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_075418_107090-2 | [
{
"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",
" ... | place microwaved potato on gray dining table | [
"STEP 1: turn around, go to blue bin in the corner to the right ",
" STEP 2: pick up potato from blue bin ",
" STEP 3: turn right, go to microwave above stove to the left ",
" STEP 4: put potato into microwave to the left of blue bowl, close microwave, microwave potato, pick up potato from microwave, close mi... | [
"turn around, go to blue bin in the corner to the right",
"turn around, go to round gray dining table",
"put banana into oven to the right of blue bowl, close oven, bake banana, pick up banana from oven, close oven",
"put potato into microwave to the left of blue bowl, close microwave, microwave potato, pick ... | [
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trial_T20190907_181116_534572-1 | [
{
"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": " -1.06... | [
{
"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 books on the bed | [
"STEP 1: turn right and locate the cupboard ",
" STEP 2: pick up the book from the top of the cupboard ",
" STEP 3: turn right and head for the bed ",
" STEP 4: drop the book on the bed ",
" STEP 5: turn around and head for the cupboard ",
" STEP 6: pick up the book from the cupboard ",
" STEP 7: turn r... | [
"turn right and head towards the bed",
"pick up the bottle from the cupboard",
"pick up the book from the top of the cupboard",
"place the book on the bed",
"turn right and locate the cupboard",
"turn around and head for the cupboard",
"drop the book on the bed",
"turn right and head for the bed",
"... | [
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trial_T20190908_113857_018498-1 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 0.5",
" position_y": " 0.949",
" position_z": " 1.0",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Vase",
" position_x": " -0.838... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 0.5",
" position_y": " 0.949",
" position_z": " 1.0",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" ... | Put a bowl on a shelf. | [
"STEP 1: Turn left and walk until you're even with the mirror on your right and when you are turn right and walk to the cabinet under the mirror. ",
" STEP 2: Pick up the bowl that's in front of you. ",
" STEP 3: Turn right and walk to the cabinet. ",
" STEP 4: Put the bowl to the left of the cabinet's bottom... | [
"Turn left and walk until you're even with the mirror on your right and when you are turn right and walk to the cabinet under the mirror.",
"Turn right and proceed until you're even with the painting on your left, then turn left and go to the chair beside the painting.",
"Place the bowl to the right of the tabl... | [
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trial_T20190908_113857_018498-2 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 0.5",
" position_y": " 0.949",
" position_z": " 1.0",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Vase",
" position_x": " -0.838... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 0.5",
" position_y": " 0.949",
" position_z": " 1.0",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" ... | Place a bowl on a shelf. | [
"STEP 1: Turn left and walk to the black dresser on the right. ",
" STEP 2: Pick up the black bowl from the right side of the dresser. ",
" STEP 3: Turn right and walk to the wooden book case with shelves. ",
" STEP 4: Put the bowl on the second shelf down from the top. ",
" END"
] | [
"Put the bowl on the second shelf down from the top.",
"Turn left and walk to the black dresser on the right.",
"Place the bowl on the top shelf.",
"Pick up the black bowl from the right side of the dresser.",
"Turn right and walk to the wooden book case with shelves.",
"Turn right and walk to the white d... | [
"(A)",
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"(D)",
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"(F)"
] | [
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] |
trial_T20190908_044904_698378-1 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 0.25",
" position_y": " 0.900",
" position_z": " 0.5",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Watch",
" position_x": " -0.5... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 0.25",
" position_y": " 0.900",
" position_z": " 0.5",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
"... | drop two remotes on the chair | [
"STEP 1: turn left and head to the sofa ",
" STEP 2: pick up the remote from the sofa ",
" STEP 3: turn left and head to the chair ",
" STEP 4: drop the remote on the chair ",
" STEP 5: turn around and head to the center table ",
" STEP 6: pick up the remote from the table ",
" STEP 7: turn around and h... | [
"drop the remote on the chair",
"drop the remote on the chair",
"turn left and head to the sofa",
"turn right and head to the TV",
"turn right and head to the table",
"turn around and head to the center table",
"pick up the remote from the table",
"turn around and head for the chair",
"pick up the r... | [
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] | [
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] |
trial_T20190907_071235_184806-1 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 1.75",
" position_y": " 0.900",
" position_z": " 0.25",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Pan",
" position_x": " 0.678... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 1.75",
" position_y": " 0.900",
" position_z": " 0.25",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | Place a cooked tomato into the blue bin. | [
"STEP 1: Face right, walk straight to the window, turn right and walk to the blue bin. ",
" STEP 2: Grab a tomato from the blue bin. ",
" STEP 3: With the tomato in hand, turn around, walk down the aisle, and face left to the stove. ",
" STEP 4: Look above the stove, place the tomato into the microwave, heat ... | [
"Look to your left and place the cooked tomato inside the blue bin.",
"With the tomato in hand, make a left, walk straight, then face the door to your right.",
"With the tomato in hand, turn around, walk down the aisle, and face left to the stove.",
"Grab a tomato from the blue bin.",
"Face right, walk stra... | [
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"(D)",
"(E)",
"(F)",
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"(H)"
] | [
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] |
trial_T20190907_071235_184806-2 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 1.75",
" position_y": " 0.900",
" position_z": " 0.25",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Pan",
" position_x": " 0.678... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 1.75",
" position_y": " 0.900",
" position_z": " 0.25",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | Put a cooked tomato in the recycling bin. | [
"STEP 1: Turn to your right and walk to the blue recycling bin across the room. ",
" STEP 2: Pick up the tomato that is closest to you from inside the recycling bin. ",
" STEP 3: Turn to your right and walk to the microwave that is above the stove ",
" STEP 4: Open the microwave door, put the tomato inside, ... | [
"Pick up the tomato that is closest to you from inside the recycling bin.",
"Turn to your right and walk to the blue recycling bin across the room.",
"Open the microwave door, put the tomato inside, close the microwave door, turn the microwave on, open the door when the microwave turns off, remove the tomato an... | [
"(A)",
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"(C)",
"(D)",
"(E)",
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] | [
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] |
trial_T20190907_102247_614701-0 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -0.5",
" position_y": " 0.900",
" position_z": " 0.25",
" 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": " -0.5",
" position_y": " 0.900",
" position_z": " 0.25",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" ... | Place a clean slice of lettuce on the round grey table. | [
"STEP 1: Turn around and face the round grey table in front of you. ",
" STEP 2: Pick up the knife on the round table in front of you. ",
" STEP 3: Turn around and face the counter by the stove. ",
" STEP 4: Slice the lettuce on the counter in front of you. ",
" STEP 5: Turn around and face the sink in fron... | [
"Take a slice of lettuce from the counter in front of you.",
"Turn left and face the fridge next to you.",
"Turn right then face the round grey table on your left.",
"Wash the lettuce in the sink in front of you and take it out.",
"Turn around and face the counter in front of you.",
"Pick up the spoon on ... | [
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] | [
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] |
trial_T20190907_102247_614701-2 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -0.5",
" position_y": " 0.900",
" position_z": " 0.25",
" 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": " -0.5",
" position_y": " 0.900",
" position_z": " 0.25",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" ... | place a rinsed off slice of lettuce down on the table | [
"STEP 1: turn left and walk to the end of the kitchen counter on your left, then turn left and walk to the end of the room ",
" STEP 2: grab a knife off of the table there ",
" STEP 3: turn around and walk to the kitchen counter on the far end of the room ",
" STEP 4: cut up the lettuce on the counter ",
" ... | [
"place the knife inside of the kitchen sink",
"place the lettuce down on the table",
"turn left and walk to the end of the kitchen counter on your left, then turn left and walk to the end of the room",
"rotate right and head towards the refrigerator",
"grab a knife off of the table there",
"grab a slice o... | [
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] | [
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] |
trial_T20190907_102247_614701-4 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -0.5",
" position_y": " 0.900",
" position_z": " 0.25",
" 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": " -0.5",
" position_y": " 0.900",
" position_z": " 0.25",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" ... | Put a washed slice of lettuce on a table. | [
"STEP 1: Turn around, go forward to the round table. ",
" STEP 2: Take the knife from the table. ",
" STEP 3: Turn around, go forward and to the right to the counter to the left of the oven. ",
" STEP 4: Cut the lettuce on the counter into slices. ",
" STEP 5: Turn around, go forward to the sink. ",
" STE... | [
"Turn around, go backward and to the left to the fridge.",
"Turn right, go forward, turn left at the round table, go forward to the table.",
"Turn around, go forward to the sink.",
"Cut the lettuce on the counter into slices.",
"Put the knife in the sink.",
"Turn around, go forward and to the right to the... | [
"(A)",
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] | [
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] |
trial_T20190907_102247_614701-5 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -0.5",
" position_y": " 0.900",
" position_z": " 0.25",
" 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": " -0.5",
" position_y": " 0.900",
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" rotation_x": " 0",
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" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" ... | TO cut lettuce into slices as well as place a slice of lettuce on the kitchen table. | [
"STEP 1: Turn around and walk forward to face the kitchen table. ",
" STEP 2: Pick up the knife on the table. ",
" STEP 3: Turn around and walk forward to face the counter to the left of the stove. ",
" STEP 4: Cut the lettuce on the counter into slices. ",
" STEP 5: Turn around and walk across the room to ... | [
"Walk around the right side of the counter and walk forward to face the kitchen table.",
"Pick up the knife on the table.",
"Turn around and walk forward to face the counter with the lettuce on it.",
"Wash the lettuce slice in the sink and remove it.",
"Place the slice of lettuce on the kitchen table.",
"... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
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] |
trial_T20190908_101213_185197-1 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 1.0",
" 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": " 2.715",... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 1.0",
" position_y": " 0.900",
" position_z": " 0.5",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" ... | Put the heated tomato in the fridge | [
"STEP 1: Turn right head toward the end of the counter on your right ",
" STEP 2: Pick up the tomato on the counter ",
" STEP 3: Turn left then head to the microwave on your right side ",
" STEP 4: Open the microwave put in and out the tomato then close the microwave ",
" STEP 5: Turn right head to the fri... | [
"Turn left then head to the microwave on your right side",
"Open the fridge, put the tomato in and out, then close the fridge",
"Open the fridge put in the tomato then close the fridge",
"Turn right head toward the end of the counter on your right",
"Turn right head to the fridge",
"Pick up the tomato on ... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(D)",
"(F)",
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] |
trial_T20190908_145829_697255-1 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.0",
" position_y": " 0.901",
" position_z": " 1.5",
" 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": " -1.0",
" position_y": " 0.901",
" position_z": " 1.5",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" o... | Put a full and empty roll of toilet paper in the right cabinet under the left sink. | [
"STEP 1: Turn right and face the toilet. ",
" STEP 2: Take the empty toilet paper roll off the back of the toilet. ",
" STEP 3: Turn left and move to the left sink in the vanity. ",
" STEP 4: Put the empty toilet paper roll in the right cabinet under the left sink. ",
" STEP 5: Turn around and head back to ... | [
"Turn left and move to the left sink in the vanity.",
"Turn around and head back to the left sink on the vanity.",
"Take the toilet paper roll off the holder.",
"Put the empty toilet paper roll in the right cabinet under the left sink.",
"Turn around and head back to the toilet.",
"Turn right and face the... | [
"(A)",
"(B)",
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"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)"
] | [
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] |
trial_T20190906_195956_153637-2 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 2.25",
" 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": " 1.880"... | [
{
"id": "0",
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" position_x": " 2.25",
" position_y": " 0.900",
" position_z": " 0.0",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
"... | Take the potato to the sink, wash it, take it to the refrigerator. Set it in the refrigerator. | [
"STEP 1: Go across the room to the dining table ",
" STEP 2: Pick up the potato from the table. ",
" STEP 3: Take the potato to the sink, behind you. ",
" STEP 4: Set the potato in the sink. Turn the water on in the sink. Turn off the water. ",
" STEP 5: Pick up the potato, carry it to the refrigerator on t... | [
"Pick up the potato, carry it to the refrigerator on the other side of the kitchen.",
"Open the door of the refrigerator. Then close the doors of the refrigerator. Set the potato on the shelf above the Apple.",
"Take the potato to the oven, in front of you.",
"Pick up the potato from the table.",
"Go across... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(E)",
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"(G)",
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] |
trial_T20190906_211948_380915-0 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -2.75",
" position_y": " 0.901",
" position_z": " 6.5",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Bowl",
" position_x": " -2.8... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -2.75",
" position_y": " 0.901",
" position_z": " 6.5",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | Put the watch from shelf in the blue bowl, move the whole bowl to the TV cabinet | [
"STEP 1: Walk across the room to the shelf ",
" STEP 2: Grab the watch from the shelf ",
" STEP 3: Turn right, and turn right, walk to the side table by the sofa ",
" STEP 4: Put the watch in the blue bowl on the table ",
" STEP 5: Take the blue bowl on the table ",
" STEP 6: Turn around, walk to the tv c... | [
"Turn left, walk to the coffee table",
"Put the watch in the blue bowl on the table",
"Walk across the room to the shelf",
"Leave the blue bowl on the table",
"Put the blue bowl on the TV cabinet",
"Grab the watch from the shelf",
"Turn around, walk to the tv cabinet in the corner",
"Take the blue bow... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)"
] | [
"(C)",
"(F)",
"(I)",
"(B)",
"(H)",
"(G)",
"(E)"
] |
trial_T20190906_211948_380915-1 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -2.75",
" position_y": " 0.901",
" position_z": " 6.5",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Bowl",
" position_x": " -2.8... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -2.75",
" position_y": " 0.901",
" position_z": " 6.5",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | place a bowl with a watch in it on top of the desk the TV is on | [
"STEP 1: walk forwards towards the oval table in the center of the rug, then hang a right and walk forwards over to the cabinet ",
" STEP 2: grab the watch off the shelf of the cabinet ",
" STEP 3: turn around and walk over to the oval table to the left of the couch ",
" STEP 4: place the watch in the bowl on... | [
"walk forwards towards the oval table in the center of the rug, then hang a right and walk forwards over to the cabinet",
"turn around and walk over to the oval table to the left of the couch",
"spin around and step back to the fireplace at the back wall",
"take the book from the chair",
"place the watch in... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)"
] | [
"(A)",
"(I)",
"(B)",
"(E)",
"(F)",
"(H)",
"(G)"
] |
trial_T20190908_125309_223090-0 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 1.5",
" position_y": " 0.900",
" position_z": " -1.25",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " KeyChain",
" position_x": " 1.... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 1.5",
" position_y": " 0.900",
" position_z": " -1.25",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" ... | take the watch from the coffee table, put it on the desk | [
"STEP 1: turn left, head across the room to the coffee table ",
" STEP 2: take the watch from the coffee table ",
" STEP 3: turn left, head to the desk ",
" STEP 4: put the watch on the desk ",
" END"
] | [
"put the watch on the desk",
"turn right, move to the shelf",
"take the watch from the coffee table",
"turn left, head across the room to the coffee table",
"turn right, go towards the window",
"turn left, head to the desk"
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(D)",
"(C)",
"(F)",
"(A)"
] |
trial_T20190908_125309_223090-1 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 1.5",
" position_y": " 0.900",
" position_z": " -1.25",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " KeyChain",
" position_x": " 1.... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 1.5",
" position_y": " 0.900",
" position_z": " -1.25",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" ... | take the watch from the coffee table and place it on the desk | [
"STEP 1: walk over to the coffee table ",
" STEP 2: pick up the watch from the table ",
" STEP 3: take the watch over to the desk ",
" STEP 4: put the watch on top of the desk ",
" END"
] | [
"take the watch over to the desk",
"jog over to the dining table",
"put the watch on top of the desk",
"pick up the watch from the table",
"walk over to the coffee table",
"place the watch underneath the desk"
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(E)",
"(D)",
"(A)",
"(C)"
] |
trial_T20190906_201636_696952-1 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -0.25",
" position_y": " 0.900",
" position_z": " 0.25",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Watch",
" position_x": " -0... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -0.25",
" position_y": " 0.900",
" position_z": " 0.25",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | Place the box with the credit card on the sofa. | [
"STEP 1: Turn left and head towards the desk. ",
" STEP 2: Pick up the box on the floor beneath the desk. ",
" STEP 3: Turn around, head towards the table, turn left and head towards the sofa. ",
" STEP 4: Place the box on the sofa. ",
" STEP 5: Turn around and face the table. ",
" STEP 6: Pick up the cre... | [
"Place the credit card inside the box.",
"Turn left and head towards the desk.",
"Turn around, head towards the table, turn left and head towards the sofa.",
"Pick up the box on the floor beneath the desk.",
"Place the box on the chair.",
"Turn around and face the table.",
"Turn around and face the box ... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)"
] | [
"(B)",
"(D)",
"(C)",
"(H)",
"(F)",
"(I)",
"(G)",
"(A)"
] |
trial_T20190906_201636_696952-2 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -0.25",
" position_y": " 0.900",
" position_z": " 0.25",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Watch",
" position_x": " -0... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -0.25",
" position_y": " 0.900",
" position_z": " 0.25",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | Move a credit card to a box on the sofa. | [
"STEP 1: Move to stand in front of the desk that's beneath the framed picture of flowers. ",
" STEP 2: Pick up the box from beneath the desk. ",
" STEP 3: Turn around and carry the box to the sofa, so you're standing between the sofa and coffee table. ",
" STEP 4: Place the box on the sofa, centered between... | [
"Turn and move to the other side of the coffee table, so you're facing the handles to the drawers beneath it.",
"Pick up the credit card from the coffee table.",
"Place the credit card in the box and close the top of the box shut.",
"Carry the credit card to the sofa, so you're facing the box you previously p... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)"
] | [
"(E)",
"(F)",
"(I)",
"(J)",
"(A)",
"(B)",
"(D)",
"(C)"
] |
trial_T20190918_182645_558872-1 | [
{
"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": " DishSponge",
" position_x": "... | [
{
"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",
"... | place a cold potato slice inside the microwave | [
"STEP 1: move right towards the coffee maker ",
" STEP 2: pick up a knife at the right side of the coffee maker ",
" STEP 3: turn right and head for the table ",
" STEP 4: slice the potato on the table ",
" STEP 5: turn left to the fridge ",
" STEP 6: drop the knife inside the fridge ",
" STEP 7: turn r... | [
"turn right towards the microwave",
"turn left to the fridge",
"place the potato inside the microwave",
"turn right and head to the table",
"pick up a knife at the right side of the coffee maker",
"turn right to the sink",
"turn right and head for the table",
"drop the knife inside the fridge",
"sli... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)",
"(K)",
"(L)",
"(M)",
"(N)"
] | [
"(L)",
"(E)",
"(G)",
"(I)",
"(B)",
"(H)",
"(D)",
"(J)",
"(N)",
"(K)",
"(A)",
"(C)"
] |
trial_T20190911_063520_618858-0 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 1.5",
" position_y": " 0.900",
" position_z": " 0.0",
" 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": " 0.0",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" ... | Put the glass from the table into the sink. | [
"STEP 1: Walk forward then left to the table. ",
" STEP 2: Pick up the glass from the table. ",
" STEP 3: Turn around and go to the sink. ",
" STEP 4: Put the glass in the sink. ",
" END"
] | [
"Pick up the glass from the table.",
"Walk forward then left to the table.",
"Turn around and go to the sink.",
"Walk forward then take a right to the wardrobe.",
"Put the glass in the sink.",
"Take a 90 degree left turn and go to the living room."
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(B)",
"(A)",
"(C)",
"(E)"
] |
trial_T20190906_201451_338338-0 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.25",
" position_y": " 0.909",
" position_z": " -1.0",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Mug",
" position_x": " -3.7... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.25",
" position_y": " 0.909",
" position_z": " -1.0",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | Put a mug with pen on the shelf under the table. | [
"STEP 1: Move to the dresser. ",
" STEP 2: Pick up the mug with pen. ",
" STEP 3: Bring the mug with pen to the long white table. ",
" STEP 4: Put the mug with pen on the shelf under the table. ",
" END"
] | [
"Move to the bookshelf.",
"Pick up the mug with pen.",
"Move to the dresser.",
"Bring the mug with pen to the long white table.",
"Pick up the book from the dresser.",
"Put the mug with pen on the shelf under the table."
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(C)",
"(B)",
"(D)",
"(F)"
] |
trial_T20190906_201451_338338-1 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.25",
" position_y": " 0.909",
" position_z": " -1.0",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Mug",
" position_x": " -3.7... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.25",
" position_y": " 0.909",
" position_z": " -1.0",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | Move the cup with the pen from the dress to under the table | [
"STEP 1: Walk straight, turn right, walk to the dresser ",
" STEP 2: Grab the cup with the pen ",
" STEP 3: Turn around, walk to the white table ",
" STEP 4: Put the cup and the pen below the table, on the brown drawers ",
" END"
] | [
"Turn left, walk to the brown couch",
"Grab the cup with the pen",
"Walk straight, turn left, walk to the tall lamp",
"Walk straight, turn right, walk to the dresser",
"Put the cup and the pen below the table, on the brown drawers",
"Turn around, walk to the white table"
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(D)",
"(B)",
"(F)",
"(E)"
] |
trial_T20190908_113458_840400-0 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -2.5",
" position_y": " 0.909",
" position_z": " -3.25",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Mug",
" position_x": " -3.76... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -2.5",
" position_y": " 0.909",
" position_z": " -3.25",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | Look at the coffee cup in the lamp light. | [
"STEP 1: Turn to the right and take one step, then turn to the right and walk to the dresser. ",
" STEP 2: Pick up the coffee cup on the dresser. ",
" STEP 3: Turn around and walk to the table. ",
" STEP 4: Turn on the lamp. ",
" END"
] | [
"Turn to the right and take one step, then turn to the right and walk to the dresser.",
"Rotate left and take a stroll to the chair.",
"Pick up the coffee cup on the dresser.",
"Turn around and walk to the table.",
"Turn to the left and take two steps, afterward turn left and walk towards the mirror.",
"T... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(A)",
"(C)",
"(D)",
"(F)"
] |
trial_T20190908_113458_840400-1 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -2.5",
" position_y": " 0.909",
" position_z": " -3.25",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Mug",
" position_x": " -3.76... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -2.5",
" position_y": " 0.909",
" position_z": " -3.25",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | Pick up a cup and turn on a lamp. | [
"STEP 1: Turn around and face the brown dresser. ",
" STEP 2: Pick the cup up from the dresser. ",
" STEP 3: Turn around and face the white table with the lamp. ",
" STEP 4: Turn the lamp on the table on. ",
" END"
] | [
"Leave the cup on the dresser.",
"Pick the cup up from the dresser.",
"Turn around and face the brown dresser.",
"Turn the lamp on the table on.",
"Turn to your left and face the red bookshelf.",
"Turn around and face the white table with the lamp."
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(C)",
"(B)",
"(F)",
"(D)"
] |
trial_T20190909_031925_522476-0 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 0.0",
" position_y": " 0.931",
" position_z": " -0.5",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Potato",
" position_x": " 0.7... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 0.0",
" position_y": " 0.931",
" position_z": " -0.5",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
"... | Pick up the apple and heat it up inside the microwave and after it is done place it on the counter. | [
"STEP 1: turn right and move forward and turn to the left and face the counter ",
" STEP 2: pick up brown apple from the counter ",
" STEP 3: turn around move forward and turn left and turn left again and face the microwave and place the apple inside of it ",
" STEP 4: place the apple inside of it and heat it... | [
"turn right and move forward and turn to the left and face the counter",
"turn left and move forward and then turn right and face the fridge",
"turn around move forward and turn left and turn left again and face the microwave and place the apple inside of it",
"turn around move backward, turn right and turn r... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(A)",
"(E)",
"(C)",
"(H)",
"(F)",
"(G)"
] |
trial_T20190908_044804_986661-0 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 3.0",
" position_y": " 0.900",
" position_z": " 0.25",
" rotation_x": " 0",
" rotation_y": " 180",
" 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": " 0.25",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
"... | Place a chilled piece of lettuce into the blue recycling bin. | [
"STEP 1: Turn around and walk to the knife to the right of the pot on the counter. ",
" STEP 2: Pick up the knife on the counter. ",
" STEP 3: Walk to the lettuce on the counter. ",
" STEP 4: Cut up the rightmost lettuce on the counter. ",
" STEP 5: Take one step back and then look at the counter with the l... | [
"Pick up the knife on the counter.",
"Take one step forward to the counter.",
"Take one step back and then look at the counter with the lettuce on it.",
"Turn right and walk to the blue recycling bin next to the window.",
"Cut up the rightmost lettuce on the counter.",
"Walk to the lettuce on the counter.... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)",
"(K)",
"(L)",
"(M)",
"(N)"
] | [
"(I)",
"(A)",
"(F)",
"(E)",
"(C)",
"(G)",
"(B)",
"(L)",
"(H)",
"(N)",
"(D)",
"(M)"
] |
trial_T20190908_154427_989098-0 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 1.0",
" position_y": " 0.949",
" position_z": " -0.25",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " CellPhone",
" position_x": " ... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 1.0",
" position_y": " 0.949",
" position_z": " -0.25",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
"... | Move a book from the bed into a cabinet. | [
"STEP 1: Walk around to the far side of the bed. ",
" STEP 2: Pick up the book off of the bed. ",
" STEP 3: Turn left and walk over to the black dresser. ",
" STEP 4: Open the leftmost lower cabinet door and put the book inside the cabinet, then close the door. ",
" END"
] | [
"Walk around to the far side of the bed.",
"Walk around to the near side of the bed.",
"Open the leftmost lower cabinet door and put the book inside the cabinet, then close the door.",
"Open the rightmost upper cabinet door and put the book inside the cabinet, then close the door.",
"Turn left and walk over... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(A)",
"(F)",
"(E)",
"(C)"
] |
trial_T20190908_154427_989098-2 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 1.0",
" position_y": " 0.949",
" position_z": " -0.25",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " CellPhone",
" position_x": " ... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 1.0",
" position_y": " 0.949",
" position_z": " -0.25",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
"... | Pick up the brown book and put it in the black cabinet. | [
"STEP 1: Circle around the white bed to the left and stop between the bed and the wall. ",
" STEP 2: Pick up the brown book on the white bed. ",
" STEP 3: Turn around and walk to the black cabinets. ",
" STEP 4: Open the first cabinet door and place the book inside the cabinet closing the door behind it. ",
... | [
"Pick up the black book on the red chair.",
"Walk straight to the white bed and stop next to the pillows.",
"Turn around and walk to the black cabinets.",
"Pick up the brown book on the white bed.",
"Circle around the white bed to the left and stop between the bed and the wall.",
"Open the first cabinet d... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(E)",
"(D)",
"(C)",
"(F)"
] |
trial_T20190909_085122_079866-1 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -6.0",
" position_y": " 0.901",
" position_z": " 2.25",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Newspaper",
" position_x": " ... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -6.0",
" position_y": " 0.901",
" position_z": " 2.25",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
"... | Pick up a newspaper and turn a lamp on. | [
"STEP 1: Go forward and turn to the left and face the brown shelves. ",
" STEP 2: Pick the newspaper up from the shelf. ",
" STEP 3: Turn to the right and face the small table with the lamp. ",
" STEP 4: Turn the lamp on. ",
" END"
] | [
"Turn to the left and face the larger table with the book.",
"Pick the newspaper up from the shelf.",
"Go forward and turn to the left and face the brown shelves.",
"Turn the lamp on.",
"Turn to the right and face the small table with the lamp.",
"Put the newspaper back on the shelf."
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(C)",
"(B)",
"(E)",
"(D)"
] |
trial_T20190908_125051_986015-0 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.5",
" position_y": " 0.903",
" position_z": " 1.75",
" 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": " -1.5",
" position_y": " 0.903",
" position_z": " 1.75",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
"... | Put the rinsed soap bar on the bottom shelf | [
"STEP 1: Walk forward to the bathtub ",
" STEP 2: Pick up the soap bar from the left side of the bathtub ",
" STEP 3: Turn right and walk over to the sink ",
" STEP 4: Wash the soap bar under the water in the sink and remove it ",
" STEP 5: Turn around and walk over to the white wall shelf ",
" STEP 6: Pu... | [
"Walk backwards to the bathtub",
"Pick up the soap bar from the left side of the bathtub",
"Walk forward to the bathtub",
"Wash the soap bar under the water in the sink and remove it",
"Turn right and walk over to the sink",
"Turn around and walk over to the white wall shelf",
"Put the soap bar on the b... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(C)",
"(B)",
"(E)",
"(D)",
"(F)",
"(G)"
] |
trial_T20190908_125051_986015-2 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.5",
" position_y": " 0.903",
" position_z": " 1.75",
" 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": " -1.5",
" position_y": " 0.903",
" position_z": " 1.75",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
"... | Place a rinsed bar of soap on a shelf. | [
"STEP 1: Walk ahead to the bathtub. ",
" STEP 2: Pick up the soap on the tub lip. ",
" STEP 3: Turn right and walk to the sink. ",
" STEP 4: Rinse the soap in the sink. ",
" STEP 5: Turn around and walk to the shelves. ",
" STEP 6: Place the soap on the bottom shelf to the right of the empty toilet paper ... | [
"Pick up the soap on the tub lip.",
"Rinse the soap in the sink.",
"Turn right and walk to the sink.",
"Turn around and walk to the shelves.",
"Wash the soap in the bathtub.",
"Walk to the left towards the shower.",
"Place the soap on the bottom shelf to the right of the empty toilet paper roll.",
"Wa... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(H)",
"(A)",
"(C)",
"(B)",
"(D)",
"(G)"
] |
trial_T20190910_140928_997692-2 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -2.0",
" position_y": " 0.903",
" position_z": " 0.5",
" 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": " -2.0",
" position_y": " 0.903",
" position_z": " 0.5",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
"... | Put two purple bottles on a toilet tank. | [
"STEP 1: Turn left, go forward a step, turn right, go forward to the sink. ",
" STEP 2: Take the purple spray bottle from the trash bin. ",
" STEP 3: Turn around, go forward a step, turn left, go forward to the wall, turn left ",
" STEP 4: Put the bottle on the right side on the toilet tank. ",
" STEP 5: Tu... | [
"Pick up the blue bottle from the garbage can.",
"Put the bottle on the right side on the toilet tank.",
"Turn around, go forward a step, turn left, go forward to the wall, turn left",
"Turn left, go back to in front of the sink.",
"Turn around, go forward a step, turn left, go forward to the wall, turn lef... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)"
] | [
"(I)",
"(G)",
"(J)",
"(C)",
"(E)",
"(B)",
"(D)",
"(G)",
"(J)",
"(C)",
"(E)",
"(H)"
] |
trial_T20190909_044327_889269-2 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.5",
" position_y": " 0.903",
" position_z": " 1.75",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Cloth",
" position_x": " -2.21... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.5",
" position_y": " 0.903",
" position_z": " 1.75",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" ... | Put the pump bottle on the bottom shelf | [
"STEP 1: Turn around and walk up to the trash bin by the sink ",
" STEP 2: Pick up the pump bottle from the trash bin ",
" STEP 3: Turn around and walk across to the white shelves ",
" STEP 4: Put the pump bottle on the bottom shelf ",
" END"
] | [
"Pick up the pump bottle from the trash bin",
"Pick up the newspaper from the trash bin",
"Turn left and walk up to the wardrobe",
"Put the pump bottle on the bottom shelf",
"Turn around and walk up to the trash bin by the sink",
"Turn around and walk across to the white shelves"
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(E)",
"(A)",
"(F)",
"(D)"
] |
trial_T20190912_042033_240335-1 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.25",
" 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": " -0.6... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.25",
" position_y": " 0.909",
" position_z": " -3.0",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | put 2 lap tops on the bed | [
"STEP 1: turn to the right go forward towards the brown table ",
" STEP 2: pick up the lap top that is on top of the brown table ",
" STEP 3: turn around to the left towards the bed ",
" STEP 4: put the lap top on top of the bed ",
" STEP 5: turn to the right go right towards the white table ",
" STEP 6: ... | [
"turn to the right go forward towards the brown table",
"open the lap top that is on the white table",
"put down the lap top on top of the green chair",
"pick up the lap top turn to the right go forward turn to the right towards the bed",
"turn around to the left towards the bed",
"turn to the right go ri... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)"
] | [
"(A)",
"(I)",
"(E)",
"(G)",
"(F)",
"(H)",
"(D)",
"(J)"
] |
trial_T20190918_211056_310337-1 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.25",
" position_y": " 0.931",
" position_z": " -0.25",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Potato",
" position_x": " -... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.25",
" position_y": " 0.931",
" position_z": " -0.25",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | Place two eggs in a microwave | [
"STEP 1: Go to the counter right of the stove ",
" STEP 2: Pick up an egg from the counter ",
" STEP 3: Go to the microwave ",
" STEP 4: Place the egg in the microwave ",
" STEP 5: Go to the counter right of the stove ",
" STEP 6: Pick up an egg from the counter ",
" STEP 7: Go to the microwave ",
" S... | [
"Pick up an egg from the counter",
"Go to the counter right of the stove",
"Go to the microwave",
"Pick up a spoon from the counter",
"Go to the counter right of the stove",
"Pick up an egg from the counter",
"Go to the microwave",
"Place the egg in the microwave",
"Go to the fridge",
"Place the e... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)"
] | [
"(B)",
"(E)",
"(A)",
"(F)",
"(C)",
"(G)",
"(H)",
"(J)",
"(B)",
"(E)",
"(A)",
"(F)",
"(C)",
"(G)",
"(H)",
"(J)"
] |
trial_T20190908_095741_818305-2 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -0.75",
" position_y": " 0.901",
" position_z": " 7.0",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Bowl",
" position_x": " -2.811... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -0.75",
" position_y": " 0.901",
" position_z": " 7.0",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" ... | Move a watering can to the coffee table. | [
"STEP 1: Walk over to the black table against the wall on your left. ",
" STEP 2: Pick up the white watering can off of the bottom shelf below the table. ",
" STEP 3: Turn left and walk towards the television, then hang a left and walk over to the side of the coffee table. ",
" STEP 4: Put the watering can on... | [
"Walk over to the black table against the wall on your left.",
"Walk to the white chair near the window instead.",
"Turn left and walk towards the television, then hang a left and walk over to the side of the coffee table.",
"Turn right and walk towards the bookshelf, then turn right again and approach the di... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(A)",
"(E)",
"(C)",
"(F)"
] |
trial_T20190906_201856_722157-0 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 0.75",
" position_y": " 0.900",
" position_z": " -1.5",
" 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": " 0.75",
" position_y": " 0.900",
" position_z": " -1.5",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | place a cardboard box with a credit card inside on the couch | [
"STEP 1: turn around and walk to the end of the room, then turn left to face the brown table against the wall ",
" STEP 2: pick up the cardboard box from the table ",
" STEP 3: turn around and walk over to the couch on the left side of the room against the wall ",
" STEP 4: place the cardboard box on top of t... | [
"pick up the cardboard box from the table",
"place the cardboard box underneath the coffee table",
"place the cardboard box on top of the couch",
"turn around and face the coffee table",
"turn around and face the cardboard box on the couch",
"turn around and walk to the end of the room, then turn left to ... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)"
] | [
"(F)",
"(A)",
"(H)",
"(C)",
"(D)",
"(I)",
"(E)",
"(J)"
] |
trial_T20190906_201856_722157-2 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 0.75",
" position_y": " 0.900",
" position_z": " -1.5",
" 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": " 0.75",
" position_y": " 0.900",
" position_z": " -1.5",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | Place a box with a credit card in it on a couch. | [
"STEP 1: Turn around and walk straight and go to the right corner of the room. ",
" STEP 2: Pick up the box off the floor. ",
" STEP 3: Turn right, walk around the coffee table, and go to the far end of the couch. ",
" STEP 4: Place the box on the rightmost couch cushion. ",
" STEP 5: Turn around and take a... | [
"Leave the credit card on the table.",
"Turn around and walk back to the box on the couch.",
"Place the box on the rightmost couch cushion.",
"Place the credit card in the box on the couch.",
"Turn around and walk straight and go to the right corner of the room.",
"Put down a box on the floor.",
"Pick u... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)"
] | [
"(E)",
"(G)",
"(J)",
"(C)",
"(I)",
"(H)",
"(B)",
"(D)"
] |
trial_T20190907_234208_014074-0 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 2.5",
" 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": " 0.281... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 2.5",
" position_y": " 0.900",
" position_z": " 0.0",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" o... | To move a knife and a cup to the table. | [
"STEP 1: Turn around and walk to the counter to the left of the stove. ",
" STEP 2: Pick up the knife on the edge of the counter. ",
" STEP 3: Move to the front of the stove and look up at the microwave. ",
" STEP 4: Open the microwave door, place the knife in the cup in the microwave. ",
" STEP 5: Take... | [
"Stroll towards the chair at the right of the room.",
"Take the cup out of the microwave and shut the door.",
"Walk to the table to the left of the room.",
"Turn around and walk to the counter to the left of the stove.",
"Pick up the knife on the edge of the counter.",
"Go to the back of the refrigerator ... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)"
] | [
"(D)",
"(E)",
"(H)",
"(I)",
"(B)",
"(C)",
"(G)"
] |
trial_T20190909_130501_815970-2 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.75",
" position_y": " 0.900",
" position_z": " -0.25",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Pan",
" position_x": " 1.6... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.75",
" position_y": " 0.900",
" position_z": " -0.25",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | Put a warmed slice of bread in the recycling bin. | [
"STEP 1: Turn around, turn right and go to the coffee maker. ",
" STEP 2: Pick up the knife on the counter. ",
" STEP 3: Turn around and go to the bread on the counter. ",
" STEP 4: Cut the bread on the counter. ",
" STEP 5: Turn left, go across the room and to the recycling bin in the corner. ",
" STEP 6... | [
"Cut the bread on the counter.",
"Put the slice of bread in the recycling bin.",
"Turn around and go to the bread on the counter.",
"Turn right and head to the refrigerator.",
"Pick up the knife on the counter.",
"Pick up a slice of bread.",
"Put the knife in the recycling bin.",
"Turn left, go across... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)",
"(K)",
"(L)",
"(M)",
"(N)"
] | [
"(N)",
"(E)",
"(C)",
"(A)",
"(H)",
"(G)",
"(M)",
"(F)",
"(J)",
"(L)",
"(I)",
"(B)"
] |
trial_T20190918_220534_463098-1 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 0.75",
" 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": " 0.75",
" position_y": " 0.900",
" position_z": " 0.5",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
"... | Put bowl with sponge on counter in front of lettuce. | [
"STEP 1: Move to the counter near the coffee machine. ",
" STEP 2: Take the sponge out of the cabinet above the lettuce. ",
" STEP 3: Spring the sponge to the next cabinet on the left. ",
" STEP 4: Put the sponge in the bowl in the cabinet. ",
" STEP 5: Pick up the bowl from the cabinet. ",
" STEP 6:... | [
"Move to the counter near the coffee machine.",
"Put the bowl down on the counter in front of the lettuce.",
"Toss the sponge to the next cabinet on the right.",
"Pick up the bowl from the cabinet.",
"Drop the bowl onto the cabinet.",
"Take the sponge out of the cabinet above the lettuce.",
"Spring the ... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)"
] | [
"(A)",
"(F)",
"(G)",
"(I)",
"(D)",
"(H)",
"(B)"
] |
trial_T20190909_151931_440231-0 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -0.25",
" position_y": " 0.901",
" position_z": " 3.0",
" 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": " 3.0",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | Place a soap bottle in a trash bin. | [
"STEP 1: Walk ahead to the sink, then walk left around the counter to the left side. ",
" STEP 2: Pick up the bottle of soap on the counter. ",
" STEP 3: Walk right and then veer left to the green bin in the corner of the room. ",
" STEP 4: Place the soap bottle in the bin. ",
" END"
] | [
"Walk backwards to the fridge, then walk right around the table to the right side.",
"Pick up the bottle of soap on the counter.",
"Pick up the sponge on the counter.",
"Walk ahead to the sink, then walk left around the counter to the left side.",
"Walk right and then veer left to the green bin in the corne... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(D)",
"(B)",
"(E)",
"(F)"
] |
trial_T20190909_145829_775749-0 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 0.25",
" position_y": " 0.900",
" position_z": " 0.0",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Watch",
" position_x": " 1.849"... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 0.25",
" position_y": " 0.900",
" position_z": " 0.0",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" o... | move the remote from the table to the chair | [
"STEP 1: turn around and walk straight towards the couch then turn right and walk straight then turn right towards the table ",
" STEP 2: pick up the remote off of the table ",
" STEP 3: turn right then turn left then turn right again towards the chair ",
" STEP 4: put the remote down on the chair ",
" END"... | [
"rotate left and walk diagonally towards the bookshelf, then take a left and walk straight, then turn left towards the table",
"turn around and walk straight towards the couch then turn right and walk straight then turn right towards the table",
"pick up the remote off of the table",
"put the remote down on t... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(B)",
"(C)",
"(E)",
"(D)"
] |
trial_T20190908_045621_460199-0 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 2.75",
" position_y": " 0.900",
" position_z": " 0.5",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Pan",
" position_x": " 2.221",... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 2.75",
" position_y": " 0.900",
" position_z": " 0.5",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" ... | Place a bowl and a potato slice in the microwave. | [
"STEP 1: Turn around and walk to the table on the left. ",
" STEP 2: Pick up the knife to the left of the bowl. ",
" STEP 3: Slice the potato that is closest. ",
" STEP 4: Re-position to be in the middle of the table and chair. ",
" STEP 5: Place the knife inside of the bowl on the table. ",
" STEP 6: Gra... | [
"Place the knife inside of the bowl on the table.",
"Re-position to be in the middle of the table and chair.",
"Pick up the knife to the left of the bowl.",
"Place the bowl inside of the microwave.",
"Pick up the spoon to the right of the plate.",
"Turn around and walk to the table on the left.",
"Turn ... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)",
"(K)",
"(L)",
"(M)",
"(N)"
] | [
"(F)",
"(C)",
"(M)",
"(B)",
"(A)",
"(L)",
"(N)",
"(D)",
"(I)",
"(H)",
"(G)",
"(K)"
] |
trial_T20190907_073037_124368-1 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 0.5",
" position_y": " 0.931",
" position_z": " 1.25",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Pan",
" position_x": " -1.029",... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 0.5",
" position_y": " 0.931",
" position_z": " 1.25",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" o... | Put a chilled cup on the island. | [
"STEP 1: Turn around and go to the the center island. ",
" STEP 2: Pick up the green cup on the right. ",
" STEP 3: Turn around and bring the cup to the fridge. ",
" STEP 4: Chill the cup in the fridge. ",
" STEP 5: Bring the cup to the island on the left. ",
" STEP 6: Put the cup on the island. ",
" ... | [
"Pick up the green cup on the right.",
"Walk forward to the corner of the room.",
"Put the cup on the island.",
"Turn around and bring the cup to the fridge.",
"Turn around and go to the the center island.",
"Bring the cup to the island on the left.",
"Chill the cup in the fridge.",
"Proceed straight ... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(E)",
"(A)",
"(D)",
"(G)",
"(F)",
"(C)"
] |
trial_T20190907_073037_124368-2 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 0.5",
" position_y": " 0.931",
" position_z": " 1.25",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Pan",
" position_x": " -1.029",... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 0.5",
" position_y": " 0.931",
" position_z": " 1.25",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" o... | Cool down one of the green cups on the counter. | [
"STEP 1: Turn around and face the table. ",
" STEP 2: Pick up the green cup closest to you. ",
" STEP 3: Turn right towards the fridge. ",
" STEP 4: Place the cup inside the fridge to cool it up and take it back out. ",
" STEP 5: Turn left and face the counter to your left. ",
" STEP 6: Place the cup back... | [
"Place the cup inside the fridge to cool it up and take it back out.",
"Pick up the green cup closest to you.",
"Turn left and face the counter to your left.",
"Turn left towards the sink.",
"Place the cup back on the counter.",
"Turn around and face the table.",
"Turn right towards the fridge.",
"Pic... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(F)",
"(B)",
"(G)",
"(A)",
"(C)",
"(E)"
] |
trial_T20190907_073037_124368-3 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 0.5",
" position_y": " 0.931",
" position_z": " 1.25",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Pan",
" position_x": " -1.029",... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 0.5",
" position_y": " 0.931",
" position_z": " 1.25",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" o... | Chill a glass and place it on the counter. | [
"STEP 1: Turn around to face the counter. ",
" STEP 2: Pick up the green glass that is in the front of the counter. ",
" STEP 3: Take the glass and turn around and to the left to face the fridge. ",
" STEP 4: Open the fridge and put the glass inside. Shut the door. Open the fridge and take the glass out, and ... | [
"Take the glass and turn around and to the left to face the fridge.",
"Pick up the red mug that is on the back of the counter.",
"Pick up the green glass that is in the front of the counter.",
"Open the fridge and put the glass inside. Shut the door. Open the fridge and take the glass out, and then shut the d... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(F)",
"(C)",
"(A)",
"(D)",
"(E)",
"(H)"
] |
trial_T20190906_190812_248659-0 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -2.0",
" position_y": " 0.901",
" position_z": " 2.75",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Bowl",
" position_x": " -2.63... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -2.0",
" position_y": " 0.901",
" position_z": " 2.75",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
"... | Look at a container by the light of a lamp. | [
"STEP 1: Turn left and walk to the shelves along the wall. ",
" STEP 2: Pick up the gray container on the right of the shelf. ",
" STEP 3: Turn right and walk to the lamp. ",
" STEP 4: Turn on the lamp. ",
" END"
] | [
"Turn on the lamp.",
"Turn right and walk to the dresser.",
"Pick up the gray container on the right of the shelf.",
"Turn left and walk to the table.",
"Turn left and walk to the shelves along the wall.",
"Turn right and walk to the lamp."
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(E)",
"(C)",
"(F)",
"(A)"
] |
trial_T20190906_190812_248659-1 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -2.0",
" position_y": " 0.901",
" position_z": " 2.75",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Bowl",
" position_x": " -2.63... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -2.0",
" position_y": " 0.901",
" position_z": " 2.75",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
"... | turn on a lamp while holding a bowl | [
"STEP 1: turn left and walk to the far end of the room with the black cabinet ",
" STEP 2: grab a bowl off of the of the shelf of the cabinet ",
" STEP 3: turn right and walk over to the oval shaped table against the wall ",
" STEP 4: turn on the lamp on the table ",
" END"
] | [
"turn right and walk over to the oval shaped table against the wall",
"turn on the lamp on the table",
"grab a bowl off of the of the shelf of the cabinet",
"turn left and walk over to the rectangular table against the window",
"turn left and walk to the far end of the room with the black cabinet",
"turn ... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(E)",
"(C)",
"(A)",
"(B)"
] |
trial_T20190908_050137_894267-0 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.75",
" position_y": " 0.900",
" position_z": " -0.25",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Pan",
" position_x": " 0.6... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.75",
" position_y": " 0.900",
" position_z": " -0.25",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | Place a bowl holding a knife and potato slice into the microwave. | [
"STEP 1: Turn left and go to face the grey round table. ",
" STEP 2: Pick up the knife on the grey round table. ",
" STEP 3: Turn around and move to the sink at the end of the counter. ",
" STEP 4: Slice the potato in the sink with the knife. ",
" STEP 5: Turn around and head to face the bowl to the left of... | [
"Turn left and go to the microwave above the stove.",
"Pick up an apple from the fruit bowl.",
"Place the bowl with the knife and potato slice in the microwave.",
"Pick up a potato slice in the sink.",
"Turn left and go to face the grey round table.",
"Pick up the knife on the grey round table.",
"Place... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)",
"(K)",
"(L)",
"(M)",
"(N)",
"(O)"
] | [
"(E)",
"(F)",
"(M)",
"(O)",
"(N)",
"(H)",
"(K)",
"(D)",
"(I)",
"(G)",
"(J)",
"(A)",
"(C)"
] |
trial_T20190908_050137_894267-1 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.75",
" position_y": " 0.900",
" position_z": " -0.25",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Pan",
" position_x": " 0.6... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.75",
" position_y": " 0.900",
" position_z": " -0.25",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | Moving a bowl, knife and slice of potato to the microwave | [
"STEP 1: Turn left and go to the small table ",
" STEP 2: Pick up the knife on the table ",
" STEP 3: Turn left and go around to the front of the sink ",
" STEP 4: Slice the potato in the sink ",
" STEP 5: turn around and move to the counter in front and to the right ",
" STEP 6: Put the knife in the bowl... | [
"Turn around and go back to the counter that's ahead and to the right",
"Pick up the knife on the table",
"Slice the potato in the sink",
"Put the knife in the bowl",
"turn around and move to the counter in front and to the right",
"Pick up a slice of potato from inside the sink",
"Turn left and go arou... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)",
"(K)",
"(L)",
"(M)",
"(N)",
"(O)"
] | [
"(J)",
"(B)",
"(G)",
"(C)",
"(E)",
"(D)",
"(L)",
"(F)",
"(A)",
"(O)",
"(M)",
"(H)",
"(I)"
] |
trial_T20190907_211732_655276-0 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -4.25",
" position_y": " 0.901",
" position_z": " 5.0",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Bowl",
" position_x": " -2.5... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -4.25",
" position_y": " 0.901",
" position_z": " 5.0",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | Move the hand on the shelves to the TV table. | [
"STEP 1: Turn and go to the shelves. ",
" STEP 2: Pick up the hand on the shelves. ",
" STEP 3: Turn and go to the TV table in the corner. ",
" STEP 4: Put the hand on the TV table. ",
" END"
] | [
"Pick up the hand on the shelves.",
"Put the hand on the TV table.",
"Spin around and head to the coffee table.",
"Turn and go to the shelves.",
"Turn left and head towards the bookcase.",
"Turn and go to the TV table in the corner."
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(D)",
"(A)",
"(F)",
"(B)"
] |
trial_T20190907_211732_655276-1 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -4.25",
" position_y": " 0.901",
" position_z": " 5.0",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Bowl",
" position_x": " -2.5... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -4.25",
" position_y": " 0.901",
" position_z": " 5.0",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | Put a golden statue hand on the TV stand. | [
"STEP 1: Move to the shelf to the right of you ",
" STEP 2: Pick up a golden hand from the shelf ",
" STEP 3: Move to the TV stand to the right of you ",
" STEP 4: Place the hand on the stand ",
" END"
] | [
"Place the hand on the stand",
"Move to the TV stand to the right of you",
"Place a silver hand on the shelf",
"Pick up a golden hand from the shelf",
"Move to the shelf to the left of you",
"Move to the shelf to the right of you"
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(F)",
"(D)",
"(B)",
"(A)"
] |
trial_T20190908_194026_614803-1 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.75",
" position_y": " 0.900",
" position_z": " 0.0",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Pan",
" position_x": " 0.678"... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.75",
" position_y": " 0.900",
" position_z": " 0.0",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
"... | Pick up apple, put in microwave, remove, and put on counter | [
"STEP 1: Walk forward, turn left at oven, turn right, walk forward, turn left at end of counter ",
" STEP 2: Pick up apple off of counter ",
" STEP 3: Turn left, walk to stove, turn right facing the oven ",
" STEP 4: Put apple in microwave above oven, close microwave, turn on, turn off, remove from microwave ... | [
"Turn right, walk to end of counter, turn right,",
"Place banana in oven below stove, open oven, turn on, turn off, extract from oven",
"Put apple in microwave above oven, close microwave, turn on, turn off, remove from microwave",
"Pick up apple off of counter",
"Put apple on counter in front of coffee mak... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(F)",
"(D)",
"(G)",
"(C)",
"(A)",
"(E)"
] |
trial_T20190908_080336_509407-1 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 0.75",
" position_y": " 0.931",
" position_z": " -0.75",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Potato",
" position_x": " -0.... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 0.75",
" position_y": " 0.931",
" position_z": " -0.75",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
"... | Fill a cup with water and place inside cabinet. | [
"STEP 1: Step forward, turn and head to the end cabinets on the right. ",
" STEP 2: Open the top cabinet, pick up the green cup on the top right, close cabinet door. ",
" STEP 3: Turn around and go to the kitchen sink. ",
" STEP 4: Place the green cup into the sink, turn on faucet to fill cup, then turn off t... | [
"Open the top cabinet, pick up the green cup on the top right, close cabinet door.",
"Turn around to face the kitchen counter with an apple.",
"Step forward, turn and head to the end cabinets on the right.",
"Step backwards, turn and head to the end cabinets on the left.",
"Place the green cup into the sink... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(C)",
"(A)",
"(F)",
"(E)",
"(B)",
"(G)"
] |
trial_T20190909_014524_943132-0 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -0.25",
" position_y": " 0.900",
" position_z": " 0.25",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Kettle",
" position_x": " 0.7... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -0.25",
" position_y": " 0.900",
" position_z": " 0.25",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
"... | Heat up a slice of apple in the microwave to put it in the sink. | [
"STEP 1: Turn left to walk towards the counter to the left of the sink. ",
" STEP 2: Pick up the large knife from the countertop to the left of the sink. ",
" STEP 3: Turn around to face the opposite countertop. ",
" STEP 4: Slice the apple on the countertop. ",
" STEP 5: Turn left to walk to the microwave.... | [
"Turn around the face the sink.",
"Pick up an apple slice from the countertop.",
"Turn around to face the opposite countertop.",
"Turn left to walk to the microwave.",
"Turn left to walk to the microwave.",
"Put the large knife in the microwave.",
"Slice the apple on the countertop.",
"Pick up the lar... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)",
"(K)",
"(L)",
"(M)",
"(N)"
] | [
"(N)",
"(H)",
"(C)",
"(G)",
"(D)",
"(E)",
"(F)",
"(K)",
"(B)",
"(D)",
"(E)",
"(J)",
"(A)",
"(L)"
] |
trial_T20190908_041041_521601-1 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 0.75",
" 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": " 0.634"... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 0.75",
" position_y": " 0.900",
" position_z": " 0.5",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
"... | Place a warmed apple in the recycling bin. | [
"STEP 1: Approach the counter to the left of the stove. ",
" STEP 2: Pick up the apple from the counter. ",
" STEP 3: Approach the microwave above the stove. ",
" STEP 4: Put the apple in the microwave, turn the microwave on and wait before removing the apple. ",
" STEP 5: Turn to your left and walk to the... | [
"Place the apple in the recycling bin.",
"Turn to your right and walk towards the trash can.",
"Approach the counter to the left of the stove.",
"Pick up the apple from the counter.",
"Pick up the pear from the kitchen table.",
"Put the apple in the microwave, turn the microwave on and wait before removin... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(C)",
"(D)",
"(G)",
"(F)",
"(H)",
"(A)"
] |
trial_T20190908_041041_521601-2 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 0.75",
" 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": " 0.634"... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 0.75",
" position_y": " 0.900",
" position_z": " 0.5",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
"... | Place a microwaved apple in a garbage can. | [
"STEP 1: Walk forward slightly and turn right towards the counter top. ",
" STEP 2: Pick up the apple from the counter top. ",
" STEP 3: Turn right and walk to the microwave above the stove top. ",
" STEP 4: Microwave the apple for a few seconds, then take it out and close the microwave. ",
" STEP 5: Turn l... | [
"Walk forward slightly and turn right towards the counter top.",
"Microwave the apple for a few seconds, then take it out and close the microwave.",
"Turn left and walk to the blue garbage can in the corner of the room.",
"Put the apple in the garbage can.",
"Freeze the apple for a few seconds, then take it... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(A)",
"(G)",
"(F)",
"(B)",
"(C)",
"(D)"
] |
trial_T20190909_004150_970566-0 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.0",
" position_y": " 0.909",
" position_z": " -2.5",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Mug",
" position_x": " -0.50... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.0",
" position_y": " 0.909",
" position_z": " -2.5",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | Move a pen from a dresser to a small table below a desk. | [
"STEP 1: Walk forward to the brown dresser which is in front of you. ",
" STEP 2: Pick up the pen from the dresser. ",
" STEP 3: Turn around and walk forward to the left side of the desk on your right. ",
" STEP 4: Put the pen on the front of the small table below the desk. ",
" END"
] | [
"Put the pen on the front of the small table below the desk.",
"Put the pen on the back of the tall shelf beside the desk.",
"Pick up the pen from the dresser.",
"Walk backward to the red dresser which is behind you.",
"Walk forward to the brown dresser which is in front of you.",
"Turn around and walk fo... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(E)",
"(C)",
"(F)",
"(A)"
] |
trial_T20190909_004150_970566-1 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.0",
" position_y": " 0.909",
" position_z": " -2.5",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Mug",
" position_x": " -0.50... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.0",
" position_y": " 0.909",
" position_z": " -2.5",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | Move a pen from the dresser to the shelves. | [
"STEP 1: Turn left, move to the dresser, right of the CD. ",
" STEP 2: Pick up the pen from the dresser. ",
" STEP 3: Turn right, move to the desk, near the clock. ",
" STEP 4: Put the pen on top of the shelves. ",
" END"
] | [
"Pick up the pen from the dresser.",
"Turn right, move to the desk, near the clock.",
"Rotate left, approach the cupboard, next to the lamp.",
"Turn left, move to the dresser, right of the CD.",
"Put the pen on top of the shelves.",
"Turn right, proceed to the shelf, left of the photo."
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(D)",
"(A)",
"(B)",
"(E)"
] |
trial_T20190907_041009_508960-2 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -0.75",
" position_y": " 0.931",
" position_z": " 0.0",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Pan",
" position_x": " 1.512... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -0.75",
" position_y": " 0.931",
" position_z": " 0.0",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | Place the spatula from the counter into the sink. | [
"STEP 1: Turn left towards the coffee maker on the counter to your left. ",
" STEP 2: Pick up the spatula from the counter. ",
" STEP 3: Take a step to the left to face the sink. ",
" STEP 4: Place the spatula in the sink. ",
" END"
] | [
"Take a step to the left to face the sink.",
"Place the spatula in the sink.",
"Pick up the spoon from the counter.",
"Pick up the spatula from the counter.",
"Turn left towards the coffee maker on the counter to your left.",
"Take two steps to the right to face the refrigerator."
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(E)",
"(D)",
"(A)",
"(B)"
] |
trial_T20190907_195032_047862-1 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 0.25",
" position_y": " 0.931",
" position_z": " 2.0",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Pan",
" position_x": " -0.398... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 0.25",
" position_y": " 0.931",
" position_z": " 2.0",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
"... | Transport a white ball from a fridge to a trash-can. | [
"STEP 1: Turn left and head to the trash-can in the corner on your right. ",
" STEP 2: Take out the white ball from the trash-can. ",
" STEP 3: Turn left and head to the fridge. ",
" STEP 4: Open the fridge, put the ball inside, close it, open it, take the ball out, and close it again. ",
" STEP 5: Turn aro... | [
"Turn left and head to the fridge.",
"Put the white ball in the trash-can.",
"Turn right and head to the kitchen sink.",
"Turn around and head to the trash-can in the corner.",
"Turn left and head to the trash-can in the corner on your right.",
"Open the fridge, put the ball inside, close it, open it, tak... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(E)",
"(H)",
"(A)",
"(F)",
"(D)",
"(B)"
] |
trial_T20190907_195032_047862-2 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 0.25",
" position_y": " 0.931",
" position_z": " 2.0",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Pan",
" position_x": " -0.398... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 0.25",
" position_y": " 0.931",
" position_z": " 2.0",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
"... | Place a chilled egg in the trash can. | [
"STEP 1: Turn left and go to the trash can on the left. ",
" STEP 2: Take the egg out of the trash can. ",
" STEP 3: Turn left and go across the room to the fridge. ",
" STEP 4: Open the fridge and place the egg on the second shelf. Close the door, wait a moment, and take the egg out of the fridge. ",
" STE... | [
"Turn left and go to the trash can on the left.",
"Put the egg in the trash can.",
"Turn left and go across the room to the fridge.",
"Open the wardrobe and place the egg on the top shelf. Close the door, wait a moment, and take the egg out of the wardrobe.",
"Take the egg out of the trash can.",
"Turn ri... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(A)",
"(E)",
"(C)",
"(H)",
"(G)",
"(B)"
] |
trial_T20190908_054754_429618-0 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -4.75",
" position_y": " 0.901",
" position_z": " 6.5",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Newspaper",
" position_x": " ... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -4.75",
" position_y": " 0.901",
" position_z": " 6.5",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
"... | move a newspaper to the TV stand | [
"STEP 1: Move to the right where the dark wood shelves are ",
" STEP 2: Pick up the newspaper on the shelf ",
" STEP 3: Carry the newspaper to the left side of the TV stand ",
" STEP 4: place the newspaper on the left side of the TV stand in front of the TV ",
" END"
] | [
"Move to the left where the light wood shelves are",
"Carry the newspaper to the right side of the TV stand",
"place the newspaper on the left side of the TV stand in front of the TV",
"Move to the right where the dark wood shelves are",
"Pick up the newspaper on the shelf",
"Carry the newspaper to the le... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(D)",
"(E)",
"(F)",
"(C)"
] |
trial_T20190908_054754_429618-1 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -4.75",
" position_y": " 0.901",
" position_z": " 6.5",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Newspaper",
" position_x": " ... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -4.75",
" position_y": " 0.901",
" position_z": " 6.5",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
"... | move the newspaper from the shelf to the tv stand | [
"STEP 1: Turn left and walk to the middle of the room. turn right at the shelves ",
" STEP 2: pick up the newspaper from the shelf ",
" STEP 3: turn right and walk towards to the television ",
" STEP 4: place the newspaper next to the tv ",
" END"
] | [
"Turn left and walk to the middle of the room. turn right at the shelves",
"place the newspaper next to the tv",
"turn right and walk towards to the television",
"Turn right and walk to the end of the room. turn left at the coffee table",
"turn left and walk towards to the fireplace",
"pick up the newspap... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(A)",
"(F)",
"(C)",
"(B)"
] |
trial_T20190918_210707_124696-1 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -0.25",
" position_y": " 0.909",
" position_z": " -1.25",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Mug",
" position_x": " -1.06... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -0.25",
" position_y": " 0.909",
" position_z": " -1.25",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | Move two clocks from a desk to a dresser | [
"STEP 1: Go to the desk ",
" STEP 2: Pick up a clock from the desk ",
" STEP 3: Go to the dresser ",
" STEP 4: Place the clock on top of the dresser ",
" STEP 5: Go to the desk ",
" STEP 6: Pick up a clock from the desk ",
" STEP 7: Go to the dresser ",
" STEP 8: Place the clock on the dresser to the ... | [
"Go to the dresser",
"Place the clock on the dresser to the left of the first clock",
"Pick up a clock from the desk",
"Put down a clock on the desk",
"Pick up a clock from the desk",
"Go to the dresser",
"Place the clock on top of the dresser",
"Go to the desk",
"Leave a clock on the desk",
"Go t... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)"
] | [
"(H)",
"(J)",
"(C)",
"(E)",
"(A)",
"(F)",
"(G)",
"(H)",
"(J)",
"(C)",
"(E)",
"(A)",
"(F)",
"(B)"
] |
trial_T20190908_182628_947130-1 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.0",
" position_y": " 0.900",
" position_z": " 1.0",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Pan",
" position_x": " 0.678"... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.0",
" position_y": " 0.900",
" position_z": " 1.0",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
"... | To heat an egg and put it on the table. | [
"STEP 1: Walk to the small table ahead of you. ",
" STEP 2: Pick up the egg in front of the butter knife. ",
" STEP 3: Turn around, walk to the stove, look up at the microwave above the stove. ",
" STEP 4: Open the microwave door, place the egg inside the microwave, heat up the egg, take the egg out of the... | [
"Turn around, walk to the stove, look up at the microwave above the stove.",
"Pick up the egg in front of the butter knife.",
"Run to the big table behind you.",
"Open the microwave door, place the egg inside the microwave, heat up the egg, take the egg out of the microwave, close the microwave door.",
"Ope... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(F)",
"(B)",
"(A)",
"(D)",
"(G)",
"(H)"
] |
trial_T20190908_182628_947130-2 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.0",
" position_y": " 0.900",
" position_z": " 1.0",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Pan",
" position_x": " 0.678"... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.0",
" position_y": " 0.900",
" position_z": " 1.0",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
"... | Heat up the egg on the table using the microwave. | [
"STEP 1: Move forward to the round table. ",
" STEP 2: Pick up the egg from the table. ",
" STEP 3: Turn left twice, move forward, turn right, move forward to the microwave and turn left to face it. ",
" STEP 4: Heat the egg in the microwave and remove it. ",
" STEP 5: Turn to the left, move forward, turn t... | [
"Put the egg on the table.",
"Turn left twice, move forward, turn right, move forward to the microwave and turn left to face it.",
"Pick up the egg from the table.",
"Move forward to the round table.",
"Heat the egg in the microwave and remove it.",
"Move backward to the square table.",
"Turn to the lef... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(D)",
"(C)",
"(B)",
"(E)",
"(G)",
"(A)"
] |
trial_T20190909_074332_993453-0 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.0",
" position_y": " 0.909",
" position_z": " -3.25",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Mug",
" position_x": " -3.687... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.0",
" position_y": " 0.909",
" position_z": " -3.25",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
"... | examine a pen by the light of the lamp on the table | [
"STEP 1: turn to the left and move forward to the dresser that is to the left of the bed ",
" STEP 2: pick up the pen that is on the dresser ",
" STEP 3: turn around and move forward to the table with the lamp ",
" STEP 4: turn on the lamp ",
" END"
] | [
"turn to the right and move backward to the closet that is to the right of the bed",
"turn to the left and move forward to the dresser that is to the left of the bed",
"turn on the lamp",
"pick up the book that is on the dining table",
"turn around and move forward to the table with the lamp",
"pick up th... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(B)",
"(F)",
"(E)",
"(C)"
] |
trial_T20190909_074332_993453-1 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.0",
" position_y": " 0.909",
" position_z": " -3.25",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Mug",
" position_x": " -3.687... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.0",
" position_y": " 0.909",
" position_z": " -3.25",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
"... | Turn on a lamp with a pen. | [
"STEP 1: Turn to the left then left again then turn to the right and go to the brown dresser. ",
" STEP 2: Pick up the pen from the dresser. ",
" STEP 3: Turn around and walk forward to the lamp. ",
" STEP 4: Use the pen to turn on the lamp. ",
" END"
] | [
"Use the pen to turn off the television.",
"Turn around and walk forward to the lamp.",
"Turn to the left then left again then turn to the right and go to the brown dresser.",
"Turn to the right, then right again, then turn left and go to the green cupboard.",
"Use the pen to turn on the lamp.",
"Pick up ... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(C)",
"(F)",
"(B)",
"(E)"
] |
trial_T20190908_074855_782261-2 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 2.5",
" position_y": " 0.900",
" position_z": " 0.75",
" rotation_x": " 0",
" rotation_y": " 270",
" 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": " 0.75",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
"... | Put the chilled mug on the coffee maker | [
"STEP 1: Walk few steps then turn to your left then head to the coffee maker ",
" STEP 2: Pick up the mug on the coffee maker ",
" STEP 3: Turn around to your right, then turn right head towards the fridge ",
" STEP 4: Open the fridge put in and out the the mug then close the door ",
" STEP 5: Turn to your ... | [
"Open the oven, put in and out the mug then close the door",
"Turn to your right then turn left face the coffee maker",
"Turn around to your right, then turn right head towards the fridge",
"Put the mug on the coffee maker",
"Walk few steps then turn to your left then head to the coffee maker",
"Pick up t... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(E)",
"(F)",
"(C)",
"(G)",
"(B)",
"(D)"
] |
trial_T20190909_040235_282356-1 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.5",
" position_y": " 0.909",
" position_z": " -1.25",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " CD",
" position_x": " -3.75... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.5",
" position_y": " 0.909",
" position_z": " -1.25",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | Put keys on top of drawers | [
"STEP 1: Move around the bed to the dresser ",
" STEP 2: Pick up the keys from the top of the dresser ",
" STEP 3: Turn around and go to the desk ",
" STEP 4: Place the keys on the drawers under the desk ",
" END"
] | [
"Move around the bed to the dresser",
"Pick up the keys from the top of the dresser",
"Turn around and go to the desk",
"Put the keys on the top of the desk rather than the drawers underneath",
"Move towards the window instead of the dresser",
"Place the keys on the drawers under the desk"
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(A)",
"(B)",
"(C)",
"(F)"
] |
trial_T20190908_182516_451816-1 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 0.75",
" position_y": " 0.900",
" position_z": " 0.25",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Potato",
" position_x": " 2.... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 0.75",
" position_y": " 0.900",
" position_z": " 0.25",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | Put a heated egg on a round table. | [
"STEP 1: Turn right and walk over to the sink. ",
" STEP 2: Pick up the egg out of the sink. ",
" STEP 3: Walk over to the oven that is behind you and look up at the microwave. ",
" STEP 4: Open the microwave and put the egg inside, then close the door and turn on the microwave, after a couple seconds take th... | [
"Turn left and walk towards the window, then hang a left and walk over to the round table.",
"Put the heated egg on the round table.",
"Turn left and walk towards the refrigerator.",
"Turn right and walk over to the sink.",
"Open the microwave and put the egg inside, then close the door and turn on the micr... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(D)",
"(F)",
"(G)",
"(E)",
"(A)",
"(B)"
] |
trial_T20190908_182516_451816-2 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 0.75",
" position_y": " 0.900",
" position_z": " 0.25",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Potato",
" position_x": " 2.... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 0.75",
" position_y": " 0.900",
" position_z": " 0.25",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | To heat an egg and put it down on the table. | [
"STEP 1: Turn right and walk to the sink on the left. ",
" STEP 2: Pick up the egg from the sink. ",
" STEP 3: Turn around and walk to the stove and look up at the microwave above the stove. ",
" STEP 4: Open the microwave door, put the egg inside of the microwave, close the door, heat the egg, open the do... | [
"Put the egg down on the table in front of the tomato.",
"Turn right and walk to the sink on the left.",
"Turn left and walk to the sink on the right.",
"Open the microwave door, put the egg inside of the microwave, close the door, heat the egg, open the door, take the egg out of the microwave, and close the ... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(B)",
"(H)",
"(F)",
"(D)",
"(E)",
"(A)"
] |
trial_T20190907_211751_246871-2 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -3.25",
" position_y": " 0.901",
" position_z": " 4.5",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Bowl",
" position_x": " -2.631... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -3.25",
" position_y": " 0.901",
" position_z": " 4.5",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" ... | Put a statue in front of a television. | [
"STEP 1: Turn left and face the black shelves to the left. ",
" STEP 2: Pick the statue up from the shelf. ",
" STEP 3: Turn to the right and face the television. ",
" STEP 4: Put the statue down in front of the television ",
" END"
] | [
"Place the statue behind the television.",
"Turn right and face the white shelves to the right.",
"Put the statue down in front of the television",
"Pick the statue up from the shelf.",
"Turn to the right and face the television.",
"Turn left and face the black shelves to the left."
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(F)",
"(D)",
"(E)",
"(C)"
] |
trial_T20190906_191824_139023-1 | [
{
"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": " DishSponge",
" position_x":... | [
{
"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 heated mug in the cabinet above the microwave. | [
"STEP 1: Move the the counter right of the sink. ",
" STEP 2: Pick up the mug from the coffee machine. ",
" STEP 3: Bring the mug to the microwave. ",
" STEP 4: Heat the mug in the microwave. ",
" STEP 5: Bring the heated mug to the cabinet above the microwave. ",
" STEP 6: Put the heated mug in the cabi... | [
"Bring the heated mug to the cabinet above the microwave.",
"Take the heated mug to the table.",
"Place the mug back onto the coffee machine.",
"Heat the mug in the microwave.",
"Bring the mug to the microwave.",
"Put the heated mug in the cabinet above the microwave.",
"Move the the counter right of th... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(G)",
"(H)",
"(E)",
"(D)",
"(A)",
"(F)"
] |
trial_T20190906_191824_139023-2 | [
{
"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": " DishSponge",
" position_x":... | [
{
"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",
... | Place a heated mug in a cabinet. | [
"STEP 1: Turn left and walk all the way to the wall and face left. ",
" STEP 2: Pick up the mug out of the coffee maker. ",
" STEP 3: Turn around and walk to the wall. Face the microwave on the left. ",
" STEP 4: Heat the mug in the microwave. ",
" STEP 5: Look up at the cabinet. ",
" STEP 6: Place the mu... | [
"Walk straight ahead and face the fridge on the right.",
"Heat the mug in the microwave.",
"Place the mug in the right side of the cabinet.",
"Turn around and walk to the wall. Face the microwave on the left.",
"Look up at the cabinet.",
"Turn left and walk all the way to the wall and face left.",
"Turn... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(F)",
"(H)",
"(D)",
"(B)",
"(E)",
"(C)"
] |
trial_T20190919_055146_844513-1 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 1.5",
" 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": " 0.678",... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 1.5",
" position_y": " 0.900",
" position_z": " 0.5",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" ... | Place a bowl filled with a lettuce slice and a butterknife in a fridge | [
"STEP 1: Turn to the counter right of the stove ",
" STEP 2: Pick up a butterknife from the counter ",
" STEP 3: Go to the right where the lettuce is on the counter ",
" STEP 4: Cut the lettuce on the left ",
" STEP 5: Turn around and go to the cupboards ",
" STEP 6: Place the butterknife in the bowl in t... | [
"Go to the fridge",
"Go to the right where the lettuce is on the counter",
"Go to the lettuce on the counter",
"Go to the fridge",
"Cut the lettuce on the left",
"Pick up a slice of lettuce",
"Pick up a butterknife from the counter",
"Turn to the counter right of the stove",
"Take the bowl out of th... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)",
"(K)",
"(L)",
"(M)",
"(N)",
"(O)"
] | [
"(H)",
"(G)",
"(B)",
"(E)",
"(N)",
"(M)",
"(C)",
"(F)",
"(J)",
"(O)",
"(I)",
"(A)",
"(D)",
"(K)"
] |
trial_T20190919_055146_844513-2 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 1.5",
" 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": " 0.678",... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 1.5",
" position_y": " 0.900",
" position_z": " 0.5",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" ... | Put the blue bowl with the knife and cut lettuce in the refrigerator. | [
"STEP 1: Turn around and go to the counter top on the right of the stove. ",
" STEP 2: Pick up the gray knife on the left of the blue plate on the counter. ",
" STEP 3: Move over to the right side of the counter in front of the lettuce. ",
" STEP 4: Cut the lettuce on the right of the spatula towards the bac... | [
"Turn around and go to the counter top on the right of the stove.",
"Slice the lettuce on the left of the spatula towards the front.",
"Cut the lettuce on the right of the spatula towards the back.",
"Turn around and go back to the cabinet with the blue bowl.",
"Place the blue bowl with the knife and lettuc... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)",
"(K)",
"(L)",
"(M)",
"(N)",
"(O)"
] | [
"(A)",
"(G)",
"(F)",
"(C)",
"(J)",
"(K)",
"(N)",
"(H)",
"(D)",
"(L)",
"(O)",
"(I)",
"(E)"
] |
trial_T20190907_002230_575700-1 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.5",
" position_y": " 0.903",
" position_z": " 1.75",
" rotation_x": " 0",
" rotation_y": " 0",
" 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": " 1.75",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" ... | put both of the tissue boxes on top of the bathroom toilet | [
"STEP 1: walk over to the bathroom shelves ",
" STEP 2: pick up a box of tissues ",
" STEP 3: bring the box of tissues over to the toilet ",
" STEP 4: put the box of tissues on top of the toilet ",
" STEP 5: turn around and walk back over to the bathroom shelves ",
" STEP 6: pick up the box of tissues off... | [
"put the tissue box on its side next to the other tissue box",
"pick up a towel",
"put the box of tissues on top of the toilet",
"walk over to the bathroom shelves",
"walk back over to the toilet",
"pick up the box of tissues off the top shelf",
"bring the box of tissues over to the toilet",
"turn aro... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)"
] | [
"(D)",
"(I)",
"(G)",
"(C)",
"(H)",
"(F)",
"(E)",
"(A)"
] |
trial_T20190907_181201_854866-1 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -2.25",
" position_y": " 0.909",
" position_z": " -3.75",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Mug",
" position_x": " -3.7... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -2.25",
" position_y": " 0.909",
" position_z": " -3.75",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | Place both books on the bed. | [
"STEP 1: Turn around to face the brown dresser. ",
" STEP 2: Pick up the book from off of the dresser. ",
" STEP 3: Move to the right to face the bed. ",
" STEP 4: Place the book on the bed. ",
" STEP 5: Turn around and move to the left to face the white desk. ",
" STEP 6: Pick up the book from off of th... | [
"Turn around to face the brown dresser.",
"Place the book on the bed.",
"Turn around and move to the left to face the white desk.",
"Move to the right to face the bed.",
"Put down the book on the dresser.",
"Pick up the book from off of the dresser.",
"Place the book on the bed next to the other book.",... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)"
] | [
"(A)",
"(F)",
"(D)",
"(B)",
"(C)",
"(H)",
"(I)",
"(G)"
] |
trial_T20190907_181201_854866-2 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -2.25",
" position_y": " 0.909",
" position_z": " -3.75",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Mug",
" position_x": " -3.7... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -2.25",
" position_y": " 0.909",
" position_z": " -3.75",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | Put two textbooks on a bed. | [
"STEP 1: Turn around and walk forward to the dresser against the wall. ",
" STEP 2: Pick up the textbook from the dresser. ",
" STEP 3: Turn right and walk forward to the bed. ",
" STEP 4: Put the textbook on the bed, in front of the pillow. ",
" STEP 5: Turn right and walk forward to the desk on the right.... | [
"Pick up the textbook from the dresser.",
"Turn right and walk forward to the desk on the right.",
"Put the textbook on the bed, in front of the pillow.",
"Pick up the lamp from the dresser.",
"Turn right and walk forward to the front of the bed.",
"Pick up the textbook from the desk.",
"Turn right and ... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)"
] | [
"(H)",
"(A)",
"(G)",
"(C)",
"(B)",
"(F)",
"(E)",
"(J)"
] |
trial_T20190909_075511_068519-2 | [
{
"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": " 0.12... | [
{
"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",
" ... | Heat a potato and place it on the table. | [
"STEP 1: Turn around, then turn left and face the sink on the right. ",
" STEP 2: Pick up the potato from inside the sink. ",
" STEP 3: Hold the potato and turn around to the stove. Look up to the microwave. ",
" STEP 4: Open the microwave and place the potato inside. Shut the door and then open it. Take out... | [
"Hold the potato and turn around to the stove. Look up to the microwave.",
"Place the potato on the table, to the left side.",
"Carry the potato and turn to the left. Turn left again to move to the round table.",
"Pick up the potato from inside the sink.",
"Turn around, then turn left and face the sink on t... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(E)",
"(D)",
"(A)",
"(F)",
"(C)",
"(B)"
] |
trial_T20190909_075221_435001-0 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -0.25",
" position_y": " 0.909",
" position_z": " -3.25",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " CD",
" position_x": " -0.50... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -0.25",
" position_y": " 0.909",
" position_z": " -3.25",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | To move a pencil from the top of a computer desk to a space above the drawers on the left side of the desk. | [
"STEP 1: Turn right to face the computer desk. ",
" STEP 2: Pick up the pencil on the computer desk. ",
" STEP 3: Look down to face the space above the drawers on the left side of the desk. ",
" STEP 4: Place the pencil in the space above the drawers on the left side of the desk. ",
" END"
] | [
"Turn right to face the computer desk.",
"Put down the pen on the computer desk.",
"Look down to face the space above the drawers on the left side of the desk.",
"Turn left to face the office window.",
"Place the pencil in the space above the drawers on the left side of the desk.",
"Pick up the pencil on ... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(A)",
"(F)",
"(C)",
"(E)"
] |
trial_T20190907_164906_987673-2 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -0.5",
" position_y": " 0.909",
" position_z": " -2.25",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " CD",
" position_x": " -0.24... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -0.5",
" position_y": " 0.909",
" position_z": " -2.25",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | Put a cup with a pen in it on the dresser at the foot of the bed. | [
"STEP 1: Move to the table to the left of the dresser ",
" STEP 2: Pick up a pen from the desk ",
" STEP 3: Move to a few steps to the right ",
" STEP 4: Place the pen in a cup on the table ",
" STEP 5: Pick up the cup from the table ",
" STEP 6: Move to the dresser to the right of you ",
" STEP 7: Plac... | [
"Pick up a pen from the desk",
"Pick up the cup from the table",
"Move to a few steps to the right",
"Move to the dresser to the right of you",
"Move to the table to the left of the dresser",
"Move to the chair to the right of the dresser",
"Place the pen in a cup on the table",
"Place the pen in a mu... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)"
] | [
"(E)",
"(A)",
"(C)",
"(G)",
"(B)",
"(D)",
"(I)"
] |
trial_T20190908_042910_141978-2 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 0.0",
" position_y": " 0.931",
" position_z": " -0.5",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Potato",
" position_x": " 1.2... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 0.0",
" position_y": " 0.931",
" position_z": " -0.5",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
"... | drop a cooked potato in the sink | [
"STEP 1: turn right to the sink ",
" STEP 2: pick up a potato from the sink ",
" STEP 3: head to the microwave ",
" STEP 4: cook the potato in the oven and take it out ",
" STEP 5: turn around and head to the sink ",
" STEP 6: drop the potato in the sink ",
" END"
] | [
"freeze the potato in the freezer and take it out",
"turn left to the fridge",
"turn right to the sink",
"turn around and head to the sink",
"pick up a potato from the sink",
"head to the microwave",
"cook the potato in the oven and take it out",
"drop the potato in the sink"
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(C)",
"(E)",
"(F)",
"(G)",
"(D)",
"(H)"
] |
trial_T20190909_080044_436637-2 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -0.75",
" position_y": " 0.900",
" position_z": " 0.0",
" 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": " -0.75",
" position_y": " 0.900",
" position_z": " 0.0",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | put a clean slice of apple in the microwave | [
"STEP 1: turn and walk to the counter ",
" STEP 2: pick up the knife that is on the counter ",
" STEP 3: turn and walk to the microwave ",
" STEP 4: slice the Apple that's in the microwave ",
" STEP 5: Put The Knife into the microwave ",
" STEP 6: take the Apple out of the microwave ",
" STEP 7:... | [
"turn and walk to the microwave",
"turn and walk to the sink",
"turn and walk to the microwave",
"turn and walk to the counter",
"put the Apple into the sink",
"take the Apple out of the microwave",
"put the Apple into the microwave",
"pick up the knife that is on the counter",
"take the Apple out ... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)",
"(K)",
"(L)",
"(M)",
"(N)"
] | [
"(D)",
"(H)",
"(A)",
"(C)",
"(N)",
"(J)",
"(F)",
"(B)",
"(E)",
"(M)",
"(I)",
"(A)",
"(C)",
"(G)"
] |
trial_T20190907_020543_865134-1 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -5.0",
" position_y": " 0.901",
" position_z": " 0.75",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Bowl",
" position_x": " -2.2... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -5.0",
" position_y": " 0.901",
" position_z": " 0.75",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | Examine a small statue by the light of a table lamp. | [
"STEP 1: Turn around and walk to the table in the top right corner of the room containing a small statue. ",
" STEP 2: Pick up the statue from the table. ",
" STEP 3: Move very slightly to the lamp on that same table. ",
" STEP 4: Turn on the lamp. ",
" END"
] | [
"Turn on the lamp.",
"Move very slightly to the lamp on that same table.",
"Pick up the statue from the table.",
"Spin in a circle and move towards the bottom left corner of the room towards a painting.",
"Carefully arrange the books on the table.",
"Turn around and walk to the table in the top right corn... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(F)",
"(C)",
"(B)",
"(A)"
] |
trial_T20190907_041154_785948-2 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 2.75",
" position_y": " 0.900",
" position_z": " 0.0",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Pan",
" position_x": " 2.754",
... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 2.75",
" position_y": " 0.900",
" position_z": " 0.0",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" o... | Put a clean glass in the fridge. | [
"STEP 1: Turn left and walk until your a step from the window and turn left and walk to the table. ",
" STEP 2: Pick up a glass to the right of the yellow handled knife. ",
" STEP 3: Turn around and walk until you clear the counter to your right then turn right and walk to the sink and stand to face it. ",
" ... | [
"Turn around and walk until you clear the counter to your right then turn right and walk to the sink and stand to face it.",
"Turn left and walk until your a step from the window and turn left and walk to the table.",
"Turn left and walk to the fridge that will be on your right and face it.",
"Pick up a glass... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(B)",
"(G)",
"(A)",
"(F)",
"(C)",
"(H)"
] |
trial_T20190906_200112_258135-1 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 1.75",
" position_y": " 0.900",
" position_z": " 0.25",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Potato",
" position_x": " 0.4... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 1.75",
" position_y": " 0.900",
" position_z": " 0.25",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
"... | Place the washed potato in the fridge. | [
"STEP 1: Turn around, head towards the end of the counter, turn right to face the potato on the counter. ",
" STEP 2: Pick up the potato from the counter. ",
" STEP 3: Turn around and head towards the sink. ",
" STEP 4: Place the potato in the sink, wash it, and pick it back up. ",
" STEP 5: Turn left and w... | [
"Turn around and head towards the sink.",
"Put the potato back on the counter.",
"Turn left and walk towards the wall, turn left to face the fridge.",
"Place the potato in the sink, wash it, and pick it back up.",
"Turn right and walk towards the door, turn right to face the window.",
"Turn around, head t... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(F)",
"(H)",
"(A)",
"(D)",
"(C)",
"(G)"
] |
trial_T20190907_040937_164723-0 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -0.75",
" position_y": " 0.931",
" 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": " -0.75",
" position_y": " 0.931",
" position_z": " 0.25",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | Move the spatula from the counter to the sink | [
"STEP 1: Turn left, walk straight to the end cabinet ",
" STEP 2: Grab the spatula on the counter ",
" STEP 3: Turn around to the sink ",
" STEP 4: Put the spatula in the sink ",
" END"
] | [
"Put the spatula in the sink",
"Grab the spatula on the counter",
"Spin around twice before heading to the refrigerator",
"Turn around to the sink",
"Turn right, then jog to the nearest window",
"Turn left, walk straight to the end cabinet"
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(F)",
"(B)",
"(D)",
"(A)"
] |
trial_T20190907_040937_164723-2 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -0.75",
" position_y": " 0.931",
" 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": " -0.75",
" position_y": " 0.931",
" position_z": " 0.25",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | Move a spatula from a counter top to a sink. | [
"STEP 1: Walk to the left to the spatula on the counter top to the left of the stove. ",
" STEP 2: Pick up the spatula from the counter top. ",
" STEP 3: Turn around and walk slightly forward to the sink. ",
" STEP 4: Put the spatula in the sink basin. ",
" END"
] | [
"Walk to the right to the whisker on the counter top to the right of the fridge.",
"Put the spatula in the sink basin.",
"Walk to the left to the spatula on the counter top to the left of the stove.",
"Turn around and walk slightly forward to the sink.",
"Pick up the spatula from the counter top.",
"Set t... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(C)",
"(E)",
"(D)",
"(B)"
] |
trial_T20190906_185249_051254-1 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -2.0",
" position_y": " 0.909",
" position_z": " -2.75",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Mug",
" position_x": " -3.6... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -2.0",
" position_y": " 0.909",
" position_z": " -2.75",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | Move the alarm clock from the desk to the dresser. | [
"STEP 1: Turn left towards the wall and then turn right to face the alarm clock. ",
" STEP 2: Pick up the alarm clock from the desk. ",
" STEP 3: Turn right towards the dresser. ",
" STEP 4: Place the alarm clock on the left side of the dresser. ",
" END"
] | [
"Turn left towards the wall and then turn right to face the alarm clock.",
"Turn right towards the window, then turn left to face the door.",
"Place the alarm clock on the left side of the dresser.",
"Put the alarm clock on the right side of the bookshelf.",
"Pick up the alarm clock from the desk.",
"Turn... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(A)",
"(E)",
"(F)",
"(C)"
] |
trial_T20190912_213111_315672-2 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.75",
" position_y": " 0.901",
" position_z": " 3.75",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " KeyChain",
" position_x": " ... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.75",
" position_y": " 0.901",
" position_z": " 3.75",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | drop a plate with a card on it on the center table | [
"STEP 1: move right to the lamp stand ",
" STEP 2: pick up a card ",
" STEP 3: head left on the lamp stand ",
" STEP 4: drop the card on a plate ",
" STEP 5: pick up the plate ",
" STEP 6: turn around to the center table ",
" STEP 7: drop the plate on the center table ",
" END"
] | [
"pick up the plate",
"pick up a card",
"drop the plate on the center table",
"move right to the lamp stand",
"drop the card on a plate",
"head left on the lamp stand",
"put down a card",
"turn around to the center table",
"leave the plate"
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)"
] | [
"(D)",
"(B)",
"(F)",
"(E)",
"(A)",
"(H)",
"(C)"
] |
trial_T20190908_020804_090982-0 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 1.0",
" position_y": " 0.900",
" position_z": " 0.5",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Potato",
" position_x": " -0.6... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 1.0",
" position_y": " 0.900",
" position_z": " 0.5",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" ... | Put a clean pot filled with water on a stove top. | [
"STEP 1: Walk forward and turn right towards the stove top. ",
" STEP 2: Pick up the large pot from the stove top on the back burner. ",
" STEP 3: Turn around and walk to the sink. ",
" STEP 4: Put the pot in the sink, rinse it off, fill it with water, and take it back out. ",
" STEP 5: Turn around and walk... | [
"Walk forward and turn right towards the stove top.",
"Turn around and walk to the sink.",
"Put the pot in the sink, rinse it off, fill it with water, and take it back out.",
"Put the pot back on the stove top on its original burner.",
"Walk backwards and turn left away from the stove top.",
"Pick up the ... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(A)",
"(F)",
"(B)",
"(C)",
"(G)",
"(D)"
] |
trial_T20190908_020804_090982-2 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 1.0",
" position_y": " 0.900",
" position_z": " 0.5",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Potato",
" position_x": " -0.6... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 1.0",
" position_y": " 0.900",
" position_z": " 0.5",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" ... | To Fill the pot on the back left burner with water as well as return it to the burner. | [
"STEP 1: Turn to the right to face the stove. ",
" STEP 2: Pick up the pot on the back left burner. ",
" STEP 3: Turn around and walk forward to face the sink. ",
" STEP 4: Fill the pot up with water and pick it back up. ",
" STEP 5: Turn around and walk forward to face the stove. ",
" STEP 6: Place the p... | [
"Place the frying pan on the back right burner.",
"Place the pot with water in it on the back left burner.",
"Pick up the pot on the back left burner.",
"Turn around and walk forward to face the stove.",
"Fill the pot up with water and pick it back up.",
"Move backwards and reach out to face the refrigera... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(H)",
"(C)",
"(G)",
"(E)",
"(D)",
"(B)"
] |
trial_T20190907_224416_535857-2 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 3.0",
" position_y": " 0.900",
" position_z": " 0.0",
" 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": " 3.0",
" position_y": " 0.900",
" position_z": " 0.0",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" ... | Slice two bread loafs and place the slices on a table. | [
"STEP 1: Go straight to the end of the kitchen counter-top to the right, towards a loaf of bread and a knife that sits to the left of the oven stove. ",
" STEP 2: Pick up the knife. ",
" STEP 3: Turn right and head to the other end of the same kitchen cabinet, now on the left, and face the other loaf of bread ... | [
"Place the knife on the table with the grey table cloth.",
"Pick up the knife.",
"Pick up a slice of bread.",
"Head back to the other end of the counter and make a left towards the table draped with a grey cloth.",
"Pick up the knife from the table.",
"Place the slice of bread on the table with the grey t... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)",
"(K)",
"(L)",
"(M)",
"(N)",
"(O)",
"(P)",
"(Q)",
"(R)",
"(S)",
"(T)",
"(U)"
] | [
"(P)",
"(B)",
"(N)",
"(M)",
"(G)",
"(I)",
"(D)",
"(A)",
"(L)",
"(K)",
"(C)",
"(O)",
"(Q)",
"(R)",
"(S)",
"(E)",
"(J)",
"(G)",
"(I)",
"(H)",
"(A)",
"(L)",
"(U)",
"(C)",
"(O)",
"(T)",
"(R)",
"(S)"
] |
trial_T20190909_130959_018918-1 | [
{
"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": " ButterKnife",
" position_x":... | [
{
"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",
... | pick up knife, cut bread, cook in microwave, place bread in the trash can | [
"STEP 1: turn left, turn right to the sink ",
" STEP 2: pick up knife from sink ",
" STEP 3: turn around, walk straight to the counter ",
" STEP 4: cut in to the bread with the knife ",
" STEP 5: turn left, turn right, turn left to the trash can ",
" STEP 6: place knife in the trash can ",
" STEP 7: tur... | [
"open door, place bread on shelf, close door, open door, remove bread, close door",
"pick up bread from the counter",
"turn right, turn right, turn right to the fridge",
"turn left, turn right to the sink",
"turn left, turn right, turn left to the trash can",
"pick up knife from sink",
"turn left, turn ... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)",
"(K)",
"(L)",
"(M)",
"(N)"
] | [
"(D)",
"(F)",
"(L)",
"(J)",
"(E)",
"(I)",
"(K)",
"(G)",
"(B)",
"(M)",
"(A)",
"(E)",
"(I)",
"(N)"
] |
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