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_130959_018918-2 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -0.25",
" position_y": " 0.900",
" position_z": " 0.0",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " 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",
... | Place a cooked slice of bread in the recycle bin. | [
"STEP 1: Walk to the sink. ",
" STEP 2: Pick up the knife from the sink. ",
" STEP 3: Walk over to the counter to the left of the stove. ",
" STEP 4: Slice the loaf of bread. ",
" STEP 5: Walk over to the recycle bin. ",
" STEP 6: Put the knife in the recycle bin. ",
" STEP 7: Walk back to the loaf of b... | [
"Walk over to the microwave above the stove.",
"Take the slice of bread over to the recycle bin.",
"Take the slice of bread over to the fridge.",
"Walk to the sink.",
"Walk over to the counter to the left of the stove.",
"Pick up the knife from the sink.",
"Walk over to the counter to the right of the s... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
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"(L)",
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"(N)"
] | [
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] |
trial_T20190909_005324_566431-1 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.5",
" position_y": " 0.909",
" position_z": " -0.75",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Mug",
" position_x": " -0.50... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.5",
" position_y": " 0.909",
" position_z": " -0.75",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | Move two pencils from the top of the dresser to the drawer. | [
"STEP 1: Turn right and go to the wooden dresser in the corner across the room. ",
" STEP 2: Pick up the yellow pencil directly behind the keys on the top. ",
" STEP 3: Move back from the wooden dresser. ",
" STEP 4: Place the pencil in the second drawer on the bottom left. ",
" STEP 5: Move forward sligh... | [
"Turn right and go to the wooden dresser in the corner across the room.",
"Pick up the yellow pencil directly behind the keys on the top.",
"Pick up the yellow pencil on the top of the dresser on the left of the white note book.",
"Place the pencil in the second drawer on the bottom left.",
"Move forward sl... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)"
] | [
"(A)",
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"(H)",
"(J)",
"(D)",
"(E)",
"(C)",
"(H)",
"(J)",
"(I)"
] |
trial_T20190909_013957_469124-0 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.25",
" position_y": " 0.900",
" position_z": " -0.25",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Potato",
" position_x": " 1... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.25",
" position_y": " 0.900",
" position_z": " -0.25",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | Wash a fork and put it on a table. | [
"STEP 1: Walk to the kitchen counter on the left of the stove. ",
" STEP 2: Grab a fork from the counter. ",
" STEP 3: Walk to the kitchen sink behind you. ",
" STEP 4: Put the fork in the sink, wash it, then grab it. ",
" STEP 5: Walk to the kitchen table on your right. ",
" STEP 6: Place the fork on the... | [
"Walk to the kitchen table on your right.",
"Walk to the kitchen counter on the left of the stove.",
"Place the fork on the table.",
"Grab a fork from the counter.",
"Walk to the kitchen sink behind you.",
"Put the fork in the sink, wash it, then grab it.",
"Pick up a spoon from the counter.",
"Walk t... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(B)",
"(D)",
"(E)",
"(F)",
"(A)",
"(C)"
] |
trial_T20190909_013957_469124-2 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.25",
" position_y": " 0.900",
" position_z": " -0.25",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Potato",
" position_x": " 1... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.25",
" position_y": " 0.900",
" position_z": " -0.25",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | Put a clean fork on a table. | [
"STEP 1: Go left to stand in front of the counter to the left of the stove. ",
" STEP 2: Pick the fork up from the counter. ",
" STEP 3: Turn around and face the sink. ",
" STEP 4: Put the fork in the sink and turn the water on and then off and pick the fork up from the sink. ",
" STEP 5: Turn to the right ... | [
"Turn to the left and then to the right to face the square table.",
"Put the fork down on the table.",
"Turn to the right and then to the left to face the round table.",
"Pick the spoon up from the counter.",
"Put the fork in the sink and turn the water on and then off and pick the fork up from the sink.",
... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(H)",
"(F)",
"(G)",
"(E)",
"(C)",
"(B)"
] |
trial_T20190908_123502_241362-1 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -0.5",
" 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": " 1.80... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -0.5",
" position_y": " 0.900",
" position_z": " 0.5",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
"... | Move a statue from a shelf to a table | [
"STEP 1: Go to the shelf above the sofa ",
" STEP 2: Pick up the dog statue on the shelf ",
" STEP 3: Go to the table next to the sofa ",
" STEP 4: Place the dog statue on the table ",
" END"
] | [
"Go to the shelf above the sofa",
"Place the dog statue on the table",
"Move to the shelf below the TV console",
"Go to the table next to the sofa",
"Pick up the dog statue on the shelf",
"Approach the bookshelf next to the living room door"
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(A)",
"(E)",
"(D)",
"(B)"
] |
trial_T20190908_232857_206668-1 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -4.5",
" position_y": " 0.901",
" position_z": " 5.25",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Newspaper",
" position_x": "... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -4.5",
" position_y": " 0.901",
" position_z": " 5.25",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | Look at the box under light from the table lamp | [
"STEP 1: Turn around and walk forward to the sofa ",
" STEP 2: Pick up the cardboard box from the sofa ",
" STEP 3: Turn right and walk over to the lamp on the small table by the sofa ",
" STEP 4: Turn on the lamp ",
" END"
] | [
"Turn left and walk backwards to the chair",
"Pick up the cardboard box from the sofa",
"Turn on the lamp",
"Turn right and walk over to the lamp on the small table by the sofa",
"Turn around and walk forward to the sofa",
"Turn left and reach for the bookcase next to the sofa"
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(E)",
"(B)",
"(D)",
"(C)"
] |
trial_T20190909_130627_569885-1 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 1.75",
" position_y": " 0.900",
" position_z": " 0.75",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Pan",
" position_x": " 0.678... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 1.75",
" position_y": " 0.900",
" position_z": " 0.75",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | pick up knife, cut bread, cook bread in microwave, place in trash can | [
"STEP 1: turn right, straight, left to the sink ",
" STEP 2: pick up knife from the sink ",
" STEP 3: turn left, turn left, turn right, straight, left to the counter ",
" STEP 4: cut the bread with the knife ",
" STEP 5: turn around, turn right, turn right to the microwave ",
" STEP 6: open door, place kn... | [
"place bread in to the trash can",
"turn left, turn left, turn right, straight, left to the counter",
"open door, place bread on shelf, close door, cook, open door, remove bread, close door",
"turn around, turn right, turn right to the microwave",
"pick up bread from the counter",
"turn right, straight, l... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)",
"(K)",
"(L)",
"(M)",
"(N)"
] | [
"(F)",
"(G)",
"(B)",
"(H)",
"(D)",
"(L)",
"(J)",
"(N)",
"(E)",
"(D)",
"(L)",
"(C)",
"(K)",
"(A)"
] |
trial_T20190918_165629_953153-2 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -0.5",
" position_y": " 0.909",
" position_z": " -2.25",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " CD",
" position_x": " -1.270... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -0.5",
" position_y": " 0.909",
" position_z": " -2.25",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | move pencil from trash can to dresser | [
"STEP 1: turn around, walk forward, turn left, take a step, turn left to face lamp on the table ",
" STEP 2: pick up the pencil that is in the trash can ",
" STEP 3: turn around, walk forward to the dresser ",
" STEP 4: put the pencil on the dresser ",
" END"
] | [
"pick up the eraser that is on the desk",
"turn right, walk backwards, turn right, take two steps, turn right to face book on the shelf",
"put the pencil on the dresser",
"turn around, walk forward, turn left, take a step, turn left to face lamp on the table",
"turn around, walk forward to the dresser",
"... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(D)",
"(F)",
"(E)",
"(C)"
] |
trial_T20190909_085048_793292-0 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -5.0",
" position_y": " 0.901",
" position_z": " 5.25",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Bowl",
" position_x": " -2.35... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -5.0",
" position_y": " 0.901",
" position_z": " 5.25",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
"... | Examine a newspaper by the light of a small lamp. | [
"STEP 1: Turn around, head towards the wall and turn right to face the round television table. ",
" STEP 2: Pick up the newspaper on the left side of the table. ",
" STEP 3: Turn right and walk to the round side table with the lamp. ",
" STEP 4: Turn on the small lamp on the table. ",
" END"
] | [
"Turn right and walk to the round side table with the lamp.",
"Turn on the small lamp on the table.",
"Pick up the newspaper on the left side of the table.",
"Turn left and hop towards the square side table with a vase.",
"Turn around, head towards the wall and turn right to face the round television table.... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(E)",
"(C)",
"(A)",
"(B)"
] |
trial_T20190907_042824_345799-1 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.5",
" position_y": " 0.909",
" position_z": " -3.25",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " CellPhone",
" position_x": ... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.5",
" position_y": " 0.909",
" position_z": " -3.25",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | Carry a grey square object, turn on the lamp | [
"STEP 1: Head towards the dark brown dresser ",
" STEP 2: pick up the square grey object sitting on top of the dresser ",
" STEP 3: Carry the grey square object to the white table ",
" STEP 4: Turn on the lamp ",
" END"
] | [
"Turn on the lamp",
"pick up the square grey object sitting on top of the dresser",
"Carry the grey square object to the white table",
"Head towards the dark brown dresser",
"Move the green circular object to the black desk",
"Go towards the blue cabinet"
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(D)",
"(B)",
"(C)",
"(A)"
] |
trial_T20190907_042824_345799-2 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.5",
" position_y": " 0.909",
" position_z": " -3.25",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " CellPhone",
" position_x": ... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.5",
" position_y": " 0.909",
" position_z": " -3.25",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | Examine an alarm clock by the light of a desk lamp. | [
"STEP 1: Walk forward to the dresser in front of you. ",
" STEP 2: Pick up the alarm clock from the dresser. ",
" STEP 3: Turn around and walk in front of the lamp on the desk. ",
" STEP 4: Turn on the lamp. ",
" END"
] | [
"Pick up the alarm clock from the dresser.",
"Turn around and walk in front of the lamp on the desk.",
"Walk forward to the dresser in front of you.",
"Continue forward and approach the mirror.",
"Walk backwards towards the closet.",
"Turn on the lamp."
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(C)",
"(A)",
"(B)",
"(F)"
] |
trial_T20190909_074353_686606-1 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -2.25",
" position_y": " 0.909",
" position_z": " -4.25",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " CD",
" position_x": " -3.4... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -2.25",
" position_y": " 0.909",
" position_z": " -4.25",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | Examine the pen under the light of the lamp | [
"STEP 1: Turn right and walk up to the dresser ",
" STEP 2: Pick up the pen from the dresser ",
" STEP 3: Turn around and walk up to the lamp on the white desk ",
" STEP 4: Turn on the lamp ",
" END"
] | [
"Pick up the pen from the dresser",
"Spin in circle then crawl under the green table",
"Turn on the lamp",
"Turn left and jump up to the window",
"Turn right and walk up to the dresser",
"Turn around and walk up to the lamp on the white desk"
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(E)",
"(A)",
"(F)",
"(C)"
] |
trial_T20190908_232941_295232-0 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.25",
" position_y": " 0.901",
" position_z": " 6.25",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Bowl",
" position_x": " -0.... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.25",
" position_y": " 0.901",
" position_z": " 6.25",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | Pick up an empty cardboard box to look at under a lamp. | [
"STEP 1: Make a right to cross the room and walk to the cardboard box next to the bookshelf. ",
" STEP 2: Pick up the cardboard box on the floor next to the bookshelf. ",
" STEP 3: Turn around to cross the room and walk towards the oval side table. ",
" STEP 4: Turn on the lamp on the oval side table. ",
" ... | [
"Take a step forward to cross the room and walk towards the coffee table.",
"Turn on the lamp on the oval side table.",
"Turn around to cross the room and walk towards the oval side table.",
"Pick up the cardboard box on the floor next to the bookshelf.",
"Make a left to cross the room and walk to the pictu... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(F)",
"(D)",
"(C)",
"(B)"
] |
trial_T20190908_232941_295232-1 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.25",
" position_y": " 0.901",
" position_z": " 6.25",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Bowl",
" position_x": " -0.... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.25",
" position_y": " 0.901",
" position_z": " 6.25",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | Pick up a box and turn on a lamp. | [
"STEP 1: Go right and cross the room to face the box on the floor. ",
" STEP 2: Pick the box up from the floor. ",
" STEP 3: Turn around and cross the room to face the small table with the lamp. ",
" STEP 4: Turn on the lamp. ",
" END"
] | [
"Turn off the lamp.",
"Turn around and cross the room to face the small table with the lamp.",
"Turn on the lamp.",
"Pick the box up from the floor.",
"Go right and cross the room to face the box on the floor.",
"Push the box towards the wall."
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(E)",
"(D)",
"(B)",
"(C)"
] |
trial_T20190907_181949_154046-2 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.75",
" position_y": " 0.901",
" position_z": " 6.0",
" 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": " -1.75",
" position_y": " 0.901",
" position_z": " 6.0",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | Put two sets of keys on the couch. | [
"STEP 1: Move to the shelf to the right of you ",
" STEP 2: Pick up keys from the shelf ",
" STEP 3: Move to the couch in between the two lamps ",
" STEP 4: Place the keys on the couch ",
" STEP 5: Move to the end table to the right of the couch ",
" STEP 6: Pick up keys from the end table ",
" STEP 7: ... | [
"Move to the shelf to the right of you",
"Move to the couch in between the two lamps",
"Place the keys on the couch",
"Place the keys on the couch",
"Move to the end table to the right of the couch",
"Move to the couch in between the two lamps",
"Pick up keys from the shelf",
"Drop the keys under the ... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)"
] | [
"(A)",
"(G)",
"(B)",
"(F)",
"(C)",
"(D)",
"(E)",
"(I)",
"(B)",
"(F)",
"(C)",
"(D)"
] |
trial_T20190908_042748_192089-2 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.25",
" position_y": " 0.931",
" position_z": " -0.5",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Potato",
" position_x": " -1.... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.25",
" position_y": " 0.931",
" position_z": " -0.5",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
"... | Heat a potato and place it in the sink. | [
"STEP 1: Turn to the right and then the left to find the sink. ",
" STEP 2: Pick up the potato from the right side of the sink area. ",
" STEP 3: Carry the potato to the left and then the left again to the microwave. ",
" STEP 4: Open the microwave and place the potato inside. Turn it on then open the door an... | [
"Place the potato in the sink.",
"Pick up the potato from the left side of the sink area.",
"Pick up the potato from the right side of the sink area.",
"Turn to the right and then the left to find the sink.",
"Open the microwave and place the potato inside. Turn it on then open the door and take the potato ... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(D)",
"(C)",
"(F)",
"(E)",
"(H)",
"(A)"
] |
trial_T20190907_071338_798456-0 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 2.25",
" position_y": " 0.900",
" position_z": " 0.75",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Potato",
" position_x": " 1.42... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 2.25",
" position_y": " 0.900",
" position_z": " 0.75",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" ... | Place a warmed tomato in a recycling bin. | [
"STEP 1: Turn left, walk towards the stove, then turn left again and walk until you reach a table. ",
" STEP 2: Grab the tomato from the table. ",
" STEP 3: Turn around, turn right at the counter, and walk to the microwave over the stove. ",
" STEP 4: Warm the tomato in the microwave, then pick it up again. "... | [
"Place the tomato in the recycling bin.",
"Turn left, walk towards the stove, then turn left again and walk until you reach a table.",
"Turn to your left and walk until you get to the recycling bin on your right.",
"Move in the opposite direction, turn left at the bookshelf, and run to the oven near the sink.... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(B)",
"(E)",
"(F)",
"(G)",
"(C)",
"(A)"
] |
trial_T20190907_074509_505382-0 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -2.5",
" position_y": " 0.900",
" position_z": " -0.75",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Watch",
" position_x": " -1.1... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -2.5",
" position_y": " 0.900",
" position_z": " -0.75",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
"... | Place a black animal figurine off the shelf above the couch onto the wooden chest in front of the couch. | [
"STEP 1: Go to the couch in front of you. ",
" STEP 2: Take the black shiny animal figure from the shelf above the couch. ",
" STEP 3: Face the wooden chest in front of the couch. ",
" STEP 4: Set the black shiny animal figure atop the wooden chest. ",
" END"
] | [
"Go to the couch in front of you.",
"Set the black shiny animal figure atop the wooden chest.",
"Turn your back to the wooden chest in front of the couch.",
"Face the wooden chest in front of the couch.",
"Move away from the couch in front of you.",
"Take the black shiny animal figure from the shelf above... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(A)",
"(F)",
"(D)",
"(B)"
] |
trial_T20190907_074509_505382-1 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -2.5",
" position_y": " 0.900",
" position_z": " -0.75",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Watch",
" position_x": " -1.1... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -2.5",
" position_y": " 0.900",
" position_z": " -0.75",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
"... | Move a statue from the shelf to the dresser | [
"STEP 1: Move to the large brown sofa that is under the black shelf ",
" STEP 2: Grab the statue from the black shelf ",
" STEP 3: carry the statue to the wood dresser ",
" STEP 4: Place the statue on top of the dresser in front of the plant ",
" END"
] | [
"Grab the statue from the black shelf",
"Move to the large brown sofa that is under the black shelf",
"Place the statue on top of the dresser in front of the plant",
"carry the statue to the wood dresser",
"Move to the green armchair that is next to the white cabinet",
"Pick up the picture frame from the ... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(B)",
"(A)",
"(D)",
"(C)"
] |
trial_T20190909_025209_631205-2 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 2.0",
" 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": " 0.678",
... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 2.0",
" position_y": " 0.900",
" position_z": " 0.0",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" ob... | Put a cleaned kettle on a counter top. | [
"STEP 1: Turn left, walk to the dishwasher, then turn right and walk to the kettle on the counter. ",
" STEP 2: Pick up the kettle from the counter. ",
" STEP 3: Turn around and walk to the sink on the right. ",
" STEP 4: Put the kettle in the sink, rinse it off, and take it back out. ",
" STEP 5: Turn left... | [
"Turn around and walk to the sink on the right.",
"Pick up the kettle from the counter.",
"Push the kettle off the counter.",
"Put the kettle in the cabinet, then remove it without rinsing.",
"Put the kettle on the counter, in front of the toaster.",
"Turn left, walk past the dishwasher, then turn right t... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(H)",
"(B)",
"(A)",
"(G)",
"(F)",
"(E)"
] |
trial_T20190907_002139_205274-1 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -2.5",
" position_y": " 0.903",
" position_z": " 1.0",
" 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": " -2.5",
" position_y": " 0.903",
" position_z": " 1.0",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
"... | Place tissue boxes on the back of a toilet. | [
"STEP 1: Turn right and walk to the white shelf on your left. ",
" STEP 2: Pick up the left tissue box on the top shelf. ",
" STEP 3: Turn around and walk over the the toilet that is in front of you. ",
" STEP 4: Place tissue box on top of the back of the toilet ",
" STEP 5: Turn around and walk over to the... | [
"Take a few steps back, then move to the right until you reach the green cabinet.",
"Turn around and walk over the the toilet that is in front of you.",
"Pick up the left tissue box on the top shelf.",
"Place tissue box on top of the back of the toilet, on its side",
"Place tissue box on top of the back of ... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)"
] | [
"(J)",
"(C)",
"(B)",
"(E)",
"(G)",
"(I)",
"(F)",
"(D)"
] |
trial_T20190908_041144_959112-1 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.25",
" position_y": " 0.900",
" position_z": " -0.25",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Pan",
" position_x": " 1.87... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.25",
" position_y": " 0.900",
" position_z": " -0.25",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | Put the cooked apple in the recycling bin | [
"STEP 1: Turn left and walk to the blue recycling bin in the corner ",
" STEP 2: Pick up the red apple from the recycling bin ",
" STEP 3: Turn right and walk over to the microwave above the oven ",
" STEP 4: Heat the apple in the microwave then remove it ",
" STEP 5: Turn left and walk back over to the rec... | [
"Turn right and walk over to the microwave above the oven",
"Turn left and walk to the blue recycling bin in the corner",
"Put the apple in the recycling bin",
"Heat the apple in the microwave then remove it",
"Turn left and walk back over to the recycling bin",
"Turn right and walk to the green trash bin... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(B)",
"(G)",
"(A)",
"(D)",
"(E)",
"(C)"
] |
trial_T20190909_092228_777867-2 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -3.25",
" position_y": " 0.901",
" position_z": " 5.75",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Bowl",
" position_x": " -5.91... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -3.25",
" position_y": " 0.901",
" position_z": " 5.75",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
"... | place a plate with a card on it in the tv stand | [
"STEP 1: move around to the shelf ",
" STEP 2: pick up the card ",
" STEP 3: move right of the shelf ",
" STEP 4: \nplace the card on a plate ",
" STEP 5: pick up the plate ",
" STEP 6: move right to the tv stand ",
" STEP 7: place the plate on the tv stand ",
" END"
] | [
"pick up the card",
"move right to the tv stand",
"move left to the television stand",
"place the plate on the tv stand",
"move right of the shelf",
"pick up the plate",
"put down the card",
"place the card on a plate",
"move around to the shelf"
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)"
] | [
"(I)",
"(A)",
"(E)",
"(H)",
"(F)",
"(B)",
"(D)"
] |
trial_T20190908_143712_120384-2 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.0",
" position_y": " 0.949",
" position_z": " 3.0",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " CD",
" position_x": " 2.952",
... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.0",
" position_y": " 0.949",
" position_z": " 3.0",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" o... | take a disk from the dresser and put it on the shelf. | [
"STEP 1: go to the end of the black dresser at the foot of the bed ",
" STEP 2: pick up the disk from the dresser ",
" STEP 3: take the disk to the book shelf ",
" STEP 4: put the disk on the shelf ",
" END"
] | [
"go to the end of the white cabinet near the door",
"take the disk to the book shelf",
"pick up the disk from the dresser",
"go to the end of the black dresser at the foot of the bed",
"put the disk on the shelf",
"take the disk to the kitchen counter"
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(D)",
"(C)",
"(B)",
"(E)"
] |
trial_T20190906_230704_156277-1 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 2.75",
" position_y": " 0.900",
" position_z": " 0.75",
" 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": " 2.75",
" position_y": " 0.900",
" position_z": " 0.75",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" ... | place a cooled potato slice in the garbage bin | [
"STEP 1: turn left and walk to the end of the kitchen counter on the right ",
" STEP 2: grab the butter knife off of the counter there ",
" STEP 3: turn right and walk over to the kitchen counter to the right of the fridge ",
" STEP 4: slice up the potato on the counter there ",
" STEP 5: back a bit to face... | [
"turn left and walk to the end of the kitchen counter on the right",
"grab a potato slice off of the kitchen counter",
"back a bit to face the kitchen cabinet below",
"move to the left a bit to face the front of the fridge",
"grab the butter knife off of the counter there",
"turn right and walk over to th... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)",
"(K)",
"(L)",
"(M)",
"(N)"
] | [
"(A)",
"(E)",
"(F)",
"(N)",
"(C)",
"(J)",
"(K)",
"(B)",
"(D)",
"(H)",
"(M)",
"(I)"
] |
trial_T20190907_214113_007695-1 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -0.75",
" position_y": " 0.900",
" position_z": " 0.25",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Pan",
" position_x": " 0.678"... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -0.75",
" position_y": " 0.900",
" position_z": " 0.25",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
"... | Put a mug with a knife in it on the table. | [
"STEP 1: Take a step right and walk forward to the counter. ",
" STEP 2: Pick up the yellow handled knife. ",
" STEP 3: Turn around and take a step then turn left and walk to the area just right of the coffee maker and turn right to face it. ",
" STEP 4: Put the knife in the mug that's in front of you. ",
"... | [
"Put the knife in the bowl that's on your right.",
"Pick up the yellow handled knife.",
"Put the knife in the mug that's in front of you.",
"Turn around and take a step then turn left and walk to the area just right of the coffee maker and turn right to face it.",
"Take a step right and walk forward to the ... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)"
] | [
"(E)",
"(B)",
"(D)",
"(C)",
"(G)",
"(I)",
"(F)"
] |
trial_T20190908_071405_847309-2 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 0.5",
" position_y": " 0.900",
" position_z": " -0.75",
" 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": " 0.5",
" position_y": " 0.900",
" position_z": " -0.75",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | place a bunch of key in the carton and close it with the carton on the sofa | [
"STEP 1: turn left and head to the table ",
" STEP 2: pick up the carton under the table ",
" STEP 3: turn around to the sofa ",
" STEP 4: drop the carton on the sofa ",
" STEP 5: move left to the sofa ",
" STEP 6: pick up the keys on the sofa ",
" STEP 7: move right on the sofa ",
" STEP 8: place t... | [
"move right on the sofa",
"place the keys in the carton and close it",
"turn around to the sofa",
"pick up the keys on the sofa",
"turn right and head to the fridge",
"move left to the sofa",
"pick up the carton under the table",
"turn left and head to the table",
"drop the carton on the sofa",
"... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)"
] | [
"(H)",
"(G)",
"(C)",
"(I)",
"(F)",
"(D)",
"(A)",
"(B)"
] |
trial_T20190911_215052_838062-1 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -0.75",
" position_y": " 0.901",
" position_z": " 2.5",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Cloth",
" position_x": " -1.50... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -0.75",
" position_y": " 0.901",
" position_z": " 2.5",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" ... | throw away a soap bottle into the garbage can | [
"STEP 1: walk straight and turn left towards the sink ",
" STEP 2: pick up the soap bottle on the counter ",
" STEP 3: turn around and walk straight then turn left towards the garbage can ",
" STEP 4: put the soap bottle inside the garbage can ",
" END"
] | [
"turn around and walk straight then turn left towards the garbage can",
"walk straight and turn left towards the sink",
"pick up the soap bottle on the counter",
"put the soap bottle inside the garbage can",
"walk straight and turn right towards the fridge",
"turn around, walk backwards, then turn right t... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(B)",
"(C)",
"(A)",
"(D)"
] |
trial_T20190908_071159_249788-1 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 1.0",
" position_y": " 0.900",
" position_z": " 0.0",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Newspaper",
" position_x": " -... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 1.0",
" position_y": " 0.900",
" position_z": " 0.0",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" ... | Put a box on the couch and put the keys in it | [
"STEP 1: Turn right, go forward a bit, turn right and go to the desk ",
" STEP 2: Pick up the box under the desk ",
" STEP 3: Turn around, go forward a bit, turn around, go forward, turn right, go forward, turn left in front of the couch ",
" STEP 4: Put the box on the couch ",
" STEP 5: Turn left, go to th... | [
"Put the keys into the box on the couch",
"Put the box on the couch",
"Turn around, go forward a bit, turn around, go forward, turn right, go forward, turn left in front of the couch",
"Pick up the box under the desk",
"Turn left, go forward, turn left in front of the couch",
"Pick up the keys on the chai... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)"
] | [
"(J)",
"(D)",
"(C)",
"(B)",
"(H)",
"(F)",
"(E)",
"(A)"
] |
trial_T20190907_101549_797471-0 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -0.75",
" position_y": " 0.900",
" position_z": " 0.5",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Potato",
" position_x": " -1.9... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -0.75",
" position_y": " 0.900",
" position_z": " 0.5",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" ... | heat the cup with microwave, put it back in the coffee machine | [
"STEP 1: turn right, walk to the coffee machine on the right ",
" STEP 2: grab the cup in the coffee machine ",
" STEP 3: turn around, walk to the microwave ",
" STEP 4: open the microwave,put the cup in, heat the cup, take the cup out ",
" STEP 5: turn around, walk to the coffee machine ",
" STEP 6: put ... | [
"grab two cups from the coffee machine",
"turn around, walk to the coffee machine",
"turn left, walk to the refrigerator",
"open the microwave,put the cup in, heat the cup, take the cup out",
"turn right, walk to the coffee machine on the right",
"grab the cup in the coffee machine",
"put the cup in the... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(E)",
"(F)",
"(H)",
"(D)",
"(B)",
"(G)"
] |
trial_T20190907_101549_797471-1 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -0.75",
" position_y": " 0.900",
" position_z": " 0.5",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Potato",
" position_x": " -1.9... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -0.75",
" position_y": " 0.900",
" position_z": " 0.5",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" ... | Place a warm coffee cup on the coffee maker. | [
"STEP 1: Turn around and walk towards the end of the room until you reach the coffee pot on your right. ",
" STEP 2: Pick up the coffee mug that is on the coffee maker. ",
" STEP 3: Turn around and go to the microwave above the stove. ",
" STEP 4: Place the coffee mug inside the microwave, heat it up, then... | [
"Turn around and go back to the coffee maker on the counter.",
"Turn around and go to the microwave above the stove.",
"Place the coffee mug back on the coffee maker.",
"Pick up the coffee mug that is on the coffee maker.",
"Place the coffee mug inside the microwave, heat it up, then remove the coffee mug f... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(G)",
"(D)",
"(B)",
"(E)",
"(A)",
"(C)"
] |
trial_T20190907_101549_797471-2 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -0.75",
" position_y": " 0.900",
" position_z": " 0.5",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Potato",
" position_x": " -1.9... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -0.75",
" position_y": " 0.900",
" position_z": " 0.5",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" ... | Heat the mug on the microwave going back to the coffee maker | [
"STEP 1: Turn to your right, walk towards the counter then face the coffee maker on your right ",
" STEP 2: Pick up the mug on the coffee maker ",
" STEP 3: Turn to your right head to the microwave above the stove ",
" STEP 4: Open the microwave heat the mug then take out the mug close the microwave ",
" ST... | [
"Turn to your left, walk towards the fridge then face the toaster on your left",
"Put back the mug on the coffee maker",
"Turn to your left head to the freezer above the fridge",
"Turn to your right head to the microwave above the stove",
"Pick up the mug on the coffee maker",
"Turn to your right and head... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(G)",
"(E)",
"(D)",
"(H)",
"(F)",
"(B)"
] |
trial_T20190907_101549_797471-3 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -0.75",
" position_y": " 0.900",
" position_z": " 0.5",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Potato",
" position_x": " -1.9... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -0.75",
" position_y": " 0.900",
" position_z": " 0.5",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" ... | Put a heated mug on the coffee machine. | [
"STEP 1: Turn right, head to the coffee machine on the right. ",
" STEP 2: Pick up the mug on the coffee machine. ",
" STEP 3: Turn around, bring the mug to the microwave over the stove. ",
" STEP 4: Heat the mug in the microwave. ",
" STEP 5: Take the heated mug out of the microwave, turn around, bring ... | [
"Turn right, head to the coffee machine on the right.",
"Pick up the mug on the coffee machine.",
"Put the cooled mug in the microwave, turn around, bring the mug to the refrigerator.",
"Turn around, bring the mug to the microwave over the stove.",
"Take the heated mug out of the microwave, turn around, bri... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(A)",
"(B)",
"(D)",
"(G)",
"(E)",
"(H)"
] |
trial_T20190908_080519_882874-0 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 0.0",
" position_y": " 0.931",
" position_z": " -0.25",
" rotation_x": " 0",
" rotation_y": " 0",
" 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": " -0.25",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" ... | Put a cleaned cup filled with water in a cabinet. | [
"STEP 1: Turn around, move to the counter left of the stove. ",
" STEP 2: Open the cabinet above the counter on the left and pick up the green cup in there. ",
" STEP 3: Turn around and bring the cup to the sink. ",
" STEP 4: Wash the cup in the sink, fill the cup with water. ",
" STEP 5: Pick up the fil... | [
"Open the cabinet above the counter on the right and pick up the yellow cup in there.",
"Open the cabinet above the counter on the left and pick up the green cup in there.",
"Open the lower cabinet on the left and put the filled cup in there.",
"Pick up the filled cup from in the sink, turn around, bring the ... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(E)",
"(B)",
"(F)",
"(H)",
"(G)",
"(C)"
] |
trial_T20190909_114707_587115-2 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.5",
" position_y": " 0.909",
" position_z": " -2.5",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Mug",
" position_x": " -3.834"... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.5",
" position_y": " 0.909",
" position_z": " -2.5",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" ... | Look at a CD by the light of a lit lamp. | [
"STEP 1: Turn around to face the white desk with three CDs on it. ",
" STEP 2: Turn on the lamp on the desk. ",
" STEP 3: Pick up the CD closest to the lamp. ",
" END"
] | [
"Turn around to face the white desk with three CDs on it.",
"Pick up the CD closest to the lamp.",
"Put down the CD closest to the lamp.",
"Turn on the lamp on the desk.",
"Turn off the lamp on the desk."
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)"
] | [
"(A)",
"(D)",
"(B)"
] |
trial_T20190909_003745_480434-1 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 0.25",
" position_y": " 0.931",
" 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": " 0.25",
" position_y": " 0.931",
" position_z": " -0.25",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | Put a cleaned spoon on a counter top. | [
"STEP 1: Walk forward and turn left towards the sink. ",
" STEP 2: Pick up the spoon on the counter which is closest to you. ",
" STEP 3: Bend down towards the sink. ",
" STEP 4: Put the spoon in the sink, rinse it off, and take it back out. ",
" STEP 5: Turn left and walk to the end of the counter, then tu... | [
"Walk forward and turn left towards the sink.",
"Place the spoon on the counter, to the right of the small fork.",
"Turn left and walk to the end of the counter, then turn left towards the other counter.",
"Put the spoon on the counter, to the left of the large knife.",
"Pick up the spoon on the counter whi... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(A)",
"(E)",
"(F)",
"(G)",
"(C)",
"(D)"
] |
trial_T20190909_153749_278030-2 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -0.25",
" position_y": " 0.901",
" position_z": " 2.25",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Cloth",
" position_x": " -1... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -0.25",
" position_y": " 0.901",
" position_z": " 2.25",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | Put a soap bottle on the toilet tank lid. | [
"STEP 1: Turn around, move to the right sink on the left. ",
" STEP 2: Pick up the soap bottle on the counter, right of the sink. ",
" STEP 3: Turn around, bring the soap bottle to the toilet. ",
" STEP 4: Put the soap bottle on the toilet tank lid. ",
" END"
] | [
"Turn around, bring the soap bottle to the toilet.",
"Turn around, move to the right sink on the left.",
"Walk straight ahead, carry the soap bottle to the bathtub.",
"Put the soap bottle on the toilet tank lid.",
"Pick up the soap bottle on the counter, right of the sink.",
"Turn left, head towards the c... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(B)",
"(E)",
"(A)",
"(D)"
] |
trial_T20190907_174838_570658-1 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.25",
" 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... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.25",
" position_y": " 0.931",
" position_z": " 0.5",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | Put an egg in the sink with a tomato. | [
"STEP 1: Turn around and walk to the counter by the stove. ",
" STEP 2: Pick up the egg on the counter to the left of the stove. ",
" STEP 3: Turn around and walk to the microwave. ",
" STEP 4: Put the egg in the microwave, turn it on and cook the egg, then remove it from the microwave. ",
" STEP 5: Tur... | [
"Turn to your left and walk to the sink.",
"Put the egg in the microwave, turn it on and cook the egg, then remove it from the microwave.",
"Put the egg in the sink next to the tomato.",
"Pick up the egg on the counter to the left of the stove.",
"Turn around and walk to the microwave.",
"Turn to your rig... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(H)",
"(D)",
"(E)",
"(B)",
"(A)",
"(C)"
] |
trial_T20190908_154504_288885-0 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 3.75",
" position_y": " 0.949",
" position_z": " -1.0",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Vase",
" position_x": " 2.803"... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 3.75",
" position_y": " 0.949",
" position_z": " -1.0",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" ... | Take the book from the bed, put it in the cabinet | [
"STEP 1: Turn left, head to the foot of the bed ",
" STEP 2: Take the book from the bed ",
" STEP 3: Turn around, open the door to the cabinet ",
" STEP 4: Put the book in the cabinet, close the door ",
" END"
] | [
"Turn right, close the door of the cabinet",
"Turn left, head to the foot of the bed",
"Turn around, open the door to the cabinet",
"Take the book from the bed",
"Put the book on the bed",
"Put the book in the cabinet, close the door"
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(B)",
"(D)",
"(C)",
"(F)"
] |
trial_T20190908_122303_851930-0 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.75",
" position_y": " 0.900",
" position_z": " -1.25",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Watch",
" position_x": " -... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.75",
" position_y": " 0.900",
" position_z": " -1.25",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | Move a set of keys to a chair. | [
"STEP 1: Turn right, walk to the window, make a right, walk to the end of the coffee table and turn right to face the coffee table. ",
" STEP 2: Pick up the keys that are sitting on the coffee table. ",
" STEP 3: Turn left and walk over to the brown chair. ",
" STEP 4: Sit the keys down on the seat of the ... | [
"Turn left, walk to the door, make a left, walk to the start of the sofa and turn left to face the television.",
"Turn right, walk to the window, make a right, walk to the end of the coffee table and turn right to face the coffee table.",
"Turn left and walk over to the brown chair.",
"Pick up the keys that a... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(B)",
"(D)",
"(C)",
"(F)"
] |
trial_T20190918_203700_167692-2 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.25",
" position_y": " 0.900",
" position_z": " -0.75",
" 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": " -1.25",
" position_y": " 0.900",
" position_z": " -0.75",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | Put a clean kettle on the stove. | [
"STEP 1: Turn right and walk towards the door, then hang a right and walk over to the oven. ",
" STEP 2: Pick up the kettle off of the back left burner of the stove. ",
" STEP 3: Turn left and walk towards the window, the turn left and walk up to the sink. ",
" STEP 4: Put the kettle in the sink basin and tur... | [
"Put the kettle in the sink basin and turn on the water, after a couple seconds turn the water off and remove the now clean kettle.",
"Turn left and walk towards the window, the turn left and walk up to the sink.",
"Turn right and move towards the refrigerator, then turn right and walk up to the dishwasher.",
... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(G)",
"(H)",
"(B)",
"(A)",
"(D)",
"(E)"
] |
trial_T20190909_154013_536038-0 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -0.25",
" position_y": " 0.901",
" position_z": " 2.75",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Cloth",
" position_x": " -1... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -0.25",
" position_y": " 0.901",
" position_z": " 2.75",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | Pick up the bottle of lotion from the sinks to move to the lid of the toilet tank. | [
"STEP 1: Turn right to face the sinks. ",
" STEP 2: Pick up the bottle of lotion on the right of the sinks. ",
" STEP 3: Turn left to walk to the toilet. ",
" STEP 4: Set the bottle of lotion down on the lid of the toilet tank. ",
" END"
] | [
"Pick up the bottle of lotion on the right of the sinks.",
"Set the bottle of lotion down on the lid of the toilet tank.",
"Turn left to walk to the toilet.",
"Turn right to face the sinks.",
"Turn left to face the towel rack.",
"Turn right to walk to the bathtub."
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(D)",
"(A)",
"(C)",
"(B)"
] |
trial_T20190907_074528_362136-2 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 1.0",
" position_y": " 0.900",
" position_z": " 0.5",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " KeyChain",
" position_x": " -0.7... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 1.0",
" position_y": " 0.900",
" position_z": " 0.5",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" ob... | place dog statue on table in front of couch | [
"STEP 1: turn right, walk towards table ",
" STEP 2: pick up dog statue on table behind newspaper ",
" STEP 3: turn around, turn left and walk towards couch across from, turn right walk to the end of the couch and turn right ",
" STEP 4: place dog statue on table in front of plant ",
" END"
] | [
"place dog statue on table in front of plant",
"turn left, walk towards bookshelf",
"turn around, turn right, walk towards window next to, turn left, walk to the edge of the rug and turn right",
"pick up dog statue on table behind newspaper",
"turn around, turn left and walk towards couch across from, turn ... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(F)",
"(D)",
"(E)",
"(A)"
] |
trial_T20190908_233336_273570-1 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -0.5",
" position_y": " 0.909",
" position_z": " -3.25",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " CD",
" position_x": " -0.77... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -0.5",
" position_y": " 0.909",
" position_z": " -3.25",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | Move a pencil from the desk to the dresser. | [
"STEP 1: Walk to the front of the computer desk. ",
" STEP 2: Grab a pencil from the desk. ",
" STEP 3: Walk to the dresser on your right. ",
" STEP 4: Place the pencil on the dresser. ",
" END"
] | [
"Walk to the front of the computer desk.",
"Place the pencil on the dresser.",
"Walk to the dresser on your right.",
"Run to the back of the computer desk.",
"Grab a pencil from the desk.",
"Jog to the closet on your left."
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(A)",
"(E)",
"(C)",
"(B)"
] |
trial_T20190908_233336_273570-2 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -0.5",
" position_y": " 0.909",
" position_z": " -3.25",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " CD",
" position_x": " -0.77... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -0.5",
" position_y": " 0.909",
" position_z": " -3.25",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | Move a pencil from the desk to the dresser. | [
"STEP 1: Turn and go to the desk. ",
" STEP 2: Pick a pencil on the desk. ",
" STEP 3: Turn and go to the dresser. ",
" STEP 4: Put the pencil on the dresser. ",
" END"
] | [
"Turn and go to the bookshelf.",
"Turn and go to the kitchen.",
"Turn and go to the dresser.",
"Turn and go to the desk.",
"Pick a pencil on the desk.",
"Put the pencil on the dresser."
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(D)",
"(E)",
"(C)",
"(F)"
] |
trial_T20190906_201724_551765-0 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.0",
" position_y": " 0.900",
" position_z": " -1.0",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Newspaper",
" position_x": "... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.0",
" position_y": " 0.900",
" position_z": " -1.0",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | Bring a box to the couch with a credit card that is closed. | [
"STEP 1: Move to the end table to the right of the window to the left of the arm chair ",
" STEP 2: Pick up box from under the end table ",
" STEP 3: Move to couch, to the right of arm chair, left of fire place ",
" STEP 4: Place box on top of couch ",
" STEP 5: Move to other side of coffee table behind you... | [
"Pick up box from under the end table",
"Place box in card, close box",
"Move towards the left of couch, right to the fireplace, near the arm chair",
"Pick up credit card from coffee table",
"Move to couch, to the right of arm chair, left of fire place",
"Move to the end table to the right of the window t... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)"
] | [
"(F)",
"(A)",
"(E)",
"(H)",
"(J)",
"(D)",
"(G)",
"(B)"
] |
trial_T20190906_201724_551765-2 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.0",
" position_y": " 0.900",
" position_z": " -1.0",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Newspaper",
" position_x": "... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.0",
" position_y": " 0.900",
" position_z": " -1.0",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | place a box down on the couch with a credit card inside | [
"STEP 1: turn around and walk to the light brown table in the left corner of the room ",
" STEP 2: grab the box out from underneath the table ",
" STEP 3: turn around to walk back to where you where originally, and then face the couch on your left ",
" STEP 4: place the box down on the couch there ",
" STEP... | [
"turn around to walk back to where you where originally, and then face the couch on your left",
"place the card inside the box and close the box",
"turn left and walk around to the other side of the coffee table, then face the couch",
"turn around and walk to the light brown table in the left corner of the ro... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)"
] | [
"(D)",
"(H)",
"(A)",
"(G)",
"(F)",
"(E)",
"(C)",
"(B)"
] |
trial_T20190907_152225_425868-0 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.25",
" position_y": " 0.900",
" position_z": " 1.0",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Pan",
" position_x": " 0.678",... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.25",
" position_y": " 0.900",
" position_z": " 1.0",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" ... | Place a section of apple into a container, place the container into the microwave. | [
"STEP 1: Turn right, move to the counter that is right of the stove. ",
" STEP 2: Pick up the knife that is right of the stove. ",
" STEP 3: Turn right, move to the table. ",
" STEP 4: Cut the apple into sections. ",
" STEP 5: Turn left, move to in front of the sink. ",
" STEP 6: Place the knife into the ... | [
"Turn right, move to the counter that is right of the stove.",
"Turn right, move to in front of the fridge.",
"Cut the apple into sections.",
"Place the knife into the blue container.",
"Turn left, move to in front of the stove.",
"Place the blue container in to the microwave.",
"Turn left, move to in f... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)",
"(K)",
"(L)",
"(M)",
"(N)",
"(O)"
] | [
"(A)",
"(J)",
"(L)",
"(O)",
"(C)",
"(G)",
"(I)",
"(D)",
"(L)",
"(O)",
"(N)",
"(G)",
"(I)",
"(H)",
"(M)",
"(E)",
"(F)"
] |
trial_T20190907_152225_425868-2 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.25",
" position_y": " 0.900",
" position_z": " 1.0",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Pan",
" position_x": " 0.678",... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.25",
" position_y": " 0.900",
" position_z": " 1.0",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" ... | Put a bowl with an apple slice and butter knife in it into the microwave. | [
"STEP 1: Go to the counter past the stove on the left. ",
" STEP 2: Pick up the butter knife in front of the lettuce. ",
" STEP 3: Go to the table in the corner with the apple on it. ",
" STEP 4: Slice the apple on the table. ",
" STEP 5: Take the butter knife to the sink. ",
" STEP 6: Put the butter knif... | [
"Pick up the bowl with the apple and butter knife in it.",
"Go to the table in the corner with the apple on it.",
"Go to the counter past the stove on the left.",
"Put the bowl with the apple and butter knife in the microwave.",
"Go to the big table in the middle with the pear slices on it.",
"Go to the m... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)",
"(K)",
"(L)",
"(M)",
"(N)",
"(O)"
] | [
"(C)",
"(H)",
"(B)",
"(G)",
"(K)",
"(O)",
"(J)",
"(M)",
"(N)",
"(L)",
"(A)",
"(F)",
"(D)"
] |
trial_T20190907_152225_425868-3 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.25",
" position_y": " 0.900",
" position_z": " 1.0",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Pan",
" position_x": " 0.678",... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.25",
" position_y": " 0.900",
" position_z": " 1.0",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" ... | To cut a piece of apple plus put it in a bowl as well as put the bowl in the microwave. | [
"STEP 1: Turn to the right, walk halfway across the room, then turn left to face the counter to the right of the stove. ",
" STEP 2: Pick up the knife on the counter. ",
" STEP 3: Turn left, walk forward and turn left past the counter and walk forward to face the kitchen table. ",
" STEP 4: Cut the apple on t... | [
"Pick up the knife on the counter.",
"Pick up the bowl in the sink with the apple piece in it.",
"Place the apple in the bowl in the sink.",
"Turn to the right, walk halfway across the room, then turn left to face the counter to the right of the stove.",
"Pick up a slice of pear on the table.",
"Place the... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)",
"(K)",
"(L)",
"(M)",
"(N)",
"(O)"
] | [
"(D)",
"(A)",
"(I)",
"(H)",
"(J)",
"(L)",
"(K)",
"(G)",
"(M)",
"(J)",
"(L)",
"(C)",
"(B)",
"(N)",
"(F)"
] |
trial_T20190907_152225_425868-4 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.25",
" position_y": " 0.900",
" position_z": " 1.0",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Pan",
" position_x": " 0.678",... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.25",
" position_y": " 0.900",
" position_z": " 1.0",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" ... | To cut an apple, as well as place it into a bowl, as well as storing it in the microwave. | [
"STEP 1: Turn to the right ant walk halfway across the room and turn to face the counter on the left. ",
" STEP 2: Pick up the knife on the counter. ",
" STEP 3: Turn left walk across the room then turn right and approach the table. ",
" STEP 4: Cut the apple on the table in several pieces. ",
" STEP 5: Tur... | [
"Turn around and walk over to the stove.",
"Turn to the right, take a step, then turn left to face the table.",
"Pick up a piece of the apple.",
"Place the bowl in the microwave and close the door.",
"Turn around, take two steps, turn to the left, take a step and turn to face the fridge.",
"Turn around, t... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)",
"(K)",
"(L)",
"(M)",
"(N)",
"(O)"
] | [
"(H)",
"(M)",
"(O)",
"(I)",
"(F)",
"(L)",
"(G)",
"(B)",
"(C)",
"(F)",
"(L)",
"(J)",
"(N)",
"(A)",
"(D)"
] |
trial_T20190906_190115_127137-2 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.75",
" position_y": " 0.900",
" position_z": " -0.75",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Potato",
" position_x": " 0... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.75",
" position_y": " 0.900",
" position_z": " -0.75",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | Put the clean spoon in the drawer left of the stove. | [
"STEP 1: Move over to the counter left of the stove. ",
" STEP 2: Pick up the spoon from the counter. ",
" STEP 3: Bring the spoon to the sink. ",
" STEP 4: Wash the spoon in the sink. ",
" STEP 5: Bring the spoon back to the counter left of the stove. ",
" STEP 6: Put the spoon in the drawer to the le... | [
"Dry the spoon with a towel.",
"Wash the spoon in the sink.",
"Pick up the spoon from the counter.",
"Put the spoon in the drawer to the left of the stove.",
"Bring the spoon to the sink.",
"Bring the spoon back to the counter left of the stove.",
"Move over to the counter left of the stove.",
"Pick u... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(G)",
"(C)",
"(E)",
"(B)",
"(F)",
"(D)"
] |
trial_T20190906_202620_980691-2 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -0.5",
" position_y": " 0.901",
" position_z": " 2.0",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " SoapBar",
" position_x": " -1... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -0.5",
" position_y": " 0.901",
" position_z": " 2.0",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
"... | Put the plunger in the cabinet under the sink. | [
"STEP 1: Move to the toilet. ",
" STEP 2: Pick up the plunger from the floor. ",
" STEP 3: Bring the plunger to the sink. ",
" STEP 4: Put the plunger in the cabinet under the sink. ",
" END"
] | [
"Put the plunger in the cabinet under the sink.",
"Pick up the plunger from the floor.",
"Move to the kitchen.",
"Bring the plunger to the sink.",
"Pick up the towel from the floor.",
"Move to the toilet."
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(F)",
"(B)",
"(D)",
"(A)"
] |
trial_T20190907_160841_631057-2 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.0",
" position_y": " 0.900",
" position_z": " -1.25",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Watch",
" position_x": " -0.... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.0",
" position_y": " 0.900",
" position_z": " -1.25",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | Move the box to the right side of the sofa | [
"STEP 1: Move to the wooden end table to the left of the sofa ",
" STEP 2: Pick up the empty box under the end table on the floor ",
" STEP 3: Carry the open box over to the large brown leather sofa ",
" STEP 4: Place the box on top of the sofa on the far right side ",
" END"
] | [
"Pick up the empty box under the end table on the floor",
"Move to the wooden end table to the left of the sofa",
"Place the box on top of the sofa on the far right side",
"Carry the open box over to the large brown leather sofa",
"Place the box on top of the armchair on the far left side",
"Move to the w... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(B)",
"(A)",
"(D)",
"(C)"
] |
trial_T20190907_174928_676145-2 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -0.75",
" position_y": " 0.931",
" position_z": " -0.5",
" rotation_x": " 0",
" rotation_y": " 90",
" 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": " -0.5",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | Put a cooked egg in a sink. | [
"STEP 1: Go forward, turn left at the sink, go to the sink. ",
" STEP 2: Take the left egg from the sink. ",
" STEP 3: Turn left, go to the wall, turn left, go to the oven. ",
" STEP 4: Cook the egg in the microwave above the egg. Take the egg from the microwave. ",
" STEP 5: Turn left, go forward, turn le... | [
"Cook the egg in the microwave above the egg. Take the egg from the microwave.",
"Take the right egg from the cup.",
"Turn left, go forward, turn left at the sink, go to the sink.",
"Turn right, go backward, turn right at the oven, go to the fridge.",
"Go forward, turn left at the sink, go to the sink.",
... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(E)",
"(H)",
"(F)",
"(A)",
"(C)",
"(G)"
] |
trial_T20190907_223256_692701-1 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -5.5",
" position_y": " 0.901",
" position_z": " 0.75",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Bowl",
" position_x": " -2.47... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -5.5",
" position_y": " 0.901",
" position_z": " 0.75",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
"... | move the box from the floor to the sofa | [
"STEP 1: turn left, walk to the box on the left ",
" STEP 2: grab the box on the ground, ",
" STEP 3: turn left, walk to the sofa ",
" STEP 4: put the box on the sofa ",
" END"
] | [
"turn right, walk to the TV stand",
"put the box on the sofa",
"turn left, walk to the box on the left",
"grab the box on the ground,",
"turn right, walk to the box on the right",
"turn left, walk to the sofa"
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(C)",
"(D)",
"(F)",
"(B)"
] |
trial_T20190908_124807_847088-0 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -2.0",
" position_y": " 0.903",
" position_z": " 1.25",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Cloth",
" position_x": " 0.45... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -2.0",
" position_y": " 0.903",
" position_z": " 1.25",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
"... | Put a clean bar of soap in a tub. | [
"STEP 1: Go to the right and face the right side of the sink. ",
" STEP 2: Pick the soap up from the counter. ",
" STEP 3: Put the soap in the sink and turn the water off and then on and pick the soap back up. ",
" STEP 4: Turn to the left and face the tub. ",
" STEP 5: Put the soap in the tub. ",
" END"
... | [
"Go to the right and face the right side of the sink.",
"Put the soap in the sink and turn the water off and then on and pick the soap back up.",
"Turn to the left and face the tub.",
"Put the soap in the tub.",
"Go to the left and face the left side of the sink.",
"Pick the towel up from the counter.",
... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)"
] | [
"(A)",
"(G)",
"(B)",
"(C)",
"(D)"
] |
trial_T20190908_124807_847088-1 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -2.0",
" position_y": " 0.903",
" position_z": " 1.25",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Cloth",
" position_x": " 0.45... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -2.0",
" position_y": " 0.903",
" position_z": " 1.25",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
"... | Put a clean wet bar of soap in the bath tub | [
"STEP 1: Turn right and go to the sink ",
" STEP 2: Pick up the bar of soap from the edge of the sink ",
" STEP 3: Put the bar of soap in the sink and turn on the water, then turn off the water and pick up the bar of soap ",
" STEP 4: Turn around, then turn right and go to the bath tub ",
" STEP 5: Put the ... | [
"Put the bar of soap in the bath tub",
"Turn around, then turn right and go to the bath tub",
"Grab the toothpaste from the edge of the sink",
"Pick up the bar of soap from the edge of the sink",
"Put the bar of soap in the sink and turn on the water, then turn off the water and pick up the bar of soap",
... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)"
] | [
"(F)",
"(D)",
"(E)",
"(B)",
"(A)"
] |
trial_T20190907_074456_860041-2 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -0.75",
" position_y": " 0.900",
" position_z": " -1.25",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Watch",
" position_x": " -1... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -0.75",
" position_y": " 0.900",
" position_z": " -1.25",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | Move the dog statue from the shelf to the coffee table. | [
"STEP 1: Turn around and walk toward the fireplace, then look up at the shelf. ",
" STEP 2: Pick up the dog statue from the shelf. ",
" STEP 3: Turn around and look down. ",
" STEP 4: Place the dog statue on the coffee table. ",
" END"
] | [
"Place the dog statue on the coffee table.",
"Spin around and look up.",
"Turn around and walk toward the fireplace, then look up at the shelf.",
"Pick up the dog statue from the shelf.",
"Turn around and look down.",
"Walk backwards towards the window, then look down at the floor."
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(C)",
"(D)",
"(E)",
"(A)"
] |
trial_T20190907_224551_648328-0 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 0.0",
" position_y": " 0.900",
" position_z": " 0.25",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Potato",
" position_x": " -0.... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 0.0",
" position_y": " 0.900",
" position_z": " 0.25",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
"... | Slice both bread, take a slice of each put them on the small round table | [
"STEP 1: Walk towards the counter ",
" STEP 2: Grab a knife from the counter ",
" STEP 3: Turn right and left from the counter ",
" STEP 4: Slice the bread on the counter ",
" STEP 5: Walk with the knife towards small round table ",
" STEP 6: Put the knife on the table ",
" STEP 7: Walk towards the coun... | [
"Grab a spoon from the counter",
"Put the knife on the table",
"Walk towards the counter in front of fridge",
"Run towards the square table",
"Walk towards the small round table",
"Put the knife on the table",
"Put the slice of bread on the table",
"Put the slice of bread on the small round table",
... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)",
"(K)",
"(L)",
"(M)",
"(N)",
"(O)",
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] | [
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] |
trial_T20190907_224551_648328-2 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 0.0",
" position_y": " 0.900",
" position_z": " 0.25",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Potato",
" position_x": " -0.... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 0.0",
" position_y": " 0.900",
" position_z": " 0.25",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
"... | slice 2 pieces of bread put them on the grey table | [
"STEP 1: turn around and across the room ",
" STEP 2: pick up the knife from the counter ",
" STEP 3: turn to the right ",
" STEP 4: slice the loaf of bread ",
" STEP 5: turn to the left and across the room ",
" STEP 6: towards the grey table leave the knife on top of that table ",
" STEP 7: turn to t... | [
"towards the grey table leave the knife on top of that table",
"slice the loaf of bread",
"turn to the left",
"pick up a slice of bread",
"towards the counter slice another slice of bread",
"face he grey table leave the slice of bread on top of the table",
"turn around and across the room",
"turn to t... | [
"(A)",
"(B)",
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"... |
trial_T20190906_230813_680347-2 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.25",
" position_y": " 0.900",
" position_z": " 0.75",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " ButterKnife",
" position_x": ... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.25",
" position_y": " 0.900",
" position_z": " 0.75",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
"... | Put a cold slice of potato in a bin. | [
"STEP 1: Turn around, go straight then turn right at the end of the counter next to the fridge. ",
" STEP 2: Take the yellow handle knife from the counter. ",
" STEP 3: Turn right, go straight to the end of the counter, turn left to face the sink. ",
" STEP 4: Cut the potato in the sink into slices. ",
" ST... | [
"Put an apple in the sink.",
"Turn around, go straight then turn right at the end of the counter next to the fridge.",
"Put the potato in the blue bin.",
"Turn right, go straight to the blue bin in the corner across the room.",
"Put the potato on the top shelf of the fridge. Close then open the fridge. Take... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
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] | [
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"(F)",
"(M)",
"(H)",
"(J)",
"(L)",
"(I)",
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"(M)",
"(E)",
"(D)",
"(C)"
] |
trial_T20190909_080313_591357-0 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 0.25",
" position_y": " 0.931",
" position_z": " -0.25",
" 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": " 0.25",
" position_y": " 0.931",
" position_z": " -0.25",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
"... | Warm up a cup of water in the microwave and put the cup on the counter. | [
"STEP 1: Turn right and walk towards the wall. Go to the counter to the right. ",
" STEP 2: Pick up the white cup on the counter. ",
" STEP 3: Turn around and turn left. Walk to the microwave above the refrigerator on the left. ",
" STEP 4: Put the cup into the microwave. Take the cup out of the microwave. "... | [
"Turn around and turn left. Walk to the microwave above the refrigerator on the left.",
"Turn right and walk towards the wall. Go to the counter to the right.",
"Spin around and face the fridge on the left side.",
"Turn left and face the counter on the right side.",
"Pick up the white cup on the counter.",
... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(B)",
"(E)",
"(A)",
"(G)",
"(D)",
"(H)"
] |
trial_T20190909_080313_591357-2 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 0.25",
" position_y": " 0.931",
" position_z": " -0.25",
" 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": " 0.25",
" position_y": " 0.931",
" position_z": " -0.25",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
"... | Put a heated mug on the counter, left of the bread. | [
"STEP 1: Turn right, move to face the counter on the right. ",
" STEP 2: Pick up the white mug on the counter. ",
" STEP 3: Bring the mug over to the wall on the right, turn left to face the microwave up high. ",
" STEP 4: Heat the mug in the microwave. ",
" STEP 5: Take the heated mug to the left, to the... | [
"Pick up the red jug on the counter.",
"Heat the mug in the microwave.",
"Take the heated mug to the left, to the counter right of the stove.",
"Pick up the white mug on the counter.",
"Put the mug on counter, right of the bread.",
"Move the heated mug to the right, to the counter left of the stove.",
"... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(H)",
"(D)",
"(G)",
"(B)",
"(C)",
"(E)"
] |
trial_T20190909_074304_619036-0 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -0.75",
" position_y": " 0.909",
" position_z": " -1.5",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Mug",
" position_x": " -0.5... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -0.75",
" position_y": " 0.909",
" position_z": " -1.5",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | Pick up the pen from the desk and turn the lamp on the white table. | [
"STEP 1: Head straight to the white table, turn right and walk to the brown desk. ",
" STEP 2: Pick up the pen from the brown desk. ",
" STEP 3: Turn around and walk to the white table with the lamp on it. ",
" STEP 4: Turn the lamp on next to the coffee cup. ",
" END"
] | [
"Pick up the pen from the brown desk.",
"Turn around and walk to the white table with the lamp on it.",
"Turn left at the white table, walk towards the blue shelf.",
"Take two steps back and walk to the black chair near the door.",
"Turn the lamp on next to the coffee cup.",
"Head straight to the white ta... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(F)",
"(A)",
"(B)",
"(E)"
] |
trial_T20190907_161023_791569-1 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 2.75",
" 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": " 2.75",
" position_y": " 0.900",
" position_z": " 0.5",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
"... | Put the cold tomato in the sink | [
"STEP 1: Turn to your right, walk straight towards the window then turn left going to the table ",
" STEP 2: Pick up the tomato on the table ",
" STEP 3: Turn around to your left then right head to the fridge on your right ",
" STEP 4: Open the fridge put in and out the tomato then close the fridge ",
" STE... | [
"Open the fridge put in and out the tomato then close the fridge",
"Open the cupboard, put in and out the tomato then close the cupboard",
"Put the tomato in the sink",
"Turn around to your left then right head to the fridge on your right",
"Turn to your right, walk straight towards the window then turn lef... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(E)",
"(F)",
"(D)",
"(A)",
"(H)",
"(C)"
] |
trial_T20190907_042833_719963-0 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -2.25",
" position_y": " 0.909",
" position_z": " -3.25",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " CellPhone",
" position_x":... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -2.25",
" position_y": " 0.909",
" position_z": " -3.25",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | Examine an alarm clock by the light of a desk lamp. | [
"STEP 1: Turn around and walk forward to the desk. ",
" STEP 2: Pick up the alarm clock from the desk. ",
" STEP 3: Walk in front of the lamp at the edge of the desk. ",
" STEP 4: Turn on the lamp. ",
" END"
] | [
"Turn around and walk forward to the desk.",
"Put down the alarm clock on the desk.",
"Turn on the lamp.",
"Turn around and walk backward to the desk.",
"Pick up the alarm clock from the desk.",
"Walk in front of the lamp at the edge of the desk."
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(A)",
"(E)",
"(F)",
"(C)"
] |
trial_T20190918_203732_214914-1 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -0.5",
" 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.... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -0.5",
" position_y": " 0.931",
" position_z": " -0.5",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | Heat an egg and put it on a counter. | [
"STEP 1: Walk to the kitchen sink on your left. ",
" STEP 2: Grab an egg from the sink. ",
" STEP 3: Walk to the microwave on your right. ",
" STEP 4: Put the egg in the microwave, then take it out. ",
" STEP 5: Go to the kitchen counter to the left of the microwave. ",
" STEP 6: Place the egg on the coun... | [
"Go to the kitchen counter to the left of the microwave.",
"Turn around and walk to the refrigerator.",
"Grab an egg from the sink.",
"Place the egg inside the oven, then remove it.",
"Place the egg on the counter.",
"Put the egg in the microwave, then take it out.",
"Walk to the microwave on your right... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(H)",
"(C)",
"(G)",
"(F)",
"(A)",
"(E)"
] |
trial_T20190918_203732_214914-2 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -0.5",
" 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.... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -0.5",
" position_y": " 0.931",
" position_z": " -0.5",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | cook and egg and put it on the counter | [
"STEP 1: go to the sink ",
" STEP 2: pick u the egg from the sink ",
" STEP 3: take the egg to the microwave ",
" STEP 4: warm in the microwave ",
" STEP 5: take the cooked egg to the counter where the bread is ",
" STEP 6: put the egg on the counter ",
" END"
] | [
"put the egg on the counter",
"go to the fridge",
"warm in the microwave",
"take the egg to the microwave",
"take the cooked egg to the counter where the bread is",
"pick u the egg from the sink",
"cool in the fridge",
"go to the sink"
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(H)",
"(F)",
"(D)",
"(C)",
"(E)",
"(A)"
] |
trial_T20190912_080556_504700-0 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -0.75",
" position_y": " 0.901",
" position_z": " 3.5",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Candle",
" position_x": " -1.... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -0.75",
" position_y": " 0.901",
" position_z": " 3.5",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
"... | Put the spray bottle from the cabinet on the left edge of the counter. | [
"STEP 1: Turn around and face the sink. ",
" STEP 2: Open the cabinet under the sink on the right and pick up the spray bottle. ",
" STEP 3: Go to the left sink of the counter. ",
" STEP 4: Put the spray bottle on the left edge of the counter. ",
" END"
] | [
"Turn around and face the fridge.",
"Put the spray bottle on the left edge of the counter.",
"Turn around and face the sink.",
"Open the cabinet under the sink on the right and pick up the spray bottle.",
"Place the spray bottle on the right edge of the counter.",
"Go to the left sink of the counter."
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(C)",
"(D)",
"(F)",
"(B)"
] |
trial_T20190909_101117_022448-1 | [
{
"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": " ... | [
{
"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 cooked slice of potato in the recycling bin. | [
"STEP 1: Turn left and head to the coffee maker. ",
" STEP 2: Pick up the knife to the right of the coffee maker. ",
" STEP 3: Go the to the sink. ",
" STEP 4: Cut the potato in the sink. ",
" STEP 5: Turn right and head to the recycling bin in the corner. ",
" STEP 6: Put the knife in the recycling bin. ... | [
"Put the slice of potato in the toaster and remove it.",
"Cook the slice of potato in the microwave and pick it back up.",
"Turn around and go to the refrigerator.",
"Put the knife in the recycling bin.",
"Pick up the knife to the right of the coffee maker.",
"Turn around and go back to the sink.",
"Cut... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)",
"(K)",
"(L)",
"(M)",
"(N)"
] | [
"(M)",
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"(L)",
"(G)",
"(H)",
"(D)",
"(F)",
"(N)",
"(K)",
"(B)",
"(J)",
"(I)"
] |
trial_T20190909_101117_022448-2 | [
{
"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": " ... | [
{
"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 a potato slice plus place it in the trash can. | [
"STEP 1: Turn left and walk forward and then turn right to face the counter by the coffee maker. ",
" STEP 2: Pick up the knife on the counter. ",
" STEP 3: Step to the right to face the sink. ",
" STEP 4: Cut the potato in the sink into slices. ",
" STEP 5: Turn right and walk over to face the trash can. "... | [
"Pick up the knife on the counter.",
"Pick up a potato slice in the sink.",
"Heat the potato slice in the microwave and remove it.",
"Step to the right to face the sink.",
"Turn around and step forward to face the microwave.",
"Turn left and step forward to face the sink.",
"Turn left and walk forward t... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)",
"(K)",
"(L)",
"(M)",
"(N)"
] | [
"(M)",
"(A)",
"(D)",
"(H)",
"(J)",
"(N)",
"(F)",
"(B)",
"(E)",
"(C)",
"(G)",
"(L)"
] |
trial_T20190907_164731_907205-2 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.0",
" position_y": " 0.909",
" position_z": " -2.25",
" 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": " 0.909",
" position_z": " -2.25",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | Take the mug and pen to the dresser. | [
"STEP 1: Turn right, turn right again and go to the dresser ",
" STEP 2: Pick up the pen from the dresser. ",
" STEP 3: Turn around and take the pen to the desk. ",
" STEP 4: Put the pen in the mug on the desk. ",
" STEP 5: Pick up the mug with the pen inside. ",
" STEP 6: Turn right and walk to the dress... | [
"Turn right and walk to the dresser.",
"Pick up the mug with the pen inside.",
"Put the pen in the mug on the desk.",
"Pick up the pen from the dresser.",
"Turn left and walk to the bookshelf.",
"Pick up the book from the dresser.",
"Turn around and take the pen to the desk.",
"Set the mug on the dres... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)"
] | [
"(I)",
"(D)",
"(G)",
"(C)",
"(B)",
"(A)",
"(H)"
] |
trial_T20190908_123406_806951-1 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.25",
" position_y": " 0.903",
" position_z": " 1.0",
" 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": " -1.25",
" position_y": " 0.903",
" position_z": " 1.0",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
"... | Put a clean bar of soap in the tub. | [
"STEP 1: Move to the right and face the tub. ",
" STEP 2: Pick the soap up from the tub. ",
" STEP 3: Turn around and turn to the left to face the right side of the sink. ",
" STEP 4: Put the soap in the sink and turn the water on and then off and pick the soap up again. ",
" STEP 5: Turn to the left to fac... | [
"Put the soap in the tub.",
"Put the soap in the sink and turn the water on and then off and pick the soap up again.",
"Pick the soap up from the tub.",
"Turn to the left to face the tub.",
"Turn around and turn to the left to face the right side of the sink.",
"Move to the right and face the tub.",
"Pi... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(F)",
"(C)",
"(E)",
"(B)",
"(D)",
"(A)"
] |
trial_T20190907_071842_740425-0 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -0.5",
" position_y": " 0.909",
" position_z": " -1.25",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Mug",
" position_x": " -1.27... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -0.5",
" position_y": " 0.909",
" position_z": " -1.25",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | Read the book next to the light of the desk lamp. | [
"STEP 1: Turn right towards the desk and then turn right towards the dresser. ",
" STEP 2: Pick up the book on the dresser. ",
" STEP 3: Turn around and head towards the lamp on the desk. ",
" STEP 4: Turn on the lamp. ",
" END"
] | [
"Turn right towards the desk and then turn right towards the dresser.",
"Turn around and head towards the picture on the wall.",
"Turn on the lamp.",
"Pick up the book on the dresser.",
"Turn around and head towards the lamp on the desk.",
"Turn left towards the wardrobe and then turn left towards the bed... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(A)",
"(D)",
"(E)",
"(C)"
] |
trial_T20190907_071842_740425-2 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -0.5",
" position_y": " 0.909",
" position_z": " -1.25",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Mug",
" position_x": " -1.27... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -0.5",
" position_y": " 0.909",
" position_z": " -1.25",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | Examine a textbook by the light of a desk lamp. | [
"STEP 1: Turn around and walk to the dresser that is against the wall. ",
" STEP 2: Pick up the textbook from the dresser. ",
" STEP 3: Turn around and walk to the front of the lamp on the desk. ",
" STEP 4: Turn on the lamp. ",
" END"
] | [
"Turn on the lamp.",
"Turn around and walk to the dresser that is against the wall.",
"Rotate and walk towards the rear of the lamp on the bedside table.",
"Spin around and walk towards the bookshelf near the window.",
"Turn around and walk to the front of the lamp on the desk.",
"Pick up the textbook fro... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(B)",
"(F)",
"(E)",
"(A)"
] |
trial_T20190907_172648_626804-0 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 3.25",
" position_y": " 0.900",
" position_z": " 0.75",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Potato",
" position_x": " 2.65... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 3.25",
" position_y": " 0.900",
" position_z": " 0.75",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" ... | Put a glass with a spoon in it in the sink. | [
"STEP 1: Turn left walk across the room, then hang a left and walk up to the round table. ",
" STEP 2: Pick up the glass with the spoon in it that is on the round table. ",
" STEP 3: Turn around and begin walking across the room, the turn right and walk over to the sink. ",
" STEP 4: Place the glass with the ... | [
"Turn around and begin walking across the room, the turn right and walk over to the sink.",
"Turn right, walk across the room, then hang a right and walk up to the square table.",
"Turn around, begin walking to the opposite side of the room, then turn left and walk over to the bookshelf.",
"Pick up the glass ... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(F)",
"(D)",
"(A)",
"(E)"
] |
trial_T20190907_172648_626804-2 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 3.25",
" position_y": " 0.900",
" position_z": " 0.75",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Potato",
" position_x": " 2.65... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 3.25",
" position_y": " 0.900",
" position_z": " 0.75",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" ... | Putting away dirty glass and spoon in the sink | [
"STEP 1: Turn left and walk straight to the end of the kitchen then turn left and walk to the round table ",
" STEP 2: Pick up the clear cup with the spoon inside ",
" STEP 3: Turn around walk straight then turn right and right again to face the kitchen sink ",
" STEP 4: Place the glass and spoon in the sink ... | [
"Turn right and walk forward to the end of the kitchen then turn right and walk to the square table",
"Pick up the clear cup with the spoon inside",
"Pick up the black bowl with the fork inside",
"Turn around walk straight then turn right and right again to face the kitchen sink",
"Turn left and walk straig... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(E)",
"(B)",
"(D)",
"(F)"
] |
trial_T20190908_095813_688861-2 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.75",
" 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": " -3.2... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.75",
" position_y": " 0.901",
" position_z": " 6.5",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | move the tea pot from the shelf to the coffee table | [
"STEP 1: turn around, walk to the brown shelves ",
" STEP 2: pick up the tea pot from the bottom shelf ",
" STEP 3: turn left, take a few steps, turn left, walk forward, turn left to face the coffee table ",
" STEP 4: put the tea pot on the coffee table ",
" END"
] | [
"turn around, walk to the brown shelves",
"put the tea pot on the coffee table",
"turn left, take a few steps, turn left, walk forward, turn left to face the coffee table",
"turn right, walk to the blue shelves",
"pick up the coffee mug from the bottom shelf",
"pick up the tea pot from the bottom shelf"
... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(A)",
"(F)",
"(C)",
"(B)"
] |
trial_T20190906_194139_042780-2 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.0",
" position_y": " 0.900",
" position_z": " 0.5",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Kettle",
" position_x": " 1.8... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.0",
" position_y": " 0.900",
" position_z": " 0.5",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
"... | Place the sponge in the blue bowl on the counter. | [
"STEP 1: Walk straight towards the round table. ",
" STEP 2: Pick up the green sponge from the table. ",
" STEP 3: Turn around, walk past the sink, turn right towards the wall, then turn left to face the kettle on the counter. ",
" STEP 4: Open the left cabinet towards the top of the kettle and place the spon... | [
"Open the left cabinet towards the top of the kettle and place the sponge in the blue bowl.",
"Take out the bowl from the cabinet and close the door.",
"Turn left, walk past the sink, turn right towards the wall, then turn right to face the refrigerator on the counter.",
"Put the bowl back into the cabinet an... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)"
] | [
"(E)",
"(F)",
"(H)",
"(A)",
"(B)",
"(G)",
"(I)"
] |
trial_T20190909_080350_412023-2 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -0.25",
" position_y": " 0.931",
" position_z": " -0.25",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Potato",
" position_x": " ... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -0.25",
" position_y": " 0.931",
" position_z": " -0.25",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | Put the heated mug on the counter | [
"STEP 1: Turn right then walk forward towards the coffee maker on your left ",
" STEP 2: Pick up the mug on the coffee maker ",
" STEP 3: Turn left then head to the microwave ",
" STEP 4: Open the microwave heat up the mug then take it out and close the microwave ",
" STEP 5: Turn left then head to the righ... | [
"Pick up the mug on the coffee maker",
"Turn left then head to the right side counter of the stove",
"Turn right then head to the mini-fridge",
"Turn left then head to the microwave",
"Put down the mug on the coffee maker",
"Open the microwave heat up the mug then take it out and close the microwave",
"... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(G)",
"(A)",
"(D)",
"(F)",
"(B)",
"(H)"
] |
trial_T20190909_075933_607618-0 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 1.75",
" 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": " 1.141"... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 1.75",
" position_y": " 0.900",
" position_z": " 0.5",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
"... | Put a washed piece of apple in a microwave. | [
"STEP 1: Go forward and to the right to the counter to the left of the dishwasher. ",
" STEP 2: Take the large knife from the counter. ",
" STEP 3: Turn right, go forward, turn right at the counter to the left of the oven. Go to the counter. ",
" STEP 4: Cut the apple on the counter into pieces. ",
" STEP 5... | [
"Cut the apple on the counter into pieces.",
"Turn around, go to the sink.",
"Put the knife in the sink.",
"Go forward and to the right to the counter to the left of the dishwasher.",
"Take the large knife from the counter.",
"Turn around, go to the counter with the apple.",
"Pick up a spoon from the cu... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)",
"(K)",
"(L)",
"(M)",
"(N)"
] | [
"(D)",
"(E)",
"(M)",
"(A)",
"(B)",
"(K)",
"(C)",
"(F)",
"(H)",
"(B)",
"(K)",
"(N)",
"(I)",
"(L)"
] |
trial_T20190909_075933_607618-2 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 1.75",
" 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": " 1.141"... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 1.75",
" position_y": " 0.900",
" position_z": " 0.5",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
"... | Cut and wash an apple, put it in the microwave | [
"STEP 1: Move a bit to the right and go to the counter ",
" STEP 2: Pick up the knife on the counter ",
" STEP 3: Turn left, go forward, turn right at the end of the counter ",
" STEP 4: Cut the apple on the counter ",
" STEP 5: Turn around and go to the sink ",
" STEP 6: Put the knife in the sink ",
" ... | [
"Move a bit to the right and go to the counter",
"Turn around and go to the sink",
"Turn left, go forward, turn left at the microwave",
"Turn left, go forward, turn right at the end of the counter",
"Cut the apple on the counter",
"Turn around and go to the sink",
"Turn around and go to the counter",
... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)",
"(K)",
"(L)",
"(M)",
"(N)"
] | [
"(A)",
"(M)",
"(D)",
"(E)",
"(B)",
"(F)",
"(L)",
"(G)",
"(I)",
"(B)",
"(F)",
"(K)",
"(C)",
"(J)"
] |
trial_T20190909_114656_853216-1 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -2.75",
" position_y": " 0.909",
" position_z": " -4.0",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " CellPhone",
" position_x": ... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -2.75",
" position_y": " 0.909",
" position_z": " -4.0",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | Pick up a disc and turn a lamp on. | [
"STEP 1: Move to the right and stand in the middle of the brown dresser. ",
" STEP 2: Pick the disc up from the dresser. ",
" STEP 3: Turn around and face the lamp on the white table. ",
" STEP 4: Turn the lamp on. ",
" END"
] | [
"Face the window instead of the lamp.",
"Turn around and face the lamp on the white table.",
"Turn the lamp on.",
"Pick the disc up from the dresser.",
"Put the disc down on the couch.",
"Move to the right and stand in the middle of the brown dresser."
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(F)",
"(D)",
"(B)",
"(C)"
] |
trial_T20190909_114656_853216-2 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -2.75",
" position_y": " 0.909",
" position_z": " -4.0",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " CellPhone",
" position_x": ... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -2.75",
" position_y": " 0.909",
" position_z": " -4.0",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | Pick up a CD and turn on a lamp. | [
"STEP 1: Turn to the right, move forward, turn to the left to the dresser. ",
" STEP 2: Pick up the CD that is on the dresser between the pen and keys. ",
" STEP 3: Turn around, go to the white table with the lamp on it. ",
" STEP 4: Turn on the lamp. ",
" END"
] | [
"Turn to the right, move forward, turn to the left to the dresser.",
"Turn on the lamp.",
"Move straight, turn to the left, walk backwards towards the couch.",
"Turn around, go to the white table with the lamp on it.",
"Pick up the CD that is on the dresser between the pen and keys.",
"Switch off the lamp... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(A)",
"(E)",
"(D)",
"(B)"
] |
trial_T20190907_181912_964375-0 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -5.25",
" position_y": " 0.901",
" position_z": " 4.5",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Bowl",
" position_x": " -5.7... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -5.25",
" position_y": " 0.901",
" position_z": " 4.5",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | Place two sets of keys on the middle cushion of the tan couch. | [
"STEP 1: Turn around and walk to the black shelves. ",
" STEP 2: Pick up the keys from the bottom shelf. ",
" STEP 3: Turn right and walk to the middle of the tan couch. ",
" STEP 4: Place the keys on the middle seat of the couch. ",
" STEP 5: Turn left and walk to the TV in the corner. ",
" STEP 6: Pick ... | [
"Turn right and walk to the middle of the tan couch.",
"Turn around and walk to the middle of the tan couch.",
"Turn around and walk to the black shelves.",
"Pick up the keys from the bottom shelf.",
"Pick up the keys from the behind the bookshelf.",
"Place the keys on the middle seat of the couch.",
"P... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)"
] | [
"(C)",
"(D)",
"(A)",
"(F)",
"(H)",
"(G)",
"(B)",
"(J)"
] |
trial_T20190909_025240_852617-0 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.5",
" position_y": " 0.900",
" position_z": " 0.25",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Pan",
" position_x": " 2.838... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.5",
" position_y": " 0.900",
" position_z": " 0.25",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | Rinse a tea kettle and set it next to the coffee maker. | [
"STEP 1: Turn around and walk forward, making a left to stop at the stove. ",
" STEP 2: Pick up the tea kettle from the stove. ",
" STEP 3: Turn around to face the sink. ",
" STEP 4: Rinse the tea kettle in the sink, removing it again. ",
" STEP 5: Make a left to stop at the counter before the fridge. ",
... | [
"Pick up the tea kettle from the stove.",
"Make a right to stop at the table next to the door.",
"Turn around to face the sink.",
"Pick up the frying pan from the stove.",
"Turn around and walk forward, making a left to stop at the stove.",
"Make a left to stop at the counter before the fridge.",
"Rinse... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(E)",
"(A)",
"(C)",
"(G)",
"(F)",
"(H)"
] |
trial_T20190907_180214_916507-2 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.0",
" position_y": " 0.931",
" position_z": " -0.5",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Pan",
" position_x": " 0.389"... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.0",
" position_y": " 0.931",
" position_z": " -0.5",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
"... | Retrieve a tomato for heating in the microwave and placement in the sink. | [
"STEP 1: Walk straight towards the wall and then face the counter top on the right. ",
" STEP 2: Pick up the tomato to the right of the fork. ",
" STEP 3: Turn around and move to the opposite wall in the room, then face left to see the microwave above the oven. ",
" STEP 4: Open the microwave door and place t... | [
"Open the microwave door and place the tomato inside next to the mug, cook for several seconds and remove.",
"Turn around and move to the opposite wall in the room, then face left to see the microwave above the oven.",
"Pick up the tomato to the right of the fork.",
"Place the tomato in the right sink below t... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(F)",
"(C)",
"(B)",
"(A)",
"(H)",
"(D)"
] |
trial_T20190908_113043_918944-2 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -0.25",
" position_y": " 0.900",
" position_z": " 0.5",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Pan",
" position_x": " 0.707",... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -0.25",
" position_y": " 0.900",
" position_z": " 0.5",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" ... | Put a clean cup on the table. | [
"STEP 1: Turn around and walk to the sink. ",
" STEP 2: Look up and open the cabinet that's above the left side of the sink and get the cup down from there then close the door. ",
" STEP 3: Take a small step to your right. ",
" STEP 4: Wash the cup in the sink and then pick it back up and shut off the water. ... | [
"Look up and open the cabinet that's above the left side of the sink and get the cup down from there then close the door.",
"Turn left and walk to the fridge.",
"Wash the cup in the sink and then pick it back up and shut off the water.",
"Take a small step to your right.",
"Take a large step to your left.",... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(H)",
"(A)",
"(D)",
"(C)",
"(G)",
"(F)"
] |
trial_T20190908_091212_752278-2 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.25",
" position_y": " 0.931",
" position_z": " -0.75",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " DishSponge",
" position_x": ... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.25",
" position_y": " 0.931",
" position_z": " -0.75",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | Put a cooked slice of tomato on the counter. | [
"STEP 1: Turn to the right, go across the room and turn right towards the counter next to the fridge. ",
" STEP 2: Pick up the knife by the tomato. ",
" STEP 3: Move left and closer to the tomato. ",
" STEP 4: Cut the tomato with the knife. ",
" STEP 5: Turn around and head to the sink. ",
" STEP 6: Put t... | [
"Turn left and go the counter to the left of the stove.",
"Put the tomato in the microwave, cook it and pick it back up.",
"Place the knife to the right of the blue plate.",
"Put the slice of tomato on the counter by the corner of the stove.",
"Turn around and head back to the counter.",
"Move left and cl... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)",
"(K)",
"(L)",
"(M)",
"(N)"
] | [
"(J)",
"(N)",
"(F)",
"(M)",
"(K)",
"(H)",
"(E)",
"(G)",
"(L)",
"(B)",
"(A)",
"(D)"
] |
trial_T20190906_190048_275702-1 | [
{
"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": " DishSponge",
" position_x": ... | [
{
"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",
... | Place the clean spoon in the drawer below the bread. | [
"STEP 1: Turn right and head towards the loaf of bread on the counter on your right. ",
" STEP 2: Pick up the spoon behind the loaf of bread. ",
" STEP 3: Turn around and walk towards the sink. ",
" STEP 4: Place the spoon in the sink, turn on the faucet, wash the spoon, turn off the faucet, and pick up the s... | [
"Turn around and walk towards the sink.",
"Pick up the spoon behind the loaf of bread.",
"Open the drawer below the bread, place the spoon in it, and close the drawer.",
"Turn left and proceed towards the fridge.",
"Turn right and head towards the loaf of bread on the counter on your right.",
"Turn left a... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(E)",
"(B)",
"(A)",
"(G)",
"(H)",
"(C)"
] |
trial_T20190909_101039_777074-0 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -2.75",
" position_y": " 0.909",
" position_z": " -3.0",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " CD",
" position_x": " -3.539... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -2.75",
" position_y": " 0.909",
" position_z": " -3.0",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | Move the pencil from the table to the top of the cabinet under the table | [
"STEP 1: Go to the wall then turn right to face the table ",
" STEP 2: Pick up the pencil that is to the left of the alarm clock at the back of the table ",
" STEP 3: Turn around and take a step then turn around again to face the table ",
" STEP 4: Put the pencil on top of the cabinet under the table ",
" ... | [
"Pick up the pencil that is to the left of the alarm clock at the back of the table",
"Go to the window then turn left to face the bookshelf",
"Turn around and take a step then turn around again to face the table",
"Put the pencil on top of the cabinet under the table",
"Take a step forward then turn right ... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(F)",
"(A)",
"(C)",
"(D)"
] |
trial_T20190909_101039_777074-1 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -2.75",
" position_y": " 0.909",
" position_z": " -3.0",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " CD",
" position_x": " -3.539... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -2.75",
" position_y": " 0.909",
" position_z": " -3.0",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | Move the yellow pencil from the desk to the drawers underneath. | [
"STEP 1: Walk forward and make a right to walk to the desk. ",
" STEP 2: Pick up a yellow pencil from the desk. ",
" STEP 3: Move to face the drawers below the desk. ",
" STEP 4: Set the pencil down on top of the drawers below the desk. ",
" END"
] | [
"Walk backward and make a left to reach the chair.",
"Set the pencil down on top of the drawers below the desk.",
"Pick up a yellow pencil from the desk.",
"Walk forward and make a right to walk to the desk.",
"Move to face the drawers below the desk.",
"Rotate to face the window beside the desk."
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(D)",
"(C)",
"(E)",
"(B)"
] |
trial_T20190908_113425_489359-2 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.5",
" position_y": " 0.909",
" position_z": " -2.5",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " CD",
" position_x": " -0.249"... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.5",
" position_y": " 0.909",
" position_z": " -2.5",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
"... | Examine the mug by the light | [
"STEP 1: Turn to your right and face the table ",
" STEP 2: Pick up the mug on the table ",
" STEP 3: Turn right then walk forward, turn left face the lamp ",
" STEP 4: Turn on the lamp ",
" END"
] | [
"Turn to your left and face the wall",
"Turn on the lamp",
"Turn to your right and face the table",
"Pick up the mug on the table",
"Turn right then walk forward, turn left face the lamp",
"Take two steps back, turn to your right, and face the window"
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(C)",
"(D)",
"(E)",
"(B)"
] |
trial_T20190908_220912_262481-1 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 0.0",
" position_y": " 0.900",
" position_z": " -1.0",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Watch",
" position_x": " 1.89... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " 0.0",
" position_y": " 0.900",
" position_z": " -1.0",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
"... | To move two newspapers to the chair on the side of the room. | [
"STEP 1: TUrn around and step forward to face the living room table. ",
" STEP 2: Pick up the newspaper on the living room table. ",
" STEP 3: Turn right and step forward to face the chair. ",
" STEP 4: Place the newspaper in the chair. ",
" STEP 5: Take a step to the left to face the table to the left of t... | [
"TUrn around and step forward to face the living room table.",
"Take a step to the left to face the table to the left of the chair.",
"Pick up the newspaper on the living room table.",
"Place the newspaper in the chair.",
"Pick up the newspaper on the table.",
"Take a step to the right to face the chair."... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)"
] | [
"(A)",
"(C)",
"(G)",
"(D)",
"(B)",
"(E)",
"(F)",
"(J)"
] |
trial_T20190907_223211_131783-2 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -5.5",
" position_y": " 0.901",
" position_z": " 1.75",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Bowl",
" position_x": " -5.917... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -5.5",
" position_y": " 0.901",
" position_z": " 1.75",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" ... | Take the box near the TV, put it on the couch | [
"STEP 1: Head straight to the TV in the corner ",
" STEP 2: Pick up the box from the floor next to the TV ",
" STEP 3: Turn around, head across the living room ",
" STEP 4: Put the box on the couch ",
" END"
] | [
"Pick up the box from the floor next to the TV",
"Head straight to the TV in the corner",
"Proceed to the kitchen sink",
"Put the box on the couch",
"Turn around, head across the living room",
"Pick up the book from the table next to the lamp"
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(B)",
"(A)",
"(E)",
"(D)"
] |
trial_T20190907_002204_489147-1 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -0.75",
" position_y": " 0.903",
" position_z": " 0.25",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " TissueBox",
" position_x": "... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -0.75",
" position_y": " 0.903",
" position_z": " 0.25",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | Place the two tissue boxes from the shelf on the toilet basin. | [
"STEP 1: Turn left and walk straight towards the shelves on the wall. ",
" STEP 2: Pick up the left tissue box on the bottom shelf. ",
" STEP 3: Turn around and head towards the toilet. ",
" STEP 4: Place the tissue box on the toilet basin. ",
" STEP 5: Turn around and walk towards the shelves. ",
" STEP ... | [
"Pick up the tissue box on the top shelf.",
"Turn around and head towards the toilet.",
"Place the tissue box on the toilet basin.",
"Turn around and head towards the toilet.",
"Pick up the right tissue box on the top shelf.",
"Pick up the tissue box on the bottom shelf.",
"Place the tissue box to the l... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)"
] | [
"(J)",
"(I)",
"(B)",
"(D)",
"(C)",
"(H)",
"(F)",
"(B)",
"(D)",
"(G)"
] |
trial_T20190909_004116_598075-1 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -2.75",
" 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": " -3.6... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -2.75",
" position_y": " 0.909",
" position_z": " -3.75",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | Move a pen to the top of a set of drawers. | [
"STEP 1: Walk over to face the front of the desk. ",
" STEP 2: Pick up the pen that is the closest to the front of the desk. ",
" STEP 3: Move back a bit until you can see the drawers under the desk. ",
" STEP 4: Place the pen on top of the drawers, on the right hand side. ",
" END"
] | [
"Jog towards the back of the desk.",
"Place the pen on top of the drawers, on the right hand side.",
"Walk over to face the front of the desk.",
"Pick up the pen that is the closest to the front of the desk.",
"Put the pen under the drawers, on the left hand side.",
"Move back a bit until you can see the ... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(C)",
"(D)",
"(F)",
"(B)"
] |
trial_T20190909_004116_598075-2 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -2.75",
" 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": " -3.6... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -2.75",
" position_y": " 0.909",
" position_z": " -3.75",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
... | To move a pen to the drawer of the desk. | [
"STEP 1: Walk over to face the front of the desk on the right. ",
" STEP 2: Pick up the pen from the desk to the right of the pencil. ",
" STEP 3: Move further back from the desk and face the drawers below the desk. ",
" STEP 4: Open the top drawer, place the pen inside the drawer, close the drawer. ",
... | [
"Pick up the pen from the desk to the right of the pencil.",
"Move further back from the desk and face the drawers below the desk.",
"Open the bottom drawer, place the pen inside the drawer, close the drawer.",
"Walk over to face the front of the desk on the right.",
"Open the top drawer, place the pen insi... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(D)",
"(A)",
"(B)",
"(E)"
] |
trial_T20190909_005440_828167-2 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -3.0",
" position_y": " 0.909",
" position_z": " -4.25",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " CD",
" position_x": " -3.908"... | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -3.0",
" position_y": " 0.909",
" position_z": " -4.25",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
"... | Move two pencils to the dresser drawer. | [
"STEP 1: Turn right and face the desk. ",
" STEP 2: Pick up the pencil from the desk. ",
" STEP 3: Turn around and face the dresser. ",
" STEP 4: Open the bottom left drawer of the dresser, put the pencil in the drawer, and close the drawer. ",
" STEP 5: Look at the top of the dresser. ",
" STEP 6: P... | [
"Leave the pencil behind the book on the dresser.",
"Turn around and face the dresser.",
"Pick up the pencil from the desk.",
"Look at the top of the dresser.",
"Open the bottom left drawer, put the pencil in the drawer, and close the drawer.",
"Move back from the dresser.",
"Drop the pencil onto the de... | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)"
] | [
"(J)",
"(C)",
"(B)",
"(H)",
"(D)",
"(I)",
"(F)",
"(E)"
] |
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