id stringlengths 31 31 | objects listlengths 36 125 | objects_str stringlengths 10.4k 36.3k | task stringlengths 20 143 | truth_plan listlengths 4 20 | shuffle_actions listlengths 5 21 | labels listlengths 5 21 | truth_labels listlengths 3 36 |
|---|---|---|---|---|---|---|---|
trial_T20190909_040212_128194-1 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -0.25",
" position_y": " 0.909",
" position_z": " -1.5",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " CellPhone",
" position_x": " ... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -0.25",
" position_y": " 0.909",
" position_z": " -1.5",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
"... | Move keys from top of desk to below | [
"STEP 1: Turn around, walk to desk ",
" STEP 2: Pick up keys off of desk ",
" STEP 3: Turn around twice and end up facing the desk ",
" STEP 4: Put keys on top of drawers under the desk ",
" END"
] | [
"Turn around, walk to desk",
"Turn around twice and end up facing the desk",
"Spin three times and face the door",
"Pick up keys off of desk",
"Go straight, run to the window",
"Put keys on top of drawers under the desk"
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(A)",
"(D)",
"(B)",
"(F)"
] |
trial_T20190909_040212_128194-2 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -0.25",
" position_y": " 0.909",
" position_z": " -1.5",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " CellPhone",
" position_x": " ... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -0.25",
" position_y": " 0.909",
" position_z": " -1.5",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
"... | Move keys from the desk to the dresser. | [
"STEP 1: Turn around and move to the desk along the wall. ",
" STEP 2: Pick up the keys from the back of the desk. ",
" STEP 3: Carry the keys and turn around. ",
" STEP 4: Place the keys on the brown dresser below the desk. ",
" END"
] | [
"Pick up the keys from the back of the desk.",
"Carry the keys and walk straight.",
"Turn left and walk to the chair near the window.",
"Place the keys on the brown dresser below the desk.",
"Turn around and move to the desk along the wall.",
"Carry the keys and turn around."
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(E)",
"(A)",
"(F)",
"(D)"
] |
trial_T20190909_101422_952563-1 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.5",
" position_y": " 0.900",
" position_z": " -0.75",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Pot",
" position_x": " 0.281"... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.5",
" position_y": " 0.900",
" position_z": " -0.75",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
"... | Place a microwaved slice of potato into the trash can. | [
"STEP 1: Head towards the door then right towards the sink. ",
" STEP 2: Pick up the knife inside the sink. ",
" STEP 3: Turn around then right towards the wall, turn left towards the counter top. ",
" STEP 4: Cut the potato on the counter top. ",
" STEP 5: Turn left then head towards the stove ",
" STEP... | [
"Cut the potato on the counter top.",
"Place the potato slice into the trash can.",
"Rotate right then move towards the fridge, pivot left towards the toaster.",
"Head towards the door then right towards the sink.",
"Place the potato slice into the microwave, close the door then turn it on.",
"Turn left t... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)",
"(K)",
"(L)",
"(M)",
"(N)"
] | [
"(D)",
"(G)",
"(H)",
"(A)",
"(F)",
"(J)",
"(L)",
"(M)",
"(N)",
"(E)",
"(K)",
"(B)"
] |
trial_T20190909_113622_708422-0 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 0.75",
" position_y": " 0.900",
" position_z": " 0.5",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " DishSponge",
" position_x": " ... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 0.75",
" position_y": " 0.900",
" position_z": " 0.5",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" ... | Put a chilled bowl away in a kitchen cabinet. | [
"STEP 1: Turn left and go to the left of the stove. ",
" STEP 2: Pick up the bowl from the counter on the left side of the stove. ",
" STEP 3: Turn right and go to the fridge near the far wall. ",
" STEP 4: Chill the bowl in the fridge, then take it out again. ",
" STEP 5: Take the bowl to the cabinet under... | [
"Place another bowl on the counter to the right side of the stove.",
"Chill the bowl in the fridge, then take it out again.",
"Pick up the bowl from the counter on the left side of the stove.",
"Turn right and go to the fridge near the far wall.",
"Take the bowl to the cabinet under the countertop to the ri... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(G)",
"(C)",
"(D)",
"(B)",
"(E)",
"(H)"
] |
trial_T20190908_044339_918732-0 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -0.25",
" position_y": " 0.900",
" position_z": " 0.25",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Pan",
" position_x": " 0.634... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -0.25",
" position_y": " 0.900",
" position_z": " 0.25",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | Put the chilled tomato slice in the microwave | [
"STEP 1: Turn left and walk up to the kitchen counter ",
" STEP 2: Pick up the butter knife from the counter ",
" STEP 3: Use the knife to cut the tomato on the counter ",
" STEP 4: Turn left and walk to the left side of the counter facing back toward the oven ",
" STEP 5: Put the knife down on the counter ... | [
"Use the knife to cut the tomato on the counter",
"Pick up a tomato slice from the counter",
"Put the tomato slice in the microwave",
"Put the knife down on the counter",
"Turn left and walk up to the kitchen counter",
"Turn left and walk over to the fridge",
"Put the tomato in the fridge then remove it... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)",
"(K)",
"(L)",
"(M)"
] | [
"(E)",
"(I)",
"(A)",
"(H)",
"(D)",
"(M)",
"(B)",
"(F)",
"(G)",
"(K)",
"(C)"
] |
trial_T20190908_123536_170505-2 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 0.5",
" position_y": " 0.900",
" position_z": " -1.25",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Watch",
" position_x": " -0.71... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 0.5",
" position_y": " 0.900",
" position_z": " -1.25",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" ... | Put a statue down on a table. | [
"STEP 1: Go to the left and turn left to face the table with the plant on it. ",
" STEP 2: Pick the statue up from the table. ",
" STEP 3: Go to the left and face the table in the corner. ",
" STEP 4: Put the statue down on the table. ",
" END"
] | [
"Turn right and go forward, face the bookshelf",
"Pick the statue up from the table.",
"Proceed to the right and face the cabinet in the center.",
"Go to the left and turn left to face the table with the plant on it.",
"Put the statue down on the table.",
"Go to the left and face the table in the corner."... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(D)",
"(B)",
"(F)",
"(E)"
] |
trial_T20190908_125234_061434-1 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 1.25",
" position_y": " 0.900",
" position_z": " 0.5",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Watch",
" position_x": " -0.453... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 1.25",
" position_y": " 0.900",
" position_z": " 0.5",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" o... | Move the wristwatch from the coffee table to the dresser. | [
"STEP 1: Turn left and walk to the coffee table. ",
" STEP 2: Pick up the wristwatch from the coffee table. ",
" STEP 3: Turn left and walk to the dresser with statues on it. ",
" STEP 4: Put the wristwatch down on the dresser to the right of the grey statue. ",
" END"
] | [
"Turn right and walk towards the bookshelf.",
"Put the wristwatch down on the dresser to the right of the grey statue.",
"Pick up a book from the coffee table.",
"Turn left and walk to the dresser with statues on it.",
"Pick up the wristwatch from the coffee table.",
"Turn left and walk to the coffee tabl... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(F)",
"(E)",
"(D)",
"(B)"
] |
trial_T20190918_203807_287151-1 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 0.0",
" position_y": " 0.931",
" position_z": " -0.25",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Pan",
" position_x": " 1.036"... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 0.0",
" position_y": " 0.931",
" position_z": " -0.25",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
"... | Place a warm egg on the counter. | [
"STEP 1: Walk to the sink to your left. ",
" STEP 2: Grab the egg sitting between the bread and knife to the left of the sink. ",
" STEP 3: Turn left, walk straight to the wall, turn left to face the oven, and look up to face the microwave. ",
" STEP 4: Place the egg next to the cup inside the microwave, heat... | [
"Grab the egg sitting between the bread and knife to the left of the sink.",
"Place the egg next to the cup inside the microwave, heat it and then remove the egg.",
"Place the warm egg on the edge of the counter.",
"Walk to the sink to your left.",
"Look down, turn left and walk to the toaster on the counte... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(D)",
"(A)",
"(G)",
"(B)",
"(E)",
"(C)"
] |
trial_T20190908_044517_056279-2 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.5",
" position_y": " 0.900",
" position_z": " 0.5",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Potato",
" position_x": " -0.24... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.5",
" position_y": " 0.900",
" position_z": " 0.5",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" o... | Place a chilled tomato slice in the microwave. | [
"STEP 1: Turn right, move to the counter near the coffee machine. ",
" STEP 2: Pick up the knife from the counter. ",
" STEP 3: Turn left, move to the blue bin, near the door. ",
" STEP 4: Slice the far away tomato that is in the blue bin. ",
" STEP 5: Turn right, move to in front of the stove. ",
" STEP ... | [
"Pick up the knife from the counter.",
"Turn right, move to in front of the stove.",
"Turn right, move to in front of the stove.",
"Turn right, move to the counter near the coffee machine.",
"Pick up a slice of cucumber from the green bin.",
"Turn left, move towards the sink nearby the oven.",
"Put the ... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)",
"(K)",
"(L)",
"(M)",
"(N)"
] | [
"(D)",
"(A)",
"(H)",
"(J)",
"(I)",
"(B)",
"(C)",
"(N)",
"(H)",
"(J)",
"(K)",
"(L)",
"(G)",
"(B)",
"(C)",
"(M)"
] |
trial_T20190908_143542_788790-1 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 1.25",
" position_y": " 0.949",
" position_z": " 0.5",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " CD",
" position_x": " 1.666",... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 1.25",
" position_y": " 0.949",
" position_z": " 0.5",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
"... | Put a CD on the book shelf. | [
"STEP 1: Turn to your left and go to the dresser against the wall, across from you. ",
" STEP 2: Pick up the CD closest to you on the dresser. ",
" STEP 3: Turn to your left and go past the other dresser on your right, to the bookshelf across the room. ",
" STEP 4: Place the CD on the second shelf between th... | [
"Pick up the CD closest to you on the dresser.",
"Turn to your left and go past the other dresser on your right, to the bookshelf across the room.",
"Turn to your right and approach the dresser near the window.",
"Turn to your left and go to the dresser against the wall, across from you.",
"Place the CD on ... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(D)",
"(A)",
"(B)",
"(E)"
] |
trial_T20190909_112315_039662-0 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -4.75",
" position_y": " 0.901",
" position_z": " 3.75",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Bowl",
" position_x": " -2.... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -4.75",
" position_y": " 0.901",
" position_z": " 3.75",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | close up box on couch containing remote control | [
"STEP 1: walk to face box on floor between tv and shelves ",
" STEP 2: pick up box from floor ",
" STEP 3: walk to face couch ",
" STEP 4: put box on couch ",
" STEP 5: turn to face coffee table ",
" STEP 6: pick up remote from coffee table ",
" STEP 7: turn to face couch ",
" STEP 8: put remote into... | [
"turn to face coffee table",
"put box on shelves",
"pick up remote from coffee table",
"turn to face couch",
"put box on couch",
"pick up box from floor",
"walk to face box on floor between tv and shelves",
"walk to face couch",
"put remote into box on couch, close up box",
"turn to face dining ta... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)"
] | [
"(G)",
"(F)",
"(H)",
"(E)",
"(A)",
"(C)",
"(D)",
"(I)"
] |
trial_T20190909_112315_039662-1 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -4.75",
" position_y": " 0.901",
" position_z": " 3.75",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Bowl",
" position_x": " -2.... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -4.75",
" position_y": " 0.901",
" position_z": " 3.75",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | Put a remote control in a box on the sofa. | [
"STEP 1: Turn and go to the table in the corner. ",
" STEP 2: Pick up the box on the floor. ",
" STEP 3: Turn and go to the sofa. ",
" STEP 4: Put the box on the sofa. ",
" STEP 5: Turn and go to the coffee table ",
" STEP 6: Pick up the remote control on the coffee table. ",
" STEP 7: Turn and go to... | [
"Pick up the cup on the coffee table.",
"Turn and go to the coffee table",
"Put the box on the sofa.",
"Turn and go to the sofa.",
"Pick up the box on the floor.",
"Pick up the book on the shelf.",
"Turn and go to the sofa.",
"Pick up the remote control on the coffee table.",
"Turn and go to the tab... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)"
] | [
"(I)",
"(E)",
"(D)",
"(G)",
"(C)",
"(B)",
"(H)",
"(D)",
"(G)",
"(J)"
] |
trial_T20190908_043025_711430-0 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 0.25",
" position_y": " 0.931",
" position_z": " -0.25",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Potato",
" position_x": " 1... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 0.25",
" position_y": " 0.931",
" position_z": " -0.25",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | Heat and place a potato in the sink. | [
"STEP 1: Take a few steps right to find the toaster. ",
" STEP 2: Pick up the potato from the middle of the counter. ",
" STEP 3: Hold the potato and take a step right, then look up at the microwave. ",
" STEP 4: Open the microwave and place the potato inside. Shut the microwave then open it when finished and... | [
"Hold the potato and turn right. Then right again at the fridge.",
"Hold the potato and take a step right, then look up at the microwave.",
"Hold the potato and turn left. Then left again at the sink.",
"Pick up the potato from the middle of the counter.",
"Open the microwave and place the potato inside. Sh... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(F)",
"(D)",
"(B)",
"(E)",
"(C)",
"(G)"
] |
trial_T20190909_145612_379950-0 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.25",
" position_y": " 0.900",
" position_z": " 0.25",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " CreditCard",
" position_x":... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.25",
" position_y": " 0.900",
" position_z": " 0.25",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | Move the two credit cards on the narrow end table to the coffee table. | [
"STEP 1: Turn left and go to the narrow end table underneath the picture. ",
" STEP 2: Pick up the credit card nearest to you on the narrow end table. ",
" STEP 3: Turn around and go between the couch and coffee table facing the coffee table. ",
" STEP 4: Put the credit card on the coffee table to the right o... | [
"Put down the second credit card to the right of the first credit card.",
"Turn left and approach the wide dining table.",
"Turn right and go back to the narrow end table.",
"Turn left and go to the narrow end table underneath the picture.",
"Pick up the second credit card on the narrow end table.",
"Turn... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)"
] | [
"(D)",
"(H)",
"(I)",
"(G)",
"(C)",
"(E)",
"(F)",
"(A)"
] |
trial_T20190908_213458_200008-2 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -0.5",
" position_y": " 0.900",
" position_z": " 0.25",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Watch",
" position_x": " 1.80... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -0.5",
" position_y": " 0.900",
" position_z": " 0.25",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
"... | Move two watches to a drawer. | [
"STEP 1: Move forward to the small brown table. ",
" STEP 2: Pick up the watch from the left side of the table. ",
" STEP 3: Carry the watch and take a step backward. ",
" STEP 4: Open the drawer of the table. Place the watch inside on the right, then shut the door. ",
" STEP 5: Turn around and face the co... | [
"Pick up the watch from the left side of the table.",
"Carry the watch and turn left to the brown table.",
"Open the drawer and place the watch inside, on the right. Shut the drawer.",
"Turn around and face the coffee table on the left.",
"Open the drawer of the table. Place the watch inside on the right, ... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)"
] | [
"(I)",
"(A)",
"(H)",
"(E)",
"(D)",
"(F)",
"(B)",
"(C)"
] |
trial_T20190918_210801_003592-1 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -0.75",
" position_y": " 0.909",
" position_z": " -0.5",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Mug",
" position_x": " -0.68... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -0.75",
" position_y": " 0.909",
" position_z": " -0.5",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | To move two alarm clocks to the dresser. | [
"STEP 1: Turn right and walk to the white desk. ",
" STEP 2: Pick up the alarm clock to the left of the keys. ",
" STEP 3: Turn right and walk to the wooden dresser. ",
" STEP 4: Place the alarm on the dresser to the right of the CD. ",
" STEP 5: Turn around and walk back to the white desk. ",
" STEP... | [
"Place the alarm on the dresser to the right of the CD.",
"Pick up the alarm clock to the left of the keys.",
"Turn right and walk to the white desk.",
"Turn right and walk to the wooden dresser.",
"Turn right and walk back to the dresser.",
"Place the alarm clock on the dresser to the left of the CD.",
... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)"
] | [
"(C)",
"(B)",
"(D)",
"(A)",
"(H)",
"(G)",
"(E)",
"(F)"
] |
trial_T20190918_210801_003592-2 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -0.75",
" position_y": " 0.909",
" position_z": " -0.5",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Mug",
" position_x": " -0.68... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -0.75",
" position_y": " 0.909",
" position_z": " -0.5",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | Place two clocks on a dresser. | [
"STEP 1: Turn to the right and walk the the far left of the desk. ",
" STEP 2: Pick up the clock that is to the right from the desk. ",
" STEP 3: Turn to the right and walk to the dresser. ",
" STEP 4: Place the clock on the dresser. ",
" STEP 5: Turn around to the right and walk back to the desk. ",
... | [
"Place the clock on the dresser.",
"Pick up the remaining clock.",
"Turn around to the right and walk back to the desk.",
"Pick up the pen on the desk.",
"Pick up the clock that is to the right from the desk.",
"Turn to the right and walk back to the dresser.",
"Place the clock by the wall on the left s... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)"
] | [
"(H)",
"(E)",
"(J)",
"(A)",
"(C)",
"(B)",
"(F)",
"(G)"
] |
trial_T20190908_070239_015678-0 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 0.75",
" position_y": " 0.900",
" position_z": " 0.25",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Potato",
" position_x": " 3.... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 0.75",
" position_y": " 0.900",
" position_z": " 0.25",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | Put the pan with the knife into the sink. | [
"STEP 1: Go to the round table with cover on the left. ",
" STEP 2: Pick up the gray knife on the table. ",
" STEP 3: Turn around and go to the front of the stove. ",
" STEP 4: Place the knife in the gray pan on the front burner. ",
" STEP 5: Pick up the pan with the knife in it. ",
" STEP 6: Turn aro... | [
"Place the knife in the gray pan on the front burner.",
"Pick up the gray knife on the table.",
"Turn around and go to the sink.",
"Go to the round table with cover on the left.",
"Insert the knife into the white pot on the back burner.",
"Pick up the pan with the knife in it.",
"Place the pan with knif... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)"
] | [
"(D)",
"(B)",
"(H)",
"(A)",
"(F)",
"(C)",
"(G)"
] |
trial_T20190908_033338_761740-0 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 0.0",
" position_y": " 0.901",
" position_z": " 3.25",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Cloth",
" position_x": " -1.2... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 0.0",
" position_y": " 0.901",
" position_z": " 3.25",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
"... | Get the soap from the back of the toilet, get it wet in the sink and place it on the counter | [
"STEP 1: Turn left 2 times and walk to the toilet ",
" STEP 2: Pick up the bar of soap that is on the back of the toilet ",
" STEP 3: Turn to the left, walk forward a little ways turn left again and face the sink ",
" STEP 4: Put the soap in the sink and turn on the water, turn off the water and pick the soap... | [
"Pick up the toothbrush that is on the back of the toilet",
"Turn to the left, walk forward a little ways turn left again and face the sink",
"Turn to the left, then turn right and walk toward the wall then turn right again",
"Place the soap on the counter",
"Put the toothbrush in the sink, turn on the wat... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(F)",
"(G)",
"(B)",
"(H)",
"(C)",
"(D)"
] |
trial_T20190908_033338_761740-2 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 0.0",
" position_y": " 0.901",
" position_z": " 3.25",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Cloth",
" position_x": " -1.2... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 0.0",
" position_y": " 0.901",
" position_z": " 3.25",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
"... | Put a wet bar of soap on the counter. | [
"STEP 1: move to the toilet to the right of the door ",
" STEP 2: pick up soap from the toilet ",
" STEP 3: move to the sink behind you ",
" STEP 4: wet the soap in the sink ",
" STEP 5: move to the left side of the sink ahead of you ",
" STEP 6: put the soap on the counter ",
" END"
] | [
"move to the left side of the sink ahead of you",
"move to the toilet to the left of the door",
"move to the toilet to the right of the door",
"move to the sink behind you",
"dry the soap in the sink",
"put the soap on the counter",
"wet the soap in the sink",
"pick up soap from the toilet"
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(C)",
"(H)",
"(D)",
"(G)",
"(A)",
"(F)"
] |
trial_T20190909_042056_078737-0 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.5",
" position_y": " 0.900",
" position_z": " -0.25",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " DishSponge",
" position_x":... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.5",
" position_y": " 0.900",
" position_z": " -0.25",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | put a clean fork in to the drawer | [
"STEP 1: turn around and move forward to the counter to the left of the stove, turn to the left to face the counter ",
" STEP 2: pick up the fork that is on the counter ",
" STEP 3: turn around and move to the sink ",
" STEP 4: put the fork in to the sink, turn on the water to since the fork, turn the water o... | [
"walk backward and move to the fridge",
"turn around and move forward to the counter to the left of the stove, turn to the left to face the counter",
"turn around and move to the counter that is to the left of the stove",
"put the fork in to the sink, turn on the water to since the fork, turn the water off an... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(B)",
"(F)",
"(H)",
"(D)",
"(C)",
"(G)"
] |
trial_T20190909_042056_078737-1 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.5",
" position_y": " 0.900",
" position_z": " -0.25",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " DishSponge",
" position_x":... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.5",
" position_y": " 0.900",
" position_z": " -0.25",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | wash a dirty fork and put it away inside the drawer | [
"STEP 1: turn right walk straight a tiny bit then turn right again and then turn left towards the counter next to the stove ",
" STEP 2: pick up the fork on the counter top ",
" STEP 3: turn around and walk straight towards the sink and look down ",
" STEP 4: put the fork inside of the sink and fill the sink ... | [
"spin around, take a step backwards towards the fridge, and look up",
"turn around and walk straight towards the sink and look down",
"turn left walk straight then turn left again towards the counter next to the stove",
"turn left, walk straight a bit, then turn left again and then turn right towards the refr... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(G)",
"(H)",
"(B)",
"(F)",
"(C)",
"(E)"
] |
trial_T20190908_110528_569140-0 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.0",
" position_y": " 0.903",
" position_z": " 0.0",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " SoapBar",
" position_x": " -1... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.0",
" position_y": " 0.903",
" position_z": " 0.0",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
"... | clean up the spray bottles and put them on top of the toilet | [
"STEP 1: turn around towards the tub then turn left and walk straight to the shelf ",
" STEP 2: pick up the cleaning spray bottle off of the shelf ",
" STEP 3: turn left then walk straight towards the door then turn left and walk straight towards the toilet ",
" STEP 4: put the cleaning spray bottle on top o... | [
"put the cleaning spray bottle on the top of the toilet next to the toilet paper",
"pick up the spray bottle on the top shelf",
"pick up the cleaning spray bottle off of the shelf",
"turn left then walk straight towards the door then turn left and walk straight towards the toilet",
"turn left then walk stra... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)"
] | [
"(J)",
"(C)",
"(D)",
"(F)",
"(E)",
"(B)",
"(I)",
"(A)"
] |
trial_T20190908_110528_569140-1 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.0",
" position_y": " 0.903",
" position_z": " 0.0",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " SoapBar",
" position_x": " -1... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.0",
" position_y": " 0.903",
" position_z": " 0.0",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
"... | To move two spray bottles to the back of the toilet. | [
"STEP 1: Turn around and walk over to the right side of the shelves. ",
" STEP 2: Pick up the blue spray bottle to the right of the tissues. ",
" STEP 3: Turn left, turn left at the door and face the back of the toilet. ",
" STEP 4: Put the spray bottle down on the back of the toilet to the right of the to... | [
"Pick up the blue spray bottle from the top shelf.",
"Turn left and walk back over to the back of the toilet.",
"Turn left, turn left at the door and face the back of the toilet.",
"Pick up the green spray bottle to the left of the tissues.",
"Turn around and walk back over to the shelves, look up at the to... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)"
] | [
"(G)",
"(H)",
"(C)",
"(J)",
"(E)",
"(A)",
"(B)",
"(I)"
] |
trial_T20190909_151314_319375-1 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 3.25",
" position_y": " 0.900",
" position_z": " 0.5",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Pan",
" position_x": " 2.838"... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 3.25",
" position_y": " 0.900",
" position_z": " 0.5",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
"... | put chilled potato on the table | [
"STEP 1: walk forward, turn right to face counter ",
" STEP 2: pick up the potato that is on the counter ",
" STEP 3: turn right, walk forward, turn right to face fridge ",
" STEP 4: put potato in fridge, wait a minute, take potato out ",
" STEP 5: turn right, walk across room to table ",
" STEP 6: put th... | [
"leave the potato that is on the counter",
"pick up the potato that is on the counter",
"put the potato on the table",
"turn right, walk across room to table",
"turn right, walk forward, turn right to face fridge",
"put potato in fridge, wait a minute, take potato out",
"run forward, turn left to face w... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(H)",
"(B)",
"(E)",
"(F)",
"(D)",
"(C)"
] |
trial_T20190909_151529_898092-1 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 2.5",
" position_y": " 0.900",
" position_z": " 0.25",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " ButterKnife",
" position_x": ... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 2.5",
" position_y": " 0.900",
" position_z": " 0.25",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
"... | Place a chilled potato on a table. | [
"STEP 1: Turn right past the counters, then turn left and walk to the table. ",
" STEP 2: Pick up the potato on the table. ",
" STEP 3: Turn around and veer right into the kitchen, all the way down to the fridge on the right. ",
" STEP 4: Place the potato in the fridge and close the door. Wait a moment and ta... | [
"Turn around and veer right into the kitchen, all the way down to the fridge on the right.",
"Pick up the potato on the table.",
"Turn around and veer left into the dining room, all the way down to the cabinet on the left.",
"Turn right and walk past the counters again, and turn left, walking back to the tabl... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(H)",
"(B)",
"(A)",
"(F)",
"(D)",
"(E)"
] |
trial_T20190909_095018_345409-1 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.25",
" position_y": " 0.931",
" position_z": " 0.0",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " DishSponge",
" position_x": " ... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.25",
" position_y": " 0.931",
" position_z": " 0.0",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" ... | Put a clean kettle in the cabinet. | [
"STEP 1: Turn right, go across the room and turn right to the counter with the potato on it. ",
" STEP 2: Open the cabinet above the counter and pick up the kettle. ",
" STEP 3: Turn around to the sink. ",
" STEP 4: Put the kettle in the sink, rinse it and pick it back up. ",
" STEP 5: Turn around towards t... | [
"Put the kettle in the cabinet below the counter.",
"Turn around to the sink.",
"Put the kettle in the sink, rinse it and pick it back up.",
"Turn around towards the counter.",
"Hang the kettle on the wall hook.",
"Turn right, go across the room and turn right to the counter with the potato on it.",
"Tu... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(F)",
"(H)",
"(B)",
"(C)",
"(D)",
"(A)"
] |
trial_T20190908_075019_091188-1 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 3.0",
" position_y": " 0.900",
" position_z": " 0.75",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Pan",
" position_x": " 0.678",
... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 3.0",
" position_y": " 0.900",
" position_z": " 0.75",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" o... | Wash the knife and put it on the table. | [
"STEP 1: Turn left to go to the front of the counter on the left side of the stove. ",
" STEP 2: Pick up the knife in front of the salt shaker. ",
" STEP 3: Turn around and go to the sink on the opposite side. ",
" STEP 4: Wash the knife under running water in the sink and take it out. ",
" STEP 5: Turn ... | [
"Turn left to go to the square table with a blue cover.",
"Turn right to go to the round table with a gray cover.",
"Turn around and go to the sink on the opposite side.",
"Turn left to go to the front of the counter on the left side of the stove.",
"Pick up the spoon in front of the salt shaker.",
"Pick ... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(D)",
"(F)",
"(C)",
"(G)",
"(B)",
"(H)"
] |
trial_T20190908_075019_091188-2 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 3.0",
" position_y": " 0.900",
" position_z": " 0.75",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Pan",
" position_x": " 0.678",
... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 3.0",
" position_y": " 0.900",
" position_z": " 0.75",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" o... | Rinse a knife and place it on a table. | [
"STEP 1: Turn to the left and go across the room to the far right counter. ",
" STEP 2: Pick up the knife from the center of the counter. ",
" STEP 3: Carry the knife and turn around to the sink. ",
" STEP 4: Place the knife in the sink, turn the water on and off. Pick up the knife. ",
" STEP 5: Hold the kn... | [
"Hold the knife and take a few steps to the right, to the round table.",
"Turn to the left and go across the room to the far right counter.",
"Carry the knife and turn around to the sink.",
"Place the knife in the sink, turn the water on and off. Pick up the knife.",
"Pick up the knife from the center of th... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(B)",
"(E)",
"(C)",
"(D)",
"(A)",
"(H)"
] |
trial_T20190912_012111_529445-1 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 3.75",
" position_y": " 0.949",
" position_z": " -1.5",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Vase",
" position_x": " 2.803... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 3.75",
" position_y": " 0.949",
" position_z": " -1.5",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
"... | place two pens in the dresser drawer | [
"STEP 1: turn around and walk over to tall cabinet near the opposite corner of the room ",
" STEP 2: grab the pen off of the cabinet ",
" STEP 3: turn around and walk over to the dresser on the left side of the bed ",
" STEP 4: put the pen inside the drawer second to the left of the top row ",
" STEP 5: tur... | [
"put the pen inside the drawer second to the left of the top row",
"move to the right and maneuver back over to the dresser ahead",
"turn around and walk over to the dresser on the left side of the bed",
"place the pen in the same drawer the other pen was placed",
"grab the paperclip off of the cabinet",
... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)"
] | [
"(H)",
"(J)",
"(C)",
"(A)",
"(I)",
"(G)",
"(B)",
"(D)"
] |
trial_T20190912_012111_529445-2 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 3.75",
" position_y": " 0.949",
" position_z": " -1.5",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Vase",
" position_x": " 2.803... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 3.75",
" position_y": " 0.949",
" position_z": " -1.5",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
"... | Place two pens inside of a drawer. | [
"STEP 1: Walk to the shelves ",
" STEP 2: Pick up the pen from the shelf ",
" STEP 3: Walk to the drawers ",
" STEP 4: Open a drawer and place the pen inside ",
" STEP 5: Close the drawer and walk to the dresser ",
" STEP 6: Pick up a pen from the dresser ",
" STEP 7: Walk to the drawers ",
" STEP 8: ... | [
"Walk to the shelves",
"Pick up the pen from the shelf",
"Open the same drawer and place the pen inside",
"Open a drawer and place the pen inside",
"Close a drawer and place a pencil inside",
"Run to the shelves",
"Pick up a pen from the dresser",
"Walk to the drawers",
"Close the drawer and walk to... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)"
] | [
"(A)",
"(B)",
"(H)",
"(J)",
"(D)",
"(I)",
"(G)",
"(H)",
"(J)",
"(C)"
] |
trial_T20190909_042124_419116-0 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.25",
" position_y": " 0.900",
" position_z": " 0.5",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Pan",
" position_x": " 0.678... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.25",
" position_y": " 0.900",
" position_z": " 0.5",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | Put a cleaned fork in a drawer left of the stove. | [
"STEP 1: Turn left, move to the round table. ",
" STEP 2: Pick up the fork on the table. ",
" STEP 3: Turn around, go forward, turn right, go forward, turn right to face the sink. ",
" STEP 4: Wash the fork in the sink. ",
" STEP 5: Bring the cleaned fork to the drawer behind you, left of the stove. ",
"... | [
"Turn right, move to the rectangular table.",
"Pick up the fork on the table.",
"Turn left, move to the round table.",
"Bring the cleaned fork to the drawer behind you, left of the stove.",
"Place the cleaned fork in the cabinet above the stove.",
"Turn around, go forward, turn right, go forward, turn rig... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(C)",
"(B)",
"(F)",
"(G)",
"(D)",
"(H)"
] |
trial_T20190909_042124_419116-2 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.25",
" position_y": " 0.900",
" position_z": " 0.5",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Pan",
" position_x": " 0.678... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.25",
" position_y": " 0.900",
" position_z": " 0.5",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | Place a clean fork in a drawer. | [
"STEP 1: Turn left and walk to the table. ",
" STEP 2: Pick up the fork on the able. ",
" STEP 3: Turn around and walk around the side of the counter to the front of the sink. ",
" STEP 4: Rinse off the fork in the sink. ",
" STEP 5: Turn around and walk to the counter to the left of the stove. ",
" STEP ... | [
"Pick up the spoon on the table.",
"Turn left and walk to the table.",
"Rinse off the fork in the sink.",
"Turn around and walk to the counter to the left of the stove.",
"Pick up the fork on the able.",
"Turn around and walk around the side of the counter to the front of the sink.",
"Dry off the fork o... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(B)",
"(E)",
"(F)",
"(C)",
"(D)",
"(H)"
] |
trial_T20190906_184817_053664-2 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -0.75",
" position_y": " 0.900",
" position_z": " -0.25",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Pan",
" position_x": " 1.422... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -0.75",
" position_y": " 0.900",
" position_z": " -0.25",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | place a microwaved cup in a kitchen cabinet | [
"STEP 1: walk over to the kitchen counter to the right of the stove ",
" STEP 2: grab a cup from the cabinet underneath the counter ",
" STEP 3: turn around and walk over to the kitchen stove ",
" STEP 4: place the cup in the microwave above the kitchen stove, turn it on, and when it's done take it out ",
"... | [
"grab a cup from the cabinet underneath the counter",
"put the cup in the upper cabinet on the left",
"Walk towards the dining table",
"turn around and walk over to the kitchen stove",
"place the cup in the microwave above the kitchen stove, turn it on, and when it's done take it out",
"Walk straight and ... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(G)",
"(A)",
"(D)",
"(E)",
"(H)",
"(B)"
] |
trial_T20190907_002937_112931-1 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.0",
" position_y": " 0.900",
" position_z": " 0.0",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Pan",
" position_x": " 1.141"... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.0",
" position_y": " 0.900",
" position_z": " 0.0",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
"... | Put the cooked tomato slice in the fridge | [
"STEP 1: Turn around and walk to the kitchen sink ",
" STEP 2: Pick up the knife from the kitchen sink ",
" STEP 3: Turn and move slightly to the right side of the sink ",
" STEP 4: Use the knife to slice the red tomato in the sink ",
" STEP 5: Put the knife down in the kitchen sink ",
" STEP 6: Pick up a... | [
"Cook the tomato in the microwave and remove it",
"Use the knife to slice the red tomato in the sink",
"Put the tomato slice in the fridge in front of the drinking glass",
"Pick up the knife from the kitchen sink",
"Pick up a slice of cucumber from the sink",
"Pick up a slice of tomato from the sink",
"... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)",
"(K)",
"(L)"
] | [
"(J)",
"(D)",
"(G)",
"(B)",
"(I)",
"(F)",
"(K)",
"(A)",
"(H)",
"(C)"
] |
trial_T20190907_002937_112931-2 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.0",
" position_y": " 0.900",
" position_z": " 0.0",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Pan",
" position_x": " 1.141"... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.0",
" position_y": " 0.900",
" position_z": " 0.0",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
"... | Get a slice of tomato into the microwave, next cool it in the fridge. | [
"STEP 1: Turn to the left and walk towards the sink, turn to face the sink ",
" STEP 2: Pick up the knife out of the sink ",
" STEP 3: Go to the other side of the sink with the knife ",
" STEP 4: Put the knife back in the sink ",
" STEP 5: Pick up a slice of tomato ",
" STEP 6: Turn towards the left while... | [
"Turn left then right then left again and go on toward the microwave",
"Pick up a slice of tomato",
"Turn right and walk to the fridge",
"Turn to the left and walk towards the sink, turn to face the sink",
"Put the knife back in the sink",
"Turn towards the right while holding the tomato",
"Put the toma... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)",
"(K)",
"(L)"
] | [
"(D)",
"(J)",
"(L)",
"(E)",
"(B)",
"(K)",
"(A)",
"(G)",
"(C)",
"(H)"
] |
trial_T20190911_002050_142268-2 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -2.5",
" position_y": " 0.909",
" position_z": " -4.25",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Mug",
" position_x": " -3.466... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -2.5",
" position_y": " 0.909",
" position_z": " -4.25",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
"... | place two pencil's down on top of the desk in the corner of the room | [
"STEP 1: move forwards to the foot of the bed, then turn left to face the cabinet to the left ",
" STEP 2: grab the pencil off of the top of the cabinet there ",
" STEP 3: turn around and walk to the desk on the right side corner at the end of the room ",
" STEP 4: place the pencil down on top of the desk the... | [
"Fetch a notepad from the cabinet next to the bed",
"turn around and walk to the desk on the right side corner at the end of the room",
"place the pencil down on top of the desk there",
"move forwards to the foot of the bed, then turn left to face the cabinet to the left",
"pick the pen from the bottom draw... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)"
] | [
"(D)",
"(G)",
"(B)",
"(C)",
"(F)",
"(H)",
"(J)",
"(I)"
] |
trial_T20190907_084623_989691-0 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -0.75",
" position_y": " 0.901",
" position_z": " 2.75",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " TissueBox",
" position_x": ... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -0.75",
" position_y": " 0.901",
" position_z": " 2.75",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | put the two candles on the vanity in the bottom right cabinet | [
"STEP 1: turn right to the vanity ",
" STEP 2: grab the candle on the vanity ",
" STEP 3: turn around, turn around ",
" STEP 4: open the bottom right cabinet, put the candle in, close the cabinet ",
" STEP 5: walk to the right a little ",
" STEP 6: grab the candle on the vanity ",
" STEP 7: turn around... | [
"walk to the right a little",
"turn right to the vanity",
"grab the candle on the stool",
"open the bottom right cabinet, put the candle in, close the cabinet",
"turn around, turn around",
"turn to the left, turn to the left",
"turn around, turn around",
"grab the candle on the vanity",
"open the bo... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)"
] | [
"(B)",
"(H)",
"(J)",
"(E)",
"(G)",
"(D)",
"(I)",
"(A)",
"(H)",
"(J)",
"(E)",
"(G)",
"(D)",
"(I)"
] |
trial_T20190907_084623_989691-2 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -0.75",
" position_y": " 0.901",
" position_z": " 2.75",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " TissueBox",
" position_x": ... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -0.75",
" position_y": " 0.901",
" position_z": " 2.75",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | Put two candle holders in the cabinet under the sink. | [
"STEP 1: Turn right and go to the sink on the left. ",
" STEP 2: Pick up a candle holder on the counter. ",
" STEP 3: Turn and go to the cabinet under the sink on the right. ",
" STEP 4: Put the candle holder in the cabinet ",
" STEP 5: Turn and go to the sink on the right. ",
" STEP 6: Pick up a candle... | [
"Pick up a spoon from the counter.",
"Put the candle holder in the cabinet under the sink.",
"Pick up a candle holder on the counter.",
"Turn and go to the refrigerator on the left.",
"Turn and go to the cabinet under the sink on the right.",
"Turn and go to the cabinet.",
"Pick up a candle holder on th... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)"
] | [
"(J)",
"(C)",
"(G)",
"(E)",
"(H)",
"(I)",
"(C)",
"(G)",
"(F)",
"(B)"
] |
trial_T20190907_084623_989691-3 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -0.75",
" position_y": " 0.901",
" position_z": " 2.75",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " TissueBox",
" position_x": ... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -0.75",
" position_y": " 0.901",
" position_z": " 2.75",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | To move two candles to the cabinet below the sink on the right side. | [
"STEP 1: Turn right, face the sink on the left side, look towards the back of the sink. ",
" STEP 2: Pick up the candle to the right of the sink, and to the left of the spray bottle. ",
" STEP 3: Look down at the cabinets below the sink on the right side. ",
" STEP 4: Open the cabinet door all the way to t... | [
"Move to the back of the sink on the left side.",
"Pick up the candle to the right of the sink, and behind the rag.",
"Pick up the candle to the right of the sink, and to the left of the spray bottle.",
"Turn right, face the sink on the left side, look towards the back of the sink.",
"Look down at the cabin... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)"
] | [
"(D)",
"(C)",
"(E)",
"(H)",
"(I)",
"(J)",
"(B)",
"(E)",
"(H)",
"(F)"
] |
trial_T20190907_084623_989691-4 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -0.75",
" position_y": " 0.901",
" position_z": " 2.75",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " TissueBox",
" position_x": ... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -0.75",
" position_y": " 0.901",
" position_z": " 2.75",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | Put two candles in the bottom, right cupboard, underneath the sink closest to the wall. | [
"STEP 1: Turn to your right, towards the sink. ",
" STEP 2: Pick up the candle that is on the counter, between the sink and the white spray bottle. ",
" STEP 3: Step back from the sink, and to your right, so that you are standing in front of the sink closest to the wall. ",
" STEP 4: Place the candle in th... | [
"Place the candle in the bottom, far right, cupboard, underneath the sink.",
"Turn to your right, towards the sink.",
"Place the candle in the right, bottom cupboard, to the right of the one previously placed in there.",
"Pick up the candle holder, on the counter, between the sink and the right wall.",
"Pi... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)"
] | [
"(B)",
"(I)",
"(H)",
"(A)",
"(J)",
"(D)",
"(G)",
"(C)"
] |
trial_T20190907_114712_088303-2 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 0.5",
" position_y": " 0.931",
" position_z": " -0.75",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " DishSponge",
" position_x": "... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 0.5",
" position_y": " 0.931",
" position_z": " -0.75",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
"... | Fill the pot with water from the sink. | [
"STEP 1: Turn around and go to the cupboard. ",
" STEP 2: Take the pot out of the cupboard. ",
" STEP 3: Turn around and go to the sink. ",
" STEP 4: Fill the pot with water and take the pot out of the sink. ",
" STEP 5: Turn and go to the counter by the stove. ",
" STEP 6: Put the pot by the toaster on... | [
"Put the pot by the toaster on the counter.",
"Turn and go to the counter by the stove.",
"Take the pot out of the cupboard.",
"Take the plate out of the cupboard.",
"Turn around and go to the sink.",
"Turn left and go to the fridge.",
"Fill the pot with water and take the pot out of the sink.",
"Turn... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(H)",
"(C)",
"(E)",
"(G)",
"(B)",
"(A)"
] |
trial_T20190907_114712_088303-3 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 0.5",
" position_y": " 0.931",
" position_z": " -0.75",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " DishSponge",
" position_x": "... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 0.5",
" position_y": " 0.931",
" position_z": " -0.75",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
"... | Place a bucket filled with water in front of the toaster on the counter. | [
"STEP 1: Walk forward to the cabinets to the left of the tomato on the counter. ",
" STEP 2: Pick up the bucket from the lower cabinet. ",
" STEP 3: Turn around and walk to the sink. ",
" STEP 4: Place the bucket in the sink, fill it with water and then pick the bucket up from the sink. ",
" STEP 5: Turn le... | [
"Walk forward to the cabinets to the left of the tomato on the counter.",
"Turn right and walk to the refrigerator.",
"Place the bucket in front of the toaster on the counter.",
"Turn left and walk to the toaster.",
"Pick up the bucket from the lower cabinet.",
"Pick up the spoon from the upper cabinet.",... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(A)",
"(E)",
"(H)",
"(G)",
"(D)",
"(C)"
] |
trial_T20190908_061532_690447-1 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 0.25",
" position_y": " 0.900",
" position_z": " 0.0",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Pan",
" position_x": " 1.155"... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 0.25",
" position_y": " 0.900",
" position_z": " 0.0",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
"... | Place a chilled egg in a microwave. | [
"STEP 1: Turn around and walk to the black stove ahead. ",
" STEP 2: Open the microwave above the stove, remove the egg from inside and close the door. ",
" STEP 3: Turn right and walk to the fridge to the right. ",
" STEP 4: Put the egg inside the fridge on the second shelf in front of the glass, chill it fo... | [
"Turn around and walk to the black stove ahead.",
"Turn left and walk to the fridge on the left.",
"Turn right and walk to the stove on the right.",
"Open the microwave above the stove, remove the egg from inside and close the door.",
"Open the microwave below the sink, remove the egg from inside and close ... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(A)",
"(D)",
"(F)",
"(H)",
"(C)",
"(G)"
] |
trial_T20190908_061532_690447-2 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 0.25",
" position_y": " 0.900",
" position_z": " 0.0",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Pan",
" position_x": " 1.155"... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 0.25",
" position_y": " 0.900",
" position_z": " 0.0",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
"... | Put a chilled egg in the microwave. | [
"STEP 1: move to the stove behind you ",
" STEP 2: pick up a egg from the microwave ",
" STEP 3: move to the fridge to the right of you ",
" STEP 4: chill the egg in the fridge for a moment ",
" STEP 5: move to the stove to the right of you ",
" STEP 6: put the egg in the microwave ",
" END"
] | [
"pick up a egg from the microwave",
"move to the fridge in front of you",
"move to the fridge to the right of you",
"move to the microwave to the left of you",
"move to the stove to the right of you",
"chill the egg in the fridge for a moment",
"move to the stove behind you",
"put the egg in the micro... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(G)",
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"(C)",
"(F)",
"(E)",
"(H)"
] |
trial_T20190907_193714_370263-0 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.0",
" position_y": " 0.909",
" position_z": " -1.25",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " CellPhone",
" position_x": ... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.0",
" position_y": " 0.909",
" position_z": " -1.25",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | Turn a lamp on with a computer in hand. | [
"STEP 1: Go left and then right to stand at the side of the bed. ",
" STEP 2: Close the computer on the right and pick it up from the bed. ",
" STEP 3: Go right and then stand at the white table with the lamp. ",
" STEP 4: Turn the lamp on. ",
" END"
] | [
"Close the computer on the right and pick it up from the bed.",
"Go left and then right to stand at the side of the bed.",
"Go right and then left to stand at the opposite side of the bed.",
"Go right and then stand at the white table with the lamp.",
"Go left and then stand beside the blue cupboard.",
"T... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(B)",
"(A)",
"(D)",
"(F)"
] |
trial_T20190908_102822_137277-1 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 1.5",
" position_y": " 0.931",
" position_z": " -0.25",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " DishSponge",
" position_x": ... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 1.5",
" position_y": " 0.931",
" position_z": " -0.25",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | Pick up apple, warm in microwave, put apple in sink. | [
"STEP 1: Proceed to area to the left of the sink on your right. Turn right to face sink. ",
" STEP 2: Pick up apple from counter, to the right of the sponge and spoon. ",
" STEP 3: Turn left, go to wall. Turn left, go to oven and microwave. ",
" STEP 4: Open microwave door, place apple to right of mug, clos... | [
"Place apple in sink below other apple.",
"Grab orange from coffee table, next to the remote control.",
"Turn left, go to wall. Turn left, go to oven and microwave.",
"Pick up apple from counter, to the right of the sponge and spoon.",
"Proceed to area to the left of the sink on your right. Turn right to ... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(E)",
"(D)",
"(C)",
"(H)",
"(G)",
"(A)"
] |
trial_T20190918_203809_534089-2 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.5",
" position_y": " 0.900",
" position_z": " 0.25",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " DishSponge",
" position_x": ... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.5",
" position_y": " 0.900",
" position_z": " 0.25",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | place a kettle filled with water on the gas | [
"STEP 1: move around to the gas ",
" STEP 2: pick up the kettle from the gas ",
" STEP 3: turn around to the sink ",
" STEP 4: fill the kettle with water ",
" STEP 5: turn around to the gas ",
" STEP 6: place the kettle on the gas ",
" END"
] | [
"turn around to the window",
"put the kettle back on the gas",
"turn around to the sink",
"move around to the gas",
"place the kettle on the gas",
"turn around to the gas",
"pick up the kettle from the gas",
"fill the kettle with water"
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(D)",
"(G)",
"(C)",
"(H)",
"(F)",
"(E)"
] |
trial_T20190908_113123_156403-0 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 3.0",
" position_y": " 0.900",
" position_z": " 0.75",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Potato",
" position_x": " -0.... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 3.0",
" position_y": " 0.900",
" position_z": " 0.75",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
"... | Clean the dirty place setting, and put it back on the table. | [
"STEP 1: Turn right, walk to the window, then turn left and walk till you hit the table. ",
" STEP 2: Pick up the the glass and the utensils from the table. ",
" STEP 3: Turn around, walk forward one step, turn right, and walk forward until the sink is directly to your right. ",
" STEP 4: Place the utensils ... | [
"Place the clean utensils and glass on the table.",
"Turn around, walk to the window,. then turn left and walk to the table.",
"Turn around, walk forward one step, turn right, and walk forward until the sink is directly to your right.",
"Lower your hand, touch the floor.",
"Pick up the the glass and the ute... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(H)",
"(E)",
"(C)",
"(F)",
"(B)",
"(A)"
] |
trial_T20190908_044829_272756-2 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 1.25",
" position_y": " 0.900",
" position_z": " -1.25",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Watch",
" position_x": " 1.89... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 1.25",
" position_y": " 0.900",
" position_z": " -1.25",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
"... | Put two remote on the couch | [
"STEP 1: Turn left then move forward turn right face the side table ",
" STEP 2: Pick up the remote on the side table ",
" STEP 3: Turn right then turn left on the couch beside the side table ",
" STEP 4: Put the remote on the edge of the couch ",
" STEP 5: Turn right move forward then turn right face the ... | [
"Turn left then move forward turn right face the side table",
"Turn right then move backwards, turn left and face the bookshelf",
"Place the remote right beside the first remote",
"Turn right move forward then head to the same couch",
"Leave the remote on the center table",
"Pick up the remote on the cent... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)"
] | [
"(A)",
"(I)",
"(G)",
"(J)",
"(H)",
"(F)",
"(D)",
"(C)"
] |
trial_T20190909_014356_818830-0 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.0",
" position_y": " 0.900",
" position_z": " 0.75",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Potato",
" position_x": " 0.05... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.0",
" position_y": " 0.900",
" position_z": " 0.75",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" ... | Heat up a slice of apple in the microwave to put in the sink. | [
"STEP 1: Turn around, making a left to face the countertop to the right of the stove. ",
" STEP 2: Pick up the knife from the countertop. ",
" STEP 3: Turn around to face the coffee machine. ",
" STEP 4: Slice the apple in front of the coffee machine with the knife. ",
" STEP 5: Turn right to walk to the si... | [
"Pick up the knife from the countertop.",
"Put the knife in the sink.",
"Turn right to walk to the sink.",
"Turn left to walk to the coffee machine.",
"Turn to face the fridge.",
"Turn around, making a left to face the countertop to the right of the stove.",
"Pick up the spoon from the countertop.",
"... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)",
"(K)",
"(L)",
"(M)",
"(N)"
] | [
"(F)",
"(A)",
"(N)",
"(I)",
"(C)",
"(B)",
"(D)",
"(H)",
"(K)",
"(J)",
"(L)",
"(M)"
] |
trial_T20190907_034220_566125-1 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 0.0",
" position_y": " 0.901",
" position_z": " 2.5",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " TissueBox",
" position_x": " -1.... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 0.0",
" position_y": " 0.901",
" position_z": " 2.5",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" ob... | Set a clean bar of soap on the back of the toilet. | [
"STEP 1: Walk over to the vanity. ",
" STEP 2: Take a bar of soap out of the cabinet under the sink. ",
" STEP 3: Go to the sink. ",
" STEP 4: Rinse off the soap in the sink. ",
" STEP 5: Take the rinsed soap to the toilet across the room. ",
" STEP 6: Set the rinsed soap down on the back of the toilet. "... | [
"Rinse off the soap in the sink.",
"Take a bar of soap out of the cabinet under the sink.",
"Walk over to the vanity.",
"Set the rinsed soap down on the back of the toilet.",
"Go to the sink.",
"Grab a bottle of shampoo from the top of the vanity.",
"Take the rinsed soap to the toilet across the room.",... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(C)",
"(B)",
"(E)",
"(A)",
"(G)",
"(D)"
] |
trial_T20190907_215056_750312-2 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -0.75",
" position_y": " 0.900",
" position_z": " 1.0",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Potato",
" position_x": " 0.36... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -0.75",
" position_y": " 0.900",
" position_z": " 1.0",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" ... | Slice some lettuce and cool it in the refrigerator for disposal | [
"STEP 1: turn around, then go left and straight to the wall. Then look left at the counter top ",
" STEP 2: pick up the knife to the right of the bread ",
" STEP 3: face the lettuce on the counter top ",
" STEP 4: slice the lettuce on the counter top ",
" STEP 5: turn around and face the refrigerator ",
"... | [
"go to the window on the other side of the room and face the bin",
"place the lettuce in the refrigerator on the top shelf, close the door for a few seconds, and then take the lettuce out of the refrigerator",
"pick up the knife to the right of the bread",
"pick up a slice of lettuce on the counter top",
"... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)",
"(K)",
"(L)",
"(M)",
"(N)"
] | [
"(E)",
"(C)",
"(J)",
"(I)",
"(F)",
"(H)",
"(L)",
"(D)",
"(M)",
"(B)",
"(A)",
"(G)"
] |
trial_T20190907_224726_173646-1 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -0.75",
" position_y": " 0.900",
" position_z": " 0.0",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Kettle",
" position_x": " 2.4... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -0.75",
" position_y": " 0.900",
" position_z": " 0.0",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
"... | Put two slices of bread from two different loaves on the table. | [
"STEP 1: Take a step forward then turn left and walk to the counter to the left of the stove. ",
" STEP 2: Pick up the yellow handled knife that's in front of you. ",
" STEP 3: Turn right then take a step to your right then walk to the two loaves of bread on the counter to your left. ",
" STEP 4: Cut the top ... | [
"Pick up the yellow handled knife that's in front of you.",
"Pick up the knife again.",
"Pick up a slice of bread.",
"Pick up a slice of bread from the bottom loaf.",
"Put the bread on the table.",
"Walk back to the bread.",
"Go back to the bread",
"Put the knife on the table.",
"Put the slice of br... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)",
"(K)",
"(L)",
"(M)",
"(N)",
"(O)",
"(P)",
"(Q)",
"(R)",
"(S)",
"(T)",
"(U)"
] | [
"(Q)",
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"(F)",
"(M)",
"(J)",
"(N)",
"(S)",
"(E)",
"(B)",
"(G)",
"(D)",
"(U)",
"(I)"
] |
trial_T20190907_071825_279908-1 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -0.75",
" position_y": " 0.903",
" position_z": " 0.5",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " TissueBox",
" position_x": "... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -0.75",
" position_y": " 0.903",
" position_z": " 0.5",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | place a purple spray bottle on to the reservoir of the toilet | [
"STEP 1: turn right and walk to the shelves along the wall and look up ",
" STEP 2: pick up the purple spray bottle on the top shelf ",
" STEP 3: look back down turn left and walk to the toilet ",
" STEP 4: place the purple spray bottle on to the reservoir of the toilet ",
" END"
] | [
"turn left and head to the windows across the room",
"place the purple spray bottle on to the reservoir of the toilet",
"grab the blue container on the middle shelf",
"pick up the purple spray bottle on the top shelf",
"look back down turn left and walk to the toilet",
"turn right and walk to the shelves ... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(F)",
"(D)",
"(E)",
"(B)"
] |
trial_T20190908_125548_566238-2 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -0.25",
" position_y": " 0.901",
" position_z": " 2.5",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " TissueBox",
" position_x": "... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -0.25",
" position_y": " 0.901",
" position_z": " 2.5",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | Move two spray bottles to the top of the toilet | [
"STEP 1: Go to the green bin ",
" STEP 2: Pick up the spray bottle from the bin ",
" STEP 3: Go to the toilet ",
" STEP 4: Put the spray bottle on top of toilet ",
" STEP 5: Go to the sink ",
" STEP 6: Pick up the spray bottle ",
" STEP 7: Go to the toilet ",
" STEP 8: Put the spray bottle on top of t... | [
"Pick up the spray bottle from the bin",
"Pick up the spray bottle",
"Go to the toilet",
"Go to the red bin",
"Go to the toilet",
"Put down the spray bottle",
"Go to the green bin",
"Put the spray bottle on top of toilet",
"Put the spray bottle on top of toilet",
"Go to the sink"
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)"
] | [
"(G)",
"(A)",
"(C)",
"(E)",
"(H)",
"(I)",
"(J)",
"(B)",
"(C)",
"(E)",
"(H)",
"(I)"
] |
trial_T20190910_181024_991905-0 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -2.0",
" position_y": " 0.900",
" position_z": " -1.25",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Watch",
" position_x": " -0.... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -2.0",
" position_y": " 0.900",
" position_z": " -1.25",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | pick up the credit cards and set them on the coffee table | [
"STEP 1: cross the room to the desk in the corner beside the chair ",
" STEP 2: pick up the card sitting closest to the edge of the desk ",
" STEP 3: turn around and go to the coffee table ",
" STEP 4: place the credit card on the coffee table ",
" STEP 5: turn around to the couch behind the coffee table ",... | [
"turn around and go to the coffee table",
"Turn to face the chair opposite the coffee table",
"pick up the credit card under the remote sitting on the couch",
"Pick up the book sitting closest to the right side of the desk",
"turn around to the couch behind the coffee table",
"pick up the card sitting clo... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)"
] | [
"(I)",
"(F)",
"(A)",
"(J)",
"(E)",
"(C)",
"(H)",
"(G)"
] |
trial_T20190908_123519_305249-2 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.5",
" position_y": " 0.903",
" position_z": " 1.25",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " TissueBox",
" position_x": "... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.5",
" position_y": " 0.903",
" position_z": " 1.25",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | Wash a soap bar to use in the tub. | [
"STEP 1: Walk to the edge of the kitchen sink on your left. ",
" STEP 2: Grab a soap bar from the trash can. ",
" STEP 3: Put the soap bar under the faucet, wash it, then grab it. ",
" STEP 4: Walk to the tub on your left. ",
" STEP 5: Place the soap bar in the tub. ",
" END"
] | [
"Turn towards the fridge on your right.",
"Walk to the tub on your left.",
"Place the soap bar in the tub.",
"Walk to the edge of the kitchen sink on your left.",
"Grab a soap bar from the trash can.",
"Put the soap bar under the faucet, wash it, then grab it.",
"Place the soap bar in the toaster oven."... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)"
] | [
"(D)",
"(E)",
"(F)",
"(B)",
"(C)"
] |
trial_T20190908_101253_622525-1 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 1.75",
" position_y": " 0.900",
" position_z": " 0.75",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Potato",
" position_x": " -0... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 1.75",
" position_y": " 0.900",
" position_z": " 0.75",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | Put a heated tomato in the fridge. | [
"STEP 1: Turn around, go to the counter right of the stove. ",
" STEP 2: Pick up the tomato on the counter. ",
" STEP 3: Turn all the way around, then bring the tomato to the microwave above the stove to your right. ",
" STEP 4: Heat the tomato in the mike above the stove. ",
" STEP 5: Bring the heated t... | [
"Turn all the way around, then bring the tomato to the microwave above the stove to your right.",
"Pick up the tomato on the counter.",
"Bring the heated tomato back and to the right, to the fridge.",
"Bring the heated apple to the left, to the cabinet.",
"Turn around, go to the counter right of the stove."... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(E)",
"(B)",
"(A)",
"(H)",
"(C)",
"(G)"
] |
trial_T20190908_101253_622525-2 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 1.75",
" position_y": " 0.900",
" position_z": " 0.75",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Potato",
" position_x": " -0... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 1.75",
" position_y": " 0.900",
" position_z": " 0.75",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | To heat a tomato as well as store it in the fridge. | [
"STEP 1: Turn around and face the tomato on the counter. ",
" STEP 2: Pick up the tomato on the counter. ",
" STEP 3: Take a step to the left and face the microwave above the stove. ",
" STEP 4: Heat the tomato in the microwave and then remove it. ",
" STEP 5: Turn right and walk across the room, then turn ... | [
"Turn around and face the cactus on the table.",
"Take a step to the left and face the microwave above the stove.",
"Pick up the tomato on the counter.",
"Heat the tomato in the microwave and then remove it.",
"Turn around and face the tomato on the counter.",
"Cool the tomato in the freezer and then remo... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(E)",
"(C)",
"(B)",
"(D)",
"(G)",
"(H)"
] |
trial_T20190907_102539_772009-0 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 0.75",
" position_y": " 0.900",
" position_z": " 0.25",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Kettle",
" position_x": " 0.2... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 0.75",
" position_y": " 0.900",
" position_z": " 0.25",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
"... | Place a piece of rinsed lettuce on the table with the gray tablecloth. | [
"STEP 1: Turn around and walk to the table with the gray tablecloth on it. ",
" STEP 2: Pick up the knife from the table. ",
" STEP 3: Walk to the lettuce on the table with the gray tablecloth. ",
" STEP 4: Cut up the lettuce on the table. ",
" STEP 5: Turn around and walk to the cabinet just to the left of... | [
"Turn around and walk to the table with the gray tablecloth.",
"Turn right and run to the cabinet just to the right of the oven.",
"Place the knife inside the cabinet and then close the cabinet.",
"Pick up a piece of lettuce from the table.",
"Pick up the knife from the table.",
"Pick up the spoon from th... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)",
"(K)",
"(L)",
"(M)",
"(N)"
] | [
"(J)",
"(E)",
"(G)",
"(K)",
"(H)",
"(C)",
"(A)",
"(D)",
"(L)",
"(I)",
"(M)",
"(N)"
] |
trial_T20190907_102539_772009-3 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 0.75",
" position_y": " 0.900",
" position_z": " 0.25",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Kettle",
" position_x": " 0.2... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 0.75",
" position_y": " 0.900",
" position_z": " 0.25",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
"... | Place a washed piece of lettuce on the table next to the orange. | [
"STEP 1: Turn around and go to the chair on the right next to the window. ",
" STEP 2: Pick up the knife that is under the orange that is on top of the table. ",
" STEP 3: Turn around and go to the table next to you. ",
" STEP 4: Cut the heart of lettuce that is to the right of the spoon ",
" STEP 5: turn a... | [
"Pick up the knife that is under the orange that is on top of the table.",
"Turn around and go to the chair on the right next to the window.",
"Turn around and go to the sink",
"Turn right an go to the chair next to the window.",
"Go to the square table next to the sofa by the door.",
"Look at the knife t... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)",
"(K)",
"(L)",
"(M)",
"(N)"
] | [
"(B)",
"(A)",
"(L)",
"(I)",
"(N)",
"(M)",
"(H)",
"(K)",
"(C)",
"(J)",
"(D)",
"(G)"
] |
trial_T20190907_102539_772009-4 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 0.75",
" position_y": " 0.900",
" position_z": " 0.25",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Kettle",
" position_x": " 0.2... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 0.75",
" position_y": " 0.900",
" position_z": " 0.25",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
"... | To cut a vegetable into slices, store a piece in the cabinet, wash a piece in the sink plus return in to the table. | [
"STEP 1: Turn around, walk across the room and approach the kitchen table. ",
" STEP 2: Pick up the knife of the kitchen table. ",
" STEP 3: Face the large green vegetable on the table ",
" STEP 4: Cut the large green vegetable on the table. ",
" STEP 5: Turn around and walk to face the cabinet to the left ... | [
"Place the slice of vegetable in the sink, wash it, then pick it back up.",
"Turn around, walk across the room and approach the kitchen table.",
"Face the large green vegetable on the table",
"Turn around and walk to face the cabinet to the left of the stove.",
"Turn around and approach the table in the kit... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)",
"(K)",
"(L)",
"(M)",
"(N)"
] | [
"(B)",
"(G)",
"(C)",
"(I)",
"(D)",
"(K)",
"(E)",
"(J)",
"(L)",
"(A)",
"(H)",
"(F)"
] |
trial_T20190907_042812_954786-2 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.25",
" position_y": " 0.909",
" position_z": " -1.5",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Mug",
" position_x": " -1.4... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.25",
" position_y": " 0.909",
" position_z": " -1.5",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | Examine a grey box next to the light of a lamp. | [
"STEP 1: Walk towards the desk and turn right towards the dresser. ",
" STEP 2: Pick up the grey box on the dresser. ",
" STEP 3: Turn around and walk towards the lamp on the desk. ",
" STEP 4: Turn on the lamp. ",
" END"
] | [
"Turn around and walk towards the lamp on the desk.",
"Leave the grey box on the dresser.",
"Walk towards the desk and turn left towards the dresser.",
"Turn on the lamp.",
"Walk towards the desk and turn right towards the dresser.",
"Pick up the grey box on the dresser."
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(E)",
"(F)",
"(A)",
"(D)"
] |
trial_T20190909_003817_509851-1 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.25",
" position_y": " 0.931",
" position_z": " -0.5",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Pan",
" position_x": " 0.97... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.25",
" position_y": " 0.931",
" position_z": " -0.5",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | Put a cleaned spoon on top of a spatula on a counter top. | [
"STEP 1: Turn left and walk forward slightly, then turn right towards the spoon on the counter top near the large knife and spatula. ",
" STEP 2: Pick up the spoon from the counter. ",
" STEP 3: Turn around and walk to the right to the sink. ",
" STEP 4: Put the spoon in the sink, rinse it off, and take it ou... | [
"Remove the fork from the rack.",
"Turn left, walk to the end of the counter, then turn left towards the bread on the other counter.",
"Put the spoon in the sink, rinse it off, and take it out of the sink.",
"Place the knife in the dishwasher, wash it off and take it out.",
"Put the spoon on that counter, o... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(G)",
"(H)",
"(F)",
"(C)",
"(B)",
"(E)"
] |
trial_T20190906_190741_530882-2 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -3.25",
" position_y": " 0.901",
" position_z": " 2.75",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Newspaper",
" position_x": ... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -3.25",
" position_y": " 0.901",
" position_z": " 2.75",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | Grab the grey bowl on the corner table, turn on the lamp | [
"STEP 1: Turn right walk to the shelf, turn right walk to the corner table ",
" STEP 2: Grab the grey bowl on the table ",
" STEP 3: Turn left and walk until corner table is at the center of the view ",
" STEP 4: Turn on the lamp on the table ",
" END"
] | [
"Grab the blue plate on the bench",
"Turn on the lamp on the table",
"Turn left and walk until corner table is at the center of the view",
"Turn right walk to the shelf, turn right walk to the corner table",
"Grab the grey bowl on the table",
"Turn left walk to the fridge, turn left walk to the dining tab... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(D)",
"(E)",
"(C)",
"(B)"
] |
trial_T20190907_174408_206977-2 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -2.25",
" position_y": " 0.903",
" position_z": " 0.5",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Cloth",
" position_x": " 0.20... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -2.25",
" position_y": " 0.903",
" position_z": " 0.5",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
"... | Rinse the washcloth in the sink and put it back in the tub. | [
"STEP 1: Walk to the tub. ",
" STEP 2: Take the washcloth out of the tub. ",
" STEP 3: Turn right and go to the sink. ",
" STEP 4: Put the washcloth in the sink, wash it and pick it back up. ",
" STEP 5: Go back to the tub. ",
" STEP 6: Put the washcloth back in the tub. ",
" END"
] | [
"Take the sponge out of the tub.",
"Put the washcloth in the sink, wash it and pick it back up.",
"Turn right and go to the sink.",
"Take the washcloth out of the tub.",
"Walk to the tub.",
"Go back to the tub.",
"Put the washcloth back in the tub.",
"Turn left and go to the cabinet."
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(E)",
"(D)",
"(C)",
"(B)",
"(F)",
"(G)"
] |
trial_T20190907_195646_153887-0 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 2.5",
" position_y": " 0.900",
" position_z": " 0.5",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Pan",
" position_x": " 0.678",... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 2.5",
" position_y": " 0.900",
" position_z": " 0.5",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" ... | Put a slice of chilled potato inside the microwave. | [
"STEP 1: Turn right and face the kitchen counter with the paring knife. ",
" STEP 2: Pick up the paring knife. ",
" STEP 3: Move the lettuce and slice the potato. ",
" STEP 4: Turn around and go to the counter on the opposite side. ",
" STEP 5: Open the right bottom cabinet and place the paring knife insid... | [
"Chill the slice of potato inside the refrigerator and take it out.",
"Place the slice of potato inside the microwave.",
"Open the right bottom cabinet and place the paring knife inside.",
"Move the lettuce and slice the potato.",
"Turn right and face the kitchen counter with the paring knife.",
"Turn aro... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)",
"(K)",
"(L)",
"(M)"
] | [
"(E)",
"(L)",
"(D)",
"(G)",
"(C)",
"(J)",
"(H)",
"(K)",
"(A)",
"(F)",
"(B)"
] |
trial_T20190908_121502_008775-2 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.25",
" position_y": " 0.900",
" position_z": " 0.25",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Cup",
" position_x": " 2.777... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.25",
" position_y": " 0.900",
" position_z": " 0.25",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | Put a chilled slice of lettuce on the counter. | [
"STEP 1: Go to the sink on the right. ",
" STEP 2: Pick up the knife in the sink. ",
" STEP 3: Turn right and go to the counter with the toaster on it. ",
" STEP 4: Cut the lettuce on the counter. ",
" STEP 5: Turn around to the counter with the bread on it. ",
" STEP 6: Put the knife on the counter in fr... | [
"Go back to the counter with the bread on it.",
"Turn around to the counter with the bread on it.",
"Turn left and go to the fridge.",
"Turn left and go to the stove.",
"Put the slice of lettuce in the fridge, close the fridge and then pick the lettuce back up.",
"Turn back around to the counter.",
"Pla... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)",
"(K)",
"(L)",
"(M)",
"(N)"
] | [
"(M)",
"(L)",
"(K)",
"(N)",
"(B)",
"(J)",
"(F)",
"(H)",
"(C)",
"(E)",
"(A)",
"(I)"
] |
trial_T20190908_114146_991919-2 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -2.75",
" position_y": " 0.903",
" position_z": " 1.25",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " TissueBox",
" position_x": "... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -2.75",
" position_y": " 0.903",
" position_z": " 1.25",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | To move two bars of soap to the tub. | [
"STEP 1: Turn right and face the back of the toilet. ",
" STEP 2: Pick up a bar of soap from the back of the toilet that's closest to you. ",
" STEP 3: Walk to the tub across the room. ",
" STEP 4: Place the bar of soap in the tub to the right of the yellow rag to the left. ",
" STEP 5: Walk back over t... | [
"Walk over to the sink.",
"Walk back over to the tub.",
"Pick up the bar of soap in the upper left corner.",
"Place the bar of soap to the right of the first bar of soap.",
"Walk to the tub across the room.",
"Pick up a bar of soap from the back of the toilet that's closest to you.",
"Walk back over to ... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)"
] | [
"(I)",
"(F)",
"(E)",
"(H)",
"(G)",
"(C)",
"(B)",
"(D)"
] |
trial_T20190907_004118_114555-0 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.25",
" position_y": " 0.931",
" position_z": " -0.75",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Kettle",
" position_x": " 0.... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.25",
" position_y": " 0.931",
" position_z": " -0.75",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | Put a heated tomato on the counter to the right of the stove. | [
"STEP 1: Move to the counter left of the stove. ",
" STEP 2: Pick up the tomato from the counter. ",
" STEP 3: Bring the tomato to the microwave. ",
" STEP 4: Heat the tomato in the microwave. ",
" STEP 5: Bring the tomato to the counter right of the stove. ",
" STEP 6: Put the tomato on the counter to t... | [
"Heat the tomato in the microwave.",
"Bring the tomato to the microwave.",
"Move to the counter left of the stove.",
"Pick up the potato from the counter.",
"Pick up the tomato from the counter.",
"Bring the tomato to the oven.",
"Bring the tomato to the counter right of the stove.",
"Put the tomato o... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(C)",
"(E)",
"(B)",
"(A)",
"(G)",
"(H)"
] |
trial_T20190907_115929_186552-2 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 1.5",
" position_y": " 0.931",
" position_z": " 1.75",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Potato",
" position_x": " 1.968... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 1.5",
" position_y": " 0.931",
" position_z": " 1.75",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" o... | Chill or cool down mug followed by drinking it | [
"STEP 1: Turn around and walk to the corner of the desk ",
" STEP 2: Pick up the white coffee mug on the desk ",
" STEP 3: Turn around and open the refrigerator ",
" STEP 4: Place the mug in the refrigerator, chill and then remove it ",
" STEP 5: Turn around and take a drink from the mug ",
" STEP 6: Plac... | [
"Pick up the white coffee mug on the desk",
"Turn around and open the refrigerator",
"Turn around and walk to the corner of the desk",
"Place the mug in the refrigerator, chill and then remove it",
"Pick up the blue notebook on the desk",
"Turn around and take a bite from the apple",
"Place the mug back... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(C)",
"(A)",
"(B)",
"(D)",
"(H)",
"(G)"
] |
trial_T20190907_153613_945785-0 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.75",
" position_y": " 0.901",
" position_z": " 3.5",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Bowl",
" position_x": " -0.4... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.75",
" position_y": " 0.901",
" position_z": " 3.5",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | Take the white watering can, turn on the lamp by the door | [
"STEP 1: Turn around, head to the black shelf ",
" STEP 2: Take the white watering can from the bottom shelf ",
" STEP 3: Turn around, head through the living room to the door ",
" STEP 4: Turn on the lamp next to the door ",
" END"
] | [
"Move forward, heading towards the red shelf",
"Turn around, head to the black shelf",
"Turn on the lamp next to the door",
"Move straight, walk through the dining area to the window",
"Take the white watering can from the bottom shelf",
"Turn around, head through the living room to the door"
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(B)",
"(E)",
"(F)",
"(C)"
] |
trial_T20190907_153613_945785-1 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.75",
" position_y": " 0.901",
" position_z": " 3.5",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Bowl",
" position_x": " -0.4... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.75",
" position_y": " 0.901",
" position_z": " 3.5",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | Examine a tea pot by the light of a lamp | [
"STEP 1: turn to the left twice and go forward to the end of the coffee table and turn left to the left and take a few steps and turn to the right and go the the shelf case ",
" STEP 2: pick up the tea pot from the bottom shelf ",
" STEP 3: turn to the right and take a few steps and turn to the right and go to ... | [
"turn to the left and take multiple steps, then turn left to reach the couch, turn right and proceed to the coffee table",
"pick up the tea pot from the bottom shelf",
"turn on the lamp on the end table",
"turn to the right and take a few steps and turn to the right and go to the chair and turn to the left an... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(E)",
"(B)",
"(D)",
"(C)"
] |
trial_T20190907_153613_945785-3 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.75",
" position_y": " 0.901",
" position_z": " 3.5",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Bowl",
" position_x": " -0.4... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.75",
" position_y": " 0.901",
" position_z": " 3.5",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | Look at the watering can by the lamp. | [
"STEP 1: Turn around and go to the black shelf. ",
" STEP 2: Pick up the watering can from the shelf. ",
" STEP 3: Turn around and go to the end table by the couch. ",
" STEP 4: Turn on the lamp. ",
" END"
] | [
"Pick up the watering can from the shelf.",
"Face forward and go to the white shelf.",
"Turn around and go to the end table by the couch.",
"Place down the watering can on the shelf.",
"Turn on the lamp.",
"Turn around and go to the black shelf."
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(F)",
"(A)",
"(C)",
"(E)"
] |
trial_T20190907_153613_945785-4 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.75",
" position_y": " 0.901",
" position_z": " 3.5",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Bowl",
" position_x": " -0.4... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.75",
" position_y": " 0.901",
" position_z": " 3.5",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | Inspect the kettle with the lamp on the end table. | [
"STEP 1: Move to the shelf to the left of the couch. ",
" STEP 2: Pick up the kettle from the shelf. ",
" STEP 3: Move to the end table to the right of the couch. ",
" STEP 4: Turn on the lamp on the end table. ",
" END"
] | [
"Pick up the kettle from the shelf.",
"Turn on the lamp on the end table.",
"Move to the shelf to the left of the couch.",
"Move to the shelf to the right of the couch.",
"Move to the end table to the right of the couch.",
"Move to the coffee table in front of the couch."
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(C)",
"(A)",
"(E)",
"(B)"
] |
trial_T20190907_153613_945785-5 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.75",
" position_y": " 0.901",
" position_z": " 3.5",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Bowl",
" position_x": " -0.4... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.75",
" position_y": " 0.901",
" position_z": " 3.5",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | Turn on a lamp while carrying a tea pot | [
"STEP 1: Move across the room to the brown side table with shelves ",
" STEP 2: Pick up the white tea pot on the bottom shelf of the side table ",
" STEP 3: Carry the white tea pot over to the round wood table that has a lamp on top of it ",
" STEP 4: Turn on the lamp ",
" END"
] | [
"Turn on the lamp",
"Carry the white tea pot over to the round wood table that has a lamp on top of it",
"Carry the white tea pot over to the rectangular glass table with the vase on top of it",
"Move across the room to the brown side table with shelves",
"Move to the blue armchair in the corner of the room... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(D)",
"(F)",
"(B)",
"(A)"
] |
trial_T20190909_090144_203133-2 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 2.5",
" position_y": " 0.900",
" position_z": " 0.5",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Pan",
" position_x": " 2.754",... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 2.5",
" position_y": " 0.900",
" position_z": " 0.5",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" ... | Put a cooked slice of potato in the sink. | [
"STEP 1: Turn around and go to the counter. ",
" STEP 2: Pick up the knife from the counter. ",
" STEP 3: Turn left, go across the room, turn left and go to the table. ",
" STEP 4: Cut the potato on the table. ",
" STEP 5: Turn around and go to the stove. ",
" STEP 6: Put the knife in the microwave above... | [
"Turn around and go to the stove.",
"Turn left and go back to the fridge.",
"Turn left, go across the room, turn left and go to the table.",
"Pick up a slice of potato.",
"Turn around and go back to the stove.",
"Turn around and go to the counter.",
"Put the knife in the microwave above the stove.",
"... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)",
"(K)",
"(L)",
"(M)",
"(N)"
] | [
"(F)",
"(J)",
"(C)",
"(I)",
"(A)",
"(G)",
"(K)",
"(D)",
"(E)",
"(H)",
"(N)",
"(L)"
] |
trial_T20190908_202146_854077-0 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 0.25",
" position_y": " 0.949",
" position_z": " 0.75",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Vase",
" position_x": " 2.80... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 0.25",
" position_y": " 0.949",
" position_z": " 0.75",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | Check some of the dressers for their contents. | [
"STEP 1: Turn around and go over to the black dresser across the room. ",
" STEP 2: Look down at the dresser. ",
" STEP 3: Do a 270 degree rotation to the left. Walk straight. Go to the dresser. ",
" STEP 4: Open the bottom drawer. ",
" STEP 5: Close the drawer. ",
" STEP 6: Turn all the way around. ",
... | [
"Turn all the way around.",
"Close the drawer.",
"Turn around and go over to the black dresser across the room.",
"Make a half turn to the right.",
"Look down at the dresser.",
"Open the drawer again.",
"Open the bottom drawer.",
"Close the drawer.",
"Turn to the right and walk towards the white cha... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)"
] | [
"(C)",
"(E)",
"(J)",
"(G)",
"(B)",
"(H)",
"(A)",
"(F)",
"(B)",
"(H)"
] |
trial_T20190908_202146_854077-2 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 0.25",
" position_y": " 0.949",
" position_z": " 0.75",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Vase",
" position_x": " 2.80... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 0.25",
" position_y": " 0.949",
" position_z": " 0.75",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | put the yellow pencil inside the drawer at the right. | [
"STEP 1: Walk towards the left to face the dresser drawer ",
" STEP 2: Pick up the yellow pencil at the top of the drawer. ",
" STEP 3: walk to the right to face the dresser. ",
" STEP 4: open the drawer and put the pencil in it. ",
" STEP 5: walk closer to the dresser ",
" STEP 6: pick up the yellow penc... | [
"Walk towards the left to face the dresser drawer",
"Pick up the blue pen from the bottom of the drawer.",
"pick up the yellow pencil at the top shelf",
"Pick up the yellow pencil at the top of the drawer.",
"walk at the side of the dresser",
"open the drawer and put the pencil in it.",
"Run around to t... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)"
] | [
"(A)",
"(D)",
"(J)",
"(F)",
"(I)",
"(H)",
"(C)",
"(E)",
"(F)",
"(I)"
] |
trial_T20190907_071817_090938-0 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -2.5",
" position_y": " 0.909",
" position_z": " -3.75",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " CD",
" position_x": " -3.834... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -2.5",
" position_y": " 0.909",
" position_z": " -3.75",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | grab the book from the dresser, turn on the lamp on the table | [
"STEP 1: turn around to the dresser ",
" STEP 2: grab the book on the dresser ",
" STEP 3: turn around to the white table ",
" STEP 4: turn on the lamp on the table ",
" END"
] | [
"turn on the lamp on the table",
"grab the book on the dresser",
"turn around to the dresser",
"turn around to the white table",
"leave the book on the bedside table",
"switch off the fan near the window"
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(C)",
"(B)",
"(D)",
"(A)"
] |
trial_T20190907_071817_090938-1 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -2.5",
" position_y": " 0.909",
" position_z": " -3.75",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " CD",
" position_x": " -3.834... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -2.5",
" position_y": " 0.909",
" position_z": " -3.75",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | Examine a book by the light of a table lamp | [
"STEP 1: turn to the right twice and step up to the dresser ",
" STEP 2: pick up the book from the dresser ",
" STEP 3: turn to the left and go to the wall and turn to the left and go to table ",
" STEP 4: turn on the lamp on the table ",
" END"
] | [
"pick up the book from the dresser",
"turn on the lamp on the table",
"turn to the right twice and step up to the dresser",
"place down a book on the dresser",
"turn to the left thrice and step back from the dresser",
"turn to the left and go to the wall and turn to the left and go to table"
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(C)",
"(A)",
"(F)",
"(B)"
] |
trial_T20190907_071817_090938-4 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -2.5",
" position_y": " 0.909",
" position_z": " -3.75",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " CD",
" position_x": " -3.834... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -2.5",
" position_y": " 0.909",
" position_z": " -3.75",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | Inspect the book with the light on the desk. | [
"STEP 1: Move to the dresser behind you. ",
" STEP 2: Pick up the book from the dresser. ",
" STEP 3: Move to the end of the desk behind you. ",
" STEP 4: Turn on the lamp at the end of the desk. ",
" END"
] | [
"Turn off the lamp at the middle of the desk.",
"Move to the dresser behind you.",
"Move to the end of the desk behind you.",
"Turn on the lamp at the end of the desk.",
"Move to the table on your right.",
"Pick up the book from the dresser."
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(B)",
"(F)",
"(C)",
"(D)"
] |
trial_T20190907_071817_090938-5 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -2.5",
" position_y": " 0.909",
" position_z": " -3.75",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " CD",
" position_x": " -3.834... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -2.5",
" position_y": " 0.909",
" position_z": " -3.75",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | Inspect a book with a lamp. | [
"STEP 1: Move to the dresser behind you ",
" STEP 2: pick up a book from the dresser ",
" STEP 3: turn around to the desk ",
" STEP 4: turn on the light ",
" END"
] | [
"Move to the sofa to your right",
"turn off the light",
"Move to the dresser behind you",
"turn around to the desk",
"turn on the light",
"pick up a book from the dresser"
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(C)",
"(F)",
"(D)",
"(E)"
] |
trial_T20190909_151127_606173-0 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -2.5",
" position_y": " 0.909",
" position_z": " -3.0",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Mug",
" position_x": " -3.68... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -2.5",
" position_y": " 0.909",
" position_z": " -3.0",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | Examine a pillow with the light of the lamp. | [
"STEP 1: Turn around and go to the right side of the bed. ",
" STEP 2: Pick up the left pillow on the bed. ",
" STEP 3: Turn right and go to the lamp on the desk. ",
" STEP 4: Turn on the lamp on the desk. ",
" END"
] | [
"Turn on the lamp on the desk.",
"Pick up the left pillow on the bed.",
"Turn left and approach the chair near the desk.",
"Spin twice and proceed to the left side of the bed.",
"Turn around and go to the right side of the bed.",
"Turn right and go to the lamp on the desk."
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(E)",
"(B)",
"(F)",
"(A)"
] |
trial_T20190909_151127_606173-2 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -2.5",
" position_y": " 0.909",
" position_z": " -3.0",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Mug",
" position_x": " -3.68... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -2.5",
" position_y": " 0.909",
" position_z": " -3.0",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | Pick up a pillow and turn a lamp on. | [
"STEP 1: Turn left and then left again and the turn to face the bed. ",
" STEP 2: Pick the pillow closest to the edge up from the bed. ",
" STEP 3: Turn left and then turn to the left to face the lamp on the white table. ",
" STEP 4: Turn the lamp on. ",
" END"
] | [
"Switch off the lamp.",
"Pick the pillow closest to the edge up from the bed.",
"Turn right and then right again to face the wardrobe.",
"Turn left and then turn to the left to face the lamp on the white table.",
"Turn the lamp on.",
"Turn left and then left again and the turn to face the bed."
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(F)",
"(B)",
"(D)",
"(E)"
] |
trial_T20190908_125119_212943-2 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -0.75",
" position_y": " 0.903",
" position_z": " 0.25",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " TissueBox",
" position_x": ... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -0.75",
" position_y": " 0.903",
" position_z": " 0.25",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | Put a cleaned bar of soap on a shelf near the floor. | [
"STEP 1: Turn around and walk to the bar of soap on the shelf near the floor. ",
" STEP 2: Pick up the bar of soap from the shelf. ",
" STEP 3: Turn around and walk forward to the sink. ",
" STEP 4: Put the bar of soap in the sink, rinse it off, and take it back out. ",
" STEP 5: Turn around and walk back a... | [
"Put the bar of soap on the shelf near the floor, to the right of the tissues.",
"Turn around and walk back across the room to the shelf near the floor.",
"Turn left and move towards the table where the remote is placed.",
"Turn around and walk forward to the sink.",
"Put the bar of soap in the sink, rinse ... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(F)",
"(G)",
"(D)",
"(E)",
"(B)",
"(A)"
] |
trial_T20190907_152000_603962-0 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.5",
" position_y": " 0.900",
" position_z": " -0.75",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " ButterKnife",
" position_x": ... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.5",
" position_y": " 0.900",
" position_z": " -0.75",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
"... | Cut an apple into three sections, place a section into a bowl. | [
"STEP 1: Move to the kitchen table. ",
" STEP 2: Pick up the knife that is right of the spoon. ",
" STEP 3: Turn left, move to the counter left of the stove. ",
" STEP 4: Use the knife, cut the apple into three sections. ",
" STEP 5: Turn right, move to the counter in left of a blue plate. ",
" STEP 6: Op... | [
"Turn left, move to the counter left of the stove.",
"Open the upper cabinet, place the knife in to the blue container.",
"Use the knife, cut the apple into three sections.",
"Turn right, move to the counter right of the stove.",
"Move to the kitchen table.",
"Turn right, move to the counter in front of t... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)",
"(K)",
"(L)",
"(M)",
"(N)",
"(O)"
] | [
"(E)",
"(J)",
"(A)",
"(O)",
"(C)",
"(M)",
"(B)",
"(A)",
"(O)",
"(K)",
"(F)",
"(I)",
"(N)",
"(H)",
"(G)"
] |
trial_T20190907_152000_603962-3 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.5",
" position_y": " 0.900",
" position_z": " -0.75",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " ButterKnife",
" position_x": ... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.5",
" position_y": " 0.900",
" position_z": " -0.75",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
"... | Put a bowl holding butter knife, apple, inside the microwave. | [
"STEP 1: Turn around and go to the round table. ",
" STEP 2: Pick up the butter knife that is on the table. ",
" STEP 3: Turn around and go to the counter that is on the left side of the stove. ",
" STEP 4: Cut the apple into three parts. ",
" STEP 5: Head to the right and stop in front of the counter wi... | [
"Head to the right and stop in front of the counter with the lettuce on it.",
"Turn around and go to the counter that is on the left side of the stove.",
"Turn around and go to the round table.",
"Head back to the counter with the apple on it.",
"Remove the bowl from the cupboard and shut the cupboard door.... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)",
"(K)",
"(L)",
"(M)",
"(N)",
"(O)"
] | [
"(C)",
"(H)",
"(B)",
"(I)",
"(A)",
"(L)",
"(D)",
"(G)",
"(N)",
"(O)",
"(E)",
"(F)",
"(M)"
] |
trial_T20190907_152000_603962-4 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.5",
" position_y": " 0.900",
" position_z": " -0.75",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " ButterKnife",
" position_x": ... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.5",
" position_y": " 0.900",
" position_z": " -0.75",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
"... | Heat an apple slice in a bowl in the microwave. | [
"STEP 1: Go to the small round grey table behind you. ",
" STEP 2: Pick up the silver butter knife on the table. ",
" STEP 3: Take the knife to the end of the counter top ",
" STEP 4: Cut the apple sitting on the counter with the knife. ",
" STEP 5: go to the cabinets above the counter ",
" STEP 6: open t... | [
"walk the bowl to the microwave above the stove.",
"Take the apple slice to the cabinet with the knife and bowl,",
"Take the knife to the end of the counter top",
"Go to the small round grey table behind you.",
"Pick up one apple slice.",
"open the cabinet on the left side and put the knife in the blue bo... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)",
"(K)",
"(L)",
"(M)",
"(N)",
"(O)"
] | [
"(D)",
"(O)",
"(C)",
"(J)",
"(I)",
"(F)",
"(L)",
"(E)",
"(B)",
"(G)",
"(H)",
"(A)",
"(N)"
] |
trial_T20190907_152000_603962-5 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.5",
" position_y": " 0.900",
" position_z": " -0.75",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " ButterKnife",
" position_x": ... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.5",
" position_y": " 0.900",
" position_z": " -0.75",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
"... | Put a bowl with a butter knife next to an apple slice into the microwave. | [
"STEP 1: Turn around to face the round table. ",
" STEP 2: Pick up the butter knife to the left of the chef's knife. ",
" STEP 3: Go to the counter to the left of the stove. ",
" STEP 4: Slice the apple on the counter. ",
" STEP 5: Go to the cabinet above the counter with the silver plate. ",
" STEP 6: Pu... | [
"Put the butter knife in the bowl in the cabinet on the left.",
"Take the apple slice to the cabinet above the counter with the silver plate.",
"Go to the counter to the left of the stove.",
"Go to the counter to the left of the stove.",
"Put the bowl with the apple slice and butter knife in the microwave."... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)",
"(K)",
"(L)",
"(M)",
"(N)",
"(O)"
] | [
"(N)",
"(F)",
"(C)",
"(D)",
"(L)",
"(M)",
"(A)",
"(C)",
"(D)",
"(I)",
"(B)",
"(O)",
"(K)",
"(G)",
"(E)"
] |
trial_T20190908_123324_050422-2 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 0.75",
" position_y": " 0.900",
" position_z": " -2.0",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Watch",
" position_x": " -0.56... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 0.75",
" position_y": " 0.900",
" position_z": " -2.0",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" ... | Put two statues on the coffee table. | [
"STEP 1: Go forward to the wall, then turn right to face the small table. ",
" STEP 2: Pick up the statue from the small table. ",
" STEP 3: Turn around, move forward, turn left and go to the couch, then turn right to walk alongside the couch, then turn right to face the coffee table. ",
" STEP 4: Put the sta... | [
"Pick up the vase from the small table.",
"Turn right, then left to go around the couch, then right to face the coffee table.",
"Put the statue on the coffee table.",
"Pick up the statue from the shelf.",
"Turn around, move forward, turn left and go to the couch, then turn right to walk alongside the couch,... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)"
] | [
"(G)",
"(J)",
"(E)",
"(C)",
"(H)",
"(F)",
"(D)",
"(B)",
"(C)",
"(H)"
] |
trial_T20190908_125252_951776-0 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -2.0",
" position_y": " 0.900",
" position_z": " 0.5",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Newspaper",
" position_x": " ... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -2.0",
" position_y": " 0.900",
" position_z": " 0.5",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
"... | take the watch from the coffee table, put it on the desk | [
"STEP 1: head left to the coffee table ",
" STEP 2: take the watch from the coffee table ",
" STEP 3: head left across the room ",
" STEP 4: put the watch on the desk ",
" END"
] | [
"move towards right to the end table",
"place the watch in the drawer",
"head left to the coffee table",
"head left across the room",
"take the watch from the coffee table",
"put the watch on the desk"
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(C)",
"(E)",
"(D)",
"(F)"
] |
trial_T20190908_125252_951776-1 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -2.0",
" position_y": " 0.900",
" position_z": " 0.5",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Newspaper",
" position_x": " ... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -2.0",
" position_y": " 0.900",
" position_z": " 0.5",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
"... | Move a watch from the table to the drawer. | [
"STEP 1: Walk to the coffee table in front of you. ",
" STEP 2: Grab a watch from the table. ",
" STEP 3: Walk to the drawer next to the sofa. ",
" STEP 4: Place the watch in the drawer. ",
" END"
] | [
"Walk to the coffee table in front of you.",
"Walk to the drawer next to the sofa.",
"Run to the dining table behind you.",
"Grab a watch from the table.",
"Place the watch in the drawer.",
"Place the watch on the shelf."
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(A)",
"(D)",
"(B)",
"(E)"
] |
trial_T20190907_071843_438620-2 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -2.0",
" position_y": " 0.903",
" position_z": " 0.75",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Candle",
" position_x": " -0.... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -2.0",
" position_y": " 0.903",
" position_z": " 0.75",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
"... | get a spray bottle to put on the back of the toilet | [
"STEP 1: walk forward, turn right, walk towards sink, ",
" STEP 2: pick up the spray bottle that is in the trash ",
" STEP 3: walk around the toilet, face the toilet ",
" STEP 4: place the spray bottle on the back of the toilet ",
" END"
] | [
"walk around the toilet, face the toilet",
"walk forward, turn right, walk towards sink,",
"pace around the bathtub, face the bathtub",
"walk backward, turn left, walk towards dishwasher",
"pick up the spray bottle that is in the trash",
"place the spray bottle on the back of the toilet"
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(B)",
"(E)",
"(A)",
"(F)"
] |
trial_T20190907_071843_438620-3 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -2.0",
" position_y": " 0.903",
" position_z": " 0.75",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Candle",
" position_x": " -0.... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -2.0",
" position_y": " 0.903",
" position_z": " 0.75",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
"... | get a spray bottle from trash to put on the back of the toilet | [
"STEP 1: turn right, walk towards sink ",
" STEP 2: pick up the spray bottle that is in the trash can ",
" STEP 3: turn to the right, go past toilet, turn left, face the wall ",
" STEP 4: put spray bottle on the back of the toilet ",
" END"
] | [
"place the spray bottle under the sink",
"turn right, walk towards sink",
"pick up the spray bottle that is in the trash can",
"turn to the right, go past toilet, turn left, face the wall",
"put spray bottle on the back of the toilet",
"turn left, walk towards the shower"
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(B)",
"(C)",
"(D)",
"(E)"
] |
trial_T20190907_034257_929655-2 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -0.5",
" position_y": " 0.901",
" position_z": " 2.5",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " TissueBox",
" position_x": " ... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -0.5",
" position_y": " 0.901",
" position_z": " 2.5",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
"... | Put a washed bar of soap on the back of a toilet. | [
"STEP 1: Turn around and go to the right to the sink. ",
" STEP 2: Pick the soap up from the counter top. ",
" STEP 3: Put the soap in the sink, turn the water on, and rinse the soap. ",
" STEP 4: Turn around and turn towards the toilet. ",
" STEP 5: Set the soap down on the back of the toilet. ",
" END"
... | [
"Make a left turn and proceed to the cabinet.",
"Pick the soap up from the counter top.",
"Turn around and go to the right to the sink.",
"Make a 360-degree turn and move towards the kitchen.",
"Turn around and turn towards the toilet.",
"Set the soap down on the back of the toilet.",
"Put the soap in t... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)"
] | [
"(C)",
"(B)",
"(G)",
"(E)",
"(F)"
] |
trial_T20190909_105447_359066-2 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 0.0",
" position_y": " 0.900",
" position_z": " -1.0",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Watch",
" position_x": " 1.89... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 0.0",
" position_y": " 0.900",
" position_z": " -1.0",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
"... | Putting keys on a sofa | [
"STEP 1: Turn left and go to the right of the couch ",
" STEP 2: Grab the keys off of the couch ",
" STEP 3: Turn left and go to the sofa ",
" STEP 4: Put the keys on the sofa ",
" END"
] | [
"Turn left and go to the right of the couch",
"Grab the keys off of the couch",
"Turn right and go to the armchair",
"Put the keys on the sofa",
"Turn right and go to the left of the couch",
"Turn left and go to the sofa"
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(A)",
"(B)",
"(F)",
"(D)"
] |
trial_T20190907_214028_505086-1 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 3.0",
" position_y": " 0.900",
" position_z": " 0.0",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " DishSponge",
" position_x": " ... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 3.0",
" position_y": " 0.900",
" position_z": " 0.0",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" ... | Take the knife in the mug and set them on the table. | [
"STEP 1: Turn around to the left and go to the round table. ",
" STEP 2: Pick up the knife from the table. ",
" STEP 3: Turn left and go to the stove. ",
" STEP 4: Put the knife in the mug inside the cupboard. ",
" STEP 5: Take the mug and knife out of the cupboard. ",
" STEP 6: Turn left and then turn le... | [
"Turn left and then turn left again and go to the round table.",
"Turn around to the left and go to the round table.",
"Set the mug and knife on the table.",
"Put the knife in the mug inside the cupboard.",
"Turn left and go to the stove.",
"Pick up the knife from the table.",
"Take the fork and spoon o... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)"
] | [
"(B)",
"(F)",
"(E)",
"(D)",
"(I)",
"(A)",
"(C)"
] |
trial_T20190909_075418_107090-1 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 1.25",
" position_y": " 0.900",
" position_z": " 0.0",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Potato",
" position_x": " 2.77... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 1.25",
" position_y": " 0.900",
" position_z": " 0.0",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" ... | put a hot potato on the table | [
"STEP 1: turn and walk to the re cycle bin in the corner ",
" STEP 2: take the potato out of the re cycle bin in the corner ",
" STEP 3: turn and walk to the microwave ",
" STEP 4: put the potato into the microwave take the potato out of the microwave ",
" STEP 5: turn and walk to the table ",
... | [
"take the potato out of the re cycle bin in the corner",
"put the apple into the recycle bin in the corner",
"turn and walk to the table",
"put the potato into the microwave take the potato out of the microwave",
"put the potato on the table to the left of the green book",
"turn and walk to the microw... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(H)",
"(A)",
"(F)",
"(D)",
"(C)",
"(E)"
] |
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