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] | Clean off a teapot and place it back on the stove. | [
"STEP 1: Walk to the stove on your left. ",
" STEP 2: Grab the teapot off the stove. ",
" STEP 3: Walk to the kitchen sink. ",
" STEP 4: Put the teapot in the sink, soak with water, and grab the teapot. ",
" STEP 5: Walk back to the stove that's behind you. ",
" STEP 6: Put the teapot back on the stove. ",
" END"
] | [
"Put the teapot back on the stove.",
"Put the teapot in the sink, soak with water, and grab the teapot.",
"Walk back to the stove that's behind you.",
"Walk to the kitchen sink.",
"Walk to the stove on your left.",
"Grab the teapot off the stove.",
"Turn right and walk towards the refrigerator.",
"Place the teapot on the kitchen counter, refill it with water, and grasp the handle."
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(E)",
"(F)",
"(D)",
"(B)",
"(C)",
"(A)"
] |
trial_T20190908_070434_862184-2 | [
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] | Place clean kettle behind large pot on stove | [
"STEP 1: turn around, go to stove on the right ",
" STEP 2: pick up kettle from behind large round pot on stove ",
" STEP 3: turn around, face sink ",
" STEP 4: place kettle in sink, turn on water, pick up kettle from sink ",
" STEP 5: turn around, face stove ",
" STEP 6: place kettle behind large round pot on stove ",
" END"
] | [
"place kettle on countertop, turn off water, leave kettle on countertop",
"push kettle in front of the large round pot on stove",
"place kettle behind large round pot on stove",
"turn around, go to stove on the right",
"turn around, face sink",
"place kettle in sink, turn on water, pick up kettle from sink",
"turn around, face stove",
"pick up kettle from behind large round pot on stove"
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(D)",
"(H)",
"(E)",
"(F)",
"(G)",
"(C)"
] |
trial_T20190908_213522_775941-2 | [
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},
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] | Place the two watches in the drawer of the desk. | [
"STEP 1: Turn right and step forward and turn right to face the living room table. ",
" STEP 2: Pick up the watch on the living room table. ",
" STEP 3: Turn left and walk forward to face the desk. ",
" STEP 4: Place the watch in the drawer of the desk. ",
" STEP 5: Turn around and walk forward and turn left to face the living room table. ",
" STEP 6: Pick up the watch on the living room table. ",
" STEP 7: Turn left and walk forward to face the desk. ",
" STEP 8: Place the watch in the drawer with the first watch. ",
" END"
] | [
"Pick up the watch on the living room table.",
"Pick up the watch on the living room table.",
"Place the watch in the bookshelf next to the desk.",
"Turn right and step forward and turn right to face the living room table.",
"Turn left and walk forward to face the desk.",
"Place the watch in the drawer of the desk.",
"Pick up the book on the kitchen counter.",
"Turn around and walk forward and turn left to face the living room table.",
"Place the watch in the drawer with the first watch.",
"Turn left and walk forward to face the desk."
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)"
] | [
"(D)",
"(A)",
"(B)",
"(E)",
"(J)",
"(F)",
"(H)",
"(A)",
"(B)",
"(E)",
"(J)",
"(I)"
] |
trial_T20190906_175851_641650-1 | [
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{
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{
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},
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},
{
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{
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{
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},
{
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},
{
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}
] | [
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},
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},
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},
{
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},
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},
{
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},
{
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},
{
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}
] | Put a cleaned rag on the shelf. | [
"STEP 1: move to the tub to the left of you ",
" STEP 2: pick up a rag from the tub ",
" STEP 3: move to the sink to the right ",
" STEP 4: clean the rag in the sink ",
" STEP 5: move to the shelf behind you ",
" STEP 6: put the rag on the shelf ",
" END"
] | [
"move to the shelf behind you",
"move to the cupboard to the right of you",
"move to the tub to the left of you",
"move to the sink to the right",
"put the rag on the shelf",
"pick up a rag from the tub",
"move to the blender to the left",
"clean the rag in the sink"
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(C)",
"(F)",
"(D)",
"(H)",
"(A)",
"(E)"
] |
trial_T20190906_175851_641650-2 | [
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},
{
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},
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},
{
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},
{
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},
{
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},
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},
{
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},
{
"id": "9",
" object_type": " Plunger",
" position_x": " -2.666",
" position_y": " 0.002",
" position_z": " -0.607",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " Floor|-01.07|"
},
{
"id": "10",
" object_type": " SoapBar",
" position_x": " -1.635",
" position_y": " 1.069",
" position_z": " 2.127",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 28"
},
{
"id": "11",
" object_type": " ToiletPaper",
" position_x": " -1.785",
" position_y": " 0.805",
" position_z": " -0.769",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 270",
" parent_receptacle": " 23"
},
{
"id": "12",
" object_type": " SoapBottle",
" position_x": " -0.980",
" position_y": " 1.775",
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" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
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},
{
"id": "13",
" object_type": " TissueBox",
" position_x": " -1.144",
" position_y": " 1.070",
" position_z": " 2.097",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 28"
},
{
"id": "14",
" object_type": " Cloth",
" position_x": " 0.289",
" position_y": " 0.048",
" position_z": " 0.611",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 27"
},
{
"id": "15",
" object_type": " ToiletPaper",
" position_x": " -0.980",
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" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 28"
},
{
"id": "16",
" object_type": " Towel",
" position_x": " 0.266",
" position_y": " 1.550",
" position_z": " -0.452",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 22"
},
{
"id": "17",
" object_type": " ScrubBrush",
" position_x": " -2.863",
" position_y": " 0.002",
" position_z": " -0.662",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " Floor|-01.07|"
},
{
"id": "18",
" object_type": " SprayBottle",
" position_x": " -2.146",
" position_y": " 1.048",
" position_z": " -0.736",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 33"
},
{
"id": "19",
" object_type": " Mirror",
" position_x": " -1.105",
" position_y": " 1.754",
" position_z": " -0.884",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "20",
" object_type": " Bathtub",
" position_x": " 0.221",
" position_y": " 0.343",
" position_z": " 0.636",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "21",
" object_type": " Sink",
" position_x": " -1.128",
" position_y": " -0.001",
" position_z": " -0.593",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "22",
" object_type": " TowelHolder",
" position_x": " 0.266",
" position_y": " 1.536",
" position_z": " -0.559",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "23",
" object_type": " ToiletPaperHanger",
" position_x": " -1.720",
" position_y": " 0.809",
" position_z": " -0.885",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "24",
" object_type": " Shelf",
" position_x": " -1.167",
" position_y": " 0.278",
" position_z": " 2.157",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "25",
" object_type": " SinkBasin",
" position_x": " -1.133",
" position_y": " 0.836",
" position_z": " -0.580",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "26",
" object_type": " Shelf",
" position_x": " -1.167",
" position_y": " 1.763",
" position_z": " 2.157",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "27",
" object_type": " BathtubBasin",
" position_x": " 0.277",
" position_y": " 0.033",
" position_z": " 0.611",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "28",
" object_type": " Shelf",
" position_x": " -1.167",
" position_y": " 1.059",
" position_z": " 2.157",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "29",
" object_type": " HandTowelHolder",
" position_x": " -1.743",
" position_y": " 1.603",
" position_z": " -0.884",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "30",
" object_type": " HandTowelHolder",
" position_x": " -0.541",
" position_y": " 1.603",
" position_z": " -0.884",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "31",
" object_type": " GarbageCan",
" position_x": " -2.715",
" position_y": " 0.004",
" position_z": " -0.513",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "32",
" object_type": " LightSwitch",
" position_x": " -3.057",
" position_y": " 1.432",
" position_z": " 0.762",
" rotation_x": " 0",
" rotation_y": " 70.528",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "33",
" object_type": " Toilet",
" position_x": " -2.150",
" position_y": " 0.002",
" position_z": " -0.412",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "34",
" object_type": " Faucet",
" position_x": " 0.284",
" position_y": " 0.504",
" position_z": " -0.489",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "35",
" object_type": " ShowerHead",
" position_x": " 0.232",
" position_y": " 1.906",
" position_z": " 1.834",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "36",
" object_type": " ShowerCurtain",
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" position_y": " 2.224",
" position_z": " -0.405",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "37",
" object_type": " Faucet",
" position_x": " -1.127",
" position_y": " 0.993",
" position_z": " -0.837",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "38",
" object_type": " NorthWall",
" position_x": " ",
" position_y": " ",
" position_z": " ",
" rotation_x": " ",
" rotation_y": " ",
" rotation_z": " ",
" parent_receptacle": ""
},
{
"id": "39",
" object_type": " EastWall",
" position_x": " ",
" position_y": " ",
" position_z": " ",
" rotation_x": " ",
" rotation_y": " ",
" rotation_z": " ",
" parent_receptacle": ""
},
{
"id": "40",
" object_type": " SouthWall",
" position_x": " ",
" position_y": " ",
" position_z": " ",
" rotation_x": " ",
" rotation_y": " ",
" rotation_z": " ",
" parent_receptacle": ""
},
{
"id": "41",
" object_type": " WestWall",
" position_x": " ",
" position_y": " ",
" position_z": " ",
" rotation_x": " ",
" rotation_y": " ",
" rotation_z": " ",
" parent_receptacle": ""
}
] | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.75",
" position_y": " 0.903",
" position_z": " 0.25",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " TissueBox",
" position_x": " -0.980",
" position_y": " 0.289",
" position_z": " 2.157",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 24"
},
{
"id": "2",
" object_type": " TissueBox",
" position_x": " -0.653",
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" position_z": " 2.127",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 28"
},
{
"id": "3",
" object_type": " Cloth",
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" position_y": " 0.048",
" position_z": " 0.839",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 27"
},
{
"id": "4",
" object_type": " Candle",
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" position_y": " 1.814",
" position_z": " 2.247",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 26"
},
{
"id": "5",
" object_type": " SprayBottle",
" position_x": " -1.686",
" position_y": " 0.082",
" position_z": " -0.549",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": " 31"
},
{
"id": "6",
" object_type": " SprayBottle",
" position_x": " -2.343",
" position_y": " 1.048",
" position_z": " -0.644",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 33"
},
{
"id": "7",
" object_type": " Candle",
" position_x": " -0.212",
" position_y": " 0.650",
" position_z": " 1.742",
" rotation_x": " 0",
" rotation_y": " 45",
" rotation_z": " 0",
" parent_receptacle": " 20"
},
{
"id": "8",
" object_type": " HandTowel",
" position_x": " -1.743",
" position_y": " 1.502",
" position_z": " -0.846",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": " 29"
},
{
"id": "9",
" object_type": " Plunger",
" position_x": " -2.666",
" position_y": " 0.002",
" position_z": " -0.607",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " Floor|-01.07|"
},
{
"id": "10",
" object_type": " SoapBar",
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" position_y": " 1.069",
" position_z": " 2.127",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 28"
},
{
"id": "11",
" object_type": " ToiletPaper",
" position_x": " -1.785",
" position_y": " 0.805",
" position_z": " -0.769",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 270",
" parent_receptacle": " 23"
},
{
"id": "12",
" object_type": " SoapBottle",
" position_x": " -0.980",
" position_y": " 1.775",
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" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 26"
},
{
"id": "13",
" object_type": " TissueBox",
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" position_y": " 1.070",
" position_z": " 2.097",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 28"
},
{
"id": "14",
" object_type": " Cloth",
" position_x": " 0.289",
" position_y": " 0.048",
" position_z": " 0.611",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 27"
},
{
"id": "15",
" object_type": " ToiletPaper",
" position_x": " -0.980",
" position_y": " 1.066",
" position_z": " 2.127",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 28"
},
{
"id": "16",
" object_type": " Towel",
" position_x": " 0.266",
" position_y": " 1.550",
" position_z": " -0.452",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 22"
},
{
"id": "17",
" object_type": " ScrubBrush",
" position_x": " -2.863",
" position_y": " 0.002",
" position_z": " -0.662",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " Floor|-01.07|"
},
{
"id": "18",
" object_type": " SprayBottle",
" position_x": " -2.146",
" position_y": " 1.048",
" position_z": " -0.736",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
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},
{
"id": "19",
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" position_y": " 1.754",
" position_z": " -0.884",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "20",
" object_type": " Bathtub",
" position_x": " 0.221",
" position_y": " 0.343",
" position_z": " 0.636",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "21",
" object_type": " Sink",
" position_x": " -1.128",
" position_y": " -0.001",
" position_z": " -0.593",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "22",
" object_type": " TowelHolder",
" position_x": " 0.266",
" position_y": " 1.536",
" position_z": " -0.559",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "23",
" object_type": " ToiletPaperHanger",
" position_x": " -1.720",
" position_y": " 0.809",
" position_z": " -0.885",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "24",
" object_type": " Shelf",
" position_x": " -1.167",
" position_y": " 0.278",
" position_z": " 2.157",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "25",
" object_type": " SinkBasin",
" position_x": " -1.133",
" position_y": " 0.836",
" position_z": " -0.580",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "26",
" object_type": " Shelf",
" position_x": " -1.167",
" position_y": " 1.763",
" position_z": " 2.157",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "27",
" object_type": " BathtubBasin",
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" position_y": " 0.033",
" position_z": " 0.611",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "28",
" object_type": " Shelf",
" position_x": " -1.167",
" position_y": " 1.059",
" position_z": " 2.157",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "29",
" object_type": " HandTowelHolder",
" position_x": " -1.743",
" position_y": " 1.603",
" position_z": " -0.884",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "30",
" object_type": " HandTowelHolder",
" position_x": " -0.541",
" position_y": " 1.603",
" position_z": " -0.884",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "31",
" object_type": " GarbageCan",
" position_x": " -2.715",
" position_y": " 0.004",
" position_z": " -0.513",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "32",
" object_type": " LightSwitch",
" position_x": " -3.057",
" position_y": " 1.432",
" position_z": " 0.762",
" rotation_x": " 0",
" rotation_y": " 70.528",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "33",
" object_type": " Toilet",
" position_x": " -2.150",
" position_y": " 0.002",
" position_z": " -0.412",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "34",
" object_type": " Faucet",
" position_x": " 0.284",
" position_y": " 0.504",
" position_z": " -0.489",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "35",
" object_type": " ShowerHead",
" position_x": " 0.232",
" position_y": " 1.906",
" position_z": " 1.834",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "36",
" object_type": " ShowerCurtain",
" position_x": " -0.442",
" position_y": " 2.224",
" position_z": " -0.405",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "37",
" object_type": " Faucet",
" position_x": " -1.127",
" position_y": " 0.993",
" position_z": " -0.837",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "38",
" object_type": " NorthWall",
" position_x": " ",
" position_y": " ",
" position_z": " ",
" rotation_x": " ",
" rotation_y": " ",
" rotation_z": " ",
" parent_receptacle": ""
},
{
"id": "39",
" object_type": " EastWall",
" position_x": " ",
" position_y": " ",
" position_z": " ",
" rotation_x": " ",
" rotation_y": " ",
" rotation_z": " ",
" parent_receptacle": ""
},
{
"id": "40",
" object_type": " SouthWall",
" position_x": " ",
" position_y": " ",
" position_z": " ",
" rotation_x": " ",
" rotation_y": " ",
" rotation_z": " ",
" parent_receptacle": ""
},
{
"id": "41",
" object_type": " WestWall",
" position_x": " ",
" position_y": " ",
" position_z": " ",
" rotation_x": " ",
" rotation_y": " ",
" rotation_z": " ",
" parent_receptacle": ""
}
] | Put a wet wash cloth on a shelf. | [
"STEP 1: Turn around and take a step to your left. ",
" STEP 2: Pick up the wash cloth that's to the right of the other one. ",
" STEP 3: Turn around and take two steps then turn left and walk to the garbage that's to the left of the toilet. ",
" STEP 4: Get the cloth wet in the sink. ",
" STEP 5: Turn around and walk to the shelves. ",
" STEP 6: Put the wet cloth to the left of the tissues on the bottom shelf. ",
" END"
] | [
"Put the wet cloth to the left of the tissues on the bottom shelf.",
"Spin in place and then rise one level upwards.",
"Turn around and take a step to your left.",
"Pick up the wash cloth that's to the right of the other one.",
"Leave the cloth dry and place it back on the counter.",
"Get the cloth wet in the sink.",
"Turn around and take two steps then turn left and walk to the garbage that's to the left of the toilet.",
"Turn around and walk to the shelves."
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(C)",
"(D)",
"(G)",
"(F)",
"(H)",
"(A)"
] |
trial_T20190906_175851_641650-3 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.75",
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" parent_receptacle": ""
},
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"id": "37",
" object_type": " Faucet",
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" position_y": " 0.993",
" position_z": " -0.837",
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" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "38",
" object_type": " NorthWall",
" position_x": " ",
" position_y": " ",
" position_z": " ",
" rotation_x": " ",
" rotation_y": " ",
" rotation_z": " ",
" parent_receptacle": ""
},
{
"id": "39",
" object_type": " EastWall",
" position_x": " ",
" position_y": " ",
" position_z": " ",
" rotation_x": " ",
" rotation_y": " ",
" rotation_z": " ",
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},
{
"id": "40",
" object_type": " SouthWall",
" position_x": " ",
" position_y": " ",
" position_z": " ",
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" rotation_y": " ",
" rotation_z": " ",
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},
{
"id": "41",
" object_type": " WestWall",
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" position_y": " ",
" position_z": " ",
" rotation_x": " ",
" rotation_y": " ",
" rotation_z": " ",
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}
] | Place a wet wash cloth on a shelf in the bathroom. | [
"STEP 1: Turn around and walk to the center of the tub. ",
" STEP 2: Pick up the yellow wash cloth to the right of another. ",
" STEP 3: Turn around and walk so you are facing the garbage to the left of the toilet. ",
" STEP 4: Put the wash cloth in the sink and get it wet. ",
" STEP 5: Turn around and make your way to the shelf running along the wall on the floor. ",
" STEP 6: Place the wash cloth to the left of the box of tissues. ",
" END"
] | [
"Turn around and walk to the center of the tub.",
"Place the wash cloth to the left of the box of tissues.",
"Put the wash cloth in the sink and get it wet.",
"Pick up the yellow wash cloth to the right of another.",
"Turn around and make your way to the shelf running along the wall on the floor.",
"Pick up the blue wash cloth to the left of another.",
"Rotate 360 degrees and head towards the shelf sitting on the wall hanging in air.",
"Turn around and walk so you are facing the garbage to the left of the toilet."
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(A)",
"(D)",
"(H)",
"(C)",
"(E)",
"(B)"
] |
trial_T20190906_175851_641650-4 | [
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{
"id": "31",
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},
{
"id": "32",
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},
{
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},
{
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},
{
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{
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}
] | [
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] | Place a clean rag on the bathroom shelf. | [
"STEP 1: Turn around and walk to the bath tub. ",
" STEP 2: Pick up the dirty rag on the right inside of the bath tub. ",
" STEP 3: Turn around, then walk across the room and turn left towards the sink. ",
" STEP 4: Rinse the dirty rag in the sink. ",
" STEP 5: Pick up the rag, then turn around and walk towards the shelves. ",
" STEP 6: Place the rag on the bottom shelf. ",
" END"
] | [
"Turn around, then walk across the room and turn left towards the sink.",
"Rinse the dirty rag in the sink.",
"Pick up the rag, then turn around and walk towards the shelves.",
"Pick up the dirty rag on the right inside of the bath tub.",
"Turn right and walk towards the door.",
"Drop the rag, then turn left and walk towards the window.",
"Place the rag on the bottom shelf.",
"Turn around and walk to the bath tub."
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(H)",
"(D)",
"(A)",
"(B)",
"(C)",
"(G)"
] |
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" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "20",
" object_type": " Bathtub",
" position_x": " 0.221",
" position_y": " 0.343",
" position_z": " 0.636",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "21",
" object_type": " Sink",
" position_x": " -1.128",
" position_y": " -0.001",
" position_z": " -0.593",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "22",
" object_type": " TowelHolder",
" position_x": " 0.266",
" position_y": " 1.536",
" position_z": " -0.559",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "23",
" object_type": " ToiletPaperHanger",
" position_x": " -1.720",
" position_y": " 0.809",
" position_z": " -0.885",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "24",
" object_type": " Shelf",
" position_x": " -1.167",
" position_y": " 0.278",
" position_z": " 2.157",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "25",
" object_type": " SinkBasin",
" position_x": " -1.133",
" position_y": " 0.836",
" position_z": " -0.580",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "26",
" object_type": " Shelf",
" position_x": " -1.167",
" position_y": " 1.763",
" position_z": " 2.157",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "27",
" object_type": " BathtubBasin",
" position_x": " 0.277",
" position_y": " 0.033",
" position_z": " 0.611",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "28",
" object_type": " Shelf",
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" position_y": " 1.059",
" position_z": " 2.157",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "29",
" object_type": " HandTowelHolder",
" position_x": " -1.743",
" position_y": " 1.603",
" position_z": " -0.884",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "30",
" object_type": " HandTowelHolder",
" position_x": " -0.541",
" position_y": " 1.603",
" position_z": " -0.884",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "31",
" object_type": " GarbageCan",
" position_x": " -2.715",
" position_y": " 0.004",
" position_z": " -0.513",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "32",
" object_type": " LightSwitch",
" position_x": " -3.057",
" position_y": " 1.432",
" position_z": " 0.762",
" rotation_x": " 0",
" rotation_y": " 70.528",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "33",
" object_type": " Toilet",
" position_x": " -2.150",
" position_y": " 0.002",
" position_z": " -0.412",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "34",
" object_type": " Faucet",
" position_x": " 0.284",
" position_y": " 0.504",
" position_z": " -0.489",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "35",
" object_type": " ShowerHead",
" position_x": " 0.232",
" position_y": " 1.906",
" position_z": " 1.834",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "36",
" object_type": " ShowerCurtain",
" position_x": " -0.442",
" position_y": " 2.224",
" position_z": " -0.405",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "37",
" object_type": " Faucet",
" position_x": " -1.127",
" position_y": " 0.993",
" position_z": " -0.837",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "38",
" object_type": " NorthWall",
" position_x": " ",
" position_y": " ",
" position_z": " ",
" rotation_x": " ",
" rotation_y": " ",
" rotation_z": " ",
" parent_receptacle": ""
},
{
"id": "39",
" object_type": " EastWall",
" position_x": " ",
" position_y": " ",
" position_z": " ",
" rotation_x": " ",
" rotation_y": " ",
" rotation_z": " ",
" parent_receptacle": ""
},
{
"id": "40",
" object_type": " SouthWall",
" position_x": " ",
" position_y": " ",
" position_z": " ",
" rotation_x": " ",
" rotation_y": " ",
" rotation_z": " ",
" parent_receptacle": ""
},
{
"id": "41",
" object_type": " WestWall",
" position_x": " ",
" position_y": " ",
" position_z": " ",
" rotation_x": " ",
" rotation_y": " ",
" rotation_z": " ",
" parent_receptacle": ""
}
] | Put a washed rag on a shelf. | [
"STEP 1: Turn around and walk to the tub. ",
" STEP 2: Pick up the yellow rag on the right. ",
" STEP 3: Turn right and walk to the sink. ",
" STEP 4: Wash the rag in the sink. ",
" STEP 5: Turn around and walk to the wall with the two shelves. ",
" STEP 6: Place the yellow rag to the left of the tissue box on the bottom shelf. ",
" END"
] | [
"Turn left and walk to the door.",
"Turn around and walk to the tub.",
"Pick up the yellow rag on the right.",
"Turn right and walk to the sink.",
"Wash the rag in the sink.",
"Turn left and walk to the mirror.",
"Place the yellow rag to the left of the tissue box on the bottom shelf.",
"Turn around and walk to the wall with the two shelves."
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(B)",
"(C)",
"(D)",
"(E)",
"(H)",
"(G)"
] |
trial_T20190908_125453_655281-2 | [
{
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" position_y": " 0.901",
" position_z": " 1.5",
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" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
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" position_y": " 0.069",
" position_z": " 3.693",
" rotation_x": " 0",
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" rotation_z": " 0",
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},
{
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" object_type": " TissueBox",
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" rotation_y": " 0",
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},
{
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" object_type": " Cloth",
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},
{
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" parent_receptacle": " 37"
},
{
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" object_type": " SoapBar",
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},
{
"id": "6",
" object_type": " Candle",
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" rotation_z": " 0",
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},
{
"id": "7",
" object_type": " SprayBottle",
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},
{
"id": "8",
" object_type": " SoapBottle",
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},
{
"id": "9",
" object_type": " SoapBottle",
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" position_y": " 0.993",
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" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 30"
},
{
"id": "10",
" object_type": " Towel",
" position_x": " -0.200",
" position_y": " 1.174",
" position_z": " 1.286",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 32"
},
{
"id": "11",
" object_type": " HandTowel",
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" position_y": " 1.6",
" position_z": " 3.961",
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" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 34"
},
{
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" rotation_z": " 0",
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},
{
"id": "13",
" object_type": " ToiletPaper",
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" position_y": " 0.058",
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" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 25"
},
{
"id": "14",
" object_type": " Plunger",
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" position_y": " 0.000",
" position_z": " 1.306",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " Floor|-01.72|"
},
{
"id": "15",
" object_type": " Candle",
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" position_y": " 0.892",
" position_z": " 1.566",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 36"
},
{
"id": "16",
" object_type": " TissueBox",
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" position_z": " 3.276",
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},
{
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" object_type": " SoapBottle",
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" rotation_z": " 0",
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},
{
"id": "18",
" object_type": " ToiletPaper",
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" position_y": " 0.809",
" position_z": " 1.299",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 270",
" parent_receptacle": " 38"
},
{
"id": "19",
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" position_y": " 0.048",
" position_z": " 3.810",
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},
{
"id": "20",
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" position_y": " 0.067",
" position_z": " 2.290",
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" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 25"
},
{
"id": "21",
" object_type": " ScrubBrush",
" position_x": " 0.035",
" position_y": " 0.000",
" position_z": " 1.301",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " Floor|-01.72|"
},
{
"id": "22",
" object_type": " Mirror",
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" position_y": " 1.661",
" position_z": " 3.509",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "23",
" object_type": " Cabinet",
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" position_y": " 0.394",
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" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "24",
" object_type": " ShowerDoor",
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" position_y": " 1.014",
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" rotation_y": " 0",
" rotation_z": " 0",
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},
{
"id": "25",
" object_type": " Cabinet",
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" position_y": " 0.394",
" position_z": " 2.127",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "26",
" object_type": " Sink",
" position_x": " -1.326",
" position_y": " 0.960",
" position_z": " 2.567",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "27",
" object_type": " ShowerGlass",
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" position_y": " 0.788",
" position_z": " 0.485",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "28",
" object_type": " Mirror",
" position_x": " -1.703",
" position_y": " 1.661",
" position_z": " 2.480",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "29",
" object_type": " Cabinet",
" position_x": " -1.187",
" position_y": " 0.394",
" position_z": " 3.063",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "30",
" object_type": " CounterTop",
" position_x": " -1.348",
" position_y": " 0.972",
" position_z": " 2.945",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "31",
" object_type": " Cabinet",
" position_x": " -1.187",
" position_y": " 0.394",
" position_z": " 3.966",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "32",
" object_type": " TowelHolder",
" position_x": " -0.200",
" position_y": " 1.160",
" position_z": " 1.179",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "33",
" object_type": " GarbageCan",
" position_x": " 0.209",
" position_y": " 0.000",
" position_z": " 3.772",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "34",
" object_type": " HandTowelHolder",
" position_x": " -1.275",
" position_y": " 1.702",
" position_z": " 3.999",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "35",
" object_type": " Window",
" position_x": " -0.726",
" position_y": " 1.667",
" position_z": " -0.009",
" rotation_x": " 90",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "36",
" object_type": " Toilet",
" position_x": " -0.039",
" position_y": " 0.090",
" position_z": " 1.733",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "37",
" object_type": " SinkBasin",
" position_x": " -1.317",
" position_y": " 0.998",
" position_z": " 2.567",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "38",
" object_type": " ToiletPaperHanger",
" position_x": " 0.444",
" position_y": " 0.809",
" position_z": " 1.350",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "39",
" object_type": " LightSwitch",
" position_x": " 0.444",
" position_y": " 1.368",
" position_z": " 3.323",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "40",
" object_type": " Faucet",
" position_x": " -1.587",
" position_y": " 0.960",
" position_z": " 3.513",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "41",
" object_type": " ShowerHead",
" position_x": " -1.618",
" position_y": " 1.251",
" position_z": " 0.558",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "42",
" object_type": " Sink",
" position_x": " -1.325",
" position_y": " 0.960",
" position_z": " 3.512",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "43",
" object_type": " SinkBasin",
" position_x": " -1.317",
" position_y": " 0.998",
" position_z": " 3.513",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "44",
" object_type": " Faucet",
" position_x": " -1.587",
" position_y": " 0.960",
" position_z": " 2.569",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "45",
" object_type": " NorthWall",
" position_x": " ",
" position_y": " ",
" position_z": " ",
" rotation_x": " ",
" rotation_y": " ",
" rotation_z": " ",
" parent_receptacle": ""
},
{
"id": "46",
" object_type": " EastWall",
" position_x": " ",
" position_y": " ",
" position_z": " ",
" rotation_x": " ",
" rotation_y": " ",
" rotation_z": " ",
" parent_receptacle": ""
},
{
"id": "47",
" object_type": " SouthWall",
" position_x": " ",
" position_y": " ",
" position_z": " ",
" rotation_x": " ",
" rotation_y": " ",
" rotation_z": " ",
" parent_receptacle": ""
},
{
"id": "48",
" object_type": " WestWall",
" position_x": " ",
" position_y": " ",
" position_z": " ",
" rotation_x": " ",
" rotation_y": " ",
" rotation_z": " ",
" parent_receptacle": ""
}
] | [
{
"id": "0",
" object_type": " Agent",
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" position_y": " 0.901",
" position_z": " 1.5",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " TissueBox",
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},
{
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},
{
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},
{
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},
{
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},
{
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},
{
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},
{
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},
{
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},
{
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{
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{
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},
{
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{
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{
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},
{
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{
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{
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},
{
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},
{
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},
{
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},
{
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{
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{
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}
] | Put two spray bottles on a toilet tank. | [
"STEP 1: Go forward, turn right, go forward to the toilet, turn left, go forward a step, turn right, go forward to the wall, turn left, go forward to the green bin. ",
" STEP 2: Take the spray bottle from the green bin. ",
" STEP 3: Turn around, go forward to the toilet. ",
" STEP 4: Put the spray bottle on the toilet tank. ",
" STEP 5: Turn around, go forward to the wall, turn left, go forward to the sink. ",
" STEP 6: Take the spray bottle from the bottom right cabinet below the sink. ",
" STEP 7: Turn around, go forward, turn right, go forward to the toilet. ",
" STEP 8: Put the spray bottle on the toilet tank. ",
" END"
] | [
"Turn around, go forward, turn right, go forward to the toilet.",
"Put the spray bottle on the toilet tank.",
"Turn right, go backward, turn left, jump twice, head to the bathroom.",
"Put the phone in the green bin.",
"Turn around, go forward to the toilet.",
"Take the spray bottle from the bottom right cabinet below the sink.",
"Put the spray bottle on the toilet tank.",
"Go forward, turn right, go forward to the toilet, turn left, go forward a step, turn right, go forward to the wall, turn left, go forward to the green bin.",
"Take the spray bottle from the green bin.",
"Turn around, go forward to the wall, turn left, go forward to the sink."
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)"
] | [
"(H)",
"(I)",
"(E)",
"(B)",
"(G)",
"(J)",
"(F)",
"(A)",
"(B)",
"(G)"
] |
trial_T20190912_025016_632439-0 | [
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},
{
"id": "54",
" object_type": " NorthWall",
" position_x": " ",
" position_y": " ",
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},
{
"id": "55",
" object_type": " EastWall",
" position_x": " ",
" position_y": " ",
" position_z": " ",
" rotation_x": " ",
" rotation_y": " ",
" rotation_z": " ",
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},
{
"id": "56",
" object_type": " SouthWall",
" position_x": " ",
" position_y": " ",
" position_z": " ",
" rotation_x": " ",
" rotation_y": " ",
" rotation_z": " ",
" parent_receptacle": ""
},
{
"id": "57",
" object_type": " WestWall",
" position_x": " ",
" position_y": " ",
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] | Move two books from the dresser to the bed. | [
"STEP 1: Move to dresser to the left of the bed ",
" STEP 2: Pick up a book from the dresser ",
" STEP 3: Move to the bed to the right of you ",
" STEP 4: Place the book on the bed ",
" STEP 5: Move to dresser to the left of the bed ",
" STEP 6: Pick up a book from the dresser ",
" STEP 7: Move to the bed to the right of you ",
" STEP 8: Place the book on the bed ",
" END"
] | [
"Move to dresser to the right of the bed",
"Pick up a book from the dresser",
"Move to the bed to the left of you",
"Move to dresser to the left of the bed",
"Place the book on the bed",
"Move to the bed to the right of you",
"Pick up a book from the dresser",
"Move to dresser to the left of the bed",
"Move to the bed to the right of you",
"Place the book on the bed"
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)"
] | [
"(D)",
"(H)",
"(B)",
"(G)",
"(F)",
"(I)",
"(E)",
"(J)",
"(D)",
"(H)",
"(B)",
"(G)",
"(F)",
"(I)",
"(E)",
"(J)"
] |
trial_T20190906_200033_429462-0 | [
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},
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{
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},
{
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{
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{
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{
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{
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{
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},
{
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] | rinse off a potato to store it in the fridge | [
"STEP 1: walk over to the kitchen counter next to the fridge ",
" STEP 2: grab the potato off of the counter ",
" STEP 3: turn and walk over to the kitchen sink ",
" STEP 4: place the potato inside the sink and wash it off, then pick it back up ",
" STEP 5: turn and walk over to the fridge again ",
" STEP 6: place the potato inside the fridge and close the door ",
" END"
] | [
"turn and walk over to the fridge again",
"turn and walk over to the kitchen sink",
"turn and walk over to the stove",
"walk over to the kitchen counter next to the fridge",
"place the potato inside the fridge and close the door",
"grab a carrot from the fridge",
"place the potato inside the sink and wash it off, then pick it back up",
"grab the potato off of the counter"
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(D)",
"(H)",
"(B)",
"(G)",
"(A)",
"(E)"
] |
trial_T20190908_113716_189822-1 | [
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] | Pick up the golden vase and put it on the black bookcase. | [
"STEP 1: Turn right at the black bookcase and walk to the end of the black drawers to the right. ",
" STEP 2: Pick up the golden vase from the black drawers. ",
" STEP 3: Turn left and walk to the black bookcase. ",
" STEP 4: Put the golden vase on the black bookcase. ",
" END"
] | [
"Turn left at the black bookcase and walk to the end of the white drawers to the left.",
"Put the golden vase on the black bookcase.",
"Leave the golden vase at the brown desk.",
"Pick up the golden vase from the black drawers.",
"Turn left and walk to the black bookcase.",
"Turn right at the black bookcase and walk to the end of the black drawers to the right."
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(F)",
"(D)",
"(E)",
"(B)"
] |
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{
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{
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{
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{
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{
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{
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},
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},
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},
{
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},
{
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},
{
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}
] | [
{
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},
{
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},
{
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{
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{
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{
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},
{
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},
{
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{
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{
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{
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},
{
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},
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},
{
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},
{
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},
{
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" position_y": " ",
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" rotation_x": " ",
" rotation_y": " ",
" rotation_z": " ",
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},
{
"id": "48",
" object_type": " WestWall",
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}
] | Put the washed pink soap on the toilet. | [
"STEP 1: Turn around and go to counter by the sink. ",
" STEP 2: Pick up the soap on the counter. ",
" STEP 3: Turn and go to the sink on the right. ",
" STEP 4: Put the soap in the sink and turn on the water. ",
" STEP 5: Turn around and go to the toilet. ",
" STEP 6: Turn around and put the pink soap on the toilet. ",
" END"
] | [
"Turn left and go to the shower.",
"Put the soap in the sink and turn on the water.",
"Turn around and put the pink soap on the toilet.",
"Pick up the soap on the counter.",
"Turn and go to the sink on the right.",
"Pick up the towel on the counter.",
"Turn around and go to the toilet.",
"Turn around and go to counter by the sink."
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(H)",
"(D)",
"(E)",
"(B)",
"(G)",
"(C)"
] |
trial_T20190909_080422_006743-2 | [
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" position_z": " -0.25",
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" rotation_z": " 0",
" parent_receptacle": ""
},
{
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},
{
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},
{
"id": "3",
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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},
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},
{
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},
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},
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{
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{
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{
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{
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},
{
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},
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},
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{
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{
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},
{
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}
] | Microwave a mug from the cupboard and put it next to the toaster. | [
"STEP 1: Go forward and turn left to face the counter with the toaster on it. ",
" STEP 2: Open up the cupboard above the toaster, grab the mug, and close the cupboard. ",
" STEP 3: Turn right and face the microwave above the oven. ",
" STEP 4: Microwave the mug for a moment, then take it back out of the microwave and close the microwave. ",
" STEP 5: Turn left and go back to the counter area with the toaster on it. ",
" STEP 6: Place the mug on the counter to the left of the butterknife. ",
" END"
] | [
"Place the mug on the counter to the left of the butterknife.",
"Go forward and turn left to face the counter with the toaster on it.",
"Turn left and go back to the counter area with the toaster on it.",
"Open up the cupboard above the toaster, grab the mug, and close the cupboard.",
"Microwave the mug for a moment, then take it back out of the microwave and close the microwave.",
"Turn right and face the microwave above the oven.",
"Turn right and walk towards the fridge.",
"Open the drawer beneath the oven, grab a spoon, and close the drawer."
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(B)",
"(D)",
"(F)",
"(E)",
"(C)",
"(A)"
] |
trial_T20190908_101131_853686-2 | [
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" rotation_z": " 0",
" parent_receptacle": ""
},
{
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},
{
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] | Put a heated tomato in a fridge | [
"STEP 1: Go to the counter across the fridge ",
" STEP 2: Pick up the tomato from the counter ",
" STEP 3: Go to the microwave ",
" STEP 4: Microwave the tomato ",
" STEP 5: Go to the fridge ",
" STEP 6: Place the tomato inside the fridge ",
" END"
] | [
"Walk to the toaster",
"Go to the fridge",
"Walk to the table next to the stove",
"Microwave the tomato",
"Go to the counter across the fridge",
"Place the tomato inside the fridge",
"Go to the microwave",
"Pick up the tomato from the counter"
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(E)",
"(H)",
"(G)",
"(D)",
"(B)",
"(F)"
] |
trial_T20190908_060855_136513-1 | [
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}
] | Put a roll of toilet paper on the holder. | [
"STEP 1: Go to the sink in front of you. ",
" STEP 2: Open the left cabinet, under the sink closest to the wall and pull out a roll of toilet paper. ",
" STEP 3: Turn to your left and go to the toilet. ",
" STEP 4: Place the toilet paper roll on the toilet paper holder, on the back wall, between the toilet and the shower. ",
" END"
] | [
"Open the right drawer, above the sink closest to the wall and pull out a roll of tissue paper.",
"Go to the table behind you.",
"Place the toilet paper roll on the toilet paper holder, on the back wall, between the toilet and the shower.",
"Open the left cabinet, under the sink closest to the wall and pull out a roll of toilet paper.",
"Turn to your left and go to the toilet.",
"Go to the sink in front of you."
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(F)",
"(D)",
"(E)",
"(C)"
] |
trial_T20190908_060855_136513-2 | [
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{
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{
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}
] | [
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] | retrieve the tissue from the cabinet and place it on the roll | [
"STEP 1: walk towards the sink ",
" STEP 2: open the cabinet and get the tissue from the shelf ",
" STEP 3: turn left and walk to the shower. turn left ",
" STEP 4: place the tissue on the roll ",
" END"
] | [
"place the tissue on the roll",
"run towards the fridge",
"turn left and walk to the shower. turn left",
"open the cabinet and get the tissue from the shelf",
"open the drawer and get the towel",
"walk towards the sink"
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(F)",
"(D)",
"(C)",
"(A)"
] |
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},
{
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},
{
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},
{
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" rotation_y": " ",
" rotation_z": " ",
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}
] | [
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},
{
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{
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{
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},
{
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},
{
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},
{
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" rotation_y": " 0",
" rotation_z": " 0",
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},
{
"id": "7",
" object_type": " Vase",
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" position_y": " 1.280",
" position_z": " 3.662",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 52"
},
{
"id": "8",
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" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
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},
{
"id": "9",
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" rotation_z": " 0",
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},
{
"id": "10",
" object_type": " Laptop",
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" rotation_y": " 9.597",
" rotation_z": " 0",
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},
{
"id": "11",
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" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
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" rotation_z": " 0",
" parent_receptacle": " 48"
},
{
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},
{
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},
{
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},
{
"id": "16",
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" rotation_z": " 0",
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},
{
"id": "17",
" object_type": " Vase",
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" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 50"
},
{
"id": "18",
" object_type": " Bowl",
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" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
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},
{
"id": "19",
" object_type": " Pillow",
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" position_y": " 0.542",
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" rotation_x": " 0",
" rotation_y": " 284.202",
" rotation_z": " 0",
" parent_receptacle": " 38"
},
{
"id": "20",
" object_type": " Vase",
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" position_z": " 3.712",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
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},
{
"id": "21",
" object_type": " RemoteControl",
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" position_y": " 0.438",
" position_z": " 4.219",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 38"
},
{
"id": "22",
" object_type": " Watch",
" position_x": " -2.474",
" position_y": " 0.146",
" position_z": " 7.225",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
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},
{
"id": "23",
" object_type": " Statue",
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" position_y": " 0.540",
" position_z": " 4.335",
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" rotation_y": " 270",
" rotation_z": " 0",
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},
{
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" object_type": " Statue",
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" position_y": " 1.272",
" position_z": " 4.074",
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" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 52"
},
{
"id": "25",
" object_type": " Statue",
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" position_y": " 0.543",
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" rotation_y": " 90",
" rotation_z": " 0",
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},
{
"id": "26",
" object_type": " Statue",
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" position_z": " 7.139",
" rotation_x": " 0",
" rotation_y": " 96.687",
" rotation_z": " 0",
" parent_receptacle": " 54"
},
{
"id": "27",
" object_type": " Mirror",
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" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
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" object_type": " DeskLamp",
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" position_y": " 0.797",
" position_z": " 1.955",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
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" object_type": " DeskLamp",
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" position_y": " 0.797",
" position_z": " 6.022",
" rotation_x": " 0",
" rotation_y": " 60.096",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "30",
" object_type": " FloorLamp",
" position_x": " -4.615",
" position_y": " 0.016",
" position_z": " 0.314",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "31",
" object_type": " Television",
" position_x": " -5.637",
" position_y": " 0.998",
" position_z": " 6.949",
" rotation_x": " 0",
" rotation_y": " 135",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "32",
" object_type": " LightSwitch",
" position_x": " -4.419",
" position_y": " 1.279",
" position_z": " 0.0",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "33",
" object_type": " Painting",
" position_x": " 0.0",
" position_y": " 1.661",
" position_z": " 4.451",
" rotation_x": " 90",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "34",
" object_type": " Painting",
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" rotation_z": " 0",
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},
{
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" object_type": " HousePlant",
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" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "36",
" object_type": " GarbageCan",
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},
{
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{
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},
{
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" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "40",
" object_type": " SideTable",
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" position_y": " 0.014",
" position_z": " 2.002",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "41",
" object_type": " Chair",
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" position_y": " 0.015",
" position_z": " 2.007",
" rotation_x": " 0",
" rotation_y": " 15.000",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "42",
" object_type": " Chair",
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" position_y": " 0.015",
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" rotation_x": " 0",
" rotation_y": " 345.000",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "43",
" object_type": " Shelf",
" position_x": " -0.585",
" position_y": " 0.248",
" position_z": " 2.002",
" rotation_x": " 0",
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" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "44",
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" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "45",
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" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "46",
" object_type": " Shelf",
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" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "47",
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" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "48",
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" rotation_z": " 0",
" parent_receptacle": ""
},
{
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" position_y": " 0.161",
" position_z": " 7.174",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "50",
" object_type": " Shelf",
" position_x": " -5.948",
" position_y": " 0.467",
" position_z": " 4.335",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "51",
" object_type": " ShelvingUnit",
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" position_y": " 0.012",
" position_z": " 4.347",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "52",
" object_type": " Shelf",
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" position_y": " 1.293",
" position_z": " 4.349",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "53",
" object_type": " ShelvingUnit",
" position_x": " -2.865",
" position_y": " 0.012",
" position_z": " 7.177",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "54",
" object_type": " Shelf",
" position_x": " -2.868",
" position_y": " 1.293",
" position_z": " 7.174",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "55",
" object_type": " CoffeeTable",
" position_x": " -2.492",
" position_y": " 0.018",
" position_z": " 4.043",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "56",
" object_type": " CoffeeTable",
" position_x": " -5.555",
" position_y": " 0.018",
" position_z": " 6.835",
" rotation_x": " 0",
" rotation_y": " 315",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "57",
" object_type": " NorthWall",
" position_x": " ",
" position_y": " ",
" position_z": " ",
" rotation_x": " ",
" rotation_y": " ",
" rotation_z": " ",
" parent_receptacle": ""
},
{
"id": "58",
" object_type": " SouthWall",
" position_x": " ",
" position_y": " ",
" position_z": " ",
" rotation_x": " ",
" rotation_y": " ",
" rotation_z": " ",
" parent_receptacle": ""
},
{
"id": "59",
" object_type": " SouthWall",
" position_x": " ",
" position_y": " ",
" position_z": " ",
" rotation_x": " ",
" rotation_y": " ",
" rotation_z": " ",
" parent_receptacle": ""
}
] | Examine a watering can by the light of a table lamp. | [
"STEP 1: Turn around and walk to the black shelves by the wall. ",
" STEP 2: Pick up the watering can from the bottom shelf. ",
" STEP 3: Turn right and walk in front of the lamp on the end table. ",
" STEP 4: Turn on the lamp. ",
" END"
] | [
"Blow out the candle.",
"Spin in a circle and walk to the white shelves by the window.",
"Turn on the lamp.",
"Turn right and walk in front of the lamp on the end table.",
"Turn around and walk to the black shelves by the wall.",
"Pick up the watering can from the bottom shelf."
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(E)",
"(F)",
"(D)",
"(C)"
] |
trial_T20190908_080835_042367-2 | [
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" rotation_z": " 0",
" parent_receptacle": ""
},
{
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},
{
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" rotation_y": " 90",
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},
{
"id": "3",
" object_type": " Potato",
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" position_y": " 1.542",
" position_z": " 2.331",
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" rotation_z": " 0",
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},
{
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},
{
"id": "5",
" object_type": " DishSponge",
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" rotation_z": " 0",
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},
{
"id": "6",
" object_type": " ButterKnife",
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" position_y": " 1.043",
" position_z": " 0.763",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 50"
},
{
"id": "7",
" object_type": " Pot",
" position_x": " 0.389",
" position_y": " 1.053",
" position_z": " -1.630",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
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},
{
"id": "8",
" object_type": " Spoon",
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" position_y": " 1.044",
" position_z": " 0.630",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": " 50"
},
{
"id": "9",
" object_type": " Spatula",
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" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": " 50"
},
{
"id": "10",
" object_type": " Spatula",
" position_x": " -0.775",
" position_y": " 1.061",
" position_z": " -1.720",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": " 48"
},
{
"id": "11",
" object_type": " Egg",
" position_x": " -0.260",
" position_y": " 1.101",
" position_z": " -1.720",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 48"
},
{
"id": "12",
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] | Slice bread, grab a slice, cook it in the microwave, put it on the counter. | [
"STEP 1: Walk towards the counter ",
" STEP 2: Grab yellow knife from counter ",
" STEP 3: Walk with the knife towards the table ",
" STEP 4: Slice bread on the table ",
" STEP 5: Look up from the table ",
" STEP 6: Put knife on the table ",
" STEP 7: Look down from the table ",
" STEP 8: Grab a bread slice from the table ",
" STEP 9: Walk with the bread slice towards the microwave ",
" STEP 10: Put the bread slice in the microwave, cook it and take it out ",
" STEP 11: Walk with the bread slice towards the counter ",
" STEP 12: Put the bread slice on the counter ",
" END"
] | [
"Walk with the bread slice towards the counter",
"Walk with the knife towards the table",
"Grab a bread slice from the table",
"Walk with the bread slice towards the refrigerator",
"Walk with the bread slice towards the microwave",
"Look down from the table",
"Walk towards the counter",
"Look up from the table",
"Put knife on the table",
"Put the bread slice in the microwave, cook it and take it out",
"Slice bread on the table",
"Put the bread slice on the counter",
"Grab yellow knife from counter",
"Grab blue knife from the drawer"
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)",
"(K)",
"(L)",
"(M)",
"(N)"
] | [
"(G)",
"(M)",
"(B)",
"(K)",
"(H)",
"(I)",
"(F)",
"(C)",
"(E)",
"(J)",
"(A)",
"(L)"
] |
trial_T20190908_113832_021708-1 | [
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{
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{
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},
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},
{
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},
{
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},
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},
{
"id": "69",
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},
{
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},
{
"id": "71",
" object_type": " SouthWall",
" position_x": " ",
" position_y": " ",
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" rotation_x": " ",
" rotation_y": " ",
" rotation_z": " ",
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},
{
"id": "72",
" object_type": " WestWall",
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" position_y": " ",
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" rotation_x": " ",
" rotation_y": " ",
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}
] | Move a golden vase to a wooden shelving unit. | [
"STEP 1: Walk over to the dresser across the room that is below a mirror on the wall. ",
" STEP 2: Pick up the golden vase off of the dresser. ",
" STEP 3: Turn right and walk over to the wooden shelving unit. ",
" STEP 4: Put the golden vase on the bottom shelf of the wooden shelving unit. ",
" END"
] | [
"Turn left and jog towards the metallic bookshelf.",
"Turn right and walk over to the wooden shelving unit.",
"Walk over to the dresser across the room that is below a mirror on the wall.",
"Pick up the golden vase off of the dresser.",
"Put the golden vase on the bottom shelf of the wooden shelving unit.",
"Run towards the window across the room."
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(C)",
"(D)",
"(B)",
"(E)"
] |
trial_T20190907_195923_069158-0 | [
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] | Put a cooled slice of potato in the microwave. | [
"STEP 1: Turn left and then turn right. Move to the last plate on the left side counter. ",
" STEP 2: Pick up the knife that's on the counter behind the plate. ",
" STEP 3: Slice the potato that's on the counter behind the plate. ",
" STEP 4: Move a few inches to the right. ",
" STEP 5: Set the knife down on the right side of the plate with the blade facing away from the plate. ",
" STEP 6: Move one step closer to the counter. ",
" STEP 7: Pick up a slice of potato. ",
" STEP 8: Turn around and face the fridge. ",
" STEP 9: Put the potato on the second shelf on the right side. Close the fridge for a few moments and take the potato slice back out. ",
" STEP 10: Turn right and face the microwave over the stove on your right. ",
" STEP 11: Put the potato in the microwave on the right of the mug. ",
" END"
] | [
"Slice the potato that's on the counter behind the plate.",
"Put the potato on the second shelf on the right side. Close the fridge for a few moments and take the potato slice back out.",
"Move a few inches to the right.",
"Pick up the knife that's on the counter behind the plate.",
"Move one step closer to the counter.",
"Turn right and face the microwave over the stove on your right.",
"Put the potato in the microwave on the right of the mug.",
"Turn left and then turn right. Move to the last plate on the left side counter.",
"Turn right and then turn left. Move to the first plate on the right side counter.",
"Turn around and face the fridge.",
"Pick up a slice of potato.",
"Take two steps away from the counter.",
"Set the knife down on the right side of the plate with the blade facing away from the plate."
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)",
"(K)",
"(L)",
"(M)"
] | [
"(H)",
"(D)",
"(A)",
"(C)",
"(M)",
"(E)",
"(K)",
"(J)",
"(B)",
"(F)",
"(G)"
] |
trial_T20190907_195923_069158-1 | [
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] | Place a chilled piece of potato into the microwave above the stove. | [
"STEP 1: Walk to the potato on the counter opposite the fridge. ",
" STEP 2: Pick up the yellow knife in front of the potato on the counter. ",
" STEP 3: Cut up the potato on the counter. ",
" STEP 4: Take one step back and then face the counter with the cut up potato on it. ",
" STEP 5: Place the knife to the right of the plate on the counter. ",
" STEP 6: Take one step forward toward the potato on the counter. ",
" STEP 7: Pick up a piece of the potato on the counter. ",
" STEP 8: Turn around and walk to the fridge. ",
" STEP 9: Chill the potato in the fridge and then pick the potato up from the fridge. ",
" STEP 10: Turn right and walk to the microwave above the stove. ",
" STEP 11: Place the piece of potato into the microwave and then close the microwave. ",
" END"
] | [
"Turn left and walk to the stove.",
"Take one step forward toward the potato on the counter.",
"Turn right and walk to the microwave above the stove.",
"Cut up the potato on the counter.",
"Pick up a piece of the potato on the counter.",
"Place the piece of potato into the microwave and then close the microwave.",
"Pick up the yellow knife in front of the potato on the counter.",
"Chill the potato in the fridge and then pick the potato up from the fridge.",
"Walk to the potato on the counter opposite the fridge.",
"Take one step back and then face the counter with the cut up potato on it.",
"Place the knife on the left of the plate on the counter.",
"Turn around and walk to the fridge.",
"Place the knife to the right of the plate on the counter."
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)",
"(K)",
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"(M)"
] | [
"(I)",
"(G)",
"(D)",
"(J)",
"(M)",
"(B)",
"(E)",
"(L)",
"(H)",
"(C)",
"(F)"
] |
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},
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},
{
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" rotation_z": " 0",
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},
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" parent_receptacle": ""
},
{
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" rotation_y": " 270",
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},
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" position_y": " ",
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},
{
"id": "60",
" object_type": " SouthWall",
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" position_y": " ",
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" rotation_x": " ",
" rotation_y": " ",
" rotation_z": " ",
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},
{
"id": "61",
" object_type": " SouthWall",
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}
] | Grab the statue on the coffee table, turn on the lamp on the side table | [
"STEP 1: Turn right, walk across the room to the sofa, turn left, and turn left, facing the coffee table ",
" STEP 2: Grab the statue on the table ",
" STEP 3: Turn right, walk to the side table on the right ",
" STEP 4: Turn on the lamp on the side table ",
" END"
] | [
"Turn right, walk to the side table on the right",
"Grab the statue on the table",
"Turn on the lamp on the side table",
"Turn right, walk across the room to the sofa, turn left, and turn left, facing the coffee table",
"Turn left, walk to the side table on the left",
"Turn left, walk across the room to the curtain, turn right, and turn right, facing the window"
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(D)",
"(B)",
"(A)",
"(C)"
] |
trial_T20190908_071233_937560-1 | [
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{
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{
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{
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}
] | [
{
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},
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] | Put the keys in with the box on the sofa. | [
"STEP 1: Go to the end table in front across the room. ",
" STEP 2: Pick up the empty box under the table. ",
" STEP 3: Turn around and go to the right front side of the sofa with a checkered cushion. ",
" STEP 4: Place the empty box on the sofa seat. ",
" STEP 5: Move over left and face the sofa. ",
" STEP 6: Pick up the keys on the sofa seat next to the box. ",
" STEP 7: Move over right to the front of the box. ",
" STEP 8: Place the keys in the box and close the box. ",
" END"
] | [
"Place the empty box on the sofa seat.",
"Pick up the empty box under the table.",
"Place the keys on the sofa seat next to the box.",
"Leave the empty box under the table.",
"Go to the end table in front across the room.",
"Place the keys in the box and close the box.",
"Move over left and face the sofa.",
"Move over right to the front of the box.",
"Pick up the keys on the sofa seat next to the box.",
"Turn around and go to the right front side of the sofa with a checkered cushion."
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)"
] | [
"(E)",
"(B)",
"(J)",
"(A)",
"(G)",
"(I)",
"(H)",
"(F)"
] |
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] | fill the bowl from the top cabinet with water, put it on the counter | [
"STEP 1: turn right to the cabinet above the toaster ",
" STEP 2: open the cabinet, grab the bowl in the cabinet, close the cabinet ",
" STEP 3: turn left, walk to the sink on the left ",
" STEP 4: put the bowl in the sink, fill the bowl with water from the faucet, take the bowl ",
" STEP 5: turn left, walk to the counter with a toast on it ",
" STEP 6: put the bowl with water on the counter ",
" END"
] | [
"open the refrigerator, grab the glass from the shelf, close the refrigerator",
"turn left, walk to the sink on the left",
"turn right, walk to the table with a book on it",
"turn right to the cabinet above the toaster",
"put the bowl in the sink, fill the bowl with water from the faucet, take the bowl",
"put the bowl with water on the counter",
"turn left, walk to the counter with a toast on it",
"open the cabinet, grab the bowl in the cabinet, close the cabinet"
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(D)",
"(H)",
"(B)",
"(E)",
"(G)",
"(F)"
] |
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] | Grab a bowl, wash it, set it on the counter | [
"STEP 1: Turn around and face the kitchen counter originally to your right ",
" STEP 2: Open the kitchen cabinet and take out a bowl that was inside ",
" STEP 3: Turn to your left and then face the kitchen sink ",
" STEP 4: Place the bowl in the sink, rinse the bowl and then pick it back up ",
" STEP 5: Turn to your left and head back to the kitchen cabinet ",
" STEP 6: Place the clean bowl on the kitchen counter ",
" END"
] | [
"Turn to your left and then face the kitchen sink",
"Turn to your left and head back to the kitchen cabinet",
"Turn to your right and then face the refrigerator",
"Place the clean bowl on the kitchen counter",
"Turn around and face the kitchen counter originally to your right",
"Place the bowl in the sink, rinse the bowl and then pick it back up",
"Turn around and face the kitchen counter originally to your left",
"Open the kitchen cabinet and take out a bowl that was inside"
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(E)",
"(H)",
"(A)",
"(F)",
"(B)",
"(D)"
] |
trial_T20190906_184725_582613-0 | [
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] | Put a heated glass in the cabinet above the bread on the counter. | [
"STEP 1: Move to the cabinet on the left, above the lettuce. ",
" STEP 2: Pick up the glass in the cabinet. ",
" STEP 3: Bring the glass to the microwave. ",
" STEP 4: Heat the glass in the microwave. ",
" STEP 5: Bring the glass to the counter left of the sink. ",
" STEP 6: Put the glass in the cabinet above the bread on the counter. ",
" END"
] | [
"Bring the glass to the counter left of the sink.",
"Move to the cabinet on the left, above the lettuce.",
"Heat the glass in the microwave.",
"Bring the glass to the microwave.",
"Move to the cabinet on the right, below the carrots.",
"Pick up the glass in the cabinet.",
"Put the glass in the cabinet above the bread on the counter.",
"Cool the glass in the refrigerator."
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(B)",
"(F)",
"(D)",
"(C)",
"(A)",
"(G)"
] |
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] | Get spray bottle from toilet tank, place spray bottle on vanity. | [
"STEP 1: Turn right, turn left, walk to the toilet, turn left. ",
" STEP 2: Pick up the spray bottle on the toilet tank. ",
" STEP 3: Turn around, walk to the vanity, ",
" STEP 4: Place the spray bottle on vanity in front of the tissues. ",
" END"
] | [
"Turn right, turn left, walk to the toilet, turn left.",
"Place the spray bottle on vanity in front of the tissues.",
"Pick up the spray bottle on the toilet tank.",
"Turn left, turn right, walk to the sink, turn right",
"Turn around, walk to the vanity,",
"Turn left, walk to the bathtub"
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(A)",
"(C)",
"(E)",
"(B)"
] |
trial_T20190909_151104_208973-1 | [
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},
{
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},
{
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},
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}
] | Examine a pillow by the light of the lamp on the desk. | [
"STEP 1: Turn left, go to the bed. ",
" STEP 2: Pick up the close pillow on the bed. ",
" STEP 3: Bring the pillow to the left, to the lamp on the desk. ",
" STEP 4: Turn on the lamp on the desk. ",
" END"
] | [
"Bring the pillow to the right, to the chair near the wall.",
"Pick up the close pillow on the bed.",
"Bring the pillow to the left, to the lamp on the desk.",
"Turn left, go to the bed.",
"Turn on the lamp on the desk.",
"Put down the pillow on the floor."
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(D)",
"(B)",
"(C)",
"(E)"
] |
trial_T20190909_151104_208973-2 | [
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] | Look at a patterned pillow under a lit lamp. | [
"STEP 1: Turn left to walk to the bed. ",
" STEP 2: Pick up the patterned pillow closest to you. ",
" STEP 3: Turn left to walk to the white desk. ",
" STEP 4: Turn on the lamp on the desk. ",
" END"
] | [
"Turn right to walk to the red chair.",
"Turn on the lamp on the desk.",
"Turn left to walk to the bed.",
"Turn left to walk to the white desk.",
"Turn right to walk to the wardrobe.",
"Pick up the patterned pillow closest to you."
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(C)",
"(F)",
"(D)",
"(B)"
] |
trial_T20190909_081054_216664-0 | [
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] | Move a pen to the dresser with keys. | [
"STEP 1: Turn around and face the white table on the right. ",
" STEP 2: Pick up the pen from behind the left computer. ",
" STEP 3: Carry the pen and turn to the right and move to the large brown dresser. ",
" STEP 4: Place the pen on top of the dresser, inside the the hoop for the keys. ",
" END"
] | [
"Carry the pen and turn to the right and move to the large brown dresser.",
"Take the pen and move directly forward to the small green cabinet.",
"Place the pen on top of the dresser, inside the the hoop for the keys.",
"Turn around and face the white table on the right.",
"Rotate to the left and look at the black chair.",
"Pick up the pen from behind the left computer."
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(D)",
"(F)",
"(A)",
"(C)"
] |
trial_T20190909_081054_216664-1 | [
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] | place a pencil on top of some keys on the dresser | [
"STEP 1: turn around and walk over to the desk on the right side of the room ",
" STEP 2: grab a pencil off of the desk there ",
" STEP 3: turn right and walk over to the dresser at the far end of the room ",
" STEP 4: place the pencil on top of the keys on top of the dresser ",
" END"
] | [
"place the pencil on top of the keys on top of the dresser",
"put the pencil inside the third drawer of the dresser",
"turn right and walk over to the dresser at the far end of the room",
"turn left and pace towards to the coffee table in the middle of the room",
"turn around and walk over to the desk on the right side of the room",
"grab a pencil off of the desk there"
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(E)",
"(F)",
"(C)",
"(A)"
] |
trial_T20190907_211139_592319-2 | [
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] | Put the apple from the table into the sink. | [
"STEP 1: Turn around and then go to the table on your right. ",
" STEP 2: Pick up the apple from the table. ",
" STEP 3: Turn around and go to the sink. ",
" STEP 4: Put the apple in the sink. ",
" END"
] | [
"Turn left and walk towards the couch.",
"Pick up the apple from the table.",
"Put the apple in the sink.",
"Pick up the orange from the table.",
"Turn around and go to the sink.",
"Turn around and then go to the table on your right."
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(F)",
"(B)",
"(E)",
"(C)"
] |
trial_T20190907_230502_351146-0 | [
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] | get the tissues from the sink and put them on the toilet tank. | [
"STEP 1: walk over to the sink on the right ",
" STEP 2: pick up the box of tissues ",
" STEP 3: walk the box of tissues over to the toilet ",
" STEP 4: place the box of tissues on top of the toilet tank ",
" END"
] | [
"walk over to the sink on the left",
"pick up the box of tissues",
"place the box of tissues on top of the toilet tank",
"walk the box of tissues over to the toilet",
"walk over to the sink on the right",
"pick up the soap dispenser"
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(E)",
"(B)",
"(D)",
"(C)"
] |
trial_T20190907_211041_725559-2 | [
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] | Move an apple from the round table to the sink. | [
"STEP 1: Turn around and go to the round table. ",
" STEP 2: Pick up the apple on the round table. ",
" STEP 3: Turn around and go to the sink. ",
" STEP 4: Put the apple in the sink. ",
" END"
] | [
"Turn around and go to the sink.",
"Pick up the apple on the round table.",
"Put the apple in the sink.",
"Take a left and approach the fridge.",
"Turn around and go to the round table.",
"Procede directly to the nearest chair."
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(E)",
"(B)",
"(A)",
"(C)"
] |
trial_T20190908_123456_669219-2 | [
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" rotation_z": " ",
" parent_receptacle": ""
},
{
"id": "42",
" object_type": " SouthWall",
" position_x": " ",
" position_y": " ",
" position_z": " ",
" rotation_x": " ",
" rotation_y": " ",
" rotation_z": " ",
" parent_receptacle": ""
},
{
"id": "43",
" object_type": " WestWall",
" position_x": " ",
" position_y": " ",
" position_z": " ",
" rotation_x": " ",
" rotation_y": " ",
" rotation_z": " ",
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}
] | To move two statues to the living room table. | [
"STEP 1: Turn around and walk to the right around the living room table and turn left and look up to face the statue on the shelf above the couch. ",
" STEP 2: Pick up the statue on the shelf above the couch. ",
" STEP 3: Turn around to face the living room table. ",
" STEP 4: Place the statue on the right side of the living room table. ",
" STEP 5: Turn right and walk across the room to face the table to the left of the chair. ",
" STEP 6: Pick up the statue on the table. ",
" STEP 7: Turn around and walk around to face the living room table. ",
" STEP 8: Place the statue beside the first statue on the living room table. ",
" END"
] | [
"Sit down on the chair beside the table.",
"Turn around to face the living room table.",
"Pick up the statue on the shelf above the couch.",
"Place the statue beside the first statue on the living room table.",
"Pick up the statue on the table.",
"Turn right and walk across the room to face the table to the left of the chair.",
"Place the statue on the right side of the living room table.",
"Turn around and walk around to face the living room table.",
"Put down the statue on the shelf above the couch.",
"Turn around and walk to the right around the living room table and turn left and look up to face the statue on the shelf above the couch."
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)"
] | [
"(J)",
"(C)",
"(B)",
"(G)",
"(F)",
"(E)",
"(H)",
"(D)"
] |
trial_T20190909_095557_177946-1 | [
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{
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" object_type": " Laptop",
" position_x": " -1.169",
" position_y": " 0.796",
" position_z": " -4.096",
" rotation_x": " 0",
" rotation_y": " 27.912",
" rotation_z": " 0",
" parent_receptacle": " 41"
},
{
"id": "16",
" object_type": " CreditCard",
" position_x": " -3.806",
" position_y": " 0.808",
" position_z": " -4.351",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 42"
},
{
"id": "17",
" object_type": " AlarmClock",
" position_x": " -0.249",
" position_y": " 0.800",
" position_z": " -4.029",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 41"
},
{
"id": "18",
" object_type": " KeyChain",
" position_x": " -0.685",
" position_y": " 0.543",
" position_z": " -3.731",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 35"
},
{
"id": "19",
" object_type": " TeddyBear",
" position_x": " -2.567",
" position_y": " 0.575",
" position_z": " -0.386",
" rotation_x": " 357.948",
" rotation_y": " 14.682",
" rotation_z": " 7.781",
" parent_receptacle": " 26"
},
{
"id": "20",
" object_type": " BaseballBat",
" position_x": " -1.155",
" position_y": " 0.033",
" position_z": " -3.997",
" rotation_x": " 90",
" rotation_y": " 59.999",
" rotation_z": " 0",
" parent_receptacle": " Floor|-01.88|"
},
{
"id": "21",
" object_type": " Pencil",
" position_x": " -0.657",
" position_y": " 0.803",
" position_z": " -4.029",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": " 41"
},
{
"id": "22",
" object_type": " Pillow",
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" position_y": " 0.681",
" position_z": " -0.415",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 26"
},
{
"id": "23",
" object_type": " CD",
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" position_y": " 0.062",
" position_z": " -3.901",
" rotation_x": " 0",
" rotation_y": " 279.990",
" rotation_z": " 0",
" parent_receptacle": " 30"
},
{
"id": "24",
" object_type": " Pen",
" position_x": " -0.418",
" position_y": " 0.548",
" position_z": " -3.676",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 35"
},
{
"id": "25",
" object_type": " Mug",
" position_x": " -3.466",
" position_y": " 0.977",
" position_z": " -4.276",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 44"
},
{
"id": "26",
" object_type": " Bed",
" position_x": " -2.980",
" position_y": " 0.009",
" position_z": " -1.177",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "27",
" object_type": " LightSwitch",
" position_x": " -1.620",
" position_y": " 1.351",
" position_z": " 0.0",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "28",
" object_type": " DeskLamp",
" position_x": " -1.529",
" position_y": " 0.790",
" position_z": " -4.298",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "29",
" object_type": " Mirror",
" position_x": " -0.002",
" position_y": " 1.251",
" position_z": " -2.592",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "30",
" object_type": " GarbageCan",
" position_x": " -1.843",
" position_y": " -0.017",
" position_z": " -3.897",
" rotation_x": " 0",
" rotation_y": " 279.992",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "31",
" object_type": " Window",
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" position_y": " 1.180",
" position_z": " -1.504",
" rotation_x": " 90",
" rotation_y": " 270",
" rotation_z": " 0",
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},
{
"id": "32",
" object_type": " Drawer",
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},
{
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},
{
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" position_z": " -3.799",
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" rotation_y": " 0",
" rotation_z": " 0",
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},
{
"id": "35",
" object_type": " CoffeeTable",
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},
{
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},
{
"id": "37",
" object_type": " Blinds",
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" position_z": " -1.495",
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" rotation_z": " 0",
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},
{
"id": "38",
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" position_y": " 0.996",
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" rotation_z": " 0",
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},
{
"id": "39",
" object_type": " Drawer",
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" position_y": " 0.385",
" position_z": " -4.188",
" rotation_x": " 0",
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" rotation_z": " 0",
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},
{
"id": "40",
" object_type": " Drawer",
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},
{
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" rotation_z": " 0",
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},
{
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},
{
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},
{
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" rotation_z": " 0",
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},
{
"id": "45",
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},
{
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},
{
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},
{
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},
{
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},
{
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},
{
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" object_type": " Drawer",
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},
{
"id": "53",
" object_type": " NorthWall",
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" parent_receptacle": ""
},
{
"id": "54",
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" rotation_x": " ",
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},
{
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" position_x": " ",
" position_y": " ",
" position_z": " ",
" rotation_x": " ",
" rotation_y": " ",
" rotation_z": " ",
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},
{
"id": "56",
" object_type": " WestWall",
" position_x": " ",
" position_y": " ",
" position_z": " ",
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" rotation_y": " ",
" rotation_z": " ",
" parent_receptacle": ""
}
] | Put two laptops on the bed | [
"STEP 1: Walk straight to the white table, turn ring from the table, and go to the cabinet with the laptop ",
" STEP 2: Close the laptop and pick it up from the cabinet top ",
" STEP 3: Turn around to face the bed ",
" STEP 4: Put the laptop on the bed ",
" STEP 5: Go to the white table ",
" STEP 6: Close the laptop on the table and pick it up ",
" STEP 7: Go back to the bed ",
" STEP 8: Place the laptop next to the first laptop ",
" END"
] | [
"Turn around to face the bed",
"Close the laptop and pick it up from the cabinet top",
"Go back to the bed",
"Go to the white table",
"Put the laptop on the bed",
"Place the laptop next to the first laptop",
"Open the laptop on the table and leave it there",
"Walk straight to the white table, turn ring from the table, and go to the cabinet with the laptop",
"Close the laptop on the table and pick it up",
"Jog to the red table, rotate the cup from the table, then proceed to the desk with the mobile phone"
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)"
] | [
"(H)",
"(B)",
"(A)",
"(E)",
"(D)",
"(I)",
"(C)",
"(F)"
] |
trial_T20190909_095557_177946-2 | [
{
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" object_type": " Agent",
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" position_y": " 0.909",
" position_z": " -1.5",
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" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
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" position_y": " 0.979",
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" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 44"
},
{
"id": "2",
" object_type": " Mug",
" position_x": " -0.657",
" position_y": " 0.798",
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},
{
"id": "3",
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},
{
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},
{
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},
{
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},
{
"id": "7",
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},
{
"id": "8",
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},
{
"id": "9",
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},
{
"id": "10",
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" position_y": " 0.722",
" position_z": " -1.793",
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" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 26"
},
{
"id": "11",
" object_type": " Laptop",
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" position_y": " 0.979",
" position_z": " -3.070",
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},
{
"id": "12",
" object_type": " AlarmClock",
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" position_y": " 0.803",
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" rotation_y": " 0",
" rotation_z": " 0",
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},
{
"id": "13",
" object_type": " Book",
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" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 49"
},
{
"id": "14",
" object_type": " CellPhone",
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" position_y": " 0.981",
" position_z": " -3.271",
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" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 44"
},
{
"id": "15",
" object_type": " Laptop",
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" position_y": " 0.796",
" position_z": " -4.096",
" rotation_x": " 0",
" rotation_y": " 27.912",
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},
{
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},
{
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},
{
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},
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},
{
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" rotation_y": " 59.999",
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" parent_receptacle": " Floor|-01.88|"
},
{
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},
{
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},
{
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{
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" rotation_y": " 0",
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},
{
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" position_x": " -3.466",
" position_y": " 0.977",
" position_z": " -4.276",
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" rotation_y": " 0",
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},
{
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" rotation_y": " 0",
" rotation_z": " 0",
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},
{
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" position_y": " 1.351",
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" rotation_x": " 0",
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" rotation_z": " 0",
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},
{
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},
{
"id": "29",
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},
{
"id": "30",
" object_type": " GarbageCan",
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" position_y": " -0.017",
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" rotation_x": " 0",
" rotation_y": " 279.992",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "31",
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" position_y": " 1.180",
" position_z": " -1.504",
" rotation_x": " 90",
" rotation_y": " 270",
" rotation_z": " 0",
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},
{
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" object_type": " SouthWall",
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" position_y": " ",
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" rotation_x": " ",
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},
{
"id": "56",
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}
] | drop two laptops on the bed | [
"STEP 1: move right to the cupboard ",
" STEP 2: pick up the laptop from the cupboard ",
" STEP 3: move right to the bed ",
" STEP 4: drop the laptop on the bed ",
" STEP 5: move right to the table ",
" STEP 6: pick up the laptop on the table ",
" STEP 7: move right to the bed ",
" STEP 8: drop the laptop on the bed ",
" END"
] | [
"move right to the bed",
"move right to the bed",
"pick up the book on the table",
"pick up the laptop on the table",
"pick up the laptop from the cupboard",
"move left to the cupboard",
"drop the laptop on the bed",
"drop the laptop on the bed",
"move right to the table",
"move right to the cupboard"
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)"
] | [
"(J)",
"(E)",
"(A)",
"(B)",
"(G)",
"(H)",
"(I)",
"(D)",
"(A)",
"(B)",
"(G)",
"(H)"
] |
trial_T20190908_080408_420413-1 | [
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" rotation_x": " 0",
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" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "73",
" object_type": " Faucet",
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" position_y": " 1.265",
" position_z": " 0.384",
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" rotation_y": " 90",
" rotation_z": " 0",
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},
{
"id": "74",
" object_type": " Chair",
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" position_y": " 0.031",
" position_z": " 0.976",
" rotation_x": " 0",
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" rotation_z": " 0",
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},
{
"id": "75",
" object_type": " Chair",
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" position_y": " 0.031",
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" parent_receptacle": ""
},
{
"id": "76",
" object_type": " Chair",
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" position_y": " 0.031",
" position_z": " 1.050",
" rotation_x": " 0",
" rotation_y": " 210.000",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "77",
" object_type": " NorthWall",
" position_x": " ",
" position_y": " ",
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" rotation_y": " ",
" rotation_z": " ",
" parent_receptacle": ""
},
{
"id": "78",
" object_type": " EastWall",
" position_x": " ",
" position_y": " ",
" position_z": " ",
" rotation_x": " ",
" rotation_y": " ",
" rotation_z": " ",
" parent_receptacle": ""
},
{
"id": "79",
" object_type": " SouthWall",
" position_x": " ",
" position_y": " ",
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" rotation_y": " ",
" rotation_z": " ",
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},
{
"id": "80",
" object_type": " WestWall",
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" position_y": " ",
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" rotation_x": " ",
" rotation_y": " ",
" rotation_z": " ",
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}
] | place a mug filled with water in the cupboard under the gas | [
"STEP 1: turn right and head to the gas ",
" STEP 2: pick up the mug by the gas ",
" STEP 3: turn around and head for the sink ",
" STEP 4: fill the mug with water ",
" STEP 5: turn around and head for the cupboard under the gas ",
" STEP 6: place the buy in the cupboard ",
" END"
] | [
"turn around and head for the sink",
"pick up the mug by the gas",
"place the buy in the cupboard",
"fill the mug with water",
"turn right and head to the gas",
"turn around and head for the cupboard under the gas",
"Leave the mug by the gas",
"Skip around and head for the cupboard above the fridge"
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(E)",
"(B)",
"(A)",
"(D)",
"(F)",
"(C)"
] |
trial_T20190909_153556_955880-0 | [
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{
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},
{
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{
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{
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},
{
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{
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},
{
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},
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},
{
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{
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{
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{
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{
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{
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{
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{
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{
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},
{
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},
{
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},
{
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},
{
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{
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{
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},
{
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},
{
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},
{
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},
{
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{
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},
{
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},
{
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},
{
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},
{
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},
{
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},
{
"id": "57",
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},
{
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},
{
"id": "59",
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},
{
"id": "60",
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},
{
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}
] | [
{
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},
{
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},
{
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},
{
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" rotation_z": " 0",
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},
{
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},
{
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{
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},
{
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},
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},
{
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},
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},
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{
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},
{
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{
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{
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{
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{
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},
{
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},
{
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},
{
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{
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{
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{
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{
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},
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},
{
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},
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},
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},
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},
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},
{
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},
{
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},
{
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},
{
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" object_type": " CoffeeTable",
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" rotation_y": " 270",
" rotation_z": " 0",
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},
{
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},
{
"id": "59",
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" position_x": " ",
" position_y": " ",
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" rotation_x": " ",
" rotation_y": " ",
" rotation_z": " ",
" parent_receptacle": ""
},
{
"id": "60",
" object_type": " SouthWall",
" position_x": " ",
" position_y": " ",
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" rotation_x": " ",
" rotation_y": " ",
" rotation_z": " ",
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},
{
"id": "61",
" object_type": " SouthWall",
" position_x": " ",
" position_y": " ",
" position_z": " ",
" rotation_x": " ",
" rotation_y": " ",
" rotation_z": " ",
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}
] | Examine a laptop by the light of a lit lamp. | [
"STEP 1: Walk around the coffee table to reach the long brown couch. ",
" STEP 2: Pick up the laptop from the long brown couch. ",
" STEP 3: Turn right to reach the table by the couch. ",
" STEP 4: Turn on the lamp on the table. ",
" END"
] | [
"Walk around the coffee table to reach the long brown couch.",
"Turn on the lamp on the table.",
"Turn off the lamp on the table.",
"Turn right to reach the table by the couch.",
"Pick up the laptop from the long brown couch.",
"Walk directly to the red armchair."
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(A)",
"(E)",
"(D)",
"(B)"
] |
trial_T20190907_084721_972164-0 | [
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},
{
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" position_y": " 0.394",
" position_z": " 3.030",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "21",
" object_type": " ShowerDoor",
" position_x": " -1.631",
" position_y": " 1.014",
" position_z": " 1.170",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "22",
" object_type": " Cabinet",
" position_x": " -1.187",
" position_y": " 0.394",
" position_z": " 2.127",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "23",
" object_type": " Sink",
" position_x": " -1.326",
" position_y": " 0.960",
" position_z": " 2.567",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "24",
" object_type": " ShowerGlass",
" position_x": " 0.254",
" position_y": " 0.788",
" position_z": " 0.485",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "25",
" object_type": " Mirror",
" position_x": " -1.703",
" position_y": " 1.661",
" position_z": " 2.480",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "26",
" object_type": " Cabinet",
" position_x": " -1.187",
" position_y": " 0.394",
" position_z": " 3.063",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "27",
" object_type": " CounterTop",
" position_x": " -1.348",
" position_y": " 0.972",
" position_z": " 2.945",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "28",
" object_type": " Cabinet",
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" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "29",
" object_type": " TowelHolder",
" position_x": " -0.200",
" position_y": " 1.160",
" position_z": " 1.179",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "30",
" object_type": " GarbageCan",
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" position_y": " 0.000",
" position_z": " 3.772",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "31",
" object_type": " HandTowelHolder",
" position_x": " -1.275",
" position_y": " 1.702",
" position_z": " 3.999",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "32",
" object_type": " Window",
" position_x": " -0.726",
" position_y": " 1.667",
" position_z": " -0.009",
" rotation_x": " 90",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "33",
" object_type": " Toilet",
" position_x": " -0.039",
" position_y": " 0.090",
" position_z": " 1.733",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "34",
" object_type": " SinkBasin",
" position_x": " -1.317",
" position_y": " 0.998",
" position_z": " 2.567",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "35",
" object_type": " ToiletPaperHanger",
" position_x": " 0.444",
" position_y": " 0.809",
" position_z": " 1.350",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "36",
" object_type": " LightSwitch",
" position_x": " 0.444",
" position_y": " 1.368",
" position_z": " 3.323",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "37",
" object_type": " Faucet",
" position_x": " -1.587",
" position_y": " 0.960",
" position_z": " 3.513",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "38",
" object_type": " ShowerHead",
" position_x": " -1.618",
" position_y": " 1.251",
" position_z": " 0.558",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "39",
" object_type": " Sink",
" position_x": " -1.325",
" position_y": " 0.960",
" position_z": " 3.512",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "40",
" object_type": " SinkBasin",
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" position_y": " 0.998",
" position_z": " 3.513",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "41",
" object_type": " Faucet",
" position_x": " -1.587",
" position_y": " 0.960",
" position_z": " 2.569",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "42",
" object_type": " NorthWall",
" position_x": " ",
" position_y": " ",
" position_z": " ",
" rotation_x": " ",
" rotation_y": " ",
" rotation_z": " ",
" parent_receptacle": ""
},
{
"id": "43",
" object_type": " EastWall",
" position_x": " ",
" position_y": " ",
" position_z": " ",
" rotation_x": " ",
" rotation_y": " ",
" rotation_z": " ",
" parent_receptacle": ""
},
{
"id": "44",
" object_type": " SouthWall",
" position_x": " ",
" position_y": " ",
" position_z": " ",
" rotation_x": " ",
" rotation_y": " ",
" rotation_z": " ",
" parent_receptacle": ""
},
{
"id": "45",
" object_type": " WestWall",
" position_x": " ",
" position_y": " ",
" position_z": " ",
" rotation_x": " ",
" rotation_y": " ",
" rotation_z": " ",
" parent_receptacle": ""
}
] | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -0.75",
" position_y": " 0.901",
" position_z": " 2.75",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " TissueBox",
" position_x": " -1.500",
" position_y": " 0.068",
" position_z": " 2.391",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 22"
},
{
"id": "2",
" object_type": " TissueBox",
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" position_y": " 0.069",
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" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 20"
},
{
"id": "3",
" object_type": " Candle",
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" position_y": " 0.994",
" position_z": " 2.863",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 27"
},
{
"id": "4",
" object_type": " Candle",
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" position_y": " 0.994",
" position_z": " 3.903",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 27"
},
{
"id": "5",
" object_type": " SprayBottle",
" position_x": " -1.547",
" position_y": " 0.995",
" position_z": " 3.782",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 27"
},
{
"id": "6",
" object_type": " SoapBottle",
" position_x": " -1.219",
" position_y": " 0.993",
" position_z": " 2.178",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 27"
},
{
"id": "7",
" object_type": " Towel",
" position_x": " -0.200",
" position_y": " 1.174",
" position_z": " 1.286",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 29"
},
{
"id": "8",
" object_type": " HandTowel",
" position_x": " -1.275",
" position_y": " 1.6",
" position_z": " 3.961",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 31"
},
{
"id": "9",
" object_type": " SoapBar",
" position_x": " 0.286",
" position_y": " 0.047",
" position_z": " 3.782",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 30"
},
{
"id": "10",
" object_type": " ToiletPaper",
" position_x": " -1.379",
" position_y": " 0.064",
" position_z": " 3.276",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 26"
},
{
"id": "11",
" object_type": " Plunger",
" position_x": " 0.248",
" position_y": " 0.000",
" position_z": " 1.306",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " Floor|-01.72|"
},
{
"id": "12",
" object_type": " Candle",
" position_x": " 0.351",
" position_y": " 0.893",
" position_z": " 1.618",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 33"
},
{
"id": "13",
" object_type": " TissueBox",
" position_x": " -1.481",
" position_y": " 0.994",
" position_z": " 3.100",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 27"
},
{
"id": "14",
" object_type": " SoapBottle",
" position_x": " -1.441",
" position_y": " 0.068",
" position_z": " 2.857",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 26"
},
{
"id": "15",
" object_type": " ToiletPaper",
" position_x": " 0.356",
" position_y": " 0.809",
" position_z": " 1.299",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 270",
" parent_receptacle": " 35"
},
{
"id": "16",
" object_type": " SprayBottle",
" position_x": " -1.560",
" position_y": " 0.068",
" position_z": " 3.327",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 26"
},
{
"id": "17",
" object_type": " Cloth",
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" position_y": " 0.068",
" position_z": " 3.793",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 28"
},
{
"id": "18",
" object_type": " ScrubBrush",
" position_x": " 0.035",
" position_y": " 0.000",
" position_z": " 1.301",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " Floor|-01.72|"
},
{
"id": "19",
" object_type": " Mirror",
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" position_y": " 1.661",
" position_z": " 3.509",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "20",
" object_type": " Cabinet",
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" position_y": " 0.394",
" position_z": " 3.030",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "21",
" object_type": " ShowerDoor",
" position_x": " -1.631",
" position_y": " 1.014",
" position_z": " 1.170",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "22",
" object_type": " Cabinet",
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" position_y": " 0.394",
" position_z": " 2.127",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "23",
" object_type": " Sink",
" position_x": " -1.326",
" position_y": " 0.960",
" position_z": " 2.567",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "24",
" object_type": " ShowerGlass",
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" position_y": " 0.788",
" position_z": " 0.485",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "25",
" object_type": " Mirror",
" position_x": " -1.703",
" position_y": " 1.661",
" position_z": " 2.480",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "26",
" object_type": " Cabinet",
" position_x": " -1.187",
" position_y": " 0.394",
" position_z": " 3.063",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "27",
" object_type": " CounterTop",
" position_x": " -1.348",
" position_y": " 0.972",
" position_z": " 2.945",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "28",
" object_type": " Cabinet",
" position_x": " -1.187",
" position_y": " 0.394",
" position_z": " 3.966",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "29",
" object_type": " TowelHolder",
" position_x": " -0.200",
" position_y": " 1.160",
" position_z": " 1.179",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "30",
" object_type": " GarbageCan",
" position_x": " 0.209",
" position_y": " 0.000",
" position_z": " 3.772",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "31",
" object_type": " HandTowelHolder",
" position_x": " -1.275",
" position_y": " 1.702",
" position_z": " 3.999",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "32",
" object_type": " Window",
" position_x": " -0.726",
" position_y": " 1.667",
" position_z": " -0.009",
" rotation_x": " 90",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "33",
" object_type": " Toilet",
" position_x": " -0.039",
" position_y": " 0.090",
" position_z": " 1.733",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "34",
" object_type": " SinkBasin",
" position_x": " -1.317",
" position_y": " 0.998",
" position_z": " 2.567",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "35",
" object_type": " ToiletPaperHanger",
" position_x": " 0.444",
" position_y": " 0.809",
" position_z": " 1.350",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "36",
" object_type": " LightSwitch",
" position_x": " 0.444",
" position_y": " 1.368",
" position_z": " 3.323",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "37",
" object_type": " Faucet",
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" position_y": " 0.960",
" position_z": " 3.513",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "38",
" object_type": " ShowerHead",
" position_x": " -1.618",
" position_y": " 1.251",
" position_z": " 0.558",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "39",
" object_type": " Sink",
" position_x": " -1.325",
" position_y": " 0.960",
" position_z": " 3.512",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "40",
" object_type": " SinkBasin",
" position_x": " -1.317",
" position_y": " 0.998",
" position_z": " 3.513",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "41",
" object_type": " Faucet",
" position_x": " -1.587",
" position_y": " 0.960",
" position_z": " 2.569",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "42",
" object_type": " NorthWall",
" position_x": " ",
" position_y": " ",
" position_z": " ",
" rotation_x": " ",
" rotation_y": " ",
" rotation_z": " ",
" parent_receptacle": ""
},
{
"id": "43",
" object_type": " EastWall",
" position_x": " ",
" position_y": " ",
" position_z": " ",
" rotation_x": " ",
" rotation_y": " ",
" rotation_z": " ",
" parent_receptacle": ""
},
{
"id": "44",
" object_type": " SouthWall",
" position_x": " ",
" position_y": " ",
" position_z": " ",
" rotation_x": " ",
" rotation_y": " ",
" rotation_z": " ",
" parent_receptacle": ""
},
{
"id": "45",
" object_type": " WestWall",
" position_x": " ",
" position_y": " ",
" position_z": " ",
" rotation_x": " ",
" rotation_y": " ",
" rotation_z": " ",
" parent_receptacle": ""
}
] | Place the two candles inside the cabinet below the sink. | [
"STEP 1: Pick up the candle next to the sink. ",
" STEP 2: Turn around, head towards the door, turn right towards the toilet, and then turn right towards the cabinet beneath the sink. ",
" STEP 3: Open the right cabinet door and place the candle in it. ",
" STEP 4: Turn around to face the toilet. ",
" STEP 5: Pick up the candle on the toilet basin. ",
" STEP 6: Turn around and face the cabinet beneath the sink. ",
" STEP 7: Open the right cabinet door, place the candle in it, and close the door. ",
" END"
] | [
"Turn left, head towards the window, turn left towards the bathtub, and then turn left towards the towel rack.",
"Turn around and face the cabinet beneath the sink.",
"Pick up the candle next to the sink.",
"Pick up the candle on the toilet basin.",
"Turn around, head towards the door, turn right towards the toilet, and then turn right towards the cabinet beneath the sink.",
"Turn around to face the toilet.",
"Open the right cabinet door, place the candle in it, and close the door.",
"Pick up the soap on the bath basin.",
"Open the right cabinet door and place the candle in it."
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)"
] | [
"(C)",
"(E)",
"(I)",
"(F)",
"(D)",
"(B)",
"(G)"
] |
trial_T20190907_084654_435920-1 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -0.75",
" position_y": " 0.901",
" position_z": " 3.25",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " TissueBox",
" position_x": " -1.382",
" position_y": " 0.069",
" position_z": " 3.793",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 26"
},
{
"id": "2",
" object_type": " Cloth",
" position_x": " -1.500",
" position_y": " 0.067",
" position_z": " 3.327",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 24"
},
{
"id": "3",
" object_type": " Candle",
" position_x": " -1.416",
" position_y": " 0.994",
" position_z": " 2.269",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 25"
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" position_x": " -1.587",
" position_y": " 0.960",
" position_z": " 2.569",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "40",
" object_type": " NorthWall",
" position_x": " ",
" position_y": " ",
" position_z": " ",
" rotation_x": " ",
" rotation_y": " ",
" rotation_z": " ",
" parent_receptacle": ""
},
{
"id": "41",
" object_type": " EastWall",
" position_x": " ",
" position_y": " ",
" position_z": " ",
" rotation_x": " ",
" rotation_y": " ",
" rotation_z": " ",
" parent_receptacle": ""
},
{
"id": "42",
" object_type": " SouthWall",
" position_x": " ",
" position_y": " ",
" position_z": " ",
" rotation_x": " ",
" rotation_y": " ",
" rotation_z": " ",
" parent_receptacle": ""
},
{
"id": "43",
" object_type": " WestWall",
" position_x": " ",
" position_y": " ",
" position_z": " ",
" rotation_x": " ",
" rotation_y": " ",
" rotation_z": " ",
" parent_receptacle": ""
}
] | Place two candles into the cabinet below the sink. | [
"STEP 1: Move to the counter between the shower and sink. ",
" STEP 2: Pick up the left most candle from the counter. ",
" STEP 3: Move to the left most bathroom sink. ",
" STEP 4: Place the candle into the cabinet below the sink. ",
" STEP 5: Move to the counter between the shower and sink. ",
" STEP 6: Pick up the candle from the counter. ",
" STEP 7: Move to the left most bathroom sink. ",
" STEP 8: Place the candle into the cabinet below the sink. ",
" END"
] | [
"Move to the counter between the sink and tub.",
"Move to the counter between the shower and sink.",
"Pick up the candle from the counter.",
"Place the candle into the cabinet below the sink.",
"Move to the left most bathroom sink.",
"Place the candle into the cabinet below the sink.",
"Pick up the right most candle from the counter.",
"Pick up the left most candle from the counter.",
"Move to the left most bathroom sink.",
"Move to the counter between the shower and sink."
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)"
] | [
"(B)",
"(J)",
"(H)",
"(E)",
"(I)",
"(D)",
"(F)",
"(B)",
"(J)",
"(C)",
"(E)",
"(I)",
"(D)",
"(F)"
] |
trial_T20190907_084654_435920-2 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -0.75",
" position_y": " 0.901",
" position_z": " 3.25",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " TissueBox",
" position_x": " -1.382",
" position_y": " 0.069",
" position_z": " 3.793",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 26"
},
{
"id": "2",
" object_type": " Cloth",
" position_x": " -1.500",
" position_y": " 0.067",
" position_z": " 3.327",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 24"
},
{
"id": "3",
" object_type": " Candle",
" position_x": " -1.416",
" position_y": " 0.994",
" position_z": " 2.269",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 25"
},
{
"id": "4",
" object_type": " SoapBottle",
" position_x": " -1.481",
" position_y": " 0.993",
" position_z": " 3.842",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 25"
},
{
"id": "5",
" object_type": " Towel",
" position_x": " -0.200",
" position_y": " 1.174",
" position_z": " 1.286",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 27"
},
{
"id": "6",
" object_type": " HandTowel",
" position_x": " -1.275",
" position_y": " 1.6",
" position_z": " 3.961",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 29"
},
{
"id": "7",
" object_type": " SoapBar",
" position_x": " -1.620",
" position_y": " 0.068",
" position_z": " 3.894",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 26"
},
{
"id": "8",
" object_type": " ToiletPaper",
" position_x": " 0.356",
" position_y": " 0.809",
" position_z": " 1.299",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 270",
" parent_receptacle": " 33"
},
{
"id": "9",
" object_type": " Plunger",
" position_x": " 0.248",
" position_y": " 0.000",
" position_z": " 1.306",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " Floor|-01.72|"
},
{
"id": "10",
" object_type": " Candle",
" position_x": " -1.613",
" position_y": " 0.994",
" position_z": " 2.269",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 25"
},
{
"id": "11",
" object_type": " TissueBox",
" position_x": " -1.307",
" position_y": " 0.984",
" position_z": " 3.185",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 25"
},
{
"id": "12",
" object_type": " SoapBottle",
" position_x": " 0.351",
" position_y": " 0.892",
" position_z": " 1.618",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 31"
},
{
"id": "13",
" object_type": " ToiletPaper",
" position_x": " 0.286",
" position_y": " 0.043",
" position_z": " 3.865",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 28"
},
{
"id": "14",
" object_type": " SprayBottle",
" position_x": " -1.322",
" position_y": " 0.069",
" position_z": " 2.857",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 24"
},
{
"id": "15",
" object_type": " Cloth",
" position_x": " -1.350",
" position_y": " 0.994",
" position_z": " 2.982",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 25"
},
{
"id": "16",
" object_type": " ScrubBrush",
" position_x": " 0.035",
" position_y": " 0.000",
" position_z": " 1.301",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " Floor|-01.72|"
},
{
"id": "17",
" object_type": " Mirror",
" position_x": " -1.703",
" position_y": " 1.661",
" position_z": " 3.509",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "18",
" object_type": " Cabinet",
" position_x": " -1.187",
" position_y": " 0.394",
" position_z": " 3.030",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "19",
" object_type": " ShowerDoor",
" position_x": " -1.631",
" position_y": " 1.014",
" position_z": " 1.170",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "20",
" object_type": " Cabinet",
" position_x": " -1.187",
" position_y": " 0.394",
" position_z": " 2.127",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "21",
" object_type": " Sink",
" position_x": " -1.326",
" position_y": " 0.960",
" position_z": " 2.567",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "22",
" object_type": " ShowerGlass",
" position_x": " 0.254",
" position_y": " 0.788",
" position_z": " 0.485",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "23",
" object_type": " Mirror",
" position_x": " -1.703",
" position_y": " 1.661",
" position_z": " 2.480",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "24",
" object_type": " Cabinet",
" position_x": " -1.187",
" position_y": " 0.394",
" position_z": " 3.063",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "25",
" object_type": " CounterTop",
" position_x": " -1.348",
" position_y": " 0.972",
" position_z": " 2.945",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "26",
" object_type": " Cabinet",
" position_x": " -1.187",
" position_y": " 0.394",
" position_z": " 3.966",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "27",
" object_type": " TowelHolder",
" position_x": " -0.200",
" position_y": " 1.160",
" position_z": " 1.179",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "28",
" object_type": " GarbageCan",
" position_x": " 0.209",
" position_y": " 0.000",
" position_z": " 3.772",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "29",
" object_type": " HandTowelHolder",
" position_x": " -1.275",
" position_y": " 1.702",
" position_z": " 3.999",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "30",
" object_type": " Window",
" position_x": " -0.726",
" position_y": " 1.667",
" position_z": " -0.009",
" rotation_x": " 90",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "31",
" object_type": " Toilet",
" position_x": " -0.039",
" position_y": " 0.090",
" position_z": " 1.733",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "32",
" object_type": " SinkBasin",
" position_x": " -1.317",
" position_y": " 0.998",
" position_z": " 2.567",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "33",
" object_type": " ToiletPaperHanger",
" position_x": " 0.444",
" position_y": " 0.809",
" position_z": " 1.350",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "34",
" object_type": " LightSwitch",
" position_x": " 0.444",
" position_y": " 1.368",
" position_z": " 3.323",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "35",
" object_type": " Faucet",
" position_x": " -1.587",
" position_y": " 0.960",
" position_z": " 3.513",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "36",
" object_type": " ShowerHead",
" position_x": " -1.618",
" position_y": " 1.251",
" position_z": " 0.558",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "37",
" object_type": " Sink",
" position_x": " -1.325",
" position_y": " 0.960",
" position_z": " 3.512",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "38",
" object_type": " SinkBasin",
" position_x": " -1.317",
" position_y": " 0.998",
" position_z": " 3.513",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "39",
" object_type": " Faucet",
" position_x": " -1.587",
" position_y": " 0.960",
" position_z": " 2.569",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "40",
" object_type": " NorthWall",
" position_x": " ",
" position_y": " ",
" position_z": " ",
" rotation_x": " ",
" rotation_y": " ",
" rotation_z": " ",
" parent_receptacle": ""
},
{
"id": "41",
" object_type": " EastWall",
" position_x": " ",
" position_y": " ",
" position_z": " ",
" rotation_x": " ",
" rotation_y": " ",
" rotation_z": " ",
" parent_receptacle": ""
},
{
"id": "42",
" object_type": " SouthWall",
" position_x": " ",
" position_y": " ",
" position_z": " ",
" rotation_x": " ",
" rotation_y": " ",
" rotation_z": " ",
" parent_receptacle": ""
},
{
"id": "43",
" object_type": " WestWall",
" position_x": " ",
" position_y": " ",
" position_z": " ",
" rotation_x": " ",
" rotation_y": " ",
" rotation_z": " ",
" parent_receptacle": ""
}
] | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -0.75",
" position_y": " 0.901",
" position_z": " 3.25",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " TissueBox",
" position_x": " -1.382",
" position_y": " 0.069",
" position_z": " 3.793",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 26"
},
{
"id": "2",
" object_type": " Cloth",
" position_x": " -1.500",
" position_y": " 0.067",
" position_z": " 3.327",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 24"
},
{
"id": "3",
" object_type": " Candle",
" position_x": " -1.416",
" position_y": " 0.994",
" position_z": " 2.269",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 25"
},
{
"id": "4",
" object_type": " SoapBottle",
" position_x": " -1.481",
" position_y": " 0.993",
" position_z": " 3.842",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 25"
},
{
"id": "5",
" object_type": " Towel",
" position_x": " -0.200",
" position_y": " 1.174",
" position_z": " 1.286",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 27"
},
{
"id": "6",
" object_type": " HandTowel",
" position_x": " -1.275",
" position_y": " 1.6",
" position_z": " 3.961",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 29"
},
{
"id": "7",
" object_type": " SoapBar",
" position_x": " -1.620",
" position_y": " 0.068",
" position_z": " 3.894",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 26"
},
{
"id": "8",
" object_type": " ToiletPaper",
" position_x": " 0.356",
" position_y": " 0.809",
" position_z": " 1.299",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 270",
" parent_receptacle": " 33"
},
{
"id": "9",
" object_type": " Plunger",
" position_x": " 0.248",
" position_y": " 0.000",
" position_z": " 1.306",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " Floor|-01.72|"
},
{
"id": "10",
" object_type": " Candle",
" position_x": " -1.613",
" position_y": " 0.994",
" position_z": " 2.269",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 25"
},
{
"id": "11",
" object_type": " TissueBox",
" position_x": " -1.307",
" position_y": " 0.984",
" position_z": " 3.185",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 25"
},
{
"id": "12",
" object_type": " SoapBottle",
" position_x": " 0.351",
" position_y": " 0.892",
" position_z": " 1.618",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 31"
},
{
"id": "13",
" object_type": " ToiletPaper",
" position_x": " 0.286",
" position_y": " 0.043",
" position_z": " 3.865",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 28"
},
{
"id": "14",
" object_type": " SprayBottle",
" position_x": " -1.322",
" position_y": " 0.069",
" position_z": " 2.857",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 24"
},
{
"id": "15",
" object_type": " Cloth",
" position_x": " -1.350",
" position_y": " 0.994",
" position_z": " 2.982",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 25"
},
{
"id": "16",
" object_type": " ScrubBrush",
" position_x": " 0.035",
" position_y": " 0.000",
" position_z": " 1.301",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " Floor|-01.72|"
},
{
"id": "17",
" object_type": " Mirror",
" position_x": " -1.703",
" position_y": " 1.661",
" position_z": " 3.509",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "18",
" object_type": " Cabinet",
" position_x": " -1.187",
" position_y": " 0.394",
" position_z": " 3.030",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "19",
" object_type": " ShowerDoor",
" position_x": " -1.631",
" position_y": " 1.014",
" position_z": " 1.170",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "20",
" object_type": " Cabinet",
" position_x": " -1.187",
" position_y": " 0.394",
" position_z": " 2.127",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "21",
" object_type": " Sink",
" position_x": " -1.326",
" position_y": " 0.960",
" position_z": " 2.567",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "22",
" object_type": " ShowerGlass",
" position_x": " 0.254",
" position_y": " 0.788",
" position_z": " 0.485",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "23",
" object_type": " Mirror",
" position_x": " -1.703",
" position_y": " 1.661",
" position_z": " 2.480",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "24",
" object_type": " Cabinet",
" position_x": " -1.187",
" position_y": " 0.394",
" position_z": " 3.063",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "25",
" object_type": " CounterTop",
" position_x": " -1.348",
" position_y": " 0.972",
" position_z": " 2.945",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "26",
" object_type": " Cabinet",
" position_x": " -1.187",
" position_y": " 0.394",
" position_z": " 3.966",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "27",
" object_type": " TowelHolder",
" position_x": " -0.200",
" position_y": " 1.160",
" position_z": " 1.179",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "28",
" object_type": " GarbageCan",
" position_x": " 0.209",
" position_y": " 0.000",
" position_z": " 3.772",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "29",
" object_type": " HandTowelHolder",
" position_x": " -1.275",
" position_y": " 1.702",
" position_z": " 3.999",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "30",
" object_type": " Window",
" position_x": " -0.726",
" position_y": " 1.667",
" position_z": " -0.009",
" rotation_x": " 90",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "31",
" object_type": " Toilet",
" position_x": " -0.039",
" position_y": " 0.090",
" position_z": " 1.733",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "32",
" object_type": " SinkBasin",
" position_x": " -1.317",
" position_y": " 0.998",
" position_z": " 2.567",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "33",
" object_type": " ToiletPaperHanger",
" position_x": " 0.444",
" position_y": " 0.809",
" position_z": " 1.350",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "34",
" object_type": " LightSwitch",
" position_x": " 0.444",
" position_y": " 1.368",
" position_z": " 3.323",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "35",
" object_type": " Faucet",
" position_x": " -1.587",
" position_y": " 0.960",
" position_z": " 3.513",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "36",
" object_type": " ShowerHead",
" position_x": " -1.618",
" position_y": " 1.251",
" position_z": " 0.558",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "37",
" object_type": " Sink",
" position_x": " -1.325",
" position_y": " 0.960",
" position_z": " 3.512",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "38",
" object_type": " SinkBasin",
" position_x": " -1.317",
" position_y": " 0.998",
" position_z": " 3.513",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "39",
" object_type": " Faucet",
" position_x": " -1.587",
" position_y": " 0.960",
" position_z": " 2.569",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "40",
" object_type": " NorthWall",
" position_x": " ",
" position_y": " ",
" position_z": " ",
" rotation_x": " ",
" rotation_y": " ",
" rotation_z": " ",
" parent_receptacle": ""
},
{
"id": "41",
" object_type": " EastWall",
" position_x": " ",
" position_y": " ",
" position_z": " ",
" rotation_x": " ",
" rotation_y": " ",
" rotation_z": " ",
" parent_receptacle": ""
},
{
"id": "42",
" object_type": " SouthWall",
" position_x": " ",
" position_y": " ",
" position_z": " ",
" rotation_x": " ",
" rotation_y": " ",
" rotation_z": " ",
" parent_receptacle": ""
},
{
"id": "43",
" object_type": " WestWall",
" position_x": " ",
" position_y": " ",
" position_z": " ",
" rotation_x": " ",
" rotation_y": " ",
" rotation_z": " ",
" parent_receptacle": ""
}
] | Put the two candles near the sink in the cabinet under it. | [
"STEP 1: Move to the left side of the sink across from the toilet. ",
" STEP 2: Pick up candle from the counter near the sink. ",
" STEP 3: Move to the front cabinet of the sink you're standing in front of. ",
" STEP 4: Open the cabinet and place the candle inside before closing the door. ",
" STEP 5: Move to the left side of the sink across from the toilet. ",
" STEP 6: Pick up candle from the counter near the sink. ",
" STEP 7: Move to the front cabinet of the sink you're standing in front of. ",
" STEP 8: Open the cabinet and place the candle inside before closing the door. ",
" END"
] | [
"Open the cabinet and place the candle inside before closing the door.",
"Move to the left side of the sink across from the toilet.",
"Move to the front cabinet of the sink you're standing in front of.",
"Move to the back of the sink you are standing in front of.",
"Pick up candle from the counter near the sink.",
"Move to the left side of the sink across from the toilet.",
"Move to the front cabinet of the sink you're standing in front of.",
"Pick up candle from the counter near the sink.",
"Open the cabinet and place the candle inside before closing the door.",
"Move to the right side of the room."
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)"
] | [
"(B)",
"(F)",
"(E)",
"(H)",
"(C)",
"(G)",
"(A)",
"(I)",
"(B)",
"(F)",
"(E)",
"(H)",
"(C)",
"(G)",
"(A)",
"(I)"
] |
trial_T20190907_084654_435920-3 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -0.75",
" position_y": " 0.901",
" position_z": " 3.25",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " TissueBox",
" position_x": " -1.382",
" position_y": " 0.069",
" position_z": " 3.793",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 26"
},
{
"id": "2",
" object_type": " Cloth",
" position_x": " -1.500",
" position_y": " 0.067",
" position_z": " 3.327",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 24"
},
{
"id": "3",
" object_type": " Candle",
" position_x": " -1.416",
" position_y": " 0.994",
" position_z": " 2.269",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 25"
},
{
"id": "4",
" object_type": " SoapBottle",
" position_x": " -1.481",
" position_y": " 0.993",
" position_z": " 3.842",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 25"
},
{
"id": "5",
" object_type": " Towel",
" position_x": " -0.200",
" position_y": " 1.174",
" position_z": " 1.286",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 27"
},
{
"id": "6",
" object_type": " HandTowel",
" position_x": " -1.275",
" position_y": " 1.6",
" position_z": " 3.961",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 29"
},
{
"id": "7",
" object_type": " SoapBar",
" position_x": " -1.620",
" position_y": " 0.068",
" position_z": " 3.894",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 26"
},
{
"id": "8",
" object_type": " ToiletPaper",
" position_x": " 0.356",
" position_y": " 0.809",
" position_z": " 1.299",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 270",
" parent_receptacle": " 33"
},
{
"id": "9",
" object_type": " Plunger",
" position_x": " 0.248",
" position_y": " 0.000",
" position_z": " 1.306",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " Floor|-01.72|"
},
{
"id": "10",
" object_type": " Candle",
" position_x": " -1.613",
" position_y": " 0.994",
" position_z": " 2.269",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 25"
},
{
"id": "11",
" object_type": " TissueBox",
" position_x": " -1.307",
" position_y": " 0.984",
" position_z": " 3.185",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 25"
},
{
"id": "12",
" object_type": " SoapBottle",
" position_x": " 0.351",
" position_y": " 0.892",
" position_z": " 1.618",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 31"
},
{
"id": "13",
" object_type": " ToiletPaper",
" position_x": " 0.286",
" position_y": " 0.043",
" position_z": " 3.865",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 28"
},
{
"id": "14",
" object_type": " SprayBottle",
" position_x": " -1.322",
" position_y": " 0.069",
" position_z": " 2.857",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 24"
},
{
"id": "15",
" object_type": " Cloth",
" position_x": " -1.350",
" position_y": " 0.994",
" position_z": " 2.982",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 25"
},
{
"id": "16",
" object_type": " ScrubBrush",
" position_x": " 0.035",
" position_y": " 0.000",
" position_z": " 1.301",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " Floor|-01.72|"
},
{
"id": "17",
" object_type": " Mirror",
" position_x": " -1.703",
" position_y": " 1.661",
" position_z": " 3.509",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "18",
" object_type": " Cabinet",
" position_x": " -1.187",
" position_y": " 0.394",
" position_z": " 3.030",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "19",
" object_type": " ShowerDoor",
" position_x": " -1.631",
" position_y": " 1.014",
" position_z": " 1.170",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "20",
" object_type": " Cabinet",
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" position_y": " 0.394",
" position_z": " 2.127",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "21",
" object_type": " Sink",
" position_x": " -1.326",
" position_y": " 0.960",
" position_z": " 2.567",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "22",
" object_type": " ShowerGlass",
" position_x": " 0.254",
" position_y": " 0.788",
" position_z": " 0.485",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "23",
" object_type": " Mirror",
" position_x": " -1.703",
" position_y": " 1.661",
" position_z": " 2.480",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "24",
" object_type": " Cabinet",
" position_x": " -1.187",
" position_y": " 0.394",
" position_z": " 3.063",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "25",
" object_type": " CounterTop",
" position_x": " -1.348",
" position_y": " 0.972",
" position_z": " 2.945",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "26",
" object_type": " Cabinet",
" position_x": " -1.187",
" position_y": " 0.394",
" position_z": " 3.966",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "27",
" object_type": " TowelHolder",
" position_x": " -0.200",
" position_y": " 1.160",
" position_z": " 1.179",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "28",
" object_type": " GarbageCan",
" position_x": " 0.209",
" position_y": " 0.000",
" position_z": " 3.772",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "29",
" object_type": " HandTowelHolder",
" position_x": " -1.275",
" position_y": " 1.702",
" position_z": " 3.999",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "30",
" object_type": " Window",
" position_x": " -0.726",
" position_y": " 1.667",
" position_z": " -0.009",
" rotation_x": " 90",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "31",
" object_type": " Toilet",
" position_x": " -0.039",
" position_y": " 0.090",
" position_z": " 1.733",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "32",
" object_type": " SinkBasin",
" position_x": " -1.317",
" position_y": " 0.998",
" position_z": " 2.567",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "33",
" object_type": " ToiletPaperHanger",
" position_x": " 0.444",
" position_y": " 0.809",
" position_z": " 1.350",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "34",
" object_type": " LightSwitch",
" position_x": " 0.444",
" position_y": " 1.368",
" position_z": " 3.323",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "35",
" object_type": " Faucet",
" position_x": " -1.587",
" position_y": " 0.960",
" position_z": " 3.513",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "36",
" object_type": " ShowerHead",
" position_x": " -1.618",
" position_y": " 1.251",
" position_z": " 0.558",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "37",
" object_type": " Sink",
" position_x": " -1.325",
" position_y": " 0.960",
" position_z": " 3.512",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "38",
" object_type": " SinkBasin",
" position_x": " -1.317",
" position_y": " 0.998",
" position_z": " 3.513",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "39",
" object_type": " Faucet",
" position_x": " -1.587",
" position_y": " 0.960",
" position_z": " 2.569",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "40",
" object_type": " NorthWall",
" position_x": " ",
" position_y": " ",
" position_z": " ",
" rotation_x": " ",
" rotation_y": " ",
" rotation_z": " ",
" parent_receptacle": ""
},
{
"id": "41",
" object_type": " EastWall",
" position_x": " ",
" position_y": " ",
" position_z": " ",
" rotation_x": " ",
" rotation_y": " ",
" rotation_z": " ",
" parent_receptacle": ""
},
{
"id": "42",
" object_type": " SouthWall",
" position_x": " ",
" position_y": " ",
" position_z": " ",
" rotation_x": " ",
" rotation_y": " ",
" rotation_z": " ",
" parent_receptacle": ""
},
{
"id": "43",
" object_type": " WestWall",
" position_x": " ",
" position_y": " ",
" position_z": " ",
" rotation_x": " ",
" rotation_y": " ",
" rotation_z": " ",
" parent_receptacle": ""
}
] | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -0.75",
" position_y": " 0.901",
" position_z": " 3.25",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " TissueBox",
" position_x": " -1.382",
" position_y": " 0.069",
" position_z": " 3.793",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 26"
},
{
"id": "2",
" object_type": " Cloth",
" position_x": " -1.500",
" position_y": " 0.067",
" position_z": " 3.327",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 24"
},
{
"id": "3",
" object_type": " Candle",
" position_x": " -1.416",
" position_y": " 0.994",
" position_z": " 2.269",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 25"
},
{
"id": "4",
" object_type": " SoapBottle",
" position_x": " -1.481",
" position_y": " 0.993",
" position_z": " 3.842",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 25"
},
{
"id": "5",
" object_type": " Towel",
" position_x": " -0.200",
" position_y": " 1.174",
" position_z": " 1.286",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 27"
},
{
"id": "6",
" object_type": " HandTowel",
" position_x": " -1.275",
" position_y": " 1.6",
" position_z": " 3.961",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 29"
},
{
"id": "7",
" object_type": " SoapBar",
" position_x": " -1.620",
" position_y": " 0.068",
" position_z": " 3.894",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 26"
},
{
"id": "8",
" object_type": " ToiletPaper",
" position_x": " 0.356",
" position_y": " 0.809",
" position_z": " 1.299",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 270",
" parent_receptacle": " 33"
},
{
"id": "9",
" object_type": " Plunger",
" position_x": " 0.248",
" position_y": " 0.000",
" position_z": " 1.306",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " Floor|-01.72|"
},
{
"id": "10",
" object_type": " Candle",
" position_x": " -1.613",
" position_y": " 0.994",
" position_z": " 2.269",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 25"
},
{
"id": "11",
" object_type": " TissueBox",
" position_x": " -1.307",
" position_y": " 0.984",
" position_z": " 3.185",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 25"
},
{
"id": "12",
" object_type": " SoapBottle",
" position_x": " 0.351",
" position_y": " 0.892",
" position_z": " 1.618",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 31"
},
{
"id": "13",
" object_type": " ToiletPaper",
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},
{
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},
{
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},
{
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" parent_receptacle": " Floor|-01.72|"
},
{
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},
{
"id": "18",
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{
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{
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{
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{
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{
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{
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{
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},
{
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},
{
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},
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},
{
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},
{
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},
{
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},
{
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},
{
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},
{
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},
{
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},
{
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},
{
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},
{
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},
{
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}
] | Put away candles in the bathroom cabinet | [
"STEP 1: Turn around walk straight then turn right and face the left side of the counter ",
" STEP 2: Pick up the candle from the counter ",
" STEP 3: Turn around walk straight then turn back around and face the front of the counter ",
" STEP 4: Open the bottom right door and place the candle inside, then close the door ",
" STEP 5: Turn to the left then go straight to the left side of the counter again ",
" STEP 6: Pick up the candle from the counter ",
" STEP 7: Turn around walk straight then turn back around and face the front of the counter ",
" STEP 8: Open the bottom right door and place the candle inside, then close the door ",
" END"
] | [
"Turn around walk straight then turn back around and face the front of the counter",
"Open the bottom right door and place the candle inside, then close the door",
"Pick up the candle from the counter",
"Put down the candle on to the counter",
"Turn around walk straight then turn back around and face the front of the counter",
"Pick up the candle from the counter",
"Turn around walk straight then turn right and face the left side of the counter",
"Open the bottom right door and place the candle inside, then close the door",
"Turn to the left then go straight to the left side of the counter again",
"Turn to the right then go straight to the right side of the counter again"
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)"
] | [
"(G)",
"(C)",
"(F)",
"(A)",
"(E)",
"(B)",
"(H)",
"(I)",
"(C)",
"(F)",
"(A)",
"(E)",
"(B)",
"(H)"
] |
trial_T20190907_084654_435920-4 | [
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},
{
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{
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},
{
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},
{
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{
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},
{
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},
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{
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{
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{
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{
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{
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},
{
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{
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}
] | [
{
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},
{
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{
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},
{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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] | Place two candles into the cabinet below the left hand sink. | [
"STEP 1: Turn right, move to the end of the counter. ",
" STEP 2: Pick up the left most candle from the counter top. ",
" STEP 3: Turn right, move to the left hand sink. ",
" STEP 4: Open the right hand cabinet door, place the candle inside. ",
" STEP 5: Turn left, move to the end of the counter. ",
" STEP 6: Pick up the candle from the counter top. ",
" STEP 7: Turn right, move to the left hand sink. ",
" STEP 8: Open the right hand cabinet door, place the candle inside. ",
" END"
] | [
"Turn right, move to the left hand sink.",
"Turn left, move to the end of the counter.",
"Open the right hand cabinet door, place the candle inside.",
"Pick up the left most candle from the counter top.",
"Turn right, move to the end of the counter.",
"Turn right, move to the left hand sink.",
"Pick up the candle from the counter top.",
"Turn left, move to the start of the counter.",
"Pick up the spoon from the counter top.",
"Open the right hand cabinet door, place the candle inside."
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)"
] | [
"(E)",
"(D)",
"(A)",
"(F)",
"(C)",
"(J)",
"(B)",
"(G)",
"(A)",
"(F)",
"(C)",
"(J)"
] |
trial_T20190909_042630_332209-2 | [
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" rotation_z": " 0",
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},
{
"id": "47",
" object_type": " Shelf",
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" rotation_z": " 0",
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},
{
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},
{
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" rotation_z": " 0",
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},
{
"id": "50",
" object_type": " Shelf",
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" position_y": " 0.898",
" position_z": " 7.174",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "51",
" object_type": " Shelf",
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" rotation_z": " 0",
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},
{
"id": "52",
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},
{
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},
{
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" object_type": " Shelf",
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" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "55",
" object_type": " ShelvingUnit",
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" position_y": " 0.012",
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" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "56",
" object_type": " Shelf",
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" position_y": " 1.293",
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" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "57",
" object_type": " ShelvingUnit",
" position_x": " -2.865",
" position_y": " 0.012",
" position_z": " 7.177",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "58",
" object_type": " Shelf",
" position_x": " -2.868",
" position_y": " 1.293",
" position_z": " 7.174",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "59",
" object_type": " CoffeeTable",
" position_x": " -2.492",
" position_y": " 0.018",
" position_z": " 4.043",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "60",
" object_type": " CoffeeTable",
" position_x": " -5.555",
" position_y": " 0.018",
" position_z": " 6.835",
" rotation_x": " 0",
" rotation_y": " 315",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "61",
" object_type": " NorthWall",
" position_x": " ",
" position_y": " ",
" position_z": " ",
" rotation_x": " ",
" rotation_y": " ",
" rotation_z": " ",
" parent_receptacle": ""
},
{
"id": "62",
" object_type": " SouthWall",
" position_x": " ",
" position_y": " ",
" position_z": " ",
" rotation_x": " ",
" rotation_y": " ",
" rotation_z": " ",
" parent_receptacle": ""
},
{
"id": "63",
" object_type": " SouthWall",
" position_x": " ",
" position_y": " ",
" position_z": " ",
" rotation_x": " ",
" rotation_y": " ",
" rotation_z": " ",
" parent_receptacle": ""
}
] | Examine a blue bottle by the light of a small lamp. | [
"STEP 1: Turn around, hang a left at the chair, turn right at the couch and walk to the round table on the left. ",
" STEP 2: Pick up the blue bottle from the left side of the table. ",
" STEP 3: Turn right and walk to the round table on the left. ",
" STEP 4: Turn on the small lamp on the table. ",
" END"
] | [
"Turn around, hang a left at the chair, turn right at the couch and walk to the round table on the left.",
"Pick up the red cup from the right side of the table.",
"Turn right and walk to the round table on the left.",
"Pick up the blue bottle from the left side of the table.",
"Turn on the small lamp on the table.",
"Turn left, take a right at the chair, turn left at the couch and walk until you reach the square table on the right."
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(A)",
"(D)",
"(C)",
"(E)"
] |
trial_T20190908_155034_570106-1 | [
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},
{
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{
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{
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{
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{
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{
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},
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},
{
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},
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},
{
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},
{
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},
{
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},
{
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},
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},
{
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},
{
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},
{
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},
{
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},
{
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] | Cool the cup down, place the cup back on table | [
"STEP 1: Turn left to the table ",
" STEP 2: Grab the green cup off of the table ",
" STEP 3: Turn right towards the fridge ",
" STEP 4: Open the fridge door, place cup inside of fridge next to apple ",
" STEP 5: Open fridge door, grab cup from fridge ",
" STEP 6: Turn left to the table, place cup on table ",
" END"
] | [
"Grab the green cup off of the table",
"Open the fridge door, place cup inside of fridge next to apple",
"Turn right to the table",
"Open fridge door, grab cup from fridge",
"Turn left to the table",
"Close fridge door, leave cup in fridge",
"Turn left to the table, place cup on table",
"Turn right towards the fridge"
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(E)",
"(A)",
"(H)",
"(B)",
"(D)",
"(G)"
] |
trial_T20190908_155034_570106-2 | [
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] | Put a chilled glass on the table. | [
"STEP 1: Turn left to face the table. ",
" STEP 2: Pick up the glass on the table, in front of the bread. ",
" STEP 3: Turn around, go forward, then turn left to go to the fridge. ",
" STEP 4: Chill the glass in the fridge. ",
" STEP 5: Turn left, then go forward to the table. ",
" STEP 6: Place the glass on the rightmost corner of the table. ",
" END"
] | [
"Turn around, go forward, then turn left to go to the fridge.",
"Turn right to face the chair.",
"Place the glass on the rightmost corner of the table.",
"Turn left to face the table.",
"Step backward, turn right, then advance to the shelf.",
"Turn left, then go forward to the table.",
"Pick up the glass on the table, in front of the bread.",
"Chill the glass in the fridge."
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(D)",
"(G)",
"(A)",
"(H)",
"(F)",
"(C)"
] |
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{
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{
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{
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{
"id": "35",
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{
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{
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{
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{
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{
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{
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{
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{
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{
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},
{
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},
{
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" parent_receptacle": ""
},
{
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},
{
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" parent_receptacle": ""
},
{
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},
{
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},
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},
{
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" parent_receptacle": ""
},
{
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},
{
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},
{
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},
{
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},
{
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{
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{
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{
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},
{
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{
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{
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{
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},
{
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},
{
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},
{
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{
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},
{
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{
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{
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{
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{
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},
{
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},
{
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},
{
"id": "92",
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" rotation_z": " 0",
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},
{
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{
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},
{
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" rotation_y": " 0",
" rotation_z": " 0",
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},
{
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" rotation_z": " 0",
" parent_receptacle": ""
},
{
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{
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" rotation_y": " 0",
" rotation_z": " 0",
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},
{
"id": "99",
" object_type": " Microwave",
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" position_y": " 1.675",
" position_z": " 1.437",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "100",
" object_type": " DiningTable",
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" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "101",
" object_type": " Chair",
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" rotation_x": " 0",
" rotation_y": " 45",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "102",
" object_type": " NorthWall",
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" position_y": " ",
" position_z": " ",
" rotation_x": " ",
" rotation_y": " ",
" rotation_z": " ",
" parent_receptacle": ""
},
{
"id": "103",
" object_type": " EastWall",
" position_x": " ",
" position_y": " ",
" position_z": " ",
" rotation_x": " ",
" rotation_y": " ",
" rotation_z": " ",
" parent_receptacle": ""
},
{
"id": "104",
" object_type": " SouthWall",
" position_x": " ",
" position_y": " ",
" position_z": " ",
" rotation_x": " ",
" rotation_y": " ",
" rotation_z": " ",
" parent_receptacle": ""
},
{
"id": "105",
" object_type": " WestWall",
" position_x": " ",
" position_y": " ",
" position_z": " ",
" rotation_x": " ",
" rotation_y": " ",
" rotation_z": " ",
" parent_receptacle": ""
}
] | To rinse off a coffee mug and place in the coffee maker. | [
"STEP 1: Walk to the coffee maker on the counter on the right. ",
" STEP 2: Pick up the dirty white mug from the coffee maker. ",
" STEP 3: Turn and walk to the sink on the left. ",
" STEP 4: Place the mug inside the sink, turn the water on, clean the mug, turn the water off, pick the mug up from the sink. ",
" STEP 5: Turn left and walk back to the coffee maker. ",
" STEP 6: Place the clean white mug in the coffee maker. ",
" END"
] | [
"Place the mug inside the sink, turn the water on, clean the mug, turn the water off, pick the mug up from the sink.",
"Place the clean white mug in the coffee maker.",
"Turn right and run towards the fridge.",
"Walk to the coffee maker on the counter on the right.",
"Turn and walk to the sink on the left.",
"Pick up the dirty white mug from the coffee maker.",
"Set down the clean white mug by the coffee maker.",
"Turn left and walk back to the coffee maker."
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(D)",
"(F)",
"(E)",
"(A)",
"(H)",
"(B)"
] |
trial_T20190907_234809_289657-2 | [
{
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" object_type": " Agent",
" position_x": " -1.5",
" position_y": " 0.900",
" position_z": " 1.0",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Pan",
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" position_y": " 1.018",
" position_z": " -0.644",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 96"
},
{
"id": "2",
" object_type": " Potato",
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] | Clean a coffee mug to return it to the coffee maker | [
"STEP 1: Move across the room to the counter top where the coffee maker is with the mug on it ",
" STEP 2: Pick up the white coffee mug on the counter ",
" STEP 3: Carry the coffee mug to the sink counter ",
" STEP 4: Place the mug in the sink to wash it then pick up the coffee mug ",
" STEP 5: Return to the coffee maker on top of the kitchen counter ",
" STEP 6: Place the coffee mug on the coffee maker where the mug goes ",
" END"
] | [
"Place the mug in the sink to wash it then pick up the coffee mug",
"Carry the coffee mug to the table",
"Pick up the white coffee mug on the counter",
"Pick up the black coffee cup on the table",
"Place the coffee mug on the coffee maker where the mug goes",
"Move across the room to the counter top where the coffee maker is with the mug on it",
"Return to the coffee maker on top of the kitchen counter",
"Carry the coffee mug to the sink counter"
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(F)",
"(C)",
"(H)",
"(A)",
"(G)",
"(E)"
] |
trial_T20190911_235607_325240-1 | [
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] | Put a cooked slice of tomato in a fridge. | [
"STEP 1: Go a step to the right while facing the counter. ",
" STEP 2: Take the knife from the counter. ",
" STEP 3: Go left to the counter area with the tomato. ",
" STEP 4: Cut the tomato into slices. ",
" STEP 5: Go to the oven to the left. ",
" STEP 6: Put the knife in the microwave above the oven. ",
" STEP 7: Go right to the tomato on the counter. ",
" STEP 8: Take a piece of tomato from the counter. ",
" STEP 9: Go right to the tomato on the counter. ",
" STEP 10: Cook the tomato in the microwave. Take the tomato from the microwave. ",
" STEP 11: Turn right, go to the wall, turn right to the fridge. ",
" STEP 12: Put the tomato on the middle shelf of the right compartment of the fridge. ",
" END"
] | [
"Go right to the tomato on the counter.",
"Take a piece of tomato from the counter.",
"Go right to the tomato on the counter.",
"Cut the tomato into slices.",
"Put the tomato on the middle shelf of the right compartment of the fridge.",
"Go left to the microwave.",
"Go left to the counter area with the tomato.",
"Put back the knife on the counter.",
"Go to the oven to the left.",
"Go a step to the right while facing the counter.",
"Turn right, go to the wall, turn right to the fridge.",
"Cook the tomato in the microwave. Take the tomato from the microwave.",
"Take the knife from the counter.",
"Put the knife in the microwave above the oven."
] | [
"(A)",
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"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)",
"(K)",
"(L)",
"(M)",
"(N)"
] | [
"(J)",
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"(G)",
"(D)",
"(I)",
"(N)",
"(A)",
"(C)",
"(B)",
"(A)",
"(C)",
"(L)",
"(K)",
"(E)"
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] | Move a chilled tomato to the kitchen sink. | [
"STEP 1: Move to stand at the counter between the coffee maker and dishwasher. ",
" STEP 2: Pick up the tomato from the counter. ",
" STEP 3: Carry the tomato to the refrigerator. ",
" STEP 4: Open the fridge to place the tomato on the top shelf, close the door, and then remove the tomato after a few seconds. ",
" STEP 5: Carry the chilled tomato to the kitchen sink. ",
" STEP 6: Place the tomato in the kitchen sink. ",
" END"
] | [
"Pick up the tomato from the counter.",
"Carry the chilled tomato to the counter.",
"Place the tomato on the kitchen sink.",
"Place the tomato in the kitchen sink.",
"Carry the chilled tomato to the kitchen sink.",
"Move to stand at the counter between the coffee maker and dishwasher.",
"Open the fridge to place the tomato on the top shelf, close the door, and then remove the tomato after a few seconds.",
"Carry the tomato to the refrigerator."
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(F)",
"(A)",
"(H)",
"(G)",
"(E)",
"(D)"
] |
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] | place microwaved potato slice in blue bin | [
"STEP 1: turn around, go to counter to the left of stove ",
" STEP 2: pick up yellow handle knife from counter ",
" STEP 3: go to blue bin in corner to the left ",
" STEP 4: slice potato in front of tomato in blue bin ",
" STEP 5: go to front of blue bin ",
" STEP 6: place knife in blue bin ",
" STEP 7: go to left side of blue bin ",
" STEP 8: pick up potato slice from blue bin ",
" STEP 9: turn right, go to microwave above stove to the left ",
" STEP 10: open microwave, place potato slice in microwave, close microwave, microwave potato slice, open microwave, pick up potato slice, close microwave ",
" STEP 11: turn left, go to blue bin in corner ",
" STEP 12: place potato slice in right side of blue bin ",
" END"
] | [
"pick up yellow handle knife from counter",
"turn left, go to blue bin in corner",
"place potato slice in right side of blue bin",
"pick up red handle spoon from counter",
"turn right, go to microwave above stove to the left",
"slice potato in front of tomato in blue bin",
"pick up potato slice from blue bin",
"place knife in blue bin",
"go to left side of blue bin",
"go to front of blue bin",
"close microwave, place apple slice in microwave, open microwave, microwave apple slice, close microwave, open microwave, pick up apple slice",
"open microwave, place potato slice in microwave, close microwave, microwave potato slice, open microwave, pick up potato slice, close microwave",
"turn around, go to counter to the left of stove",
"go to blue bin in corner to the left"
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)",
"(K)",
"(L)",
"(M)",
"(N)"
] | [
"(M)",
"(A)",
"(N)",
"(F)",
"(J)",
"(H)",
"(I)",
"(G)",
"(E)",
"(L)",
"(B)",
"(C)"
] |
trial_T20190907_190822_091724-2 | [
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},
{
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{
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},
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] | Put a piece of cooked pepper on the gray table. | [
"STEP 1: Cross the kitchen and face the counter on the left. ",
" STEP 2: Pick up the knife that's closest to the edge of the counter. ",
" STEP 3: Bring the knife with you and go face counter on the left of the stove. ",
" STEP 4: Slice the red pepper sitting to the right of the bread with the knife. ",
" STEP 5: Bring the knife to the small gray table on the far side of the room. ",
" STEP 6: Put the knife down on the gray table. ",
" STEP 7: Go back over to where you sliced the pepper. ",
" STEP 8: Pick up a piece of the pepper from the counter. ",
" STEP 9: Bring the pepper with you and move to the right, then look up and face the microwave. ",
" STEP 10: Put the pepper in the microwave and cook it, then take it out again. ",
" STEP 11: Bring the cooked pepper over to the gray table where you put the knife. ",
" STEP 12: Put the pepper down on the table in front of the knife. ",
" END"
] | [
"Bring the knife with you and go face counter on the left of the stove.",
"Put the knife down on the gray table.",
"Put the pepper down on the table in front of the knife.",
"Bring the pepper with you and move to the right, then look up and face the microwave.",
"Pick up the knife that's closest to the edge of the counter.",
"Bring the knife to the small gray table on the far side of the room.",
"Pick up a piece of the pepper from the counter.",
"Cut the onion sitting to the left of the bread with the knife.",
"Cross the kitchen and face the counter on the left.",
"Put the pepper in the microwave and cook it, then take it out again.",
"Slice the red pepper sitting to the right of the bread with the knife.",
"Go back over to where you sliced the pepper.",
"Go back to the counter where the stove is.",
"Bring the cooked pepper over to the gray table where you put the knife."
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)",
"(K)",
"(L)",
"(M)",
"(N)"
] | [
"(I)",
"(E)",
"(A)",
"(K)",
"(F)",
"(B)",
"(L)",
"(G)",
"(D)",
"(J)",
"(N)",
"(C)"
] |
trial_T20190907_164813_238034-1 | [
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},
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},
{
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},
{
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},
{
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}
] | Put a cup with a pen on the dresser to the left of the bed. | [
"STEP 1: Move to the dresser to the left of the bed ",
" STEP 2: PIck up a pen from the dresser ",
" STEP 3: Move to the desk behind you ",
" STEP 4: Put the pen in a cup on the desk ",
" STEP 5: Pick up the cup from the desk ",
" STEP 6: Move to the dresser to the right of you ",
" STEP 7: Put the cup on the dresser ",
" END"
] | [
"Move to the desk behind you",
"Pick up a book from the dresser",
"Move to the dresser to the left of the bed",
"PIck up a pen from the dresser",
"Pick up the notebook from the desk",
"Move to the dresser to the right of you",
"Pick up the cup from the desk",
"Put the cup on the dresser",
"Put the pen in a cup on the desk"
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)"
] | [
"(C)",
"(D)",
"(A)",
"(I)",
"(G)",
"(F)",
"(H)"
] |
trial_T20190907_164813_238034-2 | [
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] | grab the pen from the cabinet, put it in the cup on the table, put the cup on the cabinet | [
"STEP 1: turn around to the cabinet ",
" STEP 2: grab the pen on the cabinet ",
" STEP 3: turn around to the table ",
" STEP 4: put the pen in the cup on the table ",
" STEP 5: grab the cup with the pencil ",
" STEP 6: turn right, walk to the cabinet ",
" STEP 7: put the cup on the cabinet ",
" END"
] | [
"turn around to the table",
"put the pen in the cup on the table",
"grab the cup with the pencil",
"grab the pen on the cabinet",
"turn right, walk to the cabinet",
"put the cup on the cabinet",
"grab the cup on the cabinet",
"turn left, walk to the desk",
"turn around to the cabinet"
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)"
] | [
"(I)",
"(D)",
"(A)",
"(B)",
"(C)",
"(E)",
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] | Put the keys on the filing cabinet. | [
"STEP 1: Turn to the table on your left . ",
" STEP 2: Pick up the keys on the right corner of the table. ",
" STEP 3: Turn to your left and go to the small filing cabinet, underneath the table, on your right. ",
" STEP 4: Place the keys on the small filing cabinet, under the table. ",
" END"
] | [
"Pick up the keys on the left corner of the table.",
"Pick up the keys on the right corner of the table.",
"Place the keys on the small filing cabinet, under the table.",
"Turn to the table on your right.",
"Turn to the table on your left .",
"Turn to your left and go to the small filing cabinet, underneath the table, on your right."
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(E)",
"(B)",
"(F)",
"(C)"
] |
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" position_z": " ",
" rotation_x": " ",
" rotation_y": " ",
" rotation_z": " ",
" parent_receptacle": ""
},
{
"id": "67",
" object_type": " SouthWall",
" position_x": " ",
" position_y": " ",
" position_z": " ",
" rotation_x": " ",
" rotation_y": " ",
" rotation_z": " ",
" parent_receptacle": ""
},
{
"id": "68",
" object_type": " WestWall",
" position_x": " ",
" position_y": " ",
" position_z": " ",
" rotation_x": " ",
" rotation_y": " ",
" rotation_z": " ",
" parent_receptacle": ""
}
] | Place two smartphones on the bed | [
"STEP 1: Turn around and walk to the end of the bed, take a right and walk past the bed and turn right, then take a step, then turn left and walk until you reach the dresser and stop. ",
" STEP 2: From the dresser, pick up the smartphone sitting behind the box. ",
" STEP 3: Turn right and walk five steps, take another right and walk four steps to the bed. ",
" STEP 4: Put the smartphone on the bed, halfway between the left laptop and the edge of the bed, horizontally. ",
" STEP 5: Turn right and walk until you reach the wall and turn left and face the dresser. ",
" STEP 6: Pick up the smartphone. ",
" STEP 7: Turn left and take ten steps and turn right, facing the bed. ",
" STEP 8: Place the smartphone on the bed to the right of the first smartphone, horizontally. ",
" END"
] | [
"Put the smartphone on the bed, halfway between the left laptop and the edge of the bed, horizontally.",
"Turn right and walk five steps, take another right and walk four steps to the bed.",
"Turn right and walk until you reach the wall and turn left and face the dresser.",
"Turn left and take ten steps and turn right, facing the bed.",
"Place the smartphone on the bed to the right of the first smartphone, horizontally.",
"Turn around and walk to the end of the bed, take a right and walk past the bed and turn right, then take a step, then turn left and walk until you reach the dresser and stop.",
"Pick up the smartphone.",
"Pick up the notebook.",
"From the dresser, pick up the book sitting behind the lamp.",
"From the dresser, pick up the smartphone sitting behind the box."
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)"
] | [
"(F)",
"(J)",
"(B)",
"(A)",
"(C)",
"(G)",
"(D)",
"(E)"
] |
trial_T20190907_163408_411399-2 | [
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] | [
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}
] | Put two phones on the bed. | [
"STEP 1: Turn around and walk past the bed then turn right and walk to the dresser then take a step to your right. ",
" STEP 2: Pick up the blue cell phone. ",
" STEP 3: Turn right and walk to the end of the dresser then turn right and walk to the bed. ",
" STEP 4: Put the phone on the bed under the left laptop. ",
" STEP 5: Turn right and walk to the wall then turn left. ",
" STEP 6: Pick up the cell phone that's in front of you. ",
" STEP 7: Walk back to where you put the first phone. ",
" STEP 8: Put this phone to the right of the first phone. ",
" END"
] | [
"Turn right and jump over the bed then turn left and run to the bookshelf then take a step to your left.",
"Turn right and walk to the wall then turn left.",
"Walk back to where you put the first phone.",
"Pick up the cell phone that's in front of you.",
"Pick up the red notebook that's behind you.",
"Turn around and walk past the bed then turn right and walk to the dresser then take a step to your right.",
"Turn right and walk to the end of the dresser then turn right and walk to the bed.",
"Pick up the blue cell phone.",
"Put the phone on the bed under the left laptop.",
"Put this phone to the right of the first phone."
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)"
] | [
"(F)",
"(H)",
"(G)",
"(I)",
"(B)",
"(D)",
"(C)",
"(J)"
] |
trial_T20190906_222759_238425-1 | [
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{
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" rotation_z": " 0",
" parent_receptacle": ""
},
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"id": "82",
" object_type": " NorthWall",
" position_x": " ",
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},
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" position_x": " ",
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},
{
"id": "84",
" object_type": " SouthWall",
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},
{
"id": "85",
" object_type": " WestWall",
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}
] | Put a chilled egg in the trash can in the corner. | [
"STEP 1: Move to the trash can in the corner. ",
" STEP 2: Pick up the egg in the trash can. ",
" STEP 3: Bring the egg to the fridge. ",
" STEP 4: Chill the egg in the fridge. ",
" STEP 5: Bring the chilled egg to the trash can in the corner. ",
" STEP 6: Put the chilled egg in the trash can in the corner. ",
" END"
] | [
"Bring the chilled egg to the table in the middle.",
"Put the chilled egg in the trash can in the corner.",
"Move to the trash can in the corner.",
"Pick up the egg in the trash can.",
"Bring the egg to the fridge.",
"Bring the chilled egg to the trash can in the corner.",
"Drop a spoon in the trash can.",
"Chill the egg in the fridge."
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(C)",
"(D)",
"(E)",
"(H)",
"(F)",
"(B)"
] |
trial_T20190909_010403_416394-2 | [
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] | Move two pencils to a cabinet beneath the table. | [
"STEP 1: Turn around and cross the room to the white table. ",
" STEP 2: Pick up the pencil closest to you from the table. ",
" STEP 3: Back up a step from the table while carrying the pencil. ",
" STEP 4: Place the pencil on top of the small cabinet beneath the table. ",
" STEP 5: Step closer to the table. ",
" STEP 6: Pick up the remaining pencil from the table. ",
" STEP 7: Move a step back from the table again. ",
" STEP 8: Place the other pencil on top of the cabinet beneath the white table. ",
" END"
] | [
"Move a step back from the table again.",
"Step closer to the table.",
"Turn left and walk towards the blue chair.",
"Pick up the pencil closest to you from the table.",
"Place the other pencil on top of the cabinet beneath the white table.",
"Place the pencil beneath the small cabinet.",
"Pick up the remaining pencil from the table.",
"Turn around and cross the room to the white table.",
"Place the pencil on top of the small cabinet beneath the table.",
"Back up a step from the table while carrying the pencil."
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)"
] | [
"(H)",
"(D)",
"(J)",
"(I)",
"(B)",
"(G)",
"(A)",
"(E)"
] |
trial_T20190907_115710_596901-2 | [
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] | Set a cold coffee cup on the island. | [
"STEP 1: Go to the island behind the sink. ",
" STEP 2: Pick up the coffee cup on the island. ",
" STEP 3: Take the cup to the fridge. ",
" STEP 4: Chill the cup in the fridge. ",
" STEP 5: Turn and go past the fridge on the right to the end of the island. ",
" STEP 6: Set the cold coffee cup on the island. ",
" END"
] | [
"Pick up the coffee cup on the island.",
"Put down the coffee cup on the island.",
"Take the cup to the fridge.",
"Go to the island behind the sink.",
"Turn and go past the fridge on the right to the end of the island.",
"Chill the cup in the fridge.",
"Turn and go past the fridge on the left to the end of the island.",
"Set the cold coffee cup on the island."
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(D)",
"(A)",
"(C)",
"(F)",
"(E)",
"(H)"
] |
trial_T20190909_082241_779740-1 | [
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{
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{
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},
{
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},
{
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},
{
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},
{
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" object_type": " WestWall",
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}
] | Wash a kettle and put away in cabinet. | [
"STEP 1: Turn right, walk to the front of the stove, turn right to face the stove. ",
" STEP 2: Pick up the kettle on the right side of the stove. ",
" STEP 3: Turn left, walk forward and then turn left to face the sink. ",
" STEP 4: Place the kettle in the sink, turn on the faucet for a few seconds, then turn off the water, pick up the kettle. ",
" STEP 5: Turn left and step forward, turn left to face the kitchen counter with a apple and eggs. ",
" STEP 6: Open the bottom cabinet door , place the kettle inside, close the door. ",
" END"
] | [
"Open the bottom cabinet door , place the kettle inside, close the door.",
"Pick up the kettle on the right side of the stove.",
"Turn right and step back, turn right to face the dining table with a orange and potatoes.",
"Turn left, walk forward and then turn left to face the sink.",
"Turn right, walk to the front of the stove, turn right to face the stove.",
"Turn left and step forward, turn left to face the kitchen counter with a apple and eggs.",
"Place the kettle in the sink, turn on the faucet for a few seconds, then turn off the water, pick up the kettle.",
"Lift the kettle from the left side of the stove."
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(E)",
"(B)",
"(D)",
"(G)",
"(F)",
"(A)"
] |
trial_T20190907_041300_658121-0 | [
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{
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{
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{
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{
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] | Place a cleaned glass cup on the top right shelf inside the fridge. | [
"STEP 1: Walk towards the counter behind you and look up at the cabinet above the tomato. ",
" STEP 2: Take out the glass cup from the cabinet. ",
" STEP 3: Take a step to the right towards the sink. ",
" STEP 4: Place the cup in the sink, wash it, and pick it back up. ",
" STEP 5: Turn left and walk towards the fridge to your right. ",
" STEP 6: Place the cup on the top right shelf in the fridge. ",
" END"
] | [
"Place the cup on the top right shelf in the fridge.",
"Walk towards the counter in front of you and look down at the cabinet below the tomato.",
"Walk towards the counter behind you and look up at the cabinet above the tomato.",
"Place the cup in the sink, dry it, and pick it back up.",
"Place the cup in the sink, wash it, and pick it back up.",
"Take out the glass cup from the cabinet.",
"Take a step to the right towards the sink.",
"Turn left and walk towards the fridge to your right."
] | [
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"(E)",
"(F)",
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] | [
"(C)",
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" object_type": " BaseballBat",
" position_x": " -1.155",
" position_y": " 0.033",
" position_z": " -3.997",
" rotation_x": " 90",
" rotation_y": " 59.999",
" rotation_z": " 0",
" parent_receptacle": " Floor|-01.88|"
},
{
"id": "20",
" object_type": " Pencil",
" position_x": " -3.750",
" position_y": " 0.048",
" position_z": " -3.558",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 42"
},
{
"id": "21",
" object_type": " Pillow",
" position_x": " -3.191",
" position_y": " 0.722",
" position_z": " -1.793",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 25"
},
{
"id": "22",
" object_type": " CD",
" position_x": " -0.453",
" position_y": " 0.799",
" position_z": " -4.354",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 40"
},
{
"id": "23",
" object_type": " Pen",
" position_x": " -1.066",
" position_y": " 0.805",
" position_z": " -4.354",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 40"
},
{
"id": "24",
" object_type": " Mug",
" position_x": " -0.862",
" position_y": " 0.801",
" position_z": " -3.703",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 40"
},
{
"id": "25",
" object_type": " Bed",
" position_x": " -2.980",
" position_y": " 0.009",
" position_z": " -1.177",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "26",
" object_type": " LightSwitch",
" position_x": " -1.620",
" position_y": " 1.351",
" position_z": " 0.0",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "27",
" object_type": " DeskLamp",
" position_x": " -1.529",
" position_y": " 0.790",
" position_z": " -4.298",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "28",
" object_type": " Mirror",
" position_x": " -0.002",
" position_y": " 1.251",
" position_z": " -2.592",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "29",
" object_type": " GarbageCan",
" position_x": " -1.843",
" position_y": " -0.017",
" position_z": " -3.897",
" rotation_x": " 0",
" rotation_y": " 279.992",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "30",
" object_type": " Window",
" position_x": " 0.209",
" position_y": " 1.180",
" position_z": " -1.504",
" rotation_x": " 90",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "31",
" object_type": " Drawer",
" position_x": " -0.503",
" position_y": " 0.067",
" position_z": " -4.188",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "32",
" object_type": " Drawer",
" position_x": " -0.502",
" position_y": " 0.226",
" position_z": " -3.799",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "33",
" object_type": " Drawer",
" position_x": " -0.502",
" position_y": " 0.385",
" position_z": " -3.799",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "34",
" object_type": " CoffeeTable",
" position_x": " -0.503",
" position_y": " 0.009",
" position_z": " -3.990",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "35",
" object_type": " Drawer",
" position_x": " -0.502",
" position_y": " 0.067",
" position_z": " -3.799",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "36",
" object_type": " Blinds",
" position_x": " 0.163",
" position_y": " 2.196",
" position_z": " -1.495",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "37",
" object_type": " TableTopDecor",
" position_x": " -3.586",
" position_y": " 0.996",
" position_z": " -3.055",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "38",
" object_type": " Drawer",
" position_x": " -0.503",
" position_y": " 0.385",
" position_z": " -4.188",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "39",
" object_type": " Drawer",
" position_x": " -0.503",
" position_y": " 0.226",
" position_z": " -4.188",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "40",
" object_type": " Desk",
" position_x": " -0.862",
" position_y": " 0.006",
" position_z": " -4.028",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "41",
" object_type": " Drawer",
" position_x": " -3.609",
" position_y": " 0.876",
" position_z": " -4.055",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "42",
" object_type": " Drawer",
" position_x": " -3.608",
" position_y": " 0.112",
" position_z": " -3.261",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "43",
" object_type": " Dresser",
" position_x": " -3.653",
" position_y": " 0.008",
" position_z": " -3.658",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "44",
" object_type": " Drawer",
" position_x": " -3.609",
" position_y": " 0.688",
" position_z": " -3.261",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "45",
" object_type": " Drawer",
" position_x": " -3.609",
" position_y": " 0.300",
" position_z": " -3.261",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "46",
" object_type": " Drawer",
" position_x": " -3.609",
" position_y": " 0.494",
" position_z": " -4.055",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "47",
" object_type": " Drawer",
" position_x": " -3.609",
" position_y": " 0.300",
" position_z": " -4.055",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "48",
" object_type": " Drawer",
" position_x": " -3.608",
" position_y": " 0.112",
" position_z": " -4.055",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "49",
" object_type": " Drawer",
" position_x": " -3.609",
" position_y": " 0.688",
" position_z": " -4.055",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "50",
" object_type": " Drawer",
" position_x": " -3.609",
" position_y": " 0.876",
" position_z": " -3.261",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "51",
" object_type": " Drawer",
" position_x": " -3.609",
" position_y": " 0.494",
" position_z": " -3.261",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "52",
" object_type": " NorthWall",
" position_x": " ",
" position_y": " ",
" position_z": " ",
" rotation_x": " ",
" rotation_y": " ",
" rotation_z": " ",
" parent_receptacle": ""
},
{
"id": "53",
" object_type": " EastWall",
" position_x": " ",
" position_y": " ",
" position_z": " ",
" rotation_x": " ",
" rotation_y": " ",
" rotation_z": " ",
" parent_receptacle": ""
},
{
"id": "54",
" object_type": " SouthWall",
" position_x": " ",
" position_y": " ",
" position_z": " ",
" rotation_x": " ",
" rotation_y": " ",
" rotation_z": " ",
" parent_receptacle": ""
},
{
"id": "55",
" object_type": " WestWall",
" position_x": " ",
" position_y": " ",
" position_z": " ",
" rotation_x": " ",
" rotation_y": " ",
" rotation_z": " ",
" parent_receptacle": ""
}
] | To move a pen to the top of the drawers. | [
"STEP 1: Turn right at the window and walk to the desk. ",
" STEP 2: Pick up the pen to the left of the lamp. ",
" STEP 3: Move over to the left side of the desk and face the drawers below the desk. ",
" STEP 4: Put the pen down on the top of the drawers below the desk. ",
" END"
] | [
"Move over to the right side of the desk and face the wall.",
"Turn left at the window and walk towards the bookshelf.",
"Put the pen down on the top of the drawers below the desk.",
"Pick up the pen to the left of the lamp.",
"Turn right at the window and walk to the desk.",
"Move over to the left side of the desk and face the drawers below the desk."
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(E)",
"(D)",
"(F)",
"(C)"
] |
trial_T20190909_004135_086364-2 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -1.75",
" position_y": " 0.909",
" position_z": " -1.75",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Mug",
" position_x": " -0.685",
" position_y": " 0.541",
" position_z": " -3.731",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 34"
},
{
"id": "2",
" object_type": " CD",
" position_x": " -0.426",
" position_y": " 0.029",
" position_z": " -3.779",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 32"
},
{
"id": "3",
" object_type": " CellPhone",
" position_x": " -3.613",
" position_y": " 0.620",
" position_z": " -0.356",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 25"
},
{
"id": "4",
" object_type": " Pencil",
" position_x": " -1.882",
" position_y": " 0.065",
" position_z": " -3.944",
" rotation_x": " 0",
" rotation_y": " 9.990",
" rotation_z": " 0",
" parent_receptacle": " 29"
},
{
"id": "5",
" object_type": " Pencil",
" position_x": " -0.418",
" position_y": " 0.546",
" position_z": " -3.768",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 34"
},
{
"id": "6",
" object_type": " CreditCard",
" position_x": " -3.470",
" position_y": " 0.614",
" position_z": " -3.276",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 44"
},
{
"id": "7",
" object_type": " CreditCard",
" position_x": " -0.731",
" position_y": " 0.188",
" position_z": " -3.844",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 35"
},
{
"id": "8",
" object_type": " KeyChain",
" position_x": " -3.539",
" position_y": " 0.980",
" position_z": " -3.874",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 43"
},
{
"id": "9",
" object_type": " KeyChain",
" position_x": " -0.862",
" position_y": " 0.804",
" position_z": " -4.246",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 40"
},
{
"id": "10",
" object_type": " AlarmClock",
" position_x": " -1.474",
" position_y": " 0.800",
" position_z": " -3.811",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 40"
},
{
"id": "11",
" object_type": " AlarmClock",
" position_x": " -0.249",
" position_y": " 0.800",
" position_z": " -3.703",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 40"
},
{
"id": "12",
" object_type": " Book",
" position_x": " -1.066",
" position_y": " 0.804",
" position_z": " -3.811",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 40"
},
{
"id": "13",
" object_type": " CellPhone",
" position_x": " -0.657",
" position_y": " 0.803",
" position_z": " -4.354",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 40"
},
{
"id": "14",
" object_type": " Laptop",
" position_x": " -3.613",
" position_y": " 0.979",
" position_z": " -3.070",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 43"
},
{
"id": "15",
" object_type": " CreditCard",
" position_x": " -0.240",
" position_y": " 0.542",
" position_z": " -3.713",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 34"
},
{
"id": "16",
" object_type": " AlarmClock",
" position_x": " -3.760",
" position_y": " 0.979",
" position_z": " -3.673",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 43"
},
{
"id": "17",
" object_type": " KeyChain",
" position_x": " -0.657",
" position_y": " 0.800",
" position_z": " -3.703",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 40"
},
{
"id": "18",
" object_type": " TeddyBear",
" position_x": " -2.567",
" position_y": " 0.575",
" position_z": " -0.386",
" rotation_x": " 357.948",
" rotation_y": " 14.682",
" rotation_z": " 7.781",
" parent_receptacle": " 25"
},
{
"id": "19",
" object_type": " BaseballBat",
" position_x": " -1.155",
" position_y": " 0.033",
" position_z": " -3.997",
" rotation_x": " 90",
" rotation_y": " 59.999",
" rotation_z": " 0",
" parent_receptacle": " Floor|-01.88|"
},
{
"id": "20",
" object_type": " Pencil",
" position_x": " -3.750",
" position_y": " 0.048",
" position_z": " -3.558",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 42"
},
{
"id": "21",
" object_type": " Pillow",
" position_x": " -3.191",
" position_y": " 0.722",
" position_z": " -1.793",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 25"
},
{
"id": "22",
" object_type": " CD",
" position_x": " -0.453",
" position_y": " 0.799",
" position_z": " -4.354",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 40"
},
{
"id": "23",
" object_type": " Pen",
" position_x": " -1.066",
" position_y": " 0.805",
" position_z": " -4.354",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 40"
},
{
"id": "24",
" object_type": " Mug",
" position_x": " -0.862",
" position_y": " 0.801",
" position_z": " -3.703",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 40"
},
{
"id": "25",
" object_type": " Bed",
" position_x": " -2.980",
" position_y": " 0.009",
" position_z": " -1.177",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "26",
" object_type": " LightSwitch",
" position_x": " -1.620",
" position_y": " 1.351",
" position_z": " 0.0",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "27",
" object_type": " DeskLamp",
" position_x": " -1.529",
" position_y": " 0.790",
" position_z": " -4.298",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "28",
" object_type": " Mirror",
" position_x": " -0.002",
" position_y": " 1.251",
" position_z": " -2.592",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "29",
" object_type": " GarbageCan",
" position_x": " -1.843",
" position_y": " -0.017",
" position_z": " -3.897",
" rotation_x": " 0",
" rotation_y": " 279.992",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "30",
" object_type": " Window",
" position_x": " 0.209",
" position_y": " 1.180",
" position_z": " -1.504",
" rotation_x": " 90",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "31",
" object_type": " Drawer",
" position_x": " -0.503",
" position_y": " 0.067",
" position_z": " -4.188",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "32",
" object_type": " Drawer",
" position_x": " -0.502",
" position_y": " 0.226",
" position_z": " -3.799",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "33",
" object_type": " Drawer",
" position_x": " -0.502",
" position_y": " 0.385",
" position_z": " -3.799",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "34",
" object_type": " CoffeeTable",
" position_x": " -0.503",
" position_y": " 0.009",
" position_z": " -3.990",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "35",
" object_type": " Drawer",
" position_x": " -0.502",
" position_y": " 0.067",
" position_z": " -3.799",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "36",
" object_type": " Blinds",
" position_x": " 0.163",
" position_y": " 2.196",
" position_z": " -1.495",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "37",
" object_type": " TableTopDecor",
" position_x": " -3.586",
" position_y": " 0.996",
" position_z": " -3.055",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "38",
" object_type": " Drawer",
" position_x": " -0.503",
" position_y": " 0.385",
" position_z": " -4.188",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
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] | move the pen from the desk to a table | [
"STEP 1: turn right, walk to the table ",
" STEP 2: pick up the pen that is on the desk ",
" STEP 3: take a few steps to the left ",
" STEP 4: put the pen on top of the small table under the desk ",
" END"
] | [
"turn left, walk to the chair",
"turn right, walk to the table",
"put the pen on top of the small table under the desk",
"take a few steps to the left",
"place the pen under the small table near the desk",
"pick up the pen that is on the desk"
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(B)",
"(F)",
"(D)",
"(C)"
] |
trial_T20190907_234340_048681-0 | [
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] | Put a cup with a knife in it on the table | [
"STEP 1: go to the counter to your left where the coffee maker and cup sit ",
" STEP 2: pick up the knife that is to the right of the cup ",
" STEP 3: put the knife int the cup ",
" STEP 4: pick up the cup with the knife in it\n ",
" STEP 5: carry the knife and cup across the room to the right corner ",
" STEP 6: place the cup with the knife still in it on the table ",
" END"
] | [
"pick up the knife that is to the right of the cup",
"carry the knife and cup across the room to the right corner",
"put the knife int the cup",
"pick up the knife with the cup in it",
"go to the counter to your right where the coffee maker and cup sit",
"go to the counter to your left where the coffee maker and cup sit",
"place the cup with the knife still in it on the table",
"pick up the cup with the knife in it"
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(F)",
"(A)",
"(C)",
"(H)",
"(B)",
"(G)"
] |
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] | Put the heated mug in the cabinet above the microwave. | [
"STEP 1: Turn to the cabinet on the right. ",
" STEP 2: Open up the bottom cabinet and pick up the mug in there. ",
" STEP 3: Bring the mug to the microwave. ",
" STEP 4: Heat the mug in the microwave for a few seconds. ",
" STEP 5: Take the mug out of the microwave. ",
" STEP 6: Open the cabinet above the microwave and put the mug in there. ",
" END"
] | [
"Cool the mug in the fridge for a few seconds.",
"Take the mug out of the microwave.",
"Heat the mug in the microwave for a few seconds.",
"Open up the bottom cabinet and pick up the mug in there.",
"Turn to the cabinet on the right.",
"Open the cabinet above the microwave and put the mug in there.",
"Bring the mug to the microwave.",
"Open up the top cabinet and take out the plate in there."
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(E)",
"(D)",
"(G)",
"(C)",
"(B)",
"(F)"
] |
trial_T20190908_074940_060014-2 | [
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] | Place a rinsed knife on a table. | [
"STEP 1: Turn around and walk to the counter to the right of the stove. ",
" STEP 2: Pick up the knife at the far back area of the counter to the left of the apple. ",
" STEP 3: Turn around, take a right and walk to the sink on the left. ",
" STEP 4: Put the knife inside the sink, rinse it for a few seconds and pick it back up. ",
" STEP 5: Turn right and hang a left at the wall to reach the gray table. ",
" STEP 6: Put the rinsed knife on the table in front of the tomato. ",
" END"
] | [
"Pick up the knife at the far back area of the counter to the left of the apple.",
"Turn left and hang a right at the door to reach the brown desk.",
"Put the rinsed knife on the table in front of the tomato.",
"Put the knife inside the sink, rinse it for a few seconds and pick it back up.",
"Turn around, take a right and walk to the sink on the left.",
"Pick up the knife from the central counter next to the orange.",
"Turn around and walk to the counter to the right of the stove.",
"Turn right and hang a left at the wall to reach the gray table."
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(G)",
"(A)",
"(E)",
"(D)",
"(H)",
"(C)"
] |
trial_T20190918_222553_830681-0 | [
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] | Cook a cut potato in the microwave, put the potato on the counter. | [
"STEP 1: Turn around and face the counter with the blue plate on it. ",
" STEP 2: Pick up the knife on the right side of the plate. ",
" STEP 3: Turn around and walk past the stove on your right, turn right and walk to the blue trash can. ",
" STEP 4: Slice the potato inside the trash can. ",
" STEP 5: Turn around and walk past the counter turn left and stop at the counter to the right of the stove with the lettuce on it. ",
" STEP 6: Put the knife on the counter. ",
" STEP 7: Turn left and walk past the stove turn right to the blue trash can. ",
" STEP 8: Take a potato slice from the trash can. ",
" STEP 9: Turn around and walk to the stove on your left. ",
" STEP 10: Cook the potato in the microwave above the stove then remove the potato from the microwave. ",
" STEP 11: Turn right and walk to the the counter to the right of the stove. ",
" STEP 12: Place the potato slice on the counter near the lettuce. ",
" END"
] | [
"Turn right and walk past the stove turn left towards the red recycling bin.",
"Take a potato slice from the trash can.",
"Pick up the fork on the left side of the plate.",
"Pick up the knife on the right side of the plate.",
"Turn right and walk to the the counter to the right of the stove.",
"Turn around and walk past the counter turn left and stop at the counter to the right of the stove with the lettuce on it.",
"Turn around and walk to the stove on your left.",
"Cook the potato in the microwave above the stove then remove the potato from the microwave.",
"Slice the potato inside the trash can.",
"Turn left and walk past the stove turn right to the blue trash can.",
"Turn around and face the counter with the blue plate on it.",
"Put the knife on the counter.",
"Turn around and walk past the stove on your right, turn right and walk to the blue trash can.",
"Place the potato slice on the counter near the lettuce."
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)",
"(K)",
"(L)",
"(M)",
"(N)"
] | [
"(K)",
"(D)",
"(M)",
"(I)",
"(F)",
"(L)",
"(J)",
"(B)",
"(G)",
"(H)",
"(E)",
"(N)"
] |
trial_T20190918_222553_830681-2 | [
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] | Place a slice of cooked potato near the lettuce on the counter. | [
"STEP 1: Turn around, go to the blue plate on the counter, and turn left. ",
" STEP 2: Pick up the silver knife from the counter. ",
" STEP 3: Turn around, go to the tomato on the far counter, turn left, go to the window, turn right, and go to the recycling can. ",
" STEP 4: Slice the potato in the recycling can. ",
" STEP 5: Turn around, turn left, go to the lettuce on the counter, and turn left. ",
" STEP 6: Put the knife on the counter near the lettuce. ",
" STEP 7: Turn left, go to the window, turn right, and go to the recycling bin. ",
" STEP 8: Take a slice of potato from the recycling bin. ",
" STEP 9: Turn around, turn left, go to the microwave above the oven, and turn left. ",
" STEP 10: Open the microwave, put the potato in the microwave, close the microwave, run the microwave for two seconds, open the microwave, take the potato from the microwave, and close the microwave. ",
" STEP 11: Turn right, go to the lettuce on the counter, and turn left. ",
" STEP 12: Put the potato on the counter near the lettuce. ",
" END"
] | [
"Pick up the silver knife from the counter.",
"Put down the silver knife on the table.",
"Take a slice of tomato from the recycling bin.",
"Turn around, turn left, go to the microwave above the oven, and turn left.",
"Open the microwave, put the potato in the microwave, close the microwave, run the microwave for two seconds, open the microwave, take the potato from the microwave, and close the microwave.",
"Turn around, turn left, go to the lettuce on the counter, and turn left.",
"Slice the potato in the recycling can.",
"Put the potato on the counter near the lettuce.",
"Put the knife on the counter near the lettuce.",
"Turn around, go to the blue plate on the counter, and turn left.",
"Turn right, go to the lettuce on the counter, and turn left.",
"Turn around, go to the tomato on the far counter, turn left, go to the window, turn right, and go to the recycling can.",
"Turn left, go to the window, turn right, and go to the recycling bin.",
"Take a slice of potato from the recycling bin."
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)",
"(K)",
"(L)",
"(M)",
"(N)"
] | [
"(J)",
"(A)",
"(L)",
"(G)",
"(F)",
"(I)",
"(M)",
"(N)",
"(D)",
"(E)",
"(K)",
"(H)"
] |
trial_T20190909_044412_092826-1 | [
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{
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},
{
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" position_y": " 0.289",
" position_z": " 2.097",
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" rotation_z": " 0",
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},
{
"id": "18",
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},
{
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{
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{
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" parent_receptacle": " Floor|-01.07|"
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{
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{
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{
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{
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{
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},
{
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},
{
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},
{
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{
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{
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},
{
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},
{
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},
{
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},
{
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},
{
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},
{
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{
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},
{
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" position_y": " ",
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" rotation_y": " ",
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},
{
"id": "44",
" object_type": " SouthWall",
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},
{
"id": "45",
" object_type": " WestWall",
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}
] | Retrieve lotion from trash can and put on ledge with two tissue boxes | [
"STEP 1: Turn around, walk to the sink ",
" STEP 2: Pick up the lotion from the trash can ",
" STEP 3: Turn around, walk to the shelf ",
" STEP 4: Put the lotion on the ledge between the tissue boxes ",
" END"
] | [
"Retrieve the soap from the drawer",
"Put the lotion on the ledge between the tissue boxes",
"Turn around, walk to the sink",
"Pick up the lotion from the trash can",
"Turn around, walk to the shelf",
"Skip forward, slide to the table"
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(C)",
"(D)",
"(E)",
"(B)"
] |
trial_T20190907_102345_652342-2 | [
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" rotation_z": " 0",
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},
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{
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},
{
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},
{
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},
{
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},
{
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] | Place clean lettuce on the table. | [
"STEP 1: Turn right and face the counter with the knife to your left. ",
" STEP 2: Pick up the knife from the counter. ",
" STEP 3: Turn around and face the lettuce by the coffee-maker on the counter. ",
" STEP 4: Slice the lettuce on the counter. ",
" STEP 5: Turn right and face the sink on your left. ",
" STEP 6: Put the knife in the sink in front of you. ",
" STEP 7: Turn left and face the lettuce on the counter to your right. ",
" STEP 8: Pick up a lettuce slice from the counter. ",
" STEP 9: Turn right and face the sink on your left. ",
" STEP 10: Wash the lettuce in the sink and take it out. ",
" STEP 11: Turn right, then left and head towards the round grey table in front of you. ",
" STEP 12: Put the lettuce slice on the table. ",
" END"
] | [
"Turn left and face the fridge by your right.",
"Turn right and face the sink on your left.",
"Put down the knife on the counter.",
"Pick up the knife from the counter.",
"Turn right, then left and head towards the round grey table in front of you.",
"Turn right and face the sink on your left.",
"Wash the lettuce in the sink and take it out.",
"Put the lettuce slice on the table.",
"Put the knife in the sink in front of you.",
"Turn around and face the lettuce by the coffee-maker on the counter.",
"Pick up a lettuce slice from the counter.",
"Turn left and face the lettuce on the counter to your right.",
"Turn right and face the counter with the knife to your left.",
"Slice the lettuce on the counter."
] | [
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trial_T20190907_102345_652342-3 | [
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] | Place a slice of washed lettuce on the round, kitchen table. | [
"STEP 1: Turn right, walk to the wall, and then turn left to face the kitchen counter. ",
" STEP 2: Grab the gold knife on the kitchen counter. ",
" STEP 3: Turn left, walk to the black stove, and then turn left again and walk towards the lettuce on the counter. ",
" STEP 4: Cut the lettuce on the kitchen counter. ",
" STEP 5: Walk to the kitchen sink on your right. ",
" STEP 6: Place the knife in the sink. ",
" STEP 7: Turn left and walk back to the lettuce on the kitchen counter to your left. ",
" STEP 8: Grab a slice of lettuce. ",
" STEP 9: Walk back to the kitchen sink on your right. ",
" STEP 10: Wash the lettuce in the sink. ",
" STEP 11: Turn right, walk to the window, turn left, and walk to the round table. ",
" STEP 12: Place the slice of lettuce on the round table. ",
" END"
] | [
"Grab a slice of lettuce.",
"Turn right, walk to the wall, and then turn left to face the kitchen counter.",
"Wash the lettuce in the sink.",
"Turn right, walk to the fridge, then turn right and walk towards the tomatoes on the counter.",
"Walk back to the kitchen sink on your right.",
"Turn right, walk to the window, turn left, and walk to the round table.",
"Turn left, walk to the black stove, and then turn left again and walk towards the lettuce on the counter.",
"Turn left and walk back to the lettuce on the kitchen counter to your left.",
"Cut the lettuce on the kitchen counter.",
"Grab the gold knife on the kitchen counter.",
"Walk to the kitchen sink on your right.",
"Place the slice of lettuce on the round table.",
"Place the knife in the sink.",
"Walk to the kitchen table on your left."
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)",
"(K)",
"(L)",
"(M)",
"(N)"
] | [
"(B)",
"(J)",
"(G)",
"(I)",
"(K)",
"(M)",
"(H)",
"(A)",
"(E)",
"(C)",
"(F)",
"(L)"
] |
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] | Move a slice of washed lettuce to the kitchen table. | [
"STEP 1: Move to stand facing the counter directly across from the fridge. ",
" STEP 2: Pick up the sharp knife from the counter behind the bread. ",
" STEP 3: Turn and carry the knife to the counter behind you with the coffee maker. ",
" STEP 4: Use the knife to slice the head of lettuce on the counter. ",
" STEP 5: Carry the knife to the kitchen sink. ",
" STEP 6: Place the knife in the sink. ",
" STEP 7: Turn and move back to the counter to the sliced head of lettuce. ",
" STEP 8: Pick up a slice of lettuce. ",
" STEP 9: Carry the slice of lettuce to the kitchen sink. ",
" STEP 10: Place the slice of lettuce in the sink, turn on the water, and then remove the lettuce once washed. ",
" STEP 11: Carry the lettuce to the small kitchen table in the corner. ",
" STEP 12: Place the slice of lettuce on the table. ",
" END"
] | [
"Place the knife in the sink.",
"Pick up a slice of lettuce.",
"Carry the lettuce to the small kitchen table in the corner.",
"Turn and carry the knife to the counter behind you with the coffee maker.",
"Turn and carry the knife to the counter on your left with the blender.",
"Carry the knife to the kitchen sink.",
"Pick up the sharp knife from the counter behind the bread.",
"Place the slice of lettuce on the table.",
"Turn and move back to the counter to the sliced head of lettuce.",
"Spin and move forward to the counter with the chopped tomato.",
"Use the knife to slice the head of lettuce on the counter.",
"Move to stand facing the counter directly across from the fridge.",
"Carry the slice of lettuce to the kitchen sink.",
"Place the slice of lettuce in the sink, turn on the water, and then remove the lettuce once washed."
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)",
"(K)",
"(L)",
"(M)",
"(N)"
] | [
"(L)",
"(G)",
"(D)",
"(K)",
"(F)",
"(A)",
"(I)",
"(B)",
"(M)",
"(N)",
"(C)",
"(H)"
] |
trial_T20190907_102345_652342-5 | [
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] | Place a rinsed piece of lettuce on the table with a gray tablecloth. | [
"STEP 1: Turn right and walk to the yellow knife on the counter across from the fridge. ",
" STEP 2: Pick up the yellow knife behind the bread on the counter. ",
" STEP 3: Turn around and walk to the lettuce to the right of the coffee machine. ",
" STEP 4: Cut up the lettuce on the counter. ",
" STEP 5: Turn right and walk to the sink. ",
" STEP 6: Place the knife in the sink. ",
" STEP 7: Turn left and walk to the lettuce on the counter. ",
" STEP 8: Pick up a piece of lettuce from the counter. ",
" STEP 9: Turn around and walk to the sink. ",
" STEP 10: Rinse the piece of lettuce in the sink and then pick up the piece of lettuce from the sink. ",
" STEP 11: Walk to the table with the gray tablecloth. ",
" STEP 12: Place the piece of lettuce on the table. ",
" END"
] | [
"Turn left and walk to the microwave.",
"Pick up a piece of lettuce from the counter.",
"Turn around and walk to the sink.",
"Walk to the table with the gray tablecloth.",
"Turn left and walk to the green spoon on the counter next to the toaster.",
"Turn right and walk to the yellow knife on the counter across from the fridge.",
"Rinse the piece of lettuce in the sink and then pick up the piece of lettuce from the sink.",
"Turn around and walk to the lettuce to the right of the coffee machine.",
"Turn right and walk to the sink.",
"Place the knife in the sink.",
"Pick up the yellow knife behind the bread on the counter.",
"Cut up the lettuce on the counter.",
"Turn left and walk to the lettuce on the counter.",
"Place the piece of lettuce on the table."
] | [
"(A)",
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"(C)",
"(D)",
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"(F)",
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"(N)"
] | [
"(F)",
"(K)",
"(H)",
"(L)",
"(I)",
"(J)",
"(M)",
"(B)",
"(C)",
"(G)",
"(D)",
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] |
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] | turn on a lamp while holding the disk | [
"STEP 1: move around to the cupboard ",
" STEP 2: pick up the disk on the cupboard ",
" STEP 3: turn around and head to the table ",
" STEP 4: turn on the lamp on the table ",
" END"
] | [
"move around to the cupboard",
"drop the disk on the floor",
"turn around and head to the table",
"turn on the lamp on the table",
"jump towards the bookshelf",
"pick up the disk on the cupboard"
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(A)",
"(F)",
"(C)",
"(D)"
] |
trial_T20190909_114632_367634-2 | [
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},
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" object_type": " NorthWall",
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},
{
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" object_type": " EastWall",
" position_x": " ",
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},
{
"id": "55",
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},
{
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}
] | look at a disk under the lamp light | [
"STEP 1: go to the dresser ",
" STEP 2: pick up the disk from the dresser ",
" STEP 3: take the disk to the lamp ",
" STEP 4: turn on the lamp ",
" END"
] | [
"pick up the disk from the dresser",
"take the disk to the lamp",
"go to the dresser",
"travel to the coffee table",
"grab the book from the coffee table",
"turn on the lamp"
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(C)",
"(A)",
"(B)",
"(F)"
] |
trial_T20190906_190752_727429-1 | [
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] | Grab the plate on the end table, turn on the lamp | [
"STEP 1: Turn around, walk to the end, turn right, walk to the corner by the end table ",
" STEP 2: Grab the grey plate on the end table ",
" STEP 3: Turn right and turn left, facing the lamp on the end table ",
" STEP 4: Turn on the lamp ",
" END"
] | [
"Grab the grey plate on the end table",
"Turn on the lamp",
"Turn right and turn left, facing the lamp on the end table",
"Turn around, walk to the end, turn right, walk to the corner by the end table",
"Turn left and turn right, facing the mirror on the wall",
"Leave the grey plate on the end table"
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(D)",
"(A)",
"(C)",
"(B)"
] |
trial_T20190906_190752_727429-2 | [
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" rotation_z": " 0",
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},
{
"id": "22",
" object_type": " Bowl",
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" position_z": " 7.221",
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},
{
"id": "23",
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" position_y": " 0.542",
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" rotation_z": " 0",
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},
{
"id": "24",
" object_type": " Vase",
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" rotation_z": " 0",
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},
{
"id": "25",
" object_type": " RemoteControl",
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" position_z": " 6.665",
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" rotation_y": " 45",
" rotation_z": " 0",
" parent_receptacle": " 60"
},
{
"id": "26",
" object_type": " Watch",
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},
{
"id": "27",
" object_type": " Statue",
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" rotation_z": " 0",
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},
{
"id": "28",
" object_type": " Statue",
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" rotation_y": " 0",
" rotation_z": " 0",
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},
{
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" rotation_z": " 0",
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},
{
"id": "30",
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" position_y": " 1.271",
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" rotation_x": " 0",
" rotation_y": " 96.687",
" rotation_z": " 0",
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},
{
"id": "31",
" object_type": " Mirror",
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" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "32",
" object_type": " DeskLamp",
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" position_y": " 0.797",
" position_z": " 1.955",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "33",
" object_type": " DeskLamp",
" position_x": " -0.593",
" position_y": " 0.797",
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" rotation_x": " 0",
" rotation_y": " 60.096",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "34",
" object_type": " FloorLamp",
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" position_y": " 0.016",
" position_z": " 0.314",
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" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "35",
" object_type": " Television",
" position_x": " -5.637",
" position_y": " 0.998",
" position_z": " 6.949",
" rotation_x": " 0",
" rotation_y": " 135",
" rotation_z": " 0",
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},
{
"id": "36",
" object_type": " LightSwitch",
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" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
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},
{
"id": "37",
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},
{
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},
{
"id": "39",
" object_type": " HousePlant",
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},
{
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},
{
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},
{
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" rotation_z": " 0",
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},
{
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" object_type": " SideTable",
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" rotation_y": " 270",
" rotation_z": " 0",
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},
{
"id": "44",
" object_type": " SideTable",
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" rotation_z": " 0",
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},
{
"id": "45",
" object_type": " Chair",
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" position_y": " 0.015",
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" rotation_x": " 0",
" rotation_y": " 15.000",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "46",
" object_type": " Chair",
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" position_z": " 1.955",
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" rotation_y": " 345.000",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "47",
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" rotation_z": " 0",
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},
{
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},
{
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},
{
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" rotation_z": " 0",
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},
{
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},
{
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},
{
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},
{
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" rotation_y": " 270",
" rotation_z": " 0",
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},
{
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" rotation_z": " 0",
" parent_receptacle": ""
},
{
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" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "57",
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},
{
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},
{
"id": "59",
" object_type": " CoffeeTable",
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" position_y": " 0.018",
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" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
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" object_type": " CoffeeTable",
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" position_y": " 0.018",
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" rotation_y": " 315",
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},
{
"id": "61",
" object_type": " NorthWall",
" position_x": " ",
" position_y": " ",
" position_z": " ",
" rotation_x": " ",
" rotation_y": " ",
" rotation_z": " ",
" parent_receptacle": ""
},
{
"id": "62",
" object_type": " SouthWall",
" position_x": " ",
" position_y": " ",
" position_z": " ",
" rotation_x": " ",
" rotation_y": " ",
" rotation_z": " ",
" parent_receptacle": ""
},
{
"id": "63",
" object_type": " SouthWall",
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" position_y": " ",
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" rotation_y": " ",
" rotation_z": " ",
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}
] | Examine the bowl under the light of the lamp | [
"STEP 1: Turn around and walk across the room to the side table by the sofa ",
" STEP 2: Pick up the grey bowl from the table ",
" STEP 3: Face toward the lamp on the same side table ",
" STEP 4: Turn on the lamp ",
" END"
] | [
"Pick up the grey bowl from the table",
"Face toward the lamp on the same side table",
"Turn around and walk across the room to the side table by the sofa",
"Face toward the window next to the same side table",
"Turn on the lamp",
"Turn left and proceed to the bookshelf by the window"
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(C)",
"(A)",
"(B)",
"(E)"
] |
trial_T20190908_191442_574931-0 | [
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" rotation_y": " 0",
" rotation_z": " 0",
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},
{
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},
{
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{
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{
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{
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{
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{
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},
{
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},
{
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},
{
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" rotation_y": " 0",
" rotation_z": " 0",
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},
{
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},
{
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},
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},
{
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{
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{
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{
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},
{
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{
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{
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{
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},
{
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},
{
"id": "33",
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" rotation_x": " 90",
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" rotation_z": " 0",
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},
{
"id": "34",
" object_type": " Toilet",
" position_x": " -0.039",
" position_y": " 0.090",
" position_z": " 1.733",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "35",
" object_type": " SinkBasin",
" position_x": " -1.317",
" position_y": " 0.998",
" position_z": " 2.567",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "36",
" object_type": " ToiletPaperHanger",
" position_x": " 0.444",
" position_y": " 0.809",
" position_z": " 1.350",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "37",
" object_type": " LightSwitch",
" position_x": " 0.444",
" position_y": " 1.368",
" position_z": " 3.323",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "38",
" object_type": " Faucet",
" position_x": " -1.587",
" position_y": " 0.960",
" position_z": " 3.513",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "39",
" object_type": " ShowerHead",
" position_x": " -1.618",
" position_y": " 1.251",
" position_z": " 0.558",
" rotation_x": " 0",
" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "40",
" object_type": " Sink",
" position_x": " -1.325",
" position_y": " 0.960",
" position_z": " 3.512",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "41",
" object_type": " SinkBasin",
" position_x": " -1.317",
" position_y": " 0.998",
" position_z": " 3.513",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "42",
" object_type": " Faucet",
" position_x": " -1.587",
" position_y": " 0.960",
" position_z": " 2.569",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "43",
" object_type": " NorthWall",
" position_x": " ",
" position_y": " ",
" position_z": " ",
" rotation_x": " ",
" rotation_y": " ",
" rotation_z": " ",
" parent_receptacle": ""
},
{
"id": "44",
" object_type": " EastWall",
" position_x": " ",
" position_y": " ",
" position_z": " ",
" rotation_x": " ",
" rotation_y": " ",
" rotation_z": " ",
" parent_receptacle": ""
},
{
"id": "45",
" object_type": " SouthWall",
" position_x": " ",
" position_y": " ",
" position_z": " ",
" rotation_x": " ",
" rotation_y": " ",
" rotation_z": " ",
" parent_receptacle": ""
},
{
"id": "46",
" object_type": " WestWall",
" position_x": " ",
" position_y": " ",
" position_z": " ",
" rotation_x": " ",
" rotation_y": " ",
" rotation_z": " ",
" parent_receptacle": ""
}
] | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -0.5",
" position_y": " 0.901",
" position_z": " 1.75",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Cloth",
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" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
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},
{
"id": "2",
" object_type": " SoapBar",
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" position_y": " 0.068",
" position_z": " 3.743",
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" rotation_y": " 0",
" rotation_z": " 0",
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},
{
"id": "3",
" object_type": " Candle",
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" rotation_x": " 0",
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},
{
"id": "4",
" object_type": " Candle",
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" position_y": " 0.068",
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" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 21"
},
{
"id": "5",
" object_type": " SprayBottle",
" position_x": " 0.258",
" position_y": " 0.048",
" position_z": " 3.838",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 31"
},
{
"id": "6",
" object_type": " SoapBottle",
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" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 29"
},
{
"id": "7",
" object_type": " SoapBottle",
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" position_y": " 0.993",
" position_z": " 2.863",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 28"
},
{
"id": "8",
" object_type": " Towel",
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" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 30"
},
{
"id": "9",
" object_type": " HandTowel",
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" position_y": " 1.6",
" position_z": " 3.961",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 32"
},
{
"id": "10",
" object_type": " SoapBar",
" position_x": " -1.382",
" position_y": " 0.068",
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" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 21"
},
{
"id": "11",
" object_type": " ToiletPaper",
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" rotation_y": " 0",
" rotation_z": " 0",
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},
{
"id": "12",
" object_type": " Plunger",
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" position_y": " 0.000",
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" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " Floor|-01.72|"
},
{
"id": "13",
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" position_y": " 0.068",
" position_z": " 2.757",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 21"
},
{
"id": "14",
" object_type": " TissueBox",
" position_x": " -1.416",
" position_y": " 0.994",
" position_z": " 2.982",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 28"
},
{
"id": "15",
" object_type": " SoapBottle",
" position_x": " -1.284",
" position_y": " 0.993",
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" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 28"
},
{
"id": "16",
" object_type": " ToiletPaper",
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" position_y": " 0.809",
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" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 270",
" parent_receptacle": " 36"
},
{
"id": "17",
" object_type": " SprayBottle",
" position_x": " -1.620",
" position_y": " 0.068",
" position_z": " 3.377",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 27"
},
{
"id": "18",
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" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
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},
{
"id": "19",
" object_type": " ScrubBrush",
" position_x": " 0.035",
" position_y": " 0.000",
" position_z": " 1.301",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " Floor|-01.72|"
},
{
"id": "20",
" object_type": " Mirror",
" position_x": " -1.703",
" position_y": " 1.661",
" position_z": " 3.509",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "21",
" object_type": " Cabinet",
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" position_y": " 0.394",
" position_z": " 3.030",
" rotation_x": " 0",
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" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "22",
" object_type": " ShowerDoor",
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},
{
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},
{
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" rotation_z": " 0",
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},
{
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" rotation_z": " 0",
" parent_receptacle": ""
},
{
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" rotation_z": " 0",
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},
{
"id": "27",
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" rotation_z": " 0",
" parent_receptacle": ""
},
{
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" rotation_z": " 0",
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},
{
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" position_z": " 3.966",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "30",
" object_type": " TowelHolder",
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" position_y": " 1.160",
" position_z": " 1.179",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "31",
" object_type": " GarbageCan",
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" position_y": " 0.000",
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" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "32",
" object_type": " HandTowelHolder",
" position_x": " -1.275",
" position_y": " 1.702",
" position_z": " 3.999",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "33",
" object_type": " Window",
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" position_y": " 1.667",
" position_z": " -0.009",
" rotation_x": " 90",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "34",
" object_type": " Toilet",
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" position_y": " 0.090",
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" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "35",
" object_type": " SinkBasin",
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" position_y": " 0.998",
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" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "36",
" object_type": " ToiletPaperHanger",
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" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "37",
" object_type": " LightSwitch",
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" position_y": " 1.368",
" position_z": " 3.323",
" rotation_x": " 0",
" rotation_y": " 270",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "38",
" object_type": " Faucet",
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" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
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" position_z": " 0.558",
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" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "40",
" object_type": " Sink",
" position_x": " -1.325",
" position_y": " 0.960",
" position_z": " 3.512",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "41",
" object_type": " SinkBasin",
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" position_y": " 0.998",
" position_z": " 3.513",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "42",
" object_type": " Faucet",
" position_x": " -1.587",
" position_y": " 0.960",
" position_z": " 2.569",
" rotation_x": " 0",
" rotation_y": " 90",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "43",
" object_type": " NorthWall",
" position_x": " ",
" position_y": " ",
" position_z": " ",
" rotation_x": " ",
" rotation_y": " ",
" rotation_z": " ",
" parent_receptacle": ""
},
{
"id": "44",
" object_type": " EastWall",
" position_x": " ",
" position_y": " ",
" position_z": " ",
" rotation_x": " ",
" rotation_y": " ",
" rotation_z": " ",
" parent_receptacle": ""
},
{
"id": "45",
" object_type": " SouthWall",
" position_x": " ",
" position_y": " ",
" position_z": " ",
" rotation_x": " ",
" rotation_y": " ",
" rotation_z": " ",
" parent_receptacle": ""
},
{
"id": "46",
" object_type": " WestWall",
" position_x": " ",
" position_y": " ",
" position_z": " ",
" rotation_x": " ",
" rotation_y": " ",
" rotation_z": " ",
" parent_receptacle": ""
}
] | Put a washed bar of soap in the cupboard under the sink | [
"STEP 1: Head to the wall then turn left and go to the sink ",
" STEP 2: Get the bar of soap from the cupboard on the right under the sink ",
" STEP 3: Get closer to the sink ",
" STEP 4: Put the bar of soap in the sink and turn on the water, then turn off the water and pick up the soap ",
" STEP 5: Turn around and go to the wall, then turn back around facing the sink ",
" STEP 6: Put the soap in the cupboard on the right under the sink ",
" END"
] | [
"Head to the wall then turn left and go to the sink",
"Put the soap in the cupboard on the right under the sink",
"Get the bar of soap from the cupboard on the right under the sink",
"Get closer to the sink",
"Turn around and go to the wall, then turn back around facing the sink",
"Put the bar of soap in the sink and turn on the water, then turn off the water and pick up the soap",
"Take a step to the left, then pivot to face the bathtub",
"Pick up the dish towel from the drawer on the left under the sink"
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(A)",
"(C)",
"(D)",
"(F)",
"(E)",
"(B)"
] |
trial_T20190908_191442_574931-2 | [
{
"id": "0",
" object_type": " Agent",
" position_x": " -0.5",
" position_y": " 0.901",
" position_z": " 1.75",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "1",
" object_type": " Cloth",
" position_x": " -1.439",
" position_y": " 0.067",
" position_z": " 2.391",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 23"
},
{
"id": "2",
" object_type": " SoapBar",
" position_x": " -1.322",
" position_y": " 0.068",
" position_z": " 3.743",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 29"
},
{
"id": "3",
" object_type": " Candle",
" position_x": " -1.322",
" position_y": " 0.068",
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" rotation_x": " 0",
" rotation_y": " 0",
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" parent_receptacle": " 29"
},
{
"id": "4",
" object_type": " Candle",
" position_x": " -1.561",
" position_y": " 0.068",
" position_z": " 2.706",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 21"
},
{
"id": "5",
" object_type": " SprayBottle",
" position_x": " 0.258",
" position_y": " 0.048",
" position_z": " 3.838",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 31"
},
{
"id": "6",
" object_type": " SoapBottle",
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},
{
"id": "7",
" object_type": " SoapBottle",
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" position_y": " 0.993",
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" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 28"
},
{
"id": "8",
" object_type": " Towel",
" position_x": " -0.200",
" position_y": " 1.174",
" position_z": " 1.286",
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" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 30"
},
{
"id": "9",
" object_type": " HandTowel",
" position_x": " -1.275",
" position_y": " 1.6",
" position_z": " 3.961",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 32"
},
{
"id": "10",
" object_type": " SoapBar",
" position_x": " -1.382",
" position_y": " 0.068",
" position_z": " 2.857",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 21"
},
{
"id": "11",
" object_type": " ToiletPaper",
" position_x": " -1.416",
" position_y": " 0.991",
" position_z": " 2.239",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 28"
},
{
"id": "12",
" object_type": " Plunger",
" position_x": " 0.248",
" position_y": " 0.000",
" position_z": " 1.306",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " Floor|-01.72|"
},
{
"id": "13",
" object_type": " Candle",
" position_x": " -1.382",
" position_y": " 0.068",
" position_z": " 2.757",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 21"
},
{
"id": "14",
" object_type": " TissueBox",
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" position_y": " 0.994",
" position_z": " 2.982",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " 28"
},
{
"id": "15",
" object_type": " SoapBottle",
" position_x": " -1.284",
" position_y": " 0.993",
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}
] | Place a rinsed bar of soap in a cabinet. | [
"STEP 1: Walk ahead to the wall, then turn left to the right sink. ",
" STEP 2: Take the soap out of the bottom right cabinet. ",
" STEP 3: Look up at the sink. ",
" STEP 4: Wash the soap in the sink. ",
" STEP 5: Look down at the cabinets. ",
" STEP 6: Place the soap in the right bottom cabinet in front of the blue bottle. ",
" END"
] | [
"Take the soap out of the bottom right cabinet.",
"Wash the soap in the sink.",
"Look up at the sink.",
"Look down at the cabinets.",
"Walk backwards to the wall, then turn right to the left sink.",
"Place the soap in the right bottom cabinet in front of the blue bottle.",
"Rinse the soap in the bathtub.",
"Walk ahead to the wall, then turn left to the right sink."
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(H)",
"(A)",
"(C)",
"(B)",
"(D)",
"(F)"
] |
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" rotation_z": " 0",
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},
{
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{
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" rotation_z": " 0",
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},
{
"id": "32",
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},
{
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},
{
"id": "34",
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},
{
"id": "35",
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},
{
"id": "36",
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" rotation_z": " 0",
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},
{
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},
{
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" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "39",
" object_type": " Faucet",
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" position_y": " 0.504",
" position_z": " -0.489",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "40",
" object_type": " ShowerHead",
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" position_y": " 1.906",
" position_z": " 1.834",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "41",
" object_type": " ShowerCurtain",
" position_x": " -0.442",
" position_y": " 2.224",
" position_z": " -0.405",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "42",
" object_type": " Faucet",
" position_x": " -1.127",
" position_y": " 0.993",
" position_z": " -0.837",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "43",
" object_type": " NorthWall",
" position_x": " ",
" position_y": " ",
" position_z": " ",
" rotation_x": " ",
" rotation_y": " ",
" rotation_z": " ",
" parent_receptacle": ""
},
{
"id": "44",
" object_type": " EastWall",
" position_x": " ",
" position_y": " ",
" position_z": " ",
" rotation_x": " ",
" rotation_y": " ",
" rotation_z": " ",
" parent_receptacle": ""
},
{
"id": "45",
" object_type": " SouthWall",
" position_x": " ",
" position_y": " ",
" position_z": " ",
" rotation_x": " ",
" rotation_y": " ",
" rotation_z": " ",
" parent_receptacle": ""
},
{
"id": "46",
" object_type": " WestWall",
" position_x": " ",
" position_y": " ",
" position_z": " ",
" rotation_x": " ",
" rotation_y": " ",
" rotation_z": " ",
" parent_receptacle": ""
}
] | To move two bars of soap to the center of the tub. | [
"STEP 1: Turn right and walk across the room to face the tub. ",
" STEP 2: Pick up the bar of soap in the tub. ",
" STEP 3: Take a step to the left and look down to face the left end of the tub. ",
" STEP 4: Place the bar of soap to the left of where it was originally. ",
" STEP 5: Turn left and walk forward to face the soap on the top shelf. ",
" STEP 6: Pick up the soap on the top shelf. ",
" STEP 7: Turn to the right to face the tub. ",
" STEP 8: Place the bar of soap beside the first bar of soap. ",
" END"
] | [
"Turn to the right to face the tub.",
"Turn left and walk forward to face the soap on the top shelf.",
"Take a step to the left and look down to face the left end of the tub.",
"Place the bar of soap beside the first bar of soap.",
"Pick up the soap on the top shelf.",
"Turn left and walk to the opposite wall.",
"Place the bar of soap to the right of where it was.",
"Turn right and walk across the room to face the tub.",
"Pick up the bar of soap in the tub.",
"Place the bar of soap to the left of where it was originally."
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)"
] | [
"(H)",
"(I)",
"(C)",
"(J)",
"(B)",
"(E)",
"(A)",
"(D)"
] |
trial_T20190908_020409_994514-2 | [
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},
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},
{
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},
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},
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},
{
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},
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},
{
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},
{
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},
{
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},
{
"id": "55",
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},
{
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},
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},
{
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{
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" rotation_y": " 90",
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},
{
"id": "33",
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},
{
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{
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{
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{
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{
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{
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{
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{
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" rotation_y": " 0",
" rotation_z": " 0",
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},
{
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},
{
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},
{
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},
{
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{
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},
{
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},
{
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},
{
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},
{
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},
{
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},
{
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},
{
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},
{
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},
{
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},
{
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},
{
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},
{
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},
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},
{
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},
{
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},
{
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},
{
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},
{
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},
{
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},
{
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},
{
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},
{
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{
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{
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},
{
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{
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},
{
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},
{
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},
{
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},
{
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},
{
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},
{
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},
{
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},
{
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},
{
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},
{
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},
{
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{
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{
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},
{
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},
{
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},
{
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},
{
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},
{
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},
{
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},
{
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},
{
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},
{
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},
{
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},
{
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},
{
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" position_y": " 1.675",
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" rotation_x": " 0",
" rotation_y": " 180",
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},
{
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" object_type": " DiningTable",
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" position_y": " 8.404",
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" rotation_y": " 0",
" rotation_z": " 0",
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},
{
"id": "102",
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" rotation_x": " 0",
" rotation_y": " 45",
" rotation_z": " 0",
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},
{
"id": "103",
" object_type": " NorthWall",
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" position_y": " ",
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" rotation_x": " ",
" rotation_y": " ",
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},
{
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" position_y": " ",
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" rotation_x": " ",
" rotation_y": " ",
" rotation_z": " ",
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},
{
"id": "105",
" object_type": " SouthWall",
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" position_y": " ",
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" rotation_x": " ",
" rotation_y": " ",
" rotation_z": " ",
" parent_receptacle": ""
},
{
"id": "106",
" object_type": " WestWall",
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" rotation_y": " ",
" rotation_z": " ",
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}
] | Place a pot filled with water on the stove. | [
"STEP 1: Turn around and walk to the oven. ",
" STEP 2: Pick up the pot from the oven. ",
" STEP 3: Turn around and walk to the sink. ",
" STEP 4: Place the pot in the sink and turn the faucet on and off before removing the water-filled pot. ",
" STEP 5: Turn around and walk to the oven. ",
" STEP 6: Place the pot on the stove ",
" END"
] | [
"Turn around and walk to the sink.",
"Turn around and walk to the oven.",
"Place the pot in the sink and turn the faucet on and off before removing the water-filled pot.",
"Turn around and walk to the oven.",
"Run instead of walk to the oven.",
"Pick up the pot from the oven.",
"Pick up the pot from the refrigerator.",
"Place the pot on the stove"
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(B)",
"(F)",
"(A)",
"(C)",
"(D)",
"(H)"
] |
trial_T20190910_141106_541538-2 | [
{
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{
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}
] | Put the two spray bottle on the toilet tank | [
"STEP 1: Turn to your right then face the top shelf rack ",
" STEP 2: Pick up the spray bottle on the shelf rack ",
" STEP 3: Turn left then head to the right side of the toilet ",
" STEP 4: Put the spray bottle on the tank ",
" STEP 5: Turn left then head back to the shelf ",
" STEP 6: Pick up the spray bottle on the bottom shelf ",
" STEP 7: Turn left then head back to the right side of the toilet ",
" STEP 8: Put the spray bottle beside the other spray bottle on the tank ",
" END"
] | [
"Turn left then head back to the right side of the toilet",
"Turn left then head to the right side of the toilet",
"Turn to your right then face the top shelf rack",
"Pick up the spray bottle on the shelf rack",
"Pick up the spray bottle on the bottom shelf",
"Put the spray bottle beside the other spray bottle on the tank",
"Spin around then skip to the shelf",
"Put the spray bottle on the tank",
"Turn left then head back to the shelf",
"Jump up and touch the top shelf rack"
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)"
] | [
"(C)",
"(D)",
"(B)",
"(H)",
"(I)",
"(E)",
"(A)",
"(F)"
] |
trial_T20190908_075642_169313-1 | [
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{
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] | [
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] | grab the credit card on the end table, turn on the floor lamp | [
"STEP 1: walk straight to the chair, turn left, walk to the end table ",
" STEP 2: grab the credit card on the table ",
" STEP 3: turn right, walk behind the chairs to the floor lamp ",
" STEP 4: turn on the floor lamp ",
" END"
] | [
"turn right, walk behind the chairs to the floor lamp",
"grab the credit card on the table",
"take the remote control on the table",
"run diagonally to the chair, turn right, dash to the coffee table",
"walk straight to the chair, turn left, walk to the end table",
"turn on the floor lamp"
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(E)",
"(B)",
"(A)",
"(F)"
] |
trial_T20190908_151002_619060-1 | [
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},
{
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{
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{
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{
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{
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},
{
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{
"id": "25",
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},
{
"id": "26",
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{
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{
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{
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},
{
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},
{
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},
{
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},
{
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{
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},
{
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{
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},
{
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},
{
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},
{
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},
{
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},
{
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},
{
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},
{
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},
{
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" rotation_z": " ",
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}
] | [
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},
{
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{
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{
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{
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{
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{
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{
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{
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{
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},
{
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{
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},
{
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{
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},
{
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},
{
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},
{
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{
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},
{
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},
{
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},
{
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},
{
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},
{
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" position_y": " ",
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" rotation_x": " ",
" rotation_y": " ",
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},
{
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}
] | Move a bar of clean soap to a cabinet. | [
"STEP 1: Turn right, walk to the counter, turn left, then turn right again to face the side of the countertop. ",
" STEP 2: Pick up the bar of soap that is on the bathroom counter. ",
" STEP 3: Turn right, walk a step or two, turn left, walk to the end of the counter, then face the bathroom counter. ",
" STEP 4: Rinse off the soap in the sink. ",
" STEP 5: Move away from the bathroom counter. ",
" STEP 6: Place the bar of soap in the right hand cabinet under the right bathroom sink. ",
" END"
] | [
"Turn right, walk a step or two, turn left, walk to the end of the counter, then face the bathroom counter.",
"Turn right, walk to the counter, turn left, then turn right again to face the side of the countertop.",
"Move away from the bathroom counter.",
"Put the towel that is on the bathroom counter in the basket.",
"Pick up the bar of soap that is on the bathroom counter.",
"Rinse off the soap in the sink.",
"Place the bar of soap in the right hand cabinet under the right bathroom sink.",
"Turn left, jump a step or two, turn right, run to the other end of the counter, then face the garden."
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(B)",
"(E)",
"(A)",
"(F)",
"(C)",
"(G)"
] |
trial_T20190908_151002_619060-2 | [
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" position_z": " 2.25",
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" rotation_y": " 180",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
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},
{
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},
{
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},
{
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] | Place a rinsed bar of soap in a cabinet. | [
"STEP 1: Turn right and walk to the left side of the vanity with the sink. ",
" STEP 2: Pick up the bar of soap from the corner of the vanity counter. ",
" STEP 3: Turn right, hang a left at the toilet and walk to the right sink of the vanity. ",
" STEP 4: Put the bar of soap inside the sink, rinse it and pick it back up. ",
" STEP 5: Turn around, walk to the wall and turn around to face the cabinets under the vanity. ",
" STEP 6: Open the lower right cabinet under the vanity, put the bar of soap inside and close the door. ",
" END"
] | [
"Put the bar of soap inside the sink, rinse it and pick it back up.",
"Turn right, hang a left at the toilet and walk to the right sink of the vanity.",
"Go straight, take a right at the shower and approach the left sink of the vanity.",
"Turn around, walk to the wall and turn around to face the cabinets under the vanity.",
"Pick up the bar of soap from the corner of the vanity counter.",
"Turn right and walk to the left side of the vanity with the sink.",
"Grab the toothpaste from the middle of the vanity counter.",
"Open the lower right cabinet under the vanity, put the bar of soap inside and close the door."
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(F)",
"(E)",
"(B)",
"(A)",
"(D)",
"(H)"
] |
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},
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},
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},
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" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "32",
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" position_y": " 0.504",
" position_z": " -0.489",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "33",
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" position_y": " 1.906",
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" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "34",
" object_type": " ShowerCurtain",
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" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "35",
" object_type": " Faucet",
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" position_y": " 0.993",
" position_z": " -0.837",
" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": ""
},
{
"id": "36",
" object_type": " NorthWall",
" position_x": " ",
" position_y": " ",
" position_z": " ",
" rotation_x": " ",
" rotation_y": " ",
" rotation_z": " ",
" parent_receptacle": ""
},
{
"id": "37",
" object_type": " EastWall",
" position_x": " ",
" position_y": " ",
" position_z": " ",
" rotation_x": " ",
" rotation_y": " ",
" rotation_z": " ",
" parent_receptacle": ""
},
{
"id": "38",
" object_type": " SouthWall",
" position_x": " ",
" position_y": " ",
" position_z": " ",
" rotation_x": " ",
" rotation_y": " ",
" rotation_z": " ",
" parent_receptacle": ""
},
{
"id": "39",
" object_type": " WestWall",
" position_x": " ",
" position_y": " ",
" position_z": " ",
" rotation_x": " ",
" rotation_y": " ",
" rotation_z": " ",
" parent_receptacle": ""
}
] | Put a box of tissues on the lid of the toilet tank. | [
"STEP 1: Make a left to walk to the wall across from the toilet. ",
" STEP 2: Pick up the box of tissues on the right. ",
" STEP 3: Turn around to walk towards the toilet. ",
" STEP 4: Put the box of tissues down on the lid of the toilet tank. ",
" END"
] | [
"Make a left to walk to the wall across from the toilet.",
"Put the box of tissues down on the lid of the toilet tank.",
"Turn around to walk towards the toilet.",
"Pick up the box of tissues on the right.",
"Place the box of tissues back to the table near the bed.",
"Make a right to walk to the window beside the bed."
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(A)",
"(D)",
"(C)",
"(B)"
] |
trial_T20190909_075611_325782-1 | [
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},
{
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" object_type": " TissueBox",
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},
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},
{
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},
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},
{
"id": "11",
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},
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},
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},
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},
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},
{
"id": "18",
" object_type": " Bathtub",
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{
"id": "19",
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" position_y": " 0.033",
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},
{
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},
{
"id": "31",
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},
{
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},
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},
{
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},
{
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},
{
"id": "36",
" object_type": " NorthWall",
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" rotation_z": " ",
" parent_receptacle": ""
},
{
"id": "37",
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},
{
"id": "38",
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" rotation_z": " ",
" parent_receptacle": ""
},
{
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" position_y": " ",
" position_z": " ",
" rotation_x": " ",
" rotation_y": " ",
" rotation_z": " ",
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}
] | [
{
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" rotation_x": " 0",
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" parent_receptacle": ""
},
{
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},
{
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},
{
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},
{
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},
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},
{
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" rotation_x": " 0",
" rotation_y": " 0",
" rotation_z": " 0",
" parent_receptacle": " Floor|-01.07|"
},
{
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},
{
"id": "9",
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},
{
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},
{
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},
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},
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},
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},
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},
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},
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},
{
"id": "18",
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},
{
"id": "19",
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" position_y": " -0.001",
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" parent_receptacle": ""
},
{
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},
{
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" parent_receptacle": ""
},
{
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},
{
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},
{
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] | Put a box of tissue on the back of the toilet. | [
"STEP 1: Turn around and go to the shelf's on the wall, to the left of the bath tub, across the room. ",
" STEP 2: Pick up the box of tissue on the right. ",
" STEP 3: Turn around and go to the toilet across the room, in the right corner. ",
" STEP 4: Place the box of tissue on the back, right side of the toilet. ",
" END"
] | [
"Rotate in place and move towards the desk in the right corner of the room.",
"Pick up the box of tissue on the right.",
"Grab the soap dispenser located on the left.",
"Turn around and go to the shelf's on the wall, to the left of the bath tub, across the room.",
"Turn around and go to the toilet across the room, in the right corner.",
"Place the box of tissue on the back, right side of the toilet."
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)"
] | [
"(D)",
"(B)",
"(E)",
"(F)"
] |
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},
{
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{
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},
{
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}
] | Put the heated tomato on the counter next to the stove. | [
"STEP 1: Move to the counter right of the stove. ",
" STEP 2: Pick up the tomato from the counter. ",
" STEP 3: Bring the tomato to the microwave. ",
" STEP 4: Heat the tomato in the microwave. ",
" STEP 5: Bring the tomato to the counter right of the stove. ",
" STEP 6: Put the tomato on the counter right of the stove. ",
" END"
] | [
"Move to the counter right of the stove.",
"Heat the tomato in the microwave.",
"Bring the tomato to the refrigerator.",
"Bring the tomato to the microwave.",
"Pick up the cucumber from the counter.",
"Bring the tomato to the counter right of the stove.",
"Put the tomato on the counter right of the stove.",
"Pick up the tomato from the counter."
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(A)",
"(H)",
"(D)",
"(B)",
"(F)",
"(G)"
] |
trial_T20190919_014308_279954-1 | [
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},
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{
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] | Put a slice of washed tomato in the microwave. | [
"STEP 1: Turn around and move to the counter space to the right of the stove. ",
" STEP 2: Pick up the tomato from the counter. ",
" STEP 3: Carry the tomato a step to the left, still facing the counter. ",
" STEP 4: Place the tomato on the counter. ",
" STEP 5: Pick up the sharp knife with the yellow handle from the counter. ",
" STEP 6: Use the knife to slice the tomato. ",
" STEP 7: Place the knife on the counter to the left of the tomato. ",
" STEP 8: Pick up a slice of tomato from the counter. ",
" STEP 9: Turn left to carry the tomato slice towards the fridge, but then turn left to face the sinks just before the fridge. ",
" STEP 10: Place the tomato slice in the right sink, turn on the water, and then move once rinsed. ",
" STEP 11: Turn left and carry the tomato slice to the wall, then turn your body left to face the microwave. ",
" STEP 12: Place the tomato slice in the microwave. ",
" END"
] | [
"Use the knife to slice the tomato.",
"Pick up a slice of tomato from the counter.",
"Pick up a slice of bread from the counter.",
"Pick up the tomato from the counter.",
"Turn left and carry the tomato slice to the wall, then turn your body left to face the microwave.",
"Pick up the cucumber from the counter.",
"Place the tomato slice in the microwave.",
"Place the knife on the counter to the left of the tomato.",
"Pick up the sharp knife with the yellow handle from the counter.",
"Turn left to carry the tomato slice towards the fridge, but then turn left to face the sinks just before the fridge.",
"Place the tomato on the counter.",
"Place the tomato slice in the right sink, turn on the water, and then move once rinsed.",
"Carry the tomato a step to the left, still facing the counter.",
"Turn around and move to the counter space to the right of the stove."
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)",
"(K)",
"(L)",
"(M)",
"(N)"
] | [
"(N)",
"(D)",
"(M)",
"(K)",
"(I)",
"(A)",
"(H)",
"(B)",
"(J)",
"(L)",
"(E)",
"(G)"
] |
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] | Slice a tomato, wash it, and place in microwave to be heated. | [
"STEP 1: Turn around, take a step forward, turn left and take a step toward the table, turn right and walk toward the counter with the toaster. ",
" STEP 2: Pick up the tomato. ",
" STEP 3: Take a step to the left in front of the spoon and knife. ",
" STEP 4: Put down the tomato in between the knife and the spoon. ",
" STEP 5: Pick up the knife. ",
" STEP 6: Slice the tomato. ",
" STEP 7: Put the knife down next to the spoon. ",
" STEP 8: Pick up the tomato. ",
" STEP 9: Turn left and walk to the sink. Turn right an face the sink. ",
" STEP 10: Put the tomato slice down in the right sink. Wash the tomato slice by turning the water on. After the water drains, pick up the tomato slice. ",
" STEP 11: Turn left and walk to the wall. At the wall, turn left and face the oven. Look up at the microwave. ",
" STEP 12: Put tomato slice in the microwave to the right of the apple. Close the door. ",
" END"
] | [
"Slice the tomato.",
"Pick up the knife.",
"Pick up the apple.",
"Turn left and walk to the sink. Turn right an face the sink.",
"Turn left and walk to the wall. At the wall, turn left and face the oven. Look up at the microwave.",
"Put the spoon down next to the knife.",
"Put tomato slice in the microwave to the right of the apple. Close the door.",
"Put the knife down next to the spoon.",
"Take a step to the left in front of the spoon and knife.",
"Turn around, take a step forward, turn left and take a step toward the table, turn right and walk toward the counter with the toaster.",
"Pick up the tomato.",
"Pick up the tomato.",
"Put down the tomato in between the knife and the spoon.",
"Put the tomato slice down in the right sink. Wash the tomato slice by turning the water on. After the water drains, pick up the tomato slice."
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)",
"(K)",
"(L)",
"(M)",
"(N)"
] | [
"(J)",
"(K)",
"(L)",
"(I)",
"(M)",
"(B)",
"(A)",
"(H)",
"(K)",
"(L)",
"(D)",
"(N)",
"(E)",
"(G)"
] |
trial_T20190909_012756_976137-2 | [
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] | Put a microwaved egg on the counter by the stove. | [
"STEP 1: Turn and go to the counter by the stove. ",
" STEP 2: Pick up an egg on the counter by the stove. ",
" STEP 3: Turn and go to the microwave. ",
" STEP 4: Heat the egg in the microwave. ",
" STEP 5: Turn and go to the counter by the stove. ",
" STEP 6: Put the egg on the counter by the stove. ",
" END"
] | [
"Turn and go to the microwave.",
"Pick up an egg on the counter by the stove.",
"Heat the egg in the microwave.",
"Put the egg on the counter by the stove.",
"Turn and go to the counter by the stove.",
"Cool the egg in the fridge.",
"Pick up a chicken on the counter by the stove.",
"Turn and go to the counter by the stove."
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(E)",
"(H)",
"(B)",
"(A)",
"(C)",
"(E)",
"(H)",
"(D)"
] |
trial_T20190906_212011_892959-1 | [
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] | Place the container with the watch in it onto the table. | [
"STEP 1: Turn right and face the TV on the table. ",
" STEP 2: Grab the watch from the table. ",
" STEP 3: Turn around and head to the shelves on the right. ",
" STEP 4: Place the watch in the grey container on the middle shelf. ",
" STEP 5: Grab the container that has the watch in it. ",
" STEP 6: Turn around and head to the table in the middle of the room. ",
" STEP 7: Place the container on the table. ",
" END"
] | [
"Place the container on the table.",
"Turn around and head to the shelves on the right.",
"Turn right and face the TV on the table.",
"Grab the pen from the top shelf.",
"Turn left and face the poster on the wall.",
"Turn around and head to the table in the middle of the room.",
"Grab the watch from the table.",
"Grab the container that has the watch in it.",
"Place the watch in the grey container on the middle shelf."
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)"
] | [
"(C)",
"(G)",
"(B)",
"(I)",
"(H)",
"(F)",
"(A)"
] |
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{
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},
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}
] | put a cooked apple on a kitchen counter top | [
"STEP 1: walk through the kitchen to face the small grey dining table ",
" STEP 2: pick up the red apple on the left from the table ",
" STEP 3: walk to face the stove and microwave ",
" STEP 4: cook the apple in the microwave, pick up the apple from the microwave ",
" STEP 5: turn around to face the coffee maker ",
" STEP 6: put the apple on the counter in front of the coffee maker ",
" END"
] | [
"put the apple on the counter in front of the coffee maker",
"walk through the kitchen to face the small grey dining table",
"cook the apple in the oven, pick up the apple from the oven",
"pick up the red apple on the left from the table",
"walk to face the stove and microwave",
"turn around to face the coffee maker",
"cook the apple in the microwave, pick up the apple from the microwave",
"walk through the living room to face the large white dining table"
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(B)",
"(D)",
"(E)",
"(G)",
"(F)",
"(A)"
] |
trial_T20190908_194103_462677-2 | [
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] | Heat an apple in the microwave. | [
"STEP 1: Turn around and walk to the left and go forward to the table. ",
" STEP 2: Pick up the apple from the table. ",
" STEP 3: Turn around completely and go to the left. Go forward. Turn to the left and face the microwave. ",
" STEP 4: Place the apple inside the microwave and heat the apple. Take out the apple. ",
" STEP 5: Turn around and walk to the other counter. ",
" STEP 6: Place the apple on the counter. ",
" END"
] | [
"Spin right and skip to the right, then proceed backward to the chair.",
"Pick up the apple from the table.",
"Place the apple inside the refrigerator and cool the apple. Leave the apple.",
"Turn around completely and go to the left. Go forward. Turn to the left and face the microwave.",
"Place the apple inside the microwave and heat the apple. Take out the apple.",
"Turn around and walk to the left and go forward to the table.",
"Turn around and walk to the other counter.",
"Place the apple on the counter."
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(F)",
"(B)",
"(D)",
"(E)",
"(G)",
"(H)"
] |
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] | Take out the seasoning and place it on the counter. | [
"STEP 1: Turn around and head to the counter to your left ",
" STEP 2: Open the cabinet and pick up the seasoning in it ",
" STEP 3: Go to the end of the brown counter next to the knife ",
" STEP 4: Put the seasoning down by the knife ",
" STEP 5: Turn around and walk to the end of the white cabinets ",
" STEP 6: Open the bottom white cabinet on the bottom ",
" STEP 7: Turn around and walk to the end of the brown cabinet to your left ",
" STEP 8: Put the seasoning down next to the other seasoning ",
" END"
] | [
"Turn around and walk to the end of the brown cabinet to your left",
"Put the seasoning down next to the other seasoning",
"Spin around and move to the counter on your right",
"Turn around and walk to the end of the white cabinets",
"Put the seasoning down by the knife",
"Open the cabinet and pick up the seasoning in it",
"Place the seasoning down next to the spoon",
"Go to the end of the brown counter next to the knife",
"Turn around and head to the counter to your left",
"Open the bottom white cabinet on the bottom"
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)"
] | [
"(I)",
"(F)",
"(H)",
"(E)",
"(D)",
"(J)",
"(A)",
"(B)"
] |
trial_T20190910_080020_894539-1 | [
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" position_y": " ",
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" rotation_x": " ",
" rotation_y": " ",
" rotation_z": " ",
" parent_receptacle": ""
},
{
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" object_type": " EastWall",
" position_x": " ",
" position_y": " ",
" position_z": " ",
" rotation_x": " ",
" rotation_y": " ",
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},
{
"id": "40",
" object_type": " SouthWall",
" position_x": " ",
" position_y": " ",
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" rotation_y": " ",
" rotation_z": " ",
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},
{
"id": "41",
" object_type": " WestWall",
" position_x": " ",
" position_y": " ",
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}
] | Put two credit cards on a brown table | [
"STEP 1: Turn left, turn left, walk straight to the brown desk ",
" STEP 2: Pick up the credit card on top of the desk ",
" STEP 3: Turn left, turn left, walk straight, turn right, walk straight to the brown table with a laptop on top ",
" STEP 4: Put the credit card on top of the table ",
" STEP 5: Turn right, walk straight, turn right to the brown sofa ",
" STEP 6: Pick up the credit card on top of the sofa ",
" STEP 7: Turn right, walk straight, turn right to the brown table ",
" STEP 8: Put the credit card on top of the table ",
" END"
] | [
"Put the credit card on top of the table",
"Put the credit card on top of the table",
"Pick up the credit card on top of the desk",
"Turn right, walk straight, turn right to the brown sofa",
"Turn left, turn left, walk straight to the brown desk",
"Pick up the credit card on top of the sofa",
"Turn left, turn left, walk straight, turn right, walk straight to the brown table with a laptop on top",
"Pick up the pen on top of the sofa",
"Turn right, walk straight, turn right to the brown table",
"Turn right, turn right, walk straight to the green desk"
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)",
"(I)",
"(J)"
] | [
"(E)",
"(C)",
"(G)",
"(A)",
"(B)",
"(D)",
"(F)",
"(I)",
"(A)",
"(B)"
] |
trial_T20190907_234738_410608-0 | [
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{
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{
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] | Place the clean mug in to the coffee maker. | [
"STEP 1: Turn around, go straight, turn right before the refrigerator to face the coffee machine. ",
" STEP 2: Pick up the white coffee mug from off of the coffee maker. ",
" STEP 3: Move to the right to face the sink. ",
" STEP 4: Place the mug in the sink, turn on the water, and pick up the mug. ",
" STEP 5: Move to the left to face the coffee maker again. ",
" STEP 6: Place the mug in to the coffee maker. ",
" END"
] | [
"Pick up the white coffee mug from off of the coffee maker.",
"Place the mug in to the coffee maker.",
"Place the mug in the sink, turn on the water, and pick up the mug.",
"Move to the right to face the sink.",
"Put down the white coffee mug on the table near the coffee maker.",
"Turn around, go straight, turn right before the refrigerator to face the coffee machine.",
"Move to the left to face the refrigerator.",
"Move to the left to face the coffee maker again."
] | [
"(A)",
"(B)",
"(C)",
"(D)",
"(E)",
"(F)",
"(G)",
"(H)"
] | [
"(F)",
"(A)",
"(D)",
"(C)",
"(H)",
"(B)"
] |