id stringlengths 31 31 | input_task stringlengths 6 164 | input_table list | input_table_md stringlengths 3.62k 13.5k | output_text list | output_list list | label stringclasses 1
value |
|---|---|---|---|---|---|---|
trial_T20190908_025529_009980-2 | Place a clean kettle on the counter. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -1.75",
" 0.900",
" 1.5",
" 0",
" 180",
" 0",
""
],
[
"1",
" DishSponge... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -1.75 0.900 1.5 ... | [
"STEP 1: Turn around and walk to the stove to the far right. | STEP 2: Pick up the kettle on the stove. | STEP 3: Carrying the kettle, walk to the sink to your left. | STEP 4: Place the kettle in the sink, wash it, then remove the kettle. | STEP 5: Carrying the clean kettle, walk to the coffee maker to your left. ... | [
[
"STEP 1: Turn around and walk to the stove to the far right. ",
" STEP 2: Pick up the kettle on the stove. ",
" STEP 3: Carrying the kettle, walk to the sink to your left. ",
" STEP 4: Place the kettle in the sink, wash it, then remove the kettle. ",
" STEP 5: Carrying the clean kettle, walk ... | seen |
trial_T20190907_230508_957245-0 | Place a pan with a spoon in the sink. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -2.5",
" 0.900",
" 1.0",
" 0",
" 270",
" 0",
""
],
[
"1",
" Potato",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -2.5 0.900 1.0 ... | [
"STEP 1: Turn left to face the counter next to the stove. | STEP 2: Pick up the spoon in the middle of the counter top. | STEP 3: Turn around, turn left at the trash can and face the stove to your left. | STEP 4: Put the spoon in the black pan at the far left corner of the stove. | STEP 5: Pick up the pan with the ... | [
[
"STEP 1: Turn left to face the counter next to the stove. ",
" STEP 2: Pick up the spoon in the middle of the counter top. ",
" STEP 3: Turn around, turn left at the trash can and face the stove to your left. ",
" STEP 4: Put the spoon in the black pan at the far left corner of the stove. ",
"... | seen |
trial_T20190907_230508_957245-1 | Place a frying pan and a spoon inside the sink. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -2.5",
" 0.900",
" 1.0",
" 0",
" 270",
" 0",
""
],
[
"1",
" Potato",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -2.5 0.900 1.0 ... | [
"STEP 1: Turn left towards the counter top. | STEP 2: Pick up the spoon from the counter top. | STEP 3: Turn right then head towards the stove. | STEP 4: Place the spoon inside the frying on the stove. | STEP 5: Pick up the frying pan on the stove | STEP 6: Turn left walk towards the wall, turn right to face the s... | [
[
"STEP 1: Turn left towards the counter top. ",
" STEP 2: Pick up the spoon from the counter top. ",
" STEP 3: Turn right then head towards the stove. ",
" STEP 4: Place the spoon inside the frying on the stove. ",
" STEP 5: Pick up the frying pan on the stove ",
" STEP 6: Turn left walk t... | seen |
trial_T20190907_230508_957245-2 | Put a spoon in a pan and put them both in the sink | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -2.5",
" 0.900",
" 1.0",
" 0",
" 270",
" 0",
""
],
[
"1",
" Potato",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -2.5 0.900 1.0 ... | [
"STEP 1: Turn to your left and face the counter | STEP 2: Pick up a spoon from the counter | STEP 3: Take a step to your right so you are facing the left side of the stove | STEP 4: Set the spoon down in the pan on the stove | STEP 5: Pick up the pan with the spoon in it from off of the stove top | STEP 6: Turn lef... | [
[
"STEP 1: Turn to your left and face the counter ",
" STEP 2: Pick up a spoon from the counter ",
" STEP 3: Take a step to your right so you are facing the left side of the stove ",
" STEP 4: Set the spoon down in the pan on the stove ",
" STEP 5: Pick up the pan with the spoon in it from off o... | seen |
trial_T20190909_133405_341380-0 | pick up both bars of soap and put in the tub | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -1.25",
" 0.900",
" 2.25",
" 0",
" 0",
" 0",
""
],
[
"1",
" Cloth",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -1.25 0.900 ... | [
"STEP 1: turn around and cross the room to the bath tub | STEP 2: pick up the soap on the edge of the tub | STEP 3: turn around to the bath tub | STEP 4: place the soap in the tub | STEP 5: turn around and cross the room to the trash can | STEP 6: take the soap out of the trash can | STEP 7: cross the room back to... | [
[
"STEP 1: turn around and cross the room to the bath tub ",
" STEP 2: pick up the soap on the edge of the tub ",
" STEP 3: turn around to the bath tub ",
" STEP 4: place the soap in the tub ",
" STEP 5: turn around and cross the room to the trash can ",
" STEP 6: take the soap out of the t... | seen |
trial_T20190909_133405_341380-1 | Put two soaps in the bath | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -1.25",
" 0.900",
" 2.25",
" 0",
" 0",
" 0",
""
],
[
"1",
" Cloth",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -1.25 0.900 ... | [
"STEP 1: Turn around, go forward, turn right and go to the bath, turn left | STEP 2: Pick up the soap on the bath | STEP 3: Turn around, go forward a bit, turn left | STEP 4: Put the soap in the bath | STEP 5: Turn around, go forward, turn right and go to the bin | STEP 6: Pick up the soap in the bin | STEP 7: Turn... | [
[
"STEP 1: Turn around, go forward, turn right and go to the bath, turn left ",
" STEP 2: Pick up the soap on the bath ",
" STEP 3: Turn around, go forward a bit, turn left ",
" STEP 4: Put the soap in the bath ",
" STEP 5: Turn around, go forward, turn right and go to the bin ",
" STEP 6: P... | seen |
trial_T20190909_133405_341380-2 | Move two bars of soap into the tub. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -1.25",
" 0.900",
" 2.25",
" 0",
" 0",
" 0",
""
],
[
"1",
" Cloth",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -1.25 0.900 ... | [
"STEP 1: Turn left and take a step forward, then hang a left and walk forward, turn right and walk over to the tub. | STEP 2: Pick up the bar of soap off of the tub. | STEP 3: Turn left and walk forward, then turn left and take a step, turn left again to face the tub. | STEP 4: Put the bar of soap into the tub. | S... | [
[
"STEP 1: Turn left and take a step forward, then hang a left and walk forward, turn right and walk over to the tub. ",
" STEP 2: Pick up the bar of soap off of the tub. ",
" STEP 3: Turn left and walk forward, then turn left and take a step, turn left again to face the tub. ",
" STEP 4: Put the ba... | seen |
trial_T20190907_133447_661538-0 | Put the candles in the bathroom in a drawer. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -1.5",
" 0.901",
" 1.25",
" 0",
" 90",
" 0",
""
],
[
"1",
" TissueBox",... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -1.5 0.901 ... | [
"STEP 1: Turn to face the white counter-top on your right. | STEP 2: Pick up the candle on the left of the tissue box. | STEP 3: Go to the other end of the counter and turn left to face it again. | STEP 4: Put the candle in a drawer. | STEP 5: Turn around and move to the toilet behind you. | STEP 6: Pick up the can... | [
[
"STEP 1: Turn to face the white counter-top on your right. ",
" STEP 2: Pick up the candle on the left of the tissue box. ",
" STEP 3: Go to the other end of the counter and turn left to face it again. ",
" STEP 4: Put the candle in a drawer. ",
" STEP 5: Turn around and move to the toilet beh... | seen |
trial_T20190907_133447_661538-1 | Move two candle sticks to the drawer under the counter. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -1.5",
" 0.901",
" 1.25",
" 0",
" 90",
" 0",
""
],
[
"1",
" TissueBox",... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -1.5 0.901 ... | [
"STEP 1: Turn right and go to the counter. | STEP 2: Pick up a candle stick on the counter. | STEP 3: Turn right and go to the end of the counter. | STEP 4: Put the candle stick in the drawer under the counter. | STEP 5: Turn around and go to the toilet. | STEP 6: Pick up a candle stick on the toilet. | STEP 7: ... | [
[
"STEP 1: Turn right and go to the counter. ",
" STEP 2: Pick up a candle stick on the counter. ",
" STEP 3: Turn right and go to the end of the counter. ",
" STEP 4: Put the candle stick in the drawer under the counter. ",
" STEP 5: Turn around and go to the toilet. ",
" STEP 6: Pick up ... | seen |
trial_T20190907_133447_661538-2 | Put two bottles in the bottom drawer of a dresser. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -1.5",
" 0.901",
" 1.25",
" 0",
" 90",
" 0",
""
],
[
"1",
" TissueBox",... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -1.5 0.901 ... | [
"STEP 1: Turn right towards the green dresser with white top. | STEP 2: Pick up the bottle from the dresser. | STEP 3: Go right towards the bottom, right drawer of the green dresser. | STEP 4: Open the bottom, right drawer and set the bottle inside, shut the drawer. | STEP 5: Turn around and go to the toilet. | STE... | [
[
"STEP 1: Turn right towards the green dresser with white top. ",
" STEP 2: Pick up the bottle from the dresser. ",
" STEP 3: Go right towards the bottom, right drawer of the green dresser. ",
" STEP 4: Open the bottom, right drawer and set the bottle inside, shut the drawer. ",
" STEP 5: Turn ... | seen |
trial_T20190907_133447_661538-3 | Put two bottles of nail polish in the bottom, right, bathroom drawer. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -1.5",
" 0.901",
" 1.25",
" 0",
" 90",
" 0",
""
],
[
"1",
" TissueBox",... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -1.5 0.901 ... | [
"STEP 1: Walk towards the door, then turn right so that you are facing the leftmost part of the counter. | STEP 2: Pick up the nail polish sitting on the back of the counter, to the left of the tissue box. | STEP 3: Turn to your right and walk to the end of the counter, then turn to your left so that you are faci... | [
[
"STEP 1: Walk towards the door, then turn right so that you are facing the leftmost part of the counter. ",
" STEP 2: Pick up the nail polish sitting on the back of the counter, to the left of the tissue box. ",
" STEP 3: Turn to your right and walk to the end of the counter, then turn to your left ... | seen |
trial_T20190908_044350_359469-0 | Place a heated mug on the coffee maker. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" 2.25",
" 0.930",
" 1.25",
" 0",
" 270",
" 0",
""
],
[
"1",
" Ladle",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent 2.25 0.930 1.25... | [
"STEP 1: Move to the counter to the right of the stove | STEP 2: Pick up a mug from the counter | STEP 3: Move to the microwave to the right of you | STEP 4: Heat the mug inside the microwave and retrieve it closing the door | STEP 5: Move to the coffee maker to the left of the sink | STEP 6: Place the mug on the c... | [
[
"STEP 1: Move to the counter to the right of the stove ",
" STEP 2: Pick up a mug from the counter ",
" STEP 3: Move to the microwave to the right of you ",
" STEP 4: Heat the mug inside the microwave and retrieve it closing the door ",
" STEP 5: Move to the coffee maker to the left of the sin... | seen |
trial_T20190908_044350_359469-1 | Put a warmed mug under a coffee maker. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" 2.25",
" 0.930",
" 1.25",
" 0",
" 270",
" 0",
""
],
[
"1",
" Ladle",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent 2.25 0.930 1.25... | [
"STEP 1: Go left and then right and stand in front of the toaster. | STEP 2: Pick the mug up from the counter. | STEP 3: Turn and go right to stand in front of the microwave. | STEP 4: Put the mug in the microwave and turn it on and then off and take the mug out and shut the door. | STEP 5: Go left and the left aga... | [
[
"STEP 1: Go left and then right and stand in front of the toaster. ",
" STEP 2: Pick the mug up from the counter. ",
" STEP 3: Turn and go right to stand in front of the microwave. ",
" STEP 4: Put the mug in the microwave and turn it on and then off and take the mug out and shut the door. ",
... | seen |
trial_T20190908_044350_359469-2 | place a hot mug under a coffee maker | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" 2.25",
" 0.930",
" 1.25",
" 0",
" 270",
" 0",
""
],
[
"1",
" Ladle",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent 2.25 0.930 1.25... | [
"STEP 1: move left and locate the gas | STEP 2: pick up the mug from the gas | STEP 3: turn right towards the microwave | STEP 4: place the mug in the microwave to heat for sometime and then take it out | STEP 5: turn around towards the coffee maker | STEP 6: place the mug under the coffee maker | END"
] | [
[
"STEP 1: move left and locate the gas ",
" STEP 2: pick up the mug from the gas ",
" STEP 3: turn right towards the microwave ",
" STEP 4: place the mug in the microwave to heat for sometime and then take it out ",
" STEP 5: turn around towards the coffee maker ",
" STEP 6: place the mug... | seen |
trial_T20190908_132516_106812-0 | To put a spoon in a bowl and place it on the table. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" 0.0",
" 0.900",
" 4.5",
" 0",
" 180",
" 0",
""
],
[
"1",
" Potato",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent 0.0 0.900 4.5 ... | [
"STEP 1: Turn around and walk to the black table. | STEP 2: Pick up the spoon that's behind the fork on the table. | STEP 3: Turn left and walk to the counter to the right of the stove. | STEP 4: Put the spoon inside of the black bowl on the counter. | STEP 5: Pick up the black bowl from the counter. | STEP 6:... | [
[
"STEP 1: Turn around and walk to the black table. ",
" STEP 2: Pick up the spoon that's behind the fork on the table. ",
" STEP 3: Turn left and walk to the counter to the right of the stove. ",
" STEP 4: Put the spoon inside of the black bowl on the counter. ",
" STEP 5: Pick up the black... | seen |
trial_T20190908_132516_106812-1 | Put a bowl with a spoon in it on a round black table. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" 0.0",
" 0.900",
" 4.5",
" 0",
" 180",
" 0",
""
],
[
"1",
" Potato",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent 0.0 0.900 4.5 ... | [
"STEP 1: Turn left and walk over to the oven, then turn left again and walk to the wall, turn left to face the round black table. | STEP 2: Pick up the spoon next to the egg on the round black table. | STEP 3: Walk over to the section of counter to the right of the oven. | STEP 4: Put the spoon in the bowl that is ... | [
[
"STEP 1: Turn left and walk over to the oven, then turn left again and walk to the wall, turn left to face the round black table. ",
" STEP 2: Pick up the spoon next to the egg on the round black table. ",
" STEP 3: Walk over to the section of counter to the right of the oven. ",
" STEP 4: Put the... | seen |
trial_T20190908_132516_106812-2 | Put a spoon in a bowl and place on the table | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" 0.0",
" 0.900",
" 4.5",
" 0",
" 180",
" 0",
""
],
[
"1",
" Potato",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent 0.0 0.900 4.5 ... | [
"STEP 1: Go to the black table | STEP 2: Pick up the spoon | STEP 3: Go to the right of the stove | STEP 4: Put the spoon in the bowl | STEP 5: Pick up the bowl | STEP 6: Go to the black table | STEP 7: Place the bowl down | END"
] | [
[
"STEP 1: Go to the black table ",
" STEP 2: Pick up the spoon ",
" STEP 3: Go to the right of the stove ",
" STEP 4: Put the spoon in the bowl ",
" STEP 5: Pick up the bowl ",
" STEP 6: Go to the black table ",
" STEP 7: Place the bowl down ",
" END"
]
] | seen |
trial_T20190906_191051_769086-0 | Put a frying pan with an ice cream scoop in it in the cabinet. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" 1.0",
" 0.900",
" 3.25",
" 0",
" 180",
" 0",
""
],
[
"1",
" Potato",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent 1.0 0.900 3.25... | [
"STEP 1: Walk forward until the sink is to your right then go walk to the sink but stand slightly to the left of it. | STEP 2: Pick up the ice cream scoop to the left of the sink. | STEP 3: Turn right and walk to the end of the counter on your left then turn right and walk to the wall then turn left to face the tab... | [
[
"STEP 1: Walk forward until the sink is to your right then go walk to the sink but stand slightly to the left of it. ",
" STEP 2: Pick up the ice cream scoop to the left of the sink. ",
" STEP 3: Turn right and walk to the end of the counter on your left then turn right and walk to the wall then turn ... | seen |
trial_T20190906_191051_769086-1 | place a sauce pan with a spoon in it in the kitchen cabinet to the bottom left of the stove | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" 1.0",
" 0.900",
" 3.25",
" 0",
" 180",
" 0",
""
],
[
"1",
" Potato",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent 1.0 0.900 3.25... | [
"STEP 1: walk forwards a bit and hang a right to go over to the kitchen sink | STEP 2: grab a spoon off of the kitchen counter to the left of the sink | STEP 3: turn around and walk over to the kitchen table in the corner of the room | STEP 4: place the spoon inside of the sauce pan | STEP 5: pick up the sauce pan ... | [
[
"STEP 1: walk forwards a bit and hang a right to go over to the kitchen sink ",
" STEP 2: grab a spoon off of the kitchen counter to the left of the sink ",
" STEP 3: turn around and walk over to the kitchen table in the corner of the room ",
" STEP 4: place the spoon inside of the sauce pan ",
... | seen |
trial_T20190906_191051_769086-2 | Put the bowl with spoon into the bottom cabinet next to the stove. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" 1.0",
" 0.900",
" 3.25",
" 0",
" 180",
" 0",
""
],
[
"1",
" Potato",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent 1.0 0.900 3.25... | [
"STEP 1: Move to the sink. | STEP 2: Pick up the spoon from the counter. | STEP 3: Bring the spoon to the white table. | STEP 4: Put the spoon in the black bowl on the right. | STEP 5: Pick up the bowl from the table. | STEP 6: Bring the bowl to the counter next to the stove. | STEP 7: Put the bowl in the bottom... | [
[
"STEP 1: Move to the sink. ",
" STEP 2: Pick up the spoon from the counter. ",
" STEP 3: Bring the spoon to the white table. ",
" STEP 4: Put the spoon in the black bowl on the right. ",
" STEP 5: Pick up the bowl from the table. ",
" STEP 6: Bring the bowl to the counter next to the st... | seen |
trial_T20190906_232622_065156-0 | Place a tray with a candle on it on the coffee table. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -4.75",
" 0.908",
" 2.25",
" 0",
" 270",
" 0",
""
],
[
"1",
" Plate",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -4.75 0.908 2.25... | [
"STEP 1: Turn around and go to the low coffee table that is surrounded by couches. | STEP 2: Pick up the candle that is sitting on the table. | STEP 3: Turn right and go to the head of the large dining table, face the dog statue. | STEP 4: Place the candle on the black place mat that is on the left. | STEP 5: Pick ... | [
[
"STEP 1: Turn around and go to the low coffee table that is surrounded by couches. ",
" STEP 2: Pick up the candle that is sitting on the table. ",
" STEP 3: Turn right and go to the head of the large dining table, face the dog statue. ",
" STEP 4: Place the candle on the black place mat that is o... | seen |
trial_T20190906_232622_065156-1 | Put a place mat with a candle on it on the coffee table. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -4.75",
" 0.908",
" 2.25",
" 0",
" 270",
" 0",
""
],
[
"1",
" Plate",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -4.75 0.908 2.25... | [
"STEP 1: Turn to your left and then turn right to reach the coffee table. | STEP 2: Pick up the candle in front of the remote. | STEP 3: Turn around and go to the left, the turn left to the dining table. | STEP 4: Place the candle on the place mat that is on the table, in front of the left chair. | STEP 5: Pick up ... | [
[
"STEP 1: Turn to your left and then turn right to reach the coffee table. ",
" STEP 2: Pick up the candle in front of the remote. ",
" STEP 3: Turn around and go to the left, the turn left to the dining table. ",
" STEP 4: Place the candle on the place mat that is on the table, in front of the lef... | seen |
trial_T20190906_232622_065156-2 | Put a plate that has a candle on it on the coffee table. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -4.75",
" 0.908",
" 2.25",
" 0",
" 270",
" 0",
""
],
[
"1",
" Plate",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -4.75 0.908 2.25... | [
"STEP 1: Turn right and walk until you are even with a coffee table that's in front of a couch and then turn and face the coffee table and take a step so you are facing the center of the table. | STEP 2: Pick up the candle stick that's on the table in front of you. | STEP 3: Turn around and take a step then turn le... | [
[
"STEP 1: Turn right and walk until you are even with a coffee table that's in front of a couch and then turn and face the coffee table and take a step so you are facing the center of the table. ",
" STEP 2: Pick up the candle stick that's on the table in front of you. ",
" STEP 3: Turn around and take... | seen |
trial_T20190908_231506_139729-0 | Place a cold pan in the sink. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" 1.75",
" 0.900",
" 1.75",
" 0",
" 180",
" 0",
""
],
[
"1",
" CreditCard... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent 1.75 0.900 1.75... | [
"STEP 1: Turn right to move to the fridge, then head left to face the counter above the dishwasher. | STEP 2: Pick up the gray pan from the counter. | STEP 3: Carry the pan to the fridge, which is to your right. | STEP 4: Place the pan on the top shelf in the fridge, close the door, and then remove once cold. | STE... | [
[
"STEP 1: Turn right to move to the fridge, then head left to face the counter above the dishwasher. ",
" STEP 2: Pick up the gray pan from the counter. ",
" STEP 3: Carry the pan to the fridge, which is to your right. ",
" STEP 4: Place the pan on the top shelf in the fridge, close the door, and t... | seen |
trial_T20190908_231506_139729-1 | Put a chilled pot in the sink. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" 1.75",
" 0.900",
" 1.75",
" 0",
" 180",
" 0",
""
],
[
"1",
" CreditCard... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent 1.75 0.900 1.75... | [
"STEP 1: Go right and then left and then turn to the right to face the counter to the left of the coffee maker. | STEP 2: Pick the pot up from the counter. | STEP 3: Go to the right and then turn to the left to face the fridge. | STEP 4: Put the pot in the fridge and shut the door and then open the door and pick th... | [
[
"STEP 1: Go right and then left and then turn to the right to face the counter to the left of the coffee maker. ",
" STEP 2: Pick the pot up from the counter. ",
" STEP 3: Go to the right and then turn to the left to face the fridge. ",
" STEP 4: Put the pot in the fridge and shut the door and the... | seen |
trial_T20190908_231506_139729-2 | put a chilled pot into a sink | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" 1.75",
" 0.900",
" 1.75",
" 0",
" 180",
" 0",
""
],
[
"1",
" CreditCard... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent 1.75 0.900 1.75... | [
"STEP 1: walk to face counter top with coffee maker | STEP 2: pick up pot with handles from the counter top | STEP 3: walk to face fridge | STEP 4: chill pot in fridge, remove pot from fridge | STEP 5: walk over to face sink | STEP 6: put pot into sink | END"
] | [
[
"STEP 1: walk to face counter top with coffee maker ",
" STEP 2: pick up pot with handles from the counter top ",
" STEP 3: walk to face fridge ",
" STEP 4: chill pot in fridge, remove pot from fridge ",
" STEP 5: walk over to face sink ",
" STEP 6: put pot into sink ",
" END"
]
] | seen |
trial_T20190909_033103_667362-0 | To put a credit card inside a box and move the box to the shelf. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -1.0",
" 0.920",
" 5.25",
" 0",
" 270",
" 0",
""
],
[
"1",
" Newspaper"... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -1.0 0.920 5.25... | [
"STEP 1: Walk over to face the coffee table. | STEP 2: Pick up the credit card to the left of the lap top. | STEP 3: Walk over to the open box on the coffee table. | STEP 4: Put the credit card inside of the box. | STEP 5: Pick up the box from the coffee table. | STEP 6: Turn left and walk to the brown shelf. ... | [
[
"STEP 1: Walk over to face the coffee table. ",
" STEP 2: Pick up the credit card to the left of the lap top. ",
" STEP 3: Walk over to the open box on the coffee table. ",
" STEP 4: Put the credit card inside of the box. ",
" STEP 5: Pick up the box from the coffee table. ",
" STEP 6... | seen |
trial_T20190909_033103_667362-1 | Move credit card from table to coffee table, place it in a box, pick up box with credit card, move both to shelf. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -1.0",
" 0.920",
" 5.25",
" 0",
" 270",
" 0",
""
],
[
"1",
" Newspaper"... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -1.0 0.920 5.25... | [
"STEP 1: Turn left, proceed to center of coffee table on right, turn right to face coffee table. | STEP 2: Pick up credit card from table, directly left of tea pot. | STEP 3: Turn right, go to end of coffee table. Turn left then left to face end of coffee table. | STEP 4: Place credit card in box on coffee table. ... | [
[
"STEP 1: Turn left, proceed to center of coffee table on right, turn right to face coffee table. ",
" STEP 2: Pick up credit card from table, directly left of tea pot. ",
" STEP 3: Turn right, go to end of coffee table. Turn left then left to face end of coffee table. ",
" STEP 4: Place credit ca... | seen |
trial_T20190909_033103_667362-2 | Put the cardboard box with credit card on the dark bench | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -1.0",
" 0.920",
" 5.25",
" 0",
" 270",
" 0",
""
],
[
"1",
" Newspaper"... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -1.0 0.920 5.25... | [
"STEP 1: Walk left and forward up to the coffee table | STEP 2: Pick up the blue credit card from the table | STEP 3: Turn right and walk around to face the right side of the coffee table | STEP 4: Put the credit card in the cardboard box on the coffee table | STEP 5: Pick up the cardboard box from the table | STEP... | [
[
"STEP 1: Walk left and forward up to the coffee table ",
" STEP 2: Pick up the blue credit card from the table ",
" STEP 3: Turn right and walk around to face the right side of the coffee table ",
" STEP 4: Put the credit card in the cardboard box on the coffee table ",
" STEP 5: Pick up the c... | seen |
trial_T20190908_231958_358508-0 | put a washed spoon on black shelves | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -1.25",
" 0.869",
" -1.5",
" 0",
" 180",
" 0",
""
],
[
"1",
" ButterKni... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -1.25 0.869 -1.5... | [
"STEP 1: walk to face counter to left of sink | STEP 2: pick up spoon from counter top | STEP 3: walk right to face sink | STEP 4: wash spoon in sink, pick up spoon from sink | STEP 5: walk to face black shelves left of the sink | STEP 6: put spoon onto to of black shelves under the lettuce | END"
] | [
[
"STEP 1: walk to face counter to left of sink ",
" STEP 2: pick up spoon from counter top ",
" STEP 3: walk right to face sink ",
" STEP 4: wash spoon in sink, pick up spoon from sink ",
" STEP 5: walk to face black shelves left of the sink ",
" STEP 6: put spoon onto to of black shelves u... | seen |
trial_T20190908_231958_358508-1 | Put a clean spoon on the black stand. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -1.25",
" 0.869",
" -1.5",
" 0",
" 180",
" 0",
""
],
[
"1",
" ButterKni... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -1.25 0.869 -1.5... | [
"STEP 1: go to the Turn around and go across the kitchen, to the stove, then turn to your right, and go to the counter to the left of the sink. | STEP 2: Pick up the fork on the counter, that is laying across two forks. | STEP 3: Go to the sink to your immediate right. | STEP 4: Place the spoon in the sink, turn... | [
[
"STEP 1: go to the Turn around and go across the kitchen, to the stove, then turn to your right, and go to the counter to the left of the sink. ",
" STEP 2: Pick up the fork on the counter, that is laying across two forks. ",
" STEP 3: Go to the sink to your immediate right. ",
" STEP 4: Place ... | seen |
trial_T20190908_231958_358508-2 | Put a clean spoon on the black table. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -1.25",
" 0.869",
" -1.5",
" 0",
" 180",
" 0",
""
],
[
"1",
" ButterKni... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -1.25 0.869 -1.5... | [
"STEP 1: Turn around go toward the stove, then turn right to face the counter next to the sink. | STEP 2: Pick up the spoon from the counter. | STEP 3: Go to the sink to your right. | STEP 4: Clean the spoon inside of the sink. | STEP 5: Turn around and move forward, then turn right, then turn right again to face t... | [
[
"STEP 1: Turn around go toward the stove, then turn right to face the counter next to the sink. ",
" STEP 2: Pick up the spoon from the counter. ",
" STEP 3: Go to the sink to your right. ",
" STEP 4: Clean the spoon inside of the sink. ",
" STEP 5: Turn around and move forward, then turn righ... | seen |
trial_T20190907_025443_659956-0 | Put away two CD's into the dresser drawer | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" 2.25",
" 0.900",
" 0.25",
" 0",
" 0",
" 0",
""
],
[
"1",
" CD",
" 2... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent 2.25 0.900 0.25... | [
"STEP 1: Turn to your right and go up to the trashcan | STEP 2: Pick up the CD from inside the trashcan | STEP 3: Turn to your left and look at the dresser in front of you | STEP 4: Put the CD into the top dresser drawer | STEP 5: Move forward up to the dresser | STEP 6: Pick up the CD that's on the right side of t... | [
[
"STEP 1: Turn to your right and go up to the trashcan ",
" STEP 2: Pick up the CD from inside the trashcan ",
" STEP 3: Turn to your left and look at the dresser in front of you ",
" STEP 4: Put the CD into the top dresser drawer ",
" STEP 5: Move forward up to the dresser ",
" STEP 6: Pic... | seen |
trial_T20190907_025443_659956-1 | place two CD's in the top drawer of the black cabinet | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" 2.25",
" 0.900",
" 0.25",
" 0",
" 0",
" 0",
""
],
[
"1",
" CD",
" 2... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent 2.25 0.900 0.25... | [
"STEP 1: turn around and walk towards the bed, then turn left and walk to the end of the room where the garbage bin is | STEP 2: grab the CD out of the garbage bin | STEP 3: turn left and walk to the end of the room | STEP 4: place the CD in the top drawer of the black cabinet on your left | STEP 5: move to the lef... | [
[
"STEP 1: turn around and walk towards the bed, then turn left and walk to the end of the room where the garbage bin is ",
" STEP 2: grab the CD out of the garbage bin ",
" STEP 3: turn left and walk to the end of the room ",
" STEP 4: place the CD in the top drawer of the black cabinet on your lef... | seen |
trial_T20190907_025443_659956-2 | Place two CDs in top drawer of black cabinet | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" 2.25",
" 0.900",
" 0.25",
" 0",
" 0",
" 0",
""
],
[
"1",
" CD",
" 2... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent 2.25 0.900 0.25... | [
"STEP 1: turn left, go to trash can to right of door | STEP 2: pick up CD out of trash can | STEP 3: turn to the left, open top drawer of black cabinet with clocks | STEP 4: place CD in top drawer, close drawer | STEP 5: go to front of black cabinet with clock | STEP 6: pick up CD on the right | STEP 7: move back f... | [
[
"STEP 1: turn left, go to trash can to right of door ",
" STEP 2: pick up CD out of trash can ",
" STEP 3: turn to the left, open top drawer of black cabinet with clocks ",
" STEP 4: place CD in top drawer, close drawer ",
" STEP 5: go to front of black cabinet with clock ",
" STEP 6: pick... | seen |
trial_T20190909_125307_108909-0 | Put a chilled piece of sliced lettuce in a green bin. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" 0.0",
" 0.900",
" -1.25",
" 0",
" 180",
" 0",
""
],
[
"1",
" Pan",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent 0.0 0.900 -1.2... | [
"STEP 1: Walk over to the side of the kitchen island behind you. | STEP 2: Pick up the large metal knife off of the kitchen island. | STEP 3: Look down at the kitchen island. | STEP 4: Slice up the closest head of lettuce on the kitchen island. | STEP 5: Turn right and walk around the kitchen island to the green bi... | [
[
"STEP 1: Walk over to the side of the kitchen island behind you. ",
" STEP 2: Pick up the large metal knife off of the kitchen island. ",
" STEP 3: Look down at the kitchen island. ",
" STEP 4: Slice up the closest head of lettuce on the kitchen island. ",
" STEP 5: Turn right and walk around ... | seen |
trial_T20190909_125307_108909-1 | Throw out a chilled slice of lettuce. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" 0.0",
" 0.900",
" -1.25",
" 0",
" 180",
" 0",
""
],
[
"1",
" Pan",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent 0.0 0.900 -1.2... | [
"STEP 1: Turn around and go to the left side of the island. | STEP 2: Pick up the yellow knife from the counter. | STEP 3: Move back away from the island slightly. | STEP 4: Slice the lettuce on the counter. | STEP 5: Turn right and go around the island to the green trash can on the left of the stove. | STEP 6: ... | [
[
"STEP 1: Turn around and go to the left side of the island. ",
" STEP 2: Pick up the yellow knife from the counter. ",
" STEP 3: Move back away from the island slightly. ",
" STEP 4: Slice the lettuce on the counter. ",
" STEP 5: Turn right and go around the island to the green trash can on ... | seen |
trial_T20190909_125307_108909-2 | trash a cool lettuce slice | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" 0.0",
" 0.900",
" -1.25",
" 0",
" 180",
" 0",
""
],
[
"1",
" Pan",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent 0.0 0.900 -1.2... | [
"STEP 1: move around to the table | STEP 2: pick up the knife | STEP 3: move back on the table | STEP 4: slice the lettuce on the table | STEP 5: move ahead to the bin | STEP 6: trash the knife in it | STEP 7: turn around to the table | STEP 8: pick up a slice | STEP 9: head right to the fridge | STEP 10: cool the... | [
[
"STEP 1: move around to the table ",
" STEP 2: pick up the knife ",
" STEP 3: move back on the table ",
" STEP 4: slice the lettuce on the table ",
" STEP 5: move ahead to the bin ",
" STEP 6: trash the knife in it ",
" STEP 7: turn around to the table ",
" STEP 8: pick up a slice... | seen |
trial_T20190906_235727_560816-0 | Heat up a cup of coffee. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -1.75",
" 0.900",
" 2.0",
" 0",
" 270",
" 0",
""
],
[
"1",
" Pan",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -1.75 0.900 2.0 ... | [
"STEP 1: Turn around and head to the coffee-maker on the right. | STEP 2: Pick up the cup from the coffee-maker. | STEP 3: Turn right and head to the microwave on the counter. | STEP 4: Put the cup in the microwave, heat it up, then take it out and close the microwave. | STEP 5: Turn around and head to the coffee-m... | [
[
"STEP 1: Turn around and head to the coffee-maker on the right. ",
" STEP 2: Pick up the cup from the coffee-maker. ",
" STEP 3: Turn right and head to the microwave on the counter. ",
" STEP 4: Put the cup in the microwave, heat it up, then take it out and close the microwave. ",
" STEP 5: Tu... | seen |
trial_T20190906_235727_560816-1 | put a microwaved cup underneath the coffee maker spout | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
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" 270",
" 0",
""
],
[
"1",
" Pan",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -1.75 0.900 2.0 ... | [
"STEP 1: go to the coffee maker on the counter | STEP 2: pick up the cup off of the coffee maker | STEP 3: turn around and walk over to the microwave | STEP 4: place the cup inside the microwave, microwave the cup, and then pick it up again | STEP 5: walk back over to the coffee maker | STEP 6: place the coffee cup... | [
[
"STEP 1: go to the coffee maker on the counter ",
" STEP 2: pick up the cup off of the coffee maker ",
" STEP 3: turn around and walk over to the microwave ",
" STEP 4: place the cup inside the microwave, microwave the cup, and then pick it up again ",
" STEP 5: walk back over to the coffee ma... | seen |
trial_T20190906_235727_560816-2 | Pick up the mug from the coffee machine, heat it in the microwave before returning it to the coffee machine. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
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" rotation_y",
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" parent_receptacle"
],
[
"0",
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" 270",
" 0",
""
],
[
"1",
" Pan",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -1.75 0.900 2.0 ... | [
"STEP 1: Turn left, walk across the kitchen and then turn right so you are standing in front of the countertop. | STEP 2: Pick up the white mug that is under the coffee machine. | STEP 3: Turn right and carry the mug over to the microwave. | STEP 4: Open the microwave, heat the mug in it then remove it and close ... | [
[
"STEP 1: Turn left, walk across the kitchen and then turn right so you are standing in front of the countertop. ",
" STEP 2: Pick up the white mug that is under the coffee machine. ",
" STEP 3: Turn right and carry the mug over to the microwave. ",
" STEP 4: Open the microwave, heat the mug in i... | seen |
trial_T20190906_174942_784666-0 | Put the fork in the pan, put the pan in the sink | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
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[
"0",
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" 0",
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" 0",
""
],
[
"1",
" Pan",
" -... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -2.0 0.899 5.5 ... | [
"STEP 1: Turn around head across the kitchen | STEP 2: Take the fork from the counter | STEP 3: Turn to the left, open the cabinet door under the toaster | STEP 4: Put the fork in the pan in the cabinet | STEP 5: Take the pan out of the cabinet | STEP 6: Turn around, head to the sink | STEP 7: Put the pan in the si... | [
[
"STEP 1: Turn around head across the kitchen ",
" STEP 2: Take the fork from the counter ",
" STEP 3: Turn to the left, open the cabinet door under the toaster ",
" STEP 4: Put the fork in the pan in the cabinet ",
" STEP 5: Take the pan out of the cabinet ",
" STEP 6: Turn around, head to... | seen |
trial_T20190906_174942_784666-1 | put a frying pan and fork into the kitchen sink basin | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
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],
[
"1",
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" -... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -2.0 0.899 5.5 ... | [
"STEP 1: walk through the kitchen, face the counter top to the right of the sink | STEP 2: pick up the fork from the counter top | STEP 3: turn slightly left to face the toaster on the counter top | STEP 4: open the left most cabinet beneath the counter top with the toaster on it, put the fork into the frying pan i... | [
[
"STEP 1: walk through the kitchen, face the counter top to the right of the sink ",
" STEP 2: pick up the fork from the counter top ",
" STEP 3: turn slightly left to face the toaster on the counter top ",
" STEP 4: open the left most cabinet beneath the counter top with the toaster on it, put the... | seen |
trial_T20190906_174942_784666-2 | Place a pan with a fork in it in the sink. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
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],
[
"0",
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""
],
[
"1",
" Pan",
" -... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -2.0 0.899 5.5 ... | [
"STEP 1: Turn around and veer right and walk to the counter to the left of the sink. | STEP 2: Pick up the fork on the counter. | STEP 3: Turn left and look down. | STEP 4: Place the fork in the pan in the bottom left cabinet. | STEP 5: Pick up the pan. | STEP 6: Turn right and walk to the sink. | STEP 7: Place th... | [
[
"STEP 1: Turn around and veer right and walk to the counter to the left of the sink. ",
" STEP 2: Pick up the fork on the counter. ",
" STEP 3: Turn left and look down. ",
" STEP 4: Place the fork in the pan in the bottom left cabinet. ",
" STEP 5: Pick up the pan. ",
" STEP 6: Turn right... | seen |
trial_T20190906_174942_784666-3 | Put the pan and fork into the sink | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
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" rotation_y",
" rotation_z",
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[
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" 0",
" 0",
" 0",
""
],
[
"1",
" Pan",
" -... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -2.0 0.899 5.5 ... | [
"STEP 1: Turn around and walk to the counter to the left of the sink | STEP 2: Pick up the metal fork from the counter | STEP 3: Turn left to open the lower cabinet | STEP 4: Place the fork into the pan that's in the cabinet | STEP 5: Pick up the pan from inside the cabinet | STEP 6: Walk over to the kitchen sink |... | [
[
"STEP 1: Turn around and walk to the counter to the left of the sink ",
" STEP 2: Pick up the metal fork from the counter ",
" STEP 3: Turn left to open the lower cabinet ",
" STEP 4: Place the fork into the pan that's in the cabinet ",
" STEP 5: Pick up the pan from inside the cabinet ",
... | seen |
trial_T20190906_174942_784666-4 | place a pan with a fork into the sink | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
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""
],
[
"1",
" Pan",
" -... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -2.0 0.899 5.5 ... | [
"STEP 1: turn to the left and move towards the stove turning right at the stove | STEP 2: move forward to the counter to the left of the sink and pick up the fork on the left | STEP 3: turn to the left facing the counter that is on the left side of the stove | STEP 4: open the bottom cabinet door that is on the lef... | [
[
"STEP 1: turn to the left and move towards the stove turning right at the stove ",
" STEP 2: move forward to the counter to the left of the sink and pick up the fork on the left ",
" STEP 3: turn to the left facing the counter that is on the left side of the stove ",
" STEP 4: open the bottom cabi... | seen |
trial_T20190906_174942_784666-5 | Place a pan with a fork in it into the sink. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
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""
],
[
"1",
" Pan",
" -... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -2.0 0.899 5.5 ... | [
"STEP 1: Turn around and walk to the right corner of the kitchen, near the sink. | STEP 2: Pick up the fork to the left of the sink in front of the paper towels. | STEP 3: Turn left. | STEP 4: Open the bottom left cabinet. Place the fork in the pan in the cabinet. | STEP 5: Pick up the stack of items. | STEP 6: Tur... | [
[
"STEP 1: Turn around and walk to the right corner of the kitchen, near the sink. ",
" STEP 2: Pick up the fork to the left of the sink in front of the paper towels. ",
" STEP 3: Turn left. ",
" STEP 4: Open the bottom left cabinet. Place the fork in the pan in the cabinet. ",
" STEP 5: Pick up... | seen |
trial_T20190907_162342_304038-0 | Put a phone on a table. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
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" 0",
" 180",
" 0",
""
],
[
"1",
" Bowl",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -1.0 0.900 1.25... | [
"STEP 1: Go left and the to the right to stand on the other side of the bed. | STEP 2: Pick the phone up off of the bed. | STEP 3: Go left again and turn to face the white table. | STEP 4: Put the phone down on the white table. | END"
] | [
[
"STEP 1: Go left and the to the right to stand on the other side of the bed. ",
" STEP 2: Pick the phone up off of the bed. ",
" STEP 3: Go left again and turn to face the white table. ",
" STEP 4: Put the phone down on the white table. ",
" END"
]
] | seen |
trial_T20190907_162342_304038-1 | Move the cell phone to the desk. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
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],
[
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""
],
[
"1",
" Bowl",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -1.0 0.900 1.25... | [
"STEP 1: Turn left, move forward, then turn right, then turn right again to face the bed. | STEP 2: Pick up the cell phone on the bed, to the left of the computer. | STEP 3: Turn around, go forward, then turn right and go to the desk. | STEP 4: Place the cell phone on the desk, to the right of the book. | END"
] | [
[
"STEP 1: Turn left, move forward, then turn right, then turn right again to face the bed. ",
" STEP 2: Pick up the cell phone on the bed, to the left of the computer. ",
" STEP 3: Turn around, go forward, then turn right and go to the desk. ",
" STEP 4: Place the cell phone on the desk, to the rig... | seen |
trial_T20190907_162342_304038-2 | Put a cell phone on the desk. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
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],
[
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" 180",
" 0",
""
],
[
"1",
" Bowl",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -1.0 0.900 1.25... | [
"STEP 1: Go to the side of the bed away from the wall. | STEP 2: Pick up the cell phone on the bed between the pillow and laptop. | STEP 3: Turn and go to the desk in the corner. | STEP 4: Set the cell phone on the desk. | END"
] | [
[
"STEP 1: Go to the side of the bed away from the wall. ",
" STEP 2: Pick up the cell phone on the bed between the pillow and laptop. ",
" STEP 3: Turn and go to the desk in the corner. ",
" STEP 4: Set the cell phone on the desk. ",
" END"
]
] | seen |
trial_T20190907_153222_495628-0 | Place a cold pot on the stove. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
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],
[
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" 0",
" 0",
" 0",
""
],
[
"1",
" Potato",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent 0.5 0.900 0.25... | [
"STEP 1: Turn around and walk to the stove to your right. | STEP 2: Grab the pot on the stove. | STEP 3: Carrying the pot, turn around and walk straight to the fridge. | STEP 4: Chill the pot inside the fridge then take it out. | STEP 5: Turn around and walk straight to the stove with the cold pot. | STEP 6: Place ... | [
[
"STEP 1: Turn around and walk to the stove to your right. ",
" STEP 2: Grab the pot on the stove. ",
" STEP 3: Carrying the pot, turn around and walk straight to the fridge. ",
" STEP 4: Chill the pot inside the fridge then take it out. ",
" STEP 5: Turn around and walk straight to the stove w... | seen |
trial_T20190907_153222_495628-1 | Put a cold pot on the burner. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
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],
[
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" Agent",
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" 0.900",
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" 0",
" 0",
" 0",
""
],
[
"1",
" Potato",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent 0.5 0.900 0.25... | [
"STEP 1: Turn around and walk almost to the counter and then turn right and walk to the stove. | STEP 2: Pick up the pot on the front right burner. | STEP 3: Turn around and walk to the fridge. | STEP 4: Chill the pot in the fridge then get it back out and close the door. | STEP 5: Walk back to the stove. | STEP 6:... | [
[
"STEP 1: Turn around and walk almost to the counter and then turn right and walk to the stove. ",
" STEP 2: Pick up the pot on the front right burner. ",
" STEP 3: Turn around and walk to the fridge. ",
" STEP 4: Chill the pot in the fridge then get it back out and close the door. ",
" STEP 5:... | seen |
trial_T20190907_153222_495628-2 | cool the pot in the refrigerator, put the pot on the stove | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
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" rotation_y",
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[
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" 0.5",
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" 0.25",
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" 0",
" 0",
""
],
[
"1",
" Potato",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent 0.5 0.900 0.25... | [
"STEP 1: turn around, walk to the stove | STEP 2: grab the pot in the rear right | STEP 3: turn around, walk to the refrigerator | STEP 4: put the pot in the refrigerator for a while, take the pot out | STEP 5: turn around, walk to the stove | STEP 6: put the pot on the rear right stove | END"
] | [
[
"STEP 1: turn around, walk to the stove ",
" STEP 2: grab the pot in the rear right ",
" STEP 3: turn around, walk to the refrigerator ",
" STEP 4: put the pot in the refrigerator for a while, take the pot out ",
" STEP 5: turn around, walk to the stove ",
" STEP 6: put the pot on the rear... | seen |
trial_T20190907_153222_495628-3 | Place a chilled pot on the stove top. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
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" Agent",
" 0.5",
" 0.900",
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" 0",
" 0",
" 0",
""
],
[
"1",
" Potato",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent 0.5 0.900 0.25... | [
"STEP 1: Turn around and walk until you are even with the stove to your right then turn right and walk to the stove. | STEP 2: Pick up the pot on the bottom right burner of the stove. | STEP 3: Turn around and walk to the fridge so you are facing the front of it. | STEP 4: Put the pot on the bottom shelf of the fri... | [
[
"STEP 1: Turn around and walk until you are even with the stove to your right then turn right and walk to the stove. ",
" STEP 2: Pick up the pot on the bottom right burner of the stove. ",
" STEP 3: Turn around and walk to the fridge so you are facing the front of it. ",
" STEP 4: Put the pot on ... | seen |
trial_T20190907_153222_495628-4 | Put the chilled pot on the stove | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" 0.5",
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" 0",
" 0",
" 0",
""
],
[
"1",
" Potato",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent 0.5 0.900 0.25... | [
"STEP 1: Turn around and walk over to the stove in the kitchen | STEP 2: Pick up the right most pot from the stove | STEP 3: Turn around and walk up to the fridge | STEP 4: Put the pot into the fridge then remove it | STEP 5: Turn around and walk back to the stove | STEP 6: Put the pot down on the back right stove ... | [
[
"STEP 1: Turn around and walk over to the stove in the kitchen ",
" STEP 2: Pick up the right most pot from the stove ",
" STEP 3: Turn around and walk up to the fridge ",
" STEP 4: Put the pot into the fridge then remove it ",
" STEP 5: Turn around and walk back to the stove ",
" STEP 6: ... | seen |
trial_T20190907_153222_495628-5 | Put a chilled pot on a stove. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" 0.5",
" 0.900",
" 0.25",
" 0",
" 0",
" 0",
""
],
[
"1",
" Potato",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent 0.5 0.900 0.25... | [
"STEP 1: Turn around and right to the stove. | STEP 2: Pick up the pot on the right side. | STEP 3: Turn around and walk to the fridge. | STEP 4: Put the pot in the fridge and close the door. Wait a moment, and then take the pot out. | STEP 5: Turn around and walk back to the stove. | STEP 6: Put the pot on the bac... | [
[
"STEP 1: Turn around and right to the stove. ",
" STEP 2: Pick up the pot on the right side. ",
" STEP 3: Turn around and walk to the fridge. ",
" STEP 4: Put the pot in the fridge and close the door. Wait a moment, and then take the pot out. ",
" STEP 5: Turn around and walk back to the stove... | seen |
trial_T20190907_114616_377252-0 | Put the cleaned plate from under the sink on the wooden self. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -1.0",
" 0.900",
" -0.5",
" 0",
" 180",
" 0",
""
],
[
"1",
" Statue",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -1.0 0.900 -0.5... | [
"STEP 1: Move to the sink to the right of you. | STEP 2: Retrieve a plate from the cabiniet under the sink and close it afterwards. | STEP 3: Move to the middle of the sink in front of you. | STEP 4: Place and clean the plate in the sink with water, turn the water off and pick up the plate. | STEP 5: Move to the co... | [
[
"STEP 1: Move to the sink to the right of you. ",
" STEP 2: Retrieve a plate from the cabiniet under the sink and close it afterwards. ",
" STEP 3: Move to the middle of the sink in front of you. ",
" STEP 4: Place and clean the plate in the sink with water, turn the water off and pick up the plat... | seen |
trial_T20190907_114616_377252-1 | Put a cleaned plate on the middle wooden rack. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -1.0",
" 0.900",
" -0.5",
" 0",
" 180",
" 0",
""
],
[
"1",
" Statue",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -1.0 0.900 -0.5... | [
"STEP 1: Move forward then turn right to face the sink. | STEP 2: Open the cabinet under the sink, pick up the dirty plate in there. | STEP 3: Bring the dirty plate to the sink. | STEP 4: Wash the dirty plate in the sink with water. | STEP 5: Pick up the cleaned plate from the sink, turn around, and move to the w... | [
[
"STEP 1: Move forward then turn right to face the sink. ",
" STEP 2: Open the cabinet under the sink, pick up the dirty plate in there. ",
" STEP 3: Bring the dirty plate to the sink. ",
" STEP 4: Wash the dirty plate in the sink with water. ",
" STEP 5: Pick up the cleaned plate from the si... | seen |
trial_T20190907_114616_377252-2 | Put a washed plate on the shelf. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -1.0",
" 0.900",
" -0.5",
" 0",
" 180",
" 0",
""
],
[
"1",
" Statue",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -1.0 0.900 -0.5... | [
"STEP 1: Turn right to face the sink. | STEP 2: Open the cabinet under the sink and take out a plate. | STEP 3: Move slightly to the right. | STEP 4: Wash the plate in the sink. | STEP 5: Turn around and go to the shelf. | STEP 6: Put the plate on the shelf. | END"
] | [
[
"STEP 1: Turn right to face the sink. ",
" STEP 2: Open the cabinet under the sink and take out a plate. ",
" STEP 3: Move slightly to the right. ",
" STEP 4: Wash the plate in the sink. ",
" STEP 5: Turn around and go to the shelf. ",
" STEP 6: Put the plate on the shelf. ",
" END"
... | seen |
trial_T20190907_114616_377252-3 | Put a cleaned plate on the wooden shelf. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
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" 0.900",
" -0.5",
" 0",
" 180",
" 0",
""
],
[
"1",
" Statue",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -1.0 0.900 -0.5... | [
"STEP 1: Move to the sink to the right | STEP 2: Get dirty plate from the cabinet | STEP 3: Move to the front of the sink | STEP 4: Clean plate in the sink | STEP 5: Move to the wooden self to the left of the stove | STEP 6: Put plate on the shelf | END"
] | [
[
"STEP 1: Move to the sink to the right ",
" STEP 2: Get dirty plate from the cabinet ",
" STEP 3: Move to the front of the sink ",
" STEP 4: Clean plate in the sink ",
" STEP 5: Move to the wooden self to the left of the stove ",
" STEP 6: Put plate on the shelf ",
" END"
]
] | seen |
trial_T20190907_114616_377252-4 | Put a clean plate on a shelf. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
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],
[
"0",
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" 0",
" 180",
" 0",
""
],
[
"1",
" Statue",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -1.0 0.900 -0.5... | [
"STEP 1: Turn right to face the sink. | STEP 2: Open the cabinet below the sink and take out the plate. | STEP 3: Back up from the cupboard and focus on the sink. | STEP 4: Put the plate in the sink and turn the water on and then off and pick the plate up again. | STEP 5: Turn around and cross the room to face the ... | [
[
"STEP 1: Turn right to face the sink. ",
" STEP 2: Open the cabinet below the sink and take out the plate. ",
" STEP 3: Back up from the cupboard and focus on the sink. ",
" STEP 4: Put the plate in the sink and turn the water on and then off and pick the plate up again. ",
" STEP 5: Turn arou... | seen |
trial_T20190907_114616_377252-5 | Place a clean plate on a shelf | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
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" 0",
" 180",
" 0",
""
],
[
"1",
" Statue",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -1.0 0.900 -0.5... | [
"STEP 1: Head to the sink that is ahead of you on your right. | STEP 2: Open the cabinet that is under the sink and pick up the dirty plate that is inside, then close the cabinet | STEP 3: Step left and continue to face the sink | STEP 4: Place the plate into the sink and turn on the faucet, then turn off the fauce... | [
[
"STEP 1: Head to the sink that is ahead of you on your right. ",
" STEP 2: Open the cabinet that is under the sink and pick up the dirty plate that is inside, then close the cabinet ",
" STEP 3: Step left and continue to face the sink ",
" STEP 4: Place the plate into the sink and turn on the fauc... | seen |
trial_T20190907_020130_917725-0 | place a cup with a knife in it down on the table | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -1.75",
" 0.900",
" 3.25",
" 0",
" 0",
" 0",
""
],
[
"1",
" Pan",
"... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -1.75 0.900 3.25... | [
"STEP 1: turn around and walk over to the kitchen counter left of the stove | STEP 2: grab the butter knife off of the stove | STEP 3: turn around and walk over to the kitchen sink right of the fridge | STEP 4: place the knife inside of the cup in the sink | STEP 5: grab the cup out of the sink with the knife in it... | [
[
"STEP 1: turn around and walk over to the kitchen counter left of the stove ",
" STEP 2: grab the butter knife off of the stove ",
" STEP 3: turn around and walk over to the kitchen sink right of the fridge ",
" STEP 4: place the knife inside of the cup in the sink ",
" STEP 5: grab the cup ou... | seen |
trial_T20190907_020130_917725-1 | Move a glass with a knife in it to the table. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
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" 0.900",
" 3.25",
" 0",
" 0",
" 0",
""
],
[
"1",
" Pan",
"... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -1.75 0.900 3.25... | [
"STEP 1: Turn around. Go to the counter to the left of the stove. | STEP 2: Pick up the knife on the counter. | STEP 3: Turn around and go to the sink. | STEP 4: Put the knife in the glass in the sink on the right. | STEP 5: Pick up the glass that is in the sink. | STEP 6: Turn around and go to the table. | STEP 7... | [
[
"STEP 1: Turn around. Go to the counter to the left of the stove. ",
" STEP 2: Pick up the knife on the counter. ",
" STEP 3: Turn around and go to the sink. ",
" STEP 4: Put the knife in the glass in the sink on the right. ",
" STEP 5: Pick up the glass that is in the sink. ",
" STEP 6: ... | seen |
trial_T20190907_020130_917725-2 | Place a wine glass containing a knife onto a table. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -1.75",
" 0.900",
" 3.25",
" 0",
" 0",
" 0",
""
],
[
"1",
" Pan",
"... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -1.75 0.900 3.25... | [
"STEP 1: Turn to your right and walk to the cabinet that is to the left of the stove. | STEP 2: Pick up the knife that is on the counter. | STEP 3: Turn to your left and walk to the sink. | STEP 4: Place the knife into the wine glass that is sitting in the sink. | STEP 5: Pick up the wine glass containing the k... | [
[
"STEP 1: Turn to your right and walk to the cabinet that is to the left of the stove. ",
" STEP 2: Pick up the knife that is on the counter. ",
" STEP 3: Turn to your left and walk to the sink. ",
" STEP 4: Place the knife into the wine glass that is sitting in the sink. ",
" STEP 5: Pick ... | seen |
trial_T20190907_085506_779931-0 | put the fork from the sink to the cup in the refrigerator, move the cup to the table by it | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -0.5",
" 1.124",
" 2.0",
" 0",
" 180",
" 0",
""
],
[
"1",
" DishSponge"... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -0.5 1.124 2.0 ... | [
"STEP 1: walk straight, to the sink on the right | STEP 2: grab the fork from the sink | STEP 3: turn right, walk to the end, turn right, walk to the refrigerator | STEP 4: open the refrigerator, put the fork in the white cup | STEP 5: take the white cup out of refrigerator, close the refrigerator | STEP 6: turn ri... | [
[
"STEP 1: walk straight, to the sink on the right ",
" STEP 2: grab the fork from the sink ",
" STEP 3: turn right, walk to the end, turn right, walk to the refrigerator ",
" STEP 4: open the refrigerator, put the fork in the white cup ",
" STEP 5: take the white cup out of refrigerator, close ... | seen |
trial_T20190907_085506_779931-1 | Put a cold mug with a fork in it on a table next to a microwave. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -0.5",
" 1.124",
" 2.0",
" 0",
" 180",
" 0",
""
],
[
"1",
" DishSponge"... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -0.5 1.124 2.0 ... | [
"STEP 1: Go forward, turn right at the sink. | STEP 2: Pick up the fork from the sink. | STEP 3: Turn right, bring the fork to the fridge on the right. | STEP 4: Put the fork in the mug in the fridge. | STEP 5: Pick up the mug with fork in the fridge. | STEP 6: Turn right, move to the microwave, turn left to fa... | [
[
"STEP 1: Go forward, turn right at the sink. ",
" STEP 2: Pick up the fork from the sink. ",
" STEP 3: Turn right, bring the fork to the fridge on the right. ",
" STEP 4: Put the fork in the mug in the fridge. ",
" STEP 5: Pick up the mug with fork in the fridge. ",
" STEP 6: Turn righ... | seen |
trial_T20190907_085506_779931-2 | Put a cup with a fork in it on the counter. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -0.5",
" 1.124",
" 2.0",
" 0",
" 180",
" 0",
""
],
[
"1",
" DishSponge"... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -0.5 1.124 2.0 ... | [
"STEP 1: Go straight, then turn right at the sink. | STEP 2: Take the fork from the sink. | STEP 3: Turn right, go straight, then turn right to go to the fridge. | STEP 4: Put the fork in the cup in the fridge. | STEP 5: Take the cup from the fridge. | STEP 6: Go to the counter to the right with the microwave on it... | [
[
"STEP 1: Go straight, then turn right at the sink. ",
" STEP 2: Take the fork from the sink. ",
" STEP 3: Turn right, go straight, then turn right to go to the fridge. ",
" STEP 4: Put the fork in the cup in the fridge. ",
" STEP 5: Take the cup from the fridge. ",
" STEP 6: Go to the coun... | seen |
trial_T20190907_085506_779931-3 | put a chilled coffee mug with a fork inside on to the microwave stand | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -0.5",
" 1.124",
" 2.0",
" 0",
" 180",
" 0",
""
],
[
"1",
" DishSponge"... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -0.5 1.124 2.0 ... | [
"STEP 1: move forward and turn to the right to face the sink | STEP 2: remove the fork that is in the sink | STEP 3: turn right, move forward to the end of the room, make a right and move to the fridge | STEP 4: open the fridge and put the fork into the coffee mug on the left top shelf | STEP 5: remove the coffee m... | [
[
"STEP 1: move forward and turn to the right to face the sink ",
" STEP 2: remove the fork that is in the sink ",
" STEP 3: turn right, move forward to the end of the room, make a right and move to the fridge ",
" STEP 4: open the fridge and put the fork into the coffee mug on the left top shelf ",... | seen |
trial_T20190907_085506_779931-4 | Put away the fork and mug next to the microwave. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -0.5",
" 1.124",
" 2.0",
" 0",
" 180",
" 0",
""
],
[
"1",
" DishSponge"... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -0.5 1.124 2.0 ... | [
"STEP 1: Walk straight to the sink on the right. | STEP 2: Take the fork out of the sink. | STEP 3: Turn right and go to the fridge. | STEP 4: Open the fridge, put the fork in the mug. | STEP 5: Take the mug and fork out of the fridge. | STEP 6: Turn right near the microwave. | STEP 7: Set the fork and mug next to ... | [
[
"STEP 1: Walk straight to the sink on the right. ",
" STEP 2: Take the fork out of the sink. ",
" STEP 3: Turn right and go to the fridge. ",
" STEP 4: Open the fridge, put the fork in the mug. ",
" STEP 5: Take the mug and fork out of the fridge. ",
" STEP 6: Turn right near the microwave... | seen |
trial_T20190907_085506_779931-5 | Place a fork in a cup and take them to the counter. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -0.5",
" 1.124",
" 2.0",
" 0",
" 180",
" 0",
""
],
[
"1",
" DishSponge"... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -0.5 1.124 2.0 ... | [
"STEP 1: Go forward and then right to face the sink. | STEP 2: Pick up the fork from inside the sink. | STEP 3: Carry the fork and turn to the right and the right again to find the fridge. | STEP 4: Open the fridge and place the fork in a cup. | STEP 5: Take the cup and fork out of the fridge and shut the door. | S... | [
[
"STEP 1: Go forward and then right to face the sink. ",
" STEP 2: Pick up the fork from inside the sink. ",
" STEP 3: Carry the fork and turn to the right and the right again to find the fridge. ",
" STEP 4: Open the fridge and place the fork in a cup. ",
" STEP 5: Take the cup and fork out of... | seen |
trial_T20190907_051900_451316-0 | Place a pen on top of a small table. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -1.0",
" 0.937",
" -1.25",
" 0",
" 90",
" 0",
""
],
[
"1",
" Pen",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -1.0 0.937 -1.2... | [
"STEP 1: Walk straight, turn right to face the drawer, walk straight to the drawer. | STEP 2: Pick up the pen on top of the drawer. | STEP 3: Turn around to face the bed, walk straight to the sofa seat, turn right when you reach the sofa seat and walk straight to the small table. | STEP 4: Place the pen on top of t... | [
[
"STEP 1: Walk straight, turn right to face the drawer, walk straight to the drawer. ",
" STEP 2: Pick up the pen on top of the drawer. ",
" STEP 3: Turn around to face the bed, walk straight to the sofa seat, turn right when you reach the sofa seat and walk straight to the small table. ",
" STEP 4... | seen |
trial_T20190907_051900_451316-1 | Grab a pen off of the dresser and place it on the bedside table. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -1.0",
" 0.937",
" -1.25",
" 0",
" 90",
" 0",
""
],
[
"1",
" Pen",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -1.0 0.937 -1.2... | [
"STEP 1: Turn to the right and walk up to the dresser. | STEP 2: Pick up the pen off of the top of the dresser. | STEP 3: Turn around and walk to the other side of the room, making a right when you reach the chair, then walk until you make it to the bedside table. | STEP 4: Place the pen onto the round bedside t... | [
[
"STEP 1: Turn to the right and walk up to the dresser. ",
" STEP 2: Pick up the pen off of the top of the dresser. ",
" STEP 3: Turn around and walk to the other side of the room, making a right when you reach the chair, then walk until you make it to the bedside table. ",
" STEP 4: Place the p... | seen |
trial_T20190907_051900_451316-2 | Place a pen on a small table. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -1.0",
" 0.937",
" -1.25",
" 0",
" 90",
" 0",
""
],
[
"1",
" Pen",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -1.0 0.937 -1.2... | [
"STEP 1: Turn right and cross the room to the white desk. | STEP 2: Pick up the black pen to the right of the silver plant vase. | STEP 3: Turn around, cross to the black chair, hang a right to the brown woven basket and turn right to face the small table. | STEP 4: Place the pen on the table in front of the red ca... | [
[
"STEP 1: Turn right and cross the room to the white desk. ",
" STEP 2: Pick up the black pen to the right of the silver plant vase. ",
" STEP 3: Turn around, cross to the black chair, hang a right to the brown woven basket and turn right to face the small table. ",
" STEP 4: Place the pen on the t... | seen |
trial_T20190909_065845_651712-0 | Put the keys on the couch | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" 0.75",
" 0.900",
" 1.25",
" 0",
" 270",
" 0",
""
],
[
"1",
" KeyChain",... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent 0.75 0.900 1.25... | [
"STEP 1: Turn left, turn right, move forward, and then turn left to face the table. | STEP 2: Pick up the keys from the table | STEP 3: Turn around and walk toward the couch | STEP 4: Set the keys on the couch | END"
] | [
[
"STEP 1: Turn left, turn right, move forward, and then turn left to face the table. ",
" STEP 2: Pick up the keys from the table ",
" STEP 3: Turn around and walk toward the couch ",
" STEP 4: Set the keys on the couch ",
" END"
]
] | seen |
trial_T20190909_065845_651712-1 | Put the keys on the sofa | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" 0.75",
" 0.900",
" 1.25",
" 0",
" 270",
" 0",
""
],
[
"1",
" KeyChain",... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent 0.75 0.900 1.25... | [
"STEP 1: Walk forward left around the front side of the ottoman then turn right to face it | STEP 2: Pick up the keys from the ottoman | STEP 3: Turn right and walk to the small sofa | STEP 4: Put the keys down on the sofa | END"
] | [
[
"STEP 1: Walk forward left around the front side of the ottoman then turn right to face it ",
" STEP 2: Pick up the keys from the ottoman ",
" STEP 3: Turn right and walk to the small sofa ",
" STEP 4: Put the keys down on the sofa ",
" END"
]
] | seen |
trial_T20190909_065845_651712-2 | place the keys down on top of the sofa | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" 0.75",
" 0.900",
" 1.25",
" 0",
" 270",
" 0",
""
],
[
"1",
" KeyChain",... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent 0.75 0.900 1.25... | [
"STEP 1: walk to the front of the foot rest in front of you | STEP 2: grab the keys off of the foot rest | STEP 3: turn around and walk over to the right side of the sofa | STEP 4: place the keys down on top of the sofa | END"
] | [
[
"STEP 1: walk to the front of the foot rest in front of you ",
" STEP 2: grab the keys off of the foot rest ",
" STEP 3: turn around and walk over to the right side of the sofa ",
" STEP 4: place the keys down on top of the sofa ",
" END"
]
] | seen |
trial_T20190909_020944_661299-0 | Place a clean spatula on a table. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -1.0",
" 0.900",
" 2.75",
" 0",
" 90",
" 0",
""
],
[
"1",
" Potato",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -1.0 0.900 2.75... | [
"STEP 1: Turn around and walk to the right side of the white table with the coffee maker on it. | STEP 2: Pick up the spatula on the table. | STEP 3: Turn left and walk to the sink. | STEP 4: Rinse off the spatula in the left sink. | STEP 5: Turn around and walk back to the white table, this time the front part. |... | [
[
"STEP 1: Turn around and walk to the right side of the white table with the coffee maker on it. ",
" STEP 2: Pick up the spatula on the table. ",
" STEP 3: Turn left and walk to the sink. ",
" STEP 4: Rinse off the spatula in the left sink. ",
" STEP 5: Turn around and walk back to the white ... | seen |
trial_T20190909_020944_661299-1 | Stand a clean spatula next to the sponge on the small table. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -1.0",
" 0.900",
" 2.75",
" 0",
" 90",
" 0",
""
],
[
"1",
" Potato",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -1.0 0.900 2.75... | [
"STEP 1: Turn around and walk to the small table to your left. | STEP 2: Grab the spatula between the lettuce and coffee maker on the table. | STEP 3: Turn left and walk to the sinks straight ahead. | STEP 4: Place the spatula in the left sink, wash it and remove it. | STEP 5: Turn right, walk straight, make a quic... | [
[
"STEP 1: Turn around and walk to the small table to your left. ",
" STEP 2: Grab the spatula between the lettuce and coffee maker on the table. ",
" STEP 3: Turn left and walk to the sinks straight ahead. ",
" STEP 4: Place the spatula in the left sink, wash it and remove it. ",
" STEP 5: Turn... | seen |
trial_T20190909_020944_661299-2 | Wash the wooden spoon and place it back on the white table in the kitchen. | [
[
"id",
" object_type",
" position_x",
" position_y",
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" rotation_y",
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],
[
"0",
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" -1.0",
" 0.900",
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" 0",
" 90",
" 0",
""
],
[
"1",
" Potato",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -1.0 0.900 2.75... | [
"STEP 1: Turn left and walk towards the white table. | STEP 2: Pick up the wooden spoon at the edge of the table. | STEP 3: Turn left and walk towards the kitchen sink. | STEP 4: Place the wooden spoon inside the sink and turn on the faucet, then turn it off and pick up the spoon. | STEP 5: Turn around and walk... | [
[
"STEP 1: Turn left and walk towards the white table. ",
" STEP 2: Pick up the wooden spoon at the edge of the table. ",
" STEP 3: Turn left and walk towards the kitchen sink. ",
" STEP 4: Place the wooden spoon inside the sink and turn on the faucet, then turn it off and pick up the spoon. ",
... | seen |
trial_T20190908_211208_027116-0 | Put a chilled slice of lettuce in the trash can. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" 2.5",
" 0.930",
" -0.25",
" 0",
" 180",
" 0",
""
],
[
"1",
" Potato",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent 2.5 0.930 -0.2... | [
"STEP 1: Turn and go to the center counter. | STEP 2: Pick up a butter knife on the counter. | STEP 3: Turn and go to the counter by the sink. | STEP 4: Cut the lettuce on the counter. | STEP 5: Put the butter knife on the counter. | STEP 6: Pick up a slice of lettuce on the counter. | STEP 7: Turn and go to the... | [
[
"STEP 1: Turn and go to the center counter. ",
" STEP 2: Pick up a butter knife on the counter. ",
" STEP 3: Turn and go to the counter by the sink. ",
" STEP 4: Cut the lettuce on the counter. ",
" STEP 5: Put the butter knife on the counter. ",
" STEP 6: Pick up a slice of lettuce on t... | seen |
trial_T20190908_211208_027116-1 | Put the chilled sliced cabbage in the trash bin | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" 2.5",
" 0.930",
" -0.25",
" 0",
" 180",
" 0",
""
],
[
"1",
" Potato",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent 2.5 0.930 -0.2... | [
"STEP 1: Turn right walk forward then turn right facing the side of island | STEP 2: Pick up the bread knife on the island | STEP 3: Turn right walk straight head to the sink counter | STEP 4: Slice the cabbage on the counter | STEP 5: Put the knife on the left side of the counter | STEP 6: Pick up a sliced cabbage... | [
[
"STEP 1: Turn right walk forward then turn right facing the side of island ",
" STEP 2: Pick up the bread knife on the island ",
" STEP 3: Turn right walk straight head to the sink counter ",
" STEP 4: Slice the cabbage on the counter ",
" STEP 5: Put the knife on the left side of the counter ... | seen |
trial_T20190908_211208_027116-2 | Cut a slide of lettuce, chill it, and place in recycling bin. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" 2.5",
" 0.930",
" -0.25",
" 0",
" 180",
" 0",
""
],
[
"1",
" Potato",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent 2.5 0.930 -0.2... | [
"STEP 1: Face the door and turn right. Walk to the other side of the room where the lettuce is sitting on the counter. Turn right at the lettuce. Walk to the edge of the counter on the right. Turn and face the counter on the right. | STEP 2: Grab the knife directly in front. | STEP 3: Turn right and then turn... | [
[
"STEP 1: Face the door and turn right. Walk to the other side of the room where the lettuce is sitting on the counter. Turn right at the lettuce. Walk to the edge of the counter on the right. Turn and face the counter on the right. ",
" STEP 2: Grab the knife directly in front. ",
" STEP 3: Turn... | seen |
trial_T20190907_222321_153992-0 | put a newspaper on a chair | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" 0.0",
" 0.900",
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" 0",
" 0",
" 0",
""
],
[
"1",
" TissueBox",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent 0.0 0.900 -0.2... | [
"STEP 1: turn around, face dark red shelves with a box on to | STEP 2: pick up a news paper from the second shelf of the shelves | STEP 3: turn around, walk to face the green chairs opposite the shelves | STEP 4: put the paper on the chair on the left side | END"
] | [
[
"STEP 1: turn around, face dark red shelves with a box on to ",
" STEP 2: pick up a news paper from the second shelf of the shelves ",
" STEP 3: turn around, walk to face the green chairs opposite the shelves ",
" STEP 4: put the paper on the chair on the left side ",
" END"
]
] | seen |
trial_T20190907_222321_153992-1 | Put a newspaper on the chair. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" 0.0",
" 0.900",
" -0.25",
" 0",
" 0",
" 0",
""
],
[
"1",
" TissueBox",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent 0.0 0.900 -0.2... | [
"STEP 1: Turn around to face the wooden shelf. | STEP 2: Pick up the newspaper on the shelf. | STEP 3: Turn around, bring the newspaper to the green chair. | STEP 4: Put the newspaper down on the chair. | END"
] | [
[
"STEP 1: Turn around to face the wooden shelf. ",
" STEP 2: Pick up the newspaper on the shelf. ",
" STEP 3: Turn around, bring the newspaper to the green chair. ",
" STEP 4: Put the newspaper down on the chair. ",
" END"
]
] | seen |
trial_T20190907_222321_153992-2 | To move the newspaper from the shelf to the chair. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" 0.0",
" 0.900",
" -0.25",
" 0",
" 0",
" 0",
""
],
[
"1",
" TissueBox",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent 0.0 0.900 -0.2... | [
"STEP 1: Turn to the left and take a step. Turn left so you are facing the box on the shelf. | STEP 2: Pick up the newspaper that is sitting on the shelf. | STEP 3: Raise it up and turn right to take a step. Then turn right and take a few steps towards the green chair. | STEP 4: Place the newspaper on the left side... | [
[
"STEP 1: Turn to the left and take a step. Turn left so you are facing the box on the shelf. ",
" STEP 2: Pick up the newspaper that is sitting on the shelf. ",
" STEP 3: Raise it up and turn right to take a step. Then turn right and take a few steps towards the green chair. ",
" STEP 4: Place the... | seen |
trial_T20190907_101146_455210-0 | Put two loafs of bread in the fridge. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" 3.75",
" 0.900",
" -0.5",
" 0",
" 0",
" 0",
""
],
[
"1",
" Potato",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent 3.75 0.900 -0.5... | [
"STEP 1: Move to the dining table past the fridge on the right. | STEP 2: Pick up a loaf of bread from the table. | STEP 3: Move to the fridge to the left around the corner. | STEP 4: Put the bread in the fridge and close the door. | STEP 5: Move to the counter to the right of the sink. | STEP 6: Pick up the bread ... | [
[
"STEP 1: Move to the dining table past the fridge on the right. ",
" STEP 2: Pick up a loaf of bread from the table. ",
" STEP 3: Move to the fridge to the left around the corner. ",
" STEP 4: Put the bread in the fridge and close the door. ",
" STEP 5: Move to the counter to the right of the ... | seen |
trial_T20190907_101146_455210-1 | Place two loaves of bread into the refrigerator | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" 3.75",
" 0.900",
" -0.5",
" 0",
" 0",
" 0",
""
],
[
"1",
" Potato",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent 3.75 0.900 -0.5... | [
"STEP 1: advance to the shelf, turn left, and cross the room to the round table | STEP 2: take the loaf of bread from the center of the table | STEP 3: turn around, and cross the room to the refrigerator. Stop and face the refrigerator doors | STEP 4: open the refrigerator door, place the bread on the shelf next to... | [
[
"STEP 1: advance to the shelf, turn left, and cross the room to the round table ",
" STEP 2: take the loaf of bread from the center of the table ",
" STEP 3: turn around, and cross the room to the refrigerator. Stop and face the refrigerator doors ",
" STEP 4: open the refrigerator door, place the... | seen |
trial_T20190907_101146_455210-2 | Put the two loafs of bread in the fridge. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" 3.75",
" 0.900",
" -0.5",
" 0",
" 0",
" 0",
""
],
[
"1",
" Potato",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent 3.75 0.900 -0.5... | [
"STEP 1: Go straight then turn left, then go straight and turn right at the table. | STEP 2: Pick up the bread from the table, in front of the plant. | STEP 3: Turn around and go to the fridge to your left. | STEP 4: Put the bread in the fridge. | STEP 5: Turn around, go straight, then turn right to the counter. | ... | [
[
"STEP 1: Go straight then turn left, then go straight and turn right at the table. ",
" STEP 2: Pick up the bread from the table, in front of the plant. ",
" STEP 3: Turn around and go to the fridge to your left. ",
" STEP 4: Put the bread in the fridge. ",
" STEP 5: Turn around, go straight, ... | seen |
trial_T20190907_101146_455210-3 | Move two loaves of bread into the fridge. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" 3.75",
" 0.900",
" -0.5",
" 0",
" 0",
" 0",
""
],
[
"1",
" Potato",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent 3.75 0.900 -0.5... | [
"STEP 1: Walk over to the wooden shelving unit, then hang a left and walk across the room to the round wooden table in the far corner of the room. | STEP 2: Pick up the loaf of bread that is closest to the metal spoon on the round wooden table. | STEP 3: Turn around and begin walking forward, then hang a left and w... | [
[
"STEP 1: Walk over to the wooden shelving unit, then hang a left and walk across the room to the round wooden table in the far corner of the room. ",
" STEP 2: Pick up the loaf of bread that is closest to the metal spoon on the round wooden table. ",
" STEP 3: Turn around and begin walking forward, th... | seen |
trial_T20190907_101146_455210-4 | Put two loaves of bread in the refrigerator. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" 3.75",
" 0.900",
" -0.5",
" 0",
" 0",
" 0",
""
],
[
"1",
" Potato",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent 3.75 0.900 -0.5... | [
"STEP 1: Walk a few steps, turn left, cross the room, go to the table to the right. | STEP 2: Pick up the loaf a bread by the spoon. | STEP 3: Turn around, walk to the stool, turn left, walk to the refrigerator. | STEP 4: Put the bread next to the plate in the refrigerator. | STEP 5: Turn around, walk to the si... | [
[
"STEP 1: Walk a few steps, turn left, cross the room, go to the table to the right. ",
" STEP 2: Pick up the loaf a bread by the spoon. ",
" STEP 3: Turn around, walk to the stool, turn left, walk to the refrigerator. ",
" STEP 4: Put the bread next to the plate in the refrigerator. ",
" S... | seen |
trial_T20190907_212223_428030-0 | Put a cold bread in the trash can | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -0.25",
" 0.900",
" 3.25",
" 0",
" 0",
" 0",
""
],
[
"1",
" Pan",
"... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -0.25 0.900 3.25... | [
"STEP 1: Walk slightly to the right towards the round white table and turn right at the cabinet. walk straight pass the cabinet, turn slightly to the left and turn left again to go to the stove. | STEP 2: Pick up the knife on the counter top next to the stove. | STEP 3: Turn right, walk straight towards the whit... | [
[
"STEP 1: Walk slightly to the right towards the round white table and turn right at the cabinet. walk straight pass the cabinet, turn slightly to the left and turn left again to go to the stove. ",
" STEP 2: Pick up the knife on the counter top next to the stove. ",
" STEP 3: Turn right, walk strai... | seen |
trial_T20190907_212223_428030-1 | Throw away a chilled slice of bread in the trash can | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -0.25",
" 0.900",
" 3.25",
" 0",
" 0",
" 0",
""
],
[
"1",
" Pan",
"... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -0.25 0.900 3.25... | [
"STEP 1: Turn around and go to the counter on the left of the stove. | STEP 2: Pick up the gray knife on the counter. | STEP 3: Turn around and go to the white round table on the opposite side. | STEP 4: Slice the bread behind the two white cups closer to the edge of the table. | STEP 5: Turn left and go to the t... | [
[
"STEP 1: Turn around and go to the counter on the left of the stove. ",
" STEP 2: Pick up the gray knife on the counter. ",
" STEP 3: Turn around and go to the white round table on the opposite side. ",
" STEP 4: Slice the bread behind the two white cups closer to the edge of the table. ",
"... | seen |
trial_T20190907_212223_428030-2 | Put a cold slice of bread in the garbage can. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -0.25",
" 0.900",
" 3.25",
" 0",
" 0",
" 0",
""
],
[
"1",
" Pan",
"... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -0.25 0.900 3.25... | [
"STEP 1: Turn around and walk across the kitchen to the stove. | STEP 2: Pick up the knife on the counter to the left of the stove. | STEP 3: Turn around and walk back across the kitchen, when you reach the end of the counter turn right and walk to the front of the table so that you are facing the window. | STEP... | [
[
"STEP 1: Turn around and walk across the kitchen to the stove. ",
" STEP 2: Pick up the knife on the counter to the left of the stove. ",
" STEP 3: Turn around and walk back across the kitchen, when you reach the end of the counter turn right and walk to the front of the table so that you are facing... | seen |
trial_T20190909_050420_341473-0 | To place the apple and knife in a pan on the counter | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" 0.0",
" 0.900",
" 0.25",
" 0",
" 0",
" 0",
""
],
[
"1",
" Pan",
" -... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent 0.0 0.900 0.25... | [
"STEP 1: Look down and turn around and walk towards the sink then turn left | STEP 2: pick up the knife that is on the counter | STEP 3: hold the knife and turn right then another right then walk forward then turn left towards the counter | STEP 4: Look at the floor | STEP 5: then turn left walk forward and turn ri... | [
[
"STEP 1: Look down and turn around and walk towards the sink then turn left ",
" STEP 2: pick up the knife that is on the counter ",
" STEP 3: hold the knife and turn right then another right then walk forward then turn left towards the counter ",
" STEP 4: Look at the floor ",
" STEP 5: then ... | seen |
trial_T20190909_050420_341473-1 | Put a pan with an apple slice and butter knife inside on the counter. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" 0.0",
" 0.900",
" 0.25",
" 0",
" 0",
" 0",
""
],
[
"1",
" Pan",
" -... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent 0.0 0.900 0.25... | [
"STEP 1: Turn around and go to the counter above the dishwasher. | STEP 2: Pick up the butter knife on the back of the counter. | STEP 3: Go to the counter to the right of the stove. | STEP 4: Slice the apple on the counter. | STEP 5: Go to the stove. | STEP 6: Set the butter knife down in the pan on the back left ... | [
[
"STEP 1: Turn around and go to the counter above the dishwasher. ",
" STEP 2: Pick up the butter knife on the back of the counter. ",
" STEP 3: Go to the counter to the right of the stove. ",
" STEP 4: Slice the apple on the counter. ",
" STEP 5: Go to the stove. ",
" STEP 6: Set the butte... | seen |
trial_T20190909_050420_341473-2 | Place a knife and apple slice in pan and place on counter. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" 0.0",
" 0.900",
" 0.25",
" 0",
" 0",
" 0",
""
],
[
"1",
" Pan",
" -... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent 0.0 0.900 0.25... | [
"STEP 1: Turn and go to the counter that is to the right of the dishwasher. | STEP 2: Pick up the knife that is on the shelf on the back of the counter between the bottle of lotion and the grey cup. | STEP 3: With the knife in hand turn and go to the counter to the right of the stove. | STEP 4: Slice the apple in t... | [
[
"STEP 1: Turn and go to the counter that is to the right of the dishwasher. ",
" STEP 2: Pick up the knife that is on the shelf on the back of the counter between the bottle of lotion and the grey cup. ",
" STEP 3: With the knife in hand turn and go to the counter to the right of the stove. ",
" S... | seen |
trial_T20190907_002229_910284-0 | place the mug with the fork in the sink | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -1.75",
" 0.900",
" -0.5",
" 0",
" 180",
" 0",
""
],
[
"1",
" Pan",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -1.75 0.900 -0.5... | [
"STEP 1: turn left and head towards the wall and then towards the sink at the right | STEP 2: pick up the fork and the mug | STEP 3: head towards the sink at the right | STEP 4: place the mug and the for in the sink at the right | END"
] | [
[
"STEP 1: turn left and head towards the wall and then towards the sink at the right ",
" STEP 2: pick up the fork and the mug ",
" STEP 3: head towards the sink at the right ",
" STEP 4: place the mug and the for in the sink at the right ",
" END"
]
] | seen |
trial_T20190907_002229_910284-1 | place a cup with a fork in it in the sink on the right | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -1.75",
" 0.900",
" -0.5",
" 0",
" 180",
" 0",
""
],
[
"1",
" Pan",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -1.75 0.900 -0.5... | [
"STEP 1: turn left and head to the end of the kitchen, then turn right to face the sink | STEP 2: grab a cup with a fork in it off of the sink on the left | STEP 3: move to the right a bit and face the sink on the right | STEP 4: place the cup into the sink on the right | END"
] | [
[
"STEP 1: turn left and head to the end of the kitchen, then turn right to face the sink ",
" STEP 2: grab a cup with a fork in it off of the sink on the left ",
" STEP 3: move to the right a bit and face the sink on the right ",
" STEP 4: place the cup into the sink on the right ",
" END"
]
... | seen |
trial_T20190907_002229_910284-2 | Put a mug with a fork in it in the sink. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -1.75",
" 0.900",
" -0.5",
" 0",
" 180",
" 0",
""
],
[
"1",
" Pan",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -1.75 0.900 -0.5... | [
"STEP 1: Move to the sink. | STEP 2: Pick up the mug with fork in it to the right of the sink. | STEP 3: Bring the mug to the sink. | STEP 4: Put the mug in the sink. | END"
] | [
[
"STEP 1: Move to the sink. ",
" STEP 2: Pick up the mug with fork in it to the right of the sink. ",
" STEP 3: Bring the mug to the sink. ",
" STEP 4: Put the mug in the sink. ",
" END"
]
] | seen |
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