Datasets:
id
string
| input_task
string
| input_table
sequence
| input_table_md
string
| output_text
sequence
| output_list
sequence
| label
string
|
---|---|---|---|---|---|---|
"trial_T20190909_094258_737509-0" | "examine keys with the lamp" | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -0.25",
" 0.937",
" -0.75",
" 0",
" 0",
" 0",
""
],
[
"1",
" Mug",
" 0.573",
" 0.075",
" -2.825",
" 0",
" 0",
" 0",
" 33"
],
[
"2",
" CD",
" -2.745",
" 0.082",
" -3.055",
" 0",
" 0",
" 0",
" 30"
],
[
"3",
" CD",
" 1.828",
" 0.093",
" -3.049",
" 0",
" 90",
" 0",
" 54"
],
[
"4",
" CellPhone",
" 1.828",
" 0.097",
" -3.049",
" 0",
" 90",
" 0",
" 54"
],
[
"5",
" CellPhone",
" -3.265",
" 0.194",
" 3.195",
" 0",
" 149.999",
" 0",
" 55"
],
[
"6",
" Pen",
" 1.537",
" 0.552",
" 2.440",
" 0",
" 270",
" 0",
" 56"
],
[
"7",
" Pencil",
" -1.227",
" 1.119",
" -3.073",
" 0",
" 0",
" 0",
" 36"
],
[
"8",
" Pencil",
" -1.337",
" 0.587",
" -2.830",
" 0",
" 0",
" 0",
" 32"
],
[
"9",
" Book",
" 0.104",
" 0.832",
" 1.456",
" 0",
" 0",
" 0",
" 29"
],
[
"10",
" KeyChain",
" -1.227",
" 1.117",
" -2.902",
" 0",
" 0",
" 0",
" 36"
],
[
"11",
" KeyChain",
" 1.681",
" 0.554",
" 2.342",
" 0",
" 90",
" 0",
" 56"
],
[
"12",
" KeyChain",
" 1.657",
" 0.553",
" 2.181",
" 0",
" 180",
" 0",
" 56"
],
[
"13",
" RemoteControl",
" -0.602",
" 1.118",
" -3.158",
" 0",
" 0",
" 0",
" 36"
],
[
"14",
" AlarmClock",
" -2.164",
" 1.118",
" -3.158",
" 0",
" 0",
" 0",
" 36"
],
[
"15",
" Book",
" -1.337",
" 0.082",
" -2.882",
" 0",
" 0",
" 0",
" 34"
],
[
"16",
" AlarmClock",
" 1.536",
" 0.547",
" 2.299",
" 0",
" 238.148",
" 0",
" 56"
],
[
"17",
" CellPhone",
" -0.098",
" 0.587",
" -2.830",
" 0",
" 0",
" 0",
" 31"
],
[
"18",
" Pillow",
" 1.243",
" 0.940",
" 1.215",
" 0",
" 0",
" 0",
" 29"
],
[
"19",
" Pillow",
" 1.243",
" 0.940",
" 0.255",
" 0",
" 0",
" 0",
" 29"
],
[
"20",
" TeddyBear",
" 1.868",
" 0.036",
" -0.561",
" 0",
" 59.999",
" 0",
" Floor|-00.06|"
],
[
"21",
" CreditCard",
" -0.893",
" 0.084",
" -2.726",
" 0",
" 0",
" 0",
" 34"
],
[
"22",
" KeyChain",
" -1.851",
" 1.117",
" -2.732",
" 0",
" 0",
" 0",
" 36"
],
[
"23",
" Pencil",
" -3.292",
" 0.377",
" -2.777",
" 0",
" 4.809",
" 0",
" 38"
],
[
"24",
" Laptop",
" 0.104",
" 0.830",
" 0.015",
" 0",
" 0",
" 0",
" 29"
],
[
"25",
" RemoteControl",
" -1.539",
" 1.118",
" -2.902",
" 0",
" 0",
" 0",
" 36"
],
[
"26",
" CD",
" -0.543",
" 0.082",
" -2.934",
" 0",
" 0",
" 0",
" 35"
],
[
"27",
" Pen",
" -1.16",
" 0.590",
" -2.882",
" 0",
" 0",
" 0",
" 32"
],
[
"28",
" Mug",
" 0.573",
" 0.075",
" -3.077",
" 0",
" 0",
" 0",
" 33"
],
[
"29",
" Bed",
" 0.967",
" 0.049",
" 0.667",
" 0",
" 90",
" 0",
""
],
[
"30",
" Cabinet",
" -3.0",
" 1.497",
" -2.643",
" 0",
" 0",
" 0",
""
],
[
"31",
" Drawer",
" -0.365",
" 0.785",
" -2.848",
" 0",
" 0",
" 0",
""
],
[
"32",
" Drawer",
" -1.159",
" 0.785",
" -2.848",
" 0",
" 0",
" 0",
""
],
[
"33",
" Cabinet",
" 2.064",
" 1.497",
" -2.643",
" 0",
" 0",
" 0",
""
],
[
"34",
" Drawer",
" -1.159",
" 0.285",
" -2.848",
" 0",
" 0",
" 0",
""
],
[
"35",
" Drawer",
" -0.365",
" 0.285",
" -2.848",
" 0",
" 0",
" 0",
""
],
[
"36",
" Desk",
" -1.271",
" 1.169",
" -2.987",
" 0",
" 0",
" 0",
""
],
[
"37",
" LightSwitch",
" -0.159",
" 1.281",
" 3.999",
" 0",
" 180",
" 0",
""
],
[
"38",
" GarbageCan",
" -3.338",
" 0.022",
" -2.797",
" 0",
" 4.809",
" 0",
""
],
[
"39",
" HousePlant",
" -0.195",
" 1.105",
" -3.084",
" 0",
" 0",
" 0",
""
],
[
"40",
" DeskLamp",
" 1.863",
" 0.581",
" 2.431",
" 0",
" 0",
" 0",
""
],
[
"41",
" Mirror",
" -1.603",
" 1.447",
" 3.999",
" 0",
" 0",
" 0",
""
],
[
"42",
" Television",
" -3.883",
" 1.771",
" 2.122",
" 0",
" 90",
" 0",
""
],
[
"43",
" Window",
" -1.952",
" 2.148",
" -3.302",
" 90",
" 180",
" 0",
""
],
[
"44",
" Window",
" -0.467",
" 2.148",
" -3.302",
" 90",
" 180",
" 0",
""
],
[
"45",
" Window",
" -3.894",
" 1.751",
" 0.582",
" 90",
" 270",
" 0",
""
],
[
"46",
" Window",
" -3.894",
" 1.751",
" -0.675",
" 90",
" 270",
" 0",
""
],
[
"47",
" LaundryHamper",
" 1.831",
" 0.058",
" 3.689",
" 0",
" 354.434",
" 1.354",
""
],
[
"48",
" ArmChair",
" -0.948",
" 0.051",
" 3.583",
" 0",
" 175.988",
" 0",
""
],
[
"49",
" ArmChair",
" -2.172",
" 0.051",
" 3.598",
" 0",
" 180",
" 0",
""
],
[
"50",
" Blinds",
" -0.477",
" 2.785",
" -3.253",
" 0",
" 0",
" 0",
""
],
[
"51",
" Blinds",
" -1.957",
" 2.785",
" -3.253",
" 0",
" 0",
" 0",
""
],
[
"52",
" Blinds",
" -3.799",
" 2.506",
" 0.602",
" 0",
" 90",
" 0",
""
],
[
"53",
" Blinds",
" -3.799",
" 2.506",
" -0.647",
" 0",
" 90",
" 0",
""
],
[
"54",
" Safe",
" 1.673",
" 0.054",
" -3.004",
" 0",
" 0",
" 0",
""
],
[
"55",
" ArmChair",
" -3.349",
" 0.051",
" 3.375",
" 0",
" 150.096",
" 0",
""
],
[
"56",
" SideTable",
" 1.775",
" 0.048",
" 2.377",
" 0",
" 0",
" 0",
""
],
[
"57",
" Chair",
" -2.002",
" 0.050",
" -2.532",
" 0",
" 165.000",
" 0",
""
],
[
"58",
" NorthWall",
" ",
" ",
" ",
" ",
" ",
" ",
""
],
[
"59",
" EastWall",
" ",
" ",
" ",
" ",
" ",
" ",
""
],
[
"60",
" SouthWall",
" ",
" ",
" ",
" ",
" ",
" ",
""
],
[
"61",
" WestWall",
" ",
" ",
" ",
" ",
" ",
" ",
""
]
] | " id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -0.25 0.937 -0.75 0 0 0
1 Mug 0.573 0.075 -2.825 0 0 0 33
2 CD -2.745 0.082 -3.055 0 0 0 30
3 CD 1.828 0.093 -3.049 0 90 0 54
4 CellPhone 1.828 0.097 -3.049 0 90 0 54
5 CellPhone -3.265 0.194 3.195 0 149.999 0 55
6 Pen 1.537 0.552 2.440 0 270 0 56
7 Pencil -1.227 1.119 -3.073 0 0 0 36
8 Pencil -1.337 0.587 -2.830 0 0 0 32
9 Book 0.104 0.832 1.456 0 0 0 29
10 KeyChain -1.227 1.117 -2.902 0 0 0 36
11 KeyChain 1.681 0.554 2.342 0 90 0 56
12 KeyChain 1.657 0.553 2.181 0 180 0 56
13 RemoteControl -0.602 1.118 -3.158 0 0 0 36
14 AlarmClock -2.164 1.118 -3.158 0 0 0 36
15 Book -1.337 0.082 -2.882 0 0 0 34
16 AlarmClock 1.536 0.547 2.299 0 238.148 0 56
17 CellPhone -0.098 0.587 -2.830 0 0 0 31
18 Pillow 1.243 0.940 1.215 0 0 0 29
19 Pillow 1.243 0.940 0.255 0 0 0 29
20 TeddyBear 1.868 0.036 -0.561 0 59.999 0 Floor|-00.06|
21 CreditCard -0.893 0.084 -2.726 0 0 0 34
22 KeyChain -1.851 1.117 -2.732 0 0 0 36
23 Pencil -3.292 0.377 -2.777 0 4.809 0 38
24 Laptop 0.104 0.830 0.015 0 0 0 29
25 RemoteControl -1.539 1.118 -2.902 0 0 0 36
26 CD -0.543 0.082 -2.934 0 0 0 35
27 Pen -1.16 0.590 -2.882 0 0 0 32
28 Mug 0.573 0.075 -3.077 0 0 0 33
29 Bed 0.967 0.049 0.667 0 90 0
30 Cabinet -3.0 1.497 -2.643 0 0 0
31 Drawer -0.365 0.785 -2.848 0 0 0
32 Drawer -1.159 0.785 -2.848 0 0 0
33 Cabinet 2.064 1.497 -2.643 0 0 0
34 Drawer -1.159 0.285 -2.848 0 0 0
35 Drawer -0.365 0.285 -2.848 0 0 0
36 Desk -1.271 1.169 -2.987 0 0 0
37 LightSwitch -0.159 1.281 3.999 0 180 0
38 GarbageCan -3.338 0.022 -2.797 0 4.809 0
39 HousePlant -0.195 1.105 -3.084 0 0 0
40 DeskLamp 1.863 0.581 2.431 0 0 0
41 Mirror -1.603 1.447 3.999 0 0 0
42 Television -3.883 1.771 2.122 0 90 0
43 Window -1.952 2.148 -3.302 90 180 0
44 Window -0.467 2.148 -3.302 90 180 0
45 Window -3.894 1.751 0.582 90 270 0
46 Window -3.894 1.751 -0.675 90 270 0
47 LaundryHamper 1.831 0.058 3.689 0 354.434 1.354
48 ArmChair -0.948 0.051 3.583 0 175.988 0
49 ArmChair -2.172 0.051 3.598 0 180 0
50 Blinds -0.477 2.785 -3.253 0 0 0
51 Blinds -1.957 2.785 -3.253 0 0 0
52 Blinds -3.799 2.506 0.602 0 90 0
53 Blinds -3.799 2.506 -0.647 0 90 0
54 Safe 1.673 0.054 -3.004 0 0 0
55 ArmChair -3.349 0.051 3.375 0 150.096 0
56 SideTable 1.775 0.048 2.377 0 0 0
57 Chair -2.002 0.050 -2.532 0 165.000 0
58 NorthWall
59 EastWall
60 SouthWall
61 WestWall" | [
"STEP 1: walk across the room to the chair, turn right, walk to wall, turn right to face lamp | STEP 2: turn the lamp on | STEP 3: pick up the keys that are on the table | END"
] | [
[
"STEP 1: walk across the room to the chair, turn right, walk to wall, turn right to face lamp ",
" STEP 2: turn the lamp on ",
" STEP 3: pick up the keys that are on the table ",
" END"
]
] | "seen" |
"trial_T20190909_094258_737509-1" | "turn a lamp on and pick up the keys on the table" | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -0.25",
" 0.937",
" -0.75",
" 0",
" 0",
" 0",
""
],
[
"1",
" Mug",
" 0.573",
" 0.075",
" -2.825",
" 0",
" 0",
" 0",
" 33"
],
[
"2",
" CD",
" -2.745",
" 0.082",
" -3.055",
" 0",
" 0",
" 0",
" 30"
],
[
"3",
" CD",
" 1.828",
" 0.093",
" -3.049",
" 0",
" 90",
" 0",
" 54"
],
[
"4",
" CellPhone",
" 1.828",
" 0.097",
" -3.049",
" 0",
" 90",
" 0",
" 54"
],
[
"5",
" CellPhone",
" -3.265",
" 0.194",
" 3.195",
" 0",
" 149.999",
" 0",
" 55"
],
[
"6",
" Pen",
" 1.537",
" 0.552",
" 2.440",
" 0",
" 270",
" 0",
" 56"
],
[
"7",
" Pencil",
" -1.227",
" 1.119",
" -3.073",
" 0",
" 0",
" 0",
" 36"
],
[
"8",
" Pencil",
" -1.337",
" 0.587",
" -2.830",
" 0",
" 0",
" 0",
" 32"
],
[
"9",
" Book",
" 0.104",
" 0.832",
" 1.456",
" 0",
" 0",
" 0",
" 29"
],
[
"10",
" KeyChain",
" -1.227",
" 1.117",
" -2.902",
" 0",
" 0",
" 0",
" 36"
],
[
"11",
" KeyChain",
" 1.681",
" 0.554",
" 2.342",
" 0",
" 90",
" 0",
" 56"
],
[
"12",
" KeyChain",
" 1.657",
" 0.553",
" 2.181",
" 0",
" 180",
" 0",
" 56"
],
[
"13",
" RemoteControl",
" -0.602",
" 1.118",
" -3.158",
" 0",
" 0",
" 0",
" 36"
],
[
"14",
" AlarmClock",
" -2.164",
" 1.118",
" -3.158",
" 0",
" 0",
" 0",
" 36"
],
[
"15",
" Book",
" -1.337",
" 0.082",
" -2.882",
" 0",
" 0",
" 0",
" 34"
],
[
"16",
" AlarmClock",
" 1.536",
" 0.547",
" 2.299",
" 0",
" 238.148",
" 0",
" 56"
],
[
"17",
" CellPhone",
" -0.098",
" 0.587",
" -2.830",
" 0",
" 0",
" 0",
" 31"
],
[
"18",
" Pillow",
" 1.243",
" 0.940",
" 1.215",
" 0",
" 0",
" 0",
" 29"
],
[
"19",
" Pillow",
" 1.243",
" 0.940",
" 0.255",
" 0",
" 0",
" 0",
" 29"
],
[
"20",
" TeddyBear",
" 1.868",
" 0.036",
" -0.561",
" 0",
" 59.999",
" 0",
" Floor|-00.06|"
],
[
"21",
" CreditCard",
" -0.893",
" 0.084",
" -2.726",
" 0",
" 0",
" 0",
" 34"
],
[
"22",
" KeyChain",
" -1.851",
" 1.117",
" -2.732",
" 0",
" 0",
" 0",
" 36"
],
[
"23",
" Pencil",
" -3.292",
" 0.377",
" -2.777",
" 0",
" 4.809",
" 0",
" 38"
],
[
"24",
" Laptop",
" 0.104",
" 0.830",
" 0.015",
" 0",
" 0",
" 0",
" 29"
],
[
"25",
" RemoteControl",
" -1.539",
" 1.118",
" -2.902",
" 0",
" 0",
" 0",
" 36"
],
[
"26",
" CD",
" -0.543",
" 0.082",
" -2.934",
" 0",
" 0",
" 0",
" 35"
],
[
"27",
" Pen",
" -1.16",
" 0.590",
" -2.882",
" 0",
" 0",
" 0",
" 32"
],
[
"28",
" Mug",
" 0.573",
" 0.075",
" -3.077",
" 0",
" 0",
" 0",
" 33"
],
[
"29",
" Bed",
" 0.967",
" 0.049",
" 0.667",
" 0",
" 90",
" 0",
""
],
[
"30",
" Cabinet",
" -3.0",
" 1.497",
" -2.643",
" 0",
" 0",
" 0",
""
],
[
"31",
" Drawer",
" -0.365",
" 0.785",
" -2.848",
" 0",
" 0",
" 0",
""
],
[
"32",
" Drawer",
" -1.159",
" 0.785",
" -2.848",
" 0",
" 0",
" 0",
""
],
[
"33",
" Cabinet",
" 2.064",
" 1.497",
" -2.643",
" 0",
" 0",
" 0",
""
],
[
"34",
" Drawer",
" -1.159",
" 0.285",
" -2.848",
" 0",
" 0",
" 0",
""
],
[
"35",
" Drawer",
" -0.365",
" 0.285",
" -2.848",
" 0",
" 0",
" 0",
""
],
[
"36",
" Desk",
" -1.271",
" 1.169",
" -2.987",
" 0",
" 0",
" 0",
""
],
[
"37",
" LightSwitch",
" -0.159",
" 1.281",
" 3.999",
" 0",
" 180",
" 0",
""
],
[
"38",
" GarbageCan",
" -3.338",
" 0.022",
" -2.797",
" 0",
" 4.809",
" 0",
""
],
[
"39",
" HousePlant",
" -0.195",
" 1.105",
" -3.084",
" 0",
" 0",
" 0",
""
],
[
"40",
" DeskLamp",
" 1.863",
" 0.581",
" 2.431",
" 0",
" 0",
" 0",
""
],
[
"41",
" Mirror",
" -1.603",
" 1.447",
" 3.999",
" 0",
" 0",
" 0",
""
],
[
"42",
" Television",
" -3.883",
" 1.771",
" 2.122",
" 0",
" 90",
" 0",
""
],
[
"43",
" Window",
" -1.952",
" 2.148",
" -3.302",
" 90",
" 180",
" 0",
""
],
[
"44",
" Window",
" -0.467",
" 2.148",
" -3.302",
" 90",
" 180",
" 0",
""
],
[
"45",
" Window",
" -3.894",
" 1.751",
" 0.582",
" 90",
" 270",
" 0",
""
],
[
"46",
" Window",
" -3.894",
" 1.751",
" -0.675",
" 90",
" 270",
" 0",
""
],
[
"47",
" LaundryHamper",
" 1.831",
" 0.058",
" 3.689",
" 0",
" 354.434",
" 1.354",
""
],
[
"48",
" ArmChair",
" -0.948",
" 0.051",
" 3.583",
" 0",
" 175.988",
" 0",
""
],
[
"49",
" ArmChair",
" -2.172",
" 0.051",
" 3.598",
" 0",
" 180",
" 0",
""
],
[
"50",
" Blinds",
" -0.477",
" 2.785",
" -3.253",
" 0",
" 0",
" 0",
""
],
[
"51",
" Blinds",
" -1.957",
" 2.785",
" -3.253",
" 0",
" 0",
" 0",
""
],
[
"52",
" Blinds",
" -3.799",
" 2.506",
" 0.602",
" 0",
" 90",
" 0",
""
],
[
"53",
" Blinds",
" -3.799",
" 2.506",
" -0.647",
" 0",
" 90",
" 0",
""
],
[
"54",
" Safe",
" 1.673",
" 0.054",
" -3.004",
" 0",
" 0",
" 0",
""
],
[
"55",
" ArmChair",
" -3.349",
" 0.051",
" 3.375",
" 0",
" 150.096",
" 0",
""
],
[
"56",
" SideTable",
" 1.775",
" 0.048",
" 2.377",
" 0",
" 0",
" 0",
""
],
[
"57",
" Chair",
" -2.002",
" 0.050",
" -2.532",
" 0",
" 165.000",
" 0",
""
],
[
"58",
" NorthWall",
" ",
" ",
" ",
" ",
" ",
" ",
""
],
[
"59",
" EastWall",
" ",
" ",
" ",
" ",
" ",
" ",
""
],
[
"60",
" SouthWall",
" ",
" ",
" ",
" ",
" ",
" ",
""
],
[
"61",
" WestWall",
" ",
" ",
" ",
" ",
" ",
" ",
""
]
] | " id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -0.25 0.937 -0.75 0 0 0
1 Mug 0.573 0.075 -2.825 0 0 0 33
2 CD -2.745 0.082 -3.055 0 0 0 30
3 CD 1.828 0.093 -3.049 0 90 0 54
4 CellPhone 1.828 0.097 -3.049 0 90 0 54
5 CellPhone -3.265 0.194 3.195 0 149.999 0 55
6 Pen 1.537 0.552 2.440 0 270 0 56
7 Pencil -1.227 1.119 -3.073 0 0 0 36
8 Pencil -1.337 0.587 -2.830 0 0 0 32
9 Book 0.104 0.832 1.456 0 0 0 29
10 KeyChain -1.227 1.117 -2.902 0 0 0 36
11 KeyChain 1.681 0.554 2.342 0 90 0 56
12 KeyChain 1.657 0.553 2.181 0 180 0 56
13 RemoteControl -0.602 1.118 -3.158 0 0 0 36
14 AlarmClock -2.164 1.118 -3.158 0 0 0 36
15 Book -1.337 0.082 -2.882 0 0 0 34
16 AlarmClock 1.536 0.547 2.299 0 238.148 0 56
17 CellPhone -0.098 0.587 -2.830 0 0 0 31
18 Pillow 1.243 0.940 1.215 0 0 0 29
19 Pillow 1.243 0.940 0.255 0 0 0 29
20 TeddyBear 1.868 0.036 -0.561 0 59.999 0 Floor|-00.06|
21 CreditCard -0.893 0.084 -2.726 0 0 0 34
22 KeyChain -1.851 1.117 -2.732 0 0 0 36
23 Pencil -3.292 0.377 -2.777 0 4.809 0 38
24 Laptop 0.104 0.830 0.015 0 0 0 29
25 RemoteControl -1.539 1.118 -2.902 0 0 0 36
26 CD -0.543 0.082 -2.934 0 0 0 35
27 Pen -1.16 0.590 -2.882 0 0 0 32
28 Mug 0.573 0.075 -3.077 0 0 0 33
29 Bed 0.967 0.049 0.667 0 90 0
30 Cabinet -3.0 1.497 -2.643 0 0 0
31 Drawer -0.365 0.785 -2.848 0 0 0
32 Drawer -1.159 0.785 -2.848 0 0 0
33 Cabinet 2.064 1.497 -2.643 0 0 0
34 Drawer -1.159 0.285 -2.848 0 0 0
35 Drawer -0.365 0.285 -2.848 0 0 0
36 Desk -1.271 1.169 -2.987 0 0 0
37 LightSwitch -0.159 1.281 3.999 0 180 0
38 GarbageCan -3.338 0.022 -2.797 0 4.809 0
39 HousePlant -0.195 1.105 -3.084 0 0 0
40 DeskLamp 1.863 0.581 2.431 0 0 0
41 Mirror -1.603 1.447 3.999 0 0 0
42 Television -3.883 1.771 2.122 0 90 0
43 Window -1.952 2.148 -3.302 90 180 0
44 Window -0.467 2.148 -3.302 90 180 0
45 Window -3.894 1.751 0.582 90 270 0
46 Window -3.894 1.751 -0.675 90 270 0
47 LaundryHamper 1.831 0.058 3.689 0 354.434 1.354
48 ArmChair -0.948 0.051 3.583 0 175.988 0
49 ArmChair -2.172 0.051 3.598 0 180 0
50 Blinds -0.477 2.785 -3.253 0 0 0
51 Blinds -1.957 2.785 -3.253 0 0 0
52 Blinds -3.799 2.506 0.602 0 90 0
53 Blinds -3.799 2.506 -0.647 0 90 0
54 Safe 1.673 0.054 -3.004 0 0 0
55 ArmChair -3.349 0.051 3.375 0 150.096 0
56 SideTable 1.775 0.048 2.377 0 0 0
57 Chair -2.002 0.050 -2.532 0 165.000 0
58 NorthWall
59 EastWall
60 SouthWall
61 WestWall" | [
"STEP 1: turn left then turn right and walk straight towards the chair then turn right towards the wall and turn right towards the table | STEP 2: turn the lamp on that is on the table | STEP 3: pick up the keys on the table | END"
] | [
[
"STEP 1: turn left then turn right and walk straight towards the chair then turn right towards the wall and turn right towards the table ",
" STEP 2: turn the lamp on that is on the table ",
" STEP 3: pick up the keys on the table ",
" END"
]
] | "seen" |
"trial_T20190909_094258_737509-2" | "Look at some keys under the light of a lit lamp." | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -0.25",
" 0.937",
" -0.75",
" 0",
" 0",
" 0",
""
],
[
"1",
" Mug",
" 0.573",
" 0.075",
" -2.825",
" 0",
" 0",
" 0",
" 33"
],
[
"2",
" CD",
" -2.745",
" 0.082",
" -3.055",
" 0",
" 0",
" 0",
" 30"
],
[
"3",
" CD",
" 1.828",
" 0.093",
" -3.049",
" 0",
" 90",
" 0",
" 54"
],
[
"4",
" CellPhone",
" 1.828",
" 0.097",
" -3.049",
" 0",
" 90",
" 0",
" 54"
],
[
"5",
" CellPhone",
" -3.265",
" 0.194",
" 3.195",
" 0",
" 149.999",
" 0",
" 55"
],
[
"6",
" Pen",
" 1.537",
" 0.552",
" 2.440",
" 0",
" 270",
" 0",
" 56"
],
[
"7",
" Pencil",
" -1.227",
" 1.119",
" -3.073",
" 0",
" 0",
" 0",
" 36"
],
[
"8",
" Pencil",
" -1.337",
" 0.587",
" -2.830",
" 0",
" 0",
" 0",
" 32"
],
[
"9",
" Book",
" 0.104",
" 0.832",
" 1.456",
" 0",
" 0",
" 0",
" 29"
],
[
"10",
" KeyChain",
" -1.227",
" 1.117",
" -2.902",
" 0",
" 0",
" 0",
" 36"
],
[
"11",
" KeyChain",
" 1.681",
" 0.554",
" 2.342",
" 0",
" 90",
" 0",
" 56"
],
[
"12",
" KeyChain",
" 1.657",
" 0.553",
" 2.181",
" 0",
" 180",
" 0",
" 56"
],
[
"13",
" RemoteControl",
" -0.602",
" 1.118",
" -3.158",
" 0",
" 0",
" 0",
" 36"
],
[
"14",
" AlarmClock",
" -2.164",
" 1.118",
" -3.158",
" 0",
" 0",
" 0",
" 36"
],
[
"15",
" Book",
" -1.337",
" 0.082",
" -2.882",
" 0",
" 0",
" 0",
" 34"
],
[
"16",
" AlarmClock",
" 1.536",
" 0.547",
" 2.299",
" 0",
" 238.148",
" 0",
" 56"
],
[
"17",
" CellPhone",
" -0.098",
" 0.587",
" -2.830",
" 0",
" 0",
" 0",
" 31"
],
[
"18",
" Pillow",
" 1.243",
" 0.940",
" 1.215",
" 0",
" 0",
" 0",
" 29"
],
[
"19",
" Pillow",
" 1.243",
" 0.940",
" 0.255",
" 0",
" 0",
" 0",
" 29"
],
[
"20",
" TeddyBear",
" 1.868",
" 0.036",
" -0.561",
" 0",
" 59.999",
" 0",
" Floor|-00.06|"
],
[
"21",
" CreditCard",
" -0.893",
" 0.084",
" -2.726",
" 0",
" 0",
" 0",
" 34"
],
[
"22",
" KeyChain",
" -1.851",
" 1.117",
" -2.732",
" 0",
" 0",
" 0",
" 36"
],
[
"23",
" Pencil",
" -3.292",
" 0.377",
" -2.777",
" 0",
" 4.809",
" 0",
" 38"
],
[
"24",
" Laptop",
" 0.104",
" 0.830",
" 0.015",
" 0",
" 0",
" 0",
" 29"
],
[
"25",
" RemoteControl",
" -1.539",
" 1.118",
" -2.902",
" 0",
" 0",
" 0",
" 36"
],
[
"26",
" CD",
" -0.543",
" 0.082",
" -2.934",
" 0",
" 0",
" 0",
" 35"
],
[
"27",
" Pen",
" -1.16",
" 0.590",
" -2.882",
" 0",
" 0",
" 0",
" 32"
],
[
"28",
" Mug",
" 0.573",
" 0.075",
" -3.077",
" 0",
" 0",
" 0",
" 33"
],
[
"29",
" Bed",
" 0.967",
" 0.049",
" 0.667",
" 0",
" 90",
" 0",
""
],
[
"30",
" Cabinet",
" -3.0",
" 1.497",
" -2.643",
" 0",
" 0",
" 0",
""
],
[
"31",
" Drawer",
" -0.365",
" 0.785",
" -2.848",
" 0",
" 0",
" 0",
""
],
[
"32",
" Drawer",
" -1.159",
" 0.785",
" -2.848",
" 0",
" 0",
" 0",
""
],
[
"33",
" Cabinet",
" 2.064",
" 1.497",
" -2.643",
" 0",
" 0",
" 0",
""
],
[
"34",
" Drawer",
" -1.159",
" 0.285",
" -2.848",
" 0",
" 0",
" 0",
""
],
[
"35",
" Drawer",
" -0.365",
" 0.285",
" -2.848",
" 0",
" 0",
" 0",
""
],
[
"36",
" Desk",
" -1.271",
" 1.169",
" -2.987",
" 0",
" 0",
" 0",
""
],
[
"37",
" LightSwitch",
" -0.159",
" 1.281",
" 3.999",
" 0",
" 180",
" 0",
""
],
[
"38",
" GarbageCan",
" -3.338",
" 0.022",
" -2.797",
" 0",
" 4.809",
" 0",
""
],
[
"39",
" HousePlant",
" -0.195",
" 1.105",
" -3.084",
" 0",
" 0",
" 0",
""
],
[
"40",
" DeskLamp",
" 1.863",
" 0.581",
" 2.431",
" 0",
" 0",
" 0",
""
],
[
"41",
" Mirror",
" -1.603",
" 1.447",
" 3.999",
" 0",
" 0",
" 0",
""
],
[
"42",
" Television",
" -3.883",
" 1.771",
" 2.122",
" 0",
" 90",
" 0",
""
],
[
"43",
" Window",
" -1.952",
" 2.148",
" -3.302",
" 90",
" 180",
" 0",
""
],
[
"44",
" Window",
" -0.467",
" 2.148",
" -3.302",
" 90",
" 180",
" 0",
""
],
[
"45",
" Window",
" -3.894",
" 1.751",
" 0.582",
" 90",
" 270",
" 0",
""
],
[
"46",
" Window",
" -3.894",
" 1.751",
" -0.675",
" 90",
" 270",
" 0",
""
],
[
"47",
" LaundryHamper",
" 1.831",
" 0.058",
" 3.689",
" 0",
" 354.434",
" 1.354",
""
],
[
"48",
" ArmChair",
" -0.948",
" 0.051",
" 3.583",
" 0",
" 175.988",
" 0",
""
],
[
"49",
" ArmChair",
" -2.172",
" 0.051",
" 3.598",
" 0",
" 180",
" 0",
""
],
[
"50",
" Blinds",
" -0.477",
" 2.785",
" -3.253",
" 0",
" 0",
" 0",
""
],
[
"51",
" Blinds",
" -1.957",
" 2.785",
" -3.253",
" 0",
" 0",
" 0",
""
],
[
"52",
" Blinds",
" -3.799",
" 2.506",
" 0.602",
" 0",
" 90",
" 0",
""
],
[
"53",
" Blinds",
" -3.799",
" 2.506",
" -0.647",
" 0",
" 90",
" 0",
""
],
[
"54",
" Safe",
" 1.673",
" 0.054",
" -3.004",
" 0",
" 0",
" 0",
""
],
[
"55",
" ArmChair",
" -3.349",
" 0.051",
" 3.375",
" 0",
" 150.096",
" 0",
""
],
[
"56",
" SideTable",
" 1.775",
" 0.048",
" 2.377",
" 0",
" 0",
" 0",
""
],
[
"57",
" Chair",
" -2.002",
" 0.050",
" -2.532",
" 0",
" 165.000",
" 0",
""
],
[
"58",
" NorthWall",
" ",
" ",
" ",
" ",
" ",
" ",
""
],
[
"59",
" EastWall",
" ",
" ",
" ",
" ",
" ",
" ",
""
],
[
"60",
" SouthWall",
" ",
" ",
" ",
" ",
" ",
" ",
""
],
[
"61",
" WestWall",
" ",
" ",
" ",
" ",
" ",
" ",
""
]
] | " id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -0.25 0.937 -0.75 0 0 0
1 Mug 0.573 0.075 -2.825 0 0 0 33
2 CD -2.745 0.082 -3.055 0 0 0 30
3 CD 1.828 0.093 -3.049 0 90 0 54
4 CellPhone 1.828 0.097 -3.049 0 90 0 54
5 CellPhone -3.265 0.194 3.195 0 149.999 0 55
6 Pen 1.537 0.552 2.440 0 270 0 56
7 Pencil -1.227 1.119 -3.073 0 0 0 36
8 Pencil -1.337 0.587 -2.830 0 0 0 32
9 Book 0.104 0.832 1.456 0 0 0 29
10 KeyChain -1.227 1.117 -2.902 0 0 0 36
11 KeyChain 1.681 0.554 2.342 0 90 0 56
12 KeyChain 1.657 0.553 2.181 0 180 0 56
13 RemoteControl -0.602 1.118 -3.158 0 0 0 36
14 AlarmClock -2.164 1.118 -3.158 0 0 0 36
15 Book -1.337 0.082 -2.882 0 0 0 34
16 AlarmClock 1.536 0.547 2.299 0 238.148 0 56
17 CellPhone -0.098 0.587 -2.830 0 0 0 31
18 Pillow 1.243 0.940 1.215 0 0 0 29
19 Pillow 1.243 0.940 0.255 0 0 0 29
20 TeddyBear 1.868 0.036 -0.561 0 59.999 0 Floor|-00.06|
21 CreditCard -0.893 0.084 -2.726 0 0 0 34
22 KeyChain -1.851 1.117 -2.732 0 0 0 36
23 Pencil -3.292 0.377 -2.777 0 4.809 0 38
24 Laptop 0.104 0.830 0.015 0 0 0 29
25 RemoteControl -1.539 1.118 -2.902 0 0 0 36
26 CD -0.543 0.082 -2.934 0 0 0 35
27 Pen -1.16 0.590 -2.882 0 0 0 32
28 Mug 0.573 0.075 -3.077 0 0 0 33
29 Bed 0.967 0.049 0.667 0 90 0
30 Cabinet -3.0 1.497 -2.643 0 0 0
31 Drawer -0.365 0.785 -2.848 0 0 0
32 Drawer -1.159 0.785 -2.848 0 0 0
33 Cabinet 2.064 1.497 -2.643 0 0 0
34 Drawer -1.159 0.285 -2.848 0 0 0
35 Drawer -0.365 0.285 -2.848 0 0 0
36 Desk -1.271 1.169 -2.987 0 0 0
37 LightSwitch -0.159 1.281 3.999 0 180 0
38 GarbageCan -3.338 0.022 -2.797 0 4.809 0
39 HousePlant -0.195 1.105 -3.084 0 0 0
40 DeskLamp 1.863 0.581 2.431 0 0 0
41 Mirror -1.603 1.447 3.999 0 0 0
42 Television -3.883 1.771 2.122 0 90 0
43 Window -1.952 2.148 -3.302 90 180 0
44 Window -0.467 2.148 -3.302 90 180 0
45 Window -3.894 1.751 0.582 90 270 0
46 Window -3.894 1.751 -0.675 90 270 0
47 LaundryHamper 1.831 0.058 3.689 0 354.434 1.354
48 ArmChair -0.948 0.051 3.583 0 175.988 0
49 ArmChair -2.172 0.051 3.598 0 180 0
50 Blinds -0.477 2.785 -3.253 0 0 0
51 Blinds -1.957 2.785 -3.253 0 0 0
52 Blinds -3.799 2.506 0.602 0 90 0
53 Blinds -3.799 2.506 -0.647 0 90 0
54 Safe 1.673 0.054 -3.004 0 0 0
55 ArmChair -3.349 0.051 3.375 0 150.096 0
56 SideTable 1.775 0.048 2.377 0 0 0
57 Chair -2.002 0.050 -2.532 0 165.000 0
58 NorthWall
59 EastWall
60 SouthWall
61 WestWall" | [
"STEP 1: Take a right around the bed to reach the nightstand. | STEP 2: Turn on the lamp. | STEP 3: Pick up the keys from the nightstand. | END"
] | [
[
"STEP 1: Take a right around the bed to reach the nightstand. ",
" STEP 2: Turn on the lamp. ",
" STEP 3: Pick up the keys from the nightstand. ",
" END"
]
] | "seen" |
"trial_T20190910_231732_446078-0" | "To cut an apple as well as place a piece in the freezer." | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" 0.5",
" 0.900",
" 0.25",
" 0",
" 180",
" 0",
""
],
[
"1",
" Potato",
" -2.455",
" 0.947",
" 0.331",
" 0",
" 0",
" 0",
" 76"
],
[
"2",
" DishSponge",
" -2.257",
" 0.773",
" 1.370",
" 0",
" 0",
" 0",
" 79"
],
[
"3",
" DishSponge",
" 1.646",
" 0.184",
" 0.706",
" 0",
" 0",
" 0",
" 87"
],
[
"4",
" Kettle",
" 1.691",
" 0.929",
" -0.335",
" 0",
" 0",
" 0",
" 56"
],
[
"5",
" Kettle",
" 1.691",
" 0.929",
" 0.064",
" 0",
" 0",
" 0",
" 59"
],
[
"6",
" Spoon",
" 1.391",
" 0.919",
" -1.061",
" 0",
" 225",
" 0",
" 62"
],
[
"7",
" Spoon",
" 1.426",
" 0.912",
" 0.465",
" 0",
" 0",
" 0",
" 57"
],
[
"8",
" Spatula",
" -2.704",
" 0.925",
" 0.931",
" 0",
" 90",
" 0",
" 76"
],
[
"9",
" Egg",
" 1.855",
" 0.941",
" 0.465",
" 0",
" 0",
" 0",
" 57"
],
[
"10",
" Egg",
" 1.520",
" 0.215",
" 0.596",
" 0",
" 0",
" 0",
" 87"
],
[
"11",
" Cup",
" 1.329",
" 0.916",
" -1.053",
" 0",
" 225",
" 0",
" 62"
],
[
"12",
" Plate",
" -2.485",
" 1.302",
" -0.602",
" 0",
" 90",
" 0",
" 80"
],
[
"13",
" Knife",
" 1.684",
" 0.936",
" 0.494",
" 0",
" 0",
" 0",
" 57"
],
[
"14",
" Knife",
" 1.428",
" 0.936",
" -0.768",
" 0",
" 180",
" 0",
" 58"
],
[
"15",
" Tomato",
" -2.578",
" 1.342",
" -0.979",
" 0",
" 90",
" 0",
" 80"
],
[
"16",
" Bowl",
" 1.735",
" 1.660",
" -0.479",
" 0",
" 0",
" 0",
" 68"
],
[
"17",
" Bowl",
" -2.560",
" 1.535",
" 0.702",
" 0",
" 0",
" 0",
" 72"
],
[
"18",
" PepperShaker",
" 0.445",
" 1.658",
" -1.802",
" 0",
" 90",
" 0",
" 55"
],
[
"19",
" PepperShaker",
" -2.685",
" 1.928",
" -1.034",
" 0",
" 0",
" 0",
" 69"
],
[
"20",
" SaltShaker",
" -2.599",
" 1.533",
" 1.840",
" 0",
" 0",
" 0",
" 60"
],
[
"21",
" Lettuce",
" -0.471",
" 0.994",
" 0.870",
" 0",
" 0",
" 0",
" 48"
],
[
"22",
" Lettuce",
" -0.211",
" 0.994",
" 0.423",
" 0",
" 0",
" 0",
" 48"
],
[
"23",
" Mug",
" -2.704",
" 0.905",
" 1.230",
" 0",
" 0",
" 0",
" 76"
],
[
"24",
" Apple",
" -2.559",
" 0.656",
" -0.603",
" 0",
" 90",
" 0",
" 80"
],
[
"25",
" Pan",
" 0.0",
" 0.9",
" 0.948",
" 0",
" 29.999",
" 0",
" 48"
],
[
"26",
" Knife",
" -2.318",
" 0.798",
" 0.022",
" 0",
" 270",
" 0",
" 66"
],
[
"27",
" Apple",
" -2.455",
" 0.972",
" 0.931",
" 0",
" 0",
" 0",
" 76"
],
[
"28",
" Bowl",
" -2.277",
" 0.112",
" 1.423",
" 0",
" 0",
" 0",
" 54"
],
[
"29",
" Fork",
" 1.353",
" 0.919",
" -1.239",
" 0",
" 45",
" 0",
" 62"
],
[
"30",
" Bread",
" 0.048",
" 0.996",
" 0.647",
" 0",
" 0",
" 0",
" 48"
],
[
"31",
" Plate",
" -0.081",
" 0.913",
" 1.317",
" 0",
" 0",
" 0",
" 48"
],
[
"32",
" Egg",
" 1.684",
" 0.941",
" 0.435",
" 0",
" 0",
" 0",
" 57"
],
[
"33",
" Kettle",
" 1.412",
" 0.929",
" -0.335",
" 0",
" 0",
" 0",
" 49"
],
[
"34",
" Potato",
" -2.635",
" 1.051",
" 2.481",
" 0",
" 90",
" 0",
" 88"
],
[
"35",
" SaltShaker",
" -2.704",
" 0.905",
" 0.331",
" 0",
" 0",
" 0",
" 76"
],
[
"36",
" Lettuce",
" -0.341",
" 0.994",
" 1.764",
" 0",
" 0",
" 0",
" 48"
],
[
"37",
" Cup",
" -2.420",
" 0.592",
" -1.051",
" 0",
" 90",
" 0",
" 80"
],
[
"38",
" SoapBottle",
" -2.206",
" 0.912",
" 0.031",
" 0",
" 0",
" 0",
" 76"
],
[
"39",
" Spatula",
" -2.372",
" 0.925",
" 0.031",
" 0",
" 0",
" 0",
" 76"
],
[
"40",
" PaperTowelRoll",
" -2.206",
" 1.015",
" 0.931",
" 0",
" 0",
" 0",
" 76"
],
[
"41",
" ButterKnife",
" -0.211",
" 0.910",
" 1.540",
" 0",
" 0",
" 0",
" 48"
],
[
"42",
" PepperShaker",
" -2.560",
" 1.533",
" 1.768",
" 0",
" 180",
" 0",
" 60"
],
[
"43",
" DishSponge",
" 1.415",
" 0.922",
" -1.247",
" 0",
" 225",
" 0",
" 62"
],
[
"44",
" Pot",
" -2.311",
" 0.105",
" 0.895",
" 0",
" 270",
" 0",
" 74"
],
[
"45",
" Spoon",
" -2.318",
" 0.775",
" 0.809",
" 0",
" 90",
" 0",
" 53"
],
[
"46",
" Tomato",
" -2.206",
" 0.953",
" 0.631",
" 0",
" 0",
" 0",
" 76"
],
[
"47",
" Mug",
" 0.464",
" 0.955",
" -1.593",
" 0",
" 0",
" 0",
" 58"
],
[
"48",
" CounterTop",
" -0.360",
" 0.946",
" 1.093",
" 0",
" 0",
" 0",
""
],
[
"49",
" StoveBurner",
" 1.412",
" 0.923",
" -0.335",
" 0",
" 0",
" 0",
""
],
[
"50",
" StoveKnob",
" 1.878",
" 1.093",
" 0.018",
" 287.989",
" 90",
" 0",
""
],
[
"51",
" StoveKnob",
" 1.878",
" 1.093",
" -0.306",
" 287.989",
" 90",
" 0",
""
],
[
"52",
" Cabinet",
" -2.446",
" 1.948",
" 2.924",
" 0",
" 0",
" 0",
""
],
[
"53",
" Drawer",
" -2.276",
" 0.792",
" 0.902",
" 0",
" 0",
" 0",
""
],
[
"54",
" Cabinet",
" -2.145",
" 0.402",
" 1.578",
" 0",
" 0",
" 0",
""
],
[
"55",
" Cabinet",
" 0.149",
" 2.008",
" -1.603",
" 0",
" 90",
" 0",
""
],
[
"56",
" StoveBurner",
" 1.691",
" 0.923",
" -0.335",
" 0",
" 0",
" 0",
""
],
[
"57",
" CounterTop",
" 1.585",
" 0.946",
" 0.405",
" 0",
" 0",
" 0",
""
],
[
"58",
" CounterTop",
" 0.474",
" 0.946",
" -1.625",
" 0",
" 0",
" 0",
""
],
[
"59",
" StoveBurner",
" 1.691",
" 0.923",
" 0.064",
" 0",
" 0",
" 0",
""
],
[
"60",
" Cabinet",
" -2.446",
" 1.948",
" 1.687",
" 0",
" 0",
" 0",
""
],
[
"61",
" Cabinet",
" -2.446",
" 1.948",
" 1.640",
" 0",
" 0",
" 0",
""
],
[
"62",
" Sink",
" 1.381",
" 0.810",
" -1.271",
" 0",
" 225",
" 0",
""
],
[
"63",
" StoveKnob",
" 1.878",
" 1.093",
" 0.150",
" 287.989",
" 90",
" 0",
""
],
[
"64",
" Cabinet",
" -2.145",
" 0.402",
" -0.236",
" 0",
" 0",
" 0",
""
],
[
"65",
" Drawer",
" -2.276",
" 0.792",
" 0.437",
" 0",
" 0",
" 0",
""
],
[
"66",
" Drawer",
" -2.276",
" 0.792",
" -0.027",
" 0",
" 0",
" 0",
""
],
[
"67",
" Cabinet",
" 1.572",
" 2.008",
" 0.474",
" 0",
" 0",
" 0",
""
],
[
"68",
" Cabinet",
" 1.572",
" 2.008",
" -0.775",
" 0",
" 0",
" 0",
""
],
[
"69",
" Cabinet",
" -2.445",
" 2.148",
" -1.275",
" 0",
" 0",
" 0",
""
],
[
"70",
" Cabinet",
" -2.446",
" 2.148",
" -0.284",
" 0",
" 0",
" 0",
""
],
[
"71",
" Cabinet",
" -2.446",
" 1.948",
" 0.355",
" 0",
" 0",
" 0",
""
],
[
"72",
" Cabinet",
" -2.446",
" 1.948",
" 0.405",
" 0",
" 0",
" 0",
""
],
[
"73",
" Cabinet",
" -2.145",
" 0.402",
" 0.644",
" 0",
" 0",
" 0",
""
],
[
"74",
" Cabinet",
" -2.145",
" 0.402",
" 0.695",
" 0",
" 0",
" 0",
""
],
[
"75",
" Cabinet",
" -2.285",
" 1.968",
" -1.325",
" 0",
" 180",
" 0",
""
],
[
"76",
" CounterTop",
" -1.485",
" 0.946",
" 1.319",
" 0",
" 0",
" 0",
""
],
[
"77",
" StoveBurner",
" 1.411",
" 0.923",
" 0.064",
" 0",
" 0",
" 0",
""
],
[
"78",
" StoveKnob",
" 1.878",
" 1.093",
" -0.441",
" 287.989",
" 90",
" 0",
""
],
[
"79",
" Drawer",
" -2.276",
" 0.792",
" 1.368",
" 0",
" 0",
" 0",
""
],
[
"80",
" Fridge",
" -2.475",
" 0.0",
" -0.782",
" 0",
" 90",
" 0",
""
],
[
"81",
" LightSwitch",
" -0.929",
" 1.350",
" -1.950",
" 0",
" 0",
" 0",
""
],
[
"82",
" Toaster",
" -2.564",
" 0.900",
" 1.876",
" 0",
" 90",
" 0",
""
],
[
"83",
" CoffeeMachine",
" 0.464",
" 0.900",
" -1.810",
" 0",
" 0",
" 0",
""
],
[
"84",
" Window",
" 1.508",
" 1.534",
" -1.496",
" 90",
" 135",
" 0",
""
],
[
"85",
" Window",
" 1.973",
" 1.521",
" 1.121",
" 90",
" 90",
" 0",
""
],
[
"86",
" SinkBasin",
" 1.149",
" 0.753",
" -1.380",
" 0",
" 225",
" 0",
""
],
[
"87",
" GarbageCan",
" 1.646",
" -0.000",
" 0.679",
" 0",
" 0",
" 0",
""
],
[
"88",
" Microwave",
" -2.580",
" 0.900",
" 2.440",
" 0",
" 90",
" 0",
""
],
[
"89",
" Stool",
" 0.439",
" 0.010",
" 0.747",
" 0",
" 0",
" 0",
""
],
[
"90",
" Stool",
" -2.303",
" 0.010",
" 1.839",
" 0",
" 0",
" 0",
""
],
[
"91",
" Faucet",
" 1.235",
" 1.138",
" -1.473",
" 0",
" 225",
" 0",
""
],
[
"92",
" NorthWall",
" ",
" ",
" ",
" ",
" ",
" ",
""
],
[
"93",
" EastWall",
" ",
" ",
" ",
" ",
" ",
" ",
""
],
[
"94",
" SouthWall",
" ",
" ",
" ",
" ",
" ",
" ",
""
],
[
"95",
" WestWall",
" ",
" ",
" ",
" ",
" ",
" ",
""
]
] | " id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent 0.5 0.900 0.25 0 180 0
1 Potato -2.455 0.947 0.331 0 0 0 76
2 DishSponge -2.257 0.773 1.370 0 0 0 79
3 DishSponge 1.646 0.184 0.706 0 0 0 87
4 Kettle 1.691 0.929 -0.335 0 0 0 56
5 Kettle 1.691 0.929 0.064 0 0 0 59
6 Spoon 1.391 0.919 -1.061 0 225 0 62
7 Spoon 1.426 0.912 0.465 0 0 0 57
8 Spatula -2.704 0.925 0.931 0 90 0 76
9 Egg 1.855 0.941 0.465 0 0 0 57
10 Egg 1.520 0.215 0.596 0 0 0 87
11 Cup 1.329 0.916 -1.053 0 225 0 62
12 Plate -2.485 1.302 -0.602 0 90 0 80
13 Knife 1.684 0.936 0.494 0 0 0 57
14 Knife 1.428 0.936 -0.768 0 180 0 58
15 Tomato -2.578 1.342 -0.979 0 90 0 80
16 Bowl 1.735 1.660 -0.479 0 0 0 68
17 Bowl -2.560 1.535 0.702 0 0 0 72
18 PepperShaker 0.445 1.658 -1.802 0 90 0 55
19 PepperShaker -2.685 1.928 -1.034 0 0 0 69
20 SaltShaker -2.599 1.533 1.840 0 0 0 60
21 Lettuce -0.471 0.994 0.870 0 0 0 48
22 Lettuce -0.211 0.994 0.423 0 0 0 48
23 Mug -2.704 0.905 1.230 0 0 0 76
24 Apple -2.559 0.656 -0.603 0 90 0 80
25 Pan 0.0 0.9 0.948 0 29.999 0 48
26 Knife -2.318 0.798 0.022 0 270 0 66
27 Apple -2.455 0.972 0.931 0 0 0 76
28 Bowl -2.277 0.112 1.423 0 0 0 54
29 Fork 1.353 0.919 -1.239 0 45 0 62
30 Bread 0.048 0.996 0.647 0 0 0 48
31 Plate -0.081 0.913 1.317 0 0 0 48
32 Egg 1.684 0.941 0.435 0 0 0 57
33 Kettle 1.412 0.929 -0.335 0 0 0 49
34 Potato -2.635 1.051 2.481 0 90 0 88
35 SaltShaker -2.704 0.905 0.331 0 0 0 76
36 Lettuce -0.341 0.994 1.764 0 0 0 48
37 Cup -2.420 0.592 -1.051 0 90 0 80
38 SoapBottle -2.206 0.912 0.031 0 0 0 76
39 Spatula -2.372 0.925 0.031 0 0 0 76
40 PaperTowelRoll -2.206 1.015 0.931 0 0 0 76
41 ButterKnife -0.211 0.910 1.540 0 0 0 48
42 PepperShaker -2.560 1.533 1.768 0 180 0 60
43 DishSponge 1.415 0.922 -1.247 0 225 0 62
44 Pot -2.311 0.105 0.895 0 270 0 74
45 Spoon -2.318 0.775 0.809 0 90 0 53
46 Tomato -2.206 0.953 0.631 0 0 0 76
47 Mug 0.464 0.955 -1.593 0 0 0 58
48 CounterTop -0.360 0.946 1.093 0 0 0
49 StoveBurner 1.412 0.923 -0.335 0 0 0
50 StoveKnob 1.878 1.093 0.018 287.989 90 0
51 StoveKnob 1.878 1.093 -0.306 287.989 90 0
52 Cabinet -2.446 1.948 2.924 0 0 0
53 Drawer -2.276 0.792 0.902 0 0 0
54 Cabinet -2.145 0.402 1.578 0 0 0
55 Cabinet 0.149 2.008 -1.603 0 90 0
56 StoveBurner 1.691 0.923 -0.335 0 0 0
57 CounterTop 1.585 0.946 0.405 0 0 0
58 CounterTop 0.474 0.946 -1.625 0 0 0
59 StoveBurner 1.691 0.923 0.064 0 0 0
60 Cabinet -2.446 1.948 1.687 0 0 0
61 Cabinet -2.446 1.948 1.640 0 0 0
62 Sink 1.381 0.810 -1.271 0 225 0
63 StoveKnob 1.878 1.093 0.150 287.989 90 0
64 Cabinet -2.145 0.402 -0.236 0 0 0
65 Drawer -2.276 0.792 0.437 0 0 0
66 Drawer -2.276 0.792 -0.027 0 0 0
67 Cabinet 1.572 2.008 0.474 0 0 0
68 Cabinet 1.572 2.008 -0.775 0 0 0
69 Cabinet -2.445 2.148 -1.275 0 0 0
70 Cabinet -2.446 2.148 -0.284 0 0 0
71 Cabinet -2.446 1.948 0.355 0 0 0
72 Cabinet -2.446 1.948 0.405 0 0 0
73 Cabinet -2.145 0.402 0.644 0 0 0
74 Cabinet -2.145 0.402 0.695 0 0 0
75 Cabinet -2.285 1.968 -1.325 0 180 0
76 CounterTop -1.485 0.946 1.319 0 0 0
77 StoveBurner 1.411 0.923 0.064 0 0 0
78 StoveKnob 1.878 1.093 -0.441 287.989 90 0
79 Drawer -2.276 0.792 1.368 0 0 0
80 Fridge -2.475 0.0 -0.782 0 90 0
81 LightSwitch -0.929 1.350 -1.950 0 0 0
82 Toaster -2.564 0.900 1.876 0 90 0
83 CoffeeMachine 0.464 0.900 -1.810 0 0 0
84 Window 1.508 1.534 -1.496 90 135 0
85 Window 1.973 1.521 1.121 90 90 0
86 SinkBasin 1.149 0.753 -1.380 0 225 0
87 GarbageCan 1.646 -0.000 0.679 0 0 0
88 Microwave -2.580 0.900 2.440 0 90 0
89 Stool 0.439 0.010 0.747 0 0 0
90 Stool -2.303 0.010 1.839 0 0 0
91 Faucet 1.235 1.138 -1.473 0 225 0
92 NorthWall
93 EastWall
94 SouthWall
95 WestWall" | [
"STEP 1: Walk forward across the room and turn right to face the counter. | STEP 2: Pick up the knife on the counter. | STEP 3: Turn around and walk around the table to face the counter with tomato and apple on it on the far side of the room. | STEP 4: Cut the apple into three pieces. | STEP 5: Turn left, walk forward to the fridge and turn right to face it. | STEP 6: Place the knife on the top shelf in the fridge. | STEP 7: Turn right and walk forward and then turn left to face the apple on the counter. | STEP 8: Pick up a piece of the apple on the counter. | STEP 9: Turn right and walk over to face the microwave. | STEP 10: Heat the piece of apple in the microwave and then remove it. | STEP 11: Turn left, walk forward to the fridge and turn right to face it. | STEP 12: Place the piece of apple in the freezer. | END"
] | [
[
"STEP 1: Walk forward across the room and turn right to face the counter. ",
" STEP 2: Pick up the knife on the counter. ",
" STEP 3: Turn around and walk around the table to face the counter with tomato and apple on it on the far side of the room. ",
" STEP 4: Cut the apple into three pieces. ",
" STEP 5: Turn left, walk forward to the fridge and turn right to face it. ",
" STEP 6: Place the knife on the top shelf in the fridge. ",
" STEP 7: Turn right and walk forward and then turn left to face the apple on the counter. ",
" STEP 8: Pick up a piece of the apple on the counter. ",
" STEP 9: Turn right and walk over to face the microwave. ",
" STEP 10: Heat the piece of apple in the microwave and then remove it. ",
" STEP 11: Turn left, walk forward to the fridge and turn right to face it. ",
" STEP 12: Place the piece of apple in the freezer. ",
" END"
]
] | "seen" |
"trial_T20190910_231732_446078-1" | "Put cooked apple in the freezer." | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
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" Agent",
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""
],
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],
[
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],
[
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],
[
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],
[
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],
[
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],
[
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" 0",
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],
[
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" Spatula",
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" 0",
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],
[
"9",
" Egg",
" 1.855",
" 0.941",
" 0.465",
" 0",
" 0",
" 0",
" 57"
],
[
"10",
" Egg",
" 1.520",
" 0.215",
" 0.596",
" 0",
" 0",
" 0",
" 87"
],
[
"11",
" Cup",
" 1.329",
" 0.916",
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" 0",
" 225",
" 0",
" 62"
],
[
"12",
" Plate",
" -2.485",
" 1.302",
" -0.602",
" 0",
" 90",
" 0",
" 80"
],
[
"13",
" Knife",
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" 0.494",
" 0",
" 0",
" 0",
" 57"
],
[
"14",
" Knife",
" 1.428",
" 0.936",
" -0.768",
" 0",
" 180",
" 0",
" 58"
],
[
"15",
" Tomato",
" -2.578",
" 1.342",
" -0.979",
" 0",
" 90",
" 0",
" 80"
],
[
"16",
" Bowl",
" 1.735",
" 1.660",
" -0.479",
" 0",
" 0",
" 0",
" 68"
],
[
"17",
" Bowl",
" -2.560",
" 1.535",
" 0.702",
" 0",
" 0",
" 0",
" 72"
],
[
"18",
" PepperShaker",
" 0.445",
" 1.658",
" -1.802",
" 0",
" 90",
" 0",
" 55"
],
[
"19",
" PepperShaker",
" -2.685",
" 1.928",
" -1.034",
" 0",
" 0",
" 0",
" 69"
],
[
"20",
" SaltShaker",
" -2.599",
" 1.533",
" 1.840",
" 0",
" 0",
" 0",
" 60"
],
[
"21",
" Lettuce",
" -0.471",
" 0.994",
" 0.870",
" 0",
" 0",
" 0",
" 48"
],
[
"22",
" Lettuce",
" -0.211",
" 0.994",
" 0.423",
" 0",
" 0",
" 0",
" 48"
],
[
"23",
" Mug",
" -2.704",
" 0.905",
" 1.230",
" 0",
" 0",
" 0",
" 76"
],
[
"24",
" Apple",
" -2.559",
" 0.656",
" -0.603",
" 0",
" 90",
" 0",
" 80"
],
[
"25",
" Pan",
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" 0.948",
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" 0",
" 48"
],
[
"26",
" Knife",
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" 0.798",
" 0.022",
" 0",
" 270",
" 0",
" 66"
],
[
"27",
" Apple",
" -2.455",
" 0.972",
" 0.931",
" 0",
" 0",
" 0",
" 76"
],
[
"28",
" Bowl",
" -2.277",
" 0.112",
" 1.423",
" 0",
" 0",
" 0",
" 54"
],
[
"29",
" Fork",
" 1.353",
" 0.919",
" -1.239",
" 0",
" 45",
" 0",
" 62"
],
[
"30",
" Bread",
" 0.048",
" 0.996",
" 0.647",
" 0",
" 0",
" 0",
" 48"
],
[
"31",
" Plate",
" -0.081",
" 0.913",
" 1.317",
" 0",
" 0",
" 0",
" 48"
],
[
"32",
" Egg",
" 1.684",
" 0.941",
" 0.435",
" 0",
" 0",
" 0",
" 57"
],
[
"33",
" Kettle",
" 1.412",
" 0.929",
" -0.335",
" 0",
" 0",
" 0",
" 49"
],
[
"34",
" Potato",
" -2.635",
" 1.051",
" 2.481",
" 0",
" 90",
" 0",
" 88"
],
[
"35",
" SaltShaker",
" -2.704",
" 0.905",
" 0.331",
" 0",
" 0",
" 0",
" 76"
],
[
"36",
" Lettuce",
" -0.341",
" 0.994",
" 1.764",
" 0",
" 0",
" 0",
" 48"
],
[
"37",
" Cup",
" -2.420",
" 0.592",
" -1.051",
" 0",
" 90",
" 0",
" 80"
],
[
"38",
" SoapBottle",
" -2.206",
" 0.912",
" 0.031",
" 0",
" 0",
" 0",
" 76"
],
[
"39",
" Spatula",
" -2.372",
" 0.925",
" 0.031",
" 0",
" 0",
" 0",
" 76"
],
[
"40",
" PaperTowelRoll",
" -2.206",
" 1.015",
" 0.931",
" 0",
" 0",
" 0",
" 76"
],
[
"41",
" ButterKnife",
" -0.211",
" 0.910",
" 1.540",
" 0",
" 0",
" 0",
" 48"
],
[
"42",
" PepperShaker",
" -2.560",
" 1.533",
" 1.768",
" 0",
" 180",
" 0",
" 60"
],
[
"43",
" DishSponge",
" 1.415",
" 0.922",
" -1.247",
" 0",
" 225",
" 0",
" 62"
],
[
"44",
" Pot",
" -2.311",
" 0.105",
" 0.895",
" 0",
" 270",
" 0",
" 74"
],
[
"45",
" Spoon",
" -2.318",
" 0.775",
" 0.809",
" 0",
" 90",
" 0",
" 53"
],
[
"46",
" Tomato",
" -2.206",
" 0.953",
" 0.631",
" 0",
" 0",
" 0",
" 76"
],
[
"47",
" Mug",
" 0.464",
" 0.955",
" -1.593",
" 0",
" 0",
" 0",
" 58"
],
[
"48",
" CounterTop",
" -0.360",
" 0.946",
" 1.093",
" 0",
" 0",
" 0",
""
],
[
"49",
" StoveBurner",
" 1.412",
" 0.923",
" -0.335",
" 0",
" 0",
" 0",
""
],
[
"50",
" StoveKnob",
" 1.878",
" 1.093",
" 0.018",
" 287.989",
" 90",
" 0",
""
],
[
"51",
" StoveKnob",
" 1.878",
" 1.093",
" -0.306",
" 287.989",
" 90",
" 0",
""
],
[
"52",
" Cabinet",
" -2.446",
" 1.948",
" 2.924",
" 0",
" 0",
" 0",
""
],
[
"53",
" Drawer",
" -2.276",
" 0.792",
" 0.902",
" 0",
" 0",
" 0",
""
],
[
"54",
" Cabinet",
" -2.145",
" 0.402",
" 1.578",
" 0",
" 0",
" 0",
""
],
[
"55",
" Cabinet",
" 0.149",
" 2.008",
" -1.603",
" 0",
" 90",
" 0",
""
],
[
"56",
" StoveBurner",
" 1.691",
" 0.923",
" -0.335",
" 0",
" 0",
" 0",
""
],
[
"57",
" CounterTop",
" 1.585",
" 0.946",
" 0.405",
" 0",
" 0",
" 0",
""
],
[
"58",
" CounterTop",
" 0.474",
" 0.946",
" -1.625",
" 0",
" 0",
" 0",
""
],
[
"59",
" StoveBurner",
" 1.691",
" 0.923",
" 0.064",
" 0",
" 0",
" 0",
""
],
[
"60",
" Cabinet",
" -2.446",
" 1.948",
" 1.687",
" 0",
" 0",
" 0",
""
],
[
"61",
" Cabinet",
" -2.446",
" 1.948",
" 1.640",
" 0",
" 0",
" 0",
""
],
[
"62",
" Sink",
" 1.381",
" 0.810",
" -1.271",
" 0",
" 225",
" 0",
""
],
[
"63",
" StoveKnob",
" 1.878",
" 1.093",
" 0.150",
" 287.989",
" 90",
" 0",
""
],
[
"64",
" Cabinet",
" -2.145",
" 0.402",
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" 0",
" 0",
" 0",
""
],
[
"65",
" Drawer",
" -2.276",
" 0.792",
" 0.437",
" 0",
" 0",
" 0",
""
],
[
"66",
" Drawer",
" -2.276",
" 0.792",
" -0.027",
" 0",
" 0",
" 0",
""
],
[
"67",
" Cabinet",
" 1.572",
" 2.008",
" 0.474",
" 0",
" 0",
" 0",
""
],
[
"68",
" Cabinet",
" 1.572",
" 2.008",
" -0.775",
" 0",
" 0",
" 0",
""
],
[
"69",
" Cabinet",
" -2.445",
" 2.148",
" -1.275",
" 0",
" 0",
" 0",
""
],
[
"70",
" Cabinet",
" -2.446",
" 2.148",
" -0.284",
" 0",
" 0",
" 0",
""
],
[
"71",
" Cabinet",
" -2.446",
" 1.948",
" 0.355",
" 0",
" 0",
" 0",
""
],
[
"72",
" Cabinet",
" -2.446",
" 1.948",
" 0.405",
" 0",
" 0",
" 0",
""
],
[
"73",
" Cabinet",
" -2.145",
" 0.402",
" 0.644",
" 0",
" 0",
" 0",
""
],
[
"74",
" Cabinet",
" -2.145",
" 0.402",
" 0.695",
" 0",
" 0",
" 0",
""
],
[
"75",
" Cabinet",
" -2.285",
" 1.968",
" -1.325",
" 0",
" 180",
" 0",
""
],
[
"76",
" CounterTop",
" -1.485",
" 0.946",
" 1.319",
" 0",
" 0",
" 0",
""
],
[
"77",
" StoveBurner",
" 1.411",
" 0.923",
" 0.064",
" 0",
" 0",
" 0",
""
],
[
"78",
" StoveKnob",
" 1.878",
" 1.093",
" -0.441",
" 287.989",
" 90",
" 0",
""
],
[
"79",
" Drawer",
" -2.276",
" 0.792",
" 1.368",
" 0",
" 0",
" 0",
""
],
[
"80",
" Fridge",
" -2.475",
" 0.0",
" -0.782",
" 0",
" 90",
" 0",
""
],
[
"81",
" LightSwitch",
" -0.929",
" 1.350",
" -1.950",
" 0",
" 0",
" 0",
""
],
[
"82",
" Toaster",
" -2.564",
" 0.900",
" 1.876",
" 0",
" 90",
" 0",
""
],
[
"83",
" CoffeeMachine",
" 0.464",
" 0.900",
" -1.810",
" 0",
" 0",
" 0",
""
],
[
"84",
" Window",
" 1.508",
" 1.534",
" -1.496",
" 90",
" 135",
" 0",
""
],
[
"85",
" Window",
" 1.973",
" 1.521",
" 1.121",
" 90",
" 90",
" 0",
""
],
[
"86",
" SinkBasin",
" 1.149",
" 0.753",
" -1.380",
" 0",
" 225",
" 0",
""
],
[
"87",
" GarbageCan",
" 1.646",
" -0.000",
" 0.679",
" 0",
" 0",
" 0",
""
],
[
"88",
" Microwave",
" -2.580",
" 0.900",
" 2.440",
" 0",
" 90",
" 0",
""
],
[
"89",
" Stool",
" 0.439",
" 0.010",
" 0.747",
" 0",
" 0",
" 0",
""
],
[
"90",
" Stool",
" -2.303",
" 0.010",
" 1.839",
" 0",
" 0",
" 0",
""
],
[
"91",
" Faucet",
" 1.235",
" 1.138",
" -1.473",
" 0",
" 225",
" 0",
""
],
[
"92",
" NorthWall",
" ",
" ",
" ",
" ",
" ",
" ",
""
],
[
"93",
" EastWall",
" ",
" ",
" ",
" ",
" ",
" ",
""
],
[
"94",
" SouthWall",
" ",
" ",
" ",
" ",
" ",
" ",
""
],
[
"95",
" WestWall",
" ",
" ",
" ",
" ",
" ",
" ",
""
]
] | " id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent 0.5 0.900 0.25 0 180 0
1 Potato -2.455 0.947 0.331 0 0 0 76
2 DishSponge -2.257 0.773 1.370 0 0 0 79
3 DishSponge 1.646 0.184 0.706 0 0 0 87
4 Kettle 1.691 0.929 -0.335 0 0 0 56
5 Kettle 1.691 0.929 0.064 0 0 0 59
6 Spoon 1.391 0.919 -1.061 0 225 0 62
7 Spoon 1.426 0.912 0.465 0 0 0 57
8 Spatula -2.704 0.925 0.931 0 90 0 76
9 Egg 1.855 0.941 0.465 0 0 0 57
10 Egg 1.520 0.215 0.596 0 0 0 87
11 Cup 1.329 0.916 -1.053 0 225 0 62
12 Plate -2.485 1.302 -0.602 0 90 0 80
13 Knife 1.684 0.936 0.494 0 0 0 57
14 Knife 1.428 0.936 -0.768 0 180 0 58
15 Tomato -2.578 1.342 -0.979 0 90 0 80
16 Bowl 1.735 1.660 -0.479 0 0 0 68
17 Bowl -2.560 1.535 0.702 0 0 0 72
18 PepperShaker 0.445 1.658 -1.802 0 90 0 55
19 PepperShaker -2.685 1.928 -1.034 0 0 0 69
20 SaltShaker -2.599 1.533 1.840 0 0 0 60
21 Lettuce -0.471 0.994 0.870 0 0 0 48
22 Lettuce -0.211 0.994 0.423 0 0 0 48
23 Mug -2.704 0.905 1.230 0 0 0 76
24 Apple -2.559 0.656 -0.603 0 90 0 80
25 Pan 0.0 0.9 0.948 0 29.999 0 48
26 Knife -2.318 0.798 0.022 0 270 0 66
27 Apple -2.455 0.972 0.931 0 0 0 76
28 Bowl -2.277 0.112 1.423 0 0 0 54
29 Fork 1.353 0.919 -1.239 0 45 0 62
30 Bread 0.048 0.996 0.647 0 0 0 48
31 Plate -0.081 0.913 1.317 0 0 0 48
32 Egg 1.684 0.941 0.435 0 0 0 57
33 Kettle 1.412 0.929 -0.335 0 0 0 49
34 Potato -2.635 1.051 2.481 0 90 0 88
35 SaltShaker -2.704 0.905 0.331 0 0 0 76
36 Lettuce -0.341 0.994 1.764 0 0 0 48
37 Cup -2.420 0.592 -1.051 0 90 0 80
38 SoapBottle -2.206 0.912 0.031 0 0 0 76
39 Spatula -2.372 0.925 0.031 0 0 0 76
40 PaperTowelRoll -2.206 1.015 0.931 0 0 0 76
41 ButterKnife -0.211 0.910 1.540 0 0 0 48
42 PepperShaker -2.560 1.533 1.768 0 180 0 60
43 DishSponge 1.415 0.922 -1.247 0 225 0 62
44 Pot -2.311 0.105 0.895 0 270 0 74
45 Spoon -2.318 0.775 0.809 0 90 0 53
46 Tomato -2.206 0.953 0.631 0 0 0 76
47 Mug 0.464 0.955 -1.593 0 0 0 58
48 CounterTop -0.360 0.946 1.093 0 0 0
49 StoveBurner 1.412 0.923 -0.335 0 0 0
50 StoveKnob 1.878 1.093 0.018 287.989 90 0
51 StoveKnob 1.878 1.093 -0.306 287.989 90 0
52 Cabinet -2.446 1.948 2.924 0 0 0
53 Drawer -2.276 0.792 0.902 0 0 0
54 Cabinet -2.145 0.402 1.578 0 0 0
55 Cabinet 0.149 2.008 -1.603 0 90 0
56 StoveBurner 1.691 0.923 -0.335 0 0 0
57 CounterTop 1.585 0.946 0.405 0 0 0
58 CounterTop 0.474 0.946 -1.625 0 0 0
59 StoveBurner 1.691 0.923 0.064 0 0 0
60 Cabinet -2.446 1.948 1.687 0 0 0
61 Cabinet -2.446 1.948 1.640 0 0 0
62 Sink 1.381 0.810 -1.271 0 225 0
63 StoveKnob 1.878 1.093 0.150 287.989 90 0
64 Cabinet -2.145 0.402 -0.236 0 0 0
65 Drawer -2.276 0.792 0.437 0 0 0
66 Drawer -2.276 0.792 -0.027 0 0 0
67 Cabinet 1.572 2.008 0.474 0 0 0
68 Cabinet 1.572 2.008 -0.775 0 0 0
69 Cabinet -2.445 2.148 -1.275 0 0 0
70 Cabinet -2.446 2.148 -0.284 0 0 0
71 Cabinet -2.446 1.948 0.355 0 0 0
72 Cabinet -2.446 1.948 0.405 0 0 0
73 Cabinet -2.145 0.402 0.644 0 0 0
74 Cabinet -2.145 0.402 0.695 0 0 0
75 Cabinet -2.285 1.968 -1.325 0 180 0
76 CounterTop -1.485 0.946 1.319 0 0 0
77 StoveBurner 1.411 0.923 0.064 0 0 0
78 StoveKnob 1.878 1.093 -0.441 287.989 90 0
79 Drawer -2.276 0.792 1.368 0 0 0
80 Fridge -2.475 0.0 -0.782 0 90 0
81 LightSwitch -0.929 1.350 -1.950 0 0 0
82 Toaster -2.564 0.900 1.876 0 90 0
83 CoffeeMachine 0.464 0.900 -1.810 0 0 0
84 Window 1.508 1.534 -1.496 90 135 0
85 Window 1.973 1.521 1.121 90 90 0
86 SinkBasin 1.149 0.753 -1.380 0 225 0
87 GarbageCan 1.646 -0.000 0.679 0 0 0
88 Microwave -2.580 0.900 2.440 0 90 0
89 Stool 0.439 0.010 0.747 0 0 0
90 Stool -2.303 0.010 1.839 0 0 0
91 Faucet 1.235 1.138 -1.473 0 225 0
92 NorthWall
93 EastWall
94 SouthWall
95 WestWall" | [
"STEP 1: Go forward, hang a left and go to the counter to the right of the stove. | STEP 2: Pick up the big knife that is on the counter. | STEP 3: Turn around and go to the fridge, hang a right, go forward to the counter with the paper towels on it that is on the left. | STEP 4: Cut the apple that is on the counter behind the paper towels. | STEP 5: Turn around, go to the right to the fridge that will be on the right. | STEP 6: Open the fridge, put the knife inside, close the fridge. | STEP 7: Go to the right, go to the counter where the apple is on the left. | STEP 8: Pick up a piece of the apple. | STEP 9: Turn around, then turn to the left, go forward to the microwave that is on the left. | STEP 10: Put the apple in the microwave and set it to cook, remove the apple when it is done cooking. | STEP 11: Turn around, turn to the right and go forward to the fridge that is on the right. | STEP 12: Open the freezer, put the apple in the freezer and close the freezer. | END"
] | [
[
"STEP 1: Go forward, hang a left and go to the counter to the right of the stove. ",
" STEP 2: Pick up the big knife that is on the counter. ",
" STEP 3: Turn around and go to the fridge, hang a right, go forward to the counter with the paper towels on it that is on the left. ",
" STEP 4: Cut the apple that is on the counter behind the paper towels. ",
" STEP 5: Turn around, go to the right to the fridge that will be on the right. ",
" STEP 6: Open the fridge, put the knife inside, close the fridge. ",
" STEP 7: Go to the right, go to the counter where the apple is on the left. ",
" STEP 8: Pick up a piece of the apple. ",
" STEP 9: Turn around, then turn to the left, go forward to the microwave that is on the left. ",
" STEP 10: Put the apple in the microwave and set it to cook, remove the apple when it is done cooking. ",
" STEP 11: Turn around, turn to the right and go forward to the fridge that is on the right. ",
" STEP 12: Open the freezer, put the apple in the freezer and close the freezer. ",
" END"
]
] | "seen" |
"trial_T20190910_231732_446078-2" | "Place the warm apple slice in the fridge." | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
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""
],
[
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],
[
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],
[
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" 0",
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],
[
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],
[
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],
[
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],
[
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],
[
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],
[
"9",
" Egg",
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" 0.941",
" 0.465",
" 0",
" 0",
" 0",
" 57"
],
[
"10",
" Egg",
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" 0.215",
" 0.596",
" 0",
" 0",
" 0",
" 87"
],
[
"11",
" Cup",
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" 0",
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" 0",
" 62"
],
[
"12",
" Plate",
" -2.485",
" 1.302",
" -0.602",
" 0",
" 90",
" 0",
" 80"
],
[
"13",
" Knife",
" 1.684",
" 0.936",
" 0.494",
" 0",
" 0",
" 0",
" 57"
],
[
"14",
" Knife",
" 1.428",
" 0.936",
" -0.768",
" 0",
" 180",
" 0",
" 58"
],
[
"15",
" Tomato",
" -2.578",
" 1.342",
" -0.979",
" 0",
" 90",
" 0",
" 80"
],
[
"16",
" Bowl",
" 1.735",
" 1.660",
" -0.479",
" 0",
" 0",
" 0",
" 68"
],
[
"17",
" Bowl",
" -2.560",
" 1.535",
" 0.702",
" 0",
" 0",
" 0",
" 72"
],
[
"18",
" PepperShaker",
" 0.445",
" 1.658",
" -1.802",
" 0",
" 90",
" 0",
" 55"
],
[
"19",
" PepperShaker",
" -2.685",
" 1.928",
" -1.034",
" 0",
" 0",
" 0",
" 69"
],
[
"20",
" SaltShaker",
" -2.599",
" 1.533",
" 1.840",
" 0",
" 0",
" 0",
" 60"
],
[
"21",
" Lettuce",
" -0.471",
" 0.994",
" 0.870",
" 0",
" 0",
" 0",
" 48"
],
[
"22",
" Lettuce",
" -0.211",
" 0.994",
" 0.423",
" 0",
" 0",
" 0",
" 48"
],
[
"23",
" Mug",
" -2.704",
" 0.905",
" 1.230",
" 0",
" 0",
" 0",
" 76"
],
[
"24",
" Apple",
" -2.559",
" 0.656",
" -0.603",
" 0",
" 90",
" 0",
" 80"
],
[
"25",
" Pan",
" 0.0",
" 0.9",
" 0.948",
" 0",
" 29.999",
" 0",
" 48"
],
[
"26",
" Knife",
" -2.318",
" 0.798",
" 0.022",
" 0",
" 270",
" 0",
" 66"
],
[
"27",
" Apple",
" -2.455",
" 0.972",
" 0.931",
" 0",
" 0",
" 0",
" 76"
],
[
"28",
" Bowl",
" -2.277",
" 0.112",
" 1.423",
" 0",
" 0",
" 0",
" 54"
],
[
"29",
" Fork",
" 1.353",
" 0.919",
" -1.239",
" 0",
" 45",
" 0",
" 62"
],
[
"30",
" Bread",
" 0.048",
" 0.996",
" 0.647",
" 0",
" 0",
" 0",
" 48"
],
[
"31",
" Plate",
" -0.081",
" 0.913",
" 1.317",
" 0",
" 0",
" 0",
" 48"
],
[
"32",
" Egg",
" 1.684",
" 0.941",
" 0.435",
" 0",
" 0",
" 0",
" 57"
],
[
"33",
" Kettle",
" 1.412",
" 0.929",
" -0.335",
" 0",
" 0",
" 0",
" 49"
],
[
"34",
" Potato",
" -2.635",
" 1.051",
" 2.481",
" 0",
" 90",
" 0",
" 88"
],
[
"35",
" SaltShaker",
" -2.704",
" 0.905",
" 0.331",
" 0",
" 0",
" 0",
" 76"
],
[
"36",
" Lettuce",
" -0.341",
" 0.994",
" 1.764",
" 0",
" 0",
" 0",
" 48"
],
[
"37",
" Cup",
" -2.420",
" 0.592",
" -1.051",
" 0",
" 90",
" 0",
" 80"
],
[
"38",
" SoapBottle",
" -2.206",
" 0.912",
" 0.031",
" 0",
" 0",
" 0",
" 76"
],
[
"39",
" Spatula",
" -2.372",
" 0.925",
" 0.031",
" 0",
" 0",
" 0",
" 76"
],
[
"40",
" PaperTowelRoll",
" -2.206",
" 1.015",
" 0.931",
" 0",
" 0",
" 0",
" 76"
],
[
"41",
" ButterKnife",
" -0.211",
" 0.910",
" 1.540",
" 0",
" 0",
" 0",
" 48"
],
[
"42",
" PepperShaker",
" -2.560",
" 1.533",
" 1.768",
" 0",
" 180",
" 0",
" 60"
],
[
"43",
" DishSponge",
" 1.415",
" 0.922",
" -1.247",
" 0",
" 225",
" 0",
" 62"
],
[
"44",
" Pot",
" -2.311",
" 0.105",
" 0.895",
" 0",
" 270",
" 0",
" 74"
],
[
"45",
" Spoon",
" -2.318",
" 0.775",
" 0.809",
" 0",
" 90",
" 0",
" 53"
],
[
"46",
" Tomato",
" -2.206",
" 0.953",
" 0.631",
" 0",
" 0",
" 0",
" 76"
],
[
"47",
" Mug",
" 0.464",
" 0.955",
" -1.593",
" 0",
" 0",
" 0",
" 58"
],
[
"48",
" CounterTop",
" -0.360",
" 0.946",
" 1.093",
" 0",
" 0",
" 0",
""
],
[
"49",
" StoveBurner",
" 1.412",
" 0.923",
" -0.335",
" 0",
" 0",
" 0",
""
],
[
"50",
" StoveKnob",
" 1.878",
" 1.093",
" 0.018",
" 287.989",
" 90",
" 0",
""
],
[
"51",
" StoveKnob",
" 1.878",
" 1.093",
" -0.306",
" 287.989",
" 90",
" 0",
""
],
[
"52",
" Cabinet",
" -2.446",
" 1.948",
" 2.924",
" 0",
" 0",
" 0",
""
],
[
"53",
" Drawer",
" -2.276",
" 0.792",
" 0.902",
" 0",
" 0",
" 0",
""
],
[
"54",
" Cabinet",
" -2.145",
" 0.402",
" 1.578",
" 0",
" 0",
" 0",
""
],
[
"55",
" Cabinet",
" 0.149",
" 2.008",
" -1.603",
" 0",
" 90",
" 0",
""
],
[
"56",
" StoveBurner",
" 1.691",
" 0.923",
" -0.335",
" 0",
" 0",
" 0",
""
],
[
"57",
" CounterTop",
" 1.585",
" 0.946",
" 0.405",
" 0",
" 0",
" 0",
""
],
[
"58",
" CounterTop",
" 0.474",
" 0.946",
" -1.625",
" 0",
" 0",
" 0",
""
],
[
"59",
" StoveBurner",
" 1.691",
" 0.923",
" 0.064",
" 0",
" 0",
" 0",
""
],
[
"60",
" Cabinet",
" -2.446",
" 1.948",
" 1.687",
" 0",
" 0",
" 0",
""
],
[
"61",
" Cabinet",
" -2.446",
" 1.948",
" 1.640",
" 0",
" 0",
" 0",
""
],
[
"62",
" Sink",
" 1.381",
" 0.810",
" -1.271",
" 0",
" 225",
" 0",
""
],
[
"63",
" StoveKnob",
" 1.878",
" 1.093",
" 0.150",
" 287.989",
" 90",
" 0",
""
],
[
"64",
" Cabinet",
" -2.145",
" 0.402",
" -0.236",
" 0",
" 0",
" 0",
""
],
[
"65",
" Drawer",
" -2.276",
" 0.792",
" 0.437",
" 0",
" 0",
" 0",
""
],
[
"66",
" Drawer",
" -2.276",
" 0.792",
" -0.027",
" 0",
" 0",
" 0",
""
],
[
"67",
" Cabinet",
" 1.572",
" 2.008",
" 0.474",
" 0",
" 0",
" 0",
""
],
[
"68",
" Cabinet",
" 1.572",
" 2.008",
" -0.775",
" 0",
" 0",
" 0",
""
],
[
"69",
" Cabinet",
" -2.445",
" 2.148",
" -1.275",
" 0",
" 0",
" 0",
""
],
[
"70",
" Cabinet",
" -2.446",
" 2.148",
" -0.284",
" 0",
" 0",
" 0",
""
],
[
"71",
" Cabinet",
" -2.446",
" 1.948",
" 0.355",
" 0",
" 0",
" 0",
""
],
[
"72",
" Cabinet",
" -2.446",
" 1.948",
" 0.405",
" 0",
" 0",
" 0",
""
],
[
"73",
" Cabinet",
" -2.145",
" 0.402",
" 0.644",
" 0",
" 0",
" 0",
""
],
[
"74",
" Cabinet",
" -2.145",
" 0.402",
" 0.695",
" 0",
" 0",
" 0",
""
],
[
"75",
" Cabinet",
" -2.285",
" 1.968",
" -1.325",
" 0",
" 180",
" 0",
""
],
[
"76",
" CounterTop",
" -1.485",
" 0.946",
" 1.319",
" 0",
" 0",
" 0",
""
],
[
"77",
" StoveBurner",
" 1.411",
" 0.923",
" 0.064",
" 0",
" 0",
" 0",
""
],
[
"78",
" StoveKnob",
" 1.878",
" 1.093",
" -0.441",
" 287.989",
" 90",
" 0",
""
],
[
"79",
" Drawer",
" -2.276",
" 0.792",
" 1.368",
" 0",
" 0",
" 0",
""
],
[
"80",
" Fridge",
" -2.475",
" 0.0",
" -0.782",
" 0",
" 90",
" 0",
""
],
[
"81",
" LightSwitch",
" -0.929",
" 1.350",
" -1.950",
" 0",
" 0",
" 0",
""
],
[
"82",
" Toaster",
" -2.564",
" 0.900",
" 1.876",
" 0",
" 90",
" 0",
""
],
[
"83",
" CoffeeMachine",
" 0.464",
" 0.900",
" -1.810",
" 0",
" 0",
" 0",
""
],
[
"84",
" Window",
" 1.508",
" 1.534",
" -1.496",
" 90",
" 135",
" 0",
""
],
[
"85",
" Window",
" 1.973",
" 1.521",
" 1.121",
" 90",
" 90",
" 0",
""
],
[
"86",
" SinkBasin",
" 1.149",
" 0.753",
" -1.380",
" 0",
" 225",
" 0",
""
],
[
"87",
" GarbageCan",
" 1.646",
" -0.000",
" 0.679",
" 0",
" 0",
" 0",
""
],
[
"88",
" Microwave",
" -2.580",
" 0.900",
" 2.440",
" 0",
" 90",
" 0",
""
],
[
"89",
" Stool",
" 0.439",
" 0.010",
" 0.747",
" 0",
" 0",
" 0",
""
],
[
"90",
" Stool",
" -2.303",
" 0.010",
" 1.839",
" 0",
" 0",
" 0",
""
],
[
"91",
" Faucet",
" 1.235",
" 1.138",
" -1.473",
" 0",
" 225",
" 0",
""
],
[
"92",
" NorthWall",
" ",
" ",
" ",
" ",
" ",
" ",
""
],
[
"93",
" EastWall",
" ",
" ",
" ",
" ",
" ",
" ",
""
],
[
"94",
" SouthWall",
" ",
" ",
" ",
" ",
" ",
" ",
""
],
[
"95",
" WestWall",
" ",
" ",
" ",
" ",
" ",
" ",
""
]
] | " id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent 0.5 0.900 0.25 0 180 0
1 Potato -2.455 0.947 0.331 0 0 0 76
2 DishSponge -2.257 0.773 1.370 0 0 0 79
3 DishSponge 1.646 0.184 0.706 0 0 0 87
4 Kettle 1.691 0.929 -0.335 0 0 0 56
5 Kettle 1.691 0.929 0.064 0 0 0 59
6 Spoon 1.391 0.919 -1.061 0 225 0 62
7 Spoon 1.426 0.912 0.465 0 0 0 57
8 Spatula -2.704 0.925 0.931 0 90 0 76
9 Egg 1.855 0.941 0.465 0 0 0 57
10 Egg 1.520 0.215 0.596 0 0 0 87
11 Cup 1.329 0.916 -1.053 0 225 0 62
12 Plate -2.485 1.302 -0.602 0 90 0 80
13 Knife 1.684 0.936 0.494 0 0 0 57
14 Knife 1.428 0.936 -0.768 0 180 0 58
15 Tomato -2.578 1.342 -0.979 0 90 0 80
16 Bowl 1.735 1.660 -0.479 0 0 0 68
17 Bowl -2.560 1.535 0.702 0 0 0 72
18 PepperShaker 0.445 1.658 -1.802 0 90 0 55
19 PepperShaker -2.685 1.928 -1.034 0 0 0 69
20 SaltShaker -2.599 1.533 1.840 0 0 0 60
21 Lettuce -0.471 0.994 0.870 0 0 0 48
22 Lettuce -0.211 0.994 0.423 0 0 0 48
23 Mug -2.704 0.905 1.230 0 0 0 76
24 Apple -2.559 0.656 -0.603 0 90 0 80
25 Pan 0.0 0.9 0.948 0 29.999 0 48
26 Knife -2.318 0.798 0.022 0 270 0 66
27 Apple -2.455 0.972 0.931 0 0 0 76
28 Bowl -2.277 0.112 1.423 0 0 0 54
29 Fork 1.353 0.919 -1.239 0 45 0 62
30 Bread 0.048 0.996 0.647 0 0 0 48
31 Plate -0.081 0.913 1.317 0 0 0 48
32 Egg 1.684 0.941 0.435 0 0 0 57
33 Kettle 1.412 0.929 -0.335 0 0 0 49
34 Potato -2.635 1.051 2.481 0 90 0 88
35 SaltShaker -2.704 0.905 0.331 0 0 0 76
36 Lettuce -0.341 0.994 1.764 0 0 0 48
37 Cup -2.420 0.592 -1.051 0 90 0 80
38 SoapBottle -2.206 0.912 0.031 0 0 0 76
39 Spatula -2.372 0.925 0.031 0 0 0 76
40 PaperTowelRoll -2.206 1.015 0.931 0 0 0 76
41 ButterKnife -0.211 0.910 1.540 0 0 0 48
42 PepperShaker -2.560 1.533 1.768 0 180 0 60
43 DishSponge 1.415 0.922 -1.247 0 225 0 62
44 Pot -2.311 0.105 0.895 0 270 0 74
45 Spoon -2.318 0.775 0.809 0 90 0 53
46 Tomato -2.206 0.953 0.631 0 0 0 76
47 Mug 0.464 0.955 -1.593 0 0 0 58
48 CounterTop -0.360 0.946 1.093 0 0 0
49 StoveBurner 1.412 0.923 -0.335 0 0 0
50 StoveKnob 1.878 1.093 0.018 287.989 90 0
51 StoveKnob 1.878 1.093 -0.306 287.989 90 0
52 Cabinet -2.446 1.948 2.924 0 0 0
53 Drawer -2.276 0.792 0.902 0 0 0
54 Cabinet -2.145 0.402 1.578 0 0 0
55 Cabinet 0.149 2.008 -1.603 0 90 0
56 StoveBurner 1.691 0.923 -0.335 0 0 0
57 CounterTop 1.585 0.946 0.405 0 0 0
58 CounterTop 0.474 0.946 -1.625 0 0 0
59 StoveBurner 1.691 0.923 0.064 0 0 0
60 Cabinet -2.446 1.948 1.687 0 0 0
61 Cabinet -2.446 1.948 1.640 0 0 0
62 Sink 1.381 0.810 -1.271 0 225 0
63 StoveKnob 1.878 1.093 0.150 287.989 90 0
64 Cabinet -2.145 0.402 -0.236 0 0 0
65 Drawer -2.276 0.792 0.437 0 0 0
66 Drawer -2.276 0.792 -0.027 0 0 0
67 Cabinet 1.572 2.008 0.474 0 0 0
68 Cabinet 1.572 2.008 -0.775 0 0 0
69 Cabinet -2.445 2.148 -1.275 0 0 0
70 Cabinet -2.446 2.148 -0.284 0 0 0
71 Cabinet -2.446 1.948 0.355 0 0 0
72 Cabinet -2.446 1.948 0.405 0 0 0
73 Cabinet -2.145 0.402 0.644 0 0 0
74 Cabinet -2.145 0.402 0.695 0 0 0
75 Cabinet -2.285 1.968 -1.325 0 180 0
76 CounterTop -1.485 0.946 1.319 0 0 0
77 StoveBurner 1.411 0.923 0.064 0 0 0
78 StoveKnob 1.878 1.093 -0.441 287.989 90 0
79 Drawer -2.276 0.792 1.368 0 0 0
80 Fridge -2.475 0.0 -0.782 0 90 0
81 LightSwitch -0.929 1.350 -1.950 0 0 0
82 Toaster -2.564 0.900 1.876 0 90 0
83 CoffeeMachine 0.464 0.900 -1.810 0 0 0
84 Window 1.508 1.534 -1.496 90 135 0
85 Window 1.973 1.521 1.121 90 90 0
86 SinkBasin 1.149 0.753 -1.380 0 225 0
87 GarbageCan 1.646 -0.000 0.679 0 0 0
88 Microwave -2.580 0.900 2.440 0 90 0
89 Stool 0.439 0.010 0.747 0 0 0
90 Stool -2.303 0.010 1.839 0 0 0
91 Faucet 1.235 1.138 -1.473 0 225 0
92 NorthWall
93 EastWall
94 SouthWall
95 WestWall" | [
"STEP 1: Turn to the left, walk to the right of the stove. | STEP 2: Pick up the knife. | STEP 3: Turn around, cross the room, face the counter to the right of the fridge. | STEP 4: Cut the apple on the counter. | STEP 5: Go to the left to the fridge. | STEP 6: Put the knife on the top shelf of the bottom part of the fridge. | STEP 7: Turn right, walk to the center of the counter on the left. | STEP 8: Pick up a slice of apple. | STEP 9: Walk to the right to the microwave. | STEP 10: Heat the apple slice in the microwave for a few seconds, take the apple slice back out. | STEP 11: Walk to left to the fridge. | STEP 12: Put the apple slice in the top part of the fridge. | END"
] | [
[
"STEP 1: Turn to the left, walk to the right of the stove. ",
" STEP 2: Pick up the knife. ",
" STEP 3: Turn around, cross the room, face the counter to the right of the fridge. ",
" STEP 4: Cut the apple on the counter. ",
" STEP 5: Go to the left to the fridge. ",
" STEP 6: Put the knife on the top shelf of the bottom part of the fridge. ",
" STEP 7: Turn right, walk to the center of the counter on the left. ",
" STEP 8: Pick up a slice of apple. ",
" STEP 9: Walk to the right to the microwave. ",
" STEP 10: Heat the apple slice in the microwave for a few seconds, take the apple slice back out. ",
" STEP 11: Walk to left to the fridge. ",
" STEP 12: Put the apple slice in the top part of the fridge. ",
" END"
]
] | "seen" |
"trial_T20190907_144839_536922-0" | "Put the sponge on the back of the toilet." | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -2.0",
" 0.913",
" 0.5",
" 0",
" 0",
" 0",
""
],
[
"1",
" TissueBox",
" -0.208",
" 0.963",
" -1.993",
" 0",
" 0",
" 0",
" 24"
],
[
"2",
" TissueBox",
" 0.270",
" 0.963",
" -2.275",
" 0",
" 0",
" 0",
" 24"
],
[
"3",
" DishSponge",
" -3.034",
" 0.245",
" 1.317",
" 0",
" 90",
" 0",
" 43"
],
[
"4",
" SoapBottle",
" 0.135",
" 0.976",
" 2.250",
" 0",
" 270",
" 0",
" 38"
],
[
"5",
" Candle",
" -0.208",
" 0.962",
" -2.181",
" 0",
" 0",
" 0",
" 24"
],
[
"6",
" HandTowel",
" -0.885",
" 1.617",
" -2.503",
" 0",
" 180",
" 0",
" 33"
],
[
"7",
" Towel",
" 0.465",
" 1.21",
" -1.095",
" 0",
" 270",
" 0",
" 29"
],
[
"8",
" SoapBottle",
" -0.368",
" 0.973",
" -1.805",
" 0",
" 0",
" 0",
" 24"
],
[
"9",
" SoapBar",
" -2.796",
" 0.884",
" 0.639",
" 0",
" 90",
" 0",
" 40"
],
[
"10",
" ToiletPaper",
" -0.178",
" 0.957",
" 2.268",
" 0",
" 0",
" 0",
" 38"
],
[
"11",
" Plunger",
" 0.506",
" 0.011",
" 2.268",
" 0",
" 0",
" 0",
" Floor|-00.35|"
],
[
"12",
" SprayBottle",
" -0.527",
" 0.959",
" -1.805",
" 0",
" 0",
" 0",
" 24"
],
[
"13",
" TissueBox",
" 1.142",
" 0.624",
" -2.168",
" 0",
" 0",
" 0",
" 32"
],
[
"14",
" ToiletPaper",
" 0.430",
" 0.959",
" -2.181",
" 0",
" 0",
" 0",
" 24"
],
[
"15",
" ScrubBrush",
" 0.342",
" 0.012",
" 2.072",
" 0",
" 0",
" 0",
" Floor|-00.35|"
],
[
"16",
" Cloth",
" 0.111",
" 0.961",
" -1.993",
" 0",
" 0",
" 0",
" 24"
],
[
"17",
" DishSponge",
" -2.246",
" 0.078",
" -1.251",
" 0",
" 45",
" 0",
" 24"
],
[
"18",
" Footstool",
" -0.325",
" 0.297",
" -1.98",
" 0",
" 0",
" 0",
" Floor|-00.35|"
],
[
"19",
" Bathtub",
" -1.957",
" 0.494",
" -1.233",
" 0",
" 0",
" 0",
""
],
[
"20",
" ShowerDoor",
" 0.650",
" 1.413",
" 2.169",
" 0",
" 0",
" 0",
""
],
[
"21",
" ShowerGlass",
" 0.0",
" 0.0",
" 0.0",
" 0",
" 0",
" 0",
""
],
[
"22",
" Drawer",
" 0.300",
" 0.304",
" -1.820",
" 0",
" 0",
" 0",
""
],
[
"23",
" Mirror",
" -0.046",
" 1.512",
" -2.538",
" 0",
" 0",
" 0",
""
],
[
"24",
" CounterTop",
" 0.196",
" 0.430",
" -2.010",
" 0",
" 0",
" 0",
""
],
[
"25",
" Sink",
" -2.796",
" 0.328",
" 0.755",
" 0",
" 90",
" 0",
""
],
[
"26",
" Drawer",
" 0.300",
" 0.833",
" -1.820",
" 0",
" 0",
" 0",
""
],
[
"27",
" Drawer",
" 0.300",
" 0.682",
" -1.820",
" 0",
" 0",
" 0",
""
],
[
"28",
" Drawer",
" 0.300",
" 0.492",
" -1.820",
" 0",
" 0",
" 0",
""
],
[
"29",
" TowelHolder",
" 0.572",
" 1.195",
" -1.095",
" 0",
" 270",
" 0",
""
],
[
"30",
" GarbageCan",
" -0.564",
" 0.010",
" 2.061",
" 0",
" 195.0",
" 0",
""
],
[
"31",
" ToiletPaperHanger",
" -0.574",
" 0.926",
" 2.407",
" 0",
" 180",
" 0",
""
],
[
"32",
" Shelf",
" 1.536",
" 0.613",
" -2.242",
" 0",
" 0",
" 0",
""
],
[
"33",
" HandTowelHolder",
" -0.884",
" 1.718",
" -2.542",
" 0",
" 270",
" 0",
""
],
[
"34",
" Window",
" -3.170",
" 1.812",
" -1.697",
" 90",
" 90",
" 0",
""
],
[
"35",
" Window",
" -3.170",
" 1.812",
" 1.597",
" 90",
" 90",
" 0",
""
],
[
"36",
" Window",
" -2.144",
" 1.809",
" -2.573",
" 90",
" 0",
" 0",
""
],
[
"37",
" Window",
" -3.170",
" 1.812",
" -0.054",
" 90",
" 90",
" 0",
""
],
[
"38",
" Toilet",
" -0.064",
" 0.012",
" 1.838",
" 0",
" 180",
" 0",
""
],
[
"39",
" LightSwitch",
" -1.406",
" 1.472",
" 2.407",
" 0",
" 180",
" 0",
""
],
[
"40",
" SinkBasin",
" -2.796",
" 0.875",
" 0.765",
" 0",
" 90",
" 0",
""
],
[
"41",
" ShowerHead",
" 1.591",
" 1.700",
" -2.424",
" 0",
" 90",
" 0",
""
],
[
"42",
" Faucet",
" -2.676",
" 0.423",
" -0.312",
" 0",
" 99.958",
" 0",
""
],
[
"43",
" SideTable",
" -2.847",
" 0.013",
" 1.509",
" 0",
" 90",
" 0",
""
],
[
"44",
" Faucet",
" -3.106",
" 1.056",
" 0.757",
" 0",
" 90",
" 0",
""
],
[
"45",
" ",
" ",
" ",
" ",
" ",
" ",
" ",
""
],
[
"46",
" NorthWall",
" ",
" ",
" ",
" ",
" ",
" ",
""
],
[
"47",
" EastWall",
" ",
" ",
" ",
" ",
" ",
" ",
""
],
[
"48",
" SouthWall",
" ",
" ",
" ",
" ",
" ",
" ",
""
],
[
"49",
" WestWall",
" ",
" ",
" ",
" ",
" ",
" ",
""
]
] | " id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -2.0 0.913 0.5 0 0 0
1 TissueBox -0.208 0.963 -1.993 0 0 0 24
2 TissueBox 0.270 0.963 -2.275 0 0 0 24
3 DishSponge -3.034 0.245 1.317 0 90 0 43
4 SoapBottle 0.135 0.976 2.250 0 270 0 38
5 Candle -0.208 0.962 -2.181 0 0 0 24
6 HandTowel -0.885 1.617 -2.503 0 180 0 33
7 Towel 0.465 1.21 -1.095 0 270 0 29
8 SoapBottle -0.368 0.973 -1.805 0 0 0 24
9 SoapBar -2.796 0.884 0.639 0 90 0 40
10 ToiletPaper -0.178 0.957 2.268 0 0 0 38
11 Plunger 0.506 0.011 2.268 0 0 0 Floor|-00.35|
12 SprayBottle -0.527 0.959 -1.805 0 0 0 24
13 TissueBox 1.142 0.624 -2.168 0 0 0 32
14 ToiletPaper 0.430 0.959 -2.181 0 0 0 24
15 ScrubBrush 0.342 0.012 2.072 0 0 0 Floor|-00.35|
16 Cloth 0.111 0.961 -1.993 0 0 0 24
17 DishSponge -2.246 0.078 -1.251 0 45 0 24
18 Footstool -0.325 0.297 -1.98 0 0 0 Floor|-00.35|
19 Bathtub -1.957 0.494 -1.233 0 0 0
20 ShowerDoor 0.650 1.413 2.169 0 0 0
21 ShowerGlass 0.0 0.0 0.0 0 0 0
22 Drawer 0.300 0.304 -1.820 0 0 0
23 Mirror -0.046 1.512 -2.538 0 0 0
24 CounterTop 0.196 0.430 -2.010 0 0 0
25 Sink -2.796 0.328 0.755 0 90 0
26 Drawer 0.300 0.833 -1.820 0 0 0
27 Drawer 0.300 0.682 -1.820 0 0 0
28 Drawer 0.300 0.492 -1.820 0 0 0
29 TowelHolder 0.572 1.195 -1.095 0 270 0
30 GarbageCan -0.564 0.010 2.061 0 195.0 0
31 ToiletPaperHanger -0.574 0.926 2.407 0 180 0
32 Shelf 1.536 0.613 -2.242 0 0 0
33 HandTowelHolder -0.884 1.718 -2.542 0 270 0
34 Window -3.170 1.812 -1.697 90 90 0
35 Window -3.170 1.812 1.597 90 90 0
36 Window -2.144 1.809 -2.573 90 0 0
37 Window -3.170 1.812 -0.054 90 90 0
38 Toilet -0.064 0.012 1.838 0 180 0
39 LightSwitch -1.406 1.472 2.407 0 180 0
40 SinkBasin -2.796 0.875 0.765 0 90 0
41 ShowerHead 1.591 1.700 -2.424 0 90 0
42 Faucet -2.676 0.423 -0.312 0 99.958 0
43 SideTable -2.847 0.013 1.509 0 90 0
44 Faucet -3.106 1.056 0.757 0 90 0
45
46 NorthWall
47 EastWall
48 SouthWall
49 WestWall" | [
"STEP 1: Turn left and go to the shelf. | STEP 2: Pick up the sponge. | STEP 3: Turn around and walk to the toilet | STEP 4: Put the sponge on the back of the toilet. | END"
] | [
[
"STEP 1: Turn left and go to the shelf. ",
" STEP 2: Pick up the sponge. ",
" STEP 3: Turn around and walk to the toilet ",
" STEP 4: Put the sponge on the back of the toilet. ",
" END"
]
] | "seen" |
"trial_T20190907_144839_536922-1" | "Put a sponge on the back of the toilet." | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -2.0",
" 0.913",
" 0.5",
" 0",
" 0",
" 0",
""
],
[
"1",
" TissueBox",
" -0.208",
" 0.963",
" -1.993",
" 0",
" 0",
" 0",
" 24"
],
[
"2",
" TissueBox",
" 0.270",
" 0.963",
" -2.275",
" 0",
" 0",
" 0",
" 24"
],
[
"3",
" DishSponge",
" -3.034",
" 0.245",
" 1.317",
" 0",
" 90",
" 0",
" 43"
],
[
"4",
" SoapBottle",
" 0.135",
" 0.976",
" 2.250",
" 0",
" 270",
" 0",
" 38"
],
[
"5",
" Candle",
" -0.208",
" 0.962",
" -2.181",
" 0",
" 0",
" 0",
" 24"
],
[
"6",
" HandTowel",
" -0.885",
" 1.617",
" -2.503",
" 0",
" 180",
" 0",
" 33"
],
[
"7",
" Towel",
" 0.465",
" 1.21",
" -1.095",
" 0",
" 270",
" 0",
" 29"
],
[
"8",
" SoapBottle",
" -0.368",
" 0.973",
" -1.805",
" 0",
" 0",
" 0",
" 24"
],
[
"9",
" SoapBar",
" -2.796",
" 0.884",
" 0.639",
" 0",
" 90",
" 0",
" 40"
],
[
"10",
" ToiletPaper",
" -0.178",
" 0.957",
" 2.268",
" 0",
" 0",
" 0",
" 38"
],
[
"11",
" Plunger",
" 0.506",
" 0.011",
" 2.268",
" 0",
" 0",
" 0",
" Floor|-00.35|"
],
[
"12",
" SprayBottle",
" -0.527",
" 0.959",
" -1.805",
" 0",
" 0",
" 0",
" 24"
],
[
"13",
" TissueBox",
" 1.142",
" 0.624",
" -2.168",
" 0",
" 0",
" 0",
" 32"
],
[
"14",
" ToiletPaper",
" 0.430",
" 0.959",
" -2.181",
" 0",
" 0",
" 0",
" 24"
],
[
"15",
" ScrubBrush",
" 0.342",
" 0.012",
" 2.072",
" 0",
" 0",
" 0",
" Floor|-00.35|"
],
[
"16",
" Cloth",
" 0.111",
" 0.961",
" -1.993",
" 0",
" 0",
" 0",
" 24"
],
[
"17",
" DishSponge",
" -2.246",
" 0.078",
" -1.251",
" 0",
" 45",
" 0",
" 24"
],
[
"18",
" Footstool",
" -0.325",
" 0.297",
" -1.98",
" 0",
" 0",
" 0",
" Floor|-00.35|"
],
[
"19",
" Bathtub",
" -1.957",
" 0.494",
" -1.233",
" 0",
" 0",
" 0",
""
],
[
"20",
" ShowerDoor",
" 0.650",
" 1.413",
" 2.169",
" 0",
" 0",
" 0",
""
],
[
"21",
" ShowerGlass",
" 0.0",
" 0.0",
" 0.0",
" 0",
" 0",
" 0",
""
],
[
"22",
" Drawer",
" 0.300",
" 0.304",
" -1.820",
" 0",
" 0",
" 0",
""
],
[
"23",
" Mirror",
" -0.046",
" 1.512",
" -2.538",
" 0",
" 0",
" 0",
""
],
[
"24",
" CounterTop",
" 0.196",
" 0.430",
" -2.010",
" 0",
" 0",
" 0",
""
],
[
"25",
" Sink",
" -2.796",
" 0.328",
" 0.755",
" 0",
" 90",
" 0",
""
],
[
"26",
" Drawer",
" 0.300",
" 0.833",
" -1.820",
" 0",
" 0",
" 0",
""
],
[
"27",
" Drawer",
" 0.300",
" 0.682",
" -1.820",
" 0",
" 0",
" 0",
""
],
[
"28",
" Drawer",
" 0.300",
" 0.492",
" -1.820",
" 0",
" 0",
" 0",
""
],
[
"29",
" TowelHolder",
" 0.572",
" 1.195",
" -1.095",
" 0",
" 270",
" 0",
""
],
[
"30",
" GarbageCan",
" -0.564",
" 0.010",
" 2.061",
" 0",
" 195.0",
" 0",
""
],
[
"31",
" ToiletPaperHanger",
" -0.574",
" 0.926",
" 2.407",
" 0",
" 180",
" 0",
""
],
[
"32",
" Shelf",
" 1.536",
" 0.613",
" -2.242",
" 0",
" 0",
" 0",
""
],
[
"33",
" HandTowelHolder",
" -0.884",
" 1.718",
" -2.542",
" 0",
" 270",
" 0",
""
],
[
"34",
" Window",
" -3.170",
" 1.812",
" -1.697",
" 90",
" 90",
" 0",
""
],
[
"35",
" Window",
" -3.170",
" 1.812",
" 1.597",
" 90",
" 90",
" 0",
""
],
[
"36",
" Window",
" -2.144",
" 1.809",
" -2.573",
" 90",
" 0",
" 0",
""
],
[
"37",
" Window",
" -3.170",
" 1.812",
" -0.054",
" 90",
" 90",
" 0",
""
],
[
"38",
" Toilet",
" -0.064",
" 0.012",
" 1.838",
" 0",
" 180",
" 0",
""
],
[
"39",
" LightSwitch",
" -1.406",
" 1.472",
" 2.407",
" 0",
" 180",
" 0",
""
],
[
"40",
" SinkBasin",
" -2.796",
" 0.875",
" 0.765",
" 0",
" 90",
" 0",
""
],
[
"41",
" ShowerHead",
" 1.591",
" 1.700",
" -2.424",
" 0",
" 90",
" 0",
""
],
[
"42",
" Faucet",
" -2.676",
" 0.423",
" -0.312",
" 0",
" 99.958",
" 0",
""
],
[
"43",
" SideTable",
" -2.847",
" 0.013",
" 1.509",
" 0",
" 90",
" 0",
""
],
[
"44",
" Faucet",
" -3.106",
" 1.056",
" 0.757",
" 0",
" 90",
" 0",
""
],
[
"45",
" ",
" ",
" ",
" ",
" ",
" ",
" ",
""
],
[
"46",
" NorthWall",
" ",
" ",
" ",
" ",
" ",
" ",
""
],
[
"47",
" EastWall",
" ",
" ",
" ",
" ",
" ",
" ",
""
],
[
"48",
" SouthWall",
" ",
" ",
" ",
" ",
" ",
" ",
""
],
[
"49",
" WestWall",
" ",
" ",
" ",
" ",
" ",
" ",
""
]
] | " id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -2.0 0.913 0.5 0 0 0
1 TissueBox -0.208 0.963 -1.993 0 0 0 24
2 TissueBox 0.270 0.963 -2.275 0 0 0 24
3 DishSponge -3.034 0.245 1.317 0 90 0 43
4 SoapBottle 0.135 0.976 2.250 0 270 0 38
5 Candle -0.208 0.962 -2.181 0 0 0 24
6 HandTowel -0.885 1.617 -2.503 0 180 0 33
7 Towel 0.465 1.21 -1.095 0 270 0 29
8 SoapBottle -0.368 0.973 -1.805 0 0 0 24
9 SoapBar -2.796 0.884 0.639 0 90 0 40
10 ToiletPaper -0.178 0.957 2.268 0 0 0 38
11 Plunger 0.506 0.011 2.268 0 0 0 Floor|-00.35|
12 SprayBottle -0.527 0.959 -1.805 0 0 0 24
13 TissueBox 1.142 0.624 -2.168 0 0 0 32
14 ToiletPaper 0.430 0.959 -2.181 0 0 0 24
15 ScrubBrush 0.342 0.012 2.072 0 0 0 Floor|-00.35|
16 Cloth 0.111 0.961 -1.993 0 0 0 24
17 DishSponge -2.246 0.078 -1.251 0 45 0 24
18 Footstool -0.325 0.297 -1.98 0 0 0 Floor|-00.35|
19 Bathtub -1.957 0.494 -1.233 0 0 0
20 ShowerDoor 0.650 1.413 2.169 0 0 0
21 ShowerGlass 0.0 0.0 0.0 0 0 0
22 Drawer 0.300 0.304 -1.820 0 0 0
23 Mirror -0.046 1.512 -2.538 0 0 0
24 CounterTop 0.196 0.430 -2.010 0 0 0
25 Sink -2.796 0.328 0.755 0 90 0
26 Drawer 0.300 0.833 -1.820 0 0 0
27 Drawer 0.300 0.682 -1.820 0 0 0
28 Drawer 0.300 0.492 -1.820 0 0 0
29 TowelHolder 0.572 1.195 -1.095 0 270 0
30 GarbageCan -0.564 0.010 2.061 0 195.0 0
31 ToiletPaperHanger -0.574 0.926 2.407 0 180 0
32 Shelf 1.536 0.613 -2.242 0 0 0
33 HandTowelHolder -0.884 1.718 -2.542 0 270 0
34 Window -3.170 1.812 -1.697 90 90 0
35 Window -3.170 1.812 1.597 90 90 0
36 Window -2.144 1.809 -2.573 90 0 0
37 Window -3.170 1.812 -0.054 90 90 0
38 Toilet -0.064 0.012 1.838 0 180 0
39 LightSwitch -1.406 1.472 2.407 0 180 0
40 SinkBasin -2.796 0.875 0.765 0 90 0
41 ShowerHead 1.591 1.700 -2.424 0 90 0
42 Faucet -2.676 0.423 -0.312 0 99.958 0
43 SideTable -2.847 0.013 1.509 0 90 0
44 Faucet -3.106 1.056 0.757 0 90 0
45
46 NorthWall
47 EastWall
48 SouthWall
49 WestWall" | [
"STEP 1: Go straight, then turn left at the metal shelf. | STEP 2: Take the sponge from the shelf. | STEP 3: Turn right, then turn right, then go straight, to the toilet. | STEP 4: Place the sponge on the back of the toilet. | END"
] | [
[
"STEP 1: Go straight, then turn left at the metal shelf. ",
" STEP 2: Take the sponge from the shelf. ",
" STEP 3: Turn right, then turn right, then go straight, to the toilet. ",
" STEP 4: Place the sponge on the back of the toilet. ",
" END"
]
] | "seen" |
"trial_T20190907_144839_536922-2" | "Place a sponge on the top of a toilet." | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -2.0",
" 0.913",
" 0.5",
" 0",
" 0",
" 0",
""
],
[
"1",
" TissueBox",
" -0.208",
" 0.963",
" -1.993",
" 0",
" 0",
" 0",
" 24"
],
[
"2",
" TissueBox",
" 0.270",
" 0.963",
" -2.275",
" 0",
" 0",
" 0",
" 24"
],
[
"3",
" DishSponge",
" -3.034",
" 0.245",
" 1.317",
" 0",
" 90",
" 0",
" 43"
],
[
"4",
" SoapBottle",
" 0.135",
" 0.976",
" 2.250",
" 0",
" 270",
" 0",
" 38"
],
[
"5",
" Candle",
" -0.208",
" 0.962",
" -2.181",
" 0",
" 0",
" 0",
" 24"
],
[
"6",
" HandTowel",
" -0.885",
" 1.617",
" -2.503",
" 0",
" 180",
" 0",
" 33"
],
[
"7",
" Towel",
" 0.465",
" 1.21",
" -1.095",
" 0",
" 270",
" 0",
" 29"
],
[
"8",
" SoapBottle",
" -0.368",
" 0.973",
" -1.805",
" 0",
" 0",
" 0",
" 24"
],
[
"9",
" SoapBar",
" -2.796",
" 0.884",
" 0.639",
" 0",
" 90",
" 0",
" 40"
],
[
"10",
" ToiletPaper",
" -0.178",
" 0.957",
" 2.268",
" 0",
" 0",
" 0",
" 38"
],
[
"11",
" Plunger",
" 0.506",
" 0.011",
" 2.268",
" 0",
" 0",
" 0",
" Floor|-00.35|"
],
[
"12",
" SprayBottle",
" -0.527",
" 0.959",
" -1.805",
" 0",
" 0",
" 0",
" 24"
],
[
"13",
" TissueBox",
" 1.142",
" 0.624",
" -2.168",
" 0",
" 0",
" 0",
" 32"
],
[
"14",
" ToiletPaper",
" 0.430",
" 0.959",
" -2.181",
" 0",
" 0",
" 0",
" 24"
],
[
"15",
" ScrubBrush",
" 0.342",
" 0.012",
" 2.072",
" 0",
" 0",
" 0",
" Floor|-00.35|"
],
[
"16",
" Cloth",
" 0.111",
" 0.961",
" -1.993",
" 0",
" 0",
" 0",
" 24"
],
[
"17",
" DishSponge",
" -2.246",
" 0.078",
" -1.251",
" 0",
" 45",
" 0",
" 24"
],
[
"18",
" Footstool",
" -0.325",
" 0.297",
" -1.98",
" 0",
" 0",
" 0",
" Floor|-00.35|"
],
[
"19",
" Bathtub",
" -1.957",
" 0.494",
" -1.233",
" 0",
" 0",
" 0",
""
],
[
"20",
" ShowerDoor",
" 0.650",
" 1.413",
" 2.169",
" 0",
" 0",
" 0",
""
],
[
"21",
" ShowerGlass",
" 0.0",
" 0.0",
" 0.0",
" 0",
" 0",
" 0",
""
],
[
"22",
" Drawer",
" 0.300",
" 0.304",
" -1.820",
" 0",
" 0",
" 0",
""
],
[
"23",
" Mirror",
" -0.046",
" 1.512",
" -2.538",
" 0",
" 0",
" 0",
""
],
[
"24",
" CounterTop",
" 0.196",
" 0.430",
" -2.010",
" 0",
" 0",
" 0",
""
],
[
"25",
" Sink",
" -2.796",
" 0.328",
" 0.755",
" 0",
" 90",
" 0",
""
],
[
"26",
" Drawer",
" 0.300",
" 0.833",
" -1.820",
" 0",
" 0",
" 0",
""
],
[
"27",
" Drawer",
" 0.300",
" 0.682",
" -1.820",
" 0",
" 0",
" 0",
""
],
[
"28",
" Drawer",
" 0.300",
" 0.492",
" -1.820",
" 0",
" 0",
" 0",
""
],
[
"29",
" TowelHolder",
" 0.572",
" 1.195",
" -1.095",
" 0",
" 270",
" 0",
""
],
[
"30",
" GarbageCan",
" -0.564",
" 0.010",
" 2.061",
" 0",
" 195.0",
" 0",
""
],
[
"31",
" ToiletPaperHanger",
" -0.574",
" 0.926",
" 2.407",
" 0",
" 180",
" 0",
""
],
[
"32",
" Shelf",
" 1.536",
" 0.613",
" -2.242",
" 0",
" 0",
" 0",
""
],
[
"33",
" HandTowelHolder",
" -0.884",
" 1.718",
" -2.542",
" 0",
" 270",
" 0",
""
],
[
"34",
" Window",
" -3.170",
" 1.812",
" -1.697",
" 90",
" 90",
" 0",
""
],
[
"35",
" Window",
" -3.170",
" 1.812",
" 1.597",
" 90",
" 90",
" 0",
""
],
[
"36",
" Window",
" -2.144",
" 1.809",
" -2.573",
" 90",
" 0",
" 0",
""
],
[
"37",
" Window",
" -3.170",
" 1.812",
" -0.054",
" 90",
" 90",
" 0",
""
],
[
"38",
" Toilet",
" -0.064",
" 0.012",
" 1.838",
" 0",
" 180",
" 0",
""
],
[
"39",
" LightSwitch",
" -1.406",
" 1.472",
" 2.407",
" 0",
" 180",
" 0",
""
],
[
"40",
" SinkBasin",
" -2.796",
" 0.875",
" 0.765",
" 0",
" 90",
" 0",
""
],
[
"41",
" ShowerHead",
" 1.591",
" 1.700",
" -2.424",
" 0",
" 90",
" 0",
""
],
[
"42",
" Faucet",
" -2.676",
" 0.423",
" -0.312",
" 0",
" 99.958",
" 0",
""
],
[
"43",
" SideTable",
" -2.847",
" 0.013",
" 1.509",
" 0",
" 90",
" 0",
""
],
[
"44",
" Faucet",
" -3.106",
" 1.056",
" 0.757",
" 0",
" 90",
" 0",
""
],
[
"45",
" ",
" ",
" ",
" ",
" ",
" ",
" ",
""
],
[
"46",
" NorthWall",
" ",
" ",
" ",
" ",
" ",
" ",
""
],
[
"47",
" EastWall",
" ",
" ",
" ",
" ",
" ",
" ",
""
],
[
"48",
" SouthWall",
" ",
" ",
" ",
" ",
" ",
" ",
""
],
[
"49",
" WestWall",
" ",
" ",
" ",
" ",
" ",
" ",
""
]
] | " id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -2.0 0.913 0.5 0 0 0
1 TissueBox -0.208 0.963 -1.993 0 0 0 24
2 TissueBox 0.270 0.963 -2.275 0 0 0 24
3 DishSponge -3.034 0.245 1.317 0 90 0 43
4 SoapBottle 0.135 0.976 2.250 0 270 0 38
5 Candle -0.208 0.962 -2.181 0 0 0 24
6 HandTowel -0.885 1.617 -2.503 0 180 0 33
7 Towel 0.465 1.21 -1.095 0 270 0 29
8 SoapBottle -0.368 0.973 -1.805 0 0 0 24
9 SoapBar -2.796 0.884 0.639 0 90 0 40
10 ToiletPaper -0.178 0.957 2.268 0 0 0 38
11 Plunger 0.506 0.011 2.268 0 0 0 Floor|-00.35|
12 SprayBottle -0.527 0.959 -1.805 0 0 0 24
13 TissueBox 1.142 0.624 -2.168 0 0 0 32
14 ToiletPaper 0.430 0.959 -2.181 0 0 0 24
15 ScrubBrush 0.342 0.012 2.072 0 0 0 Floor|-00.35|
16 Cloth 0.111 0.961 -1.993 0 0 0 24
17 DishSponge -2.246 0.078 -1.251 0 45 0 24
18 Footstool -0.325 0.297 -1.98 0 0 0 Floor|-00.35|
19 Bathtub -1.957 0.494 -1.233 0 0 0
20 ShowerDoor 0.650 1.413 2.169 0 0 0
21 ShowerGlass 0.0 0.0 0.0 0 0 0
22 Drawer 0.300 0.304 -1.820 0 0 0
23 Mirror -0.046 1.512 -2.538 0 0 0
24 CounterTop 0.196 0.430 -2.010 0 0 0
25 Sink -2.796 0.328 0.755 0 90 0
26 Drawer 0.300 0.833 -1.820 0 0 0
27 Drawer 0.300 0.682 -1.820 0 0 0
28 Drawer 0.300 0.492 -1.820 0 0 0
29 TowelHolder 0.572 1.195 -1.095 0 270 0
30 GarbageCan -0.564 0.010 2.061 0 195.0 0
31 ToiletPaperHanger -0.574 0.926 2.407 0 180 0
32 Shelf 1.536 0.613 -2.242 0 0 0
33 HandTowelHolder -0.884 1.718 -2.542 0 270 0
34 Window -3.170 1.812 -1.697 90 90 0
35 Window -3.170 1.812 1.597 90 90 0
36 Window -2.144 1.809 -2.573 90 0 0
37 Window -3.170 1.812 -0.054 90 90 0
38 Toilet -0.064 0.012 1.838 0 180 0
39 LightSwitch -1.406 1.472 2.407 0 180 0
40 SinkBasin -2.796 0.875 0.765 0 90 0
41 ShowerHead 1.591 1.700 -2.424 0 90 0
42 Faucet -2.676 0.423 -0.312 0 99.958 0
43 SideTable -2.847 0.013 1.509 0 90 0
44 Faucet -3.106 1.056 0.757 0 90 0
45
46 NorthWall
47 EastWall
48 SouthWall
49 WestWall" | [
"STEP 1: Walk to the steel rack to the right of the sink. | STEP 2: Pick up the sponge from the steel rack. | STEP 3: Turn around and walk to the toilet. | STEP 4: Put the sponge on the top of the toilet, just to the right of the toilet paper. | END"
] | [
[
"STEP 1: Walk to the steel rack to the right of the sink. ",
" STEP 2: Pick up the sponge from the steel rack. ",
" STEP 3: Turn around and walk to the toilet. ",
" STEP 4: Put the sponge on the top of the toilet, just to the right of the toilet paper. ",
" END"
]
] | "seen" |
"trial_T20190909_011606_013059-0" | "Put a credit card on the chair." | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" 0.0",
" 0.901",
" 2.0",
" 0",
" 270",
" 0",
""
],
[
"1",
" Book",
" -1.050",
" 0.712",
" 3.759",
" 0",
" 0",
" 0",
" 30"
],
[
"2",
" Book",
" -1.351",
" 0.547",
" 0.650",
" 0",
" 0",
" 0",
" 29"
],
[
"3",
" CreditCard",
" -1.966",
" 0.447",
" 2.200",
" 0",
" 0",
" 0",
" 28"
],
[
"4",
" CreditCard",
" -1.840",
" 0.447",
" 2.120",
" 0",
" 0",
" 0",
" 28"
],
[
"5",
" CreditCard",
" -1.714",
" 0.447",
" 2.120",
" 0",
" 0",
" 0",
" 28"
],
[
"6",
" RemoteControl",
" -2.093",
" 0.449",
" 2.441",
" 0",
" 0",
" 0",
" 28"
],
[
"7",
" RemoteControl",
" -0.351",
" 0.547",
" 0.381",
" 0",
" 0",
" 0",
" 29"
],
[
"8",
" Box",
" -1.587",
" 0.636",
" 2.521",
" 0",
" 0",
" 0",
" 28"
],
[
"9",
" Book",
" -1.101",
" 0.547",
" 0.471",
" 0",
" 0",
" 0",
" 29"
],
[
"10",
" Box",
" 0.332",
" 0.892",
" 0.488",
" 0",
" 0",
" 0",
" 27"
],
[
"11",
" Laptop",
" 0.627",
" 0.238",
" 0.506",
" 0",
" 0",
" 0",
" 27"
],
[
"12",
" KeyChain",
" 0.753",
" 0.714",
" 0.502",
" 0",
" 0",
" 0",
" 27"
],
[
"13",
" Pillow",
" -0.506",
" 0.664",
" 0.431",
" 36.288",
" 0",
" 0",
" 29"
],
[
"14",
" Statue",
" 0.858",
" 0.710",
" 0.327",
" 0",
" 0",
" 0",
" 27"
],
[
"15",
" RemoteControl",
" -2.949",
" 0.564",
" 0.382",
" 0",
" 0",
" 0",
" 32"
],
[
"16",
" CreditCard",
" -1.499",
" 0.710",
" 3.649",
" 0",
" 0",
" 0",
" 30"
],
[
"17",
" Watch",
" -1.349",
" 0.707",
" 3.649",
" 0",
" 0",
" 0",
" 30"
],
[
"18",
" Painting",
" -3.049",
" 1.690",
" 4.341",
" 0",
" 0",
" 0",
""
],
[
"19",
" Curtains",
" -3.973",
" 2.254",
" 1.453",
" 0",
" 0",
" 0",
""
],
[
"20",
" Painting",
" -1.096",
" 1.773",
" -0.017",
" 0",
" 0",
" 0",
""
],
[
"21",
" LightSwitch",
" -0.129",
" 1.407",
" 4.348",
" 0",
" 180",
" 0",
""
],
[
"22",
" GarbageCan",
" -0.376",
" 0.003",
" 4.103",
" 0",
" 180",
" 0",
""
],
[
"23",
" Television",
" -1.504",
" 1.189",
" 4.126",
" 0",
" 180",
" 0",
""
],
[
"24",
" HousePlant",
" -2.015",
" 0.447",
" 2.357",
" 0",
" 0",
" 0",
""
],
[
"25",
" FloorLamp",
" -3.686",
" -0.001",
" 4.013",
" 0",
" 0",
" 0",
""
],
[
"26",
" Window",
" -4.051",
" 1.197",
" 1.312",
" 90",
" 270",
" 0",
""
],
[
"27",
" SideTable",
" 0.626",
" 0.006",
" 0.340",
" 0",
" 0",
" 0",
""
],
[
"28",
" CoffeeTable",
" -1.735",
" 0.005",
" 2.360",
" 0",
" 0",
" 0",
""
],
[
"29",
" Sofa",
" -1.135",
" -0.004",
" 0.517",
" 0",
" 0",
" 0",
""
],
[
"30",
" TVStand",
" -1.566",
" 0.004",
" 3.869",
" 0",
" 0",
" 0",
""
],
[
"31",
" Shelf",
" 0.622",
" 0.238",
" 0.340",
" 0",
" 0",
" 0",
""
],
[
"32",
" ArmChair",
" -3.063",
" 0.000",
" 0.517",
" 0",
" 0",
" 0",
""
],
[
"33",
" NorthWall",
" ",
" ",
" ",
" ",
" ",
" ",
""
],
[
"34",
" EastWall",
" ",
" ",
" ",
" ",
" ",
" ",
""
],
[
"35",
" SouthWall",
" ",
" ",
" ",
" ",
" ",
" ",
""
],
[
"36",
" WestWall",
" ",
" ",
" ",
" ",
" ",
" ",
""
]
] | " id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent 0.0 0.901 2.0 0 270 0
1 Book -1.050 0.712 3.759 0 0 0 30
2 Book -1.351 0.547 0.650 0 0 0 29
3 CreditCard -1.966 0.447 2.200 0 0 0 28
4 CreditCard -1.840 0.447 2.120 0 0 0 28
5 CreditCard -1.714 0.447 2.120 0 0 0 28
6 RemoteControl -2.093 0.449 2.441 0 0 0 28
7 RemoteControl -0.351 0.547 0.381 0 0 0 29
8 Box -1.587 0.636 2.521 0 0 0 28
9 Book -1.101 0.547 0.471 0 0 0 29
10 Box 0.332 0.892 0.488 0 0 0 27
11 Laptop 0.627 0.238 0.506 0 0 0 27
12 KeyChain 0.753 0.714 0.502 0 0 0 27
13 Pillow -0.506 0.664 0.431 36.288 0 0 29
14 Statue 0.858 0.710 0.327 0 0 0 27
15 RemoteControl -2.949 0.564 0.382 0 0 0 32
16 CreditCard -1.499 0.710 3.649 0 0 0 30
17 Watch -1.349 0.707 3.649 0 0 0 30
18 Painting -3.049 1.690 4.341 0 0 0
19 Curtains -3.973 2.254 1.453 0 0 0
20 Painting -1.096 1.773 -0.017 0 0 0
21 LightSwitch -0.129 1.407 4.348 0 180 0
22 GarbageCan -0.376 0.003 4.103 0 180 0
23 Television -1.504 1.189 4.126 0 180 0
24 HousePlant -2.015 0.447 2.357 0 0 0
25 FloorLamp -3.686 -0.001 4.013 0 0 0
26 Window -4.051 1.197 1.312 90 270 0
27 SideTable 0.626 0.006 0.340 0 0 0
28 CoffeeTable -1.735 0.005 2.360 0 0 0
29 Sofa -1.135 -0.004 0.517 0 0 0
30 TVStand -1.566 0.004 3.869 0 0 0
31 Shelf 0.622 0.238 0.340 0 0 0
32 ArmChair -3.063 0.000 0.517 0 0 0
33 NorthWall
34 EastWall
35 SouthWall
36 WestWall" | [
"STEP 1: Walk to the coffee table then take a step to your left and walk to the coffee table then turn right to face it. | STEP 2: Pick up the credit card farthest to the right. | STEP 3: Turn left and walk to the curtains and then turn left and walk to the chair. | STEP 4: Put the credit card near the edge of the cushion below the remote. | END"
] | [
[
"STEP 1: Walk to the coffee table then take a step to your left and walk to the coffee table then turn right to face it. ",
" STEP 2: Pick up the credit card farthest to the right. ",
" STEP 3: Turn left and walk to the curtains and then turn left and walk to the chair. ",
" STEP 4: Put the credit card near the edge of the cushion below the remote. ",
" END"
]
] | "seen" |
"trial_T20190909_011606_013059-1" | "Move a credit card from the coffee table to the striped armchair." | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" 0.0",
" 0.901",
" 2.0",
" 0",
" 270",
" 0",
""
],
[
"1",
" Book",
" -1.050",
" 0.712",
" 3.759",
" 0",
" 0",
" 0",
" 30"
],
[
"2",
" Book",
" -1.351",
" 0.547",
" 0.650",
" 0",
" 0",
" 0",
" 29"
],
[
"3",
" CreditCard",
" -1.966",
" 0.447",
" 2.200",
" 0",
" 0",
" 0",
" 28"
],
[
"4",
" CreditCard",
" -1.840",
" 0.447",
" 2.120",
" 0",
" 0",
" 0",
" 28"
],
[
"5",
" CreditCard",
" -1.714",
" 0.447",
" 2.120",
" 0",
" 0",
" 0",
" 28"
],
[
"6",
" RemoteControl",
" -2.093",
" 0.449",
" 2.441",
" 0",
" 0",
" 0",
" 28"
],
[
"7",
" RemoteControl",
" -0.351",
" 0.547",
" 0.381",
" 0",
" 0",
" 0",
" 29"
],
[
"8",
" Box",
" -1.587",
" 0.636",
" 2.521",
" 0",
" 0",
" 0",
" 28"
],
[
"9",
" Book",
" -1.101",
" 0.547",
" 0.471",
" 0",
" 0",
" 0",
" 29"
],
[
"10",
" Box",
" 0.332",
" 0.892",
" 0.488",
" 0",
" 0",
" 0",
" 27"
],
[
"11",
" Laptop",
" 0.627",
" 0.238",
" 0.506",
" 0",
" 0",
" 0",
" 27"
],
[
"12",
" KeyChain",
" 0.753",
" 0.714",
" 0.502",
" 0",
" 0",
" 0",
" 27"
],
[
"13",
" Pillow",
" -0.506",
" 0.664",
" 0.431",
" 36.288",
" 0",
" 0",
" 29"
],
[
"14",
" Statue",
" 0.858",
" 0.710",
" 0.327",
" 0",
" 0",
" 0",
" 27"
],
[
"15",
" RemoteControl",
" -2.949",
" 0.564",
" 0.382",
" 0",
" 0",
" 0",
" 32"
],
[
"16",
" CreditCard",
" -1.499",
" 0.710",
" 3.649",
" 0",
" 0",
" 0",
" 30"
],
[
"17",
" Watch",
" -1.349",
" 0.707",
" 3.649",
" 0",
" 0",
" 0",
" 30"
],
[
"18",
" Painting",
" -3.049",
" 1.690",
" 4.341",
" 0",
" 0",
" 0",
""
],
[
"19",
" Curtains",
" -3.973",
" 2.254",
" 1.453",
" 0",
" 0",
" 0",
""
],
[
"20",
" Painting",
" -1.096",
" 1.773",
" -0.017",
" 0",
" 0",
" 0",
""
],
[
"21",
" LightSwitch",
" -0.129",
" 1.407",
" 4.348",
" 0",
" 180",
" 0",
""
],
[
"22",
" GarbageCan",
" -0.376",
" 0.003",
" 4.103",
" 0",
" 180",
" 0",
""
],
[
"23",
" Television",
" -1.504",
" 1.189",
" 4.126",
" 0",
" 180",
" 0",
""
],
[
"24",
" HousePlant",
" -2.015",
" 0.447",
" 2.357",
" 0",
" 0",
" 0",
""
],
[
"25",
" FloorLamp",
" -3.686",
" -0.001",
" 4.013",
" 0",
" 0",
" 0",
""
],
[
"26",
" Window",
" -4.051",
" 1.197",
" 1.312",
" 90",
" 270",
" 0",
""
],
[
"27",
" SideTable",
" 0.626",
" 0.006",
" 0.340",
" 0",
" 0",
" 0",
""
],
[
"28",
" CoffeeTable",
" -1.735",
" 0.005",
" 2.360",
" 0",
" 0",
" 0",
""
],
[
"29",
" Sofa",
" -1.135",
" -0.004",
" 0.517",
" 0",
" 0",
" 0",
""
],
[
"30",
" TVStand",
" -1.566",
" 0.004",
" 3.869",
" 0",
" 0",
" 0",
""
],
[
"31",
" Shelf",
" 0.622",
" 0.238",
" 0.340",
" 0",
" 0",
" 0",
""
],
[
"32",
" ArmChair",
" -3.063",
" 0.000",
" 0.517",
" 0",
" 0",
" 0",
""
],
[
"33",
" NorthWall",
" ",
" ",
" ",
" ",
" ",
" ",
""
],
[
"34",
" EastWall",
" ",
" ",
" ",
" ",
" ",
" ",
""
],
[
"35",
" SouthWall",
" ",
" ",
" ",
" ",
" ",
" ",
""
],
[
"36",
" WestWall",
" ",
" ",
" ",
" ",
" ",
" ",
""
]
] | " id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent 0.0 0.901 2.0 0 270 0
1 Book -1.050 0.712 3.759 0 0 0 30
2 Book -1.351 0.547 0.650 0 0 0 29
3 CreditCard -1.966 0.447 2.200 0 0 0 28
4 CreditCard -1.840 0.447 2.120 0 0 0 28
5 CreditCard -1.714 0.447 2.120 0 0 0 28
6 RemoteControl -2.093 0.449 2.441 0 0 0 28
7 RemoteControl -0.351 0.547 0.381 0 0 0 29
8 Box -1.587 0.636 2.521 0 0 0 28
9 Book -1.101 0.547 0.471 0 0 0 29
10 Box 0.332 0.892 0.488 0 0 0 27
11 Laptop 0.627 0.238 0.506 0 0 0 27
12 KeyChain 0.753 0.714 0.502 0 0 0 27
13 Pillow -0.506 0.664 0.431 36.288 0 0 29
14 Statue 0.858 0.710 0.327 0 0 0 27
15 RemoteControl -2.949 0.564 0.382 0 0 0 32
16 CreditCard -1.499 0.710 3.649 0 0 0 30
17 Watch -1.349 0.707 3.649 0 0 0 30
18 Painting -3.049 1.690 4.341 0 0 0
19 Curtains -3.973 2.254 1.453 0 0 0
20 Painting -1.096 1.773 -0.017 0 0 0
21 LightSwitch -0.129 1.407 4.348 0 180 0
22 GarbageCan -0.376 0.003 4.103 0 180 0
23 Television -1.504 1.189 4.126 0 180 0
24 HousePlant -2.015 0.447 2.357 0 0 0
25 FloorLamp -3.686 -0.001 4.013 0 0 0
26 Window -4.051 1.197 1.312 90 270 0
27 SideTable 0.626 0.006 0.340 0 0 0
28 CoffeeTable -1.735 0.005 2.360 0 0 0
29 Sofa -1.135 -0.004 0.517 0 0 0
30 TVStand -1.566 0.004 3.869 0 0 0
31 Shelf 0.622 0.238 0.340 0 0 0
32 ArmChair -3.063 0.000 0.517 0 0 0
33 NorthWall
34 EastWall
35 SouthWall
36 WestWall" | [
"STEP 1: Walk to the coffee table. | STEP 2: Pick up the furthest credit card to the right on the coffee table. | STEP 3: Turn around and walk to the striped armchair. | STEP 4: Set the credit card down on the seat of the striped armchair. | END"
] | [
[
"STEP 1: Walk to the coffee table. ",
" STEP 2: Pick up the furthest credit card to the right on the coffee table. ",
" STEP 3: Turn around and walk to the striped armchair. ",
" STEP 4: Set the credit card down on the seat of the striped armchair. ",
" END"
]
] | "seen" |
"trial_T20190909_011606_013059-2" | "Move a card from the table to the chair." | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" 0.0",
" 0.901",
" 2.0",
" 0",
" 270",
" 0",
""
],
[
"1",
" Book",
" -1.050",
" 0.712",
" 3.759",
" 0",
" 0",
" 0",
" 30"
],
[
"2",
" Book",
" -1.351",
" 0.547",
" 0.650",
" 0",
" 0",
" 0",
" 29"
],
[
"3",
" CreditCard",
" -1.966",
" 0.447",
" 2.200",
" 0",
" 0",
" 0",
" 28"
],
[
"4",
" CreditCard",
" -1.840",
" 0.447",
" 2.120",
" 0",
" 0",
" 0",
" 28"
],
[
"5",
" CreditCard",
" -1.714",
" 0.447",
" 2.120",
" 0",
" 0",
" 0",
" 28"
],
[
"6",
" RemoteControl",
" -2.093",
" 0.449",
" 2.441",
" 0",
" 0",
" 0",
" 28"
],
[
"7",
" RemoteControl",
" -0.351",
" 0.547",
" 0.381",
" 0",
" 0",
" 0",
" 29"
],
[
"8",
" Box",
" -1.587",
" 0.636",
" 2.521",
" 0",
" 0",
" 0",
" 28"
],
[
"9",
" Book",
" -1.101",
" 0.547",
" 0.471",
" 0",
" 0",
" 0",
" 29"
],
[
"10",
" Box",
" 0.332",
" 0.892",
" 0.488",
" 0",
" 0",
" 0",
" 27"
],
[
"11",
" Laptop",
" 0.627",
" 0.238",
" 0.506",
" 0",
" 0",
" 0",
" 27"
],
[
"12",
" KeyChain",
" 0.753",
" 0.714",
" 0.502",
" 0",
" 0",
" 0",
" 27"
],
[
"13",
" Pillow",
" -0.506",
" 0.664",
" 0.431",
" 36.288",
" 0",
" 0",
" 29"
],
[
"14",
" Statue",
" 0.858",
" 0.710",
" 0.327",
" 0",
" 0",
" 0",
" 27"
],
[
"15",
" RemoteControl",
" -2.949",
" 0.564",
" 0.382",
" 0",
" 0",
" 0",
" 32"
],
[
"16",
" CreditCard",
" -1.499",
" 0.710",
" 3.649",
" 0",
" 0",
" 0",
" 30"
],
[
"17",
" Watch",
" -1.349",
" 0.707",
" 3.649",
" 0",
" 0",
" 0",
" 30"
],
[
"18",
" Painting",
" -3.049",
" 1.690",
" 4.341",
" 0",
" 0",
" 0",
""
],
[
"19",
" Curtains",
" -3.973",
" 2.254",
" 1.453",
" 0",
" 0",
" 0",
""
],
[
"20",
" Painting",
" -1.096",
" 1.773",
" -0.017",
" 0",
" 0",
" 0",
""
],
[
"21",
" LightSwitch",
" -0.129",
" 1.407",
" 4.348",
" 0",
" 180",
" 0",
""
],
[
"22",
" GarbageCan",
" -0.376",
" 0.003",
" 4.103",
" 0",
" 180",
" 0",
""
],
[
"23",
" Television",
" -1.504",
" 1.189",
" 4.126",
" 0",
" 180",
" 0",
""
],
[
"24",
" HousePlant",
" -2.015",
" 0.447",
" 2.357",
" 0",
" 0",
" 0",
""
],
[
"25",
" FloorLamp",
" -3.686",
" -0.001",
" 4.013",
" 0",
" 0",
" 0",
""
],
[
"26",
" Window",
" -4.051",
" 1.197",
" 1.312",
" 90",
" 270",
" 0",
""
],
[
"27",
" SideTable",
" 0.626",
" 0.006",
" 0.340",
" 0",
" 0",
" 0",
""
],
[
"28",
" CoffeeTable",
" -1.735",
" 0.005",
" 2.360",
" 0",
" 0",
" 0",
""
],
[
"29",
" Sofa",
" -1.135",
" -0.004",
" 0.517",
" 0",
" 0",
" 0",
""
],
[
"30",
" TVStand",
" -1.566",
" 0.004",
" 3.869",
" 0",
" 0",
" 0",
""
],
[
"31",
" Shelf",
" 0.622",
" 0.238",
" 0.340",
" 0",
" 0",
" 0",
""
],
[
"32",
" ArmChair",
" -3.063",
" 0.000",
" 0.517",
" 0",
" 0",
" 0",
""
],
[
"33",
" NorthWall",
" ",
" ",
" ",
" ",
" ",
" ",
""
],
[
"34",
" EastWall",
" ",
" ",
" ",
" ",
" ",
" ",
""
],
[
"35",
" SouthWall",
" ",
" ",
" ",
" ",
" ",
" ",
""
],
[
"36",
" WestWall",
" ",
" ",
" ",
" ",
" ",
" ",
""
]
] | " id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent 0.0 0.901 2.0 0 270 0
1 Book -1.050 0.712 3.759 0 0 0 30
2 Book -1.351 0.547 0.650 0 0 0 29
3 CreditCard -1.966 0.447 2.200 0 0 0 28
4 CreditCard -1.840 0.447 2.120 0 0 0 28
5 CreditCard -1.714 0.447 2.120 0 0 0 28
6 RemoteControl -2.093 0.449 2.441 0 0 0 28
7 RemoteControl -0.351 0.547 0.381 0 0 0 29
8 Box -1.587 0.636 2.521 0 0 0 28
9 Book -1.101 0.547 0.471 0 0 0 29
10 Box 0.332 0.892 0.488 0 0 0 27
11 Laptop 0.627 0.238 0.506 0 0 0 27
12 KeyChain 0.753 0.714 0.502 0 0 0 27
13 Pillow -0.506 0.664 0.431 36.288 0 0 29
14 Statue 0.858 0.710 0.327 0 0 0 27
15 RemoteControl -2.949 0.564 0.382 0 0 0 32
16 CreditCard -1.499 0.710 3.649 0 0 0 30
17 Watch -1.349 0.707 3.649 0 0 0 30
18 Painting -3.049 1.690 4.341 0 0 0
19 Curtains -3.973 2.254 1.453 0 0 0
20 Painting -1.096 1.773 -0.017 0 0 0
21 LightSwitch -0.129 1.407 4.348 0 180 0
22 GarbageCan -0.376 0.003 4.103 0 180 0
23 Television -1.504 1.189 4.126 0 180 0
24 HousePlant -2.015 0.447 2.357 0 0 0
25 FloorLamp -3.686 -0.001 4.013 0 0 0
26 Window -4.051 1.197 1.312 90 270 0
27 SideTable 0.626 0.006 0.340 0 0 0
28 CoffeeTable -1.735 0.005 2.360 0 0 0
29 Sofa -1.135 -0.004 0.517 0 0 0
30 TVStand -1.566 0.004 3.869 0 0 0
31 Shelf 0.622 0.238 0.340 0 0 0
32 ArmChair -3.063 0.000 0.517 0 0 0
33 NorthWall
34 EastWall
35 SouthWall
36 WestWall" | [
"STEP 1: Walk to the coffee table on the cards' side. | STEP 2: Grab the right card from the table. | STEP 3: Walk to the white chair on your left. | STEP 4: Place the card on the chair. | END"
] | [
[
"STEP 1: Walk to the coffee table on the cards' side. ",
" STEP 2: Grab the right card from the table. ",
" STEP 3: Walk to the white chair on your left. ",
" STEP 4: Place the card on the chair. ",
" END"
]
] | "seen" |
"trial_T20190909_075240_427378-0" | "Put a slice of warm bread in the fridge." | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" 1.0",
" 0.900",
" 2.0",
" 0",
" 0",
" 0",
""
],
[
"1",
" Kettle",
" -0.213",
" 0.926",
" 0.041",
" 0",
" 0",
" 0",
" 74"
],
[
"2",
" Kettle",
" 1.975",
" 0.938",
" 0.601",
" 0",
" 180",
" 0",
" 61"
],
[
"3",
" DishSponge",
" -1.796",
" 0.040",
" 1.371",
" 0",
" 270",
" 0",
" 80"
],
[
"4",
" DishSponge",
" -1.764",
" 1.661",
" -0.905",
" 0",
" 90",
" 0",
" 53"
],
[
"5",
" Spoon",
" 1.713",
" 0.471",
" -0.020",
" 0",
" 0",
" 0",
" 62"
],
[
"6",
" Spatula",
" -1.902",
" 0.926",
" -0.864",
" 0",
" 270",
" 0",
" 66"
],
[
"7",
" Spatula",
" 0.889",
" 0.926",
" -1.221",
" 0",
" 0",
" 0",
" 66"
],
[
"8",
" Pot",
" -1.668",
" 0.915",
" -1.610",
" 0",
" 0",
" 0",
" 66"
],
[
"9",
" Pot",
" -0.193",
" 0.118",
" -1.409",
" 0",
" 0",
" 0",
" 45"
],
[
"10",
" Plate",
" 0.107",
" 0.924",
" 1.202",
" 0",
" 0",
" 0",
" 74"
],
[
"11",
" Plate",
" -1.114",
" 1.678",
" -1.614",
" 0",
" 0",
" 0",
" 68"
],
[
"12",
" Tomato",
" -1.749",
" 0.894",
" -0.175",
" 0",
" 90",
" 0",
" 89"
],
[
"13",
" Bowl",
" 0.000",
" 0.924",
" 0.738",
" 0",
" 0",
" 0",
" 74"
],
[
"14",
" Bowl",
" -1.803",
" 1.675",
" 0.201",
" 0",
" 90",
" 0",
" 89"
],
[
"15",
" SaltShaker",
" -0.081",
" 0.111",
" -1.222",
" 0",
" 0",
" 0",
" 45"
],
[
"16",
" SaltShaker",
" -1.990",
" 0.907",
" -1.113",
" 0",
" 0",
" 0",
" 66"
],
[
"17",
" PepperShaker",
" 1.610",
" 0.691",
" 0.113",
" 0",
" 0",
" 0",
" 50"
],
[
"18",
" Lettuce",
" 0.321",
" 1.002",
" 0.273",
" 0",
" 0",
" 0",
" 74"
],
[
"19",
" Lettuce",
" 0.170",
" 0.837",
" -1.380",
" 0",
" 0",
" 0",
" 90"
],
[
"20",
" Apple",
" -1.783",
" 0.892",
" 0.201",
" 0",
" 90",
" 0",
" 89"
],
[
"21",
" SoapBottle",
" -0.867",
" 1.683",
" -1.614",
" 0",
" 0",
" 0",
" 68"
],
[
"22",
" Cup",
" 1.117",
" 0.909",
" -1.513",
" 0",
" 0",
" 0",
" 66"
],
[
"23",
" Pot",
" -1.750",
" 1.680",
" -0.175",
" 0",
" 90",
" 0",
" 89"
],
[
"24",
" Fork",
" 1.866",
" 0.350",
" 0.116",
" 0",
" 270",
" 0",
" 62"
],
[
"25",
" Ladle",
" 1.762",
" 0.269",
" 1.153",
" 0",
" 0",
" 0",
" 75"
],
[
"26",
" Kettle",
" 1.765",
" 0.938",
" 0.601",
" 0",
" 180",
" 0",
" 48"
],
[
"27",
" Egg",
" -1.639",
" 0.968",
" -0.914",
" 0",
" 0",
" 0",
" 66"
],
[
"28",
" Plate",
" 1.802",
" 0.910",
" -1.513",
" 0",
" 0",
" 0",
" 66"
],
[
"29",
" Pan",
" 1.746",
" 0.911",
" 0.025",
" 0",
" 0",
" 0",
" 66"
],
[
"30",
" Lettuce",
" -0.175",
" 0.837",
" -1.490",
" 0",
" 0",
" 0",
" 90"
],
[
"31",
" Spatula",
" 0.083",
" 0.775",
" -1.435",
" 0",
" 0",
" 0",
" 90"
],
[
"32",
" Apple",
" -1.803",
" 1.522",
" 0.295",
" 0",
" 90",
" 0",
" 89"
],
[
"33",
" Knife",
" 1.574",
" 0.933",
" -1.221",
" 0",
" 0",
" 0",
" 66"
],
[
"34",
" SaltShaker",
" 1.612",
" 0.221",
" 1.350",
" 0",
" 0",
" 0",
" 75"
],
[
"35",
" PepperShaker",
" 0.361",
" 0.109",
" -1.597",
" 0",
" 0",
" 0",
" 55"
],
[
"36",
" CellPhone",
" 0.853",
" 0.669",
" -1.301",
" 0",
" 0",
" 0",
" 47"
],
[
"37",
" ButterKnife",
" 1.714",
" 0.120",
" 0.599",
" 0",
" 270",
" 0",
" 58"
],
[
"38",
" Bread",
" -0.320",
" 1.006",
" 0.738",
" 0",
" 0",
" 0",
" 74"
],
[
"39",
" Tomato",
" -1.750",
" 1.524",
" -0.081",
" 0",
" 90",
" 0",
" 89"
],
[
"40",
" Potato",
" -1.771",
" 1.053",
" -0.269",
" 0",
" 90",
" 0",
" 89"
],
[
"41",
" DishSponge",
" 1.713",
" 0.225",
" 0.462",
" 0",
" 0",
" 0",
" 60"
],
[
"42",
" Spoon",
" 0.000",
" 0.926",
" 0.273",
" 0",
" 0",
" 0",
" 74"
],
[
"43",
" Mug",
" -1.783",
" 0.834",
" 0.013",
" 0",
" 90",
" 0",
" 89"
],
[
"44",
" Bowl",
" 0.000",
" 0.924",
" 0.970",
" 0",
" 0",
" 0",
" 74"
],
[
"45",
" Cabinet",
" -0.495",
" 0.474",
" -1.149",
" 0",
" 0",
" 0",
""
],
[
"46",
" Window",
" -0.010",
" 1.582",
" -1.821",
" 0",
" 0",
" 0",
""
],
[
"47",
" Drawer",
" 0.805",
" 0.475",
" -1.159",
" 0",
" 0",
" 0",
""
],
[
"48",
" StoveBurner",
" 1.764",
" 0.902",
" 0.601",
" 0",
" 270",
" 0",
""
],
[
"49",
" Drawer",
" 1.5",
" 0.196",
" -0.019",
" 0",
" 0",
" 0",
""
],
[
"50",
" Drawer",
" 1.5",
" 0.629",
" -0.018",
" 0",
" 0",
" 0",
""
],
[
"51",
" Drawer",
" 1.5",
" 0.602",
" -0.019",
" 0",
" 270",
" 0",
""
],
[
"52",
" StoveBurner",
" 1.975",
" 0.902",
" 0.384",
" 0",
" 270",
" 0",
""
],
[
"53",
" Cabinet",
" -1.703",
" 2.022",
" -1.453",
" 0",
" 90",
" 0",
""
],
[
"54",
" Cabinet",
" 1.789",
" 2.019",
" -0.819",
" 0",
" 270",
" 0",
""
],
[
"55",
" Cabinet",
" 0.494",
" 0.474",
" -1.149",
" 0",
" 0",
" 0",
""
],
[
"56",
" Cabinet",
" 0.409",
" 0.475",
" 0.444",
" 0",
" 0",
" 0",
""
],
[
"57",
" Drawer",
" -0.696",
" 0.475",
" -1.159",
" 0",
" 0",
" 0",
""
],
[
"58",
" Drawer",
" 1.5",
" 0.140",
" 0.599",
" 0",
" 270",
" 0",
""
],
[
"59",
" Cabinet",
" 1.389",
" 0.474",
" -1.149",
" 0",
" 0",
" 0",
""
],
[
"60",
" Drawer",
" 1.5",
" 0.305",
" 0.600",
" 0",
" 0",
" 0",
""
],
[
"61",
" StoveBurner",
" 1.975",
" 0.902",
" 0.601",
" 0",
" 270",
" 0",
""
],
[
"62",
" Drawer",
" 1.5",
" 0.429",
" -0.019",
" 0",
" 0",
" 0",
""
],
[
"63",
" StoveBurner",
" 1.764",
" 0.902",
" 0.819",
" 0",
" 270",
" 0",
""
],
[
"64",
" Drawer",
" 1.5",
" 0.519",
" 1.220",
" 0",
" 0",
" 0",
""
],
[
"65",
" Cabinet",
" 1.705",
" 2.019",
" -1.449",
" 0",
" 0",
" 0",
""
],
[
"66",
" CounterTop",
" 0.002",
" 0.947",
" -1.513",
" 0",
" 0",
" 0",
""
],
[
"67",
" Drawer",
" 1.5",
" 0.629",
" 0.605",
" 0",
" 0",
" 0",
""
],
[
"68",
" Cabinet",
" -0.627",
" 2.019",
" -1.449",
" 0",
" 0",
" 0",
""
],
[
"69",
" StoveBurner",
" 1.764",
" 0.902",
" 0.384",
" 0",
" 270",
" 0",
""
],
[
"70",
" Drawer",
" 1.5",
" 0.538",
" 0.600",
" 0",
" 0",
" 0",
""
],
[
"71",
" Sink",
" 0.0",
" 0.893",
" -1.434",
" 0",
" 0",
" 0",
""
],
[
"72",
" Drawer",
" 1.5",
" 0.782",
" 1.220",
" 0",
" 270",
" 0",
""
],
[
"73",
" Window",
" 2.217",
" 1.565",
" -0.384",
" 0",
" 0",
" 0",
""
],
[
"74",
" CounterTop",
" -0.014",
" 0.961",
" 0.505",
" 0",
" 0",
" 0",
""
],
[
"75",
" Drawer",
" 1.5",
" 0.200",
" 1.220",
" 0",
" 0",
" 0",
""
],
[
"76",
" StoveBurner",
" 1.975",
" 0.902",
" 0.819",
" 0",
" 270",
" 0",
""
],
[
"77",
" Window",
" -3.240",
" 1.616",
" 2.693",
" 0",
" 270",
" 0",
""
],
[
"78",
" Cabinet",
" -1.389",
" 0.474",
" -1.149",
" 0",
" 0",
" 0",
""
],
[
"79",
" LightSwitch",
" -0.153",
" 1.291",
" 3.700",
" 0",
" 180",
" 0",
""
],
[
"80",
" GarbageCan",
" -1.796",
" 0.009",
" 1.330",
" 0",
" 270",
" 358.295",
""
],
[
"81",
" StoveKnob",
" 1.602",
" 0.917",
" 0.570",
" 0",
" 270",
" 180",
""
],
[
"82",
" StoveKnob",
" 1.602",
" 0.917",
" 0.625",
" 0",
" 270",
" 180",
""
],
[
"83",
" StoveKnob",
" 1.602",
" 0.917",
" 0.739",
" 0",
" 270",
" 180",
""
],
[
"84",
" StoveKnob",
" 1.602",
" 0.917",
" 0.680",
" 0",
" 270",
" 180",
""
],
[
"85",
" StoveKnob",
" 1.602",
" 0.917",
" 0.462",
" 0",
" 270",
" 180",
""
],
[
"86",
" StoveKnob",
" 1.602",
" 0.917",
" 0.517",
" 0",
" 270",
" 180",
""
],
[
"87",
" Microwave",
" 1.932",
" 0.899",
" -0.766",
" 0",
" 270",
" 0",
""
],
[
"88",
" CoffeeMachine",
" 1.355",
" 0.899",
" -1.596",
" 0",
" 0",
" 0",
""
],
[
"89",
" Fridge",
" -1.764",
" 0.0",
" 0.014",
" 0",
" 90",
" 0",
""
],
[
"90",
" SinkBasin",
" -0.014",
" 0.736",
" -1.435",
" 0",
" 0",
" 0",
""
],
[
"91",
" Toaster",
" 1.977",
" 0.900",
" -0.336",
" 0",
" 270",
" 0",
""
],
[
"92",
" Faucet",
" -0.020",
" 1.137",
" -1.605",
" 0",
" 270",
" 0",
""
],
[
"93",
" Chair",
" -9.354",
" 0.000",
" 1.242",
" 0",
" 180",
" 0",
""
],
[
"94",
" NorthWall",
" ",
" ",
" ",
" ",
" ",
" ",
""
],
[
"95",
" EastWall",
" ",
" ",
" ",
" ",
" ",
" ",
""
],
[
"96",
" SouthWall",
" ",
" ",
" ",
" ",
" ",
" ",
""
],
[
"97",
" WestWall",
" ",
" ",
" ",
" ",
" ",
" ",
""
]
] | " id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent 1.0 0.900 2.0 0 0 0
1 Kettle -0.213 0.926 0.041 0 0 0 74
2 Kettle 1.975 0.938 0.601 0 180 0 61
3 DishSponge -1.796 0.040 1.371 0 270 0 80
4 DishSponge -1.764 1.661 -0.905 0 90 0 53
5 Spoon 1.713 0.471 -0.020 0 0 0 62
6 Spatula -1.902 0.926 -0.864 0 270 0 66
7 Spatula 0.889 0.926 -1.221 0 0 0 66
8 Pot -1.668 0.915 -1.610 0 0 0 66
9 Pot -0.193 0.118 -1.409 0 0 0 45
10 Plate 0.107 0.924 1.202 0 0 0 74
11 Plate -1.114 1.678 -1.614 0 0 0 68
12 Tomato -1.749 0.894 -0.175 0 90 0 89
13 Bowl 0.000 0.924 0.738 0 0 0 74
14 Bowl -1.803 1.675 0.201 0 90 0 89
15 SaltShaker -0.081 0.111 -1.222 0 0 0 45
16 SaltShaker -1.990 0.907 -1.113 0 0 0 66
17 PepperShaker 1.610 0.691 0.113 0 0 0 50
18 Lettuce 0.321 1.002 0.273 0 0 0 74
19 Lettuce 0.170 0.837 -1.380 0 0 0 90
20 Apple -1.783 0.892 0.201 0 90 0 89
21 SoapBottle -0.867 1.683 -1.614 0 0 0 68
22 Cup 1.117 0.909 -1.513 0 0 0 66
23 Pot -1.750 1.680 -0.175 0 90 0 89
24 Fork 1.866 0.350 0.116 0 270 0 62
25 Ladle 1.762 0.269 1.153 0 0 0 75
26 Kettle 1.765 0.938 0.601 0 180 0 48
27 Egg -1.639 0.968 -0.914 0 0 0 66
28 Plate 1.802 0.910 -1.513 0 0 0 66
29 Pan 1.746 0.911 0.025 0 0 0 66
30 Lettuce -0.175 0.837 -1.490 0 0 0 90
31 Spatula 0.083 0.775 -1.435 0 0 0 90
32 Apple -1.803 1.522 0.295 0 90 0 89
33 Knife 1.574 0.933 -1.221 0 0 0 66
34 SaltShaker 1.612 0.221 1.350 0 0 0 75
35 PepperShaker 0.361 0.109 -1.597 0 0 0 55
36 CellPhone 0.853 0.669 -1.301 0 0 0 47
37 ButterKnife 1.714 0.120 0.599 0 270 0 58
38 Bread -0.320 1.006 0.738 0 0 0 74
39 Tomato -1.750 1.524 -0.081 0 90 0 89
40 Potato -1.771 1.053 -0.269 0 90 0 89
41 DishSponge 1.713 0.225 0.462 0 0 0 60
42 Spoon 0.000 0.926 0.273 0 0 0 74
43 Mug -1.783 0.834 0.013 0 90 0 89
44 Bowl 0.000 0.924 0.970 0 0 0 74
45 Cabinet -0.495 0.474 -1.149 0 0 0
46 Window -0.010 1.582 -1.821 0 0 0
47 Drawer 0.805 0.475 -1.159 0 0 0
48 StoveBurner 1.764 0.902 0.601 0 270 0
49 Drawer 1.5 0.196 -0.019 0 0 0
50 Drawer 1.5 0.629 -0.018 0 0 0
51 Drawer 1.5 0.602 -0.019 0 270 0
52 StoveBurner 1.975 0.902 0.384 0 270 0
53 Cabinet -1.703 2.022 -1.453 0 90 0
54 Cabinet 1.789 2.019 -0.819 0 270 0
55 Cabinet 0.494 0.474 -1.149 0 0 0
56 Cabinet 0.409 0.475 0.444 0 0 0
57 Drawer -0.696 0.475 -1.159 0 0 0
58 Drawer 1.5 0.140 0.599 0 270 0
59 Cabinet 1.389 0.474 -1.149 0 0 0
60 Drawer 1.5 0.305 0.600 0 0 0
61 StoveBurner 1.975 0.902 0.601 0 270 0
62 Drawer 1.5 0.429 -0.019 0 0 0
63 StoveBurner 1.764 0.902 0.819 0 270 0
64 Drawer 1.5 0.519 1.220 0 0 0
65 Cabinet 1.705 2.019 -1.449 0 0 0
66 CounterTop 0.002 0.947 -1.513 0 0 0
67 Drawer 1.5 0.629 0.605 0 0 0
68 Cabinet -0.627 2.019 -1.449 0 0 0
69 StoveBurner 1.764 0.902 0.384 0 270 0
70 Drawer 1.5 0.538 0.600 0 0 0
71 Sink 0.0 0.893 -1.434 0 0 0
72 Drawer 1.5 0.782 1.220 0 270 0
73 Window 2.217 1.565 -0.384 0 0 0
74 CounterTop -0.014 0.961 0.505 0 0 0
75 Drawer 1.5 0.200 1.220 0 0 0
76 StoveBurner 1.975 0.902 0.819 0 270 0
77 Window -3.240 1.616 2.693 0 270 0
78 Cabinet -1.389 0.474 -1.149 0 0 0
79 LightSwitch -0.153 1.291 3.700 0 180 0
80 GarbageCan -1.796 0.009 1.330 0 270 358.295
81 StoveKnob 1.602 0.917 0.570 0 270 180
82 StoveKnob 1.602 0.917 0.625 0 270 180
83 StoveKnob 1.602 0.917 0.739 0 270 180
84 StoveKnob 1.602 0.917 0.680 0 270 180
85 StoveKnob 1.602 0.917 0.462 0 270 180
86 StoveKnob 1.602 0.917 0.517 0 270 180
87 Microwave 1.932 0.899 -0.766 0 270 0
88 CoffeeMachine 1.355 0.899 -1.596 0 0 0
89 Fridge -1.764 0.0 0.014 0 90 0
90 SinkBasin -0.014 0.736 -1.435 0 0 0
91 Toaster 1.977 0.900 -0.336 0 270 0
92 Faucet -0.020 1.137 -1.605 0 270 0
93 Chair -9.354 0.000 1.242 0 180 0
94 NorthWall
95 EastWall
96 SouthWall
97 WestWall" | [
"STEP 1: Turn around and move to the microwave on the left. | STEP 2: Pick up the knife to your right. | STEP 3: Turn around and move around the island to the loaf of bread on the counter. | STEP 4: Slice the bread on the counter. | STEP 5: Turn to the right and move around the counter to the microwave. | STEP 6: Place the knife into the microwave. | STEP 7: Turn around and move around the island to the loaf of bread on the counter. | STEP 8: Pick up a slice of bread. | STEP 9: Turn to the right and move around the counter to the microwave. | STEP 10: Warm the bread in the microwave. | STEP 11: With the slice of bread, turn around and move to the fridge. | STEP 12: Place the slice of bread in the fridge. | END"
] | [
[
"STEP 1: Turn around and move to the microwave on the left. ",
" STEP 2: Pick up the knife to your right. ",
" STEP 3: Turn around and move around the island to the loaf of bread on the counter. ",
" STEP 4: Slice the bread on the counter. ",
" STEP 5: Turn to the right and move around the counter to the microwave. ",
" STEP 6: Place the knife into the microwave. ",
" STEP 7: Turn around and move around the island to the loaf of bread on the counter. ",
" STEP 8: Pick up a slice of bread. ",
" STEP 9: Turn to the right and move around the counter to the microwave. ",
" STEP 10: Warm the bread in the microwave. ",
" STEP 11: With the slice of bread, turn around and move to the fridge. ",
" STEP 12: Place the slice of bread in the fridge. ",
" END"
]
] | "seen" |
"trial_T20190909_075240_427378-1" | "Put a knife in the microwave and a slice of bread in the refrigerator." | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
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" 0",
" 0",
" 0",
""
],
[
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" 0.041",
" 0",
" 0",
" 0",
" 74"
],
[
"2",
" Kettle",
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" 0.938",
" 0.601",
" 0",
" 180",
" 0",
" 61"
],
[
"3",
" DishSponge",
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" 0.040",
" 1.371",
" 0",
" 270",
" 0",
" 80"
],
[
"4",
" DishSponge",
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" 1.661",
" -0.905",
" 0",
" 90",
" 0",
" 53"
],
[
"5",
" Spoon",
" 1.713",
" 0.471",
" -0.020",
" 0",
" 0",
" 0",
" 62"
],
[
"6",
" Spatula",
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" 0.926",
" -0.864",
" 0",
" 270",
" 0",
" 66"
],
[
"7",
" Spatula",
" 0.889",
" 0.926",
" -1.221",
" 0",
" 0",
" 0",
" 66"
],
[
"8",
" Pot",
" -1.668",
" 0.915",
" -1.610",
" 0",
" 0",
" 0",
" 66"
],
[
"9",
" Pot",
" -0.193",
" 0.118",
" -1.409",
" 0",
" 0",
" 0",
" 45"
],
[
"10",
" Plate",
" 0.107",
" 0.924",
" 1.202",
" 0",
" 0",
" 0",
" 74"
],
[
"11",
" Plate",
" -1.114",
" 1.678",
" -1.614",
" 0",
" 0",
" 0",
" 68"
],
[
"12",
" Tomato",
" -1.749",
" 0.894",
" -0.175",
" 0",
" 90",
" 0",
" 89"
],
[
"13",
" Bowl",
" 0.000",
" 0.924",
" 0.738",
" 0",
" 0",
" 0",
" 74"
],
[
"14",
" Bowl",
" -1.803",
" 1.675",
" 0.201",
" 0",
" 90",
" 0",
" 89"
],
[
"15",
" SaltShaker",
" -0.081",
" 0.111",
" -1.222",
" 0",
" 0",
" 0",
" 45"
],
[
"16",
" SaltShaker",
" -1.990",
" 0.907",
" -1.113",
" 0",
" 0",
" 0",
" 66"
],
[
"17",
" PepperShaker",
" 1.610",
" 0.691",
" 0.113",
" 0",
" 0",
" 0",
" 50"
],
[
"18",
" Lettuce",
" 0.321",
" 1.002",
" 0.273",
" 0",
" 0",
" 0",
" 74"
],
[
"19",
" Lettuce",
" 0.170",
" 0.837",
" -1.380",
" 0",
" 0",
" 0",
" 90"
],
[
"20",
" Apple",
" -1.783",
" 0.892",
" 0.201",
" 0",
" 90",
" 0",
" 89"
],
[
"21",
" SoapBottle",
" -0.867",
" 1.683",
" -1.614",
" 0",
" 0",
" 0",
" 68"
],
[
"22",
" Cup",
" 1.117",
" 0.909",
" -1.513",
" 0",
" 0",
" 0",
" 66"
],
[
"23",
" Pot",
" -1.750",
" 1.680",
" -0.175",
" 0",
" 90",
" 0",
" 89"
],
[
"24",
" Fork",
" 1.866",
" 0.350",
" 0.116",
" 0",
" 270",
" 0",
" 62"
],
[
"25",
" Ladle",
" 1.762",
" 0.269",
" 1.153",
" 0",
" 0",
" 0",
" 75"
],
[
"26",
" Kettle",
" 1.765",
" 0.938",
" 0.601",
" 0",
" 180",
" 0",
" 48"
],
[
"27",
" Egg",
" -1.639",
" 0.968",
" -0.914",
" 0",
" 0",
" 0",
" 66"
],
[
"28",
" Plate",
" 1.802",
" 0.910",
" -1.513",
" 0",
" 0",
" 0",
" 66"
],
[
"29",
" Pan",
" 1.746",
" 0.911",
" 0.025",
" 0",
" 0",
" 0",
" 66"
],
[
"30",
" Lettuce",
" -0.175",
" 0.837",
" -1.490",
" 0",
" 0",
" 0",
" 90"
],
[
"31",
" Spatula",
" 0.083",
" 0.775",
" -1.435",
" 0",
" 0",
" 0",
" 90"
],
[
"32",
" Apple",
" -1.803",
" 1.522",
" 0.295",
" 0",
" 90",
" 0",
" 89"
],
[
"33",
" Knife",
" 1.574",
" 0.933",
" -1.221",
" 0",
" 0",
" 0",
" 66"
],
[
"34",
" SaltShaker",
" 1.612",
" 0.221",
" 1.350",
" 0",
" 0",
" 0",
" 75"
],
[
"35",
" PepperShaker",
" 0.361",
" 0.109",
" -1.597",
" 0",
" 0",
" 0",
" 55"
],
[
"36",
" CellPhone",
" 0.853",
" 0.669",
" -1.301",
" 0",
" 0",
" 0",
" 47"
],
[
"37",
" ButterKnife",
" 1.714",
" 0.120",
" 0.599",
" 0",
" 270",
" 0",
" 58"
],
[
"38",
" Bread",
" -0.320",
" 1.006",
" 0.738",
" 0",
" 0",
" 0",
" 74"
],
[
"39",
" Tomato",
" -1.750",
" 1.524",
" -0.081",
" 0",
" 90",
" 0",
" 89"
],
[
"40",
" Potato",
" -1.771",
" 1.053",
" -0.269",
" 0",
" 90",
" 0",
" 89"
],
[
"41",
" DishSponge",
" 1.713",
" 0.225",
" 0.462",
" 0",
" 0",
" 0",
" 60"
],
[
"42",
" Spoon",
" 0.000",
" 0.926",
" 0.273",
" 0",
" 0",
" 0",
" 74"
],
[
"43",
" Mug",
" -1.783",
" 0.834",
" 0.013",
" 0",
" 90",
" 0",
" 89"
],
[
"44",
" Bowl",
" 0.000",
" 0.924",
" 0.970",
" 0",
" 0",
" 0",
" 74"
],
[
"45",
" Cabinet",
" -0.495",
" 0.474",
" -1.149",
" 0",
" 0",
" 0",
""
],
[
"46",
" Window",
" -0.010",
" 1.582",
" -1.821",
" 0",
" 0",
" 0",
""
],
[
"47",
" Drawer",
" 0.805",
" 0.475",
" -1.159",
" 0",
" 0",
" 0",
""
],
[
"48",
" StoveBurner",
" 1.764",
" 0.902",
" 0.601",
" 0",
" 270",
" 0",
""
],
[
"49",
" Drawer",
" 1.5",
" 0.196",
" -0.019",
" 0",
" 0",
" 0",
""
],
[
"50",
" Drawer",
" 1.5",
" 0.629",
" -0.018",
" 0",
" 0",
" 0",
""
],
[
"51",
" Drawer",
" 1.5",
" 0.602",
" -0.019",
" 0",
" 270",
" 0",
""
],
[
"52",
" StoveBurner",
" 1.975",
" 0.902",
" 0.384",
" 0",
" 270",
" 0",
""
],
[
"53",
" Cabinet",
" -1.703",
" 2.022",
" -1.453",
" 0",
" 90",
" 0",
""
],
[
"54",
" Cabinet",
" 1.789",
" 2.019",
" -0.819",
" 0",
" 270",
" 0",
""
],
[
"55",
" Cabinet",
" 0.494",
" 0.474",
" -1.149",
" 0",
" 0",
" 0",
""
],
[
"56",
" Cabinet",
" 0.409",
" 0.475",
" 0.444",
" 0",
" 0",
" 0",
""
],
[
"57",
" Drawer",
" -0.696",
" 0.475",
" -1.159",
" 0",
" 0",
" 0",
""
],
[
"58",
" Drawer",
" 1.5",
" 0.140",
" 0.599",
" 0",
" 270",
" 0",
""
],
[
"59",
" Cabinet",
" 1.389",
" 0.474",
" -1.149",
" 0",
" 0",
" 0",
""
],
[
"60",
" Drawer",
" 1.5",
" 0.305",
" 0.600",
" 0",
" 0",
" 0",
""
],
[
"61",
" StoveBurner",
" 1.975",
" 0.902",
" 0.601",
" 0",
" 270",
" 0",
""
],
[
"62",
" Drawer",
" 1.5",
" 0.429",
" -0.019",
" 0",
" 0",
" 0",
""
],
[
"63",
" StoveBurner",
" 1.764",
" 0.902",
" 0.819",
" 0",
" 270",
" 0",
""
],
[
"64",
" Drawer",
" 1.5",
" 0.519",
" 1.220",
" 0",
" 0",
" 0",
""
],
[
"65",
" Cabinet",
" 1.705",
" 2.019",
" -1.449",
" 0",
" 0",
" 0",
""
],
[
"66",
" CounterTop",
" 0.002",
" 0.947",
" -1.513",
" 0",
" 0",
" 0",
""
],
[
"67",
" Drawer",
" 1.5",
" 0.629",
" 0.605",
" 0",
" 0",
" 0",
""
],
[
"68",
" Cabinet",
" -0.627",
" 2.019",
" -1.449",
" 0",
" 0",
" 0",
""
],
[
"69",
" StoveBurner",
" 1.764",
" 0.902",
" 0.384",
" 0",
" 270",
" 0",
""
],
[
"70",
" Drawer",
" 1.5",
" 0.538",
" 0.600",
" 0",
" 0",
" 0",
""
],
[
"71",
" Sink",
" 0.0",
" 0.893",
" -1.434",
" 0",
" 0",
" 0",
""
],
[
"72",
" Drawer",
" 1.5",
" 0.782",
" 1.220",
" 0",
" 270",
" 0",
""
],
[
"73",
" Window",
" 2.217",
" 1.565",
" -0.384",
" 0",
" 0",
" 0",
""
],
[
"74",
" CounterTop",
" -0.014",
" 0.961",
" 0.505",
" 0",
" 0",
" 0",
""
],
[
"75",
" Drawer",
" 1.5",
" 0.200",
" 1.220",
" 0",
" 0",
" 0",
""
],
[
"76",
" StoveBurner",
" 1.975",
" 0.902",
" 0.819",
" 0",
" 270",
" 0",
""
],
[
"77",
" Window",
" -3.240",
" 1.616",
" 2.693",
" 0",
" 270",
" 0",
""
],
[
"78",
" Cabinet",
" -1.389",
" 0.474",
" -1.149",
" 0",
" 0",
" 0",
""
],
[
"79",
" LightSwitch",
" -0.153",
" 1.291",
" 3.700",
" 0",
" 180",
" 0",
""
],
[
"80",
" GarbageCan",
" -1.796",
" 0.009",
" 1.330",
" 0",
" 270",
" 358.295",
""
],
[
"81",
" StoveKnob",
" 1.602",
" 0.917",
" 0.570",
" 0",
" 270",
" 180",
""
],
[
"82",
" StoveKnob",
" 1.602",
" 0.917",
" 0.625",
" 0",
" 270",
" 180",
""
],
[
"83",
" StoveKnob",
" 1.602",
" 0.917",
" 0.739",
" 0",
" 270",
" 180",
""
],
[
"84",
" StoveKnob",
" 1.602",
" 0.917",
" 0.680",
" 0",
" 270",
" 180",
""
],
[
"85",
" StoveKnob",
" 1.602",
" 0.917",
" 0.462",
" 0",
" 270",
" 180",
""
],
[
"86",
" StoveKnob",
" 1.602",
" 0.917",
" 0.517",
" 0",
" 270",
" 180",
""
],
[
"87",
" Microwave",
" 1.932",
" 0.899",
" -0.766",
" 0",
" 270",
" 0",
""
],
[
"88",
" CoffeeMachine",
" 1.355",
" 0.899",
" -1.596",
" 0",
" 0",
" 0",
""
],
[
"89",
" Fridge",
" -1.764",
" 0.0",
" 0.014",
" 0",
" 90",
" 0",
""
],
[
"90",
" SinkBasin",
" -0.014",
" 0.736",
" -1.435",
" 0",
" 0",
" 0",
""
],
[
"91",
" Toaster",
" 1.977",
" 0.900",
" -0.336",
" 0",
" 270",
" 0",
""
],
[
"92",
" Faucet",
" -0.020",
" 1.137",
" -1.605",
" 0",
" 270",
" 0",
""
],
[
"93",
" Chair",
" -9.354",
" 0.000",
" 1.242",
" 0",
" 180",
" 0",
""
],
[
"94",
" NorthWall",
" ",
" ",
" ",
" ",
" ",
" ",
""
],
[
"95",
" EastWall",
" ",
" ",
" ",
" ",
" ",
" ",
""
],
[
"96",
" SouthWall",
" ",
" ",
" ",
" ",
" ",
" ",
""
],
[
"97",
" WestWall",
" ",
" ",
" ",
" ",
" ",
" ",
""
]
] | " id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent 1.0 0.900 2.0 0 0 0
1 Kettle -0.213 0.926 0.041 0 0 0 74
2 Kettle 1.975 0.938 0.601 0 180 0 61
3 DishSponge -1.796 0.040 1.371 0 270 0 80
4 DishSponge -1.764 1.661 -0.905 0 90 0 53
5 Spoon 1.713 0.471 -0.020 0 0 0 62
6 Spatula -1.902 0.926 -0.864 0 270 0 66
7 Spatula 0.889 0.926 -1.221 0 0 0 66
8 Pot -1.668 0.915 -1.610 0 0 0 66
9 Pot -0.193 0.118 -1.409 0 0 0 45
10 Plate 0.107 0.924 1.202 0 0 0 74
11 Plate -1.114 1.678 -1.614 0 0 0 68
12 Tomato -1.749 0.894 -0.175 0 90 0 89
13 Bowl 0.000 0.924 0.738 0 0 0 74
14 Bowl -1.803 1.675 0.201 0 90 0 89
15 SaltShaker -0.081 0.111 -1.222 0 0 0 45
16 SaltShaker -1.990 0.907 -1.113 0 0 0 66
17 PepperShaker 1.610 0.691 0.113 0 0 0 50
18 Lettuce 0.321 1.002 0.273 0 0 0 74
19 Lettuce 0.170 0.837 -1.380 0 0 0 90
20 Apple -1.783 0.892 0.201 0 90 0 89
21 SoapBottle -0.867 1.683 -1.614 0 0 0 68
22 Cup 1.117 0.909 -1.513 0 0 0 66
23 Pot -1.750 1.680 -0.175 0 90 0 89
24 Fork 1.866 0.350 0.116 0 270 0 62
25 Ladle 1.762 0.269 1.153 0 0 0 75
26 Kettle 1.765 0.938 0.601 0 180 0 48
27 Egg -1.639 0.968 -0.914 0 0 0 66
28 Plate 1.802 0.910 -1.513 0 0 0 66
29 Pan 1.746 0.911 0.025 0 0 0 66
30 Lettuce -0.175 0.837 -1.490 0 0 0 90
31 Spatula 0.083 0.775 -1.435 0 0 0 90
32 Apple -1.803 1.522 0.295 0 90 0 89
33 Knife 1.574 0.933 -1.221 0 0 0 66
34 SaltShaker 1.612 0.221 1.350 0 0 0 75
35 PepperShaker 0.361 0.109 -1.597 0 0 0 55
36 CellPhone 0.853 0.669 -1.301 0 0 0 47
37 ButterKnife 1.714 0.120 0.599 0 270 0 58
38 Bread -0.320 1.006 0.738 0 0 0 74
39 Tomato -1.750 1.524 -0.081 0 90 0 89
40 Potato -1.771 1.053 -0.269 0 90 0 89
41 DishSponge 1.713 0.225 0.462 0 0 0 60
42 Spoon 0.000 0.926 0.273 0 0 0 74
43 Mug -1.783 0.834 0.013 0 90 0 89
44 Bowl 0.000 0.924 0.970 0 0 0 74
45 Cabinet -0.495 0.474 -1.149 0 0 0
46 Window -0.010 1.582 -1.821 0 0 0
47 Drawer 0.805 0.475 -1.159 0 0 0
48 StoveBurner 1.764 0.902 0.601 0 270 0
49 Drawer 1.5 0.196 -0.019 0 0 0
50 Drawer 1.5 0.629 -0.018 0 0 0
51 Drawer 1.5 0.602 -0.019 0 270 0
52 StoveBurner 1.975 0.902 0.384 0 270 0
53 Cabinet -1.703 2.022 -1.453 0 90 0
54 Cabinet 1.789 2.019 -0.819 0 270 0
55 Cabinet 0.494 0.474 -1.149 0 0 0
56 Cabinet 0.409 0.475 0.444 0 0 0
57 Drawer -0.696 0.475 -1.159 0 0 0
58 Drawer 1.5 0.140 0.599 0 270 0
59 Cabinet 1.389 0.474 -1.149 0 0 0
60 Drawer 1.5 0.305 0.600 0 0 0
61 StoveBurner 1.975 0.902 0.601 0 270 0
62 Drawer 1.5 0.429 -0.019 0 0 0
63 StoveBurner 1.764 0.902 0.819 0 270 0
64 Drawer 1.5 0.519 1.220 0 0 0
65 Cabinet 1.705 2.019 -1.449 0 0 0
66 CounterTop 0.002 0.947 -1.513 0 0 0
67 Drawer 1.5 0.629 0.605 0 0 0
68 Cabinet -0.627 2.019 -1.449 0 0 0
69 StoveBurner 1.764 0.902 0.384 0 270 0
70 Drawer 1.5 0.538 0.600 0 0 0
71 Sink 0.0 0.893 -1.434 0 0 0
72 Drawer 1.5 0.782 1.220 0 270 0
73 Window 2.217 1.565 -0.384 0 0 0
74 CounterTop -0.014 0.961 0.505 0 0 0
75 Drawer 1.5 0.200 1.220 0 0 0
76 StoveBurner 1.975 0.902 0.819 0 270 0
77 Window -3.240 1.616 2.693 0 270 0
78 Cabinet -1.389 0.474 -1.149 0 0 0
79 LightSwitch -0.153 1.291 3.700 0 180 0
80 GarbageCan -1.796 0.009 1.330 0 270 358.295
81 StoveKnob 1.602 0.917 0.570 0 270 180
82 StoveKnob 1.602 0.917 0.625 0 270 180
83 StoveKnob 1.602 0.917 0.739 0 270 180
84 StoveKnob 1.602 0.917 0.680 0 270 180
85 StoveKnob 1.602 0.917 0.462 0 270 180
86 StoveKnob 1.602 0.917 0.517 0 270 180
87 Microwave 1.932 0.899 -0.766 0 270 0
88 CoffeeMachine 1.355 0.899 -1.596 0 0 0
89 Fridge -1.764 0.0 0.014 0 90 0
90 SinkBasin -0.014 0.736 -1.435 0 0 0
91 Toaster 1.977 0.900 -0.336 0 270 0
92 Faucet -0.020 1.137 -1.605 0 270 0
93 Chair -9.354 0.000 1.242 0 180 0
94 NorthWall
95 EastWall
96 SouthWall
97 WestWall" | [
"STEP 1: Turn around and go to the end of the counter and turn towards the microwave. | STEP 2: Pick up the knife on the on the counter, to your right. | STEP 3: Turn around and go to the end of the counter, then turn right and go to the island on your right. | STEP 4: Cut the loaf of bread on the edge of the island into slices. | STEP 5: Turn to your right and go to the corner, then turn to your left and go to the microwave across from you. | STEP 6: Place the knife in the microwave. | STEP 7: Turn around and walk to the corner, then turn right and go back to the island on your right. | STEP 8: Pick up one of the slices of bread on the island. | STEP 9: Turn to your right and go to the corner, then turn to your left and go back to the microwave. | STEP 10: Place the slice of bread into the microwave, heat it up, then remove the slice of bread from the microwave. | STEP 11: Turn around and go to the corner, then turn to your left, and go to the refrigerator to your left. | STEP 12: Place the slice of bread on the top shelf of the refrigerator, in front of the white coffee cup. | END"
] | [
[
"STEP 1: Turn around and go to the end of the counter and turn towards the microwave. ",
" STEP 2: Pick up the knife on the on the counter, to your right. ",
" STEP 3: Turn around and go to the end of the counter, then turn right and go to the island on your right. ",
" STEP 4: Cut the loaf of bread on the edge of the island into slices. ",
" STEP 5: Turn to your right and go to the corner, then turn to your left and go to the microwave across from you. ",
" STEP 6: Place the knife in the microwave. ",
" STEP 7: Turn around and walk to the corner, then turn right and go back to the island on your right. ",
" STEP 8: Pick up one of the slices of bread on the island. ",
" STEP 9: Turn to your right and go to the corner, then turn to your left and go back to the microwave. ",
" STEP 10: Place the slice of bread into the microwave, heat it up, then remove the slice of bread from the microwave. ",
" STEP 11: Turn around and go to the corner, then turn to your left, and go to the refrigerator to your left. ",
" STEP 12: Place the slice of bread on the top shelf of the refrigerator, in front of the white coffee cup. ",
" END"
]
] | "seen" |
"trial_T20190909_075240_427378-2" | "put a slice of hot bread in the refrigerator" | [
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"id",
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" position_y",
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],
[
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[
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[
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" Pot",
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],
[
"9",
" Pot",
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],
[
"10",
" Plate",
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" 0",
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],
[
"11",
" Plate",
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" 0",
" 0",
" 0",
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[
"12",
" Tomato",
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" 90",
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],
[
"13",
" Bowl",
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" 0",
" 0",
" 0",
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],
[
"14",
" Bowl",
" -1.803",
" 1.675",
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" 0",
" 90",
" 0",
" 89"
],
[
"15",
" SaltShaker",
" -0.081",
" 0.111",
" -1.222",
" 0",
" 0",
" 0",
" 45"
],
[
"16",
" SaltShaker",
" -1.990",
" 0.907",
" -1.113",
" 0",
" 0",
" 0",
" 66"
],
[
"17",
" PepperShaker",
" 1.610",
" 0.691",
" 0.113",
" 0",
" 0",
" 0",
" 50"
],
[
"18",
" Lettuce",
" 0.321",
" 1.002",
" 0.273",
" 0",
" 0",
" 0",
" 74"
],
[
"19",
" Lettuce",
" 0.170",
" 0.837",
" -1.380",
" 0",
" 0",
" 0",
" 90"
],
[
"20",
" Apple",
" -1.783",
" 0.892",
" 0.201",
" 0",
" 90",
" 0",
" 89"
],
[
"21",
" SoapBottle",
" -0.867",
" 1.683",
" -1.614",
" 0",
" 0",
" 0",
" 68"
],
[
"22",
" Cup",
" 1.117",
" 0.909",
" -1.513",
" 0",
" 0",
" 0",
" 66"
],
[
"23",
" Pot",
" -1.750",
" 1.680",
" -0.175",
" 0",
" 90",
" 0",
" 89"
],
[
"24",
" Fork",
" 1.866",
" 0.350",
" 0.116",
" 0",
" 270",
" 0",
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],
[
"25",
" Ladle",
" 1.762",
" 0.269",
" 1.153",
" 0",
" 0",
" 0",
" 75"
],
[
"26",
" Kettle",
" 1.765",
" 0.938",
" 0.601",
" 0",
" 180",
" 0",
" 48"
],
[
"27",
" Egg",
" -1.639",
" 0.968",
" -0.914",
" 0",
" 0",
" 0",
" 66"
],
[
"28",
" Plate",
" 1.802",
" 0.910",
" -1.513",
" 0",
" 0",
" 0",
" 66"
],
[
"29",
" Pan",
" 1.746",
" 0.911",
" 0.025",
" 0",
" 0",
" 0",
" 66"
],
[
"30",
" Lettuce",
" -0.175",
" 0.837",
" -1.490",
" 0",
" 0",
" 0",
" 90"
],
[
"31",
" Spatula",
" 0.083",
" 0.775",
" -1.435",
" 0",
" 0",
" 0",
" 90"
],
[
"32",
" Apple",
" -1.803",
" 1.522",
" 0.295",
" 0",
" 90",
" 0",
" 89"
],
[
"33",
" Knife",
" 1.574",
" 0.933",
" -1.221",
" 0",
" 0",
" 0",
" 66"
],
[
"34",
" SaltShaker",
" 1.612",
" 0.221",
" 1.350",
" 0",
" 0",
" 0",
" 75"
],
[
"35",
" PepperShaker",
" 0.361",
" 0.109",
" -1.597",
" 0",
" 0",
" 0",
" 55"
],
[
"36",
" CellPhone",
" 0.853",
" 0.669",
" -1.301",
" 0",
" 0",
" 0",
" 47"
],
[
"37",
" ButterKnife",
" 1.714",
" 0.120",
" 0.599",
" 0",
" 270",
" 0",
" 58"
],
[
"38",
" Bread",
" -0.320",
" 1.006",
" 0.738",
" 0",
" 0",
" 0",
" 74"
],
[
"39",
" Tomato",
" -1.750",
" 1.524",
" -0.081",
" 0",
" 90",
" 0",
" 89"
],
[
"40",
" Potato",
" -1.771",
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" 90",
" 0",
" 89"
],
[
"41",
" DishSponge",
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" 0.462",
" 0",
" 0",
" 0",
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],
[
"42",
" Spoon",
" 0.000",
" 0.926",
" 0.273",
" 0",
" 0",
" 0",
" 74"
],
[
"43",
" Mug",
" -1.783",
" 0.834",
" 0.013",
" 0",
" 90",
" 0",
" 89"
],
[
"44",
" Bowl",
" 0.000",
" 0.924",
" 0.970",
" 0",
" 0",
" 0",
" 74"
],
[
"45",
" Cabinet",
" -0.495",
" 0.474",
" -1.149",
" 0",
" 0",
" 0",
""
],
[
"46",
" Window",
" -0.010",
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" -1.821",
" 0",
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" 0",
""
],
[
"47",
" Drawer",
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" 0",
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" 0",
""
],
[
"48",
" StoveBurner",
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" 0.902",
" 0.601",
" 0",
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" 0",
""
],
[
"49",
" Drawer",
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],
[
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" Drawer",
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" 0",
""
],
[
"52",
" StoveBurner",
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" 0",
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" 0",
""
],
[
"53",
" Cabinet",
" -1.703",
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" 0",
" 90",
" 0",
""
],
[
"54",
" Cabinet",
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" 0",
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" 0",
""
],
[
"55",
" Cabinet",
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" 0",
""
],
[
"56",
" Cabinet",
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" 0",
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" 0",
""
],
[
"57",
" Drawer",
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" 0",
" 0",
" 0",
""
],
[
"58",
" Drawer",
" 1.5",
" 0.140",
" 0.599",
" 0",
" 270",
" 0",
""
],
[
"59",
" Cabinet",
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" 0",
" 0",
" 0",
""
],
[
"60",
" Drawer",
" 1.5",
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" 0",
" 0",
" 0",
""
],
[
"61",
" StoveBurner",
" 1.975",
" 0.902",
" 0.601",
" 0",
" 270",
" 0",
""
],
[
"62",
" Drawer",
" 1.5",
" 0.429",
" -0.019",
" 0",
" 0",
" 0",
""
],
[
"63",
" StoveBurner",
" 1.764",
" 0.902",
" 0.819",
" 0",
" 270",
" 0",
""
],
[
"64",
" Drawer",
" 1.5",
" 0.519",
" 1.220",
" 0",
" 0",
" 0",
""
],
[
"65",
" Cabinet",
" 1.705",
" 2.019",
" -1.449",
" 0",
" 0",
" 0",
""
],
[
"66",
" CounterTop",
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" 0",
" 0",
" 0",
""
],
[
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" Drawer",
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" 0",
" 0",
" 0",
""
],
[
"68",
" Cabinet",
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" 0",
" 0",
" 0",
""
],
[
"69",
" StoveBurner",
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""
],
[
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" 0",
" 0",
" 0",
""
],
[
"71",
" Sink",
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" 0.893",
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" 0",
" 0",
" 0",
""
],
[
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" Drawer",
" 1.5",
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" 0",
" 270",
" 0",
""
],
[
"73",
" Window",
" 2.217",
" 1.565",
" -0.384",
" 0",
" 0",
" 0",
""
],
[
"74",
" CounterTop",
" -0.014",
" 0.961",
" 0.505",
" 0",
" 0",
" 0",
""
],
[
"75",
" Drawer",
" 1.5",
" 0.200",
" 1.220",
" 0",
" 0",
" 0",
""
],
[
"76",
" StoveBurner",
" 1.975",
" 0.902",
" 0.819",
" 0",
" 270",
" 0",
""
],
[
"77",
" Window",
" -3.240",
" 1.616",
" 2.693",
" 0",
" 270",
" 0",
""
],
[
"78",
" Cabinet",
" -1.389",
" 0.474",
" -1.149",
" 0",
" 0",
" 0",
""
],
[
"79",
" LightSwitch",
" -0.153",
" 1.291",
" 3.700",
" 0",
" 180",
" 0",
""
],
[
"80",
" GarbageCan",
" -1.796",
" 0.009",
" 1.330",
" 0",
" 270",
" 358.295",
""
],
[
"81",
" StoveKnob",
" 1.602",
" 0.917",
" 0.570",
" 0",
" 270",
" 180",
""
],
[
"82",
" StoveKnob",
" 1.602",
" 0.917",
" 0.625",
" 0",
" 270",
" 180",
""
],
[
"83",
" StoveKnob",
" 1.602",
" 0.917",
" 0.739",
" 0",
" 270",
" 180",
""
],
[
"84",
" StoveKnob",
" 1.602",
" 0.917",
" 0.680",
" 0",
" 270",
" 180",
""
],
[
"85",
" StoveKnob",
" 1.602",
" 0.917",
" 0.462",
" 0",
" 270",
" 180",
""
],
[
"86",
" StoveKnob",
" 1.602",
" 0.917",
" 0.517",
" 0",
" 270",
" 180",
""
],
[
"87",
" Microwave",
" 1.932",
" 0.899",
" -0.766",
" 0",
" 270",
" 0",
""
],
[
"88",
" CoffeeMachine",
" 1.355",
" 0.899",
" -1.596",
" 0",
" 0",
" 0",
""
],
[
"89",
" Fridge",
" -1.764",
" 0.0",
" 0.014",
" 0",
" 90",
" 0",
""
],
[
"90",
" SinkBasin",
" -0.014",
" 0.736",
" -1.435",
" 0",
" 0",
" 0",
""
],
[
"91",
" Toaster",
" 1.977",
" 0.900",
" -0.336",
" 0",
" 270",
" 0",
""
],
[
"92",
" Faucet",
" -0.020",
" 1.137",
" -1.605",
" 0",
" 270",
" 0",
""
],
[
"93",
" Chair",
" -9.354",
" 0.000",
" 1.242",
" 0",
" 180",
" 0",
""
],
[
"94",
" NorthWall",
" ",
" ",
" ",
" ",
" ",
" ",
""
],
[
"95",
" EastWall",
" ",
" ",
" ",
" ",
" ",
" ",
""
],
[
"96",
" SouthWall",
" ",
" ",
" ",
" ",
" ",
" ",
""
],
[
"97",
" WestWall",
" ",
" ",
" ",
" ",
" ",
" ",
""
]
] | " id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent 1.0 0.900 2.0 0 0 0
1 Kettle -0.213 0.926 0.041 0 0 0 74
2 Kettle 1.975 0.938 0.601 0 180 0 61
3 DishSponge -1.796 0.040 1.371 0 270 0 80
4 DishSponge -1.764 1.661 -0.905 0 90 0 53
5 Spoon 1.713 0.471 -0.020 0 0 0 62
6 Spatula -1.902 0.926 -0.864 0 270 0 66
7 Spatula 0.889 0.926 -1.221 0 0 0 66
8 Pot -1.668 0.915 -1.610 0 0 0 66
9 Pot -0.193 0.118 -1.409 0 0 0 45
10 Plate 0.107 0.924 1.202 0 0 0 74
11 Plate -1.114 1.678 -1.614 0 0 0 68
12 Tomato -1.749 0.894 -0.175 0 90 0 89
13 Bowl 0.000 0.924 0.738 0 0 0 74
14 Bowl -1.803 1.675 0.201 0 90 0 89
15 SaltShaker -0.081 0.111 -1.222 0 0 0 45
16 SaltShaker -1.990 0.907 -1.113 0 0 0 66
17 PepperShaker 1.610 0.691 0.113 0 0 0 50
18 Lettuce 0.321 1.002 0.273 0 0 0 74
19 Lettuce 0.170 0.837 -1.380 0 0 0 90
20 Apple -1.783 0.892 0.201 0 90 0 89
21 SoapBottle -0.867 1.683 -1.614 0 0 0 68
22 Cup 1.117 0.909 -1.513 0 0 0 66
23 Pot -1.750 1.680 -0.175 0 90 0 89
24 Fork 1.866 0.350 0.116 0 270 0 62
25 Ladle 1.762 0.269 1.153 0 0 0 75
26 Kettle 1.765 0.938 0.601 0 180 0 48
27 Egg -1.639 0.968 -0.914 0 0 0 66
28 Plate 1.802 0.910 -1.513 0 0 0 66
29 Pan 1.746 0.911 0.025 0 0 0 66
30 Lettuce -0.175 0.837 -1.490 0 0 0 90
31 Spatula 0.083 0.775 -1.435 0 0 0 90
32 Apple -1.803 1.522 0.295 0 90 0 89
33 Knife 1.574 0.933 -1.221 0 0 0 66
34 SaltShaker 1.612 0.221 1.350 0 0 0 75
35 PepperShaker 0.361 0.109 -1.597 0 0 0 55
36 CellPhone 0.853 0.669 -1.301 0 0 0 47
37 ButterKnife 1.714 0.120 0.599 0 270 0 58
38 Bread -0.320 1.006 0.738 0 0 0 74
39 Tomato -1.750 1.524 -0.081 0 90 0 89
40 Potato -1.771 1.053 -0.269 0 90 0 89
41 DishSponge 1.713 0.225 0.462 0 0 0 60
42 Spoon 0.000 0.926 0.273 0 0 0 74
43 Mug -1.783 0.834 0.013 0 90 0 89
44 Bowl 0.000 0.924 0.970 0 0 0 74
45 Cabinet -0.495 0.474 -1.149 0 0 0
46 Window -0.010 1.582 -1.821 0 0 0
47 Drawer 0.805 0.475 -1.159 0 0 0
48 StoveBurner 1.764 0.902 0.601 0 270 0
49 Drawer 1.5 0.196 -0.019 0 0 0
50 Drawer 1.5 0.629 -0.018 0 0 0
51 Drawer 1.5 0.602 -0.019 0 270 0
52 StoveBurner 1.975 0.902 0.384 0 270 0
53 Cabinet -1.703 2.022 -1.453 0 90 0
54 Cabinet 1.789 2.019 -0.819 0 270 0
55 Cabinet 0.494 0.474 -1.149 0 0 0
56 Cabinet 0.409 0.475 0.444 0 0 0
57 Drawer -0.696 0.475 -1.159 0 0 0
58 Drawer 1.5 0.140 0.599 0 270 0
59 Cabinet 1.389 0.474 -1.149 0 0 0
60 Drawer 1.5 0.305 0.600 0 0 0
61 StoveBurner 1.975 0.902 0.601 0 270 0
62 Drawer 1.5 0.429 -0.019 0 0 0
63 StoveBurner 1.764 0.902 0.819 0 270 0
64 Drawer 1.5 0.519 1.220 0 0 0
65 Cabinet 1.705 2.019 -1.449 0 0 0
66 CounterTop 0.002 0.947 -1.513 0 0 0
67 Drawer 1.5 0.629 0.605 0 0 0
68 Cabinet -0.627 2.019 -1.449 0 0 0
69 StoveBurner 1.764 0.902 0.384 0 270 0
70 Drawer 1.5 0.538 0.600 0 0 0
71 Sink 0.0 0.893 -1.434 0 0 0
72 Drawer 1.5 0.782 1.220 0 270 0
73 Window 2.217 1.565 -0.384 0 0 0
74 CounterTop -0.014 0.961 0.505 0 0 0
75 Drawer 1.5 0.200 1.220 0 0 0
76 StoveBurner 1.975 0.902 0.819 0 270 0
77 Window -3.240 1.616 2.693 0 270 0
78 Cabinet -1.389 0.474 -1.149 0 0 0
79 LightSwitch -0.153 1.291 3.700 0 180 0
80 GarbageCan -1.796 0.009 1.330 0 270 358.295
81 StoveKnob 1.602 0.917 0.570 0 270 180
82 StoveKnob 1.602 0.917 0.625 0 270 180
83 StoveKnob 1.602 0.917 0.739 0 270 180
84 StoveKnob 1.602 0.917 0.680 0 270 180
85 StoveKnob 1.602 0.917 0.462 0 270 180
86 StoveKnob 1.602 0.917 0.517 0 270 180
87 Microwave 1.932 0.899 -0.766 0 270 0
88 CoffeeMachine 1.355 0.899 -1.596 0 0 0
89 Fridge -1.764 0.0 0.014 0 90 0
90 SinkBasin -0.014 0.736 -1.435 0 0 0
91 Toaster 1.977 0.900 -0.336 0 270 0
92 Faucet -0.020 1.137 -1.605 0 270 0
93 Chair -9.354 0.000 1.242 0 180 0
94 NorthWall
95 EastWall
96 SouthWall
97 WestWall" | [
"STEP 1: turn then walk to the microwave | STEP 2: pick up the knife is next to the microwave | STEP 3: \n turn and walk to the bread that is on the table | STEP 4: slice the bread that is on the table | STEP 5: walked back to the microwave | STEP 6: put the knife in the microwave | STEP 7: walk back to the bread | STEP 8: pick up a slice of bread | STEP 9: walk back to the microwave | STEP 10: put a slice of bread in the microwave start the microwave take a slice of bread out of the microwave | STEP 11: walk to the refrigerator | STEP 12: put the slice of bread in the refrigerator shut the refrigerator door | END"
] | [
[
"STEP 1: turn then walk to the microwave ",
" STEP 2: pick up the knife is next to the microwave ",
" STEP 3: \n turn and walk to the bread that is on the table ",
" STEP 4: slice the bread that is on the table ",
" STEP 5: walked back to the microwave ",
" STEP 6: put the knife in the microwave ",
" STEP 7: walk back to the bread ",
" STEP 8: pick up a slice of bread ",
" STEP 9: walk back to the microwave ",
" STEP 10: put a slice of bread in the microwave start the microwave take a slice of bread out of the microwave ",
" STEP 11: walk to the refrigerator ",
" STEP 12: put the slice of bread in the refrigerator shut the refrigerator door ",
" END"
]
] | "seen" |
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This G-PlanET dataset is built on AI2 ALFRED.
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