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_T20190909_094258_737509-0 | examine keys with the lamp | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -0.25",
" 0.937",
" -0.75",
" 0",
" 0",
" 0",
""
],
[
"1",
" Mug",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -0.25 0.937 -0.7... | [
"STEP 1: walk across the room to the chair, turn right, walk to wall, turn right to face lamp | STEP 2: turn the lamp on | STEP 3: pick up the keys that are on the table | END"
] | [
[
"STEP 1: walk across the room to the chair, turn right, walk to wall, turn right to face lamp ",
" STEP 2: turn the lamp on ",
" STEP 3: pick up the keys that are on the table ",
" END"
]
] | seen |
trial_T20190909_094258_737509-1 | turn a lamp on and pick up the keys on the table | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -0.25",
" 0.937",
" -0.75",
" 0",
" 0",
" 0",
""
],
[
"1",
" Mug",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -0.25 0.937 -0.7... | [
"STEP 1: turn left then turn right and walk straight towards the chair then turn right towards the wall and turn right towards the table | STEP 2: turn the lamp on that is on the table | STEP 3: pick up the keys on the table | END"
] | [
[
"STEP 1: turn left then turn right and walk straight towards the chair then turn right towards the wall and turn right towards the table ",
" STEP 2: turn the lamp on that is on the table ",
" STEP 3: pick up the keys on the table ",
" END"
]
] | seen |
trial_T20190909_094258_737509-2 | Look at some keys under the light of a lit lamp. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -0.25",
" 0.937",
" -0.75",
" 0",
" 0",
" 0",
""
],
[
"1",
" Mug",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -0.25 0.937 -0.7... | [
"STEP 1: Take a right around the bed to reach the nightstand. | STEP 2: Turn on the lamp. | STEP 3: Pick up the keys from the nightstand. | END"
] | [
[
"STEP 1: Take a right around the bed to reach the nightstand. ",
" STEP 2: Turn on the lamp. ",
" STEP 3: Pick up the keys from the nightstand. ",
" END"
]
] | seen |
trial_T20190910_231732_446078-0 | To cut an apple as well as place a piece in the freezer. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" 0.5",
" 0.900",
" 0.25",
" 0",
" 180",
" 0",
""
],
[
"1",
" Potato",
... | 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: Walk forward across the room and turn right to face the counter. | STEP 2: Pick up the knife on the counter. | STEP 3: Turn around and walk around the table to face the counter with tomato and apple on it on the far side of the room. | STEP 4: Cut the apple into three pieces. | STEP 5: Turn left, walk forw... | [
[
"STEP 1: Walk forward across the room and turn right to face the counter. ",
" STEP 2: Pick up the knife on the counter. ",
" STEP 3: Turn around and walk around the table to face the counter with tomato and apple on it on the far side of the room. ",
" STEP 4: Cut the apple into three pieces. ",
... | seen |
trial_T20190910_231732_446078-1 | Put cooked apple in the freezer. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" 0.5",
" 0.900",
" 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 0.5 0.900 0.25... | [
"STEP 1: Go forward, hang a left and go to the counter to the right of the stove. | STEP 2: Pick up the big knife that is on the counter. | STEP 3: Turn around and go to the fridge, hang a right, go forward to the counter with the paper towels on it that is on the left. | STEP 4: Cut the apple that is on the cou... | [
[
"STEP 1: Go forward, hang a left and go to the counter to the right of the stove. ",
" STEP 2: Pick up the big knife that is on the counter. ",
" STEP 3: Turn around and go to the fridge, hang a right, go forward to the counter with the paper towels on it that is on the left. ",
" STEP 4: Cut t... | seen |
trial_T20190910_231732_446078-2 | Place the warm apple slice in the fridge. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" 0.5",
" 0.900",
" 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 0.5 0.900 0.25... | [
"STEP 1: Turn to the left, walk to the right of the stove. | STEP 2: Pick up the knife. | STEP 3: Turn around, cross the room, face the counter to the right of the fridge. | STEP 4: Cut the apple on the counter. | STEP 5: Go to the left to the fridge. | STEP 6: Put the knife on the top shelf of the bottom part... | [
[
"STEP 1: Turn to the left, walk to the right of the stove. ",
" STEP 2: Pick up the knife. ",
" STEP 3: Turn around, cross the room, face the counter to the right of the fridge. ",
" STEP 4: Cut the apple on the counter. ",
" STEP 5: Go to the left to the fridge. ",
" STEP 6: Put the ... | seen |
trial_T20190907_144839_536922-0 | Put the sponge on the back of the toilet. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -2.0",
" 0.913",
" 0.5",
" 0",
" 0",
" 0",
""
],
[
"1",
" TissueBox",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -2.0 0.913 ... | [
"STEP 1: Turn left and go to the shelf. | STEP 2: Pick up the sponge. | STEP 3: Turn around and walk to the toilet | STEP 4: Put the sponge on the back of the toilet. | END"
] | [
[
"STEP 1: Turn left and go to the shelf. ",
" STEP 2: Pick up the sponge. ",
" STEP 3: Turn around and walk to the toilet ",
" STEP 4: Put the sponge on the back of the toilet. ",
" END"
]
] | seen |
trial_T20190907_144839_536922-1 | Put a sponge on the back of the toilet. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -2.0",
" 0.913",
" 0.5",
" 0",
" 0",
" 0",
""
],
[
"1",
" TissueBox",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -2.0 0.913 ... | [
"STEP 1: Go straight, then turn left at the metal shelf. | STEP 2: Take the sponge from the shelf. | STEP 3: Turn right, then turn right, then go straight, to the toilet. | STEP 4: Place the sponge on the back of the toilet. | END"
] | [
[
"STEP 1: Go straight, then turn left at the metal shelf. ",
" STEP 2: Take the sponge from the shelf. ",
" STEP 3: Turn right, then turn right, then go straight, to the toilet. ",
" STEP 4: Place the sponge on the back of the toilet. ",
" END"
]
] | seen |
trial_T20190907_144839_536922-2 | Place a sponge on the top of a toilet. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -2.0",
" 0.913",
" 0.5",
" 0",
" 0",
" 0",
""
],
[
"1",
" TissueBox",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -2.0 0.913 ... | [
"STEP 1: Walk to the steel rack to the right of the sink. | STEP 2: Pick up the sponge from the steel rack. | STEP 3: Turn around and walk to the toilet. | STEP 4: Put the sponge on the top of the toilet, just to the right of the toilet paper. | END"
] | [
[
"STEP 1: Walk to the steel rack to the right of the sink. ",
" STEP 2: Pick up the sponge from the steel rack. ",
" STEP 3: Turn around and walk to the toilet. ",
" STEP 4: Put the sponge on the top of the toilet, just to the right of the toilet paper. ",
" END"
]
] | seen |
trial_T20190909_011606_013059-0 | Put a credit card on the chair. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" 0.0",
" 0.901",
" 2.0",
" 0",
" 270",
" 0",
""
],
[
"1",
" Book",
"... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent 0.0 0.901 2.0 ... | [
"STEP 1: Walk to the coffee table then take a step to your left and walk to the coffee table then turn right to face it. | STEP 2: Pick up the credit card farthest to the right. | STEP 3: Turn left and walk to the curtains and then turn left and walk to the chair. | STEP 4: Put the credit card near the edge of the ... | [
[
"STEP 1: Walk to the coffee table then take a step to your left and walk to the coffee table then turn right to face it. ",
" STEP 2: Pick up the credit card farthest to the right. ",
" STEP 3: Turn left and walk to the curtains and then turn left and walk to the chair. ",
" STEP 4: Put the credit... | seen |
trial_T20190909_011606_013059-1 | Move a credit card from the coffee table to the striped armchair. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" 0.0",
" 0.901",
" 2.0",
" 0",
" 270",
" 0",
""
],
[
"1",
" Book",
"... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent 0.0 0.901 2.0 ... | [
"STEP 1: Walk to the coffee table. | STEP 2: Pick up the furthest credit card to the right on the coffee table. | STEP 3: Turn around and walk to the striped armchair. | STEP 4: Set the credit card down on the seat of the striped armchair. | END"
] | [
[
"STEP 1: Walk to the coffee table. ",
" STEP 2: Pick up the furthest credit card to the right on the coffee table. ",
" STEP 3: Turn around and walk to the striped armchair. ",
" STEP 4: Set the credit card down on the seat of the striped armchair. ",
" END"
]
] | seen |
trial_T20190909_011606_013059-2 | Move a card from the table to the chair. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" 0.0",
" 0.901",
" 2.0",
" 0",
" 270",
" 0",
""
],
[
"1",
" Book",
"... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent 0.0 0.901 2.0 ... | [
"STEP 1: Walk to the coffee table on the cards' side. | STEP 2: Grab the right card from the table. | STEP 3: Walk to the white chair on your left. | STEP 4: Place the card on the chair. | END"
] | [
[
"STEP 1: Walk to the coffee table on the cards' side. ",
" STEP 2: Grab the right card from the table. ",
" STEP 3: Walk to the white chair on your left. ",
" STEP 4: Place the card on the chair. ",
" END"
]
] | seen |
trial_T20190909_075240_427378-0 | Put a slice of warm bread in the fridge. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" 1.0",
" 0.900",
" 2.0",
" 0",
" 0",
" 0",
""
],
[
"1",
" Kettle",
"... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent 1.0 0.900 2.0 ... | [
"STEP 1: Turn around and move to the microwave on the left. | STEP 2: Pick up the knife to your right. | STEP 3: Turn around and move around the island to the loaf of bread on the counter. | STEP 4: Slice the bread on the counter. | STEP 5: Turn to the right and move around the counter to the microwave. | STEP 6: P... | [
[
"STEP 1: Turn around and move to the microwave on the left. ",
" STEP 2: Pick up the knife to your right. ",
" STEP 3: Turn around and move around the island to the loaf of bread on the counter. ",
" STEP 4: Slice the bread on the counter. ",
" STEP 5: Turn to the right and move around the cou... | seen |
trial_T20190909_075240_427378-1 | Put a knife in the microwave and a slice of bread in the refrigerator. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" 1.0",
" 0.900",
" 2.0",
" 0",
" 0",
" 0",
""
],
[
"1",
" Kettle",
"... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent 1.0 0.900 2.0 ... | [
"STEP 1: Turn around and go to the end of the counter and turn towards the microwave. | STEP 2: Pick up the knife on the on the counter, to your right. | STEP 3: Turn around and go to the end of the counter, then turn right and go to the island on your right. | STEP 4: Cut the loaf of bread on the edge of the is... | [
[
"STEP 1: Turn around and go to the end of the counter and turn towards the microwave. ",
" STEP 2: Pick up the knife on the on the counter, to your right. ",
" STEP 3: Turn around and go to the end of the counter, then turn right and go to the island on your right. ",
" STEP 4: Cut the loaf of ... | seen |
trial_T20190909_075240_427378-2 | put a slice of hot bread in the refrigerator | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" 1.0",
" 0.900",
" 2.0",
" 0",
" 0",
" 0",
""
],
[
"1",
" Kettle",
"... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent 1.0 0.900 2.0 ... | [
"STEP 1: turn then walk to the microwave | STEP 2: pick up the knife is next to the microwave | STEP 3: \n turn and walk to the bread that is on the table | STEP 4: slice the bread that is on the table | STEP 5: walked back to the microwave | STEP 6: put the knife in the microwave | STEP 7: walk back to the b... | [
[
"STEP 1: turn then walk to the microwave ",
" STEP 2: pick up the knife is next to the microwave ",
" STEP 3: \n turn and walk to the bread that is on the table ",
" STEP 4: slice the bread that is on the table ",
" STEP 5: walked back to the microwave ",
" STEP 6: put the knife in th... | seen |
trial_T20190909_032422_085040-0 | Wash the bar of soap and place it on the sink counter. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" 0.25",
" 0.901",
" 0.5",
" 0",
" 180",
" 0",
""
],
[
"1",
" Cloth",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent 0.25 0.901 ... | [
"STEP 1: Turn around and walk forward, then turn left at the bathroom sink. | STEP 2: Pick up the pink soap bar from the counter. | STEP 3: Place the soap bar inside the sink and turn on the faucet, then turn it off and pick up the soap. | STEP 4: Turn left and walk towards the adjacent sink. | STEP 5: Place the so... | [
[
"STEP 1: Turn around and walk forward, then turn left at the bathroom sink. ",
" STEP 2: Pick up the pink soap bar from the counter. ",
" STEP 3: Place the soap bar inside the sink and turn on the faucet, then turn it off and pick up the soap. ",
" STEP 4: Turn left and walk towards the adjacent s... | seen |
trial_T20190909_032422_085040-1 | put wet soap on the counter | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" 0.25",
" 0.901",
" 0.5",
" 0",
" 180",
" 0",
""
],
[
"1",
" Cloth",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent 0.25 0.901 ... | [
"STEP 1: turn right, take a step, turn right, walk forward, turn left, walk to counter | STEP 2: pick up the pink bar of soap that is on the counter | STEP 3: put the pink bar of soap in the sink on the right, fill the sink with water, take the bar of soap out | STEP 4: turn around, take a step, turn right, take a ... | [
[
"STEP 1: turn right, take a step, turn right, walk forward, turn left, walk to counter ",
" STEP 2: pick up the pink bar of soap that is on the counter ",
" STEP 3: put the pink bar of soap in the sink on the right, fill the sink with water, take the bar of soap out ",
" STEP 4: turn around, take ... | seen |
trial_T20190909_032422_085040-2 | place a clean bar of soap on top of the bathroom sink counter | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" 0.25",
" 0.901",
" 0.5",
" 0",
" 180",
" 0",
""
],
[
"1",
" Cloth",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent 0.25 0.901 ... | [
"STEP 1: turn around and walk over to the bathroom sink on the left side end of the room | STEP 2: grab a bar of soap off of the bathroom counter there | STEP 3: place the soap inside the right side bathroom sink, rinse it off then take it back out | STEP 4: turn left and walk over to the left side bathroom sink on... | [
[
"STEP 1: turn around and walk over to the bathroom sink on the left side end of the room ",
" STEP 2: grab a bar of soap off of the bathroom counter there ",
" STEP 3: place the soap inside the right side bathroom sink, rinse it off then take it back out ",
" STEP 4: turn left and walk over to the... | seen |
trial_T20190907_011745_444370-0 | Move the kettle that's on the back left burner to the middle wooden shelf. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" 1.0",
" 0.900",
" -1.75",
" 0",
" 0",
" 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 -1.7... | [
"STEP 1: Turn left and go to the stove. | STEP 2: Pick up the kettle that's on the back left burner. | STEP 3: Turn to the left and go to the wooden shelves. | STEP 4: Put the kettle on the middle shelf, in the center. | END"
] | [
[
"STEP 1: Turn left and go to the stove. ",
" STEP 2: Pick up the kettle that's on the back left burner. ",
" STEP 3: Turn to the left and go to the wooden shelves. ",
" STEP 4: Put the kettle on the middle shelf, in the center. ",
" END"
]
] | seen |
trial_T20190907_011745_444370-1 | Move teapot to the brown shelf. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" 1.0",
" 0.900",
" -1.75",
" 0",
" 0",
" 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 -1.7... | [
"STEP 1: Turn to the left and go to the stove. | STEP 2: Pick up the teapot from the far left side. | STEP 3: Turn all the way around to the left, and go to the end of the counter. | STEP 4: Put the teapot on the brown shelf, first one up from the bottom. | END"
] | [
[
"STEP 1: Turn to the left and go to the stove. ",
" STEP 2: Pick up the teapot from the far left side. ",
" STEP 3: Turn all the way around to the left, and go to the end of the counter. ",
" STEP 4: Put the teapot on the brown shelf, first one up from the bottom. ",
" END"
]
] | seen |
trial_T20190907_011745_444370-2 | Move the kettle with blue handle in the back on the stove to the second shelf in the corner | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" 1.0",
" 0.900",
" -1.75",
" 0",
" 0",
" 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 -1.7... | [
"STEP 1: Turn left and walk to the stove | STEP 2: Take the kettle in the back with blue handle | STEP 3: Turn left and walk to the shelf | STEP 4: Put the kettle on the second shelf by the bowl | END"
] | [
[
"STEP 1: Turn left and walk to the stove ",
" STEP 2: Take the kettle in the back with blue handle ",
" STEP 3: Turn left and walk to the shelf ",
" STEP 4: Put the kettle on the second shelf by the bowl ",
" END"
]
] | seen |
trial_T20190909_005603_590931-0 | Put a microwaved slice of apple in the sink. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -1.25",
" 0.900",
" 3.25",
" 0",
" 90",
" 0",
""
],
[
"1",
" Potato",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -1.25 0.900 3.25... | [
"STEP 1: Turn and go to the counter by the microwave. | STEP 2: Pick up the knife on the counter. | STEP 3: Turn and go to the sink. | STEP 4: Cut the apple in the sink. | STEP 5: Turn right and go to the sink. | STEP 6: Put the knife in the sink. | STEP 7: Turn left and go to the sink. | STEP 8: Pick up a slice ... | [
[
"STEP 1: Turn and go to the counter by the microwave. ",
" STEP 2: Pick up the knife on the counter. ",
" STEP 3: Turn and go to the sink. ",
" STEP 4: Cut the apple in the sink. ",
" STEP 5: Turn right and go to the sink. ",
" STEP 6: Put the knife in the sink. ",
" STEP 7: Turn lef... | seen |
trial_T20190909_005603_590931-1 | Slice an apple and warm it up. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -1.25",
" 0.900",
" 3.25",
" 0",
" 90",
" 0",
""
],
[
"1",
" Potato",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -1.25 0.900 3.25... | [
"STEP 1: Walk forward to the counter, turn right at the cabinet and walk to the corner. | STEP 2: Pick up the knife from the counter. | STEP 3: Turn around and walk to the left sink. | STEP 4: Slice the apple in the left sink. | STEP 5: Walk to the right sink. | STEP 6: Put the knife down in the right sink next t... | [
[
"STEP 1: Walk forward to the counter, turn right at the cabinet and walk to the corner. ",
" STEP 2: Pick up the knife from the counter. ",
" STEP 3: Turn around and walk to the left sink. ",
" STEP 4: Slice the apple in the left sink. ",
" STEP 5: Walk to the right sink. ",
" STEP 6: Pu... | seen |
trial_T20190909_005603_590931-2 | cook the apple and put it in the sink | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -1.25",
" 0.900",
" 3.25",
" 0",
" 90",
" 0",
""
],
[
"1",
" Potato",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -1.25 0.900 3.25... | [
"STEP 1: turn and walk to the counter with the knife | STEP 2: Pick up the knife that is on the counter\n\n | STEP 3: Take the knife to the sink that is on the left | STEP 4: cut the Apple that is in the sink on the left\n\n | STEP 5: put the knife in the sink on the right\n | STEP 6: pick up the Apple ... | [
[
"STEP 1: turn and walk to the counter with the knife ",
" STEP 2: Pick up the knife that is on the counter\n\n ",
" STEP 3: Take the knife to the sink that is on the left ",
" STEP 4: cut the Apple that is in the sink on the left\n\n ",
" STEP 5: put the knife in the sink on the righ... | seen |
trial_T20190913_032219_033847-0 | Place the silver bowl with the pencil in it on the glass coffee table. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -1.25",
" 0.902",
" 0.25",
" 0",
" 180",
" 0",
""
],
[
"1",
" Plate",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -1.25 0.902 0.25... | [
"STEP 1: Turn around and walk straight to face the end of the black table with the brown lamp on it. | STEP 2: Pick up the pencil from off of the black table. | STEP 3: Turn around, go straight, then go right and stop to face the black table on the left. | STEP 4: Place the pencil in the silver bowl on the black ta... | [
[
"STEP 1: Turn around and walk straight to face the end of the black table with the brown lamp on it. ",
" STEP 2: Pick up the pencil from off of the black table. ",
" STEP 3: Turn around, go straight, then go right and stop to face the black table on the left. ",
" STEP 4: Place the pencil in the ... | seen |
trial_T20190913_032219_033847-1 | Place a bowl with a pencil in it on a table. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -1.25",
" 0.902",
" 0.25",
" 0",
" 180",
" 0",
""
],
[
"1",
" Plate",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -1.25 0.902 0.25... | [
"STEP 1: Turn around and veer right to the small rectangular table with the lamp. | STEP 2: Pick up the pencil on the table. | STEP 3: Turn around and walk ahead and veer right at the wall to the rectangular table. | STEP 4: Place the pencil in the bowl on the table. | STEP 5: Pick up the bowl. | STEP 6: Turn righ... | [
[
"STEP 1: Turn around and veer right to the small rectangular table with the lamp. ",
" STEP 2: Pick up the pencil on the table. ",
" STEP 3: Turn around and walk ahead and veer right at the wall to the rectangular table. ",
" STEP 4: Place the pencil in the bowl on the table. ",
" STEP 5: Pic... | seen |
trial_T20190913_032219_033847-2 | Put a bowl with a pencil in it on the coffee table. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -1.25",
" 0.902",
" 0.25",
" 0",
" 180",
" 0",
""
],
[
"1",
" Plate",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -1.25 0.902 0.25... | [
"STEP 1: Turn left and take a step forward, then turn left and walk over to the small black table with the lamp on it to the right of the couch. | STEP 2: Pick up the yellow pencil off of the small black table. | STEP 3: Turn left and take a step forward, then turn left and walk over to the small black table below ... | [
[
"STEP 1: Turn left and take a step forward, then turn left and walk over to the small black table with the lamp on it to the right of the couch. ",
" STEP 2: Pick up the yellow pencil off of the small black table. ",
" STEP 3: Turn left and take a step forward, then turn left and walk over to the smal... | seen |
trial_T20190908_033450_287042-0 | Move the phone from the bed to the dresser. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -1.0",
" 0.901",
" -0.75",
" 0",
" 270",
" 0",
""
],
[
"1",
" CD",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -1.0 0.901 -0.7... | [
"STEP 1: Turn around and go to the bed. | STEP 2: Pick up the phone from the bed. | STEP 3: Turn right and go to the dresser. | STEP 4: Put the phone on the dresser. | END"
] | [
[
"STEP 1: Turn around and go to the bed. ",
" STEP 2: Pick up the phone from the bed. ",
" STEP 3: Turn right and go to the dresser. ",
" STEP 4: Put the phone on the dresser. ",
" END"
]
] | seen |
trial_T20190908_033450_287042-1 | Move a phone from the bed to the dresser. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -1.0",
" 0.901",
" -0.75",
" 0",
" 270",
" 0",
""
],
[
"1",
" CD",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -1.0 0.901 -0.7... | [
"STEP 1: Turn around completely and walk to the foot of the bed. | STEP 2: Pick up the cell phone that is on the bed. | STEP 3: Turn to your right and move forward towards the dresser. | STEP 4: Place the phone upright in a vertical position on top of the CD that is on the dresser. | END"
] | [
[
"STEP 1: Turn around completely and walk to the foot of the bed. ",
" STEP 2: Pick up the cell phone that is on the bed. ",
" STEP 3: Turn to your right and move forward towards the dresser. ",
" STEP 4: Place the phone upright in a vertical position on top of the CD that is on the dresser. ",
... | seen |
trial_T20190908_033450_287042-2 | Put a phone on a dresser. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -1.0",
" 0.901",
" -0.75",
" 0",
" 270",
" 0",
""
],
[
"1",
" CD",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -1.0 0.901 -0.7... | [
"STEP 1: Turn to the right and then right again to face the end of the bed. | STEP 2: Pick the phone up from the bed. | STEP 3: Turn to the right and face the dresser. | STEP 4: Put the phone down on the dresser on top of the disc. | END"
] | [
[
"STEP 1: Turn to the right and then right again to face the end of the bed. ",
" STEP 2: Pick the phone up from the bed. ",
" STEP 3: Turn to the right and face the dresser. ",
" STEP 4: Put the phone down on the dresser on top of the disc. ",
" END"
]
] | seen |
trial_T20190908_181520_195315-0 | put a slice of bread on top of the counter | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" 1.25",
" 0.900",
" 2.0",
" 0",
" 0",
" 0",
""
],
[
"1",
" CreditCard",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent 1.25 0.900 2.0 ... | [
"STEP 1: go left turn to the left towards the counter | STEP 2: pick up the knife that is on top of the counter | STEP 3: turn to the left towards the other side of the counter | STEP 4: slice a loaf of bread | STEP 5: turn around to the right go forward turn to the left towards the refrigerator | STEP 6: put the ... | [
[
"STEP 1: go left turn to the left towards the counter ",
" STEP 2: pick up the knife that is on top of the counter ",
" STEP 3: turn to the left towards the other side of the counter ",
" STEP 4: slice a loaf of bread ",
" STEP 5: turn around to the right go forward turn to the left towards t... | seen |
trial_T20190908_181520_195315-1 | Put a cold slice of bread on the counter. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" 1.25",
" 0.900",
" 2.0",
" 0",
" 0",
" 0",
""
],
[
"1",
" CreditCard",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent 1.25 0.900 2.0 ... | [
"STEP 1: Turn left, go across the room, turn left and to the counter. | STEP 2: Pick up the knife from the counter. | STEP 3: Turn left, pass the sink and turn right to face the counter. | STEP 4: Cut the bread on the counter. | STEP 5: Turn around, go across the room, turn left and head to the fridge. | STEP 6: Pu... | [
[
"STEP 1: Turn left, go across the room, turn left and to the counter. ",
" STEP 2: Pick up the knife from the counter. ",
" STEP 3: Turn left, pass the sink and turn right to face the counter. ",
" STEP 4: Cut the bread on the counter. ",
" STEP 5: Turn around, go across the room, turn left an... | seen |
trial_T20190908_181520_195315-2 | Place a cooked slice of bread on the counter. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" 1.25",
" 0.900",
" 2.0",
" 0",
" 0",
" 0",
""
],
[
"1",
" CreditCard",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent 1.25 0.900 2.0 ... | [
"STEP 1: Turn left, move to the counter right of the sink. | STEP 2: Pick up the knife from the counter. | STEP 3: Turn left, move to the counter right of the microwave. | STEP 4: Slice the bread on the counter. | STEP 5: Turn right, move to in front of the refrigerator. | STEP 6: Put the knife in the refrigerator.... | [
[
"STEP 1: Turn left, move to the counter right of the sink. ",
" STEP 2: Pick up the knife from the counter. ",
" STEP 3: Turn left, move to the counter right of the microwave. ",
" STEP 4: Slice the bread on the counter. ",
" STEP 5: Turn right, move to in front of the refrigerator. ",
" S... | seen |
trial_T20190908_053517_344063-0 | Put a towel in a tub. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -2.0",
" 0.902",
" -1.25",
" 0",
" 0",
" 0",
""
],
[
"1",
" SoapBar",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -2.0 0.902 ... | [
"STEP 1: Turn left, go forward to the wall, turn right, go forward to the left sink/ | STEP 2: Take the green towel on the hanging ring on the left wall. | STEP 3: Turn around, go forward a step, turn left, go forward to the tub. | STEP 4: Put the towel in the tub to the right of the purple rag. | END"
] | [
[
"STEP 1: Turn left, go forward to the wall, turn right, go forward to the left sink/ ",
" STEP 2: Take the green towel on the hanging ring on the left wall. ",
" STEP 3: Turn around, go forward a step, turn left, go forward to the tub. ",
" STEP 4: Put the towel in the tub to the right of the purp... | seen |
trial_T20190908_053517_344063-1 | Move a hand towel to the bath tub | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -2.0",
" 0.902",
" -1.25",
" 0",
" 0",
" 0",
""
],
[
"1",
" SoapBar",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -2.0 0.902 ... | [
"STEP 1: Move to the far left hand side of the sink | STEP 2: Pick up the hand towel on the towel ring on the left wall | STEP 3: Carry the green towel to the bath tub | STEP 4: Place the hand towel in the bath tub | END"
] | [
[
"STEP 1: Move to the far left hand side of the sink ",
" STEP 2: Pick up the hand towel on the towel ring on the left wall ",
" STEP 3: Carry the green towel to the bath tub ",
" STEP 4: Place the hand towel in the bath tub ",
" END"
]
] | seen |
trial_T20190908_053517_344063-2 | Place a towel in a bathtub | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -2.0",
" 0.902",
" -1.25",
" 0",
" 0",
" 0",
""
],
[
"1",
" SoapBar",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -2.0 0.902 ... | [
"STEP 1: Turn left and walk to the wall, then turn right and walk to the sink on the left | STEP 2: Pick up the green hand towel that is hanging up on the wall to the left | STEP 3: Turn right and walk to the bathtub | STEP 4: Place the green towel in the bathtub, to the right of the purple cloth | END"
] | [
[
"STEP 1: Turn left and walk to the wall, then turn right and walk to the sink on the left ",
" STEP 2: Pick up the green hand towel that is hanging up on the wall to the left ",
" STEP 3: Turn right and walk to the bathtub ",
" STEP 4: Place the green towel in the bathtub, to the right of the purp... | seen |
trial_T20190907_035150_206016-0 | Place a spoon into a sink | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" 0.0",
" 0.900",
" 1.5",
" 0",
" 90",
" 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 1.5 ... | [
"STEP 1: Take a step to your left and then walk to the counter that is in front of you | STEP 2: Pick up the spoon that is on the counter | STEP 3: \nTurn to the right and walk to the sink | STEP 4: Place the spoon into the spoon | END"
] | [
[
"STEP 1: Take a step to your left and then walk to the counter that is in front of you ",
" STEP 2: Pick up the spoon that is on the counter ",
" STEP 3: \nTurn to the right and walk to the sink ",
" STEP 4: Place the spoon into the spoon ",
" END"
]
] | seen |
trial_T20190907_035150_206016-1 | Put the spoon in the sink. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" 0.0",
" 0.900",
" 1.5",
" 0",
" 90",
" 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 1.5 ... | [
"STEP 1: Walk forward and to the left slightly. | STEP 2: Pick up the spoon to the left of the sink. | STEP 3: Move to the right to stand at the sink. | STEP 4: Put the spoon in the sink. | END"
] | [
[
"STEP 1: Walk forward and to the left slightly. ",
" STEP 2: Pick up the spoon to the left of the sink. ",
" STEP 3: Move to the right to stand at the sink. ",
" STEP 4: Put the spoon in the sink. ",
" END"
]
] | seen |
trial_T20190907_035150_206016-2 | Put a spoon in the sink. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" 0.0",
" 0.900",
" 1.5",
" 0",
" 90",
" 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 1.5 ... | [
"STEP 1: Move to the right of the sink at the counter. | STEP 2: Pick up the spoon on the counter. | STEP 3: Turn right, move to the sink, turn left to face the sink. | STEP 4: Put the spoon in the sink. | END"
] | [
[
"STEP 1: Move to the right of the sink at the counter. ",
" STEP 2: Pick up the spoon on the counter. ",
" STEP 3: Turn right, move to the sink, turn left to face the sink. ",
" STEP 4: Put the spoon in the sink. ",
" END"
]
] | seen |
trial_T20190911_205457_862250-0 | Discard incorrectly cooked food. | [
[
"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 counter near the sink with the apple. | STEP 2: Pick up the knife that is on the counter. | STEP 3: Move to the apple. | STEP 4: Slice the apple that is on the counter. | STEP 5: Turn right and move to the microwave. | STEP 6: Open the door and place the knife inside. Close the door. | STEP ... | [
[
"STEP 1: Move to the counter near the sink with the apple. ",
" STEP 2: Pick up the knife that is on the counter. ",
" STEP 3: Move to the apple. ",
" STEP 4: Slice the apple that is on the counter. ",
" STEP 5: Turn right and move to the microwave. ",
" STEP 6: Open the door and place ... | seen |
trial_T20190911_205457_862250-1 | Put a cooked apple in a bin. | [
[
"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, go to the counter to the right of the sink where the lettuce is. | STEP 2: Take the knife close to the lettuce from the counter. | STEP 3: Go a little to the right in front of the apple on the counter. | STEP 4: Cut the apple on the counter into pieces. | STEP 5: Go to the microwave to the right... | [
[
"STEP 1: Turn left, go to the counter to the right of the sink where the lettuce is. ",
" STEP 2: Take the knife close to the lettuce from the counter. ",
" STEP 3: Go a little to the right in front of the apple on the counter. ",
" STEP 4: Cut the apple on the counter into pieces. ",
" STEP 5... | seen |
trial_T20190911_205457_862250-2 | Throwing away a cooked apple | [
[
"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 face the counter on the right | STEP 2: Grab the knife that's on the counter | STEP 3: Move slightly to the right | STEP 4: Slice the apple on the counter with the knife | STEP 5: Turn right and stand in front of the microwave | STEP 6: Place the knife inside the microwave | STEP 7: Turn left... | [
[
"STEP 1: Turn left and face the counter on the right ",
" STEP 2: Grab the knife that's on the counter ",
" STEP 3: Move slightly to the right ",
" STEP 4: Slice the apple on the counter with the knife ",
" STEP 5: Turn right and stand in front of the microwave ",
" STEP 6: Place the knife... | seen |
trial_T20190909_044704_757055-0 | Put two wash cloths in the sink. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -1.5",
" 0.901",
" 3.5",
" 0",
" 270",
" 0",
""
],
[
"1",
" SprayBottle... | 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 left and walk towards the shower, then hang a left and walk up to the counter. | STEP 2: Take the wash cloth off of the metal ring on the wall to the right of the mirror. | STEP 3: Turn left and walk forward, then turn right to face the counter. | STEP 4: Put the wash cloth in the sink. | STEP 5: Turn... | [
[
"STEP 1: Turn left and walk towards the shower, then hang a left and walk up to the counter. ",
" STEP 2: Take the wash cloth off of the metal ring on the wall to the right of the mirror. ",
" STEP 3: Turn left and walk forward, then turn right to face the counter. ",
" STEP 4: Put the wash cloth ... | seen |
trial_T20190909_044704_757055-1 | Put two towels in the sink | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -1.5",
" 0.901",
" 3.5",
" 0",
" 270",
" 0",
""
],
[
"1",
" SprayBottle... | 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 left and go to the towel to the left of the toilet | STEP 2: Take the towel from the ring on the wall | STEP 3: Move left to the sink | STEP 4: Put the towel in the sink | STEP 5: Turn left and go to the towel to the left of the mirror | STEP 6: Take the towel from the ring on the wall | STEP 7: Move ... | [
[
"STEP 1: Turn left and go to the towel to the left of the toilet ",
" STEP 2: Take the towel from the ring on the wall ",
" STEP 3: Move left to the sink ",
" STEP 4: Put the towel in the sink ",
" STEP 5: Turn left and go to the towel to the left of the mirror ",
" STEP 6: Take the towel ... | seen |
trial_T20190909_044704_757055-2 | place two towels in sink | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -1.5",
" 0.901",
" 3.5",
" 0",
" 270",
" 0",
""
],
[
"1",
" SprayBottle... | 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 around, go to towel holder to the right of mirror | STEP 2: take white towel from towel holder | STEP 3: go to sink to the left | STEP 4: place white towel in sink | STEP 5: go to towel holder to the left of mirror | STEP 6: take white towel from towel holder | STEP 7: go to the sink to the right | ST... | [
[
"STEP 1: turn around, go to towel holder to the right of mirror ",
" STEP 2: take white towel from towel holder ",
" STEP 3: go to sink to the left ",
" STEP 4: place white towel in sink ",
" STEP 5: go to towel holder to the left of mirror ",
" STEP 6: take white towel from towel holder "... | seen |
trial_T20190908_182807_228958-0 | Put a clean knife in the drawer. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" 0.5",
" 0.900",
" -0.75",
" 0",
" 270",
" 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 -0.7... | [
"STEP 1: Walk forward to the wall then turn right and walk to the table. | STEP 2: Pick up the yellow handled knife that's in front of you. | STEP 3: Turn right and walk to the sink that's on your right and stand facing it so you can use it. | STEP 4: Wash the knife in the sink and then pick it back up and shut off... | [
[
"STEP 1: Walk forward to the wall then turn right and walk to the table. ",
" STEP 2: Pick up the yellow handled knife that's in front of you. ",
" STEP 3: Turn right and walk to the sink that's on your right and stand facing it so you can use it. ",
" STEP 4: Wash the knife in the sink and then p... | seen |
trial_T20190908_182807_228958-1 | Rinse a knife and place it in a drawer. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" 0.5",
" 0.900",
" -0.75",
" 0",
" 270",
" 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 -0.7... | [
"STEP 1: Move forward and turn right to face the white table. | STEP 2: Pick up the knife from the center of the table. | STEP 3: Carry the knife and turn to the right and then face the sink on the right. | STEP 4: Place the knife in the sink and turn on the water. Turn off the water and pick up the knife. | STEP 5... | [
[
"STEP 1: Move forward and turn right to face the white table. ",
" STEP 2: Pick up the knife from the center of the table. ",
" STEP 3: Carry the knife and turn to the right and then face the sink on the right. ",
" STEP 4: Place the knife in the sink and turn on the water. Turn off the water and ... | seen |
trial_T20190908_182807_228958-2 | Wash a knife and put it away. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" 0.5",
" 0.900",
" -0.75",
" 0",
" 270",
" 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 -0.7... | [
"STEP 1: Walk to the kitchen table on your right. | STEP 2: Grab a knife from the table. | STEP 3: Go to the kitchen sink on your right. | STEP 4: Put the knife in the sink, wash it, then grab it. | STEP 5: Walk to the kitchen counter with the coffee maker on it. | STEP 6: Put the knife in the top-left drawer. | EN... | [
[
"STEP 1: Walk to the kitchen table on your right. ",
" STEP 2: Grab a knife from the table. ",
" STEP 3: Go to the kitchen sink on your right. ",
" STEP 4: Put the knife in the sink, wash it, then grab it. ",
" STEP 5: Walk to the kitchen counter with the coffee maker on it. ",
" STEP 6: P... | seen |
trial_T20190909_150929_316139-0 | Examine the pillow with the light of the lamp. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -0.25",
" 0.900",
" 1.0",
" 0",
" 270",
" 0",
""
],
[
"1",
" CD",
"... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -0.25 0.900 1.0 ... | [
"STEP 1: Turn left and go to the side of the nightstand. | STEP 2: Pick up the pillow on the bed. | STEP 3: Turn left and go to the lamp. | STEP 4: Turn on the lamp. | END"
] | [
[
"STEP 1: Turn left and go to the side of the nightstand. ",
" STEP 2: Pick up the pillow on the bed. ",
" STEP 3: Turn left and go to the lamp. ",
" STEP 4: Turn on the lamp. ",
" END"
]
] | seen |
trial_T20190909_150929_316139-1 | Look at a purple pillow by a lit lamp. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -0.25",
" 0.900",
" 1.0",
" 0",
" 270",
" 0",
""
],
[
"1",
" CD",
"... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -0.25 0.900 1.0 ... | [
"STEP 1: Turn left go forward to the space between the night stand and the desk, turn left. | STEP 2: Take the purple pillow from the bed. | STEP 3: Turn left, go forward to the dresser next to the door. | STEP 4: Turn the lamp on the dresser on. | END"
] | [
[
"STEP 1: Turn left go forward to the space between the night stand and the desk, turn left. ",
" STEP 2: Take the purple pillow from the bed. ",
" STEP 3: Turn left, go forward to the dresser next to the door. ",
" STEP 4: Turn the lamp on the dresser on. ",
" END"
]
] | seen |
trial_T20190909_150929_316139-2 | Pick a pillow up and turn a lamp on. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -0.25",
" 0.900",
" 1.0",
" 0",
" 270",
" 0",
""
],
[
"1",
" CD",
"... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -0.25 0.900 1.0 ... | [
"STEP 1: Go left to cross the room and then face the bed to the left. | STEP 2: Pick the purple pillow up from the bed. | STEP 3: Go left and cross the room to face the lamp on the small cabinet. | STEP 4: Turn the lamp on. | END"
] | [
[
"STEP 1: Go left to cross the room and then face the bed to the left. ",
" STEP 2: Pick the purple pillow up from the bed. ",
" STEP 3: Go left and cross the room to face the lamp on the small cabinet. ",
" STEP 4: Turn the lamp on. ",
" END"
]
] | seen |
trial_T20190906_200758_556616-0 | Put a heated piece of bread on a table. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -3.0",
" 0.900",
" 0.25",
" 0",
" 180",
" 0",
""
],
[
"1",
" Pan",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -3.0 0.900 0.25... | [
"STEP 1: Turn left, go to the round table. | STEP 2: Take the knife closest to the blue right bottle from the table. | STEP 3: Turn around, go to the door, turn left at the last stool to face the counter. | STEP 4: Cut the bread on the counter into slices. | STEP 5: Put the knife on the counter in front of the pan.... | [
[
"STEP 1: Turn left, go to the round table. ",
" STEP 2: Take the knife closest to the blue right bottle from the table. ",
" STEP 3: Turn around, go to the door, turn left at the last stool to face the counter. ",
" STEP 4: Cut the bread on the counter into slices. ",
" STEP 5: Put the knife o... | seen |
trial_T20190906_200758_556616-1 | Place a slice of microwaved bread on the kitchen table. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -3.0",
" 0.900",
" 0.25",
" 0",
" 180",
" 0",
""
],
[
"1",
" Pan",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -3.0 0.900 0.25... | [
"STEP 1: Turn around and walk towards the kitchen table. | STEP 2: Pick the knife up from off of the table. | STEP 3: Turn around, walk to the end of the room and turn left to face the counter. | STEP 4: Slice the bread that's on the counter with the knife. | STEP 5: Place the knife on the metal pan on the counter.... | [
[
"STEP 1: Turn around and walk towards the kitchen table. ",
" STEP 2: Pick the knife up from off of the table. ",
" STEP 3: Turn around, walk to the end of the room and turn left to face the counter. ",
" STEP 4: Slice the bread that's on the counter with the knife. ",
" STEP 5: Place the knif... | seen |
trial_T20190906_200758_556616-2 | place a microwaved slice of bread on top of the kitchen table | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -3.0",
" 0.900",
" 0.25",
" 0",
" 180",
" 0",
""
],
[
"1",
" Pan",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -3.0 0.900 0.25... | [
"STEP 1: turn around and walk to the dining table at the end of the room | STEP 2: grab a knife off of the dining table | STEP 3: turn around and walk to the end of the room, then turn left to face the kitchen counter | STEP 4: slice the bread loaf on the counter | STEP 5: place the knife down on the counter | STEP... | [
[
"STEP 1: turn around and walk to the dining table at the end of the room ",
" STEP 2: grab a knife off of the dining table ",
" STEP 3: turn around and walk to the end of the room, then turn left to face the kitchen counter ",
" STEP 4: slice the bread loaf on the counter ",
" STEP 5: place th... | seen |
trial_T20190908_140553_410521-0 | place a microwaved potato inside of the refrigerator | [
[
"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",
" 180",
" 0",
""
],
[
"1",
" Ladle",
... | 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 forwards to the kitchen counter up ahead | STEP 2: grab the potato off of the kitchen counter | STEP 3: turn left to face the microwave | STEP 4: place the potato inside of the microwave, turn it on, cook it, then take it back out | STEP 5: turn left and walk over to the front of the refrigerator on y... | [
[
"STEP 1: walk forwards to the kitchen counter up ahead ",
" STEP 2: grab the potato off of the kitchen counter ",
" STEP 3: turn left to face the microwave ",
" STEP 4: place the potato inside of the microwave, turn it on, cook it, then take it back out ",
" STEP 5: turn left and walk over to ... | seen |
trial_T20190908_140553_410521-1 | Put heated potato in the fridge | [
[
"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",
" 180",
" 0",
""
],
[
"1",
" Ladle",
... | 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: Move forward then head to the counter beside the toaster | STEP 2: Pick up the potato beside the toaster at the counter | STEP 3: Turn left face the microwave | STEP 4: Open the microwave then heat the potato wait few seconds take it out then close the microwave | STEP 5: Turn left then move few steps face... | [
[
"STEP 1: Move forward then head to the counter beside the toaster ",
" STEP 2: Pick up the potato beside the toaster at the counter ",
" STEP 3: Turn left face the microwave ",
" STEP 4: Open the microwave then heat the potato wait few seconds take it out then close the microwave ",
" STEP 5: ... | seen |
trial_T20190908_140553_410521-2 | Pick up potato, warm in microwave, put in refrigerator. | [
[
"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",
" 180",
" 0",
""
],
[
"1",
" Ladle",
... | 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: Proceed to counter across room. | STEP 2: Pick up potato from counter, to the left of toaster. | STEP 3: Turn left to face microwave. | STEP 4: Open microwave door. Place potato in microwave, close door. Wait three seconds. Open microwave, remove potato, close door. | STEP 5: Turn left to go to refriger... | [
[
"STEP 1: Proceed to counter across room. ",
" STEP 2: Pick up potato from counter, to the left of toaster. ",
" STEP 3: Turn left to face microwave. ",
" STEP 4: Open microwave door. Place potato in microwave, close door. Wait three seconds. Open microwave, remove potato, close door. ",
" S... | seen |
trial_T20190906_232841_792705-0 | Place a cup with a knife in it on a table. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" 1.0",
" 0.901",
" 0.5",
" 0",
" 270",
" 0",
""
],
[
"1",
" Pan",
" ... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent 1.0 0.901 0.5 ... | [
"STEP 1: Turn right and walk to the sink. | STEP 2: Take the butter knife out of the sink basin. | STEP 3: Turn around and walk to the toaster. | STEP 4: Open the top left cabinet over the toaster. | STEP 5: Put the knife in the glass in the cabinet. | STEP 6: Take the glass and turn around and walk to the table. |... | [
[
"STEP 1: Turn right and walk to the sink. ",
" STEP 2: Take the butter knife out of the sink basin. ",
" STEP 3: Turn around and walk to the toaster. ",
" STEP 4: Open the top left cabinet over the toaster. ",
" STEP 5: Put the knife in the glass in the cabinet. ",
" STEP 6: Take the glass... | seen |
trial_T20190906_232841_792705-1 | Put a glass with a knife in it on the table. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" 1.0",
" 0.901",
" 0.5",
" 0",
" 270",
" 0",
""
],
[
"1",
" Pan",
" ... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent 1.0 0.901 0.5 ... | [
"STEP 1: Go to the sink. | STEP 2: Pick up the knife in the sink. | STEP 3: Bring the knife to the cabinet above the toaster. | STEP 4: Put the knife in the glass in the cabinet. | STEP 5: Pick up the glass in the cabinet. | STEP 6: Bring the glass to the table. | STEP 7: Put the glass on the table. | END"
] | [
[
"STEP 1: Go to the sink. ",
" STEP 2: Pick up the knife in the sink. ",
" STEP 3: Bring the knife to the cabinet above the toaster. ",
" STEP 4: Put the knife in the glass in the cabinet. ",
" STEP 5: Pick up the glass in the cabinet. ",
" STEP 6: Bring the glass to the table. ",
"... | seen |
trial_T20190906_232841_792705-2 | Setting the table for a meal. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" 1.0",
" 0.901",
" 0.5",
" 0",
" 270",
" 0",
""
],
[
"1",
" Pan",
" ... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent 1.0 0.901 0.5 ... | [
"STEP 1: Move across room to the sink. | STEP 2: Pick up the butter knife that is in the sink. | STEP 3: Move across room the the counter that is on the left side of the fridge. Open the left cupboard door that is above the counter. | STEP 4: Put the knife in the glass in the cupboard. | STEP 5: Pick up the glas... | [
[
"STEP 1: Move across room to the sink. ",
" STEP 2: Pick up the butter knife that is in the sink. ",
" STEP 3: Move across room the the counter that is on the left side of the fridge. Open the left cupboard door that is above the counter. ",
" STEP 4: Put the knife in the glass in the cupboard. ... | seen |
trial_T20190908_053229_447871-0 | Put a warm plate in the sink. | [
[
"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",
" 0",
" 270",
" 0",
""
],
[
"1",
" Pan",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -1.0 0.900 1.25... | [
"STEP 1: Turn around, go forward, then turn right to go to the cabinet adjacent to the stove. | STEP 2: Pick up the plate from the cabinet, adjacent to the stove. | STEP 3: Turn left, move forward, then look up to face the microwave. | STEP 4: Warm up the plate in the microwave. | STEP 5: Go to the sink to your rig... | [
[
"STEP 1: Turn around, go forward, then turn right to go to the cabinet adjacent to the stove. ",
" STEP 2: Pick up the plate from the cabinet, adjacent to the stove. ",
" STEP 3: Turn left, move forward, then look up to face the microwave. ",
" STEP 4: Warm up the plate in the microwave. ",
" ... | seen |
trial_T20190908_053229_447871-1 | Put a heated plate in the sink. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
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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 -1.0 0.900 1.25... | [
"STEP 1: Turn around and walk forward, then hang a right and walk up to the counter. | STEP 2: Open the lower cabinet to the right of the oven and take out of the grey plate, then close the cabinet door. | STEP 3: Turn left and walk forward, then turn right to face the oven and look up at the microwave. | STEP 4: P... | [
[
"STEP 1: Turn around and walk forward, then hang a right and walk up to the counter. ",
" STEP 2: Open the lower cabinet to the right of the oven and take out of the grey plate, then close the cabinet door. ",
" STEP 3: Turn left and walk forward, then turn right to face the oven and look up at the mi... | seen |
trial_T20190908_053229_447871-2 | Place the plate in the sink. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
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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 -1.0 0.900 1.25... | [
"STEP 1: Walk over to the sink. | STEP 2: Open the left cabinet door and grab the plate. | STEP 3: Head over to the microwave and open the door. | STEP 4: Heat the plate in the microwave and take it out. | STEP 5: Head back to the sink. | STEP 6: Place the plate in the right side of the sink. | END"
] | [
[
"STEP 1: Walk over to the sink. ",
" STEP 2: Open the left cabinet door and grab the plate. ",
" STEP 3: Head over to the microwave and open the door. ",
" STEP 4: Heat the plate in the microwave and take it out. ",
" STEP 5: Head back to the sink. ",
" STEP 6: Place the plate in the right... | seen |
trial_T20190909_065422_153174-0 | Put two towels on the counter. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
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" 0.901",
" 2.0",
" 0",
" 270",
" 0",
""
],
[
"1",
" Cloth",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -1.25 0.901 ... | [
"STEP 1: Turn around and go to the counter. | STEP 2: Pick up the towel from the ring on the wall. | STEP 3: Turn left and go to the sink. | STEP 4: Put the towel on the counter to the left of the sink. | STEP 5: Turn left, go to the wall and turn right. | STEP 6: Pick up the towel from the ring on the wall. | STE... | [
[
"STEP 1: Turn around and go to the counter. ",
" STEP 2: Pick up the towel from the ring on the wall. ",
" STEP 3: Turn left and go to the sink. ",
" STEP 4: Put the towel on the counter to the left of the sink. ",
" STEP 5: Turn left, go to the wall and turn right. ",
" STEP 6: Pick up t... | seen |
trial_T20190909_065422_153174-1 | Putting two towels on the sink counter | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
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" 2.0",
" 0",
" 270",
" 0",
""
],
[
"1",
" Cloth",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -1.25 0.901 ... | [
"STEP 1: Turn around and face the wall | STEP 2: Grab the towel off of the towel holder | STEP 3: Turn left and go to the sink | STEP 4: Put the towel down to the left of the sink | STEP 5: Turn left and stop at the edge of the sink | STEP 6: Grab the towel off of the towel holder on the wall | STEP 7: Turn right a... | [
[
"STEP 1: Turn around and face the wall ",
" STEP 2: Grab the towel off of the towel holder ",
" STEP 3: Turn left and go to the sink ",
" STEP 4: Put the towel down to the left of the sink ",
" STEP 5: Turn left and stop at the edge of the sink ",
" STEP 6: Grab the towel off of the towel ... | seen |
trial_T20190909_065422_153174-2 | remove the towels from the wall and put them on the sink counter | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
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" 2.0",
" 0",
" 270",
" 0",
""
],
[
"1",
" Cloth",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -1.25 0.901 ... | [
"STEP 1: turn around and walk straight towards the mirror and look up | STEP 2: take the towel off the towel rack on the wall | STEP 3: turn left and walk straight then turn right towards the sink | STEP 4: put the towel down next to the sink | STEP 5: turn left and walk to the wall then turn right and look up | ST... | [
[
"STEP 1: turn around and walk straight towards the mirror and look up ",
" STEP 2: take the towel off the towel rack on the wall ",
" STEP 3: turn left and walk straight then turn right towards the sink ",
" STEP 4: put the towel down next to the sink ",
" STEP 5: turn left and walk to the wal... | seen |
trial_T20190908_020231_495922-0 | Put a cold slice of lettuce in a sink. | [
[
"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",
" Potato",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -2.25 0.900 2.75... | [
"STEP 1: Turn left, go forward to the wall, turn right, go forward, turn right to the island where the fork is. | STEP 2: Take the knife above the fork from the island counter. | STEP 3: Move a step to the left and face the island. | STEP 4: Cut the closest lettuce on the island counter into slices. | STEP 5: Turn ... | [
[
"STEP 1: Turn left, go forward to the wall, turn right, go forward, turn right to the island where the fork is. ",
" STEP 2: Take the knife above the fork from the island counter. ",
" STEP 3: Move a step to the left and face the island. ",
" STEP 4: Cut the closest lettuce on the island counter i... | seen |
trial_T20190908_020231_495922-1 | Move a cold piece of lettuce to the sink by a knife. | [
[
"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",
" 2.75",
" 0",
" 180",
" 0",
""
],
[
"1",
" Potato",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -2.25 0.900 2.75... | [
"STEP 1: Turn left and cross the room until you reach the wall, then turn right to walk between the counter and kitchen island, ending facing the island. | STEP 2: Pick up the sharp knife from the center of the island by the lettuce. | STEP 3: Take a step to the left while carrying the knife. | STEP 4: Use the knif... | [
[
"STEP 1: Turn left and cross the room until you reach the wall, then turn right to walk between the counter and kitchen island, ending facing the island. ",
" STEP 2: Pick up the sharp knife from the center of the island by the lettuce. ",
" STEP 3: Take a step to the left while carrying the knife. ",... | seen |
trial_T20190908_020231_495922-2 | Put a piece of cold lettuce in the sink. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -2.25",
" 0.900",
" 2.75",
" 0",
" 180",
" 0",
""
],
[
"1",
" Potato",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -2.25 0.900 2.75... | [
"STEP 1: Turn around and go to the far side of the kitchen island, then face it. | STEP 2: Pick up the knife from the island. | STEP 3: Take a step to the left and face the lettuce. | STEP 4: Cut the lettuce on the island with the knife. | STEP 5: Bring the knife with you and move to the kitchen sink. | STEP 6: Put... | [
[
"STEP 1: Turn around and go to the far side of the kitchen island, then face it. ",
" STEP 2: Pick up the knife from the island. ",
" STEP 3: Take a step to the left and face the lettuce. ",
" STEP 4: Cut the lettuce on the island with the knife. ",
" STEP 5: Bring the knife with you and move ... | seen |
trial_T20190908_235326_884738-0 | Move the pencil and hold it above the garbage bin. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" 0.0",
" 0.906",
" 1.5",
" 0",
" 90",
" 0",
""
],
[
"1",
" Mug",
" -... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent 0.0 0.906 1.5 ... | [
"STEP 1: Turn to the right and move to the desk on the opposite corner of the room. | STEP 2: Take the pencil from the top shelf of the desk. | STEP 3: Turn around and move to the garbage bin on the right side. | STEP 4: Hold the pencil above the garbage bin. | END"
] | [
[
"STEP 1: Turn to the right and move to the desk on the opposite corner of the room. ",
" STEP 2: Take the pencil from the top shelf of the desk. ",
" STEP 3: Turn around and move to the garbage bin on the right side. ",
" STEP 4: Hold the pencil above the garbage bin. ",
" END"
]
] | seen |
trial_T20190908_235326_884738-1 | Pick up a pencil and turn a lamp on. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" 0.0",
" 0.906",
" 1.5",
" 0",
" 90",
" 0",
""
],
[
"1",
" Mug",
" -... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent 0.0 0.906 1.5 ... | [
"STEP 1: Cross the room to the right to stand in front of the desk. | STEP 2: Pick the pencil up from the top of the desk. | STEP 3: Turn left and stand at the left side of the desk facing the lamp on the top. | STEP 4: Turn the lamp on. | END"
] | [
[
"STEP 1: Cross the room to the right to stand in front of the desk. ",
" STEP 2: Pick the pencil up from the top of the desk. ",
" STEP 3: Turn left and stand at the left side of the desk facing the lamp on the top. ",
" STEP 4: Turn the lamp on. ",
" END"
]
] | seen |
trial_T20190908_235326_884738-2 | Examine the pencil under the light of the desk lamp | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" 0.0",
" 0.906",
" 1.5",
" 0",
" 90",
" 0",
""
],
[
"1",
" Mug",
" -... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent 0.0 0.906 1.5 ... | [
"STEP 1: Turn right and walk forward and right up to the wooden desk | STEP 2: Pick up the yellow pencil from the top shelf of the desk | STEP 3: Turn left and walk to the lamp on the left side of the desk | STEP 4: Turn on the lamp on the left side of the desk | END"
] | [
[
"STEP 1: Turn right and walk forward and right up to the wooden desk ",
" STEP 2: Pick up the yellow pencil from the top shelf of the desk ",
" STEP 3: Turn left and walk to the lamp on the left side of the desk ",
" STEP 4: Turn on the lamp on the left side of the desk ",
" END"
]
] | seen |
trial_T20190907_151029_702790-0 | Place both laptops on the counter. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -1.5",
" 0.937",
" 0.25",
" 0",
" 270",
" 0",
""
],
[
"1",
" CD",
"... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -1.5 0.937 0.25... | [
"STEP 1: Turn around and face the right side of the bed. | STEP 2: Pick up the laptop. | STEP 3: Turn around and head towards the counter. | STEP 4: Place the laptop on the counter. | STEP 5: Turn around and head towards the wall, then turn right and face the left side of the bed. | STEP 6: Close the laptop and pic... | [
[
"STEP 1: Turn around and face the right side of the bed. ",
" STEP 2: Pick up the laptop. ",
" STEP 3: Turn around and head towards the counter. ",
" STEP 4: Place the laptop on the counter. ",
" STEP 5: Turn around and head towards the wall, then turn right and face the left side of the bed. ... | seen |
trial_T20190907_151029_702790-1 | Place two computers on the white dresser. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -1.5",
" 0.937",
" 0.25",
" 0",
" 270",
" 0",
""
],
[
"1",
" CD",
"... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -1.5 0.937 0.25... | [
"STEP 1: Turn around, go to the green bed, and turn left to face the green bed. | STEP 2: Close the computer and pick up the computer from the green bed. | STEP 3: Turn around and go to the white dresser. | STEP 4: Place the computer on the white dresser. | STEP 5: Turn around, go to the right black chair, turn rig... | [
[
"STEP 1: Turn around, go to the green bed, and turn left to face the green bed. ",
" STEP 2: Close the computer and pick up the computer from the green bed. ",
" STEP 3: Turn around and go to the white dresser. ",
" STEP 4: Place the computer on the white dresser. ",
" STEP 5: Turn around, go ... | seen |
trial_T20190907_151029_702790-2 | Put two laptops on the desk. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -1.5",
" 0.937",
" 0.25",
" 0",
" 270",
" 0",
""
],
[
"1",
" CD",
"... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -1.5 0.937 0.25... | [
"STEP 1: Go to the side of the bed with the teddy bear. | STEP 2: Pick up the laptop on the edge of the bed. | STEP 3: Turn around and go to the desk. | STEP 4: Set the laptop down to the right of the remote. | STEP 5: Go across the room to the side of the bed closest to the door. | STEP 6: Pick up the laptop on th... | [
[
"STEP 1: Go to the side of the bed with the teddy bear. ",
" STEP 2: Pick up the laptop on the edge of the bed. ",
" STEP 3: Turn around and go to the desk. ",
" STEP 4: Set the laptop down to the right of the remote. ",
" STEP 5: Go across the room to the side of the bed closest to the door. ... | seen |
trial_T20190909_133234_282375-0 | Put two bars of soap in the bath tub. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -0.75",
" 0.900",
" 1.0",
" 0",
" 180",
" 0",
""
],
[
"1",
" SoapBar",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -0.75 0.900 ... | [
"STEP 1: Turn right and walk to the bath tub. | STEP 2: Pick up the bar of soap laying on the side of the bath tub. | STEP 3: Move to your left and face the bath tub. | STEP 4: Put the bar of soap in the bath tub. | STEP 5: Turn around and walk toward the door, then turn left to face the cabinet. | STEP 6: Pic... | [
[
"STEP 1: Turn right and walk to the bath tub. ",
" STEP 2: Pick up the bar of soap laying on the side of the bath tub. ",
" STEP 3: Move to your left and face the bath tub. ",
" STEP 4: Put the bar of soap in the bath tub. ",
" STEP 5: Turn around and walk toward the door, then turn left t... | seen |
trial_T20190909_133234_282375-1 | Put two bars of soap in the tub. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -0.75",
" 0.900",
" 1.0",
" 0",
" 180",
" 0",
""
],
[
"1",
" SoapBar",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -0.75 0.900 ... | [
"STEP 1: Turn to the right and go to the tub, turn to the right and go forward. | STEP 2: Pick up the bar of soap that is on the edge of the tub. | STEP 3: Turn around and move forward, turn to the right to face the tub. | STEP 4: Put the bar of soap in the tub. | STEP 5: Turn around and cross the room, turn to the... | [
[
"STEP 1: Turn to the right and go to the tub, turn to the right and go forward. ",
" STEP 2: Pick up the bar of soap that is on the edge of the tub. ",
" STEP 3: Turn around and move forward, turn to the right to face the tub. ",
" STEP 4: Put the bar of soap in the tub. ",
" STEP 5: Turn arou... | seen |
trial_T20190909_133234_282375-2 | Put bars of soap in the tub. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -0.75",
" 0.900",
" 1.0",
" 0",
" 180",
" 0",
""
],
[
"1",
" SoapBar",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -0.75 0.900 ... | [
"STEP 1: Turn right and go to the bath tub. | STEP 2: Pick up the soap on the right side of the tub. | STEP 3: Go to the middle of the tub. | STEP 4: Put the soap in the tub. | STEP 5: Turn around and go to the cabinet with the tissues. | STEP 6: Pick up the soap on the cabinet. | STEP 7: Turn right and go back to ... | [
[
"STEP 1: Turn right and go to the bath tub. ",
" STEP 2: Pick up the soap on the right side of the tub. ",
" STEP 3: Go to the middle of the tub. ",
" STEP 4: Put the soap in the tub. ",
" STEP 5: Turn around and go to the cabinet with the tissues. ",
" STEP 6: Pick up the soap on the cabi... | seen |
trial_T20190909_144937_535865-0 | Pick up a credit card and turn on a lamp. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -2.5",
" 0.900",
" -0.75",
" 0",
" 0",
" 0",
""
],
[
"1",
" TissueBox",... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -2.5 0.900 -0.7... | [
"STEP 1: Turn to the right, go to the front of the brown shelf with the cardboard box on it. | STEP 2: Pick up the credit card that is on top of the shelf to the right of the cardboard box. | STEP 3: Turn to the left, go across the room, turn to the left and go to the lamp. | STEP 4: Turn the lamp on. | END"
] | [
[
"STEP 1: Turn to the right, go to the front of the brown shelf with the cardboard box on it. ",
" STEP 2: Pick up the credit card that is on top of the shelf to the right of the cardboard box. ",
" STEP 3: Turn to the left, go across the room, turn to the left and go to the lamp. ",
" STEP 4: Turn... | seen |
trial_T20190909_144937_535865-1 | Examine a credit card by the light of a tall lamp. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -2.5",
" 0.900",
" -0.75",
" 0",
" 0",
" 0",
""
],
[
"1",
" TissueBox",... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -2.5 0.900 -0.7... | [
"STEP 1: Turn right and walk to the wooden shelves on the right. | STEP 2: Pick up the blue credit card to the right of the box. | STEP 3: Turn left and hang a left at the wall to reach the tall lamp in the corner. | STEP 4: Turn on the tall lamp. | END"
] | [
[
"STEP 1: Turn right and walk to the wooden shelves on the right. ",
" STEP 2: Pick up the blue credit card to the right of the box. ",
" STEP 3: Turn left and hang a left at the wall to reach the tall lamp in the corner. ",
" STEP 4: Turn on the tall lamp. ",
" END"
]
] | seen |
trial_T20190909_144937_535865-2 | Grab the credit card and turn on the lamp in the corner of the room. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -2.5",
" 0.900",
" -0.75",
" 0",
" 0",
" 0",
""
],
[
"1",
" TissueBox",... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -2.5 0.900 -0.7... | [
"STEP 1: Turn right and walk to the shelf with the empty box on it. | STEP 2: Grab the credit card on the shelf. | STEP 3: Turn left and walk to the lamp in the corner of the room to your left. | STEP 4: Turn on the lamp. | END"
] | [
[
"STEP 1: Turn right and walk to the shelf with the empty box on it. ",
" STEP 2: Grab the credit card on the shelf. ",
" STEP 3: Turn left and walk to the lamp in the corner of the room to your left. ",
" STEP 4: Turn on the lamp. ",
" END"
]
] | seen |
trial_T20190906_174726_702879-0 | Turn on the lamp. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" 0.25",
" 0.906",
" 0.0",
" 0",
" 90",
" 0",
""
],
[
"1",
" Bowl",
"... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent 0.25 0.906 0.0 ... | [
"STEP 1: Turn around and go to the end of the bunk-bed to your right. | STEP 2: Pick up the basketball that is on the floor, in front of the bed. | STEP 3: Turn around and go to the lamp an the top, left end of the desk. | STEP 4: Turn the lamp on while still holding the basketball. | END"
] | [
[
"STEP 1: Turn around and go to the end of the bunk-bed to your right. ",
" STEP 2: Pick up the basketball that is on the floor, in front of the bed. ",
" STEP 3: Turn around and go to the lamp an the top, left end of the desk. ",
" STEP 4: Turn the lamp on while still holding the basketball. ",
... | seen |
trial_T20190906_174726_702879-1 | Examine a basketball by the light of a desk lamp | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" 0.25",
" 0.906",
" 0.0",
" 0",
" 90",
" 0",
""
],
[
"1",
" Bowl",
"... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent 0.25 0.906 0.0 ... | [
"STEP 1: turn to the right and take a few steps and turn to the right and go to the wall and turn to the right facing a basketball on the floor | STEP 2: pick up the basketball from the floor | STEP 3: turn to the right and go to the end of the desk | STEP 4: turn on the lamp on the top shelf of the desk | END"
] | [
[
"STEP 1: turn to the right and take a few steps and turn to the right and go to the wall and turn to the right facing a basketball on the floor ",
" STEP 2: pick up the basketball from the floor ",
" STEP 3: turn to the right and go to the end of the desk ",
" STEP 4: turn on the lamp on the top s... | seen |
trial_T20190906_174726_702879-2 | pick up a ball from the floor then examine the ball under the lamp | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" 0.25",
" 0.906",
" 0.0",
" 0",
" 90",
" 0",
""
],
[
"1",
" Bowl",
"... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent 0.25 0.906 0.0 ... | [
"STEP 1: walk over to the bed standing in front of the ladder | STEP 2: pick up the basketball from the floor | STEP 3: Bring the basketball over to the window across the room | STEP 4: turn on the lamp above to examine the ball | END"
] | [
[
"STEP 1: walk over to the bed standing in front of the ladder ",
" STEP 2: pick up the basketball from the floor ",
" STEP 3: Bring the basketball over to the window across the room ",
" STEP 4: turn on the lamp above to examine the ball ",
" END"
]
] | seen |
trial_T20190906_174726_702879-3 | Pick up the basketball and turn on the light | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" 0.25",
" 0.906",
" 0.0",
" 0",
" 90",
" 0",
""
],
[
"1",
" Bowl",
"... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent 0.25 0.906 0.0 ... | [
"STEP 1: Turn around and walk toward the wall between the desk and the bed | STEP 2: Pick up the basketball from the floor | STEP 3: Turn and walk to the left side of the desk | STEP 4: Turn on the light | END"
] | [
[
"STEP 1: Turn around and walk toward the wall between the desk and the bed ",
" STEP 2: Pick up the basketball from the floor ",
" STEP 3: Turn and walk to the left side of the desk ",
" STEP 4: Turn on the light ",
" END"
]
] | seen |
trial_T20190906_174726_702879-4 | Carry the basketball to the other side of the room. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" 0.25",
" 0.906",
" 0.0",
" 0",
" 90",
" 0",
""
],
[
"1",
" Bowl",
"... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent 0.25 0.906 0.0 ... | [
"STEP 1: Turn to the right and walk to the desk, then turn to the right and walk towards the bunk beds. | STEP 2: Pick up the basketball on the ground. | STEP 3: Turn to the right and walk across the room, then turn right and walk to the trash bin. | STEP 4: Hold the basketball above the trash bin. | END"
] | [
[
"STEP 1: Turn to the right and walk to the desk, then turn to the right and walk towards the bunk beds. ",
" STEP 2: Pick up the basketball on the ground. ",
" STEP 3: Turn to the right and walk across the room, then turn right and walk to the trash bin. ",
" STEP 4: Hold the basketball above the ... | seen |
trial_T20190906_174726_702879-5 | View a basketball under illumination. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" 0.25",
" 0.906",
" 0.0",
" 0",
" 90",
" 0",
""
],
[
"1",
" Bowl",
"... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent 0.25 0.906 0.0 ... | [
"STEP 1: Turn around and walk to the wall near the end of the bunk beds and face them. | STEP 2: Pick up the basketball on the floor. | STEP 3: Turn around and walk to the end of the desk. | STEP 4: Turn on the light. | END"
] | [
[
"STEP 1: Turn around and walk to the wall near the end of the bunk beds and face them. ",
" STEP 2: Pick up the basketball on the floor. ",
" STEP 3: Turn around and walk to the end of the desk. ",
" STEP 4: Turn on the light. ",
" END"
]
] | seen |
trial_T20190908_072633_788236-0 | Place the pot with the spatula in it on the table. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -0.75",
" 0.869",
" -1.0",
" 0",
" 90",
" 0",
""
],
[
"1",
" ButterKnif... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -0.75 0.869 -1.0... | [
"STEP 1: Turn around and face the table behind. | STEP 2: Grab the spatula off of the table. | STEP 3: Turn right and walk to the stove. | STEP 4: Place the spatula in the pot in front. | STEP 5: Grab the pot off of the stove. | STEP 6: Turn right then walk and face the table on the left. | STEP 7: Place the pot on... | [
[
"STEP 1: Turn around and face the table behind. ",
" STEP 2: Grab the spatula off of the table. ",
" STEP 3: Turn right and walk to the stove. ",
" STEP 4: Place the spatula in the pot in front. ",
" STEP 5: Grab the pot off of the stove. ",
" STEP 6: Turn right then walk and face the tabl... | seen |
trial_T20190908_072633_788236-1 | Put a pot with a spatula in it on the table. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -0.75",
" 0.869",
" -1.0",
" 0",
" 90",
" 0",
""
],
[
"1",
" ButterKnif... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -0.75 0.869 -1.0... | [
"STEP 1: Turn right, go forward, then turn right to face the table. | STEP 2: Pick up the spatula on the left side of the table. | STEP 3: Turn right and go straight, to go to the stove. | STEP 4: Put the spatula in the pot on the right side of the stove. | STEP 5: Pick up the pot with the spatula in it. | STEP 6: ... | [
[
"STEP 1: Turn right, go forward, then turn right to face the table. ",
" STEP 2: Pick up the spatula on the left side of the table. ",
" STEP 3: Turn right and go straight, to go to the stove. ",
" STEP 4: Put the spatula in the pot on the right side of the stove. ",
" STEP 5: Pick up the pot ... | seen |
trial_T20190908_072633_788236-2 | Put spatula in pot, move both to a table. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -0.75",
" 0.869",
" -1.0",
" 0",
" 90",
" 0",
""
],
[
"1",
" ButterKnif... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -0.75 0.869 -1.0... | [
"STEP 1: Turn around, go to table. | STEP 2: Pick up spatula, located on the left side of the table, to the left of the potato and below the knife. | STEP 3: Turn right, walk to stove. | STEP 4: Place spatula in pot on lower right burner on the stove. | STEP 5: Pick up the pot with the spatula in it. | STEP 6: Turn... | [
[
"STEP 1: Turn around, go to table. ",
" STEP 2: Pick up spatula, located on the left side of the table, to the left of the potato and below the knife. ",
" STEP 3: Turn right, walk to stove. ",
" STEP 4: Place spatula in pot on lower right burner on the stove. ",
" STEP 5: Pick up the pot with... | seen |
trial_T20190907_133551_259209-0 | place two candles inside of the green bathroom cabinet | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -1.25",
" 0.901",
" 1.0",
" 0",
" 180",
" 0",
""
],
[
"1",
" Cloth",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -1.25 0.901 ... | [
"STEP 1: turn around and walk over to the toilet on the left side of the room | STEP 2: grab a candle off of the top of the toilet | STEP 3: turn around and walk over to the right side of the green cabinet ahead | STEP 4: place the candle in a drawer on the right side of the cabinet | STEP 5: turn around and walk b... | [
[
"STEP 1: turn around and walk over to the toilet on the left side of the room ",
" STEP 2: grab a candle off of the top of the toilet ",
" STEP 3: turn around and walk over to the right side of the green cabinet ahead ",
" STEP 4: place the candle in a drawer on the right side of the cabinet ",
... | seen |
trial_T20190907_133551_259209-1 | Move two candles from the toilet to a drawer. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -1.25",
" 0.901",
" 1.0",
" 0",
" 180",
" 0",
""
],
[
"1",
" Cloth",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -1.25 0.901 ... | [
"STEP 1: Turn around and go to the toilet. | STEP 2: Pick up a candle from the toilet. | STEP 3: Return to the counter behind you. | STEP 4: Open the bottom right drawer and put the candle inside. | STEP 5: Return to the toilet behind you. | STEP 6: Pick up a candle from the toilet. | STEP 7: Return to the counter ... | [
[
"STEP 1: Turn around and go to the toilet. ",
" STEP 2: Pick up a candle from the toilet. ",
" STEP 3: Return to the counter behind you. ",
" STEP 4: Open the bottom right drawer and put the candle inside. ",
" STEP 5: Return to the toilet behind you. ",
" STEP 6: Pick up a candle from the... | seen |
trial_T20190907_133551_259209-2 | Put the candles on the toilet in the bottom right drawer below the counter. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -1.25",
" 0.901",
" 1.0",
" 0",
" 180",
" 0",
""
],
[
"1",
" Cloth",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -1.25 0.901 ... | [
"STEP 1: Turn to the right, head towards the tub, then turn right and walk to the toilet. | STEP 2: Pick up the candle on the far side of the toilet. | STEP 3: Turn around and head to the counter. | STEP 4: Open the bottom right drawer and put the candle in, then shut the drawer. | STEP 5: Turn around and head to t... | [
[
"STEP 1: Turn to the right, head towards the tub, then turn right and walk to the toilet. ",
" STEP 2: Pick up the candle on the far side of the toilet. ",
" STEP 3: Turn around and head to the counter. ",
" STEP 4: Open the bottom right drawer and put the candle in, then shut the drawer. ",
"... | seen |
trial_T20190907_133551_259209-3 | Put two candles in a drawer. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -1.25",
" 0.901",
" 1.0",
" 0",
" 180",
" 0",
""
],
[
"1",
" Cloth",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -1.25 0.901 ... | [
"STEP 1: Turn around and head to the toilet. | STEP 2: Pick up the candle on the back of the toilet that is behind the bar of soap. | STEP 3: Turn around and head back to the counter | STEP 4: Open the bottom right drawer and put the candle inside, then close the drawer. | STEP 5: Turn around and go back to the t... | [
[
"STEP 1: Turn around and head to the toilet. ",
" STEP 2: Pick up the candle on the back of the toilet that is behind the bar of soap. ",
" STEP 3: Turn around and head back to the counter ",
" STEP 4: Open the bottom right drawer and put the candle inside, then close the drawer. ",
" STEP 5... | seen |
trial_T20190907_133551_259209-4 | Put candles away in bathroom. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -1.25",
" 0.901",
" 1.0",
" 0",
" 180",
" 0",
""
],
[
"1",
" Cloth",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -1.25 0.901 ... | [
"STEP 1: Turn and go to the side of the toilet. The opposite side of the toilet paper holder. | STEP 2: Grab the candle that is behind the bar of soap off the back of the toilet. | STEP 3: With the candle in hand go to the cabinet with the green drawers. | STEP 4: Put the candle in the second drawer down in the dr... | [
[
"STEP 1: Turn and go to the side of the toilet. The opposite side of the toilet paper holder. ",
" STEP 2: Grab the candle that is behind the bar of soap off the back of the toilet. ",
" STEP 3: With the candle in hand go to the cabinet with the green drawers. ",
" STEP 4: Put the candle in the s... | seen |
trial_T20190908_054136_289177-0 | Slice lettuce, clean lettuce, put lettuce on counter. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" 1.5",
" 0.900",
" 2.25",
" 0",
" 180",
" 0",
""
],
[
"1",
" Potato",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent 1.5 0.900 2.25... | [
"STEP 1: Turn right then left, proceed to counter. Turn left to face counter, stove on right and garbage can on left. | STEP 2: Pick up knife off counter, directly next to spoon closest to wall and cup. | STEP 3: Turn right, proceed to counter. | STEP 4: Slice lettuce below apple and pepper grinder. | STEP 5: Turn... | [
[
"STEP 1: Turn right then left, proceed to counter. Turn left to face counter, stove on right and garbage can on left. ",
" STEP 2: Pick up knife off counter, directly next to spoon closest to wall and cup. ",
" STEP 3: Turn right, proceed to counter. ",
" STEP 4: Slice lettuce below apple and pep... | seen |
trial_T20190908_054136_289177-1 | Cut a slice of a vegetable, put the slice on a counter. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" 1.5",
" 0.900",
" 2.25",
" 0",
" 180",
" 0",
""
],
[
"1",
" Potato",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent 1.5 0.900 2.25... | [
"STEP 1: Turn right, Turn left, Walk straight to the counter near the trash can | STEP 2: Pick up the silver knife on the counter | STEP 3: Turn left, walk straight, turn left to the counter | STEP 4: Cut half of the green vegetable into slices | STEP 5: Turn left, walk straight, walk straight to the trash can | ST... | [
[
"STEP 1: Turn right, Turn left, Walk straight to the counter near the trash can ",
" STEP 2: Pick up the silver knife on the counter ",
" STEP 3: Turn left, walk straight, turn left to the counter ",
" STEP 4: Cut half of the green vegetable into slices ",
" STEP 5: Turn left, walk straight, w... | seen |
trial_T20190908_054136_289177-2 | washing some lettuce. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" 1.5",
" 0.900",
" 2.25",
" 0",
" 180",
" 0",
""
],
[
"1",
" Potato",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent 1.5 0.900 2.25... | [
"STEP 1: turn right and then left, go forward and stop at stove and trash can . | STEP 2: face left to the trash and pick up the knife off of the counter. | STEP 3: turn left twice and head to the counter with the lettuce. | STEP 4: slice the lettuce on the counter | STEP 5: turn to your left twice until facing the... | [
[
"STEP 1: turn right and then left, go forward and stop at stove and trash can . ",
" STEP 2: face left to the trash and pick up the knife off of the counter. ",
" STEP 3: turn left twice and head to the counter with the lettuce. ",
" STEP 4: slice the lettuce on the counter ",
" STEP 5: turn t... | seen |
trial_T20190914_020559_534073-0 | Put a cold potato slice in the microwave. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" 1.0",
" 0.900",
" 1.0",
" 0",
" 90",
" 0",
""
],
[
"1",
" Pan",
" -... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent 1.0 0.900 1.0 ... | [
"STEP 1: Turn around and face the counter with the knife to your left. | STEP 2: Take the knife from the counter. | STEP 3: Turn left, right, then right again and face the counter to your right. | STEP 4: Cut the potato on the counter-top. | STEP 5: Turn right and head towards the fridge in front of you. | STEP 6:... | [
[
"STEP 1: Turn around and face the counter with the knife to your left. ",
" STEP 2: Take the knife from the counter. ",
" STEP 3: Turn left, right, then right again and face the counter to your right. ",
" STEP 4: Cut the potato on the counter-top. ",
" STEP 5: Turn right and head towards the... | seen |
trial_T20190914_020559_534073-1 | Put a slice of potato in the microwave. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" 1.0",
" 0.900",
" 1.0",
" 0",
" 90",
" 0",
""
],
[
"1",
" Pan",
" -... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent 1.0 0.900 1.0 ... | [
"STEP 1: Turn around and go to the counter with the black stools. | STEP 2: Pick up the big knife on the counter. | STEP 3: Go around to the other side of the counter. | STEP 4: Cut the potato into slices. | STEP 5: Turn to the right and go to the black fridge. | STEP 6: Open the fridge, place the knife inside... | [
[
"STEP 1: Turn around and go to the counter with the black stools. ",
" STEP 2: Pick up the big knife on the counter. ",
" STEP 3: Go around to the other side of the counter. ",
" STEP 4: Cut the potato into slices. ",
" STEP 5: Turn to the right and go to the black fridge. ",
" STEP 6... | seen |
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