id stringlengths 31 31 | input_task stringlengths 6 164 | input_table list | input_table_md stringlengths 3.62k 13.5k | output_text list | output_list list | label stringclasses 1
value |
|---|---|---|---|---|---|---|
trial_T20190908_182711_300162-0 | Move a pencil to a different area. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -0.25",
" 0.900",
" 0.0",
" 0",
" 180",
" 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 0.0 ... | [
"STEP 1: Turn to the left and walk to the book case. Turn to the right and walk forward to the desk. | STEP 2: Pick up the pencil off of the desk. | STEP 3: Turn around completely and face the small shelving unit. | STEP 4: Place the pencil on the shelving unit. | END"
] | [
[
"STEP 1: Turn to the left and walk to the book case. Turn to the right and walk forward to the desk. ",
" STEP 2: Pick up the pencil off of the desk. ",
" STEP 3: Turn around completely and face the small shelving unit. ",
" STEP 4: Place the pencil on the shelving unit. ",
" END"
]
] | seen |
trial_T20190908_182711_300162-1 | Move a pencil to a small end table. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -0.25",
" 0.900",
" 0.0",
" 0",
" 180",
" 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 0.0 ... | [
"STEP 1: Turn left and walk over to the bookcase, then turn right and walk up to the desk. | STEP 2: Pick up the pencil off of the desk. | STEP 3: Turn right and walk towards the bed, then turn right and walk towards the door, turn right again to face the small end table. | STEP 4: Put the pencil on the shelf of th... | [
[
"STEP 1: Turn left and walk over to the bookcase, then turn right and walk up to the desk. ",
" STEP 2: Pick up the pencil off of the desk. ",
" STEP 3: Turn right and walk towards the bed, then turn right and walk towards the door, turn right again to face the small end table. ",
" STEP 4: Put th... | seen |
trial_T20190908_182711_300162-2 | Place a pencil on a shelf. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -0.25",
" 0.900",
" 0.0",
" 0",
" 180",
" 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 0.0 ... | [
"STEP 1: Turn left and walk to the black desk on the right. | STEP 2: Pick up the white pencil in the middle of the desk closest to the small lamp. | STEP 3: Turn around and face the small black table on the right. | STEP 4: Put the pencil on the left side of the shelf below the top of the table. | END"
] | [
[
"STEP 1: Turn left and walk to the black desk on the right. ",
" STEP 2: Pick up the white pencil in the middle of the desk closest to the small lamp. ",
" STEP 3: Turn around and face the small black table on the right. ",
" STEP 4: Put the pencil on the left side of the shelf below the top of th... | seen |
trial_T20190908_185916_759840-0 | Place two rags inside the vanity drawer. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" 0.0",
" 0.902",
" 3.25",
" 0",
" 270",
" 0",
""
],
[
"1",
" Cloth",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent 0.0 0.902 ... | [
"STEP 1: Turn left and walk to the bathroom sink on the left. | STEP 2: Pick up the red rag in the sink. | STEP 3: Turn around, step forward and turn around to face the vanity. | STEP 4: Open the right side drawer, place the rag in the lower left corner, close the drawer. | STEP 5: Turn around, step forward, then t... | [
[
"STEP 1: Turn left and walk to the bathroom sink on the left. ",
" STEP 2: Pick up the red rag in the sink. ",
" STEP 3: Turn around, step forward and turn around to face the vanity. ",
" STEP 4: Open the right side drawer, place the rag in the lower left corner, close the drawer. ",
" STEP 5:... | seen |
trial_T20190908_185916_759840-1 | Put two rags in the bathroom drawer. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" 0.0",
" 0.902",
" 3.25",
" 0",
" 270",
" 0",
""
],
[
"1",
" Cloth",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent 0.0 0.902 ... | [
"STEP 1: Turn to the left and go to the front of the sink to your left. | STEP 2: Remove the rag from the sink. | STEP 3: Move over to the right side of the sink. | STEP 4: Place the rag in the drawer, under the right side of the sink. | STEP 5: Turn to the bath tub on your right. | STEP 6: Take the rag out of... | [
[
"STEP 1: Turn to the left and go to the front of the sink to your left. ",
" STEP 2: Remove the rag from the sink. ",
" STEP 3: Move over to the right side of the sink. ",
" STEP 4: Place the rag in the drawer, under the right side of the sink. ",
" STEP 5: Turn to the bath tub on your rig... | seen |
trial_T20190908_185916_759840-2 | put two red clothes in a drawer under the counter to the right of the sink | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" 0.0",
" 0.902",
" 3.25",
" 0",
" 270",
" 0",
""
],
[
"1",
" Cloth",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent 0.0 0.902 ... | [
"STEP 1: walk to the front of the sink | STEP 2: take the red cloth from the sink | STEP 3: take the cloth to the right side of the sink | STEP 4: put the cloth in the top drawer on the right | STEP 5: go to the tub basin | STEP 6: pick up the red cloth from the basin | STEP 7: take the cloth to the drawer by the s... | [
[
"STEP 1: walk to the front of the sink ",
" STEP 2: take the red cloth from the sink ",
" STEP 3: take the cloth to the right side of the sink ",
" STEP 4: put the cloth in the top drawer on the right ",
" STEP 5: go to the tub basin ",
" STEP 6: pick up the red cloth from the basin ",
... | seen |
trial_T20190908_005830_510030-0 | Put the chilled tomato in the microwave | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -2.0",
" 0.900",
" 2.5",
" 0",
" 270",
" 0",
""
],
[
"1",
" Pan",
"... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -2.0 0.900 2.5 ... | [
"STEP 1: Turn around and walk across the room then turn right and walk to the kitchen island opposite the stove | STEP 2: Pick up the tomato from the kitchen island | STEP 3: Turn left and walk around the kitchen island to the fridge | STEP 4: Open the fridge and put the tomato in it then remove it | STEP 5: Turn ... | [
[
"STEP 1: Turn around and walk across the room then turn right and walk to the kitchen island opposite the stove ",
" STEP 2: Pick up the tomato from the kitchen island ",
" STEP 3: Turn left and walk around the kitchen island to the fridge ",
" STEP 4: Open the fridge and put the tomato in it the... | seen |
trial_T20190908_005830_510030-1 | Put a cold tomato in the microwave. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -2.0",
" 0.900",
" 2.5",
" 0",
" 270",
" 0",
""
],
[
"1",
" Pan",
"... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -2.0 0.900 2.5 ... | [
"STEP 1: Turn around and walk to the wall then turn right and walk until you're even with the tomato on the counter to your right then when you get to it turn right to face it. | STEP 2: Pick up the aforementioned tomato. | STEP 3: Turn left and walk to the counter then turn right and walk to the counter then turn... | [
[
"STEP 1: Turn around and walk to the wall then turn right and walk until you're even with the tomato on the counter to your right then when you get to it turn right to face it. ",
" STEP 2: Pick up the aforementioned tomato. ",
" STEP 3: Turn left and walk to the counter then turn right and walk to t... | seen |
trial_T20190908_005830_510030-2 | Place a chilled tomato in a microwave | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -2.0",
" 0.900",
" 2.5",
" 0",
" 270",
" 0",
""
],
[
"1",
" Pan",
"... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -2.0 0.900 2.5 ... | [
"STEP 1: Turn around and cross the room then head right then turn right at the oven to face the island counter top | STEP 2: Pick up the tomato that is sitting on the counter top | STEP 3: Turn left and walk to the cabinet, the take a right and head to the black fridge across the room | STEP 4: Open the fridge and ... | [
[
"STEP 1: Turn around and cross the room then head right then turn right at the oven to face the island counter top ",
" STEP 2: Pick up the tomato that is sitting on the counter top ",
" STEP 3: Turn left and walk to the cabinet, the take a right and head to the black fridge across the room ",
" S... | seen |
trial_T20190907_224053_726820-0 | Place a pen in a drawer | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -0.25",
" 0.900",
" -1.25",
" 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 0.900 -1.2... | [
"STEP 1: Cross the room to the door then hang a right and walk to the desk | STEP 2: Pick up the pen that is sitting on the left side of the desk | STEP 3: Take a step to the right. | STEP 4: Open the drawer that is on the left side of the desk and place the pen inside the drawer then close it | END"
] | [
[
"STEP 1: Cross the room to the door then hang a right and walk to the desk ",
" STEP 2: Pick up the pen that is sitting on the left side of the desk ",
" STEP 3: Take a step to the right. ",
" STEP 4: Open the drawer that is on the left side of the desk and place the pen inside the drawer then clo... | seen |
trial_T20190907_224053_726820-1 | Put a pen in the desk drawer. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -0.25",
" 0.900",
" -1.25",
" 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 0.900 -1.2... | [
"STEP 1: Walk across the room and make a right at the door, then walk up to the far left side of the desk. | STEP 2: Pick up the pen, on the desk, in front of the books. | STEP 3: Step back from the desk so that there is an arms length distance between you and the desk. | STEP 4: Place the pen in the top drawers... | [
[
"STEP 1: Walk across the room and make a right at the door, then walk up to the far left side of the desk. ",
" STEP 2: Pick up the pen, on the desk, in front of the books. ",
" STEP 3: Step back from the desk so that there is an arms length distance between you and the desk. ",
" STEP 4: Place... | seen |
trial_T20190907_224053_726820-2 | Move a pen to the drawer of the desk | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -0.25",
" 0.900",
" -1.25",
" 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 0.900 -1.2... | [
"STEP 1: Move to the far left side of the wooden desk where the pen is sitting on the desk | STEP 2: Pick up the pen on the edge of the desk | STEP 3: Carry the pen and adjust facing the far left drawer of the desk | STEP 4: Place the pen inside of the drawer, close the drawer | END"
] | [
[
"STEP 1: Move to the far left side of the wooden desk where the pen is sitting on the desk ",
" STEP 2: Pick up the pen on the edge of the desk ",
" STEP 3: Carry the pen and adjust facing the far left drawer of the desk ",
" STEP 4: Place the pen inside of the drawer, close the drawer ",
" EN... | seen |
trial_T20190906_203744_920699-0 | Put the heated mug on the wooden rack. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -0.5",
" 0.900",
" -1.25",
" 0",
" 90",
" 0",
""
],
[
"1",
" Potato",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -0.5 0.900 -1.2... | [
"STEP 1: Turn to face the sink on the right. | STEP 2: Pick up the mug from the sink. | STEP 3: Bring the mug to the microwave. | STEP 4: Heat the mug in the microwave for a few seconds. | STEP 5: Bring the mug to the wooden rack. | STEP 6: Place the mug on the wooden rack. | END"
] | [
[
"STEP 1: Turn to face the sink on the right. ",
" STEP 2: Pick up the mug from the sink. ",
" STEP 3: Bring the mug to the microwave. ",
" STEP 4: Heat the mug in the microwave for a few seconds. ",
" STEP 5: Bring the mug to the wooden rack. ",
" STEP 6: Place the mug on the wooden ra... | seen |
trial_T20190906_203744_920699-1 | Put a warm cup on the shelf. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -0.5",
" 0.900",
" -1.25",
" 0",
" 90",
" 0",
""
],
[
"1",
" Potato",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -0.5 0.900 -1.2... | [
"STEP 1: Go to the sink to your right. | STEP 2: Remove the cup on the right from the sink. | STEP 3: Take the cup to the microwave. | STEP 4: Heat the cup in the microwave. | STEP 5: That the cup to the shelves behind you and to your right. | STEP 6: Place the cup on the top shelf. | END"
] | [
[
"STEP 1: Go to the sink to your right. ",
" STEP 2: Remove the cup on the right from the sink. ",
" STEP 3: Take the cup to the microwave. ",
" STEP 4: Heat the cup in the microwave. ",
" STEP 5: That the cup to the shelves behind you and to your right. ",
" STEP 6: Place the cup on the to... | seen |
trial_T20190906_203744_920699-2 | Place the warmed cup on the wooden shelf. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -0.5",
" 0.900",
" -1.25",
" 0",
" 90",
" 0",
""
],
[
"1",
" Potato",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -0.5 0.900 -1.2... | [
"STEP 1: Turn right to face the sink. | STEP 2: Pick up the white cup from the sink. | STEP 3: Turn left and walk towards the microwave. | STEP 4: Open the microwave, place the cup in it, heat it up, and take the cup out of it. | STEP 5: Turn left, walk past the fridge, then turn left towards the wooden shelf on yo... | [
[
"STEP 1: Turn right to face the sink. ",
" STEP 2: Pick up the white cup from the sink. ",
" STEP 3: Turn left and walk towards the microwave. ",
" STEP 4: Open the microwave, place the cup in it, heat it up, and take the cup out of it. ",
" STEP 5: Turn left, walk past the fridge, then turn l... | seen |
trial_T20190907_191128_519194-0 | Put a cold loaf of bread on the table. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -3.25",
" 0.900",
" 1.0",
" 0",
" 0",
" 0",
""
],
[
"1",
" Pan",
" ... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -3.25 0.900 1.0 ... | [
"STEP 1: Turn right and approach the coffee maker. | STEP 2: Pick up the loaf of bread from the counter. | STEP 3: Turn around and go to the fridge. | STEP 4: Chill the bread and then pick it up again. | STEP 5: Go to the table in the corner to your left. | STEP 6: Put the bread on the table. | END"
] | [
[
"STEP 1: Turn right and approach the coffee maker. ",
" STEP 2: Pick up the loaf of bread from the counter. ",
" STEP 3: Turn around and go to the fridge. ",
" STEP 4: Chill the bread and then pick it up again. ",
" STEP 5: Go to the table in the corner to your left. ",
" STEP 6: Put the b... | seen |
trial_T20190907_191128_519194-1 | pick up the loaf of bread, chill it briefly in the fridge, put it on the dining room table | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -3.25",
" 0.900",
" 1.0",
" 0",
" 0",
" 0",
""
],
[
"1",
" Pan",
" ... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -3.25 0.900 1.0 ... | [
"STEP 1: turn right and walk into the kitchen, keep walking until you reach the counter tops, turn right and face the counter top that has a loaf of bread on it | STEP 2: pick up the loaf of bread | STEP 3: turn right and walk until you face the black fridge | STEP 4: open the fridge, place the bread on the top she... | [
[
"STEP 1: turn right and walk into the kitchen, keep walking until you reach the counter tops, turn right and face the counter top that has a loaf of bread on it ",
" STEP 2: pick up the loaf of bread ",
" STEP 3: turn right and walk until you face the black fridge ",
" STEP 4: open the fridge, pla... | seen |
trial_T20190907_191128_519194-2 | Put a chilled loaf of bread on the round wooden table. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -3.25",
" 0.900",
" 1.0",
" 0",
" 0",
" 0",
""
],
[
"1",
" Pan",
" ... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -3.25 0.900 1.0 ... | [
"STEP 1: Turn right and begin walking across the room, then hang a right and walk over to the coffee machine, turn right to face the counter once there. | STEP 2: Pick up the loaf of bread off of the counter. | STEP 3: Turn around and begin walking across the room then hang a left and walk up to the fridge. | STEP ... | [
[
"STEP 1: Turn right and begin walking across the room, then hang a right and walk over to the coffee machine, turn right to face the counter once there. ",
" STEP 2: Pick up the loaf of bread off of the counter. ",
" STEP 3: Turn around and begin walking across the room then hang a left and walk up to... | seen |
trial_T20190907_144603_396680-0 | Put two tomatoes on the counter. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -2.0",
" 0.901",
" -3.25",
" 0",
" 90",
" 0",
""
],
[
"1",
" Pan",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -2.0 0.901 -3.2... | [
"STEP 1: Turn left, go straight, then turn left past the fridge, then turn right to face the table. | STEP 2: Pick up the tomato, nearest to the coffee maker. | STEP 3: Turn right and then go toward the microwave in front of you. | STEP 4: Put the tomato on the right front corner of the counter. | STEP 5: Turn arou... | [
[
"STEP 1: Turn left, go straight, then turn left past the fridge, then turn right to face the table. ",
" STEP 2: Pick up the tomato, nearest to the coffee maker. ",
" STEP 3: Turn right and then go toward the microwave in front of you. ",
" STEP 4: Put the tomato on the right front corner of the c... | seen |
trial_T20190907_144603_396680-1 | Put the two tomato on the counter | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -2.0",
" 0.901",
" -3.25",
" 0",
" 90",
" 0",
""
],
[
"1",
" Pan",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -2.0 0.901 -3.2... | [
"STEP 1: Turn to your left cross the room then turn left stay beside the fridge | STEP 2: Pick up the furthest tomato on table beside the coffee maker | STEP 3: Turn to your right walk towards the counter beside the stove | STEP 4: Place the tomato beside the spoon on the counter | STEP 5: Turn around to your right... | [
[
"STEP 1: Turn to your left cross the room then turn left stay beside the fridge ",
" STEP 2: Pick up the furthest tomato on table beside the coffee maker ",
" STEP 3: Turn to your right walk towards the counter beside the stove ",
" STEP 4: Place the tomato beside the spoon on the counter ",
"... | seen |
trial_T20190907_144603_396680-2 | Put two tomatoes on a counter to the left of the stove. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -2.0",
" 0.901",
" -3.25",
" 0",
" 90",
" 0",
""
],
[
"1",
" Pan",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -2.0 0.901 -3.2... | [
"STEP 1: Turn to your left and cross the room to the round table in the corner. | STEP 2: Pick up the tomato that is closest to the coffee maker. | STEP 3: Turn right and cross the room to the microwave. | STEP 4: Put the tomato of the right front corner of the counter the microwave is sitting on, just to the left... | [
[
"STEP 1: Turn to your left and cross the room to the round table in the corner. ",
" STEP 2: Pick up the tomato that is closest to the coffee maker. ",
" STEP 3: Turn right and cross the room to the microwave. ",
" STEP 4: Put the tomato of the right front corner of the counter the microwave is s... | seen |
trial_T20190907_144603_396680-3 | Put the tomatoes on the kitchen counter | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -2.0",
" 0.901",
" -3.25",
" 0",
" 90",
" 0",
""
],
[
"1",
" Pan",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -2.0 0.901 -3.2... | [
"STEP 1: Turn left and walk over to the round wooden table | STEP 2: \nPick up the tomato nearest the coffee maker from the table | STEP 3: Turn right and walk across to the kitchen counter by the microwave | STEP 4: Put the tomato down on the counter just left of the oven | STEP 5: Turn around and walk back to the... | [
[
"STEP 1: Turn left and walk over to the round wooden table ",
" STEP 2: \nPick up the tomato nearest the coffee maker from the table ",
" STEP 3: Turn right and walk across to the kitchen counter by the microwave ",
" STEP 4: Put the tomato down on the counter just left of the oven ",
" STEP 5... | seen |
trial_T20190907_144603_396680-4 | To move two tomatoes to the counter with the microwave on it. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -2.0",
" 0.901",
" -3.25",
" 0",
" 90",
" 0",
""
],
[
"1",
" Pan",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -2.0 0.901 -3.2... | [
"STEP 1: Turn left and walk to the table, face the table where the three tomatoes are. | STEP 2: Pick up the tomato to the left of the coffee maker. | STEP 3: Move to the counter with the microwave on it. | STEP 4: Place the tomato on the counter to the right of the spoon. | STEP 5: Turn around and walk back to... | [
[
"STEP 1: Turn left and walk to the table, face the table where the three tomatoes are. ",
" STEP 2: Pick up the tomato to the left of the coffee maker. ",
" STEP 3: Move to the counter with the microwave on it. ",
" STEP 4: Place the tomato on the counter to the right of the spoon. ",
" ST... | seen |
trial_T20190907_144603_396680-5 | Move two tomatoes to the counter. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -2.0",
" 0.901",
" -3.25",
" 0",
" 90",
" 0",
""
],
[
"1",
" Pan",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -2.0 0.901 -3.2... | [
"STEP 1: Turn left, move forward, turn left, then turn right to face the table. | STEP 2: Pick up the tomato on the table, nearest to the coffee maker. | STEP 3: Turn right and go to the counter ahead, near the microwave. | STEP 4: Put the tomato on the counter, to the right of the spoon. | STEP 5: Turn around, go ... | [
[
"STEP 1: Turn left, move forward, turn left, then turn right to face the table. ",
" STEP 2: Pick up the tomato on the table, nearest to the coffee maker. ",
" STEP 3: Turn right and go to the counter ahead, near the microwave. ",
" STEP 4: Put the tomato on the counter, to the right of the spoon.... | seen |
trial_T20190908_023755_570633-0 | To clean a slice of potato and put it on the top shelf 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",
" 1.0",
" 0",
" 90",
" 0",
""
],
[
"1",
" Pan",
" 1... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent 0.5 0.900 1.0 ... | [
"STEP 1: Turn right and walk forward to face the corner of the counter. | STEP 2: Pick up the knife on the counter. | STEP 3: Turn to the left to face the fridge. | STEP 4: Cut the potato on the top shelf of the fridge and shut the door. | STEP 5: Look down to face the fridge. | STEP 6: Place the knife on the middl... | [
[
"STEP 1: Turn right and walk forward to face the corner of the counter. ",
" STEP 2: Pick up the knife on the counter. ",
" STEP 3: Turn to the left to face the fridge. ",
" STEP 4: Cut the potato on the top shelf of the fridge and shut the door. ",
" STEP 5: Look down to face the fridge. ",
... | seen |
trial_T20190908_023755_570633-1 | Slice a potato rinse it off putting inside the refrigerator | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" 0.5",
" 0.900",
" 1.0",
" 0",
" 90",
" 0",
""
],
[
"1",
" Pan",
" 1... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent 0.5 0.900 1.0 ... | [
"STEP 1: Turn to the right across the room face the counter | STEP 2: Pick up the knife from the counter | STEP 3: Turn to the left towards the refrigerator open the refrigerator | STEP 4: Slice the potato that is inside the refrigerator close the refrigerator door | STEP 5: Open the refrigerator door put the kn... | [
[
"STEP 1: Turn to the right across the room face the counter ",
" STEP 2: Pick up the knife from the counter ",
" STEP 3: Turn to the left towards the refrigerator open the refrigerator ",
" STEP 4: Slice the potato that is inside the refrigerator close the refrigerator door ",
" STEP 5: Ope... | seen |
trial_T20190908_023755_570633-2 | Slice potato in fridge and wash a slice. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" 0.5",
" 0.900",
" 1.0",
" 0",
" 90",
" 0",
""
],
[
"1",
" Pan",
" 1... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent 0.5 0.900 1.0 ... | [
"STEP 1: Take right, walk forward, take left to fridge | STEP 2: Take right, walk to counter, pick up the butter knife | STEP 3: Turn around, walk to fridge | STEP 4: Open fridge, cut potato on top shelf | STEP 5: Close the fridge, step back from fridge | STEP 6: Open fridge, place knife on shelf next to plate | ST... | [
[
"STEP 1: Take right, walk forward, take left to fridge ",
" STEP 2: Take right, walk to counter, pick up the butter knife ",
" STEP 3: Turn around, walk to fridge ",
" STEP 4: Open fridge, cut potato on top shelf ",
" STEP 5: Close the fridge, step back from fridge ",
" STEP 6: Open fridge... | seen |
trial_T20190907_221803_588693-0 | Fill a pan with water from the kitchen sink | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -3.75",
" 0.900",
" -2.25",
" 0",
" 90",
" 0",
""
],
[
"1",
" Pencil",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -3.75 0.900 -2.2... | [
"STEP 1: turn right and move towards the window, then turn left around the middle table and face it | STEP 2: pick up the medium sized pan on the table in front of the milk bottle | STEP 3: turn around and face the sink | STEP 4: place the pan in the kitchen sink, then turn the sink on and fill the pan with water. ... | [
[
"STEP 1: turn right and move towards the window, then turn left around the middle table and face it ",
" STEP 2: pick up the medium sized pan on the table in front of the milk bottle ",
" STEP 3: turn around and face the sink ",
" STEP 4: place the pan in the kitchen sink, then turn the sink on an... | seen |
trial_T20190907_221803_588693-1 | Put a clean bowl of water on the kitchen island. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -3.75",
" 0.900",
" -2.25",
" 0",
" 90",
" 0",
""
],
[
"1",
" Pencil",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -3.75 0.900 -2.2... | [
"STEP 1: Turn right and begin walking across the room, then hang a left and walk over to the far side of the kitchen island. | STEP 2: Pick up the dirty bowl that is closest to the bottle of wine on the kitchen island. | STEP 3: Turn left and take a step forward, then turn left and walk up to the sink. | STEP 4: Pu... | [
[
"STEP 1: Turn right and begin walking across the room, then hang a left and walk over to the far side of the kitchen island. ",
" STEP 2: Pick up the dirty bowl that is closest to the bottle of wine on the kitchen island. ",
" STEP 3: Turn left and take a step forward, then turn left and walk up to th... | seen |
trial_T20190907_221803_588693-2 | Put bowl with water on the table | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -3.75",
" 0.900",
" -2.25",
" 0",
" 90",
" 0",
""
],
[
"1",
" Pencil",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -3.75 0.900 -2.2... | [
"STEP 1: Turn to your right move forward the turn left then head towards the the table facing the two chairs | STEP 2: Pick up the bowl in front of you beside the clear bottle | STEP 3: Turn to your left and head to the sink | STEP 4: Put the bowl in the sink then rinse it and fill it with water | STEP 5: Pick up ... | [
[
"STEP 1: Turn to your right move forward the turn left then head towards the the table facing the two chairs ",
" STEP 2: Pick up the bowl in front of you beside the clear bottle ",
" STEP 3: Turn to your left and head to the sink ",
" STEP 4: Put the bowl in the sink then rinse it and fill it wi... | seen |
trial_T20190909_150140_960275-0 | take the candle from the sink to the toilet | [
[
"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",
" 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 0.900 ... | [
"STEP 1: go to the sink | STEP 2: pick up the candle to the right of the sink | STEP 3: take the candle to the toilet | STEP 4: put the candle on the toilet tank | END"
] | [
[
"STEP 1: go to the sink ",
" STEP 2: pick up the candle to the right of the sink ",
" STEP 3: take the candle to the toilet ",
" STEP 4: put the candle on the toilet tank ",
" END"
]
] | seen |
trial_T20190909_150140_960275-1 | Move a candle to the toilet tank | [
[
"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",
" 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 0.900 ... | [
"STEP 1: Move right then face the far right side of the counter top right of the sink | STEP 2: Pick up the candle stick on top of the sink | STEP 3: Carry the candle stick over to the toilet | STEP 4: Place the candle stick on top of the toilet on the far right side of the toilet tank | END"
] | [
[
"STEP 1: Move right then face the far right side of the counter top right of the sink ",
" STEP 2: Pick up the candle stick on top of the sink ",
" STEP 3: Carry the candle stick over to the toilet ",
" STEP 4: Place the candle stick on top of the toilet on the far right side of the toilet tank ",... | seen |
trial_T20190909_150140_960275-2 | Put a candle on a toilet. | [
[
"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",
" 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 0.900 ... | [
"STEP 1: Turn to the right and face the sink on the right. | STEP 2: Pick the candle up from the right of the sink. | STEP 3: Turn around and cross the room to stand on the right side of the toilet. | STEP 4: Put the candle down on the back of the toilet. | END"
] | [
[
"STEP 1: Turn to the right and face the sink on the right. ",
" STEP 2: Pick the candle up from the right of the sink. ",
" STEP 3: Turn around and cross the room to stand on the right side of the toilet. ",
" STEP 4: Put the candle down on the back of the toilet. ",
" END"
]
] | seen |
trial_T20190906_203615_424745-0 | Put two credit cards on the couch. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" 1.5",
" 0.900",
" -0.25",
" 0",
" 90",
" 0",
""
],
[
"1",
" Bowl",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent 1.5 0.900 -0.2... | [
"STEP 1: Turn around and walk until you are even with the coffee table on your left and then turn left to face it. | STEP 2: Pick up the credit card that's in front of you. | STEP 3: Turn around to face the laptop and shift ever so slightly to your right. | STEP 4: Set the credit card on the edge of the couch to th... | [
[
"STEP 1: Turn around and walk until you are even with the coffee table on your left and then turn left to face it. ",
" STEP 2: Pick up the credit card that's in front of you. ",
" STEP 3: Turn around to face the laptop and shift ever so slightly to your right. ",
" STEP 4: Set the credit card on ... | seen |
trial_T20190906_203615_424745-1 | Place two credit cards on a couch. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" 1.5",
" 0.900",
" -0.25",
" 0",
" 90",
" 0",
""
],
[
"1",
" Bowl",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent 1.5 0.900 -0.2... | [
"STEP 1: Turn around and walk to the long side of the coffee table closest to your position. | STEP 2: Pick up the credit card on the coffee table. | STEP 3: Turn around and face the couch. | STEP 4: Put the credit card to the right of the laptop. | STEP 5: Turn around and walk around to the other side of the coffe... | [
[
"STEP 1: Turn around and walk to the long side of the coffee table closest to your position. ",
" STEP 2: Pick up the credit card on the coffee table. ",
" STEP 3: Turn around and face the couch. ",
" STEP 4: Put the credit card to the right of the laptop. ",
" STEP 5: Turn around and walk aro... | seen |
trial_T20190906_203615_424745-2 | Pick up the two credit cards. Put them on the couch. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" 1.5",
" 0.900",
" -0.25",
" 0",
" 90",
" 0",
""
],
[
"1",
" Bowl",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent 1.5 0.900 -0.2... | [
"STEP 1: Turn right to the book case | STEP 2: Turn left to the coffee table | STEP 3: Pick up the credit card on the table | STEP 4: Put the credit card on the couch | STEP 5: Go to the computer on the table. | STEP 6: Pick up the credit card on the table | STEP 7: Take the credit card to the couch | STEP 8: Put t... | [
[
"STEP 1: Turn right to the book case ",
" STEP 2: Turn left to the coffee table ",
" STEP 3: Pick up the credit card on the table ",
" STEP 4: Put the credit card on the couch ",
" STEP 5: Go to the computer on the table. ",
" STEP 6: Pick up the credit card on the table ",
" STEP 7: T... | seen |
trial_T20190908_234137_732626-0 | Put a wet sponge on the toilet. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -1.0",
" 0.902",
" 0.5",
" 0",
" 90",
" 0",
""
],
[
"1",
" Cloth",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -1.0 0.902 ... | [
"STEP 1: Turn right and walk to the toilet. | STEP 2: Pick up the green backed sponge that's in front of you. | STEP 3: Turn right and walk to the tub then turn right and walk to the wall then turn right to face the sink. | STEP 4: Get the sponge wet in the sink and then pick it back up and shut off the water. | ST... | [
[
"STEP 1: Turn right and walk to the toilet. ",
" STEP 2: Pick up the green backed sponge that's in front of you. ",
" STEP 3: Turn right and walk to the tub then turn right and walk to the wall then turn right to face the sink. ",
" STEP 4: Get the sponge wet in the sink and then pick it back up a... | seen |
trial_T20190908_234137_732626-1 | place a clean sponge on top of the bathroom toilet | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -1.0",
" 0.902",
" 0.5",
" 0",
" 90",
" 0",
""
],
[
"1",
" Cloth",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -1.0 0.902 ... | [
"STEP 1: turn right and walk up to the toilet ahead | STEP 2: grab a sponge off of the top of the toilet there | STEP 3: turn around and walk to the bathroom sink ahead | STEP 4: rinse the sponge off in the sink, then take it back out | STEP 5: turn right and walk over to the top of the bathroom toilet | STEP 6: pl... | [
[
"STEP 1: turn right and walk up to the toilet ahead ",
" STEP 2: grab a sponge off of the top of the toilet there ",
" STEP 3: turn around and walk to the bathroom sink ahead ",
" STEP 4: rinse the sponge off in the sink, then take it back out ",
" STEP 5: turn right and walk over to the top o... | seen |
trial_T20190908_234137_732626-2 | Place a rinsed sponge on a toilet tank. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -1.0",
" 0.902",
" 0.5",
" 0",
" 90",
" 0",
""
],
[
"1",
" Cloth",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -1.0 0.902 ... | [
"STEP 1: Turn right and walk to the white toilet. | STEP 2: Pick up the green sponge from the right side of the toilet tank. | STEP 3: Turn left and walk to the side of the sink on the right. | STEP 4: Put the sponge inside the sink, rinse it for a few seconds and pick it back up. | STEP 5: Turn right and hang a ri... | [
[
"STEP 1: Turn right and walk to the white toilet. ",
" STEP 2: Pick up the green sponge from the right side of the toilet tank. ",
" STEP 3: Turn left and walk to the side of the sink on the right. ",
" STEP 4: Put the sponge inside the sink, rinse it for a few seconds and pick it back up. ",
... | seen |
trial_T20190911_205333_848673-0 | Rinse a bowl and place it 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",
" -1.0",
" 0",
" 180",
" 0",
""
],
[
"1",
" DishSponge... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -0.5 0.900 -1.0... | [
"STEP 1: Turn around, then to the left to find the fridge. | STEP 2: Take out a bowl from the fridge. | STEP 3: Carry the bowl and turn to the left, then find the sink on the right. | STEP 4: Place the bowl inside the sink, and turn on the water. Turn it off and pick up the bowl. | STEP 5: Hold the bowl and turn to... | [
[
"STEP 1: Turn around, then to the left to find the fridge. ",
" STEP 2: Take out a bowl from the fridge. ",
" STEP 3: Carry the bowl and turn to the left, then find the sink on the right. ",
" STEP 4: Place the bowl inside the sink, and turn on the water. Turn it off and pick up the bowl. ",
"... | seen |
trial_T20190911_205333_848673-1 | Put a clean bowl with water in it 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",
" -1.0",
" 0",
" 180",
" 0",
""
],
[
"1",
" DishSponge... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -0.5 0.900 -1.0... | [
"STEP 1: Turn around, step forward, then turn left to approach the fridge. | STEP 2: Take the bowl from the freezer. | STEP 3: Go to the sink behind you, to the left of the coffee maker. | STEP 4: Clean the bowl and fill it with water in the sink. | STEP 5: Turn around and go back to the fridge. | STEP 6: Put the b... | [
[
"STEP 1: Turn around, step forward, then turn left to approach the fridge. ",
" STEP 2: Take the bowl from the freezer. ",
" STEP 3: Go to the sink behind you, to the left of the coffee maker. ",
" STEP 4: Clean the bowl and fill it with water in the sink. ",
" STEP 5: Turn around and go back ... | seen |
trial_T20190911_205333_848673-2 | Put a cold bowl of water 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",
" -1.0",
" 0",
" 180",
" 0",
""
],
[
"1",
" DishSponge... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -0.5 0.900 -1.0... | [
"STEP 1: Go to the refrigerator on your right. | STEP 2: Remove the frosted bowl, on the top shelf of the freezer. | STEP 3: Turn around and go to the sink. | STEP 4: Place the bowl in the sink, turn the water on, fill the bowl with water, turn the water off, and remove the bowl from the sink. | STEP 5: Turn to... | [
[
"STEP 1: Go to the refrigerator on your right. ",
" STEP 2: Remove the frosted bowl, on the top shelf of the freezer. ",
" STEP 3: Turn around and go to the sink. ",
" STEP 4: Place the bowl in the sink, turn the water on, fill the bowl with water, turn the water off, and remove the bowl from t... | seen |
trial_T20190907_160608_331487-0 | Put a pan in the sink with a scoop on it. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -0.75",
" 0.900",
" 3.25",
" 0",
" 90",
" 0",
""
],
[
"1",
" CellPhone"... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -0.75 0.900 3.25... | [
"STEP 1: Move to the counter to the left of the sink | STEP 2: Pick up the scoop from the counter | STEP 3: Move to the counter on the right of the sink | STEP 4: Put the scoop on a pan in the cabinet | STEP 5: Pick up the pan from the cabinet | STEP 6: Move to the sink to the left | STEP 7: Put the pan in the sink... | [
[
"STEP 1: Move to the counter to the left of the sink ",
" STEP 2: Pick up the scoop from the counter ",
" STEP 3: Move to the counter on the right of the sink ",
" STEP 4: Put the scoop on a pan in the cabinet ",
" STEP 5: Pick up the pan from the cabinet ",
" STEP 6: Move to the sink to t... | seen |
trial_T20190907_160608_331487-1 | Put a frying pan with an ice cream scoop in it in the frying pan. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -0.75",
" 0.900",
" 3.25",
" 0",
" 90",
" 0",
""
],
[
"1",
" CellPhone"... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -0.75 0.900 3.25... | [
"STEP 1: Walk forward to the wall then turn right and walk to the counter. | STEP 2: Pick up the ice cream scoop that is touching the coffee maker. | STEP 3: Turn right and walk to the salt shaker on the counter to your left and then turn left to face it. | STEP 4: Open the cupboard above the salt shaker and put th... | [
[
"STEP 1: Walk forward to the wall then turn right and walk to the counter. ",
" STEP 2: Pick up the ice cream scoop that is touching the coffee maker. ",
" STEP 3: Turn right and walk to the salt shaker on the counter to your left and then turn left to face it. ",
" STEP 4: Open the cupboard above... | seen |
trial_T20190907_160608_331487-2 | drop a pan with a spoon in it inside the sink | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -0.75",
" 0.900",
" 3.25",
" 0",
" 90",
" 0",
""
],
[
"1",
" CellPhone"... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -0.75 0.900 3.25... | [
"STEP 1: turn right and move towards the coffee maker | STEP 2: pick up the spoon at the right hand side of the coffee maker | STEP 3: turn right and head towards the sink | STEP 4: place the spoon in the pan inside the cupboard above the sink | STEP 5: pick up the pan | STEP 6: turn left towards the sink | STEP 7:... | [
[
"STEP 1: turn right and move towards the coffee maker ",
" STEP 2: pick up the spoon at the right hand side of the coffee maker ",
" STEP 3: turn right and head towards the sink ",
" STEP 4: place the spoon in the pan inside the cupboard above the sink ",
" STEP 5: pick up the pan ",
" STE... | seen |
trial_T20190910_013914_498289-0 | Put the plate with turner on the table | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -2.0",
" 0.901",
" -2.0",
" 0",
" 270",
" 0",
""
],
[
"1",
" Pan",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -2.0 0.901 -2.0... | [
"STEP 1: Turn to your right then move forward face the table | STEP 2: Pick up the turner beside the bread on the table | STEP 3: Turn to your left cross the room head to the sink counter | STEP 4: Put the turner on the plate which is on the counter | STEP 5: Pick up the plate with turner | STEP 6: Turn to your rig... | [
[
"STEP 1: Turn to your right then move forward face the table ",
" STEP 2: Pick up the turner beside the bread on the table ",
" STEP 3: Turn to your left cross the room head to the sink counter ",
" STEP 4: Put the turner on the plate which is on the counter ",
" STEP 5: Pick up the plate with... | seen |
trial_T20190910_013914_498289-1 | Put a plate with a spatula on it on the table. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -2.0",
" 0.901",
" -2.0",
" 0",
" 270",
" 0",
""
],
[
"1",
" Pan",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -2.0 0.901 -2.0... | [
"STEP 1: Turn right and walk to the chair then turn left. | STEP 2: Pick up the spatula that's on the table. | STEP 3: Turn left and walk to the sink then turn right and walk to the counter. | STEP 4: Put the spatula on the plate under the cupboards. | STEP 5: Pick up the plate. | STEP 6: Turn right and take a step... | [
[
"STEP 1: Turn right and walk to the chair then turn left. ",
" STEP 2: Pick up the spatula that's on the table. ",
" STEP 3: Turn left and walk to the sink then turn right and walk to the counter. ",
" STEP 4: Put the spatula on the plate under the cupboards. ",
" STEP 5: Pick up the plate. ",... | seen |
trial_T20190910_013914_498289-2 | Place a plate under the spatula on the table. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -2.0",
" 0.901",
" -2.0",
" 0",
" 270",
" 0",
""
],
[
"1",
" Pan",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -2.0 0.901 -2.0... | [
"STEP 1: Turn right and move to the round kitchen table in the corner. | STEP 2: Pick up the spatula from the table. | STEP 3: Turn and carry the spatula to the sink. | STEP 4: Turn right again and carry the spatula to the counter space left of the fridge. | STEP 5: Place the spatula on the round plate in the corne... | [
[
"STEP 1: Turn right and move to the round kitchen table in the corner. ",
" STEP 2: Pick up the spatula from the table. ",
" STEP 3: Turn and carry the spatula to the sink. ",
" STEP 4: Turn right again and carry the spatula to the counter space left of the fridge. ",
" STEP 5: Place the spatu... | seen |
trial_T20190907_160608_380799-0 | Inspect a credit card by the light of a lamp. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -1.5",
" 0.900",
" -0.5",
" 0",
" 180",
" 0",
""
],
[
"1",
" TissueBox"... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -1.5 0.900 -0.5... | [
"STEP 1: Turn left, move to the shelves in front of the TV. | STEP 2: Pick up the credit card from the low shelf. | STEP 3: Turn left, move to the tall lamp. | STEP 4: Turn on the tall lamp. | END"
] | [
[
"STEP 1: Turn left, move to the shelves in front of the TV. ",
" STEP 2: Pick up the credit card from the low shelf. ",
" STEP 3: Turn left, move to the tall lamp. ",
" STEP 4: Turn on the tall lamp. ",
" END"
]
] | seen |
trial_T20190907_160608_380799-1 | Examine the credit card under the light of the floor lamp | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
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" 0.900",
" -0.5",
" 0",
" 180",
" 0",
""
],
[
"1",
" TissueBox"... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -1.5 0.900 -0.5... | [
"STEP 1: Turn around and walk over to the wooden cabinet under the TV | STEP 2: Pick up the blue credit card from the cabinet | STEP 3: Turn around and walk to the floor lamp in the corner | STEP 4: Turn on the floor lamp | END"
] | [
[
"STEP 1: Turn around and walk over to the wooden cabinet under the TV ",
" STEP 2: Pick up the blue credit card from the cabinet ",
" STEP 3: Turn around and walk to the floor lamp in the corner ",
" STEP 4: Turn on the floor lamp ",
" END"
]
] | seen |
trial_T20190907_160608_380799-2 | Turn a lamp on with a credit card in hand. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -1.5",
" 0.900",
" -0.5",
" 0",
" 180",
" 0",
""
],
[
"1",
" TissueBox"... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -1.5 0.900 -0.5... | [
"STEP 1: Turn around and face the brown cabinet. | STEP 2: Pick the credit card up from the lower shelf of the brown cabinet. | STEP 3: Go left and then left again and turn to stand in front of the lamp in the corner. | STEP 4: Turn the lamp on. | END"
] | [
[
"STEP 1: Turn around and face the brown cabinet. ",
" STEP 2: Pick the credit card up from the lower shelf of the brown cabinet. ",
" STEP 3: Go left and then left again and turn to stand in front of the lamp in the corner. ",
" STEP 4: Turn the lamp on. ",
" END"
]
] | seen |
trial_T20190906_233458_108018-0 | place a green sponge on the drying racks | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -1.0",
" 0.913",
" -0.75",
" 0",
" 0",
" 0",
""
],
[
"1",
" Cloth",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -1.0 0.913 ... | [
"STEP 1: walk on over to the toilet | STEP 2: grab the green sponge off the top of the toilet | STEP 3: walk over to the sink | STEP 4: place the sponge in the sink and rinse it off, then pick it up again | STEP 5: bring the sponge over to the drying racks | STEP 6: place the sponge on the rack | END"
] | [
[
"STEP 1: walk on over to the toilet ",
" STEP 2: grab the green sponge off the top of the toilet ",
" STEP 3: walk over to the sink ",
" STEP 4: place the sponge in the sink and rinse it off, then pick it up again ",
" STEP 5: bring the sponge over to the drying racks ",
" STEP 6: place th... | seen |
trial_T20190906_233458_108018-1 | Put a clean sponge on the rack next to the sink. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -1.0",
" 0.913",
" -0.75",
" 0",
" 0",
" 0",
""
],
[
"1",
" Cloth",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -1.0 0.913 ... | [
"STEP 1: Go near the toilet. | STEP 2: Pick up the sponge that is on the back of the toilet. | STEP 3: Take the sponge to the sink to your left. | STEP 4: Wash the sponge in the sink. | STEP 5: Go forward to the rack at the right of the sink. | STEP 6: Place the sponge vertically on the rack. | END"
] | [
[
"STEP 1: Go near the toilet. ",
" STEP 2: Pick up the sponge that is on the back of the toilet. ",
" STEP 3: Take the sponge to the sink to your left. ",
" STEP 4: Wash the sponge in the sink. ",
" STEP 5: Go forward to the rack at the right of the sink. ",
" STEP 6: Place the sponge verti... | seen |
trial_T20190906_233458_108018-2 | Place a wet sponge on the metal rack. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -1.0",
" 0.913",
" -0.75",
" 0",
" 0",
" 0",
""
],
[
"1",
" Cloth",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -1.0 0.913 ... | [
"STEP 1: Move to the toilet. | STEP 2: Pick up the sponge from the toilet lid tank. | STEP 3: Bring the sponge to the sink. | STEP 4: Wet the sponge in the sink with water. | STEP 5: Bring the sponge to the metal rack. | STEP 6: Put the sponge on the metal rack. | END"
] | [
[
"STEP 1: Move to the toilet. ",
" STEP 2: Pick up the sponge from the toilet lid tank. ",
" STEP 3: Bring the sponge to the sink. ",
" STEP 4: Wet the sponge in the sink with water. ",
" STEP 5: Bring the sponge to the metal rack. ",
" STEP 6: Put the sponge on the metal rack. ",
... | seen |
trial_T20190907_145719_972520-0 | Clean the fork and put it away | [
[
"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",
" 90",
" 0",
""
],
[
"1",
" DishSponge... | 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: Walk straight turn to the left | STEP 2: Pick up the fork and put it in the sink | STEP 3: Place the fork in the sink | STEP 4: Turn on the water and wash it | STEP 5: Pick the fork up and carry it to the drawer | STEP 6: Place the clean fork into the drawer | END"
] | [
[
"STEP 1: Walk straight turn to the left ",
" STEP 2: Pick up the fork and put it in the sink ",
" STEP 3: Place the fork in the sink ",
" STEP 4: Turn on the water and wash it ",
" STEP 5: Pick the fork up and carry it to the drawer ",
" STEP 6: Place the clean fork into the drawer ",
... | seen |
trial_T20190907_145719_972520-1 | Put a cleaned fork in a drawer. | [
[
"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",
" 90",
" 0",
""
],
[
"1",
" DishSponge... | 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: Head forward and then turn left to the toaster. | STEP 2: Pick up the fork on the left. | STEP 3: Turn around and bring the fork to the sink. | STEP 4: Wash the fork in the sink. | STEP 5: Bring the cleaned fork back to the toaster. | STEP 6: Open up the drawer in front of the toaster and put the fork in... | [
[
"STEP 1: Head forward and then turn left to the toaster. ",
" STEP 2: Pick up the fork on the left. ",
" STEP 3: Turn around and bring the fork to the sink. ",
" STEP 4: Wash the fork in the sink. ",
" STEP 5: Bring the cleaned fork back to the toaster. ",
" STEP 6: Open up the drawer in... | seen |
trial_T20190907_145719_972520-2 | Put the clean for inside the cabinet | [
[
"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",
" 90",
" 0",
""
],
[
"1",
" DishSponge... | 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: Walk straight then turn to the counter on your left | STEP 2: Pick up the second fork from your left | STEP 3: Turn around and go to the sink | STEP 4: Put the fork on the sink and rinse it | STEP 5: Pick up the fork then turn around to your left then move towards the end of the counted | STEP 6: Pull the ... | [
[
"STEP 1: Walk straight then turn to the counter on your left ",
" STEP 2: Pick up the second fork from your left ",
" STEP 3: Turn around and go to the sink ",
" STEP 4: Put the fork on the sink and rinse it ",
" STEP 5: Pick up the fork then turn around to your left then move towards the end ... | seen |
trial_T20190910_151939_914332-0 | Place a cooked egg inside the waste basket. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" 0.75",
" 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 0.75 0.900 2.25... | [
"STEP 1: Walk to the sink to your left. | STEP 2: Pick up the egg sitting on the ledge of the counter between the lettuce and apple. | STEP 3: Look up to the microwave. | STEP 4: Place the egg inside the microwave, cook it then remove it. | STEP 5: With the egg, look down and walk to the waste basket to your left. ... | [
[
"STEP 1: Walk to the sink to your left. ",
" STEP 2: Pick up the egg sitting on the ledge of the counter between the lettuce and apple. ",
" STEP 3: Look up to the microwave. ",
" STEP 4: Place the egg inside the microwave, cook it then remove it. ",
" STEP 5: With the egg, look down and walk ... | seen |
trial_T20190910_151939_914332-1 | Put a cooked egg in a garbage can. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" 0.75",
" 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 0.75 0.900 2.25... | [
"STEP 1: Go forward, turn to the sink on the left. | STEP 2: Pick up the egg that is on the sink. | STEP 3: Raise the egg up to the microwave. | STEP 4: Put the egg into the microwave and turn it on to cook, remove the egg when it is done cooking. | STEP 5: Hang a left, go to the garbage can at the end of the coun... | [
[
"STEP 1: Go forward, turn to the sink on the left. ",
" STEP 2: Pick up the egg that is on the sink. ",
" STEP 3: Raise the egg up to the microwave. ",
" STEP 4: Put the egg into the microwave and turn it on to cook, remove the egg when it is done cooking. ",
" STEP 5: Hang a left, go to the ... | seen |
trial_T20190910_151939_914332-2 | cook the egg from the sink and then throw it in the trash can | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" 0.75",
" 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 0.75 0.900 2.25... | [
"STEP 1: walk forward then turn left towards the sink | STEP 2: pick up egg from the sink | STEP 3: lift egg up towards microwave | STEP 4: place egg in microwave cook the egg and pull it back out | STEP 5: turn left walk forward and turn right at the trash can | STEP 6: throw egg in the trash can | END"
] | [
[
"STEP 1: walk forward then turn left towards the sink ",
" STEP 2: pick up egg from the sink ",
" STEP 3: lift egg up towards microwave ",
" STEP 4: place egg in microwave cook the egg and pull it back out ",
" STEP 5: turn left walk forward and turn right at the trash can ",
" STEP ... | seen |
trial_T20190906_221655_762597-0 | Examine the pencil by the light of the lamp. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -5.0",
" 0.907",
" 1.0",
" 0",
" 0",
" 0",
""
],
[
"1",
" Plate",
"... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -5.0 0.907 1.0 ... | [
"STEP 1: Move to the coffee table. | STEP 2: Pick up the pencil from the coffee table. | STEP 3: Bring the pencil to the lamp in the corner. | STEP 4: Turn on the lamp. | END"
] | [
[
"STEP 1: Move to the coffee table. ",
" STEP 2: Pick up the pencil from the coffee table. ",
" STEP 3: Bring the pencil to the lamp in the corner. ",
" STEP 4: Turn on the lamp. ",
" END"
]
] | seen |
trial_T20190906_221655_762597-1 | Grab the pencil on the coffee table, turn on the floor lamp in the corner | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -5.0",
" 0.907",
" 1.0",
" 0",
" 0",
" 0",
""
],
[
"1",
" Plate",
"... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -5.0 0.907 1.0 ... | [
"STEP 1: Turn right, walk straight to the furnace, turn left to the coffee table | STEP 2: Grab the pencil on the coffee table | STEP 3: Turn right, walk around the coffee table, go behind the sofa chair, walk to the corner | STEP 4: Turn on the floor lamp | END"
] | [
[
"STEP 1: Turn right, walk straight to the furnace, turn left to the coffee table ",
" STEP 2: Grab the pencil on the coffee table ",
" STEP 3: Turn right, walk around the coffee table, go behind the sofa chair, walk to the corner ",
" STEP 4: Turn on the floor lamp ",
" END"
]
] | seen |
trial_T20190906_221655_762597-2 | pick up a pencil with the lamp on | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -5.0",
" 0.907",
" 1.0",
" 0",
" 0",
" 0",
""
],
[
"1",
" Plate",
"... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -5.0 0.907 1.0 ... | [
"STEP 1: turn right and towards the wall, then turn left towards the table at the left | STEP 2: pick up a pencil from the table | STEP 3: turn right and move towards the lamp stand | STEP 4: turn on the lamp | END"
] | [
[
"STEP 1: turn right and towards the wall, then turn left towards the table at the left ",
" STEP 2: pick up a pencil from the table ",
" STEP 3: turn right and move towards the lamp stand ",
" STEP 4: turn on the lamp ",
" END"
]
] | seen |
trial_T20190909_192407_939684-0 | Put a bowl with a credit card inside on top of the dresser. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -0.75",
" 0.900",
" -1.75",
" 0",
" 0",
" 0",
""
],
[
"1",
" Statue",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -0.75 0.900 -1.7... | [
"STEP 1: Go past the dresser on the left and hang a right to the nightstand by the bed. | STEP 2: Pick up the green credit card on the nightstand. | STEP 3: Take the credit card to the shelf by the window. | STEP 4: Put the card into the bowl on the shelf. | STEP 5: Pick up the bowl with the card in it. | STEP 6: T... | [
[
"STEP 1: Go past the dresser on the left and hang a right to the nightstand by the bed. ",
" STEP 2: Pick up the green credit card on the nightstand. ",
" STEP 3: Take the credit card to the shelf by the window. ",
" STEP 4: Put the card into the bowl on the shelf. ",
" STEP 5: Pick up the bow... | seen |
trial_T20190909_192407_939684-1 | Put the bowl with credit card on the large cabinet drawer | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -0.75",
" 0.900",
" -1.75",
" 0",
" 0",
" 0",
""
],
[
"1",
" Statue",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -0.75 0.900 -1.7... | [
"STEP 1: Walk towards the door, turn right to the bed, then turn right face the side table | STEP 2: Pick up the credit card on the table | STEP 3: Turn around to your right walk straight, then left and another left head to the furthest drawer | STEP 4: Put the credit card on the bowl at the drawer | STEP 5: Pick u... | [
[
"STEP 1: Walk towards the door, turn right to the bed, then turn right face the side table ",
" STEP 2: Pick up the credit card on the table ",
" STEP 3: Turn around to your right walk straight, then left and another left head to the furthest drawer ",
" STEP 4: Put the credit card on the bowl at ... | seen |
trial_T20190909_192407_939684-2 | place a bowl with a credit card in it on top of the dresser | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -0.75",
" 0.900",
" -1.75",
" 0",
" 0",
" 0",
""
],
[
"1",
" Statue",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -0.75 0.900 -1.7... | [
"STEP 1: walk forwards to the end of the bed on the right, then take a right and walk to the night stand on the right side of the end of the room ahead | STEP 2: grab the credit card off of the night stand | STEP 3: move around to the other side of the bed, and continue walking to the end of the room where the tall... | [
[
"STEP 1: walk forwards to the end of the bed on the right, then take a right and walk to the night stand on the right side of the end of the room ahead ",
" STEP 2: grab the credit card off of the night stand ",
" STEP 3: move around to the other side of the bed, and continue walking to the end of the... | seen |
trial_T20190909_192407_939684-3 | Put a bowl with credit card in it on the dresser. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -0.75",
" 0.900",
" -1.75",
" 0",
" 0",
" 0",
""
],
[
"1",
" Statue",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -0.75 0.900 -1.7... | [
"STEP 1: Turn right, walk forward, turn right at the other side of the bed, walk forward, walk to the nightstand. | STEP 2: Pick up credit card from nightstand. | STEP 3: Turn right, and right again, walk to the end of the bed, turn left, walk to wall, turn right, go to the tall dresser. | STEP 4: Put credit card ... | [
[
"STEP 1: Turn right, walk forward, turn right at the other side of the bed, walk forward, walk to the nightstand. ",
" STEP 2: Pick up credit card from nightstand. ",
" STEP 3: Turn right, and right again, walk to the end of the bed, turn left, walk to wall, turn right, go to the tall dresser. ",
... | seen |
trial_T20190909_192407_939684-4 | Place a bowl containing a credit card on top of a chest of drawers | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -0.75",
" 0.900",
" -1.75",
" 0",
" 0",
" 0",
""
],
[
"1",
" Statue",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -0.75 0.900 -1.7... | [
"STEP 1: Walk past the bed, turning right twice until you reach the bedside table. | STEP 2: Pick up the credit card off of the desk | STEP 3: Turn around, and follow the bed, turning left twice, before turning right and walking up to the shelves. | STEP 4: Drop the credit card into the plastic tub | STEP 5: Pick u... | [
[
"STEP 1: Walk past the bed, turning right twice until you reach the bedside table. ",
" STEP 2: Pick up the credit card off of the desk ",
" STEP 3: Turn around, and follow the bed, turning left twice, before turning right and walking up to the shelves. ",
" STEP 4: Drop the credit card into the p... | seen |
trial_T20190907_184947_274026-0 | Put a candle 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",
" -2.5",
" 0.901",
" -1.5",
" 0",
" 90",
" 0",
""
],
[
"1",
" Cloth",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -2.5 0.901 ... | [
"STEP 1: Turn to your right and go to the counter on the right side of the sink. | STEP 2: Pick up the yellow candle from the counter. | STEP 3: Face the opposite direction and go over near the left side of the toilet. | STEP 4: Set the candle on the left side of the toilet tank cover. | END"
] | [
[
"STEP 1: Turn to your right and go to the counter on the right side of the sink. ",
" STEP 2: Pick up the yellow candle from the counter. ",
" STEP 3: Face the opposite direction and go over near the left side of the toilet. ",
" STEP 4: Set the candle on the left side of the toilet tank cover. ",... | seen |
trial_T20190907_184947_274026-1 | pick up the yellow candle and put it 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",
" -2.5",
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" 0",
" 90",
" 0",
""
],
[
"1",
" Cloth",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -2.5 0.901 ... | [
"STEP 1: turn to the right and face the counter top to the right of the sink | STEP 2: pick up the yellow candle | STEP 3: turn left and walk over to the toilet | STEP 4: put the candle on top of the toilet to the left of the soap dispenser | END"
] | [
[
"STEP 1: turn to the right and face the counter top to the right of the sink ",
" STEP 2: pick up the yellow candle ",
" STEP 3: turn left and walk over to the toilet ",
" STEP 4: put the candle on top of the toilet to the left of the soap dispenser ",
" END"
]
] | seen |
trial_T20190907_184947_274026-2 | Set a candle on the toilet. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -2.5",
" 0.901",
" -1.5",
" 0",
" 90",
" 0",
""
],
[
"1",
" Cloth",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -2.5 0.901 ... | [
"STEP 1: Turn and go to the counter next to the sink. | STEP 2: Pick up the candle next to the cloth on the counter. | STEP 3: Turn around and go to the toilet. | STEP 4: Set the candle on the toilet to the left of the lotion. | END"
] | [
[
"STEP 1: Turn and go to the counter next to the sink. ",
" STEP 2: Pick up the candle next to the cloth on the counter. ",
" STEP 3: Turn around and go to the toilet. ",
" STEP 4: Set the candle on the toilet to the left of the lotion. ",
" END"
]
] | seen |
trial_T20190909_104051_611181-0 | move the candle from the bath tub counter to the top of the toilet | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -0.5",
" 0.900",
" 1.75",
" 0",
" 0",
" 0",
""
],
[
"1",
" Cloth",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -0.5 0.900 ... | [
"STEP 1: turn right walk straight then turn right towards the towel on the wall | STEP 2: pick up the candle on the edge of the bath tub | STEP 3: turn around and walk straight then turn left towards the sink and turn left towards the toilet | STEP 4: put the candle down on top of the toilet | END"
] | [
[
"STEP 1: turn right walk straight then turn right towards the towel on the wall ",
" STEP 2: pick up the candle on the edge of the bath tub ",
" STEP 3: turn around and walk straight then turn left towards the sink and turn left towards the toilet ",
" STEP 4: put the candle down on top of the to... | seen |
trial_T20190909_104051_611181-1 | Move a candle to the toilet tank | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -0.5",
" 0.900",
" 1.75",
" 0",
" 0",
" 0",
""
],
[
"1",
" Cloth",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -0.5 0.900 ... | [
"STEP 1: Move right then forward to the green candle on the edge of the tub | STEP 2: Pick up the green candle on top of the edge of the tub | STEP 3: Carry the green candle to the toilet tank | STEP 4: Place the green candle on the back of the toilet on the left side | END"
] | [
[
"STEP 1: Move right then forward to the green candle on the edge of the tub ",
" STEP 2: Pick up the green candle on top of the edge of the tub ",
" STEP 3: Carry the green candle to the toilet tank ",
" STEP 4: Place the green candle on the back of the toilet on the left side ",
" END"
]
] | seen |
trial_T20190909_104051_611181-2 | move candle from tub to back of toilet | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -0.5",
" 0.900",
" 1.75",
" 0",
" 0",
" 0",
""
],
[
"1",
" Cloth",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -0.5 0.900 ... | [
"STEP 1: turn around, walk to towel rack | STEP 2: pick up the candle that is on the edge of the tub to the right | STEP 3: turn around, walk towards white dresser, turn left, walk to sink, turn left to face toilet | STEP 4: put the candle on the back of the toilet | END"
] | [
[
"STEP 1: turn around, walk to towel rack ",
" STEP 2: pick up the candle that is on the edge of the tub to the right ",
" STEP 3: turn around, walk towards white dresser, turn left, walk to sink, turn left to face toilet ",
" STEP 4: put the candle on the back of the toilet ",
" END"
]
] | seen |
trial_T20190909_101522_923920-0 | Throw away the spray bottle. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -0.75",
" 0.901",
" 2.0",
" 0",
" 90",
" 0",
""
],
[
"1",
" Cloth",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -0.75 0.901 ... | [
"STEP 1: Turn around and go to face the bathroom counter where the soap and the spray bottle are. | STEP 2: Pick up the yellow spray bottle from behind the soap. | STEP 3: Bring the spray bottle with you and go to your left so that you're facing the toilet and the trash can. | STEP 4: Throw the spray bottle in the ... | [
[
"STEP 1: Turn around and go to face the bathroom counter where the soap and the spray bottle are. ",
" STEP 2: Pick up the yellow spray bottle from behind the soap. ",
" STEP 3: Bring the spray bottle with you and go to your left so that you're facing the toilet and the trash can. ",
" STEP 4: Thr... | seen |
trial_T20190909_101522_923920-1 | Place a spray bottle in a bin. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -0.75",
" 0.901",
" 2.0",
" 0",
" 90",
" 0",
""
],
[
"1",
" Cloth",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -0.75 0.901 ... | [
"STEP 1: Turn left and walk to the counter in between the sinks on the vanity. | STEP 2: Pick up the yellow spray bottle in between the sinks. | STEP 3: Turn around and hang a right to the white toilet. | STEP 4: Put the spray bottle in the green bin on the floor to the left of the toilet. | END"
] | [
[
"STEP 1: Turn left and walk to the counter in between the sinks on the vanity. ",
" STEP 2: Pick up the yellow spray bottle in between the sinks. ",
" STEP 3: Turn around and hang a right to the white toilet. ",
" STEP 4: Put the spray bottle in the green bin on the floor to the left of the toilet... | seen |
trial_T20190909_101522_923920-2 | Move a spray bottle to the trash | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -0.75",
" 0.901",
" 2.0",
" 0",
" 90",
" 0",
""
],
[
"1",
" Cloth",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -0.75 0.901 ... | [
"STEP 1: Move left then left again to face the counter between the two sinks | STEP 2: Pick up the yellow spray bottle on the counter top | STEP 3: Carry the yellow spray bottle over to the trash can left of the toilet | STEP 4: Place the spray bottle in the trash bin | END"
] | [
[
"STEP 1: Move left then left again to face the counter between the two sinks ",
" STEP 2: Pick up the yellow spray bottle on the counter top ",
" STEP 3: Carry the yellow spray bottle over to the trash can left of the toilet ",
" STEP 4: Place the spray bottle in the trash bin ",
" END"
]
] | seen |
trial_T20190908_234229_979522-0 | Put a cold egg in the microwave. | [
[
"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",
" 180",
" 0",
""
],
[
"1",
" DishSponge... | 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 around and go across the kitchen to the large sink on the right. | STEP 2: Pick up the egg in the back of the sink, behind the potato. | STEP 3: Turn around and go to the refrigerator ahead, to your right. | STEP 4: Place the egg on the second shelf of the refrigerator, wait a moment for it to chi... | [
[
"STEP 1: Turn around and go across the kitchen to the large sink on the right. ",
" STEP 2: Pick up the egg in the back of the sink, behind the potato. ",
" STEP 3: Turn around and go to the refrigerator ahead, to your right. ",
" STEP 4: Place the egg on the second shelf of the refrigerator, ... | seen |
trial_T20190908_234229_979522-1 | Place a chilled egg in a microwave | [
[
"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",
" 180",
" 0",
""
],
[
"1",
" DishSponge... | 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 around and walk to the sink | STEP 2: Pick up the egg that is sitting in the sink on the right, behind the potato | STEP 3: Turn around and walk to the fridge on your right | STEP 4: Open the fridge and place the egg on the second shelf to the left of the lettuce and apple then close the fridge. Then ... | [
[
"STEP 1: Turn around and walk to the sink ",
" STEP 2: Pick up the egg that is sitting in the sink on the right, behind the potato ",
" STEP 3: Turn around and walk to the fridge on your right ",
" STEP 4: Open the fridge and place the egg on the second shelf to the left of the lettuce and apple t... | seen |
trial_T20190908_234229_979522-2 | Put a chilled egg in the microwave. | [
[
"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",
" 180",
" 0",
""
],
[
"1",
" DishSponge... | 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 right and walk up to the fridge, then turn right and walk over to the sink. | STEP 2: Pick up the egg out of the sink. | STEP 3: Turn around and walk forward, then turn right and walk up to the fridge. | STEP 4: Open the fridge and put the egg inside on the top shelf then close the fridge, after a cou... | [
[
"STEP 1: Turn right and walk up to the fridge, then turn right and walk over to the sink. ",
" STEP 2: Pick up the egg out of the sink. ",
" STEP 3: Turn around and walk forward, then turn right and walk up to the fridge. ",
" STEP 4: Open the fridge and put the egg inside on the top shelf then cl... | seen |
trial_T20190906_172408_729431-0 | Put all the boxes of tissues on the barred rack. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -2.25",
" 0.913",
" 1.75",
" 0",
" 90",
" 0",
""
],
[
"1",
" Cloth",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -2.25 0.913 ... | [
"STEP 1: Walk towards the toilet, turn right, walk in front of the makeup vanity. | STEP 2: Take the box of tissues from the makeup vanity. | STEP 3: Turn around, walks towards the toilet, turn left, walk in front of the barred rack. | STEP 4: Put the tissues on the barred rack. | STEP 5: Turn around, walks in fron... | [
[
"STEP 1: Walk towards the toilet, turn right, walk in front of the makeup vanity. ",
" STEP 2: Take the box of tissues from the makeup vanity. ",
" STEP 3: Turn around, walks towards the toilet, turn left, walk in front of the barred rack. ",
" STEP 4: Put the tissues on the barred rack. ",
" ... | seen |
trial_T20190906_172408_729431-1 | Place two boxes of tissue on the top shelf of the metal rack. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -2.25",
" 0.913",
" 1.75",
" 0",
" 90",
" 0",
""
],
[
"1",
" Cloth",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -2.25 0.913 ... | [
"STEP 1: Walk to the toilet, turn right walk to the front of the toilet, turn left to walk in front of the toilet, turn right to face the vanity, walk across the room to the vanity. | STEP 2: Pick up the box of tissues on the vanity next to the mirror. | STEP 3: Turn around to face the toilet, walk across the room ... | [
[
"STEP 1: Walk to the toilet, turn right walk to the front of the toilet, turn left to walk in front of the toilet, turn right to face the vanity, walk across the room to the vanity. ",
" STEP 2: Pick up the box of tissues on the vanity next to the mirror. ",
" STEP 3: Turn around to face the toilet, w... | seen |
trial_T20190906_172408_729431-2 | Move two tissue boxes to the top shelf of a metal shelving unit. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -2.25",
" 0.913",
" 1.75",
" 0",
" 90",
" 0",
""
],
[
"1",
" Cloth",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -2.25 0.913 ... | [
"STEP 1: Walk up to the toilet, then turn right and walk over to the counter. | STEP 2: Pick up the tissue box off of the counter. | STEP 3: Turn around and walk to the toilet, then turn left and walk up to the metal shelving unit. | STEP 4: Put the tissue box on the top shelf of the metal shelving unit in front of... | [
[
"STEP 1: Walk up to the toilet, then turn right and walk over to the counter. ",
" STEP 2: Pick up the tissue box off of the counter. ",
" STEP 3: Turn around and walk to the toilet, then turn left and walk up to the metal shelving unit. ",
" STEP 4: Put the tissue box on the top shelf of the meta... | seen |
trial_T20190906_172408_729431-3 | Put two boxes of tissues on the top shelf of the metal rack. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -2.25",
" 0.913",
" 1.75",
" 0",
" 90",
" 0",
""
],
[
"1",
" Cloth",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -2.25 0.913 ... | [
"STEP 1: Turn right and move to the sink | STEP 2: Pick up the box of tissues. | STEP 3: Turn right and head to the metal rack under the window to the right of the sink. | STEP 4: Set the box of tissues down on its end on the top shelf of the metal rack in front of the pink rag. | STEP 5: Turn around and move to t... | [
[
"STEP 1: Turn right and move to the sink ",
" STEP 2: Pick up the box of tissues. ",
" STEP 3: Turn right and head to the metal rack under the window to the right of the sink. ",
" STEP 4: Set the box of tissues down on its end on the top shelf of the metal rack in front of the pink rag. ",
"... | seen |
trial_T20190906_172408_729431-4 | Place all the tissue boxes on the metal shelf in the bathroom. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -2.25",
" 0.913",
" 1.75",
" 0",
" 90",
" 0",
""
],
[
"1",
" Cloth",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -2.25 0.913 ... | [
"STEP 1: Walk towards the toilet and then turn right towards the bathroom vanity. | STEP 2: Pick up the tissue box from the vanity. | STEP 3: Turn around, walk towards the toilet, make a left towards the metal shelf. | STEP 4: Place the tissue box on the top shelf next to the red towel. | STEP 5: Turn around, walk ... | [
[
"STEP 1: Walk towards the toilet and then turn right towards the bathroom vanity. ",
" STEP 2: Pick up the tissue box from the vanity. ",
" STEP 3: Turn around, walk towards the toilet, make a left towards the metal shelf. ",
" STEP 4: Place the tissue box on the top shelf next to the red towel. "... | seen |
trial_T20190906_172408_729431-5 | Putting two tissue boxes on the bathroom rack | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -2.25",
" 0.913",
" 1.75",
" 0",
" 90",
" 0",
""
],
[
"1",
" Cloth",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -2.25 0.913 ... | [
"STEP 1: Turn right and go to the white table | STEP 2: Grab the tissue box on the table | STEP 3: Turn around and head to the silver rack | STEP 4: Put the tissue box on the top rack | STEP 5: Turn around and go to the toilet | STEP 6: Grab the tissue box that is on top of the toilet | STEP 7: Turn left and go to ... | [
[
"STEP 1: Turn right and go to the white table ",
" STEP 2: Grab the tissue box on the table ",
" STEP 3: Turn around and head to the silver rack ",
" STEP 4: Put the tissue box on the top rack ",
" STEP 5: Turn around and go to the toilet ",
" STEP 6: Grab the tissue box that is on top of ... | seen |
trial_T20190909_012711_107920-0 | Put a clean tomato on the counter. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" 1.0",
" 0.900",
" 3.0",
" 0",
" 90",
" 0",
""
],
[
"1",
" Pan",
" 1... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent 1.0 0.900 3.0 ... | [
"STEP 1: Turn around and go toward the door, then turn left and go to the fridge, then turn left to go to the microwave. | STEP 2: Pick up the tomato on the counter, to the right of the microwave. | STEP 3: Turn right to face the sink. | STEP 4: Clean the tomato inside the sink. | STEP 5: Turn right and go forward,... | [
[
"STEP 1: Turn around and go toward the door, then turn left and go to the fridge, then turn left to go to the microwave. ",
" STEP 2: Pick up the tomato on the counter, to the right of the microwave. ",
" STEP 3: Turn right to face the sink. ",
" STEP 4: Clean the tomato inside the sink. ",
" ... | seen |
trial_T20190909_012711_107920-1 | put washed tomato on counter | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" 1.0",
" 0.900",
" 3.0",
" 0",
" 90",
" 0",
""
],
[
"1",
" Pan",
" 1... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent 1.0 0.900 3.0 ... | [
"STEP 1: walk to face microwave | STEP 2: pick up tomato to right of microwave | STEP 3: walk to face sink | STEP 4: wash tomato in sink, pick up tomato from sink | STEP 5: walk to the right to face coffee maker on counter | STEP 6: put tomato on counter in front of coffee maker | END"
] | [
[
"STEP 1: walk to face microwave ",
" STEP 2: pick up tomato to right of microwave ",
" STEP 3: walk to face sink ",
" STEP 4: wash tomato in sink, pick up tomato from sink ",
" STEP 5: walk to the right to face coffee maker on counter ",
" STEP 6: put tomato on counter in front of coffee m... | seen |
trial_T20190909_012711_107920-2 | Put a cleaned tomato on a counter. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" 1.0",
" 0.900",
" 3.0",
" 0",
" 90",
" 0",
""
],
[
"1",
" Pan",
" 1... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent 1.0 0.900 3.0 ... | [
"STEP 1: Turn around, walk toward the door, then turn left and walk to the refrigerator, then turn left and walk to the microwave. | STEP 2: Pick up the tomato which is on the counter to the right of the microwave. | STEP 3: Turn right towards the sink. | STEP 4: Put the tomato in the sink, rinse it off, and take i... | [
[
"STEP 1: Turn around, walk toward the door, then turn left and walk to the refrigerator, then turn left and walk to the microwave. ",
" STEP 2: Pick up the tomato which is on the counter to the right of the microwave. ",
" STEP 3: Turn right towards the sink. ",
" STEP 4: Put the tomato in the sin... | seen |
trial_T20190908_051008_166025-0 | Cook the apple from the sink in the microwave and put it in the fridge. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -2.0",
" 0.900",
" 2.25",
" 0",
" 180",
" 0",
""
],
[
"1",
" DishSponge... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -2.0 0.900 2.25... | [
"STEP 1: Walk to the sink. | STEP 2: Pick up the apple from the sink. | STEP 3: Turn around then turn left to face the microwave. | STEP 4: Put the apple in the microwave and cook it then take it out. | STEP 5: Turn right and walk to the fridge. | STEP 6: Put the apple in the fridge. | END"
] | [
[
"STEP 1: Walk to the sink. ",
" STEP 2: Pick up the apple from the sink. ",
" STEP 3: Turn around then turn left to face the microwave. ",
" STEP 4: Put the apple in the microwave and cook it then take it out. ",
" STEP 5: Turn right and walk to the fridge. ",
" STEP 6: Put the apple in th... | seen |
trial_T20190908_051008_166025-1 | Put a microwaved apple into the refrigerator. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -2.0",
" 0.900",
" 2.25",
" 0",
" 180",
" 0",
""
],
[
"1",
" DishSponge... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -2.0 0.900 2.25... | [
"STEP 1: Walk forward to the sink and stop. | STEP 2: Pick up the apple from the sink. | STEP 3: Turn around, take one step and turn left to face the microwave. | STEP 4: Open the microwave door, put the apple inside on the left side of the black plate, turn on the microwave for a a few seconds, open the door and t... | [
[
"STEP 1: Walk forward to the sink and stop. ",
" STEP 2: Pick up the apple from the sink. ",
" STEP 3: Turn around, take one step and turn left to face the microwave. ",
" STEP 4: Open the microwave door, put the apple inside on the left side of the black plate, turn on the microwave for a a few s... | seen |
trial_T20190908_051008_166025-2 | Put a heated apple in the fridge. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -2.0",
" 0.900",
" 2.25",
" 0",
" 180",
" 0",
""
],
[
"1",
" DishSponge... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -2.0 0.900 2.25... | [
"STEP 1: Go forward and stand to face the sink with the apple in it. | STEP 2: Pick the apple up out of the sink. | STEP 3: Turn to the right and face the microwave. | STEP 4: Put the apple in and shut the door and then open the door and take the apple out and shut the door again. | STEP 5: Move to the right and st... | [
[
"STEP 1: Go forward and stand to face the sink with the apple in it. ",
" STEP 2: Pick the apple up out of the sink. ",
" STEP 3: Turn to the right and face the microwave. ",
" STEP 4: Put the apple in and shut the door and then open the door and take the apple out and shut the door again. ",
... | seen |
trial_T20190907_152834_016179-0 | place the toilet paper roll roller in the toilet paper roll holder | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -0.5",
" 0.901",
" 2.75",
" 0",
" 270",
" 0",
""
],
[
"1",
" Cloth",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -0.5 0.901 ... | [
"STEP 1: turn left and walk forwards a bit, then hang a left to face the right side of the bathroom cabinet counter | STEP 2: grab the toilet paper roll roller off of the counter top | STEP 3: move to the right a bit and then face the toilet paper bar on the right side of the bathroom cabinet | STEP 4: place the to... | [
[
"STEP 1: turn left and walk forwards a bit, then hang a left to face the right side of the bathroom cabinet counter ",
" STEP 2: grab the toilet paper roll roller off of the counter top ",
" STEP 3: move to the right a bit and then face the toilet paper bar on the right side of the bathroom cabinet ",... | seen |
trial_T20190907_152834_016179-1 | Place an empty roll of toilet paper on a toilet paper holder. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -0.5",
" 0.901",
" 2.75",
" 0",
" 270",
" 0",
""
],
[
"1",
" Cloth",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -0.5 0.901 ... | [
"STEP 1: Turn around and walk to the sink. | STEP 2: Pick up the empty roll of toilet paper from the counter. | STEP 3: Walk slightly to the right to the empty toilet paper holder. | STEP 4: Place the empty roll of toilet paper on the toilet paper holder. | END"
] | [
[
"STEP 1: Turn around and walk to the sink. ",
" STEP 2: Pick up the empty roll of toilet paper from the counter. ",
" STEP 3: Walk slightly to the right to the empty toilet paper holder. ",
" STEP 4: Place the empty roll of toilet paper on the toilet paper holder. ",
" END"
]
] | seen |
trial_T20190907_152834_016179-2 | To put an empty toilet paper roll onto a plunger. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -0.5",
" 0.901",
" 2.75",
" 0",
" 270",
" 0",
""
],
[
"1",
" Cloth",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- ----------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -0.5 0.901 ... | [
"STEP 1: Turn around to face the sink. | STEP 2: Pick up the empty toilet paper roll on the sink. | STEP 3: Take a step to the right and look down to focus on the plunger to the right of the sink. | STEP 4: Place the empty toilet paper roll on the plunger. | END"
] | [
[
"STEP 1: Turn around to face the sink. ",
" STEP 2: Pick up the empty toilet paper roll on the sink. ",
" STEP 3: Take a step to the right and look down to focus on the plunger to the right of the sink. ",
" STEP 4: Place the empty toilet paper roll on the plunger. ",
" END"
]
] | seen |
trial_T20190909_085833_355057-0 | Place a kettle on a stove. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -1.5",
" 0.900",
" 2.0",
" 0",
" 270",
" 0",
""
],
[
"1",
" Potato",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -1.5 0.900 2.0 ... | [
"STEP 1: Turn around and veer right, turning left at the fridge to face the counter. | STEP 2: Pick up the kettle on the counter. | STEP 3: Turn right and walk around the counter to the stove. | STEP 4: Place the kettle on the front right burner. | END"
] | [
[
"STEP 1: Turn around and veer right, turning left at the fridge to face the counter. ",
" STEP 2: Pick up the kettle on the counter. ",
" STEP 3: Turn right and walk around the counter to the stove. ",
" STEP 4: Place the kettle on the front right burner. ",
" END"
]
] | seen |
trial_T20190909_085833_355057-1 | Move the kettle to the stove. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -1.5",
" 0.900",
" 2.0",
" 0",
" 270",
" 0",
""
],
[
"1",
" Potato",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -1.5 0.900 2.0 ... | [
"STEP 1: Turn around and move forward, then turn right to go toward the counter, then turn left to face the kitchen island. | STEP 2: Pick up the kettle on the kitchen island. | STEP 3: Turn right and go to the counter, then turn left and go toward the microwave, turn left and go forward, then turn right to face th... | [
[
"STEP 1: Turn around and move forward, then turn right to go toward the counter, then turn left to face the kitchen island. ",
" STEP 2: Pick up the kettle on the kitchen island. ",
" STEP 3: Turn right and go to the counter, then turn left and go toward the microwave, turn left and go forward, then t... | seen |
trial_T20190909_085833_355057-2 | put kettle on stove | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -1.5",
" 0.900",
" 2.0",
" 0",
" 270",
" 0",
""
],
[
"1",
" Potato",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -1.5 0.900 2.0 ... | [
"STEP 1: walk to face kitchen island | STEP 2: pick up kettle from island | STEP 3: walk to face stove | STEP 4: put kettle on stove | END"
] | [
[
"STEP 1: walk to face kitchen island ",
" STEP 2: pick up kettle from island ",
" STEP 3: walk to face stove ",
" STEP 4: put kettle on stove ",
" END"
]
] | seen |
trial_T20190907_011645_037846-0 | Take a watch with you to turn on the lamp | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -3.25",
" 0.901",
" 3.75",
" 0",
" 0",
" 0",
""
],
[
"1",
" Watch",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -3.25 0.901 3.75... | [
"STEP 1: Turn around and go to the black entertainment center on your right | STEP 2: Pick up the watch that's in front of you | STEP 3: Turn to your left and take the watch over to the lamp in the corner just ahead of you, to your right. | STEP 4: Turn on the lamp | END"
] | [
[
"STEP 1: Turn around and go to the black entertainment center on your right ",
" STEP 2: Pick up the watch that's in front of you ",
" STEP 3: Turn to your left and take the watch over to the lamp in the corner just ahead of you, to your right. ",
" STEP 4: Turn on the lamp ",
" END"
]
] | seen |
trial_T20190907_011645_037846-1 | Examine a watch in the light of a lamp. | [
[
"id",
" object_type",
" position_x",
" position_y",
" position_z",
" rotation_x",
" rotation_y",
" rotation_z",
" parent_receptacle"
],
[
"0",
" Agent",
" -3.25",
" 0.901",
" 3.75",
" 0",
" 0",
" 0",
""
],
[
"1",
" Watch",
... | id object_type position_x position_y position_z rotation_x rotation_y rotation_z parent_receptacle
---- -------------- ------------- ------------- ------------- ------------- ------------- ------------- --------------------
0 Agent -3.25 0.901 3.75... | [
"STEP 1: Turn around, begin walking towards the cough, then hang a right and walk up to the television. | STEP 2: Pick the watch up off of the dresser in front of you. | STEP 3: Turn left, walk over to the lamp in the corner of the room. | STEP 4: Turn on the lamp. | END"
] | [
[
"STEP 1: Turn around, begin walking towards the cough, then hang a right and walk up to the television. ",
" STEP 2: Pick the watch up off of the dresser in front of you. ",
" STEP 3: Turn left, walk over to the lamp in the corner of the room. ",
" STEP 4: Turn on the lamp. ",
" END"
]
] | seen |
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