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trial_T20190907_013610_766116-0
Put a heated cup on the counter left of 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 0.899 1.75 0 0 0 1 Pan -2.924 0.930 1.712 0 180 0 74 2 Pan -4.411 0.923 5.418 0 270 0 77 3 Pencil -3.481 0.747 5.162 0 180 0 68 4 Potato -1.693 0.956 1.951 0 0 0 59 5 Potato -4.184 0.956 3.863 0 90 0 77 6 DishSponge -0.503 0.746 6.489 0 270 0 97 7 ButterKnife -4.132 0.755 2.324 0 0 0 57 8 Fork -0.258 0.925 5.603 0 180 0 62 9 Fork -4.517 0.924 3.199 0 90 0 77 10 Spoon -3.255 0.924 5.412 0 90 0 77 11 Spoon -1.860 0.924 1.648 0 0 0 59 12 Cup -0.565 0.923 6.261 0 0 0 62 13 Cup -3.807 1.457 5.511 0 90 0 81 14 Egg -3.675 0.104 6.375 0 270 0 103 15 Egg -4.159 0.826 3.410 0 270 0 109 16 Plate -1.943 0.924 1.951 0 0 0 59 17 Knife -0.411 0.954 5.603 0 0 0 62 18 Knife -0.258 0.954 4.944 0 0 0 62 19 Tomato -4.159 0.848 3.222 0 270 0 109 20 Tomato -4.031 0.980 2.026 0 0 0 77 21 SaltShaker -3.472 0.743 1.957 0 0 0 83 22 Lettuce -0.181 1.020 4.944 0 0 0 62 23 Lettuce -1.777 1.018 1.724 0 0 0 59 24 Bread -3.859 1.003 1.799 0 0 0 77 25 Apple -3.639 0.122 6.292 0 270 0 103 26 Apple -3.733 0.976 5.336 0 90 0 77 27 Egg -4.084 0.826 3.347 0 270 0 109 28 Apple -3.748 0.122 6.457 0 270 0 103 29 Knife -4.26 0.953 3.863 0 90 0 77 30 Potato -0.218 1.719 3.673 0 270 0 110 31 Fork -3.733 0.924 5.489 0 90 0 77 32 Bowl -0.258 0.922 4.615 0 0 0 62 33 Plate -0.301 1.581 3.470 0 270 0 110 34 Lettuce -0.295 1.165 3.231 0 270 0 110 35 Bread -0.295 1.150 3.602 0 270 0 110 36 Tomato -3.494 0.980 5.489 0 90 0 77 37 WineBottle -3.340 0.924 2.026 0 0 0 77 38 Spatula -1.610 0.938 1.724 0 90 0 59 39 PaperTowelRoll -3.784 0.172 6.292 0 270 0 103 40 Cup -0.348 1.069 3.974 0 270 0 110 41 Pencil -1.777 0.923 1.8 0 0 0 75 42 Pan -2.469 0.930 1.712 0 270 0 92 43 Pot -0.396 0.912 5.933 0 0 0 62 44 SaltShaker -0.284 2.132 6.600 0 180 0 61 45 SoapBottle -3.859 0.923 1.573 0 0 0 77 46 PepperShaker -4.312 0.919 2.300 0 0 0 77 47 ButterKnife -4.184 0.923 4.900 0 90 0 77 48 DishSponge -2.109 0.923 1.648 0 0 0 59 49 Spoon -4.108 0.924 4.381 0 90 0 77 50 Mug -0.409 0.955 6.557 0 270 0 98 51 Cabinet -3.203 1.931 1.777 0 0 0 52 Cabinet -3.187 0.390 2.089 0 0 0 53 Cabinet -0.637 0.387 6.882 0 180 0 54 Drawer -3.797 0.781 1.961 0 0 0 55 Cabinet -3.036 0.387 5.029 0 90 0 56 Drawer -0.509 0.775 5.268 0 270 0 57 Drawer -4.125 0.798 2.499 0 0 0 58 Cabinet -0.331 2.249 4.308 0 180 0 59 CounterTop -1.872 0.958 1.799 0 0 0 60 StoveBurner -2.924 0.924 2.012 0 0 0 61 Cabinet -0.331 2.249 6.806 0 180 0 62 CounterTop -0.345 0.960 5.603 0 0 0 63 Cabinet -3.039 1.935 5.321 0 90 0 64 Cabinet -3.922 0.397 2.088 0 0 0 65 StoveBurner -2.467 0.924 2.012 0 0 0 66 Cabinet -0.331 2.249 5.505 0 180 0 67 Drawer -0.509 0.775 4.617 0 270 0 68 Drawer -3.509 0.777 5.157 0 180 0 69 Cabinet -3.961 0.388 2.878 0 0 0 70 Cabinet -3.961 0.388 4.342 0 0 0 71 Cabinet -0.637 0.387 5.582 0 180 0 72 Cabinet -0.637 0.388 4.299 0 180 0 73 Cabinet -0.637 0.388 5.599 0 180 0 74 StoveBurner -2.924 0.924 1.712 0 180 0 75 Drawer -1.859 0.775 1.961 0 0 0 76 Cabinet -0.331 2.249 5.609 0 180 0 77 CounterTop -4.260 0.958 4.943 0 90 0 78 Cabinet -4.284 1.931 2.226 0 0 0 79 Cabinet -0.331 2.249 3.010 0 180 0 80 Drawer -3.801 0.777 5.157 0 180 0 81 Cabinet -4.112 1.935 5.321 0 90 0 82 Cabinet -3.968 0.388 3.662 0 0 0 83 Drawer -3.418 0.777 1.961 0 0 0 84 Drawer -4.090 0.777 4.661 0 90 0 85 Faucet -4.441 0.909 3.288 270 0 0 86 Cabinet -0.331 2.249 4.207 0 180 0 87 Cabinet -3.961 0.388 2.119 0 0 0 88 Drawer -0.509 0.775 5.920 0 270 0 89 Drawer -3.193 0.777 5.157 0 180 0 90 Cabinet -3.968 0.388 2.894 0 0 0 91 Cabinet -3.667 0.387 5.029 0 90 0 92 StoveBurner -2.469 0.924 1.712 0 270 0 93 Cabinet -1.539 0.388 2.090 0 0 0 94 Sink -4.190 0.921 3.279 0 0 0 95 Cabinet -3.641 0.387 5.029 0 90 0 96 Cabinet -1.583 1.931 1.777 0 0 0 97 Drawer -0.509 0.775 6.568 0 270 0 98 CoffeeMachine -0.279 0.912 6.556 0 270 0 99 StoveKnob -2.347 1.095 1.560 288.012 180 180 100 StoveKnob -2.788 1.095 1.560 288.012 180 180 101 StoveKnob -2.965 1.095 1.560 288.012 180 180 102 StoveKnob -2.512 1.095 1.560 288.012 180 180 103 GarbageCan -3.711 -0.030 6.376 0 270 0 104 Toaster -3.578 0.912 1.763 0 0 0 105 Curtains -4.522 2.252 3.391 90 90 0 106 Window -4.868 1.629 3.309 90 270 0 107 Microwave -2.693 1.430 1.689 0 0 0 108 LightSwitch -1.588 1.169 1.506 0 0 0 109 SinkBasin -4.196 0.780 3.276 0 270 0 110 Fridge -0.324 -0.001 3.602 0 0 0 111 NorthWall 112 EastWall 113 SouthWall 114 WestWall
[ "STEP 1: Move to the corner counter by the tomato. | STEP 2: Pick up the black cup in the cabinet above the counter. | STEP 3: Bring the cup to the microwave. | STEP 4: Heat the cup in the microwave. | STEP 5: Bring the heated cup to the counter left of the stove. | STEP 6: Put the cup on the counter left of the stove. | END" ]
[ [ "STEP 1: Move to the corner counter by the tomato. ", " STEP 2: Pick up the black cup in the cabinet above the counter. ", " STEP 3: Bring the cup to the microwave. ", " STEP 4: Heat the cup in the microwave. ", " STEP 5: Bring the heated cup to the counter left of the stove. ", " STEP 6: Put the cup on the counter left of the stove. ", " END" ] ]
seen
trial_T20190907_013610_766116-1
place a microwaved cup down on the kitchen counter
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] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.0 0.899 1.75 0 0 0 1 Pan -2.924 0.930 1.712 0 180 0 74 2 Pan -4.411 0.923 5.418 0 270 0 77 3 Pencil -3.481 0.747 5.162 0 180 0 68 4 Potato -1.693 0.956 1.951 0 0 0 59 5 Potato -4.184 0.956 3.863 0 90 0 77 6 DishSponge -0.503 0.746 6.489 0 270 0 97 7 ButterKnife -4.132 0.755 2.324 0 0 0 57 8 Fork -0.258 0.925 5.603 0 180 0 62 9 Fork -4.517 0.924 3.199 0 90 0 77 10 Spoon -3.255 0.924 5.412 0 90 0 77 11 Spoon -1.860 0.924 1.648 0 0 0 59 12 Cup -0.565 0.923 6.261 0 0 0 62 13 Cup -3.807 1.457 5.511 0 90 0 81 14 Egg -3.675 0.104 6.375 0 270 0 103 15 Egg -4.159 0.826 3.410 0 270 0 109 16 Plate -1.943 0.924 1.951 0 0 0 59 17 Knife -0.411 0.954 5.603 0 0 0 62 18 Knife -0.258 0.954 4.944 0 0 0 62 19 Tomato -4.159 0.848 3.222 0 270 0 109 20 Tomato -4.031 0.980 2.026 0 0 0 77 21 SaltShaker -3.472 0.743 1.957 0 0 0 83 22 Lettuce -0.181 1.020 4.944 0 0 0 62 23 Lettuce -1.777 1.018 1.724 0 0 0 59 24 Bread -3.859 1.003 1.799 0 0 0 77 25 Apple -3.639 0.122 6.292 0 270 0 103 26 Apple -3.733 0.976 5.336 0 90 0 77 27 Egg -4.084 0.826 3.347 0 270 0 109 28 Apple -3.748 0.122 6.457 0 270 0 103 29 Knife -4.26 0.953 3.863 0 90 0 77 30 Potato -0.218 1.719 3.673 0 270 0 110 31 Fork -3.733 0.924 5.489 0 90 0 77 32 Bowl -0.258 0.922 4.615 0 0 0 62 33 Plate -0.301 1.581 3.470 0 270 0 110 34 Lettuce -0.295 1.165 3.231 0 270 0 110 35 Bread -0.295 1.150 3.602 0 270 0 110 36 Tomato -3.494 0.980 5.489 0 90 0 77 37 WineBottle -3.340 0.924 2.026 0 0 0 77 38 Spatula -1.610 0.938 1.724 0 90 0 59 39 PaperTowelRoll -3.784 0.172 6.292 0 270 0 103 40 Cup -0.348 1.069 3.974 0 270 0 110 41 Pencil -1.777 0.923 1.8 0 0 0 75 42 Pan -2.469 0.930 1.712 0 270 0 92 43 Pot -0.396 0.912 5.933 0 0 0 62 44 SaltShaker -0.284 2.132 6.600 0 180 0 61 45 SoapBottle -3.859 0.923 1.573 0 0 0 77 46 PepperShaker -4.312 0.919 2.300 0 0 0 77 47 ButterKnife -4.184 0.923 4.900 0 90 0 77 48 DishSponge -2.109 0.923 1.648 0 0 0 59 49 Spoon -4.108 0.924 4.381 0 90 0 77 50 Mug -0.409 0.955 6.557 0 270 0 98 51 Cabinet -3.203 1.931 1.777 0 0 0 52 Cabinet -3.187 0.390 2.089 0 0 0 53 Cabinet -0.637 0.387 6.882 0 180 0 54 Drawer -3.797 0.781 1.961 0 0 0 55 Cabinet -3.036 0.387 5.029 0 90 0 56 Drawer -0.509 0.775 5.268 0 270 0 57 Drawer -4.125 0.798 2.499 0 0 0 58 Cabinet -0.331 2.249 4.308 0 180 0 59 CounterTop -1.872 0.958 1.799 0 0 0 60 StoveBurner -2.924 0.924 2.012 0 0 0 61 Cabinet -0.331 2.249 6.806 0 180 0 62 CounterTop -0.345 0.960 5.603 0 0 0 63 Cabinet -3.039 1.935 5.321 0 90 0 64 Cabinet -3.922 0.397 2.088 0 0 0 65 StoveBurner -2.467 0.924 2.012 0 0 0 66 Cabinet -0.331 2.249 5.505 0 180 0 67 Drawer -0.509 0.775 4.617 0 270 0 68 Drawer -3.509 0.777 5.157 0 180 0 69 Cabinet -3.961 0.388 2.878 0 0 0 70 Cabinet -3.961 0.388 4.342 0 0 0 71 Cabinet -0.637 0.387 5.582 0 180 0 72 Cabinet -0.637 0.388 4.299 0 180 0 73 Cabinet -0.637 0.388 5.599 0 180 0 74 StoveBurner -2.924 0.924 1.712 0 180 0 75 Drawer -1.859 0.775 1.961 0 0 0 76 Cabinet -0.331 2.249 5.609 0 180 0 77 CounterTop -4.260 0.958 4.943 0 90 0 78 Cabinet -4.284 1.931 2.226 0 0 0 79 Cabinet -0.331 2.249 3.010 0 180 0 80 Drawer -3.801 0.777 5.157 0 180 0 81 Cabinet -4.112 1.935 5.321 0 90 0 82 Cabinet -3.968 0.388 3.662 0 0 0 83 Drawer -3.418 0.777 1.961 0 0 0 84 Drawer -4.090 0.777 4.661 0 90 0 85 Faucet -4.441 0.909 3.288 270 0 0 86 Cabinet -0.331 2.249 4.207 0 180 0 87 Cabinet -3.961 0.388 2.119 0 0 0 88 Drawer -0.509 0.775 5.920 0 270 0 89 Drawer -3.193 0.777 5.157 0 180 0 90 Cabinet -3.968 0.388 2.894 0 0 0 91 Cabinet -3.667 0.387 5.029 0 90 0 92 StoveBurner -2.469 0.924 1.712 0 270 0 93 Cabinet -1.539 0.388 2.090 0 0 0 94 Sink -4.190 0.921 3.279 0 0 0 95 Cabinet -3.641 0.387 5.029 0 90 0 96 Cabinet -1.583 1.931 1.777 0 0 0 97 Drawer -0.509 0.775 6.568 0 270 0 98 CoffeeMachine -0.279 0.912 6.556 0 270 0 99 StoveKnob -2.347 1.095 1.560 288.012 180 180 100 StoveKnob -2.788 1.095 1.560 288.012 180 180 101 StoveKnob -2.965 1.095 1.560 288.012 180 180 102 StoveKnob -2.512 1.095 1.560 288.012 180 180 103 GarbageCan -3.711 -0.030 6.376 0 270 0 104 Toaster -3.578 0.912 1.763 0 0 0 105 Curtains -4.522 2.252 3.391 90 90 0 106 Window -4.868 1.629 3.309 90 270 0 107 Microwave -2.693 1.430 1.689 0 0 0 108 LightSwitch -1.588 1.169 1.506 0 0 0 109 SinkBasin -4.196 0.780 3.276 0 270 0 110 Fridge -0.324 -0.001 3.602 0 0 0 111 NorthWall 112 EastWall 113 SouthWall 114 WestWall
[ "STEP 1: walk forwards to the fridge then turn left and walk over to the kitchen counter on your right | STEP 2: grab a cup out of the cabinet above the kitchen counter on your left | STEP 3: turn around and walk forwards over to the stove | STEP 4: place the cup inside the microwave above the stove, microwave it, then take it back out | STEP 5: turn left and walk over to the end of the kitchen counter on your right | STEP 6: place the cup down on the kitchen counter | END" ]
[ [ "STEP 1: walk forwards to the fridge then turn left and walk over to the kitchen counter on your right ", " STEP 2: grab a cup out of the cabinet above the kitchen counter on your left ", " STEP 3: turn around and walk forwards over to the stove ", " STEP 4: place the cup inside the microwave above the stove, microwave it, then take it back out ", " STEP 5: turn left and walk over to the end of the kitchen counter on your right ", " STEP 6: place the cup down on the kitchen counter ", " END" ] ]
seen
trial_T20190907_013610_766116-2
Take a cup from the cabinet, microwave it for three seconds, put cup on counter top.
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4.381", " 0", " 90", " 0", " 77" ], [ "50", " Mug", " -0.409", " 0.955", " 6.557", " 0", " 270", " 0", " 98" ], [ "51", " Cabinet", " -3.203", " 1.931", " 1.777", " 0", " 0", " 0", "" ], [ "52", " Cabinet", " -3.187", " 0.390", " 2.089", " 0", " 0", " 0", "" ], [ "53", " Cabinet", " -0.637", " 0.387", " 6.882", " 0", " 180", " 0", "" ], [ "54", " Drawer", " -3.797", " 0.781", " 1.961", " 0", " 0", " 0", "" ], [ "55", " Cabinet", " -3.036", " 0.387", " 5.029", " 0", " 90", " 0", "" ], [ "56", " Drawer", " -0.509", " 0.775", " 5.268", " 0", " 270", " 0", "" ], [ "57", " Drawer", " -4.125", " 0.798", " 2.499", " 0", " 0", " 0", "" ], [ "58", " Cabinet", " -0.331", " 2.249", " 4.308", " 0", " 180", " 0", "" ], [ "59", " CounterTop", " -1.872", " 0.958", " 1.799", " 0", " 0", " 0", "" ], [ "60", " StoveBurner", " -2.924", " 0.924", " 2.012", " 0", " 0", " 0", "" ], [ "61", " Cabinet", " -0.331", " 2.249", " 6.806", " 0", " 180", " 0", "" ], [ "62", " CounterTop", " -0.345", " 0.960", " 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1.095", " 1.560", " 288.012", " 180", " 180", "" ], [ "102", " StoveKnob", " -2.512", " 1.095", " 1.560", " 288.012", " 180", " 180", "" ], [ "103", " GarbageCan", " -3.711", " -0.030", " 6.376", " 0", " 270", " 0", "" ], [ "104", " Toaster", " -3.578", " 0.912", " 1.763", " 0", " 0", " 0", "" ], [ "105", " Curtains", " -4.522", " 2.252", " 3.391", " 90", " 90", " 0", "" ], [ "106", " Window", " -4.868", " 1.629", " 3.309", " 90", " 270", " 0", "" ], [ "107", " Microwave", " -2.693", " 1.430", " 1.689", " 0", " 0", " 0", "" ], [ "108", " LightSwitch", " -1.588", " 1.169", " 1.506", " 0", " 0", " 0", "" ], [ "109", " SinkBasin", " -4.196", " 0.780", " 3.276", " 0", " 270", " 0", "" ], [ "110", " Fridge", " -0.324", " -0.001", " 3.602", " 0", " 0", " 0", "" ], [ "111", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "112", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "113", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "114", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.0 0.899 1.75 0 0 0 1 Pan -2.924 0.930 1.712 0 180 0 74 2 Pan -4.411 0.923 5.418 0 270 0 77 3 Pencil -3.481 0.747 5.162 0 180 0 68 4 Potato -1.693 0.956 1.951 0 0 0 59 5 Potato -4.184 0.956 3.863 0 90 0 77 6 DishSponge -0.503 0.746 6.489 0 270 0 97 7 ButterKnife -4.132 0.755 2.324 0 0 0 57 8 Fork -0.258 0.925 5.603 0 180 0 62 9 Fork -4.517 0.924 3.199 0 90 0 77 10 Spoon -3.255 0.924 5.412 0 90 0 77 11 Spoon -1.860 0.924 1.648 0 0 0 59 12 Cup -0.565 0.923 6.261 0 0 0 62 13 Cup -3.807 1.457 5.511 0 90 0 81 14 Egg -3.675 0.104 6.375 0 270 0 103 15 Egg -4.159 0.826 3.410 0 270 0 109 16 Plate -1.943 0.924 1.951 0 0 0 59 17 Knife -0.411 0.954 5.603 0 0 0 62 18 Knife -0.258 0.954 4.944 0 0 0 62 19 Tomato -4.159 0.848 3.222 0 270 0 109 20 Tomato -4.031 0.980 2.026 0 0 0 77 21 SaltShaker -3.472 0.743 1.957 0 0 0 83 22 Lettuce -0.181 1.020 4.944 0 0 0 62 23 Lettuce -1.777 1.018 1.724 0 0 0 59 24 Bread -3.859 1.003 1.799 0 0 0 77 25 Apple -3.639 0.122 6.292 0 270 0 103 26 Apple -3.733 0.976 5.336 0 90 0 77 27 Egg -4.084 0.826 3.347 0 270 0 109 28 Apple -3.748 0.122 6.457 0 270 0 103 29 Knife -4.26 0.953 3.863 0 90 0 77 30 Potato -0.218 1.719 3.673 0 270 0 110 31 Fork -3.733 0.924 5.489 0 90 0 77 32 Bowl -0.258 0.922 4.615 0 0 0 62 33 Plate -0.301 1.581 3.470 0 270 0 110 34 Lettuce -0.295 1.165 3.231 0 270 0 110 35 Bread -0.295 1.150 3.602 0 270 0 110 36 Tomato -3.494 0.980 5.489 0 90 0 77 37 WineBottle -3.340 0.924 2.026 0 0 0 77 38 Spatula -1.610 0.938 1.724 0 90 0 59 39 PaperTowelRoll -3.784 0.172 6.292 0 270 0 103 40 Cup -0.348 1.069 3.974 0 270 0 110 41 Pencil -1.777 0.923 1.8 0 0 0 75 42 Pan -2.469 0.930 1.712 0 270 0 92 43 Pot -0.396 0.912 5.933 0 0 0 62 44 SaltShaker -0.284 2.132 6.600 0 180 0 61 45 SoapBottle -3.859 0.923 1.573 0 0 0 77 46 PepperShaker -4.312 0.919 2.300 0 0 0 77 47 ButterKnife -4.184 0.923 4.900 0 90 0 77 48 DishSponge -2.109 0.923 1.648 0 0 0 59 49 Spoon -4.108 0.924 4.381 0 90 0 77 50 Mug -0.409 0.955 6.557 0 270 0 98 51 Cabinet -3.203 1.931 1.777 0 0 0 52 Cabinet -3.187 0.390 2.089 0 0 0 53 Cabinet -0.637 0.387 6.882 0 180 0 54 Drawer -3.797 0.781 1.961 0 0 0 55 Cabinet -3.036 0.387 5.029 0 90 0 56 Drawer -0.509 0.775 5.268 0 270 0 57 Drawer -4.125 0.798 2.499 0 0 0 58 Cabinet -0.331 2.249 4.308 0 180 0 59 CounterTop -1.872 0.958 1.799 0 0 0 60 StoveBurner -2.924 0.924 2.012 0 0 0 61 Cabinet -0.331 2.249 6.806 0 180 0 62 CounterTop -0.345 0.960 5.603 0 0 0 63 Cabinet -3.039 1.935 5.321 0 90 0 64 Cabinet -3.922 0.397 2.088 0 0 0 65 StoveBurner -2.467 0.924 2.012 0 0 0 66 Cabinet -0.331 2.249 5.505 0 180 0 67 Drawer -0.509 0.775 4.617 0 270 0 68 Drawer -3.509 0.777 5.157 0 180 0 69 Cabinet -3.961 0.388 2.878 0 0 0 70 Cabinet -3.961 0.388 4.342 0 0 0 71 Cabinet -0.637 0.387 5.582 0 180 0 72 Cabinet -0.637 0.388 4.299 0 180 0 73 Cabinet -0.637 0.388 5.599 0 180 0 74 StoveBurner -2.924 0.924 1.712 0 180 0 75 Drawer -1.859 0.775 1.961 0 0 0 76 Cabinet -0.331 2.249 5.609 0 180 0 77 CounterTop -4.260 0.958 4.943 0 90 0 78 Cabinet -4.284 1.931 2.226 0 0 0 79 Cabinet -0.331 2.249 3.010 0 180 0 80 Drawer -3.801 0.777 5.157 0 180 0 81 Cabinet -4.112 1.935 5.321 0 90 0 82 Cabinet -3.968 0.388 3.662 0 0 0 83 Drawer -3.418 0.777 1.961 0 0 0 84 Drawer -4.090 0.777 4.661 0 90 0 85 Faucet -4.441 0.909 3.288 270 0 0 86 Cabinet -0.331 2.249 4.207 0 180 0 87 Cabinet -3.961 0.388 2.119 0 0 0 88 Drawer -0.509 0.775 5.920 0 270 0 89 Drawer -3.193 0.777 5.157 0 180 0 90 Cabinet -3.968 0.388 2.894 0 0 0 91 Cabinet -3.667 0.387 5.029 0 90 0 92 StoveBurner -2.469 0.924 1.712 0 270 0 93 Cabinet -1.539 0.388 2.090 0 0 0 94 Sink -4.190 0.921 3.279 0 0 0 95 Cabinet -3.641 0.387 5.029 0 90 0 96 Cabinet -1.583 1.931 1.777 0 0 0 97 Drawer -0.509 0.775 6.568 0 270 0 98 CoffeeMachine -0.279 0.912 6.556 0 270 0 99 StoveKnob -2.347 1.095 1.560 288.012 180 180 100 StoveKnob -2.788 1.095 1.560 288.012 180 180 101 StoveKnob -2.965 1.095 1.560 288.012 180 180 102 StoveKnob -2.512 1.095 1.560 288.012 180 180 103 GarbageCan -3.711 -0.030 6.376 0 270 0 104 Toaster -3.578 0.912 1.763 0 0 0 105 Curtains -4.522 2.252 3.391 90 90 0 106 Window -4.868 1.629 3.309 90 270 0 107 Microwave -2.693 1.430 1.689 0 0 0 108 LightSwitch -1.588 1.169 1.506 0 0 0 109 SinkBasin -4.196 0.780 3.276 0 270 0 110 Fridge -0.324 -0.001 3.602 0 0 0 111 NorthWall 112 EastWall 113 SouthWall 114 WestWall
[ "STEP 1: Turn left and go to the counter facing the two apples. | STEP 2: Open the left cabinet door, pull out the cup in the cabinet, close the cabinet door. | STEP 3: Turn around, take the cup to the microwave above the stove. | STEP 4: Open the microwave door. Put the cup inside the microwave. Close the microwave door. Set the microwave for 3 seconds and heat the cup. Open the microwave door. Take out the cup. Close the microwave door. | STEP 5: Turn left and go to the end of the counter top on the left side of the stove. | STEP 6: Put the cup on the counter top to the right of the blue plate. | END" ]
[ [ "STEP 1: Turn left and go to the counter facing the two apples. ", " STEP 2: Open the left cabinet door, pull out the cup in the cabinet, close the cabinet door. ", " STEP 3: Turn around, take the cup to the microwave above the stove. ", " STEP 4: Open the microwave door. Put the cup inside the microwave. Close the microwave door. Set the microwave for 3 seconds and heat the cup. Open the microwave door. Take out the cup. Close the microwave door. ", " STEP 5: Turn left and go to the end of the counter top on the left side of the stove. ", " STEP 6: Put the cup on the counter top to the right of the blue plate. ", " END" ] ]
seen
trial_T20190908_042212_100074-0
Place a heated egg on the table
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Bowl", " -3.473", " 1.545", " 2.224", " 0", " 90", " 0", " 69" ], [ "12", " Lettuce", " -3.463", " 1.001", " 1.440", " 0", " 0", " 0", " 47" ], [ "13", " Apple", " -1.259", " 0.951", " -0.053", " 0", " 90", " 0", " 74" ], [ "14", " Apple", " -2.302", " 0.975", " 3.998", " 0", " 0", " 0", " 38" ], [ "15", " Egg", " -1.161", " 0.121", " 3.884", " 0", " 270", " 0", " 70" ], [ "16", " Knife", " -3.176", " 0.939", " 1.357", " 0", " 0", " 0", " 47" ], [ "17", " Fork", " -1.391", " 0.892", " 0.152", " 0", " 270", " 0", " 74" ], [ "18", " Bread", " -1.522", " 0.963", " 0.279", " 0", " 280.101", " 0", " 74" ], [ "19", " Potato", " -3.654", " 0.948", " 1.440", " 0", " 0", " 0", " 47" ], [ "20", " Plate", " -3.006", " 0.904", " 3.677", " 0", " 0", " 0", " 38" ], [ "21", " Pot", " -3.424", " 0.966", " 2.374", " 0", " 0", " 0", " 44" ], [ "22", " Kettle", " -3.368", " 0.916", " 2.844", " 0", " 0", " 0", " 38" ], [ "23", " WineBottle", " -1.192", " 0.088", " 3.724", " 0", " 270", " 0", " 70" ], [ "24", " Bowl", " -0.673", " 0.985", " 3.926", " 0", " 180", " 0", " 64" ], [ "25", " Tomato", " -1.793", " 0.858", " 3.625", " 0", " 0", " 0", " 68" ], [ "26", " Cup", " -3.492", " 1.994", " 1.835", " 0", " 0", " 0", " 52" ], [ "27", " Spatula", " -1.259", " 0.906", " 0.255", " 0", " 180", " 0", " 74" ], [ "28", " SoapBottle", " -3.368", " 0.915", " 1.189", " 0", " 0", " 0", " 47" ], [ "29", " Lettuce", " -0.323", " 1.072", " 3.926", " 0", " 180", " 0", " 64" ], [ "30", " Pan", " -3.143", " 0.966", " 1.971", " 0", " 0", " 0", " 58" ], [ "31", " Apple", " -3.537", " 1.606", " 2.016", " 0", " 90", " 0", " 69" ], [ "32", " SaltShaker", " -1.127", " 0.887", " 0.461", " 0", " 90", " 0", " 74" ], [ "33", " PepperShaker", " -3.654", " 0.912", " 1.273", " 0", " 0", " 0", " 47" ], [ "34", " ButterKnife", " -1.523", " 0.880", " 0.461", " 0", " 90", " 0", " 74" ], [ "35", " DishSponge", " -3.126", " 0.746", " 2.861", " 0", " 0", " 0", " 40" ], [ "36", " Spoon", " -0.994", " 0.892", " 0.152", " 0", " 90", " 0", " 74" ], [ "37", " Mug", " -3.424", " 0.945", " 3.275", " 0", " 90", " 0", " 38" ], [ "38", " CounterTop", " -3.381", " 0.950", " 3.335", " 0", " 0", " 0", "" ], [ "39", " Drawer", " -3.121", " 0.775", " 1.357", " 0", " 0", " 0", "" ], [ "40", " Drawer", " -3.121", " 0.777", " 2.916", " 0", " 0", " 0", "" ], [ "41", " StoveBurner", " -3.148", " 0.958", " 2.374", " 0", " 0", " 0", "" ], [ "42", " Sink", " -1.797", " 0.917", " 3.660", " 0", " 0", " 0", "" ], [ "43", " Cabinet", " -1.421", " 0.388", " 3.459", " 0", " 0", " 0", "" ], [ "44", " StoveBurner", " -3.424", " 0.958", " 2.374", " 0", " 0", " 0", "" ], [ "45", " Cabinet", " -3.365", " 1.931", " 2.676", " 0", " 0", " 0", "" ], [ "46", " StoveBurner", " -3.424", " 0.958", " 1.971", " 0", " 0", " 0", "" ], [ "47", " CounterTop", " -3.381", " 0.951", " 1.356", " 0", " 0", " 0", "" ], [ "48", " Drawer", " -3.121", " 0.781", " 3.295", " 0", " 0", " 0", "" ], [ "49", " Cabinet", " -2.205", " 0.388", " 3.459", " 0", " 0", " 0", "" ], [ "50", " Cabinet", " -2.963", " 0.388", " 3.459", " 0", " 0", " 0", "" ], [ "51", " Cabinet", " -2.992", " 0.388", " 2.683", " 0", " 0", " 0", "" ], [ "52", " Cabinet", " -3.352", " 2.205", " 1.715", " 0", " 0", " 0", "" ], [ "53", " Cabinet", " -3.352", " 2.205", " 2.653", " 0", " 0", " 0", "" ], [ "54", " Cabinet", " -2.189", " 0.388", " 3.466", " 0", " 0", " 0", "" ], [ "55", " Cabinet", " -3.365", " 1.931", " 3.963", " 0", " 0", " 0", "" ], [ "56", " Cabinet", " -3.365", " 1.931", " 1.056", " 0", " 0", " 0", "" ], [ "57", " Cabinet", " -2.992", " 0.388", " 1.037", " 0", " 0", " 0", "" ], [ "58", " StoveBurner", " -3.143", " 0.958", " 1.971", " 0", " 0", " 0", "" ], [ "59", " StoveKnob", " -3.599", " 1.110", " 2.017", " 0", " 0", " 105.000", "" ], [ "60", " StoveKnob", " -3.599", " 1.110", " 1.867", " 0", " 0", " 105.000", "" ], [ "61", " StoveKnob", " -3.599", " 1.110", " 2.267", " 0", " 0", " 105.000", "" ], [ "62", " StoveKnob", " -3.599", " 1.110", " 2.427", " 0", " 0", " 105.000", "" ], [ "63", " Toaster", " -2.654", " 0.902", " 4.064", " 0", " 180", " 0", "" ], [ "64", " Fridge", " -0.439", " 0.014", " 3.996", " 0", " 0", " 0", "" ], [ "65", " LightSwitch", " 0.25", " 1.383", " 2.085", " 0", " 270", " 0", "" ], [ "66", " Window", " -1.430", " 1.338", " -0.347", " 90", " 0", " 0", "" ], [ "67", " CoffeeMachine", " -3.550", " 0.902", " 3.274", " 0", " 90", " 0", "" ], [ "68", " SinkBasin", " -1.802", " 0.778", " 3.700", " 0", " 0", " 0", "" ], [ "69", " Microwave", " -3.484", " 1.430", " 2.182", " 0", " 90", " 0", "" ], [ "70", " GarbageCan", " -1.184", " -0.020", " 3.794", " 0", " 270", " 0", "" ], [ "71", " Blinds", " -1.404", " 2.092", " -0.296", " 0", " 0", " 0", "" ], [ "72", " Stool", " -1.373", " 0.014", " 1.048", " 1.214", " 20.754", " 0", "" ], [ "73", " Faucet", " -1.788", " 0.903", " 3.931", " 270", " 90", " 0", "" ], [ "74", " DiningTable", " -1.399", " 0.010", " 0.238", " 0", " 0", " 0", "" ], [ "75", " GarbageBag", " -0.291", " 0.336", " -0.034", " 272.372", " 348.812", " 147.313", "" ], [ "76", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "77", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "78", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "79", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -0.5 0.914 2.0 0 180 0 1 Pan -3.424 0.966 1.971 0 0 0 46 2 ButterKnife -3.176 0.915 3.008 0 0 0 38 3 WineBottle -1.655 0.892 -0.053 0 90 0 74 4 Kettle -2.840 0.081 3.586 0 0 0 50 5 Spatula -1.919 0.930 4.104 0 0 0 38 6 Egg -0.206 0.758 3.869 0 180 0 64 7 Knife -3.155 0.768 1.202 0 90 0 39 8 SoapBottle -3.559 0.915 1.189 0 0 0 47 9 SoapBottle -1.518 0.080 3.625 0 0 0 43 10 Bowl -1.608 0.914 4.188 0 0 0 38 11 Bowl -3.473 1.545 2.224 0 90 0 69 12 Lettuce -3.463 1.001 1.440 0 0 0 47 13 Apple -1.259 0.951 -0.053 0 90 0 74 14 Apple -2.302 0.975 3.998 0 0 0 38 15 Egg -1.161 0.121 3.884 0 270 0 70 16 Knife -3.176 0.939 1.357 0 0 0 47 17 Fork -1.391 0.892 0.152 0 270 0 74 18 Bread -1.522 0.963 0.279 0 280.101 0 74 19 Potato -3.654 0.948 1.440 0 0 0 47 20 Plate -3.006 0.904 3.677 0 0 0 38 21 Pot -3.424 0.966 2.374 0 0 0 44 22 Kettle -3.368 0.916 2.844 0 0 0 38 23 WineBottle -1.192 0.088 3.724 0 270 0 70 24 Bowl -0.673 0.985 3.926 0 180 0 64 25 Tomato -1.793 0.858 3.625 0 0 0 68 26 Cup -3.492 1.994 1.835 0 0 0 52 27 Spatula -1.259 0.906 0.255 0 180 0 74 28 SoapBottle -3.368 0.915 1.189 0 0 0 47 29 Lettuce -0.323 1.072 3.926 0 180 0 64 30 Pan -3.143 0.966 1.971 0 0 0 58 31 Apple -3.537 1.606 2.016 0 90 0 69 32 SaltShaker -1.127 0.887 0.461 0 90 0 74 33 PepperShaker -3.654 0.912 1.273 0 0 0 47 34 ButterKnife -1.523 0.880 0.461 0 90 0 74 35 DishSponge -3.126 0.746 2.861 0 0 0 40 36 Spoon -0.994 0.892 0.152 0 90 0 74 37 Mug -3.424 0.945 3.275 0 90 0 38 38 CounterTop -3.381 0.950 3.335 0 0 0 39 Drawer -3.121 0.775 1.357 0 0 0 40 Drawer -3.121 0.777 2.916 0 0 0 41 StoveBurner -3.148 0.958 2.374 0 0 0 42 Sink -1.797 0.917 3.660 0 0 0 43 Cabinet -1.421 0.388 3.459 0 0 0 44 StoveBurner -3.424 0.958 2.374 0 0 0 45 Cabinet -3.365 1.931 2.676 0 0 0 46 StoveBurner -3.424 0.958 1.971 0 0 0 47 CounterTop -3.381 0.951 1.356 0 0 0 48 Drawer -3.121 0.781 3.295 0 0 0 49 Cabinet -2.205 0.388 3.459 0 0 0 50 Cabinet -2.963 0.388 3.459 0 0 0 51 Cabinet -2.992 0.388 2.683 0 0 0 52 Cabinet -3.352 2.205 1.715 0 0 0 53 Cabinet -3.352 2.205 2.653 0 0 0 54 Cabinet -2.189 0.388 3.466 0 0 0 55 Cabinet -3.365 1.931 3.963 0 0 0 56 Cabinet -3.365 1.931 1.056 0 0 0 57 Cabinet -2.992 0.388 1.037 0 0 0 58 StoveBurner -3.143 0.958 1.971 0 0 0 59 StoveKnob -3.599 1.110 2.017 0 0 105.000 60 StoveKnob -3.599 1.110 1.867 0 0 105.000 61 StoveKnob -3.599 1.110 2.267 0 0 105.000 62 StoveKnob -3.599 1.110 2.427 0 0 105.000 63 Toaster -2.654 0.902 4.064 0 180 0 64 Fridge -0.439 0.014 3.996 0 0 0 65 LightSwitch 0.25 1.383 2.085 0 270 0 66 Window -1.430 1.338 -0.347 90 0 0 67 CoffeeMachine -3.550 0.902 3.274 0 90 0 68 SinkBasin -1.802 0.778 3.700 0 0 0 69 Microwave -3.484 1.430 2.182 0 90 0 70 GarbageCan -1.184 -0.020 3.794 0 270 0 71 Blinds -1.404 2.092 -0.296 0 0 0 72 Stool -1.373 0.014 1.048 1.214 20.754 0 73 Faucet -1.788 0.903 3.931 270 90 0 74 DiningTable -1.399 0.010 0.238 0 0 0 75 GarbageBag -0.291 0.336 -0.034 272.372 348.812 147.313 76 NorthWall 77 EastWall 78 SouthWall 79 WestWall
[ "STEP 1: Move to the trash can to the left of the fridge | STEP 2: Pick up the egg inside of the trash can | STEP 3: Turn left then move towards the microwave above the stove top | STEP 4: Place the egg in the microwave, cook it, pull it out then shut the microwave | STEP 5: Carry the egg to the left corner of the white table top | STEP 6: Place the egg on the table on the front left corner to the left of the salt | END" ]
[ [ "STEP 1: Move to the trash can to the left of the fridge ", " STEP 2: Pick up the egg inside of the trash can ", " STEP 3: Turn left then move towards the microwave above the stove top ", " STEP 4: Place the egg in the microwave, cook it, pull it out then shut the microwave ", " STEP 5: Carry the egg to the left corner of the white table top ", " STEP 6: Place the egg on the table on the front left corner to the left of the salt ", " END" ] ]
seen
trial_T20190908_042212_100074-1
Put a heated egg on a table.
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" 0", "" ], [ "50", " Cabinet", " -2.963", " 0.388", " 3.459", " 0", " 0", " 0", "" ], [ "51", " Cabinet", " -2.992", " 0.388", " 2.683", " 0", " 0", " 0", "" ], [ "52", " Cabinet", " -3.352", " 2.205", " 1.715", " 0", " 0", " 0", "" ], [ "53", " Cabinet", " -3.352", " 2.205", " 2.653", " 0", " 0", " 0", "" ], [ "54", " Cabinet", " -2.189", " 0.388", " 3.466", " 0", " 0", " 0", "" ], [ "55", " Cabinet", " -3.365", " 1.931", " 3.963", " 0", " 0", " 0", "" ], [ "56", " Cabinet", " -3.365", " 1.931", " 1.056", " 0", " 0", " 0", "" ], [ "57", " Cabinet", " -2.992", " 0.388", " 1.037", " 0", " 0", " 0", "" ], [ "58", " StoveBurner", " -3.143", " 0.958", " 1.971", " 0", " 0", " 0", "" ], [ "59", " StoveKnob", " -3.599", " 1.110", " 2.017", " 0", " 0", " 105.000", "" ], [ "60", " StoveKnob", " -3.599", " 1.110", " 1.867", " 0", " 0", " 105.000", "" ], [ "61", " StoveKnob", " -3.599", " 1.110", " 2.267", " 0", " 0", " 105.000", "" ], [ "62", " StoveKnob", " -3.599", " 1.110", " 2.427", " 0", " 0", " 105.000", "" ], [ "63", " Toaster", " -2.654", " 0.902", " 4.064", " 0", " 180", " 0", "" ], [ "64", " Fridge", " -0.439", " 0.014", " 3.996", " 0", " 0", " 0", "" ], [ "65", " LightSwitch", " 0.25", " 1.383", " 2.085", " 0", " 270", " 0", "" ], [ "66", " Window", " -1.430", " 1.338", " -0.347", " 90", " 0", " 0", "" ], [ "67", " CoffeeMachine", " -3.550", " 0.902", " 3.274", " 0", " 90", " 0", "" ], [ "68", " SinkBasin", " -1.802", " 0.778", " 3.700", " 0", " 0", " 0", "" ], [ "69", " Microwave", " -3.484", " 1.430", " 2.182", " 0", " 90", " 0", "" ], [ "70", " GarbageCan", " -1.184", " -0.020", " 3.794", " 0", " 270", " 0", "" ], [ "71", " Blinds", " -1.404", " 2.092", " -0.296", " 0", " 0", " 0", "" ], [ "72", " Stool", " -1.373", " 0.014", " 1.048", " 1.214", " 20.754", " 0", "" ], [ "73", " Faucet", " -1.788", " 0.903", " 3.931", " 270", " 90", " 0", "" ], [ "74", " DiningTable", " -1.399", " 0.010", " 0.238", " 0", " 0", " 0", "" ], [ "75", " GarbageBag", " -0.291", " 0.336", " -0.034", " 272.372", " 348.812", " 147.313", "" ], [ "76", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "77", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "78", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "79", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -0.5 0.914 2.0 0 180 0 1 Pan -3.424 0.966 1.971 0 0 0 46 2 ButterKnife -3.176 0.915 3.008 0 0 0 38 3 WineBottle -1.655 0.892 -0.053 0 90 0 74 4 Kettle -2.840 0.081 3.586 0 0 0 50 5 Spatula -1.919 0.930 4.104 0 0 0 38 6 Egg -0.206 0.758 3.869 0 180 0 64 7 Knife -3.155 0.768 1.202 0 90 0 39 8 SoapBottle -3.559 0.915 1.189 0 0 0 47 9 SoapBottle -1.518 0.080 3.625 0 0 0 43 10 Bowl -1.608 0.914 4.188 0 0 0 38 11 Bowl -3.473 1.545 2.224 0 90 0 69 12 Lettuce -3.463 1.001 1.440 0 0 0 47 13 Apple -1.259 0.951 -0.053 0 90 0 74 14 Apple -2.302 0.975 3.998 0 0 0 38 15 Egg -1.161 0.121 3.884 0 270 0 70 16 Knife -3.176 0.939 1.357 0 0 0 47 17 Fork -1.391 0.892 0.152 0 270 0 74 18 Bread -1.522 0.963 0.279 0 280.101 0 74 19 Potato -3.654 0.948 1.440 0 0 0 47 20 Plate -3.006 0.904 3.677 0 0 0 38 21 Pot -3.424 0.966 2.374 0 0 0 44 22 Kettle -3.368 0.916 2.844 0 0 0 38 23 WineBottle -1.192 0.088 3.724 0 270 0 70 24 Bowl -0.673 0.985 3.926 0 180 0 64 25 Tomato -1.793 0.858 3.625 0 0 0 68 26 Cup -3.492 1.994 1.835 0 0 0 52 27 Spatula -1.259 0.906 0.255 0 180 0 74 28 SoapBottle -3.368 0.915 1.189 0 0 0 47 29 Lettuce -0.323 1.072 3.926 0 180 0 64 30 Pan -3.143 0.966 1.971 0 0 0 58 31 Apple -3.537 1.606 2.016 0 90 0 69 32 SaltShaker -1.127 0.887 0.461 0 90 0 74 33 PepperShaker -3.654 0.912 1.273 0 0 0 47 34 ButterKnife -1.523 0.880 0.461 0 90 0 74 35 DishSponge -3.126 0.746 2.861 0 0 0 40 36 Spoon -0.994 0.892 0.152 0 90 0 74 37 Mug -3.424 0.945 3.275 0 90 0 38 38 CounterTop -3.381 0.950 3.335 0 0 0 39 Drawer -3.121 0.775 1.357 0 0 0 40 Drawer -3.121 0.777 2.916 0 0 0 41 StoveBurner -3.148 0.958 2.374 0 0 0 42 Sink -1.797 0.917 3.660 0 0 0 43 Cabinet -1.421 0.388 3.459 0 0 0 44 StoveBurner -3.424 0.958 2.374 0 0 0 45 Cabinet -3.365 1.931 2.676 0 0 0 46 StoveBurner -3.424 0.958 1.971 0 0 0 47 CounterTop -3.381 0.951 1.356 0 0 0 48 Drawer -3.121 0.781 3.295 0 0 0 49 Cabinet -2.205 0.388 3.459 0 0 0 50 Cabinet -2.963 0.388 3.459 0 0 0 51 Cabinet -2.992 0.388 2.683 0 0 0 52 Cabinet -3.352 2.205 1.715 0 0 0 53 Cabinet -3.352 2.205 2.653 0 0 0 54 Cabinet -2.189 0.388 3.466 0 0 0 55 Cabinet -3.365 1.931 3.963 0 0 0 56 Cabinet -3.365 1.931 1.056 0 0 0 57 Cabinet -2.992 0.388 1.037 0 0 0 58 StoveBurner -3.143 0.958 1.971 0 0 0 59 StoveKnob -3.599 1.110 2.017 0 0 105.000 60 StoveKnob -3.599 1.110 1.867 0 0 105.000 61 StoveKnob -3.599 1.110 2.267 0 0 105.000 62 StoveKnob -3.599 1.110 2.427 0 0 105.000 63 Toaster -2.654 0.902 4.064 0 180 0 64 Fridge -0.439 0.014 3.996 0 0 0 65 LightSwitch 0.25 1.383 2.085 0 270 0 66 Window -1.430 1.338 -0.347 90 0 0 67 CoffeeMachine -3.550 0.902 3.274 0 90 0 68 SinkBasin -1.802 0.778 3.700 0 0 0 69 Microwave -3.484 1.430 2.182 0 90 0 70 GarbageCan -1.184 -0.020 3.794 0 270 0 71 Blinds -1.404 2.092 -0.296 0 0 0 72 Stool -1.373 0.014 1.048 1.214 20.754 0 73 Faucet -1.788 0.903 3.931 270 90 0 74 DiningTable -1.399 0.010 0.238 0 0 0 75 GarbageBag -0.291 0.336 -0.034 272.372 348.812 147.313 76 NorthWall 77 EastWall 78 SouthWall 79 WestWall
[ "STEP 1: move to the bin to the left of the fridge | STEP 2: pick up a egg from the bin | STEP 3: move to the stove to the left of you | STEP 4: heat the egg in the microwave | STEP 5: move to the table to the left | STEP 6: put the egg on the table | END" ]
[ [ "STEP 1: move to the bin to the left of the fridge ", " STEP 2: pick up a egg from the bin ", " STEP 3: move to the stove to the left of you ", " STEP 4: heat the egg in the microwave ", " STEP 5: move to the table to the left ", " STEP 6: put the egg on the table ", " END" ] ]
seen
trial_T20190908_042212_100074-2
Place a cooked egg from the grey bin on to the table.
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0", " 90", " 0", " 74" ], [ "37", " Mug", " -3.424", " 0.945", " 3.275", " 0", " 90", " 0", " 38" ], [ "38", " CounterTop", " -3.381", " 0.950", " 3.335", " 0", " 0", " 0", "" ], [ "39", " Drawer", " -3.121", " 0.775", " 1.357", " 0", " 0", " 0", "" ], [ "40", " Drawer", " -3.121", " 0.777", " 2.916", " 0", " 0", " 0", "" ], [ "41", " StoveBurner", " -3.148", " 0.958", " 2.374", " 0", " 0", " 0", "" ], [ "42", " Sink", " -1.797", " 0.917", " 3.660", " 0", " 0", " 0", "" ], [ "43", " Cabinet", " -1.421", " 0.388", " 3.459", " 0", " 0", " 0", "" ], [ "44", " StoveBurner", " -3.424", " 0.958", " 2.374", " 0", " 0", " 0", "" ], [ "45", " Cabinet", " -3.365", " 1.931", " 2.676", " 0", " 0", " 0", "" ], [ "46", " StoveBurner", " -3.424", " 0.958", " 1.971", " 0", " 0", " 0", "" ], [ "47", " CounterTop", " -3.381", " 0.951", " 1.356", " 0", " 0", " 0", "" ], [ "48", " Drawer", " -3.121", " 0.781", " 3.295", " 0", " 0", " 0", "" ], [ "49", " Cabinet", " -2.205", " 0.388", " 3.459", " 0", " 0", " 0", "" ], [ "50", " Cabinet", " -2.963", " 0.388", " 3.459", " 0", " 0", " 0", "" ], [ "51", " Cabinet", " -2.992", " 0.388", " 2.683", " 0", " 0", " 0", "" ], [ "52", " Cabinet", " -3.352", " 2.205", " 1.715", " 0", " 0", " 0", "" ], [ "53", " Cabinet", " -3.352", " 2.205", " 2.653", " 0", " 0", " 0", "" ], [ "54", " Cabinet", " -2.189", " 0.388", " 3.466", " 0", " 0", " 0", "" ], [ "55", " Cabinet", " -3.365", " 1.931", " 3.963", " 0", " 0", " 0", "" ], [ "56", " Cabinet", " -3.365", " 1.931", " 1.056", " 0", " 0", " 0", "" ], [ "57", " Cabinet", " -2.992", " 0.388", " 1.037", " 0", " 0", " 0", "" ], [ "58", " StoveBurner", " -3.143", " 0.958", " 1.971", " 0", " 0", " 0", "" ], [ "59", " StoveKnob", " -3.599", " 1.110", " 2.017", " 0", " 0", " 105.000", "" ], [ "60", " StoveKnob", " -3.599", " 1.110", " 1.867", " 0", " 0", " 105.000", "" ], [ "61", " StoveKnob", " -3.599", " 1.110", " 2.267", " 0", " 0", " 105.000", "" ], [ "62", " StoveKnob", " -3.599", " 1.110", " 2.427", " 0", " 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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -0.5 0.914 2.0 0 180 0 1 Pan -3.424 0.966 1.971 0 0 0 46 2 ButterKnife -3.176 0.915 3.008 0 0 0 38 3 WineBottle -1.655 0.892 -0.053 0 90 0 74 4 Kettle -2.840 0.081 3.586 0 0 0 50 5 Spatula -1.919 0.930 4.104 0 0 0 38 6 Egg -0.206 0.758 3.869 0 180 0 64 7 Knife -3.155 0.768 1.202 0 90 0 39 8 SoapBottle -3.559 0.915 1.189 0 0 0 47 9 SoapBottle -1.518 0.080 3.625 0 0 0 43 10 Bowl -1.608 0.914 4.188 0 0 0 38 11 Bowl -3.473 1.545 2.224 0 90 0 69 12 Lettuce -3.463 1.001 1.440 0 0 0 47 13 Apple -1.259 0.951 -0.053 0 90 0 74 14 Apple -2.302 0.975 3.998 0 0 0 38 15 Egg -1.161 0.121 3.884 0 270 0 70 16 Knife -3.176 0.939 1.357 0 0 0 47 17 Fork -1.391 0.892 0.152 0 270 0 74 18 Bread -1.522 0.963 0.279 0 280.101 0 74 19 Potato -3.654 0.948 1.440 0 0 0 47 20 Plate -3.006 0.904 3.677 0 0 0 38 21 Pot -3.424 0.966 2.374 0 0 0 44 22 Kettle -3.368 0.916 2.844 0 0 0 38 23 WineBottle -1.192 0.088 3.724 0 270 0 70 24 Bowl -0.673 0.985 3.926 0 180 0 64 25 Tomato -1.793 0.858 3.625 0 0 0 68 26 Cup -3.492 1.994 1.835 0 0 0 52 27 Spatula -1.259 0.906 0.255 0 180 0 74 28 SoapBottle -3.368 0.915 1.189 0 0 0 47 29 Lettuce -0.323 1.072 3.926 0 180 0 64 30 Pan -3.143 0.966 1.971 0 0 0 58 31 Apple -3.537 1.606 2.016 0 90 0 69 32 SaltShaker -1.127 0.887 0.461 0 90 0 74 33 PepperShaker -3.654 0.912 1.273 0 0 0 47 34 ButterKnife -1.523 0.880 0.461 0 90 0 74 35 DishSponge -3.126 0.746 2.861 0 0 0 40 36 Spoon -0.994 0.892 0.152 0 90 0 74 37 Mug -3.424 0.945 3.275 0 90 0 38 38 CounterTop -3.381 0.950 3.335 0 0 0 39 Drawer -3.121 0.775 1.357 0 0 0 40 Drawer -3.121 0.777 2.916 0 0 0 41 StoveBurner -3.148 0.958 2.374 0 0 0 42 Sink -1.797 0.917 3.660 0 0 0 43 Cabinet -1.421 0.388 3.459 0 0 0 44 StoveBurner -3.424 0.958 2.374 0 0 0 45 Cabinet -3.365 1.931 2.676 0 0 0 46 StoveBurner -3.424 0.958 1.971 0 0 0 47 CounterTop -3.381 0.951 1.356 0 0 0 48 Drawer -3.121 0.781 3.295 0 0 0 49 Cabinet -2.205 0.388 3.459 0 0 0 50 Cabinet -2.963 0.388 3.459 0 0 0 51 Cabinet -2.992 0.388 2.683 0 0 0 52 Cabinet -3.352 2.205 1.715 0 0 0 53 Cabinet -3.352 2.205 2.653 0 0 0 54 Cabinet -2.189 0.388 3.466 0 0 0 55 Cabinet -3.365 1.931 3.963 0 0 0 56 Cabinet -3.365 1.931 1.056 0 0 0 57 Cabinet -2.992 0.388 1.037 0 0 0 58 StoveBurner -3.143 0.958 1.971 0 0 0 59 StoveKnob -3.599 1.110 2.017 0 0 105.000 60 StoveKnob -3.599 1.110 1.867 0 0 105.000 61 StoveKnob -3.599 1.110 2.267 0 0 105.000 62 StoveKnob -3.599 1.110 2.427 0 0 105.000 63 Toaster -2.654 0.902 4.064 0 180 0 64 Fridge -0.439 0.014 3.996 0 0 0 65 LightSwitch 0.25 1.383 2.085 0 270 0 66 Window -1.430 1.338 -0.347 90 0 0 67 CoffeeMachine -3.550 0.902 3.274 0 90 0 68 SinkBasin -1.802 0.778 3.700 0 0 0 69 Microwave -3.484 1.430 2.182 0 90 0 70 GarbageCan -1.184 -0.020 3.794 0 270 0 71 Blinds -1.404 2.092 -0.296 0 0 0 72 Stool -1.373 0.014 1.048 1.214 20.754 0 73 Faucet -1.788 0.903 3.931 270 90 0 74 DiningTable -1.399 0.010 0.238 0 0 0 75 GarbageBag -0.291 0.336 -0.034 272.372 348.812 147.313 76 NorthWall 77 EastWall 78 SouthWall 79 WestWall
[ "STEP 1: Turn right, take a few steps forward, and then turn right towards the grey bin. | STEP 2: Take out an egg from the grey bin. | STEP 3: Turn around, take a few steps forward, and then turn right towards the microwave above the stove. | STEP 4: Cook the egg inside the microwave and take it back out. | STEP 5: Turn around, walk towards the wall, turn right towards the trash bag on the floor, and then turn right to face a white table. | STEP 6: Place the egg to the right of the spatula on the table. | END" ]
[ [ "STEP 1: Turn right, take a few steps forward, and then turn right towards the grey bin. ", " STEP 2: Take out an egg from the grey bin. ", " STEP 3: Turn around, take a few steps forward, and then turn right towards the microwave above the stove. ", " STEP 4: Cook the egg inside the microwave and take it back out. ", " STEP 5: Turn around, walk towards the wall, turn right towards the trash bag on the floor, and then turn right to face a white table. ", " STEP 6: Place the egg to the right of the spatula on the table. ", " END" ] ]
seen
trial_T20190908_131906_201089-0
Warm a mug in the microwave, put it into the sink
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -0.5 0.908 2.75 0 90 0 1 SprayBottle -1.012 0.749 2.830 0 90 0 49 2 DishSponge 1.207 0.911 -0.428 0 0 0 68 3 ButterKnife -1.197 0.748 2.273 0 0 0 49 4 ButterKnife -1.290 0.748 2.087 0 0 0 49 5 Glassbottle -1.135 0.912 -0.817 0 0 0 74 6 Glassbottle -1.388 2.154 1.150 0 0 0 66 7 Spatula 1.286 0.926 -0.144 0 0 0 68 8 Cup -0.020 0.757 -0.612 0 0 0 95 9 Cup 1.297 1.659 0.016 0 0 0 50 10 Plate 1.207 0.912 0.706 0 0 0 68 11 Tomato -1.012 0.798 2.644 0 0 0 49 12 Tomato -1.149 1.470 1.197 0 90 0 88 13 SoapBottle 1.414 0.087 1.377 0 0 0 89 14 SoapBottle -1.437 0.913 -0.902 0 0 0 74 15 Bowl 1.219 0.114 0.732 0 0 0 65 16 Bowl -0.252 0.115 -0.490 0 0 0 64 17 Bread -1.012 0.813 1.902 0 0 0 49 18 Bread 1.367 0.949 2.261 0 0 0 100 19 Lettuce -1.383 0.819 2.459 0 0 0 49 20 SaltShaker 1.444 0.907 -0.428 0 0 0 68 21 Mug -1.206 0.746 0.988 0 90 0 88 22 Mug -1.263 1.650 -0.128 0 0 0 56 23 Bread 1.069 0.935 2.683 0 0 0 100 24 Glassbottle -0.724 1.656 -0.724 0 0 0 53 25 Fork 1.367 0.886 2.584 0 90 0 100 26 Kettle 0.802 0.939 -0.473 0 0 0 76 27 Tomato -0.919 0.798 2.830 0 0 0 49 28 Plate 1.365 0.912 0.139 0 0 0 68 29 CellPhone 1.523 0.909 -0.144 0 0 0 68 30 Lettuce -0.919 0.820 2.273 0 0 0 49 31 Pot 0.502 0.939 -0.740 0 90 0 75 32 SoapBottle -1.197 0.750 3.015 0 90 0 49 33 WineBottle -1.194 0.342 1.092 0 90 0 88 34 Spatula -1.513 0.927 -0.477 0 270 0 74 35 Bowl -1.206 0.749 0.778 0 90 0 88 36 Apple -1.383 0.809 2.273 0 0 0 49 37 Cup 1.117 0.885 2.153 0 0 0 100 38 Knife -1.123 0.934 -0.509 0 0 0 74 39 Egg -1.211 0.946 -0.477 0 0 0 74 40 SaltShaker -1.388 1.652 -0.166 0 0 0 56 41 PepperShaker 1.200 0.882 2.584 0 0 0 100 42 Potato -1.329 1.060 -0.109 0 90 0 94 43 ButterKnife -0.038 0.912 -0.354 0 0 0 74 44 DishSponge -1.197 0.748 2.644 0 0 0 49 45 Pan 1.365 0.911 0.422 0 90 0 68 46 Spoon -1.105 0.750 1.902 0 0 0 49 47 SprayBottle -1.197 0.748 2.830 0 0 0 49 48 Mug 0.103 0.753 -0.533 0 0 0 95 49 DiningTable -1.182 0.006 2.414 0 90 0 50 Cabinet 1.184 2.059 0.375 0 0 0 51 Cabinet 1.184 2.059 -0.635 0 0 0 52 Cabinet 0.591 2.309 -0.645 0 0 0 53 Cabinet -0.574 2.059 -0.644 0 0 0 54 Cabinet -1.103 2.059 -0.644 0 0 0 55 Cabinet -1.185 2.059 -0.331 0 0 0 56 Cabinet -1.185 2.059 -0.281 0 0 0 57 Cabinet -1.185 2.059 0.375 0 0 0 58 Cabinet 1.184 2.309 1.174 0 0 0 59 Cabinet 1.184 2.309 0.424 0 0 0 60 Cabinet 0.988 0.402 0.581 0 0 0 61 Cabinet 0.988 0.402 0.531 0 0 0 62 Cabinet 0.988 0.402 -0.178 0 0 0 63 Cabinet 0.335 0.402 -0.348 0 0 0 64 Cabinet -0.374 0.402 -0.348 0 0 0 65 Cabinet 0.988 0.402 1.231 0 0 0 66 Cabinet -1.185 2.309 1.374 0 0 0 67 Cabinet -1.185 2.309 0.424 0 0 0 68 CounterTop 1.274 0.947 0.064 0 0 0 69 Drawer 1.116 0.792 -0.015 0 0 0 70 Drawer -1.116 0.792 0.210 0 180 0 71 Cabinet -0.990 0.402 0.374 0 180 0 72 Drawer -1.116 0.792 -0.170 0 180 0 73 Cabinet -0.990 0.402 -0.335 0 180 0 74 CounterTop -1.001 0.947 -0.669 0 0 0 75 StoveBurner 0.502 0.932 -0.740 0 90 0 76 StoveBurner 0.801 0.932 -0.473 0 0 0 77 StoveBurner 0.801 0.932 -0.740 0 90 0 78 Drawer 1.116 0.792 1.081 0 0 0 79 Sink -0.013 0.912 -0.615 0 0 0 80 Drawer 1.116 0.792 0.732 0 0 0 81 StoveBurner 0.502 0.932 -0.469 0 0 0 82 Drawer 1.116 0.792 0.367 0 0 0 83 StoveKnob 0.550 1.085 -0.912 287.970 180 0 84 StoveKnob 0.884 1.085 -0.912 287.970 180 0 85 StoveKnob 0.432 1.085 -0.912 287.970 180 0 86 StoveKnob 0.777 1.085 -0.912 287.970 180 0 87 CoffeeMachine 1.304 0.900 -0.741 0 320.314 0 88 Fridge -1.300 0.008 0.987 0 90 0 89 GarbageCan 1.296 -0.024 1.465 0 0 0 90 Window -0.012 1.641 -0.972 90 0 0 91 Window 1.598 1.646 2.489 90 270 0 92 Toaster 1.356 0.900 1.044 0 270 0 93 LightSwitch 0.118 1.353 3.799 0 180 0 94 Microwave -1.343 0.900 0.053 0 90 0 95 SinkBasin -0.029 0.748 -0.612 0 0 0 96 Faucet -0.026 0.927 -0.808 0 0 0 97 Shelf -1.182 0.127 2.414 0 90 0 98 Stool 1.140 0.007 3.262 1.206 20.753 0 99 Shelf -1.182 0.435 2.414 0 90 0 100 DiningTable 1.169 0.014 2.569 0 0 1.896 101 NorthWall 102 EastWall 103 SouthWall 104 WestWall
[ "STEP 1: Go forward a bit, turn right and go to the sink | STEP 2: Pick up the mug in the sink | STEP 3: Turn right, go to the microwave | STEP 4: Put the mug in the microwave, start the microwave, wait, pick up the mug from the microwave | STEP 5: Turn around, go forward, turn right at the sink | STEP 6: Put the mug in the sink | END" ]
[ [ "STEP 1: Go forward a bit, turn right and go to the sink ", " STEP 2: Pick up the mug in the sink ", " STEP 3: Turn right, go to the microwave ", " STEP 4: Put the mug in the microwave, start the microwave, wait, pick up the mug from the microwave ", " STEP 5: Turn around, go forward, turn right at the sink ", " STEP 6: Put the mug in the sink ", " END" ] ]
seen
trial_T20190908_131906_201089-1
Place microwaved mug in sink
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -0.5 0.908 2.75 0 90 0 1 SprayBottle -1.012 0.749 2.830 0 90 0 49 2 DishSponge 1.207 0.911 -0.428 0 0 0 68 3 ButterKnife -1.197 0.748 2.273 0 0 0 49 4 ButterKnife -1.290 0.748 2.087 0 0 0 49 5 Glassbottle -1.135 0.912 -0.817 0 0 0 74 6 Glassbottle -1.388 2.154 1.150 0 0 0 66 7 Spatula 1.286 0.926 -0.144 0 0 0 68 8 Cup -0.020 0.757 -0.612 0 0 0 95 9 Cup 1.297 1.659 0.016 0 0 0 50 10 Plate 1.207 0.912 0.706 0 0 0 68 11 Tomato -1.012 0.798 2.644 0 0 0 49 12 Tomato -1.149 1.470 1.197 0 90 0 88 13 SoapBottle 1.414 0.087 1.377 0 0 0 89 14 SoapBottle -1.437 0.913 -0.902 0 0 0 74 15 Bowl 1.219 0.114 0.732 0 0 0 65 16 Bowl -0.252 0.115 -0.490 0 0 0 64 17 Bread -1.012 0.813 1.902 0 0 0 49 18 Bread 1.367 0.949 2.261 0 0 0 100 19 Lettuce -1.383 0.819 2.459 0 0 0 49 20 SaltShaker 1.444 0.907 -0.428 0 0 0 68 21 Mug -1.206 0.746 0.988 0 90 0 88 22 Mug -1.263 1.650 -0.128 0 0 0 56 23 Bread 1.069 0.935 2.683 0 0 0 100 24 Glassbottle -0.724 1.656 -0.724 0 0 0 53 25 Fork 1.367 0.886 2.584 0 90 0 100 26 Kettle 0.802 0.939 -0.473 0 0 0 76 27 Tomato -0.919 0.798 2.830 0 0 0 49 28 Plate 1.365 0.912 0.139 0 0 0 68 29 CellPhone 1.523 0.909 -0.144 0 0 0 68 30 Lettuce -0.919 0.820 2.273 0 0 0 49 31 Pot 0.502 0.939 -0.740 0 90 0 75 32 SoapBottle -1.197 0.750 3.015 0 90 0 49 33 WineBottle -1.194 0.342 1.092 0 90 0 88 34 Spatula -1.513 0.927 -0.477 0 270 0 74 35 Bowl -1.206 0.749 0.778 0 90 0 88 36 Apple -1.383 0.809 2.273 0 0 0 49 37 Cup 1.117 0.885 2.153 0 0 0 100 38 Knife -1.123 0.934 -0.509 0 0 0 74 39 Egg -1.211 0.946 -0.477 0 0 0 74 40 SaltShaker -1.388 1.652 -0.166 0 0 0 56 41 PepperShaker 1.200 0.882 2.584 0 0 0 100 42 Potato -1.329 1.060 -0.109 0 90 0 94 43 ButterKnife -0.038 0.912 -0.354 0 0 0 74 44 DishSponge -1.197 0.748 2.644 0 0 0 49 45 Pan 1.365 0.911 0.422 0 90 0 68 46 Spoon -1.105 0.750 1.902 0 0 0 49 47 SprayBottle -1.197 0.748 2.830 0 0 0 49 48 Mug 0.103 0.753 -0.533 0 0 0 95 49 DiningTable -1.182 0.006 2.414 0 90 0 50 Cabinet 1.184 2.059 0.375 0 0 0 51 Cabinet 1.184 2.059 -0.635 0 0 0 52 Cabinet 0.591 2.309 -0.645 0 0 0 53 Cabinet -0.574 2.059 -0.644 0 0 0 54 Cabinet -1.103 2.059 -0.644 0 0 0 55 Cabinet -1.185 2.059 -0.331 0 0 0 56 Cabinet -1.185 2.059 -0.281 0 0 0 57 Cabinet -1.185 2.059 0.375 0 0 0 58 Cabinet 1.184 2.309 1.174 0 0 0 59 Cabinet 1.184 2.309 0.424 0 0 0 60 Cabinet 0.988 0.402 0.581 0 0 0 61 Cabinet 0.988 0.402 0.531 0 0 0 62 Cabinet 0.988 0.402 -0.178 0 0 0 63 Cabinet 0.335 0.402 -0.348 0 0 0 64 Cabinet -0.374 0.402 -0.348 0 0 0 65 Cabinet 0.988 0.402 1.231 0 0 0 66 Cabinet -1.185 2.309 1.374 0 0 0 67 Cabinet -1.185 2.309 0.424 0 0 0 68 CounterTop 1.274 0.947 0.064 0 0 0 69 Drawer 1.116 0.792 -0.015 0 0 0 70 Drawer -1.116 0.792 0.210 0 180 0 71 Cabinet -0.990 0.402 0.374 0 180 0 72 Drawer -1.116 0.792 -0.170 0 180 0 73 Cabinet -0.990 0.402 -0.335 0 180 0 74 CounterTop -1.001 0.947 -0.669 0 0 0 75 StoveBurner 0.502 0.932 -0.740 0 90 0 76 StoveBurner 0.801 0.932 -0.473 0 0 0 77 StoveBurner 0.801 0.932 -0.740 0 90 0 78 Drawer 1.116 0.792 1.081 0 0 0 79 Sink -0.013 0.912 -0.615 0 0 0 80 Drawer 1.116 0.792 0.732 0 0 0 81 StoveBurner 0.502 0.932 -0.469 0 0 0 82 Drawer 1.116 0.792 0.367 0 0 0 83 StoveKnob 0.550 1.085 -0.912 287.970 180 0 84 StoveKnob 0.884 1.085 -0.912 287.970 180 0 85 StoveKnob 0.432 1.085 -0.912 287.970 180 0 86 StoveKnob 0.777 1.085 -0.912 287.970 180 0 87 CoffeeMachine 1.304 0.900 -0.741 0 320.314 0 88 Fridge -1.300 0.008 0.987 0 90 0 89 GarbageCan 1.296 -0.024 1.465 0 0 0 90 Window -0.012 1.641 -0.972 90 0 0 91 Window 1.598 1.646 2.489 90 270 0 92 Toaster 1.356 0.900 1.044 0 270 0 93 LightSwitch 0.118 1.353 3.799 0 180 0 94 Microwave -1.343 0.900 0.053 0 90 0 95 SinkBasin -0.029 0.748 -0.612 0 0 0 96 Faucet -0.026 0.927 -0.808 0 0 0 97 Shelf -1.182 0.127 2.414 0 90 0 98 Stool 1.140 0.007 3.262 1.206 20.753 0 99 Shelf -1.182 0.435 2.414 0 90 0 100 DiningTable 1.169 0.014 2.569 0 0 1.896 101 NorthWall 102 EastWall 103 SouthWall 104 WestWall
[ "STEP 1: turn right, go forward to sink | STEP 2: pick up black mug from sink | STEP 3: turn right, face counter with microwave | STEP 4: place black mug on center of blue plate in microwave, close microwave, turn on microwave, remove black mug, close microwave | STEP 5: turn around, go to sink | STEP 6: place black mug in the right side of sink | END" ]
[ [ "STEP 1: turn right, go forward to sink ", " STEP 2: pick up black mug from sink ", " STEP 3: turn right, face counter with microwave ", " STEP 4: place black mug on center of blue plate in microwave, close microwave, turn on microwave, remove black mug, close microwave ", " STEP 5: turn around, go to sink ", " STEP 6: place black mug in the right side of sink ", " END" ] ]
seen
trial_T20190908_131906_201089-2
Put a hot coffee mug in the sink.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -0.5 0.908 2.75 0 90 0 1 SprayBottle -1.012 0.749 2.830 0 90 0 49 2 DishSponge 1.207 0.911 -0.428 0 0 0 68 3 ButterKnife -1.197 0.748 2.273 0 0 0 49 4 ButterKnife -1.290 0.748 2.087 0 0 0 49 5 Glassbottle -1.135 0.912 -0.817 0 0 0 74 6 Glassbottle -1.388 2.154 1.150 0 0 0 66 7 Spatula 1.286 0.926 -0.144 0 0 0 68 8 Cup -0.020 0.757 -0.612 0 0 0 95 9 Cup 1.297 1.659 0.016 0 0 0 50 10 Plate 1.207 0.912 0.706 0 0 0 68 11 Tomato -1.012 0.798 2.644 0 0 0 49 12 Tomato -1.149 1.470 1.197 0 90 0 88 13 SoapBottle 1.414 0.087 1.377 0 0 0 89 14 SoapBottle -1.437 0.913 -0.902 0 0 0 74 15 Bowl 1.219 0.114 0.732 0 0 0 65 16 Bowl -0.252 0.115 -0.490 0 0 0 64 17 Bread -1.012 0.813 1.902 0 0 0 49 18 Bread 1.367 0.949 2.261 0 0 0 100 19 Lettuce -1.383 0.819 2.459 0 0 0 49 20 SaltShaker 1.444 0.907 -0.428 0 0 0 68 21 Mug -1.206 0.746 0.988 0 90 0 88 22 Mug -1.263 1.650 -0.128 0 0 0 56 23 Bread 1.069 0.935 2.683 0 0 0 100 24 Glassbottle -0.724 1.656 -0.724 0 0 0 53 25 Fork 1.367 0.886 2.584 0 90 0 100 26 Kettle 0.802 0.939 -0.473 0 0 0 76 27 Tomato -0.919 0.798 2.830 0 0 0 49 28 Plate 1.365 0.912 0.139 0 0 0 68 29 CellPhone 1.523 0.909 -0.144 0 0 0 68 30 Lettuce -0.919 0.820 2.273 0 0 0 49 31 Pot 0.502 0.939 -0.740 0 90 0 75 32 SoapBottle -1.197 0.750 3.015 0 90 0 49 33 WineBottle -1.194 0.342 1.092 0 90 0 88 34 Spatula -1.513 0.927 -0.477 0 270 0 74 35 Bowl -1.206 0.749 0.778 0 90 0 88 36 Apple -1.383 0.809 2.273 0 0 0 49 37 Cup 1.117 0.885 2.153 0 0 0 100 38 Knife -1.123 0.934 -0.509 0 0 0 74 39 Egg -1.211 0.946 -0.477 0 0 0 74 40 SaltShaker -1.388 1.652 -0.166 0 0 0 56 41 PepperShaker 1.200 0.882 2.584 0 0 0 100 42 Potato -1.329 1.060 -0.109 0 90 0 94 43 ButterKnife -0.038 0.912 -0.354 0 0 0 74 44 DishSponge -1.197 0.748 2.644 0 0 0 49 45 Pan 1.365 0.911 0.422 0 90 0 68 46 Spoon -1.105 0.750 1.902 0 0 0 49 47 SprayBottle -1.197 0.748 2.830 0 0 0 49 48 Mug 0.103 0.753 -0.533 0 0 0 95 49 DiningTable -1.182 0.006 2.414 0 90 0 50 Cabinet 1.184 2.059 0.375 0 0 0 51 Cabinet 1.184 2.059 -0.635 0 0 0 52 Cabinet 0.591 2.309 -0.645 0 0 0 53 Cabinet -0.574 2.059 -0.644 0 0 0 54 Cabinet -1.103 2.059 -0.644 0 0 0 55 Cabinet -1.185 2.059 -0.331 0 0 0 56 Cabinet -1.185 2.059 -0.281 0 0 0 57 Cabinet -1.185 2.059 0.375 0 0 0 58 Cabinet 1.184 2.309 1.174 0 0 0 59 Cabinet 1.184 2.309 0.424 0 0 0 60 Cabinet 0.988 0.402 0.581 0 0 0 61 Cabinet 0.988 0.402 0.531 0 0 0 62 Cabinet 0.988 0.402 -0.178 0 0 0 63 Cabinet 0.335 0.402 -0.348 0 0 0 64 Cabinet -0.374 0.402 -0.348 0 0 0 65 Cabinet 0.988 0.402 1.231 0 0 0 66 Cabinet -1.185 2.309 1.374 0 0 0 67 Cabinet -1.185 2.309 0.424 0 0 0 68 CounterTop 1.274 0.947 0.064 0 0 0 69 Drawer 1.116 0.792 -0.015 0 0 0 70 Drawer -1.116 0.792 0.210 0 180 0 71 Cabinet -0.990 0.402 0.374 0 180 0 72 Drawer -1.116 0.792 -0.170 0 180 0 73 Cabinet -0.990 0.402 -0.335 0 180 0 74 CounterTop -1.001 0.947 -0.669 0 0 0 75 StoveBurner 0.502 0.932 -0.740 0 90 0 76 StoveBurner 0.801 0.932 -0.473 0 0 0 77 StoveBurner 0.801 0.932 -0.740 0 90 0 78 Drawer 1.116 0.792 1.081 0 0 0 79 Sink -0.013 0.912 -0.615 0 0 0 80 Drawer 1.116 0.792 0.732 0 0 0 81 StoveBurner 0.502 0.932 -0.469 0 0 0 82 Drawer 1.116 0.792 0.367 0 0 0 83 StoveKnob 0.550 1.085 -0.912 287.970 180 0 84 StoveKnob 0.884 1.085 -0.912 287.970 180 0 85 StoveKnob 0.432 1.085 -0.912 287.970 180 0 86 StoveKnob 0.777 1.085 -0.912 287.970 180 0 87 CoffeeMachine 1.304 0.900 -0.741 0 320.314 0 88 Fridge -1.300 0.008 0.987 0 90 0 89 GarbageCan 1.296 -0.024 1.465 0 0 0 90 Window -0.012 1.641 -0.972 90 0 0 91 Window 1.598 1.646 2.489 90 270 0 92 Toaster 1.356 0.900 1.044 0 270 0 93 LightSwitch 0.118 1.353 3.799 0 180 0 94 Microwave -1.343 0.900 0.053 0 90 0 95 SinkBasin -0.029 0.748 -0.612 0 0 0 96 Faucet -0.026 0.927 -0.808 0 0 0 97 Shelf -1.182 0.127 2.414 0 90 0 98 Stool 1.140 0.007 3.262 1.206 20.753 0 99 Shelf -1.182 0.435 2.414 0 90 0 100 DiningTable 1.169 0.014 2.569 0 0 1.896 101 NorthWall 102 EastWall 103 SouthWall 104 WestWall
[ "STEP 1: Turn to the right and go to the sink. | STEP 2: Pick up the black coffee mug that is in the sink. | STEP 3: Turn to the right and go to the microwave. | STEP 4: Put the coffee mug in the microwave and turn it on, remove the hot mug from the microwave. | STEP 5: Turn around and go forward to the sink. | STEP 6: Put the coffee mug in the sink on the right side. | END" ]
[ [ "STEP 1: Turn to the right and go to the sink. ", " STEP 2: Pick up the black coffee mug that is in the sink. ", " STEP 3: Turn to the right and go to the microwave. ", " STEP 4: Put the coffee mug in the microwave and turn it on, remove the hot mug from the microwave. ", " STEP 5: Turn around and go forward to the sink. ", " STEP 6: Put the coffee mug in the sink on the right side. ", " END" ] ]
seen
trial_T20190907_205133_881018-0
Place a tomato into the microwave.
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Fork", " 0.183", " 0.920", " -1.708", " 0", " 270", " 0", " 58" ], [ "12", " Fork", " 0.903", " 0.773", " 0.485", " 0", " 90", " 0", " 56" ], [ "13", " Spoon", " -0.316", " 0.774", " -1.500", " 0", " 270", " 0", " 78" ], [ "14", " Spatula", " -2.323", " 0.925", " 0.377", " 0", " 0", " 0", " 81" ], [ "15", " Spatula", " -2.201", " 0.925", " 0.032", " 0", " 0", " 0", " 81" ], [ "16", " Pot", " 1.401", " 1.658", " -1.185", " 0", " 0", " 0", " 71" ], [ "17", " Egg", " -0.017", " 0.805", " -1.744", " 0", " 270", " 0", " 100" ], [ "18", " Cup", " 1.426", " 1.367", " 1.725", " 0", " 270", " 0", " 98" ], [ "19", " Plate", " -1.957", " 0.911", " 0.291", " 0", " 0", " 0", " 81" ], [ "20", " Knife", " 1.343", " 0.941", " -1.331", " 0", " 0", " 0", " 85" ], [ "21", " Knife", " 1.080", " 0.802", " -1.178", " 0", " 90", " 0", " 57" ], [ "22", " Tomato", " 1.376", " 1.407", " 2.476", " 0", " 270", " 0", " 98" ], [ "23", " PepperShaker", " 1.208", " 0.110", " -0.956", " 0", " 0", " 0", " 64" ], [ "24", " SaltShaker", " 0.049", " 0.109", " -1.678", " 0", " 90", " 0", " 76" ], [ "25", " SaltShaker", " 0.563", " 1.650", " -1.876", " 0", " 0", " 0", " 68" ], [ "26", " Bread", " -2.201", " 0.988", " 0.463", " 0", " 0", " 0", " 81" ], [ "27", " Bread", " 1.494", " 1.240", " -1.345", " 0", " 0", " 0", " 85" ], [ "28", " Mug", " 0.183", " 0.914", " -1.657", " 0", " 0", " 0", " 58" ], [ "29", " Apple", " 1.302", " 0.249", " 1.108", " 0", " 0", " 0", " 96" ], [ "30", " Tomato", " 0.285", " 0.959", " -1.808", " 0", " 270", " 0", " 58" ], [ "31", " Glassbottle", " -2.193", " 0.911", " -1.534", " 0", " 0", " 0", " 77" ], [ "32", " Knife", " -1.886", " 0.940", " -1.707", " 0", " 180", " 0", " 77" ], [ "33", " Plate", " 1.426", " 1.368", " 2.226", " 0", " 270", " 0", " 98" ], [ "34", " Fork", " 1.260", " 0.911", " -1.672", " 0", " 90", " 0", " 79" ], [ "35", " Ladle", " 0.970", " 1.699", " -1.839", " 0", " 0", " 0", " 68" ], [ "36", " Potato", " 1.476", " 1.409", " 1.850", " 0", " 270", " 0", 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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 0.0 0.900 2.25 0 270 0 1 SprayBottle 1.208 0.117 0.372 0 0 0 62 2 SprayBottle 1.381 0.213 1.051 0 0 0 96 3 Pen 1.010 0.913 -0.990 0 0 0 79 4 Potato 1.356 1.762 1.963 0 270 0 98 5 Potato 0.758 0.953 -1.789 0 0 0 79 6 Ladle -1.835 0.954 0.549 0 0 0 81 7 Kettle 1.092 0.118 0.489 0 0 0 62 8 Kettle 1.035 0.116 -1.071 0 0 0 64 9 ButterKnife -2.323 0.910 0.291 0 90 0 81 10 Glassbottle -0.401 0.912 -1.448 0 0 0 79 11 Fork 0.183 0.920 -1.708 0 270 0 58 12 Fork 0.903 0.773 0.485 0 90 0 56 13 Spoon -0.316 0.774 -1.500 0 270 0 78 14 Spatula -2.323 0.925 0.377 0 0 0 81 15 Spatula -2.201 0.925 0.032 0 0 0 81 16 Pot 1.401 1.658 -1.185 0 0 0 71 17 Egg -0.017 0.805 -1.744 0 270 0 100 18 Cup 1.426 1.367 1.725 0 270 0 98 19 Plate -1.957 0.911 0.291 0 0 0 81 20 Knife 1.343 0.941 -1.331 0 0 0 85 21 Knife 1.080 0.802 -1.178 0 90 0 57 22 Tomato 1.376 1.407 2.476 0 270 0 98 23 PepperShaker 1.208 0.110 -0.956 0 0 0 64 24 SaltShaker 0.049 0.109 -1.678 0 90 0 76 25 SaltShaker 0.563 1.650 -1.876 0 0 0 68 26 Bread -2.201 0.988 0.463 0 0 0 81 27 Bread 1.494 1.240 -1.345 0 0 0 85 28 Mug 0.183 0.914 -1.657 0 0 0 58 29 Apple 1.302 0.249 1.108 0 0 0 96 30 Tomato 0.285 0.959 -1.808 0 270 0 58 31 Glassbottle -2.193 0.911 -1.534 0 0 0 77 32 Knife -1.886 0.940 -1.707 0 180 0 77 33 Plate 1.426 1.368 2.226 0 270 0 98 34 Fork 1.260 0.911 -1.672 0 90 0 79 35 Ladle 0.970 1.699 -1.839 0 0 0 68 36 Potato 1.476 1.409 1.850 0 270 0 98 37 Lettuce -1.809 0.979 -1.793 0 0 0 77 38 Kettle -1.396 1.859 -1.838 0 0 0 72 39 Pen 0.472 0.777 -1.533 0 0 0 79 40 SaltShaker 1.454 1.157 -1.002 0 0 0 85 41 Cup 1.335 1.162 -1.345 0 0 0 85 42 Egg -0.040 0.805 -1.634 0 270 0 100 43 Spatula -0.477 0.926 -1.874 0 0 0 79 44 Bowl 1.260 0.911 0.031 0 0 0 79 45 SprayBottle -0.406 0.116 -1.489 0 0 0 65 46 Pan -1.431 0.949 -1.81 0 0 0 89 47 SoapBottle 0.710 0.116 -1.537 0 90 0 73 48 Pot -1.431 0.949 -1.525 0 0 0 87 49 ButterKnife -2.116 0.910 -1.448 0 0 0 77 50 PepperShaker -1.886 0.905 -1.965 0 0 0 77 51 DishSponge -1.886 0.910 -1.448 0 0 0 77 52 Bread 1.164 0.975 -0.16 0 300.000 0 79 53 Apple 1.441 1.300 -0.021 0 270 0 101 54 Spoon -2.079 0.911 0.118 0 0 0 81 55 Mug 0.183 0.914 -1.808 0 270 0 58 56 Drawer 0.860 0.75 0.430 0 0 0 57 Drawer 0.871 0.75 -1.134 0 0 0 58 Sink 0.156 0.817 -1.801 0 270 0 59 Cabinet -0.868 2.005 -1.690 0 0 0 60 Cabinet -1.661 2.059 -1.684 0 90 0 61 Cabinet -0.817 2.059 -1.689 0 0 0 62 Cabinet 0.860 0.402 0.665 0 0 0 63 Cabinet 0.860 0.402 -0.552 0 0 0 64 Cabinet 0.860 0.402 -1.365 0 0 0 65 Cabinet -0.244 0.402 -1.389 0 0 0 66 Cabinet -0.815 0.402 -1.389 0 0 0 67 Cabinet 1.159 2.059 -0.334 0 0 0 68 Cabinet 0.488 2.059 -1.689 0 0 0 69 Cabinet -0.193 2.059 -1.689 0 0 0 70 Drawer 0.860 0.75 -0.699 0 0 0 71 Cabinet 1.159 2.059 -1.019 0 0 0 72 Cabinet -1.611 2.005 -1.690 0 0 0 73 Cabinet 0.832 0.401 -1.393 0 90 0 74 Drawer -2.105 0.75 -1.389 0 0 0 75 StoveBurner -1.081 0.941 -1.809 0 0 0 76 Cabinet -0.202 0.401 -1.391 0 90 0 77 CounterTop -1.973 0.945 -1.707 0 0 0 78 Drawer -0.375 0.75 -1.389 0 0 0 79 CounterTop 1.164 0.946 -0.649 0 0 0 80 StoveBurner -1.081 0.941 -1.527 0 0 0 81 CounterTop -2.096 0.945 0.291 0 0 0 82 Cabinet -2.237 0.402 -1.389 0 0 0 83 Drawer 0.584 0.75 -1.389 0 0 0 84 Drawer -1.795 0.75 -1.389 0 0 0 85 CounterTop 1.5 1.197 -0.654 0 0 0 86 Cabinet -1.667 0.402 -1.389 0 0 0 87 StoveBurner -1.430 0.941 -1.525 0 0 0 88 Drawer -0.685 0.75 -1.389 0 0 0 89 StoveBurner -1.430 0.941 -1.809 0 0 0 90 LightSwitch -2.539 1.289 2.568 0 90 0 91 StoveKnob -1.362 1.095 -1.983 287.970 180 0 92 StoveKnob -0.962 1.095 -1.983 287.970 180 0 93 StoveKnob -1.522 1.095 -1.983 287.970 180 0 94 StoveKnob -1.112 1.095 -1.983 287.970 180 0 95 CoffeeMachine 1.082 0.900 -1.848 0 0 0 96 GarbageCan 1.343 0.015 1.041 0 0 0 97 HousePlant 1.440 1.153 0.593 0 0 0 98 Fridge 1.417 0.0 2.101 0 0 0 99 Window -0.486 1.452 3.302 90 0 0 100 SinkBasin -0.063 0.765 -1.713 0 270 0 101 Microwave 1.422 1.150 0.022 0 270 0 102 Toaster -2.066 0.900 -1.848 0 0 0 103 Stool -1.994 0.010 0.882 0 0 0 104 Faucet -0.096 1.041 -1.867 0 270 0 105 NorthWall 106 EastWall 107 SouthWall 108 WestWall
[ "STEP 1: Turn to your left and walk up to the kitchen sink. | STEP 2: Pick up the tomato that is sitting to the left of the sink basin. | STEP 3: Turn around and walk forward until you reach the microwave. | STEP 4: Place the tomato on the left side of the plate that is in the microwave and close the door. | END" ]
[ [ "STEP 1: Turn to your left and walk up to the kitchen sink. ", " STEP 2: Pick up the tomato that is sitting to the left of the sink basin. ", " STEP 3: Turn around and walk forward until you reach the microwave. ", " STEP 4: Place the tomato on the left side of the plate that is in the microwave and close the door. ", " END" ] ]
seen
trial_T20190907_205133_881018-1
Place 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 0.0 0.900 2.25 0 270 0 1 SprayBottle 1.208 0.117 0.372 0 0 0 62 2 SprayBottle 1.381 0.213 1.051 0 0 0 96 3 Pen 1.010 0.913 -0.990 0 0 0 79 4 Potato 1.356 1.762 1.963 0 270 0 98 5 Potato 0.758 0.953 -1.789 0 0 0 79 6 Ladle -1.835 0.954 0.549 0 0 0 81 7 Kettle 1.092 0.118 0.489 0 0 0 62 8 Kettle 1.035 0.116 -1.071 0 0 0 64 9 ButterKnife -2.323 0.910 0.291 0 90 0 81 10 Glassbottle -0.401 0.912 -1.448 0 0 0 79 11 Fork 0.183 0.920 -1.708 0 270 0 58 12 Fork 0.903 0.773 0.485 0 90 0 56 13 Spoon -0.316 0.774 -1.500 0 270 0 78 14 Spatula -2.323 0.925 0.377 0 0 0 81 15 Spatula -2.201 0.925 0.032 0 0 0 81 16 Pot 1.401 1.658 -1.185 0 0 0 71 17 Egg -0.017 0.805 -1.744 0 270 0 100 18 Cup 1.426 1.367 1.725 0 270 0 98 19 Plate -1.957 0.911 0.291 0 0 0 81 20 Knife 1.343 0.941 -1.331 0 0 0 85 21 Knife 1.080 0.802 -1.178 0 90 0 57 22 Tomato 1.376 1.407 2.476 0 270 0 98 23 PepperShaker 1.208 0.110 -0.956 0 0 0 64 24 SaltShaker 0.049 0.109 -1.678 0 90 0 76 25 SaltShaker 0.563 1.650 -1.876 0 0 0 68 26 Bread -2.201 0.988 0.463 0 0 0 81 27 Bread 1.494 1.240 -1.345 0 0 0 85 28 Mug 0.183 0.914 -1.657 0 0 0 58 29 Apple 1.302 0.249 1.108 0 0 0 96 30 Tomato 0.285 0.959 -1.808 0 270 0 58 31 Glassbottle -2.193 0.911 -1.534 0 0 0 77 32 Knife -1.886 0.940 -1.707 0 180 0 77 33 Plate 1.426 1.368 2.226 0 270 0 98 34 Fork 1.260 0.911 -1.672 0 90 0 79 35 Ladle 0.970 1.699 -1.839 0 0 0 68 36 Potato 1.476 1.409 1.850 0 270 0 98 37 Lettuce -1.809 0.979 -1.793 0 0 0 77 38 Kettle -1.396 1.859 -1.838 0 0 0 72 39 Pen 0.472 0.777 -1.533 0 0 0 79 40 SaltShaker 1.454 1.157 -1.002 0 0 0 85 41 Cup 1.335 1.162 -1.345 0 0 0 85 42 Egg -0.040 0.805 -1.634 0 270 0 100 43 Spatula -0.477 0.926 -1.874 0 0 0 79 44 Bowl 1.260 0.911 0.031 0 0 0 79 45 SprayBottle -0.406 0.116 -1.489 0 0 0 65 46 Pan -1.431 0.949 -1.81 0 0 0 89 47 SoapBottle 0.710 0.116 -1.537 0 90 0 73 48 Pot -1.431 0.949 -1.525 0 0 0 87 49 ButterKnife -2.116 0.910 -1.448 0 0 0 77 50 PepperShaker -1.886 0.905 -1.965 0 0 0 77 51 DishSponge -1.886 0.910 -1.448 0 0 0 77 52 Bread 1.164 0.975 -0.16 0 300.000 0 79 53 Apple 1.441 1.300 -0.021 0 270 0 101 54 Spoon -2.079 0.911 0.118 0 0 0 81 55 Mug 0.183 0.914 -1.808 0 270 0 58 56 Drawer 0.860 0.75 0.430 0 0 0 57 Drawer 0.871 0.75 -1.134 0 0 0 58 Sink 0.156 0.817 -1.801 0 270 0 59 Cabinet -0.868 2.005 -1.690 0 0 0 60 Cabinet -1.661 2.059 -1.684 0 90 0 61 Cabinet -0.817 2.059 -1.689 0 0 0 62 Cabinet 0.860 0.402 0.665 0 0 0 63 Cabinet 0.860 0.402 -0.552 0 0 0 64 Cabinet 0.860 0.402 -1.365 0 0 0 65 Cabinet -0.244 0.402 -1.389 0 0 0 66 Cabinet -0.815 0.402 -1.389 0 0 0 67 Cabinet 1.159 2.059 -0.334 0 0 0 68 Cabinet 0.488 2.059 -1.689 0 0 0 69 Cabinet -0.193 2.059 -1.689 0 0 0 70 Drawer 0.860 0.75 -0.699 0 0 0 71 Cabinet 1.159 2.059 -1.019 0 0 0 72 Cabinet -1.611 2.005 -1.690 0 0 0 73 Cabinet 0.832 0.401 -1.393 0 90 0 74 Drawer -2.105 0.75 -1.389 0 0 0 75 StoveBurner -1.081 0.941 -1.809 0 0 0 76 Cabinet -0.202 0.401 -1.391 0 90 0 77 CounterTop -1.973 0.945 -1.707 0 0 0 78 Drawer -0.375 0.75 -1.389 0 0 0 79 CounterTop 1.164 0.946 -0.649 0 0 0 80 StoveBurner -1.081 0.941 -1.527 0 0 0 81 CounterTop -2.096 0.945 0.291 0 0 0 82 Cabinet -2.237 0.402 -1.389 0 0 0 83 Drawer 0.584 0.75 -1.389 0 0 0 84 Drawer -1.795 0.75 -1.389 0 0 0 85 CounterTop 1.5 1.197 -0.654 0 0 0 86 Cabinet -1.667 0.402 -1.389 0 0 0 87 StoveBurner -1.430 0.941 -1.525 0 0 0 88 Drawer -0.685 0.75 -1.389 0 0 0 89 StoveBurner -1.430 0.941 -1.809 0 0 0 90 LightSwitch -2.539 1.289 2.568 0 90 0 91 StoveKnob -1.362 1.095 -1.983 287.970 180 0 92 StoveKnob -0.962 1.095 -1.983 287.970 180 0 93 StoveKnob -1.522 1.095 -1.983 287.970 180 0 94 StoveKnob -1.112 1.095 -1.983 287.970 180 0 95 CoffeeMachine 1.082 0.900 -1.848 0 0 0 96 GarbageCan 1.343 0.015 1.041 0 0 0 97 HousePlant 1.440 1.153 0.593 0 0 0 98 Fridge 1.417 0.0 2.101 0 0 0 99 Window -0.486 1.452 3.302 90 0 0 100 SinkBasin -0.063 0.765 -1.713 0 270 0 101 Microwave 1.422 1.150 0.022 0 270 0 102 Toaster -2.066 0.900 -1.848 0 0 0 103 Stool -1.994 0.010 0.882 0 0 0 104 Faucet -0.096 1.041 -1.867 0 270 0 105 NorthWall 106 EastWall 107 SouthWall 108 WestWall
[ "STEP 1: Move to the kitchen sink | STEP 2: Pick up the tomato on the counter to the left of the sink | STEP 3: Carry the tomato to the shelf above the dish washer | STEP 4: Place the tomato in the microwave above the dishwasher | END" ]
[ [ "STEP 1: Move to the kitchen sink ", " STEP 2: Pick up the tomato on the counter to the left of the sink ", " STEP 3: Carry the tomato to the shelf above the dish washer ", " STEP 4: Place the tomato in the microwave above the dishwasher ", " END" ] ]
seen
trial_T20190907_205133_881018-2
Put a tomato in a microwave
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 0.0 0.900 2.25 0 270 0 1 SprayBottle 1.208 0.117 0.372 0 0 0 62 2 SprayBottle 1.381 0.213 1.051 0 0 0 96 3 Pen 1.010 0.913 -0.990 0 0 0 79 4 Potato 1.356 1.762 1.963 0 270 0 98 5 Potato 0.758 0.953 -1.789 0 0 0 79 6 Ladle -1.835 0.954 0.549 0 0 0 81 7 Kettle 1.092 0.118 0.489 0 0 0 62 8 Kettle 1.035 0.116 -1.071 0 0 0 64 9 ButterKnife -2.323 0.910 0.291 0 90 0 81 10 Glassbottle -0.401 0.912 -1.448 0 0 0 79 11 Fork 0.183 0.920 -1.708 0 270 0 58 12 Fork 0.903 0.773 0.485 0 90 0 56 13 Spoon -0.316 0.774 -1.500 0 270 0 78 14 Spatula -2.323 0.925 0.377 0 0 0 81 15 Spatula -2.201 0.925 0.032 0 0 0 81 16 Pot 1.401 1.658 -1.185 0 0 0 71 17 Egg -0.017 0.805 -1.744 0 270 0 100 18 Cup 1.426 1.367 1.725 0 270 0 98 19 Plate -1.957 0.911 0.291 0 0 0 81 20 Knife 1.343 0.941 -1.331 0 0 0 85 21 Knife 1.080 0.802 -1.178 0 90 0 57 22 Tomato 1.376 1.407 2.476 0 270 0 98 23 PepperShaker 1.208 0.110 -0.956 0 0 0 64 24 SaltShaker 0.049 0.109 -1.678 0 90 0 76 25 SaltShaker 0.563 1.650 -1.876 0 0 0 68 26 Bread -2.201 0.988 0.463 0 0 0 81 27 Bread 1.494 1.240 -1.345 0 0 0 85 28 Mug 0.183 0.914 -1.657 0 0 0 58 29 Apple 1.302 0.249 1.108 0 0 0 96 30 Tomato 0.285 0.959 -1.808 0 270 0 58 31 Glassbottle -2.193 0.911 -1.534 0 0 0 77 32 Knife -1.886 0.940 -1.707 0 180 0 77 33 Plate 1.426 1.368 2.226 0 270 0 98 34 Fork 1.260 0.911 -1.672 0 90 0 79 35 Ladle 0.970 1.699 -1.839 0 0 0 68 36 Potato 1.476 1.409 1.850 0 270 0 98 37 Lettuce -1.809 0.979 -1.793 0 0 0 77 38 Kettle -1.396 1.859 -1.838 0 0 0 72 39 Pen 0.472 0.777 -1.533 0 0 0 79 40 SaltShaker 1.454 1.157 -1.002 0 0 0 85 41 Cup 1.335 1.162 -1.345 0 0 0 85 42 Egg -0.040 0.805 -1.634 0 270 0 100 43 Spatula -0.477 0.926 -1.874 0 0 0 79 44 Bowl 1.260 0.911 0.031 0 0 0 79 45 SprayBottle -0.406 0.116 -1.489 0 0 0 65 46 Pan -1.431 0.949 -1.81 0 0 0 89 47 SoapBottle 0.710 0.116 -1.537 0 90 0 73 48 Pot -1.431 0.949 -1.525 0 0 0 87 49 ButterKnife -2.116 0.910 -1.448 0 0 0 77 50 PepperShaker -1.886 0.905 -1.965 0 0 0 77 51 DishSponge -1.886 0.910 -1.448 0 0 0 77 52 Bread 1.164 0.975 -0.16 0 300.000 0 79 53 Apple 1.441 1.300 -0.021 0 270 0 101 54 Spoon -2.079 0.911 0.118 0 0 0 81 55 Mug 0.183 0.914 -1.808 0 270 0 58 56 Drawer 0.860 0.75 0.430 0 0 0 57 Drawer 0.871 0.75 -1.134 0 0 0 58 Sink 0.156 0.817 -1.801 0 270 0 59 Cabinet -0.868 2.005 -1.690 0 0 0 60 Cabinet -1.661 2.059 -1.684 0 90 0 61 Cabinet -0.817 2.059 -1.689 0 0 0 62 Cabinet 0.860 0.402 0.665 0 0 0 63 Cabinet 0.860 0.402 -0.552 0 0 0 64 Cabinet 0.860 0.402 -1.365 0 0 0 65 Cabinet -0.244 0.402 -1.389 0 0 0 66 Cabinet -0.815 0.402 -1.389 0 0 0 67 Cabinet 1.159 2.059 -0.334 0 0 0 68 Cabinet 0.488 2.059 -1.689 0 0 0 69 Cabinet -0.193 2.059 -1.689 0 0 0 70 Drawer 0.860 0.75 -0.699 0 0 0 71 Cabinet 1.159 2.059 -1.019 0 0 0 72 Cabinet -1.611 2.005 -1.690 0 0 0 73 Cabinet 0.832 0.401 -1.393 0 90 0 74 Drawer -2.105 0.75 -1.389 0 0 0 75 StoveBurner -1.081 0.941 -1.809 0 0 0 76 Cabinet -0.202 0.401 -1.391 0 90 0 77 CounterTop -1.973 0.945 -1.707 0 0 0 78 Drawer -0.375 0.75 -1.389 0 0 0 79 CounterTop 1.164 0.946 -0.649 0 0 0 80 StoveBurner -1.081 0.941 -1.527 0 0 0 81 CounterTop -2.096 0.945 0.291 0 0 0 82 Cabinet -2.237 0.402 -1.389 0 0 0 83 Drawer 0.584 0.75 -1.389 0 0 0 84 Drawer -1.795 0.75 -1.389 0 0 0 85 CounterTop 1.5 1.197 -0.654 0 0 0 86 Cabinet -1.667 0.402 -1.389 0 0 0 87 StoveBurner -1.430 0.941 -1.525 0 0 0 88 Drawer -0.685 0.75 -1.389 0 0 0 89 StoveBurner -1.430 0.941 -1.809 0 0 0 90 LightSwitch -2.539 1.289 2.568 0 90 0 91 StoveKnob -1.362 1.095 -1.983 287.970 180 0 92 StoveKnob -0.962 1.095 -1.983 287.970 180 0 93 StoveKnob -1.522 1.095 -1.983 287.970 180 0 94 StoveKnob -1.112 1.095 -1.983 287.970 180 0 95 CoffeeMachine 1.082 0.900 -1.848 0 0 0 96 GarbageCan 1.343 0.015 1.041 0 0 0 97 HousePlant 1.440 1.153 0.593 0 0 0 98 Fridge 1.417 0.0 2.101 0 0 0 99 Window -0.486 1.452 3.302 90 0 0 100 SinkBasin -0.063 0.765 -1.713 0 270 0 101 Microwave 1.422 1.150 0.022 0 270 0 102 Toaster -2.066 0.900 -1.848 0 0 0 103 Stool -1.994 0.010 0.882 0 0 0 104 Faucet -0.096 1.041 -1.867 0 270 0 105 NorthWall 106 EastWall 107 SouthWall 108 WestWall
[ "STEP 1: Turn to your left so you are facing the kitchen sink | STEP 2: Pick up a tomato off of the draining board | STEP 3: Turn to your left and then turn right to face the microwave | STEP 4: Put the tomato in the microwave and then close the door | END" ]
[ [ "STEP 1: Turn to your left so you are facing the kitchen sink ", " STEP 2: Pick up a tomato off of the draining board ", " STEP 3: Turn to your left and then turn right to face the microwave ", " STEP 4: Put the tomato in the microwave and then close the door ", " END" ] ]
seen
trial_T20190908_221257_299998-0
To put keys on a plate and place them on the platform in the corner of the room.
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " -1.75", " 0.920", " 5.75", " 0", " 0", " 0", "" ], [ "1", " Plate", " -0.750", " 0.621", " 0.764", " 0", " 0", " 0", " 42" ], [ "2", " Newspaper", " -2.893", " 0.455", " 4.722", " 0", " 0", " 0", " 45" ], [ "3", " Newspaper", " -4.508", " 0.543", " 2.022", " 0", " 90", " 0", " 43" ], [ "4", " Vase", " -0.240", " 0.281", " 5.255", " 0", " 270", " 0", " 29" ], [ "5", " KeyChain", " -4.279", " 0.541", " 2.929", " 0", " 90", " 0", " 43" ], [ "6", " KeyChain", " -3.098", " 0.537", " 0.793", " 0", " 0", " 0", " 44" ], [ "7", " CreditCard", " -0.674", " 1.461", " 5.495", " 0", " 270", " 0", " 28" ], [ "8", " CreditCard", " -2.893", " 0.447", " 4.501", " 0", " 0", " 0", " 45" ], [ "9", " RemoteControl", " -3.400", " 0.538", " 0.601", " 0", " 0", " 0", " 44" ], [ "10", " Box", " -0.464", " 0.399", " 6.548", " 0", " 0", " 0", " 29" ], [ "11", " Plate", " -2.402", " 0.453", " 3.836", " 0", " 0", " 0", " 45" ], [ "12", " Vase", " -3.015", " 0.449", " 4.279", " 0", " 0", " 0", " 45" ], [ "13", " WateringCan", " -0.515", " 0.617", " 0.997", " 0", " 0", " 0", " 42" ], [ "14", " Newspaper", " -0.563", " 1.467", " 6.483", " 0", " 270", " 0", " 28" ], [ "15", " Vase", " -2.280", " 0.454", " 4.058", " 0", " 0", " 0", " 45" ], [ "16", " KeyChain", " -0.476", " 0.281", " 6.244", " 0", " 270", " 0", " 29" ], [ "17", " Pillow", " -1.578", " 0.608", " 0.667", " 0", " 0", " 0", " 44" ], [ "18", " Statue", " -0.563", " 1.467", " 5.742", " 0", " 270", " 0", " 28" ], [ "19", " RemoteControl", " -2.893", " 0.448", " 4.279", " 0", " 0", " 0", " 45" ], [ "20", " CreditCard", " -1.587", " 0.536", " 0.888", " 0", " 0", " 0", " 44" ], [ "21", " Statue", " -0.489", " 1.471", " 6.236", " 0", " 270", " 0", " 28" ], [ "22", " Laptop", " -2.525", " 0.447", " 4.722", " 0", " 0", " 0", " 45" ], [ "23", " Statue", " -0.476", " 0.287", " 6.739", " 0", " 270", " 0", " 29" ], [ "24", " Curtains", " -2.827", " 2.473", " 0.039", " 357.605", " 0", " 0", "" ], [ "25", " Curtains", " -2.184", " 2.473", " 0.039", " 357.605", " 0", " 0", "" ], [ "26", " Curtains", " -0.046", " 2.474", " 2.633", " 0", " 0", " 357.064", "" ], [ "27", " DeskLamp", " -0.484", " 0.612", " 0.691", " 0", " 0", " 1.144", "" ], [ "28", " Shelf", " -0.391", " 1.452", " 5.953", " 0", " 270", " 0", "" ], [ "29", " Shelf", " -0.398", " 0.270", " 5.961", " 0", " 270", " 0", "" ], [ "30", " Television", " -0.75", " 1.661", " 3.936", " 0", " 270", " 0", "" ], [ "31", " GarbageCan", " -0.525", " -0.009", " 2.822", " 0", " 0", " 0", "" ], [ "32", " Painting", " -2.670", " 1.574", " 7.000", " 90", " 180", " 0", "" ], [ "33", " Bowl", " -2.400", " 0.464", " 3.442", " 0", " 0", " 0", "" ], [ "34", " LightSwitch", " -5.0", " 1.246", " 5.857", " 0", " 90", " 0", "" ], [ "35", " Window", " -1.373", " 1.565", " 0.008", " 90", " 180", " 0", "" ], [ "36", " Window", " -0.014", " 1.567", " 1.496", " 90", " 270", " 0", "" ], [ "37", " Window", " -3.726", " 1.565", " 0.008", " 90", " 180", " 0", "" ], [ "38", " FloorLamp", " -4.514", " 0.027", " 0.663", " 0", " 0", " 0", "" ], [ "39", " HousePlant", " -2.659", " 0.466", " 4.165", " 0", " 0", " 0", "" ], [ "40", " Shelf", " -0.594", " 0.104", " 0.841", " 0", " 0", " 0", "" ], [ "41", " Shelf", " -0.594", " 0.359", " 0.841", " 0", " 0", " 0", "" ], [ "42", " SideTable", " -0.594", " 0.018", " 0.841", " 0", " 0", " 0", "" ], [ "43", " Sofa", " -4.360", " 0.028", " 2.929", " 0", " 90", " 0", "" ], [ "44", " Sofa", " -2.493", " 0.028", " 0.725", " 0", " 0", " 0", "" ], [ "45", " CoffeeTable", " -2.648", " 0.019", " 4.058", " 0", " 270", " 0", "" ], [ "46", " ArmChair", " -4.446", " 0.017", " 6.450", " 0", " 90", " 0", "" ], [ "47", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "48", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "49", " SouthWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.75 0.920 5.75 0 0 0 1 Plate -0.750 0.621 0.764 0 0 0 42 2 Newspaper -2.893 0.455 4.722 0 0 0 45 3 Newspaper -4.508 0.543 2.022 0 90 0 43 4 Vase -0.240 0.281 5.255 0 270 0 29 5 KeyChain -4.279 0.541 2.929 0 90 0 43 6 KeyChain -3.098 0.537 0.793 0 0 0 44 7 CreditCard -0.674 1.461 5.495 0 270 0 28 8 CreditCard -2.893 0.447 4.501 0 0 0 45 9 RemoteControl -3.400 0.538 0.601 0 0 0 44 10 Box -0.464 0.399 6.548 0 0 0 29 11 Plate -2.402 0.453 3.836 0 0 0 45 12 Vase -3.015 0.449 4.279 0 0 0 45 13 WateringCan -0.515 0.617 0.997 0 0 0 42 14 Newspaper -0.563 1.467 6.483 0 270 0 28 15 Vase -2.280 0.454 4.058 0 0 0 45 16 KeyChain -0.476 0.281 6.244 0 270 0 29 17 Pillow -1.578 0.608 0.667 0 0 0 44 18 Statue -0.563 1.467 5.742 0 270 0 28 19 RemoteControl -2.893 0.448 4.279 0 0 0 45 20 CreditCard -1.587 0.536 0.888 0 0 0 44 21 Statue -0.489 1.471 6.236 0 270 0 28 22 Laptop -2.525 0.447 4.722 0 0 0 45 23 Statue -0.476 0.287 6.739 0 270 0 29 24 Curtains -2.827 2.473 0.039 357.605 0 0 25 Curtains -2.184 2.473 0.039 357.605 0 0 26 Curtains -0.046 2.474 2.633 0 0 357.064 27 DeskLamp -0.484 0.612 0.691 0 0 1.144 28 Shelf -0.391 1.452 5.953 0 270 0 29 Shelf -0.398 0.270 5.961 0 270 0 30 Television -0.75 1.661 3.936 0 270 0 31 GarbageCan -0.525 -0.009 2.822 0 0 0 32 Painting -2.670 1.574 7.000 90 180 0 33 Bowl -2.400 0.464 3.442 0 0 0 34 LightSwitch -5.0 1.246 5.857 0 90 0 35 Window -1.373 1.565 0.008 90 180 0 36 Window -0.014 1.567 1.496 90 270 0 37 Window -3.726 1.565 0.008 90 180 0 38 FloorLamp -4.514 0.027 0.663 0 0 0 39 HousePlant -2.659 0.466 4.165 0 0 0 40 Shelf -0.594 0.104 0.841 0 0 0 41 Shelf -0.594 0.359 0.841 0 0 0 42 SideTable -0.594 0.018 0.841 0 0 0 43 Sofa -4.360 0.028 2.929 0 90 0 44 Sofa -2.493 0.028 0.725 0 0 0 45 CoffeeTable -2.648 0.019 4.058 0 270 0 46 ArmChair -4.446 0.017 6.450 0 90 0 47 NorthWall 48 SouthWall 49 SouthWall
[ "STEP 1: Turn right and step forward to face the platform on the floor. | STEP 2: Pick up the keys on the platform on the floor. | STEP 3: Turn around and step forward to face the living room table. | STEP 4: place the keys on the plate on the living room table. | STEP 5: Pick up the plate on the living room table. | STEP 6: Turn around and step forward to face the platform on the floor. | STEP 7: Put the plate with the keys on it on the platform on the floor. | END" ]
[ [ "STEP 1: Turn right and step forward to face the platform on the floor. ", " STEP 2: Pick up the keys on the platform on the floor. ", " STEP 3: Turn around and step forward to face the living room table. ", " STEP 4: place the keys on the plate on the living room table. ", " STEP 5: Pick up the plate on the living room table. ", " STEP 6: Turn around and step forward to face the platform on the floor. ", " STEP 7: Put the plate with the keys on it on the platform on the floor. ", " END" ] ]
seen
trial_T20190908_221257_299998-1
Move a plate and keys to 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 -1.75 0.920 5.75 0 0 0 1 Plate -0.750 0.621 0.764 0 0 0 42 2 Newspaper -2.893 0.455 4.722 0 0 0 45 3 Newspaper -4.508 0.543 2.022 0 90 0 43 4 Vase -0.240 0.281 5.255 0 270 0 29 5 KeyChain -4.279 0.541 2.929 0 90 0 43 6 KeyChain -3.098 0.537 0.793 0 0 0 44 7 CreditCard -0.674 1.461 5.495 0 270 0 28 8 CreditCard -2.893 0.447 4.501 0 0 0 45 9 RemoteControl -3.400 0.538 0.601 0 0 0 44 10 Box -0.464 0.399 6.548 0 0 0 29 11 Plate -2.402 0.453 3.836 0 0 0 45 12 Vase -3.015 0.449 4.279 0 0 0 45 13 WateringCan -0.515 0.617 0.997 0 0 0 42 14 Newspaper -0.563 1.467 6.483 0 270 0 28 15 Vase -2.280 0.454 4.058 0 0 0 45 16 KeyChain -0.476 0.281 6.244 0 270 0 29 17 Pillow -1.578 0.608 0.667 0 0 0 44 18 Statue -0.563 1.467 5.742 0 270 0 28 19 RemoteControl -2.893 0.448 4.279 0 0 0 45 20 CreditCard -1.587 0.536 0.888 0 0 0 44 21 Statue -0.489 1.471 6.236 0 270 0 28 22 Laptop -2.525 0.447 4.722 0 0 0 45 23 Statue -0.476 0.287 6.739 0 270 0 29 24 Curtains -2.827 2.473 0.039 357.605 0 0 25 Curtains -2.184 2.473 0.039 357.605 0 0 26 Curtains -0.046 2.474 2.633 0 0 357.064 27 DeskLamp -0.484 0.612 0.691 0 0 1.144 28 Shelf -0.391 1.452 5.953 0 270 0 29 Shelf -0.398 0.270 5.961 0 270 0 30 Television -0.75 1.661 3.936 0 270 0 31 GarbageCan -0.525 -0.009 2.822 0 0 0 32 Painting -2.670 1.574 7.000 90 180 0 33 Bowl -2.400 0.464 3.442 0 0 0 34 LightSwitch -5.0 1.246 5.857 0 90 0 35 Window -1.373 1.565 0.008 90 180 0 36 Window -0.014 1.567 1.496 90 270 0 37 Window -3.726 1.565 0.008 90 180 0 38 FloorLamp -4.514 0.027 0.663 0 0 0 39 HousePlant -2.659 0.466 4.165 0 0 0 40 Shelf -0.594 0.104 0.841 0 0 0 41 Shelf -0.594 0.359 0.841 0 0 0 42 SideTable -0.594 0.018 0.841 0 0 0 43 Sofa -4.360 0.028 2.929 0 90 0 44 Sofa -2.493 0.028 0.725 0 0 0 45 CoffeeTable -2.648 0.019 4.058 0 270 0 46 ArmChair -4.446 0.017 6.450 0 90 0 47 NorthWall 48 SouthWall 49 SouthWall
[ "STEP 1: Turn to the right and walk forward to a black counter. | STEP 2: Pick up the keys from the dresser. | STEP 3: Turn and walk to the right. Then turn left and face the coffee table. | STEP 4: Place the keys on the plate on the coffee table. | STEP 5: Pick up the keys and plate from the coffee table. | STEP 6: Turn and walk to the left. Then turn right and face the black counter. | STEP 7: Place the plate and keys on the black counter. | END" ]
[ [ "STEP 1: Turn to the right and walk forward to a black counter. ", " STEP 2: Pick up the keys from the dresser. ", " STEP 3: Turn and walk to the right. Then turn left and face the coffee table. ", " STEP 4: Place the keys on the plate on the coffee table. ", " STEP 5: Pick up the keys and plate from the coffee table. ", " STEP 6: Turn and walk to the left. Then turn right and face the black counter. ", " STEP 7: Place the plate and keys on the black counter. ", " END" ] ]
seen
trial_T20190908_221257_299998-2
Move a plate beneath keys on a bench.
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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 0.920 5.75 0 0 0 1 Plate -0.750 0.621 0.764 0 0 0 42 2 Newspaper -2.893 0.455 4.722 0 0 0 45 3 Newspaper -4.508 0.543 2.022 0 90 0 43 4 Vase -0.240 0.281 5.255 0 270 0 29 5 KeyChain -4.279 0.541 2.929 0 90 0 43 6 KeyChain -3.098 0.537 0.793 0 0 0 44 7 CreditCard -0.674 1.461 5.495 0 270 0 28 8 CreditCard -2.893 0.447 4.501 0 0 0 45 9 RemoteControl -3.400 0.538 0.601 0 0 0 44 10 Box -0.464 0.399 6.548 0 0 0 29 11 Plate -2.402 0.453 3.836 0 0 0 45 12 Vase -3.015 0.449 4.279 0 0 0 45 13 WateringCan -0.515 0.617 0.997 0 0 0 42 14 Newspaper -0.563 1.467 6.483 0 270 0 28 15 Vase -2.280 0.454 4.058 0 0 0 45 16 KeyChain -0.476 0.281 6.244 0 270 0 29 17 Pillow -1.578 0.608 0.667 0 0 0 44 18 Statue -0.563 1.467 5.742 0 270 0 28 19 RemoteControl -2.893 0.448 4.279 0 0 0 45 20 CreditCard -1.587 0.536 0.888 0 0 0 44 21 Statue -0.489 1.471 6.236 0 270 0 28 22 Laptop -2.525 0.447 4.722 0 0 0 45 23 Statue -0.476 0.287 6.739 0 270 0 29 24 Curtains -2.827 2.473 0.039 357.605 0 0 25 Curtains -2.184 2.473 0.039 357.605 0 0 26 Curtains -0.046 2.474 2.633 0 0 357.064 27 DeskLamp -0.484 0.612 0.691 0 0 1.144 28 Shelf -0.391 1.452 5.953 0 270 0 29 Shelf -0.398 0.270 5.961 0 270 0 30 Television -0.75 1.661 3.936 0 270 0 31 GarbageCan -0.525 -0.009 2.822 0 0 0 32 Painting -2.670 1.574 7.000 90 180 0 33 Bowl -2.400 0.464 3.442 0 0 0 34 LightSwitch -5.0 1.246 5.857 0 90 0 35 Window -1.373 1.565 0.008 90 180 0 36 Window -0.014 1.567 1.496 90 270 0 37 Window -3.726 1.565 0.008 90 180 0 38 FloorLamp -4.514 0.027 0.663 0 0 0 39 HousePlant -2.659 0.466 4.165 0 0 0 40 Shelf -0.594 0.104 0.841 0 0 0 41 Shelf -0.594 0.359 0.841 0 0 0 42 SideTable -0.594 0.018 0.841 0 0 0 43 Sofa -4.360 0.028 2.929 0 90 0 44 Sofa -2.493 0.028 0.725 0 0 0 45 CoffeeTable -2.648 0.019 4.058 0 270 0 46 ArmChair -4.446 0.017 6.450 0 90 0 47 NorthWall 48 SouthWall 49 SouthWall
[ "STEP 1: Turn right and move to stand in front of the box on the black bench. | STEP 2: Pick up the keys from beside the box on the bench. | STEP 3: Turn right and carry the keys to the coffee table, standing in front of the white dish. | STEP 4: Place the keys on the white dish on the table. | STEP 5: Pick up the dish with the keys on it from the table. | STEP 6: Turn right and carry the keys on the dish back to the black bench. | STEP 7: Place the dish with the keys on top near the right end of the bench. | END" ]
[ [ "STEP 1: Turn right and move to stand in front of the box on the black bench. ", " STEP 2: Pick up the keys from beside the box on the bench. ", " STEP 3: Turn right and carry the keys to the coffee table, standing in front of the white dish. ", " STEP 4: Place the keys on the white dish on the table. ", " STEP 5: Pick up the dish with the keys on it from the table. ", " STEP 6: Turn right and carry the keys on the dish back to the black bench. ", " STEP 7: Place the dish with the keys on top near the right end of the bench. ", " END" ] ]
seen
trial_T20190908_062651_618623-0
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 -3.0 0.906 1.0 0 90 0 1 Watch -1.816 0.198 2.643 0 0 0 36 2 Watch -4.479 0.512 3.476 0 0 0 34 3 Statue -2.045 0.202 2.643 0 0 0 36 4 Newspaper -1.816 0.200 2.757 0 0 0 36 5 Newspaper -0.430 0.184 2.260 0 270 0 42 6 KeyChain -2.045 0.198 2.872 0 90 0 36 7 CreditCard -4.516 0.426 3.407 0 0 0 33 8 RemoteControl -2.121 0.196 2.986 0 0 0 36 9 RemoteControl -4.582 0.420 1.653 0 270 0 45 10 Box -2.618 0.521 4.570 0 0 0 46 11 CreditCard -4.522 0.512 3.344 0 0 0 34 12 TissueBox -0.403 0.763 2.978 0 270 0 43 13 Laptop -0.335 0.758 2.38 0 33.790 0 43 14 Vase -2.880 1.518 0.144 0 0 0 15 RemoteControl -1.969 0.196 2.872 0 0 0 36 16 Pillow -1.379 0.479 4.520 0 0 0 46 17 KeyChain -4.345 0.419 1.653 0 270 0 45 18 Watch -1.740 0.195 2.528 0 0 0 36 19 Newspaper -1.631 0.421 4.412 0 0 0 46 20 Statue -0.328 0.772 2.828 0 270 0 43 21 Statue -0.178 0.772 2.678 0 270 0 43 22 Curtains -1.030 2.113 0.0 0 0 0 23 Curtains -3.927 2.113 0.0 0 0 0 24 HousePlant -3.127 1.507 0.118 0 0 0 25 Television 0.0 1.376 2.661 0 270 0 26 GarbageCan -0.227 0.005 4.778 0 0 0 27 DeskLamp -4.658 0.508 3.318 0 270 0 28 Painting -2.507 1.817 0.108 90 0 0 29 FloorLamp -4.596 0.006 0.399 0 65.211 0 30 LightSwitch -3.233 1.343 5.0 0 180 0 31 Window -1.011 1.391 0.029 90 180 0 32 Window -3.900 1.391 0.029 90 180 0 33 Drawer -4.433 0.473 3.344 0 90 0 34 SideTable -4.612 0.009 3.346 0 90 0 35 Chair -4.572 0.005 3.862 0 113.899 0 36 CoffeeTable -1.972 0.002 2.615 0 270 0 37 ArmChair -0.875 0.005 0.566 0 0 0 38 Shelf -0.340 0.480 3.046 0 270 0 39 Shelf -0.340 0.649 3.046 0 270 0 40 Shelf -0.340 0.603 2.312 0 270 0 41 Shelf -0.340 0.448 2.678 0 270 0 42 Shelf -0.340 0.308 2.312 0 270 0 43 TVStand -0.335 0.005 2.679 0 270 0 44 Shelf -0.340 0.279 3.046 0 270 0 45 Sofa -4.566 0.009 1.880 0 90 0 46 Sofa -2.124 0.009 4.558 0 180 0 47 NorthWall 48 SouthWall 49 SouthWall
[ "STEP 1: Turn left and face the white table on your right. | STEP 2: Take the copper statue from the table in front of you. | STEP 3: Turn right and face the lamp to your right. | STEP 4: Turn on the lamp in front of you. | END" ]
[ [ "STEP 1: Turn left and face the white table on your right. ", " STEP 2: Take the copper statue from the table in front of you. ", " STEP 3: Turn right and face the lamp to your right. ", " STEP 4: Turn on the lamp in front of you. ", " END" ] ]
seen
trial_T20190908_062651_618623-1
Look at a figurine by lamp light.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -3.0 0.906 1.0 0 90 0 1 Watch -1.816 0.198 2.643 0 0 0 36 2 Watch -4.479 0.512 3.476 0 0 0 34 3 Statue -2.045 0.202 2.643 0 0 0 36 4 Newspaper -1.816 0.200 2.757 0 0 0 36 5 Newspaper -0.430 0.184 2.260 0 270 0 42 6 KeyChain -2.045 0.198 2.872 0 90 0 36 7 CreditCard -4.516 0.426 3.407 0 0 0 33 8 RemoteControl -2.121 0.196 2.986 0 0 0 36 9 RemoteControl -4.582 0.420 1.653 0 270 0 45 10 Box -2.618 0.521 4.570 0 0 0 46 11 CreditCard -4.522 0.512 3.344 0 0 0 34 12 TissueBox -0.403 0.763 2.978 0 270 0 43 13 Laptop -0.335 0.758 2.38 0 33.790 0 43 14 Vase -2.880 1.518 0.144 0 0 0 15 RemoteControl -1.969 0.196 2.872 0 0 0 36 16 Pillow -1.379 0.479 4.520 0 0 0 46 17 KeyChain -4.345 0.419 1.653 0 270 0 45 18 Watch -1.740 0.195 2.528 0 0 0 36 19 Newspaper -1.631 0.421 4.412 0 0 0 46 20 Statue -0.328 0.772 2.828 0 270 0 43 21 Statue -0.178 0.772 2.678 0 270 0 43 22 Curtains -1.030 2.113 0.0 0 0 0 23 Curtains -3.927 2.113 0.0 0 0 0 24 HousePlant -3.127 1.507 0.118 0 0 0 25 Television 0.0 1.376 2.661 0 270 0 26 GarbageCan -0.227 0.005 4.778 0 0 0 27 DeskLamp -4.658 0.508 3.318 0 270 0 28 Painting -2.507 1.817 0.108 90 0 0 29 FloorLamp -4.596 0.006 0.399 0 65.211 0 30 LightSwitch -3.233 1.343 5.0 0 180 0 31 Window -1.011 1.391 0.029 90 180 0 32 Window -3.900 1.391 0.029 90 180 0 33 Drawer -4.433 0.473 3.344 0 90 0 34 SideTable -4.612 0.009 3.346 0 90 0 35 Chair -4.572 0.005 3.862 0 113.899 0 36 CoffeeTable -1.972 0.002 2.615 0 270 0 37 ArmChair -0.875 0.005 0.566 0 0 0 38 Shelf -0.340 0.480 3.046 0 270 0 39 Shelf -0.340 0.649 3.046 0 270 0 40 Shelf -0.340 0.603 2.312 0 270 0 41 Shelf -0.340 0.448 2.678 0 270 0 42 Shelf -0.340 0.308 2.312 0 270 0 43 TVStand -0.335 0.005 2.679 0 270 0 44 Shelf -0.340 0.279 3.046 0 270 0 45 Sofa -4.566 0.009 1.880 0 90 0 46 Sofa -2.124 0.009 4.558 0 180 0 47 NorthWall 48 SouthWall 49 SouthWall
[ "STEP 1: Go to the pallet in the center of the room. | STEP 2: Pick up the gold figurine on the pallet. | STEP 3: Go to the lamp in the corner of the room. | STEP 4: Turn on the lamp. | END" ]
[ [ "STEP 1: Go to the pallet in the center of the room. ", " STEP 2: Pick up the gold figurine on the pallet. ", " STEP 3: Go to the lamp in the corner of the room. ", " STEP 4: Turn on the lamp. ", " END" ] ]
seen
trial_T20190908_062651_618623-2
Look at a statue under a lamp
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -3.0 0.906 1.0 0 90 0 1 Watch -1.816 0.198 2.643 0 0 0 36 2 Watch -4.479 0.512 3.476 0 0 0 34 3 Statue -2.045 0.202 2.643 0 0 0 36 4 Newspaper -1.816 0.200 2.757 0 0 0 36 5 Newspaper -0.430 0.184 2.260 0 270 0 42 6 KeyChain -2.045 0.198 2.872 0 90 0 36 7 CreditCard -4.516 0.426 3.407 0 0 0 33 8 RemoteControl -2.121 0.196 2.986 0 0 0 36 9 RemoteControl -4.582 0.420 1.653 0 270 0 45 10 Box -2.618 0.521 4.570 0 0 0 46 11 CreditCard -4.522 0.512 3.344 0 0 0 34 12 TissueBox -0.403 0.763 2.978 0 270 0 43 13 Laptop -0.335 0.758 2.38 0 33.790 0 43 14 Vase -2.880 1.518 0.144 0 0 0 15 RemoteControl -1.969 0.196 2.872 0 0 0 36 16 Pillow -1.379 0.479 4.520 0 0 0 46 17 KeyChain -4.345 0.419 1.653 0 270 0 45 18 Watch -1.740 0.195 2.528 0 0 0 36 19 Newspaper -1.631 0.421 4.412 0 0 0 46 20 Statue -0.328 0.772 2.828 0 270 0 43 21 Statue -0.178 0.772 2.678 0 270 0 43 22 Curtains -1.030 2.113 0.0 0 0 0 23 Curtains -3.927 2.113 0.0 0 0 0 24 HousePlant -3.127 1.507 0.118 0 0 0 25 Television 0.0 1.376 2.661 0 270 0 26 GarbageCan -0.227 0.005 4.778 0 0 0 27 DeskLamp -4.658 0.508 3.318 0 270 0 28 Painting -2.507 1.817 0.108 90 0 0 29 FloorLamp -4.596 0.006 0.399 0 65.211 0 30 LightSwitch -3.233 1.343 5.0 0 180 0 31 Window -1.011 1.391 0.029 90 180 0 32 Window -3.900 1.391 0.029 90 180 0 33 Drawer -4.433 0.473 3.344 0 90 0 34 SideTable -4.612 0.009 3.346 0 90 0 35 Chair -4.572 0.005 3.862 0 113.899 0 36 CoffeeTable -1.972 0.002 2.615 0 270 0 37 ArmChair -0.875 0.005 0.566 0 0 0 38 Shelf -0.340 0.480 3.046 0 270 0 39 Shelf -0.340 0.649 3.046 0 270 0 40 Shelf -0.340 0.603 2.312 0 270 0 41 Shelf -0.340 0.448 2.678 0 270 0 42 Shelf -0.340 0.308 2.312 0 270 0 43 TVStand -0.335 0.005 2.679 0 270 0 44 Shelf -0.340 0.279 3.046 0 270 0 45 Sofa -4.566 0.009 1.880 0 90 0 46 Sofa -2.124 0.009 4.558 0 180 0 47 NorthWall 48 SouthWall 49 SouthWall
[ "STEP 1: Turn left and head across the room to the slotted table that is in the middle of the room on your right. Turn to face the table | STEP 2: Pick up the golden man statue that is sitting on the table | STEP 3: Turn right and walk to the fireplace then take a right and walk to the tall floor lamp that is sitting to the left of the couch | STEP 4: Turn on the lamp | END" ]
[ [ "STEP 1: Turn left and head across the room to the slotted table that is in the middle of the room on your right. Turn to face the table ", " STEP 2: Pick up the golden man statue that is sitting on the table ", " STEP 3: Turn right and walk to the fireplace then take a right and walk to the tall floor lamp that is sitting to the left of the couch ", " STEP 4: Turn on the lamp ", " END" ] ]
seen
trial_T20190911_182535_756183-0
Put a piece of apple from a green can in a 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 0.900 -1.0 0 0 0 1 Potato -1.027 1.045 -1.671 0 0 0 77 2 DishSponge -0.096 0.911 0.458 0 0 0 54 3 DishSponge 0.701 0.919 -1.516 0 270 0 53 4 ButterKnife 1.785 0.912 0.540 0 0 0 70 5 Fork 0.167 0.912 0.540 0 0 0 54 6 Fork 1.785 0.912 0.292 0 0 0 70 7 Spoon 0.341 0.784 -1.648 0 270 0 78 8 Spoon 1.903 0.913 -1.820 0 0 0 55 9 Spatula -2.065 0.967 0.614 0 270 0 88 10 Egg -2.614 0.987 0.165 0 90 0 88 11 Egg -0.096 0.947 0.375 0 0 0 54 12 Cup -1.872 1.491 -1.720 0 0 0 85 13 Plate -0.096 0.111 -1.508 0 0 0 64 14 Plate -0.586 0.111 -1.508 0 0 0 69 15 SoapBottle -2.477 0.950 0.345 0 90 0 88 16 SoapBottle 0.856 0.918 -1.449 0 270 0 53 17 Tomato 0.753 0.968 -1.649 0 270 0 53 18 Tomato 0.908 0.968 -1.582 0 270 0 53 19 Bowl 0.035 0.911 0.292 0 0 0 54 20 SaltShaker -1.928 0.948 0.165 0 90 0 88 21 PepperShaker -2.065 0.948 0.614 0 90 0 88 22 Bread 1.658 0.995 -1.654 0 0 0 55 23 Lettuce -2.203 1.042 0.255 0 90 0 88 24 Apple -0.296 0.137 0.439 0 90 0 84 25 Apple -0.329 0.137 0.612 0 90 0 84 26 Bread -0.451 0.995 -1.737 0 0 0 55 27 Knife -2.065 0.977 0.345 0 180 0 88 28 Fork 0.025 0.773 0.306 0 0 0 61 29 Bowl -2.31 1.051 -1.720 0 0 0 85 30 Kettle 0.445 0.111 0.346 0 0 0 66 31 Cup -2.614 0.950 0.255 0 90 0 88 32 Tomato -2.614 1.001 0.704 0 90 0 88 33 SoapBottle 0.122 0.105 0.242 0 0 0 65 34 Plate -2.047 0.781 -1.806 0 0 0 85 35 Pot 1.007 0.962 0.561 0 270 0 57 36 Spatula -2.203 0.967 0.704 0 180 0 88 37 PaperTowelRoll -2.203 1.056 0.435 0 90 0 88 38 Egg 0.960 0.954 -1.848 0 270 0 53 39 Lettuce 1.846 1.002 0.458 0 0 0 70 40 SaltShaker 1.681 1.325 -1.772 0 180 0 71 41 PepperShaker 1.601 0.908 0.458 0 0 0 70 42 Apple -0.427 0.137 0.525 0 90 0 84 43 ButterKnife -2.065 0.952 0.524 0 90 0 88 44 Potato -2.222 1.522 -1.849 0 0 0 85 45 Pan 1.022 0.959 0.288 0 219.190 0 67 46 DishSponge -1.791 0.951 0.165 0 90 0 88 47 Spoon -0.242 0.773 -1.538 0 90 0 58 48 Mug 0.908 0.914 -1.782 0 90 0 53 49 Cabinet -0.193 1.688 -1.648 0 180 0 50 StoveBurner 1.360 0.957 0.293 0 180 0 51 Drawer 0.499 0.792 0.296 0 0 0 52 Cabinet 0.095 0.400 -1.352 0 180 0 53 Sink 0.711 0.817 -1.772 0 270 0 54 CounterTop 0.280 0.947 0.458 0 0 0 55 CounterTop -0.680 0.947 -1.654 0 0 0 56 Drawer 1.825 0.792 0.296 0 0 0 57 StoveBurner 1.007 0.957 0.561 0 270 0 58 Drawer -0.150 0.792 -1.496 0 0 0 59 Drawer -0.586 0.792 -1.496 0 0 0 60 StoveBurner 1.360 0.957 0.561 0 270 0 61 Drawer 0.024 0.792 0.296 0 0 0 62 Cabinet 1.079 0.400 -1.349 0 180 0 63 Cabinet 1.669 0.402 0.151 0 0 0 64 Cabinet 0.055 0.402 -1.351 0 0 0 65 Cabinet -0.180 0.402 0.151 0 0 0 66 Cabinet 0.729 0.402 0.151 0 0 0 67 StoveBurner 1.007 0.957 0.293 0 180 0 68 Drawer -1.100 0.792 -1.496 0 0 0 69 Cabinet -0.396 0.402 -1.351 0 0 0 70 CounterTop 1.776 0.947 0.458 0 0 0 71 Cabinet 1.974 1.688 -1.648 0 180 0 72 Cabinet -0.820 0.400 -1.349 0 180 0 73 Toaster 0.305 0.900 0.552 0 180 0 74 LightSwitch -2.756 1.307 -0.987 0 90 0 75 Window 0.582 1.613 -1.967 90 0 0 76 Window 1.969 1.5 -0.615 90 270 0 77 Microwave -1.037 0.900 -1.723 0 0 0 78 SinkBasin 0.377 0.765 -1.655 0 270 0 79 CoffeeMachine 0.618 0.900 0.600 0 180 0 80 StoveKnob 1.246 0.913 0.118 45 180 0 81 StoveKnob 1.373 0.913 0.118 45 180 0 82 StoveKnob 0.995 0.913 0.118 45 180 0 83 StoveKnob 1.126 0.913 0.118 45 180 0 84 GarbageCan -0.368 -0.029 0.539 0 90 0 85 Fridge -2.134 0.0 -1.690 0 0 0 86 Faucet 0.549 1.046 -1.833 0 232.527 0 87 Stool -1.475 0.000 0.414 1.233 280.375 0 88 DiningTable -2.255 -0.004 0.432 0 0 0 89 NorthWall 90 EastWall 91 SouthWall 92 WestWall
[ "STEP 1: Turn left and go to the white table on your left. | STEP 2: Pick up the knife from the table. | STEP 3: Turn right and go to the green can on the floor. | STEP 4: Cut one of the apples in the can into three pieces. | STEP 5: Put the knife in the can. | STEP 6: Pick up a piece of apple from the can. | STEP 7: Turn around and go to the fridge on your left. | STEP 8: Open the fridge door and put the apple on the second shelf. Close the door and refrigerate the apple for 5 minutes. Open the fridge door and take out the apple. Close the fridge door. | STEP 9: Turn left and go to the microwave on your left. | STEP 10: Open the microwave door and put the apple in. Close the door. | END" ]
[ [ "STEP 1: Turn left and go to the white table on your left. ", " STEP 2: Pick up the knife from the table. ", " STEP 3: Turn right and go to the green can on the floor. ", " STEP 4: Cut one of the apples in the can into three pieces. ", " STEP 5: Put the knife in the can. ", " STEP 6: Pick up a piece of apple from the can. ", " STEP 7: Turn around and go to the fridge on your left. ", " STEP 8: Open the fridge door and put the apple on the second shelf. Close the door and refrigerate the apple for 5 minutes. Open the fridge door and take out the apple. Close the fridge door. ", " STEP 9: Turn left and go to the microwave on your left. ", " STEP 10: Open the microwave door and put the apple in. Close the door. ", " END" ] ]
seen
trial_T20190911_182535_756183-1
Place a chilled apple slice 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 0.900 -1.0 0 0 0 1 Potato -1.027 1.045 -1.671 0 0 0 77 2 DishSponge -0.096 0.911 0.458 0 0 0 54 3 DishSponge 0.701 0.919 -1.516 0 270 0 53 4 ButterKnife 1.785 0.912 0.540 0 0 0 70 5 Fork 0.167 0.912 0.540 0 0 0 54 6 Fork 1.785 0.912 0.292 0 0 0 70 7 Spoon 0.341 0.784 -1.648 0 270 0 78 8 Spoon 1.903 0.913 -1.820 0 0 0 55 9 Spatula -2.065 0.967 0.614 0 270 0 88 10 Egg -2.614 0.987 0.165 0 90 0 88 11 Egg -0.096 0.947 0.375 0 0 0 54 12 Cup -1.872 1.491 -1.720 0 0 0 85 13 Plate -0.096 0.111 -1.508 0 0 0 64 14 Plate -0.586 0.111 -1.508 0 0 0 69 15 SoapBottle -2.477 0.950 0.345 0 90 0 88 16 SoapBottle 0.856 0.918 -1.449 0 270 0 53 17 Tomato 0.753 0.968 -1.649 0 270 0 53 18 Tomato 0.908 0.968 -1.582 0 270 0 53 19 Bowl 0.035 0.911 0.292 0 0 0 54 20 SaltShaker -1.928 0.948 0.165 0 90 0 88 21 PepperShaker -2.065 0.948 0.614 0 90 0 88 22 Bread 1.658 0.995 -1.654 0 0 0 55 23 Lettuce -2.203 1.042 0.255 0 90 0 88 24 Apple -0.296 0.137 0.439 0 90 0 84 25 Apple -0.329 0.137 0.612 0 90 0 84 26 Bread -0.451 0.995 -1.737 0 0 0 55 27 Knife -2.065 0.977 0.345 0 180 0 88 28 Fork 0.025 0.773 0.306 0 0 0 61 29 Bowl -2.31 1.051 -1.720 0 0 0 85 30 Kettle 0.445 0.111 0.346 0 0 0 66 31 Cup -2.614 0.950 0.255 0 90 0 88 32 Tomato -2.614 1.001 0.704 0 90 0 88 33 SoapBottle 0.122 0.105 0.242 0 0 0 65 34 Plate -2.047 0.781 -1.806 0 0 0 85 35 Pot 1.007 0.962 0.561 0 270 0 57 36 Spatula -2.203 0.967 0.704 0 180 0 88 37 PaperTowelRoll -2.203 1.056 0.435 0 90 0 88 38 Egg 0.960 0.954 -1.848 0 270 0 53 39 Lettuce 1.846 1.002 0.458 0 0 0 70 40 SaltShaker 1.681 1.325 -1.772 0 180 0 71 41 PepperShaker 1.601 0.908 0.458 0 0 0 70 42 Apple -0.427 0.137 0.525 0 90 0 84 43 ButterKnife -2.065 0.952 0.524 0 90 0 88 44 Potato -2.222 1.522 -1.849 0 0 0 85 45 Pan 1.022 0.959 0.288 0 219.190 0 67 46 DishSponge -1.791 0.951 0.165 0 90 0 88 47 Spoon -0.242 0.773 -1.538 0 90 0 58 48 Mug 0.908 0.914 -1.782 0 90 0 53 49 Cabinet -0.193 1.688 -1.648 0 180 0 50 StoveBurner 1.360 0.957 0.293 0 180 0 51 Drawer 0.499 0.792 0.296 0 0 0 52 Cabinet 0.095 0.400 -1.352 0 180 0 53 Sink 0.711 0.817 -1.772 0 270 0 54 CounterTop 0.280 0.947 0.458 0 0 0 55 CounterTop -0.680 0.947 -1.654 0 0 0 56 Drawer 1.825 0.792 0.296 0 0 0 57 StoveBurner 1.007 0.957 0.561 0 270 0 58 Drawer -0.150 0.792 -1.496 0 0 0 59 Drawer -0.586 0.792 -1.496 0 0 0 60 StoveBurner 1.360 0.957 0.561 0 270 0 61 Drawer 0.024 0.792 0.296 0 0 0 62 Cabinet 1.079 0.400 -1.349 0 180 0 63 Cabinet 1.669 0.402 0.151 0 0 0 64 Cabinet 0.055 0.402 -1.351 0 0 0 65 Cabinet -0.180 0.402 0.151 0 0 0 66 Cabinet 0.729 0.402 0.151 0 0 0 67 StoveBurner 1.007 0.957 0.293 0 180 0 68 Drawer -1.100 0.792 -1.496 0 0 0 69 Cabinet -0.396 0.402 -1.351 0 0 0 70 CounterTop 1.776 0.947 0.458 0 0 0 71 Cabinet 1.974 1.688 -1.648 0 180 0 72 Cabinet -0.820 0.400 -1.349 0 180 0 73 Toaster 0.305 0.900 0.552 0 180 0 74 LightSwitch -2.756 1.307 -0.987 0 90 0 75 Window 0.582 1.613 -1.967 90 0 0 76 Window 1.969 1.5 -0.615 90 270 0 77 Microwave -1.037 0.900 -1.723 0 0 0 78 SinkBasin 0.377 0.765 -1.655 0 270 0 79 CoffeeMachine 0.618 0.900 0.600 0 180 0 80 StoveKnob 1.246 0.913 0.118 45 180 0 81 StoveKnob 1.373 0.913 0.118 45 180 0 82 StoveKnob 0.995 0.913 0.118 45 180 0 83 StoveKnob 1.126 0.913 0.118 45 180 0 84 GarbageCan -0.368 -0.029 0.539 0 90 0 85 Fridge -2.134 0.0 -1.690 0 0 0 86 Faucet 0.549 1.046 -1.833 0 232.527 0 87 Stool -1.475 0.000 0.414 1.233 280.375 0 88 DiningTable -2.255 -0.004 0.432 0 0 0 89 NorthWall 90 EastWall 91 SouthWall 92 WestWall
[ "STEP 1: Turn left then right and head to the white table in the corner. | STEP 2: Grab the knife from the table. | STEP 3: Turn right and face the green trashcan. | STEP 4: Slice the apple on the left with the knife. | STEP 5: Place the knife in the trashcan. | STEP 6: Grab an apple slice from the trashcan. | STEP 7: Turn around and walk , then walk left to the fridge. | STEP 8: Chill the apple slice in the fridge for 3 seconds. | STEP 9: Head left and face the microwave on the right. | STEP 10: Place the apple slice in the microwave. | END" ]
[ [ "STEP 1: Turn left then right and head to the white table in the corner. ", " STEP 2: Grab the knife from the table. ", " STEP 3: Turn right and face the green trashcan. ", " STEP 4: Slice the apple on the left with the knife. ", " STEP 5: Place the knife in the trashcan. ", " STEP 6: Grab an apple slice from the trashcan. ", " STEP 7: Turn around and walk , then walk left to the fridge. ", " STEP 8: Chill the apple slice in the fridge for 3 seconds. ", " STEP 9: Head left and face the microwave on the right. ", " STEP 10: Place the apple slice in the microwave. ", " END" ] ]
seen
trial_T20190911_182535_756183-2
place chilled tomato slice in microwave
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-0.096", " 0.947", " 0.375", " 0", " 0", " 0", " 54" ], [ "12", " Cup", " -1.872", " 1.491", " -1.720", " 0", " 0", " 0", " 85" ], [ "13", " Plate", " -0.096", " 0.111", " -1.508", " 0", " 0", " 0", " 64" ], [ "14", " Plate", " -0.586", " 0.111", " -1.508", " 0", " 0", " 0", " 69" ], [ "15", " SoapBottle", " -2.477", " 0.950", " 0.345", " 0", " 90", " 0", " 88" ], [ "16", " SoapBottle", " 0.856", " 0.918", " -1.449", " 0", " 270", " 0", " 53" ], [ "17", " Tomato", " 0.753", " 0.968", " -1.649", " 0", " 270", " 0", " 53" ], [ "18", " Tomato", " 0.908", " 0.968", " -1.582", " 0", " 270", " 0", " 53" ], [ "19", " Bowl", " 0.035", " 0.911", " 0.292", " 0", " 0", " 0", " 54" ], [ "20", " SaltShaker", " -1.928", " 0.948", " 0.165", " 0", " 90", " 0", " 88" ], [ "21", " PepperShaker", " -2.065", " 0.948", " 0.614", " 0", " 90", " 0", " 88" ], [ "22", " Bread", " 1.658", " 0.995", " -1.654", " 0", " 0", " 0", " 55" ], [ "23", " Lettuce", " -2.203", " 1.042", " 0.255", " 0", " 90", " 0", " 88" ], [ "24", " Apple", " -0.296", " 0.137", " 0.439", " 0", " 90", " 0", " 84" ], [ "25", " Apple", " -0.329", " 0.137", " 0.612", " 0", " 90", " 0", " 84" ], [ "26", " Bread", " -0.451", " 0.995", " -1.737", " 0", " 0", " 0", " 55" ], [ "27", " Knife", " -2.065", " 0.977", " 0.345", " 0", " 180", " 0", " 88" ], [ "28", " Fork", " 0.025", " 0.773", " 0.306", " 0", " 0", " 0", " 61" ], [ "29", " Bowl", " -2.31", " 1.051", " -1.720", " 0", " 0", " 0", " 85" ], [ "30", " Kettle", " 0.445", " 0.111", " 0.346", " 0", " 0", " 0", " 66" ], [ "31", " Cup", " -2.614", " 0.950", " 0.255", " 0", " 90", " 0", " 88" ], [ "32", " Tomato", " -2.614", " 1.001", " 0.704", " 0", " 90", " 0", " 88" ], [ "33", " SoapBottle", " 0.122", " 0.105", " 0.242", " 0", " 0", " 0", " 65" ], [ "34", " Plate", " -2.047", " 0.781", " -1.806", " 0", " 0", " 0", " 85" ], [ "35", " Pot", " 1.007", " 0.962", " 0.561", " 0", " 270", " 0", " 57" ], [ "36", " Spatula", " -2.203", " 0.967", " 0.704", " 0", " 180", " 0", " 88" ], [ "37", " PaperTowelRoll", " -2.203", " 1.056", " 0.435", " 0", " 90", " 0", " 88" ], [ "38", " Egg", " 0.960", " 0.954", " -1.848", " 0", " 270", " 0", " 53" ], [ "39", " Lettuce", " 1.846", " 1.002", " 0.458", " 0", " 0", " 0", " 70" ], [ "40", " SaltShaker", " 1.681", " 1.325", " -1.772", " 0", " 180", " 0", " 71" ], [ "41", " PepperShaker", " 1.601", " 0.908", " 0.458", " 0", " 0", " 0", " 70" ], [ "42", " Apple", " -0.427", " 0.137", " 0.525", " 0", " 90", " 0", " 84" ], [ "43", " ButterKnife", " -2.065", " 0.952", " 0.524", " 0", " 90", " 0", " 88" ], [ "44", " Potato", " -2.222", " 1.522", " -1.849", " 0", " 0", " 0", " 85" ], [ "45", " Pan", " 1.022", " 0.959", " 0.288", " 0", " 219.190", " 0", " 67" ], [ "46", " DishSponge", " -1.791", " 0.951", " 0.165", " 0", " 90", " 0", " 88" ], [ "47", " Spoon", " -0.242", " 0.773", " -1.538", " 0", " 90", " 0", " 58" ], [ "48", " Mug", " 0.908", " 0.914", " -1.782", " 0", " 90", " 0", " 53" ], [ "49", " Cabinet", " -0.193", " 1.688", " -1.648", " 0", " 180", " 0", "" ], [ "50", " StoveBurner", " 1.360", " 0.957", " 0.293", " 0", " 180", " 0", "" ], [ "51", " Drawer", " 0.499", " 0.792", " 0.296", " 0", " 0", " 0", "" ], [ "52", " Cabinet", " 0.095", " 0.400", " -1.352", " 0", " 180", " 0", "" ], [ "53", " Sink", " 0.711", " 0.817", " -1.772", " 0", " 270", " 0", "" ], [ "54", " CounterTop", " 0.280", " 0.947", " 0.458", " 0", " 0", " 0", "" ], [ "55", " CounterTop", " -0.680", " 0.947", " -1.654", " 0", " 0", " 0", "" ], [ "56", " Drawer", " 1.825", " 0.792", " 0.296", " 0", " 0", " 0", "" ], [ "57", " StoveBurner", " 1.007", " 0.957", " 0.561", " 0", " 270", " 0", "" ], [ "58", " Drawer", " -0.150", " 0.792", " -1.496", " 0", " 0", " 0", "" ], [ "59", " Drawer", " -0.586", " 0.792", " -1.496", " 0", " 0", " 0", "" ], [ "60", " StoveBurner", " 1.360", " 0.957", " 0.561", " 0", " 270", " 0", "" ], [ "61", " Drawer", " 0.024", " 0.792", " 0.296", " 0", " 0", " 0", "" ], [ "62", " Cabinet", " 1.079", " 0.400", " -1.349", " 0", " 180", " 0", "" ], [ "63", " Cabinet", " 1.669", " 0.402", " 0.151", " 0", " 0", " 0", "" ], [ "64", " Cabinet", " 0.055", " 0.402", " -1.351", " 0", " 0", " 0", "" ], [ "65", " Cabinet", " -0.180", " 0.402", " 0.151", " 0", " 0", " 0", "" ], [ "66", " Cabinet", " 0.729", " 0.402", " 0.151", " 0", " 0", " 0", "" ], [ "67", " StoveBurner", " 1.007", " 0.957", " 0.293", " 0", " 180", " 0", "" ], [ "68", " Drawer", " -1.100", " 0.792", " -1.496", " 0", " 0", " 0", "" ], [ "69", " Cabinet", " -0.396", " 0.402", " -1.351", " 0", " 0", " 0", "" ], [ "70", " CounterTop", " 1.776", " 0.947", " 0.458", " 0", " 0", " 0", "" ], [ "71", " Cabinet", " 1.974", " 1.688", " -1.648", " 0", " 180", " 0", "" ], [ "72", " Cabinet", " -0.820", " 0.400", " -1.349", " 0", " 180", " 0", "" ], [ "73", " Toaster", " 0.305", " 0.900", " 0.552", " 0", " 180", " 0", "" ], [ "74", " LightSwitch", " -2.756", " 1.307", " -0.987", " 0", " 90", " 0", "" ], [ "75", " Window", " 0.582", " 1.613", " 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DiningTable", " -2.255", " -0.004", " 0.432", " 0", " 0", " 0", "" ], [ "89", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "90", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "91", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "92", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -0.5 0.900 -1.0 0 0 0 1 Potato -1.027 1.045 -1.671 0 0 0 77 2 DishSponge -0.096 0.911 0.458 0 0 0 54 3 DishSponge 0.701 0.919 -1.516 0 270 0 53 4 ButterKnife 1.785 0.912 0.540 0 0 0 70 5 Fork 0.167 0.912 0.540 0 0 0 54 6 Fork 1.785 0.912 0.292 0 0 0 70 7 Spoon 0.341 0.784 -1.648 0 270 0 78 8 Spoon 1.903 0.913 -1.820 0 0 0 55 9 Spatula -2.065 0.967 0.614 0 270 0 88 10 Egg -2.614 0.987 0.165 0 90 0 88 11 Egg -0.096 0.947 0.375 0 0 0 54 12 Cup -1.872 1.491 -1.720 0 0 0 85 13 Plate -0.096 0.111 -1.508 0 0 0 64 14 Plate -0.586 0.111 -1.508 0 0 0 69 15 SoapBottle -2.477 0.950 0.345 0 90 0 88 16 SoapBottle 0.856 0.918 -1.449 0 270 0 53 17 Tomato 0.753 0.968 -1.649 0 270 0 53 18 Tomato 0.908 0.968 -1.582 0 270 0 53 19 Bowl 0.035 0.911 0.292 0 0 0 54 20 SaltShaker -1.928 0.948 0.165 0 90 0 88 21 PepperShaker -2.065 0.948 0.614 0 90 0 88 22 Bread 1.658 0.995 -1.654 0 0 0 55 23 Lettuce -2.203 1.042 0.255 0 90 0 88 24 Apple -0.296 0.137 0.439 0 90 0 84 25 Apple -0.329 0.137 0.612 0 90 0 84 26 Bread -0.451 0.995 -1.737 0 0 0 55 27 Knife -2.065 0.977 0.345 0 180 0 88 28 Fork 0.025 0.773 0.306 0 0 0 61 29 Bowl -2.31 1.051 -1.720 0 0 0 85 30 Kettle 0.445 0.111 0.346 0 0 0 66 31 Cup -2.614 0.950 0.255 0 90 0 88 32 Tomato -2.614 1.001 0.704 0 90 0 88 33 SoapBottle 0.122 0.105 0.242 0 0 0 65 34 Plate -2.047 0.781 -1.806 0 0 0 85 35 Pot 1.007 0.962 0.561 0 270 0 57 36 Spatula -2.203 0.967 0.704 0 180 0 88 37 PaperTowelRoll -2.203 1.056 0.435 0 90 0 88 38 Egg 0.960 0.954 -1.848 0 270 0 53 39 Lettuce 1.846 1.002 0.458 0 0 0 70 40 SaltShaker 1.681 1.325 -1.772 0 180 0 71 41 PepperShaker 1.601 0.908 0.458 0 0 0 70 42 Apple -0.427 0.137 0.525 0 90 0 84 43 ButterKnife -2.065 0.952 0.524 0 90 0 88 44 Potato -2.222 1.522 -1.849 0 0 0 85 45 Pan 1.022 0.959 0.288 0 219.190 0 67 46 DishSponge -1.791 0.951 0.165 0 90 0 88 47 Spoon -0.242 0.773 -1.538 0 90 0 58 48 Mug 0.908 0.914 -1.782 0 90 0 53 49 Cabinet -0.193 1.688 -1.648 0 180 0 50 StoveBurner 1.360 0.957 0.293 0 180 0 51 Drawer 0.499 0.792 0.296 0 0 0 52 Cabinet 0.095 0.400 -1.352 0 180 0 53 Sink 0.711 0.817 -1.772 0 270 0 54 CounterTop 0.280 0.947 0.458 0 0 0 55 CounterTop -0.680 0.947 -1.654 0 0 0 56 Drawer 1.825 0.792 0.296 0 0 0 57 StoveBurner 1.007 0.957 0.561 0 270 0 58 Drawer -0.150 0.792 -1.496 0 0 0 59 Drawer -0.586 0.792 -1.496 0 0 0 60 StoveBurner 1.360 0.957 0.561 0 270 0 61 Drawer 0.024 0.792 0.296 0 0 0 62 Cabinet 1.079 0.400 -1.349 0 180 0 63 Cabinet 1.669 0.402 0.151 0 0 0 64 Cabinet 0.055 0.402 -1.351 0 0 0 65 Cabinet -0.180 0.402 0.151 0 0 0 66 Cabinet 0.729 0.402 0.151 0 0 0 67 StoveBurner 1.007 0.957 0.293 0 180 0 68 Drawer -1.100 0.792 -1.496 0 0 0 69 Cabinet -0.396 0.402 -1.351 0 0 0 70 CounterTop 1.776 0.947 0.458 0 0 0 71 Cabinet 1.974 1.688 -1.648 0 180 0 72 Cabinet -0.820 0.400 -1.349 0 180 0 73 Toaster 0.305 0.900 0.552 0 180 0 74 LightSwitch -2.756 1.307 -0.987 0 90 0 75 Window 0.582 1.613 -1.967 90 0 0 76 Window 1.969 1.5 -0.615 90 270 0 77 Microwave -1.037 0.900 -1.723 0 0 0 78 SinkBasin 0.377 0.765 -1.655 0 270 0 79 CoffeeMachine 0.618 0.900 0.600 0 180 0 80 StoveKnob 1.246 0.913 0.118 45 180 0 81 StoveKnob 1.373 0.913 0.118 45 180 0 82 StoveKnob 0.995 0.913 0.118 45 180 0 83 StoveKnob 1.126 0.913 0.118 45 180 0 84 GarbageCan -0.368 -0.029 0.539 0 90 0 85 Fridge -2.134 0.0 -1.690 0 0 0 86 Faucet 0.549 1.046 -1.833 0 232.527 0 87 Stool -1.475 0.000 0.414 1.233 280.375 0 88 DiningTable -2.255 -0.004 0.432 0 0 0 89 NorthWall 90 EastWall 91 SouthWall 92 WestWall
[ "STEP 1: turn left, go to white dining table to the right | STEP 2: pick up knife to the right of lettuce on white table | STEP 3: turn right, go to green bin at end of counter | STEP 4: slice tomato on the back left of green bin | STEP 5: place knife in green bin | STEP 6: pick up tomato slice from green bin | STEP 7: turn around, go to black refrigerator to the right | STEP 8: open refrigerator, place tomato slice on second shelf of refrigerator to the right of blue plate, close refrigerator, open refrigerator, pick up tomato slice from refrigerator, close refrigerator | STEP 9: go to microwave to the left | STEP 10: open microwave, place tomato slice on the left side of plate in microwave, close microwave | END" ]
[ [ "STEP 1: turn left, go to white dining table to the right ", " STEP 2: pick up knife to the right of lettuce on white table ", " STEP 3: turn right, go to green bin at end of counter ", " STEP 4: slice tomato on the back left of green bin ", " STEP 5: place knife in green bin ", " STEP 6: pick up tomato slice from green bin ", " STEP 7: turn around, go to black refrigerator to the right ", " STEP 8: open refrigerator, place tomato slice on second shelf of refrigerator to the right of blue plate, close refrigerator, open refrigerator, pick up tomato slice from refrigerator, close refrigerator ", " STEP 9: go to microwave to the left ", " STEP 10: open microwave, place tomato slice on the left side of plate in microwave, close microwave ", " END" ] ]
seen
trial_T20190907_190012_475054-0
Put a mug with a pen in it on a table.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 2.25 0.900 1.5 0 180 0 1 Bowl -2.484 0.683 -3.304 0 90 0 40 2 CellPhone 2.649 1.249 1.796 0 0 0 34 3 Pen 2.685 1.234 1.626 0 90 0 45 4 Pen 1.344 0.025 -3.375 0 0 0 29 5 Pencil 2.643 0.373 1.679 0 270 0 44 6 Pencil -2.484 0.678 -0.436 0 90 0 47 7 KeyChain 2.732 1.228 1.511 0 270 0 45 8 KeyChain 2.779 1.228 1.283 0 270 0 45 9 Laptop -2.440 0.617 -2.461 0 0 0 25 10 Pillow -1.308 0.680 -2.261 0 0 0 25 11 Book -1.874 0.618 -1.861 0 0 0 25 12 CreditCard -2.349 0.680 -3.304 0 90 0 40 13 Pen 2.544 1.234 1.511 0 270 0 45 14 Pencil 2.211 0.901 -3.113 0 0 0 38 15 TeddyBear -0.667 0.612 -1.364 0 81.467 0 25 16 Laptop -2.440 0.617 -1.861 0 0 0 25 17 AlarmClock -2.447 0.674 -2.988 0 0 0 40 18 CellPhone 2.039 0.307 0.150 0 0 0 33 19 KeyChain 2.685 1.228 1.283 0 270 0 45 20 Pillow -0.742 0.680 -2.061 0 0 0 25 21 Pillow -1.874 0.680 -2.461 0 0 0 25 22 CD 2.713 0.924 1.342 0 270 0 43 23 Mug -2.394 0.679 -0.746 0 180 0 47 24 Bowl 1.840 0.889 -3.239 0 0 0 38 25 Bed -1.613 -0.028 -1.861 0 270 0 26 DeskLamp 2.760 0.890 -3.317 0 90 0 27 DeskLamp -2.459 0.668 -0.532 0 90 0 28 LightSwitch -0.700 1.016 0.334 0 90 0 29 GarbageCan 1.343 1.087 -3.374 0 0 0 30 Mirror 0.532 1.419 2.0 0 0 0 31 Window -0.834 1.394 -3.653 90 0 0 32 Window 2.958 1.508 -1.019 90 270 0 33 Sofa 2.383 0.008 -0.288 0 270 0 34 Safe 2.721 1.228 1.784 0 270 0 35 Drawer 1.979 0.486 -2.988 0 0 0 36 Drawer 1.979 0.728 -2.988 0 0 0 37 Drawer 1.979 0.208 -2.988 0 0 0 38 Desk 2.318 -0.009 -3.214 0 0 0 39 Drawer -2.349 0.163 -3.150 0 90 0 40 SideTable -2.416 -0.001 -3.149 0 90 0 41 Drawer -2.349 0.455 -3.150 0 90 0 42 Drawer 2.641 0.172 1.511 0 270 0 43 Drawer 2.641 1.002 1.511 0 270 0 44 Drawer 2.641 0.448 1.511 0 270 0 45 Dresser 2.676 0.002 1.511 0 270 0 46 Drawer 2.641 0.725 1.511 0 270 0 47 SideTable -2.416 -0.001 -0.514 0 90 0 48 Drawer -2.349 0.163 -0.514 0 90 0 49 Drawer -2.349 0.455 -0.514 0 90 0 50 Blinds -0.800 2.087 -3.627 0 0 0 51 Blinds 2.931 2.166 -1.0 0 270 0 52 Chair 2.574 0.002 -2.881 0 175.162 0 53 NorthWall 54 EastWall 55 SouthWall 56 WestWall
[ "STEP 1: Go forward and slightly right to the trash canister. | STEP 2: Pick up the pen out of the canister. | STEP 3: Turn around and veer left to the cabinet on the right side of the bed. | STEP 4: Put the pen in the mug on the counter. | STEP 5: Pick up the mug. | STEP 6: Go forward and veer right to the desk. | STEP 7: Put the mug on the desk in front of and to the right of the pencil. | END" ]
[ [ "STEP 1: Go forward and slightly right to the trash canister. ", " STEP 2: Pick up the pen out of the canister. ", " STEP 3: Turn around and veer left to the cabinet on the right side of the bed. ", " STEP 4: Put the pen in the mug on the counter. ", " STEP 5: Pick up the mug. ", " STEP 6: Go forward and veer right to the desk. ", " STEP 7: Put the mug on the desk in front of and to the right of the pencil. ", " END" ] ]
seen
trial_T20190907_190012_475054-1
Put the mug with pen on the desk.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 2.25 0.900 1.5 0 180 0 1 Bowl -2.484 0.683 -3.304 0 90 0 40 2 CellPhone 2.649 1.249 1.796 0 0 0 34 3 Pen 2.685 1.234 1.626 0 90 0 45 4 Pen 1.344 0.025 -3.375 0 0 0 29 5 Pencil 2.643 0.373 1.679 0 270 0 44 6 Pencil -2.484 0.678 -0.436 0 90 0 47 7 KeyChain 2.732 1.228 1.511 0 270 0 45 8 KeyChain 2.779 1.228 1.283 0 270 0 45 9 Laptop -2.440 0.617 -2.461 0 0 0 25 10 Pillow -1.308 0.680 -2.261 0 0 0 25 11 Book -1.874 0.618 -1.861 0 0 0 25 12 CreditCard -2.349 0.680 -3.304 0 90 0 40 13 Pen 2.544 1.234 1.511 0 270 0 45 14 Pencil 2.211 0.901 -3.113 0 0 0 38 15 TeddyBear -0.667 0.612 -1.364 0 81.467 0 25 16 Laptop -2.440 0.617 -1.861 0 0 0 25 17 AlarmClock -2.447 0.674 -2.988 0 0 0 40 18 CellPhone 2.039 0.307 0.150 0 0 0 33 19 KeyChain 2.685 1.228 1.283 0 270 0 45 20 Pillow -0.742 0.680 -2.061 0 0 0 25 21 Pillow -1.874 0.680 -2.461 0 0 0 25 22 CD 2.713 0.924 1.342 0 270 0 43 23 Mug -2.394 0.679 -0.746 0 180 0 47 24 Bowl 1.840 0.889 -3.239 0 0 0 38 25 Bed -1.613 -0.028 -1.861 0 270 0 26 DeskLamp 2.760 0.890 -3.317 0 90 0 27 DeskLamp -2.459 0.668 -0.532 0 90 0 28 LightSwitch -0.700 1.016 0.334 0 90 0 29 GarbageCan 1.343 1.087 -3.374 0 0 0 30 Mirror 0.532 1.419 2.0 0 0 0 31 Window -0.834 1.394 -3.653 90 0 0 32 Window 2.958 1.508 -1.019 90 270 0 33 Sofa 2.383 0.008 -0.288 0 270 0 34 Safe 2.721 1.228 1.784 0 270 0 35 Drawer 1.979 0.486 -2.988 0 0 0 36 Drawer 1.979 0.728 -2.988 0 0 0 37 Drawer 1.979 0.208 -2.988 0 0 0 38 Desk 2.318 -0.009 -3.214 0 0 0 39 Drawer -2.349 0.163 -3.150 0 90 0 40 SideTable -2.416 -0.001 -3.149 0 90 0 41 Drawer -2.349 0.455 -3.150 0 90 0 42 Drawer 2.641 0.172 1.511 0 270 0 43 Drawer 2.641 1.002 1.511 0 270 0 44 Drawer 2.641 0.448 1.511 0 270 0 45 Dresser 2.676 0.002 1.511 0 270 0 46 Drawer 2.641 0.725 1.511 0 270 0 47 SideTable -2.416 -0.001 -0.514 0 90 0 48 Drawer -2.349 0.163 -0.514 0 90 0 49 Drawer -2.349 0.455 -0.514 0 90 0 50 Blinds -0.800 2.087 -3.627 0 0 0 51 Blinds 2.931 2.166 -1.0 0 270 0 52 Chair 2.574 0.002 -2.881 0 175.162 0 53 NorthWall 54 EastWall 55 SouthWall 56 WestWall
[ "STEP 1: Move to the trash can right of the desk. | STEP 2: Take the pen out of the trash can. | STEP 3: Bring the pen to the night stand on the right of the bed. | STEP 4: Put the pen in the mug on the night stand. | STEP 5: Pick up the mug from the night stand. | STEP 6: Bring the mug to the desk. | STEP 7: Put the mug on the desk. | END" ]
[ [ "STEP 1: Move to the trash can right of the desk. ", " STEP 2: Take the pen out of the trash can. ", " STEP 3: Bring the pen to the night stand on the right of the bed. ", " STEP 4: Put the pen in the mug on the night stand. ", " STEP 5: Pick up the mug from the night stand. ", " STEP 6: Bring the mug to the desk. ", " STEP 7: Put the mug on the desk. ", " END" ] ]
seen
trial_T20190907_190012_475054-2
Take the coffee cup with the pen inside to 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 2.25 0.900 1.5 0 180 0 1 Bowl -2.484 0.683 -3.304 0 90 0 40 2 CellPhone 2.649 1.249 1.796 0 0 0 34 3 Pen 2.685 1.234 1.626 0 90 0 45 4 Pen 1.344 0.025 -3.375 0 0 0 29 5 Pencil 2.643 0.373 1.679 0 270 0 44 6 Pencil -2.484 0.678 -0.436 0 90 0 47 7 KeyChain 2.732 1.228 1.511 0 270 0 45 8 KeyChain 2.779 1.228 1.283 0 270 0 45 9 Laptop -2.440 0.617 -2.461 0 0 0 25 10 Pillow -1.308 0.680 -2.261 0 0 0 25 11 Book -1.874 0.618 -1.861 0 0 0 25 12 CreditCard -2.349 0.680 -3.304 0 90 0 40 13 Pen 2.544 1.234 1.511 0 270 0 45 14 Pencil 2.211 0.901 -3.113 0 0 0 38 15 TeddyBear -0.667 0.612 -1.364 0 81.467 0 25 16 Laptop -2.440 0.617 -1.861 0 0 0 25 17 AlarmClock -2.447 0.674 -2.988 0 0 0 40 18 CellPhone 2.039 0.307 0.150 0 0 0 33 19 KeyChain 2.685 1.228 1.283 0 270 0 45 20 Pillow -0.742 0.680 -2.061 0 0 0 25 21 Pillow -1.874 0.680 -2.461 0 0 0 25 22 CD 2.713 0.924 1.342 0 270 0 43 23 Mug -2.394 0.679 -0.746 0 180 0 47 24 Bowl 1.840 0.889 -3.239 0 0 0 38 25 Bed -1.613 -0.028 -1.861 0 270 0 26 DeskLamp 2.760 0.890 -3.317 0 90 0 27 DeskLamp -2.459 0.668 -0.532 0 90 0 28 LightSwitch -0.700 1.016 0.334 0 90 0 29 GarbageCan 1.343 1.087 -3.374 0 0 0 30 Mirror 0.532 1.419 2.0 0 0 0 31 Window -0.834 1.394 -3.653 90 0 0 32 Window 2.958 1.508 -1.019 90 270 0 33 Sofa 2.383 0.008 -0.288 0 270 0 34 Safe 2.721 1.228 1.784 0 270 0 35 Drawer 1.979 0.486 -2.988 0 0 0 36 Drawer 1.979 0.728 -2.988 0 0 0 37 Drawer 1.979 0.208 -2.988 0 0 0 38 Desk 2.318 -0.009 -3.214 0 0 0 39 Drawer -2.349 0.163 -3.150 0 90 0 40 SideTable -2.416 -0.001 -3.149 0 90 0 41 Drawer -2.349 0.455 -3.150 0 90 0 42 Drawer 2.641 0.172 1.511 0 270 0 43 Drawer 2.641 1.002 1.511 0 270 0 44 Drawer 2.641 0.448 1.511 0 270 0 45 Dresser 2.676 0.002 1.511 0 270 0 46 Drawer 2.641 0.725 1.511 0 270 0 47 SideTable -2.416 -0.001 -0.514 0 90 0 48 Drawer -2.349 0.163 -0.514 0 90 0 49 Drawer -2.349 0.455 -0.514 0 90 0 50 Blinds -0.800 2.087 -3.627 0 0 0 51 Blinds 2.931 2.166 -1.0 0 270 0 52 Chair 2.574 0.002 -2.881 0 175.162 0 53 NorthWall 54 EastWall 55 SouthWall 56 WestWall
[ "STEP 1: Walk across the room to the trash can. | STEP 2: Take the pen out of the trash can. | STEP 3: Turn and walk across the room, hang a left after the bed and go to the nightstand next to the bed. | STEP 4: Put the pen in the coffee cup. | STEP 5: Pick up the coffee cup with the pen in it. | STEP 6: Walk across the room, take a right at the sofa, and go to the desk. | STEP 7: Set the cup with the pen in it down near the front edge of the desk. | END" ]
[ [ "STEP 1: Walk across the room to the trash can. ", " STEP 2: Take the pen out of the trash can. ", " STEP 3: Turn and walk across the room, hang a left after the bed and go to the nightstand next to the bed. ", " STEP 4: Put the pen in the coffee cup. ", " STEP 5: Pick up the coffee cup with the pen in it. ", " STEP 6: Walk across the room, take a right at the sofa, and go to the desk. ", " STEP 7: Set the cup with the pen in it down near the front edge of the desk. ", " END" ] ]
seen
trial_T20190907_182355_408484-0
place a cooled pan on top of the stove
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 0.5 0.901 2.0 0 90 0 1 DishSponge 0.735 0.794 2.584 0 0 0 73 2 ButterKnife -0.119 0.782 0.377 0 0 0 76 3 ButterKnife 1.917 0.938 0.583 0 180 0 60 4 Pot 2.140 0.935 1.504 0 180 0 44 5 Spatula 0.033 0.805 1.049 0 90 0 76 6 Spatula 0.788 0.810 2.64 0 0 0 73 7 Egg 2.169 0.380 -0.097 0 270 0 70 8 Knife 1.997 0.963 2.162 0 90 0 49 9 SoapBottle 1.830 1.503 2.805 0 270 0 50 10 SoapBottle -0.396 0.938 2.897 0 0 0 49 11 Tomato 1.840 0.984 0.435 0 0 0 60 12 Bowl -0.349 0.787 1.217 0 0 0 76 13 Bowl 0.708 0.078 2.484 0 0 0 56 14 SaltShaker 1.013 0.076 2.562 0 0 0 55 15 PepperShaker 1.905 1.498 2.843 0 0 0 50 16 Lettuce 2.023 0.400 -0.369 0 0 0 70 17 Mug -0.294 1.030 2.121 0 90 0 74 18 Egg 1.840 0.980 0.731 0 0 0 60 19 Lettuce -0.119 0.852 1.049 0 90 0 76 20 Fork -0.349 0.782 0.881 0 0 0 76 21 SoapBottle -0.396 0.938 2.548 0 0 0 49 22 Ladle 1.884 0.790 2.197 0 270 0 64 23 Ladle -0.096 0.942 2.546 6.888 45 340.409 49 24 Bread -0.199 0.828 0.815 357.744 0 0 76 25 SaltShaker 0.174 0.932 2.688 0 0 0 49 26 Potato 0.288 0.977 2.478 0 0 0 49 27 Pan 1.928 0.070 0.640 0 0 0 46 28 WineBottle 1.844 0.938 2.063 0 0 0 49 29 Spatula -0.119 0.805 0.545 0 180 0 76 30 Knife -0.033 0.772 2.197 0 270 0 48 31 Tomato -0.119 0.837 1.386 0 0 0 76 32 Apple 2.225 0.988 0.361 0 0 0 60 33 ButterKnife -0.272 0.791 1.217 0 0 0 76 34 Pot 2.127 1.518 -0.278 0 0 0 70 35 PepperShaker 1.807 0.077 0.372 0 90 0 46 36 Cup 0.174 0.935 2.897 0 0 0 49 37 DishSponge 0.033 0.790 0.713 0 0 0 76 38 Plate -0.312 0.781 0.409 0 0 0 76 39 Spoon 1.941 0.746 0.652 0 0 0 58 40 Mug 2.023 0.333 -0.188 0 270 0 70 41 Bowl -0.362 1.032 1.961 0 90 0 74 42 Cabinet 2.041 2.113 2.618 0 0 0 43 Cabinet 0.126 0.388 1.774 0 0 0 44 StoveBurner 2.140 0.929 1.504 0 180 0 45 Cabinet 1.760 0.388 2.346 0 0 0 46 Cabinet 1.760 0.388 0.869 0 0 0 47 Cabinet 2.041 1.810 0.283 0 0 0 48 Drawer -0.024 0.774 2.061 0 0 0 49 CounterTop 1.065 0.973 2.666 0 0 0 50 Cabinet 1.969 2.113 2.618 0 0 0 51 StoveBurner 2.140 0.929 1.106 0 0 0 52 Cabinet 2.041 2.113 1.809 0 0 0 53 StoveBurner 1.866 0.929 1.504 0 180 0 54 Cabinet 2.041 2.113 1.766 0 0 0 55 Cabinet 1.514 0.388 2.360 0 0 0 56 Cabinet 0.351 0.388 2.360 0 0 0 57 Cabinet 2.041 1.810 0.872 0 0 0 58 Drawer 2.167 0.774 0.582 0 0 0 59 Cabinet 2.041 2.113 0.892 0 0 0 60 CounterTop 2.060 0.973 0.583 0 0 0 61 Sink 0.935 0.936 2.646 0 0 0 62 Curtains 0.964 2.061 2.989 0 0 0 63 StoveBurner 1.863 0.929 1.106 0 0 0 64 Drawer 1.911 0.774 2.060 0 0 0 65 StoveKnob 2.326 1.092 1.610 288.013 90 0 66 StoveKnob 2.326 1.092 1.460 288.013 90 0 67 StoveKnob 2.326 1.092 1.210 288.013 90 0 68 StoveKnob 2.326 1.092 1.050 288.013 90 0 69 Toaster 2.126 0.926 0.572 0 270 0 70 Fridge 2.104 0.0 -0.279 0 270 0 71 GarbageCan -0.309 -0.001 -0.807 0 91.471 0 72 LightSwitch 0.354 1.518 -1.031 0 0 0 73 SinkBasin 0.903 0.784 2.640 0 0 0 74 Microwave -0.310 0.926 2.077 0 90 0 75 CoffeeMachine 2.084 0.927 2.667 0 225 0 76 DiningTable -0.153 -0.000 1.073 0 270 0 77 Faucet 1.175 0.926 2.950 270 90 0 78 Faucet 0.686 0.926 2.950 270 90 0 79 Chair -0.077 0.002 0.196 0 15.000 0 80 NorthWall 81 EastWall 82 SouthWall 83 WestWall
[ "STEP 1: walk towards the kitchen counter with a toaster on it | STEP 2: grab the pan out of the cabinet below | STEP 3: carry the pan over to the refrigerator | STEP 4: open the refrigerator and place the pan inside, then take it back out | STEP 5: walk to the kitchen stove | STEP 6: place the pan on top of the stove | END" ]
[ [ "STEP 1: walk towards the kitchen counter with a toaster on it ", " STEP 2: grab the pan out of the cabinet below ", " STEP 3: carry the pan over to the refrigerator ", " STEP 4: open the refrigerator and place the pan inside, then take it back out ", " STEP 5: walk to the kitchen stove ", " STEP 6: place the pan on top of the stove ", " END" ] ]
seen
trial_T20190907_182355_408484-1
Take a cooled pan to the stove.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 0.5 0.901 2.0 0 90 0 1 DishSponge 0.735 0.794 2.584 0 0 0 73 2 ButterKnife -0.119 0.782 0.377 0 0 0 76 3 ButterKnife 1.917 0.938 0.583 0 180 0 60 4 Pot 2.140 0.935 1.504 0 180 0 44 5 Spatula 0.033 0.805 1.049 0 90 0 76 6 Spatula 0.788 0.810 2.64 0 0 0 73 7 Egg 2.169 0.380 -0.097 0 270 0 70 8 Knife 1.997 0.963 2.162 0 90 0 49 9 SoapBottle 1.830 1.503 2.805 0 270 0 50 10 SoapBottle -0.396 0.938 2.897 0 0 0 49 11 Tomato 1.840 0.984 0.435 0 0 0 60 12 Bowl -0.349 0.787 1.217 0 0 0 76 13 Bowl 0.708 0.078 2.484 0 0 0 56 14 SaltShaker 1.013 0.076 2.562 0 0 0 55 15 PepperShaker 1.905 1.498 2.843 0 0 0 50 16 Lettuce 2.023 0.400 -0.369 0 0 0 70 17 Mug -0.294 1.030 2.121 0 90 0 74 18 Egg 1.840 0.980 0.731 0 0 0 60 19 Lettuce -0.119 0.852 1.049 0 90 0 76 20 Fork -0.349 0.782 0.881 0 0 0 76 21 SoapBottle -0.396 0.938 2.548 0 0 0 49 22 Ladle 1.884 0.790 2.197 0 270 0 64 23 Ladle -0.096 0.942 2.546 6.888 45 340.409 49 24 Bread -0.199 0.828 0.815 357.744 0 0 76 25 SaltShaker 0.174 0.932 2.688 0 0 0 49 26 Potato 0.288 0.977 2.478 0 0 0 49 27 Pan 1.928 0.070 0.640 0 0 0 46 28 WineBottle 1.844 0.938 2.063 0 0 0 49 29 Spatula -0.119 0.805 0.545 0 180 0 76 30 Knife -0.033 0.772 2.197 0 270 0 48 31 Tomato -0.119 0.837 1.386 0 0 0 76 32 Apple 2.225 0.988 0.361 0 0 0 60 33 ButterKnife -0.272 0.791 1.217 0 0 0 76 34 Pot 2.127 1.518 -0.278 0 0 0 70 35 PepperShaker 1.807 0.077 0.372 0 90 0 46 36 Cup 0.174 0.935 2.897 0 0 0 49 37 DishSponge 0.033 0.790 0.713 0 0 0 76 38 Plate -0.312 0.781 0.409 0 0 0 76 39 Spoon 1.941 0.746 0.652 0 0 0 58 40 Mug 2.023 0.333 -0.188 0 270 0 70 41 Bowl -0.362 1.032 1.961 0 90 0 74 42 Cabinet 2.041 2.113 2.618 0 0 0 43 Cabinet 0.126 0.388 1.774 0 0 0 44 StoveBurner 2.140 0.929 1.504 0 180 0 45 Cabinet 1.760 0.388 2.346 0 0 0 46 Cabinet 1.760 0.388 0.869 0 0 0 47 Cabinet 2.041 1.810 0.283 0 0 0 48 Drawer -0.024 0.774 2.061 0 0 0 49 CounterTop 1.065 0.973 2.666 0 0 0 50 Cabinet 1.969 2.113 2.618 0 0 0 51 StoveBurner 2.140 0.929 1.106 0 0 0 52 Cabinet 2.041 2.113 1.809 0 0 0 53 StoveBurner 1.866 0.929 1.504 0 180 0 54 Cabinet 2.041 2.113 1.766 0 0 0 55 Cabinet 1.514 0.388 2.360 0 0 0 56 Cabinet 0.351 0.388 2.360 0 0 0 57 Cabinet 2.041 1.810 0.872 0 0 0 58 Drawer 2.167 0.774 0.582 0 0 0 59 Cabinet 2.041 2.113 0.892 0 0 0 60 CounterTop 2.060 0.973 0.583 0 0 0 61 Sink 0.935 0.936 2.646 0 0 0 62 Curtains 0.964 2.061 2.989 0 0 0 63 StoveBurner 1.863 0.929 1.106 0 0 0 64 Drawer 1.911 0.774 2.060 0 0 0 65 StoveKnob 2.326 1.092 1.610 288.013 90 0 66 StoveKnob 2.326 1.092 1.460 288.013 90 0 67 StoveKnob 2.326 1.092 1.210 288.013 90 0 68 StoveKnob 2.326 1.092 1.050 288.013 90 0 69 Toaster 2.126 0.926 0.572 0 270 0 70 Fridge 2.104 0.0 -0.279 0 270 0 71 GarbageCan -0.309 -0.001 -0.807 0 91.471 0 72 LightSwitch 0.354 1.518 -1.031 0 0 0 73 SinkBasin 0.903 0.784 2.640 0 0 0 74 Microwave -0.310 0.926 2.077 0 90 0 75 CoffeeMachine 2.084 0.927 2.667 0 225 0 76 DiningTable -0.153 -0.000 1.073 0 270 0 77 Faucet 1.175 0.926 2.950 270 90 0 78 Faucet 0.686 0.926 2.950 270 90 0 79 Chair -0.077 0.002 0.196 0 15.000 0 80 NorthWall 81 EastWall 82 SouthWall 83 WestWall
[ "STEP 1: Go to the counter next to the fridge. | STEP 2: Take the pan out of the cabinet under the toaster. | STEP 3: Go to the fridge. | STEP 4: Put the pan inside the fridge to cool it off and pick it back up. | STEP 5: Take the cooled pan across the room to the stove on the right. | STEP 6: Set the cooled pan down on the stove. | END" ]
[ [ "STEP 1: Go to the counter next to the fridge. ", " STEP 2: Take the pan out of the cabinet under the toaster. ", " STEP 3: Go to the fridge. ", " STEP 4: Put the pan inside the fridge to cool it off and pick it back up. ", " STEP 5: Take the cooled pan across the room to the stove on the right. ", " STEP 6: Set the cooled pan down on the stove. ", " END" ] ]
seen
trial_T20190907_182355_408484-2
Place a chilled square pan on the stove.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 0.5 0.901 2.0 0 90 0 1 DishSponge 0.735 0.794 2.584 0 0 0 73 2 ButterKnife -0.119 0.782 0.377 0 0 0 76 3 ButterKnife 1.917 0.938 0.583 0 180 0 60 4 Pot 2.140 0.935 1.504 0 180 0 44 5 Spatula 0.033 0.805 1.049 0 90 0 76 6 Spatula 0.788 0.810 2.64 0 0 0 73 7 Egg 2.169 0.380 -0.097 0 270 0 70 8 Knife 1.997 0.963 2.162 0 90 0 49 9 SoapBottle 1.830 1.503 2.805 0 270 0 50 10 SoapBottle -0.396 0.938 2.897 0 0 0 49 11 Tomato 1.840 0.984 0.435 0 0 0 60 12 Bowl -0.349 0.787 1.217 0 0 0 76 13 Bowl 0.708 0.078 2.484 0 0 0 56 14 SaltShaker 1.013 0.076 2.562 0 0 0 55 15 PepperShaker 1.905 1.498 2.843 0 0 0 50 16 Lettuce 2.023 0.400 -0.369 0 0 0 70 17 Mug -0.294 1.030 2.121 0 90 0 74 18 Egg 1.840 0.980 0.731 0 0 0 60 19 Lettuce -0.119 0.852 1.049 0 90 0 76 20 Fork -0.349 0.782 0.881 0 0 0 76 21 SoapBottle -0.396 0.938 2.548 0 0 0 49 22 Ladle 1.884 0.790 2.197 0 270 0 64 23 Ladle -0.096 0.942 2.546 6.888 45 340.409 49 24 Bread -0.199 0.828 0.815 357.744 0 0 76 25 SaltShaker 0.174 0.932 2.688 0 0 0 49 26 Potato 0.288 0.977 2.478 0 0 0 49 27 Pan 1.928 0.070 0.640 0 0 0 46 28 WineBottle 1.844 0.938 2.063 0 0 0 49 29 Spatula -0.119 0.805 0.545 0 180 0 76 30 Knife -0.033 0.772 2.197 0 270 0 48 31 Tomato -0.119 0.837 1.386 0 0 0 76 32 Apple 2.225 0.988 0.361 0 0 0 60 33 ButterKnife -0.272 0.791 1.217 0 0 0 76 34 Pot 2.127 1.518 -0.278 0 0 0 70 35 PepperShaker 1.807 0.077 0.372 0 90 0 46 36 Cup 0.174 0.935 2.897 0 0 0 49 37 DishSponge 0.033 0.790 0.713 0 0 0 76 38 Plate -0.312 0.781 0.409 0 0 0 76 39 Spoon 1.941 0.746 0.652 0 0 0 58 40 Mug 2.023 0.333 -0.188 0 270 0 70 41 Bowl -0.362 1.032 1.961 0 90 0 74 42 Cabinet 2.041 2.113 2.618 0 0 0 43 Cabinet 0.126 0.388 1.774 0 0 0 44 StoveBurner 2.140 0.929 1.504 0 180 0 45 Cabinet 1.760 0.388 2.346 0 0 0 46 Cabinet 1.760 0.388 0.869 0 0 0 47 Cabinet 2.041 1.810 0.283 0 0 0 48 Drawer -0.024 0.774 2.061 0 0 0 49 CounterTop 1.065 0.973 2.666 0 0 0 50 Cabinet 1.969 2.113 2.618 0 0 0 51 StoveBurner 2.140 0.929 1.106 0 0 0 52 Cabinet 2.041 2.113 1.809 0 0 0 53 StoveBurner 1.866 0.929 1.504 0 180 0 54 Cabinet 2.041 2.113 1.766 0 0 0 55 Cabinet 1.514 0.388 2.360 0 0 0 56 Cabinet 0.351 0.388 2.360 0 0 0 57 Cabinet 2.041 1.810 0.872 0 0 0 58 Drawer 2.167 0.774 0.582 0 0 0 59 Cabinet 2.041 2.113 0.892 0 0 0 60 CounterTop 2.060 0.973 0.583 0 0 0 61 Sink 0.935 0.936 2.646 0 0 0 62 Curtains 0.964 2.061 2.989 0 0 0 63 StoveBurner 1.863 0.929 1.106 0 0 0 64 Drawer 1.911 0.774 2.060 0 0 0 65 StoveKnob 2.326 1.092 1.610 288.013 90 0 66 StoveKnob 2.326 1.092 1.460 288.013 90 0 67 StoveKnob 2.326 1.092 1.210 288.013 90 0 68 StoveKnob 2.326 1.092 1.050 288.013 90 0 69 Toaster 2.126 0.926 0.572 0 270 0 70 Fridge 2.104 0.0 -0.279 0 270 0 71 GarbageCan -0.309 -0.001 -0.807 0 91.471 0 72 LightSwitch 0.354 1.518 -1.031 0 0 0 73 SinkBasin 0.903 0.784 2.640 0 0 0 74 Microwave -0.310 0.926 2.077 0 90 0 75 CoffeeMachine 2.084 0.927 2.667 0 225 0 76 DiningTable -0.153 -0.000 1.073 0 270 0 77 Faucet 1.175 0.926 2.950 270 90 0 78 Faucet 0.686 0.926 2.950 270 90 0 79 Chair -0.077 0.002 0.196 0 15.000 0 80 NorthWall 81 EastWall 82 SouthWall 83 WestWall
[ "STEP 1: Turn right to face the door, then turn left and walk to the counter with the black toaster on it. | STEP 2: Open the cabinet below the counter and take out the square pan | STEP 3: Walk to the refrigerator next to the counter and face it. | STEP 4: Open the refrigerator, place the pan on the second shelf from the bottom, then close the door, wait ten seconds, then take the pan out. | STEP 5: Close the refrigerator door, turn to the left, walk until the stove is on your right and turn to face it. | STEP 6: Place the pan on the front right burner. | END" ]
[ [ "STEP 1: Turn right to face the door, then turn left and walk to the counter with the black toaster on it. ", " STEP 2: Open the cabinet below the counter and take out the square pan ", " STEP 3: Walk to the refrigerator next to the counter and face it. ", " STEP 4: Open the refrigerator, place the pan on the second shelf from the bottom, then close the door, wait ten seconds, then take the pan out. ", " STEP 5: Close the refrigerator door, turn to the left, walk until the stove is on your right and turn to face it. ", " STEP 6: Place the pan on the front right burner. ", " END" ] ]
seen
trial_T20190909_040401_888395-0
Putting a hot apple in the sink
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -0.5 0.900 3.0 0 0 0 1 DishSponge 0.771 0.690 1.016 0 0 0 55 2 ButterKnife 1.024 0.823 2.285 0 0 0 49 3 ButterKnife 0.800 0.823 2.285 0 0 0 49 4 Spoon -2.087 0.699 3.699 0 270 0 56 5 Fork 0.736 0.692 2.496 0 90 0 41 6 Fork 0.635 0.692 2.235 0 270 0 38 7 Egg -0.657 0.936 1.555 0 90 0 85 8 Cup -2.709 1.398 3.897 0 0 0 58 9 Cup -2.463 1.398 3.897 0 0 0 42 10 Tomato 0.950 0.891 2.285 0 0 0 49 11 Bowl -1.255 1.681 3.897 0 0 0 72 12 PepperShaker 0.625 0.121 1.059 0 0 0 44 13 SaltShaker -2.177 0.123 3.634 0 0 0 70 14 Mug -1.109 0.940 1.203 0 0 0 85 15 Apple -0.524 0.961 1.143 0 90 0 85 16 Plate -2.563 0.826 3.331 0 0 0 67 17 Fork 0.839 0.692 2.235 0 270 0 38 18 Bread -1.185 0.953 1.452 0 90 0 85 19 Spatula 0.950 0.838 2.631 0 0 0 49 20 PaperTowelRoll 0.650 0.927 1.117 0 0 0 44 21 Potato -0.921 0.943 1.349 0 0 0 85 22 SoapBottle -1.343 0.127 3.674 0 0 0 64 23 Egg 1.099 0.859 1.028 0 0 0 44 24 Cup -2.213 1.398 3.858 0 0 0 45 25 Pot 0.913 0.850 1.768 0 0 0 65 26 SaltShaker 0.781 0.122 2.651 0 0 0 51 27 Pan -2.667 0.812 3.74 0 137.145 0 67 28 PepperShaker 0.950 0.819 2.458 0 0 0 49 29 ButterKnife 0.950 0.823 2.631 0 180 0 49 30 Tomato -0.913 0.962 1.484 0 0 0 85 31 DishSponge -1.317 0.900 0.937 0 90 0 85 32 Lettuce -2.636 1.071 2.165 0 90 0 76 33 Spoon 0.725 0.824 0.939 0 0 0 44 34 Apple -0.657 0.961 1.143 0 90 0 85 35 Knife -2.923 0.846 3.405 0 90 0 67 36 Mug -2.710 1.403 2.109 0 90 0 76 37 Bowl -2.694 1.189 2.277 0 90 0 76 38 Drawer 0.729 0.703 2.199 0 0 0 39 Cabinet -1.962 1.926 3.733 0 0 0 40 Cabinet -2.377 2.014 1.058 0 0 0 41 Drawer 0.729 0.703 2.532 0 0 0 42 Cabinet -2.622 1.925 3.733 0 0 0 43 StoveBurner 0.913 0.843 1.375 0 0 0 44 CounterTop 0.864 0.858 0.984 0 0 0 45 Cabinet -1.976 1.779 3.734 0 0 0 46 Cabinet 0.580 0.385 0.819 0 0 0 47 Cabinet -2.379 1.408 1.677 0 0 0 48 Cabinet -0.419 1.703 3.736 0 0 0 49 CounterTop 0.864 0.858 2.371 0 0 0 50 Sink -1.702 0.726 3.828 0 180 0 51 Cabinet 0.580 0.385 2.694 0 0 0 52 Cabinet -2.379 0.637 1.677 0 0 0 53 Cabinet -0.419 0.674 3.736 0 0 0 54 Cabinet -2.377 2.014 2.558 0 0 0 55 Drawer 0.729 0.703 0.980 0 0 0 56 Drawer -2.114 0.706 3.657 0 0 0 57 Cabinet -2.377 1.691 2.572 0 0 0 58 Cabinet -2.951 1.925 3.733 0 0 0 59 Cabinet 0.580 0.385 2.360 0 0 0 60 Cabinet -2.426 0.435 3.421 0 0 0 61 StoveBurner 0.642 0.843 1.375 0 0 0 62 Cabinet -2.377 1.927 1.686 0 0 0 63 Cabinet -2.377 2.013 3.177 0 0 0 64 Cabinet -1.136 0.385 3.516 0 0 0 65 StoveBurner 0.913 0.843 1.768 0 0 0 66 Cabinet -1.974 0.385 3.516 0 0 0 67 CounterTop -2.081 0.858 3.799 0 0 0 68 Cabinet -2.426 0.435 3.174 0 0 0 69 Cabinet -2.377 2.014 1.693 0 0 0 70 Cabinet -1.986 0.385 3.511 0 0 0 71 StoveBurner 0.642 0.843 1.768 0 0 0 72 Cabinet -1.098 1.926 3.729 0 0 0 73 Microwave -1.529 1.250 3.881 1.622 180 0 74 CoffeeMachine 1.000 0.812 2.492 0 270 0 75 LightSwitch 0.825 1.396 4.082 0 180 0 76 Fridge -2.642 0.0 2.134 0 180 0 77 Window -1.131 1.673 0.808 90 0 0 78 GarbageCan 0.931 -0.000 2.918 0 0 0 79 SinkBasin -1.601 0.686 3.774 0 0 0 80 StoveKnob 1.104 1.002 1.886 0 0 70.346 81 StoveKnob 1.104 1.002 1.733 0 0 70.346 82 StoveKnob 1.104 1.002 1.321 0 0 70.346 83 StoveKnob 1.104 1.002 1.481 0 0 70.346 84 Toaster -2.247 0.812 3.862 0 180 0 85 DiningTable -0.917 -0.000 1.203 0 0 0 86 Stool -0.932 0.000 1.404 1.196 21.715 0 87 Faucet -1.842 0.809 3.984 0 180 0 88 Faucet -1.371 0.809 3.985 0 180 0 89 NorthWall 90 EastWall 91 SouthWall 92 WestWall
[ "STEP 1: Turn around and go to the left side of the white table | STEP 2: Grab an apple off of the table | STEP 3: Turn right and go to the microwave | STEP 4: Heat the apple in the microwave and then take it out | STEP 5: Move slightly to the left and look down at the sink | STEP 6: Put the apple in the sink | END" ]
[ [ "STEP 1: Turn around and go to the left side of the white table ", " STEP 2: Grab an apple off of the table ", " STEP 3: Turn right and go to the microwave ", " STEP 4: Heat the apple in the microwave and then take it out ", " STEP 5: Move slightly to the left and look down at the sink ", " STEP 6: Put the apple in the sink ", " END" ] ]
seen
trial_T20190909_040401_888395-1
Put a heated apple in the sink.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -0.5 0.900 3.0 0 0 0 1 DishSponge 0.771 0.690 1.016 0 0 0 55 2 ButterKnife 1.024 0.823 2.285 0 0 0 49 3 ButterKnife 0.800 0.823 2.285 0 0 0 49 4 Spoon -2.087 0.699 3.699 0 270 0 56 5 Fork 0.736 0.692 2.496 0 90 0 41 6 Fork 0.635 0.692 2.235 0 270 0 38 7 Egg -0.657 0.936 1.555 0 90 0 85 8 Cup -2.709 1.398 3.897 0 0 0 58 9 Cup -2.463 1.398 3.897 0 0 0 42 10 Tomato 0.950 0.891 2.285 0 0 0 49 11 Bowl -1.255 1.681 3.897 0 0 0 72 12 PepperShaker 0.625 0.121 1.059 0 0 0 44 13 SaltShaker -2.177 0.123 3.634 0 0 0 70 14 Mug -1.109 0.940 1.203 0 0 0 85 15 Apple -0.524 0.961 1.143 0 90 0 85 16 Plate -2.563 0.826 3.331 0 0 0 67 17 Fork 0.839 0.692 2.235 0 270 0 38 18 Bread -1.185 0.953 1.452 0 90 0 85 19 Spatula 0.950 0.838 2.631 0 0 0 49 20 PaperTowelRoll 0.650 0.927 1.117 0 0 0 44 21 Potato -0.921 0.943 1.349 0 0 0 85 22 SoapBottle -1.343 0.127 3.674 0 0 0 64 23 Egg 1.099 0.859 1.028 0 0 0 44 24 Cup -2.213 1.398 3.858 0 0 0 45 25 Pot 0.913 0.850 1.768 0 0 0 65 26 SaltShaker 0.781 0.122 2.651 0 0 0 51 27 Pan -2.667 0.812 3.74 0 137.145 0 67 28 PepperShaker 0.950 0.819 2.458 0 0 0 49 29 ButterKnife 0.950 0.823 2.631 0 180 0 49 30 Tomato -0.913 0.962 1.484 0 0 0 85 31 DishSponge -1.317 0.900 0.937 0 90 0 85 32 Lettuce -2.636 1.071 2.165 0 90 0 76 33 Spoon 0.725 0.824 0.939 0 0 0 44 34 Apple -0.657 0.961 1.143 0 90 0 85 35 Knife -2.923 0.846 3.405 0 90 0 67 36 Mug -2.710 1.403 2.109 0 90 0 76 37 Bowl -2.694 1.189 2.277 0 90 0 76 38 Drawer 0.729 0.703 2.199 0 0 0 39 Cabinet -1.962 1.926 3.733 0 0 0 40 Cabinet -2.377 2.014 1.058 0 0 0 41 Drawer 0.729 0.703 2.532 0 0 0 42 Cabinet -2.622 1.925 3.733 0 0 0 43 StoveBurner 0.913 0.843 1.375 0 0 0 44 CounterTop 0.864 0.858 0.984 0 0 0 45 Cabinet -1.976 1.779 3.734 0 0 0 46 Cabinet 0.580 0.385 0.819 0 0 0 47 Cabinet -2.379 1.408 1.677 0 0 0 48 Cabinet -0.419 1.703 3.736 0 0 0 49 CounterTop 0.864 0.858 2.371 0 0 0 50 Sink -1.702 0.726 3.828 0 180 0 51 Cabinet 0.580 0.385 2.694 0 0 0 52 Cabinet -2.379 0.637 1.677 0 0 0 53 Cabinet -0.419 0.674 3.736 0 0 0 54 Cabinet -2.377 2.014 2.558 0 0 0 55 Drawer 0.729 0.703 0.980 0 0 0 56 Drawer -2.114 0.706 3.657 0 0 0 57 Cabinet -2.377 1.691 2.572 0 0 0 58 Cabinet -2.951 1.925 3.733 0 0 0 59 Cabinet 0.580 0.385 2.360 0 0 0 60 Cabinet -2.426 0.435 3.421 0 0 0 61 StoveBurner 0.642 0.843 1.375 0 0 0 62 Cabinet -2.377 1.927 1.686 0 0 0 63 Cabinet -2.377 2.013 3.177 0 0 0 64 Cabinet -1.136 0.385 3.516 0 0 0 65 StoveBurner 0.913 0.843 1.768 0 0 0 66 Cabinet -1.974 0.385 3.516 0 0 0 67 CounterTop -2.081 0.858 3.799 0 0 0 68 Cabinet -2.426 0.435 3.174 0 0 0 69 Cabinet -2.377 2.014 1.693 0 0 0 70 Cabinet -1.986 0.385 3.511 0 0 0 71 StoveBurner 0.642 0.843 1.768 0 0 0 72 Cabinet -1.098 1.926 3.729 0 0 0 73 Microwave -1.529 1.250 3.881 1.622 180 0 74 CoffeeMachine 1.000 0.812 2.492 0 270 0 75 LightSwitch 0.825 1.396 4.082 0 180 0 76 Fridge -2.642 0.0 2.134 0 180 0 77 Window -1.131 1.673 0.808 90 0 0 78 GarbageCan 0.931 -0.000 2.918 0 0 0 79 SinkBasin -1.601 0.686 3.774 0 0 0 80 StoveKnob 1.104 1.002 1.886 0 0 70.346 81 StoveKnob 1.104 1.002 1.733 0 0 70.346 82 StoveKnob 1.104 1.002 1.321 0 0 70.346 83 StoveKnob 1.104 1.002 1.481 0 0 70.346 84 Toaster -2.247 0.812 3.862 0 180 0 85 DiningTable -0.917 -0.000 1.203 0 0 0 86 Stool -0.932 0.000 1.404 1.196 21.715 0 87 Faucet -1.842 0.809 3.984 0 180 0 88 Faucet -1.371 0.809 3.985 0 180 0 89 NorthWall 90 EastWall 91 SouthWall 92 WestWall
[ "STEP 1: Turn right and walk forward, then hang a right and walk over to the wall, turn right to face the white table. | STEP 2: Pick up the apple closest to the coffee machine on the white table. | STEP 3: Turn right and walk forward, then hang a left and walk towards the fridge, turn right and walk up to the microwave. | STEP 4: Put the apple in the microwave and heat it up for a couple seconds then take it out and close the microwave. | STEP 5: Turn left and take a step forward, then turn right to face the sink. | STEP 6: Put the heated apple in the rightmost sink basin. | END" ]
[ [ "STEP 1: Turn right and walk forward, then hang a right and walk over to the wall, turn right to face the white table. ", " STEP 2: Pick up the apple closest to the coffee machine on the white table. ", " STEP 3: Turn right and walk forward, then hang a left and walk towards the fridge, turn right and walk up to the microwave. ", " STEP 4: Put the apple in the microwave and heat it up for a couple seconds then take it out and close the microwave. ", " STEP 5: Turn left and take a step forward, then turn right to face the sink. ", " STEP 6: Put the heated apple in the rightmost sink basin. ", " END" ] ]
seen
trial_T20190909_040401_888395-2
Put a microwaved apple in the sink.
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2.134", " 0", " 180", " 0", "" ], [ "77", " Window", " -1.131", " 1.673", " 0.808", " 90", " 0", " 0", "" ], [ "78", " GarbageCan", " 0.931", " -0.000", " 2.918", " 0", " 0", " 0", "" ], [ "79", " SinkBasin", " -1.601", " 0.686", " 3.774", " 0", " 0", " 0", "" ], [ "80", " StoveKnob", " 1.104", " 1.002", " 1.886", " 0", " 0", " 70.346", "" ], [ "81", " StoveKnob", " 1.104", " 1.002", " 1.733", " 0", " 0", " 70.346", "" ], [ "82", " StoveKnob", " 1.104", " 1.002", " 1.321", " 0", " 0", " 70.346", "" ], [ "83", " StoveKnob", " 1.104", " 1.002", " 1.481", " 0", " 0", " 70.346", "" ], [ "84", " Toaster", " -2.247", " 0.812", " 3.862", " 0", " 180", " 0", "" ], [ "85", " DiningTable", " -0.917", " -0.000", " 1.203", " 0", " 0", " 0", "" ], [ "86", " Stool", " -0.932", " 0.000", " 1.404", " 1.196", " 21.715", " 0", "" ], [ "87", " Faucet", " -1.842", " 0.809", " 3.984", " 0", " 180", " 0", "" ], [ "88", " Faucet", " -1.371", " 0.809", " 3.985", " 0", " 180", " 0", "" ], [ "89", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "90", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "91", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "92", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -0.5 0.900 3.0 0 0 0 1 DishSponge 0.771 0.690 1.016 0 0 0 55 2 ButterKnife 1.024 0.823 2.285 0 0 0 49 3 ButterKnife 0.800 0.823 2.285 0 0 0 49 4 Spoon -2.087 0.699 3.699 0 270 0 56 5 Fork 0.736 0.692 2.496 0 90 0 41 6 Fork 0.635 0.692 2.235 0 270 0 38 7 Egg -0.657 0.936 1.555 0 90 0 85 8 Cup -2.709 1.398 3.897 0 0 0 58 9 Cup -2.463 1.398 3.897 0 0 0 42 10 Tomato 0.950 0.891 2.285 0 0 0 49 11 Bowl -1.255 1.681 3.897 0 0 0 72 12 PepperShaker 0.625 0.121 1.059 0 0 0 44 13 SaltShaker -2.177 0.123 3.634 0 0 0 70 14 Mug -1.109 0.940 1.203 0 0 0 85 15 Apple -0.524 0.961 1.143 0 90 0 85 16 Plate -2.563 0.826 3.331 0 0 0 67 17 Fork 0.839 0.692 2.235 0 270 0 38 18 Bread -1.185 0.953 1.452 0 90 0 85 19 Spatula 0.950 0.838 2.631 0 0 0 49 20 PaperTowelRoll 0.650 0.927 1.117 0 0 0 44 21 Potato -0.921 0.943 1.349 0 0 0 85 22 SoapBottle -1.343 0.127 3.674 0 0 0 64 23 Egg 1.099 0.859 1.028 0 0 0 44 24 Cup -2.213 1.398 3.858 0 0 0 45 25 Pot 0.913 0.850 1.768 0 0 0 65 26 SaltShaker 0.781 0.122 2.651 0 0 0 51 27 Pan -2.667 0.812 3.74 0 137.145 0 67 28 PepperShaker 0.950 0.819 2.458 0 0 0 49 29 ButterKnife 0.950 0.823 2.631 0 180 0 49 30 Tomato -0.913 0.962 1.484 0 0 0 85 31 DishSponge -1.317 0.900 0.937 0 90 0 85 32 Lettuce -2.636 1.071 2.165 0 90 0 76 33 Spoon 0.725 0.824 0.939 0 0 0 44 34 Apple -0.657 0.961 1.143 0 90 0 85 35 Knife -2.923 0.846 3.405 0 90 0 67 36 Mug -2.710 1.403 2.109 0 90 0 76 37 Bowl -2.694 1.189 2.277 0 90 0 76 38 Drawer 0.729 0.703 2.199 0 0 0 39 Cabinet -1.962 1.926 3.733 0 0 0 40 Cabinet -2.377 2.014 1.058 0 0 0 41 Drawer 0.729 0.703 2.532 0 0 0 42 Cabinet -2.622 1.925 3.733 0 0 0 43 StoveBurner 0.913 0.843 1.375 0 0 0 44 CounterTop 0.864 0.858 0.984 0 0 0 45 Cabinet -1.976 1.779 3.734 0 0 0 46 Cabinet 0.580 0.385 0.819 0 0 0 47 Cabinet -2.379 1.408 1.677 0 0 0 48 Cabinet -0.419 1.703 3.736 0 0 0 49 CounterTop 0.864 0.858 2.371 0 0 0 50 Sink -1.702 0.726 3.828 0 180 0 51 Cabinet 0.580 0.385 2.694 0 0 0 52 Cabinet -2.379 0.637 1.677 0 0 0 53 Cabinet -0.419 0.674 3.736 0 0 0 54 Cabinet -2.377 2.014 2.558 0 0 0 55 Drawer 0.729 0.703 0.980 0 0 0 56 Drawer -2.114 0.706 3.657 0 0 0 57 Cabinet -2.377 1.691 2.572 0 0 0 58 Cabinet -2.951 1.925 3.733 0 0 0 59 Cabinet 0.580 0.385 2.360 0 0 0 60 Cabinet -2.426 0.435 3.421 0 0 0 61 StoveBurner 0.642 0.843 1.375 0 0 0 62 Cabinet -2.377 1.927 1.686 0 0 0 63 Cabinet -2.377 2.013 3.177 0 0 0 64 Cabinet -1.136 0.385 3.516 0 0 0 65 StoveBurner 0.913 0.843 1.768 0 0 0 66 Cabinet -1.974 0.385 3.516 0 0 0 67 CounterTop -2.081 0.858 3.799 0 0 0 68 Cabinet -2.426 0.435 3.174 0 0 0 69 Cabinet -2.377 2.014 1.693 0 0 0 70 Cabinet -1.986 0.385 3.511 0 0 0 71 StoveBurner 0.642 0.843 1.768 0 0 0 72 Cabinet -1.098 1.926 3.729 0 0 0 73 Microwave -1.529 1.250 3.881 1.622 180 0 74 CoffeeMachine 1.000 0.812 2.492 0 270 0 75 LightSwitch 0.825 1.396 4.082 0 180 0 76 Fridge -2.642 0.0 2.134 0 180 0 77 Window -1.131 1.673 0.808 90 0 0 78 GarbageCan 0.931 -0.000 2.918 0 0 0 79 SinkBasin -1.601 0.686 3.774 0 0 0 80 StoveKnob 1.104 1.002 1.886 0 0 70.346 81 StoveKnob 1.104 1.002 1.733 0 0 70.346 82 StoveKnob 1.104 1.002 1.321 0 0 70.346 83 StoveKnob 1.104 1.002 1.481 0 0 70.346 84 Toaster -2.247 0.812 3.862 0 180 0 85 DiningTable -0.917 -0.000 1.203 0 0 0 86 Stool -0.932 0.000 1.404 1.196 21.715 0 87 Faucet -1.842 0.809 3.984 0 180 0 88 Faucet -1.371 0.809 3.985 0 180 0 89 NorthWall 90 EastWall 91 SouthWall 92 WestWall
[ "STEP 1: Turn around and walk across the room and turn right at the table. | STEP 2: Pick up the apple on the table. | STEP 3: Go around the table and turn right to the microwave. | STEP 4: Microwave the apple and take it out of the microwave. | STEP 5: Look at the sink. | STEP 6: Put the apple in the sink. | END" ]
[ [ "STEP 1: Turn around and walk across the room and turn right at the table. ", " STEP 2: Pick up the apple on the table. ", " STEP 3: Go around the table and turn right to the microwave. ", " STEP 4: Microwave the apple and take it out of the microwave. ", " STEP 5: Look at the sink. ", " STEP 6: Put the apple in the sink. ", " END" ] ]
seen
trial_T20190907_182547_633737-0
Put the plunger in the cabinet
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.5 0.900 1.75 0 0 0 1 Cloth -3.574 0.219 1.432 0 0 0 42 2 Cloth -2.117 1.301 2.143 0 0 0 35 3 TissueBox -0.858 0.119 0.311 0 0 0 24 4 TissueBox -0.753 1.134 0.110 0 0 0 33 5 SoapBar -3.103 0.689 0.148 0 0 0 26 6 SoapBar -2.076 0.108 2.191 0 0 0 23 7 Candle -0.318 0.952 2.669 0 270 0 41 8 ToiletPaper -0.067 1.015 2.171 0 270 270 38 9 HandTowel -1.296 1.765 0.040 0 180 0 39 10 SoapBar -3.637 0.219 0.941 0 0 0 42 11 ToiletPaper -0.229 0.024 0.240 0 0 0 44 12 Plunger -0.735 -0.000 2.732 0 0 0 Floor|-00.08| 13 Candle -2.207 0.517 0.263 0 0 0 21 14 TissueBox -0.693 1.134 0.466 0 0 0 33 15 ToiletPaper -0.633 1.131 0.110 0 0 0 33 16 SoapBottle -0.753 1.137 0.288 0 0 0 33 17 SprayBottle -0.872 1.135 0.466 0 0 0 33 18 Towel -2.760 1.569 0.107 0 0 0 36 19 Cloth -2.085 1.583 2.144 0 0 0 31 20 ScrubBrush -0.657 -0.000 2.560 0 0 0 Floor|-00.08| 21 Cabinet -2.344 0.457 0.524 0 0 0 22 Drawer -0.813 0.956 0.384 0 270 0 23 Cabinet -1.891 0.443 1.982 0 0 0 24 Cabinet -0.605 0.457 0.524 0 0 0 25 Drawer -2.032 0.942 2.190 0 0 0 26 Bathtub -3.450 0.178 1.029 0 0 0 27 CounterTop -1.919 0.0 0.288 0 0 0 28 Sink -1.924 0.772 0.326 0 0 0 29 Mirror -1.934 1.666 0.107 0 0 0 30 Faucet -1.925 0.958 0.179 0 0 0 31 Cabinet -1.891 1.884 2.391 0 0 0 32 Cabinet -0.605 1.988 0.524 0 0 0 33 CounterTop -0.812 0.093 0.288 0 0 0 34 Shelf -2.029 1.183 2.189 0 0 0 35 Shelf -2.123 1.393 2.189 0 0 0 36 TowelHolder -2.760 1.555 0.000 0 0 0 37 LightSwitch 0.0 1.427 1.993 0 270 0 38 ToiletPaperHanger 0.0 1.014 2.237 0 270 0 39 HandTowelHolder -1.297 1.866 0.002 0 270 0 40 Window -4.149 1.717 1.154 90 270 0 41 Toilet -0.456 -0.000 2.257 0 180 0 42 BathtubBasin -3.520 0.210 0.940 0 0 0 43 SinkBasin -1.931 0.841 0.320 0 0 0 44 GarbageCan -0.257 -0.000 0.259 0 0 0 45 ShowerHead -3.522 1.719 1.776 0 0 0 46 ShowerCurtain -3.391 2.442 0.266 0 0 6.838 47 NorthWall 48 SouthWall 49 SouthWall
[ "STEP 1: Turn to your right then head to the side of the toilet bowl | STEP 2: Pick up the plunger on the floor beside the toilet bowl | STEP 3: Turn to your left and head to the cabinet | STEP 4: Open the lower cabinet and put the plunger inside then close the cabinet | END" ]
[ [ "STEP 1: Turn to your right then head to the side of the toilet bowl ", " STEP 2: Pick up the plunger on the floor beside the toilet bowl ", " STEP 3: Turn to your left and head to the cabinet ", " STEP 4: Open the lower cabinet and put the plunger inside then close the cabinet ", " END" ] ]
seen
trial_T20190907_182547_633737-1
Put a plunger in a cabinet.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.5 0.900 1.75 0 0 0 1 Cloth -3.574 0.219 1.432 0 0 0 42 2 Cloth -2.117 1.301 2.143 0 0 0 35 3 TissueBox -0.858 0.119 0.311 0 0 0 24 4 TissueBox -0.753 1.134 0.110 0 0 0 33 5 SoapBar -3.103 0.689 0.148 0 0 0 26 6 SoapBar -2.076 0.108 2.191 0 0 0 23 7 Candle -0.318 0.952 2.669 0 270 0 41 8 ToiletPaper -0.067 1.015 2.171 0 270 270 38 9 HandTowel -1.296 1.765 0.040 0 180 0 39 10 SoapBar -3.637 0.219 0.941 0 0 0 42 11 ToiletPaper -0.229 0.024 0.240 0 0 0 44 12 Plunger -0.735 -0.000 2.732 0 0 0 Floor|-00.08| 13 Candle -2.207 0.517 0.263 0 0 0 21 14 TissueBox -0.693 1.134 0.466 0 0 0 33 15 ToiletPaper -0.633 1.131 0.110 0 0 0 33 16 SoapBottle -0.753 1.137 0.288 0 0 0 33 17 SprayBottle -0.872 1.135 0.466 0 0 0 33 18 Towel -2.760 1.569 0.107 0 0 0 36 19 Cloth -2.085 1.583 2.144 0 0 0 31 20 ScrubBrush -0.657 -0.000 2.560 0 0 0 Floor|-00.08| 21 Cabinet -2.344 0.457 0.524 0 0 0 22 Drawer -0.813 0.956 0.384 0 270 0 23 Cabinet -1.891 0.443 1.982 0 0 0 24 Cabinet -0.605 0.457 0.524 0 0 0 25 Drawer -2.032 0.942 2.190 0 0 0 26 Bathtub -3.450 0.178 1.029 0 0 0 27 CounterTop -1.919 0.0 0.288 0 0 0 28 Sink -1.924 0.772 0.326 0 0 0 29 Mirror -1.934 1.666 0.107 0 0 0 30 Faucet -1.925 0.958 0.179 0 0 0 31 Cabinet -1.891 1.884 2.391 0 0 0 32 Cabinet -0.605 1.988 0.524 0 0 0 33 CounterTop -0.812 0.093 0.288 0 0 0 34 Shelf -2.029 1.183 2.189 0 0 0 35 Shelf -2.123 1.393 2.189 0 0 0 36 TowelHolder -2.760 1.555 0.000 0 0 0 37 LightSwitch 0.0 1.427 1.993 0 270 0 38 ToiletPaperHanger 0.0 1.014 2.237 0 270 0 39 HandTowelHolder -1.297 1.866 0.002 0 270 0 40 Window -4.149 1.717 1.154 90 270 0 41 Toilet -0.456 -0.000 2.257 0 180 0 42 BathtubBasin -3.520 0.210 0.940 0 0 0 43 SinkBasin -1.931 0.841 0.320 0 0 0 44 GarbageCan -0.257 -0.000 0.259 0 0 0 45 ShowerHead -3.522 1.719 1.776 0 0 0 46 ShowerCurtain -3.391 2.442 0.266 0 0 6.838 47 NorthWall 48 SouthWall 49 SouthWall
[ "STEP 1: Turn around, then walk towards the toilet on your left. | STEP 2: Pick up the plunger to the left of the toilet. | STEP 3: Turn around, then walk to the cabinet on your right. | STEP 4: Place the plunger in the cabinet. | END" ]
[ [ "STEP 1: Turn around, then walk towards the toilet on your left. ", " STEP 2: Pick up the plunger to the left of the toilet. ", " STEP 3: Turn around, then walk to the cabinet on your right. ", " STEP 4: Place the plunger in the cabinet. ", " END" ] ]
seen
trial_T20190907_182547_633737-2
Place a plunger in the bathroom cabinet
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.5 0.900 1.75 0 0 0 1 Cloth -3.574 0.219 1.432 0 0 0 42 2 Cloth -2.117 1.301 2.143 0 0 0 35 3 TissueBox -0.858 0.119 0.311 0 0 0 24 4 TissueBox -0.753 1.134 0.110 0 0 0 33 5 SoapBar -3.103 0.689 0.148 0 0 0 26 6 SoapBar -2.076 0.108 2.191 0 0 0 23 7 Candle -0.318 0.952 2.669 0 270 0 41 8 ToiletPaper -0.067 1.015 2.171 0 270 270 38 9 HandTowel -1.296 1.765 0.040 0 180 0 39 10 SoapBar -3.637 0.219 0.941 0 0 0 42 11 ToiletPaper -0.229 0.024 0.240 0 0 0 44 12 Plunger -0.735 -0.000 2.732 0 0 0 Floor|-00.08| 13 Candle -2.207 0.517 0.263 0 0 0 21 14 TissueBox -0.693 1.134 0.466 0 0 0 33 15 ToiletPaper -0.633 1.131 0.110 0 0 0 33 16 SoapBottle -0.753 1.137 0.288 0 0 0 33 17 SprayBottle -0.872 1.135 0.466 0 0 0 33 18 Towel -2.760 1.569 0.107 0 0 0 36 19 Cloth -2.085 1.583 2.144 0 0 0 31 20 ScrubBrush -0.657 -0.000 2.560 0 0 0 Floor|-00.08| 21 Cabinet -2.344 0.457 0.524 0 0 0 22 Drawer -0.813 0.956 0.384 0 270 0 23 Cabinet -1.891 0.443 1.982 0 0 0 24 Cabinet -0.605 0.457 0.524 0 0 0 25 Drawer -2.032 0.942 2.190 0 0 0 26 Bathtub -3.450 0.178 1.029 0 0 0 27 CounterTop -1.919 0.0 0.288 0 0 0 28 Sink -1.924 0.772 0.326 0 0 0 29 Mirror -1.934 1.666 0.107 0 0 0 30 Faucet -1.925 0.958 0.179 0 0 0 31 Cabinet -1.891 1.884 2.391 0 0 0 32 Cabinet -0.605 1.988 0.524 0 0 0 33 CounterTop -0.812 0.093 0.288 0 0 0 34 Shelf -2.029 1.183 2.189 0 0 0 35 Shelf -2.123 1.393 2.189 0 0 0 36 TowelHolder -2.760 1.555 0.000 0 0 0 37 LightSwitch 0.0 1.427 1.993 0 270 0 38 ToiletPaperHanger 0.0 1.014 2.237 0 270 0 39 HandTowelHolder -1.297 1.866 0.002 0 270 0 40 Window -4.149 1.717 1.154 90 270 0 41 Toilet -0.456 -0.000 2.257 0 180 0 42 BathtubBasin -3.520 0.210 0.940 0 0 0 43 SinkBasin -1.931 0.841 0.320 0 0 0 44 GarbageCan -0.257 -0.000 0.259 0 0 0 45 ShowerHead -3.522 1.719 1.776 0 0 0 46 ShowerCurtain -3.391 2.442 0.266 0 0 6.838 47 NorthWall 48 SouthWall 49 SouthWall
[ "STEP 1: Move to the left side of the toilet | STEP 2: Pick up the plunger on the floor to the left of the toilet | STEP 3: Carry the plunger to the cabinet directly to the left | STEP 4: Place the plunger in the bottom cabinet then close the cabinet | END" ]
[ [ "STEP 1: Move to the left side of the toilet ", " STEP 2: Pick up the plunger on the floor to the left of the toilet ", " STEP 3: Carry the plunger to the cabinet directly to the left ", " STEP 4: Place the plunger in the bottom cabinet then close the cabinet ", " END" ] ]
seen
trial_T20190908_063003_015125-0
drop two pens on the table
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"" ], [ "37", " Shelf", " 1.769", " 0.572", " 0.757", " 0", " 270", " 0", "" ], [ "38", " Shelf", " 1.769", " 0.572", " 0.935", " 0", " 270", " 0", "" ], [ "39", " Shelf", " 1.769", " 0.378", " 0.935", " 0", " 270", " 0", "" ], [ "40", " Shelf", " 1.769", " 0.378", " 0.757", " 0", " 270", " 0", "" ], [ "41", " Shelf", " 1.769", " 0.184", " 0.935", " 0", " 270", " 0", "" ], [ "42", " Blinds", " 1.547", " 2.434", " -1.886", " 0", " 0", " 0", "" ], [ "43", " Drawer", " -0.553", " 0.155", " 2.942", " 0", " 90", " 0", "" ], [ "44", " Drawer", " -0.553", " 0.572", " 2.942", " 0", " 90", " 0", "" ], [ "45", " Dresser", " -0.665", " 0.001", " 2.939", " 0", " 90", " 0", "" ], [ "46", " Drawer", " -0.553", " 0.376", " 2.942", " 0", " 90", " 0", "" ], [ "47", " Chair", " 1.482", " 0.012", " 0.223", " 0", " 77.085", " 0", "" ], [ "48", " Chair", " -0.199", " 0.012", " 1.538", " 0", " 287.086", " 0", "" ], [ "49", " Bed", " -0.866", " 0.007", " -0.919", " 0", " 0", " 0", "" ], [ "50", " Dresser", " -0.772", " 0.001", " -1.313", " 0", " 90", " 0", "" ], [ "51", " Drawer", " -0.660", " 0.830", " -1.309", " 0", " 90", " 0", "" ], [ "52", " Drawer", " -0.660", " 0.225", " -1.309", " 0", " 90", " 0", "" ], [ "53", " Drawer", " -0.660", " 0.547", " -1.309", " 0", " 90", " 0", "" ], [ "54", " Bed", " -0.872", " 1.637", " 2.188", " 0", " 0", " 0", "" ], [ "55", " Drawer", " 1.685", " 0.160", " -0.805", " 0", " 270", " 0", "" ], [ "56", " Drawer", " 1.685", " 0.160", " -0.378", " 0", " 270", " 0", "" ], [ "57", " Drawer", " 1.685", " 0.547", " -0.805", " 0", " 270", " 0", "" ], [ "58", " Drawer", " 1.685", " 0.547", " -0.378", " 0", " 270", " 0", "" ], [ "59", " Desk", " 1.812", " 0.003", " -0.014", " 0", " 270", " 0", "" ], [ "60", " Drawer", " 1.685", " 0.354", " -0.805", " 0", " 270", " 0", "" ], [ "61", " Drawer", " 1.685", " 0.354", " -0.378", " 0", " 270", " 0", "" ], [ "62", " ArmChair", " 1.712", " -0.000", " 1.532", " 0", " 270", " 0", "" ], [ "63", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "64", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "65", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "66", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 0.5 0.901 2.25 0 0 0 1 Mug 2.003 0.724 -0.256 0 270 0 59 2 Pen -0.782 0.683 1.804 0 90 0 35 3 Pen 1.905 0.732 0.236 0 270 0 59 4 Pen -0.423 0.683 2.364 0 90 0 35 5 CreditCard -0.386 0.668 2.728 0 90 0 45 6 CreditCard 1.662 0.106 -0.916 0 90 0 55 7 KeyChain -0.423 0.677 1.991 0 90 0 35 8 KeyChain 1.515 0.727 -0.256 0 270 0 59 9 Book -0.731 1.504 -1.166 0 0 0 49 10 Laptop -0.632 1.835 1.348 0 0 0 54 11 AlarmClock -0.949 0.669 2.815 0 90 0 45 12 AlarmClock -0.872 0.678 1.991 0 90 0 35 13 Book -0.603 0.681 1.618 0 90 0 35 14 Box -0.493 0.2 -0.286 0 84.024 0 15 TennisRacket -1.345 0.288 0.233 30.000 270 180 16 Pen -0.513 0.683 1.245 0 90 0 35 17 AlarmClock -0.668 0.979 -1.603 0 0 0 50 18 Pillow -0.63 1.871 3.047 0 0 0 54 19 Pillow -0.829 1.549 -1.533 0 0 0 49 20 CellPhone 1.807 0.728 -0.748 0 270 0 59 21 KeyChain -0.848 0.095 -1.071 0 180 0 53 22 CreditCard 1.905 0.726 0.482 0 270 0 59 23 CD 1.710 0.726 -0.256 0 270 0 59 24 Pencil 1.715 0.318 -0.270 0 90 0 61 25 Laptop -0.855 0.666 3.075 0 90 0 45 26 Mug -0.745 0.063 2.091 0 0 0 34 27 DeskLamp 2.016 0.701 0.708 0 0 0 28 Painting 2.199 1.771 -0.101 90 270 0 29 GarbageCan 2.022 -0.037 -1.239 0 270 0 30 Mirror 2.229 1.254 2.664 0 90 0 31 LightSwitch 2.199 1.258 1.988 0 270 0 32 Window 1.575 1.559 -1.953 90 180 0 33 Drawer -0.551 0.578 2.246 0 90 0 34 Cabinet -0.649 0.270 2.247 0 90 0 35 Desk -0.655 0.006 1.814 0 90 0 36 Shelf 1.769 0.184 0.757 0 270 0 37 Shelf 1.769 0.572 0.757 0 270 0 38 Shelf 1.769 0.572 0.935 0 270 0 39 Shelf 1.769 0.378 0.935 0 270 0 40 Shelf 1.769 0.378 0.757 0 270 0 41 Shelf 1.769 0.184 0.935 0 270 0 42 Blinds 1.547 2.434 -1.886 0 0 0 43 Drawer -0.553 0.155 2.942 0 90 0 44 Drawer -0.553 0.572 2.942 0 90 0 45 Dresser -0.665 0.001 2.939 0 90 0 46 Drawer -0.553 0.376 2.942 0 90 0 47 Chair 1.482 0.012 0.223 0 77.085 0 48 Chair -0.199 0.012 1.538 0 287.086 0 49 Bed -0.866 0.007 -0.919 0 0 0 50 Dresser -0.772 0.001 -1.313 0 90 0 51 Drawer -0.660 0.830 -1.309 0 90 0 52 Drawer -0.660 0.225 -1.309 0 90 0 53 Drawer -0.660 0.547 -1.309 0 90 0 54 Bed -0.872 1.637 2.188 0 0 0 55 Drawer 1.685 0.160 -0.805 0 270 0 56 Drawer 1.685 0.160 -0.378 0 270 0 57 Drawer 1.685 0.547 -0.805 0 270 0 58 Drawer 1.685 0.547 -0.378 0 270 0 59 Desk 1.812 0.003 -0.014 0 270 0 60 Drawer 1.685 0.354 -0.805 0 270 0 61 Drawer 1.685 0.354 -0.378 0 270 0 62 ArmChair 1.712 -0.000 1.532 0 270 0 63 NorthWall 64 EastWall 65 SouthWall 66 WestWall
[ "STEP 1: move left to the table | STEP 2: pick up the pen | STEP 3: move to the right side of the table | STEP 4: drop the pen on that side | STEP 5: move to the left side of the table | STEP 6: pick up another pen | STEP 7: move to the right side of the table | STEP 8: drop the pen there | END" ]
[ [ "STEP 1: move left to the table ", " STEP 2: pick up the pen ", " STEP 3: move to the right side of the table ", " STEP 4: drop the pen on that side ", " STEP 5: move to the left side of the table ", " STEP 6: pick up another pen ", " STEP 7: move to the right side of the table ", " STEP 8: drop the pen there ", " END" ] ]
seen
trial_T20190908_063003_015125-1
Moving blue pens from a desk to another location
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" -0.949", " 0.669", " 2.815", " 0", " 90", " 0", " 45" ], [ "12", " AlarmClock", " -0.872", " 0.678", " 1.991", " 0", " 90", " 0", " 35" ], [ "13", " Book", " -0.603", " 0.681", " 1.618", " 0", " 90", " 0", " 35" ], [ "14", " Box", " -0.493", " 0.2", " -0.286", " 0", " 84.024", " 0", "" ], [ "15", " TennisRacket", " -1.345", " 0.288", " 0.233", " 30.000", " 270", " 180", "" ], [ "16", " Pen", " -0.513", " 0.683", " 1.245", " 0", " 90", " 0", " 35" ], [ "17", " AlarmClock", " -0.668", " 0.979", " -1.603", " 0", " 0", " 0", " 50" ], [ "18", " Pillow", " -0.63", " 1.871", " 3.047", " 0", " 0", " 0", " 54" ], [ "19", " Pillow", " -0.829", " 1.549", " -1.533", " 0", " 0", " 0", " 49" ], [ "20", " CellPhone", " 1.807", " 0.728", " -0.748", " 0", " 270", " 0", " 59" ], [ "21", " KeyChain", " -0.848", " 0.095", " -1.071", " 0", " 180", " 0", " 53" ], [ "22", " CreditCard", " 1.905", " 0.726", " 0.482", " 0", " 270", " 0", " 59" ], [ "23", " CD", " 1.710", " 0.726", " -0.256", " 0", " 270", " 0", " 59" ], [ "24", " Pencil", " 1.715", " 0.318", " -0.270", " 0", " 90", " 0", " 61" ], [ "25", " Laptop", " -0.855", " 0.666", " 3.075", " 0", " 90", " 0", " 45" ], [ "26", " Mug", " -0.745", " 0.063", " 2.091", " 0", " 0", " 0", " 34" ], [ "27", " DeskLamp", " 2.016", " 0.701", " 0.708", " 0", " 0", " 0", "" ], [ "28", " Painting", " 2.199", " 1.771", " -0.101", " 90", " 270", " 0", "" ], [ "29", " GarbageCan", " 2.022", " -0.037", " -1.239", " 0", " 270", " 0", "" ], [ "30", " Mirror", " 2.229", " 1.254", " 2.664", " 0", " 90", " 0", "" ], [ "31", " LightSwitch", " 2.199", " 1.258", " 1.988", " 0", " 270", " 0", "" ], [ "32", " Window", " 1.575", " 1.559", " -1.953", " 90", " 180", " 0", "" ], [ "33", " Drawer", " -0.551", " 0.578", " 2.246", " 0", " 90", " 0", "" ], [ "34", " Cabinet", " -0.649", " 0.270", " 2.247", " 0", " 90", " 0", "" ], [ "35", " Desk", " -0.655", " 0.006", " 1.814", " 0", " 90", " 0", "" ], [ "36", " Shelf", " 1.769", " 0.184", " 0.757", " 0", " 270", " 0", "" ], [ "37", " Shelf", " 1.769", " 0.572", " 0.757", " 0", " 270", " 0", "" ], [ "38", " Shelf", " 1.769", " 0.572", " 0.935", " 0", " 270", " 0", "" ], [ "39", " Shelf", " 1.769", " 0.378", " 0.935", " 0", " 270", " 0", "" ], [ "40", " Shelf", " 1.769", " 0.378", " 0.757", " 0", " 270", " 0", "" ], [ "41", " Shelf", " 1.769", " 0.184", " 0.935", " 0", " 270", " 0", "" ], [ "42", " Blinds", " 1.547", " 2.434", " -1.886", " 0", " 0", " 0", "" ], [ "43", " Drawer", " -0.553", " 0.155", " 2.942", " 0", " 90", " 0", "" ], [ "44", " Drawer", " -0.553", " 0.572", " 2.942", " 0", " 90", " 0", "" ], [ "45", " Dresser", " -0.665", " 0.001", " 2.939", " 0", " 90", " 0", "" ], [ "46", " Drawer", " -0.553", " 0.376", " 2.942", " 0", " 90", " 0", "" ], [ "47", " Chair", " 1.482", " 0.012", " 0.223", " 0", " 77.085", " 0", "" ], [ "48", " Chair", " -0.199", " 0.012", " 1.538", " 0", " 287.086", " 0", "" ], [ "49", " Bed", " -0.866", " 0.007", " -0.919", " 0", " 0", " 0", "" ], [ "50", " Dresser", " -0.772", " 0.001", " -1.313", " 0", " 90", " 0", "" ], [ "51", " Drawer", " -0.660", " 0.830", " -1.309", " 0", " 90", " 0", "" ], [ "52", " Drawer", " -0.660", " 0.225", " -1.309", " 0", " 90", " 0", "" ], [ "53", " Drawer", " -0.660", " 0.547", " -1.309", " 0", " 90", " 0", "" ], [ "54", " Bed", " -0.872", " 1.637", " 2.188", " 0", " 0", " 0", "" ], [ "55", " Drawer", " 1.685", " 0.160", " -0.805", " 0", " 270", " 0", "" ], [ "56", " Drawer", " 1.685", " 0.160", " -0.378", " 0", " 270", " 0", "" ], [ "57", " Drawer", " 1.685", " 0.547", " -0.805", " 0", " 270", " 0", "" ], [ "58", " Drawer", " 1.685", " 0.547", " -0.378", " 0", " 270", " 0", "" ], [ "59", " Desk", " 1.812", " 0.003", " -0.014", " 0", " 270", " 0", "" ], [ "60", " Drawer", " 1.685", " 0.354", " -0.805", " 0", " 270", " 0", "" ], [ "61", " Drawer", " 1.685", " 0.354", " -0.378", " 0", " 270", " 0", "" ], [ "62", " ArmChair", " 1.712", " -0.000", " 1.532", " 0", " 270", " 0", "" ], [ "63", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "64", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "65", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "66", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 0.5 0.901 2.25 0 0 0 1 Mug 2.003 0.724 -0.256 0 270 0 59 2 Pen -0.782 0.683 1.804 0 90 0 35 3 Pen 1.905 0.732 0.236 0 270 0 59 4 Pen -0.423 0.683 2.364 0 90 0 35 5 CreditCard -0.386 0.668 2.728 0 90 0 45 6 CreditCard 1.662 0.106 -0.916 0 90 0 55 7 KeyChain -0.423 0.677 1.991 0 90 0 35 8 KeyChain 1.515 0.727 -0.256 0 270 0 59 9 Book -0.731 1.504 -1.166 0 0 0 49 10 Laptop -0.632 1.835 1.348 0 0 0 54 11 AlarmClock -0.949 0.669 2.815 0 90 0 45 12 AlarmClock -0.872 0.678 1.991 0 90 0 35 13 Book -0.603 0.681 1.618 0 90 0 35 14 Box -0.493 0.2 -0.286 0 84.024 0 15 TennisRacket -1.345 0.288 0.233 30.000 270 180 16 Pen -0.513 0.683 1.245 0 90 0 35 17 AlarmClock -0.668 0.979 -1.603 0 0 0 50 18 Pillow -0.63 1.871 3.047 0 0 0 54 19 Pillow -0.829 1.549 -1.533 0 0 0 49 20 CellPhone 1.807 0.728 -0.748 0 270 0 59 21 KeyChain -0.848 0.095 -1.071 0 180 0 53 22 CreditCard 1.905 0.726 0.482 0 270 0 59 23 CD 1.710 0.726 -0.256 0 270 0 59 24 Pencil 1.715 0.318 -0.270 0 90 0 61 25 Laptop -0.855 0.666 3.075 0 90 0 45 26 Mug -0.745 0.063 2.091 0 0 0 34 27 DeskLamp 2.016 0.701 0.708 0 0 0 28 Painting 2.199 1.771 -0.101 90 270 0 29 GarbageCan 2.022 -0.037 -1.239 0 270 0 30 Mirror 2.229 1.254 2.664 0 90 0 31 LightSwitch 2.199 1.258 1.988 0 270 0 32 Window 1.575 1.559 -1.953 90 180 0 33 Drawer -0.551 0.578 2.246 0 90 0 34 Cabinet -0.649 0.270 2.247 0 90 0 35 Desk -0.655 0.006 1.814 0 90 0 36 Shelf 1.769 0.184 0.757 0 270 0 37 Shelf 1.769 0.572 0.757 0 270 0 38 Shelf 1.769 0.572 0.935 0 270 0 39 Shelf 1.769 0.378 0.935 0 270 0 40 Shelf 1.769 0.378 0.757 0 270 0 41 Shelf 1.769 0.184 0.935 0 270 0 42 Blinds 1.547 2.434 -1.886 0 0 0 43 Drawer -0.553 0.155 2.942 0 90 0 44 Drawer -0.553 0.572 2.942 0 90 0 45 Dresser -0.665 0.001 2.939 0 90 0 46 Drawer -0.553 0.376 2.942 0 90 0 47 Chair 1.482 0.012 0.223 0 77.085 0 48 Chair -0.199 0.012 1.538 0 287.086 0 49 Bed -0.866 0.007 -0.919 0 0 0 50 Dresser -0.772 0.001 -1.313 0 90 0 51 Drawer -0.660 0.830 -1.309 0 90 0 52 Drawer -0.660 0.225 -1.309 0 90 0 53 Drawer -0.660 0.547 -1.309 0 90 0 54 Bed -0.872 1.637 2.188 0 0 0 55 Drawer 1.685 0.160 -0.805 0 270 0 56 Drawer 1.685 0.160 -0.378 0 270 0 57 Drawer 1.685 0.547 -0.805 0 270 0 58 Drawer 1.685 0.547 -0.378 0 270 0 59 Desk 1.812 0.003 -0.014 0 270 0 60 Drawer 1.685 0.354 -0.805 0 270 0 61 Drawer 1.685 0.354 -0.378 0 270 0 62 ArmChair 1.712 -0.000 1.532 0 270 0 63 NorthWall 64 EastWall 65 SouthWall 66 WestWall
[ "STEP 1: Turn around walk straight slightly then face the right at the desk | STEP 2: Pick up the blue pen next to the clock | STEP 3: Turn to the right walk straight slightly then back to the left and face the drawers | STEP 4: Place the blue pen on top of the brown dresser stand | STEP 5: Turn left then walk straight slightly and turn to the right and face the desk | STEP 6: Pick up the blue pen next to the keys | STEP 7: Turn to the right walk straight slightly then back to the left and face the drawers | STEP 8: Place the blue pen on top of the brown dresser stand | END" ]
[ [ "STEP 1: Turn around walk straight slightly then face the right at the desk ", " STEP 2: Pick up the blue pen next to the clock ", " STEP 3: Turn to the right walk straight slightly then back to the left and face the drawers ", " STEP 4: Place the blue pen on top of the brown dresser stand ", " STEP 5: Turn left then walk straight slightly and turn to the right and face the desk ", " STEP 6: Pick up the blue pen next to the keys ", " STEP 7: Turn to the right walk straight slightly then back to the left and face the drawers ", " STEP 8: Place the blue pen on top of the brown dresser stand ", " END" ] ]
seen
trial_T20190908_063003_015125-2
Grab two pen and put them on the other side of the desk
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" -0.949", " 0.669", " 2.815", " 0", " 90", " 0", " 45" ], [ "12", " AlarmClock", " -0.872", " 0.678", " 1.991", " 0", " 90", " 0", " 35" ], [ "13", " Book", " -0.603", " 0.681", " 1.618", " 0", " 90", " 0", " 35" ], [ "14", " Box", " -0.493", " 0.2", " -0.286", " 0", " 84.024", " 0", "" ], [ "15", " TennisRacket", " -1.345", " 0.288", " 0.233", " 30.000", " 270", " 180", "" ], [ "16", " Pen", " -0.513", " 0.683", " 1.245", " 0", " 90", " 0", " 35" ], [ "17", " AlarmClock", " -0.668", " 0.979", " -1.603", " 0", " 0", " 0", " 50" ], [ "18", " Pillow", " -0.63", " 1.871", " 3.047", " 0", " 0", " 0", " 54" ], [ "19", " Pillow", " -0.829", " 1.549", " -1.533", " 0", " 0", " 0", " 49" ], [ "20", " CellPhone", " 1.807", " 0.728", " -0.748", " 0", " 270", " 0", " 59" ], [ "21", " KeyChain", " -0.848", " 0.095", " -1.071", " 0", " 180", " 0", " 53" ], [ "22", " CreditCard", " 1.905", " 0.726", " 0.482", " 0", " 270", " 0", " 59" ], [ "23", " CD", " 1.710", " 0.726", " -0.256", " 0", " 270", " 0", " 59" ], [ "24", " Pencil", " 1.715", " 0.318", " -0.270", " 0", " 90", " 0", " 61" ], [ "25", " Laptop", " -0.855", " 0.666", " 3.075", " 0", " 90", " 0", " 45" ], [ "26", " Mug", " -0.745", " 0.063", " 2.091", " 0", " 0", " 0", " 34" ], [ "27", " DeskLamp", " 2.016", " 0.701", " 0.708", " 0", " 0", " 0", "" ], [ "28", " Painting", " 2.199", " 1.771", " -0.101", " 90", " 270", " 0", "" ], [ "29", " GarbageCan", " 2.022", " -0.037", " -1.239", " 0", " 270", " 0", "" ], [ "30", " Mirror", " 2.229", " 1.254", " 2.664", " 0", " 90", " 0", "" ], [ "31", " LightSwitch", " 2.199", " 1.258", " 1.988", " 0", " 270", " 0", "" ], [ "32", " Window", " 1.575", " 1.559", " -1.953", " 90", " 180", " 0", "" ], [ "33", " Drawer", " -0.551", " 0.578", " 2.246", " 0", " 90", " 0", "" ], [ "34", " Cabinet", " -0.649", " 0.270", " 2.247", " 0", " 90", " 0", "" ], [ "35", " Desk", " -0.655", " 0.006", " 1.814", " 0", " 90", " 0", "" ], [ "36", " Shelf", " 1.769", " 0.184", " 0.757", " 0", " 270", " 0", "" ], [ "37", " Shelf", " 1.769", " 0.572", " 0.757", " 0", " 270", " 0", "" ], [ "38", " Shelf", " 1.769", " 0.572", " 0.935", " 0", " 270", " 0", "" ], [ "39", " Shelf", " 1.769", " 0.378", " 0.935", " 0", " 270", " 0", "" ], [ "40", " Shelf", " 1.769", " 0.378", " 0.757", " 0", " 270", " 0", "" ], [ "41", " Shelf", " 1.769", " 0.184", " 0.935", " 0", " 270", " 0", "" ], [ "42", " Blinds", " 1.547", " 2.434", " -1.886", " 0", " 0", " 0", "" ], [ "43", " Drawer", " -0.553", " 0.155", " 2.942", " 0", " 90", " 0", "" ], [ "44", " Drawer", " -0.553", " 0.572", " 2.942", " 0", " 90", " 0", "" ], [ "45", " Dresser", " -0.665", " 0.001", " 2.939", " 0", " 90", " 0", "" ], [ "46", " Drawer", " -0.553", " 0.376", " 2.942", " 0", " 90", " 0", "" ], [ "47", " Chair", " 1.482", " 0.012", " 0.223", " 0", " 77.085", " 0", "" ], [ "48", " Chair", " -0.199", " 0.012", " 1.538", " 0", " 287.086", " 0", "" ], [ "49", " Bed", " -0.866", " 0.007", " -0.919", " 0", " 0", " 0", "" ], [ "50", " Dresser", " 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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 0.5 0.901 2.25 0 0 0 1 Mug 2.003 0.724 -0.256 0 270 0 59 2 Pen -0.782 0.683 1.804 0 90 0 35 3 Pen 1.905 0.732 0.236 0 270 0 59 4 Pen -0.423 0.683 2.364 0 90 0 35 5 CreditCard -0.386 0.668 2.728 0 90 0 45 6 CreditCard 1.662 0.106 -0.916 0 90 0 55 7 KeyChain -0.423 0.677 1.991 0 90 0 35 8 KeyChain 1.515 0.727 -0.256 0 270 0 59 9 Book -0.731 1.504 -1.166 0 0 0 49 10 Laptop -0.632 1.835 1.348 0 0 0 54 11 AlarmClock -0.949 0.669 2.815 0 90 0 45 12 AlarmClock -0.872 0.678 1.991 0 90 0 35 13 Book -0.603 0.681 1.618 0 90 0 35 14 Box -0.493 0.2 -0.286 0 84.024 0 15 TennisRacket -1.345 0.288 0.233 30.000 270 180 16 Pen -0.513 0.683 1.245 0 90 0 35 17 AlarmClock -0.668 0.979 -1.603 0 0 0 50 18 Pillow -0.63 1.871 3.047 0 0 0 54 19 Pillow -0.829 1.549 -1.533 0 0 0 49 20 CellPhone 1.807 0.728 -0.748 0 270 0 59 21 KeyChain -0.848 0.095 -1.071 0 180 0 53 22 CreditCard 1.905 0.726 0.482 0 270 0 59 23 CD 1.710 0.726 -0.256 0 270 0 59 24 Pencil 1.715 0.318 -0.270 0 90 0 61 25 Laptop -0.855 0.666 3.075 0 90 0 45 26 Mug -0.745 0.063 2.091 0 0 0 34 27 DeskLamp 2.016 0.701 0.708 0 0 0 28 Painting 2.199 1.771 -0.101 90 270 0 29 GarbageCan 2.022 -0.037 -1.239 0 270 0 30 Mirror 2.229 1.254 2.664 0 90 0 31 LightSwitch 2.199 1.258 1.988 0 270 0 32 Window 1.575 1.559 -1.953 90 180 0 33 Drawer -0.551 0.578 2.246 0 90 0 34 Cabinet -0.649 0.270 2.247 0 90 0 35 Desk -0.655 0.006 1.814 0 90 0 36 Shelf 1.769 0.184 0.757 0 270 0 37 Shelf 1.769 0.572 0.757 0 270 0 38 Shelf 1.769 0.572 0.935 0 270 0 39 Shelf 1.769 0.378 0.935 0 270 0 40 Shelf 1.769 0.378 0.757 0 270 0 41 Shelf 1.769 0.184 0.935 0 270 0 42 Blinds 1.547 2.434 -1.886 0 0 0 43 Drawer -0.553 0.155 2.942 0 90 0 44 Drawer -0.553 0.572 2.942 0 90 0 45 Dresser -0.665 0.001 2.939 0 90 0 46 Drawer -0.553 0.376 2.942 0 90 0 47 Chair 1.482 0.012 0.223 0 77.085 0 48 Chair -0.199 0.012 1.538 0 287.086 0 49 Bed -0.866 0.007 -0.919 0 0 0 50 Dresser -0.772 0.001 -1.313 0 90 0 51 Drawer -0.660 0.830 -1.309 0 90 0 52 Drawer -0.660 0.225 -1.309 0 90 0 53 Drawer -0.660 0.547 -1.309 0 90 0 54 Bed -0.872 1.637 2.188 0 0 0 55 Drawer 1.685 0.160 -0.805 0 270 0 56 Drawer 1.685 0.160 -0.378 0 270 0 57 Drawer 1.685 0.547 -0.805 0 270 0 58 Drawer 1.685 0.547 -0.378 0 270 0 59 Desk 1.812 0.003 -0.014 0 270 0 60 Drawer 1.685 0.354 -0.805 0 270 0 61 Drawer 1.685 0.354 -0.378 0 270 0 62 ArmChair 1.712 -0.000 1.532 0 270 0 63 NorthWall 64 EastWall 65 SouthWall 66 WestWall
[ "STEP 1: Walk towards the desk | STEP 2: Grab a pen from the desk | STEP 3: Walk towards the other side of the desk | STEP 4: Place pen on the desk | STEP 5: Walk to the other side of the desk | STEP 6: Grab a pen from the desk | STEP 7: Walk to the other side of the desk | STEP 8: Put pen on the desk | END" ]
[ [ "STEP 1: Walk towards the desk ", " STEP 2: Grab a pen from the desk ", " STEP 3: Walk towards the other side of the desk ", " STEP 4: Place pen on the desk ", " STEP 5: Walk to the other side of the desk ", " STEP 6: Grab a pen from the desk ", " STEP 7: Walk to the other side of the desk ", " STEP 8: Put pen on the desk ", " END" ] ]
seen
trial_T20190906_193429_044662-0
Place two spray bottles on top of 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 -0.75 0.900 1.25 0 90 0 1 Cloth -1.423 0.074 0.839 0 315 0 23 2 Cloth -1.782 0.068 2.962 0 0 0 30 3 Candle -1.867 0.069 3.284 0 0 0 31 4 Candle -0.414 0.447 0.200 0 0 0 21 5 SprayBottle -1.707 0.068 2.709 0 0 0 24 6 SprayBottle -1.860 1.045 2.009 0 90 0 40 7 SprayBottle -1.839 0.772 3.147 0 0 0 22 8 SoapBottle -0.457 0.447 0.126 0 0 0 21 9 SoapBottle 0.204 1.160 3.732 0 0 0 51 10 Towel -0.07 1.284 0.106 0 0 0 32 11 HandTowel -1.731 1.333 3.961 0 0 0 34 12 SoapBar -1.668 0.067 3.212 0 0 0 31 13 ToiletPaper -1.707 0.064 2.565 0 0 0 24 14 ToiletPaper -1.918 0.763 2.518 0 0 0 22 15 Cloth 0.401 1.163 3.829 0 0 0 51 16 SprayBottle -1.864 0.069 3.540 0 0 0 27 17 Candle -0.370 0.447 0.126 0 0 0 21 18 ScrubBrush -1.664 -0.000 3.897 0 0 0 Floor|-02.00| 19 Plunger -1.888 -0.000 3.885 0 0 0 Floor|-02.00| 20 SoapBottle -1.795 0.018 2.193 0 0 0 24 21 Bathtub -1.414 -0.002 0.563 0 0 0 22 CounterTop -1.799 0.746 3.122 0 0 0 23 BathtubBasin -1.613 0.052 0.540 0 0 0 24 Cabinet -1.613 0.309 2.493 0 0 0 25 ShowerDoor 0.527 1.037 2.115 0 0 0 26 Mirror -1.993 1.424 3.107 0 0 0 27 Cabinet -1.613 0.309 3.754 0 0 0 28 Faucet -1.873 0.461 0.641 0 0 0 29 Sink -1.834 0.685 2.777 0 90 0 30 Cabinet -1.613 0.309 3.105 0 0 0 31 Cabinet -1.613 0.309 3.140 0 0 0 32 TowelHolder -0.070 1.269 0.0 0 0 0 33 GarbageCan 0.932 -0.029 3.761 0 0 0 34 HandTowelHolder -1.730 1.434 4.0 0 90 0 35 Window -1.039 1.393 0.018 90 0 0 36 Window -1.986 1.392 0.706 90 90 0 37 ToiletPaperHanger -1.776 0.681 2.474 0 180 0 38 SinkBasin -1.795 0.694 2.781 0 90 0 39 LightSwitch 1.250 1.330 3.621 0 270 0 40 Toilet -1.567 -0.000 1.815 0 180 0 41 Drawer 0.204 0.940 3.807 0 180 0 42 Dresser 0.204 0.000 3.832 0 180 0 43 Drawer 0.204 0.160 3.807 0 180 0 44 Drawer 0.204 0.420 3.807 0 180 0 45 Drawer 0.204 0.680 3.807 0 180 0 46 SinkBasin -1.795 0.694 3.476 0 90 0 47 Sink -1.833 0.685 3.472 0 90 0 48 Faucet -1.988 0.947 3.472 0 180 0 49 ShowerHead 0.972 1.222 2.015 0 270 0 50 Faucet -1.988 0.947 2.776 0 180 0 51 52 NorthWall 53 EastWall 54 SouthWall 55 WestWall
[ "STEP 1: Turn to your left and approach the sink. | STEP 2: Pick up the spray bottle from the sink. | STEP 3: Turn around and face the dresser to your left. | STEP 4: Place the spray bottle on the dresser. | STEP 5: Turn around and walk towards the sink. | STEP 6: Pick up the spray bottle from the cabinet under the sink. | STEP 7: Turn around and walk back towards the dresser. | STEP 8: Place the spray bottle on top of the dresser. | END" ]
[ [ "STEP 1: Turn to your left and approach the sink. ", " STEP 2: Pick up the spray bottle from the sink. ", " STEP 3: Turn around and face the dresser to your left. ", " STEP 4: Place the spray bottle on the dresser. ", " STEP 5: Turn around and walk towards the sink. ", " STEP 6: Pick up the spray bottle from the cabinet under the sink. ", " STEP 7: Turn around and walk back towards the dresser. ", " STEP 8: Place the spray bottle on top of the dresser. ", " END" ] ]
seen
trial_T20190906_193429_044662-1
Move two spray bottles to the dresser.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -0.75 0.900 1.25 0 90 0 1 Cloth -1.423 0.074 0.839 0 315 0 23 2 Cloth -1.782 0.068 2.962 0 0 0 30 3 Candle -1.867 0.069 3.284 0 0 0 31 4 Candle -0.414 0.447 0.200 0 0 0 21 5 SprayBottle -1.707 0.068 2.709 0 0 0 24 6 SprayBottle -1.860 1.045 2.009 0 90 0 40 7 SprayBottle -1.839 0.772 3.147 0 0 0 22 8 SoapBottle -0.457 0.447 0.126 0 0 0 21 9 SoapBottle 0.204 1.160 3.732 0 0 0 51 10 Towel -0.07 1.284 0.106 0 0 0 32 11 HandTowel -1.731 1.333 3.961 0 0 0 34 12 SoapBar -1.668 0.067 3.212 0 0 0 31 13 ToiletPaper -1.707 0.064 2.565 0 0 0 24 14 ToiletPaper -1.918 0.763 2.518 0 0 0 22 15 Cloth 0.401 1.163 3.829 0 0 0 51 16 SprayBottle -1.864 0.069 3.540 0 0 0 27 17 Candle -0.370 0.447 0.126 0 0 0 21 18 ScrubBrush -1.664 -0.000 3.897 0 0 0 Floor|-02.00| 19 Plunger -1.888 -0.000 3.885 0 0 0 Floor|-02.00| 20 SoapBottle -1.795 0.018 2.193 0 0 0 24 21 Bathtub -1.414 -0.002 0.563 0 0 0 22 CounterTop -1.799 0.746 3.122 0 0 0 23 BathtubBasin -1.613 0.052 0.540 0 0 0 24 Cabinet -1.613 0.309 2.493 0 0 0 25 ShowerDoor 0.527 1.037 2.115 0 0 0 26 Mirror -1.993 1.424 3.107 0 0 0 27 Cabinet -1.613 0.309 3.754 0 0 0 28 Faucet -1.873 0.461 0.641 0 0 0 29 Sink -1.834 0.685 2.777 0 90 0 30 Cabinet -1.613 0.309 3.105 0 0 0 31 Cabinet -1.613 0.309 3.140 0 0 0 32 TowelHolder -0.070 1.269 0.0 0 0 0 33 GarbageCan 0.932 -0.029 3.761 0 0 0 34 HandTowelHolder -1.730 1.434 4.0 0 90 0 35 Window -1.039 1.393 0.018 90 0 0 36 Window -1.986 1.392 0.706 90 90 0 37 ToiletPaperHanger -1.776 0.681 2.474 0 180 0 38 SinkBasin -1.795 0.694 2.781 0 90 0 39 LightSwitch 1.250 1.330 3.621 0 270 0 40 Toilet -1.567 -0.000 1.815 0 180 0 41 Drawer 0.204 0.940 3.807 0 180 0 42 Dresser 0.204 0.000 3.832 0 180 0 43 Drawer 0.204 0.160 3.807 0 180 0 44 Drawer 0.204 0.420 3.807 0 180 0 45 Drawer 0.204 0.680 3.807 0 180 0 46 SinkBasin -1.795 0.694 3.476 0 90 0 47 Sink -1.833 0.685 3.472 0 90 0 48 Faucet -1.988 0.947 3.472 0 180 0 49 ShowerHead 0.972 1.222 2.015 0 270 0 50 Faucet -1.988 0.947 2.776 0 180 0 51 52 NorthWall 53 EastWall 54 SouthWall 55 WestWall
[ "STEP 1: Turn to your left and walk over to the sink counter. | STEP 2: Pick up the spray bottle from in between the two sinks. | STEP 3: Turn around and start walking to the door, then turn left to face the dresser. | STEP 4: Place the spray bottle on top of the dresser to the right of the soap dispenser. | STEP 5: Turn around, take a step forward then turn to your right and walk over to the left sink. | STEP 6: Open the leftmost cupboard door below the sink and remove the spray bottle, then close the door. | STEP 7: Turn around and walk back to the dresser. | STEP 8: Place the spray bottle on top of the dresser to the left of the soap dispenser. | END" ]
[ [ "STEP 1: Turn to your left and walk over to the sink counter. ", " STEP 2: Pick up the spray bottle from in between the two sinks. ", " STEP 3: Turn around and start walking to the door, then turn left to face the dresser. ", " STEP 4: Place the spray bottle on top of the dresser to the right of the soap dispenser. ", " STEP 5: Turn around, take a step forward then turn to your right and walk over to the left sink. ", " STEP 6: Open the leftmost cupboard door below the sink and remove the spray bottle, then close the door. ", " STEP 7: Turn around and walk back to the dresser. ", " STEP 8: Place the spray bottle on top of the dresser to the left of the soap dispenser. ", " END" ] ]
seen
trial_T20190906_193429_044662-2
Put two bottles of window cleaner on top of the dresser.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -0.75 0.900 1.25 0 90 0 1 Cloth -1.423 0.074 0.839 0 315 0 23 2 Cloth -1.782 0.068 2.962 0 0 0 30 3 Candle -1.867 0.069 3.284 0 0 0 31 4 Candle -0.414 0.447 0.200 0 0 0 21 5 SprayBottle -1.707 0.068 2.709 0 0 0 24 6 SprayBottle -1.860 1.045 2.009 0 90 0 40 7 SprayBottle -1.839 0.772 3.147 0 0 0 22 8 SoapBottle -0.457 0.447 0.126 0 0 0 21 9 SoapBottle 0.204 1.160 3.732 0 0 0 51 10 Towel -0.07 1.284 0.106 0 0 0 32 11 HandTowel -1.731 1.333 3.961 0 0 0 34 12 SoapBar -1.668 0.067 3.212 0 0 0 31 13 ToiletPaper -1.707 0.064 2.565 0 0 0 24 14 ToiletPaper -1.918 0.763 2.518 0 0 0 22 15 Cloth 0.401 1.163 3.829 0 0 0 51 16 SprayBottle -1.864 0.069 3.540 0 0 0 27 17 Candle -0.370 0.447 0.126 0 0 0 21 18 ScrubBrush -1.664 -0.000 3.897 0 0 0 Floor|-02.00| 19 Plunger -1.888 -0.000 3.885 0 0 0 Floor|-02.00| 20 SoapBottle -1.795 0.018 2.193 0 0 0 24 21 Bathtub -1.414 -0.002 0.563 0 0 0 22 CounterTop -1.799 0.746 3.122 0 0 0 23 BathtubBasin -1.613 0.052 0.540 0 0 0 24 Cabinet -1.613 0.309 2.493 0 0 0 25 ShowerDoor 0.527 1.037 2.115 0 0 0 26 Mirror -1.993 1.424 3.107 0 0 0 27 Cabinet -1.613 0.309 3.754 0 0 0 28 Faucet -1.873 0.461 0.641 0 0 0 29 Sink -1.834 0.685 2.777 0 90 0 30 Cabinet -1.613 0.309 3.105 0 0 0 31 Cabinet -1.613 0.309 3.140 0 0 0 32 TowelHolder -0.070 1.269 0.0 0 0 0 33 GarbageCan 0.932 -0.029 3.761 0 0 0 34 HandTowelHolder -1.730 1.434 4.0 0 90 0 35 Window -1.039 1.393 0.018 90 0 0 36 Window -1.986 1.392 0.706 90 90 0 37 ToiletPaperHanger -1.776 0.681 2.474 0 180 0 38 SinkBasin -1.795 0.694 2.781 0 90 0 39 LightSwitch 1.250 1.330 3.621 0 270 0 40 Toilet -1.567 -0.000 1.815 0 180 0 41 Drawer 0.204 0.940 3.807 0 180 0 42 Dresser 0.204 0.000 3.832 0 180 0 43 Drawer 0.204 0.160 3.807 0 180 0 44 Drawer 0.204 0.420 3.807 0 180 0 45 Drawer 0.204 0.680 3.807 0 180 0 46 SinkBasin -1.795 0.694 3.476 0 90 0 47 Sink -1.833 0.685 3.472 0 90 0 48 Faucet -1.988 0.947 3.472 0 180 0 49 ShowerHead 0.972 1.222 2.015 0 270 0 50 Faucet -1.988 0.947 2.776 0 180 0 51 52 NorthWall 53 EastWall 54 SouthWall 55 WestWall
[ "STEP 1: Turn around and walk across the room to the vanity. | STEP 2: Pick up the window cleaner on the counter between the two sinks. | STEP 3: Turn around and walk across the room to the dresser on the left. | STEP 4: Set the window cleaner down on top to the dresser, on the right side of the lamp. | STEP 5: Turn around and walk back across the room to the vanity. | STEP 6: Open the cabinet door under the sink on the left, take out the window cleaner, and close the cabinet. | STEP 7: Turn around and walk to the dresser on the left. | STEP 8: Set the window cleaner down on the left of the lamp. | END" ]
[ [ "STEP 1: Turn around and walk across the room to the vanity. ", " STEP 2: Pick up the window cleaner on the counter between the two sinks. ", " STEP 3: Turn around and walk across the room to the dresser on the left. ", " STEP 4: Set the window cleaner down on top to the dresser, on the right side of the lamp. ", " STEP 5: Turn around and walk back across the room to the vanity. ", " STEP 6: Open the cabinet door under the sink on the left, take out the window cleaner, and close the cabinet. ", " STEP 7: Turn around and walk to the dresser on the left. ", " STEP 8: Set the window cleaner down on the left of the lamp. ", " END" ] ]
seen
trial_T20190918_234000_303529-0
Put two wine glasses in the microwave.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.75 0.900 0.5 0 0 0 1 Pan -2.59 0.9 -1.147 0 0 0 76 2 Potato -0.598 0.933 -1.119 0 47.530 0 76 3 CreditCard -2.585 0.743 0.226 0 0 0 76 4 DishSponge -0.168 1.111 1.435 0 315 0 69 5 DishSponge -2.499 0.746 0.099 0 0 0 74 6 ButterKnife -2.026 0.746 -1.008 0 0 0 71 7 Kettle -2.823 0.928 -0.711 0 0 0 73 8 Pot 0.240 1.112 1.171 0 315 0 69 9 Spoon 0.298 1.112 1.575 0 315 0 69 10 Fork -1.418 0.852 -1.305 0 90 0 86 11 Fork -2.604 0.911 -0.062 0 0 0 68 12 Spatula -1.505 0.864 -1.139 0 270 0 86 13 Spatula -2.628 0.761 0.099 0 90 0 74 14 Cup -2.936 0.909 -0.147 0 0 0 68 15 Plate -2.774 2.045 0.790 0 0 0 66 16 Plate 0.540 1.664 -1.360 0 0 0 55 17 Egg -2.619 0.854 0.690 0 90 0 88 18 Egg 0.394 1.146 1.325 0 315 0 69 19 Knife -0.133 0.934 -1.282 0 90 0 76 20 SoapBottle -2.521 0.912 0.190 0 0 0 68 21 Tomato -2.680 1.523 1.094 0 90 0 88 22 Bowl -2.680 0.377 1.013 0 90 0 88 23 Lettuce 0.209 1.190 1.812 0 315 0 69 24 Bread 0.920 0.965 -1.365 0 0 0 76 25 Apple 0.294 1.057 -1.281 0 0 0 89 26 Apple 0.144 1.163 1.422 0 315 0 69 27 Fork -1.159 0.852 -1.249 0 180 0 86 28 Kettle -2.588 0.116 0.030 0 90 0 57 29 CreditCard -0.051 1.108 1.856 0 315 0 69 30 Bread -0.401 0.948 -1.291 0 0 0 76 31 Plate 0.688 0.913 -1.282 0 0 0 76 32 SoapBottle -0.941 1.663 -1.360 0 0 0 65 33 Spatula 0.997 0.926 -0.948 0 0 0 76 34 Lettuce -2.860 1.553 0.690 0 90 0 88 35 SaltShaker -2.695 0.9 -0.132 0 0 0 68 36 Tomato -2.757 0.087 1.501 0 0 0 87 37 PepperShaker -2.830 0.9 -0.112 0 0 0 68 38 ButterKnife 0.156 1.111 1.715 0 315 0 69 39 Pot -2.823 0.928 -0.396 0 0 0 75 40 DishSponge -2.774 1.664 -1.059 0 0 0 60 41 Egg -0.017 1.146 1.586 0 315 0 69 42 Spoon -1.332 0.852 -1.194 0 0 0 86 43 Knife 0.452 1.134 1.729 0 45 0 69 44 Cup -1.933 0.909 -1.115 0 0 0 76 45 Mug 0.372 1.654 -1.353 0 0 0 55 46 Bowl 0.586 1.110 0.825 0 315 0 69 47 Cabinet -2.647 2.075 -0.875 0 0 0 48 Cabinet -2.647 2.075 -0.234 0 0 0 49 Cabinet -0.824 0.469 -0.907 0 0 0 50 Cabinet -1.764 2.009 -1.197 0 0 0 51 Cabinet -1.834 2.009 -1.197 0 0 0 52 Cabinet -1.850 0.389 -0.897 0 0 0 53 Cabinet -1.801 0.469 -0.907 0 0 0 54 Cabinet 1.115 2.009 -1.197 0 0 0 55 Cabinet 0.235 2.009 -1.197 0 0 0 56 Cabinet 1.125 0.470 -0.897 0 0 0 57 Cabinet -2.387 0.389 0.375 0 0 0 58 Cabinet 0.484 0.389 -0.897 0 0 0 59 Cabinet -2.625 2.009 -1.197 0 0 0 60 Cabinet -2.647 2.009 -0.945 0 0 0 61 Cabinet -2.647 2.200 1.664 0 0 0 62 Cabinet -2.647 2.009 0.364 0 0 0 63 Cabinet 0.164 2.009 -1.197 0 0 0 64 Cabinet -0.765 2.009 -1.197 0 0 0 65 Cabinet -0.834 2.009 -1.197 0 0 0 66 Cabinet -2.647 2.200 0.434 0 0 0 67 StoveBurner -2.622 0.886 -0.711 0 0 0 68 CounterTop -2.699 0.946 0.106 0 0 0 69 CounterTop 0.908 1.147 0.788 0 315 0 70 StoveBurner -2.622 0.886 -0.396 0 0 0 71 Drawer -2.026 0.779 -1.082 0 0 0 72 Sink -1.328 0.916 -1.225 0 0 0 73 StoveBurner -2.822 0.886 -0.711 0 0 0 74 Drawer -2.572 0.779 0.099 0 0 0 75 StoveBurner -2.822 0.886 -0.396 0 0 0 76 CounterTop 0.071 0.946 -1.199 0 0 0 77 Drawer 0.254 0.779 -1.082 0 0 0 78 LightSwitch -1.167 1.307 3.0 0 180 0 79 CoffeeMachine 1.124 1.100 0.312 0 227.685 0 80 StoveKnob -2.429 0.863 -0.621 311.864 270 180 81 StoveKnob -2.429 0.863 -0.477 311.864 270 180 82 StoveKnob -2.429 0.863 -0.782 311.864 270 180 83 StoveKnob -2.429 0.863 -0.324 311.864 270 180 84 Window 0.321 1.449 3.088 90 0 0 85 Toaster -2.823 0.899 0.246 0 90 0 86 SinkBasin -1.344 0.838 -1.25 0 0 0 87 GarbageCan -2.757 1.886 1.466 0 0 0 88 Fridge -2.855 0.0 0.851 0 0 0 89 Microwave 0.283 0.900 -1.331 0 0 0 90 Stool 1.541 0.010 1.328 0 45 0 91 Stool 0.983 0.010 1.793 0 47.459 0 92 Faucet -1.392 1.136 -1.399 0 270 0 93 NorthWall 94 EastWall 95 SouthWall 96 WestWall
[ "STEP 1: Turn around and walk to the kitchen counter between the stove and refrigerator. | STEP 2: Pick up the gold colored wine glass by the toaster, on the counter. | STEP 3: Turn around and walk to the end of the kitchen, then turn right, facing the microwave. | STEP 4: Place the wine glass in the microwave. | STEP 5: Turn right and walk towards the stove, stopping at the end of the kitchen counter. | STEP 6: Pick up the wine glass on the kitchen counter, between the sink and the fry pan. | STEP 7: Turn to your left and walk back to the end of the kitchen where the microwave is. | STEP 8: Place the wine glass in the microwave with the other one. | END" ]
[ [ "STEP 1: Turn around and walk to the kitchen counter between the stove and refrigerator. ", " STEP 2: Pick up the gold colored wine glass by the toaster, on the counter. ", " STEP 3: Turn around and walk to the end of the kitchen, then turn right, facing the microwave. ", " STEP 4: Place the wine glass in the microwave. ", " STEP 5: Turn right and walk towards the stove, stopping at the end of the kitchen counter. ", " STEP 6: Pick up the wine glass on the kitchen counter, between the sink and the fry pan. ", " STEP 7: Turn to your left and walk back to the end of the kitchen where the microwave is. ", " STEP 8: Place the wine glass in the microwave with the other one. ", " END" ] ]
seen
trial_T20190918_234000_303529-1
Move two wine glasses to the microwave.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.75 0.900 0.5 0 0 0 1 Pan -2.59 0.9 -1.147 0 0 0 76 2 Potato -0.598 0.933 -1.119 0 47.530 0 76 3 CreditCard -2.585 0.743 0.226 0 0 0 76 4 DishSponge -0.168 1.111 1.435 0 315 0 69 5 DishSponge -2.499 0.746 0.099 0 0 0 74 6 ButterKnife -2.026 0.746 -1.008 0 0 0 71 7 Kettle -2.823 0.928 -0.711 0 0 0 73 8 Pot 0.240 1.112 1.171 0 315 0 69 9 Spoon 0.298 1.112 1.575 0 315 0 69 10 Fork -1.418 0.852 -1.305 0 90 0 86 11 Fork -2.604 0.911 -0.062 0 0 0 68 12 Spatula -1.505 0.864 -1.139 0 270 0 86 13 Spatula -2.628 0.761 0.099 0 90 0 74 14 Cup -2.936 0.909 -0.147 0 0 0 68 15 Plate -2.774 2.045 0.790 0 0 0 66 16 Plate 0.540 1.664 -1.360 0 0 0 55 17 Egg -2.619 0.854 0.690 0 90 0 88 18 Egg 0.394 1.146 1.325 0 315 0 69 19 Knife -0.133 0.934 -1.282 0 90 0 76 20 SoapBottle -2.521 0.912 0.190 0 0 0 68 21 Tomato -2.680 1.523 1.094 0 90 0 88 22 Bowl -2.680 0.377 1.013 0 90 0 88 23 Lettuce 0.209 1.190 1.812 0 315 0 69 24 Bread 0.920 0.965 -1.365 0 0 0 76 25 Apple 0.294 1.057 -1.281 0 0 0 89 26 Apple 0.144 1.163 1.422 0 315 0 69 27 Fork -1.159 0.852 -1.249 0 180 0 86 28 Kettle -2.588 0.116 0.030 0 90 0 57 29 CreditCard -0.051 1.108 1.856 0 315 0 69 30 Bread -0.401 0.948 -1.291 0 0 0 76 31 Plate 0.688 0.913 -1.282 0 0 0 76 32 SoapBottle -0.941 1.663 -1.360 0 0 0 65 33 Spatula 0.997 0.926 -0.948 0 0 0 76 34 Lettuce -2.860 1.553 0.690 0 90 0 88 35 SaltShaker -2.695 0.9 -0.132 0 0 0 68 36 Tomato -2.757 0.087 1.501 0 0 0 87 37 PepperShaker -2.830 0.9 -0.112 0 0 0 68 38 ButterKnife 0.156 1.111 1.715 0 315 0 69 39 Pot -2.823 0.928 -0.396 0 0 0 75 40 DishSponge -2.774 1.664 -1.059 0 0 0 60 41 Egg -0.017 1.146 1.586 0 315 0 69 42 Spoon -1.332 0.852 -1.194 0 0 0 86 43 Knife 0.452 1.134 1.729 0 45 0 69 44 Cup -1.933 0.909 -1.115 0 0 0 76 45 Mug 0.372 1.654 -1.353 0 0 0 55 46 Bowl 0.586 1.110 0.825 0 315 0 69 47 Cabinet -2.647 2.075 -0.875 0 0 0 48 Cabinet -2.647 2.075 -0.234 0 0 0 49 Cabinet -0.824 0.469 -0.907 0 0 0 50 Cabinet -1.764 2.009 -1.197 0 0 0 51 Cabinet -1.834 2.009 -1.197 0 0 0 52 Cabinet -1.850 0.389 -0.897 0 0 0 53 Cabinet -1.801 0.469 -0.907 0 0 0 54 Cabinet 1.115 2.009 -1.197 0 0 0 55 Cabinet 0.235 2.009 -1.197 0 0 0 56 Cabinet 1.125 0.470 -0.897 0 0 0 57 Cabinet -2.387 0.389 0.375 0 0 0 58 Cabinet 0.484 0.389 -0.897 0 0 0 59 Cabinet -2.625 2.009 -1.197 0 0 0 60 Cabinet -2.647 2.009 -0.945 0 0 0 61 Cabinet -2.647 2.200 1.664 0 0 0 62 Cabinet -2.647 2.009 0.364 0 0 0 63 Cabinet 0.164 2.009 -1.197 0 0 0 64 Cabinet -0.765 2.009 -1.197 0 0 0 65 Cabinet -0.834 2.009 -1.197 0 0 0 66 Cabinet -2.647 2.200 0.434 0 0 0 67 StoveBurner -2.622 0.886 -0.711 0 0 0 68 CounterTop -2.699 0.946 0.106 0 0 0 69 CounterTop 0.908 1.147 0.788 0 315 0 70 StoveBurner -2.622 0.886 -0.396 0 0 0 71 Drawer -2.026 0.779 -1.082 0 0 0 72 Sink -1.328 0.916 -1.225 0 0 0 73 StoveBurner -2.822 0.886 -0.711 0 0 0 74 Drawer -2.572 0.779 0.099 0 0 0 75 StoveBurner -2.822 0.886 -0.396 0 0 0 76 CounterTop 0.071 0.946 -1.199 0 0 0 77 Drawer 0.254 0.779 -1.082 0 0 0 78 LightSwitch -1.167 1.307 3.0 0 180 0 79 CoffeeMachine 1.124 1.100 0.312 0 227.685 0 80 StoveKnob -2.429 0.863 -0.621 311.864 270 180 81 StoveKnob -2.429 0.863 -0.477 311.864 270 180 82 StoveKnob -2.429 0.863 -0.782 311.864 270 180 83 StoveKnob -2.429 0.863 -0.324 311.864 270 180 84 Window 0.321 1.449 3.088 90 0 0 85 Toaster -2.823 0.899 0.246 0 90 0 86 SinkBasin -1.344 0.838 -1.25 0 0 0 87 GarbageCan -2.757 1.886 1.466 0 0 0 88 Fridge -2.855 0.0 0.851 0 0 0 89 Microwave 0.283 0.900 -1.331 0 0 0 90 Stool 1.541 0.010 1.328 0 45 0 91 Stool 0.983 0.010 1.793 0 47.459 0 92 Faucet -1.392 1.136 -1.399 0 270 0 93 NorthWall 94 EastWall 95 SouthWall 96 WestWall
[ "STEP 1: Move to stand in front of the stove. | STEP 2: Pick up the wine glass from the counter to the right of the stove. | STEP 3: Carry the wine glass to the microwave, which is left of the sink. | STEP 4: Place the wine glass in the microwave. | STEP 5: Move to stand in front of the counter space between the sink and stove. | STEP 6: Pick up the wine glass from the counter. | STEP 7: Carry the wine glass back over to the microwave again. | STEP 8: Place the wine glass inside the microwave with the other one. | END" ]
[ [ "STEP 1: Move to stand in front of the stove. ", " STEP 2: Pick up the wine glass from the counter to the right of the stove. ", " STEP 3: Carry the wine glass to the microwave, which is left of the sink. ", " STEP 4: Place the wine glass in the microwave. ", " STEP 5: Move to stand in front of the counter space between the sink and stove. ", " STEP 6: Pick up the wine glass from the counter. ", " STEP 7: Carry the wine glass back over to the microwave again. ", " STEP 8: Place the wine glass inside the microwave with the other one. ", " END" ] ]
seen
trial_T20190918_234000_303529-2
Place two cups in the microwave.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.75 0.900 0.5 0 0 0 1 Pan -2.59 0.9 -1.147 0 0 0 76 2 Potato -0.598 0.933 -1.119 0 47.530 0 76 3 CreditCard -2.585 0.743 0.226 0 0 0 76 4 DishSponge -0.168 1.111 1.435 0 315 0 69 5 DishSponge -2.499 0.746 0.099 0 0 0 74 6 ButterKnife -2.026 0.746 -1.008 0 0 0 71 7 Kettle -2.823 0.928 -0.711 0 0 0 73 8 Pot 0.240 1.112 1.171 0 315 0 69 9 Spoon 0.298 1.112 1.575 0 315 0 69 10 Fork -1.418 0.852 -1.305 0 90 0 86 11 Fork -2.604 0.911 -0.062 0 0 0 68 12 Spatula -1.505 0.864 -1.139 0 270 0 86 13 Spatula -2.628 0.761 0.099 0 90 0 74 14 Cup -2.936 0.909 -0.147 0 0 0 68 15 Plate -2.774 2.045 0.790 0 0 0 66 16 Plate 0.540 1.664 -1.360 0 0 0 55 17 Egg -2.619 0.854 0.690 0 90 0 88 18 Egg 0.394 1.146 1.325 0 315 0 69 19 Knife -0.133 0.934 -1.282 0 90 0 76 20 SoapBottle -2.521 0.912 0.190 0 0 0 68 21 Tomato -2.680 1.523 1.094 0 90 0 88 22 Bowl -2.680 0.377 1.013 0 90 0 88 23 Lettuce 0.209 1.190 1.812 0 315 0 69 24 Bread 0.920 0.965 -1.365 0 0 0 76 25 Apple 0.294 1.057 -1.281 0 0 0 89 26 Apple 0.144 1.163 1.422 0 315 0 69 27 Fork -1.159 0.852 -1.249 0 180 0 86 28 Kettle -2.588 0.116 0.030 0 90 0 57 29 CreditCard -0.051 1.108 1.856 0 315 0 69 30 Bread -0.401 0.948 -1.291 0 0 0 76 31 Plate 0.688 0.913 -1.282 0 0 0 76 32 SoapBottle -0.941 1.663 -1.360 0 0 0 65 33 Spatula 0.997 0.926 -0.948 0 0 0 76 34 Lettuce -2.860 1.553 0.690 0 90 0 88 35 SaltShaker -2.695 0.9 -0.132 0 0 0 68 36 Tomato -2.757 0.087 1.501 0 0 0 87 37 PepperShaker -2.830 0.9 -0.112 0 0 0 68 38 ButterKnife 0.156 1.111 1.715 0 315 0 69 39 Pot -2.823 0.928 -0.396 0 0 0 75 40 DishSponge -2.774 1.664 -1.059 0 0 0 60 41 Egg -0.017 1.146 1.586 0 315 0 69 42 Spoon -1.332 0.852 -1.194 0 0 0 86 43 Knife 0.452 1.134 1.729 0 45 0 69 44 Cup -1.933 0.909 -1.115 0 0 0 76 45 Mug 0.372 1.654 -1.353 0 0 0 55 46 Bowl 0.586 1.110 0.825 0 315 0 69 47 Cabinet -2.647 2.075 -0.875 0 0 0 48 Cabinet -2.647 2.075 -0.234 0 0 0 49 Cabinet -0.824 0.469 -0.907 0 0 0 50 Cabinet -1.764 2.009 -1.197 0 0 0 51 Cabinet -1.834 2.009 -1.197 0 0 0 52 Cabinet -1.850 0.389 -0.897 0 0 0 53 Cabinet -1.801 0.469 -0.907 0 0 0 54 Cabinet 1.115 2.009 -1.197 0 0 0 55 Cabinet 0.235 2.009 -1.197 0 0 0 56 Cabinet 1.125 0.470 -0.897 0 0 0 57 Cabinet -2.387 0.389 0.375 0 0 0 58 Cabinet 0.484 0.389 -0.897 0 0 0 59 Cabinet -2.625 2.009 -1.197 0 0 0 60 Cabinet -2.647 2.009 -0.945 0 0 0 61 Cabinet -2.647 2.200 1.664 0 0 0 62 Cabinet -2.647 2.009 0.364 0 0 0 63 Cabinet 0.164 2.009 -1.197 0 0 0 64 Cabinet -0.765 2.009 -1.197 0 0 0 65 Cabinet -0.834 2.009 -1.197 0 0 0 66 Cabinet -2.647 2.200 0.434 0 0 0 67 StoveBurner -2.622 0.886 -0.711 0 0 0 68 CounterTop -2.699 0.946 0.106 0 0 0 69 CounterTop 0.908 1.147 0.788 0 315 0 70 StoveBurner -2.622 0.886 -0.396 0 0 0 71 Drawer -2.026 0.779 -1.082 0 0 0 72 Sink -1.328 0.916 -1.225 0 0 0 73 StoveBurner -2.822 0.886 -0.711 0 0 0 74 Drawer -2.572 0.779 0.099 0 0 0 75 StoveBurner -2.822 0.886 -0.396 0 0 0 76 CounterTop 0.071 0.946 -1.199 0 0 0 77 Drawer 0.254 0.779 -1.082 0 0 0 78 LightSwitch -1.167 1.307 3.0 0 180 0 79 CoffeeMachine 1.124 1.100 0.312 0 227.685 0 80 StoveKnob -2.429 0.863 -0.621 311.864 270 180 81 StoveKnob -2.429 0.863 -0.477 311.864 270 180 82 StoveKnob -2.429 0.863 -0.782 311.864 270 180 83 StoveKnob -2.429 0.863 -0.324 311.864 270 180 84 Window 0.321 1.449 3.088 90 0 0 85 Toaster -2.823 0.899 0.246 0 90 0 86 SinkBasin -1.344 0.838 -1.25 0 0 0 87 GarbageCan -2.757 1.886 1.466 0 0 0 88 Fridge -2.855 0.0 0.851 0 0 0 89 Microwave 0.283 0.900 -1.331 0 0 0 90 Stool 1.541 0.010 1.328 0 45 0 91 Stool 0.983 0.010 1.793 0 47.459 0 92 Faucet -1.392 1.136 -1.399 0 270 0 93 NorthWall 94 EastWall 95 SouthWall 96 WestWall
[ "STEP 1: Turn around towards sink, go to stove and counter on the right. | STEP 2: Pick up cup from the back of the counter behind the salt and pepper shakers. | STEP 3: Turn around, go along the counter, turn right to face the microwave. | STEP 4: Open microwave, put cup in to the left of the apple, close the microwave. | STEP 5: Turn around, head toward the stove, turn left towards the counter. | STEP 6: Pick up cup from counter. | STEP 7: Turn around, walk along the counter, turn right to face the microwave. | STEP 8: Open the microwave, put cup to the right and behind the apple in the microwave, close the door. | END" ]
[ [ "STEP 1: Turn around towards sink, go to stove and counter on the right. ", " STEP 2: Pick up cup from the back of the counter behind the salt and pepper shakers. ", " STEP 3: Turn around, go along the counter, turn right to face the microwave. ", " STEP 4: Open microwave, put cup in to the left of the apple, close the microwave. ", " STEP 5: Turn around, head toward the stove, turn left towards the counter. ", " STEP 6: Pick up cup from counter. ", " STEP 7: Turn around, walk along the counter, turn right to face the microwave. ", " STEP 8: Open the microwave, put cup to the right and behind the apple in the microwave, close the door. ", " END" ] ]
seen
trial_T20190907_140700_769981-0
Place a silver plate with a knife and potato slice on it into the fridge.
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"11", " Fork", " 2.243", " 0.765", " 3.657", " 0", " 225", " 0", " 55" ], [ "12", " Egg", " 1.743", " 1.070", " 1.802", " 0", " 136.999", " 0", " 54" ], [ "13", " Egg", " -0.374", " 1.071", " 1.540", " 0", " 0", " 0", " 57" ], [ "14", " Knife", " 2.945", " 0.789", " 4.254", " 0", " 45", " 0", " 55" ], [ "15", " Knife", " 1.925", " 0.789", " 3.969", " 0", " 270", " 0", " 55" ], [ "16", " Tomato", " -0.418", " 1.081", " 1.943", " 0", " 0", " 0", " 57" ], [ "17", " SoapBottle", " 2.537", " 1.025", " -1.151", " 0", " 0", " 0", " 54" ], [ "18", " Bowl", " 2.801", " 0.762", " 4.044", " 0", " 270", " 0", " 55" ], [ "19", " Bowl", " -0.418", " 1.025", " 2.311", " 0", " 0", " 0", " 57" ], [ "20", " SaltShaker", " 1.248", " 0.786", " -1.415", " 0", " 0", " 0", " 54" ], [ "21", " SaltShaker", " 1.703", " 0.796", " 1.536", " 0", " 317.0", " 0", " 69" ], [ "22", " PepperShaker", " 2.801", " 0.760", " 3.747", " 0", " 270", " 0", " 55" ], [ "23", " Lettuce", " 2.426", " 0.822", " 3.735", " 0", " 225", " 0", " 55" ], [ "24", " Lettuce", " -0.782", " 0.874", " 1.492", " 0", " 90", " 0", " 111" ], [ "25", " Mug", " -0.803", " 1.070", " 0.646", " 0", " 90", " 0", " 107" ], [ "26", " Pan", " 2.042", " 1.017", " 1.779", " 0", " 0", " 0", " 54" ], [ "27", " Glassbottle", " -0.851", " 0.817", " 1.181", " 0", " 90", " 0", " 111" ], [ "28", " Knife", " 2.525", " 0.789", " 4.32", " 0", " 0", " 0", " 55" ], [ "29", " SoapBottle", " 1.529", " 1.025", " -1.774", " 0", " 90", " 0", " 54" ], [ "30", " Egg", " -0.577", " 0.860", " 1.181", " 0", " 90", " 0", " 111" ], [ "31", " Fork", " 2.525", " 0.765", " 3.795", " 0", " 180", " 0", " 55" ], [ "32", " Potato", " -0.907", " 0.376", " -0.516", " 0", " 90", " 0", " 98" ], [ "33", " Ladle", " 2.875", " 1.066", " -0.236", " 0", " 0", " 0", " 54" ], [ "34", " Tomato", " 2.649", " 1.080", " 1.252", " 0", " 136.999", " 0", " 54" ], [ "35", " Pot", " 2.116", " 1.027", " -1.84", " 0", " 270", " 0", " 58" ], [ "36", " WineBottle", " -0.451", " 0.047", " 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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 -1.0 0 0 0 1 Potato -1.028 0.828 -0.073 0 90 0 98 2 Potato 2.537 1.068 -0.541 0 0 0 54 3 Potato -0.956 0.119 2.811 0 0 0 109 4 DishSponge 2.450 0.764 4.192 0 270 0 55 5 WineBottle 2.451 0.765 4.495 0 0 0 55 6 WineBottle -0.794 1.028 0.877 0 0 0 57 7 Glassbottle 1.341 1.781 -1.872 0 0 0 94 8 Glassbottle 1.409 1.027 -1.987 0 90 0 54 9 Pot 1.761 1.027 -1.599 0 0 0 97 10 Spatula -0.714 0.831 1.103 0 180 0 111 11 Fork 2.243 0.765 3.657 0 225 0 55 12 Egg 1.743 1.070 1.802 0 136.999 0 54 13 Egg -0.374 1.071 1.540 0 0 0 57 14 Knife 2.945 0.789 4.254 0 45 0 55 15 Knife 1.925 0.789 3.969 0 270 0 55 16 Tomato -0.418 1.081 1.943 0 0 0 57 17 SoapBottle 2.537 1.025 -1.151 0 0 0 54 18 Bowl 2.801 0.762 4.044 0 270 0 55 19 Bowl -0.418 1.025 2.311 0 0 0 57 20 SaltShaker 1.248 0.786 -1.415 0 0 0 54 21 SaltShaker 1.703 0.796 1.536 0 317.0 0 69 22 PepperShaker 2.801 0.760 3.747 0 270 0 55 23 Lettuce 2.426 0.822 3.735 0 225 0 55 24 Lettuce -0.782 0.874 1.492 0 90 0 111 25 Mug -0.803 1.070 0.646 0 90 0 107 26 Pan 2.042 1.017 1.779 0 0 0 54 27 Glassbottle -0.851 0.817 1.181 0 90 0 111 28 Knife 2.525 0.789 4.32 0 0 0 55 29 SoapBottle 1.529 1.025 -1.774 0 90 0 54 30 Egg -0.577 0.860 1.181 0 90 0 111 31 Fork 2.525 0.765 3.795 0 180 0 55 32 Potato -0.907 0.376 -0.516 0 90 0 98 33 Ladle 2.875 1.066 -0.236 0 0 0 54 34 Tomato 2.649 1.080 1.252 0 136.999 0 54 35 Pot 2.116 1.027 -1.84 0 270 0 58 36 WineBottle -0.451 0.047 1.779 0 0 0 83 37 Plate -0.920 1.027 2.556 0 0 0 57 38 Spatula 2.081 0.816 1.025 0 227.0 0 67 39 PaperTowelRoll -0.544 1.131 2.066 0 0 0 57 40 Lettuce -0.987 0.844 -0.406 0 90 0 98 41 Apple 2.276 0.814 3.747 0 270 0 55 42 SaltShaker 2.331 0.760 4.325 0 329.999 0 55 43 PepperShaker 2.651 0.797 -0.221 0 0 0 64 44 ButterKnife 2.599 0.764 4.145 0 0 0 55 45 Bread 2.726 0.832 3.492 0 329.999 0 55 46 Cup -0.577 0.815 1.337 0 90 0 111 47 DishSponge 2.044 0.801 1.455 0 317.0 0 68 48 Bowl 1.826 2.278 -1.912 0 0 0 70 49 Spoon 2.538 0.802 -1.040 0 270 0 54 50 Mug 2.216 0.759 3.945 0 225 0 55 51 Sink -0.716 1.023 1.333 0 0 0 52 StoveBurner 1.835 1.018 -1.840 0 90 0 53 StoveBurner 2.177 1.018 -1.599 0 0 0 54 CounterTop 2.812 0.992 0.675 0 0 0 55 DiningTable 2.419 0.003 3.930 0 0 0 56 Drawer -0.643 0.828 0.616 0 0 0 57 CounterTop -0.813 1.062 2.188 0 0 0 58 StoveBurner 2.115 1.018 -1.840 0 270 0 59 Drawer -0.643 0.831 1.953 0 0 0 60 Drawer -0.643 0.833 2.418 0 0 0 61 Drawer 1.347 0.836 -1.539 0 0 0 62 Drawer 2.693 0.833 -1.131 0 0 0 63 Drawer 2.693 0.833 -0.699 0 0 0 64 Drawer 2.693 0.833 -0.267 0 0 0 65 Drawer 2.693 0.833 0.163 0 0 0 66 Drawer 2.524 0.833 0.720 0 2.000 0 67 Drawer 2.232 0.833 1.036 0 2.000 0 68 Drawer 1.936 0.833 1.354 0 2.000 0 69 Drawer 1.646 0.833 1.670 0 2.000 0 70 Cabinet 1.504 2.475 -1.710 0 0 0 71 Cabinet -0.823 2.220 1.621 0 0 0 72 Cabinet -0.823 2.220 0.615 0 0 0 73 Cabinet 1.136 0.388 -1.355 0 0 0 74 Cabinet -0.356 0.383 2.626 0 0 0 75 Cabinet 2.745 2.220 -1.690 0 0 0 76 Cabinet 1.882 0.383 1.017 0 0 0 77 Cabinet 1.307 0.473 1.640 0 0 0 78 Cabinet 1.892 0.383 1.006 0 0 0 79 Cabinet 2.467 0.383 0.383 0 0 0 80 Cabinet 2.466 0.383 -0.475 0 0 0 81 Cabinet 2.466 0.473 0.371 0 0 0 82 Cabinet 2.386 2.475 -1.710 0 0 0 83 Cabinet -0.356 0.383 1.712 0 0 0 84 Cabinet 2.745 2.220 0.019 0 0 0 85 Cabinet -0.663 2.496 0.157 0 0 0 86 Cabinet -0.663 2.496 -0.868 0 0 0 87 Cabinet -0.356 0.383 0.269 0 0 0 88 Cabinet -0.823 2.220 1.603 0 0 0 89 Cabinet -0.662 2.234 0.586 0 0 0 90 Cabinet 2.745 2.220 -0.843 0 0 0 91 Cabinet 2.745 2.220 -0.827 0 0 0 92 Cabinet -0.823 2.220 2.608 0 0 0 93 Cabinet 2.732 2.226 -1.709 0 0 0 94 Cabinet 1.137 2.226 -1.709 0 0 0 95 Cabinet 2.466 0.383 -0.491 0 0 0 96 Cabinet 2.466 0.383 -1.339 0 0 0 97 StoveBurner 1.761 1.018 -1.599 0 0 0 98 Fridge -0.908 0.0 -0.405 0 0 0 99 HousePlant 2.517 1.016 1.822 0 0 0 100 Microwave 1.939 1.745 -1.826 0 0 0 101 StoveKnob 2.017 1.041 -1.514 0 180 180 102 StoveKnob 1.934 1.041 -1.514 0 180 180 103 StoveKnob 2.017 1.041 -1.589 0 180 180 104 StoveKnob 1.934 1.041 -1.589 0 180 180 105 Window 1.756 1.608 4.762 90 0 0 106 HousePlant 2.171 1.004 2.091 0 0 0 107 CoffeeMachine -0.942 1.018 0.645 0 90 0 108 LightSwitch -0.099 1.410 -2.066 0 0 0 109 GarbageCan -0.951 -0.029 2.826 0 0 0 110 Toaster -1.007 1.018 2.238 0 90 0 111 SinkBasin -0.714 0.805 1.348 0 90 0 112 Chair 1.615 0.004 4.310 0 107.976 0 113 Faucet -1.120 1.013 1.334 0 90 0 114 Chair 2.759 0.004 3.086 0 358.967 0 115 116 NorthWall 117 EastWall 118 SouthWall 119 WestWall
[ "STEP 1: Walk straight through the kitchen to the white kitchen table at the far end of the room. Stand facing the white table with a kitchen counter right behind you and the wall on your immediate right. | STEP 2: Pick up the knife with the wooden handle that is at the back right edge of the table, the one behind and to the right of the brown bowl. | STEP 3: Turn left and walk a few steps, then turn left and walk back through the kitchen (towards the door) to the fridge on the right hand side. Face the fridge. | STEP 4: Open the fridge door (bottom door), slice half of the potato on the top shelf on the right hand side, then close the fridge door, leaving the potato inside. | STEP 5: Turn right and walk past the sink and counter (on the left). Once at the end of the counter, turn around to face the trash can and short end of the counter where the toaster sits. | STEP 6: Stick the knife, blade side down, into the silver plate that sits on the counter in front of the toaster. | STEP 7: Walk back along the counter, past the sink on your right, to the fridge. Face the fridge. | STEP 8: Open the fridge door (bottom door), take out one slice of potato from the top shelf, then close the fridge door. | STEP 9: Holding the potato slice, turn right and walk past the sink and counter (on the left). Once at the end of the counter, turn around to face the trash can and short end of the counter where the toaster sits. | STEP 10: Put the potato slice behind the knife on the silver plate. | STEP 11: Pick up the plate with the potato slice and knife on it. | STEP 12: Walk past the counter and sink on your right to the fridge. Face the fridge. | STEP 13: Open the bottom fridge door and place the plate with the knife and potato slice on the top shelf, on the left hand side. Close the fridge door. | END" ]
[ [ "STEP 1: Walk straight through the kitchen to the white kitchen table at the far end of the room. Stand facing the white table with a kitchen counter right behind you and the wall on your immediate right. ", " STEP 2: Pick up the knife with the wooden handle that is at the back right edge of the table, the one behind and to the right of the brown bowl. ", " STEP 3: Turn left and walk a few steps, then turn left and walk back through the kitchen (towards the door) to the fridge on the right hand side. Face the fridge. ", " STEP 4: Open the fridge door (bottom door), slice half of the potato on the top shelf on the right hand side, then close the fridge door, leaving the potato inside. ", " STEP 5: Turn right and walk past the sink and counter (on the left). Once at the end of the counter, turn around to face the trash can and short end of the counter where the toaster sits. ", " STEP 6: Stick the knife, blade side down, into the silver plate that sits on the counter in front of the toaster. ", " STEP 7: Walk back along the counter, past the sink on your right, to the fridge. Face the fridge. ", " STEP 8: Open the fridge door (bottom door), take out one slice of potato from the top shelf, then close the fridge door. ", " STEP 9: Holding the potato slice, turn right and walk past the sink and counter (on the left). Once at the end of the counter, turn around to face the trash can and short end of the counter where the toaster sits. ", " STEP 10: Put the potato slice behind the knife on the silver plate. ", " STEP 11: Pick up the plate with the potato slice and knife on it. ", " STEP 12: Walk past the counter and sink on your right to the fridge. Face the fridge. ", " STEP 13: Open the bottom fridge door and place the plate with the knife and potato slice on the top shelf, on the left hand side. Close the fridge door. ", " END" ] ]
seen
trial_T20190907_140700_769981-1
Put a sliced potato wedge on top of a plate into the refrigerator
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 1.75 0.900 -1.0 0 0 0 1 Potato -1.028 0.828 -0.073 0 90 0 98 2 Potato 2.537 1.068 -0.541 0 0 0 54 3 Potato -0.956 0.119 2.811 0 0 0 109 4 DishSponge 2.450 0.764 4.192 0 270 0 55 5 WineBottle 2.451 0.765 4.495 0 0 0 55 6 WineBottle -0.794 1.028 0.877 0 0 0 57 7 Glassbottle 1.341 1.781 -1.872 0 0 0 94 8 Glassbottle 1.409 1.027 -1.987 0 90 0 54 9 Pot 1.761 1.027 -1.599 0 0 0 97 10 Spatula -0.714 0.831 1.103 0 180 0 111 11 Fork 2.243 0.765 3.657 0 225 0 55 12 Egg 1.743 1.070 1.802 0 136.999 0 54 13 Egg -0.374 1.071 1.540 0 0 0 57 14 Knife 2.945 0.789 4.254 0 45 0 55 15 Knife 1.925 0.789 3.969 0 270 0 55 16 Tomato -0.418 1.081 1.943 0 0 0 57 17 SoapBottle 2.537 1.025 -1.151 0 0 0 54 18 Bowl 2.801 0.762 4.044 0 270 0 55 19 Bowl -0.418 1.025 2.311 0 0 0 57 20 SaltShaker 1.248 0.786 -1.415 0 0 0 54 21 SaltShaker 1.703 0.796 1.536 0 317.0 0 69 22 PepperShaker 2.801 0.760 3.747 0 270 0 55 23 Lettuce 2.426 0.822 3.735 0 225 0 55 24 Lettuce -0.782 0.874 1.492 0 90 0 111 25 Mug -0.803 1.070 0.646 0 90 0 107 26 Pan 2.042 1.017 1.779 0 0 0 54 27 Glassbottle -0.851 0.817 1.181 0 90 0 111 28 Knife 2.525 0.789 4.32 0 0 0 55 29 SoapBottle 1.529 1.025 -1.774 0 90 0 54 30 Egg -0.577 0.860 1.181 0 90 0 111 31 Fork 2.525 0.765 3.795 0 180 0 55 32 Potato -0.907 0.376 -0.516 0 90 0 98 33 Ladle 2.875 1.066 -0.236 0 0 0 54 34 Tomato 2.649 1.080 1.252 0 136.999 0 54 35 Pot 2.116 1.027 -1.84 0 270 0 58 36 WineBottle -0.451 0.047 1.779 0 0 0 83 37 Plate -0.920 1.027 2.556 0 0 0 57 38 Spatula 2.081 0.816 1.025 0 227.0 0 67 39 PaperTowelRoll -0.544 1.131 2.066 0 0 0 57 40 Lettuce -0.987 0.844 -0.406 0 90 0 98 41 Apple 2.276 0.814 3.747 0 270 0 55 42 SaltShaker 2.331 0.760 4.325 0 329.999 0 55 43 PepperShaker 2.651 0.797 -0.221 0 0 0 64 44 ButterKnife 2.599 0.764 4.145 0 0 0 55 45 Bread 2.726 0.832 3.492 0 329.999 0 55 46 Cup -0.577 0.815 1.337 0 90 0 111 47 DishSponge 2.044 0.801 1.455 0 317.0 0 68 48 Bowl 1.826 2.278 -1.912 0 0 0 70 49 Spoon 2.538 0.802 -1.040 0 270 0 54 50 Mug 2.216 0.759 3.945 0 225 0 55 51 Sink -0.716 1.023 1.333 0 0 0 52 StoveBurner 1.835 1.018 -1.840 0 90 0 53 StoveBurner 2.177 1.018 -1.599 0 0 0 54 CounterTop 2.812 0.992 0.675 0 0 0 55 DiningTable 2.419 0.003 3.930 0 0 0 56 Drawer -0.643 0.828 0.616 0 0 0 57 CounterTop -0.813 1.062 2.188 0 0 0 58 StoveBurner 2.115 1.018 -1.840 0 270 0 59 Drawer -0.643 0.831 1.953 0 0 0 60 Drawer -0.643 0.833 2.418 0 0 0 61 Drawer 1.347 0.836 -1.539 0 0 0 62 Drawer 2.693 0.833 -1.131 0 0 0 63 Drawer 2.693 0.833 -0.699 0 0 0 64 Drawer 2.693 0.833 -0.267 0 0 0 65 Drawer 2.693 0.833 0.163 0 0 0 66 Drawer 2.524 0.833 0.720 0 2.000 0 67 Drawer 2.232 0.833 1.036 0 2.000 0 68 Drawer 1.936 0.833 1.354 0 2.000 0 69 Drawer 1.646 0.833 1.670 0 2.000 0 70 Cabinet 1.504 2.475 -1.710 0 0 0 71 Cabinet -0.823 2.220 1.621 0 0 0 72 Cabinet -0.823 2.220 0.615 0 0 0 73 Cabinet 1.136 0.388 -1.355 0 0 0 74 Cabinet -0.356 0.383 2.626 0 0 0 75 Cabinet 2.745 2.220 -1.690 0 0 0 76 Cabinet 1.882 0.383 1.017 0 0 0 77 Cabinet 1.307 0.473 1.640 0 0 0 78 Cabinet 1.892 0.383 1.006 0 0 0 79 Cabinet 2.467 0.383 0.383 0 0 0 80 Cabinet 2.466 0.383 -0.475 0 0 0 81 Cabinet 2.466 0.473 0.371 0 0 0 82 Cabinet 2.386 2.475 -1.710 0 0 0 83 Cabinet -0.356 0.383 1.712 0 0 0 84 Cabinet 2.745 2.220 0.019 0 0 0 85 Cabinet -0.663 2.496 0.157 0 0 0 86 Cabinet -0.663 2.496 -0.868 0 0 0 87 Cabinet -0.356 0.383 0.269 0 0 0 88 Cabinet -0.823 2.220 1.603 0 0 0 89 Cabinet -0.662 2.234 0.586 0 0 0 90 Cabinet 2.745 2.220 -0.843 0 0 0 91 Cabinet 2.745 2.220 -0.827 0 0 0 92 Cabinet -0.823 2.220 2.608 0 0 0 93 Cabinet 2.732 2.226 -1.709 0 0 0 94 Cabinet 1.137 2.226 -1.709 0 0 0 95 Cabinet 2.466 0.383 -0.491 0 0 0 96 Cabinet 2.466 0.383 -1.339 0 0 0 97 StoveBurner 1.761 1.018 -1.599 0 0 0 98 Fridge -0.908 0.0 -0.405 0 0 0 99 HousePlant 2.517 1.016 1.822 0 0 0 100 Microwave 1.939 1.745 -1.826 0 0 0 101 StoveKnob 2.017 1.041 -1.514 0 180 180 102 StoveKnob 1.934 1.041 -1.514 0 180 180 103 StoveKnob 2.017 1.041 -1.589 0 180 180 104 StoveKnob 1.934 1.041 -1.589 0 180 180 105 Window 1.756 1.608 4.762 90 0 0 106 HousePlant 2.171 1.004 2.091 0 0 0 107 CoffeeMachine -0.942 1.018 0.645 0 90 0 108 LightSwitch -0.099 1.410 -2.066 0 0 0 109 GarbageCan -0.951 -0.029 2.826 0 0 0 110 Toaster -1.007 1.018 2.238 0 90 0 111 SinkBasin -0.714 0.805 1.348 0 90 0 112 Chair 1.615 0.004 4.310 0 107.976 0 113 Faucet -1.120 1.013 1.334 0 90 0 114 Chair 2.759 0.004 3.086 0 358.967 0 115 116 NorthWall 117 EastWall 118 SouthWall 119 WestWall
[ "STEP 1: Turn left, move forward slightly, then turn right and head towards the wall, then turn right and move forward between the white table and the counter, then turn left and face the white table | STEP 2: pick up the yellow-handled knife from the back-right of the table | STEP 3: turn left and move forward a bit, then turn left and head to the end of the kitchen, then turn right and face the refrigerator | STEP 4: open the refrigerator and slice the potato to the right of the green cabbage into several pieces, then close the refrigerator | STEP 5: turn right and move towards the wall, then turn left and move forward slightly, then turn left and face the trash can that's sitting below the end of the counter with the plate on it | STEP 6: Put the knife on the plate that's sitting on the counter | STEP 7: turn left, move forward slightly, then turn right and move towards the door at the end, then turn right and face the refrigerator | STEP 8: open the refrigerator, take out a slice of the cut potato, then close the refrigerator | STEP 9: turn right and move towards the wall, then turn left and move forward slightly, then turn left and face the plate and knife that are resting on the counter | STEP 10: put the potato slice on the plate | STEP 11: pick up the plate with the knife and potato slice on top of it | STEP 12: turn left, move forward slightly, then turn right and head to the white door, then turn right and face the refrigerator | STEP 13: open the refrigerator and put the plate, potato slice, and knife into the refrigerator, then close the refrigerator | END" ]
[ [ "STEP 1: Turn left, move forward slightly, then turn right and head towards the wall, then turn right and move forward between the white table and the counter, then turn left and face the white table ", " STEP 2: pick up the yellow-handled knife from the back-right of the table ", " STEP 3: turn left and move forward a bit, then turn left and head to the end of the kitchen, then turn right and face the refrigerator ", " STEP 4: open the refrigerator and slice the potato to the right of the green cabbage into several pieces, then close the refrigerator ", " STEP 5: turn right and move towards the wall, then turn left and move forward slightly, then turn left and face the trash can that's sitting below the end of the counter with the plate on it ", " STEP 6: Put the knife on the plate that's sitting on the counter ", " STEP 7: turn left, move forward slightly, then turn right and move towards the door at the end, then turn right and face the refrigerator ", " STEP 8: open the refrigerator, take out a slice of the cut potato, then close the refrigerator ", " STEP 9: turn right and move towards the wall, then turn left and move forward slightly, then turn left and face the plate and knife that are resting on the counter ", " STEP 10: put the potato slice on the plate ", " STEP 11: pick up the plate with the knife and potato slice on top of it ", " STEP 12: turn left, move forward slightly, then turn right and head to the white door, then turn right and face the refrigerator ", " STEP 13: open the refrigerator and put the plate, potato slice, and knife into the refrigerator, then close the refrigerator ", " END" ] ]
seen
trial_T20190907_140700_769981-2
Put a plate with a slice of potato on it in a fridge.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 1.75 0.900 -1.0 0 0 0 1 Potato -1.028 0.828 -0.073 0 90 0 98 2 Potato 2.537 1.068 -0.541 0 0 0 54 3 Potato -0.956 0.119 2.811 0 0 0 109 4 DishSponge 2.450 0.764 4.192 0 270 0 55 5 WineBottle 2.451 0.765 4.495 0 0 0 55 6 WineBottle -0.794 1.028 0.877 0 0 0 57 7 Glassbottle 1.341 1.781 -1.872 0 0 0 94 8 Glassbottle 1.409 1.027 -1.987 0 90 0 54 9 Pot 1.761 1.027 -1.599 0 0 0 97 10 Spatula -0.714 0.831 1.103 0 180 0 111 11 Fork 2.243 0.765 3.657 0 225 0 55 12 Egg 1.743 1.070 1.802 0 136.999 0 54 13 Egg -0.374 1.071 1.540 0 0 0 57 14 Knife 2.945 0.789 4.254 0 45 0 55 15 Knife 1.925 0.789 3.969 0 270 0 55 16 Tomato -0.418 1.081 1.943 0 0 0 57 17 SoapBottle 2.537 1.025 -1.151 0 0 0 54 18 Bowl 2.801 0.762 4.044 0 270 0 55 19 Bowl -0.418 1.025 2.311 0 0 0 57 20 SaltShaker 1.248 0.786 -1.415 0 0 0 54 21 SaltShaker 1.703 0.796 1.536 0 317.0 0 69 22 PepperShaker 2.801 0.760 3.747 0 270 0 55 23 Lettuce 2.426 0.822 3.735 0 225 0 55 24 Lettuce -0.782 0.874 1.492 0 90 0 111 25 Mug -0.803 1.070 0.646 0 90 0 107 26 Pan 2.042 1.017 1.779 0 0 0 54 27 Glassbottle -0.851 0.817 1.181 0 90 0 111 28 Knife 2.525 0.789 4.32 0 0 0 55 29 SoapBottle 1.529 1.025 -1.774 0 90 0 54 30 Egg -0.577 0.860 1.181 0 90 0 111 31 Fork 2.525 0.765 3.795 0 180 0 55 32 Potato -0.907 0.376 -0.516 0 90 0 98 33 Ladle 2.875 1.066 -0.236 0 0 0 54 34 Tomato 2.649 1.080 1.252 0 136.999 0 54 35 Pot 2.116 1.027 -1.84 0 270 0 58 36 WineBottle -0.451 0.047 1.779 0 0 0 83 37 Plate -0.920 1.027 2.556 0 0 0 57 38 Spatula 2.081 0.816 1.025 0 227.0 0 67 39 PaperTowelRoll -0.544 1.131 2.066 0 0 0 57 40 Lettuce -0.987 0.844 -0.406 0 90 0 98 41 Apple 2.276 0.814 3.747 0 270 0 55 42 SaltShaker 2.331 0.760 4.325 0 329.999 0 55 43 PepperShaker 2.651 0.797 -0.221 0 0 0 64 44 ButterKnife 2.599 0.764 4.145 0 0 0 55 45 Bread 2.726 0.832 3.492 0 329.999 0 55 46 Cup -0.577 0.815 1.337 0 90 0 111 47 DishSponge 2.044 0.801 1.455 0 317.0 0 68 48 Bowl 1.826 2.278 -1.912 0 0 0 70 49 Spoon 2.538 0.802 -1.040 0 270 0 54 50 Mug 2.216 0.759 3.945 0 225 0 55 51 Sink -0.716 1.023 1.333 0 0 0 52 StoveBurner 1.835 1.018 -1.840 0 90 0 53 StoveBurner 2.177 1.018 -1.599 0 0 0 54 CounterTop 2.812 0.992 0.675 0 0 0 55 DiningTable 2.419 0.003 3.930 0 0 0 56 Drawer -0.643 0.828 0.616 0 0 0 57 CounterTop -0.813 1.062 2.188 0 0 0 58 StoveBurner 2.115 1.018 -1.840 0 270 0 59 Drawer -0.643 0.831 1.953 0 0 0 60 Drawer -0.643 0.833 2.418 0 0 0 61 Drawer 1.347 0.836 -1.539 0 0 0 62 Drawer 2.693 0.833 -1.131 0 0 0 63 Drawer 2.693 0.833 -0.699 0 0 0 64 Drawer 2.693 0.833 -0.267 0 0 0 65 Drawer 2.693 0.833 0.163 0 0 0 66 Drawer 2.524 0.833 0.720 0 2.000 0 67 Drawer 2.232 0.833 1.036 0 2.000 0 68 Drawer 1.936 0.833 1.354 0 2.000 0 69 Drawer 1.646 0.833 1.670 0 2.000 0 70 Cabinet 1.504 2.475 -1.710 0 0 0 71 Cabinet -0.823 2.220 1.621 0 0 0 72 Cabinet -0.823 2.220 0.615 0 0 0 73 Cabinet 1.136 0.388 -1.355 0 0 0 74 Cabinet -0.356 0.383 2.626 0 0 0 75 Cabinet 2.745 2.220 -1.690 0 0 0 76 Cabinet 1.882 0.383 1.017 0 0 0 77 Cabinet 1.307 0.473 1.640 0 0 0 78 Cabinet 1.892 0.383 1.006 0 0 0 79 Cabinet 2.467 0.383 0.383 0 0 0 80 Cabinet 2.466 0.383 -0.475 0 0 0 81 Cabinet 2.466 0.473 0.371 0 0 0 82 Cabinet 2.386 2.475 -1.710 0 0 0 83 Cabinet -0.356 0.383 1.712 0 0 0 84 Cabinet 2.745 2.220 0.019 0 0 0 85 Cabinet -0.663 2.496 0.157 0 0 0 86 Cabinet -0.663 2.496 -0.868 0 0 0 87 Cabinet -0.356 0.383 0.269 0 0 0 88 Cabinet -0.823 2.220 1.603 0 0 0 89 Cabinet -0.662 2.234 0.586 0 0 0 90 Cabinet 2.745 2.220 -0.843 0 0 0 91 Cabinet 2.745 2.220 -0.827 0 0 0 92 Cabinet -0.823 2.220 2.608 0 0 0 93 Cabinet 2.732 2.226 -1.709 0 0 0 94 Cabinet 1.137 2.226 -1.709 0 0 0 95 Cabinet 2.466 0.383 -0.491 0 0 0 96 Cabinet 2.466 0.383 -1.339 0 0 0 97 StoveBurner 1.761 1.018 -1.599 0 0 0 98 Fridge -0.908 0.0 -0.405 0 0 0 99 HousePlant 2.517 1.016 1.822 0 0 0 100 Microwave 1.939 1.745 -1.826 0 0 0 101 StoveKnob 2.017 1.041 -1.514 0 180 180 102 StoveKnob 1.934 1.041 -1.514 0 180 180 103 StoveKnob 2.017 1.041 -1.589 0 180 180 104 StoveKnob 1.934 1.041 -1.589 0 180 180 105 Window 1.756 1.608 4.762 90 0 0 106 HousePlant 2.171 1.004 2.091 0 0 0 107 CoffeeMachine -0.942 1.018 0.645 0 90 0 108 LightSwitch -0.099 1.410 -2.066 0 0 0 109 GarbageCan -0.951 -0.029 2.826 0 0 0 110 Toaster -1.007 1.018 2.238 0 90 0 111 SinkBasin -0.714 0.805 1.348 0 90 0 112 Chair 1.615 0.004 4.310 0 107.976 0 113 Faucet -1.120 1.013 1.334 0 90 0 114 Chair 2.759 0.004 3.086 0 358.967 0 115 116 NorthWall 117 EastWall 118 SouthWall 119 WestWall
[ "STEP 1: Go forward and around the counter, turn right after passing the counter, go forward to the wall, turn right to face the white round table. | STEP 2: Take the large knife closest to the brown bowl. | STEP 3: Turn left, go forward, after passing the end of the counter on the left turn left, go forward, turn right to face the fridge, go forward to the fridge. | STEP 4: Cut the potato on the top shelf of the fridge. | STEP 5: Turn right, go forward past the end of the counter, turn left, go forward to the wall, turn left to face the counter, go forward to the counter. | STEP 6: Put the knife on the white plate on the counter. | STEP 7: Turn left, go forward, after passing the end of the counter on the right turn right, go forward, turn right at the fridge, go forward to the fridge. | STEP 8: Take a slice of potato from the fridge. | STEP 9: Turn right, go forward past the end of the counter, turn left, go forward to the wall, turn left to face the counter, go forward to the counter. | STEP 10: Put the potato on the white plate on the counter. | STEP 11: Take the plate from the counter. | STEP 12: Turn left, go forward, after passing the end of the counter on the right turn right, go forward, turn right at the fridge, go forward to the fridge. | STEP 13: Put the plate on the left side of the rack in the fridge. | END" ]
[ [ "STEP 1: Go forward and around the counter, turn right after passing the counter, go forward to the wall, turn right to face the white round table. ", " STEP 2: Take the large knife closest to the brown bowl. ", " STEP 3: Turn left, go forward, after passing the end of the counter on the left turn left, go forward, turn right to face the fridge, go forward to the fridge. ", " STEP 4: Cut the potato on the top shelf of the fridge. ", " STEP 5: Turn right, go forward past the end of the counter, turn left, go forward to the wall, turn left to face the counter, go forward to the counter. ", " STEP 6: Put the knife on the white plate on the counter. ", " STEP 7: Turn left, go forward, after passing the end of the counter on the right turn right, go forward, turn right at the fridge, go forward to the fridge. ", " STEP 8: Take a slice of potato from the fridge. ", " STEP 9: Turn right, go forward past the end of the counter, turn left, go forward to the wall, turn left to face the counter, go forward to the counter. ", " STEP 10: Put the potato on the white plate on the counter. ", " STEP 11: Take the plate from the counter. ", " STEP 12: Turn left, go forward, after passing the end of the counter on the right turn right, go forward, turn right at the fridge, go forward to the fridge. ", " STEP 13: Put the plate on the left side of the rack in the fridge. ", " END" ] ]
seen
trial_T20190907_140700_769981-3
Refrigerate a potato slice that is on a plate.
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225", " 0", " 55" ], [ "24", " Lettuce", " -0.782", " 0.874", " 1.492", " 0", " 90", " 0", " 111" ], [ "25", " Mug", " -0.803", " 1.070", " 0.646", " 0", " 90", " 0", " 107" ], [ "26", " Pan", " 2.042", " 1.017", " 1.779", " 0", " 0", " 0", " 54" ], [ "27", " Glassbottle", " -0.851", " 0.817", " 1.181", " 0", " 90", " 0", " 111" ], [ "28", " Knife", " 2.525", " 0.789", " 4.32", " 0", " 0", " 0", " 55" ], [ "29", " SoapBottle", " 1.529", " 1.025", " -1.774", " 0", " 90", " 0", " 54" ], [ "30", " Egg", " -0.577", " 0.860", " 1.181", " 0", " 90", " 0", " 111" ], [ "31", " Fork", " 2.525", " 0.765", " 3.795", " 0", " 180", " 0", " 55" ], [ "32", " Potato", " -0.907", " 0.376", " -0.516", " 0", " 90", " 0", " 98" ], [ "33", " Ladle", " 2.875", " 1.066", " -0.236", " 0", " 0", " 0", " 54" ], [ "34", " Tomato", " 2.649", " 1.080", " 1.252", " 0", " 136.999", " 0", " 54" ], [ "35", " Pot", " 2.116", " 1.027", " -1.84", " 0", " 270", " 0", " 58" ], [ "36", " WineBottle", " -0.451", " 0.047", " 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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 -1.0 0 0 0 1 Potato -1.028 0.828 -0.073 0 90 0 98 2 Potato 2.537 1.068 -0.541 0 0 0 54 3 Potato -0.956 0.119 2.811 0 0 0 109 4 DishSponge 2.450 0.764 4.192 0 270 0 55 5 WineBottle 2.451 0.765 4.495 0 0 0 55 6 WineBottle -0.794 1.028 0.877 0 0 0 57 7 Glassbottle 1.341 1.781 -1.872 0 0 0 94 8 Glassbottle 1.409 1.027 -1.987 0 90 0 54 9 Pot 1.761 1.027 -1.599 0 0 0 97 10 Spatula -0.714 0.831 1.103 0 180 0 111 11 Fork 2.243 0.765 3.657 0 225 0 55 12 Egg 1.743 1.070 1.802 0 136.999 0 54 13 Egg -0.374 1.071 1.540 0 0 0 57 14 Knife 2.945 0.789 4.254 0 45 0 55 15 Knife 1.925 0.789 3.969 0 270 0 55 16 Tomato -0.418 1.081 1.943 0 0 0 57 17 SoapBottle 2.537 1.025 -1.151 0 0 0 54 18 Bowl 2.801 0.762 4.044 0 270 0 55 19 Bowl -0.418 1.025 2.311 0 0 0 57 20 SaltShaker 1.248 0.786 -1.415 0 0 0 54 21 SaltShaker 1.703 0.796 1.536 0 317.0 0 69 22 PepperShaker 2.801 0.760 3.747 0 270 0 55 23 Lettuce 2.426 0.822 3.735 0 225 0 55 24 Lettuce -0.782 0.874 1.492 0 90 0 111 25 Mug -0.803 1.070 0.646 0 90 0 107 26 Pan 2.042 1.017 1.779 0 0 0 54 27 Glassbottle -0.851 0.817 1.181 0 90 0 111 28 Knife 2.525 0.789 4.32 0 0 0 55 29 SoapBottle 1.529 1.025 -1.774 0 90 0 54 30 Egg -0.577 0.860 1.181 0 90 0 111 31 Fork 2.525 0.765 3.795 0 180 0 55 32 Potato -0.907 0.376 -0.516 0 90 0 98 33 Ladle 2.875 1.066 -0.236 0 0 0 54 34 Tomato 2.649 1.080 1.252 0 136.999 0 54 35 Pot 2.116 1.027 -1.84 0 270 0 58 36 WineBottle -0.451 0.047 1.779 0 0 0 83 37 Plate -0.920 1.027 2.556 0 0 0 57 38 Spatula 2.081 0.816 1.025 0 227.0 0 67 39 PaperTowelRoll -0.544 1.131 2.066 0 0 0 57 40 Lettuce -0.987 0.844 -0.406 0 90 0 98 41 Apple 2.276 0.814 3.747 0 270 0 55 42 SaltShaker 2.331 0.760 4.325 0 329.999 0 55 43 PepperShaker 2.651 0.797 -0.221 0 0 0 64 44 ButterKnife 2.599 0.764 4.145 0 0 0 55 45 Bread 2.726 0.832 3.492 0 329.999 0 55 46 Cup -0.577 0.815 1.337 0 90 0 111 47 DishSponge 2.044 0.801 1.455 0 317.0 0 68 48 Bowl 1.826 2.278 -1.912 0 0 0 70 49 Spoon 2.538 0.802 -1.040 0 270 0 54 50 Mug 2.216 0.759 3.945 0 225 0 55 51 Sink -0.716 1.023 1.333 0 0 0 52 StoveBurner 1.835 1.018 -1.840 0 90 0 53 StoveBurner 2.177 1.018 -1.599 0 0 0 54 CounterTop 2.812 0.992 0.675 0 0 0 55 DiningTable 2.419 0.003 3.930 0 0 0 56 Drawer -0.643 0.828 0.616 0 0 0 57 CounterTop -0.813 1.062 2.188 0 0 0 58 StoveBurner 2.115 1.018 -1.840 0 270 0 59 Drawer -0.643 0.831 1.953 0 0 0 60 Drawer -0.643 0.833 2.418 0 0 0 61 Drawer 1.347 0.836 -1.539 0 0 0 62 Drawer 2.693 0.833 -1.131 0 0 0 63 Drawer 2.693 0.833 -0.699 0 0 0 64 Drawer 2.693 0.833 -0.267 0 0 0 65 Drawer 2.693 0.833 0.163 0 0 0 66 Drawer 2.524 0.833 0.720 0 2.000 0 67 Drawer 2.232 0.833 1.036 0 2.000 0 68 Drawer 1.936 0.833 1.354 0 2.000 0 69 Drawer 1.646 0.833 1.670 0 2.000 0 70 Cabinet 1.504 2.475 -1.710 0 0 0 71 Cabinet -0.823 2.220 1.621 0 0 0 72 Cabinet -0.823 2.220 0.615 0 0 0 73 Cabinet 1.136 0.388 -1.355 0 0 0 74 Cabinet -0.356 0.383 2.626 0 0 0 75 Cabinet 2.745 2.220 -1.690 0 0 0 76 Cabinet 1.882 0.383 1.017 0 0 0 77 Cabinet 1.307 0.473 1.640 0 0 0 78 Cabinet 1.892 0.383 1.006 0 0 0 79 Cabinet 2.467 0.383 0.383 0 0 0 80 Cabinet 2.466 0.383 -0.475 0 0 0 81 Cabinet 2.466 0.473 0.371 0 0 0 82 Cabinet 2.386 2.475 -1.710 0 0 0 83 Cabinet -0.356 0.383 1.712 0 0 0 84 Cabinet 2.745 2.220 0.019 0 0 0 85 Cabinet -0.663 2.496 0.157 0 0 0 86 Cabinet -0.663 2.496 -0.868 0 0 0 87 Cabinet -0.356 0.383 0.269 0 0 0 88 Cabinet -0.823 2.220 1.603 0 0 0 89 Cabinet -0.662 2.234 0.586 0 0 0 90 Cabinet 2.745 2.220 -0.843 0 0 0 91 Cabinet 2.745 2.220 -0.827 0 0 0 92 Cabinet -0.823 2.220 2.608 0 0 0 93 Cabinet 2.732 2.226 -1.709 0 0 0 94 Cabinet 1.137 2.226 -1.709 0 0 0 95 Cabinet 2.466 0.383 -0.491 0 0 0 96 Cabinet 2.466 0.383 -1.339 0 0 0 97 StoveBurner 1.761 1.018 -1.599 0 0 0 98 Fridge -0.908 0.0 -0.405 0 0 0 99 HousePlant 2.517 1.016 1.822 0 0 0 100 Microwave 1.939 1.745 -1.826 0 0 0 101 StoveKnob 2.017 1.041 -1.514 0 180 180 102 StoveKnob 1.934 1.041 -1.514 0 180 180 103 StoveKnob 2.017 1.041 -1.589 0 180 180 104 StoveKnob 1.934 1.041 -1.589 0 180 180 105 Window 1.756 1.608 4.762 90 0 0 106 HousePlant 2.171 1.004 2.091 0 0 0 107 CoffeeMachine -0.942 1.018 0.645 0 90 0 108 LightSwitch -0.099 1.410 -2.066 0 0 0 109 GarbageCan -0.951 -0.029 2.826 0 0 0 110 Toaster -1.007 1.018 2.238 0 90 0 111 SinkBasin -0.714 0.805 1.348 0 90 0 112 Chair 1.615 0.004 4.310 0 107.976 0 113 Faucet -1.120 1.013 1.334 0 90 0 114 Chair 2.759 0.004 3.086 0 358.967 0 115 116 NorthWall 117 EastWall 118 SouthWall 119 WestWall
[ "STEP 1: Turn left, move to the table near the bread. | STEP 2: Pick up the knife that is on the right side of the table. | STEP 3: Turn left, move to in front of the refrigerator. | STEP 4: Slice the potato inside the refrigerator. | STEP 5: Turn left, move to the end of the counter near the waste bin. | STEP 6: Put the knife on the plate. | STEP 7: Turn left, move to in front of the refrigerator. | STEP 8: Pick up a slice of potato from the refrigerator. | STEP 9: Turn left, move to the end of the counter near the waste bin. | STEP 10: Put the potato slice on the plate. | STEP 11: Pick up the plate with the knife and potato slice. | STEP 12: Turn left, move to in front of the refrigerator. | STEP 13: Put the plate in the refrigerator. | END" ]
[ [ "STEP 1: Turn left, move to the table near the bread. ", " STEP 2: Pick up the knife that is on the right side of the table. ", " STEP 3: Turn left, move to in front of the refrigerator. ", " STEP 4: Slice the potato inside the refrigerator. ", " STEP 5: Turn left, move to the end of the counter near the waste bin. ", " STEP 6: Put the knife on the plate. ", " STEP 7: Turn left, move to in front of the refrigerator. ", " STEP 8: Pick up a slice of potato from the refrigerator. ", " STEP 9: Turn left, move to the end of the counter near the waste bin. ", " STEP 10: Put the potato slice on the plate. ", " STEP 11: Pick up the plate with the knife and potato slice. ", " STEP 12: Turn left, move to in front of the refrigerator. ", " STEP 13: Put the plate in the refrigerator. ", " END" ] ]
seen
trial_T20190907_140700_769981-4
Put the potato slice on a plate with a knife into the refrigerator.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 1.75 0.900 -1.0 0 0 0 1 Potato -1.028 0.828 -0.073 0 90 0 98 2 Potato 2.537 1.068 -0.541 0 0 0 54 3 Potato -0.956 0.119 2.811 0 0 0 109 4 DishSponge 2.450 0.764 4.192 0 270 0 55 5 WineBottle 2.451 0.765 4.495 0 0 0 55 6 WineBottle -0.794 1.028 0.877 0 0 0 57 7 Glassbottle 1.341 1.781 -1.872 0 0 0 94 8 Glassbottle 1.409 1.027 -1.987 0 90 0 54 9 Pot 1.761 1.027 -1.599 0 0 0 97 10 Spatula -0.714 0.831 1.103 0 180 0 111 11 Fork 2.243 0.765 3.657 0 225 0 55 12 Egg 1.743 1.070 1.802 0 136.999 0 54 13 Egg -0.374 1.071 1.540 0 0 0 57 14 Knife 2.945 0.789 4.254 0 45 0 55 15 Knife 1.925 0.789 3.969 0 270 0 55 16 Tomato -0.418 1.081 1.943 0 0 0 57 17 SoapBottle 2.537 1.025 -1.151 0 0 0 54 18 Bowl 2.801 0.762 4.044 0 270 0 55 19 Bowl -0.418 1.025 2.311 0 0 0 57 20 SaltShaker 1.248 0.786 -1.415 0 0 0 54 21 SaltShaker 1.703 0.796 1.536 0 317.0 0 69 22 PepperShaker 2.801 0.760 3.747 0 270 0 55 23 Lettuce 2.426 0.822 3.735 0 225 0 55 24 Lettuce -0.782 0.874 1.492 0 90 0 111 25 Mug -0.803 1.070 0.646 0 90 0 107 26 Pan 2.042 1.017 1.779 0 0 0 54 27 Glassbottle -0.851 0.817 1.181 0 90 0 111 28 Knife 2.525 0.789 4.32 0 0 0 55 29 SoapBottle 1.529 1.025 -1.774 0 90 0 54 30 Egg -0.577 0.860 1.181 0 90 0 111 31 Fork 2.525 0.765 3.795 0 180 0 55 32 Potato -0.907 0.376 -0.516 0 90 0 98 33 Ladle 2.875 1.066 -0.236 0 0 0 54 34 Tomato 2.649 1.080 1.252 0 136.999 0 54 35 Pot 2.116 1.027 -1.84 0 270 0 58 36 WineBottle -0.451 0.047 1.779 0 0 0 83 37 Plate -0.920 1.027 2.556 0 0 0 57 38 Spatula 2.081 0.816 1.025 0 227.0 0 67 39 PaperTowelRoll -0.544 1.131 2.066 0 0 0 57 40 Lettuce -0.987 0.844 -0.406 0 90 0 98 41 Apple 2.276 0.814 3.747 0 270 0 55 42 SaltShaker 2.331 0.760 4.325 0 329.999 0 55 43 PepperShaker 2.651 0.797 -0.221 0 0 0 64 44 ButterKnife 2.599 0.764 4.145 0 0 0 55 45 Bread 2.726 0.832 3.492 0 329.999 0 55 46 Cup -0.577 0.815 1.337 0 90 0 111 47 DishSponge 2.044 0.801 1.455 0 317.0 0 68 48 Bowl 1.826 2.278 -1.912 0 0 0 70 49 Spoon 2.538 0.802 -1.040 0 270 0 54 50 Mug 2.216 0.759 3.945 0 225 0 55 51 Sink -0.716 1.023 1.333 0 0 0 52 StoveBurner 1.835 1.018 -1.840 0 90 0 53 StoveBurner 2.177 1.018 -1.599 0 0 0 54 CounterTop 2.812 0.992 0.675 0 0 0 55 DiningTable 2.419 0.003 3.930 0 0 0 56 Drawer -0.643 0.828 0.616 0 0 0 57 CounterTop -0.813 1.062 2.188 0 0 0 58 StoveBurner 2.115 1.018 -1.840 0 270 0 59 Drawer -0.643 0.831 1.953 0 0 0 60 Drawer -0.643 0.833 2.418 0 0 0 61 Drawer 1.347 0.836 -1.539 0 0 0 62 Drawer 2.693 0.833 -1.131 0 0 0 63 Drawer 2.693 0.833 -0.699 0 0 0 64 Drawer 2.693 0.833 -0.267 0 0 0 65 Drawer 2.693 0.833 0.163 0 0 0 66 Drawer 2.524 0.833 0.720 0 2.000 0 67 Drawer 2.232 0.833 1.036 0 2.000 0 68 Drawer 1.936 0.833 1.354 0 2.000 0 69 Drawer 1.646 0.833 1.670 0 2.000 0 70 Cabinet 1.504 2.475 -1.710 0 0 0 71 Cabinet -0.823 2.220 1.621 0 0 0 72 Cabinet -0.823 2.220 0.615 0 0 0 73 Cabinet 1.136 0.388 -1.355 0 0 0 74 Cabinet -0.356 0.383 2.626 0 0 0 75 Cabinet 2.745 2.220 -1.690 0 0 0 76 Cabinet 1.882 0.383 1.017 0 0 0 77 Cabinet 1.307 0.473 1.640 0 0 0 78 Cabinet 1.892 0.383 1.006 0 0 0 79 Cabinet 2.467 0.383 0.383 0 0 0 80 Cabinet 2.466 0.383 -0.475 0 0 0 81 Cabinet 2.466 0.473 0.371 0 0 0 82 Cabinet 2.386 2.475 -1.710 0 0 0 83 Cabinet -0.356 0.383 1.712 0 0 0 84 Cabinet 2.745 2.220 0.019 0 0 0 85 Cabinet -0.663 2.496 0.157 0 0 0 86 Cabinet -0.663 2.496 -0.868 0 0 0 87 Cabinet -0.356 0.383 0.269 0 0 0 88 Cabinet -0.823 2.220 1.603 0 0 0 89 Cabinet -0.662 2.234 0.586 0 0 0 90 Cabinet 2.745 2.220 -0.843 0 0 0 91 Cabinet 2.745 2.220 -0.827 0 0 0 92 Cabinet -0.823 2.220 2.608 0 0 0 93 Cabinet 2.732 2.226 -1.709 0 0 0 94 Cabinet 1.137 2.226 -1.709 0 0 0 95 Cabinet 2.466 0.383 -0.491 0 0 0 96 Cabinet 2.466 0.383 -1.339 0 0 0 97 StoveBurner 1.761 1.018 -1.599 0 0 0 98 Fridge -0.908 0.0 -0.405 0 0 0 99 HousePlant 2.517 1.016 1.822 0 0 0 100 Microwave 1.939 1.745 -1.826 0 0 0 101 StoveKnob 2.017 1.041 -1.514 0 180 180 102 StoveKnob 1.934 1.041 -1.514 0 180 180 103 StoveKnob 2.017 1.041 -1.589 0 180 180 104 StoveKnob 1.934 1.041 -1.589 0 180 180 105 Window 1.756 1.608 4.762 90 0 0 106 HousePlant 2.171 1.004 2.091 0 0 0 107 CoffeeMachine -0.942 1.018 0.645 0 90 0 108 LightSwitch -0.099 1.410 -2.066 0 0 0 109 GarbageCan -0.951 -0.029 2.826 0 0 0 110 Toaster -1.007 1.018 2.238 0 90 0 111 SinkBasin -0.714 0.805 1.348 0 90 0 112 Chair 1.615 0.004 4.310 0 107.976 0 113 Faucet -1.120 1.013 1.334 0 90 0 114 Chair 2.759 0.004 3.086 0 358.967 0 115 116 NorthWall 117 EastWall 118 SouthWall 119 WestWall
[ "STEP 1: Walk to the white table on the other side of the room. | STEP 2: Pick up the knife closest to the wall. | STEP 3: Turn around walk to the other side of the room, turn to the refrigerator on the right. | STEP 4: Slice the potato on the top shelf of the refrigerator. | STEP 5: Turn to the right, walk to the end of the counter, face the counter. | STEP 6: Place the knife on the plate on the counter. | STEP 7: Walk back to the refrigerator. | STEP 8: Grab a slice of the potato in the refrigerator | STEP 9: Turn to the right, walk back to the end of the counter. | STEP 10: Put the potato slice on the plate. | STEP 11: Pick the plate up off of the counter. | STEP 12: Walk back to the refrigerator. | STEP 13: Place the plate next to the lettuce in the refrigerator. | END" ]
[ [ "STEP 1: Walk to the white table on the other side of the room. ", " STEP 2: Pick up the knife closest to the wall. ", " STEP 3: Turn around walk to the other side of the room, turn to the refrigerator on the right. ", " STEP 4: Slice the potato on the top shelf of the refrigerator. ", " STEP 5: Turn to the right, walk to the end of the counter, face the counter. ", " STEP 6: Place the knife on the plate on the counter. ", " STEP 7: Walk back to the refrigerator. ", " STEP 8: Grab a slice of the potato in the refrigerator ", " STEP 9: Turn to the right, walk back to the end of the counter. ", " STEP 10: Put the potato slice on the plate. ", " STEP 11: Pick the plate up off of the counter. ", " STEP 12: Walk back to the refrigerator. ", " STEP 13: Place the plate next to the lettuce in the refrigerator. ", " END" ] ]
seen
trial_T20190906_201152_550531-0
Use the pencil to turn on lamp on my desk.
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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 -0.5 0 0 0 1 CD 1.409 0.282 -1.635 0 180 0 40 2 CellPhone -0.097 0.570 -1.129 0 0 0 26 3 Pen 3.103 0.804 -1.358 0 0 0 39 4 Pen 1.240 0.516 -1.591 0 180 0 41 5 Pencil 2.705 0.803 -1.666 0 90 0 39 6 CreditCard 1.471 0.515 -1.712 0 0 0 41 7 CreditCard 2.931 0.545 -1.441 0 0 0 38 8 KeyChain 1.239 0.519 -1.712 0 180 0 41 9 KeyChain 1.183 0.060 -1.635 0 180 0 42 10 Book 0.715 0.569 -0.905 0 0 0 26 11 Laptop 0.227 0.568 -0.682 0 0 0 26 12 Book 2.881 0.791 -1.623 0 39.196 0 39 13 KeyChain 2.108 0.799 -1.420 0 0 0 39 14 TissueBox 1.909 0.800 -1.358 0 0 0 39 15 TeddyBear -0.075 0.562 -0.274 353.177 297.143 5.348 26 16 Pencil 1.909 0.803 -1.543 0 0 0 39 17 CreditCard 2.705 0.798 -1.482 0 0 0 39 18 TennisRacket -0.921 0.344 0.390 13.911 273.938 195.992 Floor|+00.39| 19 Laptop 2.362 0.791 -1.54 0 0 0 39 20 AlarmClock 1.108 0.510 -1.673 0 345.190 0 41 21 Pen 1.836 0.796 -1.667 0 0 0 39 22 Pillow 0.299 0.643 -1.557 0 0 0 26 23 CellPhone 0.227 0.570 -0.459 0 0 0 26 24 CD 1.471 0.517 -1.591 0 0 0 41 25 Mug 3.103 0.796 -1.482 0 0 0 39 26 Bed 0.227 -0.003 -0.947 0 180 0 27 Mirror 0.615 1.264 1.029 0 0 0 28 GarbageCan 3.166 -0.011 -0.264 4.636 271.335 0 29 DeskLamp 3.164 0.794 -1.664 0 315 0 30 HousePlant -0.833 0.000 0.843 0 0 0 31 LightSwitch 2.010 1.126 1.029 0 180 0 32 Window 1.794 1.677 -1.939 90 180 0 33 Window 0.691 1.361 -1.938 90 180 0 34 Dumbbell 2.628 0.001 -1.613 0 346.954 0 35 Blinds 1.776 1.993 -1.858 0 0 0 36 Blinds 0.670 1.993 -1.858 0 0 0 37 Chair 2.255 0.004 -1.501 0 167.716 0 38 Shelf 3.034 0.637 -1.580 0 0 0 39 Desk 2.500 0.002 -1.596 0 0 0 40 Drawer 1.240 0.354 -1.553 0 0 0 41 SideTable 1.239 0.003 -1.551 0 0 0 42 Drawer 1.240 0.126 -1.553 0 0 0 43 NorthWall 44 EastWall 45 SouthWall 46 WestWall
[ "STEP 1: Move to the desk across from the door | STEP 2: Pick up pencil from up off of the desk | STEP 3: Move to the left side of the desk your currently standing at | STEP 4: Use pencil to turn on the lamp on top of the desk | END" ]
[ [ "STEP 1: Move to the desk across from the door ", " STEP 2: Pick up pencil from up off of the desk ", " STEP 3: Move to the left side of the desk your currently standing at ", " STEP 4: Use pencil to turn on the lamp on top of the desk ", " END" ] ]
seen
trial_T20190906_201152_550531-1
Examine the pencil by light of the table lamp
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[ "STEP 1: Turn around and walk over to the desk | STEP 2: Pick up the yellow pencil from the desk | STEP 3: Move slightly left and turn back to face the left side of the same desk | STEP 4: Turn on the lamp that is on the desk | END" ]
[ [ "STEP 1: Turn around and walk over to the desk ", " STEP 2: Pick up the yellow pencil from the desk ", " STEP 3: Move slightly left and turn back to face the left side of the same desk ", " STEP 4: Turn on the lamp that is on the desk ", " END" ] ]
seen
trial_T20190906_201152_550531-2
Examine the pencil in the light on the desk.
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[ "STEP 1: Move to the desk. | STEP 2: Pick up the pencil on the back of the desk. | STEP 3: Bring the pencil to the lamp on the desk. | STEP 4: Turn on the lamp on the desk. | END" ]
[ [ "STEP 1: Move to the desk. ", " STEP 2: Pick up the pencil on the back of the desk. ", " STEP 3: Bring the pencil to the lamp on the desk. ", " STEP 4: Turn on the lamp on the desk. ", " END" ] ]
seen
trial_T20190908_100230_335827-0
Put a clean head of lettuce on a plate in the fridge.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -2.0 0.901 -0.25 0 270 0 1 ButterKnife -3.477 0.913 -3.428 0 0 0 44 2 Spatula -2.978 0.731 -0.785 0 315 0 88 3 Spatula -1.776 0.805 -3.661 0 270 0 86 4 Spoon -0.530 0.747 -2.858 0 270 0 74 5 Fork -2.608 0.717 -0.841 0 135 0 88 6 Fork -0.412 0.914 -3.012 0 0 0 44 7 Egg 0.007 0.949 -3.112 0 0 0 44 8 Cup -3.079 1.399 -2.002 0 90 0 85 9 Cup -2.629 0.914 -3.952 0 0 0 44 10 Plate -2.581 0.711 -0.621 0 270 0 88 11 Plate -3.079 1.011 -2.125 0 90 0 85 12 Knife -0.441 0.778 -1.253 0 270 0 67 13 Knife -0.352 0.779 -1.563 0 90 0 67 14 SoapBottle -2.803 0.713 -0.069 0 0 0 88 15 Bowl -2.516 1.293 -3.966 0 0 0 57 16 Bowl -0.792 1.290 -3.888 0 0 0 58 17 SaltShaker -3.082 0.742 -2.802 0 0 0 66 18 SaltShaker -0.014 0.912 -1.309 0 0 0 71 19 PepperShaker -2.909 0.710 -0.540 0 135 0 88 20 Bread -2.803 0.754 -0.780 0 0 0 88 21 Mug -0.338 0.910 -0.490 0 0 0 71 22 Mug -2.100 0.076 -3.635 0 180 0 65 23 Pot -0.165 0.975 -2.030 0 180 0 75 24 Egg -2.608 0.752 -0.150 0 225 0 88 25 Cup -3.130 1.399 -2.187 0 90 0 85 26 Bread -0.327 0.948 -3.681 0 298.222 0 44 27 Fork -0.441 0.746 -3.079 0 90 0 74 28 Pan -0.394 0.973 -2.414 0 0 0 69 29 Potato -0.096 1.056 -0.950 0 270 0 81 30 Lettuce -3.292 0.804 -0.620 0 270 0 88 31 Tomato -3.079 1.063 -1.941 0 90 0 85 32 Apple -0.160 0.956 -3.112 0 0 0 44 33 SoapBottle -0.338 0.915 -1.493 0 0 0 71 34 Spatula -3.292 0.731 -0.433 0 270 0 88 35 SaltShaker -2.439 0.710 -0.433 0 270 0 88 36 Knife -0.500 0.779 -2.913 0 270 0 74 37 PepperShaker -2.708 0.713 -0.250 0 225 0 88 38 ButterKnife -3.477 0.913 -3.026 0 0 0 44 39 Plate -0.452 0.078 -1.492 0 0 0 49 40 DishSponge -0.413 0.080 -0.915 0 0 0 48 41 Spoon -0.095 0.917 -1.677 0 0 0 71 42 Mug -1.983 0.785 -3.704 0 180 0 86 43 Bowl -3.079 0.638 -2.002 0 90 0 85 44 CounterTop -1.789 0.949 -3.803 0 0 0 45 Cabinet -0.577 0.388 -3.476 0 0 0 46 Cabinet -0.605 0.388 -3.511 0 0 0 47 Cabinet -2.976 0.388 -3.201 0 0 0 48 Cabinet -0.577 0.388 -0.447 0 0 0 49 Cabinet -0.577 0.388 -1.725 0 0 0 50 Cabinet -0.226 1.803 -1.743 0 0 0 51 Cabinet -0.228 1.799 -0.447 0 0 0 52 Cabinet -6.010 1.139 -6.019 0 0 0 53 Cabinet -3.022 2.098 -2.681 0 0 0 54 Cabinet -3.022 2.098 -1.743 0 0 0 55 Cabinet -0.577 0.388 -2.736 0 0 0 56 Cabinet -3.232 1.803 -3.343 0 0 0 57 Cabinet -2.811 1.810 -3.764 0 0 0 58 Cabinet -1.233 1.810 -3.764 0 0 0 59 Cabinet -1.364 0.388 -3.511 0 0 0 60 Cabinet -1.380 0.388 -3.511 0 0 0 61 Cabinet -0.226 1.803 -2.725 0 0 0 62 Cabinet -0.236 2.098 -1.767 0 0 0 63 Cabinet -0.236 2.098 -2.705 0 0 0 64 Cabinet -0.193 1.210 -4.239 0 0 0 65 Cabinet -2.148 0.388 -3.511 0 0 0 66 Drawer -3.104 0.797 -2.968 0 0 0 67 Drawer -0.449 0.797 -1.410 0 0 0 68 Sink -1.786 0.902 -3.748 0 0 0 69 StoveBurner -0.376 0.936 -2.451 0 0 0 70 Drawer -0.449 0.797 -0.762 0 0 0 71 CounterTop -0.268 0.951 -1.089 0 0 0 72 Drawer -0.449 0.797 -3.348 0 0 0 73 StoveBurner -0.376 0.936 -2.031 0 180 0 74 Drawer -0.449 0.797 -2.968 0 0 0 75 StoveBurner -0.165 0.936 -2.030 0 180 0 76 StoveBurner -0.165 0.936 -2.450 0 0 0 77 StoveKnob -0.568 0.903 -2.313 45 270 0 78 StoveKnob -0.568 0.903 -2.470 45 270 0 79 StoveKnob -0.568 0.903 -2.166 45 270 0 80 StoveKnob -0.568 0.903 -2.003 45 270 0 81 Microwave -0.143 0.903 -0.908 0 270 0 82 LightSwitch -1.108 1.457 0.338 0 180 0 83 GarbageCan -0.283 -0.032 -0.035 0 270 0 84 CoffeeMachine -3.104 0.837 -0.185 0 135 0 85 Fridge -3.188 0.0 -2.184 0 0 0 86 SinkBasin -1.786 0.779 -3.747 0 0 0 87 Toaster -0.230 0.903 -3.406 0 270 0 88 DiningTable -2.800 0.003 -0.505 0 0 0 89 Chair -3.044 0.003 -1.223 0 32.194 0 90 Faucet -1.791 1.136 -3.913 0 270 0 91 NorthWall 92 EastWall 93 SouthWall 94 WestWall
[ "STEP 1: Walk over to the other side of the wooden table. | STEP 2: Pick up the head of lettuce off of the wooden table. | STEP 3: Walk over to the kitchen sink. | STEP 4: Put the head of lettuce in the kitchen sink and turn on the water, after a couple seconds turn the water off and remove the now clean head of lettuce. | STEP 5: Turn around and walk over to the fridge. | STEP 6: Open the fridge and put the clean head of lettuce inside on top of the plate, then close the door. | END" ]
[ [ "STEP 1: Walk over to the other side of the wooden table. ", " STEP 2: Pick up the head of lettuce off of the wooden table. ", " STEP 3: Walk over to the kitchen sink. ", " STEP 4: Put the head of lettuce in the kitchen sink and turn on the water, after a couple seconds turn the water off and remove the now clean head of lettuce. ", " STEP 5: Turn around and walk over to the fridge. ", " STEP 6: Open the fridge and put the clean head of lettuce inside on top of the plate, then close the door. ", " END" ] ]
seen
trial_T20190908_100230_335827-1
Wash lettuce for storage in the fridge.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -2.0 0.901 -0.25 0 270 0 1 ButterKnife -3.477 0.913 -3.428 0 0 0 44 2 Spatula -2.978 0.731 -0.785 0 315 0 88 3 Spatula -1.776 0.805 -3.661 0 270 0 86 4 Spoon -0.530 0.747 -2.858 0 270 0 74 5 Fork -2.608 0.717 -0.841 0 135 0 88 6 Fork -0.412 0.914 -3.012 0 0 0 44 7 Egg 0.007 0.949 -3.112 0 0 0 44 8 Cup -3.079 1.399 -2.002 0 90 0 85 9 Cup -2.629 0.914 -3.952 0 0 0 44 10 Plate -2.581 0.711 -0.621 0 270 0 88 11 Plate -3.079 1.011 -2.125 0 90 0 85 12 Knife -0.441 0.778 -1.253 0 270 0 67 13 Knife -0.352 0.779 -1.563 0 90 0 67 14 SoapBottle -2.803 0.713 -0.069 0 0 0 88 15 Bowl -2.516 1.293 -3.966 0 0 0 57 16 Bowl -0.792 1.290 -3.888 0 0 0 58 17 SaltShaker -3.082 0.742 -2.802 0 0 0 66 18 SaltShaker -0.014 0.912 -1.309 0 0 0 71 19 PepperShaker -2.909 0.710 -0.540 0 135 0 88 20 Bread -2.803 0.754 -0.780 0 0 0 88 21 Mug -0.338 0.910 -0.490 0 0 0 71 22 Mug -2.100 0.076 -3.635 0 180 0 65 23 Pot -0.165 0.975 -2.030 0 180 0 75 24 Egg -2.608 0.752 -0.150 0 225 0 88 25 Cup -3.130 1.399 -2.187 0 90 0 85 26 Bread -0.327 0.948 -3.681 0 298.222 0 44 27 Fork -0.441 0.746 -3.079 0 90 0 74 28 Pan -0.394 0.973 -2.414 0 0 0 69 29 Potato -0.096 1.056 -0.950 0 270 0 81 30 Lettuce -3.292 0.804 -0.620 0 270 0 88 31 Tomato -3.079 1.063 -1.941 0 90 0 85 32 Apple -0.160 0.956 -3.112 0 0 0 44 33 SoapBottle -0.338 0.915 -1.493 0 0 0 71 34 Spatula -3.292 0.731 -0.433 0 270 0 88 35 SaltShaker -2.439 0.710 -0.433 0 270 0 88 36 Knife -0.500 0.779 -2.913 0 270 0 74 37 PepperShaker -2.708 0.713 -0.250 0 225 0 88 38 ButterKnife -3.477 0.913 -3.026 0 0 0 44 39 Plate -0.452 0.078 -1.492 0 0 0 49 40 DishSponge -0.413 0.080 -0.915 0 0 0 48 41 Spoon -0.095 0.917 -1.677 0 0 0 71 42 Mug -1.983 0.785 -3.704 0 180 0 86 43 Bowl -3.079 0.638 -2.002 0 90 0 85 44 CounterTop -1.789 0.949 -3.803 0 0 0 45 Cabinet -0.577 0.388 -3.476 0 0 0 46 Cabinet -0.605 0.388 -3.511 0 0 0 47 Cabinet -2.976 0.388 -3.201 0 0 0 48 Cabinet -0.577 0.388 -0.447 0 0 0 49 Cabinet -0.577 0.388 -1.725 0 0 0 50 Cabinet -0.226 1.803 -1.743 0 0 0 51 Cabinet -0.228 1.799 -0.447 0 0 0 52 Cabinet -6.010 1.139 -6.019 0 0 0 53 Cabinet -3.022 2.098 -2.681 0 0 0 54 Cabinet -3.022 2.098 -1.743 0 0 0 55 Cabinet -0.577 0.388 -2.736 0 0 0 56 Cabinet -3.232 1.803 -3.343 0 0 0 57 Cabinet -2.811 1.810 -3.764 0 0 0 58 Cabinet -1.233 1.810 -3.764 0 0 0 59 Cabinet -1.364 0.388 -3.511 0 0 0 60 Cabinet -1.380 0.388 -3.511 0 0 0 61 Cabinet -0.226 1.803 -2.725 0 0 0 62 Cabinet -0.236 2.098 -1.767 0 0 0 63 Cabinet -0.236 2.098 -2.705 0 0 0 64 Cabinet -0.193 1.210 -4.239 0 0 0 65 Cabinet -2.148 0.388 -3.511 0 0 0 66 Drawer -3.104 0.797 -2.968 0 0 0 67 Drawer -0.449 0.797 -1.410 0 0 0 68 Sink -1.786 0.902 -3.748 0 0 0 69 StoveBurner -0.376 0.936 -2.451 0 0 0 70 Drawer -0.449 0.797 -0.762 0 0 0 71 CounterTop -0.268 0.951 -1.089 0 0 0 72 Drawer -0.449 0.797 -3.348 0 0 0 73 StoveBurner -0.376 0.936 -2.031 0 180 0 74 Drawer -0.449 0.797 -2.968 0 0 0 75 StoveBurner -0.165 0.936 -2.030 0 180 0 76 StoveBurner -0.165 0.936 -2.450 0 0 0 77 StoveKnob -0.568 0.903 -2.313 45 270 0 78 StoveKnob -0.568 0.903 -2.470 45 270 0 79 StoveKnob -0.568 0.903 -2.166 45 270 0 80 StoveKnob -0.568 0.903 -2.003 45 270 0 81 Microwave -0.143 0.903 -0.908 0 270 0 82 LightSwitch -1.108 1.457 0.338 0 180 0 83 GarbageCan -0.283 -0.032 -0.035 0 270 0 84 CoffeeMachine -3.104 0.837 -0.185 0 135 0 85 Fridge -3.188 0.0 -2.184 0 0 0 86 SinkBasin -1.786 0.779 -3.747 0 0 0 87 Toaster -0.230 0.903 -3.406 0 270 0 88 DiningTable -2.800 0.003 -0.505 0 0 0 89 Chair -3.044 0.003 -1.223 0 32.194 0 90 Faucet -1.791 1.136 -3.913 0 270 0 91 NorthWall 92 EastWall 93 SouthWall 94 WestWall
[ "STEP 1: Walk to the other side of the table on your left. | STEP 2: Grab the lettuce from the table. | STEP 3: Walk to the kitchen sink behind you. | STEP 4: Put the lettuce in the sink, wash it, then grab it. | STEP 5: Walk to the fridge behind you and to your right. | STEP 6: Put the lettuce in the fridge. | END" ]
[ [ "STEP 1: Walk to the other side of the table on your left. ", " STEP 2: Grab the lettuce from the table. ", " STEP 3: Walk to the kitchen sink behind you. ", " STEP 4: Put the lettuce in the sink, wash it, then grab it. ", " STEP 5: Walk to the fridge behind you and to your right. ", " STEP 6: Put the lettuce in the fridge. ", " END" ] ]
seen
trial_T20190908_100230_335827-2
Wash and place lettuce in fridge.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -2.0 0.901 -0.25 0 270 0 1 ButterKnife -3.477 0.913 -3.428 0 0 0 44 2 Spatula -2.978 0.731 -0.785 0 315 0 88 3 Spatula -1.776 0.805 -3.661 0 270 0 86 4 Spoon -0.530 0.747 -2.858 0 270 0 74 5 Fork -2.608 0.717 -0.841 0 135 0 88 6 Fork -0.412 0.914 -3.012 0 0 0 44 7 Egg 0.007 0.949 -3.112 0 0 0 44 8 Cup -3.079 1.399 -2.002 0 90 0 85 9 Cup -2.629 0.914 -3.952 0 0 0 44 10 Plate -2.581 0.711 -0.621 0 270 0 88 11 Plate -3.079 1.011 -2.125 0 90 0 85 12 Knife -0.441 0.778 -1.253 0 270 0 67 13 Knife -0.352 0.779 -1.563 0 90 0 67 14 SoapBottle -2.803 0.713 -0.069 0 0 0 88 15 Bowl -2.516 1.293 -3.966 0 0 0 57 16 Bowl -0.792 1.290 -3.888 0 0 0 58 17 SaltShaker -3.082 0.742 -2.802 0 0 0 66 18 SaltShaker -0.014 0.912 -1.309 0 0 0 71 19 PepperShaker -2.909 0.710 -0.540 0 135 0 88 20 Bread -2.803 0.754 -0.780 0 0 0 88 21 Mug -0.338 0.910 -0.490 0 0 0 71 22 Mug -2.100 0.076 -3.635 0 180 0 65 23 Pot -0.165 0.975 -2.030 0 180 0 75 24 Egg -2.608 0.752 -0.150 0 225 0 88 25 Cup -3.130 1.399 -2.187 0 90 0 85 26 Bread -0.327 0.948 -3.681 0 298.222 0 44 27 Fork -0.441 0.746 -3.079 0 90 0 74 28 Pan -0.394 0.973 -2.414 0 0 0 69 29 Potato -0.096 1.056 -0.950 0 270 0 81 30 Lettuce -3.292 0.804 -0.620 0 270 0 88 31 Tomato -3.079 1.063 -1.941 0 90 0 85 32 Apple -0.160 0.956 -3.112 0 0 0 44 33 SoapBottle -0.338 0.915 -1.493 0 0 0 71 34 Spatula -3.292 0.731 -0.433 0 270 0 88 35 SaltShaker -2.439 0.710 -0.433 0 270 0 88 36 Knife -0.500 0.779 -2.913 0 270 0 74 37 PepperShaker -2.708 0.713 -0.250 0 225 0 88 38 ButterKnife -3.477 0.913 -3.026 0 0 0 44 39 Plate -0.452 0.078 -1.492 0 0 0 49 40 DishSponge -0.413 0.080 -0.915 0 0 0 48 41 Spoon -0.095 0.917 -1.677 0 0 0 71 42 Mug -1.983 0.785 -3.704 0 180 0 86 43 Bowl -3.079 0.638 -2.002 0 90 0 85 44 CounterTop -1.789 0.949 -3.803 0 0 0 45 Cabinet -0.577 0.388 -3.476 0 0 0 46 Cabinet -0.605 0.388 -3.511 0 0 0 47 Cabinet -2.976 0.388 -3.201 0 0 0 48 Cabinet -0.577 0.388 -0.447 0 0 0 49 Cabinet -0.577 0.388 -1.725 0 0 0 50 Cabinet -0.226 1.803 -1.743 0 0 0 51 Cabinet -0.228 1.799 -0.447 0 0 0 52 Cabinet -6.010 1.139 -6.019 0 0 0 53 Cabinet -3.022 2.098 -2.681 0 0 0 54 Cabinet -3.022 2.098 -1.743 0 0 0 55 Cabinet -0.577 0.388 -2.736 0 0 0 56 Cabinet -3.232 1.803 -3.343 0 0 0 57 Cabinet -2.811 1.810 -3.764 0 0 0 58 Cabinet -1.233 1.810 -3.764 0 0 0 59 Cabinet -1.364 0.388 -3.511 0 0 0 60 Cabinet -1.380 0.388 -3.511 0 0 0 61 Cabinet -0.226 1.803 -2.725 0 0 0 62 Cabinet -0.236 2.098 -1.767 0 0 0 63 Cabinet -0.236 2.098 -2.705 0 0 0 64 Cabinet -0.193 1.210 -4.239 0 0 0 65 Cabinet -2.148 0.388 -3.511 0 0 0 66 Drawer -3.104 0.797 -2.968 0 0 0 67 Drawer -0.449 0.797 -1.410 0 0 0 68 Sink -1.786 0.902 -3.748 0 0 0 69 StoveBurner -0.376 0.936 -2.451 0 0 0 70 Drawer -0.449 0.797 -0.762 0 0 0 71 CounterTop -0.268 0.951 -1.089 0 0 0 72 Drawer -0.449 0.797 -3.348 0 0 0 73 StoveBurner -0.376 0.936 -2.031 0 180 0 74 Drawer -0.449 0.797 -2.968 0 0 0 75 StoveBurner -0.165 0.936 -2.030 0 180 0 76 StoveBurner -0.165 0.936 -2.450 0 0 0 77 StoveKnob -0.568 0.903 -2.313 45 270 0 78 StoveKnob -0.568 0.903 -2.470 45 270 0 79 StoveKnob -0.568 0.903 -2.166 45 270 0 80 StoveKnob -0.568 0.903 -2.003 45 270 0 81 Microwave -0.143 0.903 -0.908 0 270 0 82 LightSwitch -1.108 1.457 0.338 0 180 0 83 GarbageCan -0.283 -0.032 -0.035 0 270 0 84 CoffeeMachine -3.104 0.837 -0.185 0 135 0 85 Fridge -3.188 0.0 -2.184 0 0 0 86 SinkBasin -1.786 0.779 -3.747 0 0 0 87 Toaster -0.230 0.903 -3.406 0 270 0 88 DiningTable -2.800 0.003 -0.505 0 0 0 89 Chair -3.044 0.003 -1.223 0 32.194 0 90 Faucet -1.791 1.136 -3.913 0 270 0 91 NorthWall 92 EastWall 93 SouthWall 94 WestWall
[ "STEP 1: Turn and go to the other side of the table where the lettuce is. | STEP 2: Pick up the lettuce that is on the table. | STEP 3: With the lettuce in hand turn and go to the sink. | STEP 4: Place the lettuce in the middle of the sink and turn the water on to wash it. Turn the water off and pick it up. | STEP 5: With the lettuce in hand go to the fridge. | STEP 6: Open the fridge and place the lettuce to the left of the tomato on the top shelf on top of the object that is there. | END" ]
[ [ "STEP 1: Turn and go to the other side of the table where the lettuce is. ", " STEP 2: Pick up the lettuce that is on the table. ", " STEP 3: With the lettuce in hand turn and go to the sink. ", " STEP 4: Place the lettuce in the middle of the sink and turn the water on to wash it. Turn the water off and pick it up. ", " STEP 5: With the lettuce in hand go to the fridge. ", " STEP 6: Open the fridge and place the lettuce to the left of the tomato on the top shelf on top of the object that is there. ", " END" ] ]
seen
trial_T20190918_190047_847659-0
Put the lettuce from the counter into the fridge after it is cut and washed.
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[ "STEP 1: Go around the fridge and walk to the far wall. Face the counter next to the sink. | STEP 2: Pick up the knife from the counter. | STEP 3: Turn right and then walk to the counter next to the stove. | STEP 4: Cut the lettuce with the knife. | STEP 5: Set the knife down on the counter. | STEP 6: Pick up a slice of lettuce from the counter. | STEP 7: Turn around and walk toward the sink. | STEP 8: Wash the lettuce in the sink. | STEP 9: Go to the fridge with the lettuce. | STEP 10: Put the lettuce in the fridge. | END" ]
[ [ "STEP 1: Go around the fridge and walk to the far wall. Face the counter next to the sink. ", " STEP 2: Pick up the knife from the counter. ", " STEP 3: Turn right and then walk to the counter next to the stove. ", " STEP 4: Cut the lettuce with the knife. ", " STEP 5: Set the knife down on the counter. ", " STEP 6: Pick up a slice of lettuce from the counter. ", " STEP 7: Turn around and walk toward the sink. ", " STEP 8: Wash the lettuce in the sink. ", " STEP 9: Go to the fridge with the lettuce. ", " STEP 10: Put the lettuce in the fridge. ", " END" ] ]
seen
trial_T20190918_190047_847659-1
Put a rinsed slice of lettuce 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 -0.5 0.900 -0.75 0 270 0 1 Potato -0.710 0.970 0.687 0 0 0 61 2 Potato -0.960 0.970 0.843 0 0 0 61 3 ButterKnife 1.669 0.937 0.806 0 0 0 41 4 ButterKnife 1.362 0.937 2.597 0 0 0 41 5 Spatula 1.592 0.952 0.940 0 270 0 41 6 Spatula -0.689 0.761 2.449 0 270 0 37 7 Pot -1.109 0.930 1.865 0 0 0 60 8 Plate -0.804 0.086 2.241 0 0 0 57 9 Bowl 1.391 0.078 1.059 0 0 0 62 10 SaltShaker -0.827 0.742 2.313 0 180 0 37 11 SaltShaker -0.861 0.742 0.779 0 180 0 59 12 Mug -0.971 1.314 0.272 0 90 0 68 13 Mug 1.528 1.002 2.345 0 270 0 41 14 Apple 1.523 0.119 2.945 0 0 0 74 15 Lettuce -0.793 1.028 1.076 0 0 0 61 16 SoapBottle 1.390 0.069 2.879 0 0 0 74 17 Bread -0.923 0.990 2.265 0 302.470 0 36 18 Fork 1.669 0.938 0.940 0 90 0 41 19 Tomato 1.436 0.988 0.840 0 0 0 41 20 Bowl 1.624 1.944 1.363 0 0 0 54 21 Pot -1.109 0.930 1.470 0 0 0 38 22 Spatula -0.896 0.761 0.914 0 90 0 59 23 Knife 1.275 0.768 0.780 0 90 0 66 24 SaltShaker 1.448 0.743 2.595 0 0 0 39 25 Apple 1.619 1.645 1.598 0 270 0 75 26 PepperShaker 1.630 1.497 2.496 0 0 0 55 27 ButterKnife 1.362 0.937 2.118 0 0 0 41 28 Potato -1.209 0.970 0.843 0 0 0 61 29 Plate -1.126 0.942 1.076 0 0 0 61 30 DishSponge 1.430 0.081 2.532 0 0 0 45 31 Egg -0.712 0.973 2.613 0 0 0 36 32 Cup -0.988 0.813 0.348 0 90 0 68 33 Pan 1.378 1.737 0.392 0 270 0 44 34 Spoon -0.793 0.939 0.765 0 0 0 61 35 Mug -0.988 0.810 0.195 0 90 0 68 36 CounterTop -0.973 0.973 2.386 0 0 0 37 Drawer -0.783 0.774 2.381 0 180 0 38 StoveBurner -1.108 0.922 1.470 0 0 0 39 Drawer 1.370 0.774 2.391 0 0 0 40 Stool -0.748 0.008 3.116 0 0 0 41 CounterTop 1.504 0.973 2.309 0 0 0 42 Cabinet 1.219 1.388 0.591 0 0 0 43 Cabinet 1.500 2.113 1.164 0 0 0 44 Cabinet 1.219 2.010 0.591 0 0 0 45 Cabinet 1.219 0.388 2.105 0 0 0 46 Cabinet 1.219 0.553 0.591 0 0 0 47 Cabinet -0.913 2.113 1.164 0 0 0 48 Cabinet -0.633 0.388 0.627 0 0 0 49 Cabinet -0.913 2.050 -0.329 0 0 0 50 Cabinet -0.913 2.113 0.583 0 0 0 51 Cabinet -0.913 2.113 2.082 0 0 0 52 Cabinet -0.913 2.113 1.207 0 0 0 53 Cabinet 1.500 2.113 2.082 0 0 0 54 Cabinet 1.500 2.113 1.207 0 0 0 55 Cabinet 1.500 1.810 2.691 0 0 0 56 Cabinet 1.500 1.810 2.101 0 0 0 57 Cabinet -0.633 0.388 2.105 0 0 0 58 Cabinet -0.911 1.810 2.700 0 180 0 59 Drawer -0.783 0.774 0.915 0 180 0 60 StoveBurner -1.108 0.922 1.865 0 0 0 61 CounterTop -0.972 0.973 0.921 0 0 0 62 Cabinet 1.219 0.388 0.631 0 0 0 63 Sink 1.544 0.869 1.639 0 180 0 64 StoveBurner -0.832 0.922 1.865 0 0 0 65 StoveBurner -0.831 0.922 1.470 0 0 0 66 Drawer 1.370 0.774 0.916 0 0 0 67 Cabinet -0.911 1.810 2.111 0 180 0 68 Fridge -1.001 0.0 0.119 0 0 0 69 StoveKnob -0.648 0.926 1.923 0 270 0 70 StoveKnob -0.648 0.926 1.363 0 270 0 71 StoveKnob -0.648 0.926 1.513 0 270 0 72 StoveKnob -0.648 0.926 1.763 0 270 0 73 Toaster -1.002 0.926 2.561 0 90 0 74 GarbageCan 1.451 -0.029 2.912 0 0 0 75 Microwave 1.632 1.480 1.645 0 270 0 76 Window 0.224 1.601 3.509 90 0 0 77 CoffeeMachine 1.692 0.926 2.453 0 270 0 78 SinkBasin 1.461 0.833 1.369 0 180 0 79 LightSwitch 0.451 1.412 -1.674 0 0 0 80 Faucet 1.707 0.925 1.363 0 270 0 81 NorthWall 82 EastWall 83 SouthWall 84 WestWall
[ "STEP 1: Turn right, go across the room, turn right and head toward the sink. | STEP 2: Pick up the knife to the left of the sink. | STEP 3: Turn around and go to the counter with the lettuce on it. | STEP 4: Cut the lettuce on the counter. | STEP 5: Put the knife on the spoon on the counter. | STEP 6: Pick up a slice of lettuce from the counter. | STEP 7: Turn around and head to the sink. | STEP 8: Put the lettuce in the sink, rinse it and pick it back up. | STEP 9: Turn around and go to the fridge. | STEP 10: Put the lettuce in the fridge on the second shelf. | END" ]
[ [ "STEP 1: Turn right, go across the room, turn right and head toward the sink. ", " STEP 2: Pick up the knife to the left of the sink. ", " STEP 3: Turn around and go to the counter with the lettuce on it. ", " STEP 4: Cut the lettuce on the counter. ", " STEP 5: Put the knife on the spoon on the counter. ", " STEP 6: Pick up a slice of lettuce from the counter. ", " STEP 7: Turn around and head to the sink. ", " STEP 8: Put the lettuce in the sink, rinse it and pick it back up. ", " STEP 9: Turn around and go to the fridge. ", " STEP 10: Put the lettuce in the fridge on the second shelf. ", " END" ] ]
seen
trial_T20190918_190047_847659-2
TO wash a lettuce slice and place it in the fridge.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -0.5 0.900 -0.75 0 270 0 1 Potato -0.710 0.970 0.687 0 0 0 61 2 Potato -0.960 0.970 0.843 0 0 0 61 3 ButterKnife 1.669 0.937 0.806 0 0 0 41 4 ButterKnife 1.362 0.937 2.597 0 0 0 41 5 Spatula 1.592 0.952 0.940 0 270 0 41 6 Spatula -0.689 0.761 2.449 0 270 0 37 7 Pot -1.109 0.930 1.865 0 0 0 60 8 Plate -0.804 0.086 2.241 0 0 0 57 9 Bowl 1.391 0.078 1.059 0 0 0 62 10 SaltShaker -0.827 0.742 2.313 0 180 0 37 11 SaltShaker -0.861 0.742 0.779 0 180 0 59 12 Mug -0.971 1.314 0.272 0 90 0 68 13 Mug 1.528 1.002 2.345 0 270 0 41 14 Apple 1.523 0.119 2.945 0 0 0 74 15 Lettuce -0.793 1.028 1.076 0 0 0 61 16 SoapBottle 1.390 0.069 2.879 0 0 0 74 17 Bread -0.923 0.990 2.265 0 302.470 0 36 18 Fork 1.669 0.938 0.940 0 90 0 41 19 Tomato 1.436 0.988 0.840 0 0 0 41 20 Bowl 1.624 1.944 1.363 0 0 0 54 21 Pot -1.109 0.930 1.470 0 0 0 38 22 Spatula -0.896 0.761 0.914 0 90 0 59 23 Knife 1.275 0.768 0.780 0 90 0 66 24 SaltShaker 1.448 0.743 2.595 0 0 0 39 25 Apple 1.619 1.645 1.598 0 270 0 75 26 PepperShaker 1.630 1.497 2.496 0 0 0 55 27 ButterKnife 1.362 0.937 2.118 0 0 0 41 28 Potato -1.209 0.970 0.843 0 0 0 61 29 Plate -1.126 0.942 1.076 0 0 0 61 30 DishSponge 1.430 0.081 2.532 0 0 0 45 31 Egg -0.712 0.973 2.613 0 0 0 36 32 Cup -0.988 0.813 0.348 0 90 0 68 33 Pan 1.378 1.737 0.392 0 270 0 44 34 Spoon -0.793 0.939 0.765 0 0 0 61 35 Mug -0.988 0.810 0.195 0 90 0 68 36 CounterTop -0.973 0.973 2.386 0 0 0 37 Drawer -0.783 0.774 2.381 0 180 0 38 StoveBurner -1.108 0.922 1.470 0 0 0 39 Drawer 1.370 0.774 2.391 0 0 0 40 Stool -0.748 0.008 3.116 0 0 0 41 CounterTop 1.504 0.973 2.309 0 0 0 42 Cabinet 1.219 1.388 0.591 0 0 0 43 Cabinet 1.500 2.113 1.164 0 0 0 44 Cabinet 1.219 2.010 0.591 0 0 0 45 Cabinet 1.219 0.388 2.105 0 0 0 46 Cabinet 1.219 0.553 0.591 0 0 0 47 Cabinet -0.913 2.113 1.164 0 0 0 48 Cabinet -0.633 0.388 0.627 0 0 0 49 Cabinet -0.913 2.050 -0.329 0 0 0 50 Cabinet -0.913 2.113 0.583 0 0 0 51 Cabinet -0.913 2.113 2.082 0 0 0 52 Cabinet -0.913 2.113 1.207 0 0 0 53 Cabinet 1.500 2.113 2.082 0 0 0 54 Cabinet 1.500 2.113 1.207 0 0 0 55 Cabinet 1.500 1.810 2.691 0 0 0 56 Cabinet 1.500 1.810 2.101 0 0 0 57 Cabinet -0.633 0.388 2.105 0 0 0 58 Cabinet -0.911 1.810 2.700 0 180 0 59 Drawer -0.783 0.774 0.915 0 180 0 60 StoveBurner -1.108 0.922 1.865 0 0 0 61 CounterTop -0.972 0.973 0.921 0 0 0 62 Cabinet 1.219 0.388 0.631 0 0 0 63 Sink 1.544 0.869 1.639 0 180 0 64 StoveBurner -0.832 0.922 1.865 0 0 0 65 StoveBurner -0.831 0.922 1.470 0 0 0 66 Drawer 1.370 0.774 0.916 0 0 0 67 Cabinet -0.911 1.810 2.111 0 180 0 68 Fridge -1.001 0.0 0.119 0 0 0 69 StoveKnob -0.648 0.926 1.923 0 270 0 70 StoveKnob -0.648 0.926 1.363 0 270 0 71 StoveKnob -0.648 0.926 1.513 0 270 0 72 StoveKnob -0.648 0.926 1.763 0 270 0 73 Toaster -1.002 0.926 2.561 0 90 0 74 GarbageCan 1.451 -0.029 2.912 0 0 0 75 Microwave 1.632 1.480 1.645 0 270 0 76 Window 0.224 1.601 3.509 90 0 0 77 CoffeeMachine 1.692 0.926 2.453 0 270 0 78 SinkBasin 1.461 0.833 1.369 0 180 0 79 LightSwitch 0.451 1.412 -1.674 0 0 0 80 Faucet 1.707 0.925 1.363 0 270 0 81 NorthWall 82 EastWall 83 SouthWall 84 WestWall
[ "STEP 1: Turn around and cross the room to face the sink. | STEP 2: Pick up the knife on the sink. | STEP 3: Turn around and cross the room to face the lettuce on the counter. | STEP 4: Cut the lettuce on the counter into slices. | STEP 5: Place the knife on the counter. | STEP 6: Pick up a slice of lettuce on the counter. | STEP 7: Turn around and cross the room to face the sink. | STEP 8: Wash the lettuce slice in the sink and remove it. | STEP 9: Turn around and walk forward to face the fridge. | STEP 10: Place the lettuce slice in the fridge. | END" ]
[ [ "STEP 1: Turn around and cross the room to face the sink. ", " STEP 2: Pick up the knife on the sink. ", " STEP 3: Turn around and cross the room to face the lettuce on the counter. ", " STEP 4: Cut the lettuce on the counter into slices. ", " STEP 5: Place the knife on the counter. ", " STEP 6: Pick up a slice of lettuce on the counter. ", " STEP 7: Turn around and cross the room to face the sink. ", " STEP 8: Wash the lettuce slice in the sink and remove it. ", " STEP 9: Turn around and walk forward to face the fridge. ", " STEP 10: Place the lettuce slice in the fridge. ", " END" ] ]
seen
trial_T20190906_203202_877300-0
cool a break loaf using 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 -1.25 0.900 2.75 0 180 0 1 Potato -2.840 0.862 0.129 0 0 0 46 2 Ladle -2.491 0.867 0.426 0 0 0 46 3 DishSponge -2.491 0.823 0.129 0 0 0 46 4 ButterKnife -0.092 0.823 1.103 0 0 0 46 5 Spoon -1.189 0.699 0.444 0 270 0 50 6 Spoon -0.400 0.824 0.770 0 0 0 46 7 Spatula -0.477 0.838 0.881 0 270 0 46 8 Egg -1.550 0.721 0.295 0 0 0 73 9 Egg -2.910 0.945 1.125 0 90 0 65 10 Plate -2.724 1.439 0.288 0 45 0 52 11 Tomato -0.169 0.873 1.214 0 0 0 46 12 SaltShaker -1.637 0.120 0.440 0 0 0 59 13 SaltShaker -1.885 0.120 0.362 0 0 0 58 14 PepperShaker -2.115 0.120 0.323 0 0 0 58 15 PepperShaker -0.147 0.818 0.426 0 0 0 46 16 Mug -1.407 0.120 0.440 0 0 0 59 17 Mug -0.646 0.888 0.367 0 0 0 74 18 Apple -0.395 0.129 2.572 0 90 0 66 19 Fork -2.698 0.692 1.547 0 270 0 51 20 Ladle -0.371 0.738 0.879 0 45 0 48 21 Pan -0.244 0.829 1.684 0 0 0 45 22 SoapBottle -2.375 0.821 0.500 0 0 0 46 23 Pot -0.518 0.829 2.075 0 180 0 43 24 Tomato -2.669 1.181 2.373 0 0 0 64 25 Potato -0.262 0.095 2.606 0 0 0 66 26 SaltShaker -2.929 1.429 1.049 0 0 0 54 27 Plate -2.569 0.126 1.471 0 0 0 57 28 Spatula -2.957 0.838 0.352 0 180 0 46 29 Knife -2.724 0.849 0.426 0 180 0 46 30 Egg -1.412 0.721 0.253 0 0 0 73 31 Cup -2.057 0.125 0.440 0 0 0 58 32 ButterKnife -2.608 0.823 0.203 0 0 0 46 33 Lettuce -1.836 0.741 0.238 0 55.910 0 73 34 PepperShaker -0.477 0.818 1.326 0 0 0 46 35 DishSponge -2.540 1.848 2.264 0 0 0 56 36 Bread -0.979 0.855 0.249 0 29.999 0 46 37 Spoon -2.563 0.693 1.474 0 90 0 51 38 Mug -2.462 1.844 1.978 0 0 0 40 39 Bowl -2.810 0.918 1.337 0 90 0 65 40 Cabinet -2.377 2.015 1.720 0 0 0 41 StoveBurner -0.244 0.820 2.075 0 180 0 42 Drawer -0.402 0.703 1.252 0 0 0 43 StoveBurner -0.518 0.820 2.075 0 180 0 44 Sink -1.838 0.726 0.343 0 180 0 45 StoveBurner -0.244 0.820 1.684 0 0 0 46 CounterTop -1.557 0.859 0.277 0 0 0 47 StoveBurner -0.518 0.820 1.684 0 0 0 48 Drawer -0.404 0.704 0.912 0 0 0 49 Drawer -0.861 0.709 0.420 0 0 0 50 Drawer -1.133 0.706 0.418 0 0 0 51 Drawer -2.589 0.703 1.511 0 0 0 52 Cabinet -2.772 1.803 0.508 0 0 0 53 Cabinet -2.460 1.803 0.231 0 0 0 54 Cabinet -2.781 1.798 0.825 0 0 0 55 Cabinet -2.781 1.798 0.815 0 0 0 56 Cabinet -2.377 2.009 2.581 0 0 0 57 Cabinet -2.442 0.385 1.672 0 0 0 58 Cabinet -2.238 0.385 0.564 0 0 0 59 Cabinet -1.286 0.385 0.564 0 0 0 60 Cabinet -1.262 0.385 0.565 0 0 0 61 Cabinet -0.734 0.385 0.565 0 0 0 62 Cabinet -0.549 0.385 0.751 0 0 0 63 Cabinet -0.549 0.385 1.412 0 0 0 64 Fridge -2.782 0.0 2.221 0 0 0 65 Microwave -2.794 0.812 1.348 0 90 0 66 GarbageCan -0.329 2.205 2.606 0 0 0 67 StoveKnob -0.069 0.998 1.773 0 180 107.470 68 StoveKnob -0.069 0.998 1.613 0 180 107.470 69 StoveKnob -0.069 0.998 2.171 0 180 107.470 70 StoveKnob -0.069 0.998 2.024 0 180 107.470 71 Window -1.720 1.342 -0.208 90 0 0 72 Toaster -0.171 0.812 0.735 0 270 0 73 SinkBasin -1.745 0.687 0.295 0 0 0 74 CoffeeMachine -0.539 0.812 0.185 0 0 0 75 LightSwitch -0.615 1.378 3.0 0 180 0 76 Faucet -1.686 0.954 0.176 0 236.223 0 77 Stool -1.008 0.008 1.955 0 18.279 0 78 NorthWall 79 EastWall 80 SouthWall 81 WestWall
[ "STEP 1: move forward towards the cupboard | STEP 2: pick up the tray with a bread on it | STEP 3: turn around towards the door and turn left and head for the refrigerator | STEP 4: open the refrigerator put the bread in it for a minute and take the bread out | STEP 5: turn left and head towards the sink | STEP 6: place the bread at the side of the sink | END" ]
[ [ "STEP 1: move forward towards the cupboard ", " STEP 2: pick up the tray with a bread on it ", " STEP 3: turn around towards the door and turn left and head for the refrigerator ", " STEP 4: open the refrigerator put the bread in it for a minute and take the bread out ", " STEP 5: turn left and head towards the sink ", " STEP 6: place the bread at the side of the sink ", " END" ] ]
seen
trial_T20190906_203202_877300-1
Place chilled bread 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 -1.25 0.900 2.75 0 180 0 1 Potato -2.840 0.862 0.129 0 0 0 46 2 Ladle -2.491 0.867 0.426 0 0 0 46 3 DishSponge -2.491 0.823 0.129 0 0 0 46 4 ButterKnife -0.092 0.823 1.103 0 0 0 46 5 Spoon -1.189 0.699 0.444 0 270 0 50 6 Spoon -0.400 0.824 0.770 0 0 0 46 7 Spatula -0.477 0.838 0.881 0 270 0 46 8 Egg -1.550 0.721 0.295 0 0 0 73 9 Egg -2.910 0.945 1.125 0 90 0 65 10 Plate -2.724 1.439 0.288 0 45 0 52 11 Tomato -0.169 0.873 1.214 0 0 0 46 12 SaltShaker -1.637 0.120 0.440 0 0 0 59 13 SaltShaker -1.885 0.120 0.362 0 0 0 58 14 PepperShaker -2.115 0.120 0.323 0 0 0 58 15 PepperShaker -0.147 0.818 0.426 0 0 0 46 16 Mug -1.407 0.120 0.440 0 0 0 59 17 Mug -0.646 0.888 0.367 0 0 0 74 18 Apple -0.395 0.129 2.572 0 90 0 66 19 Fork -2.698 0.692 1.547 0 270 0 51 20 Ladle -0.371 0.738 0.879 0 45 0 48 21 Pan -0.244 0.829 1.684 0 0 0 45 22 SoapBottle -2.375 0.821 0.500 0 0 0 46 23 Pot -0.518 0.829 2.075 0 180 0 43 24 Tomato -2.669 1.181 2.373 0 0 0 64 25 Potato -0.262 0.095 2.606 0 0 0 66 26 SaltShaker -2.929 1.429 1.049 0 0 0 54 27 Plate -2.569 0.126 1.471 0 0 0 57 28 Spatula -2.957 0.838 0.352 0 180 0 46 29 Knife -2.724 0.849 0.426 0 180 0 46 30 Egg -1.412 0.721 0.253 0 0 0 73 31 Cup -2.057 0.125 0.440 0 0 0 58 32 ButterKnife -2.608 0.823 0.203 0 0 0 46 33 Lettuce -1.836 0.741 0.238 0 55.910 0 73 34 PepperShaker -0.477 0.818 1.326 0 0 0 46 35 DishSponge -2.540 1.848 2.264 0 0 0 56 36 Bread -0.979 0.855 0.249 0 29.999 0 46 37 Spoon -2.563 0.693 1.474 0 90 0 51 38 Mug -2.462 1.844 1.978 0 0 0 40 39 Bowl -2.810 0.918 1.337 0 90 0 65 40 Cabinet -2.377 2.015 1.720 0 0 0 41 StoveBurner -0.244 0.820 2.075 0 180 0 42 Drawer -0.402 0.703 1.252 0 0 0 43 StoveBurner -0.518 0.820 2.075 0 180 0 44 Sink -1.838 0.726 0.343 0 180 0 45 StoveBurner -0.244 0.820 1.684 0 0 0 46 CounterTop -1.557 0.859 0.277 0 0 0 47 StoveBurner -0.518 0.820 1.684 0 0 0 48 Drawer -0.404 0.704 0.912 0 0 0 49 Drawer -0.861 0.709 0.420 0 0 0 50 Drawer -1.133 0.706 0.418 0 0 0 51 Drawer -2.589 0.703 1.511 0 0 0 52 Cabinet -2.772 1.803 0.508 0 0 0 53 Cabinet -2.460 1.803 0.231 0 0 0 54 Cabinet -2.781 1.798 0.825 0 0 0 55 Cabinet -2.781 1.798 0.815 0 0 0 56 Cabinet -2.377 2.009 2.581 0 0 0 57 Cabinet -2.442 0.385 1.672 0 0 0 58 Cabinet -2.238 0.385 0.564 0 0 0 59 Cabinet -1.286 0.385 0.564 0 0 0 60 Cabinet -1.262 0.385 0.565 0 0 0 61 Cabinet -0.734 0.385 0.565 0 0 0 62 Cabinet -0.549 0.385 0.751 0 0 0 63 Cabinet -0.549 0.385 1.412 0 0 0 64 Fridge -2.782 0.0 2.221 0 0 0 65 Microwave -2.794 0.812 1.348 0 90 0 66 GarbageCan -0.329 2.205 2.606 0 0 0 67 StoveKnob -0.069 0.998 1.773 0 180 107.470 68 StoveKnob -0.069 0.998 1.613 0 180 107.470 69 StoveKnob -0.069 0.998 2.171 0 180 107.470 70 StoveKnob -0.069 0.998 2.024 0 180 107.470 71 Window -1.720 1.342 -0.208 90 0 0 72 Toaster -0.171 0.812 0.735 0 270 0 73 SinkBasin -1.745 0.687 0.295 0 0 0 74 CoffeeMachine -0.539 0.812 0.185 0 0 0 75 LightSwitch -0.615 1.378 3.0 0 180 0 76 Faucet -1.686 0.954 0.176 0 236.223 0 77 Stool -1.008 0.008 1.955 0 18.279 0 78 NorthWall 79 EastWall 80 SouthWall 81 WestWall
[ "STEP 1: Turn right, take a step, turn left, take two steps, turn left, walk to the stove, turn right, take a step. | STEP 2: Pick up the bread that is on the counter. | STEP 3: Turn right, take a couple of steps, turn right, walk to the other side of the room, turn left, step towards the refrigerator. | STEP 4: Open the refrigerator, place the bread on the shelf above the drawers, shut the refrigerator door, wait five seconds, open the refrigerator door, take out the bread, close the refrigerator door. | STEP 5: Turn left, walk to the sink. | STEP 6: Place the bread on the counter next to the sink. | END" ]
[ [ "STEP 1: Turn right, take a step, turn left, take two steps, turn left, walk to the stove, turn right, take a step. ", " STEP 2: Pick up the bread that is on the counter. ", " STEP 3: Turn right, take a couple of steps, turn right, walk to the other side of the room, turn left, step towards the refrigerator. ", " STEP 4: Open the refrigerator, place the bread on the shelf above the drawers, shut the refrigerator door, wait five seconds, open the refrigerator door, take out the bread, close the refrigerator door. ", " STEP 5: Turn left, walk to the sink. ", " STEP 6: Place the bread on the counter next to the sink. ", " END" ] ]
seen
trial_T20190906_203202_877300-2
Cool down the bread from the counter.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.25 0.900 2.75 0 180 0 1 Potato -2.840 0.862 0.129 0 0 0 46 2 Ladle -2.491 0.867 0.426 0 0 0 46 3 DishSponge -2.491 0.823 0.129 0 0 0 46 4 ButterKnife -0.092 0.823 1.103 0 0 0 46 5 Spoon -1.189 0.699 0.444 0 270 0 50 6 Spoon -0.400 0.824 0.770 0 0 0 46 7 Spatula -0.477 0.838 0.881 0 270 0 46 8 Egg -1.550 0.721 0.295 0 0 0 73 9 Egg -2.910 0.945 1.125 0 90 0 65 10 Plate -2.724 1.439 0.288 0 45 0 52 11 Tomato -0.169 0.873 1.214 0 0 0 46 12 SaltShaker -1.637 0.120 0.440 0 0 0 59 13 SaltShaker -1.885 0.120 0.362 0 0 0 58 14 PepperShaker -2.115 0.120 0.323 0 0 0 58 15 PepperShaker -0.147 0.818 0.426 0 0 0 46 16 Mug -1.407 0.120 0.440 0 0 0 59 17 Mug -0.646 0.888 0.367 0 0 0 74 18 Apple -0.395 0.129 2.572 0 90 0 66 19 Fork -2.698 0.692 1.547 0 270 0 51 20 Ladle -0.371 0.738 0.879 0 45 0 48 21 Pan -0.244 0.829 1.684 0 0 0 45 22 SoapBottle -2.375 0.821 0.500 0 0 0 46 23 Pot -0.518 0.829 2.075 0 180 0 43 24 Tomato -2.669 1.181 2.373 0 0 0 64 25 Potato -0.262 0.095 2.606 0 0 0 66 26 SaltShaker -2.929 1.429 1.049 0 0 0 54 27 Plate -2.569 0.126 1.471 0 0 0 57 28 Spatula -2.957 0.838 0.352 0 180 0 46 29 Knife -2.724 0.849 0.426 0 180 0 46 30 Egg -1.412 0.721 0.253 0 0 0 73 31 Cup -2.057 0.125 0.440 0 0 0 58 32 ButterKnife -2.608 0.823 0.203 0 0 0 46 33 Lettuce -1.836 0.741 0.238 0 55.910 0 73 34 PepperShaker -0.477 0.818 1.326 0 0 0 46 35 DishSponge -2.540 1.848 2.264 0 0 0 56 36 Bread -0.979 0.855 0.249 0 29.999 0 46 37 Spoon -2.563 0.693 1.474 0 90 0 51 38 Mug -2.462 1.844 1.978 0 0 0 40 39 Bowl -2.810 0.918 1.337 0 90 0 65 40 Cabinet -2.377 2.015 1.720 0 0 0 41 StoveBurner -0.244 0.820 2.075 0 180 0 42 Drawer -0.402 0.703 1.252 0 0 0 43 StoveBurner -0.518 0.820 2.075 0 180 0 44 Sink -1.838 0.726 0.343 0 180 0 45 StoveBurner -0.244 0.820 1.684 0 0 0 46 CounterTop -1.557 0.859 0.277 0 0 0 47 StoveBurner -0.518 0.820 1.684 0 0 0 48 Drawer -0.404 0.704 0.912 0 0 0 49 Drawer -0.861 0.709 0.420 0 0 0 50 Drawer -1.133 0.706 0.418 0 0 0 51 Drawer -2.589 0.703 1.511 0 0 0 52 Cabinet -2.772 1.803 0.508 0 0 0 53 Cabinet -2.460 1.803 0.231 0 0 0 54 Cabinet -2.781 1.798 0.825 0 0 0 55 Cabinet -2.781 1.798 0.815 0 0 0 56 Cabinet -2.377 2.009 2.581 0 0 0 57 Cabinet -2.442 0.385 1.672 0 0 0 58 Cabinet -2.238 0.385 0.564 0 0 0 59 Cabinet -1.286 0.385 0.564 0 0 0 60 Cabinet -1.262 0.385 0.565 0 0 0 61 Cabinet -0.734 0.385 0.565 0 0 0 62 Cabinet -0.549 0.385 0.751 0 0 0 63 Cabinet -0.549 0.385 1.412 0 0 0 64 Fridge -2.782 0.0 2.221 0 0 0 65 Microwave -2.794 0.812 1.348 0 90 0 66 GarbageCan -0.329 2.205 2.606 0 0 0 67 StoveKnob -0.069 0.998 1.773 0 180 107.470 68 StoveKnob -0.069 0.998 1.613 0 180 107.470 69 StoveKnob -0.069 0.998 2.171 0 180 107.470 70 StoveKnob -0.069 0.998 2.024 0 180 107.470 71 Window -1.720 1.342 -0.208 90 0 0 72 Toaster -0.171 0.812 0.735 0 270 0 73 SinkBasin -1.745 0.687 0.295 0 0 0 74 CoffeeMachine -0.539 0.812 0.185 0 0 0 75 LightSwitch -0.615 1.378 3.0 0 180 0 76 Faucet -1.686 0.954 0.176 0 236.223 0 77 Stool -1.008 0.008 1.955 0 18.279 0 78 NorthWall 79 EastWall 80 SouthWall 81 WestWall
[ "STEP 1: Walk straight towards the bread on the counter. | STEP 2: Pick up the bread on the counter. | STEP 3: Turn right, walk towards the door, and then turn left towards the fridge. | STEP 4: Open the bottom part of the fridge, place the loaf inside the frige, cool it down, and then take it out of the fridge. | STEP 5: Turn left and head towards the sink. | STEP 6: Place the bread next to the sink | END" ]
[ [ "STEP 1: Walk straight towards the bread on the counter. ", " STEP 2: Pick up the bread on the counter. ", " STEP 3: Turn right, walk towards the door, and then turn left towards the fridge. ", " STEP 4: Open the bottom part of the fridge, place the loaf inside the frige, cool it down, and then take it out of the fridge. ", " STEP 5: Turn left and head towards the sink. ", " STEP 6: Place the bread next to the sink ", " END" ] ]
seen
trial_T20190908_062730_537428-0
Put a warmed cup under a coffee pot.
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-3.813", " 0.785", " -3.275", " 0", " 334.125", " 0", " 82" ], [ "12", " Knife", " -3.766", " 0.785", " -2.877", " 0", " 334.125", " 0", " 82" ], [ "13", " SoapBottle", " -4.122", " 0.688", " -0.430", " 0", " 270", " 0", " 81" ], [ "14", " Tomato", " -0.417", " 1.337", " -0.529", " 0", " 270", " 0", " 76" ], [ "15", " Tomato", " -0.334", " 1.337", " -0.413", " 0", " 270", " 0", " 76" ], [ "16", " Lettuce", " -3.364", " 0.985", " -0.462", " 0", " 270", " 0", " 83" ], [ "17", " Lettuce", " -0.359", " 1.579", " -0.529", " 0", " 270", " 0", " 76" ], [ "18", " SaltShaker", " -0.394", " 0.937", " -1.538", " 0", " 0", " 0", " 64" ], [ "19", " SaltShaker", " -4.242", " 0.686", " -0.369", " 0", " 0", " 0", " 81" ], [ "20", " Mug", " -4.002", " 0.686", " -0.430", " 0", " 0", " 0", " 81" ], [ "21", " Mug", " -3.163", " 0.889", " -0.633", " 0", " 270", " 0", " 83" ], [ "22", " Mug", " -4.122", " 0.685", " -0.309", " 0", " 0", " 0", " 81" ], [ "23", " Apple", " -0.134", " 1.640", " -2.096", " 0", " 270", " 0", " 78" ], [ "24", " Apple", " -0.293", " 1.348", " -0.646", " 0", " 270", " 0", " 76" ], [ "25", " SoapBottle", " -3.629", " 0.758", " -3.153", " 0", " 289.125", " 0", " 82" ], [ "26", " Pot", " -0.437", " 0.961", " -1.845", " 0", " 180", " 0", " 47" ], [ "27", " Fork", " -0.436", " 0.747", " -1.413", " 0", " 270", " 0", " 50" ], [ "28", " Cup", " -0.201", " 1.576", " -1.937", " 0", " 270", " 0", " 78" ], [ "29", " Tomato", " -1.077", " 0.993", " -3.711", " 0", " 45", " 0", " 46" ], [ "30", " Pan", " -0.222", " 0.961", " -2.243", " 0", " 0", " 0", " 65" ], [ "31", " Plate", " -3.418", " 0.774", " -3.738", " 0", " 334.125", " 0", " 82" ], [ "32", " Bread", " -2.984", " 0.956", " -0.311", " 0", " 50.592", " 0", " 83" ], [ "33", " Spatula", " -0.440", " 0.766", " -2.846", " 0", " 90", " 0", " 51" ], [ "34", " Knife", " -2.560", " 0.920", " -0.376", " 0", " 270", " 0", " 83" ], [ "35", " SaltShaker", " -0.251", " 1.498", " -2.964", " 0", " 0", " 0", " 58" ], [ "36", " 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-1.845", " 0", " 180", " 0", "" ], [ "49", " StoveBurner", " -0.437", " 0.924", " -2.243", " 0", " 0", " 0", "" ], [ "50", " Drawer", " -0.500", " 0.779", " -1.450", " 0", " 0", " 0", "" ], [ "51", " Drawer", " -0.481", " 0.777", " -2.739", " 0", " 0", " 0", "" ], [ "52", " Drawer", " -1.154", " 0.782", " -3.499", " 0", " 0", " 0", "" ], [ "53", " Cabinet", " -0.337", " 2.110", " -0.390", " 0", " 0", " 0", "" ], [ "54", " Cabinet", " -0.337", " 2.110", " -1.272", " 0", " 0", " 0", "" ], [ "55", " Cabinet", " -0.337", " 2.110", " -1.631", " 0", " 0", " 0", "" ], [ "56", " Cabinet", " -0.337", " 2.110", " -2.497", " 0", " 0", " 0", "" ], [ "57", " Cabinet", " -0.337", " 1.891", " -1.286", " 0", " 0", " 0", "" ], [ "58", " Cabinet", " -0.346", " 1.891", " -3.293", " 0", " 0", " 0", "" ], [ "59", " Cabinet", " -0.629", " 0.388", " -2.513", " 0", " 0", " 0", "" ], [ "60", " Cabinet", " -0.633", " 0.388", " -3.008", " 0", " 0", " 0", "" ], [ "61", " Cabinet", " -1.010", " 0.388", " -3.368", " 0", " 0", " 0", "" ], [ "62", " Cabinet", " -0.629", " 0.388", " -1.614", " 0", " 0", " 0", "" ], [ "63", " Cabinet", " -0.327", " 1.886", " -2.513", " 0", " 0", " 0", "" ], [ "64", " CounterTop", " -0.326", " 0.976", " -1.450", " 0", " 0", " 0", "" ], [ "65", " StoveBurner", " -0.222", " 0.924", " -2.243", " 0", " 0", " 0", "" ], [ "66", " Sink", " -0.600", " 0.929", " -3.388", " 0", " 0", " 0", "" ], [ "67", " StoveKnob", " -0.617", " 0.899", " -1.833", " 315", " 90", " 180", "" ], [ "68", " StoveKnob", " -0.617", " 0.899", " -2.129", " 315", " 90", " 180", "" ], [ "69", " StoveKnob", " -0.617", " 0.899", " -2.289", " 315", " 90", " 180", "" ], [ "70", " StoveKnob", " -0.617", " 0.899", " -1.975", " 315", " 90", " 180", "" ], [ "71", " GarbageCan", " -2.418", " -0.032", " -3.541", " 0", " 0", " 0", "" ], [ "72", " CoffeeMachine", " -2.513", " 0.930", " -3.797", " 0", " 0", " 0", "" ], [ "73", " Window", " -1.389", " 1.610", " -4.113", " 90", " 0", " 0", "" ], [ "74", " LightSwitch", " -4.372", " 1.493", " -1.031", " 0", " 90", " 0", "" ], [ "75", " SinkBasin", " -0.614", " 0.802", " -3.384", " 0", " 315", " 0", "" ], [ "76", " Fridge", " -0.314", " 0.0", " -0.646", " 0", " 0", " 0", "" ], [ "77", " Toaster", " -1.970", " 0.930", " -3.763", " 0", " 0", " 0", "" ], [ "78", " Microwave", " -0.216", " 1.470", " -2.054", " 0", " 270", " 0", "" ], [ "79", " Blinds", " -1.373", " 2.205", " -3.961", " 0", " 0", " 0", "" ], [ "80", " Faucet", " -0.393", " 0.930", " -3.614", " 270", " 225", " 0", "" ], [ "81", " SideTable", " -4.030", " 0.002", " -0.301", " 0", " 185.034", " 0", "" ], [ "82", " DiningTable", " -3.586", " 0.000", " -3.258", " 0", " 0", " 0", "" ], [ "83", " DiningTable", " -3.224", " -0.003", " -0.453", " 0", " 0", " 0", "" ], [ "84", " Shelf", " -4.030", " 0.259", " -0.301", " 0", " 185.034", " 0", "" ], [ "85", " Shelf", " -4.030", " 0.489", " -0.301", " 0", " 185.034", " 0", "" ], [ "86", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "87", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "88", " SouthWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.0 0.900 -0.5 0 270 0 1 Potato -2.354 0.131 -3.505 0 0 0 71 2 Potato -0.626 0.845 -3.240 0 315 0 75 3 Fork -2.761 0.895 -0.119 0 0 0 83 4 Spoon -3.942 0.691 -0.187 0 0 0 81 5 Spoon -2.359 0.895 -0.204 0 270 0 83 6 Spatula -3.364 0.909 -0.119 0 0 0 83 7 Egg -0.283 1.529 -0.762 0 270 0 76 8 Egg -4.062 0.731 -0.187 0 0 0 81 9 Cup -2.359 0.895 -0.633 0 270 0 83 10 Cup -0.240 0.943 -3.015 0 45 0 46 11 Knife -3.813 0.785 -3.275 0 334.125 0 82 12 Knife -3.766 0.785 -2.877 0 334.125 0 82 13 SoapBottle -4.122 0.688 -0.430 0 270 0 81 14 Tomato -0.417 1.337 -0.529 0 270 0 76 15 Tomato -0.334 1.337 -0.413 0 270 0 76 16 Lettuce -3.364 0.985 -0.462 0 270 0 83 17 Lettuce -0.359 1.579 -0.529 0 270 0 76 18 SaltShaker -0.394 0.937 -1.538 0 0 0 64 19 SaltShaker -4.242 0.686 -0.369 0 0 0 81 20 Mug -4.002 0.686 -0.430 0 0 0 81 21 Mug -3.163 0.889 -0.633 0 270 0 83 22 Mug -4.122 0.685 -0.309 0 0 0 81 23 Apple -0.134 1.640 -2.096 0 270 0 78 24 Apple -0.293 1.348 -0.646 0 270 0 76 25 SoapBottle -3.629 0.758 -3.153 0 289.125 0 82 26 Pot -0.437 0.961 -1.845 0 180 0 47 27 Fork -0.436 0.747 -1.413 0 270 0 50 28 Cup -0.201 1.576 -1.937 0 270 0 78 29 Tomato -1.077 0.993 -3.711 0 45 0 46 30 Pan -0.222 0.961 -2.243 0 0 0 65 31 Plate -3.418 0.774 -3.738 0 334.125 0 82 32 Bread -2.984 0.956 -0.311 0 50.592 0 83 33 Spatula -0.440 0.766 -2.846 0 90 0 51 34 Knife -2.560 0.920 -0.376 0 270 0 83 35 SaltShaker -0.251 1.498 -2.964 0 0 0 58 36 PepperShaker -3.163 0.890 -0.290 0 270 0 83 37 ButterKnife -3.364 0.894 -0.548 0 270 0 83 38 Apple -3.882 0.752 -0.248 0 0 0 81 39 DishSponge -2.485 0.099 -3.571 0 0 0 71 40 Potato -0.473 0.973 -1.406 0 0 0 64 41 Egg -2.485 0.140 -3.472 0 0 0 71 42 Spoon -3.350 0.761 -2.922 0 199.125 0 82 43 Lettuce -3.565 0.985 -0.204 0 270 0 83 44 Mug -0.397 1.483 -0.762 0 270 0 76 45 Bowl -0.566 0.811 -3.415 0 315 0 75 46 CounterTop -1.937 0.977 -3.673 0 0 0 47 StoveBurner -0.437 0.924 -1.845 0 180 0 48 StoveBurner -0.222 0.924 -1.845 0 180 0 49 StoveBurner -0.437 0.924 -2.243 0 0 0 50 Drawer -0.500 0.779 -1.450 0 0 0 51 Drawer -0.481 0.777 -2.739 0 0 0 52 Drawer -1.154 0.782 -3.499 0 0 0 53 Cabinet -0.337 2.110 -0.390 0 0 0 54 Cabinet -0.337 2.110 -1.272 0 0 0 55 Cabinet -0.337 2.110 -1.631 0 0 0 56 Cabinet -0.337 2.110 -2.497 0 0 0 57 Cabinet -0.337 1.891 -1.286 0 0 0 58 Cabinet -0.346 1.891 -3.293 0 0 0 59 Cabinet -0.629 0.388 -2.513 0 0 0 60 Cabinet -0.633 0.388 -3.008 0 0 0 61 Cabinet -1.010 0.388 -3.368 0 0 0 62 Cabinet -0.629 0.388 -1.614 0 0 0 63 Cabinet -0.327 1.886 -2.513 0 0 0 64 CounterTop -0.326 0.976 -1.450 0 0 0 65 StoveBurner -0.222 0.924 -2.243 0 0 0 66 Sink -0.600 0.929 -3.388 0 0 0 67 StoveKnob -0.617 0.899 -1.833 315 90 180 68 StoveKnob -0.617 0.899 -2.129 315 90 180 69 StoveKnob -0.617 0.899 -2.289 315 90 180 70 StoveKnob -0.617 0.899 -1.975 315 90 180 71 GarbageCan -2.418 -0.032 -3.541 0 0 0 72 CoffeeMachine -2.513 0.930 -3.797 0 0 0 73 Window -1.389 1.610 -4.113 90 0 0 74 LightSwitch -4.372 1.493 -1.031 0 90 0 75 SinkBasin -0.614 0.802 -3.384 0 315 0 76 Fridge -0.314 0.0 -0.646 0 0 0 77 Toaster -1.970 0.930 -3.763 0 0 0 78 Microwave -0.216 1.470 -2.054 0 270 0 79 Blinds -1.373 2.205 -3.961 0 0 0 80 Faucet -0.393 0.930 -3.614 270 225 0 81 SideTable -4.030 0.002 -0.301 0 185.034 0 82 DiningTable -3.586 0.000 -3.258 0 0 0 83 DiningTable -3.224 -0.003 -0.453 0 0 0 84 Shelf -4.030 0.259 -0.301 0 185.034 0 85 Shelf -4.030 0.489 -0.301 0 185.034 0 86 EastWall 87 EastWall 88 SouthWall
[ "STEP 1: Turn around to face the fridge. | STEP 2: Open the fridge and pick the white mug up from the shelf. | STEP 3: Go right and turn to the left to face the microwave. | STEP 4: Put the cup in the microwave and shut the door and then open the door and take the cup out. | STEP 5: Go to the right to stand in front of the coffee maker. | STEP 6: Put the cup under the coffee maker on the counter. | END" ]
[ [ "STEP 1: Turn around to face the fridge. ", " STEP 2: Open the fridge and pick the white mug up from the shelf. ", " STEP 3: Go right and turn to the left to face the microwave. ", " STEP 4: Put the cup in the microwave and shut the door and then open the door and take the cup out. ", " STEP 5: Go to the right to stand in front of the coffee maker. ", " STEP 6: Put the cup under the coffee maker on the counter. ", " END" ] ]
seen
trial_T20190908_062730_537428-1
Place a warmed mug in a coffee machine.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.0 0.900 -0.5 0 270 0 1 Potato -2.354 0.131 -3.505 0 0 0 71 2 Potato -0.626 0.845 -3.240 0 315 0 75 3 Fork -2.761 0.895 -0.119 0 0 0 83 4 Spoon -3.942 0.691 -0.187 0 0 0 81 5 Spoon -2.359 0.895 -0.204 0 270 0 83 6 Spatula -3.364 0.909 -0.119 0 0 0 83 7 Egg -0.283 1.529 -0.762 0 270 0 76 8 Egg -4.062 0.731 -0.187 0 0 0 81 9 Cup -2.359 0.895 -0.633 0 270 0 83 10 Cup -0.240 0.943 -3.015 0 45 0 46 11 Knife -3.813 0.785 -3.275 0 334.125 0 82 12 Knife -3.766 0.785 -2.877 0 334.125 0 82 13 SoapBottle -4.122 0.688 -0.430 0 270 0 81 14 Tomato -0.417 1.337 -0.529 0 270 0 76 15 Tomato -0.334 1.337 -0.413 0 270 0 76 16 Lettuce -3.364 0.985 -0.462 0 270 0 83 17 Lettuce -0.359 1.579 -0.529 0 270 0 76 18 SaltShaker -0.394 0.937 -1.538 0 0 0 64 19 SaltShaker -4.242 0.686 -0.369 0 0 0 81 20 Mug -4.002 0.686 -0.430 0 0 0 81 21 Mug -3.163 0.889 -0.633 0 270 0 83 22 Mug -4.122 0.685 -0.309 0 0 0 81 23 Apple -0.134 1.640 -2.096 0 270 0 78 24 Apple -0.293 1.348 -0.646 0 270 0 76 25 SoapBottle -3.629 0.758 -3.153 0 289.125 0 82 26 Pot -0.437 0.961 -1.845 0 180 0 47 27 Fork -0.436 0.747 -1.413 0 270 0 50 28 Cup -0.201 1.576 -1.937 0 270 0 78 29 Tomato -1.077 0.993 -3.711 0 45 0 46 30 Pan -0.222 0.961 -2.243 0 0 0 65 31 Plate -3.418 0.774 -3.738 0 334.125 0 82 32 Bread -2.984 0.956 -0.311 0 50.592 0 83 33 Spatula -0.440 0.766 -2.846 0 90 0 51 34 Knife -2.560 0.920 -0.376 0 270 0 83 35 SaltShaker -0.251 1.498 -2.964 0 0 0 58 36 PepperShaker -3.163 0.890 -0.290 0 270 0 83 37 ButterKnife -3.364 0.894 -0.548 0 270 0 83 38 Apple -3.882 0.752 -0.248 0 0 0 81 39 DishSponge -2.485 0.099 -3.571 0 0 0 71 40 Potato -0.473 0.973 -1.406 0 0 0 64 41 Egg -2.485 0.140 -3.472 0 0 0 71 42 Spoon -3.350 0.761 -2.922 0 199.125 0 82 43 Lettuce -3.565 0.985 -0.204 0 270 0 83 44 Mug -0.397 1.483 -0.762 0 270 0 76 45 Bowl -0.566 0.811 -3.415 0 315 0 75 46 CounterTop -1.937 0.977 -3.673 0 0 0 47 StoveBurner -0.437 0.924 -1.845 0 180 0 48 StoveBurner -0.222 0.924 -1.845 0 180 0 49 StoveBurner -0.437 0.924 -2.243 0 0 0 50 Drawer -0.500 0.779 -1.450 0 0 0 51 Drawer -0.481 0.777 -2.739 0 0 0 52 Drawer -1.154 0.782 -3.499 0 0 0 53 Cabinet -0.337 2.110 -0.390 0 0 0 54 Cabinet -0.337 2.110 -1.272 0 0 0 55 Cabinet -0.337 2.110 -1.631 0 0 0 56 Cabinet -0.337 2.110 -2.497 0 0 0 57 Cabinet -0.337 1.891 -1.286 0 0 0 58 Cabinet -0.346 1.891 -3.293 0 0 0 59 Cabinet -0.629 0.388 -2.513 0 0 0 60 Cabinet -0.633 0.388 -3.008 0 0 0 61 Cabinet -1.010 0.388 -3.368 0 0 0 62 Cabinet -0.629 0.388 -1.614 0 0 0 63 Cabinet -0.327 1.886 -2.513 0 0 0 64 CounterTop -0.326 0.976 -1.450 0 0 0 65 StoveBurner -0.222 0.924 -2.243 0 0 0 66 Sink -0.600 0.929 -3.388 0 0 0 67 StoveKnob -0.617 0.899 -1.833 315 90 180 68 StoveKnob -0.617 0.899 -2.129 315 90 180 69 StoveKnob -0.617 0.899 -2.289 315 90 180 70 StoveKnob -0.617 0.899 -1.975 315 90 180 71 GarbageCan -2.418 -0.032 -3.541 0 0 0 72 CoffeeMachine -2.513 0.930 -3.797 0 0 0 73 Window -1.389 1.610 -4.113 90 0 0 74 LightSwitch -4.372 1.493 -1.031 0 90 0 75 SinkBasin -0.614 0.802 -3.384 0 315 0 76 Fridge -0.314 0.0 -0.646 0 0 0 77 Toaster -1.970 0.930 -3.763 0 0 0 78 Microwave -0.216 1.470 -2.054 0 270 0 79 Blinds -1.373 2.205 -3.961 0 0 0 80 Faucet -0.393 0.930 -3.614 270 225 0 81 SideTable -4.030 0.002 -0.301 0 185.034 0 82 DiningTable -3.586 0.000 -3.258 0 0 0 83 DiningTable -3.224 -0.003 -0.453 0 0 0 84 Shelf -4.030 0.259 -0.301 0 185.034 0 85 Shelf -4.030 0.489 -0.301 0 185.034 0 86 EastWall 87 EastWall 88 SouthWall
[ "STEP 1: Turn around and face the fridge. | STEP 2: Grab the white mug from the fridge. | STEP 3: Walk to the stove to the right of the fridge and look at the microwave. | STEP 4: Warm the mug in the microwave, then take it out again. | STEP 5: Turn around, then turn left to reach the coffee machine. | STEP 6: Place the mug inside the coffee machine. | END" ]
[ [ "STEP 1: Turn around and face the fridge. ", " STEP 2: Grab the white mug from the fridge. ", " STEP 3: Walk to the stove to the right of the fridge and look at the microwave. ", " STEP 4: Warm the mug in the microwave, then take it out again. ", " STEP 5: Turn around, then turn left to reach the coffee machine. ", " STEP 6: Place the mug inside the coffee machine. ", " END" ] ]
seen
trial_T20190908_062730_537428-2
Put the warm mug on the coffee maker
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"87", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "88", " SouthWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.0 0.900 -0.5 0 270 0 1 Potato -2.354 0.131 -3.505 0 0 0 71 2 Potato -0.626 0.845 -3.240 0 315 0 75 3 Fork -2.761 0.895 -0.119 0 0 0 83 4 Spoon -3.942 0.691 -0.187 0 0 0 81 5 Spoon -2.359 0.895 -0.204 0 270 0 83 6 Spatula -3.364 0.909 -0.119 0 0 0 83 7 Egg -0.283 1.529 -0.762 0 270 0 76 8 Egg -4.062 0.731 -0.187 0 0 0 81 9 Cup -2.359 0.895 -0.633 0 270 0 83 10 Cup -0.240 0.943 -3.015 0 45 0 46 11 Knife -3.813 0.785 -3.275 0 334.125 0 82 12 Knife -3.766 0.785 -2.877 0 334.125 0 82 13 SoapBottle -4.122 0.688 -0.430 0 270 0 81 14 Tomato -0.417 1.337 -0.529 0 270 0 76 15 Tomato -0.334 1.337 -0.413 0 270 0 76 16 Lettuce -3.364 0.985 -0.462 0 270 0 83 17 Lettuce -0.359 1.579 -0.529 0 270 0 76 18 SaltShaker -0.394 0.937 -1.538 0 0 0 64 19 SaltShaker -4.242 0.686 -0.369 0 0 0 81 20 Mug -4.002 0.686 -0.430 0 0 0 81 21 Mug -3.163 0.889 -0.633 0 270 0 83 22 Mug -4.122 0.685 -0.309 0 0 0 81 23 Apple -0.134 1.640 -2.096 0 270 0 78 24 Apple -0.293 1.348 -0.646 0 270 0 76 25 SoapBottle -3.629 0.758 -3.153 0 289.125 0 82 26 Pot -0.437 0.961 -1.845 0 180 0 47 27 Fork -0.436 0.747 -1.413 0 270 0 50 28 Cup -0.201 1.576 -1.937 0 270 0 78 29 Tomato -1.077 0.993 -3.711 0 45 0 46 30 Pan -0.222 0.961 -2.243 0 0 0 65 31 Plate -3.418 0.774 -3.738 0 334.125 0 82 32 Bread -2.984 0.956 -0.311 0 50.592 0 83 33 Spatula -0.440 0.766 -2.846 0 90 0 51 34 Knife -2.560 0.920 -0.376 0 270 0 83 35 SaltShaker -0.251 1.498 -2.964 0 0 0 58 36 PepperShaker -3.163 0.890 -0.290 0 270 0 83 37 ButterKnife -3.364 0.894 -0.548 0 270 0 83 38 Apple -3.882 0.752 -0.248 0 0 0 81 39 DishSponge -2.485 0.099 -3.571 0 0 0 71 40 Potato -0.473 0.973 -1.406 0 0 0 64 41 Egg -2.485 0.140 -3.472 0 0 0 71 42 Spoon -3.350 0.761 -2.922 0 199.125 0 82 43 Lettuce -3.565 0.985 -0.204 0 270 0 83 44 Mug -0.397 1.483 -0.762 0 270 0 76 45 Bowl -0.566 0.811 -3.415 0 315 0 75 46 CounterTop -1.937 0.977 -3.673 0 0 0 47 StoveBurner -0.437 0.924 -1.845 0 180 0 48 StoveBurner -0.222 0.924 -1.845 0 180 0 49 StoveBurner -0.437 0.924 -2.243 0 0 0 50 Drawer -0.500 0.779 -1.450 0 0 0 51 Drawer -0.481 0.777 -2.739 0 0 0 52 Drawer -1.154 0.782 -3.499 0 0 0 53 Cabinet -0.337 2.110 -0.390 0 0 0 54 Cabinet -0.337 2.110 -1.272 0 0 0 55 Cabinet -0.337 2.110 -1.631 0 0 0 56 Cabinet -0.337 2.110 -2.497 0 0 0 57 Cabinet -0.337 1.891 -1.286 0 0 0 58 Cabinet -0.346 1.891 -3.293 0 0 0 59 Cabinet -0.629 0.388 -2.513 0 0 0 60 Cabinet -0.633 0.388 -3.008 0 0 0 61 Cabinet -1.010 0.388 -3.368 0 0 0 62 Cabinet -0.629 0.388 -1.614 0 0 0 63 Cabinet -0.327 1.886 -2.513 0 0 0 64 CounterTop -0.326 0.976 -1.450 0 0 0 65 StoveBurner -0.222 0.924 -2.243 0 0 0 66 Sink -0.600 0.929 -3.388 0 0 0 67 StoveKnob -0.617 0.899 -1.833 315 90 180 68 StoveKnob -0.617 0.899 -2.129 315 90 180 69 StoveKnob -0.617 0.899 -2.289 315 90 180 70 StoveKnob -0.617 0.899 -1.975 315 90 180 71 GarbageCan -2.418 -0.032 -3.541 0 0 0 72 CoffeeMachine -2.513 0.930 -3.797 0 0 0 73 Window -1.389 1.610 -4.113 90 0 0 74 LightSwitch -4.372 1.493 -1.031 0 90 0 75 SinkBasin -0.614 0.802 -3.384 0 315 0 76 Fridge -0.314 0.0 -0.646 0 0 0 77 Toaster -1.970 0.930 -3.763 0 0 0 78 Microwave -0.216 1.470 -2.054 0 270 0 79 Blinds -1.373 2.205 -3.961 0 0 0 80 Faucet -0.393 0.930 -3.614 270 225 0 81 SideTable -4.030 0.002 -0.301 0 185.034 0 82 DiningTable -3.586 0.000 -3.258 0 0 0 83 DiningTable -3.224 -0.003 -0.453 0 0 0 84 Shelf -4.030 0.259 -0.301 0 185.034 0 85 Shelf -4.030 0.489 -0.301 0 185.034 0 86 EastWall 87 EastWall 88 SouthWall
[ "STEP 1: Turn to your left then head to the fridge | STEP 2: Open the fridge and get the mug beside the cabbage inside the fridge then close the door | STEP 3: Turn to your right, move forward and face the microwave on your left | STEP 4: Open the microwave put in the mug in front of the apple, open the microwave then pick up the mug then close the door again | STEP 5: Turn around cross the room and head to the coffee maker | STEP 6: Put the mug on the coffee maker | END" ]
[ [ "STEP 1: Turn to your left then head to the fridge ", " STEP 2: Open the fridge and get the mug beside the cabbage inside the fridge then close the door ", " STEP 3: Turn to your right, move forward and face the microwave on your left ", " STEP 4: Open the microwave put in the mug in front of the apple, open the microwave then pick up the mug then close the door again ", " STEP 5: Turn around cross the room and head to the coffee maker ", " STEP 6: Put the mug on the coffee maker ", " END" ] ]
seen
trial_T20190909_031746_098278-0
Move toilet paper and a roll to the toilet.
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " 0.5", " 0.900", " -3.0", " 0", " 0", " 0", "" ], [ "1", " Candle", " 0.839", " 0.817", " -0.623", " 0", " 90", " 0", " 29" ], [ "2", " Candle", " 0.908", " 0.817", " -1.672", " 0", " 90", " 0", " 30" ], [ "3", " SoapBar", " -2.196", " 0.044", " -3.542", " 0", " 270", " 0", " 26" ], [ "4", " SoapBottle", " 0.811", " 0.821", " -0.724", " 0", " 90", " 0", " 29" ], [ "5", " Cloth", " -1.974", " 0.042", " -3.542", " 0", " 270", " 0", " 26" ], [ "6", " Candle", " -1.454", " 0.817", " -0.080", " 0", " 0", " 0", " 28" ], [ "7", " HandTowel", " -2.166", " 1.500", " -0.037", " 0", " 0", " 0", " 21" ], [ "8", " Towel", " -1.525", " 1.685", " -0.105", " 0", " 180", " 0", " 19" ], [ "9", " SoapBar", " 0.795", " 0.818", " -1.975", " 0", " 90", " 0", " 30" ], [ "10", " ToiletPaper", " -0.556", " 0.082", " -3.778", " 0", " 0", " 0", " 20" ], [ "11", " Plunger", " 0.854", " -0.000", " -3.905", " 0", " 0", " 0", " Floor|-01.66|" ], [ "12", " SprayBottle", " 0.852", " 0.815", " -1.773", " 0", " 90", " 0", " 30" ], [ "13", " TissueBox", " 0.832", " 0.809", " -0.358", " 0", " 266.215", " 0", " 29" ], [ "14", " ToiletPaper", " 0.405", " 0.729", " -3.885", " 0", " 0", " 270", " 27" ], [ "15", " ScrubBrush", " 0.684", " -0.000", " -3.905", " 0", " 0", " 0", " Floor|-01.66|" ], [ "16", " Sink", " -2.171", " 0.294", " -0.660", " 0", " 90", " 0", "" ], [ "17", " Bathtub", " -2.122", " -0.088", " -3.116", " 0", " 0", " 0", "" ], [ "18", " Mirror", " -2.503", " 1.423", " -0.703", " 0", " 0", " 0", "" ], [ "19", " TowelHolder", " -1.524", " 1.671", " 0.001", " 0", " 180", " 0", "" ], [ "20", " GarbageCan", " -0.525", " -0.050", " -3.763", " 0", " 0", " 0", "" ], [ "21", " HandTowelHolder", " -2.166", " 1.602", " 0.000", " 0", " 90", " 0", "" ], [ "22", " LightSwitch", " 0.321", " 1.327", " 0.000", " 0", " 180", " 0", "" ], [ "23", " Window", " -0.540", " 1.625", " -3.996", " 90", " 0", " 0", "" ], [ "24", " Toilet", " 0.004", " -0.000", " -3.436", " 0", " 0", " 0", "" ], [ "25", " SinkBasin", " -2.176", " 0.824", " -0.659", " 0", " 0", " 0", "" ], [ "26", " BathtubBasin", " -1.862", " 0.033", " -2.723", " 0", " 270", " 0", "" ], [ "27", " ToiletPaperHanger", " 0.462", " 0.841", " -3.978", " 0", " 0", " 0", "" ], [ "28", " SideTable", " -1.526", " 0.001", " -0.172", " 0", " 0", " 0", "" ], [ "29", " SideTable", " 0.780", " 0.001", " -0.667", " 0", " 90", " 0", "" ], [ "30", " SideTable", " 0.793", " 0.001", " -1.817", " 0", " 90", " 0", "" ], [ "31", " ShowerCurtain", " -1.320", " 1.781", " -3.864", " 0", " 0", " 5.987", "" ], [ "32", " Faucet", " -2.431", " 0.982", " -0.660", " 0", " 90", " 0", "" ], [ "33", " Faucet", " -1.909", " 0.666", " -3.855", " 0", " 180", " 0", "" ], [ "34", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "35", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "36", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "37", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 0.5 0.900 -3.0 0 0 0 1 Candle 0.839 0.817 -0.623 0 90 0 29 2 Candle 0.908 0.817 -1.672 0 90 0 30 3 SoapBar -2.196 0.044 -3.542 0 270 0 26 4 SoapBottle 0.811 0.821 -0.724 0 90 0 29 5 Cloth -1.974 0.042 -3.542 0 270 0 26 6 Candle -1.454 0.817 -0.080 0 0 0 28 7 HandTowel -2.166 1.500 -0.037 0 0 0 21 8 Towel -1.525 1.685 -0.105 0 180 0 19 9 SoapBar 0.795 0.818 -1.975 0 90 0 30 10 ToiletPaper -0.556 0.082 -3.778 0 0 0 20 11 Plunger 0.854 -0.000 -3.905 0 0 0 Floor|-01.66| 12 SprayBottle 0.852 0.815 -1.773 0 90 0 30 13 TissueBox 0.832 0.809 -0.358 0 266.215 0 29 14 ToiletPaper 0.405 0.729 -3.885 0 0 270 27 15 ScrubBrush 0.684 -0.000 -3.905 0 0 0 Floor|-01.66| 16 Sink -2.171 0.294 -0.660 0 90 0 17 Bathtub -2.122 -0.088 -3.116 0 0 0 18 Mirror -2.503 1.423 -0.703 0 0 0 19 TowelHolder -1.524 1.671 0.001 0 180 0 20 GarbageCan -0.525 -0.050 -3.763 0 0 0 21 HandTowelHolder -2.166 1.602 0.000 0 90 0 22 LightSwitch 0.321 1.327 0.000 0 180 0 23 Window -0.540 1.625 -3.996 90 0 0 24 Toilet 0.004 -0.000 -3.436 0 0 0 25 SinkBasin -2.176 0.824 -0.659 0 0 0 26 BathtubBasin -1.862 0.033 -2.723 0 270 0 27 ToiletPaperHanger 0.462 0.841 -3.978 0 0 0 28 SideTable -1.526 0.001 -0.172 0 0 0 29 SideTable 0.780 0.001 -0.667 0 90 0 30 SideTable 0.793 0.001 -1.817 0 90 0 31 ShowerCurtain -1.320 1.781 -3.864 0 0 5.987 32 Faucet -2.431 0.982 -0.660 0 90 0 33 Faucet -1.909 0.666 -3.855 0 180 0 34 NorthWall 35 EastWall 36 SouthWall 37 WestWall
[ "STEP 1: Turn around to the left and walk around the toilet. Turn left to face the trash can. | STEP 2: Take out the toilet paper from the trash can. | STEP 3: Turn to the right and face the toilet. | STEP 4: Place the toilet paper on the back end of the toilet. | STEP 5: Walk around to the other side of the toilet. | STEP 6: Pick up the empty toilet paper roll off of the floor. | STEP 7: Turn around to the left and walk around the toilet. Turn left to face the toilet. | STEP 8: Place the empty toilet paper roll on the back end of the toilet. | END" ]
[ [ "STEP 1: Turn around to the left and walk around the toilet. Turn left to face the trash can. ", " STEP 2: Take out the toilet paper from the trash can. ", " STEP 3: Turn to the right and face the toilet. ", " STEP 4: Place the toilet paper on the back end of the toilet. ", " STEP 5: Walk around to the other side of the toilet. ", " STEP 6: Pick up the empty toilet paper roll off of the floor. ", " STEP 7: Turn around to the left and walk around the toilet. Turn left to face the toilet. ", " STEP 8: Place the empty toilet paper roll on the back end of the toilet. ", " END" ] ]
seen
trial_T20190909_031746_098278-1
put toilet paper and roll on toilet tank
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " 0.5", " 0.900", " -3.0", " 0", " 0", " 0", "" ], [ "1", " Candle", " 0.839", " 0.817", " -0.623", " 0", " 90", " 0", " 29" ], [ "2", " Candle", " 0.908", " 0.817", " -1.672", " 0", " 90", " 0", " 30" ], [ "3", " SoapBar", " -2.196", " 0.044", " -3.542", " 0", " 270", " 0", " 26" ], [ "4", " SoapBottle", " 0.811", " 0.821", " -0.724", " 0", " 90", " 0", " 29" ], [ "5", " Cloth", " -1.974", " 0.042", " -3.542", " 0", " 270", " 0", " 26" ], [ "6", " Candle", " -1.454", " 0.817", " -0.080", " 0", " 0", " 0", " 28" ], [ "7", " HandTowel", " -2.166", " 1.500", " -0.037", " 0", " 0", " 0", " 21" ], [ "8", " Towel", " -1.525", " 1.685", " -0.105", " 0", " 180", " 0", " 19" ], [ "9", " SoapBar", " 0.795", " 0.818", " -1.975", " 0", " 90", " 0", " 30" ], [ "10", " ToiletPaper", " -0.556", " 0.082", " -3.778", " 0", " 0", " 0", " 20" ], [ "11", " Plunger", " 0.854", " -0.000", " -3.905", " 0", " 0", " 0", " Floor|-01.66|" ], [ "12", " SprayBottle", " 0.852", " 0.815", " -1.773", " 0", " 90", " 0", " 30" ], [ "13", " TissueBox", " 0.832", " 0.809", " -0.358", " 0", " 266.215", " 0", " 29" ], [ "14", " ToiletPaper", " 0.405", " 0.729", " -3.885", " 0", " 0", " 270", " 27" ], [ "15", " ScrubBrush", " 0.684", " -0.000", " -3.905", " 0", " 0", " 0", " Floor|-01.66|" ], [ "16", " Sink", " -2.171", " 0.294", " -0.660", " 0", " 90", " 0", "" ], [ "17", " Bathtub", " -2.122", " -0.088", " -3.116", " 0", " 0", " 0", "" ], [ "18", " Mirror", " -2.503", " 1.423", " -0.703", " 0", " 0", " 0", "" ], [ "19", " TowelHolder", " -1.524", " 1.671", " 0.001", " 0", " 180", " 0", "" ], [ "20", " GarbageCan", " -0.525", " -0.050", " -3.763", " 0", " 0", " 0", "" ], [ "21", " HandTowelHolder", " -2.166", " 1.602", " 0.000", " 0", " 90", " 0", "" ], [ "22", " LightSwitch", " 0.321", " 1.327", " 0.000", " 0", " 180", " 0", "" ], [ "23", " Window", " -0.540", " 1.625", " -3.996", " 90", " 0", " 0", "" ], [ "24", " Toilet", " 0.004", " -0.000", " -3.436", " 0", " 0", " 0", "" ], [ "25", " SinkBasin", " -2.176", " 0.824", " -0.659", " 0", " 0", " 0", "" ], [ "26", " BathtubBasin", " -1.862", " 0.033", " -2.723", " 0", " 270", " 0", "" ], [ "27", " ToiletPaperHanger", " 0.462", " 0.841", " -3.978", " 0", " 0", " 0", "" ], [ "28", " SideTable", " -1.526", " 0.001", " -0.172", " 0", " 0", " 0", "" ], [ "29", " SideTable", " 0.780", " 0.001", " -0.667", " 0", " 90", " 0", "" ], [ "30", " SideTable", " 0.793", " 0.001", " -1.817", " 0", " 90", " 0", "" ], [ "31", " ShowerCurtain", " -1.320", " 1.781", " -3.864", " 0", " 0", " 5.987", "" ], [ "32", " Faucet", " -2.431", " 0.982", " -0.660", " 0", " 90", " 0", "" ], [ "33", " Faucet", " -1.909", " 0.666", " -3.855", " 0", " 180", " 0", "" ], [ "34", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "35", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "36", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "37", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 0.5 0.900 -3.0 0 0 0 1 Candle 0.839 0.817 -0.623 0 90 0 29 2 Candle 0.908 0.817 -1.672 0 90 0 30 3 SoapBar -2.196 0.044 -3.542 0 270 0 26 4 SoapBottle 0.811 0.821 -0.724 0 90 0 29 5 Cloth -1.974 0.042 -3.542 0 270 0 26 6 Candle -1.454 0.817 -0.080 0 0 0 28 7 HandTowel -2.166 1.500 -0.037 0 0 0 21 8 Towel -1.525 1.685 -0.105 0 180 0 19 9 SoapBar 0.795 0.818 -1.975 0 90 0 30 10 ToiletPaper -0.556 0.082 -3.778 0 0 0 20 11 Plunger 0.854 -0.000 -3.905 0 0 0 Floor|-01.66| 12 SprayBottle 0.852 0.815 -1.773 0 90 0 30 13 TissueBox 0.832 0.809 -0.358 0 266.215 0 29 14 ToiletPaper 0.405 0.729 -3.885 0 0 270 27 15 ScrubBrush 0.684 -0.000 -3.905 0 0 0 Floor|-01.66| 16 Sink -2.171 0.294 -0.660 0 90 0 17 Bathtub -2.122 -0.088 -3.116 0 0 0 18 Mirror -2.503 1.423 -0.703 0 0 0 19 TowelHolder -1.524 1.671 0.001 0 180 0 20 GarbageCan -0.525 -0.050 -3.763 0 0 0 21 HandTowelHolder -2.166 1.602 0.000 0 90 0 22 LightSwitch 0.321 1.327 0.000 0 180 0 23 Window -0.540 1.625 -3.996 90 0 0 24 Toilet 0.004 -0.000 -3.436 0 0 0 25 SinkBasin -2.176 0.824 -0.659 0 0 0 26 BathtubBasin -1.862 0.033 -2.723 0 270 0 27 ToiletPaperHanger 0.462 0.841 -3.978 0 0 0 28 SideTable -1.526 0.001 -0.172 0 0 0 29 SideTable 0.780 0.001 -0.667 0 90 0 30 SideTable 0.793 0.001 -1.817 0 90 0 31 ShowerCurtain -1.320 1.781 -3.864 0 0 5.987 32 Faucet -2.431 0.982 -0.660 0 90 0 33 Faucet -1.909 0.666 -3.855 0 180 0 34 NorthWall 35 EastWall 36 SouthWall 37 WestWall
[ "STEP 1: turn to face trash bin next to toilet | STEP 2: pick up toilet paper from bin | STEP 3: move to face toilet | STEP 4: put toilet paper on toilet tank top | STEP 5: move to face left side of toilet | STEP 6: pick up toilet roll on ground next to toilet | STEP 7: walk to face right side of toilet | STEP 8: put toilet roll on toilet tank top | END" ]
[ [ "STEP 1: turn to face trash bin next to toilet ", " STEP 2: pick up toilet paper from bin ", " STEP 3: move to face toilet ", " STEP 4: put toilet paper on toilet tank top ", " STEP 5: move to face left side of toilet ", " STEP 6: pick up toilet roll on ground next to toilet ", " STEP 7: walk to face right side of toilet ", " STEP 8: put toilet roll on toilet tank top ", " END" ] ]
seen
trial_T20190909_031746_098278-2
Place two toilet paper rolls on a toilet tank.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 0.5 0.900 -3.0 0 0 0 1 Candle 0.839 0.817 -0.623 0 90 0 29 2 Candle 0.908 0.817 -1.672 0 90 0 30 3 SoapBar -2.196 0.044 -3.542 0 270 0 26 4 SoapBottle 0.811 0.821 -0.724 0 90 0 29 5 Cloth -1.974 0.042 -3.542 0 270 0 26 6 Candle -1.454 0.817 -0.080 0 0 0 28 7 HandTowel -2.166 1.500 -0.037 0 0 0 21 8 Towel -1.525 1.685 -0.105 0 180 0 19 9 SoapBar 0.795 0.818 -1.975 0 90 0 30 10 ToiletPaper -0.556 0.082 -3.778 0 0 0 20 11 Plunger 0.854 -0.000 -3.905 0 0 0 Floor|-01.66| 12 SprayBottle 0.852 0.815 -1.773 0 90 0 30 13 TissueBox 0.832 0.809 -0.358 0 266.215 0 29 14 ToiletPaper 0.405 0.729 -3.885 0 0 270 27 15 ScrubBrush 0.684 -0.000 -3.905 0 0 0 Floor|-01.66| 16 Sink -2.171 0.294 -0.660 0 90 0 17 Bathtub -2.122 -0.088 -3.116 0 0 0 18 Mirror -2.503 1.423 -0.703 0 0 0 19 TowelHolder -1.524 1.671 0.001 0 180 0 20 GarbageCan -0.525 -0.050 -3.763 0 0 0 21 HandTowelHolder -2.166 1.602 0.000 0 90 0 22 LightSwitch 0.321 1.327 0.000 0 180 0 23 Window -0.540 1.625 -3.996 90 0 0 24 Toilet 0.004 -0.000 -3.436 0 0 0 25 SinkBasin -2.176 0.824 -0.659 0 0 0 26 BathtubBasin -1.862 0.033 -2.723 0 270 0 27 ToiletPaperHanger 0.462 0.841 -3.978 0 0 0 28 SideTable -1.526 0.001 -0.172 0 0 0 29 SideTable 0.780 0.001 -0.667 0 90 0 30 SideTable 0.793 0.001 -1.817 0 90 0 31 ShowerCurtain -1.320 1.781 -3.864 0 0 5.987 32 Faucet -2.431 0.982 -0.660 0 90 0 33 Faucet -1.909 0.666 -3.855 0 180 0 34 NorthWall 35 EastWall 36 SouthWall 37 WestWall
[ "STEP 1: Turn left and walk around to the other side of the toilet. | STEP 2: Pick up the toilet paper roll from the container on the floor. | STEP 3: Look up at the toilet. | STEP 4: Place the toilet paper roll on the right side of the toilet tank. | STEP 5: Walk around to the opposite side of the toilet. | STEP 6: Pick up the empty toilet paper roll on the floor. | STEP 7: Walk around to the other side of the toilet. | STEP 8: Place the toilet paper roll to the left of the other one on the toilet tank. | END" ]
[ [ "STEP 1: Turn left and walk around to the other side of the toilet. ", " STEP 2: Pick up the toilet paper roll from the container on the floor. ", " STEP 3: Look up at the toilet. ", " STEP 4: Place the toilet paper roll on the right side of the toilet tank. ", " STEP 5: Walk around to the opposite side of the toilet. ", " STEP 6: Pick up the empty toilet paper roll on the floor. ", " STEP 7: Walk around to the other side of the toilet. ", " STEP 8: Place the toilet paper roll to the left of the other one on the toilet tank. ", " END" ] ]
seen
trial_T20190906_232002_916872-0
Slice a lettuce, put it into a pan, take them to the table.
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180", "" ], [ "62", " StoveKnob", " -0.617", " 0.899", " -1.975", " 315", " 90", " 180", "" ], [ "63", " GarbageCan", " -2.418", " -0.032", " -3.541", " 0", " 0", " 0", "" ], [ "64", " CoffeeMachine", " -2.513", " 0.930", " -3.797", " 0", " 0", " 0", "" ], [ "65", " Window", " -1.389", " 1.610", " -4.113", " 90", " 0", " 0", "" ], [ "66", " LightSwitch", " -4.372", " 1.493", " -1.031", " 0", " 90", " 0", "" ], [ "67", " SinkBasin", " -0.614", " 0.802", " -3.384", " 0", " 315", " 0", "" ], [ "68", " Fridge", " -0.314", " 0.0", " -0.646", " 0", " 0", " 0", "" ], [ "69", " Toaster", " -1.970", " 0.930", " -3.763", " 0", " 0", " 0", "" ], [ "70", " Microwave", " -0.216", " 1.470", " -2.054", " 0", " 270", " 0", "" ], [ "71", " Blinds", " -1.373", " 2.205", " -3.961", " 0", " 0", " 0", "" ], [ "72", " Faucet", " -0.393", " 0.930", " -3.614", " 270", " 225", " 0", "" ], [ "73", " SideTable", " -4.030", " 0.002", " -0.301", " 0", " 185.034", " 0", "" ], [ "74", " DiningTable", " -3.586", " 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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -3.75 0.900 -1.5 0 270 0 1 Potato -3.882 0.723 -0.126 0 0 0 73 2 DishSponge -0.524 0.746 -1.413 0 0 0 42 3 DishSponge -0.528 1.503 -3.648 0 45 0 50 4 Fork -0.244 0.942 -2.611 0 0 0 38 5 Fork -3.621 0.760 -3.320 0 109.125 0 74 6 Egg -0.234 1.616 -1.990 0 270 0 70 7 Plate -0.136 1.956 -0.553 0 0 0 45 8 Plate -0.175 1.951 -1.108 0 0 0 46 9 SoapBottle -0.389 0.078 -2.906 0 0 0 51 10 SoapBottle -3.942 0.689 -0.369 0 0 0 73 11 Bowl -0.252 1.284 -0.297 0 270 0 68 12 Bowl -0.376 1.284 -0.762 0 270 0 68 13 SaltShaker -0.552 0.937 -1.581 0 0 0 56 14 PepperShaker -3.565 0.756 -3.432 0 244.125 0 74 15 Apple -2.452 0.161 -3.472 0 0 0 63 16 Apple -4.122 0.752 -0.491 0 0 0 73 17 SoapBottle -4.242 0.689 -0.491 0 0 0 73 18 Pot -0.606 0.802 -3.419 0 315 0 67 19 Fork -0.315 0.941 -1.538 0 0 0 56 20 Cup -0.214 0.943 -3.041 0 45 0 38 21 Tomato -0.321 1.539 -0.878 0 270 0 68 22 Pan -0.222 0.961 -2.243 0 0 0 57 23 Plate -0.324 1.517 -3.498 0 45 0 50 24 Bread -2.984 0.956 -0.311 0 50.592 0 75 25 Spatula -0.509 0.765 -2.792 0 90 0 43 26 Knife -4.002 0.716 -0.491 0 0 0 73 27 SaltShaker -0.251 1.498 -2.788 0 0 0 48 28 PepperShaker -1.117 0.078 -3.493 0 0 0 53 29 ButterKnife -1.471 0.942 -3.751 0 0 0 38 30 Apple -4.122 0.752 -0.308 0 0 0 73 31 DishSponge -0.315 0.940 -1.406 0 0 0 56 32 Potato -0.994 0.974 -3.733 0 45 0 38 33 Egg -0.701 0.854 -3.627 0 315 0 67 34 Spoon -3.474 0.761 -3.765 0 334.125 0 74 35 Lettuce -1.100 1.017 -3.623 0 0 0 38 36 Mug -0.321 1.483 -0.297 0 270 0 68 37 Bowl -4.002 0.688 -0.187 0 0 0 73 38 CounterTop -1.937 0.977 -3.673 0 0 0 39 StoveBurner -0.437 0.924 -1.845 0 180 0 40 StoveBurner -0.222 0.924 -1.845 0 180 0 41 StoveBurner -0.437 0.924 -2.243 0 0 0 42 Drawer -0.500 0.779 -1.450 0 0 0 43 Drawer -0.481 0.777 -2.739 0 0 0 44 Drawer -1.154 0.782 -3.499 0 0 0 45 Cabinet -0.337 2.110 -0.390 0 0 0 46 Cabinet -0.337 2.110 -1.272 0 0 0 47 Cabinet -0.337 2.110 -1.631 0 0 0 48 Cabinet -0.337 2.110 -2.497 0 0 0 49 Cabinet -0.337 1.891 -1.286 0 0 0 50 Cabinet -0.346 1.891 -3.293 0 0 0 51 Cabinet -0.629 0.388 -2.513 0 0 0 52 Cabinet -0.633 0.388 -3.008 0 0 0 53 Cabinet -1.010 0.388 -3.368 0 0 0 54 Cabinet -0.629 0.388 -1.614 0 0 0 55 Cabinet -0.327 1.886 -2.513 0 0 0 56 CounterTop -0.326 0.976 -1.450 0 0 0 57 StoveBurner -0.222 0.924 -2.243 0 0 0 58 Sink -0.600 0.929 -3.388 0 0 0 59 StoveKnob -0.617 0.899 -1.833 315 90 180 60 StoveKnob -0.617 0.899 -2.129 315 90 180 61 StoveKnob -0.617 0.899 -2.289 315 90 180 62 StoveKnob -0.617 0.899 -1.975 315 90 180 63 GarbageCan -2.418 -0.032 -3.541 0 0 0 64 CoffeeMachine -2.513 0.930 -3.797 0 0 0 65 Window -1.389 1.610 -4.113 90 0 0 66 LightSwitch -4.372 1.493 -1.031 0 90 0 67 SinkBasin -0.614 0.802 -3.384 0 315 0 68 Fridge -0.314 0.0 -0.646 0 0 0 69 Toaster -1.970 0.930 -3.763 0 0 0 70 Microwave -0.216 1.470 -2.054 0 270 0 71 Blinds -1.373 2.205 -3.961 0 0 0 72 Faucet -0.393 0.930 -3.614 270 225 0 73 SideTable -4.030 0.002 -0.301 0 185.034 0 74 DiningTable -3.586 0.000 -3.258 0 0 0 75 DiningTable -3.224 -0.003 -0.453 0 0 0 76 Shelf -4.030 0.259 -0.301 0 185.034 0 77 Shelf -4.030 0.489 -0.301 0 185.034 0 78 EastWall 79 EastWall 80 SouthWall
[ "STEP 1: Turn right and go towards the shelf unit. | STEP 2: Pick up the big knife on the top shelf | STEP 3: Turn right and go to the the fridge, turn right and go to the counter | STEP 4: Slice the lettuce on the counter | STEP 5: Turn left, go forward then then turn right at the stove | STEP 6: Put the knife into the pan on the stove | STEP 7: Turn right, go to the counter | STEP 8: Pick up a slice of lettuce on the counter | STEP 9: Turn left, go forward then then turn right at the stove | STEP 10: Put the lettuce slice into the pan | STEP 11: Take the pan with the lettuce slice and knife | STEP 12: Turn right twice, go towards the door, turn left at the door | STEP 13: Put the pan on the table | END" ]
[ [ "STEP 1: Turn right and go towards the shelf unit. ", " STEP 2: Pick up the big knife on the top shelf ", " STEP 3: Turn right and go to the the fridge, turn right and go to the counter ", " STEP 4: Slice the lettuce on the counter ", " STEP 5: Turn left, go forward then then turn right at the stove ", " STEP 6: Put the knife into the pan on the stove ", " STEP 7: Turn right, go to the counter ", " STEP 8: Pick up a slice of lettuce on the counter ", " STEP 9: Turn left, go forward then then turn right at the stove ", " STEP 10: Put the lettuce slice into the pan ", " STEP 11: Take the pan with the lettuce slice and knife ", " STEP 12: Turn right twice, go towards the door, turn left at the door ", " STEP 13: Put the pan on the table ", " END" ] ]
seen
trial_T20190906_232002_916872-1
Put a pan with a slice of lettuce on a table.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -3.75 0.900 -1.5 0 270 0 1 Potato -3.882 0.723 -0.126 0 0 0 73 2 DishSponge -0.524 0.746 -1.413 0 0 0 42 3 DishSponge -0.528 1.503 -3.648 0 45 0 50 4 Fork -0.244 0.942 -2.611 0 0 0 38 5 Fork -3.621 0.760 -3.320 0 109.125 0 74 6 Egg -0.234 1.616 -1.990 0 270 0 70 7 Plate -0.136 1.956 -0.553 0 0 0 45 8 Plate -0.175 1.951 -1.108 0 0 0 46 9 SoapBottle -0.389 0.078 -2.906 0 0 0 51 10 SoapBottle -3.942 0.689 -0.369 0 0 0 73 11 Bowl -0.252 1.284 -0.297 0 270 0 68 12 Bowl -0.376 1.284 -0.762 0 270 0 68 13 SaltShaker -0.552 0.937 -1.581 0 0 0 56 14 PepperShaker -3.565 0.756 -3.432 0 244.125 0 74 15 Apple -2.452 0.161 -3.472 0 0 0 63 16 Apple -4.122 0.752 -0.491 0 0 0 73 17 SoapBottle -4.242 0.689 -0.491 0 0 0 73 18 Pot -0.606 0.802 -3.419 0 315 0 67 19 Fork -0.315 0.941 -1.538 0 0 0 56 20 Cup -0.214 0.943 -3.041 0 45 0 38 21 Tomato -0.321 1.539 -0.878 0 270 0 68 22 Pan -0.222 0.961 -2.243 0 0 0 57 23 Plate -0.324 1.517 -3.498 0 45 0 50 24 Bread -2.984 0.956 -0.311 0 50.592 0 75 25 Spatula -0.509 0.765 -2.792 0 90 0 43 26 Knife -4.002 0.716 -0.491 0 0 0 73 27 SaltShaker -0.251 1.498 -2.788 0 0 0 48 28 PepperShaker -1.117 0.078 -3.493 0 0 0 53 29 ButterKnife -1.471 0.942 -3.751 0 0 0 38 30 Apple -4.122 0.752 -0.308 0 0 0 73 31 DishSponge -0.315 0.940 -1.406 0 0 0 56 32 Potato -0.994 0.974 -3.733 0 45 0 38 33 Egg -0.701 0.854 -3.627 0 315 0 67 34 Spoon -3.474 0.761 -3.765 0 334.125 0 74 35 Lettuce -1.100 1.017 -3.623 0 0 0 38 36 Mug -0.321 1.483 -0.297 0 270 0 68 37 Bowl -4.002 0.688 -0.187 0 0 0 73 38 CounterTop -1.937 0.977 -3.673 0 0 0 39 StoveBurner -0.437 0.924 -1.845 0 180 0 40 StoveBurner -0.222 0.924 -1.845 0 180 0 41 StoveBurner -0.437 0.924 -2.243 0 0 0 42 Drawer -0.500 0.779 -1.450 0 0 0 43 Drawer -0.481 0.777 -2.739 0 0 0 44 Drawer -1.154 0.782 -3.499 0 0 0 45 Cabinet -0.337 2.110 -0.390 0 0 0 46 Cabinet -0.337 2.110 -1.272 0 0 0 47 Cabinet -0.337 2.110 -1.631 0 0 0 48 Cabinet -0.337 2.110 -2.497 0 0 0 49 Cabinet -0.337 1.891 -1.286 0 0 0 50 Cabinet -0.346 1.891 -3.293 0 0 0 51 Cabinet -0.629 0.388 -2.513 0 0 0 52 Cabinet -0.633 0.388 -3.008 0 0 0 53 Cabinet -1.010 0.388 -3.368 0 0 0 54 Cabinet -0.629 0.388 -1.614 0 0 0 55 Cabinet -0.327 1.886 -2.513 0 0 0 56 CounterTop -0.326 0.976 -1.450 0 0 0 57 StoveBurner -0.222 0.924 -2.243 0 0 0 58 Sink -0.600 0.929 -3.388 0 0 0 59 StoveKnob -0.617 0.899 -1.833 315 90 180 60 StoveKnob -0.617 0.899 -2.129 315 90 180 61 StoveKnob -0.617 0.899 -2.289 315 90 180 62 StoveKnob -0.617 0.899 -1.975 315 90 180 63 GarbageCan -2.418 -0.032 -3.541 0 0 0 64 CoffeeMachine -2.513 0.930 -3.797 0 0 0 65 Window -1.389 1.610 -4.113 90 0 0 66 LightSwitch -4.372 1.493 -1.031 0 90 0 67 SinkBasin -0.614 0.802 -3.384 0 315 0 68 Fridge -0.314 0.0 -0.646 0 0 0 69 Toaster -1.970 0.930 -3.763 0 0 0 70 Microwave -0.216 1.470 -2.054 0 270 0 71 Blinds -1.373 2.205 -3.961 0 0 0 72 Faucet -0.393 0.930 -3.614 270 225 0 73 SideTable -4.030 0.002 -0.301 0 185.034 0 74 DiningTable -3.586 0.000 -3.258 0 0 0 75 DiningTable -3.224 -0.003 -0.453 0 0 0 76 Shelf -4.030 0.259 -0.301 0 185.034 0 77 Shelf -4.030 0.489 -0.301 0 185.034 0 78 EastWall 79 EastWall 80 SouthWall
[ "STEP 1: Turn right, go to the black stand. | STEP 2: Take the knife from the stand. | STEP 3: Turn right, go to the fridge, turn right, go to the sink. | STEP 4: Cut the lettuce into slices on the counter to the right of the sink. | STEP 5: Turn around, go to the oven to the right. | STEP 6: Put the knife in the pan on the stove top. | STEP 7: Turn right, go back to the counter with the lettuce. | STEP 8: Take a slice of lettuce from the counter. | STEP 9: Turn around, go to the oven to the right. | STEP 10: Put the lettuce in the pan on the stove top. | STEP 11: Take the pan from the stove top. | STEP 12: Turn around, go to the door, turn left to the round table. | STEP 13: Put the pan on lower right of the round table. | END" ]
[ [ "STEP 1: Turn right, go to the black stand. ", " STEP 2: Take the knife from the stand. ", " STEP 3: Turn right, go to the fridge, turn right, go to the sink. ", " STEP 4: Cut the lettuce into slices on the counter to the right of the sink. ", " STEP 5: Turn around, go to the oven to the right. ", " STEP 6: Put the knife in the pan on the stove top. ", " STEP 7: Turn right, go back to the counter with the lettuce. ", " STEP 8: Take a slice of lettuce from the counter. ", " STEP 9: Turn around, go to the oven to the right. ", " STEP 10: Put the lettuce in the pan on the stove top. ", " STEP 11: Take the pan from the stove top. ", " STEP 12: Turn around, go to the door, turn left to the round table. ", " STEP 13: Put the pan on lower right of the round table. ", " END" ] ]
seen
trial_T20190906_232002_916872-2
Place a pan with a piece of sliced lettuce plus a metal knife in it on a round black table.
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180", "" ], [ "62", " StoveKnob", " -0.617", " 0.899", " -1.975", " 315", " 90", " 180", "" ], [ "63", " GarbageCan", " -2.418", " -0.032", " -3.541", " 0", " 0", " 0", "" ], [ "64", " CoffeeMachine", " -2.513", " 0.930", " -3.797", " 0", " 0", " 0", "" ], [ "65", " Window", " -1.389", " 1.610", " -4.113", " 90", " 0", " 0", "" ], [ "66", " LightSwitch", " -4.372", " 1.493", " -1.031", " 0", " 90", " 0", "" ], [ "67", " SinkBasin", " -0.614", " 0.802", " -3.384", " 0", " 315", " 0", "" ], [ "68", " Fridge", " -0.314", " 0.0", " -0.646", " 0", " 0", " 0", "" ], [ "69", " Toaster", " -1.970", " 0.930", " -3.763", " 0", " 0", " 0", "" ], [ "70", " Microwave", " -0.216", " 1.470", " -2.054", " 0", " 270", " 0", "" ], [ "71", " Blinds", " -1.373", " 2.205", " -3.961", " 0", " 0", " 0", "" ], [ "72", " Faucet", " -0.393", " 0.930", " -3.614", " 270", " 225", " 0", "" ], [ "73", " SideTable", " -4.030", " 0.002", " -0.301", " 0", " 185.034", " 0", "" ], [ "74", " DiningTable", " -3.586", " 0.000", " -3.258", " 0", " 0", " 0", "" ], [ "75", " DiningTable", " -3.224", " -0.003", " -0.453", " 0", " 0", " 0", "" ], [ "76", " Shelf", " -4.030", " 0.259", " -0.301", " 0", " 185.034", " 0", "" ], [ "77", " Shelf", " -4.030", " 0.489", " -0.301", " 0", " 185.034", " 0", "" ], [ "78", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "79", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "80", " SouthWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -3.75 0.900 -1.5 0 270 0 1 Potato -3.882 0.723 -0.126 0 0 0 73 2 DishSponge -0.524 0.746 -1.413 0 0 0 42 3 DishSponge -0.528 1.503 -3.648 0 45 0 50 4 Fork -0.244 0.942 -2.611 0 0 0 38 5 Fork -3.621 0.760 -3.320 0 109.125 0 74 6 Egg -0.234 1.616 -1.990 0 270 0 70 7 Plate -0.136 1.956 -0.553 0 0 0 45 8 Plate -0.175 1.951 -1.108 0 0 0 46 9 SoapBottle -0.389 0.078 -2.906 0 0 0 51 10 SoapBottle -3.942 0.689 -0.369 0 0 0 73 11 Bowl -0.252 1.284 -0.297 0 270 0 68 12 Bowl -0.376 1.284 -0.762 0 270 0 68 13 SaltShaker -0.552 0.937 -1.581 0 0 0 56 14 PepperShaker -3.565 0.756 -3.432 0 244.125 0 74 15 Apple -2.452 0.161 -3.472 0 0 0 63 16 Apple -4.122 0.752 -0.491 0 0 0 73 17 SoapBottle -4.242 0.689 -0.491 0 0 0 73 18 Pot -0.606 0.802 -3.419 0 315 0 67 19 Fork -0.315 0.941 -1.538 0 0 0 56 20 Cup -0.214 0.943 -3.041 0 45 0 38 21 Tomato -0.321 1.539 -0.878 0 270 0 68 22 Pan -0.222 0.961 -2.243 0 0 0 57 23 Plate -0.324 1.517 -3.498 0 45 0 50 24 Bread -2.984 0.956 -0.311 0 50.592 0 75 25 Spatula -0.509 0.765 -2.792 0 90 0 43 26 Knife -4.002 0.716 -0.491 0 0 0 73 27 SaltShaker -0.251 1.498 -2.788 0 0 0 48 28 PepperShaker -1.117 0.078 -3.493 0 0 0 53 29 ButterKnife -1.471 0.942 -3.751 0 0 0 38 30 Apple -4.122 0.752 -0.308 0 0 0 73 31 DishSponge -0.315 0.940 -1.406 0 0 0 56 32 Potato -0.994 0.974 -3.733 0 45 0 38 33 Egg -0.701 0.854 -3.627 0 315 0 67 34 Spoon -3.474 0.761 -3.765 0 334.125 0 74 35 Lettuce -1.100 1.017 -3.623 0 0 0 38 36 Mug -0.321 1.483 -0.297 0 270 0 68 37 Bowl -4.002 0.688 -0.187 0 0 0 73 38 CounterTop -1.937 0.977 -3.673 0 0 0 39 StoveBurner -0.437 0.924 -1.845 0 180 0 40 StoveBurner -0.222 0.924 -1.845 0 180 0 41 StoveBurner -0.437 0.924 -2.243 0 0 0 42 Drawer -0.500 0.779 -1.450 0 0 0 43 Drawer -0.481 0.777 -2.739 0 0 0 44 Drawer -1.154 0.782 -3.499 0 0 0 45 Cabinet -0.337 2.110 -0.390 0 0 0 46 Cabinet -0.337 2.110 -1.272 0 0 0 47 Cabinet -0.337 2.110 -1.631 0 0 0 48 Cabinet -0.337 2.110 -2.497 0 0 0 49 Cabinet -0.337 1.891 -1.286 0 0 0 50 Cabinet -0.346 1.891 -3.293 0 0 0 51 Cabinet -0.629 0.388 -2.513 0 0 0 52 Cabinet -0.633 0.388 -3.008 0 0 0 53 Cabinet -1.010 0.388 -3.368 0 0 0 54 Cabinet -0.629 0.388 -1.614 0 0 0 55 Cabinet -0.327 1.886 -2.513 0 0 0 56 CounterTop -0.326 0.976 -1.450 0 0 0 57 StoveBurner -0.222 0.924 -2.243 0 0 0 58 Sink -0.600 0.929 -3.388 0 0 0 59 StoveKnob -0.617 0.899 -1.833 315 90 180 60 StoveKnob -0.617 0.899 -2.129 315 90 180 61 StoveKnob -0.617 0.899 -2.289 315 90 180 62 StoveKnob -0.617 0.899 -1.975 315 90 180 63 GarbageCan -2.418 -0.032 -3.541 0 0 0 64 CoffeeMachine -2.513 0.930 -3.797 0 0 0 65 Window -1.389 1.610 -4.113 90 0 0 66 LightSwitch -4.372 1.493 -1.031 0 90 0 67 SinkBasin -0.614 0.802 -3.384 0 315 0 68 Fridge -0.314 0.0 -0.646 0 0 0 69 Toaster -1.970 0.930 -3.763 0 0 0 70 Microwave -0.216 1.470 -2.054 0 270 0 71 Blinds -1.373 2.205 -3.961 0 0 0 72 Faucet -0.393 0.930 -3.614 270 225 0 73 SideTable -4.030 0.002 -0.301 0 185.034 0 74 DiningTable -3.586 0.000 -3.258 0 0 0 75 DiningTable -3.224 -0.003 -0.453 0 0 0 76 Shelf -4.030 0.259 -0.301 0 185.034 0 77 Shelf -4.030 0.489 -0.301 0 185.034 0 78 EastWall 79 EastWall 80 SouthWall
[ "STEP 1: Turn right and walk up to the small black shelving unit. | STEP 2: Pick up the large metal knife with a golden handle. | STEP 3: Turn right and begin walking across the room, then hang a right and continue straight to the head of lettuce on the kitchen counter. | STEP 4: Slice up the head of lettuce with the large metal knife. | STEP 5: Turn around and begin across the room, stop at the oven and turn right. | STEP 6: Place the large metal knife point down in the metal frying pan that is on the stove. | STEP 7: Turn right and walk across the room to the kitchen counter. | STEP 8: Pick up a piece of sliced lettuce. | STEP 9: Turn around and walk back over to the stove. | STEP 10: Place the piece of sliced lettuce in the frying pan with the large metal knife. | STEP 11: Pick up the frying pan with the large metal knife and piece of sliced lettuce in it. | STEP 12: Turn around and begin walking to the door on the other side of the room, stop at the middle of the round black table and turn left. | STEP 13: Place the frying pan with the piece of sliced lettuce and the knife in it onto the round black table. | END" ]
[ [ "STEP 1: Turn right and walk up to the small black shelving unit. ", " STEP 2: Pick up the large metal knife with a golden handle. ", " STEP 3: Turn right and begin walking across the room, then hang a right and continue straight to the head of lettuce on the kitchen counter. ", " STEP 4: Slice up the head of lettuce with the large metal knife. ", " STEP 5: Turn around and begin across the room, stop at the oven and turn right. ", " STEP 6: Place the large metal knife point down in the metal frying pan that is on the stove. ", " STEP 7: Turn right and walk across the room to the kitchen counter. ", " STEP 8: Pick up a piece of sliced lettuce. ", " STEP 9: Turn around and walk back over to the stove. ", " STEP 10: Place the piece of sliced lettuce in the frying pan with the large metal knife. ", " STEP 11: Pick up the frying pan with the large metal knife and piece of sliced lettuce in it. ", " STEP 12: Turn around and begin walking to the door on the other side of the room, stop at the middle of the round black table and turn left. ", " STEP 13: Place the frying pan with the piece of sliced lettuce and the knife in it onto the round black table. ", " END" ] ]
seen
trial_T20190906_190353_820051-0
Set the red pen that's inside the mug onto the desk.
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " 2.75", " 0.902", " -0.5", " 0", " 0", " 0", "" ], [ "1", " CellPhone", " -0.331", " 0.695", " 0.067", " 0", " 0", " 0", " 28" ], [ "2", " CellPhone", " -0.331", " 0.695", " -0.36", " 0", " 0", " 0", " 28" ], [ "3", " Pen", " 1.680", " 0.661", " -2.298", " 0", " 0", " 0", " 43" ], [ "4", " Pen", " 1.680", " 0.660", " -2.124", " 0", " 0", " 0", " 43" ], [ "5", " Pencil", " 1.658", " 0.804", " -2.219", " 0", " 0", " 0", " 48" ], [ "6", " Pencil", " 1.586", " 0.504", " -2.211", " 0", " 0", " 0", " 50" ], [ "7", " CreditCard", " 1.842", " 0.799", " -1.279", " 0", " 0", " 0", " 48" ], [ "8", " KeyChain", " 1.726", " 0.657", " -1.464", " 0", " 0", " 0", " 41" ], [ "9", " KeyChain", " 0.427", " 0.674", " -2.608", " 0", " 180", " 0", " 53" ], [ "10", " Book", " -1.061", " 0.694", " -1.001", " 0", " 180", " 0", " 28" ], [ "11", " Book", " -0.574", " 0.694", " 0.067", " 0", " 0", " 0", " 28" ], [ "12", " AlarmClock", " 1.535", " 0.794", " -1.466", " 0", " 0", " 0", " 48" ], [ "13", " Book", " -0.574", " 0.694", " -0.36", " 0", " 0", " 0", " 28" ], [ "14", " KeyChain", " 1.536", " 0.801", " -2.407", " 0", " 90", " 0", " 48" ], [ "15", " AlarmClock", " 0.069", " 0.665", " -2.578", " 0", " 0", " 0", " 53" ], [ "16", " CreditCard", " 1.493", " 0.655", " -2.386", " 0", " 0", " 0", " 43" ], [ "17", " Laptop", " 1.663", " 0.794", " -1.842", " 0", " 287.390", " 0", " 48" ], [ "18", " Pen", " 1.658", " 0.807", " -2.407", " 0", " 0", " 0", " 48" ], [ "19", " Pencil", " 1.680", " 0.505", " -1.551", " 0", " 0", " 0", " 42" ], [ "20", " BaseballBat", " -1.844", " 0.678", " -2.203", " 0", " 0", " 8.760", " Floor|+00.01|" ], [ "21", " Pillow", " -1.061", " 0.755", " -0.36", " 0", " 0", " 0", " 28" ], [ "22", " Pillow", " -0.088", " 0.755", " 0.281", " 0", " 0", " 0", " 28" ], [ "23", " TennisRacket", " -1.597", " 0.001", " -1.367", " 90", " 37.792", " 0", " Floor|+00.01|" ], [ "24", " CellPhone", " 1.474", " 0.800", " -1.279", " 0", " 0", " 0", " 48" ], [ "25", " CD", " 3.378", " 0.016", " 0.194", " 0", " 0", " 0", " 33" ], [ "26", " Mug", " 0.341", " 0.671", " -2.608", " 0", " 0", " 0", " 53" ], [ "27", " Mirror", " 3.534", " 1.661", " -0.277", " 0", " 90", " 0", "" ], [ "28", " Bed", " -0.842", " -0.000", " -0.361", " 0", " 270", " 0", "" ], [ "29", " DeskLamp", " 1.742", " 0.819", " -1.394", " 0", " 358.556", " 0", "" ], [ "30", " Painting", " 0.246", " 1.564", " -2.665", " 90", " 0", " 0", "" ], [ "31", " Painting", " 1.894", " 1.549", " -2.424", " 90", " 270", " 0", "" ], [ "32", " Painting", " 1.894", " 1.549", " -1.289", " 90", " 270", " 0", "" ], [ "33", " GarbageCan", " 3.378", " 0.000", " 0.220", " 0", " 0", " 0", "" ], [ "34", " LightSwitch", " -0.078", " 1.219", " 1.298", " 0", " 180", " 0", "" ], [ "35", " Window", " -0.486", " 1.409", " -2.691", " 90", " 0", " 0", "" ], [ "36", " Window", " 0.987", " 1.409", " -2.691", " 90", " 0", " 0", "" ], [ "37", " VacuumCleaner", " -1.649", " 0.010", " -2.440", " 0", " 42.426", " 0", "" ], [ "38", " Blinds", " -0.490", " 2.130", " -2.638", " 0", " 0", " 0", "" ], [ "39", " Blinds", " 1.011", " 2.130", " -2.638", " 0", " 0", " 0", "" ], [ "40", " Drawer", " 1.596", " 0.411", " -1.459", " 0", " 270", " 0", "" ], [ "41", " Drawer", " 1.597", " 0.732", " -1.459", " 0", " 270", " 0", "" ], [ "42", " Drawer", " 1.597", " 0.574", " -1.459", " 0", " 270", " 0", "" ], [ "43", " Drawer", " 1.597", " 0.732", " -2.202", " 0", " 270", " 0", "" ], [ "44", " Drawer", " 1.596", " 0.247", " -1.459", " 0", " 270", " 0", "" ], [ "45", " Drawer", " 1.596", " 0.090", " -1.459", " 0", " 270", " 0", "" ], [ "46", " Drawer", " 1.596", " 0.247", " -2.202", " 0", " 270", " 0", "" ], [ "47", " Drawer", " 1.596", " 0.411", " -2.202", " 0", " 270", " 0", "" ], [ "48", " Dresser", " 1.634", " 0.003", " -1.830", " 0", " 270", " 0", "" ], [ "49", " Drawer", " 1.596", " 0.090", " -2.202", " 0", " 270", " 0", "" ], [ "50", " Drawer", " 1.597", " 0.574", " -2.202", " 0", " 270", " 0", "" ], [ "51", " ShelvingUnit", " 0.249", " 0.003", " -2.519", " 0", " 0", " 0", "" ], [ "52", " Shelf", " 0.017", " 0.178", " -2.511", " 0", " 0", " 0", "" ], [ "53", " Shelf", " 0.249", " 0.665", " -2.519", " 0", " 0", " 0", "" ], [ "54", " Shelf", " 0.243", " 0.344", " -2.511", " 0", " 0", " 0", "" ], [ "55", " Shelf", " 0.474", " 0.344", " -2.511", " 0", " 0", " 0", "" ], [ "56", " Shelf", " 0.355", " 0.011", " -2.511", " 0", " 0", " 0", "" ], [ "57", " Shelf", " 0.016", " 0.011", " -2.511", " 0", " 0", " 0", "" ], [ "58", " Shelf", " 0.357", " 0.178", " -2.511", " 0", " 0", " 0", "" ], [ "59", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "60", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "61", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "62", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 2.75 0.902 -0.5 0 0 0 1 CellPhone -0.331 0.695 0.067 0 0 0 28 2 CellPhone -0.331 0.695 -0.36 0 0 0 28 3 Pen 1.680 0.661 -2.298 0 0 0 43 4 Pen 1.680 0.660 -2.124 0 0 0 43 5 Pencil 1.658 0.804 -2.219 0 0 0 48 6 Pencil 1.586 0.504 -2.211 0 0 0 50 7 CreditCard 1.842 0.799 -1.279 0 0 0 48 8 KeyChain 1.726 0.657 -1.464 0 0 0 41 9 KeyChain 0.427 0.674 -2.608 0 180 0 53 10 Book -1.061 0.694 -1.001 0 180 0 28 11 Book -0.574 0.694 0.067 0 0 0 28 12 AlarmClock 1.535 0.794 -1.466 0 0 0 48 13 Book -0.574 0.694 -0.36 0 0 0 28 14 KeyChain 1.536 0.801 -2.407 0 90 0 48 15 AlarmClock 0.069 0.665 -2.578 0 0 0 53 16 CreditCard 1.493 0.655 -2.386 0 0 0 43 17 Laptop 1.663 0.794 -1.842 0 287.390 0 48 18 Pen 1.658 0.807 -2.407 0 0 0 48 19 Pencil 1.680 0.505 -1.551 0 0 0 42 20 BaseballBat -1.844 0.678 -2.203 0 0 8.760 Floor|+00.01| 21 Pillow -1.061 0.755 -0.36 0 0 0 28 22 Pillow -0.088 0.755 0.281 0 0 0 28 23 TennisRacket -1.597 0.001 -1.367 90 37.792 0 Floor|+00.01| 24 CellPhone 1.474 0.800 -1.279 0 0 0 48 25 CD 3.378 0.016 0.194 0 0 0 33 26 Mug 0.341 0.671 -2.608 0 0 0 53 27 Mirror 3.534 1.661 -0.277 0 90 0 28 Bed -0.842 -0.000 -0.361 0 270 0 29 DeskLamp 1.742 0.819 -1.394 0 358.556 0 30 Painting 0.246 1.564 -2.665 90 0 0 31 Painting 1.894 1.549 -2.424 90 270 0 32 Painting 1.894 1.549 -1.289 90 270 0 33 GarbageCan 3.378 0.000 0.220 0 0 0 34 LightSwitch -0.078 1.219 1.298 0 180 0 35 Window -0.486 1.409 -2.691 90 0 0 36 Window 0.987 1.409 -2.691 90 0 0 37 VacuumCleaner -1.649 0.010 -2.440 0 42.426 0 38 Blinds -0.490 2.130 -2.638 0 0 0 39 Blinds 1.011 2.130 -2.638 0 0 0 40 Drawer 1.596 0.411 -1.459 0 270 0 41 Drawer 1.597 0.732 -1.459 0 270 0 42 Drawer 1.597 0.574 -1.459 0 270 0 43 Drawer 1.597 0.732 -2.202 0 270 0 44 Drawer 1.596 0.247 -1.459 0 270 0 45 Drawer 1.596 0.090 -1.459 0 270 0 46 Drawer 1.596 0.247 -2.202 0 270 0 47 Drawer 1.596 0.411 -2.202 0 270 0 48 Dresser 1.634 0.003 -1.830 0 270 0 49 Drawer 1.596 0.090 -2.202 0 270 0 50 Drawer 1.597 0.574 -2.202 0 270 0 51 ShelvingUnit 0.249 0.003 -2.519 0 0 0 52 Shelf 0.017 0.178 -2.511 0 0 0 53 Shelf 0.249 0.665 -2.519 0 0 0 54 Shelf 0.243 0.344 -2.511 0 0 0 55 Shelf 0.474 0.344 -2.511 0 0 0 56 Shelf 0.355 0.011 -2.511 0 0 0 57 Shelf 0.016 0.011 -2.511 0 0 0 58 Shelf 0.357 0.178 -2.511 0 0 0 59 NorthWall 60 EastWall 61 SouthWall 62 WestWall
[ "STEP 1: Turn left, walks towards the bed and turn left again facing the desk. | STEP 2: Pick up the red pen off of the desk. | STEP 3: Turn around and walk towards the table to the left. | STEP 4: Place the red pen in the black mug. | STEP 5: Pick up the mug with the red pen. | STEP 6: Turn to the left to face the desk. | STEP 7: Set the black mug on the left side of the desk. | END" ]
[ [ "STEP 1: Turn left, walks towards the bed and turn left again facing the desk. ", " STEP 2: Pick up the red pen off of the desk. ", " STEP 3: Turn around and walk towards the table to the left. ", " STEP 4: Place the red pen in the black mug. ", " STEP 5: Pick up the mug with the red pen. ", " STEP 6: Turn to the left to face the desk. ", " STEP 7: Set the black mug on the left side of the desk. ", " END" ] ]
seen
trial_T20190906_190353_820051-1
Put mug with pen on the dresser next to lamp.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 2.75 0.902 -0.5 0 0 0 1 CellPhone -0.331 0.695 0.067 0 0 0 28 2 CellPhone -0.331 0.695 -0.36 0 0 0 28 3 Pen 1.680 0.661 -2.298 0 0 0 43 4 Pen 1.680 0.660 -2.124 0 0 0 43 5 Pencil 1.658 0.804 -2.219 0 0 0 48 6 Pencil 1.586 0.504 -2.211 0 0 0 50 7 CreditCard 1.842 0.799 -1.279 0 0 0 48 8 KeyChain 1.726 0.657 -1.464 0 0 0 41 9 KeyChain 0.427 0.674 -2.608 0 180 0 53 10 Book -1.061 0.694 -1.001 0 180 0 28 11 Book -0.574 0.694 0.067 0 0 0 28 12 AlarmClock 1.535 0.794 -1.466 0 0 0 48 13 Book -0.574 0.694 -0.36 0 0 0 28 14 KeyChain 1.536 0.801 -2.407 0 90 0 48 15 AlarmClock 0.069 0.665 -2.578 0 0 0 53 16 CreditCard 1.493 0.655 -2.386 0 0 0 43 17 Laptop 1.663 0.794 -1.842 0 287.390 0 48 18 Pen 1.658 0.807 -2.407 0 0 0 48 19 Pencil 1.680 0.505 -1.551 0 0 0 42 20 BaseballBat -1.844 0.678 -2.203 0 0 8.760 Floor|+00.01| 21 Pillow -1.061 0.755 -0.36 0 0 0 28 22 Pillow -0.088 0.755 0.281 0 0 0 28 23 TennisRacket -1.597 0.001 -1.367 90 37.792 0 Floor|+00.01| 24 CellPhone 1.474 0.800 -1.279 0 0 0 48 25 CD 3.378 0.016 0.194 0 0 0 33 26 Mug 0.341 0.671 -2.608 0 0 0 53 27 Mirror 3.534 1.661 -0.277 0 90 0 28 Bed -0.842 -0.000 -0.361 0 270 0 29 DeskLamp 1.742 0.819 -1.394 0 358.556 0 30 Painting 0.246 1.564 -2.665 90 0 0 31 Painting 1.894 1.549 -2.424 90 270 0 32 Painting 1.894 1.549 -1.289 90 270 0 33 GarbageCan 3.378 0.000 0.220 0 0 0 34 LightSwitch -0.078 1.219 1.298 0 180 0 35 Window -0.486 1.409 -2.691 90 0 0 36 Window 0.987 1.409 -2.691 90 0 0 37 VacuumCleaner -1.649 0.010 -2.440 0 42.426 0 38 Blinds -0.490 2.130 -2.638 0 0 0 39 Blinds 1.011 2.130 -2.638 0 0 0 40 Drawer 1.596 0.411 -1.459 0 270 0 41 Drawer 1.597 0.732 -1.459 0 270 0 42 Drawer 1.597 0.574 -1.459 0 270 0 43 Drawer 1.597 0.732 -2.202 0 270 0 44 Drawer 1.596 0.247 -1.459 0 270 0 45 Drawer 1.596 0.090 -1.459 0 270 0 46 Drawer 1.596 0.247 -2.202 0 270 0 47 Drawer 1.596 0.411 -2.202 0 270 0 48 Dresser 1.634 0.003 -1.830 0 270 0 49 Drawer 1.596 0.090 -2.202 0 270 0 50 Drawer 1.597 0.574 -2.202 0 270 0 51 ShelvingUnit 0.249 0.003 -2.519 0 0 0 52 Shelf 0.017 0.178 -2.511 0 0 0 53 Shelf 0.249 0.665 -2.519 0 0 0 54 Shelf 0.243 0.344 -2.511 0 0 0 55 Shelf 0.474 0.344 -2.511 0 0 0 56 Shelf 0.355 0.011 -2.511 0 0 0 57 Shelf 0.016 0.011 -2.511 0 0 0 58 Shelf 0.357 0.178 -2.511 0 0 0 59 NorthWall 60 EastWall 61 SouthWall 62 WestWall
[ "STEP 1: Move over to the computer on the dresser. | STEP 2: Pick up the pen on the dresser. | STEP 3: Bring the pen over to the mug on the small brown shelf. | STEP 4: Put the pen in the black mug on the shelf. | STEP 5: Pick up the mug from the shelf. | STEP 6: Bring the mug over to the dresser. | STEP 7: Put the mug with pen in it down on the dresser next to the lamp. | END" ]
[ [ "STEP 1: Move over to the computer on the dresser. ", " STEP 2: Pick up the pen on the dresser. ", " STEP 3: Bring the pen over to the mug on the small brown shelf. ", " STEP 4: Put the pen in the black mug on the shelf. ", " STEP 5: Pick up the mug from the shelf. ", " STEP 6: Bring the mug over to the dresser. ", " STEP 7: Put the mug with pen in it down on the dresser next to the lamp. ", " END" ] ]
seen
trial_T20190906_190353_820051-2
place down a cup with a pen in it on the dresser
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " 2.75", " 0.902", " -0.5", " 0", " 0", " 0", "" ], [ "1", " CellPhone", " -0.331", " 0.695", " 0.067", " 0", " 0", " 0", " 28" ], [ "2", " CellPhone", " -0.331", " 0.695", " -0.36", " 0", " 0", " 0", " 28" ], [ "3", " Pen", " 1.680", " 0.661", " -2.298", " 0", " 0", " 0", " 43" ], [ "4", " Pen", " 1.680", " 0.660", " -2.124", " 0", " 0", " 0", " 43" ], [ "5", " Pencil", " 1.658", " 0.804", " -2.219", " 0", " 0", " 0", " 48" ], [ "6", " Pencil", " 1.586", " 0.504", " -2.211", " 0", " 0", " 0", " 50" ], [ "7", " CreditCard", " 1.842", " 0.799", " -1.279", " 0", " 0", " 0", " 48" ], [ "8", " KeyChain", " 1.726", " 0.657", " -1.464", " 0", " 0", " 0", " 41" ], [ "9", " KeyChain", " 0.427", " 0.674", " -2.608", " 0", " 180", " 0", " 53" ], [ "10", " Book", " -1.061", " 0.694", " -1.001", " 0", " 180", " 0", " 28" ], [ "11", " Book", " -0.574", " 0.694", " 0.067", " 0", " 0", " 0", " 28" ], [ "12", " AlarmClock", " 1.535", " 0.794", " -1.466", " 0", " 0", " 0", " 48" ], [ "13", " Book", " -0.574", " 0.694", " -0.36", " 0", " 0", " 0", " 28" ], [ "14", " KeyChain", " 1.536", " 0.801", " -2.407", " 0", " 90", " 0", " 48" ], [ "15", " AlarmClock", " 0.069", " 0.665", " -2.578", " 0", " 0", " 0", " 53" ], [ "16", " CreditCard", " 1.493", " 0.655", " -2.386", " 0", " 0", " 0", " 43" ], [ "17", " Laptop", " 1.663", " 0.794", " -1.842", " 0", " 287.390", " 0", " 48" ], [ "18", " Pen", " 1.658", " 0.807", " -2.407", " 0", " 0", " 0", " 48" ], [ "19", " Pencil", " 1.680", " 0.505", " -1.551", " 0", " 0", " 0", " 42" ], [ "20", " BaseballBat", " -1.844", " 0.678", " -2.203", " 0", " 0", " 8.760", " Floor|+00.01|" ], [ "21", " Pillow", " -1.061", " 0.755", " -0.36", " 0", " 0", " 0", " 28" ], [ "22", " Pillow", " -0.088", " 0.755", " 0.281", " 0", " 0", " 0", " 28" ], [ "23", " TennisRacket", " -1.597", " 0.001", " -1.367", " 90", " 37.792", " 0", " Floor|+00.01|" ], [ "24", " CellPhone", " 1.474", " 0.800", " -1.279", " 0", " 0", " 0", " 48" ], [ "25", " CD", " 3.378", " 0.016", " 0.194", " 0", " 0", " 0", " 33" ], [ "26", " Mug", " 0.341", " 0.671", " -2.608", " 0", " 0", " 0", " 53" ], [ "27", " Mirror", " 3.534", " 1.661", " -0.277", " 0", " 90", " 0", "" ], [ "28", " Bed", " -0.842", " -0.000", " -0.361", " 0", " 270", " 0", "" ], [ "29", " DeskLamp", " 1.742", " 0.819", " -1.394", " 0", " 358.556", " 0", "" ], [ "30", " Painting", " 0.246", " 1.564", " -2.665", " 90", " 0", " 0", "" ], [ "31", " Painting", " 1.894", " 1.549", " -2.424", " 90", " 270", " 0", "" ], [ "32", " Painting", " 1.894", " 1.549", " -1.289", " 90", " 270", " 0", "" ], [ "33", " GarbageCan", " 3.378", " 0.000", " 0.220", " 0", " 0", " 0", "" ], [ "34", " LightSwitch", " -0.078", " 1.219", " 1.298", " 0", " 180", " 0", "" ], [ "35", " Window", " -0.486", " 1.409", " -2.691", " 90", " 0", " 0", "" ], [ "36", " Window", " 0.987", " 1.409", " -2.691", " 90", " 0", " 0", "" ], [ "37", " VacuumCleaner", " -1.649", " 0.010", " -2.440", " 0", " 42.426", " 0", "" ], [ "38", " Blinds", " -0.490", " 2.130", " -2.638", " 0", " 0", " 0", "" ], [ "39", " Blinds", " 1.011", " 2.130", " -2.638", " 0", " 0", " 0", "" ], [ "40", " Drawer", " 1.596", " 0.411", " -1.459", " 0", " 270", " 0", "" ], [ "41", " Drawer", " 1.597", " 0.732", " -1.459", " 0", " 270", " 0", "" ], [ "42", " Drawer", " 1.597", " 0.574", " -1.459", " 0", " 270", " 0", "" ], [ "43", " Drawer", " 1.597", " 0.732", " -2.202", " 0", " 270", " 0", "" ], [ "44", " Drawer", " 1.596", " 0.247", " -1.459", " 0", " 270", " 0", "" ], [ "45", " Drawer", " 1.596", " 0.090", " -1.459", " 0", " 270", " 0", "" ], [ "46", " Drawer", " 1.596", " 0.247", " -2.202", " 0", " 270", " 0", "" ], [ "47", " Drawer", " 1.596", " 0.411", " -2.202", " 0", " 270", " 0", "" ], [ "48", " Dresser", " 1.634", " 0.003", " -1.830", " 0", " 270", " 0", "" ], [ "49", " Drawer", " 1.596", " 0.090", " -2.202", " 0", " 270", " 0", "" ], [ "50", " Drawer", " 1.597", " 0.574", " -2.202", " 0", " 270", " 0", "" ], [ "51", " ShelvingUnit", " 0.249", " 0.003", " -2.519", " 0", " 0", " 0", "" ], [ "52", " Shelf", " 0.017", " 0.178", " -2.511", " 0", " 0", " 0", "" ], [ "53", " Shelf", " 0.249", " 0.665", " -2.519", " 0", " 0", " 0", "" ], [ "54", " Shelf", " 0.243", " 0.344", " -2.511", " 0", " 0", " 0", "" ], [ "55", " Shelf", " 0.474", " 0.344", " -2.511", " 0", " 0", " 0", "" ], [ "56", " Shelf", " 0.355", " 0.011", " -2.511", " 0", " 0", " 0", "" ], [ "57", " Shelf", " 0.016", " 0.011", " -2.511", " 0", " 0", " 0", "" ], [ "58", " Shelf", " 0.357", " 0.178", " -2.511", " 0", " 0", " 0", "" ], [ "59", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "60", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "61", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "62", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 2.75 0.902 -0.5 0 0 0 1 CellPhone -0.331 0.695 0.067 0 0 0 28 2 CellPhone -0.331 0.695 -0.36 0 0 0 28 3 Pen 1.680 0.661 -2.298 0 0 0 43 4 Pen 1.680 0.660 -2.124 0 0 0 43 5 Pencil 1.658 0.804 -2.219 0 0 0 48 6 Pencil 1.586 0.504 -2.211 0 0 0 50 7 CreditCard 1.842 0.799 -1.279 0 0 0 48 8 KeyChain 1.726 0.657 -1.464 0 0 0 41 9 KeyChain 0.427 0.674 -2.608 0 180 0 53 10 Book -1.061 0.694 -1.001 0 180 0 28 11 Book -0.574 0.694 0.067 0 0 0 28 12 AlarmClock 1.535 0.794 -1.466 0 0 0 48 13 Book -0.574 0.694 -0.36 0 0 0 28 14 KeyChain 1.536 0.801 -2.407 0 90 0 48 15 AlarmClock 0.069 0.665 -2.578 0 0 0 53 16 CreditCard 1.493 0.655 -2.386 0 0 0 43 17 Laptop 1.663 0.794 -1.842 0 287.390 0 48 18 Pen 1.658 0.807 -2.407 0 0 0 48 19 Pencil 1.680 0.505 -1.551 0 0 0 42 20 BaseballBat -1.844 0.678 -2.203 0 0 8.760 Floor|+00.01| 21 Pillow -1.061 0.755 -0.36 0 0 0 28 22 Pillow -0.088 0.755 0.281 0 0 0 28 23 TennisRacket -1.597 0.001 -1.367 90 37.792 0 Floor|+00.01| 24 CellPhone 1.474 0.800 -1.279 0 0 0 48 25 CD 3.378 0.016 0.194 0 0 0 33 26 Mug 0.341 0.671 -2.608 0 0 0 53 27 Mirror 3.534 1.661 -0.277 0 90 0 28 Bed -0.842 -0.000 -0.361 0 270 0 29 DeskLamp 1.742 0.819 -1.394 0 358.556 0 30 Painting 0.246 1.564 -2.665 90 0 0 31 Painting 1.894 1.549 -2.424 90 270 0 32 Painting 1.894 1.549 -1.289 90 270 0 33 GarbageCan 3.378 0.000 0.220 0 0 0 34 LightSwitch -0.078 1.219 1.298 0 180 0 35 Window -0.486 1.409 -2.691 90 0 0 36 Window 0.987 1.409 -2.691 90 0 0 37 VacuumCleaner -1.649 0.010 -2.440 0 42.426 0 38 Blinds -0.490 2.130 -2.638 0 0 0 39 Blinds 1.011 2.130 -2.638 0 0 0 40 Drawer 1.596 0.411 -1.459 0 270 0 41 Drawer 1.597 0.732 -1.459 0 270 0 42 Drawer 1.597 0.574 -1.459 0 270 0 43 Drawer 1.597 0.732 -2.202 0 270 0 44 Drawer 1.596 0.247 -1.459 0 270 0 45 Drawer 1.596 0.090 -1.459 0 270 0 46 Drawer 1.596 0.247 -2.202 0 270 0 47 Drawer 1.596 0.411 -2.202 0 270 0 48 Dresser 1.634 0.003 -1.830 0 270 0 49 Drawer 1.596 0.090 -2.202 0 270 0 50 Drawer 1.597 0.574 -2.202 0 270 0 51 ShelvingUnit 0.249 0.003 -2.519 0 0 0 52 Shelf 0.017 0.178 -2.511 0 0 0 53 Shelf 0.249 0.665 -2.519 0 0 0 54 Shelf 0.243 0.344 -2.511 0 0 0 55 Shelf 0.474 0.344 -2.511 0 0 0 56 Shelf 0.355 0.011 -2.511 0 0 0 57 Shelf 0.016 0.011 -2.511 0 0 0 58 Shelf 0.357 0.178 -2.511 0 0 0 59 NorthWall 60 EastWall 61 SouthWall 62 WestWall
[ "STEP 1: turn left and move to the front of the dresser drawers | STEP 2: grab a pen off the top of the dresser | STEP 3: turn right and move to the smaller brown cabinet against the wall | STEP 4: place the pen inside a cup on the cabinet | STEP 5: grab the black cup up off of the cabinet | STEP 6: turn around and move to the front of the dresser | STEP 7: place the cup down on the dresser behind the cell phone | END" ]
[ [ "STEP 1: turn left and move to the front of the dresser drawers ", " STEP 2: grab a pen off the top of the dresser ", " STEP 3: turn right and move to the smaller brown cabinet against the wall ", " STEP 4: place the pen inside a cup on the cabinet ", " STEP 5: grab the black cup up off of the cabinet ", " STEP 6: turn around and move to the front of the dresser ", " STEP 7: place the cup down on the dresser behind the cell phone ", " END" ] ]
seen
trial_T20190908_061847_951064-0
Pick up the pen from the desk and turn on the light.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 0.5 0.901 -1.0 0 180 0 1 Bowl 1.559 0.695 -1.409 0 0 0 31 2 CD 1.492 0.473 -0.911 0 270 0 30 3 CellPhone 0.477 0.693 -2.125 0 90 0 31 4 CellPhone -1.346 0.631 -1.297 0 0 0 22 5 Pencil -0.560 0.666 0.643 0 180 0 34 6 Book -0.708 0.661 0.600 0 180 0 34 7 AlarmClock 0.661 0.695 -2.055 0 90 0 31 8 AlarmClock 1.610 0.695 -1.644 0 18.354 0 31 9 Box -0.015 0.239 -2.091 0 0 0 10 Book -1.521 0.629 -0.473 0 0 0 22 11 BaseballBat 1.798 0.639 0.425 0 0 342.316 12 Pen -0.362 0.698 -1.980 0 90 0 31 13 Pencil -0.634 0.666 0.513 0 180 0 34 14 KeyChain 1.439 0.473 -0.667 0 270 0 30 15 Pillow -1.694 0.656 0.415 0 0 0 22 16 CreditCard 0.293 0.693 -2.125 0 90 0 31 17 CellPhone 1.431 0.694 -1.786 0 18.354 0 31 18 Laptop 1.641 0.686 -1.011 0 270 0 31 19 CD -0.017 0.693 -2.132 0 99.090 0 31 20 Bowl 0.845 0.694 -2.196 0 90 0 31 21 AlarmClock -0.413 0.664 0.556 0 180 0 34 22 Bed -1.696 0.004 -0.446 0 0 0 23 Chair 0.956 -0.000 -1.747 0 110.225 0 24 DeskLamp -0.440 0.688 -2.276 0 0 0 25 LightSwitch 0.625 1.338 0.734 0 180 0 26 GarbageCan 1.660 -0.019 -0.389 0 345.008 0 27 Mirror 1.300 1.422 0.765 0 0 0 28 HousePlant -0.867 0.000 -2.286 0 0 0 29 Window 0.819 1.496 -2.553 90 180 0 30 Shelf 1.616 0.561 -0.802 0 0 0 31 Desk 0.617 -0.000 -1.511 0 0 0 32 Blinds 0.796 2.217 -2.476 0 0 0 33 Drawer -0.558 0.456 0.462 0 180 0 34 SideTable -0.557 -0.000 0.529 0 180 0 35 Drawer -0.558 0.164 0.462 0 180 0 36 Desktop 1.455 0.692 -1.886 358.180 309.674 0 37 NorthWall 38 EastWall 39 SouthWall 40 WestWall
[ "STEP 1: Turn to the right, face the brown desk near the lamp | STEP 2: Pick up the pen from the desk | STEP 3: Turn to the right, walk forward, then turn to the left | STEP 4: Turn on the light | END" ]
[ [ "STEP 1: Turn to the right, face the brown desk near the lamp ", " STEP 2: Pick up the pen from the desk ", " STEP 3: Turn to the right, walk forward, then turn to the left ", " STEP 4: Turn on the light ", " END" ] ]
seen
trial_T20190908_061847_951064-1
Pick up a pencil and examine it by the light of a lamp
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 0.5 0.901 -1.0 0 180 0 1 Bowl 1.559 0.695 -1.409 0 0 0 31 2 CD 1.492 0.473 -0.911 0 270 0 30 3 CellPhone 0.477 0.693 -2.125 0 90 0 31 4 CellPhone -1.346 0.631 -1.297 0 0 0 22 5 Pencil -0.560 0.666 0.643 0 180 0 34 6 Book -0.708 0.661 0.600 0 180 0 34 7 AlarmClock 0.661 0.695 -2.055 0 90 0 31 8 AlarmClock 1.610 0.695 -1.644 0 18.354 0 31 9 Box -0.015 0.239 -2.091 0 0 0 10 Book -1.521 0.629 -0.473 0 0 0 22 11 BaseballBat 1.798 0.639 0.425 0 0 342.316 12 Pen -0.362 0.698 -1.980 0 90 0 31 13 Pencil -0.634 0.666 0.513 0 180 0 34 14 KeyChain 1.439 0.473 -0.667 0 270 0 30 15 Pillow -1.694 0.656 0.415 0 0 0 22 16 CreditCard 0.293 0.693 -2.125 0 90 0 31 17 CellPhone 1.431 0.694 -1.786 0 18.354 0 31 18 Laptop 1.641 0.686 -1.011 0 270 0 31 19 CD -0.017 0.693 -2.132 0 99.090 0 31 20 Bowl 0.845 0.694 -2.196 0 90 0 31 21 AlarmClock -0.413 0.664 0.556 0 180 0 34 22 Bed -1.696 0.004 -0.446 0 0 0 23 Chair 0.956 -0.000 -1.747 0 110.225 0 24 DeskLamp -0.440 0.688 -2.276 0 0 0 25 LightSwitch 0.625 1.338 0.734 0 180 0 26 GarbageCan 1.660 -0.019 -0.389 0 345.008 0 27 Mirror 1.300 1.422 0.765 0 0 0 28 HousePlant -0.867 0.000 -2.286 0 0 0 29 Window 0.819 1.496 -2.553 90 180 0 30 Shelf 1.616 0.561 -0.802 0 0 0 31 Desk 0.617 -0.000 -1.511 0 0 0 32 Blinds 0.796 2.217 -2.476 0 0 0 33 Drawer -0.558 0.456 0.462 0 180 0 34 SideTable -0.557 -0.000 0.529 0 180 0 35 Drawer -0.558 0.164 0.462 0 180 0 36 Desktop 1.455 0.692 -1.886 358.180 309.674 0 37 NorthWall 38 EastWall 39 SouthWall 40 WestWall
[ "STEP 1: Move to the right side of the desk | STEP 2: Pick up the blue pencil on the desk | STEP 3: Move to the right side of the desk | STEP 4: Turn on the light | END" ]
[ [ "STEP 1: Move to the right side of the desk ", " STEP 2: Pick up the blue pencil on the desk ", " STEP 3: Move to the right side of the desk ", " STEP 4: Turn on the light ", " END" ] ]
seen
trial_T20190908_061847_951064-2
Pick up a pen and turn on a lamp
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 0.5 0.901 -1.0 0 180 0 1 Bowl 1.559 0.695 -1.409 0 0 0 31 2 CD 1.492 0.473 -0.911 0 270 0 30 3 CellPhone 0.477 0.693 -2.125 0 90 0 31 4 CellPhone -1.346 0.631 -1.297 0 0 0 22 5 Pencil -0.560 0.666 0.643 0 180 0 34 6 Book -0.708 0.661 0.600 0 180 0 34 7 AlarmClock 0.661 0.695 -2.055 0 90 0 31 8 AlarmClock 1.610 0.695 -1.644 0 18.354 0 31 9 Box -0.015 0.239 -2.091 0 0 0 10 Book -1.521 0.629 -0.473 0 0 0 22 11 BaseballBat 1.798 0.639 0.425 0 0 342.316 12 Pen -0.362 0.698 -1.980 0 90 0 31 13 Pencil -0.634 0.666 0.513 0 180 0 34 14 KeyChain 1.439 0.473 -0.667 0 270 0 30 15 Pillow -1.694 0.656 0.415 0 0 0 22 16 CreditCard 0.293 0.693 -2.125 0 90 0 31 17 CellPhone 1.431 0.694 -1.786 0 18.354 0 31 18 Laptop 1.641 0.686 -1.011 0 270 0 31 19 CD -0.017 0.693 -2.132 0 99.090 0 31 20 Bowl 0.845 0.694 -2.196 0 90 0 31 21 AlarmClock -0.413 0.664 0.556 0 180 0 34 22 Bed -1.696 0.004 -0.446 0 0 0 23 Chair 0.956 -0.000 -1.747 0 110.225 0 24 DeskLamp -0.440 0.688 -2.276 0 0 0 25 LightSwitch 0.625 1.338 0.734 0 180 0 26 GarbageCan 1.660 -0.019 -0.389 0 345.008 0 27 Mirror 1.300 1.422 0.765 0 0 0 28 HousePlant -0.867 0.000 -2.286 0 0 0 29 Window 0.819 1.496 -2.553 90 180 0 30 Shelf 1.616 0.561 -0.802 0 0 0 31 Desk 0.617 -0.000 -1.511 0 0 0 32 Blinds 0.796 2.217 -2.476 0 0 0 33 Drawer -0.558 0.456 0.462 0 180 0 34 SideTable -0.557 -0.000 0.529 0 180 0 35 Drawer -0.558 0.164 0.462 0 180 0 36 Desktop 1.455 0.692 -1.886 358.180 309.674 0 37 NorthWall 38 EastWall 39 SouthWall 40 WestWall
[ "STEP 1: Turn right to go to the desk on the right | STEP 2: Pick up the blue pen | STEP 3: Go to the lamp on the right edge of the desk | STEP 4: Turn on the lamp | END" ]
[ [ "STEP 1: Turn right to go to the desk on the right ", " STEP 2: Pick up the blue pen ", " STEP 3: Go to the lamp on the right edge of the desk ", " STEP 4: Turn on the lamp ", " END" ] ]
seen
trial_T20190908_003932_911911-0
Move two newspapers to the sofa
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " -0.75", " 0.900", " 1.0", " 0", " 270", " 0", "" ], [ "1", " TissueBox", " 1.183", " 0.479", " 0.186", " 0", " 180", " 0", " 34" ], [ "2", " TissueBox", " -0.401", " 0.841", " -0.867", " 0", " 0", " 0", " 38" ], [ "3", " Newspaper", " -0.417", " 0.321", " 1.742", " 0", " 91.372", " 0", " 41" ], [ "4", " Newspaper", " 1.324", " 0.476", " 0.594", " 0", " 180", " 0", " 34" ], [ "5", " Newspaper", " -0.185", " 0.456", " -0.729", " 0", " 0", " 0", " 40" ], [ "6", " KeyChain", " 4.047", " 0.878", " 0.549", " 0", " 0", " 0", " 43" ], [ "7", " CreditCard", " 1.586", " 0.335", " 1.892", " 0", " 0", " 0", " 42" ], [ "8", " RemoteControl", " 1.904", " 0.454", " -0.691", " 0", " 0", " 0", " 35" ], [ "9", " RemoteControl", " -0.624", " 0.841", " -0.721", " 0", " 0", " 0", " 38" ], [ "10", " Box", " -0.29", " 1.074", " -0.714", " 0", " 270", " 0", " Floor|+00.00|" ], [ "11", " Newspaper", " -0.202", " 0.321", " 1.665", " 0", " 91.372", " 0", " 41" ], [ "12", " Laptop", " 1.805", " 0.47", " 0.499", " 0", " 0", " 0", " 34" ], [ "13", " WateringCan", " 1.621", " 0.056", " -0.697", " 0", " 0", " 0", " 39" ], [ "14", " TissueBox", " 1.324", " 0.479", " 0.431", " 0", " 180", " 0", " 34" ], [ "15", " KeyChain", " 4.007", " 0.878", " 0.865", " 0", " 0", " 0", " 43" ], [ "16", " Pen", " -0.290", " 0.074", " -0.767", " 0", " 0", " 0", " 37" ], [ "17", " Boots", " 4.005", " 0.001", " 1.707", " 1.563", " 246.167", " 0", "" ], [ "18", " Pencil", " 2.009", " 0.068", " -0.691", " 0", " 0", " 0", " 39" ], [ "19", " RemoteControl", " -0.395", " 0.069", " -0.767", " 0", " 0", " 0", " 37" ], [ "20", " CreditCard", " 1.466", " 0.477", " 0.186", " 0", " 180", " 0", " 34" ], [ "21", " Pillow", " 0.651", " 0.395", " 1.708", " 0", " 0", " 0", " 24" ], [ "22", " Statue", " -0.532", " 0.443", " -0.738", " 0", " 92.244", " 0", " 40" ], [ "23", " Statue", " -0.081", " 0.057", " -0.692", " 0", " 0", " 0", " 37" ], [ "24", " Sofa", " 1.174", " 0.0", " 1.865", " 0", " 0", " 0", "" ], [ "25", " FloorLamp", " 3.608", " 0.000", " 2.163", " 0", " 0", " 0", "" ], [ "26", " GarbageCan", " 3.833", " -0.029", " -0.495", " 0", " 0", " 0", "" ], [ "27", " Television", " 1.897", " 1.281", " -0.838", " 0", " 0", " 0", "" ], [ "28", " Painting", " 4.070", " 1.950", " 0.848", " 90", " 270", " 0", "" ], [ "29", " HousePlant", " 0.387", " 0.801", " -0.725", " 0", " 90", " 0", "" ], [ "30", " Window", " 0.023", " 2.072", " 2.484", " 90", " 180", " 0", "" ], [ "31", " Window", " 1.570", " 2.072", " 2.484", " 90", " 180", " 0", "" ], [ "32", " LightSwitch", " -1.399", " 1.289", " 1.835", " 0", " 90", " 0", "" ], [ "33", " ArmChair", " 2.655", " 0.000", " 1.858", " 0", " 180", " 0", "" ], [ "34", " CoffeeTable", " 1.591", " -0.000", " 0.446", " 0", " 180", " 0", "" ], [ "35", " Shelf", " 1.905", " 0.588", " -0.730", " 0", " 0", " 0", "" ], [ "36", " TVStand", " 1.904", " -0.000", " -0.770", " 0", " 0", " 0", "" ], [ "37", " Shelf", " -0.289", " 0.200", " -0.732", " 0", " 0", " 0", "" ], [ "38", " TVStand", " -0.290", " -0.000", " -0.772", " 0", " 0", " 0", "" ], [ "39", " Shelf", " 1.905", " 0.200", " -0.730", " 0", " 0", " 0", "" ], [ "40", " Shelf", " -0.289", " 0.588", " -0.732", " 0", " 0", " 0", "" ], [ "41", " ArmChair", " -0.270", " 0.000", " 1.870", " 0", " 181.372", " 0", "" ], [ "42", " Sofa", " 1.193", " 0.008", " 1.865", " 0", " 180", " 0", "" ], [ "43", " SideTable", " 3.946", " 0.000", " 0.865", " 0", " 270", " 0", "" ], [ "44", " Drawer", " 3.882", " 0.774", " 0.864", " 0", " 270", " 0", "" ], [ "45", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "46", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "47", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "48", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -0.75 0.900 1.0 0 270 0 1 TissueBox 1.183 0.479 0.186 0 180 0 34 2 TissueBox -0.401 0.841 -0.867 0 0 0 38 3 Newspaper -0.417 0.321 1.742 0 91.372 0 41 4 Newspaper 1.324 0.476 0.594 0 180 0 34 5 Newspaper -0.185 0.456 -0.729 0 0 0 40 6 KeyChain 4.047 0.878 0.549 0 0 0 43 7 CreditCard 1.586 0.335 1.892 0 0 0 42 8 RemoteControl 1.904 0.454 -0.691 0 0 0 35 9 RemoteControl -0.624 0.841 -0.721 0 0 0 38 10 Box -0.29 1.074 -0.714 0 270 0 Floor|+00.00| 11 Newspaper -0.202 0.321 1.665 0 91.372 0 41 12 Laptop 1.805 0.47 0.499 0 0 0 34 13 WateringCan 1.621 0.056 -0.697 0 0 0 39 14 TissueBox 1.324 0.479 0.431 0 180 0 34 15 KeyChain 4.007 0.878 0.865 0 0 0 43 16 Pen -0.290 0.074 -0.767 0 0 0 37 17 Boots 4.005 0.001 1.707 1.563 246.167 0 18 Pencil 2.009 0.068 -0.691 0 0 0 39 19 RemoteControl -0.395 0.069 -0.767 0 0 0 37 20 CreditCard 1.466 0.477 0.186 0 180 0 34 21 Pillow 0.651 0.395 1.708 0 0 0 24 22 Statue -0.532 0.443 -0.738 0 92.244 0 40 23 Statue -0.081 0.057 -0.692 0 0 0 37 24 Sofa 1.174 0.0 1.865 0 0 0 25 FloorLamp 3.608 0.000 2.163 0 0 0 26 GarbageCan 3.833 -0.029 -0.495 0 0 0 27 Television 1.897 1.281 -0.838 0 0 0 28 Painting 4.070 1.950 0.848 90 270 0 29 HousePlant 0.387 0.801 -0.725 0 90 0 30 Window 0.023 2.072 2.484 90 180 0 31 Window 1.570 2.072 2.484 90 180 0 32 LightSwitch -1.399 1.289 1.835 0 90 0 33 ArmChair 2.655 0.000 1.858 0 180 0 34 CoffeeTable 1.591 -0.000 0.446 0 180 0 35 Shelf 1.905 0.588 -0.730 0 0 0 36 TVStand 1.904 -0.000 -0.770 0 0 0 37 Shelf -0.289 0.200 -0.732 0 0 0 38 TVStand -0.290 -0.000 -0.772 0 0 0 39 Shelf 1.905 0.200 -0.730 0 0 0 40 Shelf -0.289 0.588 -0.732 0 0 0 41 ArmChair -0.270 0.000 1.870 0 181.372 0 42 Sofa 1.193 0.008 1.865 0 180 0 43 SideTable 3.946 0.000 0.865 0 270 0 44 Drawer 3.882 0.774 0.864 0 270 0 45 NorthWall 46 EastWall 47 SouthWall 48 WestWall
[ "STEP 1: Turn around and then turn to your right to face the coffee table | STEP 2: Pick up the newspaper from off of the table | STEP 3: Turn around so that you are facing the sofa | STEP 4: Set the newspaper down on the sofa cushion | STEP 5: Take some steps to the left and turn right to face the small chair | STEP 6: Pick up another newspaper off of the chair | STEP 7: Head back to your right to face the sofa again | STEP 8: Set the second newspaper down on the sofa cushion | END" ]
[ [ "STEP 1: Turn around and then turn to your right to face the coffee table ", " STEP 2: Pick up the newspaper from off of the table ", " STEP 3: Turn around so that you are facing the sofa ", " STEP 4: Set the newspaper down on the sofa cushion ", " STEP 5: Take some steps to the left and turn right to face the small chair ", " STEP 6: Pick up another newspaper off of the chair ", " STEP 7: Head back to your right to face the sofa again ", " STEP 8: Set the second newspaper down on the sofa cushion ", " END" ] ]
seen
trial_T20190908_003932_911911-1
To move two newspapers to the middle cushion of the green couch.
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " -0.75", " 0.900", " 1.0", " 0", " 270", " 0", "" ], [ "1", " TissueBox", " 1.183", " 0.479", " 0.186", " 0", " 180", " 0", " 34" ], [ "2", " TissueBox", " -0.401", " 0.841", " -0.867", " 0", " 0", " 0", " 38" ], [ "3", " Newspaper", " -0.417", " 0.321", " 1.742", " 0", " 91.372", " 0", " 41" ], [ "4", " Newspaper", " 1.324", " 0.476", " 0.594", " 0", " 180", " 0", " 34" ], [ "5", " Newspaper", " -0.185", " 0.456", " -0.729", " 0", " 0", " 0", " 40" ], [ "6", " KeyChain", " 4.047", " 0.878", " 0.549", " 0", " 0", " 0", " 43" ], [ "7", " CreditCard", " 1.586", " 0.335", " 1.892", " 0", " 0", " 0", " 42" ], [ "8", " RemoteControl", " 1.904", " 0.454", " -0.691", " 0", " 0", " 0", " 35" ], [ "9", " RemoteControl", " -0.624", " 0.841", " -0.721", " 0", " 0", " 0", " 38" ], [ "10", " Box", " -0.29", " 1.074", " -0.714", " 0", " 270", " 0", " Floor|+00.00|" ], [ "11", " Newspaper", " -0.202", " 0.321", " 1.665", " 0", " 91.372", " 0", " 41" ], [ "12", " Laptop", " 1.805", " 0.47", " 0.499", " 0", " 0", " 0", " 34" ], [ "13", " WateringCan", " 1.621", " 0.056", " -0.697", " 0", " 0", " 0", " 39" ], [ "14", " TissueBox", " 1.324", " 0.479", " 0.431", " 0", " 180", " 0", " 34" ], [ "15", " KeyChain", " 4.007", " 0.878", " 0.865", " 0", " 0", " 0", " 43" ], [ "16", " Pen", " -0.290", " 0.074", " -0.767", " 0", " 0", " 0", " 37" ], [ "17", " Boots", " 4.005", " 0.001", " 1.707", " 1.563", " 246.167", " 0", "" ], [ "18", " Pencil", " 2.009", " 0.068", " -0.691", " 0", " 0", " 0", " 39" ], [ "19", " RemoteControl", " -0.395", " 0.069", " -0.767", " 0", " 0", " 0", " 37" ], [ "20", " CreditCard", " 1.466", " 0.477", " 0.186", " 0", " 180", " 0", " 34" ], [ "21", " Pillow", " 0.651", " 0.395", " 1.708", " 0", " 0", " 0", " 24" ], [ "22", " Statue", " -0.532", " 0.443", " -0.738", " 0", " 92.244", " 0", " 40" ], [ "23", " Statue", " -0.081", " 0.057", " -0.692", " 0", " 0", " 0", " 37" ], [ "24", " Sofa", " 1.174", " 0.0", " 1.865", " 0", " 0", " 0", "" ], [ "25", " FloorLamp", " 3.608", " 0.000", " 2.163", " 0", " 0", " 0", "" ], [ "26", " GarbageCan", " 3.833", " -0.029", " -0.495", " 0", " 0", " 0", "" ], [ "27", " Television", " 1.897", " 1.281", " -0.838", " 0", " 0", " 0", "" ], [ "28", " Painting", " 4.070", " 1.950", " 0.848", " 90", " 270", " 0", "" ], [ "29", " HousePlant", " 0.387", " 0.801", " -0.725", " 0", " 90", " 0", "" ], [ "30", " Window", " 0.023", " 2.072", " 2.484", " 90", " 180", " 0", "" ], [ "31", " Window", " 1.570", " 2.072", " 2.484", " 90", " 180", " 0", "" ], [ "32", " LightSwitch", " -1.399", " 1.289", " 1.835", " 0", " 90", " 0", "" ], [ "33", " ArmChair", " 2.655", " 0.000", " 1.858", " 0", " 180", " 0", "" ], [ "34", " CoffeeTable", " 1.591", " -0.000", " 0.446", " 0", " 180", " 0", "" ], [ "35", " Shelf", " 1.905", " 0.588", " -0.730", " 0", " 0", " 0", "" ], [ "36", " TVStand", " 1.904", " -0.000", " -0.770", " 0", " 0", " 0", "" ], [ "37", " Shelf", " -0.289", " 0.200", " -0.732", " 0", " 0", " 0", "" ], [ "38", " TVStand", " -0.290", " -0.000", " -0.772", " 0", " 0", " 0", "" ], [ "39", " Shelf", " 1.905", " 0.200", " -0.730", " 0", " 0", " 0", "" ], [ "40", " Shelf", " -0.289", " 0.588", " -0.732", " 0", " 0", " 0", "" ], [ "41", " ArmChair", " -0.270", " 0.000", " 1.870", " 0", " 181.372", " 0", "" ], [ "42", " Sofa", " 1.193", " 0.008", " 1.865", " 0", " 180", " 0", "" ], [ "43", " SideTable", " 3.946", " 0.000", " 0.865", " 0", " 270", " 0", "" ], [ "44", " Drawer", " 3.882", " 0.774", " 0.864", " 0", " 270", " 0", "" ], [ "45", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "46", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "47", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "48", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -0.75 0.900 1.0 0 270 0 1 TissueBox 1.183 0.479 0.186 0 180 0 34 2 TissueBox -0.401 0.841 -0.867 0 0 0 38 3 Newspaper -0.417 0.321 1.742 0 91.372 0 41 4 Newspaper 1.324 0.476 0.594 0 180 0 34 5 Newspaper -0.185 0.456 -0.729 0 0 0 40 6 KeyChain 4.047 0.878 0.549 0 0 0 43 7 CreditCard 1.586 0.335 1.892 0 0 0 42 8 RemoteControl 1.904 0.454 -0.691 0 0 0 35 9 RemoteControl -0.624 0.841 -0.721 0 0 0 38 10 Box -0.29 1.074 -0.714 0 270 0 Floor|+00.00| 11 Newspaper -0.202 0.321 1.665 0 91.372 0 41 12 Laptop 1.805 0.47 0.499 0 0 0 34 13 WateringCan 1.621 0.056 -0.697 0 0 0 39 14 TissueBox 1.324 0.479 0.431 0 180 0 34 15 KeyChain 4.007 0.878 0.865 0 0 0 43 16 Pen -0.290 0.074 -0.767 0 0 0 37 17 Boots 4.005 0.001 1.707 1.563 246.167 0 18 Pencil 2.009 0.068 -0.691 0 0 0 39 19 RemoteControl -0.395 0.069 -0.767 0 0 0 37 20 CreditCard 1.466 0.477 0.186 0 180 0 34 21 Pillow 0.651 0.395 1.708 0 0 0 24 22 Statue -0.532 0.443 -0.738 0 92.244 0 40 23 Statue -0.081 0.057 -0.692 0 0 0 37 24 Sofa 1.174 0.0 1.865 0 0 0 25 FloorLamp 3.608 0.000 2.163 0 0 0 26 GarbageCan 3.833 -0.029 -0.495 0 0 0 27 Television 1.897 1.281 -0.838 0 0 0 28 Painting 4.070 1.950 0.848 90 270 0 29 HousePlant 0.387 0.801 -0.725 0 90 0 30 Window 0.023 2.072 2.484 90 180 0 31 Window 1.570 2.072 2.484 90 180 0 32 LightSwitch -1.399 1.289 1.835 0 90 0 33 ArmChair 2.655 0.000 1.858 0 180 0 34 CoffeeTable 1.591 -0.000 0.446 0 180 0 35 Shelf 1.905 0.588 -0.730 0 0 0 36 TVStand 1.904 -0.000 -0.770 0 0 0 37 Shelf -0.289 0.200 -0.732 0 0 0 38 TVStand -0.290 -0.000 -0.772 0 0 0 39 Shelf 1.905 0.200 -0.730 0 0 0 40 Shelf -0.289 0.588 -0.732 0 0 0 41 ArmChair -0.270 0.000 1.870 0 181.372 0 42 Sofa 1.193 0.008 1.865 0 180 0 43 SideTable 3.946 0.000 0.865 0 270 0 44 Drawer 3.882 0.774 0.864 0 270 0 45 NorthWall 46 EastWall 47 SouthWall 48 WestWall
[ "STEP 1: Turn around and walk to the coffee table on the right. | STEP 2: Pick up the newspaper in front of the tissue box. | STEP 3: Turn around and face the green couch. | STEP 4: Put the newspaper down on the middle cushion of the green couch. | STEP 5: Turn left and walk to the chair to the left of the green couch. | STEP 6: Pick up the newspaper on the right from the green couch. | STEP 7: Turn right and move back to the the front of the green couch. | STEP 8: Place the newspaper down on the couch to the right of the first newspaper. | END" ]
[ [ "STEP 1: Turn around and walk to the coffee table on the right. ", " STEP 2: Pick up the newspaper in front of the tissue box. ", " STEP 3: Turn around and face the green couch. ", " STEP 4: Put the newspaper down on the middle cushion of the green couch. ", " STEP 5: Turn left and walk to the chair to the left of the green couch. ", " STEP 6: Pick up the newspaper on the right from the green couch. ", " STEP 7: Turn right and move back to the the front of the green couch. ", " STEP 8: Place the newspaper down on the couch to the right of the first newspaper. ", " END" ] ]
seen
trial_T20190908_003932_911911-2
Put two papers on the couch.
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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 1.0 0 270 0 1 TissueBox 1.183 0.479 0.186 0 180 0 34 2 TissueBox -0.401 0.841 -0.867 0 0 0 38 3 Newspaper -0.417 0.321 1.742 0 91.372 0 41 4 Newspaper 1.324 0.476 0.594 0 180 0 34 5 Newspaper -0.185 0.456 -0.729 0 0 0 40 6 KeyChain 4.047 0.878 0.549 0 0 0 43 7 CreditCard 1.586 0.335 1.892 0 0 0 42 8 RemoteControl 1.904 0.454 -0.691 0 0 0 35 9 RemoteControl -0.624 0.841 -0.721 0 0 0 38 10 Box -0.29 1.074 -0.714 0 270 0 Floor|+00.00| 11 Newspaper -0.202 0.321 1.665 0 91.372 0 41 12 Laptop 1.805 0.47 0.499 0 0 0 34 13 WateringCan 1.621 0.056 -0.697 0 0 0 39 14 TissueBox 1.324 0.479 0.431 0 180 0 34 15 KeyChain 4.007 0.878 0.865 0 0 0 43 16 Pen -0.290 0.074 -0.767 0 0 0 37 17 Boots 4.005 0.001 1.707 1.563 246.167 0 18 Pencil 2.009 0.068 -0.691 0 0 0 39 19 RemoteControl -0.395 0.069 -0.767 0 0 0 37 20 CreditCard 1.466 0.477 0.186 0 180 0 34 21 Pillow 0.651 0.395 1.708 0 0 0 24 22 Statue -0.532 0.443 -0.738 0 92.244 0 40 23 Statue -0.081 0.057 -0.692 0 0 0 37 24 Sofa 1.174 0.0 1.865 0 0 0 25 FloorLamp 3.608 0.000 2.163 0 0 0 26 GarbageCan 3.833 -0.029 -0.495 0 0 0 27 Television 1.897 1.281 -0.838 0 0 0 28 Painting 4.070 1.950 0.848 90 270 0 29 HousePlant 0.387 0.801 -0.725 0 90 0 30 Window 0.023 2.072 2.484 90 180 0 31 Window 1.570 2.072 2.484 90 180 0 32 LightSwitch -1.399 1.289 1.835 0 90 0 33 ArmChair 2.655 0.000 1.858 0 180 0 34 CoffeeTable 1.591 -0.000 0.446 0 180 0 35 Shelf 1.905 0.588 -0.730 0 0 0 36 TVStand 1.904 -0.000 -0.770 0 0 0 37 Shelf -0.289 0.200 -0.732 0 0 0 38 TVStand -0.290 -0.000 -0.772 0 0 0 39 Shelf 1.905 0.200 -0.730 0 0 0 40 Shelf -0.289 0.588 -0.732 0 0 0 41 ArmChair -0.270 0.000 1.870 0 181.372 0 42 Sofa 1.193 0.008 1.865 0 180 0 43 SideTable 3.946 0.000 0.865 0 270 0 44 Drawer 3.882 0.774 0.864 0 270 0 45 NorthWall 46 EastWall 47 SouthWall 48 WestWall
[ "STEP 1: Turn around and walk to the small coffee table and turn right when you get to it. | STEP 2: Pick up the newspaper that's in front of you. | STEP 3: Turn around to face the couch behind you. | STEP 4: Put the paper in the center of the center cushion near the edge closest to you. | STEP 5: Turn left and walk to the chair that's to the left of the couch and turn to face it when you get to it. | STEP 6: Pick up the paper that's farthest to the right. | STEP 7: Go back to where you put the first paper. | STEP 8: Put this paper to the right of the first one. | END" ]
[ [ "STEP 1: Turn around and walk to the small coffee table and turn right when you get to it. ", " STEP 2: Pick up the newspaper that's in front of you. ", " STEP 3: Turn around to face the couch behind you. ", " STEP 4: Put the paper in the center of the center cushion near the edge closest to you. ", " STEP 5: Turn left and walk to the chair that's to the left of the couch and turn to face it when you get to it. ", " STEP 6: Pick up the paper that's farthest to the right. ", " STEP 7: Go back to where you put the first paper. ", " STEP 8: Put this paper to the right of the first one. ", " END" ] ]
seen
trial_T20190907_082803_736076-0
Place a cool tomato 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 -0.25 0.914 1.75 0 0 0 1 ButterKnife -3.272 0.915 3.499 0 0 0 40 2 Spoon -1.259 0.892 0.152 0 180 0 76 3 Fork -3.654 0.916 3.663 0 90 0 40 4 Fork -0.994 0.892 0.152 0 90 0 76 5 Egg -3.410 1.563 2.276 0 90 0 71 6 Egg -1.391 0.926 0.152 0 90 0 76 7 Knife -1.391 0.915 0.461 0 180 0 76 8 Knife -0.994 0.915 0.358 0 90 0 76 9 Tomato -1.921 0.858 3.774 0 0 0 70 10 Tomato -1.655 0.960 0.255 0 90 0 76 11 Tomato -1.391 0.960 0.049 0 90 0 76 12 SoapBottle -3.081 0.915 1.106 0 0 0 49 13 SaltShaker -1.612 0.077 3.508 0 0 0 51 14 SaltShaker -3.559 0.912 1.189 0 0 0 49 15 PepperShaker -1.127 0.887 -0.053 0 90 0 76 16 Mug -1.127 0.886 0.255 0 90 0 76 17 Egg -1.391 0.926 0.255 0 90 0 76 18 Knife -3.272 0.939 1.273 0 0 0 49 19 Fork -1.655 0.892 0.461 0 270 0 76 20 Bread -3.505 1.627 2.068 0 90 0 71 21 Potato -3.505 1.578 2.224 0 90 0 71 22 Plate -3.005 0.904 3.677 0 0 0 40 23 Pot -3.148 0.966 2.374 0 0 0 43 24 Kettle -3.424 0.966 2.374 0 0 0 46 25 WineBottle -2.022 0.916 4.104 0 0 0 40 26 Bowl -1.523 0.890 0.564 0 90 0 76 27 Tomato -1.666 0.858 3.737 0 0 0 70 28 Cup -2.800 0.080 3.624 0 0 0 52 29 Spatula -2.402 0.930 3.890 0 0 0 40 30 SoapBottle -1.565 0.080 3.625 0 0 0 45 31 Lettuce -1.759 0.974 0.085 0 0 0 76 32 Pan -2.614 0.902 3.620 0 0 0 40 33 Apple -1.259 0.951 0.564 0 90 0 76 34 SaltShaker -3.081 0.912 1.440 0 0 0 49 35 PepperShaker -1.754 0.077 3.547 0 0 0 45 36 ButterKnife -1.391 0.891 0.358 0 90 0 76 37 DishSponge -3.654 0.915 1.106 0 0 0 49 38 Spoon -1.729 0.790 3.7 0 0 0 70 39 Mug -1.127 0.886 0.564 0 90 0 76 40 CounterTop -3.381 0.950 3.335 0 0 0 41 Drawer -3.121 0.775 1.357 0 0 0 42 Drawer -3.121 0.777 2.916 0 0 0 43 StoveBurner -3.148 0.958 2.374 0 0 0 44 Sink -1.797 0.917 3.660 0 0 0 45 Cabinet -1.421 0.388 3.459 0 0 0 46 StoveBurner -3.424 0.958 2.374 0 0 0 47 Cabinet -3.365 1.931 2.676 0 0 0 48 StoveBurner -3.424 0.958 1.971 0 0 0 49 CounterTop -3.381 0.951 1.356 0 0 0 50 Drawer -3.121 0.781 3.295 0 0 0 51 Cabinet -2.205 0.388 3.459 0 0 0 52 Cabinet -2.963 0.388 3.459 0 0 0 53 Cabinet -2.992 0.388 2.683 0 0 0 54 Cabinet -3.352 2.205 1.715 0 0 0 55 Cabinet -3.352 2.205 2.653 0 0 0 56 Cabinet -2.189 0.388 3.466 0 0 0 57 Cabinet -3.365 1.931 3.963 0 0 0 58 Cabinet -3.365 1.931 1.056 0 0 0 59 Cabinet -2.992 0.388 1.037 0 0 0 60 StoveBurner -3.143 0.958 1.971 0 0 0 61 StoveKnob -3.599 1.110 2.017 0 0 105.000 62 StoveKnob -3.599 1.110 1.867 0 0 105.000 63 StoveKnob -3.599 1.110 2.267 0 0 105.000 64 StoveKnob -3.599 1.110 2.427 0 0 105.000 65 Toaster -2.654 0.902 4.064 0 180 0 66 Fridge -0.439 0.014 3.996 0 0 0 67 LightSwitch 0.25 1.383 2.085 0 270 0 68 Window -1.430 1.338 -0.347 90 0 0 69 CoffeeMachine -3.550 0.902 3.274 0 90 0 70 SinkBasin -1.802 0.778 3.700 0 0 0 71 Microwave -3.484 1.430 2.182 0 90 0 72 GarbageCan -1.184 -0.020 3.794 0 270 0 73 Blinds -1.404 2.092 -0.296 0 0 0 74 Stool -1.373 0.014 1.048 1.214 20.754 0 75 Faucet -1.788 0.903 3.931 270 90 0 76 DiningTable -1.399 0.010 0.238 0 0 0 77 GarbageBag -0.291 0.336 -0.034 272.372 348.812 147.313 78 NorthWall 79 EastWall 80 SouthWall 81 WestWall
[ "STEP 1: Turn left and head towards the sink on your right. | STEP 2: Pick up the left tomato from the sink. | STEP 3: Turn right towards the fridge. | STEP 4: Place the tomato on the top shelf of the fridge for it to cool and then take it back out. | STEP 5: Turn left towards the bin in between the fridge and sink. | STEP 6: Place the tomato in the bin. | END" ]
[ [ "STEP 1: Turn left and head towards the sink on your right. ", " STEP 2: Pick up the left tomato from the sink. ", " STEP 3: Turn right towards the fridge. ", " STEP 4: Place the tomato on the top shelf of the fridge for it to cool and then take it back out. ", " STEP 5: Turn left towards the bin in between the fridge and sink. ", " STEP 6: Place the tomato in the bin. ", " END" ] ]
seen
trial_T20190907_082803_736076-1
place a cooled tomato inside of the 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 -0.25 0.914 1.75 0 0 0 1 ButterKnife -3.272 0.915 3.499 0 0 0 40 2 Spoon -1.259 0.892 0.152 0 180 0 76 3 Fork -3.654 0.916 3.663 0 90 0 40 4 Fork -0.994 0.892 0.152 0 90 0 76 5 Egg -3.410 1.563 2.276 0 90 0 71 6 Egg -1.391 0.926 0.152 0 90 0 76 7 Knife -1.391 0.915 0.461 0 180 0 76 8 Knife -0.994 0.915 0.358 0 90 0 76 9 Tomato -1.921 0.858 3.774 0 0 0 70 10 Tomato -1.655 0.960 0.255 0 90 0 76 11 Tomato -1.391 0.960 0.049 0 90 0 76 12 SoapBottle -3.081 0.915 1.106 0 0 0 49 13 SaltShaker -1.612 0.077 3.508 0 0 0 51 14 SaltShaker -3.559 0.912 1.189 0 0 0 49 15 PepperShaker -1.127 0.887 -0.053 0 90 0 76 16 Mug -1.127 0.886 0.255 0 90 0 76 17 Egg -1.391 0.926 0.255 0 90 0 76 18 Knife -3.272 0.939 1.273 0 0 0 49 19 Fork -1.655 0.892 0.461 0 270 0 76 20 Bread -3.505 1.627 2.068 0 90 0 71 21 Potato -3.505 1.578 2.224 0 90 0 71 22 Plate -3.005 0.904 3.677 0 0 0 40 23 Pot -3.148 0.966 2.374 0 0 0 43 24 Kettle -3.424 0.966 2.374 0 0 0 46 25 WineBottle -2.022 0.916 4.104 0 0 0 40 26 Bowl -1.523 0.890 0.564 0 90 0 76 27 Tomato -1.666 0.858 3.737 0 0 0 70 28 Cup -2.800 0.080 3.624 0 0 0 52 29 Spatula -2.402 0.930 3.890 0 0 0 40 30 SoapBottle -1.565 0.080 3.625 0 0 0 45 31 Lettuce -1.759 0.974 0.085 0 0 0 76 32 Pan -2.614 0.902 3.620 0 0 0 40 33 Apple -1.259 0.951 0.564 0 90 0 76 34 SaltShaker -3.081 0.912 1.440 0 0 0 49 35 PepperShaker -1.754 0.077 3.547 0 0 0 45 36 ButterKnife -1.391 0.891 0.358 0 90 0 76 37 DishSponge -3.654 0.915 1.106 0 0 0 49 38 Spoon -1.729 0.790 3.7 0 0 0 70 39 Mug -1.127 0.886 0.564 0 90 0 76 40 CounterTop -3.381 0.950 3.335 0 0 0 41 Drawer -3.121 0.775 1.357 0 0 0 42 Drawer -3.121 0.777 2.916 0 0 0 43 StoveBurner -3.148 0.958 2.374 0 0 0 44 Sink -1.797 0.917 3.660 0 0 0 45 Cabinet -1.421 0.388 3.459 0 0 0 46 StoveBurner -3.424 0.958 2.374 0 0 0 47 Cabinet -3.365 1.931 2.676 0 0 0 48 StoveBurner -3.424 0.958 1.971 0 0 0 49 CounterTop -3.381 0.951 1.356 0 0 0 50 Drawer -3.121 0.781 3.295 0 0 0 51 Cabinet -2.205 0.388 3.459 0 0 0 52 Cabinet -2.963 0.388 3.459 0 0 0 53 Cabinet -2.992 0.388 2.683 0 0 0 54 Cabinet -3.352 2.205 1.715 0 0 0 55 Cabinet -3.352 2.205 2.653 0 0 0 56 Cabinet -2.189 0.388 3.466 0 0 0 57 Cabinet -3.365 1.931 3.963 0 0 0 58 Cabinet -3.365 1.931 1.056 0 0 0 59 Cabinet -2.992 0.388 1.037 0 0 0 60 StoveBurner -3.143 0.958 1.971 0 0 0 61 StoveKnob -3.599 1.110 2.017 0 0 105.000 62 StoveKnob -3.599 1.110 1.867 0 0 105.000 63 StoveKnob -3.599 1.110 2.267 0 0 105.000 64 StoveKnob -3.599 1.110 2.427 0 0 105.000 65 Toaster -2.654 0.902 4.064 0 180 0 66 Fridge -0.439 0.014 3.996 0 0 0 67 LightSwitch 0.25 1.383 2.085 0 270 0 68 Window -1.430 1.338 -0.347 90 0 0 69 CoffeeMachine -3.550 0.902 3.274 0 90 0 70 SinkBasin -1.802 0.778 3.700 0 0 0 71 Microwave -3.484 1.430 2.182 0 90 0 72 GarbageCan -1.184 -0.020 3.794 0 270 0 73 Blinds -1.404 2.092 -0.296 0 0 0 74 Stool -1.373 0.014 1.048 1.214 20.754 0 75 Faucet -1.788 0.903 3.931 270 90 0 76 DiningTable -1.399 0.010 0.238 0 0 0 77 GarbageBag -0.291 0.336 -0.034 272.372 348.812 147.313 78 NorthWall 79 EastWall 80 SouthWall 81 WestWall
[ "STEP 1: turn left and walk forwards until you're aligned with the kitchen sink on the right, then turn right and walk to the kitchen sink | STEP 2: grab the left tomato out of the sink there | STEP 3: turn right and walk over to the fridge on the left, turn left to face it | STEP 4: place the tomato inside of the fridge, let it cool and then take it back out | STEP 5: turn left and walk over to the garbage bin on the right | STEP 6: place the tomato inside of the garbage bin | END" ]
[ [ "STEP 1: turn left and walk forwards until you're aligned with the kitchen sink on the right, then turn right and walk to the kitchen sink ", " STEP 2: grab the left tomato out of the sink there ", " STEP 3: turn right and walk over to the fridge on the left, turn left to face it ", " STEP 4: place the tomato inside of the fridge, let it cool and then take it back out ", " STEP 5: turn left and walk over to the garbage bin on the right ", " STEP 6: place the tomato inside of the garbage bin ", " END" ] ]
seen
trial_T20190907_082803_736076-2
Place a chilled tomato in a tall container.
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"" ], [ "50", " Drawer", " -3.121", " 0.781", " 3.295", " 0", " 0", " 0", "" ], [ "51", " Cabinet", " -2.205", " 0.388", " 3.459", " 0", " 0", " 0", "" ], [ "52", " Cabinet", " -2.963", " 0.388", " 3.459", " 0", " 0", " 0", "" ], [ "53", " Cabinet", " -2.992", " 0.388", " 2.683", " 0", " 0", " 0", "" ], [ "54", " Cabinet", " -3.352", " 2.205", " 1.715", " 0", " 0", " 0", "" ], [ "55", " Cabinet", " -3.352", " 2.205", " 2.653", " 0", " 0", " 0", "" ], [ "56", " Cabinet", " -2.189", " 0.388", " 3.466", " 0", " 0", " 0", "" ], [ "57", " Cabinet", " -3.365", " 1.931", " 3.963", " 0", " 0", " 0", "" ], [ "58", " Cabinet", " -3.365", " 1.931", " 1.056", " 0", " 0", " 0", "" ], [ "59", " Cabinet", " -2.992", " 0.388", " 1.037", " 0", " 0", " 0", "" ], [ "60", " StoveBurner", " -3.143", " 0.958", " 1.971", " 0", " 0", " 0", "" ], [ "61", " StoveKnob", " -3.599", " 1.110", " 2.017", " 0", " 0", " 105.000", "" ], [ "62", " StoveKnob", " -3.599", " 1.110", " 1.867", " 0", " 0", " 105.000", "" ], 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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 0.914 1.75 0 0 0 1 ButterKnife -3.272 0.915 3.499 0 0 0 40 2 Spoon -1.259 0.892 0.152 0 180 0 76 3 Fork -3.654 0.916 3.663 0 90 0 40 4 Fork -0.994 0.892 0.152 0 90 0 76 5 Egg -3.410 1.563 2.276 0 90 0 71 6 Egg -1.391 0.926 0.152 0 90 0 76 7 Knife -1.391 0.915 0.461 0 180 0 76 8 Knife -0.994 0.915 0.358 0 90 0 76 9 Tomato -1.921 0.858 3.774 0 0 0 70 10 Tomato -1.655 0.960 0.255 0 90 0 76 11 Tomato -1.391 0.960 0.049 0 90 0 76 12 SoapBottle -3.081 0.915 1.106 0 0 0 49 13 SaltShaker -1.612 0.077 3.508 0 0 0 51 14 SaltShaker -3.559 0.912 1.189 0 0 0 49 15 PepperShaker -1.127 0.887 -0.053 0 90 0 76 16 Mug -1.127 0.886 0.255 0 90 0 76 17 Egg -1.391 0.926 0.255 0 90 0 76 18 Knife -3.272 0.939 1.273 0 0 0 49 19 Fork -1.655 0.892 0.461 0 270 0 76 20 Bread -3.505 1.627 2.068 0 90 0 71 21 Potato -3.505 1.578 2.224 0 90 0 71 22 Plate -3.005 0.904 3.677 0 0 0 40 23 Pot -3.148 0.966 2.374 0 0 0 43 24 Kettle -3.424 0.966 2.374 0 0 0 46 25 WineBottle -2.022 0.916 4.104 0 0 0 40 26 Bowl -1.523 0.890 0.564 0 90 0 76 27 Tomato -1.666 0.858 3.737 0 0 0 70 28 Cup -2.800 0.080 3.624 0 0 0 52 29 Spatula -2.402 0.930 3.890 0 0 0 40 30 SoapBottle -1.565 0.080 3.625 0 0 0 45 31 Lettuce -1.759 0.974 0.085 0 0 0 76 32 Pan -2.614 0.902 3.620 0 0 0 40 33 Apple -1.259 0.951 0.564 0 90 0 76 34 SaltShaker -3.081 0.912 1.440 0 0 0 49 35 PepperShaker -1.754 0.077 3.547 0 0 0 45 36 ButterKnife -1.391 0.891 0.358 0 90 0 76 37 DishSponge -3.654 0.915 1.106 0 0 0 49 38 Spoon -1.729 0.790 3.7 0 0 0 70 39 Mug -1.127 0.886 0.564 0 90 0 76 40 CounterTop -3.381 0.950 3.335 0 0 0 41 Drawer -3.121 0.775 1.357 0 0 0 42 Drawer -3.121 0.777 2.916 0 0 0 43 StoveBurner -3.148 0.958 2.374 0 0 0 44 Sink -1.797 0.917 3.660 0 0 0 45 Cabinet -1.421 0.388 3.459 0 0 0 46 StoveBurner -3.424 0.958 2.374 0 0 0 47 Cabinet -3.365 1.931 2.676 0 0 0 48 StoveBurner -3.424 0.958 1.971 0 0 0 49 CounterTop -3.381 0.951 1.356 0 0 0 50 Drawer -3.121 0.781 3.295 0 0 0 51 Cabinet -2.205 0.388 3.459 0 0 0 52 Cabinet -2.963 0.388 3.459 0 0 0 53 Cabinet -2.992 0.388 2.683 0 0 0 54 Cabinet -3.352 2.205 1.715 0 0 0 55 Cabinet -3.352 2.205 2.653 0 0 0 56 Cabinet -2.189 0.388 3.466 0 0 0 57 Cabinet -3.365 1.931 3.963 0 0 0 58 Cabinet -3.365 1.931 1.056 0 0 0 59 Cabinet -2.992 0.388 1.037 0 0 0 60 StoveBurner -3.143 0.958 1.971 0 0 0 61 StoveKnob -3.599 1.110 2.017 0 0 105.000 62 StoveKnob -3.599 1.110 1.867 0 0 105.000 63 StoveKnob -3.599 1.110 2.267 0 0 105.000 64 StoveKnob -3.599 1.110 2.427 0 0 105.000 65 Toaster -2.654 0.902 4.064 0 180 0 66 Fridge -0.439 0.014 3.996 0 0 0 67 LightSwitch 0.25 1.383 2.085 0 270 0 68 Window -1.430 1.338 -0.347 90 0 0 69 CoffeeMachine -3.550 0.902 3.274 0 90 0 70 SinkBasin -1.802 0.778 3.700 0 0 0 71 Microwave -3.484 1.430 2.182 0 90 0 72 GarbageCan -1.184 -0.020 3.794 0 270 0 73 Blinds -1.404 2.092 -0.296 0 0 0 74 Stool -1.373 0.014 1.048 1.214 20.754 0 75 Faucet -1.788 0.903 3.931 270 90 0 76 DiningTable -1.399 0.010 0.238 0 0 0 77 GarbageBag -0.291 0.336 -0.034 272.372 348.812 147.313 78 NorthWall 79 EastWall 80 SouthWall 81 WestWall
[ "STEP 1: Turn left, walk across the room towards the white stove, hang a left and go to the silver sink at the end of the counter. | STEP 2: Pick up the tomato in the left corner of the sink behind the spoon. | STEP 3: Turn around to face the brown stool, turn left, walk towards the white door and turn left to face the fridge. | STEP 4: Put the tomato inside the fridge in the middle of the top shelf, close the door, let it chill for seven seconds, remove the tomato from inside and close the doors. | STEP 5: Turn left and walk to the tall gray container to the right in between the fridge and the counter. | STEP 6: Place the tomato inside the tall gray container near the back. | END" ]
[ [ "STEP 1: Turn left, walk across the room towards the white stove, hang a left and go to the silver sink at the end of the counter. ", " STEP 2: Pick up the tomato in the left corner of the sink behind the spoon. ", " STEP 3: Turn around to face the brown stool, turn left, walk towards the white door and turn left to face the fridge. ", " STEP 4: Put the tomato inside the fridge in the middle of the top shelf, close the door, let it chill for seven seconds, remove the tomato from inside and close the doors. ", " STEP 5: Turn left and walk to the tall gray container to the right in between the fridge and the counter. ", " STEP 6: Place the tomato inside the tall gray container near the back. ", " END" ] ]
seen
trial_T20190906_194234_663749-0
Put a clean rag on the top shelf of a barred rack.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 0.0 0.913 1.25 0 90 0 1 Cloth -0.048 0.961 -2.275 0 0 0 30 2 TissueBox 1.992 0.624 -2.094 0 0 0 38 3 TissueBox 0.270 0.963 -2.181 0 0 0 30 4 SoapBar 0.300 0.802 -1.972 0 0 0 32 5 SoapBar -1.863 0.076 -1.104 0 45 0 30 6 SprayBottle -2.864 0.240 1.473 0 180 0 49 7 SprayBottle -2.921 0.243 1.395 0 90 0 49 8 DishSponge -0.048 0.964 -1.805 0 0 0 30 9 DishSponge 0.185 0.628 -1.905 0 0 0 33 10 ToiletPaper 0.111 0.959 -1.993 0 0 0 30 11 Candle 0.430 0.962 -2.275 0 0 0 30 12 HandTowel -0.885 1.617 -2.503 0 180 0 39 13 Towel 0.465 1.21 -1.095 0 270 0 35 14 SoapBottle 1.992 0.634 -2.315 0 0 0 38 15 SoapBar -2.246 0.076 -1.251 0 45 0 30 16 ToiletPaper 1.355 0.620 -2.242 0 0 0 38 17 Plunger 0.506 0.011 2.268 0 0 0 Floor|-00.35| 18 SprayBottle -0.368 0.959 -2.369 0 0 0 30 19 TissueBox 1.567 0.624 -2.094 0 0 0 38 20 ToiletPaper 1.142 0.620 -2.020 0 0 0 38 21 ScrubBrush 0.342 0.012 2.072 0 0 0 Floor|-00.35| 22 Cloth -2.808 0.242 1.317 0 0 0 49 23 DishSponge -1.893 0.078 -1.604 0 45 0 30 24 Footstool -0.325 0.297 -1.98 0 0 0 Floor|-00.35| 25 Bathtub -1.957 0.494 -1.233 0 0 0 26 ShowerDoor 0.650 1.413 2.169 0 0 0 27 ShowerGlass 0.0 0.0 0.0 0 0 0 28 Drawer 0.300 0.304 -1.820 0 0 0 29 Mirror -0.046 1.512 -2.538 0 0 0 30 CounterTop 0.196 0.430 -2.010 0 0 0 31 Sink -2.796 0.328 0.755 0 90 0 32 Drawer 0.300 0.833 -1.820 0 0 0 33 Drawer 0.300 0.682 -1.820 0 0 0 34 Drawer 0.300 0.492 -1.820 0 0 0 35 TowelHolder 0.572 1.195 -1.095 0 270 0 36 GarbageCan -0.564 0.010 2.061 0 195.0 0 37 ToiletPaperHanger -0.574 0.926 2.407 0 180 0 38 Shelf 1.536 0.613 -2.242 0 0 0 39 HandTowelHolder -0.884 1.718 -2.542 0 270 0 40 Window -3.170 1.812 -1.697 90 90 0 41 Window -3.170 1.812 1.597 90 90 0 42 Window -2.144 1.809 -2.573 90 0 0 43 Window -3.170 1.812 -0.054 90 90 0 44 Toilet -0.064 0.012 1.838 0 180 0 45 LightSwitch -1.406 1.472 2.407 0 180 0 46 SinkBasin -2.796 0.875 0.765 0 90 0 47 ShowerHead 1.591 1.700 -2.424 0 90 0 48 Faucet -2.676 0.423 -0.312 0 99.958 0 49 SideTable -2.847 0.013 1.509 0 90 0 50 Faucet -3.106 1.056 0.757 0 90 0 51 52 NorthWall 53 EastWall 54 SouthWall 55 WestWall
[ "STEP 1: Turn around, go to the barred rack. | STEP 2: Pick up the rag from the bottle shelf of the barred rack. | STEP 3: Go to the sink on the left. | STEP 4: Put the rag in the sink, turn on then turn off the water. | STEP 5: Go to the barred rack to the right of the sink. | STEP 6: Put the rag on the top shelf of the barred rack. | END" ]
[ [ "STEP 1: Turn around, go to the barred rack. ", " STEP 2: Pick up the rag from the bottle shelf of the barred rack. ", " STEP 3: Go to the sink on the left. ", " STEP 4: Put the rag in the sink, turn on then turn off the water. ", " STEP 5: Go to the barred rack to the right of the sink. ", " STEP 6: Put the rag on the top shelf of the barred rack. ", " END" ] ]
seen
trial_T20190906_194234_663749-1
Wash the pink towel on the shelf, put it back on the shelf
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[ "STEP 1: Turn around and go the shelf | STEP 2: Pick up the pink towel on the shelf | STEP 3: Turn around and put the towel in the sink | STEP 4: Fill the sink with water and wash the towel, take the towel out | STEP 5: Go back to the shelf | STEP 6: Put the towel back on the shelf | END" ]
[ [ "STEP 1: Turn around and go the shelf ", " STEP 2: Pick up the pink towel on the shelf ", " STEP 3: Turn around and put the towel in the sink ", " STEP 4: Fill the sink with water and wash the towel, take the towel out ", " STEP 5: Go back to the shelf ", " STEP 6: Put the towel back on the shelf ", " END" ] ]
seen
trial_T20190906_194234_663749-2
clean a red cloth
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[ "STEP 1: walk on over to the towel drying rack | STEP 2: pick up a dirty red cloth from the towel rack | STEP 3: walk over to the left side of the bathroom sink | STEP 4: turn on the water to rinse the dirty red cloth and pick it back up again | STEP 5: walk back over to the towel drying rack | STEP 6: place the clean cloth on the drying rack | END" ]
[ [ "STEP 1: walk on over to the towel drying rack ", " STEP 2: pick up a dirty red cloth from the towel rack ", " STEP 3: walk over to the left side of the bathroom sink ", " STEP 4: turn on the water to rinse the dirty red cloth and pick it back up again ", " STEP 5: walk back over to the towel drying rack ", " STEP 6: place the clean cloth on the drying rack ", " END" ] ]
seen
trial_T20190908_042252_784209-0
Put a heated egg on a table.
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0", " 54" ], [ "37", " Pot", " -3.424", " 0.966", " 2.374", " 0", " 0", " 0", " 60" ], [ "38", " Kettle", " -3.145", " 0.069", " 2.920", " 0", " 270", " 0", " 67" ], [ "39", " WineBottle", " -1.391", " 0.892", " 0.461", " 0", " 90", " 0", " 90" ], [ "40", " Bowl", " -0.089", " 0.985", " 4.051", " 0", " 180", " 0", " 80" ], [ "41", " Tomato", " -1.787", " 0.960", " 0.255", " 0", " 90", " 0", " 90" ], [ "42", " Cup", " -1.921", " 0.789", " 3.774", " 0", " 0", " 0", " 84" ], [ "43", " Spatula", " -3.368", " 0.930", " 1.273", " 0", " 90", " 0", " 63" ], [ "44", " SoapBottle", " -3.559", " 0.915", " 1.106", " 0", " 0", " 0", " 63" ], [ "45", " Lettuce", " -0.994", " 0.977", " 0.255", " 0", " 90", " 0", " 90" ], [ "46", " Pan", " -2.614", " 0.902", " 3.620", " 0", " 0", " 0", " 54" ], [ "47", " Apple", " -1.259", " 0.951", " 0.255", " 0", " 90", " 0", " 90" ], [ "48", " SaltShaker", " -3.185", " 0.741", " 1.125", " 0", " 0", " 0", " 55" ], [ "49", " PepperShaker", " -1.259", " 0.887", " 0.152", " 0", " 90", " 0", " 90" ], [ "50", " ButterKnife", " -0.994", " 0.891", " 0.358", " 0", " 90", " 0", " 90" ], [ "51", " DishSponge", " -3.559", " 0.915", " 1.607", " 0", " 0", " 0", " 63" ], [ "52", " Spoon", " -1.655", " 0.892", " 0.152", " 0", " 180", " 0", " 90" ], [ "53", " Mug", " -3.473", " 1.541", " 2.068", " 0", " 90", " 0", " 85" ], [ "54", " CounterTop", " -3.381", " 0.950", " 3.335", " 0", " 0", " 0", "" ], [ "55", " Drawer", " -3.121", " 0.775", " 1.357", " 0", " 0", " 0", "" ], [ "56", " Drawer", " -3.121", " 0.777", " 2.916", " 0", " 0", " 0", "" ], [ "57", " StoveBurner", " -3.148", " 0.958", " 2.374", " 0", " 0", " 0", "" ], [ "58", " Sink", " -1.797", " 0.917", " 3.660", " 0", " 0", " 0", "" ], [ "59", " Cabinet", " -1.421", " 0.388", " 3.459", " 0", " 0", " 0", "" ], [ "60", " StoveBurner", " -3.424", " 0.958", " 2.374", " 0", " 0", " 0", "" ], [ "61", " Cabinet", " -3.365", " 1.931", " 2.676", " 0", " 0", " 0", "" ], [ "62", " StoveBurner", " -3.424", " 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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.5 0.914 2.25 0 270 0 1 Potato -2.126 0.947 4.146 0 0 0 54 2 Potato -1.793 0.821 3.625 0 0 0 84 3 DishSponge -1.161 0.086 3.724 0 270 0 86 4 ButterKnife -2.402 0.915 3.675 0 0 0 54 5 WineBottle -1.655 0.892 0.049 0 90 0 90 6 WineBottle -1.504 0.916 4.231 0 0 0 54 7 Spatula -3.654 0.930 1.106 0 90 0 63 8 Spoon -3.368 0.916 3.663 0 0 0 54 9 Spoon -1.655 0.892 0.461 0 180 0 90 10 Fork -0.994 0.892 0.049 0 90 0 90 11 Pot -3.143 0.966 1.971 0 0 0 74 12 Egg -1.439 0.950 3.783 0 0 0 54 13 Egg -0.440 1.576 4.136 0 180 0 80 14 Cup -3.475 1.458 1.454 0 0 0 72 15 Cup -1.666 0.789 3.662 0 0 0 84 16 Plate -3.272 0.919 2.844 0 0 0 54 17 Plate -3.176 0.919 1.357 0 0 0 63 18 Knife -1.259 0.915 -0.053 0 180 0 90 19 Knife -1.493 0.885 0.464 270 264.533 0 90 20 Tomato -1.127 0.960 0.564 0 90 0 90 21 Tomato -3.559 0.984 1.273 0 0 0 63 22 SoapBottle -3.559 0.915 1.440 0 0 0 63 23 Bowl -3.537 1.545 2.224 0 90 0 85 24 SaltShaker -3.186 0.743 3.326 0 0 0 64 25 SaltShaker -3.475 1.455 1.152 0 0 0 72 26 PepperShaker -1.391 0.887 0.564 0 90 0 90 27 Lettuce -0.556 1.072 3.988 0 180 0 80 28 Mug -0.089 0.717 3.869 0 180 0 80 29 Mug -3.459 1.990 2.537 0 0 0 69 30 Apple -1.391 0.951 0.049 0 90 0 90 31 Egg -1.192 0.122 3.852 0 270 0 86 32 Knife -3.463 0.939 1.189 0 90 0 63 33 Fork -3.124 0.738 2.929 0 135 0 56 34 Bread -1.523 0.966 0.296 1.227 279.173 0 90 35 Potato -1.259 0.923 0.049 0 90 0 90 36 Plate -3.005 0.904 3.677 0 0 0 54 37 Pot -3.424 0.966 2.374 0 0 0 60 38 Kettle -3.145 0.069 2.920 0 270 0 67 39 WineBottle -1.391 0.892 0.461 0 90 0 90 40 Bowl -0.089 0.985 4.051 0 180 0 80 41 Tomato -1.787 0.960 0.255 0 90 0 90 42 Cup -1.921 0.789 3.774 0 0 0 84 43 Spatula -3.368 0.930 1.273 0 90 0 63 44 SoapBottle -3.559 0.915 1.106 0 0 0 63 45 Lettuce -0.994 0.977 0.255 0 90 0 90 46 Pan -2.614 0.902 3.620 0 0 0 54 47 Apple -1.259 0.951 0.255 0 90 0 90 48 SaltShaker -3.185 0.741 1.125 0 0 0 55 49 PepperShaker -1.259 0.887 0.152 0 90 0 90 50 ButterKnife -0.994 0.891 0.358 0 90 0 90 51 DishSponge -3.559 0.915 1.607 0 0 0 63 52 Spoon -1.655 0.892 0.152 0 180 0 90 53 Mug -3.473 1.541 2.068 0 90 0 85 54 CounterTop -3.381 0.950 3.335 0 0 0 55 Drawer -3.121 0.775 1.357 0 0 0 56 Drawer -3.121 0.777 2.916 0 0 0 57 StoveBurner -3.148 0.958 2.374 0 0 0 58 Sink -1.797 0.917 3.660 0 0 0 59 Cabinet -1.421 0.388 3.459 0 0 0 60 StoveBurner -3.424 0.958 2.374 0 0 0 61 Cabinet -3.365 1.931 2.676 0 0 0 62 StoveBurner -3.424 0.958 1.971 0 0 0 63 CounterTop -3.381 0.951 1.356 0 0 0 64 Drawer -3.121 0.781 3.295 0 0 0 65 Cabinet -2.205 0.388 3.459 0 0 0 66 Cabinet -2.963 0.388 3.459 0 0 0 67 Cabinet -2.992 0.388 2.683 0 0 0 68 Cabinet -3.352 2.205 1.715 0 0 0 69 Cabinet -3.352 2.205 2.653 0 0 0 70 Cabinet -2.189 0.388 3.466 0 0 0 71 Cabinet -3.365 1.931 3.963 0 0 0 72 Cabinet -3.365 1.931 1.056 0 0 0 73 Cabinet -2.992 0.388 1.037 0 0 0 74 StoveBurner -3.143 0.958 1.971 0 0 0 75 StoveKnob -3.599 1.110 2.017 0 0 105.000 76 StoveKnob -3.599 1.110 1.867 0 0 105.000 77 StoveKnob -3.599 1.110 2.267 0 0 105.000 78 StoveKnob -3.599 1.110 2.427 0 0 105.000 79 Toaster -2.654 0.902 4.064 0 180 0 80 Fridge -0.439 0.014 3.996 0 0 0 81 LightSwitch 0.25 1.383 2.085 0 270 0 82 Window -1.430 1.338 -0.347 90 0 0 83 CoffeeMachine -3.550 0.902 3.274 0 90 0 84 SinkBasin -1.802 0.778 3.700 0 0 0 85 Microwave -3.484 1.430 2.182 0 90 0 86 GarbageCan -1.184 -0.020 3.794 0 270 0 87 Blinds -1.404 2.092 -0.296 0 0 0 88 Stool -1.373 0.014 1.048 1.214 20.754 0 89 Faucet -1.788 0.903 3.931 270 90 0 90 DiningTable -1.399 0.010 0.238 0 0 0 91 GarbageBag -0.291 0.336 -0.034 272.372 348.812 147.313 92 NorthWall 93 EastWall 94 SouthWall 95 WestWall
[ "STEP 1: Turn around and go left to face the fridge. | STEP 2: Open the fridge and pick the egg up from the fridge shelf and shut the door. | STEP 3: Go left and cross the room to stand in front of the stove. | STEP 4: Put the egg in the microwave above the stove and shut the door and then open it and take the egg out and then shut the door. | STEP 5: Turn around and cross the room and then go right and turn to the right to face the white table. | STEP 6: Put the egg on the table to the left of the tomato. | END" ]
[ [ "STEP 1: Turn around and go left to face the fridge. ", " STEP 2: Open the fridge and pick the egg up from the fridge shelf and shut the door. ", " STEP 3: Go left and cross the room to stand in front of the stove. ", " STEP 4: Put the egg in the microwave above the stove and shut the door and then open it and take the egg out and then shut the door. ", " STEP 5: Turn around and cross the room and then go right and turn to the right to face the white table. ", " STEP 6: Put the egg on the table to the left of the tomato. ", " END" ] ]
seen
trial_T20190908_042252_784209-1
Place the microwaved egg on the white table.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.5 0.914 2.25 0 270 0 1 Potato -2.126 0.947 4.146 0 0 0 54 2 Potato -1.793 0.821 3.625 0 0 0 84 3 DishSponge -1.161 0.086 3.724 0 270 0 86 4 ButterKnife -2.402 0.915 3.675 0 0 0 54 5 WineBottle -1.655 0.892 0.049 0 90 0 90 6 WineBottle -1.504 0.916 4.231 0 0 0 54 7 Spatula -3.654 0.930 1.106 0 90 0 63 8 Spoon -3.368 0.916 3.663 0 0 0 54 9 Spoon -1.655 0.892 0.461 0 180 0 90 10 Fork -0.994 0.892 0.049 0 90 0 90 11 Pot -3.143 0.966 1.971 0 0 0 74 12 Egg -1.439 0.950 3.783 0 0 0 54 13 Egg -0.440 1.576 4.136 0 180 0 80 14 Cup -3.475 1.458 1.454 0 0 0 72 15 Cup -1.666 0.789 3.662 0 0 0 84 16 Plate -3.272 0.919 2.844 0 0 0 54 17 Plate -3.176 0.919 1.357 0 0 0 63 18 Knife -1.259 0.915 -0.053 0 180 0 90 19 Knife -1.493 0.885 0.464 270 264.533 0 90 20 Tomato -1.127 0.960 0.564 0 90 0 90 21 Tomato -3.559 0.984 1.273 0 0 0 63 22 SoapBottle -3.559 0.915 1.440 0 0 0 63 23 Bowl -3.537 1.545 2.224 0 90 0 85 24 SaltShaker -3.186 0.743 3.326 0 0 0 64 25 SaltShaker -3.475 1.455 1.152 0 0 0 72 26 PepperShaker -1.391 0.887 0.564 0 90 0 90 27 Lettuce -0.556 1.072 3.988 0 180 0 80 28 Mug -0.089 0.717 3.869 0 180 0 80 29 Mug -3.459 1.990 2.537 0 0 0 69 30 Apple -1.391 0.951 0.049 0 90 0 90 31 Egg -1.192 0.122 3.852 0 270 0 86 32 Knife -3.463 0.939 1.189 0 90 0 63 33 Fork -3.124 0.738 2.929 0 135 0 56 34 Bread -1.523 0.966 0.296 1.227 279.173 0 90 35 Potato -1.259 0.923 0.049 0 90 0 90 36 Plate -3.005 0.904 3.677 0 0 0 54 37 Pot -3.424 0.966 2.374 0 0 0 60 38 Kettle -3.145 0.069 2.920 0 270 0 67 39 WineBottle -1.391 0.892 0.461 0 90 0 90 40 Bowl -0.089 0.985 4.051 0 180 0 80 41 Tomato -1.787 0.960 0.255 0 90 0 90 42 Cup -1.921 0.789 3.774 0 0 0 84 43 Spatula -3.368 0.930 1.273 0 90 0 63 44 SoapBottle -3.559 0.915 1.106 0 0 0 63 45 Lettuce -0.994 0.977 0.255 0 90 0 90 46 Pan -2.614 0.902 3.620 0 0 0 54 47 Apple -1.259 0.951 0.255 0 90 0 90 48 SaltShaker -3.185 0.741 1.125 0 0 0 55 49 PepperShaker -1.259 0.887 0.152 0 90 0 90 50 ButterKnife -0.994 0.891 0.358 0 90 0 90 51 DishSponge -3.559 0.915 1.607 0 0 0 63 52 Spoon -1.655 0.892 0.152 0 180 0 90 53 Mug -3.473 1.541 2.068 0 90 0 85 54 CounterTop -3.381 0.950 3.335 0 0 0 55 Drawer -3.121 0.775 1.357 0 0 0 56 Drawer -3.121 0.777 2.916 0 0 0 57 StoveBurner -3.148 0.958 2.374 0 0 0 58 Sink -1.797 0.917 3.660 0 0 0 59 Cabinet -1.421 0.388 3.459 0 0 0 60 StoveBurner -3.424 0.958 2.374 0 0 0 61 Cabinet -3.365 1.931 2.676 0 0 0 62 StoveBurner -3.424 0.958 1.971 0 0 0 63 CounterTop -3.381 0.951 1.356 0 0 0 64 Drawer -3.121 0.781 3.295 0 0 0 65 Cabinet -2.205 0.388 3.459 0 0 0 66 Cabinet -2.963 0.388 3.459 0 0 0 67 Cabinet -2.992 0.388 2.683 0 0 0 68 Cabinet -3.352 2.205 1.715 0 0 0 69 Cabinet -3.352 2.205 2.653 0 0 0 70 Cabinet -2.189 0.388 3.466 0 0 0 71 Cabinet -3.365 1.931 3.963 0 0 0 72 Cabinet -3.365 1.931 1.056 0 0 0 73 Cabinet -2.992 0.388 1.037 0 0 0 74 StoveBurner -3.143 0.958 1.971 0 0 0 75 StoveKnob -3.599 1.110 2.017 0 0 105.000 76 StoveKnob -3.599 1.110 1.867 0 0 105.000 77 StoveKnob -3.599 1.110 2.267 0 0 105.000 78 StoveKnob -3.599 1.110 2.427 0 0 105.000 79 Toaster -2.654 0.902 4.064 0 180 0 80 Fridge -0.439 0.014 3.996 0 0 0 81 LightSwitch 0.25 1.383 2.085 0 270 0 82 Window -1.430 1.338 -0.347 90 0 0 83 CoffeeMachine -3.550 0.902 3.274 0 90 0 84 SinkBasin -1.802 0.778 3.700 0 0 0 85 Microwave -3.484 1.430 2.182 0 90 0 86 GarbageCan -1.184 -0.020 3.794 0 270 0 87 Blinds -1.404 2.092 -0.296 0 0 0 88 Stool -1.373 0.014 1.048 1.214 20.754 0 89 Faucet -1.788 0.903 3.931 270 90 0 90 DiningTable -1.399 0.010 0.238 0 0 0 91 GarbageBag -0.291 0.336 -0.034 272.372 348.812 147.313 92 NorthWall 93 EastWall 94 SouthWall 95 WestWall
[ "STEP 1: Turn around and then go left to face the black refrigerator. | STEP 2: Open the refrigerator, pick up the egg that's inside, and close the refrigerator. | STEP 3: Turn to the left and go straight to the microwave above the stove top. | STEP 4: Open the microwave, place the egg inside of it, close the microwave, wait a second, open the microwave, pick up the egg, and close the microwave. | STEP 5: Turn around, go straight, and then move to the right to face the left end of the white table. | STEP 6: Place the egg on the table. | END" ]
[ [ "STEP 1: Turn around and then go left to face the black refrigerator. ", " STEP 2: Open the refrigerator, pick up the egg that's inside, and close the refrigerator. ", " STEP 3: Turn to the left and go straight to the microwave above the stove top. ", " STEP 4: Open the microwave, place the egg inside of it, close the microwave, wait a second, open the microwave, pick up the egg, and close the microwave. ", " STEP 5: Turn around, go straight, and then move to the right to face the left end of the white table. ", " STEP 6: Place the egg on the table. ", " END" ] ]
seen
trial_T20190908_042252_784209-2
cook an egg in the microwave and put it on the table
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.5 0.914 2.25 0 270 0 1 Potato -2.126 0.947 4.146 0 0 0 54 2 Potato -1.793 0.821 3.625 0 0 0 84 3 DishSponge -1.161 0.086 3.724 0 270 0 86 4 ButterKnife -2.402 0.915 3.675 0 0 0 54 5 WineBottle -1.655 0.892 0.049 0 90 0 90 6 WineBottle -1.504 0.916 4.231 0 0 0 54 7 Spatula -3.654 0.930 1.106 0 90 0 63 8 Spoon -3.368 0.916 3.663 0 0 0 54 9 Spoon -1.655 0.892 0.461 0 180 0 90 10 Fork -0.994 0.892 0.049 0 90 0 90 11 Pot -3.143 0.966 1.971 0 0 0 74 12 Egg -1.439 0.950 3.783 0 0 0 54 13 Egg -0.440 1.576 4.136 0 180 0 80 14 Cup -3.475 1.458 1.454 0 0 0 72 15 Cup -1.666 0.789 3.662 0 0 0 84 16 Plate -3.272 0.919 2.844 0 0 0 54 17 Plate -3.176 0.919 1.357 0 0 0 63 18 Knife -1.259 0.915 -0.053 0 180 0 90 19 Knife -1.493 0.885 0.464 270 264.533 0 90 20 Tomato -1.127 0.960 0.564 0 90 0 90 21 Tomato -3.559 0.984 1.273 0 0 0 63 22 SoapBottle -3.559 0.915 1.440 0 0 0 63 23 Bowl -3.537 1.545 2.224 0 90 0 85 24 SaltShaker -3.186 0.743 3.326 0 0 0 64 25 SaltShaker -3.475 1.455 1.152 0 0 0 72 26 PepperShaker -1.391 0.887 0.564 0 90 0 90 27 Lettuce -0.556 1.072 3.988 0 180 0 80 28 Mug -0.089 0.717 3.869 0 180 0 80 29 Mug -3.459 1.990 2.537 0 0 0 69 30 Apple -1.391 0.951 0.049 0 90 0 90 31 Egg -1.192 0.122 3.852 0 270 0 86 32 Knife -3.463 0.939 1.189 0 90 0 63 33 Fork -3.124 0.738 2.929 0 135 0 56 34 Bread -1.523 0.966 0.296 1.227 279.173 0 90 35 Potato -1.259 0.923 0.049 0 90 0 90 36 Plate -3.005 0.904 3.677 0 0 0 54 37 Pot -3.424 0.966 2.374 0 0 0 60 38 Kettle -3.145 0.069 2.920 0 270 0 67 39 WineBottle -1.391 0.892 0.461 0 90 0 90 40 Bowl -0.089 0.985 4.051 0 180 0 80 41 Tomato -1.787 0.960 0.255 0 90 0 90 42 Cup -1.921 0.789 3.774 0 0 0 84 43 Spatula -3.368 0.930 1.273 0 90 0 63 44 SoapBottle -3.559 0.915 1.106 0 0 0 63 45 Lettuce -0.994 0.977 0.255 0 90 0 90 46 Pan -2.614 0.902 3.620 0 0 0 54 47 Apple -1.259 0.951 0.255 0 90 0 90 48 SaltShaker -3.185 0.741 1.125 0 0 0 55 49 PepperShaker -1.259 0.887 0.152 0 90 0 90 50 ButterKnife -0.994 0.891 0.358 0 90 0 90 51 DishSponge -3.559 0.915 1.607 0 0 0 63 52 Spoon -1.655 0.892 0.152 0 180 0 90 53 Mug -3.473 1.541 2.068 0 90 0 85 54 CounterTop -3.381 0.950 3.335 0 0 0 55 Drawer -3.121 0.775 1.357 0 0 0 56 Drawer -3.121 0.777 2.916 0 0 0 57 StoveBurner -3.148 0.958 2.374 0 0 0 58 Sink -1.797 0.917 3.660 0 0 0 59 Cabinet -1.421 0.388 3.459 0 0 0 60 StoveBurner -3.424 0.958 2.374 0 0 0 61 Cabinet -3.365 1.931 2.676 0 0 0 62 StoveBurner -3.424 0.958 1.971 0 0 0 63 CounterTop -3.381 0.951 1.356 0 0 0 64 Drawer -3.121 0.781 3.295 0 0 0 65 Cabinet -2.205 0.388 3.459 0 0 0 66 Cabinet -2.963 0.388 3.459 0 0 0 67 Cabinet -2.992 0.388 2.683 0 0 0 68 Cabinet -3.352 2.205 1.715 0 0 0 69 Cabinet -3.352 2.205 2.653 0 0 0 70 Cabinet -2.189 0.388 3.466 0 0 0 71 Cabinet -3.365 1.931 3.963 0 0 0 72 Cabinet -3.365 1.931 1.056 0 0 0 73 Cabinet -2.992 0.388 1.037 0 0 0 74 StoveBurner -3.143 0.958 1.971 0 0 0 75 StoveKnob -3.599 1.110 2.017 0 0 105.000 76 StoveKnob -3.599 1.110 1.867 0 0 105.000 77 StoveKnob -3.599 1.110 2.267 0 0 105.000 78 StoveKnob -3.599 1.110 2.427 0 0 105.000 79 Toaster -2.654 0.902 4.064 0 180 0 80 Fridge -0.439 0.014 3.996 0 0 0 81 LightSwitch 0.25 1.383 2.085 0 270 0 82 Window -1.430 1.338 -0.347 90 0 0 83 CoffeeMachine -3.550 0.902 3.274 0 90 0 84 SinkBasin -1.802 0.778 3.700 0 0 0 85 Microwave -3.484 1.430 2.182 0 90 0 86 GarbageCan -1.184 -0.020 3.794 0 270 0 87 Blinds -1.404 2.092 -0.296 0 0 0 88 Stool -1.373 0.014 1.048 1.214 20.754 0 89 Faucet -1.788 0.903 3.931 270 90 0 90 DiningTable -1.399 0.010 0.238 0 0 0 91 GarbageBag -0.291 0.336 -0.034 272.372 348.812 147.313 92 NorthWall 93 EastWall 94 SouthWall 95 WestWall
[ "STEP 1: walk over to the fridge | STEP 2: open the fridge and remove the egg | STEP 3: walk the egg over to the microwave above the stove | STEP 4: cook the egg in the microwave with the mug then remove | STEP 5: take the cooked egg to the left side of the white table | STEP 6: place the egg on the table to the inside of the tomato | END" ]
[ [ "STEP 1: walk over to the fridge ", " STEP 2: open the fridge and remove the egg ", " STEP 3: walk the egg over to the microwave above the stove ", " STEP 4: cook the egg in the microwave with the mug then remove ", " STEP 5: take the cooked egg to the left side of the white table ", " STEP 6: place the egg on the table to the inside of the tomato ", " END" ] ]
seen
trial_T20190907_141831_993046-0
Put the knife and pot on the table.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 0.0 0.900 1.75 0 270 0 1 ButterKnife 1.010 0.813 2.373 0 0 0 48 2 Pot 0.913 0.850 1.375 0 0 0 42 3 Spatula 0.800 0.838 0.984 0 0 0 43 4 Spatula -2.923 0.838 3.554 0 90 0 66 5 Spoon -2.115 0.700 3.699 0 270 0 55 6 Spoon 1.025 0.812 2.458 0 0 0 40 7 Fork 0.839 0.692 2.163 0 90 0 37 8 Egg -2.636 1.227 2.446 0 90 0 75 9 Cup -2.752 0.766 2.221 0 90 0 75 10 SoapBottle -1.255 1.683 3.897 0 0 0 71 11 Bowl -1.717 0.126 3.675 0 0 0 65 12 Bowl -2.541 1.632 2.687 0 0 0 56 13 SaltShaker -2.501 1.395 3.936 0 0 0 41 14 Lettuce -2.519 0.843 2.389 0 90 0 75 15 Plate -1.343 0.131 3.674 0 0 0 63 16 Fork 0.950 0.823 0.984 0 0 0 43 17 Bread 0.818 0.861 2.451 0 358.355 0 43 18 Spatula 0.650 0.838 1.072 0 270 0 43 19 PaperTowelRoll 0.800 0.927 2.198 0 0 0 48 20 Potato 0.650 0.866 2.111 0 0 0 48 21 SoapBottle 0.931 0.023 2.889 0 0 0 77 22 Egg 1.099 0.859 0.895 0 0 0 43 23 Cup -1.457 0.822 3.545 0 0 0 66 24 Pot 0.913 0.850 1.768 0 0 0 64 25 SaltShaker 1.024 0.819 1.028 0 0 0 43 26 Pan -2.667 0.812 3.74 0 137.145 0 66 27 PepperShaker 0.950 0.819 2.198 0 0 0 48 28 ButterKnife -1.578 0.823 3.524 0 0 0 66 29 Tomato -0.913 0.962 1.484 0 0 0 84 30 DishSponge 0.702 0.691 2.460 0 0 0 40 31 Lettuce -2.694 1.071 2.165 0 90 0 75 32 Spoon -2.199 0.699 3.632 0 90 0 55 33 Apple -2.694 0.828 2.333 0 90 0 75 34 Knife -1.457 0.846 3.535 0 180 0 66 35 Mug -1.538 1.354 3.967 0 270 0 72 36 Bowl -2.678 1.605 2.333 0 90 0 75 37 Drawer 0.729 0.703 2.199 0 0 0 38 Cabinet -1.962 1.926 3.733 0 0 0 39 Cabinet -2.377 2.014 1.058 0 0 0 40 Drawer 0.729 0.703 2.532 0 0 0 41 Cabinet -2.622 1.925 3.733 0 0 0 42 StoveBurner 0.913 0.843 1.375 0 0 0 43 CounterTop 0.864 0.858 0.984 0 0 0 44 Cabinet -1.976 1.779 3.734 0 0 0 45 Cabinet 0.580 0.385 0.819 0 0 0 46 Cabinet -2.379 1.408 1.677 0 0 0 47 Cabinet -0.419 1.703 3.736 0 0 0 48 CounterTop 0.864 0.858 2.371 0 0 0 49 Sink -1.702 0.726 3.828 0 180 0 50 Cabinet 0.580 0.385 2.694 0 0 0 51 Cabinet -2.379 0.637 1.677 0 0 0 52 Cabinet -0.419 0.674 3.736 0 0 0 53 Cabinet -2.377 2.014 2.558 0 0 0 54 Drawer 0.729 0.703 0.980 0 0 0 55 Drawer -2.114 0.706 3.657 0 0 0 56 Cabinet -2.377 1.691 2.572 0 0 0 57 Cabinet -2.951 1.925 3.733 0 0 0 58 Cabinet 0.580 0.385 2.360 0 0 0 59 Cabinet -2.426 0.435 3.421 0 0 0 60 StoveBurner 0.642 0.843 1.375 0 0 0 61 Cabinet -2.377 1.927 1.686 0 0 0 62 Cabinet -2.377 2.013 3.177 0 0 0 63 Cabinet -1.136 0.385 3.516 0 0 0 64 StoveBurner 0.913 0.843 1.768 0 0 0 65 Cabinet -1.974 0.385 3.516 0 0 0 66 CounterTop -2.081 0.858 3.799 0 0 0 67 Cabinet -2.426 0.435 3.174 0 0 0 68 Cabinet -2.377 2.014 1.693 0 0 0 69 Cabinet -1.986 0.385 3.511 0 0 0 70 StoveBurner 0.642 0.843 1.768 0 0 0 71 Cabinet -1.098 1.926 3.729 0 0 0 72 Microwave -1.529 1.250 3.881 1.622 180 0 73 CoffeeMachine 1.000 0.812 2.492 0 270 0 74 LightSwitch 0.825 1.396 4.082 0 180 0 75 Fridge -2.642 0.0 2.134 0 180 0 76 Window -1.131 1.673 0.808 90 0 0 77 GarbageCan 0.931 -0.000 2.918 0 0 0 78 SinkBasin -1.601 0.686 3.774 0 0 0 79 StoveKnob 1.104 1.002 1.886 0 0 70.346 80 StoveKnob 1.104 1.002 1.733 0 0 70.346 81 StoveKnob 1.104 1.002 1.321 0 0 70.346 82 StoveKnob 1.104 1.002 1.481 0 0 70.346 83 Toaster -2.247 0.812 3.862 0 180 0 84 DiningTable -0.917 -0.000 1.203 0 0 0 85 Stool -0.932 0.000 1.404 1.196 21.715 0 86 Faucet -1.842 0.809 3.984 0 180 0 87 Faucet -1.371 0.809 3.985 0 180 0 88 NorthWall 89 EastWall 90 SouthWall 91 WestWall
[ "STEP 1: Walk to the fridge, then walk right to the sink. | STEP 2: Pick up the knife with the yellow handle. | STEP 3: Turn right, then turn right again and go to the stove. | STEP 4: Put the knife in the pot on the left. | STEP 5: Pick up the pot and knife from the stove. | STEP 6: Turn around and face the table. | STEP 7: Set the pot and knife on the table. | END" ]
[ [ "STEP 1: Walk to the fridge, then walk right to the sink. ", " STEP 2: Pick up the knife with the yellow handle. ", " STEP 3: Turn right, then turn right again and go to the stove. ", " STEP 4: Put the knife in the pot on the left. ", " STEP 5: Pick up the pot and knife from the stove. ", " STEP 6: Turn around and face the table. ", " STEP 7: Set the pot and knife on the table. ", " END" ] ]
seen
trial_T20190907_141831_993046-1
To get a pan to slice tomatoes.
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0.126", " 3.675", " 0", " 0", " 0", " 65" ], [ "12", " Bowl", " -2.541", " 1.632", " 2.687", " 0", " 0", " 0", " 56" ], [ "13", " SaltShaker", " -2.501", " 1.395", " 3.936", " 0", " 0", " 0", " 41" ], [ "14", " Lettuce", " -2.519", " 0.843", " 2.389", " 0", " 90", " 0", " 75" ], [ "15", " Plate", " -1.343", " 0.131", " 3.674", " 0", " 0", " 0", " 63" ], [ "16", " Fork", " 0.950", " 0.823", " 0.984", " 0", " 0", " 0", " 43" ], [ "17", " Bread", " 0.818", " 0.861", " 2.451", " 0", " 358.355", " 0", " 43" ], [ "18", " Spatula", " 0.650", " 0.838", " 1.072", " 0", " 270", " 0", " 43" ], [ "19", " PaperTowelRoll", " 0.800", " 0.927", " 2.198", " 0", " 0", " 0", " 48" ], [ "20", " Potato", " 0.650", " 0.866", " 2.111", " 0", " 0", " 0", " 48" ], [ "21", " SoapBottle", " 0.931", " 0.023", " 2.889", " 0", " 0", " 0", " 77" ], [ "22", " Egg", " 1.099", " 0.859", " 0.895", " 0", " 0", " 0", " 43" ], [ "23", " Cup", " -1.457", " 0.822", " 3.545", " 0", " 0", " 0", " 66" ], [ "24", " Pot", " 0.913", " 0.850", " 1.768", " 0", " 0", " 0", " 64" ], [ "25", " SaltShaker", " 1.024", " 0.819", " 1.028", " 0", " 0", " 0", " 43" ], [ "26", " Pan", " -2.667", " 0.812", " 3.74", " 0", " 137.145", " 0", " 66" ], [ "27", " PepperShaker", " 0.950", " 0.819", " 2.198", " 0", " 0", " 0", " 48" ], [ "28", " ButterKnife", " -1.578", " 0.823", " 3.524", " 0", " 0", " 0", " 66" ], [ "29", " Tomato", " -0.913", " 0.962", " 1.484", " 0", " 0", " 0", " 84" ], [ "30", " DishSponge", " 0.702", " 0.691", " 2.460", " 0", " 0", " 0", " 40" ], [ "31", " Lettuce", " -2.694", " 1.071", " 2.165", " 0", " 90", " 0", " 75" ], [ "32", " Spoon", " -2.199", " 0.699", " 3.632", " 0", " 90", " 0", " 55" ], [ "33", " Apple", " -2.694", " 0.828", " 2.333", " 0", " 90", " 0", " 75" ], [ "34", " Knife", " -1.457", " 0.846", " 3.535", " 0", " 180", " 0", " 66" ], [ "35", " Mug", " -1.538", " 1.354", " 3.967", " 0", " 270", " 0", " 72" ], [ "36", " Bowl", " -2.678", " 1.605", " 2.333", " 0", " 90", " 0", " 75" ], [ 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0.580", " 0.385", " 2.694", " 0", " 0", " 0", "" ], [ "51", " Cabinet", " -2.379", " 0.637", " 1.677", " 0", " 0", " 0", "" ], [ "52", " Cabinet", " -0.419", " 0.674", " 3.736", " 0", " 0", " 0", "" ], [ "53", " Cabinet", " -2.377", " 2.014", " 2.558", " 0", " 0", " 0", "" ], [ "54", " Drawer", " 0.729", " 0.703", " 0.980", " 0", " 0", " 0", "" ], [ "55", " Drawer", " -2.114", " 0.706", " 3.657", " 0", " 0", " 0", "" ], [ "56", " Cabinet", " -2.377", " 1.691", " 2.572", " 0", " 0", " 0", "" ], [ "57", " Cabinet", " -2.951", " 1.925", " 3.733", " 0", " 0", " 0", "" ], [ "58", " Cabinet", " 0.580", " 0.385", " 2.360", " 0", " 0", " 0", "" ], [ "59", " Cabinet", " -2.426", " 0.435", " 3.421", " 0", " 0", " 0", "" ], [ "60", " StoveBurner", " 0.642", " 0.843", " 1.375", " 0", " 0", " 0", "" ], [ "61", " Cabinet", " -2.377", " 1.927", " 1.686", " 0", " 0", " 0", "" ], [ "62", " Cabinet", " -2.377", " 2.013", " 3.177", " 0", " 0", " 0", "" ], [ "63", " Cabinet", " -1.136", " 0.385", " 3.516", " 0", " 0", " 0", "" ], [ "64", " StoveBurner", " 0.913", " 0.843", " 1.768", " 0", " 0", " 0", "" ], [ "65", " Cabinet", " -1.974", " 0.385", " 3.516", " 0", " 0", " 0", "" ], [ "66", " CounterTop", " -2.081", " 0.858", " 3.799", " 0", " 0", " 0", "" ], [ "67", " Cabinet", " -2.426", " 0.435", " 3.174", " 0", " 0", " 0", "" ], [ "68", " Cabinet", " -2.377", " 2.014", " 1.693", " 0", " 0", " 0", "" ], [ "69", " Cabinet", " -1.986", " 0.385", " 3.511", " 0", " 0", " 0", "" ], [ "70", " StoveBurner", " 0.642", " 0.843", " 1.768", " 0", " 0", " 0", "" ], [ "71", " Cabinet", " -1.098", " 1.926", " 3.729", " 0", " 0", " 0", "" ], [ "72", " Microwave", " -1.529", " 1.250", " 3.881", " 1.622", " 180", " 0", "" ], [ "73", " CoffeeMachine", " 1.000", " 0.812", " 2.492", " 0", " 270", " 0", "" ], [ "74", " LightSwitch", " 0.825", " 1.396", " 4.082", " 0", " 180", " 0", "" ], [ "75", " Fridge", " -2.642", " 0.0", " 2.134", " 0", " 180", " 0", "" ], [ "76", " Window", " -1.131", " 1.673", " 0.808", " 90", " 0", " 0", "" ], [ "77", " GarbageCan", " 0.931", " -0.000", " 2.918", " 0", " 0", " 0", "" ], [ "78", " SinkBasin", " -1.601", " 0.686", " 3.774", " 0", " 0", " 0", "" ], [ "79", " StoveKnob", " 1.104", " 1.002", " 1.886", " 0", " 0", " 70.346", "" ], [ "80", " StoveKnob", " 1.104", " 1.002", " 1.733", " 0", " 0", " 70.346", "" ], [ "81", " StoveKnob", " 1.104", " 1.002", " 1.321", " 0", " 0", " 70.346", "" ], [ "82", " StoveKnob", " 1.104", " 1.002", " 1.481", " 0", " 0", " 70.346", "" ], [ "83", " Toaster", " -2.247", " 0.812", " 3.862", " 0", " 180", " 0", "" ], [ "84", " DiningTable", " -0.917", " -0.000", " 1.203", " 0", " 0", " 0", "" ], [ "85", " Stool", " -0.932", " 0.000", " 1.404", " 1.196", " 21.715", " 0", "" ], [ "86", " Faucet", " -1.842", " 0.809", " 3.984", " 0", " 180", " 0", "" ], [ "87", " Faucet", " -1.371", " 0.809", " 3.985", " 0", " 180", " 0", "" ], [ "88", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "89", " EastWall", " ", " ", " ", " ", " ", " ", "" ], [ "90", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "91", " WestWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 0.0 0.900 1.75 0 270 0 1 ButterKnife 1.010 0.813 2.373 0 0 0 48 2 Pot 0.913 0.850 1.375 0 0 0 42 3 Spatula 0.800 0.838 0.984 0 0 0 43 4 Spatula -2.923 0.838 3.554 0 90 0 66 5 Spoon -2.115 0.700 3.699 0 270 0 55 6 Spoon 1.025 0.812 2.458 0 0 0 40 7 Fork 0.839 0.692 2.163 0 90 0 37 8 Egg -2.636 1.227 2.446 0 90 0 75 9 Cup -2.752 0.766 2.221 0 90 0 75 10 SoapBottle -1.255 1.683 3.897 0 0 0 71 11 Bowl -1.717 0.126 3.675 0 0 0 65 12 Bowl -2.541 1.632 2.687 0 0 0 56 13 SaltShaker -2.501 1.395 3.936 0 0 0 41 14 Lettuce -2.519 0.843 2.389 0 90 0 75 15 Plate -1.343 0.131 3.674 0 0 0 63 16 Fork 0.950 0.823 0.984 0 0 0 43 17 Bread 0.818 0.861 2.451 0 358.355 0 43 18 Spatula 0.650 0.838 1.072 0 270 0 43 19 PaperTowelRoll 0.800 0.927 2.198 0 0 0 48 20 Potato 0.650 0.866 2.111 0 0 0 48 21 SoapBottle 0.931 0.023 2.889 0 0 0 77 22 Egg 1.099 0.859 0.895 0 0 0 43 23 Cup -1.457 0.822 3.545 0 0 0 66 24 Pot 0.913 0.850 1.768 0 0 0 64 25 SaltShaker 1.024 0.819 1.028 0 0 0 43 26 Pan -2.667 0.812 3.74 0 137.145 0 66 27 PepperShaker 0.950 0.819 2.198 0 0 0 48 28 ButterKnife -1.578 0.823 3.524 0 0 0 66 29 Tomato -0.913 0.962 1.484 0 0 0 84 30 DishSponge 0.702 0.691 2.460 0 0 0 40 31 Lettuce -2.694 1.071 2.165 0 90 0 75 32 Spoon -2.199 0.699 3.632 0 90 0 55 33 Apple -2.694 0.828 2.333 0 90 0 75 34 Knife -1.457 0.846 3.535 0 180 0 66 35 Mug -1.538 1.354 3.967 0 270 0 72 36 Bowl -2.678 1.605 2.333 0 90 0 75 37 Drawer 0.729 0.703 2.199 0 0 0 38 Cabinet -1.962 1.926 3.733 0 0 0 39 Cabinet -2.377 2.014 1.058 0 0 0 40 Drawer 0.729 0.703 2.532 0 0 0 41 Cabinet -2.622 1.925 3.733 0 0 0 42 StoveBurner 0.913 0.843 1.375 0 0 0 43 CounterTop 0.864 0.858 0.984 0 0 0 44 Cabinet -1.976 1.779 3.734 0 0 0 45 Cabinet 0.580 0.385 0.819 0 0 0 46 Cabinet -2.379 1.408 1.677 0 0 0 47 Cabinet -0.419 1.703 3.736 0 0 0 48 CounterTop 0.864 0.858 2.371 0 0 0 49 Sink -1.702 0.726 3.828 0 180 0 50 Cabinet 0.580 0.385 2.694 0 0 0 51 Cabinet -2.379 0.637 1.677 0 0 0 52 Cabinet -0.419 0.674 3.736 0 0 0 53 Cabinet -2.377 2.014 2.558 0 0 0 54 Drawer 0.729 0.703 0.980 0 0 0 55 Drawer -2.114 0.706 3.657 0 0 0 56 Cabinet -2.377 1.691 2.572 0 0 0 57 Cabinet -2.951 1.925 3.733 0 0 0 58 Cabinet 0.580 0.385 2.360 0 0 0 59 Cabinet -2.426 0.435 3.421 0 0 0 60 StoveBurner 0.642 0.843 1.375 0 0 0 61 Cabinet -2.377 1.927 1.686 0 0 0 62 Cabinet -2.377 2.013 3.177 0 0 0 63 Cabinet -1.136 0.385 3.516 0 0 0 64 StoveBurner 0.913 0.843 1.768 0 0 0 65 Cabinet -1.974 0.385 3.516 0 0 0 66 CounterTop -2.081 0.858 3.799 0 0 0 67 Cabinet -2.426 0.435 3.174 0 0 0 68 Cabinet -2.377 2.014 1.693 0 0 0 69 Cabinet -1.986 0.385 3.511 0 0 0 70 StoveBurner 0.642 0.843 1.768 0 0 0 71 Cabinet -1.098 1.926 3.729 0 0 0 72 Microwave -1.529 1.250 3.881 1.622 180 0 73 CoffeeMachine 1.000 0.812 2.492 0 270 0 74 LightSwitch 0.825 1.396 4.082 0 180 0 75 Fridge -2.642 0.0 2.134 0 180 0 76 Window -1.131 1.673 0.808 90 0 0 77 GarbageCan 0.931 -0.000 2.918 0 0 0 78 SinkBasin -1.601 0.686 3.774 0 0 0 79 StoveKnob 1.104 1.002 1.886 0 0 70.346 80 StoveKnob 1.104 1.002 1.733 0 0 70.346 81 StoveKnob 1.104 1.002 1.321 0 0 70.346 82 StoveKnob 1.104 1.002 1.481 0 0 70.346 83 Toaster -2.247 0.812 3.862 0 180 0 84 DiningTable -0.917 -0.000 1.203 0 0 0 85 Stool -0.932 0.000 1.404 1.196 21.715 0 86 Faucet -1.842 0.809 3.984 0 180 0 87 Faucet -1.371 0.809 3.985 0 180 0 88 NorthWall 89 EastWall 90 SouthWall 91 WestWall
[ "STEP 1: Walk across the room and stand in front of the sink. | STEP 2: Pick up the sharp knife next to the butter knife. | STEP 3: Turn right and stand in front of the stove. | STEP 4: Place the knife in the pan that's on the back left burner on the stove. | STEP 5: Pick up the pan with the knife in it. | STEP 6: Turn around and stand in front of the counter with the coffee maker on the left. | STEP 7: Place the pan on the counter in front of the coffee maker. | END" ]
[ [ "STEP 1: Walk across the room and stand in front of the sink. ", " STEP 2: Pick up the sharp knife next to the butter knife. ", " STEP 3: Turn right and stand in front of the stove. ", " STEP 4: Place the knife in the pan that's on the back left burner on the stove. ", " STEP 5: Pick up the pan with the knife in it. ", " STEP 6: Turn around and stand in front of the counter with the coffee maker on the left. ", " STEP 7: Place the pan on the counter in front of the coffee maker. ", " END" ] ]
seen
trial_T20190907_141831_993046-2
Put a knife in a pot on the table.
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0.913", " 0.850", " 1.768", " 0", " 0", " 0", " 64" ], [ "25", " SaltShaker", " 1.024", " 0.819", " 1.028", " 0", " 0", " 0", " 43" ], [ "26", " Pan", " -2.667", " 0.812", " 3.74", " 0", " 137.145", " 0", " 66" ], [ "27", " PepperShaker", " 0.950", " 0.819", " 2.198", " 0", " 0", " 0", " 48" ], [ "28", " ButterKnife", " -1.578", " 0.823", " 3.524", " 0", " 0", " 0", " 66" ], [ "29", " Tomato", " -0.913", " 0.962", " 1.484", " 0", " 0", " 0", " 84" ], [ "30", " DishSponge", " 0.702", " 0.691", " 2.460", " 0", " 0", " 0", " 40" ], [ "31", " Lettuce", " -2.694", " 1.071", " 2.165", " 0", " 90", " 0", " 75" ], [ "32", " Spoon", " -2.199", " 0.699", " 3.632", " 0", " 90", " 0", " 55" ], [ "33", " Apple", " -2.694", " 0.828", " 2.333", " 0", " 90", " 0", " 75" ], [ "34", " Knife", " -1.457", " 0.846", " 3.535", " 0", " 180", " 0", " 66" ], [ "35", " Mug", " -1.538", " 1.354", " 3.967", " 0", " 270", " 0", " 72" ], [ "36", " Bowl", " -2.678", " 1.605", " 2.333", " 0", " 90", " 0", " 75" ], [ 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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 0.0 0.900 1.75 0 270 0 1 ButterKnife 1.010 0.813 2.373 0 0 0 48 2 Pot 0.913 0.850 1.375 0 0 0 42 3 Spatula 0.800 0.838 0.984 0 0 0 43 4 Spatula -2.923 0.838 3.554 0 90 0 66 5 Spoon -2.115 0.700 3.699 0 270 0 55 6 Spoon 1.025 0.812 2.458 0 0 0 40 7 Fork 0.839 0.692 2.163 0 90 0 37 8 Egg -2.636 1.227 2.446 0 90 0 75 9 Cup -2.752 0.766 2.221 0 90 0 75 10 SoapBottle -1.255 1.683 3.897 0 0 0 71 11 Bowl -1.717 0.126 3.675 0 0 0 65 12 Bowl -2.541 1.632 2.687 0 0 0 56 13 SaltShaker -2.501 1.395 3.936 0 0 0 41 14 Lettuce -2.519 0.843 2.389 0 90 0 75 15 Plate -1.343 0.131 3.674 0 0 0 63 16 Fork 0.950 0.823 0.984 0 0 0 43 17 Bread 0.818 0.861 2.451 0 358.355 0 43 18 Spatula 0.650 0.838 1.072 0 270 0 43 19 PaperTowelRoll 0.800 0.927 2.198 0 0 0 48 20 Potato 0.650 0.866 2.111 0 0 0 48 21 SoapBottle 0.931 0.023 2.889 0 0 0 77 22 Egg 1.099 0.859 0.895 0 0 0 43 23 Cup -1.457 0.822 3.545 0 0 0 66 24 Pot 0.913 0.850 1.768 0 0 0 64 25 SaltShaker 1.024 0.819 1.028 0 0 0 43 26 Pan -2.667 0.812 3.74 0 137.145 0 66 27 PepperShaker 0.950 0.819 2.198 0 0 0 48 28 ButterKnife -1.578 0.823 3.524 0 0 0 66 29 Tomato -0.913 0.962 1.484 0 0 0 84 30 DishSponge 0.702 0.691 2.460 0 0 0 40 31 Lettuce -2.694 1.071 2.165 0 90 0 75 32 Spoon -2.199 0.699 3.632 0 90 0 55 33 Apple -2.694 0.828 2.333 0 90 0 75 34 Knife -1.457 0.846 3.535 0 180 0 66 35 Mug -1.538 1.354 3.967 0 270 0 72 36 Bowl -2.678 1.605 2.333 0 90 0 75 37 Drawer 0.729 0.703 2.199 0 0 0 38 Cabinet -1.962 1.926 3.733 0 0 0 39 Cabinet -2.377 2.014 1.058 0 0 0 40 Drawer 0.729 0.703 2.532 0 0 0 41 Cabinet -2.622 1.925 3.733 0 0 0 42 StoveBurner 0.913 0.843 1.375 0 0 0 43 CounterTop 0.864 0.858 0.984 0 0 0 44 Cabinet -1.976 1.779 3.734 0 0 0 45 Cabinet 0.580 0.385 0.819 0 0 0 46 Cabinet -2.379 1.408 1.677 0 0 0 47 Cabinet -0.419 1.703 3.736 0 0 0 48 CounterTop 0.864 0.858 2.371 0 0 0 49 Sink -1.702 0.726 3.828 0 180 0 50 Cabinet 0.580 0.385 2.694 0 0 0 51 Cabinet -2.379 0.637 1.677 0 0 0 52 Cabinet -0.419 0.674 3.736 0 0 0 53 Cabinet -2.377 2.014 2.558 0 0 0 54 Drawer 0.729 0.703 0.980 0 0 0 55 Drawer -2.114 0.706 3.657 0 0 0 56 Cabinet -2.377 1.691 2.572 0 0 0 57 Cabinet -2.951 1.925 3.733 0 0 0 58 Cabinet 0.580 0.385 2.360 0 0 0 59 Cabinet -2.426 0.435 3.421 0 0 0 60 StoveBurner 0.642 0.843 1.375 0 0 0 61 Cabinet -2.377 1.927 1.686 0 0 0 62 Cabinet -2.377 2.013 3.177 0 0 0 63 Cabinet -1.136 0.385 3.516 0 0 0 64 StoveBurner 0.913 0.843 1.768 0 0 0 65 Cabinet -1.974 0.385 3.516 0 0 0 66 CounterTop -2.081 0.858 3.799 0 0 0 67 Cabinet -2.426 0.435 3.174 0 0 0 68 Cabinet -2.377 2.014 1.693 0 0 0 69 Cabinet -1.986 0.385 3.511 0 0 0 70 StoveBurner 0.642 0.843 1.768 0 0 0 71 Cabinet -1.098 1.926 3.729 0 0 0 72 Microwave -1.529 1.250 3.881 1.622 180 0 73 CoffeeMachine 1.000 0.812 2.492 0 270 0 74 LightSwitch 0.825 1.396 4.082 0 180 0 75 Fridge -2.642 0.0 2.134 0 180 0 76 Window -1.131 1.673 0.808 90 0 0 77 GarbageCan 0.931 -0.000 2.918 0 0 0 78 SinkBasin -1.601 0.686 3.774 0 0 0 79 StoveKnob 1.104 1.002 1.886 0 0 70.346 80 StoveKnob 1.104 1.002 1.733 0 0 70.346 81 StoveKnob 1.104 1.002 1.321 0 0 70.346 82 StoveKnob 1.104 1.002 1.481 0 0 70.346 83 Toaster -2.247 0.812 3.862 0 180 0 84 DiningTable -0.917 -0.000 1.203 0 0 0 85 Stool -0.932 0.000 1.404 1.196 21.715 0 86 Faucet -1.842 0.809 3.984 0 180 0 87 Faucet -1.371 0.809 3.985 0 180 0 88 NorthWall 89 EastWall 90 SouthWall 91 WestWall
[ "STEP 1: Go to the sink on the right. | STEP 2: Pick up the knife in front of the sink. | STEP 3: Turn around and go to the stove. | STEP 4: Put the knife in the pot on the left. | STEP 5: Pick up the pot with the knife in it. | STEP 6: Turn around and go to the table. | STEP 7: Put the pot with the knife in it on the table. | END" ]
[ [ "STEP 1: Go to the sink on the right. ", " STEP 2: Pick up the knife in front of the sink. ", " STEP 3: Turn around and go to the stove. ", " STEP 4: Put the knife in the pot on the left. ", " STEP 5: Pick up the pot with the knife in it. ", " STEP 6: Turn around and go to the table. ", " STEP 7: Put the pot with the knife in it on the table. ", " END" ] ]
seen
trial_T20190907_141831_993046-3
Put a pot with a knife inside on the table in front of the sink.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 0.0 0.900 1.75 0 270 0 1 ButterKnife 1.010 0.813 2.373 0 0 0 48 2 Pot 0.913 0.850 1.375 0 0 0 42 3 Spatula 0.800 0.838 0.984 0 0 0 43 4 Spatula -2.923 0.838 3.554 0 90 0 66 5 Spoon -2.115 0.700 3.699 0 270 0 55 6 Spoon 1.025 0.812 2.458 0 0 0 40 7 Fork 0.839 0.692 2.163 0 90 0 37 8 Egg -2.636 1.227 2.446 0 90 0 75 9 Cup -2.752 0.766 2.221 0 90 0 75 10 SoapBottle -1.255 1.683 3.897 0 0 0 71 11 Bowl -1.717 0.126 3.675 0 0 0 65 12 Bowl -2.541 1.632 2.687 0 0 0 56 13 SaltShaker -2.501 1.395 3.936 0 0 0 41 14 Lettuce -2.519 0.843 2.389 0 90 0 75 15 Plate -1.343 0.131 3.674 0 0 0 63 16 Fork 0.950 0.823 0.984 0 0 0 43 17 Bread 0.818 0.861 2.451 0 358.355 0 43 18 Spatula 0.650 0.838 1.072 0 270 0 43 19 PaperTowelRoll 0.800 0.927 2.198 0 0 0 48 20 Potato 0.650 0.866 2.111 0 0 0 48 21 SoapBottle 0.931 0.023 2.889 0 0 0 77 22 Egg 1.099 0.859 0.895 0 0 0 43 23 Cup -1.457 0.822 3.545 0 0 0 66 24 Pot 0.913 0.850 1.768 0 0 0 64 25 SaltShaker 1.024 0.819 1.028 0 0 0 43 26 Pan -2.667 0.812 3.74 0 137.145 0 66 27 PepperShaker 0.950 0.819 2.198 0 0 0 48 28 ButterKnife -1.578 0.823 3.524 0 0 0 66 29 Tomato -0.913 0.962 1.484 0 0 0 84 30 DishSponge 0.702 0.691 2.460 0 0 0 40 31 Lettuce -2.694 1.071 2.165 0 90 0 75 32 Spoon -2.199 0.699 3.632 0 90 0 55 33 Apple -2.694 0.828 2.333 0 90 0 75 34 Knife -1.457 0.846 3.535 0 180 0 66 35 Mug -1.538 1.354 3.967 0 270 0 72 36 Bowl -2.678 1.605 2.333 0 90 0 75 37 Drawer 0.729 0.703 2.199 0 0 0 38 Cabinet -1.962 1.926 3.733 0 0 0 39 Cabinet -2.377 2.014 1.058 0 0 0 40 Drawer 0.729 0.703 2.532 0 0 0 41 Cabinet -2.622 1.925 3.733 0 0 0 42 StoveBurner 0.913 0.843 1.375 0 0 0 43 CounterTop 0.864 0.858 0.984 0 0 0 44 Cabinet -1.976 1.779 3.734 0 0 0 45 Cabinet 0.580 0.385 0.819 0 0 0 46 Cabinet -2.379 1.408 1.677 0 0 0 47 Cabinet -0.419 1.703 3.736 0 0 0 48 CounterTop 0.864 0.858 2.371 0 0 0 49 Sink -1.702 0.726 3.828 0 180 0 50 Cabinet 0.580 0.385 2.694 0 0 0 51 Cabinet -2.379 0.637 1.677 0 0 0 52 Cabinet -0.419 0.674 3.736 0 0 0 53 Cabinet -2.377 2.014 2.558 0 0 0 54 Drawer 0.729 0.703 0.980 0 0 0 55 Drawer -2.114 0.706 3.657 0 0 0 56 Cabinet -2.377 1.691 2.572 0 0 0 57 Cabinet -2.951 1.925 3.733 0 0 0 58 Cabinet 0.580 0.385 2.360 0 0 0 59 Cabinet -2.426 0.435 3.421 0 0 0 60 StoveBurner 0.642 0.843 1.375 0 0 0 61 Cabinet -2.377 1.927 1.686 0 0 0 62 Cabinet -2.377 2.013 3.177 0 0 0 63 Cabinet -1.136 0.385 3.516 0 0 0 64 StoveBurner 0.913 0.843 1.768 0 0 0 65 Cabinet -1.974 0.385 3.516 0 0 0 66 CounterTop -2.081 0.858 3.799 0 0 0 67 Cabinet -2.426 0.435 3.174 0 0 0 68 Cabinet -2.377 2.014 1.693 0 0 0 69 Cabinet -1.986 0.385 3.511 0 0 0 70 StoveBurner 0.642 0.843 1.768 0 0 0 71 Cabinet -1.098 1.926 3.729 0 0 0 72 Microwave -1.529 1.250 3.881 1.622 180 0 73 CoffeeMachine 1.000 0.812 2.492 0 270 0 74 LightSwitch 0.825 1.396 4.082 0 180 0 75 Fridge -2.642 0.0 2.134 0 180 0 76 Window -1.131 1.673 0.808 90 0 0 77 GarbageCan 0.931 -0.000 2.918 0 0 0 78 SinkBasin -1.601 0.686 3.774 0 0 0 79 StoveKnob 1.104 1.002 1.886 0 0 70.346 80 StoveKnob 1.104 1.002 1.733 0 0 70.346 81 StoveKnob 1.104 1.002 1.321 0 0 70.346 82 StoveKnob 1.104 1.002 1.481 0 0 70.346 83 Toaster -2.247 0.812 3.862 0 180 0 84 DiningTable -0.917 -0.000 1.203 0 0 0 85 Stool -0.932 0.000 1.404 1.196 21.715 0 86 Faucet -1.842 0.809 3.984 0 180 0 87 Faucet -1.371 0.809 3.985 0 180 0 88 NorthWall 89 EastWall 90 SouthWall 91 WestWall
[ "STEP 1: Move to the sink to the right of the fridge. | STEP 2: Pick up the knife from the sink. | STEP 3: Move to the stove to your right. | STEP 4: Place the knife inside the pot on the stove. | STEP 5: Pick up the pot with the knife in it. | STEP 6: Move to the the table to the right of you. | STEP 7: Place the pot on the table. | END" ]
[ [ "STEP 1: Move to the sink to the right of the fridge. ", " STEP 2: Pick up the knife from the sink. ", " STEP 3: Move to the stove to your right. ", " STEP 4: Place the knife inside the pot on the stove. ", " STEP 5: Pick up the pot with the knife in it. ", " STEP 6: Move to the the table to the right of you. ", " STEP 7: Place the pot on the table. ", " END" ] ]
seen
trial_T20190907_141831_993046-4
Put a large metal pot with a knife in it on a white table.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 0.0 0.900 1.75 0 270 0 1 ButterKnife 1.010 0.813 2.373 0 0 0 48 2 Pot 0.913 0.850 1.375 0 0 0 42 3 Spatula 0.800 0.838 0.984 0 0 0 43 4 Spatula -2.923 0.838 3.554 0 90 0 66 5 Spoon -2.115 0.700 3.699 0 270 0 55 6 Spoon 1.025 0.812 2.458 0 0 0 40 7 Fork 0.839 0.692 2.163 0 90 0 37 8 Egg -2.636 1.227 2.446 0 90 0 75 9 Cup -2.752 0.766 2.221 0 90 0 75 10 SoapBottle -1.255 1.683 3.897 0 0 0 71 11 Bowl -1.717 0.126 3.675 0 0 0 65 12 Bowl -2.541 1.632 2.687 0 0 0 56 13 SaltShaker -2.501 1.395 3.936 0 0 0 41 14 Lettuce -2.519 0.843 2.389 0 90 0 75 15 Plate -1.343 0.131 3.674 0 0 0 63 16 Fork 0.950 0.823 0.984 0 0 0 43 17 Bread 0.818 0.861 2.451 0 358.355 0 43 18 Spatula 0.650 0.838 1.072 0 270 0 43 19 PaperTowelRoll 0.800 0.927 2.198 0 0 0 48 20 Potato 0.650 0.866 2.111 0 0 0 48 21 SoapBottle 0.931 0.023 2.889 0 0 0 77 22 Egg 1.099 0.859 0.895 0 0 0 43 23 Cup -1.457 0.822 3.545 0 0 0 66 24 Pot 0.913 0.850 1.768 0 0 0 64 25 SaltShaker 1.024 0.819 1.028 0 0 0 43 26 Pan -2.667 0.812 3.74 0 137.145 0 66 27 PepperShaker 0.950 0.819 2.198 0 0 0 48 28 ButterKnife -1.578 0.823 3.524 0 0 0 66 29 Tomato -0.913 0.962 1.484 0 0 0 84 30 DishSponge 0.702 0.691 2.460 0 0 0 40 31 Lettuce -2.694 1.071 2.165 0 90 0 75 32 Spoon -2.199 0.699 3.632 0 90 0 55 33 Apple -2.694 0.828 2.333 0 90 0 75 34 Knife -1.457 0.846 3.535 0 180 0 66 35 Mug -1.538 1.354 3.967 0 270 0 72 36 Bowl -2.678 1.605 2.333 0 90 0 75 37 Drawer 0.729 0.703 2.199 0 0 0 38 Cabinet -1.962 1.926 3.733 0 0 0 39 Cabinet -2.377 2.014 1.058 0 0 0 40 Drawer 0.729 0.703 2.532 0 0 0 41 Cabinet -2.622 1.925 3.733 0 0 0 42 StoveBurner 0.913 0.843 1.375 0 0 0 43 CounterTop 0.864 0.858 0.984 0 0 0 44 Cabinet -1.976 1.779 3.734 0 0 0 45 Cabinet 0.580 0.385 0.819 0 0 0 46 Cabinet -2.379 1.408 1.677 0 0 0 47 Cabinet -0.419 1.703 3.736 0 0 0 48 CounterTop 0.864 0.858 2.371 0 0 0 49 Sink -1.702 0.726 3.828 0 180 0 50 Cabinet 0.580 0.385 2.694 0 0 0 51 Cabinet -2.379 0.637 1.677 0 0 0 52 Cabinet -0.419 0.674 3.736 0 0 0 53 Cabinet -2.377 2.014 2.558 0 0 0 54 Drawer 0.729 0.703 0.980 0 0 0 55 Drawer -2.114 0.706 3.657 0 0 0 56 Cabinet -2.377 1.691 2.572 0 0 0 57 Cabinet -2.951 1.925 3.733 0 0 0 58 Cabinet 0.580 0.385 2.360 0 0 0 59 Cabinet -2.426 0.435 3.421 0 0 0 60 StoveBurner 0.642 0.843 1.375 0 0 0 61 Cabinet -2.377 1.927 1.686 0 0 0 62 Cabinet -2.377 2.013 3.177 0 0 0 63 Cabinet -1.136 0.385 3.516 0 0 0 64 StoveBurner 0.913 0.843 1.768 0 0 0 65 Cabinet -1.974 0.385 3.516 0 0 0 66 CounterTop -2.081 0.858 3.799 0 0 0 67 Cabinet -2.426 0.435 3.174 0 0 0 68 Cabinet -2.377 2.014 1.693 0 0 0 69 Cabinet -1.986 0.385 3.511 0 0 0 70 StoveBurner 0.642 0.843 1.768 0 0 0 71 Cabinet -1.098 1.926 3.729 0 0 0 72 Microwave -1.529 1.250 3.881 1.622 180 0 73 CoffeeMachine 1.000 0.812 2.492 0 270 0 74 LightSwitch 0.825 1.396 4.082 0 180 0 75 Fridge -2.642 0.0 2.134 0 180 0 76 Window -1.131 1.673 0.808 90 0 0 77 GarbageCan 0.931 -0.000 2.918 0 0 0 78 SinkBasin -1.601 0.686 3.774 0 0 0 79 StoveKnob 1.104 1.002 1.886 0 0 70.346 80 StoveKnob 1.104 1.002 1.733 0 0 70.346 81 StoveKnob 1.104 1.002 1.321 0 0 70.346 82 StoveKnob 1.104 1.002 1.481 0 0 70.346 83 Toaster -2.247 0.812 3.862 0 180 0 84 DiningTable -0.917 -0.000 1.203 0 0 0 85 Stool -0.932 0.000 1.404 1.196 21.715 0 86 Faucet -1.842 0.809 3.984 0 180 0 87 Faucet -1.371 0.809 3.985 0 180 0 88 NorthWall 89 EastWall 90 SouthWall 91 WestWall
[ "STEP 1: Turn right and take a step forward, then turn left and begin walking to the fridge, hang a right and walk up to the kitchen sink. | STEP 2: Pick up the large metal knife with a golden handle that is on the counter in front of the rightmost sink. | STEP 3: Turn right and begin walking across the room, then hang a right and walk up to the oven. | STEP 4: Place the large metal knife point down into the metal pot that is on the back left burner of the stove. | STEP 5: Pick up the large metal pot with the knife in it off of the stove. | STEP 6: Turn left and begin walking forward, then turn left again and walk over to the white table with the coffee machine on it. | STEP 7: Place the metal pot with the knife in it onto the white table to the right of the tomato. | END" ]
[ [ "STEP 1: Turn right and take a step forward, then turn left and begin walking to the fridge, hang a right and walk up to the kitchen sink. ", " STEP 2: Pick up the large metal knife with a golden handle that is on the counter in front of the rightmost sink. ", " STEP 3: Turn right and begin walking across the room, then hang a right and walk up to the oven. ", " STEP 4: Place the large metal knife point down into the metal pot that is on the back left burner of the stove. ", " STEP 5: Pick up the large metal pot with the knife in it off of the stove. ", " STEP 6: Turn left and begin walking forward, then turn left again and walk over to the white table with the coffee machine on it. ", " STEP 7: Place the metal pot with the knife in it onto the white table to the right of the tomato. ", " END" ] ]
seen
trial_T20190907_141831_993046-5
pick up knife, put it in container on stove top, put the container on the white table next to tomato
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0.913", " 0.850", " 1.768", " 0", " 0", " 0", " 64" ], [ "25", " SaltShaker", " 1.024", " 0.819", " 1.028", " 0", " 0", " 0", " 43" ], [ "26", " Pan", " -2.667", " 0.812", " 3.74", " 0", " 137.145", " 0", " 66" ], [ "27", " PepperShaker", " 0.950", " 0.819", " 2.198", " 0", " 0", " 0", " 48" ], [ "28", " ButterKnife", " -1.578", " 0.823", " 3.524", " 0", " 0", " 0", " 66" ], [ "29", " Tomato", " -0.913", " 0.962", " 1.484", " 0", " 0", " 0", " 84" ], [ "30", " DishSponge", " 0.702", " 0.691", " 2.460", " 0", " 0", " 0", " 40" ], [ "31", " Lettuce", " -2.694", " 1.071", " 2.165", " 0", " 90", " 0", " 75" ], [ "32", " Spoon", " -2.199", " 0.699", " 3.632", " 0", " 90", " 0", " 55" ], [ "33", " Apple", " -2.694", " 0.828", " 2.333", " 0", " 90", " 0", " 75" ], [ "34", " Knife", " -1.457", " 0.846", " 3.535", " 0", " 180", " 0", " 66" ], [ "35", " Mug", " -1.538", " 1.354", " 3.967", " 0", " 270", " 0", " 72" ], [ "36", " Bowl", " -2.678", " 1.605", " 2.333", " 0", " 90", " 0", " 75" ], [ 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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 0.0 0.900 1.75 0 270 0 1 ButterKnife 1.010 0.813 2.373 0 0 0 48 2 Pot 0.913 0.850 1.375 0 0 0 42 3 Spatula 0.800 0.838 0.984 0 0 0 43 4 Spatula -2.923 0.838 3.554 0 90 0 66 5 Spoon -2.115 0.700 3.699 0 270 0 55 6 Spoon 1.025 0.812 2.458 0 0 0 40 7 Fork 0.839 0.692 2.163 0 90 0 37 8 Egg -2.636 1.227 2.446 0 90 0 75 9 Cup -2.752 0.766 2.221 0 90 0 75 10 SoapBottle -1.255 1.683 3.897 0 0 0 71 11 Bowl -1.717 0.126 3.675 0 0 0 65 12 Bowl -2.541 1.632 2.687 0 0 0 56 13 SaltShaker -2.501 1.395 3.936 0 0 0 41 14 Lettuce -2.519 0.843 2.389 0 90 0 75 15 Plate -1.343 0.131 3.674 0 0 0 63 16 Fork 0.950 0.823 0.984 0 0 0 43 17 Bread 0.818 0.861 2.451 0 358.355 0 43 18 Spatula 0.650 0.838 1.072 0 270 0 43 19 PaperTowelRoll 0.800 0.927 2.198 0 0 0 48 20 Potato 0.650 0.866 2.111 0 0 0 48 21 SoapBottle 0.931 0.023 2.889 0 0 0 77 22 Egg 1.099 0.859 0.895 0 0 0 43 23 Cup -1.457 0.822 3.545 0 0 0 66 24 Pot 0.913 0.850 1.768 0 0 0 64 25 SaltShaker 1.024 0.819 1.028 0 0 0 43 26 Pan -2.667 0.812 3.74 0 137.145 0 66 27 PepperShaker 0.950 0.819 2.198 0 0 0 48 28 ButterKnife -1.578 0.823 3.524 0 0 0 66 29 Tomato -0.913 0.962 1.484 0 0 0 84 30 DishSponge 0.702 0.691 2.460 0 0 0 40 31 Lettuce -2.694 1.071 2.165 0 90 0 75 32 Spoon -2.199 0.699 3.632 0 90 0 55 33 Apple -2.694 0.828 2.333 0 90 0 75 34 Knife -1.457 0.846 3.535 0 180 0 66 35 Mug -1.538 1.354 3.967 0 270 0 72 36 Bowl -2.678 1.605 2.333 0 90 0 75 37 Drawer 0.729 0.703 2.199 0 0 0 38 Cabinet -1.962 1.926 3.733 0 0 0 39 Cabinet -2.377 2.014 1.058 0 0 0 40 Drawer 0.729 0.703 2.532 0 0 0 41 Cabinet -2.622 1.925 3.733 0 0 0 42 StoveBurner 0.913 0.843 1.375 0 0 0 43 CounterTop 0.864 0.858 0.984 0 0 0 44 Cabinet -1.976 1.779 3.734 0 0 0 45 Cabinet 0.580 0.385 0.819 0 0 0 46 Cabinet -2.379 1.408 1.677 0 0 0 47 Cabinet -0.419 1.703 3.736 0 0 0 48 CounterTop 0.864 0.858 2.371 0 0 0 49 Sink -1.702 0.726 3.828 0 180 0 50 Cabinet 0.580 0.385 2.694 0 0 0 51 Cabinet -2.379 0.637 1.677 0 0 0 52 Cabinet -0.419 0.674 3.736 0 0 0 53 Cabinet -2.377 2.014 2.558 0 0 0 54 Drawer 0.729 0.703 0.980 0 0 0 55 Drawer -2.114 0.706 3.657 0 0 0 56 Cabinet -2.377 1.691 2.572 0 0 0 57 Cabinet -2.951 1.925 3.733 0 0 0 58 Cabinet 0.580 0.385 2.360 0 0 0 59 Cabinet -2.426 0.435 3.421 0 0 0 60 StoveBurner 0.642 0.843 1.375 0 0 0 61 Cabinet -2.377 1.927 1.686 0 0 0 62 Cabinet -2.377 2.013 3.177 0 0 0 63 Cabinet -1.136 0.385 3.516 0 0 0 64 StoveBurner 0.913 0.843 1.768 0 0 0 65 Cabinet -1.974 0.385 3.516 0 0 0 66 CounterTop -2.081 0.858 3.799 0 0 0 67 Cabinet -2.426 0.435 3.174 0 0 0 68 Cabinet -2.377 2.014 1.693 0 0 0 69 Cabinet -1.986 0.385 3.511 0 0 0 70 StoveBurner 0.642 0.843 1.768 0 0 0 71 Cabinet -1.098 1.926 3.729 0 0 0 72 Microwave -1.529 1.250 3.881 1.622 180 0 73 CoffeeMachine 1.000 0.812 2.492 0 270 0 74 LightSwitch 0.825 1.396 4.082 0 180 0 75 Fridge -2.642 0.0 2.134 0 180 0 76 Window -1.131 1.673 0.808 90 0 0 77 GarbageCan 0.931 -0.000 2.918 0 0 0 78 SinkBasin -1.601 0.686 3.774 0 0 0 79 StoveKnob 1.104 1.002 1.886 0 0 70.346 80 StoveKnob 1.104 1.002 1.733 0 0 70.346 81 StoveKnob 1.104 1.002 1.321 0 0 70.346 82 StoveKnob 1.104 1.002 1.481 0 0 70.346 83 Toaster -2.247 0.812 3.862 0 180 0 84 DiningTable -0.917 -0.000 1.203 0 0 0 85 Stool -0.932 0.000 1.404 1.196 21.715 0 86 Faucet -1.842 0.809 3.984 0 180 0 87 Faucet -1.371 0.809 3.985 0 180 0 88 NorthWall 89 EastWall 90 SouthWall 91 WestWall
[ "STEP 1: turn right and walk towards sinks, stop in front of sinks | STEP 2: pick up sharp knife with gold handle | STEP 3: turn right and walk straight to the stove, turn left and face stove | STEP 4: put knife into left container on stove top | STEP 5: pick up left container on stove top | STEP 6: turn left and walk straight, at the fridge, turn left and continue walking, stop in front of white table with tomato and coffee maker | STEP 7: put down container on the white table to the right of the tomato | END" ]
[ [ "STEP 1: turn right and walk towards sinks, stop in front of sinks ", " STEP 2: pick up sharp knife with gold handle ", " STEP 3: turn right and walk straight to the stove, turn left and face stove ", " STEP 4: put knife into left container on stove top ", " STEP 5: pick up left container on stove top ", " STEP 6: turn left and walk straight, at the fridge, turn left and continue walking, stop in front of white table with tomato and coffee maker ", " STEP 7: put down container on the white table to the right of the tomato ", " END" ] ]
seen
trial_T20190908_144220_448097-0
Put a heated potato in the blue bin.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 1.0 0.900 0.5 0 270 0 1 DishSponge -0.205 0.913 0.083 0 0 0 66 2 ButterKnife -0.822 1.131 0.441 0 0 0 69 3 Kettle -1.317 1.659 -1.600 0 0 0 55 4 Pot -1.289 0.957 -1.02 0 0 0 63 5 Spatula -1.045 1.146 0.662 0 0 0 69 6 Spoon -1.330 0.914 -0.231 0 0 0 66 7 Spoon -0.031 0.764 -2.008 0 90 0 83 8 Tomato 2.000 1.148 -0.271 0 270 0 80 9 Tomato 1.963 0.112 0.109 0 0 0 76 10 SaltShaker 2.593 0.876 0.087 0 180 0 77 11 PepperShaker -0.623 0.690 -1.891 0 0 0 43 12 PepperShaker -0.152 1.127 0.662 0 0 0 69 13 Lettuce 1.891 0.893 -0.365 0 270 0 80 14 Lettuce 2.000 1.175 -0.551 0 270 0 80 15 Pan 1.945 1.427 -0.551 0 0 0 80 16 Knife -1.404 0.934 -1.469 0 270 0 73 17 Bowl -1.312 1.657 -0.626 0 0 0 56 18 Fork -0.375 1.132 0.485 0 0 0 69 19 Cup 0.101 0.750 -1.938 0 0 0 83 20 Ladle -0.053 0.733 0.181 0 270 0 72 21 Apple -1.379 0.959 -2.267 0 0 0 73 22 Kettle -1.047 0.953 -2.094 0 0 0 73 23 Vase 2.798 0.554 0.142 0 180 0 79 24 Potato 1.891 0.847 -0.737 0 270 0 80 25 Pot -1.056 0.956 -1.127 0 0 0 70 26 Bread -1.148 0.981 -0.193 0 0 0 66 27 Plate 0.022 0.114 0.163 0 180 0 61 28 Spatula 1.419 0.926 -2.183 0 0 0 73 29 PaperTowelRoll -0.849 1.017 0.347 0 0 0 66 30 Vase -0.634 0.919 0.241 0 0 0 66 31 Egg -0.290 0.797 -2.118 0 0 0 83 32 SoapBottle -1.386 1.662 0.231 0 0 0 57 33 SaltShaker -0.691 0.688 -1.802 0 0 0 43 34 Lettuce 1.194 0.987 -1.844 0 0 0 73 35 PepperShaker -0.611 0.688 0.146 0 180 0 67 36 ButterKnife -1.063 0.913 0.135 0 0 0 66 37 DishSponge -1.272 1.660 -0.421 0 0 0 56 38 Vase 2.979 0.539 0.128 0 0 0 79 39 Spoon 1.644 0.912 -2.183 0 0 0 73 40 Tomato -0.117 0.812 -2.118 0 0 0 83 41 Mug 0.776 1.652 -2.126 0 90 0 53 42 Statue -0.598 1.138 0.485 0 0 0 69 43 Drawer -0.819 0.75 -1.690 0 0 0 44 Cabinet -1.149 2.264 -0.838 0 90 0 45 StoveBurner -1.056 0.949 -0.671 0 180 0 46 Cabinet 1.738 2.019 -2.000 0 0 0 47 Cabinet 1.389 0.469 -1.059 0 0 0 48 StoveBurner -1.289 0.949 -0.755 0 180 0 49 Faucet -0.157 1.052 -2.196 0 270 0 50 Cabinet 1.75 2.019 -1.029 0 0 0 51 Cabinet 1.75 2.019 -1.399 0 0 0 52 Cabinet 1.179 2.019 -2.0 0 0 0 53 Cabinet 0.199 2.019 -2.0 0 0 0 54 Cabinet -1.100 2.019 -2.0 0 0 0 55 Cabinet -1.149 2.019 -1.979 0 0 0 56 Cabinet -1.149 2.019 -0.770 0 0 0 57 Cabinet -1.149 2.019 0.380 0 0 0 58 Cabinet -0.819 0.469 -1.689 0 0 0 59 Cabinet -0.839 0.469 -1.664 0 0 0 60 Cabinet -0.839 0.469 -0.049 0 0 0 61 Cabinet -0.414 0.370 -0.009 0 0 0 62 Sink -0.118 0.875 -2.009 0 0 0 63 StoveBurner -1.289 0.949 -1.019 0 0 0 64 Cabinet 0.119 2.264 -2.0 0 0 0 65 Cabinet -0.459 2.264 -2.0 0 0 0 66 CounterTop -0.665 0.949 0.188 0 0 0 67 Drawer -0.449 0.75 -0.010 0 180 0 68 Cabinet -0.450 0.469 -0.009 0 0 0 69 CounterTop -0.630 1.167 0.573 0 0 0 70 StoveBurner -1.056 0.949 -1.126 0 0 0 71 Cabinet 1.376 0.460 -1.685 0 0 0 72 Drawer -0.070 0.75 -0.009 0 180 0 73 CounterTop 1.159 0.946 -2.013 0 0 0 74 Cabinet -1.150 2.264 -1.418 0 90 0 75 HousePlant -1.246 1.108 0.606 0 0 0 76 GarbageCan 1.923 -0.010 0.137 0 0 0 77 Shelf 2.759 0.880 0.144 0 0 0 78 Microwave 1.827 0.900 -1.354 0 270 0 79 Shelf 2.759 0.552 0.145 0 0 0 80 Fridge 1.975 0.0 -0.537 0 0 0 81 LightSwitch 0.404 1.297 2.0 0 180 0 82 Shelf 2.760 0.172 0.145 0 0 0 83 SinkBasin -0.129 0.752 -2.007 0 0 0 84 StoveKnob -0.873 0.903 -0.827 45 90 0 85 StoveKnob -0.873 0.903 -0.676 45 90 0 86 StoveKnob -0.873 0.903 -0.966 45 90 0 87 StoveKnob -0.873 0.903 -1.123 45 90 0 88 Toaster 0.840 0.900 -2.057 0 0 0 89 CoffeeMachine 0.501 0.900 -2.125 0 0 0 90 ShelvingUnit 2.760 0.006 0.144 0 0 0 91 Stool -0.826 0.010 0.908 0 347.513 0 92 Stool -0.132 0.010 0.883 0 71.555 0 93 NorthWall 94 EastWall 95 SouthWall 96 WestWall
[ "STEP 1: Turn left, move to the fridge, turn left to face the fridge. | STEP 2: Open the fridge, pick up the potato in the fridge. | STEP 3: Bring the potato to the microwave, right of the fridge. | STEP 4: Heat the potato in the mike. | STEP 5: Take the heated potato to the left, past the fridge, to the blue bin left of the fridge. | STEP 6: Put the heated potato in the blue bin. | END" ]
[ [ "STEP 1: Turn left, move to the fridge, turn left to face the fridge. ", " STEP 2: Open the fridge, pick up the potato in the fridge. ", " STEP 3: Bring the potato to the microwave, right of the fridge. ", " STEP 4: Heat the potato in the mike. ", " STEP 5: Take the heated potato to the left, past the fridge, to the blue bin left of the fridge. ", " STEP 6: Put the heated potato in the blue bin. ", " END" ] ]
seen
trial_T20190908_144220_448097-1
Put a microwaved potato in the blue container next to 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 0.5 0 270 0 1 DishSponge -0.205 0.913 0.083 0 0 0 66 2 ButterKnife -0.822 1.131 0.441 0 0 0 69 3 Kettle -1.317 1.659 -1.600 0 0 0 55 4 Pot -1.289 0.957 -1.02 0 0 0 63 5 Spatula -1.045 1.146 0.662 0 0 0 69 6 Spoon -1.330 0.914 -0.231 0 0 0 66 7 Spoon -0.031 0.764 -2.008 0 90 0 83 8 Tomato 2.000 1.148 -0.271 0 270 0 80 9 Tomato 1.963 0.112 0.109 0 0 0 76 10 SaltShaker 2.593 0.876 0.087 0 180 0 77 11 PepperShaker -0.623 0.690 -1.891 0 0 0 43 12 PepperShaker -0.152 1.127 0.662 0 0 0 69 13 Lettuce 1.891 0.893 -0.365 0 270 0 80 14 Lettuce 2.000 1.175 -0.551 0 270 0 80 15 Pan 1.945 1.427 -0.551 0 0 0 80 16 Knife -1.404 0.934 -1.469 0 270 0 73 17 Bowl -1.312 1.657 -0.626 0 0 0 56 18 Fork -0.375 1.132 0.485 0 0 0 69 19 Cup 0.101 0.750 -1.938 0 0 0 83 20 Ladle -0.053 0.733 0.181 0 270 0 72 21 Apple -1.379 0.959 -2.267 0 0 0 73 22 Kettle -1.047 0.953 -2.094 0 0 0 73 23 Vase 2.798 0.554 0.142 0 180 0 79 24 Potato 1.891 0.847 -0.737 0 270 0 80 25 Pot -1.056 0.956 -1.127 0 0 0 70 26 Bread -1.148 0.981 -0.193 0 0 0 66 27 Plate 0.022 0.114 0.163 0 180 0 61 28 Spatula 1.419 0.926 -2.183 0 0 0 73 29 PaperTowelRoll -0.849 1.017 0.347 0 0 0 66 30 Vase -0.634 0.919 0.241 0 0 0 66 31 Egg -0.290 0.797 -2.118 0 0 0 83 32 SoapBottle -1.386 1.662 0.231 0 0 0 57 33 SaltShaker -0.691 0.688 -1.802 0 0 0 43 34 Lettuce 1.194 0.987 -1.844 0 0 0 73 35 PepperShaker -0.611 0.688 0.146 0 180 0 67 36 ButterKnife -1.063 0.913 0.135 0 0 0 66 37 DishSponge -1.272 1.660 -0.421 0 0 0 56 38 Vase 2.979 0.539 0.128 0 0 0 79 39 Spoon 1.644 0.912 -2.183 0 0 0 73 40 Tomato -0.117 0.812 -2.118 0 0 0 83 41 Mug 0.776 1.652 -2.126 0 90 0 53 42 Statue -0.598 1.138 0.485 0 0 0 69 43 Drawer -0.819 0.75 -1.690 0 0 0 44 Cabinet -1.149 2.264 -0.838 0 90 0 45 StoveBurner -1.056 0.949 -0.671 0 180 0 46 Cabinet 1.738 2.019 -2.000 0 0 0 47 Cabinet 1.389 0.469 -1.059 0 0 0 48 StoveBurner -1.289 0.949 -0.755 0 180 0 49 Faucet -0.157 1.052 -2.196 0 270 0 50 Cabinet 1.75 2.019 -1.029 0 0 0 51 Cabinet 1.75 2.019 -1.399 0 0 0 52 Cabinet 1.179 2.019 -2.0 0 0 0 53 Cabinet 0.199 2.019 -2.0 0 0 0 54 Cabinet -1.100 2.019 -2.0 0 0 0 55 Cabinet -1.149 2.019 -1.979 0 0 0 56 Cabinet -1.149 2.019 -0.770 0 0 0 57 Cabinet -1.149 2.019 0.380 0 0 0 58 Cabinet -0.819 0.469 -1.689 0 0 0 59 Cabinet -0.839 0.469 -1.664 0 0 0 60 Cabinet -0.839 0.469 -0.049 0 0 0 61 Cabinet -0.414 0.370 -0.009 0 0 0 62 Sink -0.118 0.875 -2.009 0 0 0 63 StoveBurner -1.289 0.949 -1.019 0 0 0 64 Cabinet 0.119 2.264 -2.0 0 0 0 65 Cabinet -0.459 2.264 -2.0 0 0 0 66 CounterTop -0.665 0.949 0.188 0 0 0 67 Drawer -0.449 0.75 -0.010 0 180 0 68 Cabinet -0.450 0.469 -0.009 0 0 0 69 CounterTop -0.630 1.167 0.573 0 0 0 70 StoveBurner -1.056 0.949 -1.126 0 0 0 71 Cabinet 1.376 0.460 -1.685 0 0 0 72 Drawer -0.070 0.75 -0.009 0 180 0 73 CounterTop 1.159 0.946 -2.013 0 0 0 74 Cabinet -1.150 2.264 -1.418 0 90 0 75 HousePlant -1.246 1.108 0.606 0 0 0 76 GarbageCan 1.923 -0.010 0.137 0 0 0 77 Shelf 2.759 0.880 0.144 0 0 0 78 Microwave 1.827 0.900 -1.354 0 270 0 79 Shelf 2.759 0.552 0.145 0 0 0 80 Fridge 1.975 0.0 -0.537 0 0 0 81 LightSwitch 0.404 1.297 2.0 0 180 0 82 Shelf 2.760 0.172 0.145 0 0 0 83 SinkBasin -0.129 0.752 -2.007 0 0 0 84 StoveKnob -0.873 0.903 -0.827 45 90 0 85 StoveKnob -0.873 0.903 -0.676 45 90 0 86 StoveKnob -0.873 0.903 -0.966 45 90 0 87 StoveKnob -0.873 0.903 -1.123 45 90 0 88 Toaster 0.840 0.900 -2.057 0 0 0 89 CoffeeMachine 0.501 0.900 -2.125 0 0 0 90 ShelvingUnit 2.760 0.006 0.144 0 0 0 91 Stool -0.826 0.010 0.908 0 347.513 0 92 Stool -0.132 0.010 0.883 0 71.555 0 93 NorthWall 94 EastWall 95 SouthWall 96 WestWall
[ "STEP 1: Turn left and make your way to the fridge on the left | STEP 2: Take the potato out of the fridge | STEP 3: Turn around and step towards the stove, then turn left and step towards the counter then turn left | STEP 4: Microwave the potato then take the potato out of the microwave | STEP 5: Turn left, then turn right towards the fridge, then turn left and go past the fridge and turn right to face the blue container | STEP 6: Put the potato in the blue container | END" ]
[ [ "STEP 1: Turn left and make your way to the fridge on the left ", " STEP 2: Take the potato out of the fridge ", " STEP 3: Turn around and step towards the stove, then turn left and step towards the counter then turn left ", " STEP 4: Microwave the potato then take the potato out of the microwave ", " STEP 5: Turn left, then turn right towards the fridge, then turn left and go past the fridge and turn right to face the blue container ", " STEP 6: Put the potato in the blue container ", " END" ] ]
seen
trial_T20190908_144220_448097-2
Place a heated potato in a bin
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent 1.0 0.900 0.5 0 270 0 1 DishSponge -0.205 0.913 0.083 0 0 0 66 2 ButterKnife -0.822 1.131 0.441 0 0 0 69 3 Kettle -1.317 1.659 -1.600 0 0 0 55 4 Pot -1.289 0.957 -1.02 0 0 0 63 5 Spatula -1.045 1.146 0.662 0 0 0 69 6 Spoon -1.330 0.914 -0.231 0 0 0 66 7 Spoon -0.031 0.764 -2.008 0 90 0 83 8 Tomato 2.000 1.148 -0.271 0 270 0 80 9 Tomato 1.963 0.112 0.109 0 0 0 76 10 SaltShaker 2.593 0.876 0.087 0 180 0 77 11 PepperShaker -0.623 0.690 -1.891 0 0 0 43 12 PepperShaker -0.152 1.127 0.662 0 0 0 69 13 Lettuce 1.891 0.893 -0.365 0 270 0 80 14 Lettuce 2.000 1.175 -0.551 0 270 0 80 15 Pan 1.945 1.427 -0.551 0 0 0 80 16 Knife -1.404 0.934 -1.469 0 270 0 73 17 Bowl -1.312 1.657 -0.626 0 0 0 56 18 Fork -0.375 1.132 0.485 0 0 0 69 19 Cup 0.101 0.750 -1.938 0 0 0 83 20 Ladle -0.053 0.733 0.181 0 270 0 72 21 Apple -1.379 0.959 -2.267 0 0 0 73 22 Kettle -1.047 0.953 -2.094 0 0 0 73 23 Vase 2.798 0.554 0.142 0 180 0 79 24 Potato 1.891 0.847 -0.737 0 270 0 80 25 Pot -1.056 0.956 -1.127 0 0 0 70 26 Bread -1.148 0.981 -0.193 0 0 0 66 27 Plate 0.022 0.114 0.163 0 180 0 61 28 Spatula 1.419 0.926 -2.183 0 0 0 73 29 PaperTowelRoll -0.849 1.017 0.347 0 0 0 66 30 Vase -0.634 0.919 0.241 0 0 0 66 31 Egg -0.290 0.797 -2.118 0 0 0 83 32 SoapBottle -1.386 1.662 0.231 0 0 0 57 33 SaltShaker -0.691 0.688 -1.802 0 0 0 43 34 Lettuce 1.194 0.987 -1.844 0 0 0 73 35 PepperShaker -0.611 0.688 0.146 0 180 0 67 36 ButterKnife -1.063 0.913 0.135 0 0 0 66 37 DishSponge -1.272 1.660 -0.421 0 0 0 56 38 Vase 2.979 0.539 0.128 0 0 0 79 39 Spoon 1.644 0.912 -2.183 0 0 0 73 40 Tomato -0.117 0.812 -2.118 0 0 0 83 41 Mug 0.776 1.652 -2.126 0 90 0 53 42 Statue -0.598 1.138 0.485 0 0 0 69 43 Drawer -0.819 0.75 -1.690 0 0 0 44 Cabinet -1.149 2.264 -0.838 0 90 0 45 StoveBurner -1.056 0.949 -0.671 0 180 0 46 Cabinet 1.738 2.019 -2.000 0 0 0 47 Cabinet 1.389 0.469 -1.059 0 0 0 48 StoveBurner -1.289 0.949 -0.755 0 180 0 49 Faucet -0.157 1.052 -2.196 0 270 0 50 Cabinet 1.75 2.019 -1.029 0 0 0 51 Cabinet 1.75 2.019 -1.399 0 0 0 52 Cabinet 1.179 2.019 -2.0 0 0 0 53 Cabinet 0.199 2.019 -2.0 0 0 0 54 Cabinet -1.100 2.019 -2.0 0 0 0 55 Cabinet -1.149 2.019 -1.979 0 0 0 56 Cabinet -1.149 2.019 -0.770 0 0 0 57 Cabinet -1.149 2.019 0.380 0 0 0 58 Cabinet -0.819 0.469 -1.689 0 0 0 59 Cabinet -0.839 0.469 -1.664 0 0 0 60 Cabinet -0.839 0.469 -0.049 0 0 0 61 Cabinet -0.414 0.370 -0.009 0 0 0 62 Sink -0.118 0.875 -2.009 0 0 0 63 StoveBurner -1.289 0.949 -1.019 0 0 0 64 Cabinet 0.119 2.264 -2.0 0 0 0 65 Cabinet -0.459 2.264 -2.0 0 0 0 66 CounterTop -0.665 0.949 0.188 0 0 0 67 Drawer -0.449 0.75 -0.010 0 180 0 68 Cabinet -0.450 0.469 -0.009 0 0 0 69 CounterTop -0.630 1.167 0.573 0 0 0 70 StoveBurner -1.056 0.949 -1.126 0 0 0 71 Cabinet 1.376 0.460 -1.685 0 0 0 72 Drawer -0.070 0.75 -0.009 0 180 0 73 CounterTop 1.159 0.946 -2.013 0 0 0 74 Cabinet -1.150 2.264 -1.418 0 90 0 75 HousePlant -1.246 1.108 0.606 0 0 0 76 GarbageCan 1.923 -0.010 0.137 0 0 0 77 Shelf 2.759 0.880 0.144 0 0 0 78 Microwave 1.827 0.900 -1.354 0 270 0 79 Shelf 2.759 0.552 0.145 0 0 0 80 Fridge 1.975 0.0 -0.537 0 0 0 81 LightSwitch 0.404 1.297 2.0 0 180 0 82 Shelf 2.760 0.172 0.145 0 0 0 83 SinkBasin -0.129 0.752 -2.007 0 0 0 84 StoveKnob -0.873 0.903 -0.827 45 90 0 85 StoveKnob -0.873 0.903 -0.676 45 90 0 86 StoveKnob -0.873 0.903 -0.966 45 90 0 87 StoveKnob -0.873 0.903 -1.123 45 90 0 88 Toaster 0.840 0.900 -2.057 0 0 0 89 CoffeeMachine 0.501 0.900 -2.125 0 0 0 90 ShelvingUnit 2.760 0.006 0.144 0 0 0 91 Stool -0.826 0.010 0.908 0 347.513 0 92 Stool -0.132 0.010 0.883 0 71.555 0 93 NorthWall 94 EastWall 95 SouthWall 96 WestWall
[ "STEP 1: Go to the fridge | STEP 2: Take a potato out of the fridge | STEP 3: Go to the microwave | STEP 4: Heat the potato | STEP 5: Go to the bin next to the fridge | STEP 6: Place the potato in the bin | END" ]
[ [ "STEP 1: Go to the fridge ", " STEP 2: Take a potato out of the fridge ", " STEP 3: Go to the microwave ", " STEP 4: Heat the potato ", " STEP 5: Go to the bin next to the fridge ", " STEP 6: Place the potato in the bin ", " END" ] ]
seen
trial_T20190908_172041_358328-0
Put a clean kettle on the stove.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.0 0.900 0.0 0 180 0 1 CreditCard 1.893 0.550 -2.562 0 180 0 82 2 Plate -2.114 1.306 0.925 0 90 0 85 3 Cup -1.997 0.538 1.168 0 90 0 85 4 Egg -2.163 1.538 0.925 0 90 0 85 5 Tomato -1.995 0.837 1.168 0 90 0 85 6 SoapBottle 1.686 0.881 -2.617 0 180 0 79 7 Knife -0.197 1.136 -0.506 0 0 0 52 8 Fork 0.217 1.112 0.251 0 0 0 52 9 Fork -1.693 0.911 -2.585 0 0 0 77 10 Spoon 1.098 0.911 -2.407 0 0 0 54 11 Spatula -1.290 0.926 -2.637 0 0 0 77 12 Spatula 0.840 0.925 -2.560 0 180 0 54 13 Kettle -0.465 0.950 -2.372 0 90 0 50 14 Glassbottle -0.335 1.112 -0.506 0 0 0 52 15 Glassbottle 1.996 0.553 -2.666 0 180 0 82 16 DishSponge 0.560 1.659 -2.560 0 0 0 76 17 Book 0.155 1.1 0.617 0 315 0 52 18 Glassbottle -1.962 0.048 1.933 0 270 0 83 19 Knife 1.098 0.936 -2.560 0 270 0 54 20 Bread -0.335 1.184 -0.759 0 0 0 52 21 Fork 0.969 0.911 -2.407 0 0 0 54 22 Potato 0.711 0.941 -2.330 0 0 0 54 23 SoapBottle -1.989 0.048 2.172 0 270 0 83 24 Kettle -0.059 1.112 -0.001 0 0 0 52 25 Pan -0.036 0.950 -2.372 0 270 0 47 26 Plate -0.059 1.108 -0.253 0 0 0 52 27 Tomato -0.473 1.150 0.757 0 0 0 52 28 Vase 1.478 0.555 -2.666 0 180 0 82 29 Egg -0.070 1.825 -2.449 0 0 0 78 30 CreditCard 1.008 0.478 -2.282 0 0 0 60 31 Statue -0.197 1.110 0.757 0 270 0 52 32 WineBottle -1.392 0.137 -2.301 0 0 0 70 33 Pot 0.217 1.115 -0.506 0 0 0 52 34 Spatula 0.453 0.925 -2.407 0 90 0 54 35 PaperTowelRoll -1.880 0.152 2.124 0 270 0 83 36 Cup -2.162 0.796 1.085 0 90 0 85 37 Vase -1.705 0.133 -1.856 0 90 0 53 38 Bowl 0.355 1.108 -0.001 0 0 0 52 39 SaltShaker -1.611 0.907 -2.256 0 0 0 77 40 PepperShaker -0.059 1.107 -0.759 0 0 0 52 41 Lettuce -1.438 0.991 -2.483 0 0 0 77 42 ButterKnife 0.079 1.111 -0.001 0 0 0 52 43 Apple -0.173 1.841 -2.610 0 0 0 78 44 DishSponge -1.962 0.047 2.029 0 270 0 83 45 Spoon -0.335 1.112 -0.253 0 0 0 52 46 Mug -0.173 1.785 -2.482 0 0 0 78 47 StoveBurner -0.036 0.915 -2.372 0 0 0 48 Drawer 0.949 0.832 -2.197 0 0 0 49 Drawer -1.560 0.839 0.204 0 90 0 50 StoveBurner -0.465 0.915 -2.371 0 180 0 51 Drawer -1.560 0.839 -0.197 0 90 0 52 CounterTop -0.079 1.147 -0.001 0 0 0 53 Cabinet -1.549 0.494 -1.964 0 90 0 54 CounterTop 0.693 0.946 -2.483 0 0 0 55 StoveBurner -0.036 0.915 -2.576 0 0 0 56 Drawer 0.949 0.393 -2.200 0 0 0 57 Drawer 0.949 0.708 -2.200 0 0 0 58 Cabinet -1.549 0.494 0.379 0 90 0 59 StoveKnob -0.022 0.881 -2.187 45 0 0 60 Drawer 0.949 0.560 -2.201 0 0 0 61 StoveBurner -0.465 0.915 -2.575 0 180 0 62 Window -2.230 1.429 -1.203 0 0 0 63 StoveKnob -0.483 0.881 -2.187 45 0 0 64 Sink -1.899 0.964 -1.5 0 90 0 65 StoveKnob -0.328 0.881 -2.187 45 0 0 66 Cabinet -0.727 2.015 -2.460 0 0 0 67 Drawer -1.560 0.655 -0.196 0 90 0 68 Cabinet -1.685 2.015 -2.461 0 0 0 69 Cabinet 0.680 0.494 -2.200 0 0 0 70 Cabinet -1.179 0.494 -2.200 0 0 0 71 Cabinet -1.849 2.015 0.379 0 90 0 72 Drawer 0.949 0.221 -2.200 0 0 0 73 StoveKnob -0.183 0.881 -2.187 45 0 0 74 Cabinet 0.719 2.015 -2.460 0 0 0 75 Drawer -1.560 0.331 -0.196 0 90 0 76 Cabinet 0.680 2.015 -2.460 0 0 0 77 CounterTop -1.868 0.946 -1.205 0 0 0 78 Microwave -0.236 1.689 -2.525 0 0 0 79 Shelf 1.751 0.880 -2.560 0 0 0 80 HousePlant -1.948 0.889 -2.520 0 5.334 0 81 Toaster -1.835 0.900 0.134 0 90 0 82 Shelf 1.750 0.552 -2.559 0 0 0 83 GarbageCan -1.935 -0.002 2.029 0 270 0 84 Shelf 1.750 0.172 -2.559 0 0 0 85 Fridge -2.096 0.0 1.088 0 0 0 86 CoffeeMachine -1.977 0.900 -0.188 0 90 0 87 SinkBasin -1.908 0.759 -1.488 0 90 0 88 LightSwitch 2.329 1.309 -0.159 0 270 0 89 ShelvingUnit 1.750 0.006 -2.559 0 0 0 90 Stool 0.702 0.000 -0.514 1.202 65.108 0 91 Stool 0.743 0.000 0.563 1.227 106.706 0 92 Faucet -2.070 1.132 -1.514 0 0 0 93 NorthWall 94 EastWall 95 SouthWall 96 WestWall
[ "STEP 1: Move forward, then turn left at the kitchen island, then turn right to face the stove. | STEP 2: Pick up the kettle on the stove. | STEP 3: Turn around, then turn left to go to the sink. | STEP 4: Wash the kettle in the sink. | STEP 5: Turn around and return to the stove. | STEP 6: Put the kettle on the stove, on the back right range. | END" ]
[ [ "STEP 1: Move forward, then turn left at the kitchen island, then turn right to face the stove. ", " STEP 2: Pick up the kettle on the stove. ", " STEP 3: Turn around, then turn left to go to the sink. ", " STEP 4: Wash the kettle in the sink. ", " STEP 5: Turn around and return to the stove. ", " STEP 6: Put the kettle on the stove, on the back right range. ", " END" ] ]
seen
trial_T20190908_172041_358328-1
Put a clean kettle on the stove.
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id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -1.0 0.900 0.0 0 180 0 1 CreditCard 1.893 0.550 -2.562 0 180 0 82 2 Plate -2.114 1.306 0.925 0 90 0 85 3 Cup -1.997 0.538 1.168 0 90 0 85 4 Egg -2.163 1.538 0.925 0 90 0 85 5 Tomato -1.995 0.837 1.168 0 90 0 85 6 SoapBottle 1.686 0.881 -2.617 0 180 0 79 7 Knife -0.197 1.136 -0.506 0 0 0 52 8 Fork 0.217 1.112 0.251 0 0 0 52 9 Fork -1.693 0.911 -2.585 0 0 0 77 10 Spoon 1.098 0.911 -2.407 0 0 0 54 11 Spatula -1.290 0.926 -2.637 0 0 0 77 12 Spatula 0.840 0.925 -2.560 0 180 0 54 13 Kettle -0.465 0.950 -2.372 0 90 0 50 14 Glassbottle -0.335 1.112 -0.506 0 0 0 52 15 Glassbottle 1.996 0.553 -2.666 0 180 0 82 16 DishSponge 0.560 1.659 -2.560 0 0 0 76 17 Book 0.155 1.1 0.617 0 315 0 52 18 Glassbottle -1.962 0.048 1.933 0 270 0 83 19 Knife 1.098 0.936 -2.560 0 270 0 54 20 Bread -0.335 1.184 -0.759 0 0 0 52 21 Fork 0.969 0.911 -2.407 0 0 0 54 22 Potato 0.711 0.941 -2.330 0 0 0 54 23 SoapBottle -1.989 0.048 2.172 0 270 0 83 24 Kettle -0.059 1.112 -0.001 0 0 0 52 25 Pan -0.036 0.950 -2.372 0 270 0 47 26 Plate -0.059 1.108 -0.253 0 0 0 52 27 Tomato -0.473 1.150 0.757 0 0 0 52 28 Vase 1.478 0.555 -2.666 0 180 0 82 29 Egg -0.070 1.825 -2.449 0 0 0 78 30 CreditCard 1.008 0.478 -2.282 0 0 0 60 31 Statue -0.197 1.110 0.757 0 270 0 52 32 WineBottle -1.392 0.137 -2.301 0 0 0 70 33 Pot 0.217 1.115 -0.506 0 0 0 52 34 Spatula 0.453 0.925 -2.407 0 90 0 54 35 PaperTowelRoll -1.880 0.152 2.124 0 270 0 83 36 Cup -2.162 0.796 1.085 0 90 0 85 37 Vase -1.705 0.133 -1.856 0 90 0 53 38 Bowl 0.355 1.108 -0.001 0 0 0 52 39 SaltShaker -1.611 0.907 -2.256 0 0 0 77 40 PepperShaker -0.059 1.107 -0.759 0 0 0 52 41 Lettuce -1.438 0.991 -2.483 0 0 0 77 42 ButterKnife 0.079 1.111 -0.001 0 0 0 52 43 Apple -0.173 1.841 -2.610 0 0 0 78 44 DishSponge -1.962 0.047 2.029 0 270 0 83 45 Spoon -0.335 1.112 -0.253 0 0 0 52 46 Mug -0.173 1.785 -2.482 0 0 0 78 47 StoveBurner -0.036 0.915 -2.372 0 0 0 48 Drawer 0.949 0.832 -2.197 0 0 0 49 Drawer -1.560 0.839 0.204 0 90 0 50 StoveBurner -0.465 0.915 -2.371 0 180 0 51 Drawer -1.560 0.839 -0.197 0 90 0 52 CounterTop -0.079 1.147 -0.001 0 0 0 53 Cabinet -1.549 0.494 -1.964 0 90 0 54 CounterTop 0.693 0.946 -2.483 0 0 0 55 StoveBurner -0.036 0.915 -2.576 0 0 0 56 Drawer 0.949 0.393 -2.200 0 0 0 57 Drawer 0.949 0.708 -2.200 0 0 0 58 Cabinet -1.549 0.494 0.379 0 90 0 59 StoveKnob -0.022 0.881 -2.187 45 0 0 60 Drawer 0.949 0.560 -2.201 0 0 0 61 StoveBurner -0.465 0.915 -2.575 0 180 0 62 Window -2.230 1.429 -1.203 0 0 0 63 StoveKnob -0.483 0.881 -2.187 45 0 0 64 Sink -1.899 0.964 -1.5 0 90 0 65 StoveKnob -0.328 0.881 -2.187 45 0 0 66 Cabinet -0.727 2.015 -2.460 0 0 0 67 Drawer -1.560 0.655 -0.196 0 90 0 68 Cabinet -1.685 2.015 -2.461 0 0 0 69 Cabinet 0.680 0.494 -2.200 0 0 0 70 Cabinet -1.179 0.494 -2.200 0 0 0 71 Cabinet -1.849 2.015 0.379 0 90 0 72 Drawer 0.949 0.221 -2.200 0 0 0 73 StoveKnob -0.183 0.881 -2.187 45 0 0 74 Cabinet 0.719 2.015 -2.460 0 0 0 75 Drawer -1.560 0.331 -0.196 0 90 0 76 Cabinet 0.680 2.015 -2.460 0 0 0 77 CounterTop -1.868 0.946 -1.205 0 0 0 78 Microwave -0.236 1.689 -2.525 0 0 0 79 Shelf 1.751 0.880 -2.560 0 0 0 80 HousePlant -1.948 0.889 -2.520 0 5.334 0 81 Toaster -1.835 0.900 0.134 0 90 0 82 Shelf 1.750 0.552 -2.559 0 0 0 83 GarbageCan -1.935 -0.002 2.029 0 270 0 84 Shelf 1.750 0.172 -2.559 0 0 0 85 Fridge -2.096 0.0 1.088 0 0 0 86 CoffeeMachine -1.977 0.900 -0.188 0 90 0 87 SinkBasin -1.908 0.759 -1.488 0 90 0 88 LightSwitch 2.329 1.309 -0.159 0 270 0 89 ShelvingUnit 1.750 0.006 -2.559 0 0 0 90 Stool 0.702 0.000 -0.514 1.202 65.108 0 91 Stool 0.743 0.000 0.563 1.227 106.706 0 92 Faucet -2.070 1.132 -1.514 0 0 0 93 NorthWall 94 EastWall 95 SouthWall 96 WestWall
[ "STEP 1: Walk over to the oven. | STEP 2: Pick up the kettle off of the front right burner of the stove. | STEP 3: Walk over to the kitchen sink on your right. | STEP 4: Put the kettle into the sink basin and turn on the faucet, after a couple seconds turn the faucet off and remove the kettle from the sink. | STEP 5: Turn around and walk towards the wall, then hang a right and walk up to the stove. | STEP 6: Put the clean kettle on the back right burner of the stove. | END" ]
[ [ "STEP 1: Walk over to the oven. ", " STEP 2: Pick up the kettle off of the front right burner of the stove. ", " STEP 3: Walk over to the kitchen sink on your right. ", " STEP 4: Put the kettle into the sink basin and turn on the faucet, after a couple seconds turn the faucet off and remove the kettle from the sink. ", " STEP 5: Turn around and walk towards the wall, then hang a right and walk up to the stove. ", " STEP 6: Put the clean kettle on the back right burner of the stove. ", " END" ] ]
seen
trial_T20190908_172041_358328-2
Wash a pot and replace it.
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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 0.0 0 180 0 1 CreditCard 1.893 0.550 -2.562 0 180 0 82 2 Plate -2.114 1.306 0.925 0 90 0 85 3 Cup -1.997 0.538 1.168 0 90 0 85 4 Egg -2.163 1.538 0.925 0 90 0 85 5 Tomato -1.995 0.837 1.168 0 90 0 85 6 SoapBottle 1.686 0.881 -2.617 0 180 0 79 7 Knife -0.197 1.136 -0.506 0 0 0 52 8 Fork 0.217 1.112 0.251 0 0 0 52 9 Fork -1.693 0.911 -2.585 0 0 0 77 10 Spoon 1.098 0.911 -2.407 0 0 0 54 11 Spatula -1.290 0.926 -2.637 0 0 0 77 12 Spatula 0.840 0.925 -2.560 0 180 0 54 13 Kettle -0.465 0.950 -2.372 0 90 0 50 14 Glassbottle -0.335 1.112 -0.506 0 0 0 52 15 Glassbottle 1.996 0.553 -2.666 0 180 0 82 16 DishSponge 0.560 1.659 -2.560 0 0 0 76 17 Book 0.155 1.1 0.617 0 315 0 52 18 Glassbottle -1.962 0.048 1.933 0 270 0 83 19 Knife 1.098 0.936 -2.560 0 270 0 54 20 Bread -0.335 1.184 -0.759 0 0 0 52 21 Fork 0.969 0.911 -2.407 0 0 0 54 22 Potato 0.711 0.941 -2.330 0 0 0 54 23 SoapBottle -1.989 0.048 2.172 0 270 0 83 24 Kettle -0.059 1.112 -0.001 0 0 0 52 25 Pan -0.036 0.950 -2.372 0 270 0 47 26 Plate -0.059 1.108 -0.253 0 0 0 52 27 Tomato -0.473 1.150 0.757 0 0 0 52 28 Vase 1.478 0.555 -2.666 0 180 0 82 29 Egg -0.070 1.825 -2.449 0 0 0 78 30 CreditCard 1.008 0.478 -2.282 0 0 0 60 31 Statue -0.197 1.110 0.757 0 270 0 52 32 WineBottle -1.392 0.137 -2.301 0 0 0 70 33 Pot 0.217 1.115 -0.506 0 0 0 52 34 Spatula 0.453 0.925 -2.407 0 90 0 54 35 PaperTowelRoll -1.880 0.152 2.124 0 270 0 83 36 Cup -2.162 0.796 1.085 0 90 0 85 37 Vase -1.705 0.133 -1.856 0 90 0 53 38 Bowl 0.355 1.108 -0.001 0 0 0 52 39 SaltShaker -1.611 0.907 -2.256 0 0 0 77 40 PepperShaker -0.059 1.107 -0.759 0 0 0 52 41 Lettuce -1.438 0.991 -2.483 0 0 0 77 42 ButterKnife 0.079 1.111 -0.001 0 0 0 52 43 Apple -0.173 1.841 -2.610 0 0 0 78 44 DishSponge -1.962 0.047 2.029 0 270 0 83 45 Spoon -0.335 1.112 -0.253 0 0 0 52 46 Mug -0.173 1.785 -2.482 0 0 0 78 47 StoveBurner -0.036 0.915 -2.372 0 0 0 48 Drawer 0.949 0.832 -2.197 0 0 0 49 Drawer -1.560 0.839 0.204 0 90 0 50 StoveBurner -0.465 0.915 -2.371 0 180 0 51 Drawer -1.560 0.839 -0.197 0 90 0 52 CounterTop -0.079 1.147 -0.001 0 0 0 53 Cabinet -1.549 0.494 -1.964 0 90 0 54 CounterTop 0.693 0.946 -2.483 0 0 0 55 StoveBurner -0.036 0.915 -2.576 0 0 0 56 Drawer 0.949 0.393 -2.200 0 0 0 57 Drawer 0.949 0.708 -2.200 0 0 0 58 Cabinet -1.549 0.494 0.379 0 90 0 59 StoveKnob -0.022 0.881 -2.187 45 0 0 60 Drawer 0.949 0.560 -2.201 0 0 0 61 StoveBurner -0.465 0.915 -2.575 0 180 0 62 Window -2.230 1.429 -1.203 0 0 0 63 StoveKnob -0.483 0.881 -2.187 45 0 0 64 Sink -1.899 0.964 -1.5 0 90 0 65 StoveKnob -0.328 0.881 -2.187 45 0 0 66 Cabinet -0.727 2.015 -2.460 0 0 0 67 Drawer -1.560 0.655 -0.196 0 90 0 68 Cabinet -1.685 2.015 -2.461 0 0 0 69 Cabinet 0.680 0.494 -2.200 0 0 0 70 Cabinet -1.179 0.494 -2.200 0 0 0 71 Cabinet -1.849 2.015 0.379 0 90 0 72 Drawer 0.949 0.221 -2.200 0 0 0 73 StoveKnob -0.183 0.881 -2.187 45 0 0 74 Cabinet 0.719 2.015 -2.460 0 0 0 75 Drawer -1.560 0.331 -0.196 0 90 0 76 Cabinet 0.680 2.015 -2.460 0 0 0 77 CounterTop -1.868 0.946 -1.205 0 0 0 78 Microwave -0.236 1.689 -2.525 0 0 0 79 Shelf 1.751 0.880 -2.560 0 0 0 80 HousePlant -1.948 0.889 -2.520 0 5.334 0 81 Toaster -1.835 0.900 0.134 0 90 0 82 Shelf 1.750 0.552 -2.559 0 0 0 83 GarbageCan -1.935 -0.002 2.029 0 270 0 84 Shelf 1.750 0.172 -2.559 0 0 0 85 Fridge -2.096 0.0 1.088 0 0 0 86 CoffeeMachine -1.977 0.900 -0.188 0 90 0 87 SinkBasin -1.908 0.759 -1.488 0 90 0 88 LightSwitch 2.329 1.309 -0.159 0 270 0 89 ShelvingUnit 1.750 0.006 -2.559 0 0 0 90 Stool 0.702 0.000 -0.514 1.202 65.108 0 91 Stool 0.743 0.000 0.563 1.227 106.706 0 92 Faucet -2.070 1.132 -1.514 0 0 0 93 NorthWall 94 EastWall 95 SouthWall 96 WestWall
[ "STEP 1: Walk to the stove ahead of you. | STEP 2: Pick up a pot from the stove. | STEP 3: Walk to the kitchen sink on your right. | STEP 4: Place the pot in the sink, wash it, then grab it. | STEP 5: Walk back to the stove on your left. | STEP 6: Put the pot on the stove. | END" ]
[ [ "STEP 1: Walk to the stove ahead of you. ", " STEP 2: Pick up a pot from the stove. ", " STEP 3: Walk to the kitchen sink on your right. ", " STEP 4: Place the pot in the sink, wash it, then grab it. ", " STEP 5: Walk back to the stove on your left. ", " STEP 6: Put the pot on the stove. ", " END" ] ]
seen
trial_T20190907_160825_608912-0
Put the pan and spatula 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 -2.25 0.900 3.0 0 90 0 1 Ladle -1.483 0.088 0.551 0 90 0 59 2 ButterKnife -2.514 1.124 0.662 0 180 0 54 3 ButterKnife -0.715 1.124 0.387 0 0 0 56 4 Pot -3.000 1.133 0.480 0 270 0 49 5 Fork -0.538 1.048 1.920 0 0 0 44 6 Spoon -2.463 0.904 0.612 0 270 0 53 7 Spoon -0.908 1.048 1.920 0 0 0 44 8 Spatula -0.168 1.063 2.144 0 0 0 44 9 Egg -1.473 1.184 0.108 0 0 0 41 10 Egg -3.572 0.942 2.778 0 90 0 61 11 Cup -3.307 1.558 3.203 0 90 0 61 12 Knife -0.785 1.079 3.266 0 0 0 44 13 PepperShaker -2.137 0.092 0.545 0 0 0 46 14 Lettuce -0.785 1.124 2.144 0 0 0 44 15 Lettuce -0.662 1.124 3.266 0 0 0 44 16 Mug -1.601 0.044 0.551 0 0 0 59 17 Fork -2.262 1.125 0.473 0 0 0 54 18 SoapBottle -2.514 1.125 0.567 0 0 0 54 19 Pot -3.475 1.133 0.48 0 90 0 42 20 Ladle -0.538 1.086 2.817 0 0 0 44 21 Potato -0.771 1.155 0.569 0 0 0 56 22 Plate -3.506 1.558 2.849 0 90 0 61 23 Bread -0.785 1.133 2.593 0 0 0 44 24 Lettuce -0.908 1.124 3.042 0 0 0 44 25 Spatula -0.659 1.139 0.659 0 0 0 56 26 Pan -0.266 1.038 2.561 0 0 0 44 27 Egg -3.593 0.142 2.008 0 0 0 65 28 Cup -1.562 0.047 0.381 0 0 0 59 29 SaltShaker -1.680 0.045 0.665 0 0 0 59 30 Knife -2.011 1.157 0.190 0 0 0 54 31 Bowl -3.572 0.909 2.991 0 90 0 61 32 PepperShaker -1.156 0.045 0.437 0 0 0 48 33 ButterKnife -2.514 1.124 0.190 0 0 0 54 34 Apple -3.307 1.627 2.778 0 90 0 61 35 Tomato -0.908 1.087 2.817 0 0 0 44 36 DishSponge -2.135 0.903 0.544 0 0 0 52 37 Spoon -2.639 0.489 0.545 0 90 0 57 38 Mug -0.415 1.223 0.475 0 270 0 67 39 StoveKnob -3.322 1.053 0.709 45 0 0 40 StoveBurner -3.474 1.097 0.227 0 180 0 41 Sink -1.394 0.982 0.439 0 0 0 42 StoveBurner -3.474 1.097 0.479 0 180 0 43 StoveKnob -3.164 1.053 0.709 45 0 0 44 DiningTable -0.620 0.017 2.486 0 0 0 45 Drawer -2.043 0.608 0.594 0 0 0 46 Drawer -2.043 0.216 0.594 0 0 0 47 Drawer -2.498 0.216 0.594 0 0 0 48 Cabinet -1.001 0.393 0.734 0 0 0 49 StoveBurner -3.000 1.097 0.480 0 0 0 50 StoveKnob -3.492 1.053 0.709 45 0 0 51 CounterTop -3.856 1.160 0.379 0 0 0 52 Drawer -2.043 0.937 0.599 0 0 0 53 Drawer -2.509 0.937 0.599 0 0 0 54 CounterTop -2.280 1.160 0.379 0 0 0 55 StoveKnob -2.985 1.053 0.709 45 0 0 56 CounterTop -0.514 1.160 0.492 0 0 0 57 Drawer -2.498 0.608 0.594 0 0 0 58 StoveBurner -3.000 1.097 0.227 0 0 0 59 Cabinet -1.733 0.393 0.734 0 0 0 60 CoffeeMachine -0.153 1.038 3.193 0 270 0 61 Fridge -3.519 0.0 2.717 0 90 0 62 Window -1.394 1.924 0.014 90 0 0 63 Window -3.266 1.924 0.014 90 0 0 64 Toaster -0.225 1.038 2.865 0 270 0 65 GarbageCan -3.696 0.002 2.008 0 0 0 66 SinkBasin -1.389 0.921 0.428 0 0 0 67 Microwave -0.366 1.113 0.430 0 0 0 68 HousePlant -2.155 1.101 0.169 0 332.897 0 69 LightSwitch -2.584 1.299 3.5 0 180 0 70 Faucet -1.393 1.373 0.168 0 270 0 71 NorthWall 72 SouthWall 73 SouthWall
[ "STEP 1: Turn right, walk to counter, turn left toward wall, turn left to face table. | STEP 2: Pick up spatula in front of pan. | STEP 3: Turn left and walk to end of table, turn right and walk until bread on table is to your right and turn to face the bread. | STEP 4: Stand spatula in pan behind the bread. | STEP 5: Pick up pan with spatula in it. | STEP 6: Turn right and walk to sink. | STEP 7: Put pan with spatula in it in the sink. | END" ]
[ [ "STEP 1: Turn right, walk to counter, turn left toward wall, turn left to face table. ", " STEP 2: Pick up spatula in front of pan. ", " STEP 3: Turn left and walk to end of table, turn right and walk until bread on table is to your right and turn to face the bread. ", " STEP 4: Stand spatula in pan behind the bread. ", " STEP 5: Pick up pan with spatula in it. ", " STEP 6: Turn right and walk to sink. ", " STEP 7: Put pan with spatula in it in the sink. ", " END" ] ]
seen
trial_T20190907_160825_608912-1
grab the pan and spatula from the table, put them in the sink
[ [ "id", " object_type", " position_x", " position_y", " position_z", " rotation_x", " rotation_y", " rotation_z", " parent_receptacle" ], [ "0", " Agent", " -2.25", " 0.900", " 3.0", " 0", " 90", " 0", "" ], [ "1", " Ladle", " -1.483", " 0.088", " 0.551", " 0", " 90", " 0", " 59" ], [ "2", " ButterKnife", " -2.514", " 1.124", " 0.662", " 0", " 180", " 0", " 54" ], [ "3", " ButterKnife", " -0.715", " 1.124", " 0.387", " 0", " 0", " 0", " 56" ], [ "4", " Pot", " -3.000", " 1.133", " 0.480", " 0", " 270", " 0", " 49" ], [ "5", " Fork", " -0.538", " 1.048", " 1.920", " 0", " 0", " 0", " 44" ], [ "6", " Spoon", " -2.463", " 0.904", " 0.612", " 0", " 270", " 0", " 53" ], [ "7", " Spoon", " -0.908", " 1.048", " 1.920", " 0", " 0", " 0", " 44" ], [ "8", " Spatula", " -0.168", " 1.063", " 2.144", " 0", " 0", " 0", " 44" ], [ "9", " Egg", " -1.473", " 1.184", " 0.108", " 0", " 0", " 0", " 41" ], [ "10", " Egg", " -3.572", " 0.942", " 2.778", " 0", " 90", " 0", " 61" ], [ "11", " Cup", " -3.307", " 1.558", " 3.203", " 0", " 90", " 0", " 61" ], [ "12", " Knife", " -0.785", " 1.079", " 3.266", " 0", " 0", " 0", " 44" ], [ "13", " PepperShaker", " -2.137", " 0.092", " 0.545", " 0", " 0", " 0", " 46" ], [ "14", " Lettuce", " -0.785", " 1.124", " 2.144", " 0", " 0", " 0", " 44" ], [ "15", " Lettuce", " -0.662", " 1.124", " 3.266", " 0", " 0", " 0", " 44" ], [ "16", " Mug", " -1.601", " 0.044", " 0.551", " 0", " 0", " 0", " 59" ], [ "17", " Fork", " -2.262", " 1.125", " 0.473", " 0", " 0", " 0", " 54" ], [ "18", " SoapBottle", " -2.514", " 1.125", " 0.567", " 0", " 0", " 0", " 54" ], [ "19", " Pot", " -3.475", " 1.133", " 0.48", " 0", " 90", " 0", " 42" ], [ "20", " Ladle", " -0.538", " 1.086", " 2.817", " 0", " 0", " 0", " 44" ], [ "21", " Potato", " -0.771", " 1.155", " 0.569", " 0", " 0", " 0", " 56" ], [ "22", " Plate", " -3.506", " 1.558", " 2.849", " 0", " 90", " 0", " 61" ], [ "23", " Bread", " -0.785", " 1.133", " 2.593", " 0", " 0", " 0", " 44" ], [ "24", " Lettuce", " -0.908", " 1.124", " 3.042", " 0", " 0", " 0", " 44" ], [ "25", " Spatula", " -0.659", " 1.139", " 0.659", " 0", " 0", " 0", " 56" ], [ "26", " Pan", " -0.266", " 1.038", " 2.561", " 0", " 0", " 0", " 44" ], [ "27", " Egg", " -3.593", " 0.142", " 2.008", " 0", " 0", " 0", " 65" ], [ "28", " Cup", " -1.562", " 0.047", " 0.381", " 0", " 0", " 0", " 59" ], [ "29", " SaltShaker", " -1.680", " 0.045", " 0.665", " 0", " 0", " 0", " 59" ], [ "30", " Knife", " -2.011", " 1.157", " 0.190", " 0", " 0", " 0", " 54" ], [ "31", " Bowl", " -3.572", " 0.909", " 2.991", " 0", " 90", " 0", " 61" ], [ "32", " PepperShaker", " -1.156", " 0.045", " 0.437", " 0", " 0", " 0", " 48" ], [ "33", " ButterKnife", " -2.514", " 1.124", " 0.190", " 0", " 0", " 0", " 54" ], [ "34", " Apple", " -3.307", " 1.627", " 2.778", " 0", " 90", " 0", " 61" ], [ "35", " Tomato", " -0.908", " 1.087", " 2.817", " 0", " 0", " 0", " 44" ], [ "36", " DishSponge", " -2.135", " 0.903", " 0.544", " 0", " 0", " 0", " 52" ], [ "37", " Spoon", " -2.639", " 0.489", " 0.545", " 0", " 90", " 0", " 57" ], [ "38", " Mug", " -0.415", " 1.223", " 0.475", " 0", " 270", " 0", " 67" ], [ "39", " StoveKnob", " -3.322", " 1.053", " 0.709", " 45", " 0", " 0", "" ], [ "40", " StoveBurner", " -3.474", " 1.097", " 0.227", " 0", " 180", " 0", "" ], [ "41", " Sink", " -1.394", " 0.982", " 0.439", " 0", " 0", " 0", "" ], [ "42", " StoveBurner", " -3.474", " 1.097", " 0.479", " 0", " 180", " 0", "" ], [ "43", " StoveKnob", " -3.164", " 1.053", " 0.709", " 45", " 0", " 0", "" ], [ "44", " DiningTable", " -0.620", " 0.017", " 2.486", " 0", " 0", " 0", "" ], [ "45", " Drawer", " -2.043", " 0.608", " 0.594", " 0", " 0", " 0", "" ], [ "46", " Drawer", " -2.043", " 0.216", " 0.594", " 0", " 0", " 0", "" ], [ "47", " Drawer", " -2.498", " 0.216", " 0.594", " 0", " 0", " 0", "" ], [ "48", " Cabinet", " -1.001", " 0.393", " 0.734", " 0", " 0", " 0", "" ], [ "49", " StoveBurner", " -3.000", " 1.097", " 0.480", " 0", " 0", " 0", "" ], [ "50", " StoveKnob", " -3.492", " 1.053", " 0.709", " 45", " 0", " 0", "" ], [ "51", " CounterTop", " -3.856", " 1.160", " 0.379", " 0", " 0", " 0", "" ], [ "52", " Drawer", " -2.043", " 0.937", " 0.599", " 0", " 0", " 0", "" ], [ "53", " Drawer", " -2.509", " 0.937", " 0.599", " 0", " 0", " 0", "" ], [ "54", " CounterTop", " -2.280", " 1.160", " 0.379", " 0", " 0", " 0", "" ], [ "55", " StoveKnob", " -2.985", " 1.053", " 0.709", " 45", " 0", " 0", "" ], [ "56", " CounterTop", " -0.514", " 1.160", " 0.492", " 0", " 0", " 0", "" ], [ "57", " Drawer", " -2.498", " 0.608", " 0.594", " 0", " 0", " 0", "" ], [ "58", " StoveBurner", " -3.000", " 1.097", " 0.227", " 0", " 0", " 0", "" ], [ "59", " Cabinet", " -1.733", " 0.393", " 0.734", " 0", " 0", " 0", "" ], [ "60", " CoffeeMachine", " -0.153", " 1.038", " 3.193", " 0", " 270", " 0", "" ], [ "61", " Fridge", " -3.519", " 0.0", " 2.717", " 0", " 90", " 0", "" ], [ "62", " Window", " -1.394", " 1.924", " 0.014", " 90", " 0", " 0", "" ], [ "63", " Window", " -3.266", " 1.924", " 0.014", " 90", " 0", " 0", "" ], [ "64", " Toaster", " -0.225", " 1.038", " 2.865", " 0", " 270", " 0", "" ], [ "65", " GarbageCan", " -3.696", " 0.002", " 2.008", " 0", " 0", " 0", "" ], [ "66", " SinkBasin", " -1.389", " 0.921", " 0.428", " 0", " 0", " 0", "" ], [ "67", " Microwave", " -0.366", " 1.113", " 0.430", " 0", " 0", " 0", "" ], [ "68", " HousePlant", " -2.155", " 1.101", " 0.169", " 0", " 332.897", " 0", "" ], [ "69", " LightSwitch", " -2.584", " 1.299", " 3.5", " 0", " 180", " 0", "" ], [ "70", " Faucet", " -1.393", " 1.373", " 0.168", " 0", " 270", " 0", "" ], [ "71", " NorthWall", " ", " ", " ", " ", " ", " ", "" ], [ "72", " SouthWall", " ", " ", " ", " ", " ", " ", "" ], [ "73", " SouthWall", " ", " ", " ", " ", " ", " ", "" ] ]
id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle ---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- -------------------- 0 Agent -2.25 0.900 3.0 0 90 0 1 Ladle -1.483 0.088 0.551 0 90 0 59 2 ButterKnife -2.514 1.124 0.662 0 180 0 54 3 ButterKnife -0.715 1.124 0.387 0 0 0 56 4 Pot -3.000 1.133 0.480 0 270 0 49 5 Fork -0.538 1.048 1.920 0 0 0 44 6 Spoon -2.463 0.904 0.612 0 270 0 53 7 Spoon -0.908 1.048 1.920 0 0 0 44 8 Spatula -0.168 1.063 2.144 0 0 0 44 9 Egg -1.473 1.184 0.108 0 0 0 41 10 Egg -3.572 0.942 2.778 0 90 0 61 11 Cup -3.307 1.558 3.203 0 90 0 61 12 Knife -0.785 1.079 3.266 0 0 0 44 13 PepperShaker -2.137 0.092 0.545 0 0 0 46 14 Lettuce -0.785 1.124 2.144 0 0 0 44 15 Lettuce -0.662 1.124 3.266 0 0 0 44 16 Mug -1.601 0.044 0.551 0 0 0 59 17 Fork -2.262 1.125 0.473 0 0 0 54 18 SoapBottle -2.514 1.125 0.567 0 0 0 54 19 Pot -3.475 1.133 0.48 0 90 0 42 20 Ladle -0.538 1.086 2.817 0 0 0 44 21 Potato -0.771 1.155 0.569 0 0 0 56 22 Plate -3.506 1.558 2.849 0 90 0 61 23 Bread -0.785 1.133 2.593 0 0 0 44 24 Lettuce -0.908 1.124 3.042 0 0 0 44 25 Spatula -0.659 1.139 0.659 0 0 0 56 26 Pan -0.266 1.038 2.561 0 0 0 44 27 Egg -3.593 0.142 2.008 0 0 0 65 28 Cup -1.562 0.047 0.381 0 0 0 59 29 SaltShaker -1.680 0.045 0.665 0 0 0 59 30 Knife -2.011 1.157 0.190 0 0 0 54 31 Bowl -3.572 0.909 2.991 0 90 0 61 32 PepperShaker -1.156 0.045 0.437 0 0 0 48 33 ButterKnife -2.514 1.124 0.190 0 0 0 54 34 Apple -3.307 1.627 2.778 0 90 0 61 35 Tomato -0.908 1.087 2.817 0 0 0 44 36 DishSponge -2.135 0.903 0.544 0 0 0 52 37 Spoon -2.639 0.489 0.545 0 90 0 57 38 Mug -0.415 1.223 0.475 0 270 0 67 39 StoveKnob -3.322 1.053 0.709 45 0 0 40 StoveBurner -3.474 1.097 0.227 0 180 0 41 Sink -1.394 0.982 0.439 0 0 0 42 StoveBurner -3.474 1.097 0.479 0 180 0 43 StoveKnob -3.164 1.053 0.709 45 0 0 44 DiningTable -0.620 0.017 2.486 0 0 0 45 Drawer -2.043 0.608 0.594 0 0 0 46 Drawer -2.043 0.216 0.594 0 0 0 47 Drawer -2.498 0.216 0.594 0 0 0 48 Cabinet -1.001 0.393 0.734 0 0 0 49 StoveBurner -3.000 1.097 0.480 0 0 0 50 StoveKnob -3.492 1.053 0.709 45 0 0 51 CounterTop -3.856 1.160 0.379 0 0 0 52 Drawer -2.043 0.937 0.599 0 0 0 53 Drawer -2.509 0.937 0.599 0 0 0 54 CounterTop -2.280 1.160 0.379 0 0 0 55 StoveKnob -2.985 1.053 0.709 45 0 0 56 CounterTop -0.514 1.160 0.492 0 0 0 57 Drawer -2.498 0.608 0.594 0 0 0 58 StoveBurner -3.000 1.097 0.227 0 0 0 59 Cabinet -1.733 0.393 0.734 0 0 0 60 CoffeeMachine -0.153 1.038 3.193 0 270 0 61 Fridge -3.519 0.0 2.717 0 90 0 62 Window -1.394 1.924 0.014 90 0 0 63 Window -3.266 1.924 0.014 90 0 0 64 Toaster -0.225 1.038 2.865 0 270 0 65 GarbageCan -3.696 0.002 2.008 0 0 0 66 SinkBasin -1.389 0.921 0.428 0 0 0 67 Microwave -0.366 1.113 0.430 0 0 0 68 HousePlant -2.155 1.101 0.169 0 332.897 0 69 LightSwitch -2.584 1.299 3.5 0 180 0 70 Faucet -1.393 1.373 0.168 0 270 0 71 NorthWall 72 SouthWall 73 SouthWall
[ "STEP 1: turn right, walk to the counter, turn left, walk to the table | STEP 2: grab the spatula on the table, | STEP 3: turn left, walk around the table to the other side of the table | STEP 4: put the spatula in the pan on the table | STEP 5: grab the pan on the table | STEP 6: turn left, walk to the sink | STEP 7: put the pan in the sink | END" ]
[ [ "STEP 1: turn right, walk to the counter, turn left, walk to the table ", " STEP 2: grab the spatula on the table, ", " STEP 3: turn left, walk around the table to the other side of the table ", " STEP 4: put the spatula in the pan on the table ", " STEP 5: grab the pan on the table ", " STEP 6: turn left, walk to the sink ", " STEP 7: put the pan in the sink ", " END" ] ]
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