", " 0", "" ], [ "82", " Faucet", " -1.686", " 0.954", " 0.176", " 0", " 236.223", " 0", "" ], [ "83", " Stool", " -1.008", " 0.008", " 1.955", " 0", " 18.279", " 0", "" ], [ "84", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "85", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "86", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "87", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.25 0.900 2.75 0 270 0 1 Potato -2.658 0.862 0.707 0 0 0 52 2 DishSponge -2.504 0.823 0.953 0 0 0 52 3 ButterKnife -0.496 0.695 1.252 0 90 0 48 4 ButterKnife -1.207 0.823 0.518 0 0 0 52 5 Fork -0.292 0.695 1.215 0 90 0 48 6 Spoon -2.258 0.824 0.129 0 0 0 52 7 Spoon -0.400 0.824 0.770 0 0 0 52 8 Egg -0.329 0.080 2.708 0 0 0 72 9 Egg -0.362 0.080 2.640 0 0 0 72 10 Cup -2.892 0.825 1.957 0 90 0 70 11 Plate -2.115 0.130 0.362 0 0 0 64 12 Plate -2.648 0.126 1.471 0 0 0 63 13 Knife -0.816 0.818 0.325 271.519 39.219 139.37 52 14 Tomato -2.837 0.874 2.397 0 90 0 70 15 SoapBottle -2.491 0.821 0.129 0 0 0 52 16 SoapBottle -2.504 0.821 0.625 0 0 0 52 17 Bowl -2.540 1.845 1.875 0 0 0 46 18 Bowl -2.784 1.431 0.293 0 45 0 58 19 SaltShaker -1.522 0.120 0.518 0 180 0 65 20 SaltShaker -2.840 0.818 0.129 0 0 0 52 21 Mug -0.646 0.888 0.367 0 0 0 80 22 Apple -0.395 0.129 2.539 0 90 0 72 23 Apple -2.671 1.518 2.397 0 90 0 70 24 Apple -2.782 0.897 2.221 0 90 0 70 25 Fork -0.462 0.695 1.215 0 90 0 48 26 Ladle -2.375 0.867 0.352 0 0 0 52 27 Pan -0.244 0.829 2.075 0 180 0 47 28 SoapBottle -0.477 0.821 0.658 0 0 0 52 29 Pot -0.531 0.822 2.096 0 0 0 49 30 Tomato -0.262 0.106 2.539 0 0 0 72 31 Potato -2.947 1.182 1.957 0 90 0 70 32 SaltShaker -0.817 0.818 0.500 0 0 0 52 33 Plate -2.586 0.813 0.309 0 0 0 52 34 Spatula -2.735 0.838 0.625 0 180 0 52 35 Knife -2.044 0.849 0.539 0 0 0 52 36 Egg -1.550 0.721 0.295 0 0 0 79 37 Cup -2.810 0.921 1.390 0 90 0 71 38 ButterKnife -0.400 0.823 0.770 0 0 0 52 39 Lettuce -2.726 1.227 2.133 0 90 0 70 40 PepperShaker -0.169 0.818 1.326 0 0 0 52 41 DishSponge -2.563 0.691 1.438 0 0 0 57 42 Bread -0.995 0.862 0.253 357.898 24.928 0 52 43 Spoon -1.049 0.699 0.444 0 270 0 56 44 Mug -2.840 0.818 0.426 0 0 0 52 45 Bowl -2.540 1.845 2.420 0 0 0 62 46 Cabinet -2.377 2.015 1.720 0 0 0 47 StoveBurner -0.244 0.820 2.075 0 180 0 48 Drawer -0.402 0.703 1.252 0 0 0 49 StoveBurner -0.518 0.820 2.075 0 180 0 50 Sink -1.838 0.726 0.343 0 180 0 51 StoveBurner -0.244 0.820 1.684 0 0 0 52 CounterTop -1.557 0.859 0.277 0 0 0 53 StoveBurner -0.518 0.820 1.684 0 0 0 54 Drawer -0.404 0.704 0.912 0 0 0 55 Drawer -0.861 0.709 0.420 0 0 0 56 Drawer -1.133 0.706 0.418 0 0 0 57 Drawer -2.589 0.703 1.511 0 0 0 58 Cabinet -2.772 1.803 0.508 0 0 0 59 Cabinet -2.460 1.803 0.231 0 0 0 60 Cabinet -2.781 1.798 0.825 0 0 0 61 Cabinet -2.781 1.798 0.815 0 0 0 62 Cabinet -2.377 2.009 2.581 0 0 0 63 Cabinet -2.442 0.385 1.672 0 0 0 64 Cabinet -2.238 0.385 0.564 0 0 0 65 Cabinet -1.286 0.385 0.564 0 0 0 66 Cabinet -1.262 0.385 0.565 0 0 0 67 Cabinet -0.734 0.385 0.565 0 0 0 68 Cabinet -0.549 0.385 0.751 0 0 0 69 Cabinet -0.549 0.385 1.412 0 0 0 70 Fridge -2.782 0.0 2.221 0 0 0 71 Microwave -2.794 0.812 1.348 0 90 0 72 GarbageCan -0.329 2.205 2.606 0 0 0 73 StoveKnob -0.069 0.998 1.773 0 180 107.470 74 StoveKnob -0.069 0.998 1.613 0 180 107.470 75 StoveKnob -0.069 0.998 2.171 0 180 107.470 76 StoveKnob -0.069 0.998 2.024 0 180 107.470 77 Window -1.720 1.342 -0.208 90 0 0 78 Toaster -0.171 0.812 0.735 0 270 0 79 SinkBasin -1.745 0.687 0.295 0 0 0 80 CoffeeMachine -0.539 0.812 0.185 0 0 0 81 LightSwitch -0.615 1.378 3.0 0 180 0 82 Faucet -1.686 0.954 0.176 0 236.223 0 83 Stool -1.008 0.008 1.955 0 18.279 0 84 NorthWall 85 EastWall 86 SouthWall 87 WestWall
[ "STEP 1: Turn left and head towards the sink. | STEP 2: Pick up the knife to the left of the sink. | STEP 3: Take a step to the right from where you are at. | STEP 4: Place the knife on the gold plate with the gold scoop. | STEP 5: Pick up the plate along with the knife and scoop. | STEP 6: Take a step to the left from where you are at. | STEP 7: Place the plate along with the knife and scoop in the right sink. | END" ]
[ [ "STEP 1: Turn left and head towards the sink. ", " STEP 2: Pick up the knife to the left of the sink. ", " STEP 3: Take a step to the right from where you are at. ", " STEP 4: Place the knife on the gold plate with the gold scoop. ", " STEP 5: Pick up the plate along with the knife and scoop. ", " STEP 6: Take a step to the left from where you are at. ", " STEP 7: Place the plate along with the knife and scoop in the right sink. ", " END" ] ]
seen
trial_T20190909_002323_289327-0
Put a bowl with a pencil in it on 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 1.25 0.910 5.0 0 90 0 1 Mug -0.749 0.911 3.799 0 0 0 30 2 Bowl 2.367 0.809 2.613 0 0 0 41 3 CD -1.038 0.399 -1.314 0 90 0 39 4 Pencil 2.680 0.811 2.613 0 0 0 41 5 CreditCard -1.307 0.399 -0.879 0 90 0 39 6 CreditCard 2.364 0.399 -0.507 0 270 0 45 7 KeyChain 2.660 0.459 0.428 0 0 0 44 8 KeyChain 2.770 0.843 0.755 0 180 0 42 9 Book 2.533 0.096 0.624 0 0 0 43 10 Book 0.123 0.713 1.973 0 0 0 27 11 RemoteControl 2.576 0.808 3.715 0 0 0 41 12 Laptop -0.116 0.712 1.690 0 0 0 27 13 Book 0.123 0.713 2.256 0 0 0 27 14 AlarmClock 2.367 0.816 3.715 0 0 0 41 15 CellPhone -1.312 0.714 2.822 0 0 0 27 16 Bowl 2.471 0.809 3.494 0 90 0 41 17 CreditCard -0.684 0.913 4.166 0 0 0 30 18 KeyChain 2.758 0.746 -1.570 0 90 0 38 19 RemoteControl 2.364 0.401 -0.768 0 270 0 45 20 Laptop -0.946 0.911 4.717 0 0 0 30 21 Pencil -0.946 0.916 4.166 0 0 0 30 22 Pillow -0.959 0.752 2.977 0 0 0 27 23 Pillow -1.312 0.785 1.690 0 0 0 27 24 CD 2.185 0.399 -0.681 0 270 0 45 25 Pen 2.383 0.806 2.797 0 0 0 41 26 Mug 2.471 0.805 3.053 0 0 0 41 27 Bed -0.594 0.009 2.298 0 0 0 28 Mirror -1.184 1.603 4.348 0 0 0 29 Television 2.738 1.330 0.622 0 270 0 30 CounterTop -0.890 0.951 4.349 0 0 0 31 LightSwitch 0.800 1.371 5.245 0 90 0 32 Painting 2.992 1.529 3.415 90 270 0 33 Painting 2.992 1.529 2.553 90 270 0 34 DeskLamp 2.625 0.772 -1.469 0 0 0 35 DeskLamp 2.668 0.810 3.082 0 358.947 0 36 GarbageCan -0.626 -0.009 3.742 0 0 0 37 Window -0.453 1.450 -2.058 90 180 0 38 SideTable 2.565 0.009 -1.534 0 0 0 39 ArmChair -1.277 0.009 -1.169 0 90 0 40 Blinds -0.5 2.174 -1.957 0 0 0 41 Desk 2.572 0.011 3.054 0 270 0 42 SideTable 2.645 0.009 0.624 0 270 0 43 Drawer 2.525 0.214 0.624 0 270 0 44 Drawer 2.525 0.578 0.624 0 270 0 45 ArmChair 2.424 0.009 -0.564 0 270 0 46 LaundryHamper 3.457 0.009 4.555 0 270 0 47 Chair 2.591 0.020 2.015 0 0 0 48 Chair 2.184 0.020 3.440 0 120.016 0 49 Chair 2.211 0.020 2.592 0 74.981 0 50 NorthWall 51 EastWall 52 SouthWall 53 WestWall
[ "STEP 1: Turn right, go forward, turn left at the end of the black table on the left. Go to the table. | STEP 2: Take the pencil from behind the bowl on the table. | STEP 3: Stay at the table. | STEP 4: Put the pencil in the bowl on the table. | STEP 5: Take the bowl from the table. | STEP 6: Turn right, go forward, turn left at the dresser with the TV. | STEP 7: Put the bowl on let side of the dresser with the TV. | END" ]
[ [ "STEP 1: Turn right, go forward, turn left at the end of the black table on the left. Go to the table. ", " STEP 2: Take the pencil from behind the bowl on the table. ", " STEP 3: Stay at the table. ", " STEP 4: Put the pencil in the bowl on the table. ", " STEP 5: Take the bowl from the table. ", " STEP 6: Turn right, go forward, turn left at the dresser with the TV. ", " STEP 7: Put the bowl on let side of the dresser with the TV. ", " END" ] ]
seen
trial_T20190909_002323_289327-1
put bowl and pencil on tv stand
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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 0.910 5.0 0 90 0 1 Mug -0.749 0.911 3.799 0 0 0 30 2 Bowl 2.367 0.809 2.613 0 0 0 41 3 CD -1.038 0.399 -1.314 0 90 0 39 4 Pencil 2.680 0.811 2.613 0 0 0 41 5 CreditCard -1.307 0.399 -0.879 0 90 0 39 6 CreditCard 2.364 0.399 -0.507 0 270 0 45 7 KeyChain 2.660 0.459 0.428 0 0 0 44 8 KeyChain 2.770 0.843 0.755 0 180 0 42 9 Book 2.533 0.096 0.624 0 0 0 43 10 Book 0.123 0.713 1.973 0 0 0 27 11 RemoteControl 2.576 0.808 3.715 0 0 0 41 12 Laptop -0.116 0.712 1.690 0 0 0 27 13 Book 0.123 0.713 2.256 0 0 0 27 14 AlarmClock 2.367 0.816 3.715 0 0 0 41 15 CellPhone -1.312 0.714 2.822 0 0 0 27 16 Bowl 2.471 0.809 3.494 0 90 0 41 17 CreditCard -0.684 0.913 4.166 0 0 0 30 18 KeyChain 2.758 0.746 -1.570 0 90 0 38 19 RemoteControl 2.364 0.401 -0.768 0 270 0 45 20 Laptop -0.946 0.911 4.717 0 0 0 30 21 Pencil -0.946 0.916 4.166 0 0 0 30 22 Pillow -0.959 0.752 2.977 0 0 0 27 23 Pillow -1.312 0.785 1.690 0 0 0 27 24 CD 2.185 0.399 -0.681 0 270 0 45 25 Pen 2.383 0.806 2.797 0 0 0 41 26 Mug 2.471 0.805 3.053 0 0 0 41 27 Bed -0.594 0.009 2.298 0 0 0 28 Mirror -1.184 1.603 4.348 0 0 0 29 Television 2.738 1.330 0.622 0 270 0 30 CounterTop -0.890 0.951 4.349 0 0 0 31 LightSwitch 0.800 1.371 5.245 0 90 0 32 Painting 2.992 1.529 3.415 90 270 0 33 Painting 2.992 1.529 2.553 90 270 0 34 DeskLamp 2.625 0.772 -1.469 0 0 0 35 DeskLamp 2.668 0.810 3.082 0 358.947 0 36 GarbageCan -0.626 -0.009 3.742 0 0 0 37 Window -0.453 1.450 -2.058 90 180 0 38 SideTable 2.565 0.009 -1.534 0 0 0 39 ArmChair -1.277 0.009 -1.169 0 90 0 40 Blinds -0.5 2.174 -1.957 0 0 0 41 Desk 2.572 0.011 3.054 0 270 0 42 SideTable 2.645 0.009 0.624 0 270 0 43 Drawer 2.525 0.214 0.624 0 270 0 44 Drawer 2.525 0.578 0.624 0 270 0 45 ArmChair 2.424 0.009 -0.564 0 270 0 46 LaundryHamper 3.457 0.009 4.555 0 270 0 47 Chair 2.591 0.020 2.015 0 0 0 48 Chair 2.184 0.020 3.440 0 120.016 0 49 Chair 2.211 0.020 2.592 0 74.981 0 50 NorthWall 51 EastWall 52 SouthWall 53 WestWall
[ "STEP 1: walk to face table | STEP 2: pick up green pencil from table | STEP 3: stand back from table | STEP 4: put green pencil into glass bowl on table | STEP 5: pick up bowl from table | STEP 6: move right to face tv and tv stand | STEP 7: put bowl on tv stand | END" ]
[ [ "STEP 1: walk to face table ", " STEP 2: pick up green pencil from table ", " STEP 3: stand back from table ", " STEP 4: put green pencil into glass bowl on table ", " STEP 5: pick up bowl from table ", " STEP 6: move right to face tv and tv stand ", " STEP 7: put bowl on tv stand ", " END" ] ]
seen
trial_T20190909_002323_289327-2
Move a bowl and pencil 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 1.25 0.910 5.0 0 90 0 1 Mug -0.749 0.911 3.799 0 0 0 30 2 Bowl 2.367 0.809 2.613 0 0 0 41 3 CD -1.038 0.399 -1.314 0 90 0 39 4 Pencil 2.680 0.811 2.613 0 0 0 41 5 CreditCard -1.307 0.399 -0.879 0 90 0 39 6 CreditCard 2.364 0.399 -0.507 0 270 0 45 7 KeyChain 2.660 0.459 0.428 0 0 0 44 8 KeyChain 2.770 0.843 0.755 0 180 0 42 9 Book 2.533 0.096 0.624 0 0 0 43 10 Book 0.123 0.713 1.973 0 0 0 27 11 RemoteControl 2.576 0.808 3.715 0 0 0 41 12 Laptop -0.116 0.712 1.690 0 0 0 27 13 Book 0.123 0.713 2.256 0 0 0 27 14 AlarmClock 2.367 0.816 3.715 0 0 0 41 15 CellPhone -1.312 0.714 2.822 0 0 0 27 16 Bowl 2.471 0.809 3.494 0 90 0 41 17 CreditCard -0.684 0.913 4.166 0 0 0 30 18 KeyChain 2.758 0.746 -1.570 0 90 0 38 19 RemoteControl 2.364 0.401 -0.768 0 270 0 45 20 Laptop -0.946 0.911 4.717 0 0 0 30 21 Pencil -0.946 0.916 4.166 0 0 0 30 22 Pillow -0.959 0.752 2.977 0 0 0 27 23 Pillow -1.312 0.785 1.690 0 0 0 27 24 CD 2.185 0.399 -0.681 0 270 0 45 25 Pen 2.383 0.806 2.797 0 0 0 41 26 Mug 2.471 0.805 3.053 0 0 0 41 27 Bed -0.594 0.009 2.298 0 0 0 28 Mirror -1.184 1.603 4.348 0 0 0 29 Television 2.738 1.330 0.622 0 270 0 30 CounterTop -0.890 0.951 4.349 0 0 0 31 LightSwitch 0.800 1.371 5.245 0 90 0 32 Painting 2.992 1.529 3.415 90 270 0 33 Painting 2.992 1.529 2.553 90 270 0 34 DeskLamp 2.625 0.772 -1.469 0 0 0 35 DeskLamp 2.668 0.810 3.082 0 358.947 0 36 GarbageCan -0.626 -0.009 3.742 0 0 0 37 Window -0.453 1.450 -2.058 90 180 0 38 SideTable 2.565 0.009 -1.534 0 0 0 39 ArmChair -1.277 0.009 -1.169 0 90 0 40 Blinds -0.5 2.174 -1.957 0 0 0 41 Desk 2.572 0.011 3.054 0 270 0 42 SideTable 2.645 0.009 0.624 0 270 0 43 Drawer 2.525 0.214 0.624 0 270 0 44 Drawer 2.525 0.578 0.624 0 270 0 45 ArmChair 2.424 0.009 -0.564 0 270 0 46 LaundryHamper 3.457 0.009 4.555 0 270 0 47 Chair 2.591 0.020 2.015 0 0 0 48 Chair 2.184 0.020 3.440 0 120.016 0 49 Chair 2.211 0.020 2.592 0 74.981 0 50 NorthWall 51 EastWall 52 SouthWall 53 WestWall
[ "STEP 1: Turn right and then turn left to face the far side of the dark table. | STEP 2: Pick up the pencil from the back of the table. | STEP 3: Hold the pencil while looking at the table. | STEP 4: Place the pencil in the clear bowl on the right side of the table. | STEP 5: Pick up the bowl from the table. | STEP 6: Carry the bowl to the right and face the TV on the left. | STEP 7: Place the bowl on left side of the dresser that the TV is on. | END" ]
[ [ "STEP 1: Turn right and then turn left to face the far side of the dark table. ", " STEP 2: Pick up the pencil from the back of the table. ", " STEP 3: Hold the pencil while looking at the table. ", " STEP 4: Place the pencil in the clear bowl on the right side of the table. ", " STEP 5: Pick up the bowl from the table. ", " STEP 6: Carry the bowl to the right and face the TV on the left. ", " STEP 7: Place the bowl on left side of the dresser that the TV is on. ", " END" ] ]
seen
trial_T20190907_044150_484638-0
Move the newspaper to the chair by the window.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 0.75 0.900 0.5 0 180 0 1 Newspaper 1.919 0.877 1.704 0 0 0 26 2 Statue 0.522 0.417 1.466 0 0 0 31 3 KeyChain 0.114 0.367 0.130 0 0 0 38 4 CreditCard 3.130 0.602 1.449 0 0 0 30 5 CreditCard 0.366 0.241 -0.249 0 0 0 32 6 Box 2.814 0.647 0.247 0 90 0 24 7 Laptop 0.228 0.358 -0.306 0 349.282 0 38 8 CreditCard 2.890 0.455 0.447 0 0 0 24 9 Newspaper 2.957 0.610 1.627 0 0 0 30 10 RemoteControl 2.661 0.457 0.647 0 0 0 24 11 Pillow -0.875 0.575 -0.798 0 267.956 341.124 28 12 KeyChain -0.050 0.487 -1.656 0 90 0 27 13 Watch 0.087 0.240 -0.165 0 180 0 33 14 Statue -0.626 0.610 -1.601 0 0 0 29 15 Curtains 1.199 0.0 -2.440 0 0 0 16 HousePlant 1.919 1.717 -2.187 0 315 0 17 FloorLamp -1.160 -0.003 1.040 0 0 0 18 LightSwitch -1.006 1.286 1.950 0 180 0 19 Television 0.858 0.884 1.731 0 180 0 20 Painting 3.414 1.708 -0.156 90 270 0 21 Painting -1.449 1.787 -0.342 90 270 0 22 GarbageCan 1.296 9.894 -2.187 0 0 0 23 Window 0.653 1.550 -2.470 90 180 0 24 Sofa 2.868 -0.002 0.248 0 270 0 25 Drawer 1.996 0.779 1.705 0 180 0 26 SideTable 1.995 0.004 1.746 0 180 0 27 ArmChair 0.224 -0.010 -1.724 0 0 0 28 Sofa -1.007 0.006 -0.207 1.149 90 0 29 SideTable -0.683 0.004 -1.600 0 0 0 30 SideTable 2.956 0.004 1.568 0 0 0 31 TVStand 0.838 -0.006 1.582 0 0 0 32 Drawer 0.472 0.271 -0.165 0 270 0 33 Drawer -0.018 0.272 -0.165 0 270 0 34 Drawer -0.018 0.168 -0.165 0 270 0 35 Drawer -0.018 0.064 -0.165 0 270 0 36 Drawer 0.472 0.063 -0.165 0 270 0 37 Drawer 0.472 0.167 -0.165 0 270 0 38 CoffeeTable 0.226 -0.003 -0.164 0 270 0 39 NorthWall 40 EastWall 41 SouthWall 42 WestWall
[ "STEP 1: Go to the small table by the television. | STEP 2: Pick up the newspaper on the table. | STEP 3: Turn and go to the chair by the window. | STEP 4: Put the newspaper on the chair. | STEP 5: Turn and go to the small table by the couch. | STEP 6: Pick up the newspaper on the table. | STEP 7: Turn and go to the chair by the window. | STEP 8: Put the newspaper on the chair. | END" ]
[ [ "STEP 1: Go to the small table by the television. ", " STEP 2: Pick up the newspaper on the table. ", " STEP 3: Turn and go to the chair by the window. ", " STEP 4: Put the newspaper on the chair. ", " STEP 5: Turn and go to the small table by the couch. ", " STEP 6: Pick up the newspaper on the table. ", " STEP 7: Turn and go to the chair by the window. ", " STEP 8: Put the newspaper on the chair. ", " END" ] ]
seen
trial_T20190907_044150_484638-1
Put two newspapers on the arm chair in front of the window.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 0.75 0.900 0.5 0 180 0 1 Newspaper 1.919 0.877 1.704 0 0 0 26 2 Statue 0.522 0.417 1.466 0 0 0 31 3 KeyChain 0.114 0.367 0.130 0 0 0 38 4 CreditCard 3.130 0.602 1.449 0 0 0 30 5 CreditCard 0.366 0.241 -0.249 0 0 0 32 6 Box 2.814 0.647 0.247 0 90 0 24 7 Laptop 0.228 0.358 -0.306 0 349.282 0 38 8 CreditCard 2.890 0.455 0.447 0 0 0 24 9 Newspaper 2.957 0.610 1.627 0 0 0 30 10 RemoteControl 2.661 0.457 0.647 0 0 0 24 11 Pillow -0.875 0.575 -0.798 0 267.956 341.124 28 12 KeyChain -0.050 0.487 -1.656 0 90 0 27 13 Watch 0.087 0.240 -0.165 0 180 0 33 14 Statue -0.626 0.610 -1.601 0 0 0 29 15 Curtains 1.199 0.0 -2.440 0 0 0 16 HousePlant 1.919 1.717 -2.187 0 315 0 17 FloorLamp -1.160 -0.003 1.040 0 0 0 18 LightSwitch -1.006 1.286 1.950 0 180 0 19 Television 0.858 0.884 1.731 0 180 0 20 Painting 3.414 1.708 -0.156 90 270 0 21 Painting -1.449 1.787 -0.342 90 270 0 22 GarbageCan 1.296 9.894 -2.187 0 0 0 23 Window 0.653 1.550 -2.470 90 180 0 24 Sofa 2.868 -0.002 0.248 0 270 0 25 Drawer 1.996 0.779 1.705 0 180 0 26 SideTable 1.995 0.004 1.746 0 180 0 27 ArmChair 0.224 -0.010 -1.724 0 0 0 28 Sofa -1.007 0.006 -0.207 1.149 90 0 29 SideTable -0.683 0.004 -1.600 0 0 0 30 SideTable 2.956 0.004 1.568 0 0 0 31 TVStand 0.838 -0.006 1.582 0 0 0 32 Drawer 0.472 0.271 -0.165 0 270 0 33 Drawer -0.018 0.272 -0.165 0 270 0 34 Drawer -0.018 0.168 -0.165 0 270 0 35 Drawer -0.018 0.064 -0.165 0 270 0 36 Drawer 0.472 0.063 -0.165 0 270 0 37 Drawer 0.472 0.167 -0.165 0 270 0 38 CoffeeTable 0.226 -0.003 -0.164 0 270 0 39 NorthWall 40 EastWall 41 SouthWall 42 WestWall
[ "STEP 1: Move to the end table to the right of the TV. | STEP 2: Pick up the newspaper from the end table. | STEP 3: Move to the arm chair behind you and in front of the window with the couch and coffee table. | STEP 4: Place the newspaper on the arm chair. | STEP 5: Move to the end table to the right of the TV to the left of couch in the cornor. | STEP 6: Pick up the newspaper from the end table. | STEP 7: Move to the arm chair behind you and in front of the window with the couch and coffee table. | STEP 8: Place the newspaper on the arm chair. | END" ]
[ [ "STEP 1: Move to the end table to the right of the TV. ", " STEP 2: Pick up the newspaper from the end table. ", " STEP 3: Move to the arm chair behind you and in front of the window with the couch and coffee table. ", " STEP 4: Place the newspaper on the arm chair. ", " STEP 5: Move to the end table to the right of the TV to the left of couch in the cornor. ", " STEP 6: Pick up the newspaper from the end table. ", " STEP 7: Move to the arm chair behind you and in front of the window with the couch and coffee table. ", " STEP 8: Place the newspaper on the arm chair. ", " END" ] ]
seen
trial_T20190907_044150_484638-2
place two newspapers down on the brown chair
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 0.75 0.900 0.5 0 180 0 1 Newspaper 1.919 0.877 1.704 0 0 0 26 2 Statue 0.522 0.417 1.466 0 0 0 31 3 KeyChain 0.114 0.367 0.130 0 0 0 38 4 CreditCard 3.130 0.602 1.449 0 0 0 30 5 CreditCard 0.366 0.241 -0.249 0 0 0 32 6 Box 2.814 0.647 0.247 0 90 0 24 7 Laptop 0.228 0.358 -0.306 0 349.282 0 38 8 CreditCard 2.890 0.455 0.447 0 0 0 24 9 Newspaper 2.957 0.610 1.627 0 0 0 30 10 RemoteControl 2.661 0.457 0.647 0 0 0 24 11 Pillow -0.875 0.575 -0.798 0 267.956 341.124 28 12 KeyChain -0.050 0.487 -1.656 0 90 0 27 13 Watch 0.087 0.240 -0.165 0 180 0 33 14 Statue -0.626 0.610 -1.601 0 0 0 29 15 Curtains 1.199 0.0 -2.440 0 0 0 16 HousePlant 1.919 1.717 -2.187 0 315 0 17 FloorLamp -1.160 -0.003 1.040 0 0 0 18 LightSwitch -1.006 1.286 1.950 0 180 0 19 Television 0.858 0.884 1.731 0 180 0 20 Painting 3.414 1.708 -0.156 90 270 0 21 Painting -1.449 1.787 -0.342 90 270 0 22 GarbageCan 1.296 9.894 -2.187 0 0 0 23 Window 0.653 1.550 -2.470 90 180 0 24 Sofa 2.868 -0.002 0.248 0 270 0 25 Drawer 1.996 0.779 1.705 0 180 0 26 SideTable 1.995 0.004 1.746 0 180 0 27 ArmChair 0.224 -0.010 -1.724 0 0 0 28 Sofa -1.007 0.006 -0.207 1.149 90 0 29 SideTable -0.683 0.004 -1.600 0 0 0 30 SideTable 2.956 0.004 1.568 0 0 0 31 TVStand 0.838 -0.006 1.582 0 0 0 32 Drawer 0.472 0.271 -0.165 0 270 0 33 Drawer -0.018 0.272 -0.165 0 270 0 34 Drawer -0.018 0.168 -0.165 0 270 0 35 Drawer -0.018 0.064 -0.165 0 270 0 36 Drawer 0.472 0.063 -0.165 0 270 0 37 Drawer 0.472 0.167 -0.165 0 270 0 38 CoffeeTable 0.226 -0.003 -0.164 0 270 0 39 NorthWall 40 EastWall 41 SouthWall 42 WestWall
[ "STEP 1: turn left and walk over to the couch, then turn left and walk over to the small tall brown table | STEP 2: grab the newspaper off of the table there | STEP 3: turn around and walk to just short of the end of the room, turn right and walk over to the front of the large chair on your left | STEP 4: place the newspaper down on the chair there | STEP 5: turn around and walk back over to the tall brown table, and turn to face the shorter darker brown table on the right | STEP 6: grab the newspaper off of the table there | STEP 7: turn around and walk back over to the large chair on the left | STEP 8: place the news paper down on the chair | END" ]
[ [ "STEP 1: turn left and walk over to the couch, then turn left and walk over to the small tall brown table ", " STEP 2: grab the newspaper off of the table there ", " STEP 3: turn around and walk to just short of the end of the room, turn right and walk over to the front of the large chair on your left ", " STEP 4: place the newspaper down on the chair there ", " STEP 5: turn around and walk back over to the tall brown table, and turn to face the shorter darker brown table on the right ", " STEP 6: grab the newspaper off of the table there ", " STEP 7: turn around and walk back over to the large chair on the left ", " STEP 8: place the news paper down on the chair ", " END" ] ]
seen
trial_T20190907_044150_484638-3
Place two newspapers on the brown chair with keys on it.
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " 0.75", " 0.900", " 0.5", " 0", " 180", " 0", "" ], [ "1", " Newspaper", " 1.919", " 0.877", " 1.704", " 0", " 0", " 0", " 26" ], [ "2", " Statue", " 0.522", " 0.417", " 1.466", " 0", " 0", " 0", " 31" ], [ "3", " KeyChain", " 0.114", " 0.367", " 0.130", " 0", " 0", " 0", " 38" ], [ "4", " CreditCard", " 3.130", " 0.602", " 1.449", " 0", " 0", " 0", " 30" ], [ "5", " CreditCard", " 0.366", " 0.241", " -0.249", " 0", " 0", " 0", " 32" ], [ "6", " Box", " 2.814", " 0.647", " 0.247", " 0", " 90", " 0", " 24" ], [ "7", " Laptop", " 0.228", " 0.358", " -0.306", " 0", " 349.282", " 0", " 38" ], [ "8", " CreditCard", " 2.890", " 0.455", " 0.447", " 0", " 0", " 0", " 24" ], [ "9", " Newspaper", " 2.957", " 0.610", " 1.627", " 0", " 0", " 0", " 30" ], [ "10", " RemoteControl", " 2.661", " 0.457", " 0.647", " 0", " 0", " 0", " 24" ], [ "11", " Pillow", " -0.875", " 0.575", " -0.798", " 0", " 267.956", " 341.124", " 28" ], [ "12", " KeyChain", " -0.050", " 0.487", " -1.656", " 0", " 90", " 0", " 27" ], [ "13", " Watch", " 0.087", " 0.240", " -0.165", " 0", " 180", " 0", " 33" ], [ "14", " Statue", " -0.626", " 0.610", " -1.601", " 0", " 0", " 0", " 29" ], [ "15", " Curtains", " 1.199", " 0.0", " -2.440", " 0", " 0", " 0", "" ], [ "16", " HousePlant", " 1.919", " 1.717", " -2.187", " 0", " 315", " 0", "" ], [ "17", " FloorLamp", " -1.160", " -0.003", " 1.040", " 0", " 0", " 0", "" ], [ "18", " LightSwitch", " -1.006", " 1.286", " 1.950", " 0", " 180", " 0", "" ], [ "19", " Television", " 0.858", " 0.884", " 1.731", " 0", " 180", " 0", "" ], [ "20", " Painting", " 3.414", " 1.708", " -0.156", " 90", " 270", " 0", "" ], [ "21", " Painting", " -1.449", " 1.787", " -0.342", " 90", " 270", " 0", "" ], [ "22", " GarbageCan", " 1.296", " 9.894", " -2.187", " 0", " 0", " 0", "" ], [ "23", " Window", " 0.653", " 1.550", " -2.470", " 90", " 180", " 0", "" ], [ "24", " Sofa", " 2.868", " -0.002", " 0.248", " 0", " 270", " 0", "" ], [ "25", " Drawer", " 1.996", " 0.779", " 1.705", " 0", " 180", " 0", "" ], [ "26", " SideTable", " 1.995", " 0.004", " 1.746", " 0", " 180", " 0", "" ], [ "27", " ArmChair", " 0.224", " -0.010", " -1.724", " 0", " 0", " 0", "" ], [ "28", " Sofa", " -1.007", " 0.006", " -0.207", " 1.149", " 90", " 0", "" ], [ "29", " SideTable", " -0.683", " 0.004", " -1.600", " 0", " 0", " 0", "" ], [ "30", " SideTable", " 2.956", " 0.004", " 1.568", " 0", " 0", " 0", "" ], [ "31", " TVStand", " 0.838", " -0.006", " 1.582", " 0", " 0", " 0", "" ], [ "32", " Drawer", " 0.472", " 0.271", " -0.165", " 0", " 270", " 0", "" ], [ "33", " Drawer", " -0.018", " 0.272", " -0.165", " 0", " 270", " 0", "" ], [ "34", " Drawer", " -0.018", " 0.168", " -0.165", " 0", " 270", " 0", "" ], [ "35", " Drawer", " -0.018", " 0.064", " -0.165", " 0", " 270", " 0", "" ], [ "36", " Drawer", " 0.472", " 0.063", " -0.165", " 0", " 270", " 0", "" ], [ "37", " Drawer", " 0.472", " 0.167", " -0.165", " 0", " 270", " 0", "" ], [ "38", " CoffeeTable", " 0.226", " -0.003", " -0.164", " 0", " 270", " 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 0.75 0.900 0.5 0 180 0 1 Newspaper 1.919 0.877 1.704 0 0 0 26 2 Statue 0.522 0.417 1.466 0 0 0 31 3 KeyChain 0.114 0.367 0.130 0 0 0 38 4 CreditCard 3.130 0.602 1.449 0 0 0 30 5 CreditCard 0.366 0.241 -0.249 0 0 0 32 6 Box 2.814 0.647 0.247 0 90 0 24 7 Laptop 0.228 0.358 -0.306 0 349.282 0 38 8 CreditCard 2.890 0.455 0.447 0 0 0 24 9 Newspaper 2.957 0.610 1.627 0 0 0 30 10 RemoteControl 2.661 0.457 0.647 0 0 0 24 11 Pillow -0.875 0.575 -0.798 0 267.956 341.124 28 12 KeyChain -0.050 0.487 -1.656 0 90 0 27 13 Watch 0.087 0.240 -0.165 0 180 0 33 14 Statue -0.626 0.610 -1.601 0 0 0 29 15 Curtains 1.199 0.0 -2.440 0 0 0 16 HousePlant 1.919 1.717 -2.187 0 315 0 17 FloorLamp -1.160 -0.003 1.040 0 0 0 18 LightSwitch -1.006 1.286 1.950 0 180 0 19 Television 0.858 0.884 1.731 0 180 0 20 Painting 3.414 1.708 -0.156 90 270 0 21 Painting -1.449 1.787 -0.342 90 270 0 22 GarbageCan 1.296 9.894 -2.187 0 0 0 23 Window 0.653 1.550 -2.470 90 180 0 24 Sofa 2.868 -0.002 0.248 0 270 0 25 Drawer 1.996 0.779 1.705 0 180 0 26 SideTable 1.995 0.004 1.746 0 180 0 27 ArmChair 0.224 -0.010 -1.724 0 0 0 28 Sofa -1.007 0.006 -0.207 1.149 90 0 29 SideTable -0.683 0.004 -1.600 0 0 0 30 SideTable 2.956 0.004 1.568 0 0 0 31 TVStand 0.838 -0.006 1.582 0 0 0 32 Drawer 0.472 0.271 -0.165 0 270 0 33 Drawer -0.018 0.272 -0.165 0 270 0 34 Drawer -0.018 0.168 -0.165 0 270 0 35 Drawer -0.018 0.064 -0.165 0 270 0 36 Drawer 0.472 0.063 -0.165 0 270 0 37 Drawer 0.472 0.167 -0.165 0 270 0 38 CoffeeTable 0.226 -0.003 -0.164 0 270 0 39 NorthWall 40 EastWall 41 SouthWall 42 WestWall
[ "STEP 1: Turn around and walk to the newspaper to the right of the TV. | STEP 2: Pick up the newspaper on the table. | STEP 3: Turn around and walk to the brown chair with the keys on it. | STEP 4: Place the newspaper on the seat of the brown chair. | STEP 5: Turn left and walk to the newspaper on the table to the right of the TV. | STEP 6: Pick up the newspaper on the table. | STEP 7: Turn right and walk to the brown chair with the newspaper on it. | STEP 8: Place the newspaper behind the other newspaper on the chair. | END" ]
[ [ "STEP 1: Turn around and walk to the newspaper to the right of the TV. ", " STEP 2: Pick up the newspaper on the table. ", " STEP 3: Turn around and walk to the brown chair with the keys on it. ", " STEP 4: Place the newspaper on the seat of the brown chair. ", " STEP 5: Turn left and walk to the newspaper on the table to the right of the TV. ", " STEP 6: Pick up the newspaper on the table. ", " STEP 7: Turn right and walk to the brown chair with the newspaper on it. ", " STEP 8: Place the newspaper behind the other newspaper on the chair. ", " END" ] ]
seen
trial_T20190907_044150_484638-4
Put two news papers on a arm chair.
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " 0.75", " 0.900", " 0.5", " 0", " 180", " 0", "" ], [ "1", " Newspaper", " 1.919", " 0.877", " 1.704", " 0", " 0", " 0", " 26" ], [ "2", " Statue", " 0.522", " 0.417", " 1.466", " 0", " 0", " 0", " 31" ], [ "3", " KeyChain", " 0.114", " 0.367", " 0.130", " 0", " 0", " 0", " 38" ], [ "4", " CreditCard", " 3.130", " 0.602", " 1.449", " 0", " 0", " 0", " 30" ], [ "5", " CreditCard", " 0.366", " 0.241", " -0.249", " 0", " 0", " 0", " 32" ], [ "6", " Box", " 2.814", " 0.647", " 0.247", " 0", " 90", " 0", " 24" ], [ "7", " Laptop", " 0.228", " 0.358", " -0.306", " 0", " 349.282", " 0", " 38" ], [ "8", " CreditCard", " 2.890", " 0.455", " 0.447", " 0", " 0", " 0", " 24" ], [ "9", " Newspaper", " 2.957", " 0.610", " 1.627", " 0", " 0", " 0", " 30" ], [ "10", " RemoteControl", " 2.661", " 0.457", " 0.647", " 0", " 0", " 0", " 24" ], [ "11", " Pillow", " -0.875", " 0.575", " -0.798", " 0", " 267.956", " 341.124", " 28" ], [ "12", " KeyChain", " -0.050", " 0.487", " -1.656", " 0", " 90", " 0", " 27" ], [ "13", " Watch", " 0.087", " 0.240", " -0.165", " 0", " 180", " 0", " 33" ], [ "14", " Statue", " -0.626", " 0.610", " -1.601", " 0", " 0", " 0", " 29" ], [ "15", " Curtains", " 1.199", " 0.0", " -2.440", " 0", " 0", " 0", "" ], [ "16", " HousePlant", " 1.919", " 1.717", " -2.187", " 0", " 315", " 0", "" ], [ "17", " FloorLamp", " -1.160", " -0.003", " 1.040", " 0", " 0", " 0", "" ], [ "18", " LightSwitch", " -1.006", " 1.286", " 1.950", " 0", " 180", " 0", "" ], [ "19", " Television", " 0.858", " 0.884", " 1.731", " 0", " 180", " 0", "" ], [ "20", " Painting", " 3.414", " 1.708", " -0.156", " 90", " 270", " 0", "" ], [ "21", " Painting", " -1.449", " 1.787", " -0.342", " 90", " 270", " 0", "" ], [ "22", " GarbageCan", " 1.296", " 9.894", " -2.187", " 0", " 0", " 0", "" ], [ "23", " Window", " 0.653", " 1.550", " -2.470", " 90", " 180", " 0", "" ], [ "24", " Sofa", " 2.868", " -0.002", " 0.248", " 0", " 270", " 0", "" ], [ "25", " Drawer", " 1.996", " 0.779", " 1.705", " 0", " 180", " 0", "" ], [ "26", " SideTable", " 1.995", " 0.004", " 1.746", " 0", " 180", " 0", "" ], [ "27", " ArmChair", " 0.224", " -0.010", " -1.724", " 0", " 0", " 0", "" ], [ "28", " Sofa", " -1.007", " 0.006", " -0.207", " 1.149", " 90", " 0", "" ], [ "29", " SideTable", " -0.683", " 0.004", " -1.600", " 0", " 0", " 0", "" ], [ "30", " SideTable", " 2.956", " 0.004", " 1.568", " 0", " 0", " 0", "" ], [ "31", " TVStand", " 0.838", " -0.006", " 1.582", " 0", " 0", " 0", "" ], [ "32", " Drawer", " 0.472", " 0.271", " -0.165", " 0", " 270", " 0", "" ], [ "33", " Drawer", " -0.018", " 0.272", " -0.165", " 0", " 270", " 0", "" ], [ "34", " Drawer", " -0.018", " 0.168", " -0.165", " 0", " 270", " 0", "" ], [ "35", " Drawer", " -0.018", " 0.064", " -0.165", " 0", " 270", " 0", "" ], [ "36", " Drawer", " 0.472", " 0.063", " -0.165", " 0", " 270", " 0", "" ], [ "37", " Drawer", " 0.472", " 0.167", " -0.165", " 0", " 270", " 0", "" ], [ "38", " CoffeeTable", " 0.226", " -0.003", " -0.164", " 0", " 270", " 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 0.75 0.900 0.5 0 180 0 1 Newspaper 1.919 0.877 1.704 0 0 0 26 2 Statue 0.522 0.417 1.466 0 0 0 31 3 KeyChain 0.114 0.367 0.130 0 0 0 38 4 CreditCard 3.130 0.602 1.449 0 0 0 30 5 CreditCard 0.366 0.241 -0.249 0 0 0 32 6 Box 2.814 0.647 0.247 0 90 0 24 7 Laptop 0.228 0.358 -0.306 0 349.282 0 38 8 CreditCard 2.890 0.455 0.447 0 0 0 24 9 Newspaper 2.957 0.610 1.627 0 0 0 30 10 RemoteControl 2.661 0.457 0.647 0 0 0 24 11 Pillow -0.875 0.575 -0.798 0 267.956 341.124 28 12 KeyChain -0.050 0.487 -1.656 0 90 0 27 13 Watch 0.087 0.240 -0.165 0 180 0 33 14 Statue -0.626 0.610 -1.601 0 0 0 29 15 Curtains 1.199 0.0 -2.440 0 0 0 16 HousePlant 1.919 1.717 -2.187 0 315 0 17 FloorLamp -1.160 -0.003 1.040 0 0 0 18 LightSwitch -1.006 1.286 1.950 0 180 0 19 Television 0.858 0.884 1.731 0 180 0 20 Painting 3.414 1.708 -0.156 90 270 0 21 Painting -1.449 1.787 -0.342 90 270 0 22 GarbageCan 1.296 9.894 -2.187 0 0 0 23 Window 0.653 1.550 -2.470 90 180 0 24 Sofa 2.868 -0.002 0.248 0 270 0 25 Drawer 1.996 0.779 1.705 0 180 0 26 SideTable 1.995 0.004 1.746 0 180 0 27 ArmChair 0.224 -0.010 -1.724 0 0 0 28 Sofa -1.007 0.006 -0.207 1.149 90 0 29 SideTable -0.683 0.004 -1.600 0 0 0 30 SideTable 2.956 0.004 1.568 0 0 0 31 TVStand 0.838 -0.006 1.582 0 0 0 32 Drawer 0.472 0.271 -0.165 0 270 0 33 Drawer -0.018 0.272 -0.165 0 270 0 34 Drawer -0.018 0.168 -0.165 0 270 0 35 Drawer -0.018 0.064 -0.165 0 270 0 36 Drawer 0.472 0.063 -0.165 0 270 0 37 Drawer 0.472 0.167 -0.165 0 270 0 38 CoffeeTable 0.226 -0.003 -0.164 0 270 0 39 NorthWall 40 EastWall 41 SouthWall 42 WestWall
[ "STEP 1: Move to the end table to the right of the TV | STEP 2: Pick up the paper from the table | STEP 3: Move to the arm chair in front of the window | STEP 4: Put the paper on the chair | STEP 5: Move to the end table to the right of the TV | STEP 6: Pick up the paper from the table | STEP 7: Move to the arm chair in front of the window | STEP 8: Put the paper on the chair | END" ]
[ [ "STEP 1: Move to the end table to the right of the TV ", " STEP 2: Pick up the paper from the table ", " STEP 3: Move to the arm chair in front of the window ", " STEP 4: Put the paper on the chair ", " STEP 5: Move to the end table to the right of the TV ", " STEP 6: Pick up the paper from the table ", " STEP 7: Move to the arm chair in front of the window ", " STEP 8: Put the paper on the chair ", " END" ] ]
seen
trial_T20190907_044150_484638-5
Move two newspapers to the seat of a chair.
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " 0.75", " 0.900", " 0.5", " 0", " 180", " 0", "" ], [ "1", " Newspaper", " 1.919", " 0.877", " 1.704", " 0", " 0", " 0", " 26" ], [ "2", " Statue", " 0.522", " 0.417", " 1.466", " 0", " 0", " 0", " 31" ], [ "3", " KeyChain", " 0.114", " 0.367", " 0.130", " 0", " 0", " 0", " 38" ], [ "4", " CreditCard", " 3.130", " 0.602", " 1.449", " 0", " 0", " 0", " 30" ], [ "5", " CreditCard", " 0.366", " 0.241", " -0.249", " 0", " 0", " 0", " 32" ], [ "6", " Box", " 2.814", " 0.647", " 0.247", " 0", " 90", " 0", " 24" ], [ "7", " Laptop", " 0.228", " 0.358", " -0.306", " 0", " 349.282", " 0", " 38" ], [ "8", " CreditCard", " 2.890", " 0.455", " 0.447", " 0", " 0", " 0", " 24" ], [ "9", " Newspaper", " 2.957", " 0.610", " 1.627", " 0", " 0", " 0", " 30" ], [ "10", " RemoteControl", " 2.661", " 0.457", " 0.647", " 0", " 0", " 0", " 24" ], [ "11", " Pillow", " -0.875", " 0.575", " -0.798", " 0", " 267.956", " 341.124", " 28" ], [ "12", " KeyChain", " -0.050", " 0.487", " -1.656", " 0", " 90", " 0", " 27" ], [ "13", " Watch", " 0.087", " 0.240", " -0.165", " 0", " 180", " 0", " 33" ], [ "14", " Statue", " -0.626", " 0.610", " -1.601", " 0", " 0", " 0", " 29" ], [ "15", " Curtains", " 1.199", " 0.0", " -2.440", " 0", " 0", " 0", "" ], [ "16", " HousePlant", " 1.919", " 1.717", " -2.187", " 0", " 315", " 0", "" ], [ "17", " FloorLamp", " -1.160", " -0.003", " 1.040", " 0", " 0", " 0", "" ], [ "18", " LightSwitch", " -1.006", " 1.286", " 1.950", " 0", " 180", " 0", "" ], [ "19", " Television", " 0.858", " 0.884", " 1.731", " 0", " 180", " 0", "" ], [ "20", " Painting", " 3.414", " 1.708", " -0.156", " 90", " 270", " 0", "" ], [ "21", " Painting", " -1.449", " 1.787", " -0.342", " 90", " 270", " 0", "" ], [ "22", " GarbageCan", " 1.296", " 9.894", " -2.187", " 0", " 0", " 0", "" ], [ "23", " Window", " 0.653", " 1.550", " -2.470", " 90", " 180", " 0", "" ], [ "24", " Sofa", " 2.868", " -0.002", " 0.248", " 0", " 270", " 0", "" ], [ "25", " Drawer", " 1.996", " 0.779", " 1.705", " 0", " 180", " 0", "" ], [ "26", " SideTable", " 1.995", " 0.004", " 1.746", " 0", " 180", " 0", "" ], [ "27", " ArmChair", " 0.224", " -0.010", " -1.724", " 0", " 0", " 0", "" ], [ "28", " Sofa", " -1.007", " 0.006", " -0.207", " 1.149", " 90", " 0", "" ], [ "29", " SideTable", " -0.683", " 0.004", " -1.600", " 0", " 0", " 0", "" ], [ "30", " SideTable", " 2.956", " 0.004", " 1.568", " 0", " 0", " 0", "" ], [ "31", " TVStand", " 0.838", " -0.006", " 1.582", " 0", " 0", " 0", "" ], [ "32", " Drawer", " 0.472", " 0.271", " -0.165", " 0", " 270", " 0", "" ], [ "33", " Drawer", " -0.018", " 0.272", " -0.165", " 0", " 270", " 0", "" ], [ "34", " Drawer", " -0.018", " 0.168", " -0.165", " 0", " 270", " 0", "" ], [ "35", " Drawer", " -0.018", " 0.064", " -0.165", " 0", " 270", " 0", "" ], [ "36", " Drawer", " 0.472", " 0.063", " -0.165", " 0", " 270", " 0", "" ], [ "37", " Drawer", " 0.472", " 0.167", " -0.165", " 0", " 270", " 0", "" ], [ "38", " CoffeeTable", " 0.226", " -0.003", " -0.164", " 0", " 270", " 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 0.75 0.900 0.5 0 180 0 1 Newspaper 1.919 0.877 1.704 0 0 0 26 2 Statue 0.522 0.417 1.466 0 0 0 31 3 KeyChain 0.114 0.367 0.130 0 0 0 38 4 CreditCard 3.130 0.602 1.449 0 0 0 30 5 CreditCard 0.366 0.241 -0.249 0 0 0 32 6 Box 2.814 0.647 0.247 0 90 0 24 7 Laptop 0.228 0.358 -0.306 0 349.282 0 38 8 CreditCard 2.890 0.455 0.447 0 0 0 24 9 Newspaper 2.957 0.610 1.627 0 0 0 30 10 RemoteControl 2.661 0.457 0.647 0 0 0 24 11 Pillow -0.875 0.575 -0.798 0 267.956 341.124 28 12 KeyChain -0.050 0.487 -1.656 0 90 0 27 13 Watch 0.087 0.240 -0.165 0 180 0 33 14 Statue -0.626 0.610 -1.601 0 0 0 29 15 Curtains 1.199 0.0 -2.440 0 0 0 16 HousePlant 1.919 1.717 -2.187 0 315 0 17 FloorLamp -1.160 -0.003 1.040 0 0 0 18 LightSwitch -1.006 1.286 1.950 0 180 0 19 Television 0.858 0.884 1.731 0 180 0 20 Painting 3.414 1.708 -0.156 90 270 0 21 Painting -1.449 1.787 -0.342 90 270 0 22 GarbageCan 1.296 9.894 -2.187 0 0 0 23 Window 0.653 1.550 -2.470 90 180 0 24 Sofa 2.868 -0.002 0.248 0 270 0 25 Drawer 1.996 0.779 1.705 0 180 0 26 SideTable 1.995 0.004 1.746 0 180 0 27 ArmChair 0.224 -0.010 -1.724 0 0 0 28 Sofa -1.007 0.006 -0.207 1.149 90 0 29 SideTable -0.683 0.004 -1.600 0 0 0 30 SideTable 2.956 0.004 1.568 0 0 0 31 TVStand 0.838 -0.006 1.582 0 0 0 32 Drawer 0.472 0.271 -0.165 0 270 0 33 Drawer -0.018 0.272 -0.165 0 270 0 34 Drawer -0.018 0.168 -0.165 0 270 0 35 Drawer -0.018 0.064 -0.165 0 270 0 36 Drawer 0.472 0.063 -0.165 0 270 0 37 Drawer 0.472 0.167 -0.165 0 270 0 38 CoffeeTable 0.226 -0.003 -0.164 0 270 0 39 NorthWall 40 EastWall 41 SouthWall 42 WestWall
[ "STEP 1: Turn left and start walking over to the couch, then hang a left and walk up to the small wooden table with the newspaper on it. | STEP 2: Pick up the newspaper off of the small wooden table. | STEP 3: Turn left and take a step forward, then turn left again and walk across the room, hang a right and walk over to the chair with a set of keys on its seat. | STEP 4: Place the newspaper on the seat of the chair. | STEP 5: Turn left and begin walking across the room, then hang a left and walk over to the small wooden table, turn right and walk up to the square table to the left of the couch. | STEP 6: Pick up the newspaper off of the square table. | STEP 7: Turn right and walk across the room, then hang a right and walk over to the chair with the newspaper and set of keys on its seat. | STEP 8: Place the newspaper on the seat of the chair. | END" ]
[ [ "STEP 1: Turn left and start walking over to the couch, then hang a left and walk up to the small wooden table with the newspaper on it. ", " STEP 2: Pick up the newspaper off of the small wooden table. ", " STEP 3: Turn left and take a step forward, then turn left again and walk across the room, hang a right and walk over to the chair with a set of keys on its seat. ", " STEP 4: Place the newspaper on the seat of the chair. ", " STEP 5: Turn left and begin walking across the room, then hang a left and walk over to the small wooden table, turn right and walk up to the square table to the left of the couch. ", " STEP 6: Pick up the newspaper off of the square table. ", " STEP 7: Turn right and walk across the room, then hang a right and walk over to the chair with the newspaper and set of keys on its seat. ", " STEP 8: Place the newspaper on the seat of the chair. ", " END" ] ]
seen
trial_T20190909_113609_142533-0
Put a pen in the cubby hole above the desk.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 0.75 0.900 -1.5 0 0 0 1 CD -0.595 1.347 -2.083 0 0 0 37 2 Pencil -0.901 1.350 -2.172 0 0 0 38 3 Pencil -0.474 0.841 -1.969 0 0 0 35 4 CreditCard -1.165 0.837 -2.293 0 0 0 35 5 Book -1.626 0.839 -1.969 0 90 0 35 6 Laptop 1.436 0.643 0.418 0 0 0 22 7 Book 1.720 0.646 -0.120 0 0 0 22 8 Box -0.424 2.065 -2.027 0 352.503 0 35 9 Pillow 1.993 0.67 0.222 0 270 0 22 10 AlarmClock -1.165 0.837 -2.077 0 0 0 35 11 BasketBall -0.337 0.120 1.031 0 0 0 Floor|-00.16| 12 BaseballBat -1.602 0.022 0.356 90 8.736 0 Floor|-00.16| 13 Pen -0.935 0.843 -1.861 0 0 0 35 14 CellPhone -0.901 1.349 -2.074 0 0 0 38 15 TennisRacket -1.667 0.0 0.818 90 29.999 0 Floor|-00.16| 16 Laptop 0.300 0.643 -0.120 0 0 0 22 17 Pencil 0.101 0.148 -2.080 0 90 0 25 18 KeyChain 1.639 0.374 -1.045 0 90 0 28 19 CreditCard 1.592 0.082 -0.816 0 90 0 29 20 CD -0.935 0.837 -2.077 0 0 0 35 21 Mirror 0.883 1.582 -2.399 0 180 0 22 Bed 1.176 -0.002 0.238 0 90 0 23 LightSwitch 1.899 1.297 -1.302 0 270 0 24 Poster -1.927 1.411 -1.455 90 90 0 25 GarbageCan 0.128 -0.030 -2.146 0 90 0 26 Window -2.028 1.388 -0.270 90 270 0 27 DeskLamp -1.673 1.774 -2.190 0 0 0 28 Drawer 1.624 0.453 -0.987 0 270 0 29 Drawer 1.624 0.163 -0.987 0 270 0 30 SideTable 1.691 0.002 -0.988 0 270 0 31 Chair -1.089 0.009 -1.570 0 166.824 0 32 Blinds -1.949 2.158 -0.252 0 90 0 33 Cabinet -0.241 1.534 -2.101 0 0 0 34 Cabinet -1.301 1.534 -2.101 0 0 0 35 Desk -0.962 0.003 -1.942 0 0 0 36 Cabinet -1.683 1.534 -2.101 0 0 0 37 Cabinet -0.623 1.534 -2.101 0 0 0 38 Shelf -0.962 1.534 -2.101 0 0 0 39 NorthWall 40 EastWall 41 SouthWall 42 WestWall
[ "STEP 1: Turn left and walk to the black chair, then turn left again to face the desk. | STEP 2: Pick up the blue pen from the desk. | STEP 3: Take a side step to the left and look up. | STEP 4: Put the pen in the cubby hole to the right above the desk. | END" ]
[ [ "STEP 1: Turn left and walk to the black chair, then turn left again to face the desk. ", " STEP 2: Pick up the blue pen from the desk. ", " STEP 3: Take a side step to the left and look up. ", " STEP 4: Put the pen in the cubby hole to the right above the desk. ", " END" ] ]
seen
trial_T20190909_113609_142533-1
Place a pen on the shelf.
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " 0.75", " 0.900", " -1.5", " 0", " 0", " 0", "" ], [ "1", " CD", " -0.595", " 1.347", " -2.083", " 0", " 0", " 0", " 37" ], [ "2", " Pencil", " -0.901", " 1.350", " -2.172", " 0", " 0", " 0", " 38" ], [ "3", " Pencil", " -0.474", " 0.841", " -1.969", " 0", " 0", " 0", " 35" ], [ "4", " CreditCard", " -1.165", " 0.837", " -2.293", " 0", " 0", " 0", " 35" ], [ "5", " Book", " -1.626", " 0.839", " -1.969", " 0", " 90", " 0", " 35" ], [ "6", " Laptop", " 1.436", " 0.643", " 0.418", " 0", " 0", " 0", " 22" ], [ "7", " Book", " 1.720", " 0.646", " -0.120", " 0", " 0", " 0", " 22" ], [ "8", " Box", " -0.424", " 2.065", " -2.027", " 0", " 352.503", " 0", " 35" ], [ "9", " Pillow", " 1.993", " 0.67", " 0.222", " 0", " 270", " 0", " 22" ], [ "10", " AlarmClock", " -1.165", " 0.837", " -2.077", " 0", " 0", " 0", " 35" ], [ "11", " BasketBall", " -0.337", " 0.120", " 1.031", " 0", " 0", " 0", " Floor|-00.16|" ], [ "12", " BaseballBat", " -1.602", " 0.022", " 0.356", " 90", " 8.736", " 0", " Floor|-00.16|" ], [ "13", " Pen", " -0.935", " 0.843", " -1.861", " 0", " 0", " 0", " 35" ], [ "14", " CellPhone", " -0.901", " 1.349", " -2.074", " 0", " 0", " 0", " 38" ], [ "15", " TennisRacket", " -1.667", " 0.0", " 0.818", " 90", " 29.999", " 0", " Floor|-00.16|" ], [ "16", " Laptop", " 0.300", " 0.643", " -0.120", " 0", " 0", " 0", " 22" ], [ "17", " Pencil", " 0.101", " 0.148", " -2.080", " 0", " 90", " 0", " 25" ], [ "18", " KeyChain", " 1.639", " 0.374", " -1.045", " 0", " 90", " 0", " 28" ], [ "19", " CreditCard", " 1.592", " 0.082", " -0.816", " 0", " 90", " 0", " 29" ], [ "20", " CD", " -0.935", " 0.837", " -2.077", " 0", " 0", " 0", " 35" ], [ "21", " Mirror", " 0.883", " 1.582", " -2.399", " 0", " 180", " 0", "" ], [ "22", " Bed", " 1.176", " -0.002", " 0.238", " 0", " 90", " 0", "" ], [ "23", " LightSwitch", " 1.899", " 1.297", " -1.302", " 0", " 270", " 0", "" ], [ "24", " Poster", " -1.927", " 1.411", " -1.455", " 90", " 90", " 0", "" ], [ "25", " GarbageCan", " 0.128", " -0.030", " -2.146", " 0", " 90", " 0", "" ], [ "26", " Window", " -2.028", " 1.388", " -0.270", " 90", " 270", " 0", "" ], [ "27", " DeskLamp", " -1.673", " 1.774", " -2.190", " 0", " 0", " 0", "" ], [ "28", " Drawer", " 1.624", " 0.453", " -0.987", " 0", " 270", " 0", "" ], [ "29", " Drawer", " 1.624", " 0.163", " -0.987", " 0", " 270", " 0", "" ], [ "30", " SideTable", " 1.691", " 0.002", " -0.988", " 0", " 270", " 0", "" ], [ "31", " Chair", " -1.089", " 0.009", " -1.570", " 0", " 166.824", " 0", "" ], [ "32", " Blinds", " -1.949", " 2.158", " -0.252", " 0", " 90", " 0", "" ], [ "33", " Cabinet", " -0.241", " 1.534", " -2.101", " 0", " 0", " 0", "" ], [ "34", " Cabinet", " -1.301", " 1.534", " -2.101", " 0", " 0", " 0", "" ], [ "35", " Desk", " -0.962", " 0.003", " -1.942", " 0", " 0", " 0", "" ], [ "36", " Cabinet", " -1.683", " 1.534", " -2.101", " 0", " 0", " 0", "" ], [ "37", " Cabinet", " -0.623", " 1.534", " -2.101", " 0", " 0", " 0", "" ], [ "38", " Shelf", " -0.962", " 1.534", " -2.101", " 0", " 0", " 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 0.75 0.900 -1.5 0 0 0 1 CD -0.595 1.347 -2.083 0 0 0 37 2 Pencil -0.901 1.350 -2.172 0 0 0 38 3 Pencil -0.474 0.841 -1.969 0 0 0 35 4 CreditCard -1.165 0.837 -2.293 0 0 0 35 5 Book -1.626 0.839 -1.969 0 90 0 35 6 Laptop 1.436 0.643 0.418 0 0 0 22 7 Book 1.720 0.646 -0.120 0 0 0 22 8 Box -0.424 2.065 -2.027 0 352.503 0 35 9 Pillow 1.993 0.67 0.222 0 270 0 22 10 AlarmClock -1.165 0.837 -2.077 0 0 0 35 11 BasketBall -0.337 0.120 1.031 0 0 0 Floor|-00.16| 12 BaseballBat -1.602 0.022 0.356 90 8.736 0 Floor|-00.16| 13 Pen -0.935 0.843 -1.861 0 0 0 35 14 CellPhone -0.901 1.349 -2.074 0 0 0 38 15 TennisRacket -1.667 0.0 0.818 90 29.999 0 Floor|-00.16| 16 Laptop 0.300 0.643 -0.120 0 0 0 22 17 Pencil 0.101 0.148 -2.080 0 90 0 25 18 KeyChain 1.639 0.374 -1.045 0 90 0 28 19 CreditCard 1.592 0.082 -0.816 0 90 0 29 20 CD -0.935 0.837 -2.077 0 0 0 35 21 Mirror 0.883 1.582 -2.399 0 180 0 22 Bed 1.176 -0.002 0.238 0 90 0 23 LightSwitch 1.899 1.297 -1.302 0 270 0 24 Poster -1.927 1.411 -1.455 90 90 0 25 GarbageCan 0.128 -0.030 -2.146 0 90 0 26 Window -2.028 1.388 -0.270 90 270 0 27 DeskLamp -1.673 1.774 -2.190 0 0 0 28 Drawer 1.624 0.453 -0.987 0 270 0 29 Drawer 1.624 0.163 -0.987 0 270 0 30 SideTable 1.691 0.002 -0.988 0 270 0 31 Chair -1.089 0.009 -1.570 0 166.824 0 32 Blinds -1.949 2.158 -0.252 0 90 0 33 Cabinet -0.241 1.534 -2.101 0 0 0 34 Cabinet -1.301 1.534 -2.101 0 0 0 35 Desk -0.962 0.003 -1.942 0 0 0 36 Cabinet -1.683 1.534 -2.101 0 0 0 37 Cabinet -0.623 1.534 -2.101 0 0 0 38 Shelf -0.962 1.534 -2.101 0 0 0 39 NorthWall 40 EastWall 41 SouthWall 42 WestWall
[ "STEP 1: Turn left, move past the bed, then move to the center of the desk in the corner of the room, and then turn left to face the desk. | STEP 2: Pick up the blue pen in front of the CD from the desk. | STEP 3: Move to the left side of the desk near the black rubbish bin and then face the shelf above the desk. | STEP 4: Place the pen in front of the white smartphone on the shelf above the desk. | END" ]
[ [ "STEP 1: Turn left, move past the bed, then move to the center of the desk in the corner of the room, and then turn left to face the desk. ", " STEP 2: Pick up the blue pen in front of the CD from the desk. ", " STEP 3: Move to the left side of the desk near the black rubbish bin and then face the shelf above the desk. ", " STEP 4: Place the pen in front of the white smartphone on the shelf above the desk. ", " END" ] ]
seen
trial_T20190909_113609_142533-2
Place a pen on a desk.
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " 0.75", " 0.900", " -1.5", " 0", " 0", " 0", "" ], [ "1", " CD", " -0.595", " 1.347", " -2.083", " 0", " 0", " 0", " 37" ], [ "2", " Pencil", " -0.901", " 1.350", " -2.172", " 0", " 0", " 0", " 38" ], [ "3", " Pencil", " -0.474", " 0.841", " -1.969", " 0", " 0", " 0", " 35" ], [ "4", " CreditCard", " -1.165", " 0.837", " -2.293", " 0", " 0", " 0", " 35" ], [ "5", " Book", " -1.626", " 0.839", " -1.969", " 0", " 90", " 0", " 35" ], [ "6", " Laptop", " 1.436", " 0.643", " 0.418", " 0", " 0", " 0", " 22" ], [ "7", " Book", " 1.720", " 0.646", " -0.120", " 0", " 0", " 0", " 22" ], [ "8", " Box", " -0.424", " 2.065", " -2.027", " 0", " 352.503", " 0", " 35" ], [ "9", " Pillow", " 1.993", " 0.67", " 0.222", " 0", " 270", " 0", " 22" ], [ "10", " AlarmClock", " -1.165", " 0.837", " -2.077", " 0", " 0", " 0", " 35" ], [ "11", " BasketBall", " -0.337", " 0.120", " 1.031", " 0", " 0", " 0", " Floor|-00.16|" ], [ "12", " BaseballBat", " -1.602", " 0.022", " 0.356", " 90", " 8.736", " 0", " Floor|-00.16|" ], [ "13", " Pen", " -0.935", " 0.843", " -1.861", " 0", " 0", " 0", " 35" ], [ "14", " CellPhone", " -0.901", " 1.349", " -2.074", " 0", " 0", " 0", " 38" ], [ "15", " TennisRacket", " -1.667", " 0.0", " 0.818", " 90", " 29.999", " 0", " Floor|-00.16|" ], [ "16", " Laptop", " 0.300", " 0.643", " -0.120", " 0", " 0", " 0", " 22" ], [ "17", " Pencil", " 0.101", " 0.148", " -2.080", " 0", " 90", " 0", " 25" ], [ "18", " KeyChain", " 1.639", " 0.374", " -1.045", " 0", " 90", " 0", " 28" ], [ "19", " CreditCard", " 1.592", " 0.082", " -0.816", " 0", " 90", " 0", " 29" ], [ "20", " CD", " -0.935", " 0.837", " -2.077", " 0", " 0", " 0", " 35" ], [ "21", " Mirror", " 0.883", " 1.582", " -2.399", " 0", " 180", " 0", "" ], [ "22", " Bed", " 1.176", " -0.002", " 0.238", " 0", " 90", " 0", "" ], [ "23", " LightSwitch", " 1.899", " 1.297", " -1.302", " 0", " 270", " 0", "" ], [ "24", " Poster", " -1.927", " 1.411", " -1.455", " 90", " 90", " 0", "" ], [ "25", " GarbageCan", " 0.128", " -0.030", " -2.146", " 0", " 90", " 0", "" ], [ "26", " Window", " -2.028", " 1.388", " -0.270", " 90", " 270", " 0", "" ], [ "27", " DeskLamp", " -1.673", " 1.774", " -2.190", " 0", " 0", " 0", "" ], [ "28", " Drawer", " 1.624", " 0.453", " -0.987", " 0", " 270", " 0", "" ], [ "29", " Drawer", " 1.624", " 0.163", " -0.987", " 0", " 270", " 0", "" ], [ "30", " SideTable", " 1.691", " 0.002", " -0.988", " 0", " 270", " 0", "" ], [ "31", " Chair", " -1.089", " 0.009", " -1.570", " 0", " 166.824", " 0", "" ], [ "32", " Blinds", " -1.949", " 2.158", " -0.252", " 0", " 90", " 0", "" ], [ "33", " Cabinet", " -0.241", " 1.534", " -2.101", " 0", " 0", " 0", "" ], [ "34", " Cabinet", " -1.301", " 1.534", " -2.101", " 0", " 0", " 0", "" ], [ "35", " Desk", " -0.962", " 0.003", " -1.942", " 0", " 0", " 0", "" ], [ "36", " Cabinet", " -1.683", " 1.534", " -2.101", " 0", " 0", " 0", "" ], [ "37", " Cabinet", " -0.623", " 1.534", " -2.101", " 0", " 0", " 0", "" ], [ "38", " Shelf", " -0.962", " 1.534", " -2.101", " 0", " 0", " 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 0.75 0.900 -1.5 0 0 0 1 CD -0.595 1.347 -2.083 0 0 0 37 2 Pencil -0.901 1.350 -2.172 0 0 0 38 3 Pencil -0.474 0.841 -1.969 0 0 0 35 4 CreditCard -1.165 0.837 -2.293 0 0 0 35 5 Book -1.626 0.839 -1.969 0 90 0 35 6 Laptop 1.436 0.643 0.418 0 0 0 22 7 Book 1.720 0.646 -0.120 0 0 0 22 8 Box -0.424 2.065 -2.027 0 352.503 0 35 9 Pillow 1.993 0.67 0.222 0 270 0 22 10 AlarmClock -1.165 0.837 -2.077 0 0 0 35 11 BasketBall -0.337 0.120 1.031 0 0 0 Floor|-00.16| 12 BaseballBat -1.602 0.022 0.356 90 8.736 0 Floor|-00.16| 13 Pen -0.935 0.843 -1.861 0 0 0 35 14 CellPhone -0.901 1.349 -2.074 0 0 0 38 15 TennisRacket -1.667 0.0 0.818 90 29.999 0 Floor|-00.16| 16 Laptop 0.300 0.643 -0.120 0 0 0 22 17 Pencil 0.101 0.148 -2.080 0 90 0 25 18 KeyChain 1.639 0.374 -1.045 0 90 0 28 19 CreditCard 1.592 0.082 -0.816 0 90 0 29 20 CD -0.935 0.837 -2.077 0 0 0 35 21 Mirror 0.883 1.582 -2.399 0 180 0 22 Bed 1.176 -0.002 0.238 0 90 0 23 LightSwitch 1.899 1.297 -1.302 0 270 0 24 Poster -1.927 1.411 -1.455 90 90 0 25 GarbageCan 0.128 -0.030 -2.146 0 90 0 26 Window -2.028 1.388 -0.270 90 270 0 27 DeskLamp -1.673 1.774 -2.190 0 0 0 28 Drawer 1.624 0.453 -0.987 0 270 0 29 Drawer 1.624 0.163 -0.987 0 270 0 30 SideTable 1.691 0.002 -0.988 0 270 0 31 Chair -1.089 0.009 -1.570 0 166.824 0 32 Blinds -1.949 2.158 -0.252 0 90 0 33 Cabinet -0.241 1.534 -2.101 0 0 0 34 Cabinet -1.301 1.534 -2.101 0 0 0 35 Desk -0.962 0.003 -1.942 0 0 0 36 Cabinet -1.683 1.534 -2.101 0 0 0 37 Cabinet -0.623 1.534 -2.101 0 0 0 38 Shelf -0.962 1.534 -2.101 0 0 0 39 NorthWall 40 EastWall 41 SouthWall 42 WestWall
[ "STEP 1: Take a left at the bed and walk to the large wooden desk on the left. | STEP 2: Pick up the blue pen to the left of the clock. | STEP 3: Turn left and walk to the desk on the right. | STEP 4: Put the blue pen in front of the cell phone on the open shelf to the right of the desk. | END" ]
[ [ "STEP 1: Take a left at the bed and walk to the large wooden desk on the left. ", " STEP 2: Pick up the blue pen to the left of the clock. ", " STEP 3: Turn left and walk to the desk on the right. ", " STEP 4: Put the blue pen in front of the cell phone on the open shelf to the right of the desk. ", " END" ] ]
seen
trial_T20190906_201356_091911-0
Place a disc on the shelf.
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0", "" ], [ "37", " Window", " -1.098", " 1.570", " -3.230", " 90", " 0", " 0", "" ], [ "38", " DeskLamp", " 1.404", " 0.668", " 2.209", " 0", " 0", " 0", "" ], [ "39", " DeskLamp", " 2.596", " 0.668", " -1.710", " 0", " 0", " 0", "" ], [ "40", " Blinds", " -1.062", " 2.361", " -3.173", " 0", " 0", " 0", "" ], [ "41", " Shelf", " -1.675", " 1.871", " -2.053", " 0", " 90", " 0", "" ], [ "42", " Shelf", " -1.675", " 1.383", " -2.053", " 0", " 90", " 0", "" ], [ "43", " Drawer", " -1.715", " 0.832", " -2.053", " 0", " 90", " 0", "" ], [ "44", " ShelvingUnit", " -1.723", " 0.007", " -2.053", " 0", " 90", " 0", "" ], [ "45", " Drawer", " -1.713", " 0.339", " -2.053", " 0", " 90", " 0", "" ], [ "46", " Drawer", " -1.629", " 0.104", " 0.243", " 0", " 90", " 0", "" ], [ "47", " Dresser", " -1.674", " 0.000", " -0.153", " 0", " 90", " 0", "" ], [ "48", " Drawer", " -1.630", " 0.868", " -0.550", " 0", " 90", " 0", "" ], [ "49", " Drawer", " -1.630", " 0.680", " 0.243", " 0", " 90", " 0", "" ], [ "50", " Drawer", " -1.629", " 0.104", " -0.550", " 0", " 90", " 0", "" ], [ "51", " Drawer", " -1.630", " 0.680", " -0.550", " 0", " 90", " 0", "" ], [ "52", " Drawer", " -1.630", " 0.868", " 0.243", " 0", " 90", " 0", "" ], [ "53", " Drawer", " -1.629", " 0.486", " -0.550", " 0", " 90", " 0", "" ], [ "54", " Drawer", " -1.629", " 0.291", " 0.243", " 0", " 90", " 0", "" ], [ "55", " Drawer", " -1.629", " 0.291", " -0.550", " 0", " 90", " 0", "" ], [ "56", " Drawer", " -1.630", " 0.486", " 0.243", " 0", " 90", " 0", "" ], [ "57", " SideTable", " 1.576", " -0.001", " 2.137", " 0", " 180", " 0", "" ], [ "58", " Drawer", " 1.576", " 0.163", " 2.070", " 0", " 180", " 0", "" ], [ "59", " Drawer", " 1.576", " 0.455", " 2.070", " 0", " 180", " 0", "" ], [ "60", " SideTable", " 2.437", " -0.001", " -1.603", " 0", " 0", " 0", "" ], [ "61", " Drawer", " 2.438", " 0.163", " -1.536", " 0", " 0", " 0", "" ], [ "62", " Drawer", " 2.438", " 0.455", " -1.536", " 0", " 0", " 0", "" ], [ "63", " 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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.0 0.900 -1.25 0 180 0 1 Statue -1.657 0.982 -0.138 0 90 0 47 2 CellPhone 1.02 0.775 0.188 0 0 0 29 3 Pen -1.668 1.152 -2.415 0 90 0 42 4 Pen 1.498 0.686 2.082 0 0 0 57 5 Pencil -1.607 0.042 0.069 0 0 0 46 6 CreditCard -1.762 1.637 -2.415 0 90 0 41 7 KeyChain -1.730 1.147 -2.073 0 90 0 42 8 Book -1.583 0.971 0.263 0 0 0 47 9 Book -1.720 0.217 -0.350 0 180 0 55 10 AlarmClock -1.583 0.972 0.062 0 0 0 47 11 AlarmClock -1.730 0.972 0.062 0 0 0 47 12 Pillow 0.296 0.836 -0.990 0 0 0 29 13 Book 1.731 0.680 2.262 0 0 0 57 14 KeyChain -1.608 0.411 -0.721 0 0 0 53 15 AlarmClock -1.636 1.146 -1.959 0 90 0 42 16 Pillow 1.413 0.794 -1.505 0 0 0 29 17 Pillow 2.410 0.513 1.841 0 90 0 63 18 Vase -1.509 0.971 -0.339 0 0 0 47 19 Laptop 1.502 0.773 -0.401 0 0 0 29 20 Vase -1.650 1.626 -2.316 0 0 0 41 21 Pencil 2.437 0.686 -1.671 0 0 0 60 22 CreditCard 2.360 0.680 -1.671 0 0 0 60 23 Boots -1.842 0.000 -1.077 0 135 0 24 Pen -1.605 1.152 -2.073 0 90 0 42 25 CellPhone 1.743 0.775 -0.695 0 0 0 29 26 CD -1.509 0.970 -0.742 0 0 0 47 27 Bowl -1.699 1.637 -2.073 0 90 0 41 28 Statue -1.509 0.980 -0.742 0 0 0 47 29 Bed 1.017 0.003 -0.686 0 180 0 30 HousePlant -1.749 0.971 0.463 0 0 0 31 GarbageCan -1.665 -0.000 0.953 0 45 0 32 Painting 0.381 1.976 -1.895 90 0 0 33 Painting 0.879 1.976 -1.895 90 0 0 34 Painting 1.373 1.976 -1.895 90 0 0 35 LightSwitch -0.164 1.085 2.450 0 180 0 36 Mirror -1.950 1.735 -0.206 0 270 0 37 Window -1.098 1.570 -3.230 90 0 0 38 DeskLamp 1.404 0.668 2.209 0 0 0 39 DeskLamp 2.596 0.668 -1.710 0 0 0 40 Blinds -1.062 2.361 -3.173 0 0 0 41 Shelf -1.675 1.871 -2.053 0 90 0 42 Shelf -1.675 1.383 -2.053 0 90 0 43 Drawer -1.715 0.832 -2.053 0 90 0 44 ShelvingUnit -1.723 0.007 -2.053 0 90 0 45 Drawer -1.713 0.339 -2.053 0 90 0 46 Drawer -1.629 0.104 0.243 0 90 0 47 Dresser -1.674 0.000 -0.153 0 90 0 48 Drawer -1.630 0.868 -0.550 0 90 0 49 Drawer -1.630 0.680 0.243 0 90 0 50 Drawer -1.629 0.104 -0.550 0 90 0 51 Drawer -1.630 0.680 -0.550 0 90 0 52 Drawer -1.630 0.868 0.243 0 90 0 53 Drawer -1.629 0.486 -0.550 0 90 0 54 Drawer -1.629 0.291 0.243 0 90 0 55 Drawer -1.629 0.291 -0.550 0 90 0 56 Drawer -1.630 0.486 0.243 0 90 0 57 SideTable 1.576 -0.001 2.137 0 180 0 58 Drawer 1.576 0.163 2.070 0 180 0 59 Drawer 1.576 0.455 2.070 0 180 0 60 SideTable 2.437 -0.001 -1.603 0 0 0 61 Drawer 2.438 0.163 -1.536 0 0 0 62 Drawer 2.438 0.455 -1.536 0 0 0 63 ArmChair 2.393 -0.001 1.943 0 180 0 64 NorthWall 65 EastWall 66 SouthWall 67 WestWall
[ "STEP 1: Turn right and walk up to the edge of the dresser where the disc lay. | STEP 2: Pick up the disk from under the golden statue. | STEP 3: Turn around over to the large black shelf with the digital alarm clock on it. | STEP 4: Place the disc on the shelf to the left of the digital alarm clock. | END" ]
[ [ "STEP 1: Turn right and walk up to the edge of the dresser where the disc lay. ", " STEP 2: Pick up the disk from under the golden statue. ", " STEP 3: Turn around over to the large black shelf with the digital alarm clock on it. ", " STEP 4: Place the disc on the shelf to the left of the digital alarm clock. ", " END" ] ]
seen
trial_T20190906_201356_091911-1
Put the CD down on the shelf next to the clock.
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0", "" ], [ "37", " Window", " -1.098", " 1.570", " -3.230", " 90", " 0", " 0", "" ], [ "38", " DeskLamp", " 1.404", " 0.668", " 2.209", " 0", " 0", " 0", "" ], [ "39", " DeskLamp", " 2.596", " 0.668", " -1.710", " 0", " 0", " 0", "" ], [ "40", " Blinds", " -1.062", " 2.361", " -3.173", " 0", " 0", " 0", "" ], [ "41", " Shelf", " -1.675", " 1.871", " -2.053", " 0", " 90", " 0", "" ], [ "42", " Shelf", " -1.675", " 1.383", " -2.053", " 0", " 90", " 0", "" ], [ "43", " Drawer", " -1.715", " 0.832", " -2.053", " 0", " 90", " 0", "" ], [ "44", " ShelvingUnit", " -1.723", " 0.007", " -2.053", " 0", " 90", " 0", "" ], [ "45", " Drawer", " -1.713", " 0.339", " -2.053", " 0", " 90", " 0", "" ], [ "46", " Drawer", " -1.629", " 0.104", " 0.243", " 0", " 90", " 0", "" ], [ "47", " Dresser", " -1.674", " 0.000", " -0.153", " 0", " 90", " 0", "" ], [ "48", " Drawer", " -1.630", " 0.868", " -0.550", " 0", " 90", " 0", "" ], [ "49", " Drawer", " -1.630", " 0.680", " 0.243", " 0", " 90", " 0", "" ], [ 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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.0 0.900 -1.25 0 180 0 1 Statue -1.657 0.982 -0.138 0 90 0 47 2 CellPhone 1.02 0.775 0.188 0 0 0 29 3 Pen -1.668 1.152 -2.415 0 90 0 42 4 Pen 1.498 0.686 2.082 0 0 0 57 5 Pencil -1.607 0.042 0.069 0 0 0 46 6 CreditCard -1.762 1.637 -2.415 0 90 0 41 7 KeyChain -1.730 1.147 -2.073 0 90 0 42 8 Book -1.583 0.971 0.263 0 0 0 47 9 Book -1.720 0.217 -0.350 0 180 0 55 10 AlarmClock -1.583 0.972 0.062 0 0 0 47 11 AlarmClock -1.730 0.972 0.062 0 0 0 47 12 Pillow 0.296 0.836 -0.990 0 0 0 29 13 Book 1.731 0.680 2.262 0 0 0 57 14 KeyChain -1.608 0.411 -0.721 0 0 0 53 15 AlarmClock -1.636 1.146 -1.959 0 90 0 42 16 Pillow 1.413 0.794 -1.505 0 0 0 29 17 Pillow 2.410 0.513 1.841 0 90 0 63 18 Vase -1.509 0.971 -0.339 0 0 0 47 19 Laptop 1.502 0.773 -0.401 0 0 0 29 20 Vase -1.650 1.626 -2.316 0 0 0 41 21 Pencil 2.437 0.686 -1.671 0 0 0 60 22 CreditCard 2.360 0.680 -1.671 0 0 0 60 23 Boots -1.842 0.000 -1.077 0 135 0 24 Pen -1.605 1.152 -2.073 0 90 0 42 25 CellPhone 1.743 0.775 -0.695 0 0 0 29 26 CD -1.509 0.970 -0.742 0 0 0 47 27 Bowl -1.699 1.637 -2.073 0 90 0 41 28 Statue -1.509 0.980 -0.742 0 0 0 47 29 Bed 1.017 0.003 -0.686 0 180 0 30 HousePlant -1.749 0.971 0.463 0 0 0 31 GarbageCan -1.665 -0.000 0.953 0 45 0 32 Painting 0.381 1.976 -1.895 90 0 0 33 Painting 0.879 1.976 -1.895 90 0 0 34 Painting 1.373 1.976 -1.895 90 0 0 35 LightSwitch -0.164 1.085 2.450 0 180 0 36 Mirror -1.950 1.735 -0.206 0 270 0 37 Window -1.098 1.570 -3.230 90 0 0 38 DeskLamp 1.404 0.668 2.209 0 0 0 39 DeskLamp 2.596 0.668 -1.710 0 0 0 40 Blinds -1.062 2.361 -3.173 0 0 0 41 Shelf -1.675 1.871 -2.053 0 90 0 42 Shelf -1.675 1.383 -2.053 0 90 0 43 Drawer -1.715 0.832 -2.053 0 90 0 44 ShelvingUnit -1.723 0.007 -2.053 0 90 0 45 Drawer -1.713 0.339 -2.053 0 90 0 46 Drawer -1.629 0.104 0.243 0 90 0 47 Dresser -1.674 0.000 -0.153 0 90 0 48 Drawer -1.630 0.868 -0.550 0 90 0 49 Drawer -1.630 0.680 0.243 0 90 0 50 Drawer -1.629 0.104 -0.550 0 90 0 51 Drawer -1.630 0.680 -0.550 0 90 0 52 Drawer -1.630 0.868 0.243 0 90 0 53 Drawer -1.629 0.486 -0.550 0 90 0 54 Drawer -1.629 0.291 0.243 0 90 0 55 Drawer -1.629 0.291 -0.550 0 90 0 56 Drawer -1.630 0.486 0.243 0 90 0 57 SideTable 1.576 -0.001 2.137 0 180 0 58 Drawer 1.576 0.163 2.070 0 180 0 59 Drawer 1.576 0.455 2.070 0 180 0 60 SideTable 2.437 -0.001 -1.603 0 0 0 61 Drawer 2.438 0.163 -1.536 0 0 0 62 Drawer 2.438 0.455 -1.536 0 0 0 63 ArmChair 2.393 -0.001 1.943 0 180 0 64 NorthWall 65 EastWall 66 SouthWall 67 WestWall
[ "STEP 1: Turn to face the left side of the long black dresser. | STEP 2: Pick up the CD from the dresser. | STEP 3: Bring the CD to the black shelf with the clock. | STEP 4: Put the CD down on the shelf next to the clock. | END" ]
[ [ "STEP 1: Turn to face the left side of the long black dresser. ", " STEP 2: Pick up the CD from the dresser. ", " STEP 3: Bring the CD to the black shelf with the clock. ", " STEP 4: Put the CD down on the shelf next to the clock. ", " END" ] ]
seen
trial_T20190906_201356_091911-2
Place a CD on a bookshelf.
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[ "STEP 1: Turn right and move toward the boots on the ground then turn right and face the dresser. | STEP 2: Pick up the CD that is underneath the gold toy dog on the dresser. | STEP 3: Turn around and move towards the window and then turn right and face the bookshelf. | STEP 4: Place the CD between the two pens on the bookshelf and to the left of the keys. | END" ]
[ [ "STEP 1: Turn right and move toward the boots on the ground then turn right and face the dresser. ", " STEP 2: Pick up the CD that is underneath the gold toy dog on the dresser. ", " STEP 3: Turn around and move towards the window and then turn right and face the bookshelf. ", " STEP 4: Place the CD between the two pens on the bookshelf and to the left of the keys. ", " END" ] ]
seen
trial_T20190907_152459_993909-0
Move the spray bottle from the toilet to next to the sink.
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[ "STEP 1: Go to the toilet. | STEP 2: Pick up the spray bottle from the toilet. | STEP 3: Turn around and go to the sink. | STEP 4: Put the spray bottle on the counter by the sink. | END" ]
[ [ "STEP 1: Go to the toilet. ", " STEP 2: Pick up the spray bottle from the toilet. ", " STEP 3: Turn around and go to the sink. ", " STEP 4: Put the spray bottle on the counter by the sink. ", " END" ] ]
seen
trial_T20190907_152459_993909-1
Put the spray bottle on the counter.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.0 0.900 1.75 0 0 0 1 Cloth -0.302 0.205 3.068 0 0 0 18 2 Candle -0.358 0.206 2.145 0 0 0 20 3 Candle -0.358 0.512 3.068 0 0 0 17 4 HandTowel -0.036 1.658 3.443 0 90 0 33 5 SoapBar -0.417 0.812 3.172 0 0 0 19 6 ToiletPaper -0.358 0.203 1.408 0 0 0 22 7 Plunger -0.139 -0.000 3.369 0 0 0 Floor|+00.00| 8 Candle -0.289 0.812 3.143 0 0 0 19 9 SoapBottle -2.146 0.057 3.843 0 90 0 32 10 ToiletPaper -0.161 0.809 2.243 0 0 0 19 11 SprayBottle -0.161 0.954 3.846 0 0 0 34 12 Towel -1.106 1.151 1.289 0 0 0 31 13 Cloth -0.246 0.205 2.551 0 0 0 26 14 ScrubBrush -0.346 -0.000 3.341 0 0 0 Floor|+00.00| 15 DishSponge -0.161 0.813 1.288 0 0 0 19 16 Sink -0.299 0.807 2.754 0 270 0 17 Drawer -0.319 0.615 3.012 0 0 0 18 Drawer -0.319 0.316 3.012 0 0 0 19 CounterTop -0.349 0.004 1.453 0 0 0 20 Drawer -0.319 0.615 1.978 0 0 0 21 Drawer -0.319 0.316 1.978 0 0 0 22 Drawer -0.319 0.316 1.463 0 0 0 23 Drawer -0.319 0.615 2.495 0 0 0 24 ShowerDoor -1.514 0.910 1.167 0 0 0 25 Drawer -0.319 0.615 1.463 0 0 0 26 Drawer -0.319 0.316 2.495 0 0 0 27 Faucet -0.076 0.805 2.757 0 0 0 28 Mirror -0.228 0.465 1.453 0 0 0 29 ShowerGlass -0.766 0.541 0.485 0 0 0 30 ToiletPaperHanger -1.200 0.897 4.0 0 180 0 31 TowelHolder -1.105 1.136 1.183 0 0 0 32 GarbageCan -2.041 -0.000 3.724 0 45 0 33 HandTowelHolder 0.001 1.759 3.443 0 180 0 34 Toilet -0.600 -0.000 3.671 0 270 0 35 LightSwitch -2.312 1.386 3.296 0 90 0 36 Faucet -0.076 0.805 1.733 0 0 0 37 SinkBasin -0.304 0.819 2.753 0 0 0 38 Sink -0.298 0.807 1.725 0 270 0 39 ShowerHead -0.083 1.248 0.522 0 0 0 40 SinkBasin -0.304 0.819 1.723 0 0 0 41 NorthWall 42 SouthWall 43 SouthWall
[ "STEP 1: Walk forward and face the toilet. | STEP 2: Pick up the spray bottle from the back of the toilet. | STEP 3: Turn right and walk to the sinks. | STEP 4: Put the bottle on the counter between the sinks. | END" ]
[ [ "STEP 1: Walk forward and face the toilet. ", " STEP 2: Pick up the spray bottle from the back of the toilet. ", " STEP 3: Turn right and walk to the sinks. ", " STEP 4: Put the bottle on the counter between the sinks. ", " END" ] ]
seen
trial_T20190907_152459_993909-2
Pick up the spray bottle from the floor to place it on the sink counter.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.0 0.900 1.75 0 0 0 1 Cloth -0.302 0.205 3.068 0 0 0 18 2 Candle -0.358 0.206 2.145 0 0 0 20 3 Candle -0.358 0.512 3.068 0 0 0 17 4 HandTowel -0.036 1.658 3.443 0 90 0 33 5 SoapBar -0.417 0.812 3.172 0 0 0 19 6 ToiletPaper -0.358 0.203 1.408 0 0 0 22 7 Plunger -0.139 -0.000 3.369 0 0 0 Floor|+00.00| 8 Candle -0.289 0.812 3.143 0 0 0 19 9 SoapBottle -2.146 0.057 3.843 0 90 0 32 10 ToiletPaper -0.161 0.809 2.243 0 0 0 19 11 SprayBottle -0.161 0.954 3.846 0 0 0 34 12 Towel -1.106 1.151 1.289 0 0 0 31 13 Cloth -0.246 0.205 2.551 0 0 0 26 14 ScrubBrush -0.346 -0.000 3.341 0 0 0 Floor|+00.00| 15 DishSponge -0.161 0.813 1.288 0 0 0 19 16 Sink -0.299 0.807 2.754 0 270 0 17 Drawer -0.319 0.615 3.012 0 0 0 18 Drawer -0.319 0.316 3.012 0 0 0 19 CounterTop -0.349 0.004 1.453 0 0 0 20 Drawer -0.319 0.615 1.978 0 0 0 21 Drawer -0.319 0.316 1.978 0 0 0 22 Drawer -0.319 0.316 1.463 0 0 0 23 Drawer -0.319 0.615 2.495 0 0 0 24 ShowerDoor -1.514 0.910 1.167 0 0 0 25 Drawer -0.319 0.615 1.463 0 0 0 26 Drawer -0.319 0.316 2.495 0 0 0 27 Faucet -0.076 0.805 2.757 0 0 0 28 Mirror -0.228 0.465 1.453 0 0 0 29 ShowerGlass -0.766 0.541 0.485 0 0 0 30 ToiletPaperHanger -1.200 0.897 4.0 0 180 0 31 TowelHolder -1.105 1.136 1.183 0 0 0 32 GarbageCan -2.041 -0.000 3.724 0 45 0 33 HandTowelHolder 0.001 1.759 3.443 0 180 0 34 Toilet -0.600 -0.000 3.671 0 270 0 35 LightSwitch -2.312 1.386 3.296 0 90 0 36 Faucet -0.076 0.805 1.733 0 0 0 37 SinkBasin -0.304 0.819 2.753 0 0 0 38 Sink -0.298 0.807 1.725 0 270 0 39 ShowerHead -0.083 1.248 0.522 0 0 0 40 SinkBasin -0.304 0.819 1.723 0 0 0 41 NorthWall 42 SouthWall 43 SouthWall
[ "STEP 1: Walk towards the toilet and turn right. | STEP 2: Pick up the white spray bottle to the right of the toilet. | STEP 3: Turn right and head towards the sink furthest from you. | STEP 4: Place the spray bottle on the counter to the left of the sink. | END" ]
[ [ "STEP 1: Walk towards the toilet and turn right. ", " STEP 2: Pick up the white spray bottle to the right of the toilet. ", " STEP 3: Turn right and head towards the sink furthest from you. ", " STEP 4: Place the spray bottle on the counter to the left of the sink. ", " END" ] ]
seen
trial_T20190907_152459_993909-3
move spray bottle from toilet to sink
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " -1.0", " 0.900", " 1.75", " 0", " 0", " 0", "" ], [ "1", " Cloth", " -0.302", " 0.205", " 3.068", " 0", " 0", " 0", " 18" ], [ "2", " Candle", " -0.358", " 0.206", " 2.145", " 0", " 0", " 0", " 20" ], [ "3", " Candle", " -0.358", " 0.512", " 3.068", " 0", " 0", " 0", " 17" ], [ "4", " HandTowel", " -0.036", " 1.658", " 3.443", " 0", " 90", " 0", " 33" ], [ "5", " SoapBar", " -0.417", " 0.812", " 3.172", " 0", " 0", " 0", " 19" ], [ "6", " ToiletPaper", " -0.358", " 0.203", " 1.408", " 0", " 0", " 0", " 22" ], [ "7", " Plunger", " -0.139", " -0.000", " 3.369", " 0", " 0", " 0", " Floor|+00.00|" ], [ "8", " Candle", " -0.289", " 0.812", " 3.143", " 0", " 0", " 0", " 19" ], [ "9", " SoapBottle", " -2.146", " 0.057", " 3.843", " 0", " 90", " 0", " 32" ], [ "10", " ToiletPaper", " -0.161", " 0.809", " 2.243", " 0", " 0", " 0", " 19" ], [ "11", " SprayBottle", " -0.161", " 0.954", " 3.846", " 0", " 0", " 0", " 34" ], [ "12", " Towel", " -1.106", " 1.151", " 1.289", " 0", " 0", " 0", " 31" ], [ "13", " Cloth", " -0.246", " 0.205", " 2.551", " 0", " 0", " 0", " 26" ], [ "14", " ScrubBrush", " -0.346", " -0.000", " 3.341", " 0", " 0", " 0", " Floor|+00.00|" ], [ "15", " DishSponge", " -0.161", " 0.813", " 1.288", " 0", " 0", " 0", " 19" ], [ "16", " Sink", " -0.299", " 0.807", " 2.754", " 0", " 270", " 0", "" ], [ "17", " Drawer", " -0.319", " 0.615", " 3.012", " 0", " 0", " 0", "" ], [ "18", " Drawer", " -0.319", " 0.316", " 3.012", " 0", " 0", " 0", "" ], [ "19", " CounterTop", " -0.349", " 0.004", " 1.453", " 0", " 0", " 0", "" ], [ "20", " Drawer", " -0.319", " 0.615", " 1.978", " 0", " 0", " 0", "" ], [ "21", " Drawer", " -0.319", " 0.316", " 1.978", " 0", " 0", " 0", "" ], [ "22", " Drawer", " -0.319", " 0.316", " 1.463", " 0", " 0", " 0", "" ], [ "23", " Drawer", " -0.319", " 0.615", " 2.495", " 0", " 0", " 0", "" ], [ "24", " ShowerDoor", " -1.514", " 0.910", " 1.167", " 0", " 0", " 0", "" ], [ "25", " Drawer", " -0.319", " 0.615", " 1.463", " 0", " 0", " 0", "" ], [ "26", " Drawer", " -0.319", " 0.316", " 2.495", " 0", " 0", " 0", "" ], [ "27", " Faucet", " -0.076", " 0.805", " 2.757", " 0", " 0", " 0", "" ], [ "28", " Mirror", " -0.228", " 0.465", " 1.453", " 0", " 0", " 0", "" ], [ "29", " ShowerGlass", " -0.766", " 0.541", " 0.485", " 0", " 0", " 0", "" ], [ "30", " ToiletPaperHanger", " -1.200", " 0.897", " 4.0", " 0", " 180", " 0", "" ], [ "31", " TowelHolder", " -1.105", " 1.136", " 1.183", " 0", " 0", " 0", "" ], [ "32", " GarbageCan", " -2.041", " -0.000", " 3.724", " 0", " 45", " 0", "" ], [ "33", " HandTowelHolder", " 0.001", " 1.759", " 3.443", " 0", " 180", " 0", "" ], [ "34", " Toilet", " -0.600", " -0.000", " 3.671", " 0", " 270", " 0", "" ], [ "35", " LightSwitch", " -2.312", " 1.386", " 3.296", " 0", " 90", " 0", "" ], [ "36", " Faucet", " -0.076", " 0.805", " 1.733", " 0", " 0", " 0", "" ], [ "37", " SinkBasin", " -0.304", " 0.819", " 2.753", " 0", " 0", " 0", "" ], [ "38", " Sink", " -0.298", " 0.807", " 1.725", " 0", " 270", " 0", "" ], [ "39", " ShowerHead", " -0.083", " 1.248", " 0.522", " 0", " 0", " 0", "" ], [ "40", " SinkBasin", " -0.304", " 0.819", " 1.723", " 0", " 0", " 0", "" ], [ "41", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "42", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "43", " SouthWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.0 0.900 1.75 0 0 0 1 Cloth -0.302 0.205 3.068 0 0 0 18 2 Candle -0.358 0.206 2.145 0 0 0 20 3 Candle -0.358 0.512 3.068 0 0 0 17 4 HandTowel -0.036 1.658 3.443 0 90 0 33 5 SoapBar -0.417 0.812 3.172 0 0 0 19 6 ToiletPaper -0.358 0.203 1.408 0 0 0 22 7 Plunger -0.139 -0.000 3.369 0 0 0 Floor|+00.00| 8 Candle -0.289 0.812 3.143 0 0 0 19 9 SoapBottle -2.146 0.057 3.843 0 90 0 32 10 ToiletPaper -0.161 0.809 2.243 0 0 0 19 11 SprayBottle -0.161 0.954 3.846 0 0 0 34 12 Towel -1.106 1.151 1.289 0 0 0 31 13 Cloth -0.246 0.205 2.551 0 0 0 26 14 ScrubBrush -0.346 -0.000 3.341 0 0 0 Floor|+00.00| 15 DishSponge -0.161 0.813 1.288 0 0 0 19 16 Sink -0.299 0.807 2.754 0 270 0 17 Drawer -0.319 0.615 3.012 0 0 0 18 Drawer -0.319 0.316 3.012 0 0 0 19 CounterTop -0.349 0.004 1.453 0 0 0 20 Drawer -0.319 0.615 1.978 0 0 0 21 Drawer -0.319 0.316 1.978 0 0 0 22 Drawer -0.319 0.316 1.463 0 0 0 23 Drawer -0.319 0.615 2.495 0 0 0 24 ShowerDoor -1.514 0.910 1.167 0 0 0 25 Drawer -0.319 0.615 1.463 0 0 0 26 Drawer -0.319 0.316 2.495 0 0 0 27 Faucet -0.076 0.805 2.757 0 0 0 28 Mirror -0.228 0.465 1.453 0 0 0 29 ShowerGlass -0.766 0.541 0.485 0 0 0 30 ToiletPaperHanger -1.200 0.897 4.0 0 180 0 31 TowelHolder -1.105 1.136 1.183 0 0 0 32 GarbageCan -2.041 -0.000 3.724 0 45 0 33 HandTowelHolder 0.001 1.759 3.443 0 180 0 34 Toilet -0.600 -0.000 3.671 0 270 0 35 LightSwitch -2.312 1.386 3.296 0 90 0 36 Faucet -0.076 0.805 1.733 0 0 0 37 SinkBasin -0.304 0.819 2.753 0 0 0 38 Sink -0.298 0.807 1.725 0 270 0 39 ShowerHead -0.083 1.248 0.522 0 0 0 40 SinkBasin -0.304 0.819 1.723 0 0 0 41 NorthWall 42 SouthWall 43 SouthWall
[ "STEP 1: walk forward, turn right to face toilet | STEP 2: pick up spray bottle that is on the back of the toilet | STEP 3: turn right, walk towards shower, turn left to face sink that is closest to the shower | STEP 4: put the spray bottle on the counter next to the sink | END" ]
[ [ "STEP 1: walk forward, turn right to face toilet ", " STEP 2: pick up spray bottle that is on the back of the toilet ", " STEP 3: turn right, walk towards shower, turn left to face sink that is closest to the shower ", " STEP 4: put the spray bottle on the counter next to the sink ", " END" ] ]
seen
trial_T20190906_205726_057580-0
Grab the pot on the floor, turn on 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 3.5 0.900 0.25 0 90 0 1 Plate -1.747 0.238 2.750 0 0 0 31 2 Plate -1.856 0.452 -0.364 0 0 0 36 3 Candle -1.856 0.449 0.018 0 0 0 36 4 Box -3.254 0.736 -0.297 0 0 0 30 5 Candle -1.480 0.711 2.656 0 0 0 32 6 Vase -2.266 0.447 0.273 0 0 0 36 7 CreditCard -1.978 0.232 2.750 0 0 0 31 8 Vase 1.840 0.776 -0.298 0 0 0 35 9 WateringCan -3.252 -0.000 -1.861 0 0 0 10 Laptop 2.548 0.782 -0.538 0 0 0 35 11 RemoteControl -1.774 0.448 0.145 0 0 0 36 12 Statue -3.592 0.705 1.431 0 90 0 33 13 KeyChain -1.938 0.447 -0.109 0 90 0 36 14 Pillow -3.341 0.645 -0.807 0 0 0 30 15 Plate -2.102 0.452 -0.109 0 0 0 36 16 Statue -2.184 0.457 -0.364 0 180 0 36 17 LightSwitch -3.900 1.284 1.684 0 90 0 18 GarbageCan 0.299 5.066 1.253 0 2.215 0 19 FloorLamp -0.331 0.001 2.728 0 0 0 20 Painting -0.056 1.601 1.733 90 270 0 21 Painting 4.136 1.590 -0.296 90 270 0 22 Television -1.859 1.200 2.702 358.970 180 0 23 HousePlant -3.580 0.604 -1.617 0 0 0 24 Window 1.478 1.506 -1.927 90 0 0 25 Window -2.003 1.506 -1.927 90 0 0 26 Window 3.480 1.506 -1.927 90 0 0 27 ArmChair -0.437 0.005 1.923 0 270 0 28 ArmChair -0.430 0.005 1.062 0 270 0 29 ArmChair -2.004 0.005 -1.578 0 0 0 30 Sofa -3.419 0.009 -0.042 0 90 0 31 DiningTable -1.857 0.231 2.787 0 0 0 32 TVStand -1.857 0.000 2.788 0 0 0 33 SideTable -3.597 0.004 1.437 0 0 0 34 SideTable -3.597 0.004 -1.607 0 0 0 35 DiningTable 1.883 0.000 -0.291 0 0 0 36 CoffeeTable -2.023 0.005 0.018 0 270 0 37 Chair 1.462 -0.001 0.195 0 164.999 0 38 Chair 2.288 -0.001 -0.780 0 0 0 39 Chair 2.223 -0.001 0.149 0 186.648 0 40 Chair 1.638 -0.001 -0.847 0 0 0 41 NorthWall 42 EastWall 43 SouthWall 44 WestWall
[ "STEP 1: Turn around, go around the table, go in the living room, walk to the corner with a end table | STEP 2: Grab the pot on the floor | STEP 3: Turn around, walk to the other corner with a floor lamp | STEP 4: Turn on the floor lamp | END" ]
[ [ "STEP 1: Turn around, go around the table, go in the living room, walk to the corner with a end table ", " STEP 2: Grab the pot on the floor ", " STEP 3: Turn around, walk to the other corner with a floor lamp ", " STEP 4: Turn on the floor lamp ", " END" ] ]
seen
trial_T20190906_205726_057580-1
Find the teapot 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 3.5 0.900 0.25 0 90 0 1 Plate -1.747 0.238 2.750 0 0 0 31 2 Plate -1.856 0.452 -0.364 0 0 0 36 3 Candle -1.856 0.449 0.018 0 0 0 36 4 Box -3.254 0.736 -0.297 0 0 0 30 5 Candle -1.480 0.711 2.656 0 0 0 32 6 Vase -2.266 0.447 0.273 0 0 0 36 7 CreditCard -1.978 0.232 2.750 0 0 0 31 8 Vase 1.840 0.776 -0.298 0 0 0 35 9 WateringCan -3.252 -0.000 -1.861 0 0 0 10 Laptop 2.548 0.782 -0.538 0 0 0 35 11 RemoteControl -1.774 0.448 0.145 0 0 0 36 12 Statue -3.592 0.705 1.431 0 90 0 33 13 KeyChain -1.938 0.447 -0.109 0 90 0 36 14 Pillow -3.341 0.645 -0.807 0 0 0 30 15 Plate -2.102 0.452 -0.109 0 0 0 36 16 Statue -2.184 0.457 -0.364 0 180 0 36 17 LightSwitch -3.900 1.284 1.684 0 90 0 18 GarbageCan 0.299 5.066 1.253 0 2.215 0 19 FloorLamp -0.331 0.001 2.728 0 0 0 20 Painting -0.056 1.601 1.733 90 270 0 21 Painting 4.136 1.590 -0.296 90 270 0 22 Television -1.859 1.200 2.702 358.970 180 0 23 HousePlant -3.580 0.604 -1.617 0 0 0 24 Window 1.478 1.506 -1.927 90 0 0 25 Window -2.003 1.506 -1.927 90 0 0 26 Window 3.480 1.506 -1.927 90 0 0 27 ArmChair -0.437 0.005 1.923 0 270 0 28 ArmChair -0.430 0.005 1.062 0 270 0 29 ArmChair -2.004 0.005 -1.578 0 0 0 30 Sofa -3.419 0.009 -0.042 0 90 0 31 DiningTable -1.857 0.231 2.787 0 0 0 32 TVStand -1.857 0.000 2.788 0 0 0 33 SideTable -3.597 0.004 1.437 0 0 0 34 SideTable -3.597 0.004 -1.607 0 0 0 35 DiningTable 1.883 0.000 -0.291 0 0 0 36 CoffeeTable -2.023 0.005 0.018 0 270 0 37 Chair 1.462 -0.001 0.195 0 164.999 0 38 Chair 2.288 -0.001 -0.780 0 0 0 39 Chair 2.223 -0.001 0.149 0 186.648 0 40 Chair 1.638 -0.001 -0.847 0 0 0 41 NorthWall 42 EastWall 43 SouthWall 44 WestWall
[ "STEP 1: Turn around and go through the kitchen to the living room. Turn to the left and find the teapot on the floor. | STEP 2: Pick up the teapot from the floor. | STEP 3: Turn to the right and the right again across the living room to the opposite corner. | STEP 4: Hold the teapot, and turn on the lamp in the corner. | END" ]
[ [ "STEP 1: Turn around and go through the kitchen to the living room. Turn to the left and find the teapot on the floor. ", " STEP 2: Pick up the teapot from the floor. ", " STEP 3: Turn to the right and the right again across the living room to the opposite corner. ", " STEP 4: Hold the teapot, and turn on the lamp in the corner. ", " END" ] ]
seen
trial_T20190906_205726_057580-2
Examine the white tea pot under 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 3.5 0.900 0.25 0 90 0 1 Plate -1.747 0.238 2.750 0 0 0 31 2 Plate -1.856 0.452 -0.364 0 0 0 36 3 Candle -1.856 0.449 0.018 0 0 0 36 4 Box -3.254 0.736 -0.297 0 0 0 30 5 Candle -1.480 0.711 2.656 0 0 0 32 6 Vase -2.266 0.447 0.273 0 0 0 36 7 CreditCard -1.978 0.232 2.750 0 0 0 31 8 Vase 1.840 0.776 -0.298 0 0 0 35 9 WateringCan -3.252 -0.000 -1.861 0 0 0 10 Laptop 2.548 0.782 -0.538 0 0 0 35 11 RemoteControl -1.774 0.448 0.145 0 0 0 36 12 Statue -3.592 0.705 1.431 0 90 0 33 13 KeyChain -1.938 0.447 -0.109 0 90 0 36 14 Pillow -3.341 0.645 -0.807 0 0 0 30 15 Plate -2.102 0.452 -0.109 0 0 0 36 16 Statue -2.184 0.457 -0.364 0 180 0 36 17 LightSwitch -3.900 1.284 1.684 0 90 0 18 GarbageCan 0.299 5.066 1.253 0 2.215 0 19 FloorLamp -0.331 0.001 2.728 0 0 0 20 Painting -0.056 1.601 1.733 90 270 0 21 Painting 4.136 1.590 -0.296 90 270 0 22 Television -1.859 1.200 2.702 358.970 180 0 23 HousePlant -3.580 0.604 -1.617 0 0 0 24 Window 1.478 1.506 -1.927 90 0 0 25 Window -2.003 1.506 -1.927 90 0 0 26 Window 3.480 1.506 -1.927 90 0 0 27 ArmChair -0.437 0.005 1.923 0 270 0 28 ArmChair -0.430 0.005 1.062 0 270 0 29 ArmChair -2.004 0.005 -1.578 0 0 0 30 Sofa -3.419 0.009 -0.042 0 90 0 31 DiningTable -1.857 0.231 2.787 0 0 0 32 TVStand -1.857 0.000 2.788 0 0 0 33 SideTable -3.597 0.004 1.437 0 0 0 34 SideTable -3.597 0.004 -1.607 0 0 0 35 DiningTable 1.883 0.000 -0.291 0 0 0 36 CoffeeTable -2.023 0.005 0.018 0 270 0 37 Chair 1.462 -0.001 0.195 0 164.999 0 38 Chair 2.288 -0.001 -0.780 0 0 0 39 Chair 2.223 -0.001 0.149 0 186.648 0 40 Chair 1.638 -0.001 -0.847 0 0 0 41 NorthWall 42 EastWall 43 SouthWall 44 WestWall
[ "STEP 1: Turn around and walk over to the side table in the living room left of the sofa | STEP 2: Pick up the white tea pot from the ground near the sofa | STEP 3: Turn around and walk across the room to the floor lamp in the corner | STEP 4: Turn on the floor lamp | END" ]
[ [ "STEP 1: Turn around and walk over to the side table in the living room left of the sofa ", " STEP 2: Pick up the white tea pot from the ground near the sofa ", " STEP 3: Turn around and walk across the room to the floor lamp in the corner ", " STEP 4: Turn on the floor lamp ", " END" ] ]
seen
trial_T20190908_012118_563424-0
Place a chilled tomato in a sink.
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" 0.330", " 0.317", " -1.515", " 0", " 0", " 0", " 64" ], [ "12", " Mug", " 3.049", " 0.966", " 0.591", " 0", " 270", " 0", " 101" ], [ "13", " Mug", " -1.052", " 0.992", " 1.417", " 0", " 90", " 0", " 106" ], [ "14", " Apple", " -0.779", " 0.974", " -0.749", " 0", " 45", " 0", " 58" ], [ "15", " PepperShaker", " -0.944", " 1.254", " -0.884", " 0", " 45", " 0", " 77" ], [ "16", " PepperShaker", " -0.827", " 0.702", " -0.273", " 0", " 0", " 0", " 65" ], [ "17", " Cup", " 1.160", " 1.672", " -1.341", " 0", " 0", " 0", " 49" ], [ "18", " Plate", " 3.181", " 1.477", " -1.648", " 0", " 0", " 0", " 56" ], [ "19", " Plate", " 3.140", " 0.190", " 0.770", " 0", " 0", " 0", " 67" ], [ "20", " Glassbottle", " 3.084", " 0.176", " -0.307", " 0", " 0", " 0", " 69" ], [ "21", " SoapBottle", " 0.204", " 1.268", " -1.638", " 0", " 0", " 0", " 74" ], [ "22", " Potato", " -0.985", " 1.036", " 1.258", " 0", " 90", " 0", " 106" ], [ "23", " Fork", " 0.101", " 0.900", " -1.588", " 0", " 0", " 0", " 79" ], [ "24", " Ladle", " 0.665", " 1.711", " -1.550", " 0", " 90", " 0", " 73" ], [ "25", " Pot", " -0.420", " 0.902", " -0.920", " 0", " 135", " 0", " 53" ], [ "26", " Kettle", " -0.038", " 0.901", " -1.388", " 0", " 45", " 0", " 79" ], [ "27", " Spatula", " 0.836", " 0.923", " 0.410", " 0", " 36.810", " 0", " 89" ], [ "28", " Knife", " 2.947", " 0.738", " -0.454", " 0", " 90", " 0", " 54" ], [ "29", " Lettuce", " 0.887", " 0.976", " 0.827", " 0", " 0", " 0", " 89" ], [ "30", " Cup", " 3.084", " 0.173", " -0.870", " 0", " 0", " 0", " 70" ], [ "31", " SaltShaker", " -0.030", " 0.510", " -1.352", " 0", " 45", " 0", " 61" ], [ "32", " Egg", " 2.888", " 0.953", " -0.599", " 0", " 0", " 0", " 57" ], [ "33", " PepperShaker", " -0.686", " 0.130", " -0.801", " 0", " 45", " 0", " 81" ], [ "34", " ButterKnife", " 3.069", " 0.747", " 0.032", " 0", " 270", " 0", " 103" ], [ "35", " Apple", " 1.008", " 0.785", " -1.433", " 0", " 0", " 0", " 104" ], [ "36", " Pan", " 0.341", " 0.873", " -1.649", " 0", " 167.065", " 0", " 79" ], [ "37", " Bread", " 1.622", " 0.986", " 0.180", " 0", " 0", " 0", " 89" ], [ "38", " CellPhone", " -0.868", " 0.128", " 0.926", " 0", " 0", " 0", " 88" ], [ "39", " DishSponge", " 3.335", " 0.900", " -0.151", " 0", " 0", " 0", " 57" ], [ "40", " Tomato", " 0.356", " 0.947", " 0.827", " 0", " 0", " 0", " 89" ], [ "41", " Spoon", " -0.678", " 0.901", " -0.648", " 0", " 135", " 0", " 58" ], [ "42", " Bowl", " 1.255", " 1.671", " -1.550", " 0", " 0", " 0", " 49" ], [ "43", " Mug", " -0.717", " 0.895", " -0.270", " 0", " 0", " 0", " 58" ], [ "44", " Drawer", " 0.376", " 0.572", " -1.509", " 0", " 0", " 0", "" ], [ "45", " Drawer", " 3.020", " 0.769", " -0.783", " 0", " 180", " 0", "" ], [ "46", " Drawer", " -0.860", " 0.577", " 1.429", " 0", " 0", " 0", "" ], [ "47", " StoveBurner", " -0.600", " 0.897", " -1.090", " 0", " 135", " 0", "" ], [ "48", " Drawer", " 0.376", " 0.191", " -1.509", " 0", " 0", " 0", "" ], [ "49", " Cabinet", " 1.402", " 1.874", " -1.259", " 0", " 0", " 0", "" ], [ "50", " Cabinet", " -0.202", " 1.963", " -1.328", " 0", " 0", " 0", "" ], [ "51", " Drawer", " -0.860", " 0.765", " 1.429", " 0", " 0", " 0", "" ], [ "52", " Drawer", " -0.677", " 0.765", " -0.700", " 0", " 0", " 0", "" ], [ "53", " StoveBurner", " -0.420", " 0.897", " -0.920", " 0", " 135", " 0", "" ], [ "54", " Drawer", " 3.020", " 0.769", " -0.407", " 0", " 180", " 0", "" ], [ "55", " Drawer", " -0.860", " 0.577", " 0.663", " 0", " 0", " 0", "" ], [ "56", " Cabinet", " 2.819", " 1.768", " -1.850", " 0", " 0", " 0", "" ], [ "57", " CounterTop", " 3.111", " 0.936", " 0.019", " 0", " 0", " 0", "" ], [ "58", " CounterTop", " -1.007", " 0.935", " -0.039", " 0", " 0", " 0", "" ], [ "59", " Drawer", " -0.860", " 0.385", " 0.663", " 0", " 0", " 0", "" ], [ "60", " StoveBurner", " -0.419", " 0.897", " -1.269", " 0", " 315", " 0", "" ], [ "61", " Drawer", " -0.047", " 0.573", " -1.324", " 0", " 0", " 0", "" ], [ "62", " Drawer", " -0.860", " 0.765", " 0.663", " 0", " 0", " 0", "" ], [ "63", " Drawer", " -0.860", " 0.385", " -0.100", " 0", " 0", " 0", "" ], [ "64", " Drawer", " 0.376", " 0.380", " -1.509", " 0", " 0", " 0", "" ], [ "65", " Drawer", " -0.860", " 0.765", " -0.100", " 0", " 0", " 0", "" ], [ "66", " Drawer", " 0.376", " 0.765", " -1.509", " 0", " 0", " 0", "" ], [ "67", " Cabinet", " 2.849", " 0.419", " 0.409", " 0", " 0", " 0", "" ], [ "68", " Drawer", " -0.047", " 0.765", " -1.324", " 0", " 0", " 0", "" ], [ "69", " Cabinet", " 2.849", " 0.419", " -0.610", " 0", " 0", " 0", "" ], [ "70", " Cabinet", " 2.849", " 0.419", " -0.959", " 0", " 0", " 0", "" ], [ "71", " Cabinet", " 3.069", " 1.666", " -0.709", " 0", " 0", " 0", "" ], [ "72", " Cabinet", " 2.819", " 1.768", " -1.047", " 0", " 0", " 0", "" ], [ "73", " Cabinet", " 0.620", " 1.874", " -1.259", " 0", " 0", " 0", "" ], [ "74", " Cabinet", " 0.140", " 1.666", " -1.559", " 0", " 0", " 0", "" ], [ "75", " Cabinet", " -0.189", " 1.666", " -1.340", " 0", " 0", " 0", "" ], [ "76", " Cabinet", " -0.709", " 1.963", " -0.819", " 0", " 0", " 0", "" ], [ "77", " Cabinet", " -0.920", " 1.665", " -0.620", " 0", " 0", " 0", "" ], [ "78", " Drawer", " -0.860", " 0.190", " -0.100", " 0", " 0", " 0", "" ], [ "79", " CounterTop", " 0.133", " 0.935", " -1.457", " 0", " 0", " 0", "" ], [ "80", " Drawer", " 3.020", " 0.769", " 0.695", " 0", " 180", " 0", "" ], [ "81", " Drawer", " -0.677", " 0.577", " -0.700", " 0", " 0", " 0", "" ], [ "82", " Drawer", " -0.860", " 0.190", " 1.429", " 0", " 0", " 0", "" ], [ "83", " Drawer", " -0.047", " 0.192", " -1.324", " 0", " 0", " 0", "" ], [ "84", " Drawer", " -0.677", " 0.193", " -0.700", " 0", " 0", " 0", "" ], [ "85", " Drawer", " -0.860", " 0.577", " -0.100", " 0", " 0", " 0", "" ], [ "86", " Sink", " 3.078", " 0.887", " 0.086", " 0", " 0", " 0", "" ], [ "87", " StoveBurner", " -0.239", " 0.897", " -1.089", " 0", " 315", " 0", "" ], [ "88", " Drawer", " -0.860", " 0.190", " 0.663", " 0", " 0", " 0", "" ], [ "89", " CounterTop", " 1.210", " 0.937", " 0.463", " 0", " 0", " 0", "" ], [ "90", " Drawer", " -0.047", " 0.381", " -1.324", " 0", " 0", " 0", "" ], [ "91", " Drawer", " -0.677", " 0.387", " -0.700", " 0", " 0", " 0", "" ], [ "92", " Mirror", " -1.295", " 1.630", " 0.045", " 0", " 0", " 0", "" ], [ "93", " Drawer", " -0.860", " 0.385", " 1.429", " 0", " 0", " 0", "" ], [ "94", " HousePlant", " 3.196", " 0.891", " -0.368", " 0", " 0", " 0", "" ], [ "95", " StoveKnob", " -0.090", " 0.790", " -1.009", " 270", " 45", " 0", "" ], [ "96", " StoveKnob", " -0.280", " 0.790", " -0.819", " 270", " 45", " 0", "" ], [ "97", " StoveKnob", " -0.180", " 0.790", " -0.920", " 270", " 45", " 0", "" ], [ "98", " StoveKnob", " -0.370", " 0.790", " -0.720", " 270", " 45", " 0", "" ], [ "99", " GarbageCan", " 3.137", " 0.025", " 1.545", " 0", " 225", " 0", "" ], [ "100", " Window", " 3.703", " 1.675", " 0.046", " 90", " 90", " 0", "" ], [ "101", " CoffeeMachine", " 3.214", " 0.890", " 0.697", " 0", " 270", " 0", "" ], [ "102", " LightSwitch", " 2.592", " 1.309", " -1.880", " 0", " 0", " 0", "" ], [ "103", " SinkBasin", " 3.069", " 0.736", " 0.108", " 0", " 90", " 0", "" ], [ "104", " Fridge", " 1.008", " 0.029", " -1.467", " 0", " 0", " 0", "" ], [ "105", " Toaster", " -1.035", " 0.873", " -0.396", " 0", " 90", " 0", "" ], [ "106", " Microwave", " -1.034", " 0.874", " 1.428", " 0", " 90", " 0", "" ], [ "107", " Faucet", " 3.305", " 0.886", " 0.094", " 270", " 180", " 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 0.5 0.930 -0.5 0 90 0 1 Potato 1.622 0.946 0.747 0 0 0 89 2 Potato 0.110 0.938 -1.332 0 45 0 79 3 Ladle -1.008 0.937 0.846 0 0 0 58 4 DishSponge 0.101 0.899 -1.660 0 0 0 79 5 DishSponge 3.122 0.900 -0.897 0 0 0 57 6 Spatula 3.200 0.915 -0.599 0 0 0 57 7 Spoon 3.070 0.748 0.165 0 90 0 103 8 Fork -0.935 0.900 0.176 0 0 0 58 9 Fork -0.789 0.900 0.846 0 0 0 58 10 CellPhone 3.111 0.709 0.694 0 180 0 80 11 CellPhone 0.330 0.317 -1.515 0 0 0 64 12 Mug 3.049 0.966 0.591 0 270 0 101 13 Mug -1.052 0.992 1.417 0 90 0 106 14 Apple -0.779 0.974 -0.749 0 45 0 58 15 PepperShaker -0.944 1.254 -0.884 0 45 0 77 16 PepperShaker -0.827 0.702 -0.273 0 0 0 65 17 Cup 1.160 1.672 -1.341 0 0 0 49 18 Plate 3.181 1.477 -1.648 0 0 0 56 19 Plate 3.140 0.190 0.770 0 0 0 67 20 Glassbottle 3.084 0.176 -0.307 0 0 0 69 21 SoapBottle 0.204 1.268 -1.638 0 0 0 74 22 Potato -0.985 1.036 1.258 0 90 0 106 23 Fork 0.101 0.900 -1.588 0 0 0 79 24 Ladle 0.665 1.711 -1.550 0 90 0 73 25 Pot -0.420 0.902 -0.920 0 135 0 53 26 Kettle -0.038 0.901 -1.388 0 45 0 79 27 Spatula 0.836 0.923 0.410 0 36.810 0 89 28 Knife 2.947 0.738 -0.454 0 90 0 54 29 Lettuce 0.887 0.976 0.827 0 0 0 89 30 Cup 3.084 0.173 -0.870 0 0 0 70 31 SaltShaker -0.030 0.510 -1.352 0 45 0 61 32 Egg 2.888 0.953 -0.599 0 0 0 57 33 PepperShaker -0.686 0.130 -0.801 0 45 0 81 34 ButterKnife 3.069 0.747 0.032 0 270 0 103 35 Apple 1.008 0.785 -1.433 0 0 0 104 36 Pan 0.341 0.873 -1.649 0 167.065 0 79 37 Bread 1.622 0.986 0.180 0 0 0 89 38 CellPhone -0.868 0.128 0.926 0 0 0 88 39 DishSponge 3.335 0.900 -0.151 0 0 0 57 40 Tomato 0.356 0.947 0.827 0 0 0 89 41 Spoon -0.678 0.901 -0.648 0 135 0 58 42 Bowl 1.255 1.671 -1.550 0 0 0 49 43 Mug -0.717 0.895 -0.270 0 0 0 58 44 Drawer 0.376 0.572 -1.509 0 0 0 45 Drawer 3.020 0.769 -0.783 0 180 0 46 Drawer -0.860 0.577 1.429 0 0 0 47 StoveBurner -0.600 0.897 -1.090 0 135 0 48 Drawer 0.376 0.191 -1.509 0 0 0 49 Cabinet 1.402 1.874 -1.259 0 0 0 50 Cabinet -0.202 1.963 -1.328 0 0 0 51 Drawer -0.860 0.765 1.429 0 0 0 52 Drawer -0.677 0.765 -0.700 0 0 0 53 StoveBurner -0.420 0.897 -0.920 0 135 0 54 Drawer 3.020 0.769 -0.407 0 180 0 55 Drawer -0.860 0.577 0.663 0 0 0 56 Cabinet 2.819 1.768 -1.850 0 0 0 57 CounterTop 3.111 0.936 0.019 0 0 0 58 CounterTop -1.007 0.935 -0.039 0 0 0 59 Drawer -0.860 0.385 0.663 0 0 0 60 StoveBurner -0.419 0.897 -1.269 0 315 0 61 Drawer -0.047 0.573 -1.324 0 0 0 62 Drawer -0.860 0.765 0.663 0 0 0 63 Drawer -0.860 0.385 -0.100 0 0 0 64 Drawer 0.376 0.380 -1.509 0 0 0 65 Drawer -0.860 0.765 -0.100 0 0 0 66 Drawer 0.376 0.765 -1.509 0 0 0 67 Cabinet 2.849 0.419 0.409 0 0 0 68 Drawer -0.047 0.765 -1.324 0 0 0 69 Cabinet 2.849 0.419 -0.610 0 0 0 70 Cabinet 2.849 0.419 -0.959 0 0 0 71 Cabinet 3.069 1.666 -0.709 0 0 0 72 Cabinet 2.819 1.768 -1.047 0 0 0 73 Cabinet 0.620 1.874 -1.259 0 0 0 74 Cabinet 0.140 1.666 -1.559 0 0 0 75 Cabinet -0.189 1.666 -1.340 0 0 0 76 Cabinet -0.709 1.963 -0.819 0 0 0 77 Cabinet -0.920 1.665 -0.620 0 0 0 78 Drawer -0.860 0.190 -0.100 0 0 0 79 CounterTop 0.133 0.935 -1.457 0 0 0 80 Drawer 3.020 0.769 0.695 0 180 0 81 Drawer -0.677 0.577 -0.700 0 0 0 82 Drawer -0.860 0.190 1.429 0 0 0 83 Drawer -0.047 0.192 -1.324 0 0 0 84 Drawer -0.677 0.193 -0.700 0 0 0 85 Drawer -0.860 0.577 -0.100 0 0 0 86 Sink 3.078 0.887 0.086 0 0 0 87 StoveBurner -0.239 0.897 -1.089 0 315 0 88 Drawer -0.860 0.190 0.663 0 0 0 89 CounterTop 1.210 0.937 0.463 0 0 0 90 Drawer -0.047 0.381 -1.324 0 0 0 91 Drawer -0.677 0.387 -0.700 0 0 0 92 Mirror -1.295 1.630 0.045 0 0 0 93 Drawer -0.860 0.385 1.429 0 0 0 94 HousePlant 3.196 0.891 -0.368 0 0 0 95 StoveKnob -0.090 0.790 -1.009 270 45 0 96 StoveKnob -0.280 0.790 -0.819 270 45 0 97 StoveKnob -0.180 0.790 -0.920 270 45 0 98 StoveKnob -0.370 0.790 -0.720 270 45 0 99 GarbageCan 3.137 0.025 1.545 0 225 0 100 Window 3.703 1.675 0.046 90 90 0 101 CoffeeMachine 3.214 0.890 0.697 0 270 0 102 LightSwitch 2.592 1.309 -1.880 0 0 0 103 SinkBasin 3.069 0.736 0.108 0 90 0 104 Fridge 1.008 0.029 -1.467 0 0 0 105 Toaster -1.035 0.873 -0.396 0 90 0 106 Microwave -1.034 0.874 1.428 0 90 0 107 Faucet 3.305 0.886 0.094 270 180 0 108 NorthWall 109 EastWall 110 SouthWall 111 WestWall
[ "STEP 1: Turn around and right to the left side of the kitchen island. | STEP 2: Pick up the tomato on the counter. | STEP 3: Turn right and walk to the fridge. | STEP 4: Place the tomato in the fridge to the right of the apple. Close the door, wait a moment, and take it out again. | STEP 5: Turn left and walk to the sink. | STEP 6: Place the tomato in the front right corner of the sink. | END" ]
[ [ "STEP 1: Turn around and right to the left side of the kitchen island. ", " STEP 2: Pick up the tomato on the counter. ", " STEP 3: Turn right and walk to the fridge. ", " STEP 4: Place the tomato in the fridge to the right of the apple. Close the door, wait a moment, and take it out again. ", " STEP 5: Turn left and walk to the sink. ", " STEP 6: Place the tomato in the front right corner of the sink. ", " END" ] ]
seen
trial_T20190908_012118_563424-1
To cool a tomato.
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " 0.5", " 0.930", " -0.5", " 0", " 90", " 0", "" ], [ "1", " Potato", " 1.622", " 0.946", " 0.747", " 0", " 0", " 0", " 89" ], [ "2", " Potato", " 0.110", " 0.938", " -1.332", " 0", " 45", " 0", " 79" ], [ "3", " Ladle", " -1.008", " 0.937", " 0.846", " 0", " 0", " 0", " 58" ], [ "4", " DishSponge", " 0.101", " 0.899", " -1.660", " 0", " 0", " 0", " 79" ], [ "5", " DishSponge", " 3.122", " 0.900", " -0.897", " 0", " 0", " 0", " 57" ], [ "6", " Spatula", " 3.200", " 0.915", " -0.599", " 0", " 0", " 0", " 57" ], [ "7", " Spoon", " 3.070", " 0.748", " 0.165", " 0", " 90", " 0", " 103" ], [ "8", " Fork", " -0.935", " 0.900", " 0.176", " 0", " 0", " 0", " 58" ], [ "9", " Fork", " -0.789", " 0.900", " 0.846", " 0", " 0", " 0", " 58" ], [ "10", " CellPhone", " 3.111", " 0.709", " 0.694", " 0", " 180", " 0", " 80" ], [ "11", " CellPhone", " 0.330", " 0.317", " -1.515", " 0", " 0", " 0", " 64" ], [ "12", " Mug", " 3.049", " 0.966", " 0.591", " 0", " 270", " 0", " 101" ], [ "13", " Mug", " -1.052", " 0.992", " 1.417", " 0", " 90", " 0", " 106" ], [ "14", " Apple", " -0.779", " 0.974", " -0.749", " 0", " 45", " 0", " 58" ], [ "15", " PepperShaker", " -0.944", " 1.254", " -0.884", " 0", " 45", " 0", " 77" ], [ "16", " PepperShaker", " -0.827", " 0.702", " -0.273", " 0", " 0", " 0", " 65" ], [ "17", " Cup", " 1.160", " 1.672", " -1.341", " 0", " 0", " 0", " 49" ], [ "18", " Plate", " 3.181", " 1.477", " -1.648", " 0", " 0", " 0", " 56" ], [ "19", " Plate", " 3.140", " 0.190", " 0.770", " 0", " 0", " 0", " 67" ], [ "20", " Glassbottle", " 3.084", " 0.176", " -0.307", " 0", " 0", " 0", " 69" ], [ "21", " SoapBottle", " 0.204", " 1.268", " -1.638", " 0", " 0", " 0", " 74" ], [ "22", " Potato", " -0.985", " 1.036", " 1.258", " 0", " 90", " 0", " 106" ], [ "23", " Fork", " 0.101", " 0.900", " -1.588", " 0", " 0", " 0", " 79" ], [ 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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 0.930 -0.5 0 90 0 1 Potato 1.622 0.946 0.747 0 0 0 89 2 Potato 0.110 0.938 -1.332 0 45 0 79 3 Ladle -1.008 0.937 0.846 0 0 0 58 4 DishSponge 0.101 0.899 -1.660 0 0 0 79 5 DishSponge 3.122 0.900 -0.897 0 0 0 57 6 Spatula 3.200 0.915 -0.599 0 0 0 57 7 Spoon 3.070 0.748 0.165 0 90 0 103 8 Fork -0.935 0.900 0.176 0 0 0 58 9 Fork -0.789 0.900 0.846 0 0 0 58 10 CellPhone 3.111 0.709 0.694 0 180 0 80 11 CellPhone 0.330 0.317 -1.515 0 0 0 64 12 Mug 3.049 0.966 0.591 0 270 0 101 13 Mug -1.052 0.992 1.417 0 90 0 106 14 Apple -0.779 0.974 -0.749 0 45 0 58 15 PepperShaker -0.944 1.254 -0.884 0 45 0 77 16 PepperShaker -0.827 0.702 -0.273 0 0 0 65 17 Cup 1.160 1.672 -1.341 0 0 0 49 18 Plate 3.181 1.477 -1.648 0 0 0 56 19 Plate 3.140 0.190 0.770 0 0 0 67 20 Glassbottle 3.084 0.176 -0.307 0 0 0 69 21 SoapBottle 0.204 1.268 -1.638 0 0 0 74 22 Potato -0.985 1.036 1.258 0 90 0 106 23 Fork 0.101 0.900 -1.588 0 0 0 79 24 Ladle 0.665 1.711 -1.550 0 90 0 73 25 Pot -0.420 0.902 -0.920 0 135 0 53 26 Kettle -0.038 0.901 -1.388 0 45 0 79 27 Spatula 0.836 0.923 0.410 0 36.810 0 89 28 Knife 2.947 0.738 -0.454 0 90 0 54 29 Lettuce 0.887 0.976 0.827 0 0 0 89 30 Cup 3.084 0.173 -0.870 0 0 0 70 31 SaltShaker -0.030 0.510 -1.352 0 45 0 61 32 Egg 2.888 0.953 -0.599 0 0 0 57 33 PepperShaker -0.686 0.130 -0.801 0 45 0 81 34 ButterKnife 3.069 0.747 0.032 0 270 0 103 35 Apple 1.008 0.785 -1.433 0 0 0 104 36 Pan 0.341 0.873 -1.649 0 167.065 0 79 37 Bread 1.622 0.986 0.180 0 0 0 89 38 CellPhone -0.868 0.128 0.926 0 0 0 88 39 DishSponge 3.335 0.900 -0.151 0 0 0 57 40 Tomato 0.356 0.947 0.827 0 0 0 89 41 Spoon -0.678 0.901 -0.648 0 135 0 58 42 Bowl 1.255 1.671 -1.550 0 0 0 49 43 Mug -0.717 0.895 -0.270 0 0 0 58 44 Drawer 0.376 0.572 -1.509 0 0 0 45 Drawer 3.020 0.769 -0.783 0 180 0 46 Drawer -0.860 0.577 1.429 0 0 0 47 StoveBurner -0.600 0.897 -1.090 0 135 0 48 Drawer 0.376 0.191 -1.509 0 0 0 49 Cabinet 1.402 1.874 -1.259 0 0 0 50 Cabinet -0.202 1.963 -1.328 0 0 0 51 Drawer -0.860 0.765 1.429 0 0 0 52 Drawer -0.677 0.765 -0.700 0 0 0 53 StoveBurner -0.420 0.897 -0.920 0 135 0 54 Drawer 3.020 0.769 -0.407 0 180 0 55 Drawer -0.860 0.577 0.663 0 0 0 56 Cabinet 2.819 1.768 -1.850 0 0 0 57 CounterTop 3.111 0.936 0.019 0 0 0 58 CounterTop -1.007 0.935 -0.039 0 0 0 59 Drawer -0.860 0.385 0.663 0 0 0 60 StoveBurner -0.419 0.897 -1.269 0 315 0 61 Drawer -0.047 0.573 -1.324 0 0 0 62 Drawer -0.860 0.765 0.663 0 0 0 63 Drawer -0.860 0.385 -0.100 0 0 0 64 Drawer 0.376 0.380 -1.509 0 0 0 65 Drawer -0.860 0.765 -0.100 0 0 0 66 Drawer 0.376 0.765 -1.509 0 0 0 67 Cabinet 2.849 0.419 0.409 0 0 0 68 Drawer -0.047 0.765 -1.324 0 0 0 69 Cabinet 2.849 0.419 -0.610 0 0 0 70 Cabinet 2.849 0.419 -0.959 0 0 0 71 Cabinet 3.069 1.666 -0.709 0 0 0 72 Cabinet 2.819 1.768 -1.047 0 0 0 73 Cabinet 0.620 1.874 -1.259 0 0 0 74 Cabinet 0.140 1.666 -1.559 0 0 0 75 Cabinet -0.189 1.666 -1.340 0 0 0 76 Cabinet -0.709 1.963 -0.819 0 0 0 77 Cabinet -0.920 1.665 -0.620 0 0 0 78 Drawer -0.860 0.190 -0.100 0 0 0 79 CounterTop 0.133 0.935 -1.457 0 0 0 80 Drawer 3.020 0.769 0.695 0 180 0 81 Drawer -0.677 0.577 -0.700 0 0 0 82 Drawer -0.860 0.190 1.429 0 0 0 83 Drawer -0.047 0.192 -1.324 0 0 0 84 Drawer -0.677 0.193 -0.700 0 0 0 85 Drawer -0.860 0.577 -0.100 0 0 0 86 Sink 3.078 0.887 0.086 0 0 0 87 StoveBurner -0.239 0.897 -1.089 0 315 0 88 Drawer -0.860 0.190 0.663 0 0 0 89 CounterTop 1.210 0.937 0.463 0 0 0 90 Drawer -0.047 0.381 -1.324 0 0 0 91 Drawer -0.677 0.387 -0.700 0 0 0 92 Mirror -1.295 1.630 0.045 0 0 0 93 Drawer -0.860 0.385 1.429 0 0 0 94 HousePlant 3.196 0.891 -0.368 0 0 0 95 StoveKnob -0.090 0.790 -1.009 270 45 0 96 StoveKnob -0.280 0.790 -0.819 270 45 0 97 StoveKnob -0.180 0.790 -0.920 270 45 0 98 StoveKnob -0.370 0.790 -0.720 270 45 0 99 GarbageCan 3.137 0.025 1.545 0 225 0 100 Window 3.703 1.675 0.046 90 90 0 101 CoffeeMachine 3.214 0.890 0.697 0 270 0 102 LightSwitch 2.592 1.309 -1.880 0 0 0 103 SinkBasin 3.069 0.736 0.108 0 90 0 104 Fridge 1.008 0.029 -1.467 0 0 0 105 Toaster -1.035 0.873 -0.396 0 90 0 106 Microwave -1.034 0.874 1.428 0 90 0 107 Faucet 3.305 0.886 0.094 270 180 0 108 NorthWall 109 EastWall 110 SouthWall 111 WestWall
[ "STEP 1: Turn around and take one step, then turn right and walk to the end of the kitchen island, then turn right to face it. | STEP 2: Pick up the tomato at the edge of the counter. | STEP 3: Turn right and walk across the room, then turn left and take two steps, then turn right to face the fridge. | STEP 4: Open the fridge and place the tomato on the right side of the bottom shelf, then close the fridge door for three seconds, then open it and pick up the tomato. | STEP 5: Turn to the left and walk across the room, then turn left and take two steps, then turn right to face the counter. | STEP 6: Place the tomato in the right side of the sink. | END" ]
[ [ "STEP 1: Turn around and take one step, then turn right and walk to the end of the kitchen island, then turn right to face it. ", " STEP 2: Pick up the tomato at the edge of the counter. ", " STEP 3: Turn right and walk across the room, then turn left and take two steps, then turn right to face the fridge. ", " STEP 4: Open the fridge and place the tomato on the right side of the bottom shelf, then close the fridge door for three seconds, then open it and pick up the tomato. ", " STEP 5: Turn to the left and walk across the room, then turn left and take two steps, then turn right to face the counter. ", " STEP 6: Place the tomato in the right side of the sink. ", " END" ] ]
seen
trial_T20190908_012118_563424-2
chill a tomato in the fridge then put 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 0.930 -0.5 0 90 0 1 Potato 1.622 0.946 0.747 0 0 0 89 2 Potato 0.110 0.938 -1.332 0 45 0 79 3 Ladle -1.008 0.937 0.846 0 0 0 58 4 DishSponge 0.101 0.899 -1.660 0 0 0 79 5 DishSponge 3.122 0.900 -0.897 0 0 0 57 6 Spatula 3.200 0.915 -0.599 0 0 0 57 7 Spoon 3.070 0.748 0.165 0 90 0 103 8 Fork -0.935 0.900 0.176 0 0 0 58 9 Fork -0.789 0.900 0.846 0 0 0 58 10 CellPhone 3.111 0.709 0.694 0 180 0 80 11 CellPhone 0.330 0.317 -1.515 0 0 0 64 12 Mug 3.049 0.966 0.591 0 270 0 101 13 Mug -1.052 0.992 1.417 0 90 0 106 14 Apple -0.779 0.974 -0.749 0 45 0 58 15 PepperShaker -0.944 1.254 -0.884 0 45 0 77 16 PepperShaker -0.827 0.702 -0.273 0 0 0 65 17 Cup 1.160 1.672 -1.341 0 0 0 49 18 Plate 3.181 1.477 -1.648 0 0 0 56 19 Plate 3.140 0.190 0.770 0 0 0 67 20 Glassbottle 3.084 0.176 -0.307 0 0 0 69 21 SoapBottle 0.204 1.268 -1.638 0 0 0 74 22 Potato -0.985 1.036 1.258 0 90 0 106 23 Fork 0.101 0.900 -1.588 0 0 0 79 24 Ladle 0.665 1.711 -1.550 0 90 0 73 25 Pot -0.420 0.902 -0.920 0 135 0 53 26 Kettle -0.038 0.901 -1.388 0 45 0 79 27 Spatula 0.836 0.923 0.410 0 36.810 0 89 28 Knife 2.947 0.738 -0.454 0 90 0 54 29 Lettuce 0.887 0.976 0.827 0 0 0 89 30 Cup 3.084 0.173 -0.870 0 0 0 70 31 SaltShaker -0.030 0.510 -1.352 0 45 0 61 32 Egg 2.888 0.953 -0.599 0 0 0 57 33 PepperShaker -0.686 0.130 -0.801 0 45 0 81 34 ButterKnife 3.069 0.747 0.032 0 270 0 103 35 Apple 1.008 0.785 -1.433 0 0 0 104 36 Pan 0.341 0.873 -1.649 0 167.065 0 79 37 Bread 1.622 0.986 0.180 0 0 0 89 38 CellPhone -0.868 0.128 0.926 0 0 0 88 39 DishSponge 3.335 0.900 -0.151 0 0 0 57 40 Tomato 0.356 0.947 0.827 0 0 0 89 41 Spoon -0.678 0.901 -0.648 0 135 0 58 42 Bowl 1.255 1.671 -1.550 0 0 0 49 43 Mug -0.717 0.895 -0.270 0 0 0 58 44 Drawer 0.376 0.572 -1.509 0 0 0 45 Drawer 3.020 0.769 -0.783 0 180 0 46 Drawer -0.860 0.577 1.429 0 0 0 47 StoveBurner -0.600 0.897 -1.090 0 135 0 48 Drawer 0.376 0.191 -1.509 0 0 0 49 Cabinet 1.402 1.874 -1.259 0 0 0 50 Cabinet -0.202 1.963 -1.328 0 0 0 51 Drawer -0.860 0.765 1.429 0 0 0 52 Drawer -0.677 0.765 -0.700 0 0 0 53 StoveBurner -0.420 0.897 -0.920 0 135 0 54 Drawer 3.020 0.769 -0.407 0 180 0 55 Drawer -0.860 0.577 0.663 0 0 0 56 Cabinet 2.819 1.768 -1.850 0 0 0 57 CounterTop 3.111 0.936 0.019 0 0 0 58 CounterTop -1.007 0.935 -0.039 0 0 0 59 Drawer -0.860 0.385 0.663 0 0 0 60 StoveBurner -0.419 0.897 -1.269 0 315 0 61 Drawer -0.047 0.573 -1.324 0 0 0 62 Drawer -0.860 0.765 0.663 0 0 0 63 Drawer -0.860 0.385 -0.100 0 0 0 64 Drawer 0.376 0.380 -1.509 0 0 0 65 Drawer -0.860 0.765 -0.100 0 0 0 66 Drawer 0.376 0.765 -1.509 0 0 0 67 Cabinet 2.849 0.419 0.409 0 0 0 68 Drawer -0.047 0.765 -1.324 0 0 0 69 Cabinet 2.849 0.419 -0.610 0 0 0 70 Cabinet 2.849 0.419 -0.959 0 0 0 71 Cabinet 3.069 1.666 -0.709 0 0 0 72 Cabinet 2.819 1.768 -1.047 0 0 0 73 Cabinet 0.620 1.874 -1.259 0 0 0 74 Cabinet 0.140 1.666 -1.559 0 0 0 75 Cabinet -0.189 1.666 -1.340 0 0 0 76 Cabinet -0.709 1.963 -0.819 0 0 0 77 Cabinet -0.920 1.665 -0.620 0 0 0 78 Drawer -0.860 0.190 -0.100 0 0 0 79 CounterTop 0.133 0.935 -1.457 0 0 0 80 Drawer 3.020 0.769 0.695 0 180 0 81 Drawer -0.677 0.577 -0.700 0 0 0 82 Drawer -0.860 0.190 1.429 0 0 0 83 Drawer -0.047 0.192 -1.324 0 0 0 84 Drawer -0.677 0.193 -0.700 0 0 0 85 Drawer -0.860 0.577 -0.100 0 0 0 86 Sink 3.078 0.887 0.086 0 0 0 87 StoveBurner -0.239 0.897 -1.089 0 315 0 88 Drawer -0.860 0.190 0.663 0 0 0 89 CounterTop 1.210 0.937 0.463 0 0 0 90 Drawer -0.047 0.381 -1.324 0 0 0 91 Drawer -0.677 0.387 -0.700 0 0 0 92 Mirror -1.295 1.630 0.045 0 0 0 93 Drawer -0.860 0.385 1.429 0 0 0 94 HousePlant 3.196 0.891 -0.368 0 0 0 95 StoveKnob -0.090 0.790 -1.009 270 45 0 96 StoveKnob -0.280 0.790 -0.819 270 45 0 97 StoveKnob -0.180 0.790 -0.920 270 45 0 98 StoveKnob -0.370 0.790 -0.720 270 45 0 99 GarbageCan 3.137 0.025 1.545 0 225 0 100 Window 3.703 1.675 0.046 90 90 0 101 CoffeeMachine 3.214 0.890 0.697 0 270 0 102 LightSwitch 2.592 1.309 -1.880 0 0 0 103 SinkBasin 3.069 0.736 0.108 0 90 0 104 Fridge 1.008 0.029 -1.467 0 0 0 105 Toaster -1.035 0.873 -0.396 0 90 0 106 Microwave -1.034 0.874 1.428 0 90 0 107 Faucet 3.305 0.886 0.094 270 180 0 108 NorthWall 109 EastWall 110 SouthWall 111 WestWall
[ "STEP 1: go the the corner of the island on the left | STEP 2: pick up the tomato from the counter | STEP 3: walk the tomato to the front of the fridge | STEP 4: put the tomato in the fridge then remove | STEP 5: walk the chilled tomato to the counter next to the sink | STEP 6: set the tomato on the counter with the egg | END" ]
[ [ "STEP 1: go the the corner of the island on the left ", " STEP 2: pick up the tomato from the counter ", " STEP 3: walk the tomato to the front of the fridge ", " STEP 4: put the tomato in the fridge then remove ", " STEP 5: walk the chilled tomato to the counter next to the sink ", " STEP 6: set the tomato on the counter with the egg ", " END" ] ]
seen
trial_T20190911_195627_296974-0
put the green sponge in the plate in the refrigerator, move the plate to the cabinet under sink
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.0 0.900 -3.0 0 270 0 1 DishSponge -3.942 0.690 -0.248 0 0 0 76 2 ButterKnife -3.565 0.894 -0.204 0 270 0 78 3 Fork -0.236 0.941 -1.319 0 0 0 59 4 Egg -3.665 0.801 -3.515 0 334.125 0 77 5 Egg -4.002 0.731 -0.430 0 0 0 76 6 Cup -0.263 0.943 -2.934 0 45 0 41 7 Cup -0.097 1.938 -1.055 0 0 0 49 8 Plate -3.496 0.774 -3.430 0 109.125 0 77 9 Plate -0.283 1.502 -0.529 0 270 0 71 10 Knife -3.747 0.785 -3.210 0 289.125 0 77 11 Knife -4.062 0.716 -0.187 0 180 0 76 12 Tomato -0.417 1.337 -0.645 0 270 0 71 13 Tomato -2.962 0.945 -0.376 0 270 0 78 14 Bowl -0.359 1.487 -0.762 0 270 0 71 15 Bowl -4.080 0.758 -3.227 0 109.125 0 77 16 Bread -3.163 0.976 -0.548 0 270 0 78 17 Bread -2.560 0.976 -0.376 0 270 0 78 18 PepperShaker -0.555 1.500 -3.620 0 45 0 53 19 PepperShaker -4.182 0.686 -0.126 0 0 0 76 20 SoapBottle -3.942 0.689 -0.491 0 90 0 76 21 Pot -3.230 0.761 -3.061 0 244.125 0 77 22 Fork -3.925 0.760 -3.399 0 334.125 0 77 23 Cup -3.580 0.760 -3.202 0 109.125 0 77 24 Tomato -0.252 1.337 -0.297 0 270 0 71 25 Pan -0.437 0.961 -2.243 0 0 0 44 26 Plate -0.201 1.589 -1.990 0 270 0 73 27 Bread -4.122 0.771 -0.369 0 0 0 76 28 Spatula -0.406 0.766 -2.632 0 270 0 46 29 Knife -2.560 0.920 -0.290 0 0 0 78 30 SaltShaker -0.552 0.937 -1.319 0 0 0 59 31 PepperShaker -3.942 0.686 -0.126 0 0 0 76 32 ButterKnife -0.315 0.941 -1.581 0 0 0 59 33 Apple -3.474 0.821 -3.765 0 334.125 0 77 34 DishSponge -0.236 0.940 -1.494 0 0 0 59 35 Potato -0.682 0.845 -3.531 0 315 0 70 36 Egg -0.818 0.854 -3.510 0 315 0 70 37 Spoon -0.157 0.942 -1.581 0 180 0 59 38 Lettuce -0.359 1.579 -0.297 0 270 0 71 39 Mug -0.527 0.808 -3.454 0 315 0 70 40 Bowl -0.252 1.284 -0.646 0 270 0 71 41 CounterTop -1.937 0.977 -3.673 0 0 0 42 StoveBurner -0.437 0.924 -1.845 0 180 0 43 StoveBurner -0.222 0.924 -1.845 0 180 0 44 StoveBurner -0.437 0.924 -2.243 0 0 0 45 Drawer -0.500 0.779 -1.450 0 0 0 46 Drawer -0.481 0.777 -2.739 0 0 0 47 Drawer -1.154 0.782 -3.499 0 0 0 48 Cabinet -0.337 2.110 -0.390 0 0 0 49 Cabinet -0.337 2.110 -1.272 0 0 0 50 Cabinet -0.337 2.110 -1.631 0 0 0 51 Cabinet -0.337 2.110 -2.497 0 0 0 52 Cabinet -0.337 1.891 -1.286 0 0 0 53 Cabinet -0.346 1.891 -3.293 0 0 0 54 Cabinet -0.629 0.388 -2.513 0 0 0 55 Cabinet -0.633 0.388 -3.008 0 0 0 56 Cabinet -1.010 0.388 -3.368 0 0 0 57 Cabinet -0.629 0.388 -1.614 0 0 0 58 Cabinet -0.327 1.886 -2.513 0 0 0 59 CounterTop -0.326 0.976 -1.450 0 0 0 60 StoveBurner -0.222 0.924 -2.243 0 0 0 61 Sink -0.600 0.929 -3.388 0 0 0 62 StoveKnob -0.617 0.899 -1.833 315 90 180 63 StoveKnob -0.617 0.899 -2.129 315 90 180 64 StoveKnob -0.617 0.899 -2.289 315 90 180 65 StoveKnob -0.617 0.899 -1.975 315 90 180 66 GarbageCan -2.418 -0.032 -3.541 0 0 0 67 CoffeeMachine -2.513 0.930 -3.797 0 0 0 68 Window -1.389 1.610 -4.113 90 0 0 69 LightSwitch -4.372 1.493 -1.031 0 90 0 70 SinkBasin -0.614 0.802 -3.384 0 315 0 71 Fridge -0.314 0.0 -0.646 0 0 0 72 Toaster -1.970 0.930 -3.763 0 0 0 73 Microwave -0.216 1.470 -2.054 0 270 0 74 Blinds -1.373 2.205 -3.961 0 0 0 75 Faucet -0.393 0.930 -3.614 270 225 0 76 SideTable -4.030 0.002 -0.301 0 185.034 0 77 DiningTable -3.586 0.000 -3.258 0 0 0 78 DiningTable -3.224 -0.003 -0.453 0 0 0 79 Shelf -4.030 0.259 -0.301 0 185.034 0 80 Shelf -4.030 0.489 -0.301 0 185.034 0 81 EastWall 82 EastWall 83 SouthWall
[ "STEP 1: turn right, walk to the counter in between the refrigerator, and the stove | STEP 2: grab the green sponge from the counter | STEP 3: walk to the left a little | STEP 4: open the refrigerator, put the green sponge on the plate in the refrigerator | STEP 5: take the plate out of the refrigerator, close the refrigerator | STEP 6: turn around, walk to the sink | STEP 7: put the plate in the cabinet under the sink | END" ]
[ [ "STEP 1: turn right, walk to the counter in between the refrigerator, and the stove ", " STEP 2: grab the green sponge from the counter ", " STEP 3: walk to the left a little ", " STEP 4: open the refrigerator, put the green sponge on the plate in the refrigerator ", " STEP 5: take the plate out of the refrigerator, close the refrigerator ", " STEP 6: turn around, walk to the sink ", " STEP 7: put the plate in the cabinet under the sink ", " END" ] ]
seen
trial_T20190911_195627_296974-1
Put a plate with a sponge on it under the sink.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.0 0.900 -3.0 0 270 0 1 DishSponge -3.942 0.690 -0.248 0 0 0 76 2 ButterKnife -3.565 0.894 -0.204 0 270 0 78 3 Fork -0.236 0.941 -1.319 0 0 0 59 4 Egg -3.665 0.801 -3.515 0 334.125 0 77 5 Egg -4.002 0.731 -0.430 0 0 0 76 6 Cup -0.263 0.943 -2.934 0 45 0 41 7 Cup -0.097 1.938 -1.055 0 0 0 49 8 Plate -3.496 0.774 -3.430 0 109.125 0 77 9 Plate -0.283 1.502 -0.529 0 270 0 71 10 Knife -3.747 0.785 -3.210 0 289.125 0 77 11 Knife -4.062 0.716 -0.187 0 180 0 76 12 Tomato -0.417 1.337 -0.645 0 270 0 71 13 Tomato -2.962 0.945 -0.376 0 270 0 78 14 Bowl -0.359 1.487 -0.762 0 270 0 71 15 Bowl -4.080 0.758 -3.227 0 109.125 0 77 16 Bread -3.163 0.976 -0.548 0 270 0 78 17 Bread -2.560 0.976 -0.376 0 270 0 78 18 PepperShaker -0.555 1.500 -3.620 0 45 0 53 19 PepperShaker -4.182 0.686 -0.126 0 0 0 76 20 SoapBottle -3.942 0.689 -0.491 0 90 0 76 21 Pot -3.230 0.761 -3.061 0 244.125 0 77 22 Fork -3.925 0.760 -3.399 0 334.125 0 77 23 Cup -3.580 0.760 -3.202 0 109.125 0 77 24 Tomato -0.252 1.337 -0.297 0 270 0 71 25 Pan -0.437 0.961 -2.243 0 0 0 44 26 Plate -0.201 1.589 -1.990 0 270 0 73 27 Bread -4.122 0.771 -0.369 0 0 0 76 28 Spatula -0.406 0.766 -2.632 0 270 0 46 29 Knife -2.560 0.920 -0.290 0 0 0 78 30 SaltShaker -0.552 0.937 -1.319 0 0 0 59 31 PepperShaker -3.942 0.686 -0.126 0 0 0 76 32 ButterKnife -0.315 0.941 -1.581 0 0 0 59 33 Apple -3.474 0.821 -3.765 0 334.125 0 77 34 DishSponge -0.236 0.940 -1.494 0 0 0 59 35 Potato -0.682 0.845 -3.531 0 315 0 70 36 Egg -0.818 0.854 -3.510 0 315 0 70 37 Spoon -0.157 0.942 -1.581 0 180 0 59 38 Lettuce -0.359 1.579 -0.297 0 270 0 71 39 Mug -0.527 0.808 -3.454 0 315 0 70 40 Bowl -0.252 1.284 -0.646 0 270 0 71 41 CounterTop -1.937 0.977 -3.673 0 0 0 42 StoveBurner -0.437 0.924 -1.845 0 180 0 43 StoveBurner -0.222 0.924 -1.845 0 180 0 44 StoveBurner -0.437 0.924 -2.243 0 0 0 45 Drawer -0.500 0.779 -1.450 0 0 0 46 Drawer -0.481 0.777 -2.739 0 0 0 47 Drawer -1.154 0.782 -3.499 0 0 0 48 Cabinet -0.337 2.110 -0.390 0 0 0 49 Cabinet -0.337 2.110 -1.272 0 0 0 50 Cabinet -0.337 2.110 -1.631 0 0 0 51 Cabinet -0.337 2.110 -2.497 0 0 0 52 Cabinet -0.337 1.891 -1.286 0 0 0 53 Cabinet -0.346 1.891 -3.293 0 0 0 54 Cabinet -0.629 0.388 -2.513 0 0 0 55 Cabinet -0.633 0.388 -3.008 0 0 0 56 Cabinet -1.010 0.388 -3.368 0 0 0 57 Cabinet -0.629 0.388 -1.614 0 0 0 58 Cabinet -0.327 1.886 -2.513 0 0 0 59 CounterTop -0.326 0.976 -1.450 0 0 0 60 StoveBurner -0.222 0.924 -2.243 0 0 0 61 Sink -0.600 0.929 -3.388 0 0 0 62 StoveKnob -0.617 0.899 -1.833 315 90 180 63 StoveKnob -0.617 0.899 -2.129 315 90 180 64 StoveKnob -0.617 0.899 -2.289 315 90 180 65 StoveKnob -0.617 0.899 -1.975 315 90 180 66 GarbageCan -2.418 -0.032 -3.541 0 0 0 67 CoffeeMachine -2.513 0.930 -3.797 0 0 0 68 Window -1.389 1.610 -4.113 90 0 0 69 LightSwitch -4.372 1.493 -1.031 0 90 0 70 SinkBasin -0.614 0.802 -3.384 0 315 0 71 Fridge -0.314 0.0 -0.646 0 0 0 72 Toaster -1.970 0.930 -3.763 0 0 0 73 Microwave -0.216 1.470 -2.054 0 270 0 74 Blinds -1.373 2.205 -3.961 0 0 0 75 Faucet -0.393 0.930 -3.614 270 225 0 76 SideTable -4.030 0.002 -0.301 0 185.034 0 77 DiningTable -3.586 0.000 -3.258 0 0 0 78 DiningTable -3.224 -0.003 -0.453 0 0 0 79 Shelf -4.030 0.259 -0.301 0 185.034 0 80 Shelf -4.030 0.489 -0.301 0 185.034 0 81 EastWall 82 EastWall 83 SouthWall
[ "STEP 1: Turn left, walk past the stove, then turn right to face the counter. | STEP 2: Pick up the sponge on the counter. | STEP 3: Go to the fridge, to your left. | STEP 4: Put the sponge on the plate, on the top shelf of the fridge. | STEP 5: Pick up the plate with the sponge on it. | STEP 6: Turn around and go to the dishwasher, then turn left. | STEP 7: Put the plate in the cabinet, under the sink. | END" ]
[ [ "STEP 1: Turn left, walk past the stove, then turn right to face the counter. ", " STEP 2: Pick up the sponge on the counter. ", " STEP 3: Go to the fridge, to your left. ", " STEP 4: Put the sponge on the plate, on the top shelf of the fridge. ", " STEP 5: Pick up the plate with the sponge on it. ", " STEP 6: Turn around and go to the dishwasher, then turn left. ", " STEP 7: Put the plate in the cabinet, under the sink. ", " END" ] ]
seen
trial_T20190911_195627_296974-2
Put a plate with a sponge on it under the sink.
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"11", " Knife", " -4.062", " 0.716", " -0.187", " 0", " 180", " 0", " 76" ], [ "12", " Tomato", " -0.417", " 1.337", " -0.645", " 0", " 270", " 0", " 71" ], [ "13", " Tomato", " -2.962", " 0.945", " -0.376", " 0", " 270", " 0", " 78" ], [ "14", " Bowl", " -0.359", " 1.487", " -0.762", " 0", " 270", " 0", " 71" ], [ "15", " Bowl", " -4.080", " 0.758", " -3.227", " 0", " 109.125", " 0", " 77" ], [ "16", " Bread", " -3.163", " 0.976", " -0.548", " 0", " 270", " 0", " 78" ], [ "17", " Bread", " -2.560", " 0.976", " -0.376", " 0", " 270", " 0", " 78" ], [ "18", " PepperShaker", " -0.555", " 1.500", " -3.620", " 0", " 45", " 0", " 53" ], [ "19", " PepperShaker", " -4.182", " 0.686", " -0.126", " 0", " 0", " 0", " 76" ], [ "20", " SoapBottle", " -3.942", " 0.689", " -0.491", " 0", " 90", " 0", " 76" ], [ "21", " Pot", " -3.230", " 0.761", " -3.061", " 0", " 244.125", " 0", " 77" ], [ "22", " Fork", " -3.925", " 0.760", " -3.399", " 0", " 334.125", " 0", " 77" ], [ "23", " Cup", " -3.580", " 0.760", " -3.202", " 0", " 109.125", " 0", " 77" ], [ "24", " Tomato", " -0.252", " 1.337", " -0.297", " 0", " 270", " 0", " 71" ], [ "25", " Pan", " -0.437", " 0.961", " -2.243", " 0", " 0", " 0", " 44" ], [ "26", " Plate", " -0.201", " 1.589", " -1.990", " 0", " 270", " 0", " 73" ], [ "27", " Bread", " -4.122", " 0.771", " -0.369", " 0", " 0", " 0", " 76" ], [ "28", " Spatula", " -0.406", " 0.766", " -2.632", " 0", " 270", " 0", " 46" ], [ "29", " Knife", " -2.560", " 0.920", " -0.290", " 0", " 0", " 0", " 78" ], [ "30", " SaltShaker", " -0.552", " 0.937", " -1.319", " 0", " 0", " 0", " 59" ], [ "31", " PepperShaker", " -3.942", " 0.686", " -0.126", " 0", " 0", " 0", " 76" ], [ "32", " ButterKnife", " -0.315", " 0.941", " -1.581", " 0", " 0", " 0", " 59" ], [ "33", " Apple", " -3.474", " 0.821", " -3.765", " 0", " 334.125", " 0", " 77" ], [ "34", " DishSponge", " -0.236", " 0.940", " -1.494", " 0", " 0", " 0", " 59" ], [ "35", " Potato", " -0.682", " 0.845", " -3.531", " 0", " 315", " 0", " 70" ], [ "36", " Egg", " -0.818", " 0.854", " -3.510", " 0", " 315", " 0", " 70" ], [ "37", " Spoon", " -0.157", " 0.942", " -1.581", " 0", " 180", " 0", " 59" ], [ "38", " Lettuce", " -0.359", " 1.579", " -0.297", " 0", " 270", " 0", " 71" ], [ "39", " Mug", " -0.527", " 0.808", " -3.454", " 0", " 315", " 0", " 70" ], [ "40", " Bowl", " -0.252", " 1.284", " -0.646", " 0", " 270", " 0", " 71" ], [ "41", " CounterTop", " -1.937", " 0.977", " -3.673", " 0", " 0", " 0", "" ], [ "42", " StoveBurner", " -0.437", " 0.924", " -1.845", " 0", " 180", " 0", "" ], [ "43", " StoveBurner", " -0.222", " 0.924", " -1.845", " 0", " 180", " 0", "" ], [ "44", " StoveBurner", " -0.437", " 0.924", " -2.243", " 0", " 0", " 0", "" ], [ "45", " Drawer", " -0.500", " 0.779", " -1.450", " 0", " 0", " 0", "" ], [ "46", " Drawer", " -0.481", " 0.777", " -2.739", " 0", " 0", " 0", "" ], [ "47", " Drawer", " -1.154", " 0.782", " -3.499", " 0", " 0", " 0", "" ], [ "48", " Cabinet", " -0.337", " 2.110", " -0.390", " 0", " 0", " 0", "" ], [ "49", " Cabinet", " -0.337", " 2.110", " -1.272", " 0", " 0", " 0", "" ], [ "50", " Cabinet", " -0.337", " 2.110", " -1.631", " 0", " 0", " 0", "" ], [ "51", " Cabinet", " -0.337", " 2.110", " -2.497", " 0", " 0", " 0", "" ], [ "52", " Cabinet", " -0.337", " 1.891", " -1.286", " 0", " 0", " 0", "" ], [ "53", " Cabinet", " -0.346", " 1.891", " -3.293", " 0", " 0", " 0", "" ], [ "54", " Cabinet", " -0.629", " 0.388", " -2.513", " 0", " 0", " 0", "" ], [ "55", " Cabinet", " -0.633", " 0.388", " -3.008", " 0", " 0", " 0", "" ], [ "56", " Cabinet", " -1.010", " 0.388", " -3.368", " 0", " 0", " 0", "" ], [ "57", " Cabinet", " -0.629", " 0.388", " -1.614", " 0", " 0", " 0", "" ], [ "58", " Cabinet", " -0.327", " 1.886", " -2.513", " 0", " 0", " 0", "" ], [ "59", " CounterTop", " -0.326", " 0.976", " -1.450", " 0", " 0", " 0", "" ], [ "60", " StoveBurner", " -0.222", " 0.924", " -2.243", " 0", " 0", " 0", "" ], [ "61", " Sink", " -0.600", " 0.929", " -3.388", " 0", " 0", " 0", "" ], [ "62", " StoveKnob", " -0.617", " 0.899", " -1.833", " 315", " 90", " 180", "" ], [ "63", " StoveKnob", " -0.617", " 0.899", " -2.129", " 315", " 90", " 180", "" ], [ "64", " StoveKnob", " -0.617", " 0.899", " -2.289", " 315", " 90", " 180", "" ], [ "65", " StoveKnob", " -0.617", " 0.899", " -1.975", " 315", " 90", " 180", "" ], [ "66", " GarbageCan", " -2.418", " -0.032", " -3.541", " 0", " 0", " 0", "" ], [ "67", " CoffeeMachine", " -2.513", " 0.930", " -3.797", " 0", " 0", " 0", "" ], [ "68", " Window", " -1.389", " 1.610", " -4.113", " 90", " 0", " 0", "" ], [ "69", " LightSwitch", " -4.372", " 1.493", " -1.031", " 0", " 90", " 0", "" ], [ "70", " SinkBasin", " -0.614", " 0.802", " -3.384", " 0", " 315", " 0", "" ], [ "71", " Fridge", " -0.314", " 0.0", " -0.646", " 0", " 0", " 0", "" ], [ "72", " Toaster", " -1.970", " 0.930", " -3.763", " 0", " 0", " 0", "" ], [ "73", " Microwave", " -0.216", " 1.470", " -2.054", " 0", " 270", " 0", "" ], [ "74", " Blinds", " -1.373", " 2.205", " -3.961", " 0", " 0", " 0", "" ], [ "75", " Faucet", " -0.393", " 0.930", " -3.614", " 270", " 225", " 0", "" ], [ "76", " SideTable", " -4.030", " 0.002", " -0.301", " 0", " 185.034", " 0", "" ], [ "77", " DiningTable", " -3.586", " 0.000", " -3.258", " 0", " 0", " 0", "" ], [ "78", " DiningTable", " -3.224", " -0.003", " -0.453", " 0", " 0", " 0", "" ], [ "79", " Shelf", " -4.030", " 0.259", " -0.301", " 0", " 185.034", " 0", "" ], [ "80", " Shelf", " -4.030", " 0.489", " -0.301", " 0", " 185.034", " 0", "" ], [ "81", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "82", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "83", " SouthWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.0 0.900 -3.0 0 270 0 1 DishSponge -3.942 0.690 -0.248 0 0 0 76 2 ButterKnife -3.565 0.894 -0.204 0 270 0 78 3 Fork -0.236 0.941 -1.319 0 0 0 59 4 Egg -3.665 0.801 -3.515 0 334.125 0 77 5 Egg -4.002 0.731 -0.430 0 0 0 76 6 Cup -0.263 0.943 -2.934 0 45 0 41 7 Cup -0.097 1.938 -1.055 0 0 0 49 8 Plate -3.496 0.774 -3.430 0 109.125 0 77 9 Plate -0.283 1.502 -0.529 0 270 0 71 10 Knife -3.747 0.785 -3.210 0 289.125 0 77 11 Knife -4.062 0.716 -0.187 0 180 0 76 12 Tomato -0.417 1.337 -0.645 0 270 0 71 13 Tomato -2.962 0.945 -0.376 0 270 0 78 14 Bowl -0.359 1.487 -0.762 0 270 0 71 15 Bowl -4.080 0.758 -3.227 0 109.125 0 77 16 Bread -3.163 0.976 -0.548 0 270 0 78 17 Bread -2.560 0.976 -0.376 0 270 0 78 18 PepperShaker -0.555 1.500 -3.620 0 45 0 53 19 PepperShaker -4.182 0.686 -0.126 0 0 0 76 20 SoapBottle -3.942 0.689 -0.491 0 90 0 76 21 Pot -3.230 0.761 -3.061 0 244.125 0 77 22 Fork -3.925 0.760 -3.399 0 334.125 0 77 23 Cup -3.580 0.760 -3.202 0 109.125 0 77 24 Tomato -0.252 1.337 -0.297 0 270 0 71 25 Pan -0.437 0.961 -2.243 0 0 0 44 26 Plate -0.201 1.589 -1.990 0 270 0 73 27 Bread -4.122 0.771 -0.369 0 0 0 76 28 Spatula -0.406 0.766 -2.632 0 270 0 46 29 Knife -2.560 0.920 -0.290 0 0 0 78 30 SaltShaker -0.552 0.937 -1.319 0 0 0 59 31 PepperShaker -3.942 0.686 -0.126 0 0 0 76 32 ButterKnife -0.315 0.941 -1.581 0 0 0 59 33 Apple -3.474 0.821 -3.765 0 334.125 0 77 34 DishSponge -0.236 0.940 -1.494 0 0 0 59 35 Potato -0.682 0.845 -3.531 0 315 0 70 36 Egg -0.818 0.854 -3.510 0 315 0 70 37 Spoon -0.157 0.942 -1.581 0 180 0 59 38 Lettuce -0.359 1.579 -0.297 0 270 0 71 39 Mug -0.527 0.808 -3.454 0 315 0 70 40 Bowl -0.252 1.284 -0.646 0 270 0 71 41 CounterTop -1.937 0.977 -3.673 0 0 0 42 StoveBurner -0.437 0.924 -1.845 0 180 0 43 StoveBurner -0.222 0.924 -1.845 0 180 0 44 StoveBurner -0.437 0.924 -2.243 0 0 0 45 Drawer -0.500 0.779 -1.450 0 0 0 46 Drawer -0.481 0.777 -2.739 0 0 0 47 Drawer -1.154 0.782 -3.499 0 0 0 48 Cabinet -0.337 2.110 -0.390 0 0 0 49 Cabinet -0.337 2.110 -1.272 0 0 0 50 Cabinet -0.337 2.110 -1.631 0 0 0 51 Cabinet -0.337 2.110 -2.497 0 0 0 52 Cabinet -0.337 1.891 -1.286 0 0 0 53 Cabinet -0.346 1.891 -3.293 0 0 0 54 Cabinet -0.629 0.388 -2.513 0 0 0 55 Cabinet -0.633 0.388 -3.008 0 0 0 56 Cabinet -1.010 0.388 -3.368 0 0 0 57 Cabinet -0.629 0.388 -1.614 0 0 0 58 Cabinet -0.327 1.886 -2.513 0 0 0 59 CounterTop -0.326 0.976 -1.450 0 0 0 60 StoveBurner -0.222 0.924 -2.243 0 0 0 61 Sink -0.600 0.929 -3.388 0 0 0 62 StoveKnob -0.617 0.899 -1.833 315 90 180 63 StoveKnob -0.617 0.899 -2.129 315 90 180 64 StoveKnob -0.617 0.899 -2.289 315 90 180 65 StoveKnob -0.617 0.899 -1.975 315 90 180 66 GarbageCan -2.418 -0.032 -3.541 0 0 0 67 CoffeeMachine -2.513 0.930 -3.797 0 0 0 68 Window -1.389 1.610 -4.113 90 0 0 69 LightSwitch -4.372 1.493 -1.031 0 90 0 70 SinkBasin -0.614 0.802 -3.384 0 315 0 71 Fridge -0.314 0.0 -0.646 0 0 0 72 Toaster -1.970 0.930 -3.763 0 0 0 73 Microwave -0.216 1.470 -2.054 0 270 0 74 Blinds -1.373 2.205 -3.961 0 0 0 75 Faucet -0.393 0.930 -3.614 270 225 0 76 SideTable -4.030 0.002 -0.301 0 185.034 0 77 DiningTable -3.586 0.000 -3.258 0 0 0 78 DiningTable -3.224 -0.003 -0.453 0 0 0 79 Shelf -4.030 0.259 -0.301 0 185.034 0 80 Shelf -4.030 0.489 -0.301 0 185.034 0 81 EastWall 82 EastWall 83 SouthWall
[ "STEP 1: Move to the counter to the left of the stove. | STEP 2: Pick up the sponge from the counter. | STEP 3: Move to the fridge to the left of you. | STEP 4: Open the door and place the sponge on a plate. | STEP 5: Pick up the plate from the fridge and close the door. | STEP 6: Move to the cabinet under the sink. | STEP 7: Open the cabinet and place the plate inside and close the door. | END" ]
[ [ "STEP 1: Move to the counter to the left of the stove. ", " STEP 2: Pick up the sponge from the counter. ", " STEP 3: Move to the fridge to the left of you. ", " STEP 4: Open the door and place the sponge on a plate. ", " STEP 5: Pick up the plate from the fridge and close the door. ", " STEP 6: Move to the cabinet under the sink. ", " STEP 7: Open the cabinet and place the plate inside and close the door. ", " END" ] ]
seen
trial_T20190911_195627_296974-3
Put a chilled plate with sponge on it in the cabinet under the sink.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.0 0.900 -3.0 0 270 0 1 DishSponge -3.942 0.690 -0.248 0 0 0 76 2 ButterKnife -3.565 0.894 -0.204 0 270 0 78 3 Fork -0.236 0.941 -1.319 0 0 0 59 4 Egg -3.665 0.801 -3.515 0 334.125 0 77 5 Egg -4.002 0.731 -0.430 0 0 0 76 6 Cup -0.263 0.943 -2.934 0 45 0 41 7 Cup -0.097 1.938 -1.055 0 0 0 49 8 Plate -3.496 0.774 -3.430 0 109.125 0 77 9 Plate -0.283 1.502 -0.529 0 270 0 71 10 Knife -3.747 0.785 -3.210 0 289.125 0 77 11 Knife -4.062 0.716 -0.187 0 180 0 76 12 Tomato -0.417 1.337 -0.645 0 270 0 71 13 Tomato -2.962 0.945 -0.376 0 270 0 78 14 Bowl -0.359 1.487 -0.762 0 270 0 71 15 Bowl -4.080 0.758 -3.227 0 109.125 0 77 16 Bread -3.163 0.976 -0.548 0 270 0 78 17 Bread -2.560 0.976 -0.376 0 270 0 78 18 PepperShaker -0.555 1.500 -3.620 0 45 0 53 19 PepperShaker -4.182 0.686 -0.126 0 0 0 76 20 SoapBottle -3.942 0.689 -0.491 0 90 0 76 21 Pot -3.230 0.761 -3.061 0 244.125 0 77 22 Fork -3.925 0.760 -3.399 0 334.125 0 77 23 Cup -3.580 0.760 -3.202 0 109.125 0 77 24 Tomato -0.252 1.337 -0.297 0 270 0 71 25 Pan -0.437 0.961 -2.243 0 0 0 44 26 Plate -0.201 1.589 -1.990 0 270 0 73 27 Bread -4.122 0.771 -0.369 0 0 0 76 28 Spatula -0.406 0.766 -2.632 0 270 0 46 29 Knife -2.560 0.920 -0.290 0 0 0 78 30 SaltShaker -0.552 0.937 -1.319 0 0 0 59 31 PepperShaker -3.942 0.686 -0.126 0 0 0 76 32 ButterKnife -0.315 0.941 -1.581 0 0 0 59 33 Apple -3.474 0.821 -3.765 0 334.125 0 77 34 DishSponge -0.236 0.940 -1.494 0 0 0 59 35 Potato -0.682 0.845 -3.531 0 315 0 70 36 Egg -0.818 0.854 -3.510 0 315 0 70 37 Spoon -0.157 0.942 -1.581 0 180 0 59 38 Lettuce -0.359 1.579 -0.297 0 270 0 71 39 Mug -0.527 0.808 -3.454 0 315 0 70 40 Bowl -0.252 1.284 -0.646 0 270 0 71 41 CounterTop -1.937 0.977 -3.673 0 0 0 42 StoveBurner -0.437 0.924 -1.845 0 180 0 43 StoveBurner -0.222 0.924 -1.845 0 180 0 44 StoveBurner -0.437 0.924 -2.243 0 0 0 45 Drawer -0.500 0.779 -1.450 0 0 0 46 Drawer -0.481 0.777 -2.739 0 0 0 47 Drawer -1.154 0.782 -3.499 0 0 0 48 Cabinet -0.337 2.110 -0.390 0 0 0 49 Cabinet -0.337 2.110 -1.272 0 0 0 50 Cabinet -0.337 2.110 -1.631 0 0 0 51 Cabinet -0.337 2.110 -2.497 0 0 0 52 Cabinet -0.337 1.891 -1.286 0 0 0 53 Cabinet -0.346 1.891 -3.293 0 0 0 54 Cabinet -0.629 0.388 -2.513 0 0 0 55 Cabinet -0.633 0.388 -3.008 0 0 0 56 Cabinet -1.010 0.388 -3.368 0 0 0 57 Cabinet -0.629 0.388 -1.614 0 0 0 58 Cabinet -0.327 1.886 -2.513 0 0 0 59 CounterTop -0.326 0.976 -1.450 0 0 0 60 StoveBurner -0.222 0.924 -2.243 0 0 0 61 Sink -0.600 0.929 -3.388 0 0 0 62 StoveKnob -0.617 0.899 -1.833 315 90 180 63 StoveKnob -0.617 0.899 -2.129 315 90 180 64 StoveKnob -0.617 0.899 -2.289 315 90 180 65 StoveKnob -0.617 0.899 -1.975 315 90 180 66 GarbageCan -2.418 -0.032 -3.541 0 0 0 67 CoffeeMachine -2.513 0.930 -3.797 0 0 0 68 Window -1.389 1.610 -4.113 90 0 0 69 LightSwitch -4.372 1.493 -1.031 0 90 0 70 SinkBasin -0.614 0.802 -3.384 0 315 0 71 Fridge -0.314 0.0 -0.646 0 0 0 72 Toaster -1.970 0.930 -3.763 0 0 0 73 Microwave -0.216 1.470 -2.054 0 270 0 74 Blinds -1.373 2.205 -3.961 0 0 0 75 Faucet -0.393 0.930 -3.614 270 225 0 76 SideTable -4.030 0.002 -0.301 0 185.034 0 77 DiningTable -3.586 0.000 -3.258 0 0 0 78 DiningTable -3.224 -0.003 -0.453 0 0 0 79 Shelf -4.030 0.259 -0.301 0 185.034 0 80 Shelf -4.030 0.489 -0.301 0 185.034 0 81 EastWall 82 EastWall 83 SouthWall
[ "STEP 1: Move to the counter to the left of the stove | STEP 2: pick up a sponge from the counter | STEP 3: move to the fridge to the left of you | STEP 4: put the sponge on a plate in the fridge | STEP 5: pick up the plate with the sponge | STEP 6: move to the counter to the right of the stove | STEP 7: put the plate in the cabinet under the sink | END" ]
[ [ "STEP 1: Move to the counter to the left of the stove ", " STEP 2: pick up a sponge from the counter ", " STEP 3: move to the fridge to the left of you ", " STEP 4: put the sponge on a plate in the fridge ", " STEP 5: pick up the plate with the sponge ", " STEP 6: move to the counter to the right of the stove ", " STEP 7: put the plate in the cabinet under the sink ", " END" ] ]
seen
trial_T20190911_195627_296974-4
Put a plate with a sponge in a cupboard.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.0 0.900 -3.0 0 270 0 1 DishSponge -3.942 0.690 -0.248 0 0 0 76 2 ButterKnife -3.565 0.894 -0.204 0 270 0 78 3 Fork -0.236 0.941 -1.319 0 0 0 59 4 Egg -3.665 0.801 -3.515 0 334.125 0 77 5 Egg -4.002 0.731 -0.430 0 0 0 76 6 Cup -0.263 0.943 -2.934 0 45 0 41 7 Cup -0.097 1.938 -1.055 0 0 0 49 8 Plate -3.496 0.774 -3.430 0 109.125 0 77 9 Plate -0.283 1.502 -0.529 0 270 0 71 10 Knife -3.747 0.785 -3.210 0 289.125 0 77 11 Knife -4.062 0.716 -0.187 0 180 0 76 12 Tomato -0.417 1.337 -0.645 0 270 0 71 13 Tomato -2.962 0.945 -0.376 0 270 0 78 14 Bowl -0.359 1.487 -0.762 0 270 0 71 15 Bowl -4.080 0.758 -3.227 0 109.125 0 77 16 Bread -3.163 0.976 -0.548 0 270 0 78 17 Bread -2.560 0.976 -0.376 0 270 0 78 18 PepperShaker -0.555 1.500 -3.620 0 45 0 53 19 PepperShaker -4.182 0.686 -0.126 0 0 0 76 20 SoapBottle -3.942 0.689 -0.491 0 90 0 76 21 Pot -3.230 0.761 -3.061 0 244.125 0 77 22 Fork -3.925 0.760 -3.399 0 334.125 0 77 23 Cup -3.580 0.760 -3.202 0 109.125 0 77 24 Tomato -0.252 1.337 -0.297 0 270 0 71 25 Pan -0.437 0.961 -2.243 0 0 0 44 26 Plate -0.201 1.589 -1.990 0 270 0 73 27 Bread -4.122 0.771 -0.369 0 0 0 76 28 Spatula -0.406 0.766 -2.632 0 270 0 46 29 Knife -2.560 0.920 -0.290 0 0 0 78 30 SaltShaker -0.552 0.937 -1.319 0 0 0 59 31 PepperShaker -3.942 0.686 -0.126 0 0 0 76 32 ButterKnife -0.315 0.941 -1.581 0 0 0 59 33 Apple -3.474 0.821 -3.765 0 334.125 0 77 34 DishSponge -0.236 0.940 -1.494 0 0 0 59 35 Potato -0.682 0.845 -3.531 0 315 0 70 36 Egg -0.818 0.854 -3.510 0 315 0 70 37 Spoon -0.157 0.942 -1.581 0 180 0 59 38 Lettuce -0.359 1.579 -0.297 0 270 0 71 39 Mug -0.527 0.808 -3.454 0 315 0 70 40 Bowl -0.252 1.284 -0.646 0 270 0 71 41 CounterTop -1.937 0.977 -3.673 0 0 0 42 StoveBurner -0.437 0.924 -1.845 0 180 0 43 StoveBurner -0.222 0.924 -1.845 0 180 0 44 StoveBurner -0.437 0.924 -2.243 0 0 0 45 Drawer -0.500 0.779 -1.450 0 0 0 46 Drawer -0.481 0.777 -2.739 0 0 0 47 Drawer -1.154 0.782 -3.499 0 0 0 48 Cabinet -0.337 2.110 -0.390 0 0 0 49 Cabinet -0.337 2.110 -1.272 0 0 0 50 Cabinet -0.337 2.110 -1.631 0 0 0 51 Cabinet -0.337 2.110 -2.497 0 0 0 52 Cabinet -0.337 1.891 -1.286 0 0 0 53 Cabinet -0.346 1.891 -3.293 0 0 0 54 Cabinet -0.629 0.388 -2.513 0 0 0 55 Cabinet -0.633 0.388 -3.008 0 0 0 56 Cabinet -1.010 0.388 -3.368 0 0 0 57 Cabinet -0.629 0.388 -1.614 0 0 0 58 Cabinet -0.327 1.886 -2.513 0 0 0 59 CounterTop -0.326 0.976 -1.450 0 0 0 60 StoveBurner -0.222 0.924 -2.243 0 0 0 61 Sink -0.600 0.929 -3.388 0 0 0 62 StoveKnob -0.617 0.899 -1.833 315 90 180 63 StoveKnob -0.617 0.899 -2.129 315 90 180 64 StoveKnob -0.617 0.899 -2.289 315 90 180 65 StoveKnob -0.617 0.899 -1.975 315 90 180 66 GarbageCan -2.418 -0.032 -3.541 0 0 0 67 CoffeeMachine -2.513 0.930 -3.797 0 0 0 68 Window -1.389 1.610 -4.113 90 0 0 69 LightSwitch -4.372 1.493 -1.031 0 90 0 70 SinkBasin -0.614 0.802 -3.384 0 315 0 71 Fridge -0.314 0.0 -0.646 0 0 0 72 Toaster -1.970 0.930 -3.763 0 0 0 73 Microwave -0.216 1.470 -2.054 0 270 0 74 Blinds -1.373 2.205 -3.961 0 0 0 75 Faucet -0.393 0.930 -3.614 270 225 0 76 SideTable -4.030 0.002 -0.301 0 185.034 0 77 DiningTable -3.586 0.000 -3.258 0 0 0 78 DiningTable -3.224 -0.003 -0.453 0 0 0 79 Shelf -4.030 0.259 -0.301 0 185.034 0 80 Shelf -4.030 0.489 -0.301 0 185.034 0 81 EastWall 82 EastWall 83 SouthWall
[ "STEP 1: Go to the right and turn right to face the counter left of the stove. | STEP 2: Pick the green sponge up from the sink. | STEP 3: Go to the left and face the fridge. | STEP 4: Put the sponge on the plate in the fridge. | STEP 5: Grab the plate out of the fridge. | STEP 6: Go right and then left to face the cupboard below the sink. | STEP 7: Put the plate inside the cupboard below the sink on the left. | END" ]
[ [ "STEP 1: Go to the right and turn right to face the counter left of the stove. ", " STEP 2: Pick the green sponge up from the sink. ", " STEP 3: Go to the left and face the fridge. ", " STEP 4: Put the sponge on the plate in the fridge. ", " STEP 5: Grab the plate out of the fridge. ", " STEP 6: Go right and then left to face the cupboard below the sink. ", " STEP 7: Put the plate inside the cupboard below the sink on the left. ", " END" ] ]
seen