diff --git "a/data/test_data/tests_seen_table_seq.jsonl" "b/data/test_data/tests_seen_table_seq.jsonl" new file mode 100644--- /dev/null +++ "b/data/test_data/tests_seen_table_seq.jsonl" @@ -0,0 +1,705 @@ +{"id": "trial_T20190907_231611_105301-2", "input": "To examine a lap top under lamp light. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.25, 0.998, 0.0, 0, 0, 0, [SEP] 1, Plate, -3.429, 0.885, -1.090, 0, 0, 0, 28 [SEP] 2, Vase, -3.872, 0.883, -1.287, 0, 0, 0, 28 [SEP] 3, Pen, -0.030, 0.978, -2.415, 0, 0, 0, 37 [SEP] 4, RemoteControl, -3.207, 0.880, -1.385, 0, 0, 0, 28 [SEP] 5, Box, -2.863, 1.03, -0.958, 0, 0, 0, 28 [SEP] 6, Pillow, 0.629, 0.482, -1.667, 0, 0, 0, 25 [SEP] 7, CreditCard, -0.941, 0.448, -2.481, 0, 180, 0, 34 [SEP] 8, Plate, -3.851, 0.874, -1.011, 0, 0, 0, 28 [SEP] 9, Laptop, -1.222, 0.452, -0.658, 0, 0, 0, 29 [SEP] 10, RemoteControl, -4.094, 0.882, -1.385, 0, 0, 0, 28 [SEP] 11, Vase, -0.827, 0.459, -0.738, 0, 0, 0, 29 [SEP] 12, Statue, 0.257, 0.965, -2.518, 0, 0, 0, 37 [SEP] 13, KeyChain, -0.383, 0.525, 0.897, 0, 0, 0, 33 [SEP] 14, Pen, -0.135, 0.978, -2.493, 0, 90, 0, 37 [SEP] 15, Curtains, -3.013, 1.557, -3.082, 0, 0, 0, [SEP] 16, Television, -1.063, 0.939, -2.439, 0, 0, 0, [SEP] 17, HousePlant, 0.753, 0.855, -2.467, 0, 215.129, 0, [SEP] 18, HousePlant, 0.739, 0.855, -1.159, 0, 310.776, 0, [SEP] 19, FloorLamp, -2.186, 0.096, 1.111, 0, 0, 0, [SEP] 20, GarbageCan, -1.946, 0.097, -2.899, 0, 216.243, 0, [SEP] 21, Painting, -4.326, 1.817, -1.223, 90, 270, 0, [SEP] 22, Window, 0.010, 1.087, 0.001, 90, 270, 0, [SEP] 23, Window, -2.983, 1.544, -3.220, 90, 180, 0, [SEP] 24, LightSwitch, -3.907, 1.371, 1.386, 0, 180, 0, [SEP] 25, ArmChair, 0.662, 0.103, -1.781, 0, 270, 0, [SEP] 26, Stool, 0.765, 0.108, -1.148, 0, 0, 0, [SEP] 27, Stool, 0.765, 0.108, -2.460, 0, 35.380, 0, [SEP] 28, DiningTable, -3.428, 0.099, -1.188, 0, 0, 0, [SEP] 29, CoffeeTable, -1.090, 0.097, -0.737, 0, 0, 0, [SEP] 30, Chair, -3.793, 0.098, -0.841, 0, 164.999, 0, [SEP] 31, Chair, -3.073, 0.098, -1.515, 0, 11.313, 0, [SEP] 32, Chair, -3.810, 0.098, -1.549, 0, 352.857, 0, [SEP] 33, Sofa, -0.905, 0.099, 0.959, 0, 180, 0, [SEP] 34, CoffeeTable, -1.046, 0.096, -2.473, 0, 180, 0, [SEP] 35, Chair, -3.068, 0.098, -0.882, 0, 180, 0, [SEP] 36, Drawer, -0.031, 0.872, -2.487, 0, 0, 0, [SEP] 37, SideTable, -0.030, 0.097, -2.552, 0, 0, 0, [SEP] 38, NorthWall, , , , , , , [SEP] 39, EastWall, , , , , , , [SEP] 40, SouthWall, , , , , , , [SEP] 41, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and walk across the room and then turn right to face a tablet on the white table. | STEP 2: Close the lap top on the white table, then pick it up. | STEP 3: Turn around and face the lamp on the left. | STEP 4: Turn on the light to examine a lap top. | END"]} +{"id": "trial_T20190906_200329_245495-0", "input": "Place the toilet plunger in the cabinet below the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.903, 3.0, 0, 270, 0, [SEP] 1, SoapBar, -0.503, 0.164, 0.375, 0, 0, 0, 28 [SEP] 2, Candle, 0.668, 1.056, 4.539, 0, 270, 0, 31 [SEP] 3, SprayBottle, 0.485, 1.055, 4.116, 0, 0, 0, 22 [SEP] 4, SprayBottle, 0.232, 0.098, 3.167, 0, 0, 0, 18 [SEP] 5, Towel, -2.393, 1.478, 0.580, 0, 90, 0, 25 [SEP] 6, Candle, 0.699, 1.056, 4.277, 0, 270, 0, 31 [SEP] 7, Cloth, -2.322, 0.704, 0.717, 0, 0, 0, 19 [SEP] 8, HandTowel, 0.397, 1.656, 2.039, 0, 180, 0, 29 [SEP] 9, Plunger, 0.480, 0.002, 4.793, 0, 0, 0, [SEP] 10, SoapBar, 0.539, 1.054, 2.108, 0, 0, 0, 22 [SEP] 11, ToiletPaper, -0.944, 0.701, 1.060, 0, 0, 0, 19 [SEP] 12, ToiletPaper, 0.749, 1.045, 4.083, 0, 0, 0, 22 [SEP] 13, SoapBottle, 0.729, 1.051, 4.408, 0, 270, 0, 31 [SEP] 14, SprayBottle, 0.234, 0.098, 2.255, 0, 0, 0, 24 [SEP] 15, ScrubBrush, 0.688, 0.002, 4.867, 0, 0, 0, [SEP] 16, Sink, 0.426, 1.037, 2.947, 0, 270, 0, [SEP] 17, Window, -2.548, 1.673, 2.405, 0, 0, 0, [SEP] 18, Cabinet, 0.068, 0.366, 3.772, 0, 0, 0, [SEP] 19, Bathtub, -1.042, 0.155, 0.558, 0, 0, 0, [SEP] 20, SinkBasin, 0.404, 0.926, 2.926, 0, 270, 0, [SEP] 21, Mirror, 0.858, 1.863, 2.972, 0, 0, 0, [SEP] 22, CounterTop, 0.487, 1.015, 3.090, 0, 0, 0, [SEP] 23, Faucet, -0.207, 0.687, 0.546, 0, 0, 0, [SEP] 24, Cabinet, 0.074, 0.379, 2.045, 0, 0, 0, [SEP] 25, TowelHolder, -2.5, 1.463, 0.579, 0, 90, 0, [SEP] 26, ToiletPaperHanger, -0.081, 0.971, 5.0, 0, 180, 0, [SEP] 27, LightSwitch, -1.121, 1.333, 5.000, 0, 180, 0, [SEP] 28, BathtubBasin, -1.062, 0.153, 0.556, 0, 0, 0, [SEP] 29, HandTowelHolder, 0.398, 1.758, 2.000, 0, 270, 0, [SEP] 30, GarbageCan, -0.229, 0.001, 1.445, 0, 270, 0, [SEP] 31, Toilet, 0.376, 0.002, 4.470, 0, 0, 0, [SEP] 32, Faucet, 0.661, 1.043, 3.371, 0, 270, 0, [SEP] 33, Faucet, 0.661, 1.043, 2.520, 0, 270, 0, [SEP] 34, NorthWall, , , , , , , [SEP] 35, EastWall, , , , , , , [SEP] 36, SouthWall, , , , , , , [SEP] 37, WestWall, , , , , , , ", "output": ["STEP 1: Turn right, head towards the wall, and then turn right to face the toilet. | STEP 2: Pick up the plunger on the floor. | STEP 3: Take a few steps to the right to face the sink. | STEP 4: Open the cabinet below the sink and place the plunger in it. | END"]} +{"id": "trial_T20190906_200329_245495-1", "input": "Take the plunger set it inside the dresser drawer SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.903, 3.0, 0, 270, 0, [SEP] 1, SoapBar, -0.503, 0.164, 0.375, 0, 0, 0, 28 [SEP] 2, Candle, 0.668, 1.056, 4.539, 0, 270, 0, 31 [SEP] 3, SprayBottle, 0.485, 1.055, 4.116, 0, 0, 0, 22 [SEP] 4, SprayBottle, 0.232, 0.098, 3.167, 0, 0, 0, 18 [SEP] 5, Towel, -2.393, 1.478, 0.580, 0, 90, 0, 25 [SEP] 6, Candle, 0.699, 1.056, 4.277, 0, 270, 0, 31 [SEP] 7, Cloth, -2.322, 0.704, 0.717, 0, 0, 0, 19 [SEP] 8, HandTowel, 0.397, 1.656, 2.039, 0, 180, 0, 29 [SEP] 9, Plunger, 0.480, 0.002, 4.793, 0, 0, 0, [SEP] 10, SoapBar, 0.539, 1.054, 2.108, 0, 0, 0, 22 [SEP] 11, ToiletPaper, -0.944, 0.701, 1.060, 0, 0, 0, 19 [SEP] 12, ToiletPaper, 0.749, 1.045, 4.083, 0, 0, 0, 22 [SEP] 13, SoapBottle, 0.729, 1.051, 4.408, 0, 270, 0, 31 [SEP] 14, SprayBottle, 0.234, 0.098, 2.255, 0, 0, 0, 24 [SEP] 15, ScrubBrush, 0.688, 0.002, 4.867, 0, 0, 0, [SEP] 16, Sink, 0.426, 1.037, 2.947, 0, 270, 0, [SEP] 17, Window, -2.548, 1.673, 2.405, 0, 0, 0, [SEP] 18, Cabinet, 0.068, 0.366, 3.772, 0, 0, 0, [SEP] 19, Bathtub, -1.042, 0.155, 0.558, 0, 0, 0, [SEP] 20, SinkBasin, 0.404, 0.926, 2.926, 0, 270, 0, [SEP] 21, Mirror, 0.858, 1.863, 2.972, 0, 0, 0, [SEP] 22, CounterTop, 0.487, 1.015, 3.090, 0, 0, 0, [SEP] 23, Faucet, -0.207, 0.687, 0.546, 0, 0, 0, [SEP] 24, Cabinet, 0.074, 0.379, 2.045, 0, 0, 0, [SEP] 25, TowelHolder, -2.5, 1.463, 0.579, 0, 90, 0, [SEP] 26, ToiletPaperHanger, -0.081, 0.971, 5.0, 0, 180, 0, [SEP] 27, LightSwitch, -1.121, 1.333, 5.000, 0, 180, 0, [SEP] 28, BathtubBasin, -1.062, 0.153, 0.556, 0, 0, 0, [SEP] 29, HandTowelHolder, 0.398, 1.758, 2.000, 0, 270, 0, [SEP] 30, GarbageCan, -0.229, 0.001, 1.445, 0, 270, 0, [SEP] 31, Toilet, 0.376, 0.002, 4.470, 0, 0, 0, [SEP] 32, Faucet, 0.661, 1.043, 3.371, 0, 270, 0, [SEP] 33, Faucet, 0.661, 1.043, 2.520, 0, 270, 0, [SEP] 34, NorthWall, , , , , , , [SEP] 35, EastWall, , , , , , , [SEP] 36, SouthWall, , , , , , , [SEP] 37, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and walk towards the toilet | STEP 2: Take the plunger with your hand | STEP 3: Take the plunger towards the vanity dresser | STEP 4: Set the plunger inside the dresser drawer | END"]} +{"id": "trial_T20190906_200445_365117-0", "input": "turn on a lamp while holding a white plate SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.75, 0.900, -1.5, 0, 0, 0, [SEP] 1, TissueBox, -0.175, 0.129, 1.129, 0, 0, 0, 36 [SEP] 2, Newspaper, -1.226, 0.127, 1.202, 0, 0, 0, 36 [SEP] 3, Newspaper, -0.806, 0.127, 1.202, 0, 0, 0, 36 [SEP] 4, Box, -3.780, 1.305, 0.457, 0, 0, 0, 26 [SEP] 5, Vase, -0.971, 0.114, 1.197, 0, 0, 0, 36 [SEP] 6, TissueBox, -4.005, 1.066, 0.589, 0, 0, 0, 26 [SEP] 7, Newspaper, 1.492, 0.649, -1.488, 0, 0, 0, 31 [SEP] 8, KeyChain, 0.817, 0.660, 1.342, 0, 0, 0, 27 [SEP] 9, Vase, 1.492, 0.665, -1.338, 0, 0, 0, 31 [SEP] 10, Statue, -1.29, 0.891, 1.219, 0, 180, 0, 38 [SEP] 11, RemoteControl, 0.747, 0.458, 1.068, 0, 0, 0, 28 [SEP] 12, Pillow, -1.827, 0.585, -1.251, 0, 0, 0, 29 [SEP] 13, CreditCard, 1.829, 0.656, -1.338, 0, 0, 0, 31 [SEP] 14, Laptop, 0.434, 0.541, -1.187, 0, 0, 0, 35 [SEP] 15, Vase, -0.516, 0.114, 1.201, 0, 0, 0, 36 [SEP] 16, Statue, -4.165, 1.166, 0.192, 0, 270, 0, 26 [SEP] 17, DeskLamp, 1.657, 0.654, -1.605, 0, 0, 0, [SEP] 18, FloorLamp, -4.569, 0.005, -1.616, 0, 15.092, 0, [SEP] 19, LightSwitch, -2.464, 1.230, -1.950, 0, 0, 0, [SEP] 20, GarbageCan, -4.581, -0.032, 1.126, 0, 90, 0, [SEP] 21, Television, -0.549, 1.516, 1.450, 0, 180, 0, [SEP] 22, HousePlant, 1.555, 0.650, 1.166, 0, 0, 0, [SEP] 23, Window, -2.012, 1.501, 1.468, 90, 0, 0, [SEP] 24, Window, 0.986, 1.501, 1.468, 90, 0, 0, [SEP] 25, Painting, -0.698, 1.835, -1.911, 90, 0, 0, [SEP] 26, DiningTable, -3.941, 0.005, 0.257, 0, 0, 0, [SEP] 27, SideTable, 1.102, -0.000, 1.118, 0, 180, 0, [SEP] 28, Drawer, 1.103, 0.519, 0.834, 0, 180, 0, [SEP] 29, ArmChair, -1.832, 0.010, -1.349, 0, 0, 0, [SEP] 30, Drawer, 1.581, 0.523, -1.199, 0, 0, 0, [SEP] 31, SideTable, 1.581, 0.003, -1.488, 0, 0, 0, [SEP] 32, Painting, -4.910, 1.763, -0.098, 90, 270, 0, [SEP] 33, Chair, -4.398, 0.002, 0.274, 0, 85.162, 0, [SEP] 34, Chair, -3.825, 0.002, -0.223, 0, 340.163, 0, [SEP] 35, Sofa, 0.057, -0.002, -1.386, 0, 0, 0, [SEP] 36, Shelf, -0.552, 0.114, 1.252, 0, 180, 0, [SEP] 37, Drawer, -1.020, 0.728, 1.032, 0, 180, 0, [SEP] 38, SideTable, -0.589, 0.000, 1.227, 0, 180, 0, [SEP] 39, Drawer, -0.157, 0.728, 1.032, 0, 180, 0, [SEP] 40, NorthWall, , , , , , , [SEP] 41, EastWall, , , , , , , [SEP] 42, SouthWall, , , , , , , [SEP] 43, WestWall, , , , , , , ", "output": ["STEP 1: turn right and walk over to the cabinet underneath the television | STEP 2: grab a white plate from the cabinet | STEP 3: turn around and walk over to the night stand to the left of the couch | STEP 4: turn on the lamp on the night stand | END"]} +{"id": "trial_T20190906_200445_365117-1", "input": "Turn on the light that is on the end table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.75, 0.900, -1.5, 0, 0, 0, [SEP] 1, TissueBox, -0.175, 0.129, 1.129, 0, 0, 0, 36 [SEP] 2, Newspaper, -1.226, 0.127, 1.202, 0, 0, 0, 36 [SEP] 3, Newspaper, -0.806, 0.127, 1.202, 0, 0, 0, 36 [SEP] 4, Box, -3.780, 1.305, 0.457, 0, 0, 0, 26 [SEP] 5, Vase, -0.971, 0.114, 1.197, 0, 0, 0, 36 [SEP] 6, TissueBox, -4.005, 1.066, 0.589, 0, 0, 0, 26 [SEP] 7, Newspaper, 1.492, 0.649, -1.488, 0, 0, 0, 31 [SEP] 8, KeyChain, 0.817, 0.660, 1.342, 0, 0, 0, 27 [SEP] 9, Vase, 1.492, 0.665, -1.338, 0, 0, 0, 31 [SEP] 10, Statue, -1.29, 0.891, 1.219, 0, 180, 0, 38 [SEP] 11, RemoteControl, 0.747, 0.458, 1.068, 0, 0, 0, 28 [SEP] 12, Pillow, -1.827, 0.585, -1.251, 0, 0, 0, 29 [SEP] 13, CreditCard, 1.829, 0.656, -1.338, 0, 0, 0, 31 [SEP] 14, Laptop, 0.434, 0.541, -1.187, 0, 0, 0, 35 [SEP] 15, Vase, -0.516, 0.114, 1.201, 0, 0, 0, 36 [SEP] 16, Statue, -4.165, 1.166, 0.192, 0, 270, 0, 26 [SEP] 17, DeskLamp, 1.657, 0.654, -1.605, 0, 0, 0, [SEP] 18, FloorLamp, -4.569, 0.005, -1.616, 0, 15.092, 0, [SEP] 19, LightSwitch, -2.464, 1.230, -1.950, 0, 0, 0, [SEP] 20, GarbageCan, -4.581, -0.032, 1.126, 0, 90, 0, [SEP] 21, Television, -0.549, 1.516, 1.450, 0, 180, 0, [SEP] 22, HousePlant, 1.555, 0.650, 1.166, 0, 0, 0, [SEP] 23, Window, -2.012, 1.501, 1.468, 90, 0, 0, [SEP] 24, Window, 0.986, 1.501, 1.468, 90, 0, 0, [SEP] 25, Painting, -0.698, 1.835, -1.911, 90, 0, 0, [SEP] 26, DiningTable, -3.941, 0.005, 0.257, 0, 0, 0, [SEP] 27, SideTable, 1.102, -0.000, 1.118, 0, 180, 0, [SEP] 28, Drawer, 1.103, 0.519, 0.834, 0, 180, 0, [SEP] 29, ArmChair, -1.832, 0.010, -1.349, 0, 0, 0, [SEP] 30, Drawer, 1.581, 0.523, -1.199, 0, 0, 0, [SEP] 31, SideTable, 1.581, 0.003, -1.488, 0, 0, 0, [SEP] 32, Painting, -4.910, 1.763, -0.098, 90, 270, 0, [SEP] 33, Chair, -4.398, 0.002, 0.274, 0, 85.162, 0, [SEP] 34, Chair, -3.825, 0.002, -0.223, 0, 340.163, 0, [SEP] 35, Sofa, 0.057, -0.002, -1.386, 0, 0, 0, [SEP] 36, Shelf, -0.552, 0.114, 1.252, 0, 180, 0, [SEP] 37, Drawer, -1.020, 0.728, 1.032, 0, 180, 0, [SEP] 38, SideTable, -0.589, 0.000, 1.227, 0, 180, 0, [SEP] 39, Drawer, -0.157, 0.728, 1.032, 0, 180, 0, [SEP] 40, NorthWall, , , , , , , [SEP] 41, EastWall, , , , , , , [SEP] 42, SouthWall, , , , , , , [SEP] 43, WestWall, , , , , , , ", "output": ["STEP 1: Walk straight then take a quick right to go around the chair then a left to walk towards the shelf. | STEP 2: Pick up the CD from the shelf. | STEP 3: Turn to the right walk straight to the other table then turn around to walk towards the wall then make a right to go to the end table next to the couch. | STEP 4: Turn on the lamp that is sitting on the end table while still holding the CD. | END"]} +{"id": "trial_T20190908_130422_997962-1", "input": "Put the box with gray container on the table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.902, 2.75, 0, 0, 0, [SEP] 1, CellPhone, -1.913, 0.392, 5.736, 0, 180, 0, 59 [SEP] 2, CellPhone, -4.168, 1.271, 0.322, 0, 0, 0, 26 [SEP] 3, CreditCard, -4.287, 1.268, 0.920, 0, 0, 0, 26 [SEP] 4, CreditCard, -4.327, 1.268, 0.771, 0, 0, 0, 26 [SEP] 5, RemoteControl, -2.238, 0.656, -1.693, 0, 0, 0, 57 [SEP] 6, Box, -2.414, 0.679, 5.826, 0, 180, 0, 59 [SEP] 7, Box, -3.381, 0.684, 4.415, 0, 90, 0, 60 [SEP] 8, Laptop, -1.556, 0.653, -2.202, 0, 0, 0, 57 [SEP] 9, Box, -0.108, 1.031, 1.495, 0, 90, 0, 36 [SEP] 10, Vase, -0.708, 0.701, 6.038, 0, 315, 0, 51 [SEP] 11, CellPhone, -1.663, 0.392, 6.095, 0, 180, 0, 59 [SEP] 12, WateringCan, -3.580, 0.003, 5.507, 2.684, 0, 0, Floor|-04.41| [SEP] 13, KeyChain, -2.700, 0.319, 2.539, 0, 0, 0, 67 [SEP] 14, Vase, -4.242, 0.789, 1.181, 0, 0, 0, 29 [SEP] 15, Vase, -4.228, 0.789, 0.756, 0, 0, 0, 29 [SEP] 16, Laptop, -1.413, 0.387, 5.826, 0, 180, 0, 59 [SEP] 17, Pillow, -3.585, 0.451, 3.881, 0, 90, 0, 60 [SEP] 18, RemoteControl, -1.545, 0.454, 4.048, 0, 0, 0, 70 [SEP] 19, CreditCard, 0.552, 0.329, 1.258, 0, 0, 0, 33 [SEP] 20, Vase, -4.225, 0.789, 0.382, 0, 0, 0, 29 [SEP] 21, Statue, -2.465, 0.656, -2.202, 0, 0, 0, 57 [SEP] 22, Statue, -0.601, 0.752, 1.593, 0, 0, 0, 36 [SEP] 23, Statue, -0.601, 0.843, 1.398, 0, 0, 0, 36 [SEP] 24, Shelf, -4.253, 2.157, 0.771, 0, 0, 0, [SEP] 25, Painting, -3.368, 1.741, -0.298, 0, 0, 0, [SEP] 26, Shelf, -4.253, 1.306, 0.771, 0, 0, 0, [SEP] 27, Painting, -1.756, 1.424, -3.595, 0, 0, 0, [SEP] 28, Shelf, -4.253, 1.690, 0.771, 0, 0, 0, [SEP] 29, Shelf, -4.261, 0.833, 0.771, 0, 0, 0, [SEP] 30, Drawer, 0.411, 0.581, 1.221, 0, 180, 0, [SEP] 31, Drawer, -0.000, 0.170, 1.221, 0, 180, 0, [SEP] 32, Drawer, -0.000, 0.581, 1.221, 0, 180, 0, [SEP] 33, Drawer, 0.411, 0.375, 1.221, 0, 180, 0, [SEP] 34, Drawer, 0.411, 0.170, 1.221, 0, 180, 0, [SEP] 35, Drawer, -0.000, 0.375, 1.221, 0, 180, 0, [SEP] 36, Desk, -0.352, 0.003, 1.371, 0, 180, 0, [SEP] 37, FloorLamp, 0.391, -0.001, 5.157, 0, 0, 0, [SEP] 38, Window, -2.828, 0.470, -0.157, 90, 199.328, 0, [SEP] 39, Window, -4.410, 1.702, 1.787, 90, 270, 0, [SEP] 40, Window, -3.638, 1.702, 6.735, 90, 0, 0, [SEP] 41, Window, -4.410, 1.702, 2.790, 90, 270, 0, [SEP] 42, Window, -2.827, 1.702, -0.157, 90, 199.328, 0, [SEP] 43, Window, -0.131, 1.702, 6.735, 90, 0, 0, [SEP] 44, Window, -1.013, 1.702, -0.154, 90, 159.633, 0, [SEP] 45, Window, -4.410, 1.702, 5.980, 90, 270, 0, [SEP] 46, Television, -0.153, 1.176, 5.790, 0, 225, 0, [SEP] 47, GarbageCan, 0.357, 0.003, 2.159, 0, 90, 0, [SEP] 48, DeskLamp, 0.277, 0.735, 1.381, 0, 0, 0, [SEP] 49, HousePlant, -1.819, 0.641, -2.011, 0, 315, 0, [SEP] 50, LightSwitch, -2.740, 1.495, -0.405, 0, 180, 0, [SEP] 51, TVStand, -0.118, 0.001, 5.874, 0, 45, 0, [SEP] 52, Chair, -1.353, 0.002, -2.872, 0, 349.207, 0, [SEP] 53, Chair, -2.220, 0.002, -1.298, 0, 168.118, 0, [SEP] 54, Chair, -1.515, 0.007, -1.331, 358.639, 187.454, 0, [SEP] 55, Chair, -2.189, 0.002, -2.835, 0, 2.328, 0, [SEP] 56, Safe, 0.174, 0.001, -0.071, 0, 323.940, 0, [SEP] 57, DiningTable, -1.783, 0.003, -2.039, 0, 0, 0, [SEP] 58, Chair, -0.636, 0.010, 0.993, 0, 358.396, 0, [SEP] 59, Sofa, -2.161, 0.006, 6.115, 0, 180, 0, [SEP] 60, Sofa, -3.782, 0.006, 4.153, 0, 90, 0, [SEP] 61, Shelf, -1.095, 0.607, 1.321, 0, 180, 0, [SEP] 62, Shelf, -1.267, 0.607, 1.321, 0, 180, 0, [SEP] 63, Shelf, -1.267, 0.401, 1.321, 0, 180, 0, [SEP] 64, Shelf, -1.095, 0.196, 1.320, 0, 180, 0, [SEP] 65, Shelf, -1.095, 0.401, 1.321, 0, 180, 0, [SEP] 66, Shelf, -1.267, 0.196, 1.320, 0, 180, 0, [SEP] 67, ArmChair, -2.628, 0.009, 2.421, 0, 0, 0, [SEP] 68, Chair, -0.485, 0.010, 4.452, 0, 270, 0, [SEP] 69, Chair, -0.431, 0.010, 3.595, 0, 270, 0, [SEP] 70, CoffeeTable, -1.965, 0.000, 4.187, 0, 0, 0, [SEP] 71, NorthWall, , , , , , , [SEP] 72, EastWall, , , , , , , [SEP] 73, SouthWall, , , , , , , [SEP] 74, WestWall, , , , , , , ", "output": ["STEP 1: Turn left,move forward then cross the room head to the shelf | STEP 2: Pick up the gray container on the shelf | STEP 3: Turn right then head to the black table on your right | STEP 4: Put the gray container in the box | STEP 5: Pick up the box on the black table | STEP 6: Turn right then head to the long brown table | STEP 7: Put the box with gray container on the table | END"]} +{"id": "trial_T20190909_213235_625876-0", "input": "Put a bowl with a potato in it in the microwave. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.0, 0.900, -0.75, 0, 0, 0, [SEP] 1, Potato, 1.846, 1.045, -1.245, 0, 270, 0, 89 [SEP] 2, Potato, -1.330, 0.943, -0.109, 0, 0, 0, 77 [SEP] 3, ButterKnife, -0.993, 0.911, -1.722, 0, 0, 0, 84 [SEP] 4, Kettle, -0.612, 0.113, 0.218, 0, 180, 0, 79 [SEP] 5, Pot, -1.056, 0.956, -1.127, 0, 0, 0, 81 [SEP] 6, Pot, -1.289, 0.957, -1.02, 0, 0, 0, 74 [SEP] 7, Spatula, -0.376, 0.778, -2.118, 0, 90, 0, 94 [SEP] 8, Spoon, -1.278, 0.914, 0.241, 0, 90, 0, 77 [SEP] 9, Egg, -0.117, 0.797, -1.897, 0, 0, 0, 94 [SEP] 10, Plate, 1.914, 1.650, -1.737, 0, 0, 0, 62 [SEP] 11, Plate, -1.312, 1.659, -0.353, 0, 0, 0, 67 [SEP] 12, Knife, -0.375, 1.155, 0.618, 0, 0, 0, 80 [SEP] 13, Knife, -1.278, 0.937, 0.135, 0, 0, 0, 77 [SEP] 14, SoapBottle, 3.105, 0.879, 0.195, 0, 180, 0, 88 [SEP] 15, SoapBottle, 2.591, 0.552, 0.038, 0, 180, 0, 90 [SEP] 16, Tomato, 1.924, 0.112, 0.109, 0, 0, 0, 87 [SEP] 17, Bowl, 1.911, 1.656, -1.197, 0, 0, 0, 61 [SEP] 18, SaltShaker, -0.657, 0.907, -2.267, 0, 0, 0, 84 [SEP] 19, SaltShaker, 0.071, 1.127, 0.529, 0, 0, 0, 80 [SEP] 20, PepperShaker, 2.694, 0.548, 0.038, 0, 180, 0, 90 [SEP] 21, PepperShaker, 0.094, 0.112, 0.286, 0, 180, 0, 72 [SEP] 22, Lettuce, 1.891, 1.175, -0.551, 0, 270, 0, 91 [SEP] 23, Mug, 0.388, 1.655, -2.087, 0, 0, 0, 64 [SEP] 24, Apple, 1.945, 0.865, -0.271, 0, 270, 0, 91 [SEP] 25, Apple, -0.152, 1.180, 0.485, 0, 0, 0, 80 [SEP] 26, Pan, 1.743, 0.9, -1.969, 0, 308.846, 0, 84 [SEP] 27, Knife, -0.598, 1.155, 0.662, 0, 0, 0, 80 [SEP] 28, Bowl, 2.000, 0.814, -0.737, 0, 270, 0, 91 [SEP] 29, Fork, -0.290, 0.763, -2.063, 0, 0, 0, 94 [SEP] 30, Cup, 0.101, 0.750, -1.938, 0, 0, 0, 94 [SEP] 31, Ladle, -0.645, 0.728, 0.190, 0, 270, 0, 78 [SEP] 32, Apple, 1.781, 0.865, -0.551, 0, 270, 0, 91 [SEP] 33, Kettle, -1.047, 0.953, -2.094, 0, 0, 0, 84 [SEP] 34, Vase, -1.163, 0.915, -0.109, 0, 0, 0, 77 [SEP] 35, Potato, -1.157, 0.941, -1.806, 0, 0, 0, 84 [SEP] 36, Pot, -1.289, 0.957, -0.756, 0, 180, 0, 59 [SEP] 37, Bread, -0.849, 0.995, 0.188, 0, 0, 0, 77 [SEP] 38, Plate, -1.313, 1.660, -0.043, 0, 0, 0, 68 [SEP] 39, Spatula, -0.993, 0.926, -1.891, 0, 0, 0, 84 [SEP] 40, PaperTowelRoll, -0.634, 1.017, 0.083, 0, 0, 0, 77 [SEP] 41, Vase, -1.330, 0.919, -0.353, 0, 0, 0, 77 [SEP] 42, Egg, 2.042, 0.096, 0.166, 0, 0, 0, 87 [SEP] 43, SoapBottle, -0.997, 0.913, -0.109, 0, 0, 0, 77 [SEP] 44, SaltShaker, -0.986, 0.125, -1.465, 0, 0, 0, 70 [SEP] 45, Lettuce, 1.945, 1.504, -0.551, 0, 270, 0, 91 [SEP] 46, PepperShaker, -0.375, 1.127, 0.485, 0, 0, 0, 80 [SEP] 47, ButterKnife, 1.194, 0.911, -1.844, 0, 0, 0, 84 [SEP] 48, DishSponge, -1.272, 1.660, -0.558, 0, 0, 0, 67 [SEP] 49, Vase, 2.979, 0.539, 0.128, 0, 0, 0, 90 [SEP] 50, Spoon, -0.205, 0.914, 0.188, 0, 0, 0, 77 [SEP] 51, Tomato, 0.969, 0.960, -1.760, 0, 0, 0, 84 [SEP] 52, Mug, -0.264, 0.111, 0.245, 0, 180, 0, 72 [SEP] 53, Statue, -0.420, 0.920, 0.188, 0, 0, 0, 77 [SEP] 54, Drawer, -0.819, 0.75, -1.690, 0, 0, 0, [SEP] 55, Cabinet, -1.149, 2.264, -0.838, 0, 90, 0, [SEP] 56, StoveBurner, -1.056, 0.949, -0.671, 0, 180, 0, [SEP] 57, Cabinet, 1.738, 2.019, -2.000, 0, 0, 0, [SEP] 58, Cabinet, 1.389, 0.469, -1.059, 0, 0, 0, [SEP] 59, StoveBurner, -1.289, 0.949, -0.755, 0, 180, 0, [SEP] 60, Faucet, -0.157, 1.052, -2.196, 0, 270, 0, [SEP] 61, Cabinet, 1.75, 2.019, -1.029, 0, 0, 0, [SEP] 62, Cabinet, 1.75, 2.019, -1.399, 0, 0, 0, [SEP] 63, Cabinet, 1.179, 2.019, -2.0, 0, 0, 0, [SEP] 64, Cabinet, 0.199, 2.019, -2.0, 0, 0, 0, [SEP] 65, Cabinet, -1.100, 2.019, -2.0, 0, 0, 0, [SEP] 66, Cabinet, -1.149, 2.019, -1.979, 0, 0, 0, [SEP] 67, Cabinet, -1.149, 2.019, -0.770, 0, 0, 0, [SEP] 68, Cabinet, -1.149, 2.019, 0.380, 0, 0, 0, [SEP] 69, Cabinet, -0.819, 0.469, -1.689, 0, 0, 0, [SEP] 70, Cabinet, -0.839, 0.469, -1.664, 0, 0, 0, [SEP] 71, Cabinet, -0.839, 0.469, -0.049, 0, 0, 0, [SEP] 72, Cabinet, -0.414, 0.370, -0.009, 0, 0, 0, [SEP] 73, Sink, -0.118, 0.875, -2.009, 0, 0, 0, [SEP] 74, StoveBurner, -1.289, 0.949, -1.019, 0, 0, 0, [SEP] 75, Cabinet, 0.119, 2.264, -2.0, 0, 0, 0, [SEP] 76, Cabinet, -0.459, 2.264, -2.0, 0, 0, 0, [SEP] 77, CounterTop, -0.665, 0.949, 0.188, 0, 0, 0, [SEP] 78, Drawer, -0.449, 0.75, -0.010, 0, 180, 0, [SEP] 79, Cabinet, -0.450, 0.469, -0.009, 0, 0, 0, [SEP] 80, CounterTop, -0.630, 1.167, 0.573, 0, 0, 0, [SEP] 81, StoveBurner, -1.056, 0.949, -1.126, 0, 0, 0, [SEP] 82, Cabinet, 1.376, 0.460, -1.685, 0, 0, 0, [SEP] 83, Drawer, -0.070, 0.75, -0.009, 0, 180, 0, [SEP] 84, CounterTop, 1.159, 0.946, -2.013, 0, 0, 0, [SEP] 85, Cabinet, -1.150, 2.264, -1.418, 0, 90, 0, [SEP] 86, HousePlant, -1.246, 1.108, 0.606, 0, 0, 0, [SEP] 87, GarbageCan, 1.923, -0.010, 0.137, 0, 0, 0, [SEP] 88, Shelf, 2.759, 0.880, 0.144, 0, 0, 0, [SEP] 89, Microwave, 1.827, 0.900, -1.354, 0, 270, 0, [SEP] 90, Shelf, 2.759, 0.552, 0.145, 0, 0, 0, [SEP] 91, Fridge, 1.975, 0.0, -0.537, 0, 0, 0, [SEP] 92, LightSwitch, 0.404, 1.297, 2.0, 0, 180, 0, [SEP] 93, Shelf, 2.760, 0.172, 0.145, 0, 0, 0, [SEP] 94, SinkBasin, -0.129, 0.752, -2.007, 0, 0, 0, [SEP] 95, StoveKnob, -0.873, 0.903, -0.827, 45, 90, 0, [SEP] 96, StoveKnob, -0.873, 0.903, -0.676, 45, 90, 0, [SEP] 97, StoveKnob, -0.873, 0.903, -0.966, 45, 90, 0, [SEP] 98, StoveKnob, -0.873, 0.903, -1.123, 45, 90, 0, [SEP] 99, Toaster, 0.840, 0.900, -2.057, 0, 0, 0, [SEP] 100, CoffeeMachine, 0.501, 0.900, -2.125, 0, 0, 0, [SEP] 101, ShelvingUnit, 2.760, 0.006, 0.144, 0, 0, 0, [SEP] 102, Stool, -0.826, 0.010, 0.908, 0, 347.513, 0, [SEP] 103, Stool, -0.132, 0.010, 0.883, 0, 71.555, 0, [SEP] 104, NorthWall, , , , , , , [SEP] 105, EastWall, , , , , , , [SEP] 106, SouthWall, , , , , , , [SEP] 107, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and take a step then turn left to face the microwave. | STEP 2: Take the potato out of the microwave. | STEP 3: Look up at the cupboard above the microwave. | STEP 4: Open the cupboard above the microwave and put the potato in the glass bowl that's up there. | STEP 5: Grab the bowl with the potato and close the door. | STEP 6: Look back down at the microwave. | STEP 7: Put the bowl with the potato in it in the microwave. | END"]} +{"id": "trial_T20190906_203100_940022-2", "input": "turn on the lamp while holding a pencil SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.75, 0.937, 3.0, 0, 270, 0, [SEP] 1, Mug, -0.602, 1.114, -3.243, 0, 0, 0, 35 [SEP] 2, Mug, -1.539, 1.114, -2.732, 0, 0, 0, 35 [SEP] 3, CellPhone, -1.426, 0.586, -2.934, 0, 0, 0, 31 [SEP] 4, Pen, -2.164, 1.121, -2.732, 0, 0, 0, 35 [SEP] 5, CreditCard, 1.752, 0.553, 2.243, 0, 90, 0, 55 [SEP] 6, CreditCard, -1.929, 0.190, 3.503, 0, 180, 0, 48 [SEP] 7, KeyChain, 1.828, 0.095, -3.206, 0, 90, 0, 53 [SEP] 8, RemoteControl, -0.365, 0.087, -2.882, 0, 0, 0, 34 [SEP] 9, RemoteControl, 1.609, 0.556, 2.490, 0, 90, 0, 55 [SEP] 10, AlarmClock, -1.227, 1.118, -2.817, 0, 0, 0, 35 [SEP] 11, AlarmClock, -0.602, 1.118, -2.902, 0, 0, 0, 35 [SEP] 12, Laptop, 0.389, 0.830, 0.975, 0, 0, 0, 28 [SEP] 13, Laptop, 0.958, 0.830, 1.456, 0, 0, 0, 28 [SEP] 14, Book, 0.573, 0.077, -3.077, 0, 0, 0, 32 [SEP] 15, AlarmClock, -1.539, 1.118, -3.073, 0, 0, 0, 35 [SEP] 16, CellPhone, -0.543, 0.087, -2.882, 0, 0, 0, 34 [SEP] 17, Pillow, 0.104, 0.940, 0.255, 0, 0, 0, 28 [SEP] 18, Pillow, 1.243, 0.940, 0.015, 0, 0, 0, 28 [SEP] 19, TeddyBear, 1.868, 0.036, -0.561, 0, 59.999, 0, Floor|-00.06| [SEP] 20, CreditCard, 1.609, 0.552, 2.391, 0, 90, 0, 55 [SEP] 21, KeyChain, 1.854, 0.554, 2.612, 0, 0, 0, 55 [SEP] 22, Pencil, -3.365, 0.377, -2.841, 0, 4.809, 0, 37 [SEP] 23, Laptop, -1.901, 1.104, -2.965, 0, 0, 0, 35 [SEP] 24, RemoteControl, -2.010, 0.193, 3.684, 0, 180, 0, 48 [SEP] 25, CD, -0.696, 0.190, 3.597, 0, 175.771, 0, 47 [SEP] 26, Pen, -1.071, 0.588, -2.934, 0, 0, 0, 31 [SEP] 27, Mug, -2.865, 0.080, -2.976, 0, 0, 0, 29 [SEP] 28, Bed, 0.967, 0.049, 0.667, 0, 90, 0, [SEP] 29, Cabinet, -3.0, 1.497, -2.643, 0, 0, 0, [SEP] 30, Drawer, -0.365, 0.785, -2.848, 0, 0, 0, [SEP] 31, Drawer, -1.159, 0.785, -2.848, 0, 0, 0, [SEP] 32, Cabinet, 2.064, 1.497, -2.643, 0, 0, 0, [SEP] 33, Drawer, -1.159, 0.285, -2.848, 0, 0, 0, [SEP] 34, Drawer, -0.365, 0.285, -2.848, 0, 0, 0, [SEP] 35, Desk, -1.271, 1.169, -2.987, 0, 0, 0, [SEP] 36, LightSwitch, -0.159, 1.281, 3.999, 0, 180, 0, [SEP] 37, GarbageCan, -3.338, 0.022, -2.797, 0, 4.809, 0, [SEP] 38, HousePlant, -0.195, 1.105, -3.084, 0, 0, 0, [SEP] 39, DeskLamp, 1.863, 0.581, 2.431, 0, 0, 0, [SEP] 40, Mirror, -1.603, 1.447, 3.999, 0, 0, 0, [SEP] 41, Television, -3.883, 1.771, 2.122, 0, 90, 0, [SEP] 42, Window, -1.952, 2.148, -3.302, 90, 180, 0, [SEP] 43, Window, -0.467, 2.148, -3.302, 90, 180, 0, [SEP] 44, Window, -3.894, 1.751, 0.582, 90, 270, 0, [SEP] 45, Window, -3.894, 1.751, -0.675, 90, 270, 0, [SEP] 46, LaundryHamper, 1.831, 0.058, 3.689, 0, 354.434, 1.354, [SEP] 47, ArmChair, -0.948, 0.051, 3.583, 0, 175.988, 0, [SEP] 48, ArmChair, -2.172, 0.051, 3.598, 0, 180, 0, [SEP] 49, Blinds, -0.477, 2.785, -3.253, 0, 0, 0, [SEP] 50, Blinds, -1.957, 2.785, -3.253, 0, 0, 0, [SEP] 51, Blinds, -3.799, 2.506, 0.602, 0, 90, 0, [SEP] 52, Blinds, -3.799, 2.506, -0.647, 0, 90, 0, [SEP] 53, Safe, 1.673, 0.054, -3.004, 0, 0, 0, [SEP] 54, ArmChair, -3.349, 0.051, 3.375, 0, 150.096, 0, [SEP] 55, SideTable, 1.775, 0.048, 2.377, 0, 0, 0, [SEP] 56, Chair, -2.002, 0.050, -2.532, 0, 165.000, 0, [SEP] 57, NorthWall, , , , , , , [SEP] 58, EastWall, , , , , , , [SEP] 59, SouthWall, , , , , , , [SEP] 60, WestWall, , , , , , , ", "output": ["STEP 1: walk over to the blue recycling bin | STEP 2: grab the yellow pencil out of the recycling bin | STEP 3: turn around and go across the room to the circle table | STEP 4: turn on the lamp on the table | END"]} +{"id": "trial_T20190906_202722_545356-0", "input": "Place a knife and a slice of tomato in the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.5, 0.900, 2.75, 0, 0, 0, [SEP] 1, Pan, 1.543, 0.909, -0.320, 0, 90, 0, 44 [SEP] 2, Potato, 1.183, 0.951, -1.247, 0, 90, 0, 45 [SEP] 3, ButterKnife, 0.476, 0.910, 1.180, 0, 90, 0, 41 [SEP] 4, DishSponge, 1.762, 0.910, 0.622, 0, 90, 0, 41 [SEP] 5, DishSponge, 0.220, 0.910, 0.915, 0, 90, 0, 41 [SEP] 6, Fork, 0.356, 0.911, -1.793, 0, 180, 0, 45 [SEP] 7, Egg, 0.894, 0.795, -1.654, 0, 0, 0, 60 [SEP] 8, Cup, 1.735, 1.631, -1.046, 0, 0, 0, 53 [SEP] 9, SoapBottle, 1.769, 2.135, 0.880, 0, 0, 0, 49 [SEP] 10, SoapBottle, 1.516, 0.909, -1.374, 0, 90, 0, 45 [SEP] 11, Tomato, 1.77, 0.134, 1.731, 0, 270, 0, 59 [SEP] 12, SaltShaker, 1.877, 1.648, -0.353, 0, 0, 0, 52 [SEP] 13, SaltShaker, 1.769, 1.648, -0.257, 0, 0, 0, 52 [SEP] 14, PepperShaker, 1.684, 0.905, 0.415, 0, 90, 0, 41 [SEP] 15, PepperShaker, 1.839, 0.905, 0.518, 0, 90, 0, 41 [SEP] 16, Bread, 1.726, 0.988, -1.460, 0, 90, 0, 45 [SEP] 17, Mug, 0.502, 0.940, -1.460, 0, 0, 0, 67 [SEP] 18, Mug, 1.809, 2.131, 1.121, 0, 0, 0, 48 [SEP] 19, Plate, 1.501, 0.912, 1.180, 0, 90, 0, 41 [SEP] 20, SoapBottle, 1.451, 0.908, 0.467, 0, 90, 0, 41 [SEP] 21, Cup, -0.334, 1.062, -1.382, 0, 0, 0, 68 [SEP] 22, Egg, 1.835, 1.050, -0.888, 0, 270, 0, 65 [SEP] 23, Fork, 0.988, 0.911, 1.004, 0, 90, 0, 41 [SEP] 24, Ladle, 1.201, 0.926, 0.743, 3.357, 0, 346.991, 41 [SEP] 25, Apple, 1.170, 0.817, -1.654, 0, 0, 0, 60 [SEP] 26, SaltShaker, 1.735, 1.628, -0.682, 0, 0, 0, 53 [SEP] 27, Pan, 1.807, 0.909, -0.320, 0, 180, 0, 43 [SEP] 28, Tomato, 0.476, 0.974, 1.092, 0, 90, 0, 41 [SEP] 29, Spatula, 0.989, 0.925, 0.915, 0, 270, 0, 41 [SEP] 30, Potato, 1.796, 0.951, -1.631, 0, 90, 0, 45 [SEP] 31, Knife, 1.529, 0.943, 0.363, 0, 180, 0, 41 [SEP] 32, ButterKnife, 1.245, 0.910, 0.827, 0, 90, 0, 41 [SEP] 33, Bread, 1.615, 0.977, 0.761, 0, 50.525, 0, 41 [SEP] 34, Lettuce, -0.790, 0.560, -1.541, 0, 0, 0, 68 [SEP] 35, PepperShaker, 1.769, 1.648, -0.449, 0, 0, 0, 52 [SEP] 36, Pot, 1.534, 0.908, 0.058, 0, 195.000, 0, 47 [SEP] 37, DishSponge, 1.865, 0.910, -1.288, 0, 90, 0, 45 [SEP] 38, Spoon, 1.586, 0.912, -1.717, 0, 90, 0, 45 [SEP] 39, Bowl, 1.805, 1.634, -1.378, 0, 0, 0, 54 [SEP] 40, Mug, 1.844, 1.634, 0.487, 0, 90, 0, 50 [SEP] 41, CounterTop, 0.989, 0.946, 1.016, 0, 90, 0, [SEP] 42, StoveBurner, 1.807, 0.907, 0.075, 0, 180, 0, [SEP] 43, StoveBurner, 1.807, 0.907, -0.320, 0, 180, 0, [SEP] 44, StoveBurner, 1.543, 0.907, -0.320, 0, 90, 0, [SEP] 45, CounterTop, 0.989, 0.946, -1.516, 0, 90, 0, [SEP] 46, Sink, 1.100, 0.906, -1.599, 0, 0, 0, [SEP] 47, StoveBurner, 1.548, 0.907, 0.075, 0, 180, 0, [SEP] 48, Cabinet, 1.658, 2.299, 1.313, 0, 0, 0, [SEP] 49, Cabinet, 1.658, 2.299, 0.686, 0, 0, 0, [SEP] 50, Cabinet, 1.658, 2.049, 0.673, 0, 0, 0, [SEP] 51, Cabinet, 1.658, 2.059, 0.193, 0, 0, 0, [SEP] 52, Cabinet, 1.658, 2.059, -0.593, 0, 0, 0, [SEP] 53, Cabinet, 1.658, 2.049, -0.606, 0, 0, 0, [SEP] 54, Cabinet, 1.658, 2.049, -1.206, 0, 0, 0, [SEP] 55, Cabinet, 1.658, 2.049, -1.893, 0, 0, 0, [SEP] 56, Toaster, 0.131, 0.900, -1.589, 0, 0, 0, [SEP] 57, Window, -0.372, 1.588, 3.349, 90, 0, 0, [SEP] 58, Window, 0.782, 1.741, -1.893, 90, 0, 0, [SEP] 59, GarbageCan, 1.770, -0.029, 1.685, 0, 270, 0, [SEP] 60, SinkBasin, 1.091, 0.740, -1.599, 0, 0, 0, [SEP] 61, StoveKnob, 1.364, 0.821, 0.086, 48.421, 270, 0, [SEP] 62, StoveKnob, 1.364, 0.821, -0.180, 48.421, 270, 0, [SEP] 63, StoveKnob, 1.364, 0.821, -0.317, 48.421, 270, 0, [SEP] 64, StoveKnob, 1.364, 0.821, -0.054, 48.421, 270, 0, [SEP] 65, Microwave, 1.752, 0.900, -0.843, 0, 270, 0, [SEP] 66, LightSwitch, 2.0, 1.261, 3.094, 0, 270, 0, [SEP] 67, CoffeeMachine, 0.501, 0.900, -1.600, 0, 0, 0, [SEP] 68, Fridge, -0.533, 0.0, -1.554, 0, 0, 0, [SEP] 69, Chair, 1.068, 0.000, 1.752, 0, 191.622, 0, [SEP] 70, Faucet, 1.110, 1.138, -1.764, 0, 270, 0, [SEP] 71, Chair, 0.357, 0.000, 1.710, 0, 178.899, 0, [SEP] 72, NorthWall, , , , , , , [SEP] 73, EastWall, , , , , , , [SEP] 74, SouthWall, , , , , , , [SEP] 75, WestWall, , , , , , , ", "output": ["STEP 1: Turn left, head towards the door, turn left towards the counter on your left, turn left to face the counter. | STEP 2: Pick up the knife from the counter. | STEP 3: Take a step to the right. | STEP 4: Slice the tomato on the counter into several slices. | STEP 5: Turn right, walk towards the middle of the kitchen, turn left towards the stove, and then turn right towards the sink. | STEP 6: Place the knife in the sink. | STEP 7: Turn around and head towards the counter. | STEP 8: Pick up a slice of tomato from the counter. | STEP 9: Turn around and head towards the microwave on your left. | STEP 10: Open the microwave, place the slice in it, heat it up, and then take it out of the microwave. | STEP 11: Turn right towards the sink. | STEP 12: Place the slice tomato to the left of the apple in the sink. | END"]} +{"id": "trial_T20190906_202722_545356-2", "input": "To boil an egg and put in the sink smoothly. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.5, 0.900, 2.75, 0, 0, 0, [SEP] 1, Pan, 1.543, 0.909, -0.320, 0, 90, 0, 44 [SEP] 2, Potato, 1.183, 0.951, -1.247, 0, 90, 0, 45 [SEP] 3, ButterKnife, 0.476, 0.910, 1.180, 0, 90, 0, 41 [SEP] 4, DishSponge, 1.762, 0.910, 0.622, 0, 90, 0, 41 [SEP] 5, DishSponge, 0.220, 0.910, 0.915, 0, 90, 0, 41 [SEP] 6, Fork, 0.356, 0.911, -1.793, 0, 180, 0, 45 [SEP] 7, Egg, 0.894, 0.795, -1.654, 0, 0, 0, 60 [SEP] 8, Cup, 1.735, 1.631, -1.046, 0, 0, 0, 53 [SEP] 9, SoapBottle, 1.769, 2.135, 0.880, 0, 0, 0, 49 [SEP] 10, SoapBottle, 1.516, 0.909, -1.374, 0, 90, 0, 45 [SEP] 11, Tomato, 1.77, 0.134, 1.731, 0, 270, 0, 59 [SEP] 12, SaltShaker, 1.877, 1.648, -0.353, 0, 0, 0, 52 [SEP] 13, SaltShaker, 1.769, 1.648, -0.257, 0, 0, 0, 52 [SEP] 14, PepperShaker, 1.684, 0.905, 0.415, 0, 90, 0, 41 [SEP] 15, PepperShaker, 1.839, 0.905, 0.518, 0, 90, 0, 41 [SEP] 16, Bread, 1.726, 0.988, -1.460, 0, 90, 0, 45 [SEP] 17, Mug, 0.502, 0.940, -1.460, 0, 0, 0, 67 [SEP] 18, Mug, 1.809, 2.131, 1.121, 0, 0, 0, 48 [SEP] 19, Plate, 1.501, 0.912, 1.180, 0, 90, 0, 41 [SEP] 20, SoapBottle, 1.451, 0.908, 0.467, 0, 90, 0, 41 [SEP] 21, Cup, -0.334, 1.062, -1.382, 0, 0, 0, 68 [SEP] 22, Egg, 1.835, 1.050, -0.888, 0, 270, 0, 65 [SEP] 23, Fork, 0.988, 0.911, 1.004, 0, 90, 0, 41 [SEP] 24, Ladle, 1.201, 0.926, 0.743, 3.357, 0, 346.991, 41 [SEP] 25, Apple, 1.170, 0.817, -1.654, 0, 0, 0, 60 [SEP] 26, SaltShaker, 1.735, 1.628, -0.682, 0, 0, 0, 53 [SEP] 27, Pan, 1.807, 0.909, -0.320, 0, 180, 0, 43 [SEP] 28, Tomato, 0.476, 0.974, 1.092, 0, 90, 0, 41 [SEP] 29, Spatula, 0.989, 0.925, 0.915, 0, 270, 0, 41 [SEP] 30, Potato, 1.796, 0.951, -1.631, 0, 90, 0, 45 [SEP] 31, Knife, 1.529, 0.943, 0.363, 0, 180, 0, 41 [SEP] 32, ButterKnife, 1.245, 0.910, 0.827, 0, 90, 0, 41 [SEP] 33, Bread, 1.615, 0.977, 0.761, 0, 50.525, 0, 41 [SEP] 34, Lettuce, -0.790, 0.560, -1.541, 0, 0, 0, 68 [SEP] 35, PepperShaker, 1.769, 1.648, -0.449, 0, 0, 0, 52 [SEP] 36, Pot, 1.534, 0.908, 0.058, 0, 195.000, 0, 47 [SEP] 37, DishSponge, 1.865, 0.910, -1.288, 0, 90, 0, 45 [SEP] 38, Spoon, 1.586, 0.912, -1.717, 0, 90, 0, 45 [SEP] 39, Bowl, 1.805, 1.634, -1.378, 0, 0, 0, 54 [SEP] 40, Mug, 1.844, 1.634, 0.487, 0, 90, 0, 50 [SEP] 41, CounterTop, 0.989, 0.946, 1.016, 0, 90, 0, [SEP] 42, StoveBurner, 1.807, 0.907, 0.075, 0, 180, 0, [SEP] 43, StoveBurner, 1.807, 0.907, -0.320, 0, 180, 0, [SEP] 44, StoveBurner, 1.543, 0.907, -0.320, 0, 90, 0, [SEP] 45, CounterTop, 0.989, 0.946, -1.516, 0, 90, 0, [SEP] 46, Sink, 1.100, 0.906, -1.599, 0, 0, 0, [SEP] 47, StoveBurner, 1.548, 0.907, 0.075, 0, 180, 0, [SEP] 48, Cabinet, 1.658, 2.299, 1.313, 0, 0, 0, [SEP] 49, Cabinet, 1.658, 2.299, 0.686, 0, 0, 0, [SEP] 50, Cabinet, 1.658, 2.049, 0.673, 0, 0, 0, [SEP] 51, Cabinet, 1.658, 2.059, 0.193, 0, 0, 0, [SEP] 52, Cabinet, 1.658, 2.059, -0.593, 0, 0, 0, [SEP] 53, Cabinet, 1.658, 2.049, -0.606, 0, 0, 0, [SEP] 54, Cabinet, 1.658, 2.049, -1.206, 0, 0, 0, [SEP] 55, Cabinet, 1.658, 2.049, -1.893, 0, 0, 0, [SEP] 56, Toaster, 0.131, 0.900, -1.589, 0, 0, 0, [SEP] 57, Window, -0.372, 1.588, 3.349, 90, 0, 0, [SEP] 58, Window, 0.782, 1.741, -1.893, 90, 0, 0, [SEP] 59, GarbageCan, 1.770, -0.029, 1.685, 0, 270, 0, [SEP] 60, SinkBasin, 1.091, 0.740, -1.599, 0, 0, 0, [SEP] 61, StoveKnob, 1.364, 0.821, 0.086, 48.421, 270, 0, [SEP] 62, StoveKnob, 1.364, 0.821, -0.180, 48.421, 270, 0, [SEP] 63, StoveKnob, 1.364, 0.821, -0.317, 48.421, 270, 0, [SEP] 64, StoveKnob, 1.364, 0.821, -0.054, 48.421, 270, 0, [SEP] 65, Microwave, 1.752, 0.900, -0.843, 0, 270, 0, [SEP] 66, LightSwitch, 2.0, 1.261, 3.094, 0, 270, 0, [SEP] 67, CoffeeMachine, 0.501, 0.900, -1.600, 0, 0, 0, [SEP] 68, Fridge, -0.533, 0.0, -1.554, 0, 0, 0, [SEP] 69, Chair, 1.068, 0.000, 1.752, 0, 191.622, 0, [SEP] 70, Faucet, 1.110, 1.138, -1.764, 0, 270, 0, [SEP] 71, Chair, 0.357, 0.000, 1.710, 0, 178.899, 0, [SEP] 72, NorthWall, , , , , , , [SEP] 73, EastWall, , , , , , , [SEP] 74, SouthWall, , , , , , , [SEP] 75, WestWall, , , , , , , ", "output": ["STEP 1: Twist-turn around and take an left. Left again. | STEP 2: Take the knife only from the table. | STEP 3: Turn twist and step forward with the knife in hand. | STEP 4: Touch the red ball of yarn on the table. | STEP 5: turn right and then to the left. | STEP 6: Drop the knife on the counter. | STEP 7: turn right twist and and right along to the table. | STEP 8: Pick up the red egg only from the table. | STEP 9: Walk forward and to the left to the microwave . | STEP 10: You have to open the microwave door and put the egg in it. | STEP 11: Push the door closed and enter the green stamp button. Afterward take out the red egg and in hand. | STEP 12: Over the counter on the right drop the red egg in. | END"]} +{"id": "trial_T20190909_050838_169369-1", "input": "to slice up an apple and put in a pan to put on the counter. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.900, 1.25, 0, 180, 0, [SEP] 1, SprayBottle, -1.828, 0.116, -1.635, 0, 0, 0, 80 [SEP] 2, SprayBottle, 1.092, 0.117, 0.547, 0, 0, 0, 56 [SEP] 3, Potato, 1.375, 1.409, 1.851, 0, 270, 0, 92 [SEP] 4, Ladle, -1.957, 0.954, 0.118, 0, 0, 0, 75 [SEP] 5, DishSponge, -1.712, 0.910, 0.032, 0, 0, 0, 75 [SEP] 6, DishSponge, 0.976, 0.117, 0.372, 0, 0, 0, 56 [SEP] 7, Fork, 0.697, 0.773, -1.533, 0, 0, 0, 77 [SEP] 8, Fork, 1.414, 1.162, -0.659, 0, 0, 0, 79 [SEP] 9, Spoon, -2.159, 0.774, -1.500, 0, 270, 0, 68 [SEP] 10, Pot, 0.121, 1.657, -1.839, 0, 0, 0, 63 [SEP] 11, Pot, -1.809, 0.912, -1.879, 0, 0, 0, 71 [SEP] 12, Cup, -0.313, 1.656, -1.764, 0, 0, 0, 55 [SEP] 13, Cup, 0.149, 0.920, -1.657, 0, 270, 0, 52 [SEP] 14, Plate, 0.808, 1.656, -1.839, 0, 0, 0, 62 [SEP] 15, SoapBottle, -2.107, 0.111, -1.535, 0, 0, 0, 76 [SEP] 16, SoapBottle, 1.150, 0.115, -0.956, 0, 90, 0, 58 [SEP] 17, Bowl, 1.325, 1.368, 2.351, 0, 270, 0, 92 [SEP] 18, Bowl, 1.035, 0.115, -1.244, 0, 0, 0, 58 [SEP] 19, PepperShaker, -1.809, 0.905, -1.448, 0, 0, 0, 71 [SEP] 20, Bread, -2.323, 0.988, 0.377, 0, 0, 0, 75 [SEP] 21, Mug, 1.275, 1.362, 1.976, 0, 270, 0, 92 [SEP] 22, Apple, 0.251, 0.954, -1.758, 0, 270, 0, 52 [SEP] 23, Apple, 1.325, 1.402, 1.726, 0, 270, 0, 92 [SEP] 24, Tomato, 1.323, 1.760, 1.713, 0, 270, 0, 92 [SEP] 25, Glassbottle, 1.223, 1.656, -0.658, 0, 0, 0, 61 [SEP] 26, Knife, -2.323, 0.940, 0.032, 0, 0, 0, 75 [SEP] 27, Plate, 1.342, 1.656, -1.264, 0, 0, 0, 65 [SEP] 28, Fork, 0.903, 0.773, 0.323, 0, 90, 0, 50 [SEP] 29, Ladle, 0.589, 0.161, -1.585, 0, 90, 0, 67 [SEP] 30, Potato, 1.381, 0.256, 1.108, 0, 0, 0, 90 [SEP] 31, Lettuce, -0.627, 0.980, -1.874, 0, 0, 0, 73 [SEP] 32, Kettle, 0.770, 0.9, -1.836, 0, 0, 0, 73 [SEP] 33, Pen, -2.187, 0.777, -1.565, 0, 270, 0, 68 [SEP] 34, SaltShaker, -2.041, 0.106, -1.729, 0, 0, 0, 76 [SEP] 35, Cup, -0.718, 0.112, -1.535, 0, 0, 0, 60 [SEP] 36, Egg, 1.314, 1.846, 2.244, 0, 270, 0, 92 [SEP] 37, Spatula, -1.962, 0.925, -1.448, 0, 180, 0, 71 [SEP] 38, Bowl, 1.090, 0.115, -0.662, 0, 0, 0, 57 [SEP] 39, SprayBottle, -2.039, 0.909, -1.448, 0, 0, 0, 71 [SEP] 40, Pan, -1.431, 0.949, -1.525, 0, 0, 0, 81 [SEP] 41, SoapBottle, -2.201, 0.910, 0.204, 0, 90, 0, 75 [SEP] 42, Pot, -1.081, 0.949, -1.81, 0, 0, 0, 69 [SEP] 43, ButterKnife, 1.010, 0.911, -0.990, 0, 0, 0, 73 [SEP] 44, PepperShaker, 1.454, 1.157, 0.370, 0, 180, 0, 79 [SEP] 45, DishSponge, 1.015, 0.774, -1.013, 0, 0, 0, 51 [SEP] 46, Bread, 1.494, 1.240, -1.688, 0, 0, 0, 79 [SEP] 47, Apple, 1.376, 1.300, -0.021, 0, 270, 0, 95 [SEP] 48, Spoon, 0.217, 0.920, -1.556, 0, 0, 0, 52 [SEP] 49, Mug, 1.070, 0.957, -1.641, 0, 0, 0, 89 [SEP] 50, Drawer, 0.860, 0.75, 0.430, 0, 0, 0, [SEP] 51, Drawer, 0.871, 0.75, -1.134, 0, 0, 0, [SEP] 52, Sink, 0.156, 0.817, -1.801, 0, 270, 0, [SEP] 53, Cabinet, -0.868, 2.005, -1.690, 0, 0, 0, [SEP] 54, Cabinet, -1.661, 2.059, -1.684, 0, 90, 0, [SEP] 55, Cabinet, -0.817, 2.059, -1.689, 0, 0, 0, [SEP] 56, Cabinet, 0.860, 0.402, 0.665, 0, 0, 0, [SEP] 57, Cabinet, 0.860, 0.402, -0.552, 0, 0, 0, [SEP] 58, Cabinet, 0.860, 0.402, -1.365, 0, 0, 0, [SEP] 59, Cabinet, -0.244, 0.402, -1.389, 0, 0, 0, [SEP] 60, Cabinet, -0.815, 0.402, -1.389, 0, 0, 0, [SEP] 61, Cabinet, 1.159, 2.059, -0.334, 0, 0, 0, [SEP] 62, Cabinet, 0.488, 2.059, -1.689, 0, 0, 0, [SEP] 63, Cabinet, -0.193, 2.059, -1.689, 0, 0, 0, [SEP] 64, Drawer, 0.860, 0.75, -0.699, 0, 0, 0, [SEP] 65, Cabinet, 1.159, 2.059, -1.019, 0, 0, 0, [SEP] 66, Cabinet, -1.611, 2.005, -1.690, 0, 0, 0, [SEP] 67, Cabinet, 0.832, 0.401, -1.393, 0, 90, 0, [SEP] 68, Drawer, -2.105, 0.75, -1.389, 0, 0, 0, [SEP] 69, StoveBurner, -1.081, 0.941, -1.809, 0, 0, 0, [SEP] 70, Cabinet, -0.202, 0.401, -1.391, 0, 90, 0, [SEP] 71, CounterTop, -1.973, 0.945, -1.707, 0, 0, 0, [SEP] 72, Drawer, -0.375, 0.75, -1.389, 0, 0, 0, [SEP] 73, CounterTop, 1.164, 0.946, -0.649, 0, 0, 0, [SEP] 74, StoveBurner, -1.081, 0.941, -1.527, 0, 0, 0, [SEP] 75, CounterTop, -2.096, 0.945, 0.291, 0, 0, 0, [SEP] 76, Cabinet, -2.237, 0.402, -1.389, 0, 0, 0, [SEP] 77, Drawer, 0.584, 0.75, -1.389, 0, 0, 0, [SEP] 78, Drawer, -1.795, 0.75, -1.389, 0, 0, 0, [SEP] 79, CounterTop, 1.5, 1.197, -0.654, 0, 0, 0, [SEP] 80, Cabinet, -1.667, 0.402, -1.389, 0, 0, 0, [SEP] 81, StoveBurner, -1.430, 0.941, -1.525, 0, 0, 0, [SEP] 82, Drawer, -0.685, 0.75, -1.389, 0, 0, 0, [SEP] 83, StoveBurner, -1.430, 0.941, -1.809, 0, 0, 0, [SEP] 84, LightSwitch, -2.539, 1.289, 2.568, 0, 90, 0, [SEP] 85, StoveKnob, -1.362, 1.095, -1.983, 287.970, 180, 0, [SEP] 86, StoveKnob, -0.962, 1.095, -1.983, 287.970, 180, 0, [SEP] 87, StoveKnob, -1.522, 1.095, -1.983, 287.970, 180, 0, [SEP] 88, StoveKnob, -1.112, 1.095, -1.983, 287.970, 180, 0, [SEP] 89, CoffeeMachine, 1.082, 0.900, -1.848, 0, 0, 0, [SEP] 90, GarbageCan, 1.343, 0.015, 1.041, 0, 0, 0, [SEP] 91, HousePlant, 1.440, 1.153, 0.593, 0, 0, 0, [SEP] 92, Fridge, 1.417, 0.0, 2.101, 0, 0, 0, [SEP] 93, Window, -0.486, 1.452, 3.302, 90, 0, 0, [SEP] 94, SinkBasin, -0.063, 0.765, -1.713, 0, 270, 0, [SEP] 95, Microwave, 1.422, 1.150, 0.022, 0, 270, 0, [SEP] 96, Toaster, -2.066, 0.900, -1.848, 0, 0, 0, [SEP] 97, Stool, -1.994, 0.010, 0.882, 0, 0, 0, [SEP] 98, Faucet, -0.096, 1.041, -1.867, 0, 270, 0, [SEP] 99, NorthWall, , , , , , , [SEP] 100, EastWall, , , , , , , [SEP] 101, SouthWall, , , , , , , [SEP] 102, WestWall, , , , , , , ", "output": ["STEP 1: walk forward towards the sink and turn left | STEP 2: pick up the knife from the counter | STEP 3: turn left and walk forward then turn right towards the microwave | STEP 4: open the microwave door | STEP 5: slice the apple that is in the microwave, then turn around and walk forward towards the wall then turn left | STEP 6: place knife on the stove | STEP 7: turn around and walk forward then turn right and walk towards the microwave | STEP 8: open the microwave and pull apple slices out of it | STEP 9: turn around and walk forward turn left and walk towards stove | STEP 10: place apple in the pan | STEP 11: pick up the pan from the stove | STEP 12: turn left with the pan and walk towards the counter | STEP 13: place the pan on the counter | END"]} +{"id": "trial_T20190918_173226_926141-0", "input": "Put a pan with a sponge in it on the round table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.75, 0.900, -0.5, 0, 270, 0, [SEP] 1, Ladle, -0.645, 0.855, 1.181, 0, 90, 0, 106 [SEP] 2, Ladle, -0.852, 2.329, -0.614, 0, 0, 0, 81 [SEP] 3, ButterKnife, 2.893, 0.764, 4.307, 0, 225, 0, 50 [SEP] 4, ButterKnife, 2.322, 0.764, 3.895, 0, 329.999, 0, 50 [SEP] 5, WineBottle, -0.669, 1.028, 0.416, 0, 0, 0, 52 [SEP] 6, WineBottle, -0.858, 0.335, -0.295, 0, 90, 0, 93 [SEP] 7, Pot, 2.177, 1.027, -1.599, 0, 0, 0, 48 [SEP] 8, Pot, 1.836, 1.027, -1.84, 0, 90, 0, 47 [SEP] 9, Fork, 1.347, 0.791, -1.546, 0, 0, 0, 56 [SEP] 10, Fork, 1.290, 1.027, -1.774, 0, 90, 0, 49 [SEP] 11, Egg, 2.304, 0.808, 4.521, 0, 329.999, 0, 50 [SEP] 12, Egg, -0.577, 0.860, 1.337, 0, 90, 0, 106 [SEP] 13, Cup, -0.669, 1.026, 2.311, 0, 0, 0, 52 [SEP] 14, SoapBottle, 3.075, 0.031, -1.228, 0, 0, 0, 91 [SEP] 15, SoapBottle, 2.959, 1.025, -1.456, 0, 0, 0, 49 [SEP] 16, Bowl, -0.782, 0.814, 1.492, 0, 90, 0, 106 [SEP] 17, PepperShaker, 2.293, 0.760, 4.127, 0, 225, 0, 50 [SEP] 18, PepperShaker, 2.815, 0.028, -0.220, 0, 0, 0, 75 [SEP] 19, Mug, 2.599, 0.759, 4.145, 0, 0, 0, 110 [SEP] 20, Mug, -1.069, 0.781, -0.073, 0, 90, 0, 93 [SEP] 21, Pan, -0.987, 0.785, -0.406, 0, 180, 0, 93 [SEP] 22, Glassbottle, -0.669, 1.028, 2.556, 0, 0, 0, 52 [SEP] 23, Knife, 2.228, 0.789, 4.495, 0, 270, 0, 50 [SEP] 24, SoapBottle, 2.621, 1.025, -0.541, 0, 0, 0, 49 [SEP] 25, Egg, 1.895, 1.905, -1.809, 0, 0, 0, 95 [SEP] 26, Fork, -0.544, 1.028, 0.877, 0, 0, 0, 52 [SEP] 27, Potato, -1.038, 0.119, 2.779, 0, 0, 0, 104 [SEP] 28, Ladle, 2.976, 0.803, 3.970, 0, 270, 0, 50 [SEP] 29, Tomato, -0.877, 1.495, -0.073, 0, 90, 0, 93 [SEP] 30, Pot, 1.761, 1.027, -1.599, 0, 0, 0, 92 [SEP] 31, WineBottle, 2.478, 0.765, 3.773, 0, 329.999, 0, 50 [SEP] 32, Plate, -0.968, 1.442, -0.516, 0, 90, 0, 93 [SEP] 33, Spatula, 2.525, 0.779, 3.445, 0, 0, 0, 50 [SEP] 34, PaperTowelRoll, 2.551, 0.868, 4.240, 0, 329.999, 0, 50 [SEP] 35, Lettuce, 2.370, 1.085, 1.550, 0, 136.999, 0, 49 [SEP] 36, Apple, 2.191, 0.814, 3.710, 0, 225, 0, 50 [SEP] 37, SaltShaker, -0.977, 0.045, 0.700, 0, 0, 0, 51 [SEP] 38, PepperShaker, 2.175, 0.760, 4.447, 0, 329.999, 0, 50 [SEP] 39, ButterKnife, 2.998, 1.026, 1.298, 0, 136.999, 0, 49 [SEP] 40, Bread, 2.439, 1.094, 1.056, 0, 136.999, 0, 49 [SEP] 41, Cup, 2.296, 0.763, 3.605, 0, 225, 0, 50 [SEP] 42, DishSponge, -0.347, 1.027, 1.171, 0, 0, 0, 52 [SEP] 43, Bowl, 2.626, 0.762, 3.821, 0, 270, 0, 50 [SEP] 44, Spoon, 2.404, 1.028, 1.303, 0, 136.999, 0, 49 [SEP] 45, Mug, -0.803, 1.070, 0.646, 0, 90, 0, 102 [SEP] 46, Sink, -0.716, 1.023, 1.333, 0, 0, 0, [SEP] 47, StoveBurner, 1.835, 1.018, -1.840, 0, 90, 0, [SEP] 48, StoveBurner, 2.177, 1.018, -1.599, 0, 0, 0, [SEP] 49, CounterTop, 2.812, 0.992, 0.675, 0, 0, 0, [SEP] 50, DiningTable, 2.419, 0.003, 3.930, 0, 0, 0, [SEP] 51, Drawer, -0.643, 0.828, 0.616, 0, 0, 0, [SEP] 52, CounterTop, -0.813, 1.062, 2.188, 0, 0, 0, [SEP] 53, StoveBurner, 2.115, 1.018, -1.840, 0, 270, 0, [SEP] 54, Drawer, -0.643, 0.831, 1.953, 0, 0, 0, [SEP] 55, Drawer, -0.643, 0.833, 2.418, 0, 0, 0, [SEP] 56, Drawer, 1.347, 0.836, -1.539, 0, 0, 0, [SEP] 57, Drawer, 2.693, 0.833, -1.131, 0, 0, 0, [SEP] 58, Drawer, 2.693, 0.833, -0.699, 0, 0, 0, [SEP] 59, Drawer, 2.693, 0.833, -0.267, 0, 0, 0, [SEP] 60, Drawer, 2.693, 0.833, 0.163, 0, 0, 0, [SEP] 61, Drawer, 2.524, 0.833, 0.720, 0, 2.000, 0, [SEP] 62, Drawer, 2.232, 0.833, 1.036, 0, 2.000, 0, [SEP] 63, Drawer, 1.936, 0.833, 1.354, 0, 2.000, 0, [SEP] 64, Drawer, 1.646, 0.833, 1.670, 0, 2.000, 0, [SEP] 65, Cabinet, 1.504, 2.475, -1.710, 0, 0, 0, [SEP] 66, Cabinet, -0.823, 2.220, 1.621, 0, 0, 0, [SEP] 67, Cabinet, -0.823, 2.220, 0.615, 0, 0, 0, [SEP] 68, Cabinet, 1.136, 0.388, -1.355, 0, 0, 0, [SEP] 69, Cabinet, -0.356, 0.383, 2.626, 0, 0, 0, [SEP] 70, Cabinet, 2.745, 2.220, -1.690, 0, 0, 0, [SEP] 71, Cabinet, 1.882, 0.383, 1.017, 0, 0, 0, [SEP] 72, Cabinet, 1.307, 0.473, 1.640, 0, 0, 0, [SEP] 73, Cabinet, 1.892, 0.383, 1.006, 0, 0, 0, [SEP] 74, Cabinet, 2.467, 0.383, 0.383, 0, 0, 0, [SEP] 75, Cabinet, 2.466, 0.383, -0.475, 0, 0, 0, [SEP] 76, Cabinet, 2.466, 0.473, 0.371, 0, 0, 0, [SEP] 77, Cabinet, 2.386, 2.475, -1.710, 0, 0, 0, [SEP] 78, Cabinet, -0.356, 0.383, 1.712, 0, 0, 0, [SEP] 79, Cabinet, 2.745, 2.220, 0.019, 0, 0, 0, [SEP] 80, Cabinet, -0.663, 2.496, 0.157, 0, 0, 0, [SEP] 81, Cabinet, -0.663, 2.496, -0.868, 0, 0, 0, [SEP] 82, Cabinet, -0.356, 0.383, 0.269, 0, 0, 0, [SEP] 83, Cabinet, -0.823, 2.220, 1.603, 0, 0, 0, [SEP] 84, Cabinet, -0.662, 2.234, 0.586, 0, 0, 0, [SEP] 85, Cabinet, 2.745, 2.220, -0.843, 0, 0, 0, [SEP] 86, Cabinet, 2.745, 2.220, -0.827, 0, 0, 0, [SEP] 87, Cabinet, -0.823, 2.220, 2.608, 0, 0, 0, [SEP] 88, Cabinet, 2.732, 2.226, -1.709, 0, 0, 0, [SEP] 89, Cabinet, 1.137, 2.226, -1.709, 0, 0, 0, [SEP] 90, Cabinet, 2.466, 0.383, -0.491, 0, 0, 0, [SEP] 91, Cabinet, 2.466, 0.383, -1.339, 0, 0, 0, [SEP] 92, StoveBurner, 1.761, 1.018, -1.599, 0, 0, 0, [SEP] 93, Fridge, -0.908, 0.0, -0.405, 0, 0, 0, [SEP] 94, HousePlant, 2.517, 1.016, 1.822, 0, 0, 0, [SEP] 95, Microwave, 1.939, 1.745, -1.826, 0, 0, 0, [SEP] 96, StoveKnob, 2.017, 1.041, -1.514, 0, 180, 180, [SEP] 97, StoveKnob, 1.934, 1.041, -1.514, 0, 180, 180, [SEP] 98, StoveKnob, 2.017, 1.041, -1.589, 0, 180, 180, [SEP] 99, StoveKnob, 1.934, 1.041, -1.589, 0, 180, 180, [SEP] 100, Window, 1.756, 1.608, 4.762, 90, 0, 0, [SEP] 101, HousePlant, 2.171, 1.004, 2.091, 0, 0, 0, [SEP] 102, CoffeeMachine, -0.942, 1.018, 0.645, 0, 90, 0, [SEP] 103, LightSwitch, -0.099, 1.410, -2.066, 0, 0, 0, [SEP] 104, GarbageCan, -0.951, -0.029, 2.826, 0, 0, 0, [SEP] 105, Toaster, -1.007, 1.018, 2.238, 0, 90, 0, [SEP] 106, SinkBasin, -0.714, 0.805, 1.348, 0, 90, 0, [SEP] 107, Chair, 1.615, 0.004, 4.310, 0, 107.976, 0, [SEP] 108, Faucet, -1.120, 1.013, 1.334, 0, 90, 0, [SEP] 109, Chair, 2.759, 0.004, 3.086, 0, 358.967, 0, [SEP] 110, , , , , , , , [SEP] 111, , , , , , , , [SEP] 112, NorthWall, , , , , , , [SEP] 113, EastWall, , , , , , , [SEP] 114, SouthWall, , , , , , , [SEP] 115, WestWall, , , , , , , ", "output": ["STEP 1: Move to the sink, right of the fridge. | STEP 2: Pick up the sponge on the counter in front of the sink. | STEP 3: Bring the sponge to the fridge on the left. | STEP 4: Put the sponge in the pan in the fridge. | STEP 5: Pick up the pan with sponge in the fridge. | STEP 6: Turn around, bring the pan over to the round table in the opposite corner of the room. | STEP 7: Put the pan with sponge on the table next to the apple | END"]} +{"id": "trial_T20190908_165152_940998-0", "input": "Put the chilled slice cabbage in the trash bin SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.900, 2.25, 0, 0, 0, [SEP] 1, Potato, -2.671, 1.484, 2.485, 0, 90, 0, 63 [SEP] 2, Potato, -0.169, 0.862, 1.103, 0, 0, 0, 45 [SEP] 3, Ladle, -1.465, 0.169, 0.401, 0, 0, 0, 58 [SEP] 4, ButterKnife, -2.813, 0.823, 0.871, 0, 0, 0, 45 [SEP] 5, Pot, -2.840, 0.821, 0.203, 0, 270, 0, 45 [SEP] 6, Fork, -0.147, 0.824, 0.352, 0, 0, 0, 45 [SEP] 7, Spoon, -0.363, 0.698, 0.912, 0, 90, 0, 47 [SEP] 8, Spoon, -1.161, 0.699, 0.444, 0, 270, 0, 49 [SEP] 9, Egg, -1.542, 0.847, 0.073, 0, 0, 0, 45 [SEP] 10, Egg, -1.412, 0.721, 0.295, 0, 0, 0, 72 [SEP] 11, SoapBottle, -2.530, 0.119, 1.550, 0, 0, 0, 56 [SEP] 12, SoapBottle, -1.885, 0.123, 0.323, 0, 0, 0, 57 [SEP] 13, PepperShaker, -2.957, 0.818, 0.426, 0, 0, 0, 45 [SEP] 14, Mug, -0.646, 0.888, 0.367, 0, 0, 0, 73 [SEP] 15, Apple, -2.726, 0.897, 2.309, 0, 90, 0, 63 [SEP] 16, Apple, -0.329, 0.129, 2.539, 0, 0, 0, 65 [SEP] 17, Apple, -2.837, 1.518, 2.397, 0, 90, 0, 63 [SEP] 18, Fork, -1.214, 0.813, 0.498, 0, 0, 0, 45 [SEP] 19, Ladle, -2.491, 0.867, 0.426, 0, 90, 0, 45 [SEP] 20, Pan, -0.244, 0.829, 1.684, 0, 0, 0, 44 [SEP] 21, SoapBottle, -2.377, 1.433, 0.142, 0, 0, 0, 52 [SEP] 22, Pot, -0.531, 0.822, 2.096, 0, 0, 0, 42 [SEP] 23, Tomato, -2.581, 0.873, 0.953, 0, 0, 0, 45 [SEP] 24, Potato, -2.877, 0.960, 1.284, 0, 90, 0, 64 [SEP] 25, SaltShaker, -2.822, 1.430, 0.385, 0, 45, 0, 51 [SEP] 26, Plate, -2.115, 0.130, 0.401, 0, 0, 0, 57 [SEP] 27, Spatula, -0.341, 0.696, 1.194, 0, 45, 0, 41 [SEP] 28, Knife, -2.662, 0.819, 0.557, 90, 300.034, 0, 45 [SEP] 29, Egg, -0.817, 0.847, 0.055, 0, 0, 0, 45 [SEP] 30, Cup, -2.837, 1.144, 2.485, 0, 90, 0, 63 [SEP] 31, ButterKnife, -1.967, 0.702, 0.295, 0, 0, 0, 72 [SEP] 32, Lettuce, -1.836, 0.741, 0.238, 0, 55.910, 0, 72 [SEP] 33, PepperShaker, -2.581, 0.818, 0.462, 0, 0, 0, 45 [SEP] 34, DishSponge, -0.169, 0.823, 1.326, 0, 0, 0, 45 [SEP] 35, Bread, -0.979, 0.855, 0.249, 0, 29.999, 0, 45 [SEP] 36, Spoon, -0.943, 0.711, 0.411, 0, 90, 0, 48 [SEP] 37, Mug, -2.837, 0.819, 2.133, 0, 90, 0, 63 [SEP] 38, Bowl, -0.397, 0.115, 0.914, 0, 0, 0, 61 [SEP] 39, Cabinet, -2.377, 2.015, 1.720, 0, 0, 0, [SEP] 40, StoveBurner, -0.244, 0.820, 2.075, 0, 180, 0, [SEP] 41, Drawer, -0.402, 0.703, 1.252, 0, 0, 0, [SEP] 42, StoveBurner, -0.518, 0.820, 2.075, 0, 180, 0, [SEP] 43, Sink, -1.838, 0.726, 0.343, 0, 180, 0, [SEP] 44, StoveBurner, -0.244, 0.820, 1.684, 0, 0, 0, [SEP] 45, CounterTop, -1.557, 0.859, 0.277, 0, 0, 0, [SEP] 46, StoveBurner, -0.518, 0.820, 1.684, 0, 0, 0, [SEP] 47, Drawer, -0.404, 0.704, 0.912, 0, 0, 0, [SEP] 48, Drawer, -0.861, 0.709, 0.420, 0, 0, 0, [SEP] 49, Drawer, -1.133, 0.706, 0.418, 0, 0, 0, [SEP] 50, Drawer, -2.589, 0.703, 1.511, 0, 0, 0, [SEP] 51, Cabinet, -2.772, 1.803, 0.508, 0, 0, 0, [SEP] 52, Cabinet, -2.460, 1.803, 0.231, 0, 0, 0, [SEP] 53, Cabinet, -2.781, 1.798, 0.825, 0, 0, 0, [SEP] 54, Cabinet, -2.781, 1.798, 0.815, 0, 0, 0, [SEP] 55, Cabinet, -2.377, 2.009, 2.581, 0, 0, 0, [SEP] 56, Cabinet, -2.442, 0.385, 1.672, 0, 0, 0, [SEP] 57, Cabinet, -2.238, 0.385, 0.564, 0, 0, 0, [SEP] 58, Cabinet, -1.286, 0.385, 0.564, 0, 0, 0, [SEP] 59, Cabinet, -1.262, 0.385, 0.565, 0, 0, 0, [SEP] 60, Cabinet, -0.734, 0.385, 0.565, 0, 0, 0, [SEP] 61, Cabinet, -0.549, 0.385, 0.751, 0, 0, 0, [SEP] 62, Cabinet, -0.549, 0.385, 1.412, 0, 0, 0, [SEP] 63, Fridge, -2.782, 0.0, 2.221, 0, 0, 0, [SEP] 64, Microwave, -2.794, 0.812, 1.348, 0, 90, 0, [SEP] 65, GarbageCan, -0.329, 2.205, 2.606, 0, 0, 0, [SEP] 66, StoveKnob, -0.069, 0.998, 1.773, 0, 180, 107.470, [SEP] 67, StoveKnob, -0.069, 0.998, 1.613, 0, 180, 107.470, [SEP] 68, StoveKnob, -0.069, 0.998, 2.171, 0, 180, 107.470, [SEP] 69, StoveKnob, -0.069, 0.998, 2.024, 0, 180, 107.470, [SEP] 70, Window, -1.720, 1.342, -0.208, 90, 0, 0, [SEP] 71, Toaster, -0.171, 0.812, 0.735, 0, 270, 0, [SEP] 72, SinkBasin, -1.745, 0.687, 0.295, 0, 0, 0, [SEP] 73, CoffeeMachine, -0.539, 0.812, 0.185, 0, 0, 0, [SEP] 74, LightSwitch, -0.615, 1.378, 3.0, 0, 180, 0, [SEP] 75, Faucet, -1.686, 0.954, 0.176, 0, 236.223, 0, [SEP] 76, Stool, -1.008, 0.008, 1.955, 0, 18.279, 0, [SEP] 77, NorthWall, , , , , , , [SEP] 78, EastWall, , , , , , , [SEP] 79, SouthWall, , , , , , , [SEP] 80, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and head to the counter with microwave | STEP 2: Pick up the bread knife on the counter beside the microwave | STEP 3: Turn left the head to the sink | STEP 4: Slice the cabbage in the sink | STEP 5: Turn right then head to the fridge | STEP 6: Open the fridge put in the bread knife | STEP 7: Turn left head to the sink | STEP 8: Pick up a slice of cabbage | STEP 9: Turn right head to the fridge | STEP 10: Open the fridge put in and out the cabbage | STEP 11: Turn right head to the trash bin | STEP 12: Put the slice cabbage in the trash bin | END"]} +{"id": "trial_T20190908_165152_940998-2", "input": "To cool a slice of lettuce plus place it in the trash can. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.900, 2.25, 0, 0, 0, [SEP] 1, Potato, -2.671, 1.484, 2.485, 0, 90, 0, 63 [SEP] 2, Potato, -0.169, 0.862, 1.103, 0, 0, 0, 45 [SEP] 3, Ladle, -1.465, 0.169, 0.401, 0, 0, 0, 58 [SEP] 4, ButterKnife, -2.813, 0.823, 0.871, 0, 0, 0, 45 [SEP] 5, Pot, -2.840, 0.821, 0.203, 0, 270, 0, 45 [SEP] 6, Fork, -0.147, 0.824, 0.352, 0, 0, 0, 45 [SEP] 7, Spoon, -0.363, 0.698, 0.912, 0, 90, 0, 47 [SEP] 8, Spoon, -1.161, 0.699, 0.444, 0, 270, 0, 49 [SEP] 9, Egg, -1.542, 0.847, 0.073, 0, 0, 0, 45 [SEP] 10, Egg, -1.412, 0.721, 0.295, 0, 0, 0, 72 [SEP] 11, SoapBottle, -2.530, 0.119, 1.550, 0, 0, 0, 56 [SEP] 12, SoapBottle, -1.885, 0.123, 0.323, 0, 0, 0, 57 [SEP] 13, PepperShaker, -2.957, 0.818, 0.426, 0, 0, 0, 45 [SEP] 14, Mug, -0.646, 0.888, 0.367, 0, 0, 0, 73 [SEP] 15, Apple, -2.726, 0.897, 2.309, 0, 90, 0, 63 [SEP] 16, Apple, -0.329, 0.129, 2.539, 0, 0, 0, 65 [SEP] 17, Apple, -2.837, 1.518, 2.397, 0, 90, 0, 63 [SEP] 18, Fork, -1.214, 0.813, 0.498, 0, 0, 0, 45 [SEP] 19, Ladle, -2.491, 0.867, 0.426, 0, 90, 0, 45 [SEP] 20, Pan, -0.244, 0.829, 1.684, 0, 0, 0, 44 [SEP] 21, SoapBottle, -2.377, 1.433, 0.142, 0, 0, 0, 52 [SEP] 22, Pot, -0.531, 0.822, 2.096, 0, 0, 0, 42 [SEP] 23, Tomato, -2.581, 0.873, 0.953, 0, 0, 0, 45 [SEP] 24, Potato, -2.877, 0.960, 1.284, 0, 90, 0, 64 [SEP] 25, SaltShaker, -2.822, 1.430, 0.385, 0, 45, 0, 51 [SEP] 26, Plate, -2.115, 0.130, 0.401, 0, 0, 0, 57 [SEP] 27, Spatula, -0.341, 0.696, 1.194, 0, 45, 0, 41 [SEP] 28, Knife, -2.662, 0.819, 0.557, 90, 300.034, 0, 45 [SEP] 29, Egg, -0.817, 0.847, 0.055, 0, 0, 0, 45 [SEP] 30, Cup, -2.837, 1.144, 2.485, 0, 90, 0, 63 [SEP] 31, ButterKnife, -1.967, 0.702, 0.295, 0, 0, 0, 72 [SEP] 32, Lettuce, -1.836, 0.741, 0.238, 0, 55.910, 0, 72 [SEP] 33, PepperShaker, -2.581, 0.818, 0.462, 0, 0, 0, 45 [SEP] 34, DishSponge, -0.169, 0.823, 1.326, 0, 0, 0, 45 [SEP] 35, Bread, -0.979, 0.855, 0.249, 0, 29.999, 0, 45 [SEP] 36, Spoon, -0.943, 0.711, 0.411, 0, 90, 0, 48 [SEP] 37, Mug, -2.837, 0.819, 2.133, 0, 90, 0, 63 [SEP] 38, Bowl, -0.397, 0.115, 0.914, 0, 0, 0, 61 [SEP] 39, Cabinet, -2.377, 2.015, 1.720, 0, 0, 0, [SEP] 40, StoveBurner, -0.244, 0.820, 2.075, 0, 180, 0, [SEP] 41, Drawer, -0.402, 0.703, 1.252, 0, 0, 0, [SEP] 42, StoveBurner, -0.518, 0.820, 2.075, 0, 180, 0, [SEP] 43, Sink, -1.838, 0.726, 0.343, 0, 180, 0, [SEP] 44, StoveBurner, -0.244, 0.820, 1.684, 0, 0, 0, [SEP] 45, CounterTop, -1.557, 0.859, 0.277, 0, 0, 0, [SEP] 46, StoveBurner, -0.518, 0.820, 1.684, 0, 0, 0, [SEP] 47, Drawer, -0.404, 0.704, 0.912, 0, 0, 0, [SEP] 48, Drawer, -0.861, 0.709, 0.420, 0, 0, 0, [SEP] 49, Drawer, -1.133, 0.706, 0.418, 0, 0, 0, [SEP] 50, Drawer, -2.589, 0.703, 1.511, 0, 0, 0, [SEP] 51, Cabinet, -2.772, 1.803, 0.508, 0, 0, 0, [SEP] 52, Cabinet, -2.460, 1.803, 0.231, 0, 0, 0, [SEP] 53, Cabinet, -2.781, 1.798, 0.825, 0, 0, 0, [SEP] 54, Cabinet, -2.781, 1.798, 0.815, 0, 0, 0, [SEP] 55, Cabinet, -2.377, 2.009, 2.581, 0, 0, 0, [SEP] 56, Cabinet, -2.442, 0.385, 1.672, 0, 0, 0, [SEP] 57, Cabinet, -2.238, 0.385, 0.564, 0, 0, 0, [SEP] 58, Cabinet, -1.286, 0.385, 0.564, 0, 0, 0, [SEP] 59, Cabinet, -1.262, 0.385, 0.565, 0, 0, 0, [SEP] 60, Cabinet, -0.734, 0.385, 0.565, 0, 0, 0, [SEP] 61, Cabinet, -0.549, 0.385, 0.751, 0, 0, 0, [SEP] 62, Cabinet, -0.549, 0.385, 1.412, 0, 0, 0, [SEP] 63, Fridge, -2.782, 0.0, 2.221, 0, 0, 0, [SEP] 64, Microwave, -2.794, 0.812, 1.348, 0, 90, 0, [SEP] 65, GarbageCan, -0.329, 2.205, 2.606, 0, 0, 0, [SEP] 66, StoveKnob, -0.069, 0.998, 1.773, 0, 180, 107.470, [SEP] 67, StoveKnob, -0.069, 0.998, 1.613, 0, 180, 107.470, [SEP] 68, StoveKnob, -0.069, 0.998, 2.171, 0, 180, 107.470, [SEP] 69, StoveKnob, -0.069, 0.998, 2.024, 0, 180, 107.470, [SEP] 70, Window, -1.720, 1.342, -0.208, 90, 0, 0, [SEP] 71, Toaster, -0.171, 0.812, 0.735, 0, 270, 0, [SEP] 72, SinkBasin, -1.745, 0.687, 0.295, 0, 0, 0, [SEP] 73, CoffeeMachine, -0.539, 0.812, 0.185, 0, 0, 0, [SEP] 74, LightSwitch, -0.615, 1.378, 3.0, 0, 180, 0, [SEP] 75, Faucet, -1.686, 0.954, 0.176, 0, 236.223, 0, [SEP] 76, Stool, -1.008, 0.008, 1.955, 0, 18.279, 0, [SEP] 77, NorthWall, , , , , , , [SEP] 78, EastWall, , , , , , , [SEP] 79, SouthWall, , , , , , , [SEP] 80, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and step forward to face the counter to the left of the stove. | STEP 2: Pick up the knife on the counter. | STEP 3: Turn left to face the sink. | STEP 4: Cut the lettuce in the sink into slices. | STEP 5: Turn around and walk forward to face the fridge. | STEP 6: Place the knife in the fridge. | STEP 7: Turn left and walk across the room to face the sink. | STEP 8: Pick up a slice of lettuce in the sink. | STEP 9: Turn around and walk forward to face the fridge. | STEP 10: Cool the slice of lettuce in the fridge and then remove it. | STEP 11: Turn around and step forward to face the trash can. | STEP 12: Place the slice of lettuce in the trash can. | END"]} +{"id": "trial_T20190909_042500_949430-0", "input": "Retrieve the sponge from the kitchen island, place in fry pan, put fry pan on kitchen island. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.5, 0.900, 0.75, 0, 270, 0, [SEP] 1, Pan, 1.845, 0.948, -0.757, 0, 0, 0, 61 [SEP] 2, Ladle, -0.720, 0.957, -2.167, 0, 0, 0, 64 [SEP] 3, DishSponge, 2.009, 0.913, -1.329, 0, 0, 0, 64 [SEP] 4, DishSponge, 0.180, 0.930, 0.076, 0, 0, 0, 81 [SEP] 5, WineBottle, 1.557, 0.914, -1.797, 0, 0, 0, 64 [SEP] 6, WineBottle, -0.047, 0.931, 0.076, 0, 0, 0, 81 [SEP] 7, Spatula, 1.153, 0.928, -2.169, 0, 0, 0, 64 [SEP] 8, Spatula, -0.047, 0.941, 0.534, 0, 0, 0, 81 [SEP] 9, Egg, 0.180, 0.984, 1.448, 0, 0, 0, 81 [SEP] 10, Cup, 0.457, 0.913, -2.252, 0, 0, 0, 64 [SEP] 11, Plate, 0.066, 0.934, 0.991, 0, 0, 0, 81 [SEP] 12, Knife, 0.002, 0.936, -1.689, 0, 0, 0, 64 [SEP] 13, Bowl, 1.566, 0.549, 2.431, 0, 0, 0, 84 [SEP] 14, Bowl, 1.528, 1.656, -2.124, 0, 0, 0, 51 [SEP] 15, SaltShaker, -0.035, 2.147, -2.067, 0, 0, 0, 49 [SEP] 16, PepperShaker, -0.047, 0.923, 0.305, 0, 0, 0, 81 [SEP] 17, PepperShaker, 1.669, 0.877, 2.510, 0, 0, 0, 90 [SEP] 18, Mug, -0.137, 0.759, -2.116, 0, 0, 0, 76 [SEP] 19, Mug, 1.647, 0.908, -1.446, 0, 0, 0, 64 [SEP] 20, Apple, -1.553, 0.930, -1.013, 0, 90, 0, 72 [SEP] 21, Apple, -1.317, 1.086, -1.638, 0, 90, 0, 70 [SEP] 22, Apple, -0.047, 1.001, 0.762, 0, 0, 0, 81 [SEP] 23, Potato, -0.160, 0.956, 0.991, 0, 0, 0, 81 [SEP] 24, Bowl, -1.438, 1.180, -0.702, 0, 90, 0, 72 [SEP] 25, SoapBottle, 1.631, 0.119, -1.266, 0, 270, 0, 56 [SEP] 26, Fork, -0.230, 0.914, -1.713, 0, 0, 0, 64 [SEP] 27, Ladle, 0.408, 0.975, 0.991, 0, 0, 0, 81 [SEP] 28, Bread, 0.399, 0.964, 0.111, 0, 0, 1.601, 81 [SEP] 29, Lettuce, -1.429, 0.925, -0.542, 0, 315, 0, 72 [SEP] 30, WineBottle, -0.963, 0.914, -2.260, 0, 0, 0, 64 [SEP] 31, Spatula, 0.408, 0.941, 0.534, 0, 180, 0, 81 [SEP] 32, Plate, 0.066, 0.930, 0.534, 0, 0, 0, 81 [SEP] 33, SaltShaker, 1.464, 0.877, 2.510, 0, 0, 0, 85 [SEP] 34, Pot, 1.567, 0.948, -0.757, 0, 0, 0, 46 [SEP] 35, Cup, -1.553, 1.183, -0.910, 0, 90, 0, 72 [SEP] 36, PepperShaker, 0.294, 0.926, 0.305, 0, 0, 0, 81 [SEP] 37, Pan, 1.909, 1.657, -1.737, 0, 180, 0, 54 [SEP] 38, ButterKnife, 0.180, 0.926, 1.220, 0, 0, 0, 81 [SEP] 39, Tomato, -1.533, 1.556, -0.910, 0, 90, 0, 72 [SEP] 40, DishSponge, 1.255, 0.552, 2.379, 0, 0, 0, 91 [SEP] 41, Egg, -0.927, 0.967, -2.151, 0, 0, 0, 64 [SEP] 42, Spoon, 0.522, 0.931, 1.220, 0, 0, 0, 81 [SEP] 43, Knife, 1.618, 0.936, -2.085, 0, 90, 0, 64 [SEP] 44, Mug, 1.738, 0.908, -1.797, 0, 0, 0, 64 [SEP] 45, StoveBurner, 1.845, 0.940, -0.355, 0, 0, 0, [SEP] 46, StoveBurner, 1.567, 0.940, -0.757, 0, 0, 0, [SEP] 47, Cabinet, -1.149, 2.019, -1.979, 0, 90, 0, [SEP] 48, Cabinet, -1.149, 2.265, -0.834, 0, 90, 0, [SEP] 49, Cabinet, -0.459, 2.265, -2.0, 0, 0, 0, [SEP] 50, Cabinet, -1.100, 2.019, -2.0, 0, 0, 0, [SEP] 51, Cabinet, 1.719, 2.019, -2.0, 0, 0, 0, [SEP] 52, Cabinet, 1.179, 2.019, -2.0, 0, 0, 0, [SEP] 53, Cabinet, 0.199, 2.019, -2.0, 0, 0, 0, [SEP] 54, Cabinet, 1.75, 2.019, -1.399, 0, 270, 0, [SEP] 55, Cabinet, 1.75, 2.019, -1.029, 0, 270, 0, [SEP] 56, Cabinet, 1.379, 0.469, -1.689, 0, 0, 0, [SEP] 57, Cabinet, -0.819, 0.469, -1.689, 0, 0, 0, [SEP] 58, Cabinet, 1.389, 0.469, -1.059, 0, 270, 0, [SEP] 59, Cabinet, -0.839, 0.469, -1.665, 0, 90, 0, [SEP] 60, StoveBurner, 1.567, 0.940, -0.355, 0, 0, 0, [SEP] 61, StoveBurner, 1.845, 0.940, -0.757, 0, 0, 0, [SEP] 62, Sink, -0.109, 0.893, -2.009, 0, 0, 0, [SEP] 63, Drawer, -0.819, 0.75, -1.690, 0, 0, 0, [SEP] 64, CounterTop, 0.232, 0.949, -2.002, 0, 0, 0, [SEP] 65, GarbageCan, 1.855, -0.034, 0.141, 0, 358.959, 0, [SEP] 66, Vase, 0.251, 0.546, 0.475, 0, 270, 0, [SEP] 67, Toaster, 0.780, 0.900, -2.080, 0, 0, 0, [SEP] 68, LightSwitch, 0.108, 1.315, 2.75, 0, 180, 0, [SEP] 69, Vase, 0.400, 0.925, 0.218, 0, 180, 0, [SEP] 70, Microwave, -1.233, 0.900, -1.680, 0, 90, 0, [SEP] 71, Vase, 1.465, 1.662, -2.200, 0, 0, 0, [SEP] 72, Fridge, -1.495, 0.0, -0.703, 0, 0, 0, [SEP] 73, Window, 2.114, 1.495, 1.072, 90, 270, 0, [SEP] 74, CoffeeMachine, 1.374, 0.899, -2.112, 0, 0, 0, [SEP] 75, Vase, 0.333, 0.546, 1.272, 0, 270, 0, [SEP] 76, SinkBasin, -0.148, 0.753, -2.026, 0, 0, 0, [SEP] 77, StoveKnob, 2.037, 1.089, -0.405, 0, 0, 74.477, [SEP] 78, StoveKnob, 2.037, 1.089, -0.251, 0, 0, 74.477, [SEP] 79, StoveKnob, 2.037, 1.089, -0.649, 0, 0, 74.477, [SEP] 80, StoveKnob, 2.037, 1.089, -0.814, 0, 0, 74.477, [SEP] 81, DiningTable, 0.170, 0.005, 0.678, 0, 270, 0, [SEP] 82, Shelf, 0.170, 0.155, 0.678, 0, 270, 0, [SEP] 83, Shelf, 1.605, 0.172, 2.480, 0, 0, 0, [SEP] 84, Shelf, 1.605, 0.552, 2.480, 0, 0, 0, [SEP] 85, Shelf, 1.604, 0.880, 2.479, 0, 0, 0, [SEP] 86, ShelvingUnit, 1.605, 0.006, 2.480, 0, 0, 0, [SEP] 87, Faucet, -0.143, 1.028, -2.223, 0, 270, 0, [SEP] 88, Stool, -0.553, 0.000, 0.871, 1.233, 280.376, 0, [SEP] 89, Shelf, 0.170, 0.528, 0.678, 0, 270, 0, [SEP] 90, , , , , , , , [SEP] 91, , , , , , , , [SEP] 92, NorthWall, , , , , , , [SEP] 93, EastWall, , , , , , , [SEP] 94, SouthWall, , , , , , , [SEP] 95, WestWall, , , , , , , ", "output": ["STEP 1: Move to the left side of the kitchen island | STEP 2: Pick up the sponge from the kitchen island | STEP 3: Turn around and move to the stove | STEP 4: Put the sponge in the fry pan at the at the back | STEP 5: Pick up the fry pan from the stove | STEP 6: Turn around and go to the far side of the kitchen island | STEP 7: Put the fry pan on the kitchen island behind the apple | END"]} +{"id": "trial_T20190909_042500_949430-2", "input": "To put a sponge in a pan and put the pan on the kitchen island. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.5, 0.900, 0.75, 0, 270, 0, [SEP] 1, Pan, 1.845, 0.948, -0.757, 0, 0, 0, 61 [SEP] 2, Ladle, -0.720, 0.957, -2.167, 0, 0, 0, 64 [SEP] 3, DishSponge, 2.009, 0.913, -1.329, 0, 0, 0, 64 [SEP] 4, DishSponge, 0.180, 0.930, 0.076, 0, 0, 0, 81 [SEP] 5, WineBottle, 1.557, 0.914, -1.797, 0, 0, 0, 64 [SEP] 6, WineBottle, -0.047, 0.931, 0.076, 0, 0, 0, 81 [SEP] 7, Spatula, 1.153, 0.928, -2.169, 0, 0, 0, 64 [SEP] 8, Spatula, -0.047, 0.941, 0.534, 0, 0, 0, 81 [SEP] 9, Egg, 0.180, 0.984, 1.448, 0, 0, 0, 81 [SEP] 10, Cup, 0.457, 0.913, -2.252, 0, 0, 0, 64 [SEP] 11, Plate, 0.066, 0.934, 0.991, 0, 0, 0, 81 [SEP] 12, Knife, 0.002, 0.936, -1.689, 0, 0, 0, 64 [SEP] 13, Bowl, 1.566, 0.549, 2.431, 0, 0, 0, 84 [SEP] 14, Bowl, 1.528, 1.656, -2.124, 0, 0, 0, 51 [SEP] 15, SaltShaker, -0.035, 2.147, -2.067, 0, 0, 0, 49 [SEP] 16, PepperShaker, -0.047, 0.923, 0.305, 0, 0, 0, 81 [SEP] 17, PepperShaker, 1.669, 0.877, 2.510, 0, 0, 0, 90 [SEP] 18, Mug, -0.137, 0.759, -2.116, 0, 0, 0, 76 [SEP] 19, Mug, 1.647, 0.908, -1.446, 0, 0, 0, 64 [SEP] 20, Apple, -1.553, 0.930, -1.013, 0, 90, 0, 72 [SEP] 21, Apple, -1.317, 1.086, -1.638, 0, 90, 0, 70 [SEP] 22, Apple, -0.047, 1.001, 0.762, 0, 0, 0, 81 [SEP] 23, Potato, -0.160, 0.956, 0.991, 0, 0, 0, 81 [SEP] 24, Bowl, -1.438, 1.180, -0.702, 0, 90, 0, 72 [SEP] 25, SoapBottle, 1.631, 0.119, -1.266, 0, 270, 0, 56 [SEP] 26, Fork, -0.230, 0.914, -1.713, 0, 0, 0, 64 [SEP] 27, Ladle, 0.408, 0.975, 0.991, 0, 0, 0, 81 [SEP] 28, Bread, 0.399, 0.964, 0.111, 0, 0, 1.601, 81 [SEP] 29, Lettuce, -1.429, 0.925, -0.542, 0, 315, 0, 72 [SEP] 30, WineBottle, -0.963, 0.914, -2.260, 0, 0, 0, 64 [SEP] 31, Spatula, 0.408, 0.941, 0.534, 0, 180, 0, 81 [SEP] 32, Plate, 0.066, 0.930, 0.534, 0, 0, 0, 81 [SEP] 33, SaltShaker, 1.464, 0.877, 2.510, 0, 0, 0, 85 [SEP] 34, Pot, 1.567, 0.948, -0.757, 0, 0, 0, 46 [SEP] 35, Cup, -1.553, 1.183, -0.910, 0, 90, 0, 72 [SEP] 36, PepperShaker, 0.294, 0.926, 0.305, 0, 0, 0, 81 [SEP] 37, Pan, 1.909, 1.657, -1.737, 0, 180, 0, 54 [SEP] 38, ButterKnife, 0.180, 0.926, 1.220, 0, 0, 0, 81 [SEP] 39, Tomato, -1.533, 1.556, -0.910, 0, 90, 0, 72 [SEP] 40, DishSponge, 1.255, 0.552, 2.379, 0, 0, 0, 91 [SEP] 41, Egg, -0.927, 0.967, -2.151, 0, 0, 0, 64 [SEP] 42, Spoon, 0.522, 0.931, 1.220, 0, 0, 0, 81 [SEP] 43, Knife, 1.618, 0.936, -2.085, 0, 90, 0, 64 [SEP] 44, Mug, 1.738, 0.908, -1.797, 0, 0, 0, 64 [SEP] 45, StoveBurner, 1.845, 0.940, -0.355, 0, 0, 0, [SEP] 46, StoveBurner, 1.567, 0.940, -0.757, 0, 0, 0, [SEP] 47, Cabinet, -1.149, 2.019, -1.979, 0, 90, 0, [SEP] 48, Cabinet, -1.149, 2.265, -0.834, 0, 90, 0, [SEP] 49, Cabinet, -0.459, 2.265, -2.0, 0, 0, 0, [SEP] 50, Cabinet, -1.100, 2.019, -2.0, 0, 0, 0, [SEP] 51, Cabinet, 1.719, 2.019, -2.0, 0, 0, 0, [SEP] 52, Cabinet, 1.179, 2.019, -2.0, 0, 0, 0, [SEP] 53, Cabinet, 0.199, 2.019, -2.0, 0, 0, 0, [SEP] 54, Cabinet, 1.75, 2.019, -1.399, 0, 270, 0, [SEP] 55, Cabinet, 1.75, 2.019, -1.029, 0, 270, 0, [SEP] 56, Cabinet, 1.379, 0.469, -1.689, 0, 0, 0, [SEP] 57, Cabinet, -0.819, 0.469, -1.689, 0, 0, 0, [SEP] 58, Cabinet, 1.389, 0.469, -1.059, 0, 270, 0, [SEP] 59, Cabinet, -0.839, 0.469, -1.665, 0, 90, 0, [SEP] 60, StoveBurner, 1.567, 0.940, -0.355, 0, 0, 0, [SEP] 61, StoveBurner, 1.845, 0.940, -0.757, 0, 0, 0, [SEP] 62, Sink, -0.109, 0.893, -2.009, 0, 0, 0, [SEP] 63, Drawer, -0.819, 0.75, -1.690, 0, 0, 0, [SEP] 64, CounterTop, 0.232, 0.949, -2.002, 0, 0, 0, [SEP] 65, GarbageCan, 1.855, -0.034, 0.141, 0, 358.959, 0, [SEP] 66, Vase, 0.251, 0.546, 0.475, 0, 270, 0, [SEP] 67, Toaster, 0.780, 0.900, -2.080, 0, 0, 0, [SEP] 68, LightSwitch, 0.108, 1.315, 2.75, 0, 180, 0, [SEP] 69, Vase, 0.400, 0.925, 0.218, 0, 180, 0, [SEP] 70, Microwave, -1.233, 0.900, -1.680, 0, 90, 0, [SEP] 71, Vase, 1.465, 1.662, -2.200, 0, 0, 0, [SEP] 72, Fridge, -1.495, 0.0, -0.703, 0, 0, 0, [SEP] 73, Window, 2.114, 1.495, 1.072, 90, 270, 0, [SEP] 74, CoffeeMachine, 1.374, 0.899, -2.112, 0, 0, 0, [SEP] 75, Vase, 0.333, 0.546, 1.272, 0, 270, 0, [SEP] 76, SinkBasin, -0.148, 0.753, -2.026, 0, 0, 0, [SEP] 77, StoveKnob, 2.037, 1.089, -0.405, 0, 0, 74.477, [SEP] 78, StoveKnob, 2.037, 1.089, -0.251, 0, 0, 74.477, [SEP] 79, StoveKnob, 2.037, 1.089, -0.649, 0, 0, 74.477, [SEP] 80, StoveKnob, 2.037, 1.089, -0.814, 0, 0, 74.477, [SEP] 81, DiningTable, 0.170, 0.005, 0.678, 0, 270, 0, [SEP] 82, Shelf, 0.170, 0.155, 0.678, 0, 270, 0, [SEP] 83, Shelf, 1.605, 0.172, 2.480, 0, 0, 0, [SEP] 84, Shelf, 1.605, 0.552, 2.480, 0, 0, 0, [SEP] 85, Shelf, 1.604, 0.880, 2.479, 0, 0, 0, [SEP] 86, ShelvingUnit, 1.605, 0.006, 2.480, 0, 0, 0, [SEP] 87, Faucet, -0.143, 1.028, -2.223, 0, 270, 0, [SEP] 88, Stool, -0.553, 0.000, 0.871, 1.233, 280.376, 0, [SEP] 89, Shelf, 0.170, 0.528, 0.678, 0, 270, 0, [SEP] 90, , , , , , , , [SEP] 91, , , , , , , , [SEP] 92, NorthWall, , , , , , , [SEP] 93, EastWall, , , , , , , [SEP] 94, SouthWall, , , , , , , [SEP] 95, WestWall, , , , , , , ", "output": ["STEP 1: turn left and walk to the kitchen island. | STEP 2: Pick up the sponge to the left of the loaf of bread. | STEP 3: Turn right and walk to the stove. | STEP 4: Put the sponge down on the pan on the back right burner of the stove. | STEP 5: Pick up the pan with the sponge in it. | STEP 6: Walk back over to the kitchen island. | STEP 7: Put the pan down on the kitchen island behind the apple. | END"]} +{"id": "trial_T20190908_030456_167890-2", "input": "place a cool slice of potato on the table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.901, 2.0, 0, 270, 0, [SEP] 1, WineBottle, 1.840, 0.939, 0.731, 0, 0, 0, 63 [SEP] 2, WineBottle, 0.033, 0.791, 0.713, 0, 0, 0, 79 [SEP] 3, Spatula, -0.272, 0.805, 0.377, 0, 180, 0, 79 [SEP] 4, Spatula, -0.425, 0.805, 1.049, 0, 90, 0, 79 [SEP] 5, Spoon, -0.196, 0.792, 1.049, 0, 0, 0, 79 [SEP] 6, Spoon, -0.349, 0.792, 0.377, 0, 0, 0, 79 [SEP] 7, Fork, 1.815, 0.747, 2.060, 0, 90, 0, 67 [SEP] 8, Fork, -0.119, 0.791, 0.545, 0, 180, 0, 79 [SEP] 9, Egg, -0.041, 0.980, 2.451, 0, 0, 0, 52 [SEP] 10, Egg, -0.349, 0.833, 1.217, 0, 0, 0, 79 [SEP] 11, Cup, 1.840, 0.936, 0.435, 0, 0, 0, 63 [SEP] 12, Cup, -0.119, 0.789, 0.881, 0, 0, 0, 79 [SEP] 13, Plate, 1.298, 0.085, 2.523, 0, 0, 0, 58 [SEP] 14, Plate, 2.059, 0.342, -0.188, 0, 270, 0, 73 [SEP] 15, SoapBottle, -0.042, 0.791, 1.217, 0, 180, 0, 79 [SEP] 16, SoapBottle, 2.282, 1.502, 2.104, 0, 0, 0, 55 [SEP] 17, Tomato, 0.033, 0.837, 0.545, 0, 0, 0, 79 [SEP] 18, Tomato, 2.223, 1.369, -0.369, 0, 270, 0, 73 [SEP] 19, PepperShaker, -0.195, 0.932, 2.504, 0, 0, 0, 52 [SEP] 20, Lettuce, 2.227, 0.999, 2.260, 0, 270, 0, 52 [SEP] 21, Egg, 2.301, 0.980, 0.806, 0, 0, 0, 63 [SEP] 22, Lettuce, 2.000, 1.385, -0.460, 0, 270, 0, 73 [SEP] 23, Fork, -0.119, 0.791, 1.217, 0, 0, 0, 79 [SEP] 24, SoapBottle, 2.127, 1.504, 0.665, 0, 0, 0, 60 [SEP] 25, Ladle, 0.033, 0.835, 1.049, 0, 270, 0, 79 [SEP] 26, Ladle, 0.174, 0.982, 2.827, 0, 0, 0, 52 [SEP] 27, Bread, 2.112, 1.369, -0.097, 0, 270, 0, 73 [SEP] 28, SaltShaker, -0.272, 0.785, 1.386, 0, 0, 0, 79 [SEP] 29, Potato, 2.301, 0.978, 0.361, 0, 180, 0, 63 [SEP] 30, Pan, 2.140, 0.935, 1.504, 0, 180, 0, 47 [SEP] 31, WineBottle, 1.085, 0.082, 2.601, 0, 0, 0, 58 [SEP] 32, Spatula, 1.906, 0.761, 0.721, 0, 270, 0, 61 [SEP] 33, Knife, 1.673, 0.963, 2.666, 0, 0, 0, 52 [SEP] 34, Tomato, 2.024, 1.565, -0.550, 0, 270, 0, 73 [SEP] 35, Apple, 2.076, 1.569, -0.369, 0, 270, 0, 73 [SEP] 36, ButterKnife, -0.196, 0.791, 1.049, 0, 0, 0, 79 [SEP] 37, Pot, 1.854, 0.937, 1.497, 0, 0, 0, 56 [SEP] 38, PepperShaker, 1.925, 0.077, 1.986, 0, 0, 0, 48 [SEP] 39, Cup, 0.637, 0.079, 2.562, 0, 0, 0, 59 [SEP] 40, DishSponge, 2.257, 0.937, 2.898, 0, 0, 0, 52 [SEP] 41, Plate, -0.272, 0.795, 0.713, 0, 0, 0, 79 [SEP] 42, Spoon, -0.042, 0.792, 0.881, 0, 90, 0, 79 [SEP] 43, Mug, 2.064, 0.989, 2.462, 0, 225, 0, 78 [SEP] 44, Bowl, 2.165, 1.500, 0.448, 0, 0, 0, 50 [SEP] 45, Cabinet, 2.041, 2.113, 2.618, 0, 0, 0, [SEP] 46, Cabinet, 0.126, 0.388, 1.774, 0, 0, 0, [SEP] 47, StoveBurner, 2.140, 0.929, 1.504, 0, 180, 0, [SEP] 48, Cabinet, 1.760, 0.388, 2.346, 0, 0, 0, [SEP] 49, Cabinet, 1.760, 0.388, 0.869, 0, 0, 0, [SEP] 50, Cabinet, 2.041, 1.810, 0.283, 0, 0, 0, [SEP] 51, Drawer, -0.024, 0.774, 2.061, 0, 0, 0, [SEP] 52, CounterTop, 1.065, 0.973, 2.666, 0, 0, 0, [SEP] 53, Cabinet, 1.969, 2.113, 2.618, 0, 0, 0, [SEP] 54, StoveBurner, 2.140, 0.929, 1.106, 0, 0, 0, [SEP] 55, Cabinet, 2.041, 2.113, 1.809, 0, 0, 0, [SEP] 56, StoveBurner, 1.866, 0.929, 1.504, 0, 180, 0, [SEP] 57, Cabinet, 2.041, 2.113, 1.766, 0, 0, 0, [SEP] 58, Cabinet, 1.514, 0.388, 2.360, 0, 0, 0, [SEP] 59, Cabinet, 0.351, 0.388, 2.360, 0, 0, 0, [SEP] 60, Cabinet, 2.041, 1.810, 0.872, 0, 0, 0, [SEP] 61, Drawer, 2.167, 0.774, 0.582, 0, 0, 0, [SEP] 62, Cabinet, 2.041, 2.113, 0.892, 0, 0, 0, [SEP] 63, CounterTop, 2.060, 0.973, 0.583, 0, 0, 0, [SEP] 64, Sink, 0.935, 0.936, 2.646, 0, 0, 0, [SEP] 65, Curtains, 0.964, 2.061, 2.989, 0, 0, 0, [SEP] 66, StoveBurner, 1.863, 0.929, 1.106, 0, 0, 0, [SEP] 67, Drawer, 1.911, 0.774, 2.060, 0, 0, 0, [SEP] 68, StoveKnob, 2.326, 1.092, 1.610, 288.013, 90, 0, [SEP] 69, StoveKnob, 2.326, 1.092, 1.460, 288.013, 90, 0, [SEP] 70, StoveKnob, 2.326, 1.092, 1.210, 288.013, 90, 0, [SEP] 71, StoveKnob, 2.326, 1.092, 1.050, 288.013, 90, 0, [SEP] 72, Toaster, 2.126, 0.926, 0.572, 0, 270, 0, [SEP] 73, Fridge, 2.104, 0.0, -0.279, 0, 270, 0, [SEP] 74, GarbageCan, -0.309, -0.001, -0.807, 0, 91.471, 0, [SEP] 75, LightSwitch, 0.354, 1.518, -1.031, 0, 0, 0, [SEP] 76, SinkBasin, 0.903, 0.784, 2.640, 0, 0, 0, [SEP] 77, Microwave, -0.310, 0.926, 2.077, 0, 90, 0, [SEP] 78, CoffeeMachine, 2.084, 0.927, 2.667, 0, 225, 0, [SEP] 79, DiningTable, -0.153, -0.000, 1.073, 0, 270, 0, [SEP] 80, Faucet, 1.175, 0.926, 2.950, 270, 90, 0, [SEP] 81, Faucet, 0.686, 0.926, 2.950, 270, 90, 0, [SEP] 82, Chair, -0.077, 0.002, 0.196, 0, 15.000, 0, [SEP] 83, NorthWall, , , , , , , [SEP] 84, EastWall, , , , , , , [SEP] 85, SouthWall, , , , , , , [SEP] 86, WestWall, , , , , , , ", "output": ["STEP 1: turn left and head to the table | STEP 2: pick up the knife | STEP 3: turn around and head for the table | STEP 4: slice the potato on it | STEP 5: turn around and head for the table | STEP 6: drop the knife on the table | STEP 7: move right on the table | STEP 8: pick up a slice of potato | STEP 9: turn around to the fridge | STEP 10: cool the potato in the fridge | STEP 11: turn around to the table | STEP 12: place the potato on the table | END"]} +{"id": "trial_T20190908_063551_472990-0", "input": " Cool mug in refrigerator, move to coffee maker on counter. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.901, 3.75, 0, 0, 0, [SEP] 1, Potato, -0.572, 0.926, 3.334, 0, 0, 0, 64 [SEP] 2, DishSponge, -0.657, 0.900, 3.334, 0, 0, 0, 64 [SEP] 3, Cup, -2.764, 1.186, 4.204, 0, 90, 0, 58 [SEP] 4, Knife, -2.377, 0.688, 0.355, 0, 90, 0, 49 [SEP] 5, Tomato, -2.748, 0.117, 0.420, 0, 26.101, 0, 55 [SEP] 6, Bowl, -2.847, 1.182, 4.575, 0, 90, 0, 58 [SEP] 7, Lettuce, -2.831, 0.378, 4.278, 0, 90, 0, 58 [SEP] 8, Lettuce, -2.789, 0.980, 2.309, 0, 0, 0, 62 [SEP] 9, Egg, -2.764, 0.087, 0.301, 0, 26.101, 0, 55 [SEP] 10, Plate, -0.228, 0.904, 2.530, 0, 0, 0, 64 [SEP] 11, Fork, -2.583, 0.901, 2.177, 0, 0, 0, 62 [SEP] 12, Bread, -2.864, 0.940, 1.983, 0, 0, 0, 62 [SEP] 13, Apple, -2.583, 0.956, 2.441, 0, 0, 0, 62 [SEP] 14, Lettuce, -2.864, 1.015, 3.302, 0, 90, 0, 48 [SEP] 15, Spatula, -0.921, 0.810, 0.281, 0, 90, 0, 59 [SEP] 16, Knife, -2.789, 0.926, 2.573, 0, 0, 0, 62 [SEP] 17, Potato, -2.480, 0.926, 1.913, 0, 0, 0, 62 [SEP] 18, Tomato, -2.847, 0.696, 4.204, 0, 90, 0, 58 [SEP] 19, Cup, -2.480, 0.900, 2.441, 0, 0, 0, 62 [SEP] 20, SaltShaker, -2.686, 0.896, 2.441, 0, 0, 0, 62 [SEP] 21, PepperShaker, -0.400, 0.896, 2.530, 0, 0, 0, 64 [SEP] 22, ButterKnife, -2.686, 0.900, 2.573, 0, 0, 0, 62 [SEP] 23, SoapBottle, -2.377, 0.900, 1.913, 0, 0, 0, 62 [SEP] 24, Pan, -0.250, 0.926, 4.651, 0, 0, 0, 43 [SEP] 25, DishSponge, -2.480, 0.900, 2.706, 0, 0, 0, 62 [SEP] 26, Pot, -0.535, 0.928, 4.274, 0, 0, 0, 45 [SEP] 27, Spoon, -0.218, 0.663, 0.355, 0, 0, 0, 30 [SEP] 28, Mug, -1.007, 0.790, 0.392, 0, 0, 0, 59 [SEP] 29, Bowl, -1.636, 1.770, 0.114, 0, 0, 0, 36 [SEP] 30, Drawer, -0.325, 0.696, 0.413, 0, 0, 0, [SEP] 31, Cabinet, -0.595, 0.490, 0.648, 0, 0, 0, [SEP] 32, Cabinet, -0.555, 0.490, 0.646, 0, 0, 0, [SEP] 33, Cabinet, -1.591, 0.490, 0.646, 0, 0, 0, [SEP] 34, Cabinet, -1.554, 0.490, 0.646, 0, 0, 0, [SEP] 35, Cabinet, -2.550, 0.490, 0.646, 0, 0, 0, [SEP] 36, Cabinet, -1.514, 2.046, 0.392, 0, 0, 0, [SEP] 37, Cabinet, -2.474, 2.046, 0.392, 0, 0, 0, [SEP] 38, Cabinet, -1.478, 2.046, 0.392, 0, 0, 0, [SEP] 39, Cabinet, -0.518, 2.046, 0.392, 0, 0, 0, [SEP] 40, Cabinet, -0.479, 2.046, 0.392, 0, 0, 0, [SEP] 41, CounterTop, -1.366, 0.952, 0.349, 0, 0, 0, [SEP] 42, Sink, -1.108, 0.926, 0.340, 0, 0, 0, [SEP] 43, StoveBurner, -0.254, 0.922, 4.672, 0, 0, 0, [SEP] 44, Drawer, -1.824, 0.696, 0.413, 0, 0, 0, [SEP] 45, StoveBurner, -0.535, 0.922, 4.274, 0, 0, 0, [SEP] 46, StoveBurner, -0.254, 0.922, 4.274, 0, 0, 0, [SEP] 47, StoveBurner, -0.536, 0.922, 4.672, 0, 0, 0, [SEP] 48, CounterTop, -2.780, 0.971, 3.487, 0, 0, 0, [SEP] 49, Drawer, -2.323, 0.696, 0.413, 0, 0, 0, [SEP] 50, StoveKnob, -0.064, 1.090, 4.632, 0, 0, 73.865, [SEP] 51, StoveKnob, -0.064, 1.090, 4.782, 0, 0, 73.865, [SEP] 52, StoveKnob, -0.064, 1.090, 4.382, 0, 0, 73.865, [SEP] 53, StoveKnob, -0.064, 1.090, 4.222, 0, 0, 73.865, [SEP] 54, Toaster, -0.286, 0.861, 3.520, 0, 270, 0, [SEP] 55, GarbageCan, -2.816, -0.014, 0.370, 358.702, 26.614, 2.400, [SEP] 56, LightSwitch, -0.064, 1.447, 1.996, 0, 270, 0, [SEP] 57, Window, -3.075, 1.593, 1.361, 90, 90, 0, [SEP] 58, Fridge, -2.802, 0.0, 4.427, 0, 0, 0, [SEP] 59, SinkBasin, -1.106, 0.785, 0.337, 0, 0, 0, [SEP] 60, Microwave, -0.358, 0.917, 0.224, 0, 0, 0, [SEP] 61, CoffeeMachine, -2.938, 0.925, 3.605, 0, 90, 0, [SEP] 62, DiningTable, -2.733, -0.003, 2.607, 0, 270, 0, [SEP] 63, Faucet, -1.077, 0.920, 0.028, 270, 270, 0, [SEP] 64, DiningTable, -0.488, -0.003, 3.182, 0, 270, 0, [SEP] 65, NorthWall, , , , , , , [SEP] 66, EastWall, , , , , , , [SEP] 67, SouthWall, , , , , , , [SEP] 68, WestWall, , , , , , , ", "output": ["STEP 1: Turn right, proceed to table. Turn right, proceed to sink. | STEP 2: Pick up mug from sink, located to the right of the spatula. | STEP 3: Turn around, proceed to wall. Turn left, proceed to refrigerator. | STEP 4: Open refrigerator, place mug on top shelf to the right of the tomato. Close refrigerator, wait five seconds, open refrigerator. Remove mug from refrigerator, close refrigerator door. | STEP 5: Turn left, proceed to counter on right. Turn right to face coffee maker. | STEP 6: Place mug on coffee maker to the right of the lettuce. | END"]} +{"id": "trial_T20190906_214331_409813-1", "input": "Place the knife next to the egg SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 1.124, 1.0, 0, 180, 0, [SEP] 1, Pan, -1.380, 1.322, -2.981, 0, 270, 0, 61 [SEP] 2, Pan, -1.818, 0.343, 1.110, 0, 180, 0, 62 [SEP] 3, Potato, 1.246, 1.350, 0.810, 0, 270, 0, 86 [SEP] 4, DishSponge, -1.345, 1.322, -1.269, 0, 0, 0, 61 [SEP] 5, DishSponge, -1.602, 0.343, -2.362, 0, 0, 0, 57 [SEP] 6, WineBottle, -1.237, 1.323, -3.314, 0, 0, 0, 61 [SEP] 7, WineBottle, -1.660, 1.323, -2.981, 0, 0, 0, 61 [SEP] 8, Kettle, -0.239, 1.331, -3.301, 0, 180, 0, 56 [SEP] 9, Fork, -1.660, 1.323, 1.419, 0, 0, 0, 61 [SEP] 10, Fork, 1.025, 1.323, -2.424, 0, 0, 0, 61 [SEP] 11, Spoon, 0.897, 0.741, 1.054, 0, 270, 0, 85 [SEP] 12, Spoon, -1.687, 0.421, -1.283, 0, 0, 0, 67 [SEP] 13, Spatula, -2.004, 1.351, -1.117, 0, 270, 0, 68 [SEP] 14, Pot, -0.125, 1.332, -2.973, 0, 0, 0, 69 [SEP] 15, Egg, -1.530, 1.363, -2.461, 0, 0, 0, 61 [SEP] 16, Egg, 0.861, 1.248, 1.222, 0, 0, 0, 86 [SEP] 17, Plate, 0.976, 0.345, -2.267, 0, 180, 0, 60 [SEP] 18, Plate, -1.817, 0.344, 0.613, 0, 0, 0, 59 [SEP] 19, Knife, -1.737, 1.358, -1.186, 0, 180, 0, 68 [SEP] 20, Knife, -1.790, 1.352, 1.094, 0, 0, 0, 61 [SEP] 21, Knife, -1.826, 1.362, -0.980, 0, 180, 0, 68 [SEP] 22, SoapBottle, 1.193, 1.207, 1.238, 0, 0, 0, 86 [SEP] 23, SoapBottle, -1.954, 0.344, 1.007, 0, 0, 0, 62 [SEP] 24, Tomato, 1.072, 1.558, 1.848, 0, 270, 0, 74 [SEP] 25, Tomato, -1.954, 1.084, -0.633, 0, 0, 0, 79 [SEP] 26, Bowl, -1.790, 1.321, -2.201, 0, 0, 0, 61 [SEP] 27, SaltShaker, 0.778, 1.202, 1.254, 0, 0, 0, 86 [SEP] 28, PepperShaker, 1.285, 1.318, -3.164, 0, 0, 0, 61 [SEP] 29, Bread, 0.563, 1.397, -3.232, 0, 0, 0, 61 [SEP] 30, Mug, -1.698, 1.046, -0.587, 0, 0, 0, 79 [SEP] 31, Apple, -1.308, 1.371, -2.760, 0, 0, 0, 61 [SEP] 32, Apple, -1.308, 1.371, -3.203, 0, 180, 0, 61 [SEP] 33, Bread, -1.510, 1.380, 0.674, 0, 0, 0, 61 [SEP] 34, Pot, -0.749, 1.332, -2.973, 0, 0, 0, 64 [SEP] 35, Knife, -1.737, 1.360, -1.117, 0, 90, 0, 68 [SEP] 36, Bowl, -1.602, 0.342, -1.863, 0, 0, 0, 57 [SEP] 37, Potato, -1.920, 1.362, 1.744, 0, 0, 0, 61 [SEP] 38, SoapBottle, -1.682, 0.344, 1.523, 0, 0, 0, 62 [SEP] 39, Fork, -1.561, 0.423, -1.283, 0, 90, 0, 67 [SEP] 40, Cup, -1.920, 1.320, -1.941, 0, 0, 0, 61 [SEP] 41, Kettle, -1.691, 1.310, -3.156, 0, 150.000, 0, 61 [SEP] 42, Egg, -2.093, 1.375, -1.186, 0, 0, 0, 68 [SEP] 43, Pan, -1.660, 1.312, 0.445, 0, 0, 0, 61 [SEP] 44, SaltShaker, 0.506, 1.318, -2.053, 0, 0, 0, 61 [SEP] 45, WineBottle, -1.610, 0.281, 2.275, 0, 270, 0, 76 [SEP] 46, Lettuce, 0.896, 1.399, -0.942, 0, 0, 0, 61 [SEP] 47, Spatula, -1.772, 0.437, -0.561, 0, 90, 0, 65 [SEP] 48, PaperTowelRoll, -2.049, 1.427, 0.445, 0, 0, 0, 61 [SEP] 49, Tomato, -1.610, 0.314, 2.110, 0, 270, 0, 76 [SEP] 50, Plate, 0.349, 1.323, -3.121, 0, 0, 0, 61 [SEP] 51, PepperShaker, -1.602, 0.338, -2.262, 0, 0, 0, 57 [SEP] 52, DishSponge, -1.165, 1.322, -3.425, 0, 0, 0, 61 [SEP] 53, Spoon, -1.826, 1.065, -0.542, 0, 0, 0, 79 [SEP] 54, Apple, 0.766, 1.371, -2.053, 0, 0, 0, 75 [SEP] 55, Mug, 1.027, 1.202, 1.238, 0, 0, 0, 86 [SEP] 56, StoveBurner, -0.239, 1.325, -3.301, 0, 180, 0, [SEP] 57, Cabinet, -1.461, 0.775, -2.002, 0, 0, 0, [SEP] 58, StoveBurner, -0.630, 1.325, -3.301, 0, 180, 0, [SEP] 59, Cabinet, -1.461, 0.775, 0.470, 0, 0, 0, [SEP] 60, Cabinet, 0.578, 0.776, -2.054, 0, 0, 0, [SEP] 61, CounterTop, -1.809, 1.358, 1.182, 0, 0, 0, [SEP] 62, Cabinet, -1.461, 0.775, 1.310, 0, 0, 0, [SEP] 63, Faucet, -2.063, 1.362, -0.726, 0, 39.391, 0, [SEP] 64, StoveBurner, -0.749, 1.325, -2.973, 0, 0, 0, [SEP] 65, Drawer, -1.610, 0.681, -0.430, 0, 0, 0, [SEP] 66, Window, -2.566, 1.799, -0.822, 270, 0, 0, [SEP] 67, Drawer, -1.610, 0.681, -1.217, 0, 0, 0, [SEP] 68, Sink, -1.990, 1.143, -0.975, 0, 0, 0, [SEP] 69, StoveBurner, -0.125, 1.325, -2.973, 0, 0, 0, [SEP] 70, StoveKnob, -0.185, 1.338, -2.741, 0, 270, 180, [SEP] 71, StoveKnob, -0.336, 1.338, -2.741, 0, 270, 180, [SEP] 72, StoveKnob, -0.569, 1.338, -2.741, 0, 270, 180, [SEP] 73, StoveKnob, -0.707, 1.338, -2.741, 0, 270, 180, [SEP] 74, Fridge, 1.013, 0.227, 1.917, 0, 270, 0, [SEP] 75, Microwave, 0.994, 1.310, -2.163, 0, 270, 0, [SEP] 76, GarbageCan, -1.633, 0.212, 2.192, 0, 270, 0, [SEP] 77, LightSwitch, 1.386, 1.565, -0.657, 0, 270, 0, [SEP] 78, HousePlant, -2.027, 1.311, -0.026, 0, 284.058, 0, [SEP] 79, SinkBasin, -1.835, 1.039, -0.542, 0, 0, 0, [SEP] 80, ButterKnife, 0.873, 0.468, 0.651, 0, 0, 0, [SEP] 81, Toaster, -1.885, 1.310, -2.512, 0, 90, 0, [SEP] 82, CoffeeMachine, 1.129, 1.310, -1.426, 0, 270, 0, [SEP] 83, Drawer, 0.647, 1.061, 0.680, 0, 270, 0, [SEP] 84, Drawer, 0.648, 1.061, 1.020, 0, 270, 0, [SEP] 85, Drawer, 0.648, 0.843, 1.020, 0, 270, 0, [SEP] 86, SideTable, 0.975, 0.220, 0.869, 0, 270, 0, [SEP] 87, Drawer, 0.648, 0.602, 0.680, 0, 270, 0, [SEP] 88, Drawer, 0.648, 0.596, 1.020, 0, 270, 0, [SEP] 89, Drawer, 0.648, 0.843, 0.680, 0, 270, 0, [SEP] 90, Stool, 0.606, 0.222, -1.084, 1.233, 280.489, 0, [SEP] 91, NorthWall, , , , , , , [SEP] 92, EastWall, , , , , , , [SEP] 93, SouthWall, , , , , , , [SEP] 94, WestWall, , , , , , , ", "output": ["STEP 1: Walk to the table to your right | STEP 2: Pick up the knife from the table | STEP 3: Turn around and walk towards the microwave behind you | STEP 4: Place the knife right next to the egg on the table. | END"]} +{"id": "trial_T20190908_113618_132854-2", "input": "Put a washed pan on the stove. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.900, 1.75, 0, 180, 0, [SEP] 1, Potato, -1.219, 1.044, -1.638, 0, 90, 0, 66 [SEP] 2, Potato, -1.380, 1.212, -0.495, 0, 90, 0, 68 [SEP] 3, Ladle, 1.919, 0.957, -1.329, 0, 0, 0, 60 [SEP] 4, Ladle, -0.047, 0.975, 0.991, 0, 0, 0, 77 [SEP] 5, DishSponge, -0.616, 0.913, -2.200, 0, 0, 0, 60 [SEP] 6, WineBottle, 1.143, 0.120, -2.022, 0, 0, 0, 52 [SEP] 7, Spatula, -0.047, 0.941, 0.534, 0, 90, 0, 77 [SEP] 8, Spatula, 0.522, 0.941, 1.220, 0, 0, 0, 77 [SEP] 9, Egg, 2.009, 0.967, -1.563, 0, 0, 0, 60 [SEP] 10, Plate, -1.495, 1.187, -0.703, 0, 90, 0, 68 [SEP] 11, Knife, 1.153, 0.936, -2.085, 0, 0, 0, 60 [SEP] 12, Tomato, -1.553, 1.235, -0.910, 0, 90, 0, 68 [SEP] 13, SoapBottle, 1.877, 0.551, 2.586, 0, 0, 0, 86 [SEP] 14, Lettuce, 0.180, 1.008, 0.534, 0, 0, 0, 77 [SEP] 15, Lettuce, -0.047, 1.011, 0.305, 0, 0, 0, 77 [SEP] 16, SaltShaker, 0.408, 0.926, 0.534, 0, 0, 0, 77 [SEP] 17, PepperShaker, -0.230, 0.909, -1.725, 0, 0, 0, 60 [SEP] 18, Apple, -1.553, 0.930, -0.910, 0, 90, 0, 68 [SEP] 19, Potato, -1.000, 0.942, -2.115, 0, 0, 0, 60 [SEP] 20, Bowl, 0.325, 1.655, -2.162, 0, 0, 0, 49 [SEP] 21, SoapBottle, 0.294, 0.925, 1.448, 0, 0, 0, 77 [SEP] 22, Fork, 0.119, 0.914, -1.713, 0, 0, 0, 60 [SEP] 23, Ladle, 0.180, 0.971, 0.991, 0, 0, 0, 77 [SEP] 24, Bread, 1.738, 0.958, -1.563, 0, 0, 0, 60 [SEP] 25, Lettuce, -0.160, 1.011, 0.534, 0, 0, 0, 77 [SEP] 26, WineBottle, 1.631, 0.121, -1.200, 0, 270, 0, 54 [SEP] 27, Spatula, -0.047, 0.941, 1.220, 0, 0, 0, 77 [SEP] 28, Plate, 1.462, 0.556, 2.431, 0, 0, 0, 80 [SEP] 29, SaltShaker, -1.000, 0.909, -2.224, 0, 0, 0, 60 [SEP] 30, Pot, 1.567, 0.948, -0.757, 0, 0, 0, 42 [SEP] 31, Cup, -0.381, 2.151, -2.120, 0, 0, 0, 45 [SEP] 32, PepperShaker, -1.238, 1.655, -1.667, 0, 90, 0, 43 [SEP] 33, Pan, 1.845, 0.948, -0.757, 0, 0, 0, 57 [SEP] 34, ButterKnife, 1.850, 0.913, -1.751, 0, 0, 0, 60 [SEP] 35, Tomato, 0.522, 0.978, 0.762, 0, 0, 0, 77 [SEP] 36, DishSponge, 0.180, 0.930, 1.220, 0, 0, 0, 77 [SEP] 37, Egg, -1.610, 0.913, -0.806, 0, 90, 0, 68 [SEP] 38, Spoon, 1.557, 0.914, -1.212, 0, 0, 0, 60 [SEP] 39, Knife, 0.522, 0.953, 0.076, 0, 90, 0, 77 [SEP] 40, Mug, 1.773, 0.548, 2.379, 0, 0, 0, 86 [SEP] 41, StoveBurner, 1.845, 0.940, -0.355, 0, 0, 0, [SEP] 42, StoveBurner, 1.567, 0.940, -0.757, 0, 0, 0, [SEP] 43, Cabinet, -1.149, 2.019, -1.979, 0, 90, 0, [SEP] 44, Cabinet, -1.149, 2.265, -0.834, 0, 90, 0, [SEP] 45, Cabinet, -0.459, 2.265, -2.0, 0, 0, 0, [SEP] 46, Cabinet, -1.100, 2.019, -2.0, 0, 0, 0, [SEP] 47, Cabinet, 1.719, 2.019, -2.0, 0, 0, 0, [SEP] 48, Cabinet, 1.179, 2.019, -2.0, 0, 0, 0, [SEP] 49, Cabinet, 0.199, 2.019, -2.0, 0, 0, 0, [SEP] 50, Cabinet, 1.75, 2.019, -1.399, 0, 270, 0, [SEP] 51, Cabinet, 1.75, 2.019, -1.029, 0, 270, 0, [SEP] 52, Cabinet, 1.379, 0.469, -1.689, 0, 0, 0, [SEP] 53, Cabinet, -0.819, 0.469, -1.689, 0, 0, 0, [SEP] 54, Cabinet, 1.389, 0.469, -1.059, 0, 270, 0, [SEP] 55, Cabinet, -0.839, 0.469, -1.665, 0, 90, 0, [SEP] 56, StoveBurner, 1.567, 0.940, -0.355, 0, 0, 0, [SEP] 57, StoveBurner, 1.845, 0.940, -0.757, 0, 0, 0, [SEP] 58, Sink, -0.109, 0.893, -2.009, 0, 0, 0, [SEP] 59, Drawer, -0.819, 0.75, -1.690, 0, 0, 0, [SEP] 60, CounterTop, 0.232, 0.949, -2.002, 0, 0, 0, [SEP] 61, GarbageCan, 1.855, -0.034, 0.141, 0, 358.959, 0, [SEP] 62, Vase, 0.251, 0.546, 0.475, 0, 270, 0, [SEP] 63, Toaster, 0.780, 0.900, -2.080, 0, 0, 0, [SEP] 64, LightSwitch, 0.108, 1.315, 2.75, 0, 180, 0, [SEP] 65, Vase, 0.400, 0.925, 0.218, 0, 180, 0, [SEP] 66, Microwave, -1.233, 0.900, -1.680, 0, 90, 0, [SEP] 67, Vase, 1.465, 1.662, -2.200, 0, 0, 0, [SEP] 68, Fridge, -1.495, 0.0, -0.703, 0, 0, 0, [SEP] 69, Window, 2.114, 1.495, 1.072, 90, 270, 0, [SEP] 70, CoffeeMachine, 1.374, 0.899, -2.112, 0, 0, 0, [SEP] 71, Vase, 0.333, 0.546, 1.272, 0, 270, 0, [SEP] 72, SinkBasin, -0.148, 0.753, -2.026, 0, 0, 0, [SEP] 73, StoveKnob, 2.037, 1.089, -0.405, 0, 0, 74.477, [SEP] 74, StoveKnob, 2.037, 1.089, -0.251, 0, 0, 74.477, [SEP] 75, StoveKnob, 2.037, 1.089, -0.649, 0, 0, 74.477, [SEP] 76, StoveKnob, 2.037, 1.089, -0.814, 0, 0, 74.477, [SEP] 77, DiningTable, 0.170, 0.005, 0.678, 0, 270, 0, [SEP] 78, Shelf, 0.170, 0.155, 0.678, 0, 270, 0, [SEP] 79, Shelf, 1.605, 0.172, 2.480, 0, 0, 0, [SEP] 80, Shelf, 1.605, 0.552, 2.480, 0, 0, 0, [SEP] 81, Shelf, 1.604, 0.880, 2.479, 0, 0, 0, [SEP] 82, ShelvingUnit, 1.605, 0.006, 2.480, 0, 0, 0, [SEP] 83, Faucet, -0.143, 1.028, -2.223, 0, 270, 0, [SEP] 84, Stool, -0.553, 0.000, 0.871, 1.233, 280.376, 0, [SEP] 85, Shelf, 0.170, 0.528, 0.678, 0, 270, 0, [SEP] 86, , , , , , , , [SEP] 87, NorthWall, , , , , , , [SEP] 88, EastWall, , , , , , , [SEP] 89, SouthWall, , , , , , , [SEP] 90, WestWall, , , , , , , ", "output": ["STEP 1: Go to the stove. | STEP 2: Pick up a pan on the stove. | STEP 3: Turn and go to the sink. | STEP 4: Wash the pan in the sink. | STEP 5: Turn and go to the stove. | STEP 6: Put the pan on the stove. | END"]} +{"id": "trial_T20190907_143605_967182-0", "input": "Place a yellow knife along with a slice of bread in the fridge. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.5, 0.908, 2.25, 0, 180, 0, [SEP] 1, Potato, -1.433, 0.957, -0.907, 0, 0, 0, 83 [SEP] 2, Potato, 1.367, 0.931, 2.584, 0, 0, 0, 109 [SEP] 3, CellPhone, 1.099, 0.773, 0.368, 0, 0, 0, 91 [SEP] 4, DishSponge, -1.060, 0.911, -0.732, 0, 0, 0, 83 [SEP] 5, DishSponge, 1.356, 2.156, 0.642, 0, 0, 0, 68 [SEP] 6, Glassbottle, 1.387, 1.656, -0.513, 0, 0, 0, 59 [SEP] 7, Glassbottle, -0.082, 0.759, -0.573, 0, 0, 0, 104 [SEP] 8, WineBottle, -1.435, 0.752, 0.673, 0, 90, 0, 97 [SEP] 9, Spoon, 1.367, 0.887, 2.477, 0, 0, 0, 109 [SEP] 10, Fork, -1.383, 0.749, 2.459, 0, 0, 0, 58 [SEP] 11, Fork, 1.128, 0.912, 0.139, 0, 0, 0, 77 [SEP] 12, Spatula, 1.207, 0.926, -0.428, 0, 90, 0, 77 [SEP] 13, Egg, 1.133, 0.120, 1.377, 0, 0, 0, 98 [SEP] 14, Egg, -1.378, 1.671, 0.984, 0, 90, 0, 97 [SEP] 15, Plate, -0.252, 0.117, -0.490, 0, 0, 0, 73 [SEP] 16, Plate, 1.325, 1.656, -0.333, 0, 0, 0, 59 [SEP] 17, Knife, 1.200, 0.908, 2.692, 0, 0, 0, 109 [SEP] 18, Knife, -1.105, 0.770, 2.830, 0, 0, 0, 58 [SEP] 19, Tomato, 1.301, 0.135, 1.409, 0, 0, 0, 98 [SEP] 20, SoapBottle, 1.117, 0.887, 2.153, 0, 180, 0, 109 [SEP] 21, Bowl, -1.325, 2.151, 0.706, 0, 0, 0, 75 [SEP] 22, Bowl, -1.263, 1.419, 0.988, 0, 90, 0, 97 [SEP] 23, Bread, -1.197, 0.813, 2.459, 0, 0, 0, 58 [SEP] 24, Bread, 1.286, 0.974, 0.139, 0, 0, 0, 77 [SEP] 25, Lettuce, 1.049, 0.982, 0.706, 0, 0, 0, 77 [SEP] 26, Lettuce, -0.919, 0.819, 2.459, 0, 0, 0, 58 [SEP] 27, SaltShaker, 1.128, 0.907, -0.428, 0, 0, 0, 77 [SEP] 28, SaltShaker, 1.365, 0.907, -0.428, 0, 0, 0, 77 [SEP] 29, PepperShaker, 0.659, 2.151, -0.851, 0, 0, 0, 61 [SEP] 30, PepperShaker, 0.951, 0.882, 2.477, 0, 0, 0, 109 [SEP] 31, Mug, 1.117, 0.881, 2.261, 0, 0, 0, 109 [SEP] 32, Bread, -1.320, 0.814, 0.883, 0, 90, 0, 97 [SEP] 33, Glassbottle, 1.128, 0.912, -0.144, 0, 0, 0, 77 [SEP] 34, Fork, 0.041, 0.759, -0.651, 0, 90, 0, 104 [SEP] 35, Kettle, 0.502, 0.939, -0.740, 0, 90, 0, 84 [SEP] 36, Tomato, 1.207, 0.961, 0.422, 0, 0, 0, 77 [SEP] 37, Plate, -1.263, 0.752, 1.197, 0, 90, 0, 97 [SEP] 38, CellPhone, -0.919, 0.746, 2.644, 0, 0, 0, 58 [SEP] 39, Lettuce, 1.284, 0.957, 2.369, 0, 0, 0, 109 [SEP] 40, Pot, 0.510, 0.936, -0.491, 0, 0, 0, 90 [SEP] 41, SoapBottle, -1.294, 1.657, -0.166, 0, 0, 0, 65 [SEP] 42, WineBottle, -0.968, 0.913, -0.907, 0, 0, 0, 83 [SEP] 43, Spatula, 1.200, 0.901, 2.584, 0, 270, 0, 109 [SEP] 44, Bowl, -1.162, 0.340, 0.778, 0, 90, 0, 97 [SEP] 45, Apple, -1.105, 0.809, 3.015, 0, 0, 0, 58 [SEP] 46, Cup, -1.378, 1.420, 1.197, 0, 90, 0, 97 [SEP] 47, Knife, 1.444, 0.933, 0.706, 0, 0, 0, 77 [SEP] 48, Egg, 1.523, 0.945, 0.422, 0, 0, 0, 77 [SEP] 49, SaltShaker, -1.294, 1.652, -0.481, 0, 0, 0, 64 [SEP] 50, PepperShaker, -1.012, 0.745, 1.902, 0, 0, 0, 58 [SEP] 51, Potato, 0.951, 0.931, 2.584, 0, 0, 0, 109 [SEP] 52, ButterKnife, -1.290, 0.748, 3.015, 0, 0, 0, 58 [SEP] 53, DishSponge, -1.475, 0.749, 2.644, 0, 0, 0, 58 [SEP] 54, Pan, -1.105, 0.748, 2.087, 0, 90, 0, 58 [SEP] 55, Spoon, -0.020, 0.763, -0.651, 0, 0, 0, 104 [SEP] 56, SprayBottle, -1.475, 0.748, 2.273, 0, 0, 0, 58 [SEP] 57, Mug, 1.215, 0.943, -0.633, 0, 320.314, 0, 96 [SEP] 58, DiningTable, -1.182, 0.006, 2.414, 0, 90, 0, [SEP] 59, Cabinet, 1.184, 2.059, 0.375, 0, 0, 0, [SEP] 60, Cabinet, 1.184, 2.059, -0.635, 0, 0, 0, [SEP] 61, Cabinet, 0.591, 2.309, -0.645, 0, 0, 0, [SEP] 62, Cabinet, -0.574, 2.059, -0.644, 0, 0, 0, [SEP] 63, Cabinet, -1.103, 2.059, -0.644, 0, 0, 0, [SEP] 64, Cabinet, -1.185, 2.059, -0.331, 0, 0, 0, [SEP] 65, Cabinet, -1.185, 2.059, -0.281, 0, 0, 0, [SEP] 66, Cabinet, -1.185, 2.059, 0.375, 0, 0, 0, [SEP] 67, Cabinet, 1.184, 2.309, 1.174, 0, 0, 0, [SEP] 68, Cabinet, 1.184, 2.309, 0.424, 0, 0, 0, [SEP] 69, Cabinet, 0.988, 0.402, 0.581, 0, 0, 0, [SEP] 70, Cabinet, 0.988, 0.402, 0.531, 0, 0, 0, [SEP] 71, Cabinet, 0.988, 0.402, -0.178, 0, 0, 0, [SEP] 72, Cabinet, 0.335, 0.402, -0.348, 0, 0, 0, [SEP] 73, Cabinet, -0.374, 0.402, -0.348, 0, 0, 0, [SEP] 74, Cabinet, 0.988, 0.402, 1.231, 0, 0, 0, [SEP] 75, Cabinet, -1.185, 2.309, 1.374, 0, 0, 0, [SEP] 76, Cabinet, -1.185, 2.309, 0.424, 0, 0, 0, [SEP] 77, CounterTop, 1.274, 0.947, 0.064, 0, 0, 0, [SEP] 78, Drawer, 1.116, 0.792, -0.015, 0, 0, 0, [SEP] 79, Drawer, -1.116, 0.792, 0.210, 0, 180, 0, [SEP] 80, Cabinet, -0.990, 0.402, 0.374, 0, 180, 0, [SEP] 81, Drawer, -1.116, 0.792, -0.170, 0, 180, 0, [SEP] 82, Cabinet, -0.990, 0.402, -0.335, 0, 180, 0, [SEP] 83, CounterTop, -1.001, 0.947, -0.669, 0, 0, 0, [SEP] 84, StoveBurner, 0.502, 0.932, -0.740, 0, 90, 0, [SEP] 85, StoveBurner, 0.801, 0.932, -0.473, 0, 0, 0, [SEP] 86, StoveBurner, 0.801, 0.932, -0.740, 0, 90, 0, [SEP] 87, Drawer, 1.116, 0.792, 1.081, 0, 0, 0, [SEP] 88, Sink, -0.013, 0.912, -0.615, 0, 0, 0, [SEP] 89, Drawer, 1.116, 0.792, 0.732, 0, 0, 0, [SEP] 90, StoveBurner, 0.502, 0.932, -0.469, 0, 0, 0, [SEP] 91, Drawer, 1.116, 0.792, 0.367, 0, 0, 0, [SEP] 92, StoveKnob, 0.550, 1.085, -0.912, 287.970, 180, 0, [SEP] 93, StoveKnob, 0.884, 1.085, -0.912, 287.970, 180, 0, [SEP] 94, StoveKnob, 0.432, 1.085, -0.912, 287.970, 180, 0, [SEP] 95, StoveKnob, 0.777, 1.085, -0.912, 287.970, 180, 0, [SEP] 96, CoffeeMachine, 1.304, 0.900, -0.741, 0, 320.314, 0, [SEP] 97, Fridge, -1.300, 0.008, 0.987, 0, 90, 0, [SEP] 98, GarbageCan, 1.296, -0.024, 1.465, 0, 0, 0, [SEP] 99, Window, -0.012, 1.641, -0.972, 90, 0, 0, [SEP] 100, Window, 1.598, 1.646, 2.489, 90, 270, 0, [SEP] 101, Toaster, 1.356, 0.900, 1.044, 0, 270, 0, [SEP] 102, LightSwitch, 0.118, 1.353, 3.799, 0, 180, 0, [SEP] 103, Microwave, -1.343, 0.900, 0.053, 0, 90, 0, [SEP] 104, SinkBasin, -0.029, 0.748, -0.612, 0, 0, 0, [SEP] 105, Faucet, -0.026, 0.927, -0.808, 0, 0, 0, [SEP] 106, Shelf, -1.182, 0.127, 2.414, 0, 90, 0, [SEP] 107, Stool, 1.140, 0.007, 3.262, 1.206, 20.753, 0, [SEP] 108, Shelf, -1.182, 0.435, 2.414, 0, 90, 0, [SEP] 109, DiningTable, 1.169, 0.014, 2.569, 0, 0, 1.896, [SEP] 110, NorthWall, , , , , , , [SEP] 111, EastWall, , , , , , , [SEP] 112, SouthWall, , , , , , , [SEP] 113, WestWall, , , , , , , ", "output": ["STEP 1: Walk past the toaster on your left. | STEP 2: Pick up the knife next to the toaster on the counter. | STEP 3: Turn around and walk towards a white rectangular table. | STEP 4: Slice the bread on the table into several pieces. | STEP 5: Turn left and walk towards the fridge. | STEP 6: Place the knife on the top shelf in the fridge and close it. | STEP 7: Turn right and walk back to the table to your left. | STEP 8: Pick up a slice of bread from the table. | STEP 9: Turn left and walk towards the microwave to your right. | STEP 10: Place the slice of bread in the microwave, heat it up, and take it back out. | STEP 11: Head towards the fridge to your right. | STEP 12: Place the bread behind the knife in the fridge. | END"]} +{"id": "trial_T20190907_143605_967182-2", "input": "Place a cooked slice of bread inside the fridge. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.5, 0.908, 2.25, 0, 180, 0, [SEP] 1, Potato, -1.433, 0.957, -0.907, 0, 0, 0, 83 [SEP] 2, Potato, 1.367, 0.931, 2.584, 0, 0, 0, 109 [SEP] 3, CellPhone, 1.099, 0.773, 0.368, 0, 0, 0, 91 [SEP] 4, DishSponge, -1.060, 0.911, -0.732, 0, 0, 0, 83 [SEP] 5, DishSponge, 1.356, 2.156, 0.642, 0, 0, 0, 68 [SEP] 6, Glassbottle, 1.387, 1.656, -0.513, 0, 0, 0, 59 [SEP] 7, Glassbottle, -0.082, 0.759, -0.573, 0, 0, 0, 104 [SEP] 8, WineBottle, -1.435, 0.752, 0.673, 0, 90, 0, 97 [SEP] 9, Spoon, 1.367, 0.887, 2.477, 0, 0, 0, 109 [SEP] 10, Fork, -1.383, 0.749, 2.459, 0, 0, 0, 58 [SEP] 11, Fork, 1.128, 0.912, 0.139, 0, 0, 0, 77 [SEP] 12, Spatula, 1.207, 0.926, -0.428, 0, 90, 0, 77 [SEP] 13, Egg, 1.133, 0.120, 1.377, 0, 0, 0, 98 [SEP] 14, Egg, -1.378, 1.671, 0.984, 0, 90, 0, 97 [SEP] 15, Plate, -0.252, 0.117, -0.490, 0, 0, 0, 73 [SEP] 16, Plate, 1.325, 1.656, -0.333, 0, 0, 0, 59 [SEP] 17, Knife, 1.200, 0.908, 2.692, 0, 0, 0, 109 [SEP] 18, Knife, -1.105, 0.770, 2.830, 0, 0, 0, 58 [SEP] 19, Tomato, 1.301, 0.135, 1.409, 0, 0, 0, 98 [SEP] 20, SoapBottle, 1.117, 0.887, 2.153, 0, 180, 0, 109 [SEP] 21, Bowl, -1.325, 2.151, 0.706, 0, 0, 0, 75 [SEP] 22, Bowl, -1.263, 1.419, 0.988, 0, 90, 0, 97 [SEP] 23, Bread, -1.197, 0.813, 2.459, 0, 0, 0, 58 [SEP] 24, Bread, 1.286, 0.974, 0.139, 0, 0, 0, 77 [SEP] 25, Lettuce, 1.049, 0.982, 0.706, 0, 0, 0, 77 [SEP] 26, Lettuce, -0.919, 0.819, 2.459, 0, 0, 0, 58 [SEP] 27, SaltShaker, 1.128, 0.907, -0.428, 0, 0, 0, 77 [SEP] 28, SaltShaker, 1.365, 0.907, -0.428, 0, 0, 0, 77 [SEP] 29, PepperShaker, 0.659, 2.151, -0.851, 0, 0, 0, 61 [SEP] 30, PepperShaker, 0.951, 0.882, 2.477, 0, 0, 0, 109 [SEP] 31, Mug, 1.117, 0.881, 2.261, 0, 0, 0, 109 [SEP] 32, Bread, -1.320, 0.814, 0.883, 0, 90, 0, 97 [SEP] 33, Glassbottle, 1.128, 0.912, -0.144, 0, 0, 0, 77 [SEP] 34, Fork, 0.041, 0.759, -0.651, 0, 90, 0, 104 [SEP] 35, Kettle, 0.502, 0.939, -0.740, 0, 90, 0, 84 [SEP] 36, Tomato, 1.207, 0.961, 0.422, 0, 0, 0, 77 [SEP] 37, Plate, -1.263, 0.752, 1.197, 0, 90, 0, 97 [SEP] 38, CellPhone, -0.919, 0.746, 2.644, 0, 0, 0, 58 [SEP] 39, Lettuce, 1.284, 0.957, 2.369, 0, 0, 0, 109 [SEP] 40, Pot, 0.510, 0.936, -0.491, 0, 0, 0, 90 [SEP] 41, SoapBottle, -1.294, 1.657, -0.166, 0, 0, 0, 65 [SEP] 42, WineBottle, -0.968, 0.913, -0.907, 0, 0, 0, 83 [SEP] 43, Spatula, 1.200, 0.901, 2.584, 0, 270, 0, 109 [SEP] 44, Bowl, -1.162, 0.340, 0.778, 0, 90, 0, 97 [SEP] 45, Apple, -1.105, 0.809, 3.015, 0, 0, 0, 58 [SEP] 46, Cup, -1.378, 1.420, 1.197, 0, 90, 0, 97 [SEP] 47, Knife, 1.444, 0.933, 0.706, 0, 0, 0, 77 [SEP] 48, Egg, 1.523, 0.945, 0.422, 0, 0, 0, 77 [SEP] 49, SaltShaker, -1.294, 1.652, -0.481, 0, 0, 0, 64 [SEP] 50, PepperShaker, -1.012, 0.745, 1.902, 0, 0, 0, 58 [SEP] 51, Potato, 0.951, 0.931, 2.584, 0, 0, 0, 109 [SEP] 52, ButterKnife, -1.290, 0.748, 3.015, 0, 0, 0, 58 [SEP] 53, DishSponge, -1.475, 0.749, 2.644, 0, 0, 0, 58 [SEP] 54, Pan, -1.105, 0.748, 2.087, 0, 90, 0, 58 [SEP] 55, Spoon, -0.020, 0.763, -0.651, 0, 0, 0, 104 [SEP] 56, SprayBottle, -1.475, 0.748, 2.273, 0, 0, 0, 58 [SEP] 57, Mug, 1.215, 0.943, -0.633, 0, 320.314, 0, 96 [SEP] 58, DiningTable, -1.182, 0.006, 2.414, 0, 90, 0, [SEP] 59, Cabinet, 1.184, 2.059, 0.375, 0, 0, 0, [SEP] 60, Cabinet, 1.184, 2.059, -0.635, 0, 0, 0, [SEP] 61, Cabinet, 0.591, 2.309, -0.645, 0, 0, 0, [SEP] 62, Cabinet, -0.574, 2.059, -0.644, 0, 0, 0, [SEP] 63, Cabinet, -1.103, 2.059, -0.644, 0, 0, 0, [SEP] 64, Cabinet, -1.185, 2.059, -0.331, 0, 0, 0, [SEP] 65, Cabinet, -1.185, 2.059, -0.281, 0, 0, 0, [SEP] 66, Cabinet, -1.185, 2.059, 0.375, 0, 0, 0, [SEP] 67, Cabinet, 1.184, 2.309, 1.174, 0, 0, 0, [SEP] 68, Cabinet, 1.184, 2.309, 0.424, 0, 0, 0, [SEP] 69, Cabinet, 0.988, 0.402, 0.581, 0, 0, 0, [SEP] 70, Cabinet, 0.988, 0.402, 0.531, 0, 0, 0, [SEP] 71, Cabinet, 0.988, 0.402, -0.178, 0, 0, 0, [SEP] 72, Cabinet, 0.335, 0.402, -0.348, 0, 0, 0, [SEP] 73, Cabinet, -0.374, 0.402, -0.348, 0, 0, 0, [SEP] 74, Cabinet, 0.988, 0.402, 1.231, 0, 0, 0, [SEP] 75, Cabinet, -1.185, 2.309, 1.374, 0, 0, 0, [SEP] 76, Cabinet, -1.185, 2.309, 0.424, 0, 0, 0, [SEP] 77, CounterTop, 1.274, 0.947, 0.064, 0, 0, 0, [SEP] 78, Drawer, 1.116, 0.792, -0.015, 0, 0, 0, [SEP] 79, Drawer, -1.116, 0.792, 0.210, 0, 180, 0, [SEP] 80, Cabinet, -0.990, 0.402, 0.374, 0, 180, 0, [SEP] 81, Drawer, -1.116, 0.792, -0.170, 0, 180, 0, [SEP] 82, Cabinet, -0.990, 0.402, -0.335, 0, 180, 0, [SEP] 83, CounterTop, -1.001, 0.947, -0.669, 0, 0, 0, [SEP] 84, StoveBurner, 0.502, 0.932, -0.740, 0, 90, 0, [SEP] 85, StoveBurner, 0.801, 0.932, -0.473, 0, 0, 0, [SEP] 86, StoveBurner, 0.801, 0.932, -0.740, 0, 90, 0, [SEP] 87, Drawer, 1.116, 0.792, 1.081, 0, 0, 0, [SEP] 88, Sink, -0.013, 0.912, -0.615, 0, 0, 0, [SEP] 89, Drawer, 1.116, 0.792, 0.732, 0, 0, 0, [SEP] 90, StoveBurner, 0.502, 0.932, -0.469, 0, 0, 0, [SEP] 91, Drawer, 1.116, 0.792, 0.367, 0, 0, 0, [SEP] 92, StoveKnob, 0.550, 1.085, -0.912, 287.970, 180, 0, [SEP] 93, StoveKnob, 0.884, 1.085, -0.912, 287.970, 180, 0, [SEP] 94, StoveKnob, 0.432, 1.085, -0.912, 287.970, 180, 0, [SEP] 95, StoveKnob, 0.777, 1.085, -0.912, 287.970, 180, 0, [SEP] 96, CoffeeMachine, 1.304, 0.900, -0.741, 0, 320.314, 0, [SEP] 97, Fridge, -1.300, 0.008, 0.987, 0, 90, 0, [SEP] 98, GarbageCan, 1.296, -0.024, 1.465, 0, 0, 0, [SEP] 99, Window, -0.012, 1.641, -0.972, 90, 0, 0, [SEP] 100, Window, 1.598, 1.646, 2.489, 90, 270, 0, [SEP] 101, Toaster, 1.356, 0.900, 1.044, 0, 270, 0, [SEP] 102, LightSwitch, 0.118, 1.353, 3.799, 0, 180, 0, [SEP] 103, Microwave, -1.343, 0.900, 0.053, 0, 90, 0, [SEP] 104, SinkBasin, -0.029, 0.748, -0.612, 0, 0, 0, [SEP] 105, Faucet, -0.026, 0.927, -0.808, 0, 0, 0, [SEP] 106, Shelf, -1.182, 0.127, 2.414, 0, 90, 0, [SEP] 107, Stool, 1.140, 0.007, 3.262, 1.206, 20.753, 0, [SEP] 108, Shelf, -1.182, 0.435, 2.414, 0, 90, 0, [SEP] 109, DiningTable, 1.169, 0.014, 2.569, 0, 0, 1.896, [SEP] 110, NorthWall, , , , , , , [SEP] 111, EastWall, , , , , , , [SEP] 112, SouthWall, , , , , , , [SEP] 113, WestWall, , , , , , , ", "output": ["STEP 1: Go forward and then turn to the left at the counter where the lettuce and tomato is. | STEP 2: Pick up the big knife that is on the counter. | STEP 3: Turn around and go to the white table on the other side of the room that has bread and lettuce on it. | STEP 4: Use the knife to cut the bread into slices. | STEP 5: Turn to the left and go to the fridge. | STEP 6: Open the fridge, put the knife inside, and close the fridge. | STEP 7: Turn to the right and go back to the white table with the bread on it. | STEP 8: Pick up a slice of the bread. | STEP 9: Turn to the left and go to the microwave that is on the other side of the fridge. | STEP 10: Open the microwave and put the bread inside, close the microwave and turn it on to cook the bread, open the microwave, remove the bread, and close the microwave door. | STEP 11: Turn to the right and go back to the fridge. | STEP 12: Open the fridge, place the bread inside, and close the fridge. | END"]} +{"id": "trial_T20190907_143605_967182-3", "input": "Put a slice of microwaved bread in the refrigerator. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.5, 0.908, 2.25, 0, 180, 0, [SEP] 1, Potato, -1.433, 0.957, -0.907, 0, 0, 0, 83 [SEP] 2, Potato, 1.367, 0.931, 2.584, 0, 0, 0, 109 [SEP] 3, CellPhone, 1.099, 0.773, 0.368, 0, 0, 0, 91 [SEP] 4, DishSponge, -1.060, 0.911, -0.732, 0, 0, 0, 83 [SEP] 5, DishSponge, 1.356, 2.156, 0.642, 0, 0, 0, 68 [SEP] 6, Glassbottle, 1.387, 1.656, -0.513, 0, 0, 0, 59 [SEP] 7, Glassbottle, -0.082, 0.759, -0.573, 0, 0, 0, 104 [SEP] 8, WineBottle, -1.435, 0.752, 0.673, 0, 90, 0, 97 [SEP] 9, Spoon, 1.367, 0.887, 2.477, 0, 0, 0, 109 [SEP] 10, Fork, -1.383, 0.749, 2.459, 0, 0, 0, 58 [SEP] 11, Fork, 1.128, 0.912, 0.139, 0, 0, 0, 77 [SEP] 12, Spatula, 1.207, 0.926, -0.428, 0, 90, 0, 77 [SEP] 13, Egg, 1.133, 0.120, 1.377, 0, 0, 0, 98 [SEP] 14, Egg, -1.378, 1.671, 0.984, 0, 90, 0, 97 [SEP] 15, Plate, -0.252, 0.117, -0.490, 0, 0, 0, 73 [SEP] 16, Plate, 1.325, 1.656, -0.333, 0, 0, 0, 59 [SEP] 17, Knife, 1.200, 0.908, 2.692, 0, 0, 0, 109 [SEP] 18, Knife, -1.105, 0.770, 2.830, 0, 0, 0, 58 [SEP] 19, Tomato, 1.301, 0.135, 1.409, 0, 0, 0, 98 [SEP] 20, SoapBottle, 1.117, 0.887, 2.153, 0, 180, 0, 109 [SEP] 21, Bowl, -1.325, 2.151, 0.706, 0, 0, 0, 75 [SEP] 22, Bowl, -1.263, 1.419, 0.988, 0, 90, 0, 97 [SEP] 23, Bread, -1.197, 0.813, 2.459, 0, 0, 0, 58 [SEP] 24, Bread, 1.286, 0.974, 0.139, 0, 0, 0, 77 [SEP] 25, Lettuce, 1.049, 0.982, 0.706, 0, 0, 0, 77 [SEP] 26, Lettuce, -0.919, 0.819, 2.459, 0, 0, 0, 58 [SEP] 27, SaltShaker, 1.128, 0.907, -0.428, 0, 0, 0, 77 [SEP] 28, SaltShaker, 1.365, 0.907, -0.428, 0, 0, 0, 77 [SEP] 29, PepperShaker, 0.659, 2.151, -0.851, 0, 0, 0, 61 [SEP] 30, PepperShaker, 0.951, 0.882, 2.477, 0, 0, 0, 109 [SEP] 31, Mug, 1.117, 0.881, 2.261, 0, 0, 0, 109 [SEP] 32, Bread, -1.320, 0.814, 0.883, 0, 90, 0, 97 [SEP] 33, Glassbottle, 1.128, 0.912, -0.144, 0, 0, 0, 77 [SEP] 34, Fork, 0.041, 0.759, -0.651, 0, 90, 0, 104 [SEP] 35, Kettle, 0.502, 0.939, -0.740, 0, 90, 0, 84 [SEP] 36, Tomato, 1.207, 0.961, 0.422, 0, 0, 0, 77 [SEP] 37, Plate, -1.263, 0.752, 1.197, 0, 90, 0, 97 [SEP] 38, CellPhone, -0.919, 0.746, 2.644, 0, 0, 0, 58 [SEP] 39, Lettuce, 1.284, 0.957, 2.369, 0, 0, 0, 109 [SEP] 40, Pot, 0.510, 0.936, -0.491, 0, 0, 0, 90 [SEP] 41, SoapBottle, -1.294, 1.657, -0.166, 0, 0, 0, 65 [SEP] 42, WineBottle, -0.968, 0.913, -0.907, 0, 0, 0, 83 [SEP] 43, Spatula, 1.200, 0.901, 2.584, 0, 270, 0, 109 [SEP] 44, Bowl, -1.162, 0.340, 0.778, 0, 90, 0, 97 [SEP] 45, Apple, -1.105, 0.809, 3.015, 0, 0, 0, 58 [SEP] 46, Cup, -1.378, 1.420, 1.197, 0, 90, 0, 97 [SEP] 47, Knife, 1.444, 0.933, 0.706, 0, 0, 0, 77 [SEP] 48, Egg, 1.523, 0.945, 0.422, 0, 0, 0, 77 [SEP] 49, SaltShaker, -1.294, 1.652, -0.481, 0, 0, 0, 64 [SEP] 50, PepperShaker, -1.012, 0.745, 1.902, 0, 0, 0, 58 [SEP] 51, Potato, 0.951, 0.931, 2.584, 0, 0, 0, 109 [SEP] 52, ButterKnife, -1.290, 0.748, 3.015, 0, 0, 0, 58 [SEP] 53, DishSponge, -1.475, 0.749, 2.644, 0, 0, 0, 58 [SEP] 54, Pan, -1.105, 0.748, 2.087, 0, 90, 0, 58 [SEP] 55, Spoon, -0.020, 0.763, -0.651, 0, 0, 0, 104 [SEP] 56, SprayBottle, -1.475, 0.748, 2.273, 0, 0, 0, 58 [SEP] 57, Mug, 1.215, 0.943, -0.633, 0, 320.314, 0, 96 [SEP] 58, DiningTable, -1.182, 0.006, 2.414, 0, 90, 0, [SEP] 59, Cabinet, 1.184, 2.059, 0.375, 0, 0, 0, [SEP] 60, Cabinet, 1.184, 2.059, -0.635, 0, 0, 0, [SEP] 61, Cabinet, 0.591, 2.309, -0.645, 0, 0, 0, [SEP] 62, Cabinet, -0.574, 2.059, -0.644, 0, 0, 0, [SEP] 63, Cabinet, -1.103, 2.059, -0.644, 0, 0, 0, [SEP] 64, Cabinet, -1.185, 2.059, -0.331, 0, 0, 0, [SEP] 65, Cabinet, -1.185, 2.059, -0.281, 0, 0, 0, [SEP] 66, Cabinet, -1.185, 2.059, 0.375, 0, 0, 0, [SEP] 67, Cabinet, 1.184, 2.309, 1.174, 0, 0, 0, [SEP] 68, Cabinet, 1.184, 2.309, 0.424, 0, 0, 0, [SEP] 69, Cabinet, 0.988, 0.402, 0.581, 0, 0, 0, [SEP] 70, Cabinet, 0.988, 0.402, 0.531, 0, 0, 0, [SEP] 71, Cabinet, 0.988, 0.402, -0.178, 0, 0, 0, [SEP] 72, Cabinet, 0.335, 0.402, -0.348, 0, 0, 0, [SEP] 73, Cabinet, -0.374, 0.402, -0.348, 0, 0, 0, [SEP] 74, Cabinet, 0.988, 0.402, 1.231, 0, 0, 0, [SEP] 75, Cabinet, -1.185, 2.309, 1.374, 0, 0, 0, [SEP] 76, Cabinet, -1.185, 2.309, 0.424, 0, 0, 0, [SEP] 77, CounterTop, 1.274, 0.947, 0.064, 0, 0, 0, [SEP] 78, Drawer, 1.116, 0.792, -0.015, 0, 0, 0, [SEP] 79, Drawer, -1.116, 0.792, 0.210, 0, 180, 0, [SEP] 80, Cabinet, -0.990, 0.402, 0.374, 0, 180, 0, [SEP] 81, Drawer, -1.116, 0.792, -0.170, 0, 180, 0, [SEP] 82, Cabinet, -0.990, 0.402, -0.335, 0, 180, 0, [SEP] 83, CounterTop, -1.001, 0.947, -0.669, 0, 0, 0, [SEP] 84, StoveBurner, 0.502, 0.932, -0.740, 0, 90, 0, [SEP] 85, StoveBurner, 0.801, 0.932, -0.473, 0, 0, 0, [SEP] 86, StoveBurner, 0.801, 0.932, -0.740, 0, 90, 0, [SEP] 87, Drawer, 1.116, 0.792, 1.081, 0, 0, 0, [SEP] 88, Sink, -0.013, 0.912, -0.615, 0, 0, 0, [SEP] 89, Drawer, 1.116, 0.792, 0.732, 0, 0, 0, [SEP] 90, StoveBurner, 0.502, 0.932, -0.469, 0, 0, 0, [SEP] 91, Drawer, 1.116, 0.792, 0.367, 0, 0, 0, [SEP] 92, StoveKnob, 0.550, 1.085, -0.912, 287.970, 180, 0, [SEP] 93, StoveKnob, 0.884, 1.085, -0.912, 287.970, 180, 0, [SEP] 94, StoveKnob, 0.432, 1.085, -0.912, 287.970, 180, 0, [SEP] 95, StoveKnob, 0.777, 1.085, -0.912, 287.970, 180, 0, [SEP] 96, CoffeeMachine, 1.304, 0.900, -0.741, 0, 320.314, 0, [SEP] 97, Fridge, -1.300, 0.008, 0.987, 0, 90, 0, [SEP] 98, GarbageCan, 1.296, -0.024, 1.465, 0, 0, 0, [SEP] 99, Window, -0.012, 1.641, -0.972, 90, 0, 0, [SEP] 100, Window, 1.598, 1.646, 2.489, 90, 270, 0, [SEP] 101, Toaster, 1.356, 0.900, 1.044, 0, 270, 0, [SEP] 102, LightSwitch, 0.118, 1.353, 3.799, 0, 180, 0, [SEP] 103, Microwave, -1.343, 0.900, 0.053, 0, 90, 0, [SEP] 104, SinkBasin, -0.029, 0.748, -0.612, 0, 0, 0, [SEP] 105, Faucet, -0.026, 0.927, -0.808, 0, 0, 0, [SEP] 106, Shelf, -1.182, 0.127, 2.414, 0, 90, 0, [SEP] 107, Stool, 1.140, 0.007, 3.262, 1.206, 20.753, 0, [SEP] 108, Shelf, -1.182, 0.435, 2.414, 0, 90, 0, [SEP] 109, DiningTable, 1.169, 0.014, 2.569, 0, 0, 1.896, [SEP] 110, NorthWall, , , , , , , [SEP] 111, EastWall, , , , , , , [SEP] 112, SouthWall, , , , , , , [SEP] 113, WestWall, , , , , , , ", "output": ["STEP 1: Go to the counter. | STEP 2: Pick up the knife on the counter. | STEP 3: Turn around and go to the table by the door. | STEP 4: Cut the bread on the table with the knife. | STEP 5: Turn left and go to the refrigerator. | STEP 6: Put the knife in the refrigerator. | STEP 7: Turn right and go to the table by the door. | STEP 8: Pick up a slice of bread from the table. | STEP 9: Turn left and go to the microwave. | STEP 10: Cook the slice of bread in the microwave. | STEP 11: Turn right and go to the refrigerator. | STEP 12: Put the slice of bread in the refrigerator. | END"]} +{"id": "trial_T20190907_143605_967182-4", "input": "Cut the slice bread and put it to the refrigerator SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.5, 0.908, 2.25, 0, 180, 0, [SEP] 1, Potato, -1.433, 0.957, -0.907, 0, 0, 0, 83 [SEP] 2, Potato, 1.367, 0.931, 2.584, 0, 0, 0, 109 [SEP] 3, CellPhone, 1.099, 0.773, 0.368, 0, 0, 0, 91 [SEP] 4, DishSponge, -1.060, 0.911, -0.732, 0, 0, 0, 83 [SEP] 5, DishSponge, 1.356, 2.156, 0.642, 0, 0, 0, 68 [SEP] 6, Glassbottle, 1.387, 1.656, -0.513, 0, 0, 0, 59 [SEP] 7, Glassbottle, -0.082, 0.759, -0.573, 0, 0, 0, 104 [SEP] 8, WineBottle, -1.435, 0.752, 0.673, 0, 90, 0, 97 [SEP] 9, Spoon, 1.367, 0.887, 2.477, 0, 0, 0, 109 [SEP] 10, Fork, -1.383, 0.749, 2.459, 0, 0, 0, 58 [SEP] 11, Fork, 1.128, 0.912, 0.139, 0, 0, 0, 77 [SEP] 12, Spatula, 1.207, 0.926, -0.428, 0, 90, 0, 77 [SEP] 13, Egg, 1.133, 0.120, 1.377, 0, 0, 0, 98 [SEP] 14, Egg, -1.378, 1.671, 0.984, 0, 90, 0, 97 [SEP] 15, Plate, -0.252, 0.117, -0.490, 0, 0, 0, 73 [SEP] 16, Plate, 1.325, 1.656, -0.333, 0, 0, 0, 59 [SEP] 17, Knife, 1.200, 0.908, 2.692, 0, 0, 0, 109 [SEP] 18, Knife, -1.105, 0.770, 2.830, 0, 0, 0, 58 [SEP] 19, Tomato, 1.301, 0.135, 1.409, 0, 0, 0, 98 [SEP] 20, SoapBottle, 1.117, 0.887, 2.153, 0, 180, 0, 109 [SEP] 21, Bowl, -1.325, 2.151, 0.706, 0, 0, 0, 75 [SEP] 22, Bowl, -1.263, 1.419, 0.988, 0, 90, 0, 97 [SEP] 23, Bread, -1.197, 0.813, 2.459, 0, 0, 0, 58 [SEP] 24, Bread, 1.286, 0.974, 0.139, 0, 0, 0, 77 [SEP] 25, Lettuce, 1.049, 0.982, 0.706, 0, 0, 0, 77 [SEP] 26, Lettuce, -0.919, 0.819, 2.459, 0, 0, 0, 58 [SEP] 27, SaltShaker, 1.128, 0.907, -0.428, 0, 0, 0, 77 [SEP] 28, SaltShaker, 1.365, 0.907, -0.428, 0, 0, 0, 77 [SEP] 29, PepperShaker, 0.659, 2.151, -0.851, 0, 0, 0, 61 [SEP] 30, PepperShaker, 0.951, 0.882, 2.477, 0, 0, 0, 109 [SEP] 31, Mug, 1.117, 0.881, 2.261, 0, 0, 0, 109 [SEP] 32, Bread, -1.320, 0.814, 0.883, 0, 90, 0, 97 [SEP] 33, Glassbottle, 1.128, 0.912, -0.144, 0, 0, 0, 77 [SEP] 34, Fork, 0.041, 0.759, -0.651, 0, 90, 0, 104 [SEP] 35, Kettle, 0.502, 0.939, -0.740, 0, 90, 0, 84 [SEP] 36, Tomato, 1.207, 0.961, 0.422, 0, 0, 0, 77 [SEP] 37, Plate, -1.263, 0.752, 1.197, 0, 90, 0, 97 [SEP] 38, CellPhone, -0.919, 0.746, 2.644, 0, 0, 0, 58 [SEP] 39, Lettuce, 1.284, 0.957, 2.369, 0, 0, 0, 109 [SEP] 40, Pot, 0.510, 0.936, -0.491, 0, 0, 0, 90 [SEP] 41, SoapBottle, -1.294, 1.657, -0.166, 0, 0, 0, 65 [SEP] 42, WineBottle, -0.968, 0.913, -0.907, 0, 0, 0, 83 [SEP] 43, Spatula, 1.200, 0.901, 2.584, 0, 270, 0, 109 [SEP] 44, Bowl, -1.162, 0.340, 0.778, 0, 90, 0, 97 [SEP] 45, Apple, -1.105, 0.809, 3.015, 0, 0, 0, 58 [SEP] 46, Cup, -1.378, 1.420, 1.197, 0, 90, 0, 97 [SEP] 47, Knife, 1.444, 0.933, 0.706, 0, 0, 0, 77 [SEP] 48, Egg, 1.523, 0.945, 0.422, 0, 0, 0, 77 [SEP] 49, SaltShaker, -1.294, 1.652, -0.481, 0, 0, 0, 64 [SEP] 50, PepperShaker, -1.012, 0.745, 1.902, 0, 0, 0, 58 [SEP] 51, Potato, 0.951, 0.931, 2.584, 0, 0, 0, 109 [SEP] 52, ButterKnife, -1.290, 0.748, 3.015, 0, 0, 0, 58 [SEP] 53, DishSponge, -1.475, 0.749, 2.644, 0, 0, 0, 58 [SEP] 54, Pan, -1.105, 0.748, 2.087, 0, 90, 0, 58 [SEP] 55, Spoon, -0.020, 0.763, -0.651, 0, 0, 0, 104 [SEP] 56, SprayBottle, -1.475, 0.748, 2.273, 0, 0, 0, 58 [SEP] 57, Mug, 1.215, 0.943, -0.633, 0, 320.314, 0, 96 [SEP] 58, DiningTable, -1.182, 0.006, 2.414, 0, 90, 0, [SEP] 59, Cabinet, 1.184, 2.059, 0.375, 0, 0, 0, [SEP] 60, Cabinet, 1.184, 2.059, -0.635, 0, 0, 0, [SEP] 61, Cabinet, 0.591, 2.309, -0.645, 0, 0, 0, [SEP] 62, Cabinet, -0.574, 2.059, -0.644, 0, 0, 0, [SEP] 63, Cabinet, -1.103, 2.059, -0.644, 0, 0, 0, [SEP] 64, Cabinet, -1.185, 2.059, -0.331, 0, 0, 0, [SEP] 65, Cabinet, -1.185, 2.059, -0.281, 0, 0, 0, [SEP] 66, Cabinet, -1.185, 2.059, 0.375, 0, 0, 0, [SEP] 67, Cabinet, 1.184, 2.309, 1.174, 0, 0, 0, [SEP] 68, Cabinet, 1.184, 2.309, 0.424, 0, 0, 0, [SEP] 69, Cabinet, 0.988, 0.402, 0.581, 0, 0, 0, [SEP] 70, Cabinet, 0.988, 0.402, 0.531, 0, 0, 0, [SEP] 71, Cabinet, 0.988, 0.402, -0.178, 0, 0, 0, [SEP] 72, Cabinet, 0.335, 0.402, -0.348, 0, 0, 0, [SEP] 73, Cabinet, -0.374, 0.402, -0.348, 0, 0, 0, [SEP] 74, Cabinet, 0.988, 0.402, 1.231, 0, 0, 0, [SEP] 75, Cabinet, -1.185, 2.309, 1.374, 0, 0, 0, [SEP] 76, Cabinet, -1.185, 2.309, 0.424, 0, 0, 0, [SEP] 77, CounterTop, 1.274, 0.947, 0.064, 0, 0, 0, [SEP] 78, Drawer, 1.116, 0.792, -0.015, 0, 0, 0, [SEP] 79, Drawer, -1.116, 0.792, 0.210, 0, 180, 0, [SEP] 80, Cabinet, -0.990, 0.402, 0.374, 0, 180, 0, [SEP] 81, Drawer, -1.116, 0.792, -0.170, 0, 180, 0, [SEP] 82, Cabinet, -0.990, 0.402, -0.335, 0, 180, 0, [SEP] 83, CounterTop, -1.001, 0.947, -0.669, 0, 0, 0, [SEP] 84, StoveBurner, 0.502, 0.932, -0.740, 0, 90, 0, [SEP] 85, StoveBurner, 0.801, 0.932, -0.473, 0, 0, 0, [SEP] 86, StoveBurner, 0.801, 0.932, -0.740, 0, 90, 0, [SEP] 87, Drawer, 1.116, 0.792, 1.081, 0, 0, 0, [SEP] 88, Sink, -0.013, 0.912, -0.615, 0, 0, 0, [SEP] 89, Drawer, 1.116, 0.792, 0.732, 0, 0, 0, [SEP] 90, StoveBurner, 0.502, 0.932, -0.469, 0, 0, 0, [SEP] 91, Drawer, 1.116, 0.792, 0.367, 0, 0, 0, [SEP] 92, StoveKnob, 0.550, 1.085, -0.912, 287.970, 180, 0, [SEP] 93, StoveKnob, 0.884, 1.085, -0.912, 287.970, 180, 0, [SEP] 94, StoveKnob, 0.432, 1.085, -0.912, 287.970, 180, 0, [SEP] 95, StoveKnob, 0.777, 1.085, -0.912, 287.970, 180, 0, [SEP] 96, CoffeeMachine, 1.304, 0.900, -0.741, 0, 320.314, 0, [SEP] 97, Fridge, -1.300, 0.008, 0.987, 0, 90, 0, [SEP] 98, GarbageCan, 1.296, -0.024, 1.465, 0, 0, 0, [SEP] 99, Window, -0.012, 1.641, -0.972, 90, 0, 0, [SEP] 100, Window, 1.598, 1.646, 2.489, 90, 270, 0, [SEP] 101, Toaster, 1.356, 0.900, 1.044, 0, 270, 0, [SEP] 102, LightSwitch, 0.118, 1.353, 3.799, 0, 180, 0, [SEP] 103, Microwave, -1.343, 0.900, 0.053, 0, 90, 0, [SEP] 104, SinkBasin, -0.029, 0.748, -0.612, 0, 0, 0, [SEP] 105, Faucet, -0.026, 0.927, -0.808, 0, 0, 0, [SEP] 106, Shelf, -1.182, 0.127, 2.414, 0, 90, 0, [SEP] 107, Stool, 1.140, 0.007, 3.262, 1.206, 20.753, 0, [SEP] 108, Shelf, -1.182, 0.435, 2.414, 0, 90, 0, [SEP] 109, DiningTable, 1.169, 0.014, 2.569, 0, 0, 1.896, [SEP] 110, NorthWall, , , , , , , [SEP] 111, EastWall, , , , , , , [SEP] 112, SouthWall, , , , , , , [SEP] 113, WestWall, , , , , , , ", "output": ["STEP 1: Face the counter at the left | STEP 2: pick up the knife at the back of lettuce. | STEP 3: Head to the table at the left. | STEP 4: slice the bread at the table. | STEP 5: Turn left to face the refrigerator. | STEP 6: open the door and put the knife inside. | STEP 7: Head back to the table at the right. | STEP 8: Pick up a piece of a slice of the bread. | STEP 9: Head at the counter at the left and face the microwave. | STEP 10: Open the microwave to heat it for few seconds. Open the door and pick it up. | STEP 11: Turn right to face the refrigerator. | STEP 12: Open it and put the slice bread inside. Close the door. | END"]} +{"id": "trial_T20190909_154228_610799-1", "input": "Examine a pillow by lamp light. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 2.25, 0.902, 1.5, 0, 270, 0, [SEP] 1, CD, -0.565, 0.427, -1.779, 0, 0, 0, 38 [SEP] 2, CellPhone, 2.507, 0.191, -0.215, 0, 0, 0, 49 [SEP] 3, Pencil, -0.393, 0.049, -1.724, 0, 0, 0, 35 [SEP] 4, Book, 2.554, 0.520, 0.046, 0, 0, 0, 53 [SEP] 5, Book, -0.788, 0.730, 0.967, 0, 0, 0, 22 [SEP] 6, AlarmClock, 0.282, 0.832, -2.353, 0, 0, 0, 41 [SEP] 7, AlarmClock, -0.950, 0.708, -1.752, 0, 0, 0, 32 [SEP] 8, Box, 0.252, 0.227, -2.042, 0, 29.078, 0, [SEP] 9, Book, 0.176, 0.730, 0.702, 0, 0, 0, 22 [SEP] 10, Statue, 2.703, 0.827, 0.244, 0, 270, 0, 52 [SEP] 11, CellPhone, 0.369, 0.730, 0.437, 0, 0, 0, 22 [SEP] 12, Pillow, 0.148, 0.744, 1.738, 0, 195.270, 0, 22 [SEP] 13, Pillow, -0.441, 0.738, 1.64, 0, 348.951, 0, 22 [SEP] 14, BasketBall, -1.231, 0.121, -0.18, 0, 0, 0, [SEP] 15, CreditCard, 2.647, 0.191, 0.706, 0, 0, 0, 51 [SEP] 16, KeyChain, 2.579, 0.822, 0.812, 0, 270, 0, 52 [SEP] 17, Pencil, 2.765, 0.823, 0.054, 0, 270, 0, 52 [SEP] 18, AlarmClock, -0.652, 0.046, -1.696, 0, 0, 0, 38 [SEP] 19, Laptop, 0.176, 0.729, 0.172, 0, 0, 0, 22 [SEP] 20, CD, 2.703, 0.819, 0.054, 0, 270, 0, 52 [SEP] 21, Pen, 2.507, 0.039, -0.303, 0, 0, 0, 54 [SEP] 22, Bed, -0.209, -0.001, 0.983, 0, 0, 0, [SEP] 23, LightSwitch, 0.778, 1.266, 2.128, 0, 180, 0, [SEP] 24, GarbageCan, -1.357, -0.020, -0.928, 0, 0, 0, [SEP] 25, Painting, 2.063, 1.674, -1.865, 83.723, 0, 0, [SEP] 26, HousePlant, -0.808, 0.953, -1.730, 0, 0, 0, [SEP] 27, Painting, 1.871, 0.393, -1.792, 79.235, 0, 0, [SEP] 28, Mirror, 2.842, 1.404, 1.375, 0, 90, 0, [SEP] 29, DeskLamp, 2.676, 0.819, 0.878, 0, 0, 0, [SEP] 30, Window, -1.700, 1.444, -0.542, 90, 90, 0, [SEP] 31, Window, 0.535, 1.412, -2.618, 90, 0, 0, [SEP] 32, Shelf, -0.904, 0.824, -1.754, 0, 0, 0, [SEP] 33, Shelf, -0.802, 0.981, -1.756, 0, 0, 0, [SEP] 34, Shelf, -0.904, 0.555, -1.754, 0, 0, 0, [SEP] 35, Shelf, -0.327, 0.225, -1.754, 0, 0, 0, [SEP] 36, Shelf, -0.439, 0.822, -1.754, 0, 0, 0, [SEP] 37, Shelf, -0.619, 0.981, -1.754, 0, 0, 0, [SEP] 38, Shelf, -0.439, 0.556, -1.754, 0, 0, 0, [SEP] 39, Shelf, -0.709, 0.225, -1.754, 0, 0, 0, [SEP] 40, ShelvingUnit, -0.641, 0.006, -1.745, 0, 0, 0, [SEP] 41, Stool, 0.799, 0.004, -2.105, 0, 0, 0, [SEP] 42, Blinds, 0.542, 2.135, -2.553, 0, 0, 0, [SEP] 43, Blinds, -1.645, 2.145, -0.546, 0, 90, 0, [SEP] 44, Drawer, 2.518, 0.574, 0.623, 0, 270, 0, [SEP] 45, Drawer, 2.517, 0.411, 0.623, 0, 270, 0, [SEP] 46, Drawer, 2.518, 0.732, 0.623, 0, 270, 0, [SEP] 47, Drawer, 2.518, 0.732, -0.119, 0, 270, 0, [SEP] 48, Drawer, 2.517, 0.411, -0.119, 0, 270, 0, [SEP] 49, Drawer, 2.517, 0.247, -0.119, 0, 270, 0, [SEP] 50, Drawer, 2.517, 0.090, 0.623, 0, 270, 0, [SEP] 51, Drawer, 2.517, 0.247, 0.623, 0, 270, 0, [SEP] 52, Dresser, 2.555, 0.003, 0.252, 0, 270, 0, [SEP] 53, Drawer, 2.518, 0.574, -0.119, 0, 270, 0, [SEP] 54, Drawer, 2.517, 0.090, -0.119, 0, 270, 0, [SEP] 55, NorthWall, , , , , , , [SEP] 56, EastWall, , , , , , , [SEP] 57, SouthWall, , , , , , , [SEP] 58, WestWall, , , , , , , ", "output": ["STEP 1: Walk forward to the bed. | STEP 2: Pick up the nearest pillow. | STEP 3: Turn around and walk to the lamp. | STEP 4: Turn on the lamp. | END"]} +{"id": "trial_T20190909_114939_704661-2", "input": "place orange cup and toilet paper in lower left cabinet SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.901, -2.0, 0, 90, 0, [SEP] 1, Cloth, -2.719, 0.078, -1.435, 0, 0, 0, 24 [SEP] 2, Cloth, -2.770, 0.079, -1.008, 0, 0, 0, 20 [SEP] 3, SoapBar, -0.745, 1.045, -3.826, 0, 0, 0, 32 [SEP] 4, SprayBottle, -2.682, 0.996, -1.249, 0, 0, 0, 19 [SEP] 5, Towel, -1.051, 1.535, -2.887, 0, 90, 0, 25 [SEP] 6, HandTowel, -2.591, 1.635, -0.047, 0, 0, 0, 27 [SEP] 7, SoapBar, -2.821, 0.079, -1.978, 0, 0, 0, 18 [SEP] 8, ToiletPaper, -0.084, 0.902, -3.286, 0, 270, 90, 32 [SEP] 9, ToiletPaper, -1.588, 0.054, -0.128, 0, 0, 0, 22 [SEP] 10, SoapBottle, -0.417, 1.048, -3.856, 0, 0, 0, 32 [SEP] 11, Candle, -0.679, 1.046, -3.765, 0, 0, 0, 32 [SEP] 12, ScrubBrush, -1.048, 0.000, -3.830, 0, 0, 0, 28 [SEP] 13, Plunger, -1.066, 0.000, -3.527, 0, 0, 0, Floor|-00.04| [SEP] 14, Cloth, -2.719, 0.078, -0.465, 0, 0, 0, 22 [SEP] 15, SprayBottle, -1.489, 0.061, -0.210, 0, 180, 0, 22 [SEP] 16, ShowerDoor, -2.204, 1.044, -2.503, 0, 0, 0, [SEP] 17, Mirror, -2.947, 1.559, -1.194, 0, 0, 0, [SEP] 18, Cabinet, -2.504, 0.400, -2.208, 0, 0, 0, [SEP] 19, CounterTop, -2.744, 0.986, -1.243, 0, 0, 0, [SEP] 20, Cabinet, -2.504, 0.400, -1.238, 0, 0, 0, [SEP] 21, ShowerGlass, -2.079, 1.482, -3.264, 0, 0, 0, [SEP] 22, Cabinet, -2.508, 0.426, -0.290, 0, 0, 0, [SEP] 23, Sink, -2.907, 0.986, -1.761, 0, 90, 0, [SEP] 24, Cabinet, -2.508, 0.426, -1.260, 0, 0, 0, [SEP] 25, TowelHolder, -1.158, 1.521, -2.887, 0, 90, 0, [SEP] 26, ToiletPaperHanger, 0.0, 0.984, -2.651, 0, 270, 0, [SEP] 27, HandTowelHolder, -2.591, 1.737, -0.009, 0, 90, 0, [SEP] 28, GarbageCan, -0.908, -0.031, -3.646, 0, 90, 0, [SEP] 29, Window, -0.566, 1.730, -4.102, 90, 0, 0, [SEP] 30, LightSwitch, -1.332, 1.391, 0.001, 0, 180, 0, [SEP] 31, SinkBasin, -2.724, 0.916, -1.755, 351.180, 90, 0, [SEP] 32, Toilet, -0.319, 0.000, -3.533, 0, 90, 0, [SEP] 33, Faucet, -2.907, 0.993, -1.761, 0, 90, 0, [SEP] 34, SinkBasin, -2.724, 0.916, -0.726, 351.180, 90, 0, [SEP] 35, Sink, -2.907, 0.986, -0.732, 0, 90, 0, [SEP] 36, Faucet, -2.907, 0.993, -0.731, 0, 90, 0, [SEP] 37, ShowerHead, -2.868, 1.219, -3.223, 0, 180, 0, [SEP] 38, EastWall, , , , , , , [SEP] 39, EastWall, , , , , , , [SEP] 40, SouthWall, , , , , , , ", "output": ["STEP 1: turn around, go to red bin to the right | STEP 2: pick up orange cup from red bin | STEP 3: turn around, go to lower cabinet to the left of sink with pink sponge | STEP 4: open cabinet, place orange cup in front right corner of cabinet, close cabinet | STEP 5: turn around, go to toilet to the right | STEP 6: pick up toilet paper from holder to the left of toilet | STEP 7: turn around, go to lower left cabinet with pink sponge and orange cup | STEP 8: open cabinet, put toilet paper to the left of orange cup, close cabinet | END"]} +{"id": "trial_T20190907_051429_475883-0", "input": "Put a chilled pot on the stove. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.900, 1.0, 0, 180, 0, [SEP] 1, Vase, -2.072, 0.913, 0.037, 0, 0, 0, 58 [SEP] 2, Potato, 0.525, 0.948, -1.776, 0, 0, 0, 58 [SEP] 3, DishSponge, -2.501, 0.878, 3.379, 0, 135, 0, 60 [SEP] 4, DishSponge, -2.912, 0.878, 2.758, 0, 225, 0, 60 [SEP] 5, ButterKnife, -0.833, 0.912, -1.267, 0, 0, 0, 58 [SEP] 6, ButterKnife, -3.017, 0.874, 3.580, 0, 135, 0, 60 [SEP] 7, Spatula, -2.152, 0.889, 3.296, 0, 270, 0, 60 [SEP] 8, Spatula, -2.420, 0.893, 2.983, 0, 135, 0, 60 [SEP] 9, Fork, -2.898, 0.879, 3.460, 0, 135, 0, 60 [SEP] 10, Fork, -0.330, 0.708, -1.573, 0, 270, 0, 87 [SEP] 11, Cup, 1.316, 1.759, -1.629, 0, 0, 0, 82 [SEP] 12, Cup, -2.262, 0.873, 3.303, 0, 225, 0, 60 [SEP] 13, Knife, 0.234, 0.950, -1.573, 0, 270, 0, 55 [SEP] 14, Knife, 0.179, 0.950, -1.356, 0, 0, 0, 55 [SEP] 15, Tomato, -2.300, 0.922, 3.580, 0, 225, 0, 60 [SEP] 16, SaltShaker, -2.936, 0.874, 3.183, 0, 135, 0, 60 [SEP] 17, PepperShaker, 0.521, 0.714, -1.376, 0, 0, 0, 75 [SEP] 18, PepperShaker, -1.516, 0.908, -0.939, 0, 0, 0, 73 [SEP] 19, Bread, 1.651, 0.993, -1.346, 0, 0, 0, 78 [SEP] 20, Lettuce, -2.458, 0.939, 3.737, 0, 225, 0, 60 [SEP] 21, Lettuce, -2.673, 0.939, 3.446, 0, 225, 0, 60 [SEP] 22, Mug, -1.612, 0.114, -0.916, 0, 0, 0, 63 [SEP] 23, Mug, -2.733, 0.869, 2.884, 0, 0, 0, 60 [SEP] 24, Apple, -0.844, 0.247, 2.097, 0, 90, 0, 88 [SEP] 25, Apple, 1.157, 1.816, -1.629, 0, 0, 0, 82 [SEP] 26, Book, -2.733, 0.875, 3.728, 0, 0, 0, 60 [SEP] 27, Fork, -1.616, 0.720, -0.930, 0, 90, 0, 73 [SEP] 28, Tomato, -0.723, 0.959, -1.471, 0, 0, 0, 58 [SEP] 29, Egg, -1.568, 0.929, -0.469, 0, 0, 0, 58 [SEP] 30, Kettle, -2.072, 0.913, -0.614, 0, 0, 0, 58 [SEP] 31, Vase, -3.165, 0.875, 3.073, 0, 270, 0, 60 [SEP] 32, Cup, 3.741, 0.551, 1.345, 0, 270, 0, 81 [SEP] 33, WineBottle, 0.525, 0.913, -1.267, 0, 0, 0, 58 [SEP] 34, Plate, 0.571, 0.916, -1.471, 0, 0, 0, 58 [SEP] 35, Spatula, -2.950, 0.889, 3.408, 0, 315, 0, 60 [SEP] 36, Potato, -2.436, 0.911, 3.559, 0, 0, 0, 60 [SEP] 37, Pot, 0.974, 0.957, -1.419, 0, 180, 0, 76 [SEP] 38, Knife, -1.649, 0.741, -1.073, 0, 90, 0, 73 [SEP] 39, SaltShaker, -2.015, 0.715, -1.579, 0, 0, 0, 77 [SEP] 40, PepperShaker, -2.458, 0.874, 2.706, 0, 135, 0, 60 [SEP] 41, Lettuce, -2.490, 0.939, 3.221, 0, 270, 0, 60 [SEP] 42, ButterKnife, -2.584, 0.878, 2.715, 0, 0, 0, 60 [SEP] 43, Bread, -1.516, 0.995, -1.591, 0, 0, 0, 58 [SEP] 44, Vase, 1.648, 0.115, -1.412, 0, 0, 0, 64 [SEP] 45, DishSponge, 0.665, 1.652, -1.785, 0, 0, 0, 69 [SEP] 46, Apple, -2.525, 0.929, 2.878, 0, 135, 0, 60 [SEP] 47, Pan, 0.974, 0.957, -1.688, 0, 180, 0, 57 [SEP] 48, Spoon, 0.069, 0.929, -1.501, 0, 270, 0, 55 [SEP] 49, SoapBottle, -3.165, 0.879, 3.370, 0, 270, 0, 60 [SEP] 50, Mug, -0.404, 0.692, -1.468, 0, 180, 0, 87 [SEP] 51, Statue, 3.716, 0.887, 1.759, 0, 270, 0, 79 [SEP] 52, Statue, 3.668, 0.540, 1.800, 0, 0, 0, 81 [SEP] 53, Bowl, 3.689, 0.551, 1.553, 0, 270, 0, 81 [SEP] 54, Cabinet, -2.171, 2.009, -1.538, 0, 0, 0, [SEP] 55, Sink, 0.024, 0.771, -1.708, 0, 270, 0, [SEP] 56, Cabinet, 1.444, 2.259, -1.542, 0, 0, 0, [SEP] 57, StoveBurner, 0.974, 0.957, -1.688, 0, 180, 0, [SEP] 58, CounterTop, -1.866, 0.947, -0.614, 0, 0, 0, [SEP] 59, Cabinet, -2.217, 0.373, -1.874, 0, 0, 0, [SEP] 60, DiningTable, -2.663, 0.002, 3.208, 0, 0, 0, [SEP] 61, StoveBurner, 1.328, 0.957, -1.688, 0, 180, 0, [SEP] 62, StoveBurner, 1.328, 0.957, -1.420, 0, 180, 0, [SEP] 63, Cabinet, -1.478, 0.373, -1.235, 0, 0, 0, [SEP] 64, Cabinet, 1.775, 0.372, -1.242, 0, 0, 0, [SEP] 65, Cabinet, 0.774, 0.372, -1.242, 0, 0, 0, [SEP] 66, Cabinet, 0.375, 0.372, -1.242, 0, 0, 0, [SEP] 67, Cabinet, -0.574, 0.372, -1.238, 0, 0, 0, [SEP] 68, Cabinet, 1.775, 2.009, -1.542, 0, 0, 0, [SEP] 69, Cabinet, 0.524, 2.009, -1.542, 0, 0, 0, [SEP] 70, Cabinet, -0.714, 2.009, -1.542, 0, 0, 0, [SEP] 71, Cabinet, -1.671, 2.009, -1.538, 0, 0, 0, [SEP] 72, Cabinet, 0.854, 2.259, -1.542, 0, 0, 0, [SEP] 73, Drawer, -1.636, 0.683, -0.930, 0, 0, 0, [SEP] 74, Drawer, 1.650, 0.682, -1.396, 0, 0, 0, [SEP] 75, Drawer, 0.600, 0.682, -1.396, 0, 0, 0, [SEP] 76, StoveBurner, 0.974, 0.957, -1.419, 0, 180, 0, [SEP] 77, Drawer, -2.062, 0.683, -1.579, 0, 0, 0, [SEP] 78, CounterTop, 1.645, 0.945, -1.527, 0, 0, 0, [SEP] 79, Shelf, 3.725, 0.880, 1.671, 0, 90, 0, [SEP] 80, LightSwitch, 2.830, 1.266, -0.748, 0, 0, 0, [SEP] 81, Shelf, 3.726, 0.552, 1.671, 0, 90, 0, [SEP] 82, Microwave, 1.150, 1.655, -1.614, 0, 0, 0, [SEP] 83, Fridge, -0.035, 0.0, 2.177, 0, 180, 0, [SEP] 84, Window, -0.115, 1.802, -1.896, 90, 0, 0, [SEP] 85, Window, -4.009, 1.799, 0.310, 90, 90, 0, [SEP] 86, Shelf, 3.726, 0.172, 1.671, 0, 90, 0, [SEP] 87, SinkBasin, -0.330, 0.686, -1.581, 0, 270, 0, [SEP] 88, GarbageCan, -0.870, -0.001, 2.136, 0, 90, 0, [SEP] 89, StoveKnob, 1.089, 0.913, -1.243, 45, 0, 0, [SEP] 90, StoveKnob, 1.208, 0.913, -1.243, 45, 0, 0, [SEP] 91, StoveKnob, 1.340, 0.913, -1.243, 45, 0, 0, [SEP] 92, StoveKnob, 0.961, 0.913, -1.243, 45, 0, 0, [SEP] 93, Toaster, 1.637, 0.900, -1.673, 0, 0, 0, [SEP] 94, Chair, -3.505, 0.002, 3.290, 0, 105.736, 0, [SEP] 95, CoffeeMachine, -1.111, 0.900, -1.726, 0, 0, 0, [SEP] 96, HousePlant, -2.663, 0.835, 3.209, 0, 0, 0, [SEP] 97, Faucet, -0.187, 0.922, -1.75, 0, 311.166, 0, [SEP] 98, ShelvingUnit, 3.726, 0.006, 1.671, 0, 90, 0, [SEP] 99, Stool, -2.501, -0.000, 0.062, 1.223, 91.243, 0, [SEP] 100, Stool, -2.475, -0.000, -0.802, 1.209, 69.808, 0, [SEP] 101, Chair, -2.934, 0.002, 2.437, 0, 28.531, 0, [SEP] 102, Chair, -1.698, 0.002, 3.235, 0, 245.204, 0, [SEP] 103, NorthWall, , , , , , , [SEP] 104, EastWall, , , , , , , [SEP] 105, SouthWall, , , , , , , [SEP] 106, WestWall, , , , , , , ", "output": ["STEP 1: Head to the stove on the left. | STEP 2: Pick up the large pot on the front of the stove. | STEP 3: Turn around and bring the pot to the fridge. | STEP 4: Chill the pot in the fridge. | STEP 5: Take out the pot, turn around and bring the pot back to the stove. | STEP 6: Put the chilled pot back on the stove. | END"]} +{"id": "trial_T20190906_221742_215409-1", "input": "Turn the lamp on in order to grab the CD. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 2.0, 0.900, -0.25, 0, 270, 0, [SEP] 1, CD, -0.600, 0.895, -1.588, 0, 0, 0, 26 [SEP] 2, CD, 0.961, 0.941, -1.937, 0, 0, 0, 32 [SEP] 3, CD, -0.078, 0.900, -1.495, 0, 0, 0, 26 [SEP] 4, CellPhone, 2.878, 0.778, -1.503, 0, 180, 0, 36 [SEP] 5, CellPhone, 0.784, 0.943, -1.91, 0, 0, 0, 32 [SEP] 6, Pen, 2.282, 0.528, 1.231, 0, 180, 0, 38 [SEP] 7, Pen, 0.607, 0.947, -1.854, 0, 0, 0, 32 [SEP] 8, Pencil, 1.138, 0.945, -1.91, 0, 0, 0, 32 [SEP] 9, Pencil, 2.359, 0.528, 1.110, 0, 180, 0, 38 [SEP] 10, CreditCard, 2.436, 0.524, 1.312, 0, 180, 0, 38 [SEP] 11, CreditCard, -0.078, 0.895, -1.310, 0, 0, 0, 26 [SEP] 12, Book, -0.426, 0.896, -1.310, 0, 0, 0, 26 [SEP] 13, Book, 2.591, 0.525, 1.191, 0, 180, 0, 38 [SEP] 14, Laptop, 2.329, 0.774, -1.056, 0, 180, 0, 36 [SEP] 15, Book, -1.031, 0.651, -1.431, 0, 0, 0, 29 [SEP] 16, Pen, 2.514, 0.530, 1.272, 0, 180, 0, 38 [SEP] 17, AlarmClock, -0.252, 0.897, -1.217, 0, 0, 0, 26 [SEP] 18, TeddyBear, 1.324, 0.827, -0.763, 56.834, 332.692, 298.236, 43 [SEP] 19, CellPhone, 0.253, 0.943, -1.91, 0, 0, 0, 32 [SEP] 20, Pencil, -1.122, 0.904, -1.680, 0, 0, 0, 26 [SEP] 21, Pillow, 1.780, 0.840, -1.354, 0, 180, 0, 36 [SEP] 22, Laptop, -0.795, 0.893, -1.384, 0, 0, 0, 26 [SEP] 23, KeyChain, -0.252, 0.896, -1.680, 0, 0, 0, 26 [SEP] 24, CreditCard, -1.122, 0.895, -1.310, 0, 0, 0, 26 [SEP] 25, CD, -1.106, 0.374, -1.279, 0, 0, 0, 27 [SEP] 26, Desk, -0.503, 0.006, -1.465, 0, 0, 0, [SEP] 27, Drawer, -0.945, 0.493, -1.176, 0, 0, 0, [SEP] 28, Drawer, -0.946, 0.212, -1.176, 0, 0, 0, [SEP] 29, Drawer, -0.944, 0.739, -1.176, 0, 0, 0, [SEP] 30, DeskLamp, -0.124, 0.899, -1.731, 0, 0, 0, [SEP] 31, LightSwitch, 3.513, 1.253, 0.165, 0, 270, 0, [SEP] 32, Shelf, 0.759, 0.934, -1.909, 0, 0, 0, [SEP] 33, Mirror, 2.407, 1.294, 1.401, 0, 0, 0, [SEP] 34, GarbageCan, 3.347, -0.000, -0.027, 0, 270, 0, [SEP] 35, Window, 0.717, 1.603, -2.108, 90, 0, 0, [SEP] 36, Bed, 2.301, 0.005, -1.056, 0, 270, 0, [SEP] 37, Blinds, 0.749, 2.523, -2.022, 0, 0, 0, [SEP] 38, SideTable, 2.436, 0.002, 1.143, 0, 180, 0, [SEP] 39, Drawer, 2.437, 0.122, 1.154, 0, 180, 0, [SEP] 40, Drawer, 2.437, 0.350, 1.153, 0, 180, 0, [SEP] 41, LaundryHamper, 0.359, 0.006, -1.505, 0, 280.399, 358.305, [SEP] 42, Chair, -0.308, 0.009, -1.108, 0, 166.824, 0, [SEP] 43, , , , , , , , [SEP] 44, NorthWall, , , , , , , [SEP] 45, EastWall, , , , , , , [SEP] 46, SouthWall, , , , , , , [SEP] 47, WestWall, , , , , , , ", "output": ["STEP 1: Turn left, then left again then turn right to face the lamp on the desk. | STEP 2: Turn on the lamp. | STEP 3: Grab the CD from the desk. | END"]} +{"id": "trial_T20190907_201441_475892-0", "input": "Wash the ladle and put it back on the table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.0, 0.900, 2.5, 0, 180, 0, [SEP] 1, Pan, 2.726, 0.764, 3.492, 0, 239.999, 0, 59 [SEP] 2, Potato, 2.815, 0.806, 4.124, 0, 315, 0, 59 [SEP] 3, Potato, 1.882, 1.068, 1.653, 0, 136.999, 0, 58 [SEP] 4, Ladle, 1.925, 0.803, 3.969, 0, 270, 0, 59 [SEP] 5, DishSponge, -0.731, 0.801, 0.454, 0, 0, 0, 60 [SEP] 6, DishSponge, 1.469, 1.026, -1.560, 0, 90, 0, 58 [SEP] 7, ButterKnife, 2.275, 0.764, 4.118, 0, 270, 0, 59 [SEP] 8, ButterKnife, 2.706, 1.026, -0.236, 0, 0, 0, 58 [SEP] 9, Glassbottle, -0.984, 1.781, 1.743, 0, 0, 0, 75 [SEP] 10, Pot, 1.836, 1.027, -1.84, 0, 90, 0, 56 [SEP] 11, Spatula, 2.423, 0.779, 4.166, 0, 59.999, 0, 59 [SEP] 12, Spatula, 2.451, 0.779, 3.445, 0, 0, 0, 59 [SEP] 13, Fork, -0.661, 0.802, 0.535, 0, 0, 0, 60 [SEP] 14, Egg, 2.106, 1.905, -1.910, 0, 0, 0, 104 [SEP] 15, Egg, -0.645, 0.860, 1.181, 0, 90, 0, 115 [SEP] 16, Cup, -1.069, 0.784, -0.184, 0, 90, 0, 102 [SEP] 17, Cup, 1.895, 1.859, -1.876, 0, 0, 0, 104 [SEP] 18, Knife, 2.503, 0.826, 0.765, 0, 227.0, 0, 70 [SEP] 19, Knife, 2.763, 0.789, 3.726, 0, 329.999, 0, 59 [SEP] 20, Tomato, 2.525, 0.818, 4.32, 0, 0, 0, 59 [SEP] 21, SoapBottle, 2.509, 1.025, 1.401, 0, 136.999, 0, 58 [SEP] 22, SoapBottle, 2.302, 0.763, 4.495, 0, 0, 0, 59 [SEP] 23, Bowl, 2.816, 0.033, 0.168, 0, 0, 0, 85 [SEP] 24, Bowl, 2.652, 0.031, -1.126, 0, 0, 0, 100 [SEP] 25, SaltShaker, -0.717, 2.286, -0.551, 0, 0, 0, 90 [SEP] 26, Bread, 2.451, 0.832, 3.97, 0, 270, 0, 59 [SEP] 27, Bread, 2.101, 0.832, 3.821, 0, 270, 0, 59 [SEP] 28, Mug, -0.947, 0.781, -0.073, 0, 90, 0, 102 [SEP] 29, Apple, -0.916, 0.127, 2.874, 0, 0, 0, 113 [SEP] 30, Pan, 2.116, 1.027, -1.84, 0, 270, 0, 62 [SEP] 31, Glassbottle, 2.719, 1.027, 1.597, 0, 136.999, 0, 58 [SEP] 32, Knife, 2.875, 1.052, -1.762, 0, 180, 0, 58 [SEP] 33, SoapBottle, 2.673, 0.763, 4.145, 0, 0, 0, 59 [SEP] 34, Egg, 1.638, 1.070, 1.704, 0, 136.999, 0, 58 [SEP] 35, Fork, 2.658, 0.765, 4.282, 0, 315, 0, 59 [SEP] 36, Potato, -0.907, 0.376, -0.295, 0, 90, 0, 102 [SEP] 37, Ladle, 1.347, 0.829, -1.546, 0, 0, 0, 65 [SEP] 38, Tomato, 2.998, 0.818, 4.202, 0, 225, 0, 59 [SEP] 39, Pot, 2.177, 1.027, -1.599, 0, 0, 0, 57 [SEP] 40, WineBottle, -0.976, 0.048, 2.367, 0, 0, 0, 78 [SEP] 41, Plate, 2.525, 0.764, 4.495, 0, 0, 0, 59 [SEP] 42, Spatula, -0.447, 0.816, 2.325, 0, 90, 0, 64 [SEP] 43, PaperTowelRoll, -1.074, 1.131, 1.150, 0, 0, 0, 61 [SEP] 44, Lettuce, -0.851, 0.874, 1.337, 0, 90, 0, 115 [SEP] 45, Apple, 1.290, 1.077, -1.454, 0, 90, 0, 58 [SEP] 46, SaltShaker, 2.041, 0.798, 1.264, 0, 317.0, 0, 71 [SEP] 47, PepperShaker, -0.590, 0.796, 1.844, 0, 0, 0, 63 [SEP] 48, ButterKnife, -1.045, 1.027, 1.821, 0, 0, 0, 61 [SEP] 49, Bread, -0.987, 0.854, -0.627, 0, 90, 0, 102 [SEP] 50, Cup, 2.976, 0.763, 4.044, 0, 270, 0, 59 [SEP] 51, DishSponge, 2.706, 0.801, 0.256, 0, 0, 0, 69 [SEP] 52, Bowl, -0.922, 1.440, -0.184, 0, 90, 0, 102 [SEP] 53, Spoon, 2.008, 0.765, 3.632, 0, 225, 0, 59 [SEP] 54, Mug, 2.053, 1.856, -1.775, 0, 0, 0, 104 [SEP] 55, Sink, -0.716, 1.023, 1.333, 0, 0, 0, [SEP] 56, StoveBurner, 1.835, 1.018, -1.840, 0, 90, 0, [SEP] 57, StoveBurner, 2.177, 1.018, -1.599, 0, 0, 0, [SEP] 58, CounterTop, 2.812, 0.992, 0.675, 0, 0, 0, [SEP] 59, DiningTable, 2.419, 0.003, 3.930, 0, 0, 0, [SEP] 60, Drawer, -0.643, 0.828, 0.616, 0, 0, 0, [SEP] 61, CounterTop, -0.813, 1.062, 2.188, 0, 0, 0, [SEP] 62, StoveBurner, 2.115, 1.018, -1.840, 0, 270, 0, [SEP] 63, Drawer, -0.643, 0.831, 1.953, 0, 0, 0, [SEP] 64, Drawer, -0.643, 0.833, 2.418, 0, 0, 0, [SEP] 65, Drawer, 1.347, 0.836, -1.539, 0, 0, 0, [SEP] 66, Drawer, 2.693, 0.833, -1.131, 0, 0, 0, [SEP] 67, Drawer, 2.693, 0.833, -0.699, 0, 0, 0, [SEP] 68, Drawer, 2.693, 0.833, -0.267, 0, 0, 0, [SEP] 69, Drawer, 2.693, 0.833, 0.163, 0, 0, 0, [SEP] 70, Drawer, 2.524, 0.833, 0.720, 0, 2.000, 0, [SEP] 71, Drawer, 2.232, 0.833, 1.036, 0, 2.000, 0, [SEP] 72, Drawer, 1.936, 0.833, 1.354, 0, 2.000, 0, [SEP] 73, Drawer, 1.646, 0.833, 1.670, 0, 2.000, 0, [SEP] 74, Cabinet, 1.504, 2.475, -1.710, 0, 0, 0, [SEP] 75, Cabinet, -0.823, 2.220, 1.621, 0, 0, 0, [SEP] 76, Cabinet, -0.823, 2.220, 0.615, 0, 0, 0, [SEP] 77, Cabinet, 1.136, 0.388, -1.355, 0, 0, 0, [SEP] 78, Cabinet, -0.356, 0.383, 2.626, 0, 0, 0, [SEP] 79, Cabinet, 2.745, 2.220, -1.690, 0, 0, 0, [SEP] 80, Cabinet, 1.882, 0.383, 1.017, 0, 0, 0, [SEP] 81, Cabinet, 1.307, 0.473, 1.640, 0, 0, 0, [SEP] 82, Cabinet, 1.892, 0.383, 1.006, 0, 0, 0, [SEP] 83, Cabinet, 2.467, 0.383, 0.383, 0, 0, 0, [SEP] 84, Cabinet, 2.466, 0.383, -0.475, 0, 0, 0, [SEP] 85, Cabinet, 2.466, 0.473, 0.371, 0, 0, 0, [SEP] 86, Cabinet, 2.386, 2.475, -1.710, 0, 0, 0, [SEP] 87, Cabinet, -0.356, 0.383, 1.712, 0, 0, 0, [SEP] 88, Cabinet, 2.745, 2.220, 0.019, 0, 0, 0, [SEP] 89, Cabinet, -0.663, 2.496, 0.157, 0, 0, 0, [SEP] 90, Cabinet, -0.663, 2.496, -0.868, 0, 0, 0, [SEP] 91, Cabinet, -0.356, 0.383, 0.269, 0, 0, 0, [SEP] 92, Cabinet, -0.823, 2.220, 1.603, 0, 0, 0, [SEP] 93, Cabinet, -0.662, 2.234, 0.586, 0, 0, 0, [SEP] 94, Cabinet, 2.745, 2.220, -0.843, 0, 0, 0, [SEP] 95, Cabinet, 2.745, 2.220, -0.827, 0, 0, 0, [SEP] 96, Cabinet, -0.823, 2.220, 2.608, 0, 0, 0, [SEP] 97, Cabinet, 2.732, 2.226, -1.709, 0, 0, 0, [SEP] 98, Cabinet, 1.137, 2.226, -1.709, 0, 0, 0, [SEP] 99, Cabinet, 2.466, 0.383, -0.491, 0, 0, 0, [SEP] 100, Cabinet, 2.466, 0.383, -1.339, 0, 0, 0, [SEP] 101, StoveBurner, 1.761, 1.018, -1.599, 0, 0, 0, [SEP] 102, Fridge, -0.908, 0.0, -0.405, 0, 0, 0, [SEP] 103, HousePlant, 2.517, 1.016, 1.822, 0, 0, 0, [SEP] 104, Microwave, 1.939, 1.745, -1.826, 0, 0, 0, [SEP] 105, StoveKnob, 2.017, 1.041, -1.514, 0, 180, 180, [SEP] 106, StoveKnob, 1.934, 1.041, -1.514, 0, 180, 180, [SEP] 107, StoveKnob, 2.017, 1.041, -1.589, 0, 180, 180, [SEP] 108, StoveKnob, 1.934, 1.041, -1.589, 0, 180, 180, [SEP] 109, Window, 1.756, 1.608, 4.762, 90, 0, 0, [SEP] 110, HousePlant, 2.171, 1.004, 2.091, 0, 0, 0, [SEP] 111, CoffeeMachine, -0.942, 1.018, 0.645, 0, 90, 0, [SEP] 112, LightSwitch, -0.099, 1.410, -2.066, 0, 0, 0, [SEP] 113, GarbageCan, -0.951, -0.029, 2.826, 0, 0, 0, [SEP] 114, Toaster, -1.007, 1.018, 2.238, 0, 90, 0, [SEP] 115, SinkBasin, -0.714, 0.805, 1.348, 0, 90, 0, [SEP] 116, Chair, 1.615, 0.004, 4.310, 0, 107.976, 0, [SEP] 117, Faucet, -1.120, 1.013, 1.334, 0, 90, 0, [SEP] 118, Chair, 2.759, 0.004, 3.086, 0, 358.967, 0, [SEP] 119, , , , , , , , [SEP] 120, NorthWall, , , , , , , [SEP] 121, EastWall, , , , , , , [SEP] 122, SouthWall, , , , , , , [SEP] 123, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk to the round table. | STEP 2: Pick up the ladle from the table. | STEP 3: Turn right, then right again to the sink. | STEP 4: Put the ladle in the sink and wash it, then pick it up again. | STEP 5: Turn around and walk back to the table. | STEP 6: Set the ladle down on the table. | END"]} +{"id": "trial_T20190907_201441_475892-1", "input": "Put a cleaned scoop on the dining table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.0, 0.900, 2.5, 0, 180, 0, [SEP] 1, Pan, 2.726, 0.764, 3.492, 0, 239.999, 0, 59 [SEP] 2, Potato, 2.815, 0.806, 4.124, 0, 315, 0, 59 [SEP] 3, Potato, 1.882, 1.068, 1.653, 0, 136.999, 0, 58 [SEP] 4, Ladle, 1.925, 0.803, 3.969, 0, 270, 0, 59 [SEP] 5, DishSponge, -0.731, 0.801, 0.454, 0, 0, 0, 60 [SEP] 6, DishSponge, 1.469, 1.026, -1.560, 0, 90, 0, 58 [SEP] 7, ButterKnife, 2.275, 0.764, 4.118, 0, 270, 0, 59 [SEP] 8, ButterKnife, 2.706, 1.026, -0.236, 0, 0, 0, 58 [SEP] 9, Glassbottle, -0.984, 1.781, 1.743, 0, 0, 0, 75 [SEP] 10, Pot, 1.836, 1.027, -1.84, 0, 90, 0, 56 [SEP] 11, Spatula, 2.423, 0.779, 4.166, 0, 59.999, 0, 59 [SEP] 12, Spatula, 2.451, 0.779, 3.445, 0, 0, 0, 59 [SEP] 13, Fork, -0.661, 0.802, 0.535, 0, 0, 0, 60 [SEP] 14, Egg, 2.106, 1.905, -1.910, 0, 0, 0, 104 [SEP] 15, Egg, -0.645, 0.860, 1.181, 0, 90, 0, 115 [SEP] 16, Cup, -1.069, 0.784, -0.184, 0, 90, 0, 102 [SEP] 17, Cup, 1.895, 1.859, -1.876, 0, 0, 0, 104 [SEP] 18, Knife, 2.503, 0.826, 0.765, 0, 227.0, 0, 70 [SEP] 19, Knife, 2.763, 0.789, 3.726, 0, 329.999, 0, 59 [SEP] 20, Tomato, 2.525, 0.818, 4.32, 0, 0, 0, 59 [SEP] 21, SoapBottle, 2.509, 1.025, 1.401, 0, 136.999, 0, 58 [SEP] 22, SoapBottle, 2.302, 0.763, 4.495, 0, 0, 0, 59 [SEP] 23, Bowl, 2.816, 0.033, 0.168, 0, 0, 0, 85 [SEP] 24, Bowl, 2.652, 0.031, -1.126, 0, 0, 0, 100 [SEP] 25, SaltShaker, -0.717, 2.286, -0.551, 0, 0, 0, 90 [SEP] 26, Bread, 2.451, 0.832, 3.97, 0, 270, 0, 59 [SEP] 27, Bread, 2.101, 0.832, 3.821, 0, 270, 0, 59 [SEP] 28, Mug, -0.947, 0.781, -0.073, 0, 90, 0, 102 [SEP] 29, Apple, -0.916, 0.127, 2.874, 0, 0, 0, 113 [SEP] 30, Pan, 2.116, 1.027, -1.84, 0, 270, 0, 62 [SEP] 31, Glassbottle, 2.719, 1.027, 1.597, 0, 136.999, 0, 58 [SEP] 32, Knife, 2.875, 1.052, -1.762, 0, 180, 0, 58 [SEP] 33, SoapBottle, 2.673, 0.763, 4.145, 0, 0, 0, 59 [SEP] 34, Egg, 1.638, 1.070, 1.704, 0, 136.999, 0, 58 [SEP] 35, Fork, 2.658, 0.765, 4.282, 0, 315, 0, 59 [SEP] 36, Potato, -0.907, 0.376, -0.295, 0, 90, 0, 102 [SEP] 37, Ladle, 1.347, 0.829, -1.546, 0, 0, 0, 65 [SEP] 38, Tomato, 2.998, 0.818, 4.202, 0, 225, 0, 59 [SEP] 39, Pot, 2.177, 1.027, -1.599, 0, 0, 0, 57 [SEP] 40, WineBottle, -0.976, 0.048, 2.367, 0, 0, 0, 78 [SEP] 41, Plate, 2.525, 0.764, 4.495, 0, 0, 0, 59 [SEP] 42, Spatula, -0.447, 0.816, 2.325, 0, 90, 0, 64 [SEP] 43, PaperTowelRoll, -1.074, 1.131, 1.150, 0, 0, 0, 61 [SEP] 44, Lettuce, -0.851, 0.874, 1.337, 0, 90, 0, 115 [SEP] 45, Apple, 1.290, 1.077, -1.454, 0, 90, 0, 58 [SEP] 46, SaltShaker, 2.041, 0.798, 1.264, 0, 317.0, 0, 71 [SEP] 47, PepperShaker, -0.590, 0.796, 1.844, 0, 0, 0, 63 [SEP] 48, ButterKnife, -1.045, 1.027, 1.821, 0, 0, 0, 61 [SEP] 49, Bread, -0.987, 0.854, -0.627, 0, 90, 0, 102 [SEP] 50, Cup, 2.976, 0.763, 4.044, 0, 270, 0, 59 [SEP] 51, DishSponge, 2.706, 0.801, 0.256, 0, 0, 0, 69 [SEP] 52, Bowl, -0.922, 1.440, -0.184, 0, 90, 0, 102 [SEP] 53, Spoon, 2.008, 0.765, 3.632, 0, 225, 0, 59 [SEP] 54, Mug, 2.053, 1.856, -1.775, 0, 0, 0, 104 [SEP] 55, Sink, -0.716, 1.023, 1.333, 0, 0, 0, [SEP] 56, StoveBurner, 1.835, 1.018, -1.840, 0, 90, 0, [SEP] 57, StoveBurner, 2.177, 1.018, -1.599, 0, 0, 0, [SEP] 58, CounterTop, 2.812, 0.992, 0.675, 0, 0, 0, [SEP] 59, DiningTable, 2.419, 0.003, 3.930, 0, 0, 0, [SEP] 60, Drawer, -0.643, 0.828, 0.616, 0, 0, 0, [SEP] 61, CounterTop, -0.813, 1.062, 2.188, 0, 0, 0, [SEP] 62, StoveBurner, 2.115, 1.018, -1.840, 0, 270, 0, [SEP] 63, Drawer, -0.643, 0.831, 1.953, 0, 0, 0, [SEP] 64, Drawer, -0.643, 0.833, 2.418, 0, 0, 0, [SEP] 65, Drawer, 1.347, 0.836, -1.539, 0, 0, 0, [SEP] 66, Drawer, 2.693, 0.833, -1.131, 0, 0, 0, [SEP] 67, Drawer, 2.693, 0.833, -0.699, 0, 0, 0, [SEP] 68, Drawer, 2.693, 0.833, -0.267, 0, 0, 0, [SEP] 69, Drawer, 2.693, 0.833, 0.163, 0, 0, 0, [SEP] 70, Drawer, 2.524, 0.833, 0.720, 0, 2.000, 0, [SEP] 71, Drawer, 2.232, 0.833, 1.036, 0, 2.000, 0, [SEP] 72, Drawer, 1.936, 0.833, 1.354, 0, 2.000, 0, [SEP] 73, Drawer, 1.646, 0.833, 1.670, 0, 2.000, 0, [SEP] 74, Cabinet, 1.504, 2.475, -1.710, 0, 0, 0, [SEP] 75, Cabinet, -0.823, 2.220, 1.621, 0, 0, 0, [SEP] 76, Cabinet, -0.823, 2.220, 0.615, 0, 0, 0, [SEP] 77, Cabinet, 1.136, 0.388, -1.355, 0, 0, 0, [SEP] 78, Cabinet, -0.356, 0.383, 2.626, 0, 0, 0, [SEP] 79, Cabinet, 2.745, 2.220, -1.690, 0, 0, 0, [SEP] 80, Cabinet, 1.882, 0.383, 1.017, 0, 0, 0, [SEP] 81, Cabinet, 1.307, 0.473, 1.640, 0, 0, 0, [SEP] 82, Cabinet, 1.892, 0.383, 1.006, 0, 0, 0, [SEP] 83, Cabinet, 2.467, 0.383, 0.383, 0, 0, 0, [SEP] 84, Cabinet, 2.466, 0.383, -0.475, 0, 0, 0, [SEP] 85, Cabinet, 2.466, 0.473, 0.371, 0, 0, 0, [SEP] 86, Cabinet, 2.386, 2.475, -1.710, 0, 0, 0, [SEP] 87, Cabinet, -0.356, 0.383, 1.712, 0, 0, 0, [SEP] 88, Cabinet, 2.745, 2.220, 0.019, 0, 0, 0, [SEP] 89, Cabinet, -0.663, 2.496, 0.157, 0, 0, 0, [SEP] 90, Cabinet, -0.663, 2.496, -0.868, 0, 0, 0, [SEP] 91, Cabinet, -0.356, 0.383, 0.269, 0, 0, 0, [SEP] 92, Cabinet, -0.823, 2.220, 1.603, 0, 0, 0, [SEP] 93, Cabinet, -0.662, 2.234, 0.586, 0, 0, 0, [SEP] 94, Cabinet, 2.745, 2.220, -0.843, 0, 0, 0, [SEP] 95, Cabinet, 2.745, 2.220, -0.827, 0, 0, 0, [SEP] 96, Cabinet, -0.823, 2.220, 2.608, 0, 0, 0, [SEP] 97, Cabinet, 2.732, 2.226, -1.709, 0, 0, 0, [SEP] 98, Cabinet, 1.137, 2.226, -1.709, 0, 0, 0, [SEP] 99, Cabinet, 2.466, 0.383, -0.491, 0, 0, 0, [SEP] 100, Cabinet, 2.466, 0.383, -1.339, 0, 0, 0, [SEP] 101, StoveBurner, 1.761, 1.018, -1.599, 0, 0, 0, [SEP] 102, Fridge, -0.908, 0.0, -0.405, 0, 0, 0, [SEP] 103, HousePlant, 2.517, 1.016, 1.822, 0, 0, 0, [SEP] 104, Microwave, 1.939, 1.745, -1.826, 0, 0, 0, [SEP] 105, StoveKnob, 2.017, 1.041, -1.514, 0, 180, 180, [SEP] 106, StoveKnob, 1.934, 1.041, -1.514, 0, 180, 180, [SEP] 107, StoveKnob, 2.017, 1.041, -1.589, 0, 180, 180, [SEP] 108, StoveKnob, 1.934, 1.041, -1.589, 0, 180, 180, [SEP] 109, Window, 1.756, 1.608, 4.762, 90, 0, 0, [SEP] 110, HousePlant, 2.171, 1.004, 2.091, 0, 0, 0, [SEP] 111, CoffeeMachine, -0.942, 1.018, 0.645, 0, 90, 0, [SEP] 112, LightSwitch, -0.099, 1.410, -2.066, 0, 0, 0, [SEP] 113, GarbageCan, -0.951, -0.029, 2.826, 0, 0, 0, [SEP] 114, Toaster, -1.007, 1.018, 2.238, 0, 90, 0, [SEP] 115, SinkBasin, -0.714, 0.805, 1.348, 0, 90, 0, [SEP] 116, Chair, 1.615, 0.004, 4.310, 0, 107.976, 0, [SEP] 117, Faucet, -1.120, 1.013, 1.334, 0, 90, 0, [SEP] 118, Chair, 2.759, 0.004, 3.086, 0, 358.967, 0, [SEP] 119, , , , , , , , [SEP] 120, NorthWall, , , , , , , [SEP] 121, EastWall, , , , , , , [SEP] 122, SouthWall, , , , , , , [SEP] 123, WestWall, , , , , , , ", "output": ["STEP 1: Move to the table to the left of you | STEP 2: Pick up a scoop from the table | STEP 3: Move to the sink behind you | STEP 4: Clean the scoop in the sink | STEP 5: Move to the dining table behind you | STEP 6: Put the scoop on the table | END"]} +{"id": "trial_T20190909_095218_969235-1", "input": "TO clean a rag and place it on the back of the toilet. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.5, 0.901, 0.5, 0, 90, 0, [SEP] 1, Cloth, -1.853, 0.806, 0.155, 0, 90, 0, 26 [SEP] 2, TissueBox, -1.213, 0.507, 0.350, 0, 90, 0, 31 [SEP] 3, SoapBar, -2.220, 0.954, 2.390, 0, 180, 0, 40 [SEP] 4, SoapBar, -2.327, 0.954, 2.327, 0, 180, 0, 40 [SEP] 5, Candle, -3.071, 0.690, 0.943, 0, 0, 0, 27 [SEP] 6, SoapBottle, -0.281, 0.809, 0.221, 0, 90, 0, 26 [SEP] 7, Towel, -2.554, 0.873, 0.106, 0, 0, 0, 34 [SEP] 8, Towel, -2.554, 1.597, 0.106, 0, 0, 0, 33 [SEP] 9, Cloth, -3.571, 0.219, 0.939, 0, 0, 0, 42 [SEP] 10, Candle, -3.057, 0.690, 0.776, 0, 0, 0, 27 [SEP] 11, HandTowel, -0.038, 1.68, 2.956, 0, 90, 0, 37 [SEP] 12, SoapBar, -1.435, 0.201, 0.182, 0, 90, 0, 28 [SEP] 13, ToiletPaper, -1.067, 0.805, 0.417, 0, 90, 0, 26 [SEP] 14, Plunger, -2.307, 0.000, 3.231, 0, 0, 0, Floor|-00.08| [SEP] 15, SprayBottle, -0.805, 0.805, 0.417, 0, 90, 0, 26 [SEP] 16, TissueBox, -0.805, 0.808, 0.155, 0, 90, 0, 26 [SEP] 17, ToiletPaper, -1.591, 0.805, 0.090, 0, 90, 0, 26 [SEP] 18, ScrubBrush, -2.189, 0.000, 3.025, 0, 0, 0, Floor|-00.08| [SEP] 19, SoapBottle, -0.543, 0.809, 0.221, 0, 90, 0, 26 [SEP] 20, Drawer, -1.324, 0.312, 0.311, 0, 90, 0, [SEP] 21, Drawer, -0.290, 0.312, 0.311, 0, 90, 0, [SEP] 22, Sink, -0.463, -0.013, 3.046, 0, 180, 0, [SEP] 23, Mirror, -0.504, 1.741, 3.304, 0, 0, 0, [SEP] 24, Drawer, -0.808, 0.611, 0.311, 0, 90, 0, [SEP] 25, Drawer, -0.808, 0.312, 0.311, 0, 90, 0, [SEP] 26, CounterTop, -1.850, 0.001, 0.342, 0, 90, 0, [SEP] 27, Bathtub, -3.499, 0.148, 0.939, 0, 0, 0, [SEP] 28, Drawer, -1.840, 0.312, 0.311, 0, 90, 0, [SEP] 29, Faucet, -0.463, 0.969, 3.212, 0, 180, 0, [SEP] 30, Drawer, -0.290, 0.611, 0.311, 0, 90, 0, [SEP] 31, Drawer, -1.324, 0.611, 0.311, 0, 90, 0, [SEP] 32, Drawer, -1.840, 0.611, 0.311, 0, 90, 0, [SEP] 33, TowelHolder, -2.553, 1.582, 0.0, 0, 0, 0, [SEP] 34, TowelHolder, -2.553, 0.859, 0.0, 0, 0, 0, [SEP] 35, GarbageCan, -2.110, -0.001, 1.960, 0, 104.999, 0, [SEP] 36, ToiletPaperHanger, -1.628, 0.842, 3.305, 0, 180, 0, [SEP] 37, HandTowelHolder, 0.0, 1.781, 2.956, 0, 180, 0, [SEP] 38, LightSwitch, 0.0, 1.368, 1.993, 0, 270, 0, [SEP] 39, Window, -4.083, 1.735, 1.162, 90, 270, 0, [SEP] 40, Toilet, -1.835, 0.000, 2.503, 0, 90, 0, [SEP] 41, SinkBasin, -0.452, 0.888, 2.969, 0, 180, 0, [SEP] 42, BathtubBasin, -3.518, 0.210, 0.939, 0, 0, 0, [SEP] 43, ShowerHead, -3.540, 1.821, 1.820, 0, 0, 0, [SEP] 44, ShowerCurtain, -3.318, 2.572, 0.266, 0, 0, 8.184, [SEP] 45, NorthWall, , , , , , , [SEP] 46, SouthWall, , , , , , , [SEP] 47, SouthWall, , , , , , , ", "output": ["STEP 1: Step forward and turn right to face the dirty rag on the counter. | STEP 2: Pick up the dirty rag on the counter. | STEP 3: Turn around and cross the room to face the sink. | STEP 4: Wash the rag in the sink and remove it. | STEP 5: Turn left to face the back of the toilet. | STEP 6: Place the clean rag on the back of the toilet. | END"]} +{"id": "trial_T20190907_225552_472573-2", "input": "Pick up the phone from the top of the cabinet and put inside a shelf. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.5, 0.902, -0.75, 0, 270, 0, [SEP] 1, Mug, 1.474, 0.799, -2.031, 0, 270, 0, 47 [SEP] 2, Mug, -0.002, 0.671, -2.608, 0, 0, 0, 52 [SEP] 3, CD, 1.680, 0.499, -1.949, 0, 0, 0, 49 [SEP] 4, CD, 1.680, 0.171, -2.036, 0, 0, 0, 45 [SEP] 5, Pencil, 1.633, 0.660, -1.551, 0, 0, 0, 40 [SEP] 6, Pencil, 1.781, 0.805, -2.219, 0, 0, 0, 47 [SEP] 7, CreditCard, 1.680, 0.656, -1.376, 0, 0, 0, 40 [SEP] 8, CreditCard, 0.513, 0.673, -2.628, 0, 0, 0, 52 [SEP] 9, Book, 1.658, 0.799, -1.843, 0, 90, 0, 47 [SEP] 10, Book, -0.574, 0.694, -0.36, 0, 0, 0, 27 [SEP] 11, AlarmClock, 1.658, 0.798, -2.031, 0, 0, 0, 47 [SEP] 12, Book, -0.088, 0.694, -0.573, 0, 0, 0, 27 [SEP] 13, KeyChain, 1.586, 0.502, -1.202, 0, 0, 0, 41 [SEP] 14, AlarmClock, 1.536, 0.798, -1.279, 0, 0, 0, 47 [SEP] 15, CreditCard, 1.597, 0.801, -1.655, 0, 0, 0, 47 [SEP] 16, Laptop, -0.088, 0.693, 0.281, 0, 0, 0, 27 [SEP] 17, Pen, 1.586, 0.177, -1.551, 0, 0, 0, 43 [SEP] 18, Pencil, 1.536, 0.805, -1.467, 0, 0, 0, 47 [SEP] 19, BaseballBat, -1.844, 0.678, -2.203, 0, 0, 8.760, Floor|+00.01| [SEP] 20, Pillow, -0.331, 0.755, -1.001, 0, 0, 0, 27 [SEP] 21, Pillow, -1.508, 0.685, -0.378, 0, 288.596, 0, 27 [SEP] 22, TennisRacket, -1.597, 0.001, -1.367, 90, 37.792, 0, Floor|+00.01| [SEP] 23, CellPhone, 1.474, 0.800, -1.655, 0, 0, 0, 47 [SEP] 24, CD, 1.781, 0.799, -1.279, 0, 0, 0, 40 [SEP] 25, Mug, 1.536, 0.798, -2.407, 0, 0, 0, 47 [SEP] 26, Mirror, 3.534, 1.661, -0.277, 0, 90, 0, [SEP] 27, Bed, -0.842, -0.000, -0.361, 0, 270, 0, [SEP] 28, DeskLamp, 1.742, 0.819, -1.394, 0, 358.556, 0, [SEP] 29, Painting, 0.246, 1.564, -2.665, 90, 0, 0, [SEP] 30, Painting, 1.894, 1.549, -2.424, 90, 270, 0, [SEP] 31, Painting, 1.894, 1.549, -1.289, 90, 270, 0, [SEP] 32, GarbageCan, 3.378, 0.000, 0.220, 0, 0, 0, [SEP] 33, LightSwitch, -0.078, 1.219, 1.298, 0, 180, 0, [SEP] 34, Window, -0.486, 1.409, -2.691, 90, 0, 0, [SEP] 35, Window, 0.987, 1.409, -2.691, 90, 0, 0, [SEP] 36, VacuumCleaner, -1.649, 0.010, -2.440, 0, 42.426, 0, [SEP] 37, Blinds, -0.490, 2.130, -2.638, 0, 0, 0, [SEP] 38, Blinds, 1.011, 2.130, -2.638, 0, 0, 0, [SEP] 39, Drawer, 1.596, 0.411, -1.459, 0, 270, 0, [SEP] 40, Drawer, 1.597, 0.732, -1.459, 0, 270, 0, [SEP] 41, Drawer, 1.597, 0.574, -1.459, 0, 270, 0, [SEP] 42, Drawer, 1.597, 0.732, -2.202, 0, 270, 0, [SEP] 43, Drawer, 1.596, 0.247, -1.459, 0, 270, 0, [SEP] 44, Drawer, 1.596, 0.090, -1.459, 0, 270, 0, [SEP] 45, Drawer, 1.596, 0.247, -2.202, 0, 270, 0, [SEP] 46, Drawer, 1.596, 0.411, -2.202, 0, 270, 0, [SEP] 47, Dresser, 1.634, 0.003, -1.830, 0, 270, 0, [SEP] 48, Drawer, 1.596, 0.090, -2.202, 0, 270, 0, [SEP] 49, Drawer, 1.597, 0.574, -2.202, 0, 270, 0, [SEP] 50, ShelvingUnit, 0.249, 0.003, -2.519, 0, 0, 0, [SEP] 51, Shelf, 0.017, 0.178, -2.511, 0, 0, 0, [SEP] 52, Shelf, 0.249, 0.665, -2.519, 0, 0, 0, [SEP] 53, Shelf, 0.243, 0.344, -2.511, 0, 0, 0, [SEP] 54, Shelf, 0.474, 0.344, -2.511, 0, 0, 0, [SEP] 55, Shelf, 0.355, 0.011, -2.511, 0, 0, 0, [SEP] 56, Shelf, 0.016, 0.011, -2.511, 0, 0, 0, [SEP] 57, Shelf, 0.357, 0.178, -2.511, 0, 0, 0, [SEP] 58, NorthWall, , , , , , , [SEP] 59, EastWall, , , , , , , [SEP] 60, SouthWall, , , , , , , [SEP] 61, WestWall, , , , , , , ", "output": ["STEP 1: Turn to your left, take two steps forward, turn left, and take a step to face the cabinet. | STEP 2: Pick up the cell phone on the front edge of the top of the cabinet. | STEP 3: Turn around from your right and face the same cabinet. | STEP 4: Pull out bottom right shelf, place the phone in it, and close it. | END"]} +{"id": "trial_T20190909_130557_239398-2", "input": "Place a chilled plate in a microwave. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.75, 0.900, -0.5, 0, 90, 0, [SEP] 1, Vase, -2.300, 0.875, 2.863, 0, 135, 0, 62 [SEP] 2, Book, -1.944, 1.654, -1.710, 0, 0, 0, 73 [SEP] 3, DishSponge, 1.724, 0.909, -1.346, 0, 0, 0, 80 [SEP] 4, ButterKnife, -2.584, 0.874, 3.221, 0, 0, 0, 62 [SEP] 5, ButterKnife, -2.072, 0.912, -0.939, 0, 0, 0, 60 [SEP] 6, Kettle, 1.631, 1.656, -1.747, 0, 0, 0, 58 [SEP] 7, WineBottle, -2.845, 0.875, 3.513, 0, 135, 0, 62 [SEP] 8, WineBottle, 1.616, 0.115, -1.450, 0, 0, 0, 66 [SEP] 9, Pot, 1.328, 0.957, -1.420, 0, 180, 0, 64 [SEP] 10, Pot, -2.152, 0.877, 3.296, 0, 270, 0, 62 [SEP] 11, Fork, 0.663, 0.912, -1.776, 0, 90, 0, 60 [SEP] 12, Spoon, -1.961, 0.913, -0.939, 0, 180, 0, 60 [SEP] 13, Spoon, -2.072, 0.913, -0.939, 0, 0, 0, 60 [SEP] 14, Egg, -0.149, 1.169, 2.167, 0, 180, 0, 85 [SEP] 15, Egg, 0.079, 0.414, 1.967, 0, 180, 0, 85 [SEP] 16, Cup, 3.637, 0.551, 1.553, 0, 270, 0, 83 [SEP] 17, SoapBottle, -2.420, 0.879, 3.460, 0, 225, 0, 62 [SEP] 18, Tomato, -2.964, 0.922, 3.632, 0, 135, 0, 62 [SEP] 19, SaltShaker, 3.743, 0.877, 1.963, 0, 270, 0, 81 [SEP] 20, PepperShaker, 1.333, 2.152, -1.787, 0, 0, 0, 74 [SEP] 21, Bread, -2.659, 0.961, 3.728, 0, 0, 0, 62 [SEP] 22, Lettuce, -2.183, 0.977, 0.037, 0, 0, 0, 60 [SEP] 23, Lettuce, -3.069, 0.943, 2.916, 0, 225, 0, 62 [SEP] 24, Mug, -2.434, 0.869, 3.207, 0, 135, 0, 62 [SEP] 25, Mug, 0.014, 0.923, -1.356, 0, 0, 0, 57 [SEP] 26, Apple, -2.183, 0.967, -1.591, 0, 0, 0, 60 [SEP] 27, Apple, -2.996, 0.929, 3.147, 0, 270, 0, 62 [SEP] 28, Book, -1.649, 0.714, -0.930, 0, 90, 0, 75 [SEP] 29, Fork, -1.378, 0.912, -1.776, 0, 90, 0, 60 [SEP] 30, Tomato, -0.377, 1.191, 2.167, 0, 180, 0, 85 [SEP] 31, Egg, -0.149, 0.414, 1.967, 0, 180, 0, 85 [SEP] 32, Kettle, 0.633, 0.117, -1.445, 0, 0, 0, 67 [SEP] 33, Vase, -1.516, 0.913, -0.614, 0, 0, 0, 60 [SEP] 34, Cup, -2.490, 0.873, 2.999, 0, 270, 0, 62 [SEP] 35, WineBottle, -0.844, 0.193, 2.097, 0, 90, 0, 90 [SEP] 36, Plate, -2.183, 0.916, -1.265, 0, 0, 0, 60 [SEP] 37, Spatula, 0.479, 0.927, -1.776, 0, 90, 0, 60 [SEP] 38, Potato, -0.263, 1.180, 2.286, 0, 180, 0, 85 [SEP] 39, Pot, 0.974, 0.957, -1.419, 0, 180, 0, 78 [SEP] 40, Knife, -3.069, 0.896, 3.527, 0, 135, 0, 62 [SEP] 41, SaltShaker, 0.150, 0.110, -1.415, 0, 0, 0, 68 [SEP] 42, PepperShaker, -2.353, 0.874, 3.632, 0, 225, 0, 62 [SEP] 43, Lettuce, -0.149, 0.867, 2.194, 0, 180, 0, 85 [SEP] 44, ButterKnife, -2.510, 0.874, 2.715, 0, 0, 0, 62 [SEP] 45, Bread, -2.807, 0.961, 2.715, 0, 0, 0, 62 [SEP] 46, Vase, -1.516, 0.913, -0.939, 0, 0, 0, 60 [SEP] 47, DishSponge, -1.723, 0.119, -0.991, 0, 0, 0, 65 [SEP] 48, Apple, -2.644, 0.929, 3.446, 0, 225, 0, 62 [SEP] 49, Pan, 1.328, 0.957, -1.688, 0, 180, 0, 63 [SEP] 50, Spoon, -0.330, 0.698, -1.626, 0, 270, 0, 89 [SEP] 51, SoapBottle, -3.165, 0.875, 3.073, 0, 270, 0, 62 [SEP] 52, Mug, -1.738, 0.907, 0.363, 0, 0, 0, 60 [SEP] 53, Statue, 3.689, 0.887, 1.656, 0, 270, 0, 81 [SEP] 54, Statue, 3.668, 0.540, 1.800, 0, 0, 0, 83 [SEP] 55, Bowl, 0.069, 0.926, -1.646, 0, 270, 0, 57 [SEP] 56, Cabinet, -2.171, 2.009, -1.538, 0, 0, 0, [SEP] 57, Sink, 0.024, 0.771, -1.708, 0, 270, 0, [SEP] 58, Cabinet, 1.444, 2.259, -1.542, 0, 0, 0, [SEP] 59, StoveBurner, 0.974, 0.957, -1.688, 0, 180, 0, [SEP] 60, CounterTop, -1.866, 0.947, -0.614, 0, 0, 0, [SEP] 61, Cabinet, -2.217, 0.373, -1.874, 0, 0, 0, [SEP] 62, DiningTable, -2.663, 0.002, 3.208, 0, 0, 0, [SEP] 63, StoveBurner, 1.328, 0.957, -1.688, 0, 180, 0, [SEP] 64, StoveBurner, 1.328, 0.957, -1.420, 0, 180, 0, [SEP] 65, Cabinet, -1.478, 0.373, -1.235, 0, 0, 0, [SEP] 66, Cabinet, 1.775, 0.372, -1.242, 0, 0, 0, [SEP] 67, Cabinet, 0.774, 0.372, -1.242, 0, 0, 0, [SEP] 68, Cabinet, 0.375, 0.372, -1.242, 0, 0, 0, [SEP] 69, Cabinet, -0.574, 0.372, -1.238, 0, 0, 0, [SEP] 70, Cabinet, 1.775, 2.009, -1.542, 0, 0, 0, [SEP] 71, Cabinet, 0.524, 2.009, -1.542, 0, 0, 0, [SEP] 72, Cabinet, -0.714, 2.009, -1.542, 0, 0, 0, [SEP] 73, Cabinet, -1.671, 2.009, -1.538, 0, 0, 0, [SEP] 74, Cabinet, 0.854, 2.259, -1.542, 0, 0, 0, [SEP] 75, Drawer, -1.636, 0.683, -0.930, 0, 0, 0, [SEP] 76, Drawer, 1.650, 0.682, -1.396, 0, 0, 0, [SEP] 77, Drawer, 0.600, 0.682, -1.396, 0, 0, 0, [SEP] 78, StoveBurner, 0.974, 0.957, -1.419, 0, 180, 0, [SEP] 79, Drawer, -2.062, 0.683, -1.579, 0, 0, 0, [SEP] 80, CounterTop, 1.645, 0.945, -1.527, 0, 0, 0, [SEP] 81, Shelf, 3.725, 0.880, 1.671, 0, 90, 0, [SEP] 82, LightSwitch, 2.830, 1.266, -0.748, 0, 0, 0, [SEP] 83, Shelf, 3.726, 0.552, 1.671, 0, 90, 0, [SEP] 84, Microwave, 1.150, 1.655, -1.614, 0, 0, 0, [SEP] 85, Fridge, -0.035, 0.0, 2.177, 0, 180, 0, [SEP] 86, Window, -0.115, 1.802, -1.896, 90, 0, 0, [SEP] 87, Window, -4.009, 1.799, 0.310, 90, 90, 0, [SEP] 88, Shelf, 3.726, 0.172, 1.671, 0, 90, 0, [SEP] 89, SinkBasin, -0.330, 0.686, -1.581, 0, 270, 0, [SEP] 90, GarbageCan, -0.870, -0.001, 2.136, 0, 90, 0, [SEP] 91, StoveKnob, 1.089, 0.913, -1.243, 45, 0, 0, [SEP] 92, StoveKnob, 1.208, 0.913, -1.243, 45, 0, 0, [SEP] 93, StoveKnob, 1.340, 0.913, -1.243, 45, 0, 0, [SEP] 94, StoveKnob, 0.961, 0.913, -1.243, 45, 0, 0, [SEP] 95, Toaster, 1.637, 0.900, -1.673, 0, 0, 0, [SEP] 96, Chair, -3.505, 0.002, 3.290, 0, 105.736, 0, [SEP] 97, CoffeeMachine, -1.111, 0.900, -1.726, 0, 0, 0, [SEP] 98, HousePlant, -2.663, 0.835, 3.209, 0, 0, 0, [SEP] 99, Faucet, -0.187, 0.922, -1.75, 0, 311.166, 0, [SEP] 100, ShelvingUnit, 3.726, 0.006, 1.671, 0, 90, 0, [SEP] 101, Stool, -2.501, -0.000, 0.062, 1.223, 91.243, 0, [SEP] 102, Stool, -2.475, -0.000, -0.802, 1.209, 69.808, 0, [SEP] 103, Chair, -2.934, 0.002, 2.437, 0, 28.531, 0, [SEP] 104, Chair, -1.698, 0.002, 3.235, 0, 245.204, 0, [SEP] 105, NorthWall, , , , , , , [SEP] 106, EastWall, , , , , , , [SEP] 107, SouthWall, , , , , , , [SEP] 108, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and walk almost to the wall, then turn left. Walk past the counter then turn left and walk to the door. Finally, face the left counter. | STEP 2: Pick up the plate on the counter. | STEP 3: Turn left and veer right after the counter ends, walking to the fridge. | STEP 4: Place the plate in the fridge, ahead and to the right of the lettuce. Close the door, wait a moment, and take it out again. | STEP 5: Turn around and walk to the stove. | STEP 6: Place the plate in the microwave above the stove. | END"]} +{"id": "trial_T20190911_202900_052971-1", "input": "To move two media devices from the counter to the foot of the bed. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.25, 0.937, -2.25, 0, 180, 0, [SEP] 1, Mug, 0.326, 0.075, -3.245, 0, 0, 0, 32 [SEP] 2, Mug, -1.539, 1.114, -3.073, 0, 0, 0, 35 [SEP] 3, CD, -2.565, 0.082, -3.214, 0, 0, 0, 29 [SEP] 4, CD, 1.315, 0.077, -3.077, 0, 0, 0, 32 [SEP] 5, CellPhone, 1.681, 0.546, 2.440, 0, 90, 0, 55 [SEP] 6, CellPhone, -1.851, 1.119, -3.243, 0, 0, 0, 35 [SEP] 7, Pen, -1.227, 1.121, -3.158, 0, 0, 0, 35 [SEP] 8, CreditCard, -0.696, 0.190, 3.597, 0, 175.771, 0, 47 [SEP] 9, CreditCard, -2.331, 0.190, 3.503, 0, 180, 0, 48 [SEP] 10, Book, 0.673, 0.832, 0.015, 0, 0, 0, 28 [SEP] 11, KeyChain, 1.668, 0.095, -3.049, 0, 90, 0, 53 [SEP] 12, KeyChain, 1.882, 0.095, -3.049, 0, 270, 0, 53 [SEP] 13, RemoteControl, -1.227, 1.118, -2.902, 0, 0, 0, 35 [SEP] 14, Book, -3.335, 0.190, 3.155, 0, 149.999, 0, 54 [SEP] 15, AlarmClock, -0.914, 1.118, -2.988, 0, 0, 0, 35 [SEP] 16, CellPhone, -0.289, 1.119, -2.902, 0, 0, 0, 35 [SEP] 17, Pillow, 0.958, 0.940, 0.975, 0, 0, 0, 28 [SEP] 18, Pillow, 0.389, 0.940, 0.975, 0, 0, 0, 28 [SEP] 19, TeddyBear, 1.868, 0.036, -0.561, 0, 59.999, 0, Floor|-00.06| [SEP] 20, CreditCard, -2.164, 1.116, -3.243, 0, 0, 0, 35 [SEP] 21, KeyChain, 1.903, 0.553, 2.612, 0, 0, 0, 55 [SEP] 22, Pencil, 1.537, 0.556, 2.539, 0, 90, 0, 55 [SEP] 23, Laptop, 0.104, 0.830, 0.255, 0, 0, 0, 28 [SEP] 24, RemoteControl, -0.982, 0.585, -2.934, 0, 0, 0, 31 [SEP] 25, CD, -1.851, 1.115, -2.732, 0, 0, 0, 35 [SEP] 26, Pen, -0.289, 1.121, -2.817, 0, 0, 0, 35 [SEP] 27, Mug, -0.602, 1.114, -2.988, 0, 0, 0, 35 [SEP] 28, Bed, 0.967, 0.049, 0.667, 0, 90, 0, [SEP] 29, Cabinet, -3.0, 1.497, -2.643, 0, 0, 0, [SEP] 30, Drawer, -0.365, 0.785, -2.848, 0, 0, 0, [SEP] 31, Drawer, -1.159, 0.785, -2.848, 0, 0, 0, [SEP] 32, Cabinet, 2.064, 1.497, -2.643, 0, 0, 0, [SEP] 33, Drawer, -1.159, 0.285, -2.848, 0, 0, 0, [SEP] 34, Drawer, -0.365, 0.285, -2.848, 0, 0, 0, [SEP] 35, Desk, -1.271, 1.169, -2.987, 0, 0, 0, [SEP] 36, LightSwitch, -0.159, 1.281, 3.999, 0, 180, 0, [SEP] 37, GarbageCan, -3.338, 0.022, -2.797, 0, 4.809, 0, [SEP] 38, HousePlant, -0.195, 1.105, -3.084, 0, 0, 0, [SEP] 39, DeskLamp, 1.863, 0.581, 2.431, 0, 0, 0, [SEP] 40, Mirror, -1.603, 1.447, 3.999, 0, 0, 0, [SEP] 41, Television, -3.883, 1.771, 2.122, 0, 90, 0, [SEP] 42, Window, -1.952, 2.148, -3.302, 90, 180, 0, [SEP] 43, Window, -0.467, 2.148, -3.302, 90, 180, 0, [SEP] 44, Window, -3.894, 1.751, 0.582, 90, 270, 0, [SEP] 45, Window, -3.894, 1.751, -0.675, 90, 270, 0, [SEP] 46, LaundryHamper, 1.831, 0.058, 3.689, 0, 354.434, 1.354, [SEP] 47, ArmChair, -0.948, 0.051, 3.583, 0, 175.988, 0, [SEP] 48, ArmChair, -2.172, 0.051, 3.598, 0, 180, 0, [SEP] 49, Blinds, -0.477, 2.785, -3.253, 0, 0, 0, [SEP] 50, Blinds, -1.957, 2.785, -3.253, 0, 0, 0, [SEP] 51, Blinds, -3.799, 2.506, 0.602, 0, 90, 0, [SEP] 52, Blinds, -3.799, 2.506, -0.647, 0, 90, 0, [SEP] 53, Safe, 1.673, 0.054, -3.004, 0, 0, 0, [SEP] 54, ArmChair, -3.349, 0.051, 3.375, 0, 150.096, 0, [SEP] 55, SideTable, 1.775, 0.048, 2.377, 0, 0, 0, [SEP] 56, Chair, -2.002, 0.050, -2.532, 0, 165.000, 0, [SEP] 57, NorthWall, , , , , , , [SEP] 58, EastWall, , , , , , , [SEP] 59, SouthWall, , , , , , , [SEP] 60, WestWall, , , , , , , ", "output": ["STEP 1: Take a step to the right to face the media device on the counter. | STEP 2: Pick up the media device on the counter. | STEP 3: Turn around and walk forward then turn right to face the bed. | STEP 4: Place the media device on the center of the foot of the bed. | STEP 5: Turn right and walk across the room to face the counter. | STEP 6: Pick up the media device on the counter. | STEP 7: Turn around and walk forward then turn right to face the bed. | STEP 8: Place the media device on the center of the foot of the bed next to the first media device. | END"]} +{"id": "trial_T20190907_133507_260131-0", "input": "Move the pen from the Black desk to the black end table that sits beside the bed. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.25, 0.900, 0.25, 0, 0, 0, [SEP] 1, CellPhone, -1.085, 0.680, -2.508, 0, 0, 0, 36 [SEP] 2, Pen, -0.276, 0.625, 0.988, 0, 180, 0, 35 [SEP] 3, Pen, 0.033, 0.624, 0.910, 0, 180, 0, 35 [SEP] 4, Pen, 0.188, 0.625, 0.910, 0, 180, 0, 35 [SEP] 5, CreditCard, -1.322, 0.675, -2.553, 0, 0, 0, 36 [SEP] 6, CreditCard, 0.818, 0.675, -2.553, 0, 0, 0, 37 [SEP] 7, Book, -0.121, 0.619, 0.988, 0, 180, 0, 35 [SEP] 8, AlarmClock, -0.121, 0.621, 0.832, 0, 180, 0, 35 [SEP] 9, Laptop, -0.300, 0.554, -0.988, 0, 0, 0, 23 [SEP] 10, Box, 2.453, 0.222, -0.041, 0, 0, 0, [SEP] 11, Book, 0.106, 0.613, 0.717, 0, 163.530, 0, 35 [SEP] 12, KeyChain, -0.431, 0.621, 1.066, 0, 0, 0, 35 [SEP] 13, Pillow, 0.192, 0.607, -2.307, 0, 0, 0, 23 [SEP] 14, BaseballBat, 0.419, 0.666, 1.044, 10.360, 0, 0, [SEP] 15, Pencil, 0.062, 0.617, 1.015, 0, 225, 0, 35 [SEP] 16, CellPhone, -0.300, 0.557, -1.880, 0, 0, 0, 23 [SEP] 17, CreditCard, 1.114, 0.679, -2.553, 0, 0, 0, 37 [SEP] 18, Pen, -0.431, 0.624, 0.755, 0, 270, 0, 35 [SEP] 19, Laptop, -0.661, 0.613, 0.778, 0, 165.000, 0, 35 [SEP] 20, AlarmClock, -1.236, 0.673, -2.425, 0, 29.999, 0, 37 [SEP] 21, CD, -0.276, 0.618, 0.599, 0, 180, 0, 35 [SEP] 22, Mug, -0.586, 0.616, 0.599, 0, 270, 0, 35 [SEP] 23, Bed, -0.118, -0.001, -1.699, 0, 180, 0, [SEP] 24, Mirror, 2.644, 1.347, 0.384, 0, 90, 0, [SEP] 25, GarbageCan, 2.467, -0.029, 0.936, 0, 271.107, 0, [SEP] 26, LightSwitch, 0.333, 1.256, 1.149, 0, 180, 0, [SEP] 27, DeskLamp, 0.915, 0.670, -2.435, 0, 0, 0, [SEP] 28, Painting, 0.003, 1.562, -2.687, 90, 180, 0, [SEP] 29, Window, -1.559, 1.414, -1.356, 90, 270, 0, [SEP] 30, Window, -1.559, 1.414, -0.057, 90, 270, 0, [SEP] 31, Shelf, -0.276, 0.351, 0.832, 0, 0, 0, [SEP] 32, Shelf, -0.276, 0.099, 0.832, 0, 0, 0, [SEP] 33, Blinds, -1.462, 2.157, -1.343, 0, 90, 0, [SEP] 34, Blinds, -1.462, 2.157, -0.046, 0, 90, 0, [SEP] 35, Desk, -0.276, -0.001, 0.833, 0, 0, 0, [SEP] 36, SideTable, -1.204, 0.002, -2.456, 0, 0, 0, [SEP] 37, SideTable, 0.948, 0.002, -2.456, 0, 0, 0, [SEP] 38, Drawer, 0.948, 0.166, -2.389, 0, 0, 0, [SEP] 39, Drawer, -1.204, 0.166, -2.389, 0, 0, 0, [SEP] 40, Drawer, 0.948, 0.458, -2.389, 0, 0, 0, [SEP] 41, Drawer, -1.204, 0.458, -2.389, 0, 0, 0, [SEP] 42, , , , , , , , [SEP] 43, NorthWall, , , , , , , [SEP] 44, EastWall, , , , , , , [SEP] 45, SouthWall, , , , , , , [SEP] 46, WestWall, , , , , , , ", "output": ["STEP 1: Go to the black desk. | STEP 2: Pick up the pen | STEP 3: Carry the pen to the black end table beside the bed. | STEP 4: Set the pen on the front of the end table beside the bed. | END"]} +{"id": "trial_T20190907_133507_260131-1", "input": "Move the pen from the grey table to the night stand SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.25, 0.900, 0.25, 0, 0, 0, [SEP] 1, CellPhone, -1.085, 0.680, -2.508, 0, 0, 0, 36 [SEP] 2, Pen, -0.276, 0.625, 0.988, 0, 180, 0, 35 [SEP] 3, Pen, 0.033, 0.624, 0.910, 0, 180, 0, 35 [SEP] 4, Pen, 0.188, 0.625, 0.910, 0, 180, 0, 35 [SEP] 5, CreditCard, -1.322, 0.675, -2.553, 0, 0, 0, 36 [SEP] 6, CreditCard, 0.818, 0.675, -2.553, 0, 0, 0, 37 [SEP] 7, Book, -0.121, 0.619, 0.988, 0, 180, 0, 35 [SEP] 8, AlarmClock, -0.121, 0.621, 0.832, 0, 180, 0, 35 [SEP] 9, Laptop, -0.300, 0.554, -0.988, 0, 0, 0, 23 [SEP] 10, Box, 2.453, 0.222, -0.041, 0, 0, 0, [SEP] 11, Book, 0.106, 0.613, 0.717, 0, 163.530, 0, 35 [SEP] 12, KeyChain, -0.431, 0.621, 1.066, 0, 0, 0, 35 [SEP] 13, Pillow, 0.192, 0.607, -2.307, 0, 0, 0, 23 [SEP] 14, BaseballBat, 0.419, 0.666, 1.044, 10.360, 0, 0, [SEP] 15, Pencil, 0.062, 0.617, 1.015, 0, 225, 0, 35 [SEP] 16, CellPhone, -0.300, 0.557, -1.880, 0, 0, 0, 23 [SEP] 17, CreditCard, 1.114, 0.679, -2.553, 0, 0, 0, 37 [SEP] 18, Pen, -0.431, 0.624, 0.755, 0, 270, 0, 35 [SEP] 19, Laptop, -0.661, 0.613, 0.778, 0, 165.000, 0, 35 [SEP] 20, AlarmClock, -1.236, 0.673, -2.425, 0, 29.999, 0, 37 [SEP] 21, CD, -0.276, 0.618, 0.599, 0, 180, 0, 35 [SEP] 22, Mug, -0.586, 0.616, 0.599, 0, 270, 0, 35 [SEP] 23, Bed, -0.118, -0.001, -1.699, 0, 180, 0, [SEP] 24, Mirror, 2.644, 1.347, 0.384, 0, 90, 0, [SEP] 25, GarbageCan, 2.467, -0.029, 0.936, 0, 271.107, 0, [SEP] 26, LightSwitch, 0.333, 1.256, 1.149, 0, 180, 0, [SEP] 27, DeskLamp, 0.915, 0.670, -2.435, 0, 0, 0, [SEP] 28, Painting, 0.003, 1.562, -2.687, 90, 180, 0, [SEP] 29, Window, -1.559, 1.414, -1.356, 90, 270, 0, [SEP] 30, Window, -1.559, 1.414, -0.057, 90, 270, 0, [SEP] 31, Shelf, -0.276, 0.351, 0.832, 0, 0, 0, [SEP] 32, Shelf, -0.276, 0.099, 0.832, 0, 0, 0, [SEP] 33, Blinds, -1.462, 2.157, -1.343, 0, 90, 0, [SEP] 34, Blinds, -1.462, 2.157, -0.046, 0, 90, 0, [SEP] 35, Desk, -0.276, -0.001, 0.833, 0, 0, 0, [SEP] 36, SideTable, -1.204, 0.002, -2.456, 0, 0, 0, [SEP] 37, SideTable, 0.948, 0.002, -2.456, 0, 0, 0, [SEP] 38, Drawer, 0.948, 0.166, -2.389, 0, 0, 0, [SEP] 39, Drawer, -1.204, 0.166, -2.389, 0, 0, 0, [SEP] 40, Drawer, 0.948, 0.458, -2.389, 0, 0, 0, [SEP] 41, Drawer, -1.204, 0.458, -2.389, 0, 0, 0, [SEP] 42, , , , , , , , [SEP] 43, NorthWall, , , , , , , [SEP] 44, EastWall, , , , , , , [SEP] 45, SouthWall, , , , , , , [SEP] 46, WestWall, , , , , , , ", "output": ["STEP 1: Turn left, walk to the grey table on the right | STEP 2: Grab the pen near the door | STEP 3: Turn left, walk to the window, turn left, walk to the night stand | STEP 4: Put the pen down on the night stand | END"]} +{"id": "trial_T20190908_171807_876172-1", "input": "Put a watering can in the cupboard. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.901, 1.5, 0, 0, 0, [SEP] 1, Statue, -2.532, 0.554, 2.359, 0, 0, 0, 36 [SEP] 2, Statue, -2.152, 0.554, 2.455, 0, 0, 0, 36 [SEP] 3, RemoteControl, -4.744, 0.987, 2.879, 0, 0, 0, 33 [SEP] 4, CreditCard, -1.752, 0.456, 0.571, 0, 0, 0, 39 [SEP] 5, Box, -4.668, 0.405, 2.337, 0, 90, 0, 35 [SEP] 6, Box, -2.702, 0.761, 0.843, 0, 90, 0, 39 [SEP] 7, WateringCan, -0.277, -0.000, 4.860, 0, 0, 0, Floor|+00.38| [SEP] 8, CreditCard, 0.132, 0.707, 4.659, 0, 0, 0, 41 [SEP] 9, KeyChain, -2.532, 0.453, 2.455, 0, 0, 0, 36 [SEP] 10, Pillow, -3.294, 0.624, 0.801, 0, 0, 338.090, 39 [SEP] 11, Laptop, -0.417, 0.547, 1.714, 0, 0, 0, 38 [SEP] 12, RemoteControl, -2.532, 0.455, 2.744, 0, 0, 0, 36 [SEP] 13, Watch, -5.094, 0.985, 2.595, 0, 90, 0, 33 [SEP] 14, Statue, -2.152, 0.554, 2.744, 0, 0, 0, 36 [SEP] 15, Curtains, -2.535, 2.596, 0.111, 0, 0, 0, [SEP] 16, FloorLamp, -4.661, 0.009, 0.422, 0, 0, 0, [SEP] 17, Television, -4.883, 1.472, 2.434, 0, 90, 0, [SEP] 18, GarbageCan, -4.810, -0.032, 1.236, 0, 180, 0, [SEP] 19, Painting, -0.293, 1.820, 0.016, 90, 0, 0, [SEP] 20, LightSwitch, -1.016, 1.243, 5.0, 0, 180, 0, [SEP] 21, Painting, -5.118, 1.480, 4.396, 90, 270, 0, [SEP] 22, Painting, -5.118, 1.480, 0.656, 90, 270, 0, [SEP] 23, Window, -1.715, 1.554, 0.006, 90, 180, 0, [SEP] 24, Window, -3.244, 1.554, 0.006, 90, 180, 0, [SEP] 25, DeskLamp, 0.015, 0.704, 4.676, 0, 0, 0, [SEP] 26, HousePlant, -4.824, 0.984, 1.572, 0, 0, 0, [SEP] 27, Drawer, -4.497, 0.901, 2.854, 0, 90, 0, [SEP] 28, Drawer, -4.497, 0.901, 2.339, 0, 90, 0, [SEP] 29, Cabinet, -4.409, 0.498, 2.603, 0, 90, 0, [SEP] 30, Cabinet, -4.409, 0.498, 3.622, 0, 90, 0, [SEP] 31, Drawer, -4.497, 0.901, 3.372, 0, 90, 0, [SEP] 32, Cabinet, -4.409, 0.498, 1.569, 0, 90, 0, [SEP] 33, Dresser, -4.744, 4.321, 2.595, 0, 90, 0, [SEP] 34, Drawer, -4.497, 0.901, 1.818, 0, 90, 0, [SEP] 35, Cabinet, -4.409, 0.498, 2.588, 0, 90, 0, [SEP] 36, CoffeeTable, -2.405, -0.000, 2.546, 0, 0, 0, [SEP] 37, ArmChair, -0.298, 0.002, 3.310, 0, 270, 0, [SEP] 38, ArmChair, -0.298, 0.002, 1.713, 0, 270, 0, [SEP] 39, Sofa, -2.464, -0.002, 0.700, 0, 0, 0, [SEP] 40, Chair, -4.735, 0.011, 4.609, 1.215, 90, 0, [SEP] 41, SideTable, -0.041, 0.002, 4.619, 0, 0, 0, [SEP] 42, NorthWall, , , , , , , [SEP] 43, EastWall, , , , , , , [SEP] 44, SouthWall, , , , , , , [SEP] 45, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and walk to the chair then turn left and walk to the wall then turn right and walk to the table then turn left. | STEP 2: Pick up the watering can that's in front of you on the floor by the wall. | STEP 3: Turn left and walk to the tv that's in front of you to your left and stand facing the right side of the tv. | STEP 4: Open the cupboard all the way to the right of the tv stand and put the watering can down there then close the door. | END"]} +{"id": "trial_T20190909_080943_918117-1", "input": "To heat an apple and put it inside the black bin. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.900, 6.0, 0, 180, 0, [SEP] 1, DishSponge, 0.668, 0.771, 0.563, 0, 0, 0, 42 [SEP] 2, DishSponge, -0.049, 0.759, 6.588, 0, 225, 0, 86 [SEP] 3, ButterKnife, 0.668, 0.772, 0.507, 0, 0, 0, 42 [SEP] 4, Pot, 1.32, 0.988, 3.848, 0, 0, 0, 49 [SEP] 5, Spoon, 1.493, 0.993, 3.044, 0, 0, 0, 50 [SEP] 6, Spatula, 1.671, 1.007, 3.511, 0, 0, 0, 50 [SEP] 7, Fork, 1.182, 0.771, 4.753, 0, 270, 0, 40 [SEP] 8, Fork, 0.058, 0.760, 6.261, 0, 225, 0, 86 [SEP] 9, Cup, -0.611, 0.988, 0.120, 0, 0, 0, 50 [SEP] 10, Knife, -0.278, 0.801, 0.451, 0, 90, 0, 46 [SEP] 11, Tomato, 2.051, 1.565, 5.876, 0, 270, 0, 72 [SEP] 12, SoapBottle, 0.923, 0.992, 0.670, 0, 0, 0, 50 [SEP] 13, SaltShaker, 1.238, 0.135, 2.646, 0, 0, 0, 62 [SEP] 14, Mug, 2.009, 1.510, 5.501, 0, 270, 0, 72 [SEP] 15, Bowl, 1.499, 1.575, 4.754, 0, 0, 0, 54 [SEP] 16, Bread, 1.099, 1.048, 0.434, 0, 0, 0, 50 [SEP] 17, Egg, 1.135, 1.042, 4.670, 0, 0, 0, 51 [SEP] 18, Knife, 1.314, 1.022, 3.417, 0, 0, 0, 50 [SEP] 19, Fork, -0.413, 0.771, 0.620, 0, 270, 0, 46 [SEP] 20, Apple, 1.493, 1.067, 0.440, 0, 0, 0, 50 [SEP] 21, Kettle, 1.593, 0.981, 3.25, 0, 255.000, 0, 50 [SEP] 22, Plate, -0.483, 0.144, 0.582, 0, 0, 0, 58 [SEP] 23, SaltShaker, 0.150, 0.755, 6.291, 0, 270, 0, 86 [SEP] 24, Lettuce, -0.621, 0.848, 6.604, 0, 270, 0, 86 [SEP] 25, SoapBottle, 1.140, 1.579, 0.163, 0, 0, 0, 57 [SEP] 26, Spatula, -0.096, 0.775, 6.941, 0, 0, 0, 86 [SEP] 27, PaperTowelRoll, 0.169, 0.864, 6.807, 0, 225, 0, 86 [SEP] 28, Pot, 1.317, 0.988, 4.294, 0, 0, 0, 45 [SEP] 29, Potato, -0.762, 1.027, 0.486, 0, 0, 0, 50 [SEP] 30, ButterKnife, -0.459, 0.992, 0.670, 0, 0, 0, 50 [SEP] 31, PepperShaker, 0.167, 1.574, 0.119, 0, 0, 0, 63 [SEP] 32, Pan, 1.562, 0.988, 3.848, 0, 0, 0, 44 [SEP] 33, Tomato, 1.497, 0.940, 2.137, 0, 90, 0, 73 [SEP] 34, DishSponge, 0.150, 0.759, 6.666, 0, 270, 0, 86 [SEP] 35, Cup, -0.384, 0.988, 0.486, 0, 0, 0, 50 [SEP] 36, Spoon, -0.334, 0.761, 6.742, 0, 135, 0, 86 [SEP] 37, Mug, 0.080, 0.755, 6.895, 0, 225, 0, 86 [SEP] 38, Cabinet, 1.307, 2.455, 4.360, 0, 0, 0, [SEP] 39, Cabinet, 1.054, 0.422, 1.710, 0, 0, 0, [SEP] 40, Drawer, 1.280, 0.808, 4.718, 0, 0, 0, [SEP] 41, Cabinet, 1.307, 2.455, 3.607, 0, 0, 0, [SEP] 42, Drawer, 0.736, 0.802, 0.521, 0, 0, 0, [SEP] 43, Drawer, 1.276, 0.802, 3.291, 0, 0, 0, [SEP] 44, StoveBurner, 1.562, 0.982, 3.848, 0, 0, 0, [SEP] 45, StoveBurner, 1.317, 0.982, 4.294, 0, 0, 0, [SEP] 46, Drawer, -0.482, 0.802, 0.521, 0, 0, 0, [SEP] 47, Drawer, 0.124, 0.802, 0.521, 0, 0, 0, [SEP] 48, StoveBurner, 1.559, 0.982, 4.294, 0, 0, 0, [SEP] 49, StoveBurner, 1.320, 0.982, 3.848, 0, 0, 0, [SEP] 50, CounterTop, 1.391, 1.028, 0.897, 0, 0, 0, [SEP] 51, CounterTop, 1.391, 1.028, 4.716, 0, 0, 0, [SEP] 52, Cabinet, 1.054, 0.422, 4.548, 0, 0, 0, [SEP] 53, Cabinet, 1.317, 2.134, 0.517, 0, 0, 0, [SEP] 54, Cabinet, 1.317, 2.134, 4.889, 0, 0, 0, [SEP] 55, Cabinet, 1.317, 2.134, 3.095, 0, 0, 0, [SEP] 56, Cabinet, 0.443, 0.422, 0.743, 0, 0, 0, [SEP] 57, Cabinet, 1.270, 2.134, 0.434, 0, 0, 0, [SEP] 58, Cabinet, -0.775, 0.422, 0.743, 0, 0, 0, [SEP] 59, Cabinet, -0.168, 0.422, 0.743, 0, 0, 0, [SEP] 60, Cabinet, 1.317, 2.134, 1.534, 0, 0, 0, [SEP] 61, Cabinet, 1.054, 0.422, 2.990, 0, 0, 0, [SEP] 62, Cabinet, 1.054, 0.422, 2.944, 0, 0, 0, [SEP] 63, Cabinet, -0.263, 2.134, 0.434, 0, 0, 0, [SEP] 64, Cabinet, 0.252, 2.134, 0.434, 0, 0, 0, [SEP] 65, Sink, 1.391, 1.006, 2.326, 0, 0, 0, [SEP] 66, Microwave, 0.108, 0.981, 0.262, 0, 0, 0, [SEP] 67, HousePlant, -0.165, 0.826, 6.444, 0, 0, 0, [SEP] 68, CoffeeMachine, 1.551, 0.982, 0.953, 0, 270, 0, [SEP] 69, Toaster, 1.473, 0.981, 4.715, 0, 270, 0, [SEP] 70, Window, -2.065, 1.916, 3.626, 90, 90, 0, [SEP] 71, Window, 1.763, 2.007, 2.299, 90, 270, 0, [SEP] 72, Fridge, 2.035, 0.0, 5.625, 0, 0, 0, [SEP] 73, SinkBasin, 1.387, 0.880, 2.338, 0, 90, 0, [SEP] 74, GarbageCan, 2.001, -0.044, 6.503, 0, 0, 0, [SEP] 75, StoveKnob, 1.140, 0.934, 3.987, 45, 270, 0, [SEP] 76, StoveKnob, 1.140, 0.934, 4.309, 45, 270, 0, [SEP] 77, StoveKnob, 1.140, 0.934, 4.140, 45, 270, 0, [SEP] 78, StoveKnob, 1.140, 0.934, 3.824, 45, 270, 0, [SEP] 79, Vase, -0.226, 0.834, 6.993, 0, 0, 0, [SEP] 80, Vase, 2.098, 0.043, 7.070, 0, 257.232, 0, [SEP] 81, Vase, -0.594, 0.835, 6.130, 0, 225, 0, [SEP] 82, LightSwitch, -2.0, 1.549, 6.045, 0, 90, 0, [SEP] 83, Safe, 2.046, 1.072, 7.054, 0, 257.232, 0, [SEP] 84, Faucet, 1.534, 1.025, 2.371, 0, 294.391, 0, [SEP] 85, Blinds, 1.738, 2.563, 2.312, 0, 90, 0, [SEP] 86, DiningTable, -0.156, 0.000, 6.474, 0, 0, 0, [SEP] 87, Chair, 0.291, 0.002, 6.142, 0, 310.162, 0, [SEP] 88, GarbageBag, -1.092, 0.318, 0.268, 270, 90, 83.492, [SEP] 89, NorthWall, , , , , , , [SEP] 90, EastWall, , , , , , , [SEP] 91, SouthWall, , , , , , , [SEP] 92, WestWall, , , , , , , ", "output": ["STEP 1: Walk straight ahead to the white garbage bag and turn left, walk straight ahead to the counter with the coffee maker on it. | STEP 2: Pick up the apple to the right of the coffee maker. | STEP 3: Turn and walk to the microwave. | STEP 4: Open the microwave door, put the apple in the microwave, close the door, heat up the apple, open the door, take the apple out of the microwave, and close the door. | STEP 5: Walk to the black bin to the left of the fridge. | STEP 6: Put the apple inside of the black bin. | END"]} +{"id": "trial_T20190909_035821_740759-1", "input": "Put a rinsed slice of apple in the trash can. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.25, 0.900, 1.25, 0, 90, 0, [SEP] 1, Potato, -3.307, 0.942, 2.849, 0, 90, 0, 64 [SEP] 2, Potato, -0.771, 1.155, 0.115, 0, 0, 0, 59 [SEP] 3, Ladle, -0.785, 1.087, 3.042, 0, 0, 0, 47 [SEP] 4, ButterKnife, -1.288, 0.931, 0.359, 0, 0, 0, 69 [SEP] 5, Fork, -0.538, 1.048, 2.817, 0, 0, 0, 47 [SEP] 6, Fork, -0.538, 1.047, 3.042, 0, 0, 0, 47 [SEP] 7, Spoon, -1.885, 1.126, 0.473, 0, 90, 0, 57 [SEP] 8, Spoon, -2.388, 1.126, 0.567, 0, 0, 0, 57 [SEP] 9, Spatula, -0.939, 1.139, 0.478, 0, 90, 0, 59 [SEP] 10, Spatula, -1.199, 0.946, 0.567, 0, 270, 0, 69 [SEP] 11, Cup, -1.465, 0.929, 0.636, 0, 0, 0, 69 [SEP] 12, Knife, -0.662, 1.079, 2.593, 0, 90, 0, 47 [SEP] 13, Knife, -2.011, 1.157, 0.190, 0, 0, 0, 57 [SEP] 14, SoapBottle, -1.601, 0.049, 0.608, 0, 0, 0, 62 [SEP] 15, SoapBottle, -1.640, 0.049, 0.325, 0, 0, 0, 62 [SEP] 16, SaltShaker, -0.908, 1.044, 3.042, 0, 0, 0, 47 [SEP] 17, Bread, -2.262, 1.211, 0.567, 0, 0, 0, 57 [SEP] 18, Mug, -0.662, 1.042, 3.042, 0, 0, 0, 47 [SEP] 19, Mug, -0.168, 1.043, 2.144, 0, 0, 0, 47 [SEP] 20, Fork, -1.553, 0.932, 0.498, 0, 0, 0, 69 [SEP] 21, SoapBottle, -3.542, 0.113, 1.978, 0, 0, 0, 68 [SEP] 22, Pot, -0.292, 1.051, 2.593, 0, 0, 0, 47 [SEP] 23, Ladle, -0.771, 1.164, 0.569, 0, 0, 0, 59 [SEP] 24, Potato, -0.908, 1.077, 2.817, 0, 0, 0, 47 [SEP] 25, Plate, -0.662, 1.045, 3.266, 0, 0, 0, 47 [SEP] 26, Bread, -0.183, 1.119, 1.892, 0, 0, 0, 47 [SEP] 27, Lettuce, -3.339, 0.969, 3.081, 0, 228.265, 312.447, 64 [SEP] 28, Spatula, -1.642, 0.946, 0.290, 0, 90, 0, 69 [SEP] 29, Pan, -3.475, 1.133, 0.227, 0, 90, 0, 43 [SEP] 30, Egg, -0.883, 1.155, 0.296, 0, 0, 0, 59 [SEP] 31, Cup, -1.376, 0.929, 0.359, 0, 0, 0, 69 [SEP] 32, SaltShaker, -1.443, 0.045, 0.495, 0, 0, 0, 62 [SEP] 33, Knife, -0.785, 1.080, 2.144, 0, 0, 0, 47 [SEP] 34, Bowl, -2.011, 1.122, 0.567, 0, 0, 0, 57 [SEP] 35, PepperShaker, -1.076, 0.045, 0.324, 0, 0, 0, 51 [SEP] 36, ButterKnife, -0.771, 1.124, 0.206, 0, 0, 0, 59 [SEP] 37, Apple, -2.639, 1.192, 0.473, 0, 0, 0, 57 [SEP] 38, Tomato, -3.798, 0.153, 2.008, 0, 0, 0, 68 [SEP] 39, DishSponge, -0.883, 1.124, 0.115, 0, 0, 0, 59 [SEP] 40, Spoon, -0.785, 1.048, 3.266, 0, 0, 0, 47 [SEP] 41, Mug, -0.538, 1.042, 2.593, 0, 0, 0, 47 [SEP] 42, StoveKnob, -3.322, 1.053, 0.709, 45, 0, 0, [SEP] 43, StoveBurner, -3.474, 1.097, 0.227, 0, 180, 0, [SEP] 44, Sink, -1.394, 0.982, 0.439, 0, 0, 0, [SEP] 45, StoveBurner, -3.474, 1.097, 0.479, 0, 180, 0, [SEP] 46, StoveKnob, -3.164, 1.053, 0.709, 45, 0, 0, [SEP] 47, DiningTable, -0.620, 0.017, 2.486, 0, 0, 0, [SEP] 48, Drawer, -2.043, 0.608, 0.594, 0, 0, 0, [SEP] 49, Drawer, -2.043, 0.216, 0.594, 0, 0, 0, [SEP] 50, Drawer, -2.498, 0.216, 0.594, 0, 0, 0, [SEP] 51, Cabinet, -1.001, 0.393, 0.734, 0, 0, 0, [SEP] 52, StoveBurner, -3.000, 1.097, 0.480, 0, 0, 0, [SEP] 53, StoveKnob, -3.492, 1.053, 0.709, 45, 0, 0, [SEP] 54, CounterTop, -3.856, 1.160, 0.379, 0, 0, 0, [SEP] 55, Drawer, -2.043, 0.937, 0.599, 0, 0, 0, [SEP] 56, Drawer, -2.509, 0.937, 0.599, 0, 0, 0, [SEP] 57, CounterTop, -2.280, 1.160, 0.379, 0, 0, 0, [SEP] 58, StoveKnob, -2.985, 1.053, 0.709, 45, 0, 0, [SEP] 59, CounterTop, -0.514, 1.160, 0.492, 0, 0, 0, [SEP] 60, Drawer, -2.498, 0.608, 0.594, 0, 0, 0, [SEP] 61, StoveBurner, -3.000, 1.097, 0.227, 0, 0, 0, [SEP] 62, Cabinet, -1.733, 0.393, 0.734, 0, 0, 0, [SEP] 63, CoffeeMachine, -0.153, 1.038, 3.193, 0, 270, 0, [SEP] 64, Fridge, -3.519, 0.0, 2.717, 0, 90, 0, [SEP] 65, Window, -1.394, 1.924, 0.014, 90, 0, 0, [SEP] 66, Window, -3.266, 1.924, 0.014, 90, 0, 0, [SEP] 67, Toaster, -0.225, 1.038, 2.865, 0, 270, 0, [SEP] 68, GarbageCan, -3.696, 0.002, 2.008, 0, 0, 0, [SEP] 69, SinkBasin, -1.389, 0.921, 0.428, 0, 0, 0, [SEP] 70, Microwave, -0.366, 1.113, 0.430, 0, 0, 0, [SEP] 71, HousePlant, -2.155, 1.101, 0.169, 0, 332.897, 0, [SEP] 72, LightSwitch, -2.584, 1.299, 3.5, 0, 180, 0, [SEP] 73, Faucet, -1.393, 1.373, 0.168, 0, 270, 0, [SEP] 74, NorthWall, , , , , , , [SEP] 75, SouthWall, , , , , , , [SEP] 76, SouthWall, , , , , , , ", "output": ["STEP 1: Turn right and go to the sink. | STEP 2: Pick up the knife in the sink. | STEP 3: Turn right and go to the counter to the left of the stove. | STEP 4: Cut the apple on the counter. | STEP 5: Go back to the sink. | STEP 6: Put the knife on the bowl to the right of the sink. | STEP 7: Go back to the stove. | STEP 8: Take a slice of apple on the counter. | STEP 9: Turn around and head back to the sink. | STEP 10: Put the apple in the sink, rinse it and pick it back up. | STEP 11: Turn right, go across the room and turn right toward to the trash can. | STEP 12: Put the slice of apple in the trash can. | END"]} +{"id": "trial_T20190909_032116_282586-0", "input": "Move a box with a pencil in it to the dining room table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -4.25, 0.902, 3.5, 0, 90, 0, [SEP] 1, Bowl, -2.473, 0.345, 4.809, 0, 0, 0, 46 [SEP] 2, Plate, -1.825, 0.689, 1.670, 0, 0, 0, 56 [SEP] 3, Plate, -2.253, 0.747, -0.072, 0, 0, 0, 52 [SEP] 4, Newspaper, -2.318, 0.602, 4.731, 0, 270, 0, 45 [SEP] 5, Newspaper, -2.933, 0.481, 3.525, 0, 0, 0, 50 [SEP] 6, Watch, -0.284, 0.705, 3.285, 0, 0, 0, 40 [SEP] 7, Watch, -2.510, 0.238, 6.119, 0, 0, 0, 47 [SEP] 8, Statue, -2.490, 0.695, 1.299, 0, 0, 0, 57 [SEP] 9, Statue, -2.269, 0.695, 1.299, 0, 0, 0, 44 [SEP] 10, Pen, -0.252, 0.710, 3.116, 0, 0, 0, 40 [SEP] 11, Pen, -1.825, 0.694, 1.423, 0, 0, 0, 44 [SEP] 12, KeyChain, -2.241, 0.346, 4.887, 0, 0, 0, 46 [SEP] 13, KeyChain, -2.496, 0.649, -0.022, 0, 270, 0, 53 [SEP] 14, Book, -2.318, 0.100, 4.964, 0, 0, 0, 48 [SEP] 15, Box, -2.404, 0.678, 3.436, 0, 180, 0, 50 [SEP] 16, Statue, -2.134, 0.243, 6.156, 0, 0, 0, 47 [SEP] 17, Laptop, -1.874, 0.478, 3.615, 0, 0, 0, 50 [SEP] 18, TissueBox, -2.639, 0.725, 6.053, 0, 0, 0, 49 [SEP] 19, CreditCard, -1.974, 0.747, -0.115, 0, 0, 0, 52 [SEP] 20, Plate, -2.241, 0.348, 4.731, 0, 0, 0, 46 [SEP] 21, KeyChain, -2.636, 0.238, 6.083, 0, 0, 0, 47 [SEP] 22, Vase, -2.934, 0.693, 1.793, 0, 0, 0, 44 [SEP] 23, Pencil, -2.396, 0.607, 5.042, 0, 0, 0, 45 [SEP] 24, Pillow, -3.271, 0.661, 3.44, 0, 0, 331.220, 50 [SEP] 25, Bowl, -1.834, 0.747, -0.159, 0, 0, 0, 52 [SEP] 26, RemoteControl, -2.318, 0.603, 4.887, 0, 0, 0, 45 [SEP] 27, Watch, -0.313, 0.615, 3.598, 0, 0, 0, 41 [SEP] 28, Pen, -1.603, 0.694, 1.670, 0, 0, 0, 56 [SEP] 29, Newspaper, -2.139, 0.481, 3.525, 0, 0, 0, 50 [SEP] 30, Painting, -2.048, 1.615, -0.303, 0, 0, 0, [SEP] 31, Curtains, -0.083, 2.420, 0.969, 0, 0, 0, [SEP] 32, Television, -2.357, 1.205, 6.245, 0, 180, 0, [SEP] 33, HousePlant, -2.933, 0.595, -0.093, 0, 0, 0, [SEP] 34, GarbageCan, -4.864, -0.001, 0.267, 0, 90, 0, [SEP] 35, FloorLamp, -0.566, 0.002, 0.024, 0, 316.932, 0, [SEP] 36, DeskLamp, -0.273, 0.700, 3.612, 0, 0, 0, [SEP] 37, Window, -0.057, 0.925, 1.764, 90, 270, 0, [SEP] 38, Window, -0.057, 1.130, 4.886, 90, 270, 0, [SEP] 39, LightSwitch, -3.305, 1.340, -0.314, 0, 0, 0, [SEP] 40, SideTable, -0.255, 0.001, 3.369, 0, 270, 0, [SEP] 41, Drawer, -0.306, 0.626, 3.369, 0, 270, 0, [SEP] 42, ArmChair, -4.376, -8.374, 6.016, 0, 152.639, 0, [SEP] 43, ArmChair, -0.847, -8.106, 5.983, 0, 231.318, 0, [SEP] 44, DiningTable, -2.268, -0.016, 1.422, 0, 0, 0, [SEP] 45, CoffeeTable, -2.326, 0.002, 4.922, 0, 0, 0, [SEP] 46, Shelf, -2.326, 0.338, 4.922, 0, 0, 0, [SEP] 47, Shelf, -2.385, 0.238, 6.296, 0, 0, 0, [SEP] 48, Shelf, -2.326, 0.089, 4.922, 0, 0, 0, [SEP] 49, TVStand, -2.385, 0.006, 6.296, 0, 0, 0, [SEP] 50, Sofa, -2.404, -0.003, 3.417, 0, 0, 0, [SEP] 51, SideTable, -2.935, 0.004, -0.103, 0, 0, 0, [SEP] 52, SideTable, -2.113, 0.002, -0.139, 0, 0, 0, [SEP] 53, Drawer, -2.113, 0.654, -0.069, 0, 0, 0, [SEP] 54, Chair, -1.862, 0.020, 1.035, 0, 0, 0, [SEP] 55, Chair, -3.122, 0.020, 1.410, 0, 104.999, 0, [SEP] 56, Chair, -1.864, 0.020, 1.838, 0, 185.032, 0, [SEP] 57, Chair, -2.507, 0.020, 0.991, 0, 6.189, 0, [SEP] 58, Chair, -2.519, 0.020, 1.882, 0, 164.977, 0, [SEP] 59, Chair, -1.335, 0.020, 1.430, 0, 270, 0, [SEP] 60, NorthWall, , , , , , , [SEP] 61, EastWall, , , , , , , [SEP] 62, SouthWall, , , , , , , [SEP] 63, WestWall, , , , , , , ", "output": ["STEP 1: Move to stand between the coffee table and television, facing the coffee table. | STEP 2: Pick up the pencil from the coffee table. | STEP 3: Carry the pencil around the table to stand between the table and sofa, facing the sofa. | STEP 4: Place the pencil in the open box on the sofa to the right of the laptop. | STEP 5: Pick up the box with the pencil in it from the sofa. | STEP 6: Carry the box with the pencil in it around the sofa to stand between the sofa and dining room table, facing the table. | STEP 7: Place the box with the pencil on the table directly in front of the two sculptures. | END"]} +{"id": "trial_T20190909_004844_374195-1", "input": "Place a cool egg inside the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.900, 1.75, 0, 270, 0, [SEP] 1, ButterKnife, 1.503, 0.944, 1.714, 0, 180, 0, 62 [SEP] 2, Fork, -0.689, 0.747, 1.050, 0, 270, 0, 58 [SEP] 3, Fork, -0.960, 0.938, 0.765, 0, 0, 0, 60 [SEP] 4, Spoon, 1.503, 0.945, 1.631, 0, 180, 0, 62 [SEP] 5, Spatula, -0.710, 0.952, 0.765, 0, 0, 0, 60 [SEP] 6, Pot, -1.109, 0.930, 1.865, 0, 0, 0, 59 [SEP] 7, Cup, 1.385, 1.070, 0.071, 0, 0, 0, 41 [SEP] 8, Plate, 1.391, 0.086, 0.777, 0, 0, 0, 61 [SEP] 9, Plate, 1.669, 0.942, 0.806, 0, 0, 0, 40 [SEP] 10, Tomato, 1.748, 0.999, 1.244, 0, 0, 0, 40 [SEP] 11, Tomato, -1.018, 1.380, 0.118, 0, 90, 0, 67 [SEP] 12, Bowl, -0.840, 0.196, -0.044, 0, 90, 0, 67 [SEP] 13, Apple, -0.971, 1.368, -0.034, 0, 90, 0, 67 [SEP] 14, Lettuce, -1.126, 1.028, 1.076, 0, 0, 0, 60 [SEP] 15, SoapBottle, -1.077, 1.828, -0.081, 0, 0, 0, 48 [SEP] 16, Bread, -0.923, 0.990, 2.265, 0, 302.470, 0, 35 [SEP] 17, Fork, 1.275, 0.747, 0.916, 0, 90, 0, 65 [SEP] 18, Tomato, -0.971, 1.560, 0.042, 0, 90, 0, 67 [SEP] 19, Bowl, 1.352, 0.078, 2.251, 0, 0, 0, 44 [SEP] 20, Pot, -1.109, 0.930, 1.470, 0, 0, 0, 37 [SEP] 21, Spatula, -0.960, 0.952, 0.921, 0, 0, 0, 60 [SEP] 22, Knife, 1.414, 0.768, 1.052, 0, 270, 0, 65 [SEP] 23, SaltShaker, -1.151, 1.946, 1.782, 0, 0, 0, 50 [SEP] 24, Apple, 1.390, 0.119, 2.912, 0, 0, 0, 73 [SEP] 25, PepperShaker, -0.712, 0.934, 2.159, 0, 0, 0, 36 [SEP] 26, ButterKnife, -0.793, 0.937, 0.687, 0, 0, 0, 60 [SEP] 27, Potato, -1.209, 0.970, 0.687, 0, 0, 0, 60 [SEP] 28, Plate, 1.380, 1.751, -0.035, 0, 0, 0, 43 [SEP] 29, DishSponge, -0.791, 0.083, 0.915, 0, 0, 0, 47 [SEP] 30, Egg, 1.550, 0.979, 1.798, 0, 180, 0, 62 [SEP] 31, Cup, 1.409, 0.943, 1.673, 0, 180, 0, 62 [SEP] 32, Pan, 1.378, 1.737, 0.392, 0, 270, 0, 43 [SEP] 33, Spoon, 1.503, 0.945, 1.756, 0, 180, 0, 62 [SEP] 34, Mug, 1.684, 1.591, 1.598, 0, 270, 0, 74 [SEP] 35, CounterTop, -0.973, 0.973, 2.386, 0, 0, 0, [SEP] 36, Drawer, -0.783, 0.774, 2.381, 0, 180, 0, [SEP] 37, StoveBurner, -1.108, 0.922, 1.470, 0, 0, 0, [SEP] 38, Drawer, 1.370, 0.774, 2.391, 0, 0, 0, [SEP] 39, Stool, -0.748, 0.008, 3.116, 0, 0, 0, [SEP] 40, CounterTop, 1.504, 0.973, 2.309, 0, 0, 0, [SEP] 41, Cabinet, 1.219, 1.388, 0.591, 0, 0, 0, [SEP] 42, Cabinet, 1.500, 2.113, 1.164, 0, 0, 0, [SEP] 43, Cabinet, 1.219, 2.010, 0.591, 0, 0, 0, [SEP] 44, Cabinet, 1.219, 0.388, 2.105, 0, 0, 0, [SEP] 45, Cabinet, 1.219, 0.553, 0.591, 0, 0, 0, [SEP] 46, Cabinet, -0.913, 2.113, 1.164, 0, 0, 0, [SEP] 47, Cabinet, -0.633, 0.388, 0.627, 0, 0, 0, [SEP] 48, Cabinet, -0.913, 2.050, -0.329, 0, 0, 0, [SEP] 49, Cabinet, -0.913, 2.113, 0.583, 0, 0, 0, [SEP] 50, Cabinet, -0.913, 2.113, 2.082, 0, 0, 0, [SEP] 51, Cabinet, -0.913, 2.113, 1.207, 0, 0, 0, [SEP] 52, Cabinet, 1.500, 2.113, 2.082, 0, 0, 0, [SEP] 53, Cabinet, 1.500, 2.113, 1.207, 0, 0, 0, [SEP] 54, Cabinet, 1.500, 1.810, 2.691, 0, 0, 0, [SEP] 55, Cabinet, 1.500, 1.810, 2.101, 0, 0, 0, [SEP] 56, Cabinet, -0.633, 0.388, 2.105, 0, 0, 0, [SEP] 57, Cabinet, -0.911, 1.810, 2.700, 0, 180, 0, [SEP] 58, Drawer, -0.783, 0.774, 0.915, 0, 180, 0, [SEP] 59, StoveBurner, -1.108, 0.922, 1.865, 0, 0, 0, [SEP] 60, CounterTop, -0.972, 0.973, 0.921, 0, 0, 0, [SEP] 61, Cabinet, 1.219, 0.388, 0.631, 0, 0, 0, [SEP] 62, Sink, 1.544, 0.869, 1.639, 0, 180, 0, [SEP] 63, StoveBurner, -0.832, 0.922, 1.865, 0, 0, 0, [SEP] 64, StoveBurner, -0.831, 0.922, 1.470, 0, 0, 0, [SEP] 65, Drawer, 1.370, 0.774, 0.916, 0, 0, 0, [SEP] 66, Cabinet, -0.911, 1.810, 2.111, 0, 180, 0, [SEP] 67, Fridge, -1.001, 0.0, 0.119, 0, 0, 0, [SEP] 68, StoveKnob, -0.648, 0.926, 1.923, 0, 270, 0, [SEP] 69, StoveKnob, -0.648, 0.926, 1.363, 0, 270, 0, [SEP] 70, StoveKnob, -0.648, 0.926, 1.513, 0, 270, 0, [SEP] 71, StoveKnob, -0.648, 0.926, 1.763, 0, 270, 0, [SEP] 72, Toaster, -1.002, 0.926, 2.561, 0, 90, 0, [SEP] 73, GarbageCan, 1.451, -0.029, 2.912, 0, 0, 0, [SEP] 74, Microwave, 1.632, 1.480, 1.645, 0, 270, 0, [SEP] 75, Window, 0.224, 1.601, 3.509, 90, 0, 0, [SEP] 76, CoffeeMachine, 1.692, 0.926, 2.453, 0, 270, 0, [SEP] 77, SinkBasin, 1.461, 0.833, 1.369, 0, 180, 0, [SEP] 78, LightSwitch, 0.451, 1.412, -1.674, 0, 0, 0, [SEP] 79, Faucet, 1.707, 0.925, 1.363, 0, 270, 0, [SEP] 80, NorthWall, , , , , , , [SEP] 81, EastWall, , , , , , , [SEP] 82, SouthWall, , , , , , , [SEP] 83, WestWall, , , , , , , ", "output": ["STEP 1: Turn around to face the sink. | STEP 2: Pick up the egg sitting next to the spoon. | STEP 3: Turn right and walk to the fridge to the right. | STEP 4: Place the egg inside the fridge, cool it then remove it. | STEP 5: With the egg, turn right and walk to the sink to your right. | STEP 6: Place the egg inside the sink. | END"]} +{"id": "trial_T20190909_004844_374195-2", "input": "put a chilled egg into the sink basin SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.900, 1.75, 0, 270, 0, [SEP] 1, ButterKnife, 1.503, 0.944, 1.714, 0, 180, 0, 62 [SEP] 2, Fork, -0.689, 0.747, 1.050, 0, 270, 0, 58 [SEP] 3, Fork, -0.960, 0.938, 0.765, 0, 0, 0, 60 [SEP] 4, Spoon, 1.503, 0.945, 1.631, 0, 180, 0, 62 [SEP] 5, Spatula, -0.710, 0.952, 0.765, 0, 0, 0, 60 [SEP] 6, Pot, -1.109, 0.930, 1.865, 0, 0, 0, 59 [SEP] 7, Cup, 1.385, 1.070, 0.071, 0, 0, 0, 41 [SEP] 8, Plate, 1.391, 0.086, 0.777, 0, 0, 0, 61 [SEP] 9, Plate, 1.669, 0.942, 0.806, 0, 0, 0, 40 [SEP] 10, Tomato, 1.748, 0.999, 1.244, 0, 0, 0, 40 [SEP] 11, Tomato, -1.018, 1.380, 0.118, 0, 90, 0, 67 [SEP] 12, Bowl, -0.840, 0.196, -0.044, 0, 90, 0, 67 [SEP] 13, Apple, -0.971, 1.368, -0.034, 0, 90, 0, 67 [SEP] 14, Lettuce, -1.126, 1.028, 1.076, 0, 0, 0, 60 [SEP] 15, SoapBottle, -1.077, 1.828, -0.081, 0, 0, 0, 48 [SEP] 16, Bread, -0.923, 0.990, 2.265, 0, 302.470, 0, 35 [SEP] 17, Fork, 1.275, 0.747, 0.916, 0, 90, 0, 65 [SEP] 18, Tomato, -0.971, 1.560, 0.042, 0, 90, 0, 67 [SEP] 19, Bowl, 1.352, 0.078, 2.251, 0, 0, 0, 44 [SEP] 20, Pot, -1.109, 0.930, 1.470, 0, 0, 0, 37 [SEP] 21, Spatula, -0.960, 0.952, 0.921, 0, 0, 0, 60 [SEP] 22, Knife, 1.414, 0.768, 1.052, 0, 270, 0, 65 [SEP] 23, SaltShaker, -1.151, 1.946, 1.782, 0, 0, 0, 50 [SEP] 24, Apple, 1.390, 0.119, 2.912, 0, 0, 0, 73 [SEP] 25, PepperShaker, -0.712, 0.934, 2.159, 0, 0, 0, 36 [SEP] 26, ButterKnife, -0.793, 0.937, 0.687, 0, 0, 0, 60 [SEP] 27, Potato, -1.209, 0.970, 0.687, 0, 0, 0, 60 [SEP] 28, Plate, 1.380, 1.751, -0.035, 0, 0, 0, 43 [SEP] 29, DishSponge, -0.791, 0.083, 0.915, 0, 0, 0, 47 [SEP] 30, Egg, 1.550, 0.979, 1.798, 0, 180, 0, 62 [SEP] 31, Cup, 1.409, 0.943, 1.673, 0, 180, 0, 62 [SEP] 32, Pan, 1.378, 1.737, 0.392, 0, 270, 0, 43 [SEP] 33, Spoon, 1.503, 0.945, 1.756, 0, 180, 0, 62 [SEP] 34, Mug, 1.684, 1.591, 1.598, 0, 270, 0, 74 [SEP] 35, CounterTop, -0.973, 0.973, 2.386, 0, 0, 0, [SEP] 36, Drawer, -0.783, 0.774, 2.381, 0, 180, 0, [SEP] 37, StoveBurner, -1.108, 0.922, 1.470, 0, 0, 0, [SEP] 38, Drawer, 1.370, 0.774, 2.391, 0, 0, 0, [SEP] 39, Stool, -0.748, 0.008, 3.116, 0, 0, 0, [SEP] 40, CounterTop, 1.504, 0.973, 2.309, 0, 0, 0, [SEP] 41, Cabinet, 1.219, 1.388, 0.591, 0, 0, 0, [SEP] 42, Cabinet, 1.500, 2.113, 1.164, 0, 0, 0, [SEP] 43, Cabinet, 1.219, 2.010, 0.591, 0, 0, 0, [SEP] 44, Cabinet, 1.219, 0.388, 2.105, 0, 0, 0, [SEP] 45, Cabinet, 1.219, 0.553, 0.591, 0, 0, 0, [SEP] 46, Cabinet, -0.913, 2.113, 1.164, 0, 0, 0, [SEP] 47, Cabinet, -0.633, 0.388, 0.627, 0, 0, 0, [SEP] 48, Cabinet, -0.913, 2.050, -0.329, 0, 0, 0, [SEP] 49, Cabinet, -0.913, 2.113, 0.583, 0, 0, 0, [SEP] 50, Cabinet, -0.913, 2.113, 2.082, 0, 0, 0, [SEP] 51, Cabinet, -0.913, 2.113, 1.207, 0, 0, 0, [SEP] 52, Cabinet, 1.500, 2.113, 2.082, 0, 0, 0, [SEP] 53, Cabinet, 1.500, 2.113, 1.207, 0, 0, 0, [SEP] 54, Cabinet, 1.500, 1.810, 2.691, 0, 0, 0, [SEP] 55, Cabinet, 1.500, 1.810, 2.101, 0, 0, 0, [SEP] 56, Cabinet, -0.633, 0.388, 2.105, 0, 0, 0, [SEP] 57, Cabinet, -0.911, 1.810, 2.700, 0, 180, 0, [SEP] 58, Drawer, -0.783, 0.774, 0.915, 0, 180, 0, [SEP] 59, StoveBurner, -1.108, 0.922, 1.865, 0, 0, 0, [SEP] 60, CounterTop, -0.972, 0.973, 0.921, 0, 0, 0, [SEP] 61, Cabinet, 1.219, 0.388, 0.631, 0, 0, 0, [SEP] 62, Sink, 1.544, 0.869, 1.639, 0, 180, 0, [SEP] 63, StoveBurner, -0.832, 0.922, 1.865, 0, 0, 0, [SEP] 64, StoveBurner, -0.831, 0.922, 1.470, 0, 0, 0, [SEP] 65, Drawer, 1.370, 0.774, 0.916, 0, 0, 0, [SEP] 66, Cabinet, -0.911, 1.810, 2.111, 0, 180, 0, [SEP] 67, Fridge, -1.001, 0.0, 0.119, 0, 0, 0, [SEP] 68, StoveKnob, -0.648, 0.926, 1.923, 0, 270, 0, [SEP] 69, StoveKnob, -0.648, 0.926, 1.363, 0, 270, 0, [SEP] 70, StoveKnob, -0.648, 0.926, 1.513, 0, 270, 0, [SEP] 71, StoveKnob, -0.648, 0.926, 1.763, 0, 270, 0, [SEP] 72, Toaster, -1.002, 0.926, 2.561, 0, 90, 0, [SEP] 73, GarbageCan, 1.451, -0.029, 2.912, 0, 0, 0, [SEP] 74, Microwave, 1.632, 1.480, 1.645, 0, 270, 0, [SEP] 75, Window, 0.224, 1.601, 3.509, 90, 0, 0, [SEP] 76, CoffeeMachine, 1.692, 0.926, 2.453, 0, 270, 0, [SEP] 77, SinkBasin, 1.461, 0.833, 1.369, 0, 180, 0, [SEP] 78, LightSwitch, 0.451, 1.412, -1.674, 0, 0, 0, [SEP] 79, Faucet, 1.707, 0.925, 1.363, 0, 270, 0, [SEP] 80, NorthWall, , , , , , , [SEP] 81, EastWall, , , , , , , [SEP] 82, SouthWall, , , , , , , [SEP] 83, WestWall, , , , , , , ", "output": ["STEP 1: turn around to face the sink | STEP 2: pick up the brown egg from the sink sideboard | STEP 3: turn around to face the fridge | STEP 4: put the egg in the fridge for a few seconds, take the egg out of fridge | STEP 5: turn around to face the sink | STEP 6: put the egg into the sink basin | END"]} +{"id": "trial_T20190909_101954_536363-2", "input": "Put an empty roll of toilet paper on a toilet paper holder. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, 1.75, 0, 0, 0, [SEP] 1, Cloth, -1.527, 0.074, 0.970, 0, 90, 0, 22 [SEP] 2, Cloth, -1.527, 0.074, 0.339, 0, 0, 0, 22 [SEP] 3, SoapBar, -1.787, 0.067, 3.248, 0, 0, 0, 30 [SEP] 4, SoapBar, -1.741, 0.067, 3.034, 0, 0, 0, 29 [SEP] 5, SprayBottle, -1.734, 0.018, 2.22, 0, 0, 0, 23 [SEP] 6, SprayBottle, -1.860, 1.045, 1.878, 0, 90, 0, 39 [SEP] 7, SoapBottle, -1.823, 0.069, 3.647, 0, 0, 0, 26 [SEP] 8, ToiletPaper, 0.204, 0.089, 3.815, 0, 0, 0, 42 [SEP] 9, Towel, -0.07, 1.284, 0.106, 0, 0, 0, 31 [SEP] 10, HandTowel, -1.731, 1.333, 3.961, 0, 0, 0, 33 [SEP] 11, SoapBar, -1.786, 0.073, 0.591, 0, 0, 0, 22 [SEP] 12, ToiletPaper, -0.370, 0.443, 0.090, 0, 0, 0, 20 [SEP] 13, ToiletPaper, -1.860, 1.041, 2.009, 0, 90, 0, 39 [SEP] 14, Cloth, -1.721, 0.074, 0.970, 0, 0, 0, 22 [SEP] 15, SprayBottle, 0.204, 1.164, 3.732, 0, 0, 0, 50 [SEP] 16, Candle, -0.370, 0.447, 0.273, 0, 0, 0, 20 [SEP] 17, ScrubBrush, -1.664, -0.000, 3.897, 0, 0, 0, Floor|-02.00| [SEP] 18, Plunger, -1.888, -0.000, 3.885, 0, 0, 0, Floor|-02.00| [SEP] 19, SoapBottle, -1.856, 0.018, 2.246, 0, 90, 0, 23 [SEP] 20, Bathtub, -1.414, -0.002, 0.563, 0, 0, 0, [SEP] 21, CounterTop, -1.799, 0.746, 3.122, 0, 0, 0, [SEP] 22, BathtubBasin, -1.613, 0.052, 0.540, 0, 0, 0, [SEP] 23, Cabinet, -1.613, 0.309, 2.493, 0, 0, 0, [SEP] 24, ShowerDoor, 0.527, 1.037, 2.115, 0, 0, 0, [SEP] 25, Mirror, -1.993, 1.424, 3.107, 0, 0, 0, [SEP] 26, Cabinet, -1.613, 0.309, 3.754, 0, 0, 0, [SEP] 27, Faucet, -1.873, 0.461, 0.641, 0, 0, 0, [SEP] 28, Sink, -1.834, 0.685, 2.777, 0, 90, 0, [SEP] 29, Cabinet, -1.613, 0.309, 3.105, 0, 0, 0, [SEP] 30, Cabinet, -1.613, 0.309, 3.140, 0, 0, 0, [SEP] 31, TowelHolder, -0.070, 1.269, 0.0, 0, 0, 0, [SEP] 32, GarbageCan, 0.932, -0.029, 3.761, 0, 0, 0, [SEP] 33, HandTowelHolder, -1.730, 1.434, 4.0, 0, 90, 0, [SEP] 34, Window, -1.039, 1.393, 0.018, 90, 0, 0, [SEP] 35, Window, -1.986, 1.392, 0.706, 90, 90, 0, [SEP] 36, ToiletPaperHanger, -1.776, 0.681, 2.474, 0, 180, 0, [SEP] 37, SinkBasin, -1.795, 0.694, 2.781, 0, 90, 0, [SEP] 38, LightSwitch, 1.250, 1.330, 3.621, 0, 270, 0, [SEP] 39, Toilet, -1.567, -0.000, 1.815, 0, 180, 0, [SEP] 40, Drawer, 0.204, 0.940, 3.807, 0, 180, 0, [SEP] 41, Dresser, 0.204, 0.000, 3.832, 0, 180, 0, [SEP] 42, Drawer, 0.204, 0.160, 3.807, 0, 180, 0, [SEP] 43, Drawer, 0.204, 0.420, 3.807, 0, 180, 0, [SEP] 44, Drawer, 0.204, 0.680, 3.807, 0, 180, 0, [SEP] 45, SinkBasin, -1.795, 0.694, 3.476, 0, 90, 0, [SEP] 46, Sink, -1.833, 0.685, 3.472, 0, 90, 0, [SEP] 47, Faucet, -1.988, 0.947, 3.472, 0, 180, 0, [SEP] 48, ShowerHead, 0.972, 1.222, 2.015, 0, 270, 0, [SEP] 49, Faucet, -1.988, 0.947, 2.776, 0, 180, 0, [SEP] 50, , , , , , , , [SEP] 51, NorthWall, , , , , , , [SEP] 52, EastWall, , , , , , , [SEP] 53, SouthWall, , , , , , , [SEP] 54, WestWall, , , , , , , ", "output": ["STEP 1: Turn left towards the toilet. | STEP 2: Pick up the empty roll of toilet paper from the top of the toilet. | STEP 3: Walk slightly to the right and turn left towards the empty toilet paper holder. | STEP 4: Put the empty roll of toilet paper on the toilet paper holder. | END"]} +{"id": "trial_T20190908_084205_445006-2", "input": "Put two containers on the counter by the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.900, 1.25, 0, 270, 0, [SEP] 1, Pan, -2.724, 0.823, 0.203, 0, 270, 0, 48 [SEP] 2, Ladle, -0.147, 0.867, 0.352, 0, 0, 0, 48 [SEP] 3, ButterKnife, -1.374, 0.823, 0.539, 0, 0, 0, 48 [SEP] 4, ButterKnife, -2.491, 0.823, 0.426, 0, 0, 0, 48 [SEP] 5, Spoon, -1.374, 0.824, 0.518, 0, 0, 0, 48 [SEP] 6, Egg, -2.671, 0.849, 2.045, 0, 90, 0, 66 [SEP] 7, Cup, -2.686, 1.435, 0.195, 0, 45, 0, 54 [SEP] 8, Plate, -2.726, 0.829, 2.221, 0, 90, 0, 66 [SEP] 9, SoapBottle, -0.329, 0.054, 2.539, 0, 0, 0, 68 [SEP] 10, SoapBottle, -0.477, 0.821, 0.658, 0, 0, 0, 48 [SEP] 11, SaltShaker, -2.569, 0.116, 1.510, 0, 0, 0, 59 [SEP] 12, SaltShaker, -1.407, 0.120, 0.284, 0, 0, 0, 61 [SEP] 13, PepperShaker, -1.580, 0.120, 0.362, 0, 0, 0, 61 [SEP] 14, PepperShaker, -1.828, 0.120, 0.401, 0, 0, 0, 60 [SEP] 15, Lettuce, -2.837, 1.227, 2.309, 0, 90, 0, 66 [SEP] 16, Mug, -2.671, 1.440, 1.957, 0, 90, 0, 66 [SEP] 17, Mug, -2.540, 1.844, 1.926, 0, 0, 0, 42 [SEP] 18, Apple, -2.810, 0.994, 1.231, 0, 90, 0, 67 [SEP] 19, Apple, -2.892, 1.518, 2.485, 0, 90, 0, 66 [SEP] 20, Apple, -0.295, 0.129, 2.674, 0, 90, 0, 68 [SEP] 21, Fork, -0.330, 0.697, 0.875, 0, 90, 0, 50 [SEP] 22, Ladle, -0.371, 0.738, 0.879, 0, 45, 0, 50 [SEP] 23, Pan, -0.244, 0.829, 1.684, 0, 0, 0, 47 [SEP] 24, SoapBottle, -2.504, 0.821, 0.789, 0, 0, 0, 48 [SEP] 25, Pot, -0.531, 0.822, 2.096, 0, 0, 0, 45 [SEP] 26, Tomato, -1.151, 0.873, 0.426, 0, 0, 0, 48 [SEP] 27, Potato, -2.671, 1.182, 1.957, 0, 90, 0, 66 [SEP] 28, SaltShaker, -1.407, 0.120, 0.362, 0, 0, 0, 61 [SEP] 29, Plate, -2.115, 0.130, 0.401, 0, 0, 0, 60 [SEP] 30, Spatula, -0.341, 0.696, 1.194, 0, 45, 0, 44 [SEP] 31, Knife, -2.258, 0.849, 0.129, 0, 90, 0, 48 [SEP] 32, Egg, -2.810, 0.945, 1.337, 0, 90, 0, 67 [SEP] 33, Cup, -2.837, 0.825, 2.485, 0, 90, 0, 66 [SEP] 34, ButterKnife, -2.493, 0.812, 0.476, 0, 50.734, 0, 48 [SEP] 35, Lettuce, -1.836, 0.741, 0.238, 0, 55.910, 0, 75 [SEP] 36, PepperShaker, -1.522, 0.120, 0.284, 0, 0, 0, 61 [SEP] 37, DishSponge, -2.504, 0.823, 0.871, 0, 0, 0, 48 [SEP] 38, Bread, -0.979, 0.855, 0.249, 0, 29.999, 0, 48 [SEP] 39, Spoon, -2.211, 0.824, 0.528, 0, 0, 0, 48 [SEP] 40, Mug, -0.646, 0.888, 0.367, 0, 0, 0, 76 [SEP] 41, Bowl, -2.540, 1.845, 2.368, 0, 0, 0, 58 [SEP] 42, Cabinet, -2.377, 2.015, 1.720, 0, 0, 0, [SEP] 43, StoveBurner, -0.244, 0.820, 2.075, 0, 180, 0, [SEP] 44, Drawer, -0.402, 0.703, 1.252, 0, 0, 0, [SEP] 45, StoveBurner, -0.518, 0.820, 2.075, 0, 180, 0, [SEP] 46, Sink, -1.838, 0.726, 0.343, 0, 180, 0, [SEP] 47, StoveBurner, -0.244, 0.820, 1.684, 0, 0, 0, [SEP] 48, CounterTop, -1.557, 0.859, 0.277, 0, 0, 0, [SEP] 49, StoveBurner, -0.518, 0.820, 1.684, 0, 0, 0, [SEP] 50, Drawer, -0.404, 0.704, 0.912, 0, 0, 0, [SEP] 51, Drawer, -0.861, 0.709, 0.420, 0, 0, 0, [SEP] 52, Drawer, -1.133, 0.706, 0.418, 0, 0, 0, [SEP] 53, Drawer, -2.589, 0.703, 1.511, 0, 0, 0, [SEP] 54, Cabinet, -2.772, 1.803, 0.508, 0, 0, 0, [SEP] 55, Cabinet, -2.460, 1.803, 0.231, 0, 0, 0, [SEP] 56, Cabinet, -2.781, 1.798, 0.825, 0, 0, 0, [SEP] 57, Cabinet, -2.781, 1.798, 0.815, 0, 0, 0, [SEP] 58, Cabinet, -2.377, 2.009, 2.581, 0, 0, 0, [SEP] 59, Cabinet, -2.442, 0.385, 1.672, 0, 0, 0, [SEP] 60, Cabinet, -2.238, 0.385, 0.564, 0, 0, 0, [SEP] 61, Cabinet, -1.286, 0.385, 0.564, 0, 0, 0, [SEP] 62, Cabinet, -1.262, 0.385, 0.565, 0, 0, 0, [SEP] 63, Cabinet, -0.734, 0.385, 0.565, 0, 0, 0, [SEP] 64, Cabinet, -0.549, 0.385, 0.751, 0, 0, 0, [SEP] 65, Cabinet, -0.549, 0.385, 1.412, 0, 0, 0, [SEP] 66, Fridge, -2.782, 0.0, 2.221, 0, 0, 0, [SEP] 67, Microwave, -2.794, 0.812, 1.348, 0, 90, 0, [SEP] 68, GarbageCan, -0.329, 2.205, 2.606, 0, 0, 0, [SEP] 69, StoveKnob, -0.069, 0.998, 1.773, 0, 180, 107.470, [SEP] 70, StoveKnob, -0.069, 0.998, 1.613, 0, 180, 107.470, [SEP] 71, StoveKnob, -0.069, 0.998, 2.171, 0, 180, 107.470, [SEP] 72, StoveKnob, -0.069, 0.998, 2.024, 0, 180, 107.470, [SEP] 73, Window, -1.720, 1.342, -0.208, 90, 0, 0, [SEP] 74, Toaster, -0.171, 0.812, 0.735, 0, 270, 0, [SEP] 75, SinkBasin, -1.745, 0.687, 0.295, 0, 0, 0, [SEP] 76, CoffeeMachine, -0.539, 0.812, 0.185, 0, 0, 0, [SEP] 77, LightSwitch, -0.615, 1.378, 3.0, 0, 180, 0, [SEP] 78, Faucet, -1.686, 0.954, 0.176, 0, 236.223, 0, [SEP] 79, Stool, -1.008, 0.008, 1.955, 0, 18.279, 0, [SEP] 80, NorthWall, , , , , , , [SEP] 81, EastWall, , , , , , , [SEP] 82, SouthWall, , , , , , , [SEP] 83, WestWall, , , , , , , ", "output": ["STEP 1: Turn and go to the sink. | STEP 2: Take a container out of the cabinet under the sink. | STEP 3: Turn and go to the counter by the sink. | STEP 4: Put the container on the counter. | STEP 5: Turn and go to the microwave. | STEP 6: Take a container out of the cabinet under the microwave. | STEP 7: Turn and go to the counter by the sink. | STEP 8: Put the container on the counter. | END"]} +{"id": "trial_T20190906_213153_347093-1", "input": "Examine the computer by the light of the lamp in the corner. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.906, 4.0, 0, 270, 0, [SEP] 1, KeyChain, -0.204, 0.184, 2.711, 0, 270, 0, 38 [SEP] 2, KeyChain, -4.479, 0.512, 3.388, 0, 0, 0, 31 [SEP] 3, RemoteControl, -0.178, 0.766, 2.828, 0, 270, 0, 40 [SEP] 4, RemoteControl, -0.688, 0.378, 0.712, 0, 0, 0, 34 [SEP] 5, Box, -4.661, 0.521, 2.146, 0, 270, 0, 42 [SEP] 6, Laptop, -2.865, 0.417, 4.412, 0, 0, 0, 43 [SEP] 7, Box, -2.111, 0.293, 2.930, 0, 0, 0, 33 [SEP] 8, CreditCard, -0.403, 0.765, 3.128, 0, 270, 0, 40 [SEP] 9, TissueBox, -2.121, 0.197, 2.413, 0, 0, 0, 33 [SEP] 10, Laptop, -0.335, 0.758, 2.38, 0, 33.790, 0, 40 [SEP] 11, Vase, -2.880, 1.518, 0.144, 0, 0, 0, [SEP] 12, RemoteControl, -0.403, 0.763, 2.828, 0, 270, 0, 40 [SEP] 13, Pillow, -4.503, 0.484, 1.653, 0, 270, 0, 42 [SEP] 14, KeyChain, -4.486, 0.424, 3.281, 0, 90, 0, 30 [SEP] 15, Watch, -1.816, 0.198, 2.757, 0, 0, 0, 33 [SEP] 16, Newspaper, -1.892, 0.200, 2.413, 0, 0, 0, 33 [SEP] 17, Statue, -0.439, 0.173, 2.652, 0, 270, 0, 38 [SEP] 18, Statue, -1.869, 1.518, 0.145, 0, 0, 0, Floor|+00.00| [SEP] 19, Curtains, -1.030, 2.113, 0.0, 0, 0, 0, [SEP] 20, Curtains, -3.927, 2.113, 0.0, 0, 0, 0, [SEP] 21, HousePlant, -3.127, 1.507, 0.118, 0, 0, 0, [SEP] 22, Television, 0.0, 1.376, 2.661, 0, 270, 0, [SEP] 23, GarbageCan, -0.227, 0.005, 4.778, 0, 0, 0, [SEP] 24, DeskLamp, -4.658, 0.508, 3.318, 0, 270, 0, [SEP] 25, Painting, -2.507, 1.817, 0.108, 90, 0, 0, [SEP] 26, FloorLamp, -4.596, 0.006, 0.399, 0, 65.211, 0, [SEP] 27, LightSwitch, -3.233, 1.343, 5.0, 0, 180, 0, [SEP] 28, Window, -1.011, 1.391, 0.029, 90, 180, 0, [SEP] 29, Window, -3.900, 1.391, 0.029, 90, 180, 0, [SEP] 30, Drawer, -4.433, 0.473, 3.344, 0, 90, 0, [SEP] 31, SideTable, -4.612, 0.009, 3.346, 0, 90, 0, [SEP] 32, Chair, -4.572, 0.005, 3.862, 0, 113.899, 0, [SEP] 33, CoffeeTable, -1.972, 0.002, 2.615, 0, 270, 0, [SEP] 34, ArmChair, -0.875, 0.005, 0.566, 0, 0, 0, [SEP] 35, Shelf, -0.340, 0.480, 3.046, 0, 270, 0, [SEP] 36, Shelf, -0.340, 0.649, 3.046, 0, 270, 0, [SEP] 37, Shelf, -0.340, 0.603, 2.312, 0, 270, 0, [SEP] 38, Shelf, -0.340, 0.448, 2.678, 0, 270, 0, [SEP] 39, Shelf, -0.340, 0.308, 2.312, 0, 270, 0, [SEP] 40, TVStand, -0.335, 0.005, 2.679, 0, 270, 0, [SEP] 41, Shelf, -0.340, 0.279, 3.046, 0, 270, 0, [SEP] 42, Sofa, -4.566, 0.009, 1.880, 0, 90, 0, [SEP] 43, Sofa, -2.124, 0.009, 4.558, 0, 180, 0, [SEP] 44, NorthWall, , , , , , , [SEP] 45, SouthWall, , , , , , , [SEP] 46, SouthWall, , , , , , , ", "output": ["STEP 1: Move to the long white table to the left. | STEP 2: Pick up the the computer on the table. | STEP 3: Bring the computer to the lamp in the corner. | STEP 4: Turn on the lamp in the corner. | END"]} +{"id": "trial_T20190906_213153_347093-2", "input": "Look at the laptop under light of the floor lamp SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.906, 4.0, 0, 270, 0, [SEP] 1, KeyChain, -0.204, 0.184, 2.711, 0, 270, 0, 38 [SEP] 2, KeyChain, -4.479, 0.512, 3.388, 0, 0, 0, 31 [SEP] 3, RemoteControl, -0.178, 0.766, 2.828, 0, 270, 0, 40 [SEP] 4, RemoteControl, -0.688, 0.378, 0.712, 0, 0, 0, 34 [SEP] 5, Box, -4.661, 0.521, 2.146, 0, 270, 0, 42 [SEP] 6, Laptop, -2.865, 0.417, 4.412, 0, 0, 0, 43 [SEP] 7, Box, -2.111, 0.293, 2.930, 0, 0, 0, 33 [SEP] 8, CreditCard, -0.403, 0.765, 3.128, 0, 270, 0, 40 [SEP] 9, TissueBox, -2.121, 0.197, 2.413, 0, 0, 0, 33 [SEP] 10, Laptop, -0.335, 0.758, 2.38, 0, 33.790, 0, 40 [SEP] 11, Vase, -2.880, 1.518, 0.144, 0, 0, 0, [SEP] 12, RemoteControl, -0.403, 0.763, 2.828, 0, 270, 0, 40 [SEP] 13, Pillow, -4.503, 0.484, 1.653, 0, 270, 0, 42 [SEP] 14, KeyChain, -4.486, 0.424, 3.281, 0, 90, 0, 30 [SEP] 15, Watch, -1.816, 0.198, 2.757, 0, 0, 0, 33 [SEP] 16, Newspaper, -1.892, 0.200, 2.413, 0, 0, 0, 33 [SEP] 17, Statue, -0.439, 0.173, 2.652, 0, 270, 0, 38 [SEP] 18, Statue, -1.869, 1.518, 0.145, 0, 0, 0, Floor|+00.00| [SEP] 19, Curtains, -1.030, 2.113, 0.0, 0, 0, 0, [SEP] 20, Curtains, -3.927, 2.113, 0.0, 0, 0, 0, [SEP] 21, HousePlant, -3.127, 1.507, 0.118, 0, 0, 0, [SEP] 22, Television, 0.0, 1.376, 2.661, 0, 270, 0, [SEP] 23, GarbageCan, -0.227, 0.005, 4.778, 0, 0, 0, [SEP] 24, DeskLamp, -4.658, 0.508, 3.318, 0, 270, 0, [SEP] 25, Painting, -2.507, 1.817, 0.108, 90, 0, 0, [SEP] 26, FloorLamp, -4.596, 0.006, 0.399, 0, 65.211, 0, [SEP] 27, LightSwitch, -3.233, 1.343, 5.0, 0, 180, 0, [SEP] 28, Window, -1.011, 1.391, 0.029, 90, 180, 0, [SEP] 29, Window, -3.900, 1.391, 0.029, 90, 180, 0, [SEP] 30, Drawer, -4.433, 0.473, 3.344, 0, 90, 0, [SEP] 31, SideTable, -4.612, 0.009, 3.346, 0, 90, 0, [SEP] 32, Chair, -4.572, 0.005, 3.862, 0, 113.899, 0, [SEP] 33, CoffeeTable, -1.972, 0.002, 2.615, 0, 270, 0, [SEP] 34, ArmChair, -0.875, 0.005, 0.566, 0, 0, 0, [SEP] 35, Shelf, -0.340, 0.480, 3.046, 0, 270, 0, [SEP] 36, Shelf, -0.340, 0.649, 3.046, 0, 270, 0, [SEP] 37, Shelf, -0.340, 0.603, 2.312, 0, 270, 0, [SEP] 38, Shelf, -0.340, 0.448, 2.678, 0, 270, 0, [SEP] 39, Shelf, -0.340, 0.308, 2.312, 0, 270, 0, [SEP] 40, TVStand, -0.335, 0.005, 2.679, 0, 270, 0, [SEP] 41, Shelf, -0.340, 0.279, 3.046, 0, 270, 0, [SEP] 42, Sofa, -4.566, 0.009, 1.880, 0, 90, 0, [SEP] 43, Sofa, -2.124, 0.009, 4.558, 0, 180, 0, [SEP] 44, NorthWall, , , , , , , [SEP] 45, SouthWall, , , , , , , [SEP] 46, SouthWall, , , , , , , ", "output": ["STEP 1: Turn and walk up to the front of the white shelf on your left | STEP 2: Pick up the laptop from the right side of the shelf | STEP 3: Turn around and walk across the living room to the floor lamp in the corner | STEP 4: Turn on the floor lamp | END"]} +{"id": "trial_T20190908_163317_869592-2", "input": "Put a cold tomato in the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.900, -0.75, 0, 180, 0, [SEP] 1, Potato, -0.692, 0.500, -1.605, 0, 0, 0, 71 [SEP] 2, ButterKnife, 1.607, 0.910, 0.518, 0, 90, 0, 44 [SEP] 3, ButterKnife, 1.451, 0.910, 0.415, 0, 90, 0, 44 [SEP] 4, DishSponge, 1.917, 0.910, 0.570, 0, 90, 0, 44 [SEP] 5, DishSponge, 1.839, 0.910, 0.415, 0, 90, 0, 44 [SEP] 6, Pot, 1.807, 0.909, 0.075, 0, 180, 0, 45 [SEP] 7, Pot, 1.807, 0.909, -0.320, 0, 180, 0, 46 [SEP] 8, Fork, 1.607, 0.911, 0.622, 0, 0, 0, 44 [SEP] 9, Egg, 1.800, 0.105, 1.540, 0, 270, 0, 62 [SEP] 10, Egg, -0.838, 1.424, -1.594, 0, 0, 0, 71 [SEP] 11, Cup, -0.644, 0.458, -1.476, 0, 0, 0, 71 [SEP] 12, Cup, -0.838, 0.748, -1.524, 0, 0, 0, 71 [SEP] 13, SoapBottle, 1.796, 0.909, -1.802, 0, 90, 0, 48 [SEP] 14, SoapBottle, 1.769, 2.135, 0.767, 0, 0, 0, 52 [SEP] 15, SaltShaker, 1.757, 0.905, 1.269, 0, 90, 0, 44 [SEP] 16, SaltShaker, 1.762, 0.905, 0.622, 0, 90, 0, 44 [SEP] 17, PepperShaker, 1.734, 1.640, -1.683, 0, 0, 0, 58 [SEP] 18, Lettuce, 0.476, 1.010, 1.180, 0, 90, 0, 44 [SEP] 19, Mug, 0.502, 0.940, -1.460, 0, 0, 0, 70 [SEP] 20, Mug, 1.586, 0.906, -1.460, 0, 90, 0, 48 [SEP] 21, Apple, -0.644, 0.807, -1.524, 0, 0, 0, 71 [SEP] 22, Plate, -0.790, 1.684, -1.594, 0, 0, 0, 71 [SEP] 23, SoapBottle, 1.796, 0.909, -1.545, 0, 90, 0, 48 [SEP] 24, Cup, -0.374, 1.062, -1.382, 0, 0, 0, 71 [SEP] 25, Egg, 1.170, 0.798, -1.433, 0, 0, 0, 63 [SEP] 26, Fork, 1.757, 0.911, 1.092, 0, 90, 0, 44 [SEP] 27, Ladle, 1.501, 0.954, 0.827, 0, 90, 0, 44 [SEP] 28, Apple, 1.739, 0.127, 1.779, 0, 270, 0, 62 [SEP] 29, SaltShaker, 1.762, 0.905, 0.363, 0, 270, 0, 44 [SEP] 30, Pan, 1.281, 0.900, 1.190, 0, 0, 0, 44 [SEP] 31, Tomato, 1.757, 0.974, 0.827, 0, 90, 0, 44 [SEP] 32, Spatula, 0.989, 0.925, 0.827, 0, 90, 0, 44 [SEP] 33, Potato, 1.501, 0.950, 1.092, 0, 90, 0, 44 [SEP] 34, Knife, 1.239, 0.793, -1.599, 0, 0, 0, 63 [SEP] 35, ButterKnife, 1.245, 0.910, 0.915, 0, 90, 0, 44 [SEP] 36, Bread, 0.220, 0.987, 0.739, 0, 90, 0, 44 [SEP] 37, Lettuce, 0.856, 0.989, 1.120, 0, 270, 1.590, 44 [SEP] 38, PepperShaker, 1.805, 1.630, -1.338, 0, 0, 0, 57 [SEP] 39, Pot, 1.548, 0.909, 0.075, 0, 180, 0, 50 [SEP] 40, DishSponge, 0.988, 0.910, 1.004, 0, 90, 0, 44 [SEP] 41, Spoon, 0.894, 0.761, -1.654, 0, 90, 0, 63 [SEP] 42, Bowl, 1.805, 1.631, -0.755, 0, 0, 0, 56 [SEP] 43, Mug, 1.844, 2.131, 1.121, 0, 0, 0, 51 [SEP] 44, CounterTop, 0.989, 0.946, 1.016, 0, 90, 0, [SEP] 45, StoveBurner, 1.807, 0.907, 0.075, 0, 180, 0, [SEP] 46, StoveBurner, 1.807, 0.907, -0.320, 0, 180, 0, [SEP] 47, StoveBurner, 1.543, 0.907, -0.320, 0, 90, 0, [SEP] 48, CounterTop, 0.989, 0.946, -1.516, 0, 90, 0, [SEP] 49, Sink, 1.100, 0.906, -1.599, 0, 0, 0, [SEP] 50, StoveBurner, 1.548, 0.907, 0.075, 0, 180, 0, [SEP] 51, Cabinet, 1.658, 2.299, 1.313, 0, 0, 0, [SEP] 52, Cabinet, 1.658, 2.299, 0.686, 0, 0, 0, [SEP] 53, Cabinet, 1.658, 2.049, 0.673, 0, 0, 0, [SEP] 54, Cabinet, 1.658, 2.059, 0.193, 0, 0, 0, [SEP] 55, Cabinet, 1.658, 2.059, -0.593, 0, 0, 0, [SEP] 56, Cabinet, 1.658, 2.049, -0.606, 0, 0, 0, [SEP] 57, Cabinet, 1.658, 2.049, -1.206, 0, 0, 0, [SEP] 58, Cabinet, 1.658, 2.049, -1.893, 0, 0, 0, [SEP] 59, Toaster, 0.131, 0.900, -1.589, 0, 0, 0, [SEP] 60, Window, -0.372, 1.588, 3.349, 90, 0, 0, [SEP] 61, Window, 0.782, 1.741, -1.893, 90, 0, 0, [SEP] 62, GarbageCan, 1.770, -0.029, 1.685, 0, 270, 0, [SEP] 63, SinkBasin, 1.091, 0.740, -1.599, 0, 0, 0, [SEP] 64, StoveKnob, 1.364, 0.821, 0.086, 48.421, 270, 0, [SEP] 65, StoveKnob, 1.364, 0.821, -0.180, 48.421, 270, 0, [SEP] 66, StoveKnob, 1.364, 0.821, -0.317, 48.421, 270, 0, [SEP] 67, StoveKnob, 1.364, 0.821, -0.054, 48.421, 270, 0, [SEP] 68, Microwave, 1.752, 0.900, -0.843, 0, 270, 0, [SEP] 69, LightSwitch, 2.0, 1.261, 3.094, 0, 270, 0, [SEP] 70, CoffeeMachine, 0.501, 0.900, -1.600, 0, 0, 0, [SEP] 71, Fridge, -0.533, 0.0, -1.554, 0, 0, 0, [SEP] 72, Chair, 1.068, 0.000, 1.752, 0, 191.622, 0, [SEP] 73, Faucet, 1.110, 1.138, -1.764, 0, 270, 0, [SEP] 74, Chair, 0.357, 0.000, 1.710, 0, 178.899, 0, [SEP] 75, NorthWall, , , , , , , [SEP] 76, EastWall, , , , , , , [SEP] 77, SouthWall, , , , , , , [SEP] 78, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and move forward, then turn right to go towards the stove. | STEP 2: Pick up the tomato on the counter, to the left of the stove. | STEP 3: Turn around and go forward, then turn left to go to the fridge. | STEP 4: Open the fridge, put the tomato inside to chill it, then take the tomato out. | STEP 5: Turn left and go towards the microwave, then turn right to face the sink. | STEP 6: Put the tomato in the sink. | END"]} +{"id": "trial_T20190909_101133_455007-1", "input": "Place a clean mug in the coffee maker. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.900, 1.5, 0, 90, 0, [SEP] 1, Potato, -0.159, 0.794, 6.169, 0, 0, 0, 87 [SEP] 2, Potato, 1.332, 0.925, 2.679, 0, 180, 0, 74 [SEP] 3, DishSponge, 0.544, 0.992, 0.486, 0, 0, 0, 51 [SEP] 4, DishSponge, 1.540, 2.206, 4.262, 0, 0, 0, 42 [SEP] 5, Spoon, 0.150, 0.761, 6.604, 0, 270, 0, 87 [SEP] 6, Fork, -0.377, 0.760, 6.261, 0, 225, 0, 87 [SEP] 7, Cup, 1.500, 1.573, 1.410, 0, 0, 0, 51 [SEP] 8, Cup, -0.611, 0.988, 0.670, 0, 0, 0, 51 [SEP] 9, Plate, 0.055, 0.144, 0.277, 0, 0, 0, 60 [SEP] 10, Knife, -0.621, 0.789, 6.541, 0, 270, 0, 87 [SEP] 11, Knife, -0.422, 0.789, 6.653, 0, 135, 0, 87 [SEP] 12, SoapBottle, 1.450, 2.207, 4.043, 0, 0, 0, 39 [SEP] 13, SoapBottle, 0.305, 0.760, 6.541, 0, 270, 0, 87 [SEP] 14, PepperShaker, -0.221, 0.755, 6.941, 0, 0, 0, 87 [SEP] 15, PepperShaker, -0.620, 0.755, 6.674, 0, 135, 0, 87 [SEP] 16, Bowl, 2.009, 1.514, 5.626, 0, 270, 0, 73 [SEP] 17, Bread, -0.687, 1.062, 0.212, 0, 0, 0, 51 [SEP] 18, Egg, 0.191, 0.810, 6.393, 0, 135, 0, 87 [SEP] 19, Knife, -0.332, 0.789, 6.217, 0, 315, 0, 87 [SEP] 20, Fork, 1.348, 0.772, 3.291, 0, 0, 0, 44 [SEP] 21, Apple, 1.442, 0.965, 2.085, 0, 90, 0, 74 [SEP] 22, Kettle, 1.559, 0.988, 4.294, 0, 0, 0, 49 [SEP] 23, Plate, 1.406, 0.141, 3.439, 0, 0, 0, 62 [SEP] 24, SaltShaker, 1.490, 0.135, 1.790, 0, 0, 0, 40 [SEP] 25, Lettuce, 1.314, 1.081, 0.213, 0, 0, 0, 51 [SEP] 26, SoapBottle, 1.455, 1.576, 4.451, 0, 0, 0, 55 [SEP] 27, Spatula, 0.923, 1.007, 0.303, 0, 0, 0, 51 [SEP] 28, PaperTowelRoll, -0.443, 0.864, 6.851, 0, 135, 0, 87 [SEP] 29, Pot, 1.32, 0.988, 3.848, 0, 0, 0, 50 [SEP] 30, Potato, 1.442, 0.925, 2.474, 0, 90, 0, 74 [SEP] 31, ButterKnife, -0.003, 0.760, 6.354, 0, 0, 0, 87 [SEP] 32, PepperShaker, 1.657, 0.136, 4.686, 0, 0, 0, 53 [SEP] 33, Pan, 1.317, 0.988, 4.294, 0, 0, 0, 46 [SEP] 34, Tomato, 2.009, 1.565, 5.876, 0, 270, 0, 73 [SEP] 35, DishSponge, 1.135, 0.992, 4.670, 0, 0, 0, 52 [SEP] 36, Cup, 1.540, 2.203, 4.131, 0, 0, 0, 39 [SEP] 37, Spoon, 0.871, 0.773, 0.395, 0, 0, 0, 43 [SEP] 38, Mug, 0.064, 1.092, 0.278, 0, 0, 0, 67 [SEP] 39, Cabinet, 1.307, 2.455, 4.360, 0, 0, 0, [SEP] 40, Cabinet, 1.054, 0.422, 1.710, 0, 0, 0, [SEP] 41, Drawer, 1.280, 0.808, 4.718, 0, 0, 0, [SEP] 42, Cabinet, 1.307, 2.455, 3.607, 0, 0, 0, [SEP] 43, Drawer, 0.736, 0.802, 0.521, 0, 0, 0, [SEP] 44, Drawer, 1.276, 0.802, 3.291, 0, 0, 0, [SEP] 45, StoveBurner, 1.562, 0.982, 3.848, 0, 0, 0, [SEP] 46, StoveBurner, 1.317, 0.982, 4.294, 0, 0, 0, [SEP] 47, Drawer, -0.482, 0.802, 0.521, 0, 0, 0, [SEP] 48, Drawer, 0.124, 0.802, 0.521, 0, 0, 0, [SEP] 49, StoveBurner, 1.559, 0.982, 4.294, 0, 0, 0, [SEP] 50, StoveBurner, 1.320, 0.982, 3.848, 0, 0, 0, [SEP] 51, CounterTop, 1.391, 1.028, 0.897, 0, 0, 0, [SEP] 52, CounterTop, 1.391, 1.028, 4.716, 0, 0, 0, [SEP] 53, Cabinet, 1.054, 0.422, 4.548, 0, 0, 0, [SEP] 54, Cabinet, 1.317, 2.134, 0.517, 0, 0, 0, [SEP] 55, Cabinet, 1.317, 2.134, 4.889, 0, 0, 0, [SEP] 56, Cabinet, 1.317, 2.134, 3.095, 0, 0, 0, [SEP] 57, Cabinet, 0.443, 0.422, 0.743, 0, 0, 0, [SEP] 58, Cabinet, 1.270, 2.134, 0.434, 0, 0, 0, [SEP] 59, Cabinet, -0.775, 0.422, 0.743, 0, 0, 0, [SEP] 60, Cabinet, -0.168, 0.422, 0.743, 0, 0, 0, [SEP] 61, Cabinet, 1.317, 2.134, 1.534, 0, 0, 0, [SEP] 62, Cabinet, 1.054, 0.422, 2.990, 0, 0, 0, [SEP] 63, Cabinet, 1.054, 0.422, 2.944, 0, 0, 0, [SEP] 64, Cabinet, -0.263, 2.134, 0.434, 0, 0, 0, [SEP] 65, Cabinet, 0.252, 2.134, 0.434, 0, 0, 0, [SEP] 66, Sink, 1.391, 1.006, 2.326, 0, 0, 0, [SEP] 67, Microwave, 0.108, 0.981, 0.262, 0, 0, 0, [SEP] 68, HousePlant, -0.165, 0.826, 6.444, 0, 0, 0, [SEP] 69, CoffeeMachine, 1.551, 0.982, 0.953, 0, 270, 0, [SEP] 70, Toaster, 1.473, 0.981, 4.715, 0, 270, 0, [SEP] 71, Window, -2.065, 1.916, 3.626, 90, 90, 0, [SEP] 72, Window, 1.763, 2.007, 2.299, 90, 270, 0, [SEP] 73, Fridge, 2.035, 0.0, 5.625, 0, 0, 0, [SEP] 74, SinkBasin, 1.387, 0.880, 2.338, 0, 90, 0, [SEP] 75, GarbageCan, 2.001, -0.044, 6.503, 0, 0, 0, [SEP] 76, StoveKnob, 1.140, 0.934, 3.987, 45, 270, 0, [SEP] 77, StoveKnob, 1.140, 0.934, 4.309, 45, 270, 0, [SEP] 78, StoveKnob, 1.140, 0.934, 4.140, 45, 270, 0, [SEP] 79, StoveKnob, 1.140, 0.934, 3.824, 45, 270, 0, [SEP] 80, Vase, -0.226, 0.834, 6.993, 0, 0, 0, [SEP] 81, Vase, 2.098, 0.043, 7.070, 0, 257.232, 0, [SEP] 82, Vase, -0.594, 0.835, 6.130, 0, 225, 0, [SEP] 83, LightSwitch, -2.0, 1.549, 6.045, 0, 90, 0, [SEP] 84, Safe, 2.046, 1.072, 7.054, 0, 257.232, 0, [SEP] 85, Faucet, 1.534, 1.025, 2.371, 0, 294.391, 0, [SEP] 86, Blinds, 1.738, 2.563, 2.312, 0, 90, 0, [SEP] 87, DiningTable, -0.156, 0.000, 6.474, 0, 0, 0, [SEP] 88, Chair, 0.291, 0.002, 6.142, 0, 310.162, 0, [SEP] 89, GarbageBag, -1.092, 0.318, 0.268, 270, 90, 83.492, [SEP] 90, NorthWall, , , , , , , [SEP] 91, EastWall, , , , , , , [SEP] 92, SouthWall, , , , , , , [SEP] 93, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk to the microwave on the left. | STEP 2: Grab the dirty mug from the microwave. | STEP 3: Turn around and walk forward then walk right to face the sink. | STEP 4: Rinse off the mug in the sink. | STEP 5: Move right and face the coffee maker on the right. | STEP 6: Place the mug in the coffee maker. | END"]} +{"id": "trial_T20190908_140707_881332-1", "input": "Put a rinsed cloth on the counter next to the sink SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.901, 2.5, 0, 270, 0, [SEP] 1, SoapBar, 0.532, 1.044, 1.533, 0, 270, 0, 38 [SEP] 2, SoapBar, 0.323, 0.819, 3.239, 0, 0, 0, 26 [SEP] 3, Candle, 0.390, 0.213, 2.527, 0, 0, 0, 27 [SEP] 4, Candle, 0.502, 0.212, 2.648, 0, 0, 0, 27 [SEP] 5, Towel, 0.609, 1.376, 0.583, 0, 270, 0, 30 [SEP] 6, ToiletPaper, 0.308, 0.615, 1.912, 0, 180, 90, 33 [SEP] 7, SoapBottle, 0.593, 1.052, 1.336, 0, 270, 0, 38 [SEP] 8, HandTowel, 0.634, 1.512, 1.892, 0, 90, 0, 36 [SEP] 9, Towel, -0.442, 1.375, 1.282, 0, 0, 0, 31 [SEP] 10, SoapBar, 0.323, 0.819, 3.129, 0, 0, 0, 26 [SEP] 11, ToiletPaper, 0.502, 0.508, 3.312, 0, 0, 0, 18 [SEP] 12, ToiletPaper, 0.334, 0.509, 3.271, 0, 0, 0, 18 [SEP] 13, Candle, 0.532, 1.046, 1.664, 0, 270, 0, 38 [SEP] 14, ScrubBrush, 0.553, 0.000, 1.725, 0, 0, 0, [SEP] 15, Cloth, 0.588, 0.824, 3.349, 0, 0, 0, 26 [SEP] 16, Plunger, 0.594, -0.000, 1.898, 0, 0, 0, [SEP] 17, SprayBottle, 0.655, 1.046, 1.533, 0, 180, 0, 38 [SEP] 18, Drawer, 0.443, 0.624, 3.310, 0, 0, 0, [SEP] 19, Drawer, 0.443, 0.323, 2.194, 0, 0, 0, [SEP] 20, ShowerDoor, -0.923, 1.032, 1.155, 0, 0, 0, [SEP] 21, Sink, 0.495, 0.661, 2.756, 0, 270, 0, [SEP] 22, Drawer, 0.443, 0.624, 2.193, 0, 0, 0, [SEP] 23, Faucet, 0.717, 0.982, 2.756, 0, 0, 0, [SEP] 24, Mirror, 0.629, 1.532, 2.697, 0, 0, 0, [SEP] 25, ShowerGlass, -0.152, 1.266, 1.156, 0, 0, 0, [SEP] 26, CounterTop, 0.458, 0.789, 2.759, 0, 0, 0, [SEP] 27, Drawer, 0.443, 0.323, 2.566, 0, 0, 0, [SEP] 28, Drawer, 0.443, 0.323, 2.937, 0, 0, 0, [SEP] 29, Drawer, 0.443, 0.323, 3.310, 0, 0, 0, [SEP] 30, TowelHolder, 0.716, 1.361, 0.583, 0, 270, 0, [SEP] 31, TowelHolder, -0.442, 1.361, 1.175, 0, 0, 0, [SEP] 32, LightSwitch, -1.749, 1.429, 3.325, 0, 90, 0, [SEP] 33, ToiletPaperHanger, 0.376, 0.648, 2.009, 0, 180, 0, [SEP] 34, GarbageCan, 0.412, -0.029, 3.728, 0, 0, 0, [SEP] 35, SinkBasin, 0.440, 0.667, 2.746, 0, 270, 0, [SEP] 36, HandTowelHolder, 0.673, 1.613, 1.891, 0, 180, 0, [SEP] 37, HandTowelHolder, 0.673, 1.613, 3.563, 0, 180, 0, [SEP] 38, Toilet, 0.270, 0.000, 1.463, 0, 0, 0, [SEP] 39, ShowerHead, -1.705, 1.894, 0.587, 0, 270, 0, [SEP] 40, NorthWall, , , , , , , [SEP] 41, EastWall, , , , , , , [SEP] 42, SouthWall, , , , , , , [SEP] 43, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and go towards the wall then turn right and go to the sink counter | STEP 2: Pick up the cloth from the sink counter | STEP 3: Turn right and then turn left to face the sink | STEP 4: Put the cloth in the sink and turn the water on, then turn the water off and take the cloth out of the sink | STEP 5: Turn left then turn right to face the sink | STEP 6: Put the cloth on the counter next to the sink | END"]} +{"id": "trial_T20190906_234006_472482-1", "input": "Put a heated mug on the coffee machine. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 1.124, 0.25, 0, 270, 0, [SEP] 1, Potato, 0.636, 1.362, -1.312, 0, 0, 0, 52 [SEP] 2, DishSponge, 0.940, 0.953, 0.711, 0, 0, 0, 82 [SEP] 3, DishSponge, -1.920, 1.322, 1.094, 0, 0, 0, 52 [SEP] 4, WineBottle, 0.944, 1.208, 1.238, 0, 0, 0, 77 [SEP] 5, Kettle, -0.239, 1.331, -3.301, 0, 180, 0, 47 [SEP] 6, Fork, -2.049, 1.323, 0.445, 0, 0, 0, 52 [SEP] 7, Spoon, -1.915, 1.336, -0.911, 0, 0, 0, 59 [SEP] 8, Spatula, -1.237, 1.337, -3.092, 0, 0, 0, 52 [SEP] 9, Egg, 0.957, 1.986, 1.494, 0, 270, 0, 65 [SEP] 10, Plate, -1.682, 0.344, 1.317, 0, 0, 0, 53 [SEP] 11, Plate, -1.817, 0.344, 0.613, 0, 0, 0, 50 [SEP] 12, Tomato, -1.586, 0.314, 2.193, 0, 270, 0, 67 [SEP] 13, Bowl, -1.614, 0.342, 0.211, 0, 0, 0, 50 [SEP] 14, SaltShaker, -1.602, 0.338, -1.763, 0, 0, 0, 48 [SEP] 15, SaltShaker, 0.634, 1.318, -2.678, 0, 0, 0, 52 [SEP] 16, PepperShaker, -1.522, 1.318, -2.760, 0, 0, 0, 52 [SEP] 17, Bread, -1.790, 1.397, 2.069, 0, 0, 0, 52 [SEP] 18, Bread, -2.049, 1.397, -2.721, 0, 0, 0, 52 [SEP] 19, Lettuce, -1.530, 1.399, 1.094, 0, 0, 0, 52 [SEP] 20, Lettuce, 0.896, 1.399, -2.794, 0, 0, 0, 52 [SEP] 21, Mug, 0.928, 2.023, 2.229, 0, 270, 0, 65 [SEP] 22, Mug, -1.308, 1.318, -2.870, 0, 0, 0, 52 [SEP] 23, Mug, 0.938, 1.752, 2.112, 0, 270, 0, 65 [SEP] 24, Bread, -1.513, 1.380, 0.662, 0, 0, 0, 52 [SEP] 25, Pot, -0.630, 1.331, -3.301, 0, 180, 0, 49 [SEP] 26, Knife, -1.915, 1.365, -1.186, 0, 0, 0, 59 [SEP] 27, Bowl, 0.420, 1.321, -3.232, 0, 0, 0, 52 [SEP] 28, Potato, 1.095, 1.714, 1.604, 0, 270, 0, 65 [SEP] 29, SoapBottle, -1.952, 0.344, 0.311, 0, 0, 0, 50 [SEP] 30, Fork, 0.983, 0.460, 1.054, 0, 270, 0, 79 [SEP] 31, Cup, -1.682, 0.341, 1.627, 0, 0, 0, 53 [SEP] 32, Kettle, -0.125, 1.332, -2.973, 0, 0, 0, 60 [SEP] 33, Egg, 1.027, 1.248, 1.238, 0, 0, 0, 77 [SEP] 34, Pan, -1.881, 0.327, -2.035, 0, 0, 0, 48 [SEP] 35, SaltShaker, -1.401, 1.318, -2.461, 0, 0, 0, 52 [SEP] 36, WineBottle, -1.094, 1.323, -3.425, 0, 0, 0, 52 [SEP] 37, Lettuce, -1.790, 1.399, -2.201, 0, 0, 0, 52 [SEP] 38, Spatula, -1.559, 1.343, -0.911, 0, 0, 0, 59 [SEP] 39, PaperTowelRoll, -1.610, 0.384, 2.110, 0, 270, 0, 67 [SEP] 40, Tomato, 0.920, 1.558, 1.601, 0, 270, 0, 65 [SEP] 41, Plate, 0.824, 0.345, -2.267, 0, 180, 0, 51 [SEP] 42, PepperShaker, 0.778, 1.202, 1.254, 0, 0, 0, 77 [SEP] 43, DishSponge, -1.530, 1.322, 1.419, 0, 0, 0, 52 [SEP] 44, Spoon, 1.065, 0.954, 1.054, 0, 270, 0, 75 [SEP] 45, Apple, -1.237, 1.371, -3.425, 0, 0, 0, 52 [SEP] 46, Mug, 1.276, 1.202, 1.238, 0, 0, 0, 77 [SEP] 47, StoveBurner, -0.239, 1.325, -3.301, 0, 180, 0, [SEP] 48, Cabinet, -1.461, 0.775, -2.002, 0, 0, 0, [SEP] 49, StoveBurner, -0.630, 1.325, -3.301, 0, 180, 0, [SEP] 50, Cabinet, -1.461, 0.775, 0.470, 0, 0, 0, [SEP] 51, Cabinet, 0.578, 0.776, -2.054, 0, 0, 0, [SEP] 52, CounterTop, -1.809, 1.358, 1.182, 0, 0, 0, [SEP] 53, Cabinet, -1.461, 0.775, 1.310, 0, 0, 0, [SEP] 54, Faucet, -2.063, 1.362, -0.726, 0, 39.391, 0, [SEP] 55, StoveBurner, -0.749, 1.325, -2.973, 0, 0, 0, [SEP] 56, Drawer, -1.610, 0.681, -0.430, 0, 0, 0, [SEP] 57, Window, -2.566, 1.799, -0.822, 270, 0, 0, [SEP] 58, Drawer, -1.610, 0.681, -1.217, 0, 0, 0, [SEP] 59, Sink, -1.990, 1.143, -0.975, 0, 0, 0, [SEP] 60, StoveBurner, -0.125, 1.325, -2.973, 0, 0, 0, [SEP] 61, StoveKnob, -0.185, 1.338, -2.741, 0, 270, 180, [SEP] 62, StoveKnob, -0.336, 1.338, -2.741, 0, 270, 180, [SEP] 63, StoveKnob, -0.569, 1.338, -2.741, 0, 270, 180, [SEP] 64, StoveKnob, -0.707, 1.338, -2.741, 0, 270, 180, [SEP] 65, Fridge, 1.013, 0.227, 1.917, 0, 270, 0, [SEP] 66, Microwave, 0.994, 1.310, -2.163, 0, 270, 0, [SEP] 67, GarbageCan, -1.633, 0.212, 2.192, 0, 270, 0, [SEP] 68, LightSwitch, 1.386, 1.565, -0.657, 0, 270, 0, [SEP] 69, HousePlant, -2.027, 1.311, -0.026, 0, 284.058, 0, [SEP] 70, SinkBasin, -1.835, 1.039, -0.542, 0, 0, 0, [SEP] 71, ButterKnife, 0.873, 0.468, 0.651, 0, 0, 0, [SEP] 72, Toaster, -1.885, 1.310, -2.512, 0, 90, 0, [SEP] 73, CoffeeMachine, 1.129, 1.310, -1.426, 0, 270, 0, [SEP] 74, Drawer, 0.647, 1.061, 0.680, 0, 270, 0, [SEP] 75, Drawer, 0.648, 1.061, 1.020, 0, 270, 0, [SEP] 76, Drawer, 0.648, 0.843, 1.020, 0, 270, 0, [SEP] 77, SideTable, 0.975, 0.220, 0.869, 0, 270, 0, [SEP] 78, Drawer, 0.648, 0.602, 0.680, 0, 270, 0, [SEP] 79, Drawer, 0.648, 0.596, 1.020, 0, 270, 0, [SEP] 80, Drawer, 0.648, 0.843, 0.680, 0, 270, 0, [SEP] 81, Stool, 0.606, 0.222, -1.084, 1.233, 280.489, 0, [SEP] 82, , , , , , , , [SEP] 83, NorthWall, , , , , , , [SEP] 84, EastWall, , , , , , , [SEP] 85, SouthWall, , , , , , , [SEP] 86, WestWall, , , , , , , ", "output": ["STEP 1: Move to the microwave. | STEP 2: Pick up the mug from the microwave table. | STEP 3: Bring the mug to the microwave. | STEP 4: Heat the mug in the microwave. | STEP 5: Bring the heated mug to the coffee machine. | STEP 6: Put the heated mug on the coffee machine. | END"]} +{"id": "trial_T20190906_234006_472482-2", "input": "Put a warm mug at a coffee maker. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 1.124, 0.25, 0, 270, 0, [SEP] 1, Potato, 0.636, 1.362, -1.312, 0, 0, 0, 52 [SEP] 2, DishSponge, 0.940, 0.953, 0.711, 0, 0, 0, 82 [SEP] 3, DishSponge, -1.920, 1.322, 1.094, 0, 0, 0, 52 [SEP] 4, WineBottle, 0.944, 1.208, 1.238, 0, 0, 0, 77 [SEP] 5, Kettle, -0.239, 1.331, -3.301, 0, 180, 0, 47 [SEP] 6, Fork, -2.049, 1.323, 0.445, 0, 0, 0, 52 [SEP] 7, Spoon, -1.915, 1.336, -0.911, 0, 0, 0, 59 [SEP] 8, Spatula, -1.237, 1.337, -3.092, 0, 0, 0, 52 [SEP] 9, Egg, 0.957, 1.986, 1.494, 0, 270, 0, 65 [SEP] 10, Plate, -1.682, 0.344, 1.317, 0, 0, 0, 53 [SEP] 11, Plate, -1.817, 0.344, 0.613, 0, 0, 0, 50 [SEP] 12, Tomato, -1.586, 0.314, 2.193, 0, 270, 0, 67 [SEP] 13, Bowl, -1.614, 0.342, 0.211, 0, 0, 0, 50 [SEP] 14, SaltShaker, -1.602, 0.338, -1.763, 0, 0, 0, 48 [SEP] 15, SaltShaker, 0.634, 1.318, -2.678, 0, 0, 0, 52 [SEP] 16, PepperShaker, -1.522, 1.318, -2.760, 0, 0, 0, 52 [SEP] 17, Bread, -1.790, 1.397, 2.069, 0, 0, 0, 52 [SEP] 18, Bread, -2.049, 1.397, -2.721, 0, 0, 0, 52 [SEP] 19, Lettuce, -1.530, 1.399, 1.094, 0, 0, 0, 52 [SEP] 20, Lettuce, 0.896, 1.399, -2.794, 0, 0, 0, 52 [SEP] 21, Mug, 0.928, 2.023, 2.229, 0, 270, 0, 65 [SEP] 22, Mug, -1.308, 1.318, -2.870, 0, 0, 0, 52 [SEP] 23, Mug, 0.938, 1.752, 2.112, 0, 270, 0, 65 [SEP] 24, Bread, -1.513, 1.380, 0.662, 0, 0, 0, 52 [SEP] 25, Pot, -0.630, 1.331, -3.301, 0, 180, 0, 49 [SEP] 26, Knife, -1.915, 1.365, -1.186, 0, 0, 0, 59 [SEP] 27, Bowl, 0.420, 1.321, -3.232, 0, 0, 0, 52 [SEP] 28, Potato, 1.095, 1.714, 1.604, 0, 270, 0, 65 [SEP] 29, SoapBottle, -1.952, 0.344, 0.311, 0, 0, 0, 50 [SEP] 30, Fork, 0.983, 0.460, 1.054, 0, 270, 0, 79 [SEP] 31, Cup, -1.682, 0.341, 1.627, 0, 0, 0, 53 [SEP] 32, Kettle, -0.125, 1.332, -2.973, 0, 0, 0, 60 [SEP] 33, Egg, 1.027, 1.248, 1.238, 0, 0, 0, 77 [SEP] 34, Pan, -1.881, 0.327, -2.035, 0, 0, 0, 48 [SEP] 35, SaltShaker, -1.401, 1.318, -2.461, 0, 0, 0, 52 [SEP] 36, WineBottle, -1.094, 1.323, -3.425, 0, 0, 0, 52 [SEP] 37, Lettuce, -1.790, 1.399, -2.201, 0, 0, 0, 52 [SEP] 38, Spatula, -1.559, 1.343, -0.911, 0, 0, 0, 59 [SEP] 39, PaperTowelRoll, -1.610, 0.384, 2.110, 0, 270, 0, 67 [SEP] 40, Tomato, 0.920, 1.558, 1.601, 0, 270, 0, 65 [SEP] 41, Plate, 0.824, 0.345, -2.267, 0, 180, 0, 51 [SEP] 42, PepperShaker, 0.778, 1.202, 1.254, 0, 0, 0, 77 [SEP] 43, DishSponge, -1.530, 1.322, 1.419, 0, 0, 0, 52 [SEP] 44, Spoon, 1.065, 0.954, 1.054, 0, 270, 0, 75 [SEP] 45, Apple, -1.237, 1.371, -3.425, 0, 0, 0, 52 [SEP] 46, Mug, 1.276, 1.202, 1.238, 0, 0, 0, 77 [SEP] 47, StoveBurner, -0.239, 1.325, -3.301, 0, 180, 0, [SEP] 48, Cabinet, -1.461, 0.775, -2.002, 0, 0, 0, [SEP] 49, StoveBurner, -0.630, 1.325, -3.301, 0, 180, 0, [SEP] 50, Cabinet, -1.461, 0.775, 0.470, 0, 0, 0, [SEP] 51, Cabinet, 0.578, 0.776, -2.054, 0, 0, 0, [SEP] 52, CounterTop, -1.809, 1.358, 1.182, 0, 0, 0, [SEP] 53, Cabinet, -1.461, 0.775, 1.310, 0, 0, 0, [SEP] 54, Faucet, -2.063, 1.362, -0.726, 0, 39.391, 0, [SEP] 55, StoveBurner, -0.749, 1.325, -2.973, 0, 0, 0, [SEP] 56, Drawer, -1.610, 0.681, -0.430, 0, 0, 0, [SEP] 57, Window, -2.566, 1.799, -0.822, 270, 0, 0, [SEP] 58, Drawer, -1.610, 0.681, -1.217, 0, 0, 0, [SEP] 59, Sink, -1.990, 1.143, -0.975, 0, 0, 0, [SEP] 60, StoveBurner, -0.125, 1.325, -2.973, 0, 0, 0, [SEP] 61, StoveKnob, -0.185, 1.338, -2.741, 0, 270, 180, [SEP] 62, StoveKnob, -0.336, 1.338, -2.741, 0, 270, 180, [SEP] 63, StoveKnob, -0.569, 1.338, -2.741, 0, 270, 180, [SEP] 64, StoveKnob, -0.707, 1.338, -2.741, 0, 270, 180, [SEP] 65, Fridge, 1.013, 0.227, 1.917, 0, 270, 0, [SEP] 66, Microwave, 0.994, 1.310, -2.163, 0, 270, 0, [SEP] 67, GarbageCan, -1.633, 0.212, 2.192, 0, 270, 0, [SEP] 68, LightSwitch, 1.386, 1.565, -0.657, 0, 270, 0, [SEP] 69, HousePlant, -2.027, 1.311, -0.026, 0, 284.058, 0, [SEP] 70, SinkBasin, -1.835, 1.039, -0.542, 0, 0, 0, [SEP] 71, ButterKnife, 0.873, 0.468, 0.651, 0, 0, 0, [SEP] 72, Toaster, -1.885, 1.310, -2.512, 0, 90, 0, [SEP] 73, CoffeeMachine, 1.129, 1.310, -1.426, 0, 270, 0, [SEP] 74, Drawer, 0.647, 1.061, 0.680, 0, 270, 0, [SEP] 75, Drawer, 0.648, 1.061, 1.020, 0, 270, 0, [SEP] 76, Drawer, 0.648, 0.843, 1.020, 0, 270, 0, [SEP] 77, SideTable, 0.975, 0.220, 0.869, 0, 270, 0, [SEP] 78, Drawer, 0.648, 0.602, 0.680, 0, 270, 0, [SEP] 79, Drawer, 0.648, 0.596, 1.020, 0, 270, 0, [SEP] 80, Drawer, 0.648, 0.843, 0.680, 0, 270, 0, [SEP] 81, Stool, 0.606, 0.222, -1.084, 1.233, 280.489, 0, [SEP] 82, , , , , , , , [SEP] 83, NorthWall, , , , , , , [SEP] 84, EastWall, , , , , , , [SEP] 85, SouthWall, , , , , , , [SEP] 86, WestWall, , , , , , , ", "output": ["STEP 1: Turn right, then turn right again to go toward the microwave. | STEP 2: Pick up the mug from behind the wine bottle. | STEP 3: Turn right, then turn left to face the microwave. | STEP 4: Heat the mug in the microwave. | STEP 5: Turn around, then turn left, then go straight and turn left at the coffee maker. | STEP 6: Put the mug at the coffee maker, on the table. | END"]} +{"id": "trial_T20190909_011332_145768-1", "input": "Put two soap bars in the bathtub SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, -2.75, 0, 90, 0, [SEP] 1, Cloth, -1.862, 0.042, -1.822, 0, 270, 0, 30 [SEP] 2, Cloth, -1.862, 0.042, -2.108, 0, 270, 0, 30 [SEP] 3, TissueBox, -1.353, 0.818, -0.137, 0, 0, 0, 32 [SEP] 4, TissueBox, 0.754, 0.818, -0.623, 0, 90, 0, 33 [SEP] 5, SoapBar, -2.150, 0.832, -0.605, 0, 0, 0, 29 [SEP] 6, SoapBar, -2.150, 0.832, -0.686, 0, 0, 0, 29 [SEP] 7, SoapBottle, 0.754, 0.821, -0.825, 0, 90, 0, 33 [SEP] 8, SoapBottle, -1.656, 0.821, -0.108, 0, 0, 0, 32 [SEP] 9, Cloth, 0.833, 0.809, -1.546, 0, 0, 0, 34 [SEP] 10, Candle, 0.839, 0.817, -0.320, 0, 90, 0, 33 [SEP] 11, HandTowel, -2.166, 1.500, -0.037, 0, 0, 0, 25 [SEP] 12, Towel, -1.525, 1.685, -0.105, 0, 180, 0, 23 [SEP] 13, SoapBar, -0.070, 0.952, -3.901, 0, 90, 0, 28 [SEP] 14, ToiletPaper, 0.405, 0.729, -3.885, 0, 0, 270, 31 [SEP] 15, Plunger, 0.854, -0.000, -3.905, 0, 0, 0, Floor|-01.66| [SEP] 16, SprayBottle, 0.739, 0.815, -1.874, 0, 90, 0, 34 [SEP] 17, TissueBox, 0.116, 0.953, -3.874, 0, 90, 0, 28 [SEP] 18, ToiletPaper, -0.444, 0.039, -3.793, 0, 0, 0, 24 [SEP] 19, ScrubBrush, 0.684, -0.000, -3.905, 0, 0, 0, Floor|-01.66| [SEP] 20, Sink, -2.171, 0.294, -0.660, 0, 90, 0, [SEP] 21, Bathtub, -2.122, -0.088, -3.116, 0, 0, 0, [SEP] 22, Mirror, -2.503, 1.423, -0.703, 0, 0, 0, [SEP] 23, TowelHolder, -1.524, 1.671, 0.001, 0, 180, 0, [SEP] 24, GarbageCan, -0.525, -0.050, -3.763, 0, 0, 0, [SEP] 25, HandTowelHolder, -2.166, 1.602, 0.000, 0, 90, 0, [SEP] 26, LightSwitch, 0.321, 1.327, 0.000, 0, 180, 0, [SEP] 27, Window, -0.540, 1.625, -3.996, 90, 0, 0, [SEP] 28, Toilet, 0.004, -0.000, -3.436, 0, 0, 0, [SEP] 29, SinkBasin, -2.176, 0.824, -0.659, 0, 0, 0, [SEP] 30, BathtubBasin, -1.862, 0.033, -2.723, 0, 270, 0, [SEP] 31, ToiletPaperHanger, 0.462, 0.841, -3.978, 0, 0, 0, [SEP] 32, SideTable, -1.526, 0.001, -0.172, 0, 0, 0, [SEP] 33, SideTable, 0.780, 0.001, -0.667, 0, 90, 0, [SEP] 34, SideTable, 0.793, 0.001, -1.817, 0, 90, 0, [SEP] 35, ShowerCurtain, -1.320, 1.781, -3.864, 0, 0, 5.987, [SEP] 36, Faucet, -2.431, 0.982, -0.660, 0, 90, 0, [SEP] 37, Faucet, -1.909, 0.666, -3.855, 0, 180, 0, [SEP] 38, NorthWall, , , , , , , [SEP] 39, EastWall, , , , , , , [SEP] 40, SouthWall, , , , , , , [SEP] 41, WestWall, , , , , , , ", "output": ["STEP 1: Turn to your left, move across the room, turn left, and go to the sink | STEP 2: Pick up a soap bar from the sink | STEP 3: Turn around and go to the bathtub | STEP 4: Put the soap bar in the bathtub | STEP 5: Go back to the sink | STEP 6: Pick up the second soap bar from the sink | STEP 7: Go back to the tub | STEP 8: Put the second soap bar in the bathtub | END"]} +{"id": "trial_T20190906_200537_899818-2", "input": "Put a big bottle from the cabinet on top of the lettuce and a bottle on top of the blue bottle to the trash can. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.900, 0.0, 0, 180, 0, [SEP] 1, CreditCard, 1.789, 0.550, -2.718, 0, 180, 0, 92 [SEP] 2, CreditCard, 1.582, 0.550, -2.562, 0, 180, 0, 92 [SEP] 3, Plate, -2.080, 0.537, 1.003, 0, 90, 0, 95 [SEP] 4, Plate, -2.037, 0.795, 1.085, 0, 90, 0, 95 [SEP] 5, Cup, -2.081, 1.500, 1.008, 0, 90, 0, 95 [SEP] 6, Tomato, -2.121, 0.579, 0.837, 0, 90, 0, 95 [SEP] 7, Tomato, -2.038, 0.579, 1.251, 0, 90, 0, 95 [SEP] 8, SoapBottle, 0.505, 1.660, -2.667, 0, 0, 0, 86 [SEP] 9, SoapBottle, -1.622, 1.659, -2.677, 0, 0, 0, 78 [SEP] 10, SaltShaker, 1.789, 0.877, -2.563, 0, 180, 0, 89 [SEP] 11, Bread, 0.217, 1.184, -0.759, 0, 0, 0, 62 [SEP] 12, Lettuce, 0.453, 0.990, -2.330, 0, 0, 0, 64 [SEP] 13, Apple, -0.225, 1.841, -2.610, 0, 0, 0, 88 [SEP] 14, Knife, -1.597, 0.936, -1.682, 0, 90, 0, 97 [SEP] 15, Knife, -0.059, 1.136, -0.001, 0, 0, 0, 62 [SEP] 16, Fork, 1.123, 0.316, -2.431, 0, 90, 0, 66 [SEP] 17, Fork, 1.098, 0.911, -2.330, 0, 90, 0, 64 [SEP] 18, Spoon, 0.969, 0.911, -2.407, 0, 0, 0, 64 [SEP] 19, Spoon, -1.963, 0.770, -1.501, 0, 0, 0, 97 [SEP] 20, Mug, -0.070, 1.785, -2.514, 0, 0, 0, 88 [SEP] 21, Spatula, 1.007, 0.661, -2.459, 0, 90, 0, 67 [SEP] 22, ButterKnife, 0.840, 0.910, -2.637, 0, 0, 0, 64 [SEP] 23, Kettle, -0.465, 0.950, -2.372, 0, 90, 0, 60 [SEP] 24, Glassbottle, -2.018, 0.770, -1.328, 0, 90, 0, 97 [SEP] 25, WineBottle, -1.346, 1.659, -2.677, 0, 0, 0, 78 [SEP] 26, Bowl, 1.478, 0.549, -2.562, 0, 180, 0, 92 [SEP] 27, Book, -0.059, 1.110, -0.759, 0, 0, 0, 62 [SEP] 28, Glassbottle, -1.908, 0.770, -1.242, 0, 90, 0, 97 [SEP] 29, Knife, -0.059, 1.136, -0.253, 0, 0, 0, 62 [SEP] 30, Bread, -2.019, 0.983, -0.513, 0, 0, 0, 87 [SEP] 31, Fork, 0.893, 0.315, -2.334, 0, 0, 0, 66 [SEP] 32, Potato, 1.098, 0.941, -2.637, 0, 0, 0, 64 [SEP] 33, SoapBottle, -1.438, 0.912, -2.637, 0, 0, 0, 87 [SEP] 34, Kettle, -1.814, 0.130, 0.203, 0, 90, 0, 68 [SEP] 35, Pan, -0.036, 0.950, -2.576, 0, 270, 0, 65 [SEP] 36, Plate, -1.805, 0.133, -1.506, 0, 90, 0, 63 [SEP] 37, Tomato, -1.693, 0.950, -0.513, 0, 0, 0, 87 [SEP] 38, Vase, -1.143, 0.913, -2.637, 0, 0, 0, 87 [SEP] 39, Egg, -0.277, 1.825, -2.449, 0, 0, 0, 88 [SEP] 40, CreditCard, 0.453, 0.907, -2.330, 0, 0, 0, 64 [SEP] 41, Statue, 0.079, 1.110, 0.504, 0, 0, 0, 62 [SEP] 42, WineBottle, 0.560, 1.660, -2.560, 0, 0, 0, 86 [SEP] 43, Pot, -2.070, 1.310, 1.176, 0, 90, 0, 95 [SEP] 44, Spatula, -1.852, 0.784, -1.501, 0, 90, 0, 97 [SEP] 45, PaperTowelRoll, 0.969, 1.014, -2.253, 0, 0, 0, 64 [SEP] 46, Cup, -1.742, 0.767, -1.587, 0, 90, 0, 97 [SEP] 47, Vase, 0.453, 0.908, -2.637, 0, 0, 0, 64 [SEP] 48, Bowl, -0.335, 1.108, 0.757, 0, 0, 0, 62 [SEP] 49, SaltShaker, 0.835, 0.138, -2.382, 0, 0, 0, 82 [SEP] 50, PepperShaker, -1.608, 0.474, -0.100, 0, 90, 0, 77 [SEP] 51, Lettuce, -0.848, 0.991, -2.560, 0, 0, 0, 87 [SEP] 52, ButterKnife, -1.856, 0.911, -0.698, 0, 0, 0, 87 [SEP] 53, Apple, 0.355, 1.162, 0.251, 0, 0, 0, 62 [SEP] 54, DishSponge, 0.355, 1.111, -0.759, 0, 0, 0, 62 [SEP] 55, Spoon, -0.335, 1.112, 0.504, 0, 0, 0, 62 [SEP] 56, Mug, -1.797, 0.764, -1.760, 0, 90, 0, 97 [SEP] 57, StoveBurner, -0.036, 0.915, -2.372, 0, 0, 0, [SEP] 58, Drawer, 0.949, 0.832, -2.197, 0, 0, 0, [SEP] 59, Drawer, -1.560, 0.839, 0.204, 0, 90, 0, [SEP] 60, StoveBurner, -0.465, 0.915, -2.371, 0, 180, 0, [SEP] 61, Drawer, -1.560, 0.839, -0.197, 0, 90, 0, [SEP] 62, CounterTop, -0.079, 1.147, -0.001, 0, 0, 0, [SEP] 63, Cabinet, -1.549, 0.494, -1.964, 0, 90, 0, [SEP] 64, CounterTop, 0.693, 0.946, -2.483, 0, 0, 0, [SEP] 65, StoveBurner, -0.036, 0.915, -2.576, 0, 0, 0, [SEP] 66, Drawer, 0.949, 0.393, -2.200, 0, 0, 0, [SEP] 67, Drawer, 0.949, 0.708, -2.200, 0, 0, 0, [SEP] 68, Cabinet, -1.549, 0.494, 0.379, 0, 90, 0, [SEP] 69, StoveKnob, -0.022, 0.881, -2.187, 45, 0, 0, [SEP] 70, Drawer, 0.949, 0.560, -2.201, 0, 0, 0, [SEP] 71, StoveBurner, -0.465, 0.915, -2.575, 0, 180, 0, [SEP] 72, Window, -2.230, 1.429, -1.203, 0, 0, 0, [SEP] 73, StoveKnob, -0.483, 0.881, -2.187, 45, 0, 0, [SEP] 74, Sink, -1.899, 0.964, -1.5, 0, 90, 0, [SEP] 75, StoveKnob, -0.328, 0.881, -2.187, 45, 0, 0, [SEP] 76, Cabinet, -0.727, 2.015, -2.460, 0, 0, 0, [SEP] 77, Drawer, -1.560, 0.655, -0.196, 0, 90, 0, [SEP] 78, Cabinet, -1.685, 2.015, -2.461, 0, 0, 0, [SEP] 79, Cabinet, 0.680, 0.494, -2.200, 0, 0, 0, [SEP] 80, Cabinet, -1.179, 0.494, -2.200, 0, 0, 0, [SEP] 81, Cabinet, -1.849, 2.015, 0.379, 0, 90, 0, [SEP] 82, Drawer, 0.949, 0.221, -2.200, 0, 0, 0, [SEP] 83, StoveKnob, -0.183, 0.881, -2.187, 45, 0, 0, [SEP] 84, Cabinet, 0.719, 2.015, -2.460, 0, 0, 0, [SEP] 85, Drawer, -1.560, 0.331, -0.196, 0, 90, 0, [SEP] 86, Cabinet, 0.680, 2.015, -2.460, 0, 0, 0, [SEP] 87, CounterTop, -1.868, 0.946, -1.205, 0, 0, 0, [SEP] 88, Microwave, -0.236, 1.689, -2.525, 0, 0, 0, [SEP] 89, Shelf, 1.751, 0.880, -2.560, 0, 0, 0, [SEP] 90, HousePlant, -1.948, 0.889, -2.520, 0, 5.334, 0, [SEP] 91, Toaster, -1.835, 0.900, 0.134, 0, 90, 0, [SEP] 92, Shelf, 1.750, 0.552, -2.559, 0, 0, 0, [SEP] 93, GarbageCan, -1.935, -0.002, 2.029, 0, 270, 0, [SEP] 94, Shelf, 1.750, 0.172, -2.559, 0, 0, 0, [SEP] 95, Fridge, -2.096, 0.0, 1.088, 0, 0, 0, [SEP] 96, CoffeeMachine, -1.977, 0.900, -0.188, 0, 90, 0, [SEP] 97, SinkBasin, -1.908, 0.759, -1.488, 0, 90, 0, [SEP] 98, LightSwitch, 2.329, 1.309, -0.159, 0, 270, 0, [SEP] 99, ShelvingUnit, 1.750, 0.006, -2.559, 0, 0, 0, [SEP] 100, Stool, 0.702, 0.000, -0.514, 1.202, 65.108, 0, [SEP] 101, Stool, 0.743, 0.000, 0.563, 1.227, 106.706, 0, [SEP] 102, Faucet, -2.070, 1.132, -1.514, 0, 0, 0, [SEP] 103, NorthWall, , , , , , , [SEP] 104, EastWall, , , , , , , [SEP] 105, SouthWall, , , , , , , [SEP] 106, WestWall, , , , , , , ", "output": ["STEP 1: Go toward the left to the lettuce next to the stove | STEP 2: Open the cabinet on top of the lettuce and pick up the big bottle. | STEP 3: Go to the right, turn right at the end of the path, go straight and turn to the left toward the trash can. | STEP 4: Put the bottle inside the trash can. | STEP 5: Turn around, go to the right and walk straight to the white cabinet with of a little blue bottle on it. | STEP 6: Open the cabinet on top of the blue bottle and grab the big bottle. | STEP 7: Turn around and walk straight back to the trash can. | STEP 8: Put the bottle inside the trash can. | END"]} +{"id": "trial_T20190907_161434_277973-1", "input": "Look at a vase in the lamp light. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.900, 0.25, 0, 180, 0, [SEP] 1, Vase, -2.730, 0.787, -3.614, 0, 270, 0, 34 [SEP] 2, Vase, 1.846, 0.881, 1.409, 0, 0, 0, 41 [SEP] 3, KeyChain, 1.807, 0.878, 1.093, 0, 0, 0, 41 [SEP] 4, CreditCard, -0.575, 0.425, 1.240, 0, 90, 0, 36 [SEP] 5, CreditCard, -0.898, 0.425, 1.115, 0, 90, 0, 36 [SEP] 6, RemoteControl, -2.175, 0.761, 0.614, 0, 90, 0, 28 [SEP] 7, Box, -0.564, 0.122, -2.747, 0, 0, 0, 34 [SEP] 8, KeyChain, 1.807, 0.877, 0.882, 0, 0, 0, 41 [SEP] 9, Laptop, 0.857, 0.466, -0.258, 0, 225, 0, 35 [SEP] 10, Statue, -2.853, 0.789, -4.279, 0, 270, 0, 34 [SEP] 11, Pillow, 0.495, 0.603, -0.734, 0, 225, 0, 35 [SEP] 12, RemoteControl, -0.683, 0.426, 1.115, 0, 90, 0, 36 [SEP] 13, Statue, -2.977, 0.790, -4.057, 0, 270, 0, 34 [SEP] 14, CreditCard, 1.755, 0.765, 0.806, 0, 0, 0, 42 [SEP] 15, Vase, -3.471, 0.787, -3.835, 0, 270, 0, 34 [SEP] 16, Statue, -3.101, 0.796, -3.835, 0, 270, 0, 34 [SEP] 17, Shelf, -0.612, 0.880, -2.832, 0, 0, 0, [SEP] 18, Shelf, -0.612, 1.317, -2.832, 0, 0, 0, [SEP] 19, LightSwitch, -2.599, 1.254, -0.774, 0, 90, 0, [SEP] 20, GarbageCan, -1.343, 0.015, -4.825, 0, 0, 0, [SEP] 21, HousePlant, 0.506, 1.097, 2.235, 0, 0, 0, [SEP] 22, Painting, -0.509, 1.742, 2.404, 90, 0, 0, [SEP] 23, FloorLamp, 1.712, 0.001, 0.374, 0, 0, 0, [SEP] 24, Painting, -5.0, 1.626, -3.548, 90, 270, 0, [SEP] 25, Television, -2.258, 1.245, 0.755, 0, 90, 0, [SEP] 26, Shelf, -2.238, 0.474, 0.396, 0, 90, 0, [SEP] 27, Shelf, -2.238, 0.273, 0.396, 0, 90, 0, [SEP] 28, TVStand, -2.244, -0.000, 0.762, 0, 90, 0, [SEP] 29, Shelf, -2.238, 0.302, 1.130, 0, 90, 0, [SEP] 30, Shelf, -2.238, 0.442, 0.764, 0, 90, 0, [SEP] 31, Shelf, -2.238, 0.597, 1.130, 0, 90, 0, [SEP] 32, Shelf, -2.238, 0.643, 0.396, 0, 90, 0, [SEP] 33, ArmChair, -0.559, 0.000, 1.951, 0, 180, 0, [SEP] 34, DiningTable, -3.101, 0.000, -3.613, 0, 270, 0, [SEP] 35, Sofa, 0.880, 0.007, -0.591, 0, 315, 0, [SEP] 36, Ottoman, -0.576, 0.008, 1.052, 0, 180, 0, [SEP] 37, Chair, -3.501, 0.002, -3.716, 0, 90, 0, [SEP] 38, Chair, -3.182, 0.002, -2.813, 0, 165.000, 0, [SEP] 39, Chair, -3.130, 0.002, -4.418, 0, 345.001, 0, [SEP] 40, Chair, -2.686, 0.002, -3.301, 0, 285.000, 0, [SEP] 41, SideTable, 1.825, 0.000, 1.092, 0, 270, 0, [SEP] 42, Drawer, 1.761, 0.774, 1.092, 0, 270, 0, [SEP] 43, NorthWall, , , , , , , [SEP] 44, EastWall, , , , , , , [SEP] 45, SouthWall, , , , , , , [SEP] 46, WestWall, , , , , , , ", "output": ["STEP 1: Move forward, turn right, move forward, turn left, move forward, then turn right to face the dining table. | STEP 2: Pick up the vase nearest to you, on the dining table. | STEP 3: Turn around, turn left, go straight, turn right, go straight, turn left, then go straight to approach the lamp. | STEP 4: Turn on the lamp. | END"]} +{"id": "trial_T20190907_014852_445400-2", "input": "Slice an apple, cook it, then place it inside a trash can SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.901, -2.25, 0, 90, 0, [SEP] 1, Potato, -0.127, 1.056, -0.900, 0, 270, 0, 82 [SEP] 2, DishSponge, -0.160, 0.913, -3.213, 0, 0, 0, 45 [SEP] 3, DishSponge, -0.419, 0.915, -1.493, 0, 0, 0, 72 [SEP] 4, Pot, -0.854, 0.916, -3.729, 0, 0, 0, 45 [SEP] 5, Spoon, -0.530, 0.748, -2.968, 0, 90, 0, 75 [SEP] 6, Fork, -2.439, 0.714, -0.433, 0, 90, 0, 89 [SEP] 7, Fork, -2.865, 0.714, -0.496, 0, 225, 0, 89 [SEP] 8, Egg, -0.257, 0.951, -1.616, 0, 0, 0, 72 [SEP] 9, Egg, -2.678, 0.749, -0.353, 0, 0, 0, 89 [SEP] 10, Cup, -2.372, 1.295, -3.848, 0, 0, 0, 58 [SEP] 11, Cup, -0.491, 0.080, -1.337, 0, 0, 0, 50 [SEP] 12, Plate, -0.413, 0.078, -0.838, 0, 0, 0, 49 [SEP] 13, Knife, -0.471, 0.778, -1.563, 0, 90, 0, 68 [SEP] 14, Tomato, -2.439, 0.766, -0.496, 0, 270, 0, 89 [SEP] 15, Tomato, -0.095, 0.965, -0.507, 0, 0, 0, 72 [SEP] 16, SoapBottle, -2.581, 0.716, -0.496, 0, 270, 0, 89 [SEP] 17, Bowl, -1.614, 0.080, -3.634, 0, 0, 0, 61 [SEP] 18, Bowl, -0.773, 0.079, -3.675, 0, 0, 0, 47 [SEP] 19, SaltShaker, -2.608, 0.713, -0.841, 0, 135, 0, 89 [SEP] 20, SaltShaker, -0.068, 1.290, -1.428, 0, 0, 0, 51 [SEP] 21, Mug, -3.079, 1.393, -2.064, 0, 90, 0, 86 [SEP] 22, Mug, -2.723, 0.711, -0.558, 0, 270, 0, 89 [SEP] 23, Apple, -3.393, 0.956, -2.825, 0, 0, 0, 45 [SEP] 24, Pot, -0.376, 0.975, -2.031, 0, 180, 0, 74 [SEP] 25, Egg, -0.176, 0.951, -1.309, 0, 0, 0, 72 [SEP] 26, Cup, -3.324, 1.868, -2.029, 0, 0, 0, 55 [SEP] 27, Bread, -2.270, 0.954, -3.878, 0, 0, 0, 45 [SEP] 28, Fork, -3.477, 0.914, -3.026, 0, 0, 0, 45 [SEP] 29, Pan, -2.808, 0.912, -3.952, 0, 90, 0, 45 [SEP] 30, Potato, -3.027, 0.685, -2.064, 0, 90, 0, 86 [SEP] 31, Lettuce, -1.338, 0.982, -3.807, 20.734, 260.956, 32.047, 45 [SEP] 32, Tomato, -3.234, 1.063, -1.941, 0, 90, 0, 86 [SEP] 33, Apple, -3.111, 0.756, -0.652, 0, 225, 0, 89 [SEP] 34, SoapBottle, -0.338, 0.915, -1.370, 0, 0, 0, 72 [SEP] 35, Spatula, -1.058, 0.911, -3.656, 358.849, 0, 0, 45 [SEP] 36, SaltShaker, -2.803, 0.710, -0.638, 0, 0, 0, 89 [SEP] 37, Knife, -3.066, 0.746, -0.697, 0, 225, 0, 89 [SEP] 38, PepperShaker, -3.346, 0.910, -3.729, 0, 0, 0, 45 [SEP] 39, ButterKnife, -3.255, 0.713, -0.709, 0, 315, 0, 89 [SEP] 40, Plate, -1.214, 0.078, -3.673, 0, 0, 0, 60 [SEP] 41, DishSponge, -1.707, 0.790, -3.661, 0, 0, 0, 87 [SEP] 42, Spoon, -1.845, 0.791, -3.790, 0, 0, 0, 87 [SEP] 43, Mug, -0.419, 0.910, -0.490, 0, 0, 0, 72 [SEP] 44, Bowl, -3.292, 0.714, -0.558, 0, 270, 0, 89 [SEP] 45, CounterTop, -1.789, 0.949, -3.803, 0, 0, 0, [SEP] 46, Cabinet, -0.577, 0.388, -3.476, 0, 0, 0, [SEP] 47, Cabinet, -0.605, 0.388, -3.511, 0, 0, 0, [SEP] 48, Cabinet, -2.976, 0.388, -3.201, 0, 0, 0, [SEP] 49, Cabinet, -0.577, 0.388, -0.447, 0, 0, 0, [SEP] 50, Cabinet, -0.577, 0.388, -1.725, 0, 0, 0, [SEP] 51, Cabinet, -0.226, 1.803, -1.743, 0, 0, 0, [SEP] 52, Cabinet, -0.228, 1.799, -0.447, 0, 0, 0, [SEP] 53, Cabinet, -6.010, 1.139, -6.019, 0, 0, 0, [SEP] 54, Cabinet, -3.022, 2.098, -2.681, 0, 0, 0, [SEP] 55, Cabinet, -3.022, 2.098, -1.743, 0, 0, 0, [SEP] 56, Cabinet, -0.577, 0.388, -2.736, 0, 0, 0, [SEP] 57, Cabinet, -3.232, 1.803, -3.343, 0, 0, 0, [SEP] 58, Cabinet, -2.811, 1.810, -3.764, 0, 0, 0, [SEP] 59, Cabinet, -1.233, 1.810, -3.764, 0, 0, 0, [SEP] 60, Cabinet, -1.364, 0.388, -3.511, 0, 0, 0, [SEP] 61, Cabinet, -1.380, 0.388, -3.511, 0, 0, 0, [SEP] 62, Cabinet, -0.226, 1.803, -2.725, 0, 0, 0, [SEP] 63, Cabinet, -0.236, 2.098, -1.767, 0, 0, 0, [SEP] 64, Cabinet, -0.236, 2.098, -2.705, 0, 0, 0, [SEP] 65, Cabinet, -0.193, 1.210, -4.239, 0, 0, 0, [SEP] 66, Cabinet, -2.148, 0.388, -3.511, 0, 0, 0, [SEP] 67, Drawer, -3.104, 0.797, -2.968, 0, 0, 0, [SEP] 68, Drawer, -0.449, 0.797, -1.410, 0, 0, 0, [SEP] 69, Sink, -1.786, 0.902, -3.748, 0, 0, 0, [SEP] 70, StoveBurner, -0.376, 0.936, -2.451, 0, 0, 0, [SEP] 71, Drawer, -0.449, 0.797, -0.762, 0, 0, 0, [SEP] 72, CounterTop, -0.268, 0.951, -1.089, 0, 0, 0, [SEP] 73, Drawer, -0.449, 0.797, -3.348, 0, 0, 0, [SEP] 74, StoveBurner, -0.376, 0.936, -2.031, 0, 180, 0, [SEP] 75, Drawer, -0.449, 0.797, -2.968, 0, 0, 0, [SEP] 76, StoveBurner, -0.165, 0.936, -2.030, 0, 180, 0, [SEP] 77, StoveBurner, -0.165, 0.936, -2.450, 0, 0, 0, [SEP] 78, StoveKnob, -0.568, 0.903, -2.313, 45, 270, 0, [SEP] 79, StoveKnob, -0.568, 0.903, -2.470, 45, 270, 0, [SEP] 80, StoveKnob, -0.568, 0.903, -2.166, 45, 270, 0, [SEP] 81, StoveKnob, -0.568, 0.903, -2.003, 45, 270, 0, [SEP] 82, Microwave, -0.143, 0.903, -0.908, 0, 270, 0, [SEP] 83, LightSwitch, -1.108, 1.457, 0.338, 0, 180, 0, [SEP] 84, GarbageCan, -0.283, -0.032, -0.035, 0, 270, 0, [SEP] 85, CoffeeMachine, -3.104, 0.837, -0.185, 0, 135, 0, [SEP] 86, Fridge, -3.188, 0.0, -2.184, 0, 0, 0, [SEP] 87, SinkBasin, -1.786, 0.779, -3.747, 0, 0, 0, [SEP] 88, Toaster, -0.230, 0.903, -3.406, 0, 270, 0, [SEP] 89, DiningTable, -2.800, 0.003, -0.505, 0, 0, 0, [SEP] 90, Chair, -3.044, 0.003, -1.223, 0, 32.194, 0, [SEP] 91, Faucet, -1.791, 1.136, -3.913, 0, 270, 0, [SEP] 92, NorthWall, , , , , , , [SEP] 93, EastWall, , , , , , , [SEP] 94, SouthWall, , , , , , , [SEP] 95, WestWall, , , , , , , ", "output": ["STEP 1: Turn left, walk straight, turn left towards the round wooden table | STEP 2: Pick up the knife with the yellow handle | STEP 3: Cut the red apple on the table into slices | STEP 4: Turn right, walk straight, turn left, walk straight, turn right towards the trash bin | STEP 5: Put the knife inside the trash bin | STEP 6: Turn left, walk straight, turn right towards the round wooden table | STEP 7: Pick up the red slice of apple | STEP 8: Turn right, walk straight, turn left, turn right, walk straight towards the counter with a microwave | STEP 9: Open the microwave, put the apple inside, set the timer, close the microwave, take out the apple, close the microwave | STEP 10: Turn left and walk towards the trash can | STEP 11: Place the apple inside the trash can | END"]} +{"id": "trial_T20190908_171843_959261-1", "input": "Place a tea kettle in a cabinet. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.901, 4.75, 0, 270, 0, [SEP] 1, KeyChain, -4.587, 0.887, 1.971, 0, 270, 0, 32 [SEP] 2, KeyChain, -2.026, 0.453, 2.455, 0, 0, 0, 34 [SEP] 3, CreditCard, -0.129, 0.707, 4.659, 0, 0, 0, 39 [SEP] 4, Box, -4.778, 0.405, 2.337, 0, 270, 0, 33 [SEP] 5, WateringCan, -0.277, -0.000, 4.860, 0, 0, 0, Floor|+00.38| [SEP] 6, CreditCard, -1.752, 0.456, 0.662, 0, 0, 0, 37 [SEP] 7, KeyChain, -5.094, 0.985, 2.026, 0, 180, 0, 31 [SEP] 8, Pillow, -3.294, 0.624, 0.801, 0, 0, 338.090, 37 [SEP] 9, Laptop, -4.873, 0.981, 3.44, 0, 83.878, 0, 31 [SEP] 10, RemoteControl, -1.990, 0.531, 0.843, 0, 0, 0, 37 [SEP] 11, Watch, -0.216, 0.707, 4.639, 0, 0, 0, 39 [SEP] 12, Statue, -2.405, 0.554, 2.648, 0, 0, 0, 34 [SEP] 13, Curtains, -2.535, 2.596, 0.111, 0, 0, 0, [SEP] 14, FloorLamp, -4.661, 0.009, 0.422, 0, 0, 0, [SEP] 15, Television, -4.883, 1.472, 2.434, 0, 90, 0, [SEP] 16, GarbageCan, -4.810, -0.032, 1.236, 0, 180, 0, [SEP] 17, Painting, -0.293, 1.820, 0.016, 90, 0, 0, [SEP] 18, LightSwitch, -1.016, 1.243, 5.0, 0, 180, 0, [SEP] 19, Painting, -5.118, 1.480, 4.396, 90, 270, 0, [SEP] 20, Painting, -5.118, 1.480, 0.656, 90, 270, 0, [SEP] 21, Window, -1.715, 1.554, 0.006, 90, 180, 0, [SEP] 22, Window, -3.244, 1.554, 0.006, 90, 180, 0, [SEP] 23, DeskLamp, 0.015, 0.704, 4.676, 0, 0, 0, [SEP] 24, HousePlant, -4.824, 0.984, 1.572, 0, 0, 0, [SEP] 25, Drawer, -4.497, 0.901, 2.854, 0, 90, 0, [SEP] 26, Drawer, -4.497, 0.901, 2.339, 0, 90, 0, [SEP] 27, Cabinet, -4.409, 0.498, 2.603, 0, 90, 0, [SEP] 28, Cabinet, -4.409, 0.498, 3.622, 0, 90, 0, [SEP] 29, Drawer, -4.497, 0.901, 3.372, 0, 90, 0, [SEP] 30, Cabinet, -4.409, 0.498, 1.569, 0, 90, 0, [SEP] 31, Dresser, -4.744, 4.321, 2.595, 0, 90, 0, [SEP] 32, Drawer, -4.497, 0.901, 1.818, 0, 90, 0, [SEP] 33, Cabinet, -4.409, 0.498, 2.588, 0, 90, 0, [SEP] 34, CoffeeTable, -2.405, -0.000, 2.546, 0, 0, 0, [SEP] 35, ArmChair, -0.298, 0.002, 3.310, 0, 270, 0, [SEP] 36, ArmChair, -0.298, 0.002, 1.713, 0, 270, 0, [SEP] 37, Sofa, -2.464, -0.002, 0.700, 0, 0, 0, [SEP] 38, Chair, -4.735, 0.011, 4.609, 1.215, 90, 0, [SEP] 39, SideTable, -0.041, 0.002, 4.619, 0, 0, 0, [SEP] 40, NorthWall, , , , , , , [SEP] 41, EastWall, , , , , , , [SEP] 42, SouthWall, , , , , , , [SEP] 43, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and face left to reach the black round table next to the couch. | STEP 2: Pick up the tea kettle from under the round table on the floor. | STEP 3: Turn left and walk to the front of the television stand on the left. | STEP 4: Open the lower right cabinet, put the tea kettle inside and close the door. | END"]} +{"id": "trial_T20190908_171843_959261-2", "input": "Place a watering can in a cabinet of the entertainment center. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.901, 4.75, 0, 270, 0, [SEP] 1, KeyChain, -4.587, 0.887, 1.971, 0, 270, 0, 32 [SEP] 2, KeyChain, -2.026, 0.453, 2.455, 0, 0, 0, 34 [SEP] 3, CreditCard, -0.129, 0.707, 4.659, 0, 0, 0, 39 [SEP] 4, Box, -4.778, 0.405, 2.337, 0, 270, 0, 33 [SEP] 5, WateringCan, -0.277, -0.000, 4.860, 0, 0, 0, Floor|+00.38| [SEP] 6, CreditCard, -1.752, 0.456, 0.662, 0, 0, 0, 37 [SEP] 7, KeyChain, -5.094, 0.985, 2.026, 0, 180, 0, 31 [SEP] 8, Pillow, -3.294, 0.624, 0.801, 0, 0, 338.090, 37 [SEP] 9, Laptop, -4.873, 0.981, 3.44, 0, 83.878, 0, 31 [SEP] 10, RemoteControl, -1.990, 0.531, 0.843, 0, 0, 0, 37 [SEP] 11, Watch, -0.216, 0.707, 4.639, 0, 0, 0, 39 [SEP] 12, Statue, -2.405, 0.554, 2.648, 0, 0, 0, 34 [SEP] 13, Curtains, -2.535, 2.596, 0.111, 0, 0, 0, [SEP] 14, FloorLamp, -4.661, 0.009, 0.422, 0, 0, 0, [SEP] 15, Television, -4.883, 1.472, 2.434, 0, 90, 0, [SEP] 16, GarbageCan, -4.810, -0.032, 1.236, 0, 180, 0, [SEP] 17, Painting, -0.293, 1.820, 0.016, 90, 0, 0, [SEP] 18, LightSwitch, -1.016, 1.243, 5.0, 0, 180, 0, [SEP] 19, Painting, -5.118, 1.480, 4.396, 90, 270, 0, [SEP] 20, Painting, -5.118, 1.480, 0.656, 90, 270, 0, [SEP] 21, Window, -1.715, 1.554, 0.006, 90, 180, 0, [SEP] 22, Window, -3.244, 1.554, 0.006, 90, 180, 0, [SEP] 23, DeskLamp, 0.015, 0.704, 4.676, 0, 0, 0, [SEP] 24, HousePlant, -4.824, 0.984, 1.572, 0, 0, 0, [SEP] 25, Drawer, -4.497, 0.901, 2.854, 0, 90, 0, [SEP] 26, Drawer, -4.497, 0.901, 2.339, 0, 90, 0, [SEP] 27, Cabinet, -4.409, 0.498, 2.603, 0, 90, 0, [SEP] 28, Cabinet, -4.409, 0.498, 3.622, 0, 90, 0, [SEP] 29, Drawer, -4.497, 0.901, 3.372, 0, 90, 0, [SEP] 30, Cabinet, -4.409, 0.498, 1.569, 0, 90, 0, [SEP] 31, Dresser, -4.744, 4.321, 2.595, 0, 90, 0, [SEP] 32, Drawer, -4.497, 0.901, 1.818, 0, 90, 0, [SEP] 33, Cabinet, -4.409, 0.498, 2.588, 0, 90, 0, [SEP] 34, CoffeeTable, -2.405, -0.000, 2.546, 0, 0, 0, [SEP] 35, ArmChair, -0.298, 0.002, 3.310, 0, 270, 0, [SEP] 36, ArmChair, -0.298, 0.002, 1.713, 0, 270, 0, [SEP] 37, Sofa, -2.464, -0.002, 0.700, 0, 0, 0, [SEP] 38, Chair, -4.735, 0.011, 4.609, 1.215, 90, 0, [SEP] 39, SideTable, -0.041, 0.002, 4.619, 0, 0, 0, [SEP] 40, NorthWall, , , , , , , [SEP] 41, EastWall, , , , , , , [SEP] 42, SouthWall, , , , , , , [SEP] 43, WestWall, , , , , , , ", "output": ["STEP 1: Turn around completely, walk up to the round black table, then look underneath it. | STEP 2: Pick up the watering can that is on the floor, underneath the table. | STEP 3: Turn to the left, walk almost to the chair, turn left, walk a few steps, then turn right to face the entertainment center. | STEP 4: Place the watering can in the far right cabinet of the entertainment center and close the door. | END"]} +{"id": "trial_T20190908_113916_928918-2", "input": "Take the blue bank card from the couch, turn on the lamp in the corner SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.900, 0.25, 0, 90, 0, [SEP] 1, Bowl, -1.743, 0.757, -0.350, 0, 90, 0, 42 [SEP] 2, Bowl, -0.416, 0.477, -0.995, 0, 180, 0, 38 [SEP] 3, RemoteControl, 2.151, 0.453, -2.225, 0, 270, 0, 48 [SEP] 4, CreditCard, -0.034, 0.179, -2.389, 0, 0, 0, 32 [SEP] 5, Laptop, -0.115, 0.471, -1.182, 0, 180, 0, 38 [SEP] 6, Box, -1.680, 0.889, -0.820, 0, 90, 0, 42 [SEP] 7, Bowl, -1.871, 0.757, -1.761, 0, 90, 0, 42 [SEP] 8, KeyChain, -0.451, 0.760, -2.247, 0, 0, 0, 30 [SEP] 9, Vase, -1.588, 0.168, -0.531, 0, 0, 0, 43 [SEP] 10, Statue, -1.616, 0.758, -0.585, 0, 270, 0, 42 [SEP] 11, Pillow, -0.495, 0.593, 0.955, 0, 0, 0, 35 [SEP] 12, Laptop, 0.794, 0.543, 0.997, 0, 180, 0, 35 [SEP] 13, Vase, -1.808, 1.615, -2.597, 0, 0, 0, 39 [SEP] 14, Statue, 0.145, 0.551, -1.129, 0, 0, 0, 38 [SEP] 15, RemoteControl, 0.487, 0.478, -1.182, 0, 180, 0, 38 [SEP] 16, Vase, 0.009, 0.168, -2.264, 0, 0, 0, 32 [SEP] 17, CreditCard, 0.353, 0.549, 0.997, 0, 180, 0, 35 [SEP] 18, Vase, -0.451, 0.760, -2.472, 0, 0, 0, 30 [SEP] 19, Statue, 0.336, 0.483, -1.182, 0, 180, 0, 38 [SEP] 20, Painting, 0.172, 1.781, 1.934, 0, 0, 0, [SEP] 21, HousePlant, -1.646, 0.755, -1.792, 0, 0, 0, [SEP] 22, LightSwitch, 1.406, 1.294, 1.651, 0, 180, 0, [SEP] 23, Television, -0.035, 1.239, -2.439, 0, 0, 0, [SEP] 24, FloorLamp, -1.573, -0.003, 1.302, 0, 0, 0, [SEP] 25, GarbageCan, 0.742, -0.000, -2.522, 0, 270, 0, [SEP] 26, Window, -0.816, 1.534, -2.719, 90, 0, 0, [SEP] 27, Window, 0.791, 1.534, -2.718, 90, 0, 0, [SEP] 28, Shelf, 0.340, 0.474, -2.377, 0, 0, 0, [SEP] 29, Shelf, 0.341, 0.273, -2.377, 0, 0, 0, [SEP] 30, TVStand, -0.025, -0.000, -2.385, 0, 0, 0, [SEP] 31, Shelf, -0.393, 0.302, -2.382, 0, 0, 0, [SEP] 32, Shelf, -0.026, 0.442, -2.380, 0, 0, 0, [SEP] 33, Shelf, -0.393, 0.597, -2.382, 0, 0, 0, [SEP] 34, Shelf, 0.340, 0.643, -2.377, 0, 0, 0, [SEP] 35, Sofa, 0.124, 0.008, 1.032, 0, 180, 0, [SEP] 36, Cabinet, -1.827, 0.729, -2.357, 0, 90, 0, [SEP] 37, Shelf, -1.827, 2.041, -2.356, 0, 90, 0, [SEP] 38, CoffeeTable, 0.017, -0.000, -1.108, 0, 180, 0, [SEP] 39, Shelf, -1.827, 1.744, -2.356, 0, 90, 0, [SEP] 40, Shelf, -1.827, 1.452, -2.356, 0, 90, 0, [SEP] 41, Shelf, -1.730, 0.278, -1.635, 0, 90, 0, [SEP] 42, TVStand, -1.733, -0.000, -1.058, 0, 90, 0, [SEP] 43, Shelf, -1.730, 0.302, -0.479, 0, 90, 0, [SEP] 44, Shelf, -1.732, 0.446, -1.056, 0, 90, 0, [SEP] 45, Shelf, -1.731, 0.596, -0.478, 0, 90, 0, [SEP] 46, Shelf, -1.733, 0.648, -1.635, 0, 90, 0, [SEP] 47, Shelf, -1.730, 0.477, -1.635, 0, 90, 0, [SEP] 48, ArmChair, 2.344, 0.002, -2.041, 0, 270, 0, [SEP] 49, ShelvingUnit, -1.847, 0.001, -2.357, 0, 90, 0, [SEP] 50, NorthWall, , , , , , , [SEP] 51, EastWall, , , , , , , [SEP] 52, SouthWall, , , , , , , [SEP] 53, WestWall, , , , , , , ", "output": ["STEP 1: Turn to the left | STEP 2: Take the blue bank card from the couch | STEP 3: Turn to the left, take a few steps | STEP 4: Turn on the lamp in the corner | END"]} +{"id": "trial_T20190909_042815_019597-1", "input": "place a clean cloth on top of the back side of the toilet SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.5, 0.904, -0.25, 0, 0, 0, [SEP] 1, SprayBottle, -3.096, 1.870, 1.264, 0, 0, 0, 25 [SEP] 2, SprayBottle, -2.962, 1.003, -0.287, 0, 0, 0, 28 [SEP] 3, SoapBottle, -3.072, 0.051, 0.869, 0, 0, 0, 29 [SEP] 4, HandTowel, -3.321, 1.464, 0.762, 0, 270, 0, 32 [SEP] 5, Towel, -1.615, 1.398, 1.800, 0, 180, 0, 30 [SEP] 6, HandTowel, -2.96, 1.593, -0.728, 0, 180, 0, 31 [SEP] 7, SoapBar, -1.032, 0.512, 1.084, 0, 0, 0, 21 [SEP] 8, ToiletPaper, -2.970, 0.105, -0.440, 0, 0, 0, 18 [SEP] 9, ToiletPaper, -3.061, 0.668, 0.690, 347.055, 0, 90, 34 [SEP] 10, Candle, -3.100, 0.110, 0.236, 0, 0, 0, 23 [SEP] 11, ScrubBrush, -3.236, 0.003, 1.79, 0, 0, 0, Floor|-01.69| [SEP] 12, Plunger, -3.043, 0.003, 1.683, 0, 0, 0, Floor|-01.69| [SEP] 13, SoapBottle, -3.184, 1.871, 1.624, 0, 0, 0, 19 [SEP] 14, Cloth, -2.886, 1.002, -0.601, 0, 0, 0, 28 [SEP] 15, SprayBottle, -3.165, 0.110, 0.286, 0, 0, 0, 23 [SEP] 16, Faucet, -0.618, 0.667, 1.805, 0, 0, 0, [SEP] 17, Cabinet, -2.761, 0.446, 0.599, 0, 0, 0, [SEP] 18, Cabinet, -2.756, 0.421, -0.759, 0, 0, 0, [SEP] 19, Cabinet, -2.905, 2.098, 1.878, 0, 0, 0, [SEP] 20, Sink, -3.016, 0.865, 0.207, 0, 90, 0, [SEP] 21, Bathtub, -0.603, 0.286, 0.832, 0, 0, 0, [SEP] 22, SinkBasin, -3.016, 0.874, 0.217, 0, 90, 0, [SEP] 23, Cabinet, -2.756, 0.421, -0.272, 0, 0, 0, [SEP] 24, Faucet, -3.313, 0.989, 0.207, 0, 90, 0, [SEP] 25, Cabinet, -2.900, 2.053, 1.005, 0, 0, 0, [SEP] 26, BathtubBasin, -0.558, 0.023, 0.811, 0, 0, 0, [SEP] 27, Mirror, -3.348, 1.476, 0.020, 0, 0, 0, [SEP] 28, CounterTop, -3.049, 1.039, -0.442, 0, 0, 0, [SEP] 29, GarbageCan, -3.080, -0.007, 0.899, 0, 0, 0, [SEP] 30, TowelHolder, -1.615, 1.383, 1.907, 0, 180, 0, [SEP] 31, HandTowelHolder, -2.960, 1.695, -0.766, 0, 270, 0, [SEP] 32, HandTowelHolder, -3.359, 1.565, 0.763, 0, 0, 0, [SEP] 33, LightSwitch, -2.313, 1.426, -0.766, 0, 0, 0, [SEP] 34, ToiletPaperHanger, -3.105, 0.828, 0.625, 347.055, 0, 0, [SEP] 35, Toilet, -2.931, 0.003, 1.364, 0, 180, 0, [SEP] 36, ShowerCurtain, -1.171, 1.866, -0.108, 0, 0, 0, [SEP] 37, NorthWall, , , , , , , [SEP] 38, EastWall, , , , , , , [SEP] 39, SouthWall, , , , , , , [SEP] 40, WestWall, , , , , , , ", "output": ["STEP 1: turn around and walk forwards to the end of the room which is only a few steps, turn right to face the bathroom cabinet and look downwards a bit | STEP 2: grab the dirty cloth off of the bathroom cabinet there | STEP 3: move to the right a bit to align your self with the sink on the left, turn left to face the sink of course | STEP 4: clean off the dirty cloth in the sink and then take it back out | STEP 5: turn right and walk over to the toilet, and turn to face the toilet | STEP 6: place the clean cloth on the back side of the toilet | END"]} +{"id": "trial_T20190907_024700_431824-0", "input": "Put a washed bar of soap in a trash can. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.901, 3.5, 0, 90, 0, [SEP] 1, Candle, -1.458, 0.772, 2.977, 0, 0, 0, 17 [SEP] 2, SprayBottle, -1.372, 0.732, 2.927, 0, 0, 0, 17 [SEP] 3, SprayBottle, -1.798, 1.047, 0.616, 0, 90, 0, 31 [SEP] 4, HandTowel, -1.961, 1.588, 1.323, 0, 270, 0, 24 [SEP] 5, Candle, -1.801, 0.772, 2.676, 0, 0, 0, 17 [SEP] 6, HandTowel, -1.513, 1.461, 3.962, 0, 0, 0, 23 [SEP] 7, Plunger, -1.685, 0.000, 0.327, 0, 0, 0, Floor|-02.00| [SEP] 8, Towel, 0.871, 1.172, 2.356, 0, 0, 0, 22 [SEP] 9, SoapBottle, -1.715, 0.731, 2.827, 0, 0, 0, 17 [SEP] 10, SoapBar, -1.543, 0.731, 2.927, 0, 0, 0, 17 [SEP] 11, ToiletPaper, -1.488, 0.235, 1.999, 0, 0, 0, 19 [SEP] 12, Cloth, -1.529, 0.243, 3.329, 0, 0, 0, 16 [SEP] 13, ToiletPaper, -1.874, 0.722, 1.860, 0, 0, 0, 19 [SEP] 14, ScrubBrush, -1.849, 0.000, 0.137, 0, 0, 0, Floor|-02.00| [SEP] 15, SprayBottle, -1.772, 1.047, 0.748, 0, 90, 0, 31 [SEP] 16, Drawer, -1.335, 0.301, 3.329, 0, 0, 0, [SEP] 17, CounterTop, -1.608, 0.701, 2.831, 0, 0, 0, [SEP] 18, ShowerDoor, 0.564, 1.018, 1.115, 0, 0, 0, [SEP] 19, Drawer, -1.335, 0.301, 2.132, 0, 0, 0, [SEP] 20, Mirror, -1.924, 1.414, 2.759, 0, 0, 0, [SEP] 21, Sink, -1.695, 0.616, 2.283, 0, 90, 0, [SEP] 22, TowelHolder, 0.870, 1.157, 2.25, 0, 0, 0, [SEP] 23, HandTowelHolder, -1.513, 1.562, 4.000, 0, 90, 0, [SEP] 24, HandTowelHolder, -2.0, 1.690, 1.323, 0, 0, 0, [SEP] 25, Window, -1.037, 1.399, 0.019, 90, 0, 0, [SEP] 26, Window, -1.986, 1.396, 0.707, 90, 90, 0, [SEP] 27, ToiletPaperHanger, -1.498, 0.721, 0.000, 0, 0, 0, [SEP] 28, GarbageCan, -1.739, -0.031, 1.268, 0, 90, 0, [SEP] 29, LightSwitch, 1.25, 1.273, 3.634, 0, 270, 0, [SEP] 30, SinkBasin, -1.674, 0.633, 2.274, 0, 270, 0, [SEP] 31, Toilet, -1.547, 0.000, 0.685, 0, 180, 0, [SEP] 32, Sink, -1.695, 0.616, 3.365, 0, 90, 0, [SEP] 33, SinkBasin, -1.674, 0.633, 3.355, 0, 270, 0, [SEP] 34, ShowerHead, 0.853, 1.797, 1.108, 0, 180, 0, [SEP] 35, Faucet, -1.926, 0.721, 2.285, 0, 90, 0, [SEP] 36, Faucet, -1.926, 0.721, 3.368, 0, 90, 0, [SEP] 37, NorthWall, , , , , , , [SEP] 38, EastWall, , , , , , , [SEP] 39, SouthWall, , , , , , , [SEP] 40, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk to the vanity. | STEP 2: Pick up the pink soap. | STEP 3: Wash the soap in the right sink. | STEP 4: Walk to the toilet. | STEP 5: Put the soap in the garbage can. | END"]} +{"id": "trial_T20190908_175218_818728-0", "input": "Place a wet rag in the bath tub. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.900, -0.75, 0, 270, 0, [SEP] 1, SoapBar, -1.963, 1.044, 0.272, 0, 90, 0, 38 [SEP] 2, SoapBar, -1.949, 0.908, -1.418, 0, 0, 0, 20 [SEP] 3, SoapBottle, -1.933, 1.046, 0.140, 0, 90, 0, 38 [SEP] 4, SoapBottle, 0.520, 0.593, -1.748, 0, 0, 0, 25 [SEP] 5, Towel, 0.89, 1.368, -1.755, 0, 0, 0, 30 [SEP] 6, HandTowel, -2.028, 1.492, -1.482, 0, 270, 0, 36 [SEP] 7, SoapBar, 0.119, 0.152, -1.598, 0, 90, 0, 37 [SEP] 8, ToiletPaper, -1.725, 0.013, -1.435, 0, 0, 0, 26 [SEP] 9, ToiletPaper, -1.199, 0.919, 0.680, 0, 180, 270, 31 [SEP] 10, Cloth, -1.901, 0.017, -1.537, 0, 0, 0, 26 [SEP] 11, SprayBottle, -1.294, 0.018, -1.638, 0, 0, 0, 26 [SEP] 12, ScrubBrush, -1.648, -0.000, 0.649, 0, 0, 0, Floor|-00.27| [SEP] 13, Plunger, -1.885, -0.001, 0.609, 0, 0, 0, Floor|-00.27| [SEP] 14, Candle, -1.960, 0.015, -1.435, 0, 0, 0, 26 [SEP] 15, SoapBottle, -1.871, 1.046, 0.337, 0, 90, 0, 38 [SEP] 16, Cabinet, -1.052, 0.340, -1.327, 0, 0, 0, [SEP] 17, Cabinet, -1.039, 0.340, -1.327, 0, 0, 0, [SEP] 18, ShowerGlass, 0.919, 1.417, -0.206, 0, 0, 0, [SEP] 19, Sink, -1.560, 0.811, -1.598, 0, 0, 0, [SEP] 20, CounterTop, -1.041, 0.884, -1.531, 0, 0, 0, [SEP] 21, ShowerDoor, 0.451, 0.926, 0.696, 0, 0, 0, [SEP] 22, Faucet, -0.505, 0.898, -1.779, 0, 0, 0, [SEP] 23, Cabinet, -0.071, 0.340, -1.327, 0, 0, 0, [SEP] 24, Mirror, -1.014, 1.501, -1.840, 0, 0, 0, [SEP] 25, Bathtub, 0.883, 0.392, -1.154, 0, 0, 0, [SEP] 26, Cabinet, -2.020, 0.340, -1.327, 0, 0, 0, [SEP] 27, Sink, -0.526, 0.811, -1.598, 0, 0, 0, [SEP] 28, Window, 1.532, 1.672, -1.037, 0, 0, 0, [SEP] 29, ShowerCurtain, 0.460, 1.777, -1.522, 0, 0, 0, [SEP] 30, TowelHolder, 0.889, 1.353, -1.861, 0, 0, 0, [SEP] 31, ToiletPaperHanger, -1.182, 0.919, 0.768, 0, 180, 0, [SEP] 32, LightSwitch, 0.224, 1.333, 0.762, 0, 180, 0, [SEP] 33, SinkBasin, -0.536, 0.917, -1.532, 347.851, 0, 0, [SEP] 34, BathtubBasin, 0.938, 0.160, -1.126, 0, 270, 0, [SEP] 35, SinkBasin, -1.571, 0.917, -1.532, 347.851, 0, 0, [SEP] 36, HandTowelHolder, -2.066, 1.594, -1.482, 0, 0, 0, [SEP] 37, GarbageCan, 0.122, -0.002, -1.558, 0, 270, 0, [SEP] 38, Toilet, -1.610, -0.000, 0.209, 0, 180, 0, [SEP] 39, Faucet, -1.537, 0.898, -1.779, 0, 0, 0, [SEP] 40, Faucet, 0.929, 0.509, -1.978, 0, 0, 0, [SEP] 41, Faucet, 0.890, 1.689, 0.724, 0, 0, 0, [SEP] 42, NorthWall, , , , , , , [SEP] 43, EastWall, , , , , , , [SEP] 44, SouthWall, , , , , , , [SEP] 45, WestWall, , , , , , , ", "output": ["STEP 1: Turn towards the sink on your left. | STEP 2: Grab the dirty rag from under the sink. | STEP 3: Take a step to your left. | STEP 4: Place the rag in the sink and turn the faucet on and off before picking up the rag. | STEP 5: Walk to the bath on your left. | STEP 6: Place the rag in the bath tub. | END"]} +{"id": "trial_T20190908_175218_818728-2", "input": "Put the clean right in the tub. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.900, -0.75, 0, 270, 0, [SEP] 1, SoapBar, -1.963, 1.044, 0.272, 0, 90, 0, 38 [SEP] 2, SoapBar, -1.949, 0.908, -1.418, 0, 0, 0, 20 [SEP] 3, SoapBottle, -1.933, 1.046, 0.140, 0, 90, 0, 38 [SEP] 4, SoapBottle, 0.520, 0.593, -1.748, 0, 0, 0, 25 [SEP] 5, Towel, 0.89, 1.368, -1.755, 0, 0, 0, 30 [SEP] 6, HandTowel, -2.028, 1.492, -1.482, 0, 270, 0, 36 [SEP] 7, SoapBar, 0.119, 0.152, -1.598, 0, 90, 0, 37 [SEP] 8, ToiletPaper, -1.725, 0.013, -1.435, 0, 0, 0, 26 [SEP] 9, ToiletPaper, -1.199, 0.919, 0.680, 0, 180, 270, 31 [SEP] 10, Cloth, -1.901, 0.017, -1.537, 0, 0, 0, 26 [SEP] 11, SprayBottle, -1.294, 0.018, -1.638, 0, 0, 0, 26 [SEP] 12, ScrubBrush, -1.648, -0.000, 0.649, 0, 0, 0, Floor|-00.27| [SEP] 13, Plunger, -1.885, -0.001, 0.609, 0, 0, 0, Floor|-00.27| [SEP] 14, Candle, -1.960, 0.015, -1.435, 0, 0, 0, 26 [SEP] 15, SoapBottle, -1.871, 1.046, 0.337, 0, 90, 0, 38 [SEP] 16, Cabinet, -1.052, 0.340, -1.327, 0, 0, 0, [SEP] 17, Cabinet, -1.039, 0.340, -1.327, 0, 0, 0, [SEP] 18, ShowerGlass, 0.919, 1.417, -0.206, 0, 0, 0, [SEP] 19, Sink, -1.560, 0.811, -1.598, 0, 0, 0, [SEP] 20, CounterTop, -1.041, 0.884, -1.531, 0, 0, 0, [SEP] 21, ShowerDoor, 0.451, 0.926, 0.696, 0, 0, 0, [SEP] 22, Faucet, -0.505, 0.898, -1.779, 0, 0, 0, [SEP] 23, Cabinet, -0.071, 0.340, -1.327, 0, 0, 0, [SEP] 24, Mirror, -1.014, 1.501, -1.840, 0, 0, 0, [SEP] 25, Bathtub, 0.883, 0.392, -1.154, 0, 0, 0, [SEP] 26, Cabinet, -2.020, 0.340, -1.327, 0, 0, 0, [SEP] 27, Sink, -0.526, 0.811, -1.598, 0, 0, 0, [SEP] 28, Window, 1.532, 1.672, -1.037, 0, 0, 0, [SEP] 29, ShowerCurtain, 0.460, 1.777, -1.522, 0, 0, 0, [SEP] 30, TowelHolder, 0.889, 1.353, -1.861, 0, 0, 0, [SEP] 31, ToiletPaperHanger, -1.182, 0.919, 0.768, 0, 180, 0, [SEP] 32, LightSwitch, 0.224, 1.333, 0.762, 0, 180, 0, [SEP] 33, SinkBasin, -0.536, 0.917, -1.532, 347.851, 0, 0, [SEP] 34, BathtubBasin, 0.938, 0.160, -1.126, 0, 270, 0, [SEP] 35, SinkBasin, -1.571, 0.917, -1.532, 347.851, 0, 0, [SEP] 36, HandTowelHolder, -2.066, 1.594, -1.482, 0, 0, 0, [SEP] 37, GarbageCan, 0.122, -0.002, -1.558, 0, 270, 0, [SEP] 38, Toilet, -1.610, -0.000, 0.209, 0, 180, 0, [SEP] 39, Faucet, -1.537, 0.898, -1.779, 0, 0, 0, [SEP] 40, Faucet, 0.929, 0.509, -1.978, 0, 0, 0, [SEP] 41, Faucet, 0.890, 1.689, 0.724, 0, 0, 0, [SEP] 42, NorthWall, , , , , , , [SEP] 43, EastWall, , , , , , , [SEP] 44, SouthWall, , , , , , , [SEP] 45, WestWall, , , , , , , ", "output": ["STEP 1: Move forward, then turn left to face the sink. | STEP 2: Take the rag from the right cabinet, beneath the sink. | STEP 3: Turn left, go forward, then turn right to face the leftmost sink. | STEP 4: Clean the rag in the sink. | STEP 5: Turn around, step forward, then turn left to face the tub. | STEP 6: Put the rag in the tub. | END"]} +{"id": "trial_T20190907_152008_183708-0", "input": "Set a rinsed piece of apple on the table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.5, 0.901, -0.5, 0, 180, 0, [SEP] 1, Potato, -0.395, 1.075, 2.068, 0, 90, 0, 80 [SEP] 2, WineBottle, 0.850, 0.082, 2.601, 0, 0, 0, 62 [SEP] 3, Ladle, -0.272, 0.835, 0.377, 0, 0, 0, 82 [SEP] 4, DishSponge, 1.884, 0.746, 1.922, 0, 0, 0, 70 [SEP] 5, ButterKnife, 1.917, 0.938, 0.583, 0, 180, 0, 66 [SEP] 6, Spoon, -0.349, 0.792, 1.217, 0, 0, 0, 82 [SEP] 7, Egg, -0.261, 1.078, 2.014, 0, 90, 0, 80 [SEP] 8, Egg, -0.272, 0.833, 0.545, 0, 0, 0, 82 [SEP] 9, Cup, 2.207, 0.600, -0.278, 0, 270, 0, 76 [SEP] 10, Cup, -0.396, 0.935, 2.827, 0, 0, 0, 55 [SEP] 11, Plate, 1.925, 0.086, 1.986, 0, 0, 0, 51 [SEP] 12, Knife, -0.042, 0.816, 1.049, 0, 90, 0, 82 [SEP] 13, Knife, -0.349, 0.816, 1.386, 0, 180, 0, 82 [SEP] 14, SoapBottle, 0.033, 0.791, 0.545, 0, 0, 0, 82 [SEP] 15, SoapBottle, -0.326, 0.038, -0.864, 0, 90, 0, 77 [SEP] 16, SaltShaker, -0.349, 0.785, 0.881, 0, 0, 0, 82 [SEP] 17, PepperShaker, -0.042, 0.785, 0.881, 0, 0, 0, 82 [SEP] 18, PepperShaker, 2.206, 1.496, 1.963, 0, 0, 0, 58 [SEP] 19, Mug, -0.078, 0.076, 2.265, 0, 0, 0, 49 [SEP] 20, Mug, -0.196, 0.785, 1.386, 0, 0, 0, 82 [SEP] 21, Apple, -0.042, 0.840, 0.713, 0, 0, 0, 82 [SEP] 22, Apple, -0.348, 0.987, 2.478, 0, 0, 0, 55 [SEP] 23, Apple, 0.033, 0.840, 0.377, 0, 0, 0, 82 [SEP] 24, Egg, 2.127, 1.561, -0.460, 0, 270, 0, 76 [SEP] 25, Lettuce, -0.196, 0.852, 1.217, 0, 0, 0, 82 [SEP] 26, Fork, -0.349, 0.791, 1.049, 0, 0, 0, 82 [SEP] 27, SoapBottle, 1.840, 0.939, 0.509, 0, 0, 0, 66 [SEP] 28, Ladle, -0.349, 0.835, 0.545, 0, 0, 0, 82 [SEP] 29, Ladle, 1.941, 0.790, 0.721, 0, 270, 0, 64 [SEP] 30, Bread, -0.199, 0.823, 0.813, 0, 0, 0, 82 [SEP] 31, SaltShaker, -0.425, 0.785, 1.217, 0, 0, 0, 82 [SEP] 32, Potato, 2.137, 0.901, -0.097, 0, 270, 0, 76 [SEP] 33, Pan, 2.140, 0.935, 1.504, 0, 180, 0, 50 [SEP] 34, WineBottle, 0.174, 0.938, 2.688, 0, 0, 0, 55 [SEP] 35, Spatula, -0.103, 0.761, 2.061, 0, 90, 0, 54 [SEP] 36, Knife, 0.033, 0.816, 1.049, 0, 90, 0, 82 [SEP] 37, Tomato, 2.056, 1.369, -0.279, 0, 270, 0, 76 [SEP] 38, Apple, -0.261, 1.085, 2.121, 0, 90, 0, 80 [SEP] 39, ButterKnife, 0.174, 0.937, 2.618, 0, 0, 0, 55 [SEP] 40, Pot, 2.140, 0.935, 1.106, 0, 0, 0, 57 [SEP] 41, PepperShaker, -0.078, 0.076, 1.993, 0, 0, 0, 49 [SEP] 42, Cup, 2.059, 0.336, -0.188, 0, 270, 0, 76 [SEP] 43, DishSponge, -0.196, 0.790, 1.049, 0, 0, 0, 82 [SEP] 44, Plate, 1.298, 0.085, 2.523, 0, 0, 0, 61 [SEP] 45, Spoon, -0.119, 0.792, 1.217, 0, 90, 0, 82 [SEP] 46, Mug, 2.223, 1.318, -0.007, 0, 270, 0, 76 [SEP] 47, Bowl, 1.223, 0.792, 2.64, 0, 0, 0, 79 [SEP] 48, Cabinet, 2.041, 2.113, 2.618, 0, 0, 0, [SEP] 49, Cabinet, 0.126, 0.388, 1.774, 0, 0, 0, [SEP] 50, StoveBurner, 2.140, 0.929, 1.504, 0, 180, 0, [SEP] 51, Cabinet, 1.760, 0.388, 2.346, 0, 0, 0, [SEP] 52, Cabinet, 1.760, 0.388, 0.869, 0, 0, 0, [SEP] 53, Cabinet, 2.041, 1.810, 0.283, 0, 0, 0, [SEP] 54, Drawer, -0.024, 0.774, 2.061, 0, 0, 0, [SEP] 55, CounterTop, 1.065, 0.973, 2.666, 0, 0, 0, [SEP] 56, Cabinet, 1.969, 2.113, 2.618, 0, 0, 0, [SEP] 57, StoveBurner, 2.140, 0.929, 1.106, 0, 0, 0, [SEP] 58, Cabinet, 2.041, 2.113, 1.809, 0, 0, 0, [SEP] 59, StoveBurner, 1.866, 0.929, 1.504, 0, 180, 0, [SEP] 60, Cabinet, 2.041, 2.113, 1.766, 0, 0, 0, [SEP] 61, Cabinet, 1.514, 0.388, 2.360, 0, 0, 0, [SEP] 62, Cabinet, 0.351, 0.388, 2.360, 0, 0, 0, [SEP] 63, Cabinet, 2.041, 1.810, 0.872, 0, 0, 0, [SEP] 64, Drawer, 2.167, 0.774, 0.582, 0, 0, 0, [SEP] 65, Cabinet, 2.041, 2.113, 0.892, 0, 0, 0, [SEP] 66, CounterTop, 2.060, 0.973, 0.583, 0, 0, 0, [SEP] 67, Sink, 0.935, 0.936, 2.646, 0, 0, 0, [SEP] 68, Curtains, 0.964, 2.061, 2.989, 0, 0, 0, [SEP] 69, StoveBurner, 1.863, 0.929, 1.106, 0, 0, 0, [SEP] 70, Drawer, 1.911, 0.774, 2.060, 0, 0, 0, [SEP] 71, StoveKnob, 2.326, 1.092, 1.610, 288.013, 90, 0, [SEP] 72, StoveKnob, 2.326, 1.092, 1.460, 288.013, 90, 0, [SEP] 73, StoveKnob, 2.326, 1.092, 1.210, 288.013, 90, 0, [SEP] 74, StoveKnob, 2.326, 1.092, 1.050, 288.013, 90, 0, [SEP] 75, Toaster, 2.126, 0.926, 0.572, 0, 270, 0, [SEP] 76, Fridge, 2.104, 0.0, -0.279, 0, 270, 0, [SEP] 77, GarbageCan, -0.309, -0.001, -0.807, 0, 91.471, 0, [SEP] 78, LightSwitch, 0.354, 1.518, -1.031, 0, 0, 0, [SEP] 79, SinkBasin, 0.903, 0.784, 2.640, 0, 0, 0, [SEP] 80, Microwave, -0.310, 0.926, 2.077, 0, 90, 0, [SEP] 81, CoffeeMachine, 2.084, 0.927, 2.667, 0, 225, 0, [SEP] 82, DiningTable, -0.153, -0.000, 1.073, 0, 270, 0, [SEP] 83, Faucet, 1.175, 0.926, 2.950, 270, 90, 0, [SEP] 84, Faucet, 0.686, 0.926, 2.950, 270, 90, 0, [SEP] 85, Chair, -0.077, 0.002, 0.196, 0, 15.000, 0, [SEP] 86, NorthWall, , , , , , , [SEP] 87, EastWall, , , , , , , [SEP] 88, SouthWall, , , , , , , [SEP] 89, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk to the table on the left. | STEP 2: Pick up the closest knife from the front of the table. | STEP 3: Look away from the table and then back to the table again. | STEP 4: Cut an apple to the left of the pepper mill. | STEP 5: Cut the apple again and remove a piece from the apple. | STEP 6: Pick up the cut piece of apple from the table. | STEP 7: Turn right and walk to the sink. | STEP 8: Rinse the apple at the sink. | STEP 9: Turn around and carry the piece of apple to the table. | STEP 10: Set the piece of apple down on the table next to the rest of the apple. | END"]} +{"id": "trial_T20190907_152008_183708-1", "input": "Put a clean apple slice on the table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.5, 0.901, -0.5, 0, 180, 0, [SEP] 1, Potato, -0.395, 1.075, 2.068, 0, 90, 0, 80 [SEP] 2, WineBottle, 0.850, 0.082, 2.601, 0, 0, 0, 62 [SEP] 3, Ladle, -0.272, 0.835, 0.377, 0, 0, 0, 82 [SEP] 4, DishSponge, 1.884, 0.746, 1.922, 0, 0, 0, 70 [SEP] 5, ButterKnife, 1.917, 0.938, 0.583, 0, 180, 0, 66 [SEP] 6, Spoon, -0.349, 0.792, 1.217, 0, 0, 0, 82 [SEP] 7, Egg, -0.261, 1.078, 2.014, 0, 90, 0, 80 [SEP] 8, Egg, -0.272, 0.833, 0.545, 0, 0, 0, 82 [SEP] 9, Cup, 2.207, 0.600, -0.278, 0, 270, 0, 76 [SEP] 10, Cup, -0.396, 0.935, 2.827, 0, 0, 0, 55 [SEP] 11, Plate, 1.925, 0.086, 1.986, 0, 0, 0, 51 [SEP] 12, Knife, -0.042, 0.816, 1.049, 0, 90, 0, 82 [SEP] 13, Knife, -0.349, 0.816, 1.386, 0, 180, 0, 82 [SEP] 14, SoapBottle, 0.033, 0.791, 0.545, 0, 0, 0, 82 [SEP] 15, SoapBottle, -0.326, 0.038, -0.864, 0, 90, 0, 77 [SEP] 16, SaltShaker, -0.349, 0.785, 0.881, 0, 0, 0, 82 [SEP] 17, PepperShaker, -0.042, 0.785, 0.881, 0, 0, 0, 82 [SEP] 18, PepperShaker, 2.206, 1.496, 1.963, 0, 0, 0, 58 [SEP] 19, Mug, -0.078, 0.076, 2.265, 0, 0, 0, 49 [SEP] 20, Mug, -0.196, 0.785, 1.386, 0, 0, 0, 82 [SEP] 21, Apple, -0.042, 0.840, 0.713, 0, 0, 0, 82 [SEP] 22, Apple, -0.348, 0.987, 2.478, 0, 0, 0, 55 [SEP] 23, Apple, 0.033, 0.840, 0.377, 0, 0, 0, 82 [SEP] 24, Egg, 2.127, 1.561, -0.460, 0, 270, 0, 76 [SEP] 25, Lettuce, -0.196, 0.852, 1.217, 0, 0, 0, 82 [SEP] 26, Fork, -0.349, 0.791, 1.049, 0, 0, 0, 82 [SEP] 27, SoapBottle, 1.840, 0.939, 0.509, 0, 0, 0, 66 [SEP] 28, Ladle, -0.349, 0.835, 0.545, 0, 0, 0, 82 [SEP] 29, Ladle, 1.941, 0.790, 0.721, 0, 270, 0, 64 [SEP] 30, Bread, -0.199, 0.823, 0.813, 0, 0, 0, 82 [SEP] 31, SaltShaker, -0.425, 0.785, 1.217, 0, 0, 0, 82 [SEP] 32, Potato, 2.137, 0.901, -0.097, 0, 270, 0, 76 [SEP] 33, Pan, 2.140, 0.935, 1.504, 0, 180, 0, 50 [SEP] 34, WineBottle, 0.174, 0.938, 2.688, 0, 0, 0, 55 [SEP] 35, Spatula, -0.103, 0.761, 2.061, 0, 90, 0, 54 [SEP] 36, Knife, 0.033, 0.816, 1.049, 0, 90, 0, 82 [SEP] 37, Tomato, 2.056, 1.369, -0.279, 0, 270, 0, 76 [SEP] 38, Apple, -0.261, 1.085, 2.121, 0, 90, 0, 80 [SEP] 39, ButterKnife, 0.174, 0.937, 2.618, 0, 0, 0, 55 [SEP] 40, Pot, 2.140, 0.935, 1.106, 0, 0, 0, 57 [SEP] 41, PepperShaker, -0.078, 0.076, 1.993, 0, 0, 0, 49 [SEP] 42, Cup, 2.059, 0.336, -0.188, 0, 270, 0, 76 [SEP] 43, DishSponge, -0.196, 0.790, 1.049, 0, 0, 0, 82 [SEP] 44, Plate, 1.298, 0.085, 2.523, 0, 0, 0, 61 [SEP] 45, Spoon, -0.119, 0.792, 1.217, 0, 90, 0, 82 [SEP] 46, Mug, 2.223, 1.318, -0.007, 0, 270, 0, 76 [SEP] 47, Bowl, 1.223, 0.792, 2.64, 0, 0, 0, 79 [SEP] 48, Cabinet, 2.041, 2.113, 2.618, 0, 0, 0, [SEP] 49, Cabinet, 0.126, 0.388, 1.774, 0, 0, 0, [SEP] 50, StoveBurner, 2.140, 0.929, 1.504, 0, 180, 0, [SEP] 51, Cabinet, 1.760, 0.388, 2.346, 0, 0, 0, [SEP] 52, Cabinet, 1.760, 0.388, 0.869, 0, 0, 0, [SEP] 53, Cabinet, 2.041, 1.810, 0.283, 0, 0, 0, [SEP] 54, Drawer, -0.024, 0.774, 2.061, 0, 0, 0, [SEP] 55, CounterTop, 1.065, 0.973, 2.666, 0, 0, 0, [SEP] 56, Cabinet, 1.969, 2.113, 2.618, 0, 0, 0, [SEP] 57, StoveBurner, 2.140, 0.929, 1.106, 0, 0, 0, [SEP] 58, Cabinet, 2.041, 2.113, 1.809, 0, 0, 0, [SEP] 59, StoveBurner, 1.866, 0.929, 1.504, 0, 180, 0, [SEP] 60, Cabinet, 2.041, 2.113, 1.766, 0, 0, 0, [SEP] 61, Cabinet, 1.514, 0.388, 2.360, 0, 0, 0, [SEP] 62, Cabinet, 0.351, 0.388, 2.360, 0, 0, 0, [SEP] 63, Cabinet, 2.041, 1.810, 0.872, 0, 0, 0, [SEP] 64, Drawer, 2.167, 0.774, 0.582, 0, 0, 0, [SEP] 65, Cabinet, 2.041, 2.113, 0.892, 0, 0, 0, [SEP] 66, CounterTop, 2.060, 0.973, 0.583, 0, 0, 0, [SEP] 67, Sink, 0.935, 0.936, 2.646, 0, 0, 0, [SEP] 68, Curtains, 0.964, 2.061, 2.989, 0, 0, 0, [SEP] 69, StoveBurner, 1.863, 0.929, 1.106, 0, 0, 0, [SEP] 70, Drawer, 1.911, 0.774, 2.060, 0, 0, 0, [SEP] 71, StoveKnob, 2.326, 1.092, 1.610, 288.013, 90, 0, [SEP] 72, StoveKnob, 2.326, 1.092, 1.460, 288.013, 90, 0, [SEP] 73, StoveKnob, 2.326, 1.092, 1.210, 288.013, 90, 0, [SEP] 74, StoveKnob, 2.326, 1.092, 1.050, 288.013, 90, 0, [SEP] 75, Toaster, 2.126, 0.926, 0.572, 0, 270, 0, [SEP] 76, Fridge, 2.104, 0.0, -0.279, 0, 270, 0, [SEP] 77, GarbageCan, -0.309, -0.001, -0.807, 0, 91.471, 0, [SEP] 78, LightSwitch, 0.354, 1.518, -1.031, 0, 0, 0, [SEP] 79, SinkBasin, 0.903, 0.784, 2.640, 0, 0, 0, [SEP] 80, Microwave, -0.310, 0.926, 2.077, 0, 90, 0, [SEP] 81, CoffeeMachine, 2.084, 0.927, 2.667, 0, 225, 0, [SEP] 82, DiningTable, -0.153, -0.000, 1.073, 0, 270, 0, [SEP] 83, Faucet, 1.175, 0.926, 2.950, 270, 90, 0, [SEP] 84, Faucet, 0.686, 0.926, 2.950, 270, 90, 0, [SEP] 85, Chair, -0.077, 0.002, 0.196, 0, 15.000, 0, [SEP] 86, NorthWall, , , , , , , [SEP] 87, EastWall, , , , , , , [SEP] 88, SouthWall, , , , , , , [SEP] 89, WestWall, , , , , , , ", "output": ["STEP 1: Turn around then face the white table to your right. | STEP 2: Pick up the knife from the table in front of you. | STEP 3: Turn left, then face the table to your right in front of the apple. | STEP 4: Slice the apple in front of you on the table. | STEP 5: Cut out an apple slice from the apple on the table. | STEP 6: Take an apple slice from the table. | STEP 7: Turn right and head towards the sink in front of you. | STEP 8: Wash the apple slice and take it out of the sink. | STEP 9: Turn around and face the table to your right. | STEP 10: Place the apple slice on the table in front of you. | END"]} +{"id": "trial_T20190907_152008_183708-3", "input": "Putting a sliced apple on the white table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.5, 0.901, -0.5, 0, 180, 0, [SEP] 1, Potato, -0.395, 1.075, 2.068, 0, 90, 0, 80 [SEP] 2, WineBottle, 0.850, 0.082, 2.601, 0, 0, 0, 62 [SEP] 3, Ladle, -0.272, 0.835, 0.377, 0, 0, 0, 82 [SEP] 4, DishSponge, 1.884, 0.746, 1.922, 0, 0, 0, 70 [SEP] 5, ButterKnife, 1.917, 0.938, 0.583, 0, 180, 0, 66 [SEP] 6, Spoon, -0.349, 0.792, 1.217, 0, 0, 0, 82 [SEP] 7, Egg, -0.261, 1.078, 2.014, 0, 90, 0, 80 [SEP] 8, Egg, -0.272, 0.833, 0.545, 0, 0, 0, 82 [SEP] 9, Cup, 2.207, 0.600, -0.278, 0, 270, 0, 76 [SEP] 10, Cup, -0.396, 0.935, 2.827, 0, 0, 0, 55 [SEP] 11, Plate, 1.925, 0.086, 1.986, 0, 0, 0, 51 [SEP] 12, Knife, -0.042, 0.816, 1.049, 0, 90, 0, 82 [SEP] 13, Knife, -0.349, 0.816, 1.386, 0, 180, 0, 82 [SEP] 14, SoapBottle, 0.033, 0.791, 0.545, 0, 0, 0, 82 [SEP] 15, SoapBottle, -0.326, 0.038, -0.864, 0, 90, 0, 77 [SEP] 16, SaltShaker, -0.349, 0.785, 0.881, 0, 0, 0, 82 [SEP] 17, PepperShaker, -0.042, 0.785, 0.881, 0, 0, 0, 82 [SEP] 18, PepperShaker, 2.206, 1.496, 1.963, 0, 0, 0, 58 [SEP] 19, Mug, -0.078, 0.076, 2.265, 0, 0, 0, 49 [SEP] 20, Mug, -0.196, 0.785, 1.386, 0, 0, 0, 82 [SEP] 21, Apple, -0.042, 0.840, 0.713, 0, 0, 0, 82 [SEP] 22, Apple, -0.348, 0.987, 2.478, 0, 0, 0, 55 [SEP] 23, Apple, 0.033, 0.840, 0.377, 0, 0, 0, 82 [SEP] 24, Egg, 2.127, 1.561, -0.460, 0, 270, 0, 76 [SEP] 25, Lettuce, -0.196, 0.852, 1.217, 0, 0, 0, 82 [SEP] 26, Fork, -0.349, 0.791, 1.049, 0, 0, 0, 82 [SEP] 27, SoapBottle, 1.840, 0.939, 0.509, 0, 0, 0, 66 [SEP] 28, Ladle, -0.349, 0.835, 0.545, 0, 0, 0, 82 [SEP] 29, Ladle, 1.941, 0.790, 0.721, 0, 270, 0, 64 [SEP] 30, Bread, -0.199, 0.823, 0.813, 0, 0, 0, 82 [SEP] 31, SaltShaker, -0.425, 0.785, 1.217, 0, 0, 0, 82 [SEP] 32, Potato, 2.137, 0.901, -0.097, 0, 270, 0, 76 [SEP] 33, Pan, 2.140, 0.935, 1.504, 0, 180, 0, 50 [SEP] 34, WineBottle, 0.174, 0.938, 2.688, 0, 0, 0, 55 [SEP] 35, Spatula, -0.103, 0.761, 2.061, 0, 90, 0, 54 [SEP] 36, Knife, 0.033, 0.816, 1.049, 0, 90, 0, 82 [SEP] 37, Tomato, 2.056, 1.369, -0.279, 0, 270, 0, 76 [SEP] 38, Apple, -0.261, 1.085, 2.121, 0, 90, 0, 80 [SEP] 39, ButterKnife, 0.174, 0.937, 2.618, 0, 0, 0, 55 [SEP] 40, Pot, 2.140, 0.935, 1.106, 0, 0, 0, 57 [SEP] 41, PepperShaker, -0.078, 0.076, 1.993, 0, 0, 0, 49 [SEP] 42, Cup, 2.059, 0.336, -0.188, 0, 270, 0, 76 [SEP] 43, DishSponge, -0.196, 0.790, 1.049, 0, 0, 0, 82 [SEP] 44, Plate, 1.298, 0.085, 2.523, 0, 0, 0, 61 [SEP] 45, Spoon, -0.119, 0.792, 1.217, 0, 90, 0, 82 [SEP] 46, Mug, 2.223, 1.318, -0.007, 0, 270, 0, 76 [SEP] 47, Bowl, 1.223, 0.792, 2.64, 0, 0, 0, 79 [SEP] 48, Cabinet, 2.041, 2.113, 2.618, 0, 0, 0, [SEP] 49, Cabinet, 0.126, 0.388, 1.774, 0, 0, 0, [SEP] 50, StoveBurner, 2.140, 0.929, 1.504, 0, 180, 0, [SEP] 51, Cabinet, 1.760, 0.388, 2.346, 0, 0, 0, [SEP] 52, Cabinet, 1.760, 0.388, 0.869, 0, 0, 0, [SEP] 53, Cabinet, 2.041, 1.810, 0.283, 0, 0, 0, [SEP] 54, Drawer, -0.024, 0.774, 2.061, 0, 0, 0, [SEP] 55, CounterTop, 1.065, 0.973, 2.666, 0, 0, 0, [SEP] 56, Cabinet, 1.969, 2.113, 2.618, 0, 0, 0, [SEP] 57, StoveBurner, 2.140, 0.929, 1.106, 0, 0, 0, [SEP] 58, Cabinet, 2.041, 2.113, 1.809, 0, 0, 0, [SEP] 59, StoveBurner, 1.866, 0.929, 1.504, 0, 180, 0, [SEP] 60, Cabinet, 2.041, 2.113, 1.766, 0, 0, 0, [SEP] 61, Cabinet, 1.514, 0.388, 2.360, 0, 0, 0, [SEP] 62, Cabinet, 0.351, 0.388, 2.360, 0, 0, 0, [SEP] 63, Cabinet, 2.041, 1.810, 0.872, 0, 0, 0, [SEP] 64, Drawer, 2.167, 0.774, 0.582, 0, 0, 0, [SEP] 65, Cabinet, 2.041, 2.113, 0.892, 0, 0, 0, [SEP] 66, CounterTop, 2.060, 0.973, 0.583, 0, 0, 0, [SEP] 67, Sink, 0.935, 0.936, 2.646, 0, 0, 0, [SEP] 68, Curtains, 0.964, 2.061, 2.989, 0, 0, 0, [SEP] 69, StoveBurner, 1.863, 0.929, 1.106, 0, 0, 0, [SEP] 70, Drawer, 1.911, 0.774, 2.060, 0, 0, 0, [SEP] 71, StoveKnob, 2.326, 1.092, 1.610, 288.013, 90, 0, [SEP] 72, StoveKnob, 2.326, 1.092, 1.460, 288.013, 90, 0, [SEP] 73, StoveKnob, 2.326, 1.092, 1.210, 288.013, 90, 0, [SEP] 74, StoveKnob, 2.326, 1.092, 1.050, 288.013, 90, 0, [SEP] 75, Toaster, 2.126, 0.926, 0.572, 0, 270, 0, [SEP] 76, Fridge, 2.104, 0.0, -0.279, 0, 270, 0, [SEP] 77, GarbageCan, -0.309, -0.001, -0.807, 0, 91.471, 0, [SEP] 78, LightSwitch, 0.354, 1.518, -1.031, 0, 0, 0, [SEP] 79, SinkBasin, 0.903, 0.784, 2.640, 0, 0, 0, [SEP] 80, Microwave, -0.310, 0.926, 2.077, 0, 90, 0, [SEP] 81, CoffeeMachine, 2.084, 0.927, 2.667, 0, 225, 0, [SEP] 82, DiningTable, -0.153, -0.000, 1.073, 0, 270, 0, [SEP] 83, Faucet, 1.175, 0.926, 2.950, 270, 90, 0, [SEP] 84, Faucet, 0.686, 0.926, 2.950, 270, 90, 0, [SEP] 85, Chair, -0.077, 0.002, 0.196, 0, 15.000, 0, [SEP] 86, NorthWall, , , , , , , [SEP] 87, EastWall, , , , , , , [SEP] 88, SouthWall, , , , , , , [SEP] 89, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and head to the white table on the left | STEP 2: Grab the large knife off of the table | STEP 3: Move slightly to the left | STEP 4: Cut the apple into three slices | STEP 5: Lay the knife down on the table | STEP 6: Grab one of the apple slices | STEP 7: Turn right and head to the sink | STEP 8: Wash the apple in the sink and take it out | STEP 9: Turn around and head to the white table | STEP 10: Put the apple on the table | END"]} +{"id": "trial_T20190907_072650_335835-1", "input": "The robot needs to get a towel from each towel rack then place them on the toilet tank. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.901, -3.25, 0, 180, 0, [SEP] 1, Cloth, -2.764, 0.066, -3.506, 0, 0, 0, 23 [SEP] 2, Cloth, -2.538, 0.066, -3.023, 0, 0, 0, 18 [SEP] 3, SoapBar, -2.637, 0.872, -3.067, 0, 90, 0, 31 [SEP] 4, Candle, -2.613, 0.075, -3.568, 0, 0, 0, 23 [SEP] 5, SprayBottle, -2.613, 0.067, -3.506, 0, 0, 0, 23 [SEP] 6, HandTowel, -2.962, 1.584, -2.569, 0, 270, 0, 29 [SEP] 7, Candle, -0.099, 1.054, -3.114, 0, 270, 0, 34 [SEP] 8, Cloth, -2.620, 0.806, -3.765, 0, 0, 0, 25 [SEP] 9, HandTowel, -2.962, 1.584, -3.550, 0, 270, 0, 28 [SEP] 10, Plunger, -0.125, 0.000, -3.493, 0, 0, 0, Floor|-00.04| [SEP] 11, SoapBar, -2.462, 0.066, -3.755, 0, 0, 0, 23 [SEP] 12, ToiletPaper, -0.093, 0.842, -2.618, 0, 270, 270, 27 [SEP] 13, ToiletPaper, -0.190, 1.042, -2.917, 0, 270, 0, 34 [SEP] 14, Towel, -1.291, 1.386, -0.63, 0, 270, 0, 26 [SEP] 15, SoapBottle, -2.443, 0.808, -2.525, 0, 0, 0, 25 [SEP] 16, SprayBottle, -0.129, 1.046, -3.048, 0, 270, 0, 34 [SEP] 17, ScrubBrush, -0.325, 0.000, -3.342, 0, 0, 0, Floor|-00.04| [SEP] 18, Cabinet, -2.293, 0.324, -3.254, 0, 0, 0, [SEP] 19, Mirror, -3.0, 1.659, -3.069, 0, 0, 0, [SEP] 20, Sink, -2.661, 0.785, -3.069, 0, 90, 0, [SEP] 21, ShowerGlass, -0.599, 1.097, -1.124, 0, 0, 0, [SEP] 22, Cabinet, -2.299, 0.345, -2.250, 0, 0, 0, [SEP] 23, Cabinet, -2.293, 0.324, -3.814, 0, 0, 0, [SEP] 24, ShowerDoor, -1.179, 1.090, -1.220, 0, 0, 0, [SEP] 25, CounterTop, -2.632, 0.843, -3.040, 0, 0, 0, [SEP] 26, TowelHolder, -1.184, 1.371, -0.629, 0, 270, 0, [SEP] 27, ToiletPaperHanger, 0.0, 0.943, -2.536, 0, 270, 0, [SEP] 28, HandTowelHolder, -3.000, 1.685, -3.550, 0, 0, 0, [SEP] 29, HandTowelHolder, -3.000, 1.685, -2.569, 0, 0, 0, [SEP] 30, Window, -0.567, 1.706, -4.002, 90, 0, 0, [SEP] 31, SinkBasin, -2.669, 0.863, -3.063, 0, 90, 0, [SEP] 32, GarbageCan, -0.459, -0.043, -3.769, 0, 0, 0, [SEP] 33, LightSwitch, -1.945, 1.503, 0.000, 0, 180, 0, [SEP] 34, Toilet, -0.452, 0.000, -3.052, 0, 0, 0, [SEP] 35, Faucet, -3.0, 1.167, -3.073, 0, 180, 0, [SEP] 36, ShowerHead, -0.614, 1.934, -0.013, 0, 0, 0, [SEP] 37, EastWall, , , , , , , [SEP] 38, EastWall, , , , , , , [SEP] 39, SouthWall, , , , , , , ", "output": ["STEP 1: Turn right towards the sink. | STEP 2: Remove the towel from the towel rack to the left of the mirror. | STEP 3: Turn around and move towards the toilet. | STEP 4: Place the towel on the left side of the toilet tank. | STEP 5: Turn around and move towards the sink. | STEP 6: Remove the towel from the towel rack to the right of the mirror. | STEP 7: Turn around and move towards the toilet. | STEP 8: Place the towel on the right side of the other towel. | END"]} +{"id": "trial_T20190907_072650_335835-3", "input": "Place two towels on top of the back of the toilet. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.901, -3.25, 0, 180, 0, [SEP] 1, Cloth, -2.764, 0.066, -3.506, 0, 0, 0, 23 [SEP] 2, Cloth, -2.538, 0.066, -3.023, 0, 0, 0, 18 [SEP] 3, SoapBar, -2.637, 0.872, -3.067, 0, 90, 0, 31 [SEP] 4, Candle, -2.613, 0.075, -3.568, 0, 0, 0, 23 [SEP] 5, SprayBottle, -2.613, 0.067, -3.506, 0, 0, 0, 23 [SEP] 6, HandTowel, -2.962, 1.584, -2.569, 0, 270, 0, 29 [SEP] 7, Candle, -0.099, 1.054, -3.114, 0, 270, 0, 34 [SEP] 8, Cloth, -2.620, 0.806, -3.765, 0, 0, 0, 25 [SEP] 9, HandTowel, -2.962, 1.584, -3.550, 0, 270, 0, 28 [SEP] 10, Plunger, -0.125, 0.000, -3.493, 0, 0, 0, Floor|-00.04| [SEP] 11, SoapBar, -2.462, 0.066, -3.755, 0, 0, 0, 23 [SEP] 12, ToiletPaper, -0.093, 0.842, -2.618, 0, 270, 270, 27 [SEP] 13, ToiletPaper, -0.190, 1.042, -2.917, 0, 270, 0, 34 [SEP] 14, Towel, -1.291, 1.386, -0.63, 0, 270, 0, 26 [SEP] 15, SoapBottle, -2.443, 0.808, -2.525, 0, 0, 0, 25 [SEP] 16, SprayBottle, -0.129, 1.046, -3.048, 0, 270, 0, 34 [SEP] 17, ScrubBrush, -0.325, 0.000, -3.342, 0, 0, 0, Floor|-00.04| [SEP] 18, Cabinet, -2.293, 0.324, -3.254, 0, 0, 0, [SEP] 19, Mirror, -3.0, 1.659, -3.069, 0, 0, 0, [SEP] 20, Sink, -2.661, 0.785, -3.069, 0, 90, 0, [SEP] 21, ShowerGlass, -0.599, 1.097, -1.124, 0, 0, 0, [SEP] 22, Cabinet, -2.299, 0.345, -2.250, 0, 0, 0, [SEP] 23, Cabinet, -2.293, 0.324, -3.814, 0, 0, 0, [SEP] 24, ShowerDoor, -1.179, 1.090, -1.220, 0, 0, 0, [SEP] 25, CounterTop, -2.632, 0.843, -3.040, 0, 0, 0, [SEP] 26, TowelHolder, -1.184, 1.371, -0.629, 0, 270, 0, [SEP] 27, ToiletPaperHanger, 0.0, 0.943, -2.536, 0, 270, 0, [SEP] 28, HandTowelHolder, -3.000, 1.685, -3.550, 0, 0, 0, [SEP] 29, HandTowelHolder, -3.000, 1.685, -2.569, 0, 0, 0, [SEP] 30, Window, -0.567, 1.706, -4.002, 90, 0, 0, [SEP] 31, SinkBasin, -2.669, 0.863, -3.063, 0, 90, 0, [SEP] 32, GarbageCan, -0.459, -0.043, -3.769, 0, 0, 0, [SEP] 33, LightSwitch, -1.945, 1.503, 0.000, 0, 180, 0, [SEP] 34, Toilet, -0.452, 0.000, -3.052, 0, 0, 0, [SEP] 35, Faucet, -3.0, 1.167, -3.073, 0, 180, 0, [SEP] 36, ShowerHead, -0.614, 1.934, -0.013, 0, 0, 0, [SEP] 37, EastWall, , , , , , , [SEP] 38, EastWall, , , , , , , [SEP] 39, SouthWall, , , , , , , ", "output": ["STEP 1: Turn right to face the towel rack to the left of the mirror. | STEP 2: Pick up the towel from the towel rack. | STEP 3: Turn around and walk to the toilet. | STEP 4: Place the towel on top of the back of the toilet. | STEP 5: Turn around and walk to the towel rack to the right of the mirror. | STEP 6: Pick up the towel from the towel rack. | STEP 7: Turn around and walk to the toilet. | STEP 8: Place the towel next to the other towel on top of the back of the toilet. | END"]} +{"id": "trial_T20190908_065505_842482-1", "input": "wash the cloth from the tub, put it back in the tub SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.0, 0.900, 3.0, 0, 270, 0, [SEP] 1, Cloth, -1.789, 0.074, 0.470, 0, 90, 0, 23 [SEP] 2, SoapBar, -1.668, 0.067, 2.601, 0, 0, 0, 24 [SEP] 3, SoapBar, 0.060, 0.351, 3.815, 0, 0, 0, 44 [SEP] 4, Candle, 0.277, 0.617, 3.839, 0, 0, 0, 45 [SEP] 5, Candle, -1.695, 0.772, 3.098, 0, 0, 0, 22 [SEP] 6, SprayBottle, -1.921, 1.045, 2.009, 0, 90, 0, 40 [SEP] 7, SoapBottle, 0.204, 1.160, 3.797, 0, 0, 0, 51 [SEP] 8, SoapBottle, -0.500, 0.447, 0.163, 0, 270, 0, 21 [SEP] 9, ToiletPaper, 0.204, 0.873, 3.839, 0, 0, 0, 41 [SEP] 10, Towel, -0.07, 1.284, 0.106, 0, 0, 0, 32 [SEP] 11, HandTowel, -1.731, 1.333, 3.961, 0, 0, 0, 34 [SEP] 12, SoapBar, -1.825, 0.013, 2.22, 0, 0, 0, 24 [SEP] 13, ToiletPaper, -0.414, 0.443, 0.126, 0, 0, 0, 21 [SEP] 14, ToiletPaper, -1.703, 0.010, 2.246, 0, 0, 0, 24 [SEP] 15, Cloth, -1.823, 0.068, 3.575, 0, 0, 0, 27 [SEP] 16, SprayBottle, -1.839, 0.772, 3.147, 0, 0, 0, 22 [SEP] 17, Candle, -1.935, 0.772, 3.122, 0, 0, 0, 22 [SEP] 18, ScrubBrush, -1.664, -0.000, 3.897, 0, 0, 0, Floor|-02.00| [SEP] 19, Plunger, -1.888, -0.000, 3.885, 0, 0, 0, Floor|-02.00| [SEP] 20, SoapBottle, -1.829, 1.046, 1.943, 0, 90, 0, 40 [SEP] 21, Bathtub, -1.414, -0.002, 0.563, 0, 0, 0, [SEP] 22, CounterTop, -1.799, 0.746, 3.122, 0, 0, 0, [SEP] 23, BathtubBasin, -1.613, 0.052, 0.540, 0, 0, 0, [SEP] 24, Cabinet, -1.613, 0.309, 2.493, 0, 0, 0, [SEP] 25, ShowerDoor, 0.527, 1.037, 2.115, 0, 0, 0, [SEP] 26, Mirror, -1.993, 1.424, 3.107, 0, 0, 0, [SEP] 27, Cabinet, -1.613, 0.309, 3.754, 0, 0, 0, [SEP] 28, Faucet, -1.873, 0.461, 0.641, 0, 0, 0, [SEP] 29, Sink, -1.834, 0.685, 2.777, 0, 90, 0, [SEP] 30, Cabinet, -1.613, 0.309, 3.105, 0, 0, 0, [SEP] 31, Cabinet, -1.613, 0.309, 3.140, 0, 0, 0, [SEP] 32, TowelHolder, -0.070, 1.269, 0.0, 0, 0, 0, [SEP] 33, GarbageCan, 0.932, -0.029, 3.761, 0, 0, 0, [SEP] 34, HandTowelHolder, -1.730, 1.434, 4.0, 0, 90, 0, [SEP] 35, Window, -1.039, 1.393, 0.018, 90, 0, 0, [SEP] 36, Window, -1.986, 1.392, 0.706, 90, 90, 0, [SEP] 37, ToiletPaperHanger, -1.776, 0.681, 2.474, 0, 180, 0, [SEP] 38, SinkBasin, -1.795, 0.694, 2.781, 0, 90, 0, [SEP] 39, LightSwitch, 1.250, 1.330, 3.621, 0, 270, 0, [SEP] 40, Toilet, -1.567, -0.000, 1.815, 0, 180, 0, [SEP] 41, Drawer, 0.204, 0.940, 3.807, 0, 180, 0, [SEP] 42, Dresser, 0.204, 0.000, 3.832, 0, 180, 0, [SEP] 43, Drawer, 0.204, 0.160, 3.807, 0, 180, 0, [SEP] 44, Drawer, 0.204, 0.420, 3.807, 0, 180, 0, [SEP] 45, Drawer, 0.204, 0.680, 3.807, 0, 180, 0, [SEP] 46, SinkBasin, -1.795, 0.694, 3.476, 0, 90, 0, [SEP] 47, Sink, -1.833, 0.685, 3.472, 0, 90, 0, [SEP] 48, Faucet, -1.988, 0.947, 3.472, 0, 180, 0, [SEP] 49, ShowerHead, 0.972, 1.222, 2.015, 0, 270, 0, [SEP] 50, Faucet, -1.988, 0.947, 2.776, 0, 180, 0, [SEP] 51, , , , , , , , [SEP] 52, NorthWall, , , , , , , [SEP] 53, EastWall, , , , , , , [SEP] 54, SouthWall, , , , , , , [SEP] 55, WestWall, , , , , , , ", "output": ["STEP 1: turn left, walk to the tub in the corner | STEP 2: grab the dirty cloth in the tub | STEP 3: turn right, walk to the vanity | STEP 4: put the cloth in the vanity, wash it with water, take it out | STEP 5: turn left, walk to the tub | STEP 6: put the cloth in the tub | END"]} +{"id": "trial_T20190907_161326_928347-1", "input": "Move a tea pot to the lamp, turn on the lamp SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.900, -4.25, 0, 270, 0, [SEP] 1, Vase, -2.977, 0.790, -4.057, 0, 270, 0, 35 [SEP] 2, Vase, -2.110, 0.183, 0.764, 0, 90, 0, 31 [SEP] 3, Vase, -0.701, 0.892, -2.700, 0, 0, 0, 18 [SEP] 4, KeyChain, -2.476, 0.757, 0.464, 0, 180, 0, 29 [SEP] 5, CreditCard, 1.846, 0.876, 0.988, 0, 0, 0, 42 [SEP] 6, RemoteControl, -3.471, 0.784, -3.170, 0, 270, 0, 35 [SEP] 7, Pillow, 0.577, 0.603, -0.537, 0, 225, 0, 36 [SEP] 8, Box, -0.564, 0.122, -2.747, 0, 0, 0, 35 [SEP] 9, KeyChain, -0.361, 0.426, 0.990, 0, 90, 0, 37 [SEP] 10, Laptop, -2.915, 0.779, -3.09, 0, 23.890, 0, 35 [SEP] 11, Statue, -3.035, 0.78, -3.752, 0, 0, 0, 35 [SEP] 12, Pillow, 1.036, 0.581, -0.213, 0, 325.391, 0, 36 [SEP] 13, RemoteControl, -2.400, 0.758, 0.314, 0, 90, 0, 29 [SEP] 14, Statue, -0.734, 1.320, -2.723, 0, 0, 0, 19 [SEP] 15, CreditCard, 0.717, 0.467, -0.397, 0, 225, 0, 36 [SEP] 16, Vase, -3.224, 0.787, -2.948, 0, 270, 0, 35 [SEP] 17, Statue, -3.348, 0.796, -4.057, 0, 270, 0, 35 [SEP] 18, Shelf, -0.612, 0.880, -2.832, 0, 0, 0, [SEP] 19, Shelf, -0.612, 1.317, -2.832, 0, 0, 0, [SEP] 20, LightSwitch, -2.599, 1.254, -0.774, 0, 90, 0, [SEP] 21, GarbageCan, -1.343, 0.015, -4.825, 0, 0, 0, [SEP] 22, HousePlant, 0.506, 1.097, 2.235, 0, 0, 0, [SEP] 23, Painting, -0.509, 1.742, 2.404, 90, 0, 0, [SEP] 24, FloorLamp, 1.712, 0.001, 0.374, 0, 0, 0, [SEP] 25, Painting, -5.0, 1.626, -3.548, 90, 270, 0, [SEP] 26, Television, -2.258, 1.245, 0.755, 0, 90, 0, [SEP] 27, Shelf, -2.238, 0.474, 0.396, 0, 90, 0, [SEP] 28, Shelf, -2.238, 0.273, 0.396, 0, 90, 0, [SEP] 29, TVStand, -2.244, -0.000, 0.762, 0, 90, 0, [SEP] 30, Shelf, -2.238, 0.302, 1.130, 0, 90, 0, [SEP] 31, Shelf, -2.238, 0.442, 0.764, 0, 90, 0, [SEP] 32, Shelf, -2.238, 0.597, 1.130, 0, 90, 0, [SEP] 33, Shelf, -2.238, 0.643, 0.396, 0, 90, 0, [SEP] 34, ArmChair, -0.559, 0.000, 1.951, 0, 180, 0, [SEP] 35, DiningTable, -3.101, 0.000, -3.613, 0, 270, 0, [SEP] 36, Sofa, 0.880, 0.007, -0.591, 0, 315, 0, [SEP] 37, Ottoman, -0.576, 0.008, 1.052, 0, 180, 0, [SEP] 38, Chair, -3.501, 0.002, -3.716, 0, 90, 0, [SEP] 39, Chair, -3.182, 0.002, -2.813, 0, 165.000, 0, [SEP] 40, Chair, -3.130, 0.002, -4.418, 0, 345.001, 0, [SEP] 41, Chair, -2.686, 0.002, -3.301, 0, 285.000, 0, [SEP] 42, SideTable, 1.825, 0.000, 1.092, 0, 270, 0, [SEP] 43, Drawer, 1.761, 0.774, 1.092, 0, 270, 0, [SEP] 44, NorthWall, , , , , , , [SEP] 45, EastWall, , , , , , , [SEP] 46, SouthWall, , , , , , , [SEP] 47, WestWall, , , , , , , ", "output": ["STEP 1: Move across the room to the wood TV stand | STEP 2: Pick up the vase that is on the shelf in the middle of the TV stand | STEP 3: Carry the vase to the floor lamp to the left of the chair | STEP 4: Turn on the lamp | END"]} +{"id": "trial_T20190909_100640_329421-0", "input": "Wash a rag and put it in the drawer SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.901, 1.25, 0, 0, 0, [SEP] 1, Cloth, -0.543, 0.806, 0.417, 0, 90, 0, 25 [SEP] 2, TissueBox, -1.951, 0.508, 0.294, 0, 90, 0, 31 [SEP] 3, Candle, -2.193, 0.953, 2.452, 0, 180, 0, 39 [SEP] 4, Candle, -2.193, 0.953, 2.327, 0, 180, 0, 39 [SEP] 5, SprayBottle, -1.329, 0.805, 0.221, 0, 90, 0, 25 [SEP] 6, SoapBottle, -0.281, 0.809, 0.155, 0, 90, 0, 25 [SEP] 7, Towel, -2.554, 1.597, 0.106, 0, 0, 0, 32 [SEP] 8, Cloth, -3.383, 0.219, 1.124, 0, 0, 0, 41 [SEP] 9, Candle, -1.591, 0.807, 0.221, 0, 90, 0, 25 [SEP] 10, HandTowel, -0.038, 1.68, 2.956, 0, 90, 0, 36 [SEP] 11, SoapBar, -3.071, 0.691, 0.776, 0, 0, 0, 26 [SEP] 12, ToiletPaper, -2.250, 0.946, 2.670, 0, 0, 0, 39 [SEP] 13, Plunger, -2.307, 0.000, 3.231, 0, 0, 0, Floor|-00.08| [SEP] 14, SprayBottle, -1.853, 0.805, 0.482, 0, 90, 0, 25 [SEP] 15, TissueBox, -1.853, 0.808, 0.221, 0, 90, 0, 25 [SEP] 16, ToiletPaper, -1.567, 0.843, 3.221, 0, 180, 270, 35 [SEP] 17, ScrubBrush, -2.189, 0.000, 3.025, 0, 0, 0, Floor|-00.08| [SEP] 18, SoapBottle, -1.067, 0.809, 0.155, 0, 90, 0, 25 [SEP] 19, Drawer, -1.324, 0.312, 0.311, 0, 90, 0, [SEP] 20, Drawer, -0.290, 0.312, 0.311, 0, 90, 0, [SEP] 21, Sink, -0.463, -0.013, 3.046, 0, 180, 0, [SEP] 22, Mirror, -0.504, 1.741, 3.304, 0, 0, 0, [SEP] 23, Drawer, -0.808, 0.611, 0.311, 0, 90, 0, [SEP] 24, Drawer, -0.808, 0.312, 0.311, 0, 90, 0, [SEP] 25, CounterTop, -1.850, 0.001, 0.342, 0, 90, 0, [SEP] 26, Bathtub, -3.499, 0.148, 0.939, 0, 0, 0, [SEP] 27, Drawer, -1.840, 0.312, 0.311, 0, 90, 0, [SEP] 28, Faucet, -0.463, 0.969, 3.212, 0, 180, 0, [SEP] 29, Drawer, -0.290, 0.611, 0.311, 0, 90, 0, [SEP] 30, Drawer, -1.324, 0.611, 0.311, 0, 90, 0, [SEP] 31, Drawer, -1.840, 0.611, 0.311, 0, 90, 0, [SEP] 32, TowelHolder, -2.553, 1.582, 0.0, 0, 0, 0, [SEP] 33, TowelHolder, -2.553, 0.859, 0.0, 0, 0, 0, [SEP] 34, GarbageCan, -2.110, -0.001, 1.960, 0, 104.999, 0, [SEP] 35, ToiletPaperHanger, -1.628, 0.842, 3.305, 0, 180, 0, [SEP] 36, HandTowelHolder, 0.0, 1.781, 2.956, 0, 180, 0, [SEP] 37, LightSwitch, 0.0, 1.368, 1.993, 0, 270, 0, [SEP] 38, Window, -4.083, 1.735, 1.162, 90, 270, 0, [SEP] 39, Toilet, -1.835, 0.000, 2.503, 0, 90, 0, [SEP] 40, SinkBasin, -0.452, 0.888, 2.969, 0, 180, 0, [SEP] 41, BathtubBasin, -3.518, 0.210, 0.939, 0, 0, 0, [SEP] 42, ShowerHead, -3.540, 1.821, 1.820, 0, 0, 0, [SEP] 43, ShowerCurtain, -3.318, 2.572, 0.266, 0, 0, 8.184, [SEP] 44, NorthWall, , , , , , , [SEP] 45, SouthWall, , , , , , , [SEP] 46, SouthWall, , , , , , , ", "output": ["STEP 1: Walk over to the tub | STEP 2: Grab the rag. | STEP 3: Walk over to the sink | STEP 4: Wash the rag | STEP 5: Grab the rag and go to the counter | STEP 6: Place the rag in the drawer | END"]} +{"id": "trial_T20190909_100640_329421-2", "input": "Put a wet green cloth in one of the bottom drawers of the bathroom cabinet. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.901, 1.25, 0, 0, 0, [SEP] 1, Cloth, -0.543, 0.806, 0.417, 0, 90, 0, 25 [SEP] 2, TissueBox, -1.951, 0.508, 0.294, 0, 90, 0, 31 [SEP] 3, Candle, -2.193, 0.953, 2.452, 0, 180, 0, 39 [SEP] 4, Candle, -2.193, 0.953, 2.327, 0, 180, 0, 39 [SEP] 5, SprayBottle, -1.329, 0.805, 0.221, 0, 90, 0, 25 [SEP] 6, SoapBottle, -0.281, 0.809, 0.155, 0, 90, 0, 25 [SEP] 7, Towel, -2.554, 1.597, 0.106, 0, 0, 0, 32 [SEP] 8, Cloth, -3.383, 0.219, 1.124, 0, 0, 0, 41 [SEP] 9, Candle, -1.591, 0.807, 0.221, 0, 90, 0, 25 [SEP] 10, HandTowel, -0.038, 1.68, 2.956, 0, 90, 0, 36 [SEP] 11, SoapBar, -3.071, 0.691, 0.776, 0, 0, 0, 26 [SEP] 12, ToiletPaper, -2.250, 0.946, 2.670, 0, 0, 0, 39 [SEP] 13, Plunger, -2.307, 0.000, 3.231, 0, 0, 0, Floor|-00.08| [SEP] 14, SprayBottle, -1.853, 0.805, 0.482, 0, 90, 0, 25 [SEP] 15, TissueBox, -1.853, 0.808, 0.221, 0, 90, 0, 25 [SEP] 16, ToiletPaper, -1.567, 0.843, 3.221, 0, 180, 270, 35 [SEP] 17, ScrubBrush, -2.189, 0.000, 3.025, 0, 0, 0, Floor|-00.08| [SEP] 18, SoapBottle, -1.067, 0.809, 0.155, 0, 90, 0, 25 [SEP] 19, Drawer, -1.324, 0.312, 0.311, 0, 90, 0, [SEP] 20, Drawer, -0.290, 0.312, 0.311, 0, 90, 0, [SEP] 21, Sink, -0.463, -0.013, 3.046, 0, 180, 0, [SEP] 22, Mirror, -0.504, 1.741, 3.304, 0, 0, 0, [SEP] 23, Drawer, -0.808, 0.611, 0.311, 0, 90, 0, [SEP] 24, Drawer, -0.808, 0.312, 0.311, 0, 90, 0, [SEP] 25, CounterTop, -1.850, 0.001, 0.342, 0, 90, 0, [SEP] 26, Bathtub, -3.499, 0.148, 0.939, 0, 0, 0, [SEP] 27, Drawer, -1.840, 0.312, 0.311, 0, 90, 0, [SEP] 28, Faucet, -0.463, 0.969, 3.212, 0, 180, 0, [SEP] 29, Drawer, -0.290, 0.611, 0.311, 0, 90, 0, [SEP] 30, Drawer, -1.324, 0.611, 0.311, 0, 90, 0, [SEP] 31, Drawer, -1.840, 0.611, 0.311, 0, 90, 0, [SEP] 32, TowelHolder, -2.553, 1.582, 0.0, 0, 0, 0, [SEP] 33, TowelHolder, -2.553, 0.859, 0.0, 0, 0, 0, [SEP] 34, GarbageCan, -2.110, -0.001, 1.960, 0, 104.999, 0, [SEP] 35, ToiletPaperHanger, -1.628, 0.842, 3.305, 0, 180, 0, [SEP] 36, HandTowelHolder, 0.0, 1.781, 2.956, 0, 180, 0, [SEP] 37, LightSwitch, 0.0, 1.368, 1.993, 0, 270, 0, [SEP] 38, Window, -4.083, 1.735, 1.162, 90, 270, 0, [SEP] 39, Toilet, -1.835, 0.000, 2.503, 0, 90, 0, [SEP] 40, SinkBasin, -0.452, 0.888, 2.969, 0, 180, 0, [SEP] 41, BathtubBasin, -3.518, 0.210, 0.939, 0, 0, 0, [SEP] 42, ShowerHead, -3.540, 1.821, 1.820, 0, 0, 0, [SEP] 43, ShowerCurtain, -3.318, 2.572, 0.266, 0, 0, 8.184, [SEP] 44, NorthWall, , , , , , , [SEP] 45, SouthWall, , , , , , , [SEP] 46, SouthWall, , , , , , , ", "output": ["STEP 1: Turn left until you face the sink, make one step towards the sink, then turn right and make a step towards the bath tub. | STEP 2: Take the green cloth from the bath tub. | STEP 3: Turn around, walk towards the door, then turn left and walk to the brown marble sink. | STEP 4: Put the green cloth in the sink, fill the sink with water, then drain the water and take the cloth. | STEP 5: Turn right, then walk towards the cabinet and open the second bottom drawer from the left. | STEP 6: Put the wet green cloth in the drawer and close it. | END"]} +{"id": "trial_T20190908_175319_020754-1", "input": "stand a pillow up on a sofa SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.75, 0.998, -2.5, 0, 0, 0, [SEP] 1, Plate, -4.094, 0.888, -1.385, 0, 0, 0, 33 [SEP] 2, Pen, -1.486, 0.459, -0.658, 0, 0, 0, 34 [SEP] 3, Pen, -1.486, 0.459, -0.817, 0, 0, 0, 34 [SEP] 4, KeyChain, -0.557, 0.525, 1.085, 0, 0, 0, 38 [SEP] 5, KeyChain, -1.222, 0.454, -0.498, 0, 0, 0, 34 [SEP] 6, CreditCard, 0.748, 0.304, -1.865, 0, 0, 0, 30 [SEP] 7, RemoteControl, -0.695, 0.455, -0.897, 0, 0, 0, 34 [SEP] 8, Laptop, -1.222, 0.452, -0.738, 0, 0, 0, 34 [SEP] 9, Laptop, -1.254, 0.523, 0.897, 0, 0, 0, 38 [SEP] 10, Box, -2.863, 1.03, -0.958, 0, 0, 0, 33 [SEP] 11, Pillow, 0.629, 0.482, -1.667, 0, 0, 0, 30 [SEP] 12, CreditCard, 0.577, 0.304, -1.782, 0, 0, 0, 30 [SEP] 13, Plate, -3.851, 0.875, -1.011, 0, 0, 0, 33 [SEP] 14, Laptop, -0.193, 0.966, -2.505, 0, 0, 0, 30 [SEP] 15, RemoteControl, -0.557, 0.526, 0.897, 0, 0, 0, 38 [SEP] 16, Vase, -3.493, 0.874, -1.182, 0, 0, 0, 33 [SEP] 17, Statue, 0.257, 0.965, -2.518, 0, 0, 0, 42 [SEP] 18, KeyChain, -0.827, 0.454, -0.658, 0, 0, 0, 34 [SEP] 19, Pen, -1.923, 0.183, -3.006, 0, 225, 0, 25 [SEP] 20, Curtains, -3.013, 1.557, -3.082, 0, 0, 0, [SEP] 21, Television, -1.063, 0.939, -2.439, 0, 0, 0, [SEP] 22, HousePlant, 0.753, 0.855, -2.467, 0, 215.129, 0, [SEP] 23, HousePlant, 0.739, 0.855, -1.159, 0, 310.776, 0, [SEP] 24, FloorLamp, -2.186, 0.096, 1.111, 0, 0, 0, [SEP] 25, GarbageCan, -1.946, 0.097, -2.899, 0, 216.243, 0, [SEP] 26, Painting, -4.326, 1.817, -1.223, 90, 270, 0, [SEP] 27, Window, 0.010, 1.087, 0.001, 90, 270, 0, [SEP] 28, Window, -2.983, 1.544, -3.220, 90, 180, 0, [SEP] 29, LightSwitch, -3.907, 1.371, 1.386, 0, 180, 0, [SEP] 30, ArmChair, 0.662, 0.103, -1.781, 0, 270, 0, [SEP] 31, Stool, 0.765, 0.108, -1.148, 0, 0, 0, [SEP] 32, Stool, 0.765, 0.108, -2.460, 0, 35.380, 0, [SEP] 33, DiningTable, -3.428, 0.099, -1.188, 0, 0, 0, [SEP] 34, CoffeeTable, -1.090, 0.097, -0.737, 0, 0, 0, [SEP] 35, Chair, -3.793, 0.098, -0.841, 0, 164.999, 0, [SEP] 36, Chair, -3.073, 0.098, -1.515, 0, 11.313, 0, [SEP] 37, Chair, -3.810, 0.098, -1.549, 0, 352.857, 0, [SEP] 38, Sofa, -0.905, 0.099, 0.959, 0, 180, 0, [SEP] 39, CoffeeTable, -1.046, 0.096, -2.473, 0, 180, 0, [SEP] 40, Chair, -3.068, 0.098, -0.882, 0, 180, 0, [SEP] 41, Drawer, -0.031, 0.872, -2.487, 0, 0, 0, [SEP] 42, SideTable, -0.030, 0.097, -2.552, 0, 0, 0, [SEP] 43, NorthWall, , , , , , , [SEP] 44, EastWall, , , , , , , [SEP] 45, SouthWall, , , , , , , [SEP] 46, WestWall, , , , , , , ", "output": ["STEP 1: go to the green chair | STEP 2: pick up the square pillow from the chair | STEP 3: take the pillow to the sofa | STEP 4: stand the pillow up on against the back of the sofa | END"]} +{"id": "trial_T20190908_175319_020754-2", "input": "Put a purple pillow on the couch, right of a computer. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.75, 0.998, -2.5, 0, 0, 0, [SEP] 1, Plate, -4.094, 0.888, -1.385, 0, 0, 0, 33 [SEP] 2, Pen, -1.486, 0.459, -0.658, 0, 0, 0, 34 [SEP] 3, Pen, -1.486, 0.459, -0.817, 0, 0, 0, 34 [SEP] 4, KeyChain, -0.557, 0.525, 1.085, 0, 0, 0, 38 [SEP] 5, KeyChain, -1.222, 0.454, -0.498, 0, 0, 0, 34 [SEP] 6, CreditCard, 0.748, 0.304, -1.865, 0, 0, 0, 30 [SEP] 7, RemoteControl, -0.695, 0.455, -0.897, 0, 0, 0, 34 [SEP] 8, Laptop, -1.222, 0.452, -0.738, 0, 0, 0, 34 [SEP] 9, Laptop, -1.254, 0.523, 0.897, 0, 0, 0, 38 [SEP] 10, Box, -2.863, 1.03, -0.958, 0, 0, 0, 33 [SEP] 11, Pillow, 0.629, 0.482, -1.667, 0, 0, 0, 30 [SEP] 12, CreditCard, 0.577, 0.304, -1.782, 0, 0, 0, 30 [SEP] 13, Plate, -3.851, 0.875, -1.011, 0, 0, 0, 33 [SEP] 14, Laptop, -0.193, 0.966, -2.505, 0, 0, 0, 30 [SEP] 15, RemoteControl, -0.557, 0.526, 0.897, 0, 0, 0, 38 [SEP] 16, Vase, -3.493, 0.874, -1.182, 0, 0, 0, 33 [SEP] 17, Statue, 0.257, 0.965, -2.518, 0, 0, 0, 42 [SEP] 18, KeyChain, -0.827, 0.454, -0.658, 0, 0, 0, 34 [SEP] 19, Pen, -1.923, 0.183, -3.006, 0, 225, 0, 25 [SEP] 20, Curtains, -3.013, 1.557, -3.082, 0, 0, 0, [SEP] 21, Television, -1.063, 0.939, -2.439, 0, 0, 0, [SEP] 22, HousePlant, 0.753, 0.855, -2.467, 0, 215.129, 0, [SEP] 23, HousePlant, 0.739, 0.855, -1.159, 0, 310.776, 0, [SEP] 24, FloorLamp, -2.186, 0.096, 1.111, 0, 0, 0, [SEP] 25, GarbageCan, -1.946, 0.097, -2.899, 0, 216.243, 0, [SEP] 26, Painting, -4.326, 1.817, -1.223, 90, 270, 0, [SEP] 27, Window, 0.010, 1.087, 0.001, 90, 270, 0, [SEP] 28, Window, -2.983, 1.544, -3.220, 90, 180, 0, [SEP] 29, LightSwitch, -3.907, 1.371, 1.386, 0, 180, 0, [SEP] 30, ArmChair, 0.662, 0.103, -1.781, 0, 270, 0, [SEP] 31, Stool, 0.765, 0.108, -1.148, 0, 0, 0, [SEP] 32, Stool, 0.765, 0.108, -2.460, 0, 35.380, 0, [SEP] 33, DiningTable, -3.428, 0.099, -1.188, 0, 0, 0, [SEP] 34, CoffeeTable, -1.090, 0.097, -0.737, 0, 0, 0, [SEP] 35, Chair, -3.793, 0.098, -0.841, 0, 164.999, 0, [SEP] 36, Chair, -3.073, 0.098, -1.515, 0, 11.313, 0, [SEP] 37, Chair, -3.810, 0.098, -1.549, 0, 352.857, 0, [SEP] 38, Sofa, -0.905, 0.099, 0.959, 0, 180, 0, [SEP] 39, CoffeeTable, -1.046, 0.096, -2.473, 0, 180, 0, [SEP] 40, Chair, -3.068, 0.098, -0.882, 0, 180, 0, [SEP] 41, Drawer, -0.031, 0.872, -2.487, 0, 0, 0, [SEP] 42, SideTable, -0.030, 0.097, -2.552, 0, 0, 0, [SEP] 43, NorthWall, , , , , , , [SEP] 44, EastWall, , , , , , , [SEP] 45, SouthWall, , , , , , , [SEP] 46, WestWall, , , , , , , ", "output": ["STEP 1: Turn right, head across the room to the yellow chair. | STEP 2: Pick up the purple pillow on the yellow chair. | STEP 3: Turn around, bring the pillow over to the couch with the green cushion on the right. | STEP 4: Put the pillow on the couch, right of the computer. | END"]} +{"id": "trial_T20190909_102455_392814-1", "input": "Put a chilled potato in the trash can. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.900, 1.75, 0, 0, 0, [SEP] 1, Vase, 1.996, 0.550, -2.459, 0, 180, 0, 89 [SEP] 2, Egg, 0.079, 1.146, -0.253, 0, 0, 0, 59 [SEP] 3, Tomato, -1.962, 0.087, 1.981, 0, 270, 0, 90 [SEP] 4, PepperShaker, -0.995, 0.907, -2.253, 0, 0, 0, 84 [SEP] 5, Bread, -0.197, 1.184, 0.757, 0, 0, 0, 59 [SEP] 6, Apple, -1.856, 0.961, -2.256, 0, 0, 0, 84 [SEP] 7, Apple, -2.018, 0.820, -1.501, 0, 90, 0, 94 [SEP] 8, Knife, 0.355, 1.136, -0.253, 0, 0, 0, 59 [SEP] 9, Knife, -1.963, 0.795, -1.587, 0, 180, 0, 94 [SEP] 10, Spoon, -0.059, 1.112, -0.506, 0, 0, 0, 59 [SEP] 11, Spoon, 1.098, 0.911, -2.253, 0, 0, 0, 61 [SEP] 12, Mug, -2.038, 0.535, 1.168, 0, 90, 0, 92 [SEP] 13, Pot, -0.059, 1.115, -0.253, 0, 0, 0, 59 [SEP] 14, Kettle, -0.465, 0.950, -2.576, 0, 90, 0, 68 [SEP] 15, Kettle, -2.019, 0.912, -0.513, 0, 0, 0, 84 [SEP] 16, Glassbottle, -1.071, 1.657, -2.604, 0, 0, 0, 73 [SEP] 17, Glassbottle, -1.705, 0.137, -1.156, 0, 90, 0, 60 [SEP] 18, WineBottle, 0.355, 1.112, 0.251, 0, 0, 0, 59 [SEP] 19, WineBottle, -1.937, 0.912, -0.698, 0, 0, 0, 84 [SEP] 20, DishSponge, 0.217, 1.111, -0.759, 0, 0, 0, 59 [SEP] 21, DishSponge, -1.797, 0.769, -1.501, 0, 90, 0, 94 [SEP] 22, Bowl, -1.200, 0.133, -2.352, 0, 0, 0, 77 [SEP] 23, Bowl, 1.789, 0.877, -2.563, 0, 180, 0, 86 [SEP] 24, Book, 0.155, 1.1, 0.617, 0, 315, 0, 59 [SEP] 25, Glassbottle, -0.912, 0.137, -2.453, 0, 0, 0, 77 [SEP] 26, Knife, 0.355, 1.136, -0.506, 0, 0, 0, 59 [SEP] 27, Bread, -0.473, 1.184, -0.506, 0, 0, 0, 59 [SEP] 28, Fork, -1.937, 0.911, -2.256, 0, 0, 0, 84 [SEP] 29, Potato, -0.277, 1.820, -2.578, 0, 0, 0, 85 [SEP] 30, SoapBottle, 2.100, 0.554, -2.666, 0, 180, 0, 89 [SEP] 31, Kettle, -0.036, 0.950, -2.576, 0, 270, 0, 62 [SEP] 32, Pan, -2.081, 1.502, 1.092, 0, 180, 0, 92 [SEP] 33, Plate, 0.969, 0.907, -2.484, 0, 0, 0, 61 [SEP] 34, Tomato, -1.935, 0.087, 2.124, 0, 270, 0, 90 [SEP] 35, Vase, -1.401, 1.660, -2.604, 0, 0, 0, 75 [SEP] 36, Egg, -1.908, 0.804, -1.501, 0, 90, 0, 94 [SEP] 37, CreditCard, -0.059, 1.108, -0.253, 0, 0, 0, 59 [SEP] 38, Statue, 1.955, 0.168, -2.543, 0, 0, 0, 91 [SEP] 39, WineBottle, -0.197, 1.112, 0.251, 0, 0, 0, 59 [SEP] 40, Pot, -1.219, 0.9, -2.356, 0, 0, 0, 84 [SEP] 41, Spatula, 1.065, 0.496, -2.282, 0, 270, 0, 67 [SEP] 42, PaperTowelRoll, -0.995, 1.015, -2.637, 0, 0, 0, 84 [SEP] 43, Cup, 0.840, 0.908, -2.714, 0, 0, 0, 61 [SEP] 44, Vase, -0.335, 1.109, -0.506, 0, 0, 0, 59 [SEP] 45, Bowl, -2.070, 1.305, 0.925, 0, 90, 0, 92 [SEP] 46, SaltShaker, -0.473, 1.107, 0.251, 0, 0, 0, 59 [SEP] 47, PepperShaker, -0.197, 1.107, 0.504, 0, 0, 0, 59 [SEP] 48, Lettuce, 0.711, 0.990, -2.330, 0, 0, 0, 61 [SEP] 49, ButterKnife, -1.852, 0.769, -1.328, 0, 90, 0, 94 [SEP] 50, Apple, -1.797, 0.820, -1.760, 0, 90, 0, 94 [SEP] 51, DishSponge, 0.324, 0.910, -2.714, 0, 0, 0, 61 [SEP] 52, Spoon, -1.908, 0.770, -1.328, 0, 90, 0, 94 [SEP] 53, Mug, -1.963, 0.764, -1.673, 0, 90, 0, 94 [SEP] 54, StoveBurner, -0.036, 0.915, -2.372, 0, 0, 0, [SEP] 55, Drawer, 0.949, 0.832, -2.197, 0, 0, 0, [SEP] 56, Drawer, -1.560, 0.839, 0.204, 0, 90, 0, [SEP] 57, StoveBurner, -0.465, 0.915, -2.371, 0, 180, 0, [SEP] 58, Drawer, -1.560, 0.839, -0.197, 0, 90, 0, [SEP] 59, CounterTop, -0.079, 1.147, -0.001, 0, 0, 0, [SEP] 60, Cabinet, -1.549, 0.494, -1.964, 0, 90, 0, [SEP] 61, CounterTop, 0.693, 0.946, -2.483, 0, 0, 0, [SEP] 62, StoveBurner, -0.036, 0.915, -2.576, 0, 0, 0, [SEP] 63, Drawer, 0.949, 0.393, -2.200, 0, 0, 0, [SEP] 64, Drawer, 0.949, 0.708, -2.200, 0, 0, 0, [SEP] 65, Cabinet, -1.549, 0.494, 0.379, 0, 90, 0, [SEP] 66, StoveKnob, -0.022, 0.881, -2.187, 45, 0, 0, [SEP] 67, Drawer, 0.949, 0.560, -2.201, 0, 0, 0, [SEP] 68, StoveBurner, -0.465, 0.915, -2.575, 0, 180, 0, [SEP] 69, Window, -2.230, 1.429, -1.203, 0, 0, 0, [SEP] 70, StoveKnob, -0.483, 0.881, -2.187, 45, 0, 0, [SEP] 71, Sink, -1.899, 0.964, -1.5, 0, 90, 0, [SEP] 72, StoveKnob, -0.328, 0.881, -2.187, 45, 0, 0, [SEP] 73, Cabinet, -0.727, 2.015, -2.460, 0, 0, 0, [SEP] 74, Drawer, -1.560, 0.655, -0.196, 0, 90, 0, [SEP] 75, Cabinet, -1.685, 2.015, -2.461, 0, 0, 0, [SEP] 76, Cabinet, 0.680, 0.494, -2.200, 0, 0, 0, [SEP] 77, Cabinet, -1.179, 0.494, -2.200, 0, 0, 0, [SEP] 78, Cabinet, -1.849, 2.015, 0.379, 0, 90, 0, [SEP] 79, Drawer, 0.949, 0.221, -2.200, 0, 0, 0, [SEP] 80, StoveKnob, -0.183, 0.881, -2.187, 45, 0, 0, [SEP] 81, Cabinet, 0.719, 2.015, -2.460, 0, 0, 0, [SEP] 82, Drawer, -1.560, 0.331, -0.196, 0, 90, 0, [SEP] 83, Cabinet, 0.680, 2.015, -2.460, 0, 0, 0, [SEP] 84, CounterTop, -1.868, 0.946, -1.205, 0, 0, 0, [SEP] 85, Microwave, -0.236, 1.689, -2.525, 0, 0, 0, [SEP] 86, Shelf, 1.751, 0.880, -2.560, 0, 0, 0, [SEP] 87, HousePlant, -1.948, 0.889, -2.520, 0, 5.334, 0, [SEP] 88, Toaster, -1.835, 0.900, 0.134, 0, 90, 0, [SEP] 89, Shelf, 1.750, 0.552, -2.559, 0, 0, 0, [SEP] 90, GarbageCan, -1.935, -0.002, 2.029, 0, 270, 0, [SEP] 91, Shelf, 1.750, 0.172, -2.559, 0, 0, 0, [SEP] 92, Fridge, -2.096, 0.0, 1.088, 0, 0, 0, [SEP] 93, CoffeeMachine, -1.977, 0.900, -0.188, 0, 90, 0, [SEP] 94, SinkBasin, -1.908, 0.759, -1.488, 0, 90, 0, [SEP] 95, LightSwitch, 2.329, 1.309, -0.159, 0, 270, 0, [SEP] 96, ShelvingUnit, 1.750, 0.006, -2.559, 0, 0, 0, [SEP] 97, Stool, 0.702, 0.000, -0.514, 1.202, 65.108, 0, [SEP] 98, Stool, 0.743, 0.000, 0.563, 1.227, 106.706, 0, [SEP] 99, Faucet, -2.070, 1.132, -1.514, 0, 0, 0, [SEP] 100, NorthWall, , , , , , , [SEP] 101, EastWall, , , , , , , [SEP] 102, SouthWall, , , , , , , [SEP] 103, WestWall, , , , , , , ", "output": ["STEP 1: Turn around, go across the room to the stove and look up at the microwave. | STEP 2: Pick up the potato in the microwave. | STEP 3: Turn around and go back across the room to the fridge. | STEP 4: Chill the potato in the fridge and pick it back up. | STEP 5: Turn right and go to the trash can in the corner. | STEP 6: Put the potato in the trash can to the left of the tomatoes. | END"]} +{"id": "trial_T20190909_102455_392814-2", "input": "take potato out of the microwave, cool it inside of the fridge, throw it away in the trash can. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.900, 1.75, 0, 0, 0, [SEP] 1, Vase, 1.996, 0.550, -2.459, 0, 180, 0, 89 [SEP] 2, Egg, 0.079, 1.146, -0.253, 0, 0, 0, 59 [SEP] 3, Tomato, -1.962, 0.087, 1.981, 0, 270, 0, 90 [SEP] 4, PepperShaker, -0.995, 0.907, -2.253, 0, 0, 0, 84 [SEP] 5, Bread, -0.197, 1.184, 0.757, 0, 0, 0, 59 [SEP] 6, Apple, -1.856, 0.961, -2.256, 0, 0, 0, 84 [SEP] 7, Apple, -2.018, 0.820, -1.501, 0, 90, 0, 94 [SEP] 8, Knife, 0.355, 1.136, -0.253, 0, 0, 0, 59 [SEP] 9, Knife, -1.963, 0.795, -1.587, 0, 180, 0, 94 [SEP] 10, Spoon, -0.059, 1.112, -0.506, 0, 0, 0, 59 [SEP] 11, Spoon, 1.098, 0.911, -2.253, 0, 0, 0, 61 [SEP] 12, Mug, -2.038, 0.535, 1.168, 0, 90, 0, 92 [SEP] 13, Pot, -0.059, 1.115, -0.253, 0, 0, 0, 59 [SEP] 14, Kettle, -0.465, 0.950, -2.576, 0, 90, 0, 68 [SEP] 15, Kettle, -2.019, 0.912, -0.513, 0, 0, 0, 84 [SEP] 16, Glassbottle, -1.071, 1.657, -2.604, 0, 0, 0, 73 [SEP] 17, Glassbottle, -1.705, 0.137, -1.156, 0, 90, 0, 60 [SEP] 18, WineBottle, 0.355, 1.112, 0.251, 0, 0, 0, 59 [SEP] 19, WineBottle, -1.937, 0.912, -0.698, 0, 0, 0, 84 [SEP] 20, DishSponge, 0.217, 1.111, -0.759, 0, 0, 0, 59 [SEP] 21, DishSponge, -1.797, 0.769, -1.501, 0, 90, 0, 94 [SEP] 22, Bowl, -1.200, 0.133, -2.352, 0, 0, 0, 77 [SEP] 23, Bowl, 1.789, 0.877, -2.563, 0, 180, 0, 86 [SEP] 24, Book, 0.155, 1.1, 0.617, 0, 315, 0, 59 [SEP] 25, Glassbottle, -0.912, 0.137, -2.453, 0, 0, 0, 77 [SEP] 26, Knife, 0.355, 1.136, -0.506, 0, 0, 0, 59 [SEP] 27, Bread, -0.473, 1.184, -0.506, 0, 0, 0, 59 [SEP] 28, Fork, -1.937, 0.911, -2.256, 0, 0, 0, 84 [SEP] 29, Potato, -0.277, 1.820, -2.578, 0, 0, 0, 85 [SEP] 30, SoapBottle, 2.100, 0.554, -2.666, 0, 180, 0, 89 [SEP] 31, Kettle, -0.036, 0.950, -2.576, 0, 270, 0, 62 [SEP] 32, Pan, -2.081, 1.502, 1.092, 0, 180, 0, 92 [SEP] 33, Plate, 0.969, 0.907, -2.484, 0, 0, 0, 61 [SEP] 34, Tomato, -1.935, 0.087, 2.124, 0, 270, 0, 90 [SEP] 35, Vase, -1.401, 1.660, -2.604, 0, 0, 0, 75 [SEP] 36, Egg, -1.908, 0.804, -1.501, 0, 90, 0, 94 [SEP] 37, CreditCard, -0.059, 1.108, -0.253, 0, 0, 0, 59 [SEP] 38, Statue, 1.955, 0.168, -2.543, 0, 0, 0, 91 [SEP] 39, WineBottle, -0.197, 1.112, 0.251, 0, 0, 0, 59 [SEP] 40, Pot, -1.219, 0.9, -2.356, 0, 0, 0, 84 [SEP] 41, Spatula, 1.065, 0.496, -2.282, 0, 270, 0, 67 [SEP] 42, PaperTowelRoll, -0.995, 1.015, -2.637, 0, 0, 0, 84 [SEP] 43, Cup, 0.840, 0.908, -2.714, 0, 0, 0, 61 [SEP] 44, Vase, -0.335, 1.109, -0.506, 0, 0, 0, 59 [SEP] 45, Bowl, -2.070, 1.305, 0.925, 0, 90, 0, 92 [SEP] 46, SaltShaker, -0.473, 1.107, 0.251, 0, 0, 0, 59 [SEP] 47, PepperShaker, -0.197, 1.107, 0.504, 0, 0, 0, 59 [SEP] 48, Lettuce, 0.711, 0.990, -2.330, 0, 0, 0, 61 [SEP] 49, ButterKnife, -1.852, 0.769, -1.328, 0, 90, 0, 94 [SEP] 50, Apple, -1.797, 0.820, -1.760, 0, 90, 0, 94 [SEP] 51, DishSponge, 0.324, 0.910, -2.714, 0, 0, 0, 61 [SEP] 52, Spoon, -1.908, 0.770, -1.328, 0, 90, 0, 94 [SEP] 53, Mug, -1.963, 0.764, -1.673, 0, 90, 0, 94 [SEP] 54, StoveBurner, -0.036, 0.915, -2.372, 0, 0, 0, [SEP] 55, Drawer, 0.949, 0.832, -2.197, 0, 0, 0, [SEP] 56, Drawer, -1.560, 0.839, 0.204, 0, 90, 0, [SEP] 57, StoveBurner, -0.465, 0.915, -2.371, 0, 180, 0, [SEP] 58, Drawer, -1.560, 0.839, -0.197, 0, 90, 0, [SEP] 59, CounterTop, -0.079, 1.147, -0.001, 0, 0, 0, [SEP] 60, Cabinet, -1.549, 0.494, -1.964, 0, 90, 0, [SEP] 61, CounterTop, 0.693, 0.946, -2.483, 0, 0, 0, [SEP] 62, StoveBurner, -0.036, 0.915, -2.576, 0, 0, 0, [SEP] 63, Drawer, 0.949, 0.393, -2.200, 0, 0, 0, [SEP] 64, Drawer, 0.949, 0.708, -2.200, 0, 0, 0, [SEP] 65, Cabinet, -1.549, 0.494, 0.379, 0, 90, 0, [SEP] 66, StoveKnob, -0.022, 0.881, -2.187, 45, 0, 0, [SEP] 67, Drawer, 0.949, 0.560, -2.201, 0, 0, 0, [SEP] 68, StoveBurner, -0.465, 0.915, -2.575, 0, 180, 0, [SEP] 69, Window, -2.230, 1.429, -1.203, 0, 0, 0, [SEP] 70, StoveKnob, -0.483, 0.881, -2.187, 45, 0, 0, [SEP] 71, Sink, -1.899, 0.964, -1.5, 0, 90, 0, [SEP] 72, StoveKnob, -0.328, 0.881, -2.187, 45, 0, 0, [SEP] 73, Cabinet, -0.727, 2.015, -2.460, 0, 0, 0, [SEP] 74, Drawer, -1.560, 0.655, -0.196, 0, 90, 0, [SEP] 75, Cabinet, -1.685, 2.015, -2.461, 0, 0, 0, [SEP] 76, Cabinet, 0.680, 0.494, -2.200, 0, 0, 0, [SEP] 77, Cabinet, -1.179, 0.494, -2.200, 0, 0, 0, [SEP] 78, Cabinet, -1.849, 2.015, 0.379, 0, 90, 0, [SEP] 79, Drawer, 0.949, 0.221, -2.200, 0, 0, 0, [SEP] 80, StoveKnob, -0.183, 0.881, -2.187, 45, 0, 0, [SEP] 81, Cabinet, 0.719, 2.015, -2.460, 0, 0, 0, [SEP] 82, Drawer, -1.560, 0.331, -0.196, 0, 90, 0, [SEP] 83, Cabinet, 0.680, 2.015, -2.460, 0, 0, 0, [SEP] 84, CounterTop, -1.868, 0.946, -1.205, 0, 0, 0, [SEP] 85, Microwave, -0.236, 1.689, -2.525, 0, 0, 0, [SEP] 86, Shelf, 1.751, 0.880, -2.560, 0, 0, 0, [SEP] 87, HousePlant, -1.948, 0.889, -2.520, 0, 5.334, 0, [SEP] 88, Toaster, -1.835, 0.900, 0.134, 0, 90, 0, [SEP] 89, Shelf, 1.750, 0.552, -2.559, 0, 0, 0, [SEP] 90, GarbageCan, -1.935, -0.002, 2.029, 0, 270, 0, [SEP] 91, Shelf, 1.750, 0.172, -2.559, 0, 0, 0, [SEP] 92, Fridge, -2.096, 0.0, 1.088, 0, 0, 0, [SEP] 93, CoffeeMachine, -1.977, 0.900, -0.188, 0, 90, 0, [SEP] 94, SinkBasin, -1.908, 0.759, -1.488, 0, 90, 0, [SEP] 95, LightSwitch, 2.329, 1.309, -0.159, 0, 270, 0, [SEP] 96, ShelvingUnit, 1.750, 0.006, -2.559, 0, 0, 0, [SEP] 97, Stool, 0.702, 0.000, -0.514, 1.202, 65.108, 0, [SEP] 98, Stool, 0.743, 0.000, 0.563, 1.227, 106.706, 0, [SEP] 99, Faucet, -2.070, 1.132, -1.514, 0, 0, 0, [SEP] 100, NorthWall, , , , , , , [SEP] 101, EastWall, , , , , , , [SEP] 102, SouthWall, , , , , , , [SEP] 103, WestWall, , , , , , , ", "output": ["STEP 1: turn right and move forwards to the counter and then face the stove and look up | STEP 2: take the potato out of the microwave and close the door | STEP 3: make 2 left turns and head forward towards the fridge and face it | STEP 4: put the potato inside the fridge and cool it and then take it out and shot the door | STEP 5: turn right and move towards the trash can | STEP 6: throw the potato in the trash | END"]} +{"id": "trial_T20190908_131409_193409-1", "input": "Place a chilled pan in a cabinet. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.0, 0.901, 0.75, 0, 0, 0, [SEP] 1, WineBottle, 1.917, 0.939, 0.806, 0, 0, 0, 60 [SEP] 2, Ladle, 1.872, 0.790, 0.446, 0, 90, 0, 58 [SEP] 3, DishSponge, 2.227, 0.937, 2.260, 0, 0, 0, 49 [SEP] 4, DishSponge, -0.196, 0.790, 1.386, 0, 0, 0, 76 [SEP] 5, ButterKnife, -0.349, 0.782, 0.713, 0, 0, 0, 76 [SEP] 6, ButterKnife, 1.170, 0.795, 2.64, 0, 0, 0, 73 [SEP] 7, Spatula, -0.425, 0.805, 1.049, 0, 90, 0, 76 [SEP] 8, Egg, 0.576, 0.837, 2.529, 0, 0, 0, 73 [SEP] 9, Egg, 2.071, 0.980, 0.361, 0, 0, 0, 60 [SEP] 10, Cup, -0.362, 1.034, 1.907, 0, 90, 0, 74 [SEP] 11, Knife, 0.033, 0.816, 0.881, 0, 270, 0, 76 [SEP] 12, Knife, -0.119, 0.816, 0.545, 0, 180, 0, 76 [SEP] 13, SoapBottle, -0.119, 0.791, 1.217, 0, 90, 0, 76 [SEP] 14, Bowl, -0.282, 0.934, 2.827, 0, 0, 0, 49 [SEP] 15, SaltShaker, -0.196, 0.785, 1.049, 0, 0, 0, 76 [SEP] 16, SaltShaker, -0.196, 0.785, 1.217, 0, 0, 0, 76 [SEP] 17, Mug, 2.064, 0.989, 2.462, 0, 225, 0, 75 [SEP] 18, Egg, 1.840, 0.980, 0.435, 0, 0, 0, 60 [SEP] 19, Lettuce, 0.277, 0.989, 2.611, 0, 60.216, 0, 49 [SEP] 20, Fork, -0.349, 0.791, 1.217, 0, 90, 0, 76 [SEP] 21, SoapBottle, 1.917, 0.939, 0.361, 0, 180, 0, 60 [SEP] 22, Ladle, 1.976, 0.791, 0.446, 0, 90, 0, 58 [SEP] 23, Ladle, -0.119, 0.835, 0.377, 0, 90, 0, 76 [SEP] 24, Bread, -0.201, 0.824, 0.828, 0, 0, 0, 76 [SEP] 25, SaltShaker, 0.033, 0.785, 1.049, 0, 0, 0, 76 [SEP] 26, Potato, 1.921, 0.968, 2.196, 0, 337.023, 0, 49 [SEP] 27, Pan, 2.140, 0.935, 1.504, 0, 180, 0, 44 [SEP] 28, WineBottle, 2.301, 0.939, 0.361, 0, 0, 0, 60 [SEP] 29, Spatula, 0.060, 0.952, 2.757, 0, 0, 0, 49 [SEP] 30, Knife, -0.119, 0.816, 1.217, 0, 180, 0, 76 [SEP] 31, Tomato, -0.167, 0.983, 2.548, 0, 0, 0, 49 [SEP] 32, Apple, 0.033, 0.840, 1.386, 0, 0, 0, 76 [SEP] 33, ButterKnife, -0.350, 0.782, 0.882, 1.017, 0, 0, 76 [SEP] 34, Pot, 1.854, 0.937, 1.497, 0, 0, 0, 53 [SEP] 35, PepperShaker, 2.148, 0.933, 0.361, 0, 0, 0, 60 [SEP] 36, Cup, 1.276, 0.793, 2.584, 0, 0, 0, 73 [SEP] 37, DishSponge, 1.919, 0.745, 2.060, 0, 0, 0, 64 [SEP] 38, Plate, -0.312, 0.781, 0.409, 0, 0, 0, 76 [SEP] 39, Spoon, 1.941, 0.747, 0.721, 0, 0, 0, 58 [SEP] 40, Mug, 1.276, 0.790, 2.695, 0, 90, 0, 73 [SEP] 41, Bowl, -0.328, 1.032, 2.068, 0, 90, 0, 74 [SEP] 42, Cabinet, 2.041, 2.113, 2.618, 0, 0, 0, [SEP] 43, Cabinet, 0.126, 0.388, 1.774, 0, 0, 0, [SEP] 44, StoveBurner, 2.140, 0.929, 1.504, 0, 180, 0, [SEP] 45, Cabinet, 1.760, 0.388, 2.346, 0, 0, 0, [SEP] 46, Cabinet, 1.760, 0.388, 0.869, 0, 0, 0, [SEP] 47, Cabinet, 2.041, 1.810, 0.283, 0, 0, 0, [SEP] 48, Drawer, -0.024, 0.774, 2.061, 0, 0, 0, [SEP] 49, CounterTop, 1.065, 0.973, 2.666, 0, 0, 0, [SEP] 50, Cabinet, 1.969, 2.113, 2.618, 0, 0, 0, [SEP] 51, StoveBurner, 2.140, 0.929, 1.106, 0, 0, 0, [SEP] 52, Cabinet, 2.041, 2.113, 1.809, 0, 0, 0, [SEP] 53, StoveBurner, 1.866, 0.929, 1.504, 0, 180, 0, [SEP] 54, Cabinet, 2.041, 2.113, 1.766, 0, 0, 0, [SEP] 55, Cabinet, 1.514, 0.388, 2.360, 0, 0, 0, [SEP] 56, Cabinet, 0.351, 0.388, 2.360, 0, 0, 0, [SEP] 57, Cabinet, 2.041, 1.810, 0.872, 0, 0, 0, [SEP] 58, Drawer, 2.167, 0.774, 0.582, 0, 0, 0, [SEP] 59, Cabinet, 2.041, 2.113, 0.892, 0, 0, 0, [SEP] 60, CounterTop, 2.060, 0.973, 0.583, 0, 0, 0, [SEP] 61, Sink, 0.935, 0.936, 2.646, 0, 0, 0, [SEP] 62, Curtains, 0.964, 2.061, 2.989, 0, 0, 0, [SEP] 63, StoveBurner, 1.863, 0.929, 1.106, 0, 0, 0, [SEP] 64, Drawer, 1.911, 0.774, 2.060, 0, 0, 0, [SEP] 65, StoveKnob, 2.326, 1.092, 1.610, 288.013, 90, 0, [SEP] 66, StoveKnob, 2.326, 1.092, 1.460, 288.013, 90, 0, [SEP] 67, StoveKnob, 2.326, 1.092, 1.210, 288.013, 90, 0, [SEP] 68, StoveKnob, 2.326, 1.092, 1.050, 288.013, 90, 0, [SEP] 69, Toaster, 2.126, 0.926, 0.572, 0, 270, 0, [SEP] 70, Fridge, 2.104, 0.0, -0.279, 0, 270, 0, [SEP] 71, GarbageCan, -0.309, -0.001, -0.807, 0, 91.471, 0, [SEP] 72, LightSwitch, 0.354, 1.518, -1.031, 0, 0, 0, [SEP] 73, SinkBasin, 0.903, 0.784, 2.640, 0, 0, 0, [SEP] 74, Microwave, -0.310, 0.926, 2.077, 0, 90, 0, [SEP] 75, CoffeeMachine, 2.084, 0.927, 2.667, 0, 225, 0, [SEP] 76, DiningTable, -0.153, -0.000, 1.073, 0, 270, 0, [SEP] 77, Faucet, 1.175, 0.926, 2.950, 270, 90, 0, [SEP] 78, Faucet, 0.686, 0.926, 2.950, 270, 90, 0, [SEP] 79, Chair, -0.077, 0.002, 0.196, 0, 15.000, 0, [SEP] 80, NorthWall, , , , , , , [SEP] 81, EastWall, , , , , , , [SEP] 82, SouthWall, , , , , , , [SEP] 83, WestWall, , , , , , , ", "output": ["STEP 1: Head towards the sink and walk to the white stove on the right. | STEP 2: Pick up the black pan from the front left corner of the stove. | STEP 3: Turn right and walk to the black fridge on the left. | STEP 4: Put the black pan inside the fridge on the middle shelf, chill it for seven seconds, remove it and close the door. | STEP 5: Turn around and walk to the sink across the room on the right. | STEP 6: Open the lower right cabinet under the sink, put the chilled pan inside and close the door. | END"]} +{"id": "trial_T20190908_131409_193409-2", "input": "Get pot from stove, put in refrigerator to cool then put in cabinet. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.0, 0.901, 0.75, 0, 0, 0, [SEP] 1, WineBottle, 1.917, 0.939, 0.806, 0, 0, 0, 60 [SEP] 2, Ladle, 1.872, 0.790, 0.446, 0, 90, 0, 58 [SEP] 3, DishSponge, 2.227, 0.937, 2.260, 0, 0, 0, 49 [SEP] 4, DishSponge, -0.196, 0.790, 1.386, 0, 0, 0, 76 [SEP] 5, ButterKnife, -0.349, 0.782, 0.713, 0, 0, 0, 76 [SEP] 6, ButterKnife, 1.170, 0.795, 2.64, 0, 0, 0, 73 [SEP] 7, Spatula, -0.425, 0.805, 1.049, 0, 90, 0, 76 [SEP] 8, Egg, 0.576, 0.837, 2.529, 0, 0, 0, 73 [SEP] 9, Egg, 2.071, 0.980, 0.361, 0, 0, 0, 60 [SEP] 10, Cup, -0.362, 1.034, 1.907, 0, 90, 0, 74 [SEP] 11, Knife, 0.033, 0.816, 0.881, 0, 270, 0, 76 [SEP] 12, Knife, -0.119, 0.816, 0.545, 0, 180, 0, 76 [SEP] 13, SoapBottle, -0.119, 0.791, 1.217, 0, 90, 0, 76 [SEP] 14, Bowl, -0.282, 0.934, 2.827, 0, 0, 0, 49 [SEP] 15, SaltShaker, -0.196, 0.785, 1.049, 0, 0, 0, 76 [SEP] 16, SaltShaker, -0.196, 0.785, 1.217, 0, 0, 0, 76 [SEP] 17, Mug, 2.064, 0.989, 2.462, 0, 225, 0, 75 [SEP] 18, Egg, 1.840, 0.980, 0.435, 0, 0, 0, 60 [SEP] 19, Lettuce, 0.277, 0.989, 2.611, 0, 60.216, 0, 49 [SEP] 20, Fork, -0.349, 0.791, 1.217, 0, 90, 0, 76 [SEP] 21, SoapBottle, 1.917, 0.939, 0.361, 0, 180, 0, 60 [SEP] 22, Ladle, 1.976, 0.791, 0.446, 0, 90, 0, 58 [SEP] 23, Ladle, -0.119, 0.835, 0.377, 0, 90, 0, 76 [SEP] 24, Bread, -0.201, 0.824, 0.828, 0, 0, 0, 76 [SEP] 25, SaltShaker, 0.033, 0.785, 1.049, 0, 0, 0, 76 [SEP] 26, Potato, 1.921, 0.968, 2.196, 0, 337.023, 0, 49 [SEP] 27, Pan, 2.140, 0.935, 1.504, 0, 180, 0, 44 [SEP] 28, WineBottle, 2.301, 0.939, 0.361, 0, 0, 0, 60 [SEP] 29, Spatula, 0.060, 0.952, 2.757, 0, 0, 0, 49 [SEP] 30, Knife, -0.119, 0.816, 1.217, 0, 180, 0, 76 [SEP] 31, Tomato, -0.167, 0.983, 2.548, 0, 0, 0, 49 [SEP] 32, Apple, 0.033, 0.840, 1.386, 0, 0, 0, 76 [SEP] 33, ButterKnife, -0.350, 0.782, 0.882, 1.017, 0, 0, 76 [SEP] 34, Pot, 1.854, 0.937, 1.497, 0, 0, 0, 53 [SEP] 35, PepperShaker, 2.148, 0.933, 0.361, 0, 0, 0, 60 [SEP] 36, Cup, 1.276, 0.793, 2.584, 0, 0, 0, 73 [SEP] 37, DishSponge, 1.919, 0.745, 2.060, 0, 0, 0, 64 [SEP] 38, Plate, -0.312, 0.781, 0.409, 0, 0, 0, 76 [SEP] 39, Spoon, 1.941, 0.747, 0.721, 0, 0, 0, 58 [SEP] 40, Mug, 1.276, 0.790, 2.695, 0, 90, 0, 73 [SEP] 41, Bowl, -0.328, 1.032, 2.068, 0, 90, 0, 74 [SEP] 42, Cabinet, 2.041, 2.113, 2.618, 0, 0, 0, [SEP] 43, Cabinet, 0.126, 0.388, 1.774, 0, 0, 0, [SEP] 44, StoveBurner, 2.140, 0.929, 1.504, 0, 180, 0, [SEP] 45, Cabinet, 1.760, 0.388, 2.346, 0, 0, 0, [SEP] 46, Cabinet, 1.760, 0.388, 0.869, 0, 0, 0, [SEP] 47, Cabinet, 2.041, 1.810, 0.283, 0, 0, 0, [SEP] 48, Drawer, -0.024, 0.774, 2.061, 0, 0, 0, [SEP] 49, CounterTop, 1.065, 0.973, 2.666, 0, 0, 0, [SEP] 50, Cabinet, 1.969, 2.113, 2.618, 0, 0, 0, [SEP] 51, StoveBurner, 2.140, 0.929, 1.106, 0, 0, 0, [SEP] 52, Cabinet, 2.041, 2.113, 1.809, 0, 0, 0, [SEP] 53, StoveBurner, 1.866, 0.929, 1.504, 0, 180, 0, [SEP] 54, Cabinet, 2.041, 2.113, 1.766, 0, 0, 0, [SEP] 55, Cabinet, 1.514, 0.388, 2.360, 0, 0, 0, [SEP] 56, Cabinet, 0.351, 0.388, 2.360, 0, 0, 0, [SEP] 57, Cabinet, 2.041, 1.810, 0.872, 0, 0, 0, [SEP] 58, Drawer, 2.167, 0.774, 0.582, 0, 0, 0, [SEP] 59, Cabinet, 2.041, 2.113, 0.892, 0, 0, 0, [SEP] 60, CounterTop, 2.060, 0.973, 0.583, 0, 0, 0, [SEP] 61, Sink, 0.935, 0.936, 2.646, 0, 0, 0, [SEP] 62, Curtains, 0.964, 2.061, 2.989, 0, 0, 0, [SEP] 63, StoveBurner, 1.863, 0.929, 1.106, 0, 0, 0, [SEP] 64, Drawer, 1.911, 0.774, 2.060, 0, 0, 0, [SEP] 65, StoveKnob, 2.326, 1.092, 1.610, 288.013, 90, 0, [SEP] 66, StoveKnob, 2.326, 1.092, 1.460, 288.013, 90, 0, [SEP] 67, StoveKnob, 2.326, 1.092, 1.210, 288.013, 90, 0, [SEP] 68, StoveKnob, 2.326, 1.092, 1.050, 288.013, 90, 0, [SEP] 69, Toaster, 2.126, 0.926, 0.572, 0, 270, 0, [SEP] 70, Fridge, 2.104, 0.0, -0.279, 0, 270, 0, [SEP] 71, GarbageCan, -0.309, -0.001, -0.807, 0, 91.471, 0, [SEP] 72, LightSwitch, 0.354, 1.518, -1.031, 0, 0, 0, [SEP] 73, SinkBasin, 0.903, 0.784, 2.640, 0, 0, 0, [SEP] 74, Microwave, -0.310, 0.926, 2.077, 0, 90, 0, [SEP] 75, CoffeeMachine, 2.084, 0.927, 2.667, 0, 225, 0, [SEP] 76, DiningTable, -0.153, -0.000, 1.073, 0, 270, 0, [SEP] 77, Faucet, 1.175, 0.926, 2.950, 270, 90, 0, [SEP] 78, Faucet, 0.686, 0.926, 2.950, 270, 90, 0, [SEP] 79, Chair, -0.077, 0.002, 0.196, 0, 15.000, 0, [SEP] 80, NorthWall, , , , , , , [SEP] 81, EastWall, , , , , , , [SEP] 82, SouthWall, , , , , , , [SEP] 83, WestWall, , , , , , , ", "output": ["STEP 1: Turn right to face stove. | STEP 2: Pick up pot from left lower burner of stove. | STEP 3: Turn right, proceed to refrigerator on left. Turn left to face refrigerator. | STEP 4: Open refrigerator, place pot on second shelf down, close door. Wait four seconds. Open refrigerator, get out pot, close door. | STEP 5: Turn left, go ahead to sink. | STEP 6: Open right cabinet under sink. Place pot in cabinet, close door. | END"]} +{"id": "trial_T20190907_220700_786103-1", "input": "Examine a pillow in the light of a lamp. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.5, 0.900, -0.75, 0, 0, 0, [SEP] 1, TissueBox, -4.273, 1.066, 0.257, 0, 270, 0, 28 [SEP] 2, TissueBox, -0.175, 0.129, 1.202, 0, 0, 0, 38 [SEP] 3, KeyChain, -0.589, 0.897, 1.234, 0, 0, 0, 40 [SEP] 4, KeyChain, -1.121, 0.634, 1.327, 0, 270, 0, 39 [SEP] 5, CreditCard, -0.806, 0.127, 1.274, 0, 0, 0, 38 [SEP] 6, Box, -3.780, 1.305, 0.457, 0, 0, 0, 28 [SEP] 7, Vase, -1.226, 0.128, 1.165, 0, 0, 0, 38 [SEP] 8, TissueBox, -1.047, 0.900, 1.187, 0, 0, 0, 40 [SEP] 9, Newspaper, -0.385, 0.127, 1.202, 0, 0, 0, 38 [SEP] 10, KeyChain, -0.396, 0.538, -0.983, 0, 0, 0, 37 [SEP] 11, Vase, 0.667, 0.668, 1.267, 0, 0, 0, 29 [SEP] 12, Statue, -1.29, 0.891, 1.219, 0, 180, 0, 40 [SEP] 13, RemoteControl, 0.056, 0.483, -1.319, 0, 0, 0, 37 [SEP] 14, Pillow, -1.827, 0.585, -1.251, 0, 0, 0, 31 [SEP] 15, CreditCard, -0.169, 0.541, -0.983, 0, 0, 0, 37 [SEP] 16, Laptop, 0.434, 0.541, -1.187, 0, 0, 0, 37 [SEP] 17, Vase, 1.407, 0.660, -1.413, 0, 0, 0, 33 [SEP] 18, Statue, -0.359, 0.998, 1.140, 0, 0, 0, 40 [SEP] 19, DeskLamp, 1.657, 0.654, -1.605, 0, 0, 0, [SEP] 20, FloorLamp, -4.569, 0.005, -1.616, 0, 15.092, 0, [SEP] 21, LightSwitch, -2.464, 1.230, -1.950, 0, 0, 0, [SEP] 22, GarbageCan, -4.581, -0.032, 1.126, 0, 90, 0, [SEP] 23, Television, -0.549, 1.516, 1.450, 0, 180, 0, [SEP] 24, HousePlant, 1.555, 0.650, 1.166, 0, 0, 0, [SEP] 25, Window, -2.012, 1.501, 1.468, 90, 0, 0, [SEP] 26, Window, 0.986, 1.501, 1.468, 90, 0, 0, [SEP] 27, Painting, -0.698, 1.835, -1.911, 90, 0, 0, [SEP] 28, DiningTable, -3.941, 0.005, 0.257, 0, 0, 0, [SEP] 29, SideTable, 1.102, -0.000, 1.118, 0, 180, 0, [SEP] 30, Drawer, 1.103, 0.519, 0.834, 0, 180, 0, [SEP] 31, ArmChair, -1.832, 0.010, -1.349, 0, 0, 0, [SEP] 32, Drawer, 1.581, 0.523, -1.199, 0, 0, 0, [SEP] 33, SideTable, 1.581, 0.003, -1.488, 0, 0, 0, [SEP] 34, Painting, -4.910, 1.763, -0.098, 90, 270, 0, [SEP] 35, Chair, -4.398, 0.002, 0.274, 0, 85.162, 0, [SEP] 36, Chair, -3.825, 0.002, -0.223, 0, 340.163, 0, [SEP] 37, Sofa, 0.057, -0.002, -1.386, 0, 0, 0, [SEP] 38, Shelf, -0.552, 0.114, 1.252, 0, 180, 0, [SEP] 39, Drawer, -1.020, 0.728, 1.032, 0, 180, 0, [SEP] 40, SideTable, -0.589, 0.000, 1.227, 0, 180, 0, [SEP] 41, Drawer, -0.157, 0.728, 1.032, 0, 180, 0, [SEP] 42, NorthWall, , , , , , , [SEP] 43, EastWall, , , , , , , [SEP] 44, SouthWall, , , , , , , [SEP] 45, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and face the chair on your right. | STEP 2: Pick up the pillow from the chair. | STEP 3: Walk to your left until you reach the end table with the lamp on it. | STEP 4: Turn on the lamp. | END"]} +{"id": "trial_T20190907_220700_786103-2", "input": "Examine a pillow by the light of a desk lamp. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.5, 0.900, -0.75, 0, 0, 0, [SEP] 1, TissueBox, -4.273, 1.066, 0.257, 0, 270, 0, 28 [SEP] 2, TissueBox, -0.175, 0.129, 1.202, 0, 0, 0, 38 [SEP] 3, KeyChain, -0.589, 0.897, 1.234, 0, 0, 0, 40 [SEP] 4, KeyChain, -1.121, 0.634, 1.327, 0, 270, 0, 39 [SEP] 5, CreditCard, -0.806, 0.127, 1.274, 0, 0, 0, 38 [SEP] 6, Box, -3.780, 1.305, 0.457, 0, 0, 0, 28 [SEP] 7, Vase, -1.226, 0.128, 1.165, 0, 0, 0, 38 [SEP] 8, TissueBox, -1.047, 0.900, 1.187, 0, 0, 0, 40 [SEP] 9, Newspaper, -0.385, 0.127, 1.202, 0, 0, 0, 38 [SEP] 10, KeyChain, -0.396, 0.538, -0.983, 0, 0, 0, 37 [SEP] 11, Vase, 0.667, 0.668, 1.267, 0, 0, 0, 29 [SEP] 12, Statue, -1.29, 0.891, 1.219, 0, 180, 0, 40 [SEP] 13, RemoteControl, 0.056, 0.483, -1.319, 0, 0, 0, 37 [SEP] 14, Pillow, -1.827, 0.585, -1.251, 0, 0, 0, 31 [SEP] 15, CreditCard, -0.169, 0.541, -0.983, 0, 0, 0, 37 [SEP] 16, Laptop, 0.434, 0.541, -1.187, 0, 0, 0, 37 [SEP] 17, Vase, 1.407, 0.660, -1.413, 0, 0, 0, 33 [SEP] 18, Statue, -0.359, 0.998, 1.140, 0, 0, 0, 40 [SEP] 19, DeskLamp, 1.657, 0.654, -1.605, 0, 0, 0, [SEP] 20, FloorLamp, -4.569, 0.005, -1.616, 0, 15.092, 0, [SEP] 21, LightSwitch, -2.464, 1.230, -1.950, 0, 0, 0, [SEP] 22, GarbageCan, -4.581, -0.032, 1.126, 0, 90, 0, [SEP] 23, Television, -0.549, 1.516, 1.450, 0, 180, 0, [SEP] 24, HousePlant, 1.555, 0.650, 1.166, 0, 0, 0, [SEP] 25, Window, -2.012, 1.501, 1.468, 90, 0, 0, [SEP] 26, Window, 0.986, 1.501, 1.468, 90, 0, 0, [SEP] 27, Painting, -0.698, 1.835, -1.911, 90, 0, 0, [SEP] 28, DiningTable, -3.941, 0.005, 0.257, 0, 0, 0, [SEP] 29, SideTable, 1.102, -0.000, 1.118, 0, 180, 0, [SEP] 30, Drawer, 1.103, 0.519, 0.834, 0, 180, 0, [SEP] 31, ArmChair, -1.832, 0.010, -1.349, 0, 0, 0, [SEP] 32, Drawer, 1.581, 0.523, -1.199, 0, 0, 0, [SEP] 33, SideTable, 1.581, 0.003, -1.488, 0, 0, 0, [SEP] 34, Painting, -4.910, 1.763, -0.098, 90, 270, 0, [SEP] 35, Chair, -4.398, 0.002, 0.274, 0, 85.162, 0, [SEP] 36, Chair, -3.825, 0.002, -0.223, 0, 340.163, 0, [SEP] 37, Sofa, 0.057, -0.002, -1.386, 0, 0, 0, [SEP] 38, Shelf, -0.552, 0.114, 1.252, 0, 180, 0, [SEP] 39, Drawer, -1.020, 0.728, 1.032, 0, 180, 0, [SEP] 40, SideTable, -0.589, 0.000, 1.227, 0, 180, 0, [SEP] 41, Drawer, -0.157, 0.728, 1.032, 0, 180, 0, [SEP] 42, NorthWall, , , , , , , [SEP] 43, EastWall, , , , , , , [SEP] 44, SouthWall, , , , , , , [SEP] 45, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and walk to the chair containing a pillow. | STEP 2: Pick up the pillow from the chair. | STEP 3: Turn left and walk to the lamp on the desk in the corner of the room. | STEP 4: Turn on the lamp. | END"]} +{"id": "trial_T20190908_042226_196941-0", "input": "move the spray bottle from the sink to the back of the toilet SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.909, 0.5, 0, 90, 0, [SEP] 1, Candle, -3.222, 0.597, 1.384, 0, 0, 0, 35 [SEP] 2, SoapBottle, -0.418, 1.106, 3.137, 0, 0, 0, 21 [SEP] 3, SoapBottle, -0.560, 1.073, 0.363, 0, 0, 0, 40 [SEP] 4, HandTowel, -0.242, 1.76, 3.427, 0, 0, 0, 38 [SEP] 5, Plunger, -0.219, 0.026, 0.490, 0, 0, 0, [SEP] 6, SoapBar, -1.639, 0.106, 0.544, 0, 0, 0, 34 [SEP] 7, ToiletPaper, -2.812, 0.595, 1.509, 0, 0, 0, 35 [SEP] 8, SoapBottle, -2.710, 0.600, 1.342, 0, 0, 0, 35 [SEP] 9, ToiletPaper, -0.757, 1.067, 0.363, 0, 0, 0, 40 [SEP] 10, Towel, 0.861, 1.358, 2.855, 0, 270, 0, 32 [SEP] 11, PaperTowelRoll, -1.464, 0.705, 1.072, 0, 0, 0, 24 [SEP] 12, ScrubBrush, -0.351, 0.026, 0.353, 0, 0, 0, [SEP] 13, Cloth, -3.017, 0.603, 1.426, 0, 0, 0, 35 [SEP] 14, Candle, -2.364, 1.103, 2.983, 0, 0, 0, 21 [SEP] 15, DishSponge, -1.284, 1.106, 3.214, 0, 0, 0, 21 [SEP] 16, SprayBottle, -2.340, 1.105, 3.292, 0, 0, 0, 21 [SEP] 17, Window, -3.447, 1.593, 0.648, 0, 0, 0, [SEP] 18, Mirror, -1.386, 1.595, 3.464, 0, 0, 0, [SEP] 19, SinkBasin, -0.837, 0.960, 3.091, 0, 180, 0, [SEP] 20, ShowerDoor, -2.477, 1.774, 2.386, 0, 0, 0, [SEP] 21, CounterTop, -1.358, 1.094, 3.151, 0, 0, 0, [SEP] 22, Sink, -0.846, 0.952, 3.144, 0, 180, 0, [SEP] 23, Cabinet, -1.399, 0.425, 2.867, 0, 0, 0, [SEP] 24, Bathtub, -2.234, 0.288, 0.722, 0, 0, 0, [SEP] 25, Cabinet, -0.337, 0.425, 2.867, 0, 0, 0, [SEP] 26, Cabinet, -1.362, 0.425, 2.867, 0, 0, 0, [SEP] 27, Cabinet, -2.423, 0.425, 2.867, 0, 0, 0, [SEP] 28, ShowerGlass, -2.895, 1.423, 2.342, 0, 0, 0, [SEP] 29, Faucet, -0.853, 1.094, 3.367, 0, 180, 0, [SEP] 30, ShowerHead, -2.949, 2.154, 3.427, 0, 0, 0, [SEP] 31, Window, -2.190, 1.550, 0.086, 0, 0, 0, [SEP] 32, TowelHolder, 0.967, 1.343, 2.855, 0, 270, 0, [SEP] 33, TowelHolder, 0.402, 1.375, 3.466, 0, 180, 0, [SEP] 34, BathtubBasin, -2.322, 0.096, 0.634, 0, 0, 0, [SEP] 35, Shelf, -2.930, 0.589, 1.425, 0, 0, 0, [SEP] 36, GarbageCan, -0.061, -0.001, 3.131, 0, 270, 0, [SEP] 37, LightSwitch, 0.968, 1.432, 1.128, 0, 270, 0, [SEP] 38, HandTowelHolder, -0.241, 1.861, 3.466, 0, 90, 0, [SEP] 39, ToiletPaperHanger, -0.039, 0.958, 0.201, 0, 0, 0, [SEP] 40, Toilet, -0.694, 0.026, 0.656, 0, 90, 0, [SEP] 41, Faucet, -1.944, 1.094, 3.367, 0, 180, 0, [SEP] 42, Sink, -1.934, 0.952, 3.144, 0, 180, 0, [SEP] 43, SinkBasin, -1.926, 0.960, 3.091, 0, 180, 0, [SEP] 44, Faucet, -1.342, 0.638, 0.629, 0, 90, 0, [SEP] 45, NorthWall, , , , , , , [SEP] 46, EastWall, , , , , , , [SEP] 47, SouthWall, , , , , , , [SEP] 48, WestWall, , , , , , , ", "output": ["STEP 1: walk over to the front of the sink | STEP 2: pick up the spray bottle from the counter | STEP 3: take the spray bottle over to the toilet | STEP 4: put the bottle on the back of the toilet next to the lotion | END"]} +{"id": "trial_T20190909_061731_394558-1", "input": "Examine a remote control by the light of a tall lamp. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.25, 0.906, 3.0, 0, 270, 0, [SEP] 1, TissueBox, -0.178, 0.766, 2.228, 0, 270, 0, 45 [SEP] 2, TissueBox, -0.395, 0.183, 3.098, 0, 270, 0, 46 [SEP] 3, Watch, -0.253, 0.762, 2.378, 0, 270, 0, 45 [SEP] 4, Watch, -0.361, 0.183, 2.260, 0, 270, 0, 44 [SEP] 5, Newspaper, -0.178, 0.763, 2.528, 0, 270, 0, 45 [SEP] 6, Newspaper, -0.478, 0.766, 2.678, 0, 270, 0, 45 [SEP] 7, KeyChain, -0.553, 0.762, 2.378, 0, 270, 0, 45 [SEP] 8, KeyChain, -0.403, 0.762, 2.378, 0, 270, 0, 45 [SEP] 9, CreditCard, -1.740, 0.198, 2.757, 0, 0, 0, 38 [SEP] 10, CreditCard, -1.969, 0.195, 2.528, 0, 0, 0, 38 [SEP] 11, Pillow, -2.865, 0.484, 4.412, 0, 0, 0, 48 [SEP] 12, Box, -2.111, 0.293, 2.930, 0, 0, 0, 38 [SEP] 13, CreditCard, -0.138, 0.184, 2.711, 0, 270, 0, 43 [SEP] 14, TissueBox, -0.403, 0.766, 2.978, 0, 270, 0, 45 [SEP] 15, Laptop, -4.503, 0.417, 2.640, 0, 270, 0, 47 [SEP] 16, Vase, -2.880, 1.518, 0.144, 0, 0, 0, [SEP] 17, RemoteControl, -0.782, 0.378, 0.712, 0, 0, 0, 39 [SEP] 18, Pillow, -1.878, 0.484, 4.412, 0, 0, 0, 48 [SEP] 19, KeyChain, -0.403, 0.765, 2.528, 0, 270, 0, 45 [SEP] 20, Watch, -0.464, 0.576, 3.098, 0, 270, 0, 41 [SEP] 21, Newspaper, -4.266, 0.421, 1.406, 0, 270, 0, 47 [SEP] 22, Statue, -2.121, 0.205, 2.299, 0, 0, 0, 38 [SEP] 23, Statue, -1.869, 1.518, 0.145, 0, 0, 0, Floor|+00.00| [SEP] 24, Curtains, -1.030, 2.113, 0.0, 0, 0, 0, [SEP] 25, Curtains, -3.927, 2.113, 0.0, 0, 0, 0, [SEP] 26, HousePlant, -3.127, 1.507, 0.118, 0, 0, 0, [SEP] 27, Television, 0.0, 1.376, 2.661, 0, 270, 0, [SEP] 28, GarbageCan, -0.227, 0.005, 4.778, 0, 0, 0, [SEP] 29, DeskLamp, -4.658, 0.508, 3.318, 0, 270, 0, [SEP] 30, Painting, -2.507, 1.817, 0.108, 90, 0, 0, [SEP] 31, FloorLamp, -4.596, 0.006, 0.399, 0, 65.211, 0, [SEP] 32, LightSwitch, -3.233, 1.343, 5.0, 0, 180, 0, [SEP] 33, Window, -1.011, 1.391, 0.029, 90, 180, 0, [SEP] 34, Window, -3.900, 1.391, 0.029, 90, 180, 0, [SEP] 35, Drawer, -4.433, 0.473, 3.344, 0, 90, 0, [SEP] 36, SideTable, -4.612, 0.009, 3.346, 0, 90, 0, [SEP] 37, Chair, -4.572, 0.005, 3.862, 0, 113.899, 0, [SEP] 38, CoffeeTable, -1.972, 0.002, 2.615, 0, 270, 0, [SEP] 39, ArmChair, -0.875, 0.005, 0.566, 0, 0, 0, [SEP] 40, Shelf, -0.340, 0.480, 3.046, 0, 270, 0, [SEP] 41, Shelf, -0.340, 0.649, 3.046, 0, 270, 0, [SEP] 42, Shelf, -0.340, 0.603, 2.312, 0, 270, 0, [SEP] 43, Shelf, -0.340, 0.448, 2.678, 0, 270, 0, [SEP] 44, Shelf, -0.340, 0.308, 2.312, 0, 270, 0, [SEP] 45, TVStand, -0.335, 0.005, 2.679, 0, 270, 0, [SEP] 46, Shelf, -0.340, 0.279, 3.046, 0, 270, 0, [SEP] 47, Sofa, -4.566, 0.009, 1.880, 0, 90, 0, [SEP] 48, Sofa, -2.124, 0.009, 4.558, 0, 180, 0, [SEP] 49, NorthWall, , , , , , , [SEP] 50, SouthWall, , , , , , , [SEP] 51, SouthWall, , , , , , , ", "output": ["STEP 1: Turn left, hang a left at the end of the couch and walk to the black chair on the right. | STEP 2: Pick up the remote control from the cushion on the chair. | STEP 3: Turn right and walk to the tall lamp in the corner next to the couch. | STEP 4: Turn on the tall lamp. | END"]} +{"id": "trial_T20190909_061731_394558-2", "input": "Pick up a remote and turn a lamp on. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.25, 0.906, 3.0, 0, 270, 0, [SEP] 1, TissueBox, -0.178, 0.766, 2.228, 0, 270, 0, 45 [SEP] 2, TissueBox, -0.395, 0.183, 3.098, 0, 270, 0, 46 [SEP] 3, Watch, -0.253, 0.762, 2.378, 0, 270, 0, 45 [SEP] 4, Watch, -0.361, 0.183, 2.260, 0, 270, 0, 44 [SEP] 5, Newspaper, -0.178, 0.763, 2.528, 0, 270, 0, 45 [SEP] 6, Newspaper, -0.478, 0.766, 2.678, 0, 270, 0, 45 [SEP] 7, KeyChain, -0.553, 0.762, 2.378, 0, 270, 0, 45 [SEP] 8, KeyChain, -0.403, 0.762, 2.378, 0, 270, 0, 45 [SEP] 9, CreditCard, -1.740, 0.198, 2.757, 0, 0, 0, 38 [SEP] 10, CreditCard, -1.969, 0.195, 2.528, 0, 0, 0, 38 [SEP] 11, Pillow, -2.865, 0.484, 4.412, 0, 0, 0, 48 [SEP] 12, Box, -2.111, 0.293, 2.930, 0, 0, 0, 38 [SEP] 13, CreditCard, -0.138, 0.184, 2.711, 0, 270, 0, 43 [SEP] 14, TissueBox, -0.403, 0.766, 2.978, 0, 270, 0, 45 [SEP] 15, Laptop, -4.503, 0.417, 2.640, 0, 270, 0, 47 [SEP] 16, Vase, -2.880, 1.518, 0.144, 0, 0, 0, [SEP] 17, RemoteControl, -0.782, 0.378, 0.712, 0, 0, 0, 39 [SEP] 18, Pillow, -1.878, 0.484, 4.412, 0, 0, 0, 48 [SEP] 19, KeyChain, -0.403, 0.765, 2.528, 0, 270, 0, 45 [SEP] 20, Watch, -0.464, 0.576, 3.098, 0, 270, 0, 41 [SEP] 21, Newspaper, -4.266, 0.421, 1.406, 0, 270, 0, 47 [SEP] 22, Statue, -2.121, 0.205, 2.299, 0, 0, 0, 38 [SEP] 23, Statue, -1.869, 1.518, 0.145, 0, 0, 0, Floor|+00.00| [SEP] 24, Curtains, -1.030, 2.113, 0.0, 0, 0, 0, [SEP] 25, Curtains, -3.927, 2.113, 0.0, 0, 0, 0, [SEP] 26, HousePlant, -3.127, 1.507, 0.118, 0, 0, 0, [SEP] 27, Television, 0.0, 1.376, 2.661, 0, 270, 0, [SEP] 28, GarbageCan, -0.227, 0.005, 4.778, 0, 0, 0, [SEP] 29, DeskLamp, -4.658, 0.508, 3.318, 0, 270, 0, [SEP] 30, Painting, -2.507, 1.817, 0.108, 90, 0, 0, [SEP] 31, FloorLamp, -4.596, 0.006, 0.399, 0, 65.211, 0, [SEP] 32, LightSwitch, -3.233, 1.343, 5.0, 0, 180, 0, [SEP] 33, Window, -1.011, 1.391, 0.029, 90, 180, 0, [SEP] 34, Window, -3.900, 1.391, 0.029, 90, 180, 0, [SEP] 35, Drawer, -4.433, 0.473, 3.344, 0, 90, 0, [SEP] 36, SideTable, -4.612, 0.009, 3.346, 0, 90, 0, [SEP] 37, Chair, -4.572, 0.005, 3.862, 0, 113.899, 0, [SEP] 38, CoffeeTable, -1.972, 0.002, 2.615, 0, 270, 0, [SEP] 39, ArmChair, -0.875, 0.005, 0.566, 0, 0, 0, [SEP] 40, Shelf, -0.340, 0.480, 3.046, 0, 270, 0, [SEP] 41, Shelf, -0.340, 0.649, 3.046, 0, 270, 0, [SEP] 42, Shelf, -0.340, 0.603, 2.312, 0, 270, 0, [SEP] 43, Shelf, -0.340, 0.448, 2.678, 0, 270, 0, [SEP] 44, Shelf, -0.340, 0.308, 2.312, 0, 270, 0, [SEP] 45, TVStand, -0.335, 0.005, 2.679, 0, 270, 0, [SEP] 46, Shelf, -0.340, 0.279, 3.046, 0, 270, 0, [SEP] 47, Sofa, -4.566, 0.009, 1.880, 0, 90, 0, [SEP] 48, Sofa, -2.124, 0.009, 4.558, 0, 180, 0, [SEP] 49, NorthWall, , , , , , , [SEP] 50, SouthWall, , , , , , , [SEP] 51, SouthWall, , , , , , , ", "output": ["STEP 1: Turn around and cross the room to face the black chair in the corner. | STEP 2: Pick the remote up from the chair. | STEP 3: Cross the room and face the floor lamp in the corner. | STEP 4: Turn the lamp on. | END"]} +{"id": "trial_T20190908_085407_788047-1", "input": "Put a wet tea pot behind the lettuce on the black round table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.900, 6.75, 0, 90, 0, [SEP] 1, Potato, 0.544, 1.027, 0.670, 0, 0, 0, 54 [SEP] 2, ButterKnife, 1.236, 0.771, 3.360, 0, 0, 0, 47 [SEP] 3, ButterKnife, -0.611, 0.992, 0.395, 0, 0, 0, 54 [SEP] 4, Kettle, 1.562, 0.988, 3.848, 0, 0, 0, 48 [SEP] 5, Kettle, 0.885, 0.144, 0.260, 0, 0, 0, 60 [SEP] 6, Kettle, 1.559, 0.988, 4.294, 0, 0, 0, 52 [SEP] 7, Spatula, 0.600, 0.787, 0.395, 0, 90, 0, 46 [SEP] 8, Spatula, -0.346, 0.775, 6.323, 0, 90, 0, 90 [SEP] 9, Fork, -0.093, 0.760, 6.633, 0, 45, 0, 90 [SEP] 10, Plate, 2.051, 1.516, 5.376, 0, 270, 0, 76 [SEP] 11, Knife, 0.328, 0.801, 0.451, 0, 90, 0, 51 [SEP] 12, Tomato, 1.135, 1.042, 4.716, 0, 0, 0, 55 [SEP] 13, Tomato, 2.137, 1.565, 5.876, 0, 270, 0, 76 [SEP] 14, SoapBottle, -0.467, 0.760, 6.479, 0, 270, 0, 90 [SEP] 15, Bowl, -0.159, 0.759, 6.941, 0, 0, 0, 90 [SEP] 16, Bowl, 1.495, 2.206, 4.131, 0, 0, 0, 42 [SEP] 17, PepperShaker, 1.500, 1.572, 1.410, 0, 0, 0, 64 [SEP] 18, PepperShaker, 0.147, 0.755, 6.349, 0, 135, 0, 90 [SEP] 19, Bowl, 0.104, 0.759, 6.653, 0, 225, 0, 90 [SEP] 20, Bread, 1.117, 1.048, 0.440, 0, 356.157, 358.224, 54 [SEP] 21, Egg, 0.079, 0.810, 6.063, 0, 135, 0, 90 [SEP] 22, Knife, 0.921, 1.012, 0.300, 345.680, 0, 357.838, 54 [SEP] 23, Fork, -0.687, 0.993, 0.212, 0, 0, 0, 54 [SEP] 24, Apple, 0.305, 0.834, 6.291, 0, 270, 0, 90 [SEP] 25, Kettle, 0.305, 0.761, 6.479, 0, 270, 0, 90 [SEP] 26, Plate, 1.490, 0.141, 2.086, 0, 0, 0, 43 [SEP] 27, SaltShaker, 1.582, 0.987, 3.417, 0, 90, 0, 54 [SEP] 28, Lettuce, -0.159, 0.848, 6.169, 0, 0, 0, 90 [SEP] 29, SoapBottle, 1.019, 1.579, 0.339, 0, 90, 0, 61 [SEP] 30, Spatula, -0.685, 0.787, 0.507, 0, 90, 0, 50 [SEP] 31, PaperTowelRoll, 1.314, 1.096, 1.350, 0, 0, 0, 54 [SEP] 32, Pot, 0.734, 0.983, 0.38, 0, 0, 0, 54 [SEP] 33, Potato, 0.923, 1.027, 0.120, 0, 0, 0, 54 [SEP] 34, ButterKnife, -0.224, 0.760, 6.633, 0, 135, 0, 90 [SEP] 35, PepperShaker, -0.346, 0.755, 6.787, 0, 0, 0, 90 [SEP] 36, Pan, 1.493, 0.990, 0.440, 0, 0, 0, 54 [SEP] 37, Tomato, -0.034, 0.809, 6.323, 0, 0, 0, 90 [SEP] 38, DishSponge, -0.483, 0.143, 0.429, 0, 0, 0, 62 [SEP] 39, Cup, 2.009, 1.511, 5.626, 0, 270, 0, 76 [SEP] 40, Spoon, 1.293, 0.772, 4.717, 0, 0, 0, 44 [SEP] 41, Mug, 0.064, 1.092, 0.310, 0, 270, 0, 70 [SEP] 42, Cabinet, 1.307, 2.455, 4.360, 0, 0, 0, [SEP] 43, Cabinet, 1.054, 0.422, 1.710, 0, 0, 0, [SEP] 44, Drawer, 1.280, 0.808, 4.718, 0, 0, 0, [SEP] 45, Cabinet, 1.307, 2.455, 3.607, 0, 0, 0, [SEP] 46, Drawer, 0.736, 0.802, 0.521, 0, 0, 0, [SEP] 47, Drawer, 1.276, 0.802, 3.291, 0, 0, 0, [SEP] 48, StoveBurner, 1.562, 0.982, 3.848, 0, 0, 0, [SEP] 49, StoveBurner, 1.317, 0.982, 4.294, 0, 0, 0, [SEP] 50, Drawer, -0.482, 0.802, 0.521, 0, 0, 0, [SEP] 51, Drawer, 0.124, 0.802, 0.521, 0, 0, 0, [SEP] 52, StoveBurner, 1.559, 0.982, 4.294, 0, 0, 0, [SEP] 53, StoveBurner, 1.320, 0.982, 3.848, 0, 0, 0, [SEP] 54, CounterTop, 1.391, 1.028, 0.897, 0, 0, 0, [SEP] 55, CounterTop, 1.391, 1.028, 4.716, 0, 0, 0, [SEP] 56, Cabinet, 1.054, 0.422, 4.548, 0, 0, 0, [SEP] 57, Cabinet, 1.317, 2.134, 0.517, 0, 0, 0, [SEP] 58, Cabinet, 1.317, 2.134, 4.889, 0, 0, 0, [SEP] 59, Cabinet, 1.317, 2.134, 3.095, 0, 0, 0, [SEP] 60, Cabinet, 0.443, 0.422, 0.743, 0, 0, 0, [SEP] 61, Cabinet, 1.270, 2.134, 0.434, 0, 0, 0, [SEP] 62, Cabinet, -0.775, 0.422, 0.743, 0, 0, 0, [SEP] 63, Cabinet, -0.168, 0.422, 0.743, 0, 0, 0, [SEP] 64, Cabinet, 1.317, 2.134, 1.534, 0, 0, 0, [SEP] 65, Cabinet, 1.054, 0.422, 2.990, 0, 0, 0, [SEP] 66, Cabinet, 1.054, 0.422, 2.944, 0, 0, 0, [SEP] 67, Cabinet, -0.263, 2.134, 0.434, 0, 0, 0, [SEP] 68, Cabinet, 0.252, 2.134, 0.434, 0, 0, 0, [SEP] 69, Sink, 1.391, 1.006, 2.326, 0, 0, 0, [SEP] 70, Microwave, 0.108, 0.981, 0.262, 0, 0, 0, [SEP] 71, HousePlant, -0.165, 0.826, 6.444, 0, 0, 0, [SEP] 72, CoffeeMachine, 1.551, 0.982, 0.953, 0, 270, 0, [SEP] 73, Toaster, 1.473, 0.981, 4.715, 0, 270, 0, [SEP] 74, Window, -2.065, 1.916, 3.626, 90, 90, 0, [SEP] 75, Window, 1.763, 2.007, 2.299, 90, 270, 0, [SEP] 76, Fridge, 2.035, 0.0, 5.625, 0, 0, 0, [SEP] 77, SinkBasin, 1.387, 0.880, 2.338, 0, 90, 0, [SEP] 78, GarbageCan, 2.001, -0.044, 6.503, 0, 0, 0, [SEP] 79, StoveKnob, 1.140, 0.934, 3.987, 45, 270, 0, [SEP] 80, StoveKnob, 1.140, 0.934, 4.309, 45, 270, 0, [SEP] 81, StoveKnob, 1.140, 0.934, 4.140, 45, 270, 0, [SEP] 82, StoveKnob, 1.140, 0.934, 3.824, 45, 270, 0, [SEP] 83, Vase, -0.226, 0.834, 6.993, 0, 0, 0, [SEP] 84, Vase, 2.098, 0.043, 7.070, 0, 257.232, 0, [SEP] 85, Vase, -0.594, 0.835, 6.130, 0, 225, 0, [SEP] 86, LightSwitch, -2.0, 1.549, 6.045, 0, 90, 0, [SEP] 87, Safe, 2.046, 1.072, 7.054, 0, 257.232, 0, [SEP] 88, Faucet, 1.534, 1.025, 2.371, 0, 294.391, 0, [SEP] 89, Blinds, 1.738, 2.563, 2.312, 0, 90, 0, [SEP] 90, DiningTable, -0.156, 0.000, 6.474, 0, 0, 0, [SEP] 91, Chair, 0.291, 0.002, 6.142, 0, 310.162, 0, [SEP] 92, GarbageBag, -1.092, 0.318, 0.268, 270, 90, 83.492, [SEP] 93, NorthWall, , , , , , , [SEP] 94, EastWall, , , , , , , [SEP] 95, SouthWall, , , , , , , [SEP] 96, WestWall, , , , , , , ", "output": ["STEP 1: Walk to the right, turn left near the table, walk towards the fridge and then turn left to go to the other side of the table. | STEP 2: Pick up a tea pot from on top of the black round table. | STEP 3: Turn around, walk forward and turn to the left to go to the sink. | STEP 4: Put the tea pot in the sink, turn on the water for a few seconds, turn it off and pick up the tea pot again. | STEP 5: Walk to the left, walk towards the wall and turn left to face the black round table. | STEP 6: Put the tea pot behind the lettuce on the round table. | END"]} +{"id": "trial_T20190908_085407_788047-2", "input": "Put a filled tea kettle on the table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.900, 6.75, 0, 90, 0, [SEP] 1, Potato, 0.544, 1.027, 0.670, 0, 0, 0, 54 [SEP] 2, ButterKnife, 1.236, 0.771, 3.360, 0, 0, 0, 47 [SEP] 3, ButterKnife, -0.611, 0.992, 0.395, 0, 0, 0, 54 [SEP] 4, Kettle, 1.562, 0.988, 3.848, 0, 0, 0, 48 [SEP] 5, Kettle, 0.885, 0.144, 0.260, 0, 0, 0, 60 [SEP] 6, Kettle, 1.559, 0.988, 4.294, 0, 0, 0, 52 [SEP] 7, Spatula, 0.600, 0.787, 0.395, 0, 90, 0, 46 [SEP] 8, Spatula, -0.346, 0.775, 6.323, 0, 90, 0, 90 [SEP] 9, Fork, -0.093, 0.760, 6.633, 0, 45, 0, 90 [SEP] 10, Plate, 2.051, 1.516, 5.376, 0, 270, 0, 76 [SEP] 11, Knife, 0.328, 0.801, 0.451, 0, 90, 0, 51 [SEP] 12, Tomato, 1.135, 1.042, 4.716, 0, 0, 0, 55 [SEP] 13, Tomato, 2.137, 1.565, 5.876, 0, 270, 0, 76 [SEP] 14, SoapBottle, -0.467, 0.760, 6.479, 0, 270, 0, 90 [SEP] 15, Bowl, -0.159, 0.759, 6.941, 0, 0, 0, 90 [SEP] 16, Bowl, 1.495, 2.206, 4.131, 0, 0, 0, 42 [SEP] 17, PepperShaker, 1.500, 1.572, 1.410, 0, 0, 0, 64 [SEP] 18, PepperShaker, 0.147, 0.755, 6.349, 0, 135, 0, 90 [SEP] 19, Bowl, 0.104, 0.759, 6.653, 0, 225, 0, 90 [SEP] 20, Bread, 1.117, 1.048, 0.440, 0, 356.157, 358.224, 54 [SEP] 21, Egg, 0.079, 0.810, 6.063, 0, 135, 0, 90 [SEP] 22, Knife, 0.921, 1.012, 0.300, 345.680, 0, 357.838, 54 [SEP] 23, Fork, -0.687, 0.993, 0.212, 0, 0, 0, 54 [SEP] 24, Apple, 0.305, 0.834, 6.291, 0, 270, 0, 90 [SEP] 25, Kettle, 0.305, 0.761, 6.479, 0, 270, 0, 90 [SEP] 26, Plate, 1.490, 0.141, 2.086, 0, 0, 0, 43 [SEP] 27, SaltShaker, 1.582, 0.987, 3.417, 0, 90, 0, 54 [SEP] 28, Lettuce, -0.159, 0.848, 6.169, 0, 0, 0, 90 [SEP] 29, SoapBottle, 1.019, 1.579, 0.339, 0, 90, 0, 61 [SEP] 30, Spatula, -0.685, 0.787, 0.507, 0, 90, 0, 50 [SEP] 31, PaperTowelRoll, 1.314, 1.096, 1.350, 0, 0, 0, 54 [SEP] 32, Pot, 0.734, 0.983, 0.38, 0, 0, 0, 54 [SEP] 33, Potato, 0.923, 1.027, 0.120, 0, 0, 0, 54 [SEP] 34, ButterKnife, -0.224, 0.760, 6.633, 0, 135, 0, 90 [SEP] 35, PepperShaker, -0.346, 0.755, 6.787, 0, 0, 0, 90 [SEP] 36, Pan, 1.493, 0.990, 0.440, 0, 0, 0, 54 [SEP] 37, Tomato, -0.034, 0.809, 6.323, 0, 0, 0, 90 [SEP] 38, DishSponge, -0.483, 0.143, 0.429, 0, 0, 0, 62 [SEP] 39, Cup, 2.009, 1.511, 5.626, 0, 270, 0, 76 [SEP] 40, Spoon, 1.293, 0.772, 4.717, 0, 0, 0, 44 [SEP] 41, Mug, 0.064, 1.092, 0.310, 0, 270, 0, 70 [SEP] 42, Cabinet, 1.307, 2.455, 4.360, 0, 0, 0, [SEP] 43, Cabinet, 1.054, 0.422, 1.710, 0, 0, 0, [SEP] 44, Drawer, 1.280, 0.808, 4.718, 0, 0, 0, [SEP] 45, Cabinet, 1.307, 2.455, 3.607, 0, 0, 0, [SEP] 46, Drawer, 0.736, 0.802, 0.521, 0, 0, 0, [SEP] 47, Drawer, 1.276, 0.802, 3.291, 0, 0, 0, [SEP] 48, StoveBurner, 1.562, 0.982, 3.848, 0, 0, 0, [SEP] 49, StoveBurner, 1.317, 0.982, 4.294, 0, 0, 0, [SEP] 50, Drawer, -0.482, 0.802, 0.521, 0, 0, 0, [SEP] 51, Drawer, 0.124, 0.802, 0.521, 0, 0, 0, [SEP] 52, StoveBurner, 1.559, 0.982, 4.294, 0, 0, 0, [SEP] 53, StoveBurner, 1.320, 0.982, 3.848, 0, 0, 0, [SEP] 54, CounterTop, 1.391, 1.028, 0.897, 0, 0, 0, [SEP] 55, CounterTop, 1.391, 1.028, 4.716, 0, 0, 0, [SEP] 56, Cabinet, 1.054, 0.422, 4.548, 0, 0, 0, [SEP] 57, Cabinet, 1.317, 2.134, 0.517, 0, 0, 0, [SEP] 58, Cabinet, 1.317, 2.134, 4.889, 0, 0, 0, [SEP] 59, Cabinet, 1.317, 2.134, 3.095, 0, 0, 0, [SEP] 60, Cabinet, 0.443, 0.422, 0.743, 0, 0, 0, [SEP] 61, Cabinet, 1.270, 2.134, 0.434, 0, 0, 0, [SEP] 62, Cabinet, -0.775, 0.422, 0.743, 0, 0, 0, [SEP] 63, Cabinet, -0.168, 0.422, 0.743, 0, 0, 0, [SEP] 64, Cabinet, 1.317, 2.134, 1.534, 0, 0, 0, [SEP] 65, Cabinet, 1.054, 0.422, 2.990, 0, 0, 0, [SEP] 66, Cabinet, 1.054, 0.422, 2.944, 0, 0, 0, [SEP] 67, Cabinet, -0.263, 2.134, 0.434, 0, 0, 0, [SEP] 68, Cabinet, 0.252, 2.134, 0.434, 0, 0, 0, [SEP] 69, Sink, 1.391, 1.006, 2.326, 0, 0, 0, [SEP] 70, Microwave, 0.108, 0.981, 0.262, 0, 0, 0, [SEP] 71, HousePlant, -0.165, 0.826, 6.444, 0, 0, 0, [SEP] 72, CoffeeMachine, 1.551, 0.982, 0.953, 0, 270, 0, [SEP] 73, Toaster, 1.473, 0.981, 4.715, 0, 270, 0, [SEP] 74, Window, -2.065, 1.916, 3.626, 90, 90, 0, [SEP] 75, Window, 1.763, 2.007, 2.299, 90, 270, 0, [SEP] 76, Fridge, 2.035, 0.0, 5.625, 0, 0, 0, [SEP] 77, SinkBasin, 1.387, 0.880, 2.338, 0, 90, 0, [SEP] 78, GarbageCan, 2.001, -0.044, 6.503, 0, 0, 0, [SEP] 79, StoveKnob, 1.140, 0.934, 3.987, 45, 270, 0, [SEP] 80, StoveKnob, 1.140, 0.934, 4.309, 45, 270, 0, [SEP] 81, StoveKnob, 1.140, 0.934, 4.140, 45, 270, 0, [SEP] 82, StoveKnob, 1.140, 0.934, 3.824, 45, 270, 0, [SEP] 83, Vase, -0.226, 0.834, 6.993, 0, 0, 0, [SEP] 84, Vase, 2.098, 0.043, 7.070, 0, 257.232, 0, [SEP] 85, Vase, -0.594, 0.835, 6.130, 0, 225, 0, [SEP] 86, LightSwitch, -2.0, 1.549, 6.045, 0, 90, 0, [SEP] 87, Safe, 2.046, 1.072, 7.054, 0, 257.232, 0, [SEP] 88, Faucet, 1.534, 1.025, 2.371, 0, 294.391, 0, [SEP] 89, Blinds, 1.738, 2.563, 2.312, 0, 90, 0, [SEP] 90, DiningTable, -0.156, 0.000, 6.474, 0, 0, 0, [SEP] 91, Chair, 0.291, 0.002, 6.142, 0, 310.162, 0, [SEP] 92, GarbageBag, -1.092, 0.318, 0.268, 270, 90, 83.492, [SEP] 93, NorthWall, , , , , , , [SEP] 94, EastWall, , , , , , , [SEP] 95, SouthWall, , , , , , , [SEP] 96, WestWall, , , , , , , ", "output": ["STEP 1: Walk around the table, and face the table. | STEP 2: Pick up the tea kettle. | STEP 3: Turn around and walk to the sink. | STEP 4: Put the tea kettle in the sink, turn on the water, turn off the water, and pick up the tea kettle. | STEP 5: Turn left, walk to the wall, and face the table. | STEP 6: Put the tea kettle on the table. | END"]} +{"id": "trial_T20190908_004650_624437-1", "input": "Inspect a remote using the light of a lamp. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.909, 2.75, 0, 270, 0, [SEP] 1, Statue, -0.267, 0.843, 0.710, 0, 0, 0, 30 [SEP] 2, Candle, -0.301, 1.308, 3.610, 0, 0, 0, 36 [SEP] 3, Candle, -0.356, 0.115, 3.489, 0, 0, 0, 38 [SEP] 4, CreditCard, -3.055, 0.542, 4.138, 0, 0, 0, 39 [SEP] 5, RemoteControl, -2.936, 0.464, -0.040, 0, 0, 0, 44 [SEP] 6, RemoteControl, -0.133, 1.307, 3.444, 0, 0, 0, 36 [SEP] 7, RemoteControl, 0.120, 0.868, 1.699, 0, 0, 0, 32 [SEP] 8, Box, -2.264, 0.667, 1.251, 0, 0, 0, 46 [SEP] 9, TissueBox, -0.357, 1.307, 3.444, 0, 0, 0, 36 [SEP] 10, KeyChain, -0.245, 1.306, 3.278, 0, 0, 0, 36 [SEP] 11, Boots, -0.443, 0.009, -0.549, 0, 339.553, 0, [SEP] 12, Candle, -2.814, 0.475, 0.973, 0, 0, 0, 46 [SEP] 13, RemoteControl, 0.120, 0.682, 1.847, 0, 0, 0, 33 [SEP] 14, CreditCard, -2.514, 0.473, 1.349, 0, 0, 0, 46 [SEP] 15, Laptop, -0.245, 1.303, 4.106, 0, 0, 0, 36 [SEP] 16, Pillow, -3.707, 0.635, 3.745, 0, 0, 0, 39 [SEP] 17, Statue, -2.514, 0.475, 1.161, 0, 180, 0, 46 [SEP] 18, GarbageCan, -5.166, -0.026, -0.382, 0, 0, 0, [SEP] 19, Television, 0.145, 1.528, 1.996, 0, 270, 0, [SEP] 20, LightSwitch, -6.0, 1.381, 2.882, 0, 90, 0, [SEP] 21, Painting, -0.048, 1.912, 3.687, 90, 270, 0, [SEP] 22, Painting, -5.353, 1.990, -0.694, 90, 180, 0, [SEP] 23, HousePlant, -0.289, 0.840, 0.301, 0, 0, 0, [SEP] 24, FloorLamp, -4.100, 0.013, -0.468, 0, 0, 0, [SEP] 25, Window, -4.131, 1.557, -0.827, 90, 180, 0, [SEP] 26, Window, -0.972, 1.557, -0.827, 90, 180, 0, [SEP] 27, Window, -2.553, 1.557, -0.827, 90, 180, 0, [SEP] 28, Drawer, -0.359, 0.583, 0.516, 0, 270, 0, [SEP] 29, Drawer, -0.359, 0.220, 0.516, 0, 270, 0, [SEP] 30, SideTable, -0.276, 0.015, 0.516, 0, 270, 0, [SEP] 31, TVStand, 0.172, 0.591, 1.982, 0, 270, 0, [SEP] 32, DiningTable, 0.172, 0.859, 1.982, 0, 270, 0, [SEP] 33, DiningTable, 0.172, 0.673, 1.982, 0, 270, 0, [SEP] 34, Drawer, -0.309, 1.052, 3.610, 0, 270, 0, [SEP] 35, Drawer, -0.309, 0.761, 3.610, 0, 270, 0, [SEP] 36, Dresser, -0.265, 0.007, 3.609, 0, 270, 0, [SEP] 37, Drawer, -0.309, 0.471, 3.610, 0, 270, 0, [SEP] 38, Drawer, -0.309, 0.181, 3.610, 0, 270, 0, [SEP] 39, Sofa, -3.786, 0.015, 3.893, 0, 180, 0, [SEP] 40, RoomDecor, -5.815, 0.010, 4.406, 0, 0, 0, [SEP] 41, RoomDecor, -0.333, 0.010, 4.396, 0, 0, 0, [SEP] 42, RoomDecor, -0.178, 0.010, -0.448, 0, 0, 0, [SEP] 43, RoomDecor, -5.805, 0.010, -0.486, 0, 0, 0, [SEP] 44, Sofa, -2.683, 0.011, -0.124, 0, 0, 0, [SEP] 45, ArmChair, -2.062, 0.014, 4.216, 0, 180, 0, [SEP] 46, CoffeeTable, -2.646, 0.007, 1.150, 0, 0, 0, [SEP] 47, Chair, -1.347, 0.009, 4.243, 0, 180, 0, [SEP] 48, NorthWall, , , , , , , [SEP] 49, EastWall, , , , , , , [SEP] 50, SouthWall, , , , , , , [SEP] 51, WestWall, , , , , , , ", "output": ["STEP 1: Turn to your left and walk over to face the striped green couch. | STEP 2: Pick up the remote that is sitting on the couch. | STEP 3: Walk over to the floor lamp that sits to the right of the striped green couch. | STEP 4: Turn on the lamp. | END"]} +{"id": "trial_T20190909_013734_407166-0", "input": "put a slice of a potato in a trash can SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, -0.5, 0, 90, 0, [SEP] 1, Kettle, -2.477, 0.953, 0.435, 0, 90, 0, 85 [SEP] 2, Kettle, 0.021, 0.107, 0.320, 0, 0, 0, 62 [SEP] 3, DishSponge, 0.341, 0.782, -1.648, 0, 270, 0, 75 [SEP] 4, DishSponge, 0.804, 0.919, -1.649, 0, 270, 0, 50 [SEP] 5, ButterKnife, 1.658, 0.912, -1.654, 0, 0, 0, 52 [SEP] 6, ButterKnife, -2.203, 0.952, 0.524, 0, 90, 0, 85 [SEP] 7, Pot, 1.007, 0.962, 0.561, 0, 270, 0, 54 [SEP] 8, Fork, 1.903, 0.912, -1.489, 0, 0, 0, 52 [SEP] 9, Fork, -2.203, 0.952, 0.345, 0, 90, 0, 85 [SEP] 10, Spoon, 1.785, 0.913, 0.292, 0, 0, 0, 67 [SEP] 11, Spatula, 0.167, 0.927, 0.540, 0, 0, 0, 51 [SEP] 12, Spatula, 0.649, 0.934, -1.582, 0, 270, 0, 50 [SEP] 13, Egg, -2.31, 1.086, -1.849, 0, 0, 0, 82 [SEP] 14, Egg, -0.451, 0.947, -1.820, 0, 0, 0, 52 [SEP] 15, Knife, 0.856, 0.944, -1.649, 0, 90, 0, 50 [SEP] 16, SoapBottle, 0.432, 0.910, 0.292, 0, 0, 0, 51 [SEP] 17, SoapBottle, 1.781, 0.910, -1.571, 0, 0, 0, 52 [SEP] 18, Bowl, -2.222, 1.492, -1.806, 0, 0, 0, 82 [SEP] 19, Bowl, -1.959, 1.492, -1.806, 0, 0, 0, 82 [SEP] 20, SaltShaker, -0.096, 0.908, 0.209, 0, 0, 0, 51 [SEP] 21, PepperShaker, -2.203, 0.948, 0.255, 0, 90, 0, 85 [SEP] 22, Lettuce, -1.791, 1.042, 0.614, 0, 90, 0, 85 [SEP] 23, Bread, -2.065, 1.035, 0.165, 0, 90, 0, 85 [SEP] 24, Knife, -1.928, 0.977, 0.345, 0, 270, 0, 85 [SEP] 25, Fork, -2.614, 0.952, 0.524, 0, 270, 0, 85 [SEP] 26, Bowl, 1.754, 1.328, -1.772, 0, 180, 0, 68 [SEP] 27, Kettle, -0.538, 0.111, -1.508, 0, 0, 0, 66 [SEP] 28, Cup, 0.753, 0.917, -1.782, 0, 270, 0, 50 [SEP] 29, Tomato, -2.614, 1.001, 0.165, 0, 90, 0, 85 [SEP] 30, SoapBottle, -0.394, 0.068, 0.612, 0, 90, 0, 81 [SEP] 31, Plate, -0.147, 0.111, -1.508, 0, 0, 0, 61 [SEP] 32, Pot, 1.361, 0.962, 0.561, 0, 270, 0, 57 [SEP] 33, Spatula, -0.267, 0.927, -1.571, 0, 90, 0, 52 [SEP] 34, PaperTowelRoll, -2.065, 1.056, 0.704, 0, 90, 0, 85 [SEP] 35, Egg, -1.872, 1.086, -1.763, 0, 0, 0, 82 [SEP] 36, Lettuce, 1.846, 1.002, 0.458, 0, 0, 0, 67 [SEP] 37, SaltShaker, 1.907, 0.908, 0.623, 0, 0, 0, 67 [SEP] 38, PepperShaker, 1.167, 0.908, -1.489, 0, 0, 0, 52 [SEP] 39, Apple, -0.975, 1.082, -1.704, 0, 0, 0, 74 [SEP] 40, ButterKnife, 0.167, 0.912, 0.540, 0, 90, 0, 51 [SEP] 41, Potato, -0.544, 0.942, -1.489, 0, 0, 0, 52 [SEP] 42, Pan, 1.022, 0.959, 0.288, 0, 219.190, 0, 64 [SEP] 43, DishSponge, 1.724, 0.911, 0.623, 0, 0, 0, 67 [SEP] 44, Spoon, 1.924, 0.775, 0.339, 0, 270, 0, 53 [SEP] 45, Mug, 0.618, 0.945, 0.469, 0, 180, 0, 76 [SEP] 46, Cabinet, -0.193, 1.688, -1.648, 0, 180, 0, [SEP] 47, StoveBurner, 1.360, 0.957, 0.293, 0, 180, 0, [SEP] 48, Drawer, 0.499, 0.792, 0.296, 0, 0, 0, [SEP] 49, Cabinet, 0.095, 0.400, -1.352, 0, 180, 0, [SEP] 50, Sink, 0.711, 0.817, -1.772, 0, 270, 0, [SEP] 51, CounterTop, 0.280, 0.947, 0.458, 0, 0, 0, [SEP] 52, CounterTop, -0.680, 0.947, -1.654, 0, 0, 0, [SEP] 53, Drawer, 1.825, 0.792, 0.296, 0, 0, 0, [SEP] 54, StoveBurner, 1.007, 0.957, 0.561, 0, 270, 0, [SEP] 55, Drawer, -0.150, 0.792, -1.496, 0, 0, 0, [SEP] 56, Drawer, -0.586, 0.792, -1.496, 0, 0, 0, [SEP] 57, StoveBurner, 1.360, 0.957, 0.561, 0, 270, 0, [SEP] 58, Drawer, 0.024, 0.792, 0.296, 0, 0, 0, [SEP] 59, Cabinet, 1.079, 0.400, -1.349, 0, 180, 0, [SEP] 60, Cabinet, 1.669, 0.402, 0.151, 0, 0, 0, [SEP] 61, Cabinet, 0.055, 0.402, -1.351, 0, 0, 0, [SEP] 62, Cabinet, -0.180, 0.402, 0.151, 0, 0, 0, [SEP] 63, Cabinet, 0.729, 0.402, 0.151, 0, 0, 0, [SEP] 64, StoveBurner, 1.007, 0.957, 0.293, 0, 180, 0, [SEP] 65, Drawer, -1.100, 0.792, -1.496, 0, 0, 0, [SEP] 66, Cabinet, -0.396, 0.402, -1.351, 0, 0, 0, [SEP] 67, CounterTop, 1.776, 0.947, 0.458, 0, 0, 0, [SEP] 68, Cabinet, 1.974, 1.688, -1.648, 0, 180, 0, [SEP] 69, Cabinet, -0.820, 0.400, -1.349, 0, 180, 0, [SEP] 70, Toaster, 0.305, 0.900, 0.552, 0, 180, 0, [SEP] 71, LightSwitch, -2.756, 1.307, -0.987, 0, 90, 0, [SEP] 72, Window, 0.582, 1.613, -1.967, 90, 0, 0, [SEP] 73, Window, 1.969, 1.5, -0.615, 90, 270, 0, [SEP] 74, Microwave, -1.037, 0.900, -1.723, 0, 0, 0, [SEP] 75, SinkBasin, 0.377, 0.765, -1.655, 0, 270, 0, [SEP] 76, CoffeeMachine, 0.618, 0.900, 0.600, 0, 180, 0, [SEP] 77, StoveKnob, 1.246, 0.913, 0.118, 45, 180, 0, [SEP] 78, StoveKnob, 1.373, 0.913, 0.118, 45, 180, 0, [SEP] 79, StoveKnob, 0.995, 0.913, 0.118, 45, 180, 0, [SEP] 80, StoveKnob, 1.126, 0.913, 0.118, 45, 180, 0, [SEP] 81, GarbageCan, -0.368, -0.029, 0.539, 0, 90, 0, [SEP] 82, Fridge, -2.134, 0.0, -1.690, 0, 0, 0, [SEP] 83, Faucet, 0.549, 1.046, -1.833, 0, 232.527, 0, [SEP] 84, Stool, -1.475, 0.000, 0.414, 1.233, 280.375, 0, [SEP] 85, DiningTable, -2.255, -0.004, 0.432, 0, 0, 0, [SEP] 86, NorthWall, , , , , , , [SEP] 87, EastWall, , , , , , , [SEP] 88, SouthWall, , , , , , , [SEP] 89, WestWall, , , , , , , ", "output": ["STEP 1: turn to the left go right towards the table | STEP 2: pick up the knife from the table | STEP 3: turn to the left go forward go right towards the counter | STEP 4: slice a potato that is on top of the counter | STEP 5: turn around to the left open the bottom cabinet and put the knife inside of it | STEP 6: turn to the right | STEP 7: pick up a slice of the potato that is on the counter | STEP 8: turn to the right | STEP 9: turn to the left towards the refrigerator | STEP 10: put the slice of potato inside of the refrigerator get it back out | STEP 11: turn to the left go left go right towards the trash can | STEP 12: put the slice of potato inside the trash can | END"]} +{"id": "trial_T20190909_113922_215722-0", "input": "Put a mug with a pencil in it on a desk SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.0, 0.901, -1.25, 0, 270, 0, [SEP] 1, Mug, 1.788, 0.975, -2.298, 0, 0, 0, 29 [SEP] 2, Mug, 0.076, 0.728, -2.530, 0, 180, 0, 42 [SEP] 3, Pen, 1.916, 0.361, -2.240, 0, 0, 0, 57 [SEP] 4, Pencil, 0.651, 0.732, -2.471, 0, 180, 0, 42 [SEP] 5, Pencil, -1.864, 0.512, -1.065, 0, 0, 0, 51 [SEP] 6, Pencil, -1.648, 0.602, -0.392, 0, 0, 0, 49 [SEP] 7, CreditCard, -1.755, 0.508, -1.023, 0, 0, 0, 51 [SEP] 8, CreditCard, -1.769, 0.364, -1.113, 0, 0, 0, 52 [SEP] 9, KeyChain, -1.755, 0.509, -1.274, 0, 0, 0, 51 [SEP] 10, AlarmClock, 0.076, 0.730, -2.705, 0, 180, 0, 42 [SEP] 11, Box, 1.996, 0.316, -1.042, 0, 254.839, 0, [SEP] 12, Book, 0.339, 0.723, -2.65, 0, 165.000, 0, 42 [SEP] 13, Pillow, -0.564, 0.491, -1.855, 0, 0, 0, 48 [SEP] 14, CellPhone, -1.648, 0.599, -0.533, 0, 0, 0, 49 [SEP] 15, Vase, -1.648, 0.599, -0.816, 0, 0, 0, 49 [SEP] 16, BaseballBat, -1.629, 0.649, 0.416, 14.491, 0, 0, [SEP] 17, CreditCard, -1.515, 0.599, -0.109, 0, 0, 0, 49 [SEP] 18, TennisRacket, 2.244, 0.279, -1.901, 335.402, 251.974, 201.714, [SEP] 19, KeyChain, -1.794, 0.365, -1.259, 0, 90, 0, 52 [SEP] 20, AlarmClock, 0.766, 0.729, -2.764, 0, 180, 0, 42 [SEP] 21, Cloth, 2.176, 0.0, -0.571, 0, 335.474, 0, [SEP] 22, Laptop, -1.764, 0.591, -0.112, 0, 113.510, 0, 49 [SEP] 23, CD, -1.755, 0.508, -1.148, 0, 0, 0, 51 [SEP] 24, CD, 0.632, 0.112, -2.550, 0, 0, 0, 43 [SEP] 25, Pen, 1.447, 1.184, -2.235, 0, 0, 0, 30 [SEP] 26, Pencil, -1.846, 0.602, -0.533, 0, 0, 0, 49 [SEP] 27, Mug, 1.130, 0.052, -2.324, 0, 90, 0, 58 [SEP] 28, Shelf, 1.311, 0.969, -2.298, 0, 0, 0, [SEP] 29, Shelf, 1.843, 0.969, -2.298, 0, 0, 0, [SEP] 30, Shelf, 1.311, 1.171, -2.298, 0, 0, 0, [SEP] 31, Shelf, 1.843, 1.171, -2.298, 0, 0, 0, [SEP] 32, Shelf, 1.311, 1.368, -2.298, 0, 0, 0, [SEP] 33, Shelf, 1.843, 1.570, -2.298, 0, 0, 0, [SEP] 34, Shelf, 1.843, 1.368, -2.298, 0, 0, 0, [SEP] 35, Shelf, 1.311, 1.570, -2.298, 0, 0, 0, [SEP] 36, DeskLamp, -1.848, 0.592, -0.786, 0, 90, 0, [SEP] 37, GarbageCan, 2.197, -0.007, 0.298, 0, 232.025, 0, [SEP] 38, LightSwitch, -0.638, 1.149, 0.499, 0, 180, 0, [SEP] 39, Poster, 0.001, 1.495, -2.642, 90, 90, 0, [SEP] 40, Mirror, -1.072, 1.469, 0.497, 0, 0, 0, [SEP] 41, Window, 0.435, 1.398, -2.855, 90, 0, 0, [SEP] 42, SideTable, 0.435, 0.036, -2.647, 0, 0, 0, [SEP] 43, Drawer, 0.433, 0.203, -2.445, 0, 0, 0, [SEP] 44, Drawer, 0.433, 0.505, -2.445, 0, 0, 0, [SEP] 45, Dumbbell, -1.656, 0.602, -0.534, 0, 90, 0, [SEP] 46, Blinds, 0.449, 2.164, -2.845, 0, 0, 0, [SEP] 47, GarbageBag, 1.730, 0.318, 0.222, 270, 90, 83.412, [SEP] 48, Bed, -1.047, -0.000, -1.851, 0, 270, 0, [SEP] 49, Desk, -1.710, 0.000, -0.374, 0, 90, 0, [SEP] 50, Drawer, -1.790, 0.245, -1.144, 0, 90, 0, [SEP] 51, SideTable, -1.824, 0.000, -1.144, 0, 90, 0, [SEP] 52, Drawer, -1.790, 0.392, -1.144, 0, 90, 0, [SEP] 53, Drawer, -1.790, 0.097, -1.144, 0, 90, 0, [SEP] 54, Chair, -1.453, 0.005, -0.311, 0, 286.095, 0, [SEP] 55, Shelf, 1.591, 0.606, -2.305, 0, 0, 0, [SEP] 56, ShelvingUnit, 1.588, 0.004, -2.326, 0, 0, 0, [SEP] 57, Shelf, 1.854, 0.453, -2.298, 0, 0, 0, [SEP] 58, Shelf, 1.321, 0.155, -2.296, 0, 0, 0, [SEP] 59, Shelf, 1.323, 0.456, -2.300, 0, 0, 0, [SEP] 60, Shelf, 1.852, 0.152, -2.294, 0, 0, 0, [SEP] 61, NorthWall, , , , , , , [SEP] 62, EastWall, , , , , , , [SEP] 63, SouthWall, , , , , , , [SEP] 64, WestWall, , , , , , , ", "output": ["STEP 1: Turn to your left and face the chest of drawers | STEP 2: Pick up a pencil from the top of the drawers | STEP 3: Move to your right and face left on the desk | STEP 4: Drop the pencil in to the mug | STEP 5: Pick up the mug with the pencil in it | STEP 6: Turn around and head to the left so you are facing the desk | STEP 7: Place the mug on to the desk | END"]} +{"id": "trial_T20190909_113922_215722-1", "input": "Put a mug with a pencil in it on a wooden table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.0, 0.901, -1.25, 0, 270, 0, [SEP] 1, Mug, 1.788, 0.975, -2.298, 0, 0, 0, 29 [SEP] 2, Mug, 0.076, 0.728, -2.530, 0, 180, 0, 42 [SEP] 3, Pen, 1.916, 0.361, -2.240, 0, 0, 0, 57 [SEP] 4, Pencil, 0.651, 0.732, -2.471, 0, 180, 0, 42 [SEP] 5, Pencil, -1.864, 0.512, -1.065, 0, 0, 0, 51 [SEP] 6, Pencil, -1.648, 0.602, -0.392, 0, 0, 0, 49 [SEP] 7, CreditCard, -1.755, 0.508, -1.023, 0, 0, 0, 51 [SEP] 8, CreditCard, -1.769, 0.364, -1.113, 0, 0, 0, 52 [SEP] 9, KeyChain, -1.755, 0.509, -1.274, 0, 0, 0, 51 [SEP] 10, AlarmClock, 0.076, 0.730, -2.705, 0, 180, 0, 42 [SEP] 11, Box, 1.996, 0.316, -1.042, 0, 254.839, 0, [SEP] 12, Book, 0.339, 0.723, -2.65, 0, 165.000, 0, 42 [SEP] 13, Pillow, -0.564, 0.491, -1.855, 0, 0, 0, 48 [SEP] 14, CellPhone, -1.648, 0.599, -0.533, 0, 0, 0, 49 [SEP] 15, Vase, -1.648, 0.599, -0.816, 0, 0, 0, 49 [SEP] 16, BaseballBat, -1.629, 0.649, 0.416, 14.491, 0, 0, [SEP] 17, CreditCard, -1.515, 0.599, -0.109, 0, 0, 0, 49 [SEP] 18, TennisRacket, 2.244, 0.279, -1.901, 335.402, 251.974, 201.714, [SEP] 19, KeyChain, -1.794, 0.365, -1.259, 0, 90, 0, 52 [SEP] 20, AlarmClock, 0.766, 0.729, -2.764, 0, 180, 0, 42 [SEP] 21, Cloth, 2.176, 0.0, -0.571, 0, 335.474, 0, [SEP] 22, Laptop, -1.764, 0.591, -0.112, 0, 113.510, 0, 49 [SEP] 23, CD, -1.755, 0.508, -1.148, 0, 0, 0, 51 [SEP] 24, CD, 0.632, 0.112, -2.550, 0, 0, 0, 43 [SEP] 25, Pen, 1.447, 1.184, -2.235, 0, 0, 0, 30 [SEP] 26, Pencil, -1.846, 0.602, -0.533, 0, 0, 0, 49 [SEP] 27, Mug, 1.130, 0.052, -2.324, 0, 90, 0, 58 [SEP] 28, Shelf, 1.311, 0.969, -2.298, 0, 0, 0, [SEP] 29, Shelf, 1.843, 0.969, -2.298, 0, 0, 0, [SEP] 30, Shelf, 1.311, 1.171, -2.298, 0, 0, 0, [SEP] 31, Shelf, 1.843, 1.171, -2.298, 0, 0, 0, [SEP] 32, Shelf, 1.311, 1.368, -2.298, 0, 0, 0, [SEP] 33, Shelf, 1.843, 1.570, -2.298, 0, 0, 0, [SEP] 34, Shelf, 1.843, 1.368, -2.298, 0, 0, 0, [SEP] 35, Shelf, 1.311, 1.570, -2.298, 0, 0, 0, [SEP] 36, DeskLamp, -1.848, 0.592, -0.786, 0, 90, 0, [SEP] 37, GarbageCan, 2.197, -0.007, 0.298, 0, 232.025, 0, [SEP] 38, LightSwitch, -0.638, 1.149, 0.499, 0, 180, 0, [SEP] 39, Poster, 0.001, 1.495, -2.642, 90, 90, 0, [SEP] 40, Mirror, -1.072, 1.469, 0.497, 0, 0, 0, [SEP] 41, Window, 0.435, 1.398, -2.855, 90, 0, 0, [SEP] 42, SideTable, 0.435, 0.036, -2.647, 0, 0, 0, [SEP] 43, Drawer, 0.433, 0.203, -2.445, 0, 0, 0, [SEP] 44, Drawer, 0.433, 0.505, -2.445, 0, 0, 0, [SEP] 45, Dumbbell, -1.656, 0.602, -0.534, 0, 90, 0, [SEP] 46, Blinds, 0.449, 2.164, -2.845, 0, 0, 0, [SEP] 47, GarbageBag, 1.730, 0.318, 0.222, 270, 90, 83.412, [SEP] 48, Bed, -1.047, -0.000, -1.851, 0, 270, 0, [SEP] 49, Desk, -1.710, 0.000, -0.374, 0, 90, 0, [SEP] 50, Drawer, -1.790, 0.245, -1.144, 0, 90, 0, [SEP] 51, SideTable, -1.824, 0.000, -1.144, 0, 90, 0, [SEP] 52, Drawer, -1.790, 0.392, -1.144, 0, 90, 0, [SEP] 53, Drawer, -1.790, 0.097, -1.144, 0, 90, 0, [SEP] 54, Chair, -1.453, 0.005, -0.311, 0, 286.095, 0, [SEP] 55, Shelf, 1.591, 0.606, -2.305, 0, 0, 0, [SEP] 56, ShelvingUnit, 1.588, 0.004, -2.326, 0, 0, 0, [SEP] 57, Shelf, 1.854, 0.453, -2.298, 0, 0, 0, [SEP] 58, Shelf, 1.321, 0.155, -2.296, 0, 0, 0, [SEP] 59, Shelf, 1.323, 0.456, -2.300, 0, 0, 0, [SEP] 60, Shelf, 1.852, 0.152, -2.294, 0, 0, 0, [SEP] 61, NorthWall, , , , , , , [SEP] 62, EastWall, , , , , , , [SEP] 63, SouthWall, , , , , , , [SEP] 64, WestWall, , , , , , , ", "output": ["STEP 1: Turn left ad walk up to the dresser with the two analog clocks on it. | STEP 2: Pick up the white pencil off of the dresser. | STEP 3: Turn right and walk up to the bed, then turn left to face the dresser. | STEP 4: Put the pencil in the white mug on the dresser. | STEP 5: Pick up the mug with the pencil in it off of the dresser. | STEP 6: Turn around and walk towards the door, then turn left and walk up to the wooden table. | STEP 7: Put the mug with the pencil in it on the table in front of the phone. | END"]} +{"id": "trial_T20190909_113922_215722-3", "input": "Place a mug with a pencil in it on a desk. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.0, 0.901, -1.25, 0, 270, 0, [SEP] 1, Mug, 1.788, 0.975, -2.298, 0, 0, 0, 29 [SEP] 2, Mug, 0.076, 0.728, -2.530, 0, 180, 0, 42 [SEP] 3, Pen, 1.916, 0.361, -2.240, 0, 0, 0, 57 [SEP] 4, Pencil, 0.651, 0.732, -2.471, 0, 180, 0, 42 [SEP] 5, Pencil, -1.864, 0.512, -1.065, 0, 0, 0, 51 [SEP] 6, Pencil, -1.648, 0.602, -0.392, 0, 0, 0, 49 [SEP] 7, CreditCard, -1.755, 0.508, -1.023, 0, 0, 0, 51 [SEP] 8, CreditCard, -1.769, 0.364, -1.113, 0, 0, 0, 52 [SEP] 9, KeyChain, -1.755, 0.509, -1.274, 0, 0, 0, 51 [SEP] 10, AlarmClock, 0.076, 0.730, -2.705, 0, 180, 0, 42 [SEP] 11, Box, 1.996, 0.316, -1.042, 0, 254.839, 0, [SEP] 12, Book, 0.339, 0.723, -2.65, 0, 165.000, 0, 42 [SEP] 13, Pillow, -0.564, 0.491, -1.855, 0, 0, 0, 48 [SEP] 14, CellPhone, -1.648, 0.599, -0.533, 0, 0, 0, 49 [SEP] 15, Vase, -1.648, 0.599, -0.816, 0, 0, 0, 49 [SEP] 16, BaseballBat, -1.629, 0.649, 0.416, 14.491, 0, 0, [SEP] 17, CreditCard, -1.515, 0.599, -0.109, 0, 0, 0, 49 [SEP] 18, TennisRacket, 2.244, 0.279, -1.901, 335.402, 251.974, 201.714, [SEP] 19, KeyChain, -1.794, 0.365, -1.259, 0, 90, 0, 52 [SEP] 20, AlarmClock, 0.766, 0.729, -2.764, 0, 180, 0, 42 [SEP] 21, Cloth, 2.176, 0.0, -0.571, 0, 335.474, 0, [SEP] 22, Laptop, -1.764, 0.591, -0.112, 0, 113.510, 0, 49 [SEP] 23, CD, -1.755, 0.508, -1.148, 0, 0, 0, 51 [SEP] 24, CD, 0.632, 0.112, -2.550, 0, 0, 0, 43 [SEP] 25, Pen, 1.447, 1.184, -2.235, 0, 0, 0, 30 [SEP] 26, Pencil, -1.846, 0.602, -0.533, 0, 0, 0, 49 [SEP] 27, Mug, 1.130, 0.052, -2.324, 0, 90, 0, 58 [SEP] 28, Shelf, 1.311, 0.969, -2.298, 0, 0, 0, [SEP] 29, Shelf, 1.843, 0.969, -2.298, 0, 0, 0, [SEP] 30, Shelf, 1.311, 1.171, -2.298, 0, 0, 0, [SEP] 31, Shelf, 1.843, 1.171, -2.298, 0, 0, 0, [SEP] 32, Shelf, 1.311, 1.368, -2.298, 0, 0, 0, [SEP] 33, Shelf, 1.843, 1.570, -2.298, 0, 0, 0, [SEP] 34, Shelf, 1.843, 1.368, -2.298, 0, 0, 0, [SEP] 35, Shelf, 1.311, 1.570, -2.298, 0, 0, 0, [SEP] 36, DeskLamp, -1.848, 0.592, -0.786, 0, 90, 0, [SEP] 37, GarbageCan, 2.197, -0.007, 0.298, 0, 232.025, 0, [SEP] 38, LightSwitch, -0.638, 1.149, 0.499, 0, 180, 0, [SEP] 39, Poster, 0.001, 1.495, -2.642, 90, 90, 0, [SEP] 40, Mirror, -1.072, 1.469, 0.497, 0, 0, 0, [SEP] 41, Window, 0.435, 1.398, -2.855, 90, 0, 0, [SEP] 42, SideTable, 0.435, 0.036, -2.647, 0, 0, 0, [SEP] 43, Drawer, 0.433, 0.203, -2.445, 0, 0, 0, [SEP] 44, Drawer, 0.433, 0.505, -2.445, 0, 0, 0, [SEP] 45, Dumbbell, -1.656, 0.602, -0.534, 0, 90, 0, [SEP] 46, Blinds, 0.449, 2.164, -2.845, 0, 0, 0, [SEP] 47, GarbageBag, 1.730, 0.318, 0.222, 270, 90, 83.412, [SEP] 48, Bed, -1.047, -0.000, -1.851, 0, 270, 0, [SEP] 49, Desk, -1.710, 0.000, -0.374, 0, 90, 0, [SEP] 50, Drawer, -1.790, 0.245, -1.144, 0, 90, 0, [SEP] 51, SideTable, -1.824, 0.000, -1.144, 0, 90, 0, [SEP] 52, Drawer, -1.790, 0.392, -1.144, 0, 90, 0, [SEP] 53, Drawer, -1.790, 0.097, -1.144, 0, 90, 0, [SEP] 54, Chair, -1.453, 0.005, -0.311, 0, 286.095, 0, [SEP] 55, Shelf, 1.591, 0.606, -2.305, 0, 0, 0, [SEP] 56, ShelvingUnit, 1.588, 0.004, -2.326, 0, 0, 0, [SEP] 57, Shelf, 1.854, 0.453, -2.298, 0, 0, 0, [SEP] 58, Shelf, 1.321, 0.155, -2.296, 0, 0, 0, [SEP] 59, Shelf, 1.323, 0.456, -2.300, 0, 0, 0, [SEP] 60, Shelf, 1.852, 0.152, -2.294, 0, 0, 0, [SEP] 61, NorthWall, , , , , , , [SEP] 62, EastWall, , , , , , , [SEP] 63, SouthWall, , , , , , , [SEP] 64, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and walk to the mirror. | STEP 2: Pick up the white pencil on the counter. | STEP 3: Take a step right. | STEP 4: Put the pencil in the white mug on the counter. | STEP 5: Pick up the mug. | STEP 6: Turn around and veer left towards the desk. | STEP 7: Place the mug on the desk in front of the cell phone. | END"]} +{"id": "trial_T20190909_113922_215722-4", "input": "Put the pencil and the cup on the desk SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.0, 0.901, -1.25, 0, 270, 0, [SEP] 1, Mug, 1.788, 0.975, -2.298, 0, 0, 0, 29 [SEP] 2, Mug, 0.076, 0.728, -2.530, 0, 180, 0, 42 [SEP] 3, Pen, 1.916, 0.361, -2.240, 0, 0, 0, 57 [SEP] 4, Pencil, 0.651, 0.732, -2.471, 0, 180, 0, 42 [SEP] 5, Pencil, -1.864, 0.512, -1.065, 0, 0, 0, 51 [SEP] 6, Pencil, -1.648, 0.602, -0.392, 0, 0, 0, 49 [SEP] 7, CreditCard, -1.755, 0.508, -1.023, 0, 0, 0, 51 [SEP] 8, CreditCard, -1.769, 0.364, -1.113, 0, 0, 0, 52 [SEP] 9, KeyChain, -1.755, 0.509, -1.274, 0, 0, 0, 51 [SEP] 10, AlarmClock, 0.076, 0.730, -2.705, 0, 180, 0, 42 [SEP] 11, Box, 1.996, 0.316, -1.042, 0, 254.839, 0, [SEP] 12, Book, 0.339, 0.723, -2.65, 0, 165.000, 0, 42 [SEP] 13, Pillow, -0.564, 0.491, -1.855, 0, 0, 0, 48 [SEP] 14, CellPhone, -1.648, 0.599, -0.533, 0, 0, 0, 49 [SEP] 15, Vase, -1.648, 0.599, -0.816, 0, 0, 0, 49 [SEP] 16, BaseballBat, -1.629, 0.649, 0.416, 14.491, 0, 0, [SEP] 17, CreditCard, -1.515, 0.599, -0.109, 0, 0, 0, 49 [SEP] 18, TennisRacket, 2.244, 0.279, -1.901, 335.402, 251.974, 201.714, [SEP] 19, KeyChain, -1.794, 0.365, -1.259, 0, 90, 0, 52 [SEP] 20, AlarmClock, 0.766, 0.729, -2.764, 0, 180, 0, 42 [SEP] 21, Cloth, 2.176, 0.0, -0.571, 0, 335.474, 0, [SEP] 22, Laptop, -1.764, 0.591, -0.112, 0, 113.510, 0, 49 [SEP] 23, CD, -1.755, 0.508, -1.148, 0, 0, 0, 51 [SEP] 24, CD, 0.632, 0.112, -2.550, 0, 0, 0, 43 [SEP] 25, Pen, 1.447, 1.184, -2.235, 0, 0, 0, 30 [SEP] 26, Pencil, -1.846, 0.602, -0.533, 0, 0, 0, 49 [SEP] 27, Mug, 1.130, 0.052, -2.324, 0, 90, 0, 58 [SEP] 28, Shelf, 1.311, 0.969, -2.298, 0, 0, 0, [SEP] 29, Shelf, 1.843, 0.969, -2.298, 0, 0, 0, [SEP] 30, Shelf, 1.311, 1.171, -2.298, 0, 0, 0, [SEP] 31, Shelf, 1.843, 1.171, -2.298, 0, 0, 0, [SEP] 32, Shelf, 1.311, 1.368, -2.298, 0, 0, 0, [SEP] 33, Shelf, 1.843, 1.570, -2.298, 0, 0, 0, [SEP] 34, Shelf, 1.843, 1.368, -2.298, 0, 0, 0, [SEP] 35, Shelf, 1.311, 1.570, -2.298, 0, 0, 0, [SEP] 36, DeskLamp, -1.848, 0.592, -0.786, 0, 90, 0, [SEP] 37, GarbageCan, 2.197, -0.007, 0.298, 0, 232.025, 0, [SEP] 38, LightSwitch, -0.638, 1.149, 0.499, 0, 180, 0, [SEP] 39, Poster, 0.001, 1.495, -2.642, 90, 90, 0, [SEP] 40, Mirror, -1.072, 1.469, 0.497, 0, 0, 0, [SEP] 41, Window, 0.435, 1.398, -2.855, 90, 0, 0, [SEP] 42, SideTable, 0.435, 0.036, -2.647, 0, 0, 0, [SEP] 43, Drawer, 0.433, 0.203, -2.445, 0, 0, 0, [SEP] 44, Drawer, 0.433, 0.505, -2.445, 0, 0, 0, [SEP] 45, Dumbbell, -1.656, 0.602, -0.534, 0, 90, 0, [SEP] 46, Blinds, 0.449, 2.164, -2.845, 0, 0, 0, [SEP] 47, GarbageBag, 1.730, 0.318, 0.222, 270, 90, 83.412, [SEP] 48, Bed, -1.047, -0.000, -1.851, 0, 270, 0, [SEP] 49, Desk, -1.710, 0.000, -0.374, 0, 90, 0, [SEP] 50, Drawer, -1.790, 0.245, -1.144, 0, 90, 0, [SEP] 51, SideTable, -1.824, 0.000, -1.144, 0, 90, 0, [SEP] 52, Drawer, -1.790, 0.392, -1.144, 0, 90, 0, [SEP] 53, Drawer, -1.790, 0.097, -1.144, 0, 90, 0, [SEP] 54, Chair, -1.453, 0.005, -0.311, 0, 286.095, 0, [SEP] 55, Shelf, 1.591, 0.606, -2.305, 0, 0, 0, [SEP] 56, ShelvingUnit, 1.588, 0.004, -2.326, 0, 0, 0, [SEP] 57, Shelf, 1.854, 0.453, -2.298, 0, 0, 0, [SEP] 58, Shelf, 1.321, 0.155, -2.296, 0, 0, 0, [SEP] 59, Shelf, 1.323, 0.456, -2.300, 0, 0, 0, [SEP] 60, Shelf, 1.852, 0.152, -2.294, 0, 0, 0, [SEP] 61, NorthWall, , , , , , , [SEP] 62, EastWall, , , , , , , [SEP] 63, SouthWall, , , , , , , [SEP] 64, WestWall, , , , , , , ", "output": ["STEP 1: turn around and approach the left side of the dresser dresser | STEP 2: pick up the pencil from on top the dresser | STEP 3: move to the right side of the dresser | STEP 4: put the pencil in the cup | STEP 5: pick up the cup from the dresser | STEP 6: turn around and head towards the desk | STEP 7: put the cup with the pencil on the desk | END"]} +{"id": "trial_T20190908_082615_786892-2", "input": "Take the toilet paper off the holder and move it to the cabinet SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.900, -1.5, 0, 270, 0, [SEP] 1, TissueBox, 0.852, 0.818, -1.773, 0, 90, 0, 29 [SEP] 2, SoapBottle, -0.008, 0.955, -3.847, 0, 90, 0, 23 [SEP] 3, SoapBottle, 0.839, 0.821, -0.522, 0, 90, 0, 28 [SEP] 4, Cloth, -1.640, 0.042, -1.822, 0, 270, 0, 25 [SEP] 5, Candle, 0.824, 0.817, -1.571, 0, 90, 0, 29 [SEP] 6, HandTowel, -2.166, 1.500, -0.037, 0, 0, 0, 20 [SEP] 7, Towel, -1.525, 1.685, -0.105, 0, 180, 0, 18 [SEP] 8, SoapBar, -2.173, 0.834, -0.659, 0, 0, 0, 24 [SEP] 9, ToiletPaper, 0.405, 0.729, -3.885, 0, 0, 270, 26 [SEP] 10, Plunger, 0.854, -0.000, -3.905, 0, 0, 0, Floor|-01.66| [SEP] 11, SprayBottle, -1.555, 0.815, -0.108, 0, 0, 0, 27 [SEP] 12, TissueBox, 0.754, 0.818, -0.825, 0, 90, 0, 28 [SEP] 13, ToiletPaper, -0.444, 0.039, -3.793, 0, 0, 0, 19 [SEP] 14, ScrubBrush, 0.684, -0.000, -3.905, 0, 0, 0, Floor|-01.66| [SEP] 15, Sink, -2.171, 0.294, -0.660, 0, 90, 0, [SEP] 16, Bathtub, -2.122, -0.088, -3.116, 0, 0, 0, [SEP] 17, Mirror, -2.503, 1.423, -0.703, 0, 0, 0, [SEP] 18, TowelHolder, -1.524, 1.671, 0.001, 0, 180, 0, [SEP] 19, GarbageCan, -0.525, -0.050, -3.763, 0, 0, 0, [SEP] 20, HandTowelHolder, -2.166, 1.602, 0.000, 0, 90, 0, [SEP] 21, LightSwitch, 0.321, 1.327, 0.000, 0, 180, 0, [SEP] 22, Window, -0.540, 1.625, -3.996, 90, 0, 0, [SEP] 23, Toilet, 0.004, -0.000, -3.436, 0, 0, 0, [SEP] 24, SinkBasin, -2.176, 0.824, -0.659, 0, 0, 0, [SEP] 25, BathtubBasin, -1.862, 0.033, -2.723, 0, 270, 0, [SEP] 26, ToiletPaperHanger, 0.462, 0.841, -3.978, 0, 0, 0, [SEP] 27, SideTable, -1.526, 0.001, -0.172, 0, 0, 0, [SEP] 28, SideTable, 0.780, 0.001, -0.667, 0, 90, 0, [SEP] 29, SideTable, 0.793, 0.001, -1.817, 0, 90, 0, [SEP] 30, ShowerCurtain, -1.320, 1.781, -3.864, 0, 0, 5.987, [SEP] 31, Faucet, -2.431, 0.982, -0.660, 0, 90, 0, [SEP] 32, Faucet, -1.909, 0.666, -3.855, 0, 180, 0, [SEP] 33, NorthWall, , , , , , , [SEP] 34, EastWall, , , , , , , [SEP] 35, SouthWall, , , , , , , [SEP] 36, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and cross the room to the toilet | STEP 2: take the toilet paper from off the holder | STEP 3: Turn around and cross the room to the cabinet | STEP 4: place toilet paper on the cabinet | END"]} +{"id": "trial_T20190909_042454_513522-0", "input": "Put a fork in a mug on the counter. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.5, 0.900, 0.75, 0, 0, 0, [SEP] 1, Potato, -2.485, 1.125, -0.885, 0, 90, 0, 78 [SEP] 2, Potato, -2.668, 1.051, 2.278, 0, 90, 0, 86 [SEP] 3, ButterKnife, -0.341, 0.910, 0.423, 0, 0, 0, 46 [SEP] 4, Kettle, -0.211, 0.911, 0.423, 0, 0, 0, 46 [SEP] 5, Fork, -2.289, 0.911, 1.230, 0, 0, 0, 74 [SEP] 6, Fork, 1.769, 0.911, 0.465, 0, 180, 0, 55 [SEP] 7, Fork, -2.372, 0.911, 0.331, 0, 0, 0, 63 [SEP] 8, Spoon, 0.048, 0.912, 0.647, 0, 0, 0, 46 [SEP] 9, Spatula, -2.348, 0.788, 0.022, 0, 270, 0, 64 [SEP] 10, Spatula, 1.684, 0.926, 0.465, 0, 0, 0, 55 [SEP] 11, Pot, 1.412, 0.929, -0.335, 0, 0, 0, 47 [SEP] 12, Egg, -2.558, 0.209, -1.123, 0, 90, 0, 78 [SEP] 13, Cup, -2.390, 0.207, -0.570, 0, 90, 0, 78 [SEP] 14, Cup, -2.570, 1.013, 2.278, 0, 90, 0, 86 [SEP] 15, Cup, 1.426, 0.916, -1.096, 0, 225, 0, 60 [SEP] 16, SoapBottle, -2.206, 0.912, 1.830, 0, 0, 0, 74 [SEP] 17, PepperShaker, -0.471, 0.905, 1.764, 0, 0, 0, 46 [SEP] 18, SaltShaker, 0.048, 0.905, 1.540, 0, 0, 0, 46 [SEP] 19, SaltShaker, -2.704, 0.905, 1.530, 0, 0, 0, 74 [SEP] 20, Lettuce, -2.455, 0.994, 0.931, 0, 0, 0, 74 [SEP] 21, Bread, -0.341, 0.996, 1.094, 0, 0, 0, 46 [SEP] 22, Mug, -2.559, 0.589, -0.962, 0, 90, 0, 78 [SEP] 23, Pan, 0.0, 0.9, 0.948, 0, 29.999, 0, 46 [SEP] 24, Knife, -2.227, 0.798, 0.022, 0, 270, 0, 64 [SEP] 25, Apple, 1.729, 0.246, 0.679, 0, 0, 0, 85 [SEP] 26, Bowl, -2.572, 1.930, -0.918, 0, 0, 0, 67 [SEP] 27, Fork, -0.601, 0.911, 0.870, 0, 0, 0, 46 [SEP] 28, Bread, -2.621, 0.996, 1.230, 0, 0, 0, 74 [SEP] 29, Plate, -0.081, 0.913, 1.764, 0, 0, 0, 46 [SEP] 30, Egg, 1.396, 0.952, -1.336, 0, 225, 0, 60 [SEP] 31, Kettle, 0.516, 1.664, -1.729, 0, 90, 0, 53 [SEP] 32, Potato, 1.513, 0.947, -0.726, 0, 0, 0, 56 [SEP] 33, SaltShaker, -2.313, 0.109, 0.541, 0, 0, 0, 71 [SEP] 34, Lettuce, -0.341, 0.994, 1.540, 0, 0, 0, 46 [SEP] 35, Cup, 1.380, 0.916, -1.212, 0, 225, 0, 60 [SEP] 36, SoapBottle, 0.765, 0.912, -1.478, 0, 45, 0, 56 [SEP] 37, Spatula, -2.538, 0.925, 1.530, 0, 0, 0, 74 [SEP] 38, PaperTowelRoll, 1.604, 0.289, 0.651, 0, 0, 0, 85 [SEP] 39, ButterKnife, -0.471, 0.910, 0.647, 0, 0, 0, 46 [SEP] 40, PepperShaker, -2.564, 1.532, 0.052, 0, 0, 0, 69 [SEP] 41, DishSponge, 1.145, 0.770, -1.376, 0, 225, 0, 84 [SEP] 42, Pot, 1.691, 0.929, -0.335, 0, 0, 0, 54 [SEP] 43, Spoon, 1.291, 0.922, -1.231, 0, 45, 0, 60 [SEP] 44, Tomato, 1.684, 0.953, 0.376, 0, 0, 0, 55 [SEP] 45, Mug, -2.390, 0.205, -1.012, 0, 180, 0, 78 [SEP] 46, CounterTop, -0.360, 0.946, 1.093, 0, 0, 0, [SEP] 47, StoveBurner, 1.412, 0.923, -0.335, 0, 0, 0, [SEP] 48, StoveKnob, 1.878, 1.093, 0.018, 287.989, 90, 0, [SEP] 49, StoveKnob, 1.878, 1.093, -0.306, 287.989, 90, 0, [SEP] 50, Cabinet, -2.446, 1.948, 2.924, 0, 0, 0, [SEP] 51, Drawer, -2.276, 0.792, 0.902, 0, 0, 0, [SEP] 52, Cabinet, -2.145, 0.402, 1.578, 0, 0, 0, [SEP] 53, Cabinet, 0.149, 2.008, -1.603, 0, 90, 0, [SEP] 54, StoveBurner, 1.691, 0.923, -0.335, 0, 0, 0, [SEP] 55, CounterTop, 1.585, 0.946, 0.405, 0, 0, 0, [SEP] 56, CounterTop, 0.474, 0.946, -1.625, 0, 0, 0, [SEP] 57, StoveBurner, 1.691, 0.923, 0.064, 0, 0, 0, [SEP] 58, Cabinet, -2.446, 1.948, 1.687, 0, 0, 0, [SEP] 59, Cabinet, -2.446, 1.948, 1.640, 0, 0, 0, [SEP] 60, Sink, 1.381, 0.810, -1.271, 0, 225, 0, [SEP] 61, StoveKnob, 1.878, 1.093, 0.150, 287.989, 90, 0, [SEP] 62, Cabinet, -2.145, 0.402, -0.236, 0, 0, 0, [SEP] 63, Drawer, -2.276, 0.792, 0.437, 0, 0, 0, [SEP] 64, Drawer, -2.276, 0.792, -0.027, 0, 0, 0, [SEP] 65, Cabinet, 1.572, 2.008, 0.474, 0, 0, 0, [SEP] 66, Cabinet, 1.572, 2.008, -0.775, 0, 0, 0, [SEP] 67, Cabinet, -2.445, 2.148, -1.275, 0, 0, 0, [SEP] 68, Cabinet, -2.446, 2.148, -0.284, 0, 0, 0, [SEP] 69, Cabinet, -2.446, 1.948, 0.355, 0, 0, 0, [SEP] 70, Cabinet, -2.446, 1.948, 0.405, 0, 0, 0, [SEP] 71, Cabinet, -2.145, 0.402, 0.644, 0, 0, 0, [SEP] 72, Cabinet, -2.145, 0.402, 0.695, 0, 0, 0, [SEP] 73, Cabinet, -2.285, 1.968, -1.325, 0, 180, 0, [SEP] 74, CounterTop, -1.485, 0.946, 1.319, 0, 0, 0, [SEP] 75, StoveBurner, 1.411, 0.923, 0.064, 0, 0, 0, [SEP] 76, StoveKnob, 1.878, 1.093, -0.441, 287.989, 90, 0, [SEP] 77, Drawer, -2.276, 0.792, 1.368, 0, 0, 0, [SEP] 78, Fridge, -2.475, 0.0, -0.782, 0, 90, 0, [SEP] 79, LightSwitch, -0.929, 1.350, -1.950, 0, 0, 0, [SEP] 80, Toaster, -2.564, 0.900, 1.876, 0, 90, 0, [SEP] 81, CoffeeMachine, 0.464, 0.900, -1.810, 0, 0, 0, [SEP] 82, Window, 1.508, 1.534, -1.496, 90, 135, 0, [SEP] 83, Window, 1.973, 1.521, 1.121, 90, 90, 0, [SEP] 84, SinkBasin, 1.149, 0.753, -1.380, 0, 225, 0, [SEP] 85, GarbageCan, 1.646, -0.000, 0.679, 0, 0, 0, [SEP] 86, Microwave, -2.580, 0.900, 2.440, 0, 90, 0, [SEP] 87, Stool, 0.439, 0.010, 0.747, 0, 0, 0, [SEP] 88, Stool, -2.303, 0.010, 1.839, 0, 0, 0, [SEP] 89, Faucet, 1.235, 1.138, -1.473, 0, 225, 0, [SEP] 90, NorthWall, , , , , , , [SEP] 91, EastWall, , , , , , , [SEP] 92, SouthWall, , , , , , , [SEP] 93, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and go to the sink. | STEP 2: Pick up the right mug on the counter. | STEP 3: Head to the left to the counter left of the stove. | STEP 4: Put the the mug on the counter next to the trash can. | STEP 5: Pick up the fork from the counter. | STEP 6: Put the fork in the mug. | END"]} +{"id": "trial_T20190909_042454_513522-1", "input": "Move a cup from the sink to the counter, placing a fork into it. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.5, 0.900, 0.75, 0, 0, 0, [SEP] 1, Potato, -2.485, 1.125, -0.885, 0, 90, 0, 78 [SEP] 2, Potato, -2.668, 1.051, 2.278, 0, 90, 0, 86 [SEP] 3, ButterKnife, -0.341, 0.910, 0.423, 0, 0, 0, 46 [SEP] 4, Kettle, -0.211, 0.911, 0.423, 0, 0, 0, 46 [SEP] 5, Fork, -2.289, 0.911, 1.230, 0, 0, 0, 74 [SEP] 6, Fork, 1.769, 0.911, 0.465, 0, 180, 0, 55 [SEP] 7, Fork, -2.372, 0.911, 0.331, 0, 0, 0, 63 [SEP] 8, Spoon, 0.048, 0.912, 0.647, 0, 0, 0, 46 [SEP] 9, Spatula, -2.348, 0.788, 0.022, 0, 270, 0, 64 [SEP] 10, Spatula, 1.684, 0.926, 0.465, 0, 0, 0, 55 [SEP] 11, Pot, 1.412, 0.929, -0.335, 0, 0, 0, 47 [SEP] 12, Egg, -2.558, 0.209, -1.123, 0, 90, 0, 78 [SEP] 13, Cup, -2.390, 0.207, -0.570, 0, 90, 0, 78 [SEP] 14, Cup, -2.570, 1.013, 2.278, 0, 90, 0, 86 [SEP] 15, Cup, 1.426, 0.916, -1.096, 0, 225, 0, 60 [SEP] 16, SoapBottle, -2.206, 0.912, 1.830, 0, 0, 0, 74 [SEP] 17, PepperShaker, -0.471, 0.905, 1.764, 0, 0, 0, 46 [SEP] 18, SaltShaker, 0.048, 0.905, 1.540, 0, 0, 0, 46 [SEP] 19, SaltShaker, -2.704, 0.905, 1.530, 0, 0, 0, 74 [SEP] 20, Lettuce, -2.455, 0.994, 0.931, 0, 0, 0, 74 [SEP] 21, Bread, -0.341, 0.996, 1.094, 0, 0, 0, 46 [SEP] 22, Mug, -2.559, 0.589, -0.962, 0, 90, 0, 78 [SEP] 23, Pan, 0.0, 0.9, 0.948, 0, 29.999, 0, 46 [SEP] 24, Knife, -2.227, 0.798, 0.022, 0, 270, 0, 64 [SEP] 25, Apple, 1.729, 0.246, 0.679, 0, 0, 0, 85 [SEP] 26, Bowl, -2.572, 1.930, -0.918, 0, 0, 0, 67 [SEP] 27, Fork, -0.601, 0.911, 0.870, 0, 0, 0, 46 [SEP] 28, Bread, -2.621, 0.996, 1.230, 0, 0, 0, 74 [SEP] 29, Plate, -0.081, 0.913, 1.764, 0, 0, 0, 46 [SEP] 30, Egg, 1.396, 0.952, -1.336, 0, 225, 0, 60 [SEP] 31, Kettle, 0.516, 1.664, -1.729, 0, 90, 0, 53 [SEP] 32, Potato, 1.513, 0.947, -0.726, 0, 0, 0, 56 [SEP] 33, SaltShaker, -2.313, 0.109, 0.541, 0, 0, 0, 71 [SEP] 34, Lettuce, -0.341, 0.994, 1.540, 0, 0, 0, 46 [SEP] 35, Cup, 1.380, 0.916, -1.212, 0, 225, 0, 60 [SEP] 36, SoapBottle, 0.765, 0.912, -1.478, 0, 45, 0, 56 [SEP] 37, Spatula, -2.538, 0.925, 1.530, 0, 0, 0, 74 [SEP] 38, PaperTowelRoll, 1.604, 0.289, 0.651, 0, 0, 0, 85 [SEP] 39, ButterKnife, -0.471, 0.910, 0.647, 0, 0, 0, 46 [SEP] 40, PepperShaker, -2.564, 1.532, 0.052, 0, 0, 0, 69 [SEP] 41, DishSponge, 1.145, 0.770, -1.376, 0, 225, 0, 84 [SEP] 42, Pot, 1.691, 0.929, -0.335, 0, 0, 0, 54 [SEP] 43, Spoon, 1.291, 0.922, -1.231, 0, 45, 0, 60 [SEP] 44, Tomato, 1.684, 0.953, 0.376, 0, 0, 0, 55 [SEP] 45, Mug, -2.390, 0.205, -1.012, 0, 180, 0, 78 [SEP] 46, CounterTop, -0.360, 0.946, 1.093, 0, 0, 0, [SEP] 47, StoveBurner, 1.412, 0.923, -0.335, 0, 0, 0, [SEP] 48, StoveKnob, 1.878, 1.093, 0.018, 287.989, 90, 0, [SEP] 49, StoveKnob, 1.878, 1.093, -0.306, 287.989, 90, 0, [SEP] 50, Cabinet, -2.446, 1.948, 2.924, 0, 0, 0, [SEP] 51, Drawer, -2.276, 0.792, 0.902, 0, 0, 0, [SEP] 52, Cabinet, -2.145, 0.402, 1.578, 0, 0, 0, [SEP] 53, Cabinet, 0.149, 2.008, -1.603, 0, 90, 0, [SEP] 54, StoveBurner, 1.691, 0.923, -0.335, 0, 0, 0, [SEP] 55, CounterTop, 1.585, 0.946, 0.405, 0, 0, 0, [SEP] 56, CounterTop, 0.474, 0.946, -1.625, 0, 0, 0, [SEP] 57, StoveBurner, 1.691, 0.923, 0.064, 0, 0, 0, [SEP] 58, Cabinet, -2.446, 1.948, 1.687, 0, 0, 0, [SEP] 59, Cabinet, -2.446, 1.948, 1.640, 0, 0, 0, [SEP] 60, Sink, 1.381, 0.810, -1.271, 0, 225, 0, [SEP] 61, StoveKnob, 1.878, 1.093, 0.150, 287.989, 90, 0, [SEP] 62, Cabinet, -2.145, 0.402, -0.236, 0, 0, 0, [SEP] 63, Drawer, -2.276, 0.792, 0.437, 0, 0, 0, [SEP] 64, Drawer, -2.276, 0.792, -0.027, 0, 0, 0, [SEP] 65, Cabinet, 1.572, 2.008, 0.474, 0, 0, 0, [SEP] 66, Cabinet, 1.572, 2.008, -0.775, 0, 0, 0, [SEP] 67, Cabinet, -2.445, 2.148, -1.275, 0, 0, 0, [SEP] 68, Cabinet, -2.446, 2.148, -0.284, 0, 0, 0, [SEP] 69, Cabinet, -2.446, 1.948, 0.355, 0, 0, 0, [SEP] 70, Cabinet, -2.446, 1.948, 0.405, 0, 0, 0, [SEP] 71, Cabinet, -2.145, 0.402, 0.644, 0, 0, 0, [SEP] 72, Cabinet, -2.145, 0.402, 0.695, 0, 0, 0, [SEP] 73, Cabinet, -2.285, 1.968, -1.325, 0, 180, 0, [SEP] 74, CounterTop, -1.485, 0.946, 1.319, 0, 0, 0, [SEP] 75, StoveBurner, 1.411, 0.923, 0.064, 0, 0, 0, [SEP] 76, StoveKnob, 1.878, 1.093, -0.441, 287.989, 90, 0, [SEP] 77, Drawer, -2.276, 0.792, 1.368, 0, 0, 0, [SEP] 78, Fridge, -2.475, 0.0, -0.782, 0, 90, 0, [SEP] 79, LightSwitch, -0.929, 1.350, -1.950, 0, 0, 0, [SEP] 80, Toaster, -2.564, 0.900, 1.876, 0, 90, 0, [SEP] 81, CoffeeMachine, 0.464, 0.900, -1.810, 0, 0, 0, [SEP] 82, Window, 1.508, 1.534, -1.496, 90, 135, 0, [SEP] 83, Window, 1.973, 1.521, 1.121, 90, 90, 0, [SEP] 84, SinkBasin, 1.149, 0.753, -1.380, 0, 225, 0, [SEP] 85, GarbageCan, 1.646, -0.000, 0.679, 0, 0, 0, [SEP] 86, Microwave, -2.580, 0.900, 2.440, 0, 90, 0, [SEP] 87, Stool, 0.439, 0.010, 0.747, 0, 0, 0, [SEP] 88, Stool, -2.303, 0.010, 1.839, 0, 0, 0, [SEP] 89, Faucet, 1.235, 1.138, -1.473, 0, 225, 0, [SEP] 90, NorthWall, , , , , , , [SEP] 91, EastWall, , , , , , , [SEP] 92, SouthWall, , , , , , , [SEP] 93, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and walk to the sink. | STEP 2: Pick up the cup closest to the spoon. | STEP 3: Turn left and walk to the counter between the stove and trash bin. | STEP 4: Place the cup on the counter. | STEP 5: Pick up the fork behind the spatula. | STEP 6: Place the fork in the cup. | END"]} +{"id": "trial_T20190908_123820_715682-2", "input": "Place a cell phone on a shelf. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.900, -0.25, 0, 180, 0, [SEP] 1, Mug, 0.741, 0.699, -1.326, 0, 0, 0, 50 [SEP] 2, Mug, 1.479, 0.701, -1.814, 0, 180, 0, 50 [SEP] 3, TissueBox, 0.248, 0.703, -1.423, 0, 180, 0, 50 [SEP] 4, CD, 0.494, 0.701, -1.814, 0, 180, 0, 50 [SEP] 5, CD, 1.572, 0.487, -0.604, 0, 270, 0, 43 [SEP] 6, CellPhone, 0.387, 0.085, -1.425, 0, 180, 0, 46 [SEP] 7, CellPhone, 1.524, 0.711, -0.306, 0, 0, 0, 42 [SEP] 8, CellPhone, -1.630, 0.530, 0.160, 0, 0, 0, 33 [SEP] 9, Pen, 0.494, 0.709, -1.716, 0, 180, 0, 50 [SEP] 10, Pen, 0.002, 0.709, -1.326, 0, 180, 0, 50 [SEP] 11, CreditCard, 1.429, 1.411, 0.779, 0, 270, 0, 42 [SEP] 12, CreditCard, 1.524, 0.708, -0.703, 0, 0, 0, 42 [SEP] 13, KeyChain, 1.591, 1.412, 0.779, 0, 0, 0, 42 [SEP] 14, KeyChain, -0.028, 0.497, -1.372, 0, 180, 0, 45 [SEP] 15, Pillow, -1.777, 0.598, -0.082, 0, 0, 0, 33 [SEP] 16, Box, 1.537, 1.652, 0.692, 0, 0, 0, 36 [SEP] 17, Book, 0.387, 0.497, -1.479, 0, 180, 0, 51 [SEP] 18, AlarmClock, 1.480, 0.489, -0.464, 0, 270, 0, 43 [SEP] 19, CellPhone, 0.064, 0.084, -1.425, 0, 180, 0, 46 [SEP] 20, TissueBox, 0.002, 0.705, -1.521, 0, 180, 0, 50 [SEP] 21, TeddyBear, -2.204, 0.500, 0.181, 355.000, 297.467, 9.162, 33 [SEP] 22, CreditCard, 0.248, 0.703, -1.716, 0, 180, 0, 50 [SEP] 23, KeyChain, 1.603, 0.489, -0.324, 0, 270, 0, 43 [SEP] 24, BaseballBat, -2.202, 0.04, -1.343, 0, 45, 90, Floor|+00.00| [SEP] 25, TennisRacket, -2.254, 0.324, -1.806, 15.000, 180, 180, Floor|+00.00| [SEP] 26, Pillow, -2.039, 0.545, 0.677, 0, 0, 0, 33 [SEP] 27, Laptop, 0.987, 0.699, -1.423, 0, 180, 0, 50 [SEP] 28, CD, 0.295, 0.288, -1.585, 0, 180, 0, 48 [SEP] 29, Pen, 1.510, 1.417, 0.393, 0, 270, 0, 42 [SEP] 30, Pencil, 1.233, 0.705, -1.326, 0, 180, 0, 50 [SEP] 31, Mug, 1.638, 0.706, -0.385, 0, 90, 0, 42 [SEP] 32, Mirror, -0.689, 1.495, 0.954, 0, 0, 0, [SEP] 33, Bed, -1.742, 0.000, -0.071, 0, 0, 0, [SEP] 34, Chair, 0.891, -0.001, -1.251, 0, 175.104, 0, [SEP] 35, GarbageCan, -0.606, -0.021, 0.799, 0, 0, 0, [SEP] 36, ShelvingUnit, 1.550, 1.402, 0.374, 0, 270, 0, [SEP] 37, Painting, -2.401, 1.700, -0.859, 90, 90, 0, [SEP] 38, DeskLamp, 1.291, 0.699, -1.717, 0, 0, 0, [SEP] 39, LightSwitch, 0.231, 1.287, 0.954, 0, 180, 0, [SEP] 40, HousePlant, 1.488, 1.394, 0.035, 0, 122.291, 0, [SEP] 41, Window, 0.046, 1.559, -2.079, 90, 180, 0, [SEP] 42, SideTable, 1.561, 0.000, -0.465, 0, 270, 0, [SEP] 43, Shelf, 1.541, 0.493, -0.475, 0, 270, 0, [SEP] 44, Blinds, 0.007, 2.152, -2.014, 0, 0, 0, [SEP] 45, Drawer, -0.156, 0.547, -1.430, 0, 0, 0, [SEP] 46, Drawer, 0.270, 0.159, -1.430, 0, 0, 0, [SEP] 47, Drawer, -0.156, 0.159, -1.430, 0, 0, 0, [SEP] 48, Drawer, 0.270, 0.353, -1.430, 0, 0, 0, [SEP] 49, Drawer, -0.156, 0.353, -1.430, 0, 0, 0, [SEP] 50, Desk, 0.634, 0.002, -1.557, 0, 0, 0, [SEP] 51, Drawer, 0.270, 0.547, -1.430, 0, 0, 0, [SEP] 52, Shelf, 1.406, 0.571, -1.514, 0, 0, 0, [SEP] 53, Shelf, 1.406, 0.183, -1.514, 0, 0, 0, [SEP] 54, Shelf, 1.584, 0.183, -1.514, 0, 0, 0, [SEP] 55, Shelf, 1.406, 0.377, -1.514, 0, 0, 0, [SEP] 56, Shelf, 1.584, 0.377, -1.514, 0, 0, 0, [SEP] 57, Shelf, 1.584, 0.571, -1.514, 0, 0, 0, [SEP] 58, NorthWall, , , , , , , [SEP] 59, EastWall, , , , , , , [SEP] 60, SouthWall, , , , , , , [SEP] 61, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and walk to the nightstand to the right of the book shelves. | STEP 2: Pick up the cell phone on the nightstand. | STEP 3: Look down. | STEP 4: Place the cell phone on the second shelf, to the left of the clock. | END"]} +{"id": "trial_T20190906_235935_435622-1", "input": "Put the clean cloth on top of the drawer. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.900, -1.75, 0, 270, 0, [SEP] 1, SprayBottle, -2.694, 0.993, -2.125, 0, 90, 0, 23 [SEP] 2, SprayBottle, -0.118, 1.045, -0.478, 0, 270, 0, 32 [SEP] 3, SoapBottle, -2.841, 0.994, -2.125, 0, 0, 0, 23 [SEP] 4, HandTowel, -0.038, 1.481, -1.549, 0, 90, 0, 27 [SEP] 5, ToiletPaper, -2.547, 0.989, -3.720, 0, 0, 0, 23 [SEP] 6, HandTowel, -0.038, 1.481, -2.661, 0, 90, 0, 26 [SEP] 7, SoapBar, -0.221, 0.043, -2.849, 0, 90, 0, 31 [SEP] 8, ToiletPaper, -0.103, 0.866, -1.033, 0, 270, 270, 30 [SEP] 9, ToiletPaper, -0.162, 0.350, -3.399, 0, 90, 0, 34 [SEP] 10, Towel, -1.338, 1.193, -0.106, 0, 180, 0, 24 [SEP] 11, SoapBottle, -0.180, 1.162, -3.300, 0, 90, 0, 37 [SEP] 12, ScrubBrush, -0.136, -0.000, -0.105, 0, 0, 0, Floor|-01.15| [SEP] 13, Cloth, -2.524, 0.085, -0.535, 0, 90, 0, 29 [SEP] 14, Plunger, -0.370, -0.000, -0.097, 0, 0, 0, Floor|-01.15| [SEP] 15, Candle, -2.620, 0.991, -2.923, 0, 0, 0, 23 [SEP] 16, SprayBottle, -2.620, 0.993, -2.125, 0, 0, 0, 23 [SEP] 17, Bathtub, -2.104, 0.524, -0.828, 0, 0, 0, [SEP] 18, Faucet, -0.040, 1.017, -2.076, 0, 270, 0, [SEP] 19, Sink, -0.307, 0.0, -2.076, 0, 270, 0, [SEP] 20, Mirror, -2.983, 1.565, -2.900, 0, 0, 0, [SEP] 21, Shelf, -2.581, 0.395, -2.923, 0, 0, 0, [SEP] 22, Shelf, -2.539, 0.130, -2.923, 0, 0, 0, [SEP] 23, CounterTop, -2.704, 1.029, -2.923, 0, 0, 0, [SEP] 24, TowelHolder, -1.338, 1.179, 0.0, 0, 180, 0, [SEP] 25, LightSwitch, -0.363, 1.330, -3.999, 0, 0, 0, [SEP] 26, HandTowelHolder, 0.0, 1.582, -2.661, 0, 180, 0, [SEP] 27, HandTowelHolder, 0.0, 1.582, -1.549, 0, 180, 0, [SEP] 28, SinkBasin, -0.310, 0.859, -2.076, 0, 0, 0, [SEP] 29, BathtubBasin, -2.586, 0.071, -0.801, 0, 90, 0, [SEP] 30, ToiletPaperHanger, 0.0, 0.866, -0.968, 0, 270, 0, [SEP] 31, GarbageCan, -0.266, -0.034, -2.751, 0, 0, 0, [SEP] 32, Toilet, -0.411, -0.000, -0.547, 0, 0, 0, [SEP] 33, Drawer, -0.229, 0.161, -3.398, 0, 270, 0, [SEP] 34, Drawer, -0.229, 0.420, -3.398, 0, 270, 0, [SEP] 35, Drawer, -0.229, 0.680, -3.398, 0, 270, 0, [SEP] 36, Drawer, -0.229, 0.940, -3.398, 0, 270, 0, [SEP] 37, Dresser, -0.205, 0.000, -3.398, 0, 270, 0, [SEP] 38, ShowerHead, -2.579, 1.261, -0.064, 0, 270, 0, [SEP] 39, ShowerCurtain, -2.188, 1.915, -1.560, 0, 0, 0, [SEP] 40, EastWall, , , , , , , [SEP] 41, EastWall, , , , , , , [SEP] 42, SouthWall, , , , , , , ", "output": ["STEP 1: Turn right then left to face the bathtub. | STEP 2: Grab the dirty cloth from the bathtub. | STEP 3: Turn around then turn right to face the sink. | STEP 4: Place the cloth into the sink, rinse it off and retrieve it. | STEP 5: Turn right, then turn left to the door, then turn left again. | STEP 6: Place the rag on top of the drawer. | END"]} +{"id": "trial_T20190906_235935_435622-2", "input": "Clean the dirty towel to place it on the dresser. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.900, -1.75, 0, 270, 0, [SEP] 1, SprayBottle, -2.694, 0.993, -2.125, 0, 90, 0, 23 [SEP] 2, SprayBottle, -0.118, 1.045, -0.478, 0, 270, 0, 32 [SEP] 3, SoapBottle, -2.841, 0.994, -2.125, 0, 0, 0, 23 [SEP] 4, HandTowel, -0.038, 1.481, -1.549, 0, 90, 0, 27 [SEP] 5, ToiletPaper, -2.547, 0.989, -3.720, 0, 0, 0, 23 [SEP] 6, HandTowel, -0.038, 1.481, -2.661, 0, 90, 0, 26 [SEP] 7, SoapBar, -0.221, 0.043, -2.849, 0, 90, 0, 31 [SEP] 8, ToiletPaper, -0.103, 0.866, -1.033, 0, 270, 270, 30 [SEP] 9, ToiletPaper, -0.162, 0.350, -3.399, 0, 90, 0, 34 [SEP] 10, Towel, -1.338, 1.193, -0.106, 0, 180, 0, 24 [SEP] 11, SoapBottle, -0.180, 1.162, -3.300, 0, 90, 0, 37 [SEP] 12, ScrubBrush, -0.136, -0.000, -0.105, 0, 0, 0, Floor|-01.15| [SEP] 13, Cloth, -2.524, 0.085, -0.535, 0, 90, 0, 29 [SEP] 14, Plunger, -0.370, -0.000, -0.097, 0, 0, 0, Floor|-01.15| [SEP] 15, Candle, -2.620, 0.991, -2.923, 0, 0, 0, 23 [SEP] 16, SprayBottle, -2.620, 0.993, -2.125, 0, 0, 0, 23 [SEP] 17, Bathtub, -2.104, 0.524, -0.828, 0, 0, 0, [SEP] 18, Faucet, -0.040, 1.017, -2.076, 0, 270, 0, [SEP] 19, Sink, -0.307, 0.0, -2.076, 0, 270, 0, [SEP] 20, Mirror, -2.983, 1.565, -2.900, 0, 0, 0, [SEP] 21, Shelf, -2.581, 0.395, -2.923, 0, 0, 0, [SEP] 22, Shelf, -2.539, 0.130, -2.923, 0, 0, 0, [SEP] 23, CounterTop, -2.704, 1.029, -2.923, 0, 0, 0, [SEP] 24, TowelHolder, -1.338, 1.179, 0.0, 0, 180, 0, [SEP] 25, LightSwitch, -0.363, 1.330, -3.999, 0, 0, 0, [SEP] 26, HandTowelHolder, 0.0, 1.582, -2.661, 0, 180, 0, [SEP] 27, HandTowelHolder, 0.0, 1.582, -1.549, 0, 180, 0, [SEP] 28, SinkBasin, -0.310, 0.859, -2.076, 0, 0, 0, [SEP] 29, BathtubBasin, -2.586, 0.071, -0.801, 0, 90, 0, [SEP] 30, ToiletPaperHanger, 0.0, 0.866, -0.968, 0, 270, 0, [SEP] 31, GarbageCan, -0.266, -0.034, -2.751, 0, 0, 0, [SEP] 32, Toilet, -0.411, -0.000, -0.547, 0, 0, 0, [SEP] 33, Drawer, -0.229, 0.161, -3.398, 0, 270, 0, [SEP] 34, Drawer, -0.229, 0.420, -3.398, 0, 270, 0, [SEP] 35, Drawer, -0.229, 0.680, -3.398, 0, 270, 0, [SEP] 36, Drawer, -0.229, 0.940, -3.398, 0, 270, 0, [SEP] 37, Dresser, -0.205, 0.000, -3.398, 0, 270, 0, [SEP] 38, ShowerHead, -2.579, 1.261, -0.064, 0, 270, 0, [SEP] 39, ShowerCurtain, -2.188, 1.915, -1.560, 0, 0, 0, [SEP] 40, EastWall, , , , , , , [SEP] 41, EastWall, , , , , , , [SEP] 42, SouthWall, , , , , , , ", "output": ["STEP 1: Turn left and head towards the tub on your left side. | STEP 2: Pick up the dirty towel inside the tub. | STEP 3: Turn around and head towards the sink. | STEP 4: Place the dirty towel in side the sink, turn on the faucet, wash the towel, turn off the faucet, and pick up the towel. | STEP 5: Walk straight towards the dresser on your left. | STEP 6: Place the towel on top of the dresser to the right of the bottle. | END"]} +{"id": "trial_T20190909_055700_408074-1", "input": "Pick up the cloth from the flush tank and put in the sink SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.5, 0.899, -1.25, 0, 270, 0, [SEP] 1, SoapBar, -3.295, 0.083, -0.738, 0, 0, 0, 23 [SEP] 2, SprayBottle, -3.607, 0.085, -1.907, 0, 0, 0, 19 [SEP] 3, Towel, 0.136, 1.121, -2.080, 0, 0, 0, 25 [SEP] 4, Candle, -2.023, 1.085, -1.969, 0, 0, 0, 31 [SEP] 5, Cloth, -2.002, 1.034, -2.086, 0, 343.825, 0, 31 [SEP] 6, HandTowel, -3.711, 1.474, -0.410, 0, 270, 0, 28 [SEP] 7, Plunger, -2.207, -0.001, -2.076, 0, 0, 0, Floor|+00.00| [SEP] 8, SoapBottle, -3.545, 0.084, -1.143, 0, 0, 0, 17 [SEP] 9, SoapBar, -1.761, 1.043, -2.030, 0, 0, 0, 31 [SEP] 10, ToiletPaper, -3.493, 0.075, -1.635, 0, 0, 0, 19 [SEP] 11, ToiletPaper, -2.305, 0.755, -2.157, 0, 0, 90, 30 [SEP] 12, SprayBottle, -3.421, 0.912, -1.348, 0, 0, 0, 24 [SEP] 13, ScrubBrush, -2.407, -0.001, -2.092, 0, 0, 0, Floor|+00.00| [SEP] 14, Cabinet, -3.169, 0.370, -2.188, 0, 0, 0, [SEP] 15, Window, -1.737, 1.292, -2.286, 0, 0, 0, [SEP] 16, ShowerDoor, -0.447, 0.909, -2.191, 0, 0, 0, [SEP] 17, Cabinet, -3.169, 0.370, -1.379, 0, 0, 0, [SEP] 18, Mirror, -3.730, 1.481, -1.427, 0, 0, 0, [SEP] 19, Cabinet, -3.169, 0.370, -1.398, 0, 0, 0, [SEP] 20, ShowerGlass, -0.964, 0.907, -0.120, 0, 0, 0, [SEP] 21, Sink, -3.391, 0.841, -1.828, 0, 90, 0, [SEP] 22, FloorLamp, -3.539, 1.020, -0.932, 0, 90, 0, [SEP] 23, Cabinet, -3.169, 0.370, -0.592, 0, 0, 0, [SEP] 24, CounterTop, -3.426, 0.883, -1.384, 0, 0, 0, [SEP] 25, TowelHolder, 0.136, 1.106, -2.187, 0, 0, 0, [SEP] 26, GarbageCan, -3.520, -0.030, -0.349, 0, 0, 0, [SEP] 27, SinkBasin, -3.392, 0.916, -1.820, 0, 90, 0, [SEP] 28, HandTowelHolder, -3.750, 1.575, -0.410, 0, 0, 0, [SEP] 29, HandTowelHolder, -3.332, 1.621, -2.198, 0, 270, 0, [SEP] 30, ToiletPaperHanger, -2.375, 0.886, -2.199, 0, 0, 0, [SEP] 31, Toilet, -1.896, -0.001, -1.738, 0, 90, 0, [SEP] 32, LightSwitch, -2.052, 1.292, 1.000, 0, 180, 0, [SEP] 33, FloorLamp, -3.539, 1.020, -1.830, 0, 90, 0, [SEP] 34, ShowerHead, 0.232, 1.026, 0.375, 0, 315, 0, [SEP] 35, Sink, -3.391, 0.841, -0.931, 0, 90, 0, [SEP] 36, SinkBasin, -3.392, 0.916, -0.923, 0, 90, 0, [SEP] 37, NorthWall, , , , , , , [SEP] 38, EastWall, , , , , , , [SEP] 39, SouthWall, , , , , , , [SEP] 40, WestWall, , , , , , , ", "output": ["STEP 1: Turn to your left, again turn left to face the flush toilet from the side | STEP 2: Pick up the white cloth from the flush tank | STEP 3: Turn around to face the sink | STEP 4: Put the cloth in the left sink | END"]} +{"id": "trial_T20190908_230634_487118-1", "input": "Take the apple out of the microwave, put the apple on to a plate, put the plate into the microwave SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.5, 0.900, 0.25, 0, 90, 0, [SEP] 1, Statue, -1.278, 0.920, 0.188, 0, 0, 0, 77 [SEP] 2, Statue, 2.798, 0.559, 0.297, 0, 180, 0, 90 [SEP] 3, Ladle, -0.290, 0.800, -1.952, 0, 270, 0, 94 [SEP] 4, Ladle, -0.186, 0.732, 0.181, 0, 270, 0, 83 [SEP] 5, Kettle, -1.330, 0.914, -0.109, 0, 0, 0, 77 [SEP] 6, Kettle, -1.056, 0.956, -1.127, 0, 0, 0, 81 [SEP] 7, Pot, 1.891, 1.429, -0.737, 0, 270, 0, 91 [SEP] 8, Pot, 1.571, 0.118, -1.397, 0, 0, 0, 58 [SEP] 9, Fork, -1.075, 0.911, -1.722, 0, 180, 0, 84 [SEP] 10, Spoon, -0.252, 0.696, 0.222, 0, 270, 0, 83 [SEP] 11, Spoon, 0.008, 0.914, 0.188, 0, 90, 0, 77 [SEP] 12, Plate, 1.419, 0.909, -2.098, 0, 0, 0, 84 [SEP] 13, Plate, 1.419, 0.909, -1.844, 0, 0, 0, 84 [SEP] 14, Plate, 0.071, 1.129, 0.573, 0, 0, 0, 80 [SEP] 15, Knife, -0.822, 1.155, 0.618, 0, 180, 0, 80 [SEP] 16, Knife, -0.598, 1.155, 0.441, 0, 0, 0, 80 [SEP] 17, SoapBottle, 2.002, 0.063, 0.138, 0, 0, 0, 87 [SEP] 18, SoapBottle, 2.798, 0.552, 0.038, 0, 180, 0, 90 [SEP] 19, SaltShaker, -0.577, 0.688, 0.279, 0, 180, 0, 78 [SEP] 20, SaltShaker, -0.657, 0.690, -2.023, 0, 0, 0, 54 [SEP] 21, PepperShaker, -0.993, 0.907, -1.384, 0, 0, 0, 84 [SEP] 22, Lettuce, -1.322, 0.987, -1.469, 0, 0, 0, 84 [SEP] 23, Mug, 0.501, 0.955, -1.900, 0, 0, 0, 100 [SEP] 24, Mug, -0.152, 1.126, 0.662, 0, 0, 0, 80 [SEP] 25, Apple, -1.322, 0.959, -1.722, 0, 0, 0, 84 [SEP] 26, Pan, -1.289, 0.957, -1.02, 0, 0, 0, 74 [SEP] 27, Knife, -0.117, 0.786, -2.063, 0, 90, 0, 94 [SEP] 28, Bowl, 2.487, 0.549, 0.038, 0, 180, 0, 90 [SEP] 29, Fork, -0.750, 0.901, 0.116, 0, 0, 0, 77 [SEP] 30, Cup, 0.101, 0.750, -1.938, 0, 0, 0, 94 [SEP] 31, Ladle, -0.053, 0.733, 0.181, 0, 270, 0, 83 [SEP] 32, Apple, 1.910, 1.064, -1.192, 0, 270, 0, 89 [SEP] 33, Kettle, 0.944, 1.658, -2.163, 0, 0, 0, 63 [SEP] 34, Vase, 1.950, 1.654, -1.737, 0, 0, 0, 62 [SEP] 35, Potato, -0.777, 0.941, -1.929, 0, 0, 0, 84 [SEP] 36, Pot, -1.056, 0.956, -0.672, 0, 180, 0, 56 [SEP] 37, Bread, -1.148, 0.981, -0.193, 0, 0, 0, 77 [SEP] 38, Plate, -1.313, 1.660, 0.094, 0, 0, 0, 68 [SEP] 39, Spatula, -0.117, 0.778, -2.063, 0, 0, 0, 94 [SEP] 40, PaperTowelRoll, -1.138, 1.015, -1.929, 0, 0, 0, 84 [SEP] 41, Vase, 1.194, 0.917, -1.929, 0, 0, 0, 84 [SEP] 42, Egg, -0.376, 0.797, -2.118, 0, 0, 0, 94 [SEP] 43, SoapBottle, 1.884, 0.063, 0.138, 0, 0, 0, 87 [SEP] 44, SaltShaker, -1.272, 1.657, -0.558, 0, 0, 0, 67 [SEP] 45, Lettuce, 1.945, 1.504, -0.458, 0, 270, 0, 91 [SEP] 46, PepperShaker, -0.420, 0.909, 0.241, 0, 0, 0, 77 [SEP] 47, ButterKnife, -0.375, 1.131, 0.485, 0, 0, 0, 80 [SEP] 48, DishSponge, 1.419, 0.910, -2.267, 0, 0, 0, 84 [SEP] 49, Vase, -1.117, 0.126, -1.465, 0, 0, 0, 70 [SEP] 50, Spoon, -1.239, 0.912, -1.469, 0, 0, 0, 84 [SEP] 51, Tomato, 1.836, 0.866, -0.551, 0, 270, 0, 91 [SEP] 52, Mug, -0.031, 0.758, -1.897, 0, 0, 0, 94 [SEP] 53, Statue, 3.002, 0.886, 0.195, 0, 180, 0, 88 [SEP] 54, Drawer, -0.819, 0.75, -1.690, 0, 0, 0, [SEP] 55, Cabinet, -1.149, 2.264, -0.838, 0, 90, 0, [SEP] 56, StoveBurner, -1.056, 0.949, -0.671, 0, 180, 0, [SEP] 57, Cabinet, 1.738, 2.019, -2.000, 0, 0, 0, [SEP] 58, Cabinet, 1.389, 0.469, -1.059, 0, 0, 0, [SEP] 59, StoveBurner, -1.289, 0.949, -0.755, 0, 180, 0, [SEP] 60, Faucet, -0.157, 1.052, -2.196, 0, 270, 0, [SEP] 61, Cabinet, 1.75, 2.019, -1.029, 0, 0, 0, [SEP] 62, Cabinet, 1.75, 2.019, -1.399, 0, 0, 0, [SEP] 63, Cabinet, 1.179, 2.019, -2.0, 0, 0, 0, [SEP] 64, Cabinet, 0.199, 2.019, -2.0, 0, 0, 0, [SEP] 65, Cabinet, -1.100, 2.019, -2.0, 0, 0, 0, [SEP] 66, Cabinet, -1.149, 2.019, -1.979, 0, 0, 0, [SEP] 67, Cabinet, -1.149, 2.019, -0.770, 0, 0, 0, [SEP] 68, Cabinet, -1.149, 2.019, 0.380, 0, 0, 0, [SEP] 69, Cabinet, -0.819, 0.469, -1.689, 0, 0, 0, [SEP] 70, Cabinet, -0.839, 0.469, -1.664, 0, 0, 0, [SEP] 71, Cabinet, -0.839, 0.469, -0.049, 0, 0, 0, [SEP] 72, Cabinet, -0.414, 0.370, -0.009, 0, 0, 0, [SEP] 73, Sink, -0.118, 0.875, -2.009, 0, 0, 0, [SEP] 74, StoveBurner, -1.289, 0.949, -1.019, 0, 0, 0, [SEP] 75, Cabinet, 0.119, 2.264, -2.0, 0, 0, 0, [SEP] 76, Cabinet, -0.459, 2.264, -2.0, 0, 0, 0, [SEP] 77, CounterTop, -0.665, 0.949, 0.188, 0, 0, 0, [SEP] 78, Drawer, -0.449, 0.75, -0.010, 0, 180, 0, [SEP] 79, Cabinet, -0.450, 0.469, -0.009, 0, 0, 0, [SEP] 80, CounterTop, -0.630, 1.167, 0.573, 0, 0, 0, [SEP] 81, StoveBurner, -1.056, 0.949, -1.126, 0, 0, 0, [SEP] 82, Cabinet, 1.376, 0.460, -1.685, 0, 0, 0, [SEP] 83, Drawer, -0.070, 0.75, -0.009, 0, 180, 0, [SEP] 84, CounterTop, 1.159, 0.946, -2.013, 0, 0, 0, [SEP] 85, Cabinet, -1.150, 2.264, -1.418, 0, 90, 0, [SEP] 86, HousePlant, -1.246, 1.108, 0.606, 0, 0, 0, [SEP] 87, GarbageCan, 1.923, -0.010, 0.137, 0, 0, 0, [SEP] 88, Shelf, 2.759, 0.880, 0.144, 0, 0, 0, [SEP] 89, Microwave, 1.827, 0.900, -1.354, 0, 270, 0, [SEP] 90, Shelf, 2.759, 0.552, 0.145, 0, 0, 0, [SEP] 91, Fridge, 1.975, 0.0, -0.537, 0, 0, 0, [SEP] 92, LightSwitch, 0.404, 1.297, 2.0, 0, 180, 0, [SEP] 93, Shelf, 2.760, 0.172, 0.145, 0, 0, 0, [SEP] 94, SinkBasin, -0.129, 0.752, -2.007, 0, 0, 0, [SEP] 95, StoveKnob, -0.873, 0.903, -0.827, 45, 90, 0, [SEP] 96, StoveKnob, -0.873, 0.903, -0.676, 45, 90, 0, [SEP] 97, StoveKnob, -0.873, 0.903, -0.966, 45, 90, 0, [SEP] 98, StoveKnob, -0.873, 0.903, -1.123, 45, 90, 0, [SEP] 99, Toaster, 0.840, 0.900, -2.057, 0, 0, 0, [SEP] 100, CoffeeMachine, 0.501, 0.900, -2.125, 0, 0, 0, [SEP] 101, ShelvingUnit, 2.760, 0.006, 0.144, 0, 0, 0, [SEP] 102, Stool, -0.826, 0.010, 0.908, 0, 347.513, 0, [SEP] 103, Stool, -0.132, 0.010, 0.883, 0, 71.555, 0, [SEP] 104, NorthWall, , , , , , , [SEP] 105, EastWall, , , , , , , [SEP] 106, SouthWall, , , , , , , [SEP] 107, WestWall, , , , , , , ", "output": ["STEP 1: Turn around, walk to the microwave in the kitchen | STEP 2: Open the door to the microwave | STEP 3: Take the apple out of the microwave | STEP 4: Turn to the right, Put the apple on the plate | STEP 5: Pick up the plate with the apple | STEP 6: Turn to the left, put the plate in the microwave | STEP 7: Close the door to the microwave | END"]} +{"id": "trial_T20190908_230634_487118-2", "input": "Put the apple on a plate in the microwave. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.5, 0.900, 0.25, 0, 90, 0, [SEP] 1, Statue, -1.278, 0.920, 0.188, 0, 0, 0, 77 [SEP] 2, Statue, 2.798, 0.559, 0.297, 0, 180, 0, 90 [SEP] 3, Ladle, -0.290, 0.800, -1.952, 0, 270, 0, 94 [SEP] 4, Ladle, -0.186, 0.732, 0.181, 0, 270, 0, 83 [SEP] 5, Kettle, -1.330, 0.914, -0.109, 0, 0, 0, 77 [SEP] 6, Kettle, -1.056, 0.956, -1.127, 0, 0, 0, 81 [SEP] 7, Pot, 1.891, 1.429, -0.737, 0, 270, 0, 91 [SEP] 8, Pot, 1.571, 0.118, -1.397, 0, 0, 0, 58 [SEP] 9, Fork, -1.075, 0.911, -1.722, 0, 180, 0, 84 [SEP] 10, Spoon, -0.252, 0.696, 0.222, 0, 270, 0, 83 [SEP] 11, Spoon, 0.008, 0.914, 0.188, 0, 90, 0, 77 [SEP] 12, Plate, 1.419, 0.909, -2.098, 0, 0, 0, 84 [SEP] 13, Plate, 1.419, 0.909, -1.844, 0, 0, 0, 84 [SEP] 14, Plate, 0.071, 1.129, 0.573, 0, 0, 0, 80 [SEP] 15, Knife, -0.822, 1.155, 0.618, 0, 180, 0, 80 [SEP] 16, Knife, -0.598, 1.155, 0.441, 0, 0, 0, 80 [SEP] 17, SoapBottle, 2.002, 0.063, 0.138, 0, 0, 0, 87 [SEP] 18, SoapBottle, 2.798, 0.552, 0.038, 0, 180, 0, 90 [SEP] 19, SaltShaker, -0.577, 0.688, 0.279, 0, 180, 0, 78 [SEP] 20, SaltShaker, -0.657, 0.690, -2.023, 0, 0, 0, 54 [SEP] 21, PepperShaker, -0.993, 0.907, -1.384, 0, 0, 0, 84 [SEP] 22, Lettuce, -1.322, 0.987, -1.469, 0, 0, 0, 84 [SEP] 23, Mug, 0.501, 0.955, -1.900, 0, 0, 0, 100 [SEP] 24, Mug, -0.152, 1.126, 0.662, 0, 0, 0, 80 [SEP] 25, Apple, -1.322, 0.959, -1.722, 0, 0, 0, 84 [SEP] 26, Pan, -1.289, 0.957, -1.02, 0, 0, 0, 74 [SEP] 27, Knife, -0.117, 0.786, -2.063, 0, 90, 0, 94 [SEP] 28, Bowl, 2.487, 0.549, 0.038, 0, 180, 0, 90 [SEP] 29, Fork, -0.750, 0.901, 0.116, 0, 0, 0, 77 [SEP] 30, Cup, 0.101, 0.750, -1.938, 0, 0, 0, 94 [SEP] 31, Ladle, -0.053, 0.733, 0.181, 0, 270, 0, 83 [SEP] 32, Apple, 1.910, 1.064, -1.192, 0, 270, 0, 89 [SEP] 33, Kettle, 0.944, 1.658, -2.163, 0, 0, 0, 63 [SEP] 34, Vase, 1.950, 1.654, -1.737, 0, 0, 0, 62 [SEP] 35, Potato, -0.777, 0.941, -1.929, 0, 0, 0, 84 [SEP] 36, Pot, -1.056, 0.956, -0.672, 0, 180, 0, 56 [SEP] 37, Bread, -1.148, 0.981, -0.193, 0, 0, 0, 77 [SEP] 38, Plate, -1.313, 1.660, 0.094, 0, 0, 0, 68 [SEP] 39, Spatula, -0.117, 0.778, -2.063, 0, 0, 0, 94 [SEP] 40, PaperTowelRoll, -1.138, 1.015, -1.929, 0, 0, 0, 84 [SEP] 41, Vase, 1.194, 0.917, -1.929, 0, 0, 0, 84 [SEP] 42, Egg, -0.376, 0.797, -2.118, 0, 0, 0, 94 [SEP] 43, SoapBottle, 1.884, 0.063, 0.138, 0, 0, 0, 87 [SEP] 44, SaltShaker, -1.272, 1.657, -0.558, 0, 0, 0, 67 [SEP] 45, Lettuce, 1.945, 1.504, -0.458, 0, 270, 0, 91 [SEP] 46, PepperShaker, -0.420, 0.909, 0.241, 0, 0, 0, 77 [SEP] 47, ButterKnife, -0.375, 1.131, 0.485, 0, 0, 0, 80 [SEP] 48, DishSponge, 1.419, 0.910, -2.267, 0, 0, 0, 84 [SEP] 49, Vase, -1.117, 0.126, -1.465, 0, 0, 0, 70 [SEP] 50, Spoon, -1.239, 0.912, -1.469, 0, 0, 0, 84 [SEP] 51, Tomato, 1.836, 0.866, -0.551, 0, 270, 0, 91 [SEP] 52, Mug, -0.031, 0.758, -1.897, 0, 0, 0, 94 [SEP] 53, Statue, 3.002, 0.886, 0.195, 0, 180, 0, 88 [SEP] 54, Drawer, -0.819, 0.75, -1.690, 0, 0, 0, [SEP] 55, Cabinet, -1.149, 2.264, -0.838, 0, 90, 0, [SEP] 56, StoveBurner, -1.056, 0.949, -0.671, 0, 180, 0, [SEP] 57, Cabinet, 1.738, 2.019, -2.000, 0, 0, 0, [SEP] 58, Cabinet, 1.389, 0.469, -1.059, 0, 0, 0, [SEP] 59, StoveBurner, -1.289, 0.949, -0.755, 0, 180, 0, [SEP] 60, Faucet, -0.157, 1.052, -2.196, 0, 270, 0, [SEP] 61, Cabinet, 1.75, 2.019, -1.029, 0, 0, 0, [SEP] 62, Cabinet, 1.75, 2.019, -1.399, 0, 0, 0, [SEP] 63, Cabinet, 1.179, 2.019, -2.0, 0, 0, 0, [SEP] 64, Cabinet, 0.199, 2.019, -2.0, 0, 0, 0, [SEP] 65, Cabinet, -1.100, 2.019, -2.0, 0, 0, 0, [SEP] 66, Cabinet, -1.149, 2.019, -1.979, 0, 0, 0, [SEP] 67, Cabinet, -1.149, 2.019, -0.770, 0, 0, 0, [SEP] 68, Cabinet, -1.149, 2.019, 0.380, 0, 0, 0, [SEP] 69, Cabinet, -0.819, 0.469, -1.689, 0, 0, 0, [SEP] 70, Cabinet, -0.839, 0.469, -1.664, 0, 0, 0, [SEP] 71, Cabinet, -0.839, 0.469, -0.049, 0, 0, 0, [SEP] 72, Cabinet, -0.414, 0.370, -0.009, 0, 0, 0, [SEP] 73, Sink, -0.118, 0.875, -2.009, 0, 0, 0, [SEP] 74, StoveBurner, -1.289, 0.949, -1.019, 0, 0, 0, [SEP] 75, Cabinet, 0.119, 2.264, -2.0, 0, 0, 0, [SEP] 76, Cabinet, -0.459, 2.264, -2.0, 0, 0, 0, [SEP] 77, CounterTop, -0.665, 0.949, 0.188, 0, 0, 0, [SEP] 78, Drawer, -0.449, 0.75, -0.010, 0, 180, 0, [SEP] 79, Cabinet, -0.450, 0.469, -0.009, 0, 0, 0, [SEP] 80, CounterTop, -0.630, 1.167, 0.573, 0, 0, 0, [SEP] 81, StoveBurner, -1.056, 0.949, -1.126, 0, 0, 0, [SEP] 82, Cabinet, 1.376, 0.460, -1.685, 0, 0, 0, [SEP] 83, Drawer, -0.070, 0.75, -0.009, 0, 180, 0, [SEP] 84, CounterTop, 1.159, 0.946, -2.013, 0, 0, 0, [SEP] 85, Cabinet, -1.150, 2.264, -1.418, 0, 90, 0, [SEP] 86, HousePlant, -1.246, 1.108, 0.606, 0, 0, 0, [SEP] 87, GarbageCan, 1.923, -0.010, 0.137, 0, 0, 0, [SEP] 88, Shelf, 2.759, 0.880, 0.144, 0, 0, 0, [SEP] 89, Microwave, 1.827, 0.900, -1.354, 0, 270, 0, [SEP] 90, Shelf, 2.759, 0.552, 0.145, 0, 0, 0, [SEP] 91, Fridge, 1.975, 0.0, -0.537, 0, 0, 0, [SEP] 92, LightSwitch, 0.404, 1.297, 2.0, 0, 180, 0, [SEP] 93, Shelf, 2.760, 0.172, 0.145, 0, 0, 0, [SEP] 94, SinkBasin, -0.129, 0.752, -2.007, 0, 0, 0, [SEP] 95, StoveKnob, -0.873, 0.903, -0.827, 45, 90, 0, [SEP] 96, StoveKnob, -0.873, 0.903, -0.676, 45, 90, 0, [SEP] 97, StoveKnob, -0.873, 0.903, -0.966, 45, 90, 0, [SEP] 98, StoveKnob, -0.873, 0.903, -1.123, 45, 90, 0, [SEP] 99, Toaster, 0.840, 0.900, -2.057, 0, 0, 0, [SEP] 100, CoffeeMachine, 0.501, 0.900, -2.125, 0, 0, 0, [SEP] 101, ShelvingUnit, 2.760, 0.006, 0.144, 0, 0, 0, [SEP] 102, Stool, -0.826, 0.010, 0.908, 0, 347.513, 0, [SEP] 103, Stool, -0.132, 0.010, 0.883, 0, 71.555, 0, [SEP] 104, NorthWall, , , , , , , [SEP] 105, EastWall, , , , , , , [SEP] 106, SouthWall, , , , , , , [SEP] 107, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and go to the microwave on the counter. | STEP 2: Take the apple out of the microwave. | STEP 3: Turn to the right and go to the plate on the counter. | STEP 4: Put the apple on a plate. | STEP 5: Pick up the plate with the apple on it. | STEP 6: Turn to the left and go to the microwave. | STEP 7: Put the plate in the microwave. | END"]} +{"id": "trial_T20190908_034616_355099-1", "input": "To heat a cup and place it in the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.900, 0.25, 0, 180, 0, [SEP] 1, Pan, -1.431, 0.949, -1.81, 0, 0, 0, 85 [SEP] 2, Pen, 0.970, 0.777, -0.665, 0, 90, 0, 66 [SEP] 3, Pen, 1.375, 1.164, -1.688, 0, 0, 0, 81 [SEP] 4, Ladle, -0.477, 0.955, -1.448, 0, 0, 0, 75 [SEP] 5, ButterKnife, -2.201, 0.910, 0.549, 0, 0, 0, 77 [SEP] 6, ButterKnife, -1.957, 0.910, 0.291, 0, 0, 0, 77 [SEP] 7, Glassbottle, -2.201, 0.911, 0.032, 0, 0, 0, 77 [SEP] 8, Fork, -2.201, 0.911, 0.377, 0, 0, 0, 77 [SEP] 9, Spatula, -1.835, 0.925, 0.204, 0, 90, 0, 77 [SEP] 10, Egg, 1.459, 0.243, 1.051, 0, 0, 0, 92 [SEP] 11, Egg, 0.183, 0.948, -1.607, 0, 270, 0, 54 [SEP] 12, Cup, -1.809, 0.910, -1.793, 0, 0, 0, 73 [SEP] 13, Plate, 1.150, 0.118, 0.430, 0, 0, 0, 58 [SEP] 14, Plate, 1.093, 0.115, -1.186, 0, 0, 0, 60 [SEP] 15, Knife, 0.936, 0.804, 0.485, 0, 270, 0, 52 [SEP] 16, Knife, -2.193, 0.940, -1.879, 0, 90, 0, 73 [SEP] 17, Tomato, -1.886, 0.950, -1.965, 0, 0, 0, 73 [SEP] 18, PepperShaker, -1.860, 0.111, -1.586, 0, 0, 0, 82 [SEP] 19, Bread, -1.712, 0.988, 0.291, 0, 0, 0, 77 [SEP] 20, Lettuce, 0.927, 0.980, -0.309, 0, 0, 0, 75 [SEP] 21, Lettuce, -2.079, 0.979, 0.377, 0, 0, 0, 77 [SEP] 22, Mug, 1.070, 0.957, -1.641, 0, 0, 0, 91 [SEP] 23, Mug, -0.953, 1.845, -1.839, 0, 0, 0, 55 [SEP] 24, Apple, -1.962, 0.945, -1.448, 0, 0, 0, 73 [SEP] 25, Apple, -1.809, 0.945, -1.448, 0, 0, 0, 73 [SEP] 26, Tomato, 1.453, 1.760, 2.026, 0, 270, 0, 94 [SEP] 27, Glassbottle, -0.342, 0.117, -1.683, 0, 0, 0, 61 [SEP] 28, Knife, 1.113, 0.802, -1.068, 0, 270, 0, 53 [SEP] 29, Plate, 1.461, 1.656, -1.185, 0, 0, 0, 67 [SEP] 30, Fork, -2.039, 0.911, -1.534, 0, 90, 0, 73 [SEP] 31, Ladle, 0.808, 1.699, -1.839, 0, 0, 0, 64 [SEP] 32, Potato, 1.388, 1.762, 1.838, 0, 270, 0, 94 [SEP] 33, Lettuce, 1.414, 1.231, -1.002, 0, 0, 0, 81 [SEP] 34, Kettle, 0.770, 0.9, -1.836, 0, 0, 0, 75 [SEP] 35, Pen, 0.105, 0.913, -1.395, 0, 0, 0, 54 [SEP] 36, SaltShaker, -0.313, 1.650, -1.876, 0, 0, 0, 57 [SEP] 37, Cup, -0.406, 0.117, -1.538, 0, 0, 0, 61 [SEP] 38, Egg, 0.115, 0.948, -1.859, 0, 270, 0, 54 [SEP] 39, Spatula, 0.251, 0.934, -1.808, 0, 90, 0, 54 [SEP] 40, Bowl, 1.376, 1.368, 2.226, 0, 270, 0, 94 [SEP] 41, SprayBottle, 1.459, 0.213, 1.137, 0, 0, 0, 92 [SEP] 42, Pan, -1.081, 0.949, -1.81, 0, 0, 0, 71 [SEP] 43, SoapBottle, -1.957, 0.910, 0.463, 0, 0, 0, 77 [SEP] 44, Pot, 0.967, 0.9, 0.249, 0, 0, 0, 75 [SEP] 45, ButterKnife, 0.149, 0.919, -1.758, 0, 270, 0, 54 [SEP] 46, PepperShaker, -1.732, 0.905, -1.965, 0, 0, 0, 73 [SEP] 47, DishSponge, 1.296, 1.161, -0.659, 0, 0, 0, 81 [SEP] 48, Bread, 1.335, 1.240, -1.345, 0, 0, 0, 81 [SEP] 49, Apple, 1.381, 0.249, 1.051, 0, 0, 0, 92 [SEP] 50, Spoon, -0.344, 0.774, -1.500, 0, 270, 0, 74 [SEP] 51, Mug, 1.527, 1.362, 1.850, 0, 0, 0, 94 [SEP] 52, Drawer, 0.860, 0.75, 0.430, 0, 0, 0, [SEP] 53, Drawer, 0.871, 0.75, -1.134, 0, 0, 0, [SEP] 54, Sink, 0.156, 0.817, -1.801, 0, 270, 0, [SEP] 55, Cabinet, -0.868, 2.005, -1.690, 0, 0, 0, [SEP] 56, Cabinet, -1.661, 2.059, -1.684, 0, 90, 0, [SEP] 57, Cabinet, -0.817, 2.059, -1.689, 0, 0, 0, [SEP] 58, Cabinet, 0.860, 0.402, 0.665, 0, 0, 0, [SEP] 59, Cabinet, 0.860, 0.402, -0.552, 0, 0, 0, [SEP] 60, Cabinet, 0.860, 0.402, -1.365, 0, 0, 0, [SEP] 61, Cabinet, -0.244, 0.402, -1.389, 0, 0, 0, [SEP] 62, Cabinet, -0.815, 0.402, -1.389, 0, 0, 0, [SEP] 63, Cabinet, 1.159, 2.059, -0.334, 0, 0, 0, [SEP] 64, Cabinet, 0.488, 2.059, -1.689, 0, 0, 0, [SEP] 65, Cabinet, -0.193, 2.059, -1.689, 0, 0, 0, [SEP] 66, Drawer, 0.860, 0.75, -0.699, 0, 0, 0, [SEP] 67, Cabinet, 1.159, 2.059, -1.019, 0, 0, 0, [SEP] 68, Cabinet, -1.611, 2.005, -1.690, 0, 0, 0, [SEP] 69, Cabinet, 0.832, 0.401, -1.393, 0, 90, 0, [SEP] 70, Drawer, -2.105, 0.75, -1.389, 0, 0, 0, [SEP] 71, StoveBurner, -1.081, 0.941, -1.809, 0, 0, 0, [SEP] 72, Cabinet, -0.202, 0.401, -1.391, 0, 90, 0, [SEP] 73, CounterTop, -1.973, 0.945, -1.707, 0, 0, 0, [SEP] 74, Drawer, -0.375, 0.75, -1.389, 0, 0, 0, [SEP] 75, CounterTop, 1.164, 0.946, -0.649, 0, 0, 0, [SEP] 76, StoveBurner, -1.081, 0.941, -1.527, 0, 0, 0, [SEP] 77, CounterTop, -2.096, 0.945, 0.291, 0, 0, 0, [SEP] 78, Cabinet, -2.237, 0.402, -1.389, 0, 0, 0, [SEP] 79, Drawer, 0.584, 0.75, -1.389, 0, 0, 0, [SEP] 80, Drawer, -1.795, 0.75, -1.389, 0, 0, 0, [SEP] 81, CounterTop, 1.5, 1.197, -0.654, 0, 0, 0, [SEP] 82, Cabinet, -1.667, 0.402, -1.389, 0, 0, 0, [SEP] 83, StoveBurner, -1.430, 0.941, -1.525, 0, 0, 0, [SEP] 84, Drawer, -0.685, 0.75, -1.389, 0, 0, 0, [SEP] 85, StoveBurner, -1.430, 0.941, -1.809, 0, 0, 0, [SEP] 86, LightSwitch, -2.539, 1.289, 2.568, 0, 90, 0, [SEP] 87, StoveKnob, -1.362, 1.095, -1.983, 287.970, 180, 0, [SEP] 88, StoveKnob, -0.962, 1.095, -1.983, 287.970, 180, 0, [SEP] 89, StoveKnob, -1.522, 1.095, -1.983, 287.970, 180, 0, [SEP] 90, StoveKnob, -1.112, 1.095, -1.983, 287.970, 180, 0, [SEP] 91, CoffeeMachine, 1.082, 0.900, -1.848, 0, 0, 0, [SEP] 92, GarbageCan, 1.343, 0.015, 1.041, 0, 0, 0, [SEP] 93, HousePlant, 1.440, 1.153, 0.593, 0, 0, 0, [SEP] 94, Fridge, 1.417, 0.0, 2.101, 0, 0, 0, [SEP] 95, Window, -0.486, 1.452, 3.302, 90, 0, 0, [SEP] 96, SinkBasin, -0.063, 0.765, -1.713, 0, 270, 0, [SEP] 97, Microwave, 1.422, 1.150, 0.022, 0, 270, 0, [SEP] 98, Toaster, -2.066, 0.900, -1.848, 0, 0, 0, [SEP] 99, Stool, -1.994, 0.010, 0.882, 0, 0, 0, [SEP] 100, Faucet, -0.096, 1.041, -1.867, 0, 270, 0, [SEP] 101, NorthWall, , , , , , , [SEP] 102, EastWall, , , , , , , [SEP] 103, SouthWall, , , , , , , [SEP] 104, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and walk across the room to face the counter to the right of the sink. | STEP 2: Pick up the cup in the cabinet under the ladle. | STEP 3: Turn to the left and walk forward to face the microwave above the stove. | STEP 4: Heat the cup in the microwave and remove it. | STEP 5: Turn to the right and walk over to face the sink. | STEP 6: Place the cup in the right side of the sink. | END"]} +{"id": "trial_T20190908_034616_355099-2", "input": "Put a heated cup in the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.900, 0.25, 0, 180, 0, [SEP] 1, Pan, -1.431, 0.949, -1.81, 0, 0, 0, 85 [SEP] 2, Pen, 0.970, 0.777, -0.665, 0, 90, 0, 66 [SEP] 3, Pen, 1.375, 1.164, -1.688, 0, 0, 0, 81 [SEP] 4, Ladle, -0.477, 0.955, -1.448, 0, 0, 0, 75 [SEP] 5, ButterKnife, -2.201, 0.910, 0.549, 0, 0, 0, 77 [SEP] 6, ButterKnife, -1.957, 0.910, 0.291, 0, 0, 0, 77 [SEP] 7, Glassbottle, -2.201, 0.911, 0.032, 0, 0, 0, 77 [SEP] 8, Fork, -2.201, 0.911, 0.377, 0, 0, 0, 77 [SEP] 9, Spatula, -1.835, 0.925, 0.204, 0, 90, 0, 77 [SEP] 10, Egg, 1.459, 0.243, 1.051, 0, 0, 0, 92 [SEP] 11, Egg, 0.183, 0.948, -1.607, 0, 270, 0, 54 [SEP] 12, Cup, -1.809, 0.910, -1.793, 0, 0, 0, 73 [SEP] 13, Plate, 1.150, 0.118, 0.430, 0, 0, 0, 58 [SEP] 14, Plate, 1.093, 0.115, -1.186, 0, 0, 0, 60 [SEP] 15, Knife, 0.936, 0.804, 0.485, 0, 270, 0, 52 [SEP] 16, Knife, -2.193, 0.940, -1.879, 0, 90, 0, 73 [SEP] 17, Tomato, -1.886, 0.950, -1.965, 0, 0, 0, 73 [SEP] 18, PepperShaker, -1.860, 0.111, -1.586, 0, 0, 0, 82 [SEP] 19, Bread, -1.712, 0.988, 0.291, 0, 0, 0, 77 [SEP] 20, Lettuce, 0.927, 0.980, -0.309, 0, 0, 0, 75 [SEP] 21, Lettuce, -2.079, 0.979, 0.377, 0, 0, 0, 77 [SEP] 22, Mug, 1.070, 0.957, -1.641, 0, 0, 0, 91 [SEP] 23, Mug, -0.953, 1.845, -1.839, 0, 0, 0, 55 [SEP] 24, Apple, -1.962, 0.945, -1.448, 0, 0, 0, 73 [SEP] 25, Apple, -1.809, 0.945, -1.448, 0, 0, 0, 73 [SEP] 26, Tomato, 1.453, 1.760, 2.026, 0, 270, 0, 94 [SEP] 27, Glassbottle, -0.342, 0.117, -1.683, 0, 0, 0, 61 [SEP] 28, Knife, 1.113, 0.802, -1.068, 0, 270, 0, 53 [SEP] 29, Plate, 1.461, 1.656, -1.185, 0, 0, 0, 67 [SEP] 30, Fork, -2.039, 0.911, -1.534, 0, 90, 0, 73 [SEP] 31, Ladle, 0.808, 1.699, -1.839, 0, 0, 0, 64 [SEP] 32, Potato, 1.388, 1.762, 1.838, 0, 270, 0, 94 [SEP] 33, Lettuce, 1.414, 1.231, -1.002, 0, 0, 0, 81 [SEP] 34, Kettle, 0.770, 0.9, -1.836, 0, 0, 0, 75 [SEP] 35, Pen, 0.105, 0.913, -1.395, 0, 0, 0, 54 [SEP] 36, SaltShaker, -0.313, 1.650, -1.876, 0, 0, 0, 57 [SEP] 37, Cup, -0.406, 0.117, -1.538, 0, 0, 0, 61 [SEP] 38, Egg, 0.115, 0.948, -1.859, 0, 270, 0, 54 [SEP] 39, Spatula, 0.251, 0.934, -1.808, 0, 90, 0, 54 [SEP] 40, Bowl, 1.376, 1.368, 2.226, 0, 270, 0, 94 [SEP] 41, SprayBottle, 1.459, 0.213, 1.137, 0, 0, 0, 92 [SEP] 42, Pan, -1.081, 0.949, -1.81, 0, 0, 0, 71 [SEP] 43, SoapBottle, -1.957, 0.910, 0.463, 0, 0, 0, 77 [SEP] 44, Pot, 0.967, 0.9, 0.249, 0, 0, 0, 75 [SEP] 45, ButterKnife, 0.149, 0.919, -1.758, 0, 270, 0, 54 [SEP] 46, PepperShaker, -1.732, 0.905, -1.965, 0, 0, 0, 73 [SEP] 47, DishSponge, 1.296, 1.161, -0.659, 0, 0, 0, 81 [SEP] 48, Bread, 1.335, 1.240, -1.345, 0, 0, 0, 81 [SEP] 49, Apple, 1.381, 0.249, 1.051, 0, 0, 0, 92 [SEP] 50, Spoon, -0.344, 0.774, -1.500, 0, 270, 0, 74 [SEP] 51, Mug, 1.527, 1.362, 1.850, 0, 0, 0, 94 [SEP] 52, Drawer, 0.860, 0.75, 0.430, 0, 0, 0, [SEP] 53, Drawer, 0.871, 0.75, -1.134, 0, 0, 0, [SEP] 54, Sink, 0.156, 0.817, -1.801, 0, 270, 0, [SEP] 55, Cabinet, -0.868, 2.005, -1.690, 0, 0, 0, [SEP] 56, Cabinet, -1.661, 2.059, -1.684, 0, 90, 0, [SEP] 57, Cabinet, -0.817, 2.059, -1.689, 0, 0, 0, [SEP] 58, Cabinet, 0.860, 0.402, 0.665, 0, 0, 0, [SEP] 59, Cabinet, 0.860, 0.402, -0.552, 0, 0, 0, [SEP] 60, Cabinet, 0.860, 0.402, -1.365, 0, 0, 0, [SEP] 61, Cabinet, -0.244, 0.402, -1.389, 0, 0, 0, [SEP] 62, Cabinet, -0.815, 0.402, -1.389, 0, 0, 0, [SEP] 63, Cabinet, 1.159, 2.059, -0.334, 0, 0, 0, [SEP] 64, Cabinet, 0.488, 2.059, -1.689, 0, 0, 0, [SEP] 65, Cabinet, -0.193, 2.059, -1.689, 0, 0, 0, [SEP] 66, Drawer, 0.860, 0.75, -0.699, 0, 0, 0, [SEP] 67, Cabinet, 1.159, 2.059, -1.019, 0, 0, 0, [SEP] 68, Cabinet, -1.611, 2.005, -1.690, 0, 0, 0, [SEP] 69, Cabinet, 0.832, 0.401, -1.393, 0, 90, 0, [SEP] 70, Drawer, -2.105, 0.75, -1.389, 0, 0, 0, [SEP] 71, StoveBurner, -1.081, 0.941, -1.809, 0, 0, 0, [SEP] 72, Cabinet, -0.202, 0.401, -1.391, 0, 90, 0, [SEP] 73, CounterTop, -1.973, 0.945, -1.707, 0, 0, 0, [SEP] 74, Drawer, -0.375, 0.75, -1.389, 0, 0, 0, [SEP] 75, CounterTop, 1.164, 0.946, -0.649, 0, 0, 0, [SEP] 76, StoveBurner, -1.081, 0.941, -1.527, 0, 0, 0, [SEP] 77, CounterTop, -2.096, 0.945, 0.291, 0, 0, 0, [SEP] 78, Cabinet, -2.237, 0.402, -1.389, 0, 0, 0, [SEP] 79, Drawer, 0.584, 0.75, -1.389, 0, 0, 0, [SEP] 80, Drawer, -1.795, 0.75, -1.389, 0, 0, 0, [SEP] 81, CounterTop, 1.5, 1.197, -0.654, 0, 0, 0, [SEP] 82, Cabinet, -1.667, 0.402, -1.389, 0, 0, 0, [SEP] 83, StoveBurner, -1.430, 0.941, -1.525, 0, 0, 0, [SEP] 84, Drawer, -0.685, 0.75, -1.389, 0, 0, 0, [SEP] 85, StoveBurner, -1.430, 0.941, -1.809, 0, 0, 0, [SEP] 86, LightSwitch, -2.539, 1.289, 2.568, 0, 90, 0, [SEP] 87, StoveKnob, -1.362, 1.095, -1.983, 287.970, 180, 0, [SEP] 88, StoveKnob, -0.962, 1.095, -1.983, 287.970, 180, 0, [SEP] 89, StoveKnob, -1.522, 1.095, -1.983, 287.970, 180, 0, [SEP] 90, StoveKnob, -1.112, 1.095, -1.983, 287.970, 180, 0, [SEP] 91, CoffeeMachine, 1.082, 0.900, -1.848, 0, 0, 0, [SEP] 92, GarbageCan, 1.343, 0.015, 1.041, 0, 0, 0, [SEP] 93, HousePlant, 1.440, 1.153, 0.593, 0, 0, 0, [SEP] 94, Fridge, 1.417, 0.0, 2.101, 0, 0, 0, [SEP] 95, Window, -0.486, 1.452, 3.302, 90, 0, 0, [SEP] 96, SinkBasin, -0.063, 0.765, -1.713, 0, 270, 0, [SEP] 97, Microwave, 1.422, 1.150, 0.022, 0, 270, 0, [SEP] 98, Toaster, -2.066, 0.900, -1.848, 0, 0, 0, [SEP] 99, Stool, -1.994, 0.010, 0.882, 0, 0, 0, [SEP] 100, Faucet, -0.096, 1.041, -1.867, 0, 270, 0, [SEP] 101, NorthWall, , , , , , , [SEP] 102, EastWall, , , , , , , [SEP] 103, SouthWall, , , , , , , [SEP] 104, WestWall, , , , , , , ", "output": ["STEP 1: Head to the cabinet under the sink. | STEP 2: Open up the left cabinet under the spoon on the counter and pick up the cup in there. | STEP 3: Turn around, bring the cup to the microwave on the right. | STEP 4: Heat the cup in the microwave. | STEP 5: Bring the heated cup to the sink on the left. | STEP 6: Put the heated cup in the sink. | END"]} +{"id": "trial_T20190909_040007_112171-0", "input": "move the remote from the coffee table to the blue chair SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.900, -2.25, 0, 0, 0, [SEP] 1, Bowl, -1.871, 0.760, -0.820, 0, 90, 0, 42 [SEP] 2, Bowl, -0.416, 0.477, -1.182, 0, 180, 0, 38 [SEP] 3, KeyChain, 0.262, 0.421, -2.190, 0, 0, 0, 28 [SEP] 4, KeyChain, 2.236, 0.453, -1.807, 0, 270, 0, 48 [SEP] 5, Laptop, -0.115, 0.471, -1.057, 0, 180, 0, 38 [SEP] 6, Box, 0.794, 0.678, 0.814, 0, 180, 0, 35 [SEP] 7, Bowl, -1.680, 0.757, -1.526, 0, 90, 0, 42 [SEP] 8, KeyChain, 2.321, 0.453, -2.309, 0, 0, 0, 48 [SEP] 9, Vase, -1.588, 0.168, -0.531, 0, 0, 0, 43 [SEP] 10, Statue, -1.743, 0.758, -0.350, 0, 90, 0, 42 [SEP] 11, Pillow, -0.495, 0.593, 0.955, 0, 0, 0, 35 [SEP] 12, Laptop, 0.133, 0.556, 0.906, 0, 180, 0, 35 [SEP] 13, Vase, -1.808, 1.615, -2.597, 0, 0, 0, 39 [SEP] 14, Statue, 0.487, 0.575, -1.057, 0, 180, 0, 38 [SEP] 15, RemoteControl, 0.487, 0.478, -1.245, 0, 180, 0, 38 [SEP] 16, Vase, 0.009, 0.168, -2.264, 0, 0, 0, 32 [SEP] 17, CreditCard, 0.419, 0.421, -2.190, 0, 0, 0, 28 [SEP] 18, Vase, -1.871, 0.757, -0.585, 0, 90, 0, 42 [SEP] 19, Statue, 0.185, 0.483, -1.120, 0, 180, 0, 38 [SEP] 20, Painting, 0.172, 1.781, 1.934, 0, 0, 0, [SEP] 21, HousePlant, -1.646, 0.755, -1.792, 0, 0, 0, [SEP] 22, LightSwitch, 1.406, 1.294, 1.651, 0, 180, 0, [SEP] 23, Television, -0.035, 1.239, -2.439, 0, 0, 0, [SEP] 24, FloorLamp, -1.573, -0.003, 1.302, 0, 0, 0, [SEP] 25, GarbageCan, 0.742, -0.000, -2.522, 0, 270, 0, [SEP] 26, Window, -0.816, 1.534, -2.719, 90, 0, 0, [SEP] 27, Window, 0.791, 1.534, -2.718, 90, 0, 0, [SEP] 28, Shelf, 0.340, 0.474, -2.377, 0, 0, 0, [SEP] 29, Shelf, 0.341, 0.273, -2.377, 0, 0, 0, [SEP] 30, TVStand, -0.025, -0.000, -2.385, 0, 0, 0, [SEP] 31, Shelf, -0.393, 0.302, -2.382, 0, 0, 0, [SEP] 32, Shelf, -0.026, 0.442, -2.380, 0, 0, 0, [SEP] 33, Shelf, -0.393, 0.597, -2.382, 0, 0, 0, [SEP] 34, Shelf, 0.340, 0.643, -2.377, 0, 0, 0, [SEP] 35, Sofa, 0.124, 0.008, 1.032, 0, 180, 0, [SEP] 36, Cabinet, -1.827, 0.729, -2.357, 0, 90, 0, [SEP] 37, Shelf, -1.827, 2.041, -2.356, 0, 90, 0, [SEP] 38, CoffeeTable, 0.017, -0.000, -1.108, 0, 180, 0, [SEP] 39, Shelf, -1.827, 1.744, -2.356, 0, 90, 0, [SEP] 40, Shelf, -1.827, 1.452, -2.356, 0, 90, 0, [SEP] 41, Shelf, -1.730, 0.278, -1.635, 0, 90, 0, [SEP] 42, TVStand, -1.733, -0.000, -1.058, 0, 90, 0, [SEP] 43, Shelf, -1.730, 0.302, -0.479, 0, 90, 0, [SEP] 44, Shelf, -1.732, 0.446, -1.056, 0, 90, 0, [SEP] 45, Shelf, -1.731, 0.596, -0.478, 0, 90, 0, [SEP] 46, Shelf, -1.733, 0.648, -1.635, 0, 90, 0, [SEP] 47, Shelf, -1.730, 0.477, -1.635, 0, 90, 0, [SEP] 48, ArmChair, 2.344, 0.002, -2.041, 0, 270, 0, [SEP] 49, ShelvingUnit, -1.847, 0.001, -2.357, 0, 90, 0, [SEP] 50, NorthWall, , , , , , , [SEP] 51, EastWall, , , , , , , [SEP] 52, SouthWall, , , , , , , [SEP] 53, WestWall, , , , , , , ", "output": ["STEP 1: take two steps forward, turn right, take a few steps, turn left to face the coffee table | STEP 2: pick up the remote that is on the table | STEP 3: turn right, walk forward to blue chair | STEP 4: put the remote on the blue chair | END"]} +{"id": "trial_T20190909_040007_112171-2", "input": "place a remote controller on top of the chair in the corner of the room SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.900, -2.25, 0, 0, 0, [SEP] 1, Bowl, -1.871, 0.760, -0.820, 0, 90, 0, 42 [SEP] 2, Bowl, -0.416, 0.477, -1.182, 0, 180, 0, 38 [SEP] 3, KeyChain, 0.262, 0.421, -2.190, 0, 0, 0, 28 [SEP] 4, KeyChain, 2.236, 0.453, -1.807, 0, 270, 0, 48 [SEP] 5, Laptop, -0.115, 0.471, -1.057, 0, 180, 0, 38 [SEP] 6, Box, 0.794, 0.678, 0.814, 0, 180, 0, 35 [SEP] 7, Bowl, -1.680, 0.757, -1.526, 0, 90, 0, 42 [SEP] 8, KeyChain, 2.321, 0.453, -2.309, 0, 0, 0, 48 [SEP] 9, Vase, -1.588, 0.168, -0.531, 0, 0, 0, 43 [SEP] 10, Statue, -1.743, 0.758, -0.350, 0, 90, 0, 42 [SEP] 11, Pillow, -0.495, 0.593, 0.955, 0, 0, 0, 35 [SEP] 12, Laptop, 0.133, 0.556, 0.906, 0, 180, 0, 35 [SEP] 13, Vase, -1.808, 1.615, -2.597, 0, 0, 0, 39 [SEP] 14, Statue, 0.487, 0.575, -1.057, 0, 180, 0, 38 [SEP] 15, RemoteControl, 0.487, 0.478, -1.245, 0, 180, 0, 38 [SEP] 16, Vase, 0.009, 0.168, -2.264, 0, 0, 0, 32 [SEP] 17, CreditCard, 0.419, 0.421, -2.190, 0, 0, 0, 28 [SEP] 18, Vase, -1.871, 0.757, -0.585, 0, 90, 0, 42 [SEP] 19, Statue, 0.185, 0.483, -1.120, 0, 180, 0, 38 [SEP] 20, Painting, 0.172, 1.781, 1.934, 0, 0, 0, [SEP] 21, HousePlant, -1.646, 0.755, -1.792, 0, 0, 0, [SEP] 22, LightSwitch, 1.406, 1.294, 1.651, 0, 180, 0, [SEP] 23, Television, -0.035, 1.239, -2.439, 0, 0, 0, [SEP] 24, FloorLamp, -1.573, -0.003, 1.302, 0, 0, 0, [SEP] 25, GarbageCan, 0.742, -0.000, -2.522, 0, 270, 0, [SEP] 26, Window, -0.816, 1.534, -2.719, 90, 0, 0, [SEP] 27, Window, 0.791, 1.534, -2.718, 90, 0, 0, [SEP] 28, Shelf, 0.340, 0.474, -2.377, 0, 0, 0, [SEP] 29, Shelf, 0.341, 0.273, -2.377, 0, 0, 0, [SEP] 30, TVStand, -0.025, -0.000, -2.385, 0, 0, 0, [SEP] 31, Shelf, -0.393, 0.302, -2.382, 0, 0, 0, [SEP] 32, Shelf, -0.026, 0.442, -2.380, 0, 0, 0, [SEP] 33, Shelf, -0.393, 0.597, -2.382, 0, 0, 0, [SEP] 34, Shelf, 0.340, 0.643, -2.377, 0, 0, 0, [SEP] 35, Sofa, 0.124, 0.008, 1.032, 0, 180, 0, [SEP] 36, Cabinet, -1.827, 0.729, -2.357, 0, 90, 0, [SEP] 37, Shelf, -1.827, 2.041, -2.356, 0, 90, 0, [SEP] 38, CoffeeTable, 0.017, -0.000, -1.108, 0, 180, 0, [SEP] 39, Shelf, -1.827, 1.744, -2.356, 0, 90, 0, [SEP] 40, Shelf, -1.827, 1.452, -2.356, 0, 90, 0, [SEP] 41, Shelf, -1.730, 0.278, -1.635, 0, 90, 0, [SEP] 42, TVStand, -1.733, -0.000, -1.058, 0, 90, 0, [SEP] 43, Shelf, -1.730, 0.302, -0.479, 0, 90, 0, [SEP] 44, Shelf, -1.732, 0.446, -1.056, 0, 90, 0, [SEP] 45, Shelf, -1.731, 0.596, -0.478, 0, 90, 0, [SEP] 46, Shelf, -1.733, 0.648, -1.635, 0, 90, 0, [SEP] 47, Shelf, -1.730, 0.477, -1.635, 0, 90, 0, [SEP] 48, ArmChair, 2.344, 0.002, -2.041, 0, 270, 0, [SEP] 49, ShelvingUnit, -1.847, 0.001, -2.357, 0, 90, 0, [SEP] 50, NorthWall, , , , , , , [SEP] 51, EastWall, , , , , , , [SEP] 52, SouthWall, , , , , , , [SEP] 53, WestWall, , , , , , , ", "output": ["STEP 1: move over to the coffee table on your right, but approach the right side of it and face it | STEP 2: grab the remote controller off of the coffee table | STEP 3: turn right and walk over to the blue chair in the corner of the room | STEP 4: place the remote controller down on top of the chair there | END"]} +{"id": "trial_T20190907_103018_243812-1", "input": "Examine a pillow by the light of a floor lamp. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.998, -0.75, 0, 90, 0, [SEP] 1, Pen, -3.650, 0.884, -0.893, 0, 0, 0, 30 [SEP] 2, KeyChain, 0.919, 0.786, -1.698, 0, 0, 0, 27 [SEP] 3, KeyChain, 0.492, 0.409, -2.033, 0, 90, 0, 27 [SEP] 4, CreditCard, -0.383, 0.524, 0.772, 0, 0, 0, 35 [SEP] 5, RemoteControl, -1.428, 0.526, 0.835, 0, 0, 0, 35 [SEP] 6, RemoteControl, -0.731, 0.526, 0.835, 0, 0, 0, 35 [SEP] 7, Box, -1.354, 0.608, -0.738, 0, 270, 0, 31 [SEP] 8, Pillow, 0.629, 0.482, -1.667, 0, 0, 0, 27 [SEP] 9, CreditCard, 0.748, 0.304, -1.530, 0, 0, 0, 27 [SEP] 10, Plate, -4.094, 0.888, -1.287, 0, 0, 0, 30 [SEP] 11, Laptop, -3.207, 0.879, -1.188, 0, 0, 0, 30 [SEP] 12, RemoteControl, 0.577, 0.306, -1.614, 0, 0, 0, 27 [SEP] 13, Vase, -0.345, 0.977, -2.533, 0, 90, 0, 39 [SEP] 14, Statue, 0.257, 0.965, -2.518, 0, 0, 0, 39 [SEP] 15, KeyChain, -3.650, 0.878, -1.188, 0, 0, 0, 30 [SEP] 16, Pen, -2.763, 0.884, -1.188, 0, 0, 0, 30 [SEP] 17, Curtains, -3.013, 1.557, -3.082, 0, 0, 0, [SEP] 18, Television, -1.063, 0.939, -2.439, 0, 0, 0, [SEP] 19, HousePlant, 0.753, 0.855, -2.467, 0, 215.129, 0, [SEP] 20, HousePlant, 0.739, 0.855, -1.159, 0, 310.776, 0, [SEP] 21, FloorLamp, -2.186, 0.096, 1.111, 0, 0, 0, [SEP] 22, GarbageCan, -1.946, 0.097, -2.899, 0, 216.243, 0, [SEP] 23, Painting, -4.326, 1.817, -1.223, 90, 270, 0, [SEP] 24, Window, 0.010, 1.087, 0.001, 90, 270, 0, [SEP] 25, Window, -2.983, 1.544, -3.220, 90, 180, 0, [SEP] 26, LightSwitch, -3.907, 1.371, 1.386, 0, 180, 0, [SEP] 27, ArmChair, 0.662, 0.103, -1.781, 0, 270, 0, [SEP] 28, Stool, 0.765, 0.108, -1.148, 0, 0, 0, [SEP] 29, Stool, 0.765, 0.108, -2.460, 0, 35.380, 0, [SEP] 30, DiningTable, -3.428, 0.099, -1.188, 0, 0, 0, [SEP] 31, CoffeeTable, -1.090, 0.097, -0.737, 0, 0, 0, [SEP] 32, Chair, -3.793, 0.098, -0.841, 0, 164.999, 0, [SEP] 33, Chair, -3.073, 0.098, -1.515, 0, 11.313, 0, [SEP] 34, Chair, -3.810, 0.098, -1.549, 0, 352.857, 0, [SEP] 35, Sofa, -0.905, 0.099, 0.959, 0, 180, 0, [SEP] 36, CoffeeTable, -1.046, 0.096, -2.473, 0, 180, 0, [SEP] 37, Chair, -3.068, 0.098, -0.882, 0, 180, 0, [SEP] 38, Drawer, -0.031, 0.872, -2.487, 0, 0, 0, [SEP] 39, SideTable, -0.030, 0.097, -2.552, 0, 0, 0, [SEP] 40, NorthWall, , , , , , , [SEP] 41, EastWall, , , , , , , [SEP] 42, SouthWall, , , , , , , [SEP] 43, WestWall, , , , , , , ", "output": ["STEP 1: Walk to the yellow chair to the right. | STEP 2: Pick up the purple pillow from the chair. | STEP 3: Turn around and walk to the floor lamp that is to the left of the sofa. | STEP 4: Turn on the lamp. | END"]} +{"id": "trial_T20190907_103018_243812-2", "input": "Grab the purple pillow from the arm chair, turn on the floor lamp SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.998, -0.75, 0, 90, 0, [SEP] 1, Pen, -3.650, 0.884, -0.893, 0, 0, 0, 30 [SEP] 2, KeyChain, 0.919, 0.786, -1.698, 0, 0, 0, 27 [SEP] 3, KeyChain, 0.492, 0.409, -2.033, 0, 90, 0, 27 [SEP] 4, CreditCard, -0.383, 0.524, 0.772, 0, 0, 0, 35 [SEP] 5, RemoteControl, -1.428, 0.526, 0.835, 0, 0, 0, 35 [SEP] 6, RemoteControl, -0.731, 0.526, 0.835, 0, 0, 0, 35 [SEP] 7, Box, -1.354, 0.608, -0.738, 0, 270, 0, 31 [SEP] 8, Pillow, 0.629, 0.482, -1.667, 0, 0, 0, 27 [SEP] 9, CreditCard, 0.748, 0.304, -1.530, 0, 0, 0, 27 [SEP] 10, Plate, -4.094, 0.888, -1.287, 0, 0, 0, 30 [SEP] 11, Laptop, -3.207, 0.879, -1.188, 0, 0, 0, 30 [SEP] 12, RemoteControl, 0.577, 0.306, -1.614, 0, 0, 0, 27 [SEP] 13, Vase, -0.345, 0.977, -2.533, 0, 90, 0, 39 [SEP] 14, Statue, 0.257, 0.965, -2.518, 0, 0, 0, 39 [SEP] 15, KeyChain, -3.650, 0.878, -1.188, 0, 0, 0, 30 [SEP] 16, Pen, -2.763, 0.884, -1.188, 0, 0, 0, 30 [SEP] 17, Curtains, -3.013, 1.557, -3.082, 0, 0, 0, [SEP] 18, Television, -1.063, 0.939, -2.439, 0, 0, 0, [SEP] 19, HousePlant, 0.753, 0.855, -2.467, 0, 215.129, 0, [SEP] 20, HousePlant, 0.739, 0.855, -1.159, 0, 310.776, 0, [SEP] 21, FloorLamp, -2.186, 0.096, 1.111, 0, 0, 0, [SEP] 22, GarbageCan, -1.946, 0.097, -2.899, 0, 216.243, 0, [SEP] 23, Painting, -4.326, 1.817, -1.223, 90, 270, 0, [SEP] 24, Window, 0.010, 1.087, 0.001, 90, 270, 0, [SEP] 25, Window, -2.983, 1.544, -3.220, 90, 180, 0, [SEP] 26, LightSwitch, -3.907, 1.371, 1.386, 0, 180, 0, [SEP] 27, ArmChair, 0.662, 0.103, -1.781, 0, 270, 0, [SEP] 28, Stool, 0.765, 0.108, -1.148, 0, 0, 0, [SEP] 29, Stool, 0.765, 0.108, -2.460, 0, 35.380, 0, [SEP] 30, DiningTable, -3.428, 0.099, -1.188, 0, 0, 0, [SEP] 31, CoffeeTable, -1.090, 0.097, -0.737, 0, 0, 0, [SEP] 32, Chair, -3.793, 0.098, -0.841, 0, 164.999, 0, [SEP] 33, Chair, -3.073, 0.098, -1.515, 0, 11.313, 0, [SEP] 34, Chair, -3.810, 0.098, -1.549, 0, 352.857, 0, [SEP] 35, Sofa, -0.905, 0.099, 0.959, 0, 180, 0, [SEP] 36, CoffeeTable, -1.046, 0.096, -2.473, 0, 180, 0, [SEP] 37, Chair, -3.068, 0.098, -0.882, 0, 180, 0, [SEP] 38, Drawer, -0.031, 0.872, -2.487, 0, 0, 0, [SEP] 39, SideTable, -0.030, 0.097, -2.552, 0, 0, 0, [SEP] 40, NorthWall, , , , , , , [SEP] 41, EastWall, , , , , , , [SEP] 42, SouthWall, , , , , , , [SEP] 43, WestWall, , , , , , , ", "output": ["STEP 1: Turn right, and turn left to the yellow arm chair | STEP 2: Grab the purple pillow on the arm chair | STEP 3: Turn around, walk to the white table, turn right, walk to the floor lamp | STEP 4: Turn on the floor lamp | END"]} +{"id": "trial_T20190906_190752_830832-2", "input": "Grab the newspaper on the coffee table, turn on the floor lamp SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -5.25, 0.927, 4.25, 0, 0, 0, [SEP] 1, Plate, -5.817, 0.648, 3.617, 0, 0, 0, 75 [SEP] 2, Newspaper, -2.440, 0.299, 2.205, 0, 0, 0, 79 [SEP] 3, KeyChain, -4.424, 0.957, 5.240, 0, 0, 0, 44 [SEP] 4, CreditCard, -3.732, 0.277, 3.312, 0, 0, 0, 76 [SEP] 5, RemoteControl, -4.540, 1.275, 5.170, 0, 0, 0, 43 [SEP] 6, RemoteControl, -5.571, 0.642, 2.915, 0, 0, 0, 75 [SEP] 7, Laptop, -5.939, 0.639, 1.861, 0, 0, 0, 75 [SEP] 8, Laptop, -2.894, 0.298, 1.931, 0, 0, 0, 79 [SEP] 9, Box, -2.362, 0.657, 0.306, 0, 300.000, 0, 50 [SEP] 10, Statue, -6.589, 1.022, 5.172, 0, 180, 0, 36 [SEP] 11, KeyChain, -1.004, 0.275, 2.315, 0, 270, 0, 77 [SEP] 12, Vase, -1.701, 0.930, 0.179, 0, 0, 0, 30 [SEP] 13, Vase, -0.764, 0.940, 0.203, 0, 0, 0, 47 [SEP] 14, Vase, -3.983, 1.285, 5.168, 0, 0, 0, 53 [SEP] 15, Newspaper, -6.062, 0.641, 2.915, 0, 0, 0, 75 [SEP] 16, CreditCard, -3.127, 0.276, 3.661, 0, 0, 0, 76 [SEP] 17, RemoteControl, -4.782, 1.582, 5.17, 0, 0, 0, 57 [SEP] 18, Laptop, -5.764, 0.634, 2.376, 0, 0, 0, 75 [SEP] 19, Pillow, -1.515, 0.438, 3.319, 0, 300.000, 90, 78 [SEP] 20, Vase, -3.155, 0.184, 1.682, 0, 325.579, 0, 74 [SEP] 21, Statue, -5.539, 0.406, 5.134, 0, 0, 0, 38 [SEP] 22, Vase, -1.352, 1.258, 0.228, 0, 0, 0, 54 [SEP] 23, Plate, -0.904, 0.492, 0.264, 0, 90, 0, 50 [SEP] 24, Vase, -3.848, 0.485, 0.314, 0, 90, 0, 50 [SEP] 25, Statue, -5.033, 1.566, 5.212, 0, 180, 0, 57 [SEP] 26, Statue, -0.812, 1.565, 0.209, 0, 0, 0, 49 [SEP] 27, Statue, -3.851, 0.930, 5.169, 0, 0, 0, 35 [SEP] 28, Statue, -3.174, 1.105, 5.193, 0, 0, 0, 58 [SEP] 29, Statue, -5.865, 0.634, 2.786, 0, 65.579, 0, 75 [SEP] 30, Shelf, -1.776, 0.988, 0.184, 0, 180, 0, [SEP] 31, Chair, -5.413, 0.024, 1.780, 0, 0, 0, [SEP] 32, Cabinet, -5.365, 1.170, 5.031, 0, 0, 0, [SEP] 33, Chair, -5.388, 0.024, 3.369, 0, 355.695, 0, [SEP] 34, Chair, -6.211, 0.024, 2.517, 0, 172.601, 0, [SEP] 35, Shelf, -3.937, 0.988, 5.170, 0, 0, 0, [SEP] 36, Shelf, -6.572, 1.144, 5.170, 0, 0, 0, [SEP] 37, Cabinet, -4.181, 1.873, 5.029, 0, 0, 0, [SEP] 38, Shelf, -5.606, 0.444, 5.170, 0, 0, 0, [SEP] 39, Drawer, -6.324, 0.823, 5.001, 0, 0, 0, [SEP] 40, Cabinet, -2.017, 1.714, 0.323, 0, 180, 0, [SEP] 41, Cabinet, -2.465, 1.329, 5.029, 0, 0, 0, [SEP] 42, Drawer, -1.093, 0.233, 0.462, 0, 0, 0, [SEP] 43, Shelf, -4.672, 1.317, 5.170, 0, 0, 0, [SEP] 44, Shelf, -4.672, 0.998, 5.170, 0, 0, 0, [SEP] 45, Shelf, -2.221, 0.444, 5.170, 0, 0, 0, [SEP] 46, Drawer, -6.324, 0.508, 5.001, 0, 0, 0, [SEP] 47, Shelf, -1.041, 0.998, 0.184, 0, 180, 0, [SEP] 48, Drawer, -4.264, 0.233, 0.462, 0, 0, 0, [SEP] 49, Shelf, -0.810, 1.688, 0.185, 0, 180, 0, [SEP] 50, Shelf, -2.671, 0.610, 0.272, 0, 90, 0, [SEP] 51, Drawer, -2.681, 0.233, 0.462, 0, 0, 0, [SEP] 52, Drawer, -2.940, 0.508, 5.001, 0, 0, 0, [SEP] 53, Cabinet, -3.696, 1.714, 5.031, 0, 0, 0, [SEP] 54, Shelf, -1.041, 1.317, 0.184, 0, 180, 0, [SEP] 55, Cabinet, -1.532, 1.873, 0.325, 0, 180, 0, [SEP] 56, Chair, -5.382, 0.024, 2.695, 0, 6.230, 0, [SEP] 57, Shelf, -4.903, 1.688, 5.170, 0, 0, 0, [SEP] 58, Shelf, -3.187, 1.144, 5.170, 0, 0, 0, [SEP] 59, Drawer, -2.940, 0.823, 5.001, 0, 0, 0, [SEP] 60, Chair, -6.252, 0.024, 3.427, 0, 195.000, 0, [SEP] 61, Cabinet, -5.850, 1.329, 5.029, 0, 0, 0, [SEP] 62, Cabinet, -1.980, 1.170, 5.031, 0, 0, 0, [SEP] 63, Chair, -6.296, 0.024, 1.672, 0, 180, 0, [SEP] 64, FloorLamp, -0.369, 0.016, 4.992, 0, 59.992, 0, [SEP] 65, GarbageCan, -6.846, 0.024, 0.258, 0, 91.057, 0, [SEP] 66, Television, -3.503, 1.506, 0.001, 0, 0, 0, [SEP] 67, LightSwitch, 0.0, 1.184, 4.410, 0, 270, 0, [SEP] 68, HousePlant, -1.105, 0.315, 2.740, 0, 0, 0, [SEP] 69, Painting, -5.769, 1.394, -0.026, 90, 180, 0, [SEP] 70, Window, 0.001, 1.246, 2.471, 90, 270, 0, [SEP] 71, Window, 0.001, 1.246, 3.558, 90, 270, 0, [SEP] 72, Window, 0.001, 1.246, 1.368, 90, 270, 0, [SEP] 73, Painting, -0.967, 1.396, 5.268, 90, 180, 0, [SEP] 74, CoffeeTable, -3.002, 0.028, 1.726, 0, 0, 0, [SEP] 75, DiningTable, -5.816, 0.025, 2.563, 0, 270, 0, [SEP] 76, Sofa, -3.328, 0.023, 3.632, 0, 180, 0, [SEP] 77, ArmChair, -1.012, 0.028, 2.084, 0, 270, 0, [SEP] 78, ArmChair, -1.577, 0.028, 3.295, 0, 210.000, 0, [SEP] 79, CoffeeTable, -2.667, 0.025, 1.999, 0, 5.810, 0, [SEP] 80, NorthWall, , , , , , , [SEP] 81, EastWall, , , , , , , [SEP] 82, SouthWall, , , , , , , [SEP] 83, WestWall, , , , , , , ", "output": ["STEP 1: Turn around, walk across the room to the other side of the coffee table | STEP 2: Grab the newspaper on the coffee table, | STEP 3: Turn around, walk behind the sofa to the corner floor lamp | STEP 4: Turn on the floor lamp | END"]} +{"id": "trial_T20190907_133706_723900-0", "input": "Inspect the green rag with the lamp on the desk. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.900, -1.5, 0, 90, 0, [SEP] 1, Pen, 1.411, 0.829, -1.673, 0, 270, 0, 46 [SEP] 2, Pen, 0.355, 0.818, -2.440, 0, 0, 0, 48 [SEP] 3, Pencil, -1.319, 0.091, -2.287, 0, 0, 0, 52 [SEP] 4, CreditCard, 1.494, 0.823, -1.776, 0, 270, 0, 46 [SEP] 5, CreditCard, -1.192, 0.862, -2.248, 0, 0, 0, 55 [SEP] 6, Book, -0.621, 0.774, 0.850, 0, 0, 0, 26 [SEP] 7, Book, -1.493, 0.087, -2.325, 0, 0, 0, 52 [SEP] 8, RemoteControl, -1.319, 0.373, -2.363, 0, 0, 0, 53 [SEP] 9, Book, 1.103, 0.774, 1.012, 0, 0, 0, 26 [SEP] 10, Cloth, 1.303, 0.0, -0.696, 0, 303.212, 0, [SEP] 11, Cloth, 1.273, 0.0, -0.969, 0, 0, 0, [SEP] 12, CellPhone, -0.046, 0.774, 1.173, 0, 0, 0, 26 [SEP] 13, Pencil, 0.459, 0.816, -2.169, 0, 0, 0, 48 [SEP] 14, Laptop, 0.528, 0.772, 1.173, 0, 0, 0, 26 [SEP] 15, AlarmClock, -1.594, 0.862, -2.311, 0, 0, 0, 55 [SEP] 16, CreditCard, 0.042, 0.812, -2.169, 0, 0, 0, 48 [SEP] 17, KeyChain, -1.493, 0.372, -2.401, 0, 0, 0, 53 [SEP] 18, TennisRacket, -1.704, 0.345, 1.743, 345.000, 90, 180, [SEP] 19, RemoteControl, -1.232, 0.089, -2.363, 0, 0, 0, 52 [SEP] 20, Pillow, 0.528, 0.902, 0.850, 0, 0, 0, 26 [SEP] 21, CD, 0.563, 0.811, -2.440, 0, 0, 0, 48 [SEP] 22, CD, 1.522, 0.823, -1.570, 0, 270, 0, 46 [SEP] 23, CD, -1.594, 0.861, -2.561, 0, 0, 0, 55 [SEP] 24, Pen, -1.192, 0.867, -2.498, 0, 180, 0, 55 [SEP] 25, Bowl, 0.355, 0.813, -2.304, 0, 0, 0, 48 [SEP] 26, Bed, 0.270, 0.001, 1.331, 0, 90, 0, [SEP] 27, LaundryHamper, -1.329, 0.001, 1.829, 0, 180, 0, [SEP] 28, Television, -1.664, 1.479, -0.912, 0, 90, 0, [SEP] 29, DeskLamp, 0.049, 0.815, -2.481, 0, 0, 0, [SEP] 30, LightSwitch, -1.799, 1.213, 0.680, 0, 90, 0, [SEP] 31, Painting, 0.492, 1.684, -2.629, 90, 0, 0, [SEP] 32, Poster, -1.799, 1.690, -1.491, 90, 270, 0, [SEP] 33, GarbageCan, 1.306, -0.001, -2.451, 0, 317.376, 0, [SEP] 34, Mirror, 1.5, 1.361, -0.542, 0, 90, 0, [SEP] 35, Window, 1.721, 1.365, -1.597, 90, 270, 0, [SEP] 36, Shelf, -1.605, 0.435, -0.686, 0, 90, 0, [SEP] 37, Shelf, -1.613, 1.154, -0.904, 0, 90, 0, [SEP] 38, ShelvingUnit, -1.611, 0.005, -0.904, 0, 90, 0, [SEP] 39, Shelf, -1.605, 0.719, -1.122, 0, 90, 0, [SEP] 40, Shelf, -1.605, 0.435, -1.122, 0, 90, 0, [SEP] 41, Shelf, -1.605, 1.006, -1.122, 0, 90, 0, [SEP] 42, Shelf, -1.605, 0.148, -0.686, 0, 90, 0, [SEP] 43, Shelf, -1.605, 0.149, -1.122, 0, 90, 0, [SEP] 44, Shelf, -1.605, 1.006, -0.686, 0, 90, 0, [SEP] 45, Shelf, -1.605, 0.719, -0.686, 0, 90, 0, [SEP] 46, SideTable, 1.484, 0.001, -1.481, 0, 270, 0, [SEP] 47, Blinds, 1.699, 2.096, -1.575, 0, 270, 0, [SEP] 48, Desk, 0.244, 0.004, -2.356, 0, 0, 0, [SEP] 49, Chair, -0.626, 1.439, -2.199, 0, 171.006, 0, [SEP] 50, Chair, 0.220, 1.466, -2.214, 0, 188.269, 0, [SEP] 51, Shelf, -0.978, 1.387, -2.479, 0, 0, 0, [SEP] 52, Drawer, -1.389, 0.197, -2.261, 0, 0, 0, [SEP] 53, Drawer, -1.389, 0.480, -2.261, 0, 0, 0, [SEP] 54, Drawer, -1.389, 0.731, -2.261, 0, 0, 0, [SEP] 55, Desk, -0.973, 1.162, -2.351, 0, 0, 0, [SEP] 56, NorthWall, , , , , , , [SEP] 57, EastWall, , , , , , , [SEP] 58, SouthWall, , , , , , , [SEP] 59, WestWall, , , , , , , ", "output": ["STEP 1: Move to the mirror to the left of the window. | STEP 2: Pick up the green rag from the floor. | STEP 3: Move to the desk ahead and to the right of you. | STEP 4: Turn on the lamp on the desk. | END"]} +{"id": "trial_T20190907_133706_723900-1", "input": "Turn a lamp on with a blanket in hand. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.900, -1.5, 0, 90, 0, [SEP] 1, Pen, 1.411, 0.829, -1.673, 0, 270, 0, 46 [SEP] 2, Pen, 0.355, 0.818, -2.440, 0, 0, 0, 48 [SEP] 3, Pencil, -1.319, 0.091, -2.287, 0, 0, 0, 52 [SEP] 4, CreditCard, 1.494, 0.823, -1.776, 0, 270, 0, 46 [SEP] 5, CreditCard, -1.192, 0.862, -2.248, 0, 0, 0, 55 [SEP] 6, Book, -0.621, 0.774, 0.850, 0, 0, 0, 26 [SEP] 7, Book, -1.493, 0.087, -2.325, 0, 0, 0, 52 [SEP] 8, RemoteControl, -1.319, 0.373, -2.363, 0, 0, 0, 53 [SEP] 9, Book, 1.103, 0.774, 1.012, 0, 0, 0, 26 [SEP] 10, Cloth, 1.303, 0.0, -0.696, 0, 303.212, 0, [SEP] 11, Cloth, 1.273, 0.0, -0.969, 0, 0, 0, [SEP] 12, CellPhone, -0.046, 0.774, 1.173, 0, 0, 0, 26 [SEP] 13, Pencil, 0.459, 0.816, -2.169, 0, 0, 0, 48 [SEP] 14, Laptop, 0.528, 0.772, 1.173, 0, 0, 0, 26 [SEP] 15, AlarmClock, -1.594, 0.862, -2.311, 0, 0, 0, 55 [SEP] 16, CreditCard, 0.042, 0.812, -2.169, 0, 0, 0, 48 [SEP] 17, KeyChain, -1.493, 0.372, -2.401, 0, 0, 0, 53 [SEP] 18, TennisRacket, -1.704, 0.345, 1.743, 345.000, 90, 180, [SEP] 19, RemoteControl, -1.232, 0.089, -2.363, 0, 0, 0, 52 [SEP] 20, Pillow, 0.528, 0.902, 0.850, 0, 0, 0, 26 [SEP] 21, CD, 0.563, 0.811, -2.440, 0, 0, 0, 48 [SEP] 22, CD, 1.522, 0.823, -1.570, 0, 270, 0, 46 [SEP] 23, CD, -1.594, 0.861, -2.561, 0, 0, 0, 55 [SEP] 24, Pen, -1.192, 0.867, -2.498, 0, 180, 0, 55 [SEP] 25, Bowl, 0.355, 0.813, -2.304, 0, 0, 0, 48 [SEP] 26, Bed, 0.270, 0.001, 1.331, 0, 90, 0, [SEP] 27, LaundryHamper, -1.329, 0.001, 1.829, 0, 180, 0, [SEP] 28, Television, -1.664, 1.479, -0.912, 0, 90, 0, [SEP] 29, DeskLamp, 0.049, 0.815, -2.481, 0, 0, 0, [SEP] 30, LightSwitch, -1.799, 1.213, 0.680, 0, 90, 0, [SEP] 31, Painting, 0.492, 1.684, -2.629, 90, 0, 0, [SEP] 32, Poster, -1.799, 1.690, -1.491, 90, 270, 0, [SEP] 33, GarbageCan, 1.306, -0.001, -2.451, 0, 317.376, 0, [SEP] 34, Mirror, 1.5, 1.361, -0.542, 0, 90, 0, [SEP] 35, Window, 1.721, 1.365, -1.597, 90, 270, 0, [SEP] 36, Shelf, -1.605, 0.435, -0.686, 0, 90, 0, [SEP] 37, Shelf, -1.613, 1.154, -0.904, 0, 90, 0, [SEP] 38, ShelvingUnit, -1.611, 0.005, -0.904, 0, 90, 0, [SEP] 39, Shelf, -1.605, 0.719, -1.122, 0, 90, 0, [SEP] 40, Shelf, -1.605, 0.435, -1.122, 0, 90, 0, [SEP] 41, Shelf, -1.605, 1.006, -1.122, 0, 90, 0, [SEP] 42, Shelf, -1.605, 0.148, -0.686, 0, 90, 0, [SEP] 43, Shelf, -1.605, 0.149, -1.122, 0, 90, 0, [SEP] 44, Shelf, -1.605, 1.006, -0.686, 0, 90, 0, [SEP] 45, Shelf, -1.605, 0.719, -0.686, 0, 90, 0, [SEP] 46, SideTable, 1.484, 0.001, -1.481, 0, 270, 0, [SEP] 47, Blinds, 1.699, 2.096, -1.575, 0, 270, 0, [SEP] 48, Desk, 0.244, 0.004, -2.356, 0, 0, 0, [SEP] 49, Chair, -0.626, 1.439, -2.199, 0, 171.006, 0, [SEP] 50, Chair, 0.220, 1.466, -2.214, 0, 188.269, 0, [SEP] 51, Shelf, -0.978, 1.387, -2.479, 0, 0, 0, [SEP] 52, Drawer, -1.389, 0.197, -2.261, 0, 0, 0, [SEP] 53, Drawer, -1.389, 0.480, -2.261, 0, 0, 0, [SEP] 54, Drawer, -1.389, 0.731, -2.261, 0, 0, 0, [SEP] 55, Desk, -0.973, 1.162, -2.351, 0, 0, 0, [SEP] 56, NorthWall, , , , , , , [SEP] 57, EastWall, , , , , , , [SEP] 58, SouthWall, , , , , , , [SEP] 59, WestWall, , , , , , , ", "output": ["STEP 1: Go to the left and stand above the green blanket on the floor. | STEP 2: Pick the green blanket up from the floor. | STEP 3: Go to the right and then stand in front of the small table wit the lamp. | STEP 4: Turn the lamp on the small table on. | END"]} +{"id": "trial_T20190907_133706_723900-2", "input": "Examine the green rag by the light of the lamp on the desk. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.900, -1.5, 0, 90, 0, [SEP] 1, Pen, 1.411, 0.829, -1.673, 0, 270, 0, 46 [SEP] 2, Pen, 0.355, 0.818, -2.440, 0, 0, 0, 48 [SEP] 3, Pencil, -1.319, 0.091, -2.287, 0, 0, 0, 52 [SEP] 4, CreditCard, 1.494, 0.823, -1.776, 0, 270, 0, 46 [SEP] 5, CreditCard, -1.192, 0.862, -2.248, 0, 0, 0, 55 [SEP] 6, Book, -0.621, 0.774, 0.850, 0, 0, 0, 26 [SEP] 7, Book, -1.493, 0.087, -2.325, 0, 0, 0, 52 [SEP] 8, RemoteControl, -1.319, 0.373, -2.363, 0, 0, 0, 53 [SEP] 9, Book, 1.103, 0.774, 1.012, 0, 0, 0, 26 [SEP] 10, Cloth, 1.303, 0.0, -0.696, 0, 303.212, 0, [SEP] 11, Cloth, 1.273, 0.0, -0.969, 0, 0, 0, [SEP] 12, CellPhone, -0.046, 0.774, 1.173, 0, 0, 0, 26 [SEP] 13, Pencil, 0.459, 0.816, -2.169, 0, 0, 0, 48 [SEP] 14, Laptop, 0.528, 0.772, 1.173, 0, 0, 0, 26 [SEP] 15, AlarmClock, -1.594, 0.862, -2.311, 0, 0, 0, 55 [SEP] 16, CreditCard, 0.042, 0.812, -2.169, 0, 0, 0, 48 [SEP] 17, KeyChain, -1.493, 0.372, -2.401, 0, 0, 0, 53 [SEP] 18, TennisRacket, -1.704, 0.345, 1.743, 345.000, 90, 180, [SEP] 19, RemoteControl, -1.232, 0.089, -2.363, 0, 0, 0, 52 [SEP] 20, Pillow, 0.528, 0.902, 0.850, 0, 0, 0, 26 [SEP] 21, CD, 0.563, 0.811, -2.440, 0, 0, 0, 48 [SEP] 22, CD, 1.522, 0.823, -1.570, 0, 270, 0, 46 [SEP] 23, CD, -1.594, 0.861, -2.561, 0, 0, 0, 55 [SEP] 24, Pen, -1.192, 0.867, -2.498, 0, 180, 0, 55 [SEP] 25, Bowl, 0.355, 0.813, -2.304, 0, 0, 0, 48 [SEP] 26, Bed, 0.270, 0.001, 1.331, 0, 90, 0, [SEP] 27, LaundryHamper, -1.329, 0.001, 1.829, 0, 180, 0, [SEP] 28, Television, -1.664, 1.479, -0.912, 0, 90, 0, [SEP] 29, DeskLamp, 0.049, 0.815, -2.481, 0, 0, 0, [SEP] 30, LightSwitch, -1.799, 1.213, 0.680, 0, 90, 0, [SEP] 31, Painting, 0.492, 1.684, -2.629, 90, 0, 0, [SEP] 32, Poster, -1.799, 1.690, -1.491, 90, 270, 0, [SEP] 33, GarbageCan, 1.306, -0.001, -2.451, 0, 317.376, 0, [SEP] 34, Mirror, 1.5, 1.361, -0.542, 0, 90, 0, [SEP] 35, Window, 1.721, 1.365, -1.597, 90, 270, 0, [SEP] 36, Shelf, -1.605, 0.435, -0.686, 0, 90, 0, [SEP] 37, Shelf, -1.613, 1.154, -0.904, 0, 90, 0, [SEP] 38, ShelvingUnit, -1.611, 0.005, -0.904, 0, 90, 0, [SEP] 39, Shelf, -1.605, 0.719, -1.122, 0, 90, 0, [SEP] 40, Shelf, -1.605, 0.435, -1.122, 0, 90, 0, [SEP] 41, Shelf, -1.605, 1.006, -1.122, 0, 90, 0, [SEP] 42, Shelf, -1.605, 0.148, -0.686, 0, 90, 0, [SEP] 43, Shelf, -1.605, 0.149, -1.122, 0, 90, 0, [SEP] 44, Shelf, -1.605, 1.006, -0.686, 0, 90, 0, [SEP] 45, Shelf, -1.605, 0.719, -0.686, 0, 90, 0, [SEP] 46, SideTable, 1.484, 0.001, -1.481, 0, 270, 0, [SEP] 47, Blinds, 1.699, 2.096, -1.575, 0, 270, 0, [SEP] 48, Desk, 0.244, 0.004, -2.356, 0, 0, 0, [SEP] 49, Chair, -0.626, 1.439, -2.199, 0, 171.006, 0, [SEP] 50, Chair, 0.220, 1.466, -2.214, 0, 188.269, 0, [SEP] 51, Shelf, -0.978, 1.387, -2.479, 0, 0, 0, [SEP] 52, Drawer, -1.389, 0.197, -2.261, 0, 0, 0, [SEP] 53, Drawer, -1.389, 0.480, -2.261, 0, 0, 0, [SEP] 54, Drawer, -1.389, 0.731, -2.261, 0, 0, 0, [SEP] 55, Desk, -0.973, 1.162, -2.351, 0, 0, 0, [SEP] 56, NorthWall, , , , , , , [SEP] 57, EastWall, , , , , , , [SEP] 58, SouthWall, , , , , , , [SEP] 59, WestWall, , , , , , , ", "output": ["STEP 1: Move over to the mirror on the wall and face the rags on the floor. | STEP 2: Pick up the green rag on the floor. | STEP 3: Bring the green rag to the lamp on the desk. | STEP 4: Turn on the light on the desk. | END"]} +{"id": "trial_T20190910_065234_628159-0", "input": "take the pen from the end table, put it in the bowl on the black shelf SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.900, 1.75, 0, 180, 0, [SEP] 1, Vase, -1.699, 1.147, -2.073, 0, 90, 0, 38 [SEP] 2, CellPhone, 2.592, 0.433, 1.584, 0, 90, 0, 59 [SEP] 3, CreditCard, -1.776, 0.799, -0.349, 0, 0, 0, 43 [SEP] 4, KeyChain, 2.413, 0.439, 2.010, 0, 90, 0, 59 [SEP] 5, KeyChain, -1.762, 1.147, -1.959, 0, 180, 0, 38 [SEP] 6, Book, -1.720, 0.035, 0.443, 0, 180, 0, 42 [SEP] 7, AlarmClock, -1.804, 0.972, -0.339, 0, 0, 0, 43 [SEP] 8, AlarmClock, 1.576, 0.680, 2.127, 0, 0, 0, 53 [SEP] 9, Book, -1.699, 1.637, -2.073, 0, 90, 0, 39 [SEP] 10, KeyChain, 2.595, 0.434, 1.753, 0, 90, 0, 59 [SEP] 11, AlarmClock, 2.437, 0.680, -1.762, 0, 0, 0, 56 [SEP] 12, Pillow, 1.413, 0.794, -1.505, 0, 0, 0, 25 [SEP] 13, Pillow, 0.652, 0.794, -1.531, 0, 0, 0, 25 [SEP] 14, Vase, -1.583, 0.971, -0.742, 0, 0, 0, 43 [SEP] 15, Laptop, 0.537, 0.773, -0.106, 0, 0, 0, 25 [SEP] 16, Vase, -1.650, 1.626, -2.316, 0, 0, 0, 37 [SEP] 17, Pencil, -1.509, 0.977, -0.339, 0, 0, 0, 43 [SEP] 18, CreditCard, -1.664, 0.217, 0.255, 0, 0, 0, 50 [SEP] 19, Boots, -1.842, 0.000, -1.077, 0, 135, 0, [SEP] 20, Pen, 1.731, 0.686, 2.082, 0, 0, 0, 53 [SEP] 21, CellPhone, 1.02, 0.775, -0.695, 0, 0, 0, 25 [SEP] 22, CD, -1.699, 1.637, -1.845, 0, 90, 0, 37 [SEP] 23, Bowl, -1.684, 1.135, -2.300, 0, 346.900, 0, 38 [SEP] 24, Statue, -1.764, 0.965, -0.758, 0, 59.718, 0, 43 [SEP] 25, Bed, 1.017, 0.003, -0.686, 0, 180, 0, [SEP] 26, HousePlant, -1.749, 0.971, 0.463, 0, 0, 0, [SEP] 27, GarbageCan, -1.665, -0.000, 0.953, 0, 45, 0, [SEP] 28, Painting, 0.381, 1.976, -1.895, 90, 0, 0, [SEP] 29, Painting, 0.879, 1.976, -1.895, 90, 0, 0, [SEP] 30, Painting, 1.373, 1.976, -1.895, 90, 0, 0, [SEP] 31, LightSwitch, -0.164, 1.085, 2.450, 0, 180, 0, [SEP] 32, Mirror, -1.950, 1.735, -0.206, 0, 270, 0, [SEP] 33, Window, -1.098, 1.570, -3.230, 90, 0, 0, [SEP] 34, DeskLamp, 1.404, 0.668, 2.209, 0, 0, 0, [SEP] 35, DeskLamp, 2.596, 0.668, -1.710, 0, 0, 0, [SEP] 36, Blinds, -1.062, 2.361, -3.173, 0, 0, 0, [SEP] 37, Shelf, -1.675, 1.871, -2.053, 0, 90, 0, [SEP] 38, Shelf, -1.675, 1.383, -2.053, 0, 90, 0, [SEP] 39, Drawer, -1.715, 0.832, -2.053, 0, 90, 0, [SEP] 40, ShelvingUnit, -1.723, 0.007, -2.053, 0, 90, 0, [SEP] 41, Drawer, -1.713, 0.339, -2.053, 0, 90, 0, [SEP] 42, Drawer, -1.629, 0.104, 0.243, 0, 90, 0, [SEP] 43, Dresser, -1.674, 0.000, -0.153, 0, 90, 0, [SEP] 44, Drawer, -1.630, 0.868, -0.550, 0, 90, 0, [SEP] 45, Drawer, -1.630, 0.680, 0.243, 0, 90, 0, [SEP] 46, Drawer, -1.629, 0.104, -0.550, 0, 90, 0, [SEP] 47, Drawer, -1.630, 0.680, -0.550, 0, 90, 0, [SEP] 48, Drawer, -1.630, 0.868, 0.243, 0, 90, 0, [SEP] 49, Drawer, -1.629, 0.486, -0.550, 0, 90, 0, [SEP] 50, Drawer, -1.629, 0.291, 0.243, 0, 90, 0, [SEP] 51, Drawer, -1.629, 0.291, -0.550, 0, 90, 0, [SEP] 52, Drawer, -1.630, 0.486, 0.243, 0, 90, 0, [SEP] 53, SideTable, 1.576, -0.001, 2.137, 0, 180, 0, [SEP] 54, Drawer, 1.576, 0.163, 2.070, 0, 180, 0, [SEP] 55, Drawer, 1.576, 0.455, 2.070, 0, 180, 0, [SEP] 56, SideTable, 2.437, -0.001, -1.603, 0, 0, 0, [SEP] 57, Drawer, 2.438, 0.163, -1.536, 0, 0, 0, [SEP] 58, Drawer, 2.438, 0.455, -1.536, 0, 0, 0, [SEP] 59, ArmChair, 2.393, -0.001, 1.943, 0, 180, 0, [SEP] 60, NorthWall, , , , , , , [SEP] 61, EastWall, , , , , , , [SEP] 62, SouthWall, , , , , , , [SEP] 63, WestWall, , , , , , , ", "output": ["STEP 1: turn left, head to the lamp | STEP 2: take the white pen from the end table | STEP 3: turn left, head across the room | STEP 4: put the pen on the black shelf in the bowl | END"]} +{"id": "trial_T20190909_035135_601399-1", "input": "Move a book from the grey armchair to the grey couch next to it. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -7.0, 0.902, -1.0, 0, 0, 0, [SEP] 1, Statue, -2.257, 0.594, -2.987, 0, 0, 0, 40 [SEP] 2, Statue, -2.786, 0.594, -2.822, 0, 0, 0, 40 [SEP] 3, Pen, -2.257, 0.592, -2.657, 0, 0, 0, 40 [SEP] 4, KeyChain, -3.795, 0.385, -5.001, 0, 180, 0, 47 [SEP] 5, KeyChain, -2.933, 0.704, -4.952, 0, 0, 0, 43 [SEP] 6, Book, -4.187, 0.334, -3.374, 0, 90, 0, 37 [SEP] 7, CreditCard, -2.151, 0.587, -2.822, 0, 0, 0, 40 [SEP] 8, CreditCard, -2.680, 0.587, -2.161, 0, 0, 0, 40 [SEP] 9, RemoteControl, -4.487, 0.337, -3.665, 0, 90, 0, 37 [SEP] 10, RemoteControl, -5.318, 0.484, -5.129, 0, 0, 0, 41 [SEP] 11, Laptop, -3.218, 0.701, -5.093, 0, 0, 0, 43 [SEP] 12, Box, -2.362, 0.261, -1.647, 0, 76.161, 0, Floor|-04.47| [SEP] 13, Book, -5.117, 0.481, -5.087, 0, 0, 0, 41 [SEP] 14, Newspaper, -4.265, 0.34, -2.164, 0, 0, 0, 42 [SEP] 15, Watch, -2.148, 0.482, -5.119, 0, 0, 0, 39 [SEP] 16, Pen, -2.648, 0.709, -4.952, 0, 0, 0, 43 [SEP] 17, WateringCan, -7.991, 0.000, -4.629, 0, 296.796, 0, Floor|-04.47| [SEP] 18, Pillow, -4.282, 0.454, -1.736, 0, 270, 0, 42 [SEP] 19, CreditCard, -4.412, 0.335, -3.374, 0, 90, 0, 37 [SEP] 20, Vase, -4.477, 0.697, -5.076, 0, 0, 0, 43 [SEP] 21, KeyChain, -2.648, 0.705, -5.235, 0, 0, 0, 43 [SEP] 22, Vase, -4.218, 0.697, -5.046, 0, 0, 0, 43 [SEP] 23, Laptop, -2.568, 0.580, -2.514, 0, 300.000, 0, 40 [SEP] 24, Statue, -2.020, 0.475, -5.094, 0, 0, 0, 39 [SEP] 25, Vase, -3.901, 0.697, -5.103, 0, 0, 0, 43 [SEP] 26, RemoteControl, -4.187, 0.337, -3.665, 0, 90, 0, 37 [SEP] 27, Vase, -2.933, 0.705, -5.093, 0, 0, 0, 43 [SEP] 28, Mirror, -3.402, 2.028, 0.000, 0, 0, 0, [SEP] 29, FloorLamp, -4.821, 0.000, -5.118, 0, 0, 0, [SEP] 30, LightSwitch, -5.763, 1.330, 0.010, 0, 180, 0, [SEP] 31, GarbageCan, -0.969, -0.027, -5.058, 0, 0, 0, [SEP] 32, HousePlant, -5.629, 0.478, -5.126, 0, 0, 0, [SEP] 33, Painting, -3.372, 1.800, -5.392, 90, 180, 0, [SEP] 34, Television, -0.606, 1.674, -2.602, 0, 270, 0, [SEP] 35, Window, -8.237, 1.411, -1.509, 90, 270, 0, [SEP] 36, Window, -8.237, 1.411, -4.081, 90, 270, 0, [SEP] 37, ArmChair, -4.334, 0.001, -3.528, 0, 90, 0, [SEP] 38, Shelf, -2.475, 0.124, -2.486, 0, 90, 0, [SEP] 39, SideTable, -2.016, 0.002, -5.075, 0, 180, 0, [SEP] 40, CoffeeTable, -2.474, 0.001, -2.489, 0, 90, 0, [SEP] 41, SideTable, -5.428, 0.002, -5.123, 0, 180, 0, [SEP] 42, Sofa, -4.354, 0.009, -2.089, 0, 90, 0, [SEP] 43, Dresser, -3.505, 0.003, -5.101, 0, 0, 0, [SEP] 44, Drawer, -2.981, 0.481, -5.031, 0, 0, 0, [SEP] 45, Drawer, -4.022, 0.169, -5.013, 0, 0, 0, [SEP] 46, Drawer, -2.978, 0.169, -5.013, 0, 0, 0, [SEP] 47, Drawer, -4.022, 0.477, -5.013, 0, 0, 0, [SEP] 48, NorthWall, , , , , , , [SEP] 49, EastWall, , , , , , , [SEP] 50, SouthWall, , , , , , , [SEP] 51, WestWall, , , , , , , ", "output": ["STEP 1: Make a right and then another to walk around the couch to reach the grey armchair. | STEP 2: Pick up the book from the grey armchair. | STEP 3: Turn to face the long grey couch to the right of the armchair. | STEP 4: Put the book down on the long grey couch. | END"]} +{"id": "trial_T20190909_060702_609931-0", "input": "Pick up two rolls of toilet paper and put them in front of the lefthand sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.903, 3.75, 0, 0, 0, [SEP] 1, Cloth, -0.503, 0.164, 0.465, 0, 0, 0, 31 [SEP] 2, SoapBar, 0.234, 0.097, 2.642, 0, 0, 0, 27 [SEP] 3, SoapBar, 0.160, 0.097, 3.363, 0, 0, 0, 21 [SEP] 4, Candle, -0.043, 0.713, 0.426, 0, 0, 0, 22 [SEP] 5, Candle, 0.791, 1.056, 4.670, 0, 270, 0, 34 [SEP] 6, SprayBottle, 0.729, 1.048, 4.342, 0, 270, 0, 34 [SEP] 7, SprayBottle, -0.145, 0.153, 1.450, 0, 90, 0, 33 [SEP] 8, Towel, -2.393, 1.478, 0.580, 0, 90, 0, 28 [SEP] 9, Candle, 0.539, 1.063, 2.078, 0, 0, 0, 25 [SEP] 10, Cloth, 0.377, 0.097, 3.167, 0, 0, 0, 21 [SEP] 11, HandTowel, 0.397, 1.656, 2.039, 0, 180, 0, 32 [SEP] 12, Plunger, 0.480, 0.002, 4.793, 0, 0, 0, [SEP] 13, SoapBar, 0.160, 0.097, 3.070, 0, 0, 0, 21 [SEP] 14, ToiletPaper, -0.122, 0.148, 1.349, 0, 90, 0, 33 [SEP] 15, ToiletPaper, -0.047, 0.971, 4.911, 0, 180, 90, 29 [SEP] 16, SoapBottle, 0.765, 1.058, 4.116, 0, 0, 0, 25 [SEP] 17, SprayBottle, 0.449, 0.098, 3.460, 0, 0, 0, 21 [SEP] 18, ScrubBrush, 0.688, 0.002, 4.867, 0, 0, 0, [SEP] 19, Sink, 0.426, 1.037, 2.947, 0, 270, 0, [SEP] 20, Window, -2.548, 1.673, 2.405, 0, 0, 0, [SEP] 21, Cabinet, 0.068, 0.366, 3.772, 0, 0, 0, [SEP] 22, Bathtub, -1.042, 0.155, 0.558, 0, 0, 0, [SEP] 23, SinkBasin, 0.404, 0.926, 2.926, 0, 270, 0, [SEP] 24, Mirror, 0.858, 1.863, 2.972, 0, 0, 0, [SEP] 25, CounterTop, 0.487, 1.015, 3.090, 0, 0, 0, [SEP] 26, Faucet, -0.207, 0.687, 0.546, 0, 0, 0, [SEP] 27, Cabinet, 0.074, 0.379, 2.045, 0, 0, 0, [SEP] 28, TowelHolder, -2.5, 1.463, 0.579, 0, 90, 0, [SEP] 29, ToiletPaperHanger, -0.081, 0.971, 5.0, 0, 180, 0, [SEP] 30, LightSwitch, -1.121, 1.333, 5.000, 0, 180, 0, [SEP] 31, BathtubBasin, -1.062, 0.153, 0.556, 0, 0, 0, [SEP] 32, HandTowelHolder, 0.398, 1.758, 2.000, 0, 270, 0, [SEP] 33, GarbageCan, -0.229, 0.001, 1.445, 0, 270, 0, [SEP] 34, Toilet, 0.376, 0.002, 4.470, 0, 0, 0, [SEP] 35, Faucet, 0.661, 1.043, 3.371, 0, 270, 0, [SEP] 36, Faucet, 0.661, 1.043, 2.520, 0, 270, 0, [SEP] 37, NorthWall, , , , , , , [SEP] 38, EastWall, , , , , , , [SEP] 39, SouthWall, , , , , , , [SEP] 40, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk towards the trash can next to the bathtub. | STEP 2: Pick up the roll of toilet paper from the trash can. | STEP 3: Turn left to walk towards the sinks. | STEP 4: Put the roll of toilet paper down in front of the lefthand sink. | STEP 5: Turn left to walk to the toilet. | STEP 6: Pick up the empty roll of toilet paper from the floor next to the toilet. | STEP 7: Turn right to walk towards the sinks. | STEP 8: Put the empty roll of toilet paper down in front of the lefthand sink. | END"]} +{"id": "trial_T20190908_130315_932939-2", "input": "Put a heated egg in the fridge SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.901, -3.0, 0, 0, 0, [SEP] 1, Pan, -0.376, 0.975, -2.451, 0, 0, 0, 68 [SEP] 2, Potato, -3.027, 0.685, -1.941, 0, 90, 0, 84 [SEP] 3, DishSponge, -3.393, 0.913, -3.428, 0, 0, 0, 43 [SEP] 4, Spatula, -1.638, 0.805, -3.661, 0, 270, 0, 85 [SEP] 5, Spatula, -0.412, 0.928, -2.911, 0, 270, 0, 43 [SEP] 6, Spoon, -0.530, 0.748, -2.913, 0, 90, 0, 73 [SEP] 7, Spoon, -1.845, 0.791, -3.747, 0, 0, 0, 85 [SEP] 8, Fork, -2.753, 0.714, -0.785, 0, 135, 0, 87 [SEP] 9, Cup, -2.696, 0.717, -0.930, 0, 135, 0, 87 [SEP] 10, Cup, -2.723, 0.714, -0.496, 0, 270, 0, 87 [SEP] 11, Plate, -0.374, 0.078, -0.838, 0, 0, 0, 47 [SEP] 12, Plate, -3.346, 0.911, -3.804, 0, 0, 0, 43 [SEP] 13, SoapBottle, -2.431, 0.716, -0.326, 0, 225, 0, 87 [SEP] 14, SoapBottle, -0.253, 0.079, -0.029, 0, 270, 0, 82 [SEP] 15, Bowl, -0.419, 0.913, -1.493, 0, 0, 0, 70 [SEP] 16, SaltShaker, -0.095, 0.912, -1.616, 0, 0, 0, 70 [SEP] 17, PepperShaker, -0.412, 0.743, -2.968, 0, 0, 0, 73 [SEP] 18, PepperShaker, -0.500, 0.742, -1.486, 0, 0, 0, 66 [SEP] 19, Lettuce, -2.664, 0.801, -0.697, 0, 135, 0, 87 [SEP] 20, Bread, -0.447, 0.954, -3.878, 0, 0, 0, 43 [SEP] 21, Apple, -1.983, 0.833, -3.790, 0, 0, 0, 85 [SEP] 22, Pot, -1.262, 0.916, -3.729, 0, 0, 0, 43 [SEP] 23, Egg, -2.564, 0.752, -0.194, 0, 225, 0, 87 [SEP] 24, Cup, -2.581, 0.714, -0.371, 0, 270, 0, 87 [SEP] 25, Bread, -2.928, 0.754, -0.780, 0, 0, 0, 87 [SEP] 26, Fork, -0.160, 0.914, -2.811, 0, 0, 0, 43 [SEP] 27, Pan, -0.376, 0.975, -2.031, 0, 180, 0, 72 [SEP] 28, Potato, -3.182, 1.057, -1.879, 0, 90, 0, 84 [SEP] 29, Lettuce, -0.854, 1.001, -3.655, 0, 0, 0, 43 [SEP] 30, Tomato, -3.079, 1.063, -2.064, 0, 90, 0, 84 [SEP] 31, Apple, -3.130, 0.683, -1.879, 0, 90, 0, 84 [SEP] 32, SoapBottle, -0.411, 0.081, -3.285, 0, 0, 0, 44 [SEP] 33, Spatula, -3.056, 0.928, -2.926, 0, 0, 0, 43 [SEP] 34, SaltShaker, -3.053, 0.710, -0.638, 0, 0, 0, 87 [SEP] 35, Knife, -3.199, 0.779, -2.912, 0, 270, 0, 65 [SEP] 36, PepperShaker, -1.262, 0.910, -4.026, 0, 0, 0, 43 [SEP] 37, ButterKnife, -0.419, 0.916, -0.472, 0, 0, 0, 70 [SEP] 38, Plate, -0.650, 0.911, -3.878, 0, 0, 0, 43 [SEP] 39, DishSponge, -0.412, 0.745, -1.408, 0, 0, 0, 66 [SEP] 40, Spoon, -1.914, 0.791, -3.747, 0, 90, 0, 85 [SEP] 41, Mug, -1.776, 0.785, -3.832, 0, 0, 0, 85 [SEP] 42, Bowl, -3.182, 0.638, -2.064, 0, 90, 0, 84 [SEP] 43, CounterTop, -1.789, 0.949, -3.803, 0, 0, 0, [SEP] 44, Cabinet, -0.577, 0.388, -3.476, 0, 0, 0, [SEP] 45, Cabinet, -0.605, 0.388, -3.511, 0, 0, 0, [SEP] 46, Cabinet, -2.976, 0.388, -3.201, 0, 0, 0, [SEP] 47, Cabinet, -0.577, 0.388, -0.447, 0, 0, 0, [SEP] 48, Cabinet, -0.577, 0.388, -1.725, 0, 0, 0, [SEP] 49, Cabinet, -0.226, 1.803, -1.743, 0, 0, 0, [SEP] 50, Cabinet, -0.228, 1.799, -0.447, 0, 0, 0, [SEP] 51, Cabinet, -6.010, 1.139, -6.019, 0, 0, 0, [SEP] 52, Cabinet, -3.022, 2.098, -2.681, 0, 0, 0, [SEP] 53, Cabinet, -3.022, 2.098, -1.743, 0, 0, 0, [SEP] 54, Cabinet, -0.577, 0.388, -2.736, 0, 0, 0, [SEP] 55, Cabinet, -3.232, 1.803, -3.343, 0, 0, 0, [SEP] 56, Cabinet, -2.811, 1.810, -3.764, 0, 0, 0, [SEP] 57, Cabinet, -1.233, 1.810, -3.764, 0, 0, 0, [SEP] 58, Cabinet, -1.364, 0.388, -3.511, 0, 0, 0, [SEP] 59, Cabinet, -1.380, 0.388, -3.511, 0, 0, 0, [SEP] 60, Cabinet, -0.226, 1.803, -2.725, 0, 0, 0, [SEP] 61, Cabinet, -0.236, 2.098, -1.767, 0, 0, 0, [SEP] 62, Cabinet, -0.236, 2.098, -2.705, 0, 0, 0, [SEP] 63, Cabinet, -0.193, 1.210, -4.239, 0, 0, 0, [SEP] 64, Cabinet, -2.148, 0.388, -3.511, 0, 0, 0, [SEP] 65, Drawer, -3.104, 0.797, -2.968, 0, 0, 0, [SEP] 66, Drawer, -0.449, 0.797, -1.410, 0, 0, 0, [SEP] 67, Sink, -1.786, 0.902, -3.748, 0, 0, 0, [SEP] 68, StoveBurner, -0.376, 0.936, -2.451, 0, 0, 0, [SEP] 69, Drawer, -0.449, 0.797, -0.762, 0, 0, 0, [SEP] 70, CounterTop, -0.268, 0.951, -1.089, 0, 0, 0, [SEP] 71, Drawer, -0.449, 0.797, -3.348, 0, 0, 0, [SEP] 72, StoveBurner, -0.376, 0.936, -2.031, 0, 180, 0, [SEP] 73, Drawer, -0.449, 0.797, -2.968, 0, 0, 0, [SEP] 74, StoveBurner, -0.165, 0.936, -2.030, 0, 180, 0, [SEP] 75, StoveBurner, -0.165, 0.936, -2.450, 0, 0, 0, [SEP] 76, StoveKnob, -0.568, 0.903, -2.313, 45, 270, 0, [SEP] 77, StoveKnob, -0.568, 0.903, -2.470, 45, 270, 0, [SEP] 78, StoveKnob, -0.568, 0.903, -2.166, 45, 270, 0, [SEP] 79, StoveKnob, -0.568, 0.903, -2.003, 45, 270, 0, [SEP] 80, Microwave, -0.143, 0.903, -0.908, 0, 270, 0, [SEP] 81, LightSwitch, -1.108, 1.457, 0.338, 0, 180, 0, [SEP] 82, GarbageCan, -0.283, -0.032, -0.035, 0, 270, 0, [SEP] 83, CoffeeMachine, -3.104, 0.837, -0.185, 0, 135, 0, [SEP] 84, Fridge, -3.188, 0.0, -2.184, 0, 0, 0, [SEP] 85, SinkBasin, -1.786, 0.779, -3.747, 0, 0, 0, [SEP] 86, Toaster, -0.230, 0.903, -3.406, 0, 270, 0, [SEP] 87, DiningTable, -2.800, 0.003, -0.505, 0, 0, 0, [SEP] 88, Chair, -3.044, 0.003, -1.223, 0, 32.194, 0, [SEP] 89, Faucet, -1.791, 1.136, -3.913, 0, 270, 0, [SEP] 90, NorthWall, , , , , , , [SEP] 91, EastWall, , , , , , , [SEP] 92, SouthWall, , , , , , , [SEP] 93, WestWall, , , , , , , ", "output": ["STEP 1: Go to the round table | STEP 2: Pick up the egg | STEP 3: Go to the microwave | STEP 4: Heat the egg | STEP 5: Go to the fridge | STEP 6: Put the egg in the fridge | END"]} +{"id": "trial_T20190908_035325_042005-0", "input": "Pick up a book and turn on a lamp. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, -0.5, 0, 180, 0, [SEP] 1, CD, -0.774, 0.895, -1.217, 0, 0, 0, 21 [SEP] 2, CD, 3.361, 0.161, -0.028, 0, 270, 0, 29 [SEP] 3, Pen, -0.774, 0.906, -1.773, 0, 0, 0, 21 [SEP] 4, CreditCard, 0.961, 0.941, -1.91, 0, 0, 0, 27 [SEP] 5, Book, -0.426, 0.896, -1.680, 0, 0, 0, 21 [SEP] 6, Pillow, 2.054, 0.840, -0.906, 0, 180, 0, 31 [SEP] 7, AlarmClock, 0.253, 0.943, -1.937, 0, 0, 0, 27 [SEP] 8, AlarmClock, 2.591, 0.526, 1.191, 0, 180, 0, 33 [SEP] 9, Laptop, 1.506, 0.774, -1.205, 0, 180, 0, 38 [SEP] 10, Book, 2.878, 0.777, -1.354, 0, 180, 0, 31 [SEP] 11, Pen, -0.600, 0.901, -1.680, 0, 0, 0, 21 [SEP] 12, AlarmClock, -0.600, 0.902, -1.310, 0, 0, 0, 21 [SEP] 13, TeddyBear, 1.324, 0.827, -0.763, 56.834, 332.692, 298.236, 38 [SEP] 14, CellPhone, 3.152, 0.778, -1.354, 0, 180, 0, 31 [SEP] 15, Pencil, -0.774, 0.904, -1.680, 0, 270, 0, 21 [SEP] 16, Pillow, 2.054, 0.840, -1.354, 0, 180, 0, 38 [SEP] 17, Laptop, 2.603, 0.774, -0.757, 0, 180, 0, 31 [SEP] 18, KeyChain, 2.514, 0.525, 1.312, 0, 180, 0, 33 [SEP] 19, CreditCard, -0.806, 0.651, -1.279, 0, 0, 0, 24 [SEP] 20, CD, -0.078, 0.900, -1.310, 0, 0, 0, 21 [SEP] 21, Desk, -0.503, 0.006, -1.465, 0, 0, 0, [SEP] 22, Drawer, -0.945, 0.493, -1.176, 0, 0, 0, [SEP] 23, Drawer, -0.946, 0.212, -1.176, 0, 0, 0, [SEP] 24, Drawer, -0.944, 0.739, -1.176, 0, 0, 0, [SEP] 25, DeskLamp, -0.124, 0.899, -1.731, 0, 0, 0, [SEP] 26, LightSwitch, 3.513, 1.253, 0.165, 0, 270, 0, [SEP] 27, Shelf, 0.759, 0.934, -1.909, 0, 0, 0, [SEP] 28, Mirror, 2.407, 1.294, 1.401, 0, 0, 0, [SEP] 29, GarbageCan, 3.347, -0.000, -0.027, 0, 270, 0, [SEP] 30, Window, 0.717, 1.603, -2.108, 90, 0, 0, [SEP] 31, Bed, 2.301, 0.005, -1.056, 0, 270, 0, [SEP] 32, Blinds, 0.749, 2.523, -2.022, 0, 0, 0, [SEP] 33, SideTable, 2.436, 0.002, 1.143, 0, 180, 0, [SEP] 34, Drawer, 2.437, 0.122, 1.154, 0, 180, 0, [SEP] 35, Drawer, 2.437, 0.350, 1.153, 0, 180, 0, [SEP] 36, LaundryHamper, 0.359, 0.006, -1.505, 0, 280.399, 358.305, [SEP] 37, Chair, -0.308, 0.009, -1.108, 0, 166.824, 0, [SEP] 38, , , , , , , , [SEP] 39, NorthWall, , , , , , , [SEP] 40, EastWall, , , , , , , [SEP] 41, SouthWall, , , , , , , [SEP] 42, WestWall, , , , , , , ", "output": ["STEP 1: Move forward towards the desk in front of you. | STEP 2: Pick the blue book up from the desk. | STEP 3: Turn and go to the left side of the desk and stand facing the lamp. | STEP 4: Turn the lamp on. | END"]} +{"id": "trial_T20190908_035325_042005-1", "input": "Pick up the book from the desk, turn on the lamp SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, -0.5, 0, 180, 0, [SEP] 1, CD, -0.774, 0.895, -1.217, 0, 0, 0, 21 [SEP] 2, CD, 3.361, 0.161, -0.028, 0, 270, 0, 29 [SEP] 3, Pen, -0.774, 0.906, -1.773, 0, 0, 0, 21 [SEP] 4, CreditCard, 0.961, 0.941, -1.91, 0, 0, 0, 27 [SEP] 5, Book, -0.426, 0.896, -1.680, 0, 0, 0, 21 [SEP] 6, Pillow, 2.054, 0.840, -0.906, 0, 180, 0, 31 [SEP] 7, AlarmClock, 0.253, 0.943, -1.937, 0, 0, 0, 27 [SEP] 8, AlarmClock, 2.591, 0.526, 1.191, 0, 180, 0, 33 [SEP] 9, Laptop, 1.506, 0.774, -1.205, 0, 180, 0, 38 [SEP] 10, Book, 2.878, 0.777, -1.354, 0, 180, 0, 31 [SEP] 11, Pen, -0.600, 0.901, -1.680, 0, 0, 0, 21 [SEP] 12, AlarmClock, -0.600, 0.902, -1.310, 0, 0, 0, 21 [SEP] 13, TeddyBear, 1.324, 0.827, -0.763, 56.834, 332.692, 298.236, 38 [SEP] 14, CellPhone, 3.152, 0.778, -1.354, 0, 180, 0, 31 [SEP] 15, Pencil, -0.774, 0.904, -1.680, 0, 270, 0, 21 [SEP] 16, Pillow, 2.054, 0.840, -1.354, 0, 180, 0, 38 [SEP] 17, Laptop, 2.603, 0.774, -0.757, 0, 180, 0, 31 [SEP] 18, KeyChain, 2.514, 0.525, 1.312, 0, 180, 0, 33 [SEP] 19, CreditCard, -0.806, 0.651, -1.279, 0, 0, 0, 24 [SEP] 20, CD, -0.078, 0.900, -1.310, 0, 0, 0, 21 [SEP] 21, Desk, -0.503, 0.006, -1.465, 0, 0, 0, [SEP] 22, Drawer, -0.945, 0.493, -1.176, 0, 0, 0, [SEP] 23, Drawer, -0.946, 0.212, -1.176, 0, 0, 0, [SEP] 24, Drawer, -0.944, 0.739, -1.176, 0, 0, 0, [SEP] 25, DeskLamp, -0.124, 0.899, -1.731, 0, 0, 0, [SEP] 26, LightSwitch, 3.513, 1.253, 0.165, 0, 270, 0, [SEP] 27, Shelf, 0.759, 0.934, -1.909, 0, 0, 0, [SEP] 28, Mirror, 2.407, 1.294, 1.401, 0, 0, 0, [SEP] 29, GarbageCan, 3.347, -0.000, -0.027, 0, 270, 0, [SEP] 30, Window, 0.717, 1.603, -2.108, 90, 0, 0, [SEP] 31, Bed, 2.301, 0.005, -1.056, 0, 270, 0, [SEP] 32, Blinds, 0.749, 2.523, -2.022, 0, 0, 0, [SEP] 33, SideTable, 2.436, 0.002, 1.143, 0, 180, 0, [SEP] 34, Drawer, 2.437, 0.122, 1.154, 0, 180, 0, [SEP] 35, Drawer, 2.437, 0.350, 1.153, 0, 180, 0, [SEP] 36, LaundryHamper, 0.359, 0.006, -1.505, 0, 280.399, 358.305, [SEP] 37, Chair, -0.308, 0.009, -1.108, 0, 166.824, 0, [SEP] 38, , , , , , , , [SEP] 39, NorthWall, , , , , , , [SEP] 40, EastWall, , , , , , , [SEP] 41, SouthWall, , , , , , , [SEP] 42, WestWall, , , , , , , ", "output": ["STEP 1: Take the Geometry book from the desk | STEP 2: Turn around, walk to the bed | STEP 3: Turn to the right, walk to the lamp | STEP 4: Turn on the lamp | END"]} +{"id": "trial_T20190907_222818_007885-1", "input": "Put two mugs in the desk. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.901, 2.25, 0, 270, 0, [SEP] 1, Mug, -0.543, 0.976, -1.134, 0, 0, 0, 42 [SEP] 2, Mug, -0.574, 0.666, 2.728, 0, 90, 0, 37 [SEP] 3, Pencil, 1.608, 0.110, -0.731, 0, 90, 0, 47 [SEP] 4, Book, -0.672, 0.069, 2.163, 0, 0, 0, 26 [SEP] 5, Book, -0.692, 0.681, 1.245, 0, 90, 0, 27 [SEP] 6, Box, -0.493, 0.2, -0.286, 0, 84.024, 0, [SEP] 7, TennisRacket, -1.345, 0.288, 0.233, 30.000, 270, 180, [SEP] 8, Pen, -0.386, 0.674, 2.815, 0, 90, 0, 37 [SEP] 9, AlarmClock, 1.612, 0.727, 0.482, 0, 270, 0, 51 [SEP] 10, Pillow, -0.867, 1.585, -0.496, 0, 0, 0, 41 [SEP] 11, Pillow, -1.137, 1.585, -0.942, 0, 0, 0, 41 [SEP] 12, CellPhone, -0.709, 0.980, -1.228, 0, 0, 0, 42 [SEP] 13, KeyChain, -0.607, 0.095, -1.071, 0, 0, 0, 45 [SEP] 14, CreditCard, 1.587, 0.444, 1.605, 0, 180, 0, 54 [SEP] 15, CD, 1.587, 0.432, 1.419, 0, 180, 0, 54 [SEP] 16, Pencil, 1.807, 0.730, 0.482, 0, 270, 0, 51 [SEP] 17, Laptop, 1.710, 0.724, -0.010, 0, 270, 0, 51 [SEP] 18, Mug, -0.949, 0.666, 3.075, 0, 90, 0, 37 [SEP] 19, DeskLamp, 2.016, 0.701, 0.708, 0, 0, 0, [SEP] 20, Painting, 2.199, 1.771, -0.101, 90, 270, 0, [SEP] 21, GarbageCan, 2.022, -0.037, -1.239, 0, 270, 0, [SEP] 22, Mirror, 2.229, 1.254, 2.664, 0, 90, 0, [SEP] 23, LightSwitch, 2.199, 1.258, 1.988, 0, 270, 0, [SEP] 24, Window, 1.575, 1.559, -1.953, 90, 180, 0, [SEP] 25, Drawer, -0.551, 0.578, 2.246, 0, 90, 0, [SEP] 26, Cabinet, -0.649, 0.270, 2.247, 0, 90, 0, [SEP] 27, Desk, -0.655, 0.006, 1.814, 0, 90, 0, [SEP] 28, Shelf, 1.769, 0.184, 0.757, 0, 270, 0, [SEP] 29, Shelf, 1.769, 0.572, 0.757, 0, 270, 0, [SEP] 30, Shelf, 1.769, 0.572, 0.935, 0, 270, 0, [SEP] 31, Shelf, 1.769, 0.378, 0.935, 0, 270, 0, [SEP] 32, Shelf, 1.769, 0.378, 0.757, 0, 270, 0, [SEP] 33, Shelf, 1.769, 0.184, 0.935, 0, 270, 0, [SEP] 34, Blinds, 1.547, 2.434, -1.886, 0, 0, 0, [SEP] 35, Drawer, -0.553, 0.155, 2.942, 0, 90, 0, [SEP] 36, Drawer, -0.553, 0.572, 2.942, 0, 90, 0, [SEP] 37, Dresser, -0.665, 0.001, 2.939, 0, 90, 0, [SEP] 38, Drawer, -0.553, 0.376, 2.942, 0, 90, 0, [SEP] 39, Chair, 1.482, 0.012, 0.223, 0, 77.085, 0, [SEP] 40, Chair, -0.199, 0.012, 1.538, 0, 287.086, 0, [SEP] 41, Bed, -0.866, 0.007, -0.919, 0, 0, 0, [SEP] 42, Dresser, -0.772, 0.001, -1.313, 0, 90, 0, [SEP] 43, Drawer, -0.660, 0.830, -1.309, 0, 90, 0, [SEP] 44, Drawer, -0.660, 0.225, -1.309, 0, 90, 0, [SEP] 45, Drawer, -0.660, 0.547, -1.309, 0, 90, 0, [SEP] 46, Bed, -0.872, 1.637, 2.188, 0, 0, 0, [SEP] 47, Drawer, 1.685, 0.160, -0.805, 0, 270, 0, [SEP] 48, Drawer, 1.685, 0.160, -0.378, 0, 270, 0, [SEP] 49, Drawer, 1.685, 0.547, -0.805, 0, 270, 0, [SEP] 50, Drawer, 1.685, 0.547, -0.378, 0, 270, 0, [SEP] 51, Desk, 1.812, 0.003, -0.014, 0, 270, 0, [SEP] 52, Drawer, 1.685, 0.354, -0.805, 0, 270, 0, [SEP] 53, Drawer, 1.685, 0.354, -0.378, 0, 270, 0, [SEP] 54, ArmChair, 1.712, -0.000, 1.532, 0, 270, 0, [SEP] 55, NorthWall, , , , , , , [SEP] 56, EastWall, , , , , , , [SEP] 57, SouthWall, , , , , , , [SEP] 58, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and walk to the wall then turn left. | STEP 2: Pick up the mug that's in front of you. | STEP 3: Take one step back then three steps to your right so you're facing the chair at the desk. | STEP 4: Open the desk door to the right of the chair and put the mug down there before closing the door. | STEP 5: Go back to where you got the first mug. | STEP 6: Pick up the mug that's in front of you. | STEP 7: Go back to where you put the first mug. | STEP 8: Put the mug by the first one then close the door. | END"]} +{"id": "trial_T20190912_064329_127255-1", "input": "Place the towel from the toilet basin into the drawer. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.901, 3.0, 0, 0, 0, [SEP] 1, Cloth, 0.588, 0.824, 3.239, 0, 0, 0, 27 [SEP] 2, SoapBar, 0.502, 0.210, 2.155, 0, 0, 0, 20 [SEP] 3, Candle, 0.323, 0.821, 3.294, 0, 0, 0, 27 [SEP] 4, Candle, 0.558, 0.513, 2.075, 0, 0, 0, 23 [SEP] 5, SprayBottle, 0.521, 0.820, 2.161, 0, 0, 0, 27 [SEP] 6, SoapBottle, 0.507, 0.215, 3.824, 0, 0, 0, 35 [SEP] 7, ToiletPaper, 0.593, 1.041, 1.401, 0, 270, 0, 39 [SEP] 8, SoapBottle, 0.596, 0.809, 3.415, 0, 225, 0, 27 [SEP] 9, HandTowel, 0.634, 1.512, 1.892, 0, 90, 0, 37 [SEP] 10, Towel, 0.609, 1.376, 0.583, 0, 270, 0, 31 [SEP] 11, SoapBar, 0.614, 0.512, 2.235, 0, 0, 0, 23 [SEP] 12, ToiletPaper, 0.361, 0.504, 2.174, 0, 0, 0, 23 [SEP] 13, ToiletPaper, 0.308, 0.615, 1.912, 0, 180, 90, 34 [SEP] 14, Candle, 0.502, 0.514, 2.275, 0, 0, 0, 23 [SEP] 15, ScrubBrush, 0.553, 0.000, 1.725, 0, 0, 0, [SEP] 16, Cloth, 0.594, 1.050, 1.533, 0, 270, 0, 39 [SEP] 17, Plunger, 0.594, -0.000, 1.898, 0, 0, 0, [SEP] 18, SprayBottle, 0.384, 0.810, 2.124, 0, 327.500, 0, 27 [SEP] 19, Drawer, 0.443, 0.624, 3.310, 0, 0, 0, [SEP] 20, Drawer, 0.443, 0.323, 2.194, 0, 0, 0, [SEP] 21, ShowerDoor, -0.923, 1.032, 1.155, 0, 0, 0, [SEP] 22, Sink, 0.495, 0.661, 2.756, 0, 270, 0, [SEP] 23, Drawer, 0.443, 0.624, 2.193, 0, 0, 0, [SEP] 24, Faucet, 0.717, 0.982, 2.756, 0, 0, 0, [SEP] 25, Mirror, 0.629, 1.532, 2.697, 0, 0, 0, [SEP] 26, ShowerGlass, -0.152, 1.266, 1.156, 0, 0, 0, [SEP] 27, CounterTop, 0.458, 0.789, 2.759, 0, 0, 0, [SEP] 28, Drawer, 0.443, 0.323, 2.566, 0, 0, 0, [SEP] 29, Drawer, 0.443, 0.323, 2.937, 0, 0, 0, [SEP] 30, Drawer, 0.443, 0.323, 3.310, 0, 0, 0, [SEP] 31, TowelHolder, 0.716, 1.361, 0.583, 0, 270, 0, [SEP] 32, TowelHolder, -0.442, 1.361, 1.175, 0, 0, 0, [SEP] 33, LightSwitch, -1.749, 1.429, 3.325, 0, 90, 0, [SEP] 34, ToiletPaperHanger, 0.376, 0.648, 2.009, 0, 180, 0, [SEP] 35, GarbageCan, 0.412, -0.029, 3.728, 0, 0, 0, [SEP] 36, SinkBasin, 0.440, 0.667, 2.746, 0, 270, 0, [SEP] 37, HandTowelHolder, 0.673, 1.613, 1.891, 0, 180, 0, [SEP] 38, HandTowelHolder, 0.673, 1.613, 3.563, 0, 180, 0, [SEP] 39, Toilet, 0.270, 0.000, 1.463, 0, 0, 0, [SEP] 40, ShowerHead, -1.705, 1.894, 0.587, 0, 270, 0, [SEP] 41, NorthWall, , , , , , , [SEP] 42, EastWall, , , , , , , [SEP] 43, SouthWall, , , , , , , [SEP] 44, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and head towards the toilet to your left. | STEP 2: Pick up the towel on the toilet basin. | STEP 3: Look at the drawer below the sink. | STEP 4: Open the drawer, place the towel in it, and close the drawer. | END"]} +{"id": "trial_T20190906_203003_097789-1", "input": "Examine the pencil by the light of the lamp on the table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.937, -1.25, 0, 180, 0, [SEP] 1, Mug, -0.914, 1.114, -2.902, 0, 0, 0, 35 [SEP] 2, Mug, -2.625, 0.080, -2.976, 0, 0, 0, 29 [SEP] 3, CD, 1.828, 0.093, -3.154, 0, 90, 0, 53 [SEP] 4, CD, 1.315, 0.077, -2.825, 0, 0, 0, 32 [SEP] 5, Pencil, -1.16, 0.586, -2.726, 0, 0, 0, 31 [SEP] 6, Pencil, -3.327, 0.377, -2.797, 0, 4.809, 0, 37 [SEP] 7, Book, -0.187, 0.082, -2.830, 0, 0, 0, 34 [SEP] 8, Book, -2.805, 0.082, -3.135, 0, 0, 0, 29 [SEP] 9, RemoteControl, -1.071, 0.085, -2.934, 0, 0, 0, 33 [SEP] 10, RemoteControl, -1.539, 1.118, -3.158, 0, 0, 0, 35 [SEP] 11, AlarmClock, -1.539, 1.118, -2.988, 0, 0, 0, 35 [SEP] 12, AlarmClock, -1.851, 1.118, -3.073, 0, 0, 0, 35 [SEP] 13, Laptop, 0.104, 0.830, 0.735, 0, 0, 0, 28 [SEP] 14, Book, 1.609, 0.553, 2.391, 0, 90, 0, 55 [SEP] 15, AlarmClock, -0.602, 1.118, -2.817, 0, 0, 0, 35 [SEP] 16, CellPhone, 0.104, 0.836, 0.975, 0, 0, 0, 28 [SEP] 17, Pillow, 0.958, 0.940, 0.015, 0, 0, 0, 28 [SEP] 18, Pillow, 1.815, 0.87, 1.153, 0, 270, 0, 28 [SEP] 19, TeddyBear, 1.868, 0.036, -0.561, 0, 59.999, 0, Floor|-00.06| [SEP] 20, CreditCard, -0.454, 0.083, -2.726, 0, 0, 0, 34 [SEP] 21, KeyChain, 1.561, 0.095, -3.206, 0, 180, 0, 53 [SEP] 22, Pencil, -2.164, 1.119, -3.158, 0, 0, 0, 35 [SEP] 23, Laptop, 1.243, 0.830, 0.495, 0, 0, 0, 28 [SEP] 24, RemoteControl, -2.164, 1.118, -2.902, 0, 0, 0, 35 [SEP] 25, CD, -2.164, 1.115, -2.732, 0, 0, 0, 35 [SEP] 26, Pen, -0.982, 0.088, -2.882, 0, 0, 0, 33 [SEP] 27, Mug, 1.068, 0.075, -2.993, 0, 0, 0, 32 [SEP] 28, Bed, 0.967, 0.049, 0.667, 0, 90, 0, [SEP] 29, Cabinet, -3.0, 1.497, -2.643, 0, 0, 0, [SEP] 30, Drawer, -0.365, 0.785, -2.848, 0, 0, 0, [SEP] 31, Drawer, -1.159, 0.785, -2.848, 0, 0, 0, [SEP] 32, Cabinet, 2.064, 1.497, -2.643, 0, 0, 0, [SEP] 33, Drawer, -1.159, 0.285, -2.848, 0, 0, 0, [SEP] 34, Drawer, -0.365, 0.285, -2.848, 0, 0, 0, [SEP] 35, Desk, -1.271, 1.169, -2.987, 0, 0, 0, [SEP] 36, LightSwitch, -0.159, 1.281, 3.999, 0, 180, 0, [SEP] 37, GarbageCan, -3.338, 0.022, -2.797, 0, 4.809, 0, [SEP] 38, HousePlant, -0.195, 1.105, -3.084, 0, 0, 0, [SEP] 39, DeskLamp, 1.863, 0.581, 2.431, 0, 0, 0, [SEP] 40, Mirror, -1.603, 1.447, 3.999, 0, 0, 0, [SEP] 41, Television, -3.883, 1.771, 2.122, 0, 90, 0, [SEP] 42, Window, -1.952, 2.148, -3.302, 90, 180, 0, [SEP] 43, Window, -0.467, 2.148, -3.302, 90, 180, 0, [SEP] 44, Window, -3.894, 1.751, 0.582, 90, 270, 0, [SEP] 45, Window, -3.894, 1.751, -0.675, 90, 270, 0, [SEP] 46, LaundryHamper, 1.831, 0.058, 3.689, 0, 354.434, 1.354, [SEP] 47, ArmChair, -0.948, 0.051, 3.583, 0, 175.988, 0, [SEP] 48, ArmChair, -2.172, 0.051, 3.598, 0, 180, 0, [SEP] 49, Blinds, -0.477, 2.785, -3.253, 0, 0, 0, [SEP] 50, Blinds, -1.957, 2.785, -3.253, 0, 0, 0, [SEP] 51, Blinds, -3.799, 2.506, 0.602, 0, 90, 0, [SEP] 52, Blinds, -3.799, 2.506, -0.647, 0, 90, 0, [SEP] 53, Safe, 1.673, 0.054, -3.004, 0, 0, 0, [SEP] 54, ArmChair, -3.349, 0.051, 3.375, 0, 150.096, 0, [SEP] 55, SideTable, 1.775, 0.048, 2.377, 0, 0, 0, [SEP] 56, Chair, -2.002, 0.050, -2.532, 0, 165.000, 0, [SEP] 57, NorthWall, , , , , , , [SEP] 58, EastWall, , , , , , , [SEP] 59, SouthWall, , , , , , , [SEP] 60, WestWall, , , , , , , ", "output": ["STEP 1: Move to the recycling bin. | STEP 2: Pick up the pencil in the recycling bin. | STEP 3: Bring the pencil to the lamp on the small round table. | STEP 4: Turn on the lamp on the table. | END"]} +{"id": "trial_T20190909_030005_813370-0", "input": "pick up knife to cut tomato, cook tomato, put into fridge SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.900, 5.25, 0, 180, 0, [SEP] 1, Potato, -0.312, 0.794, 6.479, 0, 270, 0, 91 [SEP] 2, ButterKnife, 0.847, 0.992, 0.395, 0, 0, 0, 55 [SEP] 3, Kettle, -0.621, 0.761, 6.541, 0, 270, 0, 91 [SEP] 4, Spoon, -0.611, 0.993, 0.120, 0, 0, 0, 55 [SEP] 5, Spoon, -0.034, 0.761, 6.478, 0, 0, 0, 91 [SEP] 6, Spatula, 1.276, 0.906, 2.474, 0, 180, 0, 78 [SEP] 7, Fork, 1.236, 0.772, 3.429, 0, 0, 0, 48 [SEP] 8, Fork, -0.158, 0.760, 6.604, 0, 270, 0, 91 [SEP] 9, Cup, 1.079, 1.575, 0.163, 0, 0, 0, 62 [SEP] 10, Cup, 1.238, 0.136, 1.790, 0, 0, 0, 44 [SEP] 11, Plate, 0.124, 0.144, 0.429, 0, 0, 0, 64 [SEP] 12, Plate, -0.552, 0.144, 0.429, 0, 0, 0, 63 [SEP] 13, SoapBottle, 1.582, 0.992, 0.213, 0, 0, 0, 55 [SEP] 14, PepperShaker, 1.582, 0.987, 3.511, 0, 0, 0, 55 [SEP] 15, PepperShaker, 1.406, 0.135, 2.572, 0, 0, 0, 67 [SEP] 16, SaltShaker, 0.332, 0.139, 0.582, 0, 0, 0, 64 [SEP] 17, SaltShaker, -0.312, 0.755, 6.666, 0, 270, 0, 91 [SEP] 18, Mug, 0.221, 1.092, 0.310, 0, 270, 0, 71 [SEP] 19, Apple, 1.135, 1.067, 4.808, 0, 0, 0, 56 [SEP] 20, Bowl, 1.493, 0.991, 3.231, 0, 0, 0, 55 [SEP] 21, Bread, 0.015, 0.829, 6.742, 0, 225, 0, 91 [SEP] 22, Egg, 1.387, 0.941, 2.627, 0, 90, 0, 78 [SEP] 23, Knife, 1.493, 1.022, 3.511, 0, 0, 0, 55 [SEP] 24, Fork, -0.459, 0.993, 0.303, 0, 0, 0, 55 [SEP] 25, Apple, -0.289, 0.834, 6.786, 0, 135, 0, 91 [SEP] 26, Kettle, 1.317, 0.988, 4.294, 0, 0, 0, 50 [SEP] 27, Plate, 0.305, 0.760, 6.416, 0, 270, 0, 91 [SEP] 28, SaltShaker, -0.575, 0.755, 6.719, 0, 135, 0, 91 [SEP] 29, Lettuce, 1.314, 1.081, 0.213, 0, 0, 0, 55 [SEP] 30, SoapBottle, -0.074, 1.579, 0.163, 0, 0, 0, 68 [SEP] 31, Spatula, 0.803, 0.787, 0.507, 0, 0, 0, 47 [SEP] 32, PaperTowelRoll, 0.771, 1.096, 0.486, 0, 0, 0, 55 [SEP] 33, Pot, 1.559, 0.988, 4.294, 0, 0, 0, 53 [SEP] 34, Potato, 1.907, 0.115, 6.439, 0, 0, 0, 79 [SEP] 35, ButterKnife, -0.486, 0.760, 6.151, 0, 225, 0, 91 [SEP] 36, PepperShaker, 0.167, 0.755, 6.151, 0, 135, 0, 91 [SEP] 37, Pan, 1.562, 0.988, 3.848, 0, 0, 0, 49 [SEP] 38, Tomato, 0.102, 0.809, 6.305, 0, 135, 0, 91 [SEP] 39, DishSponge, 0.260, 0.771, 0.396, 0, 0, 0, 52 [SEP] 40, Cup, 2.137, 1.511, 5.751, 0, 270, 0, 77 [SEP] 41, Spoon, -0.034, 0.761, 6.169, 0, 0, 0, 91 [SEP] 42, Mug, 1.384, 1.043, 0.847, 0, 270, 0, 55 [SEP] 43, Cabinet, 1.307, 2.455, 4.360, 0, 0, 0, [SEP] 44, Cabinet, 1.054, 0.422, 1.710, 0, 0, 0, [SEP] 45, Drawer, 1.280, 0.808, 4.718, 0, 0, 0, [SEP] 46, Cabinet, 1.307, 2.455, 3.607, 0, 0, 0, [SEP] 47, Drawer, 0.736, 0.802, 0.521, 0, 0, 0, [SEP] 48, Drawer, 1.276, 0.802, 3.291, 0, 0, 0, [SEP] 49, StoveBurner, 1.562, 0.982, 3.848, 0, 0, 0, [SEP] 50, StoveBurner, 1.317, 0.982, 4.294, 0, 0, 0, [SEP] 51, Drawer, -0.482, 0.802, 0.521, 0, 0, 0, [SEP] 52, Drawer, 0.124, 0.802, 0.521, 0, 0, 0, [SEP] 53, StoveBurner, 1.559, 0.982, 4.294, 0, 0, 0, [SEP] 54, StoveBurner, 1.320, 0.982, 3.848, 0, 0, 0, [SEP] 55, CounterTop, 1.391, 1.028, 0.897, 0, 0, 0, [SEP] 56, CounterTop, 1.391, 1.028, 4.716, 0, 0, 0, [SEP] 57, Cabinet, 1.054, 0.422, 4.548, 0, 0, 0, [SEP] 58, Cabinet, 1.317, 2.134, 0.517, 0, 0, 0, [SEP] 59, Cabinet, 1.317, 2.134, 4.889, 0, 0, 0, [SEP] 60, Cabinet, 1.317, 2.134, 3.095, 0, 0, 0, [SEP] 61, Cabinet, 0.443, 0.422, 0.743, 0, 0, 0, [SEP] 62, Cabinet, 1.270, 2.134, 0.434, 0, 0, 0, [SEP] 63, Cabinet, -0.775, 0.422, 0.743, 0, 0, 0, [SEP] 64, Cabinet, -0.168, 0.422, 0.743, 0, 0, 0, [SEP] 65, Cabinet, 1.317, 2.134, 1.534, 0, 0, 0, [SEP] 66, Cabinet, 1.054, 0.422, 2.990, 0, 0, 0, [SEP] 67, Cabinet, 1.054, 0.422, 2.944, 0, 0, 0, [SEP] 68, Cabinet, -0.263, 2.134, 0.434, 0, 0, 0, [SEP] 69, Cabinet, 0.252, 2.134, 0.434, 0, 0, 0, [SEP] 70, Sink, 1.391, 1.006, 2.326, 0, 0, 0, [SEP] 71, Microwave, 0.108, 0.981, 0.262, 0, 0, 0, [SEP] 72, HousePlant, -0.165, 0.826, 6.444, 0, 0, 0, [SEP] 73, CoffeeMachine, 1.551, 0.982, 0.953, 0, 270, 0, [SEP] 74, Toaster, 1.473, 0.981, 4.715, 0, 270, 0, [SEP] 75, Window, -2.065, 1.916, 3.626, 90, 90, 0, [SEP] 76, Window, 1.763, 2.007, 2.299, 90, 270, 0, [SEP] 77, Fridge, 2.035, 0.0, 5.625, 0, 0, 0, [SEP] 78, SinkBasin, 1.387, 0.880, 2.338, 0, 90, 0, [SEP] 79, GarbageCan, 2.001, -0.044, 6.503, 0, 0, 0, [SEP] 80, StoveKnob, 1.140, 0.934, 3.987, 45, 270, 0, [SEP] 81, StoveKnob, 1.140, 0.934, 4.309, 45, 270, 0, [SEP] 82, StoveKnob, 1.140, 0.934, 4.140, 45, 270, 0, [SEP] 83, StoveKnob, 1.140, 0.934, 3.824, 45, 270, 0, [SEP] 84, Vase, -0.226, 0.834, 6.993, 0, 0, 0, [SEP] 85, Vase, 2.098, 0.043, 7.070, 0, 257.232, 0, [SEP] 86, Vase, -0.594, 0.835, 6.130, 0, 225, 0, [SEP] 87, LightSwitch, -2.0, 1.549, 6.045, 0, 90, 0, [SEP] 88, Safe, 2.046, 1.072, 7.054, 0, 257.232, 0, [SEP] 89, Faucet, 1.534, 1.025, 2.371, 0, 294.391, 0, [SEP] 90, Blinds, 1.738, 2.563, 2.312, 0, 90, 0, [SEP] 91, DiningTable, -0.156, 0.000, 6.474, 0, 0, 0, [SEP] 92, Chair, 0.291, 0.002, 6.142, 0, 310.162, 0, [SEP] 93, GarbageBag, -1.092, 0.318, 0.268, 270, 90, 83.492, [SEP] 94, NorthWall, , , , , , , [SEP] 95, EastWall, , , , , , , [SEP] 96, SouthWall, , , , , , , [SEP] 97, WestWall, , , , , , , ", "output": ["STEP 1: turn left, turn right to the counter | STEP 2: pick up knife from counter | STEP 3: turn around, walk to the table | STEP 4: slice into tomato on table | STEP 5: place knife down on table | STEP 6: pick up tomato slice from table | STEP 7: turn around and walk to the microwave | STEP 8: open microwave, put slice into microwave, cook, open door and remove tomato | STEP 9: turn around and walk to the fridge | STEP 10: open fridge door and put tomato slice into fridge | END"]} +{"id": "trial_T20190909_030005_813370-2", "input": "Put a heated slice of tomato in the fridge. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.900, 5.25, 0, 180, 0, [SEP] 1, Potato, -0.312, 0.794, 6.479, 0, 270, 0, 91 [SEP] 2, ButterKnife, 0.847, 0.992, 0.395, 0, 0, 0, 55 [SEP] 3, Kettle, -0.621, 0.761, 6.541, 0, 270, 0, 91 [SEP] 4, Spoon, -0.611, 0.993, 0.120, 0, 0, 0, 55 [SEP] 5, Spoon, -0.034, 0.761, 6.478, 0, 0, 0, 91 [SEP] 6, Spatula, 1.276, 0.906, 2.474, 0, 180, 0, 78 [SEP] 7, Fork, 1.236, 0.772, 3.429, 0, 0, 0, 48 [SEP] 8, Fork, -0.158, 0.760, 6.604, 0, 270, 0, 91 [SEP] 9, Cup, 1.079, 1.575, 0.163, 0, 0, 0, 62 [SEP] 10, Cup, 1.238, 0.136, 1.790, 0, 0, 0, 44 [SEP] 11, Plate, 0.124, 0.144, 0.429, 0, 0, 0, 64 [SEP] 12, Plate, -0.552, 0.144, 0.429, 0, 0, 0, 63 [SEP] 13, SoapBottle, 1.582, 0.992, 0.213, 0, 0, 0, 55 [SEP] 14, PepperShaker, 1.582, 0.987, 3.511, 0, 0, 0, 55 [SEP] 15, PepperShaker, 1.406, 0.135, 2.572, 0, 0, 0, 67 [SEP] 16, SaltShaker, 0.332, 0.139, 0.582, 0, 0, 0, 64 [SEP] 17, SaltShaker, -0.312, 0.755, 6.666, 0, 270, 0, 91 [SEP] 18, Mug, 0.221, 1.092, 0.310, 0, 270, 0, 71 [SEP] 19, Apple, 1.135, 1.067, 4.808, 0, 0, 0, 56 [SEP] 20, Bowl, 1.493, 0.991, 3.231, 0, 0, 0, 55 [SEP] 21, Bread, 0.015, 0.829, 6.742, 0, 225, 0, 91 [SEP] 22, Egg, 1.387, 0.941, 2.627, 0, 90, 0, 78 [SEP] 23, Knife, 1.493, 1.022, 3.511, 0, 0, 0, 55 [SEP] 24, Fork, -0.459, 0.993, 0.303, 0, 0, 0, 55 [SEP] 25, Apple, -0.289, 0.834, 6.786, 0, 135, 0, 91 [SEP] 26, Kettle, 1.317, 0.988, 4.294, 0, 0, 0, 50 [SEP] 27, Plate, 0.305, 0.760, 6.416, 0, 270, 0, 91 [SEP] 28, SaltShaker, -0.575, 0.755, 6.719, 0, 135, 0, 91 [SEP] 29, Lettuce, 1.314, 1.081, 0.213, 0, 0, 0, 55 [SEP] 30, SoapBottle, -0.074, 1.579, 0.163, 0, 0, 0, 68 [SEP] 31, Spatula, 0.803, 0.787, 0.507, 0, 0, 0, 47 [SEP] 32, PaperTowelRoll, 0.771, 1.096, 0.486, 0, 0, 0, 55 [SEP] 33, Pot, 1.559, 0.988, 4.294, 0, 0, 0, 53 [SEP] 34, Potato, 1.907, 0.115, 6.439, 0, 0, 0, 79 [SEP] 35, ButterKnife, -0.486, 0.760, 6.151, 0, 225, 0, 91 [SEP] 36, PepperShaker, 0.167, 0.755, 6.151, 0, 135, 0, 91 [SEP] 37, Pan, 1.562, 0.988, 3.848, 0, 0, 0, 49 [SEP] 38, Tomato, 0.102, 0.809, 6.305, 0, 135, 0, 91 [SEP] 39, DishSponge, 0.260, 0.771, 0.396, 0, 0, 0, 52 [SEP] 40, Cup, 2.137, 1.511, 5.751, 0, 270, 0, 77 [SEP] 41, Spoon, -0.034, 0.761, 6.169, 0, 0, 0, 91 [SEP] 42, Mug, 1.384, 1.043, 0.847, 0, 270, 0, 55 [SEP] 43, Cabinet, 1.307, 2.455, 4.360, 0, 0, 0, [SEP] 44, Cabinet, 1.054, 0.422, 1.710, 0, 0, 0, [SEP] 45, Drawer, 1.280, 0.808, 4.718, 0, 0, 0, [SEP] 46, Cabinet, 1.307, 2.455, 3.607, 0, 0, 0, [SEP] 47, Drawer, 0.736, 0.802, 0.521, 0, 0, 0, [SEP] 48, Drawer, 1.276, 0.802, 3.291, 0, 0, 0, [SEP] 49, StoveBurner, 1.562, 0.982, 3.848, 0, 0, 0, [SEP] 50, StoveBurner, 1.317, 0.982, 4.294, 0, 0, 0, [SEP] 51, Drawer, -0.482, 0.802, 0.521, 0, 0, 0, [SEP] 52, Drawer, 0.124, 0.802, 0.521, 0, 0, 0, [SEP] 53, StoveBurner, 1.559, 0.982, 4.294, 0, 0, 0, [SEP] 54, StoveBurner, 1.320, 0.982, 3.848, 0, 0, 0, [SEP] 55, CounterTop, 1.391, 1.028, 0.897, 0, 0, 0, [SEP] 56, CounterTop, 1.391, 1.028, 4.716, 0, 0, 0, [SEP] 57, Cabinet, 1.054, 0.422, 4.548, 0, 0, 0, [SEP] 58, Cabinet, 1.317, 2.134, 0.517, 0, 0, 0, [SEP] 59, Cabinet, 1.317, 2.134, 4.889, 0, 0, 0, [SEP] 60, Cabinet, 1.317, 2.134, 3.095, 0, 0, 0, [SEP] 61, Cabinet, 0.443, 0.422, 0.743, 0, 0, 0, [SEP] 62, Cabinet, 1.270, 2.134, 0.434, 0, 0, 0, [SEP] 63, Cabinet, -0.775, 0.422, 0.743, 0, 0, 0, [SEP] 64, Cabinet, -0.168, 0.422, 0.743, 0, 0, 0, [SEP] 65, Cabinet, 1.317, 2.134, 1.534, 0, 0, 0, [SEP] 66, Cabinet, 1.054, 0.422, 2.990, 0, 0, 0, [SEP] 67, Cabinet, 1.054, 0.422, 2.944, 0, 0, 0, [SEP] 68, Cabinet, -0.263, 2.134, 0.434, 0, 0, 0, [SEP] 69, Cabinet, 0.252, 2.134, 0.434, 0, 0, 0, [SEP] 70, Sink, 1.391, 1.006, 2.326, 0, 0, 0, [SEP] 71, Microwave, 0.108, 0.981, 0.262, 0, 0, 0, [SEP] 72, HousePlant, -0.165, 0.826, 6.444, 0, 0, 0, [SEP] 73, CoffeeMachine, 1.551, 0.982, 0.953, 0, 270, 0, [SEP] 74, Toaster, 1.473, 0.981, 4.715, 0, 270, 0, [SEP] 75, Window, -2.065, 1.916, 3.626, 90, 90, 0, [SEP] 76, Window, 1.763, 2.007, 2.299, 90, 270, 0, [SEP] 77, Fridge, 2.035, 0.0, 5.625, 0, 0, 0, [SEP] 78, SinkBasin, 1.387, 0.880, 2.338, 0, 90, 0, [SEP] 79, GarbageCan, 2.001, -0.044, 6.503, 0, 0, 0, [SEP] 80, StoveKnob, 1.140, 0.934, 3.987, 45, 270, 0, [SEP] 81, StoveKnob, 1.140, 0.934, 4.309, 45, 270, 0, [SEP] 82, StoveKnob, 1.140, 0.934, 4.140, 45, 270, 0, [SEP] 83, StoveKnob, 1.140, 0.934, 3.824, 45, 270, 0, [SEP] 84, Vase, -0.226, 0.834, 6.993, 0, 0, 0, [SEP] 85, Vase, 2.098, 0.043, 7.070, 0, 257.232, 0, [SEP] 86, Vase, -0.594, 0.835, 6.130, 0, 225, 0, [SEP] 87, LightSwitch, -2.0, 1.549, 6.045, 0, 90, 0, [SEP] 88, Safe, 2.046, 1.072, 7.054, 0, 257.232, 0, [SEP] 89, Faucet, 1.534, 1.025, 2.371, 0, 294.391, 0, [SEP] 90, Blinds, 1.738, 2.563, 2.312, 0, 90, 0, [SEP] 91, DiningTable, -0.156, 0.000, 6.474, 0, 0, 0, [SEP] 92, Chair, 0.291, 0.002, 6.142, 0, 310.162, 0, [SEP] 93, GarbageBag, -1.092, 0.318, 0.268, 270, 90, 83.492, [SEP] 94, NorthWall, , , , , , , [SEP] 95, EastWall, , , , , , , [SEP] 96, SouthWall, , , , , , , [SEP] 97, WestWall, , , , , , , ", "output": ["STEP 1: Go forward to the counter on the right of the microwave across the kitchen. | STEP 2: Pick up the knife behind the paper towel from the counter. | STEP 3: Turn around and go to the right side of the black round table across the kitchen. | STEP 4: Slice the tomato behind the white plate on the table. | STEP 5: Place the knife on the table on the right of the gray plate. | STEP 6: Pick up one slice of tomato from the table. | STEP 7: Turn left and go back to the counter with a microwave on top. | STEP 8: Remove the tomato after heating in the microwave. | STEP 9: Turn around and go to the front of the refrigerator. | STEP 10: Place the slice of tomato in the refrigerator. | END"]} +{"id": "trial_T20190907_154202_781388-1", "input": "Wash the kettle from the stove, put it back on the stove SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.900, 2.5, 0, 270, 0, [SEP] 1, Pan, 1.562, 0.988, 3.848, 0, 0, 0, 54 [SEP] 2, Potato, 0.064, 1.132, 0.245, 0, 0, 0, 76 [SEP] 3, DishSponge, 1.135, 0.992, 4.808, 0, 0, 0, 61 [SEP] 4, ButterKnife, 1.314, 0.992, 1.577, 0, 0, 0, 60 [SEP] 5, Kettle, -0.621, 0.145, 0.582, 0, 0, 0, 68 [SEP] 6, Kettle, -0.687, 0.993, 0.212, 0, 0, 0, 60 [SEP] 7, Kettle, 1.317, 0.988, 4.294, 0, 0, 0, 55 [SEP] 8, Spoon, 0.124, 0.772, 0.563, 0, 0, 0, 57 [SEP] 9, Spoon, 1.405, 0.772, 4.680, 0, 0, 0, 50 [SEP] 10, Fork, -0.034, 0.760, 6.169, 0, 0, 0, 96 [SEP] 11, Fork, 1.225, 0.993, 0.213, 0, 0, 0, 60 [SEP] 12, Egg, 1.135, 1.042, 4.579, 0, 0, 0, 61 [SEP] 13, Plate, 0.212, 0.760, 6.196, 0, 135, 0, 96 [SEP] 14, Knife, -0.159, 0.789, 6.941, 0, 0, 0, 96 [SEP] 15, Knife, 0.803, 0.802, 0.563, 0, 270, 0, 52 [SEP] 16, Tomato, -0.313, 0.809, 6.544, 0, 135, 0, 96 [SEP] 17, SoapBottle, 2.006, 0.080, 6.469, 0, 0, 0, 84 [SEP] 18, Bowl, 1.490, 0.139, 2.498, 0, 0, 0, 72 [SEP] 19, Bowl, 1.456, 1.576, 1.288, 0, 0, 0, 70 [SEP] 20, PepperShaker, 0.544, 0.987, 0.120, 0, 0, 0, 60 [SEP] 21, PepperShaker, -0.284, 0.755, 6.787, 0, 0, 0, 96 [SEP] 22, SaltShaker, 0.305, 0.755, 6.416, 0, 270, 0, 96 [SEP] 23, Bread, -0.459, 1.062, 0.303, 0, 0, 0, 60 [SEP] 24, Apple, 0.273, 1.171, 0.213, 0, 0, 0, 76 [SEP] 25, Bowl, -0.014, 0.143, 0.429, 0, 0, 0, 69 [SEP] 26, Bread, -0.459, 1.062, 0.578, 0, 0, 0, 60 [SEP] 27, Egg, 2.094, 1.565, 6.001, 0, 270, 0, 82 [SEP] 28, Knife, 0.260, 0.801, 0.563, 0, 270, 0, 57 [SEP] 29, Fork, -0.034, 0.760, 6.323, 0, 0, 0, 96 [SEP] 30, Apple, -0.378, 0.834, 6.698, 0, 135, 0, 96 [SEP] 31, Kettle, 0.815, 0.144, 0.418, 0, 0, 0, 66 [SEP] 32, Plate, 1.490, 0.141, 3.291, 0, 0, 0, 71 [SEP] 33, SaltShaker, 1.657, 0.135, 2.424, 0, 0, 0, 72 [SEP] 34, Lettuce, -0.442, 0.848, 6.107, 0, 225, 0, 96 [SEP] 35, SoapBottle, 0.150, 0.760, 6.604, 0, 270, 0, 96 [SEP] 36, Spatula, 1.582, 1.007, 0.440, 0, 0, 0, 60 [SEP] 37, PaperTowelRoll, -0.618, 0.864, 6.284, 0, 225, 0, 96 [SEP] 38, Pot, 0.734, 0.981, 0.38, 0, 0, 0, 60 [SEP] 39, Potato, -0.224, 0.794, 6.633, 0, 45, 0, 96 [SEP] 40, ButterKnife, -0.481, 0.771, 0.507, 0, 0, 0, 56 [SEP] 41, PepperShaker, 0.771, 0.987, 0.120, 0, 0, 0, 60 [SEP] 42, Pan, 2.051, 1.513, 5.626, 0, 0, 0, 82 [SEP] 43, Tomato, 0.080, 0.809, 6.895, 0, 225, 0, 96 [SEP] 44, DishSponge, 0.674, 0.143, 0.181, 0, 0, 0, 66 [SEP] 45, Cup, 1.486, 0.137, 4.647, 0, 0, 0, 62 [SEP] 46, Spoon, 1.404, 0.772, 3.360, 0, 0, 0, 53 [SEP] 47, Mug, 1.384, 1.043, 0.847, 0, 270, 0, 60 [SEP] 48, Cabinet, 1.307, 2.455, 4.360, 0, 0, 0, [SEP] 49, Cabinet, 1.054, 0.422, 1.710, 0, 0, 0, [SEP] 50, Drawer, 1.280, 0.808, 4.718, 0, 0, 0, [SEP] 51, Cabinet, 1.307, 2.455, 3.607, 0, 0, 0, [SEP] 52, Drawer, 0.736, 0.802, 0.521, 0, 0, 0, [SEP] 53, Drawer, 1.276, 0.802, 3.291, 0, 0, 0, [SEP] 54, StoveBurner, 1.562, 0.982, 3.848, 0, 0, 0, [SEP] 55, StoveBurner, 1.317, 0.982, 4.294, 0, 0, 0, [SEP] 56, Drawer, -0.482, 0.802, 0.521, 0, 0, 0, [SEP] 57, Drawer, 0.124, 0.802, 0.521, 0, 0, 0, [SEP] 58, StoveBurner, 1.559, 0.982, 4.294, 0, 0, 0, [SEP] 59, StoveBurner, 1.320, 0.982, 3.848, 0, 0, 0, [SEP] 60, CounterTop, 1.391, 1.028, 0.897, 0, 0, 0, [SEP] 61, CounterTop, 1.391, 1.028, 4.716, 0, 0, 0, [SEP] 62, Cabinet, 1.054, 0.422, 4.548, 0, 0, 0, [SEP] 63, Cabinet, 1.317, 2.134, 0.517, 0, 0, 0, [SEP] 64, Cabinet, 1.317, 2.134, 4.889, 0, 0, 0, [SEP] 65, Cabinet, 1.317, 2.134, 3.095, 0, 0, 0, [SEP] 66, Cabinet, 0.443, 0.422, 0.743, 0, 0, 0, [SEP] 67, Cabinet, 1.270, 2.134, 0.434, 0, 0, 0, [SEP] 68, Cabinet, -0.775, 0.422, 0.743, 0, 0, 0, [SEP] 69, Cabinet, -0.168, 0.422, 0.743, 0, 0, 0, [SEP] 70, Cabinet, 1.317, 2.134, 1.534, 0, 0, 0, [SEP] 71, Cabinet, 1.054, 0.422, 2.990, 0, 0, 0, [SEP] 72, Cabinet, 1.054, 0.422, 2.944, 0, 0, 0, [SEP] 73, Cabinet, -0.263, 2.134, 0.434, 0, 0, 0, [SEP] 74, Cabinet, 0.252, 2.134, 0.434, 0, 0, 0, [SEP] 75, Sink, 1.391, 1.006, 2.326, 0, 0, 0, [SEP] 76, Microwave, 0.108, 0.981, 0.262, 0, 0, 0, [SEP] 77, HousePlant, -0.165, 0.826, 6.444, 0, 0, 0, [SEP] 78, CoffeeMachine, 1.551, 0.982, 0.953, 0, 270, 0, [SEP] 79, Toaster, 1.473, 0.981, 4.715, 0, 270, 0, [SEP] 80, Window, -2.065, 1.916, 3.626, 90, 90, 0, [SEP] 81, Window, 1.763, 2.007, 2.299, 90, 270, 0, [SEP] 82, Fridge, 2.035, 0.0, 5.625, 0, 0, 0, [SEP] 83, SinkBasin, 1.387, 0.880, 2.338, 0, 90, 0, [SEP] 84, GarbageCan, 2.001, -0.044, 6.503, 0, 0, 0, [SEP] 85, StoveKnob, 1.140, 0.934, 3.987, 45, 270, 0, [SEP] 86, StoveKnob, 1.140, 0.934, 4.309, 45, 270, 0, [SEP] 87, StoveKnob, 1.140, 0.934, 4.140, 45, 270, 0, [SEP] 88, StoveKnob, 1.140, 0.934, 3.824, 45, 270, 0, [SEP] 89, Vase, -0.226, 0.834, 6.993, 0, 0, 0, [SEP] 90, Vase, 2.098, 0.043, 7.070, 0, 257.232, 0, [SEP] 91, Vase, -0.594, 0.835, 6.130, 0, 225, 0, [SEP] 92, LightSwitch, -2.0, 1.549, 6.045, 0, 90, 0, [SEP] 93, Safe, 2.046, 1.072, 7.054, 0, 257.232, 0, [SEP] 94, Faucet, 1.534, 1.025, 2.371, 0, 294.391, 0, [SEP] 95, Blinds, 1.738, 2.563, 2.312, 0, 90, 0, [SEP] 96, DiningTable, -0.156, 0.000, 6.474, 0, 0, 0, [SEP] 97, Chair, 0.291, 0.002, 6.142, 0, 310.162, 0, [SEP] 98, GarbageBag, -1.092, 0.318, 0.268, 270, 90, 83.492, [SEP] 99, NorthWall, , , , , , , [SEP] 100, EastWall, , , , , , , [SEP] 101, SouthWall, , , , , , , [SEP] 102, WestWall, , , , , , , ", "output": ["STEP 1: Turn around, walk to the stove | STEP 2: Grab the kettle on the stove | STEP 3: Turn right, walk to the sink | STEP 4: Put the kettle in the sink,open the faucet, wash the kettle in the sink, close the faucet, take the kettle | STEP 5: turn left, walk back to the stove | STEP 6: Put the kettle on the right bottom stove | END"]} +{"id": "trial_T20190907_154202_781388-2", "input": "Fill and replace the tea kettle on the stove. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.900, 2.5, 0, 270, 0, [SEP] 1, Pan, 1.562, 0.988, 3.848, 0, 0, 0, 54 [SEP] 2, Potato, 0.064, 1.132, 0.245, 0, 0, 0, 76 [SEP] 3, DishSponge, 1.135, 0.992, 4.808, 0, 0, 0, 61 [SEP] 4, ButterKnife, 1.314, 0.992, 1.577, 0, 0, 0, 60 [SEP] 5, Kettle, -0.621, 0.145, 0.582, 0, 0, 0, 68 [SEP] 6, Kettle, -0.687, 0.993, 0.212, 0, 0, 0, 60 [SEP] 7, Kettle, 1.317, 0.988, 4.294, 0, 0, 0, 55 [SEP] 8, Spoon, 0.124, 0.772, 0.563, 0, 0, 0, 57 [SEP] 9, Spoon, 1.405, 0.772, 4.680, 0, 0, 0, 50 [SEP] 10, Fork, -0.034, 0.760, 6.169, 0, 0, 0, 96 [SEP] 11, Fork, 1.225, 0.993, 0.213, 0, 0, 0, 60 [SEP] 12, Egg, 1.135, 1.042, 4.579, 0, 0, 0, 61 [SEP] 13, Plate, 0.212, 0.760, 6.196, 0, 135, 0, 96 [SEP] 14, Knife, -0.159, 0.789, 6.941, 0, 0, 0, 96 [SEP] 15, Knife, 0.803, 0.802, 0.563, 0, 270, 0, 52 [SEP] 16, Tomato, -0.313, 0.809, 6.544, 0, 135, 0, 96 [SEP] 17, SoapBottle, 2.006, 0.080, 6.469, 0, 0, 0, 84 [SEP] 18, Bowl, 1.490, 0.139, 2.498, 0, 0, 0, 72 [SEP] 19, Bowl, 1.456, 1.576, 1.288, 0, 0, 0, 70 [SEP] 20, PepperShaker, 0.544, 0.987, 0.120, 0, 0, 0, 60 [SEP] 21, PepperShaker, -0.284, 0.755, 6.787, 0, 0, 0, 96 [SEP] 22, SaltShaker, 0.305, 0.755, 6.416, 0, 270, 0, 96 [SEP] 23, Bread, -0.459, 1.062, 0.303, 0, 0, 0, 60 [SEP] 24, Apple, 0.273, 1.171, 0.213, 0, 0, 0, 76 [SEP] 25, Bowl, -0.014, 0.143, 0.429, 0, 0, 0, 69 [SEP] 26, Bread, -0.459, 1.062, 0.578, 0, 0, 0, 60 [SEP] 27, Egg, 2.094, 1.565, 6.001, 0, 270, 0, 82 [SEP] 28, Knife, 0.260, 0.801, 0.563, 0, 270, 0, 57 [SEP] 29, Fork, -0.034, 0.760, 6.323, 0, 0, 0, 96 [SEP] 30, Apple, -0.378, 0.834, 6.698, 0, 135, 0, 96 [SEP] 31, Kettle, 0.815, 0.144, 0.418, 0, 0, 0, 66 [SEP] 32, Plate, 1.490, 0.141, 3.291, 0, 0, 0, 71 [SEP] 33, SaltShaker, 1.657, 0.135, 2.424, 0, 0, 0, 72 [SEP] 34, Lettuce, -0.442, 0.848, 6.107, 0, 225, 0, 96 [SEP] 35, SoapBottle, 0.150, 0.760, 6.604, 0, 270, 0, 96 [SEP] 36, Spatula, 1.582, 1.007, 0.440, 0, 0, 0, 60 [SEP] 37, PaperTowelRoll, -0.618, 0.864, 6.284, 0, 225, 0, 96 [SEP] 38, Pot, 0.734, 0.981, 0.38, 0, 0, 0, 60 [SEP] 39, Potato, -0.224, 0.794, 6.633, 0, 45, 0, 96 [SEP] 40, ButterKnife, -0.481, 0.771, 0.507, 0, 0, 0, 56 [SEP] 41, PepperShaker, 0.771, 0.987, 0.120, 0, 0, 0, 60 [SEP] 42, Pan, 2.051, 1.513, 5.626, 0, 0, 0, 82 [SEP] 43, Tomato, 0.080, 0.809, 6.895, 0, 225, 0, 96 [SEP] 44, DishSponge, 0.674, 0.143, 0.181, 0, 0, 0, 66 [SEP] 45, Cup, 1.486, 0.137, 4.647, 0, 0, 0, 62 [SEP] 46, Spoon, 1.404, 0.772, 3.360, 0, 0, 0, 53 [SEP] 47, Mug, 1.384, 1.043, 0.847, 0, 270, 0, 60 [SEP] 48, Cabinet, 1.307, 2.455, 4.360, 0, 0, 0, [SEP] 49, Cabinet, 1.054, 0.422, 1.710, 0, 0, 0, [SEP] 50, Drawer, 1.280, 0.808, 4.718, 0, 0, 0, [SEP] 51, Cabinet, 1.307, 2.455, 3.607, 0, 0, 0, [SEP] 52, Drawer, 0.736, 0.802, 0.521, 0, 0, 0, [SEP] 53, Drawer, 1.276, 0.802, 3.291, 0, 0, 0, [SEP] 54, StoveBurner, 1.562, 0.982, 3.848, 0, 0, 0, [SEP] 55, StoveBurner, 1.317, 0.982, 4.294, 0, 0, 0, [SEP] 56, Drawer, -0.482, 0.802, 0.521, 0, 0, 0, [SEP] 57, Drawer, 0.124, 0.802, 0.521, 0, 0, 0, [SEP] 58, StoveBurner, 1.559, 0.982, 4.294, 0, 0, 0, [SEP] 59, StoveBurner, 1.320, 0.982, 3.848, 0, 0, 0, [SEP] 60, CounterTop, 1.391, 1.028, 0.897, 0, 0, 0, [SEP] 61, CounterTop, 1.391, 1.028, 4.716, 0, 0, 0, [SEP] 62, Cabinet, 1.054, 0.422, 4.548, 0, 0, 0, [SEP] 63, Cabinet, 1.317, 2.134, 0.517, 0, 0, 0, [SEP] 64, Cabinet, 1.317, 2.134, 4.889, 0, 0, 0, [SEP] 65, Cabinet, 1.317, 2.134, 3.095, 0, 0, 0, [SEP] 66, Cabinet, 0.443, 0.422, 0.743, 0, 0, 0, [SEP] 67, Cabinet, 1.270, 2.134, 0.434, 0, 0, 0, [SEP] 68, Cabinet, -0.775, 0.422, 0.743, 0, 0, 0, [SEP] 69, Cabinet, -0.168, 0.422, 0.743, 0, 0, 0, [SEP] 70, Cabinet, 1.317, 2.134, 1.534, 0, 0, 0, [SEP] 71, Cabinet, 1.054, 0.422, 2.990, 0, 0, 0, [SEP] 72, Cabinet, 1.054, 0.422, 2.944, 0, 0, 0, [SEP] 73, Cabinet, -0.263, 2.134, 0.434, 0, 0, 0, [SEP] 74, Cabinet, 0.252, 2.134, 0.434, 0, 0, 0, [SEP] 75, Sink, 1.391, 1.006, 2.326, 0, 0, 0, [SEP] 76, Microwave, 0.108, 0.981, 0.262, 0, 0, 0, [SEP] 77, HousePlant, -0.165, 0.826, 6.444, 0, 0, 0, [SEP] 78, CoffeeMachine, 1.551, 0.982, 0.953, 0, 270, 0, [SEP] 79, Toaster, 1.473, 0.981, 4.715, 0, 270, 0, [SEP] 80, Window, -2.065, 1.916, 3.626, 90, 90, 0, [SEP] 81, Window, 1.763, 2.007, 2.299, 90, 270, 0, [SEP] 82, Fridge, 2.035, 0.0, 5.625, 0, 0, 0, [SEP] 83, SinkBasin, 1.387, 0.880, 2.338, 0, 90, 0, [SEP] 84, GarbageCan, 2.001, -0.044, 6.503, 0, 0, 0, [SEP] 85, StoveKnob, 1.140, 0.934, 3.987, 45, 270, 0, [SEP] 86, StoveKnob, 1.140, 0.934, 4.309, 45, 270, 0, [SEP] 87, StoveKnob, 1.140, 0.934, 4.140, 45, 270, 0, [SEP] 88, StoveKnob, 1.140, 0.934, 3.824, 45, 270, 0, [SEP] 89, Vase, -0.226, 0.834, 6.993, 0, 0, 0, [SEP] 90, Vase, 2.098, 0.043, 7.070, 0, 257.232, 0, [SEP] 91, Vase, -0.594, 0.835, 6.130, 0, 225, 0, [SEP] 92, LightSwitch, -2.0, 1.549, 6.045, 0, 90, 0, [SEP] 93, Safe, 2.046, 1.072, 7.054, 0, 257.232, 0, [SEP] 94, Faucet, 1.534, 1.025, 2.371, 0, 294.391, 0, [SEP] 95, Blinds, 1.738, 2.563, 2.312, 0, 90, 0, [SEP] 96, DiningTable, -0.156, 0.000, 6.474, 0, 0, 0, [SEP] 97, Chair, 0.291, 0.002, 6.142, 0, 310.162, 0, [SEP] 98, GarbageBag, -1.092, 0.318, 0.268, 270, 90, 83.492, [SEP] 99, NorthWall, , , , , , , [SEP] 100, EastWall, , , , , , , [SEP] 101, SouthWall, , , , , , , [SEP] 102, WestWall, , , , , , , ", "output": ["STEP 1: Move to the stove to the left of the sink. | STEP 2: Pick up the tea kettle from the stove. | STEP 3: Move to the sink to the right of you. | STEP 4: Place the kettle in the water and fill with water before picking up and shutting off the water. | STEP 5: Move to the stove to the left of you. | STEP 6: Place the kettle on the stove. | END"]} +{"id": "trial_T20190907_154202_781388-3", "input": "Place a tea pot full of water onto the stove. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.900, 2.5, 0, 270, 0, [SEP] 1, Pan, 1.562, 0.988, 3.848, 0, 0, 0, 54 [SEP] 2, Potato, 0.064, 1.132, 0.245, 0, 0, 0, 76 [SEP] 3, DishSponge, 1.135, 0.992, 4.808, 0, 0, 0, 61 [SEP] 4, ButterKnife, 1.314, 0.992, 1.577, 0, 0, 0, 60 [SEP] 5, Kettle, -0.621, 0.145, 0.582, 0, 0, 0, 68 [SEP] 6, Kettle, -0.687, 0.993, 0.212, 0, 0, 0, 60 [SEP] 7, Kettle, 1.317, 0.988, 4.294, 0, 0, 0, 55 [SEP] 8, Spoon, 0.124, 0.772, 0.563, 0, 0, 0, 57 [SEP] 9, Spoon, 1.405, 0.772, 4.680, 0, 0, 0, 50 [SEP] 10, Fork, -0.034, 0.760, 6.169, 0, 0, 0, 96 [SEP] 11, Fork, 1.225, 0.993, 0.213, 0, 0, 0, 60 [SEP] 12, Egg, 1.135, 1.042, 4.579, 0, 0, 0, 61 [SEP] 13, Plate, 0.212, 0.760, 6.196, 0, 135, 0, 96 [SEP] 14, Knife, -0.159, 0.789, 6.941, 0, 0, 0, 96 [SEP] 15, Knife, 0.803, 0.802, 0.563, 0, 270, 0, 52 [SEP] 16, Tomato, -0.313, 0.809, 6.544, 0, 135, 0, 96 [SEP] 17, SoapBottle, 2.006, 0.080, 6.469, 0, 0, 0, 84 [SEP] 18, Bowl, 1.490, 0.139, 2.498, 0, 0, 0, 72 [SEP] 19, Bowl, 1.456, 1.576, 1.288, 0, 0, 0, 70 [SEP] 20, PepperShaker, 0.544, 0.987, 0.120, 0, 0, 0, 60 [SEP] 21, PepperShaker, -0.284, 0.755, 6.787, 0, 0, 0, 96 [SEP] 22, SaltShaker, 0.305, 0.755, 6.416, 0, 270, 0, 96 [SEP] 23, Bread, -0.459, 1.062, 0.303, 0, 0, 0, 60 [SEP] 24, Apple, 0.273, 1.171, 0.213, 0, 0, 0, 76 [SEP] 25, Bowl, -0.014, 0.143, 0.429, 0, 0, 0, 69 [SEP] 26, Bread, -0.459, 1.062, 0.578, 0, 0, 0, 60 [SEP] 27, Egg, 2.094, 1.565, 6.001, 0, 270, 0, 82 [SEP] 28, Knife, 0.260, 0.801, 0.563, 0, 270, 0, 57 [SEP] 29, Fork, -0.034, 0.760, 6.323, 0, 0, 0, 96 [SEP] 30, Apple, -0.378, 0.834, 6.698, 0, 135, 0, 96 [SEP] 31, Kettle, 0.815, 0.144, 0.418, 0, 0, 0, 66 [SEP] 32, Plate, 1.490, 0.141, 3.291, 0, 0, 0, 71 [SEP] 33, SaltShaker, 1.657, 0.135, 2.424, 0, 0, 0, 72 [SEP] 34, Lettuce, -0.442, 0.848, 6.107, 0, 225, 0, 96 [SEP] 35, SoapBottle, 0.150, 0.760, 6.604, 0, 270, 0, 96 [SEP] 36, Spatula, 1.582, 1.007, 0.440, 0, 0, 0, 60 [SEP] 37, PaperTowelRoll, -0.618, 0.864, 6.284, 0, 225, 0, 96 [SEP] 38, Pot, 0.734, 0.981, 0.38, 0, 0, 0, 60 [SEP] 39, Potato, -0.224, 0.794, 6.633, 0, 45, 0, 96 [SEP] 40, ButterKnife, -0.481, 0.771, 0.507, 0, 0, 0, 56 [SEP] 41, PepperShaker, 0.771, 0.987, 0.120, 0, 0, 0, 60 [SEP] 42, Pan, 2.051, 1.513, 5.626, 0, 0, 0, 82 [SEP] 43, Tomato, 0.080, 0.809, 6.895, 0, 225, 0, 96 [SEP] 44, DishSponge, 0.674, 0.143, 0.181, 0, 0, 0, 66 [SEP] 45, Cup, 1.486, 0.137, 4.647, 0, 0, 0, 62 [SEP] 46, Spoon, 1.404, 0.772, 3.360, 0, 0, 0, 53 [SEP] 47, Mug, 1.384, 1.043, 0.847, 0, 270, 0, 60 [SEP] 48, Cabinet, 1.307, 2.455, 4.360, 0, 0, 0, [SEP] 49, Cabinet, 1.054, 0.422, 1.710, 0, 0, 0, [SEP] 50, Drawer, 1.280, 0.808, 4.718, 0, 0, 0, [SEP] 51, Cabinet, 1.307, 2.455, 3.607, 0, 0, 0, [SEP] 52, Drawer, 0.736, 0.802, 0.521, 0, 0, 0, [SEP] 53, Drawer, 1.276, 0.802, 3.291, 0, 0, 0, [SEP] 54, StoveBurner, 1.562, 0.982, 3.848, 0, 0, 0, [SEP] 55, StoveBurner, 1.317, 0.982, 4.294, 0, 0, 0, [SEP] 56, Drawer, -0.482, 0.802, 0.521, 0, 0, 0, [SEP] 57, Drawer, 0.124, 0.802, 0.521, 0, 0, 0, [SEP] 58, StoveBurner, 1.559, 0.982, 4.294, 0, 0, 0, [SEP] 59, StoveBurner, 1.320, 0.982, 3.848, 0, 0, 0, [SEP] 60, CounterTop, 1.391, 1.028, 0.897, 0, 0, 0, [SEP] 61, CounterTop, 1.391, 1.028, 4.716, 0, 0, 0, [SEP] 62, Cabinet, 1.054, 0.422, 4.548, 0, 0, 0, [SEP] 63, Cabinet, 1.317, 2.134, 0.517, 0, 0, 0, [SEP] 64, Cabinet, 1.317, 2.134, 4.889, 0, 0, 0, [SEP] 65, Cabinet, 1.317, 2.134, 3.095, 0, 0, 0, [SEP] 66, Cabinet, 0.443, 0.422, 0.743, 0, 0, 0, [SEP] 67, Cabinet, 1.270, 2.134, 0.434, 0, 0, 0, [SEP] 68, Cabinet, -0.775, 0.422, 0.743, 0, 0, 0, [SEP] 69, Cabinet, -0.168, 0.422, 0.743, 0, 0, 0, [SEP] 70, Cabinet, 1.317, 2.134, 1.534, 0, 0, 0, [SEP] 71, Cabinet, 1.054, 0.422, 2.990, 0, 0, 0, [SEP] 72, Cabinet, 1.054, 0.422, 2.944, 0, 0, 0, [SEP] 73, Cabinet, -0.263, 2.134, 0.434, 0, 0, 0, [SEP] 74, Cabinet, 0.252, 2.134, 0.434, 0, 0, 0, [SEP] 75, Sink, 1.391, 1.006, 2.326, 0, 0, 0, [SEP] 76, Microwave, 0.108, 0.981, 0.262, 0, 0, 0, [SEP] 77, HousePlant, -0.165, 0.826, 6.444, 0, 0, 0, [SEP] 78, CoffeeMachine, 1.551, 0.982, 0.953, 0, 270, 0, [SEP] 79, Toaster, 1.473, 0.981, 4.715, 0, 270, 0, [SEP] 80, Window, -2.065, 1.916, 3.626, 90, 90, 0, [SEP] 81, Window, 1.763, 2.007, 2.299, 90, 270, 0, [SEP] 82, Fridge, 2.035, 0.0, 5.625, 0, 0, 0, [SEP] 83, SinkBasin, 1.387, 0.880, 2.338, 0, 90, 0, [SEP] 84, GarbageCan, 2.001, -0.044, 6.503, 0, 0, 0, [SEP] 85, StoveKnob, 1.140, 0.934, 3.987, 45, 270, 0, [SEP] 86, StoveKnob, 1.140, 0.934, 4.309, 45, 270, 0, [SEP] 87, StoveKnob, 1.140, 0.934, 4.140, 45, 270, 0, [SEP] 88, StoveKnob, 1.140, 0.934, 3.824, 45, 270, 0, [SEP] 89, Vase, -0.226, 0.834, 6.993, 0, 0, 0, [SEP] 90, Vase, 2.098, 0.043, 7.070, 0, 257.232, 0, [SEP] 91, Vase, -0.594, 0.835, 6.130, 0, 225, 0, [SEP] 92, LightSwitch, -2.0, 1.549, 6.045, 0, 90, 0, [SEP] 93, Safe, 2.046, 1.072, 7.054, 0, 257.232, 0, [SEP] 94, Faucet, 1.534, 1.025, 2.371, 0, 294.391, 0, [SEP] 95, Blinds, 1.738, 2.563, 2.312, 0, 90, 0, [SEP] 96, DiningTable, -0.156, 0.000, 6.474, 0, 0, 0, [SEP] 97, Chair, 0.291, 0.002, 6.142, 0, 310.162, 0, [SEP] 98, GarbageBag, -1.092, 0.318, 0.268, 270, 90, 83.492, [SEP] 99, NorthWall, , , , , , , [SEP] 100, EastWall, , , , , , , [SEP] 101, SouthWall, , , , , , , [SEP] 102, WestWall, , , , , , , ", "output": ["STEP 1: Turn right move to in front of the stove. | STEP 2: Pick up the tea pot from the stove. | STEP 3: Turn right move to in front of the sink. | STEP 4: Put the tea pot in to the sink, fill it with water, pick it back up. | STEP 5: Turn left move to in front of the stove. | STEP 6: Put the tea pot on the right forward burner of the stove. | END"]} +{"id": "trial_T20190906_205831_570690-1", "input": "Put sponge and pot from stove on to the kitchen island. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.900, -1.75, 0, 0, 0, [SEP] 1, Pencil, -1.912, 0.027, -3.763, 0, 0, 0, 65 [SEP] 2, Pen, -0.222, 0.918, -3.771, 0, 0, 0, 49 [SEP] 3, ButterKnife, -0.365, 0.915, -2.764, 0, 90, 0, 49 [SEP] 4, WineBottle, -0.815, 0.916, -3.697, 0, 0, 0, 49 [SEP] 5, Knife, -0.222, 0.911, -3.537, 88.258, 111.313, 112.468, 49 [SEP] 6, Knife, -0.746, 0.927, -3.768, 0, 180, 354.476, 49 [SEP] 7, Cup, -0.230, 1.969, -2.306, 0, 0, 0, 56 [SEP] 8, Egg, -0.254, 0.830, -2.082, 0, 270, 0, 67 [SEP] 9, Tomato, -0.246, 1.454, -0.979, 0, 270, 0, 66 [SEP] 10, Tomato, -0.600, 0.979, -3.909, 0, 0, 0, 49 [SEP] 11, Bowl, -0.343, 1.097, -0.560, 0, 270, 0, 66 [SEP] 12, Bowl, -1.048, 1.968, -3.851, 0, 0, 0, 50 [SEP] 13, Lettuce, -0.392, 1.191, -0.874, 0, 270, 0, 66 [SEP] 14, SaltShaker, -0.538, 0.077, -3.299, 0, 0, 0, 55 [SEP] 15, SaltShaker, -0.420, 0.743, -3.238, 0, 0, 0, 60 [SEP] 16, PepperShaker, -1.443, 1.965, -3.890, 0, 0, 0, 58 [SEP] 17, Mug, -0.441, 1.385, -0.560, 0, 270, 0, 66 [SEP] 18, Mug, -0.308, 1.685, -0.665, 0, 270, 0, 66 [SEP] 19, Apple, -2.694, 0.987, -1.453, 0, 0, 0, 74 [SEP] 20, Lettuce, -2.562, 1.002, -1.677, 36.385, 0, 0, 74 [SEP] 21, Glassbottle, -0.302, 0.797, -1.934, 0, 270, 0, 67 [SEP] 22, Egg, -1.943, 0.059, -3.654, 0, 0, 0, 65 [SEP] 23, Pen, -2.160, 0.919, -0.829, 0, 0, 0, 74 [SEP] 24, Fork, -0.295, 0.788, -1.858, 0, 0, 0, 67 [SEP] 25, SoapBottle, -0.460, 0.079, -1.849, 0, 0, 0, 54 [SEP] 26, Pencil, -0.537, 0.747, -3.297, 0, 270, 0, 60 [SEP] 27, WineBottle, -0.211, 1.528, -2.809, 0, 0, 0, 61 [SEP] 28, Spatula, -0.3, 0.915, -2.544, 0, 22.903, 0, 49 [SEP] 29, Bread, -0.440, 0.953, -3.660, 0, 347.747, 0, 49 [SEP] 30, Tomato, -1.975, 0.090, -3.799, 0, 0, 0, 65 [SEP] 31, Pan, -1.515, 0.935, -3.497, 0, 0, 0, 46 [SEP] 32, Cup, -1.309, 1.629, -3.870, 0, 0, 0, 62 [SEP] 33, Pot, -1.129, 0.935, -3.498, 0, 0, 0, 47 [SEP] 34, SaltShaker, -0.749, 0.742, -3.586, 0, 0, 0, 48 [SEP] 35, Potato, -0.388, 1.722, -0.979, 0, 270, 0, 66 [SEP] 36, PepperShaker, -0.230, 1.966, -2.077, 0, 0, 0, 56 [SEP] 37, ButterKnife, -0.671, 0.905, -3.626, 0, 180, 0, 49 [SEP] 38, DishSponge, -0.743, 0.915, -3.555, 0, 0, 0, 49 [SEP] 39, Spoon, -0.328, 0.786, -2.125, 0, 33.895, 0, 67 [SEP] 40, Plate, -2.121, 0.913, -2.422, 0, 0, 0, 74 [SEP] 41, Knife, -2.269, 0.920, -2.143, 90, 315, 0, 74 [SEP] 42, Mug, -0.447, 0.792, -2.008, 0, 90, 0, 67 [SEP] 43, Bowl, -0.391, 1.529, -3.679, 0, 45, 0, 57 [SEP] 44, Cabinet, -0.582, 0.388, -1.804, 0, 0, 0, [SEP] 45, StoveBurner, -1.515, 0.928, -3.752, 0, 90, 0, [SEP] 46, StoveBurner, -1.515, 0.928, -3.497, 0, 0, 0, [SEP] 47, StoveBurner, -1.129, 0.928, -3.498, 0, 0, 0, [SEP] 48, Drawer, -0.749, 0.779, -3.551, 0, 0, 0, [SEP] 49, CounterTop, -0.303, 0.951, -2.793, 0, 0, 0, [SEP] 50, Cabinet, -0.883, 2.140, -3.687, 0, 0, 0, [SEP] 51, Cabinet, -0.312, 2.140, -1.543, 0, 0, 0, [SEP] 52, Sink, -0.349, 0.907, -2.014, 0, 0, 0, [SEP] 53, Cabinet, -0.877, 0.388, -3.422, 0, 0, 0, [SEP] 54, Cabinet, -0.582, 0.388, -2.197, 0, 0, 0, [SEP] 55, Cabinet, -0.584, 0.388, -3.396, 0, 0, 0, [SEP] 56, Cabinet, -0.312, 2.140, -2.481, 0, 0, 0, [SEP] 57, Cabinet, -0.330, 1.921, -3.390, 0, 0, 0, [SEP] 58, Cabinet, -1.764, 2.140, -3.687, 0, 0, 0, [SEP] 59, StoveBurner, -1.129, 0.928, -3.752, 0, 90, 0, [SEP] 60, Drawer, -0.454, 0.779, -3.268, 0, 0, 0, [SEP] 61, Cabinet, -0.302, 1.916, -2.501, 0, 0, 0, [SEP] 62, Microwave, -1.317, 1.517, -3.801, 0, 1.440, 0, [SEP] 63, CoffeeMachine, -0.153, 0.903, -3.144, 0, 270, 0, [SEP] 64, LightSwitch, -4.323, 1.319, 0.0, 0, 180, 0, [SEP] 65, GarbageCan, -1.943, -7.152, -3.763, 0, 0, 0, [SEP] 66, Fridge, -0.330, 0.0, -0.769, 0, 270, 0, [SEP] 67, SinkBasin, -0.350, 0.786, -2.018, 0, 270, 0, [SEP] 68, StoveKnob, -1.582, 1.082, -3.958, 72.287, 0, 0, [SEP] 69, StoveKnob, -1.177, 1.082, -3.958, 72.287, 0, 0, [SEP] 70, StoveKnob, -1.424, 1.082, -3.958, 72.287, 0, 0, [SEP] 71, StoveKnob, -1.028, 1.082, -3.958, 72.287, 0, 0, [SEP] 72, Toaster, -0.181, 0.903, -2.764, 0, 270, 0, [SEP] 73, Window, -2.503, 1.782, -4.185, 90, 180, 0, [SEP] 74, DiningTable, -2.432, 0.000, -1.694, 0, 270, 0, [SEP] 75, Shelf, -2.432, 0.150, -1.694, 0, 270, 0, [SEP] 76, Blinds, -2.536, 2.699, -3.959, 0, 0, 0, [SEP] 77, Faucet, -0.079, 0.904, -2.034, 270, 180, 0, [SEP] 78, Chair, -3.264, 0.002, -2.094, 0, 53.280, 0, [SEP] 79, Chair, -3.240, 0.002, -1.253, 0, 117.257, 0, [SEP] 80, Shelf, -2.432, 0.523, -1.694, 0, 270, 0, [SEP] 81, NorthWall, , , , , , , [SEP] 82, EastWall, , , , , , , [SEP] 83, SouthWall, , , , , , , [SEP] 84, WestWall, , , , , , , ", "output": ["STEP 1: Move to the counter top the left of the stove | STEP 2: Pick up sponge from the counter | STEP 3: Move to the stove to the right of current position | STEP 4: Place sponge inside pot on the stove | STEP 5: Pick up pot with the sponge inside of it | STEP 6: Move to the island counter across from the sink. | STEP 7: Place pan on top of island counter | END"]} +{"id": "trial_T20190919_005159_015044-0", "input": "bring the knife and the baking sheet at the counter beside the apples. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 2.5, 0.930, -0.75, 0, 90, 0, [SEP] 1, Pan, -1.080, 0.899, 0.176, 0, 270, 0, 69 [SEP] 2, Ladle, 3.029, 0.749, 0.829, 0, 270, 0, 91 [SEP] 3, Ladle, 3.277, 0.937, -0.599, 0, 0, 0, 68 [SEP] 4, DishSponge, 3.028, 0.176, 0.770, 0, 0, 0, 78 [SEP] 5, DishSponge, 0.836, 0.907, 0.747, 0, 0, 0, 100 [SEP] 6, ButterKnife, -0.702, 0.900, -0.726, 0, 45, 0, 69 [SEP] 7, ButterKnife, -1.080, 0.900, -0.047, 0, 0, 0, 69 [SEP] 8, ButterKnife, 2.966, 0.900, -0.798, 0, 0, 0, 68 [SEP] 9, Spatula, -0.827, 0.341, 0.401, 0, 90, 0, 70 [SEP] 10, Spoon, -0.827, 0.327, 1.518, 0, 0, 0, 104 [SEP] 11, Spoon, 0.376, 0.513, -1.515, 0, 90, 0, 55 [SEP] 12, CellPhone, 3.335, 0.898, -0.279, 0, 0, 0, 68 [SEP] 13, CellPhone, -0.706, 0.131, -0.682, 0, 45, 0, 95 [SEP] 14, Mug, 1.242, 0.708, -1.381, 0, 0, 0, 115 [SEP] 15, Mug, 0.773, 1.242, -1.448, 0, 0, 0, 115 [SEP] 16, Apple, -0.053, 0.974, -1.682, 0, 45, 0, 90 [SEP] 17, Apple, 1.086, 1.321, -1.503, 0, 0, 0, 115 [SEP] 18, SaltShaker, 0.468, 0.127, -1.515, 0, 0, 0, 59 [SEP] 19, SaltShaker, 3.279, 1.260, -0.854, 0, 0, 0, 82 [SEP] 20, PepperShaker, -0.857, 0.896, -0.671, 0, 45, 0, 69 [SEP] 21, PepperShaker, -0.717, 0.896, 0.176, 0, 0, 0, 69 [SEP] 22, Bowl, 3.084, 0.172, -0.744, 0, 0, 0, 81 [SEP] 23, SoapBottle, 0.254, 1.268, -1.741, 0, 0, 0, 85 [SEP] 24, SoapBottle, -0.904, 0.909, -0.928, 0, 45, 0, 69 [SEP] 25, Cup, -1.052, 0.995, 1.417, 0, 90, 0, 117 [SEP] 26, Cup, -0.228, 1.261, -1.506, 0, 45, 0, 86 [SEP] 27, Plate, 0.664, 0.923, 0.296, 0, 36.810, 0, 100 [SEP] 28, Knife, 2.966, 0.926, -0.300, 0, 180, 0, 68 [SEP] 29, Knife, 3.373, 0.926, -0.023, 0, 90, 0, 68 [SEP] 30, Plate, 3.044, 1.477, -1.648, 0, 0, 0, 67 [SEP] 31, Glassbottle, 3.031, 1.465, -1.186, 0, 0, 0, 83 [SEP] 32, SoapBottle, 2.914, 0.184, -0.453, 0, 0, 0, 80 [SEP] 33, Potato, 3.028, 0.785, -0.034, 0, 90, 0, 114 [SEP] 34, Fork, 0.445, 0.911, 0.627, 0, 0, 0, 100 [SEP] 35, Ladle, 0.445, 0.947, 0.827, 0, 0, 0, 100 [SEP] 36, Pot, -0.420, 0.902, -0.920, 0, 135, 0, 64 [SEP] 37, Kettle, -0.237, 0.900, -1.099, 0, 45, 0, 98 [SEP] 38, Spatula, 1.360, 0.923, 0.605, 0, 0, 0, 100 [SEP] 39, Knife, 1.009, 0.933, 0.525, 0, 36.810, 0, 100 [SEP] 40, Lettuce, 0.950, 0.973, 0.447, 0, 36.810, 0, 100 [SEP] 41, Cup, 1.242, 1.071, -1.531, 0, 0, 0, 115 [SEP] 42, SaltShaker, 2.966, 0.897, 0.947, 0, 0, 0, 68 [SEP] 43, Egg, 3.111, 0.799, -0.100, 0, 90, 0, 114 [SEP] 44, PepperShaker, -0.239, 0.896, -1.496, 0, 45, 0, 90 [SEP] 45, ButterKnife, 0.967, 0.908, 0.038, 0, 0, 0, 100 [SEP] 46, Apple, 0.049, 0.974, -1.579, 0, 45, 0, 90 [SEP] 47, Pan, -0.862, 0.899, 0.623, 0, 0, 0, 69 [SEP] 48, Bread, 1.229, 0.986, 0.180, 0, 0, 0, 100 [SEP] 49, CellPhone, -0.786, 0.323, 0.926, 0, 0, 0, 70 [SEP] 50, DishSponge, 3.262, 0.100, 1.626, 0, 225, 0, 110 [SEP] 51, Tomato, 2.966, 0.937, -0.897, 0, 0, 0, 68 [SEP] 52, Spoon, 0.622, 0.912, 0.627, 0, 0, 0, 100 [SEP] 53, Bowl, 0.404, 1.256, -1.707, 0, 90, 0, 85 [SEP] 54, Mug, 3.049, 0.966, 0.591, 0, 270, 0, 112 [SEP] 55, Drawer, 0.376, 0.572, -1.509, 0, 0, 0, [SEP] 56, Drawer, 3.020, 0.769, -0.783, 0, 180, 0, [SEP] 57, Drawer, -0.860, 0.577, 1.429, 0, 0, 0, [SEP] 58, StoveBurner, -0.600, 0.897, -1.090, 0, 135, 0, [SEP] 59, Drawer, 0.376, 0.191, -1.509, 0, 0, 0, [SEP] 60, Cabinet, 1.402, 1.874, -1.259, 0, 0, 0, [SEP] 61, Cabinet, -0.202, 1.963, -1.328, 0, 0, 0, [SEP] 62, Drawer, -0.860, 0.765, 1.429, 0, 0, 0, [SEP] 63, Drawer, -0.677, 0.765, -0.700, 0, 0, 0, [SEP] 64, StoveBurner, -0.420, 0.897, -0.920, 0, 135, 0, [SEP] 65, Drawer, 3.020, 0.769, -0.407, 0, 180, 0, [SEP] 66, Drawer, -0.860, 0.577, 0.663, 0, 0, 0, [SEP] 67, Cabinet, 2.819, 1.768, -1.850, 0, 0, 0, [SEP] 68, CounterTop, 3.111, 0.936, 0.019, 0, 0, 0, [SEP] 69, CounterTop, -1.007, 0.935, -0.039, 0, 0, 0, [SEP] 70, Drawer, -0.860, 0.385, 0.663, 0, 0, 0, [SEP] 71, StoveBurner, -0.419, 0.897, -1.269, 0, 315, 0, [SEP] 72, Drawer, -0.047, 0.573, -1.324, 0, 0, 0, [SEP] 73, Drawer, -0.860, 0.765, 0.663, 0, 0, 0, [SEP] 74, Drawer, -0.860, 0.385, -0.100, 0, 0, 0, [SEP] 75, Drawer, 0.376, 0.380, -1.509, 0, 0, 0, [SEP] 76, Drawer, -0.860, 0.765, -0.100, 0, 0, 0, [SEP] 77, Drawer, 0.376, 0.765, -1.509, 0, 0, 0, [SEP] 78, Cabinet, 2.849, 0.419, 0.409, 0, 0, 0, [SEP] 79, Drawer, -0.047, 0.765, -1.324, 0, 0, 0, [SEP] 80, Cabinet, 2.849, 0.419, -0.610, 0, 0, 0, [SEP] 81, Cabinet, 2.849, 0.419, -0.959, 0, 0, 0, [SEP] 82, Cabinet, 3.069, 1.666, -0.709, 0, 0, 0, [SEP] 83, Cabinet, 2.819, 1.768, -1.047, 0, 0, 0, [SEP] 84, Cabinet, 0.620, 1.874, -1.259, 0, 0, 0, [SEP] 85, Cabinet, 0.140, 1.666, -1.559, 0, 0, 0, [SEP] 86, Cabinet, -0.189, 1.666, -1.340, 0, 0, 0, [SEP] 87, Cabinet, -0.709, 1.963, -0.819, 0, 0, 0, [SEP] 88, Cabinet, -0.920, 1.665, -0.620, 0, 0, 0, [SEP] 89, Drawer, -0.860, 0.190, -0.100, 0, 0, 0, [SEP] 90, CounterTop, 0.133, 0.935, -1.457, 0, 0, 0, [SEP] 91, Drawer, 3.020, 0.769, 0.695, 0, 180, 0, [SEP] 92, Drawer, -0.677, 0.577, -0.700, 0, 0, 0, [SEP] 93, Drawer, -0.860, 0.190, 1.429, 0, 0, 0, [SEP] 94, Drawer, -0.047, 0.192, -1.324, 0, 0, 0, [SEP] 95, Drawer, -0.677, 0.193, -0.700, 0, 0, 0, [SEP] 96, Drawer, -0.860, 0.577, -0.100, 0, 0, 0, [SEP] 97, Sink, 3.078, 0.887, 0.086, 0, 0, 0, [SEP] 98, StoveBurner, -0.239, 0.897, -1.089, 0, 315, 0, [SEP] 99, Drawer, -0.860, 0.190, 0.663, 0, 0, 0, [SEP] 100, CounterTop, 1.210, 0.937, 0.463, 0, 0, 0, [SEP] 101, Drawer, -0.047, 0.381, -1.324, 0, 0, 0, [SEP] 102, Drawer, -0.677, 0.387, -0.700, 0, 0, 0, [SEP] 103, Mirror, -1.295, 1.630, 0.045, 0, 0, 0, [SEP] 104, Drawer, -0.860, 0.385, 1.429, 0, 0, 0, [SEP] 105, HousePlant, 3.196, 0.891, -0.368, 0, 0, 0, [SEP] 106, StoveKnob, -0.090, 0.790, -1.009, 270, 45, 0, [SEP] 107, StoveKnob, -0.280, 0.790, -0.819, 270, 45, 0, [SEP] 108, StoveKnob, -0.180, 0.790, -0.920, 270, 45, 0, [SEP] 109, StoveKnob, -0.370, 0.790, -0.720, 270, 45, 0, [SEP] 110, GarbageCan, 3.137, 0.025, 1.545, 0, 225, 0, [SEP] 111, Window, 3.703, 1.675, 0.046, 90, 90, 0, [SEP] 112, CoffeeMachine, 3.214, 0.890, 0.697, 0, 270, 0, [SEP] 113, LightSwitch, 2.592, 1.309, -1.880, 0, 0, 0, [SEP] 114, SinkBasin, 3.069, 0.736, 0.108, 0, 90, 0, [SEP] 115, Fridge, 1.008, 0.029, -1.467, 0, 0, 0, [SEP] 116, Toaster, -1.035, 0.873, -0.396, 0, 90, 0, [SEP] 117, Microwave, -1.034, 0.874, 1.428, 0, 90, 0, [SEP] 118, Faucet, 3.305, 0.886, 0.094, 270, 180, 0, [SEP] 119, NorthWall, , , , , , , [SEP] 120, EastWall, , , , , , , [SEP] 121, SouthWall, , , , , , , [SEP] 122, WestWall, , , , , , , ", "output": ["STEP 1: Look around to find the knife. | STEP 2: On the counter pick up the knife beside the pan. | STEP 3: head towards the stove. | STEP 4: Put the knife at the baking sheet. | STEP 5: pick up the baking sheet on the counter. | STEP 6: Look around and turn left facing the two apples. | STEP 7: Put the baking sheet to the counter beside the two apples. | END"]} +{"id": "trial_T20190919_005159_015044-2", "input": "Put pan with knife on the counter beside the fridge SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 2.5, 0.930, -0.75, 0, 90, 0, [SEP] 1, Pan, -1.080, 0.899, 0.176, 0, 270, 0, 69 [SEP] 2, Ladle, 3.029, 0.749, 0.829, 0, 270, 0, 91 [SEP] 3, Ladle, 3.277, 0.937, -0.599, 0, 0, 0, 68 [SEP] 4, DishSponge, 3.028, 0.176, 0.770, 0, 0, 0, 78 [SEP] 5, DishSponge, 0.836, 0.907, 0.747, 0, 0, 0, 100 [SEP] 6, ButterKnife, -0.702, 0.900, -0.726, 0, 45, 0, 69 [SEP] 7, ButterKnife, -1.080, 0.900, -0.047, 0, 0, 0, 69 [SEP] 8, ButterKnife, 2.966, 0.900, -0.798, 0, 0, 0, 68 [SEP] 9, Spatula, -0.827, 0.341, 0.401, 0, 90, 0, 70 [SEP] 10, Spoon, -0.827, 0.327, 1.518, 0, 0, 0, 104 [SEP] 11, Spoon, 0.376, 0.513, -1.515, 0, 90, 0, 55 [SEP] 12, CellPhone, 3.335, 0.898, -0.279, 0, 0, 0, 68 [SEP] 13, CellPhone, -0.706, 0.131, -0.682, 0, 45, 0, 95 [SEP] 14, Mug, 1.242, 0.708, -1.381, 0, 0, 0, 115 [SEP] 15, Mug, 0.773, 1.242, -1.448, 0, 0, 0, 115 [SEP] 16, Apple, -0.053, 0.974, -1.682, 0, 45, 0, 90 [SEP] 17, Apple, 1.086, 1.321, -1.503, 0, 0, 0, 115 [SEP] 18, SaltShaker, 0.468, 0.127, -1.515, 0, 0, 0, 59 [SEP] 19, SaltShaker, 3.279, 1.260, -0.854, 0, 0, 0, 82 [SEP] 20, PepperShaker, -0.857, 0.896, -0.671, 0, 45, 0, 69 [SEP] 21, PepperShaker, -0.717, 0.896, 0.176, 0, 0, 0, 69 [SEP] 22, Bowl, 3.084, 0.172, -0.744, 0, 0, 0, 81 [SEP] 23, SoapBottle, 0.254, 1.268, -1.741, 0, 0, 0, 85 [SEP] 24, SoapBottle, -0.904, 0.909, -0.928, 0, 45, 0, 69 [SEP] 25, Cup, -1.052, 0.995, 1.417, 0, 90, 0, 117 [SEP] 26, Cup, -0.228, 1.261, -1.506, 0, 45, 0, 86 [SEP] 27, Plate, 0.664, 0.923, 0.296, 0, 36.810, 0, 100 [SEP] 28, Knife, 2.966, 0.926, -0.300, 0, 180, 0, 68 [SEP] 29, Knife, 3.373, 0.926, -0.023, 0, 90, 0, 68 [SEP] 30, Plate, 3.044, 1.477, -1.648, 0, 0, 0, 67 [SEP] 31, Glassbottle, 3.031, 1.465, -1.186, 0, 0, 0, 83 [SEP] 32, SoapBottle, 2.914, 0.184, -0.453, 0, 0, 0, 80 [SEP] 33, Potato, 3.028, 0.785, -0.034, 0, 90, 0, 114 [SEP] 34, Fork, 0.445, 0.911, 0.627, 0, 0, 0, 100 [SEP] 35, Ladle, 0.445, 0.947, 0.827, 0, 0, 0, 100 [SEP] 36, Pot, -0.420, 0.902, -0.920, 0, 135, 0, 64 [SEP] 37, Kettle, -0.237, 0.900, -1.099, 0, 45, 0, 98 [SEP] 38, Spatula, 1.360, 0.923, 0.605, 0, 0, 0, 100 [SEP] 39, Knife, 1.009, 0.933, 0.525, 0, 36.810, 0, 100 [SEP] 40, Lettuce, 0.950, 0.973, 0.447, 0, 36.810, 0, 100 [SEP] 41, Cup, 1.242, 1.071, -1.531, 0, 0, 0, 115 [SEP] 42, SaltShaker, 2.966, 0.897, 0.947, 0, 0, 0, 68 [SEP] 43, Egg, 3.111, 0.799, -0.100, 0, 90, 0, 114 [SEP] 44, PepperShaker, -0.239, 0.896, -1.496, 0, 45, 0, 90 [SEP] 45, ButterKnife, 0.967, 0.908, 0.038, 0, 0, 0, 100 [SEP] 46, Apple, 0.049, 0.974, -1.579, 0, 45, 0, 90 [SEP] 47, Pan, -0.862, 0.899, 0.623, 0, 0, 0, 69 [SEP] 48, Bread, 1.229, 0.986, 0.180, 0, 0, 0, 100 [SEP] 49, CellPhone, -0.786, 0.323, 0.926, 0, 0, 0, 70 [SEP] 50, DishSponge, 3.262, 0.100, 1.626, 0, 225, 0, 110 [SEP] 51, Tomato, 2.966, 0.937, -0.897, 0, 0, 0, 68 [SEP] 52, Spoon, 0.622, 0.912, 0.627, 0, 0, 0, 100 [SEP] 53, Bowl, 0.404, 1.256, -1.707, 0, 90, 0, 85 [SEP] 54, Mug, 3.049, 0.966, 0.591, 0, 270, 0, 112 [SEP] 55, Drawer, 0.376, 0.572, -1.509, 0, 0, 0, [SEP] 56, Drawer, 3.020, 0.769, -0.783, 0, 180, 0, [SEP] 57, Drawer, -0.860, 0.577, 1.429, 0, 0, 0, [SEP] 58, StoveBurner, -0.600, 0.897, -1.090, 0, 135, 0, [SEP] 59, Drawer, 0.376, 0.191, -1.509, 0, 0, 0, [SEP] 60, Cabinet, 1.402, 1.874, -1.259, 0, 0, 0, [SEP] 61, Cabinet, -0.202, 1.963, -1.328, 0, 0, 0, [SEP] 62, Drawer, -0.860, 0.765, 1.429, 0, 0, 0, [SEP] 63, Drawer, -0.677, 0.765, -0.700, 0, 0, 0, [SEP] 64, StoveBurner, -0.420, 0.897, -0.920, 0, 135, 0, [SEP] 65, Drawer, 3.020, 0.769, -0.407, 0, 180, 0, [SEP] 66, Drawer, -0.860, 0.577, 0.663, 0, 0, 0, [SEP] 67, Cabinet, 2.819, 1.768, -1.850, 0, 0, 0, [SEP] 68, CounterTop, 3.111, 0.936, 0.019, 0, 0, 0, [SEP] 69, CounterTop, -1.007, 0.935, -0.039, 0, 0, 0, [SEP] 70, Drawer, -0.860, 0.385, 0.663, 0, 0, 0, [SEP] 71, StoveBurner, -0.419, 0.897, -1.269, 0, 315, 0, [SEP] 72, Drawer, -0.047, 0.573, -1.324, 0, 0, 0, [SEP] 73, Drawer, -0.860, 0.765, 0.663, 0, 0, 0, [SEP] 74, Drawer, -0.860, 0.385, -0.100, 0, 0, 0, [SEP] 75, Drawer, 0.376, 0.380, -1.509, 0, 0, 0, [SEP] 76, Drawer, -0.860, 0.765, -0.100, 0, 0, 0, [SEP] 77, Drawer, 0.376, 0.765, -1.509, 0, 0, 0, [SEP] 78, Cabinet, 2.849, 0.419, 0.409, 0, 0, 0, [SEP] 79, Drawer, -0.047, 0.765, -1.324, 0, 0, 0, [SEP] 80, Cabinet, 2.849, 0.419, -0.610, 0, 0, 0, [SEP] 81, Cabinet, 2.849, 0.419, -0.959, 0, 0, 0, [SEP] 82, Cabinet, 3.069, 1.666, -0.709, 0, 0, 0, [SEP] 83, Cabinet, 2.819, 1.768, -1.047, 0, 0, 0, [SEP] 84, Cabinet, 0.620, 1.874, -1.259, 0, 0, 0, [SEP] 85, Cabinet, 0.140, 1.666, -1.559, 0, 0, 0, [SEP] 86, Cabinet, -0.189, 1.666, -1.340, 0, 0, 0, [SEP] 87, Cabinet, -0.709, 1.963, -0.819, 0, 0, 0, [SEP] 88, Cabinet, -0.920, 1.665, -0.620, 0, 0, 0, [SEP] 89, Drawer, -0.860, 0.190, -0.100, 0, 0, 0, [SEP] 90, CounterTop, 0.133, 0.935, -1.457, 0, 0, 0, [SEP] 91, Drawer, 3.020, 0.769, 0.695, 0, 180, 0, [SEP] 92, Drawer, -0.677, 0.577, -0.700, 0, 0, 0, [SEP] 93, Drawer, -0.860, 0.190, 1.429, 0, 0, 0, [SEP] 94, Drawer, -0.047, 0.192, -1.324, 0, 0, 0, [SEP] 95, Drawer, -0.677, 0.193, -0.700, 0, 0, 0, [SEP] 96, Drawer, -0.860, 0.577, -0.100, 0, 0, 0, [SEP] 97, Sink, 3.078, 0.887, 0.086, 0, 0, 0, [SEP] 98, StoveBurner, -0.239, 0.897, -1.089, 0, 315, 0, [SEP] 99, Drawer, -0.860, 0.190, 0.663, 0, 0, 0, [SEP] 100, CounterTop, 1.210, 0.937, 0.463, 0, 0, 0, [SEP] 101, Drawer, -0.047, 0.381, -1.324, 0, 0, 0, [SEP] 102, Drawer, -0.677, 0.387, -0.700, 0, 0, 0, [SEP] 103, Mirror, -1.295, 1.630, 0.045, 0, 0, 0, [SEP] 104, Drawer, -0.860, 0.385, 1.429, 0, 0, 0, [SEP] 105, HousePlant, 3.196, 0.891, -0.368, 0, 0, 0, [SEP] 106, StoveKnob, -0.090, 0.790, -1.009, 270, 45, 0, [SEP] 107, StoveKnob, -0.280, 0.790, -0.819, 270, 45, 0, [SEP] 108, StoveKnob, -0.180, 0.790, -0.920, 270, 45, 0, [SEP] 109, StoveKnob, -0.370, 0.790, -0.720, 270, 45, 0, [SEP] 110, GarbageCan, 3.137, 0.025, 1.545, 0, 225, 0, [SEP] 111, Window, 3.703, 1.675, 0.046, 90, 90, 0, [SEP] 112, CoffeeMachine, 3.214, 0.890, 0.697, 0, 270, 0, [SEP] 113, LightSwitch, 2.592, 1.309, -1.880, 0, 0, 0, [SEP] 114, SinkBasin, 3.069, 0.736, 0.108, 0, 90, 0, [SEP] 115, Fridge, 1.008, 0.029, -1.467, 0, 0, 0, [SEP] 116, Toaster, -1.035, 0.873, -0.396, 0, 90, 0, [SEP] 117, Microwave, -1.034, 0.874, 1.428, 0, 90, 0, [SEP] 118, Faucet, 3.305, 0.886, 0.094, 270, 180, 0, [SEP] 119, NorthWall, , , , , , , [SEP] 120, EastWall, , , , , , , [SEP] 121, SouthWall, , , , , , , [SEP] 122, WestWall, , , , , , , ", "output": ["STEP 1: Turn to your left then cross the room head to the counter with toaster | STEP 2: Pick up the knife on the counter beside the toaster | STEP 3: Turn to your left then walk few step face the stove | STEP 4: Put the knife in the pan on the stove | STEP 5: Pick up the pan with knife | STEP 6: Turn to your left then make few steps until the end of the counter beside the fridge | STEP 7: Put the pan with knife on the counter beside the fridge | END"]} +{"id": "trial_T20190912_074536_269191-0", "input": "Put the wrist watch on the desk SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.5, 0.899, -1.5, 0, 0, 0, [SEP] 1, Mug, 0.859, 1.139, -2.787, 0, 270, 0, 45 [SEP] 2, Bowl, 3.024, 0.792, -1.121, 0, 0, 0, 63 [SEP] 3, Watch, -3.011, 1.413, -2.197, 0, 90, 0, 44 [SEP] 4, CD, -2.979, 1.413, -1.631, 0, 90, 0, 51 [SEP] 5, CD, 3.271, 0.791, -1.686, 0, 0, 0, 63 [SEP] 6, Pen, -1.523, 0.619, 0.300, 0, 180, 0, 67 [SEP] 7, Pencil, -2.916, 1.418, -2.744, 0, 90, 0, 47 [SEP] 8, CreditCard, -1.453, 0.613, 0.300, 0, 180, 0, 67 [SEP] 9, CreditCard, 2.962, 0.791, -1.686, 0, 0, 0, 63 [SEP] 10, KeyChain, 0.859, 1.414, -1.546, 0, 270, 0, 48 [SEP] 11, Book, -2.155, 0.599, -1.160, 0, 0, 0, 35 [SEP] 12, Book, -0.327, 0.614, -0.317, 0, 0, 0, 36 [SEP] 13, AlarmClock, -1.592, 0.615, 0.503, 0, 180, 0, 67 [SEP] 14, Book, -1.088, 0.614, -0.598, 0, 0, 0, 36 [SEP] 15, Laptop, -2.764, 0.598, -1.160, 0, 0, 0, 35 [SEP] 16, KeyChain, 0.954, 1.414, -2.154, 0, 0, 0, 42 [SEP] 17, Cloth, 0.970, -0.001, -2.404, 0, 0, 0, [SEP] 18, BaseballBat, -2.982, 0.015, -2.698, 270, 350.597, 0, [SEP] 19, BasketBall, -2.718, 0.118, -1.925, 0, 0, 0, [SEP] 20, Pillow, -2.465, 0.661, 0.110, 0, 0, 0, 35 [SEP] 21, Pillow, -0.327, 0.693, -1.442, 0, 0, 0, 36 [SEP] 22, TennisRacket, -3.018, 0.301, -2.199, 19.103, 272.232, 184.978, [SEP] 23, Pencil, -2.885, 1.418, -2.197, 0, 90, 0, 43 [SEP] 24, CreditCard, 0.828, 1.413, -2.283, 0, 270, 0, 42 [SEP] 25, Cloth, 0.911, 0.025, -2.702, 0, 0, 0, [SEP] 26, TeddyBear, -2.645, 0.624, -0.402, 0, 286.876, 0, 35 [SEP] 27, Pen, 3.017, 0.547, -2.142, 0, 270, 0, 62 [SEP] 28, Cloth, 0.705, -0.001, -2.75, 0, 270, 0, [SEP] 29, AlarmClock, 3.209, 0.792, -1.121, 0, 0, 0, 63 [SEP] 30, Watch, 0.891, 1.413, -1.791, 0, 270, 0, 48 [SEP] 31, CellPhone, 3.209, 0.791, -1.403, 0, 0, 0, 63 [SEP] 32, CD, -1.625, 0.074, 0.371, 0, 0, 0, 66 [SEP] 33, Mug, -1.383, 0.611, 0.381, 0, 90, 0, 67 [SEP] 34, Bowl, 3.040, 0.540, -0.665, 0, 270, 0, 61 [SEP] 35, Bed, -2.455, -0.000, -0.572, 0, 0, 0, [SEP] 36, Bed, -0.634, -0.000, -0.567, 0, 0, 0, [SEP] 37, Chair, 2.828, -0.002, -0.004, 0, 245.795, 0, [SEP] 38, Chair, 2.727, -0.002, -1.210, 0, 95.225, 0, [SEP] 39, GarbageCan, 1.707, -0.003, -2.785, 0, 59.967, 0, [SEP] 40, Shelf, 0.922, 1.133, -2.163, 0, 270, 0, [SEP] 41, Shelf, -2.948, 1.405, -1.621, 0, 90, 0, [SEP] 42, Shelf, 0.922, 1.405, -2.163, 0, 270, 0, [SEP] 43, Shelf, -2.948, 1.133, -2.188, 0, 90, 0, [SEP] 44, Shelf, -2.948, 1.405, -2.188, 0, 90, 0, [SEP] 45, Shelf, 0.922, 1.133, -2.729, 0, 270, 0, [SEP] 46, Shelf, 0.922, 1.133, -1.616, 0, 270, 0, [SEP] 47, Shelf, -2.948, 1.405, -2.735, 0, 90, 0, [SEP] 48, Shelf, 0.922, 1.405, -1.616, 0, 270, 0, [SEP] 49, Shelf, -2.948, 1.133, -2.735, 0, 90, 0, [SEP] 50, Shelf, 0.922, 1.405, -2.729, 0, 270, 0, [SEP] 51, Shelf, -2.948, 1.133, -1.621, 0, 90, 0, [SEP] 52, LightSwitch, -0.142, 1.328, 0.600, 0, 180, 0, [SEP] 53, Poster, 3.400, 1.863, -1.976, 90, 90, 0, [SEP] 54, Poster, 3.400, 1.702, -0.792, 90, 90, 0, [SEP] 55, DeskLamp, 3.126, 0.789, -0.638, 0, 3.649, 0, [SEP] 56, Mirror, 0.453, 1.491, 0.616, 0, 0, 0, [SEP] 57, Window, 2.278, 0.925, -3.184, 90, 0, 0, [SEP] 58, Window, -1.019, 0.925, -3.184, 90, 0, 0, [SEP] 59, Blinds, -1.003, 2.072, -3.177, 0, 0, 0, [SEP] 60, Blinds, 2.292, 2.072, -3.177, 0, 0, 0, [SEP] 61, Shelf, 3.124, 0.633, -0.564, 0, 270, 0, [SEP] 62, Shelf, 3.124, 0.633, -2.267, 0, 270, 0, [SEP] 63, Desk, 3.141, -0.000, -1.414, 0, 270, 0, [SEP] 64, Desktop, 3.101, 0.792, -1.236, 358.565, 270, 0, [SEP] 65, Drawer, -1.523, 0.408, 0.346, 0, 180, 0, [SEP] 66, Drawer, -1.523, 0.141, 0.346, 0, 180, 0, [SEP] 67, SideTable, -1.522, -0.001, 0.411, 0, 180, 0, [SEP] 68, NorthWall, , , , , , , [SEP] 69, EastWall, , , , , , , [SEP] 70, SouthWall, , , , , , , [SEP] 71, WestWall, , , , , , , ", "output": ["STEP 1: Turn around to your left then head to the shelf on your left | STEP 2: Pick up the wrist watch on the shelf | STEP 3: Turn left then walk forward turn right heading to the desk | STEP 4: Put the wrist watch on the desk | END"]} +{"id": "trial_T20190906_195043_806438-1", "input": "place a basketball on the desk SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 2.5, 0.900, 0.75, 0, 90, 0, [SEP] 1, CD, 2.329, 1.391, -1.624, 0, 0, 0, 36 [SEP] 2, Pencil, 0.153, 0.650, -1.585, 0, 0, 0, 27 [SEP] 3, CreditCard, 0.357, 0.647, -1.823, 0, 0, 0, 27 [SEP] 4, Pillow, -0.642, 0.588, -1.359, 0, 0, 0, 18 [SEP] 5, AlarmClock, 1.964, 0.778, -1.719, 0, 0, 0, 33 [SEP] 6, Book, -0.308, 0.507, -0.872, 0, 0, 0, 18 [SEP] 7, Pencil, 0.152, 0.650, -1.784, 0, 0, 0, 27 [SEP] 8, BasketBall, 1.144, 0.120, -1.656, 0, 23.931, 0, Floor|-00.24| [SEP] 9, Laptop, -0.794, 0.495, -0.303, 0, 61.899, 0, 18 [SEP] 10, Pen, 1.517, 0.313, -1.338, 0, 0, 0, 31 [SEP] 11, KeyChain, 0.289, 0.647, -1.784, 0, 90, 0, 27 [SEP] 12, CreditCard, 2.548, 0.778, -1.579, 0, 0, 0, 29 [SEP] 13, CellPhone, -1.309, 0.508, -0.143, 0, 0, 0, 18 [SEP] 14, CD, 0.253, 0.120, -1.676, 0, 180, 0, 26 [SEP] 15, AlarmClock, 2.450, 1.138, -1.614, 0, 0, 0, 36 [SEP] 16, Pillow, -0.975, 0.588, -0.872, 0, 0, 0, 18 [SEP] 17, Chair, 2.161, 0.008, -1.129, 0, 256.825, 0, [SEP] 18, Bed, -0.809, 0.010, -0.891, 0, 180, 0, [SEP] 19, DeskLamp, 0.047, 0.668, -1.761, 0, 0, 0, [SEP] 20, GarbageCan, 2.657, -0.021, 1.275, 0, 0, 0, [SEP] 21, Mirror, 2.821, 1.764, -0.068, 0, 90, 0, [SEP] 22, Window, -1.677, 1.402, 0.365, 90, 270, 0, [SEP] 23, LightSwitch, -0.606, 1.253, 1.435, 0, 180, 0, [SEP] 24, Shelf, 2.025, 1.440, -1.730, 0, 0, 0, [SEP] 25, Drawer, 0.187, 0.455, -1.577, 0, 0, 0, [SEP] 26, Drawer, 0.187, 0.163, -1.577, 0, 0, 0, [SEP] 27, SideTable, 0.186, -0.001, -1.643, 0, 0, 0, [SEP] 28, Dumbbell, 1.576, 0.083, -1.563, 0, 0, 0, [SEP] 29, Desk, 2.017, 0.000, -1.578, 0, 0, 0, [SEP] 30, GarbageBag, 0.806, 0.318, 1.143, 270, 186.178, 83.264, [SEP] 31, Shelf, 1.570, 0.415, -1.563, 0, 0, 0, [SEP] 32, Shelf, 1.612, 0.945, -1.744, 0, 0, 0, [SEP] 33, Shelf, 2.265, 0.941, -1.722, 0, 0, 0, [SEP] 34, Shelf, 1.572, 0.630, -1.563, 0, 0, 0, [SEP] 35, Shelf, 1.569, 0.172, -1.563, 0, 0, 0, [SEP] 36, Shelf, 2.267, 1.248, -1.722, 0, 0, 0, [SEP] 37, Shelf, 1.614, 1.252, -1.745, 0, 0, 0, [SEP] 38, NorthWall, , , , , , , [SEP] 39, EastWall, , , , , , , [SEP] 40, SouthWall, , , , , , , [SEP] 41, WestWall, , , , , , , ", "output": ["STEP 1: walk over to the corner of the room with the black chair and desk | STEP 2: pick up the basket ball to the right of the desk | STEP 3: look up at the desk | STEP 4: place the basketball on the desk | END"]} +{"id": "trial_T20190909_060729_595106-2", "input": "To add the roll and the toilet paper onto the counter SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.903, 4.0, 0, 180, 0, [SEP] 1, Candle, 0.699, 1.056, 4.342, 0, 270, 0, 31 [SEP] 2, Candle, -0.327, 0.713, 0.098, 0, 0, 0, 19 [SEP] 3, SprayBottle, 0.305, 0.098, 3.070, 0, 0, 0, 18 [SEP] 4, SprayBottle, -0.167, 0.153, 1.315, 0, 90, 0, 30 [SEP] 5, Towel, -2.393, 1.478, 0.580, 0, 90, 0, 25 [SEP] 6, Candle, 0.298, 1.063, 4.116, 0, 0, 0, 22 [SEP] 7, Cloth, -2.322, 0.704, 0.863, 0, 0, 0, 19 [SEP] 8, HandTowel, 0.397, 1.656, 2.039, 0, 180, 0, 29 [SEP] 9, Plunger, 0.480, 0.002, 4.793, 0, 0, 0, [SEP] 10, SoapBar, 0.081, 1.054, 3.629, 0, 0, 0, 22 [SEP] 11, ToiletPaper, -0.047, 0.971, 4.911, 0, 180, 90, 26 [SEP] 12, ToiletPaper, 0.729, 1.044, 4.539, 0, 270, 0, 31 [SEP] 13, SoapBottle, 0.659, 1.081, 2.949, 0, 270, 0, 16 [SEP] 14, SprayBottle, 0.232, 0.098, 3.655, 0, 0, 0, 18 [SEP] 15, ScrubBrush, 0.688, 0.002, 4.867, 0, 0, 0, [SEP] 16, Sink, 0.426, 1.037, 2.947, 0, 270, 0, [SEP] 17, Window, -2.548, 1.673, 2.405, 0, 0, 0, [SEP] 18, Cabinet, 0.068, 0.366, 3.772, 0, 0, 0, [SEP] 19, Bathtub, -1.042, 0.155, 0.558, 0, 0, 0, [SEP] 20, SinkBasin, 0.404, 0.926, 2.926, 0, 270, 0, [SEP] 21, Mirror, 0.858, 1.863, 2.972, 0, 0, 0, [SEP] 22, CounterTop, 0.487, 1.015, 3.090, 0, 0, 0, [SEP] 23, Faucet, -0.207, 0.687, 0.546, 0, 0, 0, [SEP] 24, Cabinet, 0.074, 0.379, 2.045, 0, 0, 0, [SEP] 25, TowelHolder, -2.5, 1.463, 0.579, 0, 90, 0, [SEP] 26, ToiletPaperHanger, -0.081, 0.971, 5.0, 0, 180, 0, [SEP] 27, LightSwitch, -1.121, 1.333, 5.000, 0, 180, 0, [SEP] 28, BathtubBasin, -1.062, 0.153, 0.556, 0, 0, 0, [SEP] 29, HandTowelHolder, 0.398, 1.758, 2.000, 0, 270, 0, [SEP] 30, GarbageCan, -0.229, 0.001, 1.445, 0, 270, 0, [SEP] 31, Toilet, 0.376, 0.002, 4.470, 0, 0, 0, [SEP] 32, Faucet, 0.661, 1.043, 3.371, 0, 270, 0, [SEP] 33, Faucet, 0.661, 1.043, 2.520, 0, 270, 0, [SEP] 34, NorthWall, , , , , , , [SEP] 35, EastWall, , , , , , , [SEP] 36, SouthWall, , , , , , , [SEP] 37, WestWall, , , , , , , ", "output": ["STEP 1: Turn left, then turn right step up towards the door and then turn right and face the toilet. | STEP 2: Pick up the roll from the back of the toilet. | STEP 3: Turn right then turn left and face the counter | STEP 4: Place the roll onto the counter above the soap to the left. | STEP 5: Turn right, then turn left, then turn right again walk towards the walk turn right again and face the toilet. | STEP 6: Take the toilet paper off of the toilet paper holder. | STEP 7: Turn right then turn left walk toward the counter | STEP 8: Place the toilet paper next to the soap on the right. | END"]} +{"id": "trial_T20190909_114626_223157-2", "input": "Place a washed apple in a microwave. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.900, -0.75, 0, 180, 0, [SEP] 1, Kettle, 1.412, 0.929, -0.335, 0, 0, 0, 43 [SEP] 2, Spoon, -2.538, 0.912, 0.931, 0, 90, 0, 70 [SEP] 3, Pot, 1.411, 0.929, 0.064, 0, 0, 0, 71 [SEP] 4, Pot, -0.601, 0.914, 0.423, 0, 0, 0, 42 [SEP] 5, Cup, -2.241, 0.112, 0.489, 0, 0, 0, 67 [SEP] 6, Cup, 1.512, 0.908, 0.465, 0, 0, 0, 51 [SEP] 7, Plate, -0.081, 0.913, 1.540, 0, 0, 0, 42 [SEP] 8, Knife, -0.471, 0.936, 1.094, 0, 0, 0, 42 [SEP] 9, Tomato, -2.289, 0.953, 1.830, 0, 0, 0, 70 [SEP] 10, SoapBottle, -2.455, 0.912, 1.230, 0, 0, 0, 70 [SEP] 11, SoapBottle, -2.349, 0.116, 1.319, 0, 0, 0, 48 [SEP] 12, Bowl, -2.538, 0.908, 1.530, 0, 0, 0, 70 [SEP] 13, SaltShaker, -2.567, 1.933, -0.353, 0, 0, 0, 64 [SEP] 14, Lettuce, -2.621, 0.994, 0.931, 0, 0, 0, 70 [SEP] 15, Bread, -2.289, 0.996, 0.631, 0, 0, 0, 70 [SEP] 16, Bread, -2.621, 0.996, 1.230, 0, 0, 0, 70 [SEP] 17, Apple, -2.532, 1.362, -0.507, 0, 90, 0, 74 [SEP] 18, Apple, 1.604, 0.246, 0.706, 0, 0, 0, 81 [SEP] 19, Pan, 0.0, 0.9, 0.948, 0, 29.999, 0, 42 [SEP] 20, Knife, -2.196, 0.799, 0.952, 0, 270, 0, 47 [SEP] 21, Apple, -2.439, 1.362, -0.790, 0, 90, 0, 74 [SEP] 22, Bowl, -0.211, 0.908, 0.423, 0, 0, 0, 42 [SEP] 23, Fork, -0.471, 0.911, 1.540, 0, 0, 0, 42 [SEP] 24, Bread, -2.372, 0.996, 0.931, 0, 0, 0, 70 [SEP] 25, Plate, 1.735, 1.666, -0.407, 0, 0, 0, 62 [SEP] 26, Egg, 1.729, 0.215, 0.623, 0, 0, 0, 81 [SEP] 27, Kettle, 0.854, 0.900, -1.790, 0, 0, 0, 52 [SEP] 28, Potato, -2.559, 0.631, -0.693, 0, 90, 0, 74 [SEP] 29, SaltShaker, -2.313, 0.109, 1.527, 0, 0, 0, 48 [SEP] 30, Lettuce, -0.341, 0.994, 1.317, 0, 0, 0, 42 [SEP] 31, Cup, -2.485, 1.087, -1.074, 0, 90, 0, 74 [SEP] 32, SoapBottle, -2.621, 0.912, 0.031, 0, 0, 0, 70 [SEP] 33, Spatula, -0.341, 0.925, 0.647, 0, 0, 0, 42 [SEP] 34, PaperTowelRoll, -0.471, 1.015, 1.317, 0, 0, 0, 42 [SEP] 35, ButterKnife, -0.601, 0.910, 0.870, 0, 0, 0, 42 [SEP] 36, PepperShaker, -2.241, 0.109, 1.423, 0, 0, 0, 48 [SEP] 37, DishSponge, -0.081, 0.910, 1.764, 0, 0, 0, 42 [SEP] 38, Pot, 1.691, 0.929, -0.335, 0, 0, 0, 50 [SEP] 39, Spoon, -0.730, 0.912, 1.317, 0, 0, 0, 42 [SEP] 40, Tomato, -2.289, 0.953, 1.530, 0, 0, 0, 70 [SEP] 41, Mug, 0.943, 0.905, -1.609, 0, 45, 0, 52 [SEP] 42, CounterTop, -0.360, 0.946, 1.093, 0, 0, 0, [SEP] 43, StoveBurner, 1.412, 0.923, -0.335, 0, 0, 0, [SEP] 44, StoveKnob, 1.878, 1.093, 0.018, 287.989, 90, 0, [SEP] 45, StoveKnob, 1.878, 1.093, -0.306, 287.989, 90, 0, [SEP] 46, Cabinet, -2.446, 1.948, 2.924, 0, 0, 0, [SEP] 47, Drawer, -2.276, 0.792, 0.902, 0, 0, 0, [SEP] 48, Cabinet, -2.145, 0.402, 1.578, 0, 0, 0, [SEP] 49, Cabinet, 0.149, 2.008, -1.603, 0, 90, 0, [SEP] 50, StoveBurner, 1.691, 0.923, -0.335, 0, 0, 0, [SEP] 51, CounterTop, 1.585, 0.946, 0.405, 0, 0, 0, [SEP] 52, CounterTop, 0.474, 0.946, -1.625, 0, 0, 0, [SEP] 53, StoveBurner, 1.691, 0.923, 0.064, 0, 0, 0, [SEP] 54, Cabinet, -2.446, 1.948, 1.687, 0, 0, 0, [SEP] 55, Cabinet, -2.446, 1.948, 1.640, 0, 0, 0, [SEP] 56, Sink, 1.381, 0.810, -1.271, 0, 225, 0, [SEP] 57, StoveKnob, 1.878, 1.093, 0.150, 287.989, 90, 0, [SEP] 58, Cabinet, -2.145, 0.402, -0.236, 0, 0, 0, [SEP] 59, Drawer, -2.276, 0.792, 0.437, 0, 0, 0, [SEP] 60, Drawer, -2.276, 0.792, -0.027, 0, 0, 0, [SEP] 61, Cabinet, 1.572, 2.008, 0.474, 0, 0, 0, [SEP] 62, Cabinet, 1.572, 2.008, -0.775, 0, 0, 0, [SEP] 63, Cabinet, -2.445, 2.148, -1.275, 0, 0, 0, [SEP] 64, Cabinet, -2.446, 2.148, -0.284, 0, 0, 0, [SEP] 65, Cabinet, -2.446, 1.948, 0.355, 0, 0, 0, [SEP] 66, Cabinet, -2.446, 1.948, 0.405, 0, 0, 0, [SEP] 67, Cabinet, -2.145, 0.402, 0.644, 0, 0, 0, [SEP] 68, Cabinet, -2.145, 0.402, 0.695, 0, 0, 0, [SEP] 69, Cabinet, -2.285, 1.968, -1.325, 0, 180, 0, [SEP] 70, CounterTop, -1.485, 0.946, 1.319, 0, 0, 0, [SEP] 71, StoveBurner, 1.411, 0.923, 0.064, 0, 0, 0, [SEP] 72, StoveKnob, 1.878, 1.093, -0.441, 287.989, 90, 0, [SEP] 73, Drawer, -2.276, 0.792, 1.368, 0, 0, 0, [SEP] 74, Fridge, -2.475, 0.0, -0.782, 0, 90, 0, [SEP] 75, LightSwitch, -0.929, 1.350, -1.950, 0, 0, 0, [SEP] 76, Toaster, -2.564, 0.900, 1.876, 0, 90, 0, [SEP] 77, CoffeeMachine, 0.464, 0.900, -1.810, 0, 0, 0, [SEP] 78, Window, 1.508, 1.534, -1.496, 90, 135, 0, [SEP] 79, Window, 1.973, 1.521, 1.121, 90, 90, 0, [SEP] 80, SinkBasin, 1.149, 0.753, -1.380, 0, 225, 0, [SEP] 81, GarbageCan, 1.646, -0.000, 0.679, 0, 0, 0, [SEP] 82, Microwave, -2.580, 0.900, 2.440, 0, 90, 0, [SEP] 83, Stool, 0.439, 0.010, 0.747, 0, 0, 0, [SEP] 84, Stool, -2.303, 0.010, 1.839, 0, 0, 0, [SEP] 85, Faucet, 1.235, 1.138, -1.473, 0, 225, 0, [SEP] 86, NorthWall, , , , , , , [SEP] 87, EastWall, , , , , , , [SEP] 88, SouthWall, , , , , , , [SEP] 89, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk to the end of the counter, then turn right and face the bin. | STEP 2: Pick up the apple in the bin. | STEP 3: Turn right and walk to the sink. | STEP 4: Wash the apple in the sink. | STEP 5: Turn left and walk to the wall, then turn left and walk to the microwave. | STEP 6: Place the apple in a microwave. | END"]} +{"id": "trial_T20190907_041837_931950-1", "input": "To put the toilet paper on the toilet paper holder. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.902, 1.0, 0, 0, 0, [SEP] 1, SoapBar, -2.487, 1.663, 3.072, 0, 0, 0, 30 [SEP] 2, SoapBar, -2.549, 0.092, 2.614, 0, 0, 0, 25 [SEP] 3, SprayBottle, -2.883, 1.206, 1.400, 0, 270, 0, 37 [SEP] 4, SprayBottle, -2.555, 0.094, 3.442, 0, 0, 0, 24 [SEP] 5, DishSponge, -2.732, 0.090, 2.180, 0, 0, 0, 25 [SEP] 6, DishSponge, -2.712, 0.746, 3.167, 0, 0, 0, 32 [SEP] 7, SoapBottle, -2.672, 0.093, 3.479, 0, 0, 0, 24 [SEP] 8, Towel, -0.106, 1.510, 1.943, 0, 270, 0, 38 [SEP] 9, Candle, -2.933, 1.086, 0.718, 0, 90, 0, 46 [SEP] 10, SoapBottle, -2.732, 0.088, 2.276, 0, 0, 0, 25 [SEP] 11, HandTowel, -2.698, 1.521, 2.867, 0, 0, 0, 39 [SEP] 12, Plunger, -2.837, 0.001, 0.131, 0, 0, 0, Floor|-00.99| [SEP] 13, SoapBar, -2.762, 0.937, 2.306, 0, 90, 0, 44 [SEP] 14, ToiletPaper, -2.872, 1.074, 0.783, 0, 90, 0, 46 [SEP] 15, Cloth, -2.736, 0.938, 2.081, 0, 90, 0, 44 [SEP] 16, ToiletPaper, -2.763, 0.089, 3.001, 0, 0, 0, 35 [SEP] 17, SprayBottle, -2.610, 0.904, 3.439, 0, 0, 0, 28 [SEP] 18, PaperTowelRoll, -2.964, 1.183, 0.455, 0, 180, 0, 46 [SEP] 19, ScrubBrush, -2.831, 0.001, 0.295, 0, 0, 0, Floor|-00.99| [SEP] 20, DishSponge, -2.792, 1.207, 1.520, 0, 270, 0, 37 [SEP] 21, Cabinet, -2.410, 0.371, 2.862, 0, 0, 0, [SEP] 22, Mirror, -2.973, 1.613, 2.265, 0, 0, 0, [SEP] 23, Bathtub, -0.435, 0.182, 1.575, 0, 0, 0, [SEP] 24, Cabinet, -2.410, 0.371, 3.570, 0, 0, 0, [SEP] 25, Cabinet, -2.410, 0.371, 2.040, 0, 0, 0, [SEP] 26, Cabinet, -2.410, 1.261, 2.913, 0, 0, 0, [SEP] 27, Faucet, -0.769, 0.416, 1.0, 0, 9.958, 0, [SEP] 28, Cabinet, -2.410, 1.261, 3.570, 0, 0, 0, [SEP] 29, Sink, -2.723, 0.862, 2.231, 0, 90, 0, [SEP] 30, Cabinet, -2.410, 2.022, 2.913, 0, 0, 0, [SEP] 31, Cabinet, -2.410, 0.371, 1.585, 0, 0, 0, [SEP] 32, Drawer, -2.638, 0.767, 3.239, 0, 0, 0, [SEP] 33, Cabinet, -2.410, 2.022, 3.570, 0, 0, 0, [SEP] 34, Faucet, -2.928, 0.978, 2.231, 0, 90, 0, [SEP] 35, Cabinet, -2.410, 0.371, 2.913, 0, 0, 0, [SEP] 36, CounterTop, -2.688, 0.966, 2.260, 0, 0, 0, [SEP] 37, CounterTop, -2.611, 1.243, 1.455, 0, 270, 0, [SEP] 38, TowelHolder, 0.0, 1.496, 1.942, 0, 270, 0, [SEP] 39, HandTowelHolder, -2.698, 1.623, 2.906, 0, 90, 0, [SEP] 40, Window, -2.256, 1.656, -0.021, 90, 0, 0, [SEP] 41, ToiletPaperHanger, -2.288, 0.910, 0.000, 0, 0, 0, [SEP] 42, GarbageCan, -0.403, -0.027, 0.241, 0, 0, 0, [SEP] 43, BathtubBasin, -0.435, 0.185, 1.544, 0, 0, 0, [SEP] 44, SinkBasin, -2.736, 0.929, 2.241, 0, 90, 0, [SEP] 45, LightSwitch, -1.675, 1.442, 3.610, 0, 180, 0, [SEP] 46, Toilet, -2.579, 0.032, 0.656, 0, 180, 0, [SEP] 47, NorthWall, , , , , , , [SEP] 48, EastWall, , , , , , , [SEP] 49, SouthWall, , , , , , , [SEP] 50, WestWall, , , , , , , ", "output": ["STEP 1: Turn to the left and walk to the toilet. | STEP 2: Pick up the roll of toilet paper on the top right side of the toilet. | STEP 3: Turn left and walk to the toilet paper holder on the wall. | STEP 4: Place the toilet paper on the holder on the wall. | END"]} +{"id": "trial_T20190907_041837_931950-2", "input": "Refill an empty toilet paper hanger with a full roll of toilet paper. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.902, 1.0, 0, 0, 0, [SEP] 1, SoapBar, -2.487, 1.663, 3.072, 0, 0, 0, 30 [SEP] 2, SoapBar, -2.549, 0.092, 2.614, 0, 0, 0, 25 [SEP] 3, SprayBottle, -2.883, 1.206, 1.400, 0, 270, 0, 37 [SEP] 4, SprayBottle, -2.555, 0.094, 3.442, 0, 0, 0, 24 [SEP] 5, DishSponge, -2.732, 0.090, 2.180, 0, 0, 0, 25 [SEP] 6, DishSponge, -2.712, 0.746, 3.167, 0, 0, 0, 32 [SEP] 7, SoapBottle, -2.672, 0.093, 3.479, 0, 0, 0, 24 [SEP] 8, Towel, -0.106, 1.510, 1.943, 0, 270, 0, 38 [SEP] 9, Candle, -2.933, 1.086, 0.718, 0, 90, 0, 46 [SEP] 10, SoapBottle, -2.732, 0.088, 2.276, 0, 0, 0, 25 [SEP] 11, HandTowel, -2.698, 1.521, 2.867, 0, 0, 0, 39 [SEP] 12, Plunger, -2.837, 0.001, 0.131, 0, 0, 0, Floor|-00.99| [SEP] 13, SoapBar, -2.762, 0.937, 2.306, 0, 90, 0, 44 [SEP] 14, ToiletPaper, -2.872, 1.074, 0.783, 0, 90, 0, 46 [SEP] 15, Cloth, -2.736, 0.938, 2.081, 0, 90, 0, 44 [SEP] 16, ToiletPaper, -2.763, 0.089, 3.001, 0, 0, 0, 35 [SEP] 17, SprayBottle, -2.610, 0.904, 3.439, 0, 0, 0, 28 [SEP] 18, PaperTowelRoll, -2.964, 1.183, 0.455, 0, 180, 0, 46 [SEP] 19, ScrubBrush, -2.831, 0.001, 0.295, 0, 0, 0, Floor|-00.99| [SEP] 20, DishSponge, -2.792, 1.207, 1.520, 0, 270, 0, 37 [SEP] 21, Cabinet, -2.410, 0.371, 2.862, 0, 0, 0, [SEP] 22, Mirror, -2.973, 1.613, 2.265, 0, 0, 0, [SEP] 23, Bathtub, -0.435, 0.182, 1.575, 0, 0, 0, [SEP] 24, Cabinet, -2.410, 0.371, 3.570, 0, 0, 0, [SEP] 25, Cabinet, -2.410, 0.371, 2.040, 0, 0, 0, [SEP] 26, Cabinet, -2.410, 1.261, 2.913, 0, 0, 0, [SEP] 27, Faucet, -0.769, 0.416, 1.0, 0, 9.958, 0, [SEP] 28, Cabinet, -2.410, 1.261, 3.570, 0, 0, 0, [SEP] 29, Sink, -2.723, 0.862, 2.231, 0, 90, 0, [SEP] 30, Cabinet, -2.410, 2.022, 2.913, 0, 0, 0, [SEP] 31, Cabinet, -2.410, 0.371, 1.585, 0, 0, 0, [SEP] 32, Drawer, -2.638, 0.767, 3.239, 0, 0, 0, [SEP] 33, Cabinet, -2.410, 2.022, 3.570, 0, 0, 0, [SEP] 34, Faucet, -2.928, 0.978, 2.231, 0, 90, 0, [SEP] 35, Cabinet, -2.410, 0.371, 2.913, 0, 0, 0, [SEP] 36, CounterTop, -2.688, 0.966, 2.260, 0, 0, 0, [SEP] 37, CounterTop, -2.611, 1.243, 1.455, 0, 270, 0, [SEP] 38, TowelHolder, 0.0, 1.496, 1.942, 0, 270, 0, [SEP] 39, HandTowelHolder, -2.698, 1.623, 2.906, 0, 90, 0, [SEP] 40, Window, -2.256, 1.656, -0.021, 90, 0, 0, [SEP] 41, ToiletPaperHanger, -2.288, 0.910, 0.000, 0, 0, 0, [SEP] 42, GarbageCan, -0.403, -0.027, 0.241, 0, 0, 0, [SEP] 43, BathtubBasin, -0.435, 0.185, 1.544, 0, 0, 0, [SEP] 44, SinkBasin, -2.736, 0.929, 2.241, 0, 90, 0, [SEP] 45, LightSwitch, -1.675, 1.442, 3.610, 0, 180, 0, [SEP] 46, Toilet, -2.579, 0.032, 0.656, 0, 180, 0, [SEP] 47, NorthWall, , , , , , , [SEP] 48, EastWall, , , , , , , [SEP] 49, SouthWall, , , , , , , [SEP] 50, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and walk a little bit towards the toilet. | STEP 2: Pick up the roll of toilet paper from the top of the toilet. | STEP 3: Move slightly to the left towards the empty toilet paper hanger. | STEP 4: Place the roll of the toilet paper on the toilet paper hanger. | END"]} +{"id": "trial_T20190919_032901_388610-0", "input": "Move two green spray bottles into a small silver bin. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.902, -0.5, 0, 0, 0, [SEP] 1, Cloth, 0.419, 0.034, 0.561, 0, 270, 0, 30 [SEP] 2, Cloth, 0.211, 0.034, -0.768, 0, 270, 0, 30 [SEP] 3, Candle, -1.057, 1.087, 0.784, 0, 180, 0, 34 [SEP] 4, SprayBottle, -2.858, 0.082, 0.631, 0, 0, 0, 19 [SEP] 5, SoapBottle, -2.586, 0.083, 0.696, 0, 0, 0, 19 [SEP] 6, Towel, -0.490, 1.367, 0.902, 0, 180, 0, 28 [SEP] 7, Candle, -2.049, 0.122, 0.825, 0, 0, 0, 22 [SEP] 8, HandTowel, -3.096, 1.587, 0.744, 0, 270, 0, 32 [SEP] 9, SoapBar, -1.057, 1.045, 0.906, 0, 180, 0, 34 [SEP] 10, ToiletPaper, -2.586, 0.078, 0.825, 0, 0, 0, 19 [SEP] 11, Cloth, -2.902, 0.081, 0.760, 0, 0, 0, 17 [SEP] 12, ToiletPaper, -0.865, 1.038, 0.946, 357.597, 0, 0, 34 [SEP] 13, SprayBottle, -1.687, 0.082, 0.631, 0, 0, 0, 21 [SEP] 14, ScrubBrush, -0.485, 0.001, 0.873, 0, 0, 0, Floor|-00.81| [SEP] 15, SoapBottle, -2.924, 0.184, -1.584, 0, 0, 0, 29 [SEP] 16, Plunger, -0.710, 0.000, 0.828, 0, 0, 0, Floor|-00.81| [SEP] 17, Cabinet, -3.094, 0.390, 0.421, 0, 0, 0, [SEP] 18, CounterTop, -2.298, 0.953, 0.689, 0, 0, 0, [SEP] 19, Cabinet, -2.305, 0.415, 0.425, 0, 0, 0, [SEP] 20, Bathtub, 0.286, 0.290, -0.077, 0, 0, 0, [SEP] 21, Cabinet, -1.496, 0.415, 0.425, 0, 0, 0, [SEP] 22, Cabinet, -2.286, 0.390, 0.421, 0, 0, 0, [SEP] 23, Sink, -1.924, 0.930, 0.675, 0, 180, 0, [SEP] 24, Faucet, -1.922, 1.015, 0.887, 0, 0, 0, [SEP] 25, Mirror, -2.306, 1.526, 1.001, 0, 0, 0, [SEP] 26, Faucet, -2.681, 1.015, 0.887, 0, 0, 0, [SEP] 27, LightSwitch, -1.389, 1.263, -1.693, 0, 0, 0, [SEP] 28, TowelHolder, -0.490, 1.353, 1.009, 0, 180, 0, [SEP] 29, GarbageCan, -2.857, 0.016, -1.487, 0, 0, 0, [SEP] 30, BathtubBasin, 0.349, 0.023, -0.135, 0, 270, 0, [SEP] 31, SinkBasin, -1.908, 0.961, 0.669, 0, 180, 0, [SEP] 32, HandTowelHolder, -3.134, 1.689, 0.744, 0, 0, 0, [SEP] 33, ToiletPaperHanger, -1.485, 0.805, 0.691, 0, 90, 0, [SEP] 34, Toilet, -1.054, 0.001, 0.552, 0, 270, 0, [SEP] 35, ShowerCurtain, -0.292, 1.886, -1.033, 0, 0, 0, [SEP] 36, Faucet, 0.270, 0.670, 0.906, 0, 0, 0, [SEP] 37, SinkBasin, -2.666, 0.961, 0.669, 0, 180, 0, [SEP] 38, Sink, -2.681, 0.930, 0.675, 0, 180, 0, [SEP] 39, NorthWall, , , , , , , [SEP] 40, EastWall, , , , , , , [SEP] 41, SouthWall, , , , , , , [SEP] 42, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and walk towards the wall, then turn right and walk up to the counter. | STEP 2: Open the rightmost cabinet door below the counter and take out the green spray bottle, then close the cabinet. | STEP 3: Walk over to the small silver bin in the corner of the room behind you. | STEP 4: Put the green spray bottle in the small silver bin. | STEP 5: Turn right and walk over to the wall, then turn right and walk up to the counter. | STEP 6: Open the leftmost cabinet door below the counter and take out the green spray bottle, then close the cabinet. | STEP 7: Walk over to the small silver bin in the corner of the room behind you. | STEP 8: Put the green spray bottle in the small silver bin. | END"]} +{"id": "trial_T20190906_185855_916436-1", "input": "Examine the keys under the light of the lamp SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.5, 0.900, -0.25, 0, 180, 0, [SEP] 1, TissueBox, 1.608, 0.479, 0.186, 0, 180, 0, 31 [SEP] 2, Pencil, 3.876, 0.768, 1.151, 0, 0, 0, 41 [SEP] 3, Pencil, 1.466, 0.476, 0.349, 0, 180, 0, 31 [SEP] 4, CreditCard, 3.967, 0.877, 0.865, 0, 0, 0, 40 [SEP] 5, CreditCard, 4.007, 0.877, 1.181, 0, 0, 0, 40 [SEP] 6, RemoteControl, 1.891, 0.474, 0.267, 0, 180, 0, 31 [SEP] 7, Box, -0.29, 1.074, -0.714, 0, 270, 0, Floor|+00.00| [SEP] 8, Newspaper, -0.415, 0.321, 1.814, 0, 91.372, 0, 38 [SEP] 9, Laptop, 1.805, 0.47, 0.499, 0, 0, 0, 31 [SEP] 10, WateringCan, 1.621, 0.056, -0.697, 0, 0, 0, 36 [SEP] 11, TissueBox, 1.799, 0.067, -0.691, 0, 0, 0, 36 [SEP] 12, KeyChain, 0.044, 0.840, -0.867, 0, 90, 0, 35 [SEP] 13, Pen, 0.044, 0.845, -0.672, 0, 0, 0, 35 [SEP] 14, Boots, 4.005, 0.001, 1.707, 1.563, 246.167, 0, [SEP] 15, Pencil, 0.025, 0.071, -0.615, 0, 0, 0, 34 [SEP] 16, RemoteControl, 1.324, 0.478, 0.594, 0, 180, 0, 31 [SEP] 17, CreditCard, 3.827, 0.765, 0.674, 0, 0, 0, 41 [SEP] 18, Pillow, 0.651, 0.395, 1.708, 0, 0, 0, 21 [SEP] 19, Statue, -0.532, 0.443, -0.738, 0, 92.244, 0, 37 [SEP] 20, Statue, 1.183, 0.483, 0.431, 0, 180, 0, 31 [SEP] 21, Sofa, 1.174, 0.0, 1.865, 0, 0, 0, [SEP] 22, FloorLamp, 3.608, 0.000, 2.163, 0, 0, 0, [SEP] 23, GarbageCan, 3.833, -0.029, -0.495, 0, 0, 0, [SEP] 24, Television, 1.897, 1.281, -0.838, 0, 0, 0, [SEP] 25, Painting, 4.070, 1.950, 0.848, 90, 270, 0, [SEP] 26, HousePlant, 0.387, 0.801, -0.725, 0, 90, 0, [SEP] 27, Window, 0.023, 2.072, 2.484, 90, 180, 0, [SEP] 28, Window, 1.570, 2.072, 2.484, 90, 180, 0, [SEP] 29, LightSwitch, -1.399, 1.289, 1.835, 0, 90, 0, [SEP] 30, ArmChair, 2.655, 0.000, 1.858, 0, 180, 0, [SEP] 31, CoffeeTable, 1.591, -0.000, 0.446, 0, 180, 0, [SEP] 32, Shelf, 1.905, 0.588, -0.730, 0, 0, 0, [SEP] 33, TVStand, 1.904, -0.000, -0.770, 0, 0, 0, [SEP] 34, Shelf, -0.289, 0.200, -0.732, 0, 0, 0, [SEP] 35, TVStand, -0.290, -0.000, -0.772, 0, 0, 0, [SEP] 36, Shelf, 1.905, 0.200, -0.730, 0, 0, 0, [SEP] 37, Shelf, -0.289, 0.588, -0.732, 0, 0, 0, [SEP] 38, ArmChair, -0.270, 0.000, 1.870, 0, 181.372, 0, [SEP] 39, Sofa, 1.193, 0.008, 1.865, 0, 180, 0, [SEP] 40, SideTable, 3.946, 0.000, 0.865, 0, 270, 0, [SEP] 41, Drawer, 3.882, 0.774, 0.864, 0, 270, 0, [SEP] 42, NorthWall, , , , , , , [SEP] 43, EastWall, , , , , , , [SEP] 44, SouthWall, , , , , , , [SEP] 45, WestWall, , , , , , , ", "output": ["STEP 1: Move to the right and turn left to face the wooden shelf right of the house plant | STEP 2: Pick up the keys from the shelf | STEP 3: Turn and walk around the room to the floor lamp in the corner | STEP 4: Turn on the floor lamp | END"]} +{"id": "trial_T20190906_185855_916436-3", "input": "Carry keys from the table to the lamp, turn on the lamp SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.5, 0.900, -0.25, 0, 180, 0, [SEP] 1, TissueBox, 1.608, 0.479, 0.186, 0, 180, 0, 31 [SEP] 2, Pencil, 3.876, 0.768, 1.151, 0, 0, 0, 41 [SEP] 3, Pencil, 1.466, 0.476, 0.349, 0, 180, 0, 31 [SEP] 4, CreditCard, 3.967, 0.877, 0.865, 0, 0, 0, 40 [SEP] 5, CreditCard, 4.007, 0.877, 1.181, 0, 0, 0, 40 [SEP] 6, RemoteControl, 1.891, 0.474, 0.267, 0, 180, 0, 31 [SEP] 7, Box, -0.29, 1.074, -0.714, 0, 270, 0, Floor|+00.00| [SEP] 8, Newspaper, -0.415, 0.321, 1.814, 0, 91.372, 0, 38 [SEP] 9, Laptop, 1.805, 0.47, 0.499, 0, 0, 0, 31 [SEP] 10, WateringCan, 1.621, 0.056, -0.697, 0, 0, 0, 36 [SEP] 11, TissueBox, 1.799, 0.067, -0.691, 0, 0, 0, 36 [SEP] 12, KeyChain, 0.044, 0.840, -0.867, 0, 90, 0, 35 [SEP] 13, Pen, 0.044, 0.845, -0.672, 0, 0, 0, 35 [SEP] 14, Boots, 4.005, 0.001, 1.707, 1.563, 246.167, 0, [SEP] 15, Pencil, 0.025, 0.071, -0.615, 0, 0, 0, 34 [SEP] 16, RemoteControl, 1.324, 0.478, 0.594, 0, 180, 0, 31 [SEP] 17, CreditCard, 3.827, 0.765, 0.674, 0, 0, 0, 41 [SEP] 18, Pillow, 0.651, 0.395, 1.708, 0, 0, 0, 21 [SEP] 19, Statue, -0.532, 0.443, -0.738, 0, 92.244, 0, 37 [SEP] 20, Statue, 1.183, 0.483, 0.431, 0, 180, 0, 31 [SEP] 21, Sofa, 1.174, 0.0, 1.865, 0, 0, 0, [SEP] 22, FloorLamp, 3.608, 0.000, 2.163, 0, 0, 0, [SEP] 23, GarbageCan, 3.833, -0.029, -0.495, 0, 0, 0, [SEP] 24, Television, 1.897, 1.281, -0.838, 0, 0, 0, [SEP] 25, Painting, 4.070, 1.950, 0.848, 90, 270, 0, [SEP] 26, HousePlant, 0.387, 0.801, -0.725, 0, 90, 0, [SEP] 27, Window, 0.023, 2.072, 2.484, 90, 180, 0, [SEP] 28, Window, 1.570, 2.072, 2.484, 90, 180, 0, [SEP] 29, LightSwitch, -1.399, 1.289, 1.835, 0, 90, 0, [SEP] 30, ArmChair, 2.655, 0.000, 1.858, 0, 180, 0, [SEP] 31, CoffeeTable, 1.591, -0.000, 0.446, 0, 180, 0, [SEP] 32, Shelf, 1.905, 0.588, -0.730, 0, 0, 0, [SEP] 33, TVStand, 1.904, -0.000, -0.770, 0, 0, 0, [SEP] 34, Shelf, -0.289, 0.200, -0.732, 0, 0, 0, [SEP] 35, TVStand, -0.290, -0.000, -0.772, 0, 0, 0, [SEP] 36, Shelf, 1.905, 0.200, -0.730, 0, 0, 0, [SEP] 37, Shelf, -0.289, 0.588, -0.732, 0, 0, 0, [SEP] 38, ArmChair, -0.270, 0.000, 1.870, 0, 181.372, 0, [SEP] 39, Sofa, 1.193, 0.008, 1.865, 0, 180, 0, [SEP] 40, SideTable, 3.946, 0.000, 0.865, 0, 270, 0, [SEP] 41, Drawer, 3.882, 0.774, 0.864, 0, 270, 0, [SEP] 42, NorthWall, , , , , , , [SEP] 43, EastWall, , , , , , , [SEP] 44, SouthWall, , , , , , , [SEP] 45, WestWall, , , , , , , ", "output": ["STEP 1: Move to the red book shelf | STEP 2: Pickup the keys to the left of the box on top of the shelf | STEP 3: Take the keys and move to the green floor lamp | STEP 4: Turn on the lamp | END"]} +{"id": "trial_T20190908_125826_903533-1", "input": "slice and cook a potato in the microwave with the knife SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.901, 0.5, 0, 270, 0, [SEP] 1, WineBottle, -0.349, 0.791, 0.713, 0, 0, 0, 80 [SEP] 2, WineBottle, -0.425, 0.791, 1.049, 0, 0, 0, 80 [SEP] 3, Spatula, -0.272, 0.805, 1.049, 0, 90, 0, 80 [SEP] 4, Spoon, 1.919, 0.746, 1.991, 0, 0, 0, 68 [SEP] 5, Egg, 0.788, 0.837, 2.584, 0, 0, 0, 77 [SEP] 6, Egg, -0.349, 0.833, 1.217, 0, 0, 0, 80 [SEP] 7, Cup, 0.576, 0.793, 2.695, 0, 0, 0, 77 [SEP] 8, Cup, -0.119, 0.789, 1.386, 0, 0, 0, 80 [SEP] 9, Plate, 2.164, 0.606, -0.188, 0, 270, 0, 74 [SEP] 10, Knife, -0.042, 0.816, 1.049, 0, 90, 0, 80 [SEP] 11, Knife, 1.917, 0.963, 0.583, 0, 270, 0, 64 [SEP] 12, SoapBottle, 1.156, 0.082, 2.601, 0, 0, 0, 59 [SEP] 13, SoapBottle, -0.042, 0.791, 0.881, 0, 0, 0, 80 [SEP] 14, Tomato, -0.119, 0.837, 1.217, 0, 0, 0, 80 [SEP] 15, Tomato, 1.840, 0.984, 0.361, 0, 0, 0, 64 [SEP] 16, Bowl, 2.223, 1.320, -0.550, 0, 0, 0, 74 [SEP] 17, Bowl, -0.362, 1.032, 2.014, 0, 90, 0, 78 [SEP] 18, PepperShaker, 0.637, 0.076, 2.445, 0, 0, 0, 60 [SEP] 19, Lettuce, 1.920, 0.999, 2.063, 0, 90, 0, 53 [SEP] 20, Apple, 2.225, 0.988, 0.361, 0, 0, 0, 64 [SEP] 21, Apple, -0.119, 0.840, 1.049, 0, 0, 0, 80 [SEP] 22, Egg, 1.997, 0.980, 1.866, 0, 0, 0, 53 [SEP] 23, Lettuce, 0.033, 0.852, 0.377, 0, 0, 0, 80 [SEP] 24, Fork, -0.272, 0.791, 1.386, 0, 90, 0, 80 [SEP] 25, SoapBottle, 2.280, 1.504, 0.358, 0, 0, 0, 51 [SEP] 26, Ladle, 2.002, 0.126, 1.915, 0, 90, 0, 49 [SEP] 27, Ladle, -0.096, 0.942, 2.546, 6.888, 45, 340.409, 53 [SEP] 28, Bread, 0.174, 0.985, 2.618, 0, 0, 0, 53 [SEP] 29, SaltShaker, 1.840, 0.933, 0.806, 0, 270, 0, 64 [SEP] 30, Potato, 1.276, 0.835, 2.529, 0, 270, 0, 77 [SEP] 31, Pan, 2.140, 0.935, 1.504, 0, 180, 0, 48 [SEP] 32, WineBottle, 1.440, 0.082, 2.601, 0, 0, 0, 59 [SEP] 33, Spatula, -0.053, 0.952, 2.688, 0, 90, 0, 53 [SEP] 34, Knife, 1.872, 0.772, 0.721, 0, 270, 0, 62 [SEP] 35, Tomato, 2.223, 1.369, -0.188, 0, 270, 0, 74 [SEP] 36, Apple, 0.033, 0.840, 0.545, 0, 0, 0, 80 [SEP] 37, ButterKnife, -0.196, 0.791, 1.386, 0, 0, 0, 80 [SEP] 38, Pot, 1.854, 0.937, 1.497, 0, 0, 0, 57 [SEP] 39, PepperShaker, 2.165, 1.498, 0.388, 0, 0, 0, 51 [SEP] 40, Cup, 2.280, 1.501, 0.478, 0, 0, 0, 61 [SEP] 41, DishSponge, -0.068, 0.745, 2.129, 0, 0, 0, 52 [SEP] 42, Plate, -0.312, 0.781, 0.409, 0, 0, 0, 80 [SEP] 43, Spoon, 1.276, 0.796, 2.695, 0, 0, 0, 77 [SEP] 44, Mug, -0.349, 0.785, 1.386, 0, 0, 0, 80 [SEP] 45, Bowl, -0.119, 0.787, 0.713, 0, 0, 0, 80 [SEP] 46, Cabinet, 2.041, 2.113, 2.618, 0, 0, 0, [SEP] 47, Cabinet, 0.126, 0.388, 1.774, 0, 0, 0, [SEP] 48, StoveBurner, 2.140, 0.929, 1.504, 0, 180, 0, [SEP] 49, Cabinet, 1.760, 0.388, 2.346, 0, 0, 0, [SEP] 50, Cabinet, 1.760, 0.388, 0.869, 0, 0, 0, [SEP] 51, Cabinet, 2.041, 1.810, 0.283, 0, 0, 0, [SEP] 52, Drawer, -0.024, 0.774, 2.061, 0, 0, 0, [SEP] 53, CounterTop, 1.065, 0.973, 2.666, 0, 0, 0, [SEP] 54, Cabinet, 1.969, 2.113, 2.618, 0, 0, 0, [SEP] 55, StoveBurner, 2.140, 0.929, 1.106, 0, 0, 0, [SEP] 56, Cabinet, 2.041, 2.113, 1.809, 0, 0, 0, [SEP] 57, StoveBurner, 1.866, 0.929, 1.504, 0, 180, 0, [SEP] 58, Cabinet, 2.041, 2.113, 1.766, 0, 0, 0, [SEP] 59, Cabinet, 1.514, 0.388, 2.360, 0, 0, 0, [SEP] 60, Cabinet, 0.351, 0.388, 2.360, 0, 0, 0, [SEP] 61, Cabinet, 2.041, 1.810, 0.872, 0, 0, 0, [SEP] 62, Drawer, 2.167, 0.774, 0.582, 0, 0, 0, [SEP] 63, Cabinet, 2.041, 2.113, 0.892, 0, 0, 0, [SEP] 64, CounterTop, 2.060, 0.973, 0.583, 0, 0, 0, [SEP] 65, Sink, 0.935, 0.936, 2.646, 0, 0, 0, [SEP] 66, Curtains, 0.964, 2.061, 2.989, 0, 0, 0, [SEP] 67, StoveBurner, 1.863, 0.929, 1.106, 0, 0, 0, [SEP] 68, Drawer, 1.911, 0.774, 2.060, 0, 0, 0, [SEP] 69, StoveKnob, 2.326, 1.092, 1.610, 288.013, 90, 0, [SEP] 70, StoveKnob, 2.326, 1.092, 1.460, 288.013, 90, 0, [SEP] 71, StoveKnob, 2.326, 1.092, 1.210, 288.013, 90, 0, [SEP] 72, StoveKnob, 2.326, 1.092, 1.050, 288.013, 90, 0, [SEP] 73, Toaster, 2.126, 0.926, 0.572, 0, 270, 0, [SEP] 74, Fridge, 2.104, 0.0, -0.279, 0, 270, 0, [SEP] 75, GarbageCan, -0.309, -0.001, -0.807, 0, 91.471, 0, [SEP] 76, LightSwitch, 0.354, 1.518, -1.031, 0, 0, 0, [SEP] 77, SinkBasin, 0.903, 0.784, 2.640, 0, 0, 0, [SEP] 78, Microwave, -0.310, 0.926, 2.077, 0, 90, 0, [SEP] 79, CoffeeMachine, 2.084, 0.927, 2.667, 0, 225, 0, [SEP] 80, DiningTable, -0.153, -0.000, 1.073, 0, 270, 0, [SEP] 81, Faucet, 1.175, 0.926, 2.950, 270, 90, 0, [SEP] 82, Faucet, 0.686, 0.926, 2.950, 270, 90, 0, [SEP] 83, Chair, -0.077, 0.002, 0.196, 0, 15.000, 0, [SEP] 84, NorthWall, , , , , , , [SEP] 85, EastWall, , , , , , , [SEP] 86, SouthWall, , , , , , , [SEP] 87, WestWall, , , , , , , ", "output": ["STEP 1: go to the counter to the right of the sink | STEP 2: pick up the knife from the counter | STEP 3: take the knife to the sink | STEP 4: cut the potato in the sink with the knife | STEP 5: take the knife to the microwave | STEP 6: cook the knife in the microwave | STEP 7: walk back to the sink | STEP 8: pick up one slice of potato from the sink | STEP 9: take the slice to the microwave | STEP 10: cook the slice in the microwave then remove | STEP 11: take the slice to the fridge | STEP 12: put the potato slice in the fridge | END"]} +{"id": "trial_T20190908_125826_903533-2", "input": "Heat up a potato slice in the microwave to put in the fridge. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.901, 0.5, 0, 270, 0, [SEP] 1, WineBottle, -0.349, 0.791, 0.713, 0, 0, 0, 80 [SEP] 2, WineBottle, -0.425, 0.791, 1.049, 0, 0, 0, 80 [SEP] 3, Spatula, -0.272, 0.805, 1.049, 0, 90, 0, 80 [SEP] 4, Spoon, 1.919, 0.746, 1.991, 0, 0, 0, 68 [SEP] 5, Egg, 0.788, 0.837, 2.584, 0, 0, 0, 77 [SEP] 6, Egg, -0.349, 0.833, 1.217, 0, 0, 0, 80 [SEP] 7, Cup, 0.576, 0.793, 2.695, 0, 0, 0, 77 [SEP] 8, Cup, -0.119, 0.789, 1.386, 0, 0, 0, 80 [SEP] 9, Plate, 2.164, 0.606, -0.188, 0, 270, 0, 74 [SEP] 10, Knife, -0.042, 0.816, 1.049, 0, 90, 0, 80 [SEP] 11, Knife, 1.917, 0.963, 0.583, 0, 270, 0, 64 [SEP] 12, SoapBottle, 1.156, 0.082, 2.601, 0, 0, 0, 59 [SEP] 13, SoapBottle, -0.042, 0.791, 0.881, 0, 0, 0, 80 [SEP] 14, Tomato, -0.119, 0.837, 1.217, 0, 0, 0, 80 [SEP] 15, Tomato, 1.840, 0.984, 0.361, 0, 0, 0, 64 [SEP] 16, Bowl, 2.223, 1.320, -0.550, 0, 0, 0, 74 [SEP] 17, Bowl, -0.362, 1.032, 2.014, 0, 90, 0, 78 [SEP] 18, PepperShaker, 0.637, 0.076, 2.445, 0, 0, 0, 60 [SEP] 19, Lettuce, 1.920, 0.999, 2.063, 0, 90, 0, 53 [SEP] 20, Apple, 2.225, 0.988, 0.361, 0, 0, 0, 64 [SEP] 21, Apple, -0.119, 0.840, 1.049, 0, 0, 0, 80 [SEP] 22, Egg, 1.997, 0.980, 1.866, 0, 0, 0, 53 [SEP] 23, Lettuce, 0.033, 0.852, 0.377, 0, 0, 0, 80 [SEP] 24, Fork, -0.272, 0.791, 1.386, 0, 90, 0, 80 [SEP] 25, SoapBottle, 2.280, 1.504, 0.358, 0, 0, 0, 51 [SEP] 26, Ladle, 2.002, 0.126, 1.915, 0, 90, 0, 49 [SEP] 27, Ladle, -0.096, 0.942, 2.546, 6.888, 45, 340.409, 53 [SEP] 28, Bread, 0.174, 0.985, 2.618, 0, 0, 0, 53 [SEP] 29, SaltShaker, 1.840, 0.933, 0.806, 0, 270, 0, 64 [SEP] 30, Potato, 1.276, 0.835, 2.529, 0, 270, 0, 77 [SEP] 31, Pan, 2.140, 0.935, 1.504, 0, 180, 0, 48 [SEP] 32, WineBottle, 1.440, 0.082, 2.601, 0, 0, 0, 59 [SEP] 33, Spatula, -0.053, 0.952, 2.688, 0, 90, 0, 53 [SEP] 34, Knife, 1.872, 0.772, 0.721, 0, 270, 0, 62 [SEP] 35, Tomato, 2.223, 1.369, -0.188, 0, 270, 0, 74 [SEP] 36, Apple, 0.033, 0.840, 0.545, 0, 0, 0, 80 [SEP] 37, ButterKnife, -0.196, 0.791, 1.386, 0, 0, 0, 80 [SEP] 38, Pot, 1.854, 0.937, 1.497, 0, 0, 0, 57 [SEP] 39, PepperShaker, 2.165, 1.498, 0.388, 0, 0, 0, 51 [SEP] 40, Cup, 2.280, 1.501, 0.478, 0, 0, 0, 61 [SEP] 41, DishSponge, -0.068, 0.745, 2.129, 0, 0, 0, 52 [SEP] 42, Plate, -0.312, 0.781, 0.409, 0, 0, 0, 80 [SEP] 43, Spoon, 1.276, 0.796, 2.695, 0, 0, 0, 77 [SEP] 44, Mug, -0.349, 0.785, 1.386, 0, 0, 0, 80 [SEP] 45, Bowl, -0.119, 0.787, 0.713, 0, 0, 0, 80 [SEP] 46, Cabinet, 2.041, 2.113, 2.618, 0, 0, 0, [SEP] 47, Cabinet, 0.126, 0.388, 1.774, 0, 0, 0, [SEP] 48, StoveBurner, 2.140, 0.929, 1.504, 0, 180, 0, [SEP] 49, Cabinet, 1.760, 0.388, 2.346, 0, 0, 0, [SEP] 50, Cabinet, 1.760, 0.388, 0.869, 0, 0, 0, [SEP] 51, Cabinet, 2.041, 1.810, 0.283, 0, 0, 0, [SEP] 52, Drawer, -0.024, 0.774, 2.061, 0, 0, 0, [SEP] 53, CounterTop, 1.065, 0.973, 2.666, 0, 0, 0, [SEP] 54, Cabinet, 1.969, 2.113, 2.618, 0, 0, 0, [SEP] 55, StoveBurner, 2.140, 0.929, 1.106, 0, 0, 0, [SEP] 56, Cabinet, 2.041, 2.113, 1.809, 0, 0, 0, [SEP] 57, StoveBurner, 1.866, 0.929, 1.504, 0, 180, 0, [SEP] 58, Cabinet, 2.041, 2.113, 1.766, 0, 0, 0, [SEP] 59, Cabinet, 1.514, 0.388, 2.360, 0, 0, 0, [SEP] 60, Cabinet, 0.351, 0.388, 2.360, 0, 0, 0, [SEP] 61, Cabinet, 2.041, 1.810, 0.872, 0, 0, 0, [SEP] 62, Drawer, 2.167, 0.774, 0.582, 0, 0, 0, [SEP] 63, Cabinet, 2.041, 2.113, 0.892, 0, 0, 0, [SEP] 64, CounterTop, 2.060, 0.973, 0.583, 0, 0, 0, [SEP] 65, Sink, 0.935, 0.936, 2.646, 0, 0, 0, [SEP] 66, Curtains, 0.964, 2.061, 2.989, 0, 0, 0, [SEP] 67, StoveBurner, 1.863, 0.929, 1.106, 0, 0, 0, [SEP] 68, Drawer, 1.911, 0.774, 2.060, 0, 0, 0, [SEP] 69, StoveKnob, 2.326, 1.092, 1.610, 288.013, 90, 0, [SEP] 70, StoveKnob, 2.326, 1.092, 1.460, 288.013, 90, 0, [SEP] 71, StoveKnob, 2.326, 1.092, 1.210, 288.013, 90, 0, [SEP] 72, StoveKnob, 2.326, 1.092, 1.050, 288.013, 90, 0, [SEP] 73, Toaster, 2.126, 0.926, 0.572, 0, 270, 0, [SEP] 74, Fridge, 2.104, 0.0, -0.279, 0, 270, 0, [SEP] 75, GarbageCan, -0.309, -0.001, -0.807, 0, 91.471, 0, [SEP] 76, LightSwitch, 0.354, 1.518, -1.031, 0, 0, 0, [SEP] 77, SinkBasin, 0.903, 0.784, 2.640, 0, 0, 0, [SEP] 78, Microwave, -0.310, 0.926, 2.077, 0, 90, 0, [SEP] 79, CoffeeMachine, 2.084, 0.927, 2.667, 0, 225, 0, [SEP] 80, DiningTable, -0.153, -0.000, 1.073, 0, 270, 0, [SEP] 81, Faucet, 1.175, 0.926, 2.950, 270, 90, 0, [SEP] 82, Faucet, 0.686, 0.926, 2.950, 270, 90, 0, [SEP] 83, Chair, -0.077, 0.002, 0.196, 0, 15.000, 0, [SEP] 84, NorthWall, , , , , , , [SEP] 85, EastWall, , , , , , , [SEP] 86, SouthWall, , , , , , , [SEP] 87, WestWall, , , , , , , ", "output": ["STEP 1: Turn around to face the counter where the toaster is. | STEP 2: Pick up the knife from the countertop. | STEP 3: Turn left to walk to the sink. | STEP 4: Slice the potato in the sink with the knife. | STEP 5: Turn left to walk to the microwave. | STEP 6: Put the knife in the microwave. | STEP 7: Turn right to walk to the sink. | STEP 8: Pick up a slice of potato from the sink. | STEP 9: Turn left to walk to the microwave. | STEP 10: Heat up the potato in the microwave, taking it out afterwards. | STEP 11: Turn around and make your way to the fridge across the room. | STEP 12: Put the potato slice in the fridge. | END"]} +{"id": "trial_T20190909_110706_730247-2", "input": "Examine a pillow by the light of a small lamp. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.900, 1.5, 0, 0, 0, [SEP] 1, Mug, 1.341, 1.136, 1.558, 0, 90, 0, 38 [SEP] 2, CellPhone, 1.098, 0.319, 1.666, 0, 0, 0, 42 [SEP] 3, CellPhone, 1.288, 0.732, 1.066, 0, 0, 0, 41 [SEP] 4, Pencil, -0.095, 0.693, -1.616, 0, 0, 0, 43 [SEP] 5, Pencil, 1.135, 0.555, 1.595, 0, 0, 0, 40 [SEP] 6, KeyChain, 1.310, 1.139, 0.933, 0, 270, 0, 38 [SEP] 7, KeyChain, 1.135, 0.316, 1.879, 0, 0, 0, 42 [SEP] 8, Book, 1.080, 0.780, -1.537, 0, 0, 0, 30 [SEP] 9, Pillow, 0.955, 0.849, -0.988, 0, 0, 0, 30 [SEP] 10, Book, 1.145, 0.721, 1.806, 0, 0, 0, 40 [SEP] 11, Box, -1.233, 0.263, -1.435, 0, 312.675, 0, [SEP] 12, CellPhone, 1.330, 0.782, -0.166, 0, 0, 0, 30 [SEP] 13, BaseballBat, -1.717, 0.708, -0.677, 0, 0, 12.045, [SEP] 14, Bowl, 0.138, 0.690, -1.660, 0, 0, 0, 43 [SEP] 15, BasketBall, -1.64, 0.127, -1.652, 0, 0, 0, [SEP] 16, Laptop, 1.223, 0.721, 1.342, 0, 255.000, 0, 41 [SEP] 17, CreditCard, 1.135, 0.552, 1.737, 0, 0, 0, 41 [SEP] 18, KeyChain, 1.310, 1.139, 1.089, 0, 270, 0, 38 [SEP] 19, AlarmClock, 1.342, 1.139, 1.402, 0, 270, 0, 38 [SEP] 20, Pencil, 1.084, 0.732, 1.066, 0, 0, 0, 41 [SEP] 21, Pillow, 0.955, 0.849, -0.166, 0, 0, 0, 30 [SEP] 22, CD, 1.134, 0.077, 0.611, 0, 0, 0, 31 [SEP] 23, Pen, -0.213, 0.698, -1.749, 0, 0, 0, 43 [SEP] 24, Mug, 1.084, 0.727, 0.901, 0, 0, 0, 41 [SEP] 25, Poster, 0.978, 1.970, -1.868, 90, 0, 0, [SEP] 26, Mirror, -0.884, 1.350, 2.086, 0, 0, 0, [SEP] 27, Poster, 1.483, 1.978, -1.210, 90, 270, 0, [SEP] 28, Poster, 1.483, 1.503, -0.128, 90, 270, 0, [SEP] 29, Poster, 1.483, 2.138, -0.128, 90, 270, 0, [SEP] 30, Bed, 0.955, 0.002, -0.722, 0, 0, 0, [SEP] 31, GarbageCan, 1.133, 0.032, 0.581, 0, 0, 0, [SEP] 32, DeskLamp, -0.396, 0.664, -1.666, 0, 315, 0, [SEP] 33, LightSwitch, 0.554, 1.154, 2.079, 0, 180, 0, [SEP] 34, Window, -0.174, 1.006, -2.009, 90, 0, 0, [SEP] 35, LaundryHamper, -1.425, 0.006, 1.676, 0, 149.999, 0, [SEP] 36, Chair, 1.127, -8.434, 1.053, 0, 90, 0, [SEP] 37, Blinds, -0.145, 1.679, -1.986, 0, 0, 0, [SEP] 38, Shelf, 1.316, 1.174, 1.388, 0, 270, 0, [SEP] 39, Drawer, 1.099, 0.167, 1.724, 0, 270, 0, [SEP] 40, Drawer, 1.099, 0.622, 1.724, 0, 270, 0, [SEP] 41, Desk, 1.189, 0.002, 1.384, 0, 270, 0, [SEP] 42, Drawer, 1.099, 0.408, 1.724, 0, 270, 0, [SEP] 43, SideTable, -0.103, -0.000, -1.691, 0, 0, 0, [SEP] 44, Drawer, -0.104, 0.157, -1.618, 0, 0, 0, [SEP] 45, Drawer, -0.104, 0.456, -1.618, 0, 0, 0, [SEP] 46, NorthWall, , , , , , , [SEP] 47, EastWall, , , , , , , [SEP] 48, SouthWall, , , , , , , [SEP] 49, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk to the bed on the left. | STEP 2: Pick up the striped pillow from the middle of the bed. | STEP 3: Turn around and walk to the wooden nightstand with the lamp on the left. | STEP 4: Turn on the small lamp. | END"]} +{"id": "trial_T20190908_123040_092484-1", "input": "place two phones on a night table so one makes the other fall on the ground SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, -1.0, 0, 270, 0, [SEP] 1, CD, 0.128, 0.145, -2.196, 0, 90, 0, 30 [SEP] 2, CellPhone, 0.300, 0.647, 0.598, 0, 0, 0, 27 [SEP] 3, CellPhone, 2.004, 0.647, -0.299, 0, 0, 0, 27 [SEP] 4, CellPhone, 1.152, 0.647, 0.418, 0, 0, 0, 27 [SEP] 5, Pen, -0.705, 0.843, -1.861, 0, 0, 0, 40 [SEP] 6, Pencil, -0.705, 1.780, -1.981, 0, 0, 0, 40 [SEP] 7, KeyChain, -0.901, 1.347, -2.172, 0, 90, 0, 43 [SEP] 8, Book, 0.584, 0.646, -0.120, 0, 0, 0, 27 [SEP] 9, Book, 1.436, 0.646, -0.299, 0, 0, 0, 27 [SEP] 10, Box, -0.935, 2.073, -2.041, 0, 0, 0, 40 [SEP] 11, Pillow, 1.720, 0.739, 0.418, 0, 0, 0, 27 [SEP] 12, Book, -0.935, 0.839, -2.185, 0, 0, 0, 40 [SEP] 13, Box, -0.424, 2.065, -2.027, 0, 352.503, 0, 40 [SEP] 14, Pillow, 0.868, 0.739, -0.299, 0, 0, 0, 27 [SEP] 15, AlarmClock, 1.672, 0.673, -0.863, 0, 0, 0, 35 [SEP] 16, BasketBall, -0.337, 0.120, 1.031, 0, 0, 0, Floor|-00.16| [SEP] 17, BaseballBat, -1.602, 0.022, 0.356, 90, 8.736, 0, Floor|-00.16| [SEP] 18, Pen, 1.536, 0.686, -0.988, 0, 270, 0, 35 [SEP] 19, CellPhone, -1.165, 1.779, -2.281, 0, 0, 0, 40 [SEP] 20, TennisRacket, -1.667, 0.0, 0.818, 90, 29.999, 0, Floor|-00.16| [SEP] 21, Laptop, -1.396, 0.828, -1.896, 0, 19.242, 0, 40 [SEP] 22, Pencil, -1.396, 0.841, -2.293, 0, 0, 0, 40 [SEP] 23, KeyChain, -0.901, 1.347, -2.222, 0, 0, 0, 43 [SEP] 24, CreditCard, 1.672, 0.673, -0.755, 0, 270, 0, 35 [SEP] 25, CD, 1.626, 0.680, -1.142, 0, 270, 0, 35 [SEP] 26, Mirror, 0.883, 1.582, -2.399, 0, 180, 0, [SEP] 27, Bed, 1.176, -0.002, 0.238, 0, 90, 0, [SEP] 28, LightSwitch, 1.899, 1.297, -1.302, 0, 270, 0, [SEP] 29, Poster, -1.927, 1.411, -1.455, 90, 90, 0, [SEP] 30, GarbageCan, 0.128, -0.030, -2.146, 0, 90, 0, [SEP] 31, Window, -2.028, 1.388, -0.270, 90, 270, 0, [SEP] 32, DeskLamp, -1.673, 1.774, -2.190, 0, 0, 0, [SEP] 33, Drawer, 1.624, 0.453, -0.987, 0, 270, 0, [SEP] 34, Drawer, 1.624, 0.163, -0.987, 0, 270, 0, [SEP] 35, SideTable, 1.691, 0.002, -0.988, 0, 270, 0, [SEP] 36, Chair, -1.089, 0.009, -1.570, 0, 166.824, 0, [SEP] 37, Blinds, -1.949, 2.158, -0.252, 0, 90, 0, [SEP] 38, Cabinet, -0.241, 1.534, -2.101, 0, 0, 0, [SEP] 39, Cabinet, -1.301, 1.534, -2.101, 0, 0, 0, [SEP] 40, Desk, -0.962, 0.003, -1.942, 0, 0, 0, [SEP] 41, Cabinet, -1.683, 1.534, -2.101, 0, 0, 0, [SEP] 42, Cabinet, -0.623, 1.534, -2.101, 0, 0, 0, [SEP] 43, Shelf, -0.962, 1.534, -2.101, 0, 0, 0, [SEP] 44, NorthWall, , , , , , , [SEP] 45, EastWall, , , , , , , [SEP] 46, SouthWall, , , , , , , [SEP] 47, WestWall, , , , , , , ", "output": ["STEP 1: walk through the bedroom to face the right side of the bed | STEP 2: pick up the white cell phone on the top left from the bed | STEP 3: turn to the right to face the night table next to the bed | STEP 4: put the phone on the table on top of the blue pencil | STEP 5: turn slightly left to face the bed | STEP 6: pick up the white cell phone from the bed | STEP 7: turn to the right to face the night table next to the bed | STEP 8: put the phone on top of the other phone on the night table so the first phone falls to the ground | END"]} +{"id": "trial_T20190909_044930_737199-2", "input": "Place the two purple bottles on the counter to the right of the tub. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.902, 2.5, 0, 180, 0, [SEP] 1, Cloth, -2.554, 1.046, 1.691, 0, 90, 0, 41 [SEP] 2, Cloth, 0.682, 0.586, 0.367, 0, 0, 0, 28 [SEP] 3, SoapBar, -0.106, 0.180, 0.385, 0, 0, 0, 37 [SEP] 4, SoapBar, 0.562, 0.254, 2.215, 0, 0, 0, 26 [SEP] 5, Candle, 0.645, 0.252, 1.793, 0, 0, 0, 22 [SEP] 6, SprayBottle, -2.463, 1.047, 1.559, 0, 90, 0, 41 [SEP] 7, SoapBottle, 0.404, 0.742, 1.757, 0, 0, 0, 25 [SEP] 8, Towel, 0.931, 1.193, 0.495, 0, 270, 0, 33 [SEP] 9, HandTowel, 1.033, 1.671, 3.127, 0, 90, 0, 38 [SEP] 10, Towel, 0.474, 1.182, 0.134, 0, 0, 0, 34 [SEP] 11, SoapBar, 0.767, 0.812, 2.004, 349.201, 270, 0, 36 [SEP] 12, ToiletPaper, 0.562, 0.487, 1.281, 0, 0, 0, 22 [SEP] 13, SoapBottle, -2.456, 0.587, 0.250, 0, 0, 0, 28 [SEP] 14, ToiletPaper, -1.859, 0.583, 0.133, 0, 0, 0, 28 [SEP] 15, ScrubBrush, -2.557, 0.001, 2.200, 0, 0, 0, [SEP] 16, Plunger, -2.568, 0.000, 1.992, 0, 0, 0, [SEP] 17, Cloth, -2.337, 0.586, 0.601, 0, 0, 0, 28 [SEP] 18, Candle, -2.554, 1.044, 1.822, 0, 90, 0, 41 [SEP] 19, SprayBottle, 0.762, 0.115, 3.04, 0, 0, 0, 40 [SEP] 20, Window, -2.808, 0.962, 0.514, 0, 0, 0, [SEP] 21, Bathtub, -1.062, 0.300, 0.427, 0, 0, 0, [SEP] 22, Drawer, 0.409, 0.551, 1.486, 0, 0, 0, [SEP] 23, Mirror, 0.986, 1.676, 1.896, 0, 0, 0, [SEP] 24, ShowerDoor, -2.671, 1.001, 2.797, 0, 0, 0, [SEP] 25, CounterTop, 0.732, 0.697, 1.955, 0, 0, 0, [SEP] 26, Drawer, 0.409, 0.314, 2.420, 0, 0, 0, [SEP] 27, ShowerGlass, -1.713, 1.276, 3.298, 0, 0, 0, [SEP] 28, CounterTop, -0.298, 0.157, 0.531, 0, 0, 0, [SEP] 29, Sink, 0.812, 0.703, 1.920, 0, 270, 0, [SEP] 30, Drawer, 0.409, 0.551, 2.420, 0, 0, 0, [SEP] 31, Window, -0.957, 1.563, -0.059, 0, 0, 0, [SEP] 32, Drawer, 0.409, 0.314, 1.486, 0, 0, 0, [SEP] 33, TowelHolder, 1.038, 1.179, 0.495, 0, 270, 0, [SEP] 34, TowelHolder, 0.474, 1.168, 0.027, 0, 0, 0, [SEP] 35, ToiletPaperHanger, -2.695, 0.929, 1.200, 0, 90, 0, [SEP] 36, SinkBasin, 0.720, 0.812, 1.896, 349.201, 270, 0, [SEP] 37, BathtubBasin, -0.721, 0.171, 0.479, 0, 0, 0, [SEP] 38, HandTowelHolder, 1.071, 1.773, 3.127, 0, 180, 0, [SEP] 39, LightSwitch, 0.220, 1.416, 3.998, 0, 180, 0, [SEP] 40, GarbageCan, 0.713, -0.028, 3.110, 0, 0, 0, [SEP] 41, Toilet, -2.232, 0.001, 1.628, 0, 180, 0, [SEP] 42, ShowerHead, -2.619, 1.819, 3.361, 0, 270, 0, [SEP] 43, Faucet, 1.047, 1.036, 1.921, 0, 0, 0, [SEP] 44, Faucet, 0.318, 0.631, 0.479, 0, 0, 0, [SEP] 45, NorthWall, , , , , , , [SEP] 46, EastWall, , , , , , , [SEP] 47, SouthWall, , , , , , , [SEP] 48, WestWall, , , , , , , ", "output": ["STEP 1: Turn right, walk to the wall, and then turn left to face the toilet tank. | STEP 2: Pick up the purple bottle on the tank. | STEP 3: Take a step to your left to face the tub. | STEP 4: Place the bottle on the counter to the right of the tub. | STEP 5: Turn around, walk to the wall, turn right walk to the wall, and turn right to find a green bin on the floor. | STEP 6: Take out a purple bottle from the bin. | STEP 7: Turn right, walk to the shower stall, turn left and walk to the tub. | STEP 8: Place the bottle next to the other bottle on the counter next to the tub. | END"]} +{"id": "trial_T20190908_090254_092756-1", "input": "To put a watch in a box and move it to the coffee table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -4.75, 0.908, 2.75, 0, 90, 0, [SEP] 1, TissueBox, -3.155, 0.783, 1.751, 0, 0, 0, 54 [SEP] 2, TissueBox, -3.155, 0.783, 2.061, 0, 0, 0, 54 [SEP] 3, Newspaper, -2.324, 0.781, 2.681, 0, 0, 0, 54 [SEP] 4, KeyChain, -3.538, 0.328, 4.582, 0, 0, 0, 52 [SEP] 5, KeyChain, -0.464, 0.677, 0.534, 0, 329.437, 0, 49 [SEP] 6, CreditCard, -1.623, 0.454, 7.334, 0, 0, 0, 47 [SEP] 7, RemoteControl, -2.970, 0.534, 8.596, 0, 180, 0, 60 [SEP] 8, Box, -1.623, 0.583, 6.144, 0, 90, 0, 47 [SEP] 9, Box, -2.601, 0.910, 2.526, 0, 180, 0, 54 [SEP] 10, Box, -1.852, 0.583, 7.036, 0, 0, 0, 47 [SEP] 11, KeyChain, -1.699, 0.456, 6.739, 0, 0, 0, 47 [SEP] 12, Plate, -2.324, 0.798, 2.216, 0, 0, 0, 54 [SEP] 13, Candle, -3.432, 0.782, 2.526, 0, 0, 0, 54 [SEP] 14, Pillow, -1.721, 0.519, 5.725, 0, 0, 0, 47 [SEP] 15, Candle, -0.624, 0.667, 8.444, 0, 0, 0, 50 [SEP] 16, TissueBox, -3.432, 0.783, 2.371, 0, 0, 0, 54 [SEP] 17, Laptop, -3.432, 0.780, 1.906, 0, 0, 0, 54 [SEP] 18, Newspaper, -2.878, 0.781, 2.371, 0, 0, 0, 54 [SEP] 19, CreditCard, -2.004, 0.454, 6.441, 0, 0, 0, 47 [SEP] 20, RemoteControl, -2.004, 0.456, 5.549, 0, 0, 0, 47 [SEP] 21, Boots, -5.786, 0.007, 4.817, 0, 167.028, 0, Floor|-02.99| [SEP] 22, Candle, -2.651, 0.536, 8.534, 0, 180, 0, 60 [SEP] 23, Statue, -2.878, 0.883, 1.906, 0, 0, 0, 54 [SEP] 24, Watch, -3.255, 0.533, 8.214, 0, 90, 0, 60 [SEP] 25, Statue, -3.327, 0.467, 6.347, 0, 0, 0, 51 [SEP] 26, Mirror, -5.489, 1.825, 6.505, 0, 0, 0, [SEP] 27, FloorLamp, -5.645, 0.013, 8.526, 0, 0, 0, [SEP] 28, HousePlant, -3.203, 0.452, 6.798, 0, 0, 0, [SEP] 29, HousePlant, -5.358, 1.476, 5.442, 0, 343.031, 0, [SEP] 30, GarbageCan, -5.711, 0.005, 0.300, 0, 34.872, 0, [SEP] 31, Television, -3.114, 0.996, 8.693, 1.686, 180, 0, [SEP] 32, LightSwitch, -6.0, 1.338, 3.433, 0, 90, 0, [SEP] 33, Painting, -5.954, 1.526, 1.153, 90, 270, 0, [SEP] 34, Window, 0.157, 1.203, 6.895, 90, 90, 0, [SEP] 35, Window, -4.855, 1.203, -0.158, 90, 180, 0, [SEP] 36, Window, 0.157, 1.203, 4.923, 90, 90, 0, [SEP] 37, Window, 0.157, 1.203, 2.986, 90, 90, 0, [SEP] 38, Window, 0.157, 1.203, 1.088, 90, 90, 0, [SEP] 39, Window, -2.942, 1.203, -0.158, 90, 180, 0, [SEP] 40, Window, -1.057, 1.203, -0.158, 90, 180, 0, [SEP] 41, DeskLamp, -0.432, 0.684, 8.644, 0, 0, 0, [SEP] 42, DeskLamp, -0.346, 0.684, 0.335, 0, 0, 0, [SEP] 43, Chair, -3.326, 0.015, 2.739, 358.826, 189.525, 358.738, [SEP] 44, Chair, -2.352, 0.015, 2.744, 358.824, 163.801, 358.735, [SEP] 45, Chair, -2.476, 0.015, 1.628, 358.826, 21.693, 358.736, [SEP] 46, Chair, -3.327, 0.015, 1.701, 358.828, 0, 358.738, [SEP] 47, Sofa, -1.706, 0.002, 6.448, 0, 270, 0, [SEP] 48, Chair, -0.328, 0.016, 0.998, 0, 246.550, 0, [SEP] 49, SideTable, -0.396, 0.008, 0.357, 0, 329.435, 0, [SEP] 50, SideTable, -0.527, 0.008, 8.521, 0, 329.431, 0, [SEP] 51, CoffeeTable, -3.236, 0.010, 6.598, 0, 270, 0, [SEP] 52, ArmChair, -3.663, 0.012, 4.562, 0, 0, 0, [SEP] 53, ArmChair, -2.691, 0.012, 4.618, 0, 0, 0, [SEP] 54, DiningTable, -2.903, 0.010, 2.225, 0, 0, 0, [SEP] 55, RoomDecor, -0.189, 0.009, 3.909, 0, 0, 0, [SEP] 56, RoomDecor, -0.189, 0.009, 2.097, 0, 0, 0, [SEP] 57, RoomDecor, -0.190, 0.009, 5.855, 0, 0, 0, [SEP] 58, RoomDecor, -3.957, 0.009, 0.254, 0, 0, 0, [SEP] 59, RoomDecor, -2.036, 0.009, 0.254, 0, 0, 0, [SEP] 60, CoffeeTable, -3.129, 0.016, 8.533, 0, 0, 0, [SEP] 61, NorthWall, , , , , , , [SEP] 62, EastWall, , , , , , , [SEP] 63, SouthWall, , , , , , , [SEP] 64, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and walk to the television. | STEP 2: Pick up the watch that's in front of the television. | STEP 3: Turn right and walk to the open box on the left side of the couch. | STEP 4: Put the watch inside of the box on the couch. | STEP 5: Pick up the box from the couch. | STEP 6: Turn and walk around the coffee table, face the coffee table. | STEP 7: Put the box down on the coffee table to the right of the sculpture. | END"]} +{"id": "trial_T20190907_203056_124573-1", "input": "Slice, heat and place a piece of bread on a kitchen table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.901, -1.5, 0, 180, 0, [SEP] 1, Pan, -0.447, 0.912, -3.952, 0, 90, 0, 34 [SEP] 2, ButterKnife, -0.257, 0.916, -0.472, 0, 180, 0, 61 [SEP] 3, Fork, -2.803, 0.717, -0.780, 0, 0, 0, 78 [SEP] 4, Egg, -0.314, 0.115, 0.097, 0, 270, 0, 73 [SEP] 5, Cup, -0.373, 0.081, -3.081, 0, 0, 0, 45 [SEP] 6, Plate, -3.182, 1.397, -2.125, 0, 90, 0, 75 [SEP] 7, Plate, -1.058, 0.911, -3.655, 0, 0, 0, 34 [SEP] 8, Knife, -2.865, 0.746, -0.638, 0, 180, 0, 78 [SEP] 9, SoapBottle, -0.413, 0.080, -1.337, 0, 0, 0, 39 [SEP] 10, PepperShaker, -1.436, 0.910, -4.008, 0, 0, 0, 34 [SEP] 11, Bread, -3.309, 0.954, -2.926, 0, 0, 0, 34 [SEP] 12, Bread, -2.928, 0.754, -0.780, 0, 0, 0, 78 [SEP] 13, Pot, -2.836, 0.903, -3.745, 0, 92.628, 0, 34 [SEP] 14, Egg, -3.130, 0.677, -1.879, 0, 90, 0, 75 [SEP] 15, Cup, -3.079, 1.013, -2.187, 0, 90, 0, 75 [SEP] 16, Bread, -0.244, 0.954, -2.911, 0, 0, 0, 34 [SEP] 17, Fork, -0.338, 0.916, -1.432, 0, 0, 0, 61 [SEP] 18, Pan, -0.165, 0.975, -2.030, 0, 180, 0, 65 [SEP] 19, Potato, -0.076, 0.957, -2.911, 0, 0, 0, 34 [SEP] 20, Lettuce, -3.182, 1.101, -1.941, 0, 90, 0, 75 [SEP] 21, Tomato, -3.079, 0.690, -2.002, 0, 90, 0, 75 [SEP] 22, Apple, -2.564, 0.756, -0.797, 0, 135, 0, 78 [SEP] 23, SoapBottle, -0.118, 1.294, -1.201, 0, 0, 0, 40 [SEP] 24, Spatula, -1.845, 0.805, -3.747, 0, 180, 0, 76 [SEP] 25, SaltShaker, -3.150, 0.710, -0.620, 0, 270, 0, 78 [SEP] 26, Knife, -3.167, 0.749, -0.797, 0, 225, 0, 78 [SEP] 27, PepperShaker, -3.255, 0.713, -0.709, 0, 225, 0, 78 [SEP] 28, ButterKnife, -2.581, 0.713, -0.496, 0, 270, 0, 78 [SEP] 29, Plate, -0.191, 1.295, -3.625, 0, 45, 0, 54 [SEP] 30, DishSponge, -3.338, 1.291, -2.881, 0, 0, 0, 46 [SEP] 31, Spoon, -1.914, 0.791, -3.790, 0, 0, 0, 76 [SEP] 32, Mug, -0.500, 0.911, -1.677, 0, 0, 0, 61 [SEP] 33, Bowl, -2.439, 0.711, -0.433, 0, 270, 0, 78 [SEP] 34, CounterTop, -1.789, 0.949, -3.803, 0, 0, 0, [SEP] 35, Cabinet, -0.577, 0.388, -3.476, 0, 0, 0, [SEP] 36, Cabinet, -0.605, 0.388, -3.511, 0, 0, 0, [SEP] 37, Cabinet, -2.976, 0.388, -3.201, 0, 0, 0, [SEP] 38, Cabinet, -0.577, 0.388, -0.447, 0, 0, 0, [SEP] 39, Cabinet, -0.577, 0.388, -1.725, 0, 0, 0, [SEP] 40, Cabinet, -0.226, 1.803, -1.743, 0, 0, 0, [SEP] 41, Cabinet, -0.228, 1.799, -0.447, 0, 0, 0, [SEP] 42, Cabinet, -6.010, 1.139, -6.019, 0, 0, 0, [SEP] 43, Cabinet, -3.022, 2.098, -2.681, 0, 0, 0, [SEP] 44, Cabinet, -3.022, 2.098, -1.743, 0, 0, 0, [SEP] 45, Cabinet, -0.577, 0.388, -2.736, 0, 0, 0, [SEP] 46, Cabinet, -3.232, 1.803, -3.343, 0, 0, 0, [SEP] 47, Cabinet, -2.811, 1.810, -3.764, 0, 0, 0, [SEP] 48, Cabinet, -1.233, 1.810, -3.764, 0, 0, 0, [SEP] 49, Cabinet, -1.364, 0.388, -3.511, 0, 0, 0, [SEP] 50, Cabinet, -1.380, 0.388, -3.511, 0, 0, 0, [SEP] 51, Cabinet, -0.226, 1.803, -2.725, 0, 0, 0, [SEP] 52, Cabinet, -0.236, 2.098, -1.767, 0, 0, 0, [SEP] 53, Cabinet, -0.236, 2.098, -2.705, 0, 0, 0, [SEP] 54, Cabinet, -0.193, 1.210, -4.239, 0, 0, 0, [SEP] 55, Cabinet, -2.148, 0.388, -3.511, 0, 0, 0, [SEP] 56, Drawer, -3.104, 0.797, -2.968, 0, 0, 0, [SEP] 57, Drawer, -0.449, 0.797, -1.410, 0, 0, 0, [SEP] 58, Sink, -1.786, 0.902, -3.748, 0, 0, 0, [SEP] 59, StoveBurner, -0.376, 0.936, -2.451, 0, 0, 0, [SEP] 60, Drawer, -0.449, 0.797, -0.762, 0, 0, 0, [SEP] 61, CounterTop, -0.268, 0.951, -1.089, 0, 0, 0, [SEP] 62, Drawer, -0.449, 0.797, -3.348, 0, 0, 0, [SEP] 63, StoveBurner, -0.376, 0.936, -2.031, 0, 180, 0, [SEP] 64, Drawer, -0.449, 0.797, -2.968, 0, 0, 0, [SEP] 65, StoveBurner, -0.165, 0.936, -2.030, 0, 180, 0, [SEP] 66, StoveBurner, -0.165, 0.936, -2.450, 0, 0, 0, [SEP] 67, StoveKnob, -0.568, 0.903, -2.313, 45, 270, 0, [SEP] 68, StoveKnob, -0.568, 0.903, -2.470, 45, 270, 0, [SEP] 69, StoveKnob, -0.568, 0.903, -2.166, 45, 270, 0, [SEP] 70, StoveKnob, -0.568, 0.903, -2.003, 45, 270, 0, [SEP] 71, Microwave, -0.143, 0.903, -0.908, 0, 270, 0, [SEP] 72, LightSwitch, -1.108, 1.457, 0.338, 0, 180, 0, [SEP] 73, GarbageCan, -0.283, -0.032, -0.035, 0, 270, 0, [SEP] 74, CoffeeMachine, -3.104, 0.837, -0.185, 0, 135, 0, [SEP] 75, Fridge, -3.188, 0.0, -2.184, 0, 0, 0, [SEP] 76, SinkBasin, -1.786, 0.779, -3.747, 0, 0, 0, [SEP] 77, Toaster, -0.230, 0.903, -3.406, 0, 270, 0, [SEP] 78, DiningTable, -2.800, 0.003, -0.505, 0, 0, 0, [SEP] 79, Chair, -3.044, 0.003, -1.223, 0, 32.194, 0, [SEP] 80, Faucet, -1.791, 1.136, -3.913, 0, 270, 0, [SEP] 81, NorthWall, , , , , , , [SEP] 82, EastWall, , , , , , , [SEP] 83, SouthWall, , , , , , , [SEP] 84, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and face the wooden table | STEP 2: Pick up the knife off of the table | STEP 3: Move slightly to your left and face the table again | STEP 4: Slice the loaf of bread | STEP 5: Move slightly to your right and face the table again | STEP 6: Put the knife down on the table | STEP 7: Move slightly to your left and face the table again | STEP 8: Pick up a slice of bread | STEP 9: Turn all the way to the right and face the microwave | STEP 10: Put the bread in the microwave and cook it for a few seconds | STEP 11: Turn all the way around and face back the to the table | STEP 12: Put down the bread on to the table | END"]} +{"id": "trial_T20190907_123300_030870-0", "input": "Place the two spray bottles into the cabinet beneath the right sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.909, 2.0, 0, 0, 0, [SEP] 1, Cloth, -1.704, 0.059, 3.223, 0, 0, 0, 27 [SEP] 2, Cloth, -2.942, 0.111, 0.634, 0, 0, 0, 38 [SEP] 3, SoapBar, -3.120, 0.598, 1.384, 0, 0, 0, 39 [SEP] 4, SoapBar, -1.187, 0.599, 0.347, 0, 0, 0, 28 [SEP] 5, SprayBottle, -2.340, 1.105, 3.292, 0, 90, 0, 25 [SEP] 6, SprayBottle, -2.389, 1.105, 3.369, 0, 0, 0, 25 [SEP] 7, SprayBottle, -0.822, 1.072, 0.363, 0, 0, 0, 44 [SEP] 8, HandTowel, -0.242, 1.76, 3.427, 0, 0, 0, 42 [SEP] 9, Plunger, -0.219, 0.026, 0.490, 0, 0, 0, [SEP] 10, SoapBar, -2.073, 0.106, 0.364, 0, 0, 0, 38 [SEP] 11, ToiletPaper, -2.607, 0.595, 1.342, 0, 0, 0, 39 [SEP] 12, SoapBottle, -1.631, 0.601, 1.128, 0, 0, 0, 28 [SEP] 13, ToiletPaper, -0.070, 0.871, 0.377, 0, 0, 90, 43 [SEP] 14, Towel, 0.861, 1.358, 2.855, 0, 270, 0, 36 [SEP] 15, PaperTowelRoll, -1.797, 0.705, 1.184, 0, 0, 0, 28 [SEP] 16, ScrubBrush, -0.351, 0.026, 0.353, 0, 0, 0, [SEP] 17, Cloth, -2.812, 0.603, 1.467, 0, 0, 0, 39 [SEP] 18, Candle, -3.222, 0.597, 1.342, 0, 0, 0, 39 [SEP] 19, DishSponge, -1.797, 0.600, 1.100, 0, 0, 0, 28 [SEP] 20, SprayBottle, -0.127, 0.073, 3.185, 0, 270, 0, 40 [SEP] 21, Window, -3.447, 1.593, 0.648, 0, 0, 0, [SEP] 22, Mirror, -1.386, 1.595, 3.464, 0, 0, 0, [SEP] 23, SinkBasin, -0.837, 0.960, 3.091, 0, 180, 0, [SEP] 24, ShowerDoor, -2.477, 1.774, 2.386, 0, 0, 0, [SEP] 25, CounterTop, -1.358, 1.094, 3.151, 0, 0, 0, [SEP] 26, Sink, -0.846, 0.952, 3.144, 0, 180, 0, [SEP] 27, Cabinet, -1.399, 0.425, 2.867, 0, 0, 0, [SEP] 28, Bathtub, -2.234, 0.288, 0.722, 0, 0, 0, [SEP] 29, Cabinet, -0.337, 0.425, 2.867, 0, 0, 0, [SEP] 30, Cabinet, -1.362, 0.425, 2.867, 0, 0, 0, [SEP] 31, Cabinet, -2.423, 0.425, 2.867, 0, 0, 0, [SEP] 32, ShowerGlass, -2.895, 1.423, 2.342, 0, 0, 0, [SEP] 33, Faucet, -0.853, 1.094, 3.367, 0, 180, 0, [SEP] 34, ShowerHead, -2.949, 2.154, 3.427, 0, 0, 0, [SEP] 35, Window, -2.190, 1.550, 0.086, 0, 0, 0, [SEP] 36, TowelHolder, 0.967, 1.343, 2.855, 0, 270, 0, [SEP] 37, TowelHolder, 0.402, 1.375, 3.466, 0, 180, 0, [SEP] 38, BathtubBasin, -2.322, 0.096, 0.634, 0, 0, 0, [SEP] 39, Shelf, -2.930, 0.589, 1.425, 0, 0, 0, [SEP] 40, GarbageCan, -0.061, -0.001, 3.131, 0, 270, 0, [SEP] 41, LightSwitch, 0.968, 1.432, 1.128, 0, 270, 0, [SEP] 42, HandTowelHolder, -0.241, 1.861, 3.466, 0, 90, 0, [SEP] 43, ToiletPaperHanger, -0.039, 0.958, 0.201, 0, 0, 0, [SEP] 44, Toilet, -0.694, 0.026, 0.656, 0, 90, 0, [SEP] 45, Faucet, -1.944, 1.094, 3.367, 0, 180, 0, [SEP] 46, Sink, -1.934, 0.952, 3.144, 0, 180, 0, [SEP] 47, SinkBasin, -1.926, 0.960, 3.091, 0, 180, 0, [SEP] 48, Faucet, -1.342, 0.638, 0.629, 0, 90, 0, [SEP] 49, NorthWall, , , , , , , [SEP] 50, EastWall, , , , , , , [SEP] 51, SouthWall, , , , , , , [SEP] 52, WestWall, , , , , , , ", "output": ["STEP 1: Turn left towards the shower stall and then turn right to face the sink. | STEP 2: Pick up the left spray bottle on the sink counter. | STEP 3: Take several steps to the right towards the other sink. | STEP 4: Open the right cabinet door below the sink and place the bottle in it. | STEP 5: Take a step to the right to find a green bin on the floor. | STEP 6: Pick up the spray bottle inside the bin. | STEP 7: Take a step to the left towards the sink. | STEP 8: Open the right cabinet door below the sink and place the bottle in it. | END"]} +{"id": "trial_T20190907_123300_030870-2", "input": "Put away two spray bottles into a bathroom cabinet. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.909, 2.0, 0, 0, 0, [SEP] 1, Cloth, -1.704, 0.059, 3.223, 0, 0, 0, 27 [SEP] 2, Cloth, -2.942, 0.111, 0.634, 0, 0, 0, 38 [SEP] 3, SoapBar, -3.120, 0.598, 1.384, 0, 0, 0, 39 [SEP] 4, SoapBar, -1.187, 0.599, 0.347, 0, 0, 0, 28 [SEP] 5, SprayBottle, -2.340, 1.105, 3.292, 0, 90, 0, 25 [SEP] 6, SprayBottle, -2.389, 1.105, 3.369, 0, 0, 0, 25 [SEP] 7, SprayBottle, -0.822, 1.072, 0.363, 0, 0, 0, 44 [SEP] 8, HandTowel, -0.242, 1.76, 3.427, 0, 0, 0, 42 [SEP] 9, Plunger, -0.219, 0.026, 0.490, 0, 0, 0, [SEP] 10, SoapBar, -2.073, 0.106, 0.364, 0, 0, 0, 38 [SEP] 11, ToiletPaper, -2.607, 0.595, 1.342, 0, 0, 0, 39 [SEP] 12, SoapBottle, -1.631, 0.601, 1.128, 0, 0, 0, 28 [SEP] 13, ToiletPaper, -0.070, 0.871, 0.377, 0, 0, 90, 43 [SEP] 14, Towel, 0.861, 1.358, 2.855, 0, 270, 0, 36 [SEP] 15, PaperTowelRoll, -1.797, 0.705, 1.184, 0, 0, 0, 28 [SEP] 16, ScrubBrush, -0.351, 0.026, 0.353, 0, 0, 0, [SEP] 17, Cloth, -2.812, 0.603, 1.467, 0, 0, 0, 39 [SEP] 18, Candle, -3.222, 0.597, 1.342, 0, 0, 0, 39 [SEP] 19, DishSponge, -1.797, 0.600, 1.100, 0, 0, 0, 28 [SEP] 20, SprayBottle, -0.127, 0.073, 3.185, 0, 270, 0, 40 [SEP] 21, Window, -3.447, 1.593, 0.648, 0, 0, 0, [SEP] 22, Mirror, -1.386, 1.595, 3.464, 0, 0, 0, [SEP] 23, SinkBasin, -0.837, 0.960, 3.091, 0, 180, 0, [SEP] 24, ShowerDoor, -2.477, 1.774, 2.386, 0, 0, 0, [SEP] 25, CounterTop, -1.358, 1.094, 3.151, 0, 0, 0, [SEP] 26, Sink, -0.846, 0.952, 3.144, 0, 180, 0, [SEP] 27, Cabinet, -1.399, 0.425, 2.867, 0, 0, 0, [SEP] 28, Bathtub, -2.234, 0.288, 0.722, 0, 0, 0, [SEP] 29, Cabinet, -0.337, 0.425, 2.867, 0, 0, 0, [SEP] 30, Cabinet, -1.362, 0.425, 2.867, 0, 0, 0, [SEP] 31, Cabinet, -2.423, 0.425, 2.867, 0, 0, 0, [SEP] 32, ShowerGlass, -2.895, 1.423, 2.342, 0, 0, 0, [SEP] 33, Faucet, -0.853, 1.094, 3.367, 0, 180, 0, [SEP] 34, ShowerHead, -2.949, 2.154, 3.427, 0, 0, 0, [SEP] 35, Window, -2.190, 1.550, 0.086, 0, 0, 0, [SEP] 36, TowelHolder, 0.967, 1.343, 2.855, 0, 270, 0, [SEP] 37, TowelHolder, 0.402, 1.375, 3.466, 0, 180, 0, [SEP] 38, BathtubBasin, -2.322, 0.096, 0.634, 0, 0, 0, [SEP] 39, Shelf, -2.930, 0.589, 1.425, 0, 0, 0, [SEP] 40, GarbageCan, -0.061, -0.001, 3.131, 0, 270, 0, [SEP] 41, LightSwitch, 0.968, 1.432, 1.128, 0, 270, 0, [SEP] 42, HandTowelHolder, -0.241, 1.861, 3.466, 0, 90, 0, [SEP] 43, ToiletPaperHanger, -0.039, 0.958, 0.201, 0, 0, 0, [SEP] 44, Toilet, -0.694, 0.026, 0.656, 0, 90, 0, [SEP] 45, Faucet, -1.944, 1.094, 3.367, 0, 180, 0, [SEP] 46, Sink, -1.934, 0.952, 3.144, 0, 180, 0, [SEP] 47, SinkBasin, -1.926, 0.960, 3.091, 0, 180, 0, [SEP] 48, Faucet, -1.342, 0.638, 0.629, 0, 90, 0, [SEP] 49, NorthWall, , , , , , , [SEP] 50, EastWall, , , , , , , [SEP] 51, SouthWall, , , , , , , [SEP] 52, WestWall, , , , , , , ", "output": ["STEP 1: Go to the left sink. | STEP 2: Pick up the spray bottle nearest the wall on the left. | STEP 3: Go to the cabinet under the right sink. | STEP 4: Put the spray bottle in the right side of the cabinet. | STEP 5: Move to your right to face the green wastebasket to the right of the sink. | STEP 6: Remove the spray bottle from the wastebasket. | STEP 7: Move to face the cabinet on your left again. | STEP 8: Place the spray bottle in the lower right cabinet, to the right of the other spray bottle. | END"]} +{"id": "trial_T20190907_114349_830414-0", "input": "Grab the disc from the cabinet, turn on the lamp on the dresser SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.0, 0.900, 0.0, 0, 90, 0, [SEP] 1, CD, 2.285, 0.842, -0.221, 0, 0, 0, 30 [SEP] 2, Pen, -0.603, 0.930, -0.391, 0, 0, 0, 37 [SEP] 3, Pencil, 2.225, 0.053, 2.579, 0, 0, 0, 28 [SEP] 4, Pencil, -0.603, 0.928, -0.604, 0, 0, 0, 37 [SEP] 5, CreditCard, -0.603, 0.924, -0.818, 0, 0, 0, 37 [SEP] 6, Book, -0.225, 0.926, -1.032, 0, 0, 0, 37 [SEP] 7, Book, 2.143, 0.844, -0.090, 0, 0, 0, 30 [SEP] 8, AlarmClock, 2.190, 0.843, -0.615, 0, 0, 0, 32 [SEP] 9, Laptop, -0.509, 0.923, -1.459, 0, 0, 0, 37 [SEP] 10, Box, 2.15, 0.14, 0.494, 0, 12.243, 0, [SEP] 11, Book, -0.148, 0.551, 1.263, 0, 0, 0, 22 [SEP] 12, BasketBall, -0.235, 0.120, 0.166, 0, 0, 0, [SEP] 13, Pen, -0.509, 0.930, -0.604, 0, 90, 0, 37 [SEP] 14, Pillow, 0.172, 0.617, 0.678, 0, 0, 0, 22 [SEP] 15, Pencil, 2.282, 0.053, 2.606, 0, 0, 0, 28 [SEP] 16, CellPhone, -0.470, 0.552, 1.263, 0, 0, 0, 22 [SEP] 17, KeyChain, -0.509, 0.925, -0.177, 0, 0, 0, 37 [SEP] 18, CreditCard, 2.380, 0.842, -0.484, 0, 0, 0, 32 [SEP] 19, AlarmClock, -0.414, 0.925, -0.604, 0, 0, 0, 37 [SEP] 20, CD, 2.195, 0.096, -0.777, 0, 0, 0, 31 [SEP] 21, Laptop, -0.309, 0.548, 1.848, 0, 0, 0, 22 [SEP] 22, Bed, 0.009, -0.004, 1.577, 0, 0, 0, [SEP] 23, DeskLamp, -0.669, 0.923, -0.062, 0, 90, 0, [SEP] 24, Painting, -0.787, 1.809, -0.215, 90, 270, 0, [SEP] 25, Painting, -0.787, 1.809, 1.023, 90, 270, 0, [SEP] 26, Mirror, 2.118, 1.277, 2.749, 0, 0, 0, [SEP] 27, LightSwitch, 0.726, 1.200, 2.75, 0, 180, 0, [SEP] 28, GarbageCan, 2.257, -0.008, 2.603, 353.970, 0, 0, [SEP] 29, Window, 0.665, 1.356, -1.911, 90, 0, 0, [SEP] 30, Drawer, 2.119, 0.576, -0.491, 4.458, 270, 0, [SEP] 31, Drawer, 2.147, 0.213, -0.491, 4.458, 270, 0, [SEP] 32, SideTable, 2.226, 0.013, -0.492, 4.458, 270, 0, [SEP] 33, Chair, 0.170, 0.011, -1.214, 0, 261.719, 0, [SEP] 34, Blinds, 0.695, 1.983, -1.867, 0, 0, 0, [SEP] 35, Drawer, -0.079, 0.513, -0.394, 0, 90, 0, [SEP] 36, Drawer, -0.079, 0.226, -0.394, 0, 90, 0, [SEP] 37, Desk, -0.391, 0.001, -0.811, 0, 90, 0, [SEP] 38, Drawer, -0.079, 0.762, -0.394, 0, 90, 0, [SEP] 39, NorthWall, , , , , , , [SEP] 40, EastWall, , , , , , , [SEP] 41, SouthWall, , , , , , , [SEP] 42, WestWall, , , , , , , ", "output": ["STEP 1: Walk to the right a little | STEP 2: Grab the disc from the cabinet | STEP 3: Turn around, walk to the dresser | STEP 4: Turn on the lamp on the dresser | END"]} +{"id": "trial_T20190907_114349_830414-1", "input": "Examine the CD next to the light of a lamp on the desk. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.0, 0.900, 0.0, 0, 90, 0, [SEP] 1, CD, 2.285, 0.842, -0.221, 0, 0, 0, 30 [SEP] 2, Pen, -0.603, 0.930, -0.391, 0, 0, 0, 37 [SEP] 3, Pencil, 2.225, 0.053, 2.579, 0, 0, 0, 28 [SEP] 4, Pencil, -0.603, 0.928, -0.604, 0, 0, 0, 37 [SEP] 5, CreditCard, -0.603, 0.924, -0.818, 0, 0, 0, 37 [SEP] 6, Book, -0.225, 0.926, -1.032, 0, 0, 0, 37 [SEP] 7, Book, 2.143, 0.844, -0.090, 0, 0, 0, 30 [SEP] 8, AlarmClock, 2.190, 0.843, -0.615, 0, 0, 0, 32 [SEP] 9, Laptop, -0.509, 0.923, -1.459, 0, 0, 0, 37 [SEP] 10, Box, 2.15, 0.14, 0.494, 0, 12.243, 0, [SEP] 11, Book, -0.148, 0.551, 1.263, 0, 0, 0, 22 [SEP] 12, BasketBall, -0.235, 0.120, 0.166, 0, 0, 0, [SEP] 13, Pen, -0.509, 0.930, -0.604, 0, 90, 0, 37 [SEP] 14, Pillow, 0.172, 0.617, 0.678, 0, 0, 0, 22 [SEP] 15, Pencil, 2.282, 0.053, 2.606, 0, 0, 0, 28 [SEP] 16, CellPhone, -0.470, 0.552, 1.263, 0, 0, 0, 22 [SEP] 17, KeyChain, -0.509, 0.925, -0.177, 0, 0, 0, 37 [SEP] 18, CreditCard, 2.380, 0.842, -0.484, 0, 0, 0, 32 [SEP] 19, AlarmClock, -0.414, 0.925, -0.604, 0, 0, 0, 37 [SEP] 20, CD, 2.195, 0.096, -0.777, 0, 0, 0, 31 [SEP] 21, Laptop, -0.309, 0.548, 1.848, 0, 0, 0, 22 [SEP] 22, Bed, 0.009, -0.004, 1.577, 0, 0, 0, [SEP] 23, DeskLamp, -0.669, 0.923, -0.062, 0, 90, 0, [SEP] 24, Painting, -0.787, 1.809, -0.215, 90, 270, 0, [SEP] 25, Painting, -0.787, 1.809, 1.023, 90, 270, 0, [SEP] 26, Mirror, 2.118, 1.277, 2.749, 0, 0, 0, [SEP] 27, LightSwitch, 0.726, 1.200, 2.75, 0, 180, 0, [SEP] 28, GarbageCan, 2.257, -0.008, 2.603, 353.970, 0, 0, [SEP] 29, Window, 0.665, 1.356, -1.911, 90, 0, 0, [SEP] 30, Drawer, 2.119, 0.576, -0.491, 4.458, 270, 0, [SEP] 31, Drawer, 2.147, 0.213, -0.491, 4.458, 270, 0, [SEP] 32, SideTable, 2.226, 0.013, -0.492, 4.458, 270, 0, [SEP] 33, Chair, 0.170, 0.011, -1.214, 0, 261.719, 0, [SEP] 34, Blinds, 0.695, 1.983, -1.867, 0, 0, 0, [SEP] 35, Drawer, -0.079, 0.513, -0.394, 0, 90, 0, [SEP] 36, Drawer, -0.079, 0.226, -0.394, 0, 90, 0, [SEP] 37, Desk, -0.391, 0.001, -0.811, 0, 90, 0, [SEP] 38, Drawer, -0.079, 0.762, -0.394, 0, 90, 0, [SEP] 39, NorthWall, , , , , , , [SEP] 40, EastWall, , , , , , , [SEP] 41, SouthWall, , , , , , , [SEP] 42, WestWall, , , , , , , ", "output": ["STEP 1: Take a step to the right and walk towards the dresser. | STEP 2: Pick up the CD on the dresser. | STEP 3: Turn around and walk towards the lamp on the table. | STEP 4: Turn on the lamp. | END"]} +{"id": "trial_T20190906_182242_283662-1", "input": "Putting a sliced tomato in the trash can SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.0, 0.900, 1.5, 0, 180, 0, [SEP] 1, Potato, 1.769, 0.947, 0.435, 0, 0, 0, 60 [SEP] 2, DishSponge, -2.318, 0.772, 0.952, 0, 0, 0, 56 [SEP] 3, DishSponge, -2.257, 0.772, 1.322, 0, 0, 0, 82 [SEP] 4, ButterKnife, -2.372, 0.910, 1.530, 0, 0, 0, 82 [SEP] 5, Kettle, 1.691, 0.929, -0.335, 0, 0, 0, 59 [SEP] 6, Kettle, 1.697, 1.657, 0.018, 0, 0, 0, 70 [SEP] 7, Spoon, -2.289, 0.912, 0.331, 0, 0, 0, 68 [SEP] 8, Spatula, -2.227, 0.789, -0.073, 0, 90, 0, 69 [SEP] 9, Egg, 1.729, 0.215, 0.706, 0, 0, 0, 90 [SEP] 10, Egg, 1.646, 0.215, 0.651, 0, 0, 0, 90 [SEP] 11, Cup, 1.248, 0.916, -1.134, 0, 225, 0, 65 [SEP] 12, Cup, 1.399, 0.916, -1.123, 0, 225, 0, 65 [SEP] 13, Plate, -2.372, 0.913, 0.631, 0, 0, 0, 79 [SEP] 14, Plate, -0.081, 0.913, 0.423, 0, 0, 0, 51 [SEP] 15, Knife, -2.348, 0.799, 0.486, 0, 270, 0, 68 [SEP] 16, Tomato, -2.439, 1.342, -0.885, 0, 90, 0, 83 [SEP] 17, Tomato, -2.538, 0.953, 1.530, 0, 0, 0, 79 [SEP] 18, SoapBottle, 1.353, 0.920, -1.239, 0, 225, 0, 65 [SEP] 19, SoapBottle, -0.471, 0.912, 1.540, 0, 0, 0, 51 [SEP] 20, Bowl, -2.538, 0.908, 1.230, 0, 0, 0, 79 [SEP] 21, PepperShaker, -2.599, 1.533, 0.774, 0, 0, 0, 75 [SEP] 22, PepperShaker, 0.660, 1.658, -1.693, 0, 90, 0, 58 [SEP] 23, SaltShaker, -0.081, 0.905, 1.094, 0, 0, 0, 51 [SEP] 24, Lettuce, -2.372, 0.994, 0.931, 0, 0, 0, 79 [SEP] 25, Lettuce, -2.466, 0.677, -0.962, 0, 90, 0, 83 [SEP] 26, Apple, -0.730, 0.972, 0.870, 0, 0, 0, 51 [SEP] 27, Apple, -2.704, 0.972, 0.931, 0, 0, 0, 79 [SEP] 28, Pan, 1.411, 0.929, 0.064, 0, 0, 0, 80 [SEP] 29, Knife, 1.684, 0.936, 0.494, 0, 0, 0, 60 [SEP] 30, Apple, -2.621, 0.972, 0.631, 0, 0, 0, 79 [SEP] 31, Bowl, 1.145, 0.768, -1.376, 0, 225, 0, 89 [SEP] 32, Fork, 0.924, 0.911, -1.729, 0, 45, 0, 61 [SEP] 33, Bread, -0.730, 0.996, 1.094, 0, 0, 0, 51 [SEP] 34, Plate, -2.351, 0.900, 0.054, 0, 0, 0, 79 [SEP] 35, Egg, 1.426, 0.941, 0.494, 0, 0, 0, 60 [SEP] 36, Kettle, -2.310, 0.115, -0.023, 0, 0, 0, 67 [SEP] 37, Potato, 1.341, 0.947, 0.406, 0, 0, 0, 60 [SEP] 38, SaltShaker, -2.289, 0.905, 1.230, 0, 0, 0, 79 [SEP] 39, Lettuce, -0.341, 0.994, 0.870, 0, 0, 0, 51 [SEP] 40, Cup, -2.393, 1.298, -1.074, 0, 90, 0, 83 [SEP] 41, SoapBottle, 1.698, 1.665, -0.550, 0, 0, 0, 71 [SEP] 42, Spatula, -2.704, 0.925, 1.230, 0, 90, 0, 79 [SEP] 43, PaperTowelRoll, 1.562, 0.289, 0.623, 0, 0, 0, 90 [SEP] 44, ButterKnife, -2.621, 0.910, 0.031, 0, 0, 0, 79 [SEP] 45, PepperShaker, -2.524, 1.532, 1.410, 0, 0, 0, 64 [SEP] 46, DishSponge, -2.605, 1.938, -0.409, 0, 0, 0, 73 [SEP] 47, Pot, -2.311, 0.105, 0.895, 0, 270, 0, 77 [SEP] 48, Spoon, 1.428, 0.912, -0.684, 0, 0, 0, 61 [SEP] 49, Tomato, -2.532, 1.342, -0.602, 0, 90, 0, 83 [SEP] 50, Mug, 0.464, 0.955, -1.593, 0, 0, 0, 61 [SEP] 51, CounterTop, -0.360, 0.946, 1.093, 0, 0, 0, [SEP] 52, StoveBurner, 1.412, 0.923, -0.335, 0, 0, 0, [SEP] 53, StoveKnob, 1.878, 1.093, 0.018, 287.989, 90, 0, [SEP] 54, StoveKnob, 1.878, 1.093, -0.306, 287.989, 90, 0, [SEP] 55, Cabinet, -2.446, 1.948, 2.924, 0, 0, 0, [SEP] 56, Drawer, -2.276, 0.792, 0.902, 0, 0, 0, [SEP] 57, Cabinet, -2.145, 0.402, 1.578, 0, 0, 0, [SEP] 58, Cabinet, 0.149, 2.008, -1.603, 0, 90, 0, [SEP] 59, StoveBurner, 1.691, 0.923, -0.335, 0, 0, 0, [SEP] 60, CounterTop, 1.585, 0.946, 0.405, 0, 0, 0, [SEP] 61, CounterTop, 0.474, 0.946, -1.625, 0, 0, 0, [SEP] 62, StoveBurner, 1.691, 0.923, 0.064, 0, 0, 0, [SEP] 63, Cabinet, -2.446, 1.948, 1.687, 0, 0, 0, [SEP] 64, Cabinet, -2.446, 1.948, 1.640, 0, 0, 0, [SEP] 65, Sink, 1.381, 0.810, -1.271, 0, 225, 0, [SEP] 66, StoveKnob, 1.878, 1.093, 0.150, 287.989, 90, 0, [SEP] 67, Cabinet, -2.145, 0.402, -0.236, 0, 0, 0, [SEP] 68, Drawer, -2.276, 0.792, 0.437, 0, 0, 0, [SEP] 69, Drawer, -2.276, 0.792, -0.027, 0, 0, 0, [SEP] 70, Cabinet, 1.572, 2.008, 0.474, 0, 0, 0, [SEP] 71, Cabinet, 1.572, 2.008, -0.775, 0, 0, 0, [SEP] 72, Cabinet, -2.445, 2.148, -1.275, 0, 0, 0, [SEP] 73, Cabinet, -2.446, 2.148, -0.284, 0, 0, 0, [SEP] 74, Cabinet, -2.446, 1.948, 0.355, 0, 0, 0, [SEP] 75, Cabinet, -2.446, 1.948, 0.405, 0, 0, 0, [SEP] 76, Cabinet, -2.145, 0.402, 0.644, 0, 0, 0, [SEP] 77, Cabinet, -2.145, 0.402, 0.695, 0, 0, 0, [SEP] 78, Cabinet, -2.285, 1.968, -1.325, 0, 180, 0, [SEP] 79, CounterTop, -1.485, 0.946, 1.319, 0, 0, 0, [SEP] 80, StoveBurner, 1.411, 0.923, 0.064, 0, 0, 0, [SEP] 81, StoveKnob, 1.878, 1.093, -0.441, 287.989, 90, 0, [SEP] 82, Drawer, -2.276, 0.792, 1.368, 0, 0, 0, [SEP] 83, Fridge, -2.475, 0.0, -0.782, 0, 90, 0, [SEP] 84, LightSwitch, -0.929, 1.350, -1.950, 0, 0, 0, [SEP] 85, Toaster, -2.564, 0.900, 1.876, 0, 90, 0, [SEP] 86, CoffeeMachine, 0.464, 0.900, -1.810, 0, 0, 0, [SEP] 87, Window, 1.508, 1.534, -1.496, 90, 135, 0, [SEP] 88, Window, 1.973, 1.521, 1.121, 90, 90, 0, [SEP] 89, SinkBasin, 1.149, 0.753, -1.380, 0, 225, 0, [SEP] 90, GarbageCan, 1.646, -0.000, 0.679, 0, 0, 0, [SEP] 91, Microwave, -2.580, 0.900, 2.440, 0, 90, 0, [SEP] 92, Stool, 0.439, 0.010, 0.747, 0, 0, 0, [SEP] 93, Stool, -2.303, 0.010, 1.839, 0, 0, 0, [SEP] 94, Faucet, 1.235, 1.138, -1.473, 0, 225, 0, [SEP] 95, NorthWall, , , , , , , [SEP] 96, EastWall, , , , , , , [SEP] 97, SouthWall, , , , , , , [SEP] 98, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and go to the counter with the toaster | STEP 2: Grab the knife off of the counter | STEP 3: Cut the tomato on the counter into slices | STEP 4: Turn right and stop at the microwave | STEP 5: Put the knife in the microwave | STEP 6: Turn left and stop at the counter | STEP 7: Grab a slice of tomato | STEP 8: Turn right and stop at the microwave | STEP 9: Heat the tomato in the microwave and then take it out | STEP 10: Turn around and go to the trash can | STEP 11: Put the tomato in the trash can | END"]} +{"id": "trial_T20190906_182242_283662-2", "input": "Heat a tomato slice as well as place it in the trash can. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.0, 0.900, 1.5, 0, 180, 0, [SEP] 1, Potato, 1.769, 0.947, 0.435, 0, 0, 0, 60 [SEP] 2, DishSponge, -2.318, 0.772, 0.952, 0, 0, 0, 56 [SEP] 3, DishSponge, -2.257, 0.772, 1.322, 0, 0, 0, 82 [SEP] 4, ButterKnife, -2.372, 0.910, 1.530, 0, 0, 0, 82 [SEP] 5, Kettle, 1.691, 0.929, -0.335, 0, 0, 0, 59 [SEP] 6, Kettle, 1.697, 1.657, 0.018, 0, 0, 0, 70 [SEP] 7, Spoon, -2.289, 0.912, 0.331, 0, 0, 0, 68 [SEP] 8, Spatula, -2.227, 0.789, -0.073, 0, 90, 0, 69 [SEP] 9, Egg, 1.729, 0.215, 0.706, 0, 0, 0, 90 [SEP] 10, Egg, 1.646, 0.215, 0.651, 0, 0, 0, 90 [SEP] 11, Cup, 1.248, 0.916, -1.134, 0, 225, 0, 65 [SEP] 12, Cup, 1.399, 0.916, -1.123, 0, 225, 0, 65 [SEP] 13, Plate, -2.372, 0.913, 0.631, 0, 0, 0, 79 [SEP] 14, Plate, -0.081, 0.913, 0.423, 0, 0, 0, 51 [SEP] 15, Knife, -2.348, 0.799, 0.486, 0, 270, 0, 68 [SEP] 16, Tomato, -2.439, 1.342, -0.885, 0, 90, 0, 83 [SEP] 17, Tomato, -2.538, 0.953, 1.530, 0, 0, 0, 79 [SEP] 18, SoapBottle, 1.353, 0.920, -1.239, 0, 225, 0, 65 [SEP] 19, SoapBottle, -0.471, 0.912, 1.540, 0, 0, 0, 51 [SEP] 20, Bowl, -2.538, 0.908, 1.230, 0, 0, 0, 79 [SEP] 21, PepperShaker, -2.599, 1.533, 0.774, 0, 0, 0, 75 [SEP] 22, PepperShaker, 0.660, 1.658, -1.693, 0, 90, 0, 58 [SEP] 23, SaltShaker, -0.081, 0.905, 1.094, 0, 0, 0, 51 [SEP] 24, Lettuce, -2.372, 0.994, 0.931, 0, 0, 0, 79 [SEP] 25, Lettuce, -2.466, 0.677, -0.962, 0, 90, 0, 83 [SEP] 26, Apple, -0.730, 0.972, 0.870, 0, 0, 0, 51 [SEP] 27, Apple, -2.704, 0.972, 0.931, 0, 0, 0, 79 [SEP] 28, Pan, 1.411, 0.929, 0.064, 0, 0, 0, 80 [SEP] 29, Knife, 1.684, 0.936, 0.494, 0, 0, 0, 60 [SEP] 30, Apple, -2.621, 0.972, 0.631, 0, 0, 0, 79 [SEP] 31, Bowl, 1.145, 0.768, -1.376, 0, 225, 0, 89 [SEP] 32, Fork, 0.924, 0.911, -1.729, 0, 45, 0, 61 [SEP] 33, Bread, -0.730, 0.996, 1.094, 0, 0, 0, 51 [SEP] 34, Plate, -2.351, 0.900, 0.054, 0, 0, 0, 79 [SEP] 35, Egg, 1.426, 0.941, 0.494, 0, 0, 0, 60 [SEP] 36, Kettle, -2.310, 0.115, -0.023, 0, 0, 0, 67 [SEP] 37, Potato, 1.341, 0.947, 0.406, 0, 0, 0, 60 [SEP] 38, SaltShaker, -2.289, 0.905, 1.230, 0, 0, 0, 79 [SEP] 39, Lettuce, -0.341, 0.994, 0.870, 0, 0, 0, 51 [SEP] 40, Cup, -2.393, 1.298, -1.074, 0, 90, 0, 83 [SEP] 41, SoapBottle, 1.698, 1.665, -0.550, 0, 0, 0, 71 [SEP] 42, Spatula, -2.704, 0.925, 1.230, 0, 90, 0, 79 [SEP] 43, PaperTowelRoll, 1.562, 0.289, 0.623, 0, 0, 0, 90 [SEP] 44, ButterKnife, -2.621, 0.910, 0.031, 0, 0, 0, 79 [SEP] 45, PepperShaker, -2.524, 1.532, 1.410, 0, 0, 0, 64 [SEP] 46, DishSponge, -2.605, 1.938, -0.409, 0, 0, 0, 73 [SEP] 47, Pot, -2.311, 0.105, 0.895, 0, 270, 0, 77 [SEP] 48, Spoon, 1.428, 0.912, -0.684, 0, 0, 0, 61 [SEP] 49, Tomato, -2.532, 1.342, -0.602, 0, 90, 0, 83 [SEP] 50, Mug, 0.464, 0.955, -1.593, 0, 0, 0, 61 [SEP] 51, CounterTop, -0.360, 0.946, 1.093, 0, 0, 0, [SEP] 52, StoveBurner, 1.412, 0.923, -0.335, 0, 0, 0, [SEP] 53, StoveKnob, 1.878, 1.093, 0.018, 287.989, 90, 0, [SEP] 54, StoveKnob, 1.878, 1.093, -0.306, 287.989, 90, 0, [SEP] 55, Cabinet, -2.446, 1.948, 2.924, 0, 0, 0, [SEP] 56, Drawer, -2.276, 0.792, 0.902, 0, 0, 0, [SEP] 57, Cabinet, -2.145, 0.402, 1.578, 0, 0, 0, [SEP] 58, Cabinet, 0.149, 2.008, -1.603, 0, 90, 0, [SEP] 59, StoveBurner, 1.691, 0.923, -0.335, 0, 0, 0, [SEP] 60, CounterTop, 1.585, 0.946, 0.405, 0, 0, 0, [SEP] 61, CounterTop, 0.474, 0.946, -1.625, 0, 0, 0, [SEP] 62, StoveBurner, 1.691, 0.923, 0.064, 0, 0, 0, [SEP] 63, Cabinet, -2.446, 1.948, 1.687, 0, 0, 0, [SEP] 64, Cabinet, -2.446, 1.948, 1.640, 0, 0, 0, [SEP] 65, Sink, 1.381, 0.810, -1.271, 0, 225, 0, [SEP] 66, StoveKnob, 1.878, 1.093, 0.150, 287.989, 90, 0, [SEP] 67, Cabinet, -2.145, 0.402, -0.236, 0, 0, 0, [SEP] 68, Drawer, -2.276, 0.792, 0.437, 0, 0, 0, [SEP] 69, Drawer, -2.276, 0.792, -0.027, 0, 0, 0, [SEP] 70, Cabinet, 1.572, 2.008, 0.474, 0, 0, 0, [SEP] 71, Cabinet, 1.572, 2.008, -0.775, 0, 0, 0, [SEP] 72, Cabinet, -2.445, 2.148, -1.275, 0, 0, 0, [SEP] 73, Cabinet, -2.446, 2.148, -0.284, 0, 0, 0, [SEP] 74, Cabinet, -2.446, 1.948, 0.355, 0, 0, 0, [SEP] 75, Cabinet, -2.446, 1.948, 0.405, 0, 0, 0, [SEP] 76, Cabinet, -2.145, 0.402, 0.644, 0, 0, 0, [SEP] 77, Cabinet, -2.145, 0.402, 0.695, 0, 0, 0, [SEP] 78, Cabinet, -2.285, 1.968, -1.325, 0, 180, 0, [SEP] 79, CounterTop, -1.485, 0.946, 1.319, 0, 0, 0, [SEP] 80, StoveBurner, 1.411, 0.923, 0.064, 0, 0, 0, [SEP] 81, StoveKnob, 1.878, 1.093, -0.441, 287.989, 90, 0, [SEP] 82, Drawer, -2.276, 0.792, 1.368, 0, 0, 0, [SEP] 83, Fridge, -2.475, 0.0, -0.782, 0, 90, 0, [SEP] 84, LightSwitch, -0.929, 1.350, -1.950, 0, 0, 0, [SEP] 85, Toaster, -2.564, 0.900, 1.876, 0, 90, 0, [SEP] 86, CoffeeMachine, 0.464, 0.900, -1.810, 0, 0, 0, [SEP] 87, Window, 1.508, 1.534, -1.496, 90, 135, 0, [SEP] 88, Window, 1.973, 1.521, 1.121, 90, 90, 0, [SEP] 89, SinkBasin, 1.149, 0.753, -1.380, 0, 225, 0, [SEP] 90, GarbageCan, 1.646, -0.000, 0.679, 0, 0, 0, [SEP] 91, Microwave, -2.580, 0.900, 2.440, 0, 90, 0, [SEP] 92, Stool, 0.439, 0.010, 0.747, 0, 0, 0, [SEP] 93, Stool, -2.303, 0.010, 1.839, 0, 0, 0, [SEP] 94, Faucet, 1.235, 1.138, -1.473, 0, 225, 0, [SEP] 95, NorthWall, , , , , , , [SEP] 96, EastWall, , , , , , , [SEP] 97, SouthWall, , , , , , , [SEP] 98, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and walk around to face the counter on the right. | STEP 2: Pick up the knife on the counter. | STEP 3: Cut the tomato on the counter into slices. | STEP 4: Step to the right to face the microwave. | STEP 5: Place the knife in the microwave. | STEP 6: Step to the left to face the tomato on the counter. | STEP 7: Pick up a slice of tomato on the counter. | STEP 8: Step to the right to face the microwave. | STEP 9: Heat the tomato slice and remove it from the microwave. | STEP 10: Turn around and cross the room, the turn right and walk forward to face the trash can. | STEP 11: Place the tomato slice into the trash can. | END"]} +{"id": "trial_T20190906_182242_283662-3", "input": "Put a slice of tomato, microwaved with a knife, into the trash. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.0, 0.900, 1.5, 0, 180, 0, [SEP] 1, Potato, 1.769, 0.947, 0.435, 0, 0, 0, 60 [SEP] 2, DishSponge, -2.318, 0.772, 0.952, 0, 0, 0, 56 [SEP] 3, DishSponge, -2.257, 0.772, 1.322, 0, 0, 0, 82 [SEP] 4, ButterKnife, -2.372, 0.910, 1.530, 0, 0, 0, 82 [SEP] 5, Kettle, 1.691, 0.929, -0.335, 0, 0, 0, 59 [SEP] 6, Kettle, 1.697, 1.657, 0.018, 0, 0, 0, 70 [SEP] 7, Spoon, -2.289, 0.912, 0.331, 0, 0, 0, 68 [SEP] 8, Spatula, -2.227, 0.789, -0.073, 0, 90, 0, 69 [SEP] 9, Egg, 1.729, 0.215, 0.706, 0, 0, 0, 90 [SEP] 10, Egg, 1.646, 0.215, 0.651, 0, 0, 0, 90 [SEP] 11, Cup, 1.248, 0.916, -1.134, 0, 225, 0, 65 [SEP] 12, Cup, 1.399, 0.916, -1.123, 0, 225, 0, 65 [SEP] 13, Plate, -2.372, 0.913, 0.631, 0, 0, 0, 79 [SEP] 14, Plate, -0.081, 0.913, 0.423, 0, 0, 0, 51 [SEP] 15, Knife, -2.348, 0.799, 0.486, 0, 270, 0, 68 [SEP] 16, Tomato, -2.439, 1.342, -0.885, 0, 90, 0, 83 [SEP] 17, Tomato, -2.538, 0.953, 1.530, 0, 0, 0, 79 [SEP] 18, SoapBottle, 1.353, 0.920, -1.239, 0, 225, 0, 65 [SEP] 19, SoapBottle, -0.471, 0.912, 1.540, 0, 0, 0, 51 [SEP] 20, Bowl, -2.538, 0.908, 1.230, 0, 0, 0, 79 [SEP] 21, PepperShaker, -2.599, 1.533, 0.774, 0, 0, 0, 75 [SEP] 22, PepperShaker, 0.660, 1.658, -1.693, 0, 90, 0, 58 [SEP] 23, SaltShaker, -0.081, 0.905, 1.094, 0, 0, 0, 51 [SEP] 24, Lettuce, -2.372, 0.994, 0.931, 0, 0, 0, 79 [SEP] 25, Lettuce, -2.466, 0.677, -0.962, 0, 90, 0, 83 [SEP] 26, Apple, -0.730, 0.972, 0.870, 0, 0, 0, 51 [SEP] 27, Apple, -2.704, 0.972, 0.931, 0, 0, 0, 79 [SEP] 28, Pan, 1.411, 0.929, 0.064, 0, 0, 0, 80 [SEP] 29, Knife, 1.684, 0.936, 0.494, 0, 0, 0, 60 [SEP] 30, Apple, -2.621, 0.972, 0.631, 0, 0, 0, 79 [SEP] 31, Bowl, 1.145, 0.768, -1.376, 0, 225, 0, 89 [SEP] 32, Fork, 0.924, 0.911, -1.729, 0, 45, 0, 61 [SEP] 33, Bread, -0.730, 0.996, 1.094, 0, 0, 0, 51 [SEP] 34, Plate, -2.351, 0.900, 0.054, 0, 0, 0, 79 [SEP] 35, Egg, 1.426, 0.941, 0.494, 0, 0, 0, 60 [SEP] 36, Kettle, -2.310, 0.115, -0.023, 0, 0, 0, 67 [SEP] 37, Potato, 1.341, 0.947, 0.406, 0, 0, 0, 60 [SEP] 38, SaltShaker, -2.289, 0.905, 1.230, 0, 0, 0, 79 [SEP] 39, Lettuce, -0.341, 0.994, 0.870, 0, 0, 0, 51 [SEP] 40, Cup, -2.393, 1.298, -1.074, 0, 90, 0, 83 [SEP] 41, SoapBottle, 1.698, 1.665, -0.550, 0, 0, 0, 71 [SEP] 42, Spatula, -2.704, 0.925, 1.230, 0, 90, 0, 79 [SEP] 43, PaperTowelRoll, 1.562, 0.289, 0.623, 0, 0, 0, 90 [SEP] 44, ButterKnife, -2.621, 0.910, 0.031, 0, 0, 0, 79 [SEP] 45, PepperShaker, -2.524, 1.532, 1.410, 0, 0, 0, 64 [SEP] 46, DishSponge, -2.605, 1.938, -0.409, 0, 0, 0, 73 [SEP] 47, Pot, -2.311, 0.105, 0.895, 0, 270, 0, 77 [SEP] 48, Spoon, 1.428, 0.912, -0.684, 0, 0, 0, 61 [SEP] 49, Tomato, -2.532, 1.342, -0.602, 0, 90, 0, 83 [SEP] 50, Mug, 0.464, 0.955, -1.593, 0, 0, 0, 61 [SEP] 51, CounterTop, -0.360, 0.946, 1.093, 0, 0, 0, [SEP] 52, StoveBurner, 1.412, 0.923, -0.335, 0, 0, 0, [SEP] 53, StoveKnob, 1.878, 1.093, 0.018, 287.989, 90, 0, [SEP] 54, StoveKnob, 1.878, 1.093, -0.306, 287.989, 90, 0, [SEP] 55, Cabinet, -2.446, 1.948, 2.924, 0, 0, 0, [SEP] 56, Drawer, -2.276, 0.792, 0.902, 0, 0, 0, [SEP] 57, Cabinet, -2.145, 0.402, 1.578, 0, 0, 0, [SEP] 58, Cabinet, 0.149, 2.008, -1.603, 0, 90, 0, [SEP] 59, StoveBurner, 1.691, 0.923, -0.335, 0, 0, 0, [SEP] 60, CounterTop, 1.585, 0.946, 0.405, 0, 0, 0, [SEP] 61, CounterTop, 0.474, 0.946, -1.625, 0, 0, 0, [SEP] 62, StoveBurner, 1.691, 0.923, 0.064, 0, 0, 0, [SEP] 63, Cabinet, -2.446, 1.948, 1.687, 0, 0, 0, [SEP] 64, Cabinet, -2.446, 1.948, 1.640, 0, 0, 0, [SEP] 65, Sink, 1.381, 0.810, -1.271, 0, 225, 0, [SEP] 66, StoveKnob, 1.878, 1.093, 0.150, 287.989, 90, 0, [SEP] 67, Cabinet, -2.145, 0.402, -0.236, 0, 0, 0, [SEP] 68, Drawer, -2.276, 0.792, 0.437, 0, 0, 0, [SEP] 69, Drawer, -2.276, 0.792, -0.027, 0, 0, 0, [SEP] 70, Cabinet, 1.572, 2.008, 0.474, 0, 0, 0, [SEP] 71, Cabinet, 1.572, 2.008, -0.775, 0, 0, 0, [SEP] 72, Cabinet, -2.445, 2.148, -1.275, 0, 0, 0, [SEP] 73, Cabinet, -2.446, 2.148, -0.284, 0, 0, 0, [SEP] 74, Cabinet, -2.446, 1.948, 0.355, 0, 0, 0, [SEP] 75, Cabinet, -2.446, 1.948, 0.405, 0, 0, 0, [SEP] 76, Cabinet, -2.145, 0.402, 0.644, 0, 0, 0, [SEP] 77, Cabinet, -2.145, 0.402, 0.695, 0, 0, 0, [SEP] 78, Cabinet, -2.285, 1.968, -1.325, 0, 180, 0, [SEP] 79, CounterTop, -1.485, 0.946, 1.319, 0, 0, 0, [SEP] 80, StoveBurner, 1.411, 0.923, 0.064, 0, 0, 0, [SEP] 81, StoveKnob, 1.878, 1.093, -0.441, 287.989, 90, 0, [SEP] 82, Drawer, -2.276, 0.792, 1.368, 0, 0, 0, [SEP] 83, Fridge, -2.475, 0.0, -0.782, 0, 90, 0, [SEP] 84, LightSwitch, -0.929, 1.350, -1.950, 0, 0, 0, [SEP] 85, Toaster, -2.564, 0.900, 1.876, 0, 90, 0, [SEP] 86, CoffeeMachine, 0.464, 0.900, -1.810, 0, 0, 0, [SEP] 87, Window, 1.508, 1.534, -1.496, 90, 135, 0, [SEP] 88, Window, 1.973, 1.521, 1.121, 90, 90, 0, [SEP] 89, SinkBasin, 1.149, 0.753, -1.380, 0, 225, 0, [SEP] 90, GarbageCan, 1.646, -0.000, 0.679, 0, 0, 0, [SEP] 91, Microwave, -2.580, 0.900, 2.440, 0, 90, 0, [SEP] 92, Stool, 0.439, 0.010, 0.747, 0, 0, 0, [SEP] 93, Stool, -2.303, 0.010, 1.839, 0, 0, 0, [SEP] 94, Faucet, 1.235, 1.138, -1.473, 0, 225, 0, [SEP] 95, NorthWall, , , , , , , [SEP] 96, EastWall, , , , , , , [SEP] 97, SouthWall, , , , , , , [SEP] 98, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk over to the kitchen counter in front of the toaster. | STEP 2: Pick up the knife from the counter. | STEP 3: Turn around while carrying the knife. | STEP 4: Walk over to the microwave. | STEP 5: Place the knife inside the microwave. | STEP 6: Close the microwave door then turn around and walk back over to the counter. | STEP 7: Pick up one slice of tomato from the counter. | STEP 8: Take the slice of tomato back to the microwave oven and open the microwave door. | STEP 9: Put the tomato slice inside the microwave, close the door, and turn the microwave on. In two seconds, turn the microwave off and open the door. Take the tomato out of the microwave. | STEP 10: Take the slice of tomato over to the trash can. | STEP 11: Put the slice of tomato in the trashcan. | END"]} +{"id": "trial_T20190906_182242_283662-5", "input": "Slice the tomato, heat the tomato using microwave, throw away the tomato in the trash SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.0, 0.900, 1.5, 0, 180, 0, [SEP] 1, Potato, 1.769, 0.947, 0.435, 0, 0, 0, 60 [SEP] 2, DishSponge, -2.318, 0.772, 0.952, 0, 0, 0, 56 [SEP] 3, DishSponge, -2.257, 0.772, 1.322, 0, 0, 0, 82 [SEP] 4, ButterKnife, -2.372, 0.910, 1.530, 0, 0, 0, 82 [SEP] 5, Kettle, 1.691, 0.929, -0.335, 0, 0, 0, 59 [SEP] 6, Kettle, 1.697, 1.657, 0.018, 0, 0, 0, 70 [SEP] 7, Spoon, -2.289, 0.912, 0.331, 0, 0, 0, 68 [SEP] 8, Spatula, -2.227, 0.789, -0.073, 0, 90, 0, 69 [SEP] 9, Egg, 1.729, 0.215, 0.706, 0, 0, 0, 90 [SEP] 10, Egg, 1.646, 0.215, 0.651, 0, 0, 0, 90 [SEP] 11, Cup, 1.248, 0.916, -1.134, 0, 225, 0, 65 [SEP] 12, Cup, 1.399, 0.916, -1.123, 0, 225, 0, 65 [SEP] 13, Plate, -2.372, 0.913, 0.631, 0, 0, 0, 79 [SEP] 14, Plate, -0.081, 0.913, 0.423, 0, 0, 0, 51 [SEP] 15, Knife, -2.348, 0.799, 0.486, 0, 270, 0, 68 [SEP] 16, Tomato, -2.439, 1.342, -0.885, 0, 90, 0, 83 [SEP] 17, Tomato, -2.538, 0.953, 1.530, 0, 0, 0, 79 [SEP] 18, SoapBottle, 1.353, 0.920, -1.239, 0, 225, 0, 65 [SEP] 19, SoapBottle, -0.471, 0.912, 1.540, 0, 0, 0, 51 [SEP] 20, Bowl, -2.538, 0.908, 1.230, 0, 0, 0, 79 [SEP] 21, PepperShaker, -2.599, 1.533, 0.774, 0, 0, 0, 75 [SEP] 22, PepperShaker, 0.660, 1.658, -1.693, 0, 90, 0, 58 [SEP] 23, SaltShaker, -0.081, 0.905, 1.094, 0, 0, 0, 51 [SEP] 24, Lettuce, -2.372, 0.994, 0.931, 0, 0, 0, 79 [SEP] 25, Lettuce, -2.466, 0.677, -0.962, 0, 90, 0, 83 [SEP] 26, Apple, -0.730, 0.972, 0.870, 0, 0, 0, 51 [SEP] 27, Apple, -2.704, 0.972, 0.931, 0, 0, 0, 79 [SEP] 28, Pan, 1.411, 0.929, 0.064, 0, 0, 0, 80 [SEP] 29, Knife, 1.684, 0.936, 0.494, 0, 0, 0, 60 [SEP] 30, Apple, -2.621, 0.972, 0.631, 0, 0, 0, 79 [SEP] 31, Bowl, 1.145, 0.768, -1.376, 0, 225, 0, 89 [SEP] 32, Fork, 0.924, 0.911, -1.729, 0, 45, 0, 61 [SEP] 33, Bread, -0.730, 0.996, 1.094, 0, 0, 0, 51 [SEP] 34, Plate, -2.351, 0.900, 0.054, 0, 0, 0, 79 [SEP] 35, Egg, 1.426, 0.941, 0.494, 0, 0, 0, 60 [SEP] 36, Kettle, -2.310, 0.115, -0.023, 0, 0, 0, 67 [SEP] 37, Potato, 1.341, 0.947, 0.406, 0, 0, 0, 60 [SEP] 38, SaltShaker, -2.289, 0.905, 1.230, 0, 0, 0, 79 [SEP] 39, Lettuce, -0.341, 0.994, 0.870, 0, 0, 0, 51 [SEP] 40, Cup, -2.393, 1.298, -1.074, 0, 90, 0, 83 [SEP] 41, SoapBottle, 1.698, 1.665, -0.550, 0, 0, 0, 71 [SEP] 42, Spatula, -2.704, 0.925, 1.230, 0, 90, 0, 79 [SEP] 43, PaperTowelRoll, 1.562, 0.289, 0.623, 0, 0, 0, 90 [SEP] 44, ButterKnife, -2.621, 0.910, 0.031, 0, 0, 0, 79 [SEP] 45, PepperShaker, -2.524, 1.532, 1.410, 0, 0, 0, 64 [SEP] 46, DishSponge, -2.605, 1.938, -0.409, 0, 0, 0, 73 [SEP] 47, Pot, -2.311, 0.105, 0.895, 0, 270, 0, 77 [SEP] 48, Spoon, 1.428, 0.912, -0.684, 0, 0, 0, 61 [SEP] 49, Tomato, -2.532, 1.342, -0.602, 0, 90, 0, 83 [SEP] 50, Mug, 0.464, 0.955, -1.593, 0, 0, 0, 61 [SEP] 51, CounterTop, -0.360, 0.946, 1.093, 0, 0, 0, [SEP] 52, StoveBurner, 1.412, 0.923, -0.335, 0, 0, 0, [SEP] 53, StoveKnob, 1.878, 1.093, 0.018, 287.989, 90, 0, [SEP] 54, StoveKnob, 1.878, 1.093, -0.306, 287.989, 90, 0, [SEP] 55, Cabinet, -2.446, 1.948, 2.924, 0, 0, 0, [SEP] 56, Drawer, -2.276, 0.792, 0.902, 0, 0, 0, [SEP] 57, Cabinet, -2.145, 0.402, 1.578, 0, 0, 0, [SEP] 58, Cabinet, 0.149, 2.008, -1.603, 0, 90, 0, [SEP] 59, StoveBurner, 1.691, 0.923, -0.335, 0, 0, 0, [SEP] 60, CounterTop, 1.585, 0.946, 0.405, 0, 0, 0, [SEP] 61, CounterTop, 0.474, 0.946, -1.625, 0, 0, 0, [SEP] 62, StoveBurner, 1.691, 0.923, 0.064, 0, 0, 0, [SEP] 63, Cabinet, -2.446, 1.948, 1.687, 0, 0, 0, [SEP] 64, Cabinet, -2.446, 1.948, 1.640, 0, 0, 0, [SEP] 65, Sink, 1.381, 0.810, -1.271, 0, 225, 0, [SEP] 66, StoveKnob, 1.878, 1.093, 0.150, 287.989, 90, 0, [SEP] 67, Cabinet, -2.145, 0.402, -0.236, 0, 0, 0, [SEP] 68, Drawer, -2.276, 0.792, 0.437, 0, 0, 0, [SEP] 69, Drawer, -2.276, 0.792, -0.027, 0, 0, 0, [SEP] 70, Cabinet, 1.572, 2.008, 0.474, 0, 0, 0, [SEP] 71, Cabinet, 1.572, 2.008, -0.775, 0, 0, 0, [SEP] 72, Cabinet, -2.445, 2.148, -1.275, 0, 0, 0, [SEP] 73, Cabinet, -2.446, 2.148, -0.284, 0, 0, 0, [SEP] 74, Cabinet, -2.446, 1.948, 0.355, 0, 0, 0, [SEP] 75, Cabinet, -2.446, 1.948, 0.405, 0, 0, 0, [SEP] 76, Cabinet, -2.145, 0.402, 0.644, 0, 0, 0, [SEP] 77, Cabinet, -2.145, 0.402, 0.695, 0, 0, 0, [SEP] 78, Cabinet, -2.285, 1.968, -1.325, 0, 180, 0, [SEP] 79, CounterTop, -1.485, 0.946, 1.319, 0, 0, 0, [SEP] 80, StoveBurner, 1.411, 0.923, 0.064, 0, 0, 0, [SEP] 81, StoveKnob, 1.878, 1.093, -0.441, 287.989, 90, 0, [SEP] 82, Drawer, -2.276, 0.792, 1.368, 0, 0, 0, [SEP] 83, Fridge, -2.475, 0.0, -0.782, 0, 90, 0, [SEP] 84, LightSwitch, -0.929, 1.350, -1.950, 0, 0, 0, [SEP] 85, Toaster, -2.564, 0.900, 1.876, 0, 90, 0, [SEP] 86, CoffeeMachine, 0.464, 0.900, -1.810, 0, 0, 0, [SEP] 87, Window, 1.508, 1.534, -1.496, 90, 135, 0, [SEP] 88, Window, 1.973, 1.521, 1.121, 90, 90, 0, [SEP] 89, SinkBasin, 1.149, 0.753, -1.380, 0, 225, 0, [SEP] 90, GarbageCan, 1.646, -0.000, 0.679, 0, 0, 0, [SEP] 91, Microwave, -2.580, 0.900, 2.440, 0, 90, 0, [SEP] 92, Stool, 0.439, 0.010, 0.747, 0, 0, 0, [SEP] 93, Stool, -2.303, 0.010, 1.839, 0, 0, 0, [SEP] 94, Faucet, 1.235, 1.138, -1.473, 0, 225, 0, [SEP] 95, NorthWall, , , , , , , [SEP] 96, EastWall, , , , , , , [SEP] 97, SouthWall, , , , , , , [SEP] 98, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and turn left and walk to the table at the end of the room | STEP 2: Grab the knife by the salt | STEP 3: Slice the tomato on the table | STEP 4: Turn right and walk to the microwave | STEP 5: Open microwave and put the knife in the microwave, close the microwave | STEP 6: Turn left and walk back to the middle of the table | STEP 7: Grab a slice of tomato | STEP 8: Turn right and walk to the microwave | STEP 9: Open the microwave, put the slice of tomato in the microwave, close the microwave and turn it on, open the microwave when it's done, take the slice of tomato out, close the microwave | STEP 10: Turn around and walk to the window by the door | STEP 11: Throw the slice of tomato in the trash can under the window | END"]} +{"id": "trial_T20190906_222033_129727-0", "input": "Put a heated plate on a table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.900, -3.0, 0, 180, 0, [SEP] 1, Fork, -3.882, 0.691, -0.248, 0, 90, 0, 76 [SEP] 2, Fork, -1.471, 0.942, -3.439, 0, 0, 0, 41 [SEP] 3, Spoon, -2.962, 0.895, -0.462, 0, 270, 0, 78 [SEP] 4, Spatula, -0.701, 0.828, -3.627, 0, 45, 0, 70 [SEP] 5, Spatula, -2.359, 0.909, -0.290, 0, 270, 0, 78 [SEP] 6, Egg, -3.942, 0.732, -0.248, 0, 0, 0, 76 [SEP] 7, Cup, -3.163, 0.895, -0.204, 0, 270, 0, 78 [SEP] 8, Cup, -0.376, 1.287, -0.645, 0, 270, 0, 71 [SEP] 9, Plate, -3.350, 0.774, -2.922, 0, 199.125, 0, 77 [SEP] 10, Knife, -0.168, 0.967, -2.670, 0, 0, 0, 41 [SEP] 11, Knife, -2.761, 0.920, -0.290, 0, 0, 0, 78 [SEP] 12, SoapBottle, -0.078, 0.939, -1.319, 0, 270, 0, 59 [SEP] 13, Bowl, -2.962, 0.892, -0.376, 0, 270, 0, 78 [SEP] 14, Bread, -2.761, 0.976, -0.204, 0, 270, 0, 78 [SEP] 15, SaltShaker, -3.364, 0.890, -0.548, 0, 270, 0, 78 [SEP] 16, PepperShaker, -1.471, 0.938, -3.751, 0, 0, 0, 41 [SEP] 17, PepperShaker, -0.097, 1.938, -0.713, 0, 0, 0, 48 [SEP] 18, Mug, -0.376, 1.281, -0.297, 0, 270, 0, 71 [SEP] 19, Apple, -4.062, 0.751, -0.248, 0, 0, 0, 76 [SEP] 20, SoapBottle, -0.473, 0.939, -1.362, 0, 180, 0, 59 [SEP] 21, Pot, -0.222, 0.961, -1.845, 0, 180, 0, 43 [SEP] 22, Fork, -3.361, 0.760, -3.711, 0, 64.125, 0, 77 [SEP] 23, Cup, -0.245, 1.489, -0.762, 0, 270, 0, 71 [SEP] 24, Tomato, -0.473, 0.992, -1.538, 0, 0, 0, 59 [SEP] 25, Pan, -0.217, 0.958, -2.215, 0, 45, 0, 60 [SEP] 26, Plate, -3.565, 0.908, -0.376, 0, 270, 0, 78 [SEP] 27, Bread, -3.612, 0.841, -3.486, 0, 199.125, 0, 77 [SEP] 28, Spatula, -3.485, 0.775, -3.599, 0, 244.125, 0, 77 [SEP] 29, Knife, -2.560, 0.920, -0.290, 0, 270, 0, 78 [SEP] 30, SaltShaker, -2.560, 0.890, -0.548, 0, 270, 0, 78 [SEP] 31, PepperShaker, -1.216, 0.750, -3.447, 0, 0, 0, 47 [SEP] 32, ButterKnife, -4.122, 0.691, -0.248, 0, 0, 0, 76 [SEP] 33, Apple, -3.586, 0.821, -3.820, 0, 334.125, 0, 77 [SEP] 34, DishSponge, -0.475, 0.751, -2.632, 0, 0, 0, 46 [SEP] 35, Potato, -0.293, 1.318, -0.762, 0, 270, 0, 71 [SEP] 36, Egg, -3.370, 0.801, -3.539, 0, 109.125, 0, 77 [SEP] 37, Spoon, -0.157, 0.942, -1.450, 0, 0, 0, 59 [SEP] 38, Lettuce, -3.364, 0.985, -0.290, 0, 270, 0, 78 [SEP] 39, Mug, -2.514, 0.972, -3.649, 0, 0, 0, 67 [SEP] 40, Bowl, -0.135, 1.500, -1.449, 0, 0, 0, 52 [SEP] 41, CounterTop, -1.937, 0.977, -3.673, 0, 0, 0, [SEP] 42, StoveBurner, -0.437, 0.924, -1.845, 0, 180, 0, [SEP] 43, StoveBurner, -0.222, 0.924, -1.845, 0, 180, 0, [SEP] 44, StoveBurner, -0.437, 0.924, -2.243, 0, 0, 0, [SEP] 45, Drawer, -0.500, 0.779, -1.450, 0, 0, 0, [SEP] 46, Drawer, -0.481, 0.777, -2.739, 0, 0, 0, [SEP] 47, Drawer, -1.154, 0.782, -3.499, 0, 0, 0, [SEP] 48, Cabinet, -0.337, 2.110, -0.390, 0, 0, 0, [SEP] 49, Cabinet, -0.337, 2.110, -1.272, 0, 0, 0, [SEP] 50, Cabinet, -0.337, 2.110, -1.631, 0, 0, 0, [SEP] 51, Cabinet, -0.337, 2.110, -2.497, 0, 0, 0, [SEP] 52, Cabinet, -0.337, 1.891, -1.286, 0, 0, 0, [SEP] 53, Cabinet, -0.346, 1.891, -3.293, 0, 0, 0, [SEP] 54, Cabinet, -0.629, 0.388, -2.513, 0, 0, 0, [SEP] 55, Cabinet, -0.633, 0.388, -3.008, 0, 0, 0, [SEP] 56, Cabinet, -1.010, 0.388, -3.368, 0, 0, 0, [SEP] 57, Cabinet, -0.629, 0.388, -1.614, 0, 0, 0, [SEP] 58, Cabinet, -0.327, 1.886, -2.513, 0, 0, 0, [SEP] 59, CounterTop, -0.326, 0.976, -1.450, 0, 0, 0, [SEP] 60, StoveBurner, -0.222, 0.924, -2.243, 0, 0, 0, [SEP] 61, Sink, -0.600, 0.929, -3.388, 0, 0, 0, [SEP] 62, StoveKnob, -0.617, 0.899, -1.833, 315, 90, 180, [SEP] 63, StoveKnob, -0.617, 0.899, -2.129, 315, 90, 180, [SEP] 64, StoveKnob, -0.617, 0.899, -2.289, 315, 90, 180, [SEP] 65, StoveKnob, -0.617, 0.899, -1.975, 315, 90, 180, [SEP] 66, GarbageCan, -2.418, -0.032, -3.541, 0, 0, 0, [SEP] 67, CoffeeMachine, -2.513, 0.930, -3.797, 0, 0, 0, [SEP] 68, Window, -1.389, 1.610, -4.113, 90, 0, 0, [SEP] 69, LightSwitch, -4.372, 1.493, -1.031, 0, 90, 0, [SEP] 70, SinkBasin, -0.614, 0.802, -3.384, 0, 315, 0, [SEP] 71, Fridge, -0.314, 0.0, -0.646, 0, 0, 0, [SEP] 72, Toaster, -1.970, 0.930, -3.763, 0, 0, 0, [SEP] 73, Microwave, -0.216, 1.470, -2.054, 0, 270, 0, [SEP] 74, Blinds, -1.373, 2.205, -3.961, 0, 0, 0, [SEP] 75, Faucet, -0.393, 0.930, -3.614, 270, 225, 0, [SEP] 76, SideTable, -4.030, 0.002, -0.301, 0, 185.034, 0, [SEP] 77, DiningTable, -3.586, 0.000, -3.258, 0, 0, 0, [SEP] 78, DiningTable, -3.224, -0.003, -0.453, 0, 0, 0, [SEP] 79, Shelf, -4.030, 0.259, -0.301, 0, 185.034, 0, [SEP] 80, Shelf, -4.030, 0.489, -0.301, 0, 185.034, 0, [SEP] 81, EastWall, , , , , , , [SEP] 82, EastWall, , , , , , , [SEP] 83, SouthWall, , , , , , , ", "output": ["STEP 1: Go to the white table behind you. | STEP 2: Pick up the plate that is to the left of the cabbage. | STEP 3: Take the plate to the microwave. | STEP 4: Heat the plate in the microwave. | STEP 5: Go to the black table that is behind you and the the left of the white table. | STEP 6: Place the plate on the black table, next to the knife. | END"]} +{"id": "trial_T20190909_021005_332637-0", "input": "Heat up a slice of apple and place it in the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.900, 0.0, 0, 0, 0, [SEP] 1, Pan, 1.501, 0.910, 1.180, 0, 270, 0, 42 [SEP] 2, Potato, 1.239, 0.800, -1.544, 0, 0, 0, 61 [SEP] 3, Ladle, 1.806, 1.699, -0.050, 0, 0, 0, 52 [SEP] 4, DishSponge, 0.840, 0.910, -1.247, 0, 90, 0, 46 [SEP] 5, DishSponge, 1.762, 0.910, 0.622, 0, 90, 0, 42 [SEP] 6, Fork, 1.839, 0.911, 0.518, 0, 90, 0, 42 [SEP] 7, Fork, 1.865, 0.911, -1.631, 0, 270, 0, 46 [SEP] 8, Spatula, 0.476, 0.925, 0.827, 0, 180, 0, 42 [SEP] 9, Egg, -0.887, 1.126, -1.559, 0, 0, 0, 69 [SEP] 10, Egg, 0.894, 0.795, -1.654, 0, 0, 0, 61 [SEP] 11, Plate, 0.476, 0.912, 1.180, 0, 90, 0, 42 [SEP] 12, Knife, 1.656, 0.943, -1.717, 0, 90, 0, 46 [SEP] 13, Knife, 1.607, 0.943, 0.467, 0, 180, 0, 42 [SEP] 14, SoapBottle, 1.878, 2.135, 0.805, 0, 0, 0, 50 [SEP] 15, SoapBottle, 1.77, 0.068, 1.684, 0, 270, 0, 60 [SEP] 16, Tomato, 0.159, 0.975, -1.263, 0, 90, 0, 46 [SEP] 17, Tomato, 1.796, 0.975, -1.545, 0, 90, 0, 46 [SEP] 18, PepperShaker, 1.876, 1.628, -1.119, 0, 0, 0, 54 [SEP] 19, Mug, -0.374, 1.054, -1.357, 0, 0, 0, 69 [SEP] 20, Plate, 1.805, 1.634, -0.901, 0, 0, 0, 54 [SEP] 21, SoapBottle, 1.875, 1.643, -1.643, 0, 0, 0, 56 [SEP] 22, Cup, 1.516, 0.909, -1.374, 0, 90, 0, 46 [SEP] 23, Egg, 1.706, 1.050, -0.729, 0, 270, 0, 66 [SEP] 24, Fork, 0.553, 0.911, -1.793, 0, 180, 0, 46 [SEP] 25, Ladle, 1.201, 0.926, 0.743, 3.362, 0, 346.986, 42 [SEP] 26, Apple, 0.963, 0.817, -1.488, 0, 0, 0, 61 [SEP] 27, SaltShaker, 1.607, 0.905, 0.363, 0, 90, 0, 42 [SEP] 28, Pan, 1.807, 0.909, -0.320, 0, 180, 0, 44 [SEP] 29, Tomato, 1.796, 0.975, -1.288, 0, 90, 0, 46 [SEP] 30, Spatula, 0.220, 0.925, 0.827, 0, 90, 0, 42 [SEP] 31, Potato, 0.579, 0.9, 0.938, 0, 315, 0, 42 [SEP] 32, Knife, 1.451, 0.943, 0.415, 0, 90, 0, 42 [SEP] 33, ButterKnife, 0.220, 0.910, 0.827, 0, 180, 0, 42 [SEP] 34, Bread, 1.615, 0.977, 0.761, 0, 50.525, 0, 42 [SEP] 35, Lettuce, 0.856, 0.989, 1.120, 0, 270, 1.472, 42 [SEP] 36, PepperShaker, 1.769, 1.640, -1.683, 0, 0, 0, 56 [SEP] 37, Pot, 1.807, 0.909, 0.075, 0, 180, 0, 43 [SEP] 38, DishSponge, 1.032, 0.760, -1.710, 0, 0, 0, 61 [SEP] 39, Spoon, 1.757, 0.911, 1.004, 0, 90, 0, 42 [SEP] 40, Bowl, 1.805, 1.652, -0.353, 0, 0, 0, 53 [SEP] 41, Mug, 0.502, 0.940, -1.460, 0, 0, 0, 68 [SEP] 42, CounterTop, 0.989, 0.946, 1.016, 0, 90, 0, [SEP] 43, StoveBurner, 1.807, 0.907, 0.075, 0, 180, 0, [SEP] 44, StoveBurner, 1.807, 0.907, -0.320, 0, 180, 0, [SEP] 45, StoveBurner, 1.543, 0.907, -0.320, 0, 90, 0, [SEP] 46, CounterTop, 0.989, 0.946, -1.516, 0, 90, 0, [SEP] 47, Sink, 1.100, 0.906, -1.599, 0, 0, 0, [SEP] 48, StoveBurner, 1.548, 0.907, 0.075, 0, 180, 0, [SEP] 49, Cabinet, 1.658, 2.299, 1.313, 0, 0, 0, [SEP] 50, Cabinet, 1.658, 2.299, 0.686, 0, 0, 0, [SEP] 51, Cabinet, 1.658, 2.049, 0.673, 0, 0, 0, [SEP] 52, Cabinet, 1.658, 2.059, 0.193, 0, 0, 0, [SEP] 53, Cabinet, 1.658, 2.059, -0.593, 0, 0, 0, [SEP] 54, Cabinet, 1.658, 2.049, -0.606, 0, 0, 0, [SEP] 55, Cabinet, 1.658, 2.049, -1.206, 0, 0, 0, [SEP] 56, Cabinet, 1.658, 2.049, -1.893, 0, 0, 0, [SEP] 57, Toaster, 0.131, 0.900, -1.589, 0, 0, 0, [SEP] 58, Window, -0.372, 1.588, 3.349, 90, 0, 0, [SEP] 59, Window, 0.782, 1.741, -1.893, 90, 0, 0, [SEP] 60, GarbageCan, 1.770, -0.029, 1.685, 0, 270, 0, [SEP] 61, SinkBasin, 1.091, 0.740, -1.599, 0, 0, 0, [SEP] 62, StoveKnob, 1.364, 0.821, 0.086, 48.421, 270, 0, [SEP] 63, StoveKnob, 1.364, 0.821, -0.180, 48.421, 270, 0, [SEP] 64, StoveKnob, 1.364, 0.821, -0.317, 48.421, 270, 0, [SEP] 65, StoveKnob, 1.364, 0.821, -0.054, 48.421, 270, 0, [SEP] 66, Microwave, 1.752, 0.900, -0.843, 0, 270, 0, [SEP] 67, LightSwitch, 2.0, 1.261, 3.094, 0, 270, 0, [SEP] 68, CoffeeMachine, 0.501, 0.900, -1.600, 0, 0, 0, [SEP] 69, Fridge, -0.533, 0.0, -1.554, 0, 0, 0, [SEP] 70, Chair, 1.068, 0.000, 1.752, 0, 191.622, 0, [SEP] 71, Faucet, 1.110, 1.138, -1.764, 0, 270, 0, [SEP] 72, Chair, 0.357, 0.000, 1.710, 0, 178.899, 0, [SEP] 73, NorthWall, , , , , , , [SEP] 74, EastWall, , , , , , , [SEP] 75, SouthWall, , , , , , , [SEP] 76, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and walk to the stove, then turn right and go to the sink. | STEP 2: Pick up the knife on the counter to the top left of the sink. | STEP 3: Take a step back to be centered with the sink. | STEP 4: Slice the apple in the sink. | STEP 5: Stand the knife upright in the sink to the right of the drain. | STEP 6: Pick up the top left slice of apple. | STEP 7: Turn left to face the microwave. | STEP 8: Place the apple in the microwave to the right of the egg and turn on for a few seconds. Remove the apple when the microwave is off. | STEP 9: Return to the kitchen sink. | STEP 10: Place the apple in the sink behind the potato. | END"]} +{"id": "trial_T20190906_180309_726338-0", "input": "Put two watches on a cabinet top. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 2.5, 0.900, 0.0, 0, 90, 0, [SEP] 1, Watch, -1.350, 0.676, -0.847, 0, 0, 0, 46 [SEP] 2, Watch, 2.215, 0.795, -1.121, 0, 0, 0, 54 [SEP] 3, Watch, 2.027, 0.795, -1.185, 0, 0, 0, 54 [SEP] 4, CD, 2.764, 0.569, -1.246, 0, 0, 0, 59 [SEP] 5, CD, 1.559, 0.126, -1.218, 0, 0, 0, 61 [SEP] 6, CellPhone, -0.806, 0.566, 0.358, 0, 0, 0, 30 [SEP] 7, CellPhone, -1.318, 1.236, -0.649, 0, 0, 0, 49 [SEP] 8, Pen, -1.422, 1.240, -0.745, 0, 90, 0, 49 [SEP] 9, CreditCard, 2.591, 0.794, -1.153, 0, 0, 0, 54 [SEP] 10, AlarmClock, 2.591, 0.795, -1.249, 0, 0, 0, 54 [SEP] 11, Book, -0.902, 0.574, 1.179, 0, 332.922, 0, 30 [SEP] 12, Box, 2.734, 0.195, 0.89, 0, 0, 0, [SEP] 13, Laptop, -0.462, 0.561, 0.846, 0, 0, 0, 30 [SEP] 14, CellPhone, 2.215, 0.798, -1.249, 0, 0, 0, 54 [SEP] 15, BaseballBat, 2.847, 0.643, 1.838, 0, 0, 335.111, [SEP] 16, BasketBall, 1.019, 0.330, -0.976, 346.948, 295.819, 0, [SEP] 17, TissueBox, -1.294, 0.677, -0.614, 0, 0, 0, 48 [SEP] 18, CreditCard, -1.294, 0.968, -0.919, 0, 0, 0, 53 [SEP] 19, AlarmClock, 1.839, 0.796, -1.282, 0, 0, 0, 54 [SEP] 20, Pencil, 1.708, 1.050, -1.373, 0, 0, 0, 42 [SEP] 21, Boots, -1.279, 0.000, -1.343, 0, 27.143, 0, [SEP] 22, Pillow, -0.634, 0.63, 1.611, 0, 0, 0, 30 [SEP] 23, KeyChain, -1.283, 1.235, -0.553, 0, 180, 0, 49 [SEP] 24, Bowl, 2.451, 0.788, -1.207, 0, 0, 0, 54 [SEP] 25, Watch, 2.853, 0.348, -1.246, 0, 0, 0, 60 [SEP] 26, CD, 2.839, 0.039, 0.147, 0, 270, 0, 32 [SEP] 27, Pen, -1.318, 1.239, -0.745, 0, 0, 0, 49 [SEP] 28, Mug, 2.821, 0.788, -1.223, 0, 0, 0, 54 [SEP] 29, Statue, 1.823, 1.036, -1.419, 0, 0, 0, 54 [SEP] 30, Bed, -0.640, 0.008, 0.871, 0, 0, 0, [SEP] 31, DeskLamp, -1.319, 1.238, -0.994, 0, 90, 0, [SEP] 32, GarbageCan, 2.838, 0.007, 0.215, 0, 270, 0, [SEP] 33, Blinds, 0.111, 2.337, -1.436, 0, 0, 0, [SEP] 34, Mirror, 1.985, 1.381, 1.875, 0, 0, 0, [SEP] 35, Window, 0.118, 1.496, -1.588, 90, 180, 0, [SEP] 36, LightSwitch, 2.654, 1.276, 1.899, 0, 180, 0, [SEP] 37, Chair, 2.457, 0.011, -0.997, 0, 189.124, 0, [SEP] 38, Shelf, 2.476, 0.919, -1.384, 0, 0, 0, [SEP] 39, Shelf, 2.251, 1.503, -1.383, 0, 0, 0, [SEP] 40, Shelf, 2.700, 1.510, -1.380, 0, 0, 0, [SEP] 41, Shelf, 2.476, 1.153, -1.384, 0, 0, 0, [SEP] 42, Shelf, 1.803, 1.386, -1.384, 0, 0, 0, [SEP] 43, Shelf, 1.803, 0.919, -1.381, 0, 0, 0, [SEP] 44, DogBed, 0.920, 0.013, -1.044, 0, 0, 0, [SEP] 45, Drawer, -1.305, 0.454, -0.918, 0, 90, 0, [SEP] 46, Drawer, -1.305, 0.752, -0.919, 0, 90, 0, [SEP] 47, Drawer, -1.305, 0.178, -0.918, 0, 90, 0, [SEP] 48, Drawer, -1.305, 0.752, -0.579, 0, 90, 0, [SEP] 49, Dresser, -1.328, 0.011, -0.744, 0, 90, 0, [SEP] 50, Drawer, -1.306, 1.031, -0.579, 0, 90, 0, [SEP] 51, Drawer, -1.305, 0.454, -0.578, 0, 90, 0, [SEP] 52, Drawer, -1.305, 0.178, -0.578, 0, 90, 0, [SEP] 53, Drawer, -1.305, 1.031, -0.919, 0, 90, 0, [SEP] 54, Desk, 2.211, 0.009, -1.259, 0, 0, 0, [SEP] 55, Drawer, 2.817, 0.189, -1.176, 0, 0, 0, [SEP] 56, Drawer, 1.940, 0.632, -1.176, 0, 0, 0, [SEP] 57, Drawer, 1.940, 0.189, -1.176, 0, 0, 0, [SEP] 58, Drawer, 1.623, 0.632, -1.176, 0, 0, 0, [SEP] 59, Drawer, 2.817, 0.632, -1.176, 0, 0, 0, [SEP] 60, Drawer, 2.817, 0.411, -1.176, 0, 0, 0, [SEP] 61, Drawer, 1.623, 0.189, -1.176, 0, 0, 0, [SEP] 62, Drawer, 1.623, 0.410, -1.176, 0, 0, 0, [SEP] 63, Drawer, 1.940, 0.410, -1.176, 0, 0, 0, [SEP] 64, NorthWall, , , , , , , [SEP] 65, EastWall, , , , , , , [SEP] 66, SouthWall, , , , , , , [SEP] 67, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and walk to the desk. | STEP 2: Pick up the watch to the left of the other watch. | STEP 3: Turn to the right and walk to the cabinet. | STEP 4: Place the watch to the left of the pencil on the cabinet. | STEP 5: Open the second drawer from the top on the left side of the cabinet and take out the watch. | STEP 6: Put the watch on the right side of the pencil on the cabinet. | END"]} +{"id": "trial_T20190906_180309_726338-1", "input": "to move a watch from the desk to the dresser SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 2.5, 0.900, 0.0, 0, 90, 0, [SEP] 1, Watch, -1.350, 0.676, -0.847, 0, 0, 0, 46 [SEP] 2, Watch, 2.215, 0.795, -1.121, 0, 0, 0, 54 [SEP] 3, Watch, 2.027, 0.795, -1.185, 0, 0, 0, 54 [SEP] 4, CD, 2.764, 0.569, -1.246, 0, 0, 0, 59 [SEP] 5, CD, 1.559, 0.126, -1.218, 0, 0, 0, 61 [SEP] 6, CellPhone, -0.806, 0.566, 0.358, 0, 0, 0, 30 [SEP] 7, CellPhone, -1.318, 1.236, -0.649, 0, 0, 0, 49 [SEP] 8, Pen, -1.422, 1.240, -0.745, 0, 90, 0, 49 [SEP] 9, CreditCard, 2.591, 0.794, -1.153, 0, 0, 0, 54 [SEP] 10, AlarmClock, 2.591, 0.795, -1.249, 0, 0, 0, 54 [SEP] 11, Book, -0.902, 0.574, 1.179, 0, 332.922, 0, 30 [SEP] 12, Box, 2.734, 0.195, 0.89, 0, 0, 0, [SEP] 13, Laptop, -0.462, 0.561, 0.846, 0, 0, 0, 30 [SEP] 14, CellPhone, 2.215, 0.798, -1.249, 0, 0, 0, 54 [SEP] 15, BaseballBat, 2.847, 0.643, 1.838, 0, 0, 335.111, [SEP] 16, BasketBall, 1.019, 0.330, -0.976, 346.948, 295.819, 0, [SEP] 17, TissueBox, -1.294, 0.677, -0.614, 0, 0, 0, 48 [SEP] 18, CreditCard, -1.294, 0.968, -0.919, 0, 0, 0, 53 [SEP] 19, AlarmClock, 1.839, 0.796, -1.282, 0, 0, 0, 54 [SEP] 20, Pencil, 1.708, 1.050, -1.373, 0, 0, 0, 42 [SEP] 21, Boots, -1.279, 0.000, -1.343, 0, 27.143, 0, [SEP] 22, Pillow, -0.634, 0.63, 1.611, 0, 0, 0, 30 [SEP] 23, KeyChain, -1.283, 1.235, -0.553, 0, 180, 0, 49 [SEP] 24, Bowl, 2.451, 0.788, -1.207, 0, 0, 0, 54 [SEP] 25, Watch, 2.853, 0.348, -1.246, 0, 0, 0, 60 [SEP] 26, CD, 2.839, 0.039, 0.147, 0, 270, 0, 32 [SEP] 27, Pen, -1.318, 1.239, -0.745, 0, 0, 0, 49 [SEP] 28, Mug, 2.821, 0.788, -1.223, 0, 0, 0, 54 [SEP] 29, Statue, 1.823, 1.036, -1.419, 0, 0, 0, 54 [SEP] 30, Bed, -0.640, 0.008, 0.871, 0, 0, 0, [SEP] 31, DeskLamp, -1.319, 1.238, -0.994, 0, 90, 0, [SEP] 32, GarbageCan, 2.838, 0.007, 0.215, 0, 270, 0, [SEP] 33, Blinds, 0.111, 2.337, -1.436, 0, 0, 0, [SEP] 34, Mirror, 1.985, 1.381, 1.875, 0, 0, 0, [SEP] 35, Window, 0.118, 1.496, -1.588, 90, 180, 0, [SEP] 36, LightSwitch, 2.654, 1.276, 1.899, 0, 180, 0, [SEP] 37, Chair, 2.457, 0.011, -0.997, 0, 189.124, 0, [SEP] 38, Shelf, 2.476, 0.919, -1.384, 0, 0, 0, [SEP] 39, Shelf, 2.251, 1.503, -1.383, 0, 0, 0, [SEP] 40, Shelf, 2.700, 1.510, -1.380, 0, 0, 0, [SEP] 41, Shelf, 2.476, 1.153, -1.384, 0, 0, 0, [SEP] 42, Shelf, 1.803, 1.386, -1.384, 0, 0, 0, [SEP] 43, Shelf, 1.803, 0.919, -1.381, 0, 0, 0, [SEP] 44, DogBed, 0.920, 0.013, -1.044, 0, 0, 0, [SEP] 45, Drawer, -1.305, 0.454, -0.918, 0, 90, 0, [SEP] 46, Drawer, -1.305, 0.752, -0.919, 0, 90, 0, [SEP] 47, Drawer, -1.305, 0.178, -0.918, 0, 90, 0, [SEP] 48, Drawer, -1.305, 0.752, -0.579, 0, 90, 0, [SEP] 49, Dresser, -1.328, 0.011, -0.744, 0, 90, 0, [SEP] 50, Drawer, -1.306, 1.031, -0.579, 0, 90, 0, [SEP] 51, Drawer, -1.305, 0.454, -0.578, 0, 90, 0, [SEP] 52, Drawer, -1.305, 0.178, -0.578, 0, 90, 0, [SEP] 53, Drawer, -1.305, 1.031, -0.919, 0, 90, 0, [SEP] 54, Desk, 2.211, 0.009, -1.259, 0, 0, 0, [SEP] 55, Drawer, 2.817, 0.189, -1.176, 0, 0, 0, [SEP] 56, Drawer, 1.940, 0.632, -1.176, 0, 0, 0, [SEP] 57, Drawer, 1.940, 0.189, -1.176, 0, 0, 0, [SEP] 58, Drawer, 1.623, 0.632, -1.176, 0, 0, 0, [SEP] 59, Drawer, 2.817, 0.632, -1.176, 0, 0, 0, [SEP] 60, Drawer, 2.817, 0.411, -1.176, 0, 0, 0, [SEP] 61, Drawer, 1.623, 0.189, -1.176, 0, 0, 0, [SEP] 62, Drawer, 1.623, 0.410, -1.176, 0, 0, 0, [SEP] 63, Drawer, 1.940, 0.410, -1.176, 0, 0, 0, [SEP] 64, NorthWall, , , , , , , [SEP] 65, EastWall, , , , , , , [SEP] 66, SouthWall, , , , , , , [SEP] 67, WestWall, , , , , , , ", "output": ["STEP 1: turn around make a left to face white dresser | STEP 2: pick up watch closest to you below the phone | STEP 3: turn around then turn left move forward toward dresser | STEP 4: place watch on top of dresser directly next to the left of the pen | STEP 5: open second drawer from the top on the left side of the dresser and pick up the watch in it | STEP 6: place the watch on top of the dresser to the right of the pen so the watch is standing upright | END"]} +{"id": "trial_T20190906_180309_726338-2", "input": "Place two watches on top of the dresser next to the bed. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 2.5, 0.900, 0.0, 0, 90, 0, [SEP] 1, Watch, -1.350, 0.676, -0.847, 0, 0, 0, 46 [SEP] 2, Watch, 2.215, 0.795, -1.121, 0, 0, 0, 54 [SEP] 3, Watch, 2.027, 0.795, -1.185, 0, 0, 0, 54 [SEP] 4, CD, 2.764, 0.569, -1.246, 0, 0, 0, 59 [SEP] 5, CD, 1.559, 0.126, -1.218, 0, 0, 0, 61 [SEP] 6, CellPhone, -0.806, 0.566, 0.358, 0, 0, 0, 30 [SEP] 7, CellPhone, -1.318, 1.236, -0.649, 0, 0, 0, 49 [SEP] 8, Pen, -1.422, 1.240, -0.745, 0, 90, 0, 49 [SEP] 9, CreditCard, 2.591, 0.794, -1.153, 0, 0, 0, 54 [SEP] 10, AlarmClock, 2.591, 0.795, -1.249, 0, 0, 0, 54 [SEP] 11, Book, -0.902, 0.574, 1.179, 0, 332.922, 0, 30 [SEP] 12, Box, 2.734, 0.195, 0.89, 0, 0, 0, [SEP] 13, Laptop, -0.462, 0.561, 0.846, 0, 0, 0, 30 [SEP] 14, CellPhone, 2.215, 0.798, -1.249, 0, 0, 0, 54 [SEP] 15, BaseballBat, 2.847, 0.643, 1.838, 0, 0, 335.111, [SEP] 16, BasketBall, 1.019, 0.330, -0.976, 346.948, 295.819, 0, [SEP] 17, TissueBox, -1.294, 0.677, -0.614, 0, 0, 0, 48 [SEP] 18, CreditCard, -1.294, 0.968, -0.919, 0, 0, 0, 53 [SEP] 19, AlarmClock, 1.839, 0.796, -1.282, 0, 0, 0, 54 [SEP] 20, Pencil, 1.708, 1.050, -1.373, 0, 0, 0, 42 [SEP] 21, Boots, -1.279, 0.000, -1.343, 0, 27.143, 0, [SEP] 22, Pillow, -0.634, 0.63, 1.611, 0, 0, 0, 30 [SEP] 23, KeyChain, -1.283, 1.235, -0.553, 0, 180, 0, 49 [SEP] 24, Bowl, 2.451, 0.788, -1.207, 0, 0, 0, 54 [SEP] 25, Watch, 2.853, 0.348, -1.246, 0, 0, 0, 60 [SEP] 26, CD, 2.839, 0.039, 0.147, 0, 270, 0, 32 [SEP] 27, Pen, -1.318, 1.239, -0.745, 0, 0, 0, 49 [SEP] 28, Mug, 2.821, 0.788, -1.223, 0, 0, 0, 54 [SEP] 29, Statue, 1.823, 1.036, -1.419, 0, 0, 0, 54 [SEP] 30, Bed, -0.640, 0.008, 0.871, 0, 0, 0, [SEP] 31, DeskLamp, -1.319, 1.238, -0.994, 0, 90, 0, [SEP] 32, GarbageCan, 2.838, 0.007, 0.215, 0, 270, 0, [SEP] 33, Blinds, 0.111, 2.337, -1.436, 0, 0, 0, [SEP] 34, Mirror, 1.985, 1.381, 1.875, 0, 0, 0, [SEP] 35, Window, 0.118, 1.496, -1.588, 90, 180, 0, [SEP] 36, LightSwitch, 2.654, 1.276, 1.899, 0, 180, 0, [SEP] 37, Chair, 2.457, 0.011, -0.997, 0, 189.124, 0, [SEP] 38, Shelf, 2.476, 0.919, -1.384, 0, 0, 0, [SEP] 39, Shelf, 2.251, 1.503, -1.383, 0, 0, 0, [SEP] 40, Shelf, 2.700, 1.510, -1.380, 0, 0, 0, [SEP] 41, Shelf, 2.476, 1.153, -1.384, 0, 0, 0, [SEP] 42, Shelf, 1.803, 1.386, -1.384, 0, 0, 0, [SEP] 43, Shelf, 1.803, 0.919, -1.381, 0, 0, 0, [SEP] 44, DogBed, 0.920, 0.013, -1.044, 0, 0, 0, [SEP] 45, Drawer, -1.305, 0.454, -0.918, 0, 90, 0, [SEP] 46, Drawer, -1.305, 0.752, -0.919, 0, 90, 0, [SEP] 47, Drawer, -1.305, 0.178, -0.918, 0, 90, 0, [SEP] 48, Drawer, -1.305, 0.752, -0.579, 0, 90, 0, [SEP] 49, Dresser, -1.328, 0.011, -0.744, 0, 90, 0, [SEP] 50, Drawer, -1.306, 1.031, -0.579, 0, 90, 0, [SEP] 51, Drawer, -1.305, 0.454, -0.578, 0, 90, 0, [SEP] 52, Drawer, -1.305, 0.178, -0.578, 0, 90, 0, [SEP] 53, Drawer, -1.305, 1.031, -0.919, 0, 90, 0, [SEP] 54, Desk, 2.211, 0.009, -1.259, 0, 0, 0, [SEP] 55, Drawer, 2.817, 0.189, -1.176, 0, 0, 0, [SEP] 56, Drawer, 1.940, 0.632, -1.176, 0, 0, 0, [SEP] 57, Drawer, 1.940, 0.189, -1.176, 0, 0, 0, [SEP] 58, Drawer, 1.623, 0.632, -1.176, 0, 0, 0, [SEP] 59, Drawer, 2.817, 0.632, -1.176, 0, 0, 0, [SEP] 60, Drawer, 2.817, 0.411, -1.176, 0, 0, 0, [SEP] 61, Drawer, 1.623, 0.189, -1.176, 0, 0, 0, [SEP] 62, Drawer, 1.623, 0.410, -1.176, 0, 0, 0, [SEP] 63, Drawer, 1.940, 0.410, -1.176, 0, 0, 0, [SEP] 64, NorthWall, , , , , , , [SEP] 65, EastWall, , , , , , , [SEP] 66, SouthWall, , , , , , , [SEP] 67, WestWall, , , , , , , ", "output": ["STEP 1: Walk to the desk on your right. | STEP 2: Pick up the watch laying on the desk. | STEP 3: Walk to the dresser next to the bed. | STEP 4: Place the watch on the dresser | STEP 5: Open the second to bottom drawer on the left side of the dresser and pick up the watch inside. | STEP 6: Place this watch on the dresser next to the first watch. | END"]} +{"id": "trial_T20190907_144203_887253-0", "input": "Put a chilled bottle from the counter in the bin. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.5, 0.908, 3.0, 0, 270, 0, [SEP] 1, SprayBottle, -0.658, 0.911, -0.748, 0, 0, 0, 78 [SEP] 2, CellPhone, -1.012, 0.746, 2.459, 0, 0, 0, 53 [SEP] 3, DishSponge, -1.127, 0.776, -0.136, 0, 180, 0, 76 [SEP] 4, DishSponge, 1.117, 0.885, 2.261, 0, 0, 0, 104 [SEP] 5, Kettle, -1.383, 0.750, 2.644, 0, 0, 0, 53 [SEP] 6, Kettle, 0.502, 0.939, -0.740, 0, 90, 0, 79 [SEP] 7, Fork, -1.197, 0.749, 2.273, 0, 0, 0, 53 [SEP] 8, Spatula, -1.513, 0.927, -0.817, 0, 90, 0, 78 [SEP] 9, Egg, 1.128, 0.945, -0.428, 0, 0, 0, 72 [SEP] 10, Plate, 1.207, 0.912, 0.706, 0, 0, 0, 72 [SEP] 11, Plate, 1.444, 0.912, 0.706, 0, 0, 0, 72 [SEP] 12, Knife, -1.105, 0.771, 2.644, 0, 90, 0, 53 [SEP] 13, Knife, 1.200, 0.908, 2.153, 0, 0, 0, 104 [SEP] 14, Tomato, -1.162, 0.391, 1.302, 0, 90, 0, 92 [SEP] 15, SoapBottle, 1.301, 0.087, 1.440, 0, 0, 0, 93 [SEP] 16, SoapBottle, -1.475, 0.750, 2.087, 0, 0, 0, 53 [SEP] 17, Bowl, 1.128, 0.909, -0.144, 0, 0, 0, 72 [SEP] 18, Bowl, 1.444, 0.909, 0.139, 0, 0, 0, 72 [SEP] 19, Lettuce, -1.320, 1.492, 0.987, 0, 90, 0, 92 [SEP] 20, Lettuce, -1.197, 0.820, 2.644, 0, 0, 0, 53 [SEP] 21, SaltShaker, -1.197, 0.745, 3.015, 0, 0, 0, 53 [SEP] 22, SaltShaker, 1.286, 0.907, -0.428, 0, 0, 0, 72 [SEP] 23, PepperShaker, 1.523, 0.907, -0.144, 0, 0, 0, 72 [SEP] 24, PepperShaker, 1.450, 0.882, 2.477, 0, 0, 0, 104 [SEP] 25, Mug, -0.020, 0.753, -0.691, 0, 0, 0, 99 [SEP] 26, Mug, -1.194, 0.336, 1.092, 0, 90, 0, 92 [SEP] 27, Bread, 1.071, 0.935, 2.684, 0, 0, 358.850, 104 [SEP] 28, Glassbottle, -1.012, 0.749, 2.087, 0, 0, 0, 53 [SEP] 29, Fork, -0.144, 0.759, -0.651, 0, 90, 0, 99 [SEP] 30, Kettle, 0.860, 2.156, -0.787, 0, 0, 0, 56 [SEP] 31, Tomato, -1.149, 1.338, 1.302, 0, 90, 0, 92 [SEP] 32, Plate, -1.162, 0.342, 0.883, 0, 90, 0, 92 [SEP] 33, CellPhone, 0.951, 0.873, 2.476, 0, 0, 0, 104 [SEP] 34, Lettuce, 1.284, 0.957, 2.369, 0, 0, 0, 104 [SEP] 35, Pot, 0.502, 0.939, -0.469, 0, 0, 0, 85 [SEP] 36, SoapBottle, -1.325, 1.657, 0.298, 0, 90, 0, 61 [SEP] 37, WineBottle, 1.049, 0.912, 0.422, 0, 0, 0, 72 [SEP] 38, Spatula, 1.367, 0.901, 2.369, 0, 270, 0, 104 [SEP] 39, Bowl, 1.444, 0.909, 0.422, 0, 0, 0, 72 [SEP] 40, Apple, -1.197, 0.809, 2.459, 0, 0, 0, 53 [SEP] 41, Cup, -1.197, 0.748, 2.087, 0, 0, 0, 53 [SEP] 42, Knife, 1.365, 0.933, -0.144, 0, 0, 0, 72 [SEP] 43, Egg, -1.263, 1.035, 0.150, 0, 90, 0, 98 [SEP] 44, SaltShaker, 1.262, 2.150, 0.913, 0, 0, 0, 62 [SEP] 45, PepperShaker, -0.211, 0.112, -0.577, 0, 0, 0, 78 [SEP] 46, Potato, 1.128, 0.956, 0.139, 0, 0, 0, 72 [SEP] 47, ButterKnife, -1.135, 0.912, -0.562, 0, 0, 0, 78 [SEP] 48, DishSponge, 1.325, 2.156, 0.599, 0, 0, 0, 63 [SEP] 49, Pan, -1.206, 1.636, 1.086, 0, 90, 0, 92 [SEP] 50, Spoon, 0.103, 0.759, -0.573, 0, 270, 0, 99 [SEP] 51, SprayBottle, -1.012, 0.749, 2.830, 0, 0, 0, 53 [SEP] 52, Mug, -1.123, 0.907, -0.907, 0, 0, 0, 78 [SEP] 53, DiningTable, -1.182, 0.006, 2.414, 0, 90, 0, [SEP] 54, Cabinet, 1.184, 2.059, 0.375, 0, 0, 0, [SEP] 55, Cabinet, 1.184, 2.059, -0.635, 0, 0, 0, [SEP] 56, Cabinet, 0.591, 2.309, -0.645, 0, 0, 0, [SEP] 57, Cabinet, -0.574, 2.059, -0.644, 0, 0, 0, [SEP] 58, Cabinet, -1.103, 2.059, -0.644, 0, 0, 0, [SEP] 59, Cabinet, -1.185, 2.059, -0.331, 0, 0, 0, [SEP] 60, Cabinet, -1.185, 2.059, -0.281, 0, 0, 0, [SEP] 61, Cabinet, -1.185, 2.059, 0.375, 0, 0, 0, [SEP] 62, Cabinet, 1.184, 2.309, 1.174, 0, 0, 0, [SEP] 63, Cabinet, 1.184, 2.309, 0.424, 0, 0, 0, [SEP] 64, Cabinet, 0.988, 0.402, 0.581, 0, 0, 0, [SEP] 65, Cabinet, 0.988, 0.402, 0.531, 0, 0, 0, [SEP] 66, Cabinet, 0.988, 0.402, -0.178, 0, 0, 0, [SEP] 67, Cabinet, 0.335, 0.402, -0.348, 0, 0, 0, [SEP] 68, Cabinet, -0.374, 0.402, -0.348, 0, 0, 0, [SEP] 69, Cabinet, 0.988, 0.402, 1.231, 0, 0, 0, [SEP] 70, Cabinet, -1.185, 2.309, 1.374, 0, 0, 0, [SEP] 71, Cabinet, -1.185, 2.309, 0.424, 0, 0, 0, [SEP] 72, CounterTop, 1.274, 0.947, 0.064, 0, 0, 0, [SEP] 73, Drawer, 1.116, 0.792, -0.015, 0, 0, 0, [SEP] 74, Drawer, -1.116, 0.792, 0.210, 0, 180, 0, [SEP] 75, Cabinet, -0.990, 0.402, 0.374, 0, 180, 0, [SEP] 76, Drawer, -1.116, 0.792, -0.170, 0, 180, 0, [SEP] 77, Cabinet, -0.990, 0.402, -0.335, 0, 180, 0, [SEP] 78, CounterTop, -1.001, 0.947, -0.669, 0, 0, 0, [SEP] 79, StoveBurner, 0.502, 0.932, -0.740, 0, 90, 0, [SEP] 80, StoveBurner, 0.801, 0.932, -0.473, 0, 0, 0, [SEP] 81, StoveBurner, 0.801, 0.932, -0.740, 0, 90, 0, [SEP] 82, Drawer, 1.116, 0.792, 1.081, 0, 0, 0, [SEP] 83, Sink, -0.013, 0.912, -0.615, 0, 0, 0, [SEP] 84, Drawer, 1.116, 0.792, 0.732, 0, 0, 0, [SEP] 85, StoveBurner, 0.502, 0.932, -0.469, 0, 0, 0, [SEP] 86, Drawer, 1.116, 0.792, 0.367, 0, 0, 0, [SEP] 87, StoveKnob, 0.550, 1.085, -0.912, 287.970, 180, 0, [SEP] 88, StoveKnob, 0.884, 1.085, -0.912, 287.970, 180, 0, [SEP] 89, StoveKnob, 0.432, 1.085, -0.912, 287.970, 180, 0, [SEP] 90, StoveKnob, 0.777, 1.085, -0.912, 287.970, 180, 0, [SEP] 91, CoffeeMachine, 1.304, 0.900, -0.741, 0, 320.314, 0, [SEP] 92, Fridge, -1.300, 0.008, 0.987, 0, 90, 0, [SEP] 93, GarbageCan, 1.296, -0.024, 1.465, 0, 0, 0, [SEP] 94, Window, -0.012, 1.641, -0.972, 90, 0, 0, [SEP] 95, Window, 1.598, 1.646, 2.489, 90, 270, 0, [SEP] 96, Toaster, 1.356, 0.900, 1.044, 0, 270, 0, [SEP] 97, LightSwitch, 0.118, 1.353, 3.799, 0, 180, 0, [SEP] 98, Microwave, -1.343, 0.900, 0.053, 0, 90, 0, [SEP] 99, SinkBasin, -0.029, 0.748, -0.612, 0, 0, 0, [SEP] 100, Faucet, -0.026, 0.927, -0.808, 0, 0, 0, [SEP] 101, Shelf, -1.182, 0.127, 2.414, 0, 90, 0, [SEP] 102, Stool, 1.140, 0.007, 3.262, 1.206, 20.753, 0, [SEP] 103, Shelf, -1.182, 0.435, 2.414, 0, 90, 0, [SEP] 104, DiningTable, 1.169, 0.014, 2.569, 0, 0, 1.896, [SEP] 105, NorthWall, , , , , , , [SEP] 106, EastWall, , , , , , , [SEP] 107, SouthWall, , , , , , , [SEP] 108, WestWall, , , , , , , ", "output": ["STEP 1: Move to the middle of the counter to the left of the stove. | STEP 2: Pick up a wine bottle from the counter. | STEP 3: Move to the fridge behind you. | STEP 4: Place and chill the bottle in the fridge before retrieving and closing the door. | STEP 5: Move to the bin behind you on the left side of the counter. | STEP 6: Place the bottle in the bin. | END"]} +{"id": "trial_T20190907_144203_887253-1", "input": "Put a chilled bottle in a trash bin. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.5, 0.908, 3.0, 0, 270, 0, [SEP] 1, SprayBottle, -0.658, 0.911, -0.748, 0, 0, 0, 78 [SEP] 2, CellPhone, -1.012, 0.746, 2.459, 0, 0, 0, 53 [SEP] 3, DishSponge, -1.127, 0.776, -0.136, 0, 180, 0, 76 [SEP] 4, DishSponge, 1.117, 0.885, 2.261, 0, 0, 0, 104 [SEP] 5, Kettle, -1.383, 0.750, 2.644, 0, 0, 0, 53 [SEP] 6, Kettle, 0.502, 0.939, -0.740, 0, 90, 0, 79 [SEP] 7, Fork, -1.197, 0.749, 2.273, 0, 0, 0, 53 [SEP] 8, Spatula, -1.513, 0.927, -0.817, 0, 90, 0, 78 [SEP] 9, Egg, 1.128, 0.945, -0.428, 0, 0, 0, 72 [SEP] 10, Plate, 1.207, 0.912, 0.706, 0, 0, 0, 72 [SEP] 11, Plate, 1.444, 0.912, 0.706, 0, 0, 0, 72 [SEP] 12, Knife, -1.105, 0.771, 2.644, 0, 90, 0, 53 [SEP] 13, Knife, 1.200, 0.908, 2.153, 0, 0, 0, 104 [SEP] 14, Tomato, -1.162, 0.391, 1.302, 0, 90, 0, 92 [SEP] 15, SoapBottle, 1.301, 0.087, 1.440, 0, 0, 0, 93 [SEP] 16, SoapBottle, -1.475, 0.750, 2.087, 0, 0, 0, 53 [SEP] 17, Bowl, 1.128, 0.909, -0.144, 0, 0, 0, 72 [SEP] 18, Bowl, 1.444, 0.909, 0.139, 0, 0, 0, 72 [SEP] 19, Lettuce, -1.320, 1.492, 0.987, 0, 90, 0, 92 [SEP] 20, Lettuce, -1.197, 0.820, 2.644, 0, 0, 0, 53 [SEP] 21, SaltShaker, -1.197, 0.745, 3.015, 0, 0, 0, 53 [SEP] 22, SaltShaker, 1.286, 0.907, -0.428, 0, 0, 0, 72 [SEP] 23, PepperShaker, 1.523, 0.907, -0.144, 0, 0, 0, 72 [SEP] 24, PepperShaker, 1.450, 0.882, 2.477, 0, 0, 0, 104 [SEP] 25, Mug, -0.020, 0.753, -0.691, 0, 0, 0, 99 [SEP] 26, Mug, -1.194, 0.336, 1.092, 0, 90, 0, 92 [SEP] 27, Bread, 1.071, 0.935, 2.684, 0, 0, 358.850, 104 [SEP] 28, Glassbottle, -1.012, 0.749, 2.087, 0, 0, 0, 53 [SEP] 29, Fork, -0.144, 0.759, -0.651, 0, 90, 0, 99 [SEP] 30, Kettle, 0.860, 2.156, -0.787, 0, 0, 0, 56 [SEP] 31, Tomato, -1.149, 1.338, 1.302, 0, 90, 0, 92 [SEP] 32, Plate, -1.162, 0.342, 0.883, 0, 90, 0, 92 [SEP] 33, CellPhone, 0.951, 0.873, 2.476, 0, 0, 0, 104 [SEP] 34, Lettuce, 1.284, 0.957, 2.369, 0, 0, 0, 104 [SEP] 35, Pot, 0.502, 0.939, -0.469, 0, 0, 0, 85 [SEP] 36, SoapBottle, -1.325, 1.657, 0.298, 0, 90, 0, 61 [SEP] 37, WineBottle, 1.049, 0.912, 0.422, 0, 0, 0, 72 [SEP] 38, Spatula, 1.367, 0.901, 2.369, 0, 270, 0, 104 [SEP] 39, Bowl, 1.444, 0.909, 0.422, 0, 0, 0, 72 [SEP] 40, Apple, -1.197, 0.809, 2.459, 0, 0, 0, 53 [SEP] 41, Cup, -1.197, 0.748, 2.087, 0, 0, 0, 53 [SEP] 42, Knife, 1.365, 0.933, -0.144, 0, 0, 0, 72 [SEP] 43, Egg, -1.263, 1.035, 0.150, 0, 90, 0, 98 [SEP] 44, SaltShaker, 1.262, 2.150, 0.913, 0, 0, 0, 62 [SEP] 45, PepperShaker, -0.211, 0.112, -0.577, 0, 0, 0, 78 [SEP] 46, Potato, 1.128, 0.956, 0.139, 0, 0, 0, 72 [SEP] 47, ButterKnife, -1.135, 0.912, -0.562, 0, 0, 0, 78 [SEP] 48, DishSponge, 1.325, 2.156, 0.599, 0, 0, 0, 63 [SEP] 49, Pan, -1.206, 1.636, 1.086, 0, 90, 0, 92 [SEP] 50, Spoon, 0.103, 0.759, -0.573, 0, 270, 0, 99 [SEP] 51, SprayBottle, -1.012, 0.749, 2.830, 0, 0, 0, 53 [SEP] 52, Mug, -1.123, 0.907, -0.907, 0, 0, 0, 78 [SEP] 53, DiningTable, -1.182, 0.006, 2.414, 0, 90, 0, [SEP] 54, Cabinet, 1.184, 2.059, 0.375, 0, 0, 0, [SEP] 55, Cabinet, 1.184, 2.059, -0.635, 0, 0, 0, [SEP] 56, Cabinet, 0.591, 2.309, -0.645, 0, 0, 0, [SEP] 57, Cabinet, -0.574, 2.059, -0.644, 0, 0, 0, [SEP] 58, Cabinet, -1.103, 2.059, -0.644, 0, 0, 0, [SEP] 59, Cabinet, -1.185, 2.059, -0.331, 0, 0, 0, [SEP] 60, Cabinet, -1.185, 2.059, -0.281, 0, 0, 0, [SEP] 61, Cabinet, -1.185, 2.059, 0.375, 0, 0, 0, [SEP] 62, Cabinet, 1.184, 2.309, 1.174, 0, 0, 0, [SEP] 63, Cabinet, 1.184, 2.309, 0.424, 0, 0, 0, [SEP] 64, Cabinet, 0.988, 0.402, 0.581, 0, 0, 0, [SEP] 65, Cabinet, 0.988, 0.402, 0.531, 0, 0, 0, [SEP] 66, Cabinet, 0.988, 0.402, -0.178, 0, 0, 0, [SEP] 67, Cabinet, 0.335, 0.402, -0.348, 0, 0, 0, [SEP] 68, Cabinet, -0.374, 0.402, -0.348, 0, 0, 0, [SEP] 69, Cabinet, 0.988, 0.402, 1.231, 0, 0, 0, [SEP] 70, Cabinet, -1.185, 2.309, 1.374, 0, 0, 0, [SEP] 71, Cabinet, -1.185, 2.309, 0.424, 0, 0, 0, [SEP] 72, CounterTop, 1.274, 0.947, 0.064, 0, 0, 0, [SEP] 73, Drawer, 1.116, 0.792, -0.015, 0, 0, 0, [SEP] 74, Drawer, -1.116, 0.792, 0.210, 0, 180, 0, [SEP] 75, Cabinet, -0.990, 0.402, 0.374, 0, 180, 0, [SEP] 76, Drawer, -1.116, 0.792, -0.170, 0, 180, 0, [SEP] 77, Cabinet, -0.990, 0.402, -0.335, 0, 180, 0, [SEP] 78, CounterTop, -1.001, 0.947, -0.669, 0, 0, 0, [SEP] 79, StoveBurner, 0.502, 0.932, -0.740, 0, 90, 0, [SEP] 80, StoveBurner, 0.801, 0.932, -0.473, 0, 0, 0, [SEP] 81, StoveBurner, 0.801, 0.932, -0.740, 0, 90, 0, [SEP] 82, Drawer, 1.116, 0.792, 1.081, 0, 0, 0, [SEP] 83, Sink, -0.013, 0.912, -0.615, 0, 0, 0, [SEP] 84, Drawer, 1.116, 0.792, 0.732, 0, 0, 0, [SEP] 85, StoveBurner, 0.502, 0.932, -0.469, 0, 0, 0, [SEP] 86, Drawer, 1.116, 0.792, 0.367, 0, 0, 0, [SEP] 87, StoveKnob, 0.550, 1.085, -0.912, 287.970, 180, 0, [SEP] 88, StoveKnob, 0.884, 1.085, -0.912, 287.970, 180, 0, [SEP] 89, StoveKnob, 0.432, 1.085, -0.912, 287.970, 180, 0, [SEP] 90, StoveKnob, 0.777, 1.085, -0.912, 287.970, 180, 0, [SEP] 91, CoffeeMachine, 1.304, 0.900, -0.741, 0, 320.314, 0, [SEP] 92, Fridge, -1.300, 0.008, 0.987, 0, 90, 0, [SEP] 93, GarbageCan, 1.296, -0.024, 1.465, 0, 0, 0, [SEP] 94, Window, -0.012, 1.641, -0.972, 90, 0, 0, [SEP] 95, Window, 1.598, 1.646, 2.489, 90, 270, 0, [SEP] 96, Toaster, 1.356, 0.900, 1.044, 0, 270, 0, [SEP] 97, LightSwitch, 0.118, 1.353, 3.799, 0, 180, 0, [SEP] 98, Microwave, -1.343, 0.900, 0.053, 0, 90, 0, [SEP] 99, SinkBasin, -0.029, 0.748, -0.612, 0, 0, 0, [SEP] 100, Faucet, -0.026, 0.927, -0.808, 0, 0, 0, [SEP] 101, Shelf, -1.182, 0.127, 2.414, 0, 90, 0, [SEP] 102, Stool, 1.140, 0.007, 3.262, 1.206, 20.753, 0, [SEP] 103, Shelf, -1.182, 0.435, 2.414, 0, 90, 0, [SEP] 104, DiningTable, 1.169, 0.014, 2.569, 0, 0, 1.896, [SEP] 105, NorthWall, , , , , , , [SEP] 106, EastWall, , , , , , , [SEP] 107, SouthWall, , , , , , , [SEP] 108, WestWall, , , , , , , ", "output": ["STEP 1: Turn to the left and turn again to face the counter with the bottle on it. | STEP 2: Pick the bottle up from the counter. | STEP 3: Turn around and face the fridge. | STEP 4: Put the bottle in the fridge, shut the door and then open the door and pick up the bottle. | STEP 5: Turn around and walk to face the red trash bin. | STEP 6: Put the bottle in the trash bin. | END"]} +{"id": "trial_T20190907_144203_887253-4", "input": "pick up wine bottle, chill it, then put it in garbage can SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.5, 0.908, 3.0, 0, 270, 0, [SEP] 1, SprayBottle, -0.658, 0.911, -0.748, 0, 0, 0, 78 [SEP] 2, CellPhone, -1.012, 0.746, 2.459, 0, 0, 0, 53 [SEP] 3, DishSponge, -1.127, 0.776, -0.136, 0, 180, 0, 76 [SEP] 4, DishSponge, 1.117, 0.885, 2.261, 0, 0, 0, 104 [SEP] 5, Kettle, -1.383, 0.750, 2.644, 0, 0, 0, 53 [SEP] 6, Kettle, 0.502, 0.939, -0.740, 0, 90, 0, 79 [SEP] 7, Fork, -1.197, 0.749, 2.273, 0, 0, 0, 53 [SEP] 8, Spatula, -1.513, 0.927, -0.817, 0, 90, 0, 78 [SEP] 9, Egg, 1.128, 0.945, -0.428, 0, 0, 0, 72 [SEP] 10, Plate, 1.207, 0.912, 0.706, 0, 0, 0, 72 [SEP] 11, Plate, 1.444, 0.912, 0.706, 0, 0, 0, 72 [SEP] 12, Knife, -1.105, 0.771, 2.644, 0, 90, 0, 53 [SEP] 13, Knife, 1.200, 0.908, 2.153, 0, 0, 0, 104 [SEP] 14, Tomato, -1.162, 0.391, 1.302, 0, 90, 0, 92 [SEP] 15, SoapBottle, 1.301, 0.087, 1.440, 0, 0, 0, 93 [SEP] 16, SoapBottle, -1.475, 0.750, 2.087, 0, 0, 0, 53 [SEP] 17, Bowl, 1.128, 0.909, -0.144, 0, 0, 0, 72 [SEP] 18, Bowl, 1.444, 0.909, 0.139, 0, 0, 0, 72 [SEP] 19, Lettuce, -1.320, 1.492, 0.987, 0, 90, 0, 92 [SEP] 20, Lettuce, -1.197, 0.820, 2.644, 0, 0, 0, 53 [SEP] 21, SaltShaker, -1.197, 0.745, 3.015, 0, 0, 0, 53 [SEP] 22, SaltShaker, 1.286, 0.907, -0.428, 0, 0, 0, 72 [SEP] 23, PepperShaker, 1.523, 0.907, -0.144, 0, 0, 0, 72 [SEP] 24, PepperShaker, 1.450, 0.882, 2.477, 0, 0, 0, 104 [SEP] 25, Mug, -0.020, 0.753, -0.691, 0, 0, 0, 99 [SEP] 26, Mug, -1.194, 0.336, 1.092, 0, 90, 0, 92 [SEP] 27, Bread, 1.071, 0.935, 2.684, 0, 0, 358.850, 104 [SEP] 28, Glassbottle, -1.012, 0.749, 2.087, 0, 0, 0, 53 [SEP] 29, Fork, -0.144, 0.759, -0.651, 0, 90, 0, 99 [SEP] 30, Kettle, 0.860, 2.156, -0.787, 0, 0, 0, 56 [SEP] 31, Tomato, -1.149, 1.338, 1.302, 0, 90, 0, 92 [SEP] 32, Plate, -1.162, 0.342, 0.883, 0, 90, 0, 92 [SEP] 33, CellPhone, 0.951, 0.873, 2.476, 0, 0, 0, 104 [SEP] 34, Lettuce, 1.284, 0.957, 2.369, 0, 0, 0, 104 [SEP] 35, Pot, 0.502, 0.939, -0.469, 0, 0, 0, 85 [SEP] 36, SoapBottle, -1.325, 1.657, 0.298, 0, 90, 0, 61 [SEP] 37, WineBottle, 1.049, 0.912, 0.422, 0, 0, 0, 72 [SEP] 38, Spatula, 1.367, 0.901, 2.369, 0, 270, 0, 104 [SEP] 39, Bowl, 1.444, 0.909, 0.422, 0, 0, 0, 72 [SEP] 40, Apple, -1.197, 0.809, 2.459, 0, 0, 0, 53 [SEP] 41, Cup, -1.197, 0.748, 2.087, 0, 0, 0, 53 [SEP] 42, Knife, 1.365, 0.933, -0.144, 0, 0, 0, 72 [SEP] 43, Egg, -1.263, 1.035, 0.150, 0, 90, 0, 98 [SEP] 44, SaltShaker, 1.262, 2.150, 0.913, 0, 0, 0, 62 [SEP] 45, PepperShaker, -0.211, 0.112, -0.577, 0, 0, 0, 78 [SEP] 46, Potato, 1.128, 0.956, 0.139, 0, 0, 0, 72 [SEP] 47, ButterKnife, -1.135, 0.912, -0.562, 0, 0, 0, 78 [SEP] 48, DishSponge, 1.325, 2.156, 0.599, 0, 0, 0, 63 [SEP] 49, Pan, -1.206, 1.636, 1.086, 0, 90, 0, 92 [SEP] 50, Spoon, 0.103, 0.759, -0.573, 0, 270, 0, 99 [SEP] 51, SprayBottle, -1.012, 0.749, 2.830, 0, 0, 0, 53 [SEP] 52, Mug, -1.123, 0.907, -0.907, 0, 0, 0, 78 [SEP] 53, DiningTable, -1.182, 0.006, 2.414, 0, 90, 0, [SEP] 54, Cabinet, 1.184, 2.059, 0.375, 0, 0, 0, [SEP] 55, Cabinet, 1.184, 2.059, -0.635, 0, 0, 0, [SEP] 56, Cabinet, 0.591, 2.309, -0.645, 0, 0, 0, [SEP] 57, Cabinet, -0.574, 2.059, -0.644, 0, 0, 0, [SEP] 58, Cabinet, -1.103, 2.059, -0.644, 0, 0, 0, [SEP] 59, Cabinet, -1.185, 2.059, -0.331, 0, 0, 0, [SEP] 60, Cabinet, -1.185, 2.059, -0.281, 0, 0, 0, [SEP] 61, Cabinet, -1.185, 2.059, 0.375, 0, 0, 0, [SEP] 62, Cabinet, 1.184, 2.309, 1.174, 0, 0, 0, [SEP] 63, Cabinet, 1.184, 2.309, 0.424, 0, 0, 0, [SEP] 64, Cabinet, 0.988, 0.402, 0.581, 0, 0, 0, [SEP] 65, Cabinet, 0.988, 0.402, 0.531, 0, 0, 0, [SEP] 66, Cabinet, 0.988, 0.402, -0.178, 0, 0, 0, [SEP] 67, Cabinet, 0.335, 0.402, -0.348, 0, 0, 0, [SEP] 68, Cabinet, -0.374, 0.402, -0.348, 0, 0, 0, [SEP] 69, Cabinet, 0.988, 0.402, 1.231, 0, 0, 0, [SEP] 70, Cabinet, -1.185, 2.309, 1.374, 0, 0, 0, [SEP] 71, Cabinet, -1.185, 2.309, 0.424, 0, 0, 0, [SEP] 72, CounterTop, 1.274, 0.947, 0.064, 0, 0, 0, [SEP] 73, Drawer, 1.116, 0.792, -0.015, 0, 0, 0, [SEP] 74, Drawer, -1.116, 0.792, 0.210, 0, 180, 0, [SEP] 75, Cabinet, -0.990, 0.402, 0.374, 0, 180, 0, [SEP] 76, Drawer, -1.116, 0.792, -0.170, 0, 180, 0, [SEP] 77, Cabinet, -0.990, 0.402, -0.335, 0, 180, 0, [SEP] 78, CounterTop, -1.001, 0.947, -0.669, 0, 0, 0, [SEP] 79, StoveBurner, 0.502, 0.932, -0.740, 0, 90, 0, [SEP] 80, StoveBurner, 0.801, 0.932, -0.473, 0, 0, 0, [SEP] 81, StoveBurner, 0.801, 0.932, -0.740, 0, 90, 0, [SEP] 82, Drawer, 1.116, 0.792, 1.081, 0, 0, 0, [SEP] 83, Sink, -0.013, 0.912, -0.615, 0, 0, 0, [SEP] 84, Drawer, 1.116, 0.792, 0.732, 0, 0, 0, [SEP] 85, StoveBurner, 0.502, 0.932, -0.469, 0, 0, 0, [SEP] 86, Drawer, 1.116, 0.792, 0.367, 0, 0, 0, [SEP] 87, StoveKnob, 0.550, 1.085, -0.912, 287.970, 180, 0, [SEP] 88, StoveKnob, 0.884, 1.085, -0.912, 287.970, 180, 0, [SEP] 89, StoveKnob, 0.432, 1.085, -0.912, 287.970, 180, 0, [SEP] 90, StoveKnob, 0.777, 1.085, -0.912, 287.970, 180, 0, [SEP] 91, CoffeeMachine, 1.304, 0.900, -0.741, 0, 320.314, 0, [SEP] 92, Fridge, -1.300, 0.008, 0.987, 0, 90, 0, [SEP] 93, GarbageCan, 1.296, -0.024, 1.465, 0, 0, 0, [SEP] 94, Window, -0.012, 1.641, -0.972, 90, 0, 0, [SEP] 95, Window, 1.598, 1.646, 2.489, 90, 270, 0, [SEP] 96, Toaster, 1.356, 0.900, 1.044, 0, 270, 0, [SEP] 97, LightSwitch, 0.118, 1.353, 3.799, 0, 180, 0, [SEP] 98, Microwave, -1.343, 0.900, 0.053, 0, 90, 0, [SEP] 99, SinkBasin, -0.029, 0.748, -0.612, 0, 0, 0, [SEP] 100, Faucet, -0.026, 0.927, -0.808, 0, 0, 0, [SEP] 101, Shelf, -1.182, 0.127, 2.414, 0, 90, 0, [SEP] 102, Stool, 1.140, 0.007, 3.262, 1.206, 20.753, 0, [SEP] 103, Shelf, -1.182, 0.435, 2.414, 0, 90, 0, [SEP] 104, DiningTable, 1.169, 0.014, 2.569, 0, 0, 1.896, [SEP] 105, NorthWall, , , , , , , [SEP] 106, EastWall, , , , , , , [SEP] 107, SouthWall, , , , , , , [SEP] 108, WestWall, , , , , , , ", "output": ["STEP 1: turn left, walk into kitchen, turn left until facing counter with wine bottle and two plates | STEP 2: pick up wine bottle | STEP 3: turn right until facing fridge, walk over to fridge | STEP 4: open door, put bottle on top shelf, close door, wait, open door, pick up wine bottle again | STEP 5: turn right and face red garbage can, walk over to garbage can | STEP 6: put wine bottle in garbage can | END"]} +{"id": "trial_T20190907_144203_887253-5", "input": "Move a wine bottle from the counter top to the brown receptacle via the refrigerator SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.5, 0.908, 3.0, 0, 270, 0, [SEP] 1, SprayBottle, -0.658, 0.911, -0.748, 0, 0, 0, 78 [SEP] 2, CellPhone, -1.012, 0.746, 2.459, 0, 0, 0, 53 [SEP] 3, DishSponge, -1.127, 0.776, -0.136, 0, 180, 0, 76 [SEP] 4, DishSponge, 1.117, 0.885, 2.261, 0, 0, 0, 104 [SEP] 5, Kettle, -1.383, 0.750, 2.644, 0, 0, 0, 53 [SEP] 6, Kettle, 0.502, 0.939, -0.740, 0, 90, 0, 79 [SEP] 7, Fork, -1.197, 0.749, 2.273, 0, 0, 0, 53 [SEP] 8, Spatula, -1.513, 0.927, -0.817, 0, 90, 0, 78 [SEP] 9, Egg, 1.128, 0.945, -0.428, 0, 0, 0, 72 [SEP] 10, Plate, 1.207, 0.912, 0.706, 0, 0, 0, 72 [SEP] 11, Plate, 1.444, 0.912, 0.706, 0, 0, 0, 72 [SEP] 12, Knife, -1.105, 0.771, 2.644, 0, 90, 0, 53 [SEP] 13, Knife, 1.200, 0.908, 2.153, 0, 0, 0, 104 [SEP] 14, Tomato, -1.162, 0.391, 1.302, 0, 90, 0, 92 [SEP] 15, SoapBottle, 1.301, 0.087, 1.440, 0, 0, 0, 93 [SEP] 16, SoapBottle, -1.475, 0.750, 2.087, 0, 0, 0, 53 [SEP] 17, Bowl, 1.128, 0.909, -0.144, 0, 0, 0, 72 [SEP] 18, Bowl, 1.444, 0.909, 0.139, 0, 0, 0, 72 [SEP] 19, Lettuce, -1.320, 1.492, 0.987, 0, 90, 0, 92 [SEP] 20, Lettuce, -1.197, 0.820, 2.644, 0, 0, 0, 53 [SEP] 21, SaltShaker, -1.197, 0.745, 3.015, 0, 0, 0, 53 [SEP] 22, SaltShaker, 1.286, 0.907, -0.428, 0, 0, 0, 72 [SEP] 23, PepperShaker, 1.523, 0.907, -0.144, 0, 0, 0, 72 [SEP] 24, PepperShaker, 1.450, 0.882, 2.477, 0, 0, 0, 104 [SEP] 25, Mug, -0.020, 0.753, -0.691, 0, 0, 0, 99 [SEP] 26, Mug, -1.194, 0.336, 1.092, 0, 90, 0, 92 [SEP] 27, Bread, 1.071, 0.935, 2.684, 0, 0, 358.850, 104 [SEP] 28, Glassbottle, -1.012, 0.749, 2.087, 0, 0, 0, 53 [SEP] 29, Fork, -0.144, 0.759, -0.651, 0, 90, 0, 99 [SEP] 30, Kettle, 0.860, 2.156, -0.787, 0, 0, 0, 56 [SEP] 31, Tomato, -1.149, 1.338, 1.302, 0, 90, 0, 92 [SEP] 32, Plate, -1.162, 0.342, 0.883, 0, 90, 0, 92 [SEP] 33, CellPhone, 0.951, 0.873, 2.476, 0, 0, 0, 104 [SEP] 34, Lettuce, 1.284, 0.957, 2.369, 0, 0, 0, 104 [SEP] 35, Pot, 0.502, 0.939, -0.469, 0, 0, 0, 85 [SEP] 36, SoapBottle, -1.325, 1.657, 0.298, 0, 90, 0, 61 [SEP] 37, WineBottle, 1.049, 0.912, 0.422, 0, 0, 0, 72 [SEP] 38, Spatula, 1.367, 0.901, 2.369, 0, 270, 0, 104 [SEP] 39, Bowl, 1.444, 0.909, 0.422, 0, 0, 0, 72 [SEP] 40, Apple, -1.197, 0.809, 2.459, 0, 0, 0, 53 [SEP] 41, Cup, -1.197, 0.748, 2.087, 0, 0, 0, 53 [SEP] 42, Knife, 1.365, 0.933, -0.144, 0, 0, 0, 72 [SEP] 43, Egg, -1.263, 1.035, 0.150, 0, 90, 0, 98 [SEP] 44, SaltShaker, 1.262, 2.150, 0.913, 0, 0, 0, 62 [SEP] 45, PepperShaker, -0.211, 0.112, -0.577, 0, 0, 0, 78 [SEP] 46, Potato, 1.128, 0.956, 0.139, 0, 0, 0, 72 [SEP] 47, ButterKnife, -1.135, 0.912, -0.562, 0, 0, 0, 78 [SEP] 48, DishSponge, 1.325, 2.156, 0.599, 0, 0, 0, 63 [SEP] 49, Pan, -1.206, 1.636, 1.086, 0, 90, 0, 92 [SEP] 50, Spoon, 0.103, 0.759, -0.573, 0, 270, 0, 99 [SEP] 51, SprayBottle, -1.012, 0.749, 2.830, 0, 0, 0, 53 [SEP] 52, Mug, -1.123, 0.907, -0.907, 0, 0, 0, 78 [SEP] 53, DiningTable, -1.182, 0.006, 2.414, 0, 90, 0, [SEP] 54, Cabinet, 1.184, 2.059, 0.375, 0, 0, 0, [SEP] 55, Cabinet, 1.184, 2.059, -0.635, 0, 0, 0, [SEP] 56, Cabinet, 0.591, 2.309, -0.645, 0, 0, 0, [SEP] 57, Cabinet, -0.574, 2.059, -0.644, 0, 0, 0, [SEP] 58, Cabinet, -1.103, 2.059, -0.644, 0, 0, 0, [SEP] 59, Cabinet, -1.185, 2.059, -0.331, 0, 0, 0, [SEP] 60, Cabinet, -1.185, 2.059, -0.281, 0, 0, 0, [SEP] 61, Cabinet, -1.185, 2.059, 0.375, 0, 0, 0, [SEP] 62, Cabinet, 1.184, 2.309, 1.174, 0, 0, 0, [SEP] 63, Cabinet, 1.184, 2.309, 0.424, 0, 0, 0, [SEP] 64, Cabinet, 0.988, 0.402, 0.581, 0, 0, 0, [SEP] 65, Cabinet, 0.988, 0.402, 0.531, 0, 0, 0, [SEP] 66, Cabinet, 0.988, 0.402, -0.178, 0, 0, 0, [SEP] 67, Cabinet, 0.335, 0.402, -0.348, 0, 0, 0, [SEP] 68, Cabinet, -0.374, 0.402, -0.348, 0, 0, 0, [SEP] 69, Cabinet, 0.988, 0.402, 1.231, 0, 0, 0, [SEP] 70, Cabinet, -1.185, 2.309, 1.374, 0, 0, 0, [SEP] 71, Cabinet, -1.185, 2.309, 0.424, 0, 0, 0, [SEP] 72, CounterTop, 1.274, 0.947, 0.064, 0, 0, 0, [SEP] 73, Drawer, 1.116, 0.792, -0.015, 0, 0, 0, [SEP] 74, Drawer, -1.116, 0.792, 0.210, 0, 180, 0, [SEP] 75, Cabinet, -0.990, 0.402, 0.374, 0, 180, 0, [SEP] 76, Drawer, -1.116, 0.792, -0.170, 0, 180, 0, [SEP] 77, Cabinet, -0.990, 0.402, -0.335, 0, 180, 0, [SEP] 78, CounterTop, -1.001, 0.947, -0.669, 0, 0, 0, [SEP] 79, StoveBurner, 0.502, 0.932, -0.740, 0, 90, 0, [SEP] 80, StoveBurner, 0.801, 0.932, -0.473, 0, 0, 0, [SEP] 81, StoveBurner, 0.801, 0.932, -0.740, 0, 90, 0, [SEP] 82, Drawer, 1.116, 0.792, 1.081, 0, 0, 0, [SEP] 83, Sink, -0.013, 0.912, -0.615, 0, 0, 0, [SEP] 84, Drawer, 1.116, 0.792, 0.732, 0, 0, 0, [SEP] 85, StoveBurner, 0.502, 0.932, -0.469, 0, 0, 0, [SEP] 86, Drawer, 1.116, 0.792, 0.367, 0, 0, 0, [SEP] 87, StoveKnob, 0.550, 1.085, -0.912, 287.970, 180, 0, [SEP] 88, StoveKnob, 0.884, 1.085, -0.912, 287.970, 180, 0, [SEP] 89, StoveKnob, 0.432, 1.085, -0.912, 287.970, 180, 0, [SEP] 90, StoveKnob, 0.777, 1.085, -0.912, 287.970, 180, 0, [SEP] 91, CoffeeMachine, 1.304, 0.900, -0.741, 0, 320.314, 0, [SEP] 92, Fridge, -1.300, 0.008, 0.987, 0, 90, 0, [SEP] 93, GarbageCan, 1.296, -0.024, 1.465, 0, 0, 0, [SEP] 94, Window, -0.012, 1.641, -0.972, 90, 0, 0, [SEP] 95, Window, 1.598, 1.646, 2.489, 90, 270, 0, [SEP] 96, Toaster, 1.356, 0.900, 1.044, 0, 270, 0, [SEP] 97, LightSwitch, 0.118, 1.353, 3.799, 0, 180, 0, [SEP] 98, Microwave, -1.343, 0.900, 0.053, 0, 90, 0, [SEP] 99, SinkBasin, -0.029, 0.748, -0.612, 0, 0, 0, [SEP] 100, Faucet, -0.026, 0.927, -0.808, 0, 0, 0, [SEP] 101, Shelf, -1.182, 0.127, 2.414, 0, 90, 0, [SEP] 102, Stool, 1.140, 0.007, 3.262, 1.206, 20.753, 0, [SEP] 103, Shelf, -1.182, 0.435, 2.414, 0, 90, 0, [SEP] 104, DiningTable, 1.169, 0.014, 2.569, 0, 0, 1.896, [SEP] 105, NorthWall, , , , , , , [SEP] 106, EastWall, , , , , , , [SEP] 107, SouthWall, , , , , , , [SEP] 108, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk in the direction of the oven. | STEP 2: Stop and turn left at the wine bottle. | STEP 3: Pick up the wine bottle, turn around and carry it to the refrigerator. | STEP 4: Open the refrigerator door, place the bottle on the right side of the top shelf near the front edge of the shelf, close the refrigerator door; open the refrigerator door and pick up the wine bottle, close the door. | STEP 5: Turn around and carry the wine bottle to the brown receptacle on the floor directly to the left of the counter with the toaster. | STEP 6: Place the wine bottle towards the inside of the receptacle nearest the wall with the window. | END"]} +{"id": "trial_T20190908_120823_704930-0", "input": "To place two pens on the night stand on the left side of the bed. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.900, -0.75, 0, 180, 0, [SEP] 1, Statue, -1.878, 0.982, -0.540, 0, 90, 0, 47 [SEP] 2, CD, 2.408, 0.435, 1.671, 0, 90, 0, 63 [SEP] 3, CD, 1.731, 0.680, 2.217, 0, 0, 0, 57 [SEP] 4, CellPhone, 2.128, 0.433, 1.590, 0, 90, 0, 63 [SEP] 5, Pen, -1.699, 1.152, -2.187, 0, 180, 0, 42 [SEP] 6, Pencil, -1.720, 0.177, -1.763, 0, 0, 0, 45 [SEP] 7, CreditCard, -1.664, 0.605, -0.813, 0, 0, 0, 51 [SEP] 8, KeyChain, -1.657, 0.972, 0.464, 0, 0, 0, 47 [SEP] 9, KeyChain, -1.720, 0.219, -0.815, 0, 90, 0, 55 [SEP] 10, Book, 0.296, 0.774, -1.284, 0, 0, 0, 29 [SEP] 11, Laptop, 1.502, 0.773, -0.695, 0, 0, 0, 29 [SEP] 12, Laptop, 1.261, 0.773, -0.106, 0, 0, 0, 29 [SEP] 13, Book, 2.593, 0.432, 1.668, 0, 90, 0, 63 [SEP] 14, KeyChain, 2.410, 0.453, 1.841, 0, 90, 0, 63 [SEP] 15, AlarmClock, -1.699, 1.637, -2.073, 0, 90, 0, 41 [SEP] 16, Pillow, 1.413, 0.794, -1.505, 0, 0, 0, 29 [SEP] 17, Pillow, 0.296, 0.836, -0.106, 0, 0, 0, 29 [SEP] 18, Vase, -1.668, 1.147, -2.073, 0, 90, 0, 42 [SEP] 19, Laptop, -1.628, 0.965, 0.084, 0, 104.999, 0, 47 [SEP] 20, Vase, -1.650, 1.626, -2.316, 0, 0, 0, 41 [SEP] 21, Pencil, -1.663, 0.805, -0.817, 0, 270, 0, 48 [SEP] 22, CreditCard, -1.878, 0.972, 0.062, 0, 0, 0, 47 [SEP] 23, Boots, -1.842, 0.000, -1.077, 0, 135, 0, [SEP] 24, Pen, -1.657, 0.976, -0.742, 0, 0, 0, 47 [SEP] 25, CellPhone, 2.437, 0.681, -1.671, 0, 0, 0, 60 [SEP] 26, CD, 2.134, 0.439, 2.014, 0, 90, 0, 63 [SEP] 27, Bowl, -1.657, 0.972, -0.540, 0, 0, 0, 47 [SEP] 28, Statue, 1.576, 0.691, 2.082, 0, 0, 0, 57 [SEP] 29, Bed, 1.017, 0.003, -0.686, 0, 180, 0, [SEP] 30, HousePlant, -1.749, 0.971, 0.463, 0, 0, 0, [SEP] 31, GarbageCan, -1.665, -0.000, 0.953, 0, 45, 0, [SEP] 32, Painting, 0.381, 1.976, -1.895, 90, 0, 0, [SEP] 33, Painting, 0.879, 1.976, -1.895, 90, 0, 0, [SEP] 34, Painting, 1.373, 1.976, -1.895, 90, 0, 0, [SEP] 35, LightSwitch, -0.164, 1.085, 2.450, 0, 180, 0, [SEP] 36, Mirror, -1.950, 1.735, -0.206, 0, 270, 0, [SEP] 37, Window, -1.098, 1.570, -3.230, 90, 0, 0, [SEP] 38, DeskLamp, 1.404, 0.668, 2.209, 0, 0, 0, [SEP] 39, DeskLamp, 2.596, 0.668, -1.710, 0, 0, 0, [SEP] 40, Blinds, -1.062, 2.361, -3.173, 0, 0, 0, [SEP] 41, Shelf, -1.675, 1.871, -2.053, 0, 90, 0, [SEP] 42, Shelf, -1.675, 1.383, -2.053, 0, 90, 0, [SEP] 43, Drawer, -1.715, 0.832, -2.053, 0, 90, 0, [SEP] 44, ShelvingUnit, -1.723, 0.007, -2.053, 0, 90, 0, [SEP] 45, Drawer, -1.713, 0.339, -2.053, 0, 90, 0, [SEP] 46, Drawer, -1.629, 0.104, 0.243, 0, 90, 0, [SEP] 47, Dresser, -1.674, 0.000, -0.153, 0, 90, 0, [SEP] 48, Drawer, -1.630, 0.868, -0.550, 0, 90, 0, [SEP] 49, Drawer, -1.630, 0.680, 0.243, 0, 90, 0, [SEP] 50, Drawer, -1.629, 0.104, -0.550, 0, 90, 0, [SEP] 51, Drawer, -1.630, 0.680, -0.550, 0, 90, 0, [SEP] 52, Drawer, -1.630, 0.868, 0.243, 0, 90, 0, [SEP] 53, Drawer, -1.629, 0.486, -0.550, 0, 90, 0, [SEP] 54, Drawer, -1.629, 0.291, 0.243, 0, 90, 0, [SEP] 55, Drawer, -1.629, 0.291, -0.550, 0, 90, 0, [SEP] 56, Drawer, -1.630, 0.486, 0.243, 0, 90, 0, [SEP] 57, SideTable, 1.576, -0.001, 2.137, 0, 180, 0, [SEP] 58, Drawer, 1.576, 0.163, 2.070, 0, 180, 0, [SEP] 59, Drawer, 1.576, 0.455, 2.070, 0, 180, 0, [SEP] 60, SideTable, 2.437, -0.001, -1.603, 0, 0, 0, [SEP] 61, Drawer, 2.438, 0.163, -1.536, 0, 0, 0, [SEP] 62, Drawer, 2.438, 0.455, -1.536, 0, 0, 0, [SEP] 63, ArmChair, 2.393, -0.001, 1.943, 0, 180, 0, [SEP] 64, NorthWall, , , , , , , [SEP] 65, EastWall, , , , , , , [SEP] 66, SouthWall, , , , , , , [SEP] 67, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and walk forward to face the shelves. | STEP 2: Pick up the pen on the shelf. | STEP 3: Turn right and follow the room around to the night stand on the left side of the bed. | STEP 4: Place the pen on the edge of the desk. | STEP 5: Turn around and follow the walk way around the bed the face the pen on the left end of the dresser. | STEP 6: Pick up the pen on the end of the desk. | STEP 7: Turn right and follow the room around to the night stand on the left side of the bed. | STEP 8: Place the pen on the edge of the desk perpendicular with the first pen. | END"]} +{"id": "trial_T20190908_120823_704930-1", "input": "Gather both pens from the shelf and counter and put them on the nightstand to the left of the bed. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.900, -0.75, 0, 180, 0, [SEP] 1, Statue, -1.878, 0.982, -0.540, 0, 90, 0, 47 [SEP] 2, CD, 2.408, 0.435, 1.671, 0, 90, 0, 63 [SEP] 3, CD, 1.731, 0.680, 2.217, 0, 0, 0, 57 [SEP] 4, CellPhone, 2.128, 0.433, 1.590, 0, 90, 0, 63 [SEP] 5, Pen, -1.699, 1.152, -2.187, 0, 180, 0, 42 [SEP] 6, Pencil, -1.720, 0.177, -1.763, 0, 0, 0, 45 [SEP] 7, CreditCard, -1.664, 0.605, -0.813, 0, 0, 0, 51 [SEP] 8, KeyChain, -1.657, 0.972, 0.464, 0, 0, 0, 47 [SEP] 9, KeyChain, -1.720, 0.219, -0.815, 0, 90, 0, 55 [SEP] 10, Book, 0.296, 0.774, -1.284, 0, 0, 0, 29 [SEP] 11, Laptop, 1.502, 0.773, -0.695, 0, 0, 0, 29 [SEP] 12, Laptop, 1.261, 0.773, -0.106, 0, 0, 0, 29 [SEP] 13, Book, 2.593, 0.432, 1.668, 0, 90, 0, 63 [SEP] 14, KeyChain, 2.410, 0.453, 1.841, 0, 90, 0, 63 [SEP] 15, AlarmClock, -1.699, 1.637, -2.073, 0, 90, 0, 41 [SEP] 16, Pillow, 1.413, 0.794, -1.505, 0, 0, 0, 29 [SEP] 17, Pillow, 0.296, 0.836, -0.106, 0, 0, 0, 29 [SEP] 18, Vase, -1.668, 1.147, -2.073, 0, 90, 0, 42 [SEP] 19, Laptop, -1.628, 0.965, 0.084, 0, 104.999, 0, 47 [SEP] 20, Vase, -1.650, 1.626, -2.316, 0, 0, 0, 41 [SEP] 21, Pencil, -1.663, 0.805, -0.817, 0, 270, 0, 48 [SEP] 22, CreditCard, -1.878, 0.972, 0.062, 0, 0, 0, 47 [SEP] 23, Boots, -1.842, 0.000, -1.077, 0, 135, 0, [SEP] 24, Pen, -1.657, 0.976, -0.742, 0, 0, 0, 47 [SEP] 25, CellPhone, 2.437, 0.681, -1.671, 0, 0, 0, 60 [SEP] 26, CD, 2.134, 0.439, 2.014, 0, 90, 0, 63 [SEP] 27, Bowl, -1.657, 0.972, -0.540, 0, 0, 0, 47 [SEP] 28, Statue, 1.576, 0.691, 2.082, 0, 0, 0, 57 [SEP] 29, Bed, 1.017, 0.003, -0.686, 0, 180, 0, [SEP] 30, HousePlant, -1.749, 0.971, 0.463, 0, 0, 0, [SEP] 31, GarbageCan, -1.665, -0.000, 0.953, 0, 45, 0, [SEP] 32, Painting, 0.381, 1.976, -1.895, 90, 0, 0, [SEP] 33, Painting, 0.879, 1.976, -1.895, 90, 0, 0, [SEP] 34, Painting, 1.373, 1.976, -1.895, 90, 0, 0, [SEP] 35, LightSwitch, -0.164, 1.085, 2.450, 0, 180, 0, [SEP] 36, Mirror, -1.950, 1.735, -0.206, 0, 270, 0, [SEP] 37, Window, -1.098, 1.570, -3.230, 90, 0, 0, [SEP] 38, DeskLamp, 1.404, 0.668, 2.209, 0, 0, 0, [SEP] 39, DeskLamp, 2.596, 0.668, -1.710, 0, 0, 0, [SEP] 40, Blinds, -1.062, 2.361, -3.173, 0, 0, 0, [SEP] 41, Shelf, -1.675, 1.871, -2.053, 0, 90, 0, [SEP] 42, Shelf, -1.675, 1.383, -2.053, 0, 90, 0, [SEP] 43, Drawer, -1.715, 0.832, -2.053, 0, 90, 0, [SEP] 44, ShelvingUnit, -1.723, 0.007, -2.053, 0, 90, 0, [SEP] 45, Drawer, -1.713, 0.339, -2.053, 0, 90, 0, [SEP] 46, Drawer, -1.629, 0.104, 0.243, 0, 90, 0, [SEP] 47, Dresser, -1.674, 0.000, -0.153, 0, 90, 0, [SEP] 48, Drawer, -1.630, 0.868, -0.550, 0, 90, 0, [SEP] 49, Drawer, -1.630, 0.680, 0.243, 0, 90, 0, [SEP] 50, Drawer, -1.629, 0.104, -0.550, 0, 90, 0, [SEP] 51, Drawer, -1.630, 0.680, -0.550, 0, 90, 0, [SEP] 52, Drawer, -1.630, 0.868, 0.243, 0, 90, 0, [SEP] 53, Drawer, -1.629, 0.486, -0.550, 0, 90, 0, [SEP] 54, Drawer, -1.629, 0.291, 0.243, 0, 90, 0, [SEP] 55, Drawer, -1.629, 0.291, -0.550, 0, 90, 0, [SEP] 56, Drawer, -1.630, 0.486, 0.243, 0, 90, 0, [SEP] 57, SideTable, 1.576, -0.001, 2.137, 0, 180, 0, [SEP] 58, Drawer, 1.576, 0.163, 2.070, 0, 180, 0, [SEP] 59, Drawer, 1.576, 0.455, 2.070, 0, 180, 0, [SEP] 60, SideTable, 2.437, -0.001, -1.603, 0, 0, 0, [SEP] 61, Drawer, 2.438, 0.163, -1.536, 0, 0, 0, [SEP] 62, Drawer, 2.438, 0.455, -1.536, 0, 0, 0, [SEP] 63, ArmChair, 2.393, -0.001, 1.943, 0, 180, 0, [SEP] 64, NorthWall, , , , , , , [SEP] 65, EastWall, , , , , , , [SEP] 66, SouthWall, , , , , , , [SEP] 67, WestWall, , , , , , , ", "output": ["STEP 1: Move forward to the window and turn to the right to face the dresser. | STEP 2: Pick up the pen from the shelf. | STEP 3: Turn to the right to move past the foot of the bed and turn right again to walk to the nightstand to the left of the bed. | STEP 4: Place the pen on the nightstand. | STEP 5: Face backwards, turn left, move forward past the end of the bed and turn right to face the counter to the right of the boots. | STEP 6: Pick up the pen from the end of the counter. | STEP 7: Move to the right past the end of the bed then turn to the right and walk to the nightstand. | STEP 8: Place the pen on the nightstand. | END"]} +{"id": "trial_T20190906_200916_222838-1", "input": "Put a piece of warm bread in the fridge. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, 2.25, 0, 0, 0, [SEP] 1, Pan, 0.440, 1.577, 0.295, 0, 270, 0, 77 [SEP] 2, Potato, 2.006, 0.115, 6.439, 0, 0, 0, 87 [SEP] 3, Potato, 0.923, 1.027, 0.486, 0, 0, 0, 63 [SEP] 4, DishSponge, -0.346, 0.759, 6.323, 0, 0, 0, 99 [SEP] 5, DishSponge, -0.083, 0.143, 0.506, 0, 0, 0, 72 [SEP] 6, ButterKnife, 0.696, 0.992, 0.578, 0, 90, 0, 63 [SEP] 7, ButterKnife, 0.847, 0.992, 0.670, 0, 0, 0, 63 [SEP] 8, Pot, 1.562, 0.988, 3.848, 0, 0, 0, 57 [SEP] 9, Pot, 1.317, 0.988, 4.294, 0, 0, 0, 58 [SEP] 10, Spoon, -0.687, 0.993, 0.303, 0, 0, 0, 63 [SEP] 11, Spatula, 0.260, 0.786, 0.396, 0, 90, 0, 60 [SEP] 12, Fork, -0.034, 0.760, 6.323, 0, 0, 0, 99 [SEP] 13, Fork, 0.735, 0.772, 0.563, 0, 0, 0, 55 [SEP] 14, Plate, -0.552, 0.144, 0.506, 0, 0, 0, 71 [SEP] 15, Plate, 0.124, 0.144, 0.353, 0, 0, 0, 72 [SEP] 16, Knife, 0.014, 0.789, 6.217, 0, 135, 0, 99 [SEP] 17, Knife, 0.668, 0.802, 0.563, 0, 270, 0, 55 [SEP] 18, Tomato, 2.137, 1.565, 5.251, 0, 270, 0, 85 [SEP] 19, Tomato, 2.137, 1.565, 6.001, 0, 270, 0, 85 [SEP] 20, SoapBottle, 0.305, 0.760, 6.604, 0, 270, 0, 99 [SEP] 21, SoapBottle, -0.332, 0.760, 6.217, 0, 315, 0, 99 [SEP] 22, Bowl, 0.305, 0.759, 6.416, 0, 270, 0, 99 [SEP] 23, PepperShaker, 0.104, 0.755, 6.653, 0, 225, 0, 99 [SEP] 24, Bread, -0.096, 0.829, 6.787, 0, 0, 0, 99 [SEP] 25, Bread, -0.384, 1.062, 0.486, 0, 0, 0, 63 [SEP] 26, Mug, 1.384, 1.043, 0.847, 0, 270, 0, 63 [SEP] 27, Mug, 1.442, 0.886, 2.474, 0, 90, 0, 86 [SEP] 28, Bowl, -0.074, 1.578, 0.251, 0, 0, 0, 76 [SEP] 29, Bread, -0.467, 0.829, 6.541, 0, 270, 0, 99 [SEP] 30, Egg, 0.273, 1.147, 0.278, 0, 0, 0, 79 [SEP] 31, Knife, 1.493, 1.022, 1.350, 0, 90, 0, 63 [SEP] 32, Fork, -0.685, 0.772, 0.395, 0, 90, 0, 59 [SEP] 33, Apple, -0.003, 0.834, 6.541, 0, 270, 0, 99 [SEP] 34, Kettle, 1.573, 0.141, 2.012, 0, 0, 0, 52 [SEP] 35, Plate, 1.490, 0.141, 2.572, 0, 0, 0, 75 [SEP] 36, SaltShaker, -0.530, 0.755, 6.196, 0, 225, 0, 99 [SEP] 37, Lettuce, -0.487, 0.848, 6.807, 0, 135, 0, 99 [SEP] 38, SoapBottle, 1.135, 0.992, 4.624, 0, 0, 0, 64 [SEP] 39, Spatula, 1.348, 0.786, 3.360, 0, 0, 0, 56 [SEP] 40, PaperTowelRoll, -0.221, 0.864, 6.941, 0, 0, 0, 99 [SEP] 41, Pot, 1.32, 0.988, 3.848, 0, 0, 0, 62 [SEP] 42, Potato, 2.051, 1.550, 5.626, 0, 270, 0, 85 [SEP] 43, ButterKnife, 1.292, 0.771, 3.291, 0, 0, 0, 56 [SEP] 44, PepperShaker, 0.150, 0.755, 6.354, 0, 270, 0, 99 [SEP] 45, Pan, 1.313, 0.985, 4.284, 0, 0, 0, 58 [SEP] 46, Tomato, 0.544, 1.042, 0.670, 0, 0, 0, 63 [SEP] 47, DishSponge, 1.140, 1.579, 0.251, 0, 0, 0, 70 [SEP] 48, Cup, 2.094, 1.511, 5.876, 0, 270, 0, 85 [SEP] 49, Spoon, 0.213, 0.761, 6.763, 0, 225, 0, 99 [SEP] 50, Mug, 1.225, 0.987, 3.511, 0, 90, 0, 63 [SEP] 51, Cabinet, 1.307, 2.455, 4.360, 0, 0, 0, [SEP] 52, Cabinet, 1.054, 0.422, 1.710, 0, 0, 0, [SEP] 53, Drawer, 1.280, 0.808, 4.718, 0, 0, 0, [SEP] 54, Cabinet, 1.307, 2.455, 3.607, 0, 0, 0, [SEP] 55, Drawer, 0.736, 0.802, 0.521, 0, 0, 0, [SEP] 56, Drawer, 1.276, 0.802, 3.291, 0, 0, 0, [SEP] 57, StoveBurner, 1.562, 0.982, 3.848, 0, 0, 0, [SEP] 58, StoveBurner, 1.317, 0.982, 4.294, 0, 0, 0, [SEP] 59, Drawer, -0.482, 0.802, 0.521, 0, 0, 0, [SEP] 60, Drawer, 0.124, 0.802, 0.521, 0, 0, 0, [SEP] 61, StoveBurner, 1.559, 0.982, 4.294, 0, 0, 0, [SEP] 62, StoveBurner, 1.320, 0.982, 3.848, 0, 0, 0, [SEP] 63, CounterTop, 1.391, 1.028, 0.897, 0, 0, 0, [SEP] 64, CounterTop, 1.391, 1.028, 4.716, 0, 0, 0, [SEP] 65, Cabinet, 1.054, 0.422, 4.548, 0, 0, 0, [SEP] 66, Cabinet, 1.317, 2.134, 0.517, 0, 0, 0, [SEP] 67, Cabinet, 1.317, 2.134, 4.889, 0, 0, 0, [SEP] 68, Cabinet, 1.317, 2.134, 3.095, 0, 0, 0, [SEP] 69, Cabinet, 0.443, 0.422, 0.743, 0, 0, 0, [SEP] 70, Cabinet, 1.270, 2.134, 0.434, 0, 0, 0, [SEP] 71, Cabinet, -0.775, 0.422, 0.743, 0, 0, 0, [SEP] 72, Cabinet, -0.168, 0.422, 0.743, 0, 0, 0, [SEP] 73, Cabinet, 1.317, 2.134, 1.534, 0, 0, 0, [SEP] 74, Cabinet, 1.054, 0.422, 2.990, 0, 0, 0, [SEP] 75, Cabinet, 1.054, 0.422, 2.944, 0, 0, 0, [SEP] 76, Cabinet, -0.263, 2.134, 0.434, 0, 0, 0, [SEP] 77, Cabinet, 0.252, 2.134, 0.434, 0, 0, 0, [SEP] 78, Sink, 1.391, 1.006, 2.326, 0, 0, 0, [SEP] 79, Microwave, 0.108, 0.981, 0.262, 0, 0, 0, [SEP] 80, HousePlant, -0.165, 0.826, 6.444, 0, 0, 0, [SEP] 81, CoffeeMachine, 1.551, 0.982, 0.953, 0, 270, 0, [SEP] 82, Toaster, 1.473, 0.981, 4.715, 0, 270, 0, [SEP] 83, Window, -2.065, 1.916, 3.626, 90, 90, 0, [SEP] 84, Window, 1.763, 2.007, 2.299, 90, 270, 0, [SEP] 85, Fridge, 2.035, 0.0, 5.625, 0, 0, 0, [SEP] 86, SinkBasin, 1.387, 0.880, 2.338, 0, 90, 0, [SEP] 87, GarbageCan, 2.001, -0.044, 6.503, 0, 0, 0, [SEP] 88, StoveKnob, 1.140, 0.934, 3.987, 45, 270, 0, [SEP] 89, StoveKnob, 1.140, 0.934, 4.309, 45, 270, 0, [SEP] 90, StoveKnob, 1.140, 0.934, 4.140, 45, 270, 0, [SEP] 91, StoveKnob, 1.140, 0.934, 3.824, 45, 270, 0, [SEP] 92, Vase, -0.226, 0.834, 6.993, 0, 0, 0, [SEP] 93, Vase, 2.098, 0.043, 7.070, 0, 257.232, 0, [SEP] 94, Vase, -0.594, 0.835, 6.130, 0, 225, 0, [SEP] 95, LightSwitch, -2.0, 1.549, 6.045, 0, 90, 0, [SEP] 96, Safe, 2.046, 1.072, 7.054, 0, 257.232, 0, [SEP] 97, Faucet, 1.534, 1.025, 2.371, 0, 294.391, 0, [SEP] 98, Blinds, 1.738, 2.563, 2.312, 0, 90, 0, [SEP] 99, DiningTable, -0.156, 0.000, 6.474, 0, 0, 0, [SEP] 100, Chair, 0.291, 0.002, 6.142, 0, 310.162, 0, [SEP] 101, GarbageBag, -1.092, 0.318, 0.268, 270, 90, 83.492, [SEP] 102, NorthWall, , , , , , , [SEP] 103, EastWall, , , , , , , [SEP] 104, SouthWall, , , , , , , [SEP] 105, WestWall, , , , , , , ", "output": ["STEP 1: Walk to the counter over the dishwasher. | STEP 2: Pick up the shark knife on the counter. | STEP 3: Go across the room to the table. | STEP 4: Slice the loaf of bread on the table. | STEP 5: Go to the left side of the table. | STEP 6: Put the sharp knife down next to the pan. | STEP 7: Go back to the right side of the table. | STEP 8: Pick up a piece of bread from the table. | STEP 9: Take the bread across the room to the microwave. | STEP 10: Put the slice of bread into the microwave, heat the bread, and take the warm bread out of the microwave. | STEP 11: Walk across the room to the fridge to the right of the table. | STEP 12: Put the warm bread in the fridge. | END"]} +{"id": "trial_T20190906_193833_823990-0", "input": "place a pan with a knife in it in front of the coffee maker SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.900, 1.75, 0, 270, 0, [SEP] 1, Spoon, -2.171, 0.699, 3.699, 0, 270, 0, 57 [SEP] 2, Fork, 0.702, 0.692, 2.568, 0, 270, 0, 42 [SEP] 3, Egg, -1.309, 0.733, 3.691, 0, 0, 0, 80 [SEP] 4, Egg, -2.710, 1.444, 2.221, 0, 90, 0, 77 [SEP] 5, Plate, 0.743, 0.129, 2.533, 0, 0, 0, 52 [SEP] 6, Plate, -2.136, 1.402, 3.897, 0, 0, 0, 46 [SEP] 7, Cup, 0.725, 0.822, 2.198, 0, 0, 0, 50 [SEP] 8, Cup, 1.099, 0.822, 1.117, 0, 0, 0, 45 [SEP] 9, SoapBottle, 1.024, 0.822, 1.072, 0, 90, 0, 45 [SEP] 10, Bowl, -1.817, 0.126, 3.713, 0, 0, 0, 67 [SEP] 11, Bowl, -2.636, 1.189, 2.389, 0, 90, 0, 77 [SEP] 12, PepperShaker, 1.024, 0.819, 2.458, 0, 0, 0, 50 [SEP] 13, PepperShaker, -0.754, 0.155, 3.834, 0, 0, 0, 54 [SEP] 14, Mug, -2.868, 0.818, 3.650, 0, 0, 0, 68 [SEP] 15, Apple, -2.694, 0.828, 2.221, 0, 90, 0, 77 [SEP] 16, Apple, -2.645, 1.668, 2.109, 0, 90, 0, 77 [SEP] 17, Plate, -2.786, 1.402, 3.897, 0, 0, 0, 59 [SEP] 18, Fork, 0.635, 0.692, 2.496, 0, 90, 0, 42 [SEP] 19, Bread, 0.827, 0.861, 2.449, 0, 0, 0, 45 [SEP] 20, Spatula, 0.800, 0.838, 0.984, 0, 0, 0, 45 [SEP] 21, PaperTowelRoll, 0.725, 0.927, 0.895, 0, 0, 0, 45 [SEP] 22, Potato, 1.024, 0.866, 2.631, 0, 0, 0, 50 [SEP] 23, SoapBottle, -2.563, 0.822, 3.331, 0, 0, 0, 68 [SEP] 24, Egg, -1.694, 1.395, 3.868, 0, 180, 0, 74 [SEP] 25, Cup, -1.800, 0.697, 3.691, 0, 0, 0, 80 [SEP] 26, Pot, 0.913, 0.850, 1.768, 0, 0, 0, 66 [SEP] 27, SaltShaker, 0.800, 0.819, 2.198, 0, 0, 0, 50 [SEP] 28, Pan, -2.667, 0.812, 3.74, 0, 137.145, 0, 68 [SEP] 29, PepperShaker, 0.650, 0.819, 2.285, 0, 0, 0, 50 [SEP] 30, ButterKnife, -1.698, 0.823, 3.567, 0, 0, 0, 68 [SEP] 31, Tomato, 0.800, 0.891, 1.072, 0, 0, 0, 45 [SEP] 32, DishSponge, -2.542, 1.848, 1.801, 0, 0, 0, 70 [SEP] 33, Lettuce, -0.580, 0.956, 1.358, 31.822, 0, 0, 86 [SEP] 34, Spoon, -1.362, 0.703, 3.774, 0, 0, 0, 80 [SEP] 35, Apple, 0.960, 0.085, 2.889, 0, 0, 0, 79 [SEP] 36, Knife, 1.099, 0.846, 2.285, 0, 90, 0, 50 [SEP] 37, Mug, -0.834, 1.236, 3.857, 0, 0, 0, 49 [SEP] 38, Bowl, -2.541, 1.632, 2.687, 0, 0, 0, 58 [SEP] 39, Drawer, 0.729, 0.703, 2.199, 0, 0, 0, [SEP] 40, Cabinet, -1.962, 1.926, 3.733, 0, 0, 0, [SEP] 41, Cabinet, -2.377, 2.014, 1.058, 0, 0, 0, [SEP] 42, Drawer, 0.729, 0.703, 2.532, 0, 0, 0, [SEP] 43, Cabinet, -2.622, 1.925, 3.733, 0, 0, 0, [SEP] 44, StoveBurner, 0.913, 0.843, 1.375, 0, 0, 0, [SEP] 45, CounterTop, 0.864, 0.858, 0.984, 0, 0, 0, [SEP] 46, Cabinet, -1.976, 1.779, 3.734, 0, 0, 0, [SEP] 47, Cabinet, 0.580, 0.385, 0.819, 0, 0, 0, [SEP] 48, Cabinet, -2.379, 1.408, 1.677, 0, 0, 0, [SEP] 49, Cabinet, -0.419, 1.703, 3.736, 0, 0, 0, [SEP] 50, CounterTop, 0.864, 0.858, 2.371, 0, 0, 0, [SEP] 51, Sink, -1.702, 0.726, 3.828, 0, 180, 0, [SEP] 52, Cabinet, 0.580, 0.385, 2.694, 0, 0, 0, [SEP] 53, Cabinet, -2.379, 0.637, 1.677, 0, 0, 0, [SEP] 54, Cabinet, -0.419, 0.674, 3.736, 0, 0, 0, [SEP] 55, Cabinet, -2.377, 2.014, 2.558, 0, 0, 0, [SEP] 56, Drawer, 0.729, 0.703, 0.980, 0, 0, 0, [SEP] 57, Drawer, -2.114, 0.706, 3.657, 0, 0, 0, [SEP] 58, Cabinet, -2.377, 1.691, 2.572, 0, 0, 0, [SEP] 59, Cabinet, -2.951, 1.925, 3.733, 0, 0, 0, [SEP] 60, Cabinet, 0.580, 0.385, 2.360, 0, 0, 0, [SEP] 61, Cabinet, -2.426, 0.435, 3.421, 0, 0, 0, [SEP] 62, StoveBurner, 0.642, 0.843, 1.375, 0, 0, 0, [SEP] 63, Cabinet, -2.377, 1.927, 1.686, 0, 0, 0, [SEP] 64, Cabinet, -2.377, 2.013, 3.177, 0, 0, 0, [SEP] 65, Cabinet, -1.136, 0.385, 3.516, 0, 0, 0, [SEP] 66, StoveBurner, 0.913, 0.843, 1.768, 0, 0, 0, [SEP] 67, Cabinet, -1.974, 0.385, 3.516, 0, 0, 0, [SEP] 68, CounterTop, -2.081, 0.858, 3.799, 0, 0, 0, [SEP] 69, Cabinet, -2.426, 0.435, 3.174, 0, 0, 0, [SEP] 70, Cabinet, -2.377, 2.014, 1.693, 0, 0, 0, [SEP] 71, Cabinet, -1.986, 0.385, 3.511, 0, 0, 0, [SEP] 72, StoveBurner, 0.642, 0.843, 1.768, 0, 0, 0, [SEP] 73, Cabinet, -1.098, 1.926, 3.729, 0, 0, 0, [SEP] 74, Microwave, -1.529, 1.250, 3.881, 1.622, 180, 0, [SEP] 75, CoffeeMachine, 1.000, 0.812, 2.492, 0, 270, 0, [SEP] 76, LightSwitch, 0.825, 1.396, 4.082, 0, 180, 0, [SEP] 77, Fridge, -2.642, 0.0, 2.134, 0, 180, 0, [SEP] 78, Window, -1.131, 1.673, 0.808, 90, 0, 0, [SEP] 79, GarbageCan, 0.931, -0.000, 2.918, 0, 0, 0, [SEP] 80, SinkBasin, -1.601, 0.686, 3.774, 0, 0, 0, [SEP] 81, StoveKnob, 1.104, 1.002, 1.886, 0, 0, 70.346, [SEP] 82, StoveKnob, 1.104, 1.002, 1.733, 0, 0, 70.346, [SEP] 83, StoveKnob, 1.104, 1.002, 1.321, 0, 0, 70.346, [SEP] 84, StoveKnob, 1.104, 1.002, 1.481, 0, 0, 70.346, [SEP] 85, Toaster, -2.247, 0.812, 3.862, 0, 180, 0, [SEP] 86, DiningTable, -0.917, -0.000, 1.203, 0, 0, 0, [SEP] 87, Stool, -0.932, 0.000, 1.404, 1.196, 21.715, 0, [SEP] 88, Faucet, -1.842, 0.809, 3.984, 0, 180, 0, [SEP] 89, Faucet, -1.371, 0.809, 3.985, 0, 180, 0, [SEP] 90, NorthWall, , , , , , , [SEP] 91, EastWall, , , , , , , [SEP] 92, SouthWall, , , , , , , [SEP] 93, WestWall, , , , , , , ", "output": ["STEP 1: move to the kitchen sink at the end of the room | STEP 2: grab a butter knife on the counter in front of the sink | STEP 3: turn around and head over to the kitchen stove | STEP 4: place the butter knife inside the pan on the back right burner | STEP 5: grab the pan with the knife in it off of the stove | STEP 6: turn around and walk over to the coffee maker | STEP 7: place the pan in front of the coffee maker | END"]} +{"id": "trial_T20190906_193833_823990-2", "input": "Put the knife in the silver bowl, move the bowl from stove to the table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.900, 1.75, 0, 270, 0, [SEP] 1, Spoon, -2.171, 0.699, 3.699, 0, 270, 0, 57 [SEP] 2, Fork, 0.702, 0.692, 2.568, 0, 270, 0, 42 [SEP] 3, Egg, -1.309, 0.733, 3.691, 0, 0, 0, 80 [SEP] 4, Egg, -2.710, 1.444, 2.221, 0, 90, 0, 77 [SEP] 5, Plate, 0.743, 0.129, 2.533, 0, 0, 0, 52 [SEP] 6, Plate, -2.136, 1.402, 3.897, 0, 0, 0, 46 [SEP] 7, Cup, 0.725, 0.822, 2.198, 0, 0, 0, 50 [SEP] 8, Cup, 1.099, 0.822, 1.117, 0, 0, 0, 45 [SEP] 9, SoapBottle, 1.024, 0.822, 1.072, 0, 90, 0, 45 [SEP] 10, Bowl, -1.817, 0.126, 3.713, 0, 0, 0, 67 [SEP] 11, Bowl, -2.636, 1.189, 2.389, 0, 90, 0, 77 [SEP] 12, PepperShaker, 1.024, 0.819, 2.458, 0, 0, 0, 50 [SEP] 13, PepperShaker, -0.754, 0.155, 3.834, 0, 0, 0, 54 [SEP] 14, Mug, -2.868, 0.818, 3.650, 0, 0, 0, 68 [SEP] 15, Apple, -2.694, 0.828, 2.221, 0, 90, 0, 77 [SEP] 16, Apple, -2.645, 1.668, 2.109, 0, 90, 0, 77 [SEP] 17, Plate, -2.786, 1.402, 3.897, 0, 0, 0, 59 [SEP] 18, Fork, 0.635, 0.692, 2.496, 0, 90, 0, 42 [SEP] 19, Bread, 0.827, 0.861, 2.449, 0, 0, 0, 45 [SEP] 20, Spatula, 0.800, 0.838, 0.984, 0, 0, 0, 45 [SEP] 21, PaperTowelRoll, 0.725, 0.927, 0.895, 0, 0, 0, 45 [SEP] 22, Potato, 1.024, 0.866, 2.631, 0, 0, 0, 50 [SEP] 23, SoapBottle, -2.563, 0.822, 3.331, 0, 0, 0, 68 [SEP] 24, Egg, -1.694, 1.395, 3.868, 0, 180, 0, 74 [SEP] 25, Cup, -1.800, 0.697, 3.691, 0, 0, 0, 80 [SEP] 26, Pot, 0.913, 0.850, 1.768, 0, 0, 0, 66 [SEP] 27, SaltShaker, 0.800, 0.819, 2.198, 0, 0, 0, 50 [SEP] 28, Pan, -2.667, 0.812, 3.74, 0, 137.145, 0, 68 [SEP] 29, PepperShaker, 0.650, 0.819, 2.285, 0, 0, 0, 50 [SEP] 30, ButterKnife, -1.698, 0.823, 3.567, 0, 0, 0, 68 [SEP] 31, Tomato, 0.800, 0.891, 1.072, 0, 0, 0, 45 [SEP] 32, DishSponge, -2.542, 1.848, 1.801, 0, 0, 0, 70 [SEP] 33, Lettuce, -0.580, 0.956, 1.358, 31.822, 0, 0, 86 [SEP] 34, Spoon, -1.362, 0.703, 3.774, 0, 0, 0, 80 [SEP] 35, Apple, 0.960, 0.085, 2.889, 0, 0, 0, 79 [SEP] 36, Knife, 1.099, 0.846, 2.285, 0, 90, 0, 50 [SEP] 37, Mug, -0.834, 1.236, 3.857, 0, 0, 0, 49 [SEP] 38, Bowl, -2.541, 1.632, 2.687, 0, 0, 0, 58 [SEP] 39, Drawer, 0.729, 0.703, 2.199, 0, 0, 0, [SEP] 40, Cabinet, -1.962, 1.926, 3.733, 0, 0, 0, [SEP] 41, Cabinet, -2.377, 2.014, 1.058, 0, 0, 0, [SEP] 42, Drawer, 0.729, 0.703, 2.532, 0, 0, 0, [SEP] 43, Cabinet, -2.622, 1.925, 3.733, 0, 0, 0, [SEP] 44, StoveBurner, 0.913, 0.843, 1.375, 0, 0, 0, [SEP] 45, CounterTop, 0.864, 0.858, 0.984, 0, 0, 0, [SEP] 46, Cabinet, -1.976, 1.779, 3.734, 0, 0, 0, [SEP] 47, Cabinet, 0.580, 0.385, 0.819, 0, 0, 0, [SEP] 48, Cabinet, -2.379, 1.408, 1.677, 0, 0, 0, [SEP] 49, Cabinet, -0.419, 1.703, 3.736, 0, 0, 0, [SEP] 50, CounterTop, 0.864, 0.858, 2.371, 0, 0, 0, [SEP] 51, Sink, -1.702, 0.726, 3.828, 0, 180, 0, [SEP] 52, Cabinet, 0.580, 0.385, 2.694, 0, 0, 0, [SEP] 53, Cabinet, -2.379, 0.637, 1.677, 0, 0, 0, [SEP] 54, Cabinet, -0.419, 0.674, 3.736, 0, 0, 0, [SEP] 55, Cabinet, -2.377, 2.014, 2.558, 0, 0, 0, [SEP] 56, Drawer, 0.729, 0.703, 0.980, 0, 0, 0, [SEP] 57, Drawer, -2.114, 0.706, 3.657, 0, 0, 0, [SEP] 58, Cabinet, -2.377, 1.691, 2.572, 0, 0, 0, [SEP] 59, Cabinet, -2.951, 1.925, 3.733, 0, 0, 0, [SEP] 60, Cabinet, 0.580, 0.385, 2.360, 0, 0, 0, [SEP] 61, Cabinet, -2.426, 0.435, 3.421, 0, 0, 0, [SEP] 62, StoveBurner, 0.642, 0.843, 1.375, 0, 0, 0, [SEP] 63, Cabinet, -2.377, 1.927, 1.686, 0, 0, 0, [SEP] 64, Cabinet, -2.377, 2.013, 3.177, 0, 0, 0, [SEP] 65, Cabinet, -1.136, 0.385, 3.516, 0, 0, 0, [SEP] 66, StoveBurner, 0.913, 0.843, 1.768, 0, 0, 0, [SEP] 67, Cabinet, -1.974, 0.385, 3.516, 0, 0, 0, [SEP] 68, CounterTop, -2.081, 0.858, 3.799, 0, 0, 0, [SEP] 69, Cabinet, -2.426, 0.435, 3.174, 0, 0, 0, [SEP] 70, Cabinet, -2.377, 2.014, 1.693, 0, 0, 0, [SEP] 71, Cabinet, -1.986, 0.385, 3.511, 0, 0, 0, [SEP] 72, StoveBurner, 0.642, 0.843, 1.768, 0, 0, 0, [SEP] 73, Cabinet, -1.098, 1.926, 3.729, 0, 0, 0, [SEP] 74, Microwave, -1.529, 1.250, 3.881, 1.622, 180, 0, [SEP] 75, CoffeeMachine, 1.000, 0.812, 2.492, 0, 270, 0, [SEP] 76, LightSwitch, 0.825, 1.396, 4.082, 0, 180, 0, [SEP] 77, Fridge, -2.642, 0.0, 2.134, 0, 180, 0, [SEP] 78, Window, -1.131, 1.673, 0.808, 90, 0, 0, [SEP] 79, GarbageCan, 0.931, -0.000, 2.918, 0, 0, 0, [SEP] 80, SinkBasin, -1.601, 0.686, 3.774, 0, 0, 0, [SEP] 81, StoveKnob, 1.104, 1.002, 1.886, 0, 0, 70.346, [SEP] 82, StoveKnob, 1.104, 1.002, 1.733, 0, 0, 70.346, [SEP] 83, StoveKnob, 1.104, 1.002, 1.321, 0, 0, 70.346, [SEP] 84, StoveKnob, 1.104, 1.002, 1.481, 0, 0, 70.346, [SEP] 85, Toaster, -2.247, 0.812, 3.862, 0, 180, 0, [SEP] 86, DiningTable, -0.917, -0.000, 1.203, 0, 0, 0, [SEP] 87, Stool, -0.932, 0.000, 1.404, 1.196, 21.715, 0, [SEP] 88, Faucet, -1.842, 0.809, 3.984, 0, 180, 0, [SEP] 89, Faucet, -1.371, 0.809, 3.985, 0, 180, 0, [SEP] 90, NorthWall, , , , , , , [SEP] 91, EastWall, , , , , , , [SEP] 92, SouthWall, , , , , , , [SEP] 93, WestWall, , , , , , , ", "output": ["STEP 1: Turn right, walk to the sink | STEP 2: Grab the knife by the sink | STEP 3: Turn right, turn right,walk to the stove | STEP 4: Put the knife in the silver pan | STEP 5: Grab the silver pan on the stove | STEP 6: Turn around, walk to the coffee machine | STEP 7: Put the silver pan down on the table in front of the coffee machine | END"]} +{"id": "trial_T20190909_123526_505119-1", "input": "place a cooked potato slice in the fridge SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.25, 0.900, 1.0, 0, 180, 0, [SEP] 1, Potato, 1.466, 0.942, -1.680, 0, 0, 0, 73 [SEP] 2, Potato, 1.958, 0.115, 0.121, 0, 0, 0, 74 [SEP] 3, Ladle, 1.465, 1.704, -2.162, 0, 0, 0, 60 [SEP] 4, Ladle, -1.316, 1.704, -1.792, 0, 90, 0, 56 [SEP] 5, DishSponge, -0.047, 0.930, 0.305, 0, 0, 0, 90 [SEP] 6, DishSponge, 1.748, 0.120, -1.200, 0, 270, 0, 67 [SEP] 7, ButterKnife, -0.047, 0.926, 0.991, 0, 90, 0, 90 [SEP] 8, ButterKnife, -0.230, 0.913, -1.713, 0, 0, 0, 73 [SEP] 9, Spatula, 1.557, 0.928, -1.095, 0, 270, 0, 73 [SEP] 10, Spatula, 0.408, 0.941, 1.220, 0, 0, 0, 90 [SEP] 11, Spoon, 1.557, 0.914, -1.446, 0, 0, 0, 73 [SEP] 12, Spoon, 0.235, 0.914, -1.737, 0, 0, 0, 73 [SEP] 13, Egg, -1.495, 0.913, -0.495, 0, 90, 0, 81 [SEP] 14, Cup, -1.610, 1.504, -0.806, 0, 90, 0, 81 [SEP] 15, Plate, 0.066, 0.934, 0.991, 0, 0, 0, 90 [SEP] 16, Knife, 0.457, 0.936, -1.834, 0, 180, 0, 73 [SEP] 17, Knife, 1.919, 0.936, -1.446, 0, 0, 0, 73 [SEP] 18, Tomato, -0.356, 0.816, -2.026, 0, 0, 0, 85 [SEP] 19, Tomato, -0.160, 0.982, 1.220, 0, 0, 0, 90 [SEP] 20, SoapBottle, 1.873, 0.879, 2.483, 0, 0, 0, 99 [SEP] 21, SoapBottle, 0.180, 0.929, 0.762, 0, 0, 0, 90 [SEP] 22, Bowl, 0.563, 1.655, -2.162, 0, 0, 0, 62 [SEP] 23, Bowl, -0.137, 0.761, -2.071, 0, 90, 0, 85 [SEP] 24, Lettuce, -0.160, 1.008, 0.762, 0, 0, 0, 90 [SEP] 25, Lettuce, -1.553, 1.264, -0.495, 0, 90, 0, 81 [SEP] 26, SaltShaker, 0.119, 0.909, -1.713, 0, 0, 0, 73 [SEP] 27, PepperShaker, -0.047, 0.926, 1.220, 0, 0, 0, 90 [SEP] 28, PepperShaker, -0.576, 0.108, -2.005, 0, 0, 0, 66 [SEP] 29, Mug, -0.824, 0.908, -2.167, 0, 0, 0, 73 [SEP] 30, Mug, -0.160, 0.925, 0.534, 0, 0, 0, 90 [SEP] 31, Apple, 1.647, 0.984, -1.212, 0, 0, 0, 73 [SEP] 32, Potato, -0.047, 0.956, 0.076, 0, 0, 0, 90 [SEP] 33, Bowl, 1.566, 0.549, 2.431, 0, 0, 0, 93 [SEP] 34, SoapBottle, -0.160, 0.929, 0.991, 0, 0, 0, 90 [SEP] 35, Fork, 1.850, 0.914, -2.169, 0, 0, 0, 73 [SEP] 36, Ladle, 0.180, 0.971, 0.305, 0, 0, 0, 90 [SEP] 37, Bread, 0.399, 0.964, 0.111, 0, 0, 1.601, 90 [SEP] 38, Lettuce, 0.408, 1.008, 0.534, 0, 0, 0, 90 [SEP] 39, WineBottle, -0.737, 0.112, -1.961, 0, 0, 0, 66 [SEP] 40, Spatula, 0.408, 0.945, 0.762, 0, 0, 0, 90 [SEP] 41, Plate, -1.495, 1.187, -0.806, 0, 90, 0, 81 [SEP] 42, SaltShaker, 1.838, 1.654, -1.199, 0, 270, 0, 64 [SEP] 43, Pot, 1.567, 0.948, -0.757, 0, 0, 0, 55 [SEP] 44, Cup, -0.963, 0.913, -2.115, 0, 0, 0, 73 [SEP] 45, PepperShaker, 0.180, 0.926, 1.448, 0, 0, 0, 90 [SEP] 46, Pan, 1.824, 0.945, -0.346, 0, 0, 0, 54 [SEP] 47, ButterKnife, 0.294, 0.926, 0.991, 0, 0, 0, 90 [SEP] 48, Tomato, -1.380, 0.911, -0.495, 0, 90, 0, 81 [SEP] 49, DishSponge, -0.064, 0.764, -1.936, 0, 0, 0, 85 [SEP] 50, Egg, 0.066, 0.984, 0.534, 0, 0, 0, 90 [SEP] 51, Spoon, 1.828, 0.914, -1.680, 0, 0, 0, 73 [SEP] 52, Knife, 0.180, 0.953, 1.220, 0, 0, 0, 90 [SEP] 53, Mug, -1.495, 1.499, -0.806, 0, 90, 0, 81 [SEP] 54, StoveBurner, 1.845, 0.940, -0.355, 0, 0, 0, [SEP] 55, StoveBurner, 1.567, 0.940, -0.757, 0, 0, 0, [SEP] 56, Cabinet, -1.149, 2.019, -1.979, 0, 90, 0, [SEP] 57, Cabinet, -1.149, 2.265, -0.834, 0, 90, 0, [SEP] 58, Cabinet, -0.459, 2.265, -2.0, 0, 0, 0, [SEP] 59, Cabinet, -1.100, 2.019, -2.0, 0, 0, 0, [SEP] 60, Cabinet, 1.719, 2.019, -2.0, 0, 0, 0, [SEP] 61, Cabinet, 1.179, 2.019, -2.0, 0, 0, 0, [SEP] 62, Cabinet, 0.199, 2.019, -2.0, 0, 0, 0, [SEP] 63, Cabinet, 1.75, 2.019, -1.399, 0, 270, 0, [SEP] 64, Cabinet, 1.75, 2.019, -1.029, 0, 270, 0, [SEP] 65, Cabinet, 1.379, 0.469, -1.689, 0, 0, 0, [SEP] 66, Cabinet, -0.819, 0.469, -1.689, 0, 0, 0, [SEP] 67, Cabinet, 1.389, 0.469, -1.059, 0, 270, 0, [SEP] 68, Cabinet, -0.839, 0.469, -1.665, 0, 90, 0, [SEP] 69, StoveBurner, 1.567, 0.940, -0.355, 0, 0, 0, [SEP] 70, StoveBurner, 1.845, 0.940, -0.757, 0, 0, 0, [SEP] 71, Sink, -0.109, 0.893, -2.009, 0, 0, 0, [SEP] 72, Drawer, -0.819, 0.75, -1.690, 0, 0, 0, [SEP] 73, CounterTop, 0.232, 0.949, -2.002, 0, 0, 0, [SEP] 74, GarbageCan, 1.855, -0.034, 0.141, 0, 358.959, 0, [SEP] 75, Vase, 0.251, 0.546, 0.475, 0, 270, 0, [SEP] 76, Toaster, 0.780, 0.900, -2.080, 0, 0, 0, [SEP] 77, LightSwitch, 0.108, 1.315, 2.75, 0, 180, 0, [SEP] 78, Vase, 0.400, 0.925, 0.218, 0, 180, 0, [SEP] 79, Microwave, -1.233, 0.900, -1.680, 0, 90, 0, [SEP] 80, Vase, 1.465, 1.662, -2.200, 0, 0, 0, [SEP] 81, Fridge, -1.495, 0.0, -0.703, 0, 0, 0, [SEP] 82, Window, 2.114, 1.495, 1.072, 90, 270, 0, [SEP] 83, CoffeeMachine, 1.374, 0.899, -2.112, 0, 0, 0, [SEP] 84, Vase, 0.333, 0.546, 1.272, 0, 270, 0, [SEP] 85, SinkBasin, -0.148, 0.753, -2.026, 0, 0, 0, [SEP] 86, StoveKnob, 2.037, 1.089, -0.405, 0, 0, 74.477, [SEP] 87, StoveKnob, 2.037, 1.089, -0.251, 0, 0, 74.477, [SEP] 88, StoveKnob, 2.037, 1.089, -0.649, 0, 0, 74.477, [SEP] 89, StoveKnob, 2.037, 1.089, -0.814, 0, 0, 74.477, [SEP] 90, DiningTable, 0.170, 0.005, 0.678, 0, 270, 0, [SEP] 91, Shelf, 0.170, 0.155, 0.678, 0, 270, 0, [SEP] 92, Shelf, 1.605, 0.172, 2.480, 0, 0, 0, [SEP] 93, Shelf, 1.605, 0.552, 2.480, 0, 0, 0, [SEP] 94, Shelf, 1.604, 0.880, 2.479, 0, 0, 0, [SEP] 95, ShelvingUnit, 1.605, 0.006, 2.480, 0, 0, 0, [SEP] 96, Faucet, -0.143, 1.028, -2.223, 0, 270, 0, [SEP] 97, Stool, -0.553, 0.000, 0.871, 1.233, 280.376, 0, [SEP] 98, Shelf, 0.170, 0.528, 0.678, 0, 270, 0, [SEP] 99, , , , , , , , [SEP] 100, NorthWall, , , , , , , [SEP] 101, EastWall, , , , , , , [SEP] 102, SouthWall, , , , , , , [SEP] 103, WestWall, , , , , , , ", "output": ["STEP 1: move right to the table | STEP 2: pick up the knife from the table | STEP 3: head to the other side of the table | STEP 4: slice the potato on the table | STEP 5: turn around to the fridge | STEP 6: place the knife in the fridge | STEP 7: turn around to the table | STEP 8: pick up a potato slice from the table | STEP 9: turn right to the oven | STEP 10: place the slice to cook in the oven and take it out | STEP 11: turn right to the fridge | STEP 12: place the potato slice in the fridge | END"]} +{"id": "trial_T20190907_153439_114211-0", "input": "Throw the apple in the sink and microwave away in the bin. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.900, 1.75, 0, 270, 0, [SEP] 1, SprayBottle, -1.712, 0.909, 0.204, 0, 0, 0, 80 [SEP] 2, SprayBottle, 0.407, 0.116, -1.585, 0, 0, 0, 72 [SEP] 3, Pen, -1.712, 0.913, 0.032, 0, 0, 0, 80 [SEP] 4, Pen, -0.400, 0.777, -1.500, 0, 90, 0, 77 [SEP] 5, Potato, 1.420, 0.256, 1.08, 0, 0, 0, 95 [SEP] 6, Ladle, -2.201, 0.954, 0.463, 0, 0, 0, 80 [SEP] 7, Kettle, 1.034, 0.118, 0.430, 0, 0, 0, 61 [SEP] 8, ButterKnife, 0.569, 0.911, -1.619, 0, 0, 0, 78 [SEP] 9, DishSponge, -0.685, 0.111, -1.681, 0, 0, 0, 65 [SEP] 10, DishSponge, 1.035, 0.774, 0.539, 0, 0, 0, 55 [SEP] 11, Glassbottle, -1.957, 0.911, 0.463, 0, 0, 0, 80 [SEP] 12, Fork, -0.401, 0.911, -1.619, 0, 0, 0, 78 [SEP] 13, Fork, 0.852, 0.911, -1.534, 0, 0, 0, 78 [SEP] 14, Egg, 1.420, 1.749, 1.838, 0, 270, 0, 97 [SEP] 15, Egg, 1.369, 1.846, 2.369, 0, 270, 0, 97 [SEP] 16, Plate, 1.401, 1.656, -0.736, 0, 0, 0, 66 [SEP] 17, Knife, 0.903, 0.804, 0.377, 0, 90, 0, 55 [SEP] 18, Knife, 0.149, 0.949, -1.657, 0, 270, 0, 57 [SEP] 19, Tomato, -1.835, 0.950, 0.549, 0, 0, 0, 80 [SEP] 20, Tomato, 0.149, 0.959, -1.758, 0, 270, 0, 57 [SEP] 21, Bowl, 0.970, 1.656, -1.839, 0, 0, 0, 67 [SEP] 22, PepperShaker, -2.445, 0.905, 0.377, 0, 0, 0, 80 [SEP] 23, Bread, -2.323, 0.988, 0.204, 0, 0, 0, 80 [SEP] 24, Lettuce, 1.426, 1.436, 1.850, 0, 270, 0, 97 [SEP] 25, Lettuce, 1.325, 1.436, 2.476, 0, 270, 0, 97 [SEP] 26, Mug, -0.086, 0.777, -1.707, 0, 270, 0, 99 [SEP] 27, Apple, 1.376, 1.300, -0.021, 0, 270, 0, 100 [SEP] 28, Apple, 0.285, 0.954, -1.758, 0, 270, 0, 57 [SEP] 29, Tomato, 1.275, 1.407, 1.976, 0, 270, 0, 97 [SEP] 30, Glassbottle, -1.835, 0.911, 0.377, 0, 0, 0, 80 [SEP] 31, Knife, -2.079, 0.940, 0.291, 0, 0, 0, 80 [SEP] 32, Plate, 1.260, 0.911, 0.372, 0, 0, 0, 78 [SEP] 33, Fork, 0.320, 0.920, -1.708, 0, 90, 0, 57 [SEP] 34, Ladle, -0.703, 0.955, -1.789, 0, 0, 0, 78 [SEP] 35, Potato, 1.275, 1.409, 1.726, 0, 270, 0, 97 [SEP] 36, Lettuce, -1.957, 0.979, 0.204, 0, 0, 0, 80 [SEP] 37, Kettle, -1.081, 0.949, -1.81, 0, 0, 0, 74 [SEP] 38, Pen, -1.709, 0.775, -1.565, 0, 270, 0, 83 [SEP] 39, SaltShaker, 1.494, 1.157, -1.345, 0, 0, 0, 84 [SEP] 40, Cup, 0.649, 0.117, -1.489, 0, 90, 0, 72 [SEP] 41, Egg, 0.217, 0.948, -1.859, 0, 270, 0, 57 [SEP] 42, Spatula, -1.809, 0.925, -1.448, 0, 0, 0, 76 [SEP] 43, Bowl, 1.031, 0.115, -0.699, 0, 0, 0, 62 [SEP] 44, SprayBottle, -2.074, 0.111, -1.584, 0, 0, 0, 81 [SEP] 45, Pan, -1.079, 0.945, -1.528, 0, 0, 0, 79 [SEP] 46, SoapBottle, 0.217, 0.919, -1.607, 0, 0, 0, 57 [SEP] 47, Pot, 1.342, 1.658, -1.264, 0, 0, 0, 70 [SEP] 48, ButterKnife, -2.201, 0.910, 0.118, 0, 0, 0, 80 [SEP] 49, PepperShaker, 0.649, 0.112, -1.728, 0, 90, 0, 72 [SEP] 50, DishSponge, 1.343, 0.910, 0.031, 0, 0, 0, 78 [SEP] 51, Bread, 1.414, 1.240, -1.688, 0, 0, 0, 84 [SEP] 52, Apple, 1.420, 1.754, 1.713, 0, 270, 0, 97 [SEP] 53, Spoon, 0.758, 0.912, -1.789, 0, 0, 0, 82 [SEP] 54, Mug, 1.414, 1.157, -1.002, 0, 0, 0, 84 [SEP] 55, Drawer, 0.860, 0.75, 0.430, 0, 0, 0, [SEP] 56, Drawer, 0.871, 0.75, -1.134, 0, 0, 0, [SEP] 57, Sink, 0.156, 0.817, -1.801, 0, 270, 0, [SEP] 58, Cabinet, -0.868, 2.005, -1.690, 0, 0, 0, [SEP] 59, Cabinet, -1.661, 2.059, -1.684, 0, 90, 0, [SEP] 60, Cabinet, -0.817, 2.059, -1.689, 0, 0, 0, [SEP] 61, Cabinet, 0.860, 0.402, 0.665, 0, 0, 0, [SEP] 62, Cabinet, 0.860, 0.402, -0.552, 0, 0, 0, [SEP] 63, Cabinet, 0.860, 0.402, -1.365, 0, 0, 0, [SEP] 64, Cabinet, -0.244, 0.402, -1.389, 0, 0, 0, [SEP] 65, Cabinet, -0.815, 0.402, -1.389, 0, 0, 0, [SEP] 66, Cabinet, 1.159, 2.059, -0.334, 0, 0, 0, [SEP] 67, Cabinet, 0.488, 2.059, -1.689, 0, 0, 0, [SEP] 68, Cabinet, -0.193, 2.059, -1.689, 0, 0, 0, [SEP] 69, Drawer, 0.860, 0.75, -0.699, 0, 0, 0, [SEP] 70, Cabinet, 1.159, 2.059, -1.019, 0, 0, 0, [SEP] 71, Cabinet, -1.611, 2.005, -1.690, 0, 0, 0, [SEP] 72, Cabinet, 0.832, 0.401, -1.393, 0, 90, 0, [SEP] 73, Drawer, -2.105, 0.75, -1.389, 0, 0, 0, [SEP] 74, StoveBurner, -1.081, 0.941, -1.809, 0, 0, 0, [SEP] 75, Cabinet, -0.202, 0.401, -1.391, 0, 90, 0, [SEP] 76, CounterTop, -1.973, 0.945, -1.707, 0, 0, 0, [SEP] 77, Drawer, -0.375, 0.75, -1.389, 0, 0, 0, [SEP] 78, CounterTop, 1.164, 0.946, -0.649, 0, 0, 0, [SEP] 79, StoveBurner, -1.081, 0.941, -1.527, 0, 0, 0, [SEP] 80, CounterTop, -2.096, 0.945, 0.291, 0, 0, 0, [SEP] 81, Cabinet, -2.237, 0.402, -1.389, 0, 0, 0, [SEP] 82, Drawer, 0.584, 0.75, -1.389, 0, 0, 0, [SEP] 83, Drawer, -1.795, 0.75, -1.389, 0, 0, 0, [SEP] 84, CounterTop, 1.5, 1.197, -0.654, 0, 0, 0, [SEP] 85, Cabinet, -1.667, 0.402, -1.389, 0, 0, 0, [SEP] 86, StoveBurner, -1.430, 0.941, -1.525, 0, 0, 0, [SEP] 87, Drawer, -0.685, 0.75, -1.389, 0, 0, 0, [SEP] 88, StoveBurner, -1.430, 0.941, -1.809, 0, 0, 0, [SEP] 89, LightSwitch, -2.539, 1.289, 2.568, 0, 90, 0, [SEP] 90, StoveKnob, -1.362, 1.095, -1.983, 287.970, 180, 0, [SEP] 91, StoveKnob, -0.962, 1.095, -1.983, 287.970, 180, 0, [SEP] 92, StoveKnob, -1.522, 1.095, -1.983, 287.970, 180, 0, [SEP] 93, StoveKnob, -1.112, 1.095, -1.983, 287.970, 180, 0, [SEP] 94, CoffeeMachine, 1.082, 0.900, -1.848, 0, 0, 0, [SEP] 95, GarbageCan, 1.343, 0.015, 1.041, 0, 0, 0, [SEP] 96, HousePlant, 1.440, 1.153, 0.593, 0, 0, 0, [SEP] 97, Fridge, 1.417, 0.0, 2.101, 0, 0, 0, [SEP] 98, Window, -0.486, 1.452, 3.302, 90, 0, 0, [SEP] 99, SinkBasin, -0.063, 0.765, -1.713, 0, 270, 0, [SEP] 100, Microwave, 1.422, 1.150, 0.022, 0, 270, 0, [SEP] 101, Toaster, -2.066, 0.900, -1.848, 0, 0, 0, [SEP] 102, Stool, -1.994, 0.010, 0.882, 0, 0, 0, [SEP] 103, Faucet, -0.096, 1.041, -1.867, 0, 270, 0, [SEP] 104, NorthWall, , , , , , , [SEP] 105, EastWall, , , , , , , [SEP] 106, SouthWall, , , , , , , [SEP] 107, WestWall, , , , , , , ", "output": ["STEP 1: Move to the sink to the left of you. | STEP 2: Pick up an apple from the sink. | STEP 3: Move to the bin behind you before the fridge on the right. | STEP 4: Place the apple inside of the bin. | STEP 5: Move to the microwave in front of you to the right slightly. | STEP 6: Retrieve the apple from the microwave and close the door. | STEP 7: Move to the bin to the left of you. | STEP 8: Place the apple inside of the bin. | END"]} +{"id": "trial_T20190907_153439_114211-1", "input": "Getting rid of green apples in the trash bin SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.900, 1.75, 0, 270, 0, [SEP] 1, SprayBottle, -1.712, 0.909, 0.204, 0, 0, 0, 80 [SEP] 2, SprayBottle, 0.407, 0.116, -1.585, 0, 0, 0, 72 [SEP] 3, Pen, -1.712, 0.913, 0.032, 0, 0, 0, 80 [SEP] 4, Pen, -0.400, 0.777, -1.500, 0, 90, 0, 77 [SEP] 5, Potato, 1.420, 0.256, 1.08, 0, 0, 0, 95 [SEP] 6, Ladle, -2.201, 0.954, 0.463, 0, 0, 0, 80 [SEP] 7, Kettle, 1.034, 0.118, 0.430, 0, 0, 0, 61 [SEP] 8, ButterKnife, 0.569, 0.911, -1.619, 0, 0, 0, 78 [SEP] 9, DishSponge, -0.685, 0.111, -1.681, 0, 0, 0, 65 [SEP] 10, DishSponge, 1.035, 0.774, 0.539, 0, 0, 0, 55 [SEP] 11, Glassbottle, -1.957, 0.911, 0.463, 0, 0, 0, 80 [SEP] 12, Fork, -0.401, 0.911, -1.619, 0, 0, 0, 78 [SEP] 13, Fork, 0.852, 0.911, -1.534, 0, 0, 0, 78 [SEP] 14, Egg, 1.420, 1.749, 1.838, 0, 270, 0, 97 [SEP] 15, Egg, 1.369, 1.846, 2.369, 0, 270, 0, 97 [SEP] 16, Plate, 1.401, 1.656, -0.736, 0, 0, 0, 66 [SEP] 17, Knife, 0.903, 0.804, 0.377, 0, 90, 0, 55 [SEP] 18, Knife, 0.149, 0.949, -1.657, 0, 270, 0, 57 [SEP] 19, Tomato, -1.835, 0.950, 0.549, 0, 0, 0, 80 [SEP] 20, Tomato, 0.149, 0.959, -1.758, 0, 270, 0, 57 [SEP] 21, Bowl, 0.970, 1.656, -1.839, 0, 0, 0, 67 [SEP] 22, PepperShaker, -2.445, 0.905, 0.377, 0, 0, 0, 80 [SEP] 23, Bread, -2.323, 0.988, 0.204, 0, 0, 0, 80 [SEP] 24, Lettuce, 1.426, 1.436, 1.850, 0, 270, 0, 97 [SEP] 25, Lettuce, 1.325, 1.436, 2.476, 0, 270, 0, 97 [SEP] 26, Mug, -0.086, 0.777, -1.707, 0, 270, 0, 99 [SEP] 27, Apple, 1.376, 1.300, -0.021, 0, 270, 0, 100 [SEP] 28, Apple, 0.285, 0.954, -1.758, 0, 270, 0, 57 [SEP] 29, Tomato, 1.275, 1.407, 1.976, 0, 270, 0, 97 [SEP] 30, Glassbottle, -1.835, 0.911, 0.377, 0, 0, 0, 80 [SEP] 31, Knife, -2.079, 0.940, 0.291, 0, 0, 0, 80 [SEP] 32, Plate, 1.260, 0.911, 0.372, 0, 0, 0, 78 [SEP] 33, Fork, 0.320, 0.920, -1.708, 0, 90, 0, 57 [SEP] 34, Ladle, -0.703, 0.955, -1.789, 0, 0, 0, 78 [SEP] 35, Potato, 1.275, 1.409, 1.726, 0, 270, 0, 97 [SEP] 36, Lettuce, -1.957, 0.979, 0.204, 0, 0, 0, 80 [SEP] 37, Kettle, -1.081, 0.949, -1.81, 0, 0, 0, 74 [SEP] 38, Pen, -1.709, 0.775, -1.565, 0, 270, 0, 83 [SEP] 39, SaltShaker, 1.494, 1.157, -1.345, 0, 0, 0, 84 [SEP] 40, Cup, 0.649, 0.117, -1.489, 0, 90, 0, 72 [SEP] 41, Egg, 0.217, 0.948, -1.859, 0, 270, 0, 57 [SEP] 42, Spatula, -1.809, 0.925, -1.448, 0, 0, 0, 76 [SEP] 43, Bowl, 1.031, 0.115, -0.699, 0, 0, 0, 62 [SEP] 44, SprayBottle, -2.074, 0.111, -1.584, 0, 0, 0, 81 [SEP] 45, Pan, -1.079, 0.945, -1.528, 0, 0, 0, 79 [SEP] 46, SoapBottle, 0.217, 0.919, -1.607, 0, 0, 0, 57 [SEP] 47, Pot, 1.342, 1.658, -1.264, 0, 0, 0, 70 [SEP] 48, ButterKnife, -2.201, 0.910, 0.118, 0, 0, 0, 80 [SEP] 49, PepperShaker, 0.649, 0.112, -1.728, 0, 90, 0, 72 [SEP] 50, DishSponge, 1.343, 0.910, 0.031, 0, 0, 0, 78 [SEP] 51, Bread, 1.414, 1.240, -1.688, 0, 0, 0, 84 [SEP] 52, Apple, 1.420, 1.754, 1.713, 0, 270, 0, 97 [SEP] 53, Spoon, 0.758, 0.912, -1.789, 0, 0, 0, 82 [SEP] 54, Mug, 1.414, 1.157, -1.002, 0, 0, 0, 84 [SEP] 55, Drawer, 0.860, 0.75, 0.430, 0, 0, 0, [SEP] 56, Drawer, 0.871, 0.75, -1.134, 0, 0, 0, [SEP] 57, Sink, 0.156, 0.817, -1.801, 0, 270, 0, [SEP] 58, Cabinet, -0.868, 2.005, -1.690, 0, 0, 0, [SEP] 59, Cabinet, -1.661, 2.059, -1.684, 0, 90, 0, [SEP] 60, Cabinet, -0.817, 2.059, -1.689, 0, 0, 0, [SEP] 61, Cabinet, 0.860, 0.402, 0.665, 0, 0, 0, [SEP] 62, Cabinet, 0.860, 0.402, -0.552, 0, 0, 0, [SEP] 63, Cabinet, 0.860, 0.402, -1.365, 0, 0, 0, [SEP] 64, Cabinet, -0.244, 0.402, -1.389, 0, 0, 0, [SEP] 65, Cabinet, -0.815, 0.402, -1.389, 0, 0, 0, [SEP] 66, Cabinet, 1.159, 2.059, -0.334, 0, 0, 0, [SEP] 67, Cabinet, 0.488, 2.059, -1.689, 0, 0, 0, [SEP] 68, Cabinet, -0.193, 2.059, -1.689, 0, 0, 0, [SEP] 69, Drawer, 0.860, 0.75, -0.699, 0, 0, 0, [SEP] 70, Cabinet, 1.159, 2.059, -1.019, 0, 0, 0, [SEP] 71, Cabinet, -1.611, 2.005, -1.690, 0, 0, 0, [SEP] 72, Cabinet, 0.832, 0.401, -1.393, 0, 90, 0, [SEP] 73, Drawer, -2.105, 0.75, -1.389, 0, 0, 0, [SEP] 74, StoveBurner, -1.081, 0.941, -1.809, 0, 0, 0, [SEP] 75, Cabinet, -0.202, 0.401, -1.391, 0, 90, 0, [SEP] 76, CounterTop, -1.973, 0.945, -1.707, 0, 0, 0, [SEP] 77, Drawer, -0.375, 0.75, -1.389, 0, 0, 0, [SEP] 78, CounterTop, 1.164, 0.946, -0.649, 0, 0, 0, [SEP] 79, StoveBurner, -1.081, 0.941, -1.527, 0, 0, 0, [SEP] 80, CounterTop, -2.096, 0.945, 0.291, 0, 0, 0, [SEP] 81, Cabinet, -2.237, 0.402, -1.389, 0, 0, 0, [SEP] 82, Drawer, 0.584, 0.75, -1.389, 0, 0, 0, [SEP] 83, Drawer, -1.795, 0.75, -1.389, 0, 0, 0, [SEP] 84, CounterTop, 1.5, 1.197, -0.654, 0, 0, 0, [SEP] 85, Cabinet, -1.667, 0.402, -1.389, 0, 0, 0, [SEP] 86, StoveBurner, -1.430, 0.941, -1.525, 0, 0, 0, [SEP] 87, Drawer, -0.685, 0.75, -1.389, 0, 0, 0, [SEP] 88, StoveBurner, -1.430, 0.941, -1.809, 0, 0, 0, [SEP] 89, LightSwitch, -2.539, 1.289, 2.568, 0, 90, 0, [SEP] 90, StoveKnob, -1.362, 1.095, -1.983, 287.970, 180, 0, [SEP] 91, StoveKnob, -0.962, 1.095, -1.983, 287.970, 180, 0, [SEP] 92, StoveKnob, -1.522, 1.095, -1.983, 287.970, 180, 0, [SEP] 93, StoveKnob, -1.112, 1.095, -1.983, 287.970, 180, 0, [SEP] 94, CoffeeMachine, 1.082, 0.900, -1.848, 0, 0, 0, [SEP] 95, GarbageCan, 1.343, 0.015, 1.041, 0, 0, 0, [SEP] 96, HousePlant, 1.440, 1.153, 0.593, 0, 0, 0, [SEP] 97, Fridge, 1.417, 0.0, 2.101, 0, 0, 0, [SEP] 98, Window, -0.486, 1.452, 3.302, 90, 0, 0, [SEP] 99, SinkBasin, -0.063, 0.765, -1.713, 0, 270, 0, [SEP] 100, Microwave, 1.422, 1.150, 0.022, 0, 270, 0, [SEP] 101, Toaster, -2.066, 0.900, -1.848, 0, 0, 0, [SEP] 102, Stool, -1.994, 0.010, 0.882, 0, 0, 0, [SEP] 103, Faucet, -0.096, 1.041, -1.867, 0, 270, 0, [SEP] 104, NorthWall, , , , , , , [SEP] 105, EastWall, , , , , , , [SEP] 106, SouthWall, , , , , , , [SEP] 107, WestWall, , , , , , , ", "output": ["STEP 1: Turn to the left and walk towards the sink and face it | STEP 2: Pick up the green apple from the sink | STEP 3: Turn around and walk to the trash bin next to the refrigerator and face it on the right | STEP 4: Place the apple inside the trash bin | STEP 5: Turn to the right and face the microwave | STEP 6: Open up the microwave and take out the apple, then close the door back | STEP 7: Turn to the left and face the trash bin next to the refrigerator | STEP 8: Place the apple inside the trash bin | END"]} +{"id": "trial_T20190907_153439_114211-4", "input": "Throw out the apple on the counter and the apple in the microwave. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.900, 1.75, 0, 270, 0, [SEP] 1, SprayBottle, -1.712, 0.909, 0.204, 0, 0, 0, 80 [SEP] 2, SprayBottle, 0.407, 0.116, -1.585, 0, 0, 0, 72 [SEP] 3, Pen, -1.712, 0.913, 0.032, 0, 0, 0, 80 [SEP] 4, Pen, -0.400, 0.777, -1.500, 0, 90, 0, 77 [SEP] 5, Potato, 1.420, 0.256, 1.08, 0, 0, 0, 95 [SEP] 6, Ladle, -2.201, 0.954, 0.463, 0, 0, 0, 80 [SEP] 7, Kettle, 1.034, 0.118, 0.430, 0, 0, 0, 61 [SEP] 8, ButterKnife, 0.569, 0.911, -1.619, 0, 0, 0, 78 [SEP] 9, DishSponge, -0.685, 0.111, -1.681, 0, 0, 0, 65 [SEP] 10, DishSponge, 1.035, 0.774, 0.539, 0, 0, 0, 55 [SEP] 11, Glassbottle, -1.957, 0.911, 0.463, 0, 0, 0, 80 [SEP] 12, Fork, -0.401, 0.911, -1.619, 0, 0, 0, 78 [SEP] 13, Fork, 0.852, 0.911, -1.534, 0, 0, 0, 78 [SEP] 14, Egg, 1.420, 1.749, 1.838, 0, 270, 0, 97 [SEP] 15, Egg, 1.369, 1.846, 2.369, 0, 270, 0, 97 [SEP] 16, Plate, 1.401, 1.656, -0.736, 0, 0, 0, 66 [SEP] 17, Knife, 0.903, 0.804, 0.377, 0, 90, 0, 55 [SEP] 18, Knife, 0.149, 0.949, -1.657, 0, 270, 0, 57 [SEP] 19, Tomato, -1.835, 0.950, 0.549, 0, 0, 0, 80 [SEP] 20, Tomato, 0.149, 0.959, -1.758, 0, 270, 0, 57 [SEP] 21, Bowl, 0.970, 1.656, -1.839, 0, 0, 0, 67 [SEP] 22, PepperShaker, -2.445, 0.905, 0.377, 0, 0, 0, 80 [SEP] 23, Bread, -2.323, 0.988, 0.204, 0, 0, 0, 80 [SEP] 24, Lettuce, 1.426, 1.436, 1.850, 0, 270, 0, 97 [SEP] 25, Lettuce, 1.325, 1.436, 2.476, 0, 270, 0, 97 [SEP] 26, Mug, -0.086, 0.777, -1.707, 0, 270, 0, 99 [SEP] 27, Apple, 1.376, 1.300, -0.021, 0, 270, 0, 100 [SEP] 28, Apple, 0.285, 0.954, -1.758, 0, 270, 0, 57 [SEP] 29, Tomato, 1.275, 1.407, 1.976, 0, 270, 0, 97 [SEP] 30, Glassbottle, -1.835, 0.911, 0.377, 0, 0, 0, 80 [SEP] 31, Knife, -2.079, 0.940, 0.291, 0, 0, 0, 80 [SEP] 32, Plate, 1.260, 0.911, 0.372, 0, 0, 0, 78 [SEP] 33, Fork, 0.320, 0.920, -1.708, 0, 90, 0, 57 [SEP] 34, Ladle, -0.703, 0.955, -1.789, 0, 0, 0, 78 [SEP] 35, Potato, 1.275, 1.409, 1.726, 0, 270, 0, 97 [SEP] 36, Lettuce, -1.957, 0.979, 0.204, 0, 0, 0, 80 [SEP] 37, Kettle, -1.081, 0.949, -1.81, 0, 0, 0, 74 [SEP] 38, Pen, -1.709, 0.775, -1.565, 0, 270, 0, 83 [SEP] 39, SaltShaker, 1.494, 1.157, -1.345, 0, 0, 0, 84 [SEP] 40, Cup, 0.649, 0.117, -1.489, 0, 90, 0, 72 [SEP] 41, Egg, 0.217, 0.948, -1.859, 0, 270, 0, 57 [SEP] 42, Spatula, -1.809, 0.925, -1.448, 0, 0, 0, 76 [SEP] 43, Bowl, 1.031, 0.115, -0.699, 0, 0, 0, 62 [SEP] 44, SprayBottle, -2.074, 0.111, -1.584, 0, 0, 0, 81 [SEP] 45, Pan, -1.079, 0.945, -1.528, 0, 0, 0, 79 [SEP] 46, SoapBottle, 0.217, 0.919, -1.607, 0, 0, 0, 57 [SEP] 47, Pot, 1.342, 1.658, -1.264, 0, 0, 0, 70 [SEP] 48, ButterKnife, -2.201, 0.910, 0.118, 0, 0, 0, 80 [SEP] 49, PepperShaker, 0.649, 0.112, -1.728, 0, 90, 0, 72 [SEP] 50, DishSponge, 1.343, 0.910, 0.031, 0, 0, 0, 78 [SEP] 51, Bread, 1.414, 1.240, -1.688, 0, 0, 0, 84 [SEP] 52, Apple, 1.420, 1.754, 1.713, 0, 270, 0, 97 [SEP] 53, Spoon, 0.758, 0.912, -1.789, 0, 0, 0, 82 [SEP] 54, Mug, 1.414, 1.157, -1.002, 0, 0, 0, 84 [SEP] 55, Drawer, 0.860, 0.75, 0.430, 0, 0, 0, [SEP] 56, Drawer, 0.871, 0.75, -1.134, 0, 0, 0, [SEP] 57, Sink, 0.156, 0.817, -1.801, 0, 270, 0, [SEP] 58, Cabinet, -0.868, 2.005, -1.690, 0, 0, 0, [SEP] 59, Cabinet, -1.661, 2.059, -1.684, 0, 90, 0, [SEP] 60, Cabinet, -0.817, 2.059, -1.689, 0, 0, 0, [SEP] 61, Cabinet, 0.860, 0.402, 0.665, 0, 0, 0, [SEP] 62, Cabinet, 0.860, 0.402, -0.552, 0, 0, 0, [SEP] 63, Cabinet, 0.860, 0.402, -1.365, 0, 0, 0, [SEP] 64, Cabinet, -0.244, 0.402, -1.389, 0, 0, 0, [SEP] 65, Cabinet, -0.815, 0.402, -1.389, 0, 0, 0, [SEP] 66, Cabinet, 1.159, 2.059, -0.334, 0, 0, 0, [SEP] 67, Cabinet, 0.488, 2.059, -1.689, 0, 0, 0, [SEP] 68, Cabinet, -0.193, 2.059, -1.689, 0, 0, 0, [SEP] 69, Drawer, 0.860, 0.75, -0.699, 0, 0, 0, [SEP] 70, Cabinet, 1.159, 2.059, -1.019, 0, 0, 0, [SEP] 71, Cabinet, -1.611, 2.005, -1.690, 0, 0, 0, [SEP] 72, Cabinet, 0.832, 0.401, -1.393, 0, 90, 0, [SEP] 73, Drawer, -2.105, 0.75, -1.389, 0, 0, 0, [SEP] 74, StoveBurner, -1.081, 0.941, -1.809, 0, 0, 0, [SEP] 75, Cabinet, -0.202, 0.401, -1.391, 0, 90, 0, [SEP] 76, CounterTop, -1.973, 0.945, -1.707, 0, 0, 0, [SEP] 77, Drawer, -0.375, 0.75, -1.389, 0, 0, 0, [SEP] 78, CounterTop, 1.164, 0.946, -0.649, 0, 0, 0, [SEP] 79, StoveBurner, -1.081, 0.941, -1.527, 0, 0, 0, [SEP] 80, CounterTop, -2.096, 0.945, 0.291, 0, 0, 0, [SEP] 81, Cabinet, -2.237, 0.402, -1.389, 0, 0, 0, [SEP] 82, Drawer, 0.584, 0.75, -1.389, 0, 0, 0, [SEP] 83, Drawer, -1.795, 0.75, -1.389, 0, 0, 0, [SEP] 84, CounterTop, 1.5, 1.197, -0.654, 0, 0, 0, [SEP] 85, Cabinet, -1.667, 0.402, -1.389, 0, 0, 0, [SEP] 86, StoveBurner, -1.430, 0.941, -1.525, 0, 0, 0, [SEP] 87, Drawer, -0.685, 0.75, -1.389, 0, 0, 0, [SEP] 88, StoveBurner, -1.430, 0.941, -1.809, 0, 0, 0, [SEP] 89, LightSwitch, -2.539, 1.289, 2.568, 0, 90, 0, [SEP] 90, StoveKnob, -1.362, 1.095, -1.983, 287.970, 180, 0, [SEP] 91, StoveKnob, -0.962, 1.095, -1.983, 287.970, 180, 0, [SEP] 92, StoveKnob, -1.522, 1.095, -1.983, 287.970, 180, 0, [SEP] 93, StoveKnob, -1.112, 1.095, -1.983, 287.970, 180, 0, [SEP] 94, CoffeeMachine, 1.082, 0.900, -1.848, 0, 0, 0, [SEP] 95, GarbageCan, 1.343, 0.015, 1.041, 0, 0, 0, [SEP] 96, HousePlant, 1.440, 1.153, 0.593, 0, 0, 0, [SEP] 97, Fridge, 1.417, 0.0, 2.101, 0, 0, 0, [SEP] 98, Window, -0.486, 1.452, 3.302, 90, 0, 0, [SEP] 99, SinkBasin, -0.063, 0.765, -1.713, 0, 270, 0, [SEP] 100, Microwave, 1.422, 1.150, 0.022, 0, 270, 0, [SEP] 101, Toaster, -2.066, 0.900, -1.848, 0, 0, 0, [SEP] 102, Stool, -1.994, 0.010, 0.882, 0, 0, 0, [SEP] 103, Faucet, -0.096, 1.041, -1.867, 0, 270, 0, [SEP] 104, NorthWall, , , , , , , [SEP] 105, EastWall, , , , , , , [SEP] 106, SouthWall, , , , , , , [SEP] 107, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and go to the counter to the left of the sink. | STEP 2: Take the green apple behind the metal grater. | STEP 3: Turn around and take the apple to the trash can between the refrigerator and the counter. | STEP 4: Put the apple in the trash can. | STEP 5: Go right to the microwave above the middle of the counter. | STEP 6: Take the apple out of the microwave. | STEP 7: Take the apple to the trash can between the refrigerator and the counter. | STEP 8: Put the apple into the trash can. | END"]} +{"id": "trial_T20190907_025508_928110-0", "input": "place both CD's into the bottom drawer of the black cabinet SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.900, 0.75, 0, 270, 0, [SEP] 1, CD, -0.774, 0.900, -1.588, 0, 0, 0, 21 [SEP] 2, CD, 2.591, 0.524, 1.312, 0, 180, 0, 33 [SEP] 3, CellPhone, 0.784, 0.943, -1.937, 0, 0, 0, 27 [SEP] 4, Pen, 2.282, 0.528, 1.272, 0, 180, 0, 33 [SEP] 5, Pencil, 2.359, 0.528, 1.110, 0, 180, 0, 33 [SEP] 6, CreditCard, 0.961, 0.941, -1.993, 0, 0, 0, 27 [SEP] 7, KeyChain, 2.606, 0.290, 1.173, 0, 0, 0, 35 [SEP] 8, KeyChain, 2.436, 0.525, 1.110, 0, 180, 0, 33 [SEP] 9, Laptop, 2.329, 0.774, -0.757, 0, 180, 0, 31 [SEP] 10, Book, -0.426, 0.901, -1.495, 0, 0, 0, 21 [SEP] 11, Pen, -0.948, 0.901, -1.310, 0, 0, 0, 21 [SEP] 12, AlarmClock, -1.122, 0.902, -1.773, 0, 0, 0, 21 [SEP] 13, TeddyBear, 1.324, 0.827, -0.763, 56.834, 332.692, 298.236, 38 [SEP] 14, CellPhone, -0.600, 0.897, -1.403, 0, 0, 0, 21 [SEP] 15, Pencil, 2.436, 0.528, 1.231, 0, 180, 0, 33 [SEP] 16, Pillow, 3.173, 0.804, -0.932, 0, 0, 0, 38 [SEP] 17, Laptop, 2.054, 0.774, -1.205, 0, 180, 0, 31 [SEP] 18, KeyChain, 1.138, 0.941, -1.937, 0, 0, 0, 27 [SEP] 19, CreditCard, 1.138, 0.941, -1.826, 0, 0, 0, 27 [SEP] 20, CD, 0.607, 0.941, -1.937, 0, 0, 0, 27 [SEP] 21, Desk, -0.503, 0.006, -1.465, 0, 0, 0, [SEP] 22, Drawer, -0.945, 0.493, -1.176, 0, 0, 0, [SEP] 23, Drawer, -0.946, 0.212, -1.176, 0, 0, 0, [SEP] 24, Drawer, -0.944, 0.739, -1.176, 0, 0, 0, [SEP] 25, DeskLamp, -0.124, 0.899, -1.731, 0, 0, 0, [SEP] 26, LightSwitch, 3.513, 1.253, 0.165, 0, 270, 0, [SEP] 27, Shelf, 0.759, 0.934, -1.909, 0, 0, 0, [SEP] 28, Mirror, 2.407, 1.294, 1.401, 0, 0, 0, [SEP] 29, GarbageCan, 3.347, -0.000, -0.027, 0, 270, 0, [SEP] 30, Window, 0.717, 1.603, -2.108, 90, 0, 0, [SEP] 31, Bed, 2.301, 0.005, -1.056, 0, 270, 0, [SEP] 32, Blinds, 0.749, 2.523, -2.022, 0, 0, 0, [SEP] 33, SideTable, 2.436, 0.002, 1.143, 0, 180, 0, [SEP] 34, Drawer, 2.437, 0.122, 1.154, 0, 180, 0, [SEP] 35, Drawer, 2.437, 0.350, 1.153, 0, 180, 0, [SEP] 36, LaundryHamper, 0.359, 0.006, -1.505, 0, 280.399, 358.305, [SEP] 37, Chair, -0.308, 0.009, -1.108, 0, 166.824, 0, [SEP] 38, , , , , , , , [SEP] 39, NorthWall, , , , , , , [SEP] 40, EastWall, , , , , , , [SEP] 41, SouthWall, , , , , , , [SEP] 42, WestWall, , , , , , , ", "output": ["STEP 1: turn left and walk to the desk at the end of the room | STEP 2: pick up the CD off of the desk | STEP 3: turn around and move towards black cabinet at the opposite corner of the room | STEP 4: open the bottom drawer of the cabinet and place the CD inside | STEP 5: move left a bit to align yourself with the cabinet, and move forwards towards it | STEP 6: grab the CD off of the cabinet | STEP 7: back up a bit from the cabinet | STEP 8: place the CD in the drawer the other CD went into | END"]} +{"id": "trial_T20190907_061237_637244-2", "input": "Put the bowl with turner from the stove to the table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.900, -0.5, 0, 270, 0, [SEP] 1, Potato, -1.959, 1.081, -1.849, 0, 0, 0, 81 [SEP] 2, Potato, -2.31, 1.081, -1.763, 0, 0, 0, 81 [SEP] 3, DishSponge, -0.682, 0.110, -1.508, 0, 0, 0, 65 [SEP] 4, Pot, 1.361, 0.962, 0.561, 0, 270, 0, 56 [SEP] 5, Fork, 0.025, 0.773, 0.306, 0, 0, 0, 57 [SEP] 6, Fork, 1.663, 0.912, 0.375, 0, 90, 0, 66 [SEP] 7, Spoon, 0.167, 0.913, 0.458, 0, 0, 0, 50 [SEP] 8, Spoon, -0.971, 0.774, -1.505, 0, 0, 0, 64 [SEP] 9, Spatula, 1.601, 0.927, 0.209, 0, 90, 0, 66 [SEP] 10, Spatula, 0.300, 0.927, 0.209, 0, 180, 0, 50 [SEP] 11, Egg, -0.427, 0.105, 0.439, 0, 90, 0, 80 [SEP] 12, Egg, 1.601, 0.947, 0.706, 0, 0, 0, 66 [SEP] 13, Cup, 1.867, 0.106, 0.274, 0, 0, 0, 59 [SEP] 14, Cup, 0.167, 0.910, 0.209, 0, 0, 0, 50 [SEP] 15, Plate, 0.271, 0.109, -1.509, 0, 180, 0, 48 [SEP] 16, SoapBottle, 1.289, 0.910, -1.406, 0, 0, 0, 51 [SEP] 17, Bowl, -0.175, 0.911, -1.820, 0, 0, 0, 51 [SEP] 18, Bowl, -0.451, 0.911, -1.820, 0, 0, 0, 51 [SEP] 19, Mug, -0.198, 0.105, -1.471, 0, 0, 0, 60 [SEP] 20, Apple, -0.296, 0.137, 0.612, 0, 90, 0, 80 [SEP] 21, Apple, -1.027, 1.082, -1.770, 0, 0, 0, 73 [SEP] 22, Bread, 1.846, 0.995, 0.540, 0, 0, 0, 66 [SEP] 23, Knife, 0.035, 0.937, 0.540, 0, 0, 0, 50 [SEP] 24, Fork, -0.104, 0.774, -1.505, 0, 0, 0, 54 [SEP] 25, Bowl, -0.096, 0.911, 0.292, 0, 0, 0, 50 [SEP] 26, Kettle, 1.535, 0.913, -1.737, 0, 0, 0, 51 [SEP] 27, Cup, 1.785, 0.910, 0.292, 0, 0, 0, 66 [SEP] 28, Tomato, 0.908, 0.968, -1.848, 0, 270, 0, 49 [SEP] 29, SoapBottle, 0.649, 0.918, -1.582, 0, 270, 0, 49 [SEP] 30, Plate, 1.658, 0.913, -1.489, 0, 0, 0, 51 [SEP] 31, Pot, 1.007, 0.962, 0.561, 0, 270, 0, 53 [SEP] 32, Spatula, -0.082, 0.927, -1.654, 0, 90, 0, 51 [SEP] 33, PaperTowelRoll, -0.451, 1.016, -1.406, 0, 0, 0, 51 [SEP] 34, Egg, -0.394, 0.105, 0.612, 0, 90, 0, 80 [SEP] 35, Lettuce, 0.851, 1.001, -1.537, 0, 231.490, 0, 49 [SEP] 36, SaltShaker, -0.343, 1.325, -1.919, 0, 180, 0, 45 [SEP] 37, PepperShaker, 0.387, 0.106, 0.270, 0, 0, 0, 62 [SEP] 38, Apple, 0.804, 0.986, -1.715, 0, 270, 0, 49 [SEP] 39, ButterKnife, -0.544, 0.912, -1.820, 0, 90, 0, 51 [SEP] 40, Potato, -0.872, 1.045, -1.770, 0, 0, 0, 73 [SEP] 41, Pan, 1.022, 0.959, 0.288, 0, 219.190, 0, 63 [SEP] 42, DishSponge, -0.329, 0.069, 0.482, 0, 90, 0, 80 [SEP] 43, Spoon, 0.377, 0.777, -1.552, 0, 270, 0, 74 [SEP] 44, Mug, -2.135, 0.775, -1.849, 0, 0, 0, 81 [SEP] 45, Cabinet, -0.193, 1.688, -1.648, 0, 180, 0, [SEP] 46, StoveBurner, 1.360, 0.957, 0.293, 0, 180, 0, [SEP] 47, Drawer, 0.499, 0.792, 0.296, 0, 0, 0, [SEP] 48, Cabinet, 0.095, 0.400, -1.352, 0, 180, 0, [SEP] 49, Sink, 0.711, 0.817, -1.772, 0, 270, 0, [SEP] 50, CounterTop, 0.280, 0.947, 0.458, 0, 0, 0, [SEP] 51, CounterTop, -0.680, 0.947, -1.654, 0, 0, 0, [SEP] 52, Drawer, 1.825, 0.792, 0.296, 0, 0, 0, [SEP] 53, StoveBurner, 1.007, 0.957, 0.561, 0, 270, 0, [SEP] 54, Drawer, -0.150, 0.792, -1.496, 0, 0, 0, [SEP] 55, Drawer, -0.586, 0.792, -1.496, 0, 0, 0, [SEP] 56, StoveBurner, 1.360, 0.957, 0.561, 0, 270, 0, [SEP] 57, Drawer, 0.024, 0.792, 0.296, 0, 0, 0, [SEP] 58, Cabinet, 1.079, 0.400, -1.349, 0, 180, 0, [SEP] 59, Cabinet, 1.669, 0.402, 0.151, 0, 0, 0, [SEP] 60, Cabinet, 0.055, 0.402, -1.351, 0, 0, 0, [SEP] 61, Cabinet, -0.180, 0.402, 0.151, 0, 0, 0, [SEP] 62, Cabinet, 0.729, 0.402, 0.151, 0, 0, 0, [SEP] 63, StoveBurner, 1.007, 0.957, 0.293, 0, 180, 0, [SEP] 64, Drawer, -1.100, 0.792, -1.496, 0, 0, 0, [SEP] 65, Cabinet, -0.396, 0.402, -1.351, 0, 0, 0, [SEP] 66, CounterTop, 1.776, 0.947, 0.458, 0, 0, 0, [SEP] 67, Cabinet, 1.974, 1.688, -1.648, 0, 180, 0, [SEP] 68, Cabinet, -0.820, 0.400, -1.349, 0, 180, 0, [SEP] 69, Toaster, 0.305, 0.900, 0.552, 0, 180, 0, [SEP] 70, LightSwitch, -2.756, 1.307, -0.987, 0, 90, 0, [SEP] 71, Window, 0.582, 1.613, -1.967, 90, 0, 0, [SEP] 72, Window, 1.969, 1.5, -0.615, 90, 270, 0, [SEP] 73, Microwave, -1.037, 0.900, -1.723, 0, 0, 0, [SEP] 74, SinkBasin, 0.377, 0.765, -1.655, 0, 270, 0, [SEP] 75, CoffeeMachine, 0.618, 0.900, 0.600, 0, 180, 0, [SEP] 76, StoveKnob, 1.246, 0.913, 0.118, 45, 180, 0, [SEP] 77, StoveKnob, 1.373, 0.913, 0.118, 45, 180, 0, [SEP] 78, StoveKnob, 0.995, 0.913, 0.118, 45, 180, 0, [SEP] 79, StoveKnob, 1.126, 0.913, 0.118, 45, 180, 0, [SEP] 80, GarbageCan, -0.368, -0.029, 0.539, 0, 90, 0, [SEP] 81, Fridge, -2.134, 0.0, -1.690, 0, 0, 0, [SEP] 82, Faucet, 0.549, 1.046, -1.833, 0, 232.527, 0, [SEP] 83, Stool, -1.475, 0.000, 0.414, 1.233, 280.375, 0, [SEP] 84, DiningTable, -2.255, -0.004, 0.432, 0, 0, 0, [SEP] 85, NorthWall, , , , , , , [SEP] 86, EastWall, , , , , , , [SEP] 87, SouthWall, , , , , , , [SEP] 88, WestWall, , , , , , , ", "output": ["STEP 1: Turn to your right and face the counter top on the left side of the stove | STEP 2: Pick the turner on the edge of the counter top | STEP 3: Turn to your right then face the stove | STEP 4: Put the turner in the bowl on the stove | STEP 5: Pick up the bowl with turner on the stove | STEP 6: Turn to your left and head to the table beside the door | STEP 7: Put the bowl with turner on the right side of the table | END"]} +{"id": "trial_T20190918_172510_077609-0", "input": "Move the mug to the table, place a fork in mug. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.900, 3.0, 0, 270, 0, [SEP] 1, Potato, 0.064, 1.132, 0.278, 0, 0, 0, 74 [SEP] 2, Potato, 2.009, 1.550, 5.251, 0, 270, 0, 80 [SEP] 3, DishSponge, 0.123, 0.759, 6.107, 0, 135, 0, 94 [SEP] 4, ButterKnife, -0.413, 0.772, 0.451, 0, 0, 0, 54 [SEP] 5, Kettle, 1.562, 0.988, 3.848, 0, 0, 0, 52 [SEP] 6, Spoon, 1.225, 0.993, 0.440, 0, 0, 0, 58 [SEP] 7, Spatula, -0.011, 0.786, 0.618, 0, 270, 0, 55 [SEP] 8, Fork, 0.305, 0.760, 6.416, 0, 270, 0, 94 [SEP] 9, Fork, 1.404, 0.772, 3.223, 0, 0, 0, 51 [SEP] 10, Fork, -0.034, 0.760, 6.478, 0, 0, 0, 94 [SEP] 11, Egg, 1.966, 1.565, 5.501, 0, 270, 0, 80 [SEP] 12, Cup, 0.301, 0.756, 6.674, 0, 225, 0, 94 [SEP] 13, Cup, -0.003, 0.756, 6.291, 0, 270, 0, 94 [SEP] 14, Knife, -0.481, 0.802, 0.451, 0, 90, 0, 54 [SEP] 15, Knife, -0.312, 0.789, 6.541, 0, 0, 0, 94 [SEP] 16, Tomato, 0.212, 0.809, 6.196, 0, 135, 0, 94 [SEP] 17, Tomato, -0.221, 0.809, 6.787, 0, 0, 0, 94 [SEP] 18, SoapBottle, 0.885, 0.143, 0.497, 0, 0, 0, 64 [SEP] 19, SoapBottle, 1.540, 2.207, 4.175, 0, 0, 0, 46 [SEP] 20, PepperShaker, 1.135, 0.987, 4.670, 0, 0, 0, 59 [SEP] 21, PepperShaker, -0.413, 0.139, 0.277, 0, 0, 0, 66 [SEP] 22, Mug, 0.273, 1.092, 0.278, 0, 0, 0, 74 [SEP] 23, Bowl, 1.406, 0.139, 3.217, 0, 0, 0, 69 [SEP] 24, Bread, 1.493, 1.062, 0.440, 0, 0, 0, 58 [SEP] 25, Egg, 2.009, 1.565, 6.001, 0, 270, 0, 80 [SEP] 26, Knife, 0.668, 0.802, 0.451, 0, 90, 0, 50 [SEP] 27, Fork, -0.034, 0.760, 6.632, 0, 0, 0, 94 [SEP] 28, Apple, 1.442, 0.965, 2.576, 0, 90, 0, 81 [SEP] 29, Kettle, 1.573, 0.141, 1.938, 0, 0, 0, 47 [SEP] 30, Plate, 1.322, 0.141, 1.938, 0, 0, 0, 47 [SEP] 31, SaltShaker, 0.028, 0.755, 6.787, 0, 0, 0, 94 [SEP] 32, Lettuce, 0.696, 1.081, 0.578, 0, 0, 0, 58 [SEP] 33, SoapBottle, 1.455, 1.576, 4.754, 0, 0, 0, 62 [SEP] 34, Spatula, 0.544, 1.007, 0.212, 0, 90, 0, 58 [SEP] 35, PaperTowelRoll, 1.956, 0.185, 6.498, 0, 0, 0, 82 [SEP] 36, Pot, 1.559, 0.988, 4.294, 0, 0, 0, 56 [SEP] 37, Potato, 2.051, 1.550, 5.376, 0, 270, 0, 80 [SEP] 38, ButterKnife, -0.079, 0.771, 0.507, 0, 90, 0, 55 [SEP] 39, PepperShaker, -0.399, 0.755, 6.895, 0, 135, 0, 94 [SEP] 40, Pan, 0.885, 0.141, 0.260, 0, 90, 0, 64 [SEP] 41, Tomato, -0.158, 0.809, 6.291, 0, 270, 0, 94 [SEP] 42, DishSponge, 0.169, 0.759, 6.807, 0, 225, 0, 94 [SEP] 43, Cup, -0.312, 0.756, 6.666, 0, 270, 0, 94 [SEP] 44, Spoon, 0.056, 0.773, 0.618, 0, 0, 0, 55 [SEP] 45, Mug, 1.384, 1.043, 0.847, 0, 270, 0, 58 [SEP] 46, Cabinet, 1.307, 2.455, 4.360, 0, 0, 0, [SEP] 47, Cabinet, 1.054, 0.422, 1.710, 0, 0, 0, [SEP] 48, Drawer, 1.280, 0.808, 4.718, 0, 0, 0, [SEP] 49, Cabinet, 1.307, 2.455, 3.607, 0, 0, 0, [SEP] 50, Drawer, 0.736, 0.802, 0.521, 0, 0, 0, [SEP] 51, Drawer, 1.276, 0.802, 3.291, 0, 0, 0, [SEP] 52, StoveBurner, 1.562, 0.982, 3.848, 0, 0, 0, [SEP] 53, StoveBurner, 1.317, 0.982, 4.294, 0, 0, 0, [SEP] 54, Drawer, -0.482, 0.802, 0.521, 0, 0, 0, [SEP] 55, Drawer, 0.124, 0.802, 0.521, 0, 0, 0, [SEP] 56, StoveBurner, 1.559, 0.982, 4.294, 0, 0, 0, [SEP] 57, StoveBurner, 1.320, 0.982, 3.848, 0, 0, 0, [SEP] 58, CounterTop, 1.391, 1.028, 0.897, 0, 0, 0, [SEP] 59, CounterTop, 1.391, 1.028, 4.716, 0, 0, 0, [SEP] 60, Cabinet, 1.054, 0.422, 4.548, 0, 0, 0, [SEP] 61, Cabinet, 1.317, 2.134, 0.517, 0, 0, 0, [SEP] 62, Cabinet, 1.317, 2.134, 4.889, 0, 0, 0, [SEP] 63, Cabinet, 1.317, 2.134, 3.095, 0, 0, 0, [SEP] 64, Cabinet, 0.443, 0.422, 0.743, 0, 0, 0, [SEP] 65, Cabinet, 1.270, 2.134, 0.434, 0, 0, 0, [SEP] 66, Cabinet, -0.775, 0.422, 0.743, 0, 0, 0, [SEP] 67, Cabinet, -0.168, 0.422, 0.743, 0, 0, 0, [SEP] 68, Cabinet, 1.317, 2.134, 1.534, 0, 0, 0, [SEP] 69, Cabinet, 1.054, 0.422, 2.990, 0, 0, 0, [SEP] 70, Cabinet, 1.054, 0.422, 2.944, 0, 0, 0, [SEP] 71, Cabinet, -0.263, 2.134, 0.434, 0, 0, 0, [SEP] 72, Cabinet, 0.252, 2.134, 0.434, 0, 0, 0, [SEP] 73, Sink, 1.391, 1.006, 2.326, 0, 0, 0, [SEP] 74, Microwave, 0.108, 0.981, 0.262, 0, 0, 0, [SEP] 75, HousePlant, -0.165, 0.826, 6.444, 0, 0, 0, [SEP] 76, CoffeeMachine, 1.551, 0.982, 0.953, 0, 270, 0, [SEP] 77, Toaster, 1.473, 0.981, 4.715, 0, 270, 0, [SEP] 78, Window, -2.065, 1.916, 3.626, 90, 90, 0, [SEP] 79, Window, 1.763, 2.007, 2.299, 90, 270, 0, [SEP] 80, Fridge, 2.035, 0.0, 5.625, 0, 0, 0, [SEP] 81, SinkBasin, 1.387, 0.880, 2.338, 0, 90, 0, [SEP] 82, GarbageCan, 2.001, -0.044, 6.503, 0, 0, 0, [SEP] 83, StoveKnob, 1.140, 0.934, 3.987, 45, 270, 0, [SEP] 84, StoveKnob, 1.140, 0.934, 4.309, 45, 270, 0, [SEP] 85, StoveKnob, 1.140, 0.934, 4.140, 45, 270, 0, [SEP] 86, StoveKnob, 1.140, 0.934, 3.824, 45, 270, 0, [SEP] 87, Vase, -0.226, 0.834, 6.993, 0, 0, 0, [SEP] 88, Vase, 2.098, 0.043, 7.070, 0, 257.232, 0, [SEP] 89, Vase, -0.594, 0.835, 6.130, 0, 225, 0, [SEP] 90, LightSwitch, -2.0, 1.549, 6.045, 0, 90, 0, [SEP] 91, Safe, 2.046, 1.072, 7.054, 0, 257.232, 0, [SEP] 92, Faucet, 1.534, 1.025, 2.371, 0, 294.391, 0, [SEP] 93, Blinds, 1.738, 2.563, 2.312, 0, 90, 0, [SEP] 94, DiningTable, -0.156, 0.000, 6.474, 0, 0, 0, [SEP] 95, Chair, 0.291, 0.002, 6.142, 0, 310.162, 0, [SEP] 96, GarbageBag, -1.092, 0.318, 0.268, 270, 90, 83.492, [SEP] 97, NorthWall, , , , , , , [SEP] 98, EastWall, , , , , , , [SEP] 99, SouthWall, , , , , , , [SEP] 100, WestWall, , , , , , , ", "output": ["STEP 1: Turn left, walk to counter, right to the coffee maker | STEP 2: Pick up the mug from the coffee maker. | STEP 3: Walk left to the right side of the table. | STEP 4: Place mug on table between the forks. | STEP 5: Pick up fork closest to the plant. | STEP 6: Place the fork in the mug. | END"]} +{"id": "trial_T20190907_133523_594762-1", "input": "To put the pen on the bedside table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.900, -0.25, 0, 90, 0, [SEP] 1, Mug, 0.996, 0.677, -2.598, 0, 90, 0, 34 [SEP] 2, CD, 0.033, 0.618, 0.910, 0, 180, 0, 32 [SEP] 3, CellPhone, -1.381, 0.680, -2.419, 0, 0, 0, 33 [SEP] 4, Pencil, -0.431, 0.623, 0.910, 0, 180, 0, 32 [SEP] 5, KeyChain, -1.117, 0.084, -2.375, 0, 0, 0, 36 [SEP] 6, Pillow, 0.247, 0.653, -1.211, 0, 0, 0, 20 [SEP] 7, Box, 2.453, 0.222, -0.041, 0, 0, 0, [SEP] 8, Book, -1.085, 0.678, -2.508, 0, 0, 0, 33 [SEP] 9, KeyChain, -1.290, 0.084, -2.423, 0, 90, 0, 36 [SEP] 10, Pillow, -0.300, 0.653, -1.211, 0, 0, 0, 20 [SEP] 11, BaseballBat, 0.419, 0.666, 1.044, 10.360, 0, 0, [SEP] 12, Pencil, 0.188, 0.625, 0.910, 0, 180, 0, 32 [SEP] 13, CellPhone, -0.276, 0.620, 0.833, 0, 180, 0, 32 [SEP] 14, CreditCard, -1.322, 0.679, -2.598, 0, 0, 0, 33 [SEP] 15, Pen, -0.121, 0.624, 0.677, 0, 180, 0, 32 [SEP] 16, Laptop, 0.247, 0.554, -1.657, 0, 0, 0, 20 [SEP] 17, AlarmClock, -0.121, 0.621, 0.988, 0, 180, 0, 32 [SEP] 18, CD, 0.995, 0.374, -2.399, 0, 0, 0, 37 [SEP] 19, Mug, -1.144, 0.677, -2.374, 0, 0, 0, 33 [SEP] 20, Bed, -0.118, -0.001, -1.699, 0, 180, 0, [SEP] 21, Mirror, 2.644, 1.347, 0.384, 0, 90, 0, [SEP] 22, GarbageCan, 2.467, -0.029, 0.936, 0, 271.107, 0, [SEP] 23, LightSwitch, 0.333, 1.256, 1.149, 0, 180, 0, [SEP] 24, DeskLamp, 0.915, 0.670, -2.435, 0, 0, 0, [SEP] 25, Painting, 0.003, 1.562, -2.687, 90, 180, 0, [SEP] 26, Window, -1.559, 1.414, -1.356, 90, 270, 0, [SEP] 27, Window, -1.559, 1.414, -0.057, 90, 270, 0, [SEP] 28, Shelf, -0.276, 0.351, 0.832, 0, 0, 0, [SEP] 29, Shelf, -0.276, 0.099, 0.832, 0, 0, 0, [SEP] 30, Blinds, -1.462, 2.157, -1.343, 0, 90, 0, [SEP] 31, Blinds, -1.462, 2.157, -0.046, 0, 90, 0, [SEP] 32, Desk, -0.276, -0.001, 0.833, 0, 0, 0, [SEP] 33, SideTable, -1.204, 0.002, -2.456, 0, 0, 0, [SEP] 34, SideTable, 0.948, 0.002, -2.456, 0, 0, 0, [SEP] 35, Drawer, 0.948, 0.166, -2.389, 0, 0, 0, [SEP] 36, Drawer, -1.204, 0.166, -2.389, 0, 0, 0, [SEP] 37, Drawer, 0.948, 0.458, -2.389, 0, 0, 0, [SEP] 38, Drawer, -1.204, 0.458, -2.389, 0, 0, 0, [SEP] 39, , , , , , , , [SEP] 40, NorthWall, , , , , , , [SEP] 41, EastWall, , , , , , , [SEP] 42, SouthWall, , , , , , , [SEP] 43, WestWall, , , , , , , ", "output": ["STEP 1: Turn to the left and walk to the table. | STEP 2: Take the pen on the lower edge of the table. | STEP 3: Turn to the left and walk across the room, then turn to the right and walk across the room to the table. | STEP 4: Place the pen on the lower edge of the table below the cell phone. | END"]} +{"id": "trial_T20190907_133523_594762-2", "input": "Move a pen from a regular table to an end table by a bed. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.900, -0.25, 0, 90, 0, [SEP] 1, Mug, 0.996, 0.677, -2.598, 0, 90, 0, 34 [SEP] 2, CD, 0.033, 0.618, 0.910, 0, 180, 0, 32 [SEP] 3, CellPhone, -1.381, 0.680, -2.419, 0, 0, 0, 33 [SEP] 4, Pencil, -0.431, 0.623, 0.910, 0, 180, 0, 32 [SEP] 5, KeyChain, -1.117, 0.084, -2.375, 0, 0, 0, 36 [SEP] 6, Pillow, 0.247, 0.653, -1.211, 0, 0, 0, 20 [SEP] 7, Box, 2.453, 0.222, -0.041, 0, 0, 0, [SEP] 8, Book, -1.085, 0.678, -2.508, 0, 0, 0, 33 [SEP] 9, KeyChain, -1.290, 0.084, -2.423, 0, 90, 0, 36 [SEP] 10, Pillow, -0.300, 0.653, -1.211, 0, 0, 0, 20 [SEP] 11, BaseballBat, 0.419, 0.666, 1.044, 10.360, 0, 0, [SEP] 12, Pencil, 0.188, 0.625, 0.910, 0, 180, 0, 32 [SEP] 13, CellPhone, -0.276, 0.620, 0.833, 0, 180, 0, 32 [SEP] 14, CreditCard, -1.322, 0.679, -2.598, 0, 0, 0, 33 [SEP] 15, Pen, -0.121, 0.624, 0.677, 0, 180, 0, 32 [SEP] 16, Laptop, 0.247, 0.554, -1.657, 0, 0, 0, 20 [SEP] 17, AlarmClock, -0.121, 0.621, 0.988, 0, 180, 0, 32 [SEP] 18, CD, 0.995, 0.374, -2.399, 0, 0, 0, 37 [SEP] 19, Mug, -1.144, 0.677, -2.374, 0, 0, 0, 33 [SEP] 20, Bed, -0.118, -0.001, -1.699, 0, 180, 0, [SEP] 21, Mirror, 2.644, 1.347, 0.384, 0, 90, 0, [SEP] 22, GarbageCan, 2.467, -0.029, 0.936, 0, 271.107, 0, [SEP] 23, LightSwitch, 0.333, 1.256, 1.149, 0, 180, 0, [SEP] 24, DeskLamp, 0.915, 0.670, -2.435, 0, 0, 0, [SEP] 25, Painting, 0.003, 1.562, -2.687, 90, 180, 0, [SEP] 26, Window, -1.559, 1.414, -1.356, 90, 270, 0, [SEP] 27, Window, -1.559, 1.414, -0.057, 90, 270, 0, [SEP] 28, Shelf, -0.276, 0.351, 0.832, 0, 0, 0, [SEP] 29, Shelf, -0.276, 0.099, 0.832, 0, 0, 0, [SEP] 30, Blinds, -1.462, 2.157, -1.343, 0, 90, 0, [SEP] 31, Blinds, -1.462, 2.157, -0.046, 0, 90, 0, [SEP] 32, Desk, -0.276, -0.001, 0.833, 0, 0, 0, [SEP] 33, SideTable, -1.204, 0.002, -2.456, 0, 0, 0, [SEP] 34, SideTable, 0.948, 0.002, -2.456, 0, 0, 0, [SEP] 35, Drawer, 0.948, 0.166, -2.389, 0, 0, 0, [SEP] 36, Drawer, -1.204, 0.166, -2.389, 0, 0, 0, [SEP] 37, Drawer, 0.948, 0.458, -2.389, 0, 0, 0, [SEP] 38, Drawer, -1.204, 0.458, -2.389, 0, 0, 0, [SEP] 39, , , , , , , , [SEP] 40, NorthWall, , , , , , , [SEP] 41, EastWall, , , , , , , [SEP] 42, SouthWall, , , , , , , [SEP] 43, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and walk slightly forward to the table. | STEP 2: Pick up the pen from the table. | STEP 3: Turn around and go to the end table to the right of the bed. | STEP 4: Put the pen on the end table, on top of the objects at the front of it. | END"]} +{"id": "trial_T20190907_015302_393205-1", "input": "Grab the box on the sofa, turn on the floor lamp SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.75, 0.900, -1.5, 0, 0, 0, [SEP] 1, Plate, 1.662, 0.789, -0.045, 0, 0, 0, 36 [SEP] 2, KeyChain, 2.327, 0.784, -0.538, 0, 0, 0, 36 [SEP] 3, CreditCard, -2.242, 0.711, 2.919, 0, 0, 0, 33 [SEP] 4, CreditCard, 2.105, 0.784, -0.168, 0, 0, 0, 36 [SEP] 5, Box, -3.341, 0.736, 0.468, 0, 0, 0, 31 [SEP] 6, Candle, 1.884, 0.784, -0.292, 0, 0, 0, 36 [SEP] 7, Vase, -1.774, 0.447, 0.145, 0, 0, 0, 37 [SEP] 8, CreditCard, -1.516, 0.232, 2.825, 0, 0, 0, 32 [SEP] 9, Vase, 2.548, 0.793, -0.661, 0, 0, 0, 36 [SEP] 10, WateringCan, -3.252, -0.000, -1.861, 0, 0, 0, [SEP] 11, Laptop, -2.102, 0.445, 0.273, 0, 0, 0, 37 [SEP] 12, RemoteControl, -0.559, 0.192, 1.923, 0, 270, 0, 28 [SEP] 13, Statue, -3.592, 0.705, 1.431, 0, 90, 0, 34 [SEP] 14, KeyChain, -2.102, 0.447, -0.364, 0, 0, 0, 37 [SEP] 15, Pillow, -3.428, 0.645, -0.807, 0, 0, 0, 31 [SEP] 16, Plate, 2.105, 0.789, -0.415, 0, 0, 0, 36 [SEP] 17, Statue, -1.747, 0.242, 2.750, 0, 0, 0, 32 [SEP] 18, LightSwitch, -3.900, 1.284, 1.684, 0, 90, 0, [SEP] 19, GarbageCan, 0.299, 5.066, 1.253, 0, 2.215, 0, [SEP] 20, FloorLamp, -0.331, 0.001, 2.728, 0, 0, 0, [SEP] 21, Painting, -0.056, 1.601, 1.733, 90, 270, 0, [SEP] 22, Painting, 4.136, 1.590, -0.296, 90, 270, 0, [SEP] 23, Television, -1.859, 1.200, 2.702, 358.970, 180, 0, [SEP] 24, HousePlant, -3.580, 0.604, -1.617, 0, 0, 0, [SEP] 25, Window, 1.478, 1.506, -1.927, 90, 0, 0, [SEP] 26, Window, -2.003, 1.506, -1.927, 90, 0, 0, [SEP] 27, Window, 3.480, 1.506, -1.927, 90, 0, 0, [SEP] 28, ArmChair, -0.437, 0.005, 1.923, 0, 270, 0, [SEP] 29, ArmChair, -0.430, 0.005, 1.062, 0, 270, 0, [SEP] 30, ArmChair, -2.004, 0.005, -1.578, 0, 0, 0, [SEP] 31, Sofa, -3.419, 0.009, -0.042, 0, 90, 0, [SEP] 32, DiningTable, -1.857, 0.231, 2.787, 0, 0, 0, [SEP] 33, TVStand, -1.857, 0.000, 2.788, 0, 0, 0, [SEP] 34, SideTable, -3.597, 0.004, 1.437, 0, 0, 0, [SEP] 35, SideTable, -3.597, 0.004, -1.607, 0, 0, 0, [SEP] 36, DiningTable, 1.883, 0.000, -0.291, 0, 0, 0, [SEP] 37, CoffeeTable, -2.023, 0.005, 0.018, 0, 270, 0, [SEP] 38, Chair, 1.462, -0.001, 0.195, 0, 164.999, 0, [SEP] 39, Chair, 2.288, -0.001, -0.780, 0, 0, 0, [SEP] 40, Chair, 2.223, -0.001, 0.149, 0, 186.648, 0, [SEP] 41, Chair, 1.638, -0.001, -0.847, 0, 0, 0, [SEP] 42, NorthWall, , , , , , , [SEP] 43, EastWall, , , , , , , [SEP] 44, SouthWall, , , , , , , [SEP] 45, WestWall, , , , , , , ", "output": ["STEP 1: Walk straight to the box | STEP 2: Grab the box on the sofa | STEP 3: Turn right and turn right, walk to the corner with a floor lamp | STEP 4: Turn on the floor lamp | END"]} +{"id": "trial_T20190908_180057_183102-0", "input": "To move two soap bars to the front of the floor of the tub. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, 0.25, 0, 270, 0, [SEP] 1, Cloth, -0.599, 0.926, -1.534, 347.851, 0, 0, 34 [SEP] 2, Cloth, 1.000, 0.171, -0.962, 0, 270, 0, 35 [SEP] 3, SoapBar, -1.411, 0.017, -1.536, 0, 0, 0, 17 [SEP] 4, SprayBottle, 0.099, 0.153, -1.598, 0, 90, 0, 38 [SEP] 5, SoapBottle, -1.932, 1.046, 0.337, 0, 90, 0, 39 [SEP] 6, Towel, 0.89, 1.368, -1.755, 0, 0, 0, 31 [SEP] 7, HandTowel, -2.028, 1.492, -1.482, 0, 270, 0, 37 [SEP] 8, SoapBar, 0.466, 0.591, -1.641, 0, 0, 0, 26 [SEP] 9, ToiletPaper, -1.199, 0.919, 0.680, 0, 180, 270, 32 [SEP] 10, ToiletPaper, -1.960, 0.013, -1.588, 0, 0, 0, 27 [SEP] 11, Cloth, -0.196, 0.018, -1.486, 0, 0, 0, 24 [SEP] 12, SprayBottle, -0.121, 0.910, -1.349, 0, 0, 0, 21 [SEP] 13, ScrubBrush, -1.648, -0.000, 0.649, 0, 0, 0, Floor|-00.27| [SEP] 14, Plunger, -1.885, -0.001, 0.609, 0, 0, 0, Floor|-00.27| [SEP] 15, Candle, -1.550, 0.907, -1.314, 0, 0, 0, 36 [SEP] 16, SoapBottle, -0.949, 0.911, -1.554, 0, 0, 0, 21 [SEP] 17, Cabinet, -1.052, 0.340, -1.327, 0, 0, 0, [SEP] 18, Cabinet, -1.039, 0.340, -1.327, 0, 0, 0, [SEP] 19, ShowerGlass, 0.919, 1.417, -0.206, 0, 0, 0, [SEP] 20, Sink, -1.560, 0.811, -1.598, 0, 0, 0, [SEP] 21, CounterTop, -1.041, 0.884, -1.531, 0, 0, 0, [SEP] 22, ShowerDoor, 0.451, 0.926, 0.696, 0, 0, 0, [SEP] 23, Faucet, -0.505, 0.898, -1.779, 0, 0, 0, [SEP] 24, Cabinet, -0.071, 0.340, -1.327, 0, 0, 0, [SEP] 25, Mirror, -1.014, 1.501, -1.840, 0, 0, 0, [SEP] 26, Bathtub, 0.883, 0.392, -1.154, 0, 0, 0, [SEP] 27, Cabinet, -2.020, 0.340, -1.327, 0, 0, 0, [SEP] 28, Sink, -0.526, 0.811, -1.598, 0, 0, 0, [SEP] 29, Window, 1.532, 1.672, -1.037, 0, 0, 0, [SEP] 30, ShowerCurtain, 0.460, 1.777, -1.522, 0, 0, 0, [SEP] 31, TowelHolder, 0.889, 1.353, -1.861, 0, 0, 0, [SEP] 32, ToiletPaperHanger, -1.182, 0.919, 0.768, 0, 180, 0, [SEP] 33, LightSwitch, 0.224, 1.333, 0.762, 0, 180, 0, [SEP] 34, SinkBasin, -0.536, 0.917, -1.532, 347.851, 0, 0, [SEP] 35, BathtubBasin, 0.938, 0.160, -1.126, 0, 270, 0, [SEP] 36, SinkBasin, -1.571, 0.917, -1.532, 347.851, 0, 0, [SEP] 37, HandTowelHolder, -2.066, 1.594, -1.482, 0, 0, 0, [SEP] 38, GarbageCan, 0.122, -0.002, -1.558, 0, 270, 0, [SEP] 39, Toilet, -1.610, -0.000, 0.209, 0, 180, 0, [SEP] 40, Faucet, -1.537, 0.898, -1.779, 0, 0, 0, [SEP] 41, Faucet, 0.929, 0.509, -1.978, 0, 0, 0, [SEP] 42, Faucet, 0.890, 1.689, 0.724, 0, 0, 0, [SEP] 43, NorthWall, , , , , , , [SEP] 44, EastWall, , , , , , , [SEP] 45, SouthWall, , , , , , , [SEP] 46, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk forward to face the back of the bath tub. | STEP 2: Pick up the bar of soap on the bath tub. | STEP 3: Take a step to the left to face the front of the bath tub. | STEP 4: Place the soap in the front of the bath tub. | STEP 5: Turn around and walk forward and turn left to face the cabinet below the left side of the sink. | STEP 6: Pick up the bar of soap in the cabinet under the right side of the sink. | STEP 7: Turn left and walk forward to face the front of the bath tub. | STEP 8: Place the bar of soap next to the first bar of soap. | END"]} +{"id": "trial_T20190908_180057_183102-2", "input": "Place two pink sponges in bathtub with black rag SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, 0.25, 0, 270, 0, [SEP] 1, Cloth, -0.599, 0.926, -1.534, 347.851, 0, 0, 34 [SEP] 2, Cloth, 1.000, 0.171, -0.962, 0, 270, 0, 35 [SEP] 3, SoapBar, -1.411, 0.017, -1.536, 0, 0, 0, 17 [SEP] 4, SprayBottle, 0.099, 0.153, -1.598, 0, 90, 0, 38 [SEP] 5, SoapBottle, -1.932, 1.046, 0.337, 0, 90, 0, 39 [SEP] 6, Towel, 0.89, 1.368, -1.755, 0, 0, 0, 31 [SEP] 7, HandTowel, -2.028, 1.492, -1.482, 0, 270, 0, 37 [SEP] 8, SoapBar, 0.466, 0.591, -1.641, 0, 0, 0, 26 [SEP] 9, ToiletPaper, -1.199, 0.919, 0.680, 0, 180, 270, 32 [SEP] 10, ToiletPaper, -1.960, 0.013, -1.588, 0, 0, 0, 27 [SEP] 11, Cloth, -0.196, 0.018, -1.486, 0, 0, 0, 24 [SEP] 12, SprayBottle, -0.121, 0.910, -1.349, 0, 0, 0, 21 [SEP] 13, ScrubBrush, -1.648, -0.000, 0.649, 0, 0, 0, Floor|-00.27| [SEP] 14, Plunger, -1.885, -0.001, 0.609, 0, 0, 0, Floor|-00.27| [SEP] 15, Candle, -1.550, 0.907, -1.314, 0, 0, 0, 36 [SEP] 16, SoapBottle, -0.949, 0.911, -1.554, 0, 0, 0, 21 [SEP] 17, Cabinet, -1.052, 0.340, -1.327, 0, 0, 0, [SEP] 18, Cabinet, -1.039, 0.340, -1.327, 0, 0, 0, [SEP] 19, ShowerGlass, 0.919, 1.417, -0.206, 0, 0, 0, [SEP] 20, Sink, -1.560, 0.811, -1.598, 0, 0, 0, [SEP] 21, CounterTop, -1.041, 0.884, -1.531, 0, 0, 0, [SEP] 22, ShowerDoor, 0.451, 0.926, 0.696, 0, 0, 0, [SEP] 23, Faucet, -0.505, 0.898, -1.779, 0, 0, 0, [SEP] 24, Cabinet, -0.071, 0.340, -1.327, 0, 0, 0, [SEP] 25, Mirror, -1.014, 1.501, -1.840, 0, 0, 0, [SEP] 26, Bathtub, 0.883, 0.392, -1.154, 0, 0, 0, [SEP] 27, Cabinet, -2.020, 0.340, -1.327, 0, 0, 0, [SEP] 28, Sink, -0.526, 0.811, -1.598, 0, 0, 0, [SEP] 29, Window, 1.532, 1.672, -1.037, 0, 0, 0, [SEP] 30, ShowerCurtain, 0.460, 1.777, -1.522, 0, 0, 0, [SEP] 31, TowelHolder, 0.889, 1.353, -1.861, 0, 0, 0, [SEP] 32, ToiletPaperHanger, -1.182, 0.919, 0.768, 0, 180, 0, [SEP] 33, LightSwitch, 0.224, 1.333, 0.762, 0, 180, 0, [SEP] 34, SinkBasin, -0.536, 0.917, -1.532, 347.851, 0, 0, [SEP] 35, BathtubBasin, 0.938, 0.160, -1.126, 0, 270, 0, [SEP] 36, SinkBasin, -1.571, 0.917, -1.532, 347.851, 0, 0, [SEP] 37, HandTowelHolder, -2.066, 1.594, -1.482, 0, 0, 0, [SEP] 38, GarbageCan, 0.122, -0.002, -1.558, 0, 270, 0, [SEP] 39, Toilet, -1.610, -0.000, 0.209, 0, 180, 0, [SEP] 40, Faucet, -1.537, 0.898, -1.779, 0, 0, 0, [SEP] 41, Faucet, 0.929, 0.509, -1.978, 0, 0, 0, [SEP] 42, Faucet, 0.890, 1.689, 0.724, 0, 0, 0, [SEP] 43, NorthWall, , , , , , , [SEP] 44, EastWall, , , , , , , [SEP] 45, SouthWall, , , , , , , [SEP] 46, WestWall, , , , , , , ", "output": ["STEP 1: turn right, go to green bin to the left of counter with sink | STEP 2: pick up pink sponge from behind curtain on bathtub | STEP 3: turn left, face bathtub with black cloth | STEP 4: place pink sponge in bathtub in front of black cloth | STEP 5: turn around, go to second cabinet from the wall on the left | STEP 6: open cabinet, pick up pink sponge from cabinet, close cabinet | STEP 7: turn left, go to bathtub | STEP 8: place pink sponge in bathtub to the left of pink sponge | END"]} +{"id": "trial_T20190909_062522_378924-2", "input": "Move two bars of soap into a bathtub. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.900, 2.5, 0, 180, 0, [SEP] 1, SoapBar, -1.839, 0.770, 3.098, 0, 0, 0, 19 [SEP] 2, SoapBar, -1.952, 1.044, 1.878, 0, 90, 0, 37 [SEP] 3, Candle, -1.839, 0.772, 2.491, 0, 0, 0, 19 [SEP] 4, SoapBottle, -1.700, 0.069, 2.962, 0, 0, 0, 27 [SEP] 5, SoapBottle, -1.856, 0.018, 2.246, 0, 90, 0, 21 [SEP] 6, ToiletPaper, -1.782, 0.064, 3.575, 0, 0, 0, 24 [SEP] 7, Towel, -0.07, 1.284, 0.106, 0, 0, 0, 29 [SEP] 8, HandTowel, -1.731, 1.333, 3.961, 0, 0, 0, 31 [SEP] 9, SoapBar, -0.414, 0.446, 0.200, 0, 0, 0, 18 [SEP] 10, ToiletPaper, -1.831, 0.584, 2.390, 0, 180, 90, 34 [SEP] 11, ToiletPaper, -0.414, 0.443, 0.090, 0, 0, 0, 18 [SEP] 12, Cloth, -1.592, 0.074, 0.213, 0, 0, 0, 20 [SEP] 13, SprayBottle, -1.864, 0.069, 3.540, 0, 0, 0, 24 [SEP] 14, Candle, 0.499, 1.160, 3.765, 0, 0, 0, 48 [SEP] 15, ScrubBrush, -1.664, -0.000, 3.897, 0, 0, 0, Floor|-02.00| [SEP] 16, Plunger, -1.888, -0.000, 3.885, 0, 0, 0, Floor|-02.00| [SEP] 17, SoapBottle, -1.867, 0.069, 3.212, 0, 0, 0, 28 [SEP] 18, Bathtub, -1.414, -0.002, 0.563, 0, 0, 0, [SEP] 19, CounterTop, -1.799, 0.746, 3.122, 0, 0, 0, [SEP] 20, BathtubBasin, -1.613, 0.052, 0.540, 0, 0, 0, [SEP] 21, Cabinet, -1.613, 0.309, 2.493, 0, 0, 0, [SEP] 22, ShowerDoor, 0.527, 1.037, 2.115, 0, 0, 0, [SEP] 23, Mirror, -1.993, 1.424, 3.107, 0, 0, 0, [SEP] 24, Cabinet, -1.613, 0.309, 3.754, 0, 0, 0, [SEP] 25, Faucet, -1.873, 0.461, 0.641, 0, 0, 0, [SEP] 26, Sink, -1.834, 0.685, 2.777, 0, 90, 0, [SEP] 27, Cabinet, -1.613, 0.309, 3.105, 0, 0, 0, [SEP] 28, Cabinet, -1.613, 0.309, 3.140, 0, 0, 0, [SEP] 29, TowelHolder, -0.070, 1.269, 0.0, 0, 0, 0, [SEP] 30, GarbageCan, 0.932, -0.029, 3.761, 0, 0, 0, [SEP] 31, HandTowelHolder, -1.730, 1.434, 4.0, 0, 90, 0, [SEP] 32, Window, -1.039, 1.393, 0.018, 90, 0, 0, [SEP] 33, Window, -1.986, 1.392, 0.706, 90, 90, 0, [SEP] 34, ToiletPaperHanger, -1.776, 0.681, 2.474, 0, 180, 0, [SEP] 35, SinkBasin, -1.795, 0.694, 2.781, 0, 90, 0, [SEP] 36, LightSwitch, 1.250, 1.330, 3.621, 0, 270, 0, [SEP] 37, Toilet, -1.567, -0.000, 1.815, 0, 180, 0, [SEP] 38, Drawer, 0.204, 0.940, 3.807, 0, 180, 0, [SEP] 39, Dresser, 0.204, 0.000, 3.832, 0, 180, 0, [SEP] 40, Drawer, 0.204, 0.160, 3.807, 0, 180, 0, [SEP] 41, Drawer, 0.204, 0.420, 3.807, 0, 180, 0, [SEP] 42, Drawer, 0.204, 0.680, 3.807, 0, 180, 0, [SEP] 43, SinkBasin, -1.795, 0.694, 3.476, 0, 90, 0, [SEP] 44, Sink, -1.833, 0.685, 3.472, 0, 90, 0, [SEP] 45, Faucet, -1.988, 0.947, 3.472, 0, 180, 0, [SEP] 46, ShowerHead, 0.972, 1.222, 2.015, 0, 270, 0, [SEP] 47, Faucet, -1.988, 0.947, 2.776, 0, 180, 0, [SEP] 48, , , , , , , , [SEP] 49, NorthWall, , , , , , , [SEP] 50, EastWall, , , , , , , [SEP] 51, SouthWall, , , , , , , [SEP] 52, WestWall, , , , , , , ", "output": ["STEP 1: Go forward to the left edge of the bathtub. | STEP 2: Pick up the bar of soap from the ledge at the left of the tub. | STEP 3: Turn to face the tub. | STEP 4: Put the bar of soap in the tub. | STEP 5: Go forward and turn left to face the toilet. | STEP 6: Pick up the bar of soap from the back of the toilet. | STEP 7: Take the bar of soap to the tub. | STEP 8: Put the bar of soap in the tub. | END"]} +{"id": "trial_T20190908_101130_247006-1", "input": "Put a heated mug on the coffee machine. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.25, 0.900, 0.5, 0, 270, 0, [SEP] 1, Potato, 0.294, 0.956, 0.534, 0, 0, 0, 74 [SEP] 2, Ladle, -1.316, 1.704, -1.729, 0, 90, 0, 40 [SEP] 3, Ladle, 1.218, 0.163, -1.914, 0, 0, 0, 49 [SEP] 4, DishSponge, -0.772, 0.913, -2.167, 0, 0, 0, 57 [SEP] 5, Spatula, 0.066, 0.945, 0.762, 0, 0, 0, 74 [SEP] 6, Spoon, 0.294, 0.928, 1.448, 0, 0, 0, 74 [SEP] 7, Fork, -0.064, 0.765, -2.026, 0, 90, 0, 69 [SEP] 8, Fork, 0.408, 0.927, 1.220, 0, 0, 0, 74 [SEP] 9, Egg, -0.616, 0.967, -2.167, 0, 0, 0, 57 [SEP] 10, Egg, 0.066, 0.980, 0.076, 0, 0, 0, 74 [SEP] 11, Plate, -1.495, 1.187, -0.910, 0, 90, 0, 65 [SEP] 12, Plate, 1.850, 0.916, -2.002, 0, 0, 0, 57 [SEP] 13, Tomato, -0.047, 0.978, 1.220, 0, 0, 0, 74 [SEP] 14, Tomato, -0.160, 0.978, 0.991, 0, 0, 0, 74 [SEP] 15, Apple, 0.008, 0.835, -2.116, 0, 0, 0, 69 [SEP] 16, Potato, 0.522, 0.959, 1.448, 0, 0, 0, 74 [SEP] 17, Bowl, -0.047, 0.923, 1.448, 0, 0, 0, 74 [SEP] 18, SoapBottle, 2.009, 0.912, -1.212, 0, 0, 0, 57 [SEP] 19, Fork, -0.210, 0.765, -2.071, 0, 0, 0, 69 [SEP] 20, Ladle, -0.047, 0.971, 0.534, 0, 0, 0, 74 [SEP] 21, Bread, 0.399, 0.964, 0.110, 0, 0, 1.601, 74 [SEP] 22, Lettuce, -1.429, 0.925, -0.542, 0, 315, 0, 65 [SEP] 23, WineBottle, 1.669, 0.881, 2.483, 0, 0, 0, 78 [SEP] 24, Spatula, 0.180, 0.941, 0.991, 0, 0, 0, 74 [SEP] 25, Plate, 0.294, 0.930, 0.762, 0, 0, 0, 74 [SEP] 26, SaltShaker, 1.359, 0.549, 2.534, 0, 0, 0, 77 [SEP] 27, Pot, 1.567, 0.948, -0.757, 0, 0, 0, 39 [SEP] 28, Cup, 1.362, 0.881, 2.429, 0, 0, 0, 78 [SEP] 29, PepperShaker, 1.795, 1.653, -1.673, 0, 270, 0, 47 [SEP] 30, Pan, 1.824, 0.945, -0.346, 0, 0, 0, 38 [SEP] 31, ButterKnife, 0.180, 0.926, 0.305, 0, 0, 0, 74 [SEP] 32, Tomato, -1.438, 1.235, -0.392, 0, 90, 0, 65 [SEP] 33, DishSponge, -0.173, 2.151, -2.120, 0, 0, 0, 42 [SEP] 34, Egg, -1.648, 1.558, -1.013, 0, 90, 0, 65 [SEP] 35, Spoon, -1.000, 0.914, -2.079, 0, 0, 0, 57 [SEP] 36, Knife, 0.408, 0.953, 0.534, 0, 180, 0, 74 [SEP] 37, Mug, 1.255, 0.548, 2.534, 0, 0, 0, 83 [SEP] 38, StoveBurner, 1.845, 0.940, -0.355, 0, 0, 0, [SEP] 39, StoveBurner, 1.567, 0.940, -0.757, 0, 0, 0, [SEP] 40, Cabinet, -1.149, 2.019, -1.979, 0, 90, 0, [SEP] 41, Cabinet, -1.149, 2.265, -0.834, 0, 90, 0, [SEP] 42, Cabinet, -0.459, 2.265, -2.0, 0, 0, 0, [SEP] 43, Cabinet, -1.100, 2.019, -2.0, 0, 0, 0, [SEP] 44, Cabinet, 1.719, 2.019, -2.0, 0, 0, 0, [SEP] 45, Cabinet, 1.179, 2.019, -2.0, 0, 0, 0, [SEP] 46, Cabinet, 0.199, 2.019, -2.0, 0, 0, 0, [SEP] 47, Cabinet, 1.75, 2.019, -1.399, 0, 270, 0, [SEP] 48, Cabinet, 1.75, 2.019, -1.029, 0, 270, 0, [SEP] 49, Cabinet, 1.379, 0.469, -1.689, 0, 0, 0, [SEP] 50, Cabinet, -0.819, 0.469, -1.689, 0, 0, 0, [SEP] 51, Cabinet, 1.389, 0.469, -1.059, 0, 270, 0, [SEP] 52, Cabinet, -0.839, 0.469, -1.665, 0, 90, 0, [SEP] 53, StoveBurner, 1.567, 0.940, -0.355, 0, 0, 0, [SEP] 54, StoveBurner, 1.845, 0.940, -0.757, 0, 0, 0, [SEP] 55, Sink, -0.109, 0.893, -2.009, 0, 0, 0, [SEP] 56, Drawer, -0.819, 0.75, -1.690, 0, 0, 0, [SEP] 57, CounterTop, 0.232, 0.949, -2.002, 0, 0, 0, [SEP] 58, GarbageCan, 1.855, -0.034, 0.141, 0, 358.959, 0, [SEP] 59, Vase, 0.251, 0.546, 0.475, 0, 270, 0, [SEP] 60, Toaster, 0.780, 0.900, -2.080, 0, 0, 0, [SEP] 61, LightSwitch, 0.108, 1.315, 2.75, 0, 180, 0, [SEP] 62, Vase, 0.400, 0.925, 0.218, 0, 180, 0, [SEP] 63, Microwave, -1.233, 0.900, -1.680, 0, 90, 0, [SEP] 64, Vase, 1.465, 1.662, -2.200, 0, 0, 0, [SEP] 65, Fridge, -1.495, 0.0, -0.703, 0, 0, 0, [SEP] 66, Window, 2.114, 1.495, 1.072, 90, 270, 0, [SEP] 67, CoffeeMachine, 1.374, 0.899, -2.112, 0, 0, 0, [SEP] 68, Vase, 0.333, 0.546, 1.272, 0, 270, 0, [SEP] 69, SinkBasin, -0.148, 0.753, -2.026, 0, 0, 0, [SEP] 70, StoveKnob, 2.037, 1.089, -0.405, 0, 0, 74.477, [SEP] 71, StoveKnob, 2.037, 1.089, -0.251, 0, 0, 74.477, [SEP] 72, StoveKnob, 2.037, 1.089, -0.649, 0, 0, 74.477, [SEP] 73, StoveKnob, 2.037, 1.089, -0.814, 0, 0, 74.477, [SEP] 74, DiningTable, 0.170, 0.005, 0.678, 0, 270, 0, [SEP] 75, Shelf, 0.170, 0.155, 0.678, 0, 270, 0, [SEP] 76, Shelf, 1.605, 0.172, 2.480, 0, 0, 0, [SEP] 77, Shelf, 1.605, 0.552, 2.480, 0, 0, 0, [SEP] 78, Shelf, 1.604, 0.880, 2.479, 0, 0, 0, [SEP] 79, ShelvingUnit, 1.605, 0.006, 2.480, 0, 0, 0, [SEP] 80, Faucet, -0.143, 1.028, -2.223, 0, 270, 0, [SEP] 81, Stool, -0.553, 0.000, 0.871, 1.233, 280.376, 0, [SEP] 82, Shelf, 0.170, 0.528, 0.678, 0, 270, 0, [SEP] 83, , , , , , , , [SEP] 84, NorthWall, , , , , , , [SEP] 85, EastWall, , , , , , , [SEP] 86, SouthWall, , , , , , , [SEP] 87, WestWall, , , , , , , ", "output": ["STEP 1: Move forward to the wooden rack. | STEP 2: Pick up the mug on the rack. | STEP 3: Turn around, bring the mug to the sink, turn right, bring the mug to the microwave on the counter, left of the fridge. | STEP 4: Heat the mug in the microwave. | STEP 5: Bring the heated mug to the coffee machine on the counter behind you, next to the toaster. | STEP 6: Put the heated mug on the coffee machine. | END"]} +{"id": "trial_T20190908_101130_247006-2", "input": "Place a heat mug in a coffee maker. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.25, 0.900, 0.5, 0, 270, 0, [SEP] 1, Potato, 0.294, 0.956, 0.534, 0, 0, 0, 74 [SEP] 2, Ladle, -1.316, 1.704, -1.729, 0, 90, 0, 40 [SEP] 3, Ladle, 1.218, 0.163, -1.914, 0, 0, 0, 49 [SEP] 4, DishSponge, -0.772, 0.913, -2.167, 0, 0, 0, 57 [SEP] 5, Spatula, 0.066, 0.945, 0.762, 0, 0, 0, 74 [SEP] 6, Spoon, 0.294, 0.928, 1.448, 0, 0, 0, 74 [SEP] 7, Fork, -0.064, 0.765, -2.026, 0, 90, 0, 69 [SEP] 8, Fork, 0.408, 0.927, 1.220, 0, 0, 0, 74 [SEP] 9, Egg, -0.616, 0.967, -2.167, 0, 0, 0, 57 [SEP] 10, Egg, 0.066, 0.980, 0.076, 0, 0, 0, 74 [SEP] 11, Plate, -1.495, 1.187, -0.910, 0, 90, 0, 65 [SEP] 12, Plate, 1.850, 0.916, -2.002, 0, 0, 0, 57 [SEP] 13, Tomato, -0.047, 0.978, 1.220, 0, 0, 0, 74 [SEP] 14, Tomato, -0.160, 0.978, 0.991, 0, 0, 0, 74 [SEP] 15, Apple, 0.008, 0.835, -2.116, 0, 0, 0, 69 [SEP] 16, Potato, 0.522, 0.959, 1.448, 0, 0, 0, 74 [SEP] 17, Bowl, -0.047, 0.923, 1.448, 0, 0, 0, 74 [SEP] 18, SoapBottle, 2.009, 0.912, -1.212, 0, 0, 0, 57 [SEP] 19, Fork, -0.210, 0.765, -2.071, 0, 0, 0, 69 [SEP] 20, Ladle, -0.047, 0.971, 0.534, 0, 0, 0, 74 [SEP] 21, Bread, 0.399, 0.964, 0.110, 0, 0, 1.601, 74 [SEP] 22, Lettuce, -1.429, 0.925, -0.542, 0, 315, 0, 65 [SEP] 23, WineBottle, 1.669, 0.881, 2.483, 0, 0, 0, 78 [SEP] 24, Spatula, 0.180, 0.941, 0.991, 0, 0, 0, 74 [SEP] 25, Plate, 0.294, 0.930, 0.762, 0, 0, 0, 74 [SEP] 26, SaltShaker, 1.359, 0.549, 2.534, 0, 0, 0, 77 [SEP] 27, Pot, 1.567, 0.948, -0.757, 0, 0, 0, 39 [SEP] 28, Cup, 1.362, 0.881, 2.429, 0, 0, 0, 78 [SEP] 29, PepperShaker, 1.795, 1.653, -1.673, 0, 270, 0, 47 [SEP] 30, Pan, 1.824, 0.945, -0.346, 0, 0, 0, 38 [SEP] 31, ButterKnife, 0.180, 0.926, 0.305, 0, 0, 0, 74 [SEP] 32, Tomato, -1.438, 1.235, -0.392, 0, 90, 0, 65 [SEP] 33, DishSponge, -0.173, 2.151, -2.120, 0, 0, 0, 42 [SEP] 34, Egg, -1.648, 1.558, -1.013, 0, 90, 0, 65 [SEP] 35, Spoon, -1.000, 0.914, -2.079, 0, 0, 0, 57 [SEP] 36, Knife, 0.408, 0.953, 0.534, 0, 180, 0, 74 [SEP] 37, Mug, 1.255, 0.548, 2.534, 0, 0, 0, 83 [SEP] 38, StoveBurner, 1.845, 0.940, -0.355, 0, 0, 0, [SEP] 39, StoveBurner, 1.567, 0.940, -0.757, 0, 0, 0, [SEP] 40, Cabinet, -1.149, 2.019, -1.979, 0, 90, 0, [SEP] 41, Cabinet, -1.149, 2.265, -0.834, 0, 90, 0, [SEP] 42, Cabinet, -0.459, 2.265, -2.0, 0, 0, 0, [SEP] 43, Cabinet, -1.100, 2.019, -2.0, 0, 0, 0, [SEP] 44, Cabinet, 1.719, 2.019, -2.0, 0, 0, 0, [SEP] 45, Cabinet, 1.179, 2.019, -2.0, 0, 0, 0, [SEP] 46, Cabinet, 0.199, 2.019, -2.0, 0, 0, 0, [SEP] 47, Cabinet, 1.75, 2.019, -1.399, 0, 270, 0, [SEP] 48, Cabinet, 1.75, 2.019, -1.029, 0, 270, 0, [SEP] 49, Cabinet, 1.379, 0.469, -1.689, 0, 0, 0, [SEP] 50, Cabinet, -0.819, 0.469, -1.689, 0, 0, 0, [SEP] 51, Cabinet, 1.389, 0.469, -1.059, 0, 270, 0, [SEP] 52, Cabinet, -0.839, 0.469, -1.665, 0, 90, 0, [SEP] 53, StoveBurner, 1.567, 0.940, -0.355, 0, 0, 0, [SEP] 54, StoveBurner, 1.845, 0.940, -0.757, 0, 0, 0, [SEP] 55, Sink, -0.109, 0.893, -2.009, 0, 0, 0, [SEP] 56, Drawer, -0.819, 0.75, -1.690, 0, 0, 0, [SEP] 57, CounterTop, 0.232, 0.949, -2.002, 0, 0, 0, [SEP] 58, GarbageCan, 1.855, -0.034, 0.141, 0, 358.959, 0, [SEP] 59, Vase, 0.251, 0.546, 0.475, 0, 270, 0, [SEP] 60, Toaster, 0.780, 0.900, -2.080, 0, 0, 0, [SEP] 61, LightSwitch, 0.108, 1.315, 2.75, 0, 180, 0, [SEP] 62, Vase, 0.400, 0.925, 0.218, 0, 180, 0, [SEP] 63, Microwave, -1.233, 0.900, -1.680, 0, 90, 0, [SEP] 64, Vase, 1.465, 1.662, -2.200, 0, 0, 0, [SEP] 65, Fridge, -1.495, 0.0, -0.703, 0, 0, 0, [SEP] 66, Window, 2.114, 1.495, 1.072, 90, 270, 0, [SEP] 67, CoffeeMachine, 1.374, 0.899, -2.112, 0, 0, 0, [SEP] 68, Vase, 0.333, 0.546, 1.272, 0, 270, 0, [SEP] 69, SinkBasin, -0.148, 0.753, -2.026, 0, 0, 0, [SEP] 70, StoveKnob, 2.037, 1.089, -0.405, 0, 0, 74.477, [SEP] 71, StoveKnob, 2.037, 1.089, -0.251, 0, 0, 74.477, [SEP] 72, StoveKnob, 2.037, 1.089, -0.649, 0, 0, 74.477, [SEP] 73, StoveKnob, 2.037, 1.089, -0.814, 0, 0, 74.477, [SEP] 74, DiningTable, 0.170, 0.005, 0.678, 0, 270, 0, [SEP] 75, Shelf, 0.170, 0.155, 0.678, 0, 270, 0, [SEP] 76, Shelf, 1.605, 0.172, 2.480, 0, 0, 0, [SEP] 77, Shelf, 1.605, 0.552, 2.480, 0, 0, 0, [SEP] 78, Shelf, 1.604, 0.880, 2.479, 0, 0, 0, [SEP] 79, ShelvingUnit, 1.605, 0.006, 2.480, 0, 0, 0, [SEP] 80, Faucet, -0.143, 1.028, -2.223, 0, 270, 0, [SEP] 81, Stool, -0.553, 0.000, 0.871, 1.233, 280.376, 0, [SEP] 82, Shelf, 0.170, 0.528, 0.678, 0, 270, 0, [SEP] 83, , , , , , , , [SEP] 84, NorthWall, , , , , , , [SEP] 85, EastWall, , , , , , , [SEP] 86, SouthWall, , , , , , , [SEP] 87, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and walk to the shelving unit. | STEP 2: Pick up the white mug on one of the shelves. | STEP 3: Turn around and walk to the counter, then turn right and walk to the microwave. | STEP 4: Heat the mug in the microwave. | STEP 5: Turn around and walk to the coffee maker on the counter. | STEP 6: Place the mug in the coffee maker. | END"]} +{"id": "trial_T20190909_013949_947198-2", "input": "Place two bottle of wine in the second cabinet to the right of the red garbage pale. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.908, 2.25, 0, 90, 0, [SEP] 1, Pan, -1.320, 1.287, 0.778, 0, 180, 0, 96 [SEP] 2, SprayBottle, -0.919, 0.749, 2.459, 0, 0, 0, 57 [SEP] 3, SprayBottle, -1.475, 0.749, 2.644, 0, 0, 0, 57 [SEP] 4, Potato, -0.144, 0.803, -0.691, 0, 0, 0, 103 [SEP] 5, Potato, -1.206, 1.333, 1.092, 0, 90, 0, 96 [SEP] 6, DishSponge, -0.020, 0.758, -0.533, 0, 0, 0, 103 [SEP] 7, ButterKnife, -0.968, 0.912, -0.669, 0, 0, 0, 82 [SEP] 8, ButterKnife, 1.207, 0.911, -0.144, 0, 0, 0, 76 [SEP] 9, WineBottle, -1.194, 0.342, 0.988, 0, 90, 0, 96 [SEP] 10, WineBottle, -1.225, 0.342, 1.092, 0, 90, 0, 96 [SEP] 11, Kettle, 0.168, 0.117, -0.490, 0, 0, 0, 71 [SEP] 12, Spoon, -0.919, 0.750, 2.830, 0, 0, 0, 57 [SEP] 13, Spoon, 1.128, 0.912, 0.422, 0, 0, 0, 76 [SEP] 14, Fork, 1.444, 0.912, 0.706, 0, 0, 0, 76 [SEP] 15, Spatula, 1.284, 0.901, 2.692, 0, 0, 0, 108 [SEP] 16, Spatula, -0.144, 0.773, -0.612, 0, 180, 0, 103 [SEP] 17, Pot, 0.502, 0.939, -0.469, 0, 0, 0, 89 [SEP] 18, Egg, -1.427, 1.049, -0.005, 0, 90, 0, 102 [SEP] 19, Egg, -1.092, 1.671, 0.781, 0, 90, 0, 96 [SEP] 20, Plate, -1.176, 0.117, 0.248, 0, 180, 0, 79 [SEP] 21, Tomato, 1.034, 0.936, 2.153, 0, 0, 0, 108 [SEP] 22, Bowl, -1.012, 0.747, 1.902, 0, 0, 0, 57 [SEP] 23, Bread, -1.263, 1.484, 0.778, 0, 90, 0, 96 [SEP] 24, Bread, -1.263, 0.814, 1.092, 0, 90, 0, 96 [SEP] 25, Lettuce, 1.365, 0.982, 0.139, 0, 0, 0, 76 [SEP] 26, Lettuce, 1.450, 0.957, 2.261, 0, 0, 0, 108 [SEP] 27, SaltShaker, 1.034, 0.882, 2.477, 0, 0, 0, 108 [SEP] 28, SaltShaker, -0.919, 0.745, 2.644, 0, 0, 0, 57 [SEP] 29, Mug, -1.329, 1.010, 0.098, 0, 90, 0, 102 [SEP] 30, Mug, -1.394, 1.010, -0.109, 0, 90, 0, 102 [SEP] 31, Bread, -1.197, 0.813, 2.459, 0, 0, 0, 57 [SEP] 32, Glassbottle, -0.634, 1.656, -0.724, 0, 0, 0, 61 [SEP] 33, Fork, -1.290, 0.750, 2.459, 0, 0, 0, 57 [SEP] 34, Kettle, -1.357, 0.739, 3.024, 0, 240.000, 0, 57 [SEP] 35, Tomato, 1.034, 0.936, 2.800, 0, 0, 0, 108 [SEP] 36, Plate, 1.325, 1.656, -0.513, 0, 0, 0, 58 [SEP] 37, CellPhone, -1.123, 0.909, -0.509, 0, 0, 0, 82 [SEP] 38, Lettuce, -1.320, 1.707, 0.984, 0, 90, 0, 96 [SEP] 39, Pot, 0.802, 0.939, -0.740, 0, 90, 0, 85 [SEP] 40, SoapBottle, 1.284, 0.887, 2.477, 0, 0, 0, 108 [SEP] 41, WineBottle, -1.012, 0.750, 2.273, 0, 0, 0, 57 [SEP] 42, Spatula, -1.105, 0.764, 2.087, 0, 90, 0, 57 [SEP] 43, Bowl, 0.726, 2.153, -0.787, 0, 0, 0, 60 [SEP] 44, Apple, -1.378, 0.811, 0.673, 0, 90, 0, 96 [SEP] 45, Cup, -1.012, 0.748, 2.087, 0, 0, 0, 57 [SEP] 46, Knife, -1.012, 0.771, 2.644, 0, 270, 0, 57 [SEP] 47, Egg, -1.211, 0.946, -0.902, 0, 0, 0, 82 [SEP] 48, SaltShaker, 1.117, 0.882, 2.261, 0, 0, 0, 108 [SEP] 49, PepperShaker, 1.523, 0.907, -0.428, 0, 0, 0, 76 [SEP] 50, Potato, -1.206, 1.466, 0.988, 0, 90, 0, 96 [SEP] 51, ButterKnife, 1.284, 0.886, 2.261, 0, 0, 0, 108 [SEP] 52, DishSponge, -1.475, 0.748, 1.902, 0, 0, 0, 57 [SEP] 53, Pan, 0.502, 0.939, -0.740, 0, 90, 0, 83 [SEP] 54, Spoon, -1.105, 0.750, 2.830, 0, 0, 0, 57 [SEP] 55, SprayBottle, -1.060, 0.911, -0.817, 0, 0, 0, 82 [SEP] 56, Mug, -1.197, 0.744, 2.273, 0, 0, 0, 57 [SEP] 57, DiningTable, -1.182, 0.006, 2.414, 0, 90, 0, [SEP] 58, Cabinet, 1.184, 2.059, 0.375, 0, 0, 0, [SEP] 59, Cabinet, 1.184, 2.059, -0.635, 0, 0, 0, [SEP] 60, Cabinet, 0.591, 2.309, -0.645, 0, 0, 0, [SEP] 61, Cabinet, -0.574, 2.059, -0.644, 0, 0, 0, [SEP] 62, Cabinet, -1.103, 2.059, -0.644, 0, 0, 0, [SEP] 63, Cabinet, -1.185, 2.059, -0.331, 0, 0, 0, [SEP] 64, Cabinet, -1.185, 2.059, -0.281, 0, 0, 0, [SEP] 65, Cabinet, -1.185, 2.059, 0.375, 0, 0, 0, [SEP] 66, Cabinet, 1.184, 2.309, 1.174, 0, 0, 0, [SEP] 67, Cabinet, 1.184, 2.309, 0.424, 0, 0, 0, [SEP] 68, Cabinet, 0.988, 0.402, 0.581, 0, 0, 0, [SEP] 69, Cabinet, 0.988, 0.402, 0.531, 0, 0, 0, [SEP] 70, Cabinet, 0.988, 0.402, -0.178, 0, 0, 0, [SEP] 71, Cabinet, 0.335, 0.402, -0.348, 0, 0, 0, [SEP] 72, Cabinet, -0.374, 0.402, -0.348, 0, 0, 0, [SEP] 73, Cabinet, 0.988, 0.402, 1.231, 0, 0, 0, [SEP] 74, Cabinet, -1.185, 2.309, 1.374, 0, 0, 0, [SEP] 75, Cabinet, -1.185, 2.309, 0.424, 0, 0, 0, [SEP] 76, CounterTop, 1.274, 0.947, 0.064, 0, 0, 0, [SEP] 77, Drawer, 1.116, 0.792, -0.015, 0, 0, 0, [SEP] 78, Drawer, -1.116, 0.792, 0.210, 0, 180, 0, [SEP] 79, Cabinet, -0.990, 0.402, 0.374, 0, 180, 0, [SEP] 80, Drawer, -1.116, 0.792, -0.170, 0, 180, 0, [SEP] 81, Cabinet, -0.990, 0.402, -0.335, 0, 180, 0, [SEP] 82, CounterTop, -1.001, 0.947, -0.669, 0, 0, 0, [SEP] 83, StoveBurner, 0.502, 0.932, -0.740, 0, 90, 0, [SEP] 84, StoveBurner, 0.801, 0.932, -0.473, 0, 0, 0, [SEP] 85, StoveBurner, 0.801, 0.932, -0.740, 0, 90, 0, [SEP] 86, Drawer, 1.116, 0.792, 1.081, 0, 0, 0, [SEP] 87, Sink, -0.013, 0.912, -0.615, 0, 0, 0, [SEP] 88, Drawer, 1.116, 0.792, 0.732, 0, 0, 0, [SEP] 89, StoveBurner, 0.502, 0.932, -0.469, 0, 0, 0, [SEP] 90, Drawer, 1.116, 0.792, 0.367, 0, 0, 0, [SEP] 91, StoveKnob, 0.550, 1.085, -0.912, 287.970, 180, 0, [SEP] 92, StoveKnob, 0.884, 1.085, -0.912, 287.970, 180, 0, [SEP] 93, StoveKnob, 0.432, 1.085, -0.912, 287.970, 180, 0, [SEP] 94, StoveKnob, 0.777, 1.085, -0.912, 287.970, 180, 0, [SEP] 95, CoffeeMachine, 1.304, 0.900, -0.741, 0, 320.314, 0, [SEP] 96, Fridge, -1.300, 0.008, 0.987, 0, 90, 0, [SEP] 97, GarbageCan, 1.296, -0.024, 1.465, 0, 0, 0, [SEP] 98, Window, -0.012, 1.641, -0.972, 90, 0, 0, [SEP] 99, Window, 1.598, 1.646, 2.489, 90, 270, 0, [SEP] 100, Toaster, 1.356, 0.900, 1.044, 0, 270, 0, [SEP] 101, LightSwitch, 0.118, 1.353, 3.799, 0, 180, 0, [SEP] 102, Microwave, -1.343, 0.900, 0.053, 0, 90, 0, [SEP] 103, SinkBasin, -0.029, 0.748, -0.612, 0, 0, 0, [SEP] 104, Faucet, -0.026, 0.927, -0.808, 0, 0, 0, [SEP] 105, Shelf, -1.182, 0.127, 2.414, 0, 90, 0, [SEP] 106, Stool, 1.140, 0.007, 3.262, 1.206, 20.753, 0, [SEP] 107, Shelf, -1.182, 0.435, 2.414, 0, 90, 0, [SEP] 108, DiningTable, 1.169, 0.014, 2.569, 0, 0, 1.896, [SEP] 109, NorthWall, , , , , , , [SEP] 110, EastWall, , , , , , , [SEP] 111, SouthWall, , , , , , , [SEP] 112, WestWall, , , , , , , ", "output": ["STEP 1: Go to the refrigerator to your right. | STEP 2: Take out bottle of wine from the middle shelf in the refrigerator. | STEP 3: go to the red garbage pale that is behind you | STEP 4: Place the bottle of wine in the second cabinet from the left | STEP 5: Go to the refrigerator that is behind you. | STEP 6: Take a bottle of wine from the middle shelf of the refrigerator. | STEP 7: go to the red garbage pale that is behind you | STEP 8: Place the bottle of wine in the second cabinet from the left next to the other bottle of wine | END"]} +{"id": "trial_T20190909_122145_700180-2", "input": "Putting a cold apple slice in the sink SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.5, 0.901, 0.75, 0, 270, 0, [SEP] 1, Potato, 0.033, 0.831, 0.881, 0, 0, 0, 76 [SEP] 2, Spatula, 1.941, 0.761, 0.446, 0, 90, 0, 58 [SEP] 3, Spoon, -0.042, 0.792, 1.049, 0, 0, 0, 76 [SEP] 4, Spoon, 1.276, 0.796, 2.584, 0, 0, 0, 73 [SEP] 5, Fork, -0.349, 0.782, 0.713, 0, 0, 0, 76 [SEP] 6, Plate, 1.925, 0.086, 1.986, 0, 0, 0, 45 [SEP] 7, Knife, -0.042, 0.816, 0.545, 0, 90, 0, 76 [SEP] 8, SoapBottle, 1.840, 0.939, 0.806, 0, 270, 0, 60 [SEP] 9, Tomato, 0.033, 0.837, 0.713, 0, 0, 0, 76 [SEP] 10, Tomato, 1.840, 0.984, 0.435, 0, 0, 0, 60 [SEP] 11, Bowl, -0.396, 0.934, 2.757, 0, 0, 0, 49 [SEP] 12, Bowl, 2.023, 0.335, -0.097, 0, 270, 0, 70 [SEP] 13, SaltShaker, 1.997, 0.932, 1.866, 0, 90, 0, 49 [SEP] 14, SaltShaker, 2.301, 0.933, 0.361, 0, 0, 0, 60 [SEP] 15, PepperShaker, 2.127, 1.498, 0.478, 0, 0, 0, 47 [SEP] 16, Mug, 2.137, 0.855, -0.188, 0, 270, 0, 70 [SEP] 17, Apple, -0.328, 1.085, 1.907, 0, 90, 0, 74 [SEP] 18, Egg, -0.327, 0.079, -0.737, 0, 90, 0, 71 [SEP] 19, Lettuce, 2.122, 0.664, -0.460, 0, 270, 0, 70 [SEP] 20, Fork, -0.119, 0.791, 0.545, 0, 180, 0, 76 [SEP] 21, SoapBottle, 1.369, 0.082, 2.445, 0, 0, 0, 55 [SEP] 22, Ladle, 1.919, 0.790, 2.197, 0, 270, 0, 64 [SEP] 23, Ladle, -0.096, 0.942, 2.546, 6.888, 45, 340.409, 49 [SEP] 24, Bread, -0.184, 0.825, 0.820, 0, 354.524, 0, 76 [SEP] 25, SaltShaker, -0.119, 0.785, 1.049, 0, 0, 0, 76 [SEP] 26, Potato, -0.196, 0.831, 1.217, 0, 0, 0, 76 [SEP] 27, Pan, 2.140, 0.935, 1.504, 0, 180, 0, 44 [SEP] 28, WineBottle, 1.556, 0.938, 2.666, 0, 0, 0, 49 [SEP] 29, Spatula, -0.425, 0.805, 0.377, 0, 90, 0, 76 [SEP] 30, Knife, -0.349, 0.816, 1.386, 0, 180, 0, 76 [SEP] 31, Tomato, -0.282, 0.983, 2.618, 0, 0, 0, 49 [SEP] 32, Apple, 0.033, 0.840, 1.217, 0, 0, 0, 76 [SEP] 33, ButterKnife, 0.060, 0.937, 2.757, 0, 0, 0, 49 [SEP] 34, Pot, 2.140, 0.935, 1.106, 0, 0, 0, 51 [SEP] 35, PepperShaker, 2.304, 0.932, 2.162, 0, 0, 0, 49 [SEP] 36, Cup, 2.203, 1.501, 0.785, 0, 0, 0, 57 [SEP] 37, DishSponge, 0.629, 0.794, 2.584, 0, 0, 0, 73 [SEP] 38, Plate, 2.206, 1.505, 2.010, 0, 0, 0, 52 [SEP] 39, Spoon, -0.272, 0.792, 0.545, 0, 0, 0, 76 [SEP] 40, Mug, 2.243, 1.943, 1.193, 0, 0, 0, 59 [SEP] 41, Bowl, 2.112, 1.320, -0.279, 0, 270, 0, 70 [SEP] 42, Cabinet, 2.041, 2.113, 2.618, 0, 0, 0, [SEP] 43, Cabinet, 0.126, 0.388, 1.774, 0, 0, 0, [SEP] 44, StoveBurner, 2.140, 0.929, 1.504, 0, 180, 0, [SEP] 45, Cabinet, 1.760, 0.388, 2.346, 0, 0, 0, [SEP] 46, Cabinet, 1.760, 0.388, 0.869, 0, 0, 0, [SEP] 47, Cabinet, 2.041, 1.810, 0.283, 0, 0, 0, [SEP] 48, Drawer, -0.024, 0.774, 2.061, 0, 0, 0, [SEP] 49, CounterTop, 1.065, 0.973, 2.666, 0, 0, 0, [SEP] 50, Cabinet, 1.969, 2.113, 2.618, 0, 0, 0, [SEP] 51, StoveBurner, 2.140, 0.929, 1.106, 0, 0, 0, [SEP] 52, Cabinet, 2.041, 2.113, 1.809, 0, 0, 0, [SEP] 53, StoveBurner, 1.866, 0.929, 1.504, 0, 180, 0, [SEP] 54, Cabinet, 2.041, 2.113, 1.766, 0, 0, 0, [SEP] 55, Cabinet, 1.514, 0.388, 2.360, 0, 0, 0, [SEP] 56, Cabinet, 0.351, 0.388, 2.360, 0, 0, 0, [SEP] 57, Cabinet, 2.041, 1.810, 0.872, 0, 0, 0, [SEP] 58, Drawer, 2.167, 0.774, 0.582, 0, 0, 0, [SEP] 59, Cabinet, 2.041, 2.113, 0.892, 0, 0, 0, [SEP] 60, CounterTop, 2.060, 0.973, 0.583, 0, 0, 0, [SEP] 61, Sink, 0.935, 0.936, 2.646, 0, 0, 0, [SEP] 62, Curtains, 0.964, 2.061, 2.989, 0, 0, 0, [SEP] 63, StoveBurner, 1.863, 0.929, 1.106, 0, 0, 0, [SEP] 64, Drawer, 1.911, 0.774, 2.060, 0, 0, 0, [SEP] 65, StoveKnob, 2.326, 1.092, 1.610, 288.013, 90, 0, [SEP] 66, StoveKnob, 2.326, 1.092, 1.460, 288.013, 90, 0, [SEP] 67, StoveKnob, 2.326, 1.092, 1.210, 288.013, 90, 0, [SEP] 68, StoveKnob, 2.326, 1.092, 1.050, 288.013, 90, 0, [SEP] 69, Toaster, 2.126, 0.926, 0.572, 0, 270, 0, [SEP] 70, Fridge, 2.104, 0.0, -0.279, 0, 270, 0, [SEP] 71, GarbageCan, -0.309, -0.001, -0.807, 0, 91.471, 0, [SEP] 72, LightSwitch, 0.354, 1.518, -1.031, 0, 0, 0, [SEP] 73, SinkBasin, 0.903, 0.784, 2.640, 0, 0, 0, [SEP] 74, Microwave, -0.310, 0.926, 2.077, 0, 90, 0, [SEP] 75, CoffeeMachine, 2.084, 0.927, 2.667, 0, 225, 0, [SEP] 76, DiningTable, -0.153, -0.000, 1.073, 0, 270, 0, [SEP] 77, Faucet, 1.175, 0.926, 2.950, 270, 90, 0, [SEP] 78, Faucet, 0.686, 0.926, 2.950, 270, 90, 0, [SEP] 79, Chair, -0.077, 0.002, 0.196, 0, 15.000, 0, [SEP] 80, NorthWall, , , , , , , [SEP] 81, EastWall, , , , , , , [SEP] 82, SouthWall, , , , , , , [SEP] 83, WestWall, , , , , , , ", "output": ["STEP 1: Go to the right of the table | STEP 2: Grab the knife off of the table | STEP 3: Turn right and go to the microwave | STEP 4: Slice the apple in the microwave | STEP 5: Put the knife in the microwave | STEP 6: Grab a slice of the apple | STEP 7: Turn around and go to the fridge | STEP 8: Cool the apple in the fridge and then take it out | STEP 9: Turn left and go to the sink | STEP 10: Put the apple in the sink | END"]} +{"id": "trial_T20190906_202428_389010-0", "input": "Take the soap from the toilet tank, rinse it, put it in a bottom left drawer. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.901, 2.25, 0, 180, 0, [SEP] 1, Cloth, -2.037, 0.811, 0.217, 0, 0, 0, 32 [SEP] 2, Cloth, -3.559, 0.190, 1.273, 0, 270, 0, 46 [SEP] 3, SoapBar, -2.829, 0.954, 3.246, 0, 270, 0, 44 [SEP] 4, SoapBar, -3.512, 0.191, 1.131, 0, 270, 0, 46 [SEP] 5, SoapBar, -3.293, 0.544, 0.878, 0, 0, 0, 24 [SEP] 6, Candle, -2.767, 0.953, 3.166, 0, 270, 0, 44 [SEP] 7, Candle, -2.249, 0.195, 0.112, 0, 0, 0, 26 [SEP] 8, SprayBottle, -1.767, 0.019, 0.165, 0, 0, 0, 38 [SEP] 9, HandTowel, -0.034, 1.537, 2.309, 0, 90, 0, 41 [SEP] 10, Towel, -1.513, 1.496, 0.109, 0, 0, 0, 36 [SEP] 11, Cloth, -0.155, 0.811, 3.000, 0, 0, 0, 35 [SEP] 12, SoapBar, -3.700, 0.191, 1.556, 0, 270, 0, 46 [SEP] 13, ToiletPaper, -2.686, 0.946, 3.182, 0, 0, 0, 44 [SEP] 14, Plunger, -2.530, 0.000, 3.026, 0, 0, 0, [SEP] 15, Candle, -2.954, 0.954, 3.139, 0, 270, 0, 44 [SEP] 16, SoapBottle, -0.412, 0.813, 2.740, 0, 0, 0, 35 [SEP] 17, ToiletPaper, -2.407, 0.146, 3.218, 0, 0, 270, 47 [SEP] 18, SprayBottle, -0.348, 0.813, 3.000, 0, 0, 0, 35 [SEP] 19, ScrubBrush, -2.332, 0.000, 3.163, 0, 0, 0, [SEP] 20, Drawer, -0.325, 0.319, 2.155, 0, 0, 0, [SEP] 21, Mirror, 0.0, 1.473, 1.917, 0, 270, 0, [SEP] 22, Drawer, -0.325, 0.319, 1.717, 0, 0, 0, [SEP] 23, Drawer, -0.325, 0.319, 2.592, 0, 0, 0, [SEP] 24, Bathtub, -3.589, 0.107, 1.521, 0, 0, 0, [SEP] 25, Drawer, -0.325, 0.619, 2.592, 0, 0, 0, [SEP] 26, Drawer, -2.249, 0.319, 0.280, 0, 0, 0, [SEP] 27, Drawer, -0.325, 0.319, 3.030, 0, 0, 0, [SEP] 28, Mirror, 0.0, 1.473, 2.700, 0, 270, 0, [SEP] 29, Drawer, -0.325, 0.619, 3.030, 0, 0, 0, [SEP] 30, ShowerGlass, -0.494, 1.490, 0.528, 0, 0, 0, [SEP] 31, Sink, -2.539, 0.661, 0.252, 0, 0, 0, [SEP] 32, CounterTop, -2.540, 0.805, 0.280, 0, 0, 0, [SEP] 33, Drawer, -2.844, 0.319, 0.280, 0, 0, 0, [SEP] 34, ShowerDoor, -1.074, 1.033, 0.519, 0, 0, 0, [SEP] 35, CounterTop, -0.277, 0.785, 1.931, 0, 0, 0, [SEP] 36, TowelHolder, -1.513, 1.481, 0.002, 0, 0, 0, [SEP] 37, LightSwitch, -0.776, 1.371, 3.300, 0, 180, 0, [SEP] 38, GarbageCan, -1.754, 0.001, 0.227, 0, 0, 0, [SEP] 39, HandTowelHolder, -3.210, 1.588, 0.340, 0, 0, 0, [SEP] 40, HandTowelHolder, 0.004, 1.639, 3.105, 0, 180, 0, [SEP] 41, HandTowelHolder, 0.004, 1.639, 2.309, 0, 180, 0, [SEP] 42, HandTowelHolder, 0.004, 1.639, 1.542, 0, 180, 0, [SEP] 43, Window, -4.127, 1.519, 1.495, 90, 270, 0, [SEP] 44, Toilet, -2.842, 0.000, 2.755, 0, 180, 0, [SEP] 45, SinkBasin, -2.542, 0.706, 0.269, 0, 0, 0, [SEP] 46, BathtubBasin, -3.606, 0.182, 1.536, 0, 270, 0, [SEP] 47, ToiletPaperHanger, -2.349, 0.824, 3.299, 0, 180, 0, [SEP] 48, Faucet, -2.540, 0.794, 0.111, 0, 0, 0, [SEP] 49, Faucet, -0.111, 0.794, 1.921, 0, 270, 0, [SEP] 50, ShowerHead, -3.612, 1.776, 2.299, 0, 0, 0, [SEP] 51, ShowerHead, -0.079, 1.151, 0.662, 0, 0, 0, [SEP] 52, ShowerCurtain, -3.213, 2.098, 2.186, 0, 180, 0, [SEP] 53, Sink, -0.260, 0.661, 1.922, 0, 270, 0, [SEP] 54, SinkBasin, -0.277, 0.706, 1.920, 0, 270, 0, [SEP] 55, NorthWall, , , , , , , [SEP] 56, SouthWall, , , , , , , [SEP] 57, SouthWall, , , , , , , ", "output": ["STEP 1: Turn right and head towards the toilet. | STEP 2: Pick up the bar of soap behind the candles on the toilet tank. | STEP 3: Turn right and head for the sink to the left of the shower. | STEP 4: Put the soap in the sink and rinse it. | STEP 5: Step back and open the drawer on the bottom far left under the sink. | STEP 6: Put the soap in the drawer and close the drawer. | END"]} +{"id": "trial_T20190908_144006_991932-1", "input": "Putting a black mug with a fork in it on a table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.901, 1.25, 0, 90, 0, [SEP] 1, Potato, -0.657, 0.926, 2.731, 0, 0, 0, 78 [SEP] 2, Potato, -1.770, 0.954, 0.348, 0, 0, 0, 55 [SEP] 3, DishSponge, -0.400, 0.900, 2.731, 0, 0, 0, 78 [SEP] 4, DishSponge, -0.921, 0.795, 0.392, 0, 0, 0, 73 [SEP] 5, Spoon, -2.377, 0.901, 2.441, 0, 0, 0, 76 [SEP] 6, Spoon, -2.583, 0.901, 2.706, 0, 90, 0, 76 [SEP] 7, Fork, -1.770, 0.662, 0.519, 0, 270, 0, 58 [SEP] 8, Fork, -2.864, 0.936, 3.209, 0, 0, 0, 62 [SEP] 9, Fork, -2.377, 0.662, 0.355, 0, 0, 0, 63 [SEP] 10, Egg, -2.805, 0.665, 4.352, 0, 90, 0, 72 [SEP] 11, Plate, -2.789, 0.904, 2.177, 0, 0, 0, 76 [SEP] 12, Plate, -1.193, 1.777, 0.251, 0, 0, 0, 52 [SEP] 13, SoapBottle, -0.143, 0.900, 3.133, 0, 0, 0, 78 [SEP] 14, Bowl, -0.244, 1.015, 0.235, 0, 0, 0, 74 [SEP] 15, SaltShaker, -0.139, 1.769, 0.251, 0, 0, 0, 52 [SEP] 16, PepperShaker, -0.802, 1.769, 0.160, 0, 0, 0, 53 [SEP] 17, Bread, -0.314, 0.957, 2.329, 0, 0, 0, 78 [SEP] 18, Lettuce, -2.480, 0.980, 2.573, 0, 0, 0, 76 [SEP] 19, Lettuce, -2.480, 0.980, 2.309, 0, 0, 0, 76 [SEP] 20, Mug, -2.888, 1.181, 4.427, 0, 90, 0, 72 [SEP] 21, Mug, -2.892, 0.895, 2.441, 0, 0, 0, 76 [SEP] 22, Apple, -2.925, 0.355, 4.575, 0, 90, 0, 72 [SEP] 23, Egg, -2.847, 0.665, 4.278, 0, 90, 0, 72 [SEP] 24, Plate, -2.738, 0.303, 4.427, 0, 90, 0, 72 [SEP] 25, Fork, -0.487, 0.662, 0.300, 0, 90, 0, 44 [SEP] 26, Bread, -2.805, 0.689, 4.501, 0, 90, 0, 72 [SEP] 27, Apple, -1.637, 0.984, 0.602, 0, 0, 0, 55 [SEP] 28, Lettuce, -2.847, 1.266, 4.278, 0, 180, 0, 72 [SEP] 29, Spatula, -0.228, 0.915, 3.133, 0, 0, 0, 78 [SEP] 30, Knife, -1.007, 0.821, 0.337, 0, 0, 0, 73 [SEP] 31, Potato, -0.400, 0.926, 2.932, 0, 0, 0, 78 [SEP] 32, Tomato, -2.995, 0.964, 2.177, 0, 0, 0, 76 [SEP] 33, Cup, -1.636, 1.773, 0.205, 0, 0, 0, 52 [SEP] 34, SaltShaker, -1.662, 0.658, 0.519, 0, 0, 0, 58 [SEP] 35, PepperShaker, -2.170, 0.924, 0.602, 0, 0, 0, 55 [SEP] 36, ButterKnife, -0.486, 0.900, 2.731, 0, 0, 0, 78 [SEP] 37, SoapBottle, -2.686, 0.900, 2.573, 0, 0, 0, 76 [SEP] 38, Pan, -0.250, 0.926, 4.651, 0, 0, 0, 57 [SEP] 39, DishSponge, -1.932, 0.661, 0.409, 0, 0, 0, 58 [SEP] 40, Pot, -0.535, 0.928, 4.274, 0, 0, 0, 59 [SEP] 41, Spoon, -0.686, 0.929, 0.650, 0, 0, 0, 55 [SEP] 42, Mug, -0.657, 0.895, 2.329, 0, 0, 0, 78 [SEP] 43, Bowl, -1.801, 1.770, 0.297, 0, 90, 0, 50 [SEP] 44, Drawer, -0.325, 0.696, 0.413, 0, 0, 0, [SEP] 45, Cabinet, -0.595, 0.490, 0.648, 0, 0, 0, [SEP] 46, Cabinet, -0.555, 0.490, 0.646, 0, 0, 0, [SEP] 47, Cabinet, -1.591, 0.490, 0.646, 0, 0, 0, [SEP] 48, Cabinet, -1.554, 0.490, 0.646, 0, 0, 0, [SEP] 49, Cabinet, -2.550, 0.490, 0.646, 0, 0, 0, [SEP] 50, Cabinet, -1.514, 2.046, 0.392, 0, 0, 0, [SEP] 51, Cabinet, -2.474, 2.046, 0.392, 0, 0, 0, [SEP] 52, Cabinet, -1.478, 2.046, 0.392, 0, 0, 0, [SEP] 53, Cabinet, -0.518, 2.046, 0.392, 0, 0, 0, [SEP] 54, Cabinet, -0.479, 2.046, 0.392, 0, 0, 0, [SEP] 55, CounterTop, -1.366, 0.952, 0.349, 0, 0, 0, [SEP] 56, Sink, -1.108, 0.926, 0.340, 0, 0, 0, [SEP] 57, StoveBurner, -0.254, 0.922, 4.672, 0, 0, 0, [SEP] 58, Drawer, -1.824, 0.696, 0.413, 0, 0, 0, [SEP] 59, StoveBurner, -0.535, 0.922, 4.274, 0, 0, 0, [SEP] 60, StoveBurner, -0.254, 0.922, 4.274, 0, 0, 0, [SEP] 61, StoveBurner, -0.536, 0.922, 4.672, 0, 0, 0, [SEP] 62, CounterTop, -2.780, 0.971, 3.487, 0, 0, 0, [SEP] 63, Drawer, -2.323, 0.696, 0.413, 0, 0, 0, [SEP] 64, StoveKnob, -0.064, 1.090, 4.632, 0, 0, 73.865, [SEP] 65, StoveKnob, -0.064, 1.090, 4.782, 0, 0, 73.865, [SEP] 66, StoveKnob, -0.064, 1.090, 4.382, 0, 0, 73.865, [SEP] 67, StoveKnob, -0.064, 1.090, 4.222, 0, 0, 73.865, [SEP] 68, Toaster, -0.286, 0.861, 3.520, 0, 270, 0, [SEP] 69, GarbageCan, -2.816, -0.014, 0.370, 358.702, 26.614, 2.400, [SEP] 70, LightSwitch, -0.064, 1.447, 1.996, 0, 270, 0, [SEP] 71, Window, -3.075, 1.593, 1.361, 90, 90, 0, [SEP] 72, Fridge, -2.802, 0.0, 4.427, 0, 0, 0, [SEP] 73, SinkBasin, -1.106, 0.785, 0.337, 0, 0, 0, [SEP] 74, Microwave, -0.358, 0.917, 0.224, 0, 0, 0, [SEP] 75, CoffeeMachine, -2.938, 0.925, 3.605, 0, 90, 0, [SEP] 76, DiningTable, -2.733, -0.003, 2.607, 0, 270, 0, [SEP] 77, Faucet, -1.077, 0.920, 0.028, 270, 270, 0, [SEP] 78, DiningTable, -0.488, -0.003, 3.182, 0, 270, 0, [SEP] 79, NorthWall, , , , , , , [SEP] 80, EastWall, , , , , , , [SEP] 81, SouthWall, , , , , , , [SEP] 82, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and go to the table with the coffee maker on it | STEP 2: Grab the fork that's on the table | STEP 3: Turn left and stop at the white table on the right | STEP 4: Put the fork in the black mug on the table | STEP 5: Grab the mug off of the table | STEP 6: Turn right and stop at the table with the coffee maker | STEP 7: Put the mug on the table | END"]} +{"id": "trial_T20190908_115134_001298-0", "input": "Take the bat from the floor, put it on the bed SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.901, -0.75, 0, 180, 0, [SEP] 1, Mug, 2.557, 0.983, 0.723, 0, 180, 0, 31 [SEP] 2, CellPhone, 0.086, 0.694, -0.109, 0, 0, 0, 23 [SEP] 3, Pen, -1.603, 0.668, -1.482, 0, 0, 0, 41 [SEP] 4, Pen, -1.648, 0.668, 1.556, 0, 0, 0, 43 [SEP] 5, CreditCard, 2.456, 0.449, -0.969, 0, 119.999, 0, 44 [SEP] 6, CreditCard, 2.609, 0.449, -0.837, 0, 119.999, 0, 44 [SEP] 7, Book, -0.448, 0.693, 0.336, 0, 0, 0, 23 [SEP] 8, KeyChain, -1.514, 0.664, -1.094, 0, 0, 0, 41 [SEP] 9, Laptop, -0.984, 0.691, 0.782, 0, 0, 0, 23 [SEP] 10, Cloth, 1.763, 0.000, -1.732, 0, 70.590, 0, [SEP] 11, CreditCard, 2.342, 0.449, -0.903, 0, 119.999, 0, 44 [SEP] 12, Pen, 2.644, 0.990, 0.155, 0, 180, 0, 31 [SEP] 13, Pencil, 2.819, 0.992, 1.292, 0, 180, 0, 31 [SEP] 14, BaseballBat, 3.076, 0.629, -1.762, 0, 0, 338.300, [SEP] 15, AlarmClock, 2.732, 0.987, 0.439, 0, 180, 0, 31 [SEP] 16, BaseballBat, 0.808, 0.05, 2.151, 0, 0, 270, [SEP] 17, Pillow, -0.181, 0.779, -0.332, 0, 0, 0, 23 [SEP] 18, Pillow, -1.457, 0.754, 0.494, 0, 285.000, 0, 23 [SEP] 19, CellPhone, 2.351, 0.449, -1.019, 0, 119.999, 0, 44 [SEP] 20, CD, -1.562, 0.356, -1.25, 0, 0, 0, 42 [SEP] 21, Mug, 2.557, 0.983, 0.439, 0, 0, 0, 31 [SEP] 22, Curtains, -0.020, 2.923, -1.853, 0, 0, 0, [SEP] 23, Bed, -0.750, -0.018, 0.113, 1.247, 270, 0, [SEP] 24, LightSwitch, 1.317, 1.297, 2.197, 0, 180, 0, [SEP] 25, DeskLamp, -1.618, 0.669, 1.486, 0, 0, 0, [SEP] 26, DeskLamp, -1.631, 0.669, -1.308, 0, 0, 0, [SEP] 27, Painting, 1.524, 1.516, -1.853, 90, 0, 0, [SEP] 28, GarbageCan, 1.352, 0.000, -1.685, 0, 0, 0, [SEP] 29, Mirror, 0.575, 1.351, 2.197, 0, 0, 0, [SEP] 30, Window, -0.013, 1.687, -1.919, 90, 0, 0, [SEP] 31, Dresser, 2.819, 0.000, 1.008, 0, 270, 0, [SEP] 32, Drawer, 2.572, 0.901, 1.784, 0, 270, 0, [SEP] 33, Cabinet, 2.484, 0.499, 1.014, 0, 270, 0, [SEP] 34, Cabinet, 2.484, 0.499, 0.999, 0, 270, 0, [SEP] 35, Drawer, 2.572, 0.901, 1.263, 0, 270, 0, [SEP] 36, Drawer, 2.572, 0.901, 0.748, 0, 270, 0, [SEP] 37, Cabinet, 2.484, 0.499, -0.019, 0, 270, 0, [SEP] 38, Drawer, 2.572, 0.901, 0.230, 0, 270, 0, [SEP] 39, Cabinet, 2.484, 0.499, 2.033, 0, 270, 0, [SEP] 40, Drawer, -1.533, 0.459, 1.478, 0, 90, 0, [SEP] 41, SideTable, -1.599, 0.001, -1.249, 0, 90, 0, [SEP] 42, Drawer, -1.533, 0.459, -1.250, 0, 90, 0, [SEP] 43, SideTable, -1.599, 0.001, 1.479, 0, 90, 0, [SEP] 44, ArmChair, 2.574, 0.002, -0.817, 0, 299.998, 0, [SEP] 45, Shelf, -1.552, 0.040, -1.400, 0, 90, 0, [SEP] 46, Shelf, -1.552, 0.040, -1.133, 0, 90, 0, [SEP] 47, Shelf, -1.552, 0.040, 1.328, 0, 90, 0, [SEP] 48, Shelf, -1.552, 0.040, 1.595, 0, 90, 0, [SEP] 49, NorthWall, , , , , , , [SEP] 50, EastWall, , , , , , , [SEP] 51, SouthWall, , , , , , , [SEP] 52, WestWall, , , , , , , ", "output": ["STEP 1: Turn around, head straight to the mirror | STEP 2: Take the black baseball bat from the floor | STEP 3: Turn around, head across the room | STEP 4: Put the baseball bat on the bed | END"]} +{"id": "trial_T20190908_115134_001298-1", "input": "Pick up the black baseball bat and put it on the bed. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.901, -0.75, 0, 180, 0, [SEP] 1, Mug, 2.557, 0.983, 0.723, 0, 180, 0, 31 [SEP] 2, CellPhone, 0.086, 0.694, -0.109, 0, 0, 0, 23 [SEP] 3, Pen, -1.603, 0.668, -1.482, 0, 0, 0, 41 [SEP] 4, Pen, -1.648, 0.668, 1.556, 0, 0, 0, 43 [SEP] 5, CreditCard, 2.456, 0.449, -0.969, 0, 119.999, 0, 44 [SEP] 6, CreditCard, 2.609, 0.449, -0.837, 0, 119.999, 0, 44 [SEP] 7, Book, -0.448, 0.693, 0.336, 0, 0, 0, 23 [SEP] 8, KeyChain, -1.514, 0.664, -1.094, 0, 0, 0, 41 [SEP] 9, Laptop, -0.984, 0.691, 0.782, 0, 0, 0, 23 [SEP] 10, Cloth, 1.763, 0.000, -1.732, 0, 70.590, 0, [SEP] 11, CreditCard, 2.342, 0.449, -0.903, 0, 119.999, 0, 44 [SEP] 12, Pen, 2.644, 0.990, 0.155, 0, 180, 0, 31 [SEP] 13, Pencil, 2.819, 0.992, 1.292, 0, 180, 0, 31 [SEP] 14, BaseballBat, 3.076, 0.629, -1.762, 0, 0, 338.300, [SEP] 15, AlarmClock, 2.732, 0.987, 0.439, 0, 180, 0, 31 [SEP] 16, BaseballBat, 0.808, 0.05, 2.151, 0, 0, 270, [SEP] 17, Pillow, -0.181, 0.779, -0.332, 0, 0, 0, 23 [SEP] 18, Pillow, -1.457, 0.754, 0.494, 0, 285.000, 0, 23 [SEP] 19, CellPhone, 2.351, 0.449, -1.019, 0, 119.999, 0, 44 [SEP] 20, CD, -1.562, 0.356, -1.25, 0, 0, 0, 42 [SEP] 21, Mug, 2.557, 0.983, 0.439, 0, 0, 0, 31 [SEP] 22, Curtains, -0.020, 2.923, -1.853, 0, 0, 0, [SEP] 23, Bed, -0.750, -0.018, 0.113, 1.247, 270, 0, [SEP] 24, LightSwitch, 1.317, 1.297, 2.197, 0, 180, 0, [SEP] 25, DeskLamp, -1.618, 0.669, 1.486, 0, 0, 0, [SEP] 26, DeskLamp, -1.631, 0.669, -1.308, 0, 0, 0, [SEP] 27, Painting, 1.524, 1.516, -1.853, 90, 0, 0, [SEP] 28, GarbageCan, 1.352, 0.000, -1.685, 0, 0, 0, [SEP] 29, Mirror, 0.575, 1.351, 2.197, 0, 0, 0, [SEP] 30, Window, -0.013, 1.687, -1.919, 90, 0, 0, [SEP] 31, Dresser, 2.819, 0.000, 1.008, 0, 270, 0, [SEP] 32, Drawer, 2.572, 0.901, 1.784, 0, 270, 0, [SEP] 33, Cabinet, 2.484, 0.499, 1.014, 0, 270, 0, [SEP] 34, Cabinet, 2.484, 0.499, 0.999, 0, 270, 0, [SEP] 35, Drawer, 2.572, 0.901, 1.263, 0, 270, 0, [SEP] 36, Drawer, 2.572, 0.901, 0.748, 0, 270, 0, [SEP] 37, Cabinet, 2.484, 0.499, -0.019, 0, 270, 0, [SEP] 38, Drawer, 2.572, 0.901, 0.230, 0, 270, 0, [SEP] 39, Cabinet, 2.484, 0.499, 2.033, 0, 270, 0, [SEP] 40, Drawer, -1.533, 0.459, 1.478, 0, 90, 0, [SEP] 41, SideTable, -1.599, 0.001, -1.249, 0, 90, 0, [SEP] 42, Drawer, -1.533, 0.459, -1.250, 0, 90, 0, [SEP] 43, SideTable, -1.599, 0.001, 1.479, 0, 90, 0, [SEP] 44, ArmChair, 2.574, 0.002, -0.817, 0, 299.998, 0, [SEP] 45, Shelf, -1.552, 0.040, -1.400, 0, 90, 0, [SEP] 46, Shelf, -1.552, 0.040, -1.133, 0, 90, 0, [SEP] 47, Shelf, -1.552, 0.040, 1.328, 0, 90, 0, [SEP] 48, Shelf, -1.552, 0.040, 1.595, 0, 90, 0, [SEP] 49, NorthWall, , , , , , , [SEP] 50, EastWall, , , , , , , [SEP] 51, SouthWall, , , , , , , [SEP] 52, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk to the right of the yellow bed. | STEP 2: Pick up the black baseball bat on the floor. | STEP 3: Turn around and walk to the left of the bed. | STEP 4: Put the black baseball bat on the bed. | END"]} +{"id": "trial_T20190908_122604_076897-0", "input": "Move the keys from the brown table to the red sofa. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.5, 0.893, 2.0, 0, 90, 0, [SEP] 1, Plate, -3.682, 0.658, 4.806, 0, 0, 0, 38 [SEP] 2, Newspaper, -5.245, 0.484, 2.191, 0, 0, 0, 44 [SEP] 3, Watch, -1.521, 0.822, 1.508, 0, 205.696, 0, 43 [SEP] 4, Watch, -2.742, 0.516, 4.633, 0, 0, 0, 36 [SEP] 5, KeyChain, -4.060, 0.433, 2.390, 0, 0, 0, 42 [SEP] 6, KeyChain, -1.534, 0.823, 1.906, 0, 0, 0, 43 [SEP] 7, RemoteControl, -3.909, 0.433, 2.225, 0, 0, 0, 42 [SEP] 8, RemoteControl, -3.757, 0.433, 1.896, 0, 0, 0, 42 [SEP] 9, Box, -3.788, 0.833, 4.349, 0, 0, 0, 38 [SEP] 10, Laptop, -1.179, 0.820, 1.790, 0, 115.696, 0, 43 [SEP] 11, Box, -4.009, 0.613, 2.705, 0, 0, 0, 42 [SEP] 12, KeyChain, -3.576, 0.643, 4.349, 0, 0, 0, 38 [SEP] 13, Newspaper, -0.801, 0.828, 1.565, 0, 164.379, 0, 43 [SEP] 14, CreditCard, -1.540, 0.821, 2.050, 0, 63.501, 0, 43 [SEP] 15, RemoteControl, -1.999, 0.823, 1.448, 0, 0, 0, 43 [SEP] 16, Laptop, -1.396, 0.82, 1.142, 0, 0, 0, 43 [SEP] 17, Plate, -4.060, 0.448, 1.896, 0, 0, 0, 42 [SEP] 18, Pillow, -4.161, 0.542, 0.575, 0, 0, 0, 39 [SEP] 19, Statue, -2.694, 0.631, 4.605, 0, 0, 0, 35 [SEP] 20, Vase, -2.427, 0.627, 4.605, 0, 0, 0, 35 [SEP] 21, Watch, -3.893, 0.641, 4.806, 0, 0, 0, 38 [SEP] 22, Television, -3.794, 1.152, 4.554, 0, 180, 0, [SEP] 23, GarbageCan, -0.264, -0.040, 4.728, 0, 271.354, 0, [SEP] 24, FloorLamp, -5.663, -0.010, 4.679, 0, 315, 0, [SEP] 25, HousePlant, -5.703, 0.596, 3.938, 0, 0, 0, [SEP] 26, LightSwitch, 0.0, 1.292, 3.378, 0, 270, 0, [SEP] 27, Painting, -4.156, 1.656, -0.002, 90, 180, 0, [SEP] 28, Painting, -1.623, 1.565, -0.002, 90, 180, 0, [SEP] 29, Window, -6.040, 1.550, 2.102, 90, 270, 0, [SEP] 30, Window, -6.040, 1.531, 0.859, 90, 270, 0, [SEP] 31, Window, -6.040, 1.531, 4.236, 90, 270, 0, [SEP] 32, Chair, -0.667, -0.006, 0.656, 0, 321.278, 0, [SEP] 33, Chair, -1.932, -0.006, 2.413, 0, 154.294, 0, [SEP] 34, SideTable, -4.928, -0.002, 0.272, 0, 27.993, 0, [SEP] 35, SideTable, -2.561, -0.002, 4.623, 0, 180, 0, [SEP] 36, Drawer, -2.560, 0.532, 4.446, 0, 180, 0, [SEP] 37, SideTable, -5.676, -0.002, 3.949, 0, 0, 0, [SEP] 38, SideTable, -3.793, 0.013, 4.463, 0, 0, 0, [SEP] 39, Sofa, -3.540, -0.020, 0.460, 0, 0, 0, [SEP] 40, Chair, -5.146, -0.001, 0.817, 0, 53.761, 0, [SEP] 41, Chair, -0.354, -0.006, 1.654, 0, 261.279, 0, [SEP] 42, CoffeeTable, -4.003, -0.007, 2.454, 0, 270, 0, [SEP] 43, DiningTable, -1.395, -0.006, 1.447, 0, 0, 0, [SEP] 44, Sofa, -5.470, 0.007, 2.504, 0, 90, 0, [SEP] 45, NorthWall, , , , , , , [SEP] 46, EastWall, , , , , , , [SEP] 47, SouthWall, , , , , , , [SEP] 48, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk to the side of the brown table closer to the red sofa. | STEP 2: Pickup the keys from the table. | STEP 3: Turn around and face the red sofa. | STEP 4: Put the keys on the sofa to the right of the newspaper. | END"]} +{"id": "trial_T20190908_122604_076897-2", "input": "Move keys from the table to the sofa. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.5, 0.893, 2.0, 0, 90, 0, [SEP] 1, Plate, -3.682, 0.658, 4.806, 0, 0, 0, 38 [SEP] 2, Newspaper, -5.245, 0.484, 2.191, 0, 0, 0, 44 [SEP] 3, Watch, -1.521, 0.822, 1.508, 0, 205.696, 0, 43 [SEP] 4, Watch, -2.742, 0.516, 4.633, 0, 0, 0, 36 [SEP] 5, KeyChain, -4.060, 0.433, 2.390, 0, 0, 0, 42 [SEP] 6, KeyChain, -1.534, 0.823, 1.906, 0, 0, 0, 43 [SEP] 7, RemoteControl, -3.909, 0.433, 2.225, 0, 0, 0, 42 [SEP] 8, RemoteControl, -3.757, 0.433, 1.896, 0, 0, 0, 42 [SEP] 9, Box, -3.788, 0.833, 4.349, 0, 0, 0, 38 [SEP] 10, Laptop, -1.179, 0.820, 1.790, 0, 115.696, 0, 43 [SEP] 11, Box, -4.009, 0.613, 2.705, 0, 0, 0, 42 [SEP] 12, KeyChain, -3.576, 0.643, 4.349, 0, 0, 0, 38 [SEP] 13, Newspaper, -0.801, 0.828, 1.565, 0, 164.379, 0, 43 [SEP] 14, CreditCard, -1.540, 0.821, 2.050, 0, 63.501, 0, 43 [SEP] 15, RemoteControl, -1.999, 0.823, 1.448, 0, 0, 0, 43 [SEP] 16, Laptop, -1.396, 0.82, 1.142, 0, 0, 0, 43 [SEP] 17, Plate, -4.060, 0.448, 1.896, 0, 0, 0, 42 [SEP] 18, Pillow, -4.161, 0.542, 0.575, 0, 0, 0, 39 [SEP] 19, Statue, -2.694, 0.631, 4.605, 0, 0, 0, 35 [SEP] 20, Vase, -2.427, 0.627, 4.605, 0, 0, 0, 35 [SEP] 21, Watch, -3.893, 0.641, 4.806, 0, 0, 0, 38 [SEP] 22, Television, -3.794, 1.152, 4.554, 0, 180, 0, [SEP] 23, GarbageCan, -0.264, -0.040, 4.728, 0, 271.354, 0, [SEP] 24, FloorLamp, -5.663, -0.010, 4.679, 0, 315, 0, [SEP] 25, HousePlant, -5.703, 0.596, 3.938, 0, 0, 0, [SEP] 26, LightSwitch, 0.0, 1.292, 3.378, 0, 270, 0, [SEP] 27, Painting, -4.156, 1.656, -0.002, 90, 180, 0, [SEP] 28, Painting, -1.623, 1.565, -0.002, 90, 180, 0, [SEP] 29, Window, -6.040, 1.550, 2.102, 90, 270, 0, [SEP] 30, Window, -6.040, 1.531, 0.859, 90, 270, 0, [SEP] 31, Window, -6.040, 1.531, 4.236, 90, 270, 0, [SEP] 32, Chair, -0.667, -0.006, 0.656, 0, 321.278, 0, [SEP] 33, Chair, -1.932, -0.006, 2.413, 0, 154.294, 0, [SEP] 34, SideTable, -4.928, -0.002, 0.272, 0, 27.993, 0, [SEP] 35, SideTable, -2.561, -0.002, 4.623, 0, 180, 0, [SEP] 36, Drawer, -2.560, 0.532, 4.446, 0, 180, 0, [SEP] 37, SideTable, -5.676, -0.002, 3.949, 0, 0, 0, [SEP] 38, SideTable, -3.793, 0.013, 4.463, 0, 0, 0, [SEP] 39, Sofa, -3.540, -0.020, 0.460, 0, 0, 0, [SEP] 40, Chair, -5.146, -0.001, 0.817, 0, 53.761, 0, [SEP] 41, Chair, -0.354, -0.006, 1.654, 0, 261.279, 0, [SEP] 42, CoffeeTable, -4.003, -0.007, 2.454, 0, 270, 0, [SEP] 43, DiningTable, -1.395, -0.006, 1.447, 0, 0, 0, [SEP] 44, Sofa, -5.470, 0.007, 2.504, 0, 90, 0, [SEP] 45, NorthWall, , , , , , , [SEP] 46, EastWall, , , , , , , [SEP] 47, SouthWall, , , , , , , [SEP] 48, WestWall, , , , , , , ", "output": ["STEP 1: Walk around to the coffee table on the sofa's side. | STEP 2: Grab keys from the table. | STEP 3: Look at the red sofa behind you. | STEP 4: Put the keys on the sofa. | END"]} +{"id": "trial_T20190907_163602_821706-1", "input": "Put a cold slice of lettuce in the trash can next to the stove. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -4.25, 0.900, -2.25, 0, 0, 0, [SEP] 1, Glassbottle, -0.508, 0.916, -2.764, 0, 0, 0, 61 [SEP] 2, Pen, -2.324, 0.926, -0.963, 0, 0, 0, 86 [SEP] 3, Potato, -1.204, 1.661, -3.936, 0, 0, 0, 74 [SEP] 4, Potato, -0.441, 1.422, -0.769, 0, 270, 0, 78 [SEP] 5, DishSponge, -0.995, 1.969, -3.773, 0, 0, 0, 62 [SEP] 6, DishSponge, -2.324, 0.923, -2.115, 0, 0, 0, 86 [SEP] 7, ButterKnife, -2.324, 0.923, -2.345, 0, 0, 0, 86 [SEP] 8, ButterKnife, -2.438, 0.923, -1.884, 0, 0, 0, 86 [SEP] 9, Pot, -1.129, 0.935, -3.498, 0, 0, 0, 59 [SEP] 10, Pot, -1.515, 0.935, -3.497, 0, 0, 0, 58 [SEP] 11, Spatula, -0.350, 0.812, -1.934, 0, 270, 0, 79 [SEP] 12, Fork, -2.096, 0.924, -1.884, 0, 90, 0, 86 [SEP] 13, Spoon, -2.096, 0.924, -2.115, 0, 0, 0, 86 [SEP] 14, Spoon, -0.150, 0.916, -3.570, 0, 0, 0, 61 [SEP] 15, Knife, -2.438, 0.946, -2.345, 0, 0, 0, 86 [SEP] 16, Knife, -2.552, 0.946, -1.193, 0, 0, 0, 86 [SEP] 17, Plate, -2.780, 0.925, -2.345, 0, 0, 0, 86 [SEP] 18, Egg, -0.388, 1.723, -0.979, 0, 270, 0, 78 [SEP] 19, Egg, -0.441, 1.131, -1.084, 0, 270, 0, 78 [SEP] 20, SoapBottle, -0.344, 0.079, -1.804, 0, 0, 0, 66 [SEP] 21, SoapBottle, -2.096, 0.922, -1.423, 0, 0, 0, 86 [SEP] 22, Tomato, -1.975, 0.090, -3.763, 0, 0, 0, 77 [SEP] 23, Bowl, -0.392, 1.389, -0.560, 0, 270, 0, 78 [SEP] 24, Bowl, -0.295, 1.097, -0.979, 0, 270, 0, 78 [SEP] 25, Lettuce, -2.780, 1.016, -1.423, 0, 0, 0, 86 [SEP] 26, SaltShaker, -0.690, 0.742, -3.615, 0, 0, 0, 60 [SEP] 27, SaltShaker, -0.508, 0.743, -3.238, 0, 0, 0, 72 [SEP] 28, PepperShaker, -0.154, 1.966, -2.420, 0, 0, 0, 68 [SEP] 29, Mug, -0.499, 0.076, -1.941, 0, 90, 0, 56 [SEP] 30, Apple, -1.309, 1.703, -3.804, 0, 0, 0, 74 [SEP] 31, Apple, -2.438, 0.996, -0.963, 0, 0, 0, 86 [SEP] 32, Lettuce, -2.562, 1.002, -1.677, 36.385, 0, 0, 86 [SEP] 33, Glassbottle, -2.780, 0.924, -1.884, 0, 0, 0, 86 [SEP] 34, Egg, -0.302, 0.831, -1.786, 0, 270, 0, 79 [SEP] 35, Pen, -2.780, 0.926, -1.193, 0, 0, 0, 86 [SEP] 36, Fork, -0.398, 0.797, -2.082, 0, 180, 0, 79 [SEP] 37, SoapBottle, -0.211, 1.526, -2.703, 0, 0, 0, 73 [SEP] 38, Pencil, -0.436, 0.916, -2.764, 0, 0, 0, 61 [SEP] 39, WineBottle, -2.438, 0.924, -1.423, 0, 0, 0, 86 [SEP] 40, Spatula, -0.3, 0.915, -2.544, 0, 22.903, 0, 61 [SEP] 41, Bread, -0.415, 0.952, -3.625, 0, 0, 0, 61 [SEP] 42, Tomato, -2.552, 0.987, -2.115, 0, 0, 0, 86 [SEP] 43, Pan, -2.174, 0.913, -1.099, 0, 0, 0, 86 [SEP] 44, Cup, -1.549, 1.968, -3.851, 0, 0, 0, 70 [SEP] 45, Pot, -0.392, 1.390, -0.979, 0, 270, 0, 78 [SEP] 46, SaltShaker, -0.211, 1.524, -3.230, 0, 0, 0, 73 [SEP] 47, Potato, -0.228, 1.722, -0.560, 0, 270, 0, 78 [SEP] 48, PepperShaker, -0.306, 0.077, -2.109, 0, 0, 0, 66 [SEP] 49, ButterKnife, -0.371, 0.903, -3.443, 0, 0, 0, 61 [SEP] 50, DishSponge, -2.666, 0.923, -1.884, 0, 0, 0, 86 [SEP] 51, Spoon, -2.096, 0.924, -2.345, 0, 0, 0, 86 [SEP] 52, Plate, -0.671, 0.918, -3.697, 0, 0, 0, 61 [SEP] 53, Knife, -2.552, 0.946, -0.963, 0, 0, 0, 86 [SEP] 54, Mug, -0.351, 0.962, -3.144, 0, 270, 0, 75 [SEP] 55, Bowl, -0.295, 1.097, -0.560, 0, 270, 0, 78 [SEP] 56, Cabinet, -0.582, 0.388, -1.804, 0, 0, 0, [SEP] 57, StoveBurner, -1.515, 0.928, -3.752, 0, 90, 0, [SEP] 58, StoveBurner, -1.515, 0.928, -3.497, 0, 0, 0, [SEP] 59, StoveBurner, -1.129, 0.928, -3.498, 0, 0, 0, [SEP] 60, Drawer, -0.749, 0.779, -3.551, 0, 0, 0, [SEP] 61, CounterTop, -0.303, 0.951, -2.793, 0, 0, 0, [SEP] 62, Cabinet, -0.883, 2.140, -3.687, 0, 0, 0, [SEP] 63, Cabinet, -0.312, 2.140, -1.543, 0, 0, 0, [SEP] 64, Sink, -0.349, 0.907, -2.014, 0, 0, 0, [SEP] 65, Cabinet, -0.877, 0.388, -3.422, 0, 0, 0, [SEP] 66, Cabinet, -0.582, 0.388, -2.197, 0, 0, 0, [SEP] 67, Cabinet, -0.584, 0.388, -3.396, 0, 0, 0, [SEP] 68, Cabinet, -0.312, 2.140, -2.481, 0, 0, 0, [SEP] 69, Cabinet, -0.330, 1.921, -3.390, 0, 0, 0, [SEP] 70, Cabinet, -1.764, 2.140, -3.687, 0, 0, 0, [SEP] 71, StoveBurner, -1.129, 0.928, -3.752, 0, 90, 0, [SEP] 72, Drawer, -0.454, 0.779, -3.268, 0, 0, 0, [SEP] 73, Cabinet, -0.302, 1.916, -2.501, 0, 0, 0, [SEP] 74, Microwave, -1.317, 1.517, -3.801, 0, 1.440, 0, [SEP] 75, CoffeeMachine, -0.153, 0.903, -3.144, 0, 270, 0, [SEP] 76, LightSwitch, -4.323, 1.319, 0.0, 0, 180, 0, [SEP] 77, GarbageCan, -1.943, -7.152, -3.763, 0, 0, 0, [SEP] 78, Fridge, -0.330, 0.0, -0.769, 0, 270, 0, [SEP] 79, SinkBasin, -0.350, 0.786, -2.018, 0, 270, 0, [SEP] 80, StoveKnob, -1.582, 1.082, -3.958, 72.287, 0, 0, [SEP] 81, StoveKnob, -1.177, 1.082, -3.958, 72.287, 0, 0, [SEP] 82, StoveKnob, -1.424, 1.082, -3.958, 72.287, 0, 0, [SEP] 83, StoveKnob, -1.028, 1.082, -3.958, 72.287, 0, 0, [SEP] 84, Toaster, -0.181, 0.903, -2.764, 0, 270, 0, [SEP] 85, Window, -2.503, 1.782, -4.185, 90, 180, 0, [SEP] 86, DiningTable, -2.432, 0.000, -1.694, 0, 270, 0, [SEP] 87, Shelf, -2.432, 0.150, -1.694, 0, 270, 0, [SEP] 88, Blinds, -2.536, 2.699, -3.959, 0, 0, 0, [SEP] 89, Faucet, -0.079, 0.904, -2.034, 270, 180, 0, [SEP] 90, Chair, -3.264, 0.002, -2.094, 0, 53.280, 0, [SEP] 91, Chair, -3.240, 0.002, -1.253, 0, 117.257, 0, [SEP] 92, Shelf, -2.432, 0.523, -1.694, 0, 270, 0, [SEP] 93, NorthWall, , , , , , , [SEP] 94, EastWall, , , , , , , [SEP] 95, SouthWall, , , , , , , [SEP] 96, WestWall, , , , , , , ", "output": ["STEP 1: Walk right toward the wall, then turn right and walk to the green island bar. | STEP 2: Pick up the knife closest to the wine bottle. | STEP 3: Move to your right at the bar. | STEP 4: Slice the head of lettuce on the right side of the bar. | STEP 5: Turn to your left and walk to the refrigerator. | STEP 6: Put the knife in the bottom drawer of the refrigerator. | STEP 7: Turn around and walk back to the green bar. | STEP 8: Pick up a slice of lettuce. | STEP 9: Turn around and walk back to the refrigerator. | STEP 10: Put the slice of lettuce in the bottom drawer of the refrigerator, leave it until it gets cold, then take it out. | STEP 11: Turn to your right and walk toward the stove, then turn left, then right and face the silver trash can next to the stove. | STEP 12: Put the slice of lettuce in the trash can. | END"]} +{"id": "trial_T20190909_013645_008319-1", "input": "Place the clock on the bedside table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.900, 0.0, 0, 0, 0, [SEP] 1, CD, 0.952, 0.082, -2.375, 0, 0, 0, 36 [SEP] 2, CD, -0.431, 0.619, 1.066, 0, 180, 0, 33 [SEP] 3, Pencil, -1.144, 0.681, -2.553, 0, 0, 0, 34 [SEP] 4, Pencil, -1.247, 0.380, -2.399, 0, 0, 0, 39 [SEP] 5, KeyChain, -0.276, 0.621, 0.833, 0, 180, 0, 33 [SEP] 6, Book, -1.263, 0.674, -2.464, 0, 0, 0, 34 [SEP] 7, Book, -0.118, 0.555, -1.880, 0, 0, 0, 21 [SEP] 8, Box, 2.453, 0.222, -0.041, 0, 0, 0, [SEP] 9, Book, -0.666, 0.555, -2.103, 0, 0, 0, 21 [SEP] 10, KeyChain, 0.033, 0.620, 0.910, 0, 270, 0, 33 [SEP] 11, Pillow, -0.117, 0.653, -1.211, 0, 0, 0, 21 [SEP] 12, BaseballBat, 0.419, 0.666, 1.044, 10.360, 0, 0, [SEP] 13, Pencil, 0.033, 0.625, 0.755, 0, 0, 0, 33 [SEP] 14, CellPhone, -0.586, 0.619, 1.066, 0, 180, 0, 33 [SEP] 15, CreditCard, -1.144, 0.675, -2.419, 0, 0, 0, 34 [SEP] 16, Pen, -0.431, 0.625, 0.833, 0, 180, 0, 33 [SEP] 17, Laptop, -0.661, 0.613, 0.778, 0, 165.000, 0, 33 [SEP] 18, AlarmClock, -0.121, 0.621, 0.755, 0, 180, 0, 33 [SEP] 19, CD, 0.188, 0.618, 0.599, 0, 180, 0, 33 [SEP] 20, Mug, -0.276, 0.618, 0.988, 0, 180, 0, 33 [SEP] 21, Bed, -0.118, -0.001, -1.699, 0, 180, 0, [SEP] 22, Mirror, 2.644, 1.347, 0.384, 0, 90, 0, [SEP] 23, GarbageCan, 2.467, -0.029, 0.936, 0, 271.107, 0, [SEP] 24, LightSwitch, 0.333, 1.256, 1.149, 0, 180, 0, [SEP] 25, DeskLamp, 0.915, 0.670, -2.435, 0, 0, 0, [SEP] 26, Painting, 0.003, 1.562, -2.687, 90, 180, 0, [SEP] 27, Window, -1.559, 1.414, -1.356, 90, 270, 0, [SEP] 28, Window, -1.559, 1.414, -0.057, 90, 270, 0, [SEP] 29, Shelf, -0.276, 0.351, 0.832, 0, 0, 0, [SEP] 30, Shelf, -0.276, 0.099, 0.832, 0, 0, 0, [SEP] 31, Blinds, -1.462, 2.157, -1.343, 0, 90, 0, [SEP] 32, Blinds, -1.462, 2.157, -0.046, 0, 90, 0, [SEP] 33, Desk, -0.276, -0.001, 0.833, 0, 0, 0, [SEP] 34, SideTable, -1.204, 0.002, -2.456, 0, 0, 0, [SEP] 35, SideTable, 0.948, 0.002, -2.456, 0, 0, 0, [SEP] 36, Drawer, 0.948, 0.166, -2.389, 0, 0, 0, [SEP] 37, Drawer, -1.204, 0.166, -2.389, 0, 0, 0, [SEP] 38, Drawer, 0.948, 0.458, -2.389, 0, 0, 0, [SEP] 39, Drawer, -1.204, 0.458, -2.389, 0, 0, 0, [SEP] 40, , , , , , , , [SEP] 41, NorthWall, , , , , , , [SEP] 42, EastWall, , , , , , , [SEP] 43, SouthWall, , , , , , , [SEP] 44, WestWall, , , , , , , ", "output": ["STEP 1: Turn right then face the black table to your left. | STEP 2: Take the clock off the table in front of you. | STEP 3: Turn left then face your bed side table on your left. | STEP 4: Place the clock on top of your bedside table in front of you. | END"]} +{"id": "trial_T20190908_075937_864504-0", "input": "place a cooked egg on the table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.900, 2.5, 0, 90, 0, [SEP] 1, ButterKnife, -0.538, 1.047, 2.817, 0, 0, 0, 48 [SEP] 2, Pot, -3.000, 1.133, 0.480, 0, 270, 0, 53 [SEP] 3, Pot, -0.827, 1.129, 0.206, 0, 0, 0, 70 [SEP] 4, Spoon, -0.785, 1.049, 3.266, 0, 0, 0, 48 [SEP] 5, Spoon, -2.450, 0.096, 0.545, 0, 90, 0, 51 [SEP] 6, Spatula, -0.785, 1.063, 2.593, 0, 0, 0, 48 [SEP] 7, Plate, -3.572, 1.285, 3.132, 0, 90, 0, 65 [SEP] 8, SoapBottle, -0.538, 1.047, 2.144, 0, 0, 0, 48 [SEP] 9, SoapBottle, -0.415, 1.047, 2.369, 0, 0, 0, 48 [SEP] 10, Tomato, -3.696, 0.153, 1.978, 0, 0, 0, 69 [SEP] 11, Tomato, -1.642, 0.972, 0.567, 0, 0, 0, 70 [SEP] 12, Bowl, -1.562, 0.046, 0.381, 0, 0, 0, 63 [SEP] 13, SaltShaker, -0.168, 1.043, 2.369, 0, 0, 0, 48 [SEP] 14, PepperShaker, -2.509, 0.899, 0.544, 0, 0, 0, 57 [SEP] 15, PepperShaker, -0.785, 1.044, 3.042, 0, 0, 0, 48 [SEP] 16, Bread, -0.908, 1.133, 3.266, 0, 0, 0, 48 [SEP] 17, Bread, -0.785, 1.133, 1.920, 0, 0, 0, 48 [SEP] 18, Mug, -0.377, 1.095, 3.194, 0, 270, 0, 64 [SEP] 19, Mug, -1.195, 0.044, 0.608, 0, 0, 0, 52 [SEP] 20, Apple, -2.262, 1.192, 0.473, 0, 0, 0, 58 [SEP] 21, Fork, -0.168, 1.048, 2.144, 0, 0, 0, 48 [SEP] 22, SoapBottle, -0.785, 1.047, 2.369, 0, 0, 0, 48 [SEP] 23, Pot, -3.475, 1.133, 0.227, 0, 90, 0, 44 [SEP] 24, Ladle, -0.715, 1.164, 0.478, 0, 0, 0, 60 [SEP] 25, Potato, -3.742, 1.155, 0.662, 0, 0, 0, 55 [SEP] 26, Plate, -1.601, 0.047, 0.608, 0, 0, 0, 63 [SEP] 27, Bread, -3.44, 0.998, 2.920, 0, 90, 0, 65 [SEP] 28, Lettuce, -2.639, 1.202, 0.567, 0, 0, 0, 58 [SEP] 29, Spatula, -1.288, 0.946, 0.567, 0, 270, 0, 70 [SEP] 30, Pan, -0.266, 1.038, 2.561, 0, 0, 0, 48 [SEP] 31, Egg, -0.168, 1.077, 1.920, 0, 0, 0, 48 [SEP] 32, Cup, -1.465, 0.929, 0.221, 0, 0, 0, 70 [SEP] 33, SaltShaker, -2.089, 0.091, 0.579, 0, 0, 0, 50 [SEP] 34, Knife, -0.538, 1.080, 1.920, 0, 0, 0, 48 [SEP] 35, Bowl, -0.538, 1.045, 2.593, 0, 0, 0, 48 [SEP] 36, PepperShaker, -3.742, 1.121, 0.284, 0, 0, 0, 55 [SEP] 37, ButterKnife, -1.199, 0.931, 0.428, 0, 0, 0, 70 [SEP] 38, Apple, -0.785, 1.114, 2.817, 0, 0, 0, 48 [SEP] 39, Tomato, -2.388, 1.165, 0.190, 0, 0, 0, 58 [SEP] 40, DishSponge, -1.199, 0.931, 0.567, 0, 0, 0, 70 [SEP] 41, Spoon, -3.851, 1.126, 0.473, 0, 90, 0, 55 [SEP] 42, Mug, -3.440, 1.557, 3.061, 0, 90, 0, 65 [SEP] 43, StoveKnob, -3.322, 1.053, 0.709, 45, 0, 0, [SEP] 44, StoveBurner, -3.474, 1.097, 0.227, 0, 180, 0, [SEP] 45, Sink, -1.394, 0.982, 0.439, 0, 0, 0, [SEP] 46, StoveBurner, -3.474, 1.097, 0.479, 0, 180, 0, [SEP] 47, StoveKnob, -3.164, 1.053, 0.709, 45, 0, 0, [SEP] 48, DiningTable, -0.620, 0.017, 2.486, 0, 0, 0, [SEP] 49, Drawer, -2.043, 0.608, 0.594, 0, 0, 0, [SEP] 50, Drawer, -2.043, 0.216, 0.594, 0, 0, 0, [SEP] 51, Drawer, -2.498, 0.216, 0.594, 0, 0, 0, [SEP] 52, Cabinet, -1.001, 0.393, 0.734, 0, 0, 0, [SEP] 53, StoveBurner, -3.000, 1.097, 0.480, 0, 0, 0, [SEP] 54, StoveKnob, -3.492, 1.053, 0.709, 45, 0, 0, [SEP] 55, CounterTop, -3.856, 1.160, 0.379, 0, 0, 0, [SEP] 56, Drawer, -2.043, 0.937, 0.599, 0, 0, 0, [SEP] 57, Drawer, -2.509, 0.937, 0.599, 0, 0, 0, [SEP] 58, CounterTop, -2.280, 1.160, 0.379, 0, 0, 0, [SEP] 59, StoveKnob, -2.985, 1.053, 0.709, 45, 0, 0, [SEP] 60, CounterTop, -0.514, 1.160, 0.492, 0, 0, 0, [SEP] 61, Drawer, -2.498, 0.608, 0.594, 0, 0, 0, [SEP] 62, StoveBurner, -3.000, 1.097, 0.227, 0, 0, 0, [SEP] 63, Cabinet, -1.733, 0.393, 0.734, 0, 0, 0, [SEP] 64, CoffeeMachine, -0.153, 1.038, 3.193, 0, 270, 0, [SEP] 65, Fridge, -3.519, 0.0, 2.717, 0, 90, 0, [SEP] 66, Window, -1.394, 1.924, 0.014, 90, 0, 0, [SEP] 67, Window, -3.266, 1.924, 0.014, 90, 0, 0, [SEP] 68, Toaster, -0.225, 1.038, 2.865, 0, 270, 0, [SEP] 69, GarbageCan, -3.696, 0.002, 2.008, 0, 0, 0, [SEP] 70, SinkBasin, -1.389, 0.921, 0.428, 0, 0, 0, [SEP] 71, Microwave, -0.366, 1.113, 0.430, 0, 0, 0, [SEP] 72, HousePlant, -2.155, 1.101, 0.169, 0, 332.897, 0, [SEP] 73, LightSwitch, -2.584, 1.299, 3.5, 0, 180, 0, [SEP] 74, Faucet, -1.393, 1.373, 0.168, 0, 270, 0, [SEP] 75, NorthWall, , , , , , , [SEP] 76, SouthWall, , , , , , , [SEP] 77, SouthWall, , , , , , , ", "output": ["STEP 1: move forward to the table | STEP 2: pick up the egg from the table | STEP 3: turn around to the oven | STEP 4: cook the egg in the oven and take it out | STEP 5: turn around and head for the table | STEP 6: place the egg on the table | END"]} +{"id": "trial_T20190908_232008_232680-1", "input": "Pick up the hand from the table and turn on the lamp. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.5, 0.900, 0.75, 0, 270, 0, [SEP] 1, TissueBox, 1.183, 0.475, 0.267, 0, 180, 0, 35 [SEP] 2, TissueBox, 1.466, 0.479, 0.186, 0, 180, 0, 35 [SEP] 3, Newspaper, -0.347, 0.321, 1.669, 0, 91.372, 0, 42 [SEP] 4, Statue, 4.007, 0.878, 1.076, 0, 270, 0, 44 [SEP] 5, Pencil, 1.324, 0.480, 0.267, 0, 180, 0, 35 [SEP] 6, Pencil, 3.876, 0.768, 0.578, 0, 0, 0, 45 [SEP] 7, Pen, 2.008, 0.458, -0.729, 0, 0, 0, 36 [SEP] 8, KeyChain, 3.901, 0.766, 1.055, 0, 0, 0, 45 [SEP] 9, KeyChain, 2.656, 0.323, 1.727, 0, 90, 0, 34 [SEP] 10, CreditCard, 1.905, 0.840, -0.623, 0, 0, 0, 37 [SEP] 11, Box, -0.29, 1.074, -0.714, 0, 270, 0, Floor|+00.00| [SEP] 12, Newspaper, 1.749, 0.472, 0.186, 0, 180, 0, 35 [SEP] 13, Laptop, 1.805, 0.47, 0.499, 0, 0, 0, 35 [SEP] 14, WateringCan, 1.621, 0.056, -0.697, 0, 0, 0, 40 [SEP] 15, TissueBox, 1.800, 0.454, -0.653, 0, 0, 0, 36 [SEP] 16, KeyChain, 0.967, 0.336, 1.673, 0, 0, 0, 25 [SEP] 17, Pen, -0.606, 0.463, -0.615, 0, 0, 0, 41 [SEP] 18, Boots, 4.005, 0.001, 1.707, 1.563, 246.167, 0, [SEP] 19, Pencil, 3.852, 0.769, 0.960, 0, 90, 0, 45 [SEP] 20, RemoteControl, 1.380, 0.337, 1.746, 0, 0, 0, 43 [SEP] 21, CreditCard, 3.926, 0.766, 0.960, 0, 0, 0, 45 [SEP] 22, Pillow, 0.651, 0.395, 1.708, 0, 0, 0, 25 [SEP] 23, Statue, -0.532, 0.443, -0.738, 0, 92.244, 0, 41 [SEP] 24, Statue, 1.324, 0.483, 0.594, 0, 180, 0, 35 [SEP] 25, Sofa, 1.174, 0.0, 1.865, 0, 0, 0, [SEP] 26, FloorLamp, 3.608, 0.000, 2.163, 0, 0, 0, [SEP] 27, GarbageCan, 3.833, -0.029, -0.495, 0, 0, 0, [SEP] 28, Television, 1.897, 1.281, -0.838, 0, 0, 0, [SEP] 29, Painting, 4.070, 1.950, 0.848, 90, 270, 0, [SEP] 30, HousePlant, 0.387, 0.801, -0.725, 0, 90, 0, [SEP] 31, Window, 0.023, 2.072, 2.484, 90, 180, 0, [SEP] 32, Window, 1.570, 2.072, 2.484, 90, 180, 0, [SEP] 33, LightSwitch, -1.399, 1.289, 1.835, 0, 90, 0, [SEP] 34, ArmChair, 2.655, 0.000, 1.858, 0, 180, 0, [SEP] 35, CoffeeTable, 1.591, -0.000, 0.446, 0, 180, 0, [SEP] 36, Shelf, 1.905, 0.588, -0.730, 0, 0, 0, [SEP] 37, TVStand, 1.904, -0.000, -0.770, 0, 0, 0, [SEP] 38, Shelf, -0.289, 0.200, -0.732, 0, 0, 0, [SEP] 39, TVStand, -0.290, -0.000, -0.772, 0, 0, 0, [SEP] 40, Shelf, 1.905, 0.200, -0.730, 0, 0, 0, [SEP] 41, Shelf, -0.289, 0.588, -0.732, 0, 0, 0, [SEP] 42, ArmChair, -0.270, 0.000, 1.870, 0, 181.372, 0, [SEP] 43, Sofa, 1.193, 0.008, 1.865, 0, 180, 0, [SEP] 44, SideTable, 3.946, 0.000, 0.865, 0, 270, 0, [SEP] 45, Drawer, 3.882, 0.774, 0.864, 0, 270, 0, [SEP] 46, NorthWall, , , , , , , [SEP] 47, EastWall, , , , , , , [SEP] 48, SouthWall, , , , , , , [SEP] 49, WestWall, , , , , , , ", "output": ["STEP 1: Turn to the right twice and move forward to the black end table. | STEP 2: Pick up the metallic hand from the table. | STEP 3: Turn to the left and approach the lamp. | STEP 4: Turn on the lamp. | END"]} +{"id": "trial_T20190907_122643_142060-0", "input": "Examine a watering can by the light of a table lamp. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.916, 0.75, 0, 0, 0, [SEP] 1, Statue, -3.260, 0.595, -0.622, 0, 0, 0, 52 [SEP] 2, Newspaper, -0.113, 0.916, 2.188, 0, 0, 0, 62 [SEP] 3, KeyChain, -3.104, 0.563, 2.012, 0, 180, 0, 57 [SEP] 4, KeyChain, -0.005, 0.540, -2.291, 0, 90, 0, 40 [SEP] 5, CellPhone, 3.103, 0.333, 0.316, 0, 180, 0, 49 [SEP] 6, CreditCard, -2.643, 0.358, -1.804, 0, 29.999, 0, 39 [SEP] 7, CreditCard, -0.244, 0.411, 0.829, 0, 0, 0, 63 [SEP] 8, RemoteControl, 3.121, 0.592, 0.232, 0, 180, 0, 45 [SEP] 9, Pillow, -2.812, 0.623, 1.806, 0, 270, 0, 57 [SEP] 10, Book, 0.116, 0.902, 1.073, 0, 29.999, 0, 62 [SEP] 11, Box, 3.160, 0.782, -0.640, 0, 180, 0, 48 [SEP] 12, Statue, -0.204, 0.915, 2.431, 0, 0, 0, 62 [SEP] 13, CreditCard, 3.103, 0.082, -0.622, 0, 180, 0, 47 [SEP] 14, Laptop, -2.780, 0.365, -1.874, 0, 0, 0, 39 [SEP] 15, WateringCan, 2.893, 0.014, -1.916, 0, 328.832, 0, [SEP] 16, Newspaper, -0.145, 0.164, 2.419, 0, 0, 0, 67 [SEP] 17, Vase, -2.168, 1.195, -2.183, 0, 0, 0, [SEP] 18, CellPhone, 3.103, 0.083, 0.268, 0, 180, 0, 49 [SEP] 19, RemoteControl, -0.295, 0.910, 2.188, 0, 0, 0, 62 [SEP] 20, Vase, -1.046, 1.195, -2.151, 0, 0, 0, [SEP] 21, Pillow, -2.893, 0.616, 0.818, 0, 0, 0, 57 [SEP] 22, KeyChain, -0.204, 0.909, 1.946, 0, 0, 0, 62 [SEP] 23, Cabinet, 0.333, 0.514, -2.015, 0, 0, 0, [SEP] 24, DeskLamp, 3.143, 0.591, 1.457, 0, 270, 0, [SEP] 25, LightSwitch, -0.927, 1.316, 2.846, 0, 180, 0, [SEP] 26, HousePlant, 0.491, 0.874, -1.581, 0, 0, 0, [SEP] 27, Television, 0.069, 1.406, 1.698, 0, 270, 0, [SEP] 28, GarbageCan, 3.164, 0.026, 0.891, 0, 0, 0, [SEP] 29, Painting, -1.561, 1.408, -2.318, 90, 180, 0, [SEP] 30, Painting, 3.367, 1.789, -0.949, 90, 270, 0, [SEP] 31, Painting, -3.488, 1.386, -0.507, 90, 270, 0, [SEP] 32, FloorLamp, 3.103, 0.025, -2.341, 0, 135, 0, [SEP] 33, Window, 1.133, 1.218, -2.740, 90, 0, 0, [SEP] 34, Window, -3.368, 1.180, -1.539, 90, 90, 0, [SEP] 35, Window, 2.898, 1.218, -2.740, 90, 0, 0, [SEP] 36, Window, 2.006, 1.218, -2.740, 90, 0, 0, [SEP] 37, Window, -0.193, 1.157, -2.563, 90, 0, 0, [SEP] 38, Window, -2.970, 1.157, -2.563, 90, 0, 0, [SEP] 39, ArmChair, -2.859, 0.026, -2.036, 0, 29.994, 0, [SEP] 40, SideTable, -0.170, 0.027, -2.279, 0, 0, 0, [SEP] 41, Drawer, -0.173, 0.465, -2.135, 0, 0, 0, [SEP] 42, Drawer, 3.104, 0.167, 1.400, 0, 270, 0, [SEP] 43, SideTable, 3.163, 0.032, 1.400, 0, 270, 0, [SEP] 44, Drawer, 3.103, 0.418, 1.401, 0, 270, 0, [SEP] 45, SideTable, 3.163, 0.032, 0.364, 0, 270, 0, [SEP] 46, Drawer, -3.241, 0.418, -0.490, 0, 90, 0, [SEP] 47, Drawer, 3.104, 0.167, -0.574, 0, 270, 0, [SEP] 48, SideTable, 3.163, 0.032, -0.574, 0, 270, 0, [SEP] 49, Drawer, 3.104, 0.167, 0.364, 0, 270, 0, [SEP] 50, Drawer, 3.104, 0.419, -0.574, 0, 270, 0, [SEP] 51, Drawer, -3.241, 0.167, -0.489, 0, 90, 0, [SEP] 52, SideTable, -3.300, 0.032, -0.489, 0, 90, 0, [SEP] 53, Drawer, 3.104, 0.419, 0.364, 0, 270, 0, [SEP] 54, Chair, 1.049, 0.031, -2.190, 0, 29.997, 0, [SEP] 55, DogBed, 2.739, 0.032, 2.260, 0, 45, 0, [SEP] 56, Chair, 2.037, 0.031, -2.232, 0, 350.485, 0, [SEP] 57, Sofa, -2.957, 0.032, 1.393, 0, 90, 0, [SEP] 58, Drawer, -0.189, 0.232, 0.954, 0, 270, 0, [SEP] 59, Drawer, -0.415, 0.854, 1.921, 0, 270, 0, [SEP] 60, Drawer, -0.415, 0.351, 1.414, 0, 270, 0, [SEP] 61, Drawer, -0.415, 0.603, 1.414, 0, 270, 0, [SEP] 62, Dresser, -0.052, 0.028, 1.667, 0, 270, 0, [SEP] 63, Drawer, -0.190, 0.484, 0.954, 0, 270, 0, [SEP] 64, Drawer, -0.190, 0.736, 0.954, 0, 270, 0, [SEP] 65, Drawer, -0.415, 0.603, 1.921, 0, 270, 0, [SEP] 66, Drawer, -0.415, 0.603, 2.384, 0, 270, 0, [SEP] 67, Drawer, -0.415, 0.351, 2.384, 0, 270, 0, [SEP] 68, Drawer, -0.415, 0.854, 2.384, 0, 270, 0, [SEP] 69, Drawer, -0.415, 0.351, 1.921, 0, 270, 0, [SEP] 70, Drawer, -0.415, 0.854, 1.414, 0, 270, 0, [SEP] 71, Stool, 3.135, 0.029, -1.625, 0, 330.001, 0, [SEP] 72, Chair, 1.631, 0.029, 2.210, 0, 161.562, 0, [SEP] 73, NorthWall, , , , , , , [SEP] 74, EastWall, , , , , , , [SEP] 75, SouthWall, , , , , , , [SEP] 76, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and walk toward the watering can by the floor lamp in the other room. | STEP 2: Pick up the watering can from the floor. | STEP 3: Turn left and walk in front of the lamp on the end table at the other end of the room. | STEP 4: Turn on the lamp. | END"]} +{"id": "trial_T20190909_115030_465697-1", "input": "pick up the knife, cut apple, place apple in pot, pick up pot, place pot in the sink SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.900, -1.75, 0, 180, 0, [SEP] 1, CreditCard, 0.324, 0.907, -2.253, 0, 0, 0, 61 [SEP] 2, CreditCard, -0.473, 1.108, 0.757, 0, 0, 0, 59 [SEP] 3, Plate, 0.217, 1.108, -0.506, 0, 0, 0, 59 [SEP] 4, Tomato, -2.081, 1.542, 1.260, 0, 90, 0, 92 [SEP] 5, Tomato, -1.693, 0.950, -2.036, 0, 0, 0, 84 [SEP] 6, SoapBottle, -1.989, 0.048, 1.885, 0, 270, 0, 90 [SEP] 7, SoapBottle, 1.893, 0.554, -2.666, 0, 180, 0, 89 [SEP] 8, PepperShaker, 1.064, 0.138, -2.479, 0, 0, 0, 79 [SEP] 9, Bread, -0.197, 1.184, -0.001, 0, 0, 0, 59 [SEP] 10, Bread, -0.059, 1.184, -0.759, 0, 0, 0, 59 [SEP] 11, Lettuce, 1.098, 0.990, -2.330, 0, 0, 0, 61 [SEP] 12, Apple, -2.040, 1.553, 1.092, 0, 90, 0, 92 [SEP] 13, Apple, -0.070, 1.841, -2.546, 0, 0, 0, 85 [SEP] 14, Knife, 0.582, 0.936, -2.407, 0, 0, 0, 61 [SEP] 15, Knife, -1.908, 0.795, -1.414, 0, 90, 0, 94 [SEP] 16, Fork, -1.740, 0.154, -0.197, 0, 90, 0, 82 [SEP] 17, Mug, -0.898, 1.651, -2.532, 0, 180, 0, 73 [SEP] 18, Mug, -1.731, 0.956, -0.168, 0, 90, 0, 93 [SEP] 19, Pot, -0.059, 1.115, -0.253, 0, 0, 0, 59 [SEP] 20, ButterKnife, -1.733, 0.911, -2.483, 0, 0, 0, 84 [SEP] 21, ButterKnife, 0.217, 1.111, -0.001, 0, 0, 0, 59 [SEP] 22, Kettle, 0.563, 0.141, -2.436, 0, 0, 0, 76 [SEP] 23, Glassbottle, -2.100, 0.912, 0.044, 0, 0, 0, 84 [SEP] 24, Book, -0.335, 1.110, -0.759, 0, 0, 0, 59 [SEP] 25, Glassbottle, 0.840, 0.911, -2.253, 0, 0, 0, 61 [SEP] 26, Knife, -1.438, 0.936, -2.483, 0, 0, 0, 84 [SEP] 27, Bread, -0.197, 1.184, 0.251, 0, 0, 0, 59 [SEP] 28, Fork, 1.064, 0.646, -2.417, 0, 0, 0, 64 [SEP] 29, Potato, 0.582, 0.941, -2.560, 0, 0, 0, 61 [SEP] 30, SoapBottle, -0.197, 1.112, 0.504, 0, 0, 0, 59 [SEP] 31, Kettle, -0.036, 0.950, -2.372, 0, 270, 0, 54 [SEP] 32, Pan, -1.805, 0.135, -1.389, 0, 180, 0, 60 [SEP] 33, Plate, -1.586, 0.908, -2.329, 0, 0, 0, 84 [SEP] 34, Tomato, -1.797, 0.808, -1.242, 0, 90, 0, 94 [SEP] 35, Vase, 2.042, 0.540, -2.495, 0, 0, 0, 89 [SEP] 36, Egg, 0.324, 0.945, -2.330, 0, 0, 0, 61 [SEP] 37, CreditCard, -1.574, 0.908, -1.309, 0, 0, 0, 84 [SEP] 38, Statue, -0.059, 1.110, 0.504, 0, 90, 0, 59 [SEP] 39, WineBottle, -0.995, 0.912, -2.483, 0, 0, 0, 84 [SEP] 40, Pot, -0.465, 0.950, -2.576, 0, 90, 0, 68 [SEP] 41, Spatula, 0.217, 1.126, 0.251, 0, 0, 0, 59 [SEP] 42, PaperTowelRoll, -1.774, 1.015, -2.146, 0, 0, 0, 84 [SEP] 43, Cup, -2.163, 0.538, 1.085, 0, 90, 0, 92 [SEP] 44, Vase, 1.098, 0.908, -2.560, 0, 0, 0, 61 [SEP] 45, Bowl, -0.225, 1.787, -2.546, 0, 0, 0, 85 [SEP] 46, SaltShaker, 0.711, 0.907, -2.637, 0, 0, 0, 61 [SEP] 47, PepperShaker, -0.898, 1.652, -2.676, 0, 0, 0, 73 [SEP] 48, Lettuce, -1.937, 0.991, -0.513, 0, 0, 0, 84 [SEP] 49, ButterKnife, -0.059, 1.111, -0.506, 0, 0, 0, 59 [SEP] 50, Apple, -2.018, 0.820, -1.414, 0, 90, 0, 94 [SEP] 51, DishSponge, -1.401, 1.657, -2.641, 0, 0, 0, 75 [SEP] 52, Spoon, -0.473, 1.112, 0.504, 0, 0, 0, 59 [SEP] 53, Mug, 1.891, 0.875, -2.563, 0, 180, 0, 86 [SEP] 54, StoveBurner, -0.036, 0.915, -2.372, 0, 0, 0, [SEP] 55, Drawer, 0.949, 0.832, -2.197, 0, 0, 0, [SEP] 56, Drawer, -1.560, 0.839, 0.204, 0, 90, 0, [SEP] 57, StoveBurner, -0.465, 0.915, -2.371, 0, 180, 0, [SEP] 58, Drawer, -1.560, 0.839, -0.197, 0, 90, 0, [SEP] 59, CounterTop, -0.079, 1.147, -0.001, 0, 0, 0, [SEP] 60, Cabinet, -1.549, 0.494, -1.964, 0, 90, 0, [SEP] 61, CounterTop, 0.693, 0.946, -2.483, 0, 0, 0, [SEP] 62, StoveBurner, -0.036, 0.915, -2.576, 0, 0, 0, [SEP] 63, Drawer, 0.949, 0.393, -2.200, 0, 0, 0, [SEP] 64, Drawer, 0.949, 0.708, -2.200, 0, 0, 0, [SEP] 65, Cabinet, -1.549, 0.494, 0.379, 0, 90, 0, [SEP] 66, StoveKnob, -0.022, 0.881, -2.187, 45, 0, 0, [SEP] 67, Drawer, 0.949, 0.560, -2.201, 0, 0, 0, [SEP] 68, StoveBurner, -0.465, 0.915, -2.575, 0, 180, 0, [SEP] 69, Window, -2.230, 1.429, -1.203, 0, 0, 0, [SEP] 70, StoveKnob, -0.483, 0.881, -2.187, 45, 0, 0, [SEP] 71, Sink, -1.899, 0.964, -1.5, 0, 90, 0, [SEP] 72, StoveKnob, -0.328, 0.881, -2.187, 45, 0, 0, [SEP] 73, Cabinet, -0.727, 2.015, -2.460, 0, 0, 0, [SEP] 74, Drawer, -1.560, 0.655, -0.196, 0, 90, 0, [SEP] 75, Cabinet, -1.685, 2.015, -2.461, 0, 0, 0, [SEP] 76, Cabinet, 0.680, 0.494, -2.200, 0, 0, 0, [SEP] 77, Cabinet, -1.179, 0.494, -2.200, 0, 0, 0, [SEP] 78, Cabinet, -1.849, 2.015, 0.379, 0, 90, 0, [SEP] 79, Drawer, 0.949, 0.221, -2.200, 0, 0, 0, [SEP] 80, StoveKnob, -0.183, 0.881, -2.187, 45, 0, 0, [SEP] 81, Cabinet, 0.719, 2.015, -2.460, 0, 0, 0, [SEP] 82, Drawer, -1.560, 0.331, -0.196, 0, 90, 0, [SEP] 83, Cabinet, 0.680, 2.015, -2.460, 0, 0, 0, [SEP] 84, CounterTop, -1.868, 0.946, -1.205, 0, 0, 0, [SEP] 85, Microwave, -0.236, 1.689, -2.525, 0, 0, 0, [SEP] 86, Shelf, 1.751, 0.880, -2.560, 0, 0, 0, [SEP] 87, HousePlant, -1.948, 0.889, -2.520, 0, 5.334, 0, [SEP] 88, Toaster, -1.835, 0.900, 0.134, 0, 90, 0, [SEP] 89, Shelf, 1.750, 0.552, -2.559, 0, 0, 0, [SEP] 90, GarbageCan, -1.935, -0.002, 2.029, 0, 270, 0, [SEP] 91, Shelf, 1.750, 0.172, -2.559, 0, 0, 0, [SEP] 92, Fridge, -2.096, 0.0, 1.088, 0, 0, 0, [SEP] 93, CoffeeMachine, -1.977, 0.900, -0.188, 0, 90, 0, [SEP] 94, SinkBasin, -1.908, 0.759, -1.488, 0, 90, 0, [SEP] 95, LightSwitch, 2.329, 1.309, -0.159, 0, 270, 0, [SEP] 96, ShelvingUnit, 1.750, 0.006, -2.559, 0, 0, 0, [SEP] 97, Stool, 0.702, 0.000, -0.514, 1.202, 65.108, 0, [SEP] 98, Stool, 0.743, 0.000, 0.563, 1.227, 106.706, 0, [SEP] 99, Faucet, -2.070, 1.132, -1.514, 0, 0, 0, [SEP] 100, NorthWall, , , , , , , [SEP] 101, EastWall, , , , , , , [SEP] 102, SouthWall, , , , , , , [SEP] 103, WestWall, , , , , , , ", "output": ["STEP 1: turn right, turn left to the sink | STEP 2: pick up knife from the sink | STEP 3: cut apple with the knife | STEP 4: look down at the sink | STEP 5: place the knife in the sink | STEP 6: look up at apple in the sink | STEP 7: pick up the apple from the sink | STEP 8: turn around , walk straight, turn right to the stove | STEP 9: place the apple into the pot on the stove | STEP 10: pick up the pot from the stove | STEP 11: turn around, turn left to the sink | STEP 12: place the pot in to the sink | END"]} +{"id": "trial_T20190909_021415_472593-1", "input": "Put a heated piece of apple on the counter. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.0, 0.900, 0.0, 0, 0, 0, [SEP] 1, Potato, -0.137, 0.793, -2.116, 0, 0, 0, 79 [SEP] 2, Potato, -0.160, 0.959, 0.991, 0, 0, 0, 84 [SEP] 3, DishSponge, -1.072, 0.913, -2.224, 0, 0, 0, 67 [SEP] 4, ButterKnife, -0.668, 0.913, -2.101, 0, 0, 0, 67 [SEP] 5, WineBottle, 1.669, 0.881, 2.429, 0, 0, 0, 88 [SEP] 6, Spatula, 1.738, 0.928, -1.446, 0, 0, 0, 67 [SEP] 7, Spatula, 1.919, 0.928, -1.797, 0, 0, 0, 67 [SEP] 8, Spoon, -0.064, 0.765, -1.981, 0, 90, 0, 79 [SEP] 9, Spoon, 0.522, 0.931, 1.220, 0, 0, 0, 84 [SEP] 10, Egg, -0.160, 0.980, 1.220, 0, 0, 0, 84 [SEP] 11, Egg, -1.610, 1.237, -0.495, 0, 90, 0, 75 [SEP] 12, Cup, -0.137, 0.764, -1.981, 0, 0, 0, 79 [SEP] 13, Plate, 1.690, 0.123, -1.397, 0, 270, 0, 61 [SEP] 14, SoapBottle, -0.113, 0.912, -1.725, 0, 0, 0, 67 [SEP] 15, SoapBottle, 1.871, 1.656, -1.866, 0, 270, 0, 57 [SEP] 16, Bowl, 1.919, 0.910, -1.212, 0, 0, 0, 67 [SEP] 17, SaltShaker, 1.670, 0.549, 2.327, 0, 0, 0, 87 [SEP] 18, PepperShaker, -0.890, 0.909, -2.188, 0, 0, 0, 67 [SEP] 19, Bread, 0.066, 0.972, 1.220, 0, 0, 0, 84 [SEP] 20, Bread, 0.180, 0.972, 0.534, 0, 0, 0, 84 [SEP] 21, Mug, 1.256, 0.114, -1.968, 0, 0, 0, 59 [SEP] 22, Mug, -0.283, 0.759, -1.981, 0, 90, 0, 79 [SEP] 23, Apple, -1.380, 1.254, -0.910, 0, 90, 0, 75 [SEP] 24, Apple, 1.958, 0.157, 0.083, 0, 0, 0, 68 [SEP] 25, Apple, -0.160, 0.997, 0.305, 0, 0, 0, 84 [SEP] 26, Potato, 1.466, 0.942, -1.680, 0, 0, 0, 67 [SEP] 27, Bowl, 1.828, 0.910, -1.446, 0, 0, 0, 67 [SEP] 28, SoapBottle, 1.462, 0.551, 2.379, 0, 0, 0, 87 [SEP] 29, Fork, 0.294, 0.927, 0.762, 0, 90, 0, 84 [SEP] 30, Ladle, 1.909, 1.702, -1.673, 0, 270, 0, 57 [SEP] 31, Bread, 0.399, 0.964, 0.110, 0, 0, 1.601, 84 [SEP] 32, Lettuce, 0.522, 1.011, 0.991, 0, 0, 0, 84 [SEP] 33, WineBottle, 1.771, 0.881, 2.537, 0, 0, 0, 93 [SEP] 34, Spatula, -0.047, 0.941, 0.076, 0, 0, 0, 84 [SEP] 35, Plate, -1.438, 1.187, -0.495, 0, 90, 0, 75 [SEP] 36, SaltShaker, -1.109, 0.909, -2.079, 0, 0, 0, 67 [SEP] 37, Pot, 1.567, 0.948, -0.757, 0, 0, 0, 49 [SEP] 38, Cup, -1.495, 1.183, -0.910, 0, 90, 0, 75 [SEP] 39, PepperShaker, 0.034, 2.147, -2.094, 0, 0, 0, 52 [SEP] 40, Pan, 1.845, 0.948, -0.355, 0, 0, 0, 48 [SEP] 41, ButterKnife, 0.457, 0.913, -2.085, 0, 0, 0, 67 [SEP] 42, Tomato, -0.047, 0.982, 0.991, 0, 0, 0, 84 [SEP] 43, DishSponge, 0.294, 0.930, 1.220, 0, 0, 0, 84 [SEP] 44, Egg, 0.294, 0.984, 0.991, 0, 0, 0, 84 [SEP] 45, Spoon, 0.066, 0.931, 0.534, 0, 0, 0, 84 [SEP] 46, Knife, 0.002, 0.936, -1.689, 0, 0, 0, 67 [SEP] 47, Mug, -0.047, 0.921, 0.762, 0, 0, 0, 84 [SEP] 48, StoveBurner, 1.845, 0.940, -0.355, 0, 0, 0, [SEP] 49, StoveBurner, 1.567, 0.940, -0.757, 0, 0, 0, [SEP] 50, Cabinet, -1.149, 2.019, -1.979, 0, 90, 0, [SEP] 51, Cabinet, -1.149, 2.265, -0.834, 0, 90, 0, [SEP] 52, Cabinet, -0.459, 2.265, -2.0, 0, 0, 0, [SEP] 53, Cabinet, -1.100, 2.019, -2.0, 0, 0, 0, [SEP] 54, Cabinet, 1.719, 2.019, -2.0, 0, 0, 0, [SEP] 55, Cabinet, 1.179, 2.019, -2.0, 0, 0, 0, [SEP] 56, Cabinet, 0.199, 2.019, -2.0, 0, 0, 0, [SEP] 57, Cabinet, 1.75, 2.019, -1.399, 0, 270, 0, [SEP] 58, Cabinet, 1.75, 2.019, -1.029, 0, 270, 0, [SEP] 59, Cabinet, 1.379, 0.469, -1.689, 0, 0, 0, [SEP] 60, Cabinet, -0.819, 0.469, -1.689, 0, 0, 0, [SEP] 61, Cabinet, 1.389, 0.469, -1.059, 0, 270, 0, [SEP] 62, Cabinet, -0.839, 0.469, -1.665, 0, 90, 0, [SEP] 63, StoveBurner, 1.567, 0.940, -0.355, 0, 0, 0, [SEP] 64, StoveBurner, 1.845, 0.940, -0.757, 0, 0, 0, [SEP] 65, Sink, -0.109, 0.893, -2.009, 0, 0, 0, [SEP] 66, Drawer, -0.819, 0.75, -1.690, 0, 0, 0, [SEP] 67, CounterTop, 0.232, 0.949, -2.002, 0, 0, 0, [SEP] 68, GarbageCan, 1.855, -0.034, 0.141, 0, 358.959, 0, [SEP] 69, Vase, 0.251, 0.546, 0.475, 0, 270, 0, [SEP] 70, Toaster, 0.780, 0.900, -2.080, 0, 0, 0, [SEP] 71, LightSwitch, 0.108, 1.315, 2.75, 0, 180, 0, [SEP] 72, Vase, 0.400, 0.925, 0.218, 0, 180, 0, [SEP] 73, Microwave, -1.233, 0.900, -1.680, 0, 90, 0, [SEP] 74, Vase, 1.465, 1.662, -2.200, 0, 0, 0, [SEP] 75, Fridge, -1.495, 0.0, -0.703, 0, 0, 0, [SEP] 76, Window, 2.114, 1.495, 1.072, 90, 270, 0, [SEP] 77, CoffeeMachine, 1.374, 0.899, -2.112, 0, 0, 0, [SEP] 78, Vase, 0.333, 0.546, 1.272, 0, 270, 0, [SEP] 79, SinkBasin, -0.148, 0.753, -2.026, 0, 0, 0, [SEP] 80, StoveKnob, 2.037, 1.089, -0.405, 0, 0, 74.477, [SEP] 81, StoveKnob, 2.037, 1.089, -0.251, 0, 0, 74.477, [SEP] 82, StoveKnob, 2.037, 1.089, -0.649, 0, 0, 74.477, [SEP] 83, StoveKnob, 2.037, 1.089, -0.814, 0, 0, 74.477, [SEP] 84, DiningTable, 0.170, 0.005, 0.678, 0, 270, 0, [SEP] 85, Shelf, 0.170, 0.155, 0.678, 0, 270, 0, [SEP] 86, Shelf, 1.605, 0.172, 2.480, 0, 0, 0, [SEP] 87, Shelf, 1.605, 0.552, 2.480, 0, 0, 0, [SEP] 88, Shelf, 1.604, 0.880, 2.479, 0, 0, 0, [SEP] 89, ShelvingUnit, 1.605, 0.006, 2.480, 0, 0, 0, [SEP] 90, Faucet, -0.143, 1.028, -2.223, 0, 270, 0, [SEP] 91, Stool, -0.553, 0.000, 0.871, 1.233, 280.376, 0, [SEP] 92, Shelf, 0.170, 0.528, 0.678, 0, 270, 0, [SEP] 93, , , , , , , , [SEP] 94, NorthWall, , , , , , , [SEP] 95, EastWall, , , , , , , [SEP] 96, SouthWall, , , , , , , [SEP] 97, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and go to the counter on the right of the sink. | STEP 2: Pick up the gray knife on the counter. | STEP 3: Turn around and go to the left side of the island. | STEP 4: Cut the apple on the counter into three parts. | STEP 5: Turn right and go to the refrigerator on the right. | STEP 6: Place the knife on middle shelf in the refrigerator. | STEP 7: Turn right and go back to the island with the apple. | STEP 8: Take one piece of apple from the counter. | STEP 9: Turn right to go to the microwave on the right. | STEP 10: Remove the apple from the microwave after heating it. | STEP 11: Turn right and go back to the island. | STEP 12: Place the apple piece on the counter on the left of the rest of the apple. | END"]} +{"id": "trial_T20190908_000508_459047-0", "input": "Put a knife in a pan as well as move the pan from the stove to the counter to the right of the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.25, 0.901, -2.75, 0, 270, 0, [SEP] 1, ButterKnife, -0.854, 0.913, -3.729, 0, 0, 0, 39 [SEP] 2, Spatula, -2.753, 0.728, -0.785, 0, 135, 0, 83 [SEP] 3, Spatula, -1.707, 0.805, -3.832, 0, 90, 0, 81 [SEP] 4, Spoon, -0.530, 0.748, -1.408, 0, 90, 0, 62 [SEP] 5, Fork, -0.530, 0.746, -0.685, 0, 90, 0, 65 [SEP] 6, Fork, -0.530, 0.746, -3.024, 0, 90, 0, 69 [SEP] 7, Cup, -0.373, 0.081, -2.967, 0, 0, 0, 50 [SEP] 8, Cup, -3.079, 1.013, -2.187, 0, 90, 0, 80 [SEP] 9, Plate, -1.214, 0.078, -3.712, 0, 0, 0, 54 [SEP] 10, Knife, -0.471, 0.778, -2.913, 0, 270, 0, 69 [SEP] 11, Knife, -3.140, 0.946, -2.926, 0, 0, 0, 61 [SEP] 12, PepperShaker, -3.300, 0.713, -0.665, 0, 225, 0, 83 [SEP] 13, PepperShaker, -0.014, 0.912, -1.432, 0, 0, 0, 66 [SEP] 14, Lettuce, -3.130, 1.486, -1.941, 0, 90, 0, 80 [SEP] 15, Mug, -3.014, 0.881, -2.470, 0, 0, 0, 80 [SEP] 16, Apple, -2.721, 0.756, -0.552, 0, 135, 0, 83 [SEP] 17, Apple, -0.065, 1.055, -0.851, 0, 270, 0, 76 [SEP] 18, Pot, -2.836, 0.903, -3.745, 0, 92.628, 0, 39 [SEP] 19, Egg, -3.130, 0.677, -1.817, 0, 90, 0, 80 [SEP] 20, Cup, -3.027, 0.641, -2.187, 0, 90, 0, 80 [SEP] 21, Bread, -0.327, 0.948, -3.681, 0, 298.222, 0, 39 [SEP] 22, Fork, -2.928, 0.714, -0.922, 0, 0, 0, 83 [SEP] 23, Pan, -0.165, 0.975, -2.450, 0, 0, 0, 71 [SEP] 24, Potato, -0.284, 0.123, -0.030, 0, 270, 0, 78 [SEP] 25, Lettuce, -3.022, 0.804, -0.741, 0, 225, 0, 83 [SEP] 26, Tomato, -1.058, 0.963, -3.878, 0, 0, 0, 39 [SEP] 27, Apple, -3.182, 1.056, -2.187, 0, 90, 0, 80 [SEP] 28, SoapBottle, -0.176, 0.915, -1.493, 0, 0, 0, 66 [SEP] 29, Spatula, -0.338, 0.930, -0.507, 0, 0, 0, 66 [SEP] 30, SaltShaker, -2.300, 1.291, -3.848, 0, 0, 0, 52 [SEP] 31, Knife, -3.024, 0.779, -2.912, 0, 270, 0, 61 [SEP] 32, PepperShaker, -1.523, 0.079, -3.595, 0, 0, 0, 55 [SEP] 33, ButterKnife, -2.581, 0.713, -0.496, 0, 270, 0, 83 [SEP] 34, Plate, -3.225, 0.911, -3.227, 0, 0, 0, 39 [SEP] 35, DishSponge, -3.140, 0.913, -2.825, 0, 0, 0, 39 [SEP] 36, Spoon, -3.255, 0.714, -0.709, 0, 225, 0, 83 [SEP] 37, Mug, -2.678, 0.708, -0.211, 0, 0, 0, 83 [SEP] 38, Bowl, -2.439, 0.714, -0.433, 0, 270, 0, 83 [SEP] 39, CounterTop, -1.789, 0.949, -3.803, 0, 0, 0, [SEP] 40, Cabinet, -0.577, 0.388, -3.476, 0, 0, 0, [SEP] 41, Cabinet, -0.605, 0.388, -3.511, 0, 0, 0, [SEP] 42, Cabinet, -2.976, 0.388, -3.201, 0, 0, 0, [SEP] 43, Cabinet, -0.577, 0.388, -0.447, 0, 0, 0, [SEP] 44, Cabinet, -0.577, 0.388, -1.725, 0, 0, 0, [SEP] 45, Cabinet, -0.226, 1.803, -1.743, 0, 0, 0, [SEP] 46, Cabinet, -0.228, 1.799, -0.447, 0, 0, 0, [SEP] 47, Cabinet, -6.010, 1.139, -6.019, 0, 0, 0, [SEP] 48, Cabinet, -3.022, 2.098, -2.681, 0, 0, 0, [SEP] 49, Cabinet, -3.022, 2.098, -1.743, 0, 0, 0, [SEP] 50, Cabinet, -0.577, 0.388, -2.736, 0, 0, 0, [SEP] 51, Cabinet, -3.232, 1.803, -3.343, 0, 0, 0, [SEP] 52, Cabinet, -2.811, 1.810, -3.764, 0, 0, 0, [SEP] 53, Cabinet, -1.233, 1.810, -3.764, 0, 0, 0, [SEP] 54, Cabinet, -1.364, 0.388, -3.511, 0, 0, 0, [SEP] 55, Cabinet, -1.380, 0.388, -3.511, 0, 0, 0, [SEP] 56, Cabinet, -0.226, 1.803, -2.725, 0, 0, 0, [SEP] 57, Cabinet, -0.236, 2.098, -1.767, 0, 0, 0, [SEP] 58, Cabinet, -0.236, 2.098, -2.705, 0, 0, 0, [SEP] 59, Cabinet, -0.193, 1.210, -4.239, 0, 0, 0, [SEP] 60, Cabinet, -2.148, 0.388, -3.511, 0, 0, 0, [SEP] 61, Drawer, -3.104, 0.797, -2.968, 0, 0, 0, [SEP] 62, Drawer, -0.449, 0.797, -1.410, 0, 0, 0, [SEP] 63, Sink, -1.786, 0.902, -3.748, 0, 0, 0, [SEP] 64, StoveBurner, -0.376, 0.936, -2.451, 0, 0, 0, [SEP] 65, Drawer, -0.449, 0.797, -0.762, 0, 0, 0, [SEP] 66, CounterTop, -0.268, 0.951, -1.089, 0, 0, 0, [SEP] 67, Drawer, -0.449, 0.797, -3.348, 0, 0, 0, [SEP] 68, StoveBurner, -0.376, 0.936, -2.031, 0, 180, 0, [SEP] 69, Drawer, -0.449, 0.797, -2.968, 0, 0, 0, [SEP] 70, StoveBurner, -0.165, 0.936, -2.030, 0, 180, 0, [SEP] 71, StoveBurner, -0.165, 0.936, -2.450, 0, 0, 0, [SEP] 72, StoveKnob, -0.568, 0.903, -2.313, 45, 270, 0, [SEP] 73, StoveKnob, -0.568, 0.903, -2.470, 45, 270, 0, [SEP] 74, StoveKnob, -0.568, 0.903, -2.166, 45, 270, 0, [SEP] 75, StoveKnob, -0.568, 0.903, -2.003, 45, 270, 0, [SEP] 76, Microwave, -0.143, 0.903, -0.908, 0, 270, 0, [SEP] 77, LightSwitch, -1.108, 1.457, 0.338, 0, 180, 0, [SEP] 78, GarbageCan, -0.283, -0.032, -0.035, 0, 270, 0, [SEP] 79, CoffeeMachine, -3.104, 0.837, -0.185, 0, 135, 0, [SEP] 80, Fridge, -3.188, 0.0, -2.184, 0, 0, 0, [SEP] 81, SinkBasin, -1.786, 0.779, -3.747, 0, 0, 0, [SEP] 82, Toaster, -0.230, 0.903, -3.406, 0, 270, 0, [SEP] 83, DiningTable, -2.800, 0.003, -0.505, 0, 0, 0, [SEP] 84, Chair, -3.044, 0.003, -1.223, 0, 32.194, 0, [SEP] 85, Faucet, -1.791, 1.136, -3.913, 0, 270, 0, [SEP] 86, NorthWall, , , , , , , [SEP] 87, EastWall, , , , , , , [SEP] 88, SouthWall, , , , , , , [SEP] 89, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk across the room then turn right to face the counter. | STEP 2: Pick up the knife on the counter. | STEP 3: Turn to the left and step to the left to face the stove. | STEP 4: Place the knife in the pan on the stove. | STEP 5: Pick up the pan with a knife in it on the stove. | STEP 6: Turn to the right and walk forward to face the sink. | STEP 7: Place the pan with a knife in it on the counter to the right of the sink. | END"]} +{"id": "trial_T20190908_000508_459047-2", "input": "To put a knife and pan to the right of the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.25, 0.901, -2.75, 0, 270, 0, [SEP] 1, ButterKnife, -0.854, 0.913, -3.729, 0, 0, 0, 39 [SEP] 2, Spatula, -2.753, 0.728, -0.785, 0, 135, 0, 83 [SEP] 3, Spatula, -1.707, 0.805, -3.832, 0, 90, 0, 81 [SEP] 4, Spoon, -0.530, 0.748, -1.408, 0, 90, 0, 62 [SEP] 5, Fork, -0.530, 0.746, -0.685, 0, 90, 0, 65 [SEP] 6, Fork, -0.530, 0.746, -3.024, 0, 90, 0, 69 [SEP] 7, Cup, -0.373, 0.081, -2.967, 0, 0, 0, 50 [SEP] 8, Cup, -3.079, 1.013, -2.187, 0, 90, 0, 80 [SEP] 9, Plate, -1.214, 0.078, -3.712, 0, 0, 0, 54 [SEP] 10, Knife, -0.471, 0.778, -2.913, 0, 270, 0, 69 [SEP] 11, Knife, -3.140, 0.946, -2.926, 0, 0, 0, 61 [SEP] 12, PepperShaker, -3.300, 0.713, -0.665, 0, 225, 0, 83 [SEP] 13, PepperShaker, -0.014, 0.912, -1.432, 0, 0, 0, 66 [SEP] 14, Lettuce, -3.130, 1.486, -1.941, 0, 90, 0, 80 [SEP] 15, Mug, -3.014, 0.881, -2.470, 0, 0, 0, 80 [SEP] 16, Apple, -2.721, 0.756, -0.552, 0, 135, 0, 83 [SEP] 17, Apple, -0.065, 1.055, -0.851, 0, 270, 0, 76 [SEP] 18, Pot, -2.836, 0.903, -3.745, 0, 92.628, 0, 39 [SEP] 19, Egg, -3.130, 0.677, -1.817, 0, 90, 0, 80 [SEP] 20, Cup, -3.027, 0.641, -2.187, 0, 90, 0, 80 [SEP] 21, Bread, -0.327, 0.948, -3.681, 0, 298.222, 0, 39 [SEP] 22, Fork, -2.928, 0.714, -0.922, 0, 0, 0, 83 [SEP] 23, Pan, -0.165, 0.975, -2.450, 0, 0, 0, 71 [SEP] 24, Potato, -0.284, 0.123, -0.030, 0, 270, 0, 78 [SEP] 25, Lettuce, -3.022, 0.804, -0.741, 0, 225, 0, 83 [SEP] 26, Tomato, -1.058, 0.963, -3.878, 0, 0, 0, 39 [SEP] 27, Apple, -3.182, 1.056, -2.187, 0, 90, 0, 80 [SEP] 28, SoapBottle, -0.176, 0.915, -1.493, 0, 0, 0, 66 [SEP] 29, Spatula, -0.338, 0.930, -0.507, 0, 0, 0, 66 [SEP] 30, SaltShaker, -2.300, 1.291, -3.848, 0, 0, 0, 52 [SEP] 31, Knife, -3.024, 0.779, -2.912, 0, 270, 0, 61 [SEP] 32, PepperShaker, -1.523, 0.079, -3.595, 0, 0, 0, 55 [SEP] 33, ButterKnife, -2.581, 0.713, -0.496, 0, 270, 0, 83 [SEP] 34, Plate, -3.225, 0.911, -3.227, 0, 0, 0, 39 [SEP] 35, DishSponge, -3.140, 0.913, -2.825, 0, 0, 0, 39 [SEP] 36, Spoon, -3.255, 0.714, -0.709, 0, 225, 0, 83 [SEP] 37, Mug, -2.678, 0.708, -0.211, 0, 0, 0, 83 [SEP] 38, Bowl, -2.439, 0.714, -0.433, 0, 270, 0, 83 [SEP] 39, CounterTop, -1.789, 0.949, -3.803, 0, 0, 0, [SEP] 40, Cabinet, -0.577, 0.388, -3.476, 0, 0, 0, [SEP] 41, Cabinet, -0.605, 0.388, -3.511, 0, 0, 0, [SEP] 42, Cabinet, -2.976, 0.388, -3.201, 0, 0, 0, [SEP] 43, Cabinet, -0.577, 0.388, -0.447, 0, 0, 0, [SEP] 44, Cabinet, -0.577, 0.388, -1.725, 0, 0, 0, [SEP] 45, Cabinet, -0.226, 1.803, -1.743, 0, 0, 0, [SEP] 46, Cabinet, -0.228, 1.799, -0.447, 0, 0, 0, [SEP] 47, Cabinet, -6.010, 1.139, -6.019, 0, 0, 0, [SEP] 48, Cabinet, -3.022, 2.098, -2.681, 0, 0, 0, [SEP] 49, Cabinet, -3.022, 2.098, -1.743, 0, 0, 0, [SEP] 50, Cabinet, -0.577, 0.388, -2.736, 0, 0, 0, [SEP] 51, Cabinet, -3.232, 1.803, -3.343, 0, 0, 0, [SEP] 52, Cabinet, -2.811, 1.810, -3.764, 0, 0, 0, [SEP] 53, Cabinet, -1.233, 1.810, -3.764, 0, 0, 0, [SEP] 54, Cabinet, -1.364, 0.388, -3.511, 0, 0, 0, [SEP] 55, Cabinet, -1.380, 0.388, -3.511, 0, 0, 0, [SEP] 56, Cabinet, -0.226, 1.803, -2.725, 0, 0, 0, [SEP] 57, Cabinet, -0.236, 2.098, -1.767, 0, 0, 0, [SEP] 58, Cabinet, -0.236, 2.098, -2.705, 0, 0, 0, [SEP] 59, Cabinet, -0.193, 1.210, -4.239, 0, 0, 0, [SEP] 60, Cabinet, -2.148, 0.388, -3.511, 0, 0, 0, [SEP] 61, Drawer, -3.104, 0.797, -2.968, 0, 0, 0, [SEP] 62, Drawer, -0.449, 0.797, -1.410, 0, 0, 0, [SEP] 63, Sink, -1.786, 0.902, -3.748, 0, 0, 0, [SEP] 64, StoveBurner, -0.376, 0.936, -2.451, 0, 0, 0, [SEP] 65, Drawer, -0.449, 0.797, -0.762, 0, 0, 0, [SEP] 66, CounterTop, -0.268, 0.951, -1.089, 0, 0, 0, [SEP] 67, Drawer, -0.449, 0.797, -3.348, 0, 0, 0, [SEP] 68, StoveBurner, -0.376, 0.936, -2.031, 0, 180, 0, [SEP] 69, Drawer, -0.449, 0.797, -2.968, 0, 0, 0, [SEP] 70, StoveBurner, -0.165, 0.936, -2.030, 0, 180, 0, [SEP] 71, StoveBurner, -0.165, 0.936, -2.450, 0, 0, 0, [SEP] 72, StoveKnob, -0.568, 0.903, -2.313, 45, 270, 0, [SEP] 73, StoveKnob, -0.568, 0.903, -2.470, 45, 270, 0, [SEP] 74, StoveKnob, -0.568, 0.903, -2.166, 45, 270, 0, [SEP] 75, StoveKnob, -0.568, 0.903, -2.003, 45, 270, 0, [SEP] 76, Microwave, -0.143, 0.903, -0.908, 0, 270, 0, [SEP] 77, LightSwitch, -1.108, 1.457, 0.338, 0, 180, 0, [SEP] 78, GarbageCan, -0.283, -0.032, -0.035, 0, 270, 0, [SEP] 79, CoffeeMachine, -3.104, 0.837, -0.185, 0, 135, 0, [SEP] 80, Fridge, -3.188, 0.0, -2.184, 0, 0, 0, [SEP] 81, SinkBasin, -1.786, 0.779, -3.747, 0, 0, 0, [SEP] 82, Toaster, -0.230, 0.903, -3.406, 0, 270, 0, [SEP] 83, DiningTable, -2.800, 0.003, -0.505, 0, 0, 0, [SEP] 84, Chair, -3.044, 0.003, -1.223, 0, 32.194, 0, [SEP] 85, Faucet, -1.791, 1.136, -3.913, 0, 270, 0, [SEP] 86, NorthWall, , , , , , , [SEP] 87, EastWall, , , , , , , [SEP] 88, SouthWall, , , , , , , [SEP] 89, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk to the counter with the knife and the tomato. | STEP 2: Pick up the knife to the left of the tomato. | STEP 3: Turn and walk to the stove on the right. | STEP 4: Put the knight down in the pan on the back right burner of the stove. | STEP 5: Pick up the pan from the stove. | STEP 6: Turn and walk to the left of the sink. | STEP 7: Place the pan on the counter to the right of the sink. | END"]} +{"id": "trial_T20190907_043122_619510-2", "input": "Place a box with keys inside on the sofa. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.927, 1.5, 0, 270, 0, [SEP] 1, Newspaper, -5.939, 0.641, 3.617, 0, 0, 0, 70 [SEP] 2, KeyChain, -3.732, 0.278, 3.451, 0, 0, 0, 71 [SEP] 3, Box, -6.062, 0.823, 1.510, 0, 0, 0, 70 [SEP] 4, Box, -2.806, 0.481, 2.000, 0, 270, 0, 74 [SEP] 5, Statue, -6.589, 1.022, 5.172, 0, 180, 0, 31 [SEP] 6, KeyChain, -2.154, 0.398, 5.134, 0, 180, 0, 40 [SEP] 7, Vase, -1.701, 0.930, 0.179, 0, 0, 0, 25 [SEP] 8, Vase, -0.764, 0.940, 0.203, 0, 0, 0, 42 [SEP] 9, Vase, -2.321, 0.727, 5.168, 0, 0, 0, 57 [SEP] 10, Newspaper, -4.540, 1.273, 5.134, 0, 0, 0, 38 [SEP] 11, CreditCard, -3.530, 0.286, 3.312, 0, 0, 0, 71 [SEP] 12, RemoteControl, -3.100, 0.184, 1.601, 0, 325.579, 0, 69 [SEP] 13, Laptop, -5.939, 0.639, 3.266, 0, 0, 0, 70 [SEP] 14, Pillow, -1.515, 0.438, 3.319, 0, 300.000, 90, 73 [SEP] 15, Vase, -4.540, 0.956, 5.134, 0, 0, 0, 39 [SEP] 16, Statue, -0.941, 1.284, 0.149, 0, 0, 0, 49 [SEP] 17, Vase, -1.352, 1.258, 0.228, 0, 0, 0, 49 [SEP] 18, Plate, -5.572, 0.634, 1.699, 0, 0, 0, 70 [SEP] 19, Vase, -4.958, 0.940, 5.201, 0, 0, 0, 39 [SEP] 20, Statue, -5.033, 1.566, 5.212, 0, 180, 0, 52 [SEP] 21, Statue, -0.812, 1.565, 0.209, 0, 0, 0, 44 [SEP] 22, Statue, -3.851, 0.930, 5.169, 0, 0, 0, 30 [SEP] 23, Statue, -3.174, 1.105, 5.193, 0, 0, 0, 53 [SEP] 24, Statue, -5.865, 0.634, 2.786, 0, 65.579, 0, 70 [SEP] 25, Shelf, -1.776, 0.988, 0.184, 0, 180, 0, [SEP] 26, Chair, -5.413, 0.024, 1.780, 0, 0, 0, [SEP] 27, Cabinet, -5.365, 1.170, 5.031, 0, 0, 0, [SEP] 28, Chair, -5.388, 0.024, 3.369, 0, 355.695, 0, [SEP] 29, Chair, -6.211, 0.024, 2.517, 0, 172.601, 0, [SEP] 30, Shelf, -3.937, 0.988, 5.170, 0, 0, 0, [SEP] 31, Shelf, -6.572, 1.144, 5.170, 0, 0, 0, [SEP] 32, Cabinet, -4.181, 1.873, 5.029, 0, 0, 0, [SEP] 33, Shelf, -5.606, 0.444, 5.170, 0, 0, 0, [SEP] 34, Drawer, -6.324, 0.823, 5.001, 0, 0, 0, [SEP] 35, Cabinet, -2.017, 1.714, 0.323, 0, 180, 0, [SEP] 36, Cabinet, -2.465, 1.329, 5.029, 0, 0, 0, [SEP] 37, Drawer, -1.093, 0.233, 0.462, 0, 0, 0, [SEP] 38, Shelf, -4.672, 1.317, 5.170, 0, 0, 0, [SEP] 39, Shelf, -4.672, 0.998, 5.170, 0, 0, 0, [SEP] 40, Shelf, -2.221, 0.444, 5.170, 0, 0, 0, [SEP] 41, Drawer, -6.324, 0.508, 5.001, 0, 0, 0, [SEP] 42, Shelf, -1.041, 0.998, 0.184, 0, 180, 0, [SEP] 43, Drawer, -4.264, 0.233, 0.462, 0, 0, 0, [SEP] 44, Shelf, -0.810, 1.688, 0.185, 0, 180, 0, [SEP] 45, Shelf, -2.671, 0.610, 0.272, 0, 90, 0, [SEP] 46, Drawer, -2.681, 0.233, 0.462, 0, 0, 0, [SEP] 47, Drawer, -2.940, 0.508, 5.001, 0, 0, 0, [SEP] 48, Cabinet, -3.696, 1.714, 5.031, 0, 0, 0, [SEP] 49, Shelf, -1.041, 1.317, 0.184, 0, 180, 0, [SEP] 50, Cabinet, -1.532, 1.873, 0.325, 0, 180, 0, [SEP] 51, Chair, -5.382, 0.024, 2.695, 0, 6.230, 0, [SEP] 52, Shelf, -4.903, 1.688, 5.170, 0, 0, 0, [SEP] 53, Shelf, -3.187, 1.144, 5.170, 0, 0, 0, [SEP] 54, Drawer, -2.940, 0.823, 5.001, 0, 0, 0, [SEP] 55, Chair, -6.252, 0.024, 3.427, 0, 195.000, 0, [SEP] 56, Cabinet, -5.850, 1.329, 5.029, 0, 0, 0, [SEP] 57, Cabinet, -1.980, 1.170, 5.031, 0, 0, 0, [SEP] 58, Chair, -6.296, 0.024, 1.672, 0, 180, 0, [SEP] 59, FloorLamp, -0.369, 0.016, 4.992, 0, 59.992, 0, [SEP] 60, GarbageCan, -6.846, 0.024, 0.258, 0, 91.057, 0, [SEP] 61, Television, -3.503, 1.506, 0.001, 0, 0, 0, [SEP] 62, LightSwitch, 0.0, 1.184, 4.410, 0, 270, 0, [SEP] 63, HousePlant, -1.105, 0.315, 2.740, 0, 0, 0, [SEP] 64, Painting, -5.769, 1.394, -0.026, 90, 180, 0, [SEP] 65, Window, 0.001, 1.246, 2.471, 90, 270, 0, [SEP] 66, Window, 0.001, 1.246, 3.558, 90, 270, 0, [SEP] 67, Window, 0.001, 1.246, 1.368, 90, 270, 0, [SEP] 68, Painting, -0.967, 1.396, 5.268, 90, 180, 0, [SEP] 69, CoffeeTable, -3.002, 0.028, 1.726, 0, 0, 0, [SEP] 70, DiningTable, -5.816, 0.025, 2.563, 0, 270, 0, [SEP] 71, Sofa, -3.328, 0.023, 3.632, 0, 180, 0, [SEP] 72, ArmChair, -1.012, 0.028, 2.084, 0, 270, 0, [SEP] 73, ArmChair, -1.577, 0.028, 3.295, 0, 210.000, 0, [SEP] 74, CoffeeTable, -2.667, 0.025, 1.999, 0, 5.810, 0, [SEP] 75, NorthWall, , , , , , , [SEP] 76, EastWall, , , , , , , [SEP] 77, SouthWall, , , , , , , [SEP] 78, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and walk past the coffee table to stand in front of the leftmost cushion of the sofa. | STEP 2: Pick up the keys from the sofa. | STEP 3: Turn around and carry the keys to the coffee table, so you're facing the table and the sofa is to your left. | STEP 4: Place the keys in the open box on the coffee table. | STEP 5: Pick up the box with the keys in it from the table. | STEP 6: Carry the box to stand facing the center point of the sofa. | STEP 7: Place the box on the right cushion of the sofa. | END"]} +{"id": "trial_T20190906_191428_698859-1", "input": "put the sauce pan with a spoon in it in the lower right kitchen cabinet SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 2.0, 0.900, 2.75, 0, 0, 0, [SEP] 1, Potato, 2.643, 0.806, 4.081, 0, 329.999, 0, 51 [SEP] 2, Potato, 1.848, 1.068, 1.900, 0, 136.999, 0, 50 [SEP] 3, DishSponge, 2.976, 0.764, 3.895, 0, 270, 0, 51 [SEP] 4, ButterKnife, 2.875, 1.026, -0.541, 0, 0, 0, 50 [SEP] 5, Spatula, 2.874, 0.816, -0.313, 0, 90, 0, 60 [SEP] 6, Fork, -0.418, 1.028, 1.821, 0, 0, 0, 53 [SEP] 7, Egg, -0.997, 0.121, 2.842, 0, 0, 0, 105 [SEP] 8, Cup, 2.599, 0.763, 3.445, 0, 0, 0, 51 [SEP] 9, Knife, 2.671, 0.789, 3.885, 0, 329.999, 0, 51 [SEP] 10, Knife, 1.925, 0.789, 4.044, 0, 270, 0, 51 [SEP] 11, Tomato, -0.920, 1.081, 2.556, 0, 0, 0, 53 [SEP] 12, SoapBottle, -0.794, 1.026, 0.323, 0, 0, 0, 53 [SEP] 13, SoapBottle, -1.187, 1.026, 1.612, 0, 0, 0, 53 [SEP] 14, Bowl, -0.714, 0.814, 1.181, 0, 90, 0, 107 [SEP] 15, PepperShaker, 2.761, 0.796, -0.792, 0, 0, 0, 59 [SEP] 16, Bread, 2.346, 0.832, 4.074, 0, 225, 0, 51 [SEP] 17, Bread, 2.239, 0.832, 4.484, 0, 329.999, 0, 51 [SEP] 18, Lettuce, 2.441, 0.822, 3.540, 0, 329.999, 0, 51 [SEP] 19, Mug, 2.106, 1.856, -1.876, 0, 0, 0, 96 [SEP] 20, Mug, -0.577, 0.811, 1.570, 0, 270, 0, 107 [SEP] 21, Apple, -1.102, 1.077, 1.243, 0, 0, 0, 53 [SEP] 22, Pan, 1.836, 1.027, -1.84, 0, 90, 0, 48 [SEP] 23, Glassbottle, -0.418, 1.028, 0.600, 0, 0, 0, 53 [SEP] 24, Knife, 2.175, 0.789, 4.447, 0, 329.999, 0, 51 [SEP] 25, SoapBottle, 2.503, 0.763, 3.917, 0, 225, 0, 51 [SEP] 26, Egg, 2.276, 0.808, 3.747, 0, 270, 0, 51 [SEP] 27, Fork, -1.045, 1.028, 1.821, 0, 180, 0, 53 [SEP] 28, Potato, -1.102, 1.069, 1.058, 0, 0, 0, 53 [SEP] 29, Ladle, 2.439, 1.066, 1.056, 0, 136.999, 0, 50 [SEP] 30, Tomato, -0.877, 1.495, -0.405, 0, 90, 0, 94 [SEP] 31, Pot, 2.116, 1.027, -1.84, 0, 270, 0, 54 [SEP] 32, WineBottle, -0.794, 1.028, 2.556, 0, 0, 0, 53 [SEP] 33, Plate, -0.987, 0.786, -0.627, 0, 90, 0, 94 [SEP] 34, Spatula, 1.819, 0.816, 1.308, 0, 227.0, 0, 64 [SEP] 35, PaperTowelRoll, 2.451, 0.868, 3.747, 0, 270, 0, 51 [SEP] 36, Lettuce, -0.418, 1.085, 2.066, 0, 0, 0, 53 [SEP] 37, Apple, -0.922, 1.492, -0.073, 0, 90, 0, 94 [SEP] 38, SaltShaker, -0.519, 0.797, 2.007, 0, 0, 0, 55 [SEP] 39, PepperShaker, 2.101, 0.760, 3.747, 0, 270, 0, 51 [SEP] 40, ButterKnife, 2.525, 0.764, 4.32, 0, 0, 0, 51 [SEP] 41, Bread, 2.875, 1.094, -1.151, 0, 0, 0, 50 [SEP] 42, Cup, 1.926, 0.763, 3.747, 0, 270, 0, 51 [SEP] 43, DishSponge, 2.469, 0.800, 0.606, 0, 317.0, 0, 62 [SEP] 44, Bowl, -0.782, 0.814, 1.492, 0, 90, 0, 107 [SEP] 45, Spoon, 2.695, 0.802, 0.754, 0, 47.0, 0, 62 [SEP] 46, Mug, -0.987, 0.781, -0.406, 0, 0, 0, 94 [SEP] 47, Sink, -0.716, 1.023, 1.333, 0, 0, 0, [SEP] 48, StoveBurner, 1.835, 1.018, -1.840, 0, 90, 0, [SEP] 49, StoveBurner, 2.177, 1.018, -1.599, 0, 0, 0, [SEP] 50, CounterTop, 2.812, 0.992, 0.675, 0, 0, 0, [SEP] 51, DiningTable, 2.419, 0.003, 3.930, 0, 0, 0, [SEP] 52, Drawer, -0.643, 0.828, 0.616, 0, 0, 0, [SEP] 53, CounterTop, -0.813, 1.062, 2.188, 0, 0, 0, [SEP] 54, StoveBurner, 2.115, 1.018, -1.840, 0, 270, 0, [SEP] 55, Drawer, -0.643, 0.831, 1.953, 0, 0, 0, [SEP] 56, Drawer, -0.643, 0.833, 2.418, 0, 0, 0, [SEP] 57, Drawer, 1.347, 0.836, -1.539, 0, 0, 0, [SEP] 58, Drawer, 2.693, 0.833, -1.131, 0, 0, 0, [SEP] 59, Drawer, 2.693, 0.833, -0.699, 0, 0, 0, [SEP] 60, Drawer, 2.693, 0.833, -0.267, 0, 0, 0, [SEP] 61, Drawer, 2.693, 0.833, 0.163, 0, 0, 0, [SEP] 62, Drawer, 2.524, 0.833, 0.720, 0, 2.000, 0, [SEP] 63, Drawer, 2.232, 0.833, 1.036, 0, 2.000, 0, [SEP] 64, Drawer, 1.936, 0.833, 1.354, 0, 2.000, 0, [SEP] 65, Drawer, 1.646, 0.833, 1.670, 0, 2.000, 0, [SEP] 66, Cabinet, 1.504, 2.475, -1.710, 0, 0, 0, [SEP] 67, Cabinet, -0.823, 2.220, 1.621, 0, 0, 0, [SEP] 68, Cabinet, -0.823, 2.220, 0.615, 0, 0, 0, [SEP] 69, Cabinet, 1.136, 0.388, -1.355, 0, 0, 0, [SEP] 70, Cabinet, -0.356, 0.383, 2.626, 0, 0, 0, [SEP] 71, Cabinet, 2.745, 2.220, -1.690, 0, 0, 0, [SEP] 72, Cabinet, 1.882, 0.383, 1.017, 0, 0, 0, [SEP] 73, Cabinet, 1.307, 0.473, 1.640, 0, 0, 0, [SEP] 74, Cabinet, 1.892, 0.383, 1.006, 0, 0, 0, [SEP] 75, Cabinet, 2.467, 0.383, 0.383, 0, 0, 0, [SEP] 76, Cabinet, 2.466, 0.383, -0.475, 0, 0, 0, [SEP] 77, Cabinet, 2.466, 0.473, 0.371, 0, 0, 0, [SEP] 78, Cabinet, 2.386, 2.475, -1.710, 0, 0, 0, [SEP] 79, Cabinet, -0.356, 0.383, 1.712, 0, 0, 0, [SEP] 80, Cabinet, 2.745, 2.220, 0.019, 0, 0, 0, [SEP] 81, Cabinet, -0.663, 2.496, 0.157, 0, 0, 0, [SEP] 82, Cabinet, -0.663, 2.496, -0.868, 0, 0, 0, [SEP] 83, Cabinet, -0.356, 0.383, 0.269, 0, 0, 0, [SEP] 84, Cabinet, -0.823, 2.220, 1.603, 0, 0, 0, [SEP] 85, Cabinet, -0.662, 2.234, 0.586, 0, 0, 0, [SEP] 86, Cabinet, 2.745, 2.220, -0.843, 0, 0, 0, [SEP] 87, Cabinet, 2.745, 2.220, -0.827, 0, 0, 0, [SEP] 88, Cabinet, -0.823, 2.220, 2.608, 0, 0, 0, [SEP] 89, Cabinet, 2.732, 2.226, -1.709, 0, 0, 0, [SEP] 90, Cabinet, 1.137, 2.226, -1.709, 0, 0, 0, [SEP] 91, Cabinet, 2.466, 0.383, -0.491, 0, 0, 0, [SEP] 92, Cabinet, 2.466, 0.383, -1.339, 0, 0, 0, [SEP] 93, StoveBurner, 1.761, 1.018, -1.599, 0, 0, 0, [SEP] 94, Fridge, -0.908, 0.0, -0.405, 0, 0, 0, [SEP] 95, HousePlant, 2.517, 1.016, 1.822, 0, 0, 0, [SEP] 96, Microwave, 1.939, 1.745, -1.826, 0, 0, 0, [SEP] 97, StoveKnob, 2.017, 1.041, -1.514, 0, 180, 180, [SEP] 98, StoveKnob, 1.934, 1.041, -1.514, 0, 180, 180, [SEP] 99, StoveKnob, 2.017, 1.041, -1.589, 0, 180, 180, [SEP] 100, StoveKnob, 1.934, 1.041, -1.589, 0, 180, 180, [SEP] 101, Window, 1.756, 1.608, 4.762, 90, 0, 0, [SEP] 102, HousePlant, 2.171, 1.004, 2.091, 0, 0, 0, [SEP] 103, CoffeeMachine, -0.942, 1.018, 0.645, 0, 90, 0, [SEP] 104, LightSwitch, -0.099, 1.410, -2.066, 0, 0, 0, [SEP] 105, GarbageCan, -0.951, -0.029, 2.826, 0, 0, 0, [SEP] 106, Toaster, -1.007, 1.018, 2.238, 0, 90, 0, [SEP] 107, SinkBasin, -0.714, 0.805, 1.348, 0, 90, 0, [SEP] 108, Chair, 1.615, 0.004, 4.310, 0, 107.976, 0, [SEP] 109, Faucet, -1.120, 1.013, 1.334, 0, 90, 0, [SEP] 110, Chair, 2.759, 0.004, 3.086, 0, 358.967, 0, [SEP] 111, , , , , , , , [SEP] 112, NorthWall, , , , , , , [SEP] 113, EastWall, , , , , , , [SEP] 114, SouthWall, , , , , , , [SEP] 115, WestWall, , , , , , , ", "output": ["STEP 1: turn around and walk to the left side of the kitchen counter. | STEP 2: grab the spoon on the counter. | STEP 3: turn around and walk to the stove | STEP 4: place the spoon in the sauce pan | STEP 5: pick up the sauce pan | STEP 6: turn to face the left side of the lower kitchen cabinets | STEP 7: put the sauce pan in the far right lower cabinet | END"]} +{"id": "trial_T20190909_145120_598866-0", "input": "Place the statue on the coffee table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.908, 7.75, 0, 180, 0, [SEP] 1, Plate, -3.709, 0.798, 2.371, 0, 0, 0, 52 [SEP] 2, Plate, -3.13, 0.549, 8.321, 0, 90, 0, 58 [SEP] 3, TissueBox, -3.155, 0.783, 2.061, 0, 0, 0, 52 [SEP] 4, TissueBox, -2.810, 0.535, 8.471, 0, 180, 0, 58 [SEP] 5, Watch, -0.377, 0.676, 8.392, 0, 329.437, 0, 48 [SEP] 6, Statue, -2.324, 0.791, 1.751, 0, 0, 0, 52 [SEP] 7, Box, -2.047, 0.910, 2.681, 0, 0, 0, 52 [SEP] 8, Box, -1.699, 0.583, 7.334, 0, 90, 0, 45 [SEP] 9, KeyChain, -3.788, 0.329, 4.514, 0, 90, 0, 50 [SEP] 10, Plate, -3.432, 0.797, 2.681, 0, 0, 0, 52 [SEP] 11, Candle, -0.354, 0.676, 0.163, 0, 329.437, 0, 47 [SEP] 12, Pillow, -1.721, 0.519, 5.725, 0, 0, 0, 45 [SEP] 13, Candle, -0.624, 0.667, 8.444, 0, 0, 0, 48 [SEP] 14, TissueBox, -2.878, 0.783, 2.216, 0, 0, 0, 52 [SEP] 15, Laptop, -3.155, 0.780, 1.751, 0, 0, 0, 52 [SEP] 16, Newspaper, -3.026, 0.456, 5.930, 0, 0, 0, 49 [SEP] 17, CreditCard, -3.600, 0.326, 4.718, 0, 0, 0, 50 [SEP] 18, RemoteControl, -2.047, 0.782, 1.906, 0, 0, 0, 52 [SEP] 19, Boots, -5.786, 0.007, 4.817, 0, 167.028, 0, Floor|-02.99| [SEP] 20, Candle, -3.289, 0.536, 8.534, 0, 180, 0, 58 [SEP] 21, Statue, -2.324, 0.883, 2.216, 0, 0, 0, 52 [SEP] 22, Watch, -3.289, 0.533, 8.659, 0, 180, 0, 58 [SEP] 23, Statue, -3.432, 0.792, 1.751, 0, 0, 0, 52 [SEP] 24, Mirror, -5.489, 1.825, 6.505, 0, 0, 0, [SEP] 25, FloorLamp, -5.645, 0.013, 8.526, 0, 0, 0, [SEP] 26, HousePlant, -3.203, 0.452, 6.798, 0, 0, 0, [SEP] 27, HousePlant, -5.358, 1.476, 5.442, 0, 343.031, 0, [SEP] 28, GarbageCan, -5.711, 0.005, 0.300, 0, 34.872, 0, [SEP] 29, Television, -3.114, 0.996, 8.693, 1.686, 180, 0, [SEP] 30, LightSwitch, -6.0, 1.338, 3.433, 0, 90, 0, [SEP] 31, Painting, -5.954, 1.526, 1.153, 90, 270, 0, [SEP] 32, Window, 0.157, 1.203, 6.895, 90, 90, 0, [SEP] 33, Window, -4.855, 1.203, -0.158, 90, 180, 0, [SEP] 34, Window, 0.157, 1.203, 4.923, 90, 90, 0, [SEP] 35, Window, 0.157, 1.203, 2.986, 90, 90, 0, [SEP] 36, Window, 0.157, 1.203, 1.088, 90, 90, 0, [SEP] 37, Window, -2.942, 1.203, -0.158, 90, 180, 0, [SEP] 38, Window, -1.057, 1.203, -0.158, 90, 180, 0, [SEP] 39, DeskLamp, -0.432, 0.684, 8.644, 0, 0, 0, [SEP] 40, DeskLamp, -0.346, 0.684, 0.335, 0, 0, 0, [SEP] 41, Chair, -3.326, 0.015, 2.739, 358.826, 189.525, 358.738, [SEP] 42, Chair, -2.352, 0.015, 2.744, 358.824, 163.801, 358.735, [SEP] 43, Chair, -2.476, 0.015, 1.628, 358.826, 21.693, 358.736, [SEP] 44, Chair, -3.327, 0.015, 1.701, 358.828, 0, 358.738, [SEP] 45, Sofa, -1.706, 0.002, 6.448, 0, 270, 0, [SEP] 46, Chair, -0.328, 0.016, 0.998, 0, 246.550, 0, [SEP] 47, SideTable, -0.396, 0.008, 0.357, 0, 329.435, 0, [SEP] 48, SideTable, -0.527, 0.008, 8.521, 0, 329.431, 0, [SEP] 49, CoffeeTable, -3.236, 0.010, 6.598, 0, 270, 0, [SEP] 50, ArmChair, -3.663, 0.012, 4.562, 0, 0, 0, [SEP] 51, ArmChair, -2.691, 0.012, 4.618, 0, 0, 0, [SEP] 52, DiningTable, -2.903, 0.010, 2.225, 0, 0, 0, [SEP] 53, RoomDecor, -0.189, 0.009, 3.909, 0, 0, 0, [SEP] 54, RoomDecor, -0.189, 0.009, 2.097, 0, 0, 0, [SEP] 55, RoomDecor, -0.190, 0.009, 5.855, 0, 0, 0, [SEP] 56, RoomDecor, -3.957, 0.009, 0.254, 0, 0, 0, [SEP] 57, RoomDecor, -2.036, 0.009, 0.254, 0, 0, 0, [SEP] 58, CoffeeTable, -3.129, 0.016, 8.533, 0, 0, 0, [SEP] 59, NorthWall, , , , , , , [SEP] 60, EastWall, , , , , , , [SEP] 61, SouthWall, , , , , , , [SEP] 62, WestWall, , , , , , , ", "output": ["STEP 1: Walk over to the table. | STEP 2: Grab the statue | STEP 3: Walk over to the coffee table | STEP 4: Place the statue on the coffee table. | END"]} +{"id": "trial_T20190909_145120_598866-2", "input": "Put a statue on a table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.908, 7.75, 0, 180, 0, [SEP] 1, Plate, -3.709, 0.798, 2.371, 0, 0, 0, 52 [SEP] 2, Plate, -3.13, 0.549, 8.321, 0, 90, 0, 58 [SEP] 3, TissueBox, -3.155, 0.783, 2.061, 0, 0, 0, 52 [SEP] 4, TissueBox, -2.810, 0.535, 8.471, 0, 180, 0, 58 [SEP] 5, Watch, -0.377, 0.676, 8.392, 0, 329.437, 0, 48 [SEP] 6, Statue, -2.324, 0.791, 1.751, 0, 0, 0, 52 [SEP] 7, Box, -2.047, 0.910, 2.681, 0, 0, 0, 52 [SEP] 8, Box, -1.699, 0.583, 7.334, 0, 90, 0, 45 [SEP] 9, KeyChain, -3.788, 0.329, 4.514, 0, 90, 0, 50 [SEP] 10, Plate, -3.432, 0.797, 2.681, 0, 0, 0, 52 [SEP] 11, Candle, -0.354, 0.676, 0.163, 0, 329.437, 0, 47 [SEP] 12, Pillow, -1.721, 0.519, 5.725, 0, 0, 0, 45 [SEP] 13, Candle, -0.624, 0.667, 8.444, 0, 0, 0, 48 [SEP] 14, TissueBox, -2.878, 0.783, 2.216, 0, 0, 0, 52 [SEP] 15, Laptop, -3.155, 0.780, 1.751, 0, 0, 0, 52 [SEP] 16, Newspaper, -3.026, 0.456, 5.930, 0, 0, 0, 49 [SEP] 17, CreditCard, -3.600, 0.326, 4.718, 0, 0, 0, 50 [SEP] 18, RemoteControl, -2.047, 0.782, 1.906, 0, 0, 0, 52 [SEP] 19, Boots, -5.786, 0.007, 4.817, 0, 167.028, 0, Floor|-02.99| [SEP] 20, Candle, -3.289, 0.536, 8.534, 0, 180, 0, 58 [SEP] 21, Statue, -2.324, 0.883, 2.216, 0, 0, 0, 52 [SEP] 22, Watch, -3.289, 0.533, 8.659, 0, 180, 0, 58 [SEP] 23, Statue, -3.432, 0.792, 1.751, 0, 0, 0, 52 [SEP] 24, Mirror, -5.489, 1.825, 6.505, 0, 0, 0, [SEP] 25, FloorLamp, -5.645, 0.013, 8.526, 0, 0, 0, [SEP] 26, HousePlant, -3.203, 0.452, 6.798, 0, 0, 0, [SEP] 27, HousePlant, -5.358, 1.476, 5.442, 0, 343.031, 0, [SEP] 28, GarbageCan, -5.711, 0.005, 0.300, 0, 34.872, 0, [SEP] 29, Television, -3.114, 0.996, 8.693, 1.686, 180, 0, [SEP] 30, LightSwitch, -6.0, 1.338, 3.433, 0, 90, 0, [SEP] 31, Painting, -5.954, 1.526, 1.153, 90, 270, 0, [SEP] 32, Window, 0.157, 1.203, 6.895, 90, 90, 0, [SEP] 33, Window, -4.855, 1.203, -0.158, 90, 180, 0, [SEP] 34, Window, 0.157, 1.203, 4.923, 90, 90, 0, [SEP] 35, Window, 0.157, 1.203, 2.986, 90, 90, 0, [SEP] 36, Window, 0.157, 1.203, 1.088, 90, 90, 0, [SEP] 37, Window, -2.942, 1.203, -0.158, 90, 180, 0, [SEP] 38, Window, -1.057, 1.203, -0.158, 90, 180, 0, [SEP] 39, DeskLamp, -0.432, 0.684, 8.644, 0, 0, 0, [SEP] 40, DeskLamp, -0.346, 0.684, 0.335, 0, 0, 0, [SEP] 41, Chair, -3.326, 0.015, 2.739, 358.826, 189.525, 358.738, [SEP] 42, Chair, -2.352, 0.015, 2.744, 358.824, 163.801, 358.735, [SEP] 43, Chair, -2.476, 0.015, 1.628, 358.826, 21.693, 358.736, [SEP] 44, Chair, -3.327, 0.015, 1.701, 358.828, 0, 358.738, [SEP] 45, Sofa, -1.706, 0.002, 6.448, 0, 270, 0, [SEP] 46, Chair, -0.328, 0.016, 0.998, 0, 246.550, 0, [SEP] 47, SideTable, -0.396, 0.008, 0.357, 0, 329.435, 0, [SEP] 48, SideTable, -0.527, 0.008, 8.521, 0, 329.431, 0, [SEP] 49, CoffeeTable, -3.236, 0.010, 6.598, 0, 270, 0, [SEP] 50, ArmChair, -3.663, 0.012, 4.562, 0, 0, 0, [SEP] 51, ArmChair, -2.691, 0.012, 4.618, 0, 0, 0, [SEP] 52, DiningTable, -2.903, 0.010, 2.225, 0, 0, 0, [SEP] 53, RoomDecor, -0.189, 0.009, 3.909, 0, 0, 0, [SEP] 54, RoomDecor, -0.189, 0.009, 2.097, 0, 0, 0, [SEP] 55, RoomDecor, -0.190, 0.009, 5.855, 0, 0, 0, [SEP] 56, RoomDecor, -3.957, 0.009, 0.254, 0, 0, 0, [SEP] 57, RoomDecor, -2.036, 0.009, 0.254, 0, 0, 0, [SEP] 58, CoffeeTable, -3.129, 0.016, 8.533, 0, 0, 0, [SEP] 59, NorthWall, , , , , , , [SEP] 60, EastWall, , , , , , , [SEP] 61, SouthWall, , , , , , , [SEP] 62, WestWall, , , , , , , ", "output": ["STEP 1: Go forward and cross the entire room and then turn right and then right again to face the statue on the table near the remote. | STEP 2: Pick the statue up from the table. | STEP 3: Go left and then right and cross the room to turn to the right to face the table with the plant on it that is in front of the couch. | STEP 4: Put the statue on the table. | END"]} +{"id": "trial_T20190909_012522_260719-0", "input": "Wash a cold tomato and put it on the counter. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.900, 2.5, 0, 180, 0, [SEP] 1, Ladle, -2.540, 1.893, 1.978, 0, 0, 0, 42 [SEP] 2, DishSponge, -2.648, 0.121, 1.510, 0, 0, 0, 59 [SEP] 3, ButterKnife, -1.207, 0.823, 0.508, 0, 0, 0, 48 [SEP] 4, Fork, -1.709, 0.824, 0.518, 0, 0, 0, 48 [SEP] 5, Spoon, -1.189, 0.699, 0.377, 0, 90, 0, 52 [SEP] 6, Egg, -1.412, 0.721, 0.253, 0, 0, 0, 75 [SEP] 7, Egg, -0.229, 0.080, 2.708, 0, 0, 0, 68 [SEP] 8, Cup, -2.881, 1.436, 0.674, 0, 0, 0, 57 [SEP] 9, Cup, -2.892, 1.445, 1.957, 0, 90, 0, 66 [SEP] 10, Plate, -2.375, 0.828, 0.203, 0, 0, 0, 48 [SEP] 11, Knife, -1.374, 0.849, 0.498, 0, 0, 0, 48 [SEP] 12, Tomato, -0.262, 0.106, 2.539, 0, 0, 0, 68 [SEP] 13, Tomato, -2.892, 1.495, 2.485, 0, 90, 0, 66 [SEP] 14, SoapBottle, -2.491, 0.821, 0.500, 0, 0, 0, 48 [SEP] 15, SaltShaker, -2.581, 0.818, 0.953, 0, 0, 0, 48 [SEP] 16, PepperShaker, -1.709, 0.818, 0.046, 0, 0, 0, 48 [SEP] 17, Lettuce, -2.837, 1.529, 2.133, 0, 90, 0, 66 [SEP] 18, Lettuce, -2.837, 1.227, 2.045, 0, 90, 0, 66 [SEP] 19, Apple, -0.395, 0.129, 2.539, 0, 90, 0, 68 [SEP] 20, Apple, -2.781, 0.897, 2.133, 0, 90, 0, 66 [SEP] 21, Fork, -2.023, 0.698, 0.295, 0, 180, 0, 75 [SEP] 22, Ladle, -1.465, 0.169, 0.401, 0, 0, 0, 61 [SEP] 23, Pan, -0.244, 0.829, 1.684, 0, 0, 0, 47 [SEP] 24, SoapBottle, -2.000, 0.123, 0.401, 0, 0, 0, 60 [SEP] 25, Pot, -0.531, 0.822, 2.096, 0, 0, 0, 45 [SEP] 26, Tomato, -2.782, 0.874, 2.309, 0, 90, 0, 66 [SEP] 27, Potato, -2.671, 1.484, 1.957, 0, 90, 0, 66 [SEP] 28, SaltShaker, -2.172, 0.120, 0.518, 0, 180, 0, 60 [SEP] 29, Plate, -2.691, 1.439, 0.255, 0, 45, 0, 54 [SEP] 30, Spatula, -2.608, 0.838, 0.203, 0, 0, 0, 48 [SEP] 31, Knife, -2.662, 0.819, 0.557, 90, 300.034, 0, 48 [SEP] 32, Egg, -0.362, 0.080, 2.674, 0, 0, 0, 68 [SEP] 33, Cup, -2.837, 0.825, 2.485, 0, 90, 0, 66 [SEP] 34, ButterKnife, -2.493, 0.812, 0.476, 0, 50.734, 0, 48 [SEP] 35, Lettuce, -2.837, 1.227, 2.309, 0, 90, 0, 66 [SEP] 36, PepperShaker, -0.477, 0.818, 0.658, 0, 0, 0, 48 [SEP] 37, DishSponge, -2.504, 0.823, 0.871, 0, 0, 0, 48 [SEP] 38, Bread, -0.979, 0.855, 0.249, 0, 29.999, 0, 48 [SEP] 39, Spoon, -2.563, 0.693, 1.511, 0, 0, 0, 53 [SEP] 40, Mug, -2.810, 0.916, 1.178, 0, 270, 0, 67 [SEP] 41, Bowl, -2.810, 0.918, 1.337, 0, 90, 0, 67 [SEP] 42, Cabinet, -2.377, 2.015, 1.720, 0, 0, 0, [SEP] 43, StoveBurner, -0.244, 0.820, 2.075, 0, 180, 0, [SEP] 44, Drawer, -0.402, 0.703, 1.252, 0, 0, 0, [SEP] 45, StoveBurner, -0.518, 0.820, 2.075, 0, 180, 0, [SEP] 46, Sink, -1.838, 0.726, 0.343, 0, 180, 0, [SEP] 47, StoveBurner, -0.244, 0.820, 1.684, 0, 0, 0, [SEP] 48, CounterTop, -1.557, 0.859, 0.277, 0, 0, 0, [SEP] 49, StoveBurner, -0.518, 0.820, 1.684, 0, 0, 0, [SEP] 50, Drawer, -0.404, 0.704, 0.912, 0, 0, 0, [SEP] 51, Drawer, -0.861, 0.709, 0.420, 0, 0, 0, [SEP] 52, Drawer, -1.133, 0.706, 0.418, 0, 0, 0, [SEP] 53, Drawer, -2.589, 0.703, 1.511, 0, 0, 0, [SEP] 54, Cabinet, -2.772, 1.803, 0.508, 0, 0, 0, [SEP] 55, Cabinet, -2.460, 1.803, 0.231, 0, 0, 0, [SEP] 56, Cabinet, -2.781, 1.798, 0.825, 0, 0, 0, [SEP] 57, Cabinet, -2.781, 1.798, 0.815, 0, 0, 0, [SEP] 58, Cabinet, -2.377, 2.009, 2.581, 0, 0, 0, [SEP] 59, Cabinet, -2.442, 0.385, 1.672, 0, 0, 0, [SEP] 60, Cabinet, -2.238, 0.385, 0.564, 0, 0, 0, [SEP] 61, Cabinet, -1.286, 0.385, 0.564, 0, 0, 0, [SEP] 62, Cabinet, -1.262, 0.385, 0.565, 0, 0, 0, [SEP] 63, Cabinet, -0.734, 0.385, 0.565, 0, 0, 0, [SEP] 64, Cabinet, -0.549, 0.385, 0.751, 0, 0, 0, [SEP] 65, Cabinet, -0.549, 0.385, 1.412, 0, 0, 0, [SEP] 66, Fridge, -2.782, 0.0, 2.221, 0, 0, 0, [SEP] 67, Microwave, -2.794, 0.812, 1.348, 0, 90, 0, [SEP] 68, GarbageCan, -0.329, 2.205, 2.606, 0, 0, 0, [SEP] 69, StoveKnob, -0.069, 0.998, 1.773, 0, 180, 107.470, [SEP] 70, StoveKnob, -0.069, 0.998, 1.613, 0, 180, 107.470, [SEP] 71, StoveKnob, -0.069, 0.998, 2.171, 0, 180, 107.470, [SEP] 72, StoveKnob, -0.069, 0.998, 2.024, 0, 180, 107.470, [SEP] 73, Window, -1.720, 1.342, -0.208, 90, 0, 0, [SEP] 74, Toaster, -0.171, 0.812, 0.735, 0, 270, 0, [SEP] 75, SinkBasin, -1.745, 0.687, 0.295, 0, 0, 0, [SEP] 76, CoffeeMachine, -0.539, 0.812, 0.185, 0, 0, 0, [SEP] 77, LightSwitch, -0.615, 1.378, 3.0, 0, 180, 0, [SEP] 78, Faucet, -1.686, 0.954, 0.176, 0, 236.223, 0, [SEP] 79, Stool, -1.008, 0.008, 1.955, 0, 18.279, 0, [SEP] 80, NorthWall, , , , , , , [SEP] 81, EastWall, , , , , , , [SEP] 82, SouthWall, , , , , , , [SEP] 83, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and walk to the fridge. | STEP 2: Take a tomato from the fridge. | STEP 3: Turn around and walk to the stool then turn right and walk to the sink. | STEP 4: Wash the tomato off in the sink on the left then pick it up. | STEP 5: Turn right to face the microwave. | STEP 6: Put the tomato on the counter to the left of the sponge. | END"]} +{"id": "trial_T20190909_012522_260719-2", "input": "Put a washed tomato next to the microwave on the counter. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.900, 2.5, 0, 180, 0, [SEP] 1, Ladle, -2.540, 1.893, 1.978, 0, 0, 0, 42 [SEP] 2, DishSponge, -2.648, 0.121, 1.510, 0, 0, 0, 59 [SEP] 3, ButterKnife, -1.207, 0.823, 0.508, 0, 0, 0, 48 [SEP] 4, Fork, -1.709, 0.824, 0.518, 0, 0, 0, 48 [SEP] 5, Spoon, -1.189, 0.699, 0.377, 0, 90, 0, 52 [SEP] 6, Egg, -1.412, 0.721, 0.253, 0, 0, 0, 75 [SEP] 7, Egg, -0.229, 0.080, 2.708, 0, 0, 0, 68 [SEP] 8, Cup, -2.881, 1.436, 0.674, 0, 0, 0, 57 [SEP] 9, Cup, -2.892, 1.445, 1.957, 0, 90, 0, 66 [SEP] 10, Plate, -2.375, 0.828, 0.203, 0, 0, 0, 48 [SEP] 11, Knife, -1.374, 0.849, 0.498, 0, 0, 0, 48 [SEP] 12, Tomato, -0.262, 0.106, 2.539, 0, 0, 0, 68 [SEP] 13, Tomato, -2.892, 1.495, 2.485, 0, 90, 0, 66 [SEP] 14, SoapBottle, -2.491, 0.821, 0.500, 0, 0, 0, 48 [SEP] 15, SaltShaker, -2.581, 0.818, 0.953, 0, 0, 0, 48 [SEP] 16, PepperShaker, -1.709, 0.818, 0.046, 0, 0, 0, 48 [SEP] 17, Lettuce, -2.837, 1.529, 2.133, 0, 90, 0, 66 [SEP] 18, Lettuce, -2.837, 1.227, 2.045, 0, 90, 0, 66 [SEP] 19, Apple, -0.395, 0.129, 2.539, 0, 90, 0, 68 [SEP] 20, Apple, -2.781, 0.897, 2.133, 0, 90, 0, 66 [SEP] 21, Fork, -2.023, 0.698, 0.295, 0, 180, 0, 75 [SEP] 22, Ladle, -1.465, 0.169, 0.401, 0, 0, 0, 61 [SEP] 23, Pan, -0.244, 0.829, 1.684, 0, 0, 0, 47 [SEP] 24, SoapBottle, -2.000, 0.123, 0.401, 0, 0, 0, 60 [SEP] 25, Pot, -0.531, 0.822, 2.096, 0, 0, 0, 45 [SEP] 26, Tomato, -2.782, 0.874, 2.309, 0, 90, 0, 66 [SEP] 27, Potato, -2.671, 1.484, 1.957, 0, 90, 0, 66 [SEP] 28, SaltShaker, -2.172, 0.120, 0.518, 0, 180, 0, 60 [SEP] 29, Plate, -2.691, 1.439, 0.255, 0, 45, 0, 54 [SEP] 30, Spatula, -2.608, 0.838, 0.203, 0, 0, 0, 48 [SEP] 31, Knife, -2.662, 0.819, 0.557, 90, 300.034, 0, 48 [SEP] 32, Egg, -0.362, 0.080, 2.674, 0, 0, 0, 68 [SEP] 33, Cup, -2.837, 0.825, 2.485, 0, 90, 0, 66 [SEP] 34, ButterKnife, -2.493, 0.812, 0.476, 0, 50.734, 0, 48 [SEP] 35, Lettuce, -2.837, 1.227, 2.309, 0, 90, 0, 66 [SEP] 36, PepperShaker, -0.477, 0.818, 0.658, 0, 0, 0, 48 [SEP] 37, DishSponge, -2.504, 0.823, 0.871, 0, 0, 0, 48 [SEP] 38, Bread, -0.979, 0.855, 0.249, 0, 29.999, 0, 48 [SEP] 39, Spoon, -2.563, 0.693, 1.511, 0, 0, 0, 53 [SEP] 40, Mug, -2.810, 0.916, 1.178, 0, 270, 0, 67 [SEP] 41, Bowl, -2.810, 0.918, 1.337, 0, 90, 0, 67 [SEP] 42, Cabinet, -2.377, 2.015, 1.720, 0, 0, 0, [SEP] 43, StoveBurner, -0.244, 0.820, 2.075, 0, 180, 0, [SEP] 44, Drawer, -0.402, 0.703, 1.252, 0, 0, 0, [SEP] 45, StoveBurner, -0.518, 0.820, 2.075, 0, 180, 0, [SEP] 46, Sink, -1.838, 0.726, 0.343, 0, 180, 0, [SEP] 47, StoveBurner, -0.244, 0.820, 1.684, 0, 0, 0, [SEP] 48, CounterTop, -1.557, 0.859, 0.277, 0, 0, 0, [SEP] 49, StoveBurner, -0.518, 0.820, 1.684, 0, 0, 0, [SEP] 50, Drawer, -0.404, 0.704, 0.912, 0, 0, 0, [SEP] 51, Drawer, -0.861, 0.709, 0.420, 0, 0, 0, [SEP] 52, Drawer, -1.133, 0.706, 0.418, 0, 0, 0, [SEP] 53, Drawer, -2.589, 0.703, 1.511, 0, 0, 0, [SEP] 54, Cabinet, -2.772, 1.803, 0.508, 0, 0, 0, [SEP] 55, Cabinet, -2.460, 1.803, 0.231, 0, 0, 0, [SEP] 56, Cabinet, -2.781, 1.798, 0.825, 0, 0, 0, [SEP] 57, Cabinet, -2.781, 1.798, 0.815, 0, 0, 0, [SEP] 58, Cabinet, -2.377, 2.009, 2.581, 0, 0, 0, [SEP] 59, Cabinet, -2.442, 0.385, 1.672, 0, 0, 0, [SEP] 60, Cabinet, -2.238, 0.385, 0.564, 0, 0, 0, [SEP] 61, Cabinet, -1.286, 0.385, 0.564, 0, 0, 0, [SEP] 62, Cabinet, -1.262, 0.385, 0.565, 0, 0, 0, [SEP] 63, Cabinet, -0.734, 0.385, 0.565, 0, 0, 0, [SEP] 64, Cabinet, -0.549, 0.385, 0.751, 0, 0, 0, [SEP] 65, Cabinet, -0.549, 0.385, 1.412, 0, 0, 0, [SEP] 66, Fridge, -2.782, 0.0, 2.221, 0, 0, 0, [SEP] 67, Microwave, -2.794, 0.812, 1.348, 0, 90, 0, [SEP] 68, GarbageCan, -0.329, 2.205, 2.606, 0, 0, 0, [SEP] 69, StoveKnob, -0.069, 0.998, 1.773, 0, 180, 107.470, [SEP] 70, StoveKnob, -0.069, 0.998, 1.613, 0, 180, 107.470, [SEP] 71, StoveKnob, -0.069, 0.998, 2.171, 0, 180, 107.470, [SEP] 72, StoveKnob, -0.069, 0.998, 2.024, 0, 180, 107.470, [SEP] 73, Window, -1.720, 1.342, -0.208, 90, 0, 0, [SEP] 74, Toaster, -0.171, 0.812, 0.735, 0, 270, 0, [SEP] 75, SinkBasin, -1.745, 0.687, 0.295, 0, 0, 0, [SEP] 76, CoffeeMachine, -0.539, 0.812, 0.185, 0, 0, 0, [SEP] 77, LightSwitch, -0.615, 1.378, 3.0, 0, 180, 0, [SEP] 78, Faucet, -1.686, 0.954, 0.176, 0, 236.223, 0, [SEP] 79, Stool, -1.008, 0.008, 1.955, 0, 18.279, 0, [SEP] 80, NorthWall, , , , , , , [SEP] 81, EastWall, , , , , , , [SEP] 82, SouthWall, , , , , , , [SEP] 83, WestWall, , , , , , , ", "output": ["STEP 1: Turn right, move to the fridge. | STEP 2: Pick up the tomato in the fridge. | STEP 3: Bring the tomato to the sink on the left. | STEP 4: Wash the tomato in the left sink. | STEP 5: Bring the washed tomato to the microwave on the left. | STEP 6: Put the washed tomato down on the counter, next to the microwave. | END"]} +{"id": "trial_T20190907_143200_617478-0", "input": "Put the cell phone in the bowl on the desk. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.900, -1.0, 0, 0, 0, [SEP] 1, Mug, 1.423, 0.727, 1.562, 0, 0, 0, 42 [SEP] 2, CellPhone, 0.021, 0.696, -1.794, 0, 0, 0, 44 [SEP] 3, CellPhone, 1.205, 0.782, 0.107, 0, 0, 0, 31 [SEP] 4, Pencil, -0.095, 0.693, -1.616, 0, 0, 0, 44 [SEP] 5, CreditCard, 1.016, 0.728, 1.066, 0, 0, 0, 42 [SEP] 6, CreditCard, 1.310, 1.138, 1.558, 0, 270, 0, 39 [SEP] 7, KeyChain, 0.078, 0.389, -1.593, 0, 270, 0, 46 [SEP] 8, KeyChain, 1.405, 1.139, 1.558, 0, 270, 0, 39 [SEP] 9, Pillow, 0.704, 0.849, -0.440, 0, 0, 0, 31 [SEP] 10, Pillow, 0.704, 0.849, 0.107, 0, 0, 0, 31 [SEP] 11, Book, 1.152, 0.730, 1.396, 0, 0, 0, 42 [SEP] 12, Box, -1.233, 0.263, -1.435, 0, 312.675, 0, [SEP] 13, CellPhone, 0.955, 0.782, 0.107, 0, 0, 0, 31 [SEP] 14, BaseballBat, -1.717, 0.708, -0.677, 0, 0, 12.045, [SEP] 15, Bowl, 1.342, 1.138, 1.246, 0, 270, 0, 39 [SEP] 16, BasketBall, -1.64, 0.127, -1.652, 0, 0, 0, [SEP] 17, Laptop, 0.704, 0.776, -1.537, 0, 0, 0, 31 [SEP] 18, CreditCard, -0.213, 0.690, -1.838, 0, 0, 0, 44 [SEP] 19, KeyChain, 0.164, 0.389, -1.593, 0, 270, 0, 46 [SEP] 20, AlarmClock, 1.084, 0.729, 1.727, 0, 0, 0, 42 [SEP] 21, Pencil, -0.213, 0.696, -1.616, 0, 0, 0, 44 [SEP] 22, Pillow, 1.205, 0.849, -0.714, 0, 0, 0, 31 [SEP] 23, CD, 1.098, 0.315, 1.808, 0, 0, 0, 43 [SEP] 24, Pen, 1.173, 0.081, 1.595, 0, 0, 0, 40 [SEP] 25, Mug, 1.405, 1.136, 1.402, 0, 0, 0, 39 [SEP] 26, Poster, 0.978, 1.970, -1.868, 90, 0, 0, [SEP] 27, Mirror, -0.884, 1.350, 2.086, 0, 0, 0, [SEP] 28, Poster, 1.483, 1.978, -1.210, 90, 270, 0, [SEP] 29, Poster, 1.483, 1.503, -0.128, 90, 270, 0, [SEP] 30, Poster, 1.483, 2.138, -0.128, 90, 270, 0, [SEP] 31, Bed, 0.955, 0.002, -0.722, 0, 0, 0, [SEP] 32, GarbageCan, 1.133, 0.032, 0.581, 0, 0, 0, [SEP] 33, DeskLamp, -0.396, 0.664, -1.666, 0, 315, 0, [SEP] 34, LightSwitch, 0.554, 1.154, 2.079, 0, 180, 0, [SEP] 35, Window, -0.174, 1.006, -2.009, 90, 0, 0, [SEP] 36, LaundryHamper, -1.425, 0.006, 1.676, 0, 149.999, 0, [SEP] 37, Chair, 1.127, -8.434, 1.053, 0, 90, 0, [SEP] 38, Blinds, -0.145, 1.679, -1.986, 0, 0, 0, [SEP] 39, Shelf, 1.316, 1.174, 1.388, 0, 270, 0, [SEP] 40, Drawer, 1.099, 0.167, 1.724, 0, 270, 0, [SEP] 41, Drawer, 1.099, 0.622, 1.724, 0, 270, 0, [SEP] 42, Desk, 1.189, 0.002, 1.384, 0, 270, 0, [SEP] 43, Drawer, 1.099, 0.408, 1.724, 0, 270, 0, [SEP] 44, SideTable, -0.103, -0.000, -1.691, 0, 0, 0, [SEP] 45, Drawer, -0.104, 0.157, -1.618, 0, 0, 0, [SEP] 46, Drawer, -0.104, 0.456, -1.618, 0, 0, 0, [SEP] 47, NorthWall, , , , , , , [SEP] 48, EastWall, , , , , , , [SEP] 49, SouthWall, , , , , , , [SEP] 50, WestWall, , , , , , , ", "output": ["STEP 1: Turn right to face the bed. | STEP 2: Pick up the nearest cell phone on the bed. | STEP 3: Go to the desk, to the left of the bed. | STEP 4: Put the cell phone in the bowl, on the desk. | STEP 5: Pick up the bowl with the cell phone in it. | STEP 6: Turn down, to look toward the desk. | STEP 7: Place the bowl on the right front corner of the desk. | END"]} +{"id": "trial_T20190907_143200_617478-1", "input": "Put a bowl with a phone in it on the right side of the desk. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.900, -1.0, 0, 0, 0, [SEP] 1, Mug, 1.423, 0.727, 1.562, 0, 0, 0, 42 [SEP] 2, CellPhone, 0.021, 0.696, -1.794, 0, 0, 0, 44 [SEP] 3, CellPhone, 1.205, 0.782, 0.107, 0, 0, 0, 31 [SEP] 4, Pencil, -0.095, 0.693, -1.616, 0, 0, 0, 44 [SEP] 5, CreditCard, 1.016, 0.728, 1.066, 0, 0, 0, 42 [SEP] 6, CreditCard, 1.310, 1.138, 1.558, 0, 270, 0, 39 [SEP] 7, KeyChain, 0.078, 0.389, -1.593, 0, 270, 0, 46 [SEP] 8, KeyChain, 1.405, 1.139, 1.558, 0, 270, 0, 39 [SEP] 9, Pillow, 0.704, 0.849, -0.440, 0, 0, 0, 31 [SEP] 10, Pillow, 0.704, 0.849, 0.107, 0, 0, 0, 31 [SEP] 11, Book, 1.152, 0.730, 1.396, 0, 0, 0, 42 [SEP] 12, Box, -1.233, 0.263, -1.435, 0, 312.675, 0, [SEP] 13, CellPhone, 0.955, 0.782, 0.107, 0, 0, 0, 31 [SEP] 14, BaseballBat, -1.717, 0.708, -0.677, 0, 0, 12.045, [SEP] 15, Bowl, 1.342, 1.138, 1.246, 0, 270, 0, 39 [SEP] 16, BasketBall, -1.64, 0.127, -1.652, 0, 0, 0, [SEP] 17, Laptop, 0.704, 0.776, -1.537, 0, 0, 0, 31 [SEP] 18, CreditCard, -0.213, 0.690, -1.838, 0, 0, 0, 44 [SEP] 19, KeyChain, 0.164, 0.389, -1.593, 0, 270, 0, 46 [SEP] 20, AlarmClock, 1.084, 0.729, 1.727, 0, 0, 0, 42 [SEP] 21, Pencil, -0.213, 0.696, -1.616, 0, 0, 0, 44 [SEP] 22, Pillow, 1.205, 0.849, -0.714, 0, 0, 0, 31 [SEP] 23, CD, 1.098, 0.315, 1.808, 0, 0, 0, 43 [SEP] 24, Pen, 1.173, 0.081, 1.595, 0, 0, 0, 40 [SEP] 25, Mug, 1.405, 1.136, 1.402, 0, 0, 0, 39 [SEP] 26, Poster, 0.978, 1.970, -1.868, 90, 0, 0, [SEP] 27, Mirror, -0.884, 1.350, 2.086, 0, 0, 0, [SEP] 28, Poster, 1.483, 1.978, -1.210, 90, 270, 0, [SEP] 29, Poster, 1.483, 1.503, -0.128, 90, 270, 0, [SEP] 30, Poster, 1.483, 2.138, -0.128, 90, 270, 0, [SEP] 31, Bed, 0.955, 0.002, -0.722, 0, 0, 0, [SEP] 32, GarbageCan, 1.133, 0.032, 0.581, 0, 0, 0, [SEP] 33, DeskLamp, -0.396, 0.664, -1.666, 0, 315, 0, [SEP] 34, LightSwitch, 0.554, 1.154, 2.079, 0, 180, 0, [SEP] 35, Window, -0.174, 1.006, -2.009, 90, 0, 0, [SEP] 36, LaundryHamper, -1.425, 0.006, 1.676, 0, 149.999, 0, [SEP] 37, Chair, 1.127, -8.434, 1.053, 0, 90, 0, [SEP] 38, Blinds, -0.145, 1.679, -1.986, 0, 0, 0, [SEP] 39, Shelf, 1.316, 1.174, 1.388, 0, 270, 0, [SEP] 40, Drawer, 1.099, 0.167, 1.724, 0, 270, 0, [SEP] 41, Drawer, 1.099, 0.622, 1.724, 0, 270, 0, [SEP] 42, Desk, 1.189, 0.002, 1.384, 0, 270, 0, [SEP] 43, Drawer, 1.099, 0.408, 1.724, 0, 270, 0, [SEP] 44, SideTable, -0.103, -0.000, -1.691, 0, 0, 0, [SEP] 45, Drawer, -0.104, 0.157, -1.618, 0, 0, 0, [SEP] 46, Drawer, -0.104, 0.456, -1.618, 0, 0, 0, [SEP] 47, NorthWall, , , , , , , [SEP] 48, EastWall, , , , , , , [SEP] 49, SouthWall, , , , , , , [SEP] 50, WestWall, , , , , , , ", "output": ["STEP 1: Turn to the right and face the left end of the bed. | STEP 2: Pick up the closest phone on the bed. | STEP 3: Go left and stand in front of the desk. | STEP 4: Put the phone in the bowl. | STEP 5: Pick up the bowl with the phone from the desk. | STEP 6: Move a couple of steps back from the desk. | STEP 7: Put the bowl with the phone in it on the far right side of the desk. | END"]} +{"id": "trial_T20190907_160642_668552-0", "input": "Place box with remote on top of left side of black cabinet SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.920, 2.25, 0, 270, 0, [SEP] 1, Newspaper, -2.648, 0.455, 3.836, 0, 0, 0, 43 [SEP] 2, Newspaper, -3.098, 0.543, 0.601, 0, 0, 0, 42 [SEP] 3, Vase, -0.437, 0.617, 0.997, 0, 0, 0, 40 [SEP] 4, CreditCard, -4.390, 0.459, 6.731, 0, 0, 0, 44 [SEP] 5, CreditCard, -0.750, 0.616, 0.919, 0, 0, 0, 40 [SEP] 6, Laptop, -2.402, 0.445, 4.722, 0, 0, 0, 43 [SEP] 7, Pillow, -2.796, 0.606, 0.793, 0, 0, 0, 42 [SEP] 8, Box, -4.305, 0.598, 6.450, 0, 0, 0, 44 [SEP] 9, Plate, -2.913, 0.442, 3.398, 0, 0, 0, 43 [SEP] 10, Vase, -0.473, 0.271, 5.422, 0, 0, 0, 27 [SEP] 11, WateringCan, -3.015, 0.450, 4.501, 0, 180, 0, 43 [SEP] 12, Newspaper, -4.313, 0.556, 3.501, 0, 13.803, 0, 41 [SEP] 13, Vase, -0.585, 1.452, 6.434, 0, 0, 0, 26 [SEP] 14, KeyChain, -4.475, 0.455, 6.543, 0, 0, 0, 44 [SEP] 15, Pillow, -4.279, 0.607, 2.929, 0, 90, 0, 41 [SEP] 16, Statue, -0.461, 0.270, 5.703, 0, 285.188, 0, 27 [SEP] 17, RemoteControl, -4.049, 0.540, 2.627, 0, 90, 0, 41 [SEP] 18, CreditCard, -0.672, 0.616, 0.608, 0, 0, 0, 40 [SEP] 19, Statue, -0.525, 1.453, 5.351, 0, 294.738, 0, 26 [SEP] 20, Laptop, -4.342, 0.523, 2.224, 0, 32.685, 0, 41 [SEP] 21, Statue, -2.893, 0.454, 3.614, 0, 0, 0, 43 [SEP] 22, Curtains, -2.827, 2.473, 0.039, 357.605, 0, 0, [SEP] 23, Curtains, -2.184, 2.473, 0.039, 357.605, 0, 0, [SEP] 24, Curtains, -0.046, 2.474, 2.633, 0, 0, 357.064, [SEP] 25, DeskLamp, -0.484, 0.612, 0.691, 0, 0, 1.144, [SEP] 26, Shelf, -0.391, 1.452, 5.953, 0, 270, 0, [SEP] 27, Shelf, -0.398, 0.270, 5.961, 0, 270, 0, [SEP] 28, Television, -0.75, 1.661, 3.936, 0, 270, 0, [SEP] 29, GarbageCan, -0.525, -0.009, 2.822, 0, 0, 0, [SEP] 30, Painting, -2.670, 1.574, 7.000, 90, 180, 0, [SEP] 31, Bowl, -2.400, 0.464, 3.442, 0, 0, 0, [SEP] 32, LightSwitch, -5.0, 1.246, 5.857, 0, 90, 0, [SEP] 33, Window, -1.373, 1.565, 0.008, 90, 180, 0, [SEP] 34, Window, -0.014, 1.567, 1.496, 90, 270, 0, [SEP] 35, Window, -3.726, 1.565, 0.008, 90, 180, 0, [SEP] 36, FloorLamp, -4.514, 0.027, 0.663, 0, 0, 0, [SEP] 37, HousePlant, -2.659, 0.466, 4.165, 0, 0, 0, [SEP] 38, Shelf, -0.594, 0.104, 0.841, 0, 0, 0, [SEP] 39, Shelf, -0.594, 0.359, 0.841, 0, 0, 0, [SEP] 40, SideTable, -0.594, 0.018, 0.841, 0, 0, 0, [SEP] 41, Sofa, -4.360, 0.028, 2.929, 0, 90, 0, [SEP] 42, Sofa, -2.493, 0.028, 0.725, 0, 0, 0, [SEP] 43, CoffeeTable, -2.648, 0.019, 4.058, 0, 270, 0, [SEP] 44, ArmChair, -4.446, 0.017, 6.450, 0, 90, 0, [SEP] 45, NorthWall, , , , , , , [SEP] 46, SouthWall, , , , , , , [SEP] 47, SouthWall, , , , , , , ", "output": ["STEP 1: go the black couch with purple pillow | STEP 2: pick up remote control from couch between laptop and purple pillow | STEP 3: go to black chair with box to the right | STEP 4: place remote in box on black chair | STEP 5: pick up box off of black chair | STEP 6: turn around, go forward to black cabinet with black statue | STEP 7: place box on black cabinet to the left of statue | END"]} +{"id": "trial_T20190907_160642_668552-1", "input": "Place a box with a remote in it on the step with the statue on it. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.920, 2.25, 0, 270, 0, [SEP] 1, Newspaper, -2.648, 0.455, 3.836, 0, 0, 0, 43 [SEP] 2, Newspaper, -3.098, 0.543, 0.601, 0, 0, 0, 42 [SEP] 3, Vase, -0.437, 0.617, 0.997, 0, 0, 0, 40 [SEP] 4, CreditCard, -4.390, 0.459, 6.731, 0, 0, 0, 44 [SEP] 5, CreditCard, -0.750, 0.616, 0.919, 0, 0, 0, 40 [SEP] 6, Laptop, -2.402, 0.445, 4.722, 0, 0, 0, 43 [SEP] 7, Pillow, -2.796, 0.606, 0.793, 0, 0, 0, 42 [SEP] 8, Box, -4.305, 0.598, 6.450, 0, 0, 0, 44 [SEP] 9, Plate, -2.913, 0.442, 3.398, 0, 0, 0, 43 [SEP] 10, Vase, -0.473, 0.271, 5.422, 0, 0, 0, 27 [SEP] 11, WateringCan, -3.015, 0.450, 4.501, 0, 180, 0, 43 [SEP] 12, Newspaper, -4.313, 0.556, 3.501, 0, 13.803, 0, 41 [SEP] 13, Vase, -0.585, 1.452, 6.434, 0, 0, 0, 26 [SEP] 14, KeyChain, -4.475, 0.455, 6.543, 0, 0, 0, 44 [SEP] 15, Pillow, -4.279, 0.607, 2.929, 0, 90, 0, 41 [SEP] 16, Statue, -0.461, 0.270, 5.703, 0, 285.188, 0, 27 [SEP] 17, RemoteControl, -4.049, 0.540, 2.627, 0, 90, 0, 41 [SEP] 18, CreditCard, -0.672, 0.616, 0.608, 0, 0, 0, 40 [SEP] 19, Statue, -0.525, 1.453, 5.351, 0, 294.738, 0, 26 [SEP] 20, Laptop, -4.342, 0.523, 2.224, 0, 32.685, 0, 41 [SEP] 21, Statue, -2.893, 0.454, 3.614, 0, 0, 0, 43 [SEP] 22, Curtains, -2.827, 2.473, 0.039, 357.605, 0, 0, [SEP] 23, Curtains, -2.184, 2.473, 0.039, 357.605, 0, 0, [SEP] 24, Curtains, -0.046, 2.474, 2.633, 0, 0, 357.064, [SEP] 25, DeskLamp, -0.484, 0.612, 0.691, 0, 0, 1.144, [SEP] 26, Shelf, -0.391, 1.452, 5.953, 0, 270, 0, [SEP] 27, Shelf, -0.398, 0.270, 5.961, 0, 270, 0, [SEP] 28, Television, -0.75, 1.661, 3.936, 0, 270, 0, [SEP] 29, GarbageCan, -0.525, -0.009, 2.822, 0, 0, 0, [SEP] 30, Painting, -2.670, 1.574, 7.000, 90, 180, 0, [SEP] 31, Bowl, -2.400, 0.464, 3.442, 0, 0, 0, [SEP] 32, LightSwitch, -5.0, 1.246, 5.857, 0, 90, 0, [SEP] 33, Window, -1.373, 1.565, 0.008, 90, 180, 0, [SEP] 34, Window, -0.014, 1.567, 1.496, 90, 270, 0, [SEP] 35, Window, -3.726, 1.565, 0.008, 90, 180, 0, [SEP] 36, FloorLamp, -4.514, 0.027, 0.663, 0, 0, 0, [SEP] 37, HousePlant, -2.659, 0.466, 4.165, 0, 0, 0, [SEP] 38, Shelf, -0.594, 0.104, 0.841, 0, 0, 0, [SEP] 39, Shelf, -0.594, 0.359, 0.841, 0, 0, 0, [SEP] 40, SideTable, -0.594, 0.018, 0.841, 0, 0, 0, [SEP] 41, Sofa, -4.360, 0.028, 2.929, 0, 90, 0, [SEP] 42, Sofa, -2.493, 0.028, 0.725, 0, 0, 0, [SEP] 43, CoffeeTable, -2.648, 0.019, 4.058, 0, 270, 0, [SEP] 44, ArmChair, -4.446, 0.017, 6.450, 0, 90, 0, [SEP] 45, NorthWall, , , , , , , [SEP] 46, SouthWall, , , , , , , [SEP] 47, SouthWall, , , , , , , ", "output": ["STEP 1: Walk to the purple cushion on the couch. | STEP 2: Pick up the remote in front of the purple cushion. | STEP 3: Turn right and walk to the box on the chair in the corner. | STEP 4: Place the remote in the box on the chair. | STEP 5: Pick up the box on the chair. | STEP 6: Turn right and walk to the step with the statue on it. | STEP 7: Place the box down on the left side of the step. | END"]} +{"id": "trial_T20190908_055559_130780-0", "input": "place a wet cloth inside the bath tub SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.902, 1.5, 0, 180, 0, [SEP] 1, Cloth, 0.604, 0.254, 2.523, 0, 0, 0, 23 [SEP] 2, SoapBar, -0.497, 0.180, 0.48, 0, 0, 0, 34 [SEP] 3, SoapBar, 0.767, 0.812, 1.852, 349.201, 270, 0, 33 [SEP] 4, Candle, 0.734, 0.740, 1.442, 0, 0, 0, 22 [SEP] 5, SprayBottle, 0.432, 0.743, 2.489, 0, 0, 0, 22 [SEP] 6, HandTowel, 1.033, 1.671, 3.127, 0, 90, 0, 35 [SEP] 7, Towel, 0.474, 1.182, 0.134, 0, 0, 0, 31 [SEP] 8, SoapBar, -2.616, 1.046, 1.822, 0, 90, 0, 38 [SEP] 9, ToiletPaper, 0.855, 0.110, 3.016, 0, 0, 0, 37 [SEP] 10, SoapBottle, 0.731, 0.114, 3.063, 0, 0, 0, 37 [SEP] 11, ToiletPaper, -2.493, 1.043, 1.559, 0, 90, 0, 38 [SEP] 12, ScrubBrush, -2.557, 0.001, 2.200, 0, 0, 0, [SEP] 13, Plunger, -2.568, 0.000, 1.992, 0, 0, 0, [SEP] 14, Cloth, -0.888, 0.181, 0.432, 0, 0, 0, 34 [SEP] 15, Candle, -2.554, 1.044, 1.822, 0, 90, 0, 38 [SEP] 16, SprayBottle, 0.884, 0.743, 2.489, 0, 270, 0, 22 [SEP] 17, Window, -2.808, 0.962, 0.514, 0, 0, 0, [SEP] 18, Bathtub, -1.062, 0.300, 0.427, 0, 0, 0, [SEP] 19, Drawer, 0.409, 0.551, 1.486, 0, 0, 0, [SEP] 20, Mirror, 0.986, 1.676, 1.896, 0, 0, 0, [SEP] 21, ShowerDoor, -2.671, 1.001, 2.797, 0, 0, 0, [SEP] 22, CounterTop, 0.732, 0.697, 1.955, 0, 0, 0, [SEP] 23, Drawer, 0.409, 0.314, 2.420, 0, 0, 0, [SEP] 24, ShowerGlass, -1.713, 1.276, 3.298, 0, 0, 0, [SEP] 25, CounterTop, -0.298, 0.157, 0.531, 0, 0, 0, [SEP] 26, Sink, 0.812, 0.703, 1.920, 0, 270, 0, [SEP] 27, Drawer, 0.409, 0.551, 2.420, 0, 0, 0, [SEP] 28, Window, -0.957, 1.563, -0.059, 0, 0, 0, [SEP] 29, Drawer, 0.409, 0.314, 1.486, 0, 0, 0, [SEP] 30, TowelHolder, 1.038, 1.179, 0.495, 0, 270, 0, [SEP] 31, TowelHolder, 0.474, 1.168, 0.027, 0, 0, 0, [SEP] 32, ToiletPaperHanger, -2.695, 0.929, 1.200, 0, 90, 0, [SEP] 33, SinkBasin, 0.720, 0.812, 1.896, 349.201, 270, 0, [SEP] 34, BathtubBasin, -0.721, 0.171, 0.479, 0, 0, 0, [SEP] 35, HandTowelHolder, 1.071, 1.773, 3.127, 0, 180, 0, [SEP] 36, LightSwitch, 0.220, 1.416, 3.998, 0, 180, 0, [SEP] 37, GarbageCan, 0.713, -0.028, 3.110, 0, 0, 0, [SEP] 38, Toilet, -2.232, 0.001, 1.628, 0, 180, 0, [SEP] 39, ShowerHead, -2.619, 1.819, 3.361, 0, 270, 0, [SEP] 40, Faucet, 1.047, 1.036, 1.921, 0, 0, 0, [SEP] 41, Faucet, 0.318, 0.631, 0.479, 0, 0, 0, [SEP] 42, NorthWall, , , , , , , [SEP] 43, EastWall, , , , , , , [SEP] 44, SouthWall, , , , , , , [SEP] 45, WestWall, , , , , , , ", "output": ["STEP 1: move forward towards the bath tub | STEP 2: pick up the cloth | STEP 3: turn left and head to the sink | STEP 4: wet the cloth with water | STEP 5: turn around and head to the tub | STEP 6: place the cloth inside the tub | END"]} +{"id": "trial_T20190908_071206_275997-2", "input": "Pick up a computer and turn a lamp on. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 2.0, 0.902, -0.5, 0, 270, 0, [SEP] 1, Mug, -0.002, 0.671, -2.608, 0, 0, 0, 56 [SEP] 2, CD, 0.427, 0.672, -2.589, 0, 0, 0, 56 [SEP] 3, CD, 1.781, 0.799, -2.219, 0, 0, 0, 51 [SEP] 4, CellPhone, -1.061, 0.695, -0.573, 0, 0, 0, 31 [SEP] 5, Pen, 1.680, 0.506, -2.036, 0, 0, 0, 53 [SEP] 6, Pen, 1.586, 0.339, -1.638, 0, 0, 0, 43 [SEP] 7, Pencil, 1.680, 0.659, -2.386, 0, 0, 0, 46 [SEP] 8, Pencil, 1.586, 0.337, -1.376, 0, 0, 0, 43 [SEP] 9, CreditCard, 1.536, 0.794, -2.031, 0, 0, 0, 51 [SEP] 10, KeyChain, 1.842, 0.803, -1.843, 0, 0, 0, 51 [SEP] 11, KeyChain, 1.597, 0.795, -1.655, 0, 0, 358.920, 51 [SEP] 12, AlarmClock, 1.662, 0.794, -2.031, 0, 0, 0, 51 [SEP] 13, AlarmClock, 1.666, 0.832, -1.632, 292.522, 34.677, 0, 51 [SEP] 14, Laptop, -0.331, 0.693, 0.067, 0, 0, 0, 31 [SEP] 15, Laptop, -0.331, 0.693, -0.787, 0, 0, 0, 31 [SEP] 16, Book, -1.061, 0.694, -1.001, 0, 180, 0, 31 [SEP] 17, KeyChain, 1.719, 0.801, -1.843, 0, 0, 0, 51 [SEP] 18, AlarmClock, 1.535, 0.794, -1.843, 0, 0, 0, 51 [SEP] 19, CreditCard, 1.773, 0.655, -2.124, 0, 0, 0, 46 [SEP] 20, Laptop, -0.331, 0.693, -0.36, 0, 0, 0, 31 [SEP] 21, Pen, 1.680, 0.660, -1.551, 0, 0, 0, 44 [SEP] 22, Pencil, 1.680, 0.176, -2.298, 0, 0, 0, 49 [SEP] 23, BaseballBat, -1.844, 0.678, -2.203, 0, 0, 8.760, Floor|+00.01| [SEP] 24, Pillow, -0.818, 0.755, 0.067, 0, 0, 0, 31 [SEP] 25, Pillow, -1.508, 0.685, -0.378, 0, 288.596, 0, 31 [SEP] 26, TennisRacket, -1.597, 0.001, -1.367, 90, 37.792, 0, Floor|+00.01| [SEP] 27, CellPhone, 1.597, 0.801, -1.279, 0, 0, 0, 51 [SEP] 28, CD, 1.680, 0.500, -1.376, 0, 0, 0, 45 [SEP] 29, Mug, 1.536, 0.799, -2.219, 0, 0, 0, 51 [SEP] 30, Mirror, 3.534, 1.661, -0.277, 0, 90, 0, [SEP] 31, Bed, -0.842, -0.000, -0.361, 0, 270, 0, [SEP] 32, DeskLamp, 1.742, 0.819, -1.394, 0, 358.556, 0, [SEP] 33, Painting, 0.246, 1.564, -2.665, 90, 0, 0, [SEP] 34, Painting, 1.894, 1.549, -2.424, 90, 270, 0, [SEP] 35, Painting, 1.894, 1.549, -1.289, 90, 270, 0, [SEP] 36, GarbageCan, 3.378, 0.000, 0.220, 0, 0, 0, [SEP] 37, LightSwitch, -0.078, 1.219, 1.298, 0, 180, 0, [SEP] 38, Window, -0.486, 1.409, -2.691, 90, 0, 0, [SEP] 39, Window, 0.987, 1.409, -2.691, 90, 0, 0, [SEP] 40, VacuumCleaner, -1.649, 0.010, -2.440, 0, 42.426, 0, [SEP] 41, Blinds, -0.490, 2.130, -2.638, 0, 0, 0, [SEP] 42, Blinds, 1.011, 2.130, -2.638, 0, 0, 0, [SEP] 43, Drawer, 1.596, 0.411, -1.459, 0, 270, 0, [SEP] 44, Drawer, 1.597, 0.732, -1.459, 0, 270, 0, [SEP] 45, Drawer, 1.597, 0.574, -1.459, 0, 270, 0, [SEP] 46, Drawer, 1.597, 0.732, -2.202, 0, 270, 0, [SEP] 47, Drawer, 1.596, 0.247, -1.459, 0, 270, 0, [SEP] 48, Drawer, 1.596, 0.090, -1.459, 0, 270, 0, [SEP] 49, Drawer, 1.596, 0.247, -2.202, 0, 270, 0, [SEP] 50, Drawer, 1.596, 0.411, -2.202, 0, 270, 0, [SEP] 51, Dresser, 1.634, 0.003, -1.830, 0, 270, 0, [SEP] 52, Drawer, 1.596, 0.090, -2.202, 0, 270, 0, [SEP] 53, Drawer, 1.597, 0.574, -2.202, 0, 270, 0, [SEP] 54, ShelvingUnit, 0.249, 0.003, -2.519, 0, 0, 0, [SEP] 55, Shelf, 0.017, 0.178, -2.511, 0, 0, 0, [SEP] 56, Shelf, 0.249, 0.665, -2.519, 0, 0, 0, [SEP] 57, Shelf, 0.243, 0.344, -2.511, 0, 0, 0, [SEP] 58, Shelf, 0.474, 0.344, -2.511, 0, 0, 0, [SEP] 59, Shelf, 0.355, 0.011, -2.511, 0, 0, 0, [SEP] 60, Shelf, 0.016, 0.011, -2.511, 0, 0, 0, [SEP] 61, Shelf, 0.357, 0.178, -2.511, 0, 0, 0, [SEP] 62, NorthWall, , , , , , , [SEP] 63, EastWall, , , , , , , [SEP] 64, SouthWall, , , , , , , [SEP] 65, WestWall, , , , , , , ", "output": ["STEP 1: Go forward and stand at the end of the bed | STEP 2: Close the middle computer and pick the computer up from the bed. | STEP 3: Go left and then left again to face the dresser with the lamp. | STEP 4: Turn the lamp on. | END"]} +{"id": "trial_T20190907_164001_509050-0", "input": "move the phone from the sofa chair to the bed SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.901, 0.25, 0, 180, 0, [SEP] 1, Mug, 2.601, 0.178, 0.410, 0, 180, 0, 41 [SEP] 2, CD, 2.557, 0.987, 0.723, 0, 180, 0, 35 [SEP] 3, CellPhone, -1.469, 0.663, 1.711, 0, 0, 0, 47 [SEP] 4, CellPhone, 2.351, 0.449, -1.019, 0, 119.999, 0, 48 [SEP] 5, CellPhone, -1.603, 0.663, 1.556, 0, 0, 0, 47 [SEP] 6, Pen, 1.352, 0.028, -1.717, 0, 0, 0, 32 [SEP] 7, Pen, 2.819, 0.990, 1.292, 0, 180, 0, 35 [SEP] 8, CreditCard, -1.558, 0.662, 1.401, 0, 0, 0, 47 [SEP] 9, CreditCard, 2.995, 0.988, 1.576, 0, 180, 0, 35 [SEP] 10, AlarmClock, 2.995, 0.984, 1.860, 0, 180, 0, 35 [SEP] 11, Book, -0.448, 0.693, -0.332, 0, 0, 0, 27 [SEP] 12, KeyChain, -1.562, 0.358, -1.420, 0, 90, 0, 46 [SEP] 13, Laptop, 2.750, 0.981, 1.710, 0, 240.000, 0, 35 [SEP] 14, Cloth, 1.763, 0.000, -1.732, 0, 70.590, 0, [SEP] 15, CreditCard, 2.575, 0.887, 1.318, 0, 180, 0, 39 [SEP] 16, Pen, 2.820, 0.993, 0.439, 0, 180, 0, 35 [SEP] 17, Pencil, -1.603, 0.667, -1.094, 0, 0, 0, 45 [SEP] 18, BaseballBat, 3.076, 0.629, -1.762, 0, 0, 338.300, [SEP] 19, AlarmClock, 2.644, 0.984, 0.439, 0, 180, 0, 35 [SEP] 20, BaseballBat, 0.808, 0.05, 2.151, 0, 0, 270, [SEP] 21, Pillow, -1.373, 0.754, -0.204, 0, 255.000, 0, 27 [SEP] 22, Pillow, -1.457, 0.754, 0.494, 0, 285.000, 0, 27 [SEP] 23, CellPhone, -1.469, 0.663, -1.327, 0, 0, 0, 45 [SEP] 24, CD, 2.555, 0.886, 1.166, 0, 180, 0, 39 [SEP] 25, Mug, 2.875, 0.178, 1.387, 0, 270, 0, 43 [SEP] 26, Curtains, -0.020, 2.923, -1.853, 0, 0, 0, [SEP] 27, Bed, -0.750, -0.018, 0.113, 1.247, 270, 0, [SEP] 28, LightSwitch, 1.317, 1.297, 2.197, 0, 180, 0, [SEP] 29, DeskLamp, -1.618, 0.669, 1.486, 0, 0, 0, [SEP] 30, DeskLamp, -1.631, 0.669, -1.308, 0, 0, 0, [SEP] 31, Painting, 1.524, 1.516, -1.853, 90, 0, 0, [SEP] 32, GarbageCan, 1.352, 0.000, -1.685, 0, 0, 0, [SEP] 33, Mirror, 0.575, 1.351, 2.197, 0, 0, 0, [SEP] 34, Window, -0.013, 1.687, -1.919, 90, 0, 0, [SEP] 35, Dresser, 2.819, 0.000, 1.008, 0, 270, 0, [SEP] 36, Drawer, 2.572, 0.901, 1.784, 0, 270, 0, [SEP] 37, Cabinet, 2.484, 0.499, 1.014, 0, 270, 0, [SEP] 38, Cabinet, 2.484, 0.499, 0.999, 0, 270, 0, [SEP] 39, Drawer, 2.572, 0.901, 1.263, 0, 270, 0, [SEP] 40, Drawer, 2.572, 0.901, 0.748, 0, 270, 0, [SEP] 41, Cabinet, 2.484, 0.499, -0.019, 0, 270, 0, [SEP] 42, Drawer, 2.572, 0.901, 0.230, 0, 270, 0, [SEP] 43, Cabinet, 2.484, 0.499, 2.033, 0, 270, 0, [SEP] 44, Drawer, -1.533, 0.459, 1.478, 0, 90, 0, [SEP] 45, SideTable, -1.599, 0.001, -1.249, 0, 90, 0, [SEP] 46, Drawer, -1.533, 0.459, -1.250, 0, 90, 0, [SEP] 47, SideTable, -1.599, 0.001, 1.479, 0, 90, 0, [SEP] 48, ArmChair, 2.574, 0.002, -0.817, 0, 299.998, 0, [SEP] 49, Shelf, -1.552, 0.040, -1.400, 0, 90, 0, [SEP] 50, Shelf, -1.552, 0.040, -1.133, 0, 90, 0, [SEP] 51, Shelf, -1.552, 0.040, 1.328, 0, 90, 0, [SEP] 52, Shelf, -1.552, 0.040, 1.595, 0, 90, 0, [SEP] 53, NorthWall, , , , , , , [SEP] 54, EastWall, , , , , , , [SEP] 55, SouthWall, , , , , , , [SEP] 56, WestWall, , , , , , , ", "output": ["STEP 1: walk straight to the wall, turn left to the sofa chair | STEP 2: grab the phone on the sofa chair | STEP 3: turn left, walk to the end of the bed | STEP 4: put the phone on the bed | END"]} +{"id": "trial_T20190907_164001_509050-1", "input": "Move the phone from the chair to the bed. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.901, 0.25, 0, 180, 0, [SEP] 1, Mug, 2.601, 0.178, 0.410, 0, 180, 0, 41 [SEP] 2, CD, 2.557, 0.987, 0.723, 0, 180, 0, 35 [SEP] 3, CellPhone, -1.469, 0.663, 1.711, 0, 0, 0, 47 [SEP] 4, CellPhone, 2.351, 0.449, -1.019, 0, 119.999, 0, 48 [SEP] 5, CellPhone, -1.603, 0.663, 1.556, 0, 0, 0, 47 [SEP] 6, Pen, 1.352, 0.028, -1.717, 0, 0, 0, 32 [SEP] 7, Pen, 2.819, 0.990, 1.292, 0, 180, 0, 35 [SEP] 8, CreditCard, -1.558, 0.662, 1.401, 0, 0, 0, 47 [SEP] 9, CreditCard, 2.995, 0.988, 1.576, 0, 180, 0, 35 [SEP] 10, AlarmClock, 2.995, 0.984, 1.860, 0, 180, 0, 35 [SEP] 11, Book, -0.448, 0.693, -0.332, 0, 0, 0, 27 [SEP] 12, KeyChain, -1.562, 0.358, -1.420, 0, 90, 0, 46 [SEP] 13, Laptop, 2.750, 0.981, 1.710, 0, 240.000, 0, 35 [SEP] 14, Cloth, 1.763, 0.000, -1.732, 0, 70.590, 0, [SEP] 15, CreditCard, 2.575, 0.887, 1.318, 0, 180, 0, 39 [SEP] 16, Pen, 2.820, 0.993, 0.439, 0, 180, 0, 35 [SEP] 17, Pencil, -1.603, 0.667, -1.094, 0, 0, 0, 45 [SEP] 18, BaseballBat, 3.076, 0.629, -1.762, 0, 0, 338.300, [SEP] 19, AlarmClock, 2.644, 0.984, 0.439, 0, 180, 0, 35 [SEP] 20, BaseballBat, 0.808, 0.05, 2.151, 0, 0, 270, [SEP] 21, Pillow, -1.373, 0.754, -0.204, 0, 255.000, 0, 27 [SEP] 22, Pillow, -1.457, 0.754, 0.494, 0, 285.000, 0, 27 [SEP] 23, CellPhone, -1.469, 0.663, -1.327, 0, 0, 0, 45 [SEP] 24, CD, 2.555, 0.886, 1.166, 0, 180, 0, 39 [SEP] 25, Mug, 2.875, 0.178, 1.387, 0, 270, 0, 43 [SEP] 26, Curtains, -0.020, 2.923, -1.853, 0, 0, 0, [SEP] 27, Bed, -0.750, -0.018, 0.113, 1.247, 270, 0, [SEP] 28, LightSwitch, 1.317, 1.297, 2.197, 0, 180, 0, [SEP] 29, DeskLamp, -1.618, 0.669, 1.486, 0, 0, 0, [SEP] 30, DeskLamp, -1.631, 0.669, -1.308, 0, 0, 0, [SEP] 31, Painting, 1.524, 1.516, -1.853, 90, 0, 0, [SEP] 32, GarbageCan, 1.352, 0.000, -1.685, 0, 0, 0, [SEP] 33, Mirror, 0.575, 1.351, 2.197, 0, 0, 0, [SEP] 34, Window, -0.013, 1.687, -1.919, 90, 0, 0, [SEP] 35, Dresser, 2.819, 0.000, 1.008, 0, 270, 0, [SEP] 36, Drawer, 2.572, 0.901, 1.784, 0, 270, 0, [SEP] 37, Cabinet, 2.484, 0.499, 1.014, 0, 270, 0, [SEP] 38, Cabinet, 2.484, 0.499, 0.999, 0, 270, 0, [SEP] 39, Drawer, 2.572, 0.901, 1.263, 0, 270, 0, [SEP] 40, Drawer, 2.572, 0.901, 0.748, 0, 270, 0, [SEP] 41, Cabinet, 2.484, 0.499, -0.019, 0, 270, 0, [SEP] 42, Drawer, 2.572, 0.901, 0.230, 0, 270, 0, [SEP] 43, Cabinet, 2.484, 0.499, 2.033, 0, 270, 0, [SEP] 44, Drawer, -1.533, 0.459, 1.478, 0, 90, 0, [SEP] 45, SideTable, -1.599, 0.001, -1.249, 0, 90, 0, [SEP] 46, Drawer, -1.533, 0.459, -1.250, 0, 90, 0, [SEP] 47, SideTable, -1.599, 0.001, 1.479, 0, 90, 0, [SEP] 48, ArmChair, 2.574, 0.002, -0.817, 0, 299.998, 0, [SEP] 49, Shelf, -1.552, 0.040, -1.400, 0, 90, 0, [SEP] 50, Shelf, -1.552, 0.040, -1.133, 0, 90, 0, [SEP] 51, Shelf, -1.552, 0.040, 1.328, 0, 90, 0, [SEP] 52, Shelf, -1.552, 0.040, 1.595, 0, 90, 0, [SEP] 53, NorthWall, , , , , , , [SEP] 54, EastWall, , , , , , , [SEP] 55, SouthWall, , , , , , , [SEP] 56, WestWall, , , , , , , ", "output": ["STEP 1: Walk forward and to the chair on your left. | STEP 2: Pick up the phone from the chair. | STEP 3: Turn around and go to the foot of the bed. | STEP 4: Put the phone on the bed. | END"]} +{"id": "trial_T20190907_044236_858933-2", "input": "Put two newspapers on the chair. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.0, 0.900, -0.5, 0, 180, 0, [SEP] 1, Newspaper, 2.957, 0.609, 1.627, 0, 0, 0, 30 [SEP] 2, Statue, 0.834, 0.418, 1.466, 0, 0, 0, 31 [SEP] 3, Statue, 0.114, 0.374, 0.032, 0, 0, 0, 38 [SEP] 4, Watch, 1.145, 0.411, 1.466, 0, 0, 0, 31 [SEP] 5, CreditCard, 0.315, 0.493, -1.736, 0, 0, 0, 27 [SEP] 6, Box, -0.636, 0.778, -1.469, 0, 0, 0, 29 [SEP] 7, Laptop, 0.228, 0.358, -0.306, 0, 349.282, 0, 38 [SEP] 8, CreditCard, 0.132, 0.474, -1.418, 0, 0, 0, 27 [SEP] 9, Newspaper, 2.072, 0.877, 1.704, 0, 0, 0, 26 [SEP] 10, RemoteControl, 0.223, 0.501, -1.736, 0, 0, 0, 27 [SEP] 11, Pillow, -0.875, 0.575, -0.798, 0, 267.956, 341.124, 28 [SEP] 12, KeyChain, -0.799, 0.603, -1.660, 0, 0, 0, 29 [SEP] 13, Watch, 0.109, 0.030, -0.334, 0, 180, 0, 35 [SEP] 14, Statue, 0.367, 0.417, 1.531, 0, 0, 0, 31 [SEP] 15, Curtains, 1.199, 0.0, -2.440, 0, 0, 0, [SEP] 16, HousePlant, 1.919, 1.717, -2.187, 0, 315, 0, [SEP] 17, FloorLamp, -1.160, -0.003, 1.040, 0, 0, 0, [SEP] 18, LightSwitch, -1.006, 1.286, 1.950, 0, 180, 0, [SEP] 19, Television, 0.858, 0.884, 1.731, 0, 180, 0, [SEP] 20, Painting, 3.414, 1.708, -0.156, 90, 270, 0, [SEP] 21, Painting, -1.449, 1.787, -0.342, 90, 270, 0, [SEP] 22, GarbageCan, 1.296, 9.894, -2.187, 0, 0, 0, [SEP] 23, Window, 0.653, 1.550, -2.470, 90, 180, 0, [SEP] 24, Sofa, 2.868, -0.002, 0.248, 0, 270, 0, [SEP] 25, Drawer, 1.996, 0.779, 1.705, 0, 180, 0, [SEP] 26, SideTable, 1.995, 0.004, 1.746, 0, 180, 0, [SEP] 27, ArmChair, 0.224, -0.010, -1.724, 0, 0, 0, [SEP] 28, Sofa, -1.007, 0.006, -0.207, 1.149, 90, 0, [SEP] 29, SideTable, -0.683, 0.004, -1.600, 0, 0, 0, [SEP] 30, SideTable, 2.956, 0.004, 1.568, 0, 0, 0, [SEP] 31, TVStand, 0.838, -0.006, 1.582, 0, 0, 0, [SEP] 32, Drawer, 0.472, 0.271, -0.165, 0, 270, 0, [SEP] 33, Drawer, -0.018, 0.272, -0.165, 0, 270, 0, [SEP] 34, Drawer, -0.018, 0.168, -0.165, 0, 270, 0, [SEP] 35, Drawer, -0.018, 0.064, -0.165, 0, 270, 0, [SEP] 36, Drawer, 0.472, 0.063, -0.165, 0, 270, 0, [SEP] 37, Drawer, 0.472, 0.167, -0.165, 0, 270, 0, [SEP] 38, CoffeeTable, 0.226, -0.003, -0.164, 0, 270, 0, [SEP] 39, NorthWall, , , , , , , [SEP] 40, EastWall, , , , , , , [SEP] 41, SouthWall, , , , , , , [SEP] 42, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and go to the end table next to the couch. | STEP 2: Pick up the newspaper. | STEP 3: Turn around and go to the chair with the remote on it. | STEP 4: Put the newspaper on the chair. | STEP 5: Turn around and go to the table to the right of the TV. | STEP 6: Pick up the newspaper from the table. | STEP 7: Return to the chair. | STEP 8: Put the newspaper on the chair. | END"]} +{"id": "trial_T20190909_110614_059796-1", "input": "Put a credit card on a couch. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.900, 0.25, 0, 90, 0, [SEP] 1, TissueBox, -0.354, 0.635, 1.219, 0, 0, 0, 45 [SEP] 2, Newspaper, -0.130, 0.896, 1.234, 0, 0, 0, 44 [SEP] 3, Newspaper, 0.056, 0.481, -1.235, 0, 90, 0, 41 [SEP] 4, KeyChain, -0.175, 0.128, 1.274, 0, 0, 0, 42 [SEP] 5, RemoteControl, 0.737, 0.483, -1.319, 0, 0, 0, 41 [SEP] 6, RemoteControl, -4.056, 1.064, 0.192, 0, 270, 0, 32 [SEP] 7, CreditCard, -3.477, 1.062, 0.308, 0, 270, 0, 32 [SEP] 8, CreditCard, -0.589, 0.898, 1.327, 0, 0, 0, 44 [SEP] 9, CreditCard, 0.098, 0.897, 1.234, 0, 0, 0, 44 [SEP] 10, Box, -3.780, 1.305, 0.457, 0, 0, 0, 32 [SEP] 11, Vase, -4.273, 1.065, 0.257, 0, 270, 0, 32 [SEP] 12, TissueBox, 0.967, 0.658, 1.342, 0, 0, 0, 33 [SEP] 13, Newspaper, -0.623, 0.539, -1.235, 0, 0, 0, 41 [SEP] 14, KeyChain, 0.057, 0.552, -1.319, 0, 0, 0, 41 [SEP] 15, Vase, -0.818, 0.908, 1.140, 0, 0, 0, 44 [SEP] 16, Statue, 0.667, 0.664, 1.267, 0, 0, 0, 33 [SEP] 17, RemoteControl, -1.226, 0.129, 1.202, 0, 0, 0, 42 [SEP] 18, Pillow, -1.827, 0.585, -1.251, 0, 0, 0, 35 [SEP] 19, CreditCard, -2.087, 0.510, -1.208, 0, 0, 0, 35 [SEP] 20, Laptop, 0.434, 0.541, -1.187, 0, 0, 0, 41 [SEP] 21, Vase, -0.516, 0.114, 1.201, 0, 0, 0, 42 [SEP] 22, Statue, 1.117, 0.760, 1.192, 0, 0, 0, 33 [SEP] 23, DeskLamp, 1.657, 0.654, -1.605, 0, 0, 0, [SEP] 24, FloorLamp, -4.569, 0.005, -1.616, 0, 15.092, 0, [SEP] 25, LightSwitch, -2.464, 1.230, -1.950, 0, 0, 0, [SEP] 26, GarbageCan, -4.581, -0.032, 1.126, 0, 90, 0, [SEP] 27, Television, -0.549, 1.516, 1.450, 0, 180, 0, [SEP] 28, HousePlant, 1.555, 0.650, 1.166, 0, 0, 0, [SEP] 29, Window, -2.012, 1.501, 1.468, 90, 0, 0, [SEP] 30, Window, 0.986, 1.501, 1.468, 90, 0, 0, [SEP] 31, Painting, -0.698, 1.835, -1.911, 90, 0, 0, [SEP] 32, DiningTable, -3.941, 0.005, 0.257, 0, 0, 0, [SEP] 33, SideTable, 1.102, -0.000, 1.118, 0, 180, 0, [SEP] 34, Drawer, 1.103, 0.519, 0.834, 0, 180, 0, [SEP] 35, ArmChair, -1.832, 0.010, -1.349, 0, 0, 0, [SEP] 36, Drawer, 1.581, 0.523, -1.199, 0, 0, 0, [SEP] 37, SideTable, 1.581, 0.003, -1.488, 0, 0, 0, [SEP] 38, Painting, -4.910, 1.763, -0.098, 90, 270, 0, [SEP] 39, Chair, -4.398, 0.002, 0.274, 0, 85.162, 0, [SEP] 40, Chair, -3.825, 0.002, -0.223, 0, 340.163, 0, [SEP] 41, Sofa, 0.057, -0.002, -1.386, 0, 0, 0, [SEP] 42, Shelf, -0.552, 0.114, 1.252, 0, 180, 0, [SEP] 43, Drawer, -1.020, 0.728, 1.032, 0, 180, 0, [SEP] 44, SideTable, -0.589, 0.000, 1.227, 0, 180, 0, [SEP] 45, Drawer, -0.157, 0.728, 1.032, 0, 180, 0, [SEP] 46, NorthWall, , , , , , , [SEP] 47, EastWall, , , , , , , [SEP] 48, SouthWall, , , , , , , [SEP] 49, WestWall, , , , , , , ", "output": ["STEP 1: Turn to the left and face the brown shelves with the newspaper on it. | STEP 2: Pick the credit card up from the shelves. | STEP 3: Turn around and cross the room to face the couch. | STEP 4: Put the credit card down on the couch. | END"]} +{"id": "trial_T20190909_110614_059796-2", "input": "pick up the credit card and move it to the couch SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.900, 0.25, 0, 90, 0, [SEP] 1, TissueBox, -0.354, 0.635, 1.219, 0, 0, 0, 45 [SEP] 2, Newspaper, -0.130, 0.896, 1.234, 0, 0, 0, 44 [SEP] 3, Newspaper, 0.056, 0.481, -1.235, 0, 90, 0, 41 [SEP] 4, KeyChain, -0.175, 0.128, 1.274, 0, 0, 0, 42 [SEP] 5, RemoteControl, 0.737, 0.483, -1.319, 0, 0, 0, 41 [SEP] 6, RemoteControl, -4.056, 1.064, 0.192, 0, 270, 0, 32 [SEP] 7, CreditCard, -3.477, 1.062, 0.308, 0, 270, 0, 32 [SEP] 8, CreditCard, -0.589, 0.898, 1.327, 0, 0, 0, 44 [SEP] 9, CreditCard, 0.098, 0.897, 1.234, 0, 0, 0, 44 [SEP] 10, Box, -3.780, 1.305, 0.457, 0, 0, 0, 32 [SEP] 11, Vase, -4.273, 1.065, 0.257, 0, 270, 0, 32 [SEP] 12, TissueBox, 0.967, 0.658, 1.342, 0, 0, 0, 33 [SEP] 13, Newspaper, -0.623, 0.539, -1.235, 0, 0, 0, 41 [SEP] 14, KeyChain, 0.057, 0.552, -1.319, 0, 0, 0, 41 [SEP] 15, Vase, -0.818, 0.908, 1.140, 0, 0, 0, 44 [SEP] 16, Statue, 0.667, 0.664, 1.267, 0, 0, 0, 33 [SEP] 17, RemoteControl, -1.226, 0.129, 1.202, 0, 0, 0, 42 [SEP] 18, Pillow, -1.827, 0.585, -1.251, 0, 0, 0, 35 [SEP] 19, CreditCard, -2.087, 0.510, -1.208, 0, 0, 0, 35 [SEP] 20, Laptop, 0.434, 0.541, -1.187, 0, 0, 0, 41 [SEP] 21, Vase, -0.516, 0.114, 1.201, 0, 0, 0, 42 [SEP] 22, Statue, 1.117, 0.760, 1.192, 0, 0, 0, 33 [SEP] 23, DeskLamp, 1.657, 0.654, -1.605, 0, 0, 0, [SEP] 24, FloorLamp, -4.569, 0.005, -1.616, 0, 15.092, 0, [SEP] 25, LightSwitch, -2.464, 1.230, -1.950, 0, 0, 0, [SEP] 26, GarbageCan, -4.581, -0.032, 1.126, 0, 90, 0, [SEP] 27, Television, -0.549, 1.516, 1.450, 0, 180, 0, [SEP] 28, HousePlant, 1.555, 0.650, 1.166, 0, 0, 0, [SEP] 29, Window, -2.012, 1.501, 1.468, 90, 0, 0, [SEP] 30, Window, 0.986, 1.501, 1.468, 90, 0, 0, [SEP] 31, Painting, -0.698, 1.835, -1.911, 90, 0, 0, [SEP] 32, DiningTable, -3.941, 0.005, 0.257, 0, 0, 0, [SEP] 33, SideTable, 1.102, -0.000, 1.118, 0, 180, 0, [SEP] 34, Drawer, 1.103, 0.519, 0.834, 0, 180, 0, [SEP] 35, ArmChair, -1.832, 0.010, -1.349, 0, 0, 0, [SEP] 36, Drawer, 1.581, 0.523, -1.199, 0, 0, 0, [SEP] 37, SideTable, 1.581, 0.003, -1.488, 0, 0, 0, [SEP] 38, Painting, -4.910, 1.763, -0.098, 90, 270, 0, [SEP] 39, Chair, -4.398, 0.002, 0.274, 0, 85.162, 0, [SEP] 40, Chair, -3.825, 0.002, -0.223, 0, 340.163, 0, [SEP] 41, Sofa, 0.057, -0.002, -1.386, 0, 0, 0, [SEP] 42, Shelf, -0.552, 0.114, 1.252, 0, 180, 0, [SEP] 43, Drawer, -1.020, 0.728, 1.032, 0, 180, 0, [SEP] 44, SideTable, -0.589, 0.000, 1.227, 0, 180, 0, [SEP] 45, Drawer, -0.157, 0.728, 1.032, 0, 180, 0, [SEP] 46, NorthWall, , , , , , , [SEP] 47, EastWall, , , , , , , [SEP] 48, SouthWall, , , , , , , [SEP] 49, WestWall, , , , , , , ", "output": ["STEP 1: cross the room to the media center | STEP 2: pick up the credit card sitting on the media center | STEP 3: turn around and go to the couch | STEP 4: place the card on the edge of the couch | END"]} +{"id": "trial_T20190908_122901_215923-0", "input": "Put a cleaned rag in a drawer under the right sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.900, 2.75, 0, 90, 0, [SEP] 1, Cloth, -1.922, 0.831, 1.756, 0, 270, 0, 19 [SEP] 2, Cloth, -3.122, 0.542, 1.935, 0, 0, 0, 26 [SEP] 3, Cloth, -2.168, 0.542, 1.883, 0, 0, 0, 25 [SEP] 4, Candle, -0.987, 1.053, 4.591, 0, 270, 0, 39 [SEP] 5, SoapBottle, -0.987, 1.046, 4.394, 0, 270, 0, 39 [SEP] 6, HandTowel, -3.726, 1.646, 1.330, 0, 180, 0, 37 [SEP] 7, ToiletPaper, -0.968, 0.888, 3.960, 0, 270, 270, 40 [SEP] 8, Candle, -2.743, 0.278, 1.935, 0, 0, 0, 24 [SEP] 9, HandTowel, -0.923, 1.59, 2.018, 0, 90, 0, 36 [SEP] 10, Plunger, -1.064, -0.000, 4.838, 0, 0, 0, Floor|-03.84| [SEP] 11, SoapBar, -3.110, 0.882, 1.869, 0, 0, 0, 45 [SEP] 12, ToiletPaper, -1.086, 0.117, 3.703, 0, 90, 0, 38 [SEP] 13, Cloth, -3.217, 0.274, 1.935, 0, 0, 0, 24 [SEP] 14, ToiletPaper, -2.462, 0.823, 2.074, 0, 0, 0, 19 [SEP] 15, Towel, -4.739, 1.522, 2.425, 0, 90, 0, 32 [SEP] 16, ScrubBrush, -1.065, -0.000, 4.052, 0, 0, 0, Floor|-03.84| [SEP] 17, SoapBottle, -1.048, 1.046, 4.657, 0, 270, 0, 39 [SEP] 18, SprayBottle, -1.048, 1.045, 4.263, 0, 270, 0, 39 [SEP] 19, CounterTop, -2.177, 0.782, 1.889, 0, 0, 0, [SEP] 20, Drawer, -1.307, 0.606, 1.890, 0, 0, 0, [SEP] 21, Drawer, -1.307, 0.337, 1.890, 0, 0, 0, [SEP] 22, Faucet, -4.646, 0.448, 1.689, 0, 0, 0, [SEP] 23, ShowerDoor, -4.873, 1.235, 3.947, 0, 0, 0, [SEP] 24, Drawer, -3.029, 0.337, 1.890, 0, 0, 0, [SEP] 25, Drawer, -2.169, 0.606, 1.890, 0, 0, 0, [SEP] 26, Drawer, -3.029, 0.606, 1.890, 0, 0, 0, [SEP] 27, Bathtub, -4.080, 0.297, 2.480, 0, 345.000, 0, [SEP] 28, Drawer, -2.169, 0.337, 1.890, 0, 0, 0, [SEP] 29, Mirror, -2.177, 1.856, 1.390, 0, 0, 0, [SEP] 30, Sink, -1.421, 0.837, 1.776, 0, 0, 0, [SEP] 31, TowelHolder, -4.846, 1.508, 3.358, 0, 90, 0, [SEP] 32, TowelHolder, -4.846, 1.508, 2.424, 0, 90, 0, [SEP] 33, LightSwitch, -2.165, 1.450, 4.972, 0, 180, 0, [SEP] 34, BathtubBasin, -4.309, 0.192, 2.328, 0, 270, 0, [SEP] 35, SinkBasin, -1.442, 0.874, 1.785, 0, 0, 0, [SEP] 36, HandTowelHolder, -0.884, 1.692, 2.017, 0, 180, 0, [SEP] 37, HandTowelHolder, -3.726, 1.748, 1.292, 0, 270, 0, [SEP] 38, GarbageCan, -1.116, -0.037, 3.598, 0, 270, 0, [SEP] 39, Toilet, -1.340, -0.000, 4.456, 0, 0, 0, [SEP] 40, ToiletPaperHanger, -0.884, 0.888, 3.911, 0, 270, 0, [SEP] 41, Faucet, -1.421, 0.954, 1.507, 0, 0, 0, [SEP] 42, ShowerHead, -5.257, 1.733, 4.030, 0, 90, 0, [SEP] 43, Faucet, -2.944, 0.954, 1.507, 0, 0, 0, [SEP] 44, Sink, -2.943, 0.837, 1.776, 0, 0, 0, [SEP] 45, SinkBasin, -2.964, 0.874, 1.785, 0, 0, 0, [SEP] 46, NorthWall, , , , , , , [SEP] 47, EastWall, , , , , , , [SEP] 48, SouthWall, , , , , , , [SEP] 49, WestWall, , , , , , , ", "output": ["STEP 1: Move to the counter on your right. | STEP 2: Pick up the rag on the counter. | STEP 3: Bring the rag to the sink on your right. | STEP 4: Wash the rag in the right sink. | STEP 5: Bring the cleaned rag to the top drawer under the right sink. | STEP 6: Put the cleaned rag in the top right drawer, close the drawer. | END"]} +{"id": "trial_T20190908_122901_215923-2", "input": "Place a clean rag in a drawer. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.900, 2.75, 0, 90, 0, [SEP] 1, Cloth, -1.922, 0.831, 1.756, 0, 270, 0, 19 [SEP] 2, Cloth, -3.122, 0.542, 1.935, 0, 0, 0, 26 [SEP] 3, Cloth, -2.168, 0.542, 1.883, 0, 0, 0, 25 [SEP] 4, Candle, -0.987, 1.053, 4.591, 0, 270, 0, 39 [SEP] 5, SoapBottle, -0.987, 1.046, 4.394, 0, 270, 0, 39 [SEP] 6, HandTowel, -3.726, 1.646, 1.330, 0, 180, 0, 37 [SEP] 7, ToiletPaper, -0.968, 0.888, 3.960, 0, 270, 270, 40 [SEP] 8, Candle, -2.743, 0.278, 1.935, 0, 0, 0, 24 [SEP] 9, HandTowel, -0.923, 1.59, 2.018, 0, 90, 0, 36 [SEP] 10, Plunger, -1.064, -0.000, 4.838, 0, 0, 0, Floor|-03.84| [SEP] 11, SoapBar, -3.110, 0.882, 1.869, 0, 0, 0, 45 [SEP] 12, ToiletPaper, -1.086, 0.117, 3.703, 0, 90, 0, 38 [SEP] 13, Cloth, -3.217, 0.274, 1.935, 0, 0, 0, 24 [SEP] 14, ToiletPaper, -2.462, 0.823, 2.074, 0, 0, 0, 19 [SEP] 15, Towel, -4.739, 1.522, 2.425, 0, 90, 0, 32 [SEP] 16, ScrubBrush, -1.065, -0.000, 4.052, 0, 0, 0, Floor|-03.84| [SEP] 17, SoapBottle, -1.048, 1.046, 4.657, 0, 270, 0, 39 [SEP] 18, SprayBottle, -1.048, 1.045, 4.263, 0, 270, 0, 39 [SEP] 19, CounterTop, -2.177, 0.782, 1.889, 0, 0, 0, [SEP] 20, Drawer, -1.307, 0.606, 1.890, 0, 0, 0, [SEP] 21, Drawer, -1.307, 0.337, 1.890, 0, 0, 0, [SEP] 22, Faucet, -4.646, 0.448, 1.689, 0, 0, 0, [SEP] 23, ShowerDoor, -4.873, 1.235, 3.947, 0, 0, 0, [SEP] 24, Drawer, -3.029, 0.337, 1.890, 0, 0, 0, [SEP] 25, Drawer, -2.169, 0.606, 1.890, 0, 0, 0, [SEP] 26, Drawer, -3.029, 0.606, 1.890, 0, 0, 0, [SEP] 27, Bathtub, -4.080, 0.297, 2.480, 0, 345.000, 0, [SEP] 28, Drawer, -2.169, 0.337, 1.890, 0, 0, 0, [SEP] 29, Mirror, -2.177, 1.856, 1.390, 0, 0, 0, [SEP] 30, Sink, -1.421, 0.837, 1.776, 0, 0, 0, [SEP] 31, TowelHolder, -4.846, 1.508, 3.358, 0, 90, 0, [SEP] 32, TowelHolder, -4.846, 1.508, 2.424, 0, 90, 0, [SEP] 33, LightSwitch, -2.165, 1.450, 4.972, 0, 180, 0, [SEP] 34, BathtubBasin, -4.309, 0.192, 2.328, 0, 270, 0, [SEP] 35, SinkBasin, -1.442, 0.874, 1.785, 0, 0, 0, [SEP] 36, HandTowelHolder, -0.884, 1.692, 2.017, 0, 180, 0, [SEP] 37, HandTowelHolder, -3.726, 1.748, 1.292, 0, 270, 0, [SEP] 38, GarbageCan, -1.116, -0.037, 3.598, 0, 270, 0, [SEP] 39, Toilet, -1.340, -0.000, 4.456, 0, 0, 0, [SEP] 40, ToiletPaperHanger, -0.884, 0.888, 3.911, 0, 270, 0, [SEP] 41, Faucet, -1.421, 0.954, 1.507, 0, 0, 0, [SEP] 42, ShowerHead, -5.257, 1.733, 4.030, 0, 90, 0, [SEP] 43, Faucet, -2.944, 0.954, 1.507, 0, 0, 0, [SEP] 44, Sink, -2.943, 0.837, 1.776, 0, 0, 0, [SEP] 45, SinkBasin, -2.964, 0.874, 1.785, 0, 0, 0, [SEP] 46, NorthWall, , , , , , , [SEP] 47, EastWall, , , , , , , [SEP] 48, SouthWall, , , , , , , [SEP] 49, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and take a step right. | STEP 2: Pick up the rag on the counter. | STEP 3: Take a step right. | STEP 4: Wash the rag in the right sink. | STEP 5: Take a step back. | STEP 6: Place the rag in the drawer under the right sink. | END"]} +{"id": "trial_T20190908_222834_706733-1", "input": "Moved 2 candles from the counter to the cabinet under the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.75, 0.899, -0.75, 0, 180, 0, [SEP] 1, SoapBar, -3.607, 0.083, -0.872, 0, 0, 0, 25 [SEP] 2, Candle, -1.761, 1.085, -2.030, 0, 0, 0, 33 [SEP] 3, Candle, -3.564, 0.952, -1.476, 0, 0, 0, 26 [SEP] 4, SprayBottle, -3.607, 0.085, -1.233, 0, 0, 0, 19 [SEP] 5, Towel, 0.136, 1.121, -2.080, 0, 0, 0, 27 [SEP] 6, Candle, -3.278, 0.952, -1.476, 0, 0, 0, 26 [SEP] 7, Cloth, -2.002, 1.034, -2.086, 0, 343.825, 0, 33 [SEP] 8, HandTowel, -3.711, 1.474, -0.410, 0, 270, 0, 30 [SEP] 9, Plunger, -2.207, -0.001, -2.076, 0, 0, 0, Floor|+00.00| [SEP] 10, SoapBottle, -3.358, 0.084, -1.099, 0, 0, 0, 19 [SEP] 11, SoapBar, -3.618, 0.116, -0.436, 0, 0, 0, 28 [SEP] 12, ToiletPaper, -3.493, 0.075, -1.635, 0, 0, 0, 21 [SEP] 13, ToiletPaper, -2.305, 0.755, -2.157, 0, 0, 90, 32 [SEP] 14, SprayBottle, -3.483, 0.085, -1.278, 0, 180, 0, 19 [SEP] 15, ScrubBrush, -2.407, -0.001, -2.092, 0, 0, 0, Floor|+00.00| [SEP] 16, Cabinet, -3.169, 0.370, -2.188, 0, 0, 0, [SEP] 17, Window, -1.737, 1.292, -2.286, 0, 0, 0, [SEP] 18, ShowerDoor, -0.447, 0.909, -2.191, 0, 0, 0, [SEP] 19, Cabinet, -3.169, 0.370, -1.379, 0, 0, 0, [SEP] 20, Mirror, -3.730, 1.481, -1.427, 0, 0, 0, [SEP] 21, Cabinet, -3.169, 0.370, -1.398, 0, 0, 0, [SEP] 22, ShowerGlass, -0.964, 0.907, -0.120, 0, 0, 0, [SEP] 23, Sink, -3.391, 0.841, -1.828, 0, 90, 0, [SEP] 24, FloorLamp, -3.539, 1.020, -0.932, 0, 90, 0, [SEP] 25, Cabinet, -3.169, 0.370, -0.592, 0, 0, 0, [SEP] 26, CounterTop, -3.426, 0.883, -1.384, 0, 0, 0, [SEP] 27, TowelHolder, 0.136, 1.106, -2.187, 0, 0, 0, [SEP] 28, GarbageCan, -3.520, -0.030, -0.349, 0, 0, 0, [SEP] 29, SinkBasin, -3.392, 0.916, -1.820, 0, 90, 0, [SEP] 30, HandTowelHolder, -3.750, 1.575, -0.410, 0, 0, 0, [SEP] 31, HandTowelHolder, -3.332, 1.621, -2.198, 0, 270, 0, [SEP] 32, ToiletPaperHanger, -2.375, 0.886, -2.199, 0, 0, 0, [SEP] 33, Toilet, -1.896, -0.001, -1.738, 0, 90, 0, [SEP] 34, LightSwitch, -2.052, 1.292, 1.000, 0, 180, 0, [SEP] 35, FloorLamp, -3.539, 1.020, -1.830, 0, 90, 0, [SEP] 36, ShowerHead, 0.232, 1.026, 0.375, 0, 315, 0, [SEP] 37, Sink, -3.391, 0.841, -0.931, 0, 90, 0, [SEP] 38, SinkBasin, -3.392, 0.916, -0.923, 0, 90, 0, [SEP] 39, NorthWall, , , , , , , [SEP] 40, EastWall, , , , , , , [SEP] 41, SouthWall, , , , , , , [SEP] 42, WestWall, , , , , , , ", "output": ["STEP 1: Put empty toilet paper roll on the ground from the holder. Walk forward to the wall and turn right, ,facing the left sink. | STEP 2: Pick up a the candle in front. | STEP 3: Turn around before turning back to the sink. | STEP 4: Open up the door below the sink on the right. Put the candle under the sink in the cabinet. Close the door. | STEP 5: Turn around before turning back to the sink. | STEP 6: Pick up the other candle next to the sink on the counter. | STEP 7: Turn around before turning back to the sink. | STEP 8: Open up the right door, put the candle under the cabinet to the right of the first cabinet, and close the door. | END"]} +{"id": "trial_T20190908_222834_706733-2", "input": "Put two candles in the cabinet SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.75, 0.899, -0.75, 0, 180, 0, [SEP] 1, SoapBar, -3.607, 0.083, -0.872, 0, 0, 0, 25 [SEP] 2, Candle, -1.761, 1.085, -2.030, 0, 0, 0, 33 [SEP] 3, Candle, -3.564, 0.952, -1.476, 0, 0, 0, 26 [SEP] 4, SprayBottle, -3.607, 0.085, -1.233, 0, 0, 0, 19 [SEP] 5, Towel, 0.136, 1.121, -2.080, 0, 0, 0, 27 [SEP] 6, Candle, -3.278, 0.952, -1.476, 0, 0, 0, 26 [SEP] 7, Cloth, -2.002, 1.034, -2.086, 0, 343.825, 0, 33 [SEP] 8, HandTowel, -3.711, 1.474, -0.410, 0, 270, 0, 30 [SEP] 9, Plunger, -2.207, -0.001, -2.076, 0, 0, 0, Floor|+00.00| [SEP] 10, SoapBottle, -3.358, 0.084, -1.099, 0, 0, 0, 19 [SEP] 11, SoapBar, -3.618, 0.116, -0.436, 0, 0, 0, 28 [SEP] 12, ToiletPaper, -3.493, 0.075, -1.635, 0, 0, 0, 21 [SEP] 13, ToiletPaper, -2.305, 0.755, -2.157, 0, 0, 90, 32 [SEP] 14, SprayBottle, -3.483, 0.085, -1.278, 0, 180, 0, 19 [SEP] 15, ScrubBrush, -2.407, -0.001, -2.092, 0, 0, 0, Floor|+00.00| [SEP] 16, Cabinet, -3.169, 0.370, -2.188, 0, 0, 0, [SEP] 17, Window, -1.737, 1.292, -2.286, 0, 0, 0, [SEP] 18, ShowerDoor, -0.447, 0.909, -2.191, 0, 0, 0, [SEP] 19, Cabinet, -3.169, 0.370, -1.379, 0, 0, 0, [SEP] 20, Mirror, -3.730, 1.481, -1.427, 0, 0, 0, [SEP] 21, Cabinet, -3.169, 0.370, -1.398, 0, 0, 0, [SEP] 22, ShowerGlass, -0.964, 0.907, -0.120, 0, 0, 0, [SEP] 23, Sink, -3.391, 0.841, -1.828, 0, 90, 0, [SEP] 24, FloorLamp, -3.539, 1.020, -0.932, 0, 90, 0, [SEP] 25, Cabinet, -3.169, 0.370, -0.592, 0, 0, 0, [SEP] 26, CounterTop, -3.426, 0.883, -1.384, 0, 0, 0, [SEP] 27, TowelHolder, 0.136, 1.106, -2.187, 0, 0, 0, [SEP] 28, GarbageCan, -3.520, -0.030, -0.349, 0, 0, 0, [SEP] 29, SinkBasin, -3.392, 0.916, -1.820, 0, 90, 0, [SEP] 30, HandTowelHolder, -3.750, 1.575, -0.410, 0, 0, 0, [SEP] 31, HandTowelHolder, -3.332, 1.621, -2.198, 0, 270, 0, [SEP] 32, ToiletPaperHanger, -2.375, 0.886, -2.199, 0, 0, 0, [SEP] 33, Toilet, -1.896, -0.001, -1.738, 0, 90, 0, [SEP] 34, LightSwitch, -2.052, 1.292, 1.000, 0, 180, 0, [SEP] 35, FloorLamp, -3.539, 1.020, -1.830, 0, 90, 0, [SEP] 36, ShowerHead, 0.232, 1.026, 0.375, 0, 315, 0, [SEP] 37, Sink, -3.391, 0.841, -0.931, 0, 90, 0, [SEP] 38, SinkBasin, -3.392, 0.916, -0.923, 0, 90, 0, [SEP] 39, NorthWall, , , , , , , [SEP] 40, EastWall, , , , , , , [SEP] 41, SouthWall, , , , , , , [SEP] 42, WestWall, , , , , , , ", "output": ["STEP 1: Go forward, turn right in front of the counter | STEP 2: Pick up the candle on the counter | STEP 3: Turn around, go forward a bit, turn right, go forward a bit, turn right | STEP 4: Put the candle in the second left cabinet | STEP 5: Turn right, go forward a bit, turn right | STEP 6: Pick up the candle on the counter | STEP 7: Turn around, go forward a bit, turn right, go forward a bit, turn right | STEP 8: Put the candle in the second left cabinet | END"]} +{"id": "trial_T20190908_220343_347903-0", "input": "place a black mug with a pencil in it on to the desk SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.900, 1.25, 0, 180, 0, [SEP] 1, Pen, -2.620, 0.686, -2.995, 0, 90, 0, 38 [SEP] 2, Pencil, -2.439, 0.678, -0.668, 0, 90, 0, 45 [SEP] 3, Pencil, -2.575, 0.685, -0.436, 0, 90, 0, 45 [SEP] 4, CreditCard, -2.428, 0.082, -0.685, 0, 270, 0, 46 [SEP] 5, CreditCard, 1.694, 0.896, -2.975, 0, 0, 0, 36 [SEP] 6, KeyChain, 2.706, 1.249, 1.708, 0, 90, 0, 32 [SEP] 7, AlarmClock, -2.394, 0.684, -3.304, 0, 90, 0, 38 [SEP] 8, AlarmClock, 2.638, 1.232, 1.397, 0, 270, 0, 43 [SEP] 9, Book, 2.351, 0.889, -3.157, 0, 195.000, 0, 36 [SEP] 10, CreditCard, 1.633, 0.361, -3.177, 0, 0, 0, 33 [SEP] 11, Pen, 1.867, 0.902, -2.975, 0, 0, 0, 36 [SEP] 12, Pencil, 1.344, 0.024, -3.375, 0, 0, 0, 27 [SEP] 13, TeddyBear, -0.667, 0.612, -1.364, 0, 81.467, 0, 23 [SEP] 14, Laptop, -1.31, 0.612, -1.542, 0, 0, 0, 23 [SEP] 15, AlarmClock, 2.728, 0.900, -3.044, 0, 0, 0, 36 [SEP] 16, CellPhone, 2.591, 1.228, 1.168, 0, 270, 0, 43 [SEP] 17, KeyChain, 2.826, 1.228, 1.397, 0, 270, 0, 43 [SEP] 18, Pillow, -2.124, 0.658, -1.522, 0, 28.296, 0, 23 [SEP] 19, Pillow, -1.591, 0.680, -2.061, 0, 0, 0, 23 [SEP] 20, CD, -2.428, 0.082, -3.264, 0, 270, 0, 39 [SEP] 21, Mug, -2.575, 0.679, -3.382, 0, 90, 0, 38 [SEP] 22, Bowl, -2.484, 0.683, -3.072, 0, 90, 0, 38 [SEP] 23, Bed, -1.613, -0.028, -1.861, 0, 270, 0, [SEP] 24, DeskLamp, 2.760, 0.890, -3.317, 0, 90, 0, [SEP] 25, DeskLamp, -2.459, 0.668, -0.532, 0, 90, 0, [SEP] 26, LightSwitch, -0.700, 1.016, 0.334, 0, 90, 0, [SEP] 27, GarbageCan, 1.343, 1.087, -3.374, 0, 0, 0, [SEP] 28, Mirror, 0.532, 1.419, 2.0, 0, 0, 0, [SEP] 29, Window, -0.834, 1.394, -3.653, 90, 0, 0, [SEP] 30, Window, 2.958, 1.508, -1.019, 90, 270, 0, [SEP] 31, Sofa, 2.383, 0.008, -0.288, 0, 270, 0, [SEP] 32, Safe, 2.721, 1.228, 1.784, 0, 270, 0, [SEP] 33, Drawer, 1.979, 0.486, -2.988, 0, 0, 0, [SEP] 34, Drawer, 1.979, 0.728, -2.988, 0, 0, 0, [SEP] 35, Drawer, 1.979, 0.208, -2.988, 0, 0, 0, [SEP] 36, Desk, 2.318, -0.009, -3.214, 0, 0, 0, [SEP] 37, Drawer, -2.349, 0.163, -3.150, 0, 90, 0, [SEP] 38, SideTable, -2.416, -0.001, -3.149, 0, 90, 0, [SEP] 39, Drawer, -2.349, 0.455, -3.150, 0, 90, 0, [SEP] 40, Drawer, 2.641, 0.172, 1.511, 0, 270, 0, [SEP] 41, Drawer, 2.641, 1.002, 1.511, 0, 270, 0, [SEP] 42, Drawer, 2.641, 0.448, 1.511, 0, 270, 0, [SEP] 43, Dresser, 2.676, 0.002, 1.511, 0, 270, 0, [SEP] 44, Drawer, 2.641, 0.725, 1.511, 0, 270, 0, [SEP] 45, SideTable, -2.416, -0.001, -0.514, 0, 90, 0, [SEP] 46, Drawer, -2.349, 0.163, -0.514, 0, 90, 0, [SEP] 47, Drawer, -2.349, 0.455, -0.514, 0, 90, 0, [SEP] 48, Blinds, -0.800, 2.087, -3.627, 0, 0, 0, [SEP] 49, Blinds, 2.931, 2.166, -1.0, 0, 270, 0, [SEP] 50, Chair, 2.574, 0.002, -2.881, 0, 175.162, 0, [SEP] 51, NorthWall, , , , , , , [SEP] 52, EastWall, , , , , , , [SEP] 53, SouthWall, , , , , , , [SEP] 54, WestWall, , , , , , , ", "output": ["STEP 1: turn left and walk to the garbage can next to the desk | STEP 2: pick up the pencil from the garbage can | STEP 3: look up turn right and walk to the bed side table in the corner of the room | STEP 4: place the pencil into the black mug | STEP 5: pick up the black mug with the pencil in it | STEP 6: turn right ninety degrees and then walk to the desk | STEP 7: place the black mug with a pencil in it on to the desk next to the note pad | END"]} +{"id": "trial_T20190908_220343_347903-3", "input": "Move a coffee mug with a pencil inside of it from a table to a bedroom desk SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.900, 1.25, 0, 180, 0, [SEP] 1, Pen, -2.620, 0.686, -2.995, 0, 90, 0, 38 [SEP] 2, Pencil, -2.439, 0.678, -0.668, 0, 90, 0, 45 [SEP] 3, Pencil, -2.575, 0.685, -0.436, 0, 90, 0, 45 [SEP] 4, CreditCard, -2.428, 0.082, -0.685, 0, 270, 0, 46 [SEP] 5, CreditCard, 1.694, 0.896, -2.975, 0, 0, 0, 36 [SEP] 6, KeyChain, 2.706, 1.249, 1.708, 0, 90, 0, 32 [SEP] 7, AlarmClock, -2.394, 0.684, -3.304, 0, 90, 0, 38 [SEP] 8, AlarmClock, 2.638, 1.232, 1.397, 0, 270, 0, 43 [SEP] 9, Book, 2.351, 0.889, -3.157, 0, 195.000, 0, 36 [SEP] 10, CreditCard, 1.633, 0.361, -3.177, 0, 0, 0, 33 [SEP] 11, Pen, 1.867, 0.902, -2.975, 0, 0, 0, 36 [SEP] 12, Pencil, 1.344, 0.024, -3.375, 0, 0, 0, 27 [SEP] 13, TeddyBear, -0.667, 0.612, -1.364, 0, 81.467, 0, 23 [SEP] 14, Laptop, -1.31, 0.612, -1.542, 0, 0, 0, 23 [SEP] 15, AlarmClock, 2.728, 0.900, -3.044, 0, 0, 0, 36 [SEP] 16, CellPhone, 2.591, 1.228, 1.168, 0, 270, 0, 43 [SEP] 17, KeyChain, 2.826, 1.228, 1.397, 0, 270, 0, 43 [SEP] 18, Pillow, -2.124, 0.658, -1.522, 0, 28.296, 0, 23 [SEP] 19, Pillow, -1.591, 0.680, -2.061, 0, 0, 0, 23 [SEP] 20, CD, -2.428, 0.082, -3.264, 0, 270, 0, 39 [SEP] 21, Mug, -2.575, 0.679, -3.382, 0, 90, 0, 38 [SEP] 22, Bowl, -2.484, 0.683, -3.072, 0, 90, 0, 38 [SEP] 23, Bed, -1.613, -0.028, -1.861, 0, 270, 0, [SEP] 24, DeskLamp, 2.760, 0.890, -3.317, 0, 90, 0, [SEP] 25, DeskLamp, -2.459, 0.668, -0.532, 0, 90, 0, [SEP] 26, LightSwitch, -0.700, 1.016, 0.334, 0, 90, 0, [SEP] 27, GarbageCan, 1.343, 1.087, -3.374, 0, 0, 0, [SEP] 28, Mirror, 0.532, 1.419, 2.0, 0, 0, 0, [SEP] 29, Window, -0.834, 1.394, -3.653, 90, 0, 0, [SEP] 30, Window, 2.958, 1.508, -1.019, 90, 270, 0, [SEP] 31, Sofa, 2.383, 0.008, -0.288, 0, 270, 0, [SEP] 32, Safe, 2.721, 1.228, 1.784, 0, 270, 0, [SEP] 33, Drawer, 1.979, 0.486, -2.988, 0, 0, 0, [SEP] 34, Drawer, 1.979, 0.728, -2.988, 0, 0, 0, [SEP] 35, Drawer, 1.979, 0.208, -2.988, 0, 0, 0, [SEP] 36, Desk, 2.318, -0.009, -3.214, 0, 0, 0, [SEP] 37, Drawer, -2.349, 0.163, -3.150, 0, 90, 0, [SEP] 38, SideTable, -2.416, -0.001, -3.149, 0, 90, 0, [SEP] 39, Drawer, -2.349, 0.455, -3.150, 0, 90, 0, [SEP] 40, Drawer, 2.641, 0.172, 1.511, 0, 270, 0, [SEP] 41, Drawer, 2.641, 1.002, 1.511, 0, 270, 0, [SEP] 42, Drawer, 2.641, 0.448, 1.511, 0, 270, 0, [SEP] 43, Dresser, 2.676, 0.002, 1.511, 0, 270, 0, [SEP] 44, Drawer, 2.641, 0.725, 1.511, 0, 270, 0, [SEP] 45, SideTable, -2.416, -0.001, -0.514, 0, 90, 0, [SEP] 46, Drawer, -2.349, 0.163, -0.514, 0, 90, 0, [SEP] 47, Drawer, -2.349, 0.455, -0.514, 0, 90, 0, [SEP] 48, Blinds, -0.800, 2.087, -3.627, 0, 0, 0, [SEP] 49, Blinds, 2.931, 2.166, -1.0, 0, 270, 0, [SEP] 50, Chair, 2.574, 0.002, -2.881, 0, 175.162, 0, [SEP] 51, NorthWall, , , , , , , [SEP] 52, EastWall, , , , , , , [SEP] 53, SouthWall, , , , , , , [SEP] 54, WestWall, , , , , , , ", "output": ["STEP 1: Move left and then walk all the way right until you reach a trash can | STEP 2: Pick up a pencil from inside the trash can | STEP 3: Walk all the way right until you reach a bedside table | STEP 4: Place the pencil inside the coffee mug that is sitting on the table | STEP 5: Pick up the coffee mug with the pencil inside it | STEP 6: Turn around and maneuver until you are facing the right side of the bedroom desk | STEP 7: Place the coffee mug with the pencil inside of it down on the table | END"]} +{"id": "trial_T20190906_171705_904718-0", "input": "Put a heated slice of bread on a table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.914, 1.25, 0, 180, 0, [SEP] 1, Potato, -0.440, 1.018, 4.114, 0, 180, 0, 66 [SEP] 2, Potato, -0.994, 0.923, 0.049, 0, 90, 0, 76 [SEP] 3, ButterKnife, -1.857, 0.789, 3.7, 0, 0, 0, 70 [SEP] 4, ButterKnife, -1.711, 0.915, 4.146, 0, 0, 0, 40 [SEP] 5, WineBottle, -1.787, 0.892, 0.358, 0, 90, 0, 76 [SEP] 6, Kettle, -3.559, 0.916, 2.844, 0, 0, 0, 40 [SEP] 7, Spatula, -3.185, 0.760, 1.433, 0, 90, 0, 41 [SEP] 8, Spatula, -0.994, 0.906, 0.358, 0, 90, 0, 76 [SEP] 9, Spoon, -2.022, 0.916, 4.146, 0, 0, 0, 40 [SEP] 10, Egg, -3.442, 1.581, 2.068, 0, 90, 0, 71 [SEP] 11, SoapBottle, -1.192, 0.087, 3.756, 0, 270, 0, 72 [SEP] 12, SoapBottle, -1.660, 0.080, 3.586, 0, 0, 0, 45 [SEP] 13, PepperShaker, -3.508, 1.455, 2.998, 0, 0, 0, 47 [SEP] 14, Lettuce, -1.259, 0.977, -0.053, 0, 90, 0, 76 [SEP] 15, Mug, -3.426, 0.945, 3.275, 0, 90, 0, 40 [SEP] 16, Apple, -3.559, 0.975, 1.189, 0, 0, 0, 49 [SEP] 17, Egg, -3.463, 0.950, 1.189, 0, 0, 0, 49 [SEP] 18, Knife, -2.503, 0.939, 3.567, 0, 0, 0, 40 [SEP] 19, Fork, -1.523, 0.892, 0.152, 0, 270, 0, 76 [SEP] 20, Bread, -3.176, 0.997, 1.273, 0, 0, 0, 49 [SEP] 21, Potato, -3.272, 0.948, 1.607, 0, 0, 0, 49 [SEP] 22, Plate, -3.005, 0.904, 3.677, 0, 0, 0, 40 [SEP] 23, Pot, -3.144, 0.963, 2.374, 0, 0, 0, 43 [SEP] 24, Kettle, -2.410, 0.082, 3.586, 0, 0, 0, 51 [SEP] 25, WineBottle, -3.654, 0.916, 1.524, 0, 0, 0, 49 [SEP] 26, Bowl, -3.081, 0.914, 1.607, 0, 0, 0, 49 [SEP] 27, Tomato, -0.556, 1.054, 4.114, 0, 180, 0, 66 [SEP] 28, Cup, -0.673, 1.541, 4.067, 0, 180, 0, 66 [SEP] 29, Spatula, -1.127, 0.906, 0.152, 0, 180, 0, 76 [SEP] 30, SoapBottle, -3.176, 0.915, 1.106, 0, 0, 0, 49 [SEP] 31, Lettuce, -1.759, 0.974, 0.085, 0, 0, 0, 76 [SEP] 32, Pan, -3.424, 0.966, 1.971, 0, 0, 0, 48 [SEP] 33, Apple, -1.523, 0.951, 0.049, 0, 90, 0, 76 [SEP] 34, SaltShaker, -3.186, 0.743, 3.326, 0, 0, 0, 50 [SEP] 35, PepperShaker, -2.561, 0.077, 3.508, 0, 0, 0, 51 [SEP] 36, ButterKnife, -1.127, 0.891, 0.358, 0, 180, 0, 76 [SEP] 37, DishSponge, -1.666, 0.789, 3.774, 0, 0, 0, 70 [SEP] 38, Spoon, -1.259, 0.892, 0.358, 0, 90, 0, 76 [SEP] 39, Mug, -1.127, 0.886, 0.255, 0, 90, 0, 76 [SEP] 40, CounterTop, -3.381, 0.950, 3.335, 0, 0, 0, [SEP] 41, Drawer, -3.121, 0.775, 1.357, 0, 0, 0, [SEP] 42, Drawer, -3.121, 0.777, 2.916, 0, 0, 0, [SEP] 43, StoveBurner, -3.148, 0.958, 2.374, 0, 0, 0, [SEP] 44, Sink, -1.797, 0.917, 3.660, 0, 0, 0, [SEP] 45, Cabinet, -1.421, 0.388, 3.459, 0, 0, 0, [SEP] 46, StoveBurner, -3.424, 0.958, 2.374, 0, 0, 0, [SEP] 47, Cabinet, -3.365, 1.931, 2.676, 0, 0, 0, [SEP] 48, StoveBurner, -3.424, 0.958, 1.971, 0, 0, 0, [SEP] 49, CounterTop, -3.381, 0.951, 1.356, 0, 0, 0, [SEP] 50, Drawer, -3.121, 0.781, 3.295, 0, 0, 0, [SEP] 51, Cabinet, -2.205, 0.388, 3.459, 0, 0, 0, [SEP] 52, Cabinet, -2.963, 0.388, 3.459, 0, 0, 0, [SEP] 53, Cabinet, -2.992, 0.388, 2.683, 0, 0, 0, [SEP] 54, Cabinet, -3.352, 2.205, 1.715, 0, 0, 0, [SEP] 55, Cabinet, -3.352, 2.205, 2.653, 0, 0, 0, [SEP] 56, Cabinet, -2.189, 0.388, 3.466, 0, 0, 0, [SEP] 57, Cabinet, -3.365, 1.931, 3.963, 0, 0, 0, [SEP] 58, Cabinet, -3.365, 1.931, 1.056, 0, 0, 0, [SEP] 59, Cabinet, -2.992, 0.388, 1.037, 0, 0, 0, [SEP] 60, StoveBurner, -3.143, 0.958, 1.971, 0, 0, 0, [SEP] 61, StoveKnob, -3.599, 1.110, 2.017, 0, 0, 105.000, [SEP] 62, StoveKnob, -3.599, 1.110, 1.867, 0, 0, 105.000, [SEP] 63, StoveKnob, -3.599, 1.110, 2.267, 0, 0, 105.000, [SEP] 64, StoveKnob, -3.599, 1.110, 2.427, 0, 0, 105.000, [SEP] 65, Toaster, -2.654, 0.902, 4.064, 0, 180, 0, [SEP] 66, Fridge, -0.439, 0.014, 3.996, 0, 0, 0, [SEP] 67, LightSwitch, 0.25, 1.383, 2.085, 0, 270, 0, [SEP] 68, Window, -1.430, 1.338, -0.347, 90, 0, 0, [SEP] 69, CoffeeMachine, -3.550, 0.902, 3.274, 0, 90, 0, [SEP] 70, SinkBasin, -1.802, 0.778, 3.700, 0, 0, 0, [SEP] 71, Microwave, -3.484, 1.430, 2.182, 0, 90, 0, [SEP] 72, GarbageCan, -1.184, -0.020, 3.794, 0, 270, 0, [SEP] 73, Blinds, -1.404, 2.092, -0.296, 0, 0, 0, [SEP] 74, Stool, -1.373, 0.014, 1.048, 1.214, 20.754, 0, [SEP] 75, Faucet, -1.788, 0.903, 3.931, 270, 90, 0, [SEP] 76, DiningTable, -1.399, 0.010, 0.238, 0, 0, 0, [SEP] 77, GarbageBag, -0.291, 0.336, -0.034, 272.372, 348.812, 147.313, [SEP] 78, NorthWall, , , , , , , [SEP] 79, EastWall, , , , , , , [SEP] 80, SouthWall, , , , , , , [SEP] 81, WestWall, , , , , , , ", "output": ["STEP 1: Step left and around the table to look at it from that angle. | STEP 2: Pick up the knife. | STEP 3: Look down and to the left. | STEP 4: Slice the bread on the counter with the knife. | STEP 5: Put the knife back roughly where it was before. | STEP 6: Pick up a slice of bread. | STEP 7: Walk ahead and right to the microwave. | STEP 8: Heat the bread in the microwave. | STEP 9: Turn around and go back to the table where the bread was. | STEP 10: Put the bread on the table on top of the knife. | END"]} +{"id": "trial_T20190906_171705_904718-2", "input": "Putting a apple slice on the white table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.914, 1.25, 0, 180, 0, [SEP] 1, Potato, -0.440, 1.018, 4.114, 0, 180, 0, 66 [SEP] 2, Potato, -0.994, 0.923, 0.049, 0, 90, 0, 76 [SEP] 3, ButterKnife, -1.857, 0.789, 3.7, 0, 0, 0, 70 [SEP] 4, ButterKnife, -1.711, 0.915, 4.146, 0, 0, 0, 40 [SEP] 5, WineBottle, -1.787, 0.892, 0.358, 0, 90, 0, 76 [SEP] 6, Kettle, -3.559, 0.916, 2.844, 0, 0, 0, 40 [SEP] 7, Spatula, -3.185, 0.760, 1.433, 0, 90, 0, 41 [SEP] 8, Spatula, -0.994, 0.906, 0.358, 0, 90, 0, 76 [SEP] 9, Spoon, -2.022, 0.916, 4.146, 0, 0, 0, 40 [SEP] 10, Egg, -3.442, 1.581, 2.068, 0, 90, 0, 71 [SEP] 11, SoapBottle, -1.192, 0.087, 3.756, 0, 270, 0, 72 [SEP] 12, SoapBottle, -1.660, 0.080, 3.586, 0, 0, 0, 45 [SEP] 13, PepperShaker, -3.508, 1.455, 2.998, 0, 0, 0, 47 [SEP] 14, Lettuce, -1.259, 0.977, -0.053, 0, 90, 0, 76 [SEP] 15, Mug, -3.426, 0.945, 3.275, 0, 90, 0, 40 [SEP] 16, Apple, -3.559, 0.975, 1.189, 0, 0, 0, 49 [SEP] 17, Egg, -3.463, 0.950, 1.189, 0, 0, 0, 49 [SEP] 18, Knife, -2.503, 0.939, 3.567, 0, 0, 0, 40 [SEP] 19, Fork, -1.523, 0.892, 0.152, 0, 270, 0, 76 [SEP] 20, Bread, -3.176, 0.997, 1.273, 0, 0, 0, 49 [SEP] 21, Potato, -3.272, 0.948, 1.607, 0, 0, 0, 49 [SEP] 22, Plate, -3.005, 0.904, 3.677, 0, 0, 0, 40 [SEP] 23, Pot, -3.144, 0.963, 2.374, 0, 0, 0, 43 [SEP] 24, Kettle, -2.410, 0.082, 3.586, 0, 0, 0, 51 [SEP] 25, WineBottle, -3.654, 0.916, 1.524, 0, 0, 0, 49 [SEP] 26, Bowl, -3.081, 0.914, 1.607, 0, 0, 0, 49 [SEP] 27, Tomato, -0.556, 1.054, 4.114, 0, 180, 0, 66 [SEP] 28, Cup, -0.673, 1.541, 4.067, 0, 180, 0, 66 [SEP] 29, Spatula, -1.127, 0.906, 0.152, 0, 180, 0, 76 [SEP] 30, SoapBottle, -3.176, 0.915, 1.106, 0, 0, 0, 49 [SEP] 31, Lettuce, -1.759, 0.974, 0.085, 0, 0, 0, 76 [SEP] 32, Pan, -3.424, 0.966, 1.971, 0, 0, 0, 48 [SEP] 33, Apple, -1.523, 0.951, 0.049, 0, 90, 0, 76 [SEP] 34, SaltShaker, -3.186, 0.743, 3.326, 0, 0, 0, 50 [SEP] 35, PepperShaker, -2.561, 0.077, 3.508, 0, 0, 0, 51 [SEP] 36, ButterKnife, -1.127, 0.891, 0.358, 0, 180, 0, 76 [SEP] 37, DishSponge, -1.666, 0.789, 3.774, 0, 0, 0, 70 [SEP] 38, Spoon, -1.259, 0.892, 0.358, 0, 90, 0, 76 [SEP] 39, Mug, -1.127, 0.886, 0.255, 0, 90, 0, 76 [SEP] 40, CounterTop, -3.381, 0.950, 3.335, 0, 0, 0, [SEP] 41, Drawer, -3.121, 0.775, 1.357, 0, 0, 0, [SEP] 42, Drawer, -3.121, 0.777, 2.916, 0, 0, 0, [SEP] 43, StoveBurner, -3.148, 0.958, 2.374, 0, 0, 0, [SEP] 44, Sink, -1.797, 0.917, 3.660, 0, 0, 0, [SEP] 45, Cabinet, -1.421, 0.388, 3.459, 0, 0, 0, [SEP] 46, StoveBurner, -3.424, 0.958, 2.374, 0, 0, 0, [SEP] 47, Cabinet, -3.365, 1.931, 2.676, 0, 0, 0, [SEP] 48, StoveBurner, -3.424, 0.958, 1.971, 0, 0, 0, [SEP] 49, CounterTop, -3.381, 0.951, 1.356, 0, 0, 0, [SEP] 50, Drawer, -3.121, 0.781, 3.295, 0, 0, 0, [SEP] 51, Cabinet, -2.205, 0.388, 3.459, 0, 0, 0, [SEP] 52, Cabinet, -2.963, 0.388, 3.459, 0, 0, 0, [SEP] 53, Cabinet, -2.992, 0.388, 2.683, 0, 0, 0, [SEP] 54, Cabinet, -3.352, 2.205, 1.715, 0, 0, 0, [SEP] 55, Cabinet, -3.352, 2.205, 2.653, 0, 0, 0, [SEP] 56, Cabinet, -2.189, 0.388, 3.466, 0, 0, 0, [SEP] 57, Cabinet, -3.365, 1.931, 3.963, 0, 0, 0, [SEP] 58, Cabinet, -3.365, 1.931, 1.056, 0, 0, 0, [SEP] 59, Cabinet, -2.992, 0.388, 1.037, 0, 0, 0, [SEP] 60, StoveBurner, -3.143, 0.958, 1.971, 0, 0, 0, [SEP] 61, StoveKnob, -3.599, 1.110, 2.017, 0, 0, 105.000, [SEP] 62, StoveKnob, -3.599, 1.110, 1.867, 0, 0, 105.000, [SEP] 63, StoveKnob, -3.599, 1.110, 2.267, 0, 0, 105.000, [SEP] 64, StoveKnob, -3.599, 1.110, 2.427, 0, 0, 105.000, [SEP] 65, Toaster, -2.654, 0.902, 4.064, 0, 180, 0, [SEP] 66, Fridge, -0.439, 0.014, 3.996, 0, 0, 0, [SEP] 67, LightSwitch, 0.25, 1.383, 2.085, 0, 270, 0, [SEP] 68, Window, -1.430, 1.338, -0.347, 90, 0, 0, [SEP] 69, CoffeeMachine, -3.550, 0.902, 3.274, 0, 90, 0, [SEP] 70, SinkBasin, -1.802, 0.778, 3.700, 0, 0, 0, [SEP] 71, Microwave, -3.484, 1.430, 2.182, 0, 90, 0, [SEP] 72, GarbageCan, -1.184, -0.020, 3.794, 0, 270, 0, [SEP] 73, Blinds, -1.404, 2.092, -0.296, 0, 0, 0, [SEP] 74, Stool, -1.373, 0.014, 1.048, 1.214, 20.754, 0, [SEP] 75, Faucet, -1.788, 0.903, 3.931, 270, 90, 0, [SEP] 76, DiningTable, -1.399, 0.010, 0.238, 0, 0, 0, [SEP] 77, GarbageBag, -0.291, 0.336, -0.034, 272.372, 348.812, 147.313, [SEP] 78, NorthWall, , , , , , , [SEP] 79, EastWall, , , , , , , [SEP] 80, SouthWall, , , , , , , [SEP] 81, WestWall, , , , , , , ", "output": ["STEP 1: Head to the left side of the white table | STEP 2: Grab the knife off of the table | STEP 3: Look down at the table | STEP 4: Cut the apple on the table into slices | STEP 5: Put the knife on the table | STEP 6: Grab one of the apple slices off the table | STEP 7: Turn right and head to the microwave | STEP 8: Heat the apple in the microwave and then take it out | STEP 9: Turn around and head back to the white table | STEP 10: Place the apple on the table | END"]} +{"id": "trial_T20190911_004759_035793-0", "input": "To heat a piece of apple and place it in the fridge. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.900, 2.25, 0, 270, 0, [SEP] 1, Potato, -0.657, 0.943, 1.555, 0, 90, 0, 86 [SEP] 2, DishSponge, 0.650, 0.822, 2.285, 0, 0, 0, 50 [SEP] 3, DishSponge, -2.502, 1.634, 2.651, 0, 0, 0, 58 [SEP] 4, Spatula, 1.024, 0.838, 1.072, 0, 270, 0, 45 [SEP] 5, Spoon, 0.770, 0.693, 2.496, 0, 90, 0, 42 [SEP] 6, Spoon, 0.771, 0.692, 1.016, 0, 0, 0, 56 [SEP] 7, Fork, 0.635, 0.692, 2.496, 0, 90, 0, 42 [SEP] 8, Cup, -1.800, 0.697, 3.691, 0, 0, 0, 80 [SEP] 9, Cup, -2.098, 1.398, 3.936, 0, 0, 0, 46 [SEP] 10, Knife, 1.024, 0.846, 2.198, 0, 0, 0, 50 [SEP] 11, SoapBottle, -0.754, 1.240, 3.834, 0, 0, 0, 49 [SEP] 12, PepperShaker, -2.628, 0.123, 3.258, 0, 0, 0, 69 [SEP] 13, PepperShaker, -1.917, 0.124, 3.559, 0, 0, 0, 67 [SEP] 14, SaltShaker, -0.513, 0.155, 3.787, 0, 0, 0, 54 [SEP] 15, SaltShaker, -2.658, 1.845, 1.452, 0, 0, 0, 63 [SEP] 16, Lettuce, -1.317, 0.976, 1.555, 0, 90, 0, 86 [SEP] 17, Plate, -1.307, 1.687, 3.897, 0, 0, 0, 73 [SEP] 18, Fork, 0.725, 0.823, 1.028, 0, 0, 0, 45 [SEP] 19, Bread, 0.827, 0.861, 2.449, 0, 0, 0, 45 [SEP] 20, Spatula, -1.185, 0.915, 1.452, 0, 0, 0, 86 [SEP] 21, PaperTowelRoll, 0.950, 0.927, 1.072, 0, 0, 0, 45 [SEP] 22, Potato, -0.743, 0.929, 1.405, 0, 300.000, 0, 86 [SEP] 23, SoapBottle, -0.524, 0.900, 1.349, 0, 90, 0, 86 [SEP] 24, Egg, -0.921, 0.936, 1.349, 0, 90, 0, 86 [SEP] 25, Cup, -0.524, 0.900, 1.143, 0, 90, 0, 86 [SEP] 26, Pot, 0.913, 0.850, 1.768, 0, 0, 0, 66 [SEP] 27, SaltShaker, -2.502, 1.630, 3.097, 0, 0, 0, 64 [SEP] 28, Pan, -2.667, 0.812, 3.74, 0, 137.145, 0, 68 [SEP] 29, PepperShaker, 0.665, 0.122, 2.277, 0, 0, 0, 60 [SEP] 30, ButterKnife, 0.725, 0.823, 2.198, 0, 0, 0, 50 [SEP] 31, Tomato, 0.931, 0.092, 2.918, 0, 0, 0, 79 [SEP] 32, DishSponge, -2.502, 1.634, 2.794, 0, 0, 0, 58 [SEP] 33, Lettuce, -2.461, 1.071, 2.389, 0, 90, 0, 77 [SEP] 34, Spoon, -0.524, 0.901, 1.040, 0, 90, 0, 86 [SEP] 35, Apple, -1.317, 0.961, 1.040, 0, 90, 0, 86 [SEP] 36, Knife, -1.336, 0.846, 3.524, 0, 0, 0, 68 [SEP] 37, Mug, -1.317, 0.895, 1.143, 0, 90, 0, 86 [SEP] 38, Bowl, -2.636, 1.189, 2.389, 0, 90, 0, 77 [SEP] 39, Drawer, 0.729, 0.703, 2.199, 0, 0, 0, [SEP] 40, Cabinet, -1.962, 1.926, 3.733, 0, 0, 0, [SEP] 41, Cabinet, -2.377, 2.014, 1.058, 0, 0, 0, [SEP] 42, Drawer, 0.729, 0.703, 2.532, 0, 0, 0, [SEP] 43, Cabinet, -2.622, 1.925, 3.733, 0, 0, 0, [SEP] 44, StoveBurner, 0.913, 0.843, 1.375, 0, 0, 0, [SEP] 45, CounterTop, 0.864, 0.858, 0.984, 0, 0, 0, [SEP] 46, Cabinet, -1.976, 1.779, 3.734, 0, 0, 0, [SEP] 47, Cabinet, 0.580, 0.385, 0.819, 0, 0, 0, [SEP] 48, Cabinet, -2.379, 1.408, 1.677, 0, 0, 0, [SEP] 49, Cabinet, -0.419, 1.703, 3.736, 0, 0, 0, [SEP] 50, CounterTop, 0.864, 0.858, 2.371, 0, 0, 0, [SEP] 51, Sink, -1.702, 0.726, 3.828, 0, 180, 0, [SEP] 52, Cabinet, 0.580, 0.385, 2.694, 0, 0, 0, [SEP] 53, Cabinet, -2.379, 0.637, 1.677, 0, 0, 0, [SEP] 54, Cabinet, -0.419, 0.674, 3.736, 0, 0, 0, [SEP] 55, Cabinet, -2.377, 2.014, 2.558, 0, 0, 0, [SEP] 56, Drawer, 0.729, 0.703, 0.980, 0, 0, 0, [SEP] 57, Drawer, -2.114, 0.706, 3.657, 0, 0, 0, [SEP] 58, Cabinet, -2.377, 1.691, 2.572, 0, 0, 0, [SEP] 59, Cabinet, -2.951, 1.925, 3.733, 0, 0, 0, [SEP] 60, Cabinet, 0.580, 0.385, 2.360, 0, 0, 0, [SEP] 61, Cabinet, -2.426, 0.435, 3.421, 0, 0, 0, [SEP] 62, StoveBurner, 0.642, 0.843, 1.375, 0, 0, 0, [SEP] 63, Cabinet, -2.377, 1.927, 1.686, 0, 0, 0, [SEP] 64, Cabinet, -2.377, 2.013, 3.177, 0, 0, 0, [SEP] 65, Cabinet, -1.136, 0.385, 3.516, 0, 0, 0, [SEP] 66, StoveBurner, 0.913, 0.843, 1.768, 0, 0, 0, [SEP] 67, Cabinet, -1.974, 0.385, 3.516, 0, 0, 0, [SEP] 68, CounterTop, -2.081, 0.858, 3.799, 0, 0, 0, [SEP] 69, Cabinet, -2.426, 0.435, 3.174, 0, 0, 0, [SEP] 70, Cabinet, -2.377, 2.014, 1.693, 0, 0, 0, [SEP] 71, Cabinet, -1.986, 0.385, 3.511, 0, 0, 0, [SEP] 72, StoveBurner, 0.642, 0.843, 1.768, 0, 0, 0, [SEP] 73, Cabinet, -1.098, 1.926, 3.729, 0, 0, 0, [SEP] 74, Microwave, -1.529, 1.250, 3.881, 1.622, 180, 0, [SEP] 75, CoffeeMachine, 1.000, 0.812, 2.492, 0, 270, 0, [SEP] 76, LightSwitch, 0.825, 1.396, 4.082, 0, 180, 0, [SEP] 77, Fridge, -2.642, 0.0, 2.134, 0, 180, 0, [SEP] 78, Window, -1.131, 1.673, 0.808, 90, 0, 0, [SEP] 79, GarbageCan, 0.931, -0.000, 2.918, 0, 0, 0, [SEP] 80, SinkBasin, -1.601, 0.686, 3.774, 0, 0, 0, [SEP] 81, StoveKnob, 1.104, 1.002, 1.886, 0, 0, 70.346, [SEP] 82, StoveKnob, 1.104, 1.002, 1.733, 0, 0, 70.346, [SEP] 83, StoveKnob, 1.104, 1.002, 1.321, 0, 0, 70.346, [SEP] 84, StoveKnob, 1.104, 1.002, 1.481, 0, 0, 70.346, [SEP] 85, Toaster, -2.247, 0.812, 3.862, 0, 180, 0, [SEP] 86, DiningTable, -0.917, -0.000, 1.203, 0, 0, 0, [SEP] 87, Stool, -0.932, 0.000, 1.404, 1.196, 21.715, 0, [SEP] 88, Faucet, -1.842, 0.809, 3.984, 0, 180, 0, [SEP] 89, Faucet, -1.371, 0.809, 3.985, 0, 180, 0, [SEP] 90, NorthWall, , , , , , , [SEP] 91, EastWall, , , , , , , [SEP] 92, SouthWall, , , , , , , [SEP] 93, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and step forward to face the sink. | STEP 2: Pick up the knife on the sink. | STEP 3: Turn around and cross the room and turn left to face the table. | STEP 4: Cut the apple on the table into three pieces. | STEP 5: Turn around to face the fridge. | STEP 6: Place the knife in the fridge. | STEP 7: Turn around to face the apple on the table. | STEP 8: Pick up the piece of apple on the table. | STEP 9: Turn left and cross the room to face the microwave. | STEP 10: Heat the piece of apple in the microwave and remove it. | STEP 11: Turn left to face the fridge. | STEP 12: Place the apple piece in the fridge. | END"]} +{"id": "trial_T20190911_004759_035793-1", "input": "Cut an apple, cook a piece of apple, cool it in the fridge SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.900, 2.25, 0, 270, 0, [SEP] 1, Potato, -0.657, 0.943, 1.555, 0, 90, 0, 86 [SEP] 2, DishSponge, 0.650, 0.822, 2.285, 0, 0, 0, 50 [SEP] 3, DishSponge, -2.502, 1.634, 2.651, 0, 0, 0, 58 [SEP] 4, Spatula, 1.024, 0.838, 1.072, 0, 270, 0, 45 [SEP] 5, Spoon, 0.770, 0.693, 2.496, 0, 90, 0, 42 [SEP] 6, Spoon, 0.771, 0.692, 1.016, 0, 0, 0, 56 [SEP] 7, Fork, 0.635, 0.692, 2.496, 0, 90, 0, 42 [SEP] 8, Cup, -1.800, 0.697, 3.691, 0, 0, 0, 80 [SEP] 9, Cup, -2.098, 1.398, 3.936, 0, 0, 0, 46 [SEP] 10, Knife, 1.024, 0.846, 2.198, 0, 0, 0, 50 [SEP] 11, SoapBottle, -0.754, 1.240, 3.834, 0, 0, 0, 49 [SEP] 12, PepperShaker, -2.628, 0.123, 3.258, 0, 0, 0, 69 [SEP] 13, PepperShaker, -1.917, 0.124, 3.559, 0, 0, 0, 67 [SEP] 14, SaltShaker, -0.513, 0.155, 3.787, 0, 0, 0, 54 [SEP] 15, SaltShaker, -2.658, 1.845, 1.452, 0, 0, 0, 63 [SEP] 16, Lettuce, -1.317, 0.976, 1.555, 0, 90, 0, 86 [SEP] 17, Plate, -1.307, 1.687, 3.897, 0, 0, 0, 73 [SEP] 18, Fork, 0.725, 0.823, 1.028, 0, 0, 0, 45 [SEP] 19, Bread, 0.827, 0.861, 2.449, 0, 0, 0, 45 [SEP] 20, Spatula, -1.185, 0.915, 1.452, 0, 0, 0, 86 [SEP] 21, PaperTowelRoll, 0.950, 0.927, 1.072, 0, 0, 0, 45 [SEP] 22, Potato, -0.743, 0.929, 1.405, 0, 300.000, 0, 86 [SEP] 23, SoapBottle, -0.524, 0.900, 1.349, 0, 90, 0, 86 [SEP] 24, Egg, -0.921, 0.936, 1.349, 0, 90, 0, 86 [SEP] 25, Cup, -0.524, 0.900, 1.143, 0, 90, 0, 86 [SEP] 26, Pot, 0.913, 0.850, 1.768, 0, 0, 0, 66 [SEP] 27, SaltShaker, -2.502, 1.630, 3.097, 0, 0, 0, 64 [SEP] 28, Pan, -2.667, 0.812, 3.74, 0, 137.145, 0, 68 [SEP] 29, PepperShaker, 0.665, 0.122, 2.277, 0, 0, 0, 60 [SEP] 30, ButterKnife, 0.725, 0.823, 2.198, 0, 0, 0, 50 [SEP] 31, Tomato, 0.931, 0.092, 2.918, 0, 0, 0, 79 [SEP] 32, DishSponge, -2.502, 1.634, 2.794, 0, 0, 0, 58 [SEP] 33, Lettuce, -2.461, 1.071, 2.389, 0, 90, 0, 77 [SEP] 34, Spoon, -0.524, 0.901, 1.040, 0, 90, 0, 86 [SEP] 35, Apple, -1.317, 0.961, 1.040, 0, 90, 0, 86 [SEP] 36, Knife, -1.336, 0.846, 3.524, 0, 0, 0, 68 [SEP] 37, Mug, -1.317, 0.895, 1.143, 0, 90, 0, 86 [SEP] 38, Bowl, -2.636, 1.189, 2.389, 0, 90, 0, 77 [SEP] 39, Drawer, 0.729, 0.703, 2.199, 0, 0, 0, [SEP] 40, Cabinet, -1.962, 1.926, 3.733, 0, 0, 0, [SEP] 41, Cabinet, -2.377, 2.014, 1.058, 0, 0, 0, [SEP] 42, Drawer, 0.729, 0.703, 2.532, 0, 0, 0, [SEP] 43, Cabinet, -2.622, 1.925, 3.733, 0, 0, 0, [SEP] 44, StoveBurner, 0.913, 0.843, 1.375, 0, 0, 0, [SEP] 45, CounterTop, 0.864, 0.858, 0.984, 0, 0, 0, [SEP] 46, Cabinet, -1.976, 1.779, 3.734, 0, 0, 0, [SEP] 47, Cabinet, 0.580, 0.385, 0.819, 0, 0, 0, [SEP] 48, Cabinet, -2.379, 1.408, 1.677, 0, 0, 0, [SEP] 49, Cabinet, -0.419, 1.703, 3.736, 0, 0, 0, [SEP] 50, CounterTop, 0.864, 0.858, 2.371, 0, 0, 0, [SEP] 51, Sink, -1.702, 0.726, 3.828, 0, 180, 0, [SEP] 52, Cabinet, 0.580, 0.385, 2.694, 0, 0, 0, [SEP] 53, Cabinet, -2.379, 0.637, 1.677, 0, 0, 0, [SEP] 54, Cabinet, -0.419, 0.674, 3.736, 0, 0, 0, [SEP] 55, Cabinet, -2.377, 2.014, 2.558, 0, 0, 0, [SEP] 56, Drawer, 0.729, 0.703, 0.980, 0, 0, 0, [SEP] 57, Drawer, -2.114, 0.706, 3.657, 0, 0, 0, [SEP] 58, Cabinet, -2.377, 1.691, 2.572, 0, 0, 0, [SEP] 59, Cabinet, -2.951, 1.925, 3.733, 0, 0, 0, [SEP] 60, Cabinet, 0.580, 0.385, 2.360, 0, 0, 0, [SEP] 61, Cabinet, -2.426, 0.435, 3.421, 0, 0, 0, [SEP] 62, StoveBurner, 0.642, 0.843, 1.375, 0, 0, 0, [SEP] 63, Cabinet, -2.377, 1.927, 1.686, 0, 0, 0, [SEP] 64, Cabinet, -2.377, 2.013, 3.177, 0, 0, 0, [SEP] 65, Cabinet, -1.136, 0.385, 3.516, 0, 0, 0, [SEP] 66, StoveBurner, 0.913, 0.843, 1.768, 0, 0, 0, [SEP] 67, Cabinet, -1.974, 0.385, 3.516, 0, 0, 0, [SEP] 68, CounterTop, -2.081, 0.858, 3.799, 0, 0, 0, [SEP] 69, Cabinet, -2.426, 0.435, 3.174, 0, 0, 0, [SEP] 70, Cabinet, -2.377, 2.014, 1.693, 0, 0, 0, [SEP] 71, Cabinet, -1.986, 0.385, 3.511, 0, 0, 0, [SEP] 72, StoveBurner, 0.642, 0.843, 1.768, 0, 0, 0, [SEP] 73, Cabinet, -1.098, 1.926, 3.729, 0, 0, 0, [SEP] 74, Microwave, -1.529, 1.250, 3.881, 1.622, 180, 0, [SEP] 75, CoffeeMachine, 1.000, 0.812, 2.492, 0, 270, 0, [SEP] 76, LightSwitch, 0.825, 1.396, 4.082, 0, 180, 0, [SEP] 77, Fridge, -2.642, 0.0, 2.134, 0, 180, 0, [SEP] 78, Window, -1.131, 1.673, 0.808, 90, 0, 0, [SEP] 79, GarbageCan, 0.931, -0.000, 2.918, 0, 0, 0, [SEP] 80, SinkBasin, -1.601, 0.686, 3.774, 0, 0, 0, [SEP] 81, StoveKnob, 1.104, 1.002, 1.886, 0, 0, 70.346, [SEP] 82, StoveKnob, 1.104, 1.002, 1.733, 0, 0, 70.346, [SEP] 83, StoveKnob, 1.104, 1.002, 1.321, 0, 0, 70.346, [SEP] 84, StoveKnob, 1.104, 1.002, 1.481, 0, 0, 70.346, [SEP] 85, Toaster, -2.247, 0.812, 3.862, 0, 180, 0, [SEP] 86, DiningTable, -0.917, -0.000, 1.203, 0, 0, 0, [SEP] 87, Stool, -0.932, 0.000, 1.404, 1.196, 21.715, 0, [SEP] 88, Faucet, -1.842, 0.809, 3.984, 0, 180, 0, [SEP] 89, Faucet, -1.371, 0.809, 3.985, 0, 180, 0, [SEP] 90, NorthWall, , , , , , , [SEP] 91, EastWall, , , , , , , [SEP] 92, SouthWall, , , , , , , [SEP] 93, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and go to the sink | STEP 2: Pick up the knife in front of the sink | STEP 3: Turn around, go forward, turn left to the table | STEP 4: Cut the apple on the table | STEP 5: Turn left, go forward, turn right at the fridge | STEP 6: Put the knife in the fridge | STEP 7: Turn left, go forward, turn left to the table | STEP 8: Pick up an apple piece from the table | STEP 9: Turn left and go to the microwave | STEP 10: Put the apple piece in the microwave, start the microwave, wait, pick up the apple piece from the microwave | STEP 11: Turn around, go forward, turn right at the fridge | STEP 12: Put the apple piece into the fridge | END"]} +{"id": "trial_T20190907_220451_149547-2", "input": "Put two plates on a coffee table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.900, 1.25, 0, 0, 0, [SEP] 1, Plate, 0.636, 0.552, 6.818, 0, 0, 0, 35 [SEP] 2, Statue, -5.392, 0.792, 4.246, 0, 0, 0, 38 [SEP] 3, Newspaper, 0.847, 0.982, 3.921, 0, 0, 0, 50 [SEP] 4, KeyChain, -5.639, 0.787, 4.467, 0, 180, 0, 38 [SEP] 5, KeyChain, 0.636, 0.550, 6.382, 0, 0, 0, 35 [SEP] 6, CellPhone, 1.034, 0.986, 3.298, 0, 0, 0, 50 [SEP] 7, CreditCard, -2.092, 0.524, 3.302, 0, 38.001, 0, 46 [SEP] 8, RemoteControl, -3.502, 0.550, 1.473, 0, 0, 0, 34 [SEP] 9, RemoteControl, -2.255, 0.522, 3.429, 0, 38.001, 0, 46 [SEP] 10, Box, -3.311, 0.744, 1.560, 0, 270, 0, 34 [SEP] 11, Laptop, -5.762, 0.780, 4.689, 0, 0, 0, 38 [SEP] 12, Box, -1.591, 0.498, 2.277, 0, 26.831, 0, 37 [SEP] 13, CellPhone, -1.369, 0.316, 2.386, 0, 39.022, 0, 37 [SEP] 14, WateringCan, 0.829, -0.001, 2.339, 0, 45, 0, Floor|-03.10| [SEP] 15, Newspaper, -1.551, 0.308, 2.533, 0, 39.022, 0, 37 [SEP] 16, KeyChain, 0.787, 0.538, 4.013, 0, 0, 0, 51 [SEP] 17, Plate, -5.807, 0.781, 4.222, 0, 0, 0, 38 [SEP] 18, Pillow, -2.719, 0.609, 2.768, 0, 320.647, 0, 46 [SEP] 19, RemoteControl, 0.659, 0.983, 3.921, 0, 0, 0, 50 [SEP] 20, CreditCard, 0.684, 0.099, 3.240, 0, 0, 0, 47 [SEP] 21, Laptop, -5.464, 0.779, 5.252, 0, 306.871, 0, 38 [SEP] 22, Statue, -1.814, 0.319, 2.581, 0, 309.022, 0, 37 [SEP] 23, Curtains, -1.046, 3.500, 2.880, 0, 0, 0, [SEP] 24, HousePlant, -3.580, 0.548, 1.659, 0, 0, 0, [SEP] 25, Television, 0.852, 1.460, 3.726, 357.954, 270, 0, [SEP] 26, Painting, -3.813, 1.809, 1.008, 90, 90, 0, [SEP] 27, DeskLamp, 0.890, 0.545, 6.822, 0, 0, 0, [SEP] 28, GarbageCan, -7.102, -0.044, 2.295, 0, 90, 0, [SEP] 29, FloorLamp, -3.494, 0.006, 0.390, 0, 0, 0, [SEP] 30, LightSwitch, -5.234, 1.391, 7.031, 0, 180, 0, [SEP] 31, Window, -1.985, 1.646, -0.009, 90, 180, 0, [SEP] 32, Window, -4.909, 0.990, 2.015, 90, 180, 0, [SEP] 33, Window, -5.796, 1.072, 1.871, 90, 180, 0, [SEP] 34, SideTable, -3.407, 0.005, 1.656, 0, 270, 0, [SEP] 35, SideTable, 0.732, 0.005, 6.634, 0, 270, 0, [SEP] 36, Chair, -0.139, 0.005, 6.412, 0, 149.999, 0, [SEP] 37, CoffeeTable, -1.546, 0.004, 2.528, 0, 39.022, 0, [SEP] 38, DiningTable, -5.639, -0.003, 4.910, 0, 270, 0, [SEP] 39, Chair, -3.159, 0.005, 0.869, 0, 97.469, 0, [SEP] 40, Chair, -5.192, 0.002, 4.682, 0, 281.219, 0, [SEP] 41, Chair, -5.181, 0.002, 5.293, 0, 266.218, 0, [SEP] 42, Chair, -6.046, 0.002, 4.560, 0, 86.218, 0, [SEP] 43, Chair, -5.624, 0.002, 5.750, 0, 180, 0, [SEP] 44, Chair, -6.036, 0.002, 5.235, 0, 93.544, 0, [SEP] 45, Chair, -5.580, 0.002, 4.099, 0, 357.508, 0, [SEP] 46, Sofa, -2.465, 0.004, 3.281, 0, 128.001, 0, [SEP] 47, Drawer, 0.748, 0.237, 3.330, 0, 270, 0, [SEP] 48, Drawer, 0.748, 0.668, 3.330, 0, 270, 0, [SEP] 49, Drawer, 0.748, 0.235, 4.097, 0, 270, 0, [SEP] 50, Dresser, 0.846, 0.002, 3.713, 0, 270, 0, [SEP] 51, Drawer, 0.748, 0.665, 4.097, 0, 270, 0, [SEP] 52, NorthWall, , , , , , , [SEP] 53, EastWall, , , , , , , [SEP] 54, SouthWall, , , , , , , [SEP] 55, WestWall, , , , , , , ", "output": ["STEP 1: Go around the coffee table to the right, go towards the white chair across the room, turn right, go forward to the wall, turn left, go forward to the side table to the right of the white chair. | STEP 2: Take the black plate from the side table. | STEP 3: Turn around go forward to the fireplace. Turn right to the coffee table. Go to the coffee table. | STEP 4: Put the black plate on the coffee table. | STEP 5: Turn right, go forward to the white chair, turn left, go forward to the dining table, around left to the left short side of the dining table. | STEP 6: Take the black plate from the table | STEP 7: Turn right, go forward, turn right, go towards the wall, turn right, go towards the wall near the dresser, after passing the couch turn right, go towards the coffee table, turn right to face the coffee table. | STEP 8: Put the plate above the first plate on the coffee table. | END"]} +{"id": "trial_T20190909_035442_070732-1", "input": "Move the basketball from underneath the drafting table to the left hand side of the drafting table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.901, 0.25, 0, 90, 0, [SEP] 1, Pen, 1.228, 0.717, 0.409, 0, 270, 0, 45 [SEP] 2, Pen, -1.575, 0.512, 1.381, 0, 270, 0, 38 [SEP] 3, Pencil, 1.228, 0.715, 0.022, 0, 270, 0, 45 [SEP] 4, Pencil, 1.769, 0.715, 0.796, 0, 270, 0, 45 [SEP] 5, CreditCard, -1.734, 0.287, 1.648, 0, 270, 0, 40 [SEP] 6, CreditCard, -1.906, 1.071, 1.067, 0, 270, 0, 41 [SEP] 7, KeyChain, -1.815, 0.675, 1.636, 0, 0, 0, 42 [SEP] 8, Book, -1.734, 0.286, 1.448, 0, 270, 0, 40 [SEP] 9, Book, -1.541, 0.540, -0.971, 0, 0, 0, 26 [SEP] 10, Pillow, -0.823, 0.618, -0.549, 0, 0, 0, 26 [SEP] 11, AlarmClock, -1.617, 0.673, 1.206, 0, 0, 0, 42 [SEP] 12, Book, 1.318, 0.711, 0.215, 0, 270, 0, 45 [SEP] 13, AlarmClock, 1.408, 0.711, 0.602, 0, 270, 0, 45 [SEP] 14, BasketBall, 1.510, 0.120, -0.105, 0, 0, 0, [SEP] 15, TeddyBear, -1.7, 0.475, -0.331, 0, 225, 0, 26 [SEP] 16, TennisRacket, 1.551, 0.000, 0.654, 270, 336.082, 0, [SEP] 17, Pen, -1.683, 0.681, 0.776, 0, 0, 0, 42 [SEP] 18, Pencil, -1.881, 0.678, 1.493, 0, 0, 0, 42 [SEP] 19, KeyChain, 0.789, 0.684, -1.663, 0, 0, 0, 34 [SEP] 20, CreditCard, -1.815, 0.675, 1.493, 0, 0, 0, 42 [SEP] 21, Laptop, -1.786, 0.634, 0.206, 0, 159.517, 0, 42 [SEP] 22, CellPhone, -1.787, 0.066, 1.581, 0, 270, 0, 39 [SEP] 23, Pillow, -0.344, 0.618, -0.971, 0, 0, 0, 26 [SEP] 24, CD, -1.550, 0.672, 1.349, 0, 0, 0, 42 [SEP] 25, Curtains, 1.865, 2.039, -0.495, 0, 0, 0, [SEP] 26, Bed, -1.037, 0.009, -0.690, 0, 270, 0, [SEP] 27, Mirror, 0.549, 1.494, 1.880, 0, 0, 0, [SEP] 28, Curtains, 0.486, 2.035, -1.853, 0, 90, 0, [SEP] 29, GarbageCan, 1.683, -0.018, 1.670, 0, 270, 0, [SEP] 30, LightSwitch, -0.119, 1.317, 1.853, 0, 180, 0, [SEP] 31, DeskLamp, -1.845, 1.057, 0.756, 0, 0, 0, [SEP] 32, Window, 1.932, 1.409, -0.507, 90, 270, 0, [SEP] 33, Window, 0.481, 1.411, -1.932, 90, 0, 0, [SEP] 34, SideTable, 0.626, 0.0, -1.705, 0, 0, 0, [SEP] 35, Footstool, 0.176, 0.006, -0.358, 0, 0, 0, [SEP] 36, Dumbbell, 1.596, 0.715, 0.772, 0, 0, 0, [SEP] 37, Dumbbell, 1.776, 0.717, 0.772, 0, 0, 0, [SEP] 38, Shelf, -1.700, 0.573, 1.540, 0, 90, 0, [SEP] 39, Shelf, -1.700, 0.156, 1.540, 0, 90, 0, [SEP] 40, Shelf, -1.700, 0.377, 1.540, 0, 90, 0, [SEP] 41, Shelf, -1.839, 1.084, 1.235, 0, 90, 0, [SEP] 42, Desk, -1.722, 0.003, 0.920, 0, 90, 0, [SEP] 43, Footstool, 0.175, 0.004, -0.652, 0, 0, 0, [SEP] 44, GarbageBag, 1.624, 0.319, -1.609, 270, 90, 83.418, [SEP] 45, Desk, 1.519, 1.823, 0.385, 0, 270, 0, [SEP] 46, Chair, -1.459, 0.003, 0.929, 0, 292.527, 0, [SEP] 47, NorthWall, , , , , , , [SEP] 48, EastWall, , , , , , , [SEP] 49, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and move to the right hand side of the drafting table. | STEP 2: Pick up the basketball underneath the drafting table. | STEP 3: Turn right and move to face the middle of the drafting table. | STEP 4: Place the basketball on the left hand side of the drafting table. | END"]} +{"id": "trial_T20190909_035442_070732-2", "input": "put basket ball on table top SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.901, 0.25, 0, 90, 0, [SEP] 1, Pen, 1.228, 0.717, 0.409, 0, 270, 0, 45 [SEP] 2, Pen, -1.575, 0.512, 1.381, 0, 270, 0, 38 [SEP] 3, Pencil, 1.228, 0.715, 0.022, 0, 270, 0, 45 [SEP] 4, Pencil, 1.769, 0.715, 0.796, 0, 270, 0, 45 [SEP] 5, CreditCard, -1.734, 0.287, 1.648, 0, 270, 0, 40 [SEP] 6, CreditCard, -1.906, 1.071, 1.067, 0, 270, 0, 41 [SEP] 7, KeyChain, -1.815, 0.675, 1.636, 0, 0, 0, 42 [SEP] 8, Book, -1.734, 0.286, 1.448, 0, 270, 0, 40 [SEP] 9, Book, -1.541, 0.540, -0.971, 0, 0, 0, 26 [SEP] 10, Pillow, -0.823, 0.618, -0.549, 0, 0, 0, 26 [SEP] 11, AlarmClock, -1.617, 0.673, 1.206, 0, 0, 0, 42 [SEP] 12, Book, 1.318, 0.711, 0.215, 0, 270, 0, 45 [SEP] 13, AlarmClock, 1.408, 0.711, 0.602, 0, 270, 0, 45 [SEP] 14, BasketBall, 1.510, 0.120, -0.105, 0, 0, 0, [SEP] 15, TeddyBear, -1.7, 0.475, -0.331, 0, 225, 0, 26 [SEP] 16, TennisRacket, 1.551, 0.000, 0.654, 270, 336.082, 0, [SEP] 17, Pen, -1.683, 0.681, 0.776, 0, 0, 0, 42 [SEP] 18, Pencil, -1.881, 0.678, 1.493, 0, 0, 0, 42 [SEP] 19, KeyChain, 0.789, 0.684, -1.663, 0, 0, 0, 34 [SEP] 20, CreditCard, -1.815, 0.675, 1.493, 0, 0, 0, 42 [SEP] 21, Laptop, -1.786, 0.634, 0.206, 0, 159.517, 0, 42 [SEP] 22, CellPhone, -1.787, 0.066, 1.581, 0, 270, 0, 39 [SEP] 23, Pillow, -0.344, 0.618, -0.971, 0, 0, 0, 26 [SEP] 24, CD, -1.550, 0.672, 1.349, 0, 0, 0, 42 [SEP] 25, Curtains, 1.865, 2.039, -0.495, 0, 0, 0, [SEP] 26, Bed, -1.037, 0.009, -0.690, 0, 270, 0, [SEP] 27, Mirror, 0.549, 1.494, 1.880, 0, 0, 0, [SEP] 28, Curtains, 0.486, 2.035, -1.853, 0, 90, 0, [SEP] 29, GarbageCan, 1.683, -0.018, 1.670, 0, 270, 0, [SEP] 30, LightSwitch, -0.119, 1.317, 1.853, 0, 180, 0, [SEP] 31, DeskLamp, -1.845, 1.057, 0.756, 0, 0, 0, [SEP] 32, Window, 1.932, 1.409, -0.507, 90, 270, 0, [SEP] 33, Window, 0.481, 1.411, -1.932, 90, 0, 0, [SEP] 34, SideTable, 0.626, 0.0, -1.705, 0, 0, 0, [SEP] 35, Footstool, 0.176, 0.006, -0.358, 0, 0, 0, [SEP] 36, Dumbbell, 1.596, 0.715, 0.772, 0, 0, 0, [SEP] 37, Dumbbell, 1.776, 0.717, 0.772, 0, 0, 0, [SEP] 38, Shelf, -1.700, 0.573, 1.540, 0, 90, 0, [SEP] 39, Shelf, -1.700, 0.156, 1.540, 0, 90, 0, [SEP] 40, Shelf, -1.700, 0.377, 1.540, 0, 90, 0, [SEP] 41, Shelf, -1.839, 1.084, 1.235, 0, 90, 0, [SEP] 42, Desk, -1.722, 0.003, 0.920, 0, 90, 0, [SEP] 43, Footstool, 0.175, 0.004, -0.652, 0, 0, 0, [SEP] 44, GarbageBag, 1.624, 0.319, -1.609, 270, 90, 83.418, [SEP] 45, Desk, 1.519, 1.823, 0.385, 0, 270, 0, [SEP] 46, Chair, -1.459, 0.003, 0.929, 0, 292.527, 0, [SEP] 47, NorthWall, , , , , , , [SEP] 48, EastWall, , , , , , , [SEP] 49, WestWall, , , , , , , ", "output": ["STEP 1: walk to face right side of white table | STEP 2: pick up basket ball under the table | STEP 3: walk to face front side of table | STEP 4: put basket ball on left side of table | END"]} +{"id": "trial_T20190908_135834_396351-0", "input": "Put a warm slice of bread in the garbage. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.900, 0.25, 0, 180, 0, [SEP] 1, Potato, 0.258, 0.951, -1.263, 0, 90, 0, 40 [SEP] 2, DishSponge, 1.239, 0.760, -1.544, 0, 0, 0, 55 [SEP] 3, Spoon, 1.865, 0.912, -1.631, 0, 90, 0, 40 [SEP] 4, Spoon, 0.732, 0.911, 0.827, 0, 90, 0, 36 [SEP] 5, Cup, -0.692, 0.458, -1.476, 0, 0, 0, 63 [SEP] 6, Knife, 1.762, 0.943, 0.415, 0, 90, 0, 36 [SEP] 7, Tomato, 1.77, 0.134, 1.779, 0, 270, 0, 54 [SEP] 8, Tomato, -0.256, 1.127, -1.382, 0, 0, 0, 63 [SEP] 9, SaltShaker, 1.726, 0.906, -1.717, 0, 90, 0, 40 [SEP] 10, SaltShaker, 1.757, 0.905, 0.739, 0, 90, 0, 36 [SEP] 11, PepperShaker, 1.529, 0.905, 0.622, 0, 90, 0, 36 [SEP] 12, Mug, 0.840, 0.906, -1.264, 0, 90, 0, 55 [SEP] 13, Mug, 1.769, 1.648, -0.353, 0, 0, 0, 47 [SEP] 14, Plate, -0.741, 1.684, -1.594, 0, 0, 0, 63 [SEP] 15, SoapBottle, 1.877, 1.652, -0.401, 0, 0, 0, 47 [SEP] 16, Cup, -0.741, 0.458, -1.670, 0, 0, 0, 63 [SEP] 17, Egg, 0.553, 0.946, -1.263, 0, 90, 0, 40 [SEP] 18, Fork, 1.529, 0.911, 0.518, 0, 90, 0, 36 [SEP] 19, Ladle, 1.201, 0.926, 0.743, 3.402, 0, 346.985, 36 [SEP] 20, Apple, 1.245, 0.967, 1.092, 0, 90, 0, 36 [SEP] 21, SaltShaker, 0.989, 0.905, 0.827, 0, 90, 0, 36 [SEP] 22, Pan, 1.543, 0.909, -0.320, 0, 90, 0, 39 [SEP] 23, Tomato, -0.692, 0.814, -1.629, 0, 0, 0, 63 [SEP] 24, Spatula, 0.963, 0.775, -1.488, 0, 270, 0, 55 [SEP] 25, Potato, 1.101, 0.800, -1.544, 0, 0, 0, 55 [SEP] 26, Knife, 1.839, 0.943, 0.570, 0, 0, 0, 36 [SEP] 27, ButterKnife, 0.296, 0.9, -1.296, 0, 14.568, 0, 40 [SEP] 28, Bread, 0.732, 0.987, 0.739, 0, 90, 0, 36 [SEP] 29, Lettuce, 1.726, 1.011, -1.545, 0, 90, 0, 40 [SEP] 30, PepperShaker, 0.455, 0.906, -1.263, 0, 90, 0, 40 [SEP] 31, Pot, 1.807, 0.909, 0.075, 0, 180, 0, 37 [SEP] 32, DishSponge, 1.841, 1.634, -1.419, 0, 0, 0, 49 [SEP] 33, Spoon, 1.586, 0.912, -1.374, 0, 90, 0, 40 [SEP] 34, Bowl, 0.988, 0.909, 1.180, 0, 90, 0, 36 [SEP] 35, Mug, 0.502, 0.940, -1.460, 0, 0, 0, 62 [SEP] 36, CounterTop, 0.989, 0.946, 1.016, 0, 90, 0, [SEP] 37, StoveBurner, 1.807, 0.907, 0.075, 0, 180, 0, [SEP] 38, StoveBurner, 1.807, 0.907, -0.320, 0, 180, 0, [SEP] 39, StoveBurner, 1.543, 0.907, -0.320, 0, 90, 0, [SEP] 40, CounterTop, 0.989, 0.946, -1.516, 0, 90, 0, [SEP] 41, Sink, 1.100, 0.906, -1.599, 0, 0, 0, [SEP] 42, StoveBurner, 1.548, 0.907, 0.075, 0, 180, 0, [SEP] 43, Cabinet, 1.658, 2.299, 1.313, 0, 0, 0, [SEP] 44, Cabinet, 1.658, 2.299, 0.686, 0, 0, 0, [SEP] 45, Cabinet, 1.658, 2.049, 0.673, 0, 0, 0, [SEP] 46, Cabinet, 1.658, 2.059, 0.193, 0, 0, 0, [SEP] 47, Cabinet, 1.658, 2.059, -0.593, 0, 0, 0, [SEP] 48, Cabinet, 1.658, 2.049, -0.606, 0, 0, 0, [SEP] 49, Cabinet, 1.658, 2.049, -1.206, 0, 0, 0, [SEP] 50, Cabinet, 1.658, 2.049, -1.893, 0, 0, 0, [SEP] 51, Toaster, 0.131, 0.900, -1.589, 0, 0, 0, [SEP] 52, Window, -0.372, 1.588, 3.349, 90, 0, 0, [SEP] 53, Window, 0.782, 1.741, -1.893, 90, 0, 0, [SEP] 54, GarbageCan, 1.770, -0.029, 1.685, 0, 270, 0, [SEP] 55, SinkBasin, 1.091, 0.740, -1.599, 0, 0, 0, [SEP] 56, StoveKnob, 1.364, 0.821, 0.086, 48.421, 270, 0, [SEP] 57, StoveKnob, 1.364, 0.821, -0.180, 48.421, 270, 0, [SEP] 58, StoveKnob, 1.364, 0.821, -0.317, 48.421, 270, 0, [SEP] 59, StoveKnob, 1.364, 0.821, -0.054, 48.421, 270, 0, [SEP] 60, Microwave, 1.752, 0.900, -0.843, 0, 270, 0, [SEP] 61, LightSwitch, 2.0, 1.261, 3.094, 0, 270, 0, [SEP] 62, CoffeeMachine, 0.501, 0.900, -1.600, 0, 0, 0, [SEP] 63, Fridge, -0.533, 0.0, -1.554, 0, 0, 0, [SEP] 64, Chair, 1.068, 0.000, 1.752, 0, 191.622, 0, [SEP] 65, Faucet, 1.110, 1.138, -1.764, 0, 270, 0, [SEP] 66, Chair, 0.357, 0.000, 1.710, 0, 178.899, 0, [SEP] 67, NorthWall, , , , , , , [SEP] 68, EastWall, , , , , , , [SEP] 69, SouthWall, , , , , , , [SEP] 70, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and walk to the counter. | STEP 2: Pick up the knife that's in front of you on the counter vertically. | STEP 3: Turn left and take a step to your left. | STEP 4: Cut the left half of the loaf of bread into slices please. | STEP 5: Take a step to your right please. | STEP 6: Stand the knife on point near the handle of the ice cream scoop almost touching the blue part of the handle with the tip and let it fall. | STEP 7: Take a step back to your left please. | STEP 8: Pick up the middle slice of bread please. | STEP 9: Turn around and walk to the counter then turn left and walk to the microwave. | STEP 10: Warm the bread in the microwave then take it back out and close the door. | STEP 11: Turn left and walk past the counter to your right then turn right and walk past the counter and stool then turn right and walk to the door then turn right to face the garbage. | STEP 12: Put the bread in the garbage please. | END"]} +{"id": "trial_T20190908_135834_396351-2", "input": "Place a heated slice of bread in a bin SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.900, 0.25, 0, 180, 0, [SEP] 1, Potato, 0.258, 0.951, -1.263, 0, 90, 0, 40 [SEP] 2, DishSponge, 1.239, 0.760, -1.544, 0, 0, 0, 55 [SEP] 3, Spoon, 1.865, 0.912, -1.631, 0, 90, 0, 40 [SEP] 4, Spoon, 0.732, 0.911, 0.827, 0, 90, 0, 36 [SEP] 5, Cup, -0.692, 0.458, -1.476, 0, 0, 0, 63 [SEP] 6, Knife, 1.762, 0.943, 0.415, 0, 90, 0, 36 [SEP] 7, Tomato, 1.77, 0.134, 1.779, 0, 270, 0, 54 [SEP] 8, Tomato, -0.256, 1.127, -1.382, 0, 0, 0, 63 [SEP] 9, SaltShaker, 1.726, 0.906, -1.717, 0, 90, 0, 40 [SEP] 10, SaltShaker, 1.757, 0.905, 0.739, 0, 90, 0, 36 [SEP] 11, PepperShaker, 1.529, 0.905, 0.622, 0, 90, 0, 36 [SEP] 12, Mug, 0.840, 0.906, -1.264, 0, 90, 0, 55 [SEP] 13, Mug, 1.769, 1.648, -0.353, 0, 0, 0, 47 [SEP] 14, Plate, -0.741, 1.684, -1.594, 0, 0, 0, 63 [SEP] 15, SoapBottle, 1.877, 1.652, -0.401, 0, 0, 0, 47 [SEP] 16, Cup, -0.741, 0.458, -1.670, 0, 0, 0, 63 [SEP] 17, Egg, 0.553, 0.946, -1.263, 0, 90, 0, 40 [SEP] 18, Fork, 1.529, 0.911, 0.518, 0, 90, 0, 36 [SEP] 19, Ladle, 1.201, 0.926, 0.743, 3.402, 0, 346.985, 36 [SEP] 20, Apple, 1.245, 0.967, 1.092, 0, 90, 0, 36 [SEP] 21, SaltShaker, 0.989, 0.905, 0.827, 0, 90, 0, 36 [SEP] 22, Pan, 1.543, 0.909, -0.320, 0, 90, 0, 39 [SEP] 23, Tomato, -0.692, 0.814, -1.629, 0, 0, 0, 63 [SEP] 24, Spatula, 0.963, 0.775, -1.488, 0, 270, 0, 55 [SEP] 25, Potato, 1.101, 0.800, -1.544, 0, 0, 0, 55 [SEP] 26, Knife, 1.839, 0.943, 0.570, 0, 0, 0, 36 [SEP] 27, ButterKnife, 0.296, 0.9, -1.296, 0, 14.568, 0, 40 [SEP] 28, Bread, 0.732, 0.987, 0.739, 0, 90, 0, 36 [SEP] 29, Lettuce, 1.726, 1.011, -1.545, 0, 90, 0, 40 [SEP] 30, PepperShaker, 0.455, 0.906, -1.263, 0, 90, 0, 40 [SEP] 31, Pot, 1.807, 0.909, 0.075, 0, 180, 0, 37 [SEP] 32, DishSponge, 1.841, 1.634, -1.419, 0, 0, 0, 49 [SEP] 33, Spoon, 1.586, 0.912, -1.374, 0, 90, 0, 40 [SEP] 34, Bowl, 0.988, 0.909, 1.180, 0, 90, 0, 36 [SEP] 35, Mug, 0.502, 0.940, -1.460, 0, 0, 0, 62 [SEP] 36, CounterTop, 0.989, 0.946, 1.016, 0, 90, 0, [SEP] 37, StoveBurner, 1.807, 0.907, 0.075, 0, 180, 0, [SEP] 38, StoveBurner, 1.807, 0.907, -0.320, 0, 180, 0, [SEP] 39, StoveBurner, 1.543, 0.907, -0.320, 0, 90, 0, [SEP] 40, CounterTop, 0.989, 0.946, -1.516, 0, 90, 0, [SEP] 41, Sink, 1.100, 0.906, -1.599, 0, 0, 0, [SEP] 42, StoveBurner, 1.548, 0.907, 0.075, 0, 180, 0, [SEP] 43, Cabinet, 1.658, 2.299, 1.313, 0, 0, 0, [SEP] 44, Cabinet, 1.658, 2.299, 0.686, 0, 0, 0, [SEP] 45, Cabinet, 1.658, 2.049, 0.673, 0, 0, 0, [SEP] 46, Cabinet, 1.658, 2.059, 0.193, 0, 0, 0, [SEP] 47, Cabinet, 1.658, 2.059, -0.593, 0, 0, 0, [SEP] 48, Cabinet, 1.658, 2.049, -0.606, 0, 0, 0, [SEP] 49, Cabinet, 1.658, 2.049, -1.206, 0, 0, 0, [SEP] 50, Cabinet, 1.658, 2.049, -1.893, 0, 0, 0, [SEP] 51, Toaster, 0.131, 0.900, -1.589, 0, 0, 0, [SEP] 52, Window, -0.372, 1.588, 3.349, 90, 0, 0, [SEP] 53, Window, 0.782, 1.741, -1.893, 90, 0, 0, [SEP] 54, GarbageCan, 1.770, -0.029, 1.685, 0, 270, 0, [SEP] 55, SinkBasin, 1.091, 0.740, -1.599, 0, 0, 0, [SEP] 56, StoveKnob, 1.364, 0.821, 0.086, 48.421, 270, 0, [SEP] 57, StoveKnob, 1.364, 0.821, -0.180, 48.421, 270, 0, [SEP] 58, StoveKnob, 1.364, 0.821, -0.317, 48.421, 270, 0, [SEP] 59, StoveKnob, 1.364, 0.821, -0.054, 48.421, 270, 0, [SEP] 60, Microwave, 1.752, 0.900, -0.843, 0, 270, 0, [SEP] 61, LightSwitch, 2.0, 1.261, 3.094, 0, 270, 0, [SEP] 62, CoffeeMachine, 0.501, 0.900, -1.600, 0, 0, 0, [SEP] 63, Fridge, -0.533, 0.0, -1.554, 0, 0, 0, [SEP] 64, Chair, 1.068, 0.000, 1.752, 0, 191.622, 0, [SEP] 65, Faucet, 1.110, 1.138, -1.764, 0, 270, 0, [SEP] 66, Chair, 0.357, 0.000, 1.710, 0, 178.899, 0, [SEP] 67, NorthWall, , , , , , , [SEP] 68, EastWall, , , , , , , [SEP] 69, SouthWall, , , , , , , [SEP] 70, WestWall, , , , , , , ", "output": ["STEP 1: Go to the left of the stove stove | STEP 2: Pick up the knife on the left | STEP 3: Turn to the loaf of bread | STEP 4: Cut the loaf of bread | STEP 5: Turn to the right | STEP 6: Place the knife down on the counter | STEP 7: Go to the sliced bread | STEP 8: Take a slice of bread | STEP 9: Go to the microwave | STEP 10: Heat the bread in the microwave | STEP 11: Go to the black bin | STEP 12: Put the bread in the bin | END"]} +{"id": "trial_T20190912_105122_111365-2", "input": "place a pan with a sponge in it on the shelf SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, 2.5, 0, 270, 0, [SEP] 1, Potato, -0.598, 0.933, -1.119, 0, 47.530, 0, 79 [SEP] 2, CreditCard, -2.438, 0.908, 0.275, 0, 0, 0, 79 [SEP] 3, DishSponge, -2.774, 2.043, 0.718, 0, 0, 0, 69 [SEP] 4, DishSponge, -1.159, 0.849, -1.25, 0, 0, 0, 89 [SEP] 5, DishSponge, -2.103, 0.746, -1.051, 0, 0, 0, 74 [SEP] 6, ButterKnife, 0.413, 1.111, 0.998, 0, 315, 0, 72 [SEP] 7, Kettle, -0.009, 1.112, 1.268, 0, 315, 0, 72 [SEP] 8, Kettle, 1.413, 1.112, 0.614, 0, 315, 0, 72 [SEP] 9, Spoon, 0.307, 0.747, -1.052, 0, 0, 0, 80 [SEP] 10, Fork, -1.073, 0.852, -1.139, 0, 270, 0, 89 [SEP] 11, Spatula, 0.143, 1.107, 1.421, 0, 135, 0, 72 [SEP] 12, Spatula, 0.688, 0.926, -1.199, 0, 90, 0, 79 [SEP] 13, Cup, 0.346, 1.004, -1.414, 0, 0, 0, 92 [SEP] 14, Cup, -2.800, 0.818, 1.013, 0, 90, 0, 91 [SEP] 15, Egg, 0.253, 1.146, 1.768, 0, 315, 0, 72 [SEP] 16, Egg, -2.853, 0.946, -0.147, 0, 0, 0, 71 [SEP] 17, SoapBottle, 1.014, 1.663, -1.397, 0, 0, 0, 57 [SEP] 18, SoapBottle, -2.085, 0.912, -1.449, 0, 0, 0, 79 [SEP] 19, Tomato, -2.728, 0.087, 1.466, 0, 0, 0, 90 [SEP] 20, Tomato, 0.156, 1.161, 1.715, 0, 315, 0, 72 [SEP] 21, Bowl, -2.680, 0.377, 0.852, 0, 90, 0, 91 [SEP] 22, Lettuce, -2.860, 1.752, 0.771, 0, 90, 0, 91 [SEP] 23, Lettuce, -2.740, 1.553, 1.013, 0, 90, 0, 91 [SEP] 24, PepperShaker, -2.388, 0.907, -1.032, 0, 0, 0, 79 [SEP] 25, PepperShaker, 0.997, 0.907, -1.032, 0, 0, 0, 79 [SEP] 26, Bread, 0.842, 0.965, -1.365, 0, 0, 0, 79 [SEP] 27, Bread, -2.740, 1.528, 0.690, 0, 90, 0, 91 [SEP] 28, Pan, -2.59, 0.9, -1.147, 0, 0, 0, 79 [SEP] 29, Apple, 0.199, 1.145, 1.504, 327.012, 286.349, 128.807, 72 [SEP] 30, Fork, -1.591, 0.852, -1.305, 0, 90, 0, 89 [SEP] 31, Kettle, -2.849, 1.666, -1.059, 0, 0, 0, 51 [SEP] 32, CreditCard, -2.542, 0.743, 0.099, 0, 0, 0, 79 [SEP] 33, Bread, -0.401, 0.948, -1.291, 0, 0, 0, 79 [SEP] 34, Plate, -1.458, 0.843, -1.235, 0, 0, 0, 89 [SEP] 35, SoapBottle, 0.471, 1.112, 1.402, 0, 315, 0, 72 [SEP] 36, Spatula, -2.236, 0.926, -1.199, 0, 0, 0, 79 [SEP] 37, Lettuce, -2.860, 0.899, 0.690, 0, 90, 0, 91 [SEP] 38, SaltShaker, -2.695, 0.9, -0.132, 0, 0, 0, 71 [SEP] 39, Tomato, 0.375, 1.161, 1.652, 0, 315, 0, 72 [SEP] 40, PepperShaker, -2.521, 0.907, 0.359, 0, 0, 0, 71 [SEP] 41, ButterKnife, -2.026, 0.746, -0.966, 0, 0, 0, 74 [SEP] 42, Pot, -2.622, 0.928, -0.396, 0, 0, 0, 73 [SEP] 43, DishSponge, 0.307, 0.745, -1.138, 0, 0, 0, 80 [SEP] 44, Egg, -2.757, 0.072, 1.361, 0, 0, 0, 90 [SEP] 45, Spoon, -1.933, 0.912, -1.365, 0, 0, 0, 79 [SEP] 46, Knife, 0.060, 1.107, 1.587, 271.226, 129.935, 80.049, 72 [SEP] 47, Cup, 0.451, 1.007, -1.314, 0, 0, 0, 92 [SEP] 48, Mug, 0.372, 1.654, -1.353, 0, 0, 0, 58 [SEP] 49, Bowl, -0.092, 1.110, 1.510, 0, 315, 0, 72 [SEP] 50, Cabinet, -2.647, 2.075, -0.875, 0, 0, 0, [SEP] 51, Cabinet, -2.647, 2.075, -0.234, 0, 0, 0, [SEP] 52, Cabinet, -0.824, 0.469, -0.907, 0, 0, 0, [SEP] 53, Cabinet, -1.764, 2.009, -1.197, 0, 0, 0, [SEP] 54, Cabinet, -1.834, 2.009, -1.197, 0, 0, 0, [SEP] 55, Cabinet, -1.850, 0.389, -0.897, 0, 0, 0, [SEP] 56, Cabinet, -1.801, 0.469, -0.907, 0, 0, 0, [SEP] 57, Cabinet, 1.115, 2.009, -1.197, 0, 0, 0, [SEP] 58, Cabinet, 0.235, 2.009, -1.197, 0, 0, 0, [SEP] 59, Cabinet, 1.125, 0.470, -0.897, 0, 0, 0, [SEP] 60, Cabinet, -2.387, 0.389, 0.375, 0, 0, 0, [SEP] 61, Cabinet, 0.484, 0.389, -0.897, 0, 0, 0, [SEP] 62, Cabinet, -2.625, 2.009, -1.197, 0, 0, 0, [SEP] 63, Cabinet, -2.647, 2.009, -0.945, 0, 0, 0, [SEP] 64, Cabinet, -2.647, 2.200, 1.664, 0, 0, 0, [SEP] 65, Cabinet, -2.647, 2.009, 0.364, 0, 0, 0, [SEP] 66, Cabinet, 0.164, 2.009, -1.197, 0, 0, 0, [SEP] 67, Cabinet, -0.765, 2.009, -1.197, 0, 0, 0, [SEP] 68, Cabinet, -0.834, 2.009, -1.197, 0, 0, 0, [SEP] 69, Cabinet, -2.647, 2.200, 0.434, 0, 0, 0, [SEP] 70, StoveBurner, -2.622, 0.886, -0.711, 0, 0, 0, [SEP] 71, CounterTop, -2.699, 0.946, 0.106, 0, 0, 0, [SEP] 72, CounterTop, 0.908, 1.147, 0.788, 0, 315, 0, [SEP] 73, StoveBurner, -2.622, 0.886, -0.396, 0, 0, 0, [SEP] 74, Drawer, -2.026, 0.779, -1.082, 0, 0, 0, [SEP] 75, Sink, -1.328, 0.916, -1.225, 0, 0, 0, [SEP] 76, StoveBurner, -2.822, 0.886, -0.711, 0, 0, 0, [SEP] 77, Drawer, -2.572, 0.779, 0.099, 0, 0, 0, [SEP] 78, StoveBurner, -2.822, 0.886, -0.396, 0, 0, 0, [SEP] 79, CounterTop, 0.071, 0.946, -1.199, 0, 0, 0, [SEP] 80, Drawer, 0.254, 0.779, -1.082, 0, 0, 0, [SEP] 81, LightSwitch, -1.167, 1.307, 3.0, 0, 180, 0, [SEP] 82, CoffeeMachine, 1.124, 1.100, 0.312, 0, 227.685, 0, [SEP] 83, StoveKnob, -2.429, 0.863, -0.621, 311.864, 270, 180, [SEP] 84, StoveKnob, -2.429, 0.863, -0.477, 311.864, 270, 180, [SEP] 85, StoveKnob, -2.429, 0.863, -0.782, 311.864, 270, 180, [SEP] 86, StoveKnob, -2.429, 0.863, -0.324, 311.864, 270, 180, [SEP] 87, Window, 0.321, 1.449, 3.088, 90, 0, 0, [SEP] 88, Toaster, -2.823, 0.899, 0.246, 0, 90, 0, [SEP] 89, SinkBasin, -1.344, 0.838, -1.25, 0, 0, 0, [SEP] 90, GarbageCan, -2.757, 1.886, 1.466, 0, 0, 0, [SEP] 91, Fridge, -2.855, 0.0, 0.851, 0, 0, 0, [SEP] 92, Microwave, 0.283, 0.900, -1.331, 0, 0, 0, [SEP] 93, Stool, 1.541, 0.010, 1.328, 0, 45, 0, [SEP] 94, Stool, 0.983, 0.010, 1.793, 0, 47.459, 0, [SEP] 95, Faucet, -1.392, 1.136, -1.399, 0, 270, 0, [SEP] 96, NorthWall, , , , , , , [SEP] 97, EastWall, , , , , , , [SEP] 98, SouthWall, , , , , , , [SEP] 99, WestWall, , , , , , , ", "output": ["STEP 1: turn left and head to the sink | STEP 2: pick up the sponge | STEP 3: turn right to the sink | STEP 4: place the sponge in the pan in the sink | STEP 5: pick up the pan | STEP 6: turn right and move to the overhead shelf | STEP 7: place the pan in the shelf | END"]} +{"id": "trial_T20190909_081824_186147-2", "input": "Clean the dirty pan, bring it back to the stove. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.901, 1.0, 0, 0, 0, [SEP] 1, Potato, -1.770, 0.954, 0.433, 0, 0, 0, 60 [SEP] 2, DishSponge, -1.824, 0.661, 0.355, 0, 0, 0, 63 [SEP] 3, DishSponge, -2.437, 0.927, 0.433, 0, 0, 0, 60 [SEP] 4, ButterKnife, -2.269, 0.662, 0.464, 0, 0, 0, 68 [SEP] 5, ButterKnife, -2.377, 0.900, 2.177, 0, 90, 0, 81 [SEP] 6, Spatula, -2.785, 0.950, 3.209, 0, 0, 0, 67 [SEP] 7, Spatula, -1.219, 0.943, 0.650, 0, 0, 0, 60 [SEP] 8, Spoon, -2.583, 0.901, 2.177, 0, 0, 0, 81 [SEP] 9, Spoon, -2.377, 0.901, 2.045, 0, 0, 0, 81 [SEP] 10, Fork, -2.431, 0.662, 0.519, 0, 270, 0, 68 [SEP] 11, Pot, -2.805, 0.632, 4.278, 0, 180, 0, 77 [SEP] 12, Egg, -1.352, 0.961, 0.032, 0, 0, 0, 60 [SEP] 13, Egg, -2.480, 0.933, 2.441, 0, 0, 0, 81 [SEP] 14, Cup, -0.572, 0.900, 2.731, 0, 0, 0, 83 [SEP] 15, Cup, -2.191, 1.773, 0.114, 0, 0, 0, 56 [SEP] 16, Knife, -2.583, 0.926, 2.573, 0, 0, 0, 81 [SEP] 17, Knife, -2.377, 0.926, 2.309, 0, 90, 0, 81 [SEP] 18, Tomato, -1.904, 0.992, 0.348, 0, 0, 0, 60 [SEP] 19, Tomato, -0.314, 0.964, 2.731, 0, 0, 0, 83 [SEP] 20, SaltShaker, -2.485, 0.658, 0.300, 0, 0, 0, 68 [SEP] 21, SaltShaker, -1.770, 0.658, 0.519, 0, 0, 0, 63 [SEP] 22, PepperShaker, -2.215, 0.658, 0.300, 0, 0, 0, 68 [SEP] 23, PepperShaker, -2.583, 0.896, 2.706, 0, 0, 0, 81 [SEP] 24, Lettuce, -2.847, 1.266, 4.501, 0, 90, 0, 77 [SEP] 25, Mug, -2.691, 0.294, 4.204, 0, 90, 0, 77 [SEP] 26, Mug, -0.350, 1.013, 0.171, 0, 270, 0, 79 [SEP] 27, Apple, -2.549, 0.991, 3.209, 0, 0, 0, 67 [SEP] 28, Egg, -2.878, 0.332, 4.278, 0, 90, 0, 77 [SEP] 29, Plate, -0.304, 1.777, 0.160, 0, 0, 0, 59 [SEP] 30, Fork, -2.628, 0.936, 3.488, 0, 90, 0, 67 [SEP] 31, Bread, -2.871, 0.940, 1.981, 0, 0, 0, 81 [SEP] 32, Apple, -0.350, 1.079, 0.267, 0, 0, 0, 79 [SEP] 33, Lettuce, -0.657, 0.980, 2.530, 0, 0, 0, 83 [SEP] 34, Spatula, -2.583, 0.897, 1.913, 1.208, 0, 0, 81 [SEP] 35, Knife, -0.486, 0.926, 2.329, 0, 0, 0, 83 [SEP] 36, Potato, -0.314, 0.926, 3.334, 0, 0, 0, 83 [SEP] 37, Tomato, -2.686, 0.964, 2.177, 0, 0, 0, 81 [SEP] 38, Cup, -2.831, 0.298, 4.501, 0, 90, 0, 77 [SEP] 39, SaltShaker, -2.706, 0.931, 3.302, 0, 0, 0, 67 [SEP] 40, PepperShaker, -1.770, 0.924, 0.602, 0, 0, 0, 60 [SEP] 41, ButterKnife, -0.228, 0.900, 2.731, 0, 0, 0, 83 [SEP] 42, SoapBottle, -2.480, 0.900, 2.309, 0, 0, 0, 81 [SEP] 43, Pan, -0.535, 0.928, 4.274, 0, 0, 0, 64 [SEP] 44, DishSponge, -1.904, 0.927, 0.518, 0, 0, 0, 60 [SEP] 45, Pot, -0.572, 0.900, 3.133, 0, 180, 0, 83 [SEP] 46, Spoon, -0.486, 0.901, 2.530, 0, 0, 0, 83 [SEP] 47, Mug, -2.995, 0.895, 2.441, 0, 0, 0, 81 [SEP] 48, Bowl, -1.138, 1.770, 0.297, 0, 90, 0, 57 [SEP] 49, Drawer, -0.325, 0.696, 0.413, 0, 0, 0, [SEP] 50, Cabinet, -0.595, 0.490, 0.648, 0, 0, 0, [SEP] 51, Cabinet, -0.555, 0.490, 0.646, 0, 0, 0, [SEP] 52, Cabinet, -1.591, 0.490, 0.646, 0, 0, 0, [SEP] 53, Cabinet, -1.554, 0.490, 0.646, 0, 0, 0, [SEP] 54, Cabinet, -2.550, 0.490, 0.646, 0, 0, 0, [SEP] 55, Cabinet, -1.514, 2.046, 0.392, 0, 0, 0, [SEP] 56, Cabinet, -2.474, 2.046, 0.392, 0, 0, 0, [SEP] 57, Cabinet, -1.478, 2.046, 0.392, 0, 0, 0, [SEP] 58, Cabinet, -0.518, 2.046, 0.392, 0, 0, 0, [SEP] 59, Cabinet, -0.479, 2.046, 0.392, 0, 0, 0, [SEP] 60, CounterTop, -1.366, 0.952, 0.349, 0, 0, 0, [SEP] 61, Sink, -1.108, 0.926, 0.340, 0, 0, 0, [SEP] 62, StoveBurner, -0.254, 0.922, 4.672, 0, 0, 0, [SEP] 63, Drawer, -1.824, 0.696, 0.413, 0, 0, 0, [SEP] 64, StoveBurner, -0.535, 0.922, 4.274, 0, 0, 0, [SEP] 65, StoveBurner, -0.254, 0.922, 4.274, 0, 0, 0, [SEP] 66, StoveBurner, -0.536, 0.922, 4.672, 0, 0, 0, [SEP] 67, CounterTop, -2.780, 0.971, 3.487, 0, 0, 0, [SEP] 68, Drawer, -2.323, 0.696, 0.413, 0, 0, 0, [SEP] 69, StoveKnob, -0.064, 1.090, 4.632, 0, 0, 73.865, [SEP] 70, StoveKnob, -0.064, 1.090, 4.782, 0, 0, 73.865, [SEP] 71, StoveKnob, -0.064, 1.090, 4.382, 0, 0, 73.865, [SEP] 72, StoveKnob, -0.064, 1.090, 4.222, 0, 0, 73.865, [SEP] 73, Toaster, -0.286, 0.861, 3.520, 0, 270, 0, [SEP] 74, GarbageCan, -2.816, -0.014, 0.370, 358.702, 26.614, 2.400, [SEP] 75, LightSwitch, -0.064, 1.447, 1.996, 0, 270, 0, [SEP] 76, Window, -3.075, 1.593, 1.361, 90, 90, 0, [SEP] 77, Fridge, -2.802, 0.0, 4.427, 0, 0, 0, [SEP] 78, SinkBasin, -1.106, 0.785, 0.337, 0, 0, 0, [SEP] 79, Microwave, -0.358, 0.917, 0.224, 0, 0, 0, [SEP] 80, CoffeeMachine, -2.938, 0.925, 3.605, 0, 90, 0, [SEP] 81, DiningTable, -2.733, -0.003, 2.607, 0, 270, 0, [SEP] 82, Faucet, -1.077, 0.920, 0.028, 270, 270, 0, [SEP] 83, DiningTable, -0.488, -0.003, 3.182, 0, 270, 0, [SEP] 84, NorthWall, , , , , , , [SEP] 85, EastWall, , , , , , , [SEP] 86, SouthWall, , , , , , , [SEP] 87, WestWall, , , , , , , ", "output": ["STEP 1: Move to the stove. | STEP 2: Pick up the dirty pan from the stove. | STEP 3: Bring the pan to the sink. | STEP 4: Clean the pan in the sink. | STEP 5: Bring the pan to the stove. | STEP 6: Put the pan on the stove. | END"]} +{"id": "trial_T20190909_041627_441053-1", "input": "Put a chilled pan on a table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.5, 0.901, 0.75, 0, 90, 0, [SEP] 1, Potato, -0.167, 0.977, 2.478, 0, 90, 0, 45 [SEP] 2, DishSponge, 0.629, 0.794, 2.529, 0, 0, 0, 69 [SEP] 3, Spoon, -0.282, 0.938, 2.548, 0, 0, 0, 45 [SEP] 4, Egg, 1.276, 0.837, 2.750, 0, 0, 0, 69 [SEP] 5, Egg, 2.301, 0.980, 0.361, 0, 0, 0, 56 [SEP] 6, SoapBottle, -0.396, 0.938, 2.757, 0, 0, 0, 45 [SEP] 7, Tomato, 0.629, 0.841, 2.750, 0, 0, 0, 69 [SEP] 8, Tomato, -0.053, 0.983, 2.827, 0, 0, 0, 45 [SEP] 9, Bowl, 2.165, 1.500, 0.448, 0, 0, 0, 43 [SEP] 10, Bowl, 1.156, 0.078, 2.523, 0, 0, 0, 51 [SEP] 11, SaltShaker, 0.566, 0.076, 2.484, 0, 0, 0, 52 [SEP] 12, PepperShaker, 0.495, 0.076, 2.562, 0, 0, 0, 52 [SEP] 13, PepperShaker, 1.855, 1.498, 2.843, 0, 0, 0, 46 [SEP] 14, Egg, 2.257, 0.980, 2.821, 0, 0, 0, 45 [SEP] 15, Lettuce, 0.277, 0.989, 2.611, 0, 60.216, 0, 45 [SEP] 16, Fork, -0.272, 0.791, 1.217, 0, 0, 0, 72 [SEP] 17, SoapBottle, 2.002, 0.082, 2.057, 0, 0, 0, 41 [SEP] 18, Ladle, 0.037, 0.790, 2.197, 0, 270, 0, 44 [SEP] 19, Ladle, -0.041, 0.125, 2.129, 0, 0, 0, 39 [SEP] 20, Bread, -0.199, 0.823, 0.813, 0, 0, 0, 72 [SEP] 21, SaltShaker, 1.790, 0.932, 2.821, 0, 0, 0, 45 [SEP] 22, Potato, 2.304, 0.977, 2.260, 0, 180, 0, 45 [SEP] 23, Pan, 2.140, 0.935, 1.504, 0, 180, 0, 40 [SEP] 24, WineBottle, 1.844, 0.938, 1.964, 0, 0, 0, 45 [SEP] 25, Spatula, 1.065, 0.810, 2.695, 0, 270, 0, 69 [SEP] 26, Knife, -0.138, 0.772, 2.197, 0, 270, 0, 44 [SEP] 27, Tomato, 1.840, 0.984, 0.583, 0, 0, 0, 56 [SEP] 28, Apple, 0.735, 0.845, 2.529, 0, 0, 0, 69 [SEP] 29, ButterKnife, 1.917, 0.938, 0.361, 0, 180, 0, 56 [SEP] 30, Pot, 1.854, 0.937, 1.497, 0, 0, 0, 49 [SEP] 31, PepperShaker, 2.301, 0.933, 0.806, 0, 0, 0, 56 [SEP] 32, Cup, 2.241, 1.501, 0.725, 0, 0, 0, 53 [SEP] 33, DishSponge, 2.282, 1.500, 2.425, 0, 0, 0, 38 [SEP] 34, Plate, -0.312, 0.781, 0.409, 0, 0, 0, 72 [SEP] 35, Spoon, 1.919, 0.746, 2.060, 0, 0, 0, 60 [SEP] 36, Mug, 2.205, 1.943, 1.468, 0, 0, 0, 50 [SEP] 37, Bowl, -0.294, 1.032, 2.068, 0, 90, 0, 70 [SEP] 38, Cabinet, 2.041, 2.113, 2.618, 0, 0, 0, [SEP] 39, Cabinet, 0.126, 0.388, 1.774, 0, 0, 0, [SEP] 40, StoveBurner, 2.140, 0.929, 1.504, 0, 180, 0, [SEP] 41, Cabinet, 1.760, 0.388, 2.346, 0, 0, 0, [SEP] 42, Cabinet, 1.760, 0.388, 0.869, 0, 0, 0, [SEP] 43, Cabinet, 2.041, 1.810, 0.283, 0, 0, 0, [SEP] 44, Drawer, -0.024, 0.774, 2.061, 0, 0, 0, [SEP] 45, CounterTop, 1.065, 0.973, 2.666, 0, 0, 0, [SEP] 46, Cabinet, 1.969, 2.113, 2.618, 0, 0, 0, [SEP] 47, StoveBurner, 2.140, 0.929, 1.106, 0, 0, 0, [SEP] 48, Cabinet, 2.041, 2.113, 1.809, 0, 0, 0, [SEP] 49, StoveBurner, 1.866, 0.929, 1.504, 0, 180, 0, [SEP] 50, Cabinet, 2.041, 2.113, 1.766, 0, 0, 0, [SEP] 51, Cabinet, 1.514, 0.388, 2.360, 0, 0, 0, [SEP] 52, Cabinet, 0.351, 0.388, 2.360, 0, 0, 0, [SEP] 53, Cabinet, 2.041, 1.810, 0.872, 0, 0, 0, [SEP] 54, Drawer, 2.167, 0.774, 0.582, 0, 0, 0, [SEP] 55, Cabinet, 2.041, 2.113, 0.892, 0, 0, 0, [SEP] 56, CounterTop, 2.060, 0.973, 0.583, 0, 0, 0, [SEP] 57, Sink, 0.935, 0.936, 2.646, 0, 0, 0, [SEP] 58, Curtains, 0.964, 2.061, 2.989, 0, 0, 0, [SEP] 59, StoveBurner, 1.863, 0.929, 1.106, 0, 0, 0, [SEP] 60, Drawer, 1.911, 0.774, 2.060, 0, 0, 0, [SEP] 61, StoveKnob, 2.326, 1.092, 1.610, 288.013, 90, 0, [SEP] 62, StoveKnob, 2.326, 1.092, 1.460, 288.013, 90, 0, [SEP] 63, StoveKnob, 2.326, 1.092, 1.210, 288.013, 90, 0, [SEP] 64, StoveKnob, 2.326, 1.092, 1.050, 288.013, 90, 0, [SEP] 65, Toaster, 2.126, 0.926, 0.572, 0, 270, 0, [SEP] 66, Fridge, 2.104, 0.0, -0.279, 0, 270, 0, [SEP] 67, GarbageCan, -0.309, -0.001, -0.807, 0, 91.471, 0, [SEP] 68, LightSwitch, 0.354, 1.518, -1.031, 0, 0, 0, [SEP] 69, SinkBasin, 0.903, 0.784, 2.640, 0, 0, 0, [SEP] 70, Microwave, -0.310, 0.926, 2.077, 0, 90, 0, [SEP] 71, CoffeeMachine, 2.084, 0.927, 2.667, 0, 225, 0, [SEP] 72, DiningTable, -0.153, -0.000, 1.073, 0, 270, 0, [SEP] 73, Faucet, 1.175, 0.926, 2.950, 270, 90, 0, [SEP] 74, Faucet, 0.686, 0.926, 2.950, 270, 90, 0, [SEP] 75, Chair, -0.077, 0.002, 0.196, 0, 15.000, 0, [SEP] 76, NorthWall, , , , , , , [SEP] 77, EastWall, , , , , , , [SEP] 78, SouthWall, , , , , , , [SEP] 79, WestWall, , , , , , , ", "output": ["STEP 1: Move to the left and face the left side of the stove. | STEP 2: Pick the pan up from the back of the stove. | STEP 3: Turn to the right and then the left to face the fridge. | STEP 4: Put the pan in the fridge and shut the door and then open the door and pick the pan up again. | STEP 5: Turn around and face the white table behind. | STEP 6: Put the pan down on the table. | END"]} +{"id": "trial_T20190918_164429_067847-2", "input": "Move a spoon and cup from a table to a sink SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.914, 2.75, 0, 90, 0, [SEP] 1, DishSponge, -3.368, 0.915, 1.607, 0, 0, 0, 58 [SEP] 2, ButterKnife, -0.994, 0.891, 0.049, 0, 90, 0, 85 [SEP] 3, ButterKnife, -3.463, 0.915, 1.273, 0, 0, 0, 58 [SEP] 4, WineBottle, -2.126, 0.916, 4.231, 0, 0, 0, 49 [SEP] 5, WineBottle, -3.540, 1.460, 3.224, 0, 0, 0, 56 [SEP] 6, Kettle, -3.424, 0.966, 2.374, 0, 0, 0, 55 [SEP] 7, Kettle, -2.840, 0.081, 3.663, 0, 0, 0, 61 [SEP] 8, Spatula, -3.185, 0.760, 1.202, 0, 90, 0, 50 [SEP] 9, Spatula, -3.654, 0.930, 1.106, 0, 90, 0, 58 [SEP] 10, Spoon, -1.921, 0.790, 3.737, 0, 180, 0, 79 [SEP] 11, Spoon, -1.787, 0.892, 0.152, 0, 90, 0, 85 [SEP] 12, Spoon, -1.523, 0.892, 0.049, 0, 90, 0, 85 [SEP] 13, Cup, -0.556, 1.273, 4.027, 0, 180, 0, 75 [SEP] 14, Knife, -3.176, 0.939, 1.189, 0, 90, 0, 58 [SEP] 15, Knife, -1.523, 0.915, 0.461, 0, 270, 0, 85 [SEP] 16, Tomato, -0.994, 0.960, 0.152, 0, 90, 0, 85 [SEP] 17, SoapBottle, -1.161, 0.087, 3.756, 0, 270, 0, 81 [SEP] 18, Bowl, -3.505, 1.545, 2.120, 0, 90, 0, 80 [SEP] 19, SaltShaker, -3.463, 0.911, 3.827, 0, 0, 0, 49 [SEP] 20, PepperShaker, -1.127, 0.887, 0.255, 0, 90, 0, 85 [SEP] 21, PepperShaker, -1.523, 0.887, 0.564, 0, 90, 0, 85 [SEP] 22, Lettuce, -1.259, 0.977, 0.049, 0, 90, 0, 85 [SEP] 23, Mug, -1.666, 0.784, 3.625, 0, 0, 0, 79 [SEP] 24, Mug, -1.985, 0.784, 3.662, 0, 90, 0, 79 [SEP] 25, Apple, -3.081, 0.975, 1.607, 0, 0, 0, 58 [SEP] 26, Egg, -1.666, 0.824, 3.811, 0, 0, 0, 79 [SEP] 27, Knife, -2.402, 0.939, 3.890, 0, 0, 0, 49 [SEP] 28, Fork, -1.259, 0.892, 0.152, 0, 90, 0, 85 [SEP] 29, Bread, -0.994, 0.972, 0.358, 0, 90, 0, 85 [SEP] 30, Potato, -3.368, 0.948, 1.189, 0, 0, 0, 58 [SEP] 31, Plate, -3.005, 0.904, 3.677, 0, 0, 0, 49 [SEP] 32, Pot, -3.144, 0.963, 2.374, 0, 0, 0, 52 [SEP] 33, Kettle, -3.424, 0.966, 1.971, 0, 0, 0, 57 [SEP] 34, WineBottle, -3.573, 1.460, 2.846, 0, 0, 0, 56 [SEP] 35, Bowl, -3.654, 0.914, 1.440, 0, 0, 0, 58 [SEP] 36, Tomato, -3.654, 0.984, 3.663, 0, 0, 0, 49 [SEP] 37, Cup, -1.523, 0.891, -0.053, 0, 90, 0, 85 [SEP] 38, Spatula, -1.711, 0.930, 4.062, 0, 90, 0, 49 [SEP] 39, SoapBottle, -1.608, 0.915, 4.231, 0, 0, 0, 49 [SEP] 40, Lettuce, -1.259, 0.977, 0.358, 0, 180, 0, 85 [SEP] 41, Pan, -2.614, 0.902, 3.620, 0, 0, 0, 49 [SEP] 42, Apple, -2.905, 0.975, 4.106, 0, 0, 0, 49 [SEP] 43, SaltShaker, -1.919, 0.911, 4.146, 0, 0, 0, 49 [SEP] 44, PepperShaker, -3.176, 0.912, 1.440, 0, 0, 0, 58 [SEP] 45, ButterKnife, -1.787, 0.891, 0.152, 0, 90, 0, 85 [SEP] 46, DishSponge, -3.231, 0.083, 1.278, 0, 0, 0, 68 [SEP] 47, Spoon, -3.272, 0.916, 1.357, 0, 0, 0, 58 [SEP] 48, Mug, -0.440, 1.536, 4.067, 0, 180, 0, 75 [SEP] 49, CounterTop, -3.381, 0.950, 3.335, 0, 0, 0, [SEP] 50, Drawer, -3.121, 0.775, 1.357, 0, 0, 0, [SEP] 51, Drawer, -3.121, 0.777, 2.916, 0, 0, 0, [SEP] 52, StoveBurner, -3.148, 0.958, 2.374, 0, 0, 0, [SEP] 53, Sink, -1.797, 0.917, 3.660, 0, 0, 0, [SEP] 54, Cabinet, -1.421, 0.388, 3.459, 0, 0, 0, [SEP] 55, StoveBurner, -3.424, 0.958, 2.374, 0, 0, 0, [SEP] 56, Cabinet, -3.365, 1.931, 2.676, 0, 0, 0, [SEP] 57, StoveBurner, -3.424, 0.958, 1.971, 0, 0, 0, [SEP] 58, CounterTop, -3.381, 0.951, 1.356, 0, 0, 0, [SEP] 59, Drawer, -3.121, 0.781, 3.295, 0, 0, 0, [SEP] 60, Cabinet, -2.205, 0.388, 3.459, 0, 0, 0, [SEP] 61, Cabinet, -2.963, 0.388, 3.459, 0, 0, 0, [SEP] 62, Cabinet, -2.992, 0.388, 2.683, 0, 0, 0, [SEP] 63, Cabinet, -3.352, 2.205, 1.715, 0, 0, 0, [SEP] 64, Cabinet, -3.352, 2.205, 2.653, 0, 0, 0, [SEP] 65, Cabinet, -2.189, 0.388, 3.466, 0, 0, 0, [SEP] 66, Cabinet, -3.365, 1.931, 3.963, 0, 0, 0, [SEP] 67, Cabinet, -3.365, 1.931, 1.056, 0, 0, 0, [SEP] 68, Cabinet, -2.992, 0.388, 1.037, 0, 0, 0, [SEP] 69, StoveBurner, -3.143, 0.958, 1.971, 0, 0, 0, [SEP] 70, StoveKnob, -3.599, 1.110, 2.017, 0, 0, 105.000, [SEP] 71, StoveKnob, -3.599, 1.110, 1.867, 0, 0, 105.000, [SEP] 72, StoveKnob, -3.599, 1.110, 2.267, 0, 0, 105.000, [SEP] 73, StoveKnob, -3.599, 1.110, 2.427, 0, 0, 105.000, [SEP] 74, Toaster, -2.654, 0.902, 4.064, 0, 180, 0, [SEP] 75, Fridge, -0.439, 0.014, 3.996, 0, 0, 0, [SEP] 76, LightSwitch, 0.25, 1.383, 2.085, 0, 270, 0, [SEP] 77, Window, -1.430, 1.338, -0.347, 90, 0, 0, [SEP] 78, CoffeeMachine, -3.550, 0.902, 3.274, 0, 90, 0, [SEP] 79, SinkBasin, -1.802, 0.778, 3.700, 0, 0, 0, [SEP] 80, Microwave, -3.484, 1.430, 2.182, 0, 90, 0, [SEP] 81, GarbageCan, -1.184, -0.020, 3.794, 0, 270, 0, [SEP] 82, Blinds, -1.404, 2.092, -0.296, 0, 0, 0, [SEP] 83, Stool, -1.373, 0.014, 1.048, 1.214, 20.754, 0, [SEP] 84, Faucet, -1.788, 0.903, 3.931, 270, 90, 0, [SEP] 85, DiningTable, -1.399, 0.010, 0.238, 0, 0, 0, [SEP] 86, GarbageBag, -0.291, 0.336, -0.034, 272.372, 348.812, 147.313, [SEP] 87, NorthWall, , , , , , , [SEP] 88, EastWall, , , , , , , [SEP] 89, SouthWall, , , , , , , [SEP] 90, WestWall, , , , , , , ", "output": ["STEP 1: Go to the white table | STEP 2: Pick up the spoon and cup from the table | STEP 3: Go to the sink | STEP 4: Place the spoon and cup in the sink | END"]} +{"id": "trial_T20190908_100949_012440-2", "input": "To pick up a pencil and turn the lamp on. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.900, -0.75, 0, 180, 0, [SEP] 1, Bowl, -1.259, 0.794, -1.696, 0, 0, 0, 46 [SEP] 2, Bowl, -1.283, 1.824, -1.431, 0, 0, 0, 33 [SEP] 3, Pencil, -0.376, 0.796, -1.760, 0, 0, 0, 46 [SEP] 4, Pencil, -0.585, 0.840, -2.072, 0, 0, 0, 29 [SEP] 5, Pen, 0.459, 0.682, -1.635, 0, 0, 0, 45 [SEP] 6, KeyChain, -0.773, 0.793, -1.322, 0, 53.910, 0, 46 [SEP] 7, KeyChain, -0.911, 0.793, -0.385, 0, 0, 0, 46 [SEP] 8, Book, 0.953, 0.578, -0.891, 0, 0, 0, 47 [SEP] 9, Book, -1.194, 0.794, -0.600, 0, 0, 0, 46 [SEP] 10, AlarmClock, -1.194, 0.794, -0.385, 0, 0, 0, 46 [SEP] 11, AlarmClock, -0.315, 0.838, -2.107, 0, 0, 0, 29 [SEP] 12, Book, -0.66, 0.783, -1.69, 0, 312.959, 0, 46 [SEP] 13, Pencil, -1.283, 1.462, -1.431, 0, 0, 0, 30 [SEP] 14, Laptop, -1.005, 0.780, -1.477, 0, 31.363, 0, 46 [SEP] 15, Pen, -1.265, 0.798, -1.243, 0, 0, 0, 46 [SEP] 16, TennisRacket, -1.226, 0.301, -0.069, 15.000, 180, 180, [SEP] 17, TeddyBear, 1.629, 0.557, -1.064, 0, 118.287, 0, 47 [SEP] 18, Pillow, 1.387, 0.666, -0.166, 0, 0, 0, 47 [SEP] 19, CellPhone, 1.676, 0.578, -1.373, 0, 0, 0, 47 [SEP] 20, KeyChain, 1.536, 0.039, 0.595, 0, 0, 0, 42 [SEP] 21, AlarmClock, 0.305, 0.673, 1.257, 0, 0, 0, 38 [SEP] 22, CreditCard, 0.323, 0.673, -1.537, 0, 0, 0, 45 [SEP] 23, CD, 1.588, 0.039, 0.328, 0, 0, 0, 42 [SEP] 24, Bowl, -1.265, 0.794, -1.028, 0, 0, 0, 46 [SEP] 25, Bed, 1.242, -0.001, -0.881, 0, 180, 0, [SEP] 26, LightSwitch, 0.010, 1.315, 1.499, 0, 180, 0, [SEP] 27, GarbageCan, 0.840, 0.007, 1.337, 0, 180, 2.168, [SEP] 28, HousePlant, -0.083, 0.828, -2.045, 0, 0, 0, [SEP] 29, Shelf, -0.469, 0.828, -2.038, 0, 0, 0, [SEP] 30, Shelf, -1.286, 1.451, -1.343, 0, 0, 0, [SEP] 31, Shelf, -1.286, 1.451, -0.602, 0, 0, 0, [SEP] 32, Shelf, -1.286, 1.814, -0.602, 0, 0, 0, [SEP] 33, Shelf, -1.286, 1.814, -1.343, 0, 0, 0, [SEP] 34, Painting, 1.111, 1.628, -1.865, 90, 0, 0, [SEP] 35, DeskLamp, 0.473, 0.669, 1.350, 0, 0, 0, [SEP] 36, Mirror, -1.383, 1.565, 0.512, 0, 270, 0, [SEP] 37, Window, -0.472, 1.396, -2.252, 90, 0, 0, [SEP] 38, SideTable, 0.304, -0.001, 1.225, 0, 180, 0, [SEP] 39, Drawer, 0.304, 0.165, 1.159, 0, 180, 0, [SEP] 40, Drawer, 0.304, 0.457, 1.159, 0, 180, 0, [SEP] 41, Blinds, -0.453, 2.156, -2.242, 0, 0, 0, [SEP] 42, Safe, 1.623, 5.960, 0.448, 0, 270, 0, [SEP] 43, Chair, -0.683, 0.000, -1.326, 0, 217.223, 0, [SEP] 44, Drawer, 0.416, 0.532, -1.553, 0, 0, 0, [SEP] 45, SideTable, 0.413, 0.000, -1.684, 0, 0, 0, [SEP] 46, Desk, -0.788, 0.000, -1.032, 0, 90, 0, [SEP] 47, , , , , , , , [SEP] 48, NorthWall, , , , , , , [SEP] 49, EastWall, , , , , , , [SEP] 50, SouthWall, , , , , , , [SEP] 51, WestWall, , , , , , , ", "output": ["STEP 1: Turn right to face the desk. | STEP 2: Pick up the pencil in front of the magazine. | STEP 3: Turn right and walk to the drawers in front of you with the lamp on it. | STEP 4: Turn the lamp on that's on the drawers. | END"]} +{"id": "trial_T20190908_052238_998113-0", "input": "Put a basketball on the bed. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.5, 0.900, -0.75, 0, 180, 0, [SEP] 1, CD, 2.170, 0.458, -0.484, 0, 0, 0, 28 [SEP] 2, CD, 2.282, 0.048, 2.606, 0, 0, 0, 26 [SEP] 3, CellPhone, -0.225, 0.927, -0.604, 0, 0, 0, 35 [SEP] 4, Pen, -0.509, 0.930, -0.604, 0, 0, 0, 35 [SEP] 5, Pencil, -0.131, 0.928, -0.818, 0, 0, 0, 35 [SEP] 6, CreditCard, -0.603, 0.925, -0.604, 0, 0, 0, 35 [SEP] 7, AlarmClock, -0.320, 0.925, -1.245, 0, 0, 0, 35 [SEP] 8, Box, 2.15, 0.14, 0.494, 0, 12.243, 0, [SEP] 9, Book, -0.414, 0.926, -0.391, 0, 0, 0, 35 [SEP] 10, BasketBall, -0.235, 0.120, 0.166, 0, 0, 0, [SEP] 11, Pen, 2.190, 0.848, -0.221, 0, 180, 0, 30 [SEP] 12, Pillow, 0.333, 0.617, 0.971, 0, 0, 0, 20 [SEP] 13, Pencil, -0.404, 0.670, -0.376, 0, 0, 0, 36 [SEP] 14, CellPhone, -0.148, 0.552, 0.678, 0, 0, 0, 20 [SEP] 15, KeyChain, 2.333, 0.843, -0.090, 0, 0, 0, 30 [SEP] 16, CreditCard, 2.238, 0.842, -0.484, 0, 0, 0, 30 [SEP] 17, AlarmClock, -0.509, 0.925, -1.459, 0, 0, 0, 35 [SEP] 18, CD, -0.131, 0.924, -1.032, 0, 0, 0, 35 [SEP] 19, Laptop, -0.309, 0.548, 2.140, 0, 0, 0, 20 [SEP] 20, Bed, 0.009, -0.004, 1.577, 0, 0, 0, [SEP] 21, DeskLamp, -0.669, 0.923, -0.062, 0, 90, 0, [SEP] 22, Painting, -0.787, 1.809, -0.215, 90, 270, 0, [SEP] 23, Painting, -0.787, 1.809, 1.023, 90, 270, 0, [SEP] 24, Mirror, 2.118, 1.277, 2.749, 0, 0, 0, [SEP] 25, LightSwitch, 0.726, 1.200, 2.75, 0, 180, 0, [SEP] 26, GarbageCan, 2.257, -0.008, 2.603, 353.970, 0, 0, [SEP] 27, Window, 0.665, 1.356, -1.911, 90, 0, 0, [SEP] 28, Drawer, 2.119, 0.576, -0.491, 4.458, 270, 0, [SEP] 29, Drawer, 2.147, 0.213, -0.491, 4.458, 270, 0, [SEP] 30, SideTable, 2.226, 0.013, -0.492, 4.458, 270, 0, [SEP] 31, Chair, 0.170, 0.011, -1.214, 0, 261.719, 0, [SEP] 32, Blinds, 0.695, 1.983, -1.867, 0, 0, 0, [SEP] 33, Drawer, -0.079, 0.513, -0.394, 0, 90, 0, [SEP] 34, Drawer, -0.079, 0.226, -0.394, 0, 90, 0, [SEP] 35, Desk, -0.391, 0.001, -0.811, 0, 90, 0, [SEP] 36, Drawer, -0.079, 0.762, -0.394, 0, 90, 0, [SEP] 37, NorthWall, , , , , , , [SEP] 38, EastWall, , , , , , , [SEP] 39, SouthWall, , , , , , , [SEP] 40, WestWall, , , , , , , ", "output": ["STEP 1: Turn to your right and go to the small, open area between the desk and the bed. | STEP 2: Pick up the basketball on the floor, between the desk and the bed. | STEP 3: Move over to the bed to the right of you. | STEP 4: Place the basketball on the bed. | END"]} +{"id": "trial_T20190909_152451_113789-0", "input": "move rag from tub to back of toilet SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.5, 0.902, -0.75, 0, 270, 0, [SEP] 1, Candle, -1.254, 1.087, 0.784, 0, 180, 0, 33 [SEP] 2, SoapBar, -2.496, 0.081, 0.502, 0, 0, 0, 18 [SEP] 3, SoapBar, -2.890, 0.182, -1.584, 0, 0, 0, 28 [SEP] 4, SprayBottle, -2.541, 0.082, 0.567, 0, 0, 0, 18 [SEP] 5, Towel, -0.490, 1.367, 0.902, 0, 180, 0, 27 [SEP] 6, Candle, -1.777, 0.122, 0.696, 0, 0, 0, 20 [SEP] 7, HandTowel, -3.096, 1.587, 0.744, 0, 270, 0, 31 [SEP] 8, SoapBar, -2.049, 0.081, 0.760, 0, 0, 0, 21 [SEP] 9, ToiletPaper, -1.416, 0.816, 0.665, 0, 90, 270, 32 [SEP] 10, Cloth, 0.488, 0.034, 0.118, 0, 270, 0, 29 [SEP] 11, ToiletPaper, -0.865, 1.041, 0.945, 329.623, 0, 0, 33 [SEP] 12, SprayBottle, -2.004, 0.082, 0.825, 0, 0, 0, 21 [SEP] 13, ScrubBrush, -0.485, 0.001, 0.873, 0, 0, 0, Floor|-00.81| [SEP] 14, SoapBottle, -2.813, 0.083, 0.760, 0, 0, 0, 16 [SEP] 15, Plunger, -0.710, 0.000, 0.828, 0, 0, 0, Floor|-00.81| [SEP] 16, Cabinet, -3.094, 0.390, 0.421, 0, 0, 0, [SEP] 17, CounterTop, -2.298, 0.953, 0.689, 0, 0, 0, [SEP] 18, Cabinet, -2.305, 0.415, 0.425, 0, 0, 0, [SEP] 19, Bathtub, 0.286, 0.290, -0.077, 0, 0, 0, [SEP] 20, Cabinet, -1.496, 0.415, 0.425, 0, 0, 0, [SEP] 21, Cabinet, -2.286, 0.390, 0.421, 0, 0, 0, [SEP] 22, Sink, -1.924, 0.930, 0.675, 0, 180, 0, [SEP] 23, Faucet, -1.922, 1.015, 0.887, 0, 0, 0, [SEP] 24, Mirror, -2.306, 1.526, 1.001, 0, 0, 0, [SEP] 25, Faucet, -2.681, 1.015, 0.887, 0, 0, 0, [SEP] 26, LightSwitch, -1.389, 1.263, -1.693, 0, 0, 0, [SEP] 27, TowelHolder, -0.490, 1.353, 1.009, 0, 180, 0, [SEP] 28, GarbageCan, -2.857, 0.016, -1.487, 0, 0, 0, [SEP] 29, BathtubBasin, 0.349, 0.023, -0.135, 0, 270, 0, [SEP] 30, SinkBasin, -1.908, 0.961, 0.669, 0, 180, 0, [SEP] 31, HandTowelHolder, -3.134, 1.689, 0.744, 0, 0, 0, [SEP] 32, ToiletPaperHanger, -1.485, 0.805, 0.691, 0, 90, 0, [SEP] 33, Toilet, -1.054, 0.001, 0.552, 0, 270, 0, [SEP] 34, ShowerCurtain, -0.292, 1.886, -1.033, 0, 0, 0, [SEP] 35, Faucet, 0.270, 0.670, 0.906, 0, 0, 0, [SEP] 36, SinkBasin, -2.666, 0.961, 0.669, 0, 180, 0, [SEP] 37, Sink, -2.681, 0.930, 0.675, 0, 180, 0, [SEP] 38, NorthWall, , , , , , , [SEP] 39, EastWall, , , , , , , [SEP] 40, SouthWall, , , , , , , [SEP] 41, WestWall, , , , , , , ", "output": ["STEP 1: turn around, walk across room to tub | STEP 2: pick up the purple rag that is in the tub | STEP 3: turn around to face the toilet | STEP 4: put the rag on the back of the toilet | END"]} +{"id": "trial_T20190908_074451_643463-0", "input": "Pick up the credit card on the couch and turn on the light to see the credit card SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -6.25, 0.905, 2.5, 0, 180, 0, [SEP] 1, Statue, -2.116, 1.107, 4.153, 0, 0, 0, 24 [SEP] 2, Watch, -0.309, 0.860, 3.780, 0, 0, 0, 45 [SEP] 3, KeyChain, -1.980, 0.455, 1.716, 0, 0, 0, 38 [SEP] 4, CreditCard, -6.567, 0.411, -0.091, 0, 56.714, 0, 39 [SEP] 5, CreditCard, -1.934, 0.501, 0.108, 0, 0, 0, 43 [SEP] 6, CreditCard, -4.216, 0.421, 1.396, 0, 0, 0, 41 [SEP] 7, RemoteControl, -1.565, 0.456, 1.612, 0, 0, 0, 38 [SEP] 8, RemoteControl, -0.366, 0.857, 3.663, 0, 0, 0, 45 [SEP] 9, Pillow, -2.525, 0.596, 0.578, 0, 0, 0, 43 [SEP] 10, Box, -1.7, 0.307, 4.296, 0, 0, 0, Floor|-03.53| [SEP] 11, Watch, -6.695, 0.412, 0.156, 0, 326.715, 0, 39 [SEP] 12, Pillow, -1.773, 0.549, 1.716, 0, 0, 0, 38 [SEP] 13, WateringCan, -0.269, 0.005, 2.366, 1.834, 0, 0, Floor|-03.53| [SEP] 14, Newspaper, -3.115, 0.501, 0.202, 0, 0, 0, 43 [SEP] 15, KeyChain, -2.289, 0.607, 4.151, 0, 90, 0, 26 [SEP] 16, Laptop, -1.638, 0.5, 0.296, 0, 0, 0, 43 [SEP] 17, RemoteControl, -2.229, 0.503, 0.296, 0, 0, 0, 43 [SEP] 18, CreditCard, -2.820, 0.501, 0.672, 0, 0, 0, 43 [SEP] 19, Statue, -2.56, 1.105, 4.226, 0, 0, 0, 24 [SEP] 20, Curtains, -0.089, 2.460, 2.111, 0, 0, 0, [SEP] 21, Curtains, -1.146, 1.383, 4.530, 0, 0, 0, [SEP] 22, Drawer, -2.288, 0.267, 4.112, 0, 180, 0, [SEP] 23, Drawer, -2.836, 0.750, 4.111, 0, 180, 0, [SEP] 24, Dresser, -2.560, 0.005, 4.224, 0, 180, 0, [SEP] 25, Drawer, -2.834, 0.267, 4.113, 0, 180, 0, [SEP] 26, Drawer, -2.288, 0.749, 4.110, 0, 180, 0, [SEP] 27, LightSwitch, -7.0, 1.363, 2.605, 0, 74.999, 0, [SEP] 28, Television, -2.554, 1.583, 4.300, 0, 180, 0, [SEP] 29, FloorLamp, -0.301, 0.014, -0.129, 1.374, 0, 0, [SEP] 30, Painting, 0.0, 1.583, 4.006, 90, 270, 0, [SEP] 31, DeskLamp, -6.766, 0.411, -0.028, 0, 0, 0, [SEP] 32, GarbageCan, -4.115, -0.032, -0.161, 0, 0, 0, [SEP] 33, Painting, -3.704, 1.718, 4.600, 90, 180, 0, [SEP] 34, Window, -0.037, 1.705, 2.096, 90, 270, 0, [SEP] 35, Window, -1.157, 1.697, 4.593, 90, 180, 0, [SEP] 36, HousePlant, -0.287, 0.395, 2.108, 0, 0, 0, [SEP] 37, Chair, -6.022, 0.005, 0.092, 0, 338.430, 0, [SEP] 38, Ottoman, -1.773, 0.004, 1.807, 0, 0, 0, [SEP] 39, SideTable, -6.720, 0.006, 1.513, 0, 326.715, 0, [SEP] 40, SideTable, -4.292, 0.006, 0.413, 0, 0, 0, [SEP] 41, ArmChair, -4.384, 0.008, 1.395, 0, 90, 0, [SEP] 42, SideTable, -0.253, 0.004, 2.102, 0, 0, 0, [SEP] 43, Sofa, -2.524, 0.010, 0.263, 0, 0, 0, [SEP] 44, Drawer, -0.357, 0.208, 3.798, 0, 0, 0, [SEP] 45, Dresser, -0.271, 0.004, 4.011, 0, 270, 0, [SEP] 46, Drawer, -0.359, 0.581, 3.795, 0, 0, 0, [SEP] 47, Drawer, -0.357, 0.583, 4.225, 0, 0, 0, [SEP] 48, Drawer, -0.358, 0.210, 4.221, 0, 0, 0, [SEP] 49, DogBed, -0.844, 0.007, 0.138, 0, 90, 0, [SEP] 50, NorthWall, , , , , , , [SEP] 51, EastWall, , , , , , , [SEP] 52, SouthWall, , , , , , , [SEP] 53, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and move to the laptop on the couch | STEP 2: Pick up the credit card from the couch | STEP 3: Turn left and move to the lamp | STEP 4: Turn on the lamp | END"]} +{"id": "trial_T20190906_201129_656124-2", "input": "Pick up soap from toilet, use it, wash hands, place it back. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.0, 0.900, 3.25, 0, 0, 0, [SEP] 1, SoapBar, -3.451, 0.826, 1.862, 0, 0, 0, 15 [SEP] 2, Towel, -4.739, 1.522, 2.425, 0, 90, 0, 28 [SEP] 3, HandTowel, -0.923, 1.59, 2.018, 0, 90, 0, 32 [SEP] 4, Candle, -1.211, 0.546, 2.039, 0, 0, 0, 16 [SEP] 5, HandTowel, -3.726, 1.646, 1.330, 0, 180, 0, 33 [SEP] 6, Plunger, -1.064, -0.000, 4.838, 0, 0, 0, Floor|-03.84| [SEP] 7, SoapBar, -0.987, 1.044, 4.263, 0, 270, 0, 35 [SEP] 8, ToiletPaper, -1.401, 0.534, 1.780, 0, 0, 0, 16 [SEP] 9, Cloth, -1.509, 0.887, 1.744, 0, 0, 0, 31 [SEP] 10, ToiletPaper, -0.968, 0.888, 3.960, 0, 270, 270, 36 [SEP] 11, Towel, -4.739, 1.522, 3.359, 0, 90, 0, 27 [SEP] 12, ScrubBrush, -1.065, -0.000, 4.052, 0, 0, 0, Floor|-03.84| [SEP] 13, SoapBottle, -2.192, 0.828, 1.756, 0, 0, 0, 15 [SEP] 14, SprayBottle, -1.086, 0.121, 3.608, 0, 0, 0, 34 [SEP] 15, CounterTop, -2.177, 0.782, 1.889, 0, 0, 0, [SEP] 16, Drawer, -1.307, 0.606, 1.890, 0, 0, 0, [SEP] 17, Drawer, -1.307, 0.337, 1.890, 0, 0, 0, [SEP] 18, Faucet, -4.646, 0.448, 1.689, 0, 0, 0, [SEP] 19, ShowerDoor, -4.873, 1.235, 3.947, 0, 0, 0, [SEP] 20, Drawer, -3.029, 0.337, 1.890, 0, 0, 0, [SEP] 21, Drawer, -2.169, 0.606, 1.890, 0, 0, 0, [SEP] 22, Drawer, -3.029, 0.606, 1.890, 0, 0, 0, [SEP] 23, Bathtub, -4.080, 0.297, 2.480, 0, 345.000, 0, [SEP] 24, Drawer, -2.169, 0.337, 1.890, 0, 0, 0, [SEP] 25, Mirror, -2.177, 1.856, 1.390, 0, 0, 0, [SEP] 26, Sink, -1.421, 0.837, 1.776, 0, 0, 0, [SEP] 27, TowelHolder, -4.846, 1.508, 3.358, 0, 90, 0, [SEP] 28, TowelHolder, -4.846, 1.508, 2.424, 0, 90, 0, [SEP] 29, LightSwitch, -2.165, 1.450, 4.972, 0, 180, 0, [SEP] 30, BathtubBasin, -4.309, 0.192, 2.328, 0, 270, 0, [SEP] 31, SinkBasin, -1.442, 0.874, 1.785, 0, 0, 0, [SEP] 32, HandTowelHolder, -0.884, 1.692, 2.017, 0, 180, 0, [SEP] 33, HandTowelHolder, -3.726, 1.748, 1.292, 0, 270, 0, [SEP] 34, GarbageCan, -1.116, -0.037, 3.598, 0, 270, 0, [SEP] 35, Toilet, -1.340, -0.000, 4.456, 0, 0, 0, [SEP] 36, ToiletPaperHanger, -0.884, 0.888, 3.911, 0, 270, 0, [SEP] 37, Faucet, -1.421, 0.954, 1.507, 0, 0, 0, [SEP] 38, ShowerHead, -5.257, 1.733, 4.030, 0, 90, 0, [SEP] 39, Faucet, -2.944, 0.954, 1.507, 0, 0, 0, [SEP] 40, Sink, -2.943, 0.837, 1.776, 0, 0, 0, [SEP] 41, SinkBasin, -2.964, 0.874, 1.785, 0, 0, 0, [SEP] 42, NorthWall, , , , , , , [SEP] 43, EastWall, , , , , , , [SEP] 44, SouthWall, , , , , , , [SEP] 45, WestWall, , , , , , , ", "output": ["STEP 1: Go straight, turn right towards toilet. | STEP 2: Pick up soap near toilet. | STEP 3: Turn right, then turn left, go to sink. | STEP 4: Turn sink on, wash with soap. | STEP 5: Pick soap back up, turn left. | STEP 6: go straight, towards toilet, place soap back onto rack. | END"]} +{"id": "trial_T20190918_202317_700479-2", "input": "Place a clean potato slice on the table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.75, 0.900, 3.0, 0, 90, 0, [SEP] 1, Pan, 2.116, 1.027, -1.84, 0, 270, 0, 56 [SEP] 2, Ladle, 2.100, 0.803, 3.969, 0, 270, 0, 53 [SEP] 3, ButterKnife, 2.203, 0.764, 4.251, 0, 329.999, 0, 53 [SEP] 4, WineBottle, 2.706, 1.027, 0.068, 0, 0, 0, 52 [SEP] 5, WineBottle, 2.451, 0.765, 4.495, 0, 0, 0, 53 [SEP] 6, Glassbottle, -0.922, 1.442, -0.405, 0, 90, 0, 96 [SEP] 7, Spatula, -0.851, 0.831, 1.570, 0, 180, 0, 109 [SEP] 8, Spatula, -0.920, 1.042, 2.556, 0, 0, 0, 55 [SEP] 9, Spoon, 1.950, 1.028, 1.158, 0, 136.999, 0, 52 [SEP] 10, Plate, 2.875, 1.027, -1.151, 0, 0, 0, 52 [SEP] 11, Plate, -1.013, 1.442, -0.627, 0, 90, 0, 96 [SEP] 12, Tomato, 2.113, 0.818, 3.527, 0, 225, 0, 53 [SEP] 13, Tomato, -0.858, 0.383, -0.627, 0, 90, 0, 96 [SEP] 14, SoapBottle, 1.409, 1.025, -1.881, 0, 90, 0, 52 [SEP] 15, Bowl, 2.801, 0.762, 4.044, 0, 270, 0, 53 [SEP] 16, PepperShaker, 2.096, 0.798, 0.911, 0, 317.0, 0, 65 [SEP] 17, PepperShaker, 2.662, 0.760, 3.455, 0, 329.999, 0, 53 [SEP] 18, Bread, 2.959, 1.094, -0.236, 0, 0, 0, 52 [SEP] 19, Bread, 2.525, 0.832, 3.445, 0, 0, 0, 53 [SEP] 20, Lettuce, 2.346, 0.822, 4.074, 0, 225, 0, 53 [SEP] 21, Lettuce, 2.302, 0.822, 3.795, 0, 0, 0, 53 [SEP] 22, Mug, -1.069, 0.781, -0.516, 0, 90, 0, 96 [SEP] 23, Apple, -1.059, 1.492, -0.073, 0, 90, 0, 96 [SEP] 24, Pan, 1.836, 1.027, -1.84, 0, 90, 0, 50 [SEP] 25, Glassbottle, 2.561, 0.033, -0.169, 0, 0, 0, 93 [SEP] 26, Knife, 2.706, 1.052, -0.541, 0, 0, 0, 52 [SEP] 27, SoapBottle, 3.062, 0.031, -0.638, 0, 0, 0, 93 [SEP] 28, Egg, -0.968, 1.486, -0.184, 0, 90, 0, 96 [SEP] 29, Fork, 2.650, 0.802, 0.210, 0, 0, 0, 63 [SEP] 30, Potato, -1.102, 1.069, 1.058, 0, 0, 0, 55 [SEP] 31, Ladle, -0.714, 0.855, 1.492, 0, 180, 0, 109 [SEP] 32, Tomato, -0.947, 0.839, -0.738, 0, 90, 0, 96 [SEP] 33, Pot, 2.177, 1.027, -1.599, 0, 0, 0, 51 [SEP] 34, WineBottle, -1.102, 1.028, 1.243, 0, 0, 0, 55 [SEP] 35, Plate, -0.544, 1.027, 0.692, 0, 0, 0, 55 [SEP] 36, Spatula, 1.836, 0.816, 1.387, 0, 227.0, 0, 66 [SEP] 37, PaperTowelRoll, 2.525, 0.868, 4.495, 0, 180, 0, 53 [SEP] 38, Lettuce, 2.763, 0.822, 3.726, 0, 329.999, 0, 53 [SEP] 39, Apple, 2.626, 0.814, 4.044, 0, 270, 0, 53 [SEP] 40, SaltShaker, 2.243, 0.760, 3.657, 0, 225, 0, 53 [SEP] 41, PepperShaker, -0.374, 1.023, 1.079, 0, 0, 0, 55 [SEP] 42, ButterKnife, 2.840, 0.764, 4.359, 0, 225, 0, 53 [SEP] 43, Bread, 2.331, 0.832, 4.325, 0, 329.999, 0, 53 [SEP] 44, Cup, 2.671, 0.763, 3.885, 0, 329.999, 0, 53 [SEP] 45, DishSponge, -0.803, 0.800, 2.372, 0, 0, 0, 58 [SEP] 46, Bowl, -0.897, 2.288, -0.489, 0, 0, 0, 84 [SEP] 47, Spoon, 2.735, 0.765, 4.464, 0, 225, 0, 53 [SEP] 48, Mug, -1.059, 1.437, -0.295, 0, 90, 0, 96 [SEP] 49, Sink, -0.716, 1.023, 1.333, 0, 0, 0, [SEP] 50, StoveBurner, 1.835, 1.018, -1.840, 0, 90, 0, [SEP] 51, StoveBurner, 2.177, 1.018, -1.599, 0, 0, 0, [SEP] 52, CounterTop, 2.812, 0.992, 0.675, 0, 0, 0, [SEP] 53, DiningTable, 2.419, 0.003, 3.930, 0, 0, 0, [SEP] 54, Drawer, -0.643, 0.828, 0.616, 0, 0, 0, [SEP] 55, CounterTop, -0.813, 1.062, 2.188, 0, 0, 0, [SEP] 56, StoveBurner, 2.115, 1.018, -1.840, 0, 270, 0, [SEP] 57, Drawer, -0.643, 0.831, 1.953, 0, 0, 0, [SEP] 58, Drawer, -0.643, 0.833, 2.418, 0, 0, 0, [SEP] 59, Drawer, 1.347, 0.836, -1.539, 0, 0, 0, [SEP] 60, Drawer, 2.693, 0.833, -1.131, 0, 0, 0, [SEP] 61, Drawer, 2.693, 0.833, -0.699, 0, 0, 0, [SEP] 62, Drawer, 2.693, 0.833, -0.267, 0, 0, 0, [SEP] 63, Drawer, 2.693, 0.833, 0.163, 0, 0, 0, [SEP] 64, Drawer, 2.524, 0.833, 0.720, 0, 2.000, 0, [SEP] 65, Drawer, 2.232, 0.833, 1.036, 0, 2.000, 0, [SEP] 66, Drawer, 1.936, 0.833, 1.354, 0, 2.000, 0, [SEP] 67, Drawer, 1.646, 0.833, 1.670, 0, 2.000, 0, [SEP] 68, Cabinet, 1.504, 2.475, -1.710, 0, 0, 0, [SEP] 69, Cabinet, -0.823, 2.220, 1.621, 0, 0, 0, [SEP] 70, Cabinet, -0.823, 2.220, 0.615, 0, 0, 0, [SEP] 71, Cabinet, 1.136, 0.388, -1.355, 0, 0, 0, [SEP] 72, Cabinet, -0.356, 0.383, 2.626, 0, 0, 0, [SEP] 73, Cabinet, 2.745, 2.220, -1.690, 0, 0, 0, [SEP] 74, Cabinet, 1.882, 0.383, 1.017, 0, 0, 0, [SEP] 75, Cabinet, 1.307, 0.473, 1.640, 0, 0, 0, [SEP] 76, Cabinet, 1.892, 0.383, 1.006, 0, 0, 0, [SEP] 77, Cabinet, 2.467, 0.383, 0.383, 0, 0, 0, [SEP] 78, Cabinet, 2.466, 0.383, -0.475, 0, 0, 0, [SEP] 79, Cabinet, 2.466, 0.473, 0.371, 0, 0, 0, [SEP] 80, Cabinet, 2.386, 2.475, -1.710, 0, 0, 0, [SEP] 81, Cabinet, -0.356, 0.383, 1.712, 0, 0, 0, [SEP] 82, Cabinet, 2.745, 2.220, 0.019, 0, 0, 0, [SEP] 83, Cabinet, -0.663, 2.496, 0.157, 0, 0, 0, [SEP] 84, Cabinet, -0.663, 2.496, -0.868, 0, 0, 0, [SEP] 85, Cabinet, -0.356, 0.383, 0.269, 0, 0, 0, [SEP] 86, Cabinet, -0.823, 2.220, 1.603, 0, 0, 0, [SEP] 87, Cabinet, -0.662, 2.234, 0.586, 0, 0, 0, [SEP] 88, Cabinet, 2.745, 2.220, -0.843, 0, 0, 0, [SEP] 89, Cabinet, 2.745, 2.220, -0.827, 0, 0, 0, [SEP] 90, Cabinet, -0.823, 2.220, 2.608, 0, 0, 0, [SEP] 91, Cabinet, 2.732, 2.226, -1.709, 0, 0, 0, [SEP] 92, Cabinet, 1.137, 2.226, -1.709, 0, 0, 0, [SEP] 93, Cabinet, 2.466, 0.383, -0.491, 0, 0, 0, [SEP] 94, Cabinet, 2.466, 0.383, -1.339, 0, 0, 0, [SEP] 95, StoveBurner, 1.761, 1.018, -1.599, 0, 0, 0, [SEP] 96, Fridge, -0.908, 0.0, -0.405, 0, 0, 0, [SEP] 97, HousePlant, 2.517, 1.016, 1.822, 0, 0, 0, [SEP] 98, Microwave, 1.939, 1.745, -1.826, 0, 0, 0, [SEP] 99, StoveKnob, 2.017, 1.041, -1.514, 0, 180, 180, [SEP] 100, StoveKnob, 1.934, 1.041, -1.514, 0, 180, 180, [SEP] 101, StoveKnob, 2.017, 1.041, -1.589, 0, 180, 180, [SEP] 102, StoveKnob, 1.934, 1.041, -1.589, 0, 180, 180, [SEP] 103, Window, 1.756, 1.608, 4.762, 90, 0, 0, [SEP] 104, HousePlant, 2.171, 1.004, 2.091, 0, 0, 0, [SEP] 105, CoffeeMachine, -0.942, 1.018, 0.645, 0, 90, 0, [SEP] 106, LightSwitch, -0.099, 1.410, -2.066, 0, 0, 0, [SEP] 107, GarbageCan, -0.951, -0.029, 2.826, 0, 0, 0, [SEP] 108, Toaster, -1.007, 1.018, 2.238, 0, 90, 0, [SEP] 109, SinkBasin, -0.714, 0.805, 1.348, 0, 90, 0, [SEP] 110, Chair, 1.615, 0.004, 4.310, 0, 107.976, 0, [SEP] 111, Faucet, -1.120, 1.013, 1.334, 0, 90, 0, [SEP] 112, Chair, 2.759, 0.004, 3.086, 0, 358.967, 0, [SEP] 113, , , , , , , , [SEP] 114, NorthWall, , , , , , , [SEP] 115, EastWall, , , , , , , [SEP] 116, SouthWall, , , , , , , [SEP] 117, WestWall, , , , , , , ", "output": ["STEP 1: Move forward and face the table on your left. | STEP 2: Take the knife off the table in front of you. | STEP 3: Turn left then left again and face the sink to your right. | STEP 4: Slice the potato near the sink in front of you. | STEP 5: Turn right then face the sink on your left. | STEP 6: Place the knife in the sink in front of you. | STEP 7: Turn left and face the potato near the sink on your right. | STEP 8: Take a potato slice off the counter in front of you. | STEP 9: Turn right then face the sink on your left. | STEP 10: Place the potato in the sink in front of you, wash it and take it out. | STEP 11: Turn right, then right again and face the table to your left. | STEP 12: Place the potato slice on the table in front of you. | END"]} +{"id": "trial_T20190909_010523_343574-0", "input": "Move the alarm clock to the under side of the desk. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.901, -0.5, 0, 90, 0, [SEP] 1, CellPhone, 1.698, 0.694, -1.774, 0, 18.354, 0, 33 [SEP] 2, CellPhone, 1.490, 0.694, -1.806, 0, 18.354, 0, 33 [SEP] 3, Pen, 0.358, 0.699, -2.047, 0, 99.090, 0, 33 [SEP] 4, Pen, 1.747, 0.698, -1.409, 0, 0, 0, 33 [SEP] 5, KeyChain, -0.506, 0.369, 0.480, 0, 90, 0, 35 [SEP] 6, KeyChain, -0.028, 0.693, -2.202, 0, 99.090, 0, 33 [SEP] 7, Book, -2.046, 0.629, -0.198, 0, 0, 0, 24 [SEP] 8, Pillow, -1.346, 0.703, -0.748, 0, 0, 0, 24 [SEP] 9, AlarmClock, -0.487, 0.664, 0.470, 0, 180, 0, 36 [SEP] 10, AlarmClock, -0.413, 0.664, 0.643, 0, 180, 0, 36 [SEP] 11, Box, -0.015, 0.239, -2.091, 0, 0, 0, [SEP] 12, Book, 1.622, 0.692, -1.409, 0, 0, 0, 33 [SEP] 13, BaseballBat, 1.798, 0.639, 0.425, 0, 0, 342.316, [SEP] 14, Pen, -0.634, 0.668, 0.427, 0, 180, 0, 36 [SEP] 15, Pencil, 0.845, 0.697, -2.055, 0, 90, 0, 33 [SEP] 16, KeyChain, 1.622, 0.693, -0.739, 0, 90, 0, 33 [SEP] 17, Pillow, -2.046, 0.703, -1.023, 0, 0, 0, 24 [SEP] 18, CreditCard, 1.029, 0.692, -2.336, 0, 90, 0, 33 [SEP] 19, CellPhone, -1.521, 0.631, -1.297, 0, 0, 0, 24 [SEP] 20, Laptop, -1.346, 0.628, 0.076, 0, 0, 0, 24 [SEP] 21, CD, 1.402, 0.692, -1.676, 0, 18.354, 0, 33 [SEP] 22, Bowl, 0.172, 0.695, -2.306, 0, 99.090, 0, 33 [SEP] 23, AlarmClock, 0.661, 0.694, -2.266, 0, 90, 0, 33 [SEP] 24, Bed, -1.696, 0.004, -0.446, 0, 0, 0, [SEP] 25, Chair, 0.956, -0.000, -1.747, 0, 110.225, 0, [SEP] 26, DeskLamp, -0.440, 0.688, -2.276, 0, 0, 0, [SEP] 27, LightSwitch, 0.625, 1.338, 0.734, 0, 180, 0, [SEP] 28, GarbageCan, 1.660, -0.019, -0.389, 0, 345.008, 0, [SEP] 29, Mirror, 1.300, 1.422, 0.765, 0, 0, 0, [SEP] 30, HousePlant, -0.867, 0.000, -2.286, 0, 0, 0, [SEP] 31, Window, 0.819, 1.496, -2.553, 90, 180, 0, [SEP] 32, Shelf, 1.616, 0.561, -0.802, 0, 0, 0, [SEP] 33, Desk, 0.617, -0.000, -1.511, 0, 0, 0, [SEP] 34, Blinds, 0.796, 2.217, -2.476, 0, 0, 0, [SEP] 35, Drawer, -0.558, 0.456, 0.462, 0, 180, 0, [SEP] 36, SideTable, -0.557, -0.000, 0.529, 0, 180, 0, [SEP] 37, Drawer, -0.558, 0.164, 0.462, 0, 180, 0, [SEP] 38, Desktop, 1.455, 0.692, -1.886, 358.180, 309.674, 0, [SEP] 39, NorthWall, , , , , , , [SEP] 40, EastWall, , , , , , , [SEP] 41, SouthWall, , , , , , , [SEP] 42, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and face your bed side table in front of you. | STEP 2: Take the alarm clock from the table in front of you. | STEP 3: Turn right and face the desk in front of you. | STEP 4: Place the alarm clock under the desk in front of you. | STEP 5: Turn around and face the bed side table in front of you. | STEP 6: Take the alarm clock from the table in front of you. | STEP 7: Turn around and face the desk in front of you. | STEP 8: Place the alarm clock under the desk in front of you. | END"]} +{"id": "trial_T20190907_043415_902731-2", "input": "Put the box on the coffee table on the couch with keys inside. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.5, 0.927, 3.0, 0, 0, 0, [SEP] 1, KeyChain, -3.226, 0.167, 0.319, 0, 0, 0, 48 [SEP] 2, CreditCard, -1.085, 0.269, 2.006, 0, 0, 0, 74 [SEP] 3, CreditCard, -1.961, 0.940, 0.114, 0, 180, 0, 27 [SEP] 4, Box, -2.737, 0.481, 1.999, 0, 270, 0, 76 [SEP] 5, Laptop, -5.939, 0.639, 1.861, 0, 0, 0, 72 [SEP] 6, Box, -6.062, 0.823, 3.617, 0, 0, 0, 72 [SEP] 7, Statue, -3.008, 0.305, 1.863, 0, 0, 0, 76 [SEP] 8, KeyChain, -2.457, 0.301, 2.223, 0, 270, 0, 76 [SEP] 9, Vase, -1.701, 0.930, 0.179, 0, 0, 0, 27 [SEP] 10, Vase, -0.764, 0.940, 0.203, 0, 0, 0, 44 [SEP] 11, Vase, -1.405, 0.961, 0.149, 0, 180, 0, 44 [SEP] 12, Newspaper, -0.941, 0.955, 0.220, 0, 180, 0, 44 [SEP] 13, CreditCard, -2.670, 0.485, 0.264, 0, 90, 0, 48 [SEP] 14, RemoteControl, -4.540, 1.275, 5.170, 0, 0, 0, 40 [SEP] 15, Laptop, -5.764, 0.634, 2.376, 0, 0, 0, 72 [SEP] 16, Pillow, -1.515, 0.438, 3.319, 0, 300.000, 90, 75 [SEP] 17, Vase, -5.448, 0.642, 2.564, 0, 0, 0, 72 [SEP] 18, Statue, -2.461, 0.310, 1.771, 0, 270, 0, 76 [SEP] 19, Vase, -1.352, 1.258, 0.228, 0, 0, 0, 51 [SEP] 20, Plate, -0.904, 0.492, 0.264, 0, 90, 0, 47 [SEP] 21, Vase, -2.321, 0.723, 5.168, 0, 0, 0, 59 [SEP] 22, Statue, -5.033, 1.566, 5.212, 0, 180, 0, 54 [SEP] 23, Statue, -0.812, 1.565, 0.209, 0, 0, 0, 46 [SEP] 24, Statue, -6.062, 0.651, 2.212, 0, 0, 0, 72 [SEP] 25, Statue, -3.174, 1.105, 5.193, 0, 0, 0, 55 [SEP] 26, Statue, -5.865, 0.634, 2.786, 0, 65.579, 0, 72 [SEP] 27, Shelf, -1.776, 0.988, 0.184, 0, 180, 0, [SEP] 28, Chair, -5.413, 0.024, 1.780, 0, 0, 0, [SEP] 29, Cabinet, -5.365, 1.170, 5.031, 0, 0, 0, [SEP] 30, Chair, -5.388, 0.024, 3.369, 0, 355.695, 0, [SEP] 31, Chair, -6.211, 0.024, 2.517, 0, 172.601, 0, [SEP] 32, Shelf, -3.937, 0.988, 5.170, 0, 0, 0, [SEP] 33, Shelf, -6.572, 1.144, 5.170, 0, 0, 0, [SEP] 34, Cabinet, -4.181, 1.873, 5.029, 0, 0, 0, [SEP] 35, Shelf, -5.606, 0.444, 5.170, 0, 0, 0, [SEP] 36, Drawer, -6.324, 0.823, 5.001, 0, 0, 0, [SEP] 37, Cabinet, -2.017, 1.714, 0.323, 0, 180, 0, [SEP] 38, Cabinet, -2.465, 1.329, 5.029, 0, 0, 0, [SEP] 39, Drawer, -1.093, 0.233, 0.462, 0, 0, 0, [SEP] 40, Shelf, -4.672, 1.317, 5.170, 0, 0, 0, [SEP] 41, Shelf, -4.672, 0.998, 5.170, 0, 0, 0, [SEP] 42, Shelf, -2.221, 0.444, 5.170, 0, 0, 0, [SEP] 43, Drawer, -6.324, 0.508, 5.001, 0, 0, 0, [SEP] 44, Shelf, -1.041, 0.998, 0.184, 0, 180, 0, [SEP] 45, Drawer, -4.264, 0.233, 0.462, 0, 0, 0, [SEP] 46, Shelf, -0.810, 1.688, 0.185, 0, 180, 0, [SEP] 47, Shelf, -2.671, 0.610, 0.272, 0, 90, 0, [SEP] 48, Drawer, -2.681, 0.233, 0.462, 0, 0, 0, [SEP] 49, Drawer, -2.940, 0.508, 5.001, 0, 0, 0, [SEP] 50, Cabinet, -3.696, 1.714, 5.031, 0, 0, 0, [SEP] 51, Shelf, -1.041, 1.317, 0.184, 0, 180, 0, [SEP] 52, Cabinet, -1.532, 1.873, 0.325, 0, 180, 0, [SEP] 53, Chair, -5.382, 0.024, 2.695, 0, 6.230, 0, [SEP] 54, Shelf, -4.903, 1.688, 5.170, 0, 0, 0, [SEP] 55, Shelf, -3.187, 1.144, 5.170, 0, 0, 0, [SEP] 56, Drawer, -2.940, 0.823, 5.001, 0, 0, 0, [SEP] 57, Chair, -6.252, 0.024, 3.427, 0, 195.000, 0, [SEP] 58, Cabinet, -5.850, 1.329, 5.029, 0, 0, 0, [SEP] 59, Cabinet, -1.980, 1.170, 5.031, 0, 0, 0, [SEP] 60, Chair, -6.296, 0.024, 1.672, 0, 180, 0, [SEP] 61, FloorLamp, -0.369, 0.016, 4.992, 0, 59.992, 0, [SEP] 62, GarbageCan, -6.846, 0.024, 0.258, 0, 91.057, 0, [SEP] 63, Television, -3.503, 1.506, 0.001, 0, 0, 0, [SEP] 64, LightSwitch, 0.0, 1.184, 4.410, 0, 270, 0, [SEP] 65, HousePlant, -1.105, 0.315, 2.740, 0, 0, 0, [SEP] 66, Painting, -5.769, 1.394, -0.026, 90, 180, 0, [SEP] 67, Window, 0.001, 1.246, 2.471, 90, 270, 0, [SEP] 68, Window, 0.001, 1.246, 3.558, 90, 270, 0, [SEP] 69, Window, 0.001, 1.246, 1.368, 90, 270, 0, [SEP] 70, Painting, -0.967, 1.396, 5.268, 90, 180, 0, [SEP] 71, CoffeeTable, -3.002, 0.028, 1.726, 0, 0, 0, [SEP] 72, DiningTable, -5.816, 0.025, 2.563, 0, 270, 0, [SEP] 73, Sofa, -3.328, 0.023, 3.632, 0, 180, 0, [SEP] 74, ArmChair, -1.012, 0.028, 2.084, 0, 270, 0, [SEP] 75, ArmChair, -1.577, 0.028, 3.295, 0, 210.000, 0, [SEP] 76, CoffeeTable, -2.667, 0.025, 1.999, 0, 5.810, 0, [SEP] 77, NorthWall, , , , , , , [SEP] 78, EastWall, , , , , , , [SEP] 79, SouthWall, , , , , , , [SEP] 80, WestWall, , , , , , , ", "output": ["STEP 1: Move to the coffee table nearest to two arm chairs. | STEP 2: Pick up the keys from the coffee table. | STEP 3: Move around to the left side of the coffee table. | STEP 4: Place the keys inside the box on the table. | STEP 5: Pick up the box from the coffee table. | STEP 6: Move around to the couch on the other side of the coffee table. | STEP 7: Place the box on the couch. | END"]} +{"id": "trial_T20190907_070943_599319-2", "input": "Put a cleaned mug on the coffee machine. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.900, 0.0, 0, 180, 0, [SEP] 1, Potato, -0.598, 0.933, -1.119, 0, 47.530, 0, 71 [SEP] 2, CreditCard, 0.240, 1.108, 1.933, 0, 315, 0, 64 [SEP] 3, Kettle, -2.773, 1.796, -0.731, 0, 0, 0, 43 [SEP] 4, Pot, -2.085, 0.912, -1.282, 0, 0, 0, 71 [SEP] 5, Spoon, -1.987, 0.748, -1.008, 0, 0, 0, 66 [SEP] 6, Spatula, -2.671, 0.761, 0.099, 0, 180, 0, 69 [SEP] 7, Spatula, -1.591, 0.866, -1.194, 0, 270, 0, 81 [SEP] 8, Cup, 0.241, 1.004, -1.314, 0, 0, 0, 84 [SEP] 9, Egg, -2.920, 0.413, 0.609, 0, 90, 0, 83 [SEP] 10, Knife, -2.542, 0.769, -0.027, 0, 90, 0, 69 [SEP] 11, Knife, -1.073, 0.874, -1.249, 0, 90, 0, 81 [SEP] 12, SoapBottle, -2.728, 0.038, 1.396, 0, 0, 0, 82 [SEP] 13, SoapBottle, 0.490, 1.112, 1.075, 0, 315, 0, 64 [SEP] 14, Bowl, -2.810, 1.794, -0.376, 0, 0, 0, 43 [SEP] 15, Bowl, -0.550, 1.661, -1.360, 0, 0, 0, 59 [SEP] 16, Lettuce, -2.860, 0.899, 1.013, 0, 90, 0, 83 [SEP] 17, PepperShaker, -2.521, 0.907, 0.275, 0, 0, 0, 63 [SEP] 18, Bread, 0.644, 1.166, 1.229, 0, 315, 0, 64 [SEP] 19, Apple, -2.699, 0.089, 1.536, 0, 90, 0, 82 [SEP] 20, Pan, -2.59, 0.9, -1.147, 0, 0, 0, 71 [SEP] 21, Apple, 0.451, 1.057, -1.414, 0, 0, 0, 84 [SEP] 22, Fork, -0.276, 0.901, -1.118, 0, 0, 0, 71 [SEP] 23, Kettle, -1.684, 0.118, -1.068, 0, 0, 0, 48 [SEP] 24, CreditCard, 0.097, 0.743, -1.009, 0, 0, 0, 72 [SEP] 25, Bread, -2.740, 1.528, 1.013, 0, 90, 0, 83 [SEP] 26, Plate, -1.458, 0.843, -1.235, 0, 0, 0, 81 [SEP] 27, SoapBottle, -2.521, 0.912, 0.106, 0, 0, 0, 63 [SEP] 28, Spatula, 0.133, 1.126, 1.737, 0, 315, 0, 64 [SEP] 29, Lettuce, 0.997, 0.990, -1.365, 0, 0, 0, 71 [SEP] 30, SaltShaker, -2.695, 0.9, -0.132, 0, 0, 0, 63 [SEP] 31, Tomato, 0.203, 1.152, 1.056, 0, 0, 0, 64 [SEP] 32, PepperShaker, 0.057, 1.658, -1.284, 0, 0, 0, 58 [SEP] 33, ButterKnife, -2.222, 0.9, -0.997, 0, 323.977, 0, 71 [SEP] 34, Pot, -2.622, 0.928, -0.396, 0, 0, 0, 65 [SEP] 35, DishSponge, -1.221, 0.841, -1.126, 0, 41.164, 0, 81 [SEP] 36, Egg, -2.619, 0.413, 0.609, 0, 90, 0, 83 [SEP] 37, Spoon, -2.604, 0.912, -0.062, 0, 0, 0, 63 [SEP] 38, Knife, -1.332, 0.872, -1.194, 0, 270, 0, 81 [SEP] 39, Cup, -2.920, 0.377, 0.932, 0, 90, 0, 83 [SEP] 40, Mug, 0.372, 1.654, -1.353, 0, 0, 0, 50 [SEP] 41, Bowl, -2.680, 1.672, 0.771, 0, 90, 0, 83 [SEP] 42, Cabinet, -2.647, 2.075, -0.875, 0, 0, 0, [SEP] 43, Cabinet, -2.647, 2.075, -0.234, 0, 0, 0, [SEP] 44, Cabinet, -0.824, 0.469, -0.907, 0, 0, 0, [SEP] 45, Cabinet, -1.764, 2.009, -1.197, 0, 0, 0, [SEP] 46, Cabinet, -1.834, 2.009, -1.197, 0, 0, 0, [SEP] 47, Cabinet, -1.850, 0.389, -0.897, 0, 0, 0, [SEP] 48, Cabinet, -1.801, 0.469, -0.907, 0, 0, 0, [SEP] 49, Cabinet, 1.115, 2.009, -1.197, 0, 0, 0, [SEP] 50, Cabinet, 0.235, 2.009, -1.197, 0, 0, 0, [SEP] 51, Cabinet, 1.125, 0.470, -0.897, 0, 0, 0, [SEP] 52, Cabinet, -2.387, 0.389, 0.375, 0, 0, 0, [SEP] 53, Cabinet, 0.484, 0.389, -0.897, 0, 0, 0, [SEP] 54, Cabinet, -2.625, 2.009, -1.197, 0, 0, 0, [SEP] 55, Cabinet, -2.647, 2.009, -0.945, 0, 0, 0, [SEP] 56, Cabinet, -2.647, 2.200, 1.664, 0, 0, 0, [SEP] 57, Cabinet, -2.647, 2.009, 0.364, 0, 0, 0, [SEP] 58, Cabinet, 0.164, 2.009, -1.197, 0, 0, 0, [SEP] 59, Cabinet, -0.765, 2.009, -1.197, 0, 0, 0, [SEP] 60, Cabinet, -0.834, 2.009, -1.197, 0, 0, 0, [SEP] 61, Cabinet, -2.647, 2.200, 0.434, 0, 0, 0, [SEP] 62, StoveBurner, -2.622, 0.886, -0.711, 0, 0, 0, [SEP] 63, CounterTop, -2.699, 0.946, 0.106, 0, 0, 0, [SEP] 64, CounterTop, 0.908, 1.147, 0.788, 0, 315, 0, [SEP] 65, StoveBurner, -2.622, 0.886, -0.396, 0, 0, 0, [SEP] 66, Drawer, -2.026, 0.779, -1.082, 0, 0, 0, [SEP] 67, Sink, -1.328, 0.916, -1.225, 0, 0, 0, [SEP] 68, StoveBurner, -2.822, 0.886, -0.711, 0, 0, 0, [SEP] 69, Drawer, -2.572, 0.779, 0.099, 0, 0, 0, [SEP] 70, StoveBurner, -2.822, 0.886, -0.396, 0, 0, 0, [SEP] 71, CounterTop, 0.071, 0.946, -1.199, 0, 0, 0, [SEP] 72, Drawer, 0.254, 0.779, -1.082, 0, 0, 0, [SEP] 73, LightSwitch, -1.167, 1.307, 3.0, 0, 180, 0, [SEP] 74, CoffeeMachine, 1.124, 1.100, 0.312, 0, 227.685, 0, [SEP] 75, StoveKnob, -2.429, 0.863, -0.621, 311.864, 270, 180, [SEP] 76, StoveKnob, -2.429, 0.863, -0.477, 311.864, 270, 180, [SEP] 77, StoveKnob, -2.429, 0.863, -0.782, 311.864, 270, 180, [SEP] 78, StoveKnob, -2.429, 0.863, -0.324, 311.864, 270, 180, [SEP] 79, Window, 0.321, 1.449, 3.088, 90, 0, 0, [SEP] 80, Toaster, -2.823, 0.899, 0.246, 0, 90, 0, [SEP] 81, SinkBasin, -1.344, 0.838, -1.25, 0, 0, 0, [SEP] 82, GarbageCan, -2.757, 1.886, 1.466, 0, 0, 0, [SEP] 83, Fridge, -2.855, 0.0, 0.851, 0, 0, 0, [SEP] 84, Microwave, 0.283, 0.900, -1.331, 0, 0, 0, [SEP] 85, Stool, 1.541, 0.010, 1.328, 0, 45, 0, [SEP] 86, Stool, 0.983, 0.010, 1.793, 0, 47.459, 0, [SEP] 87, Faucet, -1.392, 1.136, -1.399, 0, 270, 0, [SEP] 88, NorthWall, , , , , , , [SEP] 89, EastWall, , , , , , , [SEP] 90, SouthWall, , , , , , , [SEP] 91, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and head to the microwave. | STEP 2: Open the cabinet above the microwave and pick up the dirty mug in there. | STEP 3: Turn left and bring the dirty mug to the sink | STEP 4: Clean the mug in in the sink. | STEP 5: Bring the cleaned mug to the coffee machine on the left. | STEP 6: Put the mug on the coffee machine. | END"]} +{"id": "trial_T20190907_070943_599319-3", "input": "Rinse a mug and place it on the coffee machine. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.900, 0.0, 0, 180, 0, [SEP] 1, Potato, -0.598, 0.933, -1.119, 0, 47.530, 0, 71 [SEP] 2, CreditCard, 0.240, 1.108, 1.933, 0, 315, 0, 64 [SEP] 3, Kettle, -2.773, 1.796, -0.731, 0, 0, 0, 43 [SEP] 4, Pot, -2.085, 0.912, -1.282, 0, 0, 0, 71 [SEP] 5, Spoon, -1.987, 0.748, -1.008, 0, 0, 0, 66 [SEP] 6, Spatula, -2.671, 0.761, 0.099, 0, 180, 0, 69 [SEP] 7, Spatula, -1.591, 0.866, -1.194, 0, 270, 0, 81 [SEP] 8, Cup, 0.241, 1.004, -1.314, 0, 0, 0, 84 [SEP] 9, Egg, -2.920, 0.413, 0.609, 0, 90, 0, 83 [SEP] 10, Knife, -2.542, 0.769, -0.027, 0, 90, 0, 69 [SEP] 11, Knife, -1.073, 0.874, -1.249, 0, 90, 0, 81 [SEP] 12, SoapBottle, -2.728, 0.038, 1.396, 0, 0, 0, 82 [SEP] 13, SoapBottle, 0.490, 1.112, 1.075, 0, 315, 0, 64 [SEP] 14, Bowl, -2.810, 1.794, -0.376, 0, 0, 0, 43 [SEP] 15, Bowl, -0.550, 1.661, -1.360, 0, 0, 0, 59 [SEP] 16, Lettuce, -2.860, 0.899, 1.013, 0, 90, 0, 83 [SEP] 17, PepperShaker, -2.521, 0.907, 0.275, 0, 0, 0, 63 [SEP] 18, Bread, 0.644, 1.166, 1.229, 0, 315, 0, 64 [SEP] 19, Apple, -2.699, 0.089, 1.536, 0, 90, 0, 82 [SEP] 20, Pan, -2.59, 0.9, -1.147, 0, 0, 0, 71 [SEP] 21, Apple, 0.451, 1.057, -1.414, 0, 0, 0, 84 [SEP] 22, Fork, -0.276, 0.901, -1.118, 0, 0, 0, 71 [SEP] 23, Kettle, -1.684, 0.118, -1.068, 0, 0, 0, 48 [SEP] 24, CreditCard, 0.097, 0.743, -1.009, 0, 0, 0, 72 [SEP] 25, Bread, -2.740, 1.528, 1.013, 0, 90, 0, 83 [SEP] 26, Plate, -1.458, 0.843, -1.235, 0, 0, 0, 81 [SEP] 27, SoapBottle, -2.521, 0.912, 0.106, 0, 0, 0, 63 [SEP] 28, Spatula, 0.133, 1.126, 1.737, 0, 315, 0, 64 [SEP] 29, Lettuce, 0.997, 0.990, -1.365, 0, 0, 0, 71 [SEP] 30, SaltShaker, -2.695, 0.9, -0.132, 0, 0, 0, 63 [SEP] 31, Tomato, 0.203, 1.152, 1.056, 0, 0, 0, 64 [SEP] 32, PepperShaker, 0.057, 1.658, -1.284, 0, 0, 0, 58 [SEP] 33, ButterKnife, -2.222, 0.9, -0.997, 0, 323.977, 0, 71 [SEP] 34, Pot, -2.622, 0.928, -0.396, 0, 0, 0, 65 [SEP] 35, DishSponge, -1.221, 0.841, -1.126, 0, 41.164, 0, 81 [SEP] 36, Egg, -2.619, 0.413, 0.609, 0, 90, 0, 83 [SEP] 37, Spoon, -2.604, 0.912, -0.062, 0, 0, 0, 63 [SEP] 38, Knife, -1.332, 0.872, -1.194, 0, 270, 0, 81 [SEP] 39, Cup, -2.920, 0.377, 0.932, 0, 90, 0, 83 [SEP] 40, Mug, 0.372, 1.654, -1.353, 0, 0, 0, 50 [SEP] 41, Bowl, -2.680, 1.672, 0.771, 0, 90, 0, 83 [SEP] 42, Cabinet, -2.647, 2.075, -0.875, 0, 0, 0, [SEP] 43, Cabinet, -2.647, 2.075, -0.234, 0, 0, 0, [SEP] 44, Cabinet, -0.824, 0.469, -0.907, 0, 0, 0, [SEP] 45, Cabinet, -1.764, 2.009, -1.197, 0, 0, 0, [SEP] 46, Cabinet, -1.834, 2.009, -1.197, 0, 0, 0, [SEP] 47, Cabinet, -1.850, 0.389, -0.897, 0, 0, 0, [SEP] 48, Cabinet, -1.801, 0.469, -0.907, 0, 0, 0, [SEP] 49, Cabinet, 1.115, 2.009, -1.197, 0, 0, 0, [SEP] 50, Cabinet, 0.235, 2.009, -1.197, 0, 0, 0, [SEP] 51, Cabinet, 1.125, 0.470, -0.897, 0, 0, 0, [SEP] 52, Cabinet, -2.387, 0.389, 0.375, 0, 0, 0, [SEP] 53, Cabinet, 0.484, 0.389, -0.897, 0, 0, 0, [SEP] 54, Cabinet, -2.625, 2.009, -1.197, 0, 0, 0, [SEP] 55, Cabinet, -2.647, 2.009, -0.945, 0, 0, 0, [SEP] 56, Cabinet, -2.647, 2.200, 1.664, 0, 0, 0, [SEP] 57, Cabinet, -2.647, 2.009, 0.364, 0, 0, 0, [SEP] 58, Cabinet, 0.164, 2.009, -1.197, 0, 0, 0, [SEP] 59, Cabinet, -0.765, 2.009, -1.197, 0, 0, 0, [SEP] 60, Cabinet, -0.834, 2.009, -1.197, 0, 0, 0, [SEP] 61, Cabinet, -2.647, 2.200, 0.434, 0, 0, 0, [SEP] 62, StoveBurner, -2.622, 0.886, -0.711, 0, 0, 0, [SEP] 63, CounterTop, -2.699, 0.946, 0.106, 0, 0, 0, [SEP] 64, CounterTop, 0.908, 1.147, 0.788, 0, 315, 0, [SEP] 65, StoveBurner, -2.622, 0.886, -0.396, 0, 0, 0, [SEP] 66, Drawer, -2.026, 0.779, -1.082, 0, 0, 0, [SEP] 67, Sink, -1.328, 0.916, -1.225, 0, 0, 0, [SEP] 68, StoveBurner, -2.822, 0.886, -0.711, 0, 0, 0, [SEP] 69, Drawer, -2.572, 0.779, 0.099, 0, 0, 0, [SEP] 70, StoveBurner, -2.822, 0.886, -0.396, 0, 0, 0, [SEP] 71, CounterTop, 0.071, 0.946, -1.199, 0, 0, 0, [SEP] 72, Drawer, 0.254, 0.779, -1.082, 0, 0, 0, [SEP] 73, LightSwitch, -1.167, 1.307, 3.0, 0, 180, 0, [SEP] 74, CoffeeMachine, 1.124, 1.100, 0.312, 0, 227.685, 0, [SEP] 75, StoveKnob, -2.429, 0.863, -0.621, 311.864, 270, 180, [SEP] 76, StoveKnob, -2.429, 0.863, -0.477, 311.864, 270, 180, [SEP] 77, StoveKnob, -2.429, 0.863, -0.782, 311.864, 270, 180, [SEP] 78, StoveKnob, -2.429, 0.863, -0.324, 311.864, 270, 180, [SEP] 79, Window, 0.321, 1.449, 3.088, 90, 0, 0, [SEP] 80, Toaster, -2.823, 0.899, 0.246, 0, 90, 0, [SEP] 81, SinkBasin, -1.344, 0.838, -1.25, 0, 0, 0, [SEP] 82, GarbageCan, -2.757, 1.886, 1.466, 0, 0, 0, [SEP] 83, Fridge, -2.855, 0.0, 0.851, 0, 0, 0, [SEP] 84, Microwave, 0.283, 0.900, -1.331, 0, 0, 0, [SEP] 85, Stool, 1.541, 0.010, 1.328, 0, 45, 0, [SEP] 86, Stool, 0.983, 0.010, 1.793, 0, 47.459, 0, [SEP] 87, Faucet, -1.392, 1.136, -1.399, 0, 270, 0, [SEP] 88, NorthWall, , , , , , , [SEP] 89, EastWall, , , , , , , [SEP] 90, SouthWall, , , , , , , [SEP] 91, WestWall, , , , , , , ", "output": ["STEP 1: Turn to the left, and then the right to face the microwave. | STEP 2: Open the top cabinet and take out a mug. | STEP 3: Take the mug and take a few steps to the right towards the sink. | STEP 4: Place the mug in the sink and turn on the water. Turn off the water and pick up the mug again. | STEP 5: Carry the mug and turn around and go to the right to the coffee machine. | STEP 6: Place the mug under the coffee machine. | END"]} +{"id": "trial_T20190907_070943_599319-4", "input": "Place a clean cup into the coffee maker. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.900, 0.0, 0, 180, 0, [SEP] 1, Potato, -0.598, 0.933, -1.119, 0, 47.530, 0, 71 [SEP] 2, CreditCard, 0.240, 1.108, 1.933, 0, 315, 0, 64 [SEP] 3, Kettle, -2.773, 1.796, -0.731, 0, 0, 0, 43 [SEP] 4, Pot, -2.085, 0.912, -1.282, 0, 0, 0, 71 [SEP] 5, Spoon, -1.987, 0.748, -1.008, 0, 0, 0, 66 [SEP] 6, Spatula, -2.671, 0.761, 0.099, 0, 180, 0, 69 [SEP] 7, Spatula, -1.591, 0.866, -1.194, 0, 270, 0, 81 [SEP] 8, Cup, 0.241, 1.004, -1.314, 0, 0, 0, 84 [SEP] 9, Egg, -2.920, 0.413, 0.609, 0, 90, 0, 83 [SEP] 10, Knife, -2.542, 0.769, -0.027, 0, 90, 0, 69 [SEP] 11, Knife, -1.073, 0.874, -1.249, 0, 90, 0, 81 [SEP] 12, SoapBottle, -2.728, 0.038, 1.396, 0, 0, 0, 82 [SEP] 13, SoapBottle, 0.490, 1.112, 1.075, 0, 315, 0, 64 [SEP] 14, Bowl, -2.810, 1.794, -0.376, 0, 0, 0, 43 [SEP] 15, Bowl, -0.550, 1.661, -1.360, 0, 0, 0, 59 [SEP] 16, Lettuce, -2.860, 0.899, 1.013, 0, 90, 0, 83 [SEP] 17, PepperShaker, -2.521, 0.907, 0.275, 0, 0, 0, 63 [SEP] 18, Bread, 0.644, 1.166, 1.229, 0, 315, 0, 64 [SEP] 19, Apple, -2.699, 0.089, 1.536, 0, 90, 0, 82 [SEP] 20, Pan, -2.59, 0.9, -1.147, 0, 0, 0, 71 [SEP] 21, Apple, 0.451, 1.057, -1.414, 0, 0, 0, 84 [SEP] 22, Fork, -0.276, 0.901, -1.118, 0, 0, 0, 71 [SEP] 23, Kettle, -1.684, 0.118, -1.068, 0, 0, 0, 48 [SEP] 24, CreditCard, 0.097, 0.743, -1.009, 0, 0, 0, 72 [SEP] 25, Bread, -2.740, 1.528, 1.013, 0, 90, 0, 83 [SEP] 26, Plate, -1.458, 0.843, -1.235, 0, 0, 0, 81 [SEP] 27, SoapBottle, -2.521, 0.912, 0.106, 0, 0, 0, 63 [SEP] 28, Spatula, 0.133, 1.126, 1.737, 0, 315, 0, 64 [SEP] 29, Lettuce, 0.997, 0.990, -1.365, 0, 0, 0, 71 [SEP] 30, SaltShaker, -2.695, 0.9, -0.132, 0, 0, 0, 63 [SEP] 31, Tomato, 0.203, 1.152, 1.056, 0, 0, 0, 64 [SEP] 32, PepperShaker, 0.057, 1.658, -1.284, 0, 0, 0, 58 [SEP] 33, ButterKnife, -2.222, 0.9, -0.997, 0, 323.977, 0, 71 [SEP] 34, Pot, -2.622, 0.928, -0.396, 0, 0, 0, 65 [SEP] 35, DishSponge, -1.221, 0.841, -1.126, 0, 41.164, 0, 81 [SEP] 36, Egg, -2.619, 0.413, 0.609, 0, 90, 0, 83 [SEP] 37, Spoon, -2.604, 0.912, -0.062, 0, 0, 0, 63 [SEP] 38, Knife, -1.332, 0.872, -1.194, 0, 270, 0, 81 [SEP] 39, Cup, -2.920, 0.377, 0.932, 0, 90, 0, 83 [SEP] 40, Mug, 0.372, 1.654, -1.353, 0, 0, 0, 50 [SEP] 41, Bowl, -2.680, 1.672, 0.771, 0, 90, 0, 83 [SEP] 42, Cabinet, -2.647, 2.075, -0.875, 0, 0, 0, [SEP] 43, Cabinet, -2.647, 2.075, -0.234, 0, 0, 0, [SEP] 44, Cabinet, -0.824, 0.469, -0.907, 0, 0, 0, [SEP] 45, Cabinet, -1.764, 2.009, -1.197, 0, 0, 0, [SEP] 46, Cabinet, -1.834, 2.009, -1.197, 0, 0, 0, [SEP] 47, Cabinet, -1.850, 0.389, -0.897, 0, 0, 0, [SEP] 48, Cabinet, -1.801, 0.469, -0.907, 0, 0, 0, [SEP] 49, Cabinet, 1.115, 2.009, -1.197, 0, 0, 0, [SEP] 50, Cabinet, 0.235, 2.009, -1.197, 0, 0, 0, [SEP] 51, Cabinet, 1.125, 0.470, -0.897, 0, 0, 0, [SEP] 52, Cabinet, -2.387, 0.389, 0.375, 0, 0, 0, [SEP] 53, Cabinet, 0.484, 0.389, -0.897, 0, 0, 0, [SEP] 54, Cabinet, -2.625, 2.009, -1.197, 0, 0, 0, [SEP] 55, Cabinet, -2.647, 2.009, -0.945, 0, 0, 0, [SEP] 56, Cabinet, -2.647, 2.200, 1.664, 0, 0, 0, [SEP] 57, Cabinet, -2.647, 2.009, 0.364, 0, 0, 0, [SEP] 58, Cabinet, 0.164, 2.009, -1.197, 0, 0, 0, [SEP] 59, Cabinet, -0.765, 2.009, -1.197, 0, 0, 0, [SEP] 60, Cabinet, -0.834, 2.009, -1.197, 0, 0, 0, [SEP] 61, Cabinet, -2.647, 2.200, 0.434, 0, 0, 0, [SEP] 62, StoveBurner, -2.622, 0.886, -0.711, 0, 0, 0, [SEP] 63, CounterTop, -2.699, 0.946, 0.106, 0, 0, 0, [SEP] 64, CounterTop, 0.908, 1.147, 0.788, 0, 315, 0, [SEP] 65, StoveBurner, -2.622, 0.886, -0.396, 0, 0, 0, [SEP] 66, Drawer, -2.026, 0.779, -1.082, 0, 0, 0, [SEP] 67, Sink, -1.328, 0.916, -1.225, 0, 0, 0, [SEP] 68, StoveBurner, -2.822, 0.886, -0.711, 0, 0, 0, [SEP] 69, Drawer, -2.572, 0.779, 0.099, 0, 0, 0, [SEP] 70, StoveBurner, -2.822, 0.886, -0.396, 0, 0, 0, [SEP] 71, CounterTop, 0.071, 0.946, -1.199, 0, 0, 0, [SEP] 72, Drawer, 0.254, 0.779, -1.082, 0, 0, 0, [SEP] 73, LightSwitch, -1.167, 1.307, 3.0, 0, 180, 0, [SEP] 74, CoffeeMachine, 1.124, 1.100, 0.312, 0, 227.685, 0, [SEP] 75, StoveKnob, -2.429, 0.863, -0.621, 311.864, 270, 180, [SEP] 76, StoveKnob, -2.429, 0.863, -0.477, 311.864, 270, 180, [SEP] 77, StoveKnob, -2.429, 0.863, -0.782, 311.864, 270, 180, [SEP] 78, StoveKnob, -2.429, 0.863, -0.324, 311.864, 270, 180, [SEP] 79, Window, 0.321, 1.449, 3.088, 90, 0, 0, [SEP] 80, Toaster, -2.823, 0.899, 0.246, 0, 90, 0, [SEP] 81, SinkBasin, -1.344, 0.838, -1.25, 0, 0, 0, [SEP] 82, GarbageCan, -2.757, 1.886, 1.466, 0, 0, 0, [SEP] 83, Fridge, -2.855, 0.0, 0.851, 0, 0, 0, [SEP] 84, Microwave, 0.283, 0.900, -1.331, 0, 0, 0, [SEP] 85, Stool, 1.541, 0.010, 1.328, 0, 45, 0, [SEP] 86, Stool, 0.983, 0.010, 1.793, 0, 47.459, 0, [SEP] 87, Faucet, -1.392, 1.136, -1.399, 0, 270, 0, [SEP] 88, NorthWall, , , , , , , [SEP] 89, EastWall, , , , , , , [SEP] 90, SouthWall, , , , , , , [SEP] 91, WestWall, , , , , , , ", "output": ["STEP 1: Turn left, move to counter in front of microwave. | STEP 2: Open cabinet on upper left, pick up dirty cup. | STEP 3: Turn to the right, move to the counter in front of the sink. | STEP 4: Place dirty cup into the sink, rinse cup, pick cup up. | STEP 5: Turn to the left, move to the counter in front of the coffee maker. | STEP 6: Put the cup into the coffee maker. | END"]} +{"id": "trial_T20190908_015609_932914-1", "input": "Place a warm mug into a coffee maker SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.900, -0.75, 0, 180, 0, [SEP] 1, Pan, 2.621, 1.026, -0.541, 0, 0, 0, 48 [SEP] 2, DishSponge, 2.267, 0.764, 4.288, 0, 329.999, 0, 49 [SEP] 3, ButterKnife, 2.175, 0.764, 4.447, 0, 329.999, 0, 49 [SEP] 4, ButterKnife, 2.535, 0.801, 0.731, 0, 317.0, 0, 60 [SEP] 5, WineBottle, 2.515, 0.765, 4.007, 0, 329.999, 0, 49 [SEP] 6, Pot, 2.116, 1.027, -1.84, 0, 270, 0, 52 [SEP] 7, Spatula, 2.626, 0.779, 3.895, 0, 90, 0, 49 [SEP] 8, Spatula, 2.634, 0.779, 3.651, 0, 239.999, 0, 49 [SEP] 9, Egg, 2.626, 0.808, 3.895, 0, 270, 0, 49 [SEP] 10, Cup, 1.895, 1.859, -1.843, 0, 0, 0, 94 [SEP] 11, Cup, 2.735, 0.763, 4.464, 0, 225, 0, 49 [SEP] 12, Plate, 1.926, 0.764, 3.821, 0, 270, 0, 49 [SEP] 13, Plate, 2.302, 0.764, 3.97, 0, 0, 0, 49 [SEP] 14, PepperShaker, -0.544, 1.023, 0.692, 0, 0, 0, 51 [SEP] 15, PepperShaker, -0.873, 0.796, 0.373, 0, 0, 0, 50 [SEP] 16, Lettuce, 2.542, 0.822, 3.810, 0, 329.999, 0, 49 [SEP] 17, Lettuce, -1.045, 1.085, 1.943, 0, 0, 0, 51 [SEP] 18, Apple, 2.276, 0.814, 3.747, 0, 270, 0, 49 [SEP] 19, Apple, -1.187, 1.077, 1.612, 0, 0, 0, 51 [SEP] 20, Pan, 1.836, 1.027, -1.84, 0, 90, 0, 46 [SEP] 21, Glassbottle, -0.947, 0.786, -0.516, 0, 90, 0, 92 [SEP] 22, Knife, 2.275, 0.789, 4.118, 0, 270, 0, 49 [SEP] 23, SoapBottle, 1.469, 1.025, -1.881, 0, 90, 0, 48 [SEP] 24, Egg, -0.906, 0.830, -0.627, 0, 90, 0, 92 [SEP] 25, Fork, 2.683, 1.027, 1.004, 0, 136.999, 0, 48 [SEP] 26, Potato, -1.059, 1.484, -0.627, 0, 90, 0, 92 [SEP] 27, Ladle, -0.731, 0.839, 1.899, 0, 0, 0, 53 [SEP] 28, Tomato, 3.043, 1.080, -1.151, 0, 0, 0, 48 [SEP] 29, Pot, 1.761, 1.027, -1.599, 0, 0, 0, 91 [SEP] 30, WineBottle, -0.858, 0.335, -0.295, 0, 90, 0, 92 [SEP] 31, Plate, -0.544, 1.027, 2.311, 0, 0, 0, 51 [SEP] 32, Spatula, 2.707, 0.816, -0.313, 0, 90, 0, 58 [SEP] 33, PaperTowelRoll, 2.790, 1.131, -0.541, 0, 0, 0, 48 [SEP] 34, Lettuce, 2.959, 1.085, -1.456, 0, 0, 0, 48 [SEP] 35, Apple, 2.633, 0.814, 4.047, 0, 225, 0, 49 [SEP] 36, SaltShaker, 2.348, 0.760, 3.552, 0, 225, 0, 49 [SEP] 37, PepperShaker, 1.953, 1.023, 1.998, 0, 136.999, 0, 48 [SEP] 38, ButterKnife, 2.506, 0.764, 3.577, 0, 329.999, 0, 49 [SEP] 39, Bread, -0.968, 1.510, -0.406, 0, 90, 0, 92 [SEP] 40, Cup, 1.290, 1.025, -1.667, 0, 90, 0, 48 [SEP] 41, DishSponge, 1.347, 0.790, -1.502, 0, 0, 0, 55 [SEP] 42, Bowl, -1.021, 1.778, 2.485, 0, 0, 0, 86 [SEP] 43, Spoon, 2.650, 0.802, 0.210, 0, 0, 0, 59 [SEP] 44, Mug, -0.851, 0.811, 1.492, 0, 90, 0, 105 [SEP] 45, Sink, -0.716, 1.023, 1.333, 0, 0, 0, [SEP] 46, StoveBurner, 1.835, 1.018, -1.840, 0, 90, 0, [SEP] 47, StoveBurner, 2.177, 1.018, -1.599, 0, 0, 0, [SEP] 48, CounterTop, 2.812, 0.992, 0.675, 0, 0, 0, [SEP] 49, DiningTable, 2.419, 0.003, 3.930, 0, 0, 0, [SEP] 50, Drawer, -0.643, 0.828, 0.616, 0, 0, 0, [SEP] 51, CounterTop, -0.813, 1.062, 2.188, 0, 0, 0, [SEP] 52, StoveBurner, 2.115, 1.018, -1.840, 0, 270, 0, [SEP] 53, Drawer, -0.643, 0.831, 1.953, 0, 0, 0, [SEP] 54, Drawer, -0.643, 0.833, 2.418, 0, 0, 0, [SEP] 55, Drawer, 1.347, 0.836, -1.539, 0, 0, 0, [SEP] 56, Drawer, 2.693, 0.833, -1.131, 0, 0, 0, [SEP] 57, Drawer, 2.693, 0.833, -0.699, 0, 0, 0, [SEP] 58, Drawer, 2.693, 0.833, -0.267, 0, 0, 0, [SEP] 59, Drawer, 2.693, 0.833, 0.163, 0, 0, 0, [SEP] 60, Drawer, 2.524, 0.833, 0.720, 0, 2.000, 0, [SEP] 61, Drawer, 2.232, 0.833, 1.036, 0, 2.000, 0, [SEP] 62, Drawer, 1.936, 0.833, 1.354, 0, 2.000, 0, [SEP] 63, Drawer, 1.646, 0.833, 1.670, 0, 2.000, 0, [SEP] 64, Cabinet, 1.504, 2.475, -1.710, 0, 0, 0, [SEP] 65, Cabinet, -0.823, 2.220, 1.621, 0, 0, 0, [SEP] 66, Cabinet, -0.823, 2.220, 0.615, 0, 0, 0, [SEP] 67, Cabinet, 1.136, 0.388, -1.355, 0, 0, 0, [SEP] 68, Cabinet, -0.356, 0.383, 2.626, 0, 0, 0, [SEP] 69, Cabinet, 2.745, 2.220, -1.690, 0, 0, 0, [SEP] 70, Cabinet, 1.882, 0.383, 1.017, 0, 0, 0, [SEP] 71, Cabinet, 1.307, 0.473, 1.640, 0, 0, 0, [SEP] 72, Cabinet, 1.892, 0.383, 1.006, 0, 0, 0, [SEP] 73, Cabinet, 2.467, 0.383, 0.383, 0, 0, 0, [SEP] 74, Cabinet, 2.466, 0.383, -0.475, 0, 0, 0, [SEP] 75, Cabinet, 2.466, 0.473, 0.371, 0, 0, 0, [SEP] 76, Cabinet, 2.386, 2.475, -1.710, 0, 0, 0, [SEP] 77, Cabinet, -0.356, 0.383, 1.712, 0, 0, 0, [SEP] 78, Cabinet, 2.745, 2.220, 0.019, 0, 0, 0, [SEP] 79, Cabinet, -0.663, 2.496, 0.157, 0, 0, 0, [SEP] 80, Cabinet, -0.663, 2.496, -0.868, 0, 0, 0, [SEP] 81, Cabinet, -0.356, 0.383, 0.269, 0, 0, 0, [SEP] 82, Cabinet, -0.823, 2.220, 1.603, 0, 0, 0, [SEP] 83, Cabinet, -0.662, 2.234, 0.586, 0, 0, 0, [SEP] 84, Cabinet, 2.745, 2.220, -0.843, 0, 0, 0, [SEP] 85, Cabinet, 2.745, 2.220, -0.827, 0, 0, 0, [SEP] 86, Cabinet, -0.823, 2.220, 2.608, 0, 0, 0, [SEP] 87, Cabinet, 2.732, 2.226, -1.709, 0, 0, 0, [SEP] 88, Cabinet, 1.137, 2.226, -1.709, 0, 0, 0, [SEP] 89, Cabinet, 2.466, 0.383, -0.491, 0, 0, 0, [SEP] 90, Cabinet, 2.466, 0.383, -1.339, 0, 0, 0, [SEP] 91, StoveBurner, 1.761, 1.018, -1.599, 0, 0, 0, [SEP] 92, Fridge, -0.908, 0.0, -0.405, 0, 0, 0, [SEP] 93, HousePlant, 2.517, 1.016, 1.822, 0, 0, 0, [SEP] 94, Microwave, 1.939, 1.745, -1.826, 0, 0, 0, [SEP] 95, StoveKnob, 2.017, 1.041, -1.514, 0, 180, 180, [SEP] 96, StoveKnob, 1.934, 1.041, -1.514, 0, 180, 180, [SEP] 97, StoveKnob, 2.017, 1.041, -1.589, 0, 180, 180, [SEP] 98, StoveKnob, 1.934, 1.041, -1.589, 0, 180, 180, [SEP] 99, Window, 1.756, 1.608, 4.762, 90, 0, 0, [SEP] 100, HousePlant, 2.171, 1.004, 2.091, 0, 0, 0, [SEP] 101, CoffeeMachine, -0.942, 1.018, 0.645, 0, 90, 0, [SEP] 102, LightSwitch, -0.099, 1.410, -2.066, 0, 0, 0, [SEP] 103, GarbageCan, -0.951, -0.029, 2.826, 0, 0, 0, [SEP] 104, Toaster, -1.007, 1.018, 2.238, 0, 90, 0, [SEP] 105, SinkBasin, -0.714, 0.805, 1.348, 0, 90, 0, [SEP] 106, Chair, 1.615, 0.004, 4.310, 0, 107.976, 0, [SEP] 107, Faucet, -1.120, 1.013, 1.334, 0, 90, 0, [SEP] 108, Chair, 2.759, 0.004, 3.086, 0, 358.967, 0, [SEP] 109, , , , , , , , [SEP] 110, NorthWall, , , , , , , [SEP] 111, EastWall, , , , , , , [SEP] 112, SouthWall, , , , , , , [SEP] 113, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and head to the sink on your left | STEP 2: Pick up the coffee mug that is sitting in the sink | STEP 3: Turn around and cross the room to the counter then turn right and head to the stove | STEP 4: Open the microwave and place the mug inside, to the left of the other mug, and then close the microwave and turn it on. Then open the microwave and pick up the mug and close the door | STEP 5: Turn around and head forward then head left to the coffee maker | STEP 6: Place the mug into the coffee maker | END"]} +{"id": "trial_T20190908_225901_435079-1", "input": "Wash a plate and put it on a shelf SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.0, 0.900, -0.25, 0, 90, 0, [SEP] 1, Vase, -1.444, 1.658, -1.747, 0, 0, 0, 72 [SEP] 2, DishSponge, -1.649, 0.717, -1.073, 0, 0, 0, 74 [SEP] 3, DishSponge, -1.975, 0.119, -1.726, 0, 0, 0, 78 [SEP] 4, ButterKnife, -1.627, 0.912, -0.288, 0, 0, 0, 59 [SEP] 5, WineBottle, -0.514, 0.122, -1.413, 0, 0, 0, 68 [SEP] 6, WineBottle, -2.143, 0.875, 3.422, 0, 225, 0, 61 [SEP] 7, Spatula, -2.015, 0.733, -1.579, 0, 270, 0, 78 [SEP] 8, Spatula, -2.845, 0.893, 3.513, 0, 315, 0, 61 [SEP] 9, Pot, 1.328, 0.957, -1.688, 0, 180, 0, 62 [SEP] 10, Fork, 0.525, 0.912, -1.776, 0, 90, 0, 59 [SEP] 11, Egg, -0.263, 1.169, 2.286, 0, 180, 0, 84 [SEP] 12, Cup, -2.126, 0.118, -1.360, 0, 0, 0, 60 [SEP] 13, Cup, 1.614, 0.908, -1.346, 0, 0, 0, 79 [SEP] 14, Plate, 0.591, 0.120, -1.445, 0, 0, 0, 66 [SEP] 15, Plate, -2.434, 0.878, 3.207, 0, 135, 0, 61 [SEP] 16, Plate, -1.888, 1.661, -1.710, 0, 0, 0, 55 [SEP] 17, SoapBottle, -0.844, 0.193, 2.097, 0, 90, 0, 89 [SEP] 18, SoapBottle, -2.659, 0.875, 2.884, 0, 0, 0, 61 [SEP] 19, Tomato, 0.307, 1.619, 2.100, 0, 180, 0, 84 [SEP] 20, Bowl, -2.405, 0.876, 2.758, 0, 135, 0, 61 [SEP] 21, Bowl, -0.263, 1.570, 2.040, 0, 180, 0, 84 [SEP] 22, Bread, -2.300, 0.958, 3.580, 0, 225, 0, 61 [SEP] 23, Bread, -3.122, 0.961, 3.475, 0, 135, 0, 61 [SEP] 24, Lettuce, -2.659, 0.939, 3.444, 0, 270, 0, 61 [SEP] 25, Mug, -0.263, 0.383, 2.083, 0, 180, 0, 84 [SEP] 26, Apple, 1.316, 1.816, -1.596, 0, 0, 0, 83 [SEP] 27, Book, -1.649, 0.116, -0.841, 0, 0, 0, 64 [SEP] 28, Fork, 1.760, 0.910, -1.528, 0, 90, 0, 79 [SEP] 29, Tomato, -1.961, 0.959, -0.939, 0, 0, 0, 59 [SEP] 30, Egg, 0.193, 0.828, 1.966, 0, 180, 0, 84 [SEP] 31, Kettle, -2.807, 0.875, 3.728, 0, 0, 0, 61 [SEP] 32, Vase, 0.036, 0.115, -1.451, 0, 0, 0, 67 [SEP] 33, Cup, -0.377, 1.142, 2.286, 0, 180, 0, 84 [SEP] 34, WineBottle, -3.017, 0.875, 3.580, 0, 135, 0, 61 [SEP] 35, Plate, -0.377, 0.807, 2.023, 0, 180, 0, 84 [SEP] 36, Spatula, -1.627, 0.927, 0.363, 0, 0, 0, 59 [SEP] 37, Potato, 0.307, 0.425, 2.054, 0, 180, 0, 84 [SEP] 38, Pot, 0.974, 0.957, -1.419, 0, 180, 0, 77 [SEP] 39, Knife, -2.081, 0.740, -1.441, 0, 270, 0, 78 [SEP] 40, SaltShaker, 1.687, 0.906, -1.437, 0, 0, 0, 79 [SEP] 41, PepperShaker, -1.975, 0.116, -1.506, 0, 0, 0, 60 [SEP] 42, Lettuce, -0.833, 0.977, -1.471, 0, 0, 0, 59 [SEP] 43, ButterKnife, -2.420, 0.874, 2.983, 0, 135, 0, 61 [SEP] 44, Bread, -3.165, 0.961, 3.073, 0, 270, 0, 61 [SEP] 45, Vase, -1.627, 0.913, 0.037, 0, 0, 0, 59 [SEP] 46, DishSponge, 1.622, 0.719, -1.443, 0, 0, 0, 75 [SEP] 47, Apple, -2.458, 0.929, 3.737, 0, 225, 0, 61 [SEP] 48, Pan, 1.328, 0.957, -1.420, 0, 180, 0, 63 [SEP] 49, Spoon, 1.542, 0.911, -1.346, 0, 90, 0, 79 [SEP] 50, SoapBottle, -2.152, 0.879, 3.073, 0, 270, 0, 61 [SEP] 51, Mug, 1.210, 1.756, -1.629, 0, 0, 0, 83 [SEP] 52, Statue, 3.676, 0.168, 1.410, 0, 334.521, 0, 82 [SEP] 53, Statue, 3.668, 0.540, 1.800, 0, 0, 0, 82 [SEP] 54, Bowl, 0.997, 2.154, -1.710, 0, 0, 0, 73 [SEP] 55, Cabinet, -2.171, 2.009, -1.538, 0, 0, 0, [SEP] 56, Sink, 0.024, 0.771, -1.708, 0, 270, 0, [SEP] 57, Cabinet, 1.444, 2.259, -1.542, 0, 0, 0, [SEP] 58, StoveBurner, 0.974, 0.957, -1.688, 0, 180, 0, [SEP] 59, CounterTop, -1.866, 0.947, -0.614, 0, 0, 0, [SEP] 60, Cabinet, -2.217, 0.373, -1.874, 0, 0, 0, [SEP] 61, DiningTable, -2.663, 0.002, 3.208, 0, 0, 0, [SEP] 62, StoveBurner, 1.328, 0.957, -1.688, 0, 180, 0, [SEP] 63, StoveBurner, 1.328, 0.957, -1.420, 0, 180, 0, [SEP] 64, Cabinet, -1.478, 0.373, -1.235, 0, 0, 0, [SEP] 65, Cabinet, 1.775, 0.372, -1.242, 0, 0, 0, [SEP] 66, Cabinet, 0.774, 0.372, -1.242, 0, 0, 0, [SEP] 67, Cabinet, 0.375, 0.372, -1.242, 0, 0, 0, [SEP] 68, Cabinet, -0.574, 0.372, -1.238, 0, 0, 0, [SEP] 69, Cabinet, 1.775, 2.009, -1.542, 0, 0, 0, [SEP] 70, Cabinet, 0.524, 2.009, -1.542, 0, 0, 0, [SEP] 71, Cabinet, -0.714, 2.009, -1.542, 0, 0, 0, [SEP] 72, Cabinet, -1.671, 2.009, -1.538, 0, 0, 0, [SEP] 73, Cabinet, 0.854, 2.259, -1.542, 0, 0, 0, [SEP] 74, Drawer, -1.636, 0.683, -0.930, 0, 0, 0, [SEP] 75, Drawer, 1.650, 0.682, -1.396, 0, 0, 0, [SEP] 76, Drawer, 0.600, 0.682, -1.396, 0, 0, 0, [SEP] 77, StoveBurner, 0.974, 0.957, -1.419, 0, 180, 0, [SEP] 78, Drawer, -2.062, 0.683, -1.579, 0, 0, 0, [SEP] 79, CounterTop, 1.645, 0.945, -1.527, 0, 0, 0, [SEP] 80, Shelf, 3.725, 0.880, 1.671, 0, 90, 0, [SEP] 81, LightSwitch, 2.830, 1.266, -0.748, 0, 0, 0, [SEP] 82, Shelf, 3.726, 0.552, 1.671, 0, 90, 0, [SEP] 83, Microwave, 1.150, 1.655, -1.614, 0, 0, 0, [SEP] 84, Fridge, -0.035, 0.0, 2.177, 0, 180, 0, [SEP] 85, Window, -0.115, 1.802, -1.896, 90, 0, 0, [SEP] 86, Window, -4.009, 1.799, 0.310, 90, 90, 0, [SEP] 87, Shelf, 3.726, 0.172, 1.671, 0, 90, 0, [SEP] 88, SinkBasin, -0.330, 0.686, -1.581, 0, 270, 0, [SEP] 89, GarbageCan, -0.870, -0.001, 2.136, 0, 90, 0, [SEP] 90, StoveKnob, 1.089, 0.913, -1.243, 45, 0, 0, [SEP] 91, StoveKnob, 1.208, 0.913, -1.243, 45, 0, 0, [SEP] 92, StoveKnob, 1.340, 0.913, -1.243, 45, 0, 0, [SEP] 93, StoveKnob, 0.961, 0.913, -1.243, 45, 0, 0, [SEP] 94, Toaster, 1.637, 0.900, -1.673, 0, 0, 0, [SEP] 95, Chair, -3.505, 0.002, 3.290, 0, 105.736, 0, [SEP] 96, CoffeeMachine, -1.111, 0.900, -1.726, 0, 0, 0, [SEP] 97, HousePlant, -2.663, 0.835, 3.209, 0, 0, 0, [SEP] 98, Faucet, -0.187, 0.922, -1.75, 0, 311.166, 0, [SEP] 99, ShelvingUnit, 3.726, 0.006, 1.671, 0, 90, 0, [SEP] 100, Stool, -2.501, -0.000, 0.062, 1.223, 91.243, 0, [SEP] 101, Stool, -2.475, -0.000, -0.802, 1.209, 69.808, 0, [SEP] 102, Chair, -2.934, 0.002, 2.437, 0, 28.531, 0, [SEP] 103, Chair, -1.698, 0.002, 3.235, 0, 245.204, 0, [SEP] 104, NorthWall, , , , , , , [SEP] 105, EastWall, , , , , , , [SEP] 106, SouthWall, , , , , , , [SEP] 107, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and go to the cabinet to the right of the stove | STEP 2: Take the dirty plate out of the cabinet and close the door | STEP 3: Move right to face the sink | STEP 4: Put the plate in the right side of the sink and turn on the water. Turn off the water and take the plate out of the sink | STEP 5: Turn left and go to the shelves | STEP 6: Place the plate on the right side of the second from the bottom shelf | END"]} +{"id": "trial_T20190909_014719_569668-1", "input": "Heat up a white mug in the microwave to put away in a cabinet. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 1.124, 1.25, 0, 180, 0, [SEP] 1, Pan, -1.530, 1.322, 0.120, 0, 0, 0, 54 [SEP] 2, DishSponge, -1.818, 0.343, 1.317, 0, 0, 0, 55 [SEP] 3, DishSponge, -1.094, 1.322, -2.760, 0, 0, 0, 54 [SEP] 4, WineBottle, -1.749, 0.344, 0.512, 0, 0, 0, 52 [SEP] 5, Spoon, 0.861, 1.208, 1.222, 0, 0, 0, 79 [SEP] 6, Spoon, 0.897, 0.954, 0.983, 0, 0, 0, 77 [SEP] 7, Pot, 0.766, 1.329, -2.053, 0, 0, 0, 54 [SEP] 8, Egg, -1.610, 0.321, 2.234, 0, 270, 0, 69 [SEP] 9, Cup, 0.824, 0.342, -2.371, 0, 180, 0, 53 [SEP] 10, Cup, 0.957, 1.943, 1.612, 0, 270, 0, 67 [SEP] 11, Plate, -1.826, 1.064, -0.542, 0, 0, 0, 72 [SEP] 12, Plate, -1.790, 1.323, 2.069, 0, 0, 0, 54 [SEP] 13, Knife, -1.915, 1.365, -1.186, 0, 180, 0, 61 [SEP] 14, Knife, -1.915, 1.358, -0.980, 0, 180, 0, 61 [SEP] 15, SoapBottle, -1.750, 0.344, 1.213, 0, 0, 0, 55 [SEP] 16, Tomato, -1.826, 1.367, -0.980, 0, 0, 0, 61 [SEP] 17, Bowl, -1.818, 0.342, 1.007, 0, 0, 0, 55 [SEP] 18, SaltShaker, -1.952, 0.338, 0.412, 0, 0, 0, 52 [SEP] 19, SaltShaker, 0.900, 0.339, -1.751, 0, 180, 0, 53 [SEP] 20, PepperShaker, 0.944, 1.202, 1.222, 0, 0, 0, 79 [SEP] 21, Bread, -1.530, 1.397, -2.981, 0, 0, 0, 54 [SEP] 22, Lettuce, 0.492, 1.399, -3.232, 0, 0, 0, 54 [SEP] 23, Mug, -1.614, 0.338, 0.110, 0, 0, 0, 52 [SEP] 24, Mug, -2.179, 1.318, -2.981, 0, 0, 0, 54 [SEP] 25, Mug, 1.276, 1.202, 1.238, 0, 0, 0, 79 [SEP] 26, Bread, -1.513, 1.380, 0.662, 0, 0, 0, 54 [SEP] 27, Pot, -0.749, 1.332, -2.973, 0, 0, 0, 57 [SEP] 28, Knife, 0.349, 1.352, -2.900, 0, 0, 0, 54 [SEP] 29, Bowl, -2.004, 1.334, -1.255, 0, 0, 0, 61 [SEP] 30, Potato, 0.933, 1.985, 1.730, 0, 0, 0, 67 [SEP] 31, SoapBottle, -1.681, 0.280, 2.151, 0, 0, 0, 69 [SEP] 32, Fork, 0.766, 1.323, -0.942, 0, 0, 0, 54 [SEP] 33, Cup, 0.938, 1.754, 2.230, 0, 270, 0, 67 [SEP] 34, Kettle, -1.660, 1.324, 1.419, 0, 0, 0, 54 [SEP] 35, Egg, -1.681, 0.321, 2.069, 0, 270, 0, 69 [SEP] 36, Pan, -0.239, 1.331, -3.301, 0, 180, 0, 49 [SEP] 37, SaltShaker, 1.129, 0.339, -1.957, 0, 180, 0, 53 [SEP] 38, WineBottle, -1.886, 0.344, 1.420, 0, 0, 0, 55 [SEP] 39, Lettuce, 1.017, 1.833, 2.053, 0, 270, 0, 67 [SEP] 40, Spatula, -1.559, 1.343, -0.911, 0, 0, 0, 61 [SEP] 41, PaperTowelRoll, 1.027, 1.312, 1.222, 0, 0, 0, 79 [SEP] 42, Tomato, -2.179, 1.356, -3.241, 0, 0, 0, 54 [SEP] 43, Plate, 1.053, 0.345, -2.164, 0, 180, 0, 53 [SEP] 44, PepperShaker, -1.518, 0.415, -0.430, 0, 0, 0, 58 [SEP] 45, DishSponge, -2.093, 1.333, -1.117, 0, 0, 0, 61 [SEP] 46, Spoon, 0.277, 1.324, -2.789, 0, 0, 0, 54 [SEP] 47, Apple, -2.179, 1.371, 1.419, 0, 0, 0, 54 [SEP] 48, Mug, 0.896, 1.318, -2.424, 0, 0, 0, 54 [SEP] 49, StoveBurner, -0.239, 1.325, -3.301, 0, 180, 0, [SEP] 50, Cabinet, -1.461, 0.775, -2.002, 0, 0, 0, [SEP] 51, StoveBurner, -0.630, 1.325, -3.301, 0, 180, 0, [SEP] 52, Cabinet, -1.461, 0.775, 0.470, 0, 0, 0, [SEP] 53, Cabinet, 0.578, 0.776, -2.054, 0, 0, 0, [SEP] 54, CounterTop, -1.809, 1.358, 1.182, 0, 0, 0, [SEP] 55, Cabinet, -1.461, 0.775, 1.310, 0, 0, 0, [SEP] 56, Faucet, -2.063, 1.362, -0.726, 0, 39.391, 0, [SEP] 57, StoveBurner, -0.749, 1.325, -2.973, 0, 0, 0, [SEP] 58, Drawer, -1.610, 0.681, -0.430, 0, 0, 0, [SEP] 59, Window, -2.566, 1.799, -0.822, 270, 0, 0, [SEP] 60, Drawer, -1.610, 0.681, -1.217, 0, 0, 0, [SEP] 61, Sink, -1.990, 1.143, -0.975, 0, 0, 0, [SEP] 62, StoveBurner, -0.125, 1.325, -2.973, 0, 0, 0, [SEP] 63, StoveKnob, -0.185, 1.338, -2.741, 0, 270, 180, [SEP] 64, StoveKnob, -0.336, 1.338, -2.741, 0, 270, 180, [SEP] 65, StoveKnob, -0.569, 1.338, -2.741, 0, 270, 180, [SEP] 66, StoveKnob, -0.707, 1.338, -2.741, 0, 270, 180, [SEP] 67, Fridge, 1.013, 0.227, 1.917, 0, 270, 0, [SEP] 68, Microwave, 0.994, 1.310, -2.163, 0, 270, 0, [SEP] 69, GarbageCan, -1.633, 0.212, 2.192, 0, 270, 0, [SEP] 70, LightSwitch, 1.386, 1.565, -0.657, 0, 270, 0, [SEP] 71, HousePlant, -2.027, 1.311, -0.026, 0, 284.058, 0, [SEP] 72, SinkBasin, -1.835, 1.039, -0.542, 0, 0, 0, [SEP] 73, ButterKnife, 0.873, 0.468, 0.651, 0, 0, 0, [SEP] 74, Toaster, -1.885, 1.310, -2.512, 0, 90, 0, [SEP] 75, CoffeeMachine, 1.129, 1.310, -1.426, 0, 270, 0, [SEP] 76, Drawer, 0.647, 1.061, 0.680, 0, 270, 0, [SEP] 77, Drawer, 0.648, 1.061, 1.020, 0, 270, 0, [SEP] 78, Drawer, 0.648, 0.843, 1.020, 0, 270, 0, [SEP] 79, SideTable, 0.975, 0.220, 0.869, 0, 270, 0, [SEP] 80, Drawer, 0.648, 0.602, 0.680, 0, 270, 0, [SEP] 81, Drawer, 0.648, 0.596, 1.020, 0, 270, 0, [SEP] 82, Drawer, 0.648, 0.843, 0.680, 0, 270, 0, [SEP] 83, Stool, 0.606, 0.222, -1.084, 1.233, 280.489, 0, [SEP] 84, NorthWall, , , , , , , [SEP] 85, EastWall, , , , , , , [SEP] 86, SouthWall, , , , , , , [SEP] 87, WestWall, , , , , , , ", "output": ["STEP 1: Turn right to face the microwave. | STEP 2: Pick up the white mug next to the microwave. | STEP 3: Turn to face the front of the microwave. | STEP 4: Heat up the mug in the microwave, removing it afterwards. | STEP 5: Turn around to face the lower right cabinets next to the sink. | STEP 6: Put the white mug in the cabinet directly below the loaf of bread on the counter. | END"]} +{"id": "trial_T20190909_014719_569668-2", "input": "warm a mug and put it in the cabinet SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 1.124, 1.25, 0, 180, 0, [SEP] 1, Pan, -1.530, 1.322, 0.120, 0, 0, 0, 54 [SEP] 2, DishSponge, -1.818, 0.343, 1.317, 0, 0, 0, 55 [SEP] 3, DishSponge, -1.094, 1.322, -2.760, 0, 0, 0, 54 [SEP] 4, WineBottle, -1.749, 0.344, 0.512, 0, 0, 0, 52 [SEP] 5, Spoon, 0.861, 1.208, 1.222, 0, 0, 0, 79 [SEP] 6, Spoon, 0.897, 0.954, 0.983, 0, 0, 0, 77 [SEP] 7, Pot, 0.766, 1.329, -2.053, 0, 0, 0, 54 [SEP] 8, Egg, -1.610, 0.321, 2.234, 0, 270, 0, 69 [SEP] 9, Cup, 0.824, 0.342, -2.371, 0, 180, 0, 53 [SEP] 10, Cup, 0.957, 1.943, 1.612, 0, 270, 0, 67 [SEP] 11, Plate, -1.826, 1.064, -0.542, 0, 0, 0, 72 [SEP] 12, Plate, -1.790, 1.323, 2.069, 0, 0, 0, 54 [SEP] 13, Knife, -1.915, 1.365, -1.186, 0, 180, 0, 61 [SEP] 14, Knife, -1.915, 1.358, -0.980, 0, 180, 0, 61 [SEP] 15, SoapBottle, -1.750, 0.344, 1.213, 0, 0, 0, 55 [SEP] 16, Tomato, -1.826, 1.367, -0.980, 0, 0, 0, 61 [SEP] 17, Bowl, -1.818, 0.342, 1.007, 0, 0, 0, 55 [SEP] 18, SaltShaker, -1.952, 0.338, 0.412, 0, 0, 0, 52 [SEP] 19, SaltShaker, 0.900, 0.339, -1.751, 0, 180, 0, 53 [SEP] 20, PepperShaker, 0.944, 1.202, 1.222, 0, 0, 0, 79 [SEP] 21, Bread, -1.530, 1.397, -2.981, 0, 0, 0, 54 [SEP] 22, Lettuce, 0.492, 1.399, -3.232, 0, 0, 0, 54 [SEP] 23, Mug, -1.614, 0.338, 0.110, 0, 0, 0, 52 [SEP] 24, Mug, -2.179, 1.318, -2.981, 0, 0, 0, 54 [SEP] 25, Mug, 1.276, 1.202, 1.238, 0, 0, 0, 79 [SEP] 26, Bread, -1.513, 1.380, 0.662, 0, 0, 0, 54 [SEP] 27, Pot, -0.749, 1.332, -2.973, 0, 0, 0, 57 [SEP] 28, Knife, 0.349, 1.352, -2.900, 0, 0, 0, 54 [SEP] 29, Bowl, -2.004, 1.334, -1.255, 0, 0, 0, 61 [SEP] 30, Potato, 0.933, 1.985, 1.730, 0, 0, 0, 67 [SEP] 31, SoapBottle, -1.681, 0.280, 2.151, 0, 0, 0, 69 [SEP] 32, Fork, 0.766, 1.323, -0.942, 0, 0, 0, 54 [SEP] 33, Cup, 0.938, 1.754, 2.230, 0, 270, 0, 67 [SEP] 34, Kettle, -1.660, 1.324, 1.419, 0, 0, 0, 54 [SEP] 35, Egg, -1.681, 0.321, 2.069, 0, 270, 0, 69 [SEP] 36, Pan, -0.239, 1.331, -3.301, 0, 180, 0, 49 [SEP] 37, SaltShaker, 1.129, 0.339, -1.957, 0, 180, 0, 53 [SEP] 38, WineBottle, -1.886, 0.344, 1.420, 0, 0, 0, 55 [SEP] 39, Lettuce, 1.017, 1.833, 2.053, 0, 270, 0, 67 [SEP] 40, Spatula, -1.559, 1.343, -0.911, 0, 0, 0, 61 [SEP] 41, PaperTowelRoll, 1.027, 1.312, 1.222, 0, 0, 0, 79 [SEP] 42, Tomato, -2.179, 1.356, -3.241, 0, 0, 0, 54 [SEP] 43, Plate, 1.053, 0.345, -2.164, 0, 180, 0, 53 [SEP] 44, PepperShaker, -1.518, 0.415, -0.430, 0, 0, 0, 58 [SEP] 45, DishSponge, -2.093, 1.333, -1.117, 0, 0, 0, 61 [SEP] 46, Spoon, 0.277, 1.324, -2.789, 0, 0, 0, 54 [SEP] 47, Apple, -2.179, 1.371, 1.419, 0, 0, 0, 54 [SEP] 48, Mug, 0.896, 1.318, -2.424, 0, 0, 0, 54 [SEP] 49, StoveBurner, -0.239, 1.325, -3.301, 0, 180, 0, [SEP] 50, Cabinet, -1.461, 0.775, -2.002, 0, 0, 0, [SEP] 51, StoveBurner, -0.630, 1.325, -3.301, 0, 180, 0, [SEP] 52, Cabinet, -1.461, 0.775, 0.470, 0, 0, 0, [SEP] 53, Cabinet, 0.578, 0.776, -2.054, 0, 0, 0, [SEP] 54, CounterTop, -1.809, 1.358, 1.182, 0, 0, 0, [SEP] 55, Cabinet, -1.461, 0.775, 1.310, 0, 0, 0, [SEP] 56, Faucet, -2.063, 1.362, -0.726, 0, 39.391, 0, [SEP] 57, StoveBurner, -0.749, 1.325, -2.973, 0, 0, 0, [SEP] 58, Drawer, -1.610, 0.681, -0.430, 0, 0, 0, [SEP] 59, Window, -2.566, 1.799, -0.822, 270, 0, 0, [SEP] 60, Drawer, -1.610, 0.681, -1.217, 0, 0, 0, [SEP] 61, Sink, -1.990, 1.143, -0.975, 0, 0, 0, [SEP] 62, StoveBurner, -0.125, 1.325, -2.973, 0, 0, 0, [SEP] 63, StoveKnob, -0.185, 1.338, -2.741, 0, 270, 180, [SEP] 64, StoveKnob, -0.336, 1.338, -2.741, 0, 270, 180, [SEP] 65, StoveKnob, -0.569, 1.338, -2.741, 0, 270, 180, [SEP] 66, StoveKnob, -0.707, 1.338, -2.741, 0, 270, 180, [SEP] 67, Fridge, 1.013, 0.227, 1.917, 0, 270, 0, [SEP] 68, Microwave, 0.994, 1.310, -2.163, 0, 270, 0, [SEP] 69, GarbageCan, -1.633, 0.212, 2.192, 0, 270, 0, [SEP] 70, LightSwitch, 1.386, 1.565, -0.657, 0, 270, 0, [SEP] 71, HousePlant, -2.027, 1.311, -0.026, 0, 284.058, 0, [SEP] 72, SinkBasin, -1.835, 1.039, -0.542, 0, 0, 0, [SEP] 73, ButterKnife, 0.873, 0.468, 0.651, 0, 0, 0, [SEP] 74, Toaster, -1.885, 1.310, -2.512, 0, 90, 0, [SEP] 75, CoffeeMachine, 1.129, 1.310, -1.426, 0, 270, 0, [SEP] 76, Drawer, 0.647, 1.061, 0.680, 0, 270, 0, [SEP] 77, Drawer, 0.648, 1.061, 1.020, 0, 270, 0, [SEP] 78, Drawer, 0.648, 0.843, 1.020, 0, 270, 0, [SEP] 79, SideTable, 0.975, 0.220, 0.869, 0, 270, 0, [SEP] 80, Drawer, 0.648, 0.602, 0.680, 0, 270, 0, [SEP] 81, Drawer, 0.648, 0.596, 1.020, 0, 270, 0, [SEP] 82, Drawer, 0.648, 0.843, 0.680, 0, 270, 0, [SEP] 83, Stool, 0.606, 0.222, -1.084, 1.233, 280.489, 0, [SEP] 84, NorthWall, , , , , , , [SEP] 85, EastWall, , , , , , , [SEP] 86, SouthWall, , , , , , , [SEP] 87, WestWall, , , , , , , ", "output": ["STEP 1: go to the counter where the microwave is | STEP 2: pick up the white mug to the left of the microwave | STEP 3: approach the microwave with the cup | STEP 4: warm the cup in the microwave then remove | STEP 5: take the cup to the cabinet to the right of the sink | STEP 6: put the mug in the cabinet | END"]} +{"id": "trial_T20190908_035224_107233-2", "input": "Put two papers on the couch. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.908, 3.0, 0, 270, 0, [SEP] 1, Plate, -2.324, 0.797, 2.061, 0, 0, 0, 55 [SEP] 2, TissueBox, -3.709, 0.783, 2.371, 0, 0, 0, 55 [SEP] 3, TissueBox, -3.155, 0.783, 2.681, 0, 0, 0, 55 [SEP] 4, Newspaper, -3.026, 0.455, 7.182, 0, 0, 0, 52 [SEP] 5, Newspaper, -3.227, 0.455, 5.930, 0, 0, 0, 52 [SEP] 6, Watch, -3.289, 0.533, 8.471, 0, 180, 0, 61 [SEP] 7, Watch, -2.047, 0.782, 1.906, 0, 0, 0, 55 [SEP] 8, Statue, -3.427, 0.466, 6.973, 0, 0, 0, 52 [SEP] 9, RemoteControl, -3.155, 0.783, 2.061, 0, 0, 0, 55 [SEP] 10, Box, -1.775, 0.583, 7.036, 0, 0, 0, 48 [SEP] 11, Box, -1.775, 0.583, 6.441, 0, 0, 0, 48 [SEP] 12, KeyChain, -2.047, 0.783, 2.371, 0, 0, 0, 55 [SEP] 13, Plate, -2.601, 0.798, 2.526, 0, 0, 0, 55 [SEP] 14, Candle, -0.562, 0.667, 0.396, 0, 0, 0, 50 [SEP] 15, Pillow, -1.721, 0.519, 5.725, 0, 0, 0, 48 [SEP] 16, Candle, -0.624, 0.667, 8.444, 0, 0, 0, 51 [SEP] 17, TissueBox, -2.878, 0.783, 2.061, 0, 0, 0, 55 [SEP] 18, Laptop, -3.216, 0.450, 6.333, 0, 0, 0, 52 [SEP] 19, Newspaper, -3.026, 0.455, 6.764, 0, 180, 0, 52 [SEP] 20, CreditCard, -2.004, 0.454, 7.334, 0, 0, 0, 48 [SEP] 21, RemoteControl, -2.691, 0.329, 4.774, 0, 0, 0, 54 [SEP] 22, Boots, -5.786, 0.007, 4.817, 0, 167.028, 0, Floor|-02.99| [SEP] 23, Candle, -0.354, 0.678, 0.163, 0, 329.437, 0, 50 [SEP] 24, Statue, -3.432, 0.883, 2.216, 0, 0, 0, 55 [SEP] 25, Watch, -0.266, 0.676, 0.506, 0, 239.437, 0, 50 [SEP] 26, Statue, -3.709, 0.791, 1.906, 0, 0, 0, 55 [SEP] 27, Mirror, -5.489, 1.825, 6.505, 0, 0, 0, [SEP] 28, FloorLamp, -5.645, 0.013, 8.526, 0, 0, 0, [SEP] 29, HousePlant, -3.203, 0.452, 6.798, 0, 0, 0, [SEP] 30, HousePlant, -5.358, 1.476, 5.442, 0, 343.031, 0, [SEP] 31, GarbageCan, -5.711, 0.005, 0.300, 0, 34.872, 0, [SEP] 32, Television, -3.114, 0.996, 8.693, 1.686, 180, 0, [SEP] 33, LightSwitch, -6.0, 1.338, 3.433, 0, 90, 0, [SEP] 34, Painting, -5.954, 1.526, 1.153, 90, 270, 0, [SEP] 35, Window, 0.157, 1.203, 6.895, 90, 90, 0, [SEP] 36, Window, -4.855, 1.203, -0.158, 90, 180, 0, [SEP] 37, Window, 0.157, 1.203, 4.923, 90, 90, 0, [SEP] 38, Window, 0.157, 1.203, 2.986, 90, 90, 0, [SEP] 39, Window, 0.157, 1.203, 1.088, 90, 90, 0, [SEP] 40, Window, -2.942, 1.203, -0.158, 90, 180, 0, [SEP] 41, Window, -1.057, 1.203, -0.158, 90, 180, 0, [SEP] 42, DeskLamp, -0.432, 0.684, 8.644, 0, 0, 0, [SEP] 43, DeskLamp, -0.346, 0.684, 0.335, 0, 0, 0, [SEP] 44, Chair, -3.326, 0.015, 2.739, 358.826, 189.525, 358.738, [SEP] 45, Chair, -2.352, 0.015, 2.744, 358.824, 163.801, 358.735, [SEP] 46, Chair, -2.476, 0.015, 1.628, 358.826, 21.693, 358.736, [SEP] 47, Chair, -3.327, 0.015, 1.701, 358.828, 0, 358.738, [SEP] 48, Sofa, -1.706, 0.002, 6.448, 0, 270, 0, [SEP] 49, Chair, -0.328, 0.016, 0.998, 0, 246.550, 0, [SEP] 50, SideTable, -0.396, 0.008, 0.357, 0, 329.435, 0, [SEP] 51, SideTable, -0.527, 0.008, 8.521, 0, 329.431, 0, [SEP] 52, CoffeeTable, -3.236, 0.010, 6.598, 0, 270, 0, [SEP] 53, ArmChair, -3.663, 0.012, 4.562, 0, 0, 0, [SEP] 54, ArmChair, -2.691, 0.012, 4.618, 0, 0, 0, [SEP] 55, DiningTable, -2.903, 0.010, 2.225, 0, 0, 0, [SEP] 56, RoomDecor, -0.189, 0.009, 3.909, 0, 0, 0, [SEP] 57, RoomDecor, -0.189, 0.009, 2.097, 0, 0, 0, [SEP] 58, RoomDecor, -0.190, 0.009, 5.855, 0, 0, 0, [SEP] 59, RoomDecor, -3.957, 0.009, 0.254, 0, 0, 0, [SEP] 60, RoomDecor, -2.036, 0.009, 0.254, 0, 0, 0, [SEP] 61, CoffeeTable, -3.129, 0.016, 8.533, 0, 0, 0, [SEP] 62, NorthWall, , , , , , , [SEP] 63, EastWall, , , , , , , [SEP] 64, SouthWall, , , , , , , [SEP] 65, WestWall, , , , , , , ", "output": ["STEP 1: move to the coffee table in front of the fire place | STEP 2: pick up a paper from the table | STEP 3: turn around to the couch | STEP 4: put the paper on the couch | STEP 5: move to the coffee table in front of the fire place | STEP 6: pick up a paper from the table | STEP 7: turn around to the couch | STEP 8: put the paper on the couch | END"]} +{"id": "trial_T20190909_003805_447058-0", "input": "Put a spoon in a mug under the counter and move it to the small black table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.900, -2.5, 0, 180, 0, [SEP] 1, Pan, -0.437, 0.961, -2.243, 0, 0, 0, 45 [SEP] 2, Pan, -2.761, 0.892, -0.376, 0, 270, 0, 79 [SEP] 3, Potato, -1.694, 0.974, -3.908, 0, 0, 0, 42 [SEP] 4, Potato, -2.452, 0.131, -3.538, 0, 0, 0, 67 [SEP] 5, DishSponge, -1.471, 0.941, -3.439, 0, 0, 0, 42 [SEP] 6, DishSponge, -4.062, 0.690, -0.308, 0, 0, 0, 77 [SEP] 7, ButterKnife, -1.025, 0.942, -3.764, 0, 45, 0, 42 [SEP] 8, ButterKnife, -4.062, 0.690, -0.248, 0, 0, 0, 77 [SEP] 9, Spatula, -0.315, 0.956, -1.494, 0, 0, 0, 60 [SEP] 10, Egg, -0.201, 1.620, -2.096, 0, 270, 0, 74 [SEP] 11, Egg, -0.740, 0.854, -3.588, 0, 315, 0, 71 [SEP] 12, Plate, -1.471, 0.956, -3.751, 0, 0, 0, 42 [SEP] 13, Plate, -3.565, 0.908, -0.462, 0, 270, 0, 79 [SEP] 14, SoapBottle, -3.942, 0.688, -0.309, 0, 0, 0, 77 [SEP] 15, Tomato, -3.642, 0.810, -2.989, 0, 334.125, 0, 78 [SEP] 16, Bread, -3.364, 0.976, -0.204, 0, 270, 0, 79 [SEP] 17, Lettuce, -0.321, 1.579, -0.878, 0, 270, 0, 72 [SEP] 18, SaltShaker, -0.543, 0.747, -2.739, 0, 0, 0, 47 [SEP] 19, PepperShaker, -3.882, 0.686, -0.491, 0, 0, 0, 77 [SEP] 20, Apple, -0.252, 1.348, -0.529, 0, 270, 0, 72 [SEP] 21, SoapBottle, -3.565, 0.892, -0.290, 0, 270, 0, 79 [SEP] 22, Pot, -0.606, 0.802, -3.419, 0, 315, 0, 71 [SEP] 23, Fork, -0.233, 0.942, -2.905, 0, 225, 0, 42 [SEP] 24, Cup, -0.552, 0.942, -1.362, 0, 0, 0, 60 [SEP] 25, Tomato, -2.962, 0.945, -0.462, 0, 270, 0, 79 [SEP] 26, Pan, -0.437, 0.961, -1.845, 0, 180, 0, 43 [SEP] 27, Plate, -0.136, 1.956, -0.660, 0, 0, 0, 49 [SEP] 28, Bread, -1.248, 1.023, -3.673, 0, 0, 0, 42 [SEP] 29, Spatula, -0.078, 0.956, -1.450, 0, 0, 0, 60 [SEP] 30, Knife, -3.364, 0.920, -0.290, 0, 180, 0, 79 [SEP] 31, SaltShaker, -0.096, 1.498, -3.140, 0, 0, 0, 54 [SEP] 32, PepperShaker, -0.088, 1.935, -2.285, 0, 0, 0, 52 [SEP] 33, ButterKnife, -2.359, 0.894, -0.462, 0, 270, 0, 79 [SEP] 34, Apple, -4.242, 0.752, -0.430, 0, 0, 0, 77 [SEP] 35, DishSponge, -3.797, 0.759, -3.258, 0, 199.125, 0, 78 [SEP] 36, Potato, -3.882, 0.722, -0.126, 0, 0, 0, 77 [SEP] 37, Egg, -4.062, 0.732, -0.491, 0, 0, 0, 77 [SEP] 38, Spoon, -4.122, 0.691, -0.369, 0, 0, 0, 77 [SEP] 39, Lettuce, -2.359, 0.985, -0.204, 0, 270, 0, 79 [SEP] 40, Mug, -0.429, 0.075, -2.681, 0, 0, 0, 55 [SEP] 41, Bowl, -0.293, 1.284, -0.762, 0, 270, 0, 72 [SEP] 42, CounterTop, -1.937, 0.977, -3.673, 0, 0, 0, [SEP] 43, StoveBurner, -0.437, 0.924, -1.845, 0, 180, 0, [SEP] 44, StoveBurner, -0.222, 0.924, -1.845, 0, 180, 0, [SEP] 45, StoveBurner, -0.437, 0.924, -2.243, 0, 0, 0, [SEP] 46, Drawer, -0.500, 0.779, -1.450, 0, 0, 0, [SEP] 47, Drawer, -0.481, 0.777, -2.739, 0, 0, 0, [SEP] 48, Drawer, -1.154, 0.782, -3.499, 0, 0, 0, [SEP] 49, Cabinet, -0.337, 2.110, -0.390, 0, 0, 0, [SEP] 50, Cabinet, -0.337, 2.110, -1.272, 0, 0, 0, [SEP] 51, Cabinet, -0.337, 2.110, -1.631, 0, 0, 0, [SEP] 52, Cabinet, -0.337, 2.110, -2.497, 0, 0, 0, [SEP] 53, Cabinet, -0.337, 1.891, -1.286, 0, 0, 0, [SEP] 54, Cabinet, -0.346, 1.891, -3.293, 0, 0, 0, [SEP] 55, Cabinet, -0.629, 0.388, -2.513, 0, 0, 0, [SEP] 56, Cabinet, -0.633, 0.388, -3.008, 0, 0, 0, [SEP] 57, Cabinet, -1.010, 0.388, -3.368, 0, 0, 0, [SEP] 58, Cabinet, -0.629, 0.388, -1.614, 0, 0, 0, [SEP] 59, Cabinet, -0.327, 1.886, -2.513, 0, 0, 0, [SEP] 60, CounterTop, -0.326, 0.976, -1.450, 0, 0, 0, [SEP] 61, StoveBurner, -0.222, 0.924, -2.243, 0, 0, 0, [SEP] 62, Sink, -0.600, 0.929, -3.388, 0, 0, 0, [SEP] 63, StoveKnob, -0.617, 0.899, -1.833, 315, 90, 180, [SEP] 64, StoveKnob, -0.617, 0.899, -2.129, 315, 90, 180, [SEP] 65, StoveKnob, -0.617, 0.899, -2.289, 315, 90, 180, [SEP] 66, StoveKnob, -0.617, 0.899, -1.975, 315, 90, 180, [SEP] 67, GarbageCan, -2.418, -0.032, -3.541, 0, 0, 0, [SEP] 68, CoffeeMachine, -2.513, 0.930, -3.797, 0, 0, 0, [SEP] 69, Window, -1.389, 1.610, -4.113, 90, 0, 0, [SEP] 70, LightSwitch, -4.372, 1.493, -1.031, 0, 90, 0, [SEP] 71, SinkBasin, -0.614, 0.802, -3.384, 0, 315, 0, [SEP] 72, Fridge, -0.314, 0.0, -0.646, 0, 0, 0, [SEP] 73, Toaster, -1.970, 0.930, -3.763, 0, 0, 0, [SEP] 74, Microwave, -0.216, 1.470, -2.054, 0, 270, 0, [SEP] 75, Blinds, -1.373, 2.205, -3.961, 0, 0, 0, [SEP] 76, Faucet, -0.393, 0.930, -3.614, 270, 225, 0, [SEP] 77, SideTable, -4.030, 0.002, -0.301, 0, 185.034, 0, [SEP] 78, DiningTable, -3.586, 0.000, -3.258, 0, 0, 0, [SEP] 79, DiningTable, -3.224, -0.003, -0.453, 0, 0, 0, [SEP] 80, Shelf, -4.030, 0.259, -0.301, 0, 185.034, 0, [SEP] 81, Shelf, -4.030, 0.489, -0.301, 0, 185.034, 0, [SEP] 82, EastWall, , , , , , , [SEP] 83, EastWall, , , , , , , [SEP] 84, SouthWall, , , , , , , ", "output": ["STEP 1: Turn right and move towards the circular table, then turn right and go to the small black table to the left of the white table. | STEP 2: Pick up the spoon on the small black table. | STEP 3: Turn around and move to the coffee pot and turn left and face the counter between the sink and the stove. | STEP 4: Open the cupboard below this portion of the counter, place the spoon into the mug in the cupboard. | STEP 5: Pick up the mug with the spoon in it, closing the cupboard. | STEP 6: Turn around and move to the opposite side of the room, then turn right and move to face the small black table. | STEP 7: place the mug with the spoon in it on the small black table. | END"]} +{"id": "trial_T20190907_143702_923249-2", "input": "Move a card from one desk to another desk SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.900, -0.25, 0, 180, 0, [SEP] 1, Pen, -1.319, 0.377, -2.287, 0, 0, 0, 53 [SEP] 2, CreditCard, 0.459, 0.811, -2.236, 0, 0, 0, 48 [SEP] 3, CreditCard, 0.355, 0.811, -2.440, 0, 0, 0, 48 [SEP] 4, CreditCard, 0.563, 0.812, -2.440, 0, 0, 0, 48 [SEP] 5, Book, -1.232, 0.652, -2.325, 0, 0, 0, 54 [SEP] 6, Book, -1.493, 0.087, -2.325, 0, 0, 0, 52 [SEP] 7, RemoteControl, -1.192, 0.863, -2.561, 0, 0, 0, 55 [SEP] 8, Laptop, -0.333, 0.772, 1.657, 0, 0, 0, 26 [SEP] 9, Book, -0.990, 0.861, -2.436, 0, 0, 0, 55 [SEP] 10, Cloth, 1.303, 0.0, -0.696, 0, 303.212, 0, [SEP] 11, Cloth, 1.273, 0.0, -0.969, 0, 0, 0, [SEP] 12, CellPhone, -0.621, 0.774, 1.496, 0, 0, 0, 26 [SEP] 13, Pencil, -0.386, 0.865, -2.436, 0, 0, 0, 55 [SEP] 14, Laptop, 0.528, 0.772, 1.819, 0, 0, 0, 26 [SEP] 15, AlarmClock, -0.061, 0.813, -2.304, 0, 0, 0, 48 [SEP] 16, CreditCard, 0.355, 0.812, -2.236, 0, 0, 0, 48 [SEP] 17, KeyChain, 0.459, 0.813, -2.507, 0, 90, 0, 48 [SEP] 18, TennisRacket, -1.704, 0.345, 1.743, 345.000, 90, 180, [SEP] 19, RemoteControl, -1.192, 0.863, -2.373, 0, 0, 0, 55 [SEP] 20, Pillow, 1.073, 0.876, 1.326, 0, 262.063, 0, 26 [SEP] 21, CD, 1.521, 0.817, -1.727, 0, 0, 0, 46 [SEP] 22, CD, -0.386, 0.861, -2.311, 0, 0, 0, 55 [SEP] 23, CD, -0.789, 0.861, -2.373, 0, 0, 0, 55 [SEP] 24, Pen, -0.587, 0.867, -2.311, 0, 0, 0, 55 [SEP] 25, Bowl, 0.146, 0.813, -2.236, 0, 0, 0, 48 [SEP] 26, Bed, 0.270, 0.001, 1.331, 0, 90, 0, [SEP] 27, LaundryHamper, -1.329, 0.001, 1.829, 0, 180, 0, [SEP] 28, Television, -1.664, 1.479, -0.912, 0, 90, 0, [SEP] 29, DeskLamp, 0.049, 0.815, -2.481, 0, 0, 0, [SEP] 30, LightSwitch, -1.799, 1.213, 0.680, 0, 90, 0, [SEP] 31, Painting, 0.492, 1.684, -2.629, 90, 0, 0, [SEP] 32, Poster, -1.799, 1.690, -1.491, 90, 270, 0, [SEP] 33, GarbageCan, 1.306, -0.001, -2.451, 0, 317.376, 0, [SEP] 34, Mirror, 1.5, 1.361, -0.542, 0, 90, 0, [SEP] 35, Window, 1.721, 1.365, -1.597, 90, 270, 0, [SEP] 36, Shelf, -1.605, 0.435, -0.686, 0, 90, 0, [SEP] 37, Shelf, -1.613, 1.154, -0.904, 0, 90, 0, [SEP] 38, ShelvingUnit, -1.611, 0.005, -0.904, 0, 90, 0, [SEP] 39, Shelf, -1.605, 0.719, -1.122, 0, 90, 0, [SEP] 40, Shelf, -1.605, 0.435, -1.122, 0, 90, 0, [SEP] 41, Shelf, -1.605, 1.006, -1.122, 0, 90, 0, [SEP] 42, Shelf, -1.605, 0.148, -0.686, 0, 90, 0, [SEP] 43, Shelf, -1.605, 0.149, -1.122, 0, 90, 0, [SEP] 44, Shelf, -1.605, 1.006, -0.686, 0, 90, 0, [SEP] 45, Shelf, -1.605, 0.719, -0.686, 0, 90, 0, [SEP] 46, SideTable, 1.484, 0.001, -1.481, 0, 270, 0, [SEP] 47, Blinds, 1.699, 2.096, -1.575, 0, 270, 0, [SEP] 48, Desk, 0.244, 0.004, -2.356, 0, 0, 0, [SEP] 49, Chair, -0.626, 1.439, -2.199, 0, 171.006, 0, [SEP] 50, Chair, 0.220, 1.466, -2.214, 0, 188.269, 0, [SEP] 51, Shelf, -0.978, 1.387, -2.479, 0, 0, 0, [SEP] 52, Drawer, -1.389, 0.197, -2.261, 0, 0, 0, [SEP] 53, Drawer, -1.389, 0.480, -2.261, 0, 0, 0, [SEP] 54, Drawer, -1.389, 0.731, -2.261, 0, 0, 0, [SEP] 55, Desk, -0.973, 1.162, -2.351, 0, 0, 0, [SEP] 56, NorthWall, , , , , , , [SEP] 57, EastWall, , , , , , , [SEP] 58, SouthWall, , , , , , , [SEP] 59, WestWall, , , , , , , ", "output": ["STEP 1: Turn to the left and walk toward the wall, then turn right and go to the desk. | STEP 2: \n\nPick up the card closest to the bowl off the desk. | STEP 3: \nTurn around then go to the left and go to the far right corner of the larger desk | STEP 4: \nPlace the card on the table next to the remotes. | END"]} +{"id": "trial_T20190907_235630_759222-0", "input": "Put a cooked tomato in the fridge. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.930, -0.75, 0, 90, 0, [SEP] 1, Potato, -0.702, 0.938, -0.726, 0, 45, 0, 60 [SEP] 2, DishSponge, 2.987, 0.746, 0.098, 0, 90, 0, 105 [SEP] 3, DishSponge, 2.971, 0.175, -0.702, 0, 0, 0, 72 [SEP] 4, ButterKnife, 0.445, 0.911, 0.727, 0, 0, 0, 91 [SEP] 5, ButterKnife, 0.622, 0.911, 0.326, 0, 0, 0, 91 [SEP] 6, Kettle, -0.420, 0.902, -0.920, 0, 135, 0, 55 [SEP] 7, Kettle, 3.113, 1.465, -1.648, 0, 0, 0, 58 [SEP] 8, Spatula, -0.950, 0.341, -0.273, 0, 90, 0, 65 [SEP] 9, Apple, 0.851, 1.147, -1.475, 0, 0, 0, 106 [SEP] 10, Lettuce, -0.717, 0.965, 0.176, 0, 0, 0, 60 [SEP] 11, SaltShaker, 1.255, 1.671, -1.619, 0, 0, 0, 51 [SEP] 12, SaltShaker, 3.084, 0.173, 0.770, 0, 0, 0, 69 [SEP] 13, PepperShaker, -0.745, 0.514, 1.255, 0, 0, 0, 48 [SEP] 14, Bowl, 0.404, 1.256, -1.707, 0, 0, 0, 76 [SEP] 15, Bowl, 0.798, 0.908, 0.426, 0, 0, 0, 91 [SEP] 16, Tomato, -0.007, 0.937, -1.728, 0, 45, 0, 81 [SEP] 17, Egg, 1.242, 1.300, -1.475, 0, 0, 0, 106 [SEP] 18, Cup, 0.101, 0.898, -1.373, 0, 0, 0, 81 [SEP] 19, Knife, -0.991, 0.352, 1.343, 0, 90, 0, 95 [SEP] 20, Knife, 3.200, 0.926, -0.499, 0, 0, 0, 59 [SEP] 21, Plate, 3.084, 0.188, -0.404, 0, 0, 0, 71 [SEP] 22, Glassbottle, 3.128, 0.101, 1.6, 0, 225, 0, 101 [SEP] 23, SoapBottle, 1.255, 1.683, -1.341, 0, 0, 0, 51 [SEP] 24, Potato, 1.164, 0.749, -1.407, 0, 0, 0, 106 [SEP] 25, Fork, 2.988, 0.713, 0.761, 0, 180, 0, 82 [SEP] 26, Ladle, -0.991, 0.554, 1.255, 0, 90, 0, 48 [SEP] 27, Pot, -0.600, 0.902, -1.090, 0, 135, 0, 49 [SEP] 28, Kettle, 1.229, 0.912, 0.464, 0, 0, 0, 91 [SEP] 29, Spatula, 0.533, 0.925, 0.527, 0, 0, 0, 91 [SEP] 30, Knife, -0.991, 0.732, -0.273, 0, 90, 0, 67 [SEP] 31, Lettuce, -0.789, 0.965, 0.399, 0, 0, 0, 60 [SEP] 32, Cup, 0.808, 1.672, -1.759, 0, 0, 0, 75 [SEP] 33, SaltShaker, -0.085, 0.896, -1.342, 0, 45, 0, 81 [SEP] 34, Egg, -1.085, 1.050, 1.417, 0, 90, 0, 108 [SEP] 35, PepperShaker, 0.239, 0.316, -1.556, 0, 0, 0, 66 [SEP] 36, ButterKnife, 0.786, 0.908, 0.691, 0, 36.810, 0, 91 [SEP] 37, Apple, 3.277, 0.974, -0.698, 0, 0, 0, 59 [SEP] 38, Pan, 0.341, 0.873, -1.649, 0, 167.065, 0, 81 [SEP] 39, Bread, -0.789, 0.979, -0.047, 0, 0, 0, 60 [SEP] 40, CellPhone, -0.868, 0.515, -0.098, 0, 0, 0, 87 [SEP] 41, DishSponge, -0.827, 0.130, 1.168, 0, 0, 0, 95 [SEP] 42, Tomato, 1.164, 0.923, -1.475, 0, 0, 0, 106 [SEP] 43, Spoon, -0.827, 0.132, -0.273, 0, 0, 0, 80 [SEP] 44, Bowl, 3.198, 0.172, -0.828, 0, 0, 0, 72 [SEP] 45, Mug, 3.049, 0.966, 0.591, 0, 270, 0, 103 [SEP] 46, Drawer, 0.376, 0.572, -1.509, 0, 0, 0, [SEP] 47, Drawer, 3.020, 0.769, -0.783, 0, 180, 0, [SEP] 48, Drawer, -0.860, 0.577, 1.429, 0, 0, 0, [SEP] 49, StoveBurner, -0.600, 0.897, -1.090, 0, 135, 0, [SEP] 50, Drawer, 0.376, 0.191, -1.509, 0, 0, 0, [SEP] 51, Cabinet, 1.402, 1.874, -1.259, 0, 0, 0, [SEP] 52, Cabinet, -0.202, 1.963, -1.328, 0, 0, 0, [SEP] 53, Drawer, -0.860, 0.765, 1.429, 0, 0, 0, [SEP] 54, Drawer, -0.677, 0.765, -0.700, 0, 0, 0, [SEP] 55, StoveBurner, -0.420, 0.897, -0.920, 0, 135, 0, [SEP] 56, Drawer, 3.020, 0.769, -0.407, 0, 180, 0, [SEP] 57, Drawer, -0.860, 0.577, 0.663, 0, 0, 0, [SEP] 58, Cabinet, 2.819, 1.768, -1.850, 0, 0, 0, [SEP] 59, CounterTop, 3.111, 0.936, 0.019, 0, 0, 0, [SEP] 60, CounterTop, -1.007, 0.935, -0.039, 0, 0, 0, [SEP] 61, Drawer, -0.860, 0.385, 0.663, 0, 0, 0, [SEP] 62, StoveBurner, -0.419, 0.897, -1.269, 0, 315, 0, [SEP] 63, Drawer, -0.047, 0.573, -1.324, 0, 0, 0, [SEP] 64, Drawer, -0.860, 0.765, 0.663, 0, 0, 0, [SEP] 65, Drawer, -0.860, 0.385, -0.100, 0, 0, 0, [SEP] 66, Drawer, 0.376, 0.380, -1.509, 0, 0, 0, [SEP] 67, Drawer, -0.860, 0.765, -0.100, 0, 0, 0, [SEP] 68, Drawer, 0.376, 0.765, -1.509, 0, 0, 0, [SEP] 69, Cabinet, 2.849, 0.419, 0.409, 0, 0, 0, [SEP] 70, Drawer, -0.047, 0.765, -1.324, 0, 0, 0, [SEP] 71, Cabinet, 2.849, 0.419, -0.610, 0, 0, 0, [SEP] 72, Cabinet, 2.849, 0.419, -0.959, 0, 0, 0, [SEP] 73, Cabinet, 3.069, 1.666, -0.709, 0, 0, 0, [SEP] 74, Cabinet, 2.819, 1.768, -1.047, 0, 0, 0, [SEP] 75, Cabinet, 0.620, 1.874, -1.259, 0, 0, 0, [SEP] 76, Cabinet, 0.140, 1.666, -1.559, 0, 0, 0, [SEP] 77, Cabinet, -0.189, 1.666, -1.340, 0, 0, 0, [SEP] 78, Cabinet, -0.709, 1.963, -0.819, 0, 0, 0, [SEP] 79, Cabinet, -0.920, 1.665, -0.620, 0, 0, 0, [SEP] 80, Drawer, -0.860, 0.190, -0.100, 0, 0, 0, [SEP] 81, CounterTop, 0.133, 0.935, -1.457, 0, 0, 0, [SEP] 82, Drawer, 3.020, 0.769, 0.695, 0, 180, 0, [SEP] 83, Drawer, -0.677, 0.577, -0.700, 0, 0, 0, [SEP] 84, Drawer, -0.860, 0.190, 1.429, 0, 0, 0, [SEP] 85, Drawer, -0.047, 0.192, -1.324, 0, 0, 0, [SEP] 86, Drawer, -0.677, 0.193, -0.700, 0, 0, 0, [SEP] 87, Drawer, -0.860, 0.577, -0.100, 0, 0, 0, [SEP] 88, Sink, 3.078, 0.887, 0.086, 0, 0, 0, [SEP] 89, StoveBurner, -0.239, 0.897, -1.089, 0, 315, 0, [SEP] 90, Drawer, -0.860, 0.190, 0.663, 0, 0, 0, [SEP] 91, CounterTop, 1.210, 0.937, 0.463, 0, 0, 0, [SEP] 92, Drawer, -0.047, 0.381, -1.324, 0, 0, 0, [SEP] 93, Drawer, -0.677, 0.387, -0.700, 0, 0, 0, [SEP] 94, Mirror, -1.295, 1.630, 0.045, 0, 0, 0, [SEP] 95, Drawer, -0.860, 0.385, 1.429, 0, 0, 0, [SEP] 96, HousePlant, 3.196, 0.891, -0.368, 0, 0, 0, [SEP] 97, StoveKnob, -0.090, 0.790, -1.009, 270, 45, 0, [SEP] 98, StoveKnob, -0.280, 0.790, -0.819, 270, 45, 0, [SEP] 99, StoveKnob, -0.180, 0.790, -0.920, 270, 45, 0, [SEP] 100, StoveKnob, -0.370, 0.790, -0.720, 270, 45, 0, [SEP] 101, GarbageCan, 3.137, 0.025, 1.545, 0, 225, 0, [SEP] 102, Window, 3.703, 1.675, 0.046, 90, 90, 0, [SEP] 103, CoffeeMachine, 3.214, 0.890, 0.697, 0, 270, 0, [SEP] 104, LightSwitch, 2.592, 1.309, -1.880, 0, 0, 0, [SEP] 105, SinkBasin, 3.069, 0.736, 0.108, 0, 90, 0, [SEP] 106, Fridge, 1.008, 0.029, -1.467, 0, 0, 0, [SEP] 107, Toaster, -1.035, 0.873, -0.396, 0, 90, 0, [SEP] 108, Microwave, -1.034, 0.874, 1.428, 0, 90, 0, [SEP] 109, Faucet, 3.305, 0.886, 0.094, 270, 180, 0, [SEP] 110, NorthWall, , , , , , , [SEP] 111, EastWall, , , , , , , [SEP] 112, SouthWall, , , , , , , [SEP] 113, WestWall, , , , , , , ", "output": ["STEP 1: Turn right to face the counter. | STEP 2: Pick up the tomato. | STEP 3: Turn right and go to the microwave. | STEP 4: Cook the tomato. | STEP 5: Turn left and go to the fridge. | STEP 6: Put the tomato in the fridge. | END"]} +{"id": "trial_T20190907_235630_759222-1", "input": "Place a microwaved tomato inside a refrigerator. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.930, -0.75, 0, 90, 0, [SEP] 1, Potato, -0.702, 0.938, -0.726, 0, 45, 0, 60 [SEP] 2, DishSponge, 2.987, 0.746, 0.098, 0, 90, 0, 105 [SEP] 3, DishSponge, 2.971, 0.175, -0.702, 0, 0, 0, 72 [SEP] 4, ButterKnife, 0.445, 0.911, 0.727, 0, 0, 0, 91 [SEP] 5, ButterKnife, 0.622, 0.911, 0.326, 0, 0, 0, 91 [SEP] 6, Kettle, -0.420, 0.902, -0.920, 0, 135, 0, 55 [SEP] 7, Kettle, 3.113, 1.465, -1.648, 0, 0, 0, 58 [SEP] 8, Spatula, -0.950, 0.341, -0.273, 0, 90, 0, 65 [SEP] 9, Apple, 0.851, 1.147, -1.475, 0, 0, 0, 106 [SEP] 10, Lettuce, -0.717, 0.965, 0.176, 0, 0, 0, 60 [SEP] 11, SaltShaker, 1.255, 1.671, -1.619, 0, 0, 0, 51 [SEP] 12, SaltShaker, 3.084, 0.173, 0.770, 0, 0, 0, 69 [SEP] 13, PepperShaker, -0.745, 0.514, 1.255, 0, 0, 0, 48 [SEP] 14, Bowl, 0.404, 1.256, -1.707, 0, 0, 0, 76 [SEP] 15, Bowl, 0.798, 0.908, 0.426, 0, 0, 0, 91 [SEP] 16, Tomato, -0.007, 0.937, -1.728, 0, 45, 0, 81 [SEP] 17, Egg, 1.242, 1.300, -1.475, 0, 0, 0, 106 [SEP] 18, Cup, 0.101, 0.898, -1.373, 0, 0, 0, 81 [SEP] 19, Knife, -0.991, 0.352, 1.343, 0, 90, 0, 95 [SEP] 20, Knife, 3.200, 0.926, -0.499, 0, 0, 0, 59 [SEP] 21, Plate, 3.084, 0.188, -0.404, 0, 0, 0, 71 [SEP] 22, Glassbottle, 3.128, 0.101, 1.6, 0, 225, 0, 101 [SEP] 23, SoapBottle, 1.255, 1.683, -1.341, 0, 0, 0, 51 [SEP] 24, Potato, 1.164, 0.749, -1.407, 0, 0, 0, 106 [SEP] 25, Fork, 2.988, 0.713, 0.761, 0, 180, 0, 82 [SEP] 26, Ladle, -0.991, 0.554, 1.255, 0, 90, 0, 48 [SEP] 27, Pot, -0.600, 0.902, -1.090, 0, 135, 0, 49 [SEP] 28, Kettle, 1.229, 0.912, 0.464, 0, 0, 0, 91 [SEP] 29, Spatula, 0.533, 0.925, 0.527, 0, 0, 0, 91 [SEP] 30, Knife, -0.991, 0.732, -0.273, 0, 90, 0, 67 [SEP] 31, Lettuce, -0.789, 0.965, 0.399, 0, 0, 0, 60 [SEP] 32, Cup, 0.808, 1.672, -1.759, 0, 0, 0, 75 [SEP] 33, SaltShaker, -0.085, 0.896, -1.342, 0, 45, 0, 81 [SEP] 34, Egg, -1.085, 1.050, 1.417, 0, 90, 0, 108 [SEP] 35, PepperShaker, 0.239, 0.316, -1.556, 0, 0, 0, 66 [SEP] 36, ButterKnife, 0.786, 0.908, 0.691, 0, 36.810, 0, 91 [SEP] 37, Apple, 3.277, 0.974, -0.698, 0, 0, 0, 59 [SEP] 38, Pan, 0.341, 0.873, -1.649, 0, 167.065, 0, 81 [SEP] 39, Bread, -0.789, 0.979, -0.047, 0, 0, 0, 60 [SEP] 40, CellPhone, -0.868, 0.515, -0.098, 0, 0, 0, 87 [SEP] 41, DishSponge, -0.827, 0.130, 1.168, 0, 0, 0, 95 [SEP] 42, Tomato, 1.164, 0.923, -1.475, 0, 0, 0, 106 [SEP] 43, Spoon, -0.827, 0.132, -0.273, 0, 0, 0, 80 [SEP] 44, Bowl, 3.198, 0.172, -0.828, 0, 0, 0, 72 [SEP] 45, Mug, 3.049, 0.966, 0.591, 0, 270, 0, 103 [SEP] 46, Drawer, 0.376, 0.572, -1.509, 0, 0, 0, [SEP] 47, Drawer, 3.020, 0.769, -0.783, 0, 180, 0, [SEP] 48, Drawer, -0.860, 0.577, 1.429, 0, 0, 0, [SEP] 49, StoveBurner, -0.600, 0.897, -1.090, 0, 135, 0, [SEP] 50, Drawer, 0.376, 0.191, -1.509, 0, 0, 0, [SEP] 51, Cabinet, 1.402, 1.874, -1.259, 0, 0, 0, [SEP] 52, Cabinet, -0.202, 1.963, -1.328, 0, 0, 0, [SEP] 53, Drawer, -0.860, 0.765, 1.429, 0, 0, 0, [SEP] 54, Drawer, -0.677, 0.765, -0.700, 0, 0, 0, [SEP] 55, StoveBurner, -0.420, 0.897, -0.920, 0, 135, 0, [SEP] 56, Drawer, 3.020, 0.769, -0.407, 0, 180, 0, [SEP] 57, Drawer, -0.860, 0.577, 0.663, 0, 0, 0, [SEP] 58, Cabinet, 2.819, 1.768, -1.850, 0, 0, 0, [SEP] 59, CounterTop, 3.111, 0.936, 0.019, 0, 0, 0, [SEP] 60, CounterTop, -1.007, 0.935, -0.039, 0, 0, 0, [SEP] 61, Drawer, -0.860, 0.385, 0.663, 0, 0, 0, [SEP] 62, StoveBurner, -0.419, 0.897, -1.269, 0, 315, 0, [SEP] 63, Drawer, -0.047, 0.573, -1.324, 0, 0, 0, [SEP] 64, Drawer, -0.860, 0.765, 0.663, 0, 0, 0, [SEP] 65, Drawer, -0.860, 0.385, -0.100, 0, 0, 0, [SEP] 66, Drawer, 0.376, 0.380, -1.509, 0, 0, 0, [SEP] 67, Drawer, -0.860, 0.765, -0.100, 0, 0, 0, [SEP] 68, Drawer, 0.376, 0.765, -1.509, 0, 0, 0, [SEP] 69, Cabinet, 2.849, 0.419, 0.409, 0, 0, 0, [SEP] 70, Drawer, -0.047, 0.765, -1.324, 0, 0, 0, [SEP] 71, Cabinet, 2.849, 0.419, -0.610, 0, 0, 0, [SEP] 72, Cabinet, 2.849, 0.419, -0.959, 0, 0, 0, [SEP] 73, Cabinet, 3.069, 1.666, -0.709, 0, 0, 0, [SEP] 74, Cabinet, 2.819, 1.768, -1.047, 0, 0, 0, [SEP] 75, Cabinet, 0.620, 1.874, -1.259, 0, 0, 0, [SEP] 76, Cabinet, 0.140, 1.666, -1.559, 0, 0, 0, [SEP] 77, Cabinet, -0.189, 1.666, -1.340, 0, 0, 0, [SEP] 78, Cabinet, -0.709, 1.963, -0.819, 0, 0, 0, [SEP] 79, Cabinet, -0.920, 1.665, -0.620, 0, 0, 0, [SEP] 80, Drawer, -0.860, 0.190, -0.100, 0, 0, 0, [SEP] 81, CounterTop, 0.133, 0.935, -1.457, 0, 0, 0, [SEP] 82, Drawer, 3.020, 0.769, 0.695, 0, 180, 0, [SEP] 83, Drawer, -0.677, 0.577, -0.700, 0, 0, 0, [SEP] 84, Drawer, -0.860, 0.190, 1.429, 0, 0, 0, [SEP] 85, Drawer, -0.047, 0.192, -1.324, 0, 0, 0, [SEP] 86, Drawer, -0.677, 0.193, -0.700, 0, 0, 0, [SEP] 87, Drawer, -0.860, 0.577, -0.100, 0, 0, 0, [SEP] 88, Sink, 3.078, 0.887, 0.086, 0, 0, 0, [SEP] 89, StoveBurner, -0.239, 0.897, -1.089, 0, 315, 0, [SEP] 90, Drawer, -0.860, 0.190, 0.663, 0, 0, 0, [SEP] 91, CounterTop, 1.210, 0.937, 0.463, 0, 0, 0, [SEP] 92, Drawer, -0.047, 0.381, -1.324, 0, 0, 0, [SEP] 93, Drawer, -0.677, 0.387, -0.700, 0, 0, 0, [SEP] 94, Mirror, -1.295, 1.630, 0.045, 0, 0, 0, [SEP] 95, Drawer, -0.860, 0.385, 1.429, 0, 0, 0, [SEP] 96, HousePlant, 3.196, 0.891, -0.368, 0, 0, 0, [SEP] 97, StoveKnob, -0.090, 0.790, -1.009, 270, 45, 0, [SEP] 98, StoveKnob, -0.280, 0.790, -0.819, 270, 45, 0, [SEP] 99, StoveKnob, -0.180, 0.790, -0.920, 270, 45, 0, [SEP] 100, StoveKnob, -0.370, 0.790, -0.720, 270, 45, 0, [SEP] 101, GarbageCan, 3.137, 0.025, 1.545, 0, 225, 0, [SEP] 102, Window, 3.703, 1.675, 0.046, 90, 90, 0, [SEP] 103, CoffeeMachine, 3.214, 0.890, 0.697, 0, 270, 0, [SEP] 104, LightSwitch, 2.592, 1.309, -1.880, 0, 0, 0, [SEP] 105, SinkBasin, 3.069, 0.736, 0.108, 0, 90, 0, [SEP] 106, Fridge, 1.008, 0.029, -1.467, 0, 0, 0, [SEP] 107, Toaster, -1.035, 0.873, -0.396, 0, 90, 0, [SEP] 108, Microwave, -1.034, 0.874, 1.428, 0, 90, 0, [SEP] 109, Faucet, 3.305, 0.886, 0.094, 270, 180, 0, [SEP] 110, NorthWall, , , , , , , [SEP] 111, EastWall, , , , , , , [SEP] 112, SouthWall, , , , , , , [SEP] 113, WestWall, , , , , , , ", "output": ["STEP 1: Turn right towards the tomato on the counter. | STEP 2: Pick up the tomato from the counter. | STEP 3: Turn right and walk toward the microwave on the counter by the wall. | STEP 4: Heat the tomato in the microwave for a few seconds, then take it out and close the microwave. | STEP 5: Turn left and walk to the refrigerator. | STEP 6: Put the tomato in the refrigerator, in front of and to the right of the potato, then close the refrigerator. | END"]} +{"id": "trial_T20190907_004818_955562-0", "input": "Place the cool sliced lettuce in front of the toaster. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.900, -0.25, 0, 180, 0, [SEP] 1, Potato, -2.477, 0.982, 0.435, 0, 90, 0, 89 [SEP] 2, ButterKnife, 1.412, 0.912, -1.571, 0, 0, 0, 56 [SEP] 3, ButterKnife, 0.167, 0.912, 0.540, 0, 0, 0, 55 [SEP] 4, Pot, 1.007, 0.962, 0.561, 0, 270, 0, 58 [SEP] 5, Spoon, -2.340, 0.953, 0.345, 0, 90, 0, 89 [SEP] 6, Spoon, 1.791, 0.775, 0.339, 0, 270, 0, 57 [SEP] 7, Cup, -2.614, 0.950, 0.345, 0, 90, 0, 89 [SEP] 8, Cup, -2.222, 1.050, -1.720, 0, 0, 0, 86 [SEP] 9, Knife, -2.203, 0.977, 0.345, 0, 90, 0, 89 [SEP] 10, Knife, 1.785, 0.937, 0.209, 0, 0, 0, 71 [SEP] 11, SoapBottle, 0.649, 0.918, -1.449, 0, 270, 0, 54 [SEP] 12, SoapBottle, 1.658, 0.910, -1.406, 0, 0, 0, 56 [SEP] 13, Tomato, -2.047, 0.829, -1.763, 0, 0, 0, 86 [SEP] 14, Bowl, 1.792, 0.107, 0.348, 0, 0, 0, 64 [SEP] 15, Bowl, 0.753, 0.918, -1.649, 0, 270, 0, 54 [SEP] 16, SaltShaker, -2.203, 0.948, 0.435, 0, 90, 0, 89 [SEP] 17, SaltShaker, -2.065, 0.948, 0.435, 0, 90, 0, 89 [SEP] 18, PepperShaker, -0.129, 0.102, 0.204, 0, 0, 0, 66 [SEP] 19, Bread, 1.535, 0.995, -1.820, 0, 0, 0, 56 [SEP] 20, Bread, 0.035, 0.995, 0.375, 0, 0, 0, 55 [SEP] 21, Lettuce, -0.175, 1.002, -1.820, 0, 0, 0, 56 [SEP] 22, Lettuce, 1.846, 1.002, 0.623, 0, 0, 0, 71 [SEP] 23, Lettuce, -2.065, 1.042, 0.614, 0, 90, 0, 89 [SEP] 24, Mug, -0.249, 0.105, -1.434, 0, 0, 0, 65 [SEP] 25, Apple, 1.846, 0.979, 0.292, 0, 0, 0, 71 [SEP] 26, Apple, 1.781, 0.979, -1.406, 0, 0, 0, 56 [SEP] 27, Bread, 1.781, 0.995, -1.654, 0, 0, 0, 56 [SEP] 28, Knife, -1.928, 0.977, 0.524, 0, 180, 0, 89 [SEP] 29, Fork, -2.065, 0.952, 0.345, 0, 90, 0, 89 [SEP] 30, Bowl, 0.562, 0.109, 0.346, 0, 0, 0, 67 [SEP] 31, Kettle, -0.055, 0.9, 0.643, 0, 0, 0, 55 [SEP] 32, Cup, -1.791, 0.950, 0.614, 0, 90, 0, 89 [SEP] 33, Tomato, -1.959, 0.560, -1.720, 0, 0, 0, 86 [SEP] 34, SoapBottle, 0.908, 0.918, -1.516, 0, 270, 0, 54 [SEP] 35, Plate, 1.754, 1.329, -1.809, 0, 180, 0, 72 [SEP] 36, Pot, 1.361, 0.962, 0.561, 0, 270, 0, 61 [SEP] 37, Spatula, 1.785, 0.927, 0.540, 0, 0, 0, 71 [SEP] 38, PaperTowelRoll, -0.096, 1.016, 0.209, 0, 0, 0, 55 [SEP] 39, Egg, 0.753, 0.954, -1.449, 0, 270, 0, 54 [SEP] 40, Lettuce, -1.791, 1.042, 0.345, 0, 90, 0, 89 [SEP] 41, SaltShaker, 1.943, 0.104, 0.311, 0, 0, 0, 64 [SEP] 42, PepperShaker, -2.203, 0.948, 0.255, 0, 90, 0, 89 [SEP] 43, Apple, -0.329, 0.137, 0.526, 0, 90, 0, 85 [SEP] 44, ButterKnife, -2.614, 0.952, 0.435, 0, 270, 0, 89 [SEP] 45, Potato, -2.397, 0.541, -1.763, 0, 0, 0, 86 [SEP] 46, Pan, 1.022, 0.959, 0.288, 0, 219.190, 0, 68 [SEP] 47, DishSponge, -1.928, 0.951, 0.614, 0, 90, 0, 89 [SEP] 48, Spoon, -1.791, 0.953, 0.435, 0, 90, 0, 89 [SEP] 49, Mug, 0.618, 0.945, 0.469, 0, 180, 0, 80 [SEP] 50, Cabinet, -0.193, 1.688, -1.648, 0, 180, 0, [SEP] 51, StoveBurner, 1.360, 0.957, 0.293, 0, 180, 0, [SEP] 52, Drawer, 0.499, 0.792, 0.296, 0, 0, 0, [SEP] 53, Cabinet, 0.095, 0.400, -1.352, 0, 180, 0, [SEP] 54, Sink, 0.711, 0.817, -1.772, 0, 270, 0, [SEP] 55, CounterTop, 0.280, 0.947, 0.458, 0, 0, 0, [SEP] 56, CounterTop, -0.680, 0.947, -1.654, 0, 0, 0, [SEP] 57, Drawer, 1.825, 0.792, 0.296, 0, 0, 0, [SEP] 58, StoveBurner, 1.007, 0.957, 0.561, 0, 270, 0, [SEP] 59, Drawer, -0.150, 0.792, -1.496, 0, 0, 0, [SEP] 60, Drawer, -0.586, 0.792, -1.496, 0, 0, 0, [SEP] 61, StoveBurner, 1.360, 0.957, 0.561, 0, 270, 0, [SEP] 62, Drawer, 0.024, 0.792, 0.296, 0, 0, 0, [SEP] 63, Cabinet, 1.079, 0.400, -1.349, 0, 180, 0, [SEP] 64, Cabinet, 1.669, 0.402, 0.151, 0, 0, 0, [SEP] 65, Cabinet, 0.055, 0.402, -1.351, 0, 0, 0, [SEP] 66, Cabinet, -0.180, 0.402, 0.151, 0, 0, 0, [SEP] 67, Cabinet, 0.729, 0.402, 0.151, 0, 0, 0, [SEP] 68, StoveBurner, 1.007, 0.957, 0.293, 0, 180, 0, [SEP] 69, Drawer, -1.100, 0.792, -1.496, 0, 0, 0, [SEP] 70, Cabinet, -0.396, 0.402, -1.351, 0, 0, 0, [SEP] 71, CounterTop, 1.776, 0.947, 0.458, 0, 0, 0, [SEP] 72, Cabinet, 1.974, 1.688, -1.648, 0, 180, 0, [SEP] 73, Cabinet, -0.820, 0.400, -1.349, 0, 180, 0, [SEP] 74, Toaster, 0.305, 0.900, 0.552, 0, 180, 0, [SEP] 75, LightSwitch, -2.756, 1.307, -0.987, 0, 90, 0, [SEP] 76, Window, 0.582, 1.613, -1.967, 90, 0, 0, [SEP] 77, Window, 1.969, 1.5, -0.615, 90, 270, 0, [SEP] 78, Microwave, -1.037, 0.900, -1.723, 0, 0, 0, [SEP] 79, SinkBasin, 0.377, 0.765, -1.655, 0, 270, 0, [SEP] 80, CoffeeMachine, 0.618, 0.900, 0.600, 0, 180, 0, [SEP] 81, StoveKnob, 1.246, 0.913, 0.118, 45, 180, 0, [SEP] 82, StoveKnob, 1.373, 0.913, 0.118, 45, 180, 0, [SEP] 83, StoveKnob, 0.995, 0.913, 0.118, 45, 180, 0, [SEP] 84, StoveKnob, 1.126, 0.913, 0.118, 45, 180, 0, [SEP] 85, GarbageCan, -0.368, -0.029, 0.539, 0, 90, 0, [SEP] 86, Fridge, -2.134, 0.0, -1.690, 0, 0, 0, [SEP] 87, Faucet, 0.549, 1.046, -1.833, 0, 232.527, 0, [SEP] 88, Stool, -1.475, 0.000, 0.414, 1.233, 280.375, 0, [SEP] 89, DiningTable, -2.255, -0.004, 0.432, 0, 0, 0, [SEP] 90, NorthWall, , , , , , , [SEP] 91, EastWall, , , , , , , [SEP] 92, SouthWall, , , , , , , [SEP] 93, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and head towards the table on your right. | STEP 2: Pick up the lettuce on the right edge of the table. | STEP 3: Take a step to the left. | STEP 4: Place the lettuce back to the original spot. | STEP 5: Pick up the yellow knife in between the salt shaker and fork. | STEP 6: Slice the right lettuce in several piece. | STEP 7: Place the knife back on the table. | STEP 8: Pick up a slice of lettuce from the table. | STEP 9: Turn around and walk towards the fridge. | STEP 10: Open the fridge, place the lettuce next to the top tomato, close the fridge to let it cool, and take it back out. | STEP 11: Turn left and walk towards the toaster on the left counter. | STEP 12: Place the slice lettuce in front of the toaster. | END"]} +{"id": "trial_T20190907_004818_955562-1", "input": "Grab a slice of lettuce, put it on the fridge, set it on the counter SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.900, -0.25, 0, 180, 0, [SEP] 1, Potato, -2.477, 0.982, 0.435, 0, 90, 0, 89 [SEP] 2, ButterKnife, 1.412, 0.912, -1.571, 0, 0, 0, 56 [SEP] 3, ButterKnife, 0.167, 0.912, 0.540, 0, 0, 0, 55 [SEP] 4, Pot, 1.007, 0.962, 0.561, 0, 270, 0, 58 [SEP] 5, Spoon, -2.340, 0.953, 0.345, 0, 90, 0, 89 [SEP] 6, Spoon, 1.791, 0.775, 0.339, 0, 270, 0, 57 [SEP] 7, Cup, -2.614, 0.950, 0.345, 0, 90, 0, 89 [SEP] 8, Cup, -2.222, 1.050, -1.720, 0, 0, 0, 86 [SEP] 9, Knife, -2.203, 0.977, 0.345, 0, 90, 0, 89 [SEP] 10, Knife, 1.785, 0.937, 0.209, 0, 0, 0, 71 [SEP] 11, SoapBottle, 0.649, 0.918, -1.449, 0, 270, 0, 54 [SEP] 12, SoapBottle, 1.658, 0.910, -1.406, 0, 0, 0, 56 [SEP] 13, Tomato, -2.047, 0.829, -1.763, 0, 0, 0, 86 [SEP] 14, Bowl, 1.792, 0.107, 0.348, 0, 0, 0, 64 [SEP] 15, Bowl, 0.753, 0.918, -1.649, 0, 270, 0, 54 [SEP] 16, SaltShaker, -2.203, 0.948, 0.435, 0, 90, 0, 89 [SEP] 17, SaltShaker, -2.065, 0.948, 0.435, 0, 90, 0, 89 [SEP] 18, PepperShaker, -0.129, 0.102, 0.204, 0, 0, 0, 66 [SEP] 19, Bread, 1.535, 0.995, -1.820, 0, 0, 0, 56 [SEP] 20, Bread, 0.035, 0.995, 0.375, 0, 0, 0, 55 [SEP] 21, Lettuce, -0.175, 1.002, -1.820, 0, 0, 0, 56 [SEP] 22, Lettuce, 1.846, 1.002, 0.623, 0, 0, 0, 71 [SEP] 23, Lettuce, -2.065, 1.042, 0.614, 0, 90, 0, 89 [SEP] 24, Mug, -0.249, 0.105, -1.434, 0, 0, 0, 65 [SEP] 25, Apple, 1.846, 0.979, 0.292, 0, 0, 0, 71 [SEP] 26, Apple, 1.781, 0.979, -1.406, 0, 0, 0, 56 [SEP] 27, Bread, 1.781, 0.995, -1.654, 0, 0, 0, 56 [SEP] 28, Knife, -1.928, 0.977, 0.524, 0, 180, 0, 89 [SEP] 29, Fork, -2.065, 0.952, 0.345, 0, 90, 0, 89 [SEP] 30, Bowl, 0.562, 0.109, 0.346, 0, 0, 0, 67 [SEP] 31, Kettle, -0.055, 0.9, 0.643, 0, 0, 0, 55 [SEP] 32, Cup, -1.791, 0.950, 0.614, 0, 90, 0, 89 [SEP] 33, Tomato, -1.959, 0.560, -1.720, 0, 0, 0, 86 [SEP] 34, SoapBottle, 0.908, 0.918, -1.516, 0, 270, 0, 54 [SEP] 35, Plate, 1.754, 1.329, -1.809, 0, 180, 0, 72 [SEP] 36, Pot, 1.361, 0.962, 0.561, 0, 270, 0, 61 [SEP] 37, Spatula, 1.785, 0.927, 0.540, 0, 0, 0, 71 [SEP] 38, PaperTowelRoll, -0.096, 1.016, 0.209, 0, 0, 0, 55 [SEP] 39, Egg, 0.753, 0.954, -1.449, 0, 270, 0, 54 [SEP] 40, Lettuce, -1.791, 1.042, 0.345, 0, 90, 0, 89 [SEP] 41, SaltShaker, 1.943, 0.104, 0.311, 0, 0, 0, 64 [SEP] 42, PepperShaker, -2.203, 0.948, 0.255, 0, 90, 0, 89 [SEP] 43, Apple, -0.329, 0.137, 0.526, 0, 90, 0, 85 [SEP] 44, ButterKnife, -2.614, 0.952, 0.435, 0, 270, 0, 89 [SEP] 45, Potato, -2.397, 0.541, -1.763, 0, 0, 0, 86 [SEP] 46, Pan, 1.022, 0.959, 0.288, 0, 219.190, 0, 68 [SEP] 47, DishSponge, -1.928, 0.951, 0.614, 0, 90, 0, 89 [SEP] 48, Spoon, -1.791, 0.953, 0.435, 0, 90, 0, 89 [SEP] 49, Mug, 0.618, 0.945, 0.469, 0, 180, 0, 80 [SEP] 50, Cabinet, -0.193, 1.688, -1.648, 0, 180, 0, [SEP] 51, StoveBurner, 1.360, 0.957, 0.293, 0, 180, 0, [SEP] 52, Drawer, 0.499, 0.792, 0.296, 0, 0, 0, [SEP] 53, Cabinet, 0.095, 0.400, -1.352, 0, 180, 0, [SEP] 54, Sink, 0.711, 0.817, -1.772, 0, 270, 0, [SEP] 55, CounterTop, 0.280, 0.947, 0.458, 0, 0, 0, [SEP] 56, CounterTop, -0.680, 0.947, -1.654, 0, 0, 0, [SEP] 57, Drawer, 1.825, 0.792, 0.296, 0, 0, 0, [SEP] 58, StoveBurner, 1.007, 0.957, 0.561, 0, 270, 0, [SEP] 59, Drawer, -0.150, 0.792, -1.496, 0, 0, 0, [SEP] 60, Drawer, -0.586, 0.792, -1.496, 0, 0, 0, [SEP] 61, StoveBurner, 1.360, 0.957, 0.561, 0, 270, 0, [SEP] 62, Drawer, 0.024, 0.792, 0.296, 0, 0, 0, [SEP] 63, Cabinet, 1.079, 0.400, -1.349, 0, 180, 0, [SEP] 64, Cabinet, 1.669, 0.402, 0.151, 0, 0, 0, [SEP] 65, Cabinet, 0.055, 0.402, -1.351, 0, 0, 0, [SEP] 66, Cabinet, -0.180, 0.402, 0.151, 0, 0, 0, [SEP] 67, Cabinet, 0.729, 0.402, 0.151, 0, 0, 0, [SEP] 68, StoveBurner, 1.007, 0.957, 0.293, 0, 180, 0, [SEP] 69, Drawer, -1.100, 0.792, -1.496, 0, 0, 0, [SEP] 70, Cabinet, -0.396, 0.402, -1.351, 0, 0, 0, [SEP] 71, CounterTop, 1.776, 0.947, 0.458, 0, 0, 0, [SEP] 72, Cabinet, 1.974, 1.688, -1.648, 0, 180, 0, [SEP] 73, Cabinet, -0.820, 0.400, -1.349, 0, 180, 0, [SEP] 74, Toaster, 0.305, 0.900, 0.552, 0, 180, 0, [SEP] 75, LightSwitch, -2.756, 1.307, -0.987, 0, 90, 0, [SEP] 76, Window, 0.582, 1.613, -1.967, 90, 0, 0, [SEP] 77, Window, 1.969, 1.5, -0.615, 90, 270, 0, [SEP] 78, Microwave, -1.037, 0.900, -1.723, 0, 0, 0, [SEP] 79, SinkBasin, 0.377, 0.765, -1.655, 0, 270, 0, [SEP] 80, CoffeeMachine, 0.618, 0.900, 0.600, 0, 180, 0, [SEP] 81, StoveKnob, 1.246, 0.913, 0.118, 45, 180, 0, [SEP] 82, StoveKnob, 1.373, 0.913, 0.118, 45, 180, 0, [SEP] 83, StoveKnob, 0.995, 0.913, 0.118, 45, 180, 0, [SEP] 84, StoveKnob, 1.126, 0.913, 0.118, 45, 180, 0, [SEP] 85, GarbageCan, -0.368, -0.029, 0.539, 0, 90, 0, [SEP] 86, Fridge, -2.134, 0.0, -1.690, 0, 0, 0, [SEP] 87, Faucet, 0.549, 1.046, -1.833, 0, 232.527, 0, [SEP] 88, Stool, -1.475, 0.000, 0.414, 1.233, 280.375, 0, [SEP] 89, DiningTable, -2.255, -0.004, 0.432, 0, 0, 0, [SEP] 90, NorthWall, , , , , , , [SEP] 91, EastWall, , , , , , , [SEP] 92, SouthWall, , , , , , , [SEP] 93, WestWall, , , , , , , ", "output": ["STEP 1: Walk left and towards the table | STEP 2: Grab a lettuce from the table | STEP 3: Walk away from the table with the lettuce | STEP 4: Set the lettuce on the table again | STEP 5: Grab a knife from the table | STEP 6: Slice the lettuce on the table | STEP 7: Grab a slice from the lettuce | STEP 8: Walk towards the fridge | STEP 9: Put the slice of lettuce inside the fridge | STEP 10: Close the fridge door in open it the fridge again | STEP 11: Take the slice of lettuce walk towards the counter | STEP 12: Put the slice of lettuce on the counter next to the bread | END"]} +{"id": "trial_T20190908_043026_789897-0", "input": "Put a clean bar of soap on the toilet tank. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.901, -0.75, 0, 90, 0, [SEP] 1, Cloth, -1.780, 0.291, -2.459, 0, 0, 0, 35 [SEP] 2, Cloth, -0.501, 0.291, -2.631, 0, 0, 0, 35 [SEP] 3, SprayBottle, -0.125, 0.877, -1.380, 0, 90, 0, 24 [SEP] 4, Candle, -0.045, 0.764, -2.285, 0, 0, 0, 22 [SEP] 5, SoapBar, -0.241, 0.876, -1.702, 0, 0, 0, 24 [SEP] 6, SoapBar, -0.202, 0.876, -1.541, 0, 0, 0, 24 [SEP] 7, SoapBar, -0.280, 0.876, -1.380, 0, 0, 0, 24 [SEP] 8, SoapBottle, -2.459, 0.723, -2.095, 0, 0, 0, 22 [SEP] 9, SoapBottle, -2.398, 1.045, -0.295, 0, 90, 0, 37 [SEP] 10, ToiletPaper, -1.490, 1.049, -0.110, 0, 180, 90, 31 [SEP] 11, Towel, -0.106, 1.541, -2.487, 0, 270, 0, 29 [SEP] 12, Candle, -2.276, 1.086, -0.427, 0, 90, 0, 37 [SEP] 13, HandTowel, -2.496, 1.836, -0.907, 0, 270, 0, 32 [SEP] 14, Plunger, -2.366, 0.000, -0.653, 0, 0, 0, Floor|-00.95| [SEP] 15, SoapBottle, -2.337, 1.045, -0.164, 0, 90, 0, 37 [SEP] 16, SoapBar, -2.398, 1.045, -0.558, 0, 90, 0, 37 [SEP] 17, ToiletPaper, -2.306, 1.042, -0.558, 0, 90, 0, 37 [SEP] 18, Cloth, -1.524, 0.291, -2.459, 0, 0, 0, 35 [SEP] 19, ToiletPaper, -0.086, 0.872, -1.461, 0, 0, 0, 24 [SEP] 20, SprayBottle, -0.086, 0.877, -1.380, 0, 270, 0, 24 [SEP] 21, ScrubBrush, -2.114, 0.000, -0.695, 0, 0, 0, Floor|-00.95| [SEP] 22, Bathtub, -1.281, 0.277, -2.529, 0, 0, 0, [SEP] 23, Mirror, -2.512, 1.764, -1.518, 0, 0, 0, [SEP] 24, SideTable, -0.153, 0.000, -1.465, 0, 270, 0, [SEP] 25, Sink, -2.273, 0.0, -1.519, 0, 90, 0, [SEP] 26, Drawer, -0.218, 0.775, -1.466, 0, 270, 0, [SEP] 27, GarbageCan, -2.197, -0.034, -1.009, 0, 90, 0, [SEP] 28, TowelHolder, -2.530, 1.526, -2.486, 0, 90, 0, [SEP] 29, TowelHolder, 0.0, 1.526, -2.486, 0, 270, 0, [SEP] 30, LightSwitch, 0.0, 1.324, -1.146, 0, 270, 0, [SEP] 31, ToiletPaperHanger, -1.427, 1.049, 0.0, 0, 180, 0, [SEP] 32, HandTowelHolder, -2.534, 1.937, -0.907, 0, 0, 0, [SEP] 33, Window, -1.291, 1.815, -3.121, 90, 0, 0, [SEP] 34, SinkBasin, -2.216, 0.905, -1.503, 0, 90, 0, [SEP] 35, SinkBasin, -1.305, 0.280, -2.516, 0, 0, 0, [SEP] 36, HousePlant, -0.108, 0.870, -1.649, 0, 0, 0, [SEP] 37, Toilet, -2.045, 0.000, -0.358, 0, 180, 0, [SEP] 38, Faucet, -2.446, 0.940, -1.516, 0, 90, 0, [SEP] 39, Faucet, -0.132, 0.706, -2.877, 0, 29.999, 0, [SEP] 40, ShowerCurtain, -2.438, 1.945, -1.917, 0, 90, 0, [SEP] 41, EastWall, , , , , , , [SEP] 42, EastWall, , , , , , , [SEP] 43, SouthWall, , , , , , , ", "output": ["STEP 1: Turn right and walk towards the tub, then hang a right and walk up to the green bin. | STEP 2: Pick up the bar of soap off of the toilet tank to your right. | STEP 3: Walk over to the sink. | STEP 4: Put the bar of soap in the sink and turn on the water, after a couple of seconds turn off the water and remove the now clean bar of soap. | STEP 5: Turn right and walk over to the toilet. | STEP 6: Put the clean bar of soap on top of the toilet tank. | END"]} +{"id": "trial_T20190906_202316_993380-0", "input": "the on the lamp on the desk while holding an alarm clock SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.901, -0.25, 0, 90, 0, [SEP] 1, Bowl, 1.371, 0.694, -1.968, 0, 18.354, 0, 34 [SEP] 2, CD, 1.664, 0.051, -0.418, 0, 345.000, 0, 29 [SEP] 3, Pen, 1.520, 0.698, -1.715, 0, 18.354, 0, 34 [SEP] 4, Pen, 1.747, 0.698, -1.576, 0, 0, 0, 34 [SEP] 5, CreditCard, 1.549, 0.692, -2.027, 0, 18.354, 0, 34 [SEP] 6, CreditCard, -0.451, 0.090, 0.503, 0, 0, 0, 38 [SEP] 7, KeyChain, -0.634, 0.663, 0.643, 0, 0, 0, 37 [SEP] 8, KeyChain, -0.506, 0.369, 0.457, 0, 90, 0, 36 [SEP] 9, Book, -0.782, 0.661, 0.513, 0, 180, 0, 37 [SEP] 10, Book, -1.346, 0.629, -1.023, 0, 0, 0, 25 [SEP] 11, AlarmClock, -0.560, 0.664, 0.600, 0, 180, 0, 37 [SEP] 12, Box, -0.015, 0.239, -2.091, 0, 0, 0, [SEP] 13, Book, -1.521, 0.629, -0.473, 0, 0, 0, 25 [SEP] 14, BaseballBat, 1.798, 0.639, 0.425, 0, 0, 342.316, [SEP] 15, Pen, 0.347, 0.698, -2.118, 0, 99.090, 0, 34 [SEP] 16, Pencil, 0.205, 0.697, -2.095, 0, 99.090, 0, 34 [SEP] 17, KeyChain, 1.527, 0.473, -0.813, 0, 270, 0, 33 [SEP] 18, Pillow, -1.871, 0.703, -0.748, 0, 0, 0, 25 [SEP] 19, CreditCard, -0.615, 0.090, 0.503, 0, 0, 0, 38 [SEP] 20, CellPhone, -0.339, 0.664, 0.556, 0, 180, 0, 37 [SEP] 21, Laptop, 1.641, 0.686, -1.011, 0, 270, 0, 34 [SEP] 22, CD, 1.559, 0.693, -1.576, 0, 0, 0, 34 [SEP] 23, Bowl, 1.559, 0.695, -1.409, 0, 0, 0, 34 [SEP] 24, AlarmClock, 1.492, 0.475, -0.715, 0, 270, 0, 33 [SEP] 25, Bed, -1.696, 0.004, -0.446, 0, 0, 0, [SEP] 26, Chair, 0.956, -0.000, -1.747, 0, 110.225, 0, [SEP] 27, DeskLamp, -0.440, 0.688, -2.276, 0, 0, 0, [SEP] 28, LightSwitch, 0.625, 1.338, 0.734, 0, 180, 0, [SEP] 29, GarbageCan, 1.660, -0.019, -0.389, 0, 345.008, 0, [SEP] 30, Mirror, 1.300, 1.422, 0.765, 0, 0, 0, [SEP] 31, HousePlant, -0.867, 0.000, -2.286, 0, 0, 0, [SEP] 32, Window, 0.819, 1.496, -2.553, 90, 180, 0, [SEP] 33, Shelf, 1.616, 0.561, -0.802, 0, 0, 0, [SEP] 34, Desk, 0.617, -0.000, -1.511, 0, 0, 0, [SEP] 35, Blinds, 0.796, 2.217, -2.476, 0, 0, 0, [SEP] 36, Drawer, -0.558, 0.456, 0.462, 0, 180, 0, [SEP] 37, SideTable, -0.557, -0.000, 0.529, 0, 180, 0, [SEP] 38, Drawer, -0.558, 0.164, 0.462, 0, 180, 0, [SEP] 39, Desktop, 1.455, 0.692, -1.886, 358.180, 309.674, 0, [SEP] 40, NorthWall, , , , , , , [SEP] 41, EastWall, , , , , , , [SEP] 42, SouthWall, , , , , , , [SEP] 43, WestWall, , , , , , , ", "output": ["STEP 1: turn left to face the night stand | STEP 2: grab the alarm clock off of the night stand | STEP 3: turn around and walk to the desk | STEP 4: turn on the lamp on the desk | END"]} +{"id": "trial_T20190908_223944_164142-0", "input": "To put a pencil in a bowl, as well as set them on the computer table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, 1.75, 0, 90, 0, [SEP] 1, CD, 1.329, 0.104, -1.570, 0, 0, 0, 31 [SEP] 2, CellPhone, 0.937, 0.577, -2.482, 0, 0, 0, 44 [SEP] 3, Pencil, 1.121, 0.510, -2.038, 0, 270, 0, 27 [SEP] 4, KeyChain, -1.301, 0.101, -2.046, 0, 0, 0, 48 [SEP] 5, CreditCard, -1.269, 0.699, -1.900, 0, 0, 0, 49 [SEP] 6, CreditCard, -1.582, 0.699, -2.191, 0, 0, 0, 49 [SEP] 7, Book, -1.443, 0.610, 0.057, 0, 0, 0, 26 [SEP] 8, AlarmClock, 1.260, 1.410, 0.050, 0, 270, 0, 37 [SEP] 9, Pillow, -1.082, 0.713, -0.223, 0, 0, 0, 26 [SEP] 10, Book, -0.962, 0.610, 0.337, 0, 0, 0, 26 [SEP] 11, KeyChain, -1.269, 0.700, -2.046, 0, 0, 0, 49 [SEP] 12, BaseballBat, 1.436, 0.636, 1.985, 21.882, 0, 0, [SEP] 13, BasketBall, 1.270, 0.12, -1.290, 0, 345.557, 0, [SEP] 14, Pencil, 0.466, 0.582, -2.427, 0, 0, 0, 44 [SEP] 15, CellPhone, 1.329, 0.371, -1.963, 0, 0, 0, 28 [SEP] 16, CreditCard, -1.645, 0.696, -1.755, 0, 0, 0, 49 [SEP] 17, Laptop, 0.076, 0.569, -2.456, 0, 0, 0, 44 [SEP] 18, Pillow, -1.170, 0.684, -0.990, 0, 0, 0, 26 [SEP] 19, Boots, 1.288, 0.000, -0.961, 0, 177.912, 0, [SEP] 20, Pen, -1.332, 0.705, -2.191, 0, 90, 0, 49 [SEP] 21, AlarmClock, 1.26, 0.911, -0.249, 0, 270, 0, 35 [SEP] 22, CD, 1.120, 0.370, -1.709, 0, 0, 0, 32 [SEP] 23, Bowl, -1.519, 0.699, -1.610, 0, 0, 0, 49 [SEP] 24, Drawer, 0.980, 0.271, -1.963, 0, 0, 0, [SEP] 25, Drawer, 0.980, 0.139, -1.963, 0, 0, 0, [SEP] 26, Bed, -1.209, 0.016, -0.266, 0, 180, 1.624, [SEP] 27, Shelf, 1.220, 0.859, -1.802, 0, 270, 0, [SEP] 28, Drawer, 0.980, 0.404, -1.963, 0, 0, 0, [SEP] 29, Drawer, 0.980, 0.272, -1.639, 0, 0, 0, [SEP] 30, Mirror, 0.740, 1.491, 2.099, 0, 0, 0, [SEP] 31, Drawer, 0.980, 0.139, -1.639, 0, 0, 0, [SEP] 32, Drawer, 0.980, 0.404, -1.639, 0, 0, 0, [SEP] 33, Chair, 0.280, -0.001, -2.264, 0, 180, 0, [SEP] 34, GarbageCan, -1.542, 0.013, 1.919, 2.249, 116.925, 355.175, [SEP] 35, Shelf, 1.259, 0.903, -0.269, 0, 270, 0, [SEP] 36, Shelf, 1.259, 0.375, -0.263, 0, 270, 0, [SEP] 37, Shelf, 1.259, 1.402, -0.259, 0, 270, 0, [SEP] 38, Shelf, -1.577, 1.513, -2.025, 0, 270, 0, [SEP] 39, LightSwitch, -0.755, 1.176, 2.099, 0, 180, 0, [SEP] 40, DeskLamp, -1.489, 0.669, -2.419, 0, 0, 0, [SEP] 41, Window, 0.243, 0.963, -2.678, 90, 0, 0, [SEP] 42, Window, -0.361, 0.963, -2.679, 90, 0, 0, [SEP] 43, Window, -0.962, 0.963, -2.678, 90, 0, 0, [SEP] 44, Desk, 0.445, 0.001, -2.430, 0, 0, 0, [SEP] 45, Blinds, -0.349, 2.186, -2.685, 0, 0, 0, [SEP] 46, Blinds, 0.250, 2.186, -2.685, 0, 0, 0, [SEP] 47, Blinds, -0.952, 2.186, -2.685, 0, 0, 0, [SEP] 48, Drawer, -1.314, 0.163, -2.051, 0, 90, 0, [SEP] 49, SideTable, -1.444, -0.001, -2.051, 0, 90, 0, [SEP] 50, Drawer, -1.314, 0.455, -2.051, 0, 90, 0, [SEP] 51, NorthWall, , , , , , , [SEP] 52, EastWall, , , , , , , [SEP] 53, SouthWall, , , , , , , [SEP] 54, WestWall, , , , , , , ", "output": ["STEP 1: Walk forward across the room, then turn right and walk forward to face the computer table. | STEP 2: Pick up the pencil on the computer table. | STEP 3: Turn right and walk across the room to face the dresser. | STEP 4: Place the pencil in the bowl on the right side of the dresser. | STEP 5: Pick up the bowl with the pencil in it on the right side of the dresser. | STEP 6: Turn around and walk forward and turn to the right to face the computer table. | STEP 7: Place the bowl with a pencil in it on the computer table. | END"]} +{"id": "trial_T20190909_041533_397375-1", "input": "Place a bowl and knife in the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 2.5, 0.900, -0.5, 0, 0, 0, [SEP] 1, Pan, 0.974, 0.957, -1.688, 0, 180, 0, 55 [SEP] 2, Book, -2.733, 0.875, 2.715, 0, 0, 0, 58 [SEP] 3, Book, 3.689, 0.549, 1.449, 0, 270, 0, 79 [SEP] 4, DishSponge, 3.637, 0.552, 1.656, 0, 270, 0, 79 [SEP] 5, DishSponge, -3.174, 0.878, 3.021, 0, 225, 0, 58 [SEP] 6, Kettle, 1.328, 0.957, -1.688, 0, 180, 0, 59 [SEP] 7, WineBottle, 0.036, 0.115, -1.415, 0, 0, 0, 64 [SEP] 8, Spatula, -2.525, 0.893, 3.565, 0, 225, 0, 58 [SEP] 9, Pot, -1.849, 0.914, 0.363, 0, 0, 0, 56 [SEP] 10, Fork, -2.148, 0.718, -1.647, 0, 90, 0, 75 [SEP] 11, Fork, -1.738, 0.912, -1.591, 0, 0, 0, 56 [SEP] 12, Spoon, -2.644, 0.875, 3.446, 0, 315, 0, 58 [SEP] 13, Egg, -0.377, 1.169, 2.286, 0, 180, 0, 81 [SEP] 14, Egg, 0.307, 0.828, 2.080, 0, 180, 0, 81 [SEP] 15, Cup, -0.377, 1.142, 2.167, 0, 180, 0, 81 [SEP] 16, Cup, 0.079, 1.570, 2.219, 0, 180, 0, 81 [SEP] 17, Plate, -0.377, 0.807, 2.080, 0, 180, 0, 81 [SEP] 18, Knife, -2.996, 0.896, 3.370, 0, 270, 0, 58 [SEP] 19, SoapBottle, -1.961, 0.912, -1.265, 0, 0, 0, 56 [SEP] 20, Bowl, 0.591, 0.114, -1.408, 0, 0, 0, 63 [SEP] 21, PepperShaker, 1.595, 0.716, -1.443, 0, 0, 0, 72 [SEP] 22, Lettuce, -2.621, 0.943, 2.945, 0, 225, 0, 58 [SEP] 23, Apple, 0.663, 0.967, -1.674, 0, 0, 0, 56 [SEP] 24, Book, -2.152, 0.871, 3.073, 0, 270, 0, 58 [SEP] 25, Fork, 1.760, 0.910, -1.709, 0, 90, 0, 76 [SEP] 26, Tomato, -2.510, 0.925, 3.728, 0, 0, 0, 58 [SEP] 27, Egg, -1.568, 0.929, -0.469, 0, 0, 0, 56 [SEP] 28, Kettle, -0.237, 0.122, -1.373, 0, 0, 0, 65 [SEP] 29, Vase, 3.671, 0.168, 1.841, 0, 0, 0, 79 [SEP] 30, Cup, -2.126, 0.118, -1.506, 0, 0, 0, 57 [SEP] 31, WineBottle, -0.818, 0.193, 2.097, 0, 90, 0, 86 [SEP] 32, Plate, 0.665, 1.657, -1.675, 0, 0, 0, 67 [SEP] 33, Spatula, -2.321, 0.893, 3.147, 0, 270, 0, 58 [SEP] 34, Potato, 0.571, 0.948, -1.572, 0, 0, 0, 56 [SEP] 35, Pot, 0.974, 0.957, -1.419, 0, 180, 0, 74 [SEP] 36, Knife, -2.539, 0.896, 3.341, 0, 225, 0, 58 [SEP] 37, SaltShaker, -2.490, 0.874, 3.444, 0, 270, 0, 58 [SEP] 38, PepperShaker, -2.183, 0.908, -1.265, 0, 0, 0, 56 [SEP] 39, Lettuce, -1.627, 0.977, 0.363, 0, 0, 0, 56 [SEP] 40, ButterKnife, -2.405, 0.874, 3.685, 0, 225, 0, 58 [SEP] 41, Bread, -0.263, 1.655, 2.100, 0, 180, 0, 81 [SEP] 42, Vase, 1.631, 1.656, -1.672, 0, 0, 0, 66 [SEP] 43, DishSponge, 3.716, 0.880, 1.861, 0, 270, 0, 79 [SEP] 44, Apple, 1.157, 1.816, -1.663, 0, 0, 0, 80 [SEP] 45, Pan, -3.017, 0.878, 2.863, 0, 225, 0, 58 [SEP] 46, Spoon, 0.617, 0.913, -1.471, 0, 0, 0, 56 [SEP] 47, SoapBottle, 0.150, 0.114, -1.487, 0, 0, 0, 64 [SEP] 48, Mug, 0.193, 1.138, 2.167, 0, 180, 0, 81 [SEP] 49, Statue, -2.740, 0.885, 3.618, 0, 225, 0, 58 [SEP] 50, Statue, 3.668, 0.540, 1.800, 0, 0, 0, 79 [SEP] 51, Bowl, -0.149, 1.141, 2.206, 0, 180, 0, 81 [SEP] 52, Cabinet, -2.171, 2.009, -1.538, 0, 0, 0, [SEP] 53, Sink, 0.024, 0.771, -1.708, 0, 270, 0, [SEP] 54, Cabinet, 1.444, 2.259, -1.542, 0, 0, 0, [SEP] 55, StoveBurner, 0.974, 0.957, -1.688, 0, 180, 0, [SEP] 56, CounterTop, -1.866, 0.947, -0.614, 0, 0, 0, [SEP] 57, Cabinet, -2.217, 0.373, -1.874, 0, 0, 0, [SEP] 58, DiningTable, -2.663, 0.002, 3.208, 0, 0, 0, [SEP] 59, StoveBurner, 1.328, 0.957, -1.688, 0, 180, 0, [SEP] 60, StoveBurner, 1.328, 0.957, -1.420, 0, 180, 0, [SEP] 61, Cabinet, -1.478, 0.373, -1.235, 0, 0, 0, [SEP] 62, Cabinet, 1.775, 0.372, -1.242, 0, 0, 0, [SEP] 63, Cabinet, 0.774, 0.372, -1.242, 0, 0, 0, [SEP] 64, Cabinet, 0.375, 0.372, -1.242, 0, 0, 0, [SEP] 65, Cabinet, -0.574, 0.372, -1.238, 0, 0, 0, [SEP] 66, Cabinet, 1.775, 2.009, -1.542, 0, 0, 0, [SEP] 67, Cabinet, 0.524, 2.009, -1.542, 0, 0, 0, [SEP] 68, Cabinet, -0.714, 2.009, -1.542, 0, 0, 0, [SEP] 69, Cabinet, -1.671, 2.009, -1.538, 0, 0, 0, [SEP] 70, Cabinet, 0.854, 2.259, -1.542, 0, 0, 0, [SEP] 71, Drawer, -1.636, 0.683, -0.930, 0, 0, 0, [SEP] 72, Drawer, 1.650, 0.682, -1.396, 0, 0, 0, [SEP] 73, Drawer, 0.600, 0.682, -1.396, 0, 0, 0, [SEP] 74, StoveBurner, 0.974, 0.957, -1.419, 0, 180, 0, [SEP] 75, Drawer, -2.062, 0.683, -1.579, 0, 0, 0, [SEP] 76, CounterTop, 1.645, 0.945, -1.527, 0, 0, 0, [SEP] 77, Shelf, 3.725, 0.880, 1.671, 0, 90, 0, [SEP] 78, LightSwitch, 2.830, 1.266, -0.748, 0, 0, 0, [SEP] 79, Shelf, 3.726, 0.552, 1.671, 0, 90, 0, [SEP] 80, Microwave, 1.150, 1.655, -1.614, 0, 0, 0, [SEP] 81, Fridge, -0.035, 0.0, 2.177, 0, 180, 0, [SEP] 82, Window, -0.115, 1.802, -1.896, 90, 0, 0, [SEP] 83, Window, -4.009, 1.799, 0.310, 90, 90, 0, [SEP] 84, Shelf, 3.726, 0.172, 1.671, 0, 90, 0, [SEP] 85, SinkBasin, -0.330, 0.686, -1.581, 0, 270, 0, [SEP] 86, GarbageCan, -0.870, -0.001, 2.136, 0, 90, 0, [SEP] 87, StoveKnob, 1.089, 0.913, -1.243, 45, 0, 0, [SEP] 88, StoveKnob, 1.208, 0.913, -1.243, 45, 0, 0, [SEP] 89, StoveKnob, 1.340, 0.913, -1.243, 45, 0, 0, [SEP] 90, StoveKnob, 0.961, 0.913, -1.243, 45, 0, 0, [SEP] 91, Toaster, 1.637, 0.900, -1.673, 0, 0, 0, [SEP] 92, Chair, -3.505, 0.002, 3.290, 0, 105.736, 0, [SEP] 93, CoffeeMachine, -1.111, 0.900, -1.726, 0, 0, 0, [SEP] 94, HousePlant, -2.663, 0.835, 3.209, 0, 0, 0, [SEP] 95, Faucet, -0.187, 0.922, -1.75, 0, 311.166, 0, [SEP] 96, ShelvingUnit, 3.726, 0.006, 1.671, 0, 90, 0, [SEP] 97, Stool, -2.501, -0.000, 0.062, 1.223, 91.243, 0, [SEP] 98, Stool, -2.475, -0.000, -0.802, 1.209, 69.808, 0, [SEP] 99, Chair, -2.934, 0.002, 2.437, 0, 28.531, 0, [SEP] 100, Chair, -1.698, 0.002, 3.235, 0, 245.204, 0, [SEP] 101, NorthWall, , , , , , , [SEP] 102, EastWall, , , , , , , [SEP] 103, SouthWall, , , , , , , [SEP] 104, WestWall, , , , , , , ", "output": ["STEP 1: Turn around completely and go to the right. | STEP 2: Pick up the butter knife from the table. | STEP 3: hen go forward then turn to the left an face the counter | STEP 4: Open the cabinet and put the butter knife inside the bowl in the cabinet. | STEP 5: Take out the bowl with the knife in it. | STEP 6: Turn around completely and walk forward turn to the right. Turn to the right again and face the sink. | STEP 7: Place the bowl and knife in the sink. | END"]} +{"id": "trial_T20190907_165821_499106-1", "input": "put the blue pencil on the table into the trash bin SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.901, 0.0, 0, 270, 0, [SEP] 1, CD, 1.029, 0.693, -2.196, 0, 90, 0, 36 [SEP] 2, CD, 1.492, 0.473, -0.911, 0, 270, 0, 35 [SEP] 3, CellPhone, -2.046, 0.631, -0.198, 0, 0, 0, 27 [SEP] 4, CellPhone, -1.171, 0.631, -0.473, 0, 0, 0, 27 [SEP] 5, CreditCard, -0.339, 0.663, 0.513, 0, 180, 0, 39 [SEP] 6, CreditCard, -0.724, 0.090, 0.480, 0, 0, 0, 40 [SEP] 7, KeyChain, -0.451, 0.370, 0.480, 0, 90, 0, 38 [SEP] 8, KeyChain, -0.634, 0.663, 0.643, 0, 0, 0, 39 [SEP] 9, Book, -0.362, 0.692, -1.980, 0, 90, 0, 36 [SEP] 10, Book, -1.521, 0.629, -0.473, 0, 0, 0, 27 [SEP] 11, Pillow, -1.346, 0.703, -0.198, 0, 0, 0, 27 [SEP] 12, AlarmClock, -0.560, 0.664, 0.600, 0, 180, 0, 39 [SEP] 13, AlarmClock, 1.610, 0.694, -1.644, 0, 18.354, 0, 36 [SEP] 14, Box, -0.015, 0.239, -2.091, 0, 0, 0, [SEP] 15, Book, -0.782, 0.661, 0.600, 0, 180, 0, 39 [SEP] 16, BaseballBat, 1.798, 0.639, 0.425, 0, 0, 342.316, [SEP] 17, Pen, 0.477, 0.698, -2.336, 0, 90, 0, 36 [SEP] 18, Pencil, -0.219, 0.697, -2.148, 0, 90, 0, 36 [SEP] 19, KeyChain, -0.561, 0.663, 0.427, 0, 180, 0, 39 [SEP] 20, Pillow, -1.694, 0.656, 0.415, 0, 0, 0, 27 [SEP] 21, CreditCard, 1.456, 0.473, -0.715, 0, 270, 0, 35 [SEP] 22, CellPhone, 1.559, 0.693, -1.409, 0, 0, 0, 36 [SEP] 23, Laptop, -1.871, 0.628, -1.297, 0, 0, 0, 27 [SEP] 24, CD, 0.661, 0.692, -2.266, 0, 90, 0, 36 [SEP] 25, Bowl, 1.222, 0.686, -2.128, 0, 0, 0, 36 [SEP] 26, AlarmClock, -0.506, 0.694, -1.980, 0, 90, 0, 36 [SEP] 27, Bed, -1.696, 0.004, -0.446, 0, 0, 0, [SEP] 28, Chair, 0.956, -0.000, -1.747, 0, 110.225, 0, [SEP] 29, DeskLamp, -0.440, 0.688, -2.276, 0, 0, 0, [SEP] 30, LightSwitch, 0.625, 1.338, 0.734, 0, 180, 0, [SEP] 31, GarbageCan, 1.660, -0.019, -0.389, 0, 345.008, 0, [SEP] 32, Mirror, 1.300, 1.422, 0.765, 0, 0, 0, [SEP] 33, HousePlant, -0.867, 0.000, -2.286, 0, 0, 0, [SEP] 34, Window, 0.819, 1.496, -2.553, 90, 180, 0, [SEP] 35, Shelf, 1.616, 0.561, -0.802, 0, 0, 0, [SEP] 36, Desk, 0.617, -0.000, -1.511, 0, 0, 0, [SEP] 37, Blinds, 0.796, 2.217, -2.476, 0, 0, 0, [SEP] 38, Drawer, -0.558, 0.456, 0.462, 0, 180, 0, [SEP] 39, SideTable, -0.557, -0.000, 0.529, 0, 180, 0, [SEP] 40, Drawer, -0.558, 0.164, 0.462, 0, 180, 0, [SEP] 41, Desktop, 1.455, 0.692, -1.886, 358.180, 309.674, 0, [SEP] 42, NorthWall, , , , , , , [SEP] 43, EastWall, , , , , , , [SEP] 44, SouthWall, , , , , , , [SEP] 45, WestWall, , , , , , , ", "output": ["STEP 1: turn left, walk to the table | STEP 2: grab the blue pencil on the table | STEP 3: turn around, walk to the trash bin on the right | STEP 4: put the pencil in the trash bin | END"]} +{"id": "trial_T20190909_071422_693805-0", "input": "Retrieve a cloth from the tub, put the cloth in the sink, put the same cloth on the toilet tank.", "output": ["STEP0: Turn around, walk to the tub | STEP1: Pick up the wash cloth on the right | STEP2: Turn around, walk to the sink | STEP3: Put the cloth in the sink, pick the cloth up again | STEP4: Turn around, walk to the toilet | STEP5: Put the cloth on the toilet tank | END"]} +{"id": "trial_T20190909_043249_705441-1", "input": "Put the spoon in the pan and place on the shelf above the counter. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.25, 0.900, 1.75, 0, 270, 0, [SEP] 1, Pan, 0.121, 1.655, -1.839, 0, 0, 0, 58 [SEP] 2, Pen, 1.036, 0.777, -0.732, 0, 270, 0, 67 [SEP] 3, Potato, 0.285, 0.961, -1.708, 0, 180, 0, 55 [SEP] 4, Ladle, 1.260, 0.955, -1.331, 0, 0, 0, 76 [SEP] 5, ButterKnife, -2.079, 0.910, 0.549, 0, 0, 0, 78 [SEP] 6, ButterKnife, -2.201, 0.910, 0.291, 0, 0, 0, 78 [SEP] 7, Glassbottle, -0.309, 0.117, -1.538, 0, 0, 0, 62 [SEP] 8, Glassbottle, 0.569, 0.912, -1.704, 0, 0, 0, 76 [SEP] 9, Fork, 0.982, 0.775, -1.013, 0, 270, 0, 54 [SEP] 10, Fork, -0.401, 0.911, -1.619, 0, 0, 0, 76 [SEP] 11, Spoon, 1.414, 1.163, -1.002, 0, 270, 0, 82 [SEP] 12, Spatula, 0.105, 0.926, -1.436, 0, 0, 0, 55 [SEP] 13, Spatula, -1.809, 0.925, -1.620, 0, 90, 0, 74 [SEP] 14, Pot, -1.431, 0.949, -1.81, 0, 0, 0, 86 [SEP] 15, Cup, 1.476, 1.367, 2.100, 0, 270, 0, 95 [SEP] 16, Cup, 1.476, 1.367, 2.350, 0, 270, 0, 95 [SEP] 17, Tomato, 1.388, 1.760, 1.713, 0, 270, 0, 95 [SEP] 18, Tomato, 0.183, 0.959, -1.708, 0, 270, 0, 55 [SEP] 19, PepperShaker, -1.886, 0.905, -1.879, 0, 0, 0, 74 [SEP] 20, PepperShaker, -1.835, 0.905, 0.204, 0, 0, 0, 78 [SEP] 21, SaltShaker, -0.342, 0.111, -1.440, 0, 0, 0, 62 [SEP] 22, SaltShaker, -1.712, 0.905, 0.291, 0, 0, 0, 78 [SEP] 23, Lettuce, -2.079, 0.979, 0.204, 0, 0, 0, 78 [SEP] 24, Mug, -1.732, 0.111, -1.538, 0, 0, 0, 83 [SEP] 25, Mug, -1.886, 0.905, -1.620, 0, 0, 0, 74 [SEP] 26, Apple, 1.093, 0.945, -1.331, 0, 0, 0, 76 [SEP] 27, Tomato, 1.381, 0.254, 1.022, 0, 0, 0, 93 [SEP] 28, Glassbottle, 1.275, 1.368, 2.351, 0, 270, 0, 95 [SEP] 29, Knife, 0.936, 0.803, 0.485, 0, 270, 0, 53 [SEP] 30, Plate, 1.461, 1.656, -1.421, 0, 0, 0, 68 [SEP] 31, Fork, 0.916, 0.775, -1.068, 0, 90, 0, 54 [SEP] 32, Ladle, 1.401, 1.700, -0.579, 0, 0, 0, 64 [SEP] 33, Potato, 0.569, 0.953, -1.448, 0, 0, 0, 76 [SEP] 34, Lettuce, 1.414, 1.231, -1.688, 0, 0, 0, 82 [SEP] 35, Kettle, 0.770, 0.9, -1.836, 0, 0, 0, 76 [SEP] 36, Pen, -2.039, 0.913, -1.448, 0, 0, 0, 71 [SEP] 37, SaltShaker, 0.070, 0.906, -1.972, 0, 0, 0, 76 [SEP] 38, Cup, -1.732, 0.910, -1.879, 0, 0, 0, 74 [SEP] 39, Egg, 1.302, 0.243, 1.08, 0, 0, 0, 93 [SEP] 40, Spatula, 0.946, 0.926, -1.534, 0, 0, 0, 76 [SEP] 41, Bowl, 1.208, 0.118, 0.430, 0, 0, 0, 59 [SEP] 42, SprayBottle, -1.732, 0.909, -1.534, 0, 0, 0, 74 [SEP] 43, Pan, -1.079, 0.945, -1.528, 0, 0, 0, 77 [SEP] 44, SoapBottle, -2.116, 0.910, -1.534, 0, 0, 0, 74 [SEP] 45, Pot, -1.081, 0.949, -1.81, 0, 0, 0, 72 [SEP] 46, ButterKnife, -2.323, 0.910, 0.118, 0, 0, 0, 78 [SEP] 47, PepperShaker, -1.438, 1.853, -1.766, 0, 0, 0, 69 [SEP] 48, DishSponge, -2.201, 0.910, 0.032, 0, 0, 0, 78 [SEP] 49, Bread, -0.703, 0.989, -1.534, 0, 0, 0, 76 [SEP] 50, Apple, -2.323, 0.945, 0.377, 0, 0, 0, 78 [SEP] 51, Spoon, -1.957, 0.911, 0.377, 0, 0, 0, 78 [SEP] 52, Mug, 1.520, 1.651, -1.106, 0, 0, 0, 64 [SEP] 53, Drawer, 0.860, 0.75, 0.430, 0, 0, 0, [SEP] 54, Drawer, 0.871, 0.75, -1.134, 0, 0, 0, [SEP] 55, Sink, 0.156, 0.817, -1.801, 0, 270, 0, [SEP] 56, Cabinet, -0.868, 2.005, -1.690, 0, 0, 0, [SEP] 57, Cabinet, -1.661, 2.059, -1.684, 0, 90, 0, [SEP] 58, Cabinet, -0.817, 2.059, -1.689, 0, 0, 0, [SEP] 59, Cabinet, 0.860, 0.402, 0.665, 0, 0, 0, [SEP] 60, Cabinet, 0.860, 0.402, -0.552, 0, 0, 0, [SEP] 61, Cabinet, 0.860, 0.402, -1.365, 0, 0, 0, [SEP] 62, Cabinet, -0.244, 0.402, -1.389, 0, 0, 0, [SEP] 63, Cabinet, -0.815, 0.402, -1.389, 0, 0, 0, [SEP] 64, Cabinet, 1.159, 2.059, -0.334, 0, 0, 0, [SEP] 65, Cabinet, 0.488, 2.059, -1.689, 0, 0, 0, [SEP] 66, Cabinet, -0.193, 2.059, -1.689, 0, 0, 0, [SEP] 67, Drawer, 0.860, 0.75, -0.699, 0, 0, 0, [SEP] 68, Cabinet, 1.159, 2.059, -1.019, 0, 0, 0, [SEP] 69, Cabinet, -1.611, 2.005, -1.690, 0, 0, 0, [SEP] 70, Cabinet, 0.832, 0.401, -1.393, 0, 90, 0, [SEP] 71, Drawer, -2.105, 0.75, -1.389, 0, 0, 0, [SEP] 72, StoveBurner, -1.081, 0.941, -1.809, 0, 0, 0, [SEP] 73, Cabinet, -0.202, 0.401, -1.391, 0, 90, 0, [SEP] 74, CounterTop, -1.973, 0.945, -1.707, 0, 0, 0, [SEP] 75, Drawer, -0.375, 0.75, -1.389, 0, 0, 0, [SEP] 76, CounterTop, 1.164, 0.946, -0.649, 0, 0, 0, [SEP] 77, StoveBurner, -1.081, 0.941, -1.527, 0, 0, 0, [SEP] 78, CounterTop, -2.096, 0.945, 0.291, 0, 0, 0, [SEP] 79, Cabinet, -2.237, 0.402, -1.389, 0, 0, 0, [SEP] 80, Drawer, 0.584, 0.75, -1.389, 0, 0, 0, [SEP] 81, Drawer, -1.795, 0.75, -1.389, 0, 0, 0, [SEP] 82, CounterTop, 1.5, 1.197, -0.654, 0, 0, 0, [SEP] 83, Cabinet, -1.667, 0.402, -1.389, 0, 0, 0, [SEP] 84, StoveBurner, -1.430, 0.941, -1.525, 0, 0, 0, [SEP] 85, Drawer, -0.685, 0.75, -1.389, 0, 0, 0, [SEP] 86, StoveBurner, -1.430, 0.941, -1.809, 0, 0, 0, [SEP] 87, LightSwitch, -2.539, 1.289, 2.568, 0, 90, 0, [SEP] 88, StoveKnob, -1.362, 1.095, -1.983, 287.970, 180, 0, [SEP] 89, StoveKnob, -0.962, 1.095, -1.983, 287.970, 180, 0, [SEP] 90, StoveKnob, -1.522, 1.095, -1.983, 287.970, 180, 0, [SEP] 91, StoveKnob, -1.112, 1.095, -1.983, 287.970, 180, 0, [SEP] 92, CoffeeMachine, 1.082, 0.900, -1.848, 0, 0, 0, [SEP] 93, GarbageCan, 1.343, 0.015, 1.041, 0, 0, 0, [SEP] 94, HousePlant, 1.440, 1.153, 0.593, 0, 0, 0, [SEP] 95, Fridge, 1.417, 0.0, 2.101, 0, 0, 0, [SEP] 96, Window, -0.486, 1.452, 3.302, 90, 0, 0, [SEP] 97, SinkBasin, -0.063, 0.765, -1.713, 0, 270, 0, [SEP] 98, Microwave, 1.422, 1.150, 0.022, 0, 270, 0, [SEP] 99, Toaster, -2.066, 0.900, -1.848, 0, 0, 0, [SEP] 100, Stool, -1.994, 0.010, 0.882, 0, 0, 0, [SEP] 101, Faucet, -0.096, 1.041, -1.867, 0, 270, 0, [SEP] 102, NorthWall, , , , , , , [SEP] 103, EastWall, , , , , , , [SEP] 104, SouthWall, , , , , , , [SEP] 105, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and head to the counter on the right side of the dishwasher. | STEP 2: Pick up the spoon from behind the apple off the top of the counter. | STEP 3: Turn to the right and go to the front of the sink. | STEP 4: Open the cabinet and place the spoon inside the pan. | STEP 5: Take the pan out and close the door. | STEP 6: Turn left and move back to the end of the counter. | STEP 7: Place the pan to the left of the soup spoon on the shelf above the counter. | END"]} +{"id": "trial_T20190908_130234_786446-0", "input": "Move two spray bottles to a storage shelf. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.913, 0.25, 0, 0, 0, [SEP] 1, Cloth, 1.780, 0.622, -2.094, 0, 0, 0, 38 [SEP] 2, Cloth, -2.034, 0.075, -1.039, 0, 45, 0, Floor|-00.35| [SEP] 3, TissueBox, -2.977, 0.874, 1.473, 0, 90, 0, 49 [SEP] 4, TissueBox, -0.208, 0.963, -2.181, 0, 0, 0, 30 [SEP] 5, SoapBar, -1.787, 0.076, -1.498, 0, 45, 0, 30 [SEP] 6, SoapBar, 0.185, 0.802, -1.839, 0, 0, 0, 32 [SEP] 7, SprayBottle, 0.270, 0.959, -2.181, 0, 0, 0, 30 [SEP] 8, SprayBottle, -3.034, 0.243, 1.707, 0, 90, 0, 49 [SEP] 9, DishSponge, 0.930, 0.624, -2.168, 0, 0, 0, 38 [SEP] 10, SoapBottle, 0.135, 0.976, 2.304, 0, 270, 0, 44 [SEP] 11, Candle, -2.751, 0.873, 1.551, 0, 90, 0, 49 [SEP] 12, HandTowel, -0.885, 1.617, -2.503, 0, 180, 0, 39 [SEP] 13, Towel, 0.465, 1.21, -1.095, 0, 270, 0, 35 [SEP] 14, SoapBottle, -0.368, 0.973, -2.275, 0, 0, 0, 30 [SEP] 15, SoapBar, 1.142, 0.623, -2.463, 0, 0, 0, 38 [SEP] 16, ToiletPaper, 1.355, 0.620, -2.094, 0, 0, 0, 38 [SEP] 17, Plunger, 0.506, 0.011, 2.268, 0, 0, 0, Floor|-00.35| [SEP] 18, SprayBottle, 1.142, 0.620, -2.389, 0, 0, 0, 38 [SEP] 19, TissueBox, -2.921, 0.244, 1.317, 0, 90, 0, 49 [SEP] 20, ToiletPaper, -0.515, 0.031, 2.338, 0, 0, 90, 36 [SEP] 21, ScrubBrush, 0.342, 0.012, 2.072, 0, 0, 0, Floor|-00.35| [SEP] 22, Cloth, 0.270, 0.961, -1.899, 0, 0, 0, 30 [SEP] 23, DishSponge, -2.246, 0.078, -1.251, 0, 45, 0, 30 [SEP] 24, Footstool, -0.325, 0.297, -1.98, 0, 0, 0, Floor|-00.35| [SEP] 25, Bathtub, -1.957, 0.494, -1.233, 0, 0, 0, [SEP] 26, ShowerDoor, 0.650, 1.413, 2.169, 0, 0, 0, [SEP] 27, ShowerGlass, 0.0, 0.0, 0.0, 0, 0, 0, [SEP] 28, Drawer, 0.300, 0.304, -1.820, 0, 0, 0, [SEP] 29, Mirror, -0.046, 1.512, -2.538, 0, 0, 0, [SEP] 30, CounterTop, 0.196, 0.430, -2.010, 0, 0, 0, [SEP] 31, Sink, -2.796, 0.328, 0.755, 0, 90, 0, [SEP] 32, Drawer, 0.300, 0.833, -1.820, 0, 0, 0, [SEP] 33, Drawer, 0.300, 0.682, -1.820, 0, 0, 0, [SEP] 34, Drawer, 0.300, 0.492, -1.820, 0, 0, 0, [SEP] 35, TowelHolder, 0.572, 1.195, -1.095, 0, 270, 0, [SEP] 36, GarbageCan, -0.564, 0.010, 2.061, 0, 195.0, 0, [SEP] 37, ToiletPaperHanger, -0.574, 0.926, 2.407, 0, 180, 0, [SEP] 38, Shelf, 1.536, 0.613, -2.242, 0, 0, 0, [SEP] 39, HandTowelHolder, -0.884, 1.718, -2.542, 0, 270, 0, [SEP] 40, Window, -3.170, 1.812, -1.697, 90, 90, 0, [SEP] 41, Window, -3.170, 1.812, 1.597, 90, 90, 0, [SEP] 42, Window, -2.144, 1.809, -2.573, 90, 0, 0, [SEP] 43, Window, -3.170, 1.812, -0.054, 90, 90, 0, [SEP] 44, Toilet, -0.064, 0.012, 1.838, 0, 180, 0, [SEP] 45, LightSwitch, -1.406, 1.472, 2.407, 0, 180, 0, [SEP] 46, SinkBasin, -2.796, 0.875, 0.765, 0, 90, 0, [SEP] 47, ShowerHead, 1.591, 1.700, -2.424, 0, 90, 0, [SEP] 48, Faucet, -2.676, 0.423, -0.312, 0, 99.958, 0, [SEP] 49, SideTable, -2.847, 0.013, 1.509, 0, 90, 0, [SEP] 50, Faucet, -3.106, 1.056, 0.757, 0, 90, 0, [SEP] 51, , , , , , , , [SEP] 52, NorthWall, , , , , , , [SEP] 53, EastWall, , , , , , , [SEP] 54, SouthWall, , , , , , , [SEP] 55, WestWall, , , , , , , ", "output": ["STEP 1: Turn to the right and then the left to face the toilet. | STEP 2: Pick up the spray from the toilet tank. | STEP 3: Hold the bottle and turn to the left and then find the storage cart. | STEP 4: Place the bottle on the top shelf of the storage cart. | STEP 5: Turn around and then right to find the counter. | STEP 6: Pick up the spray bottle from the back of the counter. | STEP 7: Carry the bottle and turn around. Turn left to find the storage cart. | STEP 8: Place the bottle on the top shelf, next to the other bottle. | END"]} +{"id": "trial_T20190908_130234_786446-1", "input": "Move two dispensers to the shelf by the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.913, 0.25, 0, 0, 0, [SEP] 1, Cloth, 1.780, 0.622, -2.094, 0, 0, 0, 38 [SEP] 2, Cloth, -2.034, 0.075, -1.039, 0, 45, 0, Floor|-00.35| [SEP] 3, TissueBox, -2.977, 0.874, 1.473, 0, 90, 0, 49 [SEP] 4, TissueBox, -0.208, 0.963, -2.181, 0, 0, 0, 30 [SEP] 5, SoapBar, -1.787, 0.076, -1.498, 0, 45, 0, 30 [SEP] 6, SoapBar, 0.185, 0.802, -1.839, 0, 0, 0, 32 [SEP] 7, SprayBottle, 0.270, 0.959, -2.181, 0, 0, 0, 30 [SEP] 8, SprayBottle, -3.034, 0.243, 1.707, 0, 90, 0, 49 [SEP] 9, DishSponge, 0.930, 0.624, -2.168, 0, 0, 0, 38 [SEP] 10, SoapBottle, 0.135, 0.976, 2.304, 0, 270, 0, 44 [SEP] 11, Candle, -2.751, 0.873, 1.551, 0, 90, 0, 49 [SEP] 12, HandTowel, -0.885, 1.617, -2.503, 0, 180, 0, 39 [SEP] 13, Towel, 0.465, 1.21, -1.095, 0, 270, 0, 35 [SEP] 14, SoapBottle, -0.368, 0.973, -2.275, 0, 0, 0, 30 [SEP] 15, SoapBar, 1.142, 0.623, -2.463, 0, 0, 0, 38 [SEP] 16, ToiletPaper, 1.355, 0.620, -2.094, 0, 0, 0, 38 [SEP] 17, Plunger, 0.506, 0.011, 2.268, 0, 0, 0, Floor|-00.35| [SEP] 18, SprayBottle, 1.142, 0.620, -2.389, 0, 0, 0, 38 [SEP] 19, TissueBox, -2.921, 0.244, 1.317, 0, 90, 0, 49 [SEP] 20, ToiletPaper, -0.515, 0.031, 2.338, 0, 0, 90, 36 [SEP] 21, ScrubBrush, 0.342, 0.012, 2.072, 0, 0, 0, Floor|-00.35| [SEP] 22, Cloth, 0.270, 0.961, -1.899, 0, 0, 0, 30 [SEP] 23, DishSponge, -2.246, 0.078, -1.251, 0, 45, 0, 30 [SEP] 24, Footstool, -0.325, 0.297, -1.98, 0, 0, 0, Floor|-00.35| [SEP] 25, Bathtub, -1.957, 0.494, -1.233, 0, 0, 0, [SEP] 26, ShowerDoor, 0.650, 1.413, 2.169, 0, 0, 0, [SEP] 27, ShowerGlass, 0.0, 0.0, 0.0, 0, 0, 0, [SEP] 28, Drawer, 0.300, 0.304, -1.820, 0, 0, 0, [SEP] 29, Mirror, -0.046, 1.512, -2.538, 0, 0, 0, [SEP] 30, CounterTop, 0.196, 0.430, -2.010, 0, 0, 0, [SEP] 31, Sink, -2.796, 0.328, 0.755, 0, 90, 0, [SEP] 32, Drawer, 0.300, 0.833, -1.820, 0, 0, 0, [SEP] 33, Drawer, 0.300, 0.682, -1.820, 0, 0, 0, [SEP] 34, Drawer, 0.300, 0.492, -1.820, 0, 0, 0, [SEP] 35, TowelHolder, 0.572, 1.195, -1.095, 0, 270, 0, [SEP] 36, GarbageCan, -0.564, 0.010, 2.061, 0, 195.0, 0, [SEP] 37, ToiletPaperHanger, -0.574, 0.926, 2.407, 0, 180, 0, [SEP] 38, Shelf, 1.536, 0.613, -2.242, 0, 0, 0, [SEP] 39, HandTowelHolder, -0.884, 1.718, -2.542, 0, 270, 0, [SEP] 40, Window, -3.170, 1.812, -1.697, 90, 90, 0, [SEP] 41, Window, -3.170, 1.812, 1.597, 90, 90, 0, [SEP] 42, Window, -2.144, 1.809, -2.573, 90, 0, 0, [SEP] 43, Window, -3.170, 1.812, -0.054, 90, 90, 0, [SEP] 44, Toilet, -0.064, 0.012, 1.838, 0, 180, 0, [SEP] 45, LightSwitch, -1.406, 1.472, 2.407, 0, 180, 0, [SEP] 46, SinkBasin, -2.796, 0.875, 0.765, 0, 90, 0, [SEP] 47, ShowerHead, 1.591, 1.700, -2.424, 0, 90, 0, [SEP] 48, Faucet, -2.676, 0.423, -0.312, 0, 99.958, 0, [SEP] 49, SideTable, -2.847, 0.013, 1.509, 0, 90, 0, [SEP] 50, Faucet, -3.106, 1.056, 0.757, 0, 90, 0, [SEP] 51, , , , , , , , [SEP] 52, NorthWall, , , , , , , [SEP] 53, EastWall, , , , , , , [SEP] 54, SouthWall, , , , , , , [SEP] 55, WestWall, , , , , , , ", "output": ["STEP 1: Turn and go to the toilet. | STEP 2: Pick up the dispenser on the toilet. | STEP 3: Turn and go to the shelf by the sink. | STEP 4: Put the dispenser on the shelf. | STEP 5: Turn and go to the counter by the mirror. | STEP 6: Pick up the dispenser on the counter. | STEP 7: Turn and go to the shelf by the sink. | STEP 8: Put the dispenser on the shelf. | END"]} +{"id": "trial_T20190907_181722_293203-2", "input": "Examine a key chain by the light of a floor lamp. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.0, 0.900, -1.5, 0, 270, 0, [SEP] 1, Watch, 1.901, 0.760, 0.691, 0, 270, 0, 30 [SEP] 2, Watch, -1.568, 0.489, 1.753, 0, 0, 0, 37 [SEP] 3, KeyChain, 1.901, 0.760, 0.241, 0, 270, 0, 30 [SEP] 4, CreditCard, -1.794, 1.625, -1.473, 0, 90, 0, 39 [SEP] 5, CreditCard, -1.113, 0.327, 0.643, 0, 90, 0, 38 [SEP] 6, RemoteControl, 1.825, 0.759, 0.091, 0, 270, 0, 30 [SEP] 7, Laptop, -0.051, 0.471, -0.086, 0, 90, 0, 27 [SEP] 8, Box, -0.007, 0.65, 0.892, 0, 0, 0, 27 [SEP] 9, Laptop, -0.196, 0.470, 0.407, 0, 72.615, 0, 27 [SEP] 10, CreditCard, 1.825, 0.756, 0.691, 0, 270, 0, 30 [SEP] 11, KeyChain, 1.675, 0.757, 0.091, 0, 0, 0, 30 [SEP] 12, Vase, 1.600, 0.762, 0.541, 0, 270, 0, 30 [SEP] 13, Vase, -1.800, 1.616, -1.785, 0, 0, 0, 39 [SEP] 14, Pillow, -1.235, 0.461, -0.025, 0, 75.000, 0, 38 [SEP] 15, RemoteControl, -0.301, 0.479, 0.971, 0, 90, 0, 27 [SEP] 16, Watch, 1.799, 0.179, 0.208, 0, 270, 0, 32 [SEP] 17, Vase, -0.301, 0.481, 0.089, 0, 90, 0, 27 [SEP] 18, Statue, 1.600, 0.770, 0.241, 0, 270, 0, 30 [SEP] 19, Television, 1.826, 1.241, 0.248, 0, 270, 0, [SEP] 20, LightSwitch, -2.0, 1.332, 3.920, 0, 90, 0, [SEP] 21, Window, -0.216, 1.495, -1.878, 90, 0, 0, [SEP] 22, HousePlant, -1.780, 0.468, 1.965, 0, 0, 0, [SEP] 23, Painting, -2.0, 1.577, 0.418, 90, 270, 0, [SEP] 24, GarbageCan, 1.767, -0.001, 3.878, 0, 0, 0, [SEP] 25, FloorLamp, 1.228, 0.000, 3.744, 0, 0, 0, [SEP] 26, Painting, -0.096, 1.578, 4.050, 90, 0, 0, [SEP] 27, CoffeeTable, -0.150, 0.000, 0.421, 0, 270, 0, [SEP] 28, Shelf, 1.663, 0.474, 0.609, 0, 270, 0, [SEP] 29, Shelf, 1.663, 0.273, 0.609, 0, 270, 0, [SEP] 30, TVStand, 1.669, -0.000, 0.243, 0, 270, 0, [SEP] 31, Shelf, 1.663, 0.302, -0.124, 0, 270, 0, [SEP] 32, Shelf, 1.663, 0.442, 0.241, 0, 270, 0, [SEP] 33, Shelf, 1.663, 0.597, -0.124, 0, 270, 0, [SEP] 34, Shelf, 1.663, 0.643, 0.609, 0, 270, 0, [SEP] 35, Cabinet, -1.767, 0.729, -1.593, 0, 91.801, 0, [SEP] 36, Shelf, -1.769, 2.041, -1.593, 0, 91.801, 0, [SEP] 37, SideTable, -1.567, -0.002, 1.818, 0, 90, 0, [SEP] 38, Sofa, -1.445, 0.008, 0.420, 0, 90, 0, [SEP] 39, Shelf, -1.769, 1.744, -1.593, 0, 91.801, 0, [SEP] 40, Shelf, -1.768, 1.452, -1.593, 0, 91.801, 0, [SEP] 41, ArmChair, 0.396, 0.005, 2.194, 0, 180, 0, [SEP] 42, ArmChair, -0.633, 0.005, 2.194, 0, 180, 0, [SEP] 43, ShelvingUnit, -1.786, 0.001, -1.592, 0, 91.801, 0, [SEP] 44, NorthWall, , , , , , , [SEP] 45, EastWall, , , , , , , [SEP] 46, SouthWall, , , , , , , [SEP] 47, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and walk to the desk containing the television. | STEP 2: Pick up the key chain from the desk. | STEP 3: Turn left and walk to the floor lamp by the recycling bin. | STEP 4: Turn on the lamp. | END"]} +{"id": "trial_T20190918_181527_663599-2", "input": "pick up knife, put into microwave, pick up tomato, clean tomato in sink, place on counter SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.900, 2.5, 0, 0, 0, [SEP] 1, Potato, -2.671, 0.863, 2.485, 0, 90, 0, 59 [SEP] 2, Potato, -2.840, 0.862, 0.129, 0, 0, 0, 41 [SEP] 3, Fork, -0.817, 0.824, 0.352, 0, 90, 0, 41 [SEP] 4, Fork, -2.698, 0.692, 1.474, 0, 90, 0, 46 [SEP] 5, Tomato, -2.608, 0.873, 0.129, 0, 0, 0, 41 [SEP] 6, Bowl, -2.784, 1.431, 0.293, 0, 45, 0, 47 [SEP] 7, SaltShaker, -2.416, 1.431, 0.142, 0, 90, 0, 48 [SEP] 8, PepperShaker, -2.905, 1.430, 0.708, 0, 0, 0, 50 [SEP] 9, Lettuce, -2.782, 1.529, 2.221, 0, 90, 0, 59 [SEP] 10, Lettuce, -2.837, 0.908, 2.133, 0, 90, 0, 59 [SEP] 11, Mug, -2.782, 1.138, 2.485, 0, 90, 0, 59 [SEP] 12, Mug, -2.726, 1.440, 2.485, 0, 90, 0, 59 [SEP] 13, Apple, -2.744, 0.994, 1.178, 0, 270, 0, 60 [SEP] 14, Fork, -2.631, 0.692, 1.547, 0, 270, 0, 46 [SEP] 15, Ladle, -2.813, 0.867, 0.871, 0, 0, 0, 41 [SEP] 16, Pan, -0.244, 0.829, 1.684, 0, 0, 0, 40 [SEP] 17, SoapBottle, -2.000, 0.123, 0.401, 0, 0, 0, 53 [SEP] 18, Pot, -0.518, 0.829, 2.075, 0, 180, 0, 38 [SEP] 19, Tomato, -2.671, 1.495, 2.045, 0, 90, 0, 59 [SEP] 20, Potato, -0.477, 0.862, 1.326, 0, 0, 0, 41 [SEP] 21, SaltShaker, -2.115, 0.120, 0.401, 0, 0, 0, 53 [SEP] 22, Plate, -2.586, 0.813, 0.309, 0, 0, 0, 41 [SEP] 23, Spatula, -0.341, 0.696, 1.194, 0, 45, 0, 37 [SEP] 24, Knife, -2.662, 0.819, 0.557, 90, 300.034, 0, 41 [SEP] 25, Egg, -2.726, 1.469, 2.397, 0, 90, 0, 59 [SEP] 26, Cup, -1.151, 0.823, 0.352, 0, 0, 0, 41 [SEP] 27, ButterKnife, -1.876, 0.823, 0.539, 0, 0, 0, 41 [SEP] 28, Lettuce, -0.329, 0.140, 2.606, 0, 0, 0, 61 [SEP] 29, PepperShaker, -2.530, 0.116, 1.431, 0, 0, 0, 52 [SEP] 30, DishSponge, -1.151, 0.823, 0.055, 0, 0, 0, 41 [SEP] 31, Bread, -0.979, 0.855, 0.249, 0, 29.999, 0, 41 [SEP] 32, Spoon, -2.581, 0.824, 0.953, 0, 0, 0, 41 [SEP] 33, Mug, -0.646, 0.888, 0.367, 0, 0, 0, 69 [SEP] 34, Bowl, -2.726, 1.140, 2.133, 0, 90, 0, 59 [SEP] 35, Cabinet, -2.377, 2.015, 1.720, 0, 0, 0, [SEP] 36, StoveBurner, -0.244, 0.820, 2.075, 0, 180, 0, [SEP] 37, Drawer, -0.402, 0.703, 1.252, 0, 0, 0, [SEP] 38, StoveBurner, -0.518, 0.820, 2.075, 0, 180, 0, [SEP] 39, Sink, -1.838, 0.726, 0.343, 0, 180, 0, [SEP] 40, StoveBurner, -0.244, 0.820, 1.684, 0, 0, 0, [SEP] 41, CounterTop, -1.557, 0.859, 0.277, 0, 0, 0, [SEP] 42, StoveBurner, -0.518, 0.820, 1.684, 0, 0, 0, [SEP] 43, Drawer, -0.404, 0.704, 0.912, 0, 0, 0, [SEP] 44, Drawer, -0.861, 0.709, 0.420, 0, 0, 0, [SEP] 45, Drawer, -1.133, 0.706, 0.418, 0, 0, 0, [SEP] 46, Drawer, -2.589, 0.703, 1.511, 0, 0, 0, [SEP] 47, Cabinet, -2.772, 1.803, 0.508, 0, 0, 0, [SEP] 48, Cabinet, -2.460, 1.803, 0.231, 0, 0, 0, [SEP] 49, Cabinet, -2.781, 1.798, 0.825, 0, 0, 0, [SEP] 50, Cabinet, -2.781, 1.798, 0.815, 0, 0, 0, [SEP] 51, Cabinet, -2.377, 2.009, 2.581, 0, 0, 0, [SEP] 52, Cabinet, -2.442, 0.385, 1.672, 0, 0, 0, [SEP] 53, Cabinet, -2.238, 0.385, 0.564, 0, 0, 0, [SEP] 54, Cabinet, -1.286, 0.385, 0.564, 0, 0, 0, [SEP] 55, Cabinet, -1.262, 0.385, 0.565, 0, 0, 0, [SEP] 56, Cabinet, -0.734, 0.385, 0.565, 0, 0, 0, [SEP] 57, Cabinet, -0.549, 0.385, 0.751, 0, 0, 0, [SEP] 58, Cabinet, -0.549, 0.385, 1.412, 0, 0, 0, [SEP] 59, Fridge, -2.782, 0.0, 2.221, 0, 0, 0, [SEP] 60, Microwave, -2.794, 0.812, 1.348, 0, 90, 0, [SEP] 61, GarbageCan, -0.329, 2.205, 2.606, 0, 0, 0, [SEP] 62, StoveKnob, -0.069, 0.998, 1.773, 0, 180, 107.470, [SEP] 63, StoveKnob, -0.069, 0.998, 1.613, 0, 180, 107.470, [SEP] 64, StoveKnob, -0.069, 0.998, 2.171, 0, 180, 107.470, [SEP] 65, StoveKnob, -0.069, 0.998, 2.024, 0, 180, 107.470, [SEP] 66, Window, -1.720, 1.342, -0.208, 90, 0, 0, [SEP] 67, Toaster, -0.171, 0.812, 0.735, 0, 270, 0, [SEP] 68, SinkBasin, -1.745, 0.687, 0.295, 0, 0, 0, [SEP] 69, CoffeeMachine, -0.539, 0.812, 0.185, 0, 0, 0, [SEP] 70, LightSwitch, -0.615, 1.378, 3.0, 0, 180, 0, [SEP] 71, Faucet, -1.686, 0.954, 0.176, 0, 236.223, 0, [SEP] 72, Stool, -1.008, 0.008, 1.955, 0, 18.279, 0, [SEP] 73, NorthWall, , , , , , , [SEP] 74, EastWall, , , , , , , [SEP] 75, SouthWall, , , , , , , [SEP] 76, WestWall, , , , , , , ", "output": ["STEP 1: turn around, walk straight, turn right to the counter | STEP 2: pick up knife from the counter | STEP 3: turn to the left, look at the sink | STEP 4: turn around look at the sink | STEP 5: turn right , turn left to the microwave | STEP 6: open door, place knife in to microwave, close door | STEP 7: turn left, walk to the sink | STEP 8: pick up tomato from counter | STEP 9: turn around, turn to the right, turn right to the counter | STEP 10: place tomato in to the sink, turn water on, turn off water, pick up tomato | STEP 11: turn right, turn left to the counter | STEP 12: place tomato on to the counter | END"]} +{"id": "trial_T20190908_200539_115276-1", "input": "Put the knife and the smallest diced piece of potato in the pot, which goes in the refrigerator. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.900, 0.0, 0, 0, 0, [SEP] 1, Vase, 1.478, 0.550, -2.562, 0, 180, 0, 92 [SEP] 2, Potato, -0.059, 1.142, -0.253, 0, 0, 0, 62 [SEP] 3, Potato, 0.355, 1.142, -0.001, 0, 0, 0, 62 [SEP] 4, Potato, -0.173, 1.820, -2.546, 0, 0, 0, 88 [SEP] 5, Plate, -2.121, 0.537, 1.251, 0, 90, 0, 95 [SEP] 6, Plate, -1.805, 0.133, -1.623, 0, 90, 0, 63 [SEP] 7, Cup, -0.995, 0.909, -2.560, 0, 0, 0, 87 [SEP] 8, Cup, 1.993, 0.878, -2.536, 0, 180, 0, 89 [SEP] 9, Egg, -1.958, 1.538, 1.176, 0, 90, 0, 95 [SEP] 10, Tomato, -1.935, 0.087, 2.076, 0, 270, 0, 93 [SEP] 11, SoapBottle, -1.143, 0.912, -2.637, 0, 0, 0, 87 [SEP] 12, SaltShaker, 0.079, 1.107, -0.001, 0, 0, 0, 62 [SEP] 13, Bread, -2.019, 0.983, -0.513, 0, 0, 0, 87 [SEP] 14, Lettuce, -2.081, 1.582, 1.092, 0, 90, 0, 95 [SEP] 15, Knife, -1.937, 0.936, -2.256, 0, 90, 0, 87 [SEP] 16, Knife, 0.217, 1.136, 0.251, 0, 180, 0, 62 [SEP] 17, Fork, 0.892, 0.646, -2.333, 0, 0, 0, 67 [SEP] 18, Fork, 0.079, 1.112, 0.251, 0, 0, 0, 62 [SEP] 19, Spoon, 1.098, 0.911, -2.253, 0, 0, 0, 64 [SEP] 20, Spoon, -1.597, 0.912, -1.682, 0, 90, 0, 87 [SEP] 21, Mug, -1.731, 0.956, -0.168, 0, 90, 0, 96 [SEP] 22, ButterKnife, -1.852, 0.769, -1.328, 0, 90, 0, 97 [SEP] 23, Glassbottle, -1.401, 1.659, -2.677, 0, 0, 0, 78 [SEP] 24, Glassbottle, -1.852, 0.770, -1.501, 0, 90, 0, 97 [SEP] 25, WineBottle, -1.567, 1.659, -2.641, 0, 0, 0, 78 [SEP] 26, WineBottle, 0.969, 0.911, -2.330, 0, 0, 0, 64 [SEP] 27, Book, 0.155, 1.1, 0.617, 0, 315, 0, 62 [SEP] 28, Glassbottle, -1.935, 0.048, 1.933, 0, 270, 0, 93 [SEP] 29, Knife, -1.574, 0.936, -2.056, 0, 90, 0, 87 [SEP] 30, Bread, -2.078, 0.870, 0.920, 0, 90, 0, 95 [SEP] 31, Fork, 0.582, 0.911, -2.253, 0, 0, 0, 64 [SEP] 32, Potato, -1.856, 0.941, -0.884, 0, 0, 0, 87 [SEP] 33, SoapBottle, 1.685, 0.554, -2.666, 0, 180, 0, 92 [SEP] 34, Kettle, -1.438, 0.912, -2.329, 0, 0, 0, 87 [SEP] 35, Pan, -0.036, 0.950, -2.576, 0, 270, 0, 65 [SEP] 36, Plate, -0.197, 1.108, 0.251, 0, 0, 0, 62 [SEP] 37, Tomato, -2.122, 1.542, 0.925, 0, 90, 0, 95 [SEP] 38, Vase, -0.197, 1.113, -0.253, 0, 0, 0, 62 [SEP] 39, Egg, -0.197, 1.146, -0.001, 0, 0, 0, 62 [SEP] 40, CreditCard, -1.856, 0.908, -2.695, 0, 0, 0, 87 [SEP] 41, Statue, 1.955, 0.168, -2.543, 0, 0, 0, 94 [SEP] 42, WineBottle, 1.891, 0.881, -2.617, 0, 180, 0, 89 [SEP] 43, Pot, -2.019, 0.915, -0.884, 0, 0, 0, 87 [SEP] 44, Spatula, 0.355, 1.126, -0.253, 0, 0, 0, 62 [SEP] 45, PaperTowelRoll, 1.789, 0.657, -2.511, 0, 180, 0, 92 [SEP] 46, Cup, 1.996, 0.550, -2.666, 0, 180, 0, 92 [SEP] 47, Vase, 0.355, 1.109, -0.506, 0, 0, 0, 62 [SEP] 48, Bowl, -0.912, 0.133, -2.503, 0, 0, 0, 80 [SEP] 49, SaltShaker, 0.451, 1.656, -2.560, 0, 0, 0, 86 [SEP] 50, PepperShaker, -0.335, 1.107, -0.253, 0, 0, 0, 62 [SEP] 51, Lettuce, -1.774, 0.991, -0.513, 0, 0, 0, 87 [SEP] 52, ButterKnife, 0.582, 0.910, -2.560, 0, 0, 0, 64 [SEP] 53, Apple, -2.070, 1.359, 1.008, 0, 90, 0, 95 [SEP] 54, DishSponge, -2.018, 0.769, -1.414, 0, 90, 0, 97 [SEP] 55, Spoon, -1.740, 0.154, -0.293, 0, 90, 0, 85 [SEP] 56, Mug, -1.982, 1.301, 0.841, 0, 90, 0, 95 [SEP] 57, StoveBurner, -0.036, 0.915, -2.372, 0, 0, 0, [SEP] 58, Drawer, 0.949, 0.832, -2.197, 0, 0, 0, [SEP] 59, Drawer, -1.560, 0.839, 0.204, 0, 90, 0, [SEP] 60, StoveBurner, -0.465, 0.915, -2.371, 0, 180, 0, [SEP] 61, Drawer, -1.560, 0.839, -0.197, 0, 90, 0, [SEP] 62, CounterTop, -0.079, 1.147, -0.001, 0, 0, 0, [SEP] 63, Cabinet, -1.549, 0.494, -1.964, 0, 90, 0, [SEP] 64, CounterTop, 0.693, 0.946, -2.483, 0, 0, 0, [SEP] 65, StoveBurner, -0.036, 0.915, -2.576, 0, 0, 0, [SEP] 66, Drawer, 0.949, 0.393, -2.200, 0, 0, 0, [SEP] 67, Drawer, 0.949, 0.708, -2.200, 0, 0, 0, [SEP] 68, Cabinet, -1.549, 0.494, 0.379, 0, 90, 0, [SEP] 69, StoveKnob, -0.022, 0.881, -2.187, 45, 0, 0, [SEP] 70, Drawer, 0.949, 0.560, -2.201, 0, 0, 0, [SEP] 71, StoveBurner, -0.465, 0.915, -2.575, 0, 180, 0, [SEP] 72, Window, -2.230, 1.429, -1.203, 0, 0, 0, [SEP] 73, StoveKnob, -0.483, 0.881, -2.187, 45, 0, 0, [SEP] 74, Sink, -1.899, 0.964, -1.5, 0, 90, 0, [SEP] 75, StoveKnob, -0.328, 0.881, -2.187, 45, 0, 0, [SEP] 76, Cabinet, -0.727, 2.015, -2.460, 0, 0, 0, [SEP] 77, Drawer, -1.560, 0.655, -0.196, 0, 90, 0, [SEP] 78, Cabinet, -1.685, 2.015, -2.461, 0, 0, 0, [SEP] 79, Cabinet, 0.680, 0.494, -2.200, 0, 0, 0, [SEP] 80, Cabinet, -1.179, 0.494, -2.200, 0, 0, 0, [SEP] 81, Cabinet, -1.849, 2.015, 0.379, 0, 90, 0, [SEP] 82, Drawer, 0.949, 0.221, -2.200, 0, 0, 0, [SEP] 83, StoveKnob, -0.183, 0.881, -2.187, 45, 0, 0, [SEP] 84, Cabinet, 0.719, 2.015, -2.460, 0, 0, 0, [SEP] 85, Drawer, -1.560, 0.331, -0.196, 0, 90, 0, [SEP] 86, Cabinet, 0.680, 2.015, -2.460, 0, 0, 0, [SEP] 87, CounterTop, -1.868, 0.946, -1.205, 0, 0, 0, [SEP] 88, Microwave, -0.236, 1.689, -2.525, 0, 0, 0, [SEP] 89, Shelf, 1.751, 0.880, -2.560, 0, 0, 0, [SEP] 90, HousePlant, -1.948, 0.889, -2.520, 0, 5.334, 0, [SEP] 91, Toaster, -1.835, 0.900, 0.134, 0, 90, 0, [SEP] 92, Shelf, 1.750, 0.552, -2.559, 0, 0, 0, [SEP] 93, GarbageCan, -1.935, -0.002, 2.029, 0, 270, 0, [SEP] 94, Shelf, 1.750, 0.172, -2.559, 0, 0, 0, [SEP] 95, Fridge, -2.096, 0.0, 1.088, 0, 0, 0, [SEP] 96, CoffeeMachine, -1.977, 0.900, -0.188, 0, 90, 0, [SEP] 97, SinkBasin, -1.908, 0.759, -1.488, 0, 90, 0, [SEP] 98, LightSwitch, 2.329, 1.309, -0.159, 0, 270, 0, [SEP] 99, ShelvingUnit, 1.750, 0.006, -2.559, 0, 0, 0, [SEP] 100, Stool, 0.702, 0.000, -0.514, 1.202, 65.108, 0, [SEP] 101, Stool, 0.743, 0.000, 0.563, 1.227, 106.706, 0, [SEP] 102, Faucet, -2.070, 1.132, -1.514, 0, 0, 0, [SEP] 103, NorthWall, , , , , , , [SEP] 104, EastWall, , , , , , , [SEP] 105, SouthWall, , , , , , , [SEP] 106, WestWall, , , , , , , ", "output": ["STEP 1: Turn around, walk towards the wine bottle then go right to get to the sink. | STEP 2: Pick up the knife on the counter. | STEP 3: Turn right walk just past the sink to the potato on the counter. | STEP 4: Dice the potato with the knife. | STEP 5: Put the knife in the pot behind the potato. | STEP 6: Pick up the smallest piece of diced potato. | STEP 7: Put the potato slice in the pot with the knife. | STEP 8: Pick up the pot with the knife and potato slice in it. | STEP 9: Turn right and walk to the refrigerator. | STEP 10: Open the refrigerator, put the pot inside next to the loaf of bread and then close it. | END"]} +{"id": "trial_T20190907_034010_283425-1", "input": "Putting a bowl with a tomato slice in it on the white table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.0, 0.900, -1.0, 0, 270, 0, [SEP] 1, Potato, 0.341, 0.806, -1.745, 0, 270, 0, 73 [SEP] 2, Pot, 1.007, 0.962, 0.561, 0, 270, 0, 52 [SEP] 3, Fork, 1.724, 0.912, 0.540, 0, 0, 0, 65 [SEP] 4, Fork, -0.359, 0.912, -1.737, 0, 90, 0, 50 [SEP] 5, Spoon, 0.551, 0.774, 0.338, 0, 270, 0, 46 [SEP] 6, Spoon, -0.196, 0.773, -1.473, 0, 270, 0, 53 [SEP] 7, Spatula, 0.035, 0.927, 0.540, 0, 180, 0, 49 [SEP] 8, Cup, -2.397, 0.509, -1.677, 0, 0, 0, 80 [SEP] 9, Plate, 1.535, 0.913, -1.489, 0, 0, 0, 50 [SEP] 10, SoapBottle, 0.701, 0.918, -1.449, 0, 270, 0, 48 [SEP] 11, SoapBottle, -0.268, 1.327, -1.772, 0, 180, 0, 44 [SEP] 12, Tomato, -0.359, 0.961, -1.903, 0, 0, 0, 50 [SEP] 13, Tomato, 1.535, 0.961, -1.820, 0, 0, 0, 50 [SEP] 14, Bowl, 0.455, 0.108, -1.472, 0, 180, 0, 47 [SEP] 15, PepperShaker, 0.071, 0.102, 0.281, 0, 0, 0, 60 [SEP] 16, PepperShaker, 0.167, 0.908, 0.292, 0, 0, 0, 49 [SEP] 17, Bread, 1.846, 0.995, 0.458, 0, 0, 0, 65 [SEP] 18, Mug, 0.618, 0.945, 0.469, 0, 180, 0, 74 [SEP] 19, Apple, -2.222, 0.847, -1.720, 0, 0, 0, 80 [SEP] 20, Apple, -1.959, 0.847, -1.677, 0, 0, 0, 80 [SEP] 21, Bread, 1.781, 0.995, -1.489, 0, 0, 0, 50 [SEP] 22, Knife, 0.960, 0.944, -1.649, 0, 270, 0, 48 [SEP] 23, Fork, -0.451, 0.912, -1.571, 0, 0, 0, 50 [SEP] 24, Bowl, 0.209, 0.108, -1.509, 0, 180, 0, 47 [SEP] 25, Kettle, -0.055, 0.9, 0.643, 0, 0, 0, 49 [SEP] 26, Cup, -1.872, 0.509, -1.720, 0, 0, 0, 80 [SEP] 27, Tomato, 1.412, 0.961, -1.820, 0, 0, 0, 50 [SEP] 28, SoapBottle, 0.328, 0.108, 0.233, 0, 0, 0, 61 [SEP] 29, Plate, -0.110, 0.900, -1.596, 0, 0, 0, 50 [SEP] 30, Pot, 1.361, 0.962, 0.561, 0, 270, 0, 55 [SEP] 31, Spatula, 0.701, 0.934, -1.782, 0, 90, 0, 48 [SEP] 32, PaperTowelRoll, -0.329, 0.174, 0.612, 0, 90, 0, 79 [SEP] 33, Egg, 0.447, 0.811, -1.648, 0, 270, 0, 73 [SEP] 34, Lettuce, 0.851, 1.001, -1.537, 0, 231.490, 0, 48 [SEP] 35, SaltShaker, 0.432, 0.908, 0.209, 0, 0, 0, 49 [SEP] 36, PepperShaker, 0.167, 0.908, 0.375, 0, 0, 0, 49 [SEP] 37, Apple, -0.394, 0.137, 0.525, 0, 90, 0, 79 [SEP] 38, ButterKnife, 1.658, 0.912, -1.654, 0, 0, 0, 50 [SEP] 39, Potato, -0.096, 0.942, 0.375, 0, 0, 0, 49 [SEP] 40, Pan, 1.022, 0.959, 0.288, 0, 219.190, 0, 62 [SEP] 41, DishSponge, 0.564, 0.911, 0.292, 0, 0, 0, 49 [SEP] 42, Spoon, -0.906, 0.774, -1.538, 0, 90, 0, 63 [SEP] 43, Mug, -0.975, 1.010, -1.704, 0, 0, 0, 72 [SEP] 44, Cabinet, -0.193, 1.688, -1.648, 0, 180, 0, [SEP] 45, StoveBurner, 1.360, 0.957, 0.293, 0, 180, 0, [SEP] 46, Drawer, 0.499, 0.792, 0.296, 0, 0, 0, [SEP] 47, Cabinet, 0.095, 0.400, -1.352, 0, 180, 0, [SEP] 48, Sink, 0.711, 0.817, -1.772, 0, 270, 0, [SEP] 49, CounterTop, 0.280, 0.947, 0.458, 0, 0, 0, [SEP] 50, CounterTop, -0.680, 0.947, -1.654, 0, 0, 0, [SEP] 51, Drawer, 1.825, 0.792, 0.296, 0, 0, 0, [SEP] 52, StoveBurner, 1.007, 0.957, 0.561, 0, 270, 0, [SEP] 53, Drawer, -0.150, 0.792, -1.496, 0, 0, 0, [SEP] 54, Drawer, -0.586, 0.792, -1.496, 0, 0, 0, [SEP] 55, StoveBurner, 1.360, 0.957, 0.561, 0, 270, 0, [SEP] 56, Drawer, 0.024, 0.792, 0.296, 0, 0, 0, [SEP] 57, Cabinet, 1.079, 0.400, -1.349, 0, 180, 0, [SEP] 58, Cabinet, 1.669, 0.402, 0.151, 0, 0, 0, [SEP] 59, Cabinet, 0.055, 0.402, -1.351, 0, 0, 0, [SEP] 60, Cabinet, -0.180, 0.402, 0.151, 0, 0, 0, [SEP] 61, Cabinet, 0.729, 0.402, 0.151, 0, 0, 0, [SEP] 62, StoveBurner, 1.007, 0.957, 0.293, 0, 180, 0, [SEP] 63, Drawer, -1.100, 0.792, -1.496, 0, 0, 0, [SEP] 64, Cabinet, -0.396, 0.402, -1.351, 0, 0, 0, [SEP] 65, CounterTop, 1.776, 0.947, 0.458, 0, 0, 0, [SEP] 66, Cabinet, 1.974, 1.688, -1.648, 0, 180, 0, [SEP] 67, Cabinet, -0.820, 0.400, -1.349, 0, 180, 0, [SEP] 68, Toaster, 0.305, 0.900, 0.552, 0, 180, 0, [SEP] 69, LightSwitch, -2.756, 1.307, -0.987, 0, 90, 0, [SEP] 70, Window, 0.582, 1.613, -1.967, 90, 0, 0, [SEP] 71, Window, 1.969, 1.5, -0.615, 90, 270, 0, [SEP] 72, Microwave, -1.037, 0.900, -1.723, 0, 0, 0, [SEP] 73, SinkBasin, 0.377, 0.765, -1.655, 0, 270, 0, [SEP] 74, CoffeeMachine, 0.618, 0.900, 0.600, 0, 180, 0, [SEP] 75, StoveKnob, 1.246, 0.913, 0.118, 45, 180, 0, [SEP] 76, StoveKnob, 1.373, 0.913, 0.118, 45, 180, 0, [SEP] 77, StoveKnob, 0.995, 0.913, 0.118, 45, 180, 0, [SEP] 78, StoveKnob, 1.126, 0.913, 0.118, 45, 180, 0, [SEP] 79, GarbageCan, -0.368, -0.029, 0.539, 0, 90, 0, [SEP] 80, Fridge, -2.134, 0.0, -1.690, 0, 0, 0, [SEP] 81, Faucet, 0.549, 1.046, -1.833, 0, 232.527, 0, [SEP] 82, Stool, -1.475, 0.000, 0.414, 1.233, 280.375, 0, [SEP] 83, DiningTable, -2.255, -0.004, 0.432, 0, 0, 0, [SEP] 84, NorthWall, , , , , , , [SEP] 85, EastWall, , , , , , , [SEP] 86, SouthWall, , , , , , , [SEP] 87, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and head to the counter on the left | STEP 2: Grab the knife that's on the counter | STEP 3: Move slightly to the right | STEP 4: Cut the tomato on the counter into slices | STEP 5: Move slightly to the left and look at the cabinets | STEP 6: Open the cabinet on the left and put the knife inside | STEP 7: Move slightly to the right | STEP 8: Grab one of the tomato slices off the counter | STEP 9: Turn around and head to the oven | STEP 10: Put the tomato in the bowl in the top left stove | STEP 11: Grab the bowl off of the stove | STEP 12: Turn left and stop at the white table | STEP 13: Place the bowl on the table | END"]} +{"id": "trial_T20190907_034010_283425-2", "input": "Put a sliced tomato in a pot on the table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.0, 0.900, -1.0, 0, 270, 0, [SEP] 1, Potato, 0.341, 0.806, -1.745, 0, 270, 0, 73 [SEP] 2, Pot, 1.007, 0.962, 0.561, 0, 270, 0, 52 [SEP] 3, Fork, 1.724, 0.912, 0.540, 0, 0, 0, 65 [SEP] 4, Fork, -0.359, 0.912, -1.737, 0, 90, 0, 50 [SEP] 5, Spoon, 0.551, 0.774, 0.338, 0, 270, 0, 46 [SEP] 6, Spoon, -0.196, 0.773, -1.473, 0, 270, 0, 53 [SEP] 7, Spatula, 0.035, 0.927, 0.540, 0, 180, 0, 49 [SEP] 8, Cup, -2.397, 0.509, -1.677, 0, 0, 0, 80 [SEP] 9, Plate, 1.535, 0.913, -1.489, 0, 0, 0, 50 [SEP] 10, SoapBottle, 0.701, 0.918, -1.449, 0, 270, 0, 48 [SEP] 11, SoapBottle, -0.268, 1.327, -1.772, 0, 180, 0, 44 [SEP] 12, Tomato, -0.359, 0.961, -1.903, 0, 0, 0, 50 [SEP] 13, Tomato, 1.535, 0.961, -1.820, 0, 0, 0, 50 [SEP] 14, Bowl, 0.455, 0.108, -1.472, 0, 180, 0, 47 [SEP] 15, PepperShaker, 0.071, 0.102, 0.281, 0, 0, 0, 60 [SEP] 16, PepperShaker, 0.167, 0.908, 0.292, 0, 0, 0, 49 [SEP] 17, Bread, 1.846, 0.995, 0.458, 0, 0, 0, 65 [SEP] 18, Mug, 0.618, 0.945, 0.469, 0, 180, 0, 74 [SEP] 19, Apple, -2.222, 0.847, -1.720, 0, 0, 0, 80 [SEP] 20, Apple, -1.959, 0.847, -1.677, 0, 0, 0, 80 [SEP] 21, Bread, 1.781, 0.995, -1.489, 0, 0, 0, 50 [SEP] 22, Knife, 0.960, 0.944, -1.649, 0, 270, 0, 48 [SEP] 23, Fork, -0.451, 0.912, -1.571, 0, 0, 0, 50 [SEP] 24, Bowl, 0.209, 0.108, -1.509, 0, 180, 0, 47 [SEP] 25, Kettle, -0.055, 0.9, 0.643, 0, 0, 0, 49 [SEP] 26, Cup, -1.872, 0.509, -1.720, 0, 0, 0, 80 [SEP] 27, Tomato, 1.412, 0.961, -1.820, 0, 0, 0, 50 [SEP] 28, SoapBottle, 0.328, 0.108, 0.233, 0, 0, 0, 61 [SEP] 29, Plate, -0.110, 0.900, -1.596, 0, 0, 0, 50 [SEP] 30, Pot, 1.361, 0.962, 0.561, 0, 270, 0, 55 [SEP] 31, Spatula, 0.701, 0.934, -1.782, 0, 90, 0, 48 [SEP] 32, PaperTowelRoll, -0.329, 0.174, 0.612, 0, 90, 0, 79 [SEP] 33, Egg, 0.447, 0.811, -1.648, 0, 270, 0, 73 [SEP] 34, Lettuce, 0.851, 1.001, -1.537, 0, 231.490, 0, 48 [SEP] 35, SaltShaker, 0.432, 0.908, 0.209, 0, 0, 0, 49 [SEP] 36, PepperShaker, 0.167, 0.908, 0.375, 0, 0, 0, 49 [SEP] 37, Apple, -0.394, 0.137, 0.525, 0, 90, 0, 79 [SEP] 38, ButterKnife, 1.658, 0.912, -1.654, 0, 0, 0, 50 [SEP] 39, Potato, -0.096, 0.942, 0.375, 0, 0, 0, 49 [SEP] 40, Pan, 1.022, 0.959, 0.288, 0, 219.190, 0, 62 [SEP] 41, DishSponge, 0.564, 0.911, 0.292, 0, 0, 0, 49 [SEP] 42, Spoon, -0.906, 0.774, -1.538, 0, 90, 0, 63 [SEP] 43, Mug, -0.975, 1.010, -1.704, 0, 0, 0, 72 [SEP] 44, Cabinet, -0.193, 1.688, -1.648, 0, 180, 0, [SEP] 45, StoveBurner, 1.360, 0.957, 0.293, 0, 180, 0, [SEP] 46, Drawer, 0.499, 0.792, 0.296, 0, 0, 0, [SEP] 47, Cabinet, 0.095, 0.400, -1.352, 0, 180, 0, [SEP] 48, Sink, 0.711, 0.817, -1.772, 0, 270, 0, [SEP] 49, CounterTop, 0.280, 0.947, 0.458, 0, 0, 0, [SEP] 50, CounterTop, -0.680, 0.947, -1.654, 0, 0, 0, [SEP] 51, Drawer, 1.825, 0.792, 0.296, 0, 0, 0, [SEP] 52, StoveBurner, 1.007, 0.957, 0.561, 0, 270, 0, [SEP] 53, Drawer, -0.150, 0.792, -1.496, 0, 0, 0, [SEP] 54, Drawer, -0.586, 0.792, -1.496, 0, 0, 0, [SEP] 55, StoveBurner, 1.360, 0.957, 0.561, 0, 270, 0, [SEP] 56, Drawer, 0.024, 0.792, 0.296, 0, 0, 0, [SEP] 57, Cabinet, 1.079, 0.400, -1.349, 0, 180, 0, [SEP] 58, Cabinet, 1.669, 0.402, 0.151, 0, 0, 0, [SEP] 59, Cabinet, 0.055, 0.402, -1.351, 0, 0, 0, [SEP] 60, Cabinet, -0.180, 0.402, 0.151, 0, 0, 0, [SEP] 61, Cabinet, 0.729, 0.402, 0.151, 0, 0, 0, [SEP] 62, StoveBurner, 1.007, 0.957, 0.293, 0, 180, 0, [SEP] 63, Drawer, -1.100, 0.792, -1.496, 0, 0, 0, [SEP] 64, Cabinet, -0.396, 0.402, -1.351, 0, 0, 0, [SEP] 65, CounterTop, 1.776, 0.947, 0.458, 0, 0, 0, [SEP] 66, Cabinet, 1.974, 1.688, -1.648, 0, 180, 0, [SEP] 67, Cabinet, -0.820, 0.400, -1.349, 0, 180, 0, [SEP] 68, Toaster, 0.305, 0.900, 0.552, 0, 180, 0, [SEP] 69, LightSwitch, -2.756, 1.307, -0.987, 0, 90, 0, [SEP] 70, Window, 0.582, 1.613, -1.967, 90, 0, 0, [SEP] 71, Window, 1.969, 1.5, -0.615, 90, 270, 0, [SEP] 72, Microwave, -1.037, 0.900, -1.723, 0, 0, 0, [SEP] 73, SinkBasin, 0.377, 0.765, -1.655, 0, 270, 0, [SEP] 74, CoffeeMachine, 0.618, 0.900, 0.600, 0, 180, 0, [SEP] 75, StoveKnob, 1.246, 0.913, 0.118, 45, 180, 0, [SEP] 76, StoveKnob, 1.373, 0.913, 0.118, 45, 180, 0, [SEP] 77, StoveKnob, 0.995, 0.913, 0.118, 45, 180, 0, [SEP] 78, StoveKnob, 1.126, 0.913, 0.118, 45, 180, 0, [SEP] 79, GarbageCan, -0.368, -0.029, 0.539, 0, 90, 0, [SEP] 80, Fridge, -2.134, 0.0, -1.690, 0, 0, 0, [SEP] 81, Faucet, 0.549, 1.046, -1.833, 0, 232.527, 0, [SEP] 82, Stool, -1.475, 0.000, 0.414, 1.233, 280.375, 0, [SEP] 83, DiningTable, -2.255, -0.004, 0.432, 0, 0, 0, [SEP] 84, NorthWall, , , , , , , [SEP] 85, EastWall, , , , , , , [SEP] 86, SouthWall, , , , , , , [SEP] 87, WestWall, , , , , , , ", "output": ["STEP 1: Go to the end of the kitchen counter on the left. | STEP 2: Pick up the gray knife behind the bread. | STEP 3: Move over to the tomatoes and cut the one on the left. | STEP 4: Move back to the bread. | STEP 5: Reach for the cupboard above the bread. | STEP 6: Open the cupboard and place the knife inside. | STEP 7: Move over right to the tomatoes. | STEP 8: Pick up a slice of tomato on the left. | STEP 9: Turn around and go to the stove. | STEP 10: Place the slice of tomato inside the large pot on the left. | STEP 11: Pick up the pot with the tomato in it. | STEP 12: Turn left and go to the white table on the opposite side of the kitchen. | STEP 13: Place the pot with tomato on the table. | END"]} +{"id": "trial_T20190907_034010_283425-4", "input": "Slice a tomato, put it in the pot on the stove, move the pot to the table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.0, 0.900, -1.0, 0, 270, 0, [SEP] 1, Potato, 0.341, 0.806, -1.745, 0, 270, 0, 73 [SEP] 2, Pot, 1.007, 0.962, 0.561, 0, 270, 0, 52 [SEP] 3, Fork, 1.724, 0.912, 0.540, 0, 0, 0, 65 [SEP] 4, Fork, -0.359, 0.912, -1.737, 0, 90, 0, 50 [SEP] 5, Spoon, 0.551, 0.774, 0.338, 0, 270, 0, 46 [SEP] 6, Spoon, -0.196, 0.773, -1.473, 0, 270, 0, 53 [SEP] 7, Spatula, 0.035, 0.927, 0.540, 0, 180, 0, 49 [SEP] 8, Cup, -2.397, 0.509, -1.677, 0, 0, 0, 80 [SEP] 9, Plate, 1.535, 0.913, -1.489, 0, 0, 0, 50 [SEP] 10, SoapBottle, 0.701, 0.918, -1.449, 0, 270, 0, 48 [SEP] 11, SoapBottle, -0.268, 1.327, -1.772, 0, 180, 0, 44 [SEP] 12, Tomato, -0.359, 0.961, -1.903, 0, 0, 0, 50 [SEP] 13, Tomato, 1.535, 0.961, -1.820, 0, 0, 0, 50 [SEP] 14, Bowl, 0.455, 0.108, -1.472, 0, 180, 0, 47 [SEP] 15, PepperShaker, 0.071, 0.102, 0.281, 0, 0, 0, 60 [SEP] 16, PepperShaker, 0.167, 0.908, 0.292, 0, 0, 0, 49 [SEP] 17, Bread, 1.846, 0.995, 0.458, 0, 0, 0, 65 [SEP] 18, Mug, 0.618, 0.945, 0.469, 0, 180, 0, 74 [SEP] 19, Apple, -2.222, 0.847, -1.720, 0, 0, 0, 80 [SEP] 20, Apple, -1.959, 0.847, -1.677, 0, 0, 0, 80 [SEP] 21, Bread, 1.781, 0.995, -1.489, 0, 0, 0, 50 [SEP] 22, Knife, 0.960, 0.944, -1.649, 0, 270, 0, 48 [SEP] 23, Fork, -0.451, 0.912, -1.571, 0, 0, 0, 50 [SEP] 24, Bowl, 0.209, 0.108, -1.509, 0, 180, 0, 47 [SEP] 25, Kettle, -0.055, 0.9, 0.643, 0, 0, 0, 49 [SEP] 26, Cup, -1.872, 0.509, -1.720, 0, 0, 0, 80 [SEP] 27, Tomato, 1.412, 0.961, -1.820, 0, 0, 0, 50 [SEP] 28, SoapBottle, 0.328, 0.108, 0.233, 0, 0, 0, 61 [SEP] 29, Plate, -0.110, 0.900, -1.596, 0, 0, 0, 50 [SEP] 30, Pot, 1.361, 0.962, 0.561, 0, 270, 0, 55 [SEP] 31, Spatula, 0.701, 0.934, -1.782, 0, 90, 0, 48 [SEP] 32, PaperTowelRoll, -0.329, 0.174, 0.612, 0, 90, 0, 79 [SEP] 33, Egg, 0.447, 0.811, -1.648, 0, 270, 0, 73 [SEP] 34, Lettuce, 0.851, 1.001, -1.537, 0, 231.490, 0, 48 [SEP] 35, SaltShaker, 0.432, 0.908, 0.209, 0, 0, 0, 49 [SEP] 36, PepperShaker, 0.167, 0.908, 0.375, 0, 0, 0, 49 [SEP] 37, Apple, -0.394, 0.137, 0.525, 0, 90, 0, 79 [SEP] 38, ButterKnife, 1.658, 0.912, -1.654, 0, 0, 0, 50 [SEP] 39, Potato, -0.096, 0.942, 0.375, 0, 0, 0, 49 [SEP] 40, Pan, 1.022, 0.959, 0.288, 0, 219.190, 0, 62 [SEP] 41, DishSponge, 0.564, 0.911, 0.292, 0, 0, 0, 49 [SEP] 42, Spoon, -0.906, 0.774, -1.538, 0, 90, 0, 63 [SEP] 43, Mug, -0.975, 1.010, -1.704, 0, 0, 0, 72 [SEP] 44, Cabinet, -0.193, 1.688, -1.648, 0, 180, 0, [SEP] 45, StoveBurner, 1.360, 0.957, 0.293, 0, 180, 0, [SEP] 46, Drawer, 0.499, 0.792, 0.296, 0, 0, 0, [SEP] 47, Cabinet, 0.095, 0.400, -1.352, 0, 180, 0, [SEP] 48, Sink, 0.711, 0.817, -1.772, 0, 270, 0, [SEP] 49, CounterTop, 0.280, 0.947, 0.458, 0, 0, 0, [SEP] 50, CounterTop, -0.680, 0.947, -1.654, 0, 0, 0, [SEP] 51, Drawer, 1.825, 0.792, 0.296, 0, 0, 0, [SEP] 52, StoveBurner, 1.007, 0.957, 0.561, 0, 270, 0, [SEP] 53, Drawer, -0.150, 0.792, -1.496, 0, 0, 0, [SEP] 54, Drawer, -0.586, 0.792, -1.496, 0, 0, 0, [SEP] 55, StoveBurner, 1.360, 0.957, 0.561, 0, 270, 0, [SEP] 56, Drawer, 0.024, 0.792, 0.296, 0, 0, 0, [SEP] 57, Cabinet, 1.079, 0.400, -1.349, 0, 180, 0, [SEP] 58, Cabinet, 1.669, 0.402, 0.151, 0, 0, 0, [SEP] 59, Cabinet, 0.055, 0.402, -1.351, 0, 0, 0, [SEP] 60, Cabinet, -0.180, 0.402, 0.151, 0, 0, 0, [SEP] 61, Cabinet, 0.729, 0.402, 0.151, 0, 0, 0, [SEP] 62, StoveBurner, 1.007, 0.957, 0.293, 0, 180, 0, [SEP] 63, Drawer, -1.100, 0.792, -1.496, 0, 0, 0, [SEP] 64, Cabinet, -0.396, 0.402, -1.351, 0, 0, 0, [SEP] 65, CounterTop, 1.776, 0.947, 0.458, 0, 0, 0, [SEP] 66, Cabinet, 1.974, 1.688, -1.648, 0, 180, 0, [SEP] 67, Cabinet, -0.820, 0.400, -1.349, 0, 180, 0, [SEP] 68, Toaster, 0.305, 0.900, 0.552, 0, 180, 0, [SEP] 69, LightSwitch, -2.756, 1.307, -0.987, 0, 90, 0, [SEP] 70, Window, 0.582, 1.613, -1.967, 90, 0, 0, [SEP] 71, Window, 1.969, 1.5, -0.615, 90, 270, 0, [SEP] 72, Microwave, -1.037, 0.900, -1.723, 0, 0, 0, [SEP] 73, SinkBasin, 0.377, 0.765, -1.655, 0, 270, 0, [SEP] 74, CoffeeMachine, 0.618, 0.900, 0.600, 0, 180, 0, [SEP] 75, StoveKnob, 1.246, 0.913, 0.118, 45, 180, 0, [SEP] 76, StoveKnob, 1.373, 0.913, 0.118, 45, 180, 0, [SEP] 77, StoveKnob, 0.995, 0.913, 0.118, 45, 180, 0, [SEP] 78, StoveKnob, 1.126, 0.913, 0.118, 45, 180, 0, [SEP] 79, GarbageCan, -0.368, -0.029, 0.539, 0, 90, 0, [SEP] 80, Fridge, -2.134, 0.0, -1.690, 0, 0, 0, [SEP] 81, Faucet, 0.549, 1.046, -1.833, 0, 232.527, 0, [SEP] 82, Stool, -1.475, 0.000, 0.414, 1.233, 280.375, 0, [SEP] 83, DiningTable, -2.255, -0.004, 0.432, 0, 0, 0, [SEP] 84, NorthWall, , , , , , , [SEP] 85, EastWall, , , , , , , [SEP] 86, SouthWall, , , , , , , [SEP] 87, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and walk towards the counter | STEP 2: Grab the knife from the plate on the counter | STEP 3: Walk with the knife towards the cabinet | STEP 4: Slice the tomato on the counter | STEP 5: Look up and Open the cabinet in front | STEP 6: Put the knife in the cabinet | STEP 7: Move towards the counter | STEP 8: Grab a slice of tomato on the counter | STEP 9: Walk with the slice of tomato towards the stove | STEP 10: Put the slice of tomato inside the pot | STEP 11: Grab the pot and walk towards the door | STEP 12: Turn right towards the table next to the door | STEP 13: Put the pot on the table | END"]} +{"id": "trial_T20190907_034010_283425-5", "input": "Place a slice of tomato inside a plan on the table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.0, 0.900, -1.0, 0, 270, 0, [SEP] 1, Potato, 0.341, 0.806, -1.745, 0, 270, 0, 73 [SEP] 2, Pot, 1.007, 0.962, 0.561, 0, 270, 0, 52 [SEP] 3, Fork, 1.724, 0.912, 0.540, 0, 0, 0, 65 [SEP] 4, Fork, -0.359, 0.912, -1.737, 0, 90, 0, 50 [SEP] 5, Spoon, 0.551, 0.774, 0.338, 0, 270, 0, 46 [SEP] 6, Spoon, -0.196, 0.773, -1.473, 0, 270, 0, 53 [SEP] 7, Spatula, 0.035, 0.927, 0.540, 0, 180, 0, 49 [SEP] 8, Cup, -2.397, 0.509, -1.677, 0, 0, 0, 80 [SEP] 9, Plate, 1.535, 0.913, -1.489, 0, 0, 0, 50 [SEP] 10, SoapBottle, 0.701, 0.918, -1.449, 0, 270, 0, 48 [SEP] 11, SoapBottle, -0.268, 1.327, -1.772, 0, 180, 0, 44 [SEP] 12, Tomato, -0.359, 0.961, -1.903, 0, 0, 0, 50 [SEP] 13, Tomato, 1.535, 0.961, -1.820, 0, 0, 0, 50 [SEP] 14, Bowl, 0.455, 0.108, -1.472, 0, 180, 0, 47 [SEP] 15, PepperShaker, 0.071, 0.102, 0.281, 0, 0, 0, 60 [SEP] 16, PepperShaker, 0.167, 0.908, 0.292, 0, 0, 0, 49 [SEP] 17, Bread, 1.846, 0.995, 0.458, 0, 0, 0, 65 [SEP] 18, Mug, 0.618, 0.945, 0.469, 0, 180, 0, 74 [SEP] 19, Apple, -2.222, 0.847, -1.720, 0, 0, 0, 80 [SEP] 20, Apple, -1.959, 0.847, -1.677, 0, 0, 0, 80 [SEP] 21, Bread, 1.781, 0.995, -1.489, 0, 0, 0, 50 [SEP] 22, Knife, 0.960, 0.944, -1.649, 0, 270, 0, 48 [SEP] 23, Fork, -0.451, 0.912, -1.571, 0, 0, 0, 50 [SEP] 24, Bowl, 0.209, 0.108, -1.509, 0, 180, 0, 47 [SEP] 25, Kettle, -0.055, 0.9, 0.643, 0, 0, 0, 49 [SEP] 26, Cup, -1.872, 0.509, -1.720, 0, 0, 0, 80 [SEP] 27, Tomato, 1.412, 0.961, -1.820, 0, 0, 0, 50 [SEP] 28, SoapBottle, 0.328, 0.108, 0.233, 0, 0, 0, 61 [SEP] 29, Plate, -0.110, 0.900, -1.596, 0, 0, 0, 50 [SEP] 30, Pot, 1.361, 0.962, 0.561, 0, 270, 0, 55 [SEP] 31, Spatula, 0.701, 0.934, -1.782, 0, 90, 0, 48 [SEP] 32, PaperTowelRoll, -0.329, 0.174, 0.612, 0, 90, 0, 79 [SEP] 33, Egg, 0.447, 0.811, -1.648, 0, 270, 0, 73 [SEP] 34, Lettuce, 0.851, 1.001, -1.537, 0, 231.490, 0, 48 [SEP] 35, SaltShaker, 0.432, 0.908, 0.209, 0, 0, 0, 49 [SEP] 36, PepperShaker, 0.167, 0.908, 0.375, 0, 0, 0, 49 [SEP] 37, Apple, -0.394, 0.137, 0.525, 0, 90, 0, 79 [SEP] 38, ButterKnife, 1.658, 0.912, -1.654, 0, 0, 0, 50 [SEP] 39, Potato, -0.096, 0.942, 0.375, 0, 0, 0, 49 [SEP] 40, Pan, 1.022, 0.959, 0.288, 0, 219.190, 0, 62 [SEP] 41, DishSponge, 0.564, 0.911, 0.292, 0, 0, 0, 49 [SEP] 42, Spoon, -0.906, 0.774, -1.538, 0, 90, 0, 63 [SEP] 43, Mug, -0.975, 1.010, -1.704, 0, 0, 0, 72 [SEP] 44, Cabinet, -0.193, 1.688, -1.648, 0, 180, 0, [SEP] 45, StoveBurner, 1.360, 0.957, 0.293, 0, 180, 0, [SEP] 46, Drawer, 0.499, 0.792, 0.296, 0, 0, 0, [SEP] 47, Cabinet, 0.095, 0.400, -1.352, 0, 180, 0, [SEP] 48, Sink, 0.711, 0.817, -1.772, 0, 270, 0, [SEP] 49, CounterTop, 0.280, 0.947, 0.458, 0, 0, 0, [SEP] 50, CounterTop, -0.680, 0.947, -1.654, 0, 0, 0, [SEP] 51, Drawer, 1.825, 0.792, 0.296, 0, 0, 0, [SEP] 52, StoveBurner, 1.007, 0.957, 0.561, 0, 270, 0, [SEP] 53, Drawer, -0.150, 0.792, -1.496, 0, 0, 0, [SEP] 54, Drawer, -0.586, 0.792, -1.496, 0, 0, 0, [SEP] 55, StoveBurner, 1.360, 0.957, 0.561, 0, 270, 0, [SEP] 56, Drawer, 0.024, 0.792, 0.296, 0, 0, 0, [SEP] 57, Cabinet, 1.079, 0.400, -1.349, 0, 180, 0, [SEP] 58, Cabinet, 1.669, 0.402, 0.151, 0, 0, 0, [SEP] 59, Cabinet, 0.055, 0.402, -1.351, 0, 0, 0, [SEP] 60, Cabinet, -0.180, 0.402, 0.151, 0, 0, 0, [SEP] 61, Cabinet, 0.729, 0.402, 0.151, 0, 0, 0, [SEP] 62, StoveBurner, 1.007, 0.957, 0.293, 0, 180, 0, [SEP] 63, Drawer, -1.100, 0.792, -1.496, 0, 0, 0, [SEP] 64, Cabinet, -0.396, 0.402, -1.351, 0, 0, 0, [SEP] 65, CounterTop, 1.776, 0.947, 0.458, 0, 0, 0, [SEP] 66, Cabinet, 1.974, 1.688, -1.648, 0, 180, 0, [SEP] 67, Cabinet, -0.820, 0.400, -1.349, 0, 180, 0, [SEP] 68, Toaster, 0.305, 0.900, 0.552, 0, 180, 0, [SEP] 69, LightSwitch, -2.756, 1.307, -0.987, 0, 90, 0, [SEP] 70, Window, 0.582, 1.613, -1.967, 90, 0, 0, [SEP] 71, Window, 1.969, 1.5, -0.615, 90, 270, 0, [SEP] 72, Microwave, -1.037, 0.900, -1.723, 0, 0, 0, [SEP] 73, SinkBasin, 0.377, 0.765, -1.655, 0, 270, 0, [SEP] 74, CoffeeMachine, 0.618, 0.900, 0.600, 0, 180, 0, [SEP] 75, StoveKnob, 1.246, 0.913, 0.118, 45, 180, 0, [SEP] 76, StoveKnob, 1.373, 0.913, 0.118, 45, 180, 0, [SEP] 77, StoveKnob, 0.995, 0.913, 0.118, 45, 180, 0, [SEP] 78, StoveKnob, 1.126, 0.913, 0.118, 45, 180, 0, [SEP] 79, GarbageCan, -0.368, -0.029, 0.539, 0, 90, 0, [SEP] 80, Fridge, -2.134, 0.0, -1.690, 0, 0, 0, [SEP] 81, Faucet, 0.549, 1.046, -1.833, 0, 232.527, 0, [SEP] 82, Stool, -1.475, 0.000, 0.414, 1.233, 280.375, 0, [SEP] 83, DiningTable, -2.255, -0.004, 0.432, 0, 0, 0, [SEP] 84, NorthWall, , , , , , , [SEP] 85, EastWall, , , , , , , [SEP] 86, SouthWall, , , , , , , [SEP] 87, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and walk towards the window, then turn right. | STEP 2: Walk towards the black table. | STEP 3: Pick up the knife behind the loaf of bread on the black table. | STEP 4: Slice the tomato behind the blue plate closest to the loaf of bread. | STEP 5: Take the knife and turn towards the cabinet about the black table. | STEP 6: Place the knife inside the cabinet above the black table. | STEP 7: Pick up the slice of tomato, turn all the way around. | STEP 8: Walk towards the stove. | STEP 9: Place the tomato slice into the pan nearest coffee maker, | STEP 10: Pick up the pan with the tomato slice in it. | STEP 11: Turn left and walk towards the door. | STEP 12: Turn right in front of the white table. | STEP 13: Place the pan on the white table. | END"]} +{"id": "trial_T20190909_090729_752389-1", "input": "Chill a plate and put it back on the table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.900, -2.0, 0, 0, 0, [SEP] 1, Pan, -1.515, 0.935, -3.497, 0, 0, 0, 53 [SEP] 2, Glassbottle, -0.383, 0.082, -1.712, 0, 0, 0, 51 [SEP] 3, Glassbottle, -0.436, 0.916, -2.764, 0, 0, 0, 56 [SEP] 4, Pencil, -0.600, 0.916, -3.768, 0, 0, 0, 56 [SEP] 5, Pencil, -0.361, 0.747, -3.238, 0, 90, 0, 67 [SEP] 6, Pen, -2.780, 0.926, -2.345, 0, 0, 0, 81 [SEP] 7, Potato, -0.508, 0.947, -2.966, 0, 0, 0, 56 [SEP] 8, DishSponge, -0.457, 0.915, -3.839, 0, 0, 0, 56 [SEP] 9, WineBottle, -1.912, 0.027, -3.690, 0, 0, 0, 72 [SEP] 10, WineBottle, -0.186, 1.528, -2.703, 0, 0, 0, 68 [SEP] 11, Spatula, -0.293, 0.930, -3.570, 0, 180, 0, 56 [SEP] 12, Spoon, -2.210, 0.924, -1.423, 0, 180, 0, 81 [SEP] 13, Spoon, -2.324, 0.924, -2.115, 0, 0, 0, 81 [SEP] 14, Knife, -2.438, 0.946, -1.423, 0, 180, 0, 81 [SEP] 15, Plate, -0.747, 0.084, -3.623, 0, 0, 0, 62 [SEP] 16, Plate, -2.780, 0.925, -1.423, 0, 0, 0, 81 [SEP] 17, Cup, -0.308, 1.689, -0.560, 0, 270, 0, 73 [SEP] 18, Cup, -2.438, 0.922, -1.193, 0, 0, 0, 81 [SEP] 19, Tomato, -0.254, 0.861, -2.008, 0, 270, 0, 74 [SEP] 20, Bowl, -2.666, 0.922, -2.115, 0, 0, 0, 81 [SEP] 21, PepperShaker, -0.815, 0.912, -3.485, 0, 0, 0, 56 [SEP] 22, PepperShaker, -0.671, 0.912, -3.909, 0, 0, 0, 56 [SEP] 23, Mug, -0.499, 0.076, -1.941, 0, 90, 0, 51 [SEP] 24, Mug, -0.422, 0.076, -2.109, 0, 0, 0, 51 [SEP] 25, Apple, -1.943, 0.100, -3.835, 0, 0, 0, 72 [SEP] 26, Apple, -0.228, 1.764, -0.770, 0, 270, 0, 73 [SEP] 27, Lettuce, -2.562, 1.002, -1.677, 36.385, 0, 0, 81 [SEP] 28, Glassbottle, -2.210, 0.924, -1.884, 0, 0, 0, 81 [SEP] 29, Egg, -2.096, 0.956, -1.654, 0, 0, 0, 81 [SEP] 30, Pen, -2.324, 0.926, -2.115, 0, 0, 0, 81 [SEP] 31, Fork, -2.438, 0.924, -1.884, 0, 0, 0, 81 [SEP] 32, SoapBottle, -2.210, 0.922, -1.654, 0, 0, 0, 81 [SEP] 33, Pencil, -2.210, 0.923, -2.345, 0, 0, 0, 81 [SEP] 34, WineBottle, -2.780, 0.924, -1.654, 0, 0, 0, 81 [SEP] 35, Spatula, -2.552, 0.938, -2.345, 0, 180, 0, 81 [SEP] 36, Bread, -0.295, 1.151, -0.979, 0, 270, 0, 73 [SEP] 37, Tomato, -2.324, 0.987, -1.423, 0, 0, 0, 81 [SEP] 38, Pan, -2.174, 0.913, -1.099, 0, 0, 0, 81 [SEP] 39, Cup, -0.343, 1.097, -0.455, 0, 270, 0, 73 [SEP] 40, Pot, -1.129, 0.935, -3.498, 0, 0, 0, 54 [SEP] 41, SaltShaker, -1.549, 1.965, -3.773, 0, 0, 0, 65 [SEP] 42, Potato, -1.204, 1.661, -3.837, 0, 0, 0, 69 [SEP] 43, PepperShaker, -0.421, 0.077, -3.330, 0, 0, 0, 62 [SEP] 44, ButterKnife, -2.210, 0.923, -1.423, 0, 90, 0, 81 [SEP] 45, DishSponge, -0.350, 0.796, -2.082, 0, 270, 0, 74 [SEP] 46, Spoon, -2.324, 0.924, -1.193, 0, 0, 0, 81 [SEP] 47, Plate, -2.552, 0.925, -1.423, 0, 0, 0, 81 [SEP] 48, Knife, -2.666, 0.946, -0.963, 0, 180, 0, 81 [SEP] 49, Mug, -0.197, 1.093, -0.770, 0, 0, 0, 73 [SEP] 50, Bowl, -2.666, 0.922, -2.345, 0, 0, 0, 81 [SEP] 51, Cabinet, -0.582, 0.388, -1.804, 0, 0, 0, [SEP] 52, StoveBurner, -1.515, 0.928, -3.752, 0, 90, 0, [SEP] 53, StoveBurner, -1.515, 0.928, -3.497, 0, 0, 0, [SEP] 54, StoveBurner, -1.129, 0.928, -3.498, 0, 0, 0, [SEP] 55, Drawer, -0.749, 0.779, -3.551, 0, 0, 0, [SEP] 56, CounterTop, -0.303, 0.951, -2.793, 0, 0, 0, [SEP] 57, Cabinet, -0.883, 2.140, -3.687, 0, 0, 0, [SEP] 58, Cabinet, -0.312, 2.140, -1.543, 0, 0, 0, [SEP] 59, Sink, -0.349, 0.907, -2.014, 0, 0, 0, [SEP] 60, Cabinet, -0.877, 0.388, -3.422, 0, 0, 0, [SEP] 61, Cabinet, -0.582, 0.388, -2.197, 0, 0, 0, [SEP] 62, Cabinet, -0.584, 0.388, -3.396, 0, 0, 0, [SEP] 63, Cabinet, -0.312, 2.140, -2.481, 0, 0, 0, [SEP] 64, Cabinet, -0.330, 1.921, -3.390, 0, 0, 0, [SEP] 65, Cabinet, -1.764, 2.140, -3.687, 0, 0, 0, [SEP] 66, StoveBurner, -1.129, 0.928, -3.752, 0, 90, 0, [SEP] 67, Drawer, -0.454, 0.779, -3.268, 0, 0, 0, [SEP] 68, Cabinet, -0.302, 1.916, -2.501, 0, 0, 0, [SEP] 69, Microwave, -1.317, 1.517, -3.801, 0, 1.440, 0, [SEP] 70, CoffeeMachine, -0.153, 0.903, -3.144, 0, 270, 0, [SEP] 71, LightSwitch, -4.323, 1.319, 0.0, 0, 180, 0, [SEP] 72, GarbageCan, -1.943, -7.152, -3.763, 0, 0, 0, [SEP] 73, Fridge, -0.330, 0.0, -0.769, 0, 270, 0, [SEP] 74, SinkBasin, -0.350, 0.786, -2.018, 0, 270, 0, [SEP] 75, StoveKnob, -1.582, 1.082, -3.958, 72.287, 0, 0, [SEP] 76, StoveKnob, -1.177, 1.082, -3.958, 72.287, 0, 0, [SEP] 77, StoveKnob, -1.424, 1.082, -3.958, 72.287, 0, 0, [SEP] 78, StoveKnob, -1.028, 1.082, -3.958, 72.287, 0, 0, [SEP] 79, Toaster, -0.181, 0.903, -2.764, 0, 270, 0, [SEP] 80, Window, -2.503, 1.782, -4.185, 90, 180, 0, [SEP] 81, DiningTable, -2.432, 0.000, -1.694, 0, 270, 0, [SEP] 82, Shelf, -2.432, 0.150, -1.694, 0, 270, 0, [SEP] 83, Blinds, -2.536, 2.699, -3.959, 0, 0, 0, [SEP] 84, Faucet, -0.079, 0.904, -2.034, 270, 180, 0, [SEP] 85, Chair, -3.264, 0.002, -2.094, 0, 53.280, 0, [SEP] 86, Chair, -3.240, 0.002, -1.253, 0, 117.257, 0, [SEP] 87, Shelf, -2.432, 0.523, -1.694, 0, 270, 0, [SEP] 88, NorthWall, , , , , , , [SEP] 89, EastWall, , , , , , , [SEP] 90, SouthWall, , , , , , , [SEP] 91, WestWall, , , , , , , ", "output": ["STEP 1: Walk over to the table. | STEP 2: Grab the plate. | STEP 3: Walk over to the fridge | STEP 4: Chill the plate in the fridge | STEP 5: Grab the plate out of the fridge and walk back to the table | STEP 6: Place the plate on the table | END"]} +{"id": "trial_T20190909_152053_435671-2", "input": "To heat an egg and place it on the kitchen table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.901, -1.75, 0, 0, 0, [SEP] 1, Potato, -2.808, 0.957, -3.878, 0, 0, 0, 49 [SEP] 2, DishSponge, -0.412, 0.746, -1.641, 0, 0, 0, 72 [SEP] 3, DishSponge, -2.797, 0.713, -0.162, 0, 225, 0, 93 [SEP] 4, ButterKnife, -2.439, 0.713, -0.558, 0, 270, 0, 93 [SEP] 5, ButterKnife, -3.167, 0.913, -3.581, 0, 0, 0, 49 [SEP] 6, Spatula, -0.471, 0.761, -1.253, 0, 270, 0, 72 [SEP] 7, Spoon, -0.095, 0.917, -0.472, 0, 0, 0, 76 [SEP] 8, Spoon, -0.650, 0.914, -3.655, 0, 0, 0, 49 [SEP] 9, Fork, -3.140, 0.914, -3.026, 0, 0, 0, 49 [SEP] 10, Fork, -0.419, 0.916, -0.472, 0, 0, 0, 76 [SEP] 11, Egg, -0.014, 0.951, -1.493, 0, 0, 0, 76 [SEP] 12, Cup, -3.182, 1.399, -2.002, 0, 90, 0, 90 [SEP] 13, Cup, -0.500, 0.916, -1.555, 0, 0, 0, 76 [SEP] 14, Knife, -0.095, 0.948, -1.432, 0, 270, 0, 76 [SEP] 15, Knife, -2.865, 0.746, -0.780, 0, 180, 0, 93 [SEP] 16, Tomato, -3.150, 0.766, -0.495, 0, 270, 0, 93 [SEP] 17, Tomato, -0.338, 0.965, -1.370, 0, 0, 0, 76 [SEP] 18, SoapBottle, -2.532, 0.716, -0.427, 0, 225, 0, 93 [SEP] 19, SoapBottle, -0.014, 0.915, -1.555, 0, 0, 0, 76 [SEP] 20, SaltShaker, -0.500, 0.912, -0.490, 0, 0, 0, 76 [SEP] 21, SaltShaker, -2.740, 0.710, -0.496, 0, 0, 0, 93 [SEP] 22, PepperShaker, -0.500, 0.912, -1.432, 0, 0, 0, 76 [SEP] 23, Lettuce, -2.475, 0.804, -0.709, 0, 135, 0, 93 [SEP] 24, Mug, -3.309, 0.908, -3.026, 0, 90, 0, 49 [SEP] 25, Mug, -2.930, 0.763, -0.358, 0, 135, 0, 89 [SEP] 26, Apple, -2.777, 0.759, -0.584, 0, 225, 0, 93 [SEP] 27, Apple, -0.284, 0.122, -0.157, 0, 270, 0, 88 [SEP] 28, Pot, -0.376, 0.975, -2.031, 0, 180, 0, 78 [SEP] 29, Egg, -1.845, 0.827, -3.618, 0, 0, 0, 91 [SEP] 30, Cup, -2.608, 0.717, -0.841, 0, 135, 0, 93 [SEP] 31, Bread, -0.328, 0.954, -3.112, 0, 0, 0, 49 [SEP] 32, Fork, -3.225, 0.914, -3.227, 0, 0, 0, 49 [SEP] 33, Pan, -0.243, 0.912, -3.952, 0, 90, 0, 49 [SEP] 34, Potato, -1.638, 0.834, -3.790, 0, 0, 0, 91 [SEP] 35, Lettuce, -2.928, 0.801, -0.780, 0, 0, 0, 93 [SEP] 36, Tomato, -3.292, 0.766, -0.558, 0, 270, 0, 93 [SEP] 37, Apple, -1.914, 0.833, -3.832, 0, 0, 0, 91 [SEP] 38, SoapBottle, -2.439, 0.713, -0.433, 0, 270, 0, 93 [SEP] 39, Spatula, -0.471, 0.761, -0.837, 0, 90, 0, 75 [SEP] 40, SaltShaker, -0.382, 0.742, -1.331, 0, 0, 0, 72 [SEP] 41, Knife, -3.054, 0.746, -0.483, 0, 225, 0, 93 [SEP] 42, PepperShaker, -0.176, 0.912, -1.616, 0, 0, 0, 76 [SEP] 43, ButterKnife, -0.257, 0.916, -1.616, 0, 0, 0, 76 [SEP] 44, Plate, -0.374, 0.078, -1.492, 0, 0, 0, 54 [SEP] 45, DishSponge, -1.638, 0.790, -3.661, 0, 0, 0, 91 [SEP] 46, Spoon, -0.530, 0.747, -1.486, 0, 90, 0, 72 [SEP] 47, Mug, 0.007, 0.908, -3.112, 0, 0, 0, 49 [SEP] 48, Bowl, -3.079, 0.638, -1.879, 0, 90, 0, 90 [SEP] 49, CounterTop, -1.789, 0.949, -3.803, 0, 0, 0, [SEP] 50, Cabinet, -0.577, 0.388, -3.476, 0, 0, 0, [SEP] 51, Cabinet, -0.605, 0.388, -3.511, 0, 0, 0, [SEP] 52, Cabinet, -2.976, 0.388, -3.201, 0, 0, 0, [SEP] 53, Cabinet, -0.577, 0.388, -0.447, 0, 0, 0, [SEP] 54, Cabinet, -0.577, 0.388, -1.725, 0, 0, 0, [SEP] 55, Cabinet, -0.226, 1.803, -1.743, 0, 0, 0, [SEP] 56, Cabinet, -0.228, 1.799, -0.447, 0, 0, 0, [SEP] 57, Cabinet, -6.010, 1.139, -6.019, 0, 0, 0, [SEP] 58, Cabinet, -3.022, 2.098, -2.681, 0, 0, 0, [SEP] 59, Cabinet, -3.022, 2.098, -1.743, 0, 0, 0, [SEP] 60, Cabinet, -0.577, 0.388, -2.736, 0, 0, 0, [SEP] 61, Cabinet, -3.232, 1.803, -3.343, 0, 0, 0, [SEP] 62, Cabinet, -2.811, 1.810, -3.764, 0, 0, 0, [SEP] 63, Cabinet, -1.233, 1.810, -3.764, 0, 0, 0, [SEP] 64, Cabinet, -1.364, 0.388, -3.511, 0, 0, 0, [SEP] 65, Cabinet, -1.380, 0.388, -3.511, 0, 0, 0, [SEP] 66, Cabinet, -0.226, 1.803, -2.725, 0, 0, 0, [SEP] 67, Cabinet, -0.236, 2.098, -1.767, 0, 0, 0, [SEP] 68, Cabinet, -0.236, 2.098, -2.705, 0, 0, 0, [SEP] 69, Cabinet, -0.193, 1.210, -4.239, 0, 0, 0, [SEP] 70, Cabinet, -2.148, 0.388, -3.511, 0, 0, 0, [SEP] 71, Drawer, -3.104, 0.797, -2.968, 0, 0, 0, [SEP] 72, Drawer, -0.449, 0.797, -1.410, 0, 0, 0, [SEP] 73, Sink, -1.786, 0.902, -3.748, 0, 0, 0, [SEP] 74, StoveBurner, -0.376, 0.936, -2.451, 0, 0, 0, [SEP] 75, Drawer, -0.449, 0.797, -0.762, 0, 0, 0, [SEP] 76, CounterTop, -0.268, 0.951, -1.089, 0, 0, 0, [SEP] 77, Drawer, -0.449, 0.797, -3.348, 0, 0, 0, [SEP] 78, StoveBurner, -0.376, 0.936, -2.031, 0, 180, 0, [SEP] 79, Drawer, -0.449, 0.797, -2.968, 0, 0, 0, [SEP] 80, StoveBurner, -0.165, 0.936, -2.030, 0, 180, 0, [SEP] 81, StoveBurner, -0.165, 0.936, -2.450, 0, 0, 0, [SEP] 82, StoveKnob, -0.568, 0.903, -2.313, 45, 270, 0, [SEP] 83, StoveKnob, -0.568, 0.903, -2.470, 45, 270, 0, [SEP] 84, StoveKnob, -0.568, 0.903, -2.166, 45, 270, 0, [SEP] 85, StoveKnob, -0.568, 0.903, -2.003, 45, 270, 0, [SEP] 86, Microwave, -0.143, 0.903, -0.908, 0, 270, 0, [SEP] 87, LightSwitch, -1.108, 1.457, 0.338, 0, 180, 0, [SEP] 88, GarbageCan, -0.283, -0.032, -0.035, 0, 270, 0, [SEP] 89, CoffeeMachine, -3.104, 0.837, -0.185, 0, 135, 0, [SEP] 90, Fridge, -3.188, 0.0, -2.184, 0, 0, 0, [SEP] 91, SinkBasin, -1.786, 0.779, -3.747, 0, 0, 0, [SEP] 92, Toaster, -0.230, 0.903, -3.406, 0, 270, 0, [SEP] 93, DiningTable, -2.800, 0.003, -0.505, 0, 0, 0, [SEP] 94, Chair, -3.044, 0.003, -1.223, 0, 32.194, 0, [SEP] 95, Faucet, -1.791, 1.136, -3.913, 0, 270, 0, [SEP] 96, NorthWall, , , , , , , [SEP] 97, EastWall, , , , , , , [SEP] 98, SouthWall, , , , , , , [SEP] 99, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and step forward to face the egg on the counter. | STEP 2: Pick up the egg on the counter. | STEP 3: Step to the left to face the microwave. | STEP 4: Heat the egg in the microwave and remove it. | STEP 5: Turn around and cross the room and turn right to face the kitchen table. | STEP 6: Place the egg on the kitchen table. | END"]} +{"id": "trial_T20190909_033947_705114-1", "input": "put a pot and vase on coffee table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.927, 4.0, 0, 90, 0, [SEP] 1, Newspaper, -5.939, 0.641, 1.861, 0, 0, 0, 75 [SEP] 2, Newspaper, -3.732, 0.276, 3.521, 0, 0, 0, 76 [SEP] 3, KeyChain, -6.185, 0.643, 2.564, 0, 0, 0, 75 [SEP] 4, CreditCard, -4.838, 1.581, 5.205, 0, 0, 0, 57 [SEP] 5, CreditCard, -3.066, 1.037, 5.240, 0, 0, 0, 58 [SEP] 6, Box, -5.694, 0.823, 2.564, 0, 0, 0, 75 [SEP] 7, Laptop, -2.554, 0.298, 1.997, 0, 0, 0, 79 [SEP] 8, Laptop, -2.925, 0.274, 3.451, 0, 0, 0, 76 [SEP] 9, Box, -6.062, 0.823, 3.266, 0, 0, 0, 75 [SEP] 10, Statue, -5.694, 0.647, 1.510, 0, 0, 0, 75 [SEP] 11, KeyChain, -5.939, 0.643, 1.510, 0, 0, 0, 75 [SEP] 12, Vase, -1.701, 0.930, 0.179, 0, 0, 0, 30 [SEP] 13, Vase, -0.764, 0.940, 0.203, 0, 0, 0, 47 [SEP] 14, Vase, -6.062, 0.646, 3.617, 0, 0, 0, 75 [SEP] 15, Newspaper, -5.817, 0.641, 3.266, 0, 0, 0, 75 [SEP] 16, CreditCard, -5.694, 0.641, 1.861, 0, 0, 0, 75 [SEP] 17, RemoteControl, -2.804, 0.301, 2.226, 0, 270, 0, 79 [SEP] 18, Laptop, -5.571, 0.639, 2.915, 0, 0, 0, 75 [SEP] 19, Pillow, -1.515, 0.438, 3.319, 0, 300.000, 90, 78 [SEP] 20, Vase, -6.185, 0.642, 2.212, 0, 0, 0, 75 [SEP] 21, Statue, -5.571, 0.651, 3.617, 0, 0, 0, 75 [SEP] 22, Vase, -4.772, 0.960, 5.205, 0, 0, 0, 44 [SEP] 23, Plate, -2.082, 0.492, 0.264, 0, 90, 0, 50 [SEP] 24, Vase, -6.620, 1.038, 5.17, 0, 0, 0, 36 [SEP] 25, Statue, -5.033, 1.566, 5.212, 0, 180, 0, 57 [SEP] 26, Statue, -0.812, 1.565, 0.209, 0, 0, 0, 49 [SEP] 27, Statue, -5.448, 0.651, 2.564, 0, 90, 0, 75 [SEP] 28, Statue, -3.174, 1.105, 5.193, 0, 0, 0, 58 [SEP] 29, Statue, -5.865, 0.634, 2.786, 0, 65.579, 0, 75 [SEP] 30, Shelf, -1.776, 0.988, 0.184, 0, 180, 0, [SEP] 31, Chair, -5.413, 0.024, 1.780, 0, 0, 0, [SEP] 32, Cabinet, -5.365, 1.170, 5.031, 0, 0, 0, [SEP] 33, Chair, -5.388, 0.024, 3.369, 0, 355.695, 0, [SEP] 34, Chair, -6.211, 0.024, 2.517, 0, 172.601, 0, [SEP] 35, Shelf, -3.937, 0.988, 5.170, 0, 0, 0, [SEP] 36, Shelf, -6.572, 1.144, 5.170, 0, 0, 0, [SEP] 37, Cabinet, -4.181, 1.873, 5.029, 0, 0, 0, [SEP] 38, Shelf, -5.606, 0.444, 5.170, 0, 0, 0, [SEP] 39, Drawer, -6.324, 0.823, 5.001, 0, 0, 0, [SEP] 40, Cabinet, -2.017, 1.714, 0.323, 0, 180, 0, [SEP] 41, Cabinet, -2.465, 1.329, 5.029, 0, 0, 0, [SEP] 42, Drawer, -1.093, 0.233, 0.462, 0, 0, 0, [SEP] 43, Shelf, -4.672, 1.317, 5.170, 0, 0, 0, [SEP] 44, Shelf, -4.672, 0.998, 5.170, 0, 0, 0, [SEP] 45, Shelf, -2.221, 0.444, 5.170, 0, 0, 0, [SEP] 46, Drawer, -6.324, 0.508, 5.001, 0, 0, 0, [SEP] 47, Shelf, -1.041, 0.998, 0.184, 0, 180, 0, [SEP] 48, Drawer, -4.264, 0.233, 0.462, 0, 0, 0, [SEP] 49, Shelf, -0.810, 1.688, 0.185, 0, 180, 0, [SEP] 50, Shelf, -2.671, 0.610, 0.272, 0, 90, 0, [SEP] 51, Drawer, -2.681, 0.233, 0.462, 0, 0, 0, [SEP] 52, Drawer, -2.940, 0.508, 5.001, 0, 0, 0, [SEP] 53, Cabinet, -3.696, 1.714, 5.031, 0, 0, 0, [SEP] 54, Shelf, -1.041, 1.317, 0.184, 0, 180, 0, [SEP] 55, Cabinet, -1.532, 1.873, 0.325, 0, 180, 0, [SEP] 56, Chair, -5.382, 0.024, 2.695, 0, 6.230, 0, [SEP] 57, Shelf, -4.903, 1.688, 5.170, 0, 0, 0, [SEP] 58, Shelf, -3.187, 1.144, 5.170, 0, 0, 0, [SEP] 59, Drawer, -2.940, 0.823, 5.001, 0, 0, 0, [SEP] 60, Chair, -6.252, 0.024, 3.427, 0, 195.000, 0, [SEP] 61, Cabinet, -5.850, 1.329, 5.029, 0, 0, 0, [SEP] 62, Cabinet, -1.980, 1.170, 5.031, 0, 0, 0, [SEP] 63, Chair, -6.296, 0.024, 1.672, 0, 180, 0, [SEP] 64, FloorLamp, -0.369, 0.016, 4.992, 0, 59.992, 0, [SEP] 65, GarbageCan, -6.846, 0.024, 0.258, 0, 91.057, 0, [SEP] 66, Television, -3.503, 1.506, 0.001, 0, 0, 0, [SEP] 67, LightSwitch, 0.0, 1.184, 4.410, 0, 270, 0, [SEP] 68, HousePlant, -1.105, 0.315, 2.740, 0, 0, 0, [SEP] 69, Painting, -5.769, 1.394, -0.026, 90, 180, 0, [SEP] 70, Window, 0.001, 1.246, 2.471, 90, 270, 0, [SEP] 71, Window, 0.001, 1.246, 3.558, 90, 270, 0, [SEP] 72, Window, 0.001, 1.246, 1.368, 90, 270, 0, [SEP] 73, Painting, -0.967, 1.396, 5.268, 90, 180, 0, [SEP] 74, CoffeeTable, -3.002, 0.028, 1.726, 0, 0, 0, [SEP] 75, DiningTable, -5.816, 0.025, 2.563, 0, 270, 0, [SEP] 76, Sofa, -3.328, 0.023, 3.632, 0, 180, 0, [SEP] 77, ArmChair, -1.012, 0.028, 2.084, 0, 270, 0, [SEP] 78, ArmChair, -1.577, 0.028, 3.295, 0, 210.000, 0, [SEP] 79, CoffeeTable, -2.667, 0.025, 1.999, 0, 5.810, 0, [SEP] 80, NorthWall, , , , , , , [SEP] 81, EastWall, , , , , , , [SEP] 82, SouthWall, , , , , , , [SEP] 83, WestWall, , , , , , , ", "output": ["STEP 1: walk to face white shelves | STEP 2: pick up glass vase from shelves | STEP 3: walk to face coffee table | STEP 4: put vase on coffee table | STEP 5: walk to face shelves with blue vase | STEP 6: pick up blue pot from shelves | STEP 7: walk to face coffee table | STEP 8: put pot on coffee table | END"]} +{"id": "trial_T20190909_055132_256725-1", "input": "Put two yellow spray bottles into the trash can. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.901, 2.0, 0, 90, 0, [SEP] 1, Cloth, -1.694, 0.039, 3.811, 0, 0, 0, 30 [SEP] 2, SoapBar, -1.542, 0.040, 3.316, 0, 0, 0, 27 [SEP] 3, SoapBar, -1.652, 0.947, 2.741, 0, 0, 10.090, 40 [SEP] 4, Candle, -1.519, 0.917, 3.147, 0, 0, 0, 24 [SEP] 5, SprayBottle, -1.795, 0.037, 3.272, 0, 0, 0, 27 [SEP] 6, SprayBottle, -1.912, 0.950, 1.759, 0, 180, 0, 36 [SEP] 7, SprayBottle, -1.755, 0.915, 3.172, 0, 0, 0, 24 [SEP] 8, SoapBottle, -1.542, 0.040, 2.464, 0, 270, 0, 21 [SEP] 9, SoapBottle, -1.885, 0.954, 2.071, 0, 270, 0, 36 [SEP] 10, Candle, -1.872, 0.917, 3.933, 0, 0, 0, 24 [SEP] 11, HandTowel, -1.670, 1.496, 3.962, 0, 0, 0, 34 [SEP] 12, SoapBottle, -1.795, 0.040, 2.508, 0, 0, 0, 21 [SEP] 13, Towel, 0.833, 1.160, 2.357, 0, 0, 0, 31 [SEP] 14, Cloth, -1.695, 0.031, 3.040, 0, 0, 0, 27 [SEP] 15, SoapBar, -1.858, 0.953, 1.696, 0, 180, 0, 36 [SEP] 16, ToiletPaper, -1.140, 1.013, 1.256, 0, 0, 90, 32 [SEP] 17, Plunger, -1.876, 0.000, 2.276, 0, 0, 0, Floor|-02.00| [SEP] 18, SprayBottle, -1.744, 0.037, 3.404, 0, 0, 0, 27 [SEP] 19, ToiletPaper, -1.476, 0.042, 1.372, 0, 0, 0, 33 [SEP] 20, ScrubBrush, -1.703, 0.000, 2.217, 0, 0, 0, Floor|-02.00| [SEP] 21, Cabinet, -1.479, 0.348, 2.362, 0, 0, 0, [SEP] 22, Cabinet, -1.483, 0.372, 3.152, 0, 0, 0, [SEP] 23, Sink, -1.746, 0.884, 3.553, 0, 90, 0, [SEP] 24, CounterTop, -1.758, 0.669, 3.164, 0, 0, 0, [SEP] 25, Faucet, -1.894, 1.006, 2.730, 0, 0, 0, [SEP] 26, Mirror, -1.943, 1.532, 3.443, 0, 0, 0, [SEP] 27, Cabinet, -1.479, 0.348, 3.170, 0, 0, 0, [SEP] 28, ShowerDoor, 0.527, 1.039, 2.098, 0, 0, 0, [SEP] 29, Painting, -0.566, 1.591, 1.173, 0, 0, 0, [SEP] 30, Cabinet, -1.483, 0.372, 3.960, 0, 0, 0, [SEP] 31, TowelHolder, 0.833, 1.146, 2.250, 0, 0, 0, [SEP] 32, ToiletPaperHanger, -1.200, 1.013, 1.164, 0, 0, 0, [SEP] 33, GarbageCan, -1.704, -0.032, 1.429, 0, 2.393, 0, [SEP] 34, HandTowelHolder, -1.670, 1.598, 4.000, 0, 90, 0, [SEP] 35, LightSwitch, 1.249, 1.322, 3.635, 0, 270, 0, [SEP] 36, Toilet, -1.447, 0.000, 1.961, 0, 90, 0, [SEP] 37, SinkBasin, -1.671, 0.935, 3.571, 0, 0, 10.090, [SEP] 38, ShowerHead, 0.871, 1.097, 2.009, 0, 270, 0, [SEP] 39, Faucet, -1.894, 1.006, 3.560, 0, 0, 0, [SEP] 40, SinkBasin, -1.671, 0.935, 2.741, 0, 0, 10.090, [SEP] 41, Sink, -1.746, 0.884, 2.723, 0, 90, 0, [SEP] 42, NorthWall, , , , , , , [SEP] 43, EastWall, , , , , , , [SEP] 44, SouthWall, , , , , , , [SEP] 45, WestWall, , , , , , , ", "output": ["STEP 1: Turn around to face the sinks. | STEP 2: Pick up the yellow spray bottle from in between the sinks. | STEP 3: Make a left to walk to the trash can next to the toilet. | STEP 4: Put the yellow spray bottle in the trash can. | STEP 5: Turn to face the toilet. | STEP 6: Pick up the yellow spray bottle on top of the toilet. | STEP 7: Turn to face the trash can next to the toilet. | STEP 8: Put the other yellow spray bottle into the trash can. | END"]} +{"id": "trial_T20190909_055132_256725-2", "input": "Put the two spray bottle in the trash bin SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.901, 2.0, 0, 90, 0, [SEP] 1, Cloth, -1.694, 0.039, 3.811, 0, 0, 0, 30 [SEP] 2, SoapBar, -1.542, 0.040, 3.316, 0, 0, 0, 27 [SEP] 3, SoapBar, -1.652, 0.947, 2.741, 0, 0, 10.090, 40 [SEP] 4, Candle, -1.519, 0.917, 3.147, 0, 0, 0, 24 [SEP] 5, SprayBottle, -1.795, 0.037, 3.272, 0, 0, 0, 27 [SEP] 6, SprayBottle, -1.912, 0.950, 1.759, 0, 180, 0, 36 [SEP] 7, SprayBottle, -1.755, 0.915, 3.172, 0, 0, 0, 24 [SEP] 8, SoapBottle, -1.542, 0.040, 2.464, 0, 270, 0, 21 [SEP] 9, SoapBottle, -1.885, 0.954, 2.071, 0, 270, 0, 36 [SEP] 10, Candle, -1.872, 0.917, 3.933, 0, 0, 0, 24 [SEP] 11, HandTowel, -1.670, 1.496, 3.962, 0, 0, 0, 34 [SEP] 12, SoapBottle, -1.795, 0.040, 2.508, 0, 0, 0, 21 [SEP] 13, Towel, 0.833, 1.160, 2.357, 0, 0, 0, 31 [SEP] 14, Cloth, -1.695, 0.031, 3.040, 0, 0, 0, 27 [SEP] 15, SoapBar, -1.858, 0.953, 1.696, 0, 180, 0, 36 [SEP] 16, ToiletPaper, -1.140, 1.013, 1.256, 0, 0, 90, 32 [SEP] 17, Plunger, -1.876, 0.000, 2.276, 0, 0, 0, Floor|-02.00| [SEP] 18, SprayBottle, -1.744, 0.037, 3.404, 0, 0, 0, 27 [SEP] 19, ToiletPaper, -1.476, 0.042, 1.372, 0, 0, 0, 33 [SEP] 20, ScrubBrush, -1.703, 0.000, 2.217, 0, 0, 0, Floor|-02.00| [SEP] 21, Cabinet, -1.479, 0.348, 2.362, 0, 0, 0, [SEP] 22, Cabinet, -1.483, 0.372, 3.152, 0, 0, 0, [SEP] 23, Sink, -1.746, 0.884, 3.553, 0, 90, 0, [SEP] 24, CounterTop, -1.758, 0.669, 3.164, 0, 0, 0, [SEP] 25, Faucet, -1.894, 1.006, 2.730, 0, 0, 0, [SEP] 26, Mirror, -1.943, 1.532, 3.443, 0, 0, 0, [SEP] 27, Cabinet, -1.479, 0.348, 3.170, 0, 0, 0, [SEP] 28, ShowerDoor, 0.527, 1.039, 2.098, 0, 0, 0, [SEP] 29, Painting, -0.566, 1.591, 1.173, 0, 0, 0, [SEP] 30, Cabinet, -1.483, 0.372, 3.960, 0, 0, 0, [SEP] 31, TowelHolder, 0.833, 1.146, 2.250, 0, 0, 0, [SEP] 32, ToiletPaperHanger, -1.200, 1.013, 1.164, 0, 0, 0, [SEP] 33, GarbageCan, -1.704, -0.032, 1.429, 0, 2.393, 0, [SEP] 34, HandTowelHolder, -1.670, 1.598, 4.000, 0, 90, 0, [SEP] 35, LightSwitch, 1.249, 1.322, 3.635, 0, 270, 0, [SEP] 36, Toilet, -1.447, 0.000, 1.961, 0, 90, 0, [SEP] 37, SinkBasin, -1.671, 0.935, 3.571, 0, 0, 10.090, [SEP] 38, ShowerHead, 0.871, 1.097, 2.009, 0, 270, 0, [SEP] 39, Faucet, -1.894, 1.006, 3.560, 0, 0, 0, [SEP] 40, SinkBasin, -1.671, 0.935, 2.741, 0, 0, 10.090, [SEP] 41, Sink, -1.746, 0.884, 2.723, 0, 90, 0, [SEP] 42, NorthWall, , , , , , , [SEP] 43, EastWall, , , , , , , [SEP] 44, SouthWall, , , , , , , [SEP] 45, WestWall, , , , , , , ", "output": ["STEP 1: Turn left then head to the sink counter | STEP 2: Pick up the spray bottle on the counter | STEP 3: Turn left then head to the trash bin beside the toilet | STEP 4: Put the spray bottle in the trash bin | STEP 5: Move forward the toilet | STEP 6: Pick up the spray bottle on the toilet tank | STEP 7: Turn around and move backwards | STEP 8: Put the spray bottle in the trash bin | END"]} +{"id": "trial_T20190906_171737_893197-0", "input": "Place a mug with a knife on it on a table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.0, 0.900, -3.0, 0, 90, 0, [SEP] 1, ButterKnife, -2.666, 0.923, -2.345, 0, 0, 0, 74 [SEP] 2, ButterKnife, -2.552, 0.923, -1.193, 0, 0, 0, 74 [SEP] 3, WineBottle, -2.666, 0.924, -1.193, 0, 0, 0, 74 [SEP] 4, Spatula, -2.552, 0.938, -2.345, 0, 180, 0, 74 [SEP] 5, Spatula, -2.324, 0.938, -1.884, 0, 0, 0, 74 [SEP] 6, Fork, -0.398, 0.797, -2.008, 0, 180, 0, 67 [SEP] 7, Spoon, -0.743, 0.916, -3.555, 0, 90, 0, 49 [SEP] 8, Plate, -2.438, 0.925, -0.963, 0, 0, 0, 74 [SEP] 9, Plate, -2.666, 0.925, -1.423, 0, 0, 0, 74 [SEP] 10, SoapBottle, -1.975, 0.025, -3.763, 0, 0, 0, 65 [SEP] 11, SoapBottle, -0.460, 0.079, -2.109, 0, 0, 0, 54 [SEP] 12, Tomato, -0.815, 0.979, -3.485, 0, 0, 0, 49 [SEP] 13, Bowl, -1.204, 1.629, -3.870, 0, 0, 0, 62 [SEP] 14, Bowl, -0.457, 0.914, -3.697, 0, 0, 0, 49 [SEP] 15, SaltShaker, -2.438, 0.919, -1.423, 0, 0, 0, 74 [SEP] 16, SaltShaker, -0.538, 0.077, -1.666, 0, 0, 0, 54 [SEP] 17, Apple, -0.268, 1.764, -0.455, 0, 270, 0, 66 [SEP] 18, Apple, -0.343, 1.172, -0.769, 0, 270, 0, 66 [SEP] 19, Apple, -0.295, 1.464, -0.979, 0, 270, 0, 66 [SEP] 20, Lettuce, -0.308, 1.783, -0.979, 0, 270, 0, 66 [SEP] 21, Glassbottle, -0.350, 0.797, -1.860, 0, 270, 0, 67 [SEP] 22, Egg, -0.188, 1.723, -0.560, 0, 270, 0, 66 [SEP] 23, Pen, -2.552, 0.926, -0.963, 0, 0, 0, 74 [SEP] 24, Fork, -0.671, 0.916, -3.697, 0, 0, 0, 49 [SEP] 25, SoapBottle, -2.780, 0.922, -2.345, 0, 0, 0, 74 [SEP] 26, Pencil, -0.661, 0.747, -3.586, 0, 270, 0, 48 [SEP] 27, WineBottle, -2.780, 0.924, -1.193, 0, 0, 0, 74 [SEP] 28, Spatula, -0.3, 0.915, -2.544, 0, 22.903, 0, 49 [SEP] 29, Bread, -0.343, 1.443, -0.77, 0, 270, 0, 66 [SEP] 30, Tomato, -0.815, 0.979, -3.697, 0, 0, 0, 49 [SEP] 31, Pan, -1.515, 0.935, -3.752, 0, 90, 0, 45 [SEP] 32, Cup, -0.295, 1.097, -0.455, 0, 270, 0, 66 [SEP] 33, Pot, -1.129, 0.935, -3.498, 0, 0, 0, 47 [SEP] 34, SaltShaker, -0.457, 0.912, -3.909, 0, 0, 0, 49 [SEP] 35, Potato, -0.228, 1.722, -0.665, 0, 270, 0, 66 [SEP] 36, PepperShaker, -2.096, 0.919, -1.193, 0, 0, 0, 74 [SEP] 37, ButterKnife, -2.552, 0.923, -1.423, 0, 0, 0, 74 [SEP] 38, DishSponge, -2.096, 0.923, -2.115, 0, 0, 0, 74 [SEP] 39, Spoon, -2.666, 0.924, -1.654, 0, 0, 0, 74 [SEP] 40, Plate, -2.666, 0.925, -2.115, 0, 0, 0, 74 [SEP] 41, Knife, -2.324, 0.946, -1.654, 0, 0, 0, 74 [SEP] 42, Mug, -1.100, 1.964, -3.773, 0, 0, 0, 50 [SEP] 43, Bowl, -0.747, 0.081, -3.584, 0, 0, 0, 55 [SEP] 44, Cabinet, -0.582, 0.388, -1.804, 0, 0, 0, [SEP] 45, StoveBurner, -1.515, 0.928, -3.752, 0, 90, 0, [SEP] 46, StoveBurner, -1.515, 0.928, -3.497, 0, 0, 0, [SEP] 47, StoveBurner, -1.129, 0.928, -3.498, 0, 0, 0, [SEP] 48, Drawer, -0.749, 0.779, -3.551, 0, 0, 0, [SEP] 49, CounterTop, -0.303, 0.951, -2.793, 0, 0, 0, [SEP] 50, Cabinet, -0.883, 2.140, -3.687, 0, 0, 0, [SEP] 51, Cabinet, -0.312, 2.140, -1.543, 0, 0, 0, [SEP] 52, Sink, -0.349, 0.907, -2.014, 0, 0, 0, [SEP] 53, Cabinet, -0.877, 0.388, -3.422, 0, 0, 0, [SEP] 54, Cabinet, -0.582, 0.388, -2.197, 0, 0, 0, [SEP] 55, Cabinet, -0.584, 0.388, -3.396, 0, 0, 0, [SEP] 56, Cabinet, -0.312, 2.140, -2.481, 0, 0, 0, [SEP] 57, Cabinet, -0.330, 1.921, -3.390, 0, 0, 0, [SEP] 58, Cabinet, -1.764, 2.140, -3.687, 0, 0, 0, [SEP] 59, StoveBurner, -1.129, 0.928, -3.752, 0, 90, 0, [SEP] 60, Drawer, -0.454, 0.779, -3.268, 0, 0, 0, [SEP] 61, Cabinet, -0.302, 1.916, -2.501, 0, 0, 0, [SEP] 62, Microwave, -1.317, 1.517, -3.801, 0, 1.440, 0, [SEP] 63, CoffeeMachine, -0.153, 0.903, -3.144, 0, 270, 0, [SEP] 64, LightSwitch, -4.323, 1.319, 0.0, 0, 180, 0, [SEP] 65, GarbageCan, -1.943, -7.152, -3.763, 0, 0, 0, [SEP] 66, Fridge, -0.330, 0.0, -0.769, 0, 270, 0, [SEP] 67, SinkBasin, -0.350, 0.786, -2.018, 0, 270, 0, [SEP] 68, StoveKnob, -1.582, 1.082, -3.958, 72.287, 0, 0, [SEP] 69, StoveKnob, -1.177, 1.082, -3.958, 72.287, 0, 0, [SEP] 70, StoveKnob, -1.424, 1.082, -3.958, 72.287, 0, 0, [SEP] 71, StoveKnob, -1.028, 1.082, -3.958, 72.287, 0, 0, [SEP] 72, Toaster, -0.181, 0.903, -2.764, 0, 270, 0, [SEP] 73, Window, -2.503, 1.782, -4.185, 90, 180, 0, [SEP] 74, DiningTable, -2.432, 0.000, -1.694, 0, 270, 0, [SEP] 75, Shelf, -2.432, 0.150, -1.694, 0, 270, 0, [SEP] 76, Blinds, -2.536, 2.699, -3.959, 0, 0, 0, [SEP] 77, Faucet, -0.079, 0.904, -2.034, 270, 180, 0, [SEP] 78, Chair, -3.264, 0.002, -2.094, 0, 53.280, 0, [SEP] 79, Chair, -3.240, 0.002, -1.253, 0, 117.257, 0, [SEP] 80, Shelf, -2.432, 0.523, -1.694, 0, 270, 0, [SEP] 81, NorthWall, , , , , , , [SEP] 82, EastWall, , , , , , , [SEP] 83, SouthWall, , , , , , , [SEP] 84, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and look at the table. | STEP 2: Pick up the butter knife. | STEP 3: Turn right and walk to the microwave and look at it. | STEP 4: Open the top left cabinet above the microwave and put the knife in the black mug. | STEP 5: Take the mug out of the cabinet. | STEP 6: Turn around and walk to the right side of the table. | STEP 7: Place the mug on the table to the right of the sponge. | END"]} +{"id": "trial_T20190906_171737_893197-3", "input": "Put a mug with a knife in it on the table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.0, 0.900, -3.0, 0, 90, 0, [SEP] 1, ButterKnife, -2.666, 0.923, -2.345, 0, 0, 0, 74 [SEP] 2, ButterKnife, -2.552, 0.923, -1.193, 0, 0, 0, 74 [SEP] 3, WineBottle, -2.666, 0.924, -1.193, 0, 0, 0, 74 [SEP] 4, Spatula, -2.552, 0.938, -2.345, 0, 180, 0, 74 [SEP] 5, Spatula, -2.324, 0.938, -1.884, 0, 0, 0, 74 [SEP] 6, Fork, -0.398, 0.797, -2.008, 0, 180, 0, 67 [SEP] 7, Spoon, -0.743, 0.916, -3.555, 0, 90, 0, 49 [SEP] 8, Plate, -2.438, 0.925, -0.963, 0, 0, 0, 74 [SEP] 9, Plate, -2.666, 0.925, -1.423, 0, 0, 0, 74 [SEP] 10, SoapBottle, -1.975, 0.025, -3.763, 0, 0, 0, 65 [SEP] 11, SoapBottle, -0.460, 0.079, -2.109, 0, 0, 0, 54 [SEP] 12, Tomato, -0.815, 0.979, -3.485, 0, 0, 0, 49 [SEP] 13, Bowl, -1.204, 1.629, -3.870, 0, 0, 0, 62 [SEP] 14, Bowl, -0.457, 0.914, -3.697, 0, 0, 0, 49 [SEP] 15, SaltShaker, -2.438, 0.919, -1.423, 0, 0, 0, 74 [SEP] 16, SaltShaker, -0.538, 0.077, -1.666, 0, 0, 0, 54 [SEP] 17, Apple, -0.268, 1.764, -0.455, 0, 270, 0, 66 [SEP] 18, Apple, -0.343, 1.172, -0.769, 0, 270, 0, 66 [SEP] 19, Apple, -0.295, 1.464, -0.979, 0, 270, 0, 66 [SEP] 20, Lettuce, -0.308, 1.783, -0.979, 0, 270, 0, 66 [SEP] 21, Glassbottle, -0.350, 0.797, -1.860, 0, 270, 0, 67 [SEP] 22, Egg, -0.188, 1.723, -0.560, 0, 270, 0, 66 [SEP] 23, Pen, -2.552, 0.926, -0.963, 0, 0, 0, 74 [SEP] 24, Fork, -0.671, 0.916, -3.697, 0, 0, 0, 49 [SEP] 25, SoapBottle, -2.780, 0.922, -2.345, 0, 0, 0, 74 [SEP] 26, Pencil, -0.661, 0.747, -3.586, 0, 270, 0, 48 [SEP] 27, WineBottle, -2.780, 0.924, -1.193, 0, 0, 0, 74 [SEP] 28, Spatula, -0.3, 0.915, -2.544, 0, 22.903, 0, 49 [SEP] 29, Bread, -0.343, 1.443, -0.77, 0, 270, 0, 66 [SEP] 30, Tomato, -0.815, 0.979, -3.697, 0, 0, 0, 49 [SEP] 31, Pan, -1.515, 0.935, -3.752, 0, 90, 0, 45 [SEP] 32, Cup, -0.295, 1.097, -0.455, 0, 270, 0, 66 [SEP] 33, Pot, -1.129, 0.935, -3.498, 0, 0, 0, 47 [SEP] 34, SaltShaker, -0.457, 0.912, -3.909, 0, 0, 0, 49 [SEP] 35, Potato, -0.228, 1.722, -0.665, 0, 270, 0, 66 [SEP] 36, PepperShaker, -2.096, 0.919, -1.193, 0, 0, 0, 74 [SEP] 37, ButterKnife, -2.552, 0.923, -1.423, 0, 0, 0, 74 [SEP] 38, DishSponge, -2.096, 0.923, -2.115, 0, 0, 0, 74 [SEP] 39, Spoon, -2.666, 0.924, -1.654, 0, 0, 0, 74 [SEP] 40, Plate, -2.666, 0.925, -2.115, 0, 0, 0, 74 [SEP] 41, Knife, -2.324, 0.946, -1.654, 0, 0, 0, 74 [SEP] 42, Mug, -1.100, 1.964, -3.773, 0, 0, 0, 50 [SEP] 43, Bowl, -0.747, 0.081, -3.584, 0, 0, 0, 55 [SEP] 44, Cabinet, -0.582, 0.388, -1.804, 0, 0, 0, [SEP] 45, StoveBurner, -1.515, 0.928, -3.752, 0, 90, 0, [SEP] 46, StoveBurner, -1.515, 0.928, -3.497, 0, 0, 0, [SEP] 47, StoveBurner, -1.129, 0.928, -3.498, 0, 0, 0, [SEP] 48, Drawer, -0.749, 0.779, -3.551, 0, 0, 0, [SEP] 49, CounterTop, -0.303, 0.951, -2.793, 0, 0, 0, [SEP] 50, Cabinet, -0.883, 2.140, -3.687, 0, 0, 0, [SEP] 51, Cabinet, -0.312, 2.140, -1.543, 0, 0, 0, [SEP] 52, Sink, -0.349, 0.907, -2.014, 0, 0, 0, [SEP] 53, Cabinet, -0.877, 0.388, -3.422, 0, 0, 0, [SEP] 54, Cabinet, -0.582, 0.388, -2.197, 0, 0, 0, [SEP] 55, Cabinet, -0.584, 0.388, -3.396, 0, 0, 0, [SEP] 56, Cabinet, -0.312, 2.140, -2.481, 0, 0, 0, [SEP] 57, Cabinet, -0.330, 1.921, -3.390, 0, 0, 0, [SEP] 58, Cabinet, -1.764, 2.140, -3.687, 0, 0, 0, [SEP] 59, StoveBurner, -1.129, 0.928, -3.752, 0, 90, 0, [SEP] 60, Drawer, -0.454, 0.779, -3.268, 0, 0, 0, [SEP] 61, Cabinet, -0.302, 1.916, -2.501, 0, 0, 0, [SEP] 62, Microwave, -1.317, 1.517, -3.801, 0, 1.440, 0, [SEP] 63, CoffeeMachine, -0.153, 0.903, -3.144, 0, 270, 0, [SEP] 64, LightSwitch, -4.323, 1.319, 0.0, 0, 180, 0, [SEP] 65, GarbageCan, -1.943, -7.152, -3.763, 0, 0, 0, [SEP] 66, Fridge, -0.330, 0.0, -0.769, 0, 270, 0, [SEP] 67, SinkBasin, -0.350, 0.786, -2.018, 0, 270, 0, [SEP] 68, StoveKnob, -1.582, 1.082, -3.958, 72.287, 0, 0, [SEP] 69, StoveKnob, -1.177, 1.082, -3.958, 72.287, 0, 0, [SEP] 70, StoveKnob, -1.424, 1.082, -3.958, 72.287, 0, 0, [SEP] 71, StoveKnob, -1.028, 1.082, -3.958, 72.287, 0, 0, [SEP] 72, Toaster, -0.181, 0.903, -2.764, 0, 270, 0, [SEP] 73, Window, -2.503, 1.782, -4.185, 90, 180, 0, [SEP] 74, DiningTable, -2.432, 0.000, -1.694, 0, 270, 0, [SEP] 75, Shelf, -2.432, 0.150, -1.694, 0, 270, 0, [SEP] 76, Blinds, -2.536, 2.699, -3.959, 0, 0, 0, [SEP] 77, Faucet, -0.079, 0.904, -2.034, 270, 180, 0, [SEP] 78, Chair, -3.264, 0.002, -2.094, 0, 53.280, 0, [SEP] 79, Chair, -3.240, 0.002, -1.253, 0, 117.257, 0, [SEP] 80, Shelf, -2.432, 0.523, -1.694, 0, 270, 0, [SEP] 81, NorthWall, , , , , , , [SEP] 82, EastWall, , , , , , , [SEP] 83, SouthWall, , , , , , , [SEP] 84, WestWall, , , , , , , ", "output": ["STEP 1: Turn to the left and face the green table. | STEP 2: Pick the butter knife up from behind the cup. | STEP 3: Bring the butter knife over to the stove and look up at the cabinet. | STEP 4: Put the butter knife in the black mug in the cabinet. | STEP 5: Pick up the black mug with the butter knife in it. | STEP 6: Go back over to the green table, stand between it and the fridge and turn left to face the table. | STEP 7: Put the mug down on the edge of the table in front of the spatula with the black handle. | END"]} +{"id": "trial_T20190906_171737_893197-4", "input": "Put a mug holding a knife on the table by a sponge. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.0, 0.900, -3.0, 0, 90, 0, [SEP] 1, ButterKnife, -2.666, 0.923, -2.345, 0, 0, 0, 74 [SEP] 2, ButterKnife, -2.552, 0.923, -1.193, 0, 0, 0, 74 [SEP] 3, WineBottle, -2.666, 0.924, -1.193, 0, 0, 0, 74 [SEP] 4, Spatula, -2.552, 0.938, -2.345, 0, 180, 0, 74 [SEP] 5, Spatula, -2.324, 0.938, -1.884, 0, 0, 0, 74 [SEP] 6, Fork, -0.398, 0.797, -2.008, 0, 180, 0, 67 [SEP] 7, Spoon, -0.743, 0.916, -3.555, 0, 90, 0, 49 [SEP] 8, Plate, -2.438, 0.925, -0.963, 0, 0, 0, 74 [SEP] 9, Plate, -2.666, 0.925, -1.423, 0, 0, 0, 74 [SEP] 10, SoapBottle, -1.975, 0.025, -3.763, 0, 0, 0, 65 [SEP] 11, SoapBottle, -0.460, 0.079, -2.109, 0, 0, 0, 54 [SEP] 12, Tomato, -0.815, 0.979, -3.485, 0, 0, 0, 49 [SEP] 13, Bowl, -1.204, 1.629, -3.870, 0, 0, 0, 62 [SEP] 14, Bowl, -0.457, 0.914, -3.697, 0, 0, 0, 49 [SEP] 15, SaltShaker, -2.438, 0.919, -1.423, 0, 0, 0, 74 [SEP] 16, SaltShaker, -0.538, 0.077, -1.666, 0, 0, 0, 54 [SEP] 17, Apple, -0.268, 1.764, -0.455, 0, 270, 0, 66 [SEP] 18, Apple, -0.343, 1.172, -0.769, 0, 270, 0, 66 [SEP] 19, Apple, -0.295, 1.464, -0.979, 0, 270, 0, 66 [SEP] 20, Lettuce, -0.308, 1.783, -0.979, 0, 270, 0, 66 [SEP] 21, Glassbottle, -0.350, 0.797, -1.860, 0, 270, 0, 67 [SEP] 22, Egg, -0.188, 1.723, -0.560, 0, 270, 0, 66 [SEP] 23, Pen, -2.552, 0.926, -0.963, 0, 0, 0, 74 [SEP] 24, Fork, -0.671, 0.916, -3.697, 0, 0, 0, 49 [SEP] 25, SoapBottle, -2.780, 0.922, -2.345, 0, 0, 0, 74 [SEP] 26, Pencil, -0.661, 0.747, -3.586, 0, 270, 0, 48 [SEP] 27, WineBottle, -2.780, 0.924, -1.193, 0, 0, 0, 74 [SEP] 28, Spatula, -0.3, 0.915, -2.544, 0, 22.903, 0, 49 [SEP] 29, Bread, -0.343, 1.443, -0.77, 0, 270, 0, 66 [SEP] 30, Tomato, -0.815, 0.979, -3.697, 0, 0, 0, 49 [SEP] 31, Pan, -1.515, 0.935, -3.752, 0, 90, 0, 45 [SEP] 32, Cup, -0.295, 1.097, -0.455, 0, 270, 0, 66 [SEP] 33, Pot, -1.129, 0.935, -3.498, 0, 0, 0, 47 [SEP] 34, SaltShaker, -0.457, 0.912, -3.909, 0, 0, 0, 49 [SEP] 35, Potato, -0.228, 1.722, -0.665, 0, 270, 0, 66 [SEP] 36, PepperShaker, -2.096, 0.919, -1.193, 0, 0, 0, 74 [SEP] 37, ButterKnife, -2.552, 0.923, -1.423, 0, 0, 0, 74 [SEP] 38, DishSponge, -2.096, 0.923, -2.115, 0, 0, 0, 74 [SEP] 39, Spoon, -2.666, 0.924, -1.654, 0, 0, 0, 74 [SEP] 40, Plate, -2.666, 0.925, -2.115, 0, 0, 0, 74 [SEP] 41, Knife, -2.324, 0.946, -1.654, 0, 0, 0, 74 [SEP] 42, Mug, -1.100, 1.964, -3.773, 0, 0, 0, 50 [SEP] 43, Bowl, -0.747, 0.081, -3.584, 0, 0, 0, 55 [SEP] 44, Cabinet, -0.582, 0.388, -1.804, 0, 0, 0, [SEP] 45, StoveBurner, -1.515, 0.928, -3.752, 0, 90, 0, [SEP] 46, StoveBurner, -1.515, 0.928, -3.497, 0, 0, 0, [SEP] 47, StoveBurner, -1.129, 0.928, -3.498, 0, 0, 0, [SEP] 48, Drawer, -0.749, 0.779, -3.551, 0, 0, 0, [SEP] 49, CounterTop, -0.303, 0.951, -2.793, 0, 0, 0, [SEP] 50, Cabinet, -0.883, 2.140, -3.687, 0, 0, 0, [SEP] 51, Cabinet, -0.312, 2.140, -1.543, 0, 0, 0, [SEP] 52, Sink, -0.349, 0.907, -2.014, 0, 0, 0, [SEP] 53, Cabinet, -0.877, 0.388, -3.422, 0, 0, 0, [SEP] 54, Cabinet, -0.582, 0.388, -2.197, 0, 0, 0, [SEP] 55, Cabinet, -0.584, 0.388, -3.396, 0, 0, 0, [SEP] 56, Cabinet, -0.312, 2.140, -2.481, 0, 0, 0, [SEP] 57, Cabinet, -0.330, 1.921, -3.390, 0, 0, 0, [SEP] 58, Cabinet, -1.764, 2.140, -3.687, 0, 0, 0, [SEP] 59, StoveBurner, -1.129, 0.928, -3.752, 0, 90, 0, [SEP] 60, Drawer, -0.454, 0.779, -3.268, 0, 0, 0, [SEP] 61, Cabinet, -0.302, 1.916, -2.501, 0, 0, 0, [SEP] 62, Microwave, -1.317, 1.517, -3.801, 0, 1.440, 0, [SEP] 63, CoffeeMachine, -0.153, 0.903, -3.144, 0, 270, 0, [SEP] 64, LightSwitch, -4.323, 1.319, 0.0, 0, 180, 0, [SEP] 65, GarbageCan, -1.943, -7.152, -3.763, 0, 0, 0, [SEP] 66, Fridge, -0.330, 0.0, -0.769, 0, 270, 0, [SEP] 67, SinkBasin, -0.350, 0.786, -2.018, 0, 270, 0, [SEP] 68, StoveKnob, -1.582, 1.082, -3.958, 72.287, 0, 0, [SEP] 69, StoveKnob, -1.177, 1.082, -3.958, 72.287, 0, 0, [SEP] 70, StoveKnob, -1.424, 1.082, -3.958, 72.287, 0, 0, [SEP] 71, StoveKnob, -1.028, 1.082, -3.958, 72.287, 0, 0, [SEP] 72, Toaster, -0.181, 0.903, -2.764, 0, 270, 0, [SEP] 73, Window, -2.503, 1.782, -4.185, 90, 180, 0, [SEP] 74, DiningTable, -2.432, 0.000, -1.694, 0, 270, 0, [SEP] 75, Shelf, -2.432, 0.150, -1.694, 0, 270, 0, [SEP] 76, Blinds, -2.536, 2.699, -3.959, 0, 0, 0, [SEP] 77, Faucet, -0.079, 0.904, -2.034, 270, 180, 0, [SEP] 78, Chair, -3.264, 0.002, -2.094, 0, 53.280, 0, [SEP] 79, Chair, -3.240, 0.002, -1.253, 0, 117.257, 0, [SEP] 80, Shelf, -2.432, 0.523, -1.694, 0, 270, 0, [SEP] 81, NorthWall, , , , , , , [SEP] 82, EastWall, , , , , , , [SEP] 83, SouthWall, , , , , , , [SEP] 84, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and look at the items on the table. | STEP 2: Pick up the knife next to the honey. | STEP 3: Turn right and walk forward to face the cupboard above the stove. | STEP 4: Open the cupboard and put the knife in the mug that is on the shelf. | STEP 5: Pick up the mug that you placed the knife in. | STEP 6: Bring the mug and knife to chest level, then turn right and head to the table that will be on your left. | STEP 7: Place the mug holding the knife on the table to the right of the sponge. | END"]} +{"id": "trial_T20190906_162633_239128-0", "input": "Put two scoops in the top drawer to the left of the stove. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.75, 0.900, 3.0, 0, 180, 0, [SEP] 1, Potato, -1.874, 0.935, -1.610, 0, 0, 0, 68 [SEP] 2, Potato, -1.648, 0.370, 0.013, 0, 90, 0, 91 [SEP] 3, Ladle, 0.214, 0.969, 0.970, 0, 0, 0, 76 [SEP] 4, DishSponge, 2.073, 0.911, 1.032, 0, 0, 0, 68 [SEP] 5, DishSponge, -1.796, 0.041, 1.329, 0, 270, 0, 82 [SEP] 6, Spoon, 1.662, 0.226, 1.219, 0, 0, 0, 77 [SEP] 7, Spoon, 1.661, 0.460, 0.531, 0, 0, 0, 72 [SEP] 8, Pot, -1.874, 0.915, -1.415, 0, 0, 0, 68 [SEP] 9, Cup, 1.892, 1.004, -0.756, 0, 270, 0, 89 [SEP] 10, Cup, -0.106, 0.923, 1.202, 0, 0, 0, 76 [SEP] 11, Plate, 0.000, 0.924, 0.738, 0, 0, 0, 76 [SEP] 12, Tomato, 0.214, 0.980, 0.041, 0, 0, 0, 76 [SEP] 13, Bowl, 0.000, 0.924, 0.970, 0, 0, 0, 76 [SEP] 14, SaltShaker, 0.595, 0.667, -1.332, 0, 0, 0, 49 [SEP] 15, PepperShaker, -1.814, 0.907, -1.113, 0, 0, 0, 68 [SEP] 16, PepperShaker, -1.957, 1.658, -1.207, 0, 90, 0, 55 [SEP] 17, Bread, 1.986, 0.992, 1.333, 0, 0, 0, 68 [SEP] 18, Lettuce, -1.551, 0.988, -1.013, 0, 0, 0, 68 [SEP] 19, Lettuce, -0.320, 1.002, 0.041, 0, 0, 0, 76 [SEP] 20, Mug, -1.783, 0.834, 0.201, 0, 90, 0, 91 [SEP] 21, Apple, 1.892, 1.059, -0.599, 0, 270, 0, 89 [SEP] 22, Apple, -1.803, 1.522, 0.201, 0, 90, 0, 91 [SEP] 23, SoapBottle, 1.640, 0.915, 1.333, 0, 0, 0, 68 [SEP] 24, Cup, 0.170, 0.758, -1.490, 0, 0, 0, 92 [SEP] 25, Pot, 1.975, 0.938, 0.819, 0, 180, 0, 78 [SEP] 26, Fork, -0.175, 0.761, -1.435, 0, 0, 0, 92 [SEP] 27, Ladle, -0.213, 0.969, -0.190, 0, 0, 0, 76 [SEP] 28, Kettle, -1.841, 1.663, -1.056, 0, 90, 0, 55 [SEP] 29, Egg, -1.692, 0.620, 0.013, 0, 90, 0, 91 [SEP] 30, Plate, -1.197, 0.112, -1.487, 0, 0, 0, 80 [SEP] 31, Pan, 1.765, 0.938, 0.384, 0, 180, 0, 71 [SEP] 32, Lettuce, -0.320, 1.002, 0.970, 0, 0, 0, 76 [SEP] 33, Spatula, -1.990, 0.926, -0.914, 0, 180, 0, 68 [SEP] 34, Apple, -0.088, 0.813, -1.490, 0, 0, 0, 92 [SEP] 35, Knife, 1.653, 0.933, 0.103, 0, 270, 0, 68 [SEP] 36, SaltShaker, 0.000, 0.921, 1.202, 0, 0, 0, 76 [SEP] 37, PepperShaker, 0.321, 0.921, 0.273, 0, 0, 0, 76 [SEP] 38, CellPhone, -0.106, 0.923, -0.190, 0, 0, 0, 76 [SEP] 39, ButterKnife, 2.030, 0.911, -1.415, 0, 0, 0, 68 [SEP] 40, Bread, -0.106, 1.006, 0.273, 0, 0, 0, 76 [SEP] 41, Tomato, -1.663, 0.618, -0.175, 0, 90, 0, 91 [SEP] 42, Potato, 0.170, 0.784, -1.380, 0, 0, 0, 92 [SEP] 43, DishSponge, 1.661, 0.349, -0.020, 0, 0, 0, 64 [SEP] 44, Spoon, 1.764, 0.581, 0.531, 0, 0, 0, 72 [SEP] 45, Mug, 1.355, 0.955, -1.362, 0, 0, 0, 90 [SEP] 46, Bowl, -1.645, 1.467, 0.013, 0, 90, 0, 91 [SEP] 47, Cabinet, -0.495, 0.474, -1.149, 0, 0, 0, [SEP] 48, Window, -0.010, 1.582, -1.821, 0, 0, 0, [SEP] 49, Drawer, 0.805, 0.475, -1.159, 0, 0, 0, [SEP] 50, StoveBurner, 1.764, 0.902, 0.601, 0, 270, 0, [SEP] 51, Drawer, 1.5, 0.196, -0.019, 0, 0, 0, [SEP] 52, Drawer, 1.5, 0.629, -0.018, 0, 0, 0, [SEP] 53, Drawer, 1.5, 0.602, -0.019, 0, 270, 0, [SEP] 54, StoveBurner, 1.975, 0.902, 0.384, 0, 270, 0, [SEP] 55, Cabinet, -1.703, 2.022, -1.453, 0, 90, 0, [SEP] 56, Cabinet, 1.789, 2.019, -0.819, 0, 270, 0, [SEP] 57, Cabinet, 0.494, 0.474, -1.149, 0, 0, 0, [SEP] 58, Cabinet, 0.409, 0.475, 0.444, 0, 0, 0, [SEP] 59, Drawer, -0.696, 0.475, -1.159, 0, 0, 0, [SEP] 60, Drawer, 1.5, 0.140, 0.599, 0, 270, 0, [SEP] 61, Cabinet, 1.389, 0.474, -1.149, 0, 0, 0, [SEP] 62, Drawer, 1.5, 0.305, 0.600, 0, 0, 0, [SEP] 63, StoveBurner, 1.975, 0.902, 0.601, 0, 270, 0, [SEP] 64, Drawer, 1.5, 0.429, -0.019, 0, 0, 0, [SEP] 65, StoveBurner, 1.764, 0.902, 0.819, 0, 270, 0, [SEP] 66, Drawer, 1.5, 0.519, 1.220, 0, 0, 0, [SEP] 67, Cabinet, 1.705, 2.019, -1.449, 0, 0, 0, [SEP] 68, CounterTop, 0.002, 0.947, -1.513, 0, 0, 0, [SEP] 69, Drawer, 1.5, 0.629, 0.605, 0, 0, 0, [SEP] 70, Cabinet, -0.627, 2.019, -1.449, 0, 0, 0, [SEP] 71, StoveBurner, 1.764, 0.902, 0.384, 0, 270, 0, [SEP] 72, Drawer, 1.5, 0.538, 0.600, 0, 0, 0, [SEP] 73, Sink, 0.0, 0.893, -1.434, 0, 0, 0, [SEP] 74, Drawer, 1.5, 0.782, 1.220, 0, 270, 0, [SEP] 75, Window, 2.217, 1.565, -0.384, 0, 0, 0, [SEP] 76, CounterTop, -0.014, 0.961, 0.505, 0, 0, 0, [SEP] 77, Drawer, 1.5, 0.200, 1.220, 0, 0, 0, [SEP] 78, StoveBurner, 1.975, 0.902, 0.819, 0, 270, 0, [SEP] 79, Window, -3.240, 1.616, 2.693, 0, 270, 0, [SEP] 80, Cabinet, -1.389, 0.474, -1.149, 0, 0, 0, [SEP] 81, LightSwitch, -0.153, 1.291, 3.700, 0, 180, 0, [SEP] 82, GarbageCan, -1.796, 0.009, 1.330, 0, 270, 358.295, [SEP] 83, StoveKnob, 1.602, 0.917, 0.570, 0, 270, 180, [SEP] 84, StoveKnob, 1.602, 0.917, 0.625, 0, 270, 180, [SEP] 85, StoveKnob, 1.602, 0.917, 0.739, 0, 270, 180, [SEP] 86, StoveKnob, 1.602, 0.917, 0.680, 0, 270, 180, [SEP] 87, StoveKnob, 1.602, 0.917, 0.462, 0, 270, 180, [SEP] 88, StoveKnob, 1.602, 0.917, 0.517, 0, 270, 180, [SEP] 89, Microwave, 1.932, 0.899, -0.766, 0, 270, 0, [SEP] 90, CoffeeMachine, 1.355, 0.899, -1.596, 0, 0, 0, [SEP] 91, Fridge, -1.764, 0.0, 0.014, 0, 90, 0, [SEP] 92, SinkBasin, -0.014, 0.736, -1.435, 0, 0, 0, [SEP] 93, Toaster, 1.977, 0.900, -0.336, 0, 270, 0, [SEP] 94, Faucet, -0.020, 1.137, -1.605, 0, 270, 0, [SEP] 95, Chair, -9.354, 0.000, 1.242, 0, 180, 0, [SEP] 96, NorthWall, , , , , , , [SEP] 97, EastWall, , , , , , , [SEP] 98, SouthWall, , , , , , , [SEP] 99, WestWall, , , , , , , ", "output": ["STEP 1: move to the island in front of the sink | STEP 2: pick up a scoop from the island | STEP 3: move to the end of the counter to the left of the stove | STEP 4: put the scoop in the top drawer | STEP 5: move to the island in front of the sink behind you | STEP 6: pick up a scoop from the island | STEP 7: move to the end of the counter to the left of the stove | STEP 8: put the scoop in the top drawer | END"]} +{"id": "trial_T20190906_162633_239128-3", "input": "Put the spoons on the counter in the top left kitchen drawer. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.75, 0.900, 3.0, 0, 180, 0, [SEP] 1, Potato, -1.874, 0.935, -1.610, 0, 0, 0, 68 [SEP] 2, Potato, -1.648, 0.370, 0.013, 0, 90, 0, 91 [SEP] 3, Ladle, 0.214, 0.969, 0.970, 0, 0, 0, 76 [SEP] 4, DishSponge, 2.073, 0.911, 1.032, 0, 0, 0, 68 [SEP] 5, DishSponge, -1.796, 0.041, 1.329, 0, 270, 0, 82 [SEP] 6, Spoon, 1.662, 0.226, 1.219, 0, 0, 0, 77 [SEP] 7, Spoon, 1.661, 0.460, 0.531, 0, 0, 0, 72 [SEP] 8, Pot, -1.874, 0.915, -1.415, 0, 0, 0, 68 [SEP] 9, Cup, 1.892, 1.004, -0.756, 0, 270, 0, 89 [SEP] 10, Cup, -0.106, 0.923, 1.202, 0, 0, 0, 76 [SEP] 11, Plate, 0.000, 0.924, 0.738, 0, 0, 0, 76 [SEP] 12, Tomato, 0.214, 0.980, 0.041, 0, 0, 0, 76 [SEP] 13, Bowl, 0.000, 0.924, 0.970, 0, 0, 0, 76 [SEP] 14, SaltShaker, 0.595, 0.667, -1.332, 0, 0, 0, 49 [SEP] 15, PepperShaker, -1.814, 0.907, -1.113, 0, 0, 0, 68 [SEP] 16, PepperShaker, -1.957, 1.658, -1.207, 0, 90, 0, 55 [SEP] 17, Bread, 1.986, 0.992, 1.333, 0, 0, 0, 68 [SEP] 18, Lettuce, -1.551, 0.988, -1.013, 0, 0, 0, 68 [SEP] 19, Lettuce, -0.320, 1.002, 0.041, 0, 0, 0, 76 [SEP] 20, Mug, -1.783, 0.834, 0.201, 0, 90, 0, 91 [SEP] 21, Apple, 1.892, 1.059, -0.599, 0, 270, 0, 89 [SEP] 22, Apple, -1.803, 1.522, 0.201, 0, 90, 0, 91 [SEP] 23, SoapBottle, 1.640, 0.915, 1.333, 0, 0, 0, 68 [SEP] 24, Cup, 0.170, 0.758, -1.490, 0, 0, 0, 92 [SEP] 25, Pot, 1.975, 0.938, 0.819, 0, 180, 0, 78 [SEP] 26, Fork, -0.175, 0.761, -1.435, 0, 0, 0, 92 [SEP] 27, Ladle, -0.213, 0.969, -0.190, 0, 0, 0, 76 [SEP] 28, Kettle, -1.841, 1.663, -1.056, 0, 90, 0, 55 [SEP] 29, Egg, -1.692, 0.620, 0.013, 0, 90, 0, 91 [SEP] 30, Plate, -1.197, 0.112, -1.487, 0, 0, 0, 80 [SEP] 31, Pan, 1.765, 0.938, 0.384, 0, 180, 0, 71 [SEP] 32, Lettuce, -0.320, 1.002, 0.970, 0, 0, 0, 76 [SEP] 33, Spatula, -1.990, 0.926, -0.914, 0, 180, 0, 68 [SEP] 34, Apple, -0.088, 0.813, -1.490, 0, 0, 0, 92 [SEP] 35, Knife, 1.653, 0.933, 0.103, 0, 270, 0, 68 [SEP] 36, SaltShaker, 0.000, 0.921, 1.202, 0, 0, 0, 76 [SEP] 37, PepperShaker, 0.321, 0.921, 0.273, 0, 0, 0, 76 [SEP] 38, CellPhone, -0.106, 0.923, -0.190, 0, 0, 0, 76 [SEP] 39, ButterKnife, 2.030, 0.911, -1.415, 0, 0, 0, 68 [SEP] 40, Bread, -0.106, 1.006, 0.273, 0, 0, 0, 76 [SEP] 41, Tomato, -1.663, 0.618, -0.175, 0, 90, 0, 91 [SEP] 42, Potato, 0.170, 0.784, -1.380, 0, 0, 0, 92 [SEP] 43, DishSponge, 1.661, 0.349, -0.020, 0, 0, 0, 64 [SEP] 44, Spoon, 1.764, 0.581, 0.531, 0, 0, 0, 72 [SEP] 45, Mug, 1.355, 0.955, -1.362, 0, 0, 0, 90 [SEP] 46, Bowl, -1.645, 1.467, 0.013, 0, 90, 0, 91 [SEP] 47, Cabinet, -0.495, 0.474, -1.149, 0, 0, 0, [SEP] 48, Window, -0.010, 1.582, -1.821, 0, 0, 0, [SEP] 49, Drawer, 0.805, 0.475, -1.159, 0, 0, 0, [SEP] 50, StoveBurner, 1.764, 0.902, 0.601, 0, 270, 0, [SEP] 51, Drawer, 1.5, 0.196, -0.019, 0, 0, 0, [SEP] 52, Drawer, 1.5, 0.629, -0.018, 0, 0, 0, [SEP] 53, Drawer, 1.5, 0.602, -0.019, 0, 270, 0, [SEP] 54, StoveBurner, 1.975, 0.902, 0.384, 0, 270, 0, [SEP] 55, Cabinet, -1.703, 2.022, -1.453, 0, 90, 0, [SEP] 56, Cabinet, 1.789, 2.019, -0.819, 0, 270, 0, [SEP] 57, Cabinet, 0.494, 0.474, -1.149, 0, 0, 0, [SEP] 58, Cabinet, 0.409, 0.475, 0.444, 0, 0, 0, [SEP] 59, Drawer, -0.696, 0.475, -1.159, 0, 0, 0, [SEP] 60, Drawer, 1.5, 0.140, 0.599, 0, 270, 0, [SEP] 61, Cabinet, 1.389, 0.474, -1.149, 0, 0, 0, [SEP] 62, Drawer, 1.5, 0.305, 0.600, 0, 0, 0, [SEP] 63, StoveBurner, 1.975, 0.902, 0.601, 0, 270, 0, [SEP] 64, Drawer, 1.5, 0.429, -0.019, 0, 0, 0, [SEP] 65, StoveBurner, 1.764, 0.902, 0.819, 0, 270, 0, [SEP] 66, Drawer, 1.5, 0.519, 1.220, 0, 0, 0, [SEP] 67, Cabinet, 1.705, 2.019, -1.449, 0, 0, 0, [SEP] 68, CounterTop, 0.002, 0.947, -1.513, 0, 0, 0, [SEP] 69, Drawer, 1.5, 0.629, 0.605, 0, 0, 0, [SEP] 70, Cabinet, -0.627, 2.019, -1.449, 0, 0, 0, [SEP] 71, StoveBurner, 1.764, 0.902, 0.384, 0, 270, 0, [SEP] 72, Drawer, 1.5, 0.538, 0.600, 0, 0, 0, [SEP] 73, Sink, 0.0, 0.893, -1.434, 0, 0, 0, [SEP] 74, Drawer, 1.5, 0.782, 1.220, 0, 270, 0, [SEP] 75, Window, 2.217, 1.565, -0.384, 0, 0, 0, [SEP] 76, CounterTop, -0.014, 0.961, 0.505, 0, 0, 0, [SEP] 77, Drawer, 1.5, 0.200, 1.220, 0, 0, 0, [SEP] 78, StoveBurner, 1.975, 0.902, 0.819, 0, 270, 0, [SEP] 79, Window, -3.240, 1.616, 2.693, 0, 270, 0, [SEP] 80, Cabinet, -1.389, 0.474, -1.149, 0, 0, 0, [SEP] 81, LightSwitch, -0.153, 1.291, 3.700, 0, 180, 0, [SEP] 82, GarbageCan, -1.796, 0.009, 1.330, 0, 270, 358.295, [SEP] 83, StoveKnob, 1.602, 0.917, 0.570, 0, 270, 180, [SEP] 84, StoveKnob, 1.602, 0.917, 0.625, 0, 270, 180, [SEP] 85, StoveKnob, 1.602, 0.917, 0.739, 0, 270, 180, [SEP] 86, StoveKnob, 1.602, 0.917, 0.680, 0, 270, 180, [SEP] 87, StoveKnob, 1.602, 0.917, 0.462, 0, 270, 180, [SEP] 88, StoveKnob, 1.602, 0.917, 0.517, 0, 270, 180, [SEP] 89, Microwave, 1.932, 0.899, -0.766, 0, 270, 0, [SEP] 90, CoffeeMachine, 1.355, 0.899, -1.596, 0, 0, 0, [SEP] 91, Fridge, -1.764, 0.0, 0.014, 0, 90, 0, [SEP] 92, SinkBasin, -0.014, 0.736, -1.435, 0, 0, 0, [SEP] 93, Toaster, 1.977, 0.900, -0.336, 0, 270, 0, [SEP] 94, Faucet, -0.020, 1.137, -1.605, 0, 270, 0, [SEP] 95, Chair, -9.354, 0.000, 1.242, 0, 180, 0, [SEP] 96, NorthWall, , , , , , , [SEP] 97, EastWall, , , , , , , [SEP] 98, SouthWall, , , , , , , [SEP] 99, WestWall, , , , , , , ", "output": ["STEP 1: Turn left, walk forward, turn right, walk forward, stand at the end of the counter near the phone. | STEP 2: Pick up the spoon | STEP 3: Turn right, walk forward, turn left, walk forward, stand in front of the drawers at the end of the counter. | STEP 4: Open the top left drawer and put the spoon inside, then close the drawer. | STEP 5: Turn around and face the counter in front of the other spoon. | STEP 6: Pick up the spoon. | STEP 7: Turn around and face the drawers again. | STEP 8: Open the top left drawer again and place the spoon inside. | END"]} +{"id": "trial_T20190906_162633_239128-4", "input": "Put two measuring cups in a drawer. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.75, 0.900, 3.0, 0, 180, 0, [SEP] 1, Potato, -1.874, 0.935, -1.610, 0, 0, 0, 68 [SEP] 2, Potato, -1.648, 0.370, 0.013, 0, 90, 0, 91 [SEP] 3, Ladle, 0.214, 0.969, 0.970, 0, 0, 0, 76 [SEP] 4, DishSponge, 2.073, 0.911, 1.032, 0, 0, 0, 68 [SEP] 5, DishSponge, -1.796, 0.041, 1.329, 0, 270, 0, 82 [SEP] 6, Spoon, 1.662, 0.226, 1.219, 0, 0, 0, 77 [SEP] 7, Spoon, 1.661, 0.460, 0.531, 0, 0, 0, 72 [SEP] 8, Pot, -1.874, 0.915, -1.415, 0, 0, 0, 68 [SEP] 9, Cup, 1.892, 1.004, -0.756, 0, 270, 0, 89 [SEP] 10, Cup, -0.106, 0.923, 1.202, 0, 0, 0, 76 [SEP] 11, Plate, 0.000, 0.924, 0.738, 0, 0, 0, 76 [SEP] 12, Tomato, 0.214, 0.980, 0.041, 0, 0, 0, 76 [SEP] 13, Bowl, 0.000, 0.924, 0.970, 0, 0, 0, 76 [SEP] 14, SaltShaker, 0.595, 0.667, -1.332, 0, 0, 0, 49 [SEP] 15, PepperShaker, -1.814, 0.907, -1.113, 0, 0, 0, 68 [SEP] 16, PepperShaker, -1.957, 1.658, -1.207, 0, 90, 0, 55 [SEP] 17, Bread, 1.986, 0.992, 1.333, 0, 0, 0, 68 [SEP] 18, Lettuce, -1.551, 0.988, -1.013, 0, 0, 0, 68 [SEP] 19, Lettuce, -0.320, 1.002, 0.041, 0, 0, 0, 76 [SEP] 20, Mug, -1.783, 0.834, 0.201, 0, 90, 0, 91 [SEP] 21, Apple, 1.892, 1.059, -0.599, 0, 270, 0, 89 [SEP] 22, Apple, -1.803, 1.522, 0.201, 0, 90, 0, 91 [SEP] 23, SoapBottle, 1.640, 0.915, 1.333, 0, 0, 0, 68 [SEP] 24, Cup, 0.170, 0.758, -1.490, 0, 0, 0, 92 [SEP] 25, Pot, 1.975, 0.938, 0.819, 0, 180, 0, 78 [SEP] 26, Fork, -0.175, 0.761, -1.435, 0, 0, 0, 92 [SEP] 27, Ladle, -0.213, 0.969, -0.190, 0, 0, 0, 76 [SEP] 28, Kettle, -1.841, 1.663, -1.056, 0, 90, 0, 55 [SEP] 29, Egg, -1.692, 0.620, 0.013, 0, 90, 0, 91 [SEP] 30, Plate, -1.197, 0.112, -1.487, 0, 0, 0, 80 [SEP] 31, Pan, 1.765, 0.938, 0.384, 0, 180, 0, 71 [SEP] 32, Lettuce, -0.320, 1.002, 0.970, 0, 0, 0, 76 [SEP] 33, Spatula, -1.990, 0.926, -0.914, 0, 180, 0, 68 [SEP] 34, Apple, -0.088, 0.813, -1.490, 0, 0, 0, 92 [SEP] 35, Knife, 1.653, 0.933, 0.103, 0, 270, 0, 68 [SEP] 36, SaltShaker, 0.000, 0.921, 1.202, 0, 0, 0, 76 [SEP] 37, PepperShaker, 0.321, 0.921, 0.273, 0, 0, 0, 76 [SEP] 38, CellPhone, -0.106, 0.923, -0.190, 0, 0, 0, 76 [SEP] 39, ButterKnife, 2.030, 0.911, -1.415, 0, 0, 0, 68 [SEP] 40, Bread, -0.106, 1.006, 0.273, 0, 0, 0, 76 [SEP] 41, Tomato, -1.663, 0.618, -0.175, 0, 90, 0, 91 [SEP] 42, Potato, 0.170, 0.784, -1.380, 0, 0, 0, 92 [SEP] 43, DishSponge, 1.661, 0.349, -0.020, 0, 0, 0, 64 [SEP] 44, Spoon, 1.764, 0.581, 0.531, 0, 0, 0, 72 [SEP] 45, Mug, 1.355, 0.955, -1.362, 0, 0, 0, 90 [SEP] 46, Bowl, -1.645, 1.467, 0.013, 0, 90, 0, 91 [SEP] 47, Cabinet, -0.495, 0.474, -1.149, 0, 0, 0, [SEP] 48, Window, -0.010, 1.582, -1.821, 0, 0, 0, [SEP] 49, Drawer, 0.805, 0.475, -1.159, 0, 0, 0, [SEP] 50, StoveBurner, 1.764, 0.902, 0.601, 0, 270, 0, [SEP] 51, Drawer, 1.5, 0.196, -0.019, 0, 0, 0, [SEP] 52, Drawer, 1.5, 0.629, -0.018, 0, 0, 0, [SEP] 53, Drawer, 1.5, 0.602, -0.019, 0, 270, 0, [SEP] 54, StoveBurner, 1.975, 0.902, 0.384, 0, 270, 0, [SEP] 55, Cabinet, -1.703, 2.022, -1.453, 0, 90, 0, [SEP] 56, Cabinet, 1.789, 2.019, -0.819, 0, 270, 0, [SEP] 57, Cabinet, 0.494, 0.474, -1.149, 0, 0, 0, [SEP] 58, Cabinet, 0.409, 0.475, 0.444, 0, 0, 0, [SEP] 59, Drawer, -0.696, 0.475, -1.159, 0, 0, 0, [SEP] 60, Drawer, 1.5, 0.140, 0.599, 0, 270, 0, [SEP] 61, Cabinet, 1.389, 0.474, -1.149, 0, 0, 0, [SEP] 62, Drawer, 1.5, 0.305, 0.600, 0, 0, 0, [SEP] 63, StoveBurner, 1.975, 0.902, 0.601, 0, 270, 0, [SEP] 64, Drawer, 1.5, 0.429, -0.019, 0, 0, 0, [SEP] 65, StoveBurner, 1.764, 0.902, 0.819, 0, 270, 0, [SEP] 66, Drawer, 1.5, 0.519, 1.220, 0, 0, 0, [SEP] 67, Cabinet, 1.705, 2.019, -1.449, 0, 0, 0, [SEP] 68, CounterTop, 0.002, 0.947, -1.513, 0, 0, 0, [SEP] 69, Drawer, 1.5, 0.629, 0.605, 0, 0, 0, [SEP] 70, Cabinet, -0.627, 2.019, -1.449, 0, 0, 0, [SEP] 71, StoveBurner, 1.764, 0.902, 0.384, 0, 270, 0, [SEP] 72, Drawer, 1.5, 0.538, 0.600, 0, 0, 0, [SEP] 73, Sink, 0.0, 0.893, -1.434, 0, 0, 0, [SEP] 74, Drawer, 1.5, 0.782, 1.220, 0, 270, 0, [SEP] 75, Window, 2.217, 1.565, -0.384, 0, 0, 0, [SEP] 76, CounterTop, -0.014, 0.961, 0.505, 0, 0, 0, [SEP] 77, Drawer, 1.5, 0.200, 1.220, 0, 0, 0, [SEP] 78, StoveBurner, 1.975, 0.902, 0.819, 0, 270, 0, [SEP] 79, Window, -3.240, 1.616, 2.693, 0, 270, 0, [SEP] 80, Cabinet, -1.389, 0.474, -1.149, 0, 0, 0, [SEP] 81, LightSwitch, -0.153, 1.291, 3.700, 0, 180, 0, [SEP] 82, GarbageCan, -1.796, 0.009, 1.330, 0, 270, 358.295, [SEP] 83, StoveKnob, 1.602, 0.917, 0.570, 0, 270, 180, [SEP] 84, StoveKnob, 1.602, 0.917, 0.625, 0, 270, 180, [SEP] 85, StoveKnob, 1.602, 0.917, 0.739, 0, 270, 180, [SEP] 86, StoveKnob, 1.602, 0.917, 0.680, 0, 270, 180, [SEP] 87, StoveKnob, 1.602, 0.917, 0.462, 0, 270, 180, [SEP] 88, StoveKnob, 1.602, 0.917, 0.517, 0, 270, 180, [SEP] 89, Microwave, 1.932, 0.899, -0.766, 0, 270, 0, [SEP] 90, CoffeeMachine, 1.355, 0.899, -1.596, 0, 0, 0, [SEP] 91, Fridge, -1.764, 0.0, 0.014, 0, 90, 0, [SEP] 92, SinkBasin, -0.014, 0.736, -1.435, 0, 0, 0, [SEP] 93, Toaster, 1.977, 0.900, -0.336, 0, 270, 0, [SEP] 94, Faucet, -0.020, 1.137, -1.605, 0, 270, 0, [SEP] 95, Chair, -9.354, 0.000, 1.242, 0, 180, 0, [SEP] 96, NorthWall, , , , , , , [SEP] 97, EastWall, , , , , , , [SEP] 98, SouthWall, , , , , , , [SEP] 99, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and take a few steps, then walk right to the far side kitchen island by the sink. | STEP 2: Pick up the measuring spoon. | STEP 3: Walk to the right of the island and go to the furthest part of the counter. | STEP 4: Put the measuring cup in the top drawer. | STEP 5: Turn around and take a step. | STEP 6: Pick up the measuring cup on the counter. | STEP 7: Turn around and look at the same part of the counter as before. | STEP 8: Put this measuring cup in the same drawer as the other one. | END"]} +{"id": "trial_T20190906_162633_239128-5", "input": "Put all the gold spoons with blue handles in the bottom drawer to the left of the stove top. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.75, 0.900, 3.0, 0, 180, 0, [SEP] 1, Potato, -1.874, 0.935, -1.610, 0, 0, 0, 68 [SEP] 2, Potato, -1.648, 0.370, 0.013, 0, 90, 0, 91 [SEP] 3, Ladle, 0.214, 0.969, 0.970, 0, 0, 0, 76 [SEP] 4, DishSponge, 2.073, 0.911, 1.032, 0, 0, 0, 68 [SEP] 5, DishSponge, -1.796, 0.041, 1.329, 0, 270, 0, 82 [SEP] 6, Spoon, 1.662, 0.226, 1.219, 0, 0, 0, 77 [SEP] 7, Spoon, 1.661, 0.460, 0.531, 0, 0, 0, 72 [SEP] 8, Pot, -1.874, 0.915, -1.415, 0, 0, 0, 68 [SEP] 9, Cup, 1.892, 1.004, -0.756, 0, 270, 0, 89 [SEP] 10, Cup, -0.106, 0.923, 1.202, 0, 0, 0, 76 [SEP] 11, Plate, 0.000, 0.924, 0.738, 0, 0, 0, 76 [SEP] 12, Tomato, 0.214, 0.980, 0.041, 0, 0, 0, 76 [SEP] 13, Bowl, 0.000, 0.924, 0.970, 0, 0, 0, 76 [SEP] 14, SaltShaker, 0.595, 0.667, -1.332, 0, 0, 0, 49 [SEP] 15, PepperShaker, -1.814, 0.907, -1.113, 0, 0, 0, 68 [SEP] 16, PepperShaker, -1.957, 1.658, -1.207, 0, 90, 0, 55 [SEP] 17, Bread, 1.986, 0.992, 1.333, 0, 0, 0, 68 [SEP] 18, Lettuce, -1.551, 0.988, -1.013, 0, 0, 0, 68 [SEP] 19, Lettuce, -0.320, 1.002, 0.041, 0, 0, 0, 76 [SEP] 20, Mug, -1.783, 0.834, 0.201, 0, 90, 0, 91 [SEP] 21, Apple, 1.892, 1.059, -0.599, 0, 270, 0, 89 [SEP] 22, Apple, -1.803, 1.522, 0.201, 0, 90, 0, 91 [SEP] 23, SoapBottle, 1.640, 0.915, 1.333, 0, 0, 0, 68 [SEP] 24, Cup, 0.170, 0.758, -1.490, 0, 0, 0, 92 [SEP] 25, Pot, 1.975, 0.938, 0.819, 0, 180, 0, 78 [SEP] 26, Fork, -0.175, 0.761, -1.435, 0, 0, 0, 92 [SEP] 27, Ladle, -0.213, 0.969, -0.190, 0, 0, 0, 76 [SEP] 28, Kettle, -1.841, 1.663, -1.056, 0, 90, 0, 55 [SEP] 29, Egg, -1.692, 0.620, 0.013, 0, 90, 0, 91 [SEP] 30, Plate, -1.197, 0.112, -1.487, 0, 0, 0, 80 [SEP] 31, Pan, 1.765, 0.938, 0.384, 0, 180, 0, 71 [SEP] 32, Lettuce, -0.320, 1.002, 0.970, 0, 0, 0, 76 [SEP] 33, Spatula, -1.990, 0.926, -0.914, 0, 180, 0, 68 [SEP] 34, Apple, -0.088, 0.813, -1.490, 0, 0, 0, 92 [SEP] 35, Knife, 1.653, 0.933, 0.103, 0, 270, 0, 68 [SEP] 36, SaltShaker, 0.000, 0.921, 1.202, 0, 0, 0, 76 [SEP] 37, PepperShaker, 0.321, 0.921, 0.273, 0, 0, 0, 76 [SEP] 38, CellPhone, -0.106, 0.923, -0.190, 0, 0, 0, 76 [SEP] 39, ButterKnife, 2.030, 0.911, -1.415, 0, 0, 0, 68 [SEP] 40, Bread, -0.106, 1.006, 0.273, 0, 0, 0, 76 [SEP] 41, Tomato, -1.663, 0.618, -0.175, 0, 90, 0, 91 [SEP] 42, Potato, 0.170, 0.784, -1.380, 0, 0, 0, 92 [SEP] 43, DishSponge, 1.661, 0.349, -0.020, 0, 0, 0, 64 [SEP] 44, Spoon, 1.764, 0.581, 0.531, 0, 0, 0, 72 [SEP] 45, Mug, 1.355, 0.955, -1.362, 0, 0, 0, 90 [SEP] 46, Bowl, -1.645, 1.467, 0.013, 0, 90, 0, 91 [SEP] 47, Cabinet, -0.495, 0.474, -1.149, 0, 0, 0, [SEP] 48, Window, -0.010, 1.582, -1.821, 0, 0, 0, [SEP] 49, Drawer, 0.805, 0.475, -1.159, 0, 0, 0, [SEP] 50, StoveBurner, 1.764, 0.902, 0.601, 0, 270, 0, [SEP] 51, Drawer, 1.5, 0.196, -0.019, 0, 0, 0, [SEP] 52, Drawer, 1.5, 0.629, -0.018, 0, 0, 0, [SEP] 53, Drawer, 1.5, 0.602, -0.019, 0, 270, 0, [SEP] 54, StoveBurner, 1.975, 0.902, 0.384, 0, 270, 0, [SEP] 55, Cabinet, -1.703, 2.022, -1.453, 0, 90, 0, [SEP] 56, Cabinet, 1.789, 2.019, -0.819, 0, 270, 0, [SEP] 57, Cabinet, 0.494, 0.474, -1.149, 0, 0, 0, [SEP] 58, Cabinet, 0.409, 0.475, 0.444, 0, 0, 0, [SEP] 59, Drawer, -0.696, 0.475, -1.159, 0, 0, 0, [SEP] 60, Drawer, 1.5, 0.140, 0.599, 0, 270, 0, [SEP] 61, Cabinet, 1.389, 0.474, -1.149, 0, 0, 0, [SEP] 62, Drawer, 1.5, 0.305, 0.600, 0, 0, 0, [SEP] 63, StoveBurner, 1.975, 0.902, 0.601, 0, 270, 0, [SEP] 64, Drawer, 1.5, 0.429, -0.019, 0, 0, 0, [SEP] 65, StoveBurner, 1.764, 0.902, 0.819, 0, 270, 0, [SEP] 66, Drawer, 1.5, 0.519, 1.220, 0, 0, 0, [SEP] 67, Cabinet, 1.705, 2.019, -1.449, 0, 0, 0, [SEP] 68, CounterTop, 0.002, 0.947, -1.513, 0, 0, 0, [SEP] 69, Drawer, 1.5, 0.629, 0.605, 0, 0, 0, [SEP] 70, Cabinet, -0.627, 2.019, -1.449, 0, 0, 0, [SEP] 71, StoveBurner, 1.764, 0.902, 0.384, 0, 270, 0, [SEP] 72, Drawer, 1.5, 0.538, 0.600, 0, 0, 0, [SEP] 73, Sink, 0.0, 0.893, -1.434, 0, 0, 0, [SEP] 74, Drawer, 1.5, 0.782, 1.220, 0, 270, 0, [SEP] 75, Window, 2.217, 1.565, -0.384, 0, 0, 0, [SEP] 76, CounterTop, -0.014, 0.961, 0.505, 0, 0, 0, [SEP] 77, Drawer, 1.5, 0.200, 1.220, 0, 0, 0, [SEP] 78, StoveBurner, 1.975, 0.902, 0.819, 0, 270, 0, [SEP] 79, Window, -3.240, 1.616, 2.693, 0, 270, 0, [SEP] 80, Cabinet, -1.389, 0.474, -1.149, 0, 0, 0, [SEP] 81, LightSwitch, -0.153, 1.291, 3.700, 0, 180, 0, [SEP] 82, GarbageCan, -1.796, 0.009, 1.330, 0, 270, 358.295, [SEP] 83, StoveKnob, 1.602, 0.917, 0.570, 0, 270, 180, [SEP] 84, StoveKnob, 1.602, 0.917, 0.625, 0, 270, 180, [SEP] 85, StoveKnob, 1.602, 0.917, 0.739, 0, 270, 180, [SEP] 86, StoveKnob, 1.602, 0.917, 0.680, 0, 270, 180, [SEP] 87, StoveKnob, 1.602, 0.917, 0.462, 0, 270, 180, [SEP] 88, StoveKnob, 1.602, 0.917, 0.517, 0, 270, 180, [SEP] 89, Microwave, 1.932, 0.899, -0.766, 0, 270, 0, [SEP] 90, CoffeeMachine, 1.355, 0.899, -1.596, 0, 0, 0, [SEP] 91, Fridge, -1.764, 0.0, 0.014, 0, 90, 0, [SEP] 92, SinkBasin, -0.014, 0.736, -1.435, 0, 0, 0, [SEP] 93, Toaster, 1.977, 0.900, -0.336, 0, 270, 0, [SEP] 94, Faucet, -0.020, 1.137, -1.605, 0, 270, 0, [SEP] 95, Chair, -9.354, 0.000, 1.242, 0, 180, 0, [SEP] 96, NorthWall, , , , , , , [SEP] 97, EastWall, , , , , , , [SEP] 98, SouthWall, , , , , , , [SEP] 99, WestWall, , , , , , , ", "output": ["STEP 1: Turn the left, walk straight, turn right, walk to the sink, then turn around to the island counter. | STEP 2: Pick up the gold spoon spoon with blue handle. | STEP 3: Walk right, then turn left and walks to the counter to the left of the stove top. | STEP 4: Put the spoon in the drawer below the counter. | STEP 5: Turn around and face the island counter. | STEP 6: Pick up the gold spoon spoon with blue handle. | STEP 7: Turn around and face the counter to the left of the stove top. | STEP 8: Put the spoon in the drawer below the counter. | END"]} +{"id": "trial_T20190909_125044_751686-0", "input": "Slice lettuce, chill, remove, and place in the green container. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.0, 0.900, 1.5, 0, 180, 0, [SEP] 1, Potato, 0.457, 0.942, -2.169, 0, 0, 0, 61 [SEP] 2, Potato, -0.064, 0.793, -2.026, 0, 0, 0, 73 [SEP] 3, DishSponge, 1.909, 1.657, -1.673, 0, 270, 0, 51 [SEP] 4, ButterKnife, -0.772, 0.913, -2.101, 0, 0, 0, 61 [SEP] 5, Pot, 0.180, 0.928, 0.762, 0, 90, 0, 78 [SEP] 6, Spoon, 0.294, 0.928, 0.534, 0, 0, 0, 78 [SEP] 7, Fork, 1.738, 0.914, -1.095, 0, 270, 0, 61 [SEP] 8, Fork, 0.235, 0.914, -1.737, 0, 0, 0, 61 [SEP] 9, Egg, 1.871, 0.140, 0.283, 0, 0, 0, 62 [SEP] 10, Egg, -1.610, 0.913, -1.013, 0, 90, 0, 69 [SEP] 11, Tomato, 1.828, 0.965, -1.095, 0, 0, 0, 61 [SEP] 12, Tomato, -1.380, 1.235, -1.013, 0, 90, 0, 69 [SEP] 13, Bowl, 1.850, 0.910, -1.918, 0, 0, 0, 61 [SEP] 14, Bowl, 1.919, 0.910, -1.329, 0, 0, 0, 61 [SEP] 15, SaltShaker, 1.153, 0.909, -1.751, 0, 0, 0, 61 [SEP] 16, PepperShaker, 0.180, 0.923, 0.534, 0, 0, 0, 78 [SEP] 17, Mug, 1.261, 0.951, -1.934, 0, 0, 0, 71 [SEP] 18, Mug, 1.462, 0.548, 2.431, 0, 0, 0, 87 [SEP] 19, Apple, -1.380, 1.254, -0.599, 0, 90, 0, 69 [SEP] 20, Potato, 1.919, 0.942, -1.563, 0, 0, 0, 61 [SEP] 21, Bowl, -0.160, 0.927, 0.305, 0, 0, 0, 78 [SEP] 22, SoapBottle, 0.522, 0.925, 0.762, 0, 0, 0, 78 [SEP] 23, Fork, 0.522, 0.927, 0.534, 0, 0, 0, 78 [SEP] 24, Ladle, 0.180, 0.975, 1.220, 0, 0, 0, 78 [SEP] 25, Bread, 0.399, 0.964, 0.110, 0, 0, 358.278, 78 [SEP] 26, Lettuce, -0.160, 1.008, 1.448, 0, 0, 0, 78 [SEP] 27, WineBottle, -1.116, 0.127, -1.426, 0, 90, 0, 56 [SEP] 28, Spatula, 0.294, 0.928, 0.076, 0, 0, 0, 78 [SEP] 29, Plate, 0.481, 0.923, 1.077, 0, 0, 0, 78 [SEP] 30, SaltShaker, -0.616, 0.909, -2.134, 0, 0, 0, 61 [SEP] 31, Pot, 1.567, 0.948, -0.757, 0, 0, 0, 43 [SEP] 32, Cup, 0.066, 0.930, 1.448, 0, 0, 0, 78 [SEP] 33, PepperShaker, -0.984, 0.122, -1.463, 0, 90, 0, 54 [SEP] 34, Pan, 1.824, 0.945, -0.346, 0, 0, 0, 42 [SEP] 35, ButterKnife, 1.618, 0.913, -2.002, 0, 0, 0, 61 [SEP] 36, Tomato, -1.438, 1.235, -0.806, 0, 90, 0, 69 [SEP] 37, DishSponge, -0.047, 0.930, 0.762, 0, 0, 0, 78 [SEP] 38, Egg, -0.283, 0.818, -1.936, 0, 0, 0, 73 [SEP] 39, Spoon, -0.047, 0.928, 1.220, 0, 0, 0, 78 [SEP] 40, Knife, 0.294, 0.950, 1.220, 0, 0, 0, 78 [SEP] 41, Mug, -0.210, 0.759, -2.026, 0, 180, 0, 73 [SEP] 42, StoveBurner, 1.845, 0.940, -0.355, 0, 0, 0, [SEP] 43, StoveBurner, 1.567, 0.940, -0.757, 0, 0, 0, [SEP] 44, Cabinet, -1.149, 2.019, -1.979, 0, 90, 0, [SEP] 45, Cabinet, -1.149, 2.265, -0.834, 0, 90, 0, [SEP] 46, Cabinet, -0.459, 2.265, -2.0, 0, 0, 0, [SEP] 47, Cabinet, -1.100, 2.019, -2.0, 0, 0, 0, [SEP] 48, Cabinet, 1.719, 2.019, -2.0, 0, 0, 0, [SEP] 49, Cabinet, 1.179, 2.019, -2.0, 0, 0, 0, [SEP] 50, Cabinet, 0.199, 2.019, -2.0, 0, 0, 0, [SEP] 51, Cabinet, 1.75, 2.019, -1.399, 0, 270, 0, [SEP] 52, Cabinet, 1.75, 2.019, -1.029, 0, 270, 0, [SEP] 53, Cabinet, 1.379, 0.469, -1.689, 0, 0, 0, [SEP] 54, Cabinet, -0.819, 0.469, -1.689, 0, 0, 0, [SEP] 55, Cabinet, 1.389, 0.469, -1.059, 0, 270, 0, [SEP] 56, Cabinet, -0.839, 0.469, -1.665, 0, 90, 0, [SEP] 57, StoveBurner, 1.567, 0.940, -0.355, 0, 0, 0, [SEP] 58, StoveBurner, 1.845, 0.940, -0.757, 0, 0, 0, [SEP] 59, Sink, -0.109, 0.893, -2.009, 0, 0, 0, [SEP] 60, Drawer, -0.819, 0.75, -1.690, 0, 0, 0, [SEP] 61, CounterTop, 0.232, 0.949, -2.002, 0, 0, 0, [SEP] 62, GarbageCan, 1.855, -0.034, 0.141, 0, 358.959, 0, [SEP] 63, Vase, 0.251, 0.546, 0.475, 0, 270, 0, [SEP] 64, Toaster, 0.780, 0.900, -2.080, 0, 0, 0, [SEP] 65, LightSwitch, 0.108, 1.315, 2.75, 0, 180, 0, [SEP] 66, Vase, 0.400, 0.925, 0.218, 0, 180, 0, [SEP] 67, Microwave, -1.233, 0.900, -1.680, 0, 90, 0, [SEP] 68, Vase, 1.465, 1.662, -2.200, 0, 0, 0, [SEP] 69, Fridge, -1.495, 0.0, -0.703, 0, 0, 0, [SEP] 70, Window, 2.114, 1.495, 1.072, 90, 270, 0, [SEP] 71, CoffeeMachine, 1.374, 0.899, -2.112, 0, 0, 0, [SEP] 72, Vase, 0.333, 0.546, 1.272, 0, 270, 0, [SEP] 73, SinkBasin, -0.148, 0.753, -2.026, 0, 0, 0, [SEP] 74, StoveKnob, 2.037, 1.089, -0.405, 0, 0, 74.477, [SEP] 75, StoveKnob, 2.037, 1.089, -0.251, 0, 0, 74.477, [SEP] 76, StoveKnob, 2.037, 1.089, -0.649, 0, 0, 74.477, [SEP] 77, StoveKnob, 2.037, 1.089, -0.814, 0, 0, 74.477, [SEP] 78, DiningTable, 0.170, 0.005, 0.678, 0, 270, 0, [SEP] 79, Shelf, 0.170, 0.155, 0.678, 0, 270, 0, [SEP] 80, Shelf, 1.605, 0.172, 2.480, 0, 0, 0, [SEP] 81, Shelf, 1.605, 0.552, 2.480, 0, 0, 0, [SEP] 82, Shelf, 1.604, 0.880, 2.479, 0, 0, 0, [SEP] 83, ShelvingUnit, 1.605, 0.006, 2.480, 0, 0, 0, [SEP] 84, Faucet, -0.143, 1.028, -2.223, 0, 270, 0, [SEP] 85, Stool, -0.553, 0.000, 0.871, 1.233, 280.376, 0, [SEP] 86, Shelf, 0.170, 0.528, 0.678, 0, 270, 0, [SEP] 87, , , , , , , , [SEP] 88, NorthWall, , , , , , , [SEP] 89, EastWall, , , , , , , [SEP] 90, SouthWall, , , , , , , [SEP] 91, WestWall, , , , , , , ", "output": ["STEP 1: Torn around towards the island. | STEP 2: Pick up the knife next to the right of large scoop on the island. | STEP 3: Move to your right around the island to the left side of the stool. | STEP 4: Slice the head of lettuce on the island . | STEP 5: Move around the stool to your right. | STEP 6: Place the knife on the island beside the lettuce. | STEP 7: Move back around the stool to your left. | STEP 8: Pick up a slice of lettuce on the counter. | STEP 9: Turn to your right and go to the refrigerator. | STEP 10: Put the slice of lettuce on the second shelf below the tomatoes, let chill, remove, and close refrigerator. | STEP 11: Turn around and go to the green container to the left of the stove. | STEP 12: Place the lettuce into the container. | END"]} +{"id": "trial_T20190909_125044_751686-2", "input": "TO cool a lettuce slice and place it in the trash can. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.0, 0.900, 1.5, 0, 180, 0, [SEP] 1, Potato, 0.457, 0.942, -2.169, 0, 0, 0, 61 [SEP] 2, Potato, -0.064, 0.793, -2.026, 0, 0, 0, 73 [SEP] 3, DishSponge, 1.909, 1.657, -1.673, 0, 270, 0, 51 [SEP] 4, ButterKnife, -0.772, 0.913, -2.101, 0, 0, 0, 61 [SEP] 5, Pot, 0.180, 0.928, 0.762, 0, 90, 0, 78 [SEP] 6, Spoon, 0.294, 0.928, 0.534, 0, 0, 0, 78 [SEP] 7, Fork, 1.738, 0.914, -1.095, 0, 270, 0, 61 [SEP] 8, Fork, 0.235, 0.914, -1.737, 0, 0, 0, 61 [SEP] 9, Egg, 1.871, 0.140, 0.283, 0, 0, 0, 62 [SEP] 10, Egg, -1.610, 0.913, -1.013, 0, 90, 0, 69 [SEP] 11, Tomato, 1.828, 0.965, -1.095, 0, 0, 0, 61 [SEP] 12, Tomato, -1.380, 1.235, -1.013, 0, 90, 0, 69 [SEP] 13, Bowl, 1.850, 0.910, -1.918, 0, 0, 0, 61 [SEP] 14, Bowl, 1.919, 0.910, -1.329, 0, 0, 0, 61 [SEP] 15, SaltShaker, 1.153, 0.909, -1.751, 0, 0, 0, 61 [SEP] 16, PepperShaker, 0.180, 0.923, 0.534, 0, 0, 0, 78 [SEP] 17, Mug, 1.261, 0.951, -1.934, 0, 0, 0, 71 [SEP] 18, Mug, 1.462, 0.548, 2.431, 0, 0, 0, 87 [SEP] 19, Apple, -1.380, 1.254, -0.599, 0, 90, 0, 69 [SEP] 20, Potato, 1.919, 0.942, -1.563, 0, 0, 0, 61 [SEP] 21, Bowl, -0.160, 0.927, 0.305, 0, 0, 0, 78 [SEP] 22, SoapBottle, 0.522, 0.925, 0.762, 0, 0, 0, 78 [SEP] 23, Fork, 0.522, 0.927, 0.534, 0, 0, 0, 78 [SEP] 24, Ladle, 0.180, 0.975, 1.220, 0, 0, 0, 78 [SEP] 25, Bread, 0.399, 0.964, 0.110, 0, 0, 358.278, 78 [SEP] 26, Lettuce, -0.160, 1.008, 1.448, 0, 0, 0, 78 [SEP] 27, WineBottle, -1.116, 0.127, -1.426, 0, 90, 0, 56 [SEP] 28, Spatula, 0.294, 0.928, 0.076, 0, 0, 0, 78 [SEP] 29, Plate, 0.481, 0.923, 1.077, 0, 0, 0, 78 [SEP] 30, SaltShaker, -0.616, 0.909, -2.134, 0, 0, 0, 61 [SEP] 31, Pot, 1.567, 0.948, -0.757, 0, 0, 0, 43 [SEP] 32, Cup, 0.066, 0.930, 1.448, 0, 0, 0, 78 [SEP] 33, PepperShaker, -0.984, 0.122, -1.463, 0, 90, 0, 54 [SEP] 34, Pan, 1.824, 0.945, -0.346, 0, 0, 0, 42 [SEP] 35, ButterKnife, 1.618, 0.913, -2.002, 0, 0, 0, 61 [SEP] 36, Tomato, -1.438, 1.235, -0.806, 0, 90, 0, 69 [SEP] 37, DishSponge, -0.047, 0.930, 0.762, 0, 0, 0, 78 [SEP] 38, Egg, -0.283, 0.818, -1.936, 0, 0, 0, 73 [SEP] 39, Spoon, -0.047, 0.928, 1.220, 0, 0, 0, 78 [SEP] 40, Knife, 0.294, 0.950, 1.220, 0, 0, 0, 78 [SEP] 41, Mug, -0.210, 0.759, -2.026, 0, 180, 0, 73 [SEP] 42, StoveBurner, 1.845, 0.940, -0.355, 0, 0, 0, [SEP] 43, StoveBurner, 1.567, 0.940, -0.757, 0, 0, 0, [SEP] 44, Cabinet, -1.149, 2.019, -1.979, 0, 90, 0, [SEP] 45, Cabinet, -1.149, 2.265, -0.834, 0, 90, 0, [SEP] 46, Cabinet, -0.459, 2.265, -2.0, 0, 0, 0, [SEP] 47, Cabinet, -1.100, 2.019, -2.0, 0, 0, 0, [SEP] 48, Cabinet, 1.719, 2.019, -2.0, 0, 0, 0, [SEP] 49, Cabinet, 1.179, 2.019, -2.0, 0, 0, 0, [SEP] 50, Cabinet, 0.199, 2.019, -2.0, 0, 0, 0, [SEP] 51, Cabinet, 1.75, 2.019, -1.399, 0, 270, 0, [SEP] 52, Cabinet, 1.75, 2.019, -1.029, 0, 270, 0, [SEP] 53, Cabinet, 1.379, 0.469, -1.689, 0, 0, 0, [SEP] 54, Cabinet, -0.819, 0.469, -1.689, 0, 0, 0, [SEP] 55, Cabinet, 1.389, 0.469, -1.059, 0, 270, 0, [SEP] 56, Cabinet, -0.839, 0.469, -1.665, 0, 90, 0, [SEP] 57, StoveBurner, 1.567, 0.940, -0.355, 0, 0, 0, [SEP] 58, StoveBurner, 1.845, 0.940, -0.757, 0, 0, 0, [SEP] 59, Sink, -0.109, 0.893, -2.009, 0, 0, 0, [SEP] 60, Drawer, -0.819, 0.75, -1.690, 0, 0, 0, [SEP] 61, CounterTop, 0.232, 0.949, -2.002, 0, 0, 0, [SEP] 62, GarbageCan, 1.855, -0.034, 0.141, 0, 358.959, 0, [SEP] 63, Vase, 0.251, 0.546, 0.475, 0, 270, 0, [SEP] 64, Toaster, 0.780, 0.900, -2.080, 0, 0, 0, [SEP] 65, LightSwitch, 0.108, 1.315, 2.75, 0, 180, 0, [SEP] 66, Vase, 0.400, 0.925, 0.218, 0, 180, 0, [SEP] 67, Microwave, -1.233, 0.900, -1.680, 0, 90, 0, [SEP] 68, Vase, 1.465, 1.662, -2.200, 0, 0, 0, [SEP] 69, Fridge, -1.495, 0.0, -0.703, 0, 0, 0, [SEP] 70, Window, 2.114, 1.495, 1.072, 90, 270, 0, [SEP] 71, CoffeeMachine, 1.374, 0.899, -2.112, 0, 0, 0, [SEP] 72, Vase, 0.333, 0.546, 1.272, 0, 270, 0, [SEP] 73, SinkBasin, -0.148, 0.753, -2.026, 0, 0, 0, [SEP] 74, StoveKnob, 2.037, 1.089, -0.405, 0, 0, 74.477, [SEP] 75, StoveKnob, 2.037, 1.089, -0.251, 0, 0, 74.477, [SEP] 76, StoveKnob, 2.037, 1.089, -0.649, 0, 0, 74.477, [SEP] 77, StoveKnob, 2.037, 1.089, -0.814, 0, 0, 74.477, [SEP] 78, DiningTable, 0.170, 0.005, 0.678, 0, 270, 0, [SEP] 79, Shelf, 0.170, 0.155, 0.678, 0, 270, 0, [SEP] 80, Shelf, 1.605, 0.172, 2.480, 0, 0, 0, [SEP] 81, Shelf, 1.605, 0.552, 2.480, 0, 0, 0, [SEP] 82, Shelf, 1.604, 0.880, 2.479, 0, 0, 0, [SEP] 83, ShelvingUnit, 1.605, 0.006, 2.480, 0, 0, 0, [SEP] 84, Faucet, -0.143, 1.028, -2.223, 0, 270, 0, [SEP] 85, Stool, -0.553, 0.000, 0.871, 1.233, 280.376, 0, [SEP] 86, Shelf, 0.170, 0.528, 0.678, 0, 270, 0, [SEP] 87, , , , , , , , [SEP] 88, NorthWall, , , , , , , [SEP] 89, EastWall, , , , , , , [SEP] 90, SouthWall, , , , , , , [SEP] 91, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and walk around to face the opposite side of the center table. | STEP 2: Pick up the knife on the center table. | STEP 3: Look down to face the lettuce on the center table. | STEP 4: Cut the lettuce on the center table into slices. | STEP 5: Take a step to the right to face the center table. | STEP 6: Place the knife on the center table. | STEP 7: Take a step to the left to face the lettuce on the center table. | STEP 8: Pick up a slice of lettuce on the center table. | STEP 9: Turn right and walk to the fridge and turn right to face it. | STEP 10: Cool the lettuce slice in the fridge and remove it. | STEP 11: Turn around and cross the room to face the trash can. | STEP 12: Place the lettuce slice in the trash can. | END"]} +{"id": "trial_T20190908_102945_740809-1", "input": "Put washed soap on the toilet tank lid. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.902, 2.5, 0, 270, 0, [SEP] 1, Candle, 0.645, 0.489, 2.318, 0, 0, 0, 25 [SEP] 2, Candle, 0.432, 0.740, 1.297, 0, 0, 0, 20 [SEP] 3, SprayBottle, -2.493, 1.047, 1.822, 0, 90, 0, 36 [SEP] 4, HandTowel, 1.033, 1.671, 3.127, 0, 90, 0, 33 [SEP] 5, Towel, 0.474, 1.182, 0.134, 0, 0, 0, 29 [SEP] 6, SoapBar, -2.524, 1.046, 1.428, 0, 90, 0, 36 [SEP] 7, ToiletPaper, 0.884, 0.738, 1.225, 0, 0, 0, 20 [SEP] 8, SoapBottle, 0.404, 0.742, 1.840, 0, 0, 0, 20 [SEP] 9, ToiletPaper, -2.603, 1.039, 1.514, 1.051, 0, 358.832, 36 [SEP] 10, ScrubBrush, -2.557, 0.001, 2.200, 0, 0, 0, [SEP] 11, Plunger, -2.568, 0.000, 1.992, 0, 0, 0, [SEP] 12, Cloth, 0.604, 0.254, 2.625, 0, 0, 0, 21 [SEP] 13, Candle, -2.616, 1.044, 1.756, 0, 90, 0, 36 [SEP] 14, SprayBottle, -2.493, 1.047, 1.625, 0, 90, 0, 36 [SEP] 15, Window, -2.808, 0.962, 0.514, 0, 0, 0, [SEP] 16, Bathtub, -1.062, 0.300, 0.427, 0, 0, 0, [SEP] 17, Drawer, 0.409, 0.551, 1.486, 0, 0, 0, [SEP] 18, Mirror, 0.986, 1.676, 1.896, 0, 0, 0, [SEP] 19, ShowerDoor, -2.671, 1.001, 2.797, 0, 0, 0, [SEP] 20, CounterTop, 0.732, 0.697, 1.955, 0, 0, 0, [SEP] 21, Drawer, 0.409, 0.314, 2.420, 0, 0, 0, [SEP] 22, ShowerGlass, -1.713, 1.276, 3.298, 0, 0, 0, [SEP] 23, CounterTop, -0.298, 0.157, 0.531, 0, 0, 0, [SEP] 24, Sink, 0.812, 0.703, 1.920, 0, 270, 0, [SEP] 25, Drawer, 0.409, 0.551, 2.420, 0, 0, 0, [SEP] 26, Window, -0.957, 1.563, -0.059, 0, 0, 0, [SEP] 27, Drawer, 0.409, 0.314, 1.486, 0, 0, 0, [SEP] 28, TowelHolder, 1.038, 1.179, 0.495, 0, 270, 0, [SEP] 29, TowelHolder, 0.474, 1.168, 0.027, 0, 0, 0, [SEP] 30, ToiletPaperHanger, -2.695, 0.929, 1.200, 0, 90, 0, [SEP] 31, SinkBasin, 0.720, 0.812, 1.896, 349.201, 270, 0, [SEP] 32, BathtubBasin, -0.721, 0.171, 0.479, 0, 0, 0, [SEP] 33, HandTowelHolder, 1.071, 1.773, 3.127, 0, 180, 0, [SEP] 34, LightSwitch, 0.220, 1.416, 3.998, 0, 180, 0, [SEP] 35, GarbageCan, 0.713, -0.028, 3.110, 0, 0, 0, [SEP] 36, Toilet, -2.232, 0.001, 1.628, 0, 180, 0, [SEP] 37, ShowerHead, -2.619, 1.819, 3.361, 0, 270, 0, [SEP] 38, Faucet, 1.047, 1.036, 1.921, 0, 0, 0, [SEP] 39, Faucet, 0.318, 0.631, 0.479, 0, 0, 0, [SEP] 40, NorthWall, , , , , , , [SEP] 41, EastWall, , , , , , , [SEP] 42, SouthWall, , , , , , , [SEP] 43, WestWall, , , , , , , ", "output": ["STEP 1: Move to the toilet on the left. | STEP 2: Pick up the soap on the toilet tank lid. | STEP 3: Turn around, bring the soap to the sink. | STEP 4: Wash the soap in the sink with water. | STEP 5: Turn around, bring the soap back to the toilet. | STEP 6: Put the soap back on the toilet tank lid. | END"]} +{"id": "trial_T20190909_005335_070230-2", "input": "Chill an egg in the fridge. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.901, -1.5, 0, 180, 0, [SEP] 1, Pan, -0.447, 0.912, -3.729, 0, 0, 0, 39 [SEP] 2, ButterKnife, -2.439, 0.713, -0.433, 0, 270, 0, 83 [SEP] 3, Spatula, -2.740, 0.731, -0.069, 0, 0, 0, 83 [SEP] 4, Spoon, -0.530, 0.748, -1.563, 0, 90, 0, 62 [SEP] 5, Egg, -0.220, 1.048, -0.802, 0, 270, 0, 76 [SEP] 6, Egg, -0.189, 1.048, -0.950, 0, 270, 0, 76 [SEP] 7, Plate, -3.393, 0.911, -3.327, 0, 0, 0, 39 [SEP] 8, Bowl, -1.523, 0.080, -3.634, 0, 0, 0, 55 [SEP] 9, Bowl, -0.374, 0.078, -1.337, 0, 0, 0, 44 [SEP] 10, SaltShaker, -3.176, 1.864, -2.334, 0, 0, 0, 48 [SEP] 11, SaltShaker, -3.292, 0.713, -0.370, 0, 270, 0, 83 [SEP] 12, PepperShaker, -3.288, 1.288, -3.108, 0, 0, 0, 51 [SEP] 13, PepperShaker, -0.419, 0.912, -0.524, 0, 0, 0, 66 [SEP] 14, Lettuce, -0.160, 1.001, -2.911, 0, 0, 0, 39 [SEP] 15, Lettuce, -2.576, 0.801, -0.608, 0, 135, 0, 83 [SEP] 16, Bread, -2.928, 0.754, -0.638, 0, 0, 0, 83 [SEP] 17, Apple, -0.500, 0.958, -1.493, 0, 0, 0, 66 [SEP] 18, Pot, -2.836, 0.903, -3.745, 0, 92.628, 0, 39 [SEP] 19, Egg, -0.344, 0.115, 0.012, 0, 270, 0, 78 [SEP] 20, Cup, -0.128, 1.868, -1.888, 0, 0, 0, 57 [SEP] 21, Bread, -2.664, 0.754, -0.294, 0, 225, 0, 83 [SEP] 22, Fork, -1.638, 0.791, -3.790, 0, 90, 0, 81 [SEP] 23, Pan, -0.376, 0.975, -2.031, 0, 180, 0, 68 [SEP] 24, Potato, -1.058, 0.957, -3.952, 0, 0, 0, 39 [SEP] 25, Lettuce, -3.130, 1.486, -2.002, 0, 90, 0, 80 [SEP] 26, Tomato, -2.270, 0.963, -3.878, 0, 0, 0, 39 [SEP] 27, Apple, -3.027, 0.683, -2.187, 0, 90, 0, 80 [SEP] 28, SoapBottle, -0.338, 0.915, -0.542, 0, 0, 0, 66 [SEP] 29, Spatula, -1.914, 0.805, -3.832, 0, 90, 0, 81 [SEP] 30, SaltShaker, -0.382, 0.743, -1.331, 0, 0, 0, 62 [SEP] 31, Knife, -0.352, 0.778, -1.563, 0, 90, 0, 62 [SEP] 32, PepperShaker, -3.150, 0.710, -0.495, 0, 270, 0, 83 [SEP] 33, ButterKnife, -2.519, 0.713, -0.753, 0, 135, 0, 83 [SEP] 34, Plate, -3.226, 1.866, -2.566, 0, 0, 0, 48 [SEP] 35, DishSponge, -0.253, 0.079, -0.115, 0, 270, 0, 78 [SEP] 36, Spoon, -0.530, 0.747, -2.968, 0, 90, 0, 69 [SEP] 37, Mug, -2.930, 0.762, -0.358, 0, 135, 0, 79 [SEP] 38, Bowl, -2.652, 0.711, -0.886, 0, 135, 0, 83 [SEP] 39, CounterTop, -1.789, 0.949, -3.803, 0, 0, 0, [SEP] 40, Cabinet, -0.577, 0.388, -3.476, 0, 0, 0, [SEP] 41, Cabinet, -0.605, 0.388, -3.511, 0, 0, 0, [SEP] 42, Cabinet, -2.976, 0.388, -3.201, 0, 0, 0, [SEP] 43, Cabinet, -0.577, 0.388, -0.447, 0, 0, 0, [SEP] 44, Cabinet, -0.577, 0.388, -1.725, 0, 0, 0, [SEP] 45, Cabinet, -0.226, 1.803, -1.743, 0, 0, 0, [SEP] 46, Cabinet, -0.228, 1.799, -0.447, 0, 0, 0, [SEP] 47, Cabinet, -6.010, 1.139, -6.019, 0, 0, 0, [SEP] 48, Cabinet, -3.022, 2.098, -2.681, 0, 0, 0, [SEP] 49, Cabinet, -3.022, 2.098, -1.743, 0, 0, 0, [SEP] 50, Cabinet, -0.577, 0.388, -2.736, 0, 0, 0, [SEP] 51, Cabinet, -3.232, 1.803, -3.343, 0, 0, 0, [SEP] 52, Cabinet, -2.811, 1.810, -3.764, 0, 0, 0, [SEP] 53, Cabinet, -1.233, 1.810, -3.764, 0, 0, 0, [SEP] 54, Cabinet, -1.364, 0.388, -3.511, 0, 0, 0, [SEP] 55, Cabinet, -1.380, 0.388, -3.511, 0, 0, 0, [SEP] 56, Cabinet, -0.226, 1.803, -2.725, 0, 0, 0, [SEP] 57, Cabinet, -0.236, 2.098, -1.767, 0, 0, 0, [SEP] 58, Cabinet, -0.236, 2.098, -2.705, 0, 0, 0, [SEP] 59, Cabinet, -0.193, 1.210, -4.239, 0, 0, 0, [SEP] 60, Cabinet, -2.148, 0.388, -3.511, 0, 0, 0, [SEP] 61, Drawer, -3.104, 0.797, -2.968, 0, 0, 0, [SEP] 62, Drawer, -0.449, 0.797, -1.410, 0, 0, 0, [SEP] 63, Sink, -1.786, 0.902, -3.748, 0, 0, 0, [SEP] 64, StoveBurner, -0.376, 0.936, -2.451, 0, 0, 0, [SEP] 65, Drawer, -0.449, 0.797, -0.762, 0, 0, 0, [SEP] 66, CounterTop, -0.268, 0.951, -1.089, 0, 0, 0, [SEP] 67, Drawer, -0.449, 0.797, -3.348, 0, 0, 0, [SEP] 68, StoveBurner, -0.376, 0.936, -2.031, 0, 180, 0, [SEP] 69, Drawer, -0.449, 0.797, -2.968, 0, 0, 0, [SEP] 70, StoveBurner, -0.165, 0.936, -2.030, 0, 180, 0, [SEP] 71, StoveBurner, -0.165, 0.936, -2.450, 0, 0, 0, [SEP] 72, StoveKnob, -0.568, 0.903, -2.313, 45, 270, 0, [SEP] 73, StoveKnob, -0.568, 0.903, -2.470, 45, 270, 0, [SEP] 74, StoveKnob, -0.568, 0.903, -2.166, 45, 270, 0, [SEP] 75, StoveKnob, -0.568, 0.903, -2.003, 45, 270, 0, [SEP] 76, Microwave, -0.143, 0.903, -0.908, 0, 270, 0, [SEP] 77, LightSwitch, -1.108, 1.457, 0.338, 0, 180, 0, [SEP] 78, GarbageCan, -0.283, -0.032, -0.035, 0, 270, 0, [SEP] 79, CoffeeMachine, -3.104, 0.837, -0.185, 0, 135, 0, [SEP] 80, Fridge, -3.188, 0.0, -2.184, 0, 0, 0, [SEP] 81, SinkBasin, -1.786, 0.779, -3.747, 0, 0, 0, [SEP] 82, Toaster, -0.230, 0.903, -3.406, 0, 270, 0, [SEP] 83, DiningTable, -2.800, 0.003, -0.505, 0, 0, 0, [SEP] 84, Chair, -3.044, 0.003, -1.223, 0, 32.194, 0, [SEP] 85, Faucet, -1.791, 1.136, -3.913, 0, 270, 0, [SEP] 86, NorthWall, , , , , , , [SEP] 87, EastWall, , , , , , , [SEP] 88, SouthWall, , , , , , , [SEP] 89, WestWall, , , , , , , ", "output": ["STEP 1: Turn to the left and face the counter. | STEP 2: Open the microwave and take out the egg. Close the microwave. | STEP 3: Turn to the right and walk forward to the oven. Make a right at the oven and head to the fridge. | STEP 4: Open the fridge and place the egg inside. Close the fridge and chill the egg. Open the fridge and take out the egg. | STEP 5: Turn and walk to the right with the egg. Turn around and walk forward to the other side of the kitchen. | STEP 6: Place the egg on the counter that is to your right. | END"]} +{"id": "trial_T20190909_053544_571127-0", "input": "Place a roll of toilet paper on a toilet paper holder. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.901, 2.75, 0, 90, 0, [SEP] 1, SoapBar, -1.689, 0.941, 2.741, 0, 0, 10.090, 36 [SEP] 2, SoapBar, -1.846, 0.040, 3.316, 0, 0, 0, 23 [SEP] 3, Candle, -1.872, 0.917, 3.221, 0, 0, 0, 20 [SEP] 4, ToiletPaper, -1.744, 0.037, 2.464, 0, 0, 0, 17 [SEP] 5, ToiletPaper, -1.427, 0.071, 1.404, 0, 0, 0, 29 [SEP] 6, Candle, -1.938, 0.953, 2.071, 0, 180, 0, 32 [SEP] 7, HandTowel, -1.670, 1.496, 3.962, 0, 0, 0, 30 [SEP] 8, SoapBottle, -1.912, 0.954, 2.009, 0, 180, 0, 32 [SEP] 9, Towel, 0.833, 1.160, 2.357, 0, 0, 0, 27 [SEP] 10, Cloth, -1.695, 0.031, 3.040, 0, 0, 0, 23 [SEP] 11, SoapBar, -1.912, 0.953, 1.759, 0, 180, 0, 32 [SEP] 12, ToiletPaper, -1.744, 0.037, 3.448, 0, 0, 0, 23 [SEP] 13, Plunger, -1.876, 0.000, 2.276, 0, 0, 0, Floor|-02.00| [SEP] 14, SprayBottle, -1.593, 0.037, 2.870, 0, 0, 0, 18 [SEP] 15, ToiletPaper, -1.578, 0.915, 3.933, 0, 0, 0, 20 [SEP] 16, ScrubBrush, -1.703, 0.000, 2.217, 0, 0, 0, Floor|-02.00| [SEP] 17, Cabinet, -1.479, 0.348, 2.362, 0, 0, 0, [SEP] 18, Cabinet, -1.483, 0.372, 3.152, 0, 0, 0, [SEP] 19, Sink, -1.746, 0.884, 3.553, 0, 90, 0, [SEP] 20, CounterTop, -1.758, 0.669, 3.164, 0, 0, 0, [SEP] 21, Faucet, -1.894, 1.006, 2.730, 0, 0, 0, [SEP] 22, Mirror, -1.943, 1.532, 3.443, 0, 0, 0, [SEP] 23, Cabinet, -1.479, 0.348, 3.170, 0, 0, 0, [SEP] 24, ShowerDoor, 0.527, 1.039, 2.098, 0, 0, 0, [SEP] 25, Painting, -0.566, 1.591, 1.173, 0, 0, 0, [SEP] 26, Cabinet, -1.483, 0.372, 3.960, 0, 0, 0, [SEP] 27, TowelHolder, 0.833, 1.146, 2.250, 0, 0, 0, [SEP] 28, ToiletPaperHanger, -1.200, 1.013, 1.164, 0, 0, 0, [SEP] 29, GarbageCan, -1.704, -0.032, 1.429, 0, 2.393, 0, [SEP] 30, HandTowelHolder, -1.670, 1.598, 4.000, 0, 90, 0, [SEP] 31, LightSwitch, 1.249, 1.322, 3.635, 0, 270, 0, [SEP] 32, Toilet, -1.447, 0.000, 1.961, 0, 90, 0, [SEP] 33, SinkBasin, -1.671, 0.935, 3.571, 0, 0, 10.090, [SEP] 34, ShowerHead, 0.871, 1.097, 2.009, 0, 270, 0, [SEP] 35, Faucet, -1.894, 1.006, 3.560, 0, 0, 0, [SEP] 36, SinkBasin, -1.671, 0.935, 2.741, 0, 0, 10.090, [SEP] 37, Sink, -1.746, 0.884, 2.723, 0, 90, 0, [SEP] 38, NorthWall, , , , , , , [SEP] 39, EastWall, , , , , , , [SEP] 40, SouthWall, , , , , , , [SEP] 41, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk left to the toilet. | STEP 2: Pick up the toilet paper out of the green bin. | STEP 3: Turn left to face the wall. | STEP 4: Place the toilet paper on the toilet paper holder. | END"]} +{"id": "trial_T20190907_231015_732698-0", "input": "Move a cell phone to the desk from the bed. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.900, -1.0, 0, 0, 0, [SEP] 1, Mug, 1.152, 0.727, 0.901, 0, 0, 0, 39 [SEP] 2, CD, -0.213, 0.689, -1.749, 0, 0, 0, 41 [SEP] 3, CD, 1.070, 0.077, 0.611, 0, 0, 0, 29 [SEP] 4, Pen, 1.098, 0.081, 1.737, 0, 0, 0, 37 [SEP] 5, KeyChain, 1.278, 1.139, 1.246, 0, 270, 0, 36 [SEP] 6, KeyChain, 0.255, 0.691, -1.660, 0, 0, 0, 41 [SEP] 7, Book, 1.080, 0.780, -0.440, 0, 0, 0, 28 [SEP] 8, Book, 1.145, 0.721, 1.806, 0, 0, 0, 38 [SEP] 9, Box, -1.233, 0.263, -1.435, 0, 312.675, 0, [SEP] 10, CellPhone, 0.829, 0.782, -0.440, 0, 0, 0, 28 [SEP] 11, BaseballBat, -1.717, 0.708, -0.677, 0, 0, 12.045, [SEP] 12, Bowl, 1.353, 0.721, 0.891, 0, 0, 0, 39 [SEP] 13, BasketBall, -1.64, 0.127, -1.652, 0, 0, 0, [SEP] 14, Laptop, 1.223, 0.721, 1.342, 0, 255.000, 0, 39 [SEP] 15, CreditCard, 1.016, 0.728, 1.066, 0, 0, 0, 39 [SEP] 16, KeyChain, 1.405, 1.139, 1.558, 0, 270, 0, 36 [SEP] 17, AlarmClock, 0.021, 0.690, -1.572, 0, 0, 0, 41 [SEP] 18, Pencil, 0.021, 0.693, -1.705, 0, 0, 0, 41 [SEP] 19, Pillow, 1.080, 0.849, -0.988, 0, 0, 0, 28 [SEP] 20, CD, 1.220, 0.728, 1.066, 0, 0, 0, 39 [SEP] 21, Pen, 1.342, 1.144, 1.089, 0, 270, 0, 36 [SEP] 22, Mug, 1.423, 0.727, 1.727, 0, 0, 0, 39 [SEP] 23, Poster, 0.978, 1.970, -1.868, 90, 0, 0, [SEP] 24, Mirror, -0.884, 1.350, 2.086, 0, 0, 0, [SEP] 25, Poster, 1.483, 1.978, -1.210, 90, 270, 0, [SEP] 26, Poster, 1.483, 1.503, -0.128, 90, 270, 0, [SEP] 27, Poster, 1.483, 2.138, -0.128, 90, 270, 0, [SEP] 28, Bed, 0.955, 0.002, -0.722, 0, 0, 0, [SEP] 29, GarbageCan, 1.133, 0.032, 0.581, 0, 0, 0, [SEP] 30, DeskLamp, -0.396, 0.664, -1.666, 0, 315, 0, [SEP] 31, LightSwitch, 0.554, 1.154, 2.079, 0, 180, 0, [SEP] 32, Window, -0.174, 1.006, -2.009, 90, 0, 0, [SEP] 33, LaundryHamper, -1.425, 0.006, 1.676, 0, 149.999, 0, [SEP] 34, Chair, 1.127, -8.434, 1.053, 0, 90, 0, [SEP] 35, Blinds, -0.145, 1.679, -1.986, 0, 0, 0, [SEP] 36, Shelf, 1.316, 1.174, 1.388, 0, 270, 0, [SEP] 37, Drawer, 1.099, 0.167, 1.724, 0, 270, 0, [SEP] 38, Drawer, 1.099, 0.622, 1.724, 0, 270, 0, [SEP] 39, Desk, 1.189, 0.002, 1.384, 0, 270, 0, [SEP] 40, Drawer, 1.099, 0.408, 1.724, 0, 270, 0, [SEP] 41, SideTable, -0.103, -0.000, -1.691, 0, 0, 0, [SEP] 42, Drawer, -0.104, 0.157, -1.618, 0, 0, 0, [SEP] 43, Drawer, -0.104, 0.456, -1.618, 0, 0, 0, [SEP] 44, NorthWall, , , , , , , [SEP] 45, EastWall, , , , , , , [SEP] 46, SouthWall, , , , , , , [SEP] 47, WestWall, , , , , , , ", "output": ["STEP 1: Turn to face the bed. | STEP 2: Pick up the cell phone from the bed. | STEP 3: Carry the phone to the desk in the corner, left of the bed. | STEP 4: Place the phone on the desk in front of the laptop. | END"]} +{"id": "trial_T20190918_191427_898622-0", "input": "Slice a potato, cool it off upon preparing it in the microwave. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.25, 0.900, -0.75, 0, 270, 0, [SEP] 1, Kettle, 0.387, 0.111, 0.270, 0, 0, 0, 60 [SEP] 2, Potato, 0.447, 0.806, -1.552, 0, 270, 0, 72 [SEP] 3, Potato, 0.804, 0.949, -1.582, 0, 270, 0, 47 [SEP] 4, Potato, -0.329, 0.100, 0.482, 0, 90, 0, 78 [SEP] 5, DishSponge, -1.791, 0.951, 0.255, 0, 90, 0, 82 [SEP] 6, DishSponge, -2.477, 0.951, 0.524, 0, 90, 0, 82 [SEP] 7, Pot, 1.007, 0.962, 0.561, 0, 270, 0, 51 [SEP] 8, Spoon, -2.477, 0.953, 0.255, 0, 90, 0, 82 [SEP] 9, Egg, -1.959, 0.546, -1.677, 0, 0, 0, 79 [SEP] 10, Knife, -2.340, 0.977, 0.255, 0, 90, 0, 82 [SEP] 11, SoapBottle, 0.167, 0.910, 0.292, 0, 0, 0, 48 [SEP] 12, Bowl, 1.785, 0.911, 0.292, 0, 0, 0, 64 [SEP] 13, Bowl, -0.147, 0.110, -1.508, 0, 0, 0, 58 [SEP] 14, PepperShaker, -0.544, 0.908, -1.737, 0, 0, 0, 49 [SEP] 15, Bread, 1.781, 0.995, -1.571, 0, 0, 0, 49 [SEP] 16, Lettuce, -2.222, 1.582, -1.763, 0, 0, 0, 79 [SEP] 17, Mug, 0.618, 0.945, 0.469, 0, 180, 0, 73 [SEP] 18, Apple, -0.975, 1.082, -1.704, 0, 0, 0, 71 [SEP] 19, Apple, -2.31, 0.847, -1.806, 0, 0, 0, 79 [SEP] 20, Bread, -1.928, 1.035, 0.435, 0, 90, 0, 82 [SEP] 21, Knife, 0.753, 0.944, -1.582, 0, 270, 0, 47 [SEP] 22, Fork, 0.341, 0.783, -1.648, 0, 180, 0, 72 [SEP] 23, Bowl, -0.267, 0.911, -1.820, 0, 0, 0, 49 [SEP] 24, Kettle, -1.791, 0.953, 0.614, 0, 90, 0, 82 [SEP] 25, Cup, -2.203, 0.950, 0.524, 0, 90, 0, 82 [SEP] 26, Tomato, -2.397, 0.829, -1.677, 0, 0, 0, 79 [SEP] 27, SoapBottle, -0.427, 0.068, 0.482, 0, 90, 0, 78 [SEP] 28, Plate, -2.222, 0.512, -1.763, 0, 0, 0, 79 [SEP] 29, Pot, 1.361, 0.962, 0.561, 0, 270, 0, 54 [SEP] 30, Spatula, -2.065, 0.967, 0.255, 0, 90, 0, 82 [SEP] 31, PaperTowelRoll, 1.968, 1.016, 0.458, 0, 0, 0, 64 [SEP] 32, Egg, 0.908, 0.954, -1.582, 0, 270, 0, 47 [SEP] 33, Lettuce, 1.846, 1.002, 0.540, 0, 0, 0, 64 [SEP] 34, SaltShaker, -0.082, 0.908, -1.406, 0, 0, 0, 49 [SEP] 35, PepperShaker, -2.203, 0.948, 0.704, 0, 90, 0, 82 [SEP] 36, Apple, 0.300, 0.979, 0.292, 0, 0, 0, 48 [SEP] 37, ButterKnife, 0.908, 0.919, -1.649, 0, 270, 0, 47 [SEP] 38, Potato, 0.753, 0.949, -1.848, 0, 270, 0, 47 [SEP] 39, Pan, 1.535, 1.328, -1.809, 0, 270, 0, 65 [SEP] 40, DishSponge, 1.907, 0.911, 0.706, 0, 0, 0, 64 [SEP] 41, Spoon, 0.432, 0.913, 0.209, 0, 0, 0, 48 [SEP] 42, Mug, -0.096, 0.907, 0.375, 0, 0, 0, 48 [SEP] 43, Cabinet, -0.193, 1.688, -1.648, 0, 180, 0, [SEP] 44, StoveBurner, 1.360, 0.957, 0.293, 0, 180, 0, [SEP] 45, Drawer, 0.499, 0.792, 0.296, 0, 0, 0, [SEP] 46, Cabinet, 0.095, 0.400, -1.352, 0, 180, 0, [SEP] 47, Sink, 0.711, 0.817, -1.772, 0, 270, 0, [SEP] 48, CounterTop, 0.280, 0.947, 0.458, 0, 0, 0, [SEP] 49, CounterTop, -0.680, 0.947, -1.654, 0, 0, 0, [SEP] 50, Drawer, 1.825, 0.792, 0.296, 0, 0, 0, [SEP] 51, StoveBurner, 1.007, 0.957, 0.561, 0, 270, 0, [SEP] 52, Drawer, -0.150, 0.792, -1.496, 0, 0, 0, [SEP] 53, Drawer, -0.586, 0.792, -1.496, 0, 0, 0, [SEP] 54, StoveBurner, 1.360, 0.957, 0.561, 0, 270, 0, [SEP] 55, Drawer, 0.024, 0.792, 0.296, 0, 0, 0, [SEP] 56, Cabinet, 1.079, 0.400, -1.349, 0, 180, 0, [SEP] 57, Cabinet, 1.669, 0.402, 0.151, 0, 0, 0, [SEP] 58, Cabinet, 0.055, 0.402, -1.351, 0, 0, 0, [SEP] 59, Cabinet, -0.180, 0.402, 0.151, 0, 0, 0, [SEP] 60, Cabinet, 0.729, 0.402, 0.151, 0, 0, 0, [SEP] 61, StoveBurner, 1.007, 0.957, 0.293, 0, 180, 0, [SEP] 62, Drawer, -1.100, 0.792, -1.496, 0, 0, 0, [SEP] 63, Cabinet, -0.396, 0.402, -1.351, 0, 0, 0, [SEP] 64, CounterTop, 1.776, 0.947, 0.458, 0, 0, 0, [SEP] 65, Cabinet, 1.974, 1.688, -1.648, 0, 180, 0, [SEP] 66, Cabinet, -0.820, 0.400, -1.349, 0, 180, 0, [SEP] 67, Toaster, 0.305, 0.900, 0.552, 0, 180, 0, [SEP] 68, LightSwitch, -2.756, 1.307, -0.987, 0, 90, 0, [SEP] 69, Window, 0.582, 1.613, -1.967, 90, 0, 0, [SEP] 70, Window, 1.969, 1.5, -0.615, 90, 270, 0, [SEP] 71, Microwave, -1.037, 0.900, -1.723, 0, 0, 0, [SEP] 72, SinkBasin, 0.377, 0.765, -1.655, 0, 270, 0, [SEP] 73, CoffeeMachine, 0.618, 0.900, 0.600, 0, 180, 0, [SEP] 74, StoveKnob, 1.246, 0.913, 0.118, 45, 180, 0, [SEP] 75, StoveKnob, 1.373, 0.913, 0.118, 45, 180, 0, [SEP] 76, StoveKnob, 0.995, 0.913, 0.118, 45, 180, 0, [SEP] 77, StoveKnob, 1.126, 0.913, 0.118, 45, 180, 0, [SEP] 78, GarbageCan, -0.368, -0.029, 0.539, 0, 90, 0, [SEP] 79, Fridge, -2.134, 0.0, -1.690, 0, 0, 0, [SEP] 80, Faucet, 0.549, 1.046, -1.833, 0, 232.527, 0, [SEP] 81, Stool, -1.475, 0.000, 0.414, 1.233, 280.375, 0, [SEP] 82, DiningTable, -2.255, -0.004, 0.432, 0, 0, 0, [SEP] 83, NorthWall, , , , , , , [SEP] 84, EastWall, , , , , , , [SEP] 85, SouthWall, , , , , , , [SEP] 86, WestWall, , , , , , , ", "output": ["STEP 1: Turn right towards the white table | STEP 2: Pick up the knife next to the spoon | STEP 3: Turn to the right and walk across the room and turn right moving forward towards the sink | STEP 4: Slice potato in sink | STEP 5: Put down knife by sticking in first slice of potato | STEP 6: Pick up a slice of a potato | STEP 7: Turn right move forward across the room and turn left facing the fridge | STEP 8: Open up fridge and place potato slice inside for 3 seconds to cool off. | STEP 9: Take out potato slice and turn left. Move forward and turn right towards red microwave. | STEP 10: Open microwave and place potato slice inside with apple remaining inside. | END"]} +{"id": "trial_T20190912_045206_612064-2", "input": "pick up knife, cut potato, cook in microwave, place in the fridge SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.908, 1.0, 0, 270, 0, [SEP] 1, Potato, 1.444, 0.956, 0.706, 0, 0, 0, 68 [SEP] 2, Potato, -0.082, 0.803, -0.533, 0, 0, 0, 95 [SEP] 3, CellPhone, -1.060, 0.909, -0.817, 0, 0, 0, 74 [SEP] 4, DishSponge, -1.475, 0.749, 2.087, 0, 0, 0, 49 [SEP] 5, DishSponge, 1.450, 0.885, 2.369, 0, 0, 0, 100 [SEP] 6, ButterKnife, 1.444, 0.911, 0.422, 0, 0, 0, 68 [SEP] 7, ButterKnife, 1.367, 0.886, 2.584, 0, 0, 0, 100 [SEP] 8, Glassbottle, -1.206, 0.751, 0.988, 0, 90, 0, 88 [SEP] 9, WineBottle, 1.087, 0.117, 0.030, 0, 0, 0, 60 [SEP] 10, WineBottle, -1.320, 0.752, 0.778, 0, 90, 0, 88 [SEP] 11, Kettle, -1.012, 0.750, 1.902, 0, 0, 0, 49 [SEP] 12, Pot, 0.502, 0.939, -0.469, 0, 0, 0, 81 [SEP] 13, Cup, -1.433, 0.911, -0.430, 0, 0, 0, 74 [SEP] 14, Tomato, 1.049, 0.961, 0.422, 0, 0, 0, 68 [SEP] 15, Tomato, -1.320, 1.686, 1.289, 0, 90, 0, 88 [SEP] 16, SoapBottle, 1.444, 0.912, -0.428, 0, 0, 0, 68 [SEP] 17, SoapBottle, 1.117, 0.887, 2.369, 0, 90, 0, 100 [SEP] 18, Bowl, -1.162, 0.340, 0.883, 0, 90, 0, 88 [SEP] 19, Bread, 1.128, 0.974, 0.706, 0, 0, 0, 68 [SEP] 20, PepperShaker, -1.357, 1.652, 0.260, 0, 0, 0, 57 [SEP] 21, Apple, -1.475, 0.809, 2.644, 0, 0, 0, 49 [SEP] 22, Apple, -1.435, 1.697, 0.781, 0, 90, 0, 88 [SEP] 23, Bread, -1.197, 0.813, 2.459, 0, 0, 0, 49 [SEP] 24, Glassbottle, 1.200, 0.887, 2.800, 0, 0, 0, 100 [SEP] 25, Fork, -0.919, 0.749, 2.087, 0, 90, 0, 49 [SEP] 26, Kettle, -1.357, 0.739, 3.024, 0, 240.000, 0, 49 [SEP] 27, Tomato, -1.162, 0.391, 1.302, 0, 90, 0, 88 [SEP] 28, Plate, -1.105, 0.750, 3.015, 0, 0, 0, 49 [SEP] 29, CellPhone, -1.475, 0.746, 2.273, 0, 0, 0, 49 [SEP] 30, Lettuce, -0.813, 0.983, -0.669, 0, 0, 0, 74 [SEP] 31, Pot, 0.802, 0.939, -0.740, 0, 90, 0, 77 [SEP] 32, SoapBottle, 1.200, 0.887, 2.153, 0, 0, 0, 100 [SEP] 33, WineBottle, 1.286, 0.912, -0.428, 0, 0, 0, 68 [SEP] 34, Spatula, -1.290, 0.764, 2.459, 0, 0, 0, 49 [SEP] 35, Bowl, -1.325, 2.151, 0.594, 0, 0, 0, 66 [SEP] 36, Apple, -0.020, 0.818, -0.691, 0, 0, 0, 95 [SEP] 37, Cup, -1.012, 0.748, 2.459, 0, 0, 0, 49 [SEP] 38, Knife, -0.658, 0.934, -0.430, 0, 0, 0, 74 [SEP] 39, Egg, -0.206, 0.792, -0.573, 0, 0, 0, 95 [SEP] 40, SaltShaker, -1.475, 0.745, 2.459, 0, 0, 0, 49 [SEP] 41, PepperShaker, 1.117, 0.882, 2.261, 0, 0, 0, 100 [SEP] 42, Potato, 0.951, 0.931, 2.584, 0, 0, 0, 100 [SEP] 43, ButterKnife, 1.207, 0.911, 0.139, 0, 0, 0, 68 [SEP] 44, DishSponge, -1.105, 0.748, 2.830, 0, 0, 0, 49 [SEP] 45, Pan, -1.332, 0.9, -0.699, 0, 345.0, 0, 74 [SEP] 46, Spoon, 1.070, 0.777, -0.049, 0, 90, 0, 69 [SEP] 47, SprayBottle, 1.523, 0.910, 0.706, 0, 0, 0, 68 [SEP] 48, Mug, 0.951, 0.881, 2.800, 0, 0, 0, 100 [SEP] 49, DiningTable, -1.182, 0.006, 2.414, 0, 90, 0, [SEP] 50, Cabinet, 1.184, 2.059, 0.375, 0, 0, 0, [SEP] 51, Cabinet, 1.184, 2.059, -0.635, 0, 0, 0, [SEP] 52, Cabinet, 0.591, 2.309, -0.645, 0, 0, 0, [SEP] 53, Cabinet, -0.574, 2.059, -0.644, 0, 0, 0, [SEP] 54, Cabinet, -1.103, 2.059, -0.644, 0, 0, 0, [SEP] 55, Cabinet, -1.185, 2.059, -0.331, 0, 0, 0, [SEP] 56, Cabinet, -1.185, 2.059, -0.281, 0, 0, 0, [SEP] 57, Cabinet, -1.185, 2.059, 0.375, 0, 0, 0, [SEP] 58, Cabinet, 1.184, 2.309, 1.174, 0, 0, 0, [SEP] 59, Cabinet, 1.184, 2.309, 0.424, 0, 0, 0, [SEP] 60, Cabinet, 0.988, 0.402, 0.581, 0, 0, 0, [SEP] 61, Cabinet, 0.988, 0.402, 0.531, 0, 0, 0, [SEP] 62, Cabinet, 0.988, 0.402, -0.178, 0, 0, 0, [SEP] 63, Cabinet, 0.335, 0.402, -0.348, 0, 0, 0, [SEP] 64, Cabinet, -0.374, 0.402, -0.348, 0, 0, 0, [SEP] 65, Cabinet, 0.988, 0.402, 1.231, 0, 0, 0, [SEP] 66, Cabinet, -1.185, 2.309, 1.374, 0, 0, 0, [SEP] 67, Cabinet, -1.185, 2.309, 0.424, 0, 0, 0, [SEP] 68, CounterTop, 1.274, 0.947, 0.064, 0, 0, 0, [SEP] 69, Drawer, 1.116, 0.792, -0.015, 0, 0, 0, [SEP] 70, Drawer, -1.116, 0.792, 0.210, 0, 180, 0, [SEP] 71, Cabinet, -0.990, 0.402, 0.374, 0, 180, 0, [SEP] 72, Drawer, -1.116, 0.792, -0.170, 0, 180, 0, [SEP] 73, Cabinet, -0.990, 0.402, -0.335, 0, 180, 0, [SEP] 74, CounterTop, -1.001, 0.947, -0.669, 0, 0, 0, [SEP] 75, StoveBurner, 0.502, 0.932, -0.740, 0, 90, 0, [SEP] 76, StoveBurner, 0.801, 0.932, -0.473, 0, 0, 0, [SEP] 77, StoveBurner, 0.801, 0.932, -0.740, 0, 90, 0, [SEP] 78, Drawer, 1.116, 0.792, 1.081, 0, 0, 0, [SEP] 79, Sink, -0.013, 0.912, -0.615, 0, 0, 0, [SEP] 80, Drawer, 1.116, 0.792, 0.732, 0, 0, 0, [SEP] 81, StoveBurner, 0.502, 0.932, -0.469, 0, 0, 0, [SEP] 82, Drawer, 1.116, 0.792, 0.367, 0, 0, 0, [SEP] 83, StoveKnob, 0.550, 1.085, -0.912, 287.970, 180, 0, [SEP] 84, StoveKnob, 0.884, 1.085, -0.912, 287.970, 180, 0, [SEP] 85, StoveKnob, 0.432, 1.085, -0.912, 287.970, 180, 0, [SEP] 86, StoveKnob, 0.777, 1.085, -0.912, 287.970, 180, 0, [SEP] 87, CoffeeMachine, 1.304, 0.900, -0.741, 0, 320.314, 0, [SEP] 88, Fridge, -1.300, 0.008, 0.987, 0, 90, 0, [SEP] 89, GarbageCan, 1.296, -0.024, 1.465, 0, 0, 0, [SEP] 90, Window, -0.012, 1.641, -0.972, 90, 0, 0, [SEP] 91, Window, 1.598, 1.646, 2.489, 90, 270, 0, [SEP] 92, Toaster, 1.356, 0.900, 1.044, 0, 270, 0, [SEP] 93, LightSwitch, 0.118, 1.353, 3.799, 0, 180, 0, [SEP] 94, Microwave, -1.343, 0.900, 0.053, 0, 90, 0, [SEP] 95, SinkBasin, -0.029, 0.748, -0.612, 0, 0, 0, [SEP] 96, Faucet, -0.026, 0.927, -0.808, 0, 0, 0, [SEP] 97, Shelf, -1.182, 0.127, 2.414, 0, 90, 0, [SEP] 98, Stool, 1.140, 0.007, 3.262, 1.206, 20.753, 0, [SEP] 99, Shelf, -1.182, 0.435, 2.414, 0, 90, 0, [SEP] 100, DiningTable, 1.169, 0.014, 2.569, 0, 0, 1.896, [SEP] 101, NorthWall, , , , , , , [SEP] 102, EastWall, , , , , , , [SEP] 103, SouthWall, , , , , , , [SEP] 104, WestWall, , , , , , , ", "output": ["STEP 1: turn left to the counter | STEP 2: pick up the knife from the counter | STEP 3: turn left, turn right to the sink | STEP 4: cut potato with the knife | STEP 5: turn right, walk straight to the microwave | STEP 6: open door, place knife on shelf, close door | STEP 7: turn around, turn right to the sink | STEP 8: pick up potato from the sink | STEP 9: turn right to the microwave | STEP 10: open door, place potato on shelf, close door, cook, open door, remove potato, close door | STEP 11: turn right, turn left to the fridge | STEP 12: open door, put potato on shelf, close door | END"]} +{"id": "trial_T20190906_194056_557446-2", "input": "Put the credit card in the box, move the box to the sofa with white pillow SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.25, 0.901, 3.25, 0, 180, 0, [SEP] 1, Statue, -2.152, 0.554, 2.744, 0, 0, 0, 38 [SEP] 2, Statue, -5.007, 1.089, 2.310, 0, 0, 0, 35 [SEP] 3, Watch, -2.279, 0.453, 2.744, 0, 0, 0, 38 [SEP] 4, Watch, -4.587, 0.886, 3.008, 0, 0, 0, 29 [SEP] 5, RemoteControl, -4.569, 0.987, 1.742, 0, 0, 0, 35 [SEP] 6, Box, -0.505, 0.778, 3.311, 0, 0, 0, 39 [SEP] 7, Pillow, -0.505, 0.614, 1.714, 0, 0, 0, 40 [SEP] 8, Box, -2.180, 0.670, 2.428, 0, 350.086, 0, 38 [SEP] 9, WateringCan, -0.277, -0.000, 4.860, 0, 0, 0, Floor|+00.38| [SEP] 10, CreditCard, 0.219, 0.707, 4.639, 0, 0, 0, 43 [SEP] 11, KeyChain, -2.658, 0.453, 2.455, 0, 0, 0, 38 [SEP] 12, Pillow, -2.702, 0.597, 0.843, 0, 0, 0, 41 [SEP] 13, Laptop, -4.873, 0.981, 3.44, 0, 83.878, 0, 35 [SEP] 14, RemoteControl, -3.177, 0.523, 0.752, 0, 0, 0, 41 [SEP] 15, Watch, -2.279, 0.453, 2.648, 0, 0, 0, 38 [SEP] 16, Statue, -2.658, 0.554, 2.840, 0, 0, 0, 38 [SEP] 17, Curtains, -2.535, 2.596, 0.111, 0, 0, 0, [SEP] 18, FloorLamp, -4.661, 0.009, 0.422, 0, 0, 0, [SEP] 19, Television, -4.883, 1.472, 2.434, 0, 90, 0, [SEP] 20, GarbageCan, -4.810, -0.032, 1.236, 0, 180, 0, [SEP] 21, Painting, -0.293, 1.820, 0.016, 90, 0, 0, [SEP] 22, LightSwitch, -1.016, 1.243, 5.0, 0, 180, 0, [SEP] 23, Painting, -5.118, 1.480, 4.396, 90, 270, 0, [SEP] 24, Painting, -5.118, 1.480, 0.656, 90, 270, 0, [SEP] 25, Window, -1.715, 1.554, 0.006, 90, 180, 0, [SEP] 26, Window, -3.244, 1.554, 0.006, 90, 180, 0, [SEP] 27, DeskLamp, 0.015, 0.704, 4.676, 0, 0, 0, [SEP] 28, HousePlant, -4.824, 0.984, 1.572, 0, 0, 0, [SEP] 29, Drawer, -4.497, 0.901, 2.854, 0, 90, 0, [SEP] 30, Drawer, -4.497, 0.901, 2.339, 0, 90, 0, [SEP] 31, Cabinet, -4.409, 0.498, 2.603, 0, 90, 0, [SEP] 32, Cabinet, -4.409, 0.498, 3.622, 0, 90, 0, [SEP] 33, Drawer, -4.497, 0.901, 3.372, 0, 90, 0, [SEP] 34, Cabinet, -4.409, 0.498, 1.569, 0, 90, 0, [SEP] 35, Dresser, -4.744, 4.321, 2.595, 0, 90, 0, [SEP] 36, Drawer, -4.497, 0.901, 1.818, 0, 90, 0, [SEP] 37, Cabinet, -4.409, 0.498, 2.588, 0, 90, 0, [SEP] 38, CoffeeTable, -2.405, -0.000, 2.546, 0, 0, 0, [SEP] 39, ArmChair, -0.298, 0.002, 3.310, 0, 270, 0, [SEP] 40, ArmChair, -0.298, 0.002, 1.713, 0, 270, 0, [SEP] 41, Sofa, -2.464, -0.002, 0.700, 0, 0, 0, [SEP] 42, Chair, -4.735, 0.011, 4.609, 1.215, 90, 0, [SEP] 43, SideTable, -0.041, 0.002, 4.619, 0, 0, 0, [SEP] 44, NorthWall, , , , , , , [SEP] 45, EastWall, , , , , , , [SEP] 46, SouthWall, , , , , , , [SEP] 47, WestWall, , , , , , , ", "output": ["STEP 1: Turn around, walk to the corner with end table | STEP 2: Grab the credit card on the table | STEP 3: Turn around, and turn left to the sofa, | STEP 4: Put the credit card in the box on the sofa | STEP 5: Take the whole box with card in it | STEP 6: Turn around, walk to the sofa with white pillow on it | STEP 7: Put the box down on the sofa by the white pillow | END"]} +{"id": "trial_T20190907_121849_514225-0", "input": "Place the two purple pillows from the bed on to the chair. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 2.25, 0.900, 0.5, 0, 270, 0, [SEP] 1, TissueBox, 3.239, 0.781, -1.500, 0, 0, 0, 40 [SEP] 2, CD, 0.228, 0.705, -0.933, 0, 180, 0, 35 [SEP] 3, CD, 0.333, 0.615, -1.246, 0, 180, 0, 37 [SEP] 4, CellPhone, 0.766, 0.596, 0.146, 0, 0, 0, 27 [SEP] 5, Pen, 0.357, 0.711, 1.130, 0, 90, 0, 34 [SEP] 6, Pencil, 2.776, 0.782, -1.500, 0, 0, 0, 40 [SEP] 7, CreditCard, 0.324, 0.705, 1.380, 0, 90, 0, 34 [SEP] 8, CreditCard, 0.355, 0.705, -1.102, 0, 180, 0, 35 [SEP] 9, KeyChain, 3.239, 0.779, -1.768, 0, 0, 0, 40 [SEP] 10, KeyChain, 0.313, 0.617, -1.093, 0, 270, 0, 37 [SEP] 11, Book, 0.563, 0.596, 0.530, 0, 0, 0, 27 [SEP] 12, AlarmClock, 3.393, 0.779, -1.322, 0, 0, 0, 40 [SEP] 13, Book, 2.956, 0.773, -1.499, 0, 4.886, 0, 40 [SEP] 14, KeyChain, 1.193, 0.434, -2.303, 0, 330.000, 0, 38 [SEP] 15, Pillow, 1.171, 0.677, 0.530, 0, 0, 0, 27 [SEP] 16, Pillow, 1.374, 0.677, 0.145, 0, 0, 0, 27 [SEP] 17, CreditCard, 2.776, 0.779, -1.679, 0, 0, 0, 40 [SEP] 18, Pen, 3.084, 0.785, -1.857, 0, 0, 0, 40 [SEP] 19, Pencil, 0.357, 0.708, 1.296, 0, 90, 0, 34 [SEP] 20, TissueBox, 3.239, 0.781, -1.322, 0, 0, 0, 40 [SEP] 21, Laptop, 0.968, 0.594, -0.430, 0, 0, 0, 27 [SEP] 22, CellPhone, 0.258, 0.705, 1.047, 0, 90, 0, 34 [SEP] 23, AlarmClock, 3.701, 0.779, -1.768, 0, 0, 0, 40 [SEP] 24, CD, 0.258, 0.705, 1.546, 0, 90, 0, 34 [SEP] 25, Chair, 3.232, 0.002, -1.873, 0, 350.846, 0, [SEP] 26, Mirror, 1.083, 1.228, 1.700, 0, 0, 0, [SEP] 27, Bed, 0.898, -0.002, 0.141, 0, 270, 0, [SEP] 28, GarbageCan, 3.633, 8.165, -0.982, 0, 209.052, 0, [SEP] 29, DeskLamp, 3.681, 0.785, -1.386, 0, 0, 0, [SEP] 30, DeskLamp, 0.347, 0.698, -0.979, 0, 0, 0, [SEP] 31, Painting, 0.100, 1.432, -2.053, 90, 270, 0, [SEP] 32, Window, 2.270, 1.547, -2.915, 90, 0, 0, [SEP] 33, LightSwitch, 1.809, 1.169, 1.700, 0, 180, 0, [SEP] 34, SideTable, 0.277, 0.000, 1.299, 0, 90, 0, [SEP] 35, SideTable, 0.276, 0.000, -1.017, 0, 90, 0, [SEP] 36, Drawer, 0.328, 0.624, 1.299, 0, 90, 0, [SEP] 37, Drawer, 0.328, 0.624, -1.017, 0, 90, 0, [SEP] 38, ArmChair, 0.849, -0.001, -2.141, 0, 66.451, 0, [SEP] 39, Blinds, 2.299, 2.525, -2.892, 0, 0, 0, [SEP] 40, Desk, 3.238, 0.003, -1.590, 0, 0, 0, [SEP] 41, NorthWall, , , , , , , [SEP] 42, EastWall, , , , , , , [SEP] 43, SouthWall, , , , , , , [SEP] 44, WestWall, , , , , , , ", "output": ["STEP 1: Take a step to the left. | STEP 2: Pick up the purple pillow closest to you. | STEP 3: Turn left and walk towards the sofa chair on your right. | STEP 4: Place the pillow on the chair. | STEP 5: Turn right and head towards the other pillow on the bed. | STEP 6: Pick up the pillow from the bed. | STEP 7: Turn left and walk towards the sofa chair on your right. | STEP 8: Place the pillow on the chair. | END"]} +{"id": "trial_T20190907_121849_514225-1", "input": "Move the purple pillows to the arm chair from the bed. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 2.25, 0.900, 0.5, 0, 270, 0, [SEP] 1, TissueBox, 3.239, 0.781, -1.500, 0, 0, 0, 40 [SEP] 2, CD, 0.228, 0.705, -0.933, 0, 180, 0, 35 [SEP] 3, CD, 0.333, 0.615, -1.246, 0, 180, 0, 37 [SEP] 4, CellPhone, 0.766, 0.596, 0.146, 0, 0, 0, 27 [SEP] 5, Pen, 0.357, 0.711, 1.130, 0, 90, 0, 34 [SEP] 6, Pencil, 2.776, 0.782, -1.500, 0, 0, 0, 40 [SEP] 7, CreditCard, 0.324, 0.705, 1.380, 0, 90, 0, 34 [SEP] 8, CreditCard, 0.355, 0.705, -1.102, 0, 180, 0, 35 [SEP] 9, KeyChain, 3.239, 0.779, -1.768, 0, 0, 0, 40 [SEP] 10, KeyChain, 0.313, 0.617, -1.093, 0, 270, 0, 37 [SEP] 11, Book, 0.563, 0.596, 0.530, 0, 0, 0, 27 [SEP] 12, AlarmClock, 3.393, 0.779, -1.322, 0, 0, 0, 40 [SEP] 13, Book, 2.956, 0.773, -1.499, 0, 4.886, 0, 40 [SEP] 14, KeyChain, 1.193, 0.434, -2.303, 0, 330.000, 0, 38 [SEP] 15, Pillow, 1.171, 0.677, 0.530, 0, 0, 0, 27 [SEP] 16, Pillow, 1.374, 0.677, 0.145, 0, 0, 0, 27 [SEP] 17, CreditCard, 2.776, 0.779, -1.679, 0, 0, 0, 40 [SEP] 18, Pen, 3.084, 0.785, -1.857, 0, 0, 0, 40 [SEP] 19, Pencil, 0.357, 0.708, 1.296, 0, 90, 0, 34 [SEP] 20, TissueBox, 3.239, 0.781, -1.322, 0, 0, 0, 40 [SEP] 21, Laptop, 0.968, 0.594, -0.430, 0, 0, 0, 27 [SEP] 22, CellPhone, 0.258, 0.705, 1.047, 0, 90, 0, 34 [SEP] 23, AlarmClock, 3.701, 0.779, -1.768, 0, 0, 0, 40 [SEP] 24, CD, 0.258, 0.705, 1.546, 0, 90, 0, 34 [SEP] 25, Chair, 3.232, 0.002, -1.873, 0, 350.846, 0, [SEP] 26, Mirror, 1.083, 1.228, 1.700, 0, 0, 0, [SEP] 27, Bed, 0.898, -0.002, 0.141, 0, 270, 0, [SEP] 28, GarbageCan, 3.633, 8.165, -0.982, 0, 209.052, 0, [SEP] 29, DeskLamp, 3.681, 0.785, -1.386, 0, 0, 0, [SEP] 30, DeskLamp, 0.347, 0.698, -0.979, 0, 0, 0, [SEP] 31, Painting, 0.100, 1.432, -2.053, 90, 270, 0, [SEP] 32, Window, 2.270, 1.547, -2.915, 90, 0, 0, [SEP] 33, LightSwitch, 1.809, 1.169, 1.700, 0, 180, 0, [SEP] 34, SideTable, 0.277, 0.000, 1.299, 0, 90, 0, [SEP] 35, SideTable, 0.276, 0.000, -1.017, 0, 90, 0, [SEP] 36, Drawer, 0.328, 0.624, 1.299, 0, 90, 0, [SEP] 37, Drawer, 0.328, 0.624, -1.017, 0, 90, 0, [SEP] 38, ArmChair, 0.849, -0.001, -2.141, 0, 66.451, 0, [SEP] 39, Blinds, 2.299, 2.525, -2.892, 0, 0, 0, [SEP] 40, Desk, 3.238, 0.003, -1.590, 0, 0, 0, [SEP] 41, NorthWall, , , , , , , [SEP] 42, EastWall, , , , , , , [SEP] 43, SouthWall, , , , , , , [SEP] 44, WestWall, , , , , , , ", "output": ["STEP 1: Move to the middle of the bed in front of you | STEP 2: Pick up a pillow from the bed. | STEP 3: Move to the arm chair in the left corner to the left of you, | STEP 4: Place the pillow on the arm chair. | STEP 5: Move to the foot of the bed to your right. | STEP 6: Pick up the second pillow from the bed. | STEP 7: Move to the arm chair to the left of you. | STEP 8: Place the pillow on the arm chair next to the other one. | END"]} +{"id": "trial_T20190907_121849_514225-3", "input": "To move two pillows from the bed to the chair. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 2.25, 0.900, 0.5, 0, 270, 0, [SEP] 1, TissueBox, 3.239, 0.781, -1.500, 0, 0, 0, 40 [SEP] 2, CD, 0.228, 0.705, -0.933, 0, 180, 0, 35 [SEP] 3, CD, 0.333, 0.615, -1.246, 0, 180, 0, 37 [SEP] 4, CellPhone, 0.766, 0.596, 0.146, 0, 0, 0, 27 [SEP] 5, Pen, 0.357, 0.711, 1.130, 0, 90, 0, 34 [SEP] 6, Pencil, 2.776, 0.782, -1.500, 0, 0, 0, 40 [SEP] 7, CreditCard, 0.324, 0.705, 1.380, 0, 90, 0, 34 [SEP] 8, CreditCard, 0.355, 0.705, -1.102, 0, 180, 0, 35 [SEP] 9, KeyChain, 3.239, 0.779, -1.768, 0, 0, 0, 40 [SEP] 10, KeyChain, 0.313, 0.617, -1.093, 0, 270, 0, 37 [SEP] 11, Book, 0.563, 0.596, 0.530, 0, 0, 0, 27 [SEP] 12, AlarmClock, 3.393, 0.779, -1.322, 0, 0, 0, 40 [SEP] 13, Book, 2.956, 0.773, -1.499, 0, 4.886, 0, 40 [SEP] 14, KeyChain, 1.193, 0.434, -2.303, 0, 330.000, 0, 38 [SEP] 15, Pillow, 1.171, 0.677, 0.530, 0, 0, 0, 27 [SEP] 16, Pillow, 1.374, 0.677, 0.145, 0, 0, 0, 27 [SEP] 17, CreditCard, 2.776, 0.779, -1.679, 0, 0, 0, 40 [SEP] 18, Pen, 3.084, 0.785, -1.857, 0, 0, 0, 40 [SEP] 19, Pencil, 0.357, 0.708, 1.296, 0, 90, 0, 34 [SEP] 20, TissueBox, 3.239, 0.781, -1.322, 0, 0, 0, 40 [SEP] 21, Laptop, 0.968, 0.594, -0.430, 0, 0, 0, 27 [SEP] 22, CellPhone, 0.258, 0.705, 1.047, 0, 90, 0, 34 [SEP] 23, AlarmClock, 3.701, 0.779, -1.768, 0, 0, 0, 40 [SEP] 24, CD, 0.258, 0.705, 1.546, 0, 90, 0, 34 [SEP] 25, Chair, 3.232, 0.002, -1.873, 0, 350.846, 0, [SEP] 26, Mirror, 1.083, 1.228, 1.700, 0, 0, 0, [SEP] 27, Bed, 0.898, -0.002, 0.141, 0, 270, 0, [SEP] 28, GarbageCan, 3.633, 8.165, -0.982, 0, 209.052, 0, [SEP] 29, DeskLamp, 3.681, 0.785, -1.386, 0, 0, 0, [SEP] 30, DeskLamp, 0.347, 0.698, -0.979, 0, 0, 0, [SEP] 31, Painting, 0.100, 1.432, -2.053, 90, 270, 0, [SEP] 32, Window, 2.270, 1.547, -2.915, 90, 0, 0, [SEP] 33, LightSwitch, 1.809, 1.169, 1.700, 0, 180, 0, [SEP] 34, SideTable, 0.277, 0.000, 1.299, 0, 90, 0, [SEP] 35, SideTable, 0.276, 0.000, -1.017, 0, 90, 0, [SEP] 36, Drawer, 0.328, 0.624, 1.299, 0, 90, 0, [SEP] 37, Drawer, 0.328, 0.624, -1.017, 0, 90, 0, [SEP] 38, ArmChair, 0.849, -0.001, -2.141, 0, 66.451, 0, [SEP] 39, Blinds, 2.299, 2.525, -2.892, 0, 0, 0, [SEP] 40, Desk, 3.238, 0.003, -1.590, 0, 0, 0, [SEP] 41, NorthWall, , , , , , , [SEP] 42, EastWall, , , , , , , [SEP] 43, SouthWall, , , , , , , [SEP] 44, WestWall, , , , , , , ", "output": ["STEP 1: Move in front of the pillow that's on the bed and to the left. | STEP 2: Pick up the pillow on the left. | STEP 3: Turn left and walk in front of the chair that is next to the window. | STEP 4: Put the pillow on the chair next to the keys. | STEP 5: Walk back to the front of the bed. | STEP 6: Pick up the remaining pillow on the bed. | STEP 7: Walk back to the chair next to the window. | STEP 8: place the pillow on the chair to the right of the first pillow. | END"]} +{"id": "trial_T20190907_121849_514225-4", "input": "To move two cushions from the bed to the brown chair. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 2.25, 0.900, 0.5, 0, 270, 0, [SEP] 1, TissueBox, 3.239, 0.781, -1.500, 0, 0, 0, 40 [SEP] 2, CD, 0.228, 0.705, -0.933, 0, 180, 0, 35 [SEP] 3, CD, 0.333, 0.615, -1.246, 0, 180, 0, 37 [SEP] 4, CellPhone, 0.766, 0.596, 0.146, 0, 0, 0, 27 [SEP] 5, Pen, 0.357, 0.711, 1.130, 0, 90, 0, 34 [SEP] 6, Pencil, 2.776, 0.782, -1.500, 0, 0, 0, 40 [SEP] 7, CreditCard, 0.324, 0.705, 1.380, 0, 90, 0, 34 [SEP] 8, CreditCard, 0.355, 0.705, -1.102, 0, 180, 0, 35 [SEP] 9, KeyChain, 3.239, 0.779, -1.768, 0, 0, 0, 40 [SEP] 10, KeyChain, 0.313, 0.617, -1.093, 0, 270, 0, 37 [SEP] 11, Book, 0.563, 0.596, 0.530, 0, 0, 0, 27 [SEP] 12, AlarmClock, 3.393, 0.779, -1.322, 0, 0, 0, 40 [SEP] 13, Book, 2.956, 0.773, -1.499, 0, 4.886, 0, 40 [SEP] 14, KeyChain, 1.193, 0.434, -2.303, 0, 330.000, 0, 38 [SEP] 15, Pillow, 1.171, 0.677, 0.530, 0, 0, 0, 27 [SEP] 16, Pillow, 1.374, 0.677, 0.145, 0, 0, 0, 27 [SEP] 17, CreditCard, 2.776, 0.779, -1.679, 0, 0, 0, 40 [SEP] 18, Pen, 3.084, 0.785, -1.857, 0, 0, 0, 40 [SEP] 19, Pencil, 0.357, 0.708, 1.296, 0, 90, 0, 34 [SEP] 20, TissueBox, 3.239, 0.781, -1.322, 0, 0, 0, 40 [SEP] 21, Laptop, 0.968, 0.594, -0.430, 0, 0, 0, 27 [SEP] 22, CellPhone, 0.258, 0.705, 1.047, 0, 90, 0, 34 [SEP] 23, AlarmClock, 3.701, 0.779, -1.768, 0, 0, 0, 40 [SEP] 24, CD, 0.258, 0.705, 1.546, 0, 90, 0, 34 [SEP] 25, Chair, 3.232, 0.002, -1.873, 0, 350.846, 0, [SEP] 26, Mirror, 1.083, 1.228, 1.700, 0, 0, 0, [SEP] 27, Bed, 0.898, -0.002, 0.141, 0, 270, 0, [SEP] 28, GarbageCan, 3.633, 8.165, -0.982, 0, 209.052, 0, [SEP] 29, DeskLamp, 3.681, 0.785, -1.386, 0, 0, 0, [SEP] 30, DeskLamp, 0.347, 0.698, -0.979, 0, 0, 0, [SEP] 31, Painting, 0.100, 1.432, -2.053, 90, 270, 0, [SEP] 32, Window, 2.270, 1.547, -2.915, 90, 0, 0, [SEP] 33, LightSwitch, 1.809, 1.169, 1.700, 0, 180, 0, [SEP] 34, SideTable, 0.277, 0.000, 1.299, 0, 90, 0, [SEP] 35, SideTable, 0.276, 0.000, -1.017, 0, 90, 0, [SEP] 36, Drawer, 0.328, 0.624, 1.299, 0, 90, 0, [SEP] 37, Drawer, 0.328, 0.624, -1.017, 0, 90, 0, [SEP] 38, ArmChair, 0.849, -0.001, -2.141, 0, 66.451, 0, [SEP] 39, Blinds, 2.299, 2.525, -2.892, 0, 0, 0, [SEP] 40, Desk, 3.238, 0.003, -1.590, 0, 0, 0, [SEP] 41, NorthWall, , , , , , , [SEP] 42, EastWall, , , , , , , [SEP] 43, SouthWall, , , , , , , [SEP] 44, WestWall, , , , , , , ", "output": ["STEP 1: Move in front of the left cushion on the bed. | STEP 2: Pick up the cushion that's to the right of the lap top. | STEP 3: Turn left and walk to the brown chair to the right of the window. | STEP 4: Place the cushion on the brown chair right next to the keys. | STEP 5: Turn right and walk back to the foot of the bed. | STEP 6: Pick up the remaining cushion from the right edge of the bed. | STEP 7: Turn left and walk back to the chair to the right of the window. | STEP 8: Place the cushion on the brown chair to the right of the first cushion. | END"]} +{"id": "trial_T20190907_121849_514225-5", "input": "Put two pillows on a chair. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 2.25, 0.900, 0.5, 0, 270, 0, [SEP] 1, TissueBox, 3.239, 0.781, -1.500, 0, 0, 0, 40 [SEP] 2, CD, 0.228, 0.705, -0.933, 0, 180, 0, 35 [SEP] 3, CD, 0.333, 0.615, -1.246, 0, 180, 0, 37 [SEP] 4, CellPhone, 0.766, 0.596, 0.146, 0, 0, 0, 27 [SEP] 5, Pen, 0.357, 0.711, 1.130, 0, 90, 0, 34 [SEP] 6, Pencil, 2.776, 0.782, -1.500, 0, 0, 0, 40 [SEP] 7, CreditCard, 0.324, 0.705, 1.380, 0, 90, 0, 34 [SEP] 8, CreditCard, 0.355, 0.705, -1.102, 0, 180, 0, 35 [SEP] 9, KeyChain, 3.239, 0.779, -1.768, 0, 0, 0, 40 [SEP] 10, KeyChain, 0.313, 0.617, -1.093, 0, 270, 0, 37 [SEP] 11, Book, 0.563, 0.596, 0.530, 0, 0, 0, 27 [SEP] 12, AlarmClock, 3.393, 0.779, -1.322, 0, 0, 0, 40 [SEP] 13, Book, 2.956, 0.773, -1.499, 0, 4.886, 0, 40 [SEP] 14, KeyChain, 1.193, 0.434, -2.303, 0, 330.000, 0, 38 [SEP] 15, Pillow, 1.171, 0.677, 0.530, 0, 0, 0, 27 [SEP] 16, Pillow, 1.374, 0.677, 0.145, 0, 0, 0, 27 [SEP] 17, CreditCard, 2.776, 0.779, -1.679, 0, 0, 0, 40 [SEP] 18, Pen, 3.084, 0.785, -1.857, 0, 0, 0, 40 [SEP] 19, Pencil, 0.357, 0.708, 1.296, 0, 90, 0, 34 [SEP] 20, TissueBox, 3.239, 0.781, -1.322, 0, 0, 0, 40 [SEP] 21, Laptop, 0.968, 0.594, -0.430, 0, 0, 0, 27 [SEP] 22, CellPhone, 0.258, 0.705, 1.047, 0, 90, 0, 34 [SEP] 23, AlarmClock, 3.701, 0.779, -1.768, 0, 0, 0, 40 [SEP] 24, CD, 0.258, 0.705, 1.546, 0, 90, 0, 34 [SEP] 25, Chair, 3.232, 0.002, -1.873, 0, 350.846, 0, [SEP] 26, Mirror, 1.083, 1.228, 1.700, 0, 0, 0, [SEP] 27, Bed, 0.898, -0.002, 0.141, 0, 270, 0, [SEP] 28, GarbageCan, 3.633, 8.165, -0.982, 0, 209.052, 0, [SEP] 29, DeskLamp, 3.681, 0.785, -1.386, 0, 0, 0, [SEP] 30, DeskLamp, 0.347, 0.698, -0.979, 0, 0, 0, [SEP] 31, Painting, 0.100, 1.432, -2.053, 90, 270, 0, [SEP] 32, Window, 2.270, 1.547, -2.915, 90, 0, 0, [SEP] 33, LightSwitch, 1.809, 1.169, 1.700, 0, 180, 0, [SEP] 34, SideTable, 0.277, 0.000, 1.299, 0, 90, 0, [SEP] 35, SideTable, 0.276, 0.000, -1.017, 0, 90, 0, [SEP] 36, Drawer, 0.328, 0.624, 1.299, 0, 90, 0, [SEP] 37, Drawer, 0.328, 0.624, -1.017, 0, 90, 0, [SEP] 38, ArmChair, 0.849, -0.001, -2.141, 0, 66.451, 0, [SEP] 39, Blinds, 2.299, 2.525, -2.892, 0, 0, 0, [SEP] 40, Desk, 3.238, 0.003, -1.590, 0, 0, 0, [SEP] 41, NorthWall, , , , , , , [SEP] 42, EastWall, , , , , , , [SEP] 43, SouthWall, , , , , , , [SEP] 44, WestWall, , , , , , , ", "output": ["STEP 1: Turn to the left, go forward, turn to face the bed. | STEP 2: Pick up the leftmost purple pillow on the bed. | STEP 3: Turn to the left, go to the wall, turn to the right, go to the chair. | STEP 4: Put the pillow on the left side of the chair cushion. | STEP 5: Turn around, go to the bed, turn right, go to the end of the bed, turn left, go to the far side of the bed. | STEP 6: Pick up the purple pillow that is on the bed. | STEP 7: Turn left, go to the wall, turn right, go to the chair. | STEP 8: Put the pillow on the chair to the right of the other pillow. | END"]} +{"id": "trial_T20190909_011831_297911-2", "input": "Pick up a box from the floor and place it on a table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.25, 0.900, -2.5, 0, 180, 0, [SEP] 1, Laptop, 0.794, 0.543, 0.814, 0, 180, 0, 31 [SEP] 2, Box, 2.513, 0.144, -1.093, 0, 318.382, 0, 44 [SEP] 3, Bowl, -1.743, 0.757, -0.350, 0, 90, 0, 38 [SEP] 4, KeyChain, 2.151, 0.506, -2.309, 0, 0, 0, 44 [SEP] 5, Vase, -1.588, 0.168, -0.531, 0, 0, 0, 39 [SEP] 6, Statue, -1.802, 1.315, -2.467, 0, 270, 0, 36 [SEP] 7, Pillow, -0.495, 0.593, 0.955, 0, 0, 0, 31 [SEP] 8, Laptop, -1.732, 0.753, -0.696, 0, 73.105, 0, 38 [SEP] 9, Vase, -1.680, 0.172, -0.950, 0, 90, 0, 40 [SEP] 10, Statue, -1.871, 0.858, -1.055, 0, 90, 0, 38 [SEP] 11, RemoteControl, 2.321, 0.453, -2.141, 0, 270, 0, 44 [SEP] 12, Vase, 0.009, 0.168, -2.264, 0, 0, 0, 28 [SEP] 13, CreditCard, 0.353, 0.545, 0.723, 0, 180, 0, 31 [SEP] 14, Vase, -1.807, 0.760, -1.290, 0, 90, 0, 38 [SEP] 15, Statue, -0.001, 0.189, -2.521, 0, 90, 0, 28 [SEP] 16, Painting, 0.172, 1.781, 1.934, 0, 0, 0, [SEP] 17, HousePlant, -1.646, 0.755, -1.792, 0, 0, 0, [SEP] 18, LightSwitch, 1.406, 1.294, 1.651, 0, 180, 0, [SEP] 19, Television, -0.035, 1.239, -2.439, 0, 0, 0, [SEP] 20, FloorLamp, -1.573, -0.003, 1.302, 0, 0, 0, [SEP] 21, GarbageCan, 0.742, -0.000, -2.522, 0, 270, 0, [SEP] 22, Window, -0.816, 1.534, -2.719, 90, 0, 0, [SEP] 23, Window, 0.791, 1.534, -2.718, 90, 0, 0, [SEP] 24, Shelf, 0.340, 0.474, -2.377, 0, 0, 0, [SEP] 25, Shelf, 0.341, 0.273, -2.377, 0, 0, 0, [SEP] 26, TVStand, -0.025, -0.000, -2.385, 0, 0, 0, [SEP] 27, Shelf, -0.393, 0.302, -2.382, 0, 0, 0, [SEP] 28, Shelf, -0.026, 0.442, -2.380, 0, 0, 0, [SEP] 29, Shelf, -0.393, 0.597, -2.382, 0, 0, 0, [SEP] 30, Shelf, 0.340, 0.643, -2.377, 0, 0, 0, [SEP] 31, Sofa, 0.124, 0.008, 1.032, 0, 180, 0, [SEP] 32, Cabinet, -1.827, 0.729, -2.357, 0, 90, 0, [SEP] 33, Shelf, -1.827, 2.041, -2.356, 0, 90, 0, [SEP] 34, CoffeeTable, 0.017, -0.000, -1.108, 0, 180, 0, [SEP] 35, Shelf, -1.827, 1.744, -2.356, 0, 90, 0, [SEP] 36, Shelf, -1.827, 1.452, -2.356, 0, 90, 0, [SEP] 37, Shelf, -1.730, 0.278, -1.635, 0, 90, 0, [SEP] 38, TVStand, -1.733, -0.000, -1.058, 0, 90, 0, [SEP] 39, Shelf, -1.730, 0.302, -0.479, 0, 90, 0, [SEP] 40, Shelf, -1.732, 0.446, -1.056, 0, 90, 0, [SEP] 41, Shelf, -1.731, 0.596, -0.478, 0, 90, 0, [SEP] 42, Shelf, -1.733, 0.648, -1.635, 0, 90, 0, [SEP] 43, Shelf, -1.730, 0.477, -1.635, 0, 90, 0, [SEP] 44, ArmChair, 2.344, 0.002, -2.041, 0, 270, 0, [SEP] 45, ShelvingUnit, -1.847, 0.001, -2.357, 0, 90, 0, [SEP] 46, NorthWall, , , , , , , [SEP] 47, EastWall, , , , , , , [SEP] 48, SouthWall, , , , , , , [SEP] 49, WestWall, , , , , , , ", "output": ["STEP 1: Walk behind you to the box next to the chair. | STEP 2: Grab the box from the floor. | STEP 3: Walk to the edge of the coffee table. | STEP 4: Put the box on the table. | END"]} +{"id": "trial_T20190908_230034_049509-0", "input": "Put a heated mug in the cupboard above the microwave SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.5, 0.900, 0.5, 0, 180, 0, [SEP] 1, Potato, -0.160, 0.959, 0.991, 0, 0, 0, 78 [SEP] 2, Potato, -1.572, 1.533, -0.806, 0, 90, 0, 69 [SEP] 3, ButterKnife, 0.180, 0.930, 0.534, 0, 0, 0, 78 [SEP] 4, Pot, -1.438, 0.857, -0.910, 0, 180, 0, 69 [SEP] 5, Pot, 1.567, 0.948, -0.757, 0, 0, 0, 43 [SEP] 6, Spatula, 1.153, 0.928, -2.002, 0, 0, 0, 61 [SEP] 7, Egg, 1.618, 0.967, -1.751, 0, 0, 0, 61 [SEP] 8, Cup, 0.294, 0.930, 0.991, 0, 0, 0, 78 [SEP] 9, Plate, 1.850, 0.916, -1.918, 0, 0, 0, 61 [SEP] 10, Plate, 1.647, 0.916, -1.329, 0, 0, 0, 61 [SEP] 11, Tomato, -0.137, 0.816, -2.071, 0, 0, 0, 73 [SEP] 12, Bowl, 0.066, 0.927, 0.762, 0, 0, 0, 78 [SEP] 13, Lettuce, 0.522, 1.011, 0.534, 0, 0, 0, 78 [SEP] 14, PepperShaker, 0.066, 0.923, 0.076, 0, 0, 0, 78 [SEP] 15, Mug, -0.047, 0.925, 0.305, 0, 0, 0, 78 [SEP] 16, Mug, -0.616, 0.908, -2.167, 0, 0, 0, 61 [SEP] 17, Apple, -1.553, 1.254, -0.599, 0, 90, 0, 69 [SEP] 18, Apple, -1.186, 1.086, -1.638, 0, 90, 0, 67 [SEP] 19, Apple, -0.160, 0.997, 0.762, 0, 0, 0, 78 [SEP] 20, Potato, 0.066, 0.959, 1.448, 0, 0, 0, 78 [SEP] 21, Bowl, -1.277, 1.656, -1.729, 0, 90, 0, 44 [SEP] 22, SoapBottle, 1.464, 0.879, 2.483, 0, 0, 0, 82 [SEP] 23, Fork, -1.109, 0.914, -2.224, 0, 90, 0, 61 [SEP] 24, Ladle, 1.913, 1.702, -1.199, 0, 270, 0, 52 [SEP] 25, Bread, 0.399, 0.964, 0.110, 0, 0, 1.601, 78 [SEP] 26, Lettuce, -0.283, 0.845, -2.026, 0, 0, 0, 73 [SEP] 27, WineBottle, 1.566, 0.881, 2.429, 0, 0, 0, 82 [SEP] 28, Spatula, 0.294, 0.941, 0.305, 0, 0, 0, 78 [SEP] 29, Plate, -1.438, 1.187, -0.806, 0, 90, 0, 69 [SEP] 30, SaltShaker, 0.457, 0.909, -2.085, 0, 0, 0, 61 [SEP] 31, Pot, 0.408, 0.928, 1.220, 0, 90, 0, 78 [SEP] 32, Cup, 1.294, 0.119, -1.968, 0, 0, 0, 53 [SEP] 33, PepperShaker, -0.160, 0.926, 0.076, 0, 0, 0, 78 [SEP] 34, Pan, 1.824, 0.945, -0.346, 0, 0, 0, 42 [SEP] 35, ButterKnife, 0.066, 0.930, 0.305, 0, 0, 0, 78 [SEP] 36, Tomato, -0.824, 0.965, -2.167, 0, 0, 0, 61 [SEP] 37, DishSponge, 1.748, 0.120, -1.463, 0, 270, 0, 55 [SEP] 38, Egg, -1.284, 1.059, -1.742, 0, 90, 0, 67 [SEP] 39, Spoon, -0.064, 0.765, -2.026, 0, 180, 0, 73 [SEP] 40, Knife, 0.119, 0.936, -1.689, 0, 0, 0, 61 [SEP] 41, Mug, 1.181, 0.114, -1.968, 0, 0, 0, 53 [SEP] 42, StoveBurner, 1.845, 0.940, -0.355, 0, 0, 0, [SEP] 43, StoveBurner, 1.567, 0.940, -0.757, 0, 0, 0, [SEP] 44, Cabinet, -1.149, 2.019, -1.979, 0, 90, 0, [SEP] 45, Cabinet, -1.149, 2.265, -0.834, 0, 90, 0, [SEP] 46, Cabinet, -0.459, 2.265, -2.0, 0, 0, 0, [SEP] 47, Cabinet, -1.100, 2.019, -2.0, 0, 0, 0, [SEP] 48, Cabinet, 1.719, 2.019, -2.0, 0, 0, 0, [SEP] 49, Cabinet, 1.179, 2.019, -2.0, 0, 0, 0, [SEP] 50, Cabinet, 0.199, 2.019, -2.0, 0, 0, 0, [SEP] 51, Cabinet, 1.75, 2.019, -1.399, 0, 270, 0, [SEP] 52, Cabinet, 1.75, 2.019, -1.029, 0, 270, 0, [SEP] 53, Cabinet, 1.379, 0.469, -1.689, 0, 0, 0, [SEP] 54, Cabinet, -0.819, 0.469, -1.689, 0, 0, 0, [SEP] 55, Cabinet, 1.389, 0.469, -1.059, 0, 270, 0, [SEP] 56, Cabinet, -0.839, 0.469, -1.665, 0, 90, 0, [SEP] 57, StoveBurner, 1.567, 0.940, -0.355, 0, 0, 0, [SEP] 58, StoveBurner, 1.845, 0.940, -0.757, 0, 0, 0, [SEP] 59, Sink, -0.109, 0.893, -2.009, 0, 0, 0, [SEP] 60, Drawer, -0.819, 0.75, -1.690, 0, 0, 0, [SEP] 61, CounterTop, 0.232, 0.949, -2.002, 0, 0, 0, [SEP] 62, GarbageCan, 1.855, -0.034, 0.141, 0, 358.959, 0, [SEP] 63, Vase, 0.251, 0.546, 0.475, 0, 270, 0, [SEP] 64, Toaster, 0.780, 0.900, -2.080, 0, 0, 0, [SEP] 65, LightSwitch, 0.108, 1.315, 2.75, 0, 180, 0, [SEP] 66, Vase, 0.400, 0.925, 0.218, 0, 180, 0, [SEP] 67, Microwave, -1.233, 0.900, -1.680, 0, 90, 0, [SEP] 68, Vase, 1.465, 1.662, -2.200, 0, 0, 0, [SEP] 69, Fridge, -1.495, 0.0, -0.703, 0, 0, 0, [SEP] 70, Window, 2.114, 1.495, 1.072, 90, 270, 0, [SEP] 71, CoffeeMachine, 1.374, 0.899, -2.112, 0, 0, 0, [SEP] 72, Vase, 0.333, 0.546, 1.272, 0, 270, 0, [SEP] 73, SinkBasin, -0.148, 0.753, -2.026, 0, 0, 0, [SEP] 74, StoveKnob, 2.037, 1.089, -0.405, 0, 0, 74.477, [SEP] 75, StoveKnob, 2.037, 1.089, -0.251, 0, 0, 74.477, [SEP] 76, StoveKnob, 2.037, 1.089, -0.649, 0, 0, 74.477, [SEP] 77, StoveKnob, 2.037, 1.089, -0.814, 0, 0, 74.477, [SEP] 78, DiningTable, 0.170, 0.005, 0.678, 0, 270, 0, [SEP] 79, Shelf, 0.170, 0.155, 0.678, 0, 270, 0, [SEP] 80, Shelf, 1.605, 0.172, 2.480, 0, 0, 0, [SEP] 81, Shelf, 1.605, 0.552, 2.480, 0, 0, 0, [SEP] 82, Shelf, 1.604, 0.880, 2.479, 0, 0, 0, [SEP] 83, ShelvingUnit, 1.605, 0.006, 2.480, 0, 0, 0, [SEP] 84, Faucet, -0.143, 1.028, -2.223, 0, 270, 0, [SEP] 85, Stool, -0.553, 0.000, 0.871, 1.233, 280.376, 0, [SEP] 86, Shelf, 0.170, 0.528, 0.678, 0, 270, 0, [SEP] 87, NorthWall, , , , , , , [SEP] 88, EastWall, , , , , , , [SEP] 89, SouthWall, , , , , , , [SEP] 90, WestWall, , , , , , , ", "output": ["STEP 1: Turn right, then left then right and go towards the fridge, then turn left and go to the sink | STEP 2: Pick up the mug from the counter | STEP 3: Turn right and go to the microwave | STEP 4: Heat the mug in the microwave with the fruit then take the mug out of the microwave | STEP 5: Lift the mug up high towards the cupboard above the microwave | STEP 6: Put the mug in the cupboard next to the bowl | END"]} +{"id": "trial_T20190908_230034_049509-2", "input": "Put a heated mug in the cabinet. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.5, 0.900, 0.5, 0, 180, 0, [SEP] 1, Potato, -0.160, 0.959, 0.991, 0, 0, 0, 78 [SEP] 2, Potato, -1.572, 1.533, -0.806, 0, 90, 0, 69 [SEP] 3, ButterKnife, 0.180, 0.930, 0.534, 0, 0, 0, 78 [SEP] 4, Pot, -1.438, 0.857, -0.910, 0, 180, 0, 69 [SEP] 5, Pot, 1.567, 0.948, -0.757, 0, 0, 0, 43 [SEP] 6, Spatula, 1.153, 0.928, -2.002, 0, 0, 0, 61 [SEP] 7, Egg, 1.618, 0.967, -1.751, 0, 0, 0, 61 [SEP] 8, Cup, 0.294, 0.930, 0.991, 0, 0, 0, 78 [SEP] 9, Plate, 1.850, 0.916, -1.918, 0, 0, 0, 61 [SEP] 10, Plate, 1.647, 0.916, -1.329, 0, 0, 0, 61 [SEP] 11, Tomato, -0.137, 0.816, -2.071, 0, 0, 0, 73 [SEP] 12, Bowl, 0.066, 0.927, 0.762, 0, 0, 0, 78 [SEP] 13, Lettuce, 0.522, 1.011, 0.534, 0, 0, 0, 78 [SEP] 14, PepperShaker, 0.066, 0.923, 0.076, 0, 0, 0, 78 [SEP] 15, Mug, -0.047, 0.925, 0.305, 0, 0, 0, 78 [SEP] 16, Mug, -0.616, 0.908, -2.167, 0, 0, 0, 61 [SEP] 17, Apple, -1.553, 1.254, -0.599, 0, 90, 0, 69 [SEP] 18, Apple, -1.186, 1.086, -1.638, 0, 90, 0, 67 [SEP] 19, Apple, -0.160, 0.997, 0.762, 0, 0, 0, 78 [SEP] 20, Potato, 0.066, 0.959, 1.448, 0, 0, 0, 78 [SEP] 21, Bowl, -1.277, 1.656, -1.729, 0, 90, 0, 44 [SEP] 22, SoapBottle, 1.464, 0.879, 2.483, 0, 0, 0, 82 [SEP] 23, Fork, -1.109, 0.914, -2.224, 0, 90, 0, 61 [SEP] 24, Ladle, 1.913, 1.702, -1.199, 0, 270, 0, 52 [SEP] 25, Bread, 0.399, 0.964, 0.110, 0, 0, 1.601, 78 [SEP] 26, Lettuce, -0.283, 0.845, -2.026, 0, 0, 0, 73 [SEP] 27, WineBottle, 1.566, 0.881, 2.429, 0, 0, 0, 82 [SEP] 28, Spatula, 0.294, 0.941, 0.305, 0, 0, 0, 78 [SEP] 29, Plate, -1.438, 1.187, -0.806, 0, 90, 0, 69 [SEP] 30, SaltShaker, 0.457, 0.909, -2.085, 0, 0, 0, 61 [SEP] 31, Pot, 0.408, 0.928, 1.220, 0, 90, 0, 78 [SEP] 32, Cup, 1.294, 0.119, -1.968, 0, 0, 0, 53 [SEP] 33, PepperShaker, -0.160, 0.926, 0.076, 0, 0, 0, 78 [SEP] 34, Pan, 1.824, 0.945, -0.346, 0, 0, 0, 42 [SEP] 35, ButterKnife, 0.066, 0.930, 0.305, 0, 0, 0, 78 [SEP] 36, Tomato, -0.824, 0.965, -2.167, 0, 0, 0, 61 [SEP] 37, DishSponge, 1.748, 0.120, -1.463, 0, 270, 0, 55 [SEP] 38, Egg, -1.284, 1.059, -1.742, 0, 90, 0, 67 [SEP] 39, Spoon, -0.064, 0.765, -2.026, 0, 180, 0, 73 [SEP] 40, Knife, 0.119, 0.936, -1.689, 0, 0, 0, 61 [SEP] 41, Mug, 1.181, 0.114, -1.968, 0, 0, 0, 53 [SEP] 42, StoveBurner, 1.845, 0.940, -0.355, 0, 0, 0, [SEP] 43, StoveBurner, 1.567, 0.940, -0.757, 0, 0, 0, [SEP] 44, Cabinet, -1.149, 2.019, -1.979, 0, 90, 0, [SEP] 45, Cabinet, -1.149, 2.265, -0.834, 0, 90, 0, [SEP] 46, Cabinet, -0.459, 2.265, -2.0, 0, 0, 0, [SEP] 47, Cabinet, -1.100, 2.019, -2.0, 0, 0, 0, [SEP] 48, Cabinet, 1.719, 2.019, -2.0, 0, 0, 0, [SEP] 49, Cabinet, 1.179, 2.019, -2.0, 0, 0, 0, [SEP] 50, Cabinet, 0.199, 2.019, -2.0, 0, 0, 0, [SEP] 51, Cabinet, 1.75, 2.019, -1.399, 0, 270, 0, [SEP] 52, Cabinet, 1.75, 2.019, -1.029, 0, 270, 0, [SEP] 53, Cabinet, 1.379, 0.469, -1.689, 0, 0, 0, [SEP] 54, Cabinet, -0.819, 0.469, -1.689, 0, 0, 0, [SEP] 55, Cabinet, 1.389, 0.469, -1.059, 0, 270, 0, [SEP] 56, Cabinet, -0.839, 0.469, -1.665, 0, 90, 0, [SEP] 57, StoveBurner, 1.567, 0.940, -0.355, 0, 0, 0, [SEP] 58, StoveBurner, 1.845, 0.940, -0.757, 0, 0, 0, [SEP] 59, Sink, -0.109, 0.893, -2.009, 0, 0, 0, [SEP] 60, Drawer, -0.819, 0.75, -1.690, 0, 0, 0, [SEP] 61, CounterTop, 0.232, 0.949, -2.002, 0, 0, 0, [SEP] 62, GarbageCan, 1.855, -0.034, 0.141, 0, 358.959, 0, [SEP] 63, Vase, 0.251, 0.546, 0.475, 0, 270, 0, [SEP] 64, Toaster, 0.780, 0.900, -2.080, 0, 0, 0, [SEP] 65, LightSwitch, 0.108, 1.315, 2.75, 0, 180, 0, [SEP] 66, Vase, 0.400, 0.925, 0.218, 0, 180, 0, [SEP] 67, Microwave, -1.233, 0.900, -1.680, 0, 90, 0, [SEP] 68, Vase, 1.465, 1.662, -2.200, 0, 0, 0, [SEP] 69, Fridge, -1.495, 0.0, -0.703, 0, 0, 0, [SEP] 70, Window, 2.114, 1.495, 1.072, 90, 270, 0, [SEP] 71, CoffeeMachine, 1.374, 0.899, -2.112, 0, 0, 0, [SEP] 72, Vase, 0.333, 0.546, 1.272, 0, 270, 0, [SEP] 73, SinkBasin, -0.148, 0.753, -2.026, 0, 0, 0, [SEP] 74, StoveKnob, 2.037, 1.089, -0.405, 0, 0, 74.477, [SEP] 75, StoveKnob, 2.037, 1.089, -0.251, 0, 0, 74.477, [SEP] 76, StoveKnob, 2.037, 1.089, -0.649, 0, 0, 74.477, [SEP] 77, StoveKnob, 2.037, 1.089, -0.814, 0, 0, 74.477, [SEP] 78, DiningTable, 0.170, 0.005, 0.678, 0, 270, 0, [SEP] 79, Shelf, 0.170, 0.155, 0.678, 0, 270, 0, [SEP] 80, Shelf, 1.605, 0.172, 2.480, 0, 0, 0, [SEP] 81, Shelf, 1.605, 0.552, 2.480, 0, 0, 0, [SEP] 82, Shelf, 1.604, 0.880, 2.479, 0, 0, 0, [SEP] 83, ShelvingUnit, 1.605, 0.006, 2.480, 0, 0, 0, [SEP] 84, Faucet, -0.143, 1.028, -2.223, 0, 270, 0, [SEP] 85, Stool, -0.553, 0.000, 0.871, 1.233, 280.376, 0, [SEP] 86, Shelf, 0.170, 0.528, 0.678, 0, 270, 0, [SEP] 87, NorthWall, , , , , , , [SEP] 88, EastWall, , , , , , , [SEP] 89, SouthWall, , , , , , , [SEP] 90, WestWall, , , , , , , ", "output": ["STEP 1: Cross the room to the left and stand in front of the sink. | STEP 2: Pick the white mug up from the sink. | STEP 3: Turn to the right and face the microwave. | STEP 4: Put the mug in the microwave and shut the door and then open the door and grab the mug and shut the door again. | STEP 5: Look up and face the large cabinet above the microwave. | STEP 6: Put the mug in the cabinet above the microwave with a silver bowl. | END"]} +{"id": "trial_T20190907_183558_357272-0", "input": "Place a cleaned cloth towel in a bath tub basin. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.903, 4.5, 0, 180, 0, [SEP] 1, Cloth, -1.391, 0.164, 0.736, 0, 0, 0, 33 [SEP] 2, Cloth, -2.163, 0.704, 0.280, 0, 0, 0, 24 [SEP] 3, SoapBar, -2.322, 0.704, 0.717, 0, 0, 0, 24 [SEP] 4, SoapBar, 0.081, 1.054, 3.629, 0, 0, 0, 27 [SEP] 5, Candle, 0.046, 1.063, 3.432, 0, 0, 0, 27 [SEP] 6, SprayBottle, -0.122, 0.153, 1.349, 0, 90, 0, 35 [SEP] 7, SprayBottle, 0.668, 1.048, 4.277, 0, 270, 0, 36 [SEP] 8, SoapBottle, 0.729, 1.051, 4.473, 0, 0, 0, 36 [SEP] 9, SoapBottle, -0.944, 0.707, 1.080, 0, 0, 0, 24 [SEP] 10, Towel, -2.393, 1.478, 0.580, 0, 90, 0, 30 [SEP] 11, Candle, 0.112, 1.063, 2.108, 0, 0, 0, 27 [SEP] 12, Cloth, -0.680, 0.164, 0.465, 0, 0, 0, 33 [SEP] 13, HandTowel, 0.397, 1.656, 2.039, 0, 180, 0, 34 [SEP] 14, Plunger, 0.480, 0.002, 4.793, 0, 0, 0, [SEP] 15, SoapBar, 0.377, 0.097, 3.070, 0, 0, 0, 23 [SEP] 16, ToiletPaper, 0.232, 0.094, 3.070, 0, 0, 0, 23 [SEP] 17, ToiletPaper, -0.047, 0.971, 4.911, 0, 180, 90, 31 [SEP] 18, SoapBottle, 0.112, 1.058, 2.200, 0, 0, 0, 27 [SEP] 19, SprayBottle, 0.786, 1.055, 2.604, 0, 0, 0, 25 [SEP] 20, ScrubBrush, 0.688, 0.002, 4.867, 0, 0, 0, [SEP] 21, Sink, 0.426, 1.037, 2.947, 0, 270, 0, [SEP] 22, Window, -2.548, 1.673, 2.405, 0, 0, 0, [SEP] 23, Cabinet, 0.068, 0.366, 3.772, 0, 0, 0, [SEP] 24, Bathtub, -1.042, 0.155, 0.558, 0, 0, 0, [SEP] 25, SinkBasin, 0.404, 0.926, 2.926, 0, 270, 0, [SEP] 26, Mirror, 0.858, 1.863, 2.972, 0, 0, 0, [SEP] 27, CounterTop, 0.487, 1.015, 3.090, 0, 0, 0, [SEP] 28, Faucet, -0.207, 0.687, 0.546, 0, 0, 0, [SEP] 29, Cabinet, 0.074, 0.379, 2.045, 0, 0, 0, [SEP] 30, TowelHolder, -2.5, 1.463, 0.579, 0, 90, 0, [SEP] 31, ToiletPaperHanger, -0.081, 0.971, 5.0, 0, 180, 0, [SEP] 32, LightSwitch, -1.121, 1.333, 5.000, 0, 180, 0, [SEP] 33, BathtubBasin, -1.062, 0.153, 0.556, 0, 0, 0, [SEP] 34, HandTowelHolder, 0.398, 1.758, 2.000, 0, 270, 0, [SEP] 35, GarbageCan, -0.229, 0.001, 1.445, 0, 270, 0, [SEP] 36, Toilet, 0.376, 0.002, 4.470, 0, 0, 0, [SEP] 37, Faucet, 0.661, 1.043, 3.371, 0, 270, 0, [SEP] 38, Faucet, 0.661, 1.043, 2.520, 0, 270, 0, [SEP] 39, NorthWall, , , , , , , [SEP] 40, EastWall, , , , , , , [SEP] 41, SouthWall, , , , , , , [SEP] 42, WestWall, , , , , , , ", "output": ["STEP 1: Walk forward to the bath tub. | STEP 2: Pick up the cloth towel out of the bath tub. | STEP 3: Turn around and walk to the sink on the right. | STEP 4: Put the cloth towel in the sink, rinse it off, and take it back out. | STEP 5: Turn right and walk back to the bath tub. | STEP 6: Put the cloth towel back in the bath tub basin. | END"]} +{"id": "trial_T20190907_182537_311747-1", "input": "Put the plunger in the cabinet. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.900, 1.75, 0, 180, 0, [SEP] 1, TissueBox, -0.859, 0.860, 0.374, 0, 270, 0, 19 [SEP] 2, SoapBar, -1.779, 0.850, 0.364, 0, 0, 0, 40 [SEP] 3, Candle, -0.812, 1.134, 0.228, 0, 0, 0, 30 [SEP] 4, SprayBottle, -0.858, 0.119, 0.311, 0, 0, 0, 21 [SEP] 5, SoapBottle, -3.098, 0.692, 1.730, 0, 0, 0, 23 [SEP] 6, HandTowel, -1.296, 1.765, 0.040, 0, 180, 0, 36 [SEP] 7, SoapBar, -3.324, 0.219, 0.449, 0, 0, 0, 39 [SEP] 8, ToiletPaper, -0.767, 1.650, 0.311, 0, 0, 0, 29 [SEP] 9, Plunger, -0.735, -0.000, 2.732, 0, 0, 0, Floor|-00.08| [SEP] 10, Candle, -0.256, 0.952, 2.669, 0, 270, 0, 38 [SEP] 11, TissueBox, -0.812, 1.134, 0.466, 0, 0, 0, 30 [SEP] 12, ToiletPaper, -2.071, 1.297, 2.096, 0, 0, 0, 32 [SEP] 13, SoapBottle, -0.991, 1.137, 0.110, 0, 0, 0, 30 [SEP] 14, SprayBottle, -2.076, 0.109, 2.100, 0, 0, 0, 20 [SEP] 15, Towel, -2.760, 1.569, 0.107, 0, 0, 0, 33 [SEP] 16, Cloth, -3.449, 0.219, 1.104, 0, 0, 0, 39 [SEP] 17, ScrubBrush, -0.657, -0.000, 2.560, 0, 0, 0, Floor|-00.08| [SEP] 18, Cabinet, -2.344, 0.457, 0.524, 0, 0, 0, [SEP] 19, Drawer, -0.813, 0.956, 0.384, 0, 270, 0, [SEP] 20, Cabinet, -1.891, 0.443, 1.982, 0, 0, 0, [SEP] 21, Cabinet, -0.605, 0.457, 0.524, 0, 0, 0, [SEP] 22, Drawer, -2.032, 0.942, 2.190, 0, 0, 0, [SEP] 23, Bathtub, -3.450, 0.178, 1.029, 0, 0, 0, [SEP] 24, CounterTop, -1.919, 0.0, 0.288, 0, 0, 0, [SEP] 25, Sink, -1.924, 0.772, 0.326, 0, 0, 0, [SEP] 26, Mirror, -1.934, 1.666, 0.107, 0, 0, 0, [SEP] 27, Faucet, -1.925, 0.958, 0.179, 0, 0, 0, [SEP] 28, Cabinet, -1.891, 1.884, 2.391, 0, 0, 0, [SEP] 29, Cabinet, -0.605, 1.988, 0.524, 0, 0, 0, [SEP] 30, CounterTop, -0.812, 0.093, 0.288, 0, 0, 0, [SEP] 31, Shelf, -2.029, 1.183, 2.189, 0, 0, 0, [SEP] 32, Shelf, -2.123, 1.393, 2.189, 0, 0, 0, [SEP] 33, TowelHolder, -2.760, 1.555, 0.000, 0, 0, 0, [SEP] 34, LightSwitch, 0.0, 1.427, 1.993, 0, 270, 0, [SEP] 35, ToiletPaperHanger, 0.0, 1.014, 2.237, 0, 270, 0, [SEP] 36, HandTowelHolder, -1.297, 1.866, 0.002, 0, 270, 0, [SEP] 37, Window, -4.149, 1.717, 1.154, 90, 270, 0, [SEP] 38, Toilet, -0.456, -0.000, 2.257, 0, 180, 0, [SEP] 39, BathtubBasin, -3.520, 0.210, 0.940, 0, 0, 0, [SEP] 40, SinkBasin, -1.931, 0.841, 0.320, 0, 0, 0, [SEP] 41, GarbageCan, -0.257, -0.000, 0.259, 0, 0, 0, [SEP] 42, ShowerHead, -3.522, 1.719, 1.776, 0, 0, 0, [SEP] 43, ShowerCurtain, -3.391, 2.442, 0.266, 0, 0, 6.838, [SEP] 44, NorthWall, , , , , , , [SEP] 45, SouthWall, , , , , , , [SEP] 46, SouthWall, , , , , , , ", "output": ["STEP 1: Turn right, go forward, then turn right to face the toilet. | STEP 2: Pick up the plunger, to the left of the toilet. | STEP 3: Turn around, move forward, then turn right to face the cabinet. | STEP 4: Put the plunger in the cabinet in front of you. | END"]} +{"id": "trial_T20190908_055133_720168-1", "input": "Put a washed soap away in a cabinet. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.25, 0.900, 3.0, 0, 0, 0, [SEP] 1, SoapBar, -3.701, 0.185, 2.895, 0, 0, 0, 19 [SEP] 2, Candle, -1.229, 0.048, 4.828, 0, 0, 0, 30 [SEP] 3, Candle, -3.597, 0.550, 1.293, 0, 90, 0, 36 [SEP] 4, SoapBottle, -1.095, 0.968, 4.734, 0, 0, 0, 26 [SEP] 5, SoapBottle, -1.279, 0.044, 5.006, 0, 0, 0, 30 [SEP] 6, Towel, -0.181, 1.419, 2.425, 0, 270, 0, 34 [SEP] 7, Candle, -0.911, 0.046, 4.708, 0, 0, 0, 29 [SEP] 8, SoapBottle, -0.294, 0.044, 4.946, 0, 0, 0, 20 [SEP] 9, HandTowel, -0.112, 1.467, 4.811, 0, 270, 0, 38 [SEP] 10, Towel, -1.719, 1.228, 1.846, 0, 0, 0, 33 [SEP] 11, SoapBar, -2.227, 0.034, 4.948, 0, 0, 0, 35 [SEP] 12, ToiletPaper, -0.188, 1.036, 3.374, 0, 0, 0, 40 [SEP] 13, TissueBox, -3.828, 0.541, 0.741, 0, 90, 0, 36 [SEP] 14, Cloth, -0.811, 0.038, 4.768, 0, 90, 0, 29 [SEP] 15, ToiletPaper, -0.153, 1.126, 3.705, 0, 270, 270, 39 [SEP] 16, SprayBottle, -0.285, 1.045, 3.157, 0, 270, 0, 40 [SEP] 17, ScrubBrush, -0.231, -0.000, 3.857, 0, 0, 0, Floor|+00.00| [SEP] 18, Plunger, -0.212, -0.000, 3.536, 0, 0, 0, Floor|+00.00| [SEP] 19, BathtubBasin, -3.404, 0.166, 2.904, 0, 0, 0, [SEP] 20, Cabinet, -0.124, 0.364, 4.634, 0, 0, 0, [SEP] 21, Bathtub, -2.896, 0.667, 2.860, 0, 0, 0, [SEP] 22, Faucet, -3.475, 0.711, 3.811, 0, 0, 0, [SEP] 23, ShowerGlass, 0.0, 0.0, 0.0, 0, 0, 0, [SEP] 24, ShowerDoor, -0.282, 1.228, 1.730, 0, 0, 0, [SEP] 25, Faucet, -1.524, 1.047, 5.096, 0, 180, 0, [SEP] 26, CounterTop, -1.023, 0.954, 4.884, 0, 0, 0, [SEP] 27, Mirror, -0.975, 1.577, 5.145, 0, 0, 0, [SEP] 28, Cabinet, -1.962, 0.364, 4.634, 0, 0, 0, [SEP] 29, Cabinet, -1.027, 0.364, 4.634, 0, 0, 0, [SEP] 30, Cabinet, -1.059, 0.364, 4.634, 0, 0, 0, [SEP] 31, Window, -1.993, 1.888, 0.144, 0, 0, 0, [SEP] 32, LightSwitch, -2.496, 1.366, 5.146, 0, 180, 0, [SEP] 33, TowelHolder, -1.720, 1.213, 1.740, 0, 0, 0, [SEP] 34, TowelHolder, -0.074, 1.404, 2.424, 0, 270, 0, [SEP] 35, GarbageCan, -2.346, 0.002, 4.878, 0, 180, 0, [SEP] 36, Shelf, -3.713, 0.531, 0.951, 0, 90, 0, [SEP] 37, HandTowelHolder, -2.094, 1.544, 5.145, 0, 90, 0, [SEP] 38, HandTowelHolder, -0.074, 1.569, 4.810, 0, 180, 0, [SEP] 39, ToiletPaperHanger, -0.074, 1.126, 3.686, 0, 270, 0, [SEP] 40, Toilet, -0.517, -0.000, 3.220, 0, 0, 0, [SEP] 41, ShowerHead, -0.182, 1.256, 0.875, 0, 0, 0, [SEP] 42, SinkBasin, -0.569, 0.986, 4.886, 0, 180, 0, [SEP] 43, Sink, -0.579, 0.926, 4.874, 0, 180, 0, [SEP] 44, Sink, -1.524, 0.926, 4.874, 0, 180, 0, [SEP] 45, SinkBasin, -1.514, 0.986, 4.886, 0, 180, 0, [SEP] 46, Faucet, -0.583, 1.047, 5.096, 0, 180, 0, [SEP] 47, NorthWall, , , , , , , [SEP] 48, EastWall, , , , , , , [SEP] 49, SouthWall, , , , , , , [SEP] 50, WestWall, , , , , , , ", "output": ["STEP 1: Move forward to the trash can. | STEP 2: Pick up the soap from the trash can. | STEP 3: Move right with the soap and face the sink on the right. | STEP 4: Wash the soap in the sink with water. | STEP 5: Bring the washed soap to the right cabinet under the right sink. | STEP 6: Put the washed soap in the right cabinet under the right sink. | END"]} +{"id": "trial_T20190907_013411_373772-1", "input": "To ultimately cook tomatoes in the microwave. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.25, 0.901, 0.0, 0, 270, 0, [SEP] 1, Pan, 2.074, 0.937, 1.964, 0, 90, 0, 58 [SEP] 2, Potato, 0.033, 0.831, 0.377, 0, 0, 0, 85 [SEP] 3, Potato, -0.349, 0.831, 1.386, 0, 0, 0, 85 [SEP] 4, WineBottle, -0.167, 0.938, 2.827, 0, 0, 0, 58 [SEP] 5, DishSponge, 1.223, 0.794, 2.695, 0, 0, 0, 82 [SEP] 6, DishSponge, 2.225, 0.937, 0.806, 0, 0, 0, 69 [SEP] 7, Spatula, -0.425, 0.805, 1.217, 0, 270, 0, 85 [SEP] 8, Spatula, 0.033, 0.805, 0.713, 0, 90, 0, 85 [SEP] 9, Fork, 0.033, 0.791, 1.386, 0, 90, 0, 85 [SEP] 10, Fork, -0.119, 0.791, 1.386, 0, 0, 0, 85 [SEP] 11, Egg, -0.425, 0.833, 0.881, 0, 0, 0, 85 [SEP] 12, Egg, 2.168, 1.363, -0.007, 0, 270, 0, 79 [SEP] 13, Cup, 2.280, 1.501, 0.388, 0, 0, 0, 66 [SEP] 14, Cup, -0.362, 1.034, 1.907, 0, 90, 0, 83 [SEP] 15, Plate, 1.156, 0.085, 2.523, 0, 0, 0, 64 [SEP] 16, Plate, 2.164, 0.606, -0.460, 0, 270, 0, 79 [SEP] 17, Knife, 0.735, 0.827, 2.695, 0, 270, 0, 82 [SEP] 18, SoapBottle, 2.127, 1.504, 0.695, 0, 0, 0, 66 [SEP] 19, Tomato, -0.295, 0.083, -0.769, 0, 90, 0, 80 [SEP] 20, Tomato, 1.840, 0.984, 0.583, 0, 0, 0, 69 [SEP] 21, Tomato, -0.042, 0.837, 1.386, 0, 0, 0, 85 [SEP] 22, Bowl, -0.042, 0.787, 0.545, 0, 0, 0, 85 [SEP] 23, SaltShaker, 0.566, 0.076, 2.484, 0, 0, 0, 65 [SEP] 24, PepperShaker, -0.119, 0.785, 0.377, 0, 0, 0, 85 [SEP] 25, Mug, 2.167, 1.943, 1.097, 0, 0, 0, 68 [SEP] 26, Apple, 2.168, 1.371, -0.369, 0, 270, 0, 79 [SEP] 27, Egg, -0.053, 0.980, 2.688, 0, 0, 0, 58 [SEP] 28, Lettuce, -0.349, 0.852, 0.545, 0, 0, 0, 85 [SEP] 29, Fork, 1.815, 0.747, 2.060, 0, 90, 0, 73 [SEP] 30, SoapBottle, -0.282, 0.938, 2.618, 0, 0, 0, 58 [SEP] 31, Ladle, 0.779, 0.125, 2.523, 0, 0, 0, 65 [SEP] 32, Ladle, -0.096, 0.942, 2.546, 6.838, 45, 340.406, 58 [SEP] 33, Bread, -0.199, 0.823, 0.813, 0, 0, 0, 85 [SEP] 34, SaltShaker, -0.118, 0.932, 2.451, 0, 0, 0, 58 [SEP] 35, Potato, 2.250, 0.642, -0.188, 0, 270, 0, 79 [SEP] 36, Pan, 2.140, 0.935, 1.504, 0, 180, 0, 53 [SEP] 37, WineBottle, -0.053, 0.938, 2.827, 0, 0, 0, 58 [SEP] 38, Spatula, -0.103, 0.761, 2.061, 0, 90, 0, 57 [SEP] 39, Knife, -0.119, 0.816, 1.217, 0, 0, 0, 85 [SEP] 40, Tomato, 0.033, 0.837, 1.217, 0, 0, 0, 85 [SEP] 41, Apple, 2.158, 0.910, -0.007, 0, 270, 0, 79 [SEP] 42, ButterKnife, 0.682, 0.795, 2.64, 0, 0, 0, 82 [SEP] 43, Pot, 1.854, 0.937, 1.497, 0, 0, 0, 62 [SEP] 44, PepperShaker, -0.349, 0.785, 0.377, 0, 0, 0, 85 [SEP] 45, Cup, 1.855, 1.501, 2.767, 0, 0, 0, 59 [SEP] 46, DishSponge, 0.629, 0.794, 2.695, 0, 0, 0, 82 [SEP] 47, Plate, 1.925, 0.086, 1.986, 0, 0, 0, 54 [SEP] 48, Spoon, 1.917, 0.939, 0.806, 0, 0, 0, 69 [SEP] 49, Mug, -0.261, 1.030, 2.014, 0, 90, 0, 83 [SEP] 50, Bowl, 2.024, 1.515, -0.278, 0, 270, 0, 79 [SEP] 51, Cabinet, 2.041, 2.113, 2.618, 0, 0, 0, [SEP] 52, Cabinet, 0.126, 0.388, 1.774, 0, 0, 0, [SEP] 53, StoveBurner, 2.140, 0.929, 1.504, 0, 180, 0, [SEP] 54, Cabinet, 1.760, 0.388, 2.346, 0, 0, 0, [SEP] 55, Cabinet, 1.760, 0.388, 0.869, 0, 0, 0, [SEP] 56, Cabinet, 2.041, 1.810, 0.283, 0, 0, 0, [SEP] 57, Drawer, -0.024, 0.774, 2.061, 0, 0, 0, [SEP] 58, CounterTop, 1.065, 0.973, 2.666, 0, 0, 0, [SEP] 59, Cabinet, 1.969, 2.113, 2.618, 0, 0, 0, [SEP] 60, StoveBurner, 2.140, 0.929, 1.106, 0, 0, 0, [SEP] 61, Cabinet, 2.041, 2.113, 1.809, 0, 0, 0, [SEP] 62, StoveBurner, 1.866, 0.929, 1.504, 0, 180, 0, [SEP] 63, Cabinet, 2.041, 2.113, 1.766, 0, 0, 0, [SEP] 64, Cabinet, 1.514, 0.388, 2.360, 0, 0, 0, [SEP] 65, Cabinet, 0.351, 0.388, 2.360, 0, 0, 0, [SEP] 66, Cabinet, 2.041, 1.810, 0.872, 0, 0, 0, [SEP] 67, Drawer, 2.167, 0.774, 0.582, 0, 0, 0, [SEP] 68, Cabinet, 2.041, 2.113, 0.892, 0, 0, 0, [SEP] 69, CounterTop, 2.060, 0.973, 0.583, 0, 0, 0, [SEP] 70, Sink, 0.935, 0.936, 2.646, 0, 0, 0, [SEP] 71, Curtains, 0.964, 2.061, 2.989, 0, 0, 0, [SEP] 72, StoveBurner, 1.863, 0.929, 1.106, 0, 0, 0, [SEP] 73, Drawer, 1.911, 0.774, 2.060, 0, 0, 0, [SEP] 74, StoveKnob, 2.326, 1.092, 1.610, 288.013, 90, 0, [SEP] 75, StoveKnob, 2.326, 1.092, 1.460, 288.013, 90, 0, [SEP] 76, StoveKnob, 2.326, 1.092, 1.210, 288.013, 90, 0, [SEP] 77, StoveKnob, 2.326, 1.092, 1.050, 288.013, 90, 0, [SEP] 78, Toaster, 2.126, 0.926, 0.572, 0, 270, 0, [SEP] 79, Fridge, 2.104, 0.0, -0.279, 0, 270, 0, [SEP] 80, GarbageCan, -0.309, -0.001, -0.807, 0, 91.471, 0, [SEP] 81, LightSwitch, 0.354, 1.518, -1.031, 0, 0, 0, [SEP] 82, SinkBasin, 0.903, 0.784, 2.640, 0, 0, 0, [SEP] 83, Microwave, -0.310, 0.926, 2.077, 0, 90, 0, [SEP] 84, CoffeeMachine, 2.084, 0.927, 2.667, 0, 225, 0, [SEP] 85, DiningTable, -0.153, -0.000, 1.073, 0, 270, 0, [SEP] 86, Faucet, 1.175, 0.926, 2.950, 270, 90, 0, [SEP] 87, Faucet, 0.686, 0.926, 2.950, 270, 90, 0, [SEP] 88, Chair, -0.077, 0.002, 0.196, 0, 15.000, 0, [SEP] 89, NorthWall, , , , , , , [SEP] 90, EastWall, , , , , , , [SEP] 91, SouthWall, , , , , , , [SEP] 92, WestWall, , , , , , , ", "output": ["STEP 1: Move to the left end of the white table where there are two tomatoes and utensils. | STEP 2: Pick up the knife that is on the table. | STEP 3: Slice the tomato on the left side. | STEP 4: Move down to the very end of the table. | STEP 5: Slice the tomato on the right side. | STEP 6: Move across the room to the microwave. | STEP 7: Put the knife inside the microwave. | STEP 8: Return to the table with the tomatoes. | STEP 9: Pick up the tomatoes off of the table. | STEP 10: Move to the microwave and open the door. | STEP 11: Place the tomatoes inside the microwave. | STEP 12: Close the door. Move back to the white table with the tomatoes. | STEP 13: Pick up another slice of tomato that is on the counter. | STEP 14: Move back to the microwave and open the door. | STEP 15: Put the tomato in the microwave and close the door. | END"]} +{"id": "trial_T20190908_061939_482230-2", "input": "Grab two cards from the dresser, put them in the bookcase SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.901, -0.25, 0, 270, 0, [SEP] 1, Mug, -1.515, 0.597, -0.816, 0, 0, 0, 52 [SEP] 2, Vase, 1.853, 0.978, -2.298, 0, 0, 0, 32 [SEP] 3, Vase, 0.536, 0.729, -2.588, 0, 180, 0, 45 [SEP] 4, CellPhone, 0.306, 0.728, -2.705, 0, 180, 0, 45 [SEP] 5, CellPhone, -0.794, 0.417, -1.488, 0, 0, 0, 51 [SEP] 6, Pen, 0.536, 0.734, -2.471, 0, 180, 0, 45 [SEP] 7, Pen, 0.651, 0.734, -2.588, 0, 270, 0, 45 [SEP] 8, Pencil, -1.648, 0.602, -0.392, 0, 0, 0, 52 [SEP] 9, CreditCard, 0.306, 0.728, -2.530, 0, 180, 0, 45 [SEP] 10, CreditCard, 0.076, 0.730, -2.764, 0, 180, 0, 45 [SEP] 11, CreditCard, -1.901, 0.508, -1.232, 0, 0, 0, 54 [SEP] 12, KeyChain, -1.864, 0.509, -1.107, 0, 0, 0, 54 [SEP] 13, Book, -0.564, 0.418, -1.855, 0, 0, 0, 51 [SEP] 14, Box, 1.996, 0.316, -1.042, 0, 254.839, 0, [SEP] 15, Book, -1.024, 0.418, -2.100, 0, 0, 0, 51 [SEP] 16, Pillow, -1.548, 0.457, -1.831, 0, 90, 0, 51 [SEP] 17, CellPhone, 0.766, 0.730, -2.764, 0, 180, 0, 45 [SEP] 18, Vase, -1.846, 0.599, -0.533, 0, 0, 0, 52 [SEP] 19, BaseballBat, -1.629, 0.649, 0.416, 14.491, 0, 0, [SEP] 20, CreditCard, 0.076, 0.730, -2.471, 0, 180, 0, 45 [SEP] 21, TennisRacket, 2.244, 0.279, -1.901, 335.402, 251.974, 201.714, [SEP] 22, KeyChain, -1.718, 0.509, -1.148, 0, 0, 0, 54 [SEP] 23, AlarmClock, -1.582, 0.599, -0.533, 0, 0, 0, 52 [SEP] 24, Cloth, 2.176, 0.0, -0.571, 0, 335.474, 0, [SEP] 25, Laptop, -1.764, 0.591, -0.112, 0, 113.510, 0, 52 [SEP] 26, CD, 0.735, 0.724, -2.547, 0, 0, 0, 45 [SEP] 27, CD, 1.257, 1.178, -2.277, 0, 0, 0, 33 [SEP] 28, Pen, 1.851, 0.060, -2.240, 0, 0, 0, 63 [SEP] 29, Pencil, 1.384, 0.058, -2.240, 0, 0, 0, 61 [SEP] 30, Mug, 1.917, 1.575, -2.298, 0, 0, 0, 36 [SEP] 31, Shelf, 1.311, 0.969, -2.298, 0, 0, 0, [SEP] 32, Shelf, 1.843, 0.969, -2.298, 0, 0, 0, [SEP] 33, Shelf, 1.311, 1.171, -2.298, 0, 0, 0, [SEP] 34, Shelf, 1.843, 1.171, -2.298, 0, 0, 0, [SEP] 35, Shelf, 1.311, 1.368, -2.298, 0, 0, 0, [SEP] 36, Shelf, 1.843, 1.570, -2.298, 0, 0, 0, [SEP] 37, Shelf, 1.843, 1.368, -2.298, 0, 0, 0, [SEP] 38, Shelf, 1.311, 1.570, -2.298, 0, 0, 0, [SEP] 39, DeskLamp, -1.848, 0.592, -0.786, 0, 90, 0, [SEP] 40, GarbageCan, 2.197, -0.007, 0.298, 0, 232.025, 0, [SEP] 41, LightSwitch, -0.638, 1.149, 0.499, 0, 180, 0, [SEP] 42, Poster, 0.001, 1.495, -2.642, 90, 90, 0, [SEP] 43, Mirror, -1.072, 1.469, 0.497, 0, 0, 0, [SEP] 44, Window, 0.435, 1.398, -2.855, 90, 0, 0, [SEP] 45, SideTable, 0.435, 0.036, -2.647, 0, 0, 0, [SEP] 46, Drawer, 0.433, 0.203, -2.445, 0, 0, 0, [SEP] 47, Drawer, 0.433, 0.505, -2.445, 0, 0, 0, [SEP] 48, Dumbbell, -1.656, 0.602, -0.534, 0, 90, 0, [SEP] 49, Blinds, 0.449, 2.164, -2.845, 0, 0, 0, [SEP] 50, GarbageBag, 1.730, 0.318, 0.222, 270, 90, 83.412, [SEP] 51, Bed, -1.047, -0.000, -1.851, 0, 270, 0, [SEP] 52, Desk, -1.710, 0.000, -0.374, 0, 90, 0, [SEP] 53, Drawer, -1.790, 0.245, -1.144, 0, 90, 0, [SEP] 54, SideTable, -1.824, 0.000, -1.144, 0, 90, 0, [SEP] 55, Drawer, -1.790, 0.392, -1.144, 0, 90, 0, [SEP] 56, Drawer, -1.790, 0.097, -1.144, 0, 90, 0, [SEP] 57, Chair, -1.453, 0.005, -0.311, 0, 286.095, 0, [SEP] 58, Shelf, 1.591, 0.606, -2.305, 0, 0, 0, [SEP] 59, ShelvingUnit, 1.588, 0.004, -2.326, 0, 0, 0, [SEP] 60, Shelf, 1.854, 0.453, -2.298, 0, 0, 0, [SEP] 61, Shelf, 1.321, 0.155, -2.296, 0, 0, 0, [SEP] 62, Shelf, 1.323, 0.456, -2.300, 0, 0, 0, [SEP] 63, Shelf, 1.852, 0.152, -2.294, 0, 0, 0, [SEP] 64, NorthWall, , , , , , , [SEP] 65, EastWall, , , , , , , [SEP] 66, SouthWall, , , , , , , [SEP] 67, WestWall, , , , , , , ", "output": ["STEP 1: Walk towards the dresser | STEP 2: Grab a card from the dresser | STEP 3: Walk towards the bookcase | STEP 4: Put the card in top of the cd inside the bookcase | STEP 5: Walk to the dresser | STEP 6: Grab a card from the dresser | STEP 7: Walk towards the bookcase | STEP 8: Put card next to the cd | END"]} +{"id": "trial_T20190906_204204_985533-0", "input": "The robot must be accurate at both the spoon,the bowl to be handled. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.5, 0.900, 2.0, 0, 180, 0, [SEP] 1, Potato, 2.074, 0.806, 4.176, 0, 329.999, 0, 52 [SEP] 2, DishSponge, 1.743, 1.026, 1.802, 0, 136.999, 0, 51 [SEP] 3, DishSponge, 1.961, 0.801, 1.252, 0, 317.0, 0, 65 [SEP] 4, ButterKnife, 2.299, 1.026, 1.205, 0, 136.999, 0, 51 [SEP] 5, ButterKnife, 2.555, 0.764, 3.865, 0, 225, 0, 52 [SEP] 6, WineBottle, -0.360, 1.028, 1.356, 0, 0, 0, 54 [SEP] 7, Glassbottle, -0.987, 0.786, -0.516, 0, 90, 0, 95 [SEP] 8, Pot, 2.177, 1.027, -1.599, 0, 0, 0, 50 [SEP] 9, Spatula, 1.297, 0.805, -1.633, 0, 90, 0, 58 [SEP] 10, Plate, 2.621, 1.027, -0.541, 0, 0, 0, 51 [SEP] 11, Knife, 2.376, 0.789, 4.145, 0, 180, 0, 52 [SEP] 12, Knife, 1.230, 1.052, -1.881, 0, 90, 0, 51 [SEP] 13, SoapBottle, 2.302, 0.763, 4.495, 0, 0, 0, 52 [SEP] 14, Bowl, -0.544, 1.025, 0.600, 0, 0, 0, 54 [SEP] 15, SaltShaker, 2.840, 0.760, 4.359, 0, 225, 0, 52 [SEP] 16, PepperShaker, 2.475, 1.023, 1.648, 0, 136.999, 0, 51 [SEP] 17, PepperShaker, -0.891, 0.042, 1.954, 0, 0, 0, 56 [SEP] 18, Bread, 2.276, 0.832, 3.821, 0, 270, 0, 52 [SEP] 19, Lettuce, -0.947, 0.844, -0.184, 0, 90, 0, 95 [SEP] 20, Lettuce, 2.276, 0.822, 4.044, 0, 270, 0, 52 [SEP] 21, Mug, -0.714, 0.811, 1.259, 0, 270, 0, 108 [SEP] 22, Mug, -0.714, 0.811, 1.570, 0, 180, 0, 108 [SEP] 23, Pan, 2.116, 1.027, -1.84, 0, 270, 0, 55 [SEP] 24, Glassbottle, -1.059, 1.442, -0.627, 0, 90, 0, 95 [SEP] 25, Knife, -0.714, 0.849, 1.337, 0, 90, 0, 108 [SEP] 26, SoapBottle, 2.735, 0.763, 4.464, 0, 225, 0, 52 [SEP] 27, Egg, 2.228, 0.808, 3.445, 0, 0, 0, 52 [SEP] 28, Fork, 2.763, 0.765, 4.177, 0, 225, 0, 52 [SEP] 29, Potato, -0.922, 1.484, -0.738, 0, 90, 0, 95 [SEP] 30, Ladle, 2.649, 1.066, 1.252, 0, 136.999, 0, 51 [SEP] 31, Tomato, 2.998, 0.818, 4.202, 0, 225, 0, 52 [SEP] 32, Pot, 1.761, 1.027, -1.599, 0, 0, 0, 94 [SEP] 33, WineBottle, -0.956, 0.078, 2.811, 0, 0, 0, 106 [SEP] 34, Plate, -0.852, 2.290, -0.614, 0, 0, 0, 83 [SEP] 35, Spatula, 2.111, 0.779, 4.410, 0, 329.999, 0, 52 [SEP] 36, PaperTowelRoll, 2.658, 0.868, 4.282, 0, 225, 0, 52 [SEP] 37, Lettuce, -0.851, 0.874, 1.492, 0, 90, 0, 108 [SEP] 38, Apple, -0.645, 0.866, 1.414, 0, 90, 0, 108 [SEP] 39, SaltShaker, -0.661, 0.797, 2.372, 0, 0, 0, 57 [SEP] 40, PepperShaker, 2.738, 0.760, 3.942, 0, 225, 0, 52 [SEP] 41, ButterKnife, 2.599, 0.764, 3.62, 0, 0, 0, 52 [SEP] 42, Bread, 2.875, 1.094, -0.846, 0, 0, 0, 51 [SEP] 43, Cup, 2.376, 0.763, 4.32, 0, 0, 0, 52 [SEP] 44, DishSponge, -1.074, 1.027, 1.519, 0, 0, 0, 54 [SEP] 45, Bowl, -0.922, 1.440, -0.295, 0, 90, 0, 95 [SEP] 46, Spoon, 1.350, 1.028, -1.560, 0, 90, 0, 51 [SEP] 47, Mug, -0.669, 1.022, 2.189, 0, 0, 0, 54 [SEP] 48, Sink, -0.716, 1.023, 1.333, 0, 0, 0, [SEP] 49, StoveBurner, 1.835, 1.018, -1.840, 0, 90, 0, [SEP] 50, StoveBurner, 2.177, 1.018, -1.599, 0, 0, 0, [SEP] 51, CounterTop, 2.812, 0.992, 0.675, 0, 0, 0, [SEP] 52, DiningTable, 2.419, 0.003, 3.930, 0, 0, 0, [SEP] 53, Drawer, -0.643, 0.828, 0.616, 0, 0, 0, [SEP] 54, CounterTop, -0.813, 1.062, 2.188, 0, 0, 0, [SEP] 55, StoveBurner, 2.115, 1.018, -1.840, 0, 270, 0, [SEP] 56, Drawer, -0.643, 0.831, 1.953, 0, 0, 0, [SEP] 57, Drawer, -0.643, 0.833, 2.418, 0, 0, 0, [SEP] 58, Drawer, 1.347, 0.836, -1.539, 0, 0, 0, [SEP] 59, Drawer, 2.693, 0.833, -1.131, 0, 0, 0, [SEP] 60, Drawer, 2.693, 0.833, -0.699, 0, 0, 0, [SEP] 61, Drawer, 2.693, 0.833, -0.267, 0, 0, 0, [SEP] 62, Drawer, 2.693, 0.833, 0.163, 0, 0, 0, [SEP] 63, Drawer, 2.524, 0.833, 0.720, 0, 2.000, 0, [SEP] 64, Drawer, 2.232, 0.833, 1.036, 0, 2.000, 0, [SEP] 65, Drawer, 1.936, 0.833, 1.354, 0, 2.000, 0, [SEP] 66, Drawer, 1.646, 0.833, 1.670, 0, 2.000, 0, [SEP] 67, Cabinet, 1.504, 2.475, -1.710, 0, 0, 0, [SEP] 68, Cabinet, -0.823, 2.220, 1.621, 0, 0, 0, [SEP] 69, Cabinet, -0.823, 2.220, 0.615, 0, 0, 0, [SEP] 70, Cabinet, 1.136, 0.388, -1.355, 0, 0, 0, [SEP] 71, Cabinet, -0.356, 0.383, 2.626, 0, 0, 0, [SEP] 72, Cabinet, 2.745, 2.220, -1.690, 0, 0, 0, [SEP] 73, Cabinet, 1.882, 0.383, 1.017, 0, 0, 0, [SEP] 74, Cabinet, 1.307, 0.473, 1.640, 0, 0, 0, [SEP] 75, Cabinet, 1.892, 0.383, 1.006, 0, 0, 0, [SEP] 76, Cabinet, 2.467, 0.383, 0.383, 0, 0, 0, [SEP] 77, Cabinet, 2.466, 0.383, -0.475, 0, 0, 0, [SEP] 78, Cabinet, 2.466, 0.473, 0.371, 0, 0, 0, [SEP] 79, Cabinet, 2.386, 2.475, -1.710, 0, 0, 0, [SEP] 80, Cabinet, -0.356, 0.383, 1.712, 0, 0, 0, [SEP] 81, Cabinet, 2.745, 2.220, 0.019, 0, 0, 0, [SEP] 82, Cabinet, -0.663, 2.496, 0.157, 0, 0, 0, [SEP] 83, Cabinet, -0.663, 2.496, -0.868, 0, 0, 0, [SEP] 84, Cabinet, -0.356, 0.383, 0.269, 0, 0, 0, [SEP] 85, Cabinet, -0.823, 2.220, 1.603, 0, 0, 0, [SEP] 86, Cabinet, -0.662, 2.234, 0.586, 0, 0, 0, [SEP] 87, Cabinet, 2.745, 2.220, -0.843, 0, 0, 0, [SEP] 88, Cabinet, 2.745, 2.220, -0.827, 0, 0, 0, [SEP] 89, Cabinet, -0.823, 2.220, 2.608, 0, 0, 0, [SEP] 90, Cabinet, 2.732, 2.226, -1.709, 0, 0, 0, [SEP] 91, Cabinet, 1.137, 2.226, -1.709, 0, 0, 0, [SEP] 92, Cabinet, 2.466, 0.383, -0.491, 0, 0, 0, [SEP] 93, Cabinet, 2.466, 0.383, -1.339, 0, 0, 0, [SEP] 94, StoveBurner, 1.761, 1.018, -1.599, 0, 0, 0, [SEP] 95, Fridge, -0.908, 0.0, -0.405, 0, 0, 0, [SEP] 96, HousePlant, 2.517, 1.016, 1.822, 0, 0, 0, [SEP] 97, Microwave, 1.939, 1.745, -1.826, 0, 0, 0, [SEP] 98, StoveKnob, 2.017, 1.041, -1.514, 0, 180, 180, [SEP] 99, StoveKnob, 1.934, 1.041, -1.514, 0, 180, 180, [SEP] 100, StoveKnob, 2.017, 1.041, -1.589, 0, 180, 180, [SEP] 101, StoveKnob, 1.934, 1.041, -1.589, 0, 180, 180, [SEP] 102, Window, 1.756, 1.608, 4.762, 90, 0, 0, [SEP] 103, HousePlant, 2.171, 1.004, 2.091, 0, 0, 0, [SEP] 104, CoffeeMachine, -0.942, 1.018, 0.645, 0, 90, 0, [SEP] 105, LightSwitch, -0.099, 1.410, -2.066, 0, 0, 0, [SEP] 106, GarbageCan, -0.951, -0.029, 2.826, 0, 0, 0, [SEP] 107, Toaster, -1.007, 1.018, 2.238, 0, 90, 0, [SEP] 108, SinkBasin, -0.714, 0.805, 1.348, 0, 90, 0, [SEP] 109, Chair, 1.615, 0.004, 4.310, 0, 107.976, 0, [SEP] 110, Faucet, -1.120, 1.013, 1.334, 0, 90, 0, [SEP] 111, Chair, 2.759, 0.004, 3.086, 0, 358.967, 0, [SEP] 112, , , , , , , , [SEP] 113, NorthWall, , , , , , , [SEP] 114, EastWall, , , , , , , [SEP] 115, SouthWall, , , , , , , [SEP] 116, WestWall, , , , , , , ", "output": ["STEP 1: Take the path across the room in a straight walk to the white door. Turn left to the counter. | STEP 2: Take the spoon only in hand. | STEP 3: Take an right and an right again with the spoon. Place at the bowl behind in the stove plate. | STEP 4: Pick the two up together in hand. | STEP 5: Turn all the way around. | STEP 6: Turn left and turn to the right across the room for the white table. | STEP 7: Drop the bowl and spoon down on the table. | END"]} +{"id": "trial_T20190908_205123_811559-0", "input": "Put the cooked egg in the kitchen sink SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.900, 2.0, 0, 90, 0, [SEP] 1, Potato, 0.180, 0.959, 0.076, 0, 0, 0, 81 [SEP] 2, Potato, 0.294, 0.956, 1.220, 0, 0, 0, 81 [SEP] 3, WineBottle, -0.616, 0.914, -2.267, 0, 0, 0, 64 [SEP] 4, WineBottle, -0.047, 0.931, 0.762, 0, 0, 0, 81 [SEP] 5, Spatula, -0.346, 0.928, -1.737, 0, 0, 0, 64 [SEP] 6, Spoon, 1.738, 0.914, -1.680, 0, 0, 0, 64 [SEP] 7, Spoon, -0.720, 0.914, -2.134, 0, 0, 0, 64 [SEP] 8, Cup, 1.566, 0.881, 2.537, 0, 0, 0, 85 [SEP] 9, Tomato, -0.047, 0.982, 0.305, 0, 0, 0, 81 [SEP] 10, Tomato, 0.066, 0.978, 0.762, 0, 0, 0, 81 [SEP] 11, SoapBottle, -1.284, 2.146, -0.910, 0, 90, 0, 48 [SEP] 12, SoapBottle, -0.160, 0.929, 0.991, 0, 0, 0, 81 [SEP] 13, Bowl, -1.553, 1.180, -0.910, 0, 180, 0, 72 [SEP] 14, Lettuce, 0.180, 1.011, 1.448, 0, 0, 0, 81 [SEP] 15, Lettuce, 0.066, 1.008, 0.534, 0, 0, 0, 81 [SEP] 16, SaltShaker, 1.362, 0.877, 2.429, 0, 0, 0, 85 [SEP] 17, SaltShaker, -0.311, 2.147, -2.067, 0, 0, 0, 49 [SEP] 18, PepperShaker, 1.464, 0.877, 2.456, 0, 0, 0, 85 [SEP] 19, Mug, -1.284, 1.010, -1.846, 0, 90, 0, 70 [SEP] 20, Mug, -1.572, 1.499, -0.910, 0, 90, 0, 72 [SEP] 21, Apple, -1.000, 0.984, -2.115, 0, 0, 0, 64 [SEP] 22, Apple, -1.380, 1.254, -0.806, 0, 90, 0, 72 [SEP] 23, Potato, -0.064, 0.793, -1.936, 0, 0, 0, 76 [SEP] 24, Bowl, 0.522, 0.927, 0.534, 0, 0, 0, 81 [SEP] 25, SoapBottle, 1.771, 0.879, 2.483, 0, 0, 0, 90 [SEP] 26, Fork, 0.180, 0.927, 0.534, 0, 0, 0, 81 [SEP] 27, Ladle, 0.066, 0.971, 1.220, 0, 0, 0, 81 [SEP] 28, Bread, 0.399, 0.964, 0.111, 0, 0, 1.601, 81 [SEP] 29, Lettuce, -0.047, 1.011, 0.991, 0, 0, 0, 81 [SEP] 30, WineBottle, -0.047, 0.927, 1.220, 0, 0, 0, 81 [SEP] 31, Spatula, -0.283, 0.779, -1.981, 0, 270, 0, 76 [SEP] 32, Plate, 1.773, 0.556, 2.534, 0, 0, 0, 84 [SEP] 33, SaltShaker, 0.180, 0.923, 0.305, 0, 0, 0, 81 [SEP] 34, Pot, 1.567, 0.948, -0.757, 0, 0, 0, 46 [SEP] 35, Cup, -1.533, 1.504, -0.599, 0, 90, 0, 72 [SEP] 36, PepperShaker, 0.066, 0.926, 0.305, 0, 0, 0, 81 [SEP] 37, Pan, 1.824, 0.945, -0.346, 0, 0, 0, 45 [SEP] 38, ButterKnife, -0.047, 0.930, 0.076, 0, 0, 0, 81 [SEP] 39, Tomato, -1.533, 1.556, -0.392, 0, 90, 0, 72 [SEP] 40, DishSponge, 0.522, 0.930, 1.448, 0, 0, 0, 81 [SEP] 41, Egg, 1.557, 0.967, -1.680, 0, 0, 0, 64 [SEP] 42, Spoon, 1.647, 0.914, -1.329, 0, 0, 0, 64 [SEP] 43, Knife, 0.180, 0.950, 0.762, 0, 90, 0, 81 [SEP] 44, Mug, 1.850, 0.908, -2.169, 0, 0, 0, 64 [SEP] 45, StoveBurner, 1.845, 0.940, -0.355, 0, 0, 0, [SEP] 46, StoveBurner, 1.567, 0.940, -0.757, 0, 0, 0, [SEP] 47, Cabinet, -1.149, 2.019, -1.979, 0, 90, 0, [SEP] 48, Cabinet, -1.149, 2.265, -0.834, 0, 90, 0, [SEP] 49, Cabinet, -0.459, 2.265, -2.0, 0, 0, 0, [SEP] 50, Cabinet, -1.100, 2.019, -2.0, 0, 0, 0, [SEP] 51, Cabinet, 1.719, 2.019, -2.0, 0, 0, 0, [SEP] 52, Cabinet, 1.179, 2.019, -2.0, 0, 0, 0, [SEP] 53, Cabinet, 0.199, 2.019, -2.0, 0, 0, 0, [SEP] 54, Cabinet, 1.75, 2.019, -1.399, 0, 270, 0, [SEP] 55, Cabinet, 1.75, 2.019, -1.029, 0, 270, 0, [SEP] 56, Cabinet, 1.379, 0.469, -1.689, 0, 0, 0, [SEP] 57, Cabinet, -0.819, 0.469, -1.689, 0, 0, 0, [SEP] 58, Cabinet, 1.389, 0.469, -1.059, 0, 270, 0, [SEP] 59, Cabinet, -0.839, 0.469, -1.665, 0, 90, 0, [SEP] 60, StoveBurner, 1.567, 0.940, -0.355, 0, 0, 0, [SEP] 61, StoveBurner, 1.845, 0.940, -0.757, 0, 0, 0, [SEP] 62, Sink, -0.109, 0.893, -2.009, 0, 0, 0, [SEP] 63, Drawer, -0.819, 0.75, -1.690, 0, 0, 0, [SEP] 64, CounterTop, 0.232, 0.949, -2.002, 0, 0, 0, [SEP] 65, GarbageCan, 1.855, -0.034, 0.141, 0, 358.959, 0, [SEP] 66, Vase, 0.251, 0.546, 0.475, 0, 270, 0, [SEP] 67, Toaster, 0.780, 0.900, -2.080, 0, 0, 0, [SEP] 68, LightSwitch, 0.108, 1.315, 2.75, 0, 180, 0, [SEP] 69, Vase, 0.400, 0.925, 0.218, 0, 180, 0, [SEP] 70, Microwave, -1.233, 0.900, -1.680, 0, 90, 0, [SEP] 71, Vase, 1.465, 1.662, -2.200, 0, 0, 0, [SEP] 72, Fridge, -1.495, 0.0, -0.703, 0, 0, 0, [SEP] 73, Window, 2.114, 1.495, 1.072, 90, 270, 0, [SEP] 74, CoffeeMachine, 1.374, 0.899, -2.112, 0, 0, 0, [SEP] 75, Vase, 0.333, 0.546, 1.272, 0, 270, 0, [SEP] 76, SinkBasin, -0.148, 0.753, -2.026, 0, 0, 0, [SEP] 77, StoveKnob, 2.037, 1.089, -0.405, 0, 0, 74.477, [SEP] 78, StoveKnob, 2.037, 1.089, -0.251, 0, 0, 74.477, [SEP] 79, StoveKnob, 2.037, 1.089, -0.649, 0, 0, 74.477, [SEP] 80, StoveKnob, 2.037, 1.089, -0.814, 0, 0, 74.477, [SEP] 81, DiningTable, 0.170, 0.005, 0.678, 0, 270, 0, [SEP] 82, Shelf, 0.170, 0.155, 0.678, 0, 270, 0, [SEP] 83, Shelf, 1.605, 0.172, 2.480, 0, 0, 0, [SEP] 84, Shelf, 1.605, 0.552, 2.480, 0, 0, 0, [SEP] 85, Shelf, 1.604, 0.880, 2.479, 0, 0, 0, [SEP] 86, ShelvingUnit, 1.605, 0.006, 2.480, 0, 0, 0, [SEP] 87, Faucet, -0.143, 1.028, -2.223, 0, 270, 0, [SEP] 88, Stool, -0.553, 0.000, 0.871, 1.233, 280.376, 0, [SEP] 89, Shelf, 0.170, 0.528, 0.678, 0, 270, 0, [SEP] 90, , , , , , , , [SEP] 91, NorthWall, , , , , , , [SEP] 92, EastWall, , , , , , , [SEP] 93, SouthWall, , , , , , , [SEP] 94, WestWall, , , , , , , ", "output": ["STEP 1: Walk forward then turn right and walk up to the counter right of the stove | STEP 2: Pick up the egg from the counter | STEP 3: Turn around and walk up to the microwave | STEP 4: Cook the egg in the microwave then remove it | STEP 5: Turn left to face the kitchen sink | STEP 6: Put the egg in the sink | END"]} +{"id": "trial_T20190907_154342_470127-0", "input": "Place a slice of heated slice of bread in front of the toaster. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.900, 0.0, 0, 90, 0, [SEP] 1, Kettle, 1.781, 0.913, -1.737, 0, 0, 0, 55 [SEP] 2, Kettle, -1.791, 0.953, 0.255, 0, 90, 0, 88 [SEP] 3, Pan, -2.31, 1.051, -1.763, 0, 270, 0, 85 [SEP] 4, DishSponge, -0.150, 0.773, -1.473, 0, 0, 0, 58 [SEP] 5, DishSponge, -0.361, 0.069, 0.439, 0, 90, 0, 84 [SEP] 6, ButterKnife, -2.203, 0.952, 0.255, 0, 90, 0, 88 [SEP] 7, ButterKnife, -2.340, 0.952, 0.435, 0, 180, 0, 88 [SEP] 8, Spatula, -0.175, 0.927, -1.903, 0, 90, 0, 55 [SEP] 9, Spatula, 0.649, 0.934, -1.782, 0, 90, 0, 53 [SEP] 10, Cup, -0.644, 1.327, -1.846, 0, 180, 0, 49 [SEP] 11, Cup, 0.009, 0.910, -1.820, 0, 0, 0, 55 [SEP] 12, Plate, 1.167, 0.913, -1.489, 0, 0, 0, 55 [SEP] 13, Knife, -0.267, 0.937, -1.820, 0, 90, 0, 55 [SEP] 14, SoapBottle, 1.663, 0.910, 0.623, 0, 0, 0, 70 [SEP] 15, Tomato, -0.359, 0.961, -1.903, 0, 0, 0, 55 [SEP] 16, Tomato, -2.614, 1.001, 0.704, 0, 90, 0, 88 [SEP] 17, Bowl, -2.203, 0.951, 0.345, 0, 90, 0, 88 [SEP] 18, Bowl, 1.754, 1.328, -1.772, 0, 180, 0, 71 [SEP] 19, SaltShaker, -0.096, 0.908, 0.292, 0, 0, 0, 54 [SEP] 20, SaltShaker, 1.601, 0.908, 0.375, 0, 0, 0, 70 [SEP] 21, PepperShaker, -2.203, 0.948, 0.704, 0, 90, 0, 88 [SEP] 22, PepperShaker, -1.928, 0.948, 0.614, 0, 90, 0, 88 [SEP] 23, Bread, -1.928, 1.035, 0.435, 0, 90, 0, 88 [SEP] 24, Bread, 1.785, 0.995, 0.375, 0, 0, 0, 70 [SEP] 25, Mug, -0.147, 0.105, -1.471, 0, 0, 0, 64 [SEP] 26, Bread, 1.781, 0.995, -1.489, 0, 0, 0, 55 [SEP] 27, Knife, -1.928, 0.977, 0.255, 0, 90, 0, 88 [SEP] 28, Fork, -0.540, 0.773, -1.505, 0, 0, 0, 59 [SEP] 29, Bowl, 1.830, 0.107, 0.274, 0, 0, 0, 63 [SEP] 30, Kettle, 1.361, 0.962, 0.561, 0, 270, 0, 60 [SEP] 31, Cup, -0.079, 0.104, 0.397, 0, 0, 0, 65 [SEP] 32, Tomato, -2.31, 1.541, -1.806, 0, 0, 0, 85 [SEP] 33, SoapBottle, -0.296, 0.068, 0.612, 0, 90, 0, 84 [SEP] 34, Plate, -2.047, 0.512, -1.763, 0, 0, 0, 85 [SEP] 35, Pot, -2.383, 0.94, 0.583, 0, 0, 0, 88 [SEP] 36, Spatula, -1.928, 0.967, 0.704, 0, 180, 0, 88 [SEP] 37, PaperTowelRoll, -0.394, 0.174, 0.569, 0, 90, 0, 84 [SEP] 38, Egg, -2.065, 0.987, 0.704, 0, 90, 0, 88 [SEP] 39, Lettuce, -0.096, 1.002, 0.623, 0, 0, 0, 54 [SEP] 40, SaltShaker, 0.167, 0.908, 0.458, 0, 0, 0, 54 [SEP] 41, PepperShaker, 0.271, 0.104, -1.509, 0, 180, 0, 52 [SEP] 42, Apple, -2.614, 1.019, 0.345, 0, 90, 0, 88 [SEP] 43, ButterKnife, -1.928, 0.952, 0.524, 0, 180, 0, 88 [SEP] 44, Potato, 0.753, 0.949, -1.848, 0, 270, 0, 53 [SEP] 45, Pan, 1.022, 0.959, 0.288, 0, 219.190, 0, 67 [SEP] 46, DishSponge, 0.564, 0.911, 0.292, 0, 0, 0, 54 [SEP] 47, Spoon, 0.412, 0.777, -1.552, 0, 0, 0, 78 [SEP] 48, Mug, 0.618, 0.945, 0.469, 0, 180, 0, 79 [SEP] 49, Cabinet, -0.193, 1.688, -1.648, 0, 180, 0, [SEP] 50, StoveBurner, 1.360, 0.957, 0.293, 0, 180, 0, [SEP] 51, Drawer, 0.499, 0.792, 0.296, 0, 0, 0, [SEP] 52, Cabinet, 0.095, 0.400, -1.352, 0, 180, 0, [SEP] 53, Sink, 0.711, 0.817, -1.772, 0, 270, 0, [SEP] 54, CounterTop, 0.280, 0.947, 0.458, 0, 0, 0, [SEP] 55, CounterTop, -0.680, 0.947, -1.654, 0, 0, 0, [SEP] 56, Drawer, 1.825, 0.792, 0.296, 0, 0, 0, [SEP] 57, StoveBurner, 1.007, 0.957, 0.561, 0, 270, 0, [SEP] 58, Drawer, -0.150, 0.792, -1.496, 0, 0, 0, [SEP] 59, Drawer, -0.586, 0.792, -1.496, 0, 0, 0, [SEP] 60, StoveBurner, 1.360, 0.957, 0.561, 0, 270, 0, [SEP] 61, Drawer, 0.024, 0.792, 0.296, 0, 0, 0, [SEP] 62, Cabinet, 1.079, 0.400, -1.349, 0, 180, 0, [SEP] 63, Cabinet, 1.669, 0.402, 0.151, 0, 0, 0, [SEP] 64, Cabinet, 0.055, 0.402, -1.351, 0, 0, 0, [SEP] 65, Cabinet, -0.180, 0.402, 0.151, 0, 0, 0, [SEP] 66, Cabinet, 0.729, 0.402, 0.151, 0, 0, 0, [SEP] 67, StoveBurner, 1.007, 0.957, 0.293, 0, 180, 0, [SEP] 68, Drawer, -1.100, 0.792, -1.496, 0, 0, 0, [SEP] 69, Cabinet, -0.396, 0.402, -1.351, 0, 0, 0, [SEP] 70, CounterTop, 1.776, 0.947, 0.458, 0, 0, 0, [SEP] 71, Cabinet, 1.974, 1.688, -1.648, 0, 180, 0, [SEP] 72, Cabinet, -0.820, 0.400, -1.349, 0, 180, 0, [SEP] 73, Toaster, 0.305, 0.900, 0.552, 0, 180, 0, [SEP] 74, LightSwitch, -2.756, 1.307, -0.987, 0, 90, 0, [SEP] 75, Window, 0.582, 1.613, -1.967, 90, 0, 0, [SEP] 76, Window, 1.969, 1.5, -0.615, 90, 270, 0, [SEP] 77, Microwave, -1.037, 0.900, -1.723, 0, 0, 0, [SEP] 78, SinkBasin, 0.377, 0.765, -1.655, 0, 270, 0, [SEP] 79, CoffeeMachine, 0.618, 0.900, 0.600, 0, 180, 0, [SEP] 80, StoveKnob, 1.246, 0.913, 0.118, 45, 180, 0, [SEP] 81, StoveKnob, 1.373, 0.913, 0.118, 45, 180, 0, [SEP] 82, StoveKnob, 0.995, 0.913, 0.118, 45, 180, 0, [SEP] 83, StoveKnob, 1.126, 0.913, 0.118, 45, 180, 0, [SEP] 84, GarbageCan, -0.368, -0.029, 0.539, 0, 90, 0, [SEP] 85, Fridge, -2.134, 0.0, -1.690, 0, 0, 0, [SEP] 86, Faucet, 0.549, 1.046, -1.833, 0, 232.527, 0, [SEP] 87, Stool, -1.475, 0.000, 0.414, 1.233, 280.375, 0, [SEP] 88, DiningTable, -2.255, -0.004, 0.432, 0, 0, 0, [SEP] 89, NorthWall, , , , , , , [SEP] 90, EastWall, , , , , , , [SEP] 91, SouthWall, , , , , , , [SEP] 92, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and walk straight towards the counter in between the sink and microwave. | STEP 2: Pick up the yellow knife in front of the spatula on the counter. | STEP 3: Turn right and head towards the loaf of bread next to the stove on your left. | STEP 4: Slice a piece of bread on the counter. | STEP 5: Place the knife on the counter. | STEP 6: Pick up the slice of bread from the counter. | STEP 7: Turn left and walk towards the microwave on the counter to your left. | STEP 8: Place the bread in the microwave, heat it cup, and take it out of the microwave. | STEP 9: Turn left and walk towards the toaster on the counter to your left. | STEP 10: Place the slice of in front of the toaster on the counter. | END"]} +{"id": "trial_T20190907_154342_470127-2", "input": "Place a warm piece of bread by the toaster. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.900, 0.0, 0, 90, 0, [SEP] 1, Kettle, 1.781, 0.913, -1.737, 0, 0, 0, 55 [SEP] 2, Kettle, -1.791, 0.953, 0.255, 0, 90, 0, 88 [SEP] 3, Pan, -2.31, 1.051, -1.763, 0, 270, 0, 85 [SEP] 4, DishSponge, -0.150, 0.773, -1.473, 0, 0, 0, 58 [SEP] 5, DishSponge, -0.361, 0.069, 0.439, 0, 90, 0, 84 [SEP] 6, ButterKnife, -2.203, 0.952, 0.255, 0, 90, 0, 88 [SEP] 7, ButterKnife, -2.340, 0.952, 0.435, 0, 180, 0, 88 [SEP] 8, Spatula, -0.175, 0.927, -1.903, 0, 90, 0, 55 [SEP] 9, Spatula, 0.649, 0.934, -1.782, 0, 90, 0, 53 [SEP] 10, Cup, -0.644, 1.327, -1.846, 0, 180, 0, 49 [SEP] 11, Cup, 0.009, 0.910, -1.820, 0, 0, 0, 55 [SEP] 12, Plate, 1.167, 0.913, -1.489, 0, 0, 0, 55 [SEP] 13, Knife, -0.267, 0.937, -1.820, 0, 90, 0, 55 [SEP] 14, SoapBottle, 1.663, 0.910, 0.623, 0, 0, 0, 70 [SEP] 15, Tomato, -0.359, 0.961, -1.903, 0, 0, 0, 55 [SEP] 16, Tomato, -2.614, 1.001, 0.704, 0, 90, 0, 88 [SEP] 17, Bowl, -2.203, 0.951, 0.345, 0, 90, 0, 88 [SEP] 18, Bowl, 1.754, 1.328, -1.772, 0, 180, 0, 71 [SEP] 19, SaltShaker, -0.096, 0.908, 0.292, 0, 0, 0, 54 [SEP] 20, SaltShaker, 1.601, 0.908, 0.375, 0, 0, 0, 70 [SEP] 21, PepperShaker, -2.203, 0.948, 0.704, 0, 90, 0, 88 [SEP] 22, PepperShaker, -1.928, 0.948, 0.614, 0, 90, 0, 88 [SEP] 23, Bread, -1.928, 1.035, 0.435, 0, 90, 0, 88 [SEP] 24, Bread, 1.785, 0.995, 0.375, 0, 0, 0, 70 [SEP] 25, Mug, -0.147, 0.105, -1.471, 0, 0, 0, 64 [SEP] 26, Bread, 1.781, 0.995, -1.489, 0, 0, 0, 55 [SEP] 27, Knife, -1.928, 0.977, 0.255, 0, 90, 0, 88 [SEP] 28, Fork, -0.540, 0.773, -1.505, 0, 0, 0, 59 [SEP] 29, Bowl, 1.830, 0.107, 0.274, 0, 0, 0, 63 [SEP] 30, Kettle, 1.361, 0.962, 0.561, 0, 270, 0, 60 [SEP] 31, Cup, -0.079, 0.104, 0.397, 0, 0, 0, 65 [SEP] 32, Tomato, -2.31, 1.541, -1.806, 0, 0, 0, 85 [SEP] 33, SoapBottle, -0.296, 0.068, 0.612, 0, 90, 0, 84 [SEP] 34, Plate, -2.047, 0.512, -1.763, 0, 0, 0, 85 [SEP] 35, Pot, -2.383, 0.94, 0.583, 0, 0, 0, 88 [SEP] 36, Spatula, -1.928, 0.967, 0.704, 0, 180, 0, 88 [SEP] 37, PaperTowelRoll, -0.394, 0.174, 0.569, 0, 90, 0, 84 [SEP] 38, Egg, -2.065, 0.987, 0.704, 0, 90, 0, 88 [SEP] 39, Lettuce, -0.096, 1.002, 0.623, 0, 0, 0, 54 [SEP] 40, SaltShaker, 0.167, 0.908, 0.458, 0, 0, 0, 54 [SEP] 41, PepperShaker, 0.271, 0.104, -1.509, 0, 180, 0, 52 [SEP] 42, Apple, -2.614, 1.019, 0.345, 0, 90, 0, 88 [SEP] 43, ButterKnife, -1.928, 0.952, 0.524, 0, 180, 0, 88 [SEP] 44, Potato, 0.753, 0.949, -1.848, 0, 270, 0, 53 [SEP] 45, Pan, 1.022, 0.959, 0.288, 0, 219.190, 0, 67 [SEP] 46, DishSponge, 0.564, 0.911, 0.292, 0, 0, 0, 54 [SEP] 47, Spoon, 0.412, 0.777, -1.552, 0, 0, 0, 78 [SEP] 48, Mug, 0.618, 0.945, 0.469, 0, 180, 0, 79 [SEP] 49, Cabinet, -0.193, 1.688, -1.648, 0, 180, 0, [SEP] 50, StoveBurner, 1.360, 0.957, 0.293, 0, 180, 0, [SEP] 51, Drawer, 0.499, 0.792, 0.296, 0, 0, 0, [SEP] 52, Cabinet, 0.095, 0.400, -1.352, 0, 180, 0, [SEP] 53, Sink, 0.711, 0.817, -1.772, 0, 270, 0, [SEP] 54, CounterTop, 0.280, 0.947, 0.458, 0, 0, 0, [SEP] 55, CounterTop, -0.680, 0.947, -1.654, 0, 0, 0, [SEP] 56, Drawer, 1.825, 0.792, 0.296, 0, 0, 0, [SEP] 57, StoveBurner, 1.007, 0.957, 0.561, 0, 270, 0, [SEP] 58, Drawer, -0.150, 0.792, -1.496, 0, 0, 0, [SEP] 59, Drawer, -0.586, 0.792, -1.496, 0, 0, 0, [SEP] 60, StoveBurner, 1.360, 0.957, 0.561, 0, 270, 0, [SEP] 61, Drawer, 0.024, 0.792, 0.296, 0, 0, 0, [SEP] 62, Cabinet, 1.079, 0.400, -1.349, 0, 180, 0, [SEP] 63, Cabinet, 1.669, 0.402, 0.151, 0, 0, 0, [SEP] 64, Cabinet, 0.055, 0.402, -1.351, 0, 0, 0, [SEP] 65, Cabinet, -0.180, 0.402, 0.151, 0, 0, 0, [SEP] 66, Cabinet, 0.729, 0.402, 0.151, 0, 0, 0, [SEP] 67, StoveBurner, 1.007, 0.957, 0.293, 0, 180, 0, [SEP] 68, Drawer, -1.100, 0.792, -1.496, 0, 0, 0, [SEP] 69, Cabinet, -0.396, 0.402, -1.351, 0, 0, 0, [SEP] 70, CounterTop, 1.776, 0.947, 0.458, 0, 0, 0, [SEP] 71, Cabinet, 1.974, 1.688, -1.648, 0, 180, 0, [SEP] 72, Cabinet, -0.820, 0.400, -1.349, 0, 180, 0, [SEP] 73, Toaster, 0.305, 0.900, 0.552, 0, 180, 0, [SEP] 74, LightSwitch, -2.756, 1.307, -0.987, 0, 90, 0, [SEP] 75, Window, 0.582, 1.613, -1.967, 90, 0, 0, [SEP] 76, Window, 1.969, 1.5, -0.615, 90, 270, 0, [SEP] 77, Microwave, -1.037, 0.900, -1.723, 0, 0, 0, [SEP] 78, SinkBasin, 0.377, 0.765, -1.655, 0, 270, 0, [SEP] 79, CoffeeMachine, 0.618, 0.900, 0.600, 0, 180, 0, [SEP] 80, StoveKnob, 1.246, 0.913, 0.118, 45, 180, 0, [SEP] 81, StoveKnob, 1.373, 0.913, 0.118, 45, 180, 0, [SEP] 82, StoveKnob, 0.995, 0.913, 0.118, 45, 180, 0, [SEP] 83, StoveKnob, 1.126, 0.913, 0.118, 45, 180, 0, [SEP] 84, GarbageCan, -0.368, -0.029, 0.539, 0, 90, 0, [SEP] 85, Fridge, -2.134, 0.0, -1.690, 0, 0, 0, [SEP] 86, Faucet, 0.549, 1.046, -1.833, 0, 232.527, 0, [SEP] 87, Stool, -1.475, 0.000, 0.414, 1.233, 280.375, 0, [SEP] 88, DiningTable, -2.255, -0.004, 0.432, 0, 0, 0, [SEP] 89, NorthWall, , , , , , , [SEP] 90, EastWall, , , , , , , [SEP] 91, SouthWall, , , , , , , [SEP] 92, WestWall, , , , , , , ", "output": ["STEP 1: Walk to your right to reach the counter top to the right of the sink. | STEP 2: Pick up the knife to the left of the tomato. | STEP 3: Turn left, hang a left at the wall with the window and head to the counter with the bread. | STEP 4: Slice the loaf of bread on the counter top. | STEP 5: Put the knife down in front of the loaf of bread. | STEP 6: Pick up the slice of bread closest to the knife on the counter top. | STEP 7: Turn left, hang a left before the white table and head to the microwave. | STEP 8: Place the bread inside the microwave, heat it for three seconds, remove the bread from the microwave and close the door. | STEP 9: Turn left and hang a left at the sink to head to the red toaster on the counter top. | STEP 10: Place the bread slice in front of the toaster on the counter. | END"]} +{"id": "trial_T20190907_154342_470127-4", "input": "Place a slice of microwaved bread onto the counter. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.900, 0.0, 0, 90, 0, [SEP] 1, Kettle, 1.781, 0.913, -1.737, 0, 0, 0, 55 [SEP] 2, Kettle, -1.791, 0.953, 0.255, 0, 90, 0, 88 [SEP] 3, Pan, -2.31, 1.051, -1.763, 0, 270, 0, 85 [SEP] 4, DishSponge, -0.150, 0.773, -1.473, 0, 0, 0, 58 [SEP] 5, DishSponge, -0.361, 0.069, 0.439, 0, 90, 0, 84 [SEP] 6, ButterKnife, -2.203, 0.952, 0.255, 0, 90, 0, 88 [SEP] 7, ButterKnife, -2.340, 0.952, 0.435, 0, 180, 0, 88 [SEP] 8, Spatula, -0.175, 0.927, -1.903, 0, 90, 0, 55 [SEP] 9, Spatula, 0.649, 0.934, -1.782, 0, 90, 0, 53 [SEP] 10, Cup, -0.644, 1.327, -1.846, 0, 180, 0, 49 [SEP] 11, Cup, 0.009, 0.910, -1.820, 0, 0, 0, 55 [SEP] 12, Plate, 1.167, 0.913, -1.489, 0, 0, 0, 55 [SEP] 13, Knife, -0.267, 0.937, -1.820, 0, 90, 0, 55 [SEP] 14, SoapBottle, 1.663, 0.910, 0.623, 0, 0, 0, 70 [SEP] 15, Tomato, -0.359, 0.961, -1.903, 0, 0, 0, 55 [SEP] 16, Tomato, -2.614, 1.001, 0.704, 0, 90, 0, 88 [SEP] 17, Bowl, -2.203, 0.951, 0.345, 0, 90, 0, 88 [SEP] 18, Bowl, 1.754, 1.328, -1.772, 0, 180, 0, 71 [SEP] 19, SaltShaker, -0.096, 0.908, 0.292, 0, 0, 0, 54 [SEP] 20, SaltShaker, 1.601, 0.908, 0.375, 0, 0, 0, 70 [SEP] 21, PepperShaker, -2.203, 0.948, 0.704, 0, 90, 0, 88 [SEP] 22, PepperShaker, -1.928, 0.948, 0.614, 0, 90, 0, 88 [SEP] 23, Bread, -1.928, 1.035, 0.435, 0, 90, 0, 88 [SEP] 24, Bread, 1.785, 0.995, 0.375, 0, 0, 0, 70 [SEP] 25, Mug, -0.147, 0.105, -1.471, 0, 0, 0, 64 [SEP] 26, Bread, 1.781, 0.995, -1.489, 0, 0, 0, 55 [SEP] 27, Knife, -1.928, 0.977, 0.255, 0, 90, 0, 88 [SEP] 28, Fork, -0.540, 0.773, -1.505, 0, 0, 0, 59 [SEP] 29, Bowl, 1.830, 0.107, 0.274, 0, 0, 0, 63 [SEP] 30, Kettle, 1.361, 0.962, 0.561, 0, 270, 0, 60 [SEP] 31, Cup, -0.079, 0.104, 0.397, 0, 0, 0, 65 [SEP] 32, Tomato, -2.31, 1.541, -1.806, 0, 0, 0, 85 [SEP] 33, SoapBottle, -0.296, 0.068, 0.612, 0, 90, 0, 84 [SEP] 34, Plate, -2.047, 0.512, -1.763, 0, 0, 0, 85 [SEP] 35, Pot, -2.383, 0.94, 0.583, 0, 0, 0, 88 [SEP] 36, Spatula, -1.928, 0.967, 0.704, 0, 180, 0, 88 [SEP] 37, PaperTowelRoll, -0.394, 0.174, 0.569, 0, 90, 0, 84 [SEP] 38, Egg, -2.065, 0.987, 0.704, 0, 90, 0, 88 [SEP] 39, Lettuce, -0.096, 1.002, 0.623, 0, 0, 0, 54 [SEP] 40, SaltShaker, 0.167, 0.908, 0.458, 0, 0, 0, 54 [SEP] 41, PepperShaker, 0.271, 0.104, -1.509, 0, 180, 0, 52 [SEP] 42, Apple, -2.614, 1.019, 0.345, 0, 90, 0, 88 [SEP] 43, ButterKnife, -1.928, 0.952, 0.524, 0, 180, 0, 88 [SEP] 44, Potato, 0.753, 0.949, -1.848, 0, 270, 0, 53 [SEP] 45, Pan, 1.022, 0.959, 0.288, 0, 219.190, 0, 67 [SEP] 46, DishSponge, 0.564, 0.911, 0.292, 0, 0, 0, 54 [SEP] 47, Spoon, 0.412, 0.777, -1.552, 0, 0, 0, 78 [SEP] 48, Mug, 0.618, 0.945, 0.469, 0, 180, 0, 79 [SEP] 49, Cabinet, -0.193, 1.688, -1.648, 0, 180, 0, [SEP] 50, StoveBurner, 1.360, 0.957, 0.293, 0, 180, 0, [SEP] 51, Drawer, 0.499, 0.792, 0.296, 0, 0, 0, [SEP] 52, Cabinet, 0.095, 0.400, -1.352, 0, 180, 0, [SEP] 53, Sink, 0.711, 0.817, -1.772, 0, 270, 0, [SEP] 54, CounterTop, 0.280, 0.947, 0.458, 0, 0, 0, [SEP] 55, CounterTop, -0.680, 0.947, -1.654, 0, 0, 0, [SEP] 56, Drawer, 1.825, 0.792, 0.296, 0, 0, 0, [SEP] 57, StoveBurner, 1.007, 0.957, 0.561, 0, 270, 0, [SEP] 58, Drawer, -0.150, 0.792, -1.496, 0, 0, 0, [SEP] 59, Drawer, -0.586, 0.792, -1.496, 0, 0, 0, [SEP] 60, StoveBurner, 1.360, 0.957, 0.561, 0, 270, 0, [SEP] 61, Drawer, 0.024, 0.792, 0.296, 0, 0, 0, [SEP] 62, Cabinet, 1.079, 0.400, -1.349, 0, 180, 0, [SEP] 63, Cabinet, 1.669, 0.402, 0.151, 0, 0, 0, [SEP] 64, Cabinet, 0.055, 0.402, -1.351, 0, 0, 0, [SEP] 65, Cabinet, -0.180, 0.402, 0.151, 0, 0, 0, [SEP] 66, Cabinet, 0.729, 0.402, 0.151, 0, 0, 0, [SEP] 67, StoveBurner, 1.007, 0.957, 0.293, 0, 180, 0, [SEP] 68, Drawer, -1.100, 0.792, -1.496, 0, 0, 0, [SEP] 69, Cabinet, -0.396, 0.402, -1.351, 0, 0, 0, [SEP] 70, CounterTop, 1.776, 0.947, 0.458, 0, 0, 0, [SEP] 71, Cabinet, 1.974, 1.688, -1.648, 0, 180, 0, [SEP] 72, Cabinet, -0.820, 0.400, -1.349, 0, 180, 0, [SEP] 73, Toaster, 0.305, 0.900, 0.552, 0, 180, 0, [SEP] 74, LightSwitch, -2.756, 1.307, -0.987, 0, 90, 0, [SEP] 75, Window, 0.582, 1.613, -1.967, 90, 0, 0, [SEP] 76, Window, 1.969, 1.5, -0.615, 90, 270, 0, [SEP] 77, Microwave, -1.037, 0.900, -1.723, 0, 0, 0, [SEP] 78, SinkBasin, 0.377, 0.765, -1.655, 0, 270, 0, [SEP] 79, CoffeeMachine, 0.618, 0.900, 0.600, 0, 180, 0, [SEP] 80, StoveKnob, 1.246, 0.913, 0.118, 45, 180, 0, [SEP] 81, StoveKnob, 1.373, 0.913, 0.118, 45, 180, 0, [SEP] 82, StoveKnob, 0.995, 0.913, 0.118, 45, 180, 0, [SEP] 83, StoveKnob, 1.126, 0.913, 0.118, 45, 180, 0, [SEP] 84, GarbageCan, -0.368, -0.029, 0.539, 0, 90, 0, [SEP] 85, Fridge, -2.134, 0.0, -1.690, 0, 0, 0, [SEP] 86, Faucet, 0.549, 1.046, -1.833, 0, 232.527, 0, [SEP] 87, Stool, -1.475, 0.000, 0.414, 1.233, 280.375, 0, [SEP] 88, DiningTable, -2.255, -0.004, 0.432, 0, 0, 0, [SEP] 89, NorthWall, , , , , , , [SEP] 90, EastWall, , , , , , , [SEP] 91, SouthWall, , , , , , , [SEP] 92, WestWall, , , , , , , ", "output": ["STEP 1: Turn right, move to the counter between the sink and the microwave. | STEP 2: Pick up the knife from the counter. | STEP 3: Turn left, move to the counter right of the stove. | STEP 4: Slice the bread with the knife. | STEP 5: Put the knife on the counter. | STEP 6: Pick up a slice of bread. | STEP 7: Turn left, move to the counter where the microwave is. | STEP 8: Put the bread slice in the microwave, cook it, pick it back up. | STEP 9: Turn left, move to the counter where the toaster is. | STEP 10: Put the bread slice on the counter. | END"]} +{"id": "trial_T20190907_154342_470127-5", "input": "Move a warmed slice of bread to the counter in front of the toaster. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.900, 0.0, 0, 90, 0, [SEP] 1, Kettle, 1.781, 0.913, -1.737, 0, 0, 0, 55 [SEP] 2, Kettle, -1.791, 0.953, 0.255, 0, 90, 0, 88 [SEP] 3, Pan, -2.31, 1.051, -1.763, 0, 270, 0, 85 [SEP] 4, DishSponge, -0.150, 0.773, -1.473, 0, 0, 0, 58 [SEP] 5, DishSponge, -0.361, 0.069, 0.439, 0, 90, 0, 84 [SEP] 6, ButterKnife, -2.203, 0.952, 0.255, 0, 90, 0, 88 [SEP] 7, ButterKnife, -2.340, 0.952, 0.435, 0, 180, 0, 88 [SEP] 8, Spatula, -0.175, 0.927, -1.903, 0, 90, 0, 55 [SEP] 9, Spatula, 0.649, 0.934, -1.782, 0, 90, 0, 53 [SEP] 10, Cup, -0.644, 1.327, -1.846, 0, 180, 0, 49 [SEP] 11, Cup, 0.009, 0.910, -1.820, 0, 0, 0, 55 [SEP] 12, Plate, 1.167, 0.913, -1.489, 0, 0, 0, 55 [SEP] 13, Knife, -0.267, 0.937, -1.820, 0, 90, 0, 55 [SEP] 14, SoapBottle, 1.663, 0.910, 0.623, 0, 0, 0, 70 [SEP] 15, Tomato, -0.359, 0.961, -1.903, 0, 0, 0, 55 [SEP] 16, Tomato, -2.614, 1.001, 0.704, 0, 90, 0, 88 [SEP] 17, Bowl, -2.203, 0.951, 0.345, 0, 90, 0, 88 [SEP] 18, Bowl, 1.754, 1.328, -1.772, 0, 180, 0, 71 [SEP] 19, SaltShaker, -0.096, 0.908, 0.292, 0, 0, 0, 54 [SEP] 20, SaltShaker, 1.601, 0.908, 0.375, 0, 0, 0, 70 [SEP] 21, PepperShaker, -2.203, 0.948, 0.704, 0, 90, 0, 88 [SEP] 22, PepperShaker, -1.928, 0.948, 0.614, 0, 90, 0, 88 [SEP] 23, Bread, -1.928, 1.035, 0.435, 0, 90, 0, 88 [SEP] 24, Bread, 1.785, 0.995, 0.375, 0, 0, 0, 70 [SEP] 25, Mug, -0.147, 0.105, -1.471, 0, 0, 0, 64 [SEP] 26, Bread, 1.781, 0.995, -1.489, 0, 0, 0, 55 [SEP] 27, Knife, -1.928, 0.977, 0.255, 0, 90, 0, 88 [SEP] 28, Fork, -0.540, 0.773, -1.505, 0, 0, 0, 59 [SEP] 29, Bowl, 1.830, 0.107, 0.274, 0, 0, 0, 63 [SEP] 30, Kettle, 1.361, 0.962, 0.561, 0, 270, 0, 60 [SEP] 31, Cup, -0.079, 0.104, 0.397, 0, 0, 0, 65 [SEP] 32, Tomato, -2.31, 1.541, -1.806, 0, 0, 0, 85 [SEP] 33, SoapBottle, -0.296, 0.068, 0.612, 0, 90, 0, 84 [SEP] 34, Plate, -2.047, 0.512, -1.763, 0, 0, 0, 85 [SEP] 35, Pot, -2.383, 0.94, 0.583, 0, 0, 0, 88 [SEP] 36, Spatula, -1.928, 0.967, 0.704, 0, 180, 0, 88 [SEP] 37, PaperTowelRoll, -0.394, 0.174, 0.569, 0, 90, 0, 84 [SEP] 38, Egg, -2.065, 0.987, 0.704, 0, 90, 0, 88 [SEP] 39, Lettuce, -0.096, 1.002, 0.623, 0, 0, 0, 54 [SEP] 40, SaltShaker, 0.167, 0.908, 0.458, 0, 0, 0, 54 [SEP] 41, PepperShaker, 0.271, 0.104, -1.509, 0, 180, 0, 52 [SEP] 42, Apple, -2.614, 1.019, 0.345, 0, 90, 0, 88 [SEP] 43, ButterKnife, -1.928, 0.952, 0.524, 0, 180, 0, 88 [SEP] 44, Potato, 0.753, 0.949, -1.848, 0, 270, 0, 53 [SEP] 45, Pan, 1.022, 0.959, 0.288, 0, 219.190, 0, 67 [SEP] 46, DishSponge, 0.564, 0.911, 0.292, 0, 0, 0, 54 [SEP] 47, Spoon, 0.412, 0.777, -1.552, 0, 0, 0, 78 [SEP] 48, Mug, 0.618, 0.945, 0.469, 0, 180, 0, 79 [SEP] 49, Cabinet, -0.193, 1.688, -1.648, 0, 180, 0, [SEP] 50, StoveBurner, 1.360, 0.957, 0.293, 0, 180, 0, [SEP] 51, Drawer, 0.499, 0.792, 0.296, 0, 0, 0, [SEP] 52, Cabinet, 0.095, 0.400, -1.352, 0, 180, 0, [SEP] 53, Sink, 0.711, 0.817, -1.772, 0, 270, 0, [SEP] 54, CounterTop, 0.280, 0.947, 0.458, 0, 0, 0, [SEP] 55, CounterTop, -0.680, 0.947, -1.654, 0, 0, 0, [SEP] 56, Drawer, 1.825, 0.792, 0.296, 0, 0, 0, [SEP] 57, StoveBurner, 1.007, 0.957, 0.561, 0, 270, 0, [SEP] 58, Drawer, -0.150, 0.792, -1.496, 0, 0, 0, [SEP] 59, Drawer, -0.586, 0.792, -1.496, 0, 0, 0, [SEP] 60, StoveBurner, 1.360, 0.957, 0.561, 0, 270, 0, [SEP] 61, Drawer, 0.024, 0.792, 0.296, 0, 0, 0, [SEP] 62, Cabinet, 1.079, 0.400, -1.349, 0, 180, 0, [SEP] 63, Cabinet, 1.669, 0.402, 0.151, 0, 0, 0, [SEP] 64, Cabinet, 0.055, 0.402, -1.351, 0, 0, 0, [SEP] 65, Cabinet, -0.180, 0.402, 0.151, 0, 0, 0, [SEP] 66, Cabinet, 0.729, 0.402, 0.151, 0, 0, 0, [SEP] 67, StoveBurner, 1.007, 0.957, 0.293, 0, 180, 0, [SEP] 68, Drawer, -1.100, 0.792, -1.496, 0, 0, 0, [SEP] 69, Cabinet, -0.396, 0.402, -1.351, 0, 0, 0, [SEP] 70, CounterTop, 1.776, 0.947, 0.458, 0, 0, 0, [SEP] 71, Cabinet, 1.974, 1.688, -1.648, 0, 180, 0, [SEP] 72, Cabinet, -0.820, 0.400, -1.349, 0, 180, 0, [SEP] 73, Toaster, 0.305, 0.900, 0.552, 0, 180, 0, [SEP] 74, LightSwitch, -2.756, 1.307, -0.987, 0, 90, 0, [SEP] 75, Window, 0.582, 1.613, -1.967, 90, 0, 0, [SEP] 76, Window, 1.969, 1.5, -0.615, 90, 270, 0, [SEP] 77, Microwave, -1.037, 0.900, -1.723, 0, 0, 0, [SEP] 78, SinkBasin, 0.377, 0.765, -1.655, 0, 270, 0, [SEP] 79, CoffeeMachine, 0.618, 0.900, 0.600, 0, 180, 0, [SEP] 80, StoveKnob, 1.246, 0.913, 0.118, 45, 180, 0, [SEP] 81, StoveKnob, 1.373, 0.913, 0.118, 45, 180, 0, [SEP] 82, StoveKnob, 0.995, 0.913, 0.118, 45, 180, 0, [SEP] 83, StoveKnob, 1.126, 0.913, 0.118, 45, 180, 0, [SEP] 84, GarbageCan, -0.368, -0.029, 0.539, 0, 90, 0, [SEP] 85, Fridge, -2.134, 0.0, -1.690, 0, 0, 0, [SEP] 86, Faucet, 0.549, 1.046, -1.833, 0, 232.527, 0, [SEP] 87, Stool, -1.475, 0.000, 0.414, 1.233, 280.375, 0, [SEP] 88, DiningTable, -2.255, -0.004, 0.432, 0, 0, 0, [SEP] 89, NorthWall, , , , , , , [SEP] 90, EastWall, , , , , , , [SEP] 91, SouthWall, , , , , , , [SEP] 92, WestWall, , , , , , , ", "output": ["STEP 1: Move to stand in front of the counter between the kitchen sink and microwave. | STEP 2: Pick up the sharp knife from the counter. | STEP 3: Carry the knife to the small counter space to the right of the stove. | STEP 4: Slice the loaf of bread on the counter using the knife. | STEP 5: Place the knife on the counter in front of the loaf of bread. | STEP 6: Pick up the end slice of bread from the counter. | STEP 7: Carry the slice of bread to the microwave. | STEP 8: Place the bread inside the microwave and then remove it once it's done heating. | STEP 9: Turn and carry the slice of bread to the counter where the toaster is. | STEP 10: Place the slice of bread on the counter in front of the toaster. | END"]} +{"id": "trial_T20190906_192355_012668-2", "input": "Put the two candles in the bathroom onto the bottom shelf of the organizer SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.25, 0.900, 0.75, 0, 90, 0, [SEP] 1, TissueBox, -0.767, 1.654, 0.262, 0, 0, 0, 29 [SEP] 2, TissueBox, -0.753, 1.134, 0.347, 0, 0, 0, 30 [SEP] 3, Candle, -1.557, 0.812, 0.108, 0, 0, 0, 24 [SEP] 4, SprayBottle, -2.031, 0.109, 2.282, 0, 0, 0, 20 [SEP] 5, ToiletPaper, -2.010, 0.843, 2.097, 0, 0, 0, 22 [SEP] 6, HandTowel, -1.296, 1.765, 0.040, 0, 180, 0, 36 [SEP] 7, SoapBar, -1.527, 0.812, 0.228, 0, 0, 0, 24 [SEP] 8, ToiletPaper, -0.254, 0.023, 0.240, 0, 0, 0, 41 [SEP] 9, Plunger, -0.735, -0.000, 2.732, 0, 0, 0, Floor|-00.08| [SEP] 10, Candle, -0.931, 1.134, 0.288, 0, 0, 0, 30 [SEP] 11, TissueBox, -2.016, 0.518, 0.313, 0, 0, 0, 18 [SEP] 12, ToiletPaper, -0.633, 1.131, 0.288, 0, 0, 0, 30 [SEP] 13, SoapBottle, -3.103, 0.692, 0.126, 0, 0, 0, 23 [SEP] 14, SprayBottle, -0.178, 0.027, 0.179, 0, 270, 0, 41 [SEP] 15, Towel, -2.760, 1.569, 0.107, 0, 0, 0, 33 [SEP] 16, Cloth, -0.813, 0.118, 0.360, 0, 0, 0, 21 [SEP] 17, ScrubBrush, -0.657, -0.000, 2.560, 0, 0, 0, Floor|-00.08| [SEP] 18, Cabinet, -2.344, 0.457, 0.524, 0, 0, 0, [SEP] 19, Drawer, -0.813, 0.956, 0.384, 0, 270, 0, [SEP] 20, Cabinet, -1.891, 0.443, 1.982, 0, 0, 0, [SEP] 21, Cabinet, -0.605, 0.457, 0.524, 0, 0, 0, [SEP] 22, Drawer, -2.032, 0.942, 2.190, 0, 0, 0, [SEP] 23, Bathtub, -3.450, 0.178, 1.029, 0, 0, 0, [SEP] 24, CounterTop, -1.919, 0.0, 0.288, 0, 0, 0, [SEP] 25, Sink, -1.924, 0.772, 0.326, 0, 0, 0, [SEP] 26, Mirror, -1.934, 1.666, 0.107, 0, 0, 0, [SEP] 27, Faucet, -1.925, 0.958, 0.179, 0, 0, 0, [SEP] 28, Cabinet, -1.891, 1.884, 2.391, 0, 0, 0, [SEP] 29, Cabinet, -0.605, 1.988, 0.524, 0, 0, 0, [SEP] 30, CounterTop, -0.812, 0.093, 0.288, 0, 0, 0, [SEP] 31, Shelf, -2.029, 1.183, 2.189, 0, 0, 0, [SEP] 32, Shelf, -2.123, 1.393, 2.189, 0, 0, 0, [SEP] 33, TowelHolder, -2.760, 1.555, 0.000, 0, 0, 0, [SEP] 34, LightSwitch, 0.0, 1.427, 1.993, 0, 270, 0, [SEP] 35, ToiletPaperHanger, 0.0, 1.014, 2.237, 0, 270, 0, [SEP] 36, HandTowelHolder, -1.297, 1.866, 0.002, 0, 270, 0, [SEP] 37, Window, -4.149, 1.717, 1.154, 90, 270, 0, [SEP] 38, Toilet, -0.456, -0.000, 2.257, 0, 180, 0, [SEP] 39, BathtubBasin, -3.520, 0.210, 0.940, 0, 0, 0, [SEP] 40, SinkBasin, -1.931, 0.841, 0.320, 0, 0, 0, [SEP] 41, GarbageCan, -0.257, -0.000, 0.259, 0, 0, 0, [SEP] 42, ShowerHead, -3.522, 1.719, 1.776, 0, 0, 0, [SEP] 43, ShowerCurtain, -3.391, 2.442, 0.266, 0, 0, 6.838, [SEP] 44, NorthWall, , , , , , , [SEP] 45, SouthWall, , , , , , , [SEP] 46, SouthWall, , , , , , , ", "output": ["STEP 1: Move to the left side of sink | STEP 2: Pick up candle from off the counter | STEP 3: Move to bathroom organizer to the right of the bath tub | STEP 4: Place candle onto the bottom shelf of the organizer | STEP 5: Move to drawers to the left of the sink | STEP 6: Pick up candle from off of the drawers top | STEP 7: Move to the organizer behind you | STEP 8: Place candle onto the bathroom organizer next to the other one | END"]} +{"id": "trial_T20190908_070132_986208-0", "input": "Put a microwaved slice of bread in the refrigerator. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.25, 0.901, -3.25, 0, 0, 0, [SEP] 1, Potato, -2.809, 0.757, -0.640, 0, 135, 0, 81 [SEP] 2, DishSponge, -0.413, 0.080, -0.528, 0, 0, 0, 41 [SEP] 3, ButterKnife, -2.765, 0.713, -0.395, 0, 225, 0, 81 [SEP] 4, Spatula, -0.471, 0.761, -0.912, 0, 90, 0, 63 [SEP] 5, Fork, -1.845, 0.791, -3.747, 0, 0, 0, 79 [SEP] 6, Fork, -2.740, 0.714, -0.211, 0, 90, 0, 81 [SEP] 7, Knife, -0.530, 0.778, -2.913, 0, 270, 0, 67 [SEP] 8, Knife, -0.338, 0.948, -1.432, 0, 0, 0, 64 [SEP] 9, SoapBottle, -2.516, 1.295, -3.927, 0, 0, 0, 50 [SEP] 10, SoapBottle, -1.058, 0.913, -3.729, 0, 0, 0, 37 [SEP] 11, SaltShaker, -3.169, 0.742, -2.802, 0, 0, 0, 59 [SEP] 12, PepperShaker, -2.431, 0.713, -0.665, 0, 135, 0, 81 [SEP] 13, PepperShaker, -0.412, 0.742, -2.858, 0, 0, 0, 67 [SEP] 14, Bread, -3.309, 0.954, -2.926, 0, 0, 0, 37 [SEP] 15, Mug, -3.234, 0.636, -2.002, 0, 90, 0, 78 [SEP] 16, Pot, -0.165, 0.975, -2.450, 0, 0, 0, 69 [SEP] 17, Egg, -3.059, 0.922, -2.409, 0, 90, 0, 78 [SEP] 18, Cup, -1.263, 0.080, -3.750, 0, 0, 0, 52 [SEP] 19, Bread, -3.066, 0.757, -0.697, 0, 225, 0, 81 [SEP] 20, Fork, -0.076, 0.914, -2.911, 0, 0, 0, 37 [SEP] 21, Pan, -0.165, 0.975, -2.030, 0, 180, 0, 68 [SEP] 22, Potato, -1.914, 0.834, -3.661, 0, 0, 0, 79 [SEP] 23, Lettuce, -3.130, 1.101, -2.002, 0, 90, 0, 78 [SEP] 24, Tomato, -2.581, 0.763, -0.433, 0, 270, 0, 81 [SEP] 25, Apple, -3.309, 0.956, -3.227, 0, 0, 0, 37 [SEP] 26, SoapBottle, -3.079, 0.713, -0.886, 0, 225, 0, 81 [SEP] 27, Spatula, -2.576, 0.728, -0.608, 0, 315, 0, 81 [SEP] 28, SaltShaker, -2.732, 1.291, -4.005, 0, 0, 0, 50 [SEP] 29, Knife, -2.803, 0.749, -0.922, 0, 0, 0, 81 [SEP] 30, PepperShaker, -2.652, 0.713, -0.105, 0, 225, 0, 81 [SEP] 31, ButterKnife, -2.987, 0.913, -3.655, 0, 0, 0, 37 [SEP] 32, Plate, -3.182, 1.397, -2.125, 0, 90, 0, 78 [SEP] 33, DishSponge, -0.500, 0.915, -1.616, 0, 0, 0, 64 [SEP] 34, Spoon, -2.519, 0.714, -0.238, 0, 225, 0, 81 [SEP] 35, Mug, -0.189, 1.007, -0.752, 0, 270, 0, 74 [SEP] 36, Bowl, -0.373, 0.078, -2.853, 0, 90, 0, 48 [SEP] 37, CounterTop, -1.789, 0.949, -3.803, 0, 0, 0, [SEP] 38, Cabinet, -0.577, 0.388, -3.476, 0, 0, 0, [SEP] 39, Cabinet, -0.605, 0.388, -3.511, 0, 0, 0, [SEP] 40, Cabinet, -2.976, 0.388, -3.201, 0, 0, 0, [SEP] 41, Cabinet, -0.577, 0.388, -0.447, 0, 0, 0, [SEP] 42, Cabinet, -0.577, 0.388, -1.725, 0, 0, 0, [SEP] 43, Cabinet, -0.226, 1.803, -1.743, 0, 0, 0, [SEP] 44, Cabinet, -0.228, 1.799, -0.447, 0, 0, 0, [SEP] 45, Cabinet, -6.010, 1.139, -6.019, 0, 0, 0, [SEP] 46, Cabinet, -3.022, 2.098, -2.681, 0, 0, 0, [SEP] 47, Cabinet, -3.022, 2.098, -1.743, 0, 0, 0, [SEP] 48, Cabinet, -0.577, 0.388, -2.736, 0, 0, 0, [SEP] 49, Cabinet, -3.232, 1.803, -3.343, 0, 0, 0, [SEP] 50, Cabinet, -2.811, 1.810, -3.764, 0, 0, 0, [SEP] 51, Cabinet, -1.233, 1.810, -3.764, 0, 0, 0, [SEP] 52, Cabinet, -1.364, 0.388, -3.511, 0, 0, 0, [SEP] 53, Cabinet, -1.380, 0.388, -3.511, 0, 0, 0, [SEP] 54, Cabinet, -0.226, 1.803, -2.725, 0, 0, 0, [SEP] 55, Cabinet, -0.236, 2.098, -1.767, 0, 0, 0, [SEP] 56, Cabinet, -0.236, 2.098, -2.705, 0, 0, 0, [SEP] 57, Cabinet, -0.193, 1.210, -4.239, 0, 0, 0, [SEP] 58, Cabinet, -2.148, 0.388, -3.511, 0, 0, 0, [SEP] 59, Drawer, -3.104, 0.797, -2.968, 0, 0, 0, [SEP] 60, Drawer, -0.449, 0.797, -1.410, 0, 0, 0, [SEP] 61, Sink, -1.786, 0.902, -3.748, 0, 0, 0, [SEP] 62, StoveBurner, -0.376, 0.936, -2.451, 0, 0, 0, [SEP] 63, Drawer, -0.449, 0.797, -0.762, 0, 0, 0, [SEP] 64, CounterTop, -0.268, 0.951, -1.089, 0, 0, 0, [SEP] 65, Drawer, -0.449, 0.797, -3.348, 0, 0, 0, [SEP] 66, StoveBurner, -0.376, 0.936, -2.031, 0, 180, 0, [SEP] 67, Drawer, -0.449, 0.797, -2.968, 0, 0, 0, [SEP] 68, StoveBurner, -0.165, 0.936, -2.030, 0, 180, 0, [SEP] 69, StoveBurner, -0.165, 0.936, -2.450, 0, 0, 0, [SEP] 70, StoveKnob, -0.568, 0.903, -2.313, 45, 270, 0, [SEP] 71, StoveKnob, -0.568, 0.903, -2.470, 45, 270, 0, [SEP] 72, StoveKnob, -0.568, 0.903, -2.166, 45, 270, 0, [SEP] 73, StoveKnob, -0.568, 0.903, -2.003, 45, 270, 0, [SEP] 74, Microwave, -0.143, 0.903, -0.908, 0, 270, 0, [SEP] 75, LightSwitch, -1.108, 1.457, 0.338, 0, 180, 0, [SEP] 76, GarbageCan, -0.283, -0.032, -0.035, 0, 270, 0, [SEP] 77, CoffeeMachine, -3.104, 0.837, -0.185, 0, 135, 0, [SEP] 78, Fridge, -3.188, 0.0, -2.184, 0, 0, 0, [SEP] 79, SinkBasin, -1.786, 0.779, -3.747, 0, 0, 0, [SEP] 80, Toaster, -0.230, 0.903, -3.406, 0, 270, 0, [SEP] 81, DiningTable, -2.800, 0.003, -0.505, 0, 0, 0, [SEP] 82, Chair, -3.044, 0.003, -1.223, 0, 32.194, 0, [SEP] 83, Faucet, -1.791, 1.136, -3.913, 0, 270, 0, [SEP] 84, NorthWall, , , , , , , [SEP] 85, EastWall, , , , , , , [SEP] 86, SouthWall, , , , , , , [SEP] 87, WestWall, , , , , , , ", "output": ["STEP 1: Go to the counter with the microwave on the right. | STEP 2: Pick up the yellow knife on the counter. | STEP 3: Turn around and go to the round wooden table. | STEP 4: Slice the bread on the table. | STEP 5: Turn around to go to the front of the refrigerator on the right. | STEP 6: Place the knife in front of the lettuce in the refrigerator. | STEP 7: Turn right to go back to the round wooden table with bread on it. | STEP 8: Pick up one slice of bread | STEP 9: Turn right to go to the microwave on the counter. | STEP 10: Microwave the slice of bread and take it out. | STEP 11: Turn around to go to the front of the refrigerator. | STEP 12: Place the bread slice in the refrigerator on the shelf below the knife and the lettuce | END"]} +{"id": "trial_T20190908_070132_986208-2", "input": "Warming bread and putting it in the fridge SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.25, 0.901, -3.25, 0, 0, 0, [SEP] 1, Potato, -2.809, 0.757, -0.640, 0, 135, 0, 81 [SEP] 2, DishSponge, -0.413, 0.080, -0.528, 0, 0, 0, 41 [SEP] 3, ButterKnife, -2.765, 0.713, -0.395, 0, 225, 0, 81 [SEP] 4, Spatula, -0.471, 0.761, -0.912, 0, 90, 0, 63 [SEP] 5, Fork, -1.845, 0.791, -3.747, 0, 0, 0, 79 [SEP] 6, Fork, -2.740, 0.714, -0.211, 0, 90, 0, 81 [SEP] 7, Knife, -0.530, 0.778, -2.913, 0, 270, 0, 67 [SEP] 8, Knife, -0.338, 0.948, -1.432, 0, 0, 0, 64 [SEP] 9, SoapBottle, -2.516, 1.295, -3.927, 0, 0, 0, 50 [SEP] 10, SoapBottle, -1.058, 0.913, -3.729, 0, 0, 0, 37 [SEP] 11, SaltShaker, -3.169, 0.742, -2.802, 0, 0, 0, 59 [SEP] 12, PepperShaker, -2.431, 0.713, -0.665, 0, 135, 0, 81 [SEP] 13, PepperShaker, -0.412, 0.742, -2.858, 0, 0, 0, 67 [SEP] 14, Bread, -3.309, 0.954, -2.926, 0, 0, 0, 37 [SEP] 15, Mug, -3.234, 0.636, -2.002, 0, 90, 0, 78 [SEP] 16, Pot, -0.165, 0.975, -2.450, 0, 0, 0, 69 [SEP] 17, Egg, -3.059, 0.922, -2.409, 0, 90, 0, 78 [SEP] 18, Cup, -1.263, 0.080, -3.750, 0, 0, 0, 52 [SEP] 19, Bread, -3.066, 0.757, -0.697, 0, 225, 0, 81 [SEP] 20, Fork, -0.076, 0.914, -2.911, 0, 0, 0, 37 [SEP] 21, Pan, -0.165, 0.975, -2.030, 0, 180, 0, 68 [SEP] 22, Potato, -1.914, 0.834, -3.661, 0, 0, 0, 79 [SEP] 23, Lettuce, -3.130, 1.101, -2.002, 0, 90, 0, 78 [SEP] 24, Tomato, -2.581, 0.763, -0.433, 0, 270, 0, 81 [SEP] 25, Apple, -3.309, 0.956, -3.227, 0, 0, 0, 37 [SEP] 26, SoapBottle, -3.079, 0.713, -0.886, 0, 225, 0, 81 [SEP] 27, Spatula, -2.576, 0.728, -0.608, 0, 315, 0, 81 [SEP] 28, SaltShaker, -2.732, 1.291, -4.005, 0, 0, 0, 50 [SEP] 29, Knife, -2.803, 0.749, -0.922, 0, 0, 0, 81 [SEP] 30, PepperShaker, -2.652, 0.713, -0.105, 0, 225, 0, 81 [SEP] 31, ButterKnife, -2.987, 0.913, -3.655, 0, 0, 0, 37 [SEP] 32, Plate, -3.182, 1.397, -2.125, 0, 90, 0, 78 [SEP] 33, DishSponge, -0.500, 0.915, -1.616, 0, 0, 0, 64 [SEP] 34, Spoon, -2.519, 0.714, -0.238, 0, 225, 0, 81 [SEP] 35, Mug, -0.189, 1.007, -0.752, 0, 270, 0, 74 [SEP] 36, Bowl, -0.373, 0.078, -2.853, 0, 90, 0, 48 [SEP] 37, CounterTop, -1.789, 0.949, -3.803, 0, 0, 0, [SEP] 38, Cabinet, -0.577, 0.388, -3.476, 0, 0, 0, [SEP] 39, Cabinet, -0.605, 0.388, -3.511, 0, 0, 0, [SEP] 40, Cabinet, -2.976, 0.388, -3.201, 0, 0, 0, [SEP] 41, Cabinet, -0.577, 0.388, -0.447, 0, 0, 0, [SEP] 42, Cabinet, -0.577, 0.388, -1.725, 0, 0, 0, [SEP] 43, Cabinet, -0.226, 1.803, -1.743, 0, 0, 0, [SEP] 44, Cabinet, -0.228, 1.799, -0.447, 0, 0, 0, [SEP] 45, Cabinet, -6.010, 1.139, -6.019, 0, 0, 0, [SEP] 46, Cabinet, -3.022, 2.098, -2.681, 0, 0, 0, [SEP] 47, Cabinet, -3.022, 2.098, -1.743, 0, 0, 0, [SEP] 48, Cabinet, -0.577, 0.388, -2.736, 0, 0, 0, [SEP] 49, Cabinet, -3.232, 1.803, -3.343, 0, 0, 0, [SEP] 50, Cabinet, -2.811, 1.810, -3.764, 0, 0, 0, [SEP] 51, Cabinet, -1.233, 1.810, -3.764, 0, 0, 0, [SEP] 52, Cabinet, -1.364, 0.388, -3.511, 0, 0, 0, [SEP] 53, Cabinet, -1.380, 0.388, -3.511, 0, 0, 0, [SEP] 54, Cabinet, -0.226, 1.803, -2.725, 0, 0, 0, [SEP] 55, Cabinet, -0.236, 2.098, -1.767, 0, 0, 0, [SEP] 56, Cabinet, -0.236, 2.098, -2.705, 0, 0, 0, [SEP] 57, Cabinet, -0.193, 1.210, -4.239, 0, 0, 0, [SEP] 58, Cabinet, -2.148, 0.388, -3.511, 0, 0, 0, [SEP] 59, Drawer, -3.104, 0.797, -2.968, 0, 0, 0, [SEP] 60, Drawer, -0.449, 0.797, -1.410, 0, 0, 0, [SEP] 61, Sink, -1.786, 0.902, -3.748, 0, 0, 0, [SEP] 62, StoveBurner, -0.376, 0.936, -2.451, 0, 0, 0, [SEP] 63, Drawer, -0.449, 0.797, -0.762, 0, 0, 0, [SEP] 64, CounterTop, -0.268, 0.951, -1.089, 0, 0, 0, [SEP] 65, Drawer, -0.449, 0.797, -3.348, 0, 0, 0, [SEP] 66, StoveBurner, -0.376, 0.936, -2.031, 0, 180, 0, [SEP] 67, Drawer, -0.449, 0.797, -2.968, 0, 0, 0, [SEP] 68, StoveBurner, -0.165, 0.936, -2.030, 0, 180, 0, [SEP] 69, StoveBurner, -0.165, 0.936, -2.450, 0, 0, 0, [SEP] 70, StoveKnob, -0.568, 0.903, -2.313, 45, 270, 0, [SEP] 71, StoveKnob, -0.568, 0.903, -2.470, 45, 270, 0, [SEP] 72, StoveKnob, -0.568, 0.903, -2.166, 45, 270, 0, [SEP] 73, StoveKnob, -0.568, 0.903, -2.003, 45, 270, 0, [SEP] 74, Microwave, -0.143, 0.903, -0.908, 0, 270, 0, [SEP] 75, LightSwitch, -1.108, 1.457, 0.338, 0, 180, 0, [SEP] 76, GarbageCan, -0.283, -0.032, -0.035, 0, 270, 0, [SEP] 77, CoffeeMachine, -3.104, 0.837, -0.185, 0, 135, 0, [SEP] 78, Fridge, -3.188, 0.0, -2.184, 0, 0, 0, [SEP] 79, SinkBasin, -1.786, 0.779, -3.747, 0, 0, 0, [SEP] 80, Toaster, -0.230, 0.903, -3.406, 0, 270, 0, [SEP] 81, DiningTable, -2.800, 0.003, -0.505, 0, 0, 0, [SEP] 82, Chair, -3.044, 0.003, -1.223, 0, 32.194, 0, [SEP] 83, Faucet, -1.791, 1.136, -3.913, 0, 270, 0, [SEP] 84, NorthWall, , , , , , , [SEP] 85, EastWall, , , , , , , [SEP] 86, SouthWall, , , , , , , [SEP] 87, WestWall, , , , , , , ", "output": ["STEP 1: Go straight and turn right towards the counter with the microwave | STEP 2: Pick up the knife to the left of the sponge | STEP 3: Turn around and go in between the table and fridge then turn right towards the table | STEP 4: Slice half of the loaf of bread | STEP 5: Turn right and move to the fridge | STEP 6: Open the fridge doors and put the knife on the shelf under where the lettuce is | STEP 7: Turn around and go back to the table | STEP 8: Pick up a slice of bread | STEP 9: Turn right and go towards the cabinet with the microwave | STEP 10: Open the microwave and place the bread inside, close the microwave, turn it on, wait, open microwave and pull out the bread, close the microwave | STEP 11: Turn around and move to the fridge | STEP 12: Open the fridge, place the bread on the middle shelf, close the fridge door | END"]} +{"id": "trial_T20190907_081023_514472-0", "input": "move the golden cup from the counter to the sink SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.5, 0.900, -0.5, 0, 270, 0, [SEP] 1, Potato, -0.598, 0.933, -1.119, 0, 47.530, 0, 76 [SEP] 2, CreditCard, -0.153, 1.108, 1.707, 0, 315, 0, 69 [SEP] 3, DishSponge, -0.049, 1.662, -1.435, 0, 0, 0, 64 [SEP] 4, DishSponge, 0.254, 0.747, -1.052, 0, 0, 0, 77 [SEP] 5, ButterKnife, 0.997, 0.911, -1.032, 0, 0, 0, 76 [SEP] 6, ButterKnife, -2.026, 0.746, -0.966, 0, 0, 0, 71 [SEP] 7, Kettle, -1.048, 1.663, -1.397, 0, 0, 0, 65 [SEP] 8, Pot, -2.622, 0.928, -0.396, 0, 0, 0, 70 [SEP] 9, Fork, 0.842, 0.911, -1.115, 0, 0, 0, 76 [SEP] 10, Cup, -2.853, 0.909, 0.021, 0, 0, 0, 68 [SEP] 11, Plate, -1.494, 1.664, -1.360, 0, 0, 0, 50 [SEP] 12, Egg, -2.619, 0.854, 0.690, 0, 90, 0, 88 [SEP] 13, Egg, -2.619, 0.854, 0.932, 0, 90, 0, 88 [SEP] 14, SoapBottle, -2.936, 0.912, -0.147, 0, 0, 0, 68 [SEP] 15, SoapBottle, 0.625, 1.112, 1.556, 0, 315, 0, 69 [SEP] 16, Tomato, -2.800, 0.869, 1.013, 0, 90, 0, 88 [SEP] 17, Tomato, -0.133, 0.960, -1.365, 0, 0, 0, 76 [SEP] 18, Lettuce, -2.740, 1.752, 0.771, 0, 90, 0, 88 [SEP] 19, SaltShaker, -2.521, 0.907, -0.062, 0, 0, 0, 68 [SEP] 20, SaltShaker, 0.644, 1.108, 1.229, 0, 315, 0, 69 [SEP] 21, Mug, -2.438, 0.906, -0.147, 0, 0, 0, 68 [SEP] 22, Mug, -2.860, 1.468, 0.609, 0, 90, 0, 88 [SEP] 23, Apple, -2.740, 0.430, 0.690, 0, 90, 0, 88 [SEP] 24, Apple, -0.556, 0.963, -1.449, 0, 0, 0, 76 [SEP] 25, Pan, -2.59, 0.9, -1.147, 0, 0, 0, 76 [SEP] 26, Apple, -2.521, 0.963, 0.359, 0, 0, 0, 68 [SEP] 27, Fork, -1.987, 0.747, -1.094, 0, 90, 0, 71 [SEP] 28, Kettle, -1.505, 0.850, -1.194, 0, 0, 0, 86 [SEP] 29, CreditCard, 0.013, 1.108, 1.706, 0, 315, 0, 69 [SEP] 30, Bread, -2.740, 1.528, 0.932, 0, 90, 0, 88 [SEP] 31, Plate, -1.627, 0.119, -1.031, 0, 0, 0, 53 [SEP] 32, SoapBottle, 0.608, 0.118, -1.128, 0, 0, 0, 56 [SEP] 33, Spatula, -2.552, 0.922, 0.010, 0, 0, 0, 68 [SEP] 34, Lettuce, -2.860, 0.899, 0.690, 0, 90, 0, 88 [SEP] 35, SaltShaker, 0.413, 1.108, 0.998, 0, 315, 0, 69 [SEP] 36, Tomato, -2.920, 0.427, 1.013, 0, 90, 0, 88 [SEP] 37, PepperShaker, -2.830, 0.9, -0.112, 0, 0, 0, 68 [SEP] 38, ButterKnife, -1.332, 0.849, -1.194, 0, 0, 0, 86 [SEP] 39, Pot, 0.586, 1.112, 0.825, 0, 315, 0, 69 [SEP] 40, DishSponge, 0.298, 1.111, 1.575, 0, 315, 0, 69 [SEP] 41, Egg, -1.246, 0.886, -1.25, 0, 0, 0, 86 [SEP] 42, Spoon, -0.157, 0.9, -1.015, 0, 0, 0, 76 [SEP] 43, Knife, 0.060, 1.106, 1.587, 270, 209.997, 0, 69 [SEP] 44, Cup, -2.619, 1.671, 1.094, 0, 90, 0, 88 [SEP] 45, Mug, -2.736, 1.790, -0.803, 0, 90, 0, 47 [SEP] 46, Bowl, -2.046, 0.9, -1.163, 0, 0, 0, 76 [SEP] 47, Cabinet, -2.647, 2.075, -0.875, 0, 0, 0, [SEP] 48, Cabinet, -2.647, 2.075, -0.234, 0, 0, 0, [SEP] 49, Cabinet, -0.824, 0.469, -0.907, 0, 0, 0, [SEP] 50, Cabinet, -1.764, 2.009, -1.197, 0, 0, 0, [SEP] 51, Cabinet, -1.834, 2.009, -1.197, 0, 0, 0, [SEP] 52, Cabinet, -1.850, 0.389, -0.897, 0, 0, 0, [SEP] 53, Cabinet, -1.801, 0.469, -0.907, 0, 0, 0, [SEP] 54, Cabinet, 1.115, 2.009, -1.197, 0, 0, 0, [SEP] 55, Cabinet, 0.235, 2.009, -1.197, 0, 0, 0, [SEP] 56, Cabinet, 1.125, 0.470, -0.897, 0, 0, 0, [SEP] 57, Cabinet, -2.387, 0.389, 0.375, 0, 0, 0, [SEP] 58, Cabinet, 0.484, 0.389, -0.897, 0, 0, 0, [SEP] 59, Cabinet, -2.625, 2.009, -1.197, 0, 0, 0, [SEP] 60, Cabinet, -2.647, 2.009, -0.945, 0, 0, 0, [SEP] 61, Cabinet, -2.647, 2.200, 1.664, 0, 0, 0, [SEP] 62, Cabinet, -2.647, 2.009, 0.364, 0, 0, 0, [SEP] 63, Cabinet, 0.164, 2.009, -1.197, 0, 0, 0, [SEP] 64, Cabinet, -0.765, 2.009, -1.197, 0, 0, 0, [SEP] 65, Cabinet, -0.834, 2.009, -1.197, 0, 0, 0, [SEP] 66, Cabinet, -2.647, 2.200, 0.434, 0, 0, 0, [SEP] 67, StoveBurner, -2.622, 0.886, -0.711, 0, 0, 0, [SEP] 68, CounterTop, -2.699, 0.946, 0.106, 0, 0, 0, [SEP] 69, CounterTop, 0.908, 1.147, 0.788, 0, 315, 0, [SEP] 70, StoveBurner, -2.622, 0.886, -0.396, 0, 0, 0, [SEP] 71, Drawer, -2.026, 0.779, -1.082, 0, 0, 0, [SEP] 72, Sink, -1.328, 0.916, -1.225, 0, 0, 0, [SEP] 73, StoveBurner, -2.822, 0.886, -0.711, 0, 0, 0, [SEP] 74, Drawer, -2.572, 0.779, 0.099, 0, 0, 0, [SEP] 75, StoveBurner, -2.822, 0.886, -0.396, 0, 0, 0, [SEP] 76, CounterTop, 0.071, 0.946, -1.199, 0, 0, 0, [SEP] 77, Drawer, 0.254, 0.779, -1.082, 0, 0, 0, [SEP] 78, LightSwitch, -1.167, 1.307, 3.0, 0, 180, 0, [SEP] 79, CoffeeMachine, 1.124, 1.100, 0.312, 0, 227.685, 0, [SEP] 80, StoveKnob, -2.429, 0.863, -0.621, 311.864, 270, 180, [SEP] 81, StoveKnob, -2.429, 0.863, -0.477, 311.864, 270, 180, [SEP] 82, StoveKnob, -2.429, 0.863, -0.782, 311.864, 270, 180, [SEP] 83, StoveKnob, -2.429, 0.863, -0.324, 311.864, 270, 180, [SEP] 84, Window, 0.321, 1.449, 3.088, 90, 0, 0, [SEP] 85, Toaster, -2.823, 0.899, 0.246, 0, 90, 0, [SEP] 86, SinkBasin, -1.344, 0.838, -1.25, 0, 0, 0, [SEP] 87, GarbageCan, -2.757, 1.886, 1.466, 0, 0, 0, [SEP] 88, Fridge, -2.855, 0.0, 0.851, 0, 0, 0, [SEP] 89, Microwave, 0.283, 0.900, -1.331, 0, 0, 0, [SEP] 90, Stool, 1.541, 0.010, 1.328, 0, 45, 0, [SEP] 91, Stool, 0.983, 0.010, 1.793, 0, 47.459, 0, [SEP] 92, Faucet, -1.392, 1.136, -1.399, 0, 270, 0, [SEP] 93, NorthWall, , , , , , , [SEP] 94, EastWall, , , , , , , [SEP] 95, SouthWall, , , , , , , [SEP] 96, WestWall, , , , , , , ", "output": ["STEP 1: walk to the counter between the refrigerator and the stove | STEP 2: grab the golden cup in the back on the counter | STEP 3: turn around, walk to the sink | STEP 4: put the golden cup in the sink | END"]} +{"id": "trial_T20190907_081023_514472-1", "input": "Put an orange cup in the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.5, 0.900, -0.5, 0, 270, 0, [SEP] 1, Potato, -0.598, 0.933, -1.119, 0, 47.530, 0, 76 [SEP] 2, CreditCard, -0.153, 1.108, 1.707, 0, 315, 0, 69 [SEP] 3, DishSponge, -0.049, 1.662, -1.435, 0, 0, 0, 64 [SEP] 4, DishSponge, 0.254, 0.747, -1.052, 0, 0, 0, 77 [SEP] 5, ButterKnife, 0.997, 0.911, -1.032, 0, 0, 0, 76 [SEP] 6, ButterKnife, -2.026, 0.746, -0.966, 0, 0, 0, 71 [SEP] 7, Kettle, -1.048, 1.663, -1.397, 0, 0, 0, 65 [SEP] 8, Pot, -2.622, 0.928, -0.396, 0, 0, 0, 70 [SEP] 9, Fork, 0.842, 0.911, -1.115, 0, 0, 0, 76 [SEP] 10, Cup, -2.853, 0.909, 0.021, 0, 0, 0, 68 [SEP] 11, Plate, -1.494, 1.664, -1.360, 0, 0, 0, 50 [SEP] 12, Egg, -2.619, 0.854, 0.690, 0, 90, 0, 88 [SEP] 13, Egg, -2.619, 0.854, 0.932, 0, 90, 0, 88 [SEP] 14, SoapBottle, -2.936, 0.912, -0.147, 0, 0, 0, 68 [SEP] 15, SoapBottle, 0.625, 1.112, 1.556, 0, 315, 0, 69 [SEP] 16, Tomato, -2.800, 0.869, 1.013, 0, 90, 0, 88 [SEP] 17, Tomato, -0.133, 0.960, -1.365, 0, 0, 0, 76 [SEP] 18, Lettuce, -2.740, 1.752, 0.771, 0, 90, 0, 88 [SEP] 19, SaltShaker, -2.521, 0.907, -0.062, 0, 0, 0, 68 [SEP] 20, SaltShaker, 0.644, 1.108, 1.229, 0, 315, 0, 69 [SEP] 21, Mug, -2.438, 0.906, -0.147, 0, 0, 0, 68 [SEP] 22, Mug, -2.860, 1.468, 0.609, 0, 90, 0, 88 [SEP] 23, Apple, -2.740, 0.430, 0.690, 0, 90, 0, 88 [SEP] 24, Apple, -0.556, 0.963, -1.449, 0, 0, 0, 76 [SEP] 25, Pan, -2.59, 0.9, -1.147, 0, 0, 0, 76 [SEP] 26, Apple, -2.521, 0.963, 0.359, 0, 0, 0, 68 [SEP] 27, Fork, -1.987, 0.747, -1.094, 0, 90, 0, 71 [SEP] 28, Kettle, -1.505, 0.850, -1.194, 0, 0, 0, 86 [SEP] 29, CreditCard, 0.013, 1.108, 1.706, 0, 315, 0, 69 [SEP] 30, Bread, -2.740, 1.528, 0.932, 0, 90, 0, 88 [SEP] 31, Plate, -1.627, 0.119, -1.031, 0, 0, 0, 53 [SEP] 32, SoapBottle, 0.608, 0.118, -1.128, 0, 0, 0, 56 [SEP] 33, Spatula, -2.552, 0.922, 0.010, 0, 0, 0, 68 [SEP] 34, Lettuce, -2.860, 0.899, 0.690, 0, 90, 0, 88 [SEP] 35, SaltShaker, 0.413, 1.108, 0.998, 0, 315, 0, 69 [SEP] 36, Tomato, -2.920, 0.427, 1.013, 0, 90, 0, 88 [SEP] 37, PepperShaker, -2.830, 0.9, -0.112, 0, 0, 0, 68 [SEP] 38, ButterKnife, -1.332, 0.849, -1.194, 0, 0, 0, 86 [SEP] 39, Pot, 0.586, 1.112, 0.825, 0, 315, 0, 69 [SEP] 40, DishSponge, 0.298, 1.111, 1.575, 0, 315, 0, 69 [SEP] 41, Egg, -1.246, 0.886, -1.25, 0, 0, 0, 86 [SEP] 42, Spoon, -0.157, 0.9, -1.015, 0, 0, 0, 76 [SEP] 43, Knife, 0.060, 1.106, 1.587, 270, 209.997, 0, 69 [SEP] 44, Cup, -2.619, 1.671, 1.094, 0, 90, 0, 88 [SEP] 45, Mug, -2.736, 1.790, -0.803, 0, 90, 0, 47 [SEP] 46, Bowl, -2.046, 0.9, -1.163, 0, 0, 0, 76 [SEP] 47, Cabinet, -2.647, 2.075, -0.875, 0, 0, 0, [SEP] 48, Cabinet, -2.647, 2.075, -0.234, 0, 0, 0, [SEP] 49, Cabinet, -0.824, 0.469, -0.907, 0, 0, 0, [SEP] 50, Cabinet, -1.764, 2.009, -1.197, 0, 0, 0, [SEP] 51, Cabinet, -1.834, 2.009, -1.197, 0, 0, 0, [SEP] 52, Cabinet, -1.850, 0.389, -0.897, 0, 0, 0, [SEP] 53, Cabinet, -1.801, 0.469, -0.907, 0, 0, 0, [SEP] 54, Cabinet, 1.115, 2.009, -1.197, 0, 0, 0, [SEP] 55, Cabinet, 0.235, 2.009, -1.197, 0, 0, 0, [SEP] 56, Cabinet, 1.125, 0.470, -0.897, 0, 0, 0, [SEP] 57, Cabinet, -2.387, 0.389, 0.375, 0, 0, 0, [SEP] 58, Cabinet, 0.484, 0.389, -0.897, 0, 0, 0, [SEP] 59, Cabinet, -2.625, 2.009, -1.197, 0, 0, 0, [SEP] 60, Cabinet, -2.647, 2.009, -0.945, 0, 0, 0, [SEP] 61, Cabinet, -2.647, 2.200, 1.664, 0, 0, 0, [SEP] 62, Cabinet, -2.647, 2.009, 0.364, 0, 0, 0, [SEP] 63, Cabinet, 0.164, 2.009, -1.197, 0, 0, 0, [SEP] 64, Cabinet, -0.765, 2.009, -1.197, 0, 0, 0, [SEP] 65, Cabinet, -0.834, 2.009, -1.197, 0, 0, 0, [SEP] 66, Cabinet, -2.647, 2.200, 0.434, 0, 0, 0, [SEP] 67, StoveBurner, -2.622, 0.886, -0.711, 0, 0, 0, [SEP] 68, CounterTop, -2.699, 0.946, 0.106, 0, 0, 0, [SEP] 69, CounterTop, 0.908, 1.147, 0.788, 0, 315, 0, [SEP] 70, StoveBurner, -2.622, 0.886, -0.396, 0, 0, 0, [SEP] 71, Drawer, -2.026, 0.779, -1.082, 0, 0, 0, [SEP] 72, Sink, -1.328, 0.916, -1.225, 0, 0, 0, [SEP] 73, StoveBurner, -2.822, 0.886, -0.711, 0, 0, 0, [SEP] 74, Drawer, -2.572, 0.779, 0.099, 0, 0, 0, [SEP] 75, StoveBurner, -2.822, 0.886, -0.396, 0, 0, 0, [SEP] 76, CounterTop, 0.071, 0.946, -1.199, 0, 0, 0, [SEP] 77, Drawer, 0.254, 0.779, -1.082, 0, 0, 0, [SEP] 78, LightSwitch, -1.167, 1.307, 3.0, 0, 180, 0, [SEP] 79, CoffeeMachine, 1.124, 1.100, 0.312, 0, 227.685, 0, [SEP] 80, StoveKnob, -2.429, 0.863, -0.621, 311.864, 270, 180, [SEP] 81, StoveKnob, -2.429, 0.863, -0.477, 311.864, 270, 180, [SEP] 82, StoveKnob, -2.429, 0.863, -0.782, 311.864, 270, 180, [SEP] 83, StoveKnob, -2.429, 0.863, -0.324, 311.864, 270, 180, [SEP] 84, Window, 0.321, 1.449, 3.088, 90, 0, 0, [SEP] 85, Toaster, -2.823, 0.899, 0.246, 0, 90, 0, [SEP] 86, SinkBasin, -1.344, 0.838, -1.25, 0, 0, 0, [SEP] 87, GarbageCan, -2.757, 1.886, 1.466, 0, 0, 0, [SEP] 88, Fridge, -2.855, 0.0, 0.851, 0, 0, 0, [SEP] 89, Microwave, 0.283, 0.900, -1.331, 0, 0, 0, [SEP] 90, Stool, 1.541, 0.010, 1.328, 0, 45, 0, [SEP] 91, Stool, 0.983, 0.010, 1.793, 0, 47.459, 0, [SEP] 92, Faucet, -1.392, 1.136, -1.399, 0, 270, 0, [SEP] 93, NorthWall, , , , , , , [SEP] 94, EastWall, , , , , , , [SEP] 95, SouthWall, , , , , , , [SEP] 96, WestWall, , , , , , , ", "output": ["STEP 1: Move forward to the toaster on the counter. | STEP 2: Pick up the orange cup on the counter. | STEP 3: Turn around and bring the cup to the sink on the right. | STEP 4: Put the cup in the sink. | END"]} +{"id": "trial_T20190907_061937_642594-2", "input": "Place the potato slice in the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.900, 1.25, 0, 0, 0, [SEP] 1, Pan, -0.244, 0.829, 2.075, 0, 180, 0, 43 [SEP] 2, Potato, -2.616, 0.863, 2.309, 0, 90, 0, 66 [SEP] 3, Ladle, -2.540, 1.893, 1.875, 0, 0, 0, 42 [SEP] 4, DishSponge, -2.597, 0.691, 1.474, 0, 0, 0, 53 [SEP] 5, DishSponge, -2.462, 1.848, 2.368, 0, 0, 0, 58 [SEP] 6, ButterKnife, -1.876, 0.823, 0.549, 0, 0, 0, 48 [SEP] 7, ButterKnife, -2.608, 0.823, 0.203, 0, 0, 0, 48 [SEP] 8, Spoon, -1.133, 0.699, 0.377, 0, 90, 0, 52 [SEP] 9, Spatula, -2.724, 0.838, 0.352, 0, 180, 0, 48 [SEP] 10, Egg, -0.147, 0.847, 0.426, 0, 0, 0, 48 [SEP] 11, Egg, -2.581, 0.847, 0.953, 0, 0, 0, 48 [SEP] 12, Cup, -2.540, 1.849, 2.472, 0, 0, 0, 58 [SEP] 13, Cup, -2.810, 0.921, 1.231, 0, 90, 0, 67 [SEP] 14, SoapBottle, -2.762, 1.432, 0.380, 0, 45, 0, 54 [SEP] 15, Bowl, -2.782, 1.442, 2.397, 0, 90, 0, 66 [SEP] 16, Bowl, -2.840, 0.820, 0.129, 0, 0, 0, 48 [SEP] 17, SaltShaker, -2.687, 0.116, 1.589, 0, 0, 0, 59 [SEP] 18, PepperShaker, -2.375, 0.818, 0.352, 0, 0, 0, 48 [SEP] 19, Apple, -2.810, 0.994, 1.390, 0, 90, 0, 67 [SEP] 20, Apple, -2.504, 0.896, 0.625, 0, 0, 0, 48 [SEP] 21, Fork, -2.044, 0.824, 0.528, 0, 0, 0, 48 [SEP] 22, Ladle, -0.371, 0.738, 0.879, 0, 45, 0, 50 [SEP] 23, Pan, -0.244, 0.829, 1.684, 0, 0, 0, 47 [SEP] 24, SoapBottle, -0.362, 0.054, 2.674, 0, 0, 0, 68 [SEP] 25, Pot, -0.531, 0.822, 2.096, 0, 0, 0, 45 [SEP] 26, Tomato, -0.092, 0.873, 0.992, 0, 0, 0, 48 [SEP] 27, Potato, -2.892, 1.484, 2.221, 0, 90, 0, 66 [SEP] 28, SaltShaker, -1.151, 0.818, 0.055, 0, 0, 0, 48 [SEP] 29, Plate, -1.580, 0.130, 0.362, 0, 0, 0, 61 [SEP] 30, Spatula, -0.341, 0.696, 1.194, 0, 45, 0, 44 [SEP] 31, Knife, -1.207, 0.849, 0.539, 0, 0, 0, 48 [SEP] 32, Egg, -2.211, 0.847, 0.059, 0, 0, 0, 48 [SEP] 33, Cup, -2.781, 1.445, 1.957, 0, 90, 0, 66 [SEP] 34, ButterKnife, -2.493, 0.812, 0.476, 0, 50.734, 0, 48 [SEP] 35, Lettuce, -2.782, 0.908, 2.221, 0, 90, 0, 66 [SEP] 36, PepperShaker, -1.542, 0.818, 0.046, 0, 0, 0, 48 [SEP] 37, DishSponge, -2.727, 0.121, 1.431, 0, 0, 0, 59 [SEP] 38, Bread, -0.979, 0.855, 0.249, 0, 29.999, 0, 48 [SEP] 39, Spoon, -1.857, 0.698, 0.295, 0, 0, 0, 75 [SEP] 40, Mug, -2.735, 0.818, 0.953, 0, 0, 0, 48 [SEP] 41, Bowl, -2.000, 0.121, 0.401, 0, 0, 0, 60 [SEP] 42, Cabinet, -2.377, 2.015, 1.720, 0, 0, 0, [SEP] 43, StoveBurner, -0.244, 0.820, 2.075, 0, 180, 0, [SEP] 44, Drawer, -0.402, 0.703, 1.252, 0, 0, 0, [SEP] 45, StoveBurner, -0.518, 0.820, 2.075, 0, 180, 0, [SEP] 46, Sink, -1.838, 0.726, 0.343, 0, 180, 0, [SEP] 47, StoveBurner, -0.244, 0.820, 1.684, 0, 0, 0, [SEP] 48, CounterTop, -1.557, 0.859, 0.277, 0, 0, 0, [SEP] 49, StoveBurner, -0.518, 0.820, 1.684, 0, 0, 0, [SEP] 50, Drawer, -0.404, 0.704, 0.912, 0, 0, 0, [SEP] 51, Drawer, -0.861, 0.709, 0.420, 0, 0, 0, [SEP] 52, Drawer, -1.133, 0.706, 0.418, 0, 0, 0, [SEP] 53, Drawer, -2.589, 0.703, 1.511, 0, 0, 0, [SEP] 54, Cabinet, -2.772, 1.803, 0.508, 0, 0, 0, [SEP] 55, Cabinet, -2.460, 1.803, 0.231, 0, 0, 0, [SEP] 56, Cabinet, -2.781, 1.798, 0.825, 0, 0, 0, [SEP] 57, Cabinet, -2.781, 1.798, 0.815, 0, 0, 0, [SEP] 58, Cabinet, -2.377, 2.009, 2.581, 0, 0, 0, [SEP] 59, Cabinet, -2.442, 0.385, 1.672, 0, 0, 0, [SEP] 60, Cabinet, -2.238, 0.385, 0.564, 0, 0, 0, [SEP] 61, Cabinet, -1.286, 0.385, 0.564, 0, 0, 0, [SEP] 62, Cabinet, -1.262, 0.385, 0.565, 0, 0, 0, [SEP] 63, Cabinet, -0.734, 0.385, 0.565, 0, 0, 0, [SEP] 64, Cabinet, -0.549, 0.385, 0.751, 0, 0, 0, [SEP] 65, Cabinet, -0.549, 0.385, 1.412, 0, 0, 0, [SEP] 66, Fridge, -2.782, 0.0, 2.221, 0, 0, 0, [SEP] 67, Microwave, -2.794, 0.812, 1.348, 0, 90, 0, [SEP] 68, GarbageCan, -0.329, 2.205, 2.606, 0, 0, 0, [SEP] 69, StoveKnob, -0.069, 0.998, 1.773, 0, 180, 107.470, [SEP] 70, StoveKnob, -0.069, 0.998, 1.613, 0, 180, 107.470, [SEP] 71, StoveKnob, -0.069, 0.998, 2.171, 0, 180, 107.470, [SEP] 72, StoveKnob, -0.069, 0.998, 2.024, 0, 180, 107.470, [SEP] 73, Window, -1.720, 1.342, -0.208, 90, 0, 0, [SEP] 74, Toaster, -0.171, 0.812, 0.735, 0, 270, 0, [SEP] 75, SinkBasin, -1.745, 0.687, 0.295, 0, 0, 0, [SEP] 76, CoffeeMachine, -0.539, 0.812, 0.185, 0, 0, 0, [SEP] 77, LightSwitch, -0.615, 1.378, 3.0, 0, 180, 0, [SEP] 78, Faucet, -1.686, 0.954, 0.176, 0, 236.223, 0, [SEP] 79, Stool, -1.008, 0.008, 1.955, 0, 18.279, 0, [SEP] 80, NorthWall, , , , , , , [SEP] 81, EastWall, , , , , , , [SEP] 82, SouthWall, , , , , , , [SEP] 83, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and head towards the kitchen sink. | STEP 2: Pick up knife that's on the floor. | STEP 3: Turn around and head towards door, turn left to face fridge. | STEP 4: Open fridge, slice potato on middle shelf, close the fridge door. | STEP 5: Turn left, walk up, turn right to face microwave. | STEP 6: Open microwave and place knife inside, close microwave. | STEP 7: Return to fridge and open door. | STEP 8: Take first slice of potato from fridge and close door. | STEP 9: Head towards the kitchen sink of the left. | STEP 10: Put the potato in the sink. | END"]} +{"id": "trial_T20190907_061937_642594-3", "input": "Putting a potato slice in the sink SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.900, 1.25, 0, 0, 0, [SEP] 1, Pan, -0.244, 0.829, 2.075, 0, 180, 0, 43 [SEP] 2, Potato, -2.616, 0.863, 2.309, 0, 90, 0, 66 [SEP] 3, Ladle, -2.540, 1.893, 1.875, 0, 0, 0, 42 [SEP] 4, DishSponge, -2.597, 0.691, 1.474, 0, 0, 0, 53 [SEP] 5, DishSponge, -2.462, 1.848, 2.368, 0, 0, 0, 58 [SEP] 6, ButterKnife, -1.876, 0.823, 0.549, 0, 0, 0, 48 [SEP] 7, ButterKnife, -2.608, 0.823, 0.203, 0, 0, 0, 48 [SEP] 8, Spoon, -1.133, 0.699, 0.377, 0, 90, 0, 52 [SEP] 9, Spatula, -2.724, 0.838, 0.352, 0, 180, 0, 48 [SEP] 10, Egg, -0.147, 0.847, 0.426, 0, 0, 0, 48 [SEP] 11, Egg, -2.581, 0.847, 0.953, 0, 0, 0, 48 [SEP] 12, Cup, -2.540, 1.849, 2.472, 0, 0, 0, 58 [SEP] 13, Cup, -2.810, 0.921, 1.231, 0, 90, 0, 67 [SEP] 14, SoapBottle, -2.762, 1.432, 0.380, 0, 45, 0, 54 [SEP] 15, Bowl, -2.782, 1.442, 2.397, 0, 90, 0, 66 [SEP] 16, Bowl, -2.840, 0.820, 0.129, 0, 0, 0, 48 [SEP] 17, SaltShaker, -2.687, 0.116, 1.589, 0, 0, 0, 59 [SEP] 18, PepperShaker, -2.375, 0.818, 0.352, 0, 0, 0, 48 [SEP] 19, Apple, -2.810, 0.994, 1.390, 0, 90, 0, 67 [SEP] 20, Apple, -2.504, 0.896, 0.625, 0, 0, 0, 48 [SEP] 21, Fork, -2.044, 0.824, 0.528, 0, 0, 0, 48 [SEP] 22, Ladle, -0.371, 0.738, 0.879, 0, 45, 0, 50 [SEP] 23, Pan, -0.244, 0.829, 1.684, 0, 0, 0, 47 [SEP] 24, SoapBottle, -0.362, 0.054, 2.674, 0, 0, 0, 68 [SEP] 25, Pot, -0.531, 0.822, 2.096, 0, 0, 0, 45 [SEP] 26, Tomato, -0.092, 0.873, 0.992, 0, 0, 0, 48 [SEP] 27, Potato, -2.892, 1.484, 2.221, 0, 90, 0, 66 [SEP] 28, SaltShaker, -1.151, 0.818, 0.055, 0, 0, 0, 48 [SEP] 29, Plate, -1.580, 0.130, 0.362, 0, 0, 0, 61 [SEP] 30, Spatula, -0.341, 0.696, 1.194, 0, 45, 0, 44 [SEP] 31, Knife, -1.207, 0.849, 0.539, 0, 0, 0, 48 [SEP] 32, Egg, -2.211, 0.847, 0.059, 0, 0, 0, 48 [SEP] 33, Cup, -2.781, 1.445, 1.957, 0, 90, 0, 66 [SEP] 34, ButterKnife, -2.493, 0.812, 0.476, 0, 50.734, 0, 48 [SEP] 35, Lettuce, -2.782, 0.908, 2.221, 0, 90, 0, 66 [SEP] 36, PepperShaker, -1.542, 0.818, 0.046, 0, 0, 0, 48 [SEP] 37, DishSponge, -2.727, 0.121, 1.431, 0, 0, 0, 59 [SEP] 38, Bread, -0.979, 0.855, 0.249, 0, 29.999, 0, 48 [SEP] 39, Spoon, -1.857, 0.698, 0.295, 0, 0, 0, 75 [SEP] 40, Mug, -2.735, 0.818, 0.953, 0, 0, 0, 48 [SEP] 41, Bowl, -2.000, 0.121, 0.401, 0, 0, 0, 60 [SEP] 42, Cabinet, -2.377, 2.015, 1.720, 0, 0, 0, [SEP] 43, StoveBurner, -0.244, 0.820, 2.075, 0, 180, 0, [SEP] 44, Drawer, -0.402, 0.703, 1.252, 0, 0, 0, [SEP] 45, StoveBurner, -0.518, 0.820, 2.075, 0, 180, 0, [SEP] 46, Sink, -1.838, 0.726, 0.343, 0, 180, 0, [SEP] 47, StoveBurner, -0.244, 0.820, 1.684, 0, 0, 0, [SEP] 48, CounterTop, -1.557, 0.859, 0.277, 0, 0, 0, [SEP] 49, StoveBurner, -0.518, 0.820, 1.684, 0, 0, 0, [SEP] 50, Drawer, -0.404, 0.704, 0.912, 0, 0, 0, [SEP] 51, Drawer, -0.861, 0.709, 0.420, 0, 0, 0, [SEP] 52, Drawer, -1.133, 0.706, 0.418, 0, 0, 0, [SEP] 53, Drawer, -2.589, 0.703, 1.511, 0, 0, 0, [SEP] 54, Cabinet, -2.772, 1.803, 0.508, 0, 0, 0, [SEP] 55, Cabinet, -2.460, 1.803, 0.231, 0, 0, 0, [SEP] 56, Cabinet, -2.781, 1.798, 0.825, 0, 0, 0, [SEP] 57, Cabinet, -2.781, 1.798, 0.815, 0, 0, 0, [SEP] 58, Cabinet, -2.377, 2.009, 2.581, 0, 0, 0, [SEP] 59, Cabinet, -2.442, 0.385, 1.672, 0, 0, 0, [SEP] 60, Cabinet, -2.238, 0.385, 0.564, 0, 0, 0, [SEP] 61, Cabinet, -1.286, 0.385, 0.564, 0, 0, 0, [SEP] 62, Cabinet, -1.262, 0.385, 0.565, 0, 0, 0, [SEP] 63, Cabinet, -0.734, 0.385, 0.565, 0, 0, 0, [SEP] 64, Cabinet, -0.549, 0.385, 0.751, 0, 0, 0, [SEP] 65, Cabinet, -0.549, 0.385, 1.412, 0, 0, 0, [SEP] 66, Fridge, -2.782, 0.0, 2.221, 0, 0, 0, [SEP] 67, Microwave, -2.794, 0.812, 1.348, 0, 90, 0, [SEP] 68, GarbageCan, -0.329, 2.205, 2.606, 0, 0, 0, [SEP] 69, StoveKnob, -0.069, 0.998, 1.773, 0, 180, 107.470, [SEP] 70, StoveKnob, -0.069, 0.998, 1.613, 0, 180, 107.470, [SEP] 71, StoveKnob, -0.069, 0.998, 2.171, 0, 180, 107.470, [SEP] 72, StoveKnob, -0.069, 0.998, 2.024, 0, 180, 107.470, [SEP] 73, Window, -1.720, 1.342, -0.208, 90, 0, 0, [SEP] 74, Toaster, -0.171, 0.812, 0.735, 0, 270, 0, [SEP] 75, SinkBasin, -1.745, 0.687, 0.295, 0, 0, 0, [SEP] 76, CoffeeMachine, -0.539, 0.812, 0.185, 0, 0, 0, [SEP] 77, LightSwitch, -0.615, 1.378, 3.0, 0, 180, 0, [SEP] 78, Faucet, -1.686, 0.954, 0.176, 0, 236.223, 0, [SEP] 79, Stool, -1.008, 0.008, 1.955, 0, 18.279, 0, [SEP] 80, NorthWall, , , , , , , [SEP] 81, EastWall, , , , , , , [SEP] 82, SouthWall, , , , , , , [SEP] 83, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and face the ground | STEP 2: Grab the knife that is on the ground | STEP 3: Turn around and head to the fridge | STEP 4: Open the fridge and cut the potato in half | STEP 5: Turn left and stop at the microwave | STEP 6: Put the knife in the microwave | STEP 7: Turn right and stop at the fridge | STEP 8: Open the fridge and grab one of the potato slices | STEP 9: Turn left and head to the sink | STEP 10: Put the potato in the sink | END"]} +{"id": "trial_T20190918_142641_912513-1", "input": "Slice both potatoes, bring a slice from second potato on the small corner table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.25, 0.900, -2.5, 0, 90, 0, [SEP] 1, Pan, -0.222, 0.961, -2.243, 0, 0, 0, 68 [SEP] 2, Potato, -3.260, 0.792, -3.354, 0, 244.125, 0, 85 [SEP] 3, Potato, -2.419, 0.131, -3.472, 0, 0, 0, 74 [SEP] 4, Potato, -0.740, 0.845, -3.588, 0, 315, 0, 78 [SEP] 5, DishSponge, -0.157, 0.940, -1.362, 0, 0, 0, 67 [SEP] 6, DishSponge, -4.002, 0.690, -0.187, 0, 0, 0, 84 [SEP] 7, Pot, -0.437, 0.961, -1.845, 0, 180, 0, 50 [SEP] 8, Fork, -0.524, 0.747, -1.488, 0, 90, 0, 53 [SEP] 9, Spoon, -4.182, 0.692, -0.491, 0, 180, 0, 84 [SEP] 10, Spatula, -0.440, 0.766, -2.632, 0, 270, 0, 54 [SEP] 11, Egg, -0.293, 1.327, -0.762, 0, 270, 0, 79 [SEP] 12, Egg, -0.214, 0.983, -3.041, 0, 45, 0, 49 [SEP] 13, Cup, -0.202, 1.939, -1.791, 0, 0, 0, 58 [SEP] 14, Cup, -0.334, 1.287, -0.297, 0, 270, 0, 79 [SEP] 15, Plate, -3.565, 0.908, -0.462, 0, 270, 0, 86 [SEP] 16, Plate, -0.994, 0.956, -3.733, 0, 45, 0, 49 [SEP] 17, Knife, -3.350, 0.785, -3.480, 0, 199.125, 0, 85 [SEP] 18, SoapBottle, -2.761, 0.892, -0.548, 0, 270, 0, 86 [SEP] 19, SoapBottle, -0.212, 1.500, -1.409, 0, 0, 0, 60 [SEP] 20, Tomato, -4.242, 0.742, -0.430, 0, 0, 0, 84 [SEP] 21, Bowl, -0.427, 0.080, -1.410, 0, 0, 0, 65 [SEP] 22, Bowl, -0.376, 1.284, -0.645, 0, 270, 0, 79 [SEP] 23, Lettuce, -1.694, 1.033, -3.751, 0, 0, 0, 49 [SEP] 24, Lettuce, -0.283, 1.579, -0.994, 0, 270, 0, 79 [SEP] 25, SaltShaker, -4.242, 0.687, -0.308, 0, 0, 0, 84 [SEP] 26, PepperShaker, -3.163, 0.890, -0.548, 0, 270, 0, 86 [SEP] 27, Apple, -3.882, 0.752, -0.248, 0, 0, 0, 84 [SEP] 28, SoapBottle, -0.096, 1.500, -2.788, 0, 0, 0, 49 [SEP] 29, Pot, -3.631, 0.761, -3.155, 0, 334.125, 0, 85 [SEP] 30, Fork, -0.236, 0.941, -1.494, 0, 0, 0, 67 [SEP] 31, Cup, -3.364, 0.895, -0.548, 0, 270, 0, 86 [SEP] 32, Tomato, -2.359, 0.945, -0.119, 0, 270, 0, 86 [SEP] 33, Pan, -0.217, 0.958, -2.215, 0, 45, 0, 68 [SEP] 34, Plate, -0.283, 1.502, -0.529, 0, 270, 0, 79 [SEP] 35, Bread, -0.397, 1.023, -2.729, 0, 0, 0, 49 [SEP] 36, Spatula, -1.248, 0.957, -3.595, 0, 0, 0, 49 [SEP] 37, Knife, -2.761, 0.920, -0.462, 0, 0, 0, 86 [SEP] 38, SaltShaker, -0.253, 1.934, -1.002, 0, 0, 0, 57 [SEP] 39, PepperShaker, -2.359, 0.890, -0.633, 0, 270, 0, 86 [SEP] 40, ButterKnife, -2.560, 0.894, -0.548, 0, 270, 0, 86 [SEP] 41, Apple, -0.201, 1.636, -2.096, 0, 270, 0, 81 [SEP] 42, DishSponge, -3.364, 0.894, -0.204, 0, 270, 0, 86 [SEP] 43, Potato, -0.394, 0.973, -1.406, 0, 0, 0, 67 [SEP] 44, Egg, -0.157, 0.982, -1.494, 0, 0, 0, 67 [SEP] 45, Spoon, -3.553, 0.761, -3.460, 0, 334.125, 0, 85 [SEP] 46, Lettuce, -4.062, 0.782, -0.369, 0, 0, 0, 84 [SEP] 47, Mug, -0.134, 1.574, -1.884, 0, 0, 0, 81 [SEP] 48, Bowl, -4.182, 0.688, -0.187, 0, 0, 0, 84 [SEP] 49, CounterTop, -1.937, 0.977, -3.673, 0, 0, 0, [SEP] 50, StoveBurner, -0.437, 0.924, -1.845, 0, 180, 0, [SEP] 51, StoveBurner, -0.222, 0.924, -1.845, 0, 180, 0, [SEP] 52, StoveBurner, -0.437, 0.924, -2.243, 0, 0, 0, [SEP] 53, Drawer, -0.500, 0.779, -1.450, 0, 0, 0, [SEP] 54, Drawer, -0.481, 0.777, -2.739, 0, 0, 0, [SEP] 55, Drawer, -1.154, 0.782, -3.499, 0, 0, 0, [SEP] 56, Cabinet, -0.337, 2.110, -0.390, 0, 0, 0, [SEP] 57, Cabinet, -0.337, 2.110, -1.272, 0, 0, 0, [SEP] 58, Cabinet, -0.337, 2.110, -1.631, 0, 0, 0, [SEP] 59, Cabinet, -0.337, 2.110, -2.497, 0, 0, 0, [SEP] 60, Cabinet, -0.337, 1.891, -1.286, 0, 0, 0, [SEP] 61, Cabinet, -0.346, 1.891, -3.293, 0, 0, 0, [SEP] 62, Cabinet, -0.629, 0.388, -2.513, 0, 0, 0, [SEP] 63, Cabinet, -0.633, 0.388, -3.008, 0, 0, 0, [SEP] 64, Cabinet, -1.010, 0.388, -3.368, 0, 0, 0, [SEP] 65, Cabinet, -0.629, 0.388, -1.614, 0, 0, 0, [SEP] 66, Cabinet, -0.327, 1.886, -2.513, 0, 0, 0, [SEP] 67, CounterTop, -0.326, 0.976, -1.450, 0, 0, 0, [SEP] 68, StoveBurner, -0.222, 0.924, -2.243, 0, 0, 0, [SEP] 69, Sink, -0.600, 0.929, -3.388, 0, 0, 0, [SEP] 70, StoveKnob, -0.617, 0.899, -1.833, 315, 90, 180, [SEP] 71, StoveKnob, -0.617, 0.899, -2.129, 315, 90, 180, [SEP] 72, StoveKnob, -0.617, 0.899, -2.289, 315, 90, 180, [SEP] 73, StoveKnob, -0.617, 0.899, -1.975, 315, 90, 180, [SEP] 74, GarbageCan, -2.418, -0.032, -3.541, 0, 0, 0, [SEP] 75, CoffeeMachine, -2.513, 0.930, -3.797, 0, 0, 0, [SEP] 76, Window, -1.389, 1.610, -4.113, 90, 0, 0, [SEP] 77, LightSwitch, -4.372, 1.493, -1.031, 0, 90, 0, [SEP] 78, SinkBasin, -0.614, 0.802, -3.384, 0, 315, 0, [SEP] 79, Fridge, -0.314, 0.0, -0.646, 0, 0, 0, [SEP] 80, Toaster, -1.970, 0.930, -3.763, 0, 0, 0, [SEP] 81, Microwave, -0.216, 1.470, -2.054, 0, 270, 0, [SEP] 82, Blinds, -1.373, 2.205, -3.961, 0, 0, 0, [SEP] 83, Faucet, -0.393, 0.930, -3.614, 270, 225, 0, [SEP] 84, SideTable, -4.030, 0.002, -0.301, 0, 185.034, 0, [SEP] 85, DiningTable, -3.586, 0.000, -3.258, 0, 0, 0, [SEP] 86, DiningTable, -3.224, -0.003, -0.453, 0, 0, 0, [SEP] 87, Shelf, -4.030, 0.259, -0.301, 0, 185.034, 0, [SEP] 88, Shelf, -4.030, 0.489, -0.301, 0, 185.034, 0, [SEP] 89, EastWall, , , , , , , [SEP] 90, EastWall, , , , , , , [SEP] 91, SouthWall, , , , , , , ", "output": ["STEP 1: Walk towards the counter | STEP 2: Pick up potato from plastic bin under the counter | STEP 3: Walk with potato towards small table on the corner | STEP 4: Set potato in the corner table | STEP 5: Walk towards white table | STEP 6: Pick up yellow knife from white table | STEP 7: Walk with yellow knife towards small table in the corner | STEP 8: Slice potato on the small corner table | STEP 9: Walk with knife towards counter next to stove | STEP 10: Slice potato on counter next to stove | STEP 11: Put knife on counter with the | STEP 12: Take a slice of potato from the potato | STEP 13: Walk with the slice of potato towards the small corner table | STEP 14: Set the slice of potato on the corner table | END"]} +{"id": "trial_T20190907_134601_301922-1", "input": "Place the knife in a cup in front of the toaster. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.5, 0.900, -0.5, 0, 180, 0, [SEP] 1, Ladle, 0.408, 0.975, 0.076, 0, 0, 0, 79 [SEP] 2, DishSponge, 1.850, 0.913, -2.085, 0, 0, 0, 62 [SEP] 3, ButterKnife, -0.230, 0.913, -1.725, 0, 0, 0, 62 [SEP] 4, WineBottle, 0.119, 0.914, -1.725, 0, 0, 0, 62 [SEP] 5, WineBottle, 1.985, 1.658, -1.479, 0, 270, 0, 52 [SEP] 6, Egg, 1.466, 0.967, -1.212, 0, 0, 0, 62 [SEP] 7, Egg, -1.219, 1.069, -1.846, 0, 90, 0, 68 [SEP] 8, Cup, -1.572, 1.504, -0.495, 0, 90, 0, 70 [SEP] 9, Plate, -0.210, 0.767, -2.026, 0, 0, 0, 74 [SEP] 10, Knife, 0.294, 0.953, 1.220, 0, 0, 0, 79 [SEP] 11, SoapBottle, 1.557, 0.912, -1.095, 0, 0, 0, 62 [SEP] 12, SoapBottle, -1.316, 1.658, -1.854, 0, 90, 0, 45 [SEP] 13, Bowl, 1.670, 0.549, 2.431, 0, 0, 0, 88 [SEP] 14, SaltShaker, -0.720, 0.909, -2.167, 0, 0, 0, 62 [SEP] 15, SaltShaker, 1.359, 0.549, 2.379, 0, 0, 0, 82 [SEP] 16, PepperShaker, -0.346, 0.909, -1.725, 0, 0, 0, 62 [SEP] 17, PepperShaker, -1.109, 0.909, -2.115, 0, 0, 0, 62 [SEP] 18, Bread, -1.495, 1.228, -0.806, 0, 90, 0, 70 [SEP] 19, Mug, -0.047, 0.925, 0.991, 0, 0, 0, 79 [SEP] 20, Apple, -1.380, 1.254, -0.392, 0, 90, 0, 70 [SEP] 21, Potato, 0.008, 0.793, -2.026, 0, 0, 0, 74 [SEP] 22, Bowl, 0.522, 0.927, 0.534, 0, 0, 0, 79 [SEP] 23, SoapBottle, 1.958, 0.085, 0.083, 0, 0, 0, 63 [SEP] 24, Fork, 0.066, 0.931, 1.448, 0, 0, 0, 79 [SEP] 25, Ladle, 1.403, 1.704, -2.162, 0, 0, 0, 49 [SEP] 26, Bread, 0.180, 0.972, 0.534, 0, 0, 0, 79 [SEP] 27, Lettuce, 0.457, 0.994, -1.918, 0, 0, 0, 62 [SEP] 28, WineBottle, -0.668, 0.914, -2.267, 0, 0, 0, 62 [SEP] 29, Spatula, 0.408, 0.941, 1.448, 0, 0, 0, 79 [SEP] 30, Plate, -0.657, 0.115, -1.873, 0, 0, 0, 55 [SEP] 31, SaltShaker, 0.294, 0.923, 0.305, 0, 0, 0, 79 [SEP] 32, Pot, 1.738, 0.911, -1.329, 0, 0, 0, 62 [SEP] 33, Cup, -1.533, 1.504, -0.392, 0, 90, 0, 70 [SEP] 34, PepperShaker, 1.670, 0.549, 2.586, 0, 0, 0, 88 [SEP] 35, Pan, 1.845, 0.948, -0.757, 0, 0, 0, 59 [SEP] 36, ButterKnife, 0.408, 0.930, 0.991, 0, 0, 0, 79 [SEP] 37, Tomato, 2.009, 0.965, -1.446, 0, 0, 0, 62 [SEP] 38, DishSponge, -0.927, 0.913, -2.224, 0, 0, 0, 62 [SEP] 39, Egg, -1.610, 1.237, -0.495, 0, 90, 0, 70 [SEP] 40, Spoon, 0.522, 0.928, 0.076, 0, 0, 0, 79 [SEP] 41, Knife, -0.356, 0.787, -1.981, 0, 270, 0, 74 [SEP] 42, Mug, 0.444, 1.653, -2.200, 0, 0, 0, 51 [SEP] 43, StoveBurner, 1.845, 0.940, -0.355, 0, 0, 0, [SEP] 44, StoveBurner, 1.567, 0.940, -0.757, 0, 0, 0, [SEP] 45, Cabinet, -1.149, 2.019, -1.979, 0, 90, 0, [SEP] 46, Cabinet, -1.149, 2.265, -0.834, 0, 90, 0, [SEP] 47, Cabinet, -0.459, 2.265, -2.0, 0, 0, 0, [SEP] 48, Cabinet, -1.100, 2.019, -2.0, 0, 0, 0, [SEP] 49, Cabinet, 1.719, 2.019, -2.0, 0, 0, 0, [SEP] 50, Cabinet, 1.179, 2.019, -2.0, 0, 0, 0, [SEP] 51, Cabinet, 0.199, 2.019, -2.0, 0, 0, 0, [SEP] 52, Cabinet, 1.75, 2.019, -1.399, 0, 270, 0, [SEP] 53, Cabinet, 1.75, 2.019, -1.029, 0, 270, 0, [SEP] 54, Cabinet, 1.379, 0.469, -1.689, 0, 0, 0, [SEP] 55, Cabinet, -0.819, 0.469, -1.689, 0, 0, 0, [SEP] 56, Cabinet, 1.389, 0.469, -1.059, 0, 270, 0, [SEP] 57, Cabinet, -0.839, 0.469, -1.665, 0, 90, 0, [SEP] 58, StoveBurner, 1.567, 0.940, -0.355, 0, 0, 0, [SEP] 59, StoveBurner, 1.845, 0.940, -0.757, 0, 0, 0, [SEP] 60, Sink, -0.109, 0.893, -2.009, 0, 0, 0, [SEP] 61, Drawer, -0.819, 0.75, -1.690, 0, 0, 0, [SEP] 62, CounterTop, 0.232, 0.949, -2.002, 0, 0, 0, [SEP] 63, GarbageCan, 1.855, -0.034, 0.141, 0, 358.959, 0, [SEP] 64, Vase, 0.251, 0.546, 0.475, 0, 270, 0, [SEP] 65, Toaster, 0.780, 0.900, -2.080, 0, 0, 0, [SEP] 66, LightSwitch, 0.108, 1.315, 2.75, 0, 180, 0, [SEP] 67, Vase, 0.400, 0.925, 0.218, 0, 180, 0, [SEP] 68, Microwave, -1.233, 0.900, -1.680, 0, 90, 0, [SEP] 69, Vase, 1.465, 1.662, -2.200, 0, 0, 0, [SEP] 70, Fridge, -1.495, 0.0, -0.703, 0, 0, 0, [SEP] 71, Window, 2.114, 1.495, 1.072, 90, 270, 0, [SEP] 72, CoffeeMachine, 1.374, 0.899, -2.112, 0, 0, 0, [SEP] 73, Vase, 0.333, 0.546, 1.272, 0, 270, 0, [SEP] 74, SinkBasin, -0.148, 0.753, -2.026, 0, 0, 0, [SEP] 75, StoveKnob, 2.037, 1.089, -0.405, 0, 0, 74.477, [SEP] 76, StoveKnob, 2.037, 1.089, -0.251, 0, 0, 74.477, [SEP] 77, StoveKnob, 2.037, 1.089, -0.649, 0, 0, 74.477, [SEP] 78, StoveKnob, 2.037, 1.089, -0.814, 0, 0, 74.477, [SEP] 79, DiningTable, 0.170, 0.005, 0.678, 0, 270, 0, [SEP] 80, Shelf, 0.170, 0.155, 0.678, 0, 270, 0, [SEP] 81, Shelf, 1.605, 0.172, 2.480, 0, 0, 0, [SEP] 82, Shelf, 1.605, 0.552, 2.480, 0, 0, 0, [SEP] 83, Shelf, 1.604, 0.880, 2.479, 0, 0, 0, [SEP] 84, ShelvingUnit, 1.605, 0.006, 2.480, 0, 0, 0, [SEP] 85, Faucet, -0.143, 1.028, -2.223, 0, 270, 0, [SEP] 86, Stool, -0.553, 0.000, 0.871, 1.233, 280.376, 0, [SEP] 87, Shelf, 0.170, 0.528, 0.678, 0, 270, 0, [SEP] 88, , , , , , , , [SEP] 89, NorthWall, , , , , , , [SEP] 90, EastWall, , , , , , , [SEP] 91, SouthWall, , , , , , , [SEP] 92, WestWall, , , , , , , ", "output": ["STEP 1: Turn left towards the stove and then turn left towards the middle of the table to your left. | STEP 2: Pick up the knife in front of the white cup. | STEP 3: Turn left, walk towards the dishwasher and look up above the counter to find the cabinets. | STEP 4: Open the right cabinet door and place the knife in the cup inside. | STEP 5: Take the cup out of the cabinet and close the door. | STEP 6: Take a step to the left to face the toaster on the cabinet. | STEP 7: Place the cup in front of the toaster. | END"]} +{"id": "trial_T20190907_134601_301922-3", "input": "Place a mug with the spoon in it on the kitchen counter SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.5, 0.900, -0.5, 0, 180, 0, [SEP] 1, Ladle, 0.408, 0.975, 0.076, 0, 0, 0, 79 [SEP] 2, DishSponge, 1.850, 0.913, -2.085, 0, 0, 0, 62 [SEP] 3, ButterKnife, -0.230, 0.913, -1.725, 0, 0, 0, 62 [SEP] 4, WineBottle, 0.119, 0.914, -1.725, 0, 0, 0, 62 [SEP] 5, WineBottle, 1.985, 1.658, -1.479, 0, 270, 0, 52 [SEP] 6, Egg, 1.466, 0.967, -1.212, 0, 0, 0, 62 [SEP] 7, Egg, -1.219, 1.069, -1.846, 0, 90, 0, 68 [SEP] 8, Cup, -1.572, 1.504, -0.495, 0, 90, 0, 70 [SEP] 9, Plate, -0.210, 0.767, -2.026, 0, 0, 0, 74 [SEP] 10, Knife, 0.294, 0.953, 1.220, 0, 0, 0, 79 [SEP] 11, SoapBottle, 1.557, 0.912, -1.095, 0, 0, 0, 62 [SEP] 12, SoapBottle, -1.316, 1.658, -1.854, 0, 90, 0, 45 [SEP] 13, Bowl, 1.670, 0.549, 2.431, 0, 0, 0, 88 [SEP] 14, SaltShaker, -0.720, 0.909, -2.167, 0, 0, 0, 62 [SEP] 15, SaltShaker, 1.359, 0.549, 2.379, 0, 0, 0, 82 [SEP] 16, PepperShaker, -0.346, 0.909, -1.725, 0, 0, 0, 62 [SEP] 17, PepperShaker, -1.109, 0.909, -2.115, 0, 0, 0, 62 [SEP] 18, Bread, -1.495, 1.228, -0.806, 0, 90, 0, 70 [SEP] 19, Mug, -0.047, 0.925, 0.991, 0, 0, 0, 79 [SEP] 20, Apple, -1.380, 1.254, -0.392, 0, 90, 0, 70 [SEP] 21, Potato, 0.008, 0.793, -2.026, 0, 0, 0, 74 [SEP] 22, Bowl, 0.522, 0.927, 0.534, 0, 0, 0, 79 [SEP] 23, SoapBottle, 1.958, 0.085, 0.083, 0, 0, 0, 63 [SEP] 24, Fork, 0.066, 0.931, 1.448, 0, 0, 0, 79 [SEP] 25, Ladle, 1.403, 1.704, -2.162, 0, 0, 0, 49 [SEP] 26, Bread, 0.180, 0.972, 0.534, 0, 0, 0, 79 [SEP] 27, Lettuce, 0.457, 0.994, -1.918, 0, 0, 0, 62 [SEP] 28, WineBottle, -0.668, 0.914, -2.267, 0, 0, 0, 62 [SEP] 29, Spatula, 0.408, 0.941, 1.448, 0, 0, 0, 79 [SEP] 30, Plate, -0.657, 0.115, -1.873, 0, 0, 0, 55 [SEP] 31, SaltShaker, 0.294, 0.923, 0.305, 0, 0, 0, 79 [SEP] 32, Pot, 1.738, 0.911, -1.329, 0, 0, 0, 62 [SEP] 33, Cup, -1.533, 1.504, -0.392, 0, 90, 0, 70 [SEP] 34, PepperShaker, 1.670, 0.549, 2.586, 0, 0, 0, 88 [SEP] 35, Pan, 1.845, 0.948, -0.757, 0, 0, 0, 59 [SEP] 36, ButterKnife, 0.408, 0.930, 0.991, 0, 0, 0, 79 [SEP] 37, Tomato, 2.009, 0.965, -1.446, 0, 0, 0, 62 [SEP] 38, DishSponge, -0.927, 0.913, -2.224, 0, 0, 0, 62 [SEP] 39, Egg, -1.610, 1.237, -0.495, 0, 90, 0, 70 [SEP] 40, Spoon, 0.522, 0.928, 0.076, 0, 0, 0, 79 [SEP] 41, Knife, -0.356, 0.787, -1.981, 0, 270, 0, 74 [SEP] 42, Mug, 0.444, 1.653, -2.200, 0, 0, 0, 51 [SEP] 43, StoveBurner, 1.845, 0.940, -0.355, 0, 0, 0, [SEP] 44, StoveBurner, 1.567, 0.940, -0.757, 0, 0, 0, [SEP] 45, Cabinet, -1.149, 2.019, -1.979, 0, 90, 0, [SEP] 46, Cabinet, -1.149, 2.265, -0.834, 0, 90, 0, [SEP] 47, Cabinet, -0.459, 2.265, -2.0, 0, 0, 0, [SEP] 48, Cabinet, -1.100, 2.019, -2.0, 0, 0, 0, [SEP] 49, Cabinet, 1.719, 2.019, -2.0, 0, 0, 0, [SEP] 50, Cabinet, 1.179, 2.019, -2.0, 0, 0, 0, [SEP] 51, Cabinet, 0.199, 2.019, -2.0, 0, 0, 0, [SEP] 52, Cabinet, 1.75, 2.019, -1.399, 0, 270, 0, [SEP] 53, Cabinet, 1.75, 2.019, -1.029, 0, 270, 0, [SEP] 54, Cabinet, 1.379, 0.469, -1.689, 0, 0, 0, [SEP] 55, Cabinet, -0.819, 0.469, -1.689, 0, 0, 0, [SEP] 56, Cabinet, 1.389, 0.469, -1.059, 0, 270, 0, [SEP] 57, Cabinet, -0.839, 0.469, -1.665, 0, 90, 0, [SEP] 58, StoveBurner, 1.567, 0.940, -0.355, 0, 0, 0, [SEP] 59, StoveBurner, 1.845, 0.940, -0.757, 0, 0, 0, [SEP] 60, Sink, -0.109, 0.893, -2.009, 0, 0, 0, [SEP] 61, Drawer, -0.819, 0.75, -1.690, 0, 0, 0, [SEP] 62, CounterTop, 0.232, 0.949, -2.002, 0, 0, 0, [SEP] 63, GarbageCan, 1.855, -0.034, 0.141, 0, 358.959, 0, [SEP] 64, Vase, 0.251, 0.546, 0.475, 0, 270, 0, [SEP] 65, Toaster, 0.780, 0.900, -2.080, 0, 0, 0, [SEP] 66, LightSwitch, 0.108, 1.315, 2.75, 0, 180, 0, [SEP] 67, Vase, 0.400, 0.925, 0.218, 0, 180, 0, [SEP] 68, Microwave, -1.233, 0.900, -1.680, 0, 90, 0, [SEP] 69, Vase, 1.465, 1.662, -2.200, 0, 0, 0, [SEP] 70, Fridge, -1.495, 0.0, -0.703, 0, 0, 0, [SEP] 71, Window, 2.114, 1.495, 1.072, 90, 270, 0, [SEP] 72, CoffeeMachine, 1.374, 0.899, -2.112, 0, 0, 0, [SEP] 73, Vase, 0.333, 0.546, 1.272, 0, 270, 0, [SEP] 74, SinkBasin, -0.148, 0.753, -2.026, 0, 0, 0, [SEP] 75, StoveKnob, 2.037, 1.089, -0.405, 0, 0, 74.477, [SEP] 76, StoveKnob, 2.037, 1.089, -0.251, 0, 0, 74.477, [SEP] 77, StoveKnob, 2.037, 1.089, -0.649, 0, 0, 74.477, [SEP] 78, StoveKnob, 2.037, 1.089, -0.814, 0, 0, 74.477, [SEP] 79, DiningTable, 0.170, 0.005, 0.678, 0, 270, 0, [SEP] 80, Shelf, 0.170, 0.155, 0.678, 0, 270, 0, [SEP] 81, Shelf, 1.605, 0.172, 2.480, 0, 0, 0, [SEP] 82, Shelf, 1.605, 0.552, 2.480, 0, 0, 0, [SEP] 83, Shelf, 1.604, 0.880, 2.479, 0, 0, 0, [SEP] 84, ShelvingUnit, 1.605, 0.006, 2.480, 0, 0, 0, [SEP] 85, Faucet, -0.143, 1.028, -2.223, 0, 270, 0, [SEP] 86, Stool, -0.553, 0.000, 0.871, 1.233, 280.376, 0, [SEP] 87, Shelf, 0.170, 0.528, 0.678, 0, 270, 0, [SEP] 88, , , , , , , , [SEP] 89, NorthWall, , , , , , , [SEP] 90, EastWall, , , , , , , [SEP] 91, SouthWall, , , , , , , [SEP] 92, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and then turn to your left to face the table | STEP 2: Pick up a knife off of the table | STEP 3: Turn to your left until you are facing the right cabinet | STEP 4: Open the cabinet and put the knife in a mug | STEP 5: Pick up the mug with the knife in and close the cabinet | STEP 6: Move to your left so you are now facing the toaster | STEP 7: Place the mug with the spoon in it on the kitchen counter | END"]} +{"id": "trial_T20190909_153604_287800-2", "input": "Put a cold tomato in a garbage can. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.75, 0.900, 0.75, 0, 270, 0, [SEP] 1, Statue, 2.694, 0.559, 0.090, 0, 90, 0, 88 [SEP] 2, Statue, 1.194, 0.918, -1.844, 0, 0, 0, 82 [SEP] 3, Potato, -0.822, 1.161, 0.529, 0, 0, 0, 78 [SEP] 4, Potato, 1.845, 0.093, 0.109, 0, 0, 0, 85 [SEP] 5, Ladle, -0.997, 0.950, -0.048, 0, 0, 0, 75 [SEP] 6, Ladle, 0.969, 0.948, -2.014, 0, 180, 0, 82 [SEP] 7, DishSponge, -1.063, 0.913, 0.294, 0, 0, 0, 75 [SEP] 8, DishSponge, 1.469, 1.653, -2.164, 0, 90, 0, 55 [SEP] 9, ButterKnife, 0.969, 0.911, -1.760, 0, 0, 0, 82 [SEP] 10, ButterKnife, -1.080, 0.913, -0.231, 0, 0, 0, 75 [SEP] 11, Kettle, -1.056, 0.956, -0.672, 0, 180, 0, 54 [SEP] 12, Pot, -1.289, 0.957, -0.756, 0, 180, 0, 57 [SEP] 13, Fork, -0.205, 0.914, 0.188, 0, 0, 0, 75 [SEP] 14, Plate, 1.688, 0.115, -1.266, 0, 0, 0, 56 [SEP] 15, SoapBottle, 1.113, 1.658, -2.126, 0, 0, 0, 61 [SEP] 16, Tomato, 1.963, 0.112, 0.166, 0, 0, 0, 85 [SEP] 17, Bowl, 1.945, 1.424, -0.458, 0, 270, 0, 89 [SEP] 18, Lettuce, 2.000, 0.893, -0.551, 0, 270, 0, 89 [SEP] 19, Lettuce, -0.420, 0.990, 0.241, 0, 0, 0, 75 [SEP] 20, Mug, -0.375, 1.126, 0.573, 0, 180, 0, 78 [SEP] 21, Mug, 2.900, 0.874, 0.087, 0, 180, 0, 86 [SEP] 22, Apple, -1.413, 0.962, -0.231, 0, 0, 0, 75 [SEP] 23, Apple, 1.878, 1.064, -1.192, 0, 270, 0, 87 [SEP] 24, Pan, -1.056, 0.956, -1.127, 0, 0, 0, 79 [SEP] 25, Knife, 1.644, 0.934, -2.183, 0, 90, 0, 82 [SEP] 26, Bowl, -0.612, 0.109, 0.132, 0, 180, 0, 77 [SEP] 27, Fork, -0.290, 0.763, -1.952, 0, 0, 0, 92 [SEP] 28, Cup, 0.101, 0.750, -1.938, 0, 0, 0, 92 [SEP] 29, Ladle, -0.634, 0.950, 0.241, 0, 0, 0, 75 [SEP] 30, Apple, -1.322, 0.959, -1.806, 0, 0, 0, 82 [SEP] 31, Kettle, -1.047, 0.953, -2.094, 0, 0, 0, 82 [SEP] 32, Vase, 0.888, 1.660, -2.200, 0, 0, 0, 61 [SEP] 33, Potato, 1.910, 1.045, -1.297, 0, 270, 0, 87 [SEP] 34, Pot, -1.289, 0.957, -1.02, 0, 0, 0, 72 [SEP] 35, Bread, 0.071, 1.213, 0.573, 0, 0, 0, 78 [SEP] 36, Plate, -0.598, 1.129, 0.573, 0, 0, 0, 78 [SEP] 37, Spatula, -0.897, 0.926, -1.845, 0, 180, 0, 82 [SEP] 38, PaperTowelRoll, -0.152, 1.235, 0.441, 0, 0, 0, 78 [SEP] 39, Vase, -1.247, 0.919, -0.353, 0, 0, 0, 75 [SEP] 40, Egg, 1.836, 0.850, -0.458, 0, 270, 0, 89 [SEP] 41, SoapBottle, -0.152, 1.131, 0.618, 0, 0, 0, 78 [SEP] 42, SaltShaker, -0.910, 0.907, -1.891, 0, 0, 0, 82 [SEP] 43, Lettuce, 1.945, 1.504, -0.644, 0, 270, 0, 89 [SEP] 44, PepperShaker, -0.634, 0.909, 0.135, 0, 0, 0, 75 [SEP] 45, ButterKnife, -0.565, 0.911, -1.702, 0, 0, 0, 82 [SEP] 46, DishSponge, -0.611, 0.691, 0.102, 0, 180, 0, 76 [SEP] 47, Vase, 2.593, 0.877, 0.141, 0, 180, 0, 86 [SEP] 48, Spoon, -0.657, 0.693, -1.935, 0, 0, 0, 52 [SEP] 49, Tomato, -0.031, 0.812, -1.952, 0, 0, 0, 92 [SEP] 50, Mug, -1.239, 1.657, 0.094, 0, 0, 0, 66 [SEP] 51, Statue, -0.849, 0.920, 0.241, 0, 270, 0, 75 [SEP] 52, Drawer, -0.819, 0.75, -1.690, 0, 0, 0, [SEP] 53, Cabinet, -1.149, 2.264, -0.838, 0, 90, 0, [SEP] 54, StoveBurner, -1.056, 0.949, -0.671, 0, 180, 0, [SEP] 55, Cabinet, 1.738, 2.019, -2.000, 0, 0, 0, [SEP] 56, Cabinet, 1.389, 0.469, -1.059, 0, 0, 0, [SEP] 57, StoveBurner, -1.289, 0.949, -0.755, 0, 180, 0, [SEP] 58, Faucet, -0.157, 1.052, -2.196, 0, 270, 0, [SEP] 59, Cabinet, 1.75, 2.019, -1.029, 0, 0, 0, [SEP] 60, Cabinet, 1.75, 2.019, -1.399, 0, 0, 0, [SEP] 61, Cabinet, 1.179, 2.019, -2.0, 0, 0, 0, [SEP] 62, Cabinet, 0.199, 2.019, -2.0, 0, 0, 0, [SEP] 63, Cabinet, -1.100, 2.019, -2.0, 0, 0, 0, [SEP] 64, Cabinet, -1.149, 2.019, -1.979, 0, 0, 0, [SEP] 65, Cabinet, -1.149, 2.019, -0.770, 0, 0, 0, [SEP] 66, Cabinet, -1.149, 2.019, 0.380, 0, 0, 0, [SEP] 67, Cabinet, -0.819, 0.469, -1.689, 0, 0, 0, [SEP] 68, Cabinet, -0.839, 0.469, -1.664, 0, 0, 0, [SEP] 69, Cabinet, -0.839, 0.469, -0.049, 0, 0, 0, [SEP] 70, Cabinet, -0.414, 0.370, -0.009, 0, 0, 0, [SEP] 71, Sink, -0.118, 0.875, -2.009, 0, 0, 0, [SEP] 72, StoveBurner, -1.289, 0.949, -1.019, 0, 0, 0, [SEP] 73, Cabinet, 0.119, 2.264, -2.0, 0, 0, 0, [SEP] 74, Cabinet, -0.459, 2.264, -2.0, 0, 0, 0, [SEP] 75, CounterTop, -0.665, 0.949, 0.188, 0, 0, 0, [SEP] 76, Drawer, -0.449, 0.75, -0.010, 0, 180, 0, [SEP] 77, Cabinet, -0.450, 0.469, -0.009, 0, 0, 0, [SEP] 78, CounterTop, -0.630, 1.167, 0.573, 0, 0, 0, [SEP] 79, StoveBurner, -1.056, 0.949, -1.126, 0, 0, 0, [SEP] 80, Cabinet, 1.376, 0.460, -1.685, 0, 0, 0, [SEP] 81, Drawer, -0.070, 0.75, -0.009, 0, 180, 0, [SEP] 82, CounterTop, 1.159, 0.946, -2.013, 0, 0, 0, [SEP] 83, Cabinet, -1.150, 2.264, -1.418, 0, 90, 0, [SEP] 84, HousePlant, -1.246, 1.108, 0.606, 0, 0, 0, [SEP] 85, GarbageCan, 1.923, -0.010, 0.137, 0, 0, 0, [SEP] 86, Shelf, 2.759, 0.880, 0.144, 0, 0, 0, [SEP] 87, Microwave, 1.827, 0.900, -1.354, 0, 270, 0, [SEP] 88, Shelf, 2.759, 0.552, 0.145, 0, 0, 0, [SEP] 89, Fridge, 1.975, 0.0, -0.537, 0, 0, 0, [SEP] 90, LightSwitch, 0.404, 1.297, 2.0, 0, 180, 0, [SEP] 91, Shelf, 2.760, 0.172, 0.145, 0, 0, 0, [SEP] 92, SinkBasin, -0.129, 0.752, -2.007, 0, 0, 0, [SEP] 93, StoveKnob, -0.873, 0.903, -0.827, 45, 90, 0, [SEP] 94, StoveKnob, -0.873, 0.903, -0.676, 45, 90, 0, [SEP] 95, StoveKnob, -0.873, 0.903, -0.966, 45, 90, 0, [SEP] 96, StoveKnob, -0.873, 0.903, -1.123, 45, 90, 0, [SEP] 97, Toaster, 0.840, 0.900, -2.057, 0, 0, 0, [SEP] 98, CoffeeMachine, 0.501, 0.900, -2.125, 0, 0, 0, [SEP] 99, ShelvingUnit, 2.760, 0.006, 0.144, 0, 0, 0, [SEP] 100, Stool, -0.826, 0.010, 0.908, 0, 347.513, 0, [SEP] 101, Stool, -0.132, 0.010, 0.883, 0, 71.555, 0, [SEP] 102, NorthWall, , , , , , , [SEP] 103, EastWall, , , , , , , [SEP] 104, SouthWall, , , , , , , [SEP] 105, WestWall, , , , , , , ", "output": ["STEP 1: Go forward, turn around to the blue garbage can next to the fridge. | STEP 2: Pick up the tomato that is in the garbage can. | STEP 3: Turn around, go to the left to the fridge. | STEP 4: Put the tomato in the fridge and close the door, remove it once it is cold. | STEP 5: Turn to the left, go to the garbage can to the left of the fridge. | STEP 6: Put the tomato in the garbage can. | END"]} +{"id": "trial_T20190909_085207_886285-2", "input": "Hold a book and turn on the lamp. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.900, -0.75, 0, 270, 0, [SEP] 1, Bowl, -1.259, 0.794, -1.696, 0, 0, 0, 43 [SEP] 2, Bowl, -1.283, 1.824, -1.519, 0, 0, 0, 30 [SEP] 3, Pencil, -1.283, 1.462, -1.431, 0, 0, 0, 27 [SEP] 4, Pencil, 0.227, 0.684, 1.303, 0, 0, 0, 35 [SEP] 5, Book, 1.532, 0.578, -0.649, 0, 0, 0, 44 [SEP] 6, Book, 1.387, 0.578, -0.166, 0, 0, 0, 44 [SEP] 7, Laptop, 0.953, 0.574, -0.649, 0, 0, 0, 44 [SEP] 8, Laptop, 0.953, 0.574, -0.166, 0, 0, 0, 22 [SEP] 9, Book, -0.66, 0.783, -1.69, 0, 312.959, 0, 43 [SEP] 10, Pencil, -1.283, 1.826, -1.168, 0, 0, 0, 30 [SEP] 11, Laptop, -1.005, 0.780, -1.477, 0, 31.363, 0, 43 [SEP] 12, Pen, -1.265, 0.798, -1.243, 0, 0, 0, 43 [SEP] 13, TennisRacket, -1.226, 0.301, -0.069, 15.000, 180, 180, [SEP] 14, TeddyBear, 1.629, 0.557, -1.064, 0, 118.287, 0, 44 [SEP] 15, Pillow, 1.215, 0.641, -1.663, 0, 0, 0, 22 [SEP] 16, CellPhone, 1.693, 0.041, 0.541, 0, 0, 0, 39 [SEP] 17, KeyChain, -0.856, 0.837, -2.038, 0, 0, 0, 26 [SEP] 18, AlarmClock, -0.585, 0.838, -2.107, 0, 0, 0, 26 [SEP] 19, CreditCard, -1.052, 0.793, -1.028, 0, 0, 0, 43 [SEP] 20, CD, -1.309, 1.822, -0.339, 0, 0, 0, 29 [SEP] 21, Bowl, -1.194, 0.794, -0.385, 0, 0, 0, 43 [SEP] 22, Bed, 1.242, -0.001, -0.881, 0, 180, 0, [SEP] 23, LightSwitch, 0.010, 1.315, 1.499, 0, 180, 0, [SEP] 24, GarbageCan, 0.840, 0.007, 1.337, 0, 180, 2.168, [SEP] 25, HousePlant, -0.083, 0.828, -2.045, 0, 0, 0, [SEP] 26, Shelf, -0.469, 0.828, -2.038, 0, 0, 0, [SEP] 27, Shelf, -1.286, 1.451, -1.343, 0, 0, 0, [SEP] 28, Shelf, -1.286, 1.451, -0.602, 0, 0, 0, [SEP] 29, Shelf, -1.286, 1.814, -0.602, 0, 0, 0, [SEP] 30, Shelf, -1.286, 1.814, -1.343, 0, 0, 0, [SEP] 31, Painting, 1.111, 1.628, -1.865, 90, 0, 0, [SEP] 32, DeskLamp, 0.473, 0.669, 1.350, 0, 0, 0, [SEP] 33, Mirror, -1.383, 1.565, 0.512, 0, 270, 0, [SEP] 34, Window, -0.472, 1.396, -2.252, 90, 0, 0, [SEP] 35, SideTable, 0.304, -0.001, 1.225, 0, 180, 0, [SEP] 36, Drawer, 0.304, 0.165, 1.159, 0, 180, 0, [SEP] 37, Drawer, 0.304, 0.457, 1.159, 0, 180, 0, [SEP] 38, Blinds, -0.453, 2.156, -2.242, 0, 0, 0, [SEP] 39, Safe, 1.623, 5.960, 0.448, 0, 270, 0, [SEP] 40, Chair, -0.683, 0.000, -1.326, 0, 217.223, 0, [SEP] 41, Drawer, 0.416, 0.532, -1.553, 0, 0, 0, [SEP] 42, SideTable, 0.413, 0.000, -1.684, 0, 0, 0, [SEP] 43, Desk, -0.788, 0.000, -1.032, 0, 90, 0, [SEP] 44, , , , , , , , [SEP] 45, NorthWall, , , , , , , [SEP] 46, EastWall, , , , , , , [SEP] 47, SouthWall, , , , , , , [SEP] 48, WestWall, , , , , , , ", "output": ["STEP 1: Turn to the right and then right again. Face the bed on the right side. | STEP 2: Pick up the book from the left front side of the bed. | STEP 3: Hold the book and turn around to the small table. | STEP 4: Hold the book and turn on the lamp. | END"]} +{"id": "trial_T20190909_033656_757924-0", "input": "Put a cup with water in it in the microwave. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.900, -0.75, 0, 0, 0, [SEP] 1, Potato, -2.393, 1.336, -0.790, 0, 90, 0, 76 [SEP] 2, Potato, -2.669, 0.214, -0.791, 0, 90, 0, 76 [SEP] 3, ButterKnife, -2.455, 0.910, 1.230, 0, 0, 0, 72 [SEP] 4, ButterKnife, -0.081, 0.910, 0.647, 0, 0, 0, 44 [SEP] 5, Kettle, 1.691, 0.929, 0.064, 0, 0, 0, 55 [SEP] 6, Fork, -0.081, 0.911, 0.423, 0, 0, 0, 44 [SEP] 7, Fork, -0.471, 0.911, 0.647, 0, 0, 0, 44 [SEP] 8, Spatula, -0.081, 0.925, 1.317, 0, 270, 0, 44 [SEP] 9, Spatula, 0.919, 0.925, -1.632, 0, 45, 0, 54 [SEP] 10, Egg, -2.559, 0.625, -0.872, 0, 90, 0, 76 [SEP] 11, Cup, 1.426, 0.908, 0.435, 0, 0, 0, 53 [SEP] 12, Cup, -2.635, 1.013, 2.481, 0, 90, 0, 84 [SEP] 13, Knife, 1.645, 0.936, -0.794, 0, 45, 0, 54 [SEP] 14, Knife, -0.471, 0.936, 1.540, 0, 0, 0, 44 [SEP] 15, Tomato, 1.646, 0.227, 0.651, 0, 0, 0, 83 [SEP] 16, Tomato, 0.683, 0.953, -1.369, 0, 0, 0, 54 [SEP] 17, SoapBottle, -2.289, 0.912, 1.530, 0, 0, 0, 72 [SEP] 18, SoapBottle, -2.621, 0.912, 0.631, 0, 0, 0, 72 [SEP] 19, Bowl, -2.564, 1.534, 1.483, 0, 0, 0, 57 [SEP] 20, Lettuce, -0.341, 0.994, 1.540, 0, 0, 0, 44 [SEP] 21, Pan, 1.411, 0.929, 0.064, 0, 0, 0, 73 [SEP] 22, Knife, 1.598, 0.936, 0.494, 0, 0, 0, 53 [SEP] 23, Apple, -2.439, 1.150, -1.074, 0, 90, 0, 76 [SEP] 24, Bowl, -2.310, 0.111, -0.023, 0, 0, 0, 60 [SEP] 25, Fork, -2.379, 0.774, 1.322, 0, 90, 0, 75 [SEP] 26, Bread, -2.289, 0.996, 0.331, 0, 0, 0, 72 [SEP] 27, Plate, 1.734, 1.659, 0.239, 0, 0, 0, 63 [SEP] 28, Egg, 1.729, 0.215, 0.623, 0, 0, 0, 83 [SEP] 29, Kettle, -0.341, 0.911, 1.094, 0, 0, 0, 44 [SEP] 30, Potato, -2.559, 0.631, -1.051, 0, 90, 0, 76 [SEP] 31, SaltShaker, 1.662, 1.658, -0.694, 0, 0, 0, 64 [SEP] 32, Lettuce, -0.081, 0.994, 1.540, 0, 0, 0, 44 [SEP] 33, Cup, -2.572, 1.931, -1.150, 0, 0, 0, 65 [SEP] 34, SoapBottle, 1.855, 0.913, 0.406, 0, 0, 0, 53 [SEP] 35, Spatula, -2.704, 0.925, 0.031, 0, 90, 0, 72 [SEP] 36, PaperTowelRoll, 0.999, 1.015, -1.758, 0, 45, 0, 54 [SEP] 37, ButterKnife, -2.289, 0.910, 0.931, 0, 0, 0, 72 [SEP] 38, PepperShaker, -2.384, 0.109, 0.541, 0, 0, 0, 69 [SEP] 39, DishSponge, -0.211, 0.910, 1.317, 0, 0, 0, 44 [SEP] 40, Pot, -2.311, 0.105, 0.895, 0, 270, 0, 70 [SEP] 41, Spoon, -2.318, 0.775, 0.809, 0, 90, 0, 49 [SEP] 42, Tomato, -2.485, 1.342, -0.885, 0, 90, 0, 76 [SEP] 43, Mug, -2.349, 0.109, 1.475, 0, 0, 0, 50 [SEP] 44, CounterTop, -0.360, 0.946, 1.093, 0, 0, 0, [SEP] 45, StoveBurner, 1.412, 0.923, -0.335, 0, 0, 0, [SEP] 46, StoveKnob, 1.878, 1.093, 0.018, 287.989, 90, 0, [SEP] 47, StoveKnob, 1.878, 1.093, -0.306, 287.989, 90, 0, [SEP] 48, Cabinet, -2.446, 1.948, 2.924, 0, 0, 0, [SEP] 49, Drawer, -2.276, 0.792, 0.902, 0, 0, 0, [SEP] 50, Cabinet, -2.145, 0.402, 1.578, 0, 0, 0, [SEP] 51, Cabinet, 0.149, 2.008, -1.603, 0, 90, 0, [SEP] 52, StoveBurner, 1.691, 0.923, -0.335, 0, 0, 0, [SEP] 53, CounterTop, 1.585, 0.946, 0.405, 0, 0, 0, [SEP] 54, CounterTop, 0.474, 0.946, -1.625, 0, 0, 0, [SEP] 55, StoveBurner, 1.691, 0.923, 0.064, 0, 0, 0, [SEP] 56, Cabinet, -2.446, 1.948, 1.687, 0, 0, 0, [SEP] 57, Cabinet, -2.446, 1.948, 1.640, 0, 0, 0, [SEP] 58, Sink, 1.381, 0.810, -1.271, 0, 225, 0, [SEP] 59, StoveKnob, 1.878, 1.093, 0.150, 287.989, 90, 0, [SEP] 60, Cabinet, -2.145, 0.402, -0.236, 0, 0, 0, [SEP] 61, Drawer, -2.276, 0.792, 0.437, 0, 0, 0, [SEP] 62, Drawer, -2.276, 0.792, -0.027, 0, 0, 0, [SEP] 63, Cabinet, 1.572, 2.008, 0.474, 0, 0, 0, [SEP] 64, Cabinet, 1.572, 2.008, -0.775, 0, 0, 0, [SEP] 65, Cabinet, -2.445, 2.148, -1.275, 0, 0, 0, [SEP] 66, Cabinet, -2.446, 2.148, -0.284, 0, 0, 0, [SEP] 67, Cabinet, -2.446, 1.948, 0.355, 0, 0, 0, [SEP] 68, Cabinet, -2.446, 1.948, 0.405, 0, 0, 0, [SEP] 69, Cabinet, -2.145, 0.402, 0.644, 0, 0, 0, [SEP] 70, Cabinet, -2.145, 0.402, 0.695, 0, 0, 0, [SEP] 71, Cabinet, -2.285, 1.968, -1.325, 0, 180, 0, [SEP] 72, CounterTop, -1.485, 0.946, 1.319, 0, 0, 0, [SEP] 73, StoveBurner, 1.411, 0.923, 0.064, 0, 0, 0, [SEP] 74, StoveKnob, 1.878, 1.093, -0.441, 287.989, 90, 0, [SEP] 75, Drawer, -2.276, 0.792, 1.368, 0, 0, 0, [SEP] 76, Fridge, -2.475, 0.0, -0.782, 0, 90, 0, [SEP] 77, LightSwitch, -0.929, 1.350, -1.950, 0, 0, 0, [SEP] 78, Toaster, -2.564, 0.900, 1.876, 0, 90, 0, [SEP] 79, CoffeeMachine, 0.464, 0.900, -1.810, 0, 0, 0, [SEP] 80, Window, 1.508, 1.534, -1.496, 90, 135, 0, [SEP] 81, Window, 1.973, 1.521, 1.121, 90, 90, 0, [SEP] 82, SinkBasin, 1.149, 0.753, -1.380, 0, 225, 0, [SEP] 83, GarbageCan, 1.646, -0.000, 0.679, 0, 0, 0, [SEP] 84, Microwave, -2.580, 0.900, 2.440, 0, 90, 0, [SEP] 85, Stool, 0.439, 0.010, 0.747, 0, 0, 0, [SEP] 86, Stool, -2.303, 0.010, 1.839, 0, 0, 0, [SEP] 87, Faucet, 1.235, 1.138, -1.473, 0, 225, 0, [SEP] 88, NorthWall, , , , , , , [SEP] 89, EastWall, , , , , , , [SEP] 90, SouthWall, , , , , , , [SEP] 91, WestWall, , , , , , , ", "output": ["STEP 1: Move forward toward the kitchen island, then turn right and go toward the stove, then go to the counter to the left of the stove. | STEP 2: Pick up the cup from the counter. | STEP 3: Turn around and move forward, then turn left to go to the sink. | STEP 4: Fill the cup with water in the sink. | STEP 5: Turn around and go forward to the wall, then turn left and go straight to the microwave. | STEP 6: Put the cup in the microwave. | END"]} +{"id": "trial_T20190909_033656_757924-1", "input": "To fill a mug with water and put it in the microwave. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.900, -0.75, 0, 0, 0, [SEP] 1, Potato, -2.393, 1.336, -0.790, 0, 90, 0, 76 [SEP] 2, Potato, -2.669, 0.214, -0.791, 0, 90, 0, 76 [SEP] 3, ButterKnife, -2.455, 0.910, 1.230, 0, 0, 0, 72 [SEP] 4, ButterKnife, -0.081, 0.910, 0.647, 0, 0, 0, 44 [SEP] 5, Kettle, 1.691, 0.929, 0.064, 0, 0, 0, 55 [SEP] 6, Fork, -0.081, 0.911, 0.423, 0, 0, 0, 44 [SEP] 7, Fork, -0.471, 0.911, 0.647, 0, 0, 0, 44 [SEP] 8, Spatula, -0.081, 0.925, 1.317, 0, 270, 0, 44 [SEP] 9, Spatula, 0.919, 0.925, -1.632, 0, 45, 0, 54 [SEP] 10, Egg, -2.559, 0.625, -0.872, 0, 90, 0, 76 [SEP] 11, Cup, 1.426, 0.908, 0.435, 0, 0, 0, 53 [SEP] 12, Cup, -2.635, 1.013, 2.481, 0, 90, 0, 84 [SEP] 13, Knife, 1.645, 0.936, -0.794, 0, 45, 0, 54 [SEP] 14, Knife, -0.471, 0.936, 1.540, 0, 0, 0, 44 [SEP] 15, Tomato, 1.646, 0.227, 0.651, 0, 0, 0, 83 [SEP] 16, Tomato, 0.683, 0.953, -1.369, 0, 0, 0, 54 [SEP] 17, SoapBottle, -2.289, 0.912, 1.530, 0, 0, 0, 72 [SEP] 18, SoapBottle, -2.621, 0.912, 0.631, 0, 0, 0, 72 [SEP] 19, Bowl, -2.564, 1.534, 1.483, 0, 0, 0, 57 [SEP] 20, Lettuce, -0.341, 0.994, 1.540, 0, 0, 0, 44 [SEP] 21, Pan, 1.411, 0.929, 0.064, 0, 0, 0, 73 [SEP] 22, Knife, 1.598, 0.936, 0.494, 0, 0, 0, 53 [SEP] 23, Apple, -2.439, 1.150, -1.074, 0, 90, 0, 76 [SEP] 24, Bowl, -2.310, 0.111, -0.023, 0, 0, 0, 60 [SEP] 25, Fork, -2.379, 0.774, 1.322, 0, 90, 0, 75 [SEP] 26, Bread, -2.289, 0.996, 0.331, 0, 0, 0, 72 [SEP] 27, Plate, 1.734, 1.659, 0.239, 0, 0, 0, 63 [SEP] 28, Egg, 1.729, 0.215, 0.623, 0, 0, 0, 83 [SEP] 29, Kettle, -0.341, 0.911, 1.094, 0, 0, 0, 44 [SEP] 30, Potato, -2.559, 0.631, -1.051, 0, 90, 0, 76 [SEP] 31, SaltShaker, 1.662, 1.658, -0.694, 0, 0, 0, 64 [SEP] 32, Lettuce, -0.081, 0.994, 1.540, 0, 0, 0, 44 [SEP] 33, Cup, -2.572, 1.931, -1.150, 0, 0, 0, 65 [SEP] 34, SoapBottle, 1.855, 0.913, 0.406, 0, 0, 0, 53 [SEP] 35, Spatula, -2.704, 0.925, 0.031, 0, 90, 0, 72 [SEP] 36, PaperTowelRoll, 0.999, 1.015, -1.758, 0, 45, 0, 54 [SEP] 37, ButterKnife, -2.289, 0.910, 0.931, 0, 0, 0, 72 [SEP] 38, PepperShaker, -2.384, 0.109, 0.541, 0, 0, 0, 69 [SEP] 39, DishSponge, -0.211, 0.910, 1.317, 0, 0, 0, 44 [SEP] 40, Pot, -2.311, 0.105, 0.895, 0, 270, 0, 70 [SEP] 41, Spoon, -2.318, 0.775, 0.809, 0, 90, 0, 49 [SEP] 42, Tomato, -2.485, 1.342, -0.885, 0, 90, 0, 76 [SEP] 43, Mug, -2.349, 0.109, 1.475, 0, 0, 0, 50 [SEP] 44, CounterTop, -0.360, 0.946, 1.093, 0, 0, 0, [SEP] 45, StoveBurner, 1.412, 0.923, -0.335, 0, 0, 0, [SEP] 46, StoveKnob, 1.878, 1.093, 0.018, 287.989, 90, 0, [SEP] 47, StoveKnob, 1.878, 1.093, -0.306, 287.989, 90, 0, [SEP] 48, Cabinet, -2.446, 1.948, 2.924, 0, 0, 0, [SEP] 49, Drawer, -2.276, 0.792, 0.902, 0, 0, 0, [SEP] 50, Cabinet, -2.145, 0.402, 1.578, 0, 0, 0, [SEP] 51, Cabinet, 0.149, 2.008, -1.603, 0, 90, 0, [SEP] 52, StoveBurner, 1.691, 0.923, -0.335, 0, 0, 0, [SEP] 53, CounterTop, 1.585, 0.946, 0.405, 0, 0, 0, [SEP] 54, CounterTop, 0.474, 0.946, -1.625, 0, 0, 0, [SEP] 55, StoveBurner, 1.691, 0.923, 0.064, 0, 0, 0, [SEP] 56, Cabinet, -2.446, 1.948, 1.687, 0, 0, 0, [SEP] 57, Cabinet, -2.446, 1.948, 1.640, 0, 0, 0, [SEP] 58, Sink, 1.381, 0.810, -1.271, 0, 225, 0, [SEP] 59, StoveKnob, 1.878, 1.093, 0.150, 287.989, 90, 0, [SEP] 60, Cabinet, -2.145, 0.402, -0.236, 0, 0, 0, [SEP] 61, Drawer, -2.276, 0.792, 0.437, 0, 0, 0, [SEP] 62, Drawer, -2.276, 0.792, -0.027, 0, 0, 0, [SEP] 63, Cabinet, 1.572, 2.008, 0.474, 0, 0, 0, [SEP] 64, Cabinet, 1.572, 2.008, -0.775, 0, 0, 0, [SEP] 65, Cabinet, -2.445, 2.148, -1.275, 0, 0, 0, [SEP] 66, Cabinet, -2.446, 2.148, -0.284, 0, 0, 0, [SEP] 67, Cabinet, -2.446, 1.948, 0.355, 0, 0, 0, [SEP] 68, Cabinet, -2.446, 1.948, 0.405, 0, 0, 0, [SEP] 69, Cabinet, -2.145, 0.402, 0.644, 0, 0, 0, [SEP] 70, Cabinet, -2.145, 0.402, 0.695, 0, 0, 0, [SEP] 71, Cabinet, -2.285, 1.968, -1.325, 0, 180, 0, [SEP] 72, CounterTop, -1.485, 0.946, 1.319, 0, 0, 0, [SEP] 73, StoveBurner, 1.411, 0.923, 0.064, 0, 0, 0, [SEP] 74, StoveKnob, 1.878, 1.093, -0.441, 287.989, 90, 0, [SEP] 75, Drawer, -2.276, 0.792, 1.368, 0, 0, 0, [SEP] 76, Fridge, -2.475, 0.0, -0.782, 0, 90, 0, [SEP] 77, LightSwitch, -0.929, 1.350, -1.950, 0, 0, 0, [SEP] 78, Toaster, -2.564, 0.900, 1.876, 0, 90, 0, [SEP] 79, CoffeeMachine, 0.464, 0.900, -1.810, 0, 0, 0, [SEP] 80, Window, 1.508, 1.534, -1.496, 90, 135, 0, [SEP] 81, Window, 1.973, 1.521, 1.121, 90, 90, 0, [SEP] 82, SinkBasin, 1.149, 0.753, -1.380, 0, 225, 0, [SEP] 83, GarbageCan, 1.646, -0.000, 0.679, 0, 0, 0, [SEP] 84, Microwave, -2.580, 0.900, 2.440, 0, 90, 0, [SEP] 85, Stool, 0.439, 0.010, 0.747, 0, 0, 0, [SEP] 86, Stool, -2.303, 0.010, 1.839, 0, 0, 0, [SEP] 87, Faucet, 1.235, 1.138, -1.473, 0, 225, 0, [SEP] 88, NorthWall, , , , , , , [SEP] 89, EastWall, , , , , , , [SEP] 90, SouthWall, , , , , , , [SEP] 91, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and walk to the counter to the left of the stove, | STEP 2: Pick up the mug to the right of the knife. | STEP 3: Walk to think sink on the right. | STEP 4: Put the mug in the sink, fill the mug with water, pick up the mug. | STEP 5: Turn around and walk over to the microwave. | STEP 6: Put the mug inside of the microwave. | END"]} +{"id": "trial_T20190908_174632_551228-0", "input": "Put a piece of cold bread in the trash. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.5, 0.901, -3.0, 0, 90, 0, [SEP] 1, Potato, -3.027, 0.685, -2.125, 0, 90, 0, 86 [SEP] 2, DishSponge, -0.792, 1.292, -4.005, 0, 0, 0, 59 [SEP] 3, DishSponge, -0.374, 0.080, -1.414, 0, 0, 0, 50 [SEP] 4, ButterKnife, -2.270, 0.913, -3.804, 0, 0, 0, 45 [SEP] 5, ButterKnife, -0.257, 0.916, -1.493, 0, 0, 0, 72 [SEP] 6, Spatula, -3.167, 0.731, -0.797, 0, 225, 0, 89 [SEP] 7, Spatula, -2.928, 0.728, -0.922, 0, 90, 0, 89 [SEP] 8, Spoon, -1.638, 0.791, -3.704, 0, 0, 0, 87 [SEP] 9, Fork, -0.076, 0.914, -3.012, 0, 0, 0, 45 [SEP] 10, Fork, -2.865, 0.714, -0.638, 0, 0, 0, 89 [SEP] 11, Cup, -0.732, 0.082, -3.675, 0, 0, 0, 47 [SEP] 12, Tomato, -3.130, 0.690, -1.879, 0, 90, 0, 86 [SEP] 13, Tomato, -3.234, 1.448, -2.125, 0, 90, 0, 86 [SEP] 14, SoapBottle, -3.034, 0.713, -0.930, 0, 225, 0, 89 [SEP] 15, SoapBottle, -0.419, 0.915, -1.370, 0, 0, 0, 72 [SEP] 16, Bowl, -3.393, 0.911, -3.327, 0, 0, 0, 45 [SEP] 17, Bowl, -2.581, 0.711, -0.621, 0, 90, 0, 89 [SEP] 18, SaltShaker, -3.225, 0.910, -2.825, 0, 0, 0, 45 [SEP] 19, PepperShaker, -0.471, 0.742, -1.563, 0, 0, 0, 68 [SEP] 20, Lettuce, -2.581, 0.804, -0.433, 0, 270, 0, 89 [SEP] 21, Lettuce, -3.155, 0.804, -0.608, 0, 225, 0, 89 [SEP] 22, Apple, -0.095, 0.958, -1.616, 0, 0, 0, 72 [SEP] 23, Apple, -0.189, 1.055, -0.900, 0, 270, 0, 82 [SEP] 24, Pot, -0.376, 0.975, -2.031, 0, 180, 0, 74 [SEP] 25, Egg, -0.419, 0.951, -1.555, 0, 0, 0, 72 [SEP] 26, Cup, -1.058, 0.914, -3.581, 0, 0, 0, 45 [SEP] 27, Bread, -0.326, 0.948, -3.680, 0, 298.262, 0, 45 [SEP] 28, Fork, -0.500, 0.746, -3.079, 0, 90, 0, 75 [SEP] 29, Pan, -0.376, 0.975, -2.451, 0, 0, 0, 70 [SEP] 30, Potato, -0.243, 0.949, -3.878, 0, 0, 0, 45 [SEP] 31, Lettuce, -1.324, 0.988, -3.759, 1.633, 253.772, 357.214, 45 [SEP] 32, Tomato, -3.234, 0.690, -2.064, 0, 90, 0, 86 [SEP] 33, Apple, -0.127, 1.055, -0.752, 0, 270, 0, 82 [SEP] 34, SoapBottle, -2.608, 0.716, -0.150, 0, 315, 0, 89 [SEP] 35, Spatula, -0.412, 0.761, -2.913, 0, 270, 0, 75 [SEP] 36, SaltShaker, -0.527, 0.077, -3.139, 0, 0, 0, 56 [SEP] 37, Knife, -3.140, 0.946, -3.428, 0, 0, 0, 45 [SEP] 38, PepperShaker, -2.733, 0.710, -0.363, 0, 135, 0, 89 [SEP] 39, ButterKnife, -2.987, 0.913, -3.804, 0, 0, 0, 45 [SEP] 40, Plate, -1.614, 0.081, -3.634, 0, 0, 0, 61 [SEP] 41, DishSponge, -0.413, 0.745, -3.376, 0, 0, 0, 73 [SEP] 42, Spoon, -2.721, 0.714, -0.439, 0, 225, 0, 89 [SEP] 43, Mug, -0.257, 0.910, -0.524, 0, 90, 0, 72 [SEP] 44, Bowl, -0.854, 0.911, -3.729, 0, 0, 0, 45 [SEP] 45, CounterTop, -1.789, 0.949, -3.803, 0, 0, 0, [SEP] 46, Cabinet, -0.577, 0.388, -3.476, 0, 0, 0, [SEP] 47, Cabinet, -0.605, 0.388, -3.511, 0, 0, 0, [SEP] 48, Cabinet, -2.976, 0.388, -3.201, 0, 0, 0, [SEP] 49, Cabinet, -0.577, 0.388, -0.447, 0, 0, 0, [SEP] 50, Cabinet, -0.577, 0.388, -1.725, 0, 0, 0, [SEP] 51, Cabinet, -0.226, 1.803, -1.743, 0, 0, 0, [SEP] 52, Cabinet, -0.228, 1.799, -0.447, 0, 0, 0, [SEP] 53, Cabinet, -6.010, 1.139, -6.019, 0, 0, 0, [SEP] 54, Cabinet, -3.022, 2.098, -2.681, 0, 0, 0, [SEP] 55, Cabinet, -3.022, 2.098, -1.743, 0, 0, 0, [SEP] 56, Cabinet, -0.577, 0.388, -2.736, 0, 0, 0, [SEP] 57, Cabinet, -3.232, 1.803, -3.343, 0, 0, 0, [SEP] 58, Cabinet, -2.811, 1.810, -3.764, 0, 0, 0, [SEP] 59, Cabinet, -1.233, 1.810, -3.764, 0, 0, 0, [SEP] 60, Cabinet, -1.364, 0.388, -3.511, 0, 0, 0, [SEP] 61, Cabinet, -1.380, 0.388, -3.511, 0, 0, 0, [SEP] 62, Cabinet, -0.226, 1.803, -2.725, 0, 0, 0, [SEP] 63, Cabinet, -0.236, 2.098, -1.767, 0, 0, 0, [SEP] 64, Cabinet, -0.236, 2.098, -2.705, 0, 0, 0, [SEP] 65, Cabinet, -0.193, 1.210, -4.239, 0, 0, 0, [SEP] 66, Cabinet, -2.148, 0.388, -3.511, 0, 0, 0, [SEP] 67, Drawer, -3.104, 0.797, -2.968, 0, 0, 0, [SEP] 68, Drawer, -0.449, 0.797, -1.410, 0, 0, 0, [SEP] 69, Sink, -1.786, 0.902, -3.748, 0, 0, 0, [SEP] 70, StoveBurner, -0.376, 0.936, -2.451, 0, 0, 0, [SEP] 71, Drawer, -0.449, 0.797, -0.762, 0, 0, 0, [SEP] 72, CounterTop, -0.268, 0.951, -1.089, 0, 0, 0, [SEP] 73, Drawer, -0.449, 0.797, -3.348, 0, 0, 0, [SEP] 74, StoveBurner, -0.376, 0.936, -2.031, 0, 180, 0, [SEP] 75, Drawer, -0.449, 0.797, -2.968, 0, 0, 0, [SEP] 76, StoveBurner, -0.165, 0.936, -2.030, 0, 180, 0, [SEP] 77, StoveBurner, -0.165, 0.936, -2.450, 0, 0, 0, [SEP] 78, StoveKnob, -0.568, 0.903, -2.313, 45, 270, 0, [SEP] 79, StoveKnob, -0.568, 0.903, -2.470, 45, 270, 0, [SEP] 80, StoveKnob, -0.568, 0.903, -2.166, 45, 270, 0, [SEP] 81, StoveKnob, -0.568, 0.903, -2.003, 45, 270, 0, [SEP] 82, Microwave, -0.143, 0.903, -0.908, 0, 270, 0, [SEP] 83, LightSwitch, -1.108, 1.457, 0.338, 0, 180, 0, [SEP] 84, GarbageCan, -0.283, -0.032, -0.035, 0, 270, 0, [SEP] 85, CoffeeMachine, -3.104, 0.837, -0.185, 0, 135, 0, [SEP] 86, Fridge, -3.188, 0.0, -2.184, 0, 0, 0, [SEP] 87, SinkBasin, -1.786, 0.779, -3.747, 0, 0, 0, [SEP] 88, Toaster, -0.230, 0.903, -3.406, 0, 270, 0, [SEP] 89, DiningTable, -2.800, 0.003, -0.505, 0, 0, 0, [SEP] 90, Chair, -3.044, 0.003, -1.223, 0, 32.194, 0, [SEP] 91, Faucet, -1.791, 1.136, -3.913, 0, 270, 0, [SEP] 92, NorthWall, , , , , , , [SEP] 93, EastWall, , , , , , , [SEP] 94, SouthWall, , , , , , , [SEP] 95, WestWall, , , , , , , ", "output": ["STEP 1: Turn and go to the counter by the microwave. | STEP 2: Pick up a butter knife on the counter. | STEP 3: Go to the counter next to the toaster. | STEP 4: Slice the bread on the counter. | STEP 5: Go across the room to the fridge. | STEP 6: Put the knife in the fridge. | STEP 7: Go back to the counter with the toaster on it. | STEP 8: Pick up a slice of bread. | STEP 9: Go across the room to the fridge. | STEP 10: Put the bread in the fridge to cool it off. | STEP 11: Go to the trash bin at the end of the counter. | STEP 12: Put the cold bread in the trash bin. | END"]} +{"id": "trial_T20190908_232253_707931-0", "input": "Pick up the knife and glass cup and put them into the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.900, 2.25, 0, 0, 0, [SEP] 1, Potato, -0.203, 1.259, 0.475, 0, 0, 0, 84 [SEP] 2, Potato, -3.240, 0.942, 2.778, 0, 90, 0, 78 [SEP] 3, DishSponge, -0.415, 1.047, 2.369, 0, 0, 0, 61 [SEP] 4, DishSponge, -3.644, 0.112, 2.038, 0, 0, 0, 82 [SEP] 5, ButterKnife, -2.514, 1.124, 0.284, 0, 0, 0, 71 [SEP] 6, ButterKnife, -0.715, 1.124, 0.387, 0, 0, 0, 73 [SEP] 7, ButterKnife, -0.415, 1.048, 1.920, 0, 0, 0, 61 [SEP] 8, Pot, -3.000, 1.133, 0.480, 0, 270, 0, 66 [SEP] 9, Fork, -2.137, 1.125, 0.662, 0, 0, 0, 71 [SEP] 10, Fork, -0.827, 1.125, 0.478, 0, 0, 0, 73 [SEP] 11, Spoon, -1.473, 1.155, 0.121, 0, 0, 0, 58 [SEP] 12, Spatula, -2.388, 1.139, 0.095, 0, 90, 0, 71 [SEP] 13, Spatula, -0.538, 1.063, 3.266, 0, 0, 0, 61 [SEP] 14, Egg, -3.742, 1.155, 0.473, 0, 0, 0, 68 [SEP] 15, Cup, -0.662, 1.045, 2.369, 0, 0, 0, 61 [SEP] 16, Cup, -0.908, 1.045, 2.593, 0, 0, 0, 61 [SEP] 17, Cup, -3.266, 0.726, 3.061, 0, 90, 0, 78 [SEP] 18, Plate, -2.262, 1.123, 0.473, 0, 0, 0, 71 [SEP] 19, Plate, -1.601, 0.047, 0.608, 0, 0, 0, 76 [SEP] 20, Knife, -0.662, 1.079, 1.920, 0, 0, 0, 61 [SEP] 21, Knife, -0.785, 1.080, 3.042, 0, 90, 0, 61 [SEP] 22, Tomato, -3.373, 1.601, 2.920, 0, 90, 0, 78 [SEP] 23, Tomato, -3.798, 0.153, 1.978, 0, 0, 0, 82 [SEP] 24, Bowl, -0.908, 1.044, 3.042, 0, 0, 0, 61 [SEP] 25, Bowl, -0.908, 1.044, 2.817, 0, 0, 0, 61 [SEP] 26, SaltShaker, -1.680, 0.045, 0.438, 0, 0, 0, 76 [SEP] 27, SaltShaker, -1.116, 0.045, 0.324, 0, 0, 0, 65 [SEP] 28, PepperShaker, -2.042, 0.483, 0.545, 0, 0, 0, 62 [SEP] 29, Bread, -0.785, 1.133, 1.920, 0, 0, 0, 61 [SEP] 30, Lettuce, -3.373, 1.637, 3.132, 0, 90, 0, 78 [SEP] 31, Lettuce, -0.785, 1.125, 2.144, 0, 0, 0, 61 [SEP] 32, Mug, -1.235, 0.044, 0.494, 0, 0, 0, 65 [SEP] 33, Mug, -0.908, 1.043, 2.369, 0, 0, 0, 61 [SEP] 34, Fork, -0.827, 1.125, 0.659, 0, 0, 0, 73 [SEP] 35, SoapBottle, -2.497, 0.095, 0.646, 0, 0, 0, 64 [SEP] 36, Pot, -3.475, 1.133, 0.227, 0, 90, 0, 57 [SEP] 37, Ladle, -1.922, 1.139, 0.377, 351.020, 45, 351.752, 71 [SEP] 38, Potato, -2.011, 1.155, 0.284, 0, 0, 0, 71 [SEP] 39, Plate, -0.908, 1.046, 3.266, 0, 0, 0, 61 [SEP] 40, Bread, -0.662, 1.133, 2.817, 0, 0, 0, 61 [SEP] 41, Lettuce, -0.662, 1.124, 3.042, 0, 0, 0, 61 [SEP] 42, Spatula, -0.538, 1.063, 2.593, 0, 90, 0, 61 [SEP] 43, Pan, -0.266, 1.038, 2.561, 0, 0, 0, 61 [SEP] 44, Egg, -3.266, 0.758, 2.991, 0, 90, 0, 78 [SEP] 45, Cup, -1.568, 1.151, 0.095, 0, 0, 0, 58 [SEP] 46, SaltShaker, -0.715, 1.121, 0.206, 0, 0, 0, 73 [SEP] 47, Knife, -3.814, 1.157, 0.284, 0, 90, 0, 68 [SEP] 48, Bowl, -0.495, 1.038, 2.223, 0, 0, 0, 61 [SEP] 49, PepperShaker, -1.156, 0.045, 0.664, 0, 0, 0, 65 [SEP] 50, ButterKnife, -3.778, 1.124, 0.473, 0, 90, 0, 68 [SEP] 51, Apple, -0.415, 1.295, 0.410, 0, 0, 0, 84 [SEP] 52, Tomato, -3.639, 1.327, 2.991, 0, 90, 0, 78 [SEP] 53, DishSponge, -1.885, 1.124, 0.095, 0, 0, 0, 71 [SEP] 54, Spoon, -2.497, 0.488, 0.579, 0, 0, 0, 74 [SEP] 55, Mug, -0.377, 1.094, 3.194, 0, 270, 0, 77 [SEP] 56, StoveKnob, -3.322, 1.053, 0.709, 45, 0, 0, [SEP] 57, StoveBurner, -3.474, 1.097, 0.227, 0, 180, 0, [SEP] 58, Sink, -1.394, 0.982, 0.439, 0, 0, 0, [SEP] 59, StoveBurner, -3.474, 1.097, 0.479, 0, 180, 0, [SEP] 60, StoveKnob, -3.164, 1.053, 0.709, 45, 0, 0, [SEP] 61, DiningTable, -0.620, 0.017, 2.486, 0, 0, 0, [SEP] 62, Drawer, -2.043, 0.608, 0.594, 0, 0, 0, [SEP] 63, Drawer, -2.043, 0.216, 0.594, 0, 0, 0, [SEP] 64, Drawer, -2.498, 0.216, 0.594, 0, 0, 0, [SEP] 65, Cabinet, -1.001, 0.393, 0.734, 0, 0, 0, [SEP] 66, StoveBurner, -3.000, 1.097, 0.480, 0, 0, 0, [SEP] 67, StoveKnob, -3.492, 1.053, 0.709, 45, 0, 0, [SEP] 68, CounterTop, -3.856, 1.160, 0.379, 0, 0, 0, [SEP] 69, Drawer, -2.043, 0.937, 0.599, 0, 0, 0, [SEP] 70, Drawer, -2.509, 0.937, 0.599, 0, 0, 0, [SEP] 71, CounterTop, -2.280, 1.160, 0.379, 0, 0, 0, [SEP] 72, StoveKnob, -2.985, 1.053, 0.709, 45, 0, 0, [SEP] 73, CounterTop, -0.514, 1.160, 0.492, 0, 0, 0, [SEP] 74, Drawer, -2.498, 0.608, 0.594, 0, 0, 0, [SEP] 75, StoveBurner, -3.000, 1.097, 0.227, 0, 0, 0, [SEP] 76, Cabinet, -1.733, 0.393, 0.734, 0, 0, 0, [SEP] 77, CoffeeMachine, -0.153, 1.038, 3.193, 0, 270, 0, [SEP] 78, Fridge, -3.519, 0.0, 2.717, 0, 90, 0, [SEP] 79, Window, -1.394, 1.924, 0.014, 90, 0, 0, [SEP] 80, Window, -3.266, 1.924, 0.014, 90, 0, 0, [SEP] 81, Toaster, -0.225, 1.038, 2.865, 0, 270, 0, [SEP] 82, GarbageCan, -3.696, 0.002, 2.008, 0, 0, 0, [SEP] 83, SinkBasin, -1.389, 0.921, 0.428, 0, 0, 0, [SEP] 84, Microwave, -0.366, 1.113, 0.430, 0, 0, 0, [SEP] 85, HousePlant, -2.155, 1.101, 0.169, 0, 332.897, 0, [SEP] 86, LightSwitch, -2.584, 1.299, 3.5, 0, 180, 0, [SEP] 87, Faucet, -1.393, 1.373, 0.168, 0, 270, 0, [SEP] 88, NorthWall, , , , , , , [SEP] 89, SouthWall, , , , , , , [SEP] 90, SouthWall, , , , , , , ", "output": ["STEP 1: Turn around and move to the right of the stove. | STEP 2: Pick up the butter knife off of the counter. | STEP 3: Turn around and move to the wooden table on the opposite corner of the room. | STEP 4: Place the knife into the glass cup. | STEP 5: Pick up the glass cup with the knife inside. | STEP 6: Turn to the right and move to the sink. | STEP 7: Place the glass cup with the knife inside into the sink. | END"]} +{"id": "trial_T20190908_232253_707931-2", "input": "Put a cup with a knife in it in the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.900, 2.25, 0, 0, 0, [SEP] 1, Potato, -0.203, 1.259, 0.475, 0, 0, 0, 84 [SEP] 2, Potato, -3.240, 0.942, 2.778, 0, 90, 0, 78 [SEP] 3, DishSponge, -0.415, 1.047, 2.369, 0, 0, 0, 61 [SEP] 4, DishSponge, -3.644, 0.112, 2.038, 0, 0, 0, 82 [SEP] 5, ButterKnife, -2.514, 1.124, 0.284, 0, 0, 0, 71 [SEP] 6, ButterKnife, -0.715, 1.124, 0.387, 0, 0, 0, 73 [SEP] 7, ButterKnife, -0.415, 1.048, 1.920, 0, 0, 0, 61 [SEP] 8, Pot, -3.000, 1.133, 0.480, 0, 270, 0, 66 [SEP] 9, Fork, -2.137, 1.125, 0.662, 0, 0, 0, 71 [SEP] 10, Fork, -0.827, 1.125, 0.478, 0, 0, 0, 73 [SEP] 11, Spoon, -1.473, 1.155, 0.121, 0, 0, 0, 58 [SEP] 12, Spatula, -2.388, 1.139, 0.095, 0, 90, 0, 71 [SEP] 13, Spatula, -0.538, 1.063, 3.266, 0, 0, 0, 61 [SEP] 14, Egg, -3.742, 1.155, 0.473, 0, 0, 0, 68 [SEP] 15, Cup, -0.662, 1.045, 2.369, 0, 0, 0, 61 [SEP] 16, Cup, -0.908, 1.045, 2.593, 0, 0, 0, 61 [SEP] 17, Cup, -3.266, 0.726, 3.061, 0, 90, 0, 78 [SEP] 18, Plate, -2.262, 1.123, 0.473, 0, 0, 0, 71 [SEP] 19, Plate, -1.601, 0.047, 0.608, 0, 0, 0, 76 [SEP] 20, Knife, -0.662, 1.079, 1.920, 0, 0, 0, 61 [SEP] 21, Knife, -0.785, 1.080, 3.042, 0, 90, 0, 61 [SEP] 22, Tomato, -3.373, 1.601, 2.920, 0, 90, 0, 78 [SEP] 23, Tomato, -3.798, 0.153, 1.978, 0, 0, 0, 82 [SEP] 24, Bowl, -0.908, 1.044, 3.042, 0, 0, 0, 61 [SEP] 25, Bowl, -0.908, 1.044, 2.817, 0, 0, 0, 61 [SEP] 26, SaltShaker, -1.680, 0.045, 0.438, 0, 0, 0, 76 [SEP] 27, SaltShaker, -1.116, 0.045, 0.324, 0, 0, 0, 65 [SEP] 28, PepperShaker, -2.042, 0.483, 0.545, 0, 0, 0, 62 [SEP] 29, Bread, -0.785, 1.133, 1.920, 0, 0, 0, 61 [SEP] 30, Lettuce, -3.373, 1.637, 3.132, 0, 90, 0, 78 [SEP] 31, Lettuce, -0.785, 1.125, 2.144, 0, 0, 0, 61 [SEP] 32, Mug, -1.235, 0.044, 0.494, 0, 0, 0, 65 [SEP] 33, Mug, -0.908, 1.043, 2.369, 0, 0, 0, 61 [SEP] 34, Fork, -0.827, 1.125, 0.659, 0, 0, 0, 73 [SEP] 35, SoapBottle, -2.497, 0.095, 0.646, 0, 0, 0, 64 [SEP] 36, Pot, -3.475, 1.133, 0.227, 0, 90, 0, 57 [SEP] 37, Ladle, -1.922, 1.139, 0.377, 351.020, 45, 351.752, 71 [SEP] 38, Potato, -2.011, 1.155, 0.284, 0, 0, 0, 71 [SEP] 39, Plate, -0.908, 1.046, 3.266, 0, 0, 0, 61 [SEP] 40, Bread, -0.662, 1.133, 2.817, 0, 0, 0, 61 [SEP] 41, Lettuce, -0.662, 1.124, 3.042, 0, 0, 0, 61 [SEP] 42, Spatula, -0.538, 1.063, 2.593, 0, 90, 0, 61 [SEP] 43, Pan, -0.266, 1.038, 2.561, 0, 0, 0, 61 [SEP] 44, Egg, -3.266, 0.758, 2.991, 0, 90, 0, 78 [SEP] 45, Cup, -1.568, 1.151, 0.095, 0, 0, 0, 58 [SEP] 46, SaltShaker, -0.715, 1.121, 0.206, 0, 0, 0, 73 [SEP] 47, Knife, -3.814, 1.157, 0.284, 0, 90, 0, 68 [SEP] 48, Bowl, -0.495, 1.038, 2.223, 0, 0, 0, 61 [SEP] 49, PepperShaker, -1.156, 0.045, 0.664, 0, 0, 0, 65 [SEP] 50, ButterKnife, -3.778, 1.124, 0.473, 0, 90, 0, 68 [SEP] 51, Apple, -0.415, 1.295, 0.410, 0, 0, 0, 84 [SEP] 52, Tomato, -3.639, 1.327, 2.991, 0, 90, 0, 78 [SEP] 53, DishSponge, -1.885, 1.124, 0.095, 0, 0, 0, 71 [SEP] 54, Spoon, -2.497, 0.488, 0.579, 0, 0, 0, 74 [SEP] 55, Mug, -0.377, 1.094, 3.194, 0, 270, 0, 77 [SEP] 56, StoveKnob, -3.322, 1.053, 0.709, 45, 0, 0, [SEP] 57, StoveBurner, -3.474, 1.097, 0.227, 0, 180, 0, [SEP] 58, Sink, -1.394, 0.982, 0.439, 0, 0, 0, [SEP] 59, StoveBurner, -3.474, 1.097, 0.479, 0, 180, 0, [SEP] 60, StoveKnob, -3.164, 1.053, 0.709, 45, 0, 0, [SEP] 61, DiningTable, -0.620, 0.017, 2.486, 0, 0, 0, [SEP] 62, Drawer, -2.043, 0.608, 0.594, 0, 0, 0, [SEP] 63, Drawer, -2.043, 0.216, 0.594, 0, 0, 0, [SEP] 64, Drawer, -2.498, 0.216, 0.594, 0, 0, 0, [SEP] 65, Cabinet, -1.001, 0.393, 0.734, 0, 0, 0, [SEP] 66, StoveBurner, -3.000, 1.097, 0.480, 0, 0, 0, [SEP] 67, StoveKnob, -3.492, 1.053, 0.709, 45, 0, 0, [SEP] 68, CounterTop, -3.856, 1.160, 0.379, 0, 0, 0, [SEP] 69, Drawer, -2.043, 0.937, 0.599, 0, 0, 0, [SEP] 70, Drawer, -2.509, 0.937, 0.599, 0, 0, 0, [SEP] 71, CounterTop, -2.280, 1.160, 0.379, 0, 0, 0, [SEP] 72, StoveKnob, -2.985, 1.053, 0.709, 45, 0, 0, [SEP] 73, CounterTop, -0.514, 1.160, 0.492, 0, 0, 0, [SEP] 74, Drawer, -2.498, 0.608, 0.594, 0, 0, 0, [SEP] 75, StoveBurner, -3.000, 1.097, 0.227, 0, 0, 0, [SEP] 76, Cabinet, -1.733, 0.393, 0.734, 0, 0, 0, [SEP] 77, CoffeeMachine, -0.153, 1.038, 3.193, 0, 270, 0, [SEP] 78, Fridge, -3.519, 0.0, 2.717, 0, 90, 0, [SEP] 79, Window, -1.394, 1.924, 0.014, 90, 0, 0, [SEP] 80, Window, -3.266, 1.924, 0.014, 90, 0, 0, [SEP] 81, Toaster, -0.225, 1.038, 2.865, 0, 270, 0, [SEP] 82, GarbageCan, -3.696, 0.002, 2.008, 0, 0, 0, [SEP] 83, SinkBasin, -1.389, 0.921, 0.428, 0, 0, 0, [SEP] 84, Microwave, -0.366, 1.113, 0.430, 0, 0, 0, [SEP] 85, HousePlant, -2.155, 1.101, 0.169, 0, 332.897, 0, [SEP] 86, LightSwitch, -2.584, 1.299, 3.5, 0, 180, 0, [SEP] 87, Faucet, -1.393, 1.373, 0.168, 0, 270, 0, [SEP] 88, NorthWall, , , , , , , [SEP] 89, SouthWall, , , , , , , [SEP] 90, SouthWall, , , , , , , ", "output": ["STEP 1: Turn around and walk and stand in front of the stove to your right. | STEP 2: Pick up the butter knife that's to the right of the stove. | STEP 3: Turn left and take three steps then take two steps to your left and walk to the table that's in front of you with the mug on it. . | STEP 4: Put the knife in the clear cup that's above the mug. | STEP 5: Pick up the glass with the knife in it. | STEP 6: Turn right and walk to the sink then take a small step to the left. | STEP 7: Put the cup in the sink. | END"]} +{"id": "trial_T20190911_084342_641678-0", "input": "Put two watches on a coffee table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -4.75, 0.902, -4.25, 0, 270, 0, [SEP] 1, Watch, -1.883, 0.482, -5.076, 0, 0, 0, 32 [SEP] 2, Pen, -2.469, 0.592, -2.822, 0, 0, 0, 33 [SEP] 3, CreditCard, -4.461, 0.333, -1.462, 0, 0, 0, 35 [SEP] 4, RemoteControl, -3.503, 0.706, -5.046, 0, 0, 0, 36 [SEP] 5, Box, -2.362, 0.261, -1.647, 0, 76.161, 0, Floor|-04.47| [SEP] 6, Book, -2.151, 0.587, -2.822, 0, 0, 0, 33 [SEP] 7, Newspaper, -4.265, 0.34, -2.164, 0, 0, 0, 35 [SEP] 8, Watch, -3.218, 0.705, -5.188, 0, 0, 0, 36 [SEP] 9, Pen, -4.073, 0.710, -5.046, 0, 0, 0, 36 [SEP] 10, WateringCan, -7.991, 0.000, -4.629, 0, 296.796, 0, Floor|-04.47| [SEP] 11, Pillow, -4.262, 0.442, -3.520, 0, 90, 0, 30 [SEP] 12, CreditCard, -4.112, 0.335, -3.302, 0, 90, 0, 30 [SEP] 13, Vase, -4.477, 0.697, -5.076, 0, 0, 0, 36 [SEP] 14, KeyChain, -2.469, 0.588, -2.657, 0, 0, 0, 33 [SEP] 15, Vase, -4.218, 0.697, -5.046, 0, 0, 0, 36 [SEP] 16, Laptop, -2.257, 0.585, -2.492, 0, 0, 0, 33 [SEP] 17, Statue, -3.218, 0.710, -4.999, 0, 0, 0, 36 [SEP] 18, Vase, -2.151, 0.592, -2.161, 0, 0, 0, 33 [SEP] 19, RemoteControl, -2.786, 0.590, -1.996, 0, 0, 0, 33 [SEP] 20, Vase, -2.933, 0.704, -5.141, 0, 0, 0, 36 [SEP] 21, Mirror, -3.402, 2.028, 0.000, 0, 0, 0, [SEP] 22, FloorLamp, -4.821, 0.000, -5.118, 0, 0, 0, [SEP] 23, LightSwitch, -5.763, 1.330, 0.010, 0, 180, 0, [SEP] 24, GarbageCan, -0.969, -0.027, -5.058, 0, 0, 0, [SEP] 25, HousePlant, -5.629, 0.478, -5.126, 0, 0, 0, [SEP] 26, Painting, -3.372, 1.800, -5.392, 90, 180, 0, [SEP] 27, Television, -0.606, 1.674, -2.602, 0, 270, 0, [SEP] 28, Window, -8.237, 1.411, -1.509, 90, 270, 0, [SEP] 29, Window, -8.237, 1.411, -4.081, 90, 270, 0, [SEP] 30, ArmChair, -4.334, 0.001, -3.528, 0, 90, 0, [SEP] 31, Shelf, -2.475, 0.124, -2.486, 0, 90, 0, [SEP] 32, SideTable, -2.016, 0.002, -5.075, 0, 180, 0, [SEP] 33, CoffeeTable, -2.474, 0.001, -2.489, 0, 90, 0, [SEP] 34, SideTable, -5.428, 0.002, -5.123, 0, 180, 0, [SEP] 35, Sofa, -4.354, 0.009, -2.089, 0, 90, 0, [SEP] 36, Dresser, -3.505, 0.003, -5.101, 0, 0, 0, [SEP] 37, Drawer, -2.981, 0.481, -5.031, 0, 0, 0, [SEP] 38, Drawer, -4.022, 0.169, -5.013, 0, 0, 0, [SEP] 39, Drawer, -2.978, 0.169, -5.013, 0, 0, 0, [SEP] 40, Drawer, -4.022, 0.477, -5.013, 0, 0, 0, [SEP] 41, NorthWall, , , , , , , [SEP] 42, EastWall, , , , , , , [SEP] 43, SouthWall, , , , , , , [SEP] 44, WestWall, , , , , , , ", "output": ["STEP 1: Turn around, go forward, turn right to the statue on the dresser. Go to the dresser. | STEP 2: Take the watch from behind the statue on the dresser. | STEP 3: Turn left, go forward to the wall, turn left, go forward, turn left to the coffee table. | STEP 4: Put the watch on the coffee table to the right of the computer. | STEP 5: Turn left, go forward to the wall, turn right. | STEP 6: Take the watch from the small table. | STEP 7: Turn right, go forward, turn left to the coffee table. | STEP 8: Put the watch on the coffee table behind the first watch. | END"]} +{"id": "trial_T20190909_083219_380609-2", "input": "Put a cold tomato in the trash can. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.900, -1.5, 0, 270, 0, [SEP] 1, DishSponge, -2.318, 0.772, -0.025, 0, 0, 0, 62 [SEP] 2, DishSponge, -2.277, 0.114, 1.371, 0, 0, 0, 50 [SEP] 3, Spoon, -2.379, 0.775, 0.391, 0, 90, 0, 61 [SEP] 4, Spoon, -0.341, 0.912, 0.647, 0, 0, 0, 44 [SEP] 5, Spatula, -0.341, 0.925, 1.764, 0, 90, 0, 44 [SEP] 6, Spatula, -0.211, 0.925, 1.540, 0, 90, 0, 44 [SEP] 7, Pot, 1.337, 0.923, -1.115, 0, 225, 0, 58 [SEP] 8, Pot, 1.411, 0.929, 0.064, 0, 0, 0, 73 [SEP] 9, Egg, -2.374, 0.625, -0.872, 0, 90, 0, 76 [SEP] 10, Egg, 1.562, 0.215, 0.596, 0, 0, 0, 83 [SEP] 11, Cup, -2.605, 1.936, -0.465, 0, 0, 0, 66 [SEP] 12, Plate, 0.516, 1.666, -1.766, 0, 90, 0, 51 [SEP] 13, Plate, -2.621, 0.913, 0.931, 0, 0, 0, 72 [SEP] 14, Tomato, 1.127, 0.813, -1.394, 0, 225, 0, 82 [SEP] 15, Tomato, -2.372, 0.953, 0.631, 0, 0, 0, 72 [SEP] 16, Tomato, -2.206, 0.953, 1.830, 0, 0, 0, 72 [SEP] 17, Bowl, -2.372, 0.908, 0.931, 0, 0, 0, 72 [SEP] 18, Lettuce, -0.341, 0.994, 1.540, 0, 0, 0, 44 [SEP] 19, Bread, 1.342, 0.996, -0.726, 0, 0, 0, 58 [SEP] 20, Bread, -2.538, 0.996, 0.631, 0, 0, 0, 72 [SEP] 21, Pan, -2.372, 0.910, 1.530, 0, 0, 0, 72 [SEP] 22, Knife, -0.471, 0.936, 1.317, 0, 0, 0, 44 [SEP] 23, Apple, -2.439, 1.150, -0.602, 0, 90, 0, 76 [SEP] 24, Bowl, -0.471, 0.908, 1.764, 0, 0, 0, 44 [SEP] 25, Fork, 0.822, 0.911, -1.627, 0, 45, 0, 54 [SEP] 26, Bread, -0.211, 0.996, 1.317, 0, 0, 0, 44 [SEP] 27, Plate, -2.351, 0.900, 0.054, 0, 0, 0, 72 [SEP] 28, Egg, -2.558, 0.209, -0.570, 0, 90, 0, 76 [SEP] 29, Kettle, 1.771, 1.657, 0.239, 0, 0, 0, 63 [SEP] 30, Potato, -0.081, 0.947, 0.423, 0, 0, 0, 44 [SEP] 31, SaltShaker, -2.538, 0.905, 0.331, 0, 0, 0, 72 [SEP] 32, Lettuce, -0.730, 0.994, 0.423, 0, 0, 0, 44 [SEP] 33, Cup, -2.485, 1.087, -0.790, 0, 90, 0, 76 [SEP] 34, SoapBottle, -2.605, 1.539, 2.550, 0, 0, 0, 48 [SEP] 35, Spatula, -2.287, 0.789, 0.952, 0, 270, 0, 49 [SEP] 36, PaperTowelRoll, 0.835, 1.015, -1.408, 0, 45, 0, 54 [SEP] 37, ButterKnife, -0.211, 0.910, 0.647, 0, 0, 0, 44 [SEP] 38, PepperShaker, -2.645, 1.532, 0.270, 0, 0, 0, 67 [SEP] 39, DishSponge, -2.287, 0.772, 1.322, 0, 0, 0, 75 [SEP] 40, Pot, -0.601, 0.914, 0.870, 0, 0, 0, 44 [SEP] 41, Spoon, 1.599, 0.912, -0.726, 0, 0, 0, 54 [SEP] 42, Tomato, 1.687, 0.227, 0.706, 0, 0, 0, 83 [SEP] 43, Mug, -0.471, 0.905, 1.094, 0, 0, 0, 44 [SEP] 44, CounterTop, -0.360, 0.946, 1.093, 0, 0, 0, [SEP] 45, StoveBurner, 1.412, 0.923, -0.335, 0, 0, 0, [SEP] 46, StoveKnob, 1.878, 1.093, 0.018, 287.989, 90, 0, [SEP] 47, StoveKnob, 1.878, 1.093, -0.306, 287.989, 90, 0, [SEP] 48, Cabinet, -2.446, 1.948, 2.924, 0, 0, 0, [SEP] 49, Drawer, -2.276, 0.792, 0.902, 0, 0, 0, [SEP] 50, Cabinet, -2.145, 0.402, 1.578, 0, 0, 0, [SEP] 51, Cabinet, 0.149, 2.008, -1.603, 0, 90, 0, [SEP] 52, StoveBurner, 1.691, 0.923, -0.335, 0, 0, 0, [SEP] 53, CounterTop, 1.585, 0.946, 0.405, 0, 0, 0, [SEP] 54, CounterTop, 0.474, 0.946, -1.625, 0, 0, 0, [SEP] 55, StoveBurner, 1.691, 0.923, 0.064, 0, 0, 0, [SEP] 56, Cabinet, -2.446, 1.948, 1.687, 0, 0, 0, [SEP] 57, Cabinet, -2.446, 1.948, 1.640, 0, 0, 0, [SEP] 58, Sink, 1.381, 0.810, -1.271, 0, 225, 0, [SEP] 59, StoveKnob, 1.878, 1.093, 0.150, 287.989, 90, 0, [SEP] 60, Cabinet, -2.145, 0.402, -0.236, 0, 0, 0, [SEP] 61, Drawer, -2.276, 0.792, 0.437, 0, 0, 0, [SEP] 62, Drawer, -2.276, 0.792, -0.027, 0, 0, 0, [SEP] 63, Cabinet, 1.572, 2.008, 0.474, 0, 0, 0, [SEP] 64, Cabinet, 1.572, 2.008, -0.775, 0, 0, 0, [SEP] 65, Cabinet, -2.445, 2.148, -1.275, 0, 0, 0, [SEP] 66, Cabinet, -2.446, 2.148, -0.284, 0, 0, 0, [SEP] 67, Cabinet, -2.446, 1.948, 0.355, 0, 0, 0, [SEP] 68, Cabinet, -2.446, 1.948, 0.405, 0, 0, 0, [SEP] 69, Cabinet, -2.145, 0.402, 0.644, 0, 0, 0, [SEP] 70, Cabinet, -2.145, 0.402, 0.695, 0, 0, 0, [SEP] 71, Cabinet, -2.285, 1.968, -1.325, 0, 180, 0, [SEP] 72, CounterTop, -1.485, 0.946, 1.319, 0, 0, 0, [SEP] 73, StoveBurner, 1.411, 0.923, 0.064, 0, 0, 0, [SEP] 74, StoveKnob, 1.878, 1.093, -0.441, 287.989, 90, 0, [SEP] 75, Drawer, -2.276, 0.792, 1.368, 0, 0, 0, [SEP] 76, Fridge, -2.475, 0.0, -0.782, 0, 90, 0, [SEP] 77, LightSwitch, -0.929, 1.350, -1.950, 0, 0, 0, [SEP] 78, Toaster, -2.564, 0.900, 1.876, 0, 90, 0, [SEP] 79, CoffeeMachine, 0.464, 0.900, -1.810, 0, 0, 0, [SEP] 80, Window, 1.508, 1.534, -1.496, 90, 135, 0, [SEP] 81, Window, 1.973, 1.521, 1.121, 90, 90, 0, [SEP] 82, SinkBasin, 1.149, 0.753, -1.380, 0, 225, 0, [SEP] 83, GarbageCan, 1.646, -0.000, 0.679, 0, 0, 0, [SEP] 84, Microwave, -2.580, 0.900, 2.440, 0, 90, 0, [SEP] 85, Stool, 0.439, 0.010, 0.747, 0, 0, 0, [SEP] 86, Stool, -2.303, 0.010, 1.839, 0, 0, 0, [SEP] 87, Faucet, 1.235, 1.138, -1.473, 0, 225, 0, [SEP] 88, NorthWall, , , , , , , [SEP] 89, EastWall, , , , , , , [SEP] 90, SouthWall, , , , , , , [SEP] 91, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk to the stove then turn left and walk to the end of the counter then turn right to face the grey trash can. | STEP 2: Take the tomato from the trash can. | STEP 3: Turn right and walk to the dishwasher then turn right and walk to the fridge. | STEP 4: Cool the tomato in the fridge then take it out. | STEP 5: Turn around and walk to the stove then turn right and walk to the grey trash can. | STEP 6: Put the tomato in the trash can. | END"]} +{"id": "trial_T20190907_153919_635668-0", "input": "Put the clean spatula in the drawer. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.0, 0.900, -1.75, 0, 0, 0, [SEP] 1, Pen, 1.414, 1.164, -1.002, 0, 0, 0, 88 [SEP] 2, Potato, 0.852, 0.953, -1.789, 0, 0, 0, 82 [SEP] 3, Potato, 1.494, 1.203, -1.688, 0, 0, 0, 88 [SEP] 4, Ladle, 1.401, 1.700, -0.815, 0, 0, 0, 70 [SEP] 5, Ladle, -2.201, 0.954, 0.463, 0, 0, 0, 84 [SEP] 6, Kettle, -1.081, 0.949, -1.81, 0, 0, 0, 78 [SEP] 7, Kettle, 0.279, 1.656, -1.801, 0, 0, 0, 72 [SEP] 8, ButterKnife, 0.217, 0.919, -1.708, 0, 270, 0, 61 [SEP] 9, ButterKnife, -1.962, 0.910, -1.448, 0, 0, 0, 80 [SEP] 10, Glassbottle, 0.973, 0.115, -0.699, 0, 0, 0, 66 [SEP] 11, Glassbottle, 1.375, 1.368, 1.726, 0, 270, 0, 101 [SEP] 12, Spatula, 0.852, 0.926, -1.619, 0, 90, 0, 82 [SEP] 13, Spatula, -2.323, 0.925, 0.204, 0, 0, 0, 84 [SEP] 14, Spatula, -1.957, 0.925, 0.377, 0, 90, 0, 84 [SEP] 15, Egg, 1.538, 1.294, -0.021, 0, 270, 0, 104 [SEP] 16, Egg, 1.296, 1.191, 0.370, 0, 0, 0, 88 [SEP] 17, Cup, -2.140, 0.112, -1.632, 0, 0, 0, 85 [SEP] 18, Cup, 1.420, 1.720, 1.775, 0, 270, 0, 101 [SEP] 19, Plate, 1.461, 1.656, -1.342, 0, 0, 0, 74 [SEP] 20, Knife, -1.886, 0.940, -1.448, 0, 180, 0, 80 [SEP] 21, Tomato, 0.149, 0.959, -1.607, 0, 270, 0, 61 [SEP] 22, Tomato, 1.332, 1.857, 2.369, 0, 270, 0, 101 [SEP] 23, Bowl, -0.603, 1.656, -1.876, 0, 0, 0, 64 [SEP] 24, Bowl, 1.148, 0.115, -0.699, 0, 0, 0, 66 [SEP] 25, SaltShaker, -1.764, 0.111, -1.732, 0, 0, 0, 89 [SEP] 26, SaltShaker, 1.414, 1.157, -1.345, 0, 0, 0, 88 [SEP] 27, Bread, 1.343, 0.989, -0.309, 0, 0, 0, 82 [SEP] 28, Lettuce, -2.079, 0.979, 0.377, 0, 0, 0, 84 [SEP] 29, Lettuce, 1.376, 1.436, 2.226, 0, 270, 0, 101 [SEP] 30, Mug, 1.441, 1.260, 0.188, 0, 270, 0, 104 [SEP] 31, Apple, 0.149, 0.954, -1.758, 0, 270, 0, 61 [SEP] 32, Apple, 1.356, 1.754, 1.963, 0, 270, 0, 101 [SEP] 33, Tomato, 1.341, 0.254, 1.022, 0, 0, 0, 99 [SEP] 34, Glassbottle, -0.037, 1.656, -1.876, 0, 0, 0, 72 [SEP] 35, Knife, -0.401, 0.941, -1.704, 0, 0, 0, 82 [SEP] 36, Plate, 1.342, 1.656, -0.500, 0, 0, 0, 70 [SEP] 37, Fork, -1.835, 0.911, 0.032, 0, 0, 0, 84 [SEP] 38, Ladle, 1.414, 1.206, -1.002, 0, 0, 0, 88 [SEP] 39, Potato, 0.569, 0.953, -1.534, 0, 0, 0, 82 [SEP] 40, Lettuce, -2.201, 0.979, 0.118, 0, 0, 0, 84 [SEP] 41, Kettle, -1.431, 0.949, -1.81, 0, 0, 0, 92 [SEP] 42, Pen, 0.664, 0.913, -1.619, 0, 0, 0, 82 [SEP] 43, SaltShaker, 1.092, 0.112, 0.606, 0, 0, 0, 65 [SEP] 44, Cup, 1.275, 1.367, 2.101, 0, 270, 0, 101 [SEP] 45, Egg, 0.304, 0.940, -1.983, 0, 0, 0, 61 [SEP] 46, Spatula, 1.335, 1.177, -1.688, 0, 90, 0, 88 [SEP] 47, Bowl, -0.996, 1.851, -1.802, 0, 0, 0, 62 [SEP] 48, SprayBottle, -1.524, 1.857, -1.874, 0, 0, 0, 75 [SEP] 49, Pan, -1.079, 0.945, -1.528, 0, 0, 0, 83 [SEP] 50, SoapBottle, 0.285, 0.919, -1.808, 0, 0, 0, 61 [SEP] 51, Pot, -1.431, 0.949, -1.525, 0, 0, 0, 90 [SEP] 52, ButterKnife, -2.079, 0.910, 0.032, 0, 0, 0, 84 [SEP] 53, PepperShaker, -0.458, 1.650, -1.801, 0, 0, 0, 64 [SEP] 54, DishSponge, -1.712, 0.910, 0.377, 0, 0, 0, 84 [SEP] 55, Bread, -0.703, 0.989, -1.789, 0, 0, 0, 82 [SEP] 56, Apple, 1.275, 1.402, 2.476, 0, 270, 0, 101 [SEP] 57, Spoon, 0.528, 0.774, -1.566, 0, 90, 0, 86 [SEP] 58, Mug, 1.476, 1.362, 1.975, 0, 270, 0, 101 [SEP] 59, Drawer, 0.860, 0.75, 0.430, 0, 0, 0, [SEP] 60, Drawer, 0.871, 0.75, -1.134, 0, 0, 0, [SEP] 61, Sink, 0.156, 0.817, -1.801, 0, 270, 0, [SEP] 62, Cabinet, -0.868, 2.005, -1.690, 0, 0, 0, [SEP] 63, Cabinet, -1.661, 2.059, -1.684, 0, 90, 0, [SEP] 64, Cabinet, -0.817, 2.059, -1.689, 0, 0, 0, [SEP] 65, Cabinet, 0.860, 0.402, 0.665, 0, 0, 0, [SEP] 66, Cabinet, 0.860, 0.402, -0.552, 0, 0, 0, [SEP] 67, Cabinet, 0.860, 0.402, -1.365, 0, 0, 0, [SEP] 68, Cabinet, -0.244, 0.402, -1.389, 0, 0, 0, [SEP] 69, Cabinet, -0.815, 0.402, -1.389, 0, 0, 0, [SEP] 70, Cabinet, 1.159, 2.059, -0.334, 0, 0, 0, [SEP] 71, Cabinet, 0.488, 2.059, -1.689, 0, 0, 0, [SEP] 72, Cabinet, -0.193, 2.059, -1.689, 0, 0, 0, [SEP] 73, Drawer, 0.860, 0.75, -0.699, 0, 0, 0, [SEP] 74, Cabinet, 1.159, 2.059, -1.019, 0, 0, 0, [SEP] 75, Cabinet, -1.611, 2.005, -1.690, 0, 0, 0, [SEP] 76, Cabinet, 0.832, 0.401, -1.393, 0, 90, 0, [SEP] 77, Drawer, -2.105, 0.75, -1.389, 0, 0, 0, [SEP] 78, StoveBurner, -1.081, 0.941, -1.809, 0, 0, 0, [SEP] 79, Cabinet, -0.202, 0.401, -1.391, 0, 90, 0, [SEP] 80, CounterTop, -1.973, 0.945, -1.707, 0, 0, 0, [SEP] 81, Drawer, -0.375, 0.75, -1.389, 0, 0, 0, [SEP] 82, CounterTop, 1.164, 0.946, -0.649, 0, 0, 0, [SEP] 83, StoveBurner, -1.081, 0.941, -1.527, 0, 0, 0, [SEP] 84, CounterTop, -2.096, 0.945, 0.291, 0, 0, 0, [SEP] 85, Cabinet, -2.237, 0.402, -1.389, 0, 0, 0, [SEP] 86, Drawer, 0.584, 0.75, -1.389, 0, 0, 0, [SEP] 87, Drawer, -1.795, 0.75, -1.389, 0, 0, 0, [SEP] 88, CounterTop, 1.5, 1.197, -0.654, 0, 0, 0, [SEP] 89, Cabinet, -1.667, 0.402, -1.389, 0, 0, 0, [SEP] 90, StoveBurner, -1.430, 0.941, -1.525, 0, 0, 0, [SEP] 91, Drawer, -0.685, 0.75, -1.389, 0, 0, 0, [SEP] 92, StoveBurner, -1.430, 0.941, -1.809, 0, 0, 0, [SEP] 93, LightSwitch, -2.539, 1.289, 2.568, 0, 90, 0, [SEP] 94, StoveKnob, -1.362, 1.095, -1.983, 287.970, 180, 0, [SEP] 95, StoveKnob, -0.962, 1.095, -1.983, 287.970, 180, 0, [SEP] 96, StoveKnob, -1.522, 1.095, -1.983, 287.970, 180, 0, [SEP] 97, StoveKnob, -1.112, 1.095, -1.983, 287.970, 180, 0, [SEP] 98, CoffeeMachine, 1.082, 0.900, -1.848, 0, 0, 0, [SEP] 99, GarbageCan, 1.343, 0.015, 1.041, 0, 0, 0, [SEP] 100, HousePlant, 1.440, 1.153, 0.593, 0, 0, 0, [SEP] 101, Fridge, 1.417, 0.0, 2.101, 0, 0, 0, [SEP] 102, Window, -0.486, 1.452, 3.302, 90, 0, 0, [SEP] 103, SinkBasin, -0.063, 0.765, -1.713, 0, 270, 0, [SEP] 104, Microwave, 1.422, 1.150, 0.022, 0, 270, 0, [SEP] 105, Toaster, -2.066, 0.900, -1.848, 0, 0, 0, [SEP] 106, Stool, -1.994, 0.010, 0.882, 0, 0, 0, [SEP] 107, Faucet, -0.096, 1.041, -1.867, 0, 270, 0, [SEP] 108, NorthWall, , , , , , , [SEP] 109, EastWall, , , , , , , [SEP] 110, SouthWall, , , , , , , [SEP] 111, WestWall, , , , , , , ", "output": ["STEP 1: Turn right, walk across the room to the counter, and turn right. | STEP 2: Pick up the spatula next to the potatoes. | STEP 3: Turn right, take a few steps, turn left to face the sink. | STEP 4: Put the spatula in the sink, turn on the water, turn off the water, pick up the spatula. | STEP 5: Turn left to face the counter against the other wall. | STEP 6: Open the top drawer under the potato, put the spatula in the drawer, close the drawer. | END"]} +{"id": "trial_T20190907_073822_397767-0", "input": "Examine a credit card next to the light of a tall lamp. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.909, 2.0, 0, 90, 0, [SEP] 1, Candle, -0.357, 1.308, 4.106, 0, 0, 0, 37 [SEP] 2, Candle, -0.155, 0.844, 0.710, 0, 0, 0, 31 [SEP] 3, KeyChain, -0.099, 0.842, 0.516, 0, 0, 0, 31 [SEP] 4, KeyChain, -2.964, 0.474, 1.286, 0, 0, 0, 47 [SEP] 5, RemoteControl, -3.298, 0.544, 3.808, 0, 0, 0, 40 [SEP] 6, RemoteControl, 0.063, 1.041, 2.306, 0, 0, 0, 33 [SEP] 7, Box, -3.190, 0.659, 0.043, 0, 0, 0, 45 [SEP] 8, Laptop, -0.245, 1.303, 3.278, 0, 0, 0, 37 [SEP] 9, Box, -2.264, 0.667, 1.251, 0, 0, 0, 47 [SEP] 10, TissueBox, -2.664, 0.478, 1.286, 0, 0, 0, 47 [SEP] 11, KeyChain, -2.514, 0.474, 1.224, 0, 0, 0, 47 [SEP] 12, Boots, -0.443, 0.009, -0.549, 0, 339.553, 0, [SEP] 13, Candle, -2.514, 0.475, 1.349, 0, 0, 0, 47 [SEP] 14, RemoteControl, -2.936, 0.464, -0.208, 0, 0, 0, 45 [SEP] 15, CreditCard, -2.514, 0.473, 1.036, 0, 0, 0, 47 [SEP] 16, Laptop, -2.011, 0.447, -0.086, 0, 332.629, 0, 45 [SEP] 17, Pillow, -3.707, 0.635, 3.745, 0, 0, 0, 40 [SEP] 18, Statue, -0.300, 1.294, 3.926, 0, 0, 0, 37 [SEP] 19, GarbageCan, -5.166, -0.026, -0.382, 0, 0, 0, [SEP] 20, Television, 0.145, 1.528, 1.996, 0, 270, 0, [SEP] 21, LightSwitch, -6.0, 1.381, 2.882, 0, 90, 0, [SEP] 22, Painting, -0.048, 1.912, 3.687, 90, 270, 0, [SEP] 23, Painting, -5.353, 1.990, -0.694, 90, 180, 0, [SEP] 24, HousePlant, -0.289, 0.840, 0.301, 0, 0, 0, [SEP] 25, FloorLamp, -4.100, 0.013, -0.468, 0, 0, 0, [SEP] 26, Window, -4.131, 1.557, -0.827, 90, 180, 0, [SEP] 27, Window, -0.972, 1.557, -0.827, 90, 180, 0, [SEP] 28, Window, -2.553, 1.557, -0.827, 90, 180, 0, [SEP] 29, Drawer, -0.359, 0.583, 0.516, 0, 270, 0, [SEP] 30, Drawer, -0.359, 0.220, 0.516, 0, 270, 0, [SEP] 31, SideTable, -0.276, 0.015, 0.516, 0, 270, 0, [SEP] 32, TVStand, 0.172, 0.591, 1.982, 0, 270, 0, [SEP] 33, DiningTable, 0.172, 0.859, 1.982, 0, 270, 0, [SEP] 34, DiningTable, 0.172, 0.673, 1.982, 0, 270, 0, [SEP] 35, Drawer, -0.309, 1.052, 3.610, 0, 270, 0, [SEP] 36, Drawer, -0.309, 0.761, 3.610, 0, 270, 0, [SEP] 37, Dresser, -0.265, 0.007, 3.609, 0, 270, 0, [SEP] 38, Drawer, -0.309, 0.471, 3.610, 0, 270, 0, [SEP] 39, Drawer, -0.309, 0.181, 3.610, 0, 270, 0, [SEP] 40, Sofa, -3.786, 0.015, 3.893, 0, 180, 0, [SEP] 41, RoomDecor, -5.815, 0.010, 4.406, 0, 0, 0, [SEP] 42, RoomDecor, -0.333, 0.010, 4.396, 0, 0, 0, [SEP] 43, RoomDecor, -0.178, 0.010, -0.448, 0, 0, 0, [SEP] 44, RoomDecor, -5.805, 0.010, -0.486, 0, 0, 0, [SEP] 45, Sofa, -2.683, 0.011, -0.124, 0, 0, 0, [SEP] 46, ArmChair, -2.062, 0.014, 4.216, 0, 180, 0, [SEP] 47, CoffeeTable, -2.646, 0.007, 1.150, 0, 0, 0, [SEP] 48, Chair, -1.347, 0.009, 4.243, 0, 180, 0, [SEP] 49, NorthWall, , , , , , , [SEP] 50, EastWall, , , , , , , [SEP] 51, SouthWall, , , , , , , [SEP] 52, WestWall, , , , , , , ", "output": ["STEP 1: Turn right, head towards the sofa, and then turn right towards the coffee table on your right. | STEP 2: Pick up the credit card on the table. | STEP 3: Turn left and walk towards the tall lamp next to the sofa. | STEP 4: Turn on the lamp. | END"]} +{"id": "trial_T20190909_090601_448530-1", "input": "Put a chilled bowl in the cabinet above the fridge. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 2.5, 0.930, -0.25, 0, 180, 0, [SEP] 1, Potato, -0.597, 0.938, -0.730, 0, 45, 0, 64 [SEP] 2, Ladle, 2.966, 0.937, -0.499, 0, 180, 0, 63 [SEP] 3, DishSponge, -0.033, 0.899, -1.291, 0, 45, 0, 85 [SEP] 4, ButterKnife, 3.029, 0.712, -0.454, 0, 180, 0, 60 [SEP] 5, ButterKnife, -1.008, 0.900, 0.176, 0, 0, 0, 64 [SEP] 6, Glassbottle, -0.290, 0.901, -1.547, 0, 45, 0, 85 [SEP] 7, Fork, -0.827, 0.131, 0.839, 0, 0, 0, 94 [SEP] 8, Fork, 3.044, 0.901, -0.698, 0, 0, 0, 63 [SEP] 9, CellPhone, -0.868, 0.323, 1.168, 0, 0, 0, 52 [SEP] 10, CellPhone, 0.710, 0.908, 0.627, 0, 0, 0, 95 [SEP] 11, Mug, 0.773, 0.706, -1.459, 0, 0, 0, 110 [SEP] 12, Lettuce, 0.929, 0.951, -1.503, 0, 0, 0, 110 [SEP] 13, SaltShaker, 0.422, 0.701, -1.475, 0, 0, 0, 72 [SEP] 14, PepperShaker, -0.683, 0.130, -0.706, 0, 45, 0, 84 [SEP] 15, PepperShaker, 0.468, 0.316, -1.556, 0, 0, 0, 70 [SEP] 16, Bowl, -1.052, 0.994, 1.364, 0, 90, 0, 112 [SEP] 17, SoapBottle, 2.888, 0.909, -0.599, 0, 0, 0, 63 [SEP] 18, SoapBottle, -0.964, 0.909, -0.667, 0, 45, 0, 64 [SEP] 19, Tomato, 3.200, 0.937, -0.698, 0, 0, 0, 63 [SEP] 20, Tomato, 0.059, 0.937, -1.383, 0, 45, 0, 85 [SEP] 21, Egg, 1.164, 0.938, -1.531, 0, 0, 0, 110 [SEP] 22, Cup, -0.789, 0.898, 0.399, 0, 0, 0, 64 [SEP] 23, Knife, -0.880, 0.925, -0.850, 0, 135, 0, 64 [SEP] 24, Knife, 0.022, 0.925, -1.731, 0, 90, 0, 85 [SEP] 25, Plate, 3.084, 0.190, 0.629, 0, 0, 0, 73 [SEP] 26, Glassbottle, 3.279, 1.265, -0.790, 0, 0, 0, 77 [SEP] 27, SoapBottle, 3.315, 1.473, -1.333, 0, 0, 0, 78 [SEP] 28, Potato, 3.262, 0.139, 1.573, 0, 225, 0, 105 [SEP] 29, Fork, 3.07, 0.753, 0.098, 0, 270, 0, 109 [SEP] 30, Ladle, 3.102, 1.501, -1.186, 0, 0, 0, 78 [SEP] 31, Pot, -0.600, 0.902, -1.090, 0, 135, 0, 53 [SEP] 32, Kettle, -0.419, 0.902, -1.269, 0, 315, 0, 66 [SEP] 33, Spatula, 3.044, 0.915, -0.499, 0, 0, 0, 63 [SEP] 34, Knife, 3.315, 0.926, -0.279, 0, 90, 0, 63 [SEP] 35, Lettuce, 0.710, 0.976, 0.426, 0, 0, 0, 95 [SEP] 36, Cup, 3.044, 1.462, -1.697, 0, 0, 0, 62 [SEP] 37, SaltShaker, -0.779, 0.130, -0.708, 0, 45, 0, 90 [SEP] 38, Egg, 0.929, 1.126, -1.448, 0, 0, 0, 110 [SEP] 39, PepperShaker, 0.494, 0.896, -1.373, 0, 0, 0, 85 [SEP] 40, ButterKnife, 1.229, 0.911, 0.605, 0, 0, 0, 95 [SEP] 41, Apple, -0.705, 0.974, -0.621, 0, 45, 0, 64 [SEP] 42, Pan, 0.341, 0.873, -1.649, 0, 167.065, 0, 85 [SEP] 43, Bread, 0.445, 0.986, 0.727, 0, 0, 0, 95 [SEP] 44, CellPhone, 0.967, 0.905, 0.322, 0, 0, 0, 95 [SEP] 45, DishSponge, 3.141, 0.175, -0.744, 0, 0, 0, 76 [SEP] 46, Tomato, 1.164, 1.110, -1.503, 0, 0, 0, 110 [SEP] 47, Spoon, 3.070, 0.748, 0.231, 0, 90, 0, 109 [SEP] 48, Bowl, 0.808, 1.671, -1.410, 0, 0, 0, 79 [SEP] 49, Mug, 0.929, 0.706, -1.407, 0, 0, 0, 110 [SEP] 50, Drawer, 0.376, 0.572, -1.509, 0, 0, 0, [SEP] 51, Drawer, 3.020, 0.769, -0.783, 0, 180, 0, [SEP] 52, Drawer, -0.860, 0.577, 1.429, 0, 0, 0, [SEP] 53, StoveBurner, -0.600, 0.897, -1.090, 0, 135, 0, [SEP] 54, Drawer, 0.376, 0.191, -1.509, 0, 0, 0, [SEP] 55, Cabinet, 1.402, 1.874, -1.259, 0, 0, 0, [SEP] 56, Cabinet, -0.202, 1.963, -1.328, 0, 0, 0, [SEP] 57, Drawer, -0.860, 0.765, 1.429, 0, 0, 0, [SEP] 58, Drawer, -0.677, 0.765, -0.700, 0, 0, 0, [SEP] 59, StoveBurner, -0.420, 0.897, -0.920, 0, 135, 0, [SEP] 60, Drawer, 3.020, 0.769, -0.407, 0, 180, 0, [SEP] 61, Drawer, -0.860, 0.577, 0.663, 0, 0, 0, [SEP] 62, Cabinet, 2.819, 1.768, -1.850, 0, 0, 0, [SEP] 63, CounterTop, 3.111, 0.936, 0.019, 0, 0, 0, [SEP] 64, CounterTop, -1.007, 0.935, -0.039, 0, 0, 0, [SEP] 65, Drawer, -0.860, 0.385, 0.663, 0, 0, 0, [SEP] 66, StoveBurner, -0.419, 0.897, -1.269, 0, 315, 0, [SEP] 67, Drawer, -0.047, 0.573, -1.324, 0, 0, 0, [SEP] 68, Drawer, -0.860, 0.765, 0.663, 0, 0, 0, [SEP] 69, Drawer, -0.860, 0.385, -0.100, 0, 0, 0, [SEP] 70, Drawer, 0.376, 0.380, -1.509, 0, 0, 0, [SEP] 71, Drawer, -0.860, 0.765, -0.100, 0, 0, 0, [SEP] 72, Drawer, 0.376, 0.765, -1.509, 0, 0, 0, [SEP] 73, Cabinet, 2.849, 0.419, 0.409, 0, 0, 0, [SEP] 74, Drawer, -0.047, 0.765, -1.324, 0, 0, 0, [SEP] 75, Cabinet, 2.849, 0.419, -0.610, 0, 0, 0, [SEP] 76, Cabinet, 2.849, 0.419, -0.959, 0, 0, 0, [SEP] 77, Cabinet, 3.069, 1.666, -0.709, 0, 0, 0, [SEP] 78, Cabinet, 2.819, 1.768, -1.047, 0, 0, 0, [SEP] 79, Cabinet, 0.620, 1.874, -1.259, 0, 0, 0, [SEP] 80, Cabinet, 0.140, 1.666, -1.559, 0, 0, 0, [SEP] 81, Cabinet, -0.189, 1.666, -1.340, 0, 0, 0, [SEP] 82, Cabinet, -0.709, 1.963, -0.819, 0, 0, 0, [SEP] 83, Cabinet, -0.920, 1.665, -0.620, 0, 0, 0, [SEP] 84, Drawer, -0.860, 0.190, -0.100, 0, 0, 0, [SEP] 85, CounterTop, 0.133, 0.935, -1.457, 0, 0, 0, [SEP] 86, Drawer, 3.020, 0.769, 0.695, 0, 180, 0, [SEP] 87, Drawer, -0.677, 0.577, -0.700, 0, 0, 0, [SEP] 88, Drawer, -0.860, 0.190, 1.429, 0, 0, 0, [SEP] 89, Drawer, -0.047, 0.192, -1.324, 0, 0, 0, [SEP] 90, Drawer, -0.677, 0.193, -0.700, 0, 0, 0, [SEP] 91, Drawer, -0.860, 0.577, -0.100, 0, 0, 0, [SEP] 92, Sink, 3.078, 0.887, 0.086, 0, 0, 0, [SEP] 93, StoveBurner, -0.239, 0.897, -1.089, 0, 315, 0, [SEP] 94, Drawer, -0.860, 0.190, 0.663, 0, 0, 0, [SEP] 95, CounterTop, 1.210, 0.937, 0.463, 0, 0, 0, [SEP] 96, Drawer, -0.047, 0.381, -1.324, 0, 0, 0, [SEP] 97, Drawer, -0.677, 0.387, -0.700, 0, 0, 0, [SEP] 98, Mirror, -1.295, 1.630, 0.045, 0, 0, 0, [SEP] 99, Drawer, -0.860, 0.385, 1.429, 0, 0, 0, [SEP] 100, HousePlant, 3.196, 0.891, -0.368, 0, 0, 0, [SEP] 101, StoveKnob, -0.090, 0.790, -1.009, 270, 45, 0, [SEP] 102, StoveKnob, -0.280, 0.790, -0.819, 270, 45, 0, [SEP] 103, StoveKnob, -0.180, 0.790, -0.920, 270, 45, 0, [SEP] 104, StoveKnob, -0.370, 0.790, -0.720, 270, 45, 0, [SEP] 105, GarbageCan, 3.137, 0.025, 1.545, 0, 225, 0, [SEP] 106, Window, 3.703, 1.675, 0.046, 90, 90, 0, [SEP] 107, CoffeeMachine, 3.214, 0.890, 0.697, 0, 270, 0, [SEP] 108, LightSwitch, 2.592, 1.309, -1.880, 0, 0, 0, [SEP] 109, SinkBasin, 3.069, 0.736, 0.108, 0, 90, 0, [SEP] 110, Fridge, 1.008, 0.029, -1.467, 0, 0, 0, [SEP] 111, Toaster, -1.035, 0.873, -0.396, 0, 90, 0, [SEP] 112, Microwave, -1.034, 0.874, 1.428, 0, 90, 0, [SEP] 113, Faucet, 3.305, 0.886, 0.094, 270, 180, 0, [SEP] 114, NorthWall, , , , , , , [SEP] 115, EastWall, , , , , , , [SEP] 116, SouthWall, , , , , , , [SEP] 117, WestWall, , , , , , , ", "output": ["STEP 1: Turn right, go across the room, turn right and then turn left to face the bowl on the counter. | STEP 2: Pick up the bowl on the counter. | STEP 3: Turn left and go to the fridge. | STEP 4: Chill the bowl in the fridge and then take it back out. | STEP 5: Look up at the cabinet above the fridge. | STEP 6: Put the bowl in the right cabinet above the fridge. | END"]} +{"id": "trial_T20190908_103506_064692-2", "input": "Get spoon from back of sink, put in bowl in refrigerator, put bowl and spoon on table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.900, 1.0, 0, 180, 0, [SEP] 1, Potato, -1.199, 0.962, 0.636, 0, 0, 0, 71 [SEP] 2, Potato, -0.908, 1.077, 1.920, 0, 0, 0, 49 [SEP] 3, Ladle, -2.011, 1.164, 0.190, 0, 90, 0, 59 [SEP] 4, DishSponge, -1.562, 0.048, 0.551, 0, 0, 0, 64 [SEP] 5, ButterKnife, -0.785, 1.048, 3.042, 0, 0, 0, 49 [SEP] 6, ButterKnife, -1.199, 0.931, 0.567, 0, 0, 0, 71 [SEP] 7, Pot, -3.373, 0.916, 2.849, 0, 90, 0, 66 [SEP] 8, Spatula, -1.288, 0.946, 0.567, 0, 270, 0, 71 [SEP] 9, Egg, -0.538, 1.078, 3.042, 0, 0, 0, 49 [SEP] 10, Egg, -1.376, 0.961, 0.221, 0, 0, 0, 71 [SEP] 11, Plate, -3.373, 0.910, 3.132, 0, 90, 0, 66 [SEP] 12, Plate, -3.572, 1.561, 3.132, 0, 90, 0, 66 [SEP] 13, Knife, -2.137, 1.157, 0.567, 0, 0, 0, 59 [SEP] 14, Knife, -0.662, 1.080, 2.817, 0, 0, 0, 49 [SEP] 15, SoapBottle, -1.995, 0.488, 0.646, 0, 0, 0, 50 [SEP] 16, SaltShaker, -1.156, 0.045, 0.381, 0, 0, 0, 53 [SEP] 17, PepperShaker, -2.601, 0.898, 0.612, 0, 0, 0, 58 [SEP] 18, Bread, -3.44, 1.647, 2.920, 0, 90, 0, 66 [SEP] 19, Bread, -0.908, 1.133, 2.817, 0, 0, 0, 49 [SEP] 20, Lettuce, -0.908, 1.124, 3.042, 0, 0, 0, 49 [SEP] 21, Apple, -1.111, 0.998, 0.221, 0, 0, 0, 71 [SEP] 22, Fork, -0.538, 1.048, 3.266, 0, 0, 0, 49 [SEP] 23, SoapBottle, -3.778, 1.125, 0.379, 0, 0, 0, 56 [SEP] 24, Pot, -3.475, 1.133, 0.48, 0, 90, 0, 47 [SEP] 25, Ladle, -0.827, 1.164, 0.478, 0, 0, 0, 61 [SEP] 26, Potato, -0.883, 1.155, 0.659, 0, 0, 0, 61 [SEP] 27, Plate, -1.553, 0.930, 0.498, 0, 0, 0, 71 [SEP] 28, Bread, -0.183, 1.119, 1.892, 0, 0, 0, 49 [SEP] 29, Lettuce, -0.785, 1.125, 1.920, 0, 0, 0, 49 [SEP] 30, Spatula, -1.376, 0.946, 0.428, 0, 90, 0, 71 [SEP] 31, Pan, -3.000, 1.133, 0.227, 0, 270, 0, 63 [SEP] 32, Egg, -3.644, 0.142, 2.008, 0, 0, 0, 70 [SEP] 33, Cup, -0.292, 1.045, 2.593, 0, 0, 0, 49 [SEP] 34, SaltShaker, -2.592, 0.091, 0.512, 0, 0, 0, 52 [SEP] 35, Knife, -0.538, 1.080, 2.593, 0, 0, 0, 49 [SEP] 36, Bowl, -3.307, 1.284, 2.920, 0, 90, 0, 66 [SEP] 37, PepperShaker, -3.959, 1.121, 0.284, 0, 0, 0, 56 [SEP] 38, ButterKnife, -2.262, 1.124, 0.379, 0, 0, 0, 59 [SEP] 39, Apple, -2.388, 1.192, 0.662, 0, 0, 0, 59 [SEP] 40, Tomato, -2.639, 1.165, 0.379, 0, 0, 0, 59 [SEP] 41, DishSponge, -0.538, 1.047, 2.369, 0, 0, 0, 49 [SEP] 42, Spoon, -1.092, 1.154, 0.108, 0, 0, 0, 46 [SEP] 43, Mug, -0.715, 1.119, 0.206, 0, 0, 0, 61 [SEP] 44, StoveKnob, -3.322, 1.053, 0.709, 45, 0, 0, [SEP] 45, StoveBurner, -3.474, 1.097, 0.227, 0, 180, 0, [SEP] 46, Sink, -1.394, 0.982, 0.439, 0, 0, 0, [SEP] 47, StoveBurner, -3.474, 1.097, 0.479, 0, 180, 0, [SEP] 48, StoveKnob, -3.164, 1.053, 0.709, 45, 0, 0, [SEP] 49, DiningTable, -0.620, 0.017, 2.486, 0, 0, 0, [SEP] 50, Drawer, -2.043, 0.608, 0.594, 0, 0, 0, [SEP] 51, Drawer, -2.043, 0.216, 0.594, 0, 0, 0, [SEP] 52, Drawer, -2.498, 0.216, 0.594, 0, 0, 0, [SEP] 53, Cabinet, -1.001, 0.393, 0.734, 0, 0, 0, [SEP] 54, StoveBurner, -3.000, 1.097, 0.480, 0, 0, 0, [SEP] 55, StoveKnob, -3.492, 1.053, 0.709, 45, 0, 0, [SEP] 56, CounterTop, -3.856, 1.160, 0.379, 0, 0, 0, [SEP] 57, Drawer, -2.043, 0.937, 0.599, 0, 0, 0, [SEP] 58, Drawer, -2.509, 0.937, 0.599, 0, 0, 0, [SEP] 59, CounterTop, -2.280, 1.160, 0.379, 0, 0, 0, [SEP] 60, StoveKnob, -2.985, 1.053, 0.709, 45, 0, 0, [SEP] 61, CounterTop, -0.514, 1.160, 0.492, 0, 0, 0, [SEP] 62, Drawer, -2.498, 0.608, 0.594, 0, 0, 0, [SEP] 63, StoveBurner, -3.000, 1.097, 0.227, 0, 0, 0, [SEP] 64, Cabinet, -1.733, 0.393, 0.734, 0, 0, 0, [SEP] 65, CoffeeMachine, -0.153, 1.038, 3.193, 0, 270, 0, [SEP] 66, Fridge, -3.519, 0.0, 2.717, 0, 90, 0, [SEP] 67, Window, -1.394, 1.924, 0.014, 90, 0, 0, [SEP] 68, Window, -3.266, 1.924, 0.014, 90, 0, 0, [SEP] 69, Toaster, -0.225, 1.038, 2.865, 0, 270, 0, [SEP] 70, GarbageCan, -3.696, 0.002, 2.008, 0, 0, 0, [SEP] 71, SinkBasin, -1.389, 0.921, 0.428, 0, 0, 0, [SEP] 72, Microwave, -0.366, 1.113, 0.430, 0, 0, 0, [SEP] 73, HousePlant, -2.155, 1.101, 0.169, 0, 332.897, 0, [SEP] 74, LightSwitch, -2.584, 1.299, 3.5, 0, 180, 0, [SEP] 75, Faucet, -1.393, 1.373, 0.168, 0, 270, 0, [SEP] 76, NorthWall, , , , , , , [SEP] 77, SouthWall, , , , , , , [SEP] 78, SouthWall, , , , , , , ", "output": ["STEP 1: Turn right, go until between counter and sink. Turn left to face counter and sink. | STEP 2: Pick up spoon front the back of the sink, behind the apple. | STEP 3: Turn right, proceed across room, turn left, go to refrigerator. | STEP 4: Open refrigerator, put spoon in bowl on middle shelf. | STEP 5: Pick up bowl and spoon from refrigerator. Shut refrigerator. | STEP 6: Turn around, proceed to table across room. | STEP 7: Place bowl and spoon on table, below fork, to the left of the lettuce. | END"]} +{"id": "trial_T20190909_005249_575405-2", "input": "Place the knife on the square plate on the white table behind the box on the right. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.900, -2.75, 0, 0, 0, [SEP] 1, Potato, -4.122, 0.723, -0.126, 0, 0, 0, 79 [SEP] 2, DishSponge, -3.586, 0.759, -2.841, 0, 199.125, 0, 80 [SEP] 3, ButterKnife, -4.002, 0.691, -0.369, 0, 0, 0, 79 [SEP] 4, ButterKnife, -0.236, 0.941, -1.581, 0, 0, 0, 62 [SEP] 5, Pot, -0.394, 0.942, -1.450, 0, 0, 0, 62 [SEP] 6, Fork, -3.364, 0.895, -0.548, 0, 270, 0, 81 [SEP] 7, Fork, -3.163, 0.895, -0.204, 0, 270, 0, 81 [SEP] 8, Spatula, -3.738, 0.775, -3.278, 0, 289.125, 0, 80 [SEP] 9, Spatula, -0.178, 0.957, -2.901, 0, 315, 0, 44 [SEP] 10, Egg, -0.293, 1.327, -0.878, 0, 270, 0, 74 [SEP] 11, Cup, -0.164, 1.939, -1.844, 0, 0, 0, 53 [SEP] 12, Plate, -4.182, 0.705, -0.308, 0, 0, 0, 79 [SEP] 13, Knife, -4.062, 0.716, -0.430, 0, 0, 0, 79 [SEP] 14, SoapBottle, -2.452, 0.097, -3.571, 0, 0, 0, 69 [SEP] 15, Tomato, -3.396, 0.810, -3.073, 0, 244.125, 0, 80 [SEP] 16, Bread, -3.163, 0.976, -0.462, 0, 270, 0, 81 [SEP] 17, Lettuce, -3.148, 0.851, -3.230, 0, 244.125, 0, 80 [SEP] 18, Lettuce, -2.359, 0.985, -0.290, 0, 270, 0, 81 [SEP] 19, PepperShaker, -3.942, 0.687, -0.248, 0, 0, 0, 79 [SEP] 20, Mug, -3.882, 0.685, -0.430, 0, 0, 0, 79 [SEP] 21, Mug, -3.314, 0.755, -3.241, 0, 244.125, 0, 80 [SEP] 22, Apple, -0.245, 1.550, -0.297, 0, 270, 0, 74 [SEP] 23, SoapBottle, -0.057, 1.500, -2.876, 0, 270, 0, 44 [SEP] 24, Pot, -0.437, 0.961, -1.845, 0, 180, 0, 45 [SEP] 25, Fork, -3.305, 0.760, -3.684, 0, 334.125, 0, 80 [SEP] 26, Cup, -0.389, 0.081, -2.737, 0, 0, 0, 57 [SEP] 27, Tomato, -1.248, 0.993, -3.673, 0, 0, 0, 44 [SEP] 28, Pan, -0.222, 0.961, -2.243, 0, 0, 0, 63 [SEP] 29, Plate, -0.201, 1.589, -1.937, 0, 270, 0, 76 [SEP] 30, Bread, -2.761, 0.976, -0.633, 0, 270, 0, 81 [SEP] 31, Spatula, -4.100, 0.775, -3.286, 0, 109.125, 0, 80 [SEP] 32, Knife, -3.578, 0.785, -3.007, 0, 199.125, 0, 80 [SEP] 33, SaltShaker, -1.151, 0.078, -3.454, 0, 0, 0, 59 [SEP] 34, PepperShaker, -0.465, 0.743, -1.375, 0, 0, 0, 48 [SEP] 35, ButterKnife, -3.364, 0.894, -0.204, 0, 270, 0, 81 [SEP] 36, Apple, -4.242, 0.752, -0.491, 0, 0, 0, 79 [SEP] 37, DishSponge, -0.126, 1.938, -2.179, 0, 0, 0, 54 [SEP] 38, Potato, -4.062, 0.722, -0.491, 0, 0, 0, 79 [SEP] 39, Egg, -0.252, 1.327, -0.762, 0, 270, 0, 74 [SEP] 40, Spoon, -3.350, 0.761, -3.480, 0, 109.125, 0, 80 [SEP] 41, Lettuce, -2.560, 0.985, -0.204, 0, 270, 0, 81 [SEP] 42, Mug, -0.359, 1.483, -0.529, 0, 270, 0, 74 [SEP] 43, Bowl, -0.529, 0.811, -3.221, 0, 315, 0, 73 [SEP] 44, CounterTop, -1.937, 0.977, -3.673, 0, 0, 0, [SEP] 45, StoveBurner, -0.437, 0.924, -1.845, 0, 180, 0, [SEP] 46, StoveBurner, -0.222, 0.924, -1.845, 0, 180, 0, [SEP] 47, StoveBurner, -0.437, 0.924, -2.243, 0, 0, 0, [SEP] 48, Drawer, -0.500, 0.779, -1.450, 0, 0, 0, [SEP] 49, Drawer, -0.481, 0.777, -2.739, 0, 0, 0, [SEP] 50, Drawer, -1.154, 0.782, -3.499, 0, 0, 0, [SEP] 51, Cabinet, -0.337, 2.110, -0.390, 0, 0, 0, [SEP] 52, Cabinet, -0.337, 2.110, -1.272, 0, 0, 0, [SEP] 53, Cabinet, -0.337, 2.110, -1.631, 0, 0, 0, [SEP] 54, Cabinet, -0.337, 2.110, -2.497, 0, 0, 0, [SEP] 55, Cabinet, -0.337, 1.891, -1.286, 0, 0, 0, [SEP] 56, Cabinet, -0.346, 1.891, -3.293, 0, 0, 0, [SEP] 57, Cabinet, -0.629, 0.388, -2.513, 0, 0, 0, [SEP] 58, Cabinet, -0.633, 0.388, -3.008, 0, 0, 0, [SEP] 59, Cabinet, -1.010, 0.388, -3.368, 0, 0, 0, [SEP] 60, Cabinet, -0.629, 0.388, -1.614, 0, 0, 0, [SEP] 61, Cabinet, -0.327, 1.886, -2.513, 0, 0, 0, [SEP] 62, CounterTop, -0.326, 0.976, -1.450, 0, 0, 0, [SEP] 63, StoveBurner, -0.222, 0.924, -2.243, 0, 0, 0, [SEP] 64, Sink, -0.600, 0.929, -3.388, 0, 0, 0, [SEP] 65, StoveKnob, -0.617, 0.899, -1.833, 315, 90, 180, [SEP] 66, StoveKnob, -0.617, 0.899, -2.129, 315, 90, 180, [SEP] 67, StoveKnob, -0.617, 0.899, -2.289, 315, 90, 180, [SEP] 68, StoveKnob, -0.617, 0.899, -1.975, 315, 90, 180, [SEP] 69, GarbageCan, -2.418, -0.032, -3.541, 0, 0, 0, [SEP] 70, CoffeeMachine, -2.513, 0.930, -3.797, 0, 0, 0, [SEP] 71, Window, -1.389, 1.610, -4.113, 90, 0, 0, [SEP] 72, LightSwitch, -4.372, 1.493, -1.031, 0, 90, 0, [SEP] 73, SinkBasin, -0.614, 0.802, -3.384, 0, 315, 0, [SEP] 74, Fridge, -0.314, 0.0, -0.646, 0, 0, 0, [SEP] 75, Toaster, -1.970, 0.930, -3.763, 0, 0, 0, [SEP] 76, Microwave, -0.216, 1.470, -2.054, 0, 270, 0, [SEP] 77, Blinds, -1.373, 2.205, -3.961, 0, 0, 0, [SEP] 78, Faucet, -0.393, 0.930, -3.614, 270, 225, 0, [SEP] 79, SideTable, -4.030, 0.002, -0.301, 0, 185.034, 0, [SEP] 80, DiningTable, -3.586, 0.000, -3.258, 0, 0, 0, [SEP] 81, DiningTable, -3.224, -0.003, -0.453, 0, 0, 0, [SEP] 82, Shelf, -4.030, 0.259, -0.301, 0, 185.034, 0, [SEP] 83, Shelf, -4.030, 0.489, -0.301, 0, 185.034, 0, [SEP] 84, EastWall, , , , , , , [SEP] 85, EastWall, , , , , , , [SEP] 86, SouthWall, , , , , , , ", "output": ["STEP 1: Go to the left then straight to face the black shelf in the corner. | STEP 2: Pick the yellow knife up from off of the shelf. | STEP 3: Place the knife on the square plate. | STEP 4: Pick the square plate up from off of the black shelf. | STEP 5: Move to the right to face the white table. | STEP 6: Place the knife on the plate behind the box on the right. | END"]} +{"id": "trial_T20190908_005144_131948-2", "input": "Stand a racket on a desk. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.901, -1.5, 0, 0, 0, [SEP] 1, Mug, -0.527, 0.063, 2.452, 0, 0, 0, 34 [SEP] 2, Mug, -0.855, 0.667, 2.728, 0, 90, 0, 45 [SEP] 3, CellPhone, -0.709, 0.980, -1.228, 0, 0, 0, 50 [SEP] 4, Pen, -0.703, 0.743, -1.320, 0, 0, 0, 51 [SEP] 5, CreditCard, -0.949, 0.668, 3.075, 0, 90, 0, 45 [SEP] 6, KeyChain, -0.848, 0.416, -1.403, 0, 90, 0, 53 [SEP] 7, KeyChain, -0.543, 0.978, -1.509, 0, 0, 0, 50 [SEP] 8, Book, -1.002, 1.504, -1.166, 0, 0, 0, 49 [SEP] 9, Book, -0.513, 0.681, 1.804, 0, 90, 0, 35 [SEP] 10, Laptop, -0.632, 1.835, 2.481, 0, 0, 0, 54 [SEP] 11, Laptop, -0.731, 1.498, -0.496, 0, 0, 0, 49 [SEP] 12, AlarmClock, -0.667, 0.669, 2.988, 0, 90, 0, 45 [SEP] 13, Book, 1.710, 0.729, -0.748, 0, 270, 0, 59 [SEP] 14, Box, -0.493, 0.2, -0.286, 0, 84.024, 0, [SEP] 15, TennisRacket, -1.345, 0.288, 0.233, 30.000, 270, 180, [SEP] 16, Pen, 1.715, 0.319, -0.362, 0, 90, 0, 61 [SEP] 17, AlarmClock, 2.003, 0.727, -0.010, 0, 270, 0, 59 [SEP] 18, Pillow, -0.63, 1.871, 3.047, 0, 0, 0, 54 [SEP] 19, Pillow, 1.672, 0.536, 1.605, 0, 180, 0, 62 [SEP] 20, CellPhone, -0.703, 1.839, 1.348, 0, 0, 0, 54 [SEP] 21, KeyChain, 1.710, 0.726, -0.502, 0, 270, 0, 59 [SEP] 22, CreditCard, 1.587, 0.432, 1.326, 0, 180, 0, 62 [SEP] 23, CD, -0.890, 0.065, 2.235, 0, 0, 0, 34 [SEP] 24, Pencil, -0.872, 0.681, 2.364, 0, 90, 0, 35 [SEP] 25, Laptop, -0.603, 0.675, 1.245, 0, 180, 0, 35 [SEP] 26, Mug, 1.515, 0.724, 0.236, 0, 270, 0, 59 [SEP] 27, DeskLamp, 2.016, 0.701, 0.708, 0, 0, 0, [SEP] 28, Painting, 2.199, 1.771, -0.101, 90, 270, 0, [SEP] 29, GarbageCan, 2.022, -0.037, -1.239, 0, 270, 0, [SEP] 30, Mirror, 2.229, 1.254, 2.664, 0, 90, 0, [SEP] 31, LightSwitch, 2.199, 1.258, 1.988, 0, 270, 0, [SEP] 32, Window, 1.575, 1.559, -1.953, 90, 180, 0, [SEP] 33, Drawer, -0.551, 0.578, 2.246, 0, 90, 0, [SEP] 34, Cabinet, -0.649, 0.270, 2.247, 0, 90, 0, [SEP] 35, Desk, -0.655, 0.006, 1.814, 0, 90, 0, [SEP] 36, Shelf, 1.769, 0.184, 0.757, 0, 270, 0, [SEP] 37, Shelf, 1.769, 0.572, 0.757, 0, 270, 0, [SEP] 38, Shelf, 1.769, 0.572, 0.935, 0, 270, 0, [SEP] 39, Shelf, 1.769, 0.378, 0.935, 0, 270, 0, [SEP] 40, Shelf, 1.769, 0.378, 0.757, 0, 270, 0, [SEP] 41, Shelf, 1.769, 0.184, 0.935, 0, 270, 0, [SEP] 42, Blinds, 1.547, 2.434, -1.886, 0, 0, 0, [SEP] 43, Drawer, -0.553, 0.155, 2.942, 0, 90, 0, [SEP] 44, Drawer, -0.553, 0.572, 2.942, 0, 90, 0, [SEP] 45, Dresser, -0.665, 0.001, 2.939, 0, 90, 0, [SEP] 46, Drawer, -0.553, 0.376, 2.942, 0, 90, 0, [SEP] 47, Chair, 1.482, 0.012, 0.223, 0, 77.085, 0, [SEP] 48, Chair, -0.199, 0.012, 1.538, 0, 287.086, 0, [SEP] 49, Bed, -0.866, 0.007, -0.919, 0, 0, 0, [SEP] 50, Dresser, -0.772, 0.001, -1.313, 0, 90, 0, [SEP] 51, Drawer, -0.660, 0.830, -1.309, 0, 90, 0, [SEP] 52, Drawer, -0.660, 0.225, -1.309, 0, 90, 0, [SEP] 53, Drawer, -0.660, 0.547, -1.309, 0, 90, 0, [SEP] 54, Bed, -0.872, 1.637, 2.188, 0, 0, 0, [SEP] 55, Drawer, 1.685, 0.160, -0.805, 0, 270, 0, [SEP] 56, Drawer, 1.685, 0.160, -0.378, 0, 270, 0, [SEP] 57, Drawer, 1.685, 0.547, -0.805, 0, 270, 0, [SEP] 58, Drawer, 1.685, 0.547, -0.378, 0, 270, 0, [SEP] 59, Desk, 1.812, 0.003, -0.014, 0, 270, 0, [SEP] 60, Drawer, 1.685, 0.354, -0.805, 0, 270, 0, [SEP] 61, Drawer, 1.685, 0.354, -0.378, 0, 270, 0, [SEP] 62, ArmChair, 1.712, -0.000, 1.532, 0, 270, 0, [SEP] 63, NorthWall, , , , , , , [SEP] 64, EastWall, , , , , , , [SEP] 65, SouthWall, , , , , , , [SEP] 66, WestWall, , , , , , , ", "output": ["STEP 1: Move forward to between the two wooden posts, turn left, head towards the tennis racket | STEP 2: Pick up the tennis racket on the floor. | STEP 3: Turn around, bring the racket to the desk across the room. | STEP 4: Stand the racket on the desk. | END"]} +{"id": "trial_T20190908_022008_075057-2", "input": "get an egg, wash it in the sink to take to the table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.900, -0.75, 0, 270, 0, [SEP] 1, Kettle, -0.343, 1.329, -1.809, 0, 180, 0, 47 [SEP] 2, Potato, -2.614, 0.982, 0.614, 0, 90, 0, 86 [SEP] 3, Potato, -1.959, 1.081, -1.763, 0, 0, 0, 83 [SEP] 4, ButterKnife, -2.065, 0.952, 0.704, 0, 180, 0, 86 [SEP] 5, Pot, 1.007, 0.962, 0.561, 0, 270, 0, 55 [SEP] 6, Fork, 0.960, 0.920, -1.649, 0, 90, 0, 51 [SEP] 7, Spoon, -0.196, 0.775, -1.538, 0, 90, 0, 56 [SEP] 8, Egg, -0.394, 0.105, 0.655, 0, 90, 0, 82 [SEP] 9, Egg, 0.035, 0.947, 0.375, 0, 0, 0, 52 [SEP] 10, Egg, -0.329, 0.105, 0.612, 0, 90, 0, 82 [SEP] 11, Cup, -1.872, 0.779, -1.849, 0, 0, 0, 83 [SEP] 12, Cup, -0.096, 0.910, 0.458, 0, 0, 0, 52 [SEP] 13, Plate, 1.167, 0.913, -1.489, 0, 0, 0, 53 [SEP] 14, Knife, 0.649, 0.944, -1.649, 0, 90, 0, 51 [SEP] 15, SoapBottle, 0.753, 0.918, -1.516, 0, 270, 0, 51 [SEP] 16, Tomato, -2.135, 1.541, -1.849, 0, 0, 0, 83 [SEP] 17, Tomato, -0.096, 0.961, 0.209, 0, 0, 0, 52 [SEP] 18, PepperShaker, 1.830, 0.104, 0.236, 0, 0, 0, 61 [SEP] 19, Bread, -1.928, 1.035, 0.614, 0, 90, 0, 86 [SEP] 20, Lettuce, -0.451, 1.002, -1.820, 0, 0, 0, 53 [SEP] 21, Mug, -2.397, 0.257, -1.644, 0, 90, 0, 83 [SEP] 22, Mug, 0.753, 0.914, -1.715, 0, 90, 0, 51 [SEP] 23, Apple, 1.785, 0.979, 0.375, 0, 0, 0, 68 [SEP] 24, Bread, -1.928, 1.035, 0.255, 0, 90, 0, 86 [SEP] 25, Knife, -2.065, 0.977, 0.165, 0, 180, 0, 86 [SEP] 26, Fork, 1.903, 0.912, -1.654, 0, 0, 0, 53 [SEP] 27, Bowl, 0.332, 0.108, -1.547, 0, 180, 0, 50 [SEP] 28, Kettle, -0.055, 0.9, 0.643, 0, 0, 0, 52 [SEP] 29, Cup, 1.724, 0.910, 0.540, 0, 0, 0, 68 [SEP] 30, Tomato, -1.928, 1.001, 0.435, 0, 90, 0, 86 [SEP] 31, SoapBottle, -0.329, 0.068, 0.439, 0, 90, 0, 82 [SEP] 32, Plate, 0.071, 0.107, 0.320, 0, 0, 0, 63 [SEP] 33, Pot, 1.361, 0.962, 0.561, 0, 270, 0, 58 [SEP] 34, Spatula, -2.477, 0.967, 0.345, 0, 90, 0, 86 [SEP] 35, PaperTowelRoll, -2.614, 1.056, 0.255, 0, 90, 0, 86 [SEP] 36, Egg, -1.872, 1.086, -1.634, 0, 0, 0, 83 [SEP] 37, Lettuce, -1.959, 1.583, -1.763, 0, 0, 0, 83 [SEP] 38, SaltShaker, 1.907, 0.908, 0.209, 0, 0, 0, 68 [SEP] 39, PepperShaker, 1.754, 0.104, 0.274, 0, 0, 0, 61 [SEP] 40, Apple, -1.079, 1.082, -1.803, 0, 0, 0, 75 [SEP] 41, ButterKnife, -2.203, 0.952, 0.345, 0, 90, 0, 86 [SEP] 42, Potato, -1.791, 0.982, 0.435, 0, 90, 0, 86 [SEP] 43, Pan, 1.022, 0.959, 0.288, 0, 219.190, 0, 65 [SEP] 44, DishSponge, 0.025, 0.773, 0.273, 0, 0, 0, 59 [SEP] 45, Spoon, -2.065, 0.953, 0.524, 0, 270, 0, 86 [SEP] 46, Mug, 1.412, 0.907, -1.406, 0, 180, 0, 53 [SEP] 47, Cabinet, -0.193, 1.688, -1.648, 0, 180, 0, [SEP] 48, StoveBurner, 1.360, 0.957, 0.293, 0, 180, 0, [SEP] 49, Drawer, 0.499, 0.792, 0.296, 0, 0, 0, [SEP] 50, Cabinet, 0.095, 0.400, -1.352, 0, 180, 0, [SEP] 51, Sink, 0.711, 0.817, -1.772, 0, 270, 0, [SEP] 52, CounterTop, 0.280, 0.947, 0.458, 0, 0, 0, [SEP] 53, CounterTop, -0.680, 0.947, -1.654, 0, 0, 0, [SEP] 54, Drawer, 1.825, 0.792, 0.296, 0, 0, 0, [SEP] 55, StoveBurner, 1.007, 0.957, 0.561, 0, 270, 0, [SEP] 56, Drawer, -0.150, 0.792, -1.496, 0, 0, 0, [SEP] 57, Drawer, -0.586, 0.792, -1.496, 0, 0, 0, [SEP] 58, StoveBurner, 1.360, 0.957, 0.561, 0, 270, 0, [SEP] 59, Drawer, 0.024, 0.792, 0.296, 0, 0, 0, [SEP] 60, Cabinet, 1.079, 0.400, -1.349, 0, 180, 0, [SEP] 61, Cabinet, 1.669, 0.402, 0.151, 0, 0, 0, [SEP] 62, Cabinet, 0.055, 0.402, -1.351, 0, 0, 0, [SEP] 63, Cabinet, -0.180, 0.402, 0.151, 0, 0, 0, [SEP] 64, Cabinet, 0.729, 0.402, 0.151, 0, 0, 0, [SEP] 65, StoveBurner, 1.007, 0.957, 0.293, 0, 180, 0, [SEP] 66, Drawer, -1.100, 0.792, -1.496, 0, 0, 0, [SEP] 67, Cabinet, -0.396, 0.402, -1.351, 0, 0, 0, [SEP] 68, CounterTop, 1.776, 0.947, 0.458, 0, 0, 0, [SEP] 69, Cabinet, 1.974, 1.688, -1.648, 0, 180, 0, [SEP] 70, Cabinet, -0.820, 0.400, -1.349, 0, 180, 0, [SEP] 71, Toaster, 0.305, 0.900, 0.552, 0, 180, 0, [SEP] 72, LightSwitch, -2.756, 1.307, -0.987, 0, 90, 0, [SEP] 73, Window, 0.582, 1.613, -1.967, 90, 0, 0, [SEP] 74, Window, 1.969, 1.5, -0.615, 90, 270, 0, [SEP] 75, Microwave, -1.037, 0.900, -1.723, 0, 0, 0, [SEP] 76, SinkBasin, 0.377, 0.765, -1.655, 0, 270, 0, [SEP] 77, CoffeeMachine, 0.618, 0.900, 0.600, 0, 180, 0, [SEP] 78, StoveKnob, 1.246, 0.913, 0.118, 45, 180, 0, [SEP] 79, StoveKnob, 1.373, 0.913, 0.118, 45, 180, 0, [SEP] 80, StoveKnob, 0.995, 0.913, 0.118, 45, 180, 0, [SEP] 81, StoveKnob, 1.126, 0.913, 0.118, 45, 180, 0, [SEP] 82, GarbageCan, -0.368, -0.029, 0.539, 0, 90, 0, [SEP] 83, Fridge, -2.134, 0.0, -1.690, 0, 0, 0, [SEP] 84, Faucet, 0.549, 1.046, -1.833, 0, 232.527, 0, [SEP] 85, Stool, -1.475, 0.000, 0.414, 1.233, 280.375, 0, [SEP] 86, DiningTable, -2.255, -0.004, 0.432, 0, 0, 0, [SEP] 87, NorthWall, , , , , , , [SEP] 88, EastWall, , , , , , , [SEP] 89, SouthWall, , , , , , , [SEP] 90, WestWall, , , , , , , ", "output": ["STEP 1: go to the counter and face the toaster | STEP 2: pick up the egg from the counter | STEP 3: take the egg to the sink | STEP 4: wash the egg in the sink and take back out | STEP 5: take the egg to the white dining table | STEP 6: place the egg on the table to the left of the knife | END"]} +{"id": "trial_T20190908_110733_015285-0", "input": "Place two lap tops side by side on the bed. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.910, 3.0, 0, 180, 0, [SEP] 1, Mug, 2.889, 0.806, 3.715, 0, 0, 0, 42 [SEP] 2, Bowl, 2.609, 0.845, 0.230, 0, 90, 0, 43 [SEP] 3, CD, 2.889, 0.806, 2.392, 0, 0, 0, 42 [SEP] 4, CellPhone, 2.575, 0.097, 0.428, 0, 0, 0, 44 [SEP] 5, CreditCard, 2.576, 0.808, 2.613, 0, 0, 0, 42 [SEP] 6, KeyChain, -1.012, 0.914, 4.900, 0, 0, 0, 31 [SEP] 7, Book, -0.594, 0.713, 3.105, 0, 0, 0, 28 [SEP] 8, RemoteControl, 2.533, 0.095, 0.819, 0, 0, 0, 44 [SEP] 9, AlarmClock, 2.680, 0.816, 2.392, 0, 0, 0, 42 [SEP] 10, AlarmClock, 2.447, 0.753, -1.516, 0, 0, 0, 51 [SEP] 11, Laptop, 2.275, 0.397, -0.681, 0, 270, 0, 46 [SEP] 12, Laptop, -0.815, 0.911, 4.717, 0, 0, 0, 31 [SEP] 13, Laptop, -1.128, 0.397, -1.227, 0, 90, 0, 40 [SEP] 14, Book, 2.576, 0.806, 3.715, 0, 0, 0, 42 [SEP] 15, AlarmClock, -0.815, 0.921, 3.982, 0, 0, 0, 31 [SEP] 16, CellPhone, 2.262, 0.807, 2.613, 0, 0, 0, 42 [SEP] 17, Bowl, 2.367, 0.809, 3.053, 0, 0, 0, 42 [SEP] 18, CreditCard, 2.686, 0.745, -1.373, 0, 90, 0, 39 [SEP] 19, KeyChain, 2.609, 0.843, 0.886, 0, 90, 0, 43 [SEP] 20, RemoteControl, 2.397, 0.745, -1.659, 0, 0, 0, 39 [SEP] 21, Laptop, -0.881, 0.911, 4.35, 0, 0, 0, 31 [SEP] 22, Pencil, 2.262, 0.811, 3.053, 0, 0, 0, 42 [SEP] 23, Pillow, -0.594, 0.785, 2.539, 0, 0, 0, 28 [SEP] 24, Pillow, -1.073, 0.785, 3.105, 0, 0, 0, 28 [SEP] 25, CD, 2.367, 0.807, 3.274, 0, 0, 0, 42 [SEP] 26, Pen, 2.850, 0.848, 0.624, 0, 180, 0, 43 [SEP] 27, Mug, 2.262, 0.806, 3.494, 0, 0, 0, 42 [SEP] 28, Bed, -0.594, 0.009, 2.298, 0, 0, 0, [SEP] 29, Mirror, -1.184, 1.603, 4.348, 0, 0, 0, [SEP] 30, Television, 2.738, 1.330, 0.622, 0, 270, 0, [SEP] 31, CounterTop, -0.890, 0.951, 4.349, 0, 0, 0, [SEP] 32, LightSwitch, 0.800, 1.371, 5.245, 0, 90, 0, [SEP] 33, Painting, 2.992, 1.529, 3.415, 90, 270, 0, [SEP] 34, Painting, 2.992, 1.529, 2.553, 90, 270, 0, [SEP] 35, DeskLamp, 2.625, 0.772, -1.469, 0, 0, 0, [SEP] 36, DeskLamp, 2.668, 0.810, 3.082, 0, 358.947, 0, [SEP] 37, GarbageCan, -0.626, -0.009, 3.742, 0, 0, 0, [SEP] 38, Window, -0.453, 1.450, -2.058, 90, 180, 0, [SEP] 39, SideTable, 2.565, 0.009, -1.534, 0, 0, 0, [SEP] 40, ArmChair, -1.277, 0.009, -1.169, 0, 90, 0, [SEP] 41, Blinds, -0.5, 2.174, -1.957, 0, 0, 0, [SEP] 42, Desk, 2.572, 0.011, 3.054, 0, 270, 0, [SEP] 43, SideTable, 2.645, 0.009, 0.624, 0, 270, 0, [SEP] 44, Drawer, 2.525, 0.214, 0.624, 0, 270, 0, [SEP] 45, Drawer, 2.525, 0.578, 0.624, 0, 270, 0, [SEP] 46, ArmChair, 2.424, 0.009, -0.564, 0, 270, 0, [SEP] 47, LaundryHamper, 3.457, 0.009, 4.555, 0, 270, 0, [SEP] 48, Chair, 2.591, 0.020, 2.015, 0, 0, 0, [SEP] 49, Chair, 2.184, 0.020, 3.440, 0, 120.016, 0, [SEP] 50, Chair, 2.211, 0.020, 2.592, 0, 74.981, 0, [SEP] 51, , , , , , , , [SEP] 52, NorthWall, , , , , , , [SEP] 53, EastWall, , , , , , , [SEP] 54, SouthWall, , , , , , , [SEP] 55, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk towards the door, then turn left and enter the bathroom. | STEP 2: Close and pick up the lap top in the middle | STEP 3: Turn around and walk out the bathroom, turn right and walk past the bed towards the green chair, turn right and walk towards the bed. | STEP 4: Place the lap top on the bed. | STEP 5: Turn around and walk towards the green chair by the window, then turn right. | STEP 6: Close and pick up the lap top in the green chair. | STEP 7: Turn right and walk towards the bed. | STEP 8: Place the lap top on the right side of the other one. | END"]} +{"id": "trial_T20190908_110733_015285-1", "input": "Put two computers on the bed. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.910, 3.0, 0, 180, 0, [SEP] 1, Mug, 2.889, 0.806, 3.715, 0, 0, 0, 42 [SEP] 2, Bowl, 2.609, 0.845, 0.230, 0, 90, 0, 43 [SEP] 3, CD, 2.889, 0.806, 2.392, 0, 0, 0, 42 [SEP] 4, CellPhone, 2.575, 0.097, 0.428, 0, 0, 0, 44 [SEP] 5, CreditCard, 2.576, 0.808, 2.613, 0, 0, 0, 42 [SEP] 6, KeyChain, -1.012, 0.914, 4.900, 0, 0, 0, 31 [SEP] 7, Book, -0.594, 0.713, 3.105, 0, 0, 0, 28 [SEP] 8, RemoteControl, 2.533, 0.095, 0.819, 0, 0, 0, 44 [SEP] 9, AlarmClock, 2.680, 0.816, 2.392, 0, 0, 0, 42 [SEP] 10, AlarmClock, 2.447, 0.753, -1.516, 0, 0, 0, 51 [SEP] 11, Laptop, 2.275, 0.397, -0.681, 0, 270, 0, 46 [SEP] 12, Laptop, -0.815, 0.911, 4.717, 0, 0, 0, 31 [SEP] 13, Laptop, -1.128, 0.397, -1.227, 0, 90, 0, 40 [SEP] 14, Book, 2.576, 0.806, 3.715, 0, 0, 0, 42 [SEP] 15, AlarmClock, -0.815, 0.921, 3.982, 0, 0, 0, 31 [SEP] 16, CellPhone, 2.262, 0.807, 2.613, 0, 0, 0, 42 [SEP] 17, Bowl, 2.367, 0.809, 3.053, 0, 0, 0, 42 [SEP] 18, CreditCard, 2.686, 0.745, -1.373, 0, 90, 0, 39 [SEP] 19, KeyChain, 2.609, 0.843, 0.886, 0, 90, 0, 43 [SEP] 20, RemoteControl, 2.397, 0.745, -1.659, 0, 0, 0, 39 [SEP] 21, Laptop, -0.881, 0.911, 4.35, 0, 0, 0, 31 [SEP] 22, Pencil, 2.262, 0.811, 3.053, 0, 0, 0, 42 [SEP] 23, Pillow, -0.594, 0.785, 2.539, 0, 0, 0, 28 [SEP] 24, Pillow, -1.073, 0.785, 3.105, 0, 0, 0, 28 [SEP] 25, CD, 2.367, 0.807, 3.274, 0, 0, 0, 42 [SEP] 26, Pen, 2.850, 0.848, 0.624, 0, 180, 0, 43 [SEP] 27, Mug, 2.262, 0.806, 3.494, 0, 0, 0, 42 [SEP] 28, Bed, -0.594, 0.009, 2.298, 0, 0, 0, [SEP] 29, Mirror, -1.184, 1.603, 4.348, 0, 0, 0, [SEP] 30, Television, 2.738, 1.330, 0.622, 0, 270, 0, [SEP] 31, CounterTop, -0.890, 0.951, 4.349, 0, 0, 0, [SEP] 32, LightSwitch, 0.800, 1.371, 5.245, 0, 90, 0, [SEP] 33, Painting, 2.992, 1.529, 3.415, 90, 270, 0, [SEP] 34, Painting, 2.992, 1.529, 2.553, 90, 270, 0, [SEP] 35, DeskLamp, 2.625, 0.772, -1.469, 0, 0, 0, [SEP] 36, DeskLamp, 2.668, 0.810, 3.082, 0, 358.947, 0, [SEP] 37, GarbageCan, -0.626, -0.009, 3.742, 0, 0, 0, [SEP] 38, Window, -0.453, 1.450, -2.058, 90, 180, 0, [SEP] 39, SideTable, 2.565, 0.009, -1.534, 0, 0, 0, [SEP] 40, ArmChair, -1.277, 0.009, -1.169, 0, 90, 0, [SEP] 41, Blinds, -0.5, 2.174, -1.957, 0, 0, 0, [SEP] 42, Desk, 2.572, 0.011, 3.054, 0, 270, 0, [SEP] 43, SideTable, 2.645, 0.009, 0.624, 0, 270, 0, [SEP] 44, Drawer, 2.525, 0.214, 0.624, 0, 270, 0, [SEP] 45, Drawer, 2.525, 0.578, 0.624, 0, 270, 0, [SEP] 46, ArmChair, 2.424, 0.009, -0.564, 0, 270, 0, [SEP] 47, LaundryHamper, 3.457, 0.009, 4.555, 0, 270, 0, [SEP] 48, Chair, 2.591, 0.020, 2.015, 0, 0, 0, [SEP] 49, Chair, 2.184, 0.020, 3.440, 0, 120.016, 0, [SEP] 50, Chair, 2.211, 0.020, 2.592, 0, 74.981, 0, [SEP] 51, , , , , , , , [SEP] 52, NorthWall, , , , , , , [SEP] 53, EastWall, , , , , , , [SEP] 54, SouthWall, , , , , , , [SEP] 55, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and head towards the door, then turn left and head towards the computers on the shelf. | STEP 2: Pick up the left computer on the shelf. | STEP 3: Turn around and head to the foot of the bed on the right. | STEP 4: Put the computer on the bed. | STEP 5: Turn around and go to the green chair. on the right. | STEP 6: Pick up the compute on the chair. | STEP 7: Turn right and bring the computer to the bed. | STEP 8: Put the computer on the bed, to the right of the other computer. | END"]} +{"id": "trial_T20190908_110733_015285-4", "input": "Put two laptops on the bed. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.910, 3.0, 0, 180, 0, [SEP] 1, Mug, 2.889, 0.806, 3.715, 0, 0, 0, 42 [SEP] 2, Bowl, 2.609, 0.845, 0.230, 0, 90, 0, 43 [SEP] 3, CD, 2.889, 0.806, 2.392, 0, 0, 0, 42 [SEP] 4, CellPhone, 2.575, 0.097, 0.428, 0, 0, 0, 44 [SEP] 5, CreditCard, 2.576, 0.808, 2.613, 0, 0, 0, 42 [SEP] 6, KeyChain, -1.012, 0.914, 4.900, 0, 0, 0, 31 [SEP] 7, Book, -0.594, 0.713, 3.105, 0, 0, 0, 28 [SEP] 8, RemoteControl, 2.533, 0.095, 0.819, 0, 0, 0, 44 [SEP] 9, AlarmClock, 2.680, 0.816, 2.392, 0, 0, 0, 42 [SEP] 10, AlarmClock, 2.447, 0.753, -1.516, 0, 0, 0, 51 [SEP] 11, Laptop, 2.275, 0.397, -0.681, 0, 270, 0, 46 [SEP] 12, Laptop, -0.815, 0.911, 4.717, 0, 0, 0, 31 [SEP] 13, Laptop, -1.128, 0.397, -1.227, 0, 90, 0, 40 [SEP] 14, Book, 2.576, 0.806, 3.715, 0, 0, 0, 42 [SEP] 15, AlarmClock, -0.815, 0.921, 3.982, 0, 0, 0, 31 [SEP] 16, CellPhone, 2.262, 0.807, 2.613, 0, 0, 0, 42 [SEP] 17, Bowl, 2.367, 0.809, 3.053, 0, 0, 0, 42 [SEP] 18, CreditCard, 2.686, 0.745, -1.373, 0, 90, 0, 39 [SEP] 19, KeyChain, 2.609, 0.843, 0.886, 0, 90, 0, 43 [SEP] 20, RemoteControl, 2.397, 0.745, -1.659, 0, 0, 0, 39 [SEP] 21, Laptop, -0.881, 0.911, 4.35, 0, 0, 0, 31 [SEP] 22, Pencil, 2.262, 0.811, 3.053, 0, 0, 0, 42 [SEP] 23, Pillow, -0.594, 0.785, 2.539, 0, 0, 0, 28 [SEP] 24, Pillow, -1.073, 0.785, 3.105, 0, 0, 0, 28 [SEP] 25, CD, 2.367, 0.807, 3.274, 0, 0, 0, 42 [SEP] 26, Pen, 2.850, 0.848, 0.624, 0, 180, 0, 43 [SEP] 27, Mug, 2.262, 0.806, 3.494, 0, 0, 0, 42 [SEP] 28, Bed, -0.594, 0.009, 2.298, 0, 0, 0, [SEP] 29, Mirror, -1.184, 1.603, 4.348, 0, 0, 0, [SEP] 30, Television, 2.738, 1.330, 0.622, 0, 270, 0, [SEP] 31, CounterTop, -0.890, 0.951, 4.349, 0, 0, 0, [SEP] 32, LightSwitch, 0.800, 1.371, 5.245, 0, 90, 0, [SEP] 33, Painting, 2.992, 1.529, 3.415, 90, 270, 0, [SEP] 34, Painting, 2.992, 1.529, 2.553, 90, 270, 0, [SEP] 35, DeskLamp, 2.625, 0.772, -1.469, 0, 0, 0, [SEP] 36, DeskLamp, 2.668, 0.810, 3.082, 0, 358.947, 0, [SEP] 37, GarbageCan, -0.626, -0.009, 3.742, 0, 0, 0, [SEP] 38, Window, -0.453, 1.450, -2.058, 90, 180, 0, [SEP] 39, SideTable, 2.565, 0.009, -1.534, 0, 0, 0, [SEP] 40, ArmChair, -1.277, 0.009, -1.169, 0, 90, 0, [SEP] 41, Blinds, -0.5, 2.174, -1.957, 0, 0, 0, [SEP] 42, Desk, 2.572, 0.011, 3.054, 0, 270, 0, [SEP] 43, SideTable, 2.645, 0.009, 0.624, 0, 270, 0, [SEP] 44, Drawer, 2.525, 0.214, 0.624, 0, 270, 0, [SEP] 45, Drawer, 2.525, 0.578, 0.624, 0, 270, 0, [SEP] 46, ArmChair, 2.424, 0.009, -0.564, 0, 270, 0, [SEP] 47, LaundryHamper, 3.457, 0.009, 4.555, 0, 270, 0, [SEP] 48, Chair, 2.591, 0.020, 2.015, 0, 0, 0, [SEP] 49, Chair, 2.184, 0.020, 3.440, 0, 120.016, 0, [SEP] 50, Chair, 2.211, 0.020, 2.592, 0, 74.981, 0, [SEP] 51, , , , , , , , [SEP] 52, NorthWall, , , , , , , [SEP] 53, EastWall, , , , , , , [SEP] 54, SouthWall, , , , , , , [SEP] 55, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and take a step then turn left and walk to the middle of the tiles to your left then turn left and walk to the counter. | STEP 2: Close the middle laptop and pick it up. | STEP 3: Turn around and walk past the wall to your right and when you do turn right and walk past the bed then turn right and walk to the middle of this side of the bed and turn right. | STEP 4: Put the laptop on the bed. | STEP 5: Walk back to where you got the first laptop. | STEP 6: Close the laptop and pick it up. | STEP 7: Walk back to where you put the first laptop. | STEP 8: Put the laptop you're holding on the bed. | END"]} +{"id": "trial_T20190907_165133_211823-0", "input": "Heat a cup and place it on the table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.75, 0.900, -1.75, 0, 180, 0, [SEP] 1, Potato, -3.163, 0.926, -0.290, 0, 270, 0, 81 [SEP] 2, Potato, -0.626, 0.845, -3.240, 0, 315, 0, 73 [SEP] 3, ButterKnife, -0.933, 0.942, -3.672, 0, 45, 0, 44 [SEP] 4, ButterKnife, -0.397, 0.942, -2.729, 0, 0, 0, 44 [SEP] 5, Pot, -2.962, 0.895, -0.290, 0, 270, 0, 81 [SEP] 6, Spoon, -0.236, 0.942, -1.362, 0, 0, 0, 62 [SEP] 7, Egg, -4.062, 0.731, -0.126, 0, 0, 0, 79 [SEP] 8, Egg, -0.397, 1.529, -0.297, 0, 270, 0, 74 [SEP] 9, Cup, -0.397, 1.489, -0.413, 0, 270, 0, 74 [SEP] 10, Cup, -3.942, 0.691, -0.308, 0, 0, 0, 79 [SEP] 11, Cup, -4.009, 0.760, -3.578, 0, 244.125, 0, 80 [SEP] 12, Plate, -2.359, 0.908, -0.462, 0, 270, 0, 81 [SEP] 13, Knife, -2.761, 0.920, -0.290, 0, 270, 0, 81 [SEP] 14, Knife, -3.496, 0.785, -3.433, 0, 334.125, 0, 80 [SEP] 15, Tomato, -0.394, 0.992, -1.538, 0, 0, 0, 62 [SEP] 16, Bowl, -3.952, 0.758, -3.342, 0, 244.125, 0, 80 [SEP] 17, Bowl, -4.122, 0.688, -0.248, 0, 0, 0, 79 [SEP] 18, Bread, -3.565, 0.976, -0.376, 0, 270, 0, 81 [SEP] 19, Lettuce, -0.283, 1.579, -0.646, 0, 270, 0, 74 [SEP] 20, SaltShaker, -3.364, 0.890, -0.204, 0, 270, 0, 81 [SEP] 21, Apple, -0.552, 1.002, -1.406, 0, 0, 0, 62 [SEP] 22, Apple, -3.562, 0.821, -3.084, 0, 244.125, 0, 80 [SEP] 23, SoapBottle, -1.084, 0.079, -3.532, 0, 0, 0, 59 [SEP] 24, Pot, -0.222, 0.961, -1.845, 0, 180, 0, 46 [SEP] 25, Fork, -0.577, 0.751, -2.685, 0, 90, 0, 49 [SEP] 26, Cup, -0.376, 1.287, -0.297, 0, 270, 0, 74 [SEP] 27, Tomato, -1.694, 0.993, -3.595, 0, 0, 0, 44 [SEP] 28, Pan, -0.222, 0.961, -2.243, 0, 0, 0, 63 [SEP] 29, Plate, -2.560, 0.908, -0.204, 0, 270, 0, 81 [SEP] 30, Bread, -3.721, 0.841, -3.611, 0, 199.125, 0, 80 [SEP] 31, Spatula, -3.519, 0.775, -3.027, 0, 199.125, 0, 80 [SEP] 32, Knife, -4.062, 0.716, -0.430, 0, 180, 0, 79 [SEP] 33, SaltShaker, -0.218, 0.938, -3.096, 0, 45, 0, 44 [SEP] 34, PepperShaker, -0.126, 1.935, -2.179, 0, 0, 0, 54 [SEP] 35, ButterKnife, -2.761, 0.894, -0.548, 0, 270, 0, 81 [SEP] 36, Apple, -0.245, 1.550, -0.297, 0, 270, 0, 74 [SEP] 37, DishSponge, -0.473, 1.503, -3.702, 0, 45, 0, 56 [SEP] 38, Potato, -0.236, 0.973, -1.538, 0, 0, 0, 62 [SEP] 39, Egg, -0.293, 1.327, -0.994, 0, 270, 0, 74 [SEP] 40, Spoon, -0.529, 0.814, -3.221, 0, 315, 0, 73 [SEP] 41, Lettuce, -0.292, 1.033, -2.963, 0, 45, 0, 44 [SEP] 42, Mug, -3.645, 0.755, -2.820, 0, 199.125, 0, 80 [SEP] 43, Bowl, -2.359, 0.892, -0.204, 0, 270, 0, 81 [SEP] 44, CounterTop, -1.937, 0.977, -3.673, 0, 0, 0, [SEP] 45, StoveBurner, -0.437, 0.924, -1.845, 0, 180, 0, [SEP] 46, StoveBurner, -0.222, 0.924, -1.845, 0, 180, 0, [SEP] 47, StoveBurner, -0.437, 0.924, -2.243, 0, 0, 0, [SEP] 48, Drawer, -0.500, 0.779, -1.450, 0, 0, 0, [SEP] 49, Drawer, -0.481, 0.777, -2.739, 0, 0, 0, [SEP] 50, Drawer, -1.154, 0.782, -3.499, 0, 0, 0, [SEP] 51, Cabinet, -0.337, 2.110, -0.390, 0, 0, 0, [SEP] 52, Cabinet, -0.337, 2.110, -1.272, 0, 0, 0, [SEP] 53, Cabinet, -0.337, 2.110, -1.631, 0, 0, 0, [SEP] 54, Cabinet, -0.337, 2.110, -2.497, 0, 0, 0, [SEP] 55, Cabinet, -0.337, 1.891, -1.286, 0, 0, 0, [SEP] 56, Cabinet, -0.346, 1.891, -3.293, 0, 0, 0, [SEP] 57, Cabinet, -0.629, 0.388, -2.513, 0, 0, 0, [SEP] 58, Cabinet, -0.633, 0.388, -3.008, 0, 0, 0, [SEP] 59, Cabinet, -1.010, 0.388, -3.368, 0, 0, 0, [SEP] 60, Cabinet, -0.629, 0.388, -1.614, 0, 0, 0, [SEP] 61, Cabinet, -0.327, 1.886, -2.513, 0, 0, 0, [SEP] 62, CounterTop, -0.326, 0.976, -1.450, 0, 0, 0, [SEP] 63, StoveBurner, -0.222, 0.924, -2.243, 0, 0, 0, [SEP] 64, Sink, -0.600, 0.929, -3.388, 0, 0, 0, [SEP] 65, StoveKnob, -0.617, 0.899, -1.833, 315, 90, 180, [SEP] 66, StoveKnob, -0.617, 0.899, -2.129, 315, 90, 180, [SEP] 67, StoveKnob, -0.617, 0.899, -2.289, 315, 90, 180, [SEP] 68, StoveKnob, -0.617, 0.899, -1.975, 315, 90, 180, [SEP] 69, GarbageCan, -2.418, -0.032, -3.541, 0, 0, 0, [SEP] 70, CoffeeMachine, -2.513, 0.930, -3.797, 0, 0, 0, [SEP] 71, Window, -1.389, 1.610, -4.113, 90, 0, 0, [SEP] 72, LightSwitch, -4.372, 1.493, -1.031, 0, 90, 0, [SEP] 73, SinkBasin, -0.614, 0.802, -3.384, 0, 315, 0, [SEP] 74, Fridge, -0.314, 0.0, -0.646, 0, 0, 0, [SEP] 75, Toaster, -1.970, 0.930, -3.763, 0, 0, 0, [SEP] 76, Microwave, -0.216, 1.470, -2.054, 0, 270, 0, [SEP] 77, Blinds, -1.373, 2.205, -3.961, 0, 0, 0, [SEP] 78, Faucet, -0.393, 0.930, -3.614, 270, 225, 0, [SEP] 79, SideTable, -4.030, 0.002, -0.301, 0, 185.034, 0, [SEP] 80, DiningTable, -3.586, 0.000, -3.258, 0, 0, 0, [SEP] 81, DiningTable, -3.224, -0.003, -0.453, 0, 0, 0, [SEP] 82, Shelf, -4.030, 0.259, -0.301, 0, 185.034, 0, [SEP] 83, Shelf, -4.030, 0.489, -0.301, 0, 185.034, 0, [SEP] 84, EastWall, , , , , , , [SEP] 85, EastWall, , , , , , , [SEP] 86, SouthWall, , , , , , , ", "output": ["STEP 1: Turn around a find the small black table in the corner. | STEP 2: Pick up the cup from the back right of the table. | STEP 3: Take the cup and turn around and go left to locate the stove. | STEP 4: Put the cup in the microwave and turn it on. When finished, take it back out. | STEP 5: Take the cup and turn around and go back to the small table on the right. | STEP 6: Place the cup on the table, behind the knife. | END"]} +{"id": "trial_T20190907_030820_688283-1", "input": "place a microwaved potato on top of the kitchen table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.5, 0.900, 0.25, 0, 180, 0, [SEP] 1, Vase, -2.072, 0.913, -0.288, 0, 0, 0, 55 [SEP] 2, Potato, 0.124, 0.965, -1.790, 0, 270, 0, 52 [SEP] 3, Book, -2.996, 0.871, 3.296, 0, 270, 0, 57 [SEP] 4, Book, -2.584, 0.871, 2.884, 0, 0, 0, 57 [SEP] 5, DishSponge, -0.888, 1.653, -1.674, 0, 0, 0, 67 [SEP] 6, DishSponge, 3.689, 0.880, 1.656, 0, 270, 0, 78 [SEP] 7, ButterKnife, -0.833, 0.912, -1.471, 0, 0, 0, 55 [SEP] 8, WineBottle, -2.152, 0.879, 3.444, 0, 270, 0, 57 [SEP] 9, Spatula, -1.849, 0.927, -0.614, 0, 0, 0, 55 [SEP] 10, Spatula, -2.081, 0.734, -1.647, 0, 90, 0, 74 [SEP] 11, Fork, -2.300, 0.879, 2.863, 0, 135, 0, 57 [SEP] 12, Spoon, 0.571, 0.913, -1.267, 0, 0, 0, 55 [SEP] 13, Knife, -1.961, 0.934, -0.939, 0, 0, 0, 55 [SEP] 14, SoapBottle, 0.525, 0.912, -1.572, 0, 0, 0, 55 [SEP] 15, SoapBottle, -0.040, 0.929, -1.501, 0, 270, 0, 52 [SEP] 16, Tomato, -2.367, 0.922, 3.408, 0, 225, 0, 57 [SEP] 17, Bowl, -2.807, 0.876, 2.715, 0, 0, 0, 57 [SEP] 18, Bowl, -0.330, 0.705, -1.573, 0, 270, 0, 84 [SEP] 19, SaltShaker, -1.649, 0.714, -0.859, 0, 0, 0, 70 [SEP] 20, SaltShaker, -1.975, 0.116, -1.580, 0, 0, 0, 56 [SEP] 21, Mug, -0.149, 0.383, 2.054, 0, 180, 0, 80 [SEP] 22, Apple, -0.377, 1.627, 2.160, 0, 180, 0, 80 [SEP] 23, Book, -1.649, 0.116, -0.766, 0, 0, 0, 60 [SEP] 24, Fork, -1.627, 0.912, -1.265, 0, 0, 0, 55 [SEP] 25, Tomato, -0.149, 1.619, 2.160, 0, 180, 0, 80 [SEP] 26, Egg, 0.307, 0.414, 2.025, 0, 180, 0, 80 [SEP] 27, Kettle, 1.614, 0.911, -1.346, 0, 0, 0, 75 [SEP] 28, Vase, -1.378, 0.913, -1.776, 0, 0, 0, 55 [SEP] 29, Cup, 0.289, 0.927, -1.356, 0, 270, 0, 52 [SEP] 30, WineBottle, -2.143, 0.879, 3.021, 0, 135, 0, 57 [SEP] 31, Plate, -0.263, 0.807, 2.137, 0, 180, 0, 80 [SEP] 32, Spatula, -0.723, 0.927, -1.267, 0, 0, 0, 55 [SEP] 33, Potato, -2.510, 0.911, 3.053, 0, 0, 0, 57 [SEP] 34, Pot, 1.328, 0.957, -1.688, 0, 180, 0, 58 [SEP] 35, Knife, -2.525, 0.896, 3.565, 0, 225, 0, 57 [SEP] 36, SaltShaker, 0.482, 0.714, -1.410, 0, 0, 0, 72 [SEP] 37, PepperShaker, -2.015, 0.715, -1.785, 0, 0, 0, 74 [SEP] 38, Lettuce, -2.436, 0.943, 3.728, 0, 0, 0, 57 [SEP] 39, ButterKnife, 0.289, 0.928, -1.646, 0, 270, 0, 52 [SEP] 40, Bread, -0.263, 1.227, 2.206, 0, 180, 0, 80 [SEP] 41, Vase, 0.700, 1.654, -1.675, 0, 0, 0, 66 [SEP] 42, DishSponge, -2.321, 0.878, 3.147, 0, 270, 0, 57 [SEP] 43, Apple, 0.307, 1.627, 2.100, 0, 180, 0, 80 [SEP] 44, Pan, 1.328, 0.957, -1.420, 0, 180, 0, 59 [SEP] 45, Spoon, -2.490, 0.879, 3.221, 0, 270, 0, 57 [SEP] 46, SoapBottle, -2.405, 0.875, 2.758, 0, 135, 0, 57 [SEP] 47, Mug, 0.549, 0.111, -1.408, 0, 0, 0, 63 [SEP] 48, Statue, 3.689, 0.559, 1.449, 0, 270, 0, 78 [SEP] 49, Statue, 3.668, 0.540, 1.800, 0, 0, 0, 78 [SEP] 50, Bowl, -1.944, 1.655, -1.710, 0, 0, 0, 51 [SEP] 51, Cabinet, -2.171, 2.009, -1.538, 0, 0, 0, [SEP] 52, Sink, 0.024, 0.771, -1.708, 0, 270, 0, [SEP] 53, Cabinet, 1.444, 2.259, -1.542, 0, 0, 0, [SEP] 54, StoveBurner, 0.974, 0.957, -1.688, 0, 180, 0, [SEP] 55, CounterTop, -1.866, 0.947, -0.614, 0, 0, 0, [SEP] 56, Cabinet, -2.217, 0.373, -1.874, 0, 0, 0, [SEP] 57, DiningTable, -2.663, 0.002, 3.208, 0, 0, 0, [SEP] 58, StoveBurner, 1.328, 0.957, -1.688, 0, 180, 0, [SEP] 59, StoveBurner, 1.328, 0.957, -1.420, 0, 180, 0, [SEP] 60, Cabinet, -1.478, 0.373, -1.235, 0, 0, 0, [SEP] 61, Cabinet, 1.775, 0.372, -1.242, 0, 0, 0, [SEP] 62, Cabinet, 0.774, 0.372, -1.242, 0, 0, 0, [SEP] 63, Cabinet, 0.375, 0.372, -1.242, 0, 0, 0, [SEP] 64, Cabinet, -0.574, 0.372, -1.238, 0, 0, 0, [SEP] 65, Cabinet, 1.775, 2.009, -1.542, 0, 0, 0, [SEP] 66, Cabinet, 0.524, 2.009, -1.542, 0, 0, 0, [SEP] 67, Cabinet, -0.714, 2.009, -1.542, 0, 0, 0, [SEP] 68, Cabinet, -1.671, 2.009, -1.538, 0, 0, 0, [SEP] 69, Cabinet, 0.854, 2.259, -1.542, 0, 0, 0, [SEP] 70, Drawer, -1.636, 0.683, -0.930, 0, 0, 0, [SEP] 71, Drawer, 1.650, 0.682, -1.396, 0, 0, 0, [SEP] 72, Drawer, 0.600, 0.682, -1.396, 0, 0, 0, [SEP] 73, StoveBurner, 0.974, 0.957, -1.419, 0, 180, 0, [SEP] 74, Drawer, -2.062, 0.683, -1.579, 0, 0, 0, [SEP] 75, CounterTop, 1.645, 0.945, -1.527, 0, 0, 0, [SEP] 76, Shelf, 3.725, 0.880, 1.671, 0, 90, 0, [SEP] 77, LightSwitch, 2.830, 1.266, -0.748, 0, 0, 0, [SEP] 78, Shelf, 3.726, 0.552, 1.671, 0, 90, 0, [SEP] 79, Microwave, 1.150, 1.655, -1.614, 0, 0, 0, [SEP] 80, Fridge, -0.035, 0.0, 2.177, 0, 180, 0, [SEP] 81, Window, -0.115, 1.802, -1.896, 90, 0, 0, [SEP] 82, Window, -4.009, 1.799, 0.310, 90, 90, 0, [SEP] 83, Shelf, 3.726, 0.172, 1.671, 0, 90, 0, [SEP] 84, SinkBasin, -0.330, 0.686, -1.581, 0, 270, 0, [SEP] 85, GarbageCan, -0.870, -0.001, 2.136, 0, 90, 0, [SEP] 86, StoveKnob, 1.089, 0.913, -1.243, 45, 0, 0, [SEP] 87, StoveKnob, 1.208, 0.913, -1.243, 45, 0, 0, [SEP] 88, StoveKnob, 1.340, 0.913, -1.243, 45, 0, 0, [SEP] 89, StoveKnob, 0.961, 0.913, -1.243, 45, 0, 0, [SEP] 90, Toaster, 1.637, 0.900, -1.673, 0, 0, 0, [SEP] 91, Chair, -3.505, 0.002, 3.290, 0, 105.736, 0, [SEP] 92, CoffeeMachine, -1.111, 0.900, -1.726, 0, 0, 0, [SEP] 93, HousePlant, -2.663, 0.835, 3.209, 0, 0, 0, [SEP] 94, Faucet, -0.187, 0.922, -1.75, 0, 311.166, 0, [SEP] 95, ShelvingUnit, 3.726, 0.006, 1.671, 0, 90, 0, [SEP] 96, Stool, -2.501, -0.000, 0.062, 1.223, 91.243, 0, [SEP] 97, Stool, -2.475, -0.000, -0.802, 1.209, 69.808, 0, [SEP] 98, Chair, -2.934, 0.002, 2.437, 0, 28.531, 0, [SEP] 99, Chair, -1.698, 0.002, 3.235, 0, 245.204, 0, [SEP] 100, NorthWall, , , , , , , [SEP] 101, EastWall, , , , , , , [SEP] 102, SouthWall, , , , , , , [SEP] 103, WestWall, , , , , , , ", "output": ["STEP 1: walk on over to the kitchen sink | STEP 2: grab the potato off of the left sink | STEP 3: turn a bit and walk over to the stove | STEP 4: put the potato in the microwave above the stove too cook, then take it back out | STEP 5: turn around and walk over to the kitchen table | STEP 6: place the cooked potato on top of the table | END"]} +{"id": "trial_T20190907_030820_688283-2", "input": "Put a heated potato on the table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.5, 0.900, 0.25, 0, 180, 0, [SEP] 1, Vase, -2.072, 0.913, -0.288, 0, 0, 0, 55 [SEP] 2, Potato, 0.124, 0.965, -1.790, 0, 270, 0, 52 [SEP] 3, Book, -2.996, 0.871, 3.296, 0, 270, 0, 57 [SEP] 4, Book, -2.584, 0.871, 2.884, 0, 0, 0, 57 [SEP] 5, DishSponge, -0.888, 1.653, -1.674, 0, 0, 0, 67 [SEP] 6, DishSponge, 3.689, 0.880, 1.656, 0, 270, 0, 78 [SEP] 7, ButterKnife, -0.833, 0.912, -1.471, 0, 0, 0, 55 [SEP] 8, WineBottle, -2.152, 0.879, 3.444, 0, 270, 0, 57 [SEP] 9, Spatula, -1.849, 0.927, -0.614, 0, 0, 0, 55 [SEP] 10, Spatula, -2.081, 0.734, -1.647, 0, 90, 0, 74 [SEP] 11, Fork, -2.300, 0.879, 2.863, 0, 135, 0, 57 [SEP] 12, Spoon, 0.571, 0.913, -1.267, 0, 0, 0, 55 [SEP] 13, Knife, -1.961, 0.934, -0.939, 0, 0, 0, 55 [SEP] 14, SoapBottle, 0.525, 0.912, -1.572, 0, 0, 0, 55 [SEP] 15, SoapBottle, -0.040, 0.929, -1.501, 0, 270, 0, 52 [SEP] 16, Tomato, -2.367, 0.922, 3.408, 0, 225, 0, 57 [SEP] 17, Bowl, -2.807, 0.876, 2.715, 0, 0, 0, 57 [SEP] 18, Bowl, -0.330, 0.705, -1.573, 0, 270, 0, 84 [SEP] 19, SaltShaker, -1.649, 0.714, -0.859, 0, 0, 0, 70 [SEP] 20, SaltShaker, -1.975, 0.116, -1.580, 0, 0, 0, 56 [SEP] 21, Mug, -0.149, 0.383, 2.054, 0, 180, 0, 80 [SEP] 22, Apple, -0.377, 1.627, 2.160, 0, 180, 0, 80 [SEP] 23, Book, -1.649, 0.116, -0.766, 0, 0, 0, 60 [SEP] 24, Fork, -1.627, 0.912, -1.265, 0, 0, 0, 55 [SEP] 25, Tomato, -0.149, 1.619, 2.160, 0, 180, 0, 80 [SEP] 26, Egg, 0.307, 0.414, 2.025, 0, 180, 0, 80 [SEP] 27, Kettle, 1.614, 0.911, -1.346, 0, 0, 0, 75 [SEP] 28, Vase, -1.378, 0.913, -1.776, 0, 0, 0, 55 [SEP] 29, Cup, 0.289, 0.927, -1.356, 0, 270, 0, 52 [SEP] 30, WineBottle, -2.143, 0.879, 3.021, 0, 135, 0, 57 [SEP] 31, Plate, -0.263, 0.807, 2.137, 0, 180, 0, 80 [SEP] 32, Spatula, -0.723, 0.927, -1.267, 0, 0, 0, 55 [SEP] 33, Potato, -2.510, 0.911, 3.053, 0, 0, 0, 57 [SEP] 34, Pot, 1.328, 0.957, -1.688, 0, 180, 0, 58 [SEP] 35, Knife, -2.525, 0.896, 3.565, 0, 225, 0, 57 [SEP] 36, SaltShaker, 0.482, 0.714, -1.410, 0, 0, 0, 72 [SEP] 37, PepperShaker, -2.015, 0.715, -1.785, 0, 0, 0, 74 [SEP] 38, Lettuce, -2.436, 0.943, 3.728, 0, 0, 0, 57 [SEP] 39, ButterKnife, 0.289, 0.928, -1.646, 0, 270, 0, 52 [SEP] 40, Bread, -0.263, 1.227, 2.206, 0, 180, 0, 80 [SEP] 41, Vase, 0.700, 1.654, -1.675, 0, 0, 0, 66 [SEP] 42, DishSponge, -2.321, 0.878, 3.147, 0, 270, 0, 57 [SEP] 43, Apple, 0.307, 1.627, 2.100, 0, 180, 0, 80 [SEP] 44, Pan, 1.328, 0.957, -1.420, 0, 180, 0, 59 [SEP] 45, Spoon, -2.490, 0.879, 3.221, 0, 270, 0, 57 [SEP] 46, SoapBottle, -2.405, 0.875, 2.758, 0, 135, 0, 57 [SEP] 47, Mug, 0.549, 0.111, -1.408, 0, 0, 0, 63 [SEP] 48, Statue, 3.689, 0.559, 1.449, 0, 270, 0, 78 [SEP] 49, Statue, 3.668, 0.540, 1.800, 0, 0, 0, 78 [SEP] 50, Bowl, -1.944, 1.655, -1.710, 0, 0, 0, 51 [SEP] 51, Cabinet, -2.171, 2.009, -1.538, 0, 0, 0, [SEP] 52, Sink, 0.024, 0.771, -1.708, 0, 270, 0, [SEP] 53, Cabinet, 1.444, 2.259, -1.542, 0, 0, 0, [SEP] 54, StoveBurner, 0.974, 0.957, -1.688, 0, 180, 0, [SEP] 55, CounterTop, -1.866, 0.947, -0.614, 0, 0, 0, [SEP] 56, Cabinet, -2.217, 0.373, -1.874, 0, 0, 0, [SEP] 57, DiningTable, -2.663, 0.002, 3.208, 0, 0, 0, [SEP] 58, StoveBurner, 1.328, 0.957, -1.688, 0, 180, 0, [SEP] 59, StoveBurner, 1.328, 0.957, -1.420, 0, 180, 0, [SEP] 60, Cabinet, -1.478, 0.373, -1.235, 0, 0, 0, [SEP] 61, Cabinet, 1.775, 0.372, -1.242, 0, 0, 0, [SEP] 62, Cabinet, 0.774, 0.372, -1.242, 0, 0, 0, [SEP] 63, Cabinet, 0.375, 0.372, -1.242, 0, 0, 0, [SEP] 64, Cabinet, -0.574, 0.372, -1.238, 0, 0, 0, [SEP] 65, Cabinet, 1.775, 2.009, -1.542, 0, 0, 0, [SEP] 66, Cabinet, 0.524, 2.009, -1.542, 0, 0, 0, [SEP] 67, Cabinet, -0.714, 2.009, -1.542, 0, 0, 0, [SEP] 68, Cabinet, -1.671, 2.009, -1.538, 0, 0, 0, [SEP] 69, Cabinet, 0.854, 2.259, -1.542, 0, 0, 0, [SEP] 70, Drawer, -1.636, 0.683, -0.930, 0, 0, 0, [SEP] 71, Drawer, 1.650, 0.682, -1.396, 0, 0, 0, [SEP] 72, Drawer, 0.600, 0.682, -1.396, 0, 0, 0, [SEP] 73, StoveBurner, 0.974, 0.957, -1.419, 0, 180, 0, [SEP] 74, Drawer, -2.062, 0.683, -1.579, 0, 0, 0, [SEP] 75, CounterTop, 1.645, 0.945, -1.527, 0, 0, 0, [SEP] 76, Shelf, 3.725, 0.880, 1.671, 0, 90, 0, [SEP] 77, LightSwitch, 2.830, 1.266, -0.748, 0, 0, 0, [SEP] 78, Shelf, 3.726, 0.552, 1.671, 0, 90, 0, [SEP] 79, Microwave, 1.150, 1.655, -1.614, 0, 0, 0, [SEP] 80, Fridge, -0.035, 0.0, 2.177, 0, 180, 0, [SEP] 81, Window, -0.115, 1.802, -1.896, 90, 0, 0, [SEP] 82, Window, -4.009, 1.799, 0.310, 90, 90, 0, [SEP] 83, Shelf, 3.726, 0.172, 1.671, 0, 90, 0, [SEP] 84, SinkBasin, -0.330, 0.686, -1.581, 0, 270, 0, [SEP] 85, GarbageCan, -0.870, -0.001, 2.136, 0, 90, 0, [SEP] 86, StoveKnob, 1.089, 0.913, -1.243, 45, 0, 0, [SEP] 87, StoveKnob, 1.208, 0.913, -1.243, 45, 0, 0, [SEP] 88, StoveKnob, 1.340, 0.913, -1.243, 45, 0, 0, [SEP] 89, StoveKnob, 0.961, 0.913, -1.243, 45, 0, 0, [SEP] 90, Toaster, 1.637, 0.900, -1.673, 0, 0, 0, [SEP] 91, Chair, -3.505, 0.002, 3.290, 0, 105.736, 0, [SEP] 92, CoffeeMachine, -1.111, 0.900, -1.726, 0, 0, 0, [SEP] 93, HousePlant, -2.663, 0.835, 3.209, 0, 0, 0, [SEP] 94, Faucet, -0.187, 0.922, -1.75, 0, 311.166, 0, [SEP] 95, ShelvingUnit, 3.726, 0.006, 1.671, 0, 90, 0, [SEP] 96, Stool, -2.501, -0.000, 0.062, 1.223, 91.243, 0, [SEP] 97, Stool, -2.475, -0.000, -0.802, 1.209, 69.808, 0, [SEP] 98, Chair, -2.934, 0.002, 2.437, 0, 28.531, 0, [SEP] 99, Chair, -1.698, 0.002, 3.235, 0, 245.204, 0, [SEP] 100, NorthWall, , , , , , , [SEP] 101, EastWall, , , , , , , [SEP] 102, SouthWall, , , , , , , [SEP] 103, WestWall, , , , , , , ", "output": ["STEP 1: Move to the sink. | STEP 2: Pick up the potato on the sink. | STEP 3: Bring the potato to the microwave. | STEP 4: Heat the potato in the microwave. | STEP 5: Bring the potato to the table. | STEP 6: Put the potato on the table next to the book. | END"]} +{"id": "trial_T20190907_032644_545223-0", "input": "Put a cup with a spoon in it on a table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.0, 0.901, 0.75, 0, 90, 0, [SEP] 1, WineBottle, -0.119, 0.791, 1.217, 0, 0, 0, 82 [SEP] 2, DishSponge, -0.004, 0.080, 1.993, 0, 0, 0, 62 [SEP] 3, ButterKnife, 0.174, 0.937, 2.688, 0, 0, 0, 55 [SEP] 4, ButterKnife, -0.282, 0.937, 2.827, 0, 0, 0, 55 [SEP] 5, Fork, 1.906, 0.746, 0.583, 0, 90, 0, 64 [SEP] 6, Fork, 0.682, 0.795, 2.695, 0, 270, 0, 79 [SEP] 7, Egg, 1.950, 0.380, -0.460, 0, 270, 0, 76 [SEP] 8, Egg, 0.576, 0.837, 2.64, 0, 0, 0, 79 [SEP] 9, Cup, 1.223, 0.793, 2.529, 0, 0, 0, 79 [SEP] 10, Knife, 1.989, 0.771, 1.922, 0, 90, 0, 70 [SEP] 11, Knife, 2.301, 0.963, 0.509, 0, 90, 0, 66 [SEP] 12, SoapBottle, 2.040, 0.082, 2.199, 0, 270, 0, 51 [SEP] 13, Tomato, -0.396, 0.983, 2.827, 0, 0, 0, 55 [SEP] 14, Tomato, 2.168, 1.369, -0.007, 0, 270, 0, 76 [SEP] 15, Bowl, 2.244, 1.498, 2.425, 0, 0, 0, 48 [SEP] 16, Bowl, 2.167, 1.498, 2.104, 0, 0, 0, 58 [SEP] 17, PepperShaker, 2.280, 1.498, 0.785, 0, 0, 0, 63 [SEP] 18, PepperShaker, -0.425, 0.785, 0.881, 0, 0, 0, 82 [SEP] 19, Lettuce, 2.000, 1.385, -0.460, 0, 270, 0, 76 [SEP] 20, Lettuce, -0.396, 0.999, 2.688, 0, 270, 0, 55 [SEP] 21, Mug, 2.064, 0.989, 2.462, 0, 225, 0, 81 [SEP] 22, Apple, 0.033, 0.840, 1.217, 0, 0, 0, 82 [SEP] 23, Apple, 1.945, 1.373, -0.279, 0, 270, 0, 76 [SEP] 24, Egg, -0.119, 0.833, 1.049, 0, 0, 0, 82 [SEP] 25, Lettuce, -0.042, 0.852, 0.545, 0, 0, 0, 82 [SEP] 26, Fork, -0.042, 0.928, 2.530, 0, 180, 0, 55 [SEP] 27, SoapBottle, 1.156, 0.082, 2.562, 0, 0, 0, 61 [SEP] 28, Ladle, 1.849, 0.126, 1.915, 0, 90, 0, 51 [SEP] 29, Ladle, -0.097, 0.942, 2.543, 3.613, 45, 340.226, 55 [SEP] 30, Bread, -0.199, 0.823, 0.813, 0, 0, 0, 82 [SEP] 31, SaltShaker, -0.349, 0.785, 1.217, 0, 0, 0, 82 [SEP] 32, Potato, 2.071, 0.978, 0.361, 0, 90, 0, 66 [SEP] 33, Pan, 2.140, 0.935, 1.504, 0, 180, 0, 50 [SEP] 34, WineBottle, -0.042, 0.791, 0.881, 0, 0, 0, 82 [SEP] 35, Spatula, 0.788, 0.810, 2.584, 0, 90, 0, 79 [SEP] 36, Knife, 1.872, 0.771, 0.721, 0, 270, 0, 64 [SEP] 37, Tomato, -0.167, 0.983, 2.757, 0, 0, 0, 55 [SEP] 38, Apple, -0.294, 1.085, 1.961, 0, 90, 0, 80 [SEP] 39, ButterKnife, -0.119, 0.782, 0.377, 0, 0, 0, 82 [SEP] 40, Pot, 1.854, 0.937, 1.497, 0, 0, 0, 59 [SEP] 41, PepperShaker, 0.033, 0.785, 1.049, 0, 0, 0, 82 [SEP] 42, Cup, 2.023, 0.336, -0.188, 0, 270, 0, 76 [SEP] 43, DishSponge, 2.205, 1.948, 1.468, 0, 0, 0, 60 [SEP] 44, Plate, -0.312, 0.781, 0.409, 0, 0, 0, 82 [SEP] 45, Spoon, 1.917, 0.939, 0.583, 0, 0, 0, 66 [SEP] 46, Mug, 2.158, 0.855, -0.369, 0, 270, 0, 76 [SEP] 47, Bowl, 2.076, 1.515, -0.278, 0, 270, 0, 76 [SEP] 48, Cabinet, 2.041, 2.113, 2.618, 0, 0, 0, [SEP] 49, Cabinet, 0.126, 0.388, 1.774, 0, 0, 0, [SEP] 50, StoveBurner, 2.140, 0.929, 1.504, 0, 180, 0, [SEP] 51, Cabinet, 1.760, 0.388, 2.346, 0, 0, 0, [SEP] 52, Cabinet, 1.760, 0.388, 0.869, 0, 0, 0, [SEP] 53, Cabinet, 2.041, 1.810, 0.283, 0, 0, 0, [SEP] 54, Drawer, -0.024, 0.774, 2.061, 0, 0, 0, [SEP] 55, CounterTop, 1.065, 0.973, 2.666, 0, 0, 0, [SEP] 56, Cabinet, 1.969, 2.113, 2.618, 0, 0, 0, [SEP] 57, StoveBurner, 2.140, 0.929, 1.106, 0, 0, 0, [SEP] 58, Cabinet, 2.041, 2.113, 1.809, 0, 0, 0, [SEP] 59, StoveBurner, 1.866, 0.929, 1.504, 0, 180, 0, [SEP] 60, Cabinet, 2.041, 2.113, 1.766, 0, 0, 0, [SEP] 61, Cabinet, 1.514, 0.388, 2.360, 0, 0, 0, [SEP] 62, Cabinet, 0.351, 0.388, 2.360, 0, 0, 0, [SEP] 63, Cabinet, 2.041, 1.810, 0.872, 0, 0, 0, [SEP] 64, Drawer, 2.167, 0.774, 0.582, 0, 0, 0, [SEP] 65, Cabinet, 2.041, 2.113, 0.892, 0, 0, 0, [SEP] 66, CounterTop, 2.060, 0.973, 0.583, 0, 0, 0, [SEP] 67, Sink, 0.935, 0.936, 2.646, 0, 0, 0, [SEP] 68, Curtains, 0.964, 2.061, 2.989, 0, 0, 0, [SEP] 69, StoveBurner, 1.863, 0.929, 1.106, 0, 0, 0, [SEP] 70, Drawer, 1.911, 0.774, 2.060, 0, 0, 0, [SEP] 71, StoveKnob, 2.326, 1.092, 1.610, 288.013, 90, 0, [SEP] 72, StoveKnob, 2.326, 1.092, 1.460, 288.013, 90, 0, [SEP] 73, StoveKnob, 2.326, 1.092, 1.210, 288.013, 90, 0, [SEP] 74, StoveKnob, 2.326, 1.092, 1.050, 288.013, 90, 0, [SEP] 75, Toaster, 2.126, 0.926, 0.572, 0, 270, 0, [SEP] 76, Fridge, 2.104, 0.0, -0.279, 0, 270, 0, [SEP] 77, GarbageCan, -0.309, -0.001, -0.807, 0, 91.471, 0, [SEP] 78, LightSwitch, 0.354, 1.518, -1.031, 0, 0, 0, [SEP] 79, SinkBasin, 0.903, 0.784, 2.640, 0, 0, 0, [SEP] 80, Microwave, -0.310, 0.926, 2.077, 0, 90, 0, [SEP] 81, CoffeeMachine, 2.084, 0.927, 2.667, 0, 225, 0, [SEP] 82, DiningTable, -0.153, -0.000, 1.073, 0, 270, 0, [SEP] 83, Faucet, 1.175, 0.926, 2.950, 270, 90, 0, [SEP] 84, Faucet, 0.686, 0.926, 2.950, 270, 90, 0, [SEP] 85, Chair, -0.077, 0.002, 0.196, 0, 15.000, 0, [SEP] 86, NorthWall, , , , , , , [SEP] 87, EastWall, , , , , , , [SEP] 88, SouthWall, , , , , , , [SEP] 89, WestWall, , , , , , , ", "output": ["STEP 1: Walk straight ahead to the toaster. | STEP 2: Pick up the spoon on the counter. | STEP 3: Walk right to the fridge. | STEP 4: Place the spoon in the cup in the fridge. | STEP 5: Pick up the cup with the spoon in it. | STEP 6: Turn around and forward to the table against the wall. | STEP 7: Put the cup on the table in front of the bread and to the left of the leftmost wine bottle. | END"]} +{"id": "trial_T20190907_032644_545223-1", "input": "Setting the table with a cold glass & spoon. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.0, 0.901, 0.75, 0, 90, 0, [SEP] 1, WineBottle, -0.119, 0.791, 1.217, 0, 0, 0, 82 [SEP] 2, DishSponge, -0.004, 0.080, 1.993, 0, 0, 0, 62 [SEP] 3, ButterKnife, 0.174, 0.937, 2.688, 0, 0, 0, 55 [SEP] 4, ButterKnife, -0.282, 0.937, 2.827, 0, 0, 0, 55 [SEP] 5, Fork, 1.906, 0.746, 0.583, 0, 90, 0, 64 [SEP] 6, Fork, 0.682, 0.795, 2.695, 0, 270, 0, 79 [SEP] 7, Egg, 1.950, 0.380, -0.460, 0, 270, 0, 76 [SEP] 8, Egg, 0.576, 0.837, 2.64, 0, 0, 0, 79 [SEP] 9, Cup, 1.223, 0.793, 2.529, 0, 0, 0, 79 [SEP] 10, Knife, 1.989, 0.771, 1.922, 0, 90, 0, 70 [SEP] 11, Knife, 2.301, 0.963, 0.509, 0, 90, 0, 66 [SEP] 12, SoapBottle, 2.040, 0.082, 2.199, 0, 270, 0, 51 [SEP] 13, Tomato, -0.396, 0.983, 2.827, 0, 0, 0, 55 [SEP] 14, Tomato, 2.168, 1.369, -0.007, 0, 270, 0, 76 [SEP] 15, Bowl, 2.244, 1.498, 2.425, 0, 0, 0, 48 [SEP] 16, Bowl, 2.167, 1.498, 2.104, 0, 0, 0, 58 [SEP] 17, PepperShaker, 2.280, 1.498, 0.785, 0, 0, 0, 63 [SEP] 18, PepperShaker, -0.425, 0.785, 0.881, 0, 0, 0, 82 [SEP] 19, Lettuce, 2.000, 1.385, -0.460, 0, 270, 0, 76 [SEP] 20, Lettuce, -0.396, 0.999, 2.688, 0, 270, 0, 55 [SEP] 21, Mug, 2.064, 0.989, 2.462, 0, 225, 0, 81 [SEP] 22, Apple, 0.033, 0.840, 1.217, 0, 0, 0, 82 [SEP] 23, Apple, 1.945, 1.373, -0.279, 0, 270, 0, 76 [SEP] 24, Egg, -0.119, 0.833, 1.049, 0, 0, 0, 82 [SEP] 25, Lettuce, -0.042, 0.852, 0.545, 0, 0, 0, 82 [SEP] 26, Fork, -0.042, 0.928, 2.530, 0, 180, 0, 55 [SEP] 27, SoapBottle, 1.156, 0.082, 2.562, 0, 0, 0, 61 [SEP] 28, Ladle, 1.849, 0.126, 1.915, 0, 90, 0, 51 [SEP] 29, Ladle, -0.097, 0.942, 2.543, 3.613, 45, 340.226, 55 [SEP] 30, Bread, -0.199, 0.823, 0.813, 0, 0, 0, 82 [SEP] 31, SaltShaker, -0.349, 0.785, 1.217, 0, 0, 0, 82 [SEP] 32, Potato, 2.071, 0.978, 0.361, 0, 90, 0, 66 [SEP] 33, Pan, 2.140, 0.935, 1.504, 0, 180, 0, 50 [SEP] 34, WineBottle, -0.042, 0.791, 0.881, 0, 0, 0, 82 [SEP] 35, Spatula, 0.788, 0.810, 2.584, 0, 90, 0, 79 [SEP] 36, Knife, 1.872, 0.771, 0.721, 0, 270, 0, 64 [SEP] 37, Tomato, -0.167, 0.983, 2.757, 0, 0, 0, 55 [SEP] 38, Apple, -0.294, 1.085, 1.961, 0, 90, 0, 80 [SEP] 39, ButterKnife, -0.119, 0.782, 0.377, 0, 0, 0, 82 [SEP] 40, Pot, 1.854, 0.937, 1.497, 0, 0, 0, 59 [SEP] 41, PepperShaker, 0.033, 0.785, 1.049, 0, 0, 0, 82 [SEP] 42, Cup, 2.023, 0.336, -0.188, 0, 270, 0, 76 [SEP] 43, DishSponge, 2.205, 1.948, 1.468, 0, 0, 0, 60 [SEP] 44, Plate, -0.312, 0.781, 0.409, 0, 0, 0, 82 [SEP] 45, Spoon, 1.917, 0.939, 0.583, 0, 0, 0, 66 [SEP] 46, Mug, 2.158, 0.855, -0.369, 0, 270, 0, 76 [SEP] 47, Bowl, 2.076, 1.515, -0.278, 0, 270, 0, 76 [SEP] 48, Cabinet, 2.041, 2.113, 2.618, 0, 0, 0, [SEP] 49, Cabinet, 0.126, 0.388, 1.774, 0, 0, 0, [SEP] 50, StoveBurner, 2.140, 0.929, 1.504, 0, 180, 0, [SEP] 51, Cabinet, 1.760, 0.388, 2.346, 0, 0, 0, [SEP] 52, Cabinet, 1.760, 0.388, 0.869, 0, 0, 0, [SEP] 53, Cabinet, 2.041, 1.810, 0.283, 0, 0, 0, [SEP] 54, Drawer, -0.024, 0.774, 2.061, 0, 0, 0, [SEP] 55, CounterTop, 1.065, 0.973, 2.666, 0, 0, 0, [SEP] 56, Cabinet, 1.969, 2.113, 2.618, 0, 0, 0, [SEP] 57, StoveBurner, 2.140, 0.929, 1.106, 0, 0, 0, [SEP] 58, Cabinet, 2.041, 2.113, 1.809, 0, 0, 0, [SEP] 59, StoveBurner, 1.866, 0.929, 1.504, 0, 180, 0, [SEP] 60, Cabinet, 2.041, 2.113, 1.766, 0, 0, 0, [SEP] 61, Cabinet, 1.514, 0.388, 2.360, 0, 0, 0, [SEP] 62, Cabinet, 0.351, 0.388, 2.360, 0, 0, 0, [SEP] 63, Cabinet, 2.041, 1.810, 0.872, 0, 0, 0, [SEP] 64, Drawer, 2.167, 0.774, 0.582, 0, 0, 0, [SEP] 65, Cabinet, 2.041, 2.113, 0.892, 0, 0, 0, [SEP] 66, CounterTop, 2.060, 0.973, 0.583, 0, 0, 0, [SEP] 67, Sink, 0.935, 0.936, 2.646, 0, 0, 0, [SEP] 68, Curtains, 0.964, 2.061, 2.989, 0, 0, 0, [SEP] 69, StoveBurner, 1.863, 0.929, 1.106, 0, 0, 0, [SEP] 70, Drawer, 1.911, 0.774, 2.060, 0, 0, 0, [SEP] 71, StoveKnob, 2.326, 1.092, 1.610, 288.013, 90, 0, [SEP] 72, StoveKnob, 2.326, 1.092, 1.460, 288.013, 90, 0, [SEP] 73, StoveKnob, 2.326, 1.092, 1.210, 288.013, 90, 0, [SEP] 74, StoveKnob, 2.326, 1.092, 1.050, 288.013, 90, 0, [SEP] 75, Toaster, 2.126, 0.926, 0.572, 0, 270, 0, [SEP] 76, Fridge, 2.104, 0.0, -0.279, 0, 270, 0, [SEP] 77, GarbageCan, -0.309, -0.001, -0.807, 0, 91.471, 0, [SEP] 78, LightSwitch, 0.354, 1.518, -1.031, 0, 0, 0, [SEP] 79, SinkBasin, 0.903, 0.784, 2.640, 0, 0, 0, [SEP] 80, Microwave, -0.310, 0.926, 2.077, 0, 90, 0, [SEP] 81, CoffeeMachine, 2.084, 0.927, 2.667, 0, 225, 0, [SEP] 82, DiningTable, -0.153, -0.000, 1.073, 0, 270, 0, [SEP] 83, Faucet, 1.175, 0.926, 2.950, 270, 90, 0, [SEP] 84, Faucet, 0.686, 0.926, 2.950, 270, 90, 0, [SEP] 85, Chair, -0.077, 0.002, 0.196, 0, 15.000, 0, [SEP] 86, NorthWall, , , , , , , [SEP] 87, EastWall, , , , , , , [SEP] 88, SouthWall, , , , , , , [SEP] 89, WestWall, , , , , , , ", "output": ["STEP 1: Turn to the right and move to the counter with the toaster by the fridge. | STEP 2: Pick up the spoon in front of the toaster. | STEP 3: Move to the right to the fridge. Open the door. | STEP 4: Put the spoon in the wine glass. | STEP 5: Pick up the wine glass from the shelf. Close the door, | STEP 6: Turn around. Move to the white table across the room. | STEP 7: Place the glass with the spoon inside on the table. | END"]} +{"id": "trial_T20190907_155502_604907-0", "input": "Take the newspapers on the chair and the TV stand to the coffee table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.75, 0.900, -1.75, 0, 90, 0, [SEP] 1, Plate, 3.381, 0.643, -0.983, 0, 0, 0, 39 [SEP] 2, Plate, 0.167, 0.339, 0.777, 0, 0, 0, 43 [SEP] 3, Newspaper, -1.887, 0.591, 0.208, 0, 0, 0, 40 [SEP] 4, KeyChain, 1.604, 0.482, 0.194, 0, 0, 0, 37 [SEP] 5, CellPhone, 1.479, 0.482, 0.391, 0, 0, 0, 37 [SEP] 6, CreditCard, 1.267, 0.704, -0.678, 0, 270, 0, 31 [SEP] 7, RemoteControl, -1.964, 0.599, 0.919, 0, 0, 0, 44 [SEP] 8, RemoteControl, -1.782, 0.095, 0.895, 0, 0, 0, 41 [SEP] 9, Box, 0.167, 0.419, 0.397, 0, 0, 0, 43 [SEP] 10, Box, -0.221, 0.122, -2.044, 0, 0, 0, 43 [SEP] 11, Newspaper, -1.485, 0.289, -1.329, 0, 240.000, 0, 22 [SEP] 12, CreditCard, -1.439, 0.305, -1.572, 0, 240.000, 0, 22 [SEP] 13, Vase, 3.685, 0.644, -0.621, 0, 0, 0, 39 [SEP] 14, KeyChain, 0.414, 0.336, 0.397, 0, 0, 0, 43 [SEP] 15, Plate, -1.810, 0.348, 0.232, 0, 0, 0, 42 [SEP] 16, Laptop, 3.525, 0.631, -1.438, 0, 271.146, 0, 39 [SEP] 17, CellPhone, 0.085, 0.336, 0.018, 0, 0, 0, 43 [SEP] 18, RemoteControl, -1.856, 0.095, 0.563, 0, 0, 0, 41 [SEP] 19, Pillow, 1.435, 0.515, -0.125, 0, 0, 0, 37 [SEP] 20, Vase, -0.389, 0.882, 1.928, 0, 0, 0, 35 [SEP] 21, Statue, 3.786, 0.649, -1.165, 0, 0, 0, 39 [SEP] 22, ArmChair, -1.761, 0.0, -1.488, 0, 240.000, 0, [SEP] 23, Television, -2.035, 1.081, 0.555, 0, 90, 0, [SEP] 24, LightSwitch, 2.099, 1.353, -0.828, 0, 90, 0, [SEP] 25, HousePlant, -0.804, 0.000, -2.187, 0, 0, 0, [SEP] 26, FloorLamp, 1.689, 0.002, 1.776, 0, 90, 0, [SEP] 27, Painting, 1.983, 1.585, 0.326, 90, 270, 0, [SEP] 28, GarbageCan, -1.891, -0.029, -0.409, 0, 0, 0, [SEP] 29, Window, 2.775, 1.281, -2.018, 90, 180, 0, [SEP] 30, Window, -0.013, 1.289, -2.450, 90, 180, 0, [SEP] 31, SideTable, 1.566, 0.000, -0.689, 0, 180, 0, [SEP] 32, Drawer, 1.566, 0.624, -0.741, 0, 180, 0, [SEP] 33, Shelf, -0.147, 0.172, 1.925, 0, 0, 0, [SEP] 34, Shelf, -0.147, 0.552, 1.925, 0, 0, 0, [SEP] 35, Shelf, -0.147, 0.880, 1.924, 0, 0, 0, [SEP] 36, ShelvingUnit, -0.147, 0.006, 1.924, 0, 0, 0, [SEP] 37, Sofa, 1.556, -0.004, 0.424, 0, 270, 0, [SEP] 38, Shelf, 0.167, 0.104, 0.200, 0, 270, 0, [SEP] 39, DiningTable, 3.583, 0.000, -1.164, 0, 270, 0, [SEP] 40, TVStand, -1.965, 0.000, 0.563, 0, 270, 0, [SEP] 41, Shelf, -1.964, 0.082, 0.563, 0, 270, 0, [SEP] 42, Shelf, -1.964, 0.333, 0.563, 0, 270, 0, [SEP] 43, CoffeeTable, 0.167, 0.001, 0.216, 0, 270, 0, [SEP] 44, , , , , , , , [SEP] 45, NorthWall, , , , , , , [SEP] 46, EastWall, , , , , , , [SEP] 47, SouthWall, , , , , , , [SEP] 48, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and move to the TV stand across the room next to the recycling bin. | STEP 2: Pick up the newspaper on the TV stand. | STEP 3: Turn around and go to the coffee table in the living room. | STEP 4: Place the newspaper on the coffee table. | STEP 5: Turn around and go to the black chair in the corner of the room. | STEP 6: Pick up the newspaper on the chair. | STEP 7: Turn to your right and go to the coffee table in the living room. | STEP 8: place the newspaper on the coffee table to the left of the other newspaper. | END"]} +{"id": "trial_T20190907_155502_604907-1", "input": "Put two news papers on the coffee table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.75, 0.900, -1.75, 0, 90, 0, [SEP] 1, Plate, 3.381, 0.643, -0.983, 0, 0, 0, 39 [SEP] 2, Plate, 0.167, 0.339, 0.777, 0, 0, 0, 43 [SEP] 3, Newspaper, -1.887, 0.591, 0.208, 0, 0, 0, 40 [SEP] 4, KeyChain, 1.604, 0.482, 0.194, 0, 0, 0, 37 [SEP] 5, CellPhone, 1.479, 0.482, 0.391, 0, 0, 0, 37 [SEP] 6, CreditCard, 1.267, 0.704, -0.678, 0, 270, 0, 31 [SEP] 7, RemoteControl, -1.964, 0.599, 0.919, 0, 0, 0, 44 [SEP] 8, RemoteControl, -1.782, 0.095, 0.895, 0, 0, 0, 41 [SEP] 9, Box, 0.167, 0.419, 0.397, 0, 0, 0, 43 [SEP] 10, Box, -0.221, 0.122, -2.044, 0, 0, 0, 43 [SEP] 11, Newspaper, -1.485, 0.289, -1.329, 0, 240.000, 0, 22 [SEP] 12, CreditCard, -1.439, 0.305, -1.572, 0, 240.000, 0, 22 [SEP] 13, Vase, 3.685, 0.644, -0.621, 0, 0, 0, 39 [SEP] 14, KeyChain, 0.414, 0.336, 0.397, 0, 0, 0, 43 [SEP] 15, Plate, -1.810, 0.348, 0.232, 0, 0, 0, 42 [SEP] 16, Laptop, 3.525, 0.631, -1.438, 0, 271.146, 0, 39 [SEP] 17, CellPhone, 0.085, 0.336, 0.018, 0, 0, 0, 43 [SEP] 18, RemoteControl, -1.856, 0.095, 0.563, 0, 0, 0, 41 [SEP] 19, Pillow, 1.435, 0.515, -0.125, 0, 0, 0, 37 [SEP] 20, Vase, -0.389, 0.882, 1.928, 0, 0, 0, 35 [SEP] 21, Statue, 3.786, 0.649, -1.165, 0, 0, 0, 39 [SEP] 22, ArmChair, -1.761, 0.0, -1.488, 0, 240.000, 0, [SEP] 23, Television, -2.035, 1.081, 0.555, 0, 90, 0, [SEP] 24, LightSwitch, 2.099, 1.353, -0.828, 0, 90, 0, [SEP] 25, HousePlant, -0.804, 0.000, -2.187, 0, 0, 0, [SEP] 26, FloorLamp, 1.689, 0.002, 1.776, 0, 90, 0, [SEP] 27, Painting, 1.983, 1.585, 0.326, 90, 270, 0, [SEP] 28, GarbageCan, -1.891, -0.029, -0.409, 0, 0, 0, [SEP] 29, Window, 2.775, 1.281, -2.018, 90, 180, 0, [SEP] 30, Window, -0.013, 1.289, -2.450, 90, 180, 0, [SEP] 31, SideTable, 1.566, 0.000, -0.689, 0, 180, 0, [SEP] 32, Drawer, 1.566, 0.624, -0.741, 0, 180, 0, [SEP] 33, Shelf, -0.147, 0.172, 1.925, 0, 0, 0, [SEP] 34, Shelf, -0.147, 0.552, 1.925, 0, 0, 0, [SEP] 35, Shelf, -0.147, 0.880, 1.924, 0, 0, 0, [SEP] 36, ShelvingUnit, -0.147, 0.006, 1.924, 0, 0, 0, [SEP] 37, Sofa, 1.556, -0.004, 0.424, 0, 270, 0, [SEP] 38, Shelf, 0.167, 0.104, 0.200, 0, 270, 0, [SEP] 39, DiningTable, 3.583, 0.000, -1.164, 0, 270, 0, [SEP] 40, TVStand, -1.965, 0.000, 0.563, 0, 270, 0, [SEP] 41, Shelf, -1.964, 0.082, 0.563, 0, 270, 0, [SEP] 42, Shelf, -1.964, 0.333, 0.563, 0, 270, 0, [SEP] 43, CoffeeTable, 0.167, 0.001, 0.216, 0, 270, 0, [SEP] 44, , , , , , , , [SEP] 45, NorthWall, , , , , , , [SEP] 46, EastWall, , , , , , , [SEP] 47, SouthWall, , , , , , , [SEP] 48, WestWall, , , , , , , ", "output": ["STEP 1: Move to the TV stand in front of the coffee table | STEP 2: Pick up the paper from the stand | STEP 3: Move to the coffee table in the middle of the room | STEP 4: Put the paper on the table | STEP 5: Move to the arm chair to the right of the TV | STEP 6: Pick up the paper from the chair | STEP 7: Move to the coffee table in the middle of the room | STEP 8: Put the paper on the table | END"]} +{"id": "trial_T20190911_065703_992416-2", "input": "Put a tomato on a plate next to the coffee maker. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.900, 4.5, 0, 0, 0, [SEP] 1, Fork, 1.332, 0.891, 2.085, 0, 180, 0, 73 [SEP] 2, Egg, 1.135, 1.042, 4.579, 0, 0, 0, 51 [SEP] 3, Egg, 1.276, 0.940, 1.983, 0, 90, 0, 73 [SEP] 4, Cup, -0.025, 0.756, 6.347, 0, 225, 0, 86 [SEP] 5, Plate, 1.322, 0.141, 2.498, 0, 0, 0, 62 [SEP] 6, Plate, -0.013, 1.580, 0.251, 0, 0, 0, 63 [SEP] 7, SoapBottle, 1.585, 2.207, 4.219, 0, 0, 0, 38 [SEP] 8, SoapBottle, 1.489, 2.207, 3.701, 0, 0, 0, 38 [SEP] 9, Bowl, 2.009, 1.514, 6.001, 0, 270, 0, 72 [SEP] 10, PepperShaker, 1.368, 1.572, 1.410, 0, 0, 0, 60 [SEP] 11, SaltShaker, 0.079, 0.755, 6.063, 0, 135, 0, 86 [SEP] 12, Bread, 1.403, 1.062, 0.213, 0, 0, 0, 50 [SEP] 13, Lettuce, -0.621, 0.848, 6.604, 0, 270, 0, 86 [SEP] 14, Mug, 0.055, 0.139, 0.429, 0, 0, 0, 59 [SEP] 15, Bowl, 0.305, 0.759, 6.354, 0, 270, 0, 86 [SEP] 16, Bread, -0.687, 1.062, 0.212, 0, 0, 0, 50 [SEP] 17, Egg, 1.442, 0.941, 2.576, 0, 90, 0, 73 [SEP] 18, Knife, 0.167, 0.789, 6.151, 0, 135, 0, 86 [SEP] 19, Fork, 0.847, 0.993, 0.486, 0, 180, 0, 50 [SEP] 20, Apple, 2.137, 1.590, 5.501, 0, 270, 0, 72 [SEP] 21, Kettle, 1.490, 0.141, 3.143, 0, 0, 0, 61 [SEP] 22, Plate, 1.079, 1.580, 0.251, 0, 0, 0, 57 [SEP] 23, SaltShaker, 1.314, 0.987, 2.950, 0, 0, 0, 50 [SEP] 24, Lettuce, 0.104, 0.848, 6.653, 0, 225, 0, 86 [SEP] 25, SoapBottle, -0.467, 0.760, 6.354, 0, 270, 0, 86 [SEP] 26, Spatula, -0.096, 0.775, 6.941, 0, 0, 0, 86 [SEP] 27, PaperTowelRoll, 1.314, 1.096, 3.511, 0, 0, 0, 50 [SEP] 28, Pot, 1.317, 0.988, 4.294, 0, 0, 0, 45 [SEP] 29, Potato, -0.244, 0.794, 6.128, 0, 225, 0, 86 [SEP] 30, ButterKnife, 0.124, 0.771, 0.507, 0, 0, 0, 47 [SEP] 31, PepperShaker, 1.403, 0.987, 0.440, 0, 0, 0, 50 [SEP] 32, Pan, 1.562, 0.988, 3.848, 0, 0, 0, 44 [SEP] 33, Tomato, 0.544, 1.042, 0.486, 0, 0, 0, 50 [SEP] 34, DishSponge, 1.143, 0.141, 4.686, 0, 0, 0, 52 [SEP] 35, Cup, 2.137, 1.511, 5.376, 0, 270, 0, 72 [SEP] 36, Spoon, 1.225, 0.993, 0.440, 0, 0, 0, 50 [SEP] 37, Mug, -0.071, 0.755, 6.568, 0, 135, 0, 86 [SEP] 38, Cabinet, 1.307, 2.455, 4.360, 0, 0, 0, [SEP] 39, Cabinet, 1.054, 0.422, 1.710, 0, 0, 0, [SEP] 40, Drawer, 1.280, 0.808, 4.718, 0, 0, 0, [SEP] 41, Cabinet, 1.307, 2.455, 3.607, 0, 0, 0, [SEP] 42, Drawer, 0.736, 0.802, 0.521, 0, 0, 0, [SEP] 43, Drawer, 1.276, 0.802, 3.291, 0, 0, 0, [SEP] 44, StoveBurner, 1.562, 0.982, 3.848, 0, 0, 0, [SEP] 45, StoveBurner, 1.317, 0.982, 4.294, 0, 0, 0, [SEP] 46, Drawer, -0.482, 0.802, 0.521, 0, 0, 0, [SEP] 47, Drawer, 0.124, 0.802, 0.521, 0, 0, 0, [SEP] 48, StoveBurner, 1.559, 0.982, 4.294, 0, 0, 0, [SEP] 49, StoveBurner, 1.320, 0.982, 3.848, 0, 0, 0, [SEP] 50, CounterTop, 1.391, 1.028, 0.897, 0, 0, 0, [SEP] 51, CounterTop, 1.391, 1.028, 4.716, 0, 0, 0, [SEP] 52, Cabinet, 1.054, 0.422, 4.548, 0, 0, 0, [SEP] 53, Cabinet, 1.317, 2.134, 0.517, 0, 0, 0, [SEP] 54, Cabinet, 1.317, 2.134, 4.889, 0, 0, 0, [SEP] 55, Cabinet, 1.317, 2.134, 3.095, 0, 0, 0, [SEP] 56, Cabinet, 0.443, 0.422, 0.743, 0, 0, 0, [SEP] 57, Cabinet, 1.270, 2.134, 0.434, 0, 0, 0, [SEP] 58, Cabinet, -0.775, 0.422, 0.743, 0, 0, 0, [SEP] 59, Cabinet, -0.168, 0.422, 0.743, 0, 0, 0, [SEP] 60, Cabinet, 1.317, 2.134, 1.534, 0, 0, 0, [SEP] 61, Cabinet, 1.054, 0.422, 2.990, 0, 0, 0, [SEP] 62, Cabinet, 1.054, 0.422, 2.944, 0, 0, 0, [SEP] 63, Cabinet, -0.263, 2.134, 0.434, 0, 0, 0, [SEP] 64, Cabinet, 0.252, 2.134, 0.434, 0, 0, 0, [SEP] 65, Sink, 1.391, 1.006, 2.326, 0, 0, 0, [SEP] 66, Microwave, 0.108, 0.981, 0.262, 0, 0, 0, [SEP] 67, HousePlant, -0.165, 0.826, 6.444, 0, 0, 0, [SEP] 68, CoffeeMachine, 1.551, 0.982, 0.953, 0, 270, 0, [SEP] 69, Toaster, 1.473, 0.981, 4.715, 0, 270, 0, [SEP] 70, Window, -2.065, 1.916, 3.626, 90, 90, 0, [SEP] 71, Window, 1.763, 2.007, 2.299, 90, 270, 0, [SEP] 72, Fridge, 2.035, 0.0, 5.625, 0, 0, 0, [SEP] 73, SinkBasin, 1.387, 0.880, 2.338, 0, 90, 0, [SEP] 74, GarbageCan, 2.001, -0.044, 6.503, 0, 0, 0, [SEP] 75, StoveKnob, 1.140, 0.934, 3.987, 45, 270, 0, [SEP] 76, StoveKnob, 1.140, 0.934, 4.309, 45, 270, 0, [SEP] 77, StoveKnob, 1.140, 0.934, 4.140, 45, 270, 0, [SEP] 78, StoveKnob, 1.140, 0.934, 3.824, 45, 270, 0, [SEP] 79, Vase, -0.226, 0.834, 6.993, 0, 0, 0, [SEP] 80, Vase, 2.098, 0.043, 7.070, 0, 257.232, 0, [SEP] 81, Vase, -0.594, 0.835, 6.130, 0, 225, 0, [SEP] 82, LightSwitch, -2.0, 1.549, 6.045, 0, 90, 0, [SEP] 83, Safe, 2.046, 1.072, 7.054, 0, 257.232, 0, [SEP] 84, Faucet, 1.534, 1.025, 2.371, 0, 294.391, 0, [SEP] 85, Blinds, 1.738, 2.563, 2.312, 0, 90, 0, [SEP] 86, DiningTable, -0.156, 0.000, 6.474, 0, 0, 0, [SEP] 87, Chair, 0.291, 0.002, 6.142, 0, 310.162, 0, [SEP] 88, GarbageBag, -1.092, 0.318, 0.268, 270, 90, 83.492, [SEP] 89, NorthWall, , , , , , , [SEP] 90, EastWall, , , , , , , [SEP] 91, SouthWall, , , , , , , [SEP] 92, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk across the room to the counter with the microwave. | STEP 2: Pick up the tomato from the counter. | STEP 3: Move over a few inches towards the corner of the counter. | STEP 4: Put the tomato on the plate in the upper cabinet on the left. | STEP 5: Take the plate with tomato out of the cabinet. | STEP 6: Turn left toward the coffee pot. | STEP 7: Set the plate to the left of the coffee maker. | END"]} +{"id": "trial_T20190907_044547_577599-0", "input": "Put a washed knife in the drawer. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.900, 1.0, 0, 0, 0, [SEP] 1, SprayBottle, 1.342, 1.655, -1.579, 0, 0, 0, 61 [SEP] 2, Pen, -0.400, 0.777, -1.500, 0, 90, 0, 68 [SEP] 3, Pen, 1.002, 0.777, 0.485, 0, 0, 0, 46 [SEP] 4, ButterKnife, -2.079, 0.910, 0.032, 0, 0, 0, 71 [SEP] 5, DishSponge, -1.396, 1.857, -1.802, 0, 0, 0, 62 [SEP] 6, Glassbottle, 0.251, 0.920, -1.607, 0, 270, 0, 48 [SEP] 7, Glassbottle, -0.037, 1.656, -1.876, 0, 0, 0, 59 [SEP] 8, Fork, 1.101, 0.775, 0.323, 0, 90, 0, 46 [SEP] 9, Spatula, -0.174, 0.926, -1.436, 0, 180, 0, 69 [SEP] 10, Pot, -1.081, 0.949, -1.81, 0, 0, 0, 65 [SEP] 11, Egg, 1.369, 1.846, 2.181, 0, 270, 0, 88 [SEP] 12, Plate, 1.376, 1.368, 2.351, 0, 270, 0, 88 [SEP] 13, Plate, 1.343, 0.911, 0.031, 0, 0, 0, 69 [SEP] 14, Tomato, -2.079, 0.950, 0.377, 0, 0, 0, 71 [SEP] 15, Tomato, -0.477, 0.951, -1.789, 0, 0, 0, 69 [SEP] 16, PepperShaker, -2.445, 0.905, 0.291, 0, 0, 0, 71 [SEP] 17, SaltShaker, 1.461, 1.651, -0.815, 0, 0, 0, 57 [SEP] 18, Lettuce, -2.323, 0.979, 0.204, 0, 0, 0, 71 [SEP] 19, Apple, 0.251, 0.954, -1.758, 0, 270, 0, 48 [SEP] 20, Tomato, 1.323, 1.760, 2.026, 0, 270, 0, 88 [SEP] 21, Glassbottle, 0.771, 0.117, -1.585, 0, 90, 0, 63 [SEP] 22, Knife, -1.809, 0.940, -1.448, 0, 0, 0, 67 [SEP] 23, Plate, 1.035, 0.115, -1.129, 0, 0, 0, 54 [SEP] 24, Fork, -1.957, 0.911, 0.377, 0, 0, 0, 71 [SEP] 25, Ladle, 0.889, 1.699, -1.839, 0, 0, 0, 58 [SEP] 26, Potato, 1.356, 1.762, 1.901, 0, 270, 0, 88 [SEP] 27, Lettuce, 1.325, 1.436, 1.976, 0, 270, 0, 88 [SEP] 28, Kettle, 1.090, 0.115, -0.662, 0, 0, 0, 53 [SEP] 29, Pen, 1.381, 0.217, 1.08, 0, 0, 0, 86 [SEP] 30, SaltShaker, 1.414, 1.157, 0.370, 0, 180, 0, 75 [SEP] 31, Cup, 0.279, 1.656, -1.801, 0, 0, 0, 59 [SEP] 32, Egg, 1.296, 1.846, 2.244, 0, 270, 0, 88 [SEP] 33, Spatula, 0.149, 0.934, -1.607, 0, 270, 0, 48 [SEP] 34, Bowl, -1.712, 0.911, 0.463, 0, 0, 0, 71 [SEP] 35, SprayBottle, -2.445, 0.909, 0.118, 0, 0, 0, 71 [SEP] 36, Pan, -0.703, 0.910, -1.789, 0, 0, 0, 69 [SEP] 37, SoapBottle, -1.835, 0.910, 0.204, 0, 0, 0, 71 [SEP] 38, Pot, -1.431, 0.949, -1.525, 0, 0, 0, 77 [SEP] 39, ButterKnife, 0.320, 0.919, -1.708, 0, 270, 0, 48 [SEP] 40, PepperShaker, -1.809, 0.905, -1.707, 0, 0, 0, 67 [SEP] 41, DishSponge, 0.982, 0.772, -1.178, 0, 0, 0, 47 [SEP] 42, Bread, 1.414, 1.240, -0.659, 0, 0, 0, 75 [SEP] 43, Apple, -0.063, 0.817, -1.707, 0, 270, 0, 90 [SEP] 44, Spoon, 1.036, 0.776, -0.732, 0, 90, 0, 60 [SEP] 45, Mug, 1.414, 1.157, -1.345, 0, 0, 0, 75 [SEP] 46, Drawer, 0.860, 0.75, 0.430, 0, 0, 0, [SEP] 47, Drawer, 0.871, 0.75, -1.134, 0, 0, 0, [SEP] 48, Sink, 0.156, 0.817, -1.801, 0, 270, 0, [SEP] 49, Cabinet, -0.868, 2.005, -1.690, 0, 0, 0, [SEP] 50, Cabinet, -1.661, 2.059, -1.684, 0, 90, 0, [SEP] 51, Cabinet, -0.817, 2.059, -1.689, 0, 0, 0, [SEP] 52, Cabinet, 0.860, 0.402, 0.665, 0, 0, 0, [SEP] 53, Cabinet, 0.860, 0.402, -0.552, 0, 0, 0, [SEP] 54, Cabinet, 0.860, 0.402, -1.365, 0, 0, 0, [SEP] 55, Cabinet, -0.244, 0.402, -1.389, 0, 0, 0, [SEP] 56, Cabinet, -0.815, 0.402, -1.389, 0, 0, 0, [SEP] 57, Cabinet, 1.159, 2.059, -0.334, 0, 0, 0, [SEP] 58, Cabinet, 0.488, 2.059, -1.689, 0, 0, 0, [SEP] 59, Cabinet, -0.193, 2.059, -1.689, 0, 0, 0, [SEP] 60, Drawer, 0.860, 0.75, -0.699, 0, 0, 0, [SEP] 61, Cabinet, 1.159, 2.059, -1.019, 0, 0, 0, [SEP] 62, Cabinet, -1.611, 2.005, -1.690, 0, 0, 0, [SEP] 63, Cabinet, 0.832, 0.401, -1.393, 0, 90, 0, [SEP] 64, Drawer, -2.105, 0.75, -1.389, 0, 0, 0, [SEP] 65, StoveBurner, -1.081, 0.941, -1.809, 0, 0, 0, [SEP] 66, Cabinet, -0.202, 0.401, -1.391, 0, 90, 0, [SEP] 67, CounterTop, -1.973, 0.945, -1.707, 0, 0, 0, [SEP] 68, Drawer, -0.375, 0.75, -1.389, 0, 0, 0, [SEP] 69, CounterTop, 1.164, 0.946, -0.649, 0, 0, 0, [SEP] 70, StoveBurner, -1.081, 0.941, -1.527, 0, 0, 0, [SEP] 71, CounterTop, -2.096, 0.945, 0.291, 0, 0, 0, [SEP] 72, Cabinet, -2.237, 0.402, -1.389, 0, 0, 0, [SEP] 73, Drawer, 0.584, 0.75, -1.389, 0, 0, 0, [SEP] 74, Drawer, -1.795, 0.75, -1.389, 0, 0, 0, [SEP] 75, CounterTop, 1.5, 1.197, -0.654, 0, 0, 0, [SEP] 76, Cabinet, -1.667, 0.402, -1.389, 0, 0, 0, [SEP] 77, StoveBurner, -1.430, 0.941, -1.525, 0, 0, 0, [SEP] 78, Drawer, -0.685, 0.75, -1.389, 0, 0, 0, [SEP] 79, StoveBurner, -1.430, 0.941, -1.809, 0, 0, 0, [SEP] 80, LightSwitch, -2.539, 1.289, 2.568, 0, 90, 0, [SEP] 81, StoveKnob, -1.362, 1.095, -1.983, 287.970, 180, 0, [SEP] 82, StoveKnob, -0.962, 1.095, -1.983, 287.970, 180, 0, [SEP] 83, StoveKnob, -1.522, 1.095, -1.983, 287.970, 180, 0, [SEP] 84, StoveKnob, -1.112, 1.095, -1.983, 287.970, 180, 0, [SEP] 85, CoffeeMachine, 1.082, 0.900, -1.848, 0, 0, 0, [SEP] 86, GarbageCan, 1.343, 0.015, 1.041, 0, 0, 0, [SEP] 87, HousePlant, 1.440, 1.153, 0.593, 0, 0, 0, [SEP] 88, Fridge, 1.417, 0.0, 2.101, 0, 0, 0, [SEP] 89, Window, -0.486, 1.452, 3.302, 90, 0, 0, [SEP] 90, SinkBasin, -0.063, 0.765, -1.713, 0, 270, 0, [SEP] 91, Microwave, 1.422, 1.150, 0.022, 0, 270, 0, [SEP] 92, Toaster, -2.066, 0.900, -1.848, 0, 0, 0, [SEP] 93, Stool, -1.994, 0.010, 0.882, 0, 0, 0, [SEP] 94, Faucet, -0.096, 1.041, -1.867, 0, 270, 0, [SEP] 95, NorthWall, , , , , , , [SEP] 96, EastWall, , , , , , , [SEP] 97, SouthWall, , , , , , , [SEP] 98, WestWall, , , , , , , ", "output": ["STEP 1: Go left then turn left at the counter and go to the counter on your right. | STEP 2: Pick up the knife from the counter. | STEP 3: Go to the sink to your left. | STEP 4: Place the knife in the sink closest to you and turn on the water. | STEP 5: Pick up the knife out of the sink. | STEP 6: Place the knife in the first drawer to your left. | END"]} +{"id": "trial_T20190908_035429_935829-0", "input": "To cool a slice of bread as well as store it in the microwave. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.5, 0.900, -0.5, 0, 180, 0, [SEP] 1, Pan, 2.116, 1.027, -1.84, 0, 270, 0, 56 [SEP] 2, Potato, -0.714, 0.866, 1.337, 0, 90, 0, 109 [SEP] 3, Potato, 2.801, 0.806, 3.821, 0, 270, 0, 53 [SEP] 4, DishSponge, 2.762, 0.802, -1.224, 0, 0, 0, 60 [SEP] 5, ButterKnife, 2.761, 0.800, -0.699, 0, 0, 0, 52 [SEP] 6, WineBottle, 2.893, 1.027, 1.200, 0, 136.999, 0, 52 [SEP] 7, WineBottle, 2.348, 0.765, 3.552, 0, 225, 0, 53 [SEP] 8, Cup, 2.106, 1.859, -1.809, 0, 0, 0, 98 [SEP] 9, Plate, 2.763, 0.764, 4.177, 0, 225, 0, 53 [SEP] 10, Plate, -0.946, 1.781, 1.859, 0, 0, 0, 69 [SEP] 11, Knife, 1.230, 1.052, -1.774, 0, 90, 0, 52 [SEP] 12, Knife, 2.706, 1.052, -1.762, 0, 180, 0, 52 [SEP] 13, Tomato, -0.645, 0.870, 1.492, 0, 90, 0, 109 [SEP] 14, Tomato, 2.553, 0.818, 4.387, 0, 225, 0, 53 [SEP] 15, Bowl, -0.922, 1.440, -0.738, 0, 90, 0, 96 [SEP] 16, Bowl, 2.239, 0.762, 4.484, 0, 329.999, 0, 53 [SEP] 17, SaltShaker, 2.818, 0.797, -1.132, 0, 0, 0, 60 [SEP] 18, SaltShaker, 1.982, 0.760, 4.335, 0, 329.999, 0, 53 [SEP] 19, PepperShaker, 1.529, 1.023, -1.881, 0, 90, 0, 52 [SEP] 20, Bread, 1.926, 0.832, 3.821, 0, 270, 0, 53 [SEP] 21, Bread, 1.350, 1.094, -1.454, 0, 90, 0, 52 [SEP] 22, Bread, 2.451, 0.832, 3.97, 0, 270, 0, 53 [SEP] 23, Apple, 2.673, 0.814, 4.32, 0, 0, 0, 53 [SEP] 24, Pan, 1.836, 1.027, -1.84, 0, 90, 0, 50 [SEP] 25, Glassbottle, -1.038, 0.077, 2.842, 0, 0, 0, 107 [SEP] 26, Knife, -0.645, 0.841, 1.181, 0, 0, 0, 109 [SEP] 27, SoapBottle, 2.554, 0.031, -0.791, 0, 0, 0, 93 [SEP] 28, Egg, -0.968, 1.486, -0.184, 0, 90, 0, 96 [SEP] 29, Fork, -0.782, 0.817, 1.259, 0, 270, 0, 109 [SEP] 30, Potato, 1.350, 1.068, -1.774, 0, 90, 0, 52 [SEP] 31, Ladle, 2.816, 0.074, 0.119, 0, 90, 0, 79 [SEP] 32, Tomato, 2.626, 0.818, 3.747, 0, 270, 0, 53 [SEP] 33, Pot, 2.177, 1.027, -1.599, 0, 0, 0, 51 [SEP] 34, WineBottle, 2.788, 0.765, 4.412, 0, 225, 0, 53 [SEP] 35, Plate, -0.890, 0.049, 0.530, 0, 0, 0, 85 [SEP] 36, Spatula, 2.535, 0.816, 0.731, 0, 317.0, 0, 64 [SEP] 37, PaperTowelRoll, -0.347, 1.131, 1.356, 0, 0, 0, 55 [SEP] 38, Lettuce, 1.925, 0.822, 4.044, 0, 270, 0, 53 [SEP] 39, Apple, -1.102, 1.077, 1.519, 0, 0, 0, 55 [SEP] 40, SaltShaker, -0.873, 0.798, 0.858, 0, 0, 0, 54 [SEP] 41, PepperShaker, 2.976, 0.760, 4.044, 0, 270, 0, 53 [SEP] 42, ButterKnife, -0.645, 0.816, 1.414, 0, 90, 0, 109 [SEP] 43, Bread, 2.265, 1.094, 1.452, 0, 136.999, 0, 52 [SEP] 44, Cup, -0.942, 2.288, -0.551, 0, 0, 0, 84 [SEP] 45, DishSponge, 2.650, 0.802, -1.224, 0, 0, 0, 60 [SEP] 46, Bowl, 2.730, 0.031, -0.220, 0, 0, 0, 78 [SEP] 47, Spoon, 2.450, 0.765, 4.118, 0, 270, 0, 53 [SEP] 48, Mug, 2.113, 0.759, 3.527, 0, 225, 0, 53 [SEP] 49, Sink, -0.716, 1.023, 1.333, 0, 0, 0, [SEP] 50, StoveBurner, 1.835, 1.018, -1.840, 0, 90, 0, [SEP] 51, StoveBurner, 2.177, 1.018, -1.599, 0, 0, 0, [SEP] 52, CounterTop, 2.812, 0.992, 0.675, 0, 0, 0, [SEP] 53, DiningTable, 2.419, 0.003, 3.930, 0, 0, 0, [SEP] 54, Drawer, -0.643, 0.828, 0.616, 0, 0, 0, [SEP] 55, CounterTop, -0.813, 1.062, 2.188, 0, 0, 0, [SEP] 56, StoveBurner, 2.115, 1.018, -1.840, 0, 270, 0, [SEP] 57, Drawer, -0.643, 0.831, 1.953, 0, 0, 0, [SEP] 58, Drawer, -0.643, 0.833, 2.418, 0, 0, 0, [SEP] 59, Drawer, 1.347, 0.836, -1.539, 0, 0, 0, [SEP] 60, Drawer, 2.693, 0.833, -1.131, 0, 0, 0, [SEP] 61, Drawer, 2.693, 0.833, -0.699, 0, 0, 0, [SEP] 62, Drawer, 2.693, 0.833, -0.267, 0, 0, 0, [SEP] 63, Drawer, 2.693, 0.833, 0.163, 0, 0, 0, [SEP] 64, Drawer, 2.524, 0.833, 0.720, 0, 2.000, 0, [SEP] 65, Drawer, 2.232, 0.833, 1.036, 0, 2.000, 0, [SEP] 66, Drawer, 1.936, 0.833, 1.354, 0, 2.000, 0, [SEP] 67, Drawer, 1.646, 0.833, 1.670, 0, 2.000, 0, [SEP] 68, Cabinet, 1.504, 2.475, -1.710, 0, 0, 0, [SEP] 69, Cabinet, -0.823, 2.220, 1.621, 0, 0, 0, [SEP] 70, Cabinet, -0.823, 2.220, 0.615, 0, 0, 0, [SEP] 71, Cabinet, 1.136, 0.388, -1.355, 0, 0, 0, [SEP] 72, Cabinet, -0.356, 0.383, 2.626, 0, 0, 0, [SEP] 73, Cabinet, 2.745, 2.220, -1.690, 0, 0, 0, [SEP] 74, Cabinet, 1.882, 0.383, 1.017, 0, 0, 0, [SEP] 75, Cabinet, 1.307, 0.473, 1.640, 0, 0, 0, [SEP] 76, Cabinet, 1.892, 0.383, 1.006, 0, 0, 0, [SEP] 77, Cabinet, 2.467, 0.383, 0.383, 0, 0, 0, [SEP] 78, Cabinet, 2.466, 0.383, -0.475, 0, 0, 0, [SEP] 79, Cabinet, 2.466, 0.473, 0.371, 0, 0, 0, [SEP] 80, Cabinet, 2.386, 2.475, -1.710, 0, 0, 0, [SEP] 81, Cabinet, -0.356, 0.383, 1.712, 0, 0, 0, [SEP] 82, Cabinet, 2.745, 2.220, 0.019, 0, 0, 0, [SEP] 83, Cabinet, -0.663, 2.496, 0.157, 0, 0, 0, [SEP] 84, Cabinet, -0.663, 2.496, -0.868, 0, 0, 0, [SEP] 85, Cabinet, -0.356, 0.383, 0.269, 0, 0, 0, [SEP] 86, Cabinet, -0.823, 2.220, 1.603, 0, 0, 0, [SEP] 87, Cabinet, -0.662, 2.234, 0.586, 0, 0, 0, [SEP] 88, Cabinet, 2.745, 2.220, -0.843, 0, 0, 0, [SEP] 89, Cabinet, 2.745, 2.220, -0.827, 0, 0, 0, [SEP] 90, Cabinet, -0.823, 2.220, 2.608, 0, 0, 0, [SEP] 91, Cabinet, 2.732, 2.226, -1.709, 0, 0, 0, [SEP] 92, Cabinet, 1.137, 2.226, -1.709, 0, 0, 0, [SEP] 93, Cabinet, 2.466, 0.383, -0.491, 0, 0, 0, [SEP] 94, Cabinet, 2.466, 0.383, -1.339, 0, 0, 0, [SEP] 95, StoveBurner, 1.761, 1.018, -1.599, 0, 0, 0, [SEP] 96, Fridge, -0.908, 0.0, -0.405, 0, 0, 0, [SEP] 97, HousePlant, 2.517, 1.016, 1.822, 0, 0, 0, [SEP] 98, Microwave, 1.939, 1.745, -1.826, 0, 0, 0, [SEP] 99, StoveKnob, 2.017, 1.041, -1.514, 0, 180, 180, [SEP] 100, StoveKnob, 1.934, 1.041, -1.514, 0, 180, 180, [SEP] 101, StoveKnob, 2.017, 1.041, -1.589, 0, 180, 180, [SEP] 102, StoveKnob, 1.934, 1.041, -1.589, 0, 180, 180, [SEP] 103, Window, 1.756, 1.608, 4.762, 90, 0, 0, [SEP] 104, HousePlant, 2.171, 1.004, 2.091, 0, 0, 0, [SEP] 105, CoffeeMachine, -0.942, 1.018, 0.645, 0, 90, 0, [SEP] 106, LightSwitch, -0.099, 1.410, -2.066, 0, 0, 0, [SEP] 107, GarbageCan, -0.951, -0.029, 2.826, 0, 0, 0, [SEP] 108, Toaster, -1.007, 1.018, 2.238, 0, 90, 0, [SEP] 109, SinkBasin, -0.714, 0.805, 1.348, 0, 90, 0, [SEP] 110, Chair, 1.615, 0.004, 4.310, 0, 107.976, 0, [SEP] 111, Faucet, -1.120, 1.013, 1.334, 0, 90, 0, [SEP] 112, Chair, 2.759, 0.004, 3.086, 0, 358.967, 0, [SEP] 113, , , , , , , , [SEP] 114, NorthWall, , , , , , , [SEP] 115, EastWall, , , , , , , [SEP] 116, SouthWall, , , , , , , [SEP] 117, WestWall, , , , , , , ", "output": ["STEP 1: Walk forward and turn left to face the end of the counter. | STEP 2: Pick up the knife on the counter. | STEP 3: Turn around and walk across the room to face the kitchen table. | STEP 4: Cut the loaf of bread on the table into slices. | STEP 5: Place the knife on the kitchen table. | STEP 6: Pick up the bread slice on the kitchen table. | STEP 7: Turn around and walk across the room, then turn left and walk forward to face the fridge. | STEP 8: Cool the bread slice in the fridge and then remove it. | STEP 9: Turn around and walk across the room, then turn right and look up to face the microwave. | STEP 10: Place the slice of bread in the microwave. | END"]} +{"id": "trial_T20190908_000953_647539-1", "input": "cook a potato in the microwave and put it on the dining table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.900, -0.5, 0, 90, 0, [SEP] 1, Potato, -0.064, 0.793, -1.936, 0, 0, 0, 72 [SEP] 2, Potato, -1.610, 1.533, -1.013, 0, 90, 0, 68 [SEP] 3, DishSponge, 1.528, 1.659, -2.086, 0, 0, 0, 47 [SEP] 4, WineBottle, 0.066, 0.927, 0.305, 0, 0, 0, 77 [SEP] 5, WineBottle, -0.160, 0.931, 0.991, 0, 0, 0, 77 [SEP] 6, Spatula, 1.557, 0.928, -1.446, 0, 270, 0, 60 [SEP] 7, Spoon, -0.230, 0.914, -1.725, 0, 0, 0, 60 [SEP] 8, Spoon, 0.066, 0.928, 0.762, 0, 0, 0, 77 [SEP] 9, Fork, -0.047, 0.931, 0.076, 0, 0, 0, 77 [SEP] 10, Cup, -0.984, 0.126, -1.575, 0, 90, 0, 55 [SEP] 11, Knife, -0.137, 0.787, -2.071, 0, 90, 0, 72 [SEP] 12, SoapBottle, 0.066, 0.929, 0.991, 0, 0, 0, 77 [SEP] 13, SaltShaker, 1.773, 0.549, 2.431, 0, 0, 0, 80 [SEP] 14, SaltShaker, 1.566, 0.877, 2.483, 0, 0, 0, 86 [SEP] 15, Mug, -0.668, 0.908, -2.267, 0, 0, 0, 60 [SEP] 16, Mug, -1.186, 1.010, -1.846, 0, 0, 0, 66 [SEP] 17, Apple, -0.210, 0.835, -1.936, 0, 0, 0, 72 [SEP] 18, Apple, -1.438, 1.254, -0.495, 0, 90, 0, 68 [SEP] 19, Potato, 0.081, 0.793, -2.026, 0, 90, 0, 72 [SEP] 20, Bowl, 1.828, 0.910, -1.563, 0, 0, 0, 60 [SEP] 21, SoapBottle, 1.340, 1.658, -2.162, 0, 0, 0, 47 [SEP] 22, Fork, 0.180, 0.927, 0.991, 0, 0, 0, 77 [SEP] 23, Ladle, 1.909, 1.702, -1.673, 0, 270, 0, 50 [SEP] 24, Bread, 0.399, 0.964, 0.110, 0, 0, 1.601, 77 [SEP] 25, Lettuce, 0.180, 1.008, 1.448, 0, 0, 0, 77 [SEP] 26, WineBottle, -1.072, 0.914, -2.151, 0, 0, 0, 60 [SEP] 27, Spatula, 1.850, 0.928, -1.918, 0, 0, 0, 60 [SEP] 28, Plate, 0.294, 0.934, 0.762, 0, 0, 0, 77 [SEP] 29, SaltShaker, 1.464, 0.877, 2.429, 0, 0, 0, 81 [SEP] 30, Pot, 1.567, 0.948, -0.757, 0, 0, 0, 42 [SEP] 31, Cup, 0.180, 0.927, 0.076, 0, 0, 0, 77 [SEP] 32, PepperShaker, 1.795, 1.653, -1.608, 0, 270, 0, 50 [SEP] 33, Pan, 1.845, 0.948, -0.355, 0, 0, 0, 41 [SEP] 34, ButterKnife, 1.850, 0.913, -1.751, 0, 0, 0, 60 [SEP] 35, Tomato, -0.160, 0.982, 1.220, 0, 0, 0, 77 [SEP] 36, DishSponge, 0.522, 0.930, 0.762, 0, 0, 0, 77 [SEP] 37, Egg, -0.160, 0.980, 0.305, 0, 0, 0, 77 [SEP] 38, Spoon, -0.283, 0.765, -2.026, 0, 0, 0, 72 [SEP] 39, Knife, 0.066, 0.950, 0.534, 0, 0, 0, 77 [SEP] 40, Mug, -1.438, 1.178, -0.910, 0, 90, 0, 68 [SEP] 41, StoveBurner, 1.845, 0.940, -0.355, 0, 0, 0, [SEP] 42, StoveBurner, 1.567, 0.940, -0.757, 0, 0, 0, [SEP] 43, Cabinet, -1.149, 2.019, -1.979, 0, 90, 0, [SEP] 44, Cabinet, -1.149, 2.265, -0.834, 0, 90, 0, [SEP] 45, Cabinet, -0.459, 2.265, -2.0, 0, 0, 0, [SEP] 46, Cabinet, -1.100, 2.019, -2.0, 0, 0, 0, [SEP] 47, Cabinet, 1.719, 2.019, -2.0, 0, 0, 0, [SEP] 48, Cabinet, 1.179, 2.019, -2.0, 0, 0, 0, [SEP] 49, Cabinet, 0.199, 2.019, -2.0, 0, 0, 0, [SEP] 50, Cabinet, 1.75, 2.019, -1.399, 0, 270, 0, [SEP] 51, Cabinet, 1.75, 2.019, -1.029, 0, 270, 0, [SEP] 52, Cabinet, 1.379, 0.469, -1.689, 0, 0, 0, [SEP] 53, Cabinet, -0.819, 0.469, -1.689, 0, 0, 0, [SEP] 54, Cabinet, 1.389, 0.469, -1.059, 0, 270, 0, [SEP] 55, Cabinet, -0.839, 0.469, -1.665, 0, 90, 0, [SEP] 56, StoveBurner, 1.567, 0.940, -0.355, 0, 0, 0, [SEP] 57, StoveBurner, 1.845, 0.940, -0.757, 0, 0, 0, [SEP] 58, Sink, -0.109, 0.893, -2.009, 0, 0, 0, [SEP] 59, Drawer, -0.819, 0.75, -1.690, 0, 0, 0, [SEP] 60, CounterTop, 0.232, 0.949, -2.002, 0, 0, 0, [SEP] 61, GarbageCan, 1.855, -0.034, 0.141, 0, 358.959, 0, [SEP] 62, Vase, 0.251, 0.546, 0.475, 0, 270, 0, [SEP] 63, Toaster, 0.780, 0.900, -2.080, 0, 0, 0, [SEP] 64, LightSwitch, 0.108, 1.315, 2.75, 0, 180, 0, [SEP] 65, Vase, 0.400, 0.925, 0.218, 0, 180, 0, [SEP] 66, Microwave, -1.233, 0.900, -1.680, 0, 90, 0, [SEP] 67, Vase, 1.465, 1.662, -2.200, 0, 0, 0, [SEP] 68, Fridge, -1.495, 0.0, -0.703, 0, 0, 0, [SEP] 69, Window, 2.114, 1.495, 1.072, 90, 270, 0, [SEP] 70, CoffeeMachine, 1.374, 0.899, -2.112, 0, 0, 0, [SEP] 71, Vase, 0.333, 0.546, 1.272, 0, 270, 0, [SEP] 72, SinkBasin, -0.148, 0.753, -2.026, 0, 0, 0, [SEP] 73, StoveKnob, 2.037, 1.089, -0.405, 0, 0, 74.477, [SEP] 74, StoveKnob, 2.037, 1.089, -0.251, 0, 0, 74.477, [SEP] 75, StoveKnob, 2.037, 1.089, -0.649, 0, 0, 74.477, [SEP] 76, StoveKnob, 2.037, 1.089, -0.814, 0, 0, 74.477, [SEP] 77, DiningTable, 0.170, 0.005, 0.678, 0, 270, 0, [SEP] 78, Shelf, 0.170, 0.155, 0.678, 0, 270, 0, [SEP] 79, Shelf, 1.605, 0.172, 2.480, 0, 0, 0, [SEP] 80, Shelf, 1.605, 0.552, 2.480, 0, 0, 0, [SEP] 81, Shelf, 1.604, 0.880, 2.479, 0, 0, 0, [SEP] 82, ShelvingUnit, 1.605, 0.006, 2.480, 0, 0, 0, [SEP] 83, Faucet, -0.143, 1.028, -2.223, 0, 270, 0, [SEP] 84, Stool, -0.553, 0.000, 0.871, 1.233, 280.376, 0, [SEP] 85, Shelf, 0.170, 0.528, 0.678, 0, 270, 0, [SEP] 86, , , , , , , , [SEP] 87, NorthWall, , , , , , , [SEP] 88, EastWall, , , , , , , [SEP] 89, SouthWall, , , , , , , [SEP] 90, WestWall, , , , , , , ", "output": ["STEP 1: walk over to the front of the sink | STEP 2: take one potato out of the sink | STEP 3: walk the clean potato over to the microwave next to the fridge | STEP 4: cook the potato in the microwave | STEP 5: take the cooked potato over to the set dining table | STEP 6: gently place the potato onto the dining table | END"]} +{"id": "trial_T20190908_131044_743417-0", "input": "Examine a laptop by the light of a floor lamp. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.0, 0.901, 2.25, 0, 0, 0, [SEP] 1, Watch, -1.349, 0.707, 3.759, 0, 0, 0, 29 [SEP] 2, KeyChain, 0.880, 0.718, 0.583, 0, 0, 0, 26 [SEP] 3, KeyChain, -0.851, 0.546, 0.650, 0, 0, 0, 28 [SEP] 4, CreditCard, -1.840, 0.447, 2.120, 0, 0, 0, 27 [SEP] 5, RemoteControl, -1.714, 0.449, 2.200, 0, 0, 0, 27 [SEP] 6, RemoteControl, 0.627, 0.715, 0.421, 0, 0, 0, 26 [SEP] 7, Box, -1.351, 0.734, 0.471, 0, 180, 0, 28 [SEP] 8, Book, -1.648, 0.712, 3.649, 0, 0, 0, 29 [SEP] 9, Box, 0.332, 0.892, 0.488, 0, 0, 0, 26 [SEP] 10, Laptop, 0.627, 0.238, 0.506, 0, 0, 0, 26 [SEP] 11, KeyChain, -3.075, 0.564, 0.754, 0, 90, 0, 31 [SEP] 12, Pillow, -0.506, 0.664, 0.431, 36.288, 0, 0, 28 [SEP] 13, Statue, -1.200, 0.716, 3.759, 0, 0, 0, 29 [SEP] 14, RemoteControl, -2.824, 0.564, 0.661, 0, 0, 0, 31 [SEP] 15, CreditCard, 0.373, 0.239, 0.545, 0, 0, 0, 30 [SEP] 16, Watch, -1.587, 0.448, 2.361, 0, 0, 0, 27 [SEP] 17, Painting, -3.049, 1.690, 4.341, 0, 0, 0, [SEP] 18, Curtains, -3.973, 2.254, 1.453, 0, 0, 0, [SEP] 19, Painting, -1.096, 1.773, -0.017, 0, 0, 0, [SEP] 20, LightSwitch, -0.129, 1.407, 4.348, 0, 180, 0, [SEP] 21, GarbageCan, -0.376, 0.003, 4.103, 0, 180, 0, [SEP] 22, Television, -1.504, 1.189, 4.126, 0, 180, 0, [SEP] 23, HousePlant, -2.015, 0.447, 2.357, 0, 0, 0, [SEP] 24, FloorLamp, -3.686, -0.001, 4.013, 0, 0, 0, [SEP] 25, Window, -4.051, 1.197, 1.312, 90, 270, 0, [SEP] 26, SideTable, 0.626, 0.006, 0.340, 0, 0, 0, [SEP] 27, CoffeeTable, -1.735, 0.005, 2.360, 0, 0, 0, [SEP] 28, Sofa, -1.135, -0.004, 0.517, 0, 0, 0, [SEP] 29, TVStand, -1.566, 0.004, 3.869, 0, 0, 0, [SEP] 30, Shelf, 0.622, 0.238, 0.340, 0, 0, 0, [SEP] 31, ArmChair, -3.063, 0.000, 0.517, 0, 0, 0, [SEP] 32, NorthWall, , , , , , , [SEP] 33, EastWall, , , , , , , [SEP] 34, SouthWall, , , , , , , [SEP] 35, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and walk to the table which is to the left of the blue sofa. | STEP 2: Pick up the laptop from the bottom shelf of the table. | STEP 3: Turn around and walk to the floor lamp which is to the left of the television. | STEP 4: Turn on the lamp. | END"]} +{"id": "trial_T20190908_131044_743417-2", "input": "Examine the laptop by the lamp. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.0, 0.901, 2.25, 0, 0, 0, [SEP] 1, Watch, -1.349, 0.707, 3.759, 0, 0, 0, 29 [SEP] 2, KeyChain, 0.880, 0.718, 0.583, 0, 0, 0, 26 [SEP] 3, KeyChain, -0.851, 0.546, 0.650, 0, 0, 0, 28 [SEP] 4, CreditCard, -1.840, 0.447, 2.120, 0, 0, 0, 27 [SEP] 5, RemoteControl, -1.714, 0.449, 2.200, 0, 0, 0, 27 [SEP] 6, RemoteControl, 0.627, 0.715, 0.421, 0, 0, 0, 26 [SEP] 7, Box, -1.351, 0.734, 0.471, 0, 180, 0, 28 [SEP] 8, Book, -1.648, 0.712, 3.649, 0, 0, 0, 29 [SEP] 9, Box, 0.332, 0.892, 0.488, 0, 0, 0, 26 [SEP] 10, Laptop, 0.627, 0.238, 0.506, 0, 0, 0, 26 [SEP] 11, KeyChain, -3.075, 0.564, 0.754, 0, 90, 0, 31 [SEP] 12, Pillow, -0.506, 0.664, 0.431, 36.288, 0, 0, 28 [SEP] 13, Statue, -1.200, 0.716, 3.759, 0, 0, 0, 29 [SEP] 14, RemoteControl, -2.824, 0.564, 0.661, 0, 0, 0, 31 [SEP] 15, CreditCard, 0.373, 0.239, 0.545, 0, 0, 0, 30 [SEP] 16, Watch, -1.587, 0.448, 2.361, 0, 0, 0, 27 [SEP] 17, Painting, -3.049, 1.690, 4.341, 0, 0, 0, [SEP] 18, Curtains, -3.973, 2.254, 1.453, 0, 0, 0, [SEP] 19, Painting, -1.096, 1.773, -0.017, 0, 0, 0, [SEP] 20, LightSwitch, -0.129, 1.407, 4.348, 0, 180, 0, [SEP] 21, GarbageCan, -0.376, 0.003, 4.103, 0, 180, 0, [SEP] 22, Television, -1.504, 1.189, 4.126, 0, 180, 0, [SEP] 23, HousePlant, -2.015, 0.447, 2.357, 0, 0, 0, [SEP] 24, FloorLamp, -3.686, -0.001, 4.013, 0, 0, 0, [SEP] 25, Window, -4.051, 1.197, 1.312, 90, 270, 0, [SEP] 26, SideTable, 0.626, 0.006, 0.340, 0, 0, 0, [SEP] 27, CoffeeTable, -1.735, 0.005, 2.360, 0, 0, 0, [SEP] 28, Sofa, -1.135, -0.004, 0.517, 0, 0, 0, [SEP] 29, TVStand, -1.566, 0.004, 3.869, 0, 0, 0, [SEP] 30, Shelf, 0.622, 0.238, 0.340, 0, 0, 0, [SEP] 31, ArmChair, -3.063, 0.000, 0.517, 0, 0, 0, [SEP] 32, NorthWall, , , , , , , [SEP] 33, EastWall, , , , , , , [SEP] 34, SouthWall, , , , , , , [SEP] 35, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and go to the table in the corner. | STEP 2: Pick up the laptop on the shelf under the table. | STEP 3: Turn around and go to the lamp in the opposite corner. | STEP 4: Turn on the lamp. | END"]} +{"id": "trial_T20190907_190943_068577-1", "input": "Put the orange bowl with fork in the kitchen sink SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 2.25, 0.930, -0.25, 0, 0, 0, [SEP] 1, Ladle, 3.140, 0.214, 0.700, 0, 0, 0, 68 [SEP] 2, Ladle, 0.887, 0.945, 0.727, 0, 90, 0, 90 [SEP] 3, Spatula, -0.932, 0.915, -0.801, 0, 135, 0, 59 [SEP] 4, Spatula, -0.950, 0.341, 0.839, 0, 180, 0, 60 [SEP] 5, Fork, -0.827, 0.518, 1.605, 0, 0, 0, 47 [SEP] 6, Fork, 0.101, 0.900, -1.516, 0, 0, 0, 80 [SEP] 7, Fork, 3.200, 0.901, -0.599, 0, 0, 0, 58 [SEP] 8, CellPhone, -0.950, 0.323, 0.489, 0, 0, 0, 60 [SEP] 9, Mug, 3.049, 0.966, 0.591, 0, 270, 0, 102 [SEP] 10, Bread, -0.789, 0.979, 0.623, 0, 0, 0, 59 [SEP] 11, Lettuce, -1.080, 0.965, 0.623, 0, 0, 0, 59 [SEP] 12, SaltShaker, 0.016, 0.129, -1.351, 0, 45, 0, 84 [SEP] 13, SaltShaker, -0.935, 0.896, 0.399, 0, 0, 0, 59 [SEP] 14, Bowl, 2.971, 0.174, 0.629, 0, 0, 0, 68 [SEP] 15, Bowl, 0.760, 1.671, -1.550, 0, 0, 0, 74 [SEP] 16, SoapBottle, -0.655, 0.909, -0.571, 0, 45, 0, 59 [SEP] 17, SoapBottle, 0.404, 1.268, -1.638, 0, 0, 0, 75 [SEP] 18, Plate, 0.781, 0.923, 0.452, 0, 36.810, 0, 90 [SEP] 19, Knife, 0.022, 0.925, -1.731, 0, 90, 0, 80 [SEP] 20, Plate, 1.208, 1.687, -1.619, 0, 0, 0, 50 [SEP] 21, Glassbottle, -0.991, 0.901, -0.640, 0, 45, 0, 59 [SEP] 22, SoapBottle, -0.257, 1.272, -1.577, 0, 45, 0, 76 [SEP] 23, Potato, 3.152, 0.785, -0.100, 0, 0, 0, 104 [SEP] 24, Fork, 0.156, 0.900, -1.379, 0, 45, 0, 80 [SEP] 25, Ladle, 0.967, 0.945, 0.038, 0, 0, 0, 90 [SEP] 26, Pot, -0.420, 0.902, -0.920, 0, 135, 0, 54 [SEP] 27, Kettle, -0.237, 0.900, -1.099, 0, 45, 0, 88 [SEP] 28, Spatula, -0.786, 0.146, 1.168, 0, 90, 0, 83 [SEP] 29, Knife, 0.533, 0.936, 0.326, 0, 0, 0, 90 [SEP] 30, Lettuce, 0.840, 0.765, -1.422, 27.470, 0, 0, 105 [SEP] 31, Cup, 1.086, 0.709, -1.407, 0, 0, 0, 105 [SEP] 32, SaltShaker, -0.182, 1.259, -1.502, 0, 45, 0, 76 [SEP] 33, Egg, 3.354, 0.953, -0.279, 0, 0, 0, 58 [SEP] 34, PepperShaker, 1.491, 0.904, 0.180, 0, 0, 0, 90 [SEP] 35, ButterKnife, -1.080, 0.900, 0.846, 0, 0, 0, 59 [SEP] 36, Apple, 3.155, 0.174, 1.519, 0, 225, 0, 100 [SEP] 37, Pan, 0.341, 0.873, -1.649, 0, 167.065, 0, 80 [SEP] 38, Bread, 1.534, 0.972, 0.486, 0, 289.287, 0, 90 [SEP] 39, CellPhone, -0.055, 0.511, -1.377, 0, 45, 0, 62 [SEP] 40, DishSponge, 3.249, 1.464, -1.746, 0, 0, 0, 57 [SEP] 41, Tomato, 2.987, 0.784, 0.165, 0, 90, 0, 104 [SEP] 42, Spoon, -0.754, 0.329, -0.683, 0, 135, 0, 92 [SEP] 43, Bowl, -1.052, 0.994, 1.311, 0, 90, 0, 107 [SEP] 44, Mug, 3.355, 0.895, -0.798, 0, 0, 0, 58 [SEP] 45, Drawer, 0.376, 0.572, -1.509, 0, 0, 0, [SEP] 46, Drawer, 3.020, 0.769, -0.783, 0, 180, 0, [SEP] 47, Drawer, -0.860, 0.577, 1.429, 0, 0, 0, [SEP] 48, StoveBurner, -0.600, 0.897, -1.090, 0, 135, 0, [SEP] 49, Drawer, 0.376, 0.191, -1.509, 0, 0, 0, [SEP] 50, Cabinet, 1.402, 1.874, -1.259, 0, 0, 0, [SEP] 51, Cabinet, -0.202, 1.963, -1.328, 0, 0, 0, [SEP] 52, Drawer, -0.860, 0.765, 1.429, 0, 0, 0, [SEP] 53, Drawer, -0.677, 0.765, -0.700, 0, 0, 0, [SEP] 54, StoveBurner, -0.420, 0.897, -0.920, 0, 135, 0, [SEP] 55, Drawer, 3.020, 0.769, -0.407, 0, 180, 0, [SEP] 56, Drawer, -0.860, 0.577, 0.663, 0, 0, 0, [SEP] 57, Cabinet, 2.819, 1.768, -1.850, 0, 0, 0, [SEP] 58, CounterTop, 3.111, 0.936, 0.019, 0, 0, 0, [SEP] 59, CounterTop, -1.007, 0.935, -0.039, 0, 0, 0, [SEP] 60, Drawer, -0.860, 0.385, 0.663, 0, 0, 0, [SEP] 61, StoveBurner, -0.419, 0.897, -1.269, 0, 315, 0, [SEP] 62, Drawer, -0.047, 0.573, -1.324, 0, 0, 0, [SEP] 63, Drawer, -0.860, 0.765, 0.663, 0, 0, 0, [SEP] 64, Drawer, -0.860, 0.385, -0.100, 0, 0, 0, [SEP] 65, Drawer, 0.376, 0.380, -1.509, 0, 0, 0, [SEP] 66, Drawer, -0.860, 0.765, -0.100, 0, 0, 0, [SEP] 67, Drawer, 0.376, 0.765, -1.509, 0, 0, 0, [SEP] 68, Cabinet, 2.849, 0.419, 0.409, 0, 0, 0, [SEP] 69, Drawer, -0.047, 0.765, -1.324, 0, 0, 0, [SEP] 70, Cabinet, 2.849, 0.419, -0.610, 0, 0, 0, [SEP] 71, Cabinet, 2.849, 0.419, -0.959, 0, 0, 0, [SEP] 72, Cabinet, 3.069, 1.666, -0.709, 0, 0, 0, [SEP] 73, Cabinet, 2.819, 1.768, -1.047, 0, 0, 0, [SEP] 74, Cabinet, 0.620, 1.874, -1.259, 0, 0, 0, [SEP] 75, Cabinet, 0.140, 1.666, -1.559, 0, 0, 0, [SEP] 76, Cabinet, -0.189, 1.666, -1.340, 0, 0, 0, [SEP] 77, Cabinet, -0.709, 1.963, -0.819, 0, 0, 0, [SEP] 78, Cabinet, -0.920, 1.665, -0.620, 0, 0, 0, [SEP] 79, Drawer, -0.860, 0.190, -0.100, 0, 0, 0, [SEP] 80, CounterTop, 0.133, 0.935, -1.457, 0, 0, 0, [SEP] 81, Drawer, 3.020, 0.769, 0.695, 0, 180, 0, [SEP] 82, Drawer, -0.677, 0.577, -0.700, 0, 0, 0, [SEP] 83, Drawer, -0.860, 0.190, 1.429, 0, 0, 0, [SEP] 84, Drawer, -0.047, 0.192, -1.324, 0, 0, 0, [SEP] 85, Drawer, -0.677, 0.193, -0.700, 0, 0, 0, [SEP] 86, Drawer, -0.860, 0.577, -0.100, 0, 0, 0, [SEP] 87, Sink, 3.078, 0.887, 0.086, 0, 0, 0, [SEP] 88, StoveBurner, -0.239, 0.897, -1.089, 0, 315, 0, [SEP] 89, Drawer, -0.860, 0.190, 0.663, 0, 0, 0, [SEP] 90, CounterTop, 1.210, 0.937, 0.463, 0, 0, 0, [SEP] 91, Drawer, -0.047, 0.381, -1.324, 0, 0, 0, [SEP] 92, Drawer, -0.677, 0.387, -0.700, 0, 0, 0, [SEP] 93, Mirror, -1.295, 1.630, 0.045, 0, 0, 0, [SEP] 94, Drawer, -0.860, 0.385, 1.429, 0, 0, 0, [SEP] 95, HousePlant, 3.196, 0.891, -0.368, 0, 0, 0, [SEP] 96, StoveKnob, -0.090, 0.790, -1.009, 270, 45, 0, [SEP] 97, StoveKnob, -0.280, 0.790, -0.819, 270, 45, 0, [SEP] 98, StoveKnob, -0.180, 0.790, -0.920, 270, 45, 0, [SEP] 99, StoveKnob, -0.370, 0.790, -0.720, 270, 45, 0, [SEP] 100, GarbageCan, 3.137, 0.025, 1.545, 0, 225, 0, [SEP] 101, Window, 3.703, 1.675, 0.046, 90, 90, 0, [SEP] 102, CoffeeMachine, 3.214, 0.890, 0.697, 0, 270, 0, [SEP] 103, LightSwitch, 2.592, 1.309, -1.880, 0, 0, 0, [SEP] 104, SinkBasin, 3.069, 0.736, 0.108, 0, 90, 0, [SEP] 105, Fridge, 1.008, 0.029, -1.467, 0, 0, 0, [SEP] 106, Toaster, -1.035, 0.873, -0.396, 0, 90, 0, [SEP] 107, Microwave, -1.034, 0.874, 1.428, 0, 90, 0, [SEP] 108, Faucet, 3.305, 0.886, 0.094, 270, 180, 0, [SEP] 109, NorthWall, , , , , , , [SEP] 110, EastWall, , , , , , , [SEP] 111, SouthWall, , , , , , , [SEP] 112, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and walk up to the kitchen counter right of the sink | STEP 2: Pick up the fork from the counter | STEP 3: Turn around and walk over to the fridge | STEP 4: Open the fridge and put the fork in the orange bowl | STEP 5: Pick up the orange bowl from the fridge | STEP 6: Turn left and walk over to the kitchen sink | STEP 7: Put the orange bowl in the kitchen sink | END"]} +{"id": "trial_T20190906_232320_070866-1", "input": "Put a pan with lettuce in it on a table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.900, -2.25, 0, 90, 0, [SEP] 1, Pan, -0.437, 0.961, -2.243, 0, 0, 0, 46 [SEP] 2, Potato, -0.167, 1.607, -1.937, 0, 270, 0, 75 [SEP] 3, DishSponge, -3.942, 0.690, -0.369, 0, 0, 0, 78 [SEP] 4, Spoon, -0.473, 0.942, -1.538, 0, 0, 0, 61 [SEP] 5, Egg, -4.122, 0.731, -0.126, 0, 0, 0, 78 [SEP] 6, Egg, -4.242, 0.731, -0.126, 0, 0, 0, 78 [SEP] 7, Cup, -0.252, 1.287, -0.878, 0, 270, 0, 73 [SEP] 8, Plate, -0.427, 0.096, -1.410, 0, 0, 0, 59 [SEP] 9, Tomato, -0.318, 0.993, -2.937, 0, 45, 0, 43 [SEP] 10, Bowl, -0.126, 1.937, -1.897, 0, 0, 0, 52 [SEP] 11, Bread, -3.309, 0.841, -3.362, 0, 109.125, 0, 79 [SEP] 12, Bread, -3.662, 0.841, -3.632, 0, 199.125, 0, 79 [SEP] 13, Lettuce, -0.397, 1.033, -2.788, 0, 0, 0, 43 [SEP] 14, Lettuce, -4.002, 0.781, -0.248, 0, 0, 0, 78 [SEP] 15, Lettuce, -0.283, 1.579, -0.994, 0, 270, 0, 73 [SEP] 16, SaltShaker, -3.706, 0.756, -3.092, 0, 109.125, 0, 79 [SEP] 17, SaltShaker, -4.182, 0.687, -0.187, 0, 0, 0, 78 [SEP] 18, PepperShaker, -3.942, 0.686, -0.491, 0, 0, 0, 78 [SEP] 19, Mug, -0.175, 1.932, -1.002, 0, 0, 0, 51 [SEP] 20, Mug, -0.155, 0.937, -2.982, 0, 45, 0, 43 [SEP] 21, Apple, -0.268, 1.636, -1.937, 0, 270, 0, 75 [SEP] 22, SoapBottle, -0.315, 0.939, -1.581, 0, 0, 0, 61 [SEP] 23, Pot, -0.606, 0.802, -3.419, 0, 315, 0, 72 [SEP] 24, Fork, -3.731, 0.760, -3.444, 0, 334.125, 0, 79 [SEP] 25, Cup, -0.157, 0.942, -1.450, 0, 0, 0, 61 [SEP] 26, Tomato, -2.387, 0.150, -3.538, 0, 0, 0, 68 [SEP] 27, Pan, -0.222, 0.961, -1.845, 0, 180, 0, 45 [SEP] 28, Plate, -4.182, 0.704, -0.430, 0, 0, 0, 78 [SEP] 29, Bread, -2.984, 0.956, -0.311, 0, 50.592, 0, 80 [SEP] 30, Spatula, -1.694, 0.957, -3.673, 0, 0, 0, 43 [SEP] 31, Knife, -3.502, 0.785, -3.360, 0, 109.125, 0, 79 [SEP] 32, SaltShaker, -0.942, 0.938, -3.785, 0, 45, 0, 43 [SEP] 33, PepperShaker, -1.154, 0.750, -3.534, 0, 0, 0, 49 [SEP] 34, ButterKnife, -3.203, 0.760, -3.118, 0, 244.125, 0, 79 [SEP] 35, Apple, -0.359, 1.550, -0.529, 0, 270, 0, 73 [SEP] 36, DishSponge, -0.136, 1.937, -1.108, 0, 0, 0, 51 [SEP] 37, Potato, -0.471, 0.846, -3.163, 0, 315, 0, 72 [SEP] 38, Egg, -0.334, 1.327, -0.762, 0, 270, 0, 73 [SEP] 39, Spoon, -0.236, 0.942, -1.319, 0, 0, 0, 61 [SEP] 40, Lettuce, -1.248, 1.033, -3.829, 0, 0, 0, 43 [SEP] 41, Mug, -2.514, 0.972, -3.649, 0, 0, 0, 69 [SEP] 42, Bowl, -0.334, 1.284, -0.413, 0, 270, 0, 73 [SEP] 43, CounterTop, -1.937, 0.977, -3.673, 0, 0, 0, [SEP] 44, StoveBurner, -0.437, 0.924, -1.845, 0, 180, 0, [SEP] 45, StoveBurner, -0.222, 0.924, -1.845, 0, 180, 0, [SEP] 46, StoveBurner, -0.437, 0.924, -2.243, 0, 0, 0, [SEP] 47, Drawer, -0.500, 0.779, -1.450, 0, 0, 0, [SEP] 48, Drawer, -0.481, 0.777, -2.739, 0, 0, 0, [SEP] 49, Drawer, -1.154, 0.782, -3.499, 0, 0, 0, [SEP] 50, Cabinet, -0.337, 2.110, -0.390, 0, 0, 0, [SEP] 51, Cabinet, -0.337, 2.110, -1.272, 0, 0, 0, [SEP] 52, Cabinet, -0.337, 2.110, -1.631, 0, 0, 0, [SEP] 53, Cabinet, -0.337, 2.110, -2.497, 0, 0, 0, [SEP] 54, Cabinet, -0.337, 1.891, -1.286, 0, 0, 0, [SEP] 55, Cabinet, -0.346, 1.891, -3.293, 0, 0, 0, [SEP] 56, Cabinet, -0.629, 0.388, -2.513, 0, 0, 0, [SEP] 57, Cabinet, -0.633, 0.388, -3.008, 0, 0, 0, [SEP] 58, Cabinet, -1.010, 0.388, -3.368, 0, 0, 0, [SEP] 59, Cabinet, -0.629, 0.388, -1.614, 0, 0, 0, [SEP] 60, Cabinet, -0.327, 1.886, -2.513, 0, 0, 0, [SEP] 61, CounterTop, -0.326, 0.976, -1.450, 0, 0, 0, [SEP] 62, StoveBurner, -0.222, 0.924, -2.243, 0, 0, 0, [SEP] 63, Sink, -0.600, 0.929, -3.388, 0, 0, 0, [SEP] 64, StoveKnob, -0.617, 0.899, -1.833, 315, 90, 180, [SEP] 65, StoveKnob, -0.617, 0.899, -2.129, 315, 90, 180, [SEP] 66, StoveKnob, -0.617, 0.899, -2.289, 315, 90, 180, [SEP] 67, StoveKnob, -0.617, 0.899, -1.975, 315, 90, 180, [SEP] 68, GarbageCan, -2.418, -0.032, -3.541, 0, 0, 0, [SEP] 69, CoffeeMachine, -2.513, 0.930, -3.797, 0, 0, 0, [SEP] 70, Window, -1.389, 1.610, -4.113, 90, 0, 0, [SEP] 71, LightSwitch, -4.372, 1.493, -1.031, 0, 90, 0, [SEP] 72, SinkBasin, -0.614, 0.802, -3.384, 0, 315, 0, [SEP] 73, Fridge, -0.314, 0.0, -0.646, 0, 0, 0, [SEP] 74, Toaster, -1.970, 0.930, -3.763, 0, 0, 0, [SEP] 75, Microwave, -0.216, 1.470, -2.054, 0, 270, 0, [SEP] 76, Blinds, -1.373, 2.205, -3.961, 0, 0, 0, [SEP] 77, Faucet, -0.393, 0.930, -3.614, 270, 225, 0, [SEP] 78, SideTable, -4.030, 0.002, -0.301, 0, 185.034, 0, [SEP] 79, DiningTable, -3.586, 0.000, -3.258, 0, 0, 0, [SEP] 80, DiningTable, -3.224, -0.003, -0.453, 0, 0, 0, [SEP] 81, Shelf, -4.030, 0.259, -0.301, 0, 185.034, 0, [SEP] 82, Shelf, -4.030, 0.489, -0.301, 0, 185.034, 0, [SEP] 83, EastWall, , , , , , , [SEP] 84, EastWall, , , , , , , [SEP] 85, SouthWall, , , , , , , ", "output": ["STEP 1: Turn around and go to the black circular table. | STEP 2: Take the all silver knife to the right of the bread. | STEP 3: Turn right and go to the black stand in the corner next to the white table. | STEP 4: Cut the lettuce into slices. | STEP 5: Go to the white table to the right. | STEP 6: Put the knife in front of the loaf of bread. | STEP 7: Go to the black stand to the left. | STEP 8: Take a piece of lettuce from the stand. | STEP 9: Turn right go to the oven. | STEP 10: Put the lettuce in the pan on the left back burner on the stove top. | STEP 11: Take the pan from the stove top. | STEP 12: Turn around, go to the white table on the right. | STEP 13: Put the pan to the right of the knife on the table. | END"]} +{"id": "trial_T20190906_234933_757762-0", "input": "Put the chilled large pot on the wooded rack. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.25, 0.900, -1.5, 0, 180, 0, [SEP] 1, Book, -1.856, 0.910, -2.146, 0, 270, 0, 86 [SEP] 2, Statue, -0.059, 1.110, -0.253, 0, 0, 0, 61 [SEP] 3, Statue, -0.335, 1.110, -0.759, 0, 0, 0, 61 [SEP] 4, Potato, -1.908, 0.800, -1.328, 0, 90, 0, 96 [SEP] 5, CreditCard, -1.574, 0.908, -1.869, 0, 0, 0, 86 [SEP] 6, Plate, -2.040, 1.499, 1.008, 0, 90, 0, 94 [SEP] 7, Plate, -2.122, 1.499, 1.260, 0, 90, 0, 94 [SEP] 8, Cup, 0.615, 1.657, -2.525, 0, 0, 0, 85 [SEP] 9, Tomato, -1.797, 0.808, -1.242, 0, 90, 0, 96 [SEP] 10, Tomato, -1.611, 0.950, -0.698, 0, 0, 0, 86 [SEP] 11, SoapBottle, 0.505, 1.660, -2.632, 0, 0, 0, 85 [SEP] 12, PepperShaker, -1.781, 0.474, -0.293, 0, 90, 0, 76 [SEP] 13, Lettuce, 0.355, 1.191, -0.253, 0, 0, 0, 61 [SEP] 14, Lettuce, -0.995, 0.991, -2.637, 0, 0, 0, 86 [SEP] 15, Knife, -1.143, 0.936, -2.329, 0, 180, 0, 86 [SEP] 16, Knife, 0.453, 0.936, -2.484, 0, 0, 0, 63 [SEP] 17, Fork, 0.950, 0.482, -2.380, 0, 0, 0, 69 [SEP] 18, Fork, 1.007, 0.142, -2.431, 0, 90, 0, 81 [SEP] 19, Mug, -0.122, 1.785, -2.514, 0, 0, 0, 87 [SEP] 20, Spatula, -1.739, 0.809, 0.111, 0, 90, 0, 58 [SEP] 21, ButterKnife, -1.937, 0.911, -0.698, 0, 0, 0, 86 [SEP] 22, Kettle, -1.814, 0.130, 0.248, 0, 90, 0, 67 [SEP] 23, Glassbottle, -1.797, 0.770, -1.414, 0, 90, 0, 96 [SEP] 24, WineBottle, 0.582, 0.911, -2.253, 0, 0, 0, 63 [SEP] 25, DishSponge, -1.852, 0.769, -1.673, 0, 90, 0, 96 [SEP] 26, Book, 0.155, 1.1, 0.617, 0, 315, 0, 61 [SEP] 27, Glassbottle, -1.962, 0.048, 1.933, 0, 270, 0, 92 [SEP] 28, Knife, -1.693, 0.936, -2.475, 0, 0, 0, 86 [SEP] 29, Bread, -0.335, 1.184, -0.506, 0, 0, 0, 61 [SEP] 30, Fork, -1.438, 0.911, -2.406, 0, 0, 0, 86 [SEP] 31, Potato, -1.586, 0.941, -2.713, 0, 0, 0, 86 [SEP] 32, SoapBottle, 0.217, 1.112, -0.506, 0, 0, 0, 61 [SEP] 33, Kettle, -0.036, 0.950, -2.372, 0, 270, 0, 56 [SEP] 34, Pan, -0.465, 0.950, -2.576, 0, 90, 0, 70 [SEP] 35, Plate, 0.217, 1.108, -0.001, 0, 0, 0, 61 [SEP] 36, Tomato, -1.962, 0.087, 2.076, 0, 270, 0, 92 [SEP] 37, Vase, 2.042, 0.540, -2.495, 0, 0, 0, 91 [SEP] 38, Egg, -0.019, 1.825, -2.482, 0, 0, 0, 87 [SEP] 39, CreditCard, -1.611, 0.790, 0.155, 0, 90, 0, 58 [SEP] 40, Statue, 0.969, 0.909, -2.407, 0, 90, 0, 63 [SEP] 41, WineBottle, 0.840, 0.911, -2.560, 0, 0, 0, 63 [SEP] 42, Pot, -2.019, 0.915, -0.513, 0, 0, 0, 86 [SEP] 43, Spatula, 1.119, 0.791, -2.463, 0, 90, 0, 57 [SEP] 44, PaperTowelRoll, 1.482, 0.985, -2.509, 0, 180, 0, 88 [SEP] 45, Cup, -0.335, 1.109, -0.001, 0, 0, 0, 61 [SEP] 46, Vase, 1.582, 0.550, -2.666, 0, 180, 0, 91 [SEP] 47, Bowl, -2.120, 0.795, 1.251, 0, 90, 0, 94 [SEP] 48, SaltShaker, 0.563, 0.136, -2.239, 0, 0, 0, 78 [SEP] 49, PepperShaker, 1.993, 0.877, -2.590, 0, 180, 0, 88 [SEP] 50, Lettuce, -0.473, 1.191, 0.757, 0, 0, 0, 61 [SEP] 51, ButterKnife, -1.963, 0.769, -1.587, 0, 270, 0, 96 [SEP] 52, Apple, -0.197, 1.162, 0.757, 0, 0, 0, 61 [SEP] 53, DishSponge, -2.018, 0.769, -1.501, 0, 90, 0, 96 [SEP] 54, Spoon, -0.059, 1.112, 0.251, 0, 0, 0, 61 [SEP] 55, Mug, -0.277, 1.785, -2.514, 0, 0, 0, 87 [SEP] 56, StoveBurner, -0.036, 0.915, -2.372, 0, 0, 0, [SEP] 57, Drawer, 0.949, 0.832, -2.197, 0, 0, 0, [SEP] 58, Drawer, -1.560, 0.839, 0.204, 0, 90, 0, [SEP] 59, StoveBurner, -0.465, 0.915, -2.371, 0, 180, 0, [SEP] 60, Drawer, -1.560, 0.839, -0.197, 0, 90, 0, [SEP] 61, CounterTop, -0.079, 1.147, -0.001, 0, 0, 0, [SEP] 62, Cabinet, -1.549, 0.494, -1.964, 0, 90, 0, [SEP] 63, CounterTop, 0.693, 0.946, -2.483, 0, 0, 0, [SEP] 64, StoveBurner, -0.036, 0.915, -2.576, 0, 0, 0, [SEP] 65, Drawer, 0.949, 0.393, -2.200, 0, 0, 0, [SEP] 66, Drawer, 0.949, 0.708, -2.200, 0, 0, 0, [SEP] 67, Cabinet, -1.549, 0.494, 0.379, 0, 90, 0, [SEP] 68, StoveKnob, -0.022, 0.881, -2.187, 45, 0, 0, [SEP] 69, Drawer, 0.949, 0.560, -2.201, 0, 0, 0, [SEP] 70, StoveBurner, -0.465, 0.915, -2.575, 0, 180, 0, [SEP] 71, Window, -2.230, 1.429, -1.203, 0, 0, 0, [SEP] 72, StoveKnob, -0.483, 0.881, -2.187, 45, 0, 0, [SEP] 73, Sink, -1.899, 0.964, -1.5, 0, 90, 0, [SEP] 74, StoveKnob, -0.328, 0.881, -2.187, 45, 0, 0, [SEP] 75, Cabinet, -0.727, 2.015, -2.460, 0, 0, 0, [SEP] 76, Drawer, -1.560, 0.655, -0.196, 0, 90, 0, [SEP] 77, Cabinet, -1.685, 2.015, -2.461, 0, 0, 0, [SEP] 78, Cabinet, 0.680, 0.494, -2.200, 0, 0, 0, [SEP] 79, Cabinet, -1.179, 0.494, -2.200, 0, 0, 0, [SEP] 80, Cabinet, -1.849, 2.015, 0.379, 0, 90, 0, [SEP] 81, Drawer, 0.949, 0.221, -2.200, 0, 0, 0, [SEP] 82, StoveKnob, -0.183, 0.881, -2.187, 45, 0, 0, [SEP] 83, Cabinet, 0.719, 2.015, -2.460, 0, 0, 0, [SEP] 84, Drawer, -1.560, 0.331, -0.196, 0, 90, 0, [SEP] 85, Cabinet, 0.680, 2.015, -2.460, 0, 0, 0, [SEP] 86, CounterTop, -1.868, 0.946, -1.205, 0, 0, 0, [SEP] 87, Microwave, -0.236, 1.689, -2.525, 0, 0, 0, [SEP] 88, Shelf, 1.751, 0.880, -2.560, 0, 0, 0, [SEP] 89, HousePlant, -1.948, 0.889, -2.520, 0, 5.334, 0, [SEP] 90, Toaster, -1.835, 0.900, 0.134, 0, 90, 0, [SEP] 91, Shelf, 1.750, 0.552, -2.559, 0, 0, 0, [SEP] 92, GarbageCan, -1.935, -0.002, 2.029, 0, 270, 0, [SEP] 93, Shelf, 1.750, 0.172, -2.559, 0, 0, 0, [SEP] 94, Fridge, -2.096, 0.0, 1.088, 0, 0, 0, [SEP] 95, CoffeeMachine, -1.977, 0.900, -0.188, 0, 90, 0, [SEP] 96, SinkBasin, -1.908, 0.759, -1.488, 0, 90, 0, [SEP] 97, LightSwitch, 2.329, 1.309, -0.159, 0, 270, 0, [SEP] 98, ShelvingUnit, 1.750, 0.006, -2.559, 0, 0, 0, [SEP] 99, Stool, 0.702, 0.000, -0.514, 1.202, 65.108, 0, [SEP] 100, Stool, 0.743, 0.000, 0.563, 1.227, 106.706, 0, [SEP] 101, Faucet, -2.070, 1.132, -1.514, 0, 0, 0, [SEP] 102, NorthWall, , , , , , , [SEP] 103, EastWall, , , , , , , [SEP] 104, SouthWall, , , , , , , [SEP] 105, WestWall, , , , , , , ", "output": ["STEP 1: Move to the counter by the coffee machine. | STEP 2: Pick up the large pot from the counter. | STEP 3: Bring the pot to the fridge. | STEP 4: Chill the pot in the fridge for a few seconds. | STEP 5: Bring the pot to the wooden rack. | STEP 6: Put the pot on the wooden rack to the left of the red bowl. | END"]} +{"id": "trial_T20190909_033722_340857-1", "input": "Place a rinsed head of lettuce in a trash bin. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, -0.5, 0, 0, 0, [SEP] 1, Ladle, 0.294, 0.975, 0.762, 0, 0, 0, 81 [SEP] 2, DishSponge, 1.466, 0.913, -1.095, 0, 0, 0, 64 [SEP] 3, ButterKnife, -0.230, 0.913, -1.737, 0, 0, 0, 64 [SEP] 4, Spoon, 0.294, 0.928, 0.534, 0, 0, 0, 81 [SEP] 5, Spoon, 0.522, 0.931, 0.305, 0, 0, 0, 81 [SEP] 6, Fork, -0.047, 0.927, 1.220, 0, 0, 0, 81 [SEP] 7, Fork, -0.047, 0.927, 0.991, 0, 0, 0, 81 [SEP] 8, Cup, 1.647, 0.913, -1.797, 0, 0, 0, 64 [SEP] 9, Cup, -0.047, 0.930, 0.762, 0, 0, 0, 81 [SEP] 10, Knife, 1.919, 0.936, -1.446, 0, 0, 0, 64 [SEP] 11, Knife, -0.047, 0.950, 0.534, 0, 0, 0, 81 [SEP] 12, Tomato, 0.294, 0.978, 0.305, 0, 0, 0, 81 [SEP] 13, Tomato, -1.610, 1.235, -1.013, 0, 90, 0, 72 [SEP] 14, SoapBottle, 1.669, 0.879, 2.429, 0, 0, 0, 90 [SEP] 15, Lettuce, 0.408, 1.011, 0.076, 0, 0, 0, 81 [SEP] 16, SaltShaker, 1.256, 0.115, -1.806, 0, 0, 0, 56 [SEP] 17, PepperShaker, 0.563, 1.655, -2.087, 0, 0, 0, 53 [SEP] 18, Bread, -1.495, 1.228, -0.495, 0, 90, 0, 72 [SEP] 19, Mug, -1.316, 1.654, -1.604, 0, 90, 0, 47 [SEP] 20, Mug, 0.384, 1.653, -2.200, 0, 0, 0, 53 [SEP] 21, Apple, -1.284, 1.086, -1.846, 0, 90, 0, 70 [SEP] 22, Apple, -1.380, 1.254, -0.910, 0, 90, 0, 72 [SEP] 23, Potato, -1.553, 0.888, -0.392, 0, 90, 0, 72 [SEP] 24, Bowl, -0.160, 0.927, 0.076, 0, 0, 0, 81 [SEP] 25, SoapBottle, -0.668, 0.912, -2.233, 0, 0, 0, 64 [SEP] 26, Fork, 0.066, 0.931, 1.448, 0, 0, 0, 81 [SEP] 27, Ladle, 1.572, 0.164, -1.332, 0, 270, 0, 58 [SEP] 28, Bread, 0.066, 0.975, 0.534, 0, 0, 0, 81 [SEP] 29, Lettuce, -1.572, 1.585, -0.806, 0, 90, 0, 72 [SEP] 30, WineBottle, 0.294, 0.931, 1.220, 0, 0, 0, 81 [SEP] 31, Spatula, 1.828, 0.928, -1.680, 0, 0, 0, 64 [SEP] 32, Plate, -1.438, 0.862, -0.702, 0, 90, 0, 72 [SEP] 33, SaltShaker, -0.160, 0.923, 0.762, 0, 0, 0, 81 [SEP] 34, Pot, 1.567, 0.948, -0.757, 0, 0, 0, 46 [SEP] 35, Cup, 1.359, 0.553, 2.534, 0, 0, 0, 91 [SEP] 36, PepperShaker, 1.669, 0.877, 2.537, 0, 0, 0, 90 [SEP] 37, Pan, 1.824, 0.945, -0.346, 0, 0, 0, 45 [SEP] 38, ButterKnife, 0.180, 0.926, 0.991, 0, 0, 0, 81 [SEP] 39, Tomato, 1.850, 0.965, -1.918, 0, 0, 0, 64 [SEP] 40, DishSponge, 1.566, 0.552, 2.586, 0, 0, 0, 91 [SEP] 41, Egg, -0.772, 0.967, -2.134, 0, 0, 0, 64 [SEP] 42, Spoon, 1.647, 0.914, -1.446, 0, 180, 0, 64 [SEP] 43, Knife, -0.346, 0.936, -1.689, 0, 0, 0, 64 [SEP] 44, Mug, -1.186, 1.010, -1.638, 0, 0, 0, 70 [SEP] 45, StoveBurner, 1.845, 0.940, -0.355, 0, 0, 0, [SEP] 46, StoveBurner, 1.567, 0.940, -0.757, 0, 0, 0, [SEP] 47, Cabinet, -1.149, 2.019, -1.979, 0, 90, 0, [SEP] 48, Cabinet, -1.149, 2.265, -0.834, 0, 90, 0, [SEP] 49, Cabinet, -0.459, 2.265, -2.0, 0, 0, 0, [SEP] 50, Cabinet, -1.100, 2.019, -2.0, 0, 0, 0, [SEP] 51, Cabinet, 1.719, 2.019, -2.0, 0, 0, 0, [SEP] 52, Cabinet, 1.179, 2.019, -2.0, 0, 0, 0, [SEP] 53, Cabinet, 0.199, 2.019, -2.0, 0, 0, 0, [SEP] 54, Cabinet, 1.75, 2.019, -1.399, 0, 270, 0, [SEP] 55, Cabinet, 1.75, 2.019, -1.029, 0, 270, 0, [SEP] 56, Cabinet, 1.379, 0.469, -1.689, 0, 0, 0, [SEP] 57, Cabinet, -0.819, 0.469, -1.689, 0, 0, 0, [SEP] 58, Cabinet, 1.389, 0.469, -1.059, 0, 270, 0, [SEP] 59, Cabinet, -0.839, 0.469, -1.665, 0, 90, 0, [SEP] 60, StoveBurner, 1.567, 0.940, -0.355, 0, 0, 0, [SEP] 61, StoveBurner, 1.845, 0.940, -0.757, 0, 0, 0, [SEP] 62, Sink, -0.109, 0.893, -2.009, 0, 0, 0, [SEP] 63, Drawer, -0.819, 0.75, -1.690, 0, 0, 0, [SEP] 64, CounterTop, 0.232, 0.949, -2.002, 0, 0, 0, [SEP] 65, GarbageCan, 1.855, -0.034, 0.141, 0, 358.959, 0, [SEP] 66, Vase, 0.251, 0.546, 0.475, 0, 270, 0, [SEP] 67, Toaster, 0.780, 0.900, -2.080, 0, 0, 0, [SEP] 68, LightSwitch, 0.108, 1.315, 2.75, 0, 180, 0, [SEP] 69, Vase, 0.400, 0.925, 0.218, 0, 180, 0, [SEP] 70, Microwave, -1.233, 0.900, -1.680, 0, 90, 0, [SEP] 71, Vase, 1.465, 1.662, -2.200, 0, 0, 0, [SEP] 72, Fridge, -1.495, 0.0, -0.703, 0, 0, 0, [SEP] 73, Window, 2.114, 1.495, 1.072, 90, 270, 0, [SEP] 74, CoffeeMachine, 1.374, 0.899, -2.112, 0, 0, 0, [SEP] 75, Vase, 0.333, 0.546, 1.272, 0, 270, 0, [SEP] 76, SinkBasin, -0.148, 0.753, -2.026, 0, 0, 0, [SEP] 77, StoveKnob, 2.037, 1.089, -0.405, 0, 0, 74.477, [SEP] 78, StoveKnob, 2.037, 1.089, -0.251, 0, 0, 74.477, [SEP] 79, StoveKnob, 2.037, 1.089, -0.649, 0, 0, 74.477, [SEP] 80, StoveKnob, 2.037, 1.089, -0.814, 0, 0, 74.477, [SEP] 81, DiningTable, 0.170, 0.005, 0.678, 0, 270, 0, [SEP] 82, Shelf, 0.170, 0.155, 0.678, 0, 270, 0, [SEP] 83, Shelf, 1.605, 0.172, 2.480, 0, 0, 0, [SEP] 84, Shelf, 1.605, 0.552, 2.480, 0, 0, 0, [SEP] 85, Shelf, 1.604, 0.880, 2.479, 0, 0, 0, [SEP] 86, ShelvingUnit, 1.605, 0.006, 2.480, 0, 0, 0, [SEP] 87, Faucet, -0.143, 1.028, -2.223, 0, 270, 0, [SEP] 88, Stool, -0.553, 0.000, 0.871, 1.233, 280.376, 0, [SEP] 89, Shelf, 0.170, 0.528, 0.678, 0, 270, 0, [SEP] 90, , , , , , , , [SEP] 91, , , , , , , , [SEP] 92, NorthWall, , , , , , , [SEP] 93, EastWall, , , , , , , [SEP] 94, SouthWall, , , , , , , [SEP] 95, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and then left, facing the short side of the table. | STEP 2: Pick up the head of lettuce on the table. | STEP 3: Turn around and walk to the sink. | STEP 4: Rinse the lettuce in the sink. | STEP 5: Turn left and walk around the counter, to the end where the trash bin is. | STEP 6: Place the lettuce in the trash bin. | END"]} +{"id": "trial_T20190909_033722_340857-2", "input": "Wash the lettuce and place it inside the green bin. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, -0.5, 0, 0, 0, [SEP] 1, Ladle, 0.294, 0.975, 0.762, 0, 0, 0, 81 [SEP] 2, DishSponge, 1.466, 0.913, -1.095, 0, 0, 0, 64 [SEP] 3, ButterKnife, -0.230, 0.913, -1.737, 0, 0, 0, 64 [SEP] 4, Spoon, 0.294, 0.928, 0.534, 0, 0, 0, 81 [SEP] 5, Spoon, 0.522, 0.931, 0.305, 0, 0, 0, 81 [SEP] 6, Fork, -0.047, 0.927, 1.220, 0, 0, 0, 81 [SEP] 7, Fork, -0.047, 0.927, 0.991, 0, 0, 0, 81 [SEP] 8, Cup, 1.647, 0.913, -1.797, 0, 0, 0, 64 [SEP] 9, Cup, -0.047, 0.930, 0.762, 0, 0, 0, 81 [SEP] 10, Knife, 1.919, 0.936, -1.446, 0, 0, 0, 64 [SEP] 11, Knife, -0.047, 0.950, 0.534, 0, 0, 0, 81 [SEP] 12, Tomato, 0.294, 0.978, 0.305, 0, 0, 0, 81 [SEP] 13, Tomato, -1.610, 1.235, -1.013, 0, 90, 0, 72 [SEP] 14, SoapBottle, 1.669, 0.879, 2.429, 0, 0, 0, 90 [SEP] 15, Lettuce, 0.408, 1.011, 0.076, 0, 0, 0, 81 [SEP] 16, SaltShaker, 1.256, 0.115, -1.806, 0, 0, 0, 56 [SEP] 17, PepperShaker, 0.563, 1.655, -2.087, 0, 0, 0, 53 [SEP] 18, Bread, -1.495, 1.228, -0.495, 0, 90, 0, 72 [SEP] 19, Mug, -1.316, 1.654, -1.604, 0, 90, 0, 47 [SEP] 20, Mug, 0.384, 1.653, -2.200, 0, 0, 0, 53 [SEP] 21, Apple, -1.284, 1.086, -1.846, 0, 90, 0, 70 [SEP] 22, Apple, -1.380, 1.254, -0.910, 0, 90, 0, 72 [SEP] 23, Potato, -1.553, 0.888, -0.392, 0, 90, 0, 72 [SEP] 24, Bowl, -0.160, 0.927, 0.076, 0, 0, 0, 81 [SEP] 25, SoapBottle, -0.668, 0.912, -2.233, 0, 0, 0, 64 [SEP] 26, Fork, 0.066, 0.931, 1.448, 0, 0, 0, 81 [SEP] 27, Ladle, 1.572, 0.164, -1.332, 0, 270, 0, 58 [SEP] 28, Bread, 0.066, 0.975, 0.534, 0, 0, 0, 81 [SEP] 29, Lettuce, -1.572, 1.585, -0.806, 0, 90, 0, 72 [SEP] 30, WineBottle, 0.294, 0.931, 1.220, 0, 0, 0, 81 [SEP] 31, Spatula, 1.828, 0.928, -1.680, 0, 0, 0, 64 [SEP] 32, Plate, -1.438, 0.862, -0.702, 0, 90, 0, 72 [SEP] 33, SaltShaker, -0.160, 0.923, 0.762, 0, 0, 0, 81 [SEP] 34, Pot, 1.567, 0.948, -0.757, 0, 0, 0, 46 [SEP] 35, Cup, 1.359, 0.553, 2.534, 0, 0, 0, 91 [SEP] 36, PepperShaker, 1.669, 0.877, 2.537, 0, 0, 0, 90 [SEP] 37, Pan, 1.824, 0.945, -0.346, 0, 0, 0, 45 [SEP] 38, ButterKnife, 0.180, 0.926, 0.991, 0, 0, 0, 81 [SEP] 39, Tomato, 1.850, 0.965, -1.918, 0, 0, 0, 64 [SEP] 40, DishSponge, 1.566, 0.552, 2.586, 0, 0, 0, 91 [SEP] 41, Egg, -0.772, 0.967, -2.134, 0, 0, 0, 64 [SEP] 42, Spoon, 1.647, 0.914, -1.446, 0, 180, 0, 64 [SEP] 43, Knife, -0.346, 0.936, -1.689, 0, 0, 0, 64 [SEP] 44, Mug, -1.186, 1.010, -1.638, 0, 0, 0, 70 [SEP] 45, StoveBurner, 1.845, 0.940, -0.355, 0, 0, 0, [SEP] 46, StoveBurner, 1.567, 0.940, -0.757, 0, 0, 0, [SEP] 47, Cabinet, -1.149, 2.019, -1.979, 0, 90, 0, [SEP] 48, Cabinet, -1.149, 2.265, -0.834, 0, 90, 0, [SEP] 49, Cabinet, -0.459, 2.265, -2.0, 0, 0, 0, [SEP] 50, Cabinet, -1.100, 2.019, -2.0, 0, 0, 0, [SEP] 51, Cabinet, 1.719, 2.019, -2.0, 0, 0, 0, [SEP] 52, Cabinet, 1.179, 2.019, -2.0, 0, 0, 0, [SEP] 53, Cabinet, 0.199, 2.019, -2.0, 0, 0, 0, [SEP] 54, Cabinet, 1.75, 2.019, -1.399, 0, 270, 0, [SEP] 55, Cabinet, 1.75, 2.019, -1.029, 0, 270, 0, [SEP] 56, Cabinet, 1.379, 0.469, -1.689, 0, 0, 0, [SEP] 57, Cabinet, -0.819, 0.469, -1.689, 0, 0, 0, [SEP] 58, Cabinet, 1.389, 0.469, -1.059, 0, 270, 0, [SEP] 59, Cabinet, -0.839, 0.469, -1.665, 0, 90, 0, [SEP] 60, StoveBurner, 1.567, 0.940, -0.355, 0, 0, 0, [SEP] 61, StoveBurner, 1.845, 0.940, -0.757, 0, 0, 0, [SEP] 62, Sink, -0.109, 0.893, -2.009, 0, 0, 0, [SEP] 63, Drawer, -0.819, 0.75, -1.690, 0, 0, 0, [SEP] 64, CounterTop, 0.232, 0.949, -2.002, 0, 0, 0, [SEP] 65, GarbageCan, 1.855, -0.034, 0.141, 0, 358.959, 0, [SEP] 66, Vase, 0.251, 0.546, 0.475, 0, 270, 0, [SEP] 67, Toaster, 0.780, 0.900, -2.080, 0, 0, 0, [SEP] 68, LightSwitch, 0.108, 1.315, 2.75, 0, 180, 0, [SEP] 69, Vase, 0.400, 0.925, 0.218, 0, 180, 0, [SEP] 70, Microwave, -1.233, 0.900, -1.680, 0, 90, 0, [SEP] 71, Vase, 1.465, 1.662, -2.200, 0, 0, 0, [SEP] 72, Fridge, -1.495, 0.0, -0.703, 0, 0, 0, [SEP] 73, Window, 2.114, 1.495, 1.072, 90, 270, 0, [SEP] 74, CoffeeMachine, 1.374, 0.899, -2.112, 0, 0, 0, [SEP] 75, Vase, 0.333, 0.546, 1.272, 0, 270, 0, [SEP] 76, SinkBasin, -0.148, 0.753, -2.026, 0, 0, 0, [SEP] 77, StoveKnob, 2.037, 1.089, -0.405, 0, 0, 74.477, [SEP] 78, StoveKnob, 2.037, 1.089, -0.251, 0, 0, 74.477, [SEP] 79, StoveKnob, 2.037, 1.089, -0.649, 0, 0, 74.477, [SEP] 80, StoveKnob, 2.037, 1.089, -0.814, 0, 0, 74.477, [SEP] 81, DiningTable, 0.170, 0.005, 0.678, 0, 270, 0, [SEP] 82, Shelf, 0.170, 0.155, 0.678, 0, 270, 0, [SEP] 83, Shelf, 1.605, 0.172, 2.480, 0, 0, 0, [SEP] 84, Shelf, 1.605, 0.552, 2.480, 0, 0, 0, [SEP] 85, Shelf, 1.604, 0.880, 2.479, 0, 0, 0, [SEP] 86, ShelvingUnit, 1.605, 0.006, 2.480, 0, 0, 0, [SEP] 87, Faucet, -0.143, 1.028, -2.223, 0, 270, 0, [SEP] 88, Stool, -0.553, 0.000, 0.871, 1.233, 280.376, 0, [SEP] 89, Shelf, 0.170, 0.528, 0.678, 0, 270, 0, [SEP] 90, , , , , , , , [SEP] 91, , , , , , , , [SEP] 92, NorthWall, , , , , , , [SEP] 93, EastWall, , , , , , , [SEP] 94, SouthWall, , , , , , , [SEP] 95, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and head towards the silver table. | STEP 2: Pick up the lettuce at the edge of the table . | STEP 3: Turn around and place the lettuce inside the sink. | STEP 4: Turn on the water in the sink to wash the lettuce. | STEP 5: Turn off the faucet and pick up the lettuce in the sink. | STEP 6: Turn around and walk to the bin, place the lettuce inside the green bin | END"]} +{"id": "trial_T20190908_120125_909974-0", "input": "Move two remotes from a table to a couch SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.902, 4.25, 0, 90, 0, [SEP] 1, Plate, -2.712, 0.689, 1.052, 0, 0, 0, 59 [SEP] 2, Plate, -2.396, 0.348, 4.887, 0, 0, 0, 48 [SEP] 3, Newspaper, -3.198, 0.481, 3.436, 0, 0, 0, 52 [SEP] 4, Watch, -1.859, 0.649, -0.022, 0, 0, 0, 55 [SEP] 5, Statue, -2.934, 0.695, 1.546, 0, 0, 0, 57 [SEP] 6, Pen, -1.974, 0.753, -0.072, 0, 0, 0, 54 [SEP] 7, Pencil, -2.134, 0.241, 6.046, 0, 0, 0, 49 [SEP] 8, Pencil, -2.636, 0.241, 6.156, 0, 0, 0, 49 [SEP] 9, CreditCard, -0.811, 0.432, 5.650, 0, 135, 0, 45 [SEP] 10, CreditCard, -4.088, 0.432, 5.821, 0, 59.999, 0, 44 [SEP] 11, RemoteControl, -2.551, 0.348, 4.964, 0, 0, 0, 48 [SEP] 12, RemoteControl, -2.253, 0.750, -0.072, 0, 0, 0, 54 [SEP] 13, Pillow, -0.888, 0.529, 5.967, 0, 135, 0, 45 [SEP] 14, Laptop, -2.269, 0.687, 1.299, 0, 0, 0, 46 [SEP] 15, Laptop, -2.668, 0.478, 3.525, 0, 0, 0, 52 [SEP] 16, Book, -1.872, 0.680, 1.167, 0, 0, 0, 56 [SEP] 17, Box, -3.362, 0.219, 6.426, 0, 0, 0, 49 [SEP] 18, Statue, -2.712, 0.695, 1.423, 0, 0, 0, 46 [SEP] 19, Laptop, -1.874, 0.478, 3.525, 0, 0, 0, 52 [SEP] 20, TissueBox, -2.164, 0.347, 4.809, 0, 0, 0, 48 [SEP] 21, CreditCard, -0.252, 0.704, 3.285, 0, 0, 0, 42 [SEP] 22, Plate, -2.712, 0.689, 1.670, 0, 0, 0, 60 [SEP] 23, KeyChain, -2.003, 0.724, 6.215, 0, 90, 0, 51 [SEP] 24, Vase, -2.473, 0.101, 4.964, 0, 0, 0, 50 [SEP] 25, Pencil, -2.164, 0.348, 5.042, 0, 0, 0, 48 [SEP] 26, Pillow, -3.271, 0.661, 3.44, 0, 0, 331.220, 52 [SEP] 27, Bowl, -2.767, 0.723, 6.134, 0, 0, 0, 51 [SEP] 28, RemoteControl, -2.241, 0.606, 4.731, 0, 0, 0, 47 [SEP] 29, Watch, -2.490, 0.689, 1.299, 0, 0, 0, 46 [SEP] 30, Pen, -1.859, 0.654, -0.077, 0, 0, 0, 55 [SEP] 31, Newspaper, -2.532, 0.749, -0.072, 0, 0, 0, 54 [SEP] 32, Painting, -2.048, 1.615, -0.303, 0, 0, 0, [SEP] 33, Curtains, -0.083, 2.420, 0.969, 0, 0, 0, [SEP] 34, Television, -2.357, 1.205, 6.245, 0, 180, 0, [SEP] 35, HousePlant, -2.933, 0.595, -0.093, 0, 0, 0, [SEP] 36, GarbageCan, -4.864, -0.001, 0.267, 0, 90, 0, [SEP] 37, FloorLamp, -0.566, 0.002, 0.024, 0, 316.932, 0, [SEP] 38, DeskLamp, -0.273, 0.700, 3.612, 0, 0, 0, [SEP] 39, Window, -0.057, 0.925, 1.764, 90, 270, 0, [SEP] 40, Window, -0.057, 1.130, 4.886, 90, 270, 0, [SEP] 41, LightSwitch, -3.305, 1.340, -0.314, 0, 0, 0, [SEP] 42, SideTable, -0.255, 0.001, 3.369, 0, 270, 0, [SEP] 43, Drawer, -0.306, 0.626, 3.369, 0, 270, 0, [SEP] 44, ArmChair, -4.376, -8.374, 6.016, 0, 152.639, 0, [SEP] 45, ArmChair, -0.847, -8.106, 5.983, 0, 231.318, 0, [SEP] 46, DiningTable, -2.268, -0.016, 1.422, 0, 0, 0, [SEP] 47, CoffeeTable, -2.326, 0.002, 4.922, 0, 0, 0, [SEP] 48, Shelf, -2.326, 0.338, 4.922, 0, 0, 0, [SEP] 49, Shelf, -2.385, 0.238, 6.296, 0, 0, 0, [SEP] 50, Shelf, -2.326, 0.089, 4.922, 0, 0, 0, [SEP] 51, TVStand, -2.385, 0.006, 6.296, 0, 0, 0, [SEP] 52, Sofa, -2.404, -0.003, 3.417, 0, 0, 0, [SEP] 53, SideTable, -2.935, 0.004, -0.103, 0, 0, 0, [SEP] 54, SideTable, -2.113, 0.002, -0.139, 0, 0, 0, [SEP] 55, Drawer, -2.113, 0.654, -0.069, 0, 0, 0, [SEP] 56, Chair, -1.862, 0.020, 1.035, 0, 0, 0, [SEP] 57, Chair, -3.122, 0.020, 1.410, 0, 104.999, 0, [SEP] 58, Chair, -1.864, 0.020, 1.838, 0, 185.032, 0, [SEP] 59, Chair, -2.507, 0.020, 0.991, 0, 6.189, 0, [SEP] 60, Chair, -2.519, 0.020, 1.882, 0, 164.977, 0, [SEP] 61, Chair, -1.335, 0.020, 1.430, 0, 270, 0, [SEP] 62, NorthWall, , , , , , , [SEP] 63, EastWall, , , , , , , [SEP] 64, SouthWall, , , , , , , [SEP] 65, WestWall, , , , , , , ", "output": ["STEP 1: Walk to the center table | STEP 2: Pick up the TV remote on the table | STEP 3: Turn to the couch | STEP 4: Put the remote on the couch between the laptops | STEP 5: Turn back to the table | STEP 6: Pick up a remote from the table | STEP 7: Walk back to the couch | STEP 8: Put the remote next to the other remote on the couch | END"]} +{"id": "trial_T20190907_231559_123727-0", "input": "get the laptop and look at it under the lamp SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.5, 0.998, -2.25, 0, 270, 0, [SEP] 1, Plate, -0.030, 0.978, -2.533, 0, 90, 0, 43 [SEP] 2, Vase, -0.345, 0.977, -2.572, 0, 90, 0, 43 [SEP] 3, Vase, -0.695, 0.459, -0.897, 0, 0, 0, 35 [SEP] 4, Pen, -4.094, 0.884, -1.287, 0, 0, 0, 34 [SEP] 5, Pen, -2.985, 0.884, -1.483, 0, 0, 0, 34 [SEP] 6, KeyChain, -0.959, 0.454, -0.498, 0, 0, 0, 35 [SEP] 7, CreditCard, 0.159, 0.860, -2.433, 0, 90, 0, 42 [SEP] 8, CreditCard, -3.429, 0.881, -1.385, 0, 0, 0, 34 [SEP] 9, Laptop, -1.254, 0.523, 0.960, 0, 0, 0, 39 [SEP] 10, Laptop, -3.872, 0.879, -1.385, 0, 0, 0, 34 [SEP] 11, Box, -2.863, 1.03, -0.958, 0, 0, 0, 34 [SEP] 12, Pillow, 0.629, 0.482, -1.667, 0, 0, 0, 31 [SEP] 13, CreditCard, -0.221, 0.860, -2.506, 0, 90, 0, 42 [SEP] 14, Plate, -3.851, 0.874, -1.011, 0, 0, 0, 34 [SEP] 15, Laptop, -1.222, 0.452, -0.897, 0, 0, 0, 35 [SEP] 16, RemoteControl, -0.731, 0.526, 1.085, 0, 0, 0, 39 [SEP] 17, Vase, -1.222, 0.459, -0.658, 0, 0, 0, 35 [SEP] 18, Statue, 0.257, 0.965, -2.518, 0, 0, 0, 43 [SEP] 19, KeyChain, -1.080, 0.525, 1.022, 0, 180, 0, 39 [SEP] 20, Pen, -3.429, 0.884, -0.992, 0, 0, 0, 34 [SEP] 21, Curtains, -3.013, 1.557, -3.082, 0, 0, 0, [SEP] 22, Television, -1.063, 0.939, -2.439, 0, 0, 0, [SEP] 23, HousePlant, 0.753, 0.855, -2.467, 0, 215.129, 0, [SEP] 24, HousePlant, 0.739, 0.855, -1.159, 0, 310.776, 0, [SEP] 25, FloorLamp, -2.186, 0.096, 1.111, 0, 0, 0, [SEP] 26, GarbageCan, -1.946, 0.097, -2.899, 0, 216.243, 0, [SEP] 27, Painting, -4.326, 1.817, -1.223, 90, 270, 0, [SEP] 28, Window, 0.010, 1.087, 0.001, 90, 270, 0, [SEP] 29, Window, -2.983, 1.544, -3.220, 90, 180, 0, [SEP] 30, LightSwitch, -3.907, 1.371, 1.386, 0, 180, 0, [SEP] 31, ArmChair, 0.662, 0.103, -1.781, 0, 270, 0, [SEP] 32, Stool, 0.765, 0.108, -1.148, 0, 0, 0, [SEP] 33, Stool, 0.765, 0.108, -2.460, 0, 35.380, 0, [SEP] 34, DiningTable, -3.428, 0.099, -1.188, 0, 0, 0, [SEP] 35, CoffeeTable, -1.090, 0.097, -0.737, 0, 0, 0, [SEP] 36, Chair, -3.793, 0.098, -0.841, 0, 164.999, 0, [SEP] 37, Chair, -3.073, 0.098, -1.515, 0, 11.313, 0, [SEP] 38, Chair, -3.810, 0.098, -1.549, 0, 352.857, 0, [SEP] 39, Sofa, -0.905, 0.099, 0.959, 0, 180, 0, [SEP] 40, CoffeeTable, -1.046, 0.096, -2.473, 0, 180, 0, [SEP] 41, Chair, -3.068, 0.098, -0.882, 0, 180, 0, [SEP] 42, Drawer, -0.031, 0.872, -2.487, 0, 0, 0, [SEP] 43, SideTable, -0.030, 0.097, -2.552, 0, 0, 0, [SEP] 44, NorthWall, , , , , , , [SEP] 45, EastWall, , , , , , , [SEP] 46, SouthWall, , , , , , , [SEP] 47, WestWall, , , , , , , ", "output": ["STEP 1: go stand behind the open computer on the table | STEP 2: close the computer and pick it up | STEP 3: walk the computer over to the lamp | STEP 4: turn on the lamp to look at the computer | END"]} +{"id": "trial_T20190907_231559_123727-1", "input": "Carry a laptop to the lamp, turn on lamp SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.5, 0.998, -2.25, 0, 270, 0, [SEP] 1, Plate, -0.030, 0.978, -2.533, 0, 90, 0, 43 [SEP] 2, Vase, -0.345, 0.977, -2.572, 0, 90, 0, 43 [SEP] 3, Vase, -0.695, 0.459, -0.897, 0, 0, 0, 35 [SEP] 4, Pen, -4.094, 0.884, -1.287, 0, 0, 0, 34 [SEP] 5, Pen, -2.985, 0.884, -1.483, 0, 0, 0, 34 [SEP] 6, KeyChain, -0.959, 0.454, -0.498, 0, 0, 0, 35 [SEP] 7, CreditCard, 0.159, 0.860, -2.433, 0, 90, 0, 42 [SEP] 8, CreditCard, -3.429, 0.881, -1.385, 0, 0, 0, 34 [SEP] 9, Laptop, -1.254, 0.523, 0.960, 0, 0, 0, 39 [SEP] 10, Laptop, -3.872, 0.879, -1.385, 0, 0, 0, 34 [SEP] 11, Box, -2.863, 1.03, -0.958, 0, 0, 0, 34 [SEP] 12, Pillow, 0.629, 0.482, -1.667, 0, 0, 0, 31 [SEP] 13, CreditCard, -0.221, 0.860, -2.506, 0, 90, 0, 42 [SEP] 14, Plate, -3.851, 0.874, -1.011, 0, 0, 0, 34 [SEP] 15, Laptop, -1.222, 0.452, -0.897, 0, 0, 0, 35 [SEP] 16, RemoteControl, -0.731, 0.526, 1.085, 0, 0, 0, 39 [SEP] 17, Vase, -1.222, 0.459, -0.658, 0, 0, 0, 35 [SEP] 18, Statue, 0.257, 0.965, -2.518, 0, 0, 0, 43 [SEP] 19, KeyChain, -1.080, 0.525, 1.022, 0, 180, 0, 39 [SEP] 20, Pen, -3.429, 0.884, -0.992, 0, 0, 0, 34 [SEP] 21, Curtains, -3.013, 1.557, -3.082, 0, 0, 0, [SEP] 22, Television, -1.063, 0.939, -2.439, 0, 0, 0, [SEP] 23, HousePlant, 0.753, 0.855, -2.467, 0, 215.129, 0, [SEP] 24, HousePlant, 0.739, 0.855, -1.159, 0, 310.776, 0, [SEP] 25, FloorLamp, -2.186, 0.096, 1.111, 0, 0, 0, [SEP] 26, GarbageCan, -1.946, 0.097, -2.899, 0, 216.243, 0, [SEP] 27, Painting, -4.326, 1.817, -1.223, 90, 270, 0, [SEP] 28, Window, 0.010, 1.087, 0.001, 90, 270, 0, [SEP] 29, Window, -2.983, 1.544, -3.220, 90, 180, 0, [SEP] 30, LightSwitch, -3.907, 1.371, 1.386, 0, 180, 0, [SEP] 31, ArmChair, 0.662, 0.103, -1.781, 0, 270, 0, [SEP] 32, Stool, 0.765, 0.108, -1.148, 0, 0, 0, [SEP] 33, Stool, 0.765, 0.108, -2.460, 0, 35.380, 0, [SEP] 34, DiningTable, -3.428, 0.099, -1.188, 0, 0, 0, [SEP] 35, CoffeeTable, -1.090, 0.097, -0.737, 0, 0, 0, [SEP] 36, Chair, -3.793, 0.098, -0.841, 0, 164.999, 0, [SEP] 37, Chair, -3.073, 0.098, -1.515, 0, 11.313, 0, [SEP] 38, Chair, -3.810, 0.098, -1.549, 0, 352.857, 0, [SEP] 39, Sofa, -0.905, 0.099, 0.959, 0, 180, 0, [SEP] 40, CoffeeTable, -1.046, 0.096, -2.473, 0, 180, 0, [SEP] 41, Chair, -3.068, 0.098, -0.882, 0, 180, 0, [SEP] 42, Drawer, -0.031, 0.872, -2.487, 0, 0, 0, [SEP] 43, SideTable, -0.030, 0.097, -2.552, 0, 0, 0, [SEP] 44, NorthWall, , , , , , , [SEP] 45, EastWall, , , , , , , [SEP] 46, SouthWall, , , , , , , [SEP] 47, WestWall, , , , , , , ", "output": ["STEP 1: Move to the white table top where the laptop is on top of the table | STEP 2: Pick up the laptop on the edge of the white table | STEP 3: Carry the laptop over to the floor lamp | STEP 4: Turn on the lamp | END"]} +{"id": "trial_T20190909_060010_825835-0", "input": "Examine a set of keys by the light of a tall lamp. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.998, 0.25, 0, 270, 0, [SEP] 1, Pen, 0.254, 0.866, -2.433, 0, 180, 0, 38 [SEP] 2, Pen, -4.094, 0.884, -1.287, 0, 0, 0, 30 [SEP] 3, KeyChain, -3.429, 0.878, -1.287, 0, 180, 0, 30 [SEP] 4, CreditCard, -0.557, 0.524, 1.085, 0, 0, 0, 35 [SEP] 5, CreditCard, -0.221, 0.860, -2.531, 0, 90, 0, 38 [SEP] 6, Box, -3.207, 1.033, -1.188, 0, 180, 0, 30 [SEP] 7, Box, -1.354, 0.608, -0.738, 0, 270, 0, 31 [SEP] 8, Pillow, 0.629, 0.482, -1.667, 0, 0, 0, 27 [SEP] 9, CreditCard, 0.492, 0.304, -1.865, 0, 0, 0, 27 [SEP] 10, Plate, -3.851, 0.874, -1.011, 0, 0, 0, 30 [SEP] 11, Laptop, -0.827, 0.452, -0.578, 0, 0, 0, 31 [SEP] 12, RemoteControl, -0.135, 0.974, -2.454, 0, 90, 0, 39 [SEP] 13, Vase, -3.650, 0.886, -1.385, 0, 0, 0, 30 [SEP] 14, Statue, 0.257, 0.965, -2.518, 0, 0, 0, 39 [SEP] 15, KeyChain, 0.919, 0.786, -1.698, 0, 0, 0, 27 [SEP] 16, Pen, -0.959, 0.459, -0.897, 0, 0, 0, 31 [SEP] 17, Curtains, -3.013, 1.557, -3.082, 0, 0, 0, [SEP] 18, Television, -1.063, 0.939, -2.439, 0, 0, 0, [SEP] 19, HousePlant, 0.753, 0.855, -2.467, 0, 215.129, 0, [SEP] 20, HousePlant, 0.739, 0.855, -1.159, 0, 310.776, 0, [SEP] 21, FloorLamp, -2.186, 0.096, 1.111, 0, 0, 0, [SEP] 22, GarbageCan, -1.946, 0.097, -2.899, 0, 216.243, 0, [SEP] 23, Painting, -4.326, 1.817, -1.223, 90, 270, 0, [SEP] 24, Window, 0.010, 1.087, 0.001, 90, 270, 0, [SEP] 25, Window, -2.983, 1.544, -3.220, 90, 180, 0, [SEP] 26, LightSwitch, -3.907, 1.371, 1.386, 0, 180, 0, [SEP] 27, ArmChair, 0.662, 0.103, -1.781, 0, 270, 0, [SEP] 28, Stool, 0.765, 0.108, -1.148, 0, 0, 0, [SEP] 29, Stool, 0.765, 0.108, -2.460, 0, 35.380, 0, [SEP] 30, DiningTable, -3.428, 0.099, -1.188, 0, 0, 0, [SEP] 31, CoffeeTable, -1.090, 0.097, -0.737, 0, 0, 0, [SEP] 32, Chair, -3.793, 0.098, -0.841, 0, 164.999, 0, [SEP] 33, Chair, -3.073, 0.098, -1.515, 0, 11.313, 0, [SEP] 34, Chair, -3.810, 0.098, -1.549, 0, 352.857, 0, [SEP] 35, Sofa, -0.905, 0.099, 0.959, 0, 180, 0, [SEP] 36, CoffeeTable, -1.046, 0.096, -2.473, 0, 180, 0, [SEP] 37, Chair, -3.068, 0.098, -0.882, 0, 180, 0, [SEP] 38, Drawer, -0.031, 0.872, -2.487, 0, 0, 0, [SEP] 39, SideTable, -0.030, 0.097, -2.552, 0, 0, 0, [SEP] 40, NorthWall, , , , , , , [SEP] 41, EastWall, , , , , , , [SEP] 42, SouthWall, , , , , , , [SEP] 43, WestWall, , , , , , , ", "output": ["STEP 1: Turn left, take a left at the small white table and walk to the yellow chair. | STEP 2: Pick up the set of keys from the back of the chair in the middle. | STEP 3: Turn around, hang a right at the white table and walk to the tall lamp. | STEP 4: Turn on the tall lamp. | END"]} +{"id": "trial_T20190908_152216_758421-1", "input": "Put the red cloth beside the other cloth on the tank SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.25, 0.901, -1.5, 0, 270, 0, [SEP] 1, Cloth, -2.668, 0.078, -0.465, 0, 0, 0, 20 [SEP] 2, Candle, -2.550, 0.996, -0.336, 0, 0, 0, 17 [SEP] 3, Towel, -1.051, 1.535, -2.887, 0, 90, 0, 23 [SEP] 4, HandTowel, -2.591, 1.635, -0.047, 0, 0, 0, 25 [SEP] 5, SoapBar, -2.567, 0.078, -1.650, 0, 0, 0, 22 [SEP] 6, ToiletPaper, -2.640, 0.069, -1.888, 0, 0, 0, 16 [SEP] 7, ToiletPaper, -0.084, 0.902, -3.286, 0, 270, 90, 30 [SEP] 8, SoapBottle, -0.417, 1.048, -3.887, 0, 0, 0, 30 [SEP] 9, Candle, -2.618, 0.080, -2.032, 0, 0, 0, 22 [SEP] 10, ScrubBrush, -1.048, 0.000, -3.830, 0, 0, 0, 26 [SEP] 11, Plunger, -1.066, 0.000, -3.527, 0, 0, 0, Floor|-00.04| [SEP] 12, Cloth, -2.669, 0.079, -1.062, 0, 0, 0, 18 [SEP] 13, SprayBottle, -2.62, 0.996, -1.285, 0, 0, 0, 17 [SEP] 14, ShowerDoor, -2.204, 1.044, -2.503, 0, 0, 0, [SEP] 15, Mirror, -2.947, 1.559, -1.194, 0, 0, 0, [SEP] 16, Cabinet, -2.504, 0.400, -2.208, 0, 0, 0, [SEP] 17, CounterTop, -2.744, 0.986, -1.243, 0, 0, 0, [SEP] 18, Cabinet, -2.504, 0.400, -1.238, 0, 0, 0, [SEP] 19, ShowerGlass, -2.079, 1.482, -3.264, 0, 0, 0, [SEP] 20, Cabinet, -2.508, 0.426, -0.290, 0, 0, 0, [SEP] 21, Sink, -2.907, 0.986, -1.761, 0, 90, 0, [SEP] 22, Cabinet, -2.508, 0.426, -1.260, 0, 0, 0, [SEP] 23, TowelHolder, -1.158, 1.521, -2.887, 0, 90, 0, [SEP] 24, ToiletPaperHanger, 0.0, 0.984, -2.651, 0, 270, 0, [SEP] 25, HandTowelHolder, -2.591, 1.737, -0.009, 0, 90, 0, [SEP] 26, GarbageCan, -0.908, -0.031, -3.646, 0, 90, 0, [SEP] 27, Window, -0.566, 1.730, -4.102, 90, 0, 0, [SEP] 28, LightSwitch, -1.332, 1.391, 0.001, 0, 180, 0, [SEP] 29, SinkBasin, -2.724, 0.916, -1.755, 351.180, 90, 0, [SEP] 30, Toilet, -0.319, 0.000, -3.533, 0, 90, 0, [SEP] 31, Faucet, -2.907, 0.993, -1.761, 0, 90, 0, [SEP] 32, SinkBasin, -2.724, 0.916, -0.726, 351.180, 90, 0, [SEP] 33, Sink, -2.907, 0.986, -0.732, 0, 90, 0, [SEP] 34, Faucet, -2.907, 0.993, -0.731, 0, 90, 0, [SEP] 35, ShowerHead, -2.868, 1.219, -3.223, 0, 180, 0, [SEP] 36, EastWall, , , , , , , [SEP] 37, EastWall, , , , , , , [SEP] 38, SouthWall, , , , , , , ", "output": ["STEP 1: Turn right walk forward then face the cabinet on the right below the sink | STEP 2: Open the cabinet, pick up the red cloth | STEP 3: Turn left then walk toward the toilet tank | STEP 4: Put the red cloth on the tank | STEP 5: Turn round to your right then walk forward head to the cabinet sink | STEP 6: Open the left side cabinet below the right sink and pick up the red cloth | STEP 7: Turn around to your left head back to the toilet tank | STEP 8: Put the red cloth beside the other cloth on the tank | END"]} +{"id": "trial_T20190908_013839_239956-0", "input": "To heat an apple and place it in the fridge. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.25, 0.900, 0.75, 0, 90, 0, [SEP] 1, Pan, 1.845, 0.948, -0.757, 0, 0, 0, 59 [SEP] 2, Pan, 1.567, 0.948, -0.757, 0, 0, 0, 44 [SEP] 3, Ladle, 0.294, 0.971, 0.305, 0, 0, 0, 79 [SEP] 4, DishSponge, 1.850, 0.913, -1.834, 0, 0, 0, 62 [SEP] 5, DishSponge, 1.464, 0.880, 2.456, 0, 0, 0, 88 [SEP] 6, ButterKnife, 0.294, 0.930, 1.220, 0, 0, 0, 79 [SEP] 7, WineBottle, 0.522, 0.931, 0.991, 0, 0, 0, 79 [SEP] 8, Fork, 0.294, 0.927, 0.534, 0, 0, 0, 79 [SEP] 9, Egg, 2.009, 0.967, -1.563, 0, 0, 0, 62 [SEP] 10, Egg, 1.466, 0.967, -1.329, 0, 0, 0, 62 [SEP] 11, Plate, 1.572, 0.123, -1.332, 0, 270, 0, 56 [SEP] 12, Plate, 1.566, 0.556, 2.534, 0, 0, 0, 82 [SEP] 13, Knife, 1.850, 0.936, -2.002, 0, 0, 0, 62 [SEP] 14, Knife, 0.180, 0.953, 0.305, 0, 90, 0, 79 [SEP] 15, Bowl, -0.137, 0.761, -2.071, 0, 90, 0, 74 [SEP] 16, Bowl, -0.160, 0.927, 0.991, 0, 0, 0, 79 [SEP] 17, Lettuce, 0.066, 1.011, 0.305, 0, 0, 0, 79 [SEP] 18, SaltShaker, 0.066, 0.926, 1.220, 0, 0, 0, 79 [SEP] 19, Mug, -0.668, 0.908, -2.267, 0, 0, 0, 62 [SEP] 20, Apple, -0.160, 0.997, 0.305, 0, 0, 0, 79 [SEP] 21, Potato, -0.160, 0.956, 1.220, 0, 0, 0, 79 [SEP] 22, Bowl, -1.438, 1.180, -0.495, 0, 90, 0, 70 [SEP] 23, SoapBottle, 1.771, 0.879, 2.456, 0, 0, 0, 89 [SEP] 24, Fork, 1.828, 0.914, -1.212, 0, 0, 0, 62 [SEP] 25, Ladle, 0.180, 0.975, 1.448, 0, 0, 0, 79 [SEP] 26, Bread, 0.066, 0.972, 0.762, 0, 0, 0, 79 [SEP] 27, Lettuce, 0.408, 1.008, 0.076, 0, 0, 0, 79 [SEP] 28, WineBottle, 1.913, 1.659, -1.117, 0, 270, 0, 53 [SEP] 29, Spatula, -0.160, 0.945, 0.762, 0, 270, 0, 79 [SEP] 30, Plate, 1.557, 0.916, -1.680, 0, 0, 0, 62 [SEP] 31, SaltShaker, 1.877, 0.549, 2.586, 0, 0, 0, 82 [SEP] 32, Pot, -0.117, 0.921, 1.5, 0, 0, 0, 79 [SEP] 33, Cup, -1.610, 1.183, -0.910, 0, 90, 0, 70 [SEP] 34, PepperShaker, -0.876, 0.909, -2.134, 0, 0, 0, 62 [SEP] 35, Pan, -1.438, 0.859, -0.495, 0, 0, 0, 70 [SEP] 36, ButterKnife, 0.408, 0.926, 0.991, 0, 0, 0, 79 [SEP] 37, Tomato, 1.829, 0.138, 0.160, 0, 0, 0, 63 [SEP] 38, DishSponge, 1.669, 0.880, 2.483, 0, 0, 0, 82 [SEP] 39, Egg, 1.871, 0.140, 0.283, 0, 0, 0, 63 [SEP] 40, Spoon, -0.230, 0.914, -1.725, 0, 0, 0, 62 [SEP] 41, Knife, -0.210, 0.787, -2.026, 0, 0, 0, 74 [SEP] 42, Mug, 1.919, 0.908, -1.446, 0, 0, 0, 62 [SEP] 43, StoveBurner, 1.845, 0.940, -0.355, 0, 0, 0, [SEP] 44, StoveBurner, 1.567, 0.940, -0.757, 0, 0, 0, [SEP] 45, Cabinet, -1.149, 2.019, -1.979, 0, 90, 0, [SEP] 46, Cabinet, -1.149, 2.265, -0.834, 0, 90, 0, [SEP] 47, Cabinet, -0.459, 2.265, -2.0, 0, 0, 0, [SEP] 48, Cabinet, -1.100, 2.019, -2.0, 0, 0, 0, [SEP] 49, Cabinet, 1.719, 2.019, -2.0, 0, 0, 0, [SEP] 50, Cabinet, 1.179, 2.019, -2.0, 0, 0, 0, [SEP] 51, Cabinet, 0.199, 2.019, -2.0, 0, 0, 0, [SEP] 52, Cabinet, 1.75, 2.019, -1.399, 0, 270, 0, [SEP] 53, Cabinet, 1.75, 2.019, -1.029, 0, 270, 0, [SEP] 54, Cabinet, 1.379, 0.469, -1.689, 0, 0, 0, [SEP] 55, Cabinet, -0.819, 0.469, -1.689, 0, 0, 0, [SEP] 56, Cabinet, 1.389, 0.469, -1.059, 0, 270, 0, [SEP] 57, Cabinet, -0.839, 0.469, -1.665, 0, 90, 0, [SEP] 58, StoveBurner, 1.567, 0.940, -0.355, 0, 0, 0, [SEP] 59, StoveBurner, 1.845, 0.940, -0.757, 0, 0, 0, [SEP] 60, Sink, -0.109, 0.893, -2.009, 0, 0, 0, [SEP] 61, Drawer, -0.819, 0.75, -1.690, 0, 0, 0, [SEP] 62, CounterTop, 0.232, 0.949, -2.002, 0, 0, 0, [SEP] 63, GarbageCan, 1.855, -0.034, 0.141, 0, 358.959, 0, [SEP] 64, Vase, 0.251, 0.546, 0.475, 0, 270, 0, [SEP] 65, Toaster, 0.780, 0.900, -2.080, 0, 0, 0, [SEP] 66, LightSwitch, 0.108, 1.315, 2.75, 0, 180, 0, [SEP] 67, Vase, 0.400, 0.925, 0.218, 0, 180, 0, [SEP] 68, Microwave, -1.233, 0.900, -1.680, 0, 90, 0, [SEP] 69, Vase, 1.465, 1.662, -2.200, 0, 0, 0, [SEP] 70, Fridge, -1.495, 0.0, -0.703, 0, 0, 0, [SEP] 71, Window, 2.114, 1.495, 1.072, 90, 270, 0, [SEP] 72, CoffeeMachine, 1.374, 0.899, -2.112, 0, 0, 0, [SEP] 73, Vase, 0.333, 0.546, 1.272, 0, 270, 0, [SEP] 74, SinkBasin, -0.148, 0.753, -2.026, 0, 0, 0, [SEP] 75, StoveKnob, 2.037, 1.089, -0.405, 0, 0, 74.477, [SEP] 76, StoveKnob, 2.037, 1.089, -0.251, 0, 0, 74.477, [SEP] 77, StoveKnob, 2.037, 1.089, -0.649, 0, 0, 74.477, [SEP] 78, StoveKnob, 2.037, 1.089, -0.814, 0, 0, 74.477, [SEP] 79, DiningTable, 0.170, 0.005, 0.678, 0, 270, 0, [SEP] 80, Shelf, 0.170, 0.155, 0.678, 0, 270, 0, [SEP] 81, Shelf, 1.605, 0.172, 2.480, 0, 0, 0, [SEP] 82, Shelf, 1.605, 0.552, 2.480, 0, 0, 0, [SEP] 83, Shelf, 1.604, 0.880, 2.479, 0, 0, 0, [SEP] 84, ShelvingUnit, 1.605, 0.006, 2.480, 0, 0, 0, [SEP] 85, Faucet, -0.143, 1.028, -2.223, 0, 270, 0, [SEP] 86, Stool, -0.553, 0.000, 0.871, 1.233, 280.376, 0, [SEP] 87, Shelf, 0.170, 0.528, 0.678, 0, 270, 0, [SEP] 88, , , , , , , , [SEP] 89, , , , , , , , [SEP] 90, NorthWall, , , , , , , [SEP] 91, EastWall, , , , , , , [SEP] 92, SouthWall, , , , , , , [SEP] 93, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and then walk around the table to face the opposite side. | STEP 2: Pick up the apple on the table. | STEP 3: Turn right and walk forward to face the microwave. | STEP 4: Heat the apple in the microwave and then remove it. | STEP 5: Step to the right to face the fridge. | STEP 6: Place the apple in the fridge to the left of the pan. | END"]} +{"id": "trial_T20190909_043600_218457-1", "input": "Place a cool apple next to the bowl on the table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.901, 3.25, 0, 0, 0, [SEP] 1, Potato, -2.798, 0.080, 0.318, 0, 26.101, 0, 69 [SEP] 2, ButterKnife, -2.480, 0.900, 2.045, 0, 0, 0, 76 [SEP] 3, ButterKnife, -2.706, 0.935, 3.209, 0, 0, 0, 62 [SEP] 4, Spoon, -2.037, 0.929, 0.518, 0, 0, 0, 55 [SEP] 5, Spoon, -2.892, 0.901, 2.706, 0, 90, 0, 76 [SEP] 6, Fork, -0.572, 0.901, 2.932, 0, 0, 0, 78 [SEP] 7, Plate, -2.831, 0.303, 4.278, 0, 90, 0, 72 [SEP] 8, Knife, -2.706, 0.961, 3.766, 0, 180, 0, 62 [SEP] 9, Knife, -2.686, 0.926, 2.177, 0, 0, 0, 76 [SEP] 10, SoapBottle, -0.143, 0.900, 2.530, 0, 0, 0, 78 [SEP] 11, Tomato, -2.583, 0.964, 2.706, 0, 0, 0, 76 [SEP] 12, Tomato, -0.143, 0.964, 3.133, 0, 0, 0, 78 [SEP] 13, SaltShaker, -2.161, 0.658, 0.300, 0, 0, 0, 63 [SEP] 14, SaltShaker, -1.878, 0.658, 0.245, 0, 0, 0, 58 [SEP] 15, PepperShaker, -2.377, 0.896, 2.706, 0, 0, 0, 76 [SEP] 16, PepperShaker, -0.657, 0.896, 3.334, 0, 0, 0, 78 [SEP] 17, Bread, -2.805, 0.689, 4.427, 0, 90, 0, 72 [SEP] 18, Lettuce, -2.847, 1.266, 4.352, 0, 90, 0, 72 [SEP] 19, Lettuce, -0.314, 0.980, 2.530, 0, 0, 0, 78 [SEP] 20, Mug, -2.778, 1.001, 3.714, 0, 90, 0, 75 [SEP] 21, Apple, -2.037, 0.984, 0.264, 0, 0, 0, 55 [SEP] 22, Apple, -0.657, 0.956, 2.329, 0, 0, 0, 78 [SEP] 23, Egg, -0.244, 1.051, 0.267, 0, 0, 0, 74 [SEP] 24, Plate, -1.193, 1.777, 0.205, 0, 0, 0, 52 [SEP] 25, Fork, -0.486, 0.901, 3.133, 0, 0, 0, 78 [SEP] 26, Bread, -2.864, 0.940, 1.983, 0, 0, 0, 76 [SEP] 27, Apple, -1.266, 0.852, 0.392, 0, 0, 0, 73 [SEP] 28, Lettuce, -0.400, 0.980, 2.329, 0, 0, 0, 78 [SEP] 29, Spatula, -1.007, 0.810, 0.447, 0, 270, 0, 73 [SEP] 30, Knife, -0.272, 0.688, 0.409, 0, 0, 0, 44 [SEP] 31, Potato, -2.764, 1.212, 4.204, 0, 90, 0, 72 [SEP] 32, Tomato, -0.657, 0.964, 2.731, 0, 0, 0, 78 [SEP] 33, Cup, -2.805, 1.186, 4.575, 0, 90, 0, 72 [SEP] 34, SaltShaker, -0.572, 0.896, 2.329, 0, 0, 0, 78 [SEP] 35, PepperShaker, -0.164, 0.658, 0.573, 0, 0, 0, 44 [SEP] 36, ButterKnife, -0.314, 0.900, 2.329, 0, 0, 0, 78 [SEP] 37, SoapBottle, -0.747, 1.773, 0.251, 0, 0, 0, 53 [SEP] 38, Pan, -0.250, 0.926, 4.651, 0, 0, 0, 57 [SEP] 39, DishSponge, -2.943, 0.935, 3.302, 0, 0, 0, 62 [SEP] 40, Pot, -0.535, 0.928, 4.274, 0, 0, 0, 59 [SEP] 41, Spoon, -2.323, 0.663, 0.300, 0, 0, 0, 63 [SEP] 42, Mug, -0.350, 1.013, 0.267, 0, 0, 0, 74 [SEP] 43, Bowl, -2.480, 0.897, 2.309, 0, 0, 0, 76 [SEP] 44, Drawer, -0.325, 0.696, 0.413, 0, 0, 0, [SEP] 45, Cabinet, -0.595, 0.490, 0.648, 0, 0, 0, [SEP] 46, Cabinet, -0.555, 0.490, 0.646, 0, 0, 0, [SEP] 47, Cabinet, -1.591, 0.490, 0.646, 0, 0, 0, [SEP] 48, Cabinet, -1.554, 0.490, 0.646, 0, 0, 0, [SEP] 49, Cabinet, -2.550, 0.490, 0.646, 0, 0, 0, [SEP] 50, Cabinet, -1.514, 2.046, 0.392, 0, 0, 0, [SEP] 51, Cabinet, -2.474, 2.046, 0.392, 0, 0, 0, [SEP] 52, Cabinet, -1.478, 2.046, 0.392, 0, 0, 0, [SEP] 53, Cabinet, -0.518, 2.046, 0.392, 0, 0, 0, [SEP] 54, Cabinet, -0.479, 2.046, 0.392, 0, 0, 0, [SEP] 55, CounterTop, -1.366, 0.952, 0.349, 0, 0, 0, [SEP] 56, Sink, -1.108, 0.926, 0.340, 0, 0, 0, [SEP] 57, StoveBurner, -0.254, 0.922, 4.672, 0, 0, 0, [SEP] 58, Drawer, -1.824, 0.696, 0.413, 0, 0, 0, [SEP] 59, StoveBurner, -0.535, 0.922, 4.274, 0, 0, 0, [SEP] 60, StoveBurner, -0.254, 0.922, 4.274, 0, 0, 0, [SEP] 61, StoveBurner, -0.536, 0.922, 4.672, 0, 0, 0, [SEP] 62, CounterTop, -2.780, 0.971, 3.487, 0, 0, 0, [SEP] 63, Drawer, -2.323, 0.696, 0.413, 0, 0, 0, [SEP] 64, StoveKnob, -0.064, 1.090, 4.632, 0, 0, 73.865, [SEP] 65, StoveKnob, -0.064, 1.090, 4.782, 0, 0, 73.865, [SEP] 66, StoveKnob, -0.064, 1.090, 4.382, 0, 0, 73.865, [SEP] 67, StoveKnob, -0.064, 1.090, 4.222, 0, 0, 73.865, [SEP] 68, Toaster, -0.286, 0.861, 3.520, 0, 270, 0, [SEP] 69, GarbageCan, -2.816, -0.014, 0.370, 358.702, 26.614, 2.400, [SEP] 70, LightSwitch, -0.064, 1.447, 1.996, 0, 270, 0, [SEP] 71, Window, -3.075, 1.593, 1.361, 90, 90, 0, [SEP] 72, Fridge, -2.802, 0.0, 4.427, 0, 0, 0, [SEP] 73, SinkBasin, -1.106, 0.785, 0.337, 0, 0, 0, [SEP] 74, Microwave, -0.358, 0.917, 0.224, 0, 0, 0, [SEP] 75, CoffeeMachine, -2.938, 0.925, 3.605, 0, 90, 0, [SEP] 76, DiningTable, -2.733, -0.003, 2.607, 0, 270, 0, [SEP] 77, Faucet, -1.077, 0.920, 0.028, 270, 270, 0, [SEP] 78, DiningTable, -0.488, -0.003, 3.182, 0, 270, 0, [SEP] 79, NorthWall, , , , , , , [SEP] 80, EastWall, , , , , , , [SEP] 81, SouthWall, , , , , , , [SEP] 82, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk to the table to your left. | STEP 2: Grab the apple in front of the salt shaker on the counter. | STEP 3: Turn left and walk to the fridge to the end on the left. | STEP 4: Place the apple into the fridge, cool it and remove it. | STEP 5: Turn left and walk to the table to your right. | STEP 6: Place the cool apple next to the bowl on the table. | END"]} +{"id": "trial_T20190909_043600_218457-2", "input": "Place a chilled apple on a table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.901, 3.25, 0, 0, 0, [SEP] 1, Potato, -2.798, 0.080, 0.318, 0, 26.101, 0, 69 [SEP] 2, ButterKnife, -2.480, 0.900, 2.045, 0, 0, 0, 76 [SEP] 3, ButterKnife, -2.706, 0.935, 3.209, 0, 0, 0, 62 [SEP] 4, Spoon, -2.037, 0.929, 0.518, 0, 0, 0, 55 [SEP] 5, Spoon, -2.892, 0.901, 2.706, 0, 90, 0, 76 [SEP] 6, Fork, -0.572, 0.901, 2.932, 0, 0, 0, 78 [SEP] 7, Plate, -2.831, 0.303, 4.278, 0, 90, 0, 72 [SEP] 8, Knife, -2.706, 0.961, 3.766, 0, 180, 0, 62 [SEP] 9, Knife, -2.686, 0.926, 2.177, 0, 0, 0, 76 [SEP] 10, SoapBottle, -0.143, 0.900, 2.530, 0, 0, 0, 78 [SEP] 11, Tomato, -2.583, 0.964, 2.706, 0, 0, 0, 76 [SEP] 12, Tomato, -0.143, 0.964, 3.133, 0, 0, 0, 78 [SEP] 13, SaltShaker, -2.161, 0.658, 0.300, 0, 0, 0, 63 [SEP] 14, SaltShaker, -1.878, 0.658, 0.245, 0, 0, 0, 58 [SEP] 15, PepperShaker, -2.377, 0.896, 2.706, 0, 0, 0, 76 [SEP] 16, PepperShaker, -0.657, 0.896, 3.334, 0, 0, 0, 78 [SEP] 17, Bread, -2.805, 0.689, 4.427, 0, 90, 0, 72 [SEP] 18, Lettuce, -2.847, 1.266, 4.352, 0, 90, 0, 72 [SEP] 19, Lettuce, -0.314, 0.980, 2.530, 0, 0, 0, 78 [SEP] 20, Mug, -2.778, 1.001, 3.714, 0, 90, 0, 75 [SEP] 21, Apple, -2.037, 0.984, 0.264, 0, 0, 0, 55 [SEP] 22, Apple, -0.657, 0.956, 2.329, 0, 0, 0, 78 [SEP] 23, Egg, -0.244, 1.051, 0.267, 0, 0, 0, 74 [SEP] 24, Plate, -1.193, 1.777, 0.205, 0, 0, 0, 52 [SEP] 25, Fork, -0.486, 0.901, 3.133, 0, 0, 0, 78 [SEP] 26, Bread, -2.864, 0.940, 1.983, 0, 0, 0, 76 [SEP] 27, Apple, -1.266, 0.852, 0.392, 0, 0, 0, 73 [SEP] 28, Lettuce, -0.400, 0.980, 2.329, 0, 0, 0, 78 [SEP] 29, Spatula, -1.007, 0.810, 0.447, 0, 270, 0, 73 [SEP] 30, Knife, -0.272, 0.688, 0.409, 0, 0, 0, 44 [SEP] 31, Potato, -2.764, 1.212, 4.204, 0, 90, 0, 72 [SEP] 32, Tomato, -0.657, 0.964, 2.731, 0, 0, 0, 78 [SEP] 33, Cup, -2.805, 1.186, 4.575, 0, 90, 0, 72 [SEP] 34, SaltShaker, -0.572, 0.896, 2.329, 0, 0, 0, 78 [SEP] 35, PepperShaker, -0.164, 0.658, 0.573, 0, 0, 0, 44 [SEP] 36, ButterKnife, -0.314, 0.900, 2.329, 0, 0, 0, 78 [SEP] 37, SoapBottle, -0.747, 1.773, 0.251, 0, 0, 0, 53 [SEP] 38, Pan, -0.250, 0.926, 4.651, 0, 0, 0, 57 [SEP] 39, DishSponge, -2.943, 0.935, 3.302, 0, 0, 0, 62 [SEP] 40, Pot, -0.535, 0.928, 4.274, 0, 0, 0, 59 [SEP] 41, Spoon, -2.323, 0.663, 0.300, 0, 0, 0, 63 [SEP] 42, Mug, -0.350, 1.013, 0.267, 0, 0, 0, 74 [SEP] 43, Bowl, -2.480, 0.897, 2.309, 0, 0, 0, 76 [SEP] 44, Drawer, -0.325, 0.696, 0.413, 0, 0, 0, [SEP] 45, Cabinet, -0.595, 0.490, 0.648, 0, 0, 0, [SEP] 46, Cabinet, -0.555, 0.490, 0.646, 0, 0, 0, [SEP] 47, Cabinet, -1.591, 0.490, 0.646, 0, 0, 0, [SEP] 48, Cabinet, -1.554, 0.490, 0.646, 0, 0, 0, [SEP] 49, Cabinet, -2.550, 0.490, 0.646, 0, 0, 0, [SEP] 50, Cabinet, -1.514, 2.046, 0.392, 0, 0, 0, [SEP] 51, Cabinet, -2.474, 2.046, 0.392, 0, 0, 0, [SEP] 52, Cabinet, -1.478, 2.046, 0.392, 0, 0, 0, [SEP] 53, Cabinet, -0.518, 2.046, 0.392, 0, 0, 0, [SEP] 54, Cabinet, -0.479, 2.046, 0.392, 0, 0, 0, [SEP] 55, CounterTop, -1.366, 0.952, 0.349, 0, 0, 0, [SEP] 56, Sink, -1.108, 0.926, 0.340, 0, 0, 0, [SEP] 57, StoveBurner, -0.254, 0.922, 4.672, 0, 0, 0, [SEP] 58, Drawer, -1.824, 0.696, 0.413, 0, 0, 0, [SEP] 59, StoveBurner, -0.535, 0.922, 4.274, 0, 0, 0, [SEP] 60, StoveBurner, -0.254, 0.922, 4.274, 0, 0, 0, [SEP] 61, StoveBurner, -0.536, 0.922, 4.672, 0, 0, 0, [SEP] 62, CounterTop, -2.780, 0.971, 3.487, 0, 0, 0, [SEP] 63, Drawer, -2.323, 0.696, 0.413, 0, 0, 0, [SEP] 64, StoveKnob, -0.064, 1.090, 4.632, 0, 0, 73.865, [SEP] 65, StoveKnob, -0.064, 1.090, 4.782, 0, 0, 73.865, [SEP] 66, StoveKnob, -0.064, 1.090, 4.382, 0, 0, 73.865, [SEP] 67, StoveKnob, -0.064, 1.090, 4.222, 0, 0, 73.865, [SEP] 68, Toaster, -0.286, 0.861, 3.520, 0, 270, 0, [SEP] 69, GarbageCan, -2.816, -0.014, 0.370, 358.702, 26.614, 2.400, [SEP] 70, LightSwitch, -0.064, 1.447, 1.996, 0, 270, 0, [SEP] 71, Window, -3.075, 1.593, 1.361, 90, 90, 0, [SEP] 72, Fridge, -2.802, 0.0, 4.427, 0, 0, 0, [SEP] 73, SinkBasin, -1.106, 0.785, 0.337, 0, 0, 0, [SEP] 74, Microwave, -0.358, 0.917, 0.224, 0, 0, 0, [SEP] 75, CoffeeMachine, -2.938, 0.925, 3.605, 0, 90, 0, [SEP] 76, DiningTable, -2.733, -0.003, 2.607, 0, 270, 0, [SEP] 77, Faucet, -1.077, 0.920, 0.028, 270, 270, 0, [SEP] 78, DiningTable, -0.488, -0.003, 3.182, 0, 270, 0, [SEP] 79, NorthWall, , , , , , , [SEP] 80, EastWall, , , , , , , [SEP] 81, SouthWall, , , , , , , [SEP] 82, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and walk to the right side of the table. | STEP 2: Pick up the red apple on the table. | STEP 3: Turn left and veer left to the fridge. | STEP 4: Place the apple in the fridge to the right side of the top shelf. Close the door, wait a moment, and take it out again. | STEP 5: Turn left and walk to the table on the right. | STEP 6: Place the apple on the table to the right and in front of the gray bowl. | END"]} +{"id": "trial_T20190907_013151_551854-1", "input": "Put a chilled mug at the coffee maker. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 2.5, 0.900, 1.0, 0, 180, 0, [SEP] 1, Potato, -0.290, 0.793, -1.952, 0, 0, 0, 89 [SEP] 2, Potato, 1.891, 0.847, -0.830, 0, 270, 0, 86 [SEP] 3, ButterKnife, 1.419, 0.911, -1.760, 0, 0, 0, 79 [SEP] 4, Pot, -1.312, 1.662, -0.490, 0, 0, 0, 62 [SEP] 5, Spatula, -1.404, 0.926, -1.553, 0, 90, 0, 79 [SEP] 6, Spatula, -1.080, 0.928, -0.292, 0, 0, 0, 72 [SEP] 7, Fork, -1.259, 0.911, -1.845, 0, 270, 0, 79 [SEP] 8, Fork, -0.205, 0.914, 0.241, 0, 0, 0, 72 [SEP] 9, Spoon, -0.375, 1.132, 0.662, 0, 0, 0, 75 [SEP] 10, Egg, 1.910, 1.049, -1.192, 0, 270, 0, 84 [SEP] 11, Plate, 1.945, 1.426, -0.458, 0, 270, 0, 86 [SEP] 12, Plate, 1.945, 1.097, -0.644, 0, 270, 0, 86 [SEP] 13, SoapBottle, 1.194, 0.911, -1.844, 0, 0, 0, 79 [SEP] 14, Tomato, -0.290, 0.812, -2.063, 0, 0, 0, 89 [SEP] 15, Bowl, -1.330, 0.910, -0.170, 0, 0, 0, 72 [SEP] 16, SaltShaker, 1.513, 0.113, -1.527, 0, 0, 0, 53 [SEP] 17, SaltShaker, -0.152, 1.127, 0.529, 0, 0, 0, 75 [SEP] 18, PepperShaker, -1.080, 0.909, -0.231, 0, 0, 0, 72 [SEP] 19, Lettuce, 0.071, 1.208, 0.529, 0, 0, 0, 75 [SEP] 20, Mug, -0.375, 1.126, 0.485, 0, 180, 0, 75 [SEP] 21, Pan, -1.289, 0.957, -1.02, 0, 0, 0, 69 [SEP] 22, Knife, -0.849, 0.937, 0.241, 0, 270, 0, 72 [SEP] 23, Bowl, -0.117, 0.760, -2.063, 0, 0, 0, 89 [SEP] 24, Fork, -1.322, 0.911, -1.722, 0, 0, 0, 79 [SEP] 25, Cup, 0.101, 0.750, -1.938, 0, 0, 0, 89 [SEP] 26, Ladle, -0.611, 0.728, 0.190, 0, 270, 0, 73 [SEP] 27, Apple, 1.910, 1.064, -1.350, 0, 270, 0, 84 [SEP] 28, Kettle, -1.056, 0.956, -0.672, 0, 180, 0, 51 [SEP] 29, Vase, 1.000, 1.660, -2.163, 0, 0, 0, 58 [SEP] 30, Potato, -1.063, 0.943, 0.083, 0, 0, 0, 72 [SEP] 31, Pot, -1.056, 0.956, -1.127, 0, 0, 0, 76 [SEP] 32, Bread, 1.945, 0.899, -0.365, 0, 270, 0, 86 [SEP] 33, Plate, -0.598, 1.129, 0.573, 0, 0, 0, 75 [SEP] 34, Spatula, -0.119, 0.711, 0.098, 0, 90, 0, 78 [SEP] 35, PaperTowelRoll, -1.045, 1.235, 0.485, 0, 0, 0, 75 [SEP] 36, Vase, 1.868, 0.917, -2.014, 0, 0, 0, 79 [SEP] 37, Egg, -1.259, 0.944, -2.098, 0, 0, 0, 79 [SEP] 38, SoapBottle, -1.278, 0.913, 0.135, 0, 0, 0, 72 [SEP] 39, SaltShaker, -0.910, 0.907, -1.384, 0, 0, 0, 79 [SEP] 40, Lettuce, 1.924, 0.139, 0.109, 0, 270, 0, 82 [SEP] 41, PepperShaker, 1.987, 1.655, -1.236, 0, 0, 0, 56 [SEP] 42, ButterKnife, 0.969, 0.911, -1.929, 0, 0, 0, 79 [SEP] 43, DishSponge, 0.388, 1.660, -2.124, 0, 0, 0, 59 [SEP] 44, Vase, 2.979, 0.539, 0.128, 0, 0, 0, 85 [SEP] 45, Spoon, -0.657, 0.693, -1.846, 0, 0, 0, 49 [SEP] 46, Tomato, 1.945, 1.477, -0.830, 0, 270, 0, 86 [SEP] 47, Mug, -0.117, 0.758, -1.897, 0, 90, 0, 89 [SEP] 48, Statue, 0.008, 0.920, 0.241, 0, 180, 0, 72 [SEP] 49, Drawer, -0.819, 0.75, -1.690, 0, 0, 0, [SEP] 50, Cabinet, -1.149, 2.264, -0.838, 0, 90, 0, [SEP] 51, StoveBurner, -1.056, 0.949, -0.671, 0, 180, 0, [SEP] 52, Cabinet, 1.738, 2.019, -2.000, 0, 0, 0, [SEP] 53, Cabinet, 1.389, 0.469, -1.059, 0, 0, 0, [SEP] 54, StoveBurner, -1.289, 0.949, -0.755, 0, 180, 0, [SEP] 55, Faucet, -0.157, 1.052, -2.196, 0, 270, 0, [SEP] 56, Cabinet, 1.75, 2.019, -1.029, 0, 0, 0, [SEP] 57, Cabinet, 1.75, 2.019, -1.399, 0, 0, 0, [SEP] 58, Cabinet, 1.179, 2.019, -2.0, 0, 0, 0, [SEP] 59, Cabinet, 0.199, 2.019, -2.0, 0, 0, 0, [SEP] 60, Cabinet, -1.100, 2.019, -2.0, 0, 0, 0, [SEP] 61, Cabinet, -1.149, 2.019, -1.979, 0, 0, 0, [SEP] 62, Cabinet, -1.149, 2.019, -0.770, 0, 0, 0, [SEP] 63, Cabinet, -1.149, 2.019, 0.380, 0, 0, 0, [SEP] 64, Cabinet, -0.819, 0.469, -1.689, 0, 0, 0, [SEP] 65, Cabinet, -0.839, 0.469, -1.664, 0, 0, 0, [SEP] 66, Cabinet, -0.839, 0.469, -0.049, 0, 0, 0, [SEP] 67, Cabinet, -0.414, 0.370, -0.009, 0, 0, 0, [SEP] 68, Sink, -0.118, 0.875, -2.009, 0, 0, 0, [SEP] 69, StoveBurner, -1.289, 0.949, -1.019, 0, 0, 0, [SEP] 70, Cabinet, 0.119, 2.264, -2.0, 0, 0, 0, [SEP] 71, Cabinet, -0.459, 2.264, -2.0, 0, 0, 0, [SEP] 72, CounterTop, -0.665, 0.949, 0.188, 0, 0, 0, [SEP] 73, Drawer, -0.449, 0.75, -0.010, 0, 180, 0, [SEP] 74, Cabinet, -0.450, 0.469, -0.009, 0, 0, 0, [SEP] 75, CounterTop, -0.630, 1.167, 0.573, 0, 0, 0, [SEP] 76, StoveBurner, -1.056, 0.949, -1.126, 0, 0, 0, [SEP] 77, Cabinet, 1.376, 0.460, -1.685, 0, 0, 0, [SEP] 78, Drawer, -0.070, 0.75, -0.009, 0, 180, 0, [SEP] 79, CounterTop, 1.159, 0.946, -2.013, 0, 0, 0, [SEP] 80, Cabinet, -1.150, 2.264, -1.418, 0, 90, 0, [SEP] 81, HousePlant, -1.246, 1.108, 0.606, 0, 0, 0, [SEP] 82, GarbageCan, 1.923, -0.010, 0.137, 0, 0, 0, [SEP] 83, Shelf, 2.759, 0.880, 0.144, 0, 0, 0, [SEP] 84, Microwave, 1.827, 0.900, -1.354, 0, 270, 0, [SEP] 85, Shelf, 2.759, 0.552, 0.145, 0, 0, 0, [SEP] 86, Fridge, 1.975, 0.0, -0.537, 0, 0, 0, [SEP] 87, LightSwitch, 0.404, 1.297, 2.0, 0, 180, 0, [SEP] 88, Shelf, 2.760, 0.172, 0.145, 0, 0, 0, [SEP] 89, SinkBasin, -0.129, 0.752, -2.007, 0, 0, 0, [SEP] 90, StoveKnob, -0.873, 0.903, -0.827, 45, 90, 0, [SEP] 91, StoveKnob, -0.873, 0.903, -0.676, 45, 90, 0, [SEP] 92, StoveKnob, -0.873, 0.903, -0.966, 45, 90, 0, [SEP] 93, StoveKnob, -0.873, 0.903, -1.123, 45, 90, 0, [SEP] 94, Toaster, 0.840, 0.900, -2.057, 0, 0, 0, [SEP] 95, CoffeeMachine, 0.501, 0.900, -2.125, 0, 0, 0, [SEP] 96, ShelvingUnit, 2.760, 0.006, 0.144, 0, 0, 0, [SEP] 97, Stool, -0.826, 0.010, 0.908, 0, 347.513, 0, [SEP] 98, Stool, -0.132, 0.010, 0.883, 0, 71.555, 0, [SEP] 99, NorthWall, , , , , , , [SEP] 100, EastWall, , , , , , , [SEP] 101, SouthWall, , , , , , , [SEP] 102, WestWall, , , , , , , ", "output": ["STEP 1: Turn right, then left, then go to the sink near the coffee maker. | STEP 2: Pick up the mug that is in the sink next to the bowl. | STEP 3: Turn around and go right to the fridge. | STEP 4: Chill the mug in the fridge. | STEP 5: Turn around and go left to the coffee maker. | STEP 6: Place the mug at the coffee maker. | END"]} +{"id": "trial_T20190907_035850_872927-1", "input": "Put a warmed plate in the cabinet over the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.75, 0.900, -2.75, 0, 180, 0, [SEP] 1, Pan, -3.713, 0.758, -3.778, 0, 199.125, 0, 72 [SEP] 2, Potato, -0.334, 1.318, -0.297, 0, 270, 0, 66 [SEP] 3, ButterKnife, -3.475, 0.760, -3.371, 0, 109.125, 0, 72 [SEP] 4, ButterKnife, -0.315, 0.941, -1.319, 0, 0, 0, 54 [SEP] 5, Fork, -2.761, 0.895, -0.548, 0, 270, 0, 73 [SEP] 6, Spoon, -3.935, 0.761, -2.959, 0, 334.125, 0, 72 [SEP] 7, Spoon, -3.460, 0.761, -3.048, 0, 199.125, 0, 72 [SEP] 8, Spatula, -4.062, 0.705, -0.187, 0, 0, 0, 71 [SEP] 9, Spatula, -0.236, 0.956, -1.538, 0, 0, 0, 54 [SEP] 10, Egg, -1.016, 0.983, -3.650, 0, 45, 0, 36 [SEP] 11, Plate, -3.565, 0.908, -0.548, 0, 270, 0, 73 [SEP] 12, Bowl, -0.293, 1.284, -0.994, 0, 270, 0, 66 [SEP] 13, Bread, -2.560, 0.976, -0.290, 0, 270, 0, 73 [SEP] 14, Lettuce, -0.283, 1.579, -0.297, 0, 270, 0, 66 [SEP] 15, SoapBottle, -1.169, 0.940, -3.804, 0, 45, 0, 36 [SEP] 16, Pot, -0.222, 0.961, -1.845, 0, 180, 0, 38 [SEP] 17, Fork, -0.524, 0.747, -1.488, 0, 90, 0, 40 [SEP] 18, Cup, -0.397, 1.489, -0.645, 0, 270, 0, 66 [SEP] 19, Tomato, -2.359, 0.945, -0.119, 0, 270, 0, 73 [SEP] 20, Pan, -2.962, 0.892, -0.376, 0, 0, 0, 73 [SEP] 21, Plate, -3.565, 0.908, -0.204, 0, 270, 0, 73 [SEP] 22, Bread, -4.002, 0.772, -0.248, 0, 0, 0, 71 [SEP] 23, Spatula, -3.163, 0.909, -0.462, 0, 270, 0, 73 [SEP] 24, Knife, -2.560, 0.920, -0.462, 0, 270, 0, 73 [SEP] 25, SaltShaker, -1.123, 0.750, -3.447, 0, 0, 0, 42 [SEP] 26, PepperShaker, -0.233, 0.938, -2.905, 0, 45, 0, 36 [SEP] 27, ButterKnife, -4.122, 0.690, -0.491, 0, 0, 0, 71 [SEP] 28, Apple, -0.552, 1.002, -1.538, 0, 0, 0, 54 [SEP] 29, DishSponge, -0.236, 0.940, -1.406, 0, 0, 0, 54 [SEP] 30, Potato, -4.182, 0.723, -0.308, 0, 0, 0, 71 [SEP] 31, Egg, -0.359, 1.529, -0.413, 0, 270, 0, 66 [SEP] 32, Spoon, -3.364, 0.895, -0.290, 0, 180, 0, 73 [SEP] 33, Lettuce, -0.283, 1.579, -0.994, 0, 270, 0, 66 [SEP] 34, Mug, -2.514, 0.972, -3.649, 0, 0, 0, 62 [SEP] 35, Bowl, -3.364, 0.892, -0.119, 0, 270, 0, 73 [SEP] 36, CounterTop, -1.937, 0.977, -3.673, 0, 0, 0, [SEP] 37, StoveBurner, -0.437, 0.924, -1.845, 0, 180, 0, [SEP] 38, StoveBurner, -0.222, 0.924, -1.845, 0, 180, 0, [SEP] 39, StoveBurner, -0.437, 0.924, -2.243, 0, 0, 0, [SEP] 40, Drawer, -0.500, 0.779, -1.450, 0, 0, 0, [SEP] 41, Drawer, -0.481, 0.777, -2.739, 0, 0, 0, [SEP] 42, Drawer, -1.154, 0.782, -3.499, 0, 0, 0, [SEP] 43, Cabinet, -0.337, 2.110, -0.390, 0, 0, 0, [SEP] 44, Cabinet, -0.337, 2.110, -1.272, 0, 0, 0, [SEP] 45, Cabinet, -0.337, 2.110, -1.631, 0, 0, 0, [SEP] 46, Cabinet, -0.337, 2.110, -2.497, 0, 0, 0, [SEP] 47, Cabinet, -0.337, 1.891, -1.286, 0, 0, 0, [SEP] 48, Cabinet, -0.346, 1.891, -3.293, 0, 0, 0, [SEP] 49, Cabinet, -0.629, 0.388, -2.513, 0, 0, 0, [SEP] 50, Cabinet, -0.633, 0.388, -3.008, 0, 0, 0, [SEP] 51, Cabinet, -1.010, 0.388, -3.368, 0, 0, 0, [SEP] 52, Cabinet, -0.629, 0.388, -1.614, 0, 0, 0, [SEP] 53, Cabinet, -0.327, 1.886, -2.513, 0, 0, 0, [SEP] 54, CounterTop, -0.326, 0.976, -1.450, 0, 0, 0, [SEP] 55, StoveBurner, -0.222, 0.924, -2.243, 0, 0, 0, [SEP] 56, Sink, -0.600, 0.929, -3.388, 0, 0, 0, [SEP] 57, StoveKnob, -0.617, 0.899, -1.833, 315, 90, 180, [SEP] 58, StoveKnob, -0.617, 0.899, -2.129, 315, 90, 180, [SEP] 59, StoveKnob, -0.617, 0.899, -2.289, 315, 90, 180, [SEP] 60, StoveKnob, -0.617, 0.899, -1.975, 315, 90, 180, [SEP] 61, GarbageCan, -2.418, -0.032, -3.541, 0, 0, 0, [SEP] 62, CoffeeMachine, -2.513, 0.930, -3.797, 0, 0, 0, [SEP] 63, Window, -1.389, 1.610, -4.113, 90, 0, 0, [SEP] 64, LightSwitch, -4.372, 1.493, -1.031, 0, 90, 0, [SEP] 65, SinkBasin, -0.614, 0.802, -3.384, 0, 315, 0, [SEP] 66, Fridge, -0.314, 0.0, -0.646, 0, 0, 0, [SEP] 67, Toaster, -1.970, 0.930, -3.763, 0, 0, 0, [SEP] 68, Microwave, -0.216, 1.470, -2.054, 0, 270, 0, [SEP] 69, Blinds, -1.373, 2.205, -3.961, 0, 0, 0, [SEP] 70, Faucet, -0.393, 0.930, -3.614, 270, 225, 0, [SEP] 71, SideTable, -4.030, 0.002, -0.301, 0, 185.034, 0, [SEP] 72, DiningTable, -3.586, 0.000, -3.258, 0, 0, 0, [SEP] 73, DiningTable, -3.224, -0.003, -0.453, 0, 0, 0, [SEP] 74, Shelf, -4.030, 0.259, -0.301, 0, 185.034, 0, [SEP] 75, Shelf, -4.030, 0.489, -0.301, 0, 185.034, 0, [SEP] 76, EastWall, , , , , , , [SEP] 77, EastWall, , , , , , , [SEP] 78, SouthWall, , , , , , , ", "output": ["STEP 1: Turn around and go to the white table. | STEP 2: Pick up the plate in the left corner closest to you. | STEP 3: Turn around and go to the microwave on your left. | STEP 4: Put the plate in the microwave, heat it, and take it out. | STEP 5: Turn right and face the sink. | STEP 6: Put the plate in the cabinet above the sink. | END"]} +{"id": "trial_T20190907_035850_872927-2", "input": "Put a heated plate in a cabinet. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.75, 0.900, -2.75, 0, 180, 0, [SEP] 1, Pan, -3.713, 0.758, -3.778, 0, 199.125, 0, 72 [SEP] 2, Potato, -0.334, 1.318, -0.297, 0, 270, 0, 66 [SEP] 3, ButterKnife, -3.475, 0.760, -3.371, 0, 109.125, 0, 72 [SEP] 4, ButterKnife, -0.315, 0.941, -1.319, 0, 0, 0, 54 [SEP] 5, Fork, -2.761, 0.895, -0.548, 0, 270, 0, 73 [SEP] 6, Spoon, -3.935, 0.761, -2.959, 0, 334.125, 0, 72 [SEP] 7, Spoon, -3.460, 0.761, -3.048, 0, 199.125, 0, 72 [SEP] 8, Spatula, -4.062, 0.705, -0.187, 0, 0, 0, 71 [SEP] 9, Spatula, -0.236, 0.956, -1.538, 0, 0, 0, 54 [SEP] 10, Egg, -1.016, 0.983, -3.650, 0, 45, 0, 36 [SEP] 11, Plate, -3.565, 0.908, -0.548, 0, 270, 0, 73 [SEP] 12, Bowl, -0.293, 1.284, -0.994, 0, 270, 0, 66 [SEP] 13, Bread, -2.560, 0.976, -0.290, 0, 270, 0, 73 [SEP] 14, Lettuce, -0.283, 1.579, -0.297, 0, 270, 0, 66 [SEP] 15, SoapBottle, -1.169, 0.940, -3.804, 0, 45, 0, 36 [SEP] 16, Pot, -0.222, 0.961, -1.845, 0, 180, 0, 38 [SEP] 17, Fork, -0.524, 0.747, -1.488, 0, 90, 0, 40 [SEP] 18, Cup, -0.397, 1.489, -0.645, 0, 270, 0, 66 [SEP] 19, Tomato, -2.359, 0.945, -0.119, 0, 270, 0, 73 [SEP] 20, Pan, -2.962, 0.892, -0.376, 0, 0, 0, 73 [SEP] 21, Plate, -3.565, 0.908, -0.204, 0, 270, 0, 73 [SEP] 22, Bread, -4.002, 0.772, -0.248, 0, 0, 0, 71 [SEP] 23, Spatula, -3.163, 0.909, -0.462, 0, 270, 0, 73 [SEP] 24, Knife, -2.560, 0.920, -0.462, 0, 270, 0, 73 [SEP] 25, SaltShaker, -1.123, 0.750, -3.447, 0, 0, 0, 42 [SEP] 26, PepperShaker, -0.233, 0.938, -2.905, 0, 45, 0, 36 [SEP] 27, ButterKnife, -4.122, 0.690, -0.491, 0, 0, 0, 71 [SEP] 28, Apple, -0.552, 1.002, -1.538, 0, 0, 0, 54 [SEP] 29, DishSponge, -0.236, 0.940, -1.406, 0, 0, 0, 54 [SEP] 30, Potato, -4.182, 0.723, -0.308, 0, 0, 0, 71 [SEP] 31, Egg, -0.359, 1.529, -0.413, 0, 270, 0, 66 [SEP] 32, Spoon, -3.364, 0.895, -0.290, 0, 180, 0, 73 [SEP] 33, Lettuce, -0.283, 1.579, -0.994, 0, 270, 0, 66 [SEP] 34, Mug, -2.514, 0.972, -3.649, 0, 0, 0, 62 [SEP] 35, Bowl, -3.364, 0.892, -0.119, 0, 270, 0, 73 [SEP] 36, CounterTop, -1.937, 0.977, -3.673, 0, 0, 0, [SEP] 37, StoveBurner, -0.437, 0.924, -1.845, 0, 180, 0, [SEP] 38, StoveBurner, -0.222, 0.924, -1.845, 0, 180, 0, [SEP] 39, StoveBurner, -0.437, 0.924, -2.243, 0, 0, 0, [SEP] 40, Drawer, -0.500, 0.779, -1.450, 0, 0, 0, [SEP] 41, Drawer, -0.481, 0.777, -2.739, 0, 0, 0, [SEP] 42, Drawer, -1.154, 0.782, -3.499, 0, 0, 0, [SEP] 43, Cabinet, -0.337, 2.110, -0.390, 0, 0, 0, [SEP] 44, Cabinet, -0.337, 2.110, -1.272, 0, 0, 0, [SEP] 45, Cabinet, -0.337, 2.110, -1.631, 0, 0, 0, [SEP] 46, Cabinet, -0.337, 2.110, -2.497, 0, 0, 0, [SEP] 47, Cabinet, -0.337, 1.891, -1.286, 0, 0, 0, [SEP] 48, Cabinet, -0.346, 1.891, -3.293, 0, 0, 0, [SEP] 49, Cabinet, -0.629, 0.388, -2.513, 0, 0, 0, [SEP] 50, Cabinet, -0.633, 0.388, -3.008, 0, 0, 0, [SEP] 51, Cabinet, -1.010, 0.388, -3.368, 0, 0, 0, [SEP] 52, Cabinet, -0.629, 0.388, -1.614, 0, 0, 0, [SEP] 53, Cabinet, -0.327, 1.886, -2.513, 0, 0, 0, [SEP] 54, CounterTop, -0.326, 0.976, -1.450, 0, 0, 0, [SEP] 55, StoveBurner, -0.222, 0.924, -2.243, 0, 0, 0, [SEP] 56, Sink, -0.600, 0.929, -3.388, 0, 0, 0, [SEP] 57, StoveKnob, -0.617, 0.899, -1.833, 315, 90, 180, [SEP] 58, StoveKnob, -0.617, 0.899, -2.129, 315, 90, 180, [SEP] 59, StoveKnob, -0.617, 0.899, -2.289, 315, 90, 180, [SEP] 60, StoveKnob, -0.617, 0.899, -1.975, 315, 90, 180, [SEP] 61, GarbageCan, -2.418, -0.032, -3.541, 0, 0, 0, [SEP] 62, CoffeeMachine, -2.513, 0.930, -3.797, 0, 0, 0, [SEP] 63, Window, -1.389, 1.610, -4.113, 90, 0, 0, [SEP] 64, LightSwitch, -4.372, 1.493, -1.031, 0, 90, 0, [SEP] 65, SinkBasin, -0.614, 0.802, -3.384, 0, 315, 0, [SEP] 66, Fridge, -0.314, 0.0, -0.646, 0, 0, 0, [SEP] 67, Toaster, -1.970, 0.930, -3.763, 0, 0, 0, [SEP] 68, Microwave, -0.216, 1.470, -2.054, 0, 270, 0, [SEP] 69, Blinds, -1.373, 2.205, -3.961, 0, 0, 0, [SEP] 70, Faucet, -0.393, 0.930, -3.614, 270, 225, 0, [SEP] 71, SideTable, -4.030, 0.002, -0.301, 0, 185.034, 0, [SEP] 72, DiningTable, -3.586, 0.000, -3.258, 0, 0, 0, [SEP] 73, DiningTable, -3.224, -0.003, -0.453, 0, 0, 0, [SEP] 74, Shelf, -4.030, 0.259, -0.301, 0, 185.034, 0, [SEP] 75, Shelf, -4.030, 0.489, -0.301, 0, 185.034, 0, [SEP] 76, EastWall, , , , , , , [SEP] 77, EastWall, , , , , , , [SEP] 78, SouthWall, , , , , , , ", "output": ["STEP 1: Turn around and head to the white table. | STEP 2: Pick up the plate on the front of the table. | STEP 3: Bring the plate to the microwave on the left. | STEP 4: Heat the plate in the microwave. | STEP 5: Bring the heated plate to the cabinet to the right. | STEP 6: Put the heated plate in the cabinet above the counter. | END"]} +{"id": "trial_T20190907_221657_300394-0", "input": "Place a bowl of water with a knife in it on a table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.0, 0.900, -3.25, 0, 0, 0, [SEP] 1, Glassbottle, -0.600, 0.916, -3.485, 0, 0, 0, 52 [SEP] 2, Glassbottle, -0.422, 0.082, -1.895, 0, 0, 0, 47 [SEP] 3, Pencil, -0.778, 0.747, -3.556, 0, 0, 0, 51 [SEP] 4, Pencil, -2.780, 0.923, -2.345, 0, 0, 0, 77 [SEP] 5, Pen, -2.552, 0.926, -1.654, 0, 0, 0, 77 [SEP] 6, Pen, -2.096, 0.926, -1.884, 0, 0, 0, 77 [SEP] 7, Potato, -0.268, 1.722, -0.665, 0, 270, 0, 69 [SEP] 8, ButterKnife, -2.552, 0.923, -2.115, 0, 0, 0, 77 [SEP] 9, WineBottle, -0.743, 0.916, -3.555, 0, 0, 0, 52 [SEP] 10, WineBottle, -0.233, 1.531, -3.630, 0, 45, 0, 60 [SEP] 11, Knife, -2.552, 0.946, -1.193, 0, 0, 0, 77 [SEP] 12, Knife, -2.666, 0.946, -1.423, 0, 180, 0, 77 [SEP] 13, Plate, -0.460, 0.083, -2.201, 0, 0, 0, 57 [SEP] 14, Cup, -2.666, 0.922, -1.654, 0, 0, 0, 77 [SEP] 15, Cup, -0.421, 0.080, -3.330, 0, 0, 0, 58 [SEP] 16, Egg, -0.268, 1.723, -0.770, 0, 270, 0, 69 [SEP] 17, Tomato, -0.246, 1.162, -0.455, 0, 270, 0, 69 [SEP] 18, Lettuce, -0.295, 1.191, -0.979, 0, 270, 0, 69 [SEP] 19, PepperShaker, -0.067, 0.912, -1.800, 0, 0, 0, 70 [SEP] 20, PepperShaker, -1.549, 1.965, -3.773, 0, 0, 0, 61 [SEP] 21, Apple, -0.343, 1.464, -0.665, 0, 270, 0, 69 [SEP] 22, Apple, -0.268, 1.764, -0.979, 0, 270, 0, 69 [SEP] 23, Lettuce, -0.343, 1.191, -0.665, 0, 270, 0, 69 [SEP] 24, Glassbottle, -0.385, 0.916, -3.839, 0, 0, 0, 52 [SEP] 25, Egg, -2.666, 0.956, -1.884, 0, 0, 0, 77 [SEP] 26, Pen, -2.552, 0.926, -1.884, 0, 0, 0, 77 [SEP] 27, Fork, -2.324, 0.924, -1.884, 0, 0, 0, 77 [SEP] 28, SoapBottle, -0.315, 1.529, -3.548, 0, 45, 0, 60 [SEP] 29, Pencil, -0.720, 0.746, -3.527, 0, 90, 0, 51 [SEP] 30, WineBottle, -1.912, 0.027, -3.690, 0, 0, 0, 68 [SEP] 31, Spatula, -0.3, 0.915, -2.544, 0, 22.903, 0, 52 [SEP] 32, Bread, -0.415, 0.952, -3.625, 0, 0, 0, 52 [SEP] 33, Tomato, -0.295, 1.454, -0.979, 0, 270, 0, 69 [SEP] 34, Pan, -1.129, 0.935, -3.498, 0, 0, 0, 50 [SEP] 35, Cup, -0.778, 0.081, -3.545, 0, 0, 0, 58 [SEP] 36, Pot, -1.515, 0.935, -3.497, 0, 0, 0, 49 [SEP] 37, SaltShaker, -2.096, 0.919, -1.193, 0, 0, 0, 77 [SEP] 38, Potato, -0.388, 1.722, -0.665, 0, 270, 0, 69 [SEP] 39, PepperShaker, -2.666, 0.919, -2.115, 0, 0, 0, 77 [SEP] 40, ButterKnife, -2.324, 0.923, -1.193, 0, 90, 0, 77 [SEP] 41, DishSponge, -0.499, 0.080, -3.236, 0, 0, 0, 58 [SEP] 42, Spoon, -2.324, 0.924, -0.963, 0, 0, 0, 77 [SEP] 43, Plate, -2.438, 0.925, -1.193, 0, 0, 0, 77 [SEP] 44, Knife, -2.210, 0.946, -2.345, 0, 0, 0, 77 [SEP] 45, Mug, -0.671, 0.910, -3.768, 0, 0, 0, 52 [SEP] 46, Bowl, -2.754, 0.913, -1.174, 0, 18.855, 0, 77 [SEP] 47, Cabinet, -0.582, 0.388, -1.804, 0, 0, 0, [SEP] 48, StoveBurner, -1.515, 0.928, -3.752, 0, 90, 0, [SEP] 49, StoveBurner, -1.515, 0.928, -3.497, 0, 0, 0, [SEP] 50, StoveBurner, -1.129, 0.928, -3.498, 0, 0, 0, [SEP] 51, Drawer, -0.749, 0.779, -3.551, 0, 0, 0, [SEP] 52, CounterTop, -0.303, 0.951, -2.793, 0, 0, 0, [SEP] 53, Cabinet, -0.883, 2.140, -3.687, 0, 0, 0, [SEP] 54, Cabinet, -0.312, 2.140, -1.543, 0, 0, 0, [SEP] 55, Sink, -0.349, 0.907, -2.014, 0, 0, 0, [SEP] 56, Cabinet, -0.877, 0.388, -3.422, 0, 0, 0, [SEP] 57, Cabinet, -0.582, 0.388, -2.197, 0, 0, 0, [SEP] 58, Cabinet, -0.584, 0.388, -3.396, 0, 0, 0, [SEP] 59, Cabinet, -0.312, 2.140, -2.481, 0, 0, 0, [SEP] 60, Cabinet, -0.330, 1.921, -3.390, 0, 0, 0, [SEP] 61, Cabinet, -1.764, 2.140, -3.687, 0, 0, 0, [SEP] 62, StoveBurner, -1.129, 0.928, -3.752, 0, 90, 0, [SEP] 63, Drawer, -0.454, 0.779, -3.268, 0, 0, 0, [SEP] 64, Cabinet, -0.302, 1.916, -2.501, 0, 0, 0, [SEP] 65, Microwave, -1.317, 1.517, -3.801, 0, 1.440, 0, [SEP] 66, CoffeeMachine, -0.153, 0.903, -3.144, 0, 270, 0, [SEP] 67, LightSwitch, -4.323, 1.319, 0.0, 0, 180, 0, [SEP] 68, GarbageCan, -1.943, -7.152, -3.763, 0, 0, 0, [SEP] 69, Fridge, -0.330, 0.0, -0.769, 0, 270, 0, [SEP] 70, SinkBasin, -0.350, 0.786, -2.018, 0, 270, 0, [SEP] 71, StoveKnob, -1.582, 1.082, -3.958, 72.287, 0, 0, [SEP] 72, StoveKnob, -1.177, 1.082, -3.958, 72.287, 0, 0, [SEP] 73, StoveKnob, -1.424, 1.082, -3.958, 72.287, 0, 0, [SEP] 74, StoveKnob, -1.028, 1.082, -3.958, 72.287, 0, 0, [SEP] 75, Toaster, -0.181, 0.903, -2.764, 0, 270, 0, [SEP] 76, Window, -2.503, 1.782, -4.185, 90, 180, 0, [SEP] 77, DiningTable, -2.432, 0.000, -1.694, 0, 270, 0, [SEP] 78, Shelf, -2.432, 0.150, -1.694, 0, 270, 0, [SEP] 79, Blinds, -2.536, 2.699, -3.959, 0, 0, 0, [SEP] 80, Faucet, -0.079, 0.904, -2.034, 270, 180, 0, [SEP] 81, Chair, -3.264, 0.002, -2.094, 0, 53.280, 0, [SEP] 82, Chair, -3.240, 0.002, -1.253, 0, 117.257, 0, [SEP] 83, Shelf, -2.432, 0.523, -1.694, 0, 270, 0, [SEP] 84, NorthWall, , , , , , , [SEP] 85, EastWall, , , , , , , [SEP] 86, SouthWall, , , , , , , [SEP] 87, WestWall, , , , , , , ", "output": ["STEP 1: Walk around the table in front of you to reach the opposite end. | STEP 2: Pick up the bowl with the knife in it from the table. | STEP 3: Walk to the left of the table and stop when you get to the sink. | STEP 4: Fill the bowl with water, then pick it up again. | STEP 5: Turn around to face the table again. | STEP 6: Place the bowl on the front left side of the table, next to the other knife. | END"]} +{"id": "trial_T20190906_185208_580877-0", "input": "Put a chilled tomato on the counter left of the stove. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.900, 2.75, 0, 90, 0, [SEP] 1, Book, 3.689, 0.549, 1.449, 0, 270, 0, 81 [SEP] 2, Book, 0.663, 0.908, -1.674, 0, 0, 0, 58 [SEP] 3, DishSponge, -1.682, 0.719, -1.073, 0, 0, 0, 73 [SEP] 4, DishSponge, -2.659, 0.878, 3.559, 0, 0, 0, 60 [SEP] 5, ButterKnife, -2.315, 0.874, 3.088, 0, 135, 0, 60 [SEP] 6, WineBottle, -2.143, 0.879, 3.021, 0, 135, 0, 60 [SEP] 7, WineBottle, -0.844, 0.193, 2.136, 0, 90, 0, 88 [SEP] 8, Spatula, -3.069, 0.893, 3.527, 0, 315, 0, 60 [SEP] 9, Pot, -0.263, 1.574, 2.160, 0, 180, 0, 83 [SEP] 10, Pot, 1.328, 0.957, -1.420, 0, 180, 0, 62 [SEP] 11, Fork, -2.964, 0.875, 3.632, 0, 135, 0, 60 [SEP] 12, Fork, -2.510, 0.879, 2.884, 0, 0, 0, 60 [SEP] 13, Knife, 1.760, 0.932, -1.618, 0, 90, 0, 78 [SEP] 14, SoapBottle, 3.716, 0.881, 1.759, 0, 270, 0, 79 [SEP] 15, SoapBottle, 0.207, 0.114, -1.379, 0, 0, 0, 66 [SEP] 16, Tomato, 0.571, 0.959, -1.471, 0, 0, 0, 58 [SEP] 17, Bowl, -2.807, 0.876, 3.728, 0, 0, 0, 60 [SEP] 18, SaltShaker, 1.687, 0.906, -1.437, 0, 0, 0, 78 [SEP] 19, SaltShaker, 1.578, 0.906, -1.346, 0, 0, 0, 78 [SEP] 20, PepperShaker, -2.807, 0.874, 3.053, 0, 0, 0, 60 [SEP] 21, Bread, -1.849, 0.995, -1.265, 0, 0, 0, 58 [SEP] 22, Bread, -3.122, 0.961, 2.968, 0, 225, 0, 60 [SEP] 23, Mug, -2.996, 0.869, 3.296, 0, 270, 0, 60 [SEP] 24, Apple, -2.845, 0.929, 2.930, 0, 225, 0, 60 [SEP] 25, Apple, -2.584, 0.933, 2.715, 0, 0, 0, 60 [SEP] 26, Book, -1.627, 0.908, 0.037, 0, 0, 0, 58 [SEP] 27, Fork, -2.148, 0.718, -1.716, 0, 90, 0, 77 [SEP] 28, Tomato, -2.353, 0.925, 3.632, 0, 225, 0, 60 [SEP] 29, Egg, -1.568, 0.929, -0.469, 0, 0, 0, 58 [SEP] 30, Kettle, 1.328, 0.957, -1.688, 0, 180, 0, 61 [SEP] 31, Vase, 3.671, 0.168, 1.841, 0, 0, 0, 81 [SEP] 32, Cup, 1.157, 1.759, -1.596, 0, 0, 0, 82 [SEP] 33, WineBottle, -0.459, 0.122, -1.452, 0, 0, 0, 67 [SEP] 34, Plate, -0.833, 0.916, -1.369, 0, 0, 0, 58 [SEP] 35, Spatula, 0.179, 0.943, -1.356, 0, 0, 0, 55 [SEP] 36, Potato, -2.697, 0.915, 2.945, 0, 135, 0, 60 [SEP] 37, Pot, 0.974, 0.957, -1.419, 0, 180, 0, 76 [SEP] 38, Knife, -2.793, 0.896, 3.565, 0, 315, 0, 60 [SEP] 39, SaltShaker, -1.557, 1.653, -1.821, 0, 0, 0, 71 [SEP] 40, PepperShaker, 1.703, 0.716, -1.476, 0, 0, 0, 74 [SEP] 41, Lettuce, -2.183, 0.977, -0.288, 0, 0, 0, 58 [SEP] 42, ButterKnife, 0.014, 0.930, -1.646, 0, 270, 0, 55 [SEP] 43, Bread, -2.315, 0.958, 3.355, 0, 225, 0, 60 [SEP] 44, Vase, 0.997, 2.157, -1.747, 0, 0, 0, 72 [SEP] 45, DishSponge, 0.521, 0.718, -1.376, 0, 0, 0, 75 [SEP] 46, Apple, -0.367, 0.752, -1.678, 0, 270, 0, 87 [SEP] 47, Pan, 0.972, 0.959, -1.426, 0, 0, 0, 76 [SEP] 48, Spoon, -2.584, 0.875, 3.728, 0, 90, 0, 60 [SEP] 49, SoapBottle, -1.444, 1.657, -1.710, 0, 0, 0, 71 [SEP] 50, Mug, -2.644, 0.869, 3.446, 0, 225, 0, 60 [SEP] 51, Statue, 3.676, 0.168, 1.410, 0, 334.521, 0, 81 [SEP] 52, Statue, 3.668, 0.540, 1.800, 0, 0, 0, 81 [SEP] 53, Bowl, 0.193, 1.570, 2.040, 0, 180, 0, 83 [SEP] 54, Cabinet, -2.171, 2.009, -1.538, 0, 0, 0, [SEP] 55, Sink, 0.024, 0.771, -1.708, 0, 270, 0, [SEP] 56, Cabinet, 1.444, 2.259, -1.542, 0, 0, 0, [SEP] 57, StoveBurner, 0.974, 0.957, -1.688, 0, 180, 0, [SEP] 58, CounterTop, -1.866, 0.947, -0.614, 0, 0, 0, [SEP] 59, Cabinet, -2.217, 0.373, -1.874, 0, 0, 0, [SEP] 60, DiningTable, -2.663, 0.002, 3.208, 0, 0, 0, [SEP] 61, StoveBurner, 1.328, 0.957, -1.688, 0, 180, 0, [SEP] 62, StoveBurner, 1.328, 0.957, -1.420, 0, 180, 0, [SEP] 63, Cabinet, -1.478, 0.373, -1.235, 0, 0, 0, [SEP] 64, Cabinet, 1.775, 0.372, -1.242, 0, 0, 0, [SEP] 65, Cabinet, 0.774, 0.372, -1.242, 0, 0, 0, [SEP] 66, Cabinet, 0.375, 0.372, -1.242, 0, 0, 0, [SEP] 67, Cabinet, -0.574, 0.372, -1.238, 0, 0, 0, [SEP] 68, Cabinet, 1.775, 2.009, -1.542, 0, 0, 0, [SEP] 69, Cabinet, 0.524, 2.009, -1.542, 0, 0, 0, [SEP] 70, Cabinet, -0.714, 2.009, -1.542, 0, 0, 0, [SEP] 71, Cabinet, -1.671, 2.009, -1.538, 0, 0, 0, [SEP] 72, Cabinet, 0.854, 2.259, -1.542, 0, 0, 0, [SEP] 73, Drawer, -1.636, 0.683, -0.930, 0, 0, 0, [SEP] 74, Drawer, 1.650, 0.682, -1.396, 0, 0, 0, [SEP] 75, Drawer, 0.600, 0.682, -1.396, 0, 0, 0, [SEP] 76, StoveBurner, 0.974, 0.957, -1.419, 0, 180, 0, [SEP] 77, Drawer, -2.062, 0.683, -1.579, 0, 0, 0, [SEP] 78, CounterTop, 1.645, 0.945, -1.527, 0, 0, 0, [SEP] 79, Shelf, 3.725, 0.880, 1.671, 0, 90, 0, [SEP] 80, LightSwitch, 2.830, 1.266, -0.748, 0, 0, 0, [SEP] 81, Shelf, 3.726, 0.552, 1.671, 0, 90, 0, [SEP] 82, Microwave, 1.150, 1.655, -1.614, 0, 0, 0, [SEP] 83, Fridge, -0.035, 0.0, 2.177, 0, 180, 0, [SEP] 84, Window, -0.115, 1.802, -1.896, 90, 0, 0, [SEP] 85, Window, -4.009, 1.799, 0.310, 90, 90, 0, [SEP] 86, Shelf, 3.726, 0.172, 1.671, 0, 90, 0, [SEP] 87, SinkBasin, -0.330, 0.686, -1.581, 0, 270, 0, [SEP] 88, GarbageCan, -0.870, -0.001, 2.136, 0, 90, 0, [SEP] 89, StoveKnob, 1.089, 0.913, -1.243, 45, 0, 0, [SEP] 90, StoveKnob, 1.208, 0.913, -1.243, 45, 0, 0, [SEP] 91, StoveKnob, 1.340, 0.913, -1.243, 45, 0, 0, [SEP] 92, StoveKnob, 0.961, 0.913, -1.243, 45, 0, 0, [SEP] 93, Toaster, 1.637, 0.900, -1.673, 0, 0, 0, [SEP] 94, Chair, -3.505, 0.002, 3.290, 0, 105.736, 0, [SEP] 95, CoffeeMachine, -1.111, 0.900, -1.726, 0, 0, 0, [SEP] 96, HousePlant, -2.663, 0.835, 3.209, 0, 0, 0, [SEP] 97, Faucet, -0.187, 0.922, -1.75, 0, 311.166, 0, [SEP] 98, ShelvingUnit, 3.726, 0.006, 1.671, 0, 90, 0, [SEP] 99, Stool, -2.501, -0.000, 0.062, 1.223, 91.243, 0, [SEP] 100, Stool, -2.475, -0.000, -0.802, 1.209, 69.808, 0, [SEP] 101, Chair, -2.934, 0.002, 2.437, 0, 28.531, 0, [SEP] 102, Chair, -1.698, 0.002, 3.235, 0, 245.204, 0, [SEP] 103, NorthWall, , , , , , , [SEP] 104, EastWall, , , , , , , [SEP] 105, SouthWall, , , , , , , [SEP] 106, WestWall, , , , , , , ", "output": ["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 fridge. | STEP 4: Chill the tomato in the fridge. | STEP 5: Bring the chilled tomato to the counter left of the stove. | STEP 6: Put the chilled tomato on the counter left of the stove. | END"]} +{"id": "trial_T20190909_201633_919791-2", "input": "Place a warm slice of apple in the gray bin next to the microwave. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.901, -2.5, 0, 0, 0, [SEP] 1, Potato, -0.338, 0.959, -1.432, 0, 0, 0, 66 [SEP] 2, Potato, -0.176, 0.959, -1.493, 0, 0, 0, 66 [SEP] 3, ButterKnife, -0.854, 0.913, -3.878, 0, 0, 0, 39 [SEP] 4, Spatula, -2.765, 0.731, -0.395, 0, 315, 0, 83 [SEP] 5, Spatula, -0.039, 0.928, -3.878, 0, 0, 0, 39 [SEP] 6, Fork, -0.419, 0.916, -1.555, 0, 0, 0, 66 [SEP] 7, Cup, -3.234, 1.013, -1.941, 0, 90, 0, 80 [SEP] 8, SoapBottle, -3.007, 0.713, -0.621, 0, 270, 0, 83 [SEP] 9, SoapBottle, -1.867, 0.081, -3.635, 0, 0, 0, 60 [SEP] 10, Bowl, -0.235, 1.294, -3.669, 0, 45, 0, 59 [SEP] 11, SaltShaker, -0.471, 0.742, -1.331, 0, 0, 0, 62 [SEP] 12, SaltShaker, -0.118, 1.290, -0.923, 0, 0, 0, 46 [SEP] 13, PepperShaker, -0.128, 1.864, -2.106, 0, 0, 0, 57 [SEP] 14, PepperShaker, -1.066, 0.076, -3.559, 0, 0, 0, 54 [SEP] 15, Apple, -2.721, 0.756, -0.552, 0, 135, 0, 83 [SEP] 16, Apple, -3.123, 0.756, -0.841, 0, 225, 0, 83 [SEP] 17, Apple, -3.130, 1.056, -2.064, 0, 90, 0, 80 [SEP] 18, Pot, -0.165, 0.975, -2.030, 0, 180, 0, 70 [SEP] 19, Egg, -0.419, 0.951, -1.370, 0, 0, 0, 66 [SEP] 20, Cup, -1.164, 0.080, -3.750, 0, 0, 0, 54 [SEP] 21, Bread, -0.328, 0.954, -2.911, 0, 0, 0, 39 [SEP] 22, Fork, -2.809, 0.714, -0.640, 0, 135, 0, 83 [SEP] 23, Pan, -0.394, 0.973, -2.414, 0, 0, 0, 64 [SEP] 24, Potato, -3.346, 0.957, -3.655, 0, 0, 0, 39 [SEP] 25, Lettuce, -1.324, 0.988, -3.759, 1.589, 253.733, 356.995, 39 [SEP] 26, Tomato, -0.014, 0.965, -1.432, 0, 0, 0, 66 [SEP] 27, Apple, -0.039, 0.956, -3.729, 0, 0, 0, 39 [SEP] 28, SoapBottle, -2.990, 0.713, -0.780, 0, 0, 0, 83 [SEP] 29, Spatula, -3.477, 0.928, -3.227, 0, 90, 0, 39 [SEP] 30, SaltShaker, -0.382, 0.743, -0.533, 0, 0, 0, 65 [SEP] 31, Knife, -2.678, 0.746, -0.211, 0, 90, 0, 83 [SEP] 32, PepperShaker, -0.257, 0.912, -1.309, 0, 0, 0, 66 [SEP] 33, ButterKnife, -3.309, 0.913, -2.926, 0, 0, 0, 39 [SEP] 34, Plate, -2.808, 0.911, -3.952, 0, 0, 0, 39 [SEP] 35, DishSponge, -3.393, 0.913, -3.327, 0, 0, 0, 39 [SEP] 36, Spoon, -1.776, 0.791, -3.790, 0, 0, 0, 81 [SEP] 37, Mug, -2.439, 0.708, -0.496, 0, 270, 0, 83 [SEP] 38, Bowl, -3.182, 0.638, -2.125, 0, 90, 0, 80 [SEP] 39, CounterTop, -1.789, 0.949, -3.803, 0, 0, 0, [SEP] 40, Cabinet, -0.577, 0.388, -3.476, 0, 0, 0, [SEP] 41, Cabinet, -0.605, 0.388, -3.511, 0, 0, 0, [SEP] 42, Cabinet, -2.976, 0.388, -3.201, 0, 0, 0, [SEP] 43, Cabinet, -0.577, 0.388, -0.447, 0, 0, 0, [SEP] 44, Cabinet, -0.577, 0.388, -1.725, 0, 0, 0, [SEP] 45, Cabinet, -0.226, 1.803, -1.743, 0, 0, 0, [SEP] 46, Cabinet, -0.228, 1.799, -0.447, 0, 0, 0, [SEP] 47, Cabinet, -6.010, 1.139, -6.019, 0, 0, 0, [SEP] 48, Cabinet, -3.022, 2.098, -2.681, 0, 0, 0, [SEP] 49, Cabinet, -3.022, 2.098, -1.743, 0, 0, 0, [SEP] 50, Cabinet, -0.577, 0.388, -2.736, 0, 0, 0, [SEP] 51, Cabinet, -3.232, 1.803, -3.343, 0, 0, 0, [SEP] 52, Cabinet, -2.811, 1.810, -3.764, 0, 0, 0, [SEP] 53, Cabinet, -1.233, 1.810, -3.764, 0, 0, 0, [SEP] 54, Cabinet, -1.364, 0.388, -3.511, 0, 0, 0, [SEP] 55, Cabinet, -1.380, 0.388, -3.511, 0, 0, 0, [SEP] 56, Cabinet, -0.226, 1.803, -2.725, 0, 0, 0, [SEP] 57, Cabinet, -0.236, 2.098, -1.767, 0, 0, 0, [SEP] 58, Cabinet, -0.236, 2.098, -2.705, 0, 0, 0, [SEP] 59, Cabinet, -0.193, 1.210, -4.239, 0, 0, 0, [SEP] 60, Cabinet, -2.148, 0.388, -3.511, 0, 0, 0, [SEP] 61, Drawer, -3.104, 0.797, -2.968, 0, 0, 0, [SEP] 62, Drawer, -0.449, 0.797, -1.410, 0, 0, 0, [SEP] 63, Sink, -1.786, 0.902, -3.748, 0, 0, 0, [SEP] 64, StoveBurner, -0.376, 0.936, -2.451, 0, 0, 0, [SEP] 65, Drawer, -0.449, 0.797, -0.762, 0, 0, 0, [SEP] 66, CounterTop, -0.268, 0.951, -1.089, 0, 0, 0, [SEP] 67, Drawer, -0.449, 0.797, -3.348, 0, 0, 0, [SEP] 68, StoveBurner, -0.376, 0.936, -2.031, 0, 180, 0, [SEP] 69, Drawer, -0.449, 0.797, -2.968, 0, 0, 0, [SEP] 70, StoveBurner, -0.165, 0.936, -2.030, 0, 180, 0, [SEP] 71, StoveBurner, -0.165, 0.936, -2.450, 0, 0, 0, [SEP] 72, StoveKnob, -0.568, 0.903, -2.313, 45, 270, 0, [SEP] 73, StoveKnob, -0.568, 0.903, -2.470, 45, 270, 0, [SEP] 74, StoveKnob, -0.568, 0.903, -2.166, 45, 270, 0, [SEP] 75, StoveKnob, -0.568, 0.903, -2.003, 45, 270, 0, [SEP] 76, Microwave, -0.143, 0.903, -0.908, 0, 270, 0, [SEP] 77, LightSwitch, -1.108, 1.457, 0.338, 0, 180, 0, [SEP] 78, GarbageCan, -0.283, -0.032, -0.035, 0, 270, 0, [SEP] 79, CoffeeMachine, -3.104, 0.837, -0.185, 0, 135, 0, [SEP] 80, Fridge, -3.188, 0.0, -2.184, 0, 0, 0, [SEP] 81, SinkBasin, -1.786, 0.779, -3.747, 0, 0, 0, [SEP] 82, Toaster, -0.230, 0.903, -3.406, 0, 270, 0, [SEP] 83, DiningTable, -2.800, 0.003, -0.505, 0, 0, 0, [SEP] 84, Chair, -3.044, 0.003, -1.223, 0, 32.194, 0, [SEP] 85, Faucet, -1.791, 1.136, -3.913, 0, 270, 0, [SEP] 86, NorthWall, , , , , , , [SEP] 87, EastWall, , , , , , , [SEP] 88, SouthWall, , , , , , , [SEP] 89, WestWall, , , , , , , ", "output": ["STEP 1: Walk towards the door and then turn left to face the round table. | STEP 2: Pick up the yellow knife from the table | STEP 3: Turn left and stand behind the metal chair to your left. | STEP 4: Slice the apple behind the cup into three pieces. | STEP 5: Turn around and walk towards the microwave. | STEP 6: Open the microwave, place the knife in it, and close it. | STEP 7: Turn around, head towards the round table. | STEP 8: Pick up the middle slice of apple from the table. | STEP 9: Turn around and head towards the microwave. | STEP 10: Open the microwave, place the apple in it, heat it up, and take out the apple. | STEP 11: Turn left and walk towards the bin on the floor to your right. | STEP 12: Place the apple in the bin. | END"]} +{"id": "trial_T20190907_193356_261306-2", "input": "Cook a potato and put in on the bottom shelf of the fridge. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.930, 0.75, 0, 270, 0, [SEP] 1, Potato, 0.929, 0.924, -1.475, 0, 0, 0, 113 [SEP] 2, Potato, 1.086, 0.749, -1.354, 0, 0, 0, 113 [SEP] 3, Potato, 3.355, 0.939, -0.399, 0, 0, 0, 66 [SEP] 4, Ladle, 0.967, 0.947, 0.747, 0, 0, 0, 98 [SEP] 5, DishSponge, 0.967, 0.910, 0.464, 0, 0, 0, 98 [SEP] 6, DishSponge, 0.354, 1.259, -1.741, 0, 0, 0, 83 [SEP] 7, ButterKnife, 2.966, 0.900, -0.698, 0, 0, 0, 66 [SEP] 8, ButterKnife, 0.622, 0.911, 0.627, 0, 0, 0, 98 [SEP] 9, Glassbottle, -0.131, 0.901, -1.296, 0, 45, 0, 88 [SEP] 10, Glassbottle, -0.939, 1.259, -0.740, 0, 45, 0, 86 [SEP] 11, Kettle, -0.419, 0.902, -1.269, 0, 315, 0, 69 [SEP] 12, Pot, -0.862, 0.900, -0.047, 0, 90, 0, 67 [SEP] 13, Spatula, 0.664, 0.925, 0.296, 0, 126.810, 0, 98 [SEP] 14, Spatula, 2.947, 0.727, -0.705, 0, 270, 0, 54 [SEP] 15, Spoon, -0.868, 0.327, 1.430, 0, 0, 0, 102 [SEP] 16, Spoon, -0.078, 0.323, -1.353, 0, 135, 0, 99 [SEP] 17, Fork, -0.868, 0.326, -0.273, 0, 0, 0, 72 [SEP] 18, Mug, 3.049, 0.966, 0.591, 0, 270, 0, 110 [SEP] 19, Mug, -0.985, 0.992, 1.417, 0, 90, 0, 115 [SEP] 20, Bread, 0.445, 0.986, 0.426, 0, 0, 0, 98 [SEP] 21, Lettuce, 0.929, 1.139, -1.503, 0, 0, 0, 113 [SEP] 22, Lettuce, -0.725, 0.965, -0.803, 0, 45, 0, 67 [SEP] 23, Tomato, 1.242, 0.748, -1.354, 0, 0, 0, 113 [SEP] 24, Egg, -1.119, 1.050, 1.311, 0, 90, 0, 115 [SEP] 25, Cup, -0.038, 0.898, -1.388, 0, 45, 0, 88 [SEP] 26, Plate, 0.808, 1.687, -1.550, 0, 0, 0, 82 [SEP] 27, Plate, 3.173, 1.477, -1.235, 0, 0, 0, 81 [SEP] 28, Plate, -0.953, 0.886, 0.699, 0, 0, 0, 67 [SEP] 29, Glassbottle, 3.028, 0.748, -0.034, 0, 90, 0, 112 [SEP] 30, SoapBottle, 0.839, 0.917, 0.530, 0, 36.810, 0, 98 [SEP] 31, Potato, 3.355, 0.939, -0.897, 0, 0, 0, 66 [SEP] 32, Fork, -0.868, 0.518, -0.011, 0, 0, 0, 94 [SEP] 33, Ladle, 0.667, 0.947, 0.416, 0, 36.810, 0, 98 [SEP] 34, Pot, 0.423, 0.900, 0.869, 0, 0, 0, 98 [SEP] 35, Kettle, -0.420, 0.902, -0.920, 0, 135, 0, 62 [SEP] 36, Spatula, 3.070, 0.727, 0.560, 0, 90, 0, 89 [SEP] 37, Knife, 3.152, 0.738, -0.454, 0, 90, 0, 63 [SEP] 38, Lettuce, -0.717, 0.965, 0.399, 0, 0, 0, 67 [SEP] 39, Cup, 0.773, 1.245, -1.503, 0, 0, 0, 113 [SEP] 40, SaltShaker, 3.084, 0.172, -0.786, 0, 0, 0, 79 [SEP] 41, Egg, 0.101, 0.952, -1.660, 0, 0, 0, 88 [SEP] 42, PepperShaker, -0.717, 0.896, 0.846, 0, 0, 0, 71 [SEP] 43, ButterKnife, -1.080, 0.900, 0.176, 0, 0, 0, 67 [SEP] 44, Apple, 1.491, 0.981, 0.322, 0, 0, 0, 98 [SEP] 45, Pan, 0.341, 0.873, -1.649, 0, 167.065, 0, 88 [SEP] 46, Bread, 3.122, 0.979, -0.798, 0, 0, 0, 66 [SEP] 47, CellPhone, 0.285, 0.510, -1.434, 0, 0, 0, 53 [SEP] 48, DishSponge, 0.836, 0.910, 0.180, 0, 0, 0, 98 [SEP] 49, Tomato, 0.710, 0.947, 0.827, 0, 0, 0, 98 [SEP] 50, Spoon, 3.122, 0.901, -0.300, 0, 180, 0, 66 [SEP] 51, Bowl, 3.084, 0.172, -0.453, 0, 0, 0, 78 [SEP] 52, Mug, -0.935, 0.895, 0.399, 0, 0, 0, 67 [SEP] 53, Drawer, 0.376, 0.572, -1.509, 0, 0, 0, [SEP] 54, Drawer, 3.020, 0.769, -0.783, 0, 180, 0, [SEP] 55, Drawer, -0.860, 0.577, 1.429, 0, 0, 0, [SEP] 56, StoveBurner, -0.600, 0.897, -1.090, 0, 135, 0, [SEP] 57, Drawer, 0.376, 0.191, -1.509, 0, 0, 0, [SEP] 58, Cabinet, 1.402, 1.874, -1.259, 0, 0, 0, [SEP] 59, Cabinet, -0.202, 1.963, -1.328, 0, 0, 0, [SEP] 60, Drawer, -0.860, 0.765, 1.429, 0, 0, 0, [SEP] 61, Drawer, -0.677, 0.765, -0.700, 0, 0, 0, [SEP] 62, StoveBurner, -0.420, 0.897, -0.920, 0, 135, 0, [SEP] 63, Drawer, 3.020, 0.769, -0.407, 0, 180, 0, [SEP] 64, Drawer, -0.860, 0.577, 0.663, 0, 0, 0, [SEP] 65, Cabinet, 2.819, 1.768, -1.850, 0, 0, 0, [SEP] 66, CounterTop, 3.111, 0.936, 0.019, 0, 0, 0, [SEP] 67, CounterTop, -1.007, 0.935, -0.039, 0, 0, 0, [SEP] 68, Drawer, -0.860, 0.385, 0.663, 0, 0, 0, [SEP] 69, StoveBurner, -0.419, 0.897, -1.269, 0, 315, 0, [SEP] 70, Drawer, -0.047, 0.573, -1.324, 0, 0, 0, [SEP] 71, Drawer, -0.860, 0.765, 0.663, 0, 0, 0, [SEP] 72, Drawer, -0.860, 0.385, -0.100, 0, 0, 0, [SEP] 73, Drawer, 0.376, 0.380, -1.509, 0, 0, 0, [SEP] 74, Drawer, -0.860, 0.765, -0.100, 0, 0, 0, [SEP] 75, Drawer, 0.376, 0.765, -1.509, 0, 0, 0, [SEP] 76, Cabinet, 2.849, 0.419, 0.409, 0, 0, 0, [SEP] 77, Drawer, -0.047, 0.765, -1.324, 0, 0, 0, [SEP] 78, Cabinet, 2.849, 0.419, -0.610, 0, 0, 0, [SEP] 79, Cabinet, 2.849, 0.419, -0.959, 0, 0, 0, [SEP] 80, Cabinet, 3.069, 1.666, -0.709, 0, 0, 0, [SEP] 81, Cabinet, 2.819, 1.768, -1.047, 0, 0, 0, [SEP] 82, Cabinet, 0.620, 1.874, -1.259, 0, 0, 0, [SEP] 83, Cabinet, 0.140, 1.666, -1.559, 0, 0, 0, [SEP] 84, Cabinet, -0.189, 1.666, -1.340, 0, 0, 0, [SEP] 85, Cabinet, -0.709, 1.963, -0.819, 0, 0, 0, [SEP] 86, Cabinet, -0.920, 1.665, -0.620, 0, 0, 0, [SEP] 87, Drawer, -0.860, 0.190, -0.100, 0, 0, 0, [SEP] 88, CounterTop, 0.133, 0.935, -1.457, 0, 0, 0, [SEP] 89, Drawer, 3.020, 0.769, 0.695, 0, 180, 0, [SEP] 90, Drawer, -0.677, 0.577, -0.700, 0, 0, 0, [SEP] 91, Drawer, -0.860, 0.190, 1.429, 0, 0, 0, [SEP] 92, Drawer, -0.047, 0.192, -1.324, 0, 0, 0, [SEP] 93, Drawer, -0.677, 0.193, -0.700, 0, 0, 0, [SEP] 94, Drawer, -0.860, 0.577, -0.100, 0, 0, 0, [SEP] 95, Sink, 3.078, 0.887, 0.086, 0, 0, 0, [SEP] 96, StoveBurner, -0.239, 0.897, -1.089, 0, 315, 0, [SEP] 97, Drawer, -0.860, 0.190, 0.663, 0, 0, 0, [SEP] 98, CounterTop, 1.210, 0.937, 0.463, 0, 0, 0, [SEP] 99, Drawer, -0.047, 0.381, -1.324, 0, 0, 0, [SEP] 100, Drawer, -0.677, 0.387, -0.700, 0, 0, 0, [SEP] 101, Mirror, -1.295, 1.630, 0.045, 0, 0, 0, [SEP] 102, Drawer, -0.860, 0.385, 1.429, 0, 0, 0, [SEP] 103, HousePlant, 3.196, 0.891, -0.368, 0, 0, 0, [SEP] 104, StoveKnob, -0.090, 0.790, -1.009, 270, 45, 0, [SEP] 105, StoveKnob, -0.280, 0.790, -0.819, 270, 45, 0, [SEP] 106, StoveKnob, -0.180, 0.790, -0.920, 270, 45, 0, [SEP] 107, StoveKnob, -0.370, 0.790, -0.720, 270, 45, 0, [SEP] 108, GarbageCan, 3.137, 0.025, 1.545, 0, 225, 0, [SEP] 109, Window, 3.703, 1.675, 0.046, 90, 90, 0, [SEP] 110, CoffeeMachine, 3.214, 0.890, 0.697, 0, 270, 0, [SEP] 111, LightSwitch, 2.592, 1.309, -1.880, 0, 0, 0, [SEP] 112, SinkBasin, 3.069, 0.736, 0.108, 0, 90, 0, [SEP] 113, Fridge, 1.008, 0.029, -1.467, 0, 0, 0, [SEP] 114, Toaster, -1.035, 0.873, -0.396, 0, 90, 0, [SEP] 115, Microwave, -1.034, 0.874, 1.428, 0, 90, 0, [SEP] 116, Faucet, 3.305, 0.886, 0.094, 270, 180, 0, [SEP] 117, NorthWall, , , , , , , [SEP] 118, EastWall, , , , , , , [SEP] 119, SouthWall, , , , , , , [SEP] 120, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and walk around the room the face the fridge. | STEP 2: Take the potato out of the fridge. | STEP 3: Turn right and walk around the room then turn left to face the microwave. | STEP 4: Heat the potato in the microwave, then remove it. | STEP 5: Turn left and walk around the room the face the fridge. | STEP 6: Place the potato in the fridge on the bottom shelf. | END"]} +{"id": "trial_T20190918_163003_739237-2", "input": "Cut an apple, wash a piece of the apple, put it in the bin SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.75, 0.900, 1.25, 0, 270, 0, [SEP] 1, Potato, -1.465, 0.962, 0.636, 0, 0, 0, 74 [SEP] 2, Ladle, -2.011, 1.164, 0.190, 0, 90, 0, 62 [SEP] 3, Ladle, -2.514, 1.164, 0.662, 0, 0, 0, 62 [SEP] 4, ButterKnife, -2.388, 1.124, 0.190, 0, 0, 0, 62 [SEP] 5, Pot, -3.475, 1.133, 0.48, 0, 90, 0, 50 [SEP] 6, Pot, -3.572, 1.566, 2.849, 0, 90, 0, 69 [SEP] 7, Fork, -0.785, 1.047, 3.266, 0, 0, 0, 52 [SEP] 8, Fork, -2.450, 0.095, 0.579, 0, 0, 0, 55 [SEP] 9, Spoon, -2.388, 1.126, 0.379, 0, 0, 0, 62 [SEP] 10, Spoon, -0.908, 1.049, 1.920, 0, 0, 0, 52 [SEP] 11, Spatula, -0.538, 1.063, 1.920, 0, 0, 0, 52 [SEP] 12, Egg, -0.659, 1.155, 0.206, 0, 0, 0, 64 [SEP] 13, Egg, -1.111, 0.961, 0.221, 0, 0, 0, 74 [SEP] 14, Cup, -0.939, 1.122, 0.296, 0, 0, 0, 64 [SEP] 15, Plate, -3.373, 1.285, 3.061, 0, 90, 0, 69 [SEP] 16, Knife, -1.288, 0.963, 0.428, 0, 0, 0, 74 [SEP] 17, SoapBottle, -0.785, 1.047, 2.593, 0, 0, 0, 52 [SEP] 18, SoapBottle, -1.568, 1.154, 0.095, 0, 0, 0, 49 [SEP] 19, Tomato, -0.538, 1.088, 2.593, 0, 0, 0, 52 [SEP] 20, Tomato, -0.662, 1.087, 3.266, 0, 0, 0, 52 [SEP] 21, SaltShaker, -2.555, 0.898, 0.511, 0, 0, 0, 61 [SEP] 22, PepperShaker, -2.514, 1.121, 0.379, 0, 0, 0, 62 [SEP] 23, Bread, -0.908, 1.134, 3.042, 0, 0, 0, 52 [SEP] 24, Apple, -0.908, 1.114, 2.817, 0, 0, 0, 52 [SEP] 25, Fork, -0.771, 1.125, 0.206, 0, 0, 0, 64 [SEP] 26, SoapBottle, -3.814, 1.125, 0.662, 0, 0, 0, 59 [SEP] 27, Pot, -0.785, 1.052, 2.369, 0, 0, 0, 52 [SEP] 28, Ladle, -1.111, 0.970, 0.428, 0, 90, 0, 74 [SEP] 29, Potato, -3.644, 0.142, 2.008, 0, 0, 0, 73 [SEP] 30, Plate, -1.156, 0.047, 0.437, 0, 0, 0, 56 [SEP] 31, Bread, -2.639, 1.211, 0.567, 0, 0, 0, 62 [SEP] 32, Lettuce, -2.011, 1.202, 0.473, 0, 0, 0, 62 [SEP] 33, Spatula, -0.415, 1.063, 2.817, 0, 0, 0, 52 [SEP] 34, Pan, -3.000, 1.133, 0.227, 0, 270, 0, 66 [SEP] 35, Egg, -3.229, 0.759, 2.920, 0, 90, 0, 69 [SEP] 36, Cup, -1.465, 0.929, 0.498, 0, 0, 0, 74 [SEP] 37, SaltShaker, -3.814, 1.121, 0.284, 0, 0, 0, 59 [SEP] 38, Knife, -0.662, 1.079, 3.042, 0, 270, 0, 52 [SEP] 39, Bowl, -0.827, 1.122, 0.478, 0, 0, 0, 64 [SEP] 40, PepperShaker, -1.995, 0.092, 0.545, 0, 0, 0, 54 [SEP] 41, ButterKnife, -1.553, 0.931, 0.498, 0, 0, 0, 74 [SEP] 42, Apple, -0.203, 1.295, 0.443, 0, 0, 0, 75 [SEP] 43, Tomato, -3.440, 1.603, 3.061, 0, 90, 0, 69 [SEP] 44, DishSponge, -0.771, 1.124, 0.115, 0, 0, 0, 64 [SEP] 45, Spoon, -0.908, 1.049, 2.144, 0, 0, 0, 52 [SEP] 46, Mug, -3.291, 0.917, 2.459, 0, 0, 0, 69 [SEP] 47, StoveKnob, -3.322, 1.053, 0.709, 45, 0, 0, [SEP] 48, StoveBurner, -3.474, 1.097, 0.227, 0, 180, 0, [SEP] 49, Sink, -1.394, 0.982, 0.439, 0, 0, 0, [SEP] 50, StoveBurner, -3.474, 1.097, 0.479, 0, 180, 0, [SEP] 51, StoveKnob, -3.164, 1.053, 0.709, 45, 0, 0, [SEP] 52, DiningTable, -0.620, 0.017, 2.486, 0, 0, 0, [SEP] 53, Drawer, -2.043, 0.608, 0.594, 0, 0, 0, [SEP] 54, Drawer, -2.043, 0.216, 0.594, 0, 0, 0, [SEP] 55, Drawer, -2.498, 0.216, 0.594, 0, 0, 0, [SEP] 56, Cabinet, -1.001, 0.393, 0.734, 0, 0, 0, [SEP] 57, StoveBurner, -3.000, 1.097, 0.480, 0, 0, 0, [SEP] 58, StoveKnob, -3.492, 1.053, 0.709, 45, 0, 0, [SEP] 59, CounterTop, -3.856, 1.160, 0.379, 0, 0, 0, [SEP] 60, Drawer, -2.043, 0.937, 0.599, 0, 0, 0, [SEP] 61, Drawer, -2.509, 0.937, 0.599, 0, 0, 0, [SEP] 62, CounterTop, -2.280, 1.160, 0.379, 0, 0, 0, [SEP] 63, StoveKnob, -2.985, 1.053, 0.709, 45, 0, 0, [SEP] 64, CounterTop, -0.514, 1.160, 0.492, 0, 0, 0, [SEP] 65, Drawer, -2.498, 0.608, 0.594, 0, 0, 0, [SEP] 66, StoveBurner, -3.000, 1.097, 0.227, 0, 0, 0, [SEP] 67, Cabinet, -1.733, 0.393, 0.734, 0, 0, 0, [SEP] 68, CoffeeMachine, -0.153, 1.038, 3.193, 0, 270, 0, [SEP] 69, Fridge, -3.519, 0.0, 2.717, 0, 90, 0, [SEP] 70, Window, -1.394, 1.924, 0.014, 90, 0, 0, [SEP] 71, Window, -3.266, 1.924, 0.014, 90, 0, 0, [SEP] 72, Toaster, -0.225, 1.038, 2.865, 0, 270, 0, [SEP] 73, GarbageCan, -3.696, 0.002, 2.008, 0, 0, 0, [SEP] 74, SinkBasin, -1.389, 0.921, 0.428, 0, 0, 0, [SEP] 75, Microwave, -0.366, 1.113, 0.430, 0, 0, 0, [SEP] 76, HousePlant, -2.155, 1.101, 0.169, 0, 332.897, 0, [SEP] 77, LightSwitch, -2.584, 1.299, 3.5, 0, 180, 0, [SEP] 78, Faucet, -1.393, 1.373, 0.168, 0, 270, 0, [SEP] 79, NorthWall, , , , , , , [SEP] 80, SouthWall, , , , , , , [SEP] 81, SouthWall, , , , , , , ", "output": ["STEP 1: Turn around, go forward, turn right at the sink | STEP 2: Pick up the knife from the sink | STEP 3: Turn around, go forward, turn right at the table | STEP 4: Cut the apple on the table | STEP 5: Turn around, go forward a bit, turn left and go to the cupboard under the sink | STEP 6: Put the knife in the cupboard | STEP 7: Turn around, go forward, turn right at the table | STEP 8: Pick up an apple piece from the table | STEP 9: Turn right, go to the sink | STEP 10: Put the apple piece in the sink, wash the apple piece with water, pick up the apple piece from the sink | STEP 11: Turn right, go forward, turn right | STEP 12: Put the apple piece into the bin | END"]} +{"id": "trial_T20190908_143308_855779-1", "input": "Place chilled coffee mug on coffee maker SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.900, -1.75, 0, 180, 0, [SEP] 1, Glassbottle, -0.254, 0.797, -1.934, 0, 270, 0, 73 [SEP] 2, Pencil, -2.666, 0.923, -2.115, 0, 0, 0, 80 [SEP] 3, Pencil, -0.778, 0.747, -3.586, 0, 270, 0, 54 [SEP] 4, Pen, -1.943, 0.029, -3.799, 0, 0, 0, 71 [SEP] 5, Potato, -2.552, 0.954, -1.193, 0, 0, 0, 80 [SEP] 6, Potato, -2.096, 0.954, -2.115, 0, 0, 0, 80 [SEP] 7, DishSponge, -0.230, 1.970, -1.663, 0, 0, 0, 57 [SEP] 8, DishSponge, -0.230, 1.970, -1.883, 0, 0, 0, 57 [SEP] 9, WineBottle, -0.344, 0.082, -2.201, 0, 0, 0, 60 [SEP] 10, WineBottle, -2.006, 0.027, -3.799, 0, 0, 0, 71 [SEP] 11, Spatula, -2.552, 0.938, -0.963, 0, 90, 0, 80 [SEP] 12, Fork, -0.350, 0.797, -2.008, 0, 270, 0, 73 [SEP] 13, Spoon, -2.324, 0.924, -1.423, 0, 0, 0, 80 [SEP] 14, Spoon, -2.324, 0.924, -0.963, 0, 0, 0, 80 [SEP] 15, Knife, -2.096, 0.946, -1.884, 0, 90, 0, 80 [SEP] 16, Knife, -2.324, 0.946, -1.654, 0, 0, 0, 80 [SEP] 17, Cup, -0.388, 1.689, -0.769, 0, 270, 0, 72 [SEP] 18, Egg, -1.943, 0.059, -3.654, 0, 0, 0, 71 [SEP] 19, Bowl, -0.348, 1.689, -0.560, 0, 270, 0, 72 [SEP] 20, Bread, -0.343, 1.443, -0.560, 0, 270, 0, 72 [SEP] 21, SaltShaker, -0.180, 1.966, -1.773, 0, 0, 0, 57 [SEP] 22, SaltShaker, -2.096, 0.919, -1.423, 0, 0, 0, 80 [SEP] 23, PepperShaker, -0.138, 1.524, -2.914, 0, 0, 0, 67 [SEP] 24, PepperShaker, -0.256, 1.966, -2.249, 0, 0, 0, 62 [SEP] 25, Apple, -0.392, 1.172, -0.560, 0, 270, 0, 72 [SEP] 26, Lettuce, -0.308, 1.783, -0.979, 0, 270, 0, 72 [SEP] 27, Glassbottle, -0.254, 0.797, -2.155, 0, 270, 0, 73 [SEP] 28, Egg, -0.350, 0.830, -2.229, 0, 270, 0, 73 [SEP] 29, Pen, -0.026, 0.918, -2.001, 0, 90, 0, 55 [SEP] 30, Fork, -2.324, 0.924, -1.193, 0, 0, 0, 80 [SEP] 31, SoapBottle, -0.288, 1.529, -3.575, 0, 45, 0, 63 [SEP] 32, Pencil, -2.666, 0.923, -2.345, 0, 0, 0, 80 [SEP] 33, WineBottle, -0.418, 1.531, -3.651, 0, 45, 0, 63 [SEP] 34, Spatula, -2.096, 0.938, -1.423, 0, 0, 0, 80 [SEP] 35, Bread, -0.415, 0.952, -3.625, 0, 0, 0, 55 [SEP] 36, Tomato, -2.717, 0.979, -1.924, 0, 0, 0, 80 [SEP] 37, Pan, -2.174, 0.913, -1.099, 0, 0, 0, 80 [SEP] 38, Cup, -2.780, 0.922, -2.115, 0, 0, 0, 80 [SEP] 39, Pot, -1.129, 0.935, -3.498, 0, 0, 0, 53 [SEP] 40, SaltShaker, -0.150, 0.912, -2.563, 0, 0, 0, 55 [SEP] 41, Potato, -2.780, 0.954, -1.654, 0, 0, 0, 80 [SEP] 42, PepperShaker, -0.420, 0.743, -3.327, 0, 0, 0, 66 [SEP] 43, ButterKnife, -2.552, 0.923, -1.884, 0, 0, 0, 80 [SEP] 44, DishSponge, -0.230, 1.970, -2.363, 0, 0, 0, 62 [SEP] 45, Spoon, -0.365, 0.916, -2.764, 0, 0, 0, 55 [SEP] 46, Plate, -0.295, 1.101, -0.979, 0, 270, 0, 72 [SEP] 47, Knife, -2.210, 0.946, -2.345, 0, 0, 0, 80 [SEP] 48, Mug, -2.780, 0.918, -1.193, 0, 0, 0, 80 [SEP] 49, Bowl, -1.204, 1.629, -3.870, 0, 0, 0, 68 [SEP] 50, Cabinet, -0.582, 0.388, -1.804, 0, 0, 0, [SEP] 51, StoveBurner, -1.515, 0.928, -3.752, 0, 90, 0, [SEP] 52, StoveBurner, -1.515, 0.928, -3.497, 0, 0, 0, [SEP] 53, StoveBurner, -1.129, 0.928, -3.498, 0, 0, 0, [SEP] 54, Drawer, -0.749, 0.779, -3.551, 0, 0, 0, [SEP] 55, CounterTop, -0.303, 0.951, -2.793, 0, 0, 0, [SEP] 56, Cabinet, -0.883, 2.140, -3.687, 0, 0, 0, [SEP] 57, Cabinet, -0.312, 2.140, -1.543, 0, 0, 0, [SEP] 58, Sink, -0.349, 0.907, -2.014, 0, 0, 0, [SEP] 59, Cabinet, -0.877, 0.388, -3.422, 0, 0, 0, [SEP] 60, Cabinet, -0.582, 0.388, -2.197, 0, 0, 0, [SEP] 61, Cabinet, -0.584, 0.388, -3.396, 0, 0, 0, [SEP] 62, Cabinet, -0.312, 2.140, -2.481, 0, 0, 0, [SEP] 63, Cabinet, -0.330, 1.921, -3.390, 0, 0, 0, [SEP] 64, Cabinet, -1.764, 2.140, -3.687, 0, 0, 0, [SEP] 65, StoveBurner, -1.129, 0.928, -3.752, 0, 90, 0, [SEP] 66, Drawer, -0.454, 0.779, -3.268, 0, 0, 0, [SEP] 67, Cabinet, -0.302, 1.916, -2.501, 0, 0, 0, [SEP] 68, Microwave, -1.317, 1.517, -3.801, 0, 1.440, 0, [SEP] 69, CoffeeMachine, -0.153, 0.903, -3.144, 0, 270, 0, [SEP] 70, LightSwitch, -4.323, 1.319, 0.0, 0, 180, 0, [SEP] 71, GarbageCan, -1.943, -7.152, -3.763, 0, 0, 0, [SEP] 72, Fridge, -0.330, 0.0, -0.769, 0, 270, 0, [SEP] 73, SinkBasin, -0.350, 0.786, -2.018, 0, 270, 0, [SEP] 74, StoveKnob, -1.582, 1.082, -3.958, 72.287, 0, 0, [SEP] 75, StoveKnob, -1.177, 1.082, -3.958, 72.287, 0, 0, [SEP] 76, StoveKnob, -1.424, 1.082, -3.958, 72.287, 0, 0, [SEP] 77, StoveKnob, -1.028, 1.082, -3.958, 72.287, 0, 0, [SEP] 78, Toaster, -0.181, 0.903, -2.764, 0, 270, 0, [SEP] 79, Window, -2.503, 1.782, -4.185, 90, 180, 0, [SEP] 80, DiningTable, -2.432, 0.000, -1.694, 0, 270, 0, [SEP] 81, Shelf, -2.432, 0.150, -1.694, 0, 270, 0, [SEP] 82, Blinds, -2.536, 2.699, -3.959, 0, 0, 0, [SEP] 83, Faucet, -0.079, 0.904, -2.034, 270, 180, 0, [SEP] 84, Chair, -3.264, 0.002, -2.094, 0, 53.280, 0, [SEP] 85, Chair, -3.240, 0.002, -1.253, 0, 117.257, 0, [SEP] 86, Shelf, -2.432, 0.523, -1.694, 0, 270, 0, [SEP] 87, NorthWall, , , , , , , [SEP] 88, EastWall, , , , , , , [SEP] 89, SouthWall, , , , , , , [SEP] 90, WestWall, , , , , , , ", "output": ["STEP 1: turn around, go to end of green counter facing spatula | STEP 2: pick up black coffee mug on green counter to the right of potato | STEP 3: turn left, go to black refrigerator | STEP 4: open refrigerator, place black mug on space in between top shelves, close refrigerator, open refrigerator, pick up black mug from top shelf, close refrigerator | STEP 5: turn right, go to counter with toaster and coffee maker on the left | STEP 6: place mug on heater plate on coffee maker | END"]} +{"id": "trial_T20190906_215557_421584-0", "input": "Put the cleaned knife in the drawer under the tomato. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.900, -0.5, 0, 90, 0, [SEP] 1, Kettle, -2.614, 0.953, 0.524, 0, 90, 0, 75 [SEP] 2, Kettle, 1.658, 0.913, -1.737, 0, 0, 0, 42 [SEP] 3, Potato, -2.065, 0.982, 0.704, 0, 90, 0, 75 [SEP] 4, DishSponge, -2.203, 0.951, 0.704, 0, 90, 0, 75 [SEP] 5, ButterKnife, -2.340, 0.952, 0.435, 0, 90, 0, 75 [SEP] 6, Pot, 1.361, 0.962, 0.561, 0, 270, 0, 47 [SEP] 7, Fork, -2.614, 0.952, 0.255, 0, 90, 0, 75 [SEP] 8, Fork, 1.907, 0.912, 0.375, 0, 0, 0, 57 [SEP] 9, Spoon, 1.846, 0.913, 0.540, 0, 0, 0, 57 [SEP] 10, SoapBottle, -1.928, 0.950, 0.614, 0, 90, 0, 75 [SEP] 11, Bowl, 0.209, 0.108, -1.509, 0, 180, 0, 39 [SEP] 12, Bowl, -0.634, 0.110, -1.508, 0, 0, 0, 56 [SEP] 13, Bread, -2.065, 1.035, 0.345, 0, 90, 0, 75 [SEP] 14, Knife, 1.781, 0.937, -1.571, 0, 90, 0, 42 [SEP] 15, Fork, -2.203, 0.952, 0.255, 0, 90, 0, 75 [SEP] 16, Bowl, 0.387, 0.109, 0.308, 0, 0, 0, 53 [SEP] 17, Kettle, -0.147, 0.111, -1.471, 0, 0, 0, 51 [SEP] 18, Cup, -1.872, 1.491, -1.763, 0, 0, 0, 72 [SEP] 19, Tomato, 0.035, 0.961, 0.209, 0, 0, 0, 41 [SEP] 20, SoapBottle, 0.701, 0.918, -1.649, 0, 270, 0, 40 [SEP] 21, Plate, -0.111, 0.900, -1.596, 0, 0, 0, 42 [SEP] 22, Pot, 1.007, 0.962, 0.561, 0, 270, 0, 44 [SEP] 23, Spatula, 1.785, 0.927, 0.209, 0, 0, 0, 57 [SEP] 24, PaperTowelRoll, 1.412, 1.016, -1.489, 0, 0, 0, 42 [SEP] 25, Egg, -0.544, 0.947, -1.571, 0, 0, 0, 42 [SEP] 26, Lettuce, -1.791, 1.042, 0.255, 0, 90, 0, 75 [SEP] 27, SaltShaker, 1.289, 0.908, -1.903, 0, 0, 0, 42 [SEP] 28, PepperShaker, 0.517, 0.104, -1.547, 0, 180, 0, 39 [SEP] 29, Apple, -1.079, 1.082, -1.704, 0, 0, 0, 64 [SEP] 30, ButterKnife, -2.477, 0.952, 0.614, 0, 90, 0, 75 [SEP] 31, Potato, -2.222, 0.541, -1.720, 0, 0, 0, 72 [SEP] 32, Pan, 1.022, 0.959, 0.288, 0, 219.190, 0, 54 [SEP] 33, DishSponge, -0.362, 0.069, 0.569, 0, 90, 0, 71 [SEP] 34, Spoon, -1.928, 0.953, 0.435, 0, 90, 0, 75 [SEP] 35, Mug, 0.167, 0.907, 0.540, 0, 0, 0, 41 [SEP] 36, Cabinet, -0.193, 1.688, -1.648, 0, 180, 0, [SEP] 37, StoveBurner, 1.360, 0.957, 0.293, 0, 180, 0, [SEP] 38, Drawer, 0.499, 0.792, 0.296, 0, 0, 0, [SEP] 39, Cabinet, 0.095, 0.400, -1.352, 0, 180, 0, [SEP] 40, Sink, 0.711, 0.817, -1.772, 0, 270, 0, [SEP] 41, CounterTop, 0.280, 0.947, 0.458, 0, 0, 0, [SEP] 42, CounterTop, -0.680, 0.947, -1.654, 0, 0, 0, [SEP] 43, Drawer, 1.825, 0.792, 0.296, 0, 0, 0, [SEP] 44, StoveBurner, 1.007, 0.957, 0.561, 0, 270, 0, [SEP] 45, Drawer, -0.150, 0.792, -1.496, 0, 0, 0, [SEP] 46, Drawer, -0.586, 0.792, -1.496, 0, 0, 0, [SEP] 47, StoveBurner, 1.360, 0.957, 0.561, 0, 270, 0, [SEP] 48, Drawer, 0.024, 0.792, 0.296, 0, 0, 0, [SEP] 49, Cabinet, 1.079, 0.400, -1.349, 0, 180, 0, [SEP] 50, Cabinet, 1.669, 0.402, 0.151, 0, 0, 0, [SEP] 51, Cabinet, 0.055, 0.402, -1.351, 0, 0, 0, [SEP] 52, Cabinet, -0.180, 0.402, 0.151, 0, 0, 0, [SEP] 53, Cabinet, 0.729, 0.402, 0.151, 0, 0, 0, [SEP] 54, StoveBurner, 1.007, 0.957, 0.293, 0, 180, 0, [SEP] 55, Drawer, -1.100, 0.792, -1.496, 0, 0, 0, [SEP] 56, Cabinet, -0.396, 0.402, -1.351, 0, 0, 0, [SEP] 57, CounterTop, 1.776, 0.947, 0.458, 0, 0, 0, [SEP] 58, Cabinet, 1.974, 1.688, -1.648, 0, 180, 0, [SEP] 59, Cabinet, -0.820, 0.400, -1.349, 0, 180, 0, [SEP] 60, Toaster, 0.305, 0.900, 0.552, 0, 180, 0, [SEP] 61, LightSwitch, -2.756, 1.307, -0.987, 0, 90, 0, [SEP] 62, Window, 0.582, 1.613, -1.967, 90, 0, 0, [SEP] 63, Window, 1.969, 1.5, -0.615, 90, 270, 0, [SEP] 64, Microwave, -1.037, 0.900, -1.723, 0, 0, 0, [SEP] 65, SinkBasin, 0.377, 0.765, -1.655, 0, 270, 0, [SEP] 66, CoffeeMachine, 0.618, 0.900, 0.600, 0, 180, 0, [SEP] 67, StoveKnob, 1.246, 0.913, 0.118, 45, 180, 0, [SEP] 68, StoveKnob, 1.373, 0.913, 0.118, 45, 180, 0, [SEP] 69, StoveKnob, 0.995, 0.913, 0.118, 45, 180, 0, [SEP] 70, StoveKnob, 1.126, 0.913, 0.118, 45, 180, 0, [SEP] 71, GarbageCan, -0.368, -0.029, 0.539, 0, 90, 0, [SEP] 72, Fridge, -2.134, 0.0, -1.690, 0, 0, 0, [SEP] 73, Faucet, 0.549, 1.046, -1.833, 0, 232.527, 0, [SEP] 74, Stool, -1.475, 0.000, 0.414, 1.233, 280.375, 0, [SEP] 75, DiningTable, -2.255, -0.004, 0.432, 0, 0, 0, [SEP] 76, NorthWall, , , , , , , [SEP] 77, EastWall, , , , , , , [SEP] 78, SouthWall, , , , , , , [SEP] 79, WestWall, , , , , , , ", "output": ["STEP 1: Move to the white rectangular table. | STEP 2: Pick up the knife next to the bread. | STEP 3: Bring the knife to the sink. | STEP 4: Wash the knife in the sink with water. | STEP 5: Bring the knife to the counter by the tomato. | STEP 6: Put the knife in the drawer under the tomato. | END"]} +{"id": "trial_T20190909_023747_021526-1", "input": "Move a credit card to a chair in the corner. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 2.0, 0.900, 0.25, 0, 180, 0, [SEP] 1, Bowl, -0.416, 0.477, -0.995, 0, 180, 0, 38 [SEP] 2, KeyChain, -0.115, 0.478, -1.245, 0, 180, 0, 38 [SEP] 3, KeyChain, -1.807, 0.760, -1.290, 0, 270, 0, 42 [SEP] 4, RemoteControl, 0.794, 0.547, 1.180, 0, 180, 0, 35 [SEP] 5, CreditCard, 0.794, 0.545, 0.906, 0, 180, 0, 35 [SEP] 6, Box, 2.513, 0.144, -1.093, 0, 318.382, 0, 48 [SEP] 7, Bowl, -1.635, 0.419, -1.550, 0, 90, 0, 42 [SEP] 8, KeyChain, 1.982, 0.453, -2.141, 0, 270, 0, 48 [SEP] 9, Vase, -1.588, 0.168, -0.531, 0, 0, 0, 43 [SEP] 10, Statue, -1.802, 1.315, -2.467, 0, 270, 0, 40 [SEP] 11, Pillow, -0.495, 0.593, 0.955, 0, 0, 0, 35 [SEP] 12, Laptop, -1.732, 0.753, -0.696, 0, 73.105, 0, 42 [SEP] 13, Vase, -1.808, 1.615, -2.597, 0, 0, 0, 39 [SEP] 14, Statue, -1.743, 0.858, -0.350, 0, 90, 0, 42 [SEP] 15, RemoteControl, -0.301, 0.758, -2.247, 0, 0, 0, 30 [SEP] 16, Vase, 0.009, 0.168, -2.264, 0, 0, 0, 32 [SEP] 17, CreditCard, 0.353, 0.545, 1.089, 0, 180, 0, 35 [SEP] 18, Vase, -1.680, 0.760, -1.055, 0, 90, 0, 42 [SEP] 19, Statue, -1.616, 0.770, -1.526, 0, 90, 0, 42 [SEP] 20, Painting, 0.172, 1.781, 1.934, 0, 0, 0, [SEP] 21, HousePlant, -1.646, 0.755, -1.792, 0, 0, 0, [SEP] 22, LightSwitch, 1.406, 1.294, 1.651, 0, 180, 0, [SEP] 23, Television, -0.035, 1.239, -2.439, 0, 0, 0, [SEP] 24, FloorLamp, -1.573, -0.003, 1.302, 0, 0, 0, [SEP] 25, GarbageCan, 0.742, -0.000, -2.522, 0, 270, 0, [SEP] 26, Window, -0.816, 1.534, -2.719, 90, 0, 0, [SEP] 27, Window, 0.791, 1.534, -2.718, 90, 0, 0, [SEP] 28, Shelf, 0.340, 0.474, -2.377, 0, 0, 0, [SEP] 29, Shelf, 0.341, 0.273, -2.377, 0, 0, 0, [SEP] 30, TVStand, -0.025, -0.000, -2.385, 0, 0, 0, [SEP] 31, Shelf, -0.393, 0.302, -2.382, 0, 0, 0, [SEP] 32, Shelf, -0.026, 0.442, -2.380, 0, 0, 0, [SEP] 33, Shelf, -0.393, 0.597, -2.382, 0, 0, 0, [SEP] 34, Shelf, 0.340, 0.643, -2.377, 0, 0, 0, [SEP] 35, Sofa, 0.124, 0.008, 1.032, 0, 180, 0, [SEP] 36, Cabinet, -1.827, 0.729, -2.357, 0, 90, 0, [SEP] 37, Shelf, -1.827, 2.041, -2.356, 0, 90, 0, [SEP] 38, CoffeeTable, 0.017, -0.000, -1.108, 0, 180, 0, [SEP] 39, Shelf, -1.827, 1.744, -2.356, 0, 90, 0, [SEP] 40, Shelf, -1.827, 1.452, -2.356, 0, 90, 0, [SEP] 41, Shelf, -1.730, 0.278, -1.635, 0, 90, 0, [SEP] 42, TVStand, -1.733, -0.000, -1.058, 0, 90, 0, [SEP] 43, Shelf, -1.730, 0.302, -0.479, 0, 90, 0, [SEP] 44, Shelf, -1.732, 0.446, -1.056, 0, 90, 0, [SEP] 45, Shelf, -1.731, 0.596, -0.478, 0, 90, 0, [SEP] 46, Shelf, -1.733, 0.648, -1.635, 0, 90, 0, [SEP] 47, Shelf, -1.730, 0.477, -1.635, 0, 90, 0, [SEP] 48, ArmChair, 2.344, 0.002, -2.041, 0, 270, 0, [SEP] 49, ShelvingUnit, -1.847, 0.001, -2.357, 0, 90, 0, [SEP] 50, NorthWall, , , , , , , [SEP] 51, EastWall, , , , , , , [SEP] 52, SouthWall, , , , , , , [SEP] 53, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and move to stand facing the center of the sofa. | STEP 2: Pick up the credit card closest to the center of the sofa. | STEP 3: Turn right and then right again immediately to move to the blue chair in the corner. | STEP 4: Place the credit card on the chair. | END"]} +{"id": "trial_T20190908_082411_394158-0", "input": "Put a chilled plate in cabinet under the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.25, 0.900, 2.5, 0, 270, 0, [SEP] 1, Pan, -3.000, 1.133, 0.480, 0, 270, 0, 51 [SEP] 2, DishSponge, -0.715, 1.124, 0.659, 0, 0, 0, 58 [SEP] 3, ButterKnife, -1.465, 0.931, 0.290, 0, 180, 0, 68 [SEP] 4, Spatula, -0.785, 1.063, 2.369, 0, 90, 0, 46 [SEP] 5, Egg, -1.568, 1.184, 0.082, 0, 0, 0, 43 [SEP] 6, Plate, -0.662, 1.046, 3.042, 0, 0, 0, 46 [SEP] 7, Knife, -1.465, 0.963, 0.498, 0, 0, 0, 68 [SEP] 8, SoapBottle, -3.849, 0.113, 1.978, 0, 0, 0, 67 [SEP] 9, Tomato, -0.715, 1.165, 0.115, 0, 0, 0, 58 [SEP] 10, Bowl, -3.572, 1.284, 2.920, 0, 90, 0, 63 [SEP] 11, SaltShaker, -2.509, 0.899, 0.544, 0, 0, 0, 55 [SEP] 12, Bread, -0.785, 1.133, 2.144, 0, 0, 0, 46 [SEP] 13, Bread, -0.662, 1.134, 2.593, 0, 0, 0, 46 [SEP] 14, Lettuce, -0.662, 1.125, 2.817, 0, 0, 0, 46 [SEP] 15, Mug, -0.377, 1.095, 3.194, 0, 270, 0, 62 [SEP] 16, Mug, -0.908, 1.042, 3.266, 0, 0, 0, 46 [SEP] 17, Apple, -1.199, 0.998, 0.567, 0, 0, 0, 68 [SEP] 18, Apple, -3.440, 1.629, 3.203, 0, 90, 0, 63 [SEP] 19, Fork, -2.514, 1.125, 0.379, 0, 0, 0, 56 [SEP] 20, SoapBottle, -1.274, 0.049, 0.437, 0, 0, 0, 50 [SEP] 21, Pot, -3.475, 1.133, 0.48, 0, 90, 0, 44 [SEP] 22, Ladle, -0.827, 1.164, 0.387, 0, 0, 0, 58 [SEP] 23, Potato, -0.939, 1.155, 0.206, 0, 0, 0, 58 [SEP] 24, Plate, -0.908, 1.046, 3.042, 0, 0, 0, 46 [SEP] 25, Bread, -0.183, 1.119, 1.892, 0, 0, 0, 46 [SEP] 26, Lettuce, -3.506, 1.639, 2.990, 0, 90, 0, 63 [SEP] 27, Spatula, -1.288, 0.946, 0.567, 0, 270, 0, 68 [SEP] 28, Pan, -0.266, 1.038, 2.561, 0, 0, 0, 46 [SEP] 29, Egg, -3.593, 0.142, 2.038, 0, 0, 0, 67 [SEP] 30, Cup, -1.195, 0.047, 0.324, 0, 0, 0, 50 [SEP] 31, SaltShaker, -1.950, 0.899, 0.645, 0, 0, 0, 54 [SEP] 32, Knife, -2.262, 1.157, 0.567, 0, 0, 0, 56 [SEP] 33, Bowl, -1.601, 0.046, 0.608, 0, 0, 0, 61 [SEP] 34, PepperShaker, -2.416, 0.898, 0.612, 0, 0, 0, 55 [SEP] 35, ButterKnife, -0.538, 1.047, 3.042, 0, 0, 0, 46 [SEP] 36, Apple, -0.292, 1.115, 2.144, 0, 0, 0, 46 [SEP] 37, Tomato, -3.696, 0.153, 2.008, 0, 0, 0, 67 [SEP] 38, DishSponge, -2.042, 0.095, 0.613, 0, 0, 0, 48 [SEP] 39, Spoon, -1.473, 1.155, 0.121, 0, 0, 0, 43 [SEP] 40, Mug, -1.885, 1.119, 0.662, 0, 0, 0, 56 [SEP] 41, StoveKnob, -3.322, 1.053, 0.709, 45, 0, 0, [SEP] 42, StoveBurner, -3.474, 1.097, 0.227, 0, 180, 0, [SEP] 43, Sink, -1.394, 0.982, 0.439, 0, 0, 0, [SEP] 44, StoveBurner, -3.474, 1.097, 0.479, 0, 180, 0, [SEP] 45, StoveKnob, -3.164, 1.053, 0.709, 45, 0, 0, [SEP] 46, DiningTable, -0.620, 0.017, 2.486, 0, 0, 0, [SEP] 47, Drawer, -2.043, 0.608, 0.594, 0, 0, 0, [SEP] 48, Drawer, -2.043, 0.216, 0.594, 0, 0, 0, [SEP] 49, Drawer, -2.498, 0.216, 0.594, 0, 0, 0, [SEP] 50, Cabinet, -1.001, 0.393, 0.734, 0, 0, 0, [SEP] 51, StoveBurner, -3.000, 1.097, 0.480, 0, 0, 0, [SEP] 52, StoveKnob, -3.492, 1.053, 0.709, 45, 0, 0, [SEP] 53, CounterTop, -3.856, 1.160, 0.379, 0, 0, 0, [SEP] 54, Drawer, -2.043, 0.937, 0.599, 0, 0, 0, [SEP] 55, Drawer, -2.509, 0.937, 0.599, 0, 0, 0, [SEP] 56, CounterTop, -2.280, 1.160, 0.379, 0, 0, 0, [SEP] 57, StoveKnob, -2.985, 1.053, 0.709, 45, 0, 0, [SEP] 58, CounterTop, -0.514, 1.160, 0.492, 0, 0, 0, [SEP] 59, Drawer, -2.498, 0.608, 0.594, 0, 0, 0, [SEP] 60, StoveBurner, -3.000, 1.097, 0.227, 0, 0, 0, [SEP] 61, Cabinet, -1.733, 0.393, 0.734, 0, 0, 0, [SEP] 62, CoffeeMachine, -0.153, 1.038, 3.193, 0, 270, 0, [SEP] 63, Fridge, -3.519, 0.0, 2.717, 0, 90, 0, [SEP] 64, Window, -1.394, 1.924, 0.014, 90, 0, 0, [SEP] 65, Window, -3.266, 1.924, 0.014, 90, 0, 0, [SEP] 66, Toaster, -0.225, 1.038, 2.865, 0, 270, 0, [SEP] 67, GarbageCan, -3.696, 0.002, 2.008, 0, 0, 0, [SEP] 68, SinkBasin, -1.389, 0.921, 0.428, 0, 0, 0, [SEP] 69, Microwave, -0.366, 1.113, 0.430, 0, 0, 0, [SEP] 70, HousePlant, -2.155, 1.101, 0.169, 0, 332.897, 0, [SEP] 71, LightSwitch, -2.584, 1.299, 3.5, 0, 180, 0, [SEP] 72, Faucet, -1.393, 1.373, 0.168, 0, 270, 0, [SEP] 73, NorthWall, , , , , , , [SEP] 74, SouthWall, , , , , , , [SEP] 75, SouthWall, , , , , , , ", "output": ["STEP 1: Turn right, walk to the door, turn right, walk to wooden table. | STEP 2: Pick up the black plate closer to you. | STEP 3: Turn right and right again, walk to the refrigerator. | STEP 4: Put plat in refrigerator, close door, wait a few seconds, take plat out of refrigerator. | STEP 5: Turn left, walk to table, turn right, walk to sink. | STEP 6: Open right hand door of cabinet under refrigerator, place plate in cabinet. | END"]} +{"id": "trial_T20190908_082411_394158-1", "input": "Put the chilled plate in the kitchen cabinet SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.25, 0.900, 2.5, 0, 270, 0, [SEP] 1, Pan, -3.000, 1.133, 0.480, 0, 270, 0, 51 [SEP] 2, DishSponge, -0.715, 1.124, 0.659, 0, 0, 0, 58 [SEP] 3, ButterKnife, -1.465, 0.931, 0.290, 0, 180, 0, 68 [SEP] 4, Spatula, -0.785, 1.063, 2.369, 0, 90, 0, 46 [SEP] 5, Egg, -1.568, 1.184, 0.082, 0, 0, 0, 43 [SEP] 6, Plate, -0.662, 1.046, 3.042, 0, 0, 0, 46 [SEP] 7, Knife, -1.465, 0.963, 0.498, 0, 0, 0, 68 [SEP] 8, SoapBottle, -3.849, 0.113, 1.978, 0, 0, 0, 67 [SEP] 9, Tomato, -0.715, 1.165, 0.115, 0, 0, 0, 58 [SEP] 10, Bowl, -3.572, 1.284, 2.920, 0, 90, 0, 63 [SEP] 11, SaltShaker, -2.509, 0.899, 0.544, 0, 0, 0, 55 [SEP] 12, Bread, -0.785, 1.133, 2.144, 0, 0, 0, 46 [SEP] 13, Bread, -0.662, 1.134, 2.593, 0, 0, 0, 46 [SEP] 14, Lettuce, -0.662, 1.125, 2.817, 0, 0, 0, 46 [SEP] 15, Mug, -0.377, 1.095, 3.194, 0, 270, 0, 62 [SEP] 16, Mug, -0.908, 1.042, 3.266, 0, 0, 0, 46 [SEP] 17, Apple, -1.199, 0.998, 0.567, 0, 0, 0, 68 [SEP] 18, Apple, -3.440, 1.629, 3.203, 0, 90, 0, 63 [SEP] 19, Fork, -2.514, 1.125, 0.379, 0, 0, 0, 56 [SEP] 20, SoapBottle, -1.274, 0.049, 0.437, 0, 0, 0, 50 [SEP] 21, Pot, -3.475, 1.133, 0.48, 0, 90, 0, 44 [SEP] 22, Ladle, -0.827, 1.164, 0.387, 0, 0, 0, 58 [SEP] 23, Potato, -0.939, 1.155, 0.206, 0, 0, 0, 58 [SEP] 24, Plate, -0.908, 1.046, 3.042, 0, 0, 0, 46 [SEP] 25, Bread, -0.183, 1.119, 1.892, 0, 0, 0, 46 [SEP] 26, Lettuce, -3.506, 1.639, 2.990, 0, 90, 0, 63 [SEP] 27, Spatula, -1.288, 0.946, 0.567, 0, 270, 0, 68 [SEP] 28, Pan, -0.266, 1.038, 2.561, 0, 0, 0, 46 [SEP] 29, Egg, -3.593, 0.142, 2.038, 0, 0, 0, 67 [SEP] 30, Cup, -1.195, 0.047, 0.324, 0, 0, 0, 50 [SEP] 31, SaltShaker, -1.950, 0.899, 0.645, 0, 0, 0, 54 [SEP] 32, Knife, -2.262, 1.157, 0.567, 0, 0, 0, 56 [SEP] 33, Bowl, -1.601, 0.046, 0.608, 0, 0, 0, 61 [SEP] 34, PepperShaker, -2.416, 0.898, 0.612, 0, 0, 0, 55 [SEP] 35, ButterKnife, -0.538, 1.047, 3.042, 0, 0, 0, 46 [SEP] 36, Apple, -0.292, 1.115, 2.144, 0, 0, 0, 46 [SEP] 37, Tomato, -3.696, 0.153, 2.008, 0, 0, 0, 67 [SEP] 38, DishSponge, -2.042, 0.095, 0.613, 0, 0, 0, 48 [SEP] 39, Spoon, -1.473, 1.155, 0.121, 0, 0, 0, 43 [SEP] 40, Mug, -1.885, 1.119, 0.662, 0, 0, 0, 56 [SEP] 41, StoveKnob, -3.322, 1.053, 0.709, 45, 0, 0, [SEP] 42, StoveBurner, -3.474, 1.097, 0.227, 0, 180, 0, [SEP] 43, Sink, -1.394, 0.982, 0.439, 0, 0, 0, [SEP] 44, StoveBurner, -3.474, 1.097, 0.479, 0, 180, 0, [SEP] 45, StoveKnob, -3.164, 1.053, 0.709, 45, 0, 0, [SEP] 46, DiningTable, -0.620, 0.017, 2.486, 0, 0, 0, [SEP] 47, Drawer, -2.043, 0.608, 0.594, 0, 0, 0, [SEP] 48, Drawer, -2.043, 0.216, 0.594, 0, 0, 0, [SEP] 49, Drawer, -2.498, 0.216, 0.594, 0, 0, 0, [SEP] 50, Cabinet, -1.001, 0.393, 0.734, 0, 0, 0, [SEP] 51, StoveBurner, -3.000, 1.097, 0.480, 0, 0, 0, [SEP] 52, StoveKnob, -3.492, 1.053, 0.709, 45, 0, 0, [SEP] 53, CounterTop, -3.856, 1.160, 0.379, 0, 0, 0, [SEP] 54, Drawer, -2.043, 0.937, 0.599, 0, 0, 0, [SEP] 55, Drawer, -2.509, 0.937, 0.599, 0, 0, 0, [SEP] 56, CounterTop, -2.280, 1.160, 0.379, 0, 0, 0, [SEP] 57, StoveKnob, -2.985, 1.053, 0.709, 45, 0, 0, [SEP] 58, CounterTop, -0.514, 1.160, 0.492, 0, 0, 0, [SEP] 59, Drawer, -2.498, 0.608, 0.594, 0, 0, 0, [SEP] 60, StoveBurner, -3.000, 1.097, 0.227, 0, 0, 0, [SEP] 61, Cabinet, -1.733, 0.393, 0.734, 0, 0, 0, [SEP] 62, CoffeeMachine, -0.153, 1.038, 3.193, 0, 270, 0, [SEP] 63, Fridge, -3.519, 0.0, 2.717, 0, 90, 0, [SEP] 64, Window, -1.394, 1.924, 0.014, 90, 0, 0, [SEP] 65, Window, -3.266, 1.924, 0.014, 90, 0, 0, [SEP] 66, Toaster, -0.225, 1.038, 2.865, 0, 270, 0, [SEP] 67, GarbageCan, -3.696, 0.002, 2.008, 0, 0, 0, [SEP] 68, SinkBasin, -1.389, 0.921, 0.428, 0, 0, 0, [SEP] 69, Microwave, -0.366, 1.113, 0.430, 0, 0, 0, [SEP] 70, HousePlant, -2.155, 1.101, 0.169, 0, 332.897, 0, [SEP] 71, LightSwitch, -2.584, 1.299, 3.5, 0, 180, 0, [SEP] 72, Faucet, -1.393, 1.373, 0.168, 0, 270, 0, [SEP] 73, NorthWall, , , , , , , [SEP] 74, SouthWall, , , , , , , [SEP] 75, SouthWall, , , , , , , ", "output": ["STEP 1: Turn around and walk to the large wooden table | STEP 2: Pick up the octagonal plate from the table | STEP 3: Turn around and walk to the fridge | STEP 4: Put the plate in the fridge then remove it | STEP 5: Turn left and walk to the cabinet on the left side of the kitchen counter | STEP 6: Open the lower right cabinet and put the plate in it | END"]} +{"id": "trial_T20190908_223142_710549-2", "input": "Put a heated tomato on the counter. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.908, 1.75, 0, 0, 0, [SEP] 1, Potato, -1.105, 0.794, 2.830, 0, 0, 0, 48 [SEP] 2, Potato, -1.383, 0.794, 2.459, 0, 0, 0, 48 [SEP] 3, CellPhone, -1.475, 0.746, 2.830, 0, 0, 0, 48 [SEP] 4, DishSponge, 0.951, 0.885, 2.477, 0, 0, 0, 99 [SEP] 5, Glassbottle, -1.263, 0.751, 0.778, 0, 90, 0, 87 [SEP] 6, WineBottle, 1.049, 0.912, 0.990, 0, 0, 0, 67 [SEP] 7, Fork, -1.123, 0.912, -0.430, 0, 0, 0, 73 [SEP] 8, Spatula, -0.919, 0.764, 2.087, 0, 90, 0, 48 [SEP] 9, Spatula, -0.919, 0.763, 2.830, 0, 90, 0, 48 [SEP] 10, Pot, 0.502, 0.939, -0.740, 0, 90, 0, 74 [SEP] 11, Cup, -1.105, 0.748, 1.902, 0, 0, 0, 48 [SEP] 12, Cup, -1.357, 1.654, 0.222, 0, 0, 0, 56 [SEP] 13, Plate, -1.105, 0.750, 2.273, 0, 0, 0, 48 [SEP] 14, Plate, -1.325, 2.154, 1.150, 0, 0, 0, 65 [SEP] 15, Knife, 1.444, 0.933, 0.706, 0, 0, 0, 67 [SEP] 16, Bowl, -1.197, 0.748, 2.644, 0, 0, 0, 48 [SEP] 17, Bowl, -1.206, 1.419, 0.778, 0, 90, 0, 87 [SEP] 18, Bread, -1.263, 0.814, 1.092, 0, 90, 0, 87 [SEP] 19, Bread, 1.034, 0.949, 2.261, 0, 0, 0, 99 [SEP] 20, Apple, -0.020, 0.818, -0.651, 0, 0, 0, 94 [SEP] 21, Apple, 1.450, 0.946, 2.692, 0, 0, 0, 99 [SEP] 22, Bread, 1.207, 0.974, 0.139, 0, 0, 0, 67 [SEP] 23, Glassbottle, 0.951, 0.887, 2.584, 0, 0, 0, 99 [SEP] 24, Fork, -1.012, 0.749, 2.644, 0, 0, 0, 48 [SEP] 25, Kettle, -1.357, 0.739, 3.024, 0, 240.000, 0, 48 [SEP] 26, Tomato, 1.128, 0.961, -0.428, 0, 0, 0, 67 [SEP] 27, Plate, -1.220, 0.117, 0.165, 0, 180, 0, 70 [SEP] 28, CellPhone, -1.197, 0.746, 2.459, 0, 0, 0, 48 [SEP] 29, Lettuce, 1.444, 0.982, -0.428, 0, 0, 0, 67 [SEP] 30, Pot, 0.802, 0.939, -0.740, 0, 90, 0, 76 [SEP] 31, SoapBottle, 1.049, 0.912, 0.139, 0, 0, 0, 67 [SEP] 32, WineBottle, 1.200, 0.887, 2.153, 0, 0, 0, 99 [SEP] 33, Spatula, 1.117, 0.901, 2.261, 0, 180, 0, 99 [SEP] 34, Bowl, 0.994, 2.153, -0.787, 0, 0, 0, 51 [SEP] 35, Apple, -1.378, 1.481, 0.673, 0, 90, 0, 87 [SEP] 36, Cup, 1.444, 0.910, 0.422, 0, 0, 0, 67 [SEP] 37, Knife, 1.284, 0.908, 2.800, 0, 0, 0, 99 [SEP] 38, Egg, 1.301, 0.120, 1.503, 0, 0, 0, 88 [SEP] 39, SaltShaker, -1.263, 2.149, 0.981, 0, 0, 0, 66 [SEP] 40, PepperShaker, 1.356, 2.153, 0.599, 0, 0, 0, 58 [SEP] 41, Potato, 0.103, 0.803, -0.533, 0, 0, 0, 94 [SEP] 42, ButterKnife, 1.034, 0.886, 2.800, 0, 0, 0, 99 [SEP] 43, DishSponge, 1.367, 0.885, 2.153, 0, 0, 0, 99 [SEP] 44, Pan, -1.206, 1.287, 0.988, 0, 90, 0, 87 [SEP] 45, Spoon, 1.184, 0.777, -0.049, 0, 90, 0, 68 [SEP] 46, SprayBottle, -1.135, 0.911, -0.817, 0, 0, 0, 73 [SEP] 47, Mug, 1.444, 0.906, -0.144, 0, 0, 0, 67 [SEP] 48, DiningTable, -1.182, 0.006, 2.414, 0, 90, 0, [SEP] 49, Cabinet, 1.184, 2.059, 0.375, 0, 0, 0, [SEP] 50, Cabinet, 1.184, 2.059, -0.635, 0, 0, 0, [SEP] 51, Cabinet, 0.591, 2.309, -0.645, 0, 0, 0, [SEP] 52, Cabinet, -0.574, 2.059, -0.644, 0, 0, 0, [SEP] 53, Cabinet, -1.103, 2.059, -0.644, 0, 0, 0, [SEP] 54, Cabinet, -1.185, 2.059, -0.331, 0, 0, 0, [SEP] 55, Cabinet, -1.185, 2.059, -0.281, 0, 0, 0, [SEP] 56, Cabinet, -1.185, 2.059, 0.375, 0, 0, 0, [SEP] 57, Cabinet, 1.184, 2.309, 1.174, 0, 0, 0, [SEP] 58, Cabinet, 1.184, 2.309, 0.424, 0, 0, 0, [SEP] 59, Cabinet, 0.988, 0.402, 0.581, 0, 0, 0, [SEP] 60, Cabinet, 0.988, 0.402, 0.531, 0, 0, 0, [SEP] 61, Cabinet, 0.988, 0.402, -0.178, 0, 0, 0, [SEP] 62, Cabinet, 0.335, 0.402, -0.348, 0, 0, 0, [SEP] 63, Cabinet, -0.374, 0.402, -0.348, 0, 0, 0, [SEP] 64, Cabinet, 0.988, 0.402, 1.231, 0, 0, 0, [SEP] 65, Cabinet, -1.185, 2.309, 1.374, 0, 0, 0, [SEP] 66, Cabinet, -1.185, 2.309, 0.424, 0, 0, 0, [SEP] 67, CounterTop, 1.274, 0.947, 0.064, 0, 0, 0, [SEP] 68, Drawer, 1.116, 0.792, -0.015, 0, 0, 0, [SEP] 69, Drawer, -1.116, 0.792, 0.210, 0, 180, 0, [SEP] 70, Cabinet, -0.990, 0.402, 0.374, 0, 180, 0, [SEP] 71, Drawer, -1.116, 0.792, -0.170, 0, 180, 0, [SEP] 72, Cabinet, -0.990, 0.402, -0.335, 0, 180, 0, [SEP] 73, CounterTop, -1.001, 0.947, -0.669, 0, 0, 0, [SEP] 74, StoveBurner, 0.502, 0.932, -0.740, 0, 90, 0, [SEP] 75, StoveBurner, 0.801, 0.932, -0.473, 0, 0, 0, [SEP] 76, StoveBurner, 0.801, 0.932, -0.740, 0, 90, 0, [SEP] 77, Drawer, 1.116, 0.792, 1.081, 0, 0, 0, [SEP] 78, Sink, -0.013, 0.912, -0.615, 0, 0, 0, [SEP] 79, Drawer, 1.116, 0.792, 0.732, 0, 0, 0, [SEP] 80, StoveBurner, 0.502, 0.932, -0.469, 0, 0, 0, [SEP] 81, Drawer, 1.116, 0.792, 0.367, 0, 0, 0, [SEP] 82, StoveKnob, 0.550, 1.085, -0.912, 287.970, 180, 0, [SEP] 83, StoveKnob, 0.884, 1.085, -0.912, 287.970, 180, 0, [SEP] 84, StoveKnob, 0.432, 1.085, -0.912, 287.970, 180, 0, [SEP] 85, StoveKnob, 0.777, 1.085, -0.912, 287.970, 180, 0, [SEP] 86, CoffeeMachine, 1.304, 0.900, -0.741, 0, 320.314, 0, [SEP] 87, Fridge, -1.300, 0.008, 0.987, 0, 90, 0, [SEP] 88, GarbageCan, 1.296, -0.024, 1.465, 0, 0, 0, [SEP] 89, Window, -0.012, 1.641, -0.972, 90, 0, 0, [SEP] 90, Window, 1.598, 1.646, 2.489, 90, 270, 0, [SEP] 91, Toaster, 1.356, 0.900, 1.044, 0, 270, 0, [SEP] 92, LightSwitch, 0.118, 1.353, 3.799, 0, 180, 0, [SEP] 93, Microwave, -1.343, 0.900, 0.053, 0, 90, 0, [SEP] 94, SinkBasin, -0.029, 0.748, -0.612, 0, 0, 0, [SEP] 95, Faucet, -0.026, 0.927, -0.808, 0, 0, 0, [SEP] 96, Shelf, -1.182, 0.127, 2.414, 0, 90, 0, [SEP] 97, Stool, 1.140, 0.007, 3.262, 1.206, 20.753, 0, [SEP] 98, Shelf, -1.182, 0.435, 2.414, 0, 90, 0, [SEP] 99, DiningTable, 1.169, 0.014, 2.569, 0, 0, 1.896, [SEP] 100, NorthWall, , , , , , , [SEP] 101, EastWall, , , , , , , [SEP] 102, SouthWall, , , , , , , [SEP] 103, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk over to the counter, then turn left and walk up to the counter. | STEP 2: Pick up the tomato off of the counter. | STEP 3: Turn around and walk over to the microwave. | STEP 4: Put the tomato in the microwave and heat it up for a couple seconds then take it out. | STEP 5: Turn left to face the counter. | STEP 6: Put the heated tomato on the front edge of the counter to the right of the sink. | END"]} +{"id": "trial_T20190907_105627_899403-1", "input": "Put an apple slice in the fridge. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.930, -0.75, 0, 270, 0, [SEP] 1, DishSponge, 3.246, 1.263, -0.822, 0, 0, 0, 78 [SEP] 2, ButterKnife, 0.547, 0.908, 0.140, 0, 36.810, 0, 96 [SEP] 3, ButterKnife, -0.868, 0.326, -0.098, 0, 0, 0, 70 [SEP] 4, Glassbottle, -0.236, 1.264, -1.598, 0, 45, 0, 82 [SEP] 5, Glassbottle, 3.028, 0.176, -0.453, 0, 0, 0, 76 [SEP] 6, Kettle, 3.198, 0.176, -0.356, 0, 0, 0, 76 [SEP] 7, Spatula, -1.153, 0.915, 0.623, 0, 90, 0, 65 [SEP] 8, Spoon, 3.069, 0.748, 0.032, 0, 180, 0, 110 [SEP] 9, Fork, 3.029, 0.713, -0.744, 0, 270, 0, 52 [SEP] 10, CellPhone, -0.827, 0.323, -0.361, 0, 0, 0, 70 [SEP] 11, Apple, 0.415, 0.974, -1.373, 0, 0, 0, 86 [SEP] 12, Bread, -1.008, 0.979, 0.846, 0, 0, 0, 65 [SEP] 13, Bread, 0.494, 0.986, 0.301, 0, 36.810, 0, 96 [SEP] 14, Lettuce, -0.935, 0.965, -0.047, 0, 0, 0, 65 [SEP] 15, Lettuce, 0.022, 0.965, -1.731, 0, 0, 0, 86 [SEP] 16, SaltShaker, 1.622, 0.904, 0.180, 0, 0, 0, 96 [SEP] 17, SaltShaker, 0.422, 0.317, -1.393, 0, 0, 0, 71 [SEP] 18, Bowl, 0.012, 0.897, -1.337, 0, 45, 0, 86 [SEP] 19, Tomato, 0.445, 0.947, 0.527, 0, 0, 0, 96 [SEP] 20, Egg, 3.152, 0.799, -0.100, 0, 90, 0, 110 [SEP] 21, Egg, 1.086, 1.126, -1.503, 0, 0, 0, 111 [SEP] 22, Cup, -0.717, 0.898, -0.494, 0, 0, 0, 65 [SEP] 23, Plate, 3.200, 0.913, -0.698, 0, 0, 0, 64 [SEP] 24, Knife, 0.895, 0.933, 0.489, 0, 36.810, 0, 96 [SEP] 25, Knife, -0.789, 0.925, 0.176, 0, 90, 0, 65 [SEP] 26, Plate, 3.084, 0.190, 0.629, 0, 0, 0, 74 [SEP] 27, Glassbottle, 0.719, 0.911, 0.254, 0, 36.810, 0, 96 [SEP] 28, SoapBottle, 0.445, 0.920, 0.727, 0, 0, 0, 96 [SEP] 29, Potato, 2.888, 0.939, 0.793, 0, 0, 0, 64 [SEP] 30, Fork, 3.111, 0.713, -0.744, 0, 270, 0, 52 [SEP] 31, Ladle, 1.255, 1.711, -1.619, 0, 0, 0, 56 [SEP] 32, Pot, -0.420, 0.902, -0.920, 0, 135, 0, 60 [SEP] 33, Kettle, 3.070, 0.748, 0.231, 0, 90, 0, 110 [SEP] 34, Spatula, 0.710, 0.923, 0.627, 0, 0, 0, 96 [SEP] 35, Knife, 0.179, 0.925, -1.516, 0, 0, 0, 86 [SEP] 36, Lettuce, 3.235, 0.166, 1.6, 0, 225, 0, 106 [SEP] 37, Cup, 0.929, 1.071, -1.503, 0, 0, 0, 111 [SEP] 38, SaltShaker, 3.122, 0.897, -0.897, 0, 0, 0, 64 [SEP] 39, Egg, -1.052, 1.050, 1.470, 0, 90, 0, 113 [SEP] 40, PepperShaker, 0.669, 0.904, 0.535, 0, 36.810, 0, 96 [SEP] 41, ButterKnife, 0.967, 0.908, 0.464, 0, 0, 0, 96 [SEP] 42, Apple, -1.052, 1.071, 1.258, 0, 90, 0, 113 [SEP] 43, Pan, 0.341, 0.873, -1.649, 0, 167.065, 0, 86 [SEP] 44, Bread, 1.098, 0.989, 0.747, 0, 0, 0, 96 [SEP] 45, CellPhone, -0.827, 0.128, 1.693, 0, 0, 0, 89 [SEP] 46, DishSponge, -0.950, 0.326, 0.751, 0, 0, 0, 66 [SEP] 47, Tomato, 1.086, 1.284, -1.448, 0, 0, 0, 111 [SEP] 48, Spoon, 1.622, 0.909, 0.889, 0, 0, 0, 96 [SEP] 49, Bowl, 3.028, 0.172, -0.786, 0, 0, 0, 77 [SEP] 50, Mug, 1.086, 0.881, -1.503, 0, 0, 0, 111 [SEP] 51, Drawer, 0.376, 0.572, -1.509, 0, 0, 0, [SEP] 52, Drawer, 3.020, 0.769, -0.783, 0, 180, 0, [SEP] 53, Drawer, -0.860, 0.577, 1.429, 0, 0, 0, [SEP] 54, StoveBurner, -0.600, 0.897, -1.090, 0, 135, 0, [SEP] 55, Drawer, 0.376, 0.191, -1.509, 0, 0, 0, [SEP] 56, Cabinet, 1.402, 1.874, -1.259, 0, 0, 0, [SEP] 57, Cabinet, -0.202, 1.963, -1.328, 0, 0, 0, [SEP] 58, Drawer, -0.860, 0.765, 1.429, 0, 0, 0, [SEP] 59, Drawer, -0.677, 0.765, -0.700, 0, 0, 0, [SEP] 60, StoveBurner, -0.420, 0.897, -0.920, 0, 135, 0, [SEP] 61, Drawer, 3.020, 0.769, -0.407, 0, 180, 0, [SEP] 62, Drawer, -0.860, 0.577, 0.663, 0, 0, 0, [SEP] 63, Cabinet, 2.819, 1.768, -1.850, 0, 0, 0, [SEP] 64, CounterTop, 3.111, 0.936, 0.019, 0, 0, 0, [SEP] 65, CounterTop, -1.007, 0.935, -0.039, 0, 0, 0, [SEP] 66, Drawer, -0.860, 0.385, 0.663, 0, 0, 0, [SEP] 67, StoveBurner, -0.419, 0.897, -1.269, 0, 315, 0, [SEP] 68, Drawer, -0.047, 0.573, -1.324, 0, 0, 0, [SEP] 69, Drawer, -0.860, 0.765, 0.663, 0, 0, 0, [SEP] 70, Drawer, -0.860, 0.385, -0.100, 0, 0, 0, [SEP] 71, Drawer, 0.376, 0.380, -1.509, 0, 0, 0, [SEP] 72, Drawer, -0.860, 0.765, -0.100, 0, 0, 0, [SEP] 73, Drawer, 0.376, 0.765, -1.509, 0, 0, 0, [SEP] 74, Cabinet, 2.849, 0.419, 0.409, 0, 0, 0, [SEP] 75, Drawer, -0.047, 0.765, -1.324, 0, 0, 0, [SEP] 76, Cabinet, 2.849, 0.419, -0.610, 0, 0, 0, [SEP] 77, Cabinet, 2.849, 0.419, -0.959, 0, 0, 0, [SEP] 78, Cabinet, 3.069, 1.666, -0.709, 0, 0, 0, [SEP] 79, Cabinet, 2.819, 1.768, -1.047, 0, 0, 0, [SEP] 80, Cabinet, 0.620, 1.874, -1.259, 0, 0, 0, [SEP] 81, Cabinet, 0.140, 1.666, -1.559, 0, 0, 0, [SEP] 82, Cabinet, -0.189, 1.666, -1.340, 0, 0, 0, [SEP] 83, Cabinet, -0.709, 1.963, -0.819, 0, 0, 0, [SEP] 84, Cabinet, -0.920, 1.665, -0.620, 0, 0, 0, [SEP] 85, Drawer, -0.860, 0.190, -0.100, 0, 0, 0, [SEP] 86, CounterTop, 0.133, 0.935, -1.457, 0, 0, 0, [SEP] 87, Drawer, 3.020, 0.769, 0.695, 0, 180, 0, [SEP] 88, Drawer, -0.677, 0.577, -0.700, 0, 0, 0, [SEP] 89, Drawer, -0.860, 0.190, 1.429, 0, 0, 0, [SEP] 90, Drawer, -0.047, 0.192, -1.324, 0, 0, 0, [SEP] 91, Drawer, -0.677, 0.193, -0.700, 0, 0, 0, [SEP] 92, Drawer, -0.860, 0.577, -0.100, 0, 0, 0, [SEP] 93, Sink, 3.078, 0.887, 0.086, 0, 0, 0, [SEP] 94, StoveBurner, -0.239, 0.897, -1.089, 0, 315, 0, [SEP] 95, Drawer, -0.860, 0.190, 0.663, 0, 0, 0, [SEP] 96, CounterTop, 1.210, 0.937, 0.463, 0, 0, 0, [SEP] 97, Drawer, -0.047, 0.381, -1.324, 0, 0, 0, [SEP] 98, Drawer, -0.677, 0.387, -0.700, 0, 0, 0, [SEP] 99, Mirror, -1.295, 1.630, 0.045, 0, 0, 0, [SEP] 100, Drawer, -0.860, 0.385, 1.429, 0, 0, 0, [SEP] 101, HousePlant, 3.196, 0.891, -0.368, 0, 0, 0, [SEP] 102, StoveKnob, -0.090, 0.790, -1.009, 270, 45, 0, [SEP] 103, StoveKnob, -0.280, 0.790, -0.819, 270, 45, 0, [SEP] 104, StoveKnob, -0.180, 0.790, -0.920, 270, 45, 0, [SEP] 105, StoveKnob, -0.370, 0.790, -0.720, 270, 45, 0, [SEP] 106, GarbageCan, 3.137, 0.025, 1.545, 0, 225, 0, [SEP] 107, Window, 3.703, 1.675, 0.046, 90, 90, 0, [SEP] 108, CoffeeMachine, 3.214, 0.890, 0.697, 0, 270, 0, [SEP] 109, LightSwitch, 2.592, 1.309, -1.880, 0, 0, 0, [SEP] 110, SinkBasin, 3.069, 0.736, 0.108, 0, 90, 0, [SEP] 111, Fridge, 1.008, 0.029, -1.467, 0, 0, 0, [SEP] 112, Toaster, -1.035, 0.873, -0.396, 0, 90, 0, [SEP] 113, Microwave, -1.034, 0.874, 1.428, 0, 90, 0, [SEP] 114, Faucet, 3.305, 0.886, 0.094, 270, 180, 0, [SEP] 115, NorthWall, , , , , , , [SEP] 116, EastWall, , , , , , , [SEP] 117, SouthWall, , , , , , , [SEP] 118, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and walk to the counter to the right of the fridge. | STEP 2: Pick up the apple on the counter. | STEP 3: Turn left and walk to the counter on the left. | STEP 4: Put the apple on the counter. | STEP 5: Pick up the silver knife under and gold knife on the counter. | STEP 6: Slice the apple with the knife. | STEP 7: Put the knife in the apple and leave it there. | STEP 8: Take an apple slice from the counter. | STEP 9: Turn around and walk to the fridge. | STEP 10: Open the fridge door, put the apple slice inside, and close the door. | END"]} +{"id": "trial_T20190907_105627_899403-2", "input": "Put a piece of apple in a fridge. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.930, -0.75, 0, 270, 0, [SEP] 1, DishSponge, 3.246, 1.263, -0.822, 0, 0, 0, 78 [SEP] 2, ButterKnife, 0.547, 0.908, 0.140, 0, 36.810, 0, 96 [SEP] 3, ButterKnife, -0.868, 0.326, -0.098, 0, 0, 0, 70 [SEP] 4, Glassbottle, -0.236, 1.264, -1.598, 0, 45, 0, 82 [SEP] 5, Glassbottle, 3.028, 0.176, -0.453, 0, 0, 0, 76 [SEP] 6, Kettle, 3.198, 0.176, -0.356, 0, 0, 0, 76 [SEP] 7, Spatula, -1.153, 0.915, 0.623, 0, 90, 0, 65 [SEP] 8, Spoon, 3.069, 0.748, 0.032, 0, 180, 0, 110 [SEP] 9, Fork, 3.029, 0.713, -0.744, 0, 270, 0, 52 [SEP] 10, CellPhone, -0.827, 0.323, -0.361, 0, 0, 0, 70 [SEP] 11, Apple, 0.415, 0.974, -1.373, 0, 0, 0, 86 [SEP] 12, Bread, -1.008, 0.979, 0.846, 0, 0, 0, 65 [SEP] 13, Bread, 0.494, 0.986, 0.301, 0, 36.810, 0, 96 [SEP] 14, Lettuce, -0.935, 0.965, -0.047, 0, 0, 0, 65 [SEP] 15, Lettuce, 0.022, 0.965, -1.731, 0, 0, 0, 86 [SEP] 16, SaltShaker, 1.622, 0.904, 0.180, 0, 0, 0, 96 [SEP] 17, SaltShaker, 0.422, 0.317, -1.393, 0, 0, 0, 71 [SEP] 18, Bowl, 0.012, 0.897, -1.337, 0, 45, 0, 86 [SEP] 19, Tomato, 0.445, 0.947, 0.527, 0, 0, 0, 96 [SEP] 20, Egg, 3.152, 0.799, -0.100, 0, 90, 0, 110 [SEP] 21, Egg, 1.086, 1.126, -1.503, 0, 0, 0, 111 [SEP] 22, Cup, -0.717, 0.898, -0.494, 0, 0, 0, 65 [SEP] 23, Plate, 3.200, 0.913, -0.698, 0, 0, 0, 64 [SEP] 24, Knife, 0.895, 0.933, 0.489, 0, 36.810, 0, 96 [SEP] 25, Knife, -0.789, 0.925, 0.176, 0, 90, 0, 65 [SEP] 26, Plate, 3.084, 0.190, 0.629, 0, 0, 0, 74 [SEP] 27, Glassbottle, 0.719, 0.911, 0.254, 0, 36.810, 0, 96 [SEP] 28, SoapBottle, 0.445, 0.920, 0.727, 0, 0, 0, 96 [SEP] 29, Potato, 2.888, 0.939, 0.793, 0, 0, 0, 64 [SEP] 30, Fork, 3.111, 0.713, -0.744, 0, 270, 0, 52 [SEP] 31, Ladle, 1.255, 1.711, -1.619, 0, 0, 0, 56 [SEP] 32, Pot, -0.420, 0.902, -0.920, 0, 135, 0, 60 [SEP] 33, Kettle, 3.070, 0.748, 0.231, 0, 90, 0, 110 [SEP] 34, Spatula, 0.710, 0.923, 0.627, 0, 0, 0, 96 [SEP] 35, Knife, 0.179, 0.925, -1.516, 0, 0, 0, 86 [SEP] 36, Lettuce, 3.235, 0.166, 1.6, 0, 225, 0, 106 [SEP] 37, Cup, 0.929, 1.071, -1.503, 0, 0, 0, 111 [SEP] 38, SaltShaker, 3.122, 0.897, -0.897, 0, 0, 0, 64 [SEP] 39, Egg, -1.052, 1.050, 1.470, 0, 90, 0, 113 [SEP] 40, PepperShaker, 0.669, 0.904, 0.535, 0, 36.810, 0, 96 [SEP] 41, ButterKnife, 0.967, 0.908, 0.464, 0, 0, 0, 96 [SEP] 42, Apple, -1.052, 1.071, 1.258, 0, 90, 0, 113 [SEP] 43, Pan, 0.341, 0.873, -1.649, 0, 167.065, 0, 86 [SEP] 44, Bread, 1.098, 0.989, 0.747, 0, 0, 0, 96 [SEP] 45, CellPhone, -0.827, 0.128, 1.693, 0, 0, 0, 89 [SEP] 46, DishSponge, -0.950, 0.326, 0.751, 0, 0, 0, 66 [SEP] 47, Tomato, 1.086, 1.284, -1.448, 0, 0, 0, 111 [SEP] 48, Spoon, 1.622, 0.909, 0.889, 0, 0, 0, 96 [SEP] 49, Bowl, 3.028, 0.172, -0.786, 0, 0, 0, 77 [SEP] 50, Mug, 1.086, 0.881, -1.503, 0, 0, 0, 111 [SEP] 51, Drawer, 0.376, 0.572, -1.509, 0, 0, 0, [SEP] 52, Drawer, 3.020, 0.769, -0.783, 0, 180, 0, [SEP] 53, Drawer, -0.860, 0.577, 1.429, 0, 0, 0, [SEP] 54, StoveBurner, -0.600, 0.897, -1.090, 0, 135, 0, [SEP] 55, Drawer, 0.376, 0.191, -1.509, 0, 0, 0, [SEP] 56, Cabinet, 1.402, 1.874, -1.259, 0, 0, 0, [SEP] 57, Cabinet, -0.202, 1.963, -1.328, 0, 0, 0, [SEP] 58, Drawer, -0.860, 0.765, 1.429, 0, 0, 0, [SEP] 59, Drawer, -0.677, 0.765, -0.700, 0, 0, 0, [SEP] 60, StoveBurner, -0.420, 0.897, -0.920, 0, 135, 0, [SEP] 61, Drawer, 3.020, 0.769, -0.407, 0, 180, 0, [SEP] 62, Drawer, -0.860, 0.577, 0.663, 0, 0, 0, [SEP] 63, Cabinet, 2.819, 1.768, -1.850, 0, 0, 0, [SEP] 64, CounterTop, 3.111, 0.936, 0.019, 0, 0, 0, [SEP] 65, CounterTop, -1.007, 0.935, -0.039, 0, 0, 0, [SEP] 66, Drawer, -0.860, 0.385, 0.663, 0, 0, 0, [SEP] 67, StoveBurner, -0.419, 0.897, -1.269, 0, 315, 0, [SEP] 68, Drawer, -0.047, 0.573, -1.324, 0, 0, 0, [SEP] 69, Drawer, -0.860, 0.765, 0.663, 0, 0, 0, [SEP] 70, Drawer, -0.860, 0.385, -0.100, 0, 0, 0, [SEP] 71, Drawer, 0.376, 0.380, -1.509, 0, 0, 0, [SEP] 72, Drawer, -0.860, 0.765, -0.100, 0, 0, 0, [SEP] 73, Drawer, 0.376, 0.765, -1.509, 0, 0, 0, [SEP] 74, Cabinet, 2.849, 0.419, 0.409, 0, 0, 0, [SEP] 75, Drawer, -0.047, 0.765, -1.324, 0, 0, 0, [SEP] 76, Cabinet, 2.849, 0.419, -0.610, 0, 0, 0, [SEP] 77, Cabinet, 2.849, 0.419, -0.959, 0, 0, 0, [SEP] 78, Cabinet, 3.069, 1.666, -0.709, 0, 0, 0, [SEP] 79, Cabinet, 2.819, 1.768, -1.047, 0, 0, 0, [SEP] 80, Cabinet, 0.620, 1.874, -1.259, 0, 0, 0, [SEP] 81, Cabinet, 0.140, 1.666, -1.559, 0, 0, 0, [SEP] 82, Cabinet, -0.189, 1.666, -1.340, 0, 0, 0, [SEP] 83, Cabinet, -0.709, 1.963, -0.819, 0, 0, 0, [SEP] 84, Cabinet, -0.920, 1.665, -0.620, 0, 0, 0, [SEP] 85, Drawer, -0.860, 0.190, -0.100, 0, 0, 0, [SEP] 86, CounterTop, 0.133, 0.935, -1.457, 0, 0, 0, [SEP] 87, Drawer, 3.020, 0.769, 0.695, 0, 180, 0, [SEP] 88, Drawer, -0.677, 0.577, -0.700, 0, 0, 0, [SEP] 89, Drawer, -0.860, 0.190, 1.429, 0, 0, 0, [SEP] 90, Drawer, -0.047, 0.192, -1.324, 0, 0, 0, [SEP] 91, Drawer, -0.677, 0.193, -0.700, 0, 0, 0, [SEP] 92, Drawer, -0.860, 0.577, -0.100, 0, 0, 0, [SEP] 93, Sink, 3.078, 0.887, 0.086, 0, 0, 0, [SEP] 94, StoveBurner, -0.239, 0.897, -1.089, 0, 315, 0, [SEP] 95, Drawer, -0.860, 0.190, 0.663, 0, 0, 0, [SEP] 96, CounterTop, 1.210, 0.937, 0.463, 0, 0, 0, [SEP] 97, Drawer, -0.047, 0.381, -1.324, 0, 0, 0, [SEP] 98, Drawer, -0.677, 0.387, -0.700, 0, 0, 0, [SEP] 99, Mirror, -1.295, 1.630, 0.045, 0, 0, 0, [SEP] 100, Drawer, -0.860, 0.385, 1.429, 0, 0, 0, [SEP] 101, HousePlant, 3.196, 0.891, -0.368, 0, 0, 0, [SEP] 102, StoveKnob, -0.090, 0.790, -1.009, 270, 45, 0, [SEP] 103, StoveKnob, -0.280, 0.790, -0.819, 270, 45, 0, [SEP] 104, StoveKnob, -0.180, 0.790, -0.920, 270, 45, 0, [SEP] 105, StoveKnob, -0.370, 0.790, -0.720, 270, 45, 0, [SEP] 106, GarbageCan, 3.137, 0.025, 1.545, 0, 225, 0, [SEP] 107, Window, 3.703, 1.675, 0.046, 90, 90, 0, [SEP] 108, CoffeeMachine, 3.214, 0.890, 0.697, 0, 270, 0, [SEP] 109, LightSwitch, 2.592, 1.309, -1.880, 0, 0, 0, [SEP] 110, SinkBasin, 3.069, 0.736, 0.108, 0, 90, 0, [SEP] 111, Fridge, 1.008, 0.029, -1.467, 0, 0, 0, [SEP] 112, Toaster, -1.035, 0.873, -0.396, 0, 90, 0, [SEP] 113, Microwave, -1.034, 0.874, 1.428, 0, 90, 0, [SEP] 114, Faucet, 3.305, 0.886, 0.094, 270, 180, 0, [SEP] 115, NorthWall, , , , , , , [SEP] 116, EastWall, , , , , , , [SEP] 117, SouthWall, , , , , , , [SEP] 118, WestWall, , , , , , , ", "output": ["STEP 1: Turn left to face the counter to the right of the fridge. | STEP 2: Take the apple from the counter. | STEP 3: Turn around and go straight and to the right to the kitchen island. | STEP 4: Put the apple on the kitchen island counter. | STEP 5: Take the small knife that is under the large knife on counter. | STEP 6: Cut the apple into pieces. | STEP 7: Put the knife on the apple on the counter. | STEP 8: Take a piece of the apple from the counter. | STEP 9: Turn around and go straight to the fridge. | STEP 10: Put the piece of apple on the lowest shelf in the fridge. | END"]} +{"id": "trial_T20190907_105627_899403-3", "input": "Putting a sliced apple into the fridge SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.930, -0.75, 0, 270, 0, [SEP] 1, DishSponge, 3.246, 1.263, -0.822, 0, 0, 0, 78 [SEP] 2, ButterKnife, 0.547, 0.908, 0.140, 0, 36.810, 0, 96 [SEP] 3, ButterKnife, -0.868, 0.326, -0.098, 0, 0, 0, 70 [SEP] 4, Glassbottle, -0.236, 1.264, -1.598, 0, 45, 0, 82 [SEP] 5, Glassbottle, 3.028, 0.176, -0.453, 0, 0, 0, 76 [SEP] 6, Kettle, 3.198, 0.176, -0.356, 0, 0, 0, 76 [SEP] 7, Spatula, -1.153, 0.915, 0.623, 0, 90, 0, 65 [SEP] 8, Spoon, 3.069, 0.748, 0.032, 0, 180, 0, 110 [SEP] 9, Fork, 3.029, 0.713, -0.744, 0, 270, 0, 52 [SEP] 10, CellPhone, -0.827, 0.323, -0.361, 0, 0, 0, 70 [SEP] 11, Apple, 0.415, 0.974, -1.373, 0, 0, 0, 86 [SEP] 12, Bread, -1.008, 0.979, 0.846, 0, 0, 0, 65 [SEP] 13, Bread, 0.494, 0.986, 0.301, 0, 36.810, 0, 96 [SEP] 14, Lettuce, -0.935, 0.965, -0.047, 0, 0, 0, 65 [SEP] 15, Lettuce, 0.022, 0.965, -1.731, 0, 0, 0, 86 [SEP] 16, SaltShaker, 1.622, 0.904, 0.180, 0, 0, 0, 96 [SEP] 17, SaltShaker, 0.422, 0.317, -1.393, 0, 0, 0, 71 [SEP] 18, Bowl, 0.012, 0.897, -1.337, 0, 45, 0, 86 [SEP] 19, Tomato, 0.445, 0.947, 0.527, 0, 0, 0, 96 [SEP] 20, Egg, 3.152, 0.799, -0.100, 0, 90, 0, 110 [SEP] 21, Egg, 1.086, 1.126, -1.503, 0, 0, 0, 111 [SEP] 22, Cup, -0.717, 0.898, -0.494, 0, 0, 0, 65 [SEP] 23, Plate, 3.200, 0.913, -0.698, 0, 0, 0, 64 [SEP] 24, Knife, 0.895, 0.933, 0.489, 0, 36.810, 0, 96 [SEP] 25, Knife, -0.789, 0.925, 0.176, 0, 90, 0, 65 [SEP] 26, Plate, 3.084, 0.190, 0.629, 0, 0, 0, 74 [SEP] 27, Glassbottle, 0.719, 0.911, 0.254, 0, 36.810, 0, 96 [SEP] 28, SoapBottle, 0.445, 0.920, 0.727, 0, 0, 0, 96 [SEP] 29, Potato, 2.888, 0.939, 0.793, 0, 0, 0, 64 [SEP] 30, Fork, 3.111, 0.713, -0.744, 0, 270, 0, 52 [SEP] 31, Ladle, 1.255, 1.711, -1.619, 0, 0, 0, 56 [SEP] 32, Pot, -0.420, 0.902, -0.920, 0, 135, 0, 60 [SEP] 33, Kettle, 3.070, 0.748, 0.231, 0, 90, 0, 110 [SEP] 34, Spatula, 0.710, 0.923, 0.627, 0, 0, 0, 96 [SEP] 35, Knife, 0.179, 0.925, -1.516, 0, 0, 0, 86 [SEP] 36, Lettuce, 3.235, 0.166, 1.6, 0, 225, 0, 106 [SEP] 37, Cup, 0.929, 1.071, -1.503, 0, 0, 0, 111 [SEP] 38, SaltShaker, 3.122, 0.897, -0.897, 0, 0, 0, 64 [SEP] 39, Egg, -1.052, 1.050, 1.470, 0, 90, 0, 113 [SEP] 40, PepperShaker, 0.669, 0.904, 0.535, 0, 36.810, 0, 96 [SEP] 41, ButterKnife, 0.967, 0.908, 0.464, 0, 0, 0, 96 [SEP] 42, Apple, -1.052, 1.071, 1.258, 0, 90, 0, 113 [SEP] 43, Pan, 0.341, 0.873, -1.649, 0, 167.065, 0, 86 [SEP] 44, Bread, 1.098, 0.989, 0.747, 0, 0, 0, 96 [SEP] 45, CellPhone, -0.827, 0.128, 1.693, 0, 0, 0, 89 [SEP] 46, DishSponge, -0.950, 0.326, 0.751, 0, 0, 0, 66 [SEP] 47, Tomato, 1.086, 1.284, -1.448, 0, 0, 0, 111 [SEP] 48, Spoon, 1.622, 0.909, 0.889, 0, 0, 0, 96 [SEP] 49, Bowl, 3.028, 0.172, -0.786, 0, 0, 0, 77 [SEP] 50, Mug, 1.086, 0.881, -1.503, 0, 0, 0, 111 [SEP] 51, Drawer, 0.376, 0.572, -1.509, 0, 0, 0, [SEP] 52, Drawer, 3.020, 0.769, -0.783, 0, 180, 0, [SEP] 53, Drawer, -0.860, 0.577, 1.429, 0, 0, 0, [SEP] 54, StoveBurner, -0.600, 0.897, -1.090, 0, 135, 0, [SEP] 55, Drawer, 0.376, 0.191, -1.509, 0, 0, 0, [SEP] 56, Cabinet, 1.402, 1.874, -1.259, 0, 0, 0, [SEP] 57, Cabinet, -0.202, 1.963, -1.328, 0, 0, 0, [SEP] 58, Drawer, -0.860, 0.765, 1.429, 0, 0, 0, [SEP] 59, Drawer, -0.677, 0.765, -0.700, 0, 0, 0, [SEP] 60, StoveBurner, -0.420, 0.897, -0.920, 0, 135, 0, [SEP] 61, Drawer, 3.020, 0.769, -0.407, 0, 180, 0, [SEP] 62, Drawer, -0.860, 0.577, 0.663, 0, 0, 0, [SEP] 63, Cabinet, 2.819, 1.768, -1.850, 0, 0, 0, [SEP] 64, CounterTop, 3.111, 0.936, 0.019, 0, 0, 0, [SEP] 65, CounterTop, -1.007, 0.935, -0.039, 0, 0, 0, [SEP] 66, Drawer, -0.860, 0.385, 0.663, 0, 0, 0, [SEP] 67, StoveBurner, -0.419, 0.897, -1.269, 0, 315, 0, [SEP] 68, Drawer, -0.047, 0.573, -1.324, 0, 0, 0, [SEP] 69, Drawer, -0.860, 0.765, 0.663, 0, 0, 0, [SEP] 70, Drawer, -0.860, 0.385, -0.100, 0, 0, 0, [SEP] 71, Drawer, 0.376, 0.380, -1.509, 0, 0, 0, [SEP] 72, Drawer, -0.860, 0.765, -0.100, 0, 0, 0, [SEP] 73, Drawer, 0.376, 0.765, -1.509, 0, 0, 0, [SEP] 74, Cabinet, 2.849, 0.419, 0.409, 0, 0, 0, [SEP] 75, Drawer, -0.047, 0.765, -1.324, 0, 0, 0, [SEP] 76, Cabinet, 2.849, 0.419, -0.610, 0, 0, 0, [SEP] 77, Cabinet, 2.849, 0.419, -0.959, 0, 0, 0, [SEP] 78, Cabinet, 3.069, 1.666, -0.709, 0, 0, 0, [SEP] 79, Cabinet, 2.819, 1.768, -1.047, 0, 0, 0, [SEP] 80, Cabinet, 0.620, 1.874, -1.259, 0, 0, 0, [SEP] 81, Cabinet, 0.140, 1.666, -1.559, 0, 0, 0, [SEP] 82, Cabinet, -0.189, 1.666, -1.340, 0, 0, 0, [SEP] 83, Cabinet, -0.709, 1.963, -0.819, 0, 0, 0, [SEP] 84, Cabinet, -0.920, 1.665, -0.620, 0, 0, 0, [SEP] 85, Drawer, -0.860, 0.190, -0.100, 0, 0, 0, [SEP] 86, CounterTop, 0.133, 0.935, -1.457, 0, 0, 0, [SEP] 87, Drawer, 3.020, 0.769, 0.695, 0, 180, 0, [SEP] 88, Drawer, -0.677, 0.577, -0.700, 0, 0, 0, [SEP] 89, Drawer, -0.860, 0.190, 1.429, 0, 0, 0, [SEP] 90, Drawer, -0.047, 0.192, -1.324, 0, 0, 0, [SEP] 91, Drawer, -0.677, 0.193, -0.700, 0, 0, 0, [SEP] 92, Drawer, -0.860, 0.577, -0.100, 0, 0, 0, [SEP] 93, Sink, 3.078, 0.887, 0.086, 0, 0, 0, [SEP] 94, StoveBurner, -0.239, 0.897, -1.089, 0, 315, 0, [SEP] 95, Drawer, -0.860, 0.190, 0.663, 0, 0, 0, [SEP] 96, CounterTop, 1.210, 0.937, 0.463, 0, 0, 0, [SEP] 97, Drawer, -0.047, 0.381, -1.324, 0, 0, 0, [SEP] 98, Drawer, -0.677, 0.387, -0.700, 0, 0, 0, [SEP] 99, Mirror, -1.295, 1.630, 0.045, 0, 0, 0, [SEP] 100, Drawer, -0.860, 0.385, 1.429, 0, 0, 0, [SEP] 101, HousePlant, 3.196, 0.891, -0.368, 0, 0, 0, [SEP] 102, StoveKnob, -0.090, 0.790, -1.009, 270, 45, 0, [SEP] 103, StoveKnob, -0.280, 0.790, -0.819, 270, 45, 0, [SEP] 104, StoveKnob, -0.180, 0.790, -0.920, 270, 45, 0, [SEP] 105, StoveKnob, -0.370, 0.790, -0.720, 270, 45, 0, [SEP] 106, GarbageCan, 3.137, 0.025, 1.545, 0, 225, 0, [SEP] 107, Window, 3.703, 1.675, 0.046, 90, 90, 0, [SEP] 108, CoffeeMachine, 3.214, 0.890, 0.697, 0, 270, 0, [SEP] 109, LightSwitch, 2.592, 1.309, -1.880, 0, 0, 0, [SEP] 110, SinkBasin, 3.069, 0.736, 0.108, 0, 90, 0, [SEP] 111, Fridge, 1.008, 0.029, -1.467, 0, 0, 0, [SEP] 112, Toaster, -1.035, 0.873, -0.396, 0, 90, 0, [SEP] 113, Microwave, -1.034, 0.874, 1.428, 0, 90, 0, [SEP] 114, Faucet, 3.305, 0.886, 0.094, 270, 180, 0, [SEP] 115, NorthWall, , , , , , , [SEP] 116, EastWall, , , , , , , [SEP] 117, SouthWall, , , , , , , [SEP] 118, WestWall, , , , , , , ", "output": ["STEP 1: Turn to your left and face the counter | STEP 2: Grab the apple off of the counter | STEP 3: Turn around and head to the kitchen island | STEP 4: Put the apple on the kitchen island | STEP 5: Grab the small knife off of the kitchen island | STEP 6: Cut the apple into three slices | STEP 7: Put the knife down on the kitchen island | STEP 8: Grab one of the apple slices | STEP 9: Turn around and head to the fridge | STEP 10: Put the apple into the fridge. Close the door | END"]} +{"id": "trial_T20190907_105627_899403-4", "input": "Get an apple, cut into 3 pieces and put one piece in the refrigerator. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.930, -0.75, 0, 270, 0, [SEP] 1, DishSponge, 3.246, 1.263, -0.822, 0, 0, 0, 78 [SEP] 2, ButterKnife, 0.547, 0.908, 0.140, 0, 36.810, 0, 96 [SEP] 3, ButterKnife, -0.868, 0.326, -0.098, 0, 0, 0, 70 [SEP] 4, Glassbottle, -0.236, 1.264, -1.598, 0, 45, 0, 82 [SEP] 5, Glassbottle, 3.028, 0.176, -0.453, 0, 0, 0, 76 [SEP] 6, Kettle, 3.198, 0.176, -0.356, 0, 0, 0, 76 [SEP] 7, Spatula, -1.153, 0.915, 0.623, 0, 90, 0, 65 [SEP] 8, Spoon, 3.069, 0.748, 0.032, 0, 180, 0, 110 [SEP] 9, Fork, 3.029, 0.713, -0.744, 0, 270, 0, 52 [SEP] 10, CellPhone, -0.827, 0.323, -0.361, 0, 0, 0, 70 [SEP] 11, Apple, 0.415, 0.974, -1.373, 0, 0, 0, 86 [SEP] 12, Bread, -1.008, 0.979, 0.846, 0, 0, 0, 65 [SEP] 13, Bread, 0.494, 0.986, 0.301, 0, 36.810, 0, 96 [SEP] 14, Lettuce, -0.935, 0.965, -0.047, 0, 0, 0, 65 [SEP] 15, Lettuce, 0.022, 0.965, -1.731, 0, 0, 0, 86 [SEP] 16, SaltShaker, 1.622, 0.904, 0.180, 0, 0, 0, 96 [SEP] 17, SaltShaker, 0.422, 0.317, -1.393, 0, 0, 0, 71 [SEP] 18, Bowl, 0.012, 0.897, -1.337, 0, 45, 0, 86 [SEP] 19, Tomato, 0.445, 0.947, 0.527, 0, 0, 0, 96 [SEP] 20, Egg, 3.152, 0.799, -0.100, 0, 90, 0, 110 [SEP] 21, Egg, 1.086, 1.126, -1.503, 0, 0, 0, 111 [SEP] 22, Cup, -0.717, 0.898, -0.494, 0, 0, 0, 65 [SEP] 23, Plate, 3.200, 0.913, -0.698, 0, 0, 0, 64 [SEP] 24, Knife, 0.895, 0.933, 0.489, 0, 36.810, 0, 96 [SEP] 25, Knife, -0.789, 0.925, 0.176, 0, 90, 0, 65 [SEP] 26, Plate, 3.084, 0.190, 0.629, 0, 0, 0, 74 [SEP] 27, Glassbottle, 0.719, 0.911, 0.254, 0, 36.810, 0, 96 [SEP] 28, SoapBottle, 0.445, 0.920, 0.727, 0, 0, 0, 96 [SEP] 29, Potato, 2.888, 0.939, 0.793, 0, 0, 0, 64 [SEP] 30, Fork, 3.111, 0.713, -0.744, 0, 270, 0, 52 [SEP] 31, Ladle, 1.255, 1.711, -1.619, 0, 0, 0, 56 [SEP] 32, Pot, -0.420, 0.902, -0.920, 0, 135, 0, 60 [SEP] 33, Kettle, 3.070, 0.748, 0.231, 0, 90, 0, 110 [SEP] 34, Spatula, 0.710, 0.923, 0.627, 0, 0, 0, 96 [SEP] 35, Knife, 0.179, 0.925, -1.516, 0, 0, 0, 86 [SEP] 36, Lettuce, 3.235, 0.166, 1.6, 0, 225, 0, 106 [SEP] 37, Cup, 0.929, 1.071, -1.503, 0, 0, 0, 111 [SEP] 38, SaltShaker, 3.122, 0.897, -0.897, 0, 0, 0, 64 [SEP] 39, Egg, -1.052, 1.050, 1.470, 0, 90, 0, 113 [SEP] 40, PepperShaker, 0.669, 0.904, 0.535, 0, 36.810, 0, 96 [SEP] 41, ButterKnife, 0.967, 0.908, 0.464, 0, 0, 0, 96 [SEP] 42, Apple, -1.052, 1.071, 1.258, 0, 90, 0, 113 [SEP] 43, Pan, 0.341, 0.873, -1.649, 0, 167.065, 0, 86 [SEP] 44, Bread, 1.098, 0.989, 0.747, 0, 0, 0, 96 [SEP] 45, CellPhone, -0.827, 0.128, 1.693, 0, 0, 0, 89 [SEP] 46, DishSponge, -0.950, 0.326, 0.751, 0, 0, 0, 66 [SEP] 47, Tomato, 1.086, 1.284, -1.448, 0, 0, 0, 111 [SEP] 48, Spoon, 1.622, 0.909, 0.889, 0, 0, 0, 96 [SEP] 49, Bowl, 3.028, 0.172, -0.786, 0, 0, 0, 77 [SEP] 50, Mug, 1.086, 0.881, -1.503, 0, 0, 0, 111 [SEP] 51, Drawer, 0.376, 0.572, -1.509, 0, 0, 0, [SEP] 52, Drawer, 3.020, 0.769, -0.783, 0, 180, 0, [SEP] 53, Drawer, -0.860, 0.577, 1.429, 0, 0, 0, [SEP] 54, StoveBurner, -0.600, 0.897, -1.090, 0, 135, 0, [SEP] 55, Drawer, 0.376, 0.191, -1.509, 0, 0, 0, [SEP] 56, Cabinet, 1.402, 1.874, -1.259, 0, 0, 0, [SEP] 57, Cabinet, -0.202, 1.963, -1.328, 0, 0, 0, [SEP] 58, Drawer, -0.860, 0.765, 1.429, 0, 0, 0, [SEP] 59, Drawer, -0.677, 0.765, -0.700, 0, 0, 0, [SEP] 60, StoveBurner, -0.420, 0.897, -0.920, 0, 135, 0, [SEP] 61, Drawer, 3.020, 0.769, -0.407, 0, 180, 0, [SEP] 62, Drawer, -0.860, 0.577, 0.663, 0, 0, 0, [SEP] 63, Cabinet, 2.819, 1.768, -1.850, 0, 0, 0, [SEP] 64, CounterTop, 3.111, 0.936, 0.019, 0, 0, 0, [SEP] 65, CounterTop, -1.007, 0.935, -0.039, 0, 0, 0, [SEP] 66, Drawer, -0.860, 0.385, 0.663, 0, 0, 0, [SEP] 67, StoveBurner, -0.419, 0.897, -1.269, 0, 315, 0, [SEP] 68, Drawer, -0.047, 0.573, -1.324, 0, 0, 0, [SEP] 69, Drawer, -0.860, 0.765, 0.663, 0, 0, 0, [SEP] 70, Drawer, -0.860, 0.385, -0.100, 0, 0, 0, [SEP] 71, Drawer, 0.376, 0.380, -1.509, 0, 0, 0, [SEP] 72, Drawer, -0.860, 0.765, -0.100, 0, 0, 0, [SEP] 73, Drawer, 0.376, 0.765, -1.509, 0, 0, 0, [SEP] 74, Cabinet, 2.849, 0.419, 0.409, 0, 0, 0, [SEP] 75, Drawer, -0.047, 0.765, -1.324, 0, 0, 0, [SEP] 76, Cabinet, 2.849, 0.419, -0.610, 0, 0, 0, [SEP] 77, Cabinet, 2.849, 0.419, -0.959, 0, 0, 0, [SEP] 78, Cabinet, 3.069, 1.666, -0.709, 0, 0, 0, [SEP] 79, Cabinet, 2.819, 1.768, -1.047, 0, 0, 0, [SEP] 80, Cabinet, 0.620, 1.874, -1.259, 0, 0, 0, [SEP] 81, Cabinet, 0.140, 1.666, -1.559, 0, 0, 0, [SEP] 82, Cabinet, -0.189, 1.666, -1.340, 0, 0, 0, [SEP] 83, Cabinet, -0.709, 1.963, -0.819, 0, 0, 0, [SEP] 84, Cabinet, -0.920, 1.665, -0.620, 0, 0, 0, [SEP] 85, Drawer, -0.860, 0.190, -0.100, 0, 0, 0, [SEP] 86, CounterTop, 0.133, 0.935, -1.457, 0, 0, 0, [SEP] 87, Drawer, 3.020, 0.769, 0.695, 0, 180, 0, [SEP] 88, Drawer, -0.677, 0.577, -0.700, 0, 0, 0, [SEP] 89, Drawer, -0.860, 0.190, 1.429, 0, 0, 0, [SEP] 90, Drawer, -0.047, 0.192, -1.324, 0, 0, 0, [SEP] 91, Drawer, -0.677, 0.193, -0.700, 0, 0, 0, [SEP] 92, Drawer, -0.860, 0.577, -0.100, 0, 0, 0, [SEP] 93, Sink, 3.078, 0.887, 0.086, 0, 0, 0, [SEP] 94, StoveBurner, -0.239, 0.897, -1.089, 0, 315, 0, [SEP] 95, Drawer, -0.860, 0.190, 0.663, 0, 0, 0, [SEP] 96, CounterTop, 1.210, 0.937, 0.463, 0, 0, 0, [SEP] 97, Drawer, -0.047, 0.381, -1.324, 0, 0, 0, [SEP] 98, Drawer, -0.677, 0.387, -0.700, 0, 0, 0, [SEP] 99, Mirror, -1.295, 1.630, 0.045, 0, 0, 0, [SEP] 100, Drawer, -0.860, 0.385, 1.429, 0, 0, 0, [SEP] 101, HousePlant, 3.196, 0.891, -0.368, 0, 0, 0, [SEP] 102, StoveKnob, -0.090, 0.790, -1.009, 270, 45, 0, [SEP] 103, StoveKnob, -0.280, 0.790, -0.819, 270, 45, 0, [SEP] 104, StoveKnob, -0.180, 0.790, -0.920, 270, 45, 0, [SEP] 105, StoveKnob, -0.370, 0.790, -0.720, 270, 45, 0, [SEP] 106, GarbageCan, 3.137, 0.025, 1.545, 0, 225, 0, [SEP] 107, Window, 3.703, 1.675, 0.046, 90, 90, 0, [SEP] 108, CoffeeMachine, 3.214, 0.890, 0.697, 0, 270, 0, [SEP] 109, LightSwitch, 2.592, 1.309, -1.880, 0, 0, 0, [SEP] 110, SinkBasin, 3.069, 0.736, 0.108, 0, 90, 0, [SEP] 111, Fridge, 1.008, 0.029, -1.467, 0, 0, 0, [SEP] 112, Toaster, -1.035, 0.873, -0.396, 0, 90, 0, [SEP] 113, Microwave, -1.034, 0.874, 1.428, 0, 90, 0, [SEP] 114, Faucet, 3.305, 0.886, 0.094, 270, 180, 0, [SEP] 115, NorthWall, , , , , , , [SEP] 116, EastWall, , , , , , , [SEP] 117, SouthWall, , , , , , , [SEP] 118, WestWall, , , , , , , ", "output": ["STEP 1: turn to your left, walk towards the refrigerator and face the counter on the right side of the fridge. | STEP 2: Pick up the apple on the edge of the counter. | STEP 3: Turn to your left and go to the island directly behind you. | STEP 4: Place the apple on the counter of the island in front of you. | STEP 5: Pick up the silver butter knife in the middle of the counter and flip the yellow butter knife over and place back on counter. | STEP 6: Cut the apple with the silver butter knife into three equal pieces. | STEP 7: leave the knife in the top. | STEP 8: Pick up one piece of the apple. | STEP 9: Turn to your left until you are facing the refrigerator. | STEP 10: Open the refrigerator and place the apple slice on the third shelf from the top in the fridge. | END"]} +{"id": "trial_T20190908_005801_536659-2", "input": "Put a clean spoon in a cabinet. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.25, 0.900, 2.5, 0, 0, 0, [SEP] 1, Potato, -2.039, 0.952, -1.448, 0, 0, 0, 65 [SEP] 2, Ladle, -1.957, 0.954, 0.463, 0, 0, 0, 69 [SEP] 3, Ladle, 1.035, 0.159, -1.186, 0, 0, 0, 52 [SEP] 4, Ladle, 1.148, 0.159, -0.699, 0, 0, 0, 51 [SEP] 5, Glassbottle, 0.528, 0.117, -1.489, 0, 90, 0, 61 [SEP] 6, Glassbottle, 1.266, 0.115, -0.956, 0, 0, 0, 52 [SEP] 7, Pot, -0.458, 1.657, -1.839, 0, 0, 0, 49 [SEP] 8, Egg, -0.477, 0.940, -1.960, 0, 0, 0, 67 [SEP] 9, Egg, 1.485, 1.749, 1.963, 0, 270, 0, 86 [SEP] 10, Plate, 1.401, 1.656, -0.815, 0, 0, 0, 55 [SEP] 11, Plate, 0.645, 1.656, -1.839, 0, 0, 0, 56 [SEP] 12, Tomato, 1.332, 1.857, 2.432, 0, 270, 0, 86 [SEP] 13, Tomato, -1.809, 0.950, -1.793, 0, 0, 0, 65 [SEP] 14, Lettuce, -2.079, 0.979, 0.204, 0, 0, 0, 69 [SEP] 15, Mug, 1.441, 1.260, -0.021, 0, 270, 0, 89 [SEP] 16, Apple, 1.356, 1.754, 2.026, 0, 270, 0, 86 [SEP] 17, Apple, 1.476, 1.402, 2.475, 0, 270, 0, 86 [SEP] 18, Tomato, 1.459, 0.254, 1.108, 0, 0, 0, 84 [SEP] 19, Glassbottle, -1.524, 1.859, -1.766, 0, 0, 0, 60 [SEP] 20, Knife, -2.201, 0.940, 0.463, 0, 0, 0, 69 [SEP] 21, Plate, 1.342, 1.656, -1.342, 0, 0, 0, 59 [SEP] 22, Fork, 1.454, 1.162, -1.688, 0, 0, 0, 73 [SEP] 23, Ladle, -0.703, 0.955, -1.874, 0, 0, 0, 67 [SEP] 24, Potato, 1.441, 1.307, 0.188, 0, 270, 0, 89 [SEP] 25, Lettuce, -2.323, 0.979, 0.291, 0, 0, 0, 69 [SEP] 26, Kettle, -1.431, 0.949, -1.525, 0, 0, 0, 75 [SEP] 27, Pen, -2.079, 0.913, 0.291, 0, 0, 0, 69 [SEP] 28, SaltShaker, -2.445, 0.905, 0.204, 0, 0, 0, 69 [SEP] 29, Cup, 1.052, 1.656, -1.839, 0, 0, 0, 56 [SEP] 30, Egg, -1.732, 0.939, -1.965, 0, 0, 0, 65 [SEP] 31, Spatula, -1.809, 0.925, -1.534, 0, 0, 0, 65 [SEP] 32, Bowl, 1.401, 1.656, -0.500, 0, 0, 0, 55 [SEP] 33, SprayBottle, 1.335, 1.161, -1.345, 0, 0, 0, 73 [SEP] 34, Pan, -1.835, 0.910, 0.291, 0, 0, 0, 69 [SEP] 35, SoapBottle, 0.914, 0.114, -0.773, 0, 90, 0, 51 [SEP] 36, Pot, -1.431, 0.949, -1.81, 0, 0, 0, 77 [SEP] 37, ButterKnife, -0.552, 0.911, -1.874, 0, 0, 0, 67 [SEP] 38, PepperShaker, 1.520, 1.651, -1.579, 0, 0, 0, 59 [SEP] 39, DishSponge, 1.302, 0.214, 1.051, 0, 0, 0, 84 [SEP] 40, Bread, 1.375, 1.445, 1.976, 0, 270, 0, 86 [SEP] 41, Apple, 1.426, 0.945, -1.331, 0, 0, 0, 67 [SEP] 42, Spoon, 1.260, 0.912, -1.331, 0, 0, 0, 45 [SEP] 43, Mug, 1.070, 0.957, -1.641, 0, 0, 0, 83 [SEP] 44, Drawer, 0.860, 0.75, 0.430, 0, 0, 0, [SEP] 45, Drawer, 0.871, 0.75, -1.134, 0, 0, 0, [SEP] 46, Sink, 0.156, 0.817, -1.801, 0, 270, 0, [SEP] 47, Cabinet, -0.868, 2.005, -1.690, 0, 0, 0, [SEP] 48, Cabinet, -1.661, 2.059, -1.684, 0, 90, 0, [SEP] 49, Cabinet, -0.817, 2.059, -1.689, 0, 0, 0, [SEP] 50, Cabinet, 0.860, 0.402, 0.665, 0, 0, 0, [SEP] 51, Cabinet, 0.860, 0.402, -0.552, 0, 0, 0, [SEP] 52, Cabinet, 0.860, 0.402, -1.365, 0, 0, 0, [SEP] 53, Cabinet, -0.244, 0.402, -1.389, 0, 0, 0, [SEP] 54, Cabinet, -0.815, 0.402, -1.389, 0, 0, 0, [SEP] 55, Cabinet, 1.159, 2.059, -0.334, 0, 0, 0, [SEP] 56, Cabinet, 0.488, 2.059, -1.689, 0, 0, 0, [SEP] 57, Cabinet, -0.193, 2.059, -1.689, 0, 0, 0, [SEP] 58, Drawer, 0.860, 0.75, -0.699, 0, 0, 0, [SEP] 59, Cabinet, 1.159, 2.059, -1.019, 0, 0, 0, [SEP] 60, Cabinet, -1.611, 2.005, -1.690, 0, 0, 0, [SEP] 61, Cabinet, 0.832, 0.401, -1.393, 0, 90, 0, [SEP] 62, Drawer, -2.105, 0.75, -1.389, 0, 0, 0, [SEP] 63, StoveBurner, -1.081, 0.941, -1.809, 0, 0, 0, [SEP] 64, Cabinet, -0.202, 0.401, -1.391, 0, 90, 0, [SEP] 65, CounterTop, -1.973, 0.945, -1.707, 0, 0, 0, [SEP] 66, Drawer, -0.375, 0.75, -1.389, 0, 0, 0, [SEP] 67, CounterTop, 1.164, 0.946, -0.649, 0, 0, 0, [SEP] 68, StoveBurner, -1.081, 0.941, -1.527, 0, 0, 0, [SEP] 69, CounterTop, -2.096, 0.945, 0.291, 0, 0, 0, [SEP] 70, Cabinet, -2.237, 0.402, -1.389, 0, 0, 0, [SEP] 71, Drawer, 0.584, 0.75, -1.389, 0, 0, 0, [SEP] 72, Drawer, -1.795, 0.75, -1.389, 0, 0, 0, [SEP] 73, CounterTop, 1.5, 1.197, -0.654, 0, 0, 0, [SEP] 74, Cabinet, -1.667, 0.402, -1.389, 0, 0, 0, [SEP] 75, StoveBurner, -1.430, 0.941, -1.525, 0, 0, 0, [SEP] 76, Drawer, -0.685, 0.75, -1.389, 0, 0, 0, [SEP] 77, StoveBurner, -1.430, 0.941, -1.809, 0, 0, 0, [SEP] 78, LightSwitch, -2.539, 1.289, 2.568, 0, 90, 0, [SEP] 79, StoveKnob, -1.362, 1.095, -1.983, 287.970, 180, 0, [SEP] 80, StoveKnob, -0.962, 1.095, -1.983, 287.970, 180, 0, [SEP] 81, StoveKnob, -1.522, 1.095, -1.983, 287.970, 180, 0, [SEP] 82, StoveKnob, -1.112, 1.095, -1.983, 287.970, 180, 0, [SEP] 83, CoffeeMachine, 1.082, 0.900, -1.848, 0, 0, 0, [SEP] 84, GarbageCan, 1.343, 0.015, 1.041, 0, 0, 0, [SEP] 85, HousePlant, 1.440, 1.153, 0.593, 0, 0, 0, [SEP] 86, Fridge, 1.417, 0.0, 2.101, 0, 0, 0, [SEP] 87, Window, -0.486, 1.452, 3.302, 90, 0, 0, [SEP] 88, SinkBasin, -0.063, 0.765, -1.713, 0, 270, 0, [SEP] 89, Microwave, 1.422, 1.150, 0.022, 0, 270, 0, [SEP] 90, Toaster, -2.066, 0.900, -1.848, 0, 0, 0, [SEP] 91, Stool, -1.994, 0.010, 0.882, 0, 0, 0, [SEP] 92, Faucet, -0.096, 1.041, -1.867, 0, 270, 0, [SEP] 93, NorthWall, , , , , , , [SEP] 94, EastWall, , , , , , , [SEP] 95, SouthWall, , , , , , , [SEP] 96, WestWall, , , , , , , ", "output": ["STEP 1: Cross the room and stand in front of the counter to the left of the stove. | STEP 2: Pick the big spoon up from the counter. | STEP 3: Move left and turn to face the sink. | STEP 4: Put the big spoon in the sink and turn the water on and then off and pick the spoon up again. | STEP 5: Turn to face to the left lower cabinets, to the right of the white appliance. | STEP 6: Open the cabinet door of the far right cabinet in the corner and put the spoon in and then shut the door. | END"]} +{"id": "trial_T20190910_073844_519611-1", "input": "Put a cold slice of bread in the microwave. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.5, 0.901, 2.0, 0, 0, 0, [SEP] 1, ButterKnife, 1.790, 0.937, 2.434, 0, 0, 0, 43 [SEP] 2, ButterKnife, -0.053, 0.937, 2.757, 0, 0, 0, 43 [SEP] 3, Fork, 1.840, 0.938, 0.657, 0, 90, 0, 54 [SEP] 4, Cup, 2.059, 0.336, -0.007, 0, 270, 0, 64 [SEP] 5, Plate, 1.227, 0.085, 2.523, 0, 0, 0, 49 [SEP] 6, SoapBottle, -0.196, 0.791, 1.217, 0, 0, 0, 70 [SEP] 7, SoapBottle, 0.060, 0.938, 2.618, 0, 0, 0, 43 [SEP] 8, PepperShaker, 0.033, 0.785, 1.049, 0, 0, 0, 70 [SEP] 9, Mug, 0.637, 0.076, 2.562, 0, 0, 0, 50 [SEP] 10, Apple, -0.362, 1.085, 1.961, 0, 90, 0, 68 [SEP] 11, Apple, 1.840, 0.988, 0.509, 0, 0, 0, 54 [SEP] 12, Egg, -0.119, 0.833, 1.386, 0, 0, 0, 70 [SEP] 13, Lettuce, 2.127, 1.580, -0.278, 0, 270, 0, 64 [SEP] 14, Fork, 0.002, 0.747, 2.197, 0, 0, 0, 42 [SEP] 15, SoapBottle, -0.349, 0.791, 1.217, 0, 0, 0, 70 [SEP] 16, Ladle, 1.941, 0.790, 0.721, 0, 270, 0, 52 [SEP] 17, Ladle, 1.805, 1.547, 2.805, 0, 90, 0, 44 [SEP] 18, Bread, -0.199, 0.823, 0.813, 0, 0, 0, 70 [SEP] 19, SaltShaker, -0.272, 0.785, 0.377, 0, 0, 0, 70 [SEP] 20, Potato, 0.174, 0.977, 2.618, 0, 0, 0, 43 [SEP] 21, Pan, 1.928, 0.070, 0.640, 0, 0, 0, 40 [SEP] 22, WineBottle, -0.167, 0.938, 2.478, 0, 0, 0, 43 [SEP] 23, Spatula, -0.042, 0.805, 1.217, 0, 90, 0, 70 [SEP] 24, Knife, 1.815, 0.771, 1.922, 0, 90, 0, 58 [SEP] 25, Tomato, -0.053, 0.983, 2.827, 0, 0, 0, 43 [SEP] 26, Apple, 0.033, 0.840, 0.881, 0, 0, 0, 70 [SEP] 27, ButterKnife, 0.524, 0.795, 2.64, 0, 90, 0, 67 [SEP] 28, Pot, 2.140, 0.935, 1.504, 0, 180, 0, 38 [SEP] 29, PepperShaker, 1.556, 0.932, 2.511, 0, 0, 0, 43 [SEP] 30, Cup, 2.056, 1.319, -0.550, 0, 270, 0, 64 [SEP] 31, DishSponge, -0.349, 0.790, 1.386, 0, 0, 0, 70 [SEP] 32, Plate, -0.312, 0.781, 0.409, 0, 0, 0, 70 [SEP] 33, Spoon, -0.349, 0.792, 1.049, 0, 0, 0, 70 [SEP] 34, Mug, 2.168, 1.316, -0.369, 0, 270, 0, 64 [SEP] 35, Bowl, 2.227, 0.934, 2.260, 0, 0, 0, 43 [SEP] 36, Cabinet, 2.041, 2.113, 2.618, 0, 0, 0, [SEP] 37, Cabinet, 0.126, 0.388, 1.774, 0, 0, 0, [SEP] 38, StoveBurner, 2.140, 0.929, 1.504, 0, 180, 0, [SEP] 39, Cabinet, 1.760, 0.388, 2.346, 0, 0, 0, [SEP] 40, Cabinet, 1.760, 0.388, 0.869, 0, 0, 0, [SEP] 41, Cabinet, 2.041, 1.810, 0.283, 0, 0, 0, [SEP] 42, Drawer, -0.024, 0.774, 2.061, 0, 0, 0, [SEP] 43, CounterTop, 1.065, 0.973, 2.666, 0, 0, 0, [SEP] 44, Cabinet, 1.969, 2.113, 2.618, 0, 0, 0, [SEP] 45, StoveBurner, 2.140, 0.929, 1.106, 0, 0, 0, [SEP] 46, Cabinet, 2.041, 2.113, 1.809, 0, 0, 0, [SEP] 47, StoveBurner, 1.866, 0.929, 1.504, 0, 180, 0, [SEP] 48, Cabinet, 2.041, 2.113, 1.766, 0, 0, 0, [SEP] 49, Cabinet, 1.514, 0.388, 2.360, 0, 0, 0, [SEP] 50, Cabinet, 0.351, 0.388, 2.360, 0, 0, 0, [SEP] 51, Cabinet, 2.041, 1.810, 0.872, 0, 0, 0, [SEP] 52, Drawer, 2.167, 0.774, 0.582, 0, 0, 0, [SEP] 53, Cabinet, 2.041, 2.113, 0.892, 0, 0, 0, [SEP] 54, CounterTop, 2.060, 0.973, 0.583, 0, 0, 0, [SEP] 55, Sink, 0.935, 0.936, 2.646, 0, 0, 0, [SEP] 56, Curtains, 0.964, 2.061, 2.989, 0, 0, 0, [SEP] 57, StoveBurner, 1.863, 0.929, 1.106, 0, 0, 0, [SEP] 58, Drawer, 1.911, 0.774, 2.060, 0, 0, 0, [SEP] 59, StoveKnob, 2.326, 1.092, 1.610, 288.013, 90, 0, [SEP] 60, StoveKnob, 2.326, 1.092, 1.460, 288.013, 90, 0, [SEP] 61, StoveKnob, 2.326, 1.092, 1.210, 288.013, 90, 0, [SEP] 62, StoveKnob, 2.326, 1.092, 1.050, 288.013, 90, 0, [SEP] 63, Toaster, 2.126, 0.926, 0.572, 0, 270, 0, [SEP] 64, Fridge, 2.104, 0.0, -0.279, 0, 270, 0, [SEP] 65, GarbageCan, -0.309, -0.001, -0.807, 0, 91.471, 0, [SEP] 66, LightSwitch, 0.354, 1.518, -1.031, 0, 0, 0, [SEP] 67, SinkBasin, 0.903, 0.784, 2.640, 0, 0, 0, [SEP] 68, Microwave, -0.310, 0.926, 2.077, 0, 90, 0, [SEP] 69, CoffeeMachine, 2.084, 0.927, 2.667, 0, 225, 0, [SEP] 70, DiningTable, -0.153, -0.000, 1.073, 0, 270, 0, [SEP] 71, Faucet, 1.175, 0.926, 2.950, 270, 90, 0, [SEP] 72, Faucet, 0.686, 0.926, 2.950, 270, 90, 0, [SEP] 73, Chair, -0.077, 0.002, 0.196, 0, 15.000, 0, [SEP] 74, NorthWall, , , , , , , [SEP] 75, EastWall, , , , , , , [SEP] 76, SouthWall, , , , , , , [SEP] 77, WestWall, , , , , , , ", "output": ["STEP 1: Stay in front of the counter to the left of the sink. | STEP 2: Take the knife from behind the bottle on the counter. | STEP 3: Turn around, go to the white table and face the table. | STEP 4: Cut the bread on the table into slices. | STEP 5: Stay in front of the table. | STEP 6: Put the knife on the bread on the table. | STEP 7: Stay in front of the table. | STEP 8: Take a slice of bread from the table. | STEP 9: Turn around and go to the refrigerator. | STEP 10: Put the bread on the top shelf of the refrigerator. Close then open the refrigerator. Take the bread from the refrigerator. | STEP 11: Turn around, head to the right to the microwave. | STEP 12: Put the bread in the microwave. | END"]} +{"id": "trial_T20190908_113711_074029-1", "input": "Put a microwaved slice of bread on the counter by the stove. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.25, 0.899, 3.75, 0, 0, 0, [SEP] 1, DishSponge, -4.233, 0.790, 3.222, 0, 270, 0, 101 [SEP] 2, DishSponge, -4.089, 0.077, 4.584, 0, 0, 0, 62 [SEP] 3, ButterKnife, -1.693, 0.923, 1.951, 0, 0, 0, 51 [SEP] 4, ButterKnife, -3.733, 0.923, 5.412, 0, 90, 0, 69 [SEP] 5, WineBottle, -4.033, 0.924, 4.381, 0, 90, 0, 69 [SEP] 6, Pot, -0.258, 0.926, 5.603, 0, 90, 0, 54 [SEP] 7, Spatula, -0.181, 0.940, 4.944, 0, 0, 0, 54 [SEP] 8, Cup, -4.486, 0.922, 3.863, 0, 90, 0, 69 [SEP] 9, Egg, -0.454, 1.106, 3.726, 0, 270, 0, 102 [SEP] 10, Egg, -0.383, 1.371, 3.355, 0, 270, 0, 102 [SEP] 11, Knife, -1.777, 0.953, 1.724, 0, 0, 0, 51 [SEP] 12, Tomato, -0.401, 1.127, 3.850, 0, 270, 0, 102 [SEP] 13, Lettuce, -0.181, 1.020, 4.615, 0, 0, 0, 54 [SEP] 14, Lettuce, -4.233, 0.886, 3.347, 0, 270, 0, 101 [SEP] 15, Bread, -0.565, 1.004, 5.273, 0, 0, 0, 54 [SEP] 16, Bread, -1.610, 1.003, 1.648, 0, 0, 0, 51 [SEP] 17, Mug, -3.474, 0.077, 5.229, 0, 90, 0, 87 [SEP] 18, Mug, -0.409, 0.955, 6.557, 0, 270, 0, 90 [SEP] 19, Egg, -3.613, 0.959, 5.182, 0, 90, 0, 69 [SEP] 20, Apple, -0.383, 1.634, 3.349, 0, 270, 0, 102 [SEP] 21, Knife, -0.488, 0.954, 5.273, 0, 180, 0, 54 [SEP] 22, Potato, -3.613, 0.956, 5.412, 0, 90, 0, 69 [SEP] 23, Fork, -1.943, 0.924, 1.951, 0, 0, 0, 51 [SEP] 24, Bowl, -0.181, 0.922, 5.273, 0, 0, 0, 54 [SEP] 25, Plate, -3.531, 0.083, 1.927, 0, 0, 0, 44 [SEP] 26, Lettuce, -3.748, 0.164, 6.416, 0, 270, 0, 95 [SEP] 27, Bread, -0.348, 1.150, 3.479, 0, 270, 0, 102 [SEP] 28, Tomato, -0.301, 1.742, 3.854, 0, 270, 0, 102 [SEP] 29, WineBottle, -3.784, 0.069, 6.292, 0, 270, 0, 95 [SEP] 30, Spatula, -4.335, 0.938, 5.418, 0, 90, 0, 69 [SEP] 31, PaperTowelRoll, -0.488, 1.029, 4.944, 0, 0, 0, 54 [SEP] 32, Cup, -1.860, 0.922, 1.8, 0, 0, 0, 51 [SEP] 33, Pencil, -0.565, 0.925, 4.944, 0, 0, 0, 54 [SEP] 34, Pan, -4.031, 0.923, 1.799, 0, 180, 0, 44 [SEP] 35, Pot, -2.469, 0.930, 1.712, 0, 270, 0, 84 [SEP] 36, SaltShaker, -0.443, 0.742, 4.616, 0, 270, 0, 59 [SEP] 37, SoapBottle, -4.102, 0.923, 2.416, 0, 0, 0, 69 [SEP] 38, PepperShaker, -0.443, 0.742, 6.411, 0, 270, 0, 80 [SEP] 39, ButterKnife, -0.334, 0.925, 4.615, 0, 0, 0, 54 [SEP] 40, DishSponge, -2.109, 0.923, 1.951, 0, 0, 0, 51 [SEP] 41, Spoon, -0.488, 0.926, 5.932, 0, 0, 0, 54 [SEP] 42, Mug, -0.218, 1.330, 3.479, 0, 270, 0, 102 [SEP] 43, Cabinet, -3.203, 1.931, 1.777, 0, 0, 0, [SEP] 44, Cabinet, -3.187, 0.390, 2.089, 0, 0, 0, [SEP] 45, Cabinet, -0.637, 0.387, 6.882, 0, 180, 0, [SEP] 46, Drawer, -3.797, 0.781, 1.961, 0, 0, 0, [SEP] 47, Cabinet, -3.036, 0.387, 5.029, 0, 90, 0, [SEP] 48, Drawer, -0.509, 0.775, 5.268, 0, 270, 0, [SEP] 49, Drawer, -4.125, 0.798, 2.499, 0, 0, 0, [SEP] 50, Cabinet, -0.331, 2.249, 4.308, 0, 180, 0, [SEP] 51, CounterTop, -1.872, 0.958, 1.799, 0, 0, 0, [SEP] 52, StoveBurner, -2.924, 0.924, 2.012, 0, 0, 0, [SEP] 53, Cabinet, -0.331, 2.249, 6.806, 0, 180, 0, [SEP] 54, CounterTop, -0.345, 0.960, 5.603, 0, 0, 0, [SEP] 55, Cabinet, -3.039, 1.935, 5.321, 0, 90, 0, [SEP] 56, Cabinet, -3.922, 0.397, 2.088, 0, 0, 0, [SEP] 57, StoveBurner, -2.467, 0.924, 2.012, 0, 0, 0, [SEP] 58, Cabinet, -0.331, 2.249, 5.505, 0, 180, 0, [SEP] 59, Drawer, -0.509, 0.775, 4.617, 0, 270, 0, [SEP] 60, Drawer, -3.509, 0.777, 5.157, 0, 180, 0, [SEP] 61, Cabinet, -3.961, 0.388, 2.878, 0, 0, 0, [SEP] 62, Cabinet, -3.961, 0.388, 4.342, 0, 0, 0, [SEP] 63, Cabinet, -0.637, 0.387, 5.582, 0, 180, 0, [SEP] 64, Cabinet, -0.637, 0.388, 4.299, 0, 180, 0, [SEP] 65, Cabinet, -0.637, 0.388, 5.599, 0, 180, 0, [SEP] 66, StoveBurner, -2.924, 0.924, 1.712, 0, 180, 0, [SEP] 67, Drawer, -1.859, 0.775, 1.961, 0, 0, 0, [SEP] 68, Cabinet, -0.331, 2.249, 5.609, 0, 180, 0, [SEP] 69, CounterTop, -4.260, 0.958, 4.943, 0, 90, 0, [SEP] 70, Cabinet, -4.284, 1.931, 2.226, 0, 0, 0, [SEP] 71, Cabinet, -0.331, 2.249, 3.010, 0, 180, 0, [SEP] 72, Drawer, -3.801, 0.777, 5.157, 0, 180, 0, [SEP] 73, Cabinet, -4.112, 1.935, 5.321, 0, 90, 0, [SEP] 74, Cabinet, -3.968, 0.388, 3.662, 0, 0, 0, [SEP] 75, Drawer, -3.418, 0.777, 1.961, 0, 0, 0, [SEP] 76, Drawer, -4.090, 0.777, 4.661, 0, 90, 0, [SEP] 77, Faucet, -4.441, 0.909, 3.288, 270, 0, 0, [SEP] 78, Cabinet, -0.331, 2.249, 4.207, 0, 180, 0, [SEP] 79, Cabinet, -3.961, 0.388, 2.119, 0, 0, 0, [SEP] 80, Drawer, -0.509, 0.775, 5.920, 0, 270, 0, [SEP] 81, Drawer, -3.193, 0.777, 5.157, 0, 180, 0, [SEP] 82, Cabinet, -3.968, 0.388, 2.894, 0, 0, 0, [SEP] 83, Cabinet, -3.667, 0.387, 5.029, 0, 90, 0, [SEP] 84, StoveBurner, -2.469, 0.924, 1.712, 0, 270, 0, [SEP] 85, Cabinet, -1.539, 0.388, 2.090, 0, 0, 0, [SEP] 86, Sink, -4.190, 0.921, 3.279, 0, 0, 0, [SEP] 87, Cabinet, -3.641, 0.387, 5.029, 0, 90, 0, [SEP] 88, Cabinet, -1.583, 1.931, 1.777, 0, 0, 0, [SEP] 89, Drawer, -0.509, 0.775, 6.568, 0, 270, 0, [SEP] 90, CoffeeMachine, -0.279, 0.912, 6.556, 0, 270, 0, [SEP] 91, StoveKnob, -2.347, 1.095, 1.560, 288.012, 180, 180, [SEP] 92, StoveKnob, -2.788, 1.095, 1.560, 288.012, 180, 180, [SEP] 93, StoveKnob, -2.965, 1.095, 1.560, 288.012, 180, 180, [SEP] 94, StoveKnob, -2.512, 1.095, 1.560, 288.012, 180, 180, [SEP] 95, GarbageCan, -3.711, -0.030, 6.376, 0, 270, 0, [SEP] 96, Toaster, -3.578, 0.912, 1.763, 0, 0, 0, [SEP] 97, Curtains, -4.522, 2.252, 3.391, 90, 90, 0, [SEP] 98, Window, -4.868, 1.629, 3.309, 90, 270, 0, [SEP] 99, Microwave, -2.693, 1.430, 1.689, 0, 0, 0, [SEP] 100, LightSwitch, -1.588, 1.169, 1.506, 0, 0, 0, [SEP] 101, SinkBasin, -4.196, 0.780, 3.276, 0, 270, 0, [SEP] 102, Fridge, -0.324, -0.001, 3.602, 0, 0, 0, [SEP] 103, NorthWall, , , , , , , [SEP] 104, EastWall, , , , , , , [SEP] 105, SouthWall, , , , , , , [SEP] 106, WestWall, , , , , , , ", "output": ["STEP 1: Turn and go to the counter. | STEP 2: Pick up a knife on the counter. | STEP 3: Slice the bread on the counter. | STEP 4: Turn and go to the drawer. | STEP 5: Put the knife in the drawer. | STEP 6: Turn and go to the bread. | STEP 7: Pick up a slice of bread. | STEP 8: Turn and go to the microwave. | STEP 9: Heat the slice of bread in the microwave. | STEP 10: Turn and go to the counter by the stove. | STEP 11: Put the slice of bread on the counter. | END"]} +{"id": "trial_T20190908_113711_074029-2", "input": "Place a heated slice of bread on a countertop SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.25, 0.899, 3.75, 0, 0, 0, [SEP] 1, DishSponge, -4.233, 0.790, 3.222, 0, 270, 0, 101 [SEP] 2, DishSponge, -4.089, 0.077, 4.584, 0, 0, 0, 62 [SEP] 3, ButterKnife, -1.693, 0.923, 1.951, 0, 0, 0, 51 [SEP] 4, ButterKnife, -3.733, 0.923, 5.412, 0, 90, 0, 69 [SEP] 5, WineBottle, -4.033, 0.924, 4.381, 0, 90, 0, 69 [SEP] 6, Pot, -0.258, 0.926, 5.603, 0, 90, 0, 54 [SEP] 7, Spatula, -0.181, 0.940, 4.944, 0, 0, 0, 54 [SEP] 8, Cup, -4.486, 0.922, 3.863, 0, 90, 0, 69 [SEP] 9, Egg, -0.454, 1.106, 3.726, 0, 270, 0, 102 [SEP] 10, Egg, -0.383, 1.371, 3.355, 0, 270, 0, 102 [SEP] 11, Knife, -1.777, 0.953, 1.724, 0, 0, 0, 51 [SEP] 12, Tomato, -0.401, 1.127, 3.850, 0, 270, 0, 102 [SEP] 13, Lettuce, -0.181, 1.020, 4.615, 0, 0, 0, 54 [SEP] 14, Lettuce, -4.233, 0.886, 3.347, 0, 270, 0, 101 [SEP] 15, Bread, -0.565, 1.004, 5.273, 0, 0, 0, 54 [SEP] 16, Bread, -1.610, 1.003, 1.648, 0, 0, 0, 51 [SEP] 17, Mug, -3.474, 0.077, 5.229, 0, 90, 0, 87 [SEP] 18, Mug, -0.409, 0.955, 6.557, 0, 270, 0, 90 [SEP] 19, Egg, -3.613, 0.959, 5.182, 0, 90, 0, 69 [SEP] 20, Apple, -0.383, 1.634, 3.349, 0, 270, 0, 102 [SEP] 21, Knife, -0.488, 0.954, 5.273, 0, 180, 0, 54 [SEP] 22, Potato, -3.613, 0.956, 5.412, 0, 90, 0, 69 [SEP] 23, Fork, -1.943, 0.924, 1.951, 0, 0, 0, 51 [SEP] 24, Bowl, -0.181, 0.922, 5.273, 0, 0, 0, 54 [SEP] 25, Plate, -3.531, 0.083, 1.927, 0, 0, 0, 44 [SEP] 26, Lettuce, -3.748, 0.164, 6.416, 0, 270, 0, 95 [SEP] 27, Bread, -0.348, 1.150, 3.479, 0, 270, 0, 102 [SEP] 28, Tomato, -0.301, 1.742, 3.854, 0, 270, 0, 102 [SEP] 29, WineBottle, -3.784, 0.069, 6.292, 0, 270, 0, 95 [SEP] 30, Spatula, -4.335, 0.938, 5.418, 0, 90, 0, 69 [SEP] 31, PaperTowelRoll, -0.488, 1.029, 4.944, 0, 0, 0, 54 [SEP] 32, Cup, -1.860, 0.922, 1.8, 0, 0, 0, 51 [SEP] 33, Pencil, -0.565, 0.925, 4.944, 0, 0, 0, 54 [SEP] 34, Pan, -4.031, 0.923, 1.799, 0, 180, 0, 44 [SEP] 35, Pot, -2.469, 0.930, 1.712, 0, 270, 0, 84 [SEP] 36, SaltShaker, -0.443, 0.742, 4.616, 0, 270, 0, 59 [SEP] 37, SoapBottle, -4.102, 0.923, 2.416, 0, 0, 0, 69 [SEP] 38, PepperShaker, -0.443, 0.742, 6.411, 0, 270, 0, 80 [SEP] 39, ButterKnife, -0.334, 0.925, 4.615, 0, 0, 0, 54 [SEP] 40, DishSponge, -2.109, 0.923, 1.951, 0, 0, 0, 51 [SEP] 41, Spoon, -0.488, 0.926, 5.932, 0, 0, 0, 54 [SEP] 42, Mug, -0.218, 1.330, 3.479, 0, 270, 0, 102 [SEP] 43, Cabinet, -3.203, 1.931, 1.777, 0, 0, 0, [SEP] 44, Cabinet, -3.187, 0.390, 2.089, 0, 0, 0, [SEP] 45, Cabinet, -0.637, 0.387, 6.882, 0, 180, 0, [SEP] 46, Drawer, -3.797, 0.781, 1.961, 0, 0, 0, [SEP] 47, Cabinet, -3.036, 0.387, 5.029, 0, 90, 0, [SEP] 48, Drawer, -0.509, 0.775, 5.268, 0, 270, 0, [SEP] 49, Drawer, -4.125, 0.798, 2.499, 0, 0, 0, [SEP] 50, Cabinet, -0.331, 2.249, 4.308, 0, 180, 0, [SEP] 51, CounterTop, -1.872, 0.958, 1.799, 0, 0, 0, [SEP] 52, StoveBurner, -2.924, 0.924, 2.012, 0, 0, 0, [SEP] 53, Cabinet, -0.331, 2.249, 6.806, 0, 180, 0, [SEP] 54, CounterTop, -0.345, 0.960, 5.603, 0, 0, 0, [SEP] 55, Cabinet, -3.039, 1.935, 5.321, 0, 90, 0, [SEP] 56, Cabinet, -3.922, 0.397, 2.088, 0, 0, 0, [SEP] 57, StoveBurner, -2.467, 0.924, 2.012, 0, 0, 0, [SEP] 58, Cabinet, -0.331, 2.249, 5.505, 0, 180, 0, [SEP] 59, Drawer, -0.509, 0.775, 4.617, 0, 270, 0, [SEP] 60, Drawer, -3.509, 0.777, 5.157, 0, 180, 0, [SEP] 61, Cabinet, -3.961, 0.388, 2.878, 0, 0, 0, [SEP] 62, Cabinet, -3.961, 0.388, 4.342, 0, 0, 0, [SEP] 63, Cabinet, -0.637, 0.387, 5.582, 0, 180, 0, [SEP] 64, Cabinet, -0.637, 0.388, 4.299, 0, 180, 0, [SEP] 65, Cabinet, -0.637, 0.388, 5.599, 0, 180, 0, [SEP] 66, StoveBurner, -2.924, 0.924, 1.712, 0, 180, 0, [SEP] 67, Drawer, -1.859, 0.775, 1.961, 0, 0, 0, [SEP] 68, Cabinet, -0.331, 2.249, 5.609, 0, 180, 0, [SEP] 69, CounterTop, -4.260, 0.958, 4.943, 0, 90, 0, [SEP] 70, Cabinet, -4.284, 1.931, 2.226, 0, 0, 0, [SEP] 71, Cabinet, -0.331, 2.249, 3.010, 0, 180, 0, [SEP] 72, Drawer, -3.801, 0.777, 5.157, 0, 180, 0, [SEP] 73, Cabinet, -4.112, 1.935, 5.321, 0, 90, 0, [SEP] 74, Cabinet, -3.968, 0.388, 3.662, 0, 0, 0, [SEP] 75, Drawer, -3.418, 0.777, 1.961, 0, 0, 0, [SEP] 76, Drawer, -4.090, 0.777, 4.661, 0, 90, 0, [SEP] 77, Faucet, -4.441, 0.909, 3.288, 270, 0, 0, [SEP] 78, Cabinet, -0.331, 2.249, 4.207, 0, 180, 0, [SEP] 79, Cabinet, -3.961, 0.388, 2.119, 0, 0, 0, [SEP] 80, Drawer, -0.509, 0.775, 5.920, 0, 270, 0, [SEP] 81, Drawer, -3.193, 0.777, 5.157, 0, 180, 0, [SEP] 82, Cabinet, -3.968, 0.388, 2.894, 0, 0, 0, [SEP] 83, Cabinet, -3.667, 0.387, 5.029, 0, 90, 0, [SEP] 84, StoveBurner, -2.469, 0.924, 1.712, 0, 270, 0, [SEP] 85, Cabinet, -1.539, 0.388, 2.090, 0, 0, 0, [SEP] 86, Sink, -4.190, 0.921, 3.279, 0, 0, 0, [SEP] 87, Cabinet, -3.641, 0.387, 5.029, 0, 90, 0, [SEP] 88, Cabinet, -1.583, 1.931, 1.777, 0, 0, 0, [SEP] 89, Drawer, -0.509, 0.775, 6.568, 0, 270, 0, [SEP] 90, CoffeeMachine, -0.279, 0.912, 6.556, 0, 270, 0, [SEP] 91, StoveKnob, -2.347, 1.095, 1.560, 288.012, 180, 180, [SEP] 92, StoveKnob, -2.788, 1.095, 1.560, 288.012, 180, 180, [SEP] 93, StoveKnob, -2.965, 1.095, 1.560, 288.012, 180, 180, [SEP] 94, StoveKnob, -2.512, 1.095, 1.560, 288.012, 180, 180, [SEP] 95, GarbageCan, -3.711, -0.030, 6.376, 0, 270, 0, [SEP] 96, Toaster, -3.578, 0.912, 1.763, 0, 0, 0, [SEP] 97, Curtains, -4.522, 2.252, 3.391, 90, 90, 0, [SEP] 98, Window, -4.868, 1.629, 3.309, 90, 270, 0, [SEP] 99, Microwave, -2.693, 1.430, 1.689, 0, 0, 0, [SEP] 100, LightSwitch, -1.588, 1.169, 1.506, 0, 0, 0, [SEP] 101, SinkBasin, -4.196, 0.780, 3.276, 0, 270, 0, [SEP] 102, Fridge, -0.324, -0.001, 3.602, 0, 0, 0, [SEP] 103, NorthWall, , , , , , , [SEP] 104, EastWall, , , , , , , [SEP] 105, SouthWall, , , , , , , [SEP] 106, WestWall, , , , , , , ", "output": ["STEP 1: Go to the countertop | STEP 2: Pick up the knife near the load of bread | STEP 3: Cut the loaf of bread | STEP 4: Look at the drawer on the left | STEP 5: Put the knife in the drawer | STEP 6: Look at the loaf of bread | STEP 7: Take a slice of bread | STEP 8: Go to the microwave | STEP 9: Heat the slice of bread | STEP 10: Go to the counter left of the stove | STEP 11: Put the bread down on the counter | END"]} +{"id": "trial_T20190909_074512_088673-2", "input": "Putting two handkerchiefs in the sink SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.904, 1.0, 0, 90, 0, [SEP] 1, Cloth, -0.690, 0.033, 0.581, 0, 0, 0, 29 [SEP] 2, Cloth, -0.404, 0.033, 0.811, 0, 0, 0, 29 [SEP] 3, SprayBottle, -3.007, 0.050, 0.822, 0, 0, 0, 32 [SEP] 4, SoapBar, -3.103, 0.883, 0.334, 0, 90, 0, 25 [SEP] 5, SoapBar, -3.254, 1.048, 1.329, 0, 90, 0, 38 [SEP] 6, SoapBottle, -2.839, 0.110, -0.494, 0, 0, 0, 21 [SEP] 7, SoapBottle, -3.053, 1.871, 1.214, 0, 0, 0, 28 [SEP] 8, Towel, -1.615, 1.398, 1.800, 0, 180, 0, 33 [SEP] 9, HandTowel, -3.321, 1.464, 0.763, 0, 270, 0, 35 [SEP] 10, SoapBar, -0.619, 0.033, 1.499, 0, 0, 0, 29 [SEP] 11, ToiletPaper, -3.254, 1.045, 1.460, 0, 90, 0, 38 [SEP] 12, ToiletPaper, -3.061, 0.668, 0.690, 347.055, 0, 90, 37 [SEP] 13, Candle, -0.994, 0.514, 1.755, 0, 154.085, 0, 24 [SEP] 14, ScrubBrush, -3.236, 0.003, 1.79, 0, 0, 0, Floor|-01.69| [SEP] 15, Plunger, -3.043, 0.003, 1.683, 0, 0, 0, Floor|-01.69| [SEP] 16, SoapBottle, -2.903, 0.111, 0.437, 0, 0, 0, 20 [SEP] 17, Cloth, -2.970, 0.108, -0.494, 0, 0, 0, 21 [SEP] 18, SprayBottle, -3.100, 0.110, 0.286, 0, 0, 0, 26 [SEP] 19, Faucet, -0.618, 0.667, 1.805, 0, 0, 0, [SEP] 20, Cabinet, -2.761, 0.446, 0.599, 0, 0, 0, [SEP] 21, Cabinet, -2.756, 0.421, -0.759, 0, 0, 0, [SEP] 22, Cabinet, -2.905, 2.098, 1.878, 0, 0, 0, [SEP] 23, Sink, -3.016, 0.865, 0.207, 0, 90, 0, [SEP] 24, Bathtub, -0.603, 0.286, 0.832, 0, 0, 0, [SEP] 25, SinkBasin, -3.016, 0.874, 0.217, 0, 90, 0, [SEP] 26, Cabinet, -2.756, 0.421, -0.272, 0, 0, 0, [SEP] 27, Faucet, -3.313, 0.989, 0.207, 0, 90, 0, [SEP] 28, Cabinet, -2.900, 2.053, 1.005, 0, 0, 0, [SEP] 29, BathtubBasin, -0.558, 0.023, 0.811, 0, 0, 0, [SEP] 30, Mirror, -3.348, 1.476, 0.020, 0, 0, 0, [SEP] 31, CounterTop, -3.049, 1.039, -0.442, 0, 0, 0, [SEP] 32, GarbageCan, -3.080, -0.007, 0.899, 0, 0, 0, [SEP] 33, TowelHolder, -1.615, 1.383, 1.907, 0, 180, 0, [SEP] 34, HandTowelHolder, -2.960, 1.695, -0.766, 0, 270, 0, [SEP] 35, HandTowelHolder, -3.359, 1.565, 0.763, 0, 0, 0, [SEP] 36, LightSwitch, -2.313, 1.426, -0.766, 0, 0, 0, [SEP] 37, ToiletPaperHanger, -3.105, 0.828, 0.625, 347.055, 0, 0, [SEP] 38, Toilet, -2.931, 0.003, 1.364, 0, 180, 0, [SEP] 39, ShowerCurtain, -1.171, 1.866, -0.108, 0, 0, 0, [SEP] 40, NorthWall, , , , , , , [SEP] 41, EastWall, , , , , , , [SEP] 42, SouthWall, , , , , , , [SEP] 43, WestWall, , , , , , , ", "output": ["STEP 1: Go to the tub | STEP 2: Grab a handkerchief out of the tub | STEP 3: Turn around and go to the sink | STEP 4: Put the handkerchief in the sink | STEP 5: Turn left and look at the cabinets on the bottom | STEP 6: Grab the handkerchief out of the left cabinet | STEP 7: Turn right and go to the sink | STEP 8: Put the handkerchief in the sink | END"]} +{"id": "trial_T20190908_215836_105775-2", "input": "Retrieve green cup from table, cook in microwave, place on counter in front of bread SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.5, 0.900, 0.0, 0, 90, 0, [SEP] 1, Pan, 1.543, 0.909, -0.320, 0, 90, 0, 40 [SEP] 2, DishSponge, 1.656, 0.910, -1.717, 0, 90, 0, 41 [SEP] 3, DishSponge, 1.726, 0.910, -1.545, 0, 90, 0, 41 [SEP] 4, Pot, 1.807, 0.909, 0.075, 0, 180, 0, 38 [SEP] 5, Spatula, 0.220, 0.925, 1.092, 0, 270, 0, 37 [SEP] 6, Egg, 1.830, 0.105, 1.540, 0, 270, 0, 55 [SEP] 7, Knife, 0.989, 0.943, 0.915, 0, 90, 0, 37 [SEP] 8, Tomato, 1.796, 0.975, -1.717, 0, 90, 0, 41 [SEP] 9, Tomato, 0.220, 0.974, 0.915, 0, 90, 0, 37 [SEP] 10, SaltShaker, 1.586, 0.906, -1.288, 0, 90, 0, 41 [SEP] 11, Lettuce, 1.757, 1.010, 1.004, 0, 90, 0, 37 [SEP] 12, Bread, -0.692, 0.537, -1.476, 0, 0, 0, 64 [SEP] 13, Apple, 1.684, 0.967, 0.518, 0, 90, 0, 37 [SEP] 14, Apple, 1.706, 1.072, -0.888, 0, 270, 0, 61 [SEP] 15, Plate, 1.802, 1.647, -0.000, 0, 0, 0, 47 [SEP] 16, SoapBottle, 1.769, 1.643, -1.806, 0, 0, 0, 51 [SEP] 17, Cup, 0.476, 0.908, 1.004, 0, 90, 0, 37 [SEP] 18, Egg, 1.709, 0.105, 1.731, 0, 270, 0, 55 [SEP] 19, Fork, 1.757, 0.911, 0.915, 0, 180, 0, 37 [SEP] 20, Ladle, 1.201, 0.926, 0.743, 3.353, 0, 346.984, 37 [SEP] 21, Apple, -0.644, 1.446, -1.594, 0, 0, 0, 64 [SEP] 22, SaltShaker, 1.501, 0.905, 0.827, 0, 90, 0, 37 [SEP] 23, Pan, 1.281, 0.900, 1.190, 0, 0, 0, 37 [SEP] 24, Tomato, 1.77, 0.134, 1.636, 0, 270, 0, 55 [SEP] 25, Spatula, 1.501, 0.925, 0.739, 0, 180, 0, 37 [SEP] 26, Potato, 1.355, 0.951, -1.247, 0, 90, 0, 41 [SEP] 27, Knife, 1.839, 0.943, 0.415, 0, 0, 0, 37 [SEP] 28, ButterKnife, 0.296, 0.9, -1.296, 0, 14.568, 0, 41 [SEP] 29, Bread, 0.476, 0.987, 1.180, 0, 90, 0, 37 [SEP] 30, Lettuce, 1.865, 1.011, -1.545, 0, 90, 0, 41 [SEP] 31, PepperShaker, 1.607, 0.905, 0.311, 0, 90, 0, 37 [SEP] 32, Pot, 1.548, 0.909, 0.075, 0, 180, 0, 43 [SEP] 33, DishSponge, 1.805, 2.136, 0.918, 0, 0, 0, 45 [SEP] 34, Spoon, 1.607, 0.911, 0.467, 0, 270, 0, 37 [SEP] 35, Bowl, 0.193, 0.900, 1.170, 0, 0, 0, 37 [SEP] 36, Mug, 0.502, 0.940, -1.460, 0, 0, 0, 63 [SEP] 37, CounterTop, 0.989, 0.946, 1.016, 0, 90, 0, [SEP] 38, StoveBurner, 1.807, 0.907, 0.075, 0, 180, 0, [SEP] 39, StoveBurner, 1.807, 0.907, -0.320, 0, 180, 0, [SEP] 40, StoveBurner, 1.543, 0.907, -0.320, 0, 90, 0, [SEP] 41, CounterTop, 0.989, 0.946, -1.516, 0, 90, 0, [SEP] 42, Sink, 1.100, 0.906, -1.599, 0, 0, 0, [SEP] 43, StoveBurner, 1.548, 0.907, 0.075, 0, 180, 0, [SEP] 44, Cabinet, 1.658, 2.299, 1.313, 0, 0, 0, [SEP] 45, Cabinet, 1.658, 2.299, 0.686, 0, 0, 0, [SEP] 46, Cabinet, 1.658, 2.049, 0.673, 0, 0, 0, [SEP] 47, Cabinet, 1.658, 2.059, 0.193, 0, 0, 0, [SEP] 48, Cabinet, 1.658, 2.059, -0.593, 0, 0, 0, [SEP] 49, Cabinet, 1.658, 2.049, -0.606, 0, 0, 0, [SEP] 50, Cabinet, 1.658, 2.049, -1.206, 0, 0, 0, [SEP] 51, Cabinet, 1.658, 2.049, -1.893, 0, 0, 0, [SEP] 52, Toaster, 0.131, 0.900, -1.589, 0, 0, 0, [SEP] 53, Window, -0.372, 1.588, 3.349, 90, 0, 0, [SEP] 54, Window, 0.782, 1.741, -1.893, 90, 0, 0, [SEP] 55, GarbageCan, 1.770, -0.029, 1.685, 0, 270, 0, [SEP] 56, SinkBasin, 1.091, 0.740, -1.599, 0, 0, 0, [SEP] 57, StoveKnob, 1.364, 0.821, 0.086, 48.421, 270, 0, [SEP] 58, StoveKnob, 1.364, 0.821, -0.180, 48.421, 270, 0, [SEP] 59, StoveKnob, 1.364, 0.821, -0.317, 48.421, 270, 0, [SEP] 60, StoveKnob, 1.364, 0.821, -0.054, 48.421, 270, 0, [SEP] 61, Microwave, 1.752, 0.900, -0.843, 0, 270, 0, [SEP] 62, LightSwitch, 2.0, 1.261, 3.094, 0, 270, 0, [SEP] 63, CoffeeMachine, 0.501, 0.900, -1.600, 0, 0, 0, [SEP] 64, Fridge, -0.533, 0.0, -1.554, 0, 0, 0, [SEP] 65, Chair, 1.068, 0.000, 1.752, 0, 191.622, 0, [SEP] 66, Faucet, 1.110, 1.138, -1.764, 0, 270, 0, [SEP] 67, Chair, 0.357, 0.000, 1.710, 0, 178.899, 0, [SEP] 68, NorthWall, , , , , , , [SEP] 69, EastWall, , , , , , , [SEP] 70, SouthWall, , , , , , , [SEP] 71, WestWall, , , , , , , ", "output": ["STEP 1: Turn around, walk to table | STEP 2: Pick up green cup from table | STEP 3: Turn around, walk to microwave | STEP 4: Cook cup in the microwave | STEP 5: Turn left, walk to counter | STEP 6: Put cup on counter in front of bread | END"]} +{"id": "trial_T20190908_182629_798623-0", "input": "Examine a laptop by the light of a lamp. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.5, 0.902, 0.0, 0, 270, 0, [SEP] 1, CD, -0.950, 0.426, -1.752, 0, 0, 0, 36 [SEP] 2, CellPhone, 2.456, 0.821, 0.812, 0, 270, 0, 54 [SEP] 3, CellPhone, 2.461, 0.033, 0.880, 0, 90, 0, 52 [SEP] 4, Pen, 2.579, 0.827, 0.812, 0, 90, 0, 54 [SEP] 5, Pen, 2.394, 0.825, 0.433, 0, 270, 0, 54 [SEP] 6, Pencil, -0.393, 0.049, -1.807, 0, 0, 0, 37 [SEP] 7, KeyChain, 2.601, 0.192, 0.793, 0, 0, 0, 53 [SEP] 8, KeyChain, 2.554, 0.677, -0.128, 0, 0, 0, 49 [SEP] 9, Book, -0.788, 0.730, 0.967, 0, 0, 0, 24 [SEP] 10, Box, 0.252, 0.227, -2.042, 0, 29.078, 0, [SEP] 11, Book, 0.369, 0.730, 0.172, 0, 0, 0, 24 [SEP] 12, Statue, 2.456, 0.827, -0.324, 0, 270, 0, 54 [SEP] 13, CellPhone, 2.703, 0.821, 0.623, 0, 270, 0, 54 [SEP] 14, Pillow, 0.176, 0.809, 0.702, 0, 0, 0, 24 [SEP] 15, Pillow, -0.441, 0.738, 1.64, 0, 348.951, 0, 24 [SEP] 16, BasketBall, -1.231, 0.121, -0.18, 0, 0, 0, [SEP] 17, CreditCard, 2.507, 0.033, 0.618, 0, 0, 0, 52 [SEP] 18, KeyChain, 2.394, 0.820, 0.244, 0, 270, 0, 54 [SEP] 19, Pencil, 2.647, 0.037, -0.215, 0, 0, 0, 56 [SEP] 20, AlarmClock, -0.503, 0.708, -1.724, 0, 0, 0, 38 [SEP] 21, Laptop, -0.016, 0.729, 1.762, 0, 270, 0, 24 [SEP] 22, CD, 2.461, 0.675, 0.046, 0, 0, 0, 54 [SEP] 23, Pen, -0.904, 0.714, -1.779, 0, 0, 0, 34 [SEP] 24, Bed, -0.209, -0.001, 0.983, 0, 0, 0, [SEP] 25, LightSwitch, 0.778, 1.266, 2.128, 0, 180, 0, [SEP] 26, GarbageCan, -1.357, -0.020, -0.928, 0, 0, 0, [SEP] 27, Painting, 2.063, 1.674, -1.865, 83.723, 0, 0, [SEP] 28, HousePlant, -0.808, 0.953, -1.730, 0, 0, 0, [SEP] 29, Painting, 1.871, 0.393, -1.792, 79.235, 0, 0, [SEP] 30, Mirror, 2.842, 1.404, 1.375, 0, 90, 0, [SEP] 31, DeskLamp, 2.676, 0.819, 0.878, 0, 0, 0, [SEP] 32, Window, -1.700, 1.444, -0.542, 90, 90, 0, [SEP] 33, Window, 0.535, 1.412, -2.618, 90, 0, 0, [SEP] 34, Shelf, -0.904, 0.824, -1.754, 0, 0, 0, [SEP] 35, Shelf, -0.802, 0.981, -1.756, 0, 0, 0, [SEP] 36, Shelf, -0.904, 0.555, -1.754, 0, 0, 0, [SEP] 37, Shelf, -0.327, 0.225, -1.754, 0, 0, 0, [SEP] 38, Shelf, -0.439, 0.822, -1.754, 0, 0, 0, [SEP] 39, Shelf, -0.619, 0.981, -1.754, 0, 0, 0, [SEP] 40, Shelf, -0.439, 0.556, -1.754, 0, 0, 0, [SEP] 41, Shelf, -0.709, 0.225, -1.754, 0, 0, 0, [SEP] 42, ShelvingUnit, -0.641, 0.006, -1.745, 0, 0, 0, [SEP] 43, Stool, 0.799, 0.004, -2.105, 0, 0, 0, [SEP] 44, Blinds, 0.542, 2.135, -2.553, 0, 0, 0, [SEP] 45, Blinds, -1.645, 2.145, -0.546, 0, 90, 0, [SEP] 46, Drawer, 2.518, 0.574, 0.623, 0, 270, 0, [SEP] 47, Drawer, 2.517, 0.411, 0.623, 0, 270, 0, [SEP] 48, Drawer, 2.518, 0.732, 0.623, 0, 270, 0, [SEP] 49, Drawer, 2.518, 0.732, -0.119, 0, 270, 0, [SEP] 50, Drawer, 2.517, 0.411, -0.119, 0, 270, 0, [SEP] 51, Drawer, 2.517, 0.247, -0.119, 0, 270, 0, [SEP] 52, Drawer, 2.517, 0.090, 0.623, 0, 270, 0, [SEP] 53, Drawer, 2.517, 0.247, 0.623, 0, 270, 0, [SEP] 54, Dresser, 2.555, 0.003, 0.252, 0, 270, 0, [SEP] 55, Drawer, 2.518, 0.574, -0.119, 0, 270, 0, [SEP] 56, Drawer, 2.517, 0.090, -0.119, 0, 270, 0, [SEP] 57, NorthWall, , , , , , , [SEP] 58, EastWall, , , , , , , [SEP] 59, SouthWall, , , , , , , [SEP] 60, WestWall, , , , , , , ", "output": ["STEP 1: Turn to the right, walk to the door, then turn left and face the bed. | STEP 2: Close the laptop that is on the bed and pick it up. | STEP 3: Turn around completely, walk to the wall, then turn right and face the dresser. | STEP 4: Turn on the lamp that is on the dresser. | END"]} +{"id": "trial_T20190909_135430_613298-1", "input": "Place a box with a watch in it on a chair. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 11.75, 0.902, 1.5, 0, 90, 0, [SEP] 1, Statue, 10.651, 0.597, 1.142, 0, 0, 0, 47 [SEP] 2, Statue, 10.264, 0.597, 0.956, 0, 0, 0, 47 [SEP] 3, Watch, 10.264, 0.591, 0.771, 0, 0, 0, 47 [SEP] 4, Watch, 14.654, 0.518, -0.714, 0, 0, 0, 50 [SEP] 5, Book, 14.252, 0.143, 1.562, 0, 0, 0, 45 [SEP] 6, Book, 9.692, 0.430, 3.216, 0, 0, 0, 48 [SEP] 7, CreditCard, 14.038, 0.754, 0.519, 0, 0, 0, 40 [SEP] 8, CreditCard, 14.693, 0.517, -0.589, 0, 0, 0, 50 [SEP] 9, RemoteControl, 14.526, 0.757, 1.825, 0, 0, 0, 40 [SEP] 10, RemoteControl, 14.199, 0.556, 0.989, 0, 0, 0, 35 [SEP] 11, Box, 14.135, 1.004, 1.564, 0, 0, 0, 40 [SEP] 12, Box, 11.661, 0.706, 3.230, 0, 0, 0, Floor|+09.92| [SEP] 13, Box, 11.232, 0.840, 0.956, 0, 0, 0, 47 [SEP] 14, Book, 10.651, 0.591, 0.771, 0, 0, 0, 47 [SEP] 15, Box, 11.020, 0.706, 3.155, 0, 0, 0, Floor|+09.92| [SEP] 16, CreditCard, 10.264, 0.590, 0.678, 0, 0, 0, 47 [SEP] 17, KeyChain, 11.448, 0.457, 3.081, 0, 0, 0, 55 [SEP] 18, Pillow, 12.048, 0.52, 3.228, 0, 0, 0, 55 [SEP] 19, Statue, 14.233, 0.761, 0.519, 0, 0, 0, 40 [SEP] 20, Laptop, 14.24, 0.747, 2.067, 0, 300.000, 0, 40 [SEP] 21, RemoteControl, 14.538, 0.520, -0.839, 0, 0, 0, 50 [SEP] 22, Watch, 11.232, 0.591, 1.235, 0, 0, 0, 47 [SEP] 23, FloorLamp, 7.864, 0.006, 3.396, 0, 0, 0, [SEP] 24, GarbageCan, 7.785, -0.027, -1.145, 0, 0, 0, [SEP] 25, Painting, 7.492, 1.835, -0.495, 90, 270, 0, [SEP] 26, Painting, 7.492, 1.835, 2.792, 90, 270, 0, [SEP] 27, Television, 14.459, 1.218, 0.925, 358.945, 270, 0, [SEP] 28, LightSwitch, 12.979, 1.399, 3.767, 0, 180, 0, [SEP] 29, Painting, 7.492, 1.779, 1.116, 90, 270, 0, [SEP] 30, Painting, 14.763, 1.753, 1.126, 90, 270, 0, [SEP] 31, HousePlant, 11.374, 0.467, -1.143, 0, 0, 0, [SEP] 32, Window, 12.029, 1.687, -1.595, 90, 180, 0, [SEP] 33, Window, 10.227, 1.687, -1.594, 90, 180, 0, [SEP] 34, Drawer, 14.183, 0.374, 0.556, 0, 270, 0, [SEP] 35, Drawer, 14.183, 0.580, 1.069, 0, 270, 0, [SEP] 36, Drawer, 14.183, 0.580, 2.095, 0, 270, 0, [SEP] 37, Drawer, 14.183, 0.374, 1.582, 0, 270, 0, [SEP] 38, Drawer, 14.183, 0.169, 1.069, 0, 270, 0, [SEP] 39, Drawer, 14.183, 0.374, 1.069, 0, 270, 0, [SEP] 40, Dresser, 14.330, 0.002, 1.323, 0, 270, 0, [SEP] 41, Drawer, 14.183, 0.169, 2.095, 0, 270, 0, [SEP] 42, Drawer, 14.183, 0.374, 2.095, 0, 270, 0, [SEP] 43, Drawer, 14.183, 0.580, 0.556, 0, 270, 0, [SEP] 44, Drawer, 14.183, 0.169, 0.556, 0, 270, 0, [SEP] 45, Drawer, 14.183, 0.169, 1.582, 0, 270, 0, [SEP] 46, Drawer, 14.183, 0.580, 1.582, 0, 270, 0, [SEP] 47, CoffeeTable, 10.821, -0.011, 0.928, 0, 0, 0, [SEP] 48, ArmChair, 9.499, 0.001, 3.265, 0, 180, 0, [SEP] 49, SideTable, 11.377, 0.001, -1.160, 0, 90, 0, [SEP] 50, SideTable, 14.615, -0.001, -0.776, 0, 270, 0, [SEP] 51, SideTable, 14.331, 0.003, 0.069, 0, 0, 0, [SEP] 52, SideTable, 14.331, 0.003, 2.585, 0, 0, 0, [SEP] 53, SideTable, 12.308, 0.001, -1.154, 0, 0, 0, [SEP] 54, Chair, 8.154, 0.006, 1.499, 0, 90, 0, [SEP] 55, Sofa, 11.450, 0.002, 3.211, 0, 180, 0, [SEP] 56, Shelf, 10.794, 0.231, 0.928, 0, 0, 0, [SEP] 57, ArmChair, 8.231, 0.006, 0.769, 0, 90, 0, [SEP] 58, ArmChair, 8.224, 0.006, -0.082, 0, 90, 0, [SEP] 59, NorthWall, , , , , , , [SEP] 60, EastWall, , , , , , , [SEP] 61, SouthWall, , , , , , , [SEP] 62, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk to the right side of the coffee table, facing it. | STEP 2: Pick up the watch on the table. | STEP 3: Turn around and walk to the leftmost cushion of the red couch. | STEP 4: Place the watch in the leftmost box. | STEP 5: Pick up the box. | STEP 6: Walk left to the red chair and face it. | STEP 7: Place the box on the chair, to the left of the book. | END"]} +{"id": "trial_T20190908_015952_015114-1", "input": "Pick up the book on the night stand, turn on the lamp SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.0, 0.901, -0.25, 0, 270, 0, [SEP] 1, Bowl, 1.684, 0.694, -0.739, 0, 0, 0, 28 [SEP] 2, Bowl, 1.461, 0.694, -1.695, 0, 18.354, 0, 28 [SEP] 3, Pen, -0.561, 0.668, 0.470, 0, 180, 0, 31 [SEP] 4, Laptop, -2.046, 0.628, -1.297, 0, 0, 0, 19 [SEP] 5, Pillow, -1.521, 0.703, -0.198, 0, 0, 0, 19 [SEP] 6, Box, -0.015, 0.239, -2.091, 0, 0, 0, [SEP] 7, Book, -0.487, 0.661, 0.600, 0, 180, 0, 31 [SEP] 8, BaseballBat, 1.798, 0.639, 0.425, 0, 0, 342.316, [SEP] 9, Pen, 1.492, 0.479, -0.911, 0, 270, 0, 27 [SEP] 10, Pencil, -0.708, 0.666, 0.556, 0, 180, 0, 31 [SEP] 11, KeyChain, -0.670, 0.370, 0.503, 0, 0, 0, 30 [SEP] 12, Pillow, -1.694, 0.656, 0.415, 0, 0, 0, 19 [SEP] 13, CreditCard, -0.451, 0.090, 0.480, 0, 0, 0, 32 [SEP] 14, CellPhone, -2.046, 0.631, -0.473, 0, 0, 0, 19 [SEP] 15, Laptop, -2.046, 0.628, -0.748, 0, 0, 0, 19 [SEP] 16, CD, -0.451, 0.369, 0.480, 0, 0, 0, 30 [SEP] 17, Bowl, 1.222, 0.686, -2.128, 0, 0, 0, 28 [SEP] 18, AlarmClock, 1.492, 0.475, -0.715, 0, 270, 0, 27 [SEP] 19, Bed, -1.696, 0.004, -0.446, 0, 0, 0, [SEP] 20, Chair, 0.956, -0.000, -1.747, 0, 110.225, 0, [SEP] 21, DeskLamp, -0.440, 0.688, -2.276, 0, 0, 0, [SEP] 22, LightSwitch, 0.625, 1.338, 0.734, 0, 180, 0, [SEP] 23, GarbageCan, 1.660, -0.019, -0.389, 0, 345.008, 0, [SEP] 24, Mirror, 1.300, 1.422, 0.765, 0, 0, 0, [SEP] 25, HousePlant, -0.867, 0.000, -2.286, 0, 0, 0, [SEP] 26, Window, 0.819, 1.496, -2.553, 90, 180, 0, [SEP] 27, Shelf, 1.616, 0.561, -0.802, 0, 0, 0, [SEP] 28, Desk, 0.617, -0.000, -1.511, 0, 0, 0, [SEP] 29, Blinds, 0.796, 2.217, -2.476, 0, 0, 0, [SEP] 30, Drawer, -0.558, 0.456, 0.462, 0, 180, 0, [SEP] 31, SideTable, -0.557, -0.000, 0.529, 0, 180, 0, [SEP] 32, Drawer, -0.558, 0.164, 0.462, 0, 180, 0, [SEP] 33, Desktop, 1.455, 0.692, -1.886, 358.180, 309.674, 0, [SEP] 34, NorthWall, , , , , , , [SEP] 35, EastWall, , , , , , , [SEP] 36, SouthWall, , , , , , , [SEP] 37, WestWall, , , , , , , ", "output": ["STEP 1: Head to the black night stand | STEP 2: Take the book from the night stand | STEP 3: Turn to the left, head to the desk across the room | STEP 4: Turn on the lamp | END"]} +{"id": "trial_T20190907_143054_611815-0", "input": "Put a bowl with a spoon in it in the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 2.25, 0.930, 0.75, 0, 0, 0, [SEP] 1, Pan, 3.173, 1.464, -1.284, 0, 90, 0, 78 [SEP] 2, Potato, 3.044, 0.939, -0.897, 0, 0, 0, 63 [SEP] 3, Potato, -1.018, 1.036, 1.523, 0, 90, 0, 112 [SEP] 4, Ladle, 0.101, 0.937, -1.731, 0, 90, 0, 85 [SEP] 5, Ladle, -0.285, 0.937, -1.450, 0, 135, 0, 85 [SEP] 6, ButterKnife, 0.967, 0.908, 0.038, 0, 0, 0, 95 [SEP] 7, ButterKnife, -0.048, 0.900, -1.584, 0, 45, 0, 85 [SEP] 8, Glassbottle, -0.253, 1.264, -1.531, 0, 45, 0, 81 [SEP] 9, Glassbottle, 3.208, 0.101, 1.573, 0, 225, 0, 105 [SEP] 10, Pot, 1.491, 0.908, 0.605, 0, 0, 0, 95 [SEP] 11, Spatula, 3.152, 0.762, -0.100, 0, 0, 0, 109 [SEP] 12, Spoon, -0.827, 0.707, 1.343, 0, 0, 0, 57 [SEP] 13, Mug, 3.049, 0.966, 0.591, 0, 270, 0, 107 [SEP] 14, Bread, -0.935, 0.979, 0.846, 0, 0, 0, 64 [SEP] 15, SaltShaker, -1.043, 0.896, -0.691, 0, 45, 0, 64 [SEP] 16, Bowl, 2.976, 1.461, -1.648, 0, 0, 0, 62 [SEP] 17, Bowl, 3.044, 0.897, -0.698, 0, 0, 0, 63 [SEP] 18, Bowl, -0.675, 0.897, -0.753, 0, 45, 0, 64 [SEP] 19, SoapBottle, -0.131, 0.909, -1.296, 0, 45, 0, 85 [SEP] 20, SoapBottle, 0.856, 1.683, -1.619, 0, 0, 0, 79 [SEP] 21, Egg, -1.052, 1.050, 1.364, 0, 90, 0, 112 [SEP] 22, Egg, 3.277, 0.953, -0.798, 0, 0, 0, 63 [SEP] 23, Plate, -1.008, 0.913, 0.399, 0, 0, 0, 64 [SEP] 24, Knife, 0.781, 0.933, 0.452, 0, 36.810, 0, 95 [SEP] 25, Plate, 3.140, 0.190, 0.700, 0, 0, 0, 73 [SEP] 26, Glassbottle, 3.152, 0.748, -0.034, 0, 90, 0, 109 [SEP] 27, SoapBottle, 3.279, 1.273, -0.917, 0, 0, 0, 77 [SEP] 28, Potato, 1.086, 1.111, -1.448, 0, 0, 0, 110 [SEP] 29, Fork, 3.152, 0.713, -0.408, 0, 270, 0, 60 [SEP] 30, Ladle, -0.932, 0.937, -0.801, 0, 135, 0, 64 [SEP] 31, Pot, 0.423, 0.900, 0.869, 0, 0, 0, 95 [SEP] 32, Kettle, -0.600, 0.902, -1.090, 0, 135, 0, 53 [SEP] 33, Spatula, 0.151, 0.915, -1.476, 0, 45, 0, 85 [SEP] 34, Knife, 0.622, 0.936, 0.727, 0, 0, 0, 95 [SEP] 35, Lettuce, 0.840, 0.765, -1.422, 27.470, 0, 0, 110 [SEP] 36, Cup, 3.197, 0.175, 0.489, 0, 0, 0, 73 [SEP] 37, SaltShaker, -0.745, 0.322, 0.401, 0, 0, 0, 65 [SEP] 38, Egg, 3.200, 0.953, -0.698, 0, 0, 0, 63 [SEP] 39, PepperShaker, 3.279, 1.260, -0.822, 0, 0, 0, 77 [SEP] 40, ButterKnife, -0.868, 0.326, -0.011, 0, 0, 0, 69 [SEP] 41, Apple, 0.887, 0.984, 0.627, 0, 0, 0, 95 [SEP] 42, Pan, 1.098, 0.907, 0.322, 0, 270, 0, 95 [SEP] 43, Bread, 0.494, 0.986, 0.301, 0, 36.810, 0, 95 [SEP] 44, CellPhone, -0.868, 0.515, 0.163, 0, 0, 0, 69 [SEP] 45, DishSponge, 1.160, 1.674, -1.410, 0, 0, 0, 55 [SEP] 46, Tomato, 1.164, 0.748, -1.433, 0, 0, 0, 110 [SEP] 47, Spoon, 1.229, 0.909, 0.889, 0, 0, 0, 95 [SEP] 48, Bowl, 1.255, 1.671, -1.550, 0, 0, 0, 55 [SEP] 49, Mug, 0.404, 1.254, -1.741, 0, 0, 0, 80 [SEP] 50, Drawer, 0.376, 0.572, -1.509, 0, 0, 0, [SEP] 51, Drawer, 3.020, 0.769, -0.783, 0, 180, 0, [SEP] 52, Drawer, -0.860, 0.577, 1.429, 0, 0, 0, [SEP] 53, StoveBurner, -0.600, 0.897, -1.090, 0, 135, 0, [SEP] 54, Drawer, 0.376, 0.191, -1.509, 0, 0, 0, [SEP] 55, Cabinet, 1.402, 1.874, -1.259, 0, 0, 0, [SEP] 56, Cabinet, -0.202, 1.963, -1.328, 0, 0, 0, [SEP] 57, Drawer, -0.860, 0.765, 1.429, 0, 0, 0, [SEP] 58, Drawer, -0.677, 0.765, -0.700, 0, 0, 0, [SEP] 59, StoveBurner, -0.420, 0.897, -0.920, 0, 135, 0, [SEP] 60, Drawer, 3.020, 0.769, -0.407, 0, 180, 0, [SEP] 61, Drawer, -0.860, 0.577, 0.663, 0, 0, 0, [SEP] 62, Cabinet, 2.819, 1.768, -1.850, 0, 0, 0, [SEP] 63, CounterTop, 3.111, 0.936, 0.019, 0, 0, 0, [SEP] 64, CounterTop, -1.007, 0.935, -0.039, 0, 0, 0, [SEP] 65, Drawer, -0.860, 0.385, 0.663, 0, 0, 0, [SEP] 66, StoveBurner, -0.419, 0.897, -1.269, 0, 315, 0, [SEP] 67, Drawer, -0.047, 0.573, -1.324, 0, 0, 0, [SEP] 68, Drawer, -0.860, 0.765, 0.663, 0, 0, 0, [SEP] 69, Drawer, -0.860, 0.385, -0.100, 0, 0, 0, [SEP] 70, Drawer, 0.376, 0.380, -1.509, 0, 0, 0, [SEP] 71, Drawer, -0.860, 0.765, -0.100, 0, 0, 0, [SEP] 72, Drawer, 0.376, 0.765, -1.509, 0, 0, 0, [SEP] 73, Cabinet, 2.849, 0.419, 0.409, 0, 0, 0, [SEP] 74, Drawer, -0.047, 0.765, -1.324, 0, 0, 0, [SEP] 75, Cabinet, 2.849, 0.419, -0.610, 0, 0, 0, [SEP] 76, Cabinet, 2.849, 0.419, -0.959, 0, 0, 0, [SEP] 77, Cabinet, 3.069, 1.666, -0.709, 0, 0, 0, [SEP] 78, Cabinet, 2.819, 1.768, -1.047, 0, 0, 0, [SEP] 79, Cabinet, 0.620, 1.874, -1.259, 0, 0, 0, [SEP] 80, Cabinet, 0.140, 1.666, -1.559, 0, 0, 0, [SEP] 81, Cabinet, -0.189, 1.666, -1.340, 0, 0, 0, [SEP] 82, Cabinet, -0.709, 1.963, -0.819, 0, 0, 0, [SEP] 83, Cabinet, -0.920, 1.665, -0.620, 0, 0, 0, [SEP] 84, Drawer, -0.860, 0.190, -0.100, 0, 0, 0, [SEP] 85, CounterTop, 0.133, 0.935, -1.457, 0, 0, 0, [SEP] 86, Drawer, 3.020, 0.769, 0.695, 0, 180, 0, [SEP] 87, Drawer, -0.677, 0.577, -0.700, 0, 0, 0, [SEP] 88, Drawer, -0.860, 0.190, 1.429, 0, 0, 0, [SEP] 89, Drawer, -0.047, 0.192, -1.324, 0, 0, 0, [SEP] 90, Drawer, -0.677, 0.193, -0.700, 0, 0, 0, [SEP] 91, Drawer, -0.860, 0.577, -0.100, 0, 0, 0, [SEP] 92, Sink, 3.078, 0.887, 0.086, 0, 0, 0, [SEP] 93, StoveBurner, -0.239, 0.897, -1.089, 0, 315, 0, [SEP] 94, Drawer, -0.860, 0.190, 0.663, 0, 0, 0, [SEP] 95, CounterTop, 1.210, 0.937, 0.463, 0, 0, 0, [SEP] 96, Drawer, -0.047, 0.381, -1.324, 0, 0, 0, [SEP] 97, Drawer, -0.677, 0.387, -0.700, 0, 0, 0, [SEP] 98, Mirror, -1.295, 1.630, 0.045, 0, 0, 0, [SEP] 99, Drawer, -0.860, 0.385, 1.429, 0, 0, 0, [SEP] 100, HousePlant, 3.196, 0.891, -0.368, 0, 0, 0, [SEP] 101, StoveKnob, -0.090, 0.790, -1.009, 270, 45, 0, [SEP] 102, StoveKnob, -0.280, 0.790, -0.819, 270, 45, 0, [SEP] 103, StoveKnob, -0.180, 0.790, -0.920, 270, 45, 0, [SEP] 104, StoveKnob, -0.370, 0.790, -0.720, 270, 45, 0, [SEP] 105, GarbageCan, 3.137, 0.025, 1.545, 0, 225, 0, [SEP] 106, Window, 3.703, 1.675, 0.046, 90, 90, 0, [SEP] 107, CoffeeMachine, 3.214, 0.890, 0.697, 0, 270, 0, [SEP] 108, LightSwitch, 2.592, 1.309, -1.880, 0, 0, 0, [SEP] 109, SinkBasin, 3.069, 0.736, 0.108, 0, 90, 0, [SEP] 110, Fridge, 1.008, 0.029, -1.467, 0, 0, 0, [SEP] 111, Toaster, -1.035, 0.873, -0.396, 0, 90, 0, [SEP] 112, Microwave, -1.034, 0.874, 1.428, 0, 90, 0, [SEP] 113, Faucet, 3.305, 0.886, 0.094, 270, 180, 0, [SEP] 114, NorthWall, , , , , , , [SEP] 115, EastWall, , , , , , , [SEP] 116, SouthWall, , , , , , , [SEP] 117, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and go around the kitchen island to approach the stove. | STEP 2: Take the spoon from the counter, behind the bowl. | STEP 3: Put the spoon in the bowl on the counter. | STEP 4: Pick up the bowl with the spoon in it. | STEP 5: Turn around, then turn left around the kitchen island, then right to face the sink. | STEP 6: Put the bowl in the sink. | END"]} +{"id": "trial_T20190907_143054_611815-3", "input": "Put a bowl with the spoon in it in the sink SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 2.25, 0.930, 0.75, 0, 0, 0, [SEP] 1, Pan, 3.173, 1.464, -1.284, 0, 90, 0, 78 [SEP] 2, Potato, 3.044, 0.939, -0.897, 0, 0, 0, 63 [SEP] 3, Potato, -1.018, 1.036, 1.523, 0, 90, 0, 112 [SEP] 4, Ladle, 0.101, 0.937, -1.731, 0, 90, 0, 85 [SEP] 5, Ladle, -0.285, 0.937, -1.450, 0, 135, 0, 85 [SEP] 6, ButterKnife, 0.967, 0.908, 0.038, 0, 0, 0, 95 [SEP] 7, ButterKnife, -0.048, 0.900, -1.584, 0, 45, 0, 85 [SEP] 8, Glassbottle, -0.253, 1.264, -1.531, 0, 45, 0, 81 [SEP] 9, Glassbottle, 3.208, 0.101, 1.573, 0, 225, 0, 105 [SEP] 10, Pot, 1.491, 0.908, 0.605, 0, 0, 0, 95 [SEP] 11, Spatula, 3.152, 0.762, -0.100, 0, 0, 0, 109 [SEP] 12, Spoon, -0.827, 0.707, 1.343, 0, 0, 0, 57 [SEP] 13, Mug, 3.049, 0.966, 0.591, 0, 270, 0, 107 [SEP] 14, Bread, -0.935, 0.979, 0.846, 0, 0, 0, 64 [SEP] 15, SaltShaker, -1.043, 0.896, -0.691, 0, 45, 0, 64 [SEP] 16, Bowl, 2.976, 1.461, -1.648, 0, 0, 0, 62 [SEP] 17, Bowl, 3.044, 0.897, -0.698, 0, 0, 0, 63 [SEP] 18, Bowl, -0.675, 0.897, -0.753, 0, 45, 0, 64 [SEP] 19, SoapBottle, -0.131, 0.909, -1.296, 0, 45, 0, 85 [SEP] 20, SoapBottle, 0.856, 1.683, -1.619, 0, 0, 0, 79 [SEP] 21, Egg, -1.052, 1.050, 1.364, 0, 90, 0, 112 [SEP] 22, Egg, 3.277, 0.953, -0.798, 0, 0, 0, 63 [SEP] 23, Plate, -1.008, 0.913, 0.399, 0, 0, 0, 64 [SEP] 24, Knife, 0.781, 0.933, 0.452, 0, 36.810, 0, 95 [SEP] 25, Plate, 3.140, 0.190, 0.700, 0, 0, 0, 73 [SEP] 26, Glassbottle, 3.152, 0.748, -0.034, 0, 90, 0, 109 [SEP] 27, SoapBottle, 3.279, 1.273, -0.917, 0, 0, 0, 77 [SEP] 28, Potato, 1.086, 1.111, -1.448, 0, 0, 0, 110 [SEP] 29, Fork, 3.152, 0.713, -0.408, 0, 270, 0, 60 [SEP] 30, Ladle, -0.932, 0.937, -0.801, 0, 135, 0, 64 [SEP] 31, Pot, 0.423, 0.900, 0.869, 0, 0, 0, 95 [SEP] 32, Kettle, -0.600, 0.902, -1.090, 0, 135, 0, 53 [SEP] 33, Spatula, 0.151, 0.915, -1.476, 0, 45, 0, 85 [SEP] 34, Knife, 0.622, 0.936, 0.727, 0, 0, 0, 95 [SEP] 35, Lettuce, 0.840, 0.765, -1.422, 27.470, 0, 0, 110 [SEP] 36, Cup, 3.197, 0.175, 0.489, 0, 0, 0, 73 [SEP] 37, SaltShaker, -0.745, 0.322, 0.401, 0, 0, 0, 65 [SEP] 38, Egg, 3.200, 0.953, -0.698, 0, 0, 0, 63 [SEP] 39, PepperShaker, 3.279, 1.260, -0.822, 0, 0, 0, 77 [SEP] 40, ButterKnife, -0.868, 0.326, -0.011, 0, 0, 0, 69 [SEP] 41, Apple, 0.887, 0.984, 0.627, 0, 0, 0, 95 [SEP] 42, Pan, 1.098, 0.907, 0.322, 0, 270, 0, 95 [SEP] 43, Bread, 0.494, 0.986, 0.301, 0, 36.810, 0, 95 [SEP] 44, CellPhone, -0.868, 0.515, 0.163, 0, 0, 0, 69 [SEP] 45, DishSponge, 1.160, 1.674, -1.410, 0, 0, 0, 55 [SEP] 46, Tomato, 1.164, 0.748, -1.433, 0, 0, 0, 110 [SEP] 47, Spoon, 1.229, 0.909, 0.889, 0, 0, 0, 95 [SEP] 48, Bowl, 1.255, 1.671, -1.550, 0, 0, 0, 55 [SEP] 49, Mug, 0.404, 1.254, -1.741, 0, 0, 0, 80 [SEP] 50, Drawer, 0.376, 0.572, -1.509, 0, 0, 0, [SEP] 51, Drawer, 3.020, 0.769, -0.783, 0, 180, 0, [SEP] 52, Drawer, -0.860, 0.577, 1.429, 0, 0, 0, [SEP] 53, StoveBurner, -0.600, 0.897, -1.090, 0, 135, 0, [SEP] 54, Drawer, 0.376, 0.191, -1.509, 0, 0, 0, [SEP] 55, Cabinet, 1.402, 1.874, -1.259, 0, 0, 0, [SEP] 56, Cabinet, -0.202, 1.963, -1.328, 0, 0, 0, [SEP] 57, Drawer, -0.860, 0.765, 1.429, 0, 0, 0, [SEP] 58, Drawer, -0.677, 0.765, -0.700, 0, 0, 0, [SEP] 59, StoveBurner, -0.420, 0.897, -0.920, 0, 135, 0, [SEP] 60, Drawer, 3.020, 0.769, -0.407, 0, 180, 0, [SEP] 61, Drawer, -0.860, 0.577, 0.663, 0, 0, 0, [SEP] 62, Cabinet, 2.819, 1.768, -1.850, 0, 0, 0, [SEP] 63, CounterTop, 3.111, 0.936, 0.019, 0, 0, 0, [SEP] 64, CounterTop, -1.007, 0.935, -0.039, 0, 0, 0, [SEP] 65, Drawer, -0.860, 0.385, 0.663, 0, 0, 0, [SEP] 66, StoveBurner, -0.419, 0.897, -1.269, 0, 315, 0, [SEP] 67, Drawer, -0.047, 0.573, -1.324, 0, 0, 0, [SEP] 68, Drawer, -0.860, 0.765, 0.663, 0, 0, 0, [SEP] 69, Drawer, -0.860, 0.385, -0.100, 0, 0, 0, [SEP] 70, Drawer, 0.376, 0.380, -1.509, 0, 0, 0, [SEP] 71, Drawer, -0.860, 0.765, -0.100, 0, 0, 0, [SEP] 72, Drawer, 0.376, 0.765, -1.509, 0, 0, 0, [SEP] 73, Cabinet, 2.849, 0.419, 0.409, 0, 0, 0, [SEP] 74, Drawer, -0.047, 0.765, -1.324, 0, 0, 0, [SEP] 75, Cabinet, 2.849, 0.419, -0.610, 0, 0, 0, [SEP] 76, Cabinet, 2.849, 0.419, -0.959, 0, 0, 0, [SEP] 77, Cabinet, 3.069, 1.666, -0.709, 0, 0, 0, [SEP] 78, Cabinet, 2.819, 1.768, -1.047, 0, 0, 0, [SEP] 79, Cabinet, 0.620, 1.874, -1.259, 0, 0, 0, [SEP] 80, Cabinet, 0.140, 1.666, -1.559, 0, 0, 0, [SEP] 81, Cabinet, -0.189, 1.666, -1.340, 0, 0, 0, [SEP] 82, Cabinet, -0.709, 1.963, -0.819, 0, 0, 0, [SEP] 83, Cabinet, -0.920, 1.665, -0.620, 0, 0, 0, [SEP] 84, Drawer, -0.860, 0.190, -0.100, 0, 0, 0, [SEP] 85, CounterTop, 0.133, 0.935, -1.457, 0, 0, 0, [SEP] 86, Drawer, 3.020, 0.769, 0.695, 0, 180, 0, [SEP] 87, Drawer, -0.677, 0.577, -0.700, 0, 0, 0, [SEP] 88, Drawer, -0.860, 0.190, 1.429, 0, 0, 0, [SEP] 89, Drawer, -0.047, 0.192, -1.324, 0, 0, 0, [SEP] 90, Drawer, -0.677, 0.193, -0.700, 0, 0, 0, [SEP] 91, Drawer, -0.860, 0.577, -0.100, 0, 0, 0, [SEP] 92, Sink, 3.078, 0.887, 0.086, 0, 0, 0, [SEP] 93, StoveBurner, -0.239, 0.897, -1.089, 0, 315, 0, [SEP] 94, Drawer, -0.860, 0.190, 0.663, 0, 0, 0, [SEP] 95, CounterTop, 1.210, 0.937, 0.463, 0, 0, 0, [SEP] 96, Drawer, -0.047, 0.381, -1.324, 0, 0, 0, [SEP] 97, Drawer, -0.677, 0.387, -0.700, 0, 0, 0, [SEP] 98, Mirror, -1.295, 1.630, 0.045, 0, 0, 0, [SEP] 99, Drawer, -0.860, 0.385, 1.429, 0, 0, 0, [SEP] 100, HousePlant, 3.196, 0.891, -0.368, 0, 0, 0, [SEP] 101, StoveKnob, -0.090, 0.790, -1.009, 270, 45, 0, [SEP] 102, StoveKnob, -0.280, 0.790, -0.819, 270, 45, 0, [SEP] 103, StoveKnob, -0.180, 0.790, -0.920, 270, 45, 0, [SEP] 104, StoveKnob, -0.370, 0.790, -0.720, 270, 45, 0, [SEP] 105, GarbageCan, 3.137, 0.025, 1.545, 0, 225, 0, [SEP] 106, Window, 3.703, 1.675, 0.046, 90, 90, 0, [SEP] 107, CoffeeMachine, 3.214, 0.890, 0.697, 0, 270, 0, [SEP] 108, LightSwitch, 2.592, 1.309, -1.880, 0, 0, 0, [SEP] 109, SinkBasin, 3.069, 0.736, 0.108, 0, 90, 0, [SEP] 110, Fridge, 1.008, 0.029, -1.467, 0, 0, 0, [SEP] 111, Toaster, -1.035, 0.873, -0.396, 0, 90, 0, [SEP] 112, Microwave, -1.034, 0.874, 1.428, 0, 90, 0, [SEP] 113, Faucet, 3.305, 0.886, 0.094, 270, 180, 0, [SEP] 114, NorthWall, , , , , , , [SEP] 115, EastWall, , , , , , , [SEP] 116, SouthWall, , , , , , , [SEP] 117, WestWall, , , , , , , ", "output": ["STEP 1: Turn around, then turn to your right until you face the stove | STEP 2: Pick up a spoon from the kitchen counter | STEP 3: Place the spoon into the bowl | STEP 4: Pick up the bowl with the spoon in it | STEP 5: Turn around and move until you are facing the sink | STEP 6: Put the bowl with the spoon in it in the sink | END"]} +{"id": "trial_T20190907_143054_611815-4", "input": "Put a container with a spoon in a sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 2.25, 0.930, 0.75, 0, 0, 0, [SEP] 1, Pan, 3.173, 1.464, -1.284, 0, 90, 0, 78 [SEP] 2, Potato, 3.044, 0.939, -0.897, 0, 0, 0, 63 [SEP] 3, Potato, -1.018, 1.036, 1.523, 0, 90, 0, 112 [SEP] 4, Ladle, 0.101, 0.937, -1.731, 0, 90, 0, 85 [SEP] 5, Ladle, -0.285, 0.937, -1.450, 0, 135, 0, 85 [SEP] 6, ButterKnife, 0.967, 0.908, 0.038, 0, 0, 0, 95 [SEP] 7, ButterKnife, -0.048, 0.900, -1.584, 0, 45, 0, 85 [SEP] 8, Glassbottle, -0.253, 1.264, -1.531, 0, 45, 0, 81 [SEP] 9, Glassbottle, 3.208, 0.101, 1.573, 0, 225, 0, 105 [SEP] 10, Pot, 1.491, 0.908, 0.605, 0, 0, 0, 95 [SEP] 11, Spatula, 3.152, 0.762, -0.100, 0, 0, 0, 109 [SEP] 12, Spoon, -0.827, 0.707, 1.343, 0, 0, 0, 57 [SEP] 13, Mug, 3.049, 0.966, 0.591, 0, 270, 0, 107 [SEP] 14, Bread, -0.935, 0.979, 0.846, 0, 0, 0, 64 [SEP] 15, SaltShaker, -1.043, 0.896, -0.691, 0, 45, 0, 64 [SEP] 16, Bowl, 2.976, 1.461, -1.648, 0, 0, 0, 62 [SEP] 17, Bowl, 3.044, 0.897, -0.698, 0, 0, 0, 63 [SEP] 18, Bowl, -0.675, 0.897, -0.753, 0, 45, 0, 64 [SEP] 19, SoapBottle, -0.131, 0.909, -1.296, 0, 45, 0, 85 [SEP] 20, SoapBottle, 0.856, 1.683, -1.619, 0, 0, 0, 79 [SEP] 21, Egg, -1.052, 1.050, 1.364, 0, 90, 0, 112 [SEP] 22, Egg, 3.277, 0.953, -0.798, 0, 0, 0, 63 [SEP] 23, Plate, -1.008, 0.913, 0.399, 0, 0, 0, 64 [SEP] 24, Knife, 0.781, 0.933, 0.452, 0, 36.810, 0, 95 [SEP] 25, Plate, 3.140, 0.190, 0.700, 0, 0, 0, 73 [SEP] 26, Glassbottle, 3.152, 0.748, -0.034, 0, 90, 0, 109 [SEP] 27, SoapBottle, 3.279, 1.273, -0.917, 0, 0, 0, 77 [SEP] 28, Potato, 1.086, 1.111, -1.448, 0, 0, 0, 110 [SEP] 29, Fork, 3.152, 0.713, -0.408, 0, 270, 0, 60 [SEP] 30, Ladle, -0.932, 0.937, -0.801, 0, 135, 0, 64 [SEP] 31, Pot, 0.423, 0.900, 0.869, 0, 0, 0, 95 [SEP] 32, Kettle, -0.600, 0.902, -1.090, 0, 135, 0, 53 [SEP] 33, Spatula, 0.151, 0.915, -1.476, 0, 45, 0, 85 [SEP] 34, Knife, 0.622, 0.936, 0.727, 0, 0, 0, 95 [SEP] 35, Lettuce, 0.840, 0.765, -1.422, 27.470, 0, 0, 110 [SEP] 36, Cup, 3.197, 0.175, 0.489, 0, 0, 0, 73 [SEP] 37, SaltShaker, -0.745, 0.322, 0.401, 0, 0, 0, 65 [SEP] 38, Egg, 3.200, 0.953, -0.698, 0, 0, 0, 63 [SEP] 39, PepperShaker, 3.279, 1.260, -0.822, 0, 0, 0, 77 [SEP] 40, ButterKnife, -0.868, 0.326, -0.011, 0, 0, 0, 69 [SEP] 41, Apple, 0.887, 0.984, 0.627, 0, 0, 0, 95 [SEP] 42, Pan, 1.098, 0.907, 0.322, 0, 270, 0, 95 [SEP] 43, Bread, 0.494, 0.986, 0.301, 0, 36.810, 0, 95 [SEP] 44, CellPhone, -0.868, 0.515, 0.163, 0, 0, 0, 69 [SEP] 45, DishSponge, 1.160, 1.674, -1.410, 0, 0, 0, 55 [SEP] 46, Tomato, 1.164, 0.748, -1.433, 0, 0, 0, 110 [SEP] 47, Spoon, 1.229, 0.909, 0.889, 0, 0, 0, 95 [SEP] 48, Bowl, 1.255, 1.671, -1.550, 0, 0, 0, 55 [SEP] 49, Mug, 0.404, 1.254, -1.741, 0, 0, 0, 80 [SEP] 50, Drawer, 0.376, 0.572, -1.509, 0, 0, 0, [SEP] 51, Drawer, 3.020, 0.769, -0.783, 0, 180, 0, [SEP] 52, Drawer, -0.860, 0.577, 1.429, 0, 0, 0, [SEP] 53, StoveBurner, -0.600, 0.897, -1.090, 0, 135, 0, [SEP] 54, Drawer, 0.376, 0.191, -1.509, 0, 0, 0, [SEP] 55, Cabinet, 1.402, 1.874, -1.259, 0, 0, 0, [SEP] 56, Cabinet, -0.202, 1.963, -1.328, 0, 0, 0, [SEP] 57, Drawer, -0.860, 0.765, 1.429, 0, 0, 0, [SEP] 58, Drawer, -0.677, 0.765, -0.700, 0, 0, 0, [SEP] 59, StoveBurner, -0.420, 0.897, -0.920, 0, 135, 0, [SEP] 60, Drawer, 3.020, 0.769, -0.407, 0, 180, 0, [SEP] 61, Drawer, -0.860, 0.577, 0.663, 0, 0, 0, [SEP] 62, Cabinet, 2.819, 1.768, -1.850, 0, 0, 0, [SEP] 63, CounterTop, 3.111, 0.936, 0.019, 0, 0, 0, [SEP] 64, CounterTop, -1.007, 0.935, -0.039, 0, 0, 0, [SEP] 65, Drawer, -0.860, 0.385, 0.663, 0, 0, 0, [SEP] 66, StoveBurner, -0.419, 0.897, -1.269, 0, 315, 0, [SEP] 67, Drawer, -0.047, 0.573, -1.324, 0, 0, 0, [SEP] 68, Drawer, -0.860, 0.765, 0.663, 0, 0, 0, [SEP] 69, Drawer, -0.860, 0.385, -0.100, 0, 0, 0, [SEP] 70, Drawer, 0.376, 0.380, -1.509, 0, 0, 0, [SEP] 71, Drawer, -0.860, 0.765, -0.100, 0, 0, 0, [SEP] 72, Drawer, 0.376, 0.765, -1.509, 0, 0, 0, [SEP] 73, Cabinet, 2.849, 0.419, 0.409, 0, 0, 0, [SEP] 74, Drawer, -0.047, 0.765, -1.324, 0, 0, 0, [SEP] 75, Cabinet, 2.849, 0.419, -0.610, 0, 0, 0, [SEP] 76, Cabinet, 2.849, 0.419, -0.959, 0, 0, 0, [SEP] 77, Cabinet, 3.069, 1.666, -0.709, 0, 0, 0, [SEP] 78, Cabinet, 2.819, 1.768, -1.047, 0, 0, 0, [SEP] 79, Cabinet, 0.620, 1.874, -1.259, 0, 0, 0, [SEP] 80, Cabinet, 0.140, 1.666, -1.559, 0, 0, 0, [SEP] 81, Cabinet, -0.189, 1.666, -1.340, 0, 0, 0, [SEP] 82, Cabinet, -0.709, 1.963, -0.819, 0, 0, 0, [SEP] 83, Cabinet, -0.920, 1.665, -0.620, 0, 0, 0, [SEP] 84, Drawer, -0.860, 0.190, -0.100, 0, 0, 0, [SEP] 85, CounterTop, 0.133, 0.935, -1.457, 0, 0, 0, [SEP] 86, Drawer, 3.020, 0.769, 0.695, 0, 180, 0, [SEP] 87, Drawer, -0.677, 0.577, -0.700, 0, 0, 0, [SEP] 88, Drawer, -0.860, 0.190, 1.429, 0, 0, 0, [SEP] 89, Drawer, -0.047, 0.192, -1.324, 0, 0, 0, [SEP] 90, Drawer, -0.677, 0.193, -0.700, 0, 0, 0, [SEP] 91, Drawer, -0.860, 0.577, -0.100, 0, 0, 0, [SEP] 92, Sink, 3.078, 0.887, 0.086, 0, 0, 0, [SEP] 93, StoveBurner, -0.239, 0.897, -1.089, 0, 315, 0, [SEP] 94, Drawer, -0.860, 0.190, 0.663, 0, 0, 0, [SEP] 95, CounterTop, 1.210, 0.937, 0.463, 0, 0, 0, [SEP] 96, Drawer, -0.047, 0.381, -1.324, 0, 0, 0, [SEP] 97, Drawer, -0.677, 0.387, -0.700, 0, 0, 0, [SEP] 98, Mirror, -1.295, 1.630, 0.045, 0, 0, 0, [SEP] 99, Drawer, -0.860, 0.385, 1.429, 0, 0, 0, [SEP] 100, HousePlant, 3.196, 0.891, -0.368, 0, 0, 0, [SEP] 101, StoveKnob, -0.090, 0.790, -1.009, 270, 45, 0, [SEP] 102, StoveKnob, -0.280, 0.790, -0.819, 270, 45, 0, [SEP] 103, StoveKnob, -0.180, 0.790, -0.920, 270, 45, 0, [SEP] 104, StoveKnob, -0.370, 0.790, -0.720, 270, 45, 0, [SEP] 105, GarbageCan, 3.137, 0.025, 1.545, 0, 225, 0, [SEP] 106, Window, 3.703, 1.675, 0.046, 90, 90, 0, [SEP] 107, CoffeeMachine, 3.214, 0.890, 0.697, 0, 270, 0, [SEP] 108, LightSwitch, 2.592, 1.309, -1.880, 0, 0, 0, [SEP] 109, SinkBasin, 3.069, 0.736, 0.108, 0, 90, 0, [SEP] 110, Fridge, 1.008, 0.029, -1.467, 0, 0, 0, [SEP] 111, Toaster, -1.035, 0.873, -0.396, 0, 90, 0, [SEP] 112, Microwave, -1.034, 0.874, 1.428, 0, 90, 0, [SEP] 113, Faucet, 3.305, 0.886, 0.094, 270, 180, 0, [SEP] 114, NorthWall, , , , , , , [SEP] 115, EastWall, , , , , , , [SEP] 116, SouthWall, , , , , , , [SEP] 117, WestWall, , , , , , , ", "output": ["STEP 1: Turn around, hang a right at the white door and cross the room towards the stove. | STEP 2: Pick up the spoon to the right of the stove on the counter top. | STEP 3: Put the spoon inside the clear container on the counter. | STEP 4: Pick up the container with the spoon from the counter. | STEP 5: Turn around and cross the room to reach the counter to the right of the sink. | STEP 6: Place the container with the spoon inside the sink. | END"]} +{"id": "trial_T20190909_002412_992537-0", "input": "Rinse a tomato and place it on the counter. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 1.124, 1.25, 0, 270, 0, [SEP] 1, Pan, 1.053, 0.344, -1.854, 0, 90, 0, 49 [SEP] 2, Potato, 1.246, 1.350, 0.965, 0, 270, 0, 75 [SEP] 3, DishSponge, -1.614, 0.343, 1.007, 0, 0, 0, 51 [SEP] 4, Kettle, -1.886, 0.344, 1.420, 0, 0, 0, 51 [SEP] 5, Kettle, -1.681, 0.344, 0.211, 0, 90, 0, 48 [SEP] 6, Fork, -1.603, 0.420, -1.152, 0, 0, 0, 56 [SEP] 7, Spatula, -2.049, 1.337, 1.744, 0, 0, 0, 50 [SEP] 8, Spatula, -1.165, 1.337, -3.314, 0, 0, 0, 50 [SEP] 9, Pot, 0.896, 1.329, -2.053, 0, 0, 0, 50 [SEP] 10, Egg, 1.110, 1.248, 1.238, 0, 0, 0, 75 [SEP] 11, SoapBottle, -1.602, 0.344, -1.763, 0, 0, 0, 46 [SEP] 12, Tomato, 1.056, 1.791, 2.112, 0, 270, 0, 63 [SEP] 13, Tomato, -1.381, 1.356, -1.035, 0, 0, 0, 50 [SEP] 14, Bowl, 0.824, 0.343, -2.267, 0, 180, 0, 49 [SEP] 15, SaltShaker, -1.920, 1.318, -2.981, 0, 0, 0, 50 [SEP] 16, PepperShaker, 1.193, 1.202, 1.254, 0, 0, 0, 75 [SEP] 17, PepperShaker, -1.530, 1.318, 1.744, 0, 0, 0, 50 [SEP] 18, Lettuce, -1.826, 1.409, -1.255, 0, 0, 0, 57 [SEP] 19, Mug, -1.817, 0.338, 0.613, 0, 0, 0, 48 [SEP] 20, Apple, -1.634, 0.329, 2.193, 0, 270, 0, 65 [SEP] 21, Apple, 1.181, 1.359, 0.810, 0, 270, 0, 75 [SEP] 22, Bread, -1.790, 1.397, 0.445, 0, 0, 0, 50 [SEP] 23, Pot, -0.630, 1.331, -3.301, 0, 180, 0, 47 [SEP] 24, Knife, -1.920, 1.352, 1.744, 0, 0, 0, 50 [SEP] 25, Bowl, -1.660, 1.321, 1.744, 0, 0, 0, 50 [SEP] 26, Potato, -2.179, 1.362, 0.770, 0, 0, 0, 50 [SEP] 27, SoapBottle, -1.826, 1.333, -0.980, 0, 0, 0, 57 [SEP] 28, Fork, -1.915, 1.336, -0.911, 0, 0, 0, 57 [SEP] 29, Cup, -2.004, 1.334, -1.049, 0, 0, 0, 57 [SEP] 30, Kettle, -1.884, 0.344, 0.311, 0, 0, 0, 48 [SEP] 31, Egg, -2.093, 1.375, -1.255, 0, 0, 0, 57 [SEP] 32, Pan, -1.165, 1.322, -2.870, 0, 90, 0, 50 [SEP] 33, SaltShaker, 1.027, 1.202, 1.238, 0, 0, 0, 75 [SEP] 34, WineBottle, -2.049, 1.323, 2.069, 0, 0, 0, 50 [SEP] 35, Lettuce, 1.017, 1.751, 1.722, 0, 270, 0, 63 [SEP] 36, Spatula, 1.155, 1.337, -2.424, 0, 0, 0, 50 [SEP] 37, PaperTowelRoll, -1.660, 1.427, 1.094, 0, 0, 0, 50 [SEP] 38, Tomato, 0.911, 2.062, 2.111, 0, 270, 0, 63 [SEP] 39, Plate, -1.789, 0.344, -1.963, 0, 0, 0, 46 [SEP] 40, PepperShaker, 1.053, 0.339, -2.267, 0, 180, 0, 49 [SEP] 41, DishSponge, -1.730, 0.422, -1.283, 0, 0, 0, 56 [SEP] 42, Spoon, -2.018, 1.053, -0.542, 0, 90, 0, 68 [SEP] 43, Apple, 0.492, 1.371, -3.232, 0, 0, 0, 50 [SEP] 44, Mug, 0.920, 1.519, 1.539, 0, 270, 0, 63 [SEP] 45, StoveBurner, -0.239, 1.325, -3.301, 0, 180, 0, [SEP] 46, Cabinet, -1.461, 0.775, -2.002, 0, 0, 0, [SEP] 47, StoveBurner, -0.630, 1.325, -3.301, 0, 180, 0, [SEP] 48, Cabinet, -1.461, 0.775, 0.470, 0, 0, 0, [SEP] 49, Cabinet, 0.578, 0.776, -2.054, 0, 0, 0, [SEP] 50, CounterTop, -1.809, 1.358, 1.182, 0, 0, 0, [SEP] 51, Cabinet, -1.461, 0.775, 1.310, 0, 0, 0, [SEP] 52, Faucet, -2.063, 1.362, -0.726, 0, 39.391, 0, [SEP] 53, StoveBurner, -0.749, 1.325, -2.973, 0, 0, 0, [SEP] 54, Drawer, -1.610, 0.681, -0.430, 0, 0, 0, [SEP] 55, Window, -2.566, 1.799, -0.822, 270, 0, 0, [SEP] 56, Drawer, -1.610, 0.681, -1.217, 0, 0, 0, [SEP] 57, Sink, -1.990, 1.143, -0.975, 0, 0, 0, [SEP] 58, StoveBurner, -0.125, 1.325, -2.973, 0, 0, 0, [SEP] 59, StoveKnob, -0.185, 1.338, -2.741, 0, 270, 180, [SEP] 60, StoveKnob, -0.336, 1.338, -2.741, 0, 270, 180, [SEP] 61, StoveKnob, -0.569, 1.338, -2.741, 0, 270, 180, [SEP] 62, StoveKnob, -0.707, 1.338, -2.741, 0, 270, 180, [SEP] 63, Fridge, 1.013, 0.227, 1.917, 0, 270, 0, [SEP] 64, Microwave, 0.994, 1.310, -2.163, 0, 270, 0, [SEP] 65, GarbageCan, -1.633, 0.212, 2.192, 0, 270, 0, [SEP] 66, LightSwitch, 1.386, 1.565, -0.657, 0, 270, 0, [SEP] 67, HousePlant, -2.027, 1.311, -0.026, 0, 284.058, 0, [SEP] 68, SinkBasin, -1.835, 1.039, -0.542, 0, 0, 0, [SEP] 69, ButterKnife, 0.873, 0.468, 0.651, 0, 0, 0, [SEP] 70, Toaster, -1.885, 1.310, -2.512, 0, 90, 0, [SEP] 71, CoffeeMachine, 1.129, 1.310, -1.426, 0, 270, 0, [SEP] 72, Drawer, 0.647, 1.061, 0.680, 0, 270, 0, [SEP] 73, Drawer, 0.648, 1.061, 1.020, 0, 270, 0, [SEP] 74, Drawer, 0.648, 0.843, 1.020, 0, 270, 0, [SEP] 75, SideTable, 0.975, 0.220, 0.869, 0, 270, 0, [SEP] 76, Drawer, 0.648, 0.602, 0.680, 0, 270, 0, [SEP] 77, Drawer, 0.648, 0.596, 1.020, 0, 270, 0, [SEP] 78, Drawer, 0.648, 0.843, 0.680, 0, 270, 0, [SEP] 79, Stool, 0.606, 0.222, -1.084, 1.233, 280.489, 0, [SEP] 80, NorthWall, , , , , , , [SEP] 81, EastWall, , , , , , , [SEP] 82, SouthWall, , , , , , , [SEP] 83, WestWall, , , , , , , ", "output": ["STEP 1: Turn to the left and then face the sink on the right. | STEP 2: Pick up the tomato from the edge of the counter. | STEP 3: Hold the tomato and move a step to the right. | STEP 4: Place the tomato in the sink and turn on the water. Turn off the water and pick up the tomato. | STEP 5: Carry the tomato and turn around to the microwave cart. | STEP 6: Place the tomato on the left side of the microwave cart. | END"]} +{"id": "trial_T20190909_002412_992537-2", "input": "Put a clean tomato on the counter. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 1.124, 1.25, 0, 270, 0, [SEP] 1, Pan, 1.053, 0.344, -1.854, 0, 90, 0, 49 [SEP] 2, Potato, 1.246, 1.350, 0.965, 0, 270, 0, 75 [SEP] 3, DishSponge, -1.614, 0.343, 1.007, 0, 0, 0, 51 [SEP] 4, Kettle, -1.886, 0.344, 1.420, 0, 0, 0, 51 [SEP] 5, Kettle, -1.681, 0.344, 0.211, 0, 90, 0, 48 [SEP] 6, Fork, -1.603, 0.420, -1.152, 0, 0, 0, 56 [SEP] 7, Spatula, -2.049, 1.337, 1.744, 0, 0, 0, 50 [SEP] 8, Spatula, -1.165, 1.337, -3.314, 0, 0, 0, 50 [SEP] 9, Pot, 0.896, 1.329, -2.053, 0, 0, 0, 50 [SEP] 10, Egg, 1.110, 1.248, 1.238, 0, 0, 0, 75 [SEP] 11, SoapBottle, -1.602, 0.344, -1.763, 0, 0, 0, 46 [SEP] 12, Tomato, 1.056, 1.791, 2.112, 0, 270, 0, 63 [SEP] 13, Tomato, -1.381, 1.356, -1.035, 0, 0, 0, 50 [SEP] 14, Bowl, 0.824, 0.343, -2.267, 0, 180, 0, 49 [SEP] 15, SaltShaker, -1.920, 1.318, -2.981, 0, 0, 0, 50 [SEP] 16, PepperShaker, 1.193, 1.202, 1.254, 0, 0, 0, 75 [SEP] 17, PepperShaker, -1.530, 1.318, 1.744, 0, 0, 0, 50 [SEP] 18, Lettuce, -1.826, 1.409, -1.255, 0, 0, 0, 57 [SEP] 19, Mug, -1.817, 0.338, 0.613, 0, 0, 0, 48 [SEP] 20, Apple, -1.634, 0.329, 2.193, 0, 270, 0, 65 [SEP] 21, Apple, 1.181, 1.359, 0.810, 0, 270, 0, 75 [SEP] 22, Bread, -1.790, 1.397, 0.445, 0, 0, 0, 50 [SEP] 23, Pot, -0.630, 1.331, -3.301, 0, 180, 0, 47 [SEP] 24, Knife, -1.920, 1.352, 1.744, 0, 0, 0, 50 [SEP] 25, Bowl, -1.660, 1.321, 1.744, 0, 0, 0, 50 [SEP] 26, Potato, -2.179, 1.362, 0.770, 0, 0, 0, 50 [SEP] 27, SoapBottle, -1.826, 1.333, -0.980, 0, 0, 0, 57 [SEP] 28, Fork, -1.915, 1.336, -0.911, 0, 0, 0, 57 [SEP] 29, Cup, -2.004, 1.334, -1.049, 0, 0, 0, 57 [SEP] 30, Kettle, -1.884, 0.344, 0.311, 0, 0, 0, 48 [SEP] 31, Egg, -2.093, 1.375, -1.255, 0, 0, 0, 57 [SEP] 32, Pan, -1.165, 1.322, -2.870, 0, 90, 0, 50 [SEP] 33, SaltShaker, 1.027, 1.202, 1.238, 0, 0, 0, 75 [SEP] 34, WineBottle, -2.049, 1.323, 2.069, 0, 0, 0, 50 [SEP] 35, Lettuce, 1.017, 1.751, 1.722, 0, 270, 0, 63 [SEP] 36, Spatula, 1.155, 1.337, -2.424, 0, 0, 0, 50 [SEP] 37, PaperTowelRoll, -1.660, 1.427, 1.094, 0, 0, 0, 50 [SEP] 38, Tomato, 0.911, 2.062, 2.111, 0, 270, 0, 63 [SEP] 39, Plate, -1.789, 0.344, -1.963, 0, 0, 0, 46 [SEP] 40, PepperShaker, 1.053, 0.339, -2.267, 0, 180, 0, 49 [SEP] 41, DishSponge, -1.730, 0.422, -1.283, 0, 0, 0, 56 [SEP] 42, Spoon, -2.018, 1.053, -0.542, 0, 90, 0, 68 [SEP] 43, Apple, 0.492, 1.371, -3.232, 0, 0, 0, 50 [SEP] 44, Mug, 0.920, 1.519, 1.539, 0, 270, 0, 63 [SEP] 45, StoveBurner, -0.239, 1.325, -3.301, 0, 180, 0, [SEP] 46, Cabinet, -1.461, 0.775, -2.002, 0, 0, 0, [SEP] 47, StoveBurner, -0.630, 1.325, -3.301, 0, 180, 0, [SEP] 48, Cabinet, -1.461, 0.775, 0.470, 0, 0, 0, [SEP] 49, Cabinet, 0.578, 0.776, -2.054, 0, 0, 0, [SEP] 50, CounterTop, -1.809, 1.358, 1.182, 0, 0, 0, [SEP] 51, Cabinet, -1.461, 0.775, 1.310, 0, 0, 0, [SEP] 52, Faucet, -2.063, 1.362, -0.726, 0, 39.391, 0, [SEP] 53, StoveBurner, -0.749, 1.325, -2.973, 0, 0, 0, [SEP] 54, Drawer, -1.610, 0.681, -0.430, 0, 0, 0, [SEP] 55, Window, -2.566, 1.799, -0.822, 270, 0, 0, [SEP] 56, Drawer, -1.610, 0.681, -1.217, 0, 0, 0, [SEP] 57, Sink, -1.990, 1.143, -0.975, 0, 0, 0, [SEP] 58, StoveBurner, -0.125, 1.325, -2.973, 0, 0, 0, [SEP] 59, StoveKnob, -0.185, 1.338, -2.741, 0, 270, 180, [SEP] 60, StoveKnob, -0.336, 1.338, -2.741, 0, 270, 180, [SEP] 61, StoveKnob, -0.569, 1.338, -2.741, 0, 270, 180, [SEP] 62, StoveKnob, -0.707, 1.338, -2.741, 0, 270, 180, [SEP] 63, Fridge, 1.013, 0.227, 1.917, 0, 270, 0, [SEP] 64, Microwave, 0.994, 1.310, -2.163, 0, 270, 0, [SEP] 65, GarbageCan, -1.633, 0.212, 2.192, 0, 270, 0, [SEP] 66, LightSwitch, 1.386, 1.565, -0.657, 0, 270, 0, [SEP] 67, HousePlant, -2.027, 1.311, -0.026, 0, 284.058, 0, [SEP] 68, SinkBasin, -1.835, 1.039, -0.542, 0, 0, 0, [SEP] 69, ButterKnife, 0.873, 0.468, 0.651, 0, 0, 0, [SEP] 70, Toaster, -1.885, 1.310, -2.512, 0, 90, 0, [SEP] 71, CoffeeMachine, 1.129, 1.310, -1.426, 0, 270, 0, [SEP] 72, Drawer, 0.647, 1.061, 0.680, 0, 270, 0, [SEP] 73, Drawer, 0.648, 1.061, 1.020, 0, 270, 0, [SEP] 74, Drawer, 0.648, 0.843, 1.020, 0, 270, 0, [SEP] 75, SideTable, 0.975, 0.220, 0.869, 0, 270, 0, [SEP] 76, Drawer, 0.648, 0.602, 0.680, 0, 270, 0, [SEP] 77, Drawer, 0.648, 0.596, 1.020, 0, 270, 0, [SEP] 78, Drawer, 0.648, 0.843, 0.680, 0, 270, 0, [SEP] 79, Stool, 0.606, 0.222, -1.084, 1.233, 280.489, 0, [SEP] 80, NorthWall, , , , , , , [SEP] 81, EastWall, , , , , , , [SEP] 82, SouthWall, , , , , , , [SEP] 83, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and walk towards the oven, then hang a right and walk up to the counter. | STEP 2: Pick up the tomato off of the counter. | STEP 3: Turn right and walk towards the wall, then turn left to face the sink. | STEP 4: Put the tomato in the sink and turn on the water, after a couple seconds turn the water off and remove the now clean tomato. | STEP 5: Turn right and walk towards the wall, then hang a right and walk up to the microwave. | STEP 6: Put the clean tomato on the front left corner of the counter in front of you. | END"]} +{"id": "trial_T20190910_033337_045350-1", "input": "Put the clean ladle in the cabinet SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.25, 0.901, 0.75, 0, 270, 0, [SEP] 1, WineBottle, 2.002, 0.083, 2.199, 0, 0, 0, 51 [SEP] 2, WineBottle, 1.917, 0.939, 0.361, 0, 0, 0, 66 [SEP] 3, DishSponge, 1.906, 0.745, 0.446, 0, 0, 0, 64 [SEP] 4, DishSponge, 0.033, 0.790, 1.049, 0, 0, 0, 82 [SEP] 5, Spoon, -0.272, 0.792, 1.386, 0, 0, 0, 82 [SEP] 6, Egg, 1.118, 0.837, 2.750, 0, 0, 0, 79 [SEP] 7, Egg, 0.033, 0.833, 0.545, 0, 0, 0, 82 [SEP] 8, Cup, 0.576, 0.793, 2.64, 0, 0, 0, 79 [SEP] 9, Plate, 0.637, 0.085, 2.523, 0, 0, 0, 62 [SEP] 10, Knife, -0.119, 0.816, 1.217, 0, 0, 0, 82 [SEP] 11, Knife, 1.815, 0.771, 1.922, 0, 90, 0, 70 [SEP] 12, Tomato, -0.042, 0.837, 0.377, 0, 0, 0, 82 [SEP] 13, Tomato, 0.033, 0.837, 1.386, 0, 0, 0, 82 [SEP] 14, Bowl, 2.231, 1.515, -0.460, 0, 270, 0, 76 [SEP] 15, Bowl, 2.000, 1.320, -0.369, 0, 270, 0, 76 [SEP] 16, SaltShaker, 1.849, 0.077, 1.915, 0, 0, 0, 51 [SEP] 17, SaltShaker, 2.165, 1.498, 0.448, 0, 270, 0, 53 [SEP] 18, PepperShaker, -0.118, 0.932, 2.451, 0, 0, 0, 55 [SEP] 19, PepperShaker, 2.241, 1.498, 0.478, 0, 0, 0, 53 [SEP] 20, Lettuce, 2.059, 0.400, -0.097, 0, 270, 0, 76 [SEP] 21, Mug, 2.158, 0.855, -0.460, 0, 270, 0, 76 [SEP] 22, Apple, -0.294, 1.085, 1.961, 0, 90, 0, 80 [SEP] 23, Apple, 2.164, 0.652, -0.278, 0, 270, 0, 76 [SEP] 24, Egg, -0.349, 0.833, 1.049, 0, 0, 0, 82 [SEP] 25, Lettuce, 0.277, 0.989, 2.611, 0, 60.216, 0, 55 [SEP] 26, Fork, 2.011, 0.747, 0.652, 0, 90, 0, 64 [SEP] 27, SoapBottle, 1.156, 0.082, 2.484, 0, 0, 0, 61 [SEP] 28, Ladle, 1.941, 0.790, 0.652, 0, 90, 0, 64 [SEP] 29, Ladle, 2.206, 1.545, 2.010, 0, 0, 0, 58 [SEP] 30, Bread, -0.199, 0.823, 0.813, 0, 0, 0, 82 [SEP] 31, SaltShaker, -0.282, 0.932, 2.548, 0, 0, 0, 55 [SEP] 32, Potato, -0.425, 0.831, 0.713, 0, 0, 0, 82 [SEP] 33, Pan, 2.140, 0.935, 1.504, 0, 180, 0, 50 [SEP] 34, WineBottle, 1.840, 0.939, 0.583, 0, 0, 0, 66 [SEP] 35, Spatula, 2.118, 0.949, 1.993, 0, 341.649, 0, 55 [SEP] 36, Knife, 2.301, 0.963, 0.583, 0, 90, 0, 66 [SEP] 37, Tomato, 2.137, 0.907, -0.278, 0, 270, 0, 76 [SEP] 38, Apple, -0.395, 1.085, 2.014, 0, 90, 0, 80 [SEP] 39, ButterKnife, 1.917, 0.938, 0.583, 0, 180, 0, 66 [SEP] 40, Pot, 1.854, 0.937, 1.497, 0, 0, 0, 59 [SEP] 41, PepperShaker, 0.033, 0.785, 1.217, 0, 0, 0, 82 [SEP] 42, Cup, 1.369, 0.079, 2.562, 0, 0, 0, 61 [SEP] 43, DishSponge, 2.281, 1.948, 1.515, 0, 0, 0, 60 [SEP] 44, Plate, -0.312, 0.781, 0.409, 0, 0, 0, 82 [SEP] 45, Spoon, -0.349, 0.792, 1.217, 0, 0, 0, 82 [SEP] 46, Mug, 2.064, 0.989, 2.462, 0, 225, 0, 81 [SEP] 47, Bowl, -0.272, 0.787, 1.217, 0, 0, 0, 82 [SEP] 48, Cabinet, 2.041, 2.113, 2.618, 0, 0, 0, [SEP] 49, Cabinet, 0.126, 0.388, 1.774, 0, 0, 0, [SEP] 50, StoveBurner, 2.140, 0.929, 1.504, 0, 180, 0, [SEP] 51, Cabinet, 1.760, 0.388, 2.346, 0, 0, 0, [SEP] 52, Cabinet, 1.760, 0.388, 0.869, 0, 0, 0, [SEP] 53, Cabinet, 2.041, 1.810, 0.283, 0, 0, 0, [SEP] 54, Drawer, -0.024, 0.774, 2.061, 0, 0, 0, [SEP] 55, CounterTop, 1.065, 0.973, 2.666, 0, 0, 0, [SEP] 56, Cabinet, 1.969, 2.113, 2.618, 0, 0, 0, [SEP] 57, StoveBurner, 2.140, 0.929, 1.106, 0, 0, 0, [SEP] 58, Cabinet, 2.041, 2.113, 1.809, 0, 0, 0, [SEP] 59, StoveBurner, 1.866, 0.929, 1.504, 0, 180, 0, [SEP] 60, Cabinet, 2.041, 2.113, 1.766, 0, 0, 0, [SEP] 61, Cabinet, 1.514, 0.388, 2.360, 0, 0, 0, [SEP] 62, Cabinet, 0.351, 0.388, 2.360, 0, 0, 0, [SEP] 63, Cabinet, 2.041, 1.810, 0.872, 0, 0, 0, [SEP] 64, Drawer, 2.167, 0.774, 0.582, 0, 0, 0, [SEP] 65, Cabinet, 2.041, 2.113, 0.892, 0, 0, 0, [SEP] 66, CounterTop, 2.060, 0.973, 0.583, 0, 0, 0, [SEP] 67, Sink, 0.935, 0.936, 2.646, 0, 0, 0, [SEP] 68, Curtains, 0.964, 2.061, 2.989, 0, 0, 0, [SEP] 69, StoveBurner, 1.863, 0.929, 1.106, 0, 0, 0, [SEP] 70, Drawer, 1.911, 0.774, 2.060, 0, 0, 0, [SEP] 71, StoveKnob, 2.326, 1.092, 1.610, 288.013, 90, 0, [SEP] 72, StoveKnob, 2.326, 1.092, 1.460, 288.013, 90, 0, [SEP] 73, StoveKnob, 2.326, 1.092, 1.210, 288.013, 90, 0, [SEP] 74, StoveKnob, 2.326, 1.092, 1.050, 288.013, 90, 0, [SEP] 75, Toaster, 2.126, 0.926, 0.572, 0, 270, 0, [SEP] 76, Fridge, 2.104, 0.0, -0.279, 0, 270, 0, [SEP] 77, GarbageCan, -0.309, -0.001, -0.807, 0, 91.471, 0, [SEP] 78, LightSwitch, 0.354, 1.518, -1.031, 0, 0, 0, [SEP] 79, SinkBasin, 0.903, 0.784, 2.640, 0, 0, 0, [SEP] 80, Microwave, -0.310, 0.926, 2.077, 0, 90, 0, [SEP] 81, CoffeeMachine, 2.084, 0.927, 2.667, 0, 225, 0, [SEP] 82, DiningTable, -0.153, -0.000, 1.073, 0, 270, 0, [SEP] 83, Faucet, 1.175, 0.926, 2.950, 270, 90, 0, [SEP] 84, Faucet, 0.686, 0.926, 2.950, 270, 90, 0, [SEP] 85, Chair, -0.077, 0.002, 0.196, 0, 15.000, 0, [SEP] 86, NorthWall, , , , , , , [SEP] 87, EastWall, , , , , , , [SEP] 88, SouthWall, , , , , , , [SEP] 89, WestWall, , , , , , , ", "output": ["STEP 1: Turn right then head to the cabinet above the counter | STEP 2: Open the cabinet and pick up the ladle then close the cabinet | STEP 3: Turn left then head to the right side of the sink | STEP 4: Put the ladle in the sink and rinse it | STEP 5: Turn right and move little further from the sink | STEP 6: Open the cabinet under the sink then put the ladle in and close the cabinet | END"]} +{"id": "trial_T20190910_033337_045350-2", "input": "Put a clean measuring spoon in the sink cabinet SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.25, 0.901, 0.75, 0, 270, 0, [SEP] 1, WineBottle, 2.002, 0.083, 2.199, 0, 0, 0, 51 [SEP] 2, WineBottle, 1.917, 0.939, 0.361, 0, 0, 0, 66 [SEP] 3, DishSponge, 1.906, 0.745, 0.446, 0, 0, 0, 64 [SEP] 4, DishSponge, 0.033, 0.790, 1.049, 0, 0, 0, 82 [SEP] 5, Spoon, -0.272, 0.792, 1.386, 0, 0, 0, 82 [SEP] 6, Egg, 1.118, 0.837, 2.750, 0, 0, 0, 79 [SEP] 7, Egg, 0.033, 0.833, 0.545, 0, 0, 0, 82 [SEP] 8, Cup, 0.576, 0.793, 2.64, 0, 0, 0, 79 [SEP] 9, Plate, 0.637, 0.085, 2.523, 0, 0, 0, 62 [SEP] 10, Knife, -0.119, 0.816, 1.217, 0, 0, 0, 82 [SEP] 11, Knife, 1.815, 0.771, 1.922, 0, 90, 0, 70 [SEP] 12, Tomato, -0.042, 0.837, 0.377, 0, 0, 0, 82 [SEP] 13, Tomato, 0.033, 0.837, 1.386, 0, 0, 0, 82 [SEP] 14, Bowl, 2.231, 1.515, -0.460, 0, 270, 0, 76 [SEP] 15, Bowl, 2.000, 1.320, -0.369, 0, 270, 0, 76 [SEP] 16, SaltShaker, 1.849, 0.077, 1.915, 0, 0, 0, 51 [SEP] 17, SaltShaker, 2.165, 1.498, 0.448, 0, 270, 0, 53 [SEP] 18, PepperShaker, -0.118, 0.932, 2.451, 0, 0, 0, 55 [SEP] 19, PepperShaker, 2.241, 1.498, 0.478, 0, 0, 0, 53 [SEP] 20, Lettuce, 2.059, 0.400, -0.097, 0, 270, 0, 76 [SEP] 21, Mug, 2.158, 0.855, -0.460, 0, 270, 0, 76 [SEP] 22, Apple, -0.294, 1.085, 1.961, 0, 90, 0, 80 [SEP] 23, Apple, 2.164, 0.652, -0.278, 0, 270, 0, 76 [SEP] 24, Egg, -0.349, 0.833, 1.049, 0, 0, 0, 82 [SEP] 25, Lettuce, 0.277, 0.989, 2.611, 0, 60.216, 0, 55 [SEP] 26, Fork, 2.011, 0.747, 0.652, 0, 90, 0, 64 [SEP] 27, SoapBottle, 1.156, 0.082, 2.484, 0, 0, 0, 61 [SEP] 28, Ladle, 1.941, 0.790, 0.652, 0, 90, 0, 64 [SEP] 29, Ladle, 2.206, 1.545, 2.010, 0, 0, 0, 58 [SEP] 30, Bread, -0.199, 0.823, 0.813, 0, 0, 0, 82 [SEP] 31, SaltShaker, -0.282, 0.932, 2.548, 0, 0, 0, 55 [SEP] 32, Potato, -0.425, 0.831, 0.713, 0, 0, 0, 82 [SEP] 33, Pan, 2.140, 0.935, 1.504, 0, 180, 0, 50 [SEP] 34, WineBottle, 1.840, 0.939, 0.583, 0, 0, 0, 66 [SEP] 35, Spatula, 2.118, 0.949, 1.993, 0, 341.649, 0, 55 [SEP] 36, Knife, 2.301, 0.963, 0.583, 0, 90, 0, 66 [SEP] 37, Tomato, 2.137, 0.907, -0.278, 0, 270, 0, 76 [SEP] 38, Apple, -0.395, 1.085, 2.014, 0, 90, 0, 80 [SEP] 39, ButterKnife, 1.917, 0.938, 0.583, 0, 180, 0, 66 [SEP] 40, Pot, 1.854, 0.937, 1.497, 0, 0, 0, 59 [SEP] 41, PepperShaker, 0.033, 0.785, 1.217, 0, 0, 0, 82 [SEP] 42, Cup, 1.369, 0.079, 2.562, 0, 0, 0, 61 [SEP] 43, DishSponge, 2.281, 1.948, 1.515, 0, 0, 0, 60 [SEP] 44, Plate, -0.312, 0.781, 0.409, 0, 0, 0, 82 [SEP] 45, Spoon, -0.349, 0.792, 1.217, 0, 0, 0, 82 [SEP] 46, Mug, 2.064, 0.989, 2.462, 0, 225, 0, 81 [SEP] 47, Bowl, -0.272, 0.787, 1.217, 0, 0, 0, 82 [SEP] 48, Cabinet, 2.041, 2.113, 2.618, 0, 0, 0, [SEP] 49, Cabinet, 0.126, 0.388, 1.774, 0, 0, 0, [SEP] 50, StoveBurner, 2.140, 0.929, 1.504, 0, 180, 0, [SEP] 51, Cabinet, 1.760, 0.388, 2.346, 0, 0, 0, [SEP] 52, Cabinet, 1.760, 0.388, 0.869, 0, 0, 0, [SEP] 53, Cabinet, 2.041, 1.810, 0.283, 0, 0, 0, [SEP] 54, Drawer, -0.024, 0.774, 2.061, 0, 0, 0, [SEP] 55, CounterTop, 1.065, 0.973, 2.666, 0, 0, 0, [SEP] 56, Cabinet, 1.969, 2.113, 2.618, 0, 0, 0, [SEP] 57, StoveBurner, 2.140, 0.929, 1.106, 0, 0, 0, [SEP] 58, Cabinet, 2.041, 2.113, 1.809, 0, 0, 0, [SEP] 59, StoveBurner, 1.866, 0.929, 1.504, 0, 180, 0, [SEP] 60, Cabinet, 2.041, 2.113, 1.766, 0, 0, 0, [SEP] 61, Cabinet, 1.514, 0.388, 2.360, 0, 0, 0, [SEP] 62, Cabinet, 0.351, 0.388, 2.360, 0, 0, 0, [SEP] 63, Cabinet, 2.041, 1.810, 0.872, 0, 0, 0, [SEP] 64, Drawer, 2.167, 0.774, 0.582, 0, 0, 0, [SEP] 65, Cabinet, 2.041, 2.113, 0.892, 0, 0, 0, [SEP] 66, CounterTop, 2.060, 0.973, 0.583, 0, 0, 0, [SEP] 67, Sink, 0.935, 0.936, 2.646, 0, 0, 0, [SEP] 68, Curtains, 0.964, 2.061, 2.989, 0, 0, 0, [SEP] 69, StoveBurner, 1.863, 0.929, 1.106, 0, 0, 0, [SEP] 70, Drawer, 1.911, 0.774, 2.060, 0, 0, 0, [SEP] 71, StoveKnob, 2.326, 1.092, 1.610, 288.013, 90, 0, [SEP] 72, StoveKnob, 2.326, 1.092, 1.460, 288.013, 90, 0, [SEP] 73, StoveKnob, 2.326, 1.092, 1.210, 288.013, 90, 0, [SEP] 74, StoveKnob, 2.326, 1.092, 1.050, 288.013, 90, 0, [SEP] 75, Toaster, 2.126, 0.926, 0.572, 0, 270, 0, [SEP] 76, Fridge, 2.104, 0.0, -0.279, 0, 270, 0, [SEP] 77, GarbageCan, -0.309, -0.001, -0.807, 0, 91.471, 0, [SEP] 78, LightSwitch, 0.354, 1.518, -1.031, 0, 0, 0, [SEP] 79, SinkBasin, 0.903, 0.784, 2.640, 0, 0, 0, [SEP] 80, Microwave, -0.310, 0.926, 2.077, 0, 90, 0, [SEP] 81, CoffeeMachine, 2.084, 0.927, 2.667, 0, 225, 0, [SEP] 82, DiningTable, -0.153, -0.000, 1.073, 0, 270, 0, [SEP] 83, Faucet, 1.175, 0.926, 2.950, 270, 90, 0, [SEP] 84, Faucet, 0.686, 0.926, 2.950, 270, 90, 0, [SEP] 85, Chair, -0.077, 0.002, 0.196, 0, 15.000, 0, [SEP] 86, NorthWall, , , , , , , [SEP] 87, EastWall, , , , , , , [SEP] 88, SouthWall, , , , , , , [SEP] 89, WestWall, , , , , , , ", "output": ["STEP 1: Go to the cupboard | STEP 2: Take a measuring spoon out of the cupboard | STEP 3: Go to the sink | STEP 4: Wash the measuring spoon | STEP 5: Go to the sink cabinet | STEP 6: Put the measuring spoon in the cabinet | END"]} +{"id": "trial_T20190909_153505_007610-0", "input": "Chill a tomato and put it in the trash bin. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.900, -0.5, 0, 90, 0, [SEP] 1, Pan, -1.056, 0.956, -1.127, 0, 0, 0, 77 [SEP] 2, Pan, -1.056, 0.956, -0.672, 0, 180, 0, 52 [SEP] 3, Statue, -0.420, 0.920, 0.241, 0, 180, 0, 73 [SEP] 4, Potato, 1.194, 0.941, -2.014, 0, 0, 0, 80 [SEP] 5, Ladle, -1.045, 1.168, 0.441, 0, 0, 0, 76 [SEP] 6, Ladle, -1.138, 0.948, -1.929, 0, 0, 0, 80 [SEP] 7, DishSponge, -0.375, 1.131, 0.662, 0, 0, 0, 76 [SEP] 8, DishSponge, 3.105, 0.879, 0.114, 0, 180, 0, 86 [SEP] 9, Kettle, -1.289, 0.957, -0.756, 0, 180, 0, 55 [SEP] 10, Pot, 1.688, 0.118, -1.397, 0, 0, 0, 54 [SEP] 11, Spatula, -0.376, 0.778, -2.008, 0, 180, 0, 90 [SEP] 12, Spoon, -0.117, 0.764, -2.063, 0, 0, 0, 90 [SEP] 13, SoapBottle, 2.798, 0.552, 0.142, 0, 180, 0, 86 [SEP] 14, SoapBottle, 2.491, 0.879, 0.195, 0, 180, 0, 84 [SEP] 15, Tomato, -0.993, 0.960, -1.891, 0, 0, 0, 80 [SEP] 16, Tomato, -0.152, 1.181, 0.618, 0, 0, 0, 76 [SEP] 17, Bowl, 1.877, 1.649, -1.802, 0, 0, 0, 58 [SEP] 18, Bread, 1.945, 1.509, -0.737, 0, 270, 0, 87 [SEP] 19, Mug, 0.501, 0.955, -1.900, 0, 0, 0, 96 [SEP] 20, Apple, 1.924, 0.111, 0.109, 0, 0, 0, 83 [SEP] 21, Apple, 2.000, 1.147, -0.271, 0, 270, 0, 87 [SEP] 22, Pan, -1.063, 0.913, 0.241, 0, 90, 0, 73 [SEP] 23, Knife, -0.623, 0.717, -1.846, 0, 270, 0, 50 [SEP] 24, Bowl, -1.379, 0.908, -2.014, 0, 0, 0, 80 [SEP] 25, Fork, 0.071, 1.132, 0.529, 0, 0, 0, 76 [SEP] 26, Cup, 0.101, 0.750, -1.938, 0, 0, 0, 90 [SEP] 27, Ladle, -1.330, 0.950, -0.109, 0, 0, 0, 73 [SEP] 28, Apple, 1.945, 1.147, -0.551, 0, 270, 0, 87 [SEP] 29, Kettle, -1.313, 1.663, -0.043, 0, 0, 0, 64 [SEP] 30, Vase, 1.914, 1.654, -1.606, 0, 0, 0, 58 [SEP] 31, Potato, 1.813, 1.045, -1.297, 0, 270, 0, 85 [SEP] 32, Pot, -1.163, 0.915, -0.170, 0, 0, 0, 73 [SEP] 33, Bread, 1.945, 0.899, -0.365, 0, 270, 0, 87 [SEP] 34, Plate, 0.008, 0.911, 0.135, 0, 0, 0, 73 [SEP] 35, Spatula, -0.634, 0.928, 0.083, 0, 0, 0, 73 [SEP] 36, PaperTowelRoll, 2.798, 0.984, 0.087, 0, 180, 0, 84 [SEP] 37, Vase, -1.276, 1.668, 0.163, 0, 0, 0, 64 [SEP] 38, Egg, 2.055, 1.132, -0.830, 0, 270, 0, 87 [SEP] 39, SoapBottle, 2.900, 0.879, 0.114, 0, 180, 0, 84 [SEP] 40, SaltShaker, -1.312, 1.657, -0.285, 0, 0, 0, 63 [SEP] 41, Lettuce, 1.945, 1.175, -0.737, 0, 0, 0, 87 [SEP] 42, PepperShaker, -0.420, 0.909, 0.030, 0, 0, 0, 73 [SEP] 43, ButterKnife, -0.205, 0.913, 0.083, 0, 0, 0, 73 [SEP] 44, DishSponge, 2.798, 0.551, 0.038, 0, 180, 0, 86 [SEP] 45, Vase, 2.979, 0.539, 0.128, 0, 0, 0, 86 [SEP] 46, Spoon, -1.322, 0.912, -1.553, 0, 0, 0, 80 [SEP] 47, Tomato, -0.205, 0.963, 0.294, 0, 0, 0, 73 [SEP] 48, Mug, 1.945, 1.422, -0.271, 0, 270, 0, 87 [SEP] 49, Statue, 2.657, 0.167, 0.191, 0, 0, 0, 89 [SEP] 50, Drawer, -0.819, 0.75, -1.690, 0, 0, 0, [SEP] 51, Cabinet, -1.149, 2.264, -0.838, 0, 90, 0, [SEP] 52, StoveBurner, -1.056, 0.949, -0.671, 0, 180, 0, [SEP] 53, Cabinet, 1.738, 2.019, -2.000, 0, 0, 0, [SEP] 54, Cabinet, 1.389, 0.469, -1.059, 0, 0, 0, [SEP] 55, StoveBurner, -1.289, 0.949, -0.755, 0, 180, 0, [SEP] 56, Faucet, -0.157, 1.052, -2.196, 0, 270, 0, [SEP] 57, Cabinet, 1.75, 2.019, -1.029, 0, 0, 0, [SEP] 58, Cabinet, 1.75, 2.019, -1.399, 0, 0, 0, [SEP] 59, Cabinet, 1.179, 2.019, -2.0, 0, 0, 0, [SEP] 60, Cabinet, 0.199, 2.019, -2.0, 0, 0, 0, [SEP] 61, Cabinet, -1.100, 2.019, -2.0, 0, 0, 0, [SEP] 62, Cabinet, -1.149, 2.019, -1.979, 0, 0, 0, [SEP] 63, Cabinet, -1.149, 2.019, -0.770, 0, 0, 0, [SEP] 64, Cabinet, -1.149, 2.019, 0.380, 0, 0, 0, [SEP] 65, Cabinet, -0.819, 0.469, -1.689, 0, 0, 0, [SEP] 66, Cabinet, -0.839, 0.469, -1.664, 0, 0, 0, [SEP] 67, Cabinet, -0.839, 0.469, -0.049, 0, 0, 0, [SEP] 68, Cabinet, -0.414, 0.370, -0.009, 0, 0, 0, [SEP] 69, Sink, -0.118, 0.875, -2.009, 0, 0, 0, [SEP] 70, StoveBurner, -1.289, 0.949, -1.019, 0, 0, 0, [SEP] 71, Cabinet, 0.119, 2.264, -2.0, 0, 0, 0, [SEP] 72, Cabinet, -0.459, 2.264, -2.0, 0, 0, 0, [SEP] 73, CounterTop, -0.665, 0.949, 0.188, 0, 0, 0, [SEP] 74, Drawer, -0.449, 0.75, -0.010, 0, 180, 0, [SEP] 75, Cabinet, -0.450, 0.469, -0.009, 0, 0, 0, [SEP] 76, CounterTop, -0.630, 1.167, 0.573, 0, 0, 0, [SEP] 77, StoveBurner, -1.056, 0.949, -1.126, 0, 0, 0, [SEP] 78, Cabinet, 1.376, 0.460, -1.685, 0, 0, 0, [SEP] 79, Drawer, -0.070, 0.75, -0.009, 0, 180, 0, [SEP] 80, CounterTop, 1.159, 0.946, -2.013, 0, 0, 0, [SEP] 81, Cabinet, -1.150, 2.264, -1.418, 0, 90, 0, [SEP] 82, HousePlant, -1.246, 1.108, 0.606, 0, 0, 0, [SEP] 83, GarbageCan, 1.923, -0.010, 0.137, 0, 0, 0, [SEP] 84, Shelf, 2.759, 0.880, 0.144, 0, 0, 0, [SEP] 85, Microwave, 1.827, 0.900, -1.354, 0, 270, 0, [SEP] 86, Shelf, 2.759, 0.552, 0.145, 0, 0, 0, [SEP] 87, Fridge, 1.975, 0.0, -0.537, 0, 0, 0, [SEP] 88, LightSwitch, 0.404, 1.297, 2.0, 0, 180, 0, [SEP] 89, Shelf, 2.760, 0.172, 0.145, 0, 0, 0, [SEP] 90, SinkBasin, -0.129, 0.752, -2.007, 0, 0, 0, [SEP] 91, StoveKnob, -0.873, 0.903, -0.827, 45, 90, 0, [SEP] 92, StoveKnob, -0.873, 0.903, -0.676, 45, 90, 0, [SEP] 93, StoveKnob, -0.873, 0.903, -0.966, 45, 90, 0, [SEP] 94, StoveKnob, -0.873, 0.903, -1.123, 45, 90, 0, [SEP] 95, Toaster, 0.840, 0.900, -2.057, 0, 0, 0, [SEP] 96, CoffeeMachine, 0.501, 0.900, -2.125, 0, 0, 0, [SEP] 97, ShelvingUnit, 2.760, 0.006, 0.144, 0, 0, 0, [SEP] 98, Stool, -0.826, 0.010, 0.908, 0, 347.513, 0, [SEP] 99, Stool, -0.132, 0.010, 0.883, 0, 71.555, 0, [SEP] 100, NorthWall, , , , , , , [SEP] 101, EastWall, , , , , , , [SEP] 102, SouthWall, , , , , , , [SEP] 103, WestWall, , , , , , , ", "output": ["STEP 1: Walk over to the counter. | STEP 2: Grab the tomato. | STEP 3: Head over to the fridge. | STEP 4: Chill the tomato in the fridge. | STEP 5: Grab the tomato back and head over to the trash bin. | STEP 6: Place the tomato in the trash bin. | END"]} +{"id": "trial_T20190908_235346_227372-0", "input": "Grab the pencil from the desk and turn the light on over it. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.906, 1.25, 0, 0, 0, [SEP] 1, Mug, -1.603, 0.980, -1.443, 0, 0, 0, 43 [SEP] 2, Mug, -1.198, 0.980, -1.606, 0, 0, 0, 43 [SEP] 3, Statue, -1.603, 0.989, -1.606, 0, 0, 0, 43 [SEP] 4, KeyChain, -0.995, 0.981, -1.281, 0, 90, 0, 43 [SEP] 5, KeyChain, -1.151, 0.739, -1.255, 0, 0, 0, 42 [SEP] 6, CD, -0.058, 0.089, -1.492, 0, 270, 0, 34 [SEP] 7, CellPhone, -1.435, 0.896, 1.453, 0, 0, 0, 37 [SEP] 8, CellPhone, -1.163, 0.896, 2.332, 0, 0, 0, 37 [SEP] 9, Pen, -0.621, 1.542, -1.514, 0, 0, 0, 45 [SEP] 10, Pen, -1.587, 0.744, -1.300, 0, 0, 0, 42 [SEP] 11, Pencil, -1.151, 0.742, -1.390, 0, 0, 0, 42 [SEP] 12, CreditCard, -0.590, 0.982, -1.200, 0, 0, 0, 43 [SEP] 13, Pillow, -1.299, 0.952, 1.746, 0, 0, 0, 37 [SEP] 14, AlarmClock, -0.995, 0.982, -1.362, 0, 0, 0, 43 [SEP] 15, AlarmClock, -1.400, 0.982, -1.524, 0, 0, 0, 43 [SEP] 16, Book, -0.890, 0.897, 1.453, 0, 0, 0, 37 [SEP] 17, Box, 1.563, 0.286, -1.069, 0, 347.500, 0, [SEP] 18, BasketBall, -1.657, 0.126, -0.090, 0, 0, 0, [SEP] 19, Pen, -0.792, 0.987, -1.524, 0, 0, 0, 43 [SEP] 20, Pencil, -1.400, 0.985, -1.281, 0, 0, 0, 43 [SEP] 21, Laptop, -1.435, 0.894, 2.332, 0, 0, 0, 37 [SEP] 22, Pillow, -1.571, 0.952, 1.160, 0, 0, 0, 37 [SEP] 23, KeyChain, -0.621, 1.536, -1.671, 0, 0, 0, 45 [SEP] 24, Bowl, -1.183, 1.528, -1.590, 0, 0, 0, 45 [SEP] 25, CreditCard, -0.811, 1.536, -1.632, 0, 0, 0, 45 [SEP] 26, CellPhone, -1.326, 0.740, -1.345, 0, 0, 0, 42 [SEP] 27, CD, -1.001, 1.536, -1.593, 0, 0, 0, 45 [SEP] 28, AlarmClock, -0.387, 0.982, -1.281, 0, 0, 0, 43 [SEP] 29, Mug, -0.995, 0.980, -1.524, 0, 0, 0, 43 [SEP] 30, Statue, -1.503, 1.528, -1.590, 0, 0, 0, 45 [SEP] 31, Mirror, 1.907, 1.387, 0.973, 0, 90, 0, [SEP] 32, LaundryHamper, -0.351, 0.007, 2.368, 0, 164.999, 0, [SEP] 33, DeskLamp, -0.343, 1.545, -1.564, 0, 0, 0, [SEP] 34, GarbageCan, -0.035, 0.007, -1.530, 0, 270, 0, [SEP] 35, Window, 1.009, 1.514, -2.089, 90, 0, 0, [SEP] 36, LightSwitch, 0.397, 1.197, 2.729, 0, 180, 0, [SEP] 37, Bed, -1.299, 1.937, 1.441, 0, 0, 0, [SEP] 38, Blinds, 1.064, 2.382, -2.094, 0, 0, 0, [SEP] 39, Chair, 0.884, 0.012, -1.433, 0, 29.871, 0, [SEP] 40, Chair, -0.646, 0.007, -1.206, 0, 195.000, 0, [SEP] 41, Drawer, -1.409, 0.233, -1.303, 0, 0, 0, [SEP] 42, Drawer, -1.407, 0.847, -1.302, 0, 0, 0, [SEP] 43, Desk, -0.993, 0.006, -1.410, 0, 0, 0, [SEP] 44, Drawer, -1.408, 0.558, -1.302, 0, 0, 0, [SEP] 45, Shelf, 0.003, 0.013, 0.035, 0, 0, 0, [SEP] 46, NorthWall, , , , , , , [SEP] 47, EastWall, , , , , , , [SEP] 48, SouthWall, , , , , , , [SEP] 49, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and move to the front of the desk with the clocks. | STEP 2: Pick up the pencil on the desk. | STEP 3: Turn left and move to the left of the desk. | STEP 4: Turn on the light above the desk. | END"]} +{"id": "trial_T20190908_121901_853190-2", "input": "Put the heated potato on the black shelf SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.869, -3.5, 0, 270, 0, [SEP] 1, Potato, -1.620, 0.729, -3.361, 0, 0, 0, 76 [SEP] 2, Potato, -2.137, 0.734, -1.091, 0, 0, 0, 85 [SEP] 3, Potato, 0.950, 0.916, 0.098, 0, 0, 0, 49 [SEP] 4, DishSponge, -1.535, 0.699, -3.698, 0, 0, 0, 76 [SEP] 5, ButterKnife, 0.655, 0.883, 0.098, 0, 0, 0, 49 [SEP] 6, Spatula, 0.623, 0.774, -0.061, 0, 180, 0, 48 [SEP] 7, Spatula, 0.817, 0.774, 0.002, 0, 270, 0, 48 [SEP] 8, Fork, -0.252, 0.901, 0.843, 0, 0, 0, 75 [SEP] 9, Fork, 0.757, 0.773, -0.570, 0, 270, 0, 72 [SEP] 10, Pot, -2.097, 0.930, 0.785, 0, 0, 0, 51 [SEP] 11, Egg, 0.863, 1.411, -1.958, 0, 270, 0, 69 [SEP] 12, Tomato, 0.669, 0.713, -1.802, 0, 270, 0, 69 [SEP] 13, Tomato, 1.024, 0.931, -0.108, 0, 0, 0, 49 [SEP] 14, SoapBottle, -1.719, 0.701, -1.524, 0, 0, 0, 85 [SEP] 15, SoapBottle, -1.886, 0.701, -1.199, 0, 0, 0, 85 [SEP] 16, Bowl, 0.149, 0.899, 1.187, 0, 270, 0, 75 [SEP] 17, Bowl, 0.799, 0.770, -0.735, 0, 270, 0, 72 [SEP] 18, PepperShaker, 0.781, 0.660, 0.265, 0, 0, 0, 54 [SEP] 19, PepperShaker, -1.535, 0.696, -3.614, 0, 0, 0, 76 [SEP] 20, SaltShaker, 0.841, 0.660, 0.508, 0, 0, 0, 54 [SEP] 21, SaltShaker, 0.566, 0.012, -0.898, 0, 0, 0, 52 [SEP] 22, Lettuce, 0.708, 0.751, -1.958, 0, 270, 0, 69 [SEP] 23, Lettuce, -1.719, 0.788, -1.199, 0, 0, 0, 85 [SEP] 24, Mug, 0.858, 1.458, 0.596, 0, 270, 0, 61 [SEP] 25, Apple, 0.824, 1.428, -2.113, 0, 270, 0, 69 [SEP] 26, Apple, -1.260, 0.105, -3.647, 0, 270, 0, 64 [SEP] 27, Pot, -1.552, 0.930, 0.785, 0, 0, 0, 53 [SEP] 28, Plate, 0.676, 0.019, -0.053, 0, 0, 0, 59 [SEP] 29, Fork, 0.781, 0.665, 0.508, 0, 0, 0, 54 [SEP] 30, SoapBottle, -1.056, 0.899, 1.101, 0, 270, 0, 75 [SEP] 31, Apple, -1.578, 0.750, -3.445, 0, 0, 0, 76 [SEP] 32, Pan, 0.740, -0.007, -0.596, 0, 0, 0, 52 [SEP] 33, Egg, -1.261, 0.088, -3.537, 0, 270, 0, 64 [SEP] 34, Spatula, -1.635, 0.716, -0.875, 0, 0, 0, 85 [SEP] 35, Potato, 0.961, 0.697, 0.387, 0, 0, 0, 54 [SEP] 36, Cup, 0.708, 1.373, -1.880, 0, 270, 0, 69 [SEP] 37, SaltShaker, 0.877, 0.879, -0.245, 0, 0, 0, 49 [SEP] 38, PepperShaker, 0.858, 1.460, 0.411, 0, 0, 0, 61 [SEP] 39, ButterKnife, 0.729, 0.883, -0.108, 0, 0, 0, 49 [SEP] 40, DishSponge, 0.601, 0.664, 0.569, 0, 0, 0, 54 [SEP] 41, Bread, -0.873, 0.931, 0.978, 0, 24.231, 0, 75 [SEP] 42, Lettuce, 0.661, 0.752, 0.448, 0, 0, 0, 54 [SEP] 43, Tomato, -0.252, 0.949, 0.929, 0, 270, 0, 75 [SEP] 44, Spoon, -1.803, 0.702, -1.416, 0, 0, 0, 85 [SEP] 45, Knife, 0.901, 0.687, 0.448, 0, 90, 0, 54 [SEP] 46, Mug, 0.903, 1.458, 0.039, 0, 270, 0, 60 [SEP] 47, Bowl, -0.051, 0.899, 0.843, 0, 270, 0, 75 [SEP] 48, Drawer, 0.706, 0.766, -0.125, 0, 0, 0, [SEP] 49, CounterTop, 0.792, 0.919, -0.108, 0, 0, 0, [SEP] 50, Mirror, 1.093, 1.602, -0.643, 0, 0, 0, [SEP] 51, StoveBurner, -2.096, 0.890, 0.785, 0, 0, 0, [SEP] 52, Cabinet, 0.507, 0.345, -0.426, 0, 0, 0, [SEP] 53, StoveBurner, -1.552, 0.890, 0.785, 0, 0, 0, [SEP] 54, SideTable, 0.770, -0.030, 0.443, 0, 0, 0, [SEP] 55, Sink, 0.753, 0.882, -0.680, 0, 0, 0, [SEP] 56, StoveBurner, -2.096, 0.890, 1.049, 0, 0, 0, [SEP] 57, GarbageBag, -0.770, 0.287, -3.541, 270, 73.521, 83.489, [SEP] 58, StoveBurner, -1.554, 0.890, 1.049, 0, 0, 0, [SEP] 59, Cabinet, 0.507, 0.345, 0.156, 0, 0, 0, [SEP] 60, Cabinet, 0.717, 1.822, -0.398, 0, 0, 0, [SEP] 61, Cabinet, 0.717, 1.822, 0.669, 0, 0, 0, [SEP] 62, CoffeeMachine, 0.873, 0.865, -1.256, 0, 270, 0, [SEP] 63, Toaster, -0.522, 0.886, 1.081, 0, 180, 0, [SEP] 64, GarbageCan, -1.261, -0.031, -3.610, 0, 270, 0, [SEP] 65, StoveKnob, -1.898, 0.866, 0.519, 311.864, 0, 180, [SEP] 66, StoveKnob, -1.754, 0.866, 0.519, 311.864, 0, 180, [SEP] 67, StoveKnob, -2.058, 0.866, 0.519, 311.864, 0, 180, [SEP] 68, StoveKnob, -1.600, 0.866, 0.519, 311.864, 0, 180, [SEP] 69, Fridge, 0.680, -0.031, -1.957, 0, 0, 0, [SEP] 70, Window, -2.424, 1.639, -2.453, 90, 270, 0, [SEP] 71, Microwave, -1.994, 0.690, -3.651, 0, 0, 0, [SEP] 72, SinkBasin, 0.757, 0.762, -0.688, 0, 270, 0, [SEP] 73, LightSwitch, 1.102, 1.368, -3.737, 0, 270, 0, [SEP] 74, Shelf, -0.350, 0.124, 0.857, 0, 0, 0, [SEP] 75, DiningTable, -0.350, -0.025, 0.857, 0, 0, 0, [SEP] 76, DiningTable, -1.909, -0.032, -3.507, 0, 0, 0, [SEP] 77, Blinds, -2.343, 2.151, -2.437, 0, 270, 0, [SEP] 78, AluminumFoil, 0.762, 0.224, 0.337, 0, 184.594, 0, [SEP] 79, AluminumFoil, 0.751, 0.225, 0.287, 0, 0, 0, [SEP] 80, AluminumFoil, 0.839, 0.224, 0.392, 0, 195.128, 0, [SEP] 81, Shelf, 0.771, 0.226, 0.445, 0, 0, 0, [SEP] 82, Shelf, 0.771, 0.456, 0.446, 0, 0, 0, [SEP] 83, Faucet, 1.025, 0.873, -0.678, 270, 180, 0, [SEP] 84, Shelf, -0.350, 0.497, 0.857, 0, 0, 0, [SEP] 85, DiningTable, -1.929, -0.035, -1.398, 0, 90, 0, [SEP] 86, Chair, -1.610, -0.024, -1.424, 358.454, 297.426, 0, [SEP] 87, NorthWall, , , , , , , [SEP] 88, EastWall, , , , , , , [SEP] 89, SouthWall, , , , , , , [SEP] 90, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and head to the black shelf on your right | STEP 2: Pick up the potato on the shelf | STEP 3: Turn around walk across the room and head to the microwave | STEP 4: Open the microwave and put in and out the potato then close the microwave | STEP 5: Turn around to your left then head to the black shelf | STEP 6: Put the potato on the edge of the black shelf | END"]} +{"id": "trial_T20190909_151053_527520-2", "input": "Put a cleaned kettle on the table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.914, 2.25, 0, 90, 0, [SEP] 1, ButterKnife, -3.463, 0.915, 1.189, 0, 0, 0, 53 [SEP] 2, ButterKnife, -3.176, 0.915, 1.524, 0, 0, 0, 53 [SEP] 3, WineBottle, -3.272, 0.916, 1.524, 0, 0, 0, 53 [SEP] 4, WineBottle, -3.540, 1.460, 2.771, 0, 0, 0, 51 [SEP] 5, Kettle, -3.148, 0.966, 2.374, 0, 0, 0, 47 [SEP] 6, Kettle, -3.272, 0.916, 3.008, 0, 0, 0, 44 [SEP] 7, Spatula, -3.654, 0.930, 1.440, 0, 90, 0, 53 [SEP] 8, Spatula, -3.097, 0.761, 2.861, 0, 90, 0, 46 [SEP] 9, Spoon, -2.302, 0.916, 4.214, 0, 0, 0, 44 [SEP] 10, Spoon, -3.463, 0.916, 1.524, 0, 0, 0, 53 [SEP] 11, Fork, -3.272, 0.916, 1.273, 0, 0, 0, 53 [SEP] 12, Pot, -3.424, 0.966, 1.971, 0, 0, 0, 52 [SEP] 13, Cup, -2.022, 0.915, 4.062, 0, 0, 0, 44 [SEP] 14, Cup, -0.089, 1.273, 4.133, 0, 180, 0, 70 [SEP] 15, Knife, -3.097, 0.768, 1.202, 0, 90, 0, 45 [SEP] 16, SoapBottle, -1.192, 0.086, 3.788, 0, 270, 0, 76 [SEP] 17, Bowl, -3.471, 1.453, 3.805, 0, 0, 0, 61 [SEP] 18, PepperShaker, -3.113, 0.079, 1.513, 0, 0, 0, 63 [SEP] 19, PepperShaker, -3.098, 0.743, 3.326, 0, 0, 0, 54 [SEP] 20, Apple, -3.505, 1.606, 2.172, 0, 90, 0, 75 [SEP] 21, Egg, -1.161, 0.121, 3.692, 0, 270, 0, 76 [SEP] 22, Knife, -3.368, 0.939, 1.440, 0, 270, 0, 53 [SEP] 23, Fork, -3.214, 0.746, 1.510, 0, 90, 0, 45 [SEP] 24, Bread, -1.522, 0.963, 0.276, 0, 280.313, 0, 80 [SEP] 25, Potato, -3.442, 1.578, 2.016, 0, 90, 0, 75 [SEP] 26, Plate, -3.005, 0.904, 3.677, 0, 0, 0, 44 [SEP] 27, Pot, -3.424, 0.966, 2.374, 0, 0, 0, 50 [SEP] 28, Kettle, -3.145, 0.069, 2.920, 0, 270, 0, 57 [SEP] 29, WineBottle, -2.905, 0.916, 3.998, 0, 0, 0, 44 [SEP] 30, Bowl, -0.790, 0.985, 3.926, 0, 180, 0, 70 [SEP] 31, Tomato, -3.272, 0.984, 1.106, 0, 0, 0, 53 [SEP] 32, Cup, -0.673, 0.986, 4.051, 0, 180, 0, 70 [SEP] 33, Spatula, -3.081, 0.930, 1.189, 0, 90, 0, 53 [SEP] 34, SoapBottle, -1.815, 0.915, 4.146, 0, 0, 0, 44 [SEP] 35, Lettuce, -3.463, 1.001, 3.663, 0, 0, 0, 44 [SEP] 36, Pan, -2.614, 0.902, 3.620, 0, 0, 0, 44 [SEP] 37, Apple, -3.559, 0.975, 1.440, 0, 0, 0, 53 [SEP] 38, SaltShaker, -3.463, 0.912, 1.273, 0, 0, 0, 53 [SEP] 39, PepperShaker, -2.678, 0.076, 3.701, 0, 0, 0, 56 [SEP] 40, ButterKnife, -1.840, 0.779, 3.674, 0, 0, 0, 74 [SEP] 41, DishSponge, -3.540, 1.458, 1.152, 0, 0, 0, 62 [SEP] 42, Spoon, -3.215, 0.748, 2.972, 0, 90, 0, 46 [SEP] 43, Mug, -3.424, 0.945, 3.275, 0, 90, 0, 44 [SEP] 44, CounterTop, -3.381, 0.950, 3.335, 0, 0, 0, [SEP] 45, Drawer, -3.121, 0.775, 1.357, 0, 0, 0, [SEP] 46, Drawer, -3.121, 0.777, 2.916, 0, 0, 0, [SEP] 47, StoveBurner, -3.148, 0.958, 2.374, 0, 0, 0, [SEP] 48, Sink, -1.797, 0.917, 3.660, 0, 0, 0, [SEP] 49, Cabinet, -1.421, 0.388, 3.459, 0, 0, 0, [SEP] 50, StoveBurner, -3.424, 0.958, 2.374, 0, 0, 0, [SEP] 51, Cabinet, -3.365, 1.931, 2.676, 0, 0, 0, [SEP] 52, StoveBurner, -3.424, 0.958, 1.971, 0, 0, 0, [SEP] 53, CounterTop, -3.381, 0.951, 1.356, 0, 0, 0, [SEP] 54, Drawer, -3.121, 0.781, 3.295, 0, 0, 0, [SEP] 55, Cabinet, -2.205, 0.388, 3.459, 0, 0, 0, [SEP] 56, Cabinet, -2.963, 0.388, 3.459, 0, 0, 0, [SEP] 57, Cabinet, -2.992, 0.388, 2.683, 0, 0, 0, [SEP] 58, Cabinet, -3.352, 2.205, 1.715, 0, 0, 0, [SEP] 59, Cabinet, -3.352, 2.205, 2.653, 0, 0, 0, [SEP] 60, Cabinet, -2.189, 0.388, 3.466, 0, 0, 0, [SEP] 61, Cabinet, -3.365, 1.931, 3.963, 0, 0, 0, [SEP] 62, Cabinet, -3.365, 1.931, 1.056, 0, 0, 0, [SEP] 63, Cabinet, -2.992, 0.388, 1.037, 0, 0, 0, [SEP] 64, StoveBurner, -3.143, 0.958, 1.971, 0, 0, 0, [SEP] 65, StoveKnob, -3.599, 1.110, 2.017, 0, 0, 105.000, [SEP] 66, StoveKnob, -3.599, 1.110, 1.867, 0, 0, 105.000, [SEP] 67, StoveKnob, -3.599, 1.110, 2.267, 0, 0, 105.000, [SEP] 68, StoveKnob, -3.599, 1.110, 2.427, 0, 0, 105.000, [SEP] 69, Toaster, -2.654, 0.902, 4.064, 0, 180, 0, [SEP] 70, Fridge, -0.439, 0.014, 3.996, 0, 0, 0, [SEP] 71, LightSwitch, 0.25, 1.383, 2.085, 0, 270, 0, [SEP] 72, Window, -1.430, 1.338, -0.347, 90, 0, 0, [SEP] 73, CoffeeMachine, -3.550, 0.902, 3.274, 0, 90, 0, [SEP] 74, SinkBasin, -1.802, 0.778, 3.700, 0, 0, 0, [SEP] 75, Microwave, -3.484, 1.430, 2.182, 0, 90, 0, [SEP] 76, GarbageCan, -1.184, -0.020, 3.794, 0, 270, 0, [SEP] 77, Blinds, -1.404, 2.092, -0.296, 0, 0, 0, [SEP] 78, Stool, -1.373, 0.014, 1.048, 1.214, 20.754, 0, [SEP] 79, Faucet, -1.788, 0.903, 3.931, 270, 90, 0, [SEP] 80, DiningTable, -1.399, 0.010, 0.238, 0, 0, 0, [SEP] 81, GarbageBag, -0.291, 0.336, -0.034, 272.372, 348.812, 147.313, [SEP] 82, NorthWall, , , , , , , [SEP] 83, EastWall, , , , , , , [SEP] 84, SouthWall, , , , , , , [SEP] 85, WestWall, , , , , , , ", "output": ["STEP 1: Turn around, move to the counter right of the stove. | STEP 2: Pick up the kettle on the counter. | STEP 3: Turn around, bring the kettle to the sink on the left. | STEP 4: Wash the kettle in the sink with water. | STEP 5: Turn around, bring the kettle to the table with the bread on it. | STEP 6: Put the kettle on the table. | END"]} +{"id": "trial_T20190906_212905_520044-2", "input": "Get the pink sponge on the toilet, wash it, put the sponge in the tub SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.5, 0.904, 0.0, 0, 270, 0, [SEP] 1, Cloth, -0.690, 0.033, 0.811, 0, 0, 0, 26 [SEP] 2, Cloth, -3.113, 1.002, -0.287, 0, 0, 0, 28 [SEP] 3, Candle, -3.230, 0.110, -0.387, 0, 0, 0, 18 [SEP] 4, SoapBar, -3.285, 1.048, 1.263, 0, 90, 0, 35 [SEP] 5, Towel, -1.615, 1.398, 1.800, 0, 180, 0, 30 [SEP] 6, HandTowel, -3.321, 1.464, 0.763, 0, 270, 0, 32 [SEP] 7, SoapBar, -3.184, 1.869, 1.524, 0, 0, 0, 19 [SEP] 8, ToiletPaper, -3.246, 1.039, 1.143, 0, 0, 0, 35 [SEP] 9, ToiletPaper, -3.061, 0.668, 0.690, 347.055, 0, 90, 34 [SEP] 10, Candle, -2.852, 1.003, -0.115, 0, 49.326, 0, 28 [SEP] 11, ScrubBrush, -3.236, 0.003, 1.79, 0, 0, 0, Floor|-01.69| [SEP] 12, Plunger, -3.043, 0.003, 1.683, 0, 0, 0, Floor|-01.69| [SEP] 13, SoapBottle, -3.096, 1.871, 1.574, 0, 0, 0, 19 [SEP] 14, Cloth, -2.969, 0.109, -0.122, 0, 0, 0, 23 [SEP] 15, SprayBottle, -3.165, 0.109, -0.494, 0, 0, 0, 18 [SEP] 16, Faucet, -0.618, 0.667, 1.805, 0, 0, 0, [SEP] 17, Cabinet, -2.761, 0.446, 0.599, 0, 0, 0, [SEP] 18, Cabinet, -2.756, 0.421, -0.759, 0, 0, 0, [SEP] 19, Cabinet, -2.905, 2.098, 1.878, 0, 0, 0, [SEP] 20, Sink, -3.016, 0.865, 0.207, 0, 90, 0, [SEP] 21, Bathtub, -0.603, 0.286, 0.832, 0, 0, 0, [SEP] 22, SinkBasin, -3.016, 0.874, 0.217, 0, 90, 0, [SEP] 23, Cabinet, -2.756, 0.421, -0.272, 0, 0, 0, [SEP] 24, Faucet, -3.313, 0.989, 0.207, 0, 90, 0, [SEP] 25, Cabinet, -2.900, 2.053, 1.005, 0, 0, 0, [SEP] 26, BathtubBasin, -0.558, 0.023, 0.811, 0, 0, 0, [SEP] 27, Mirror, -3.348, 1.476, 0.020, 0, 0, 0, [SEP] 28, CounterTop, -3.049, 1.039, -0.442, 0, 0, 0, [SEP] 29, GarbageCan, -3.080, -0.007, 0.899, 0, 0, 0, [SEP] 30, TowelHolder, -1.615, 1.383, 1.907, 0, 180, 0, [SEP] 31, HandTowelHolder, -2.960, 1.695, -0.766, 0, 270, 0, [SEP] 32, HandTowelHolder, -3.359, 1.565, 0.763, 0, 0, 0, [SEP] 33, LightSwitch, -2.313, 1.426, -0.766, 0, 0, 0, [SEP] 34, ToiletPaperHanger, -3.105, 0.828, 0.625, 347.055, 0, 0, [SEP] 35, Toilet, -2.931, 0.003, 1.364, 0, 180, 0, [SEP] 36, ShowerCurtain, -1.171, 1.866, -0.108, 0, 0, 0, [SEP] 37, NorthWall, , , , , , , [SEP] 38, EastWall, , , , , , , [SEP] 39, SouthWall, , , , , , , [SEP] 40, WestWall, , , , , , , ", "output": ["STEP 1: Turn right, walk to the toilet | STEP 2: Grab the pink sponge on the toilet | STEP 3: Turn left and walk to the sink | STEP 4: Put the pink sponge in the sink, turn on the faucet and wash the sponge, take the sponge | STEP 5: Turn around and walk to the bath tub | STEP 6: Put the pink sponge in the tub | END"]} +{"id": "trial_T20190909_081955_726088-1", "input": "Put two credit cards on the TV stand. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.25, 0.901, 3.5, 0, 180, 0, [SEP] 1, Watch, -5.007, 0.988, 2.026, 0, 270, 0, 32 [SEP] 2, Watch, -5.094, 0.988, 2.310, 0, 90, 0, 32 [SEP] 3, RemoteControl, -2.702, 0.459, 0.662, 0, 0, 0, 38 [SEP] 4, CreditCard, 0.132, 0.707, 4.659, 0, 0, 0, 40 [SEP] 5, Box, -2.180, 0.670, 2.428, 0, 350.086, 0, 35 [SEP] 6, WateringCan, -0.277, -0.000, 4.860, 0, 0, 0, Floor|+00.38| [SEP] 7, CreditCard, -0.129, 0.707, 4.659, 0, 0, 0, 40 [SEP] 8, KeyChain, -2.702, 0.527, 0.662, 0, 0, 0, 38 [SEP] 9, Pillow, -3.294, 0.624, 0.801, 0, 0, 338.090, 38 [SEP] 10, Laptop, -4.873, 0.981, 3.44, 0, 83.878, 0, 32 [SEP] 11, RemoteControl, -2.227, 0.535, 0.934, 0, 0, 0, 38 [SEP] 12, Watch, 0.219, 0.707, 4.639, 0, 0, 0, 40 [SEP] 13, Statue, -5.007, 1.086, 2.879, 0, 0, 0, 32 [SEP] 14, Curtains, -2.535, 2.596, 0.111, 0, 0, 0, [SEP] 15, FloorLamp, -4.661, 0.009, 0.422, 0, 0, 0, [SEP] 16, Television, -4.883, 1.472, 2.434, 0, 90, 0, [SEP] 17, GarbageCan, -4.810, -0.032, 1.236, 0, 180, 0, [SEP] 18, Painting, -0.293, 1.820, 0.016, 90, 0, 0, [SEP] 19, LightSwitch, -1.016, 1.243, 5.0, 0, 180, 0, [SEP] 20, Painting, -5.118, 1.480, 4.396, 90, 270, 0, [SEP] 21, Painting, -5.118, 1.480, 0.656, 90, 270, 0, [SEP] 22, Window, -1.715, 1.554, 0.006, 90, 180, 0, [SEP] 23, Window, -3.244, 1.554, 0.006, 90, 180, 0, [SEP] 24, DeskLamp, 0.015, 0.704, 4.676, 0, 0, 0, [SEP] 25, HousePlant, -4.824, 0.984, 1.572, 0, 0, 0, [SEP] 26, Drawer, -4.497, 0.901, 2.854, 0, 90, 0, [SEP] 27, Drawer, -4.497, 0.901, 2.339, 0, 90, 0, [SEP] 28, Cabinet, -4.409, 0.498, 2.603, 0, 90, 0, [SEP] 29, Cabinet, -4.409, 0.498, 3.622, 0, 90, 0, [SEP] 30, Drawer, -4.497, 0.901, 3.372, 0, 90, 0, [SEP] 31, Cabinet, -4.409, 0.498, 1.569, 0, 90, 0, [SEP] 32, Dresser, -4.744, 4.321, 2.595, 0, 90, 0, [SEP] 33, Drawer, -4.497, 0.901, 1.818, 0, 90, 0, [SEP] 34, Cabinet, -4.409, 0.498, 2.588, 0, 90, 0, [SEP] 35, CoffeeTable, -2.405, -0.000, 2.546, 0, 0, 0, [SEP] 36, ArmChair, -0.298, 0.002, 3.310, 0, 270, 0, [SEP] 37, ArmChair, -0.298, 0.002, 1.713, 0, 270, 0, [SEP] 38, Sofa, -2.464, -0.002, 0.700, 0, 0, 0, [SEP] 39, Chair, -4.735, 0.011, 4.609, 1.215, 90, 0, [SEP] 40, SideTable, -0.041, 0.002, 4.619, 0, 0, 0, [SEP] 41, NorthWall, , , , , , , [SEP] 42, EastWall, , , , , , , [SEP] 43, SouthWall, , , , , , , [SEP] 44, WestWall, , , , , , , ", "output": ["STEP 1: Turn to the left then turn right and go to the side table. | STEP 2: Pick up the credit card from the side table. | STEP 3: Turn to the left and walk forward to the TV stand | STEP 4: Set the credit card on the TV stand. | STEP 5: Turn to the right then make another right and go back to the side table. | STEP 6: Pick up the other credit card from the side table. | STEP 7: Turn to the left and walk forward to the TV stand | STEP 8: Set the credit card on the TV stand. | END"]} +{"id": "trial_T20190909_081955_726088-2", "input": "place two red credit cards on cabinet with television SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.25, 0.901, 3.5, 0, 180, 0, [SEP] 1, Watch, -5.007, 0.988, 2.026, 0, 270, 0, 32 [SEP] 2, Watch, -5.094, 0.988, 2.310, 0, 90, 0, 32 [SEP] 3, RemoteControl, -2.702, 0.459, 0.662, 0, 0, 0, 38 [SEP] 4, CreditCard, 0.132, 0.707, 4.659, 0, 0, 0, 40 [SEP] 5, Box, -2.180, 0.670, 2.428, 0, 350.086, 0, 35 [SEP] 6, WateringCan, -0.277, -0.000, 4.860, 0, 0, 0, Floor|+00.38| [SEP] 7, CreditCard, -0.129, 0.707, 4.659, 0, 0, 0, 40 [SEP] 8, KeyChain, -2.702, 0.527, 0.662, 0, 0, 0, 38 [SEP] 9, Pillow, -3.294, 0.624, 0.801, 0, 0, 338.090, 38 [SEP] 10, Laptop, -4.873, 0.981, 3.44, 0, 83.878, 0, 32 [SEP] 11, RemoteControl, -2.227, 0.535, 0.934, 0, 0, 0, 38 [SEP] 12, Watch, 0.219, 0.707, 4.639, 0, 0, 0, 40 [SEP] 13, Statue, -5.007, 1.086, 2.879, 0, 0, 0, 32 [SEP] 14, Curtains, -2.535, 2.596, 0.111, 0, 0, 0, [SEP] 15, FloorLamp, -4.661, 0.009, 0.422, 0, 0, 0, [SEP] 16, Television, -4.883, 1.472, 2.434, 0, 90, 0, [SEP] 17, GarbageCan, -4.810, -0.032, 1.236, 0, 180, 0, [SEP] 18, Painting, -0.293, 1.820, 0.016, 90, 0, 0, [SEP] 19, LightSwitch, -1.016, 1.243, 5.0, 0, 180, 0, [SEP] 20, Painting, -5.118, 1.480, 4.396, 90, 270, 0, [SEP] 21, Painting, -5.118, 1.480, 0.656, 90, 270, 0, [SEP] 22, Window, -1.715, 1.554, 0.006, 90, 180, 0, [SEP] 23, Window, -3.244, 1.554, 0.006, 90, 180, 0, [SEP] 24, DeskLamp, 0.015, 0.704, 4.676, 0, 0, 0, [SEP] 25, HousePlant, -4.824, 0.984, 1.572, 0, 0, 0, [SEP] 26, Drawer, -4.497, 0.901, 2.854, 0, 90, 0, [SEP] 27, Drawer, -4.497, 0.901, 2.339, 0, 90, 0, [SEP] 28, Cabinet, -4.409, 0.498, 2.603, 0, 90, 0, [SEP] 29, Cabinet, -4.409, 0.498, 3.622, 0, 90, 0, [SEP] 30, Drawer, -4.497, 0.901, 3.372, 0, 90, 0, [SEP] 31, Cabinet, -4.409, 0.498, 1.569, 0, 90, 0, [SEP] 32, Dresser, -4.744, 4.321, 2.595, 0, 90, 0, [SEP] 33, Drawer, -4.497, 0.901, 1.818, 0, 90, 0, [SEP] 34, Cabinet, -4.409, 0.498, 2.588, 0, 90, 0, [SEP] 35, CoffeeTable, -2.405, -0.000, 2.546, 0, 0, 0, [SEP] 36, ArmChair, -0.298, 0.002, 3.310, 0, 270, 0, [SEP] 37, ArmChair, -0.298, 0.002, 1.713, 0, 270, 0, [SEP] 38, Sofa, -2.464, -0.002, 0.700, 0, 0, 0, [SEP] 39, Chair, -4.735, 0.011, 4.609, 1.215, 90, 0, [SEP] 40, SideTable, -0.041, 0.002, 4.619, 0, 0, 0, [SEP] 41, NorthWall, , , , , , , [SEP] 42, EastWall, , , , , , , [SEP] 43, SouthWall, , , , , , , [SEP] 44, WestWall, , , , , , , ", "output": ["STEP 1: turn around, go to black table with lamp next to couch | STEP 2: pick up red credit card to the right of lamp on black table | STEP 3: turn around, go to black cabinet with television | STEP 4: place red credit card in front of television on black cabinet | STEP 5: turn around, go to black table with lamp next to couch | STEP 6: pick up red credit card to the left of lamp on black table | STEP 7: turn around, go to black cabinet with television | STEP 8: place red credit card to the left of credit card in front of television on black cabinet | END"]} +{"id": "trial_T20190907_042017_725891-0", "input": "place a lettuce slice inside of a pot on the kitchen counter SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.5, 0.908, 0.25, 0, 0, 0, [SEP] 1, DishSponge, 1.200, 0.885, 2.369, 0, 0, 0, 102 [SEP] 2, DishSponge, -1.135, 0.911, -0.902, 0, 0, 0, 76 [SEP] 3, Glassbottle, -1.015, 1.656, -0.847, 0, 0, 0, 56 [SEP] 4, Glassbottle, 1.284, 0.887, 2.584, 0, 0, 0, 102 [SEP] 5, WineBottle, 1.367, 0.887, 2.800, 0, 0, 0, 102 [SEP] 6, WineBottle, 1.117, 0.887, 2.477, 0, 0, 0, 102 [SEP] 7, Kettle, 1.128, 0.912, -0.144, 0, 0, 0, 70 [SEP] 8, Spoon, -1.383, 0.750, 2.830, 0, 270, 0, 51 [SEP] 9, Fork, -1.105, 0.749, 2.830, 0, 0, 0, 51 [SEP] 10, Pot, 0.802, 0.939, -0.473, 0, 0, 0, 78 [SEP] 11, Cup, -1.149, 1.636, 1.086, 0, 90, 0, 90 [SEP] 12, Plate, 1.128, 0.912, 0.706, 0, 0, 0, 70 [SEP] 13, Plate, 0.127, 0.117, -0.577, 0, 0, 0, 65 [SEP] 14, Knife, 1.286, 0.933, 0.422, 0, 0, 0, 70 [SEP] 15, Knife, 1.450, 0.908, 2.477, 0, 90, 0, 102 [SEP] 16, SoapBottle, -1.294, 1.657, -0.090, 0, 0, 0, 58 [SEP] 17, Bowl, -1.197, 0.748, 2.459, 0, 0, 0, 51 [SEP] 18, Bowl, 1.367, 0.884, 2.261, 0, 0, 0, 102 [SEP] 19, Bread, -1.320, 0.814, 1.092, 0, 90, 0, 90 [SEP] 20, Lettuce, -1.263, 1.492, 1.092, 0, 90, 0, 90 [SEP] 21, Lettuce, -0.919, 0.820, 2.644, 0, 0, 0, 51 [SEP] 22, SaltShaker, 1.174, 0.113, -0.011, 0, 0, 0, 64 [SEP] 23, Mug, 1.356, 1.650, -0.393, 0, 0, 0, 52 [SEP] 24, Mug, -0.919, 0.743, 2.459, 0, 0, 0, 51 [SEP] 25, Bread, 1.069, 0.935, 2.683, 0, 0, 0, 102 [SEP] 26, Glassbottle, -0.919, 0.750, 2.273, 0, 0, 0, 51 [SEP] 27, Fork, -1.105, 0.750, 1.902, 0, 0, 0, 51 [SEP] 28, Kettle, 0.802, 0.939, -0.740, 0, 90, 0, 79 [SEP] 29, Tomato, -1.475, 0.798, 2.459, 0, 0, 0, 51 [SEP] 30, Plate, -1.206, 0.752, 0.778, 0, 90, 0, 90 [SEP] 31, CellPhone, 1.365, 0.909, 0.422, 0, 0, 0, 70 [SEP] 32, Lettuce, -1.012, 0.820, 2.087, 0, 0, 0, 51 [SEP] 33, Pot, 0.502, 0.939, -0.740, 0, 90, 0, 77 [SEP] 34, SoapBottle, -1.197, 0.750, 2.644, 0, 0, 0, 51 [SEP] 35, WineBottle, -1.433, 0.913, -0.907, 0, 0, 0, 76 [SEP] 36, Spatula, 1.365, 0.926, 0.706, 0, 0, 0, 70 [SEP] 37, Bowl, 1.444, 0.909, -0.144, 0, 0, 0, 70 [SEP] 38, Apple, -1.378, 1.697, 0.781, 0, 90, 0, 90 [SEP] 39, Cup, -1.296, 1.014, -0.057, 0, 90, 0, 96 [SEP] 40, Knife, 1.200, 0.908, 2.261, 0, 0, 0, 102 [SEP] 41, Egg, -1.099, 0.375, 0.778, 0, 90, 0, 90 [SEP] 42, SaltShaker, -0.919, 0.745, 1.902, 0, 0, 0, 51 [SEP] 43, PepperShaker, 0.951, 0.882, 2.477, 0, 0, 0, 102 [SEP] 44, Potato, -1.130, 0.386, 1.197, 0, 90, 0, 90 [SEP] 45, ButterKnife, 1.207, 0.911, 0.139, 0, 0, 0, 70 [SEP] 46, DishSponge, -1.060, 0.911, -0.477, 0, 0, 0, 76 [SEP] 47, Pan, -1.290, 0.749, 2.273, 0, 0, 0, 51 [SEP] 48, Spoon, -1.290, 0.750, 2.644, 0, 0, 0, 51 [SEP] 49, SprayBottle, 1.356, 2.156, 0.511, 0, 0, 0, 61 [SEP] 50, Mug, -1.427, 1.010, 0.046, 0, 180, 0, 96 [SEP] 51, DiningTable, -1.182, 0.006, 2.414, 0, 90, 0, [SEP] 52, Cabinet, 1.184, 2.059, 0.375, 0, 0, 0, [SEP] 53, Cabinet, 1.184, 2.059, -0.635, 0, 0, 0, [SEP] 54, Cabinet, 0.591, 2.309, -0.645, 0, 0, 0, [SEP] 55, Cabinet, -0.574, 2.059, -0.644, 0, 0, 0, [SEP] 56, Cabinet, -1.103, 2.059, -0.644, 0, 0, 0, [SEP] 57, Cabinet, -1.185, 2.059, -0.331, 0, 0, 0, [SEP] 58, Cabinet, -1.185, 2.059, -0.281, 0, 0, 0, [SEP] 59, Cabinet, -1.185, 2.059, 0.375, 0, 0, 0, [SEP] 60, Cabinet, 1.184, 2.309, 1.174, 0, 0, 0, [SEP] 61, Cabinet, 1.184, 2.309, 0.424, 0, 0, 0, [SEP] 62, Cabinet, 0.988, 0.402, 0.581, 0, 0, 0, [SEP] 63, Cabinet, 0.988, 0.402, 0.531, 0, 0, 0, [SEP] 64, Cabinet, 0.988, 0.402, -0.178, 0, 0, 0, [SEP] 65, Cabinet, 0.335, 0.402, -0.348, 0, 0, 0, [SEP] 66, Cabinet, -0.374, 0.402, -0.348, 0, 0, 0, [SEP] 67, Cabinet, 0.988, 0.402, 1.231, 0, 0, 0, [SEP] 68, Cabinet, -1.185, 2.309, 1.374, 0, 0, 0, [SEP] 69, Cabinet, -1.185, 2.309, 0.424, 0, 0, 0, [SEP] 70, CounterTop, 1.274, 0.947, 0.064, 0, 0, 0, [SEP] 71, Drawer, 1.116, 0.792, -0.015, 0, 0, 0, [SEP] 72, Drawer, -1.116, 0.792, 0.210, 0, 180, 0, [SEP] 73, Cabinet, -0.990, 0.402, 0.374, 0, 180, 0, [SEP] 74, Drawer, -1.116, 0.792, -0.170, 0, 180, 0, [SEP] 75, Cabinet, -0.990, 0.402, -0.335, 0, 180, 0, [SEP] 76, CounterTop, -1.001, 0.947, -0.669, 0, 0, 0, [SEP] 77, StoveBurner, 0.502, 0.932, -0.740, 0, 90, 0, [SEP] 78, StoveBurner, 0.801, 0.932, -0.473, 0, 0, 0, [SEP] 79, StoveBurner, 0.801, 0.932, -0.740, 0, 90, 0, [SEP] 80, Drawer, 1.116, 0.792, 1.081, 0, 0, 0, [SEP] 81, Sink, -0.013, 0.912, -0.615, 0, 0, 0, [SEP] 82, Drawer, 1.116, 0.792, 0.732, 0, 0, 0, [SEP] 83, StoveBurner, 0.502, 0.932, -0.469, 0, 0, 0, [SEP] 84, Drawer, 1.116, 0.792, 0.367, 0, 0, 0, [SEP] 85, StoveKnob, 0.550, 1.085, -0.912, 287.970, 180, 0, [SEP] 86, StoveKnob, 0.884, 1.085, -0.912, 287.970, 180, 0, [SEP] 87, StoveKnob, 0.432, 1.085, -0.912, 287.970, 180, 0, [SEP] 88, StoveKnob, 0.777, 1.085, -0.912, 287.970, 180, 0, [SEP] 89, CoffeeMachine, 1.304, 0.900, -0.741, 0, 320.314, 0, [SEP] 90, Fridge, -1.300, 0.008, 0.987, 0, 90, 0, [SEP] 91, GarbageCan, 1.296, -0.024, 1.465, 0, 0, 0, [SEP] 92, Window, -0.012, 1.641, -0.972, 90, 0, 0, [SEP] 93, Window, 1.598, 1.646, 2.489, 90, 270, 0, [SEP] 94, Toaster, 1.356, 0.900, 1.044, 0, 270, 0, [SEP] 95, LightSwitch, 0.118, 1.353, 3.799, 0, 180, 0, [SEP] 96, Microwave, -1.343, 0.900, 0.053, 0, 90, 0, [SEP] 97, SinkBasin, -0.029, 0.748, -0.612, 0, 0, 0, [SEP] 98, Faucet, -0.026, 0.927, -0.808, 0, 0, 0, [SEP] 99, Shelf, -1.182, 0.127, 2.414, 0, 90, 0, [SEP] 100, Stool, 1.140, 0.007, 3.262, 1.206, 20.753, 0, [SEP] 101, Shelf, -1.182, 0.435, 2.414, 0, 90, 0, [SEP] 102, DiningTable, 1.169, 0.014, 2.569, 0, 0, 1.896, [SEP] 103, NorthWall, , , , , , , [SEP] 104, EastWall, , , , , , , [SEP] 105, SouthWall, , , , , , , [SEP] 106, WestWall, , , , , , , ", "output": ["STEP 1: turn right and walk to the kitchen counter ahead | STEP 2: grab a knife off of the kitchen counter there | STEP 3: turn around and walk over to the end of the room, then hang a left and walk to the white table ahead | STEP 4: slice up the lettuce on the table there | STEP 5: back up a bit and then face the white table ahead of you again | STEP 6: place the knife down on the table there | STEP 7: move forwards a bit to the right side of the table | STEP 8: grab a lettuce slice off of the table | STEP 9: turn around and walk to the table ahead, then take a right and walk over to the stove at the end of the room | STEP 10: place a lettuce slice in the pot on the back right burner | STEP 11: pick up the pot off of the back right burner | STEP 12: turn right and walk over to the kitchen counter on your left to the right of the kitchen sink | STEP 13: place the pot down on the kitchen counter on your right | END"]} +{"id": "trial_T20190907_042017_725891-3", "input": "Cut a slice of lettuce plus insert the lettuce into a pot as well as move the pot from the stove to the counter. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.5, 0.908, 0.25, 0, 0, 0, [SEP] 1, DishSponge, 1.200, 0.885, 2.369, 0, 0, 0, 102 [SEP] 2, DishSponge, -1.135, 0.911, -0.902, 0, 0, 0, 76 [SEP] 3, Glassbottle, -1.015, 1.656, -0.847, 0, 0, 0, 56 [SEP] 4, Glassbottle, 1.284, 0.887, 2.584, 0, 0, 0, 102 [SEP] 5, WineBottle, 1.367, 0.887, 2.800, 0, 0, 0, 102 [SEP] 6, WineBottle, 1.117, 0.887, 2.477, 0, 0, 0, 102 [SEP] 7, Kettle, 1.128, 0.912, -0.144, 0, 0, 0, 70 [SEP] 8, Spoon, -1.383, 0.750, 2.830, 0, 270, 0, 51 [SEP] 9, Fork, -1.105, 0.749, 2.830, 0, 0, 0, 51 [SEP] 10, Pot, 0.802, 0.939, -0.473, 0, 0, 0, 78 [SEP] 11, Cup, -1.149, 1.636, 1.086, 0, 90, 0, 90 [SEP] 12, Plate, 1.128, 0.912, 0.706, 0, 0, 0, 70 [SEP] 13, Plate, 0.127, 0.117, -0.577, 0, 0, 0, 65 [SEP] 14, Knife, 1.286, 0.933, 0.422, 0, 0, 0, 70 [SEP] 15, Knife, 1.450, 0.908, 2.477, 0, 90, 0, 102 [SEP] 16, SoapBottle, -1.294, 1.657, -0.090, 0, 0, 0, 58 [SEP] 17, Bowl, -1.197, 0.748, 2.459, 0, 0, 0, 51 [SEP] 18, Bowl, 1.367, 0.884, 2.261, 0, 0, 0, 102 [SEP] 19, Bread, -1.320, 0.814, 1.092, 0, 90, 0, 90 [SEP] 20, Lettuce, -1.263, 1.492, 1.092, 0, 90, 0, 90 [SEP] 21, Lettuce, -0.919, 0.820, 2.644, 0, 0, 0, 51 [SEP] 22, SaltShaker, 1.174, 0.113, -0.011, 0, 0, 0, 64 [SEP] 23, Mug, 1.356, 1.650, -0.393, 0, 0, 0, 52 [SEP] 24, Mug, -0.919, 0.743, 2.459, 0, 0, 0, 51 [SEP] 25, Bread, 1.069, 0.935, 2.683, 0, 0, 0, 102 [SEP] 26, Glassbottle, -0.919, 0.750, 2.273, 0, 0, 0, 51 [SEP] 27, Fork, -1.105, 0.750, 1.902, 0, 0, 0, 51 [SEP] 28, Kettle, 0.802, 0.939, -0.740, 0, 90, 0, 79 [SEP] 29, Tomato, -1.475, 0.798, 2.459, 0, 0, 0, 51 [SEP] 30, Plate, -1.206, 0.752, 0.778, 0, 90, 0, 90 [SEP] 31, CellPhone, 1.365, 0.909, 0.422, 0, 0, 0, 70 [SEP] 32, Lettuce, -1.012, 0.820, 2.087, 0, 0, 0, 51 [SEP] 33, Pot, 0.502, 0.939, -0.740, 0, 90, 0, 77 [SEP] 34, SoapBottle, -1.197, 0.750, 2.644, 0, 0, 0, 51 [SEP] 35, WineBottle, -1.433, 0.913, -0.907, 0, 0, 0, 76 [SEP] 36, Spatula, 1.365, 0.926, 0.706, 0, 0, 0, 70 [SEP] 37, Bowl, 1.444, 0.909, -0.144, 0, 0, 0, 70 [SEP] 38, Apple, -1.378, 1.697, 0.781, 0, 90, 0, 90 [SEP] 39, Cup, -1.296, 1.014, -0.057, 0, 90, 0, 96 [SEP] 40, Knife, 1.200, 0.908, 2.261, 0, 0, 0, 102 [SEP] 41, Egg, -1.099, 0.375, 0.778, 0, 90, 0, 90 [SEP] 42, SaltShaker, -0.919, 0.745, 1.902, 0, 0, 0, 51 [SEP] 43, PepperShaker, 0.951, 0.882, 2.477, 0, 0, 0, 102 [SEP] 44, Potato, -1.130, 0.386, 1.197, 0, 90, 0, 90 [SEP] 45, ButterKnife, 1.207, 0.911, 0.139, 0, 0, 0, 70 [SEP] 46, DishSponge, -1.060, 0.911, -0.477, 0, 0, 0, 76 [SEP] 47, Pan, -1.290, 0.749, 2.273, 0, 0, 0, 51 [SEP] 48, Spoon, -1.290, 0.750, 2.644, 0, 0, 0, 51 [SEP] 49, SprayBottle, 1.356, 2.156, 0.511, 0, 0, 0, 61 [SEP] 50, Mug, -1.427, 1.010, 0.046, 0, 180, 0, 96 [SEP] 51, DiningTable, -1.182, 0.006, 2.414, 0, 90, 0, [SEP] 52, Cabinet, 1.184, 2.059, 0.375, 0, 0, 0, [SEP] 53, Cabinet, 1.184, 2.059, -0.635, 0, 0, 0, [SEP] 54, Cabinet, 0.591, 2.309, -0.645, 0, 0, 0, [SEP] 55, Cabinet, -0.574, 2.059, -0.644, 0, 0, 0, [SEP] 56, Cabinet, -1.103, 2.059, -0.644, 0, 0, 0, [SEP] 57, Cabinet, -1.185, 2.059, -0.331, 0, 0, 0, [SEP] 58, Cabinet, -1.185, 2.059, -0.281, 0, 0, 0, [SEP] 59, Cabinet, -1.185, 2.059, 0.375, 0, 0, 0, [SEP] 60, Cabinet, 1.184, 2.309, 1.174, 0, 0, 0, [SEP] 61, Cabinet, 1.184, 2.309, 0.424, 0, 0, 0, [SEP] 62, Cabinet, 0.988, 0.402, 0.581, 0, 0, 0, [SEP] 63, Cabinet, 0.988, 0.402, 0.531, 0, 0, 0, [SEP] 64, Cabinet, 0.988, 0.402, -0.178, 0, 0, 0, [SEP] 65, Cabinet, 0.335, 0.402, -0.348, 0, 0, 0, [SEP] 66, Cabinet, -0.374, 0.402, -0.348, 0, 0, 0, [SEP] 67, Cabinet, 0.988, 0.402, 1.231, 0, 0, 0, [SEP] 68, Cabinet, -1.185, 2.309, 1.374, 0, 0, 0, [SEP] 69, Cabinet, -1.185, 2.309, 0.424, 0, 0, 0, [SEP] 70, CounterTop, 1.274, 0.947, 0.064, 0, 0, 0, [SEP] 71, Drawer, 1.116, 0.792, -0.015, 0, 0, 0, [SEP] 72, Drawer, -1.116, 0.792, 0.210, 0, 180, 0, [SEP] 73, Cabinet, -0.990, 0.402, 0.374, 0, 180, 0, [SEP] 74, Drawer, -1.116, 0.792, -0.170, 0, 180, 0, [SEP] 75, Cabinet, -0.990, 0.402, -0.335, 0, 180, 0, [SEP] 76, CounterTop, -1.001, 0.947, -0.669, 0, 0, 0, [SEP] 77, StoveBurner, 0.502, 0.932, -0.740, 0, 90, 0, [SEP] 78, StoveBurner, 0.801, 0.932, -0.473, 0, 0, 0, [SEP] 79, StoveBurner, 0.801, 0.932, -0.740, 0, 90, 0, [SEP] 80, Drawer, 1.116, 0.792, 1.081, 0, 0, 0, [SEP] 81, Sink, -0.013, 0.912, -0.615, 0, 0, 0, [SEP] 82, Drawer, 1.116, 0.792, 0.732, 0, 0, 0, [SEP] 83, StoveBurner, 0.502, 0.932, -0.469, 0, 0, 0, [SEP] 84, Drawer, 1.116, 0.792, 0.367, 0, 0, 0, [SEP] 85, StoveKnob, 0.550, 1.085, -0.912, 287.970, 180, 0, [SEP] 86, StoveKnob, 0.884, 1.085, -0.912, 287.970, 180, 0, [SEP] 87, StoveKnob, 0.432, 1.085, -0.912, 287.970, 180, 0, [SEP] 88, StoveKnob, 0.777, 1.085, -0.912, 287.970, 180, 0, [SEP] 89, CoffeeMachine, 1.304, 0.900, -0.741, 0, 320.314, 0, [SEP] 90, Fridge, -1.300, 0.008, 0.987, 0, 90, 0, [SEP] 91, GarbageCan, 1.296, -0.024, 1.465, 0, 0, 0, [SEP] 92, Window, -0.012, 1.641, -0.972, 90, 0, 0, [SEP] 93, Window, 1.598, 1.646, 2.489, 90, 270, 0, [SEP] 94, Toaster, 1.356, 0.900, 1.044, 0, 270, 0, [SEP] 95, LightSwitch, 0.118, 1.353, 3.799, 0, 180, 0, [SEP] 96, Microwave, -1.343, 0.900, 0.053, 0, 90, 0, [SEP] 97, SinkBasin, -0.029, 0.748, -0.612, 0, 0, 0, [SEP] 98, Faucet, -0.026, 0.927, -0.808, 0, 0, 0, [SEP] 99, Shelf, -1.182, 0.127, 2.414, 0, 90, 0, [SEP] 100, Stool, 1.140, 0.007, 3.262, 1.206, 20.753, 0, [SEP] 101, Shelf, -1.182, 0.435, 2.414, 0, 90, 0, [SEP] 102, DiningTable, 1.169, 0.014, 2.569, 0, 0, 1.896, [SEP] 103, NorthWall, , , , , , , [SEP] 104, EastWall, , , , , , , [SEP] 105, SouthWall, , , , , , , [SEP] 106, WestWall, , , , , , , ", "output": ["STEP 1: Turn right to face the counter. | STEP 2: Pick up the knife laying on the counter. | STEP 3: Turn around and walk across the room to the right to face the table. | STEP 4: Cut the lettuce on the table into slices. | STEP 5: Step back from the table and face it. | STEP 6: Put the knife on the table. | STEP 7: Step closer to the table and face the lettuce. | STEP 8: Pick up a slice of the lettuce. | STEP 9: Turn to the left and walk across the room to face the stove | STEP 10: Place the lettuce slice into the pot on the back right burner. | STEP 11: Pick up the pot with the lettuce slice in it off of the back right burner. | STEP 12: Step to the right and face the counter to the right of the sink. | STEP 13: Place the pot with lettuce slice in it on the counter to the right of the sink. | END"]} +{"id": "trial_T20190907_042017_725891-4", "input": "Bring a cutting knife to a different table to cut and prepare lettuce. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.5, 0.908, 0.25, 0, 0, 0, [SEP] 1, DishSponge, 1.200, 0.885, 2.369, 0, 0, 0, 102 [SEP] 2, DishSponge, -1.135, 0.911, -0.902, 0, 0, 0, 76 [SEP] 3, Glassbottle, -1.015, 1.656, -0.847, 0, 0, 0, 56 [SEP] 4, Glassbottle, 1.284, 0.887, 2.584, 0, 0, 0, 102 [SEP] 5, WineBottle, 1.367, 0.887, 2.800, 0, 0, 0, 102 [SEP] 6, WineBottle, 1.117, 0.887, 2.477, 0, 0, 0, 102 [SEP] 7, Kettle, 1.128, 0.912, -0.144, 0, 0, 0, 70 [SEP] 8, Spoon, -1.383, 0.750, 2.830, 0, 270, 0, 51 [SEP] 9, Fork, -1.105, 0.749, 2.830, 0, 0, 0, 51 [SEP] 10, Pot, 0.802, 0.939, -0.473, 0, 0, 0, 78 [SEP] 11, Cup, -1.149, 1.636, 1.086, 0, 90, 0, 90 [SEP] 12, Plate, 1.128, 0.912, 0.706, 0, 0, 0, 70 [SEP] 13, Plate, 0.127, 0.117, -0.577, 0, 0, 0, 65 [SEP] 14, Knife, 1.286, 0.933, 0.422, 0, 0, 0, 70 [SEP] 15, Knife, 1.450, 0.908, 2.477, 0, 90, 0, 102 [SEP] 16, SoapBottle, -1.294, 1.657, -0.090, 0, 0, 0, 58 [SEP] 17, Bowl, -1.197, 0.748, 2.459, 0, 0, 0, 51 [SEP] 18, Bowl, 1.367, 0.884, 2.261, 0, 0, 0, 102 [SEP] 19, Bread, -1.320, 0.814, 1.092, 0, 90, 0, 90 [SEP] 20, Lettuce, -1.263, 1.492, 1.092, 0, 90, 0, 90 [SEP] 21, Lettuce, -0.919, 0.820, 2.644, 0, 0, 0, 51 [SEP] 22, SaltShaker, 1.174, 0.113, -0.011, 0, 0, 0, 64 [SEP] 23, Mug, 1.356, 1.650, -0.393, 0, 0, 0, 52 [SEP] 24, Mug, -0.919, 0.743, 2.459, 0, 0, 0, 51 [SEP] 25, Bread, 1.069, 0.935, 2.683, 0, 0, 0, 102 [SEP] 26, Glassbottle, -0.919, 0.750, 2.273, 0, 0, 0, 51 [SEP] 27, Fork, -1.105, 0.750, 1.902, 0, 0, 0, 51 [SEP] 28, Kettle, 0.802, 0.939, -0.740, 0, 90, 0, 79 [SEP] 29, Tomato, -1.475, 0.798, 2.459, 0, 0, 0, 51 [SEP] 30, Plate, -1.206, 0.752, 0.778, 0, 90, 0, 90 [SEP] 31, CellPhone, 1.365, 0.909, 0.422, 0, 0, 0, 70 [SEP] 32, Lettuce, -1.012, 0.820, 2.087, 0, 0, 0, 51 [SEP] 33, Pot, 0.502, 0.939, -0.740, 0, 90, 0, 77 [SEP] 34, SoapBottle, -1.197, 0.750, 2.644, 0, 0, 0, 51 [SEP] 35, WineBottle, -1.433, 0.913, -0.907, 0, 0, 0, 76 [SEP] 36, Spatula, 1.365, 0.926, 0.706, 0, 0, 0, 70 [SEP] 37, Bowl, 1.444, 0.909, -0.144, 0, 0, 0, 70 [SEP] 38, Apple, -1.378, 1.697, 0.781, 0, 90, 0, 90 [SEP] 39, Cup, -1.296, 1.014, -0.057, 0, 90, 0, 96 [SEP] 40, Knife, 1.200, 0.908, 2.261, 0, 0, 0, 102 [SEP] 41, Egg, -1.099, 0.375, 0.778, 0, 90, 0, 90 [SEP] 42, SaltShaker, -0.919, 0.745, 1.902, 0, 0, 0, 51 [SEP] 43, PepperShaker, 0.951, 0.882, 2.477, 0, 0, 0, 102 [SEP] 44, Potato, -1.130, 0.386, 1.197, 0, 90, 0, 90 [SEP] 45, ButterKnife, 1.207, 0.911, 0.139, 0, 0, 0, 70 [SEP] 46, DishSponge, -1.060, 0.911, -0.477, 0, 0, 0, 76 [SEP] 47, Pan, -1.290, 0.749, 2.273, 0, 0, 0, 51 [SEP] 48, Spoon, -1.290, 0.750, 2.644, 0, 0, 0, 51 [SEP] 49, SprayBottle, 1.356, 2.156, 0.511, 0, 0, 0, 61 [SEP] 50, Mug, -1.427, 1.010, 0.046, 0, 180, 0, 96 [SEP] 51, DiningTable, -1.182, 0.006, 2.414, 0, 90, 0, [SEP] 52, Cabinet, 1.184, 2.059, 0.375, 0, 0, 0, [SEP] 53, Cabinet, 1.184, 2.059, -0.635, 0, 0, 0, [SEP] 54, Cabinet, 0.591, 2.309, -0.645, 0, 0, 0, [SEP] 55, Cabinet, -0.574, 2.059, -0.644, 0, 0, 0, [SEP] 56, Cabinet, -1.103, 2.059, -0.644, 0, 0, 0, [SEP] 57, Cabinet, -1.185, 2.059, -0.331, 0, 0, 0, [SEP] 58, Cabinet, -1.185, 2.059, -0.281, 0, 0, 0, [SEP] 59, Cabinet, -1.185, 2.059, 0.375, 0, 0, 0, [SEP] 60, Cabinet, 1.184, 2.309, 1.174, 0, 0, 0, [SEP] 61, Cabinet, 1.184, 2.309, 0.424, 0, 0, 0, [SEP] 62, Cabinet, 0.988, 0.402, 0.581, 0, 0, 0, [SEP] 63, Cabinet, 0.988, 0.402, 0.531, 0, 0, 0, [SEP] 64, Cabinet, 0.988, 0.402, -0.178, 0, 0, 0, [SEP] 65, Cabinet, 0.335, 0.402, -0.348, 0, 0, 0, [SEP] 66, Cabinet, -0.374, 0.402, -0.348, 0, 0, 0, [SEP] 67, Cabinet, 0.988, 0.402, 1.231, 0, 0, 0, [SEP] 68, Cabinet, -1.185, 2.309, 1.374, 0, 0, 0, [SEP] 69, Cabinet, -1.185, 2.309, 0.424, 0, 0, 0, [SEP] 70, CounterTop, 1.274, 0.947, 0.064, 0, 0, 0, [SEP] 71, Drawer, 1.116, 0.792, -0.015, 0, 0, 0, [SEP] 72, Drawer, -1.116, 0.792, 0.210, 0, 180, 0, [SEP] 73, Cabinet, -0.990, 0.402, 0.374, 0, 180, 0, [SEP] 74, Drawer, -1.116, 0.792, -0.170, 0, 180, 0, [SEP] 75, Cabinet, -0.990, 0.402, -0.335, 0, 180, 0, [SEP] 76, CounterTop, -1.001, 0.947, -0.669, 0, 0, 0, [SEP] 77, StoveBurner, 0.502, 0.932, -0.740, 0, 90, 0, [SEP] 78, StoveBurner, 0.801, 0.932, -0.473, 0, 0, 0, [SEP] 79, StoveBurner, 0.801, 0.932, -0.740, 0, 90, 0, [SEP] 80, Drawer, 1.116, 0.792, 1.081, 0, 0, 0, [SEP] 81, Sink, -0.013, 0.912, -0.615, 0, 0, 0, [SEP] 82, Drawer, 1.116, 0.792, 0.732, 0, 0, 0, [SEP] 83, StoveBurner, 0.502, 0.932, -0.469, 0, 0, 0, [SEP] 84, Drawer, 1.116, 0.792, 0.367, 0, 0, 0, [SEP] 85, StoveKnob, 0.550, 1.085, -0.912, 287.970, 180, 0, [SEP] 86, StoveKnob, 0.884, 1.085, -0.912, 287.970, 180, 0, [SEP] 87, StoveKnob, 0.432, 1.085, -0.912, 287.970, 180, 0, [SEP] 88, StoveKnob, 0.777, 1.085, -0.912, 287.970, 180, 0, [SEP] 89, CoffeeMachine, 1.304, 0.900, -0.741, 0, 320.314, 0, [SEP] 90, Fridge, -1.300, 0.008, 0.987, 0, 90, 0, [SEP] 91, GarbageCan, 1.296, -0.024, 1.465, 0, 0, 0, [SEP] 92, Window, -0.012, 1.641, -0.972, 90, 0, 0, [SEP] 93, Window, 1.598, 1.646, 2.489, 90, 270, 0, [SEP] 94, Toaster, 1.356, 0.900, 1.044, 0, 270, 0, [SEP] 95, LightSwitch, 0.118, 1.353, 3.799, 0, 180, 0, [SEP] 96, Microwave, -1.343, 0.900, 0.053, 0, 90, 0, [SEP] 97, SinkBasin, -0.029, 0.748, -0.612, 0, 0, 0, [SEP] 98, Faucet, -0.026, 0.927, -0.808, 0, 0, 0, [SEP] 99, Shelf, -1.182, 0.127, 2.414, 0, 90, 0, [SEP] 100, Stool, 1.140, 0.007, 3.262, 1.206, 20.753, 0, [SEP] 101, Shelf, -1.182, 0.435, 2.414, 0, 90, 0, [SEP] 102, DiningTable, 1.169, 0.014, 2.569, 0, 0, 1.896, [SEP] 103, NorthWall, , , , , , , [SEP] 104, EastWall, , , , , , , [SEP] 105, SouthWall, , , , , , , [SEP] 106, WestWall, , , , , , , ", "output": ["STEP 1: Turn to your right and face the kitchen counter. | STEP 2: Pick up the knife the right of the plate. | STEP 3: Turn around and walk to the other side of the room, then make a left until you reach the white table | STEP 4: Slice the lettuce to the right of the mug. | STEP 5: Turn around to face the table on the opposite side of the room, then face the white table again. | STEP 6: Place the knife down on the table, to the right of the lettuce. | STEP 7: Make a right turn and face the door, then return to face the white table. | STEP 8: Pick up one slice of lettuce. | STEP 9: Turn around to face the table on the opposite side of the room, then proceed straight to the stove top. | STEP 10: Place the lettuce in the pot to the right of the tea kettle. | STEP 11: Pick up the pot with the lettuce. | STEP 12: Turn to the right and face the counter top above the dishwasher. | STEP 13: Place the pot on the counter top above the dishwasher | END"]} +{"id": "trial_T20190909_104438_831497-1", "input": "pick up knife, cut tomato, cook in microwave, place in trash can SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.900, 1.75, 0, 180, 0, [SEP] 1, Pan, -0.244, 0.829, 2.075, 0, 180, 0, 45 [SEP] 2, Potato, -2.671, 0.863, 2.485, 0, 90, 0, 68 [SEP] 3, Potato, -2.840, 0.862, 0.203, 0, 0, 0, 50 [SEP] 4, Ladle, -2.375, 0.867, 0.500, 0, 0, 0, 50 [SEP] 5, DishSponge, -1.967, 0.697, 0.210, 0, 0, 0, 77 [SEP] 6, DishSponge, -2.882, 1.434, 1.372, 0, 0, 0, 58 [SEP] 7, ButterKnife, -1.542, 0.823, 0.528, 0, 0, 0, 50 [SEP] 8, Fork, -2.530, 0.693, 1.547, 0, 270, 0, 55 [SEP] 9, Spoon, -1.217, 0.699, 0.444, 0, 270, 0, 54 [SEP] 10, Egg, -1.709, 0.847, 0.073, 0, 0, 0, 50 [SEP] 11, Egg, -2.726, 1.469, 2.133, 0, 90, 0, 68 [SEP] 12, Bowl, -2.057, 0.121, 0.401, 0, 0, 0, 62 [SEP] 13, SaltShaker, -2.882, 1.429, 1.588, 0, 0, 0, 58 [SEP] 14, SaltShaker, -0.147, 0.818, 0.500, 0, 0, 0, 50 [SEP] 15, PepperShaker, -2.729, 1.430, 0.348, 0, 45, 0, 56 [SEP] 16, PepperShaker, -1.542, 0.818, 0.046, 0, 0, 0, 50 [SEP] 17, Lettuce, -2.837, 1.529, 2.309, 0, 90, 0, 68 [SEP] 18, Mug, -0.169, 0.818, 1.214, 0, 180, 0, 50 [SEP] 19, Mug, -2.840, 0.818, 0.426, 0, 0, 0, 50 [SEP] 20, Apple, -2.504, 0.896, 0.544, 0, 0, 0, 50 [SEP] 21, Apple, -0.295, 0.129, 2.674, 0, 90, 0, 70 [SEP] 22, Apple, -2.782, 1.216, 2.485, 0, 90, 0, 68 [SEP] 23, Fork, -2.044, 0.824, 0.539, 0, 0, 0, 50 [SEP] 24, Ladle, -0.371, 0.738, 0.879, 0, 45, 0, 52 [SEP] 25, Pan, -0.244, 0.829, 1.684, 0, 0, 0, 49 [SEP] 26, SoapBottle, -0.147, 0.821, 0.352, 0, 0, 0, 50 [SEP] 27, Pot, -0.531, 0.822, 2.096, 0, 0, 0, 47 [SEP] 28, Tomato, -2.658, 0.873, 0.707, 0, 0, 0, 50 [SEP] 29, Potato, -2.837, 1.484, 2.133, 0, 90, 0, 68 [SEP] 30, SaltShaker, -2.957, 0.818, 0.352, 0, 0, 0, 50 [SEP] 31, Plate, -2.586, 0.813, 0.309, 0, 0, 0, 50 [SEP] 32, Spatula, -1.857, 0.712, 0.295, 0, 0, 0, 77 [SEP] 33, Knife, -1.207, 0.849, 0.539, 0, 0, 0, 50 [SEP] 34, Egg, -2.726, 1.167, 1.957, 0, 90, 0, 68 [SEP] 35, Cup, -2.648, 0.121, 1.431, 0, 0, 0, 61 [SEP] 36, ButterKnife, -2.493, 0.812, 0.476, 0, 50.734, 0, 50 [SEP] 37, Lettuce, -2.837, 0.908, 2.397, 0, 90, 0, 68 [SEP] 38, PepperShaker, -2.569, 0.116, 1.589, 0, 0, 0, 61 [SEP] 39, DishSponge, -2.258, 0.823, 0.055, 0, 0, 0, 50 [SEP] 40, Bread, -0.979, 0.855, 0.249, 0, 29.999, 0, 50 [SEP] 41, Spoon, -1.077, 0.699, 0.444, 0, 270, 0, 54 [SEP] 42, Mug, -2.724, 0.818, 0.129, 0, 0, 0, 50 [SEP] 43, Bowl, -2.726, 0.821, 2.133, 0, 90, 0, 68 [SEP] 44, Cabinet, -2.377, 2.015, 1.720, 0, 0, 0, [SEP] 45, StoveBurner, -0.244, 0.820, 2.075, 0, 180, 0, [SEP] 46, Drawer, -0.402, 0.703, 1.252, 0, 0, 0, [SEP] 47, StoveBurner, -0.518, 0.820, 2.075, 0, 180, 0, [SEP] 48, Sink, -1.838, 0.726, 0.343, 0, 180, 0, [SEP] 49, StoveBurner, -0.244, 0.820, 1.684, 0, 0, 0, [SEP] 50, CounterTop, -1.557, 0.859, 0.277, 0, 0, 0, [SEP] 51, StoveBurner, -0.518, 0.820, 1.684, 0, 0, 0, [SEP] 52, Drawer, -0.404, 0.704, 0.912, 0, 0, 0, [SEP] 53, Drawer, -0.861, 0.709, 0.420, 0, 0, 0, [SEP] 54, Drawer, -1.133, 0.706, 0.418, 0, 0, 0, [SEP] 55, Drawer, -2.589, 0.703, 1.511, 0, 0, 0, [SEP] 56, Cabinet, -2.772, 1.803, 0.508, 0, 0, 0, [SEP] 57, Cabinet, -2.460, 1.803, 0.231, 0, 0, 0, [SEP] 58, Cabinet, -2.781, 1.798, 0.825, 0, 0, 0, [SEP] 59, Cabinet, -2.781, 1.798, 0.815, 0, 0, 0, [SEP] 60, Cabinet, -2.377, 2.009, 2.581, 0, 0, 0, [SEP] 61, Cabinet, -2.442, 0.385, 1.672, 0, 0, 0, [SEP] 62, Cabinet, -2.238, 0.385, 0.564, 0, 0, 0, [SEP] 63, Cabinet, -1.286, 0.385, 0.564, 0, 0, 0, [SEP] 64, Cabinet, -1.262, 0.385, 0.565, 0, 0, 0, [SEP] 65, Cabinet, -0.734, 0.385, 0.565, 0, 0, 0, [SEP] 66, Cabinet, -0.549, 0.385, 0.751, 0, 0, 0, [SEP] 67, Cabinet, -0.549, 0.385, 1.412, 0, 0, 0, [SEP] 68, Fridge, -2.782, 0.0, 2.221, 0, 0, 0, [SEP] 69, Microwave, -2.794, 0.812, 1.348, 0, 90, 0, [SEP] 70, GarbageCan, -0.329, 2.205, 2.606, 0, 0, 0, [SEP] 71, StoveKnob, -0.069, 0.998, 1.773, 0, 180, 107.470, [SEP] 72, StoveKnob, -0.069, 0.998, 1.613, 0, 180, 107.470, [SEP] 73, StoveKnob, -0.069, 0.998, 2.171, 0, 180, 107.470, [SEP] 74, StoveKnob, -0.069, 0.998, 2.024, 0, 180, 107.470, [SEP] 75, Window, -1.720, 1.342, -0.208, 90, 0, 0, [SEP] 76, Toaster, -0.171, 0.812, 0.735, 0, 270, 0, [SEP] 77, SinkBasin, -1.745, 0.687, 0.295, 0, 0, 0, [SEP] 78, CoffeeMachine, -0.539, 0.812, 0.185, 0, 0, 0, [SEP] 79, LightSwitch, -0.615, 1.378, 3.0, 0, 180, 0, [SEP] 80, Faucet, -1.686, 0.954, 0.176, 0, 236.223, 0, [SEP] 81, Stool, -1.008, 0.008, 1.955, 0, 18.279, 0, [SEP] 82, NorthWall, , , , , , , [SEP] 83, EastWall, , , , , , , [SEP] 84, SouthWall, , , , , , , [SEP] 85, WestWall, , , , , , , ", "output": ["STEP 1: turn right, turn left, walk straight to the sink | STEP 2: pick up knife from the counter | STEP 3: turn right to the counter | STEP 4: cut tomato with the knife | STEP 5: turn right, turn left to the microwave | STEP 6: open door, put knife on shelf, close door | STEP 7: turn left, turn right to the counter | STEP 8: pick tomato off of the counter | STEP 9: turn right, turn left to the microwave | STEP 10: open door, place tomato on shelf, close door, cook, open door, remove tomato, close door | STEP 11: turn right, turn right, walk straight to the trash can | STEP 12: place tomato in the trash can | END"]} +{"id": "trial_T20190909_112554_048307-1", "input": "put a bowl in the fridge then the cabinet above it SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.900, 1.25, 0, 90, 0, [SEP] 1, Pan, 0.642, 0.850, 1.375, 0, 0, 0, 59 [SEP] 2, Potato, -1.362, 0.740, 3.857, 0, 0, 0, 77 [SEP] 3, ButterKnife, -1.457, 0.823, 3.556, 0, 0, 0, 65 [SEP] 4, Pot, 0.913, 0.850, 1.768, 0, 0, 0, 63 [SEP] 5, Fork, -0.921, 0.901, 1.349, 0, 0, 0, 83 [SEP] 6, Fork, 0.800, 0.823, 0.939, 0, 0, 0, 42 [SEP] 7, Egg, -2.711, 1.643, 2.165, 0, 90, 0, 74 [SEP] 8, Plate, -1.767, 0.131, 3.675, 0, 0, 0, 64 [SEP] 9, Cup, -1.185, 0.900, 1.452, 0, 90, 0, 83 [SEP] 10, Knife, 0.950, 0.846, 2.631, 0, 180, 0, 47 [SEP] 11, SoapBottle, -1.317, 0.900, 1.452, 0, 90, 0, 83 [SEP] 12, Tomato, -0.657, 0.969, 1.555, 0, 90, 0, 83 [SEP] 13, Bowl, -2.580, 1.632, 3.025, 0, 0, 0, 61 [SEP] 14, Plate, -2.463, 1.402, 3.897, 0, 0, 0, 40 [SEP] 15, Fork, -0.789, 0.901, 1.246, 0, 90, 0, 83 [SEP] 16, Bread, 0.827, 0.861, 2.449, 0, 0, 0, 42 [SEP] 17, Spatula, 1.024, 0.838, 2.198, 0, 90, 0, 47 [SEP] 18, PaperTowelRoll, -0.789, 1.004, 1.555, 0, 90, 0, 83 [SEP] 19, Potato, -2.612, 1.650, 2.333, 0, 90, 0, 74 [SEP] 20, SoapBottle, -0.657, 0.900, 1.143, 0, 90, 0, 83 [SEP] 21, Egg, 0.873, 0.060, 2.889, 0, 0, 0, 76 [SEP] 22, Cup, -2.752, 0.766, 2.389, 0, 90, 0, 74 [SEP] 23, Pot, -2.577, 0.994, 2.277, 0, 90, 0, 74 [SEP] 24, SaltShaker, 1.024, 0.819, 2.458, 0, 0, 0, 47 [SEP] 25, Pan, -2.667, 0.812, 3.74, 0, 137.145, 0, 65 [SEP] 26, PepperShaker, -0.524, 0.896, 1.555, 0, 90, 0, 83 [SEP] 27, ButterKnife, -2.779, 0.823, 3.331, 0, 0, 0, 65 [SEP] 28, Tomato, -1.317, 0.969, 1.143, 0, 90, 0, 83 [SEP] 29, DishSponge, -2.250, 0.822, 3.575, 0, 0, 0, 54 [SEP] 30, Lettuce, -0.580, 0.956, 1.358, 31.822, 0, 0, 83 [SEP] 31, Spoon, 0.635, 0.693, 2.532, 0, 90, 0, 39 [SEP] 32, Apple, -2.752, 0.828, 2.277, 0, 90, 0, 74 [SEP] 33, Knife, -1.148, 0.846, 3.902, 0, 270, 0, 65 [SEP] 34, Mug, -1.486, 1.354, 3.967, 0, 270, 0, 71 [SEP] 35, Bowl, 0.703, 0.123, 0.981, 0, 0, 0, 44 [SEP] 36, Drawer, 0.729, 0.703, 2.199, 0, 0, 0, [SEP] 37, Cabinet, -1.962, 1.926, 3.733, 0, 0, 0, [SEP] 38, Cabinet, -2.377, 2.014, 1.058, 0, 0, 0, [SEP] 39, Drawer, 0.729, 0.703, 2.532, 0, 0, 0, [SEP] 40, Cabinet, -2.622, 1.925, 3.733, 0, 0, 0, [SEP] 41, StoveBurner, 0.913, 0.843, 1.375, 0, 0, 0, [SEP] 42, CounterTop, 0.864, 0.858, 0.984, 0, 0, 0, [SEP] 43, Cabinet, -1.976, 1.779, 3.734, 0, 0, 0, [SEP] 44, Cabinet, 0.580, 0.385, 0.819, 0, 0, 0, [SEP] 45, Cabinet, -2.379, 1.408, 1.677, 0, 0, 0, [SEP] 46, Cabinet, -0.419, 1.703, 3.736, 0, 0, 0, [SEP] 47, CounterTop, 0.864, 0.858, 2.371, 0, 0, 0, [SEP] 48, Sink, -1.702, 0.726, 3.828, 0, 180, 0, [SEP] 49, Cabinet, 0.580, 0.385, 2.694, 0, 0, 0, [SEP] 50, Cabinet, -2.379, 0.637, 1.677, 0, 0, 0, [SEP] 51, Cabinet, -0.419, 0.674, 3.736, 0, 0, 0, [SEP] 52, Cabinet, -2.377, 2.014, 2.558, 0, 0, 0, [SEP] 53, Drawer, 0.729, 0.703, 0.980, 0, 0, 0, [SEP] 54, Drawer, -2.114, 0.706, 3.657, 0, 0, 0, [SEP] 55, Cabinet, -2.377, 1.691, 2.572, 0, 0, 0, [SEP] 56, Cabinet, -2.951, 1.925, 3.733, 0, 0, 0, [SEP] 57, Cabinet, 0.580, 0.385, 2.360, 0, 0, 0, [SEP] 58, Cabinet, -2.426, 0.435, 3.421, 0, 0, 0, [SEP] 59, StoveBurner, 0.642, 0.843, 1.375, 0, 0, 0, [SEP] 60, Cabinet, -2.377, 1.927, 1.686, 0, 0, 0, [SEP] 61, Cabinet, -2.377, 2.013, 3.177, 0, 0, 0, [SEP] 62, Cabinet, -1.136, 0.385, 3.516, 0, 0, 0, [SEP] 63, StoveBurner, 0.913, 0.843, 1.768, 0, 0, 0, [SEP] 64, Cabinet, -1.974, 0.385, 3.516, 0, 0, 0, [SEP] 65, CounterTop, -2.081, 0.858, 3.799, 0, 0, 0, [SEP] 66, Cabinet, -2.426, 0.435, 3.174, 0, 0, 0, [SEP] 67, Cabinet, -2.377, 2.014, 1.693, 0, 0, 0, [SEP] 68, Cabinet, -1.986, 0.385, 3.511, 0, 0, 0, [SEP] 69, StoveBurner, 0.642, 0.843, 1.768, 0, 0, 0, [SEP] 70, Cabinet, -1.098, 1.926, 3.729, 0, 0, 0, [SEP] 71, Microwave, -1.529, 1.250, 3.881, 1.622, 180, 0, [SEP] 72, CoffeeMachine, 1.000, 0.812, 2.492, 0, 270, 0, [SEP] 73, LightSwitch, 0.825, 1.396, 4.082, 0, 180, 0, [SEP] 74, Fridge, -2.642, 0.0, 2.134, 0, 180, 0, [SEP] 75, Window, -1.131, 1.673, 0.808, 90, 0, 0, [SEP] 76, GarbageCan, 0.931, -0.000, 2.918, 0, 0, 0, [SEP] 77, SinkBasin, -1.601, 0.686, 3.774, 0, 0, 0, [SEP] 78, StoveKnob, 1.104, 1.002, 1.886, 0, 0, 70.346, [SEP] 79, StoveKnob, 1.104, 1.002, 1.733, 0, 0, 70.346, [SEP] 80, StoveKnob, 1.104, 1.002, 1.321, 0, 0, 70.346, [SEP] 81, StoveKnob, 1.104, 1.002, 1.481, 0, 0, 70.346, [SEP] 82, Toaster, -2.247, 0.812, 3.862, 0, 180, 0, [SEP] 83, DiningTable, -0.917, -0.000, 1.203, 0, 0, 0, [SEP] 84, Stool, -0.932, 0.000, 1.404, 1.196, 21.715, 0, [SEP] 85, Faucet, -1.842, 0.809, 3.984, 0, 180, 0, [SEP] 86, Faucet, -1.371, 0.809, 3.985, 0, 180, 0, [SEP] 87, NorthWall, , , , , , , [SEP] 88, EastWall, , , , , , , [SEP] 89, SouthWall, , , , , , , [SEP] 90, WestWall, , , , , , , ", "output": ["STEP 1: go to the right side of the stove | STEP 2: take the glass bowl from the cabinet on the bottom right of the stove | STEP 3: take the bowl to the fridge | STEP 4: chill the bowl in the fridge then remove | STEP 5: approach the cabinet above the fridge to the right | STEP 6: put the bowl in the cabinet | END"]} +{"id": "trial_T20190910_071421_963409-0", "input": "Put a plate in the refrigerator with a tomato on top of it SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.908, 2.0, 0, 90, 0, [SEP] 1, SprayBottle, 1.034, 0.885, 2.369, 0, 0, 0, 99 [SEP] 2, Potato, -1.194, 0.386, 1.197, 0, 90, 0, 87 [SEP] 3, DishSponge, 0.168, 0.116, -0.490, 0, 0, 0, 62 [SEP] 4, DishSponge, 1.099, 0.776, 0.701, 0, 0, 0, 79 [SEP] 5, ButterKnife, -0.813, 0.912, -0.589, 0, 0, 0, 73 [SEP] 6, WineBottle, 1.174, 0.117, -0.011, 0, 0, 0, 59 [SEP] 7, Kettle, 1.325, 1.656, -0.274, 0, 0, 0, 49 [SEP] 8, Spoon, 1.365, 0.912, 0.139, 0, 0, 0, 67 [SEP] 9, Spatula, -1.012, 0.763, 2.644, 0, 90, 0, 48 [SEP] 10, Spatula, 1.117, 0.901, 2.584, 0, 270, 0, 99 [SEP] 11, Egg, -0.020, 0.792, -0.612, 0, 0, 0, 94 [SEP] 12, Egg, 1.367, 0.920, 2.584, 0, 0, 0, 99 [SEP] 13, Cup, 1.286, 0.910, -0.428, 0, 0, 0, 67 [SEP] 14, Cup, 1.294, 2.155, 0.599, 0, 0, 0, 58 [SEP] 15, Knife, 1.200, 0.908, 2.692, 0, 0, 0, 99 [SEP] 16, Tomato, -1.162, 0.391, 0.988, 0, 90, 0, 87 [SEP] 17, SoapBottle, -0.919, 0.750, 2.273, 0, 0, 0, 48 [SEP] 18, SoapBottle, -0.211, 0.117, -0.577, 0, 0, 0, 62 [SEP] 19, Bread, -1.105, 0.813, 2.273, 0, 0, 0, 48 [SEP] 20, Bread, -1.263, 0.814, 1.197, 0, 90, 0, 87 [SEP] 21, Apple, -1.263, 1.697, 0.984, 0, 90, 0, 87 [SEP] 22, Bread, -1.197, 0.812, 2.644, 0, 0, 0, 48 [SEP] 23, Glassbottle, 1.034, 0.887, 2.800, 0, 0, 0, 99 [SEP] 24, Fork, -1.383, 0.749, 2.644, 0, 0, 0, 48 [SEP] 25, Kettle, 0.802, 0.939, -0.740, 0, 90, 0, 76 [SEP] 26, Tomato, -1.320, 1.338, 0.987, 0, 90, 0, 87 [SEP] 27, Plate, 1.444, 0.912, 0.422, 0, 0, 0, 67 [SEP] 28, CellPhone, 1.099, 0.774, -0.014, 0, 0, 0, 68 [SEP] 29, Lettuce, 0.951, 0.957, 2.261, 0, 0, 0, 99 [SEP] 30, Pot, 0.502, 0.939, -0.740, 0, 90, 0, 74 [SEP] 31, SoapBottle, -1.294, 2.154, 1.037, 0, 0, 0, 66 [SEP] 32, WineBottle, -0.658, 0.913, -0.589, 0, 0, 0, 73 [SEP] 33, Spatula, -0.919, 0.763, 2.087, 0, 270, 0, 48 [SEP] 34, Bowl, 1.219, 0.114, 1.081, 0, 0, 0, 64 [SEP] 35, Apple, -1.320, 1.697, 1.086, 0, 90, 0, 87 [SEP] 36, Cup, 1.444, 0.910, 0.706, 0, 0, 0, 67 [SEP] 37, Knife, 1.367, 0.908, 2.261, 0, 0, 0, 99 [SEP] 38, Egg, 1.301, 0.120, 1.409, 0, 0, 0, 88 [SEP] 39, SaltShaker, 1.218, 0.113, -0.093, 0, 0, 0, 61 [SEP] 40, PepperShaker, -1.383, 0.745, 2.273, 0, 0, 0, 48 [SEP] 41, Potato, 1.207, 0.956, 0.706, 0, 0, 0, 67 [SEP] 42, ButterKnife, -0.130, 0.912, -0.354, 0, 0, 0, 73 [SEP] 43, DishSponge, -1.156, 0.775, -0.136, 0, 180, 0, 71 [SEP] 44, Pan, -1.332, 0.9, -0.699, 0, 345.0, 0, 73 [SEP] 45, Spoon, 1.444, 0.912, -0.144, 0, 0, 0, 67 [SEP] 46, SprayBottle, -1.290, 0.748, 1.902, 0, 0, 0, 48 [SEP] 47, Mug, 1.215, 0.943, -0.633, 0, 320.314, 0, 86 [SEP] 48, DiningTable, -1.182, 0.006, 2.414, 0, 90, 0, [SEP] 49, Cabinet, 1.184, 2.059, 0.375, 0, 0, 0, [SEP] 50, Cabinet, 1.184, 2.059, -0.635, 0, 0, 0, [SEP] 51, Cabinet, 0.591, 2.309, -0.645, 0, 0, 0, [SEP] 52, Cabinet, -0.574, 2.059, -0.644, 0, 0, 0, [SEP] 53, Cabinet, -1.103, 2.059, -0.644, 0, 0, 0, [SEP] 54, Cabinet, -1.185, 2.059, -0.331, 0, 0, 0, [SEP] 55, Cabinet, -1.185, 2.059, -0.281, 0, 0, 0, [SEP] 56, Cabinet, -1.185, 2.059, 0.375, 0, 0, 0, [SEP] 57, Cabinet, 1.184, 2.309, 1.174, 0, 0, 0, [SEP] 58, Cabinet, 1.184, 2.309, 0.424, 0, 0, 0, [SEP] 59, Cabinet, 0.988, 0.402, 0.581, 0, 0, 0, [SEP] 60, Cabinet, 0.988, 0.402, 0.531, 0, 0, 0, [SEP] 61, Cabinet, 0.988, 0.402, -0.178, 0, 0, 0, [SEP] 62, Cabinet, 0.335, 0.402, -0.348, 0, 0, 0, [SEP] 63, Cabinet, -0.374, 0.402, -0.348, 0, 0, 0, [SEP] 64, Cabinet, 0.988, 0.402, 1.231, 0, 0, 0, [SEP] 65, Cabinet, -1.185, 2.309, 1.374, 0, 0, 0, [SEP] 66, Cabinet, -1.185, 2.309, 0.424, 0, 0, 0, [SEP] 67, CounterTop, 1.274, 0.947, 0.064, 0, 0, 0, [SEP] 68, Drawer, 1.116, 0.792, -0.015, 0, 0, 0, [SEP] 69, Drawer, -1.116, 0.792, 0.210, 0, 180, 0, [SEP] 70, Cabinet, -0.990, 0.402, 0.374, 0, 180, 0, [SEP] 71, Drawer, -1.116, 0.792, -0.170, 0, 180, 0, [SEP] 72, Cabinet, -0.990, 0.402, -0.335, 0, 180, 0, [SEP] 73, CounterTop, -1.001, 0.947, -0.669, 0, 0, 0, [SEP] 74, StoveBurner, 0.502, 0.932, -0.740, 0, 90, 0, [SEP] 75, StoveBurner, 0.801, 0.932, -0.473, 0, 0, 0, [SEP] 76, StoveBurner, 0.801, 0.932, -0.740, 0, 90, 0, [SEP] 77, Drawer, 1.116, 0.792, 1.081, 0, 0, 0, [SEP] 78, Sink, -0.013, 0.912, -0.615, 0, 0, 0, [SEP] 79, Drawer, 1.116, 0.792, 0.732, 0, 0, 0, [SEP] 80, StoveBurner, 0.502, 0.932, -0.469, 0, 0, 0, [SEP] 81, Drawer, 1.116, 0.792, 0.367, 0, 0, 0, [SEP] 82, StoveKnob, 0.550, 1.085, -0.912, 287.970, 180, 0, [SEP] 83, StoveKnob, 0.884, 1.085, -0.912, 287.970, 180, 0, [SEP] 84, StoveKnob, 0.432, 1.085, -0.912, 287.970, 180, 0, [SEP] 85, StoveKnob, 0.777, 1.085, -0.912, 287.970, 180, 0, [SEP] 86, CoffeeMachine, 1.304, 0.900, -0.741, 0, 320.314, 0, [SEP] 87, Fridge, -1.300, 0.008, 0.987, 0, 90, 0, [SEP] 88, GarbageCan, 1.296, -0.024, 1.465, 0, 0, 0, [SEP] 89, Window, -0.012, 1.641, -0.972, 90, 0, 0, [SEP] 90, Window, 1.598, 1.646, 2.489, 90, 270, 0, [SEP] 91, Toaster, 1.356, 0.900, 1.044, 0, 270, 0, [SEP] 92, LightSwitch, 0.118, 1.353, 3.799, 0, 180, 0, [SEP] 93, Microwave, -1.343, 0.900, 0.053, 0, 90, 0, [SEP] 94, SinkBasin, -0.029, 0.748, -0.612, 0, 0, 0, [SEP] 95, Faucet, -0.026, 0.927, -0.808, 0, 0, 0, [SEP] 96, Shelf, -1.182, 0.127, 2.414, 0, 90, 0, [SEP] 97, Stool, 1.140, 0.007, 3.262, 1.206, 20.753, 0, [SEP] 98, Shelf, -1.182, 0.435, 2.414, 0, 90, 0, [SEP] 99, DiningTable, 1.169, 0.014, 2.569, 0, 0, 1.896, [SEP] 100, NorthWall, , , , , , , [SEP] 101, EastWall, , , , , , , [SEP] 102, SouthWall, , , , , , , [SEP] 103, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and go to the counter on the left | STEP 2: Pick up the gray plate from the counter | STEP 3: Turn right and go to the refrigerator | STEP 4: Open the refrigerator and put the plate on the top shelf | STEP 5: Pick up the tomato from the refrigerator | STEP 6: Put the tomato on top of the gray plate | END"]} +{"id": "trial_T20190910_071421_963409-1", "input": "Put a plate in the fridge with a tomato on it. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.908, 2.0, 0, 90, 0, [SEP] 1, SprayBottle, 1.034, 0.885, 2.369, 0, 0, 0, 99 [SEP] 2, Potato, -1.194, 0.386, 1.197, 0, 90, 0, 87 [SEP] 3, DishSponge, 0.168, 0.116, -0.490, 0, 0, 0, 62 [SEP] 4, DishSponge, 1.099, 0.776, 0.701, 0, 0, 0, 79 [SEP] 5, ButterKnife, -0.813, 0.912, -0.589, 0, 0, 0, 73 [SEP] 6, WineBottle, 1.174, 0.117, -0.011, 0, 0, 0, 59 [SEP] 7, Kettle, 1.325, 1.656, -0.274, 0, 0, 0, 49 [SEP] 8, Spoon, 1.365, 0.912, 0.139, 0, 0, 0, 67 [SEP] 9, Spatula, -1.012, 0.763, 2.644, 0, 90, 0, 48 [SEP] 10, Spatula, 1.117, 0.901, 2.584, 0, 270, 0, 99 [SEP] 11, Egg, -0.020, 0.792, -0.612, 0, 0, 0, 94 [SEP] 12, Egg, 1.367, 0.920, 2.584, 0, 0, 0, 99 [SEP] 13, Cup, 1.286, 0.910, -0.428, 0, 0, 0, 67 [SEP] 14, Cup, 1.294, 2.155, 0.599, 0, 0, 0, 58 [SEP] 15, Knife, 1.200, 0.908, 2.692, 0, 0, 0, 99 [SEP] 16, Tomato, -1.162, 0.391, 0.988, 0, 90, 0, 87 [SEP] 17, SoapBottle, -0.919, 0.750, 2.273, 0, 0, 0, 48 [SEP] 18, SoapBottle, -0.211, 0.117, -0.577, 0, 0, 0, 62 [SEP] 19, Bread, -1.105, 0.813, 2.273, 0, 0, 0, 48 [SEP] 20, Bread, -1.263, 0.814, 1.197, 0, 90, 0, 87 [SEP] 21, Apple, -1.263, 1.697, 0.984, 0, 90, 0, 87 [SEP] 22, Bread, -1.197, 0.812, 2.644, 0, 0, 0, 48 [SEP] 23, Glassbottle, 1.034, 0.887, 2.800, 0, 0, 0, 99 [SEP] 24, Fork, -1.383, 0.749, 2.644, 0, 0, 0, 48 [SEP] 25, Kettle, 0.802, 0.939, -0.740, 0, 90, 0, 76 [SEP] 26, Tomato, -1.320, 1.338, 0.987, 0, 90, 0, 87 [SEP] 27, Plate, 1.444, 0.912, 0.422, 0, 0, 0, 67 [SEP] 28, CellPhone, 1.099, 0.774, -0.014, 0, 0, 0, 68 [SEP] 29, Lettuce, 0.951, 0.957, 2.261, 0, 0, 0, 99 [SEP] 30, Pot, 0.502, 0.939, -0.740, 0, 90, 0, 74 [SEP] 31, SoapBottle, -1.294, 2.154, 1.037, 0, 0, 0, 66 [SEP] 32, WineBottle, -0.658, 0.913, -0.589, 0, 0, 0, 73 [SEP] 33, Spatula, -0.919, 0.763, 2.087, 0, 270, 0, 48 [SEP] 34, Bowl, 1.219, 0.114, 1.081, 0, 0, 0, 64 [SEP] 35, Apple, -1.320, 1.697, 1.086, 0, 90, 0, 87 [SEP] 36, Cup, 1.444, 0.910, 0.706, 0, 0, 0, 67 [SEP] 37, Knife, 1.367, 0.908, 2.261, 0, 0, 0, 99 [SEP] 38, Egg, 1.301, 0.120, 1.409, 0, 0, 0, 88 [SEP] 39, SaltShaker, 1.218, 0.113, -0.093, 0, 0, 0, 61 [SEP] 40, PepperShaker, -1.383, 0.745, 2.273, 0, 0, 0, 48 [SEP] 41, Potato, 1.207, 0.956, 0.706, 0, 0, 0, 67 [SEP] 42, ButterKnife, -0.130, 0.912, -0.354, 0, 0, 0, 73 [SEP] 43, DishSponge, -1.156, 0.775, -0.136, 0, 180, 0, 71 [SEP] 44, Pan, -1.332, 0.9, -0.699, 0, 345.0, 0, 73 [SEP] 45, Spoon, 1.444, 0.912, -0.144, 0, 0, 0, 67 [SEP] 46, SprayBottle, -1.290, 0.748, 1.902, 0, 0, 0, 48 [SEP] 47, Mug, 1.215, 0.943, -0.633, 0, 320.314, 0, 86 [SEP] 48, DiningTable, -1.182, 0.006, 2.414, 0, 90, 0, [SEP] 49, Cabinet, 1.184, 2.059, 0.375, 0, 0, 0, [SEP] 50, Cabinet, 1.184, 2.059, -0.635, 0, 0, 0, [SEP] 51, Cabinet, 0.591, 2.309, -0.645, 0, 0, 0, [SEP] 52, Cabinet, -0.574, 2.059, -0.644, 0, 0, 0, [SEP] 53, Cabinet, -1.103, 2.059, -0.644, 0, 0, 0, [SEP] 54, Cabinet, -1.185, 2.059, -0.331, 0, 0, 0, [SEP] 55, Cabinet, -1.185, 2.059, -0.281, 0, 0, 0, [SEP] 56, Cabinet, -1.185, 2.059, 0.375, 0, 0, 0, [SEP] 57, Cabinet, 1.184, 2.309, 1.174, 0, 0, 0, [SEP] 58, Cabinet, 1.184, 2.309, 0.424, 0, 0, 0, [SEP] 59, Cabinet, 0.988, 0.402, 0.581, 0, 0, 0, [SEP] 60, Cabinet, 0.988, 0.402, 0.531, 0, 0, 0, [SEP] 61, Cabinet, 0.988, 0.402, -0.178, 0, 0, 0, [SEP] 62, Cabinet, 0.335, 0.402, -0.348, 0, 0, 0, [SEP] 63, Cabinet, -0.374, 0.402, -0.348, 0, 0, 0, [SEP] 64, Cabinet, 0.988, 0.402, 1.231, 0, 0, 0, [SEP] 65, Cabinet, -1.185, 2.309, 1.374, 0, 0, 0, [SEP] 66, Cabinet, -1.185, 2.309, 0.424, 0, 0, 0, [SEP] 67, CounterTop, 1.274, 0.947, 0.064, 0, 0, 0, [SEP] 68, Drawer, 1.116, 0.792, -0.015, 0, 0, 0, [SEP] 69, Drawer, -1.116, 0.792, 0.210, 0, 180, 0, [SEP] 70, Cabinet, -0.990, 0.402, 0.374, 0, 180, 0, [SEP] 71, Drawer, -1.116, 0.792, -0.170, 0, 180, 0, [SEP] 72, Cabinet, -0.990, 0.402, -0.335, 0, 180, 0, [SEP] 73, CounterTop, -1.001, 0.947, -0.669, 0, 0, 0, [SEP] 74, StoveBurner, 0.502, 0.932, -0.740, 0, 90, 0, [SEP] 75, StoveBurner, 0.801, 0.932, -0.473, 0, 0, 0, [SEP] 76, StoveBurner, 0.801, 0.932, -0.740, 0, 90, 0, [SEP] 77, Drawer, 1.116, 0.792, 1.081, 0, 0, 0, [SEP] 78, Sink, -0.013, 0.912, -0.615, 0, 0, 0, [SEP] 79, Drawer, 1.116, 0.792, 0.732, 0, 0, 0, [SEP] 80, StoveBurner, 0.502, 0.932, -0.469, 0, 0, 0, [SEP] 81, Drawer, 1.116, 0.792, 0.367, 0, 0, 0, [SEP] 82, StoveKnob, 0.550, 1.085, -0.912, 287.970, 180, 0, [SEP] 83, StoveKnob, 0.884, 1.085, -0.912, 287.970, 180, 0, [SEP] 84, StoveKnob, 0.432, 1.085, -0.912, 287.970, 180, 0, [SEP] 85, StoveKnob, 0.777, 1.085, -0.912, 287.970, 180, 0, [SEP] 86, CoffeeMachine, 1.304, 0.900, -0.741, 0, 320.314, 0, [SEP] 87, Fridge, -1.300, 0.008, 0.987, 0, 90, 0, [SEP] 88, GarbageCan, 1.296, -0.024, 1.465, 0, 0, 0, [SEP] 89, Window, -0.012, 1.641, -0.972, 90, 0, 0, [SEP] 90, Window, 1.598, 1.646, 2.489, 90, 270, 0, [SEP] 91, Toaster, 1.356, 0.900, 1.044, 0, 270, 0, [SEP] 92, LightSwitch, 0.118, 1.353, 3.799, 0, 180, 0, [SEP] 93, Microwave, -1.343, 0.900, 0.053, 0, 90, 0, [SEP] 94, SinkBasin, -0.029, 0.748, -0.612, 0, 0, 0, [SEP] 95, Faucet, -0.026, 0.927, -0.808, 0, 0, 0, [SEP] 96, Shelf, -1.182, 0.127, 2.414, 0, 90, 0, [SEP] 97, Stool, 1.140, 0.007, 3.262, 1.206, 20.753, 0, [SEP] 98, Shelf, -1.182, 0.435, 2.414, 0, 90, 0, [SEP] 99, DiningTable, 1.169, 0.014, 2.569, 0, 0, 1.896, [SEP] 100, NorthWall, , , , , , , [SEP] 101, EastWall, , , , , , , [SEP] 102, SouthWall, , , , , , , [SEP] 103, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and go forward, turn left at the fridge, then go forward to the counter. | STEP 2: Pick up the plate from the counter. | STEP 3: Turn around and go to the fridge ahead | STEP 4: Open the fridge and put the plate inside. | STEP 5: Pick up the tomato in the fridge. | STEP 6: Put the tomato on the plate in the fridge. | END"]} +{"id": "trial_T20190906_222638_557637-1", "input": "Put two statues on the table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.25, 0.893, 1.5, 0, 90, 0, [SEP] 1, Plate, -3.682, 0.658, 4.235, 0, 0, 0, 37 [SEP] 2, Statue, -4.060, 0.437, 1.896, 0, 90, 0, 41 [SEP] 3, Statue, -3.833, 0.437, 2.225, 0, 0, 0, 41 [SEP] 4, KeyChain, -3.909, 0.433, 2.061, 0, 0, 0, 41 [SEP] 5, KeyChain, -1.367, 0.823, 1.411, 0, 322.099, 0, 42 [SEP] 6, CreditCard, -2.742, 0.516, 4.633, 0, 0, 0, 35 [SEP] 7, RemoteControl, -3.893, 0.642, 4.577, 0, 0, 0, 37 [SEP] 8, Box, -1.952, 1.013, 1.196, 0, 164.379, 0, 42 [SEP] 9, Laptop, -5.245, 0.469, 2.894, 0, 180, 0, 43 [SEP] 10, Box, -1.257, 1.013, 1.448, 0, 270, 0, 42 [SEP] 11, KeyChain, -4.319, 0.444, 0.370, 0, 0, 0, 38 [SEP] 12, Newspaper, -3.984, 0.438, 2.883, 0, 0, 0, 41 [SEP] 13, CreditCard, -2.990, 0.442, 0.688, 0, 0, 0, 38 [SEP] 14, RemoteControl, -2.561, 0.626, 4.605, 0, 0, 0, 34 [SEP] 15, Laptop, -5.245, 0.481, 2.426, 0, 0, 0, 43 [SEP] 16, Plate, -1.616, 0.839, 0.883, 0, 115.696, 0, 42 [SEP] 17, Pillow, -4.161, 0.542, 0.575, 0, 0, 0, 38 [SEP] 18, Statue, -3.984, 0.437, 2.554, 0, 0, 0, 41 [SEP] 19, Vase, -0.792, 0.824, 1.401, 0, 0, 0, 42 [SEP] 20, Watch, -2.501, 0.516, 4.585, 0, 0, 0, 35 [SEP] 21, Television, -3.794, 1.152, 4.554, 0, 180, 0, [SEP] 22, GarbageCan, -0.264, -0.040, 4.728, 0, 271.354, 0, [SEP] 23, FloorLamp, -5.663, -0.010, 4.679, 0, 315, 0, [SEP] 24, HousePlant, -5.703, 0.596, 3.938, 0, 0, 0, [SEP] 25, LightSwitch, 0.0, 1.292, 3.378, 0, 270, 0, [SEP] 26, Painting, -4.156, 1.656, -0.002, 90, 180, 0, [SEP] 27, Painting, -1.623, 1.565, -0.002, 90, 180, 0, [SEP] 28, Window, -6.040, 1.550, 2.102, 90, 270, 0, [SEP] 29, Window, -6.040, 1.531, 0.859, 90, 270, 0, [SEP] 30, Window, -6.040, 1.531, 4.236, 90, 270, 0, [SEP] 31, Chair, -0.667, -0.006, 0.656, 0, 321.278, 0, [SEP] 32, Chair, -1.932, -0.006, 2.413, 0, 154.294, 0, [SEP] 33, SideTable, -4.928, -0.002, 0.272, 0, 27.993, 0, [SEP] 34, SideTable, -2.561, -0.002, 4.623, 0, 180, 0, [SEP] 35, Drawer, -2.560, 0.532, 4.446, 0, 180, 0, [SEP] 36, SideTable, -5.676, -0.002, 3.949, 0, 0, 0, [SEP] 37, SideTable, -3.793, 0.013, 4.463, 0, 0, 0, [SEP] 38, Sofa, -3.540, -0.020, 0.460, 0, 0, 0, [SEP] 39, Chair, -5.146, -0.001, 0.817, 0, 53.761, 0, [SEP] 40, Chair, -0.354, -0.006, 1.654, 0, 261.279, 0, [SEP] 41, CoffeeTable, -4.003, -0.007, 2.454, 0, 270, 0, [SEP] 42, DiningTable, -1.395, -0.006, 1.447, 0, 0, 0, [SEP] 43, Sofa, -5.470, 0.007, 2.504, 0, 90, 0, [SEP] 44, NorthWall, , , , , , , [SEP] 45, EastWall, , , , , , , [SEP] 46, SouthWall, , , , , , , [SEP] 47, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and take a step then turn left to face the coffee table in front of the red couch. | STEP 2: Pick up the middle statue. | STEP 3: Turn left and walk to the couch then turn left and walk to the table. | STEP 4: Put the statue to the left of the box. | STEP 5: Turn around and walk until you're at the coffee table then turn right so you are looking down the length of it. | STEP 6: Pick up the statue you see in front of you. | STEP 7: Walk back to where you put the first statue. | STEP 8: Put this statue to the left of the first following the curve of the table. | END"]} +{"id": "trial_T20190906_222638_557637-2", "input": "Place two trophies on a table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.25, 0.893, 1.5, 0, 90, 0, [SEP] 1, Plate, -3.682, 0.658, 4.235, 0, 0, 0, 37 [SEP] 2, Statue, -4.060, 0.437, 1.896, 0, 90, 0, 41 [SEP] 3, Statue, -3.833, 0.437, 2.225, 0, 0, 0, 41 [SEP] 4, KeyChain, -3.909, 0.433, 2.061, 0, 0, 0, 41 [SEP] 5, KeyChain, -1.367, 0.823, 1.411, 0, 322.099, 0, 42 [SEP] 6, CreditCard, -2.742, 0.516, 4.633, 0, 0, 0, 35 [SEP] 7, RemoteControl, -3.893, 0.642, 4.577, 0, 0, 0, 37 [SEP] 8, Box, -1.952, 1.013, 1.196, 0, 164.379, 0, 42 [SEP] 9, Laptop, -5.245, 0.469, 2.894, 0, 180, 0, 43 [SEP] 10, Box, -1.257, 1.013, 1.448, 0, 270, 0, 42 [SEP] 11, KeyChain, -4.319, 0.444, 0.370, 0, 0, 0, 38 [SEP] 12, Newspaper, -3.984, 0.438, 2.883, 0, 0, 0, 41 [SEP] 13, CreditCard, -2.990, 0.442, 0.688, 0, 0, 0, 38 [SEP] 14, RemoteControl, -2.561, 0.626, 4.605, 0, 0, 0, 34 [SEP] 15, Laptop, -5.245, 0.481, 2.426, 0, 0, 0, 43 [SEP] 16, Plate, -1.616, 0.839, 0.883, 0, 115.696, 0, 42 [SEP] 17, Pillow, -4.161, 0.542, 0.575, 0, 0, 0, 38 [SEP] 18, Statue, -3.984, 0.437, 2.554, 0, 0, 0, 41 [SEP] 19, Vase, -0.792, 0.824, 1.401, 0, 0, 0, 42 [SEP] 20, Watch, -2.501, 0.516, 4.585, 0, 0, 0, 35 [SEP] 21, Television, -3.794, 1.152, 4.554, 0, 180, 0, [SEP] 22, GarbageCan, -0.264, -0.040, 4.728, 0, 271.354, 0, [SEP] 23, FloorLamp, -5.663, -0.010, 4.679, 0, 315, 0, [SEP] 24, HousePlant, -5.703, 0.596, 3.938, 0, 0, 0, [SEP] 25, LightSwitch, 0.0, 1.292, 3.378, 0, 270, 0, [SEP] 26, Painting, -4.156, 1.656, -0.002, 90, 180, 0, [SEP] 27, Painting, -1.623, 1.565, -0.002, 90, 180, 0, [SEP] 28, Window, -6.040, 1.550, 2.102, 90, 270, 0, [SEP] 29, Window, -6.040, 1.531, 0.859, 90, 270, 0, [SEP] 30, Window, -6.040, 1.531, 4.236, 90, 270, 0, [SEP] 31, Chair, -0.667, -0.006, 0.656, 0, 321.278, 0, [SEP] 32, Chair, -1.932, -0.006, 2.413, 0, 154.294, 0, [SEP] 33, SideTable, -4.928, -0.002, 0.272, 0, 27.993, 0, [SEP] 34, SideTable, -2.561, -0.002, 4.623, 0, 180, 0, [SEP] 35, Drawer, -2.560, 0.532, 4.446, 0, 180, 0, [SEP] 36, SideTable, -5.676, -0.002, 3.949, 0, 0, 0, [SEP] 37, SideTable, -3.793, 0.013, 4.463, 0, 0, 0, [SEP] 38, Sofa, -3.540, -0.020, 0.460, 0, 0, 0, [SEP] 39, Chair, -5.146, -0.001, 0.817, 0, 53.761, 0, [SEP] 40, Chair, -0.354, -0.006, 1.654, 0, 261.279, 0, [SEP] 41, CoffeeTable, -4.003, -0.007, 2.454, 0, 270, 0, [SEP] 42, DiningTable, -1.395, -0.006, 1.447, 0, 0, 0, [SEP] 43, Sofa, -5.470, 0.007, 2.504, 0, 90, 0, [SEP] 44, NorthWall, , , , , , , [SEP] 45, EastWall, , , , , , , [SEP] 46, SouthWall, , , , , , , [SEP] 47, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and take a step left. Look at the coffee table. | STEP 2: Pick up the trophy in the middle of the other two trophies. | STEP 3: Turn around and walk ahead to the dining room table. | STEP 4: Place the trophy on the table to the left of the box. | STEP 5: Turn around and walk to the left side of the coffee table. | STEP 6: Pick up the closest trophy to you. | STEP 7: Walk back to the dining room table. | STEP 8: Put the trophy to the left of the other trophy on the table. | END"]} +{"id": "trial_T20190907_073031_940216-0", "input": "heat the potato in the microwave, throw the potato away in the trash bin SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.901, -3.0, 0, 180, 0, [SEP] 1, Pan, -1.008, 1.291, -3.927, 0, 270, 0, 63 [SEP] 2, Potato, -3.234, 1.442, -2.064, 0, 90, 0, 90 [SEP] 3, Potato, -0.419, 0.959, -1.370, 0, 0, 0, 76 [SEP] 4, DishSponge, -1.638, 0.790, -3.704, 0, 0, 0, 91 [SEP] 5, ButterKnife, -0.257, 0.916, -1.432, 0, 0, 0, 76 [SEP] 6, Pot, -0.412, 0.916, -2.911, 0, 0, 0, 49 [SEP] 7, Spatula, -0.412, 0.761, -1.563, 0, 90, 0, 72 [SEP] 8, Spatula, -0.176, 0.930, -1.370, 0, 270, 0, 76 [SEP] 9, Spoon, -3.024, 0.747, -2.857, 0, 270, 0, 71 [SEP] 10, Fork, -2.564, 0.717, -0.797, 0, 135, 0, 93 [SEP] 11, Fork, -3.309, 0.914, -3.026, 0, 90, 0, 49 [SEP] 12, Egg, -3.286, 1.049, -1.941, 0, 90, 0, 90 [SEP] 13, Cup, -2.620, 0.717, -0.339, 0, 225, 0, 93 [SEP] 14, Cup, -3.211, 0.714, -0.753, 0, 225, 0, 93 [SEP] 15, Plate, -0.854, 0.911, -3.952, 0, 0, 0, 49 [SEP] 16, Knife, -3.053, 0.779, -2.912, 0, 270, 0, 71 [SEP] 17, Knife, -3.167, 0.946, -3.655, 0, 0, 0, 49 [SEP] 18, SoapBottle, -2.765, 0.716, -0.395, 0, 225, 0, 93 [SEP] 19, SoapBottle, -3.393, 0.913, -2.926, 0, 0, 0, 49 [SEP] 20, Bowl, -3.079, 0.638, -2.064, 0, 90, 0, 90 [SEP] 21, SaltShaker, -2.678, 0.713, -0.069, 0, 0, 0, 93 [SEP] 22, SaltShaker, -0.412, 0.743, -0.988, 0, 0, 0, 75 [SEP] 23, Lettuce, -3.346, 1.001, -3.729, 0, 0, 0, 49 [SEP] 24, Lettuce, -3.292, 0.801, -0.433, 0, 0, 0, 93 [SEP] 25, Mug, -2.809, 0.708, -0.640, 0, 135, 0, 93 [SEP] 26, Mug, -2.930, 0.763, -0.358, 0, 135, 0, 89 [SEP] 27, Apple, -3.014, 0.929, -2.531, 0, 90, 0, 90 [SEP] 28, Pot, -0.165, 0.975, -2.030, 0, 180, 0, 80 [SEP] 29, Egg, -1.262, 0.949, -3.581, 0, 0, 0, 49 [SEP] 30, Cup, -3.027, 1.399, -1.941, 0, 90, 0, 90 [SEP] 31, Bread, -0.327, 0.948, -3.681, 0, 298.222, 0, 49 [SEP] 32, Fork, -0.530, 0.747, -1.408, 0, 90, 0, 72 [SEP] 33, Pan, -0.394, 0.973, -2.414, 0, 0, 0, 74 [SEP] 34, Potato, -0.447, 0.957, -3.952, 0, 0, 0, 49 [SEP] 35, Lettuce, -2.581, 0.801, -0.496, 0, 270, 0, 93 [SEP] 36, Tomato, -1.776, 0.840, -3.790, 0, 0, 0, 91 [SEP] 37, Apple, -3.130, 1.441, -2.125, 0, 90, 0, 90 [SEP] 38, SoapBottle, -3.053, 0.713, -0.780, 0, 0, 0, 93 [SEP] 39, Spatula, -0.095, 0.930, -1.616, 0, 0, 0, 76 [SEP] 40, SaltShaker, -3.054, 0.713, -0.508, 0, 225, 0, 93 [SEP] 41, Knife, -3.098, 0.749, -0.528, 0, 225, 0, 93 [SEP] 42, PepperShaker, -3.477, 0.910, -3.126, 0, 0, 0, 49 [SEP] 43, ButterKnife, -3.225, 0.913, -3.327, 0, 0, 0, 49 [SEP] 44, Plate, -0.419, 0.914, -1.616, 0, 0, 0, 76 [SEP] 45, DishSponge, -0.128, 1.867, -2.358, 0, 0, 0, 68 [SEP] 46, Spoon, -0.338, 0.917, -0.524, 0, 0, 0, 76 [SEP] 47, Mug, -2.444, 1.290, -3.848, 0, 0, 0, 62 [SEP] 48, Bowl, -2.740, 0.714, -0.922, 0, 0, 0, 93 [SEP] 49, CounterTop, -1.789, 0.949, -3.803, 0, 0, 0, [SEP] 50, Cabinet, -0.577, 0.388, -3.476, 0, 0, 0, [SEP] 51, Cabinet, -0.605, 0.388, -3.511, 0, 0, 0, [SEP] 52, Cabinet, -2.976, 0.388, -3.201, 0, 0, 0, [SEP] 53, Cabinet, -0.577, 0.388, -0.447, 0, 0, 0, [SEP] 54, Cabinet, -0.577, 0.388, -1.725, 0, 0, 0, [SEP] 55, Cabinet, -0.226, 1.803, -1.743, 0, 0, 0, [SEP] 56, Cabinet, -0.228, 1.799, -0.447, 0, 0, 0, [SEP] 57, Cabinet, -6.010, 1.139, -6.019, 0, 0, 0, [SEP] 58, Cabinet, -3.022, 2.098, -2.681, 0, 0, 0, [SEP] 59, Cabinet, -3.022, 2.098, -1.743, 0, 0, 0, [SEP] 60, Cabinet, -0.577, 0.388, -2.736, 0, 0, 0, [SEP] 61, Cabinet, -3.232, 1.803, -3.343, 0, 0, 0, [SEP] 62, Cabinet, -2.811, 1.810, -3.764, 0, 0, 0, [SEP] 63, Cabinet, -1.233, 1.810, -3.764, 0, 0, 0, [SEP] 64, Cabinet, -1.364, 0.388, -3.511, 0, 0, 0, [SEP] 65, Cabinet, -1.380, 0.388, -3.511, 0, 0, 0, [SEP] 66, Cabinet, -0.226, 1.803, -2.725, 0, 0, 0, [SEP] 67, Cabinet, -0.236, 2.098, -1.767, 0, 0, 0, [SEP] 68, Cabinet, -0.236, 2.098, -2.705, 0, 0, 0, [SEP] 69, Cabinet, -0.193, 1.210, -4.239, 0, 0, 0, [SEP] 70, Cabinet, -2.148, 0.388, -3.511, 0, 0, 0, [SEP] 71, Drawer, -3.104, 0.797, -2.968, 0, 0, 0, [SEP] 72, Drawer, -0.449, 0.797, -1.410, 0, 0, 0, [SEP] 73, Sink, -1.786, 0.902, -3.748, 0, 0, 0, [SEP] 74, StoveBurner, -0.376, 0.936, -2.451, 0, 0, 0, [SEP] 75, Drawer, -0.449, 0.797, -0.762, 0, 0, 0, [SEP] 76, CounterTop, -0.268, 0.951, -1.089, 0, 0, 0, [SEP] 77, Drawer, -0.449, 0.797, -3.348, 0, 0, 0, [SEP] 78, StoveBurner, -0.376, 0.936, -2.031, 0, 180, 0, [SEP] 79, Drawer, -0.449, 0.797, -2.968, 0, 0, 0, [SEP] 80, StoveBurner, -0.165, 0.936, -2.030, 0, 180, 0, [SEP] 81, StoveBurner, -0.165, 0.936, -2.450, 0, 0, 0, [SEP] 82, StoveKnob, -0.568, 0.903, -2.313, 45, 270, 0, [SEP] 83, StoveKnob, -0.568, 0.903, -2.470, 45, 270, 0, [SEP] 84, StoveKnob, -0.568, 0.903, -2.166, 45, 270, 0, [SEP] 85, StoveKnob, -0.568, 0.903, -2.003, 45, 270, 0, [SEP] 86, Microwave, -0.143, 0.903, -0.908, 0, 270, 0, [SEP] 87, LightSwitch, -1.108, 1.457, 0.338, 0, 180, 0, [SEP] 88, GarbageCan, -0.283, -0.032, -0.035, 0, 270, 0, [SEP] 89, CoffeeMachine, -3.104, 0.837, -0.185, 0, 135, 0, [SEP] 90, Fridge, -3.188, 0.0, -2.184, 0, 0, 0, [SEP] 91, SinkBasin, -1.786, 0.779, -3.747, 0, 0, 0, [SEP] 92, Toaster, -0.230, 0.903, -3.406, 0, 270, 0, [SEP] 93, DiningTable, -2.800, 0.003, -0.505, 0, 0, 0, [SEP] 94, Chair, -3.044, 0.003, -1.223, 0, 32.194, 0, [SEP] 95, Faucet, -1.791, 1.136, -3.913, 0, 270, 0, [SEP] 96, NorthWall, , , , , , , [SEP] 97, EastWall, , , , , , , [SEP] 98, SouthWall, , , , , , , [SEP] 99, WestWall, , , , , , , ", "output": ["STEP 1: Turn around, walk to the counter by the stove | STEP 2: grab the potato on the counter | STEP 3: turn left, walk to the microwave | STEP 4: put the potato in the microwave, heat the potato, open the microwave, take the potato out | STEP 5: turn left, walk to the grey trash bin | STEP 6: put the potato in the trash bin | END"]} +{"id": "trial_T20190907_073031_940216-1", "input": "Place a heated potato in the grey bin. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.901, -3.0, 0, 180, 0, [SEP] 1, Pan, -1.008, 1.291, -3.927, 0, 270, 0, 63 [SEP] 2, Potato, -3.234, 1.442, -2.064, 0, 90, 0, 90 [SEP] 3, Potato, -0.419, 0.959, -1.370, 0, 0, 0, 76 [SEP] 4, DishSponge, -1.638, 0.790, -3.704, 0, 0, 0, 91 [SEP] 5, ButterKnife, -0.257, 0.916, -1.432, 0, 0, 0, 76 [SEP] 6, Pot, -0.412, 0.916, -2.911, 0, 0, 0, 49 [SEP] 7, Spatula, -0.412, 0.761, -1.563, 0, 90, 0, 72 [SEP] 8, Spatula, -0.176, 0.930, -1.370, 0, 270, 0, 76 [SEP] 9, Spoon, -3.024, 0.747, -2.857, 0, 270, 0, 71 [SEP] 10, Fork, -2.564, 0.717, -0.797, 0, 135, 0, 93 [SEP] 11, Fork, -3.309, 0.914, -3.026, 0, 90, 0, 49 [SEP] 12, Egg, -3.286, 1.049, -1.941, 0, 90, 0, 90 [SEP] 13, Cup, -2.620, 0.717, -0.339, 0, 225, 0, 93 [SEP] 14, Cup, -3.211, 0.714, -0.753, 0, 225, 0, 93 [SEP] 15, Plate, -0.854, 0.911, -3.952, 0, 0, 0, 49 [SEP] 16, Knife, -3.053, 0.779, -2.912, 0, 270, 0, 71 [SEP] 17, Knife, -3.167, 0.946, -3.655, 0, 0, 0, 49 [SEP] 18, SoapBottle, -2.765, 0.716, -0.395, 0, 225, 0, 93 [SEP] 19, SoapBottle, -3.393, 0.913, -2.926, 0, 0, 0, 49 [SEP] 20, Bowl, -3.079, 0.638, -2.064, 0, 90, 0, 90 [SEP] 21, SaltShaker, -2.678, 0.713, -0.069, 0, 0, 0, 93 [SEP] 22, SaltShaker, -0.412, 0.743, -0.988, 0, 0, 0, 75 [SEP] 23, Lettuce, -3.346, 1.001, -3.729, 0, 0, 0, 49 [SEP] 24, Lettuce, -3.292, 0.801, -0.433, 0, 0, 0, 93 [SEP] 25, Mug, -2.809, 0.708, -0.640, 0, 135, 0, 93 [SEP] 26, Mug, -2.930, 0.763, -0.358, 0, 135, 0, 89 [SEP] 27, Apple, -3.014, 0.929, -2.531, 0, 90, 0, 90 [SEP] 28, Pot, -0.165, 0.975, -2.030, 0, 180, 0, 80 [SEP] 29, Egg, -1.262, 0.949, -3.581, 0, 0, 0, 49 [SEP] 30, Cup, -3.027, 1.399, -1.941, 0, 90, 0, 90 [SEP] 31, Bread, -0.327, 0.948, -3.681, 0, 298.222, 0, 49 [SEP] 32, Fork, -0.530, 0.747, -1.408, 0, 90, 0, 72 [SEP] 33, Pan, -0.394, 0.973, -2.414, 0, 0, 0, 74 [SEP] 34, Potato, -0.447, 0.957, -3.952, 0, 0, 0, 49 [SEP] 35, Lettuce, -2.581, 0.801, -0.496, 0, 270, 0, 93 [SEP] 36, Tomato, -1.776, 0.840, -3.790, 0, 0, 0, 91 [SEP] 37, Apple, -3.130, 1.441, -2.125, 0, 90, 0, 90 [SEP] 38, SoapBottle, -3.053, 0.713, -0.780, 0, 0, 0, 93 [SEP] 39, Spatula, -0.095, 0.930, -1.616, 0, 0, 0, 76 [SEP] 40, SaltShaker, -3.054, 0.713, -0.508, 0, 225, 0, 93 [SEP] 41, Knife, -3.098, 0.749, -0.528, 0, 225, 0, 93 [SEP] 42, PepperShaker, -3.477, 0.910, -3.126, 0, 0, 0, 49 [SEP] 43, ButterKnife, -3.225, 0.913, -3.327, 0, 0, 0, 49 [SEP] 44, Plate, -0.419, 0.914, -1.616, 0, 0, 0, 76 [SEP] 45, DishSponge, -0.128, 1.867, -2.358, 0, 0, 0, 68 [SEP] 46, Spoon, -0.338, 0.917, -0.524, 0, 0, 0, 76 [SEP] 47, Mug, -2.444, 1.290, -3.848, 0, 0, 0, 62 [SEP] 48, Bowl, -2.740, 0.714, -0.922, 0, 0, 0, 93 [SEP] 49, CounterTop, -1.789, 0.949, -3.803, 0, 0, 0, [SEP] 50, Cabinet, -0.577, 0.388, -3.476, 0, 0, 0, [SEP] 51, Cabinet, -0.605, 0.388, -3.511, 0, 0, 0, [SEP] 52, Cabinet, -2.976, 0.388, -3.201, 0, 0, 0, [SEP] 53, Cabinet, -0.577, 0.388, -0.447, 0, 0, 0, [SEP] 54, Cabinet, -0.577, 0.388, -1.725, 0, 0, 0, [SEP] 55, Cabinet, -0.226, 1.803, -1.743, 0, 0, 0, [SEP] 56, Cabinet, -0.228, 1.799, -0.447, 0, 0, 0, [SEP] 57, Cabinet, -6.010, 1.139, -6.019, 0, 0, 0, [SEP] 58, Cabinet, -3.022, 2.098, -2.681, 0, 0, 0, [SEP] 59, Cabinet, -3.022, 2.098, -1.743, 0, 0, 0, [SEP] 60, Cabinet, -0.577, 0.388, -2.736, 0, 0, 0, [SEP] 61, Cabinet, -3.232, 1.803, -3.343, 0, 0, 0, [SEP] 62, Cabinet, -2.811, 1.810, -3.764, 0, 0, 0, [SEP] 63, Cabinet, -1.233, 1.810, -3.764, 0, 0, 0, [SEP] 64, Cabinet, -1.364, 0.388, -3.511, 0, 0, 0, [SEP] 65, Cabinet, -1.380, 0.388, -3.511, 0, 0, 0, [SEP] 66, Cabinet, -0.226, 1.803, -2.725, 0, 0, 0, [SEP] 67, Cabinet, -0.236, 2.098, -1.767, 0, 0, 0, [SEP] 68, Cabinet, -0.236, 2.098, -2.705, 0, 0, 0, [SEP] 69, Cabinet, -0.193, 1.210, -4.239, 0, 0, 0, [SEP] 70, Cabinet, -2.148, 0.388, -3.511, 0, 0, 0, [SEP] 71, Drawer, -3.104, 0.797, -2.968, 0, 0, 0, [SEP] 72, Drawer, -0.449, 0.797, -1.410, 0, 0, 0, [SEP] 73, Sink, -1.786, 0.902, -3.748, 0, 0, 0, [SEP] 74, StoveBurner, -0.376, 0.936, -2.451, 0, 0, 0, [SEP] 75, Drawer, -0.449, 0.797, -0.762, 0, 0, 0, [SEP] 76, CounterTop, -0.268, 0.951, -1.089, 0, 0, 0, [SEP] 77, Drawer, -0.449, 0.797, -3.348, 0, 0, 0, [SEP] 78, StoveBurner, -0.376, 0.936, -2.031, 0, 180, 0, [SEP] 79, Drawer, -0.449, 0.797, -2.968, 0, 0, 0, [SEP] 80, StoveBurner, -0.165, 0.936, -2.030, 0, 180, 0, [SEP] 81, StoveBurner, -0.165, 0.936, -2.450, 0, 0, 0, [SEP] 82, StoveKnob, -0.568, 0.903, -2.313, 45, 270, 0, [SEP] 83, StoveKnob, -0.568, 0.903, -2.470, 45, 270, 0, [SEP] 84, StoveKnob, -0.568, 0.903, -2.166, 45, 270, 0, [SEP] 85, StoveKnob, -0.568, 0.903, -2.003, 45, 270, 0, [SEP] 86, Microwave, -0.143, 0.903, -0.908, 0, 270, 0, [SEP] 87, LightSwitch, -1.108, 1.457, 0.338, 0, 180, 0, [SEP] 88, GarbageCan, -0.283, -0.032, -0.035, 0, 270, 0, [SEP] 89, CoffeeMachine, -3.104, 0.837, -0.185, 0, 135, 0, [SEP] 90, Fridge, -3.188, 0.0, -2.184, 0, 0, 0, [SEP] 91, SinkBasin, -1.786, 0.779, -3.747, 0, 0, 0, [SEP] 92, Toaster, -0.230, 0.903, -3.406, 0, 270, 0, [SEP] 93, DiningTable, -2.800, 0.003, -0.505, 0, 0, 0, [SEP] 94, Chair, -3.044, 0.003, -1.223, 0, 32.194, 0, [SEP] 95, Faucet, -1.791, 1.136, -3.913, 0, 270, 0, [SEP] 96, NorthWall, , , , , , , [SEP] 97, EastWall, , , , , , , [SEP] 98, SouthWall, , , , , , , [SEP] 99, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and head towards the microwave on your left. | STEP 2: Pick up the potato next to the microwave. | STEP 3: Take a step to the left to face the microwave. | STEP 4: Place the potato in it, heat the potato up, and take the potato out. | STEP 5: Take a step to the left to face the grey bin on the floor. | STEP 6: Place the potato in the bin. | END"]} +{"id": "trial_T20190908_202723_575325-2", "input": "put a heated plate onto a counter top SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.900, 1.75, 0, 270, 0, [SEP] 1, Potato, -0.152, 1.161, 0.662, 0, 0, 0, 75 [SEP] 2, Potato, -0.598, 1.161, 0.485, 0, 0, 0, 75 [SEP] 3, DishSponge, -0.203, 0.762, -2.008, 0, 0, 0, 89 [SEP] 4, Pot, -1.056, 0.956, -0.672, 0, 180, 0, 51 [SEP] 5, Spatula, 0.008, 0.928, 0.135, 0, 90, 0, 72 [SEP] 6, Spatula, -0.777, 0.926, -1.845, 0, 0, 0, 79 [SEP] 7, Fork, -0.509, 0.694, 0.190, 0, 270, 0, 73 [SEP] 8, Fork, -1.278, 0.914, 0.030, 0, 0, 0, 72 [SEP] 9, Egg, 1.836, 0.850, -0.551, 0, 270, 0, 86 [SEP] 10, Plate, -0.986, 0.127, -1.501, 0, 0, 0, 65 [SEP] 11, Plate, -1.313, 1.660, 0.094, 0, 0, 0, 63 [SEP] 12, Plate, -0.658, 0.110, -1.918, 0, 0, 0, 64 [SEP] 13, Knife, -0.598, 1.155, 0.441, 0, 0, 0, 75 [SEP] 14, SoapBottle, 1.194, 0.911, -2.014, 0, 0, 0, 79 [SEP] 15, Tomato, -0.203, 0.812, -2.118, 0, 0, 0, 89 [SEP] 16, Tomato, 1.963, 0.112, 0.109, 0, 0, 0, 82 [SEP] 17, Bowl, 2.798, 0.549, 0.193, 0, 180, 0, 85 [SEP] 18, PepperShaker, 2.491, 0.876, 0.168, 0, 180, 0, 83 [SEP] 19, Lettuce, 1.945, 0.893, -0.644, 0, 270, 0, 86 [SEP] 20, Mug, 0.501, 0.955, -1.900, 0, 0, 0, 95 [SEP] 21, Pan, 1.743, 0.9, -1.969, 0, 308.846, 0, 79 [SEP] 22, Knife, 0.071, 1.155, 0.573, 0, 0, 0, 75 [SEP] 23, Bowl, -1.330, 0.910, -0.292, 0, 0, 0, 72 [SEP] 24, Fork, -0.117, 0.763, -1.952, 0, 270, 0, 89 [SEP] 25, Cup, 0.101, 0.750, -1.938, 0, 0, 0, 89 [SEP] 26, Ladle, -0.205, 0.950, 0.083, 0, 0, 0, 72 [SEP] 27, Apple, 0.055, 0.811, -2.118, 0, 0, 0, 89 [SEP] 28, Kettle, -1.289, 0.957, -0.756, 0, 180, 0, 54 [SEP] 29, Vase, -0.264, 0.118, 0.163, 0, 180, 0, 67 [SEP] 30, Potato, -0.203, 0.793, -1.897, 0, 0, 0, 89 [SEP] 31, Pot, -1.056, 0.956, -1.127, 0, 0, 0, 76 [SEP] 32, Bread, -1.148, 0.981, -0.193, 0, 0, 0, 72 [SEP] 33, Plate, 1.914, 1.650, -1.606, 0, 0, 0, 57 [SEP] 34, Spatula, -1.045, 1.146, 0.662, 0, 0, 0, 75 [SEP] 35, PaperTowelRoll, -0.375, 1.235, 0.706, 0, 0, 0, 75 [SEP] 36, Vase, 0.388, 1.667, -2.161, 0, 0, 0, 59 [SEP] 37, Egg, 1.836, 1.461, -0.458, 0, 270, 0, 86 [SEP] 38, SoapBottle, -1.259, 0.911, -2.098, 0, 0, 0, 79 [SEP] 39, SaltShaker, 1.000, 1.654, -2.126, 0, 0, 0, 58 [SEP] 40, Lettuce, 1.945, 1.175, -0.644, 0, 270, 0, 86 [SEP] 41, PepperShaker, 3.002, 0.876, 0.087, 0, 180, 0, 83 [SEP] 42, ButterKnife, -1.063, 0.913, 0.135, 0, 0, 0, 72 [SEP] 43, DishSponge, -0.031, 0.762, -2.008, 0, 0, 0, 89 [SEP] 44, Vase, 1.571, 0.114, -1.201, 0, 0, 0, 53 [SEP] 45, Spoon, -0.119, 0.696, 0.181, 0, 180, 0, 78 [SEP] 46, Tomato, 1.836, 1.148, -0.365, 0, 270, 0, 86 [SEP] 47, Mug, -0.031, 0.758, -1.897, 0, 0, 0, 89 [SEP] 48, Statue, -0.420, 0.920, 0.188, 0, 0, 0, 72 [SEP] 49, Drawer, -0.819, 0.75, -1.690, 0, 0, 0, [SEP] 50, Cabinet, -1.149, 2.264, -0.838, 0, 90, 0, [SEP] 51, StoveBurner, -1.056, 0.949, -0.671, 0, 180, 0, [SEP] 52, Cabinet, 1.738, 2.019, -2.000, 0, 0, 0, [SEP] 53, Cabinet, 1.389, 0.469, -1.059, 0, 0, 0, [SEP] 54, StoveBurner, -1.289, 0.949, -0.755, 0, 180, 0, [SEP] 55, Faucet, -0.157, 1.052, -2.196, 0, 270, 0, [SEP] 56, Cabinet, 1.75, 2.019, -1.029, 0, 0, 0, [SEP] 57, Cabinet, 1.75, 2.019, -1.399, 0, 0, 0, [SEP] 58, Cabinet, 1.179, 2.019, -2.0, 0, 0, 0, [SEP] 59, Cabinet, 0.199, 2.019, -2.0, 0, 0, 0, [SEP] 60, Cabinet, -1.100, 2.019, -2.0, 0, 0, 0, [SEP] 61, Cabinet, -1.149, 2.019, -1.979, 0, 0, 0, [SEP] 62, Cabinet, -1.149, 2.019, -0.770, 0, 0, 0, [SEP] 63, Cabinet, -1.149, 2.019, 0.380, 0, 0, 0, [SEP] 64, Cabinet, -0.819, 0.469, -1.689, 0, 0, 0, [SEP] 65, Cabinet, -0.839, 0.469, -1.664, 0, 0, 0, [SEP] 66, Cabinet, -0.839, 0.469, -0.049, 0, 0, 0, [SEP] 67, Cabinet, -0.414, 0.370, -0.009, 0, 0, 0, [SEP] 68, Sink, -0.118, 0.875, -2.009, 0, 0, 0, [SEP] 69, StoveBurner, -1.289, 0.949, -1.019, 0, 0, 0, [SEP] 70, Cabinet, 0.119, 2.264, -2.0, 0, 0, 0, [SEP] 71, Cabinet, -0.459, 2.264, -2.0, 0, 0, 0, [SEP] 72, CounterTop, -0.665, 0.949, 0.188, 0, 0, 0, [SEP] 73, Drawer, -0.449, 0.75, -0.010, 0, 180, 0, [SEP] 74, Cabinet, -0.450, 0.469, -0.009, 0, 0, 0, [SEP] 75, CounterTop, -0.630, 1.167, 0.573, 0, 0, 0, [SEP] 76, StoveBurner, -1.056, 0.949, -1.126, 0, 0, 0, [SEP] 77, Cabinet, 1.376, 0.460, -1.685, 0, 0, 0, [SEP] 78, Drawer, -0.070, 0.75, -0.009, 0, 180, 0, [SEP] 79, CounterTop, 1.159, 0.946, -2.013, 0, 0, 0, [SEP] 80, Cabinet, -1.150, 2.264, -1.418, 0, 90, 0, [SEP] 81, HousePlant, -1.246, 1.108, 0.606, 0, 0, 0, [SEP] 82, GarbageCan, 1.923, -0.010, 0.137, 0, 0, 0, [SEP] 83, Shelf, 2.759, 0.880, 0.144, 0, 0, 0, [SEP] 84, Microwave, 1.827, 0.900, -1.354, 0, 270, 0, [SEP] 85, Shelf, 2.759, 0.552, 0.145, 0, 0, 0, [SEP] 86, Fridge, 1.975, 0.0, -0.537, 0, 0, 0, [SEP] 87, LightSwitch, 0.404, 1.297, 2.0, 0, 180, 0, [SEP] 88, Shelf, 2.760, 0.172, 0.145, 0, 0, 0, [SEP] 89, SinkBasin, -0.129, 0.752, -2.007, 0, 0, 0, [SEP] 90, StoveKnob, -0.873, 0.903, -0.827, 45, 90, 0, [SEP] 91, StoveKnob, -0.873, 0.903, -0.676, 45, 90, 0, [SEP] 92, StoveKnob, -0.873, 0.903, -0.966, 45, 90, 0, [SEP] 93, StoveKnob, -0.873, 0.903, -1.123, 45, 90, 0, [SEP] 94, Toaster, 0.840, 0.900, -2.057, 0, 0, 0, [SEP] 95, CoffeeMachine, 0.501, 0.900, -2.125, 0, 0, 0, [SEP] 96, ShelvingUnit, 2.760, 0.006, 0.144, 0, 0, 0, [SEP] 97, Stool, -0.826, 0.010, 0.908, 0, 347.513, 0, [SEP] 98, Stool, -0.132, 0.010, 0.883, 0, 71.555, 0, [SEP] 99, NorthWall, , , , , , , [SEP] 100, EastWall, , , , , , , [SEP] 101, SouthWall, , , , , , , [SEP] 102, WestWall, , , , , , , ", "output": ["STEP 1: turn to face microwave and cabinets above | STEP 2: open right cabinet door, remove octagon plate, close the door | STEP 3: move gaze down to face microwave | STEP 4: heat plate in microwave, remove from microwave | STEP 5: turn right to face counter top with a coffee maker | STEP 6: put the plate on the counter top to the left of the coffee maker | END"]} +{"id": "trial_T20190919_043732_853019-2", "input": "Put an egg in a pan in the fridge. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.908, 2.0, 0, 180, 0, [SEP] 1, Pan, -1.383, 0.748, 2.087, 0, 0, 0, 51 [SEP] 2, Potato, -0.919, 0.793, 2.459, 0, 0, 0, 51 [SEP] 3, CellPhone, -1.278, 0.909, -0.907, 0, 0, 0, 76 [SEP] 4, CellPhone, -0.813, 0.909, -0.430, 0, 0, 0, 76 [SEP] 5, DishSponge, -1.325, 1.655, -0.519, 0, 0, 0, 57 [SEP] 6, ButterKnife, 1.367, 0.886, 2.369, 0, 0, 0, 102 [SEP] 7, Glassbottle, 0.041, 0.759, -0.612, 0, 0, 0, 97 [SEP] 8, Glassbottle, -1.149, 0.751, 1.197, 0, 90, 0, 90 [SEP] 9, WineBottle, -0.968, 0.913, -0.907, 0, 0, 0, 76 [SEP] 10, Spoon, -1.123, 0.913, -0.509, 0, 0, 0, 76 [SEP] 11, Spoon, 1.200, 0.887, 2.261, 0, 0, 0, 102 [SEP] 12, Spatula, -1.105, 0.764, 2.830, 0, 0, 0, 51 [SEP] 13, Pot, 0.802, 0.939, -0.740, 0, 90, 0, 79 [SEP] 14, Egg, 1.396, 0.120, 1.605, 0, 0, 0, 91 [SEP] 15, Egg, -1.130, 0.375, 0.883, 0, 90, 0, 90 [SEP] 16, Plate, -1.012, 0.749, 1.902, 0, 0, 0, 51 [SEP] 17, Plate, 0.860, 2.156, -0.787, 0, 0, 0, 54 [SEP] 18, Knife, -0.658, 0.934, -0.669, 0, 0, 0, 76 [SEP] 19, Bowl, -1.105, 0.748, 2.273, 0, 0, 0, 51 [SEP] 20, Bread, -1.383, 0.812, 2.459, 0, 0, 0, 51 [SEP] 21, Bread, -1.206, 1.484, 1.197, 0, 90, 0, 90 [SEP] 22, Mug, 1.325, 2.151, 0.642, 0, 0, 0, 61 [SEP] 23, Apple, -1.329, 1.075, -0.005, 0, 90, 0, 96 [SEP] 24, Apple, -1.427, 1.075, -0.057, 0, 90, 0, 96 [SEP] 25, Bread, -1.320, 1.484, 0.883, 0, 90, 0, 90 [SEP] 26, Glassbottle, 1.200, 0.887, 2.692, 0, 0, 0, 102 [SEP] 27, Fork, 1.444, 0.912, 0.422, 0, 0, 0, 70 [SEP] 28, Kettle, -1.357, 0.739, 3.024, 0, 240.000, 0, 51 [SEP] 29, Tomato, -1.513, 0.961, -0.817, 0, 0, 0, 76 [SEP] 30, Plate, 1.325, 1.656, -0.453, 0, 0, 0, 52 [SEP] 31, CellPhone, -1.156, 0.773, -0.171, 0, 180, 0, 74 [SEP] 32, Lettuce, 1.238, 0.969, -0.16, 0, 0, 0, 70 [SEP] 33, Pot, 0.502, 0.939, -0.740, 0, 90, 0, 77 [SEP] 34, SoapBottle, 0.951, 0.887, 2.477, 0, 270, 0, 102 [SEP] 35, WineBottle, 0.209, 0.117, -0.577, 0, 0, 0, 65 [SEP] 36, Spatula, 1.365, 0.926, -0.428, 0, 90, 0, 70 [SEP] 37, Bowl, -1.263, 1.635, 0.984, 0, 90, 0, 90 [SEP] 38, Apple, 1.245, 0.146, 1.377, 0, 0, 0, 91 [SEP] 39, Cup, -1.012, 0.748, 2.087, 0, 0, 0, 51 [SEP] 40, Knife, -1.105, 0.770, 2.644, 0, 0, 0, 51 [SEP] 41, Egg, -0.314, 0.946, -0.921, 0, 0, 0, 76 [SEP] 42, SaltShaker, 1.034, 0.882, 2.477, 0, 0, 0, 102 [SEP] 43, PepperShaker, 1.200, 0.882, 2.153, 0, 0, 0, 102 [SEP] 44, Potato, -0.082, 0.803, -0.612, 0, 0, 0, 97 [SEP] 45, ButterKnife, -1.197, 0.749, 3.015, 0, 0, 0, 51 [SEP] 46, DishSponge, 1.207, 0.911, 0.706, 0, 0, 0, 70 [SEP] 47, Pan, 1.207, 0.911, 0.422, 0, 0, 0, 70 [SEP] 48, Spoon, 1.444, 0.912, 0.706, 0, 0, 0, 70 [SEP] 49, SprayBottle, -1.290, 0.749, 1.902, 0, 0, 0, 51 [SEP] 50, Mug, 1.450, 0.881, 2.477, 0, 0, 0, 102 [SEP] 51, DiningTable, -1.182, 0.006, 2.414, 0, 90, 0, [SEP] 52, Cabinet, 1.184, 2.059, 0.375, 0, 0, 0, [SEP] 53, Cabinet, 1.184, 2.059, -0.635, 0, 0, 0, [SEP] 54, Cabinet, 0.591, 2.309, -0.645, 0, 0, 0, [SEP] 55, Cabinet, -0.574, 2.059, -0.644, 0, 0, 0, [SEP] 56, Cabinet, -1.103, 2.059, -0.644, 0, 0, 0, [SEP] 57, Cabinet, -1.185, 2.059, -0.331, 0, 0, 0, [SEP] 58, Cabinet, -1.185, 2.059, -0.281, 0, 0, 0, [SEP] 59, Cabinet, -1.185, 2.059, 0.375, 0, 0, 0, [SEP] 60, Cabinet, 1.184, 2.309, 1.174, 0, 0, 0, [SEP] 61, Cabinet, 1.184, 2.309, 0.424, 0, 0, 0, [SEP] 62, Cabinet, 0.988, 0.402, 0.581, 0, 0, 0, [SEP] 63, Cabinet, 0.988, 0.402, 0.531, 0, 0, 0, [SEP] 64, Cabinet, 0.988, 0.402, -0.178, 0, 0, 0, [SEP] 65, Cabinet, 0.335, 0.402, -0.348, 0, 0, 0, [SEP] 66, Cabinet, -0.374, 0.402, -0.348, 0, 0, 0, [SEP] 67, Cabinet, 0.988, 0.402, 1.231, 0, 0, 0, [SEP] 68, Cabinet, -1.185, 2.309, 1.374, 0, 0, 0, [SEP] 69, Cabinet, -1.185, 2.309, 0.424, 0, 0, 0, [SEP] 70, CounterTop, 1.274, 0.947, 0.064, 0, 0, 0, [SEP] 71, Drawer, 1.116, 0.792, -0.015, 0, 0, 0, [SEP] 72, Drawer, -1.116, 0.792, 0.210, 0, 180, 0, [SEP] 73, Cabinet, -0.990, 0.402, 0.374, 0, 180, 0, [SEP] 74, Drawer, -1.116, 0.792, -0.170, 0, 180, 0, [SEP] 75, Cabinet, -0.990, 0.402, -0.335, 0, 180, 0, [SEP] 76, CounterTop, -1.001, 0.947, -0.669, 0, 0, 0, [SEP] 77, StoveBurner, 0.502, 0.932, -0.740, 0, 90, 0, [SEP] 78, StoveBurner, 0.801, 0.932, -0.473, 0, 0, 0, [SEP] 79, StoveBurner, 0.801, 0.932, -0.740, 0, 90, 0, [SEP] 80, Drawer, 1.116, 0.792, 1.081, 0, 0, 0, [SEP] 81, Sink, -0.013, 0.912, -0.615, 0, 0, 0, [SEP] 82, Drawer, 1.116, 0.792, 0.732, 0, 0, 0, [SEP] 83, StoveBurner, 0.502, 0.932, -0.469, 0, 0, 0, [SEP] 84, Drawer, 1.116, 0.792, 0.367, 0, 0, 0, [SEP] 85, StoveKnob, 0.550, 1.085, -0.912, 287.970, 180, 0, [SEP] 86, StoveKnob, 0.884, 1.085, -0.912, 287.970, 180, 0, [SEP] 87, StoveKnob, 0.432, 1.085, -0.912, 287.970, 180, 0, [SEP] 88, StoveKnob, 0.777, 1.085, -0.912, 287.970, 180, 0, [SEP] 89, CoffeeMachine, 1.304, 0.900, -0.741, 0, 320.314, 0, [SEP] 90, Fridge, -1.300, 0.008, 0.987, 0, 90, 0, [SEP] 91, GarbageCan, 1.296, -0.024, 1.465, 0, 0, 0, [SEP] 92, Window, -0.012, 1.641, -0.972, 90, 0, 0, [SEP] 93, Window, 1.598, 1.646, 2.489, 90, 270, 0, [SEP] 94, Toaster, 1.356, 0.900, 1.044, 0, 270, 0, [SEP] 95, LightSwitch, 0.118, 1.353, 3.799, 0, 180, 0, [SEP] 96, Microwave, -1.343, 0.900, 0.053, 0, 90, 0, [SEP] 97, SinkBasin, -0.029, 0.748, -0.612, 0, 0, 0, [SEP] 98, Faucet, -0.026, 0.927, -0.808, 0, 0, 0, [SEP] 99, Shelf, -1.182, 0.127, 2.414, 0, 90, 0, [SEP] 100, Stool, 1.140, 0.007, 3.262, 1.206, 20.753, 0, [SEP] 101, Shelf, -1.182, 0.435, 2.414, 0, 90, 0, [SEP] 102, DiningTable, 1.169, 0.014, 2.569, 0, 0, 1.896, [SEP] 103, NorthWall, , , , , , , [SEP] 104, EastWall, , , , , , , [SEP] 105, SouthWall, , , , , , , [SEP] 106, WestWall, , , , , , , ", "output": ["STEP 1: Turn to the right and go to the table. | STEP 2: Pick up the pan from the table. | STEP 3: Go to the fridge on your left. | STEP 4: Put the pan in the fridge. | STEP 5: Pick up an egg from the fridge. | STEP 6: Put the egg in the pan. | END"]} +{"id": "trial_T20190908_124100_352527-0", "input": "Move two boxes to the coffee table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.908, 5.25, 0, 270, 0, [SEP] 1, Plate, -3.432, 0.797, 1.751, 0, 0, 0, 58 [SEP] 2, TissueBox, -2.324, 0.783, 1.906, 0, 0, 0, 58 [SEP] 3, TissueBox, -2.047, 0.783, 2.526, 0, 0, 0, 58 [SEP] 4, Newspaper, -2.601, 0.781, 2.526, 0, 0, 0, 58 [SEP] 5, Newspaper, -3.026, 0.456, 5.930, 0, 0, 0, 55 [SEP] 6, Statue, -2.878, 0.792, 2.681, 0, 0, 0, 58 [SEP] 7, KeyChain, -3.663, 0.329, 4.718, 0, 0, 0, 56 [SEP] 8, KeyChain, -3.538, 0.327, 4.718, 0, 0, 0, 56 [SEP] 9, CreditCard, -2.970, 0.533, 8.596, 0, 180, 0, 64 [SEP] 10, CreditCard, -3.608, 0.533, 8.471, 0, 180, 0, 64 [SEP] 11, Box, -1.775, 0.583, 6.739, 0, 0, 0, 51 [SEP] 12, Box, -2.324, 0.910, 2.371, 0, 0, 0, 58 [SEP] 13, Laptop, -1.775, 0.453, 5.549, 0, 0, 0, 51 [SEP] 14, Box, -1.623, 0.583, 6.144, 0, 90, 0, 51 [SEP] 15, KeyChain, -2.691, 0.329, 4.774, 0, 0, 0, 57 [SEP] 16, Plate, -3.432, 0.798, 2.371, 0, 0, 0, 58 [SEP] 17, Candle, -2.047, 0.782, 2.371, 0, 0, 0, 58 [SEP] 18, Pillow, -1.852, 0.516, 7.334, 0, 0, 0, 51 [SEP] 19, Candle, -3.449, 0.534, 8.471, 0, 180, 0, 64 [SEP] 20, TissueBox, -3.709, 0.783, 2.526, 0, 0, 0, 58 [SEP] 21, Laptop, -3.216, 0.450, 6.333, 0, 0, 0, 55 [SEP] 22, Newspaper, -2.047, 0.781, 2.216, 0, 0, 0, 58 [SEP] 23, CreditCard, -1.852, 0.454, 7.036, 0, 0, 0, 51 [SEP] 24, RemoteControl, -3.663, 0.333, 4.514, 0, 0, 0, 56 [SEP] 25, Boots, -5.786, 0.007, 4.817, 0, 167.028, 0, Floor|-02.99| [SEP] 26, Candle, -2.942, 0.536, 8.321, 0, 90, 0, 64 [SEP] 27, Statue, -2.047, 0.883, 1.906, 0, 0, 0, 58 [SEP] 28, Watch, -0.246, 0.676, 0.227, 0, 329.437, 0, 53 [SEP] 29, Statue, -3.427, 0.466, 6.764, 0, 0, 0, 55 [SEP] 30, Mirror, -5.489, 1.825, 6.505, 0, 0, 0, [SEP] 31, FloorLamp, -5.645, 0.013, 8.526, 0, 0, 0, [SEP] 32, HousePlant, -3.203, 0.452, 6.798, 0, 0, 0, [SEP] 33, HousePlant, -5.358, 1.476, 5.442, 0, 343.031, 0, [SEP] 34, GarbageCan, -5.711, 0.005, 0.300, 0, 34.872, 0, [SEP] 35, Television, -3.114, 0.996, 8.693, 1.686, 180, 0, [SEP] 36, LightSwitch, -6.0, 1.338, 3.433, 0, 90, 0, [SEP] 37, Painting, -5.954, 1.526, 1.153, 90, 270, 0, [SEP] 38, Window, 0.157, 1.203, 6.895, 90, 90, 0, [SEP] 39, Window, -4.855, 1.203, -0.158, 90, 180, 0, [SEP] 40, Window, 0.157, 1.203, 4.923, 90, 90, 0, [SEP] 41, Window, 0.157, 1.203, 2.986, 90, 90, 0, [SEP] 42, Window, 0.157, 1.203, 1.088, 90, 90, 0, [SEP] 43, Window, -2.942, 1.203, -0.158, 90, 180, 0, [SEP] 44, Window, -1.057, 1.203, -0.158, 90, 180, 0, [SEP] 45, DeskLamp, -0.432, 0.684, 8.644, 0, 0, 0, [SEP] 46, DeskLamp, -0.346, 0.684, 0.335, 0, 0, 0, [SEP] 47, Chair, -3.326, 0.015, 2.739, 358.826, 189.525, 358.738, [SEP] 48, Chair, -2.352, 0.015, 2.744, 358.824, 163.801, 358.735, [SEP] 49, Chair, -2.476, 0.015, 1.628, 358.826, 21.693, 358.736, [SEP] 50, Chair, -3.327, 0.015, 1.701, 358.828, 0, 358.738, [SEP] 51, Sofa, -1.706, 0.002, 6.448, 0, 270, 0, [SEP] 52, Chair, -0.328, 0.016, 0.998, 0, 246.550, 0, [SEP] 53, SideTable, -0.396, 0.008, 0.357, 0, 329.435, 0, [SEP] 54, SideTable, -0.527, 0.008, 8.521, 0, 329.431, 0, [SEP] 55, CoffeeTable, -3.236, 0.010, 6.598, 0, 270, 0, [SEP] 56, ArmChair, -3.663, 0.012, 4.562, 0, 0, 0, [SEP] 57, ArmChair, -2.691, 0.012, 4.618, 0, 0, 0, [SEP] 58, DiningTable, -2.903, 0.010, 2.225, 0, 0, 0, [SEP] 59, RoomDecor, -0.189, 0.009, 3.909, 0, 0, 0, [SEP] 60, RoomDecor, -0.189, 0.009, 2.097, 0, 0, 0, [SEP] 61, RoomDecor, -0.190, 0.009, 5.855, 0, 0, 0, [SEP] 62, RoomDecor, -3.957, 0.009, 0.254, 0, 0, 0, [SEP] 63, RoomDecor, -2.036, 0.009, 0.254, 0, 0, 0, [SEP] 64, CoffeeTable, -3.129, 0.016, 8.533, 0, 0, 0, [SEP] 65, NorthWall, , , , , , , [SEP] 66, EastWall, , , , , , , [SEP] 67, SouthWall, , , , , , , [SEP] 68, WestWall, , , , , , , ", "output": ["STEP 1: Turn right to walk behind the sofa, and when you get to the wall turn left and move around the sofa so you stop facing the center cushion of it. | STEP 2: Pick up the open box from the center cushion of the sofa. | STEP 3: Turn left and move around the coffee table so you stop facing the table with the sofa on the other side. | STEP 4: Place the box on the right corner of the table that's closest to you. | STEP 5: Move around the coffee table and then all the way around to the back of the sofa. | STEP 6: Pick up the remaining box from the sofa. | STEP 7: Turn right and carry the box back around the sofa and coffee table so you're on the same side where you left the previous box. | STEP 8: Place the new box on the front left corner of the table. | END"]} +{"id": "trial_T20190908_132121_617365-0", "input": "Put a clean fork in a drawer. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.900, 3.0, 0, 90, 0, [SEP] 1, SprayBottle, 0.121, 1.654, -1.876, 0, 0, 0, 59 [SEP] 2, Pen, -1.849, 0.775, -1.565, 0, 270, 0, 74 [SEP] 3, Potato, 1.408, 1.307, -0.021, 0, 270, 0, 91 [SEP] 4, Potato, 1.420, 1.762, 1.713, 0, 270, 0, 88 [SEP] 5, ButterKnife, -2.079, 0.910, 0.032, 0, 0, 0, 71 [SEP] 6, Fork, -1.712, 0.911, 0.549, 0, 0, 0, 71 [SEP] 7, Fork, -2.323, 0.911, 0.118, 0, 0, 0, 71 [SEP] 8, Spoon, 0.472, 0.774, -1.500, 0, 270, 0, 73 [SEP] 9, Spoon, -0.477, 0.912, -1.534, 0, 90, 0, 68 [SEP] 10, Spatula, 0.285, 0.934, -1.607, 0, 270, 0, 48 [SEP] 11, Spatula, -0.174, 0.926, -1.409, 0, 180, 0, 69 [SEP] 12, Egg, 1.302, 0.243, 0.993, 0, 0, 0, 86 [SEP] 13, Plate, 0.649, 0.117, -1.633, 0, 90, 0, 63 [SEP] 14, Knife, -2.193, 0.940, -1.879, 0, 90, 0, 67 [SEP] 15, Knife, -1.957, 0.940, 0.463, 0, 0, 0, 71 [SEP] 16, Bowl, -0.386, 1.656, -1.801, 0, 0, 0, 51 [SEP] 17, SaltShaker, 1.035, 0.110, -1.186, 0, 0, 0, 54 [SEP] 18, Mug, -0.703, 0.906, -1.448, 0, 0, 0, 69 [SEP] 19, Apple, 1.426, 1.402, 2.351, 0, 270, 0, 88 [SEP] 20, Tomato, 1.275, 1.407, 2.226, 0, 270, 0, 88 [SEP] 21, Glassbottle, -2.165, 1.656, -1.807, 0, 90, 0, 50 [SEP] 22, Knife, -1.809, 0.940, -1.448, 0, 0, 0, 67 [SEP] 23, Plate, -2.079, 0.911, 0.291, 0, 0, 0, 71 [SEP] 24, Fork, 0.115, 0.920, -1.657, 0, 270, 0, 48 [SEP] 25, Ladle, 0.758, 0.955, -1.789, 0, 0, 0, 69 [SEP] 26, Potato, -2.193, 0.952, -1.534, 0, 0, 0, 67 [SEP] 27, Lettuce, -1.712, 0.979, 0.291, 0, 0, 0, 71 [SEP] 28, Kettle, -1.431, 0.949, -1.81, 0, 0, 0, 79 [SEP] 29, Pen, -0.081, 0.913, -1.395, 0, 0, 0, 69 [SEP] 30, SaltShaker, -1.810, 1.651, -1.866, 0, 90, 0, 50 [SEP] 31, Cup, -2.074, 0.112, -1.681, 0, 0, 0, 72 [SEP] 32, Egg, 0.115, 0.948, -1.859, 0, 270, 0, 48 [SEP] 33, Spatula, 0.936, 0.790, 0.323, 0, 90, 0, 46 [SEP] 34, Bowl, 1.150, 0.115, -1.013, 0, 0, 0, 54 [SEP] 35, SprayBottle, -2.116, 0.909, -1.448, 0, 0, 0, 67 [SEP] 36, Pan, -1.079, 0.945, -1.528, 0, 0, 0, 70 [SEP] 37, SoapBottle, -1.082, 1.850, -1.802, 0, 0, 0, 49 [SEP] 38, Pot, -1.431, 0.949, -1.525, 0, 0, 0, 77 [SEP] 39, ButterKnife, -1.886, 0.910, -1.793, 0, 0, 0, 67 [SEP] 40, PepperShaker, 1.335, 1.157, -1.688, 0, 0, 0, 75 [SEP] 41, DishSponge, 0.641, 0.772, -1.566, 0, 0, 0, 73 [SEP] 42, Bread, 0.927, 0.989, 0.031, 0, 0, 0, 69 [SEP] 43, Apple, 0.183, 0.954, -1.758, 0, 270, 0, 48 [SEP] 44, Spoon, 1.047, 0.776, -1.013, 0, 0, 0, 47 [SEP] 45, Mug, 1.070, 0.957, -1.641, 0, 0, 0, 85 [SEP] 46, Drawer, 0.860, 0.75, 0.430, 0, 0, 0, [SEP] 47, Drawer, 0.871, 0.75, -1.134, 0, 0, 0, [SEP] 48, Sink, 0.156, 0.817, -1.801, 0, 270, 0, [SEP] 49, Cabinet, -0.868, 2.005, -1.690, 0, 0, 0, [SEP] 50, Cabinet, -1.661, 2.059, -1.684, 0, 90, 0, [SEP] 51, Cabinet, -0.817, 2.059, -1.689, 0, 0, 0, [SEP] 52, Cabinet, 0.860, 0.402, 0.665, 0, 0, 0, [SEP] 53, Cabinet, 0.860, 0.402, -0.552, 0, 0, 0, [SEP] 54, Cabinet, 0.860, 0.402, -1.365, 0, 0, 0, [SEP] 55, Cabinet, -0.244, 0.402, -1.389, 0, 0, 0, [SEP] 56, Cabinet, -0.815, 0.402, -1.389, 0, 0, 0, [SEP] 57, Cabinet, 1.159, 2.059, -0.334, 0, 0, 0, [SEP] 58, Cabinet, 0.488, 2.059, -1.689, 0, 0, 0, [SEP] 59, Cabinet, -0.193, 2.059, -1.689, 0, 0, 0, [SEP] 60, Drawer, 0.860, 0.75, -0.699, 0, 0, 0, [SEP] 61, Cabinet, 1.159, 2.059, -1.019, 0, 0, 0, [SEP] 62, Cabinet, -1.611, 2.005, -1.690, 0, 0, 0, [SEP] 63, Cabinet, 0.832, 0.401, -1.393, 0, 90, 0, [SEP] 64, Drawer, -2.105, 0.75, -1.389, 0, 0, 0, [SEP] 65, StoveBurner, -1.081, 0.941, -1.809, 0, 0, 0, [SEP] 66, Cabinet, -0.202, 0.401, -1.391, 0, 90, 0, [SEP] 67, CounterTop, -1.973, 0.945, -1.707, 0, 0, 0, [SEP] 68, Drawer, -0.375, 0.75, -1.389, 0, 0, 0, [SEP] 69, CounterTop, 1.164, 0.946, -0.649, 0, 0, 0, [SEP] 70, StoveBurner, -1.081, 0.941, -1.527, 0, 0, 0, [SEP] 71, CounterTop, -2.096, 0.945, 0.291, 0, 0, 0, [SEP] 72, Cabinet, -2.237, 0.402, -1.389, 0, 0, 0, [SEP] 73, Drawer, 0.584, 0.75, -1.389, 0, 0, 0, [SEP] 74, Drawer, -1.795, 0.75, -1.389, 0, 0, 0, [SEP] 75, CounterTop, 1.5, 1.197, -0.654, 0, 0, 0, [SEP] 76, Cabinet, -1.667, 0.402, -1.389, 0, 0, 0, [SEP] 77, StoveBurner, -1.430, 0.941, -1.525, 0, 0, 0, [SEP] 78, Drawer, -0.685, 0.75, -1.389, 0, 0, 0, [SEP] 79, StoveBurner, -1.430, 0.941, -1.809, 0, 0, 0, [SEP] 80, LightSwitch, -2.539, 1.289, 2.568, 0, 90, 0, [SEP] 81, StoveKnob, -1.362, 1.095, -1.983, 287.970, 180, 0, [SEP] 82, StoveKnob, -0.962, 1.095, -1.983, 287.970, 180, 0, [SEP] 83, StoveKnob, -1.522, 1.095, -1.983, 287.970, 180, 0, [SEP] 84, StoveKnob, -1.112, 1.095, -1.983, 287.970, 180, 0, [SEP] 85, CoffeeMachine, 1.082, 0.900, -1.848, 0, 0, 0, [SEP] 86, GarbageCan, 1.343, 0.015, 1.041, 0, 0, 0, [SEP] 87, HousePlant, 1.440, 1.153, 0.593, 0, 0, 0, [SEP] 88, Fridge, 1.417, 0.0, 2.101, 0, 0, 0, [SEP] 89, Window, -0.486, 1.452, 3.302, 90, 0, 0, [SEP] 90, SinkBasin, -0.063, 0.765, -1.713, 0, 270, 0, [SEP] 91, Microwave, 1.422, 1.150, 0.022, 0, 270, 0, [SEP] 92, Toaster, -2.066, 0.900, -1.848, 0, 0, 0, [SEP] 93, Stool, -1.994, 0.010, 0.882, 0, 0, 0, [SEP] 94, Faucet, -0.096, 1.041, -1.867, 0, 270, 0, [SEP] 95, NorthWall, , , , , , , [SEP] 96, EastWall, , , , , , , [SEP] 97, SouthWall, , , , , , , [SEP] 98, WestWall, , , , , , , ", "output": ["STEP 1: Go right and cross the room to face the sink. | STEP 2: Pick the fork up from the left side of the sink. | STEP 3: Turn to the right and face the right side of the sink. | STEP 4: Put the fork in the sink and turn the water on and then off and pick the fork up again. | STEP 5: Turn and open the drawer to the left of the sink. | STEP 6: Put the fork in the drawer. | END"]} +{"id": "trial_T20190909_074109_560186-2", "input": "Move a cellphone to a desk. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.900, 0.5, 0, 270, 0, [SEP] 1, CD, -0.276, 0.618, 0.833, 0, 180, 0, 33 [SEP] 2, Pen, 0.996, 0.685, -2.553, 0, 0, 0, 35 [SEP] 3, Pencil, -0.741, 0.623, 0.677, 0, 180, 0, 33 [SEP] 4, CreditCard, -1.204, 0.675, -2.374, 0, 0, 0, 34 [SEP] 5, CreditCard, -0.276, 0.620, 0.988, 0, 180, 0, 33 [SEP] 6, KeyChain, -1.144, 0.677, -2.553, 0, 0, 0, 34 [SEP] 7, KeyChain, -1.204, 0.376, -2.375, 0, 0, 0, 39 [SEP] 8, Box, 2.453, 0.222, -0.041, 0, 0, 0, [SEP] 9, Book, 0.430, 0.555, -1.880, 0, 0, 0, 21 [SEP] 10, KeyChain, 1.039, 0.084, -2.375, 0, 0, 0, 38 [SEP] 11, Pillow, -0.300, 0.653, -1.657, 0, 0, 0, 21 [SEP] 12, BaseballBat, 0.419, 0.666, 1.044, 10.360, 0, 0, [SEP] 13, Pencil, -0.276, 0.625, 0.599, 0, 180, 0, 33 [SEP] 14, CellPhone, 1.114, 0.680, -2.464, 0, 0, 0, 35 [SEP] 15, CreditCard, 0.995, 0.374, -2.375, 0, 0, 0, 38 [SEP] 16, Pen, 0.033, 0.625, 0.988, 0, 180, 0, 33 [SEP] 17, Laptop, -0.483, 0.554, -2.103, 0, 0, 0, 21 [SEP] 18, AlarmClock, -0.741, 0.621, 0.988, 0, 180, 0, 33 [SEP] 19, CD, -0.586, 0.618, 0.910, 0, 180, 0, 33 [SEP] 20, Mug, 0.033, 0.616, 1.066, 0, 180, 0, 33 [SEP] 21, Bed, -0.118, -0.001, -1.699, 0, 180, 0, [SEP] 22, Mirror, 2.644, 1.347, 0.384, 0, 90, 0, [SEP] 23, GarbageCan, 2.467, -0.029, 0.936, 0, 271.107, 0, [SEP] 24, LightSwitch, 0.333, 1.256, 1.149, 0, 180, 0, [SEP] 25, DeskLamp, 0.915, 0.670, -2.435, 0, 0, 0, [SEP] 26, Painting, 0.003, 1.562, -2.687, 90, 180, 0, [SEP] 27, Window, -1.559, 1.414, -1.356, 90, 270, 0, [SEP] 28, Window, -1.559, 1.414, -0.057, 90, 270, 0, [SEP] 29, Shelf, -0.276, 0.351, 0.832, 0, 0, 0, [SEP] 30, Shelf, -0.276, 0.099, 0.832, 0, 0, 0, [SEP] 31, Blinds, -1.462, 2.157, -1.343, 0, 90, 0, [SEP] 32, Blinds, -1.462, 2.157, -0.046, 0, 90, 0, [SEP] 33, Desk, -0.276, -0.001, 0.833, 0, 0, 0, [SEP] 34, SideTable, -1.204, 0.002, -2.456, 0, 0, 0, [SEP] 35, SideTable, 0.948, 0.002, -2.456, 0, 0, 0, [SEP] 36, Drawer, 0.948, 0.166, -2.389, 0, 0, 0, [SEP] 37, Drawer, -1.204, 0.166, -2.389, 0, 0, 0, [SEP] 38, Drawer, 0.948, 0.458, -2.389, 0, 0, 0, [SEP] 39, Drawer, -1.204, 0.458, -2.389, 0, 0, 0, [SEP] 40, , , , , , , , [SEP] 41, NorthWall, , , , , , , [SEP] 42, EastWall, , , , , , , [SEP] 43, SouthWall, , , , , , , [SEP] 44, WestWall, , , , , , , ", "output": ["STEP 1: Turn around completely and go forward. Turn to the right and walk to the nightstand. | STEP 2: Pick up the cellphone from the nightstand. | STEP 3: Turn around completely and walk forward. Turn to the left then right to face the desk. | STEP 4: Place the cellphone on the desk | END"]} +{"id": "trial_T20190908_164755_318548-1", "input": "Slice, chill and move lettuce to the green bin. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.900, 2.0, 0, 180, 0, [SEP] 1, Potato, -2.890, 0.862, 0.462, 0, 90, 0, 48 [SEP] 2, DishSponge, -0.363, 0.696, 0.839, 0, 0, 0, 50 [SEP] 3, ButterKnife, -1.374, 0.823, 0.539, 0, 0, 0, 48 [SEP] 4, Pot, -0.518, 0.829, 2.075, 0, 180, 0, 45 [SEP] 5, Fork, -2.957, 0.824, 0.352, 0, 90, 0, 48 [SEP] 6, Spoon, -2.608, 0.824, 0.129, 0, 0, 0, 48 [SEP] 7, Spoon, -2.631, 0.693, 1.474, 0, 90, 0, 53 [SEP] 8, Egg, -1.967, 0.721, 0.210, 0, 0, 0, 75 [SEP] 9, Egg, -1.801, 0.721, 0.381, 0, 0, 0, 75 [SEP] 10, Cup, -2.810, 0.921, 1.284, 0, 90, 0, 67 [SEP] 11, Plate, -2.837, 1.148, 2.045, 0, 90, 0, 66 [SEP] 12, Tomato, -2.837, 1.193, 2.221, 0, 90, 0, 66 [SEP] 13, Tomato, -2.837, 0.874, 2.221, 0, 90, 0, 66 [SEP] 14, SoapBottle, -0.092, 0.821, 1.326, 0, 0, 0, 48 [SEP] 15, PepperShaker, -2.375, 0.818, 0.278, 0, 0, 0, 48 [SEP] 16, PepperShaker, -0.477, 0.818, 0.770, 0, 0, 0, 48 [SEP] 17, Mug, -0.646, 0.888, 0.367, 0, 0, 0, 76 [SEP] 18, Mug, -0.400, 0.818, 1.326, 0, 0, 0, 48 [SEP] 19, Apple, -2.504, 0.896, 0.544, 0, 0, 0, 48 [SEP] 20, Apple, -0.362, 0.129, 2.572, 0, 0, 0, 68 [SEP] 21, Fork, -0.169, 0.824, 1.103, 0, 0, 0, 48 [SEP] 22, Ladle, -2.540, 1.893, 2.316, 0, 0, 0, 58 [SEP] 23, Pan, -0.244, 0.829, 1.684, 0, 0, 0, 47 [SEP] 24, SoapBottle, -2.817, 1.432, 0.325, 0, 45, 0, 54 [SEP] 25, Pot, -2.726, 1.443, 2.221, 0, 180, 0, 66 [SEP] 26, Tomato, -0.314, 0.873, 0.500, 0, 0, 0, 48 [SEP] 27, Potato, -0.817, 0.862, 0.129, 0, 0, 0, 48 [SEP] 28, SaltShaker, -1.876, 0.818, 0.046, 0, 0, 0, 48 [SEP] 29, Plate, -2.648, 0.126, 1.471, 0, 0, 0, 59 [SEP] 30, Spatula, -0.341, 0.696, 1.194, 0, 45, 0, 44 [SEP] 31, Knife, -2.662, 0.819, 0.557, 90, 300.034, 0, 48 [SEP] 32, Egg, -0.229, 0.080, 2.674, 0, 0, 0, 68 [SEP] 33, Cup, -2.671, 1.144, 2.397, 0, 90, 0, 66 [SEP] 34, ButterKnife, -2.493, 0.812, 0.476, 0, 50.734, 0, 48 [SEP] 35, Lettuce, -1.836, 0.741, 0.238, 0, 55.910, 0, 75 [SEP] 36, PepperShaker, -1.828, 0.120, 0.440, 0, 0, 0, 60 [SEP] 37, DishSponge, -2.631, 1.434, 0.250, 0, 45, 0, 54 [SEP] 38, Bread, -0.979, 0.855, 0.249, 0, 29.999, 0, 48 [SEP] 39, Spoon, -1.161, 0.699, 0.444, 0, 270, 0, 52 [SEP] 40, Mug, -2.837, 1.138, 2.485, 0, 90, 0, 66 [SEP] 41, Bowl, -1.580, 0.121, 0.401, 0, 0, 0, 61 [SEP] 42, Cabinet, -2.377, 2.015, 1.720, 0, 0, 0, [SEP] 43, StoveBurner, -0.244, 0.820, 2.075, 0, 180, 0, [SEP] 44, Drawer, -0.402, 0.703, 1.252, 0, 0, 0, [SEP] 45, StoveBurner, -0.518, 0.820, 2.075, 0, 180, 0, [SEP] 46, Sink, -1.838, 0.726, 0.343, 0, 180, 0, [SEP] 47, StoveBurner, -0.244, 0.820, 1.684, 0, 0, 0, [SEP] 48, CounterTop, -1.557, 0.859, 0.277, 0, 0, 0, [SEP] 49, StoveBurner, -0.518, 0.820, 1.684, 0, 0, 0, [SEP] 50, Drawer, -0.404, 0.704, 0.912, 0, 0, 0, [SEP] 51, Drawer, -0.861, 0.709, 0.420, 0, 0, 0, [SEP] 52, Drawer, -1.133, 0.706, 0.418, 0, 0, 0, [SEP] 53, Drawer, -2.589, 0.703, 1.511, 0, 0, 0, [SEP] 54, Cabinet, -2.772, 1.803, 0.508, 0, 0, 0, [SEP] 55, Cabinet, -2.460, 1.803, 0.231, 0, 0, 0, [SEP] 56, Cabinet, -2.781, 1.798, 0.825, 0, 0, 0, [SEP] 57, Cabinet, -2.781, 1.798, 0.815, 0, 0, 0, [SEP] 58, Cabinet, -2.377, 2.009, 2.581, 0, 0, 0, [SEP] 59, Cabinet, -2.442, 0.385, 1.672, 0, 0, 0, [SEP] 60, Cabinet, -2.238, 0.385, 0.564, 0, 0, 0, [SEP] 61, Cabinet, -1.286, 0.385, 0.564, 0, 0, 0, [SEP] 62, Cabinet, -1.262, 0.385, 0.565, 0, 0, 0, [SEP] 63, Cabinet, -0.734, 0.385, 0.565, 0, 0, 0, [SEP] 64, Cabinet, -0.549, 0.385, 0.751, 0, 0, 0, [SEP] 65, Cabinet, -0.549, 0.385, 1.412, 0, 0, 0, [SEP] 66, Fridge, -2.782, 0.0, 2.221, 0, 0, 0, [SEP] 67, Microwave, -2.794, 0.812, 1.348, 0, 90, 0, [SEP] 68, GarbageCan, -0.329, 2.205, 2.606, 0, 0, 0, [SEP] 69, StoveKnob, -0.069, 0.998, 1.773, 0, 180, 107.470, [SEP] 70, StoveKnob, -0.069, 0.998, 1.613, 0, 180, 107.470, [SEP] 71, StoveKnob, -0.069, 0.998, 2.171, 0, 180, 107.470, [SEP] 72, StoveKnob, -0.069, 0.998, 2.024, 0, 180, 107.470, [SEP] 73, Window, -1.720, 1.342, -0.208, 90, 0, 0, [SEP] 74, Toaster, -0.171, 0.812, 0.735, 0, 270, 0, [SEP] 75, SinkBasin, -1.745, 0.687, 0.295, 0, 0, 0, [SEP] 76, CoffeeMachine, -0.539, 0.812, 0.185, 0, 0, 0, [SEP] 77, LightSwitch, -0.615, 1.378, 3.0, 0, 180, 0, [SEP] 78, Faucet, -1.686, 0.954, 0.176, 0, 236.223, 0, [SEP] 79, Stool, -1.008, 0.008, 1.955, 0, 18.279, 0, [SEP] 80, NorthWall, , , , , , , [SEP] 81, EastWall, , , , , , , [SEP] 82, SouthWall, , , , , , , [SEP] 83, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and move to the sink. | STEP 2: Pick up the knife in front of the sink. | STEP 3: Move to the center of the sinks. | STEP 4: Slice the lettuce in the sink. | STEP 5: Turn around and move to the front of the fridge. | STEP 6: Put the knife in the fridge. | STEP 7: Turn left and move to the front of the sinks. | STEP 8: Pick up a slice of lettuce. | STEP 9: Turn around and move to the fridge. | STEP 10: Chill the lettuce in the fridge and remove it. | STEP 11: Turn around and move to the green bin. | STEP 12: Place the lettuce in the bin. | END"]} +{"id": "trial_T20190906_181609_688127-0", "input": "Set a cup with a butter knife inside next to the microwave. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, -0.25, 0, 180, 0, [SEP] 1, Pan, -2.59, 0.9, -1.147, 0, 0, 0, 76 [SEP] 2, Potato, -0.598, 0.933, -1.119, 0, 47.530, 0, 76 [SEP] 3, CreditCard, -2.604, 0.908, 0.021, 0, 0, 0, 76 [SEP] 4, ButterKnife, -2.604, 0.911, 0.275, 0, 0, 0, 68 [SEP] 5, ButterKnife, -0.450, 0.911, -0.948, 0, 0, 0, 76 [SEP] 6, Kettle, -2.823, 0.928, -0.711, 0, 0, 0, 73 [SEP] 7, Spoon, 0.307, 0.747, -1.095, 0, 0, 0, 77 [SEP] 8, Fork, 0.014, 1.112, 1.874, 0, 315, 0, 69 [SEP] 9, Fork, -1.332, 0.850, -1.305, 0, 90, 0, 86 [SEP] 10, Spatula, 0.144, 1.126, 1.422, 0, 45, 0, 69 [SEP] 11, Spatula, 0.765, 0.926, -1.115, 0, 0, 0, 76 [SEP] 12, Plate, 0.740, 1.113, 0.979, 0, 315, 0, 69 [SEP] 13, Knife, -2.542, 0.769, 0.099, 0, 0, 0, 74 [SEP] 14, Knife, -1.073, 0.874, -1.249, 0, 90, 0, 86 [SEP] 15, SoapBottle, 1.067, 1.112, 0.960, 0, 315, 0, 69 [SEP] 16, Tomato, -2.800, 1.523, 1.094, 0, 90, 0, 88 [SEP] 17, Tomato, -0.070, 1.161, 1.488, 0, 315, 0, 69 [SEP] 18, Bowl, -2.740, 0.377, 0.690, 0, 90, 0, 88 [SEP] 19, Lettuce, -2.800, 1.553, 0.771, 0, 90, 0, 88 [SEP] 20, PepperShaker, -2.886, 2.039, 0.576, 0, 0, 0, 66 [SEP] 21, PepperShaker, -0.711, 1.658, -1.284, 0, 0, 0, 64 [SEP] 22, SaltShaker, 0.540, 1.658, -1.246, 0, 0, 0, 55 [SEP] 23, Mug, -0.443, 1.657, -1.435, 0, 0, 0, 64 [SEP] 24, Apple, 0.241, 1.057, -1.314, 0, 0, 0, 89 [SEP] 25, Apple, 0.346, 1.057, -1.381, 0, 0, 0, 89 [SEP] 26, Apple, -2.521, 0.963, -0.147, 0, 0, 0, 68 [SEP] 27, Fork, -2.026, 0.747, -0.966, 0, 0, 0, 71 [SEP] 28, Kettle, -1.441, 1.663, -1.360, 0, 270, 0, 65 [SEP] 29, CreditCard, 0.254, 0.744, -1.009, 0, 0, 0, 77 [SEP] 30, Bread, -0.401, 0.948, -1.291, 0, 0, 0, 76 [SEP] 31, Plate, 0.509, 1.113, 0.748, 0, 315, 0, 69 [SEP] 32, SoapBottle, -2.757, 0.037, 1.466, 0, 0, 0, 87 [SEP] 33, Spatula, 0.567, 1.126, 1.152, 0, 315, 0, 69 [SEP] 34, Lettuce, 0.721, 1.190, 1.306, 0, 315, 0, 69 [SEP] 35, SaltShaker, -2.438, 0.907, -0.062, 0, 0, 0, 68 [SEP] 36, Tomato, -2.860, 0.427, 0.932, 0, 90, 0, 88 [SEP] 37, PepperShaker, -2.309, 1.658, -1.397, 0, 0, 0, 59 [SEP] 38, ButterKnife, -1.418, 0.849, -1.25, 0, 0, 0, 86 [SEP] 39, Pot, -2.622, 0.928, -0.396, 0, 0, 0, 70 [SEP] 40, DishSponge, -1.221, 0.841, -1.126, 0, 41.164, 0, 86 [SEP] 41, Egg, 0.136, 1.136, 1.274, 0, 0, 0, 69 [SEP] 42, Spoon, -2.770, 0.912, -0.062, 0, 0, 0, 68 [SEP] 43, Knife, 0.997, 0.934, -1.115, 0, 0, 0, 76 [SEP] 44, Cup, -1.119, 0.841, -1.241, 0, 0, 0, 86 [SEP] 45, Mug, -1.455, 0.112, -1.068, 0, 0, 0, 53 [SEP] 46, Bowl, -2.800, 0.818, 0.852, 0, 90, 0, 88 [SEP] 47, Cabinet, -2.647, 2.075, -0.875, 0, 0, 0, [SEP] 48, Cabinet, -2.647, 2.075, -0.234, 0, 0, 0, [SEP] 49, Cabinet, -0.824, 0.469, -0.907, 0, 0, 0, [SEP] 50, Cabinet, -1.764, 2.009, -1.197, 0, 0, 0, [SEP] 51, Cabinet, -1.834, 2.009, -1.197, 0, 0, 0, [SEP] 52, Cabinet, -1.850, 0.389, -0.897, 0, 0, 0, [SEP] 53, Cabinet, -1.801, 0.469, -0.907, 0, 0, 0, [SEP] 54, Cabinet, 1.115, 2.009, -1.197, 0, 0, 0, [SEP] 55, Cabinet, 0.235, 2.009, -1.197, 0, 0, 0, [SEP] 56, Cabinet, 1.125, 0.470, -0.897, 0, 0, 0, [SEP] 57, Cabinet, -2.387, 0.389, 0.375, 0, 0, 0, [SEP] 58, Cabinet, 0.484, 0.389, -0.897, 0, 0, 0, [SEP] 59, Cabinet, -2.625, 2.009, -1.197, 0, 0, 0, [SEP] 60, Cabinet, -2.647, 2.009, -0.945, 0, 0, 0, [SEP] 61, Cabinet, -2.647, 2.200, 1.664, 0, 0, 0, [SEP] 62, Cabinet, -2.647, 2.009, 0.364, 0, 0, 0, [SEP] 63, Cabinet, 0.164, 2.009, -1.197, 0, 0, 0, [SEP] 64, Cabinet, -0.765, 2.009, -1.197, 0, 0, 0, [SEP] 65, Cabinet, -0.834, 2.009, -1.197, 0, 0, 0, [SEP] 66, Cabinet, -2.647, 2.200, 0.434, 0, 0, 0, [SEP] 67, StoveBurner, -2.622, 0.886, -0.711, 0, 0, 0, [SEP] 68, CounterTop, -2.699, 0.946, 0.106, 0, 0, 0, [SEP] 69, CounterTop, 0.908, 1.147, 0.788, 0, 315, 0, [SEP] 70, StoveBurner, -2.622, 0.886, -0.396, 0, 0, 0, [SEP] 71, Drawer, -2.026, 0.779, -1.082, 0, 0, 0, [SEP] 72, Sink, -1.328, 0.916, -1.225, 0, 0, 0, [SEP] 73, StoveBurner, -2.822, 0.886, -0.711, 0, 0, 0, [SEP] 74, Drawer, -2.572, 0.779, 0.099, 0, 0, 0, [SEP] 75, StoveBurner, -2.822, 0.886, -0.396, 0, 0, 0, [SEP] 76, CounterTop, 0.071, 0.946, -1.199, 0, 0, 0, [SEP] 77, Drawer, 0.254, 0.779, -1.082, 0, 0, 0, [SEP] 78, LightSwitch, -1.167, 1.307, 3.0, 0, 180, 0, [SEP] 79, CoffeeMachine, 1.124, 1.100, 0.312, 0, 227.685, 0, [SEP] 80, StoveKnob, -2.429, 0.863, -0.621, 311.864, 270, 180, [SEP] 81, StoveKnob, -2.429, 0.863, -0.477, 311.864, 270, 180, [SEP] 82, StoveKnob, -2.429, 0.863, -0.782, 311.864, 270, 180, [SEP] 83, StoveKnob, -2.429, 0.863, -0.324, 311.864, 270, 180, [SEP] 84, Window, 0.321, 1.449, 3.088, 90, 0, 0, [SEP] 85, Toaster, -2.823, 0.899, 0.246, 0, 90, 0, [SEP] 86, SinkBasin, -1.344, 0.838, -1.25, 0, 0, 0, [SEP] 87, GarbageCan, -2.757, 1.886, 1.466, 0, 0, 0, [SEP] 88, Fridge, -2.855, 0.0, 0.851, 0, 0, 0, [SEP] 89, Microwave, 0.283, 0.900, -1.331, 0, 0, 0, [SEP] 90, Stool, 1.541, 0.010, 1.328, 0, 45, 0, [SEP] 91, Stool, 0.983, 0.010, 1.793, 0, 47.459, 0, [SEP] 92, Faucet, -1.392, 1.136, -1.399, 0, 270, 0, [SEP] 93, NorthWall, , , , , , , [SEP] 94, EastWall, , , , , , , [SEP] 95, SouthWall, , , , , , , [SEP] 96, WestWall, , , , , , , ", "output": ["STEP 1: Move to the counter above the dishwasher. | STEP 2: Pick up the butter knife on the counter. | STEP 3: Move over to the right to the sink. | STEP 4: Set the butter knife in the cup in the sink. | STEP 5: Pick up the cup with the butter knife in it. | STEP 6: Go to the counter to the right of the microwave. | STEP 7: Set the cup with the butter knife down on the counter. | END"]} +{"id": "trial_T20190906_181609_688127-1", "input": "Place a cup with a knife in it on the counter to the left of the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, -0.25, 0, 180, 0, [SEP] 1, Pan, -2.59, 0.9, -1.147, 0, 0, 0, 76 [SEP] 2, Potato, -0.598, 0.933, -1.119, 0, 47.530, 0, 76 [SEP] 3, CreditCard, -2.604, 0.908, 0.021, 0, 0, 0, 76 [SEP] 4, ButterKnife, -2.604, 0.911, 0.275, 0, 0, 0, 68 [SEP] 5, ButterKnife, -0.450, 0.911, -0.948, 0, 0, 0, 76 [SEP] 6, Kettle, -2.823, 0.928, -0.711, 0, 0, 0, 73 [SEP] 7, Spoon, 0.307, 0.747, -1.095, 0, 0, 0, 77 [SEP] 8, Fork, 0.014, 1.112, 1.874, 0, 315, 0, 69 [SEP] 9, Fork, -1.332, 0.850, -1.305, 0, 90, 0, 86 [SEP] 10, Spatula, 0.144, 1.126, 1.422, 0, 45, 0, 69 [SEP] 11, Spatula, 0.765, 0.926, -1.115, 0, 0, 0, 76 [SEP] 12, Plate, 0.740, 1.113, 0.979, 0, 315, 0, 69 [SEP] 13, Knife, -2.542, 0.769, 0.099, 0, 0, 0, 74 [SEP] 14, Knife, -1.073, 0.874, -1.249, 0, 90, 0, 86 [SEP] 15, SoapBottle, 1.067, 1.112, 0.960, 0, 315, 0, 69 [SEP] 16, Tomato, -2.800, 1.523, 1.094, 0, 90, 0, 88 [SEP] 17, Tomato, -0.070, 1.161, 1.488, 0, 315, 0, 69 [SEP] 18, Bowl, -2.740, 0.377, 0.690, 0, 90, 0, 88 [SEP] 19, Lettuce, -2.800, 1.553, 0.771, 0, 90, 0, 88 [SEP] 20, PepperShaker, -2.886, 2.039, 0.576, 0, 0, 0, 66 [SEP] 21, PepperShaker, -0.711, 1.658, -1.284, 0, 0, 0, 64 [SEP] 22, SaltShaker, 0.540, 1.658, -1.246, 0, 0, 0, 55 [SEP] 23, Mug, -0.443, 1.657, -1.435, 0, 0, 0, 64 [SEP] 24, Apple, 0.241, 1.057, -1.314, 0, 0, 0, 89 [SEP] 25, Apple, 0.346, 1.057, -1.381, 0, 0, 0, 89 [SEP] 26, Apple, -2.521, 0.963, -0.147, 0, 0, 0, 68 [SEP] 27, Fork, -2.026, 0.747, -0.966, 0, 0, 0, 71 [SEP] 28, Kettle, -1.441, 1.663, -1.360, 0, 270, 0, 65 [SEP] 29, CreditCard, 0.254, 0.744, -1.009, 0, 0, 0, 77 [SEP] 30, Bread, -0.401, 0.948, -1.291, 0, 0, 0, 76 [SEP] 31, Plate, 0.509, 1.113, 0.748, 0, 315, 0, 69 [SEP] 32, SoapBottle, -2.757, 0.037, 1.466, 0, 0, 0, 87 [SEP] 33, Spatula, 0.567, 1.126, 1.152, 0, 315, 0, 69 [SEP] 34, Lettuce, 0.721, 1.190, 1.306, 0, 315, 0, 69 [SEP] 35, SaltShaker, -2.438, 0.907, -0.062, 0, 0, 0, 68 [SEP] 36, Tomato, -2.860, 0.427, 0.932, 0, 90, 0, 88 [SEP] 37, PepperShaker, -2.309, 1.658, -1.397, 0, 0, 0, 59 [SEP] 38, ButterKnife, -1.418, 0.849, -1.25, 0, 0, 0, 86 [SEP] 39, Pot, -2.622, 0.928, -0.396, 0, 0, 0, 70 [SEP] 40, DishSponge, -1.221, 0.841, -1.126, 0, 41.164, 0, 86 [SEP] 41, Egg, 0.136, 1.136, 1.274, 0, 0, 0, 69 [SEP] 42, Spoon, -2.770, 0.912, -0.062, 0, 0, 0, 68 [SEP] 43, Knife, 0.997, 0.934, -1.115, 0, 0, 0, 76 [SEP] 44, Cup, -1.119, 0.841, -1.241, 0, 0, 0, 86 [SEP] 45, Mug, -1.455, 0.112, -1.068, 0, 0, 0, 53 [SEP] 46, Bowl, -2.800, 0.818, 0.852, 0, 90, 0, 88 [SEP] 47, Cabinet, -2.647, 2.075, -0.875, 0, 0, 0, [SEP] 48, Cabinet, -2.647, 2.075, -0.234, 0, 0, 0, [SEP] 49, Cabinet, -0.824, 0.469, -0.907, 0, 0, 0, [SEP] 50, Cabinet, -1.764, 2.009, -1.197, 0, 0, 0, [SEP] 51, Cabinet, -1.834, 2.009, -1.197, 0, 0, 0, [SEP] 52, Cabinet, -1.850, 0.389, -0.897, 0, 0, 0, [SEP] 53, Cabinet, -1.801, 0.469, -0.907, 0, 0, 0, [SEP] 54, Cabinet, 1.115, 2.009, -1.197, 0, 0, 0, [SEP] 55, Cabinet, 0.235, 2.009, -1.197, 0, 0, 0, [SEP] 56, Cabinet, 1.125, 0.470, -0.897, 0, 0, 0, [SEP] 57, Cabinet, -2.387, 0.389, 0.375, 0, 0, 0, [SEP] 58, Cabinet, 0.484, 0.389, -0.897, 0, 0, 0, [SEP] 59, Cabinet, -2.625, 2.009, -1.197, 0, 0, 0, [SEP] 60, Cabinet, -2.647, 2.009, -0.945, 0, 0, 0, [SEP] 61, Cabinet, -2.647, 2.200, 1.664, 0, 0, 0, [SEP] 62, Cabinet, -2.647, 2.009, 0.364, 0, 0, 0, [SEP] 63, Cabinet, 0.164, 2.009, -1.197, 0, 0, 0, [SEP] 64, Cabinet, -0.765, 2.009, -1.197, 0, 0, 0, [SEP] 65, Cabinet, -0.834, 2.009, -1.197, 0, 0, 0, [SEP] 66, Cabinet, -2.647, 2.200, 0.434, 0, 0, 0, [SEP] 67, StoveBurner, -2.622, 0.886, -0.711, 0, 0, 0, [SEP] 68, CounterTop, -2.699, 0.946, 0.106, 0, 0, 0, [SEP] 69, CounterTop, 0.908, 1.147, 0.788, 0, 315, 0, [SEP] 70, StoveBurner, -2.622, 0.886, -0.396, 0, 0, 0, [SEP] 71, Drawer, -2.026, 0.779, -1.082, 0, 0, 0, [SEP] 72, Sink, -1.328, 0.916, -1.225, 0, 0, 0, [SEP] 73, StoveBurner, -2.822, 0.886, -0.711, 0, 0, 0, [SEP] 74, Drawer, -2.572, 0.779, 0.099, 0, 0, 0, [SEP] 75, StoveBurner, -2.822, 0.886, -0.396, 0, 0, 0, [SEP] 76, CounterTop, 0.071, 0.946, -1.199, 0, 0, 0, [SEP] 77, Drawer, 0.254, 0.779, -1.082, 0, 0, 0, [SEP] 78, LightSwitch, -1.167, 1.307, 3.0, 0, 180, 0, [SEP] 79, CoffeeMachine, 1.124, 1.100, 0.312, 0, 227.685, 0, [SEP] 80, StoveKnob, -2.429, 0.863, -0.621, 311.864, 270, 180, [SEP] 81, StoveKnob, -2.429, 0.863, -0.477, 311.864, 270, 180, [SEP] 82, StoveKnob, -2.429, 0.863, -0.782, 311.864, 270, 180, [SEP] 83, StoveKnob, -2.429, 0.863, -0.324, 311.864, 270, 180, [SEP] 84, Window, 0.321, 1.449, 3.088, 90, 0, 0, [SEP] 85, Toaster, -2.823, 0.899, 0.246, 0, 90, 0, [SEP] 86, SinkBasin, -1.344, 0.838, -1.25, 0, 0, 0, [SEP] 87, GarbageCan, -2.757, 1.886, 1.466, 0, 0, 0, [SEP] 88, Fridge, -2.855, 0.0, 0.851, 0, 0, 0, [SEP] 89, Microwave, 0.283, 0.900, -1.331, 0, 0, 0, [SEP] 90, Stool, 1.541, 0.010, 1.328, 0, 45, 0, [SEP] 91, Stool, 0.983, 0.010, 1.793, 0, 47.459, 0, [SEP] 92, Faucet, -1.392, 1.136, -1.399, 0, 270, 0, [SEP] 93, NorthWall, , , , , , , [SEP] 94, EastWall, , , , , , , [SEP] 95, SouthWall, , , , , , , [SEP] 96, WestWall, , , , , , , ", "output": ["STEP 1: Approach the counter in front of you. | STEP 2: Pick up the the knife on the counter. | STEP 3: Turn to your right and walk to the the sink. | STEP 4: Place the knife in the cup in the sink. | STEP 5: Pick up the the cup in the sink. | STEP 6: Turn to your left and approach the counter on the left of the sink. | STEP 7: Place the cup on the counter to the left of the sink. | END"]} +{"id": "trial_T20190906_181609_688127-3", "input": "Find a cup and put a knife in it. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, -0.25, 0, 180, 0, [SEP] 1, Pan, -2.59, 0.9, -1.147, 0, 0, 0, 76 [SEP] 2, Potato, -0.598, 0.933, -1.119, 0, 47.530, 0, 76 [SEP] 3, CreditCard, -2.604, 0.908, 0.021, 0, 0, 0, 76 [SEP] 4, ButterKnife, -2.604, 0.911, 0.275, 0, 0, 0, 68 [SEP] 5, ButterKnife, -0.450, 0.911, -0.948, 0, 0, 0, 76 [SEP] 6, Kettle, -2.823, 0.928, -0.711, 0, 0, 0, 73 [SEP] 7, Spoon, 0.307, 0.747, -1.095, 0, 0, 0, 77 [SEP] 8, Fork, 0.014, 1.112, 1.874, 0, 315, 0, 69 [SEP] 9, Fork, -1.332, 0.850, -1.305, 0, 90, 0, 86 [SEP] 10, Spatula, 0.144, 1.126, 1.422, 0, 45, 0, 69 [SEP] 11, Spatula, 0.765, 0.926, -1.115, 0, 0, 0, 76 [SEP] 12, Plate, 0.740, 1.113, 0.979, 0, 315, 0, 69 [SEP] 13, Knife, -2.542, 0.769, 0.099, 0, 0, 0, 74 [SEP] 14, Knife, -1.073, 0.874, -1.249, 0, 90, 0, 86 [SEP] 15, SoapBottle, 1.067, 1.112, 0.960, 0, 315, 0, 69 [SEP] 16, Tomato, -2.800, 1.523, 1.094, 0, 90, 0, 88 [SEP] 17, Tomato, -0.070, 1.161, 1.488, 0, 315, 0, 69 [SEP] 18, Bowl, -2.740, 0.377, 0.690, 0, 90, 0, 88 [SEP] 19, Lettuce, -2.800, 1.553, 0.771, 0, 90, 0, 88 [SEP] 20, PepperShaker, -2.886, 2.039, 0.576, 0, 0, 0, 66 [SEP] 21, PepperShaker, -0.711, 1.658, -1.284, 0, 0, 0, 64 [SEP] 22, SaltShaker, 0.540, 1.658, -1.246, 0, 0, 0, 55 [SEP] 23, Mug, -0.443, 1.657, -1.435, 0, 0, 0, 64 [SEP] 24, Apple, 0.241, 1.057, -1.314, 0, 0, 0, 89 [SEP] 25, Apple, 0.346, 1.057, -1.381, 0, 0, 0, 89 [SEP] 26, Apple, -2.521, 0.963, -0.147, 0, 0, 0, 68 [SEP] 27, Fork, -2.026, 0.747, -0.966, 0, 0, 0, 71 [SEP] 28, Kettle, -1.441, 1.663, -1.360, 0, 270, 0, 65 [SEP] 29, CreditCard, 0.254, 0.744, -1.009, 0, 0, 0, 77 [SEP] 30, Bread, -0.401, 0.948, -1.291, 0, 0, 0, 76 [SEP] 31, Plate, 0.509, 1.113, 0.748, 0, 315, 0, 69 [SEP] 32, SoapBottle, -2.757, 0.037, 1.466, 0, 0, 0, 87 [SEP] 33, Spatula, 0.567, 1.126, 1.152, 0, 315, 0, 69 [SEP] 34, Lettuce, 0.721, 1.190, 1.306, 0, 315, 0, 69 [SEP] 35, SaltShaker, -2.438, 0.907, -0.062, 0, 0, 0, 68 [SEP] 36, Tomato, -2.860, 0.427, 0.932, 0, 90, 0, 88 [SEP] 37, PepperShaker, -2.309, 1.658, -1.397, 0, 0, 0, 59 [SEP] 38, ButterKnife, -1.418, 0.849, -1.25, 0, 0, 0, 86 [SEP] 39, Pot, -2.622, 0.928, -0.396, 0, 0, 0, 70 [SEP] 40, DishSponge, -1.221, 0.841, -1.126, 0, 41.164, 0, 86 [SEP] 41, Egg, 0.136, 1.136, 1.274, 0, 0, 0, 69 [SEP] 42, Spoon, -2.770, 0.912, -0.062, 0, 0, 0, 68 [SEP] 43, Knife, 0.997, 0.934, -1.115, 0, 0, 0, 76 [SEP] 44, Cup, -1.119, 0.841, -1.241, 0, 0, 0, 86 [SEP] 45, Mug, -1.455, 0.112, -1.068, 0, 0, 0, 53 [SEP] 46, Bowl, -2.800, 0.818, 0.852, 0, 90, 0, 88 [SEP] 47, Cabinet, -2.647, 2.075, -0.875, 0, 0, 0, [SEP] 48, Cabinet, -2.647, 2.075, -0.234, 0, 0, 0, [SEP] 49, Cabinet, -0.824, 0.469, -0.907, 0, 0, 0, [SEP] 50, Cabinet, -1.764, 2.009, -1.197, 0, 0, 0, [SEP] 51, Cabinet, -1.834, 2.009, -1.197, 0, 0, 0, [SEP] 52, Cabinet, -1.850, 0.389, -0.897, 0, 0, 0, [SEP] 53, Cabinet, -1.801, 0.469, -0.907, 0, 0, 0, [SEP] 54, Cabinet, 1.115, 2.009, -1.197, 0, 0, 0, [SEP] 55, Cabinet, 0.235, 2.009, -1.197, 0, 0, 0, [SEP] 56, Cabinet, 1.125, 0.470, -0.897, 0, 0, 0, [SEP] 57, Cabinet, -2.387, 0.389, 0.375, 0, 0, 0, [SEP] 58, Cabinet, 0.484, 0.389, -0.897, 0, 0, 0, [SEP] 59, Cabinet, -2.625, 2.009, -1.197, 0, 0, 0, [SEP] 60, Cabinet, -2.647, 2.009, -0.945, 0, 0, 0, [SEP] 61, Cabinet, -2.647, 2.200, 1.664, 0, 0, 0, [SEP] 62, Cabinet, -2.647, 2.009, 0.364, 0, 0, 0, [SEP] 63, Cabinet, 0.164, 2.009, -1.197, 0, 0, 0, [SEP] 64, Cabinet, -0.765, 2.009, -1.197, 0, 0, 0, [SEP] 65, Cabinet, -0.834, 2.009, -1.197, 0, 0, 0, [SEP] 66, Cabinet, -2.647, 2.200, 0.434, 0, 0, 0, [SEP] 67, StoveBurner, -2.622, 0.886, -0.711, 0, 0, 0, [SEP] 68, CounterTop, -2.699, 0.946, 0.106, 0, 0, 0, [SEP] 69, CounterTop, 0.908, 1.147, 0.788, 0, 315, 0, [SEP] 70, StoveBurner, -2.622, 0.886, -0.396, 0, 0, 0, [SEP] 71, Drawer, -2.026, 0.779, -1.082, 0, 0, 0, [SEP] 72, Sink, -1.328, 0.916, -1.225, 0, 0, 0, [SEP] 73, StoveBurner, -2.822, 0.886, -0.711, 0, 0, 0, [SEP] 74, Drawer, -2.572, 0.779, 0.099, 0, 0, 0, [SEP] 75, StoveBurner, -2.822, 0.886, -0.396, 0, 0, 0, [SEP] 76, CounterTop, 0.071, 0.946, -1.199, 0, 0, 0, [SEP] 77, Drawer, 0.254, 0.779, -1.082, 0, 0, 0, [SEP] 78, LightSwitch, -1.167, 1.307, 3.0, 0, 180, 0, [SEP] 79, CoffeeMachine, 1.124, 1.100, 0.312, 0, 227.685, 0, [SEP] 80, StoveKnob, -2.429, 0.863, -0.621, 311.864, 270, 180, [SEP] 81, StoveKnob, -2.429, 0.863, -0.477, 311.864, 270, 180, [SEP] 82, StoveKnob, -2.429, 0.863, -0.782, 311.864, 270, 180, [SEP] 83, StoveKnob, -2.429, 0.863, -0.324, 311.864, 270, 180, [SEP] 84, Window, 0.321, 1.449, 3.088, 90, 0, 0, [SEP] 85, Toaster, -2.823, 0.899, 0.246, 0, 90, 0, [SEP] 86, SinkBasin, -1.344, 0.838, -1.25, 0, 0, 0, [SEP] 87, GarbageCan, -2.757, 1.886, 1.466, 0, 0, 0, [SEP] 88, Fridge, -2.855, 0.0, 0.851, 0, 0, 0, [SEP] 89, Microwave, 0.283, 0.900, -1.331, 0, 0, 0, [SEP] 90, Stool, 1.541, 0.010, 1.328, 0, 45, 0, [SEP] 91, Stool, 0.983, 0.010, 1.793, 0, 47.459, 0, [SEP] 92, Faucet, -1.392, 1.136, -1.399, 0, 270, 0, [SEP] 93, NorthWall, , , , , , , [SEP] 94, EastWall, , , , , , , [SEP] 95, SouthWall, , , , , , , [SEP] 96, WestWall, , , , , , , ", "output": ["STEP 1: Walked over to the dishwasher. | STEP 2: Picked up a knife from the counter | STEP 3: Took knife to kitchen sink. | STEP 4: Placed knife in cup in the kitchen sink. | STEP 5: Removed cup from kitchen sink | STEP 6: Walked over to dishwasher | STEP 7: Placed cup on the counter. | END"]} +{"id": "trial_T20190906_181609_688127-5", "input": "Put a glass with a knife inside it on the counter. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, -0.25, 0, 180, 0, [SEP] 1, Pan, -2.59, 0.9, -1.147, 0, 0, 0, 76 [SEP] 2, Potato, -0.598, 0.933, -1.119, 0, 47.530, 0, 76 [SEP] 3, CreditCard, -2.604, 0.908, 0.021, 0, 0, 0, 76 [SEP] 4, ButterKnife, -2.604, 0.911, 0.275, 0, 0, 0, 68 [SEP] 5, ButterKnife, -0.450, 0.911, -0.948, 0, 0, 0, 76 [SEP] 6, Kettle, -2.823, 0.928, -0.711, 0, 0, 0, 73 [SEP] 7, Spoon, 0.307, 0.747, -1.095, 0, 0, 0, 77 [SEP] 8, Fork, 0.014, 1.112, 1.874, 0, 315, 0, 69 [SEP] 9, Fork, -1.332, 0.850, -1.305, 0, 90, 0, 86 [SEP] 10, Spatula, 0.144, 1.126, 1.422, 0, 45, 0, 69 [SEP] 11, Spatula, 0.765, 0.926, -1.115, 0, 0, 0, 76 [SEP] 12, Plate, 0.740, 1.113, 0.979, 0, 315, 0, 69 [SEP] 13, Knife, -2.542, 0.769, 0.099, 0, 0, 0, 74 [SEP] 14, Knife, -1.073, 0.874, -1.249, 0, 90, 0, 86 [SEP] 15, SoapBottle, 1.067, 1.112, 0.960, 0, 315, 0, 69 [SEP] 16, Tomato, -2.800, 1.523, 1.094, 0, 90, 0, 88 [SEP] 17, Tomato, -0.070, 1.161, 1.488, 0, 315, 0, 69 [SEP] 18, Bowl, -2.740, 0.377, 0.690, 0, 90, 0, 88 [SEP] 19, Lettuce, -2.800, 1.553, 0.771, 0, 90, 0, 88 [SEP] 20, PepperShaker, -2.886, 2.039, 0.576, 0, 0, 0, 66 [SEP] 21, PepperShaker, -0.711, 1.658, -1.284, 0, 0, 0, 64 [SEP] 22, SaltShaker, 0.540, 1.658, -1.246, 0, 0, 0, 55 [SEP] 23, Mug, -0.443, 1.657, -1.435, 0, 0, 0, 64 [SEP] 24, Apple, 0.241, 1.057, -1.314, 0, 0, 0, 89 [SEP] 25, Apple, 0.346, 1.057, -1.381, 0, 0, 0, 89 [SEP] 26, Apple, -2.521, 0.963, -0.147, 0, 0, 0, 68 [SEP] 27, Fork, -2.026, 0.747, -0.966, 0, 0, 0, 71 [SEP] 28, Kettle, -1.441, 1.663, -1.360, 0, 270, 0, 65 [SEP] 29, CreditCard, 0.254, 0.744, -1.009, 0, 0, 0, 77 [SEP] 30, Bread, -0.401, 0.948, -1.291, 0, 0, 0, 76 [SEP] 31, Plate, 0.509, 1.113, 0.748, 0, 315, 0, 69 [SEP] 32, SoapBottle, -2.757, 0.037, 1.466, 0, 0, 0, 87 [SEP] 33, Spatula, 0.567, 1.126, 1.152, 0, 315, 0, 69 [SEP] 34, Lettuce, 0.721, 1.190, 1.306, 0, 315, 0, 69 [SEP] 35, SaltShaker, -2.438, 0.907, -0.062, 0, 0, 0, 68 [SEP] 36, Tomato, -2.860, 0.427, 0.932, 0, 90, 0, 88 [SEP] 37, PepperShaker, -2.309, 1.658, -1.397, 0, 0, 0, 59 [SEP] 38, ButterKnife, -1.418, 0.849, -1.25, 0, 0, 0, 86 [SEP] 39, Pot, -2.622, 0.928, -0.396, 0, 0, 0, 70 [SEP] 40, DishSponge, -1.221, 0.841, -1.126, 0, 41.164, 0, 86 [SEP] 41, Egg, 0.136, 1.136, 1.274, 0, 0, 0, 69 [SEP] 42, Spoon, -2.770, 0.912, -0.062, 0, 0, 0, 68 [SEP] 43, Knife, 0.997, 0.934, -1.115, 0, 0, 0, 76 [SEP] 44, Cup, -1.119, 0.841, -1.241, 0, 0, 0, 86 [SEP] 45, Mug, -1.455, 0.112, -1.068, 0, 0, 0, 53 [SEP] 46, Bowl, -2.800, 0.818, 0.852, 0, 90, 0, 88 [SEP] 47, Cabinet, -2.647, 2.075, -0.875, 0, 0, 0, [SEP] 48, Cabinet, -2.647, 2.075, -0.234, 0, 0, 0, [SEP] 49, Cabinet, -0.824, 0.469, -0.907, 0, 0, 0, [SEP] 50, Cabinet, -1.764, 2.009, -1.197, 0, 0, 0, [SEP] 51, Cabinet, -1.834, 2.009, -1.197, 0, 0, 0, [SEP] 52, Cabinet, -1.850, 0.389, -0.897, 0, 0, 0, [SEP] 53, Cabinet, -1.801, 0.469, -0.907, 0, 0, 0, [SEP] 54, Cabinet, 1.115, 2.009, -1.197, 0, 0, 0, [SEP] 55, Cabinet, 0.235, 2.009, -1.197, 0, 0, 0, [SEP] 56, Cabinet, 1.125, 0.470, -0.897, 0, 0, 0, [SEP] 57, Cabinet, -2.387, 0.389, 0.375, 0, 0, 0, [SEP] 58, Cabinet, 0.484, 0.389, -0.897, 0, 0, 0, [SEP] 59, Cabinet, -2.625, 2.009, -1.197, 0, 0, 0, [SEP] 60, Cabinet, -2.647, 2.009, -0.945, 0, 0, 0, [SEP] 61, Cabinet, -2.647, 2.200, 1.664, 0, 0, 0, [SEP] 62, Cabinet, -2.647, 2.009, 0.364, 0, 0, 0, [SEP] 63, Cabinet, 0.164, 2.009, -1.197, 0, 0, 0, [SEP] 64, Cabinet, -0.765, 2.009, -1.197, 0, 0, 0, [SEP] 65, Cabinet, -0.834, 2.009, -1.197, 0, 0, 0, [SEP] 66, Cabinet, -2.647, 2.200, 0.434, 0, 0, 0, [SEP] 67, StoveBurner, -2.622, 0.886, -0.711, 0, 0, 0, [SEP] 68, CounterTop, -2.699, 0.946, 0.106, 0, 0, 0, [SEP] 69, CounterTop, 0.908, 1.147, 0.788, 0, 315, 0, [SEP] 70, StoveBurner, -2.622, 0.886, -0.396, 0, 0, 0, [SEP] 71, Drawer, -2.026, 0.779, -1.082, 0, 0, 0, [SEP] 72, Sink, -1.328, 0.916, -1.225, 0, 0, 0, [SEP] 73, StoveBurner, -2.822, 0.886, -0.711, 0, 0, 0, [SEP] 74, Drawer, -2.572, 0.779, 0.099, 0, 0, 0, [SEP] 75, StoveBurner, -2.822, 0.886, -0.396, 0, 0, 0, [SEP] 76, CounterTop, 0.071, 0.946, -1.199, 0, 0, 0, [SEP] 77, Drawer, 0.254, 0.779, -1.082, 0, 0, 0, [SEP] 78, LightSwitch, -1.167, 1.307, 3.0, 0, 180, 0, [SEP] 79, CoffeeMachine, 1.124, 1.100, 0.312, 0, 227.685, 0, [SEP] 80, StoveKnob, -2.429, 0.863, -0.621, 311.864, 270, 180, [SEP] 81, StoveKnob, -2.429, 0.863, -0.477, 311.864, 270, 180, [SEP] 82, StoveKnob, -2.429, 0.863, -0.782, 311.864, 270, 180, [SEP] 83, StoveKnob, -2.429, 0.863, -0.324, 311.864, 270, 180, [SEP] 84, Window, 0.321, 1.449, 3.088, 90, 0, 0, [SEP] 85, Toaster, -2.823, 0.899, 0.246, 0, 90, 0, [SEP] 86, SinkBasin, -1.344, 0.838, -1.25, 0, 0, 0, [SEP] 87, GarbageCan, -2.757, 1.886, 1.466, 0, 0, 0, [SEP] 88, Fridge, -2.855, 0.0, 0.851, 0, 0, 0, [SEP] 89, Microwave, 0.283, 0.900, -1.331, 0, 0, 0, [SEP] 90, Stool, 1.541, 0.010, 1.328, 0, 45, 0, [SEP] 91, Stool, 0.983, 0.010, 1.793, 0, 47.459, 0, [SEP] 92, Faucet, -1.392, 1.136, -1.399, 0, 270, 0, [SEP] 93, NorthWall, , , , , , , [SEP] 94, EastWall, , , , , , , [SEP] 95, SouthWall, , , , , , , [SEP] 96, WestWall, , , , , , , ", "output": ["STEP 1: Look around then stand in front of the knife on the counter. | STEP 2: Pick up the knife from the counter. | STEP 3: Walk over to the sink. | STEP 4: Put the knife inside the glass in the sink. | STEP 5: Pick up the glass from the sink. | STEP 6: Walk over to the counter near the loaf of bread. | STEP 7: Place the glass on the counter. | END"]} +{"id": "trial_T20190908_062227_162609-0", "input": "Warm a plate and put it in the sink SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.75, 0.900, -1.75, 0, 270, 0, [SEP] 1, Book, -0.335, 1.110, -0.759, 0, 0, 0, 56 [SEP] 2, CreditCard, 0.835, 0.139, -2.479, 0, 0, 0, 76 [SEP] 3, Plate, 0.324, 0.907, -2.330, 0, 0, 0, 58 [SEP] 4, Plate, 0.217, 1.108, -0.759, 0, 0, 0, 56 [SEP] 5, Tomato, 0.582, 0.949, -2.714, 0, 0, 0, 58 [SEP] 6, SaltShaker, 0.620, 0.136, -2.288, 0, 0, 0, 73 [SEP] 7, SaltShaker, 1.893, 0.549, -2.562, 0, 180, 0, 86 [SEP] 8, PepperShaker, -1.013, 1.652, -2.532, 0, 0, 0, 70 [SEP] 9, Knife, -0.479, 1.106, -0.035, 90, 186.170, 0, 56 [SEP] 10, Spoon, -1.782, 0.795, 0.155, 0, 90, 0, 53 [SEP] 11, Spoon, 0.079, 1.112, -0.253, 0, 0, 0, 56 [SEP] 12, Spatula, 1.008, 0.330, -2.383, 0, 0, 0, 60 [SEP] 13, Spatula, 0.892, 0.157, -2.286, 0, 270, 0, 76 [SEP] 14, ButterKnife, 0.582, 0.910, -2.407, 0, 0, 0, 58 [SEP] 15, ButterKnife, 0.079, 1.111, -0.001, 0, 0, 0, 56 [SEP] 16, Kettle, -0.465, 0.950, -2.576, 0, 90, 0, 65 [SEP] 17, WineBottle, 0.079, 1.112, 0.251, 0, 0, 0, 56 [SEP] 18, DishSponge, -0.059, 1.111, -0.506, 0, 0, 0, 56 [SEP] 19, DishSponge, -1.962, 0.047, 2.029, 0, 270, 0, 87 [SEP] 20, Bowl, -0.059, 1.108, -0.253, 0, 0, 0, 56 [SEP] 21, Book, 0.155, 1.1, 0.617, 0, 315, 0, 56 [SEP] 22, Glassbottle, 1.891, 0.881, -2.536, 0, 180, 0, 83 [SEP] 23, Knife, -1.597, 0.936, -1.869, 0, 90, 0, 81 [SEP] 24, Bread, -0.530, 1.177, -0.037, 357.927, 358.290, 0, 56 [SEP] 25, Fork, -1.586, 0.911, -2.637, 0, 0, 0, 81 [SEP] 26, Potato, -2.114, 1.336, 1.343, 0, 90, 0, 89 [SEP] 27, SoapBottle, -1.622, 1.659, -2.567, 0, 0, 0, 72 [SEP] 28, Kettle, 0.355, 1.112, -0.001, 0, 0, 0, 56 [SEP] 29, Pan, -2.080, 0.540, 1.085, 0, 180, 0, 89 [SEP] 30, Plate, -1.755, 0.133, -1.623, 0, 90, 0, 57 [SEP] 31, Tomato, 1.098, 0.949, -2.407, 0, 0, 0, 58 [SEP] 32, Vase, 2.042, 0.540, -2.495, 0, 0, 0, 86 [SEP] 33, Egg, 0.582, 0.945, -2.253, 0, 0, 0, 58 [SEP] 34, CreditCard, -1.868, 0.475, -0.245, 0, 90, 0, 71 [SEP] 35, Statue, 1.955, 0.168, -2.543, 0, 0, 0, 88 [SEP] 36, WineBottle, 0.279, 0.141, -2.387, 0, 0, 0, 73 [SEP] 37, Pot, -0.036, 0.950, -2.576, 0, 270, 0, 59 [SEP] 38, Spatula, 0.969, 0.925, -2.253, 0, 0, 0, 58 [SEP] 39, PaperTowelRoll, -1.880, 0.152, 2.124, 0, 270, 0, 87 [SEP] 40, Cup, -1.290, 0.909, -2.637, 0, 0, 0, 81 [SEP] 41, Vase, -1.856, 0.909, -2.036, 0, 0, 0, 81 [SEP] 42, Bowl, -2.026, 1.305, 1.008, 0, 90, 0, 89 [SEP] 43, SaltShaker, 1.098, 0.907, -2.560, 0, 0, 0, 58 [SEP] 44, PepperShaker, -1.071, 1.652, -2.676, 0, 0, 0, 70 [SEP] 45, Lettuce, 0.355, 1.191, -0.253, 0, 0, 0, 56 [SEP] 46, ButterKnife, -0.197, 1.101, 0.004, 0, 0, 0, 56 [SEP] 47, Apple, -2.163, 1.553, 1.176, 0, 90, 0, 89 [SEP] 48, DishSponge, 0.949, 0.645, -2.375, 0, 0, 0, 61 [SEP] 49, Spoon, -1.856, 0.912, -2.146, 0, 0, 0, 81 [SEP] 50, Mug, -1.143, 0.906, -2.637, 0, 0, 0, 81 [SEP] 51, StoveBurner, -0.036, 0.915, -2.372, 0, 0, 0, [SEP] 52, Drawer, 0.949, 0.832, -2.197, 0, 0, 0, [SEP] 53, Drawer, -1.560, 0.839, 0.204, 0, 90, 0, [SEP] 54, StoveBurner, -0.465, 0.915, -2.371, 0, 180, 0, [SEP] 55, Drawer, -1.560, 0.839, -0.197, 0, 90, 0, [SEP] 56, CounterTop, -0.079, 1.147, -0.001, 0, 0, 0, [SEP] 57, Cabinet, -1.549, 0.494, -1.964, 0, 90, 0, [SEP] 58, CounterTop, 0.693, 0.946, -2.483, 0, 0, 0, [SEP] 59, StoveBurner, -0.036, 0.915, -2.576, 0, 0, 0, [SEP] 60, Drawer, 0.949, 0.393, -2.200, 0, 0, 0, [SEP] 61, Drawer, 0.949, 0.708, -2.200, 0, 0, 0, [SEP] 62, Cabinet, -1.549, 0.494, 0.379, 0, 90, 0, [SEP] 63, StoveKnob, -0.022, 0.881, -2.187, 45, 0, 0, [SEP] 64, Drawer, 0.949, 0.560, -2.201, 0, 0, 0, [SEP] 65, StoveBurner, -0.465, 0.915, -2.575, 0, 180, 0, [SEP] 66, Window, -2.230, 1.429, -1.203, 0, 0, 0, [SEP] 67, StoveKnob, -0.483, 0.881, -2.187, 45, 0, 0, [SEP] 68, Sink, -1.899, 0.964, -1.5, 0, 90, 0, [SEP] 69, StoveKnob, -0.328, 0.881, -2.187, 45, 0, 0, [SEP] 70, Cabinet, -0.727, 2.015, -2.460, 0, 0, 0, [SEP] 71, Drawer, -1.560, 0.655, -0.196, 0, 90, 0, [SEP] 72, Cabinet, -1.685, 2.015, -2.461, 0, 0, 0, [SEP] 73, Cabinet, 0.680, 0.494, -2.200, 0, 0, 0, [SEP] 74, Cabinet, -1.179, 0.494, -2.200, 0, 0, 0, [SEP] 75, Cabinet, -1.849, 2.015, 0.379, 0, 90, 0, [SEP] 76, Drawer, 0.949, 0.221, -2.200, 0, 0, 0, [SEP] 77, StoveKnob, -0.183, 0.881, -2.187, 45, 0, 0, [SEP] 78, Cabinet, 0.719, 2.015, -2.460, 0, 0, 0, [SEP] 79, Drawer, -1.560, 0.331, -0.196, 0, 90, 0, [SEP] 80, Cabinet, 0.680, 2.015, -2.460, 0, 0, 0, [SEP] 81, CounterTop, -1.868, 0.946, -1.205, 0, 0, 0, [SEP] 82, Microwave, -0.236, 1.689, -2.525, 0, 0, 0, [SEP] 83, Shelf, 1.751, 0.880, -2.560, 0, 0, 0, [SEP] 84, HousePlant, -1.948, 0.889, -2.520, 0, 5.334, 0, [SEP] 85, Toaster, -1.835, 0.900, 0.134, 0, 90, 0, [SEP] 86, Shelf, 1.750, 0.552, -2.559, 0, 0, 0, [SEP] 87, GarbageCan, -1.935, -0.002, 2.029, 0, 270, 0, [SEP] 88, Shelf, 1.750, 0.172, -2.559, 0, 0, 0, [SEP] 89, Fridge, -2.096, 0.0, 1.088, 0, 0, 0, [SEP] 90, CoffeeMachine, -1.977, 0.900, -0.188, 0, 90, 0, [SEP] 91, SinkBasin, -1.908, 0.759, -1.488, 0, 90, 0, [SEP] 92, LightSwitch, 2.329, 1.309, -0.159, 0, 270, 0, [SEP] 93, ShelvingUnit, 1.750, 0.006, -2.559, 0, 0, 0, [SEP] 94, Stool, 0.702, 0.000, -0.514, 1.202, 65.108, 0, [SEP] 95, Stool, 0.743, 0.000, 0.563, 1.227, 106.706, 0, [SEP] 96, Faucet, -2.070, 1.132, -1.514, 0, 0, 0, [SEP] 97, NorthWall, , , , , , , [SEP] 98, EastWall, , , , , , , [SEP] 99, SouthWall, , , , , , , [SEP] 100, WestWall, , , , , , , ", "output": ["STEP 1: Turn right, go forward a bit, turn left, go to the sink | STEP 2: Open the cupboard under the sink, pick up the plate in it | STEP 3: Turn around, go forward, turn left in front of the stove, turn up to the microwave | STEP 4: Put the plate in the microwave, start the microwave, wait, pick up the plate | STEP 5: Turn around, go forward a bit, turn left and go to the sink | STEP 6: Put the plate in the sink | END"]} +{"id": "trial_T20190908_062227_162609-2", "input": "Put a warm plate in the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.75, 0.900, -1.75, 0, 270, 0, [SEP] 1, Book, -0.335, 1.110, -0.759, 0, 0, 0, 56 [SEP] 2, CreditCard, 0.835, 0.139, -2.479, 0, 0, 0, 76 [SEP] 3, Plate, 0.324, 0.907, -2.330, 0, 0, 0, 58 [SEP] 4, Plate, 0.217, 1.108, -0.759, 0, 0, 0, 56 [SEP] 5, Tomato, 0.582, 0.949, -2.714, 0, 0, 0, 58 [SEP] 6, SaltShaker, 0.620, 0.136, -2.288, 0, 0, 0, 73 [SEP] 7, SaltShaker, 1.893, 0.549, -2.562, 0, 180, 0, 86 [SEP] 8, PepperShaker, -1.013, 1.652, -2.532, 0, 0, 0, 70 [SEP] 9, Knife, -0.479, 1.106, -0.035, 90, 186.170, 0, 56 [SEP] 10, Spoon, -1.782, 0.795, 0.155, 0, 90, 0, 53 [SEP] 11, Spoon, 0.079, 1.112, -0.253, 0, 0, 0, 56 [SEP] 12, Spatula, 1.008, 0.330, -2.383, 0, 0, 0, 60 [SEP] 13, Spatula, 0.892, 0.157, -2.286, 0, 270, 0, 76 [SEP] 14, ButterKnife, 0.582, 0.910, -2.407, 0, 0, 0, 58 [SEP] 15, ButterKnife, 0.079, 1.111, -0.001, 0, 0, 0, 56 [SEP] 16, Kettle, -0.465, 0.950, -2.576, 0, 90, 0, 65 [SEP] 17, WineBottle, 0.079, 1.112, 0.251, 0, 0, 0, 56 [SEP] 18, DishSponge, -0.059, 1.111, -0.506, 0, 0, 0, 56 [SEP] 19, DishSponge, -1.962, 0.047, 2.029, 0, 270, 0, 87 [SEP] 20, Bowl, -0.059, 1.108, -0.253, 0, 0, 0, 56 [SEP] 21, Book, 0.155, 1.1, 0.617, 0, 315, 0, 56 [SEP] 22, Glassbottle, 1.891, 0.881, -2.536, 0, 180, 0, 83 [SEP] 23, Knife, -1.597, 0.936, -1.869, 0, 90, 0, 81 [SEP] 24, Bread, -0.530, 1.177, -0.037, 357.927, 358.290, 0, 56 [SEP] 25, Fork, -1.586, 0.911, -2.637, 0, 0, 0, 81 [SEP] 26, Potato, -2.114, 1.336, 1.343, 0, 90, 0, 89 [SEP] 27, SoapBottle, -1.622, 1.659, -2.567, 0, 0, 0, 72 [SEP] 28, Kettle, 0.355, 1.112, -0.001, 0, 0, 0, 56 [SEP] 29, Pan, -2.080, 0.540, 1.085, 0, 180, 0, 89 [SEP] 30, Plate, -1.755, 0.133, -1.623, 0, 90, 0, 57 [SEP] 31, Tomato, 1.098, 0.949, -2.407, 0, 0, 0, 58 [SEP] 32, Vase, 2.042, 0.540, -2.495, 0, 0, 0, 86 [SEP] 33, Egg, 0.582, 0.945, -2.253, 0, 0, 0, 58 [SEP] 34, CreditCard, -1.868, 0.475, -0.245, 0, 90, 0, 71 [SEP] 35, Statue, 1.955, 0.168, -2.543, 0, 0, 0, 88 [SEP] 36, WineBottle, 0.279, 0.141, -2.387, 0, 0, 0, 73 [SEP] 37, Pot, -0.036, 0.950, -2.576, 0, 270, 0, 59 [SEP] 38, Spatula, 0.969, 0.925, -2.253, 0, 0, 0, 58 [SEP] 39, PaperTowelRoll, -1.880, 0.152, 2.124, 0, 270, 0, 87 [SEP] 40, Cup, -1.290, 0.909, -2.637, 0, 0, 0, 81 [SEP] 41, Vase, -1.856, 0.909, -2.036, 0, 0, 0, 81 [SEP] 42, Bowl, -2.026, 1.305, 1.008, 0, 90, 0, 89 [SEP] 43, SaltShaker, 1.098, 0.907, -2.560, 0, 0, 0, 58 [SEP] 44, PepperShaker, -1.071, 1.652, -2.676, 0, 0, 0, 70 [SEP] 45, Lettuce, 0.355, 1.191, -0.253, 0, 0, 0, 56 [SEP] 46, ButterKnife, -0.197, 1.101, 0.004, 0, 0, 0, 56 [SEP] 47, Apple, -2.163, 1.553, 1.176, 0, 90, 0, 89 [SEP] 48, DishSponge, 0.949, 0.645, -2.375, 0, 0, 0, 61 [SEP] 49, Spoon, -1.856, 0.912, -2.146, 0, 0, 0, 81 [SEP] 50, Mug, -1.143, 0.906, -2.637, 0, 0, 0, 81 [SEP] 51, StoveBurner, -0.036, 0.915, -2.372, 0, 0, 0, [SEP] 52, Drawer, 0.949, 0.832, -2.197, 0, 0, 0, [SEP] 53, Drawer, -1.560, 0.839, 0.204, 0, 90, 0, [SEP] 54, StoveBurner, -0.465, 0.915, -2.371, 0, 180, 0, [SEP] 55, Drawer, -1.560, 0.839, -0.197, 0, 90, 0, [SEP] 56, CounterTop, -0.079, 1.147, -0.001, 0, 0, 0, [SEP] 57, Cabinet, -1.549, 0.494, -1.964, 0, 90, 0, [SEP] 58, CounterTop, 0.693, 0.946, -2.483, 0, 0, 0, [SEP] 59, StoveBurner, -0.036, 0.915, -2.576, 0, 0, 0, [SEP] 60, Drawer, 0.949, 0.393, -2.200, 0, 0, 0, [SEP] 61, Drawer, 0.949, 0.708, -2.200, 0, 0, 0, [SEP] 62, Cabinet, -1.549, 0.494, 0.379, 0, 90, 0, [SEP] 63, StoveKnob, -0.022, 0.881, -2.187, 45, 0, 0, [SEP] 64, Drawer, 0.949, 0.560, -2.201, 0, 0, 0, [SEP] 65, StoveBurner, -0.465, 0.915, -2.575, 0, 180, 0, [SEP] 66, Window, -2.230, 1.429, -1.203, 0, 0, 0, [SEP] 67, StoveKnob, -0.483, 0.881, -2.187, 45, 0, 0, [SEP] 68, Sink, -1.899, 0.964, -1.5, 0, 90, 0, [SEP] 69, StoveKnob, -0.328, 0.881, -2.187, 45, 0, 0, [SEP] 70, Cabinet, -0.727, 2.015, -2.460, 0, 0, 0, [SEP] 71, Drawer, -1.560, 0.655, -0.196, 0, 90, 0, [SEP] 72, Cabinet, -1.685, 2.015, -2.461, 0, 0, 0, [SEP] 73, Cabinet, 0.680, 0.494, -2.200, 0, 0, 0, [SEP] 74, Cabinet, -1.179, 0.494, -2.200, 0, 0, 0, [SEP] 75, Cabinet, -1.849, 2.015, 0.379, 0, 90, 0, [SEP] 76, Drawer, 0.949, 0.221, -2.200, 0, 0, 0, [SEP] 77, StoveKnob, -0.183, 0.881, -2.187, 45, 0, 0, [SEP] 78, Cabinet, 0.719, 2.015, -2.460, 0, 0, 0, [SEP] 79, Drawer, -1.560, 0.331, -0.196, 0, 90, 0, [SEP] 80, Cabinet, 0.680, 2.015, -2.460, 0, 0, 0, [SEP] 81, CounterTop, -1.868, 0.946, -1.205, 0, 0, 0, [SEP] 82, Microwave, -0.236, 1.689, -2.525, 0, 0, 0, [SEP] 83, Shelf, 1.751, 0.880, -2.560, 0, 0, 0, [SEP] 84, HousePlant, -1.948, 0.889, -2.520, 0, 5.334, 0, [SEP] 85, Toaster, -1.835, 0.900, 0.134, 0, 90, 0, [SEP] 86, Shelf, 1.750, 0.552, -2.559, 0, 0, 0, [SEP] 87, GarbageCan, -1.935, -0.002, 2.029, 0, 270, 0, [SEP] 88, Shelf, 1.750, 0.172, -2.559, 0, 0, 0, [SEP] 89, Fridge, -2.096, 0.0, 1.088, 0, 0, 0, [SEP] 90, CoffeeMachine, -1.977, 0.900, -0.188, 0, 90, 0, [SEP] 91, SinkBasin, -1.908, 0.759, -1.488, 0, 90, 0, [SEP] 92, LightSwitch, 2.329, 1.309, -0.159, 0, 270, 0, [SEP] 93, ShelvingUnit, 1.750, 0.006, -2.559, 0, 0, 0, [SEP] 94, Stool, 0.702, 0.000, -0.514, 1.202, 65.108, 0, [SEP] 95, Stool, 0.743, 0.000, 0.563, 1.227, 106.706, 0, [SEP] 96, Faucet, -2.070, 1.132, -1.514, 0, 0, 0, [SEP] 97, NorthWall, , , , , , , [SEP] 98, EastWall, , , , , , , [SEP] 99, SouthWall, , , , , , , [SEP] 100, WestWall, , , , , , , ", "output": ["STEP 1: Go straight across the room to the cupboards under the sink. | STEP 2: Pull out a plate from the cupboards, under the sink. | STEP 3: Turn around and go to the microwave above the stove, to your right. | STEP 4: Place the plate in the microwave, heat it up, then remove the plate from the microwave. | STEP 5: Turn to your right and go back to the sink. | STEP 6: Place the plate in the sink. | END"]} +{"id": "trial_T20190908_033330_186954-1", "input": "Place two eggs in a microwave. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -4.0, 0.900, -3.0, 0, 0, 0, [SEP] 1, Glassbottle, -0.344, 0.082, -2.247, 0, 0, 0, 61 [SEP] 2, Glassbottle, -2.210, 0.924, -1.654, 0, 0, 0, 81 [SEP] 3, Pencil, -2.324, 0.923, -1.423, 0, 0, 0, 81 [SEP] 4, Pencil, -2.324, 0.923, -0.963, 0, 0, 0, 81 [SEP] 5, DishSponge, -0.460, 0.080, -2.247, 0, 0, 0, 61 [SEP] 6, DishSponge, -0.302, 0.796, -2.155, 0, 270, 0, 74 [SEP] 7, WineBottle, -0.421, 0.081, -3.205, 0, 0, 0, 62 [SEP] 8, Fork, -0.398, 0.797, -2.008, 0, 180, 0, 74 [SEP] 9, Spoon, -2.552, 0.924, -2.115, 0, 0, 0, 81 [SEP] 10, Spoon, -2.438, 0.924, -1.654, 0, 0, 0, 81 [SEP] 11, Plate, -0.460, 0.083, -1.758, 0, 0, 0, 51 [SEP] 12, Egg, -2.780, 0.956, -0.963, 0, 0, 0, 81 [SEP] 13, Egg, -0.815, 0.948, -3.768, 0, 0, 0, 56 [SEP] 14, Egg, -0.295, 1.423, -0.874, 0, 270, 0, 73 [SEP] 15, SoapBottle, -2.666, 0.922, -1.884, 0, 0, 0, 81 [SEP] 16, SoapBottle, -2.096, 0.922, -2.115, 0, 0, 0, 81 [SEP] 17, Tomato, -2.780, 0.987, -1.193, 0, 0, 0, 81 [SEP] 18, Bowl, -0.348, 1.689, -0.665, 0, 270, 0, 73 [SEP] 19, Lettuce, -2.666, 1.016, -1.423, 0, 0, 0, 81 [SEP] 20, Lettuce, -0.392, 1.483, -0.665, 0, 270, 0, 73 [SEP] 21, SaltShaker, -0.671, 0.912, -3.485, 0, 0, 0, 56 [SEP] 22, PepperShaker, -0.778, 0.742, -3.615, 0, 0, 0, 55 [SEP] 23, Mug, -0.230, 1.965, -1.828, 0, 0, 0, 58 [SEP] 24, Apple, -1.362, 1.703, -3.837, 0, 0, 0, 69 [SEP] 25, Apple, -1.943, 0.100, -3.727, 0, 0, 0, 72 [SEP] 26, Apple, -0.246, 1.172, -0.455, 0, 270, 0, 73 [SEP] 27, Lettuce, -2.562, 1.002, -1.677, 36.385, 0, 0, 81 [SEP] 28, Glassbottle, -0.809, 0.083, -3.506, 0, 0, 0, 60 [SEP] 29, Egg, -2.438, 0.956, -1.884, 0, 0, 0, 81 [SEP] 30, Pen, -2.096, 0.926, -1.884, 0, 0, 0, 81 [SEP] 31, Fork, -2.096, 0.924, -1.423, 0, 0, 0, 81 [SEP] 32, SoapBottle, -2.438, 0.922, -1.193, 0, 0, 0, 81 [SEP] 33, Pencil, -2.780, 0.923, -2.115, 0, 0, 0, 81 [SEP] 34, WineBottle, -0.385, 0.916, -3.839, 0, 0, 0, 56 [SEP] 35, Spatula, -2.324, 0.938, -1.193, 0, 90, 0, 81 [SEP] 36, Bread, -2.210, 0.976, -2.345, 0, 0, 0, 81 [SEP] 37, Tomato, -2.666, 0.987, -2.115, 0, 0, 0, 81 [SEP] 38, Pan, -1.515, 0.935, -3.752, 0, 90, 0, 52 [SEP] 39, Cup, -1.151, 1.629, -3.870, 0, 0, 0, 69 [SEP] 40, Pot, -1.129, 0.935, -3.498, 0, 0, 0, 54 [SEP] 41, SaltShaker, -0.671, 0.912, -3.909, 0, 0, 0, 56 [SEP] 42, Potato, -0.350, 0.828, -1.860, 0, 270, 0, 74 [SEP] 43, PepperShaker, -0.256, 1.966, -2.363, 0, 0, 0, 63 [SEP] 44, ButterKnife, -0.365, 0.915, -3.570, 0, 0, 0, 56 [SEP] 45, DishSponge, -0.420, 0.746, -3.267, 0, 0, 0, 67 [SEP] 46, Spoon, -2.552, 0.924, -2.345, 0, 0, 0, 81 [SEP] 47, Plate, -0.343, 1.101, -0.874, 0, 270, 0, 73 [SEP] 48, Knife, -2.438, 0.946, -0.963, 0, 0, 0, 81 [SEP] 49, Mug, -2.438, 0.918, -1.423, 0, 0, 0, 81 [SEP] 50, Bowl, -2.780, 0.922, -2.345, 0, 0, 0, 81 [SEP] 51, Cabinet, -0.582, 0.388, -1.804, 0, 0, 0, [SEP] 52, StoveBurner, -1.515, 0.928, -3.752, 0, 90, 0, [SEP] 53, StoveBurner, -1.515, 0.928, -3.497, 0, 0, 0, [SEP] 54, StoveBurner, -1.129, 0.928, -3.498, 0, 0, 0, [SEP] 55, Drawer, -0.749, 0.779, -3.551, 0, 0, 0, [SEP] 56, CounterTop, -0.303, 0.951, -2.793, 0, 0, 0, [SEP] 57, Cabinet, -0.883, 2.140, -3.687, 0, 0, 0, [SEP] 58, Cabinet, -0.312, 2.140, -1.543, 0, 0, 0, [SEP] 59, Sink, -0.349, 0.907, -2.014, 0, 0, 0, [SEP] 60, Cabinet, -0.877, 0.388, -3.422, 0, 0, 0, [SEP] 61, Cabinet, -0.582, 0.388, -2.197, 0, 0, 0, [SEP] 62, Cabinet, -0.584, 0.388, -3.396, 0, 0, 0, [SEP] 63, Cabinet, -0.312, 2.140, -2.481, 0, 0, 0, [SEP] 64, Cabinet, -0.330, 1.921, -3.390, 0, 0, 0, [SEP] 65, Cabinet, -1.764, 2.140, -3.687, 0, 0, 0, [SEP] 66, StoveBurner, -1.129, 0.928, -3.752, 0, 90, 0, [SEP] 67, Drawer, -0.454, 0.779, -3.268, 0, 0, 0, [SEP] 68, Cabinet, -0.302, 1.916, -2.501, 0, 0, 0, [SEP] 69, Microwave, -1.317, 1.517, -3.801, 0, 1.440, 0, [SEP] 70, CoffeeMachine, -0.153, 0.903, -3.144, 0, 270, 0, [SEP] 71, LightSwitch, -4.323, 1.319, 0.0, 0, 180, 0, [SEP] 72, GarbageCan, -1.943, -7.152, -3.763, 0, 0, 0, [SEP] 73, Fridge, -0.330, 0.0, -0.769, 0, 270, 0, [SEP] 74, SinkBasin, -0.350, 0.786, -2.018, 0, 270, 0, [SEP] 75, StoveKnob, -1.582, 1.082, -3.958, 72.287, 0, 0, [SEP] 76, StoveKnob, -1.177, 1.082, -3.958, 72.287, 0, 0, [SEP] 77, StoveKnob, -1.424, 1.082, -3.958, 72.287, 0, 0, [SEP] 78, StoveKnob, -1.028, 1.082, -3.958, 72.287, 0, 0, [SEP] 79, Toaster, -0.181, 0.903, -2.764, 0, 270, 0, [SEP] 80, Window, -2.503, 1.782, -4.185, 90, 180, 0, [SEP] 81, DiningTable, -2.432, 0.000, -1.694, 0, 270, 0, [SEP] 82, Shelf, -2.432, 0.150, -1.694, 0, 270, 0, [SEP] 83, Blinds, -2.536, 2.699, -3.959, 0, 0, 0, [SEP] 84, Faucet, -0.079, 0.904, -2.034, 270, 180, 0, [SEP] 85, Chair, -3.264, 0.002, -2.094, 0, 53.280, 0, [SEP] 86, Chair, -3.240, 0.002, -1.253, 0, 117.257, 0, [SEP] 87, Shelf, -2.432, 0.523, -1.694, 0, 270, 0, [SEP] 88, NorthWall, , , , , , , [SEP] 89, EastWall, , , , , , , [SEP] 90, SouthWall, , , , , , , [SEP] 91, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and walk to the counter, facing the stove. | STEP 2: Pick up the egg on the counter to the left of the stove. | STEP 3: Step right to face the microwave. | STEP 4: Place the egg in the microwave at the center. | STEP 5: Turn around and veer left to the right side of the table. | STEP 6: Pick up the egg on the table. | STEP 7: Turn left and walk back to the microwave. | STEP 8: Place the egg in the microwave to the left of the first egg. | END"]} +{"id": "trial_T20190909_021128_734294-1", "input": "Microwave an apple slice, put it on a counter. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.25, 0.900, 1.5, 0, 90, 0, [SEP] 1, Potato, 1.557, 0.942, -1.212, 0, 0, 0, 63 [SEP] 2, Potato, -1.495, 1.533, -0.910, 0, 90, 0, 71 [SEP] 3, Ladle, 0.444, 1.703, -2.162, 0, 0, 0, 52 [SEP] 4, DishSponge, 1.181, 0.118, -2.022, 0, 0, 0, 55 [SEP] 5, WineBottle, 1.913, 1.659, -1.199, 0, 270, 0, 54 [SEP] 6, Spoon, 0.180, 0.931, 0.534, 0, 0, 0, 80 [SEP] 7, Cup, -0.047, 0.930, 0.991, 0, 0, 0, 80 [SEP] 8, Cup, 1.833, 1.657, -1.673, 0, 270, 0, 53 [SEP] 9, Tomato, -1.553, 1.235, -1.013, 0, 90, 0, 71 [SEP] 10, Tomato, -1.610, 0.911, -1.013, 0, 90, 0, 71 [SEP] 11, SoapBottle, -0.160, 0.929, 0.991, 0, 0, 0, 80 [SEP] 12, Bowl, -0.047, 0.923, 0.305, 0, 0, 0, 80 [SEP] 13, Bowl, -0.283, 0.761, -1.981, 0, 0, 0, 75 [SEP] 14, Lettuce, -1.438, 1.264, -0.495, 0, 90, 0, 71 [SEP] 15, SaltShaker, 0.294, 0.926, 0.534, 0, 0, 0, 80 [SEP] 16, PepperShaker, 0.563, 1.655, -2.238, 0, 0, 0, 52 [SEP] 17, Bread, 0.066, 0.972, 1.220, 0, 0, 0, 80 [SEP] 18, Mug, 1.261, 0.951, -1.934, 0, 0, 0, 73 [SEP] 19, Mug, 1.947, 1.652, -1.479, 0, 270, 0, 54 [SEP] 20, Apple, 0.522, 0.997, 0.762, 0, 0, 0, 80 [SEP] 21, Apple, -0.047, 1.001, 0.762, 0, 0, 0, 80 [SEP] 22, Potato, 0.008, 0.793, -1.981, 0, 0, 0, 75 [SEP] 23, Bowl, -0.160, 0.927, 1.220, 0, 0, 0, 80 [SEP] 24, SoapBottle, 0.180, 0.925, 0.762, 0, 0, 0, 80 [SEP] 25, Fork, -1.109, 0.914, -2.224, 0, 90, 0, 63 [SEP] 26, Ladle, 1.828, 0.957, -1.329, 0, 0, 0, 63 [SEP] 27, Bread, 0.399, 0.964, 0.110, 0, 0, 1.601, 80 [SEP] 28, Lettuce, -1.429, 0.925, -0.542, 0, 315, 0, 71 [SEP] 29, WineBottle, -1.394, 1.660, -1.917, 0, 90, 0, 46 [SEP] 30, Spatula, 0.066, 0.945, 0.076, 0, 180, 0, 80 [SEP] 31, Plate, 0.481, 0.923, 1.077, 0, 0, 0, 80 [SEP] 32, SaltShaker, 1.466, 0.909, -1.680, 0, 0, 0, 63 [SEP] 33, Pot, 1.567, 0.948, -0.757, 0, 0, 0, 45 [SEP] 34, Cup, 1.850, 0.913, -2.252, 0, 0, 0, 63 [SEP] 35, PepperShaker, 0.294, 0.926, 0.305, 0, 0, 0, 80 [SEP] 36, Pan, 1.824, 0.945, -0.346, 0, 0, 0, 44 [SEP] 37, ButterKnife, 0.002, 0.913, -1.701, 0, 0, 0, 63 [SEP] 38, Tomato, 0.180, 0.978, 1.448, 0, 0, 0, 80 [SEP] 39, DishSponge, 1.786, 0.086, 0.083, 0, 0, 0, 64 [SEP] 40, Egg, -1.000, 0.967, -2.151, 0, 0, 0, 63 [SEP] 41, Spoon, -0.720, 0.914, -2.200, 0, 0, 0, 63 [SEP] 42, Knife, -0.137, 0.787, -2.071, 0, 90, 0, 75 [SEP] 43, Mug, 1.572, 0.115, -1.266, 0, 270, 0, 57 [SEP] 44, StoveBurner, 1.845, 0.940, -0.355, 0, 0, 0, [SEP] 45, StoveBurner, 1.567, 0.940, -0.757, 0, 0, 0, [SEP] 46, Cabinet, -1.149, 2.019, -1.979, 0, 90, 0, [SEP] 47, Cabinet, -1.149, 2.265, -0.834, 0, 90, 0, [SEP] 48, Cabinet, -0.459, 2.265, -2.0, 0, 0, 0, [SEP] 49, Cabinet, -1.100, 2.019, -2.0, 0, 0, 0, [SEP] 50, Cabinet, 1.719, 2.019, -2.0, 0, 0, 0, [SEP] 51, Cabinet, 1.179, 2.019, -2.0, 0, 0, 0, [SEP] 52, Cabinet, 0.199, 2.019, -2.0, 0, 0, 0, [SEP] 53, Cabinet, 1.75, 2.019, -1.399, 0, 270, 0, [SEP] 54, Cabinet, 1.75, 2.019, -1.029, 0, 270, 0, [SEP] 55, Cabinet, 1.379, 0.469, -1.689, 0, 0, 0, [SEP] 56, Cabinet, -0.819, 0.469, -1.689, 0, 0, 0, [SEP] 57, Cabinet, 1.389, 0.469, -1.059, 0, 270, 0, [SEP] 58, Cabinet, -0.839, 0.469, -1.665, 0, 90, 0, [SEP] 59, StoveBurner, 1.567, 0.940, -0.355, 0, 0, 0, [SEP] 60, StoveBurner, 1.845, 0.940, -0.757, 0, 0, 0, [SEP] 61, Sink, -0.109, 0.893, -2.009, 0, 0, 0, [SEP] 62, Drawer, -0.819, 0.75, -1.690, 0, 0, 0, [SEP] 63, CounterTop, 0.232, 0.949, -2.002, 0, 0, 0, [SEP] 64, GarbageCan, 1.855, -0.034, 0.141, 0, 358.959, 0, [SEP] 65, Vase, 0.251, 0.546, 0.475, 0, 270, 0, [SEP] 66, Toaster, 0.780, 0.900, -2.080, 0, 0, 0, [SEP] 67, LightSwitch, 0.108, 1.315, 2.75, 0, 180, 0, [SEP] 68, Vase, 0.400, 0.925, 0.218, 0, 180, 0, [SEP] 69, Microwave, -1.233, 0.900, -1.680, 0, 90, 0, [SEP] 70, Vase, 1.465, 1.662, -2.200, 0, 0, 0, [SEP] 71, Fridge, -1.495, 0.0, -0.703, 0, 0, 0, [SEP] 72, Window, 2.114, 1.495, 1.072, 90, 270, 0, [SEP] 73, CoffeeMachine, 1.374, 0.899, -2.112, 0, 0, 0, [SEP] 74, Vase, 0.333, 0.546, 1.272, 0, 270, 0, [SEP] 75, SinkBasin, -0.148, 0.753, -2.026, 0, 0, 0, [SEP] 76, StoveKnob, 2.037, 1.089, -0.405, 0, 0, 74.477, [SEP] 77, StoveKnob, 2.037, 1.089, -0.251, 0, 0, 74.477, [SEP] 78, StoveKnob, 2.037, 1.089, -0.649, 0, 0, 74.477, [SEP] 79, StoveKnob, 2.037, 1.089, -0.814, 0, 0, 74.477, [SEP] 80, DiningTable, 0.170, 0.005, 0.678, 0, 270, 0, [SEP] 81, Shelf, 0.170, 0.155, 0.678, 0, 270, 0, [SEP] 82, Shelf, 1.605, 0.172, 2.480, 0, 0, 0, [SEP] 83, Shelf, 1.605, 0.552, 2.480, 0, 0, 0, [SEP] 84, Shelf, 1.604, 0.880, 2.479, 0, 0, 0, [SEP] 85, ShelvingUnit, 1.605, 0.006, 2.480, 0, 0, 0, [SEP] 86, Faucet, -0.143, 1.028, -2.223, 0, 270, 0, [SEP] 87, Stool, -0.553, 0.000, 0.871, 1.233, 280.376, 0, [SEP] 88, Shelf, 0.170, 0.528, 0.678, 0, 270, 0, [SEP] 89, NorthWall, , , , , , , [SEP] 90, EastWall, , , , , , , [SEP] 91, SouthWall, , , , , , , [SEP] 92, WestWall, , , , , , , ", "output": ["STEP 1: Turn right, turn left, walk straight, turn left to the sink. | STEP 2: Pick up the knife in the sink. | STEP 3: Walk straight, turn left, walk straight, turn left to the counter. | STEP 4: Slice the apple on the counter. | STEP 5: Turn left. Walk straight, turn left to the green bin. | STEP 6: Put the knife in the bin. | STEP 7: Turn left, walk straight, turn left to the counter. | STEP 8: Pick up a slice of the apple. | STEP 9: Turn left, walk straight, turn right to the microwave. | STEP 10: Open the microwave, put the apple inside, close the microwave. Turn on the microwave. Open the microwave. | STEP 11: Turn right, turn left, turn right, walk straight, turn left, turn right, walk straight, turn right to the counter. | STEP 12: Put the slice on the counter. | END"]} +{"id": "trial_T20190909_021128_734294-2", "input": " put a slice of hot apple on the counter SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.25, 0.900, 1.5, 0, 90, 0, [SEP] 1, Potato, 1.557, 0.942, -1.212, 0, 0, 0, 63 [SEP] 2, Potato, -1.495, 1.533, -0.910, 0, 90, 0, 71 [SEP] 3, Ladle, 0.444, 1.703, -2.162, 0, 0, 0, 52 [SEP] 4, DishSponge, 1.181, 0.118, -2.022, 0, 0, 0, 55 [SEP] 5, WineBottle, 1.913, 1.659, -1.199, 0, 270, 0, 54 [SEP] 6, Spoon, 0.180, 0.931, 0.534, 0, 0, 0, 80 [SEP] 7, Cup, -0.047, 0.930, 0.991, 0, 0, 0, 80 [SEP] 8, Cup, 1.833, 1.657, -1.673, 0, 270, 0, 53 [SEP] 9, Tomato, -1.553, 1.235, -1.013, 0, 90, 0, 71 [SEP] 10, Tomato, -1.610, 0.911, -1.013, 0, 90, 0, 71 [SEP] 11, SoapBottle, -0.160, 0.929, 0.991, 0, 0, 0, 80 [SEP] 12, Bowl, -0.047, 0.923, 0.305, 0, 0, 0, 80 [SEP] 13, Bowl, -0.283, 0.761, -1.981, 0, 0, 0, 75 [SEP] 14, Lettuce, -1.438, 1.264, -0.495, 0, 90, 0, 71 [SEP] 15, SaltShaker, 0.294, 0.926, 0.534, 0, 0, 0, 80 [SEP] 16, PepperShaker, 0.563, 1.655, -2.238, 0, 0, 0, 52 [SEP] 17, Bread, 0.066, 0.972, 1.220, 0, 0, 0, 80 [SEP] 18, Mug, 1.261, 0.951, -1.934, 0, 0, 0, 73 [SEP] 19, Mug, 1.947, 1.652, -1.479, 0, 270, 0, 54 [SEP] 20, Apple, 0.522, 0.997, 0.762, 0, 0, 0, 80 [SEP] 21, Apple, -0.047, 1.001, 0.762, 0, 0, 0, 80 [SEP] 22, Potato, 0.008, 0.793, -1.981, 0, 0, 0, 75 [SEP] 23, Bowl, -0.160, 0.927, 1.220, 0, 0, 0, 80 [SEP] 24, SoapBottle, 0.180, 0.925, 0.762, 0, 0, 0, 80 [SEP] 25, Fork, -1.109, 0.914, -2.224, 0, 90, 0, 63 [SEP] 26, Ladle, 1.828, 0.957, -1.329, 0, 0, 0, 63 [SEP] 27, Bread, 0.399, 0.964, 0.110, 0, 0, 1.601, 80 [SEP] 28, Lettuce, -1.429, 0.925, -0.542, 0, 315, 0, 71 [SEP] 29, WineBottle, -1.394, 1.660, -1.917, 0, 90, 0, 46 [SEP] 30, Spatula, 0.066, 0.945, 0.076, 0, 180, 0, 80 [SEP] 31, Plate, 0.481, 0.923, 1.077, 0, 0, 0, 80 [SEP] 32, SaltShaker, 1.466, 0.909, -1.680, 0, 0, 0, 63 [SEP] 33, Pot, 1.567, 0.948, -0.757, 0, 0, 0, 45 [SEP] 34, Cup, 1.850, 0.913, -2.252, 0, 0, 0, 63 [SEP] 35, PepperShaker, 0.294, 0.926, 0.305, 0, 0, 0, 80 [SEP] 36, Pan, 1.824, 0.945, -0.346, 0, 0, 0, 44 [SEP] 37, ButterKnife, 0.002, 0.913, -1.701, 0, 0, 0, 63 [SEP] 38, Tomato, 0.180, 0.978, 1.448, 0, 0, 0, 80 [SEP] 39, DishSponge, 1.786, 0.086, 0.083, 0, 0, 0, 64 [SEP] 40, Egg, -1.000, 0.967, -2.151, 0, 0, 0, 63 [SEP] 41, Spoon, -0.720, 0.914, -2.200, 0, 0, 0, 63 [SEP] 42, Knife, -0.137, 0.787, -2.071, 0, 90, 0, 75 [SEP] 43, Mug, 1.572, 0.115, -1.266, 0, 270, 0, 57 [SEP] 44, StoveBurner, 1.845, 0.940, -0.355, 0, 0, 0, [SEP] 45, StoveBurner, 1.567, 0.940, -0.757, 0, 0, 0, [SEP] 46, Cabinet, -1.149, 2.019, -1.979, 0, 90, 0, [SEP] 47, Cabinet, -1.149, 2.265, -0.834, 0, 90, 0, [SEP] 48, Cabinet, -0.459, 2.265, -2.0, 0, 0, 0, [SEP] 49, Cabinet, -1.100, 2.019, -2.0, 0, 0, 0, [SEP] 50, Cabinet, 1.719, 2.019, -2.0, 0, 0, 0, [SEP] 51, Cabinet, 1.179, 2.019, -2.0, 0, 0, 0, [SEP] 52, Cabinet, 0.199, 2.019, -2.0, 0, 0, 0, [SEP] 53, Cabinet, 1.75, 2.019, -1.399, 0, 270, 0, [SEP] 54, Cabinet, 1.75, 2.019, -1.029, 0, 270, 0, [SEP] 55, Cabinet, 1.379, 0.469, -1.689, 0, 0, 0, [SEP] 56, Cabinet, -0.819, 0.469, -1.689, 0, 0, 0, [SEP] 57, Cabinet, 1.389, 0.469, -1.059, 0, 270, 0, [SEP] 58, Cabinet, -0.839, 0.469, -1.665, 0, 90, 0, [SEP] 59, StoveBurner, 1.567, 0.940, -0.355, 0, 0, 0, [SEP] 60, StoveBurner, 1.845, 0.940, -0.757, 0, 0, 0, [SEP] 61, Sink, -0.109, 0.893, -2.009, 0, 0, 0, [SEP] 62, Drawer, -0.819, 0.75, -1.690, 0, 0, 0, [SEP] 63, CounterTop, 0.232, 0.949, -2.002, 0, 0, 0, [SEP] 64, GarbageCan, 1.855, -0.034, 0.141, 0, 358.959, 0, [SEP] 65, Vase, 0.251, 0.546, 0.475, 0, 270, 0, [SEP] 66, Toaster, 0.780, 0.900, -2.080, 0, 0, 0, [SEP] 67, LightSwitch, 0.108, 1.315, 2.75, 0, 180, 0, [SEP] 68, Vase, 0.400, 0.925, 0.218, 0, 180, 0, [SEP] 69, Microwave, -1.233, 0.900, -1.680, 0, 90, 0, [SEP] 70, Vase, 1.465, 1.662, -2.200, 0, 0, 0, [SEP] 71, Fridge, -1.495, 0.0, -0.703, 0, 0, 0, [SEP] 72, Window, 2.114, 1.495, 1.072, 90, 270, 0, [SEP] 73, CoffeeMachine, 1.374, 0.899, -2.112, 0, 0, 0, [SEP] 74, Vase, 0.333, 0.546, 1.272, 0, 270, 0, [SEP] 75, SinkBasin, -0.148, 0.753, -2.026, 0, 0, 0, [SEP] 76, StoveKnob, 2.037, 1.089, -0.405, 0, 0, 74.477, [SEP] 77, StoveKnob, 2.037, 1.089, -0.251, 0, 0, 74.477, [SEP] 78, StoveKnob, 2.037, 1.089, -0.649, 0, 0, 74.477, [SEP] 79, StoveKnob, 2.037, 1.089, -0.814, 0, 0, 74.477, [SEP] 80, DiningTable, 0.170, 0.005, 0.678, 0, 270, 0, [SEP] 81, Shelf, 0.170, 0.155, 0.678, 0, 270, 0, [SEP] 82, Shelf, 1.605, 0.172, 2.480, 0, 0, 0, [SEP] 83, Shelf, 1.605, 0.552, 2.480, 0, 0, 0, [SEP] 84, Shelf, 1.604, 0.880, 2.479, 0, 0, 0, [SEP] 85, ShelvingUnit, 1.605, 0.006, 2.480, 0, 0, 0, [SEP] 86, Faucet, -0.143, 1.028, -2.223, 0, 270, 0, [SEP] 87, Stool, -0.553, 0.000, 0.871, 1.233, 280.376, 0, [SEP] 88, Shelf, 0.170, 0.528, 0.678, 0, 270, 0, [SEP] 89, NorthWall, , , , , , , [SEP] 90, EastWall, , , , , , , [SEP] 91, SouthWall, , , , , , , [SEP] 92, WestWall, , , , , , , ", "output": ["STEP 1: turn and walk to the sink | STEP 2: pick up the knife that is in the sink | STEP 3: turn and walk to the Apple that is on the counter | STEP 4: slice the Apple that is on the counter | STEP 5: turn and walk to the trash can | STEP 6: throw the knife into the trash can | STEP 7: turn and walk to the counter | STEP 8: pick up a piece of sliced Apple | STEP 9: turn and walk to the microwave | STEP 10: put a slice of apple into the microwave turn on the microwave wait take the Apple out of the microwave | STEP 11: turn and walk to the counter | STEP 12: put the apple slice on the counter in front of the apple on the counter | END"]} +{"id": "trial_T20190911_124548_591659-1", "input": "Slice a bread, cool a slice, put it in the bin SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 2.5, 0.930, -0.5, 0, 90, 0, [SEP] 1, Pan, 3.044, 1.464, -1.599, 0, 270, 0, 65 [SEP] 2, Potato, 0.773, 1.111, -1.448, 0, 0, 0, 113 [SEP] 3, Ladle, -0.717, 0.937, 0.623, 0, 90, 0, 71 [SEP] 4, DishSponge, 0.330, 0.130, -1.515, 0, 0, 0, 57 [SEP] 5, ButterKnife, 3.277, 0.900, -0.698, 0, 0, 0, 66 [SEP] 6, Glassbottle, 3.244, 1.465, -1.284, 0, 0, 0, 81 [SEP] 7, Glassbottle, 3.141, 0.176, -0.356, 0, 0, 0, 78 [SEP] 8, Spatula, 3.07, 0.768, 0.098, 0, 90, 0, 112 [SEP] 9, Spatula, -0.285, 0.915, -1.450, 0, 135, 0, 88 [SEP] 10, Fork, 0.012, 0.900, -1.337, 0, 45, 0, 88 [SEP] 11, Fork, -0.991, 0.707, 1.605, 0, 90, 0, 60 [SEP] 12, CellPhone, -0.987, 0.897, -0.746, 0, 45, 0, 67 [SEP] 13, CellPhone, 0.336, 0.897, -1.588, 0, 0, 0, 88 [SEP] 14, Mug, 0.404, 1.254, -1.741, 0, 0, 0, 83 [SEP] 15, Mug, 3.049, 0.966, 0.591, 0, 270, 0, 110 [SEP] 16, Apple, 0.851, 1.321, -1.475, 0, 0, 0, 113 [SEP] 17, Apple, 0.356, 0.981, 0.426, 0, 0, 0, 98 [SEP] 18, Lettuce, 1.086, 1.139, -1.503, 0, 0, 0, 113 [SEP] 19, SaltShaker, 0.710, 0.904, 0.426, 0, 0, 0, 98 [SEP] 20, PepperShaker, 0.239, 0.317, -1.393, 0, 0, 0, 73 [SEP] 21, Bowl, 1.160, 1.671, -1.689, 0, 0, 0, 58 [SEP] 22, Bowl, 3.031, 1.461, -1.186, 0, 0, 0, 81 [SEP] 23, SoapBottle, 0.022, 0.909, -1.445, 0, 0, 0, 88 [SEP] 24, SoapBottle, -0.935, 0.909, 0.623, 0, 0, 0, 67 [SEP] 25, Egg, -1.018, 1.050, 1.364, 0, 90, 0, 115 [SEP] 26, Knife, 0.179, 0.925, -1.660, 0, 0, 0, 88 [SEP] 27, Knife, 3.200, 0.926, -0.399, 0, 0, 0, 66 [SEP] 28, Plate, 0.808, 1.687, -1.550, 0, 0, 0, 82 [SEP] 29, Glassbottle, -0.214, 1.264, -1.619, 0, 45, 0, 84 [SEP] 30, SoapBottle, 0.710, 0.917, 0.527, 0, 0, 0, 98 [SEP] 31, Potato, 3.069, 0.785, -0.100, 0, 90, 0, 112 [SEP] 32, Fork, 0.445, 0.911, 0.627, 0, 270, 0, 98 [SEP] 33, Ladle, -1.008, 0.937, 0.176, 0, 0, 0, 67 [SEP] 34, Pot, 1.229, 0.908, 0.322, 0, 270, 0, 98 [SEP] 35, Kettle, -0.419, 0.902, -1.269, 0, 315, 0, 69 [SEP] 36, Spatula, 1.360, 0.923, 0.605, 0, 0, 0, 98 [SEP] 37, Knife, -0.862, 0.925, -0.270, 0, 180, 0, 67 [SEP] 38, Lettuce, 0.967, 0.973, 0.464, 0, 0, 0, 98 [SEP] 39, Cup, 0.622, 0.905, 0.727, 0, 0, 0, 98 [SEP] 40, SaltShaker, 3.070, 0.709, -0.268, 0, 180, 0, 63 [SEP] 41, Egg, -1.052, 1.050, 1.258, 0, 90, 0, 115 [SEP] 42, PepperShaker, 3.212, 1.260, -0.885, 0, 0, 0, 80 [SEP] 43, ButterKnife, 2.966, 0.900, 0.947, 0, 180, 0, 66 [SEP] 44, Apple, 1.164, 0.787, -1.407, 0, 0, 0, 113 [SEP] 45, Pan, -0.420, 0.902, -0.920, 0, 135, 0, 62 [SEP] 46, Bread, 0.836, 0.989, 0.747, 0, 0, 0, 98 [SEP] 47, CellPhone, -0.909, 0.515, -0.098, 0, 0, 0, 94 [SEP] 48, DishSponge, 3.152, 0.746, 0.165, 0, 90, 0, 112 [SEP] 49, Tomato, 3.373, 0.937, -0.279, 0, 0, 0, 66 [SEP] 50, Spoon, 0.513, 0.513, -1.515, 0, 90, 0, 53 [SEP] 51, Bowl, -0.789, 0.897, 0.399, 0, 0, 0, 67 [SEP] 52, Mug, 1.086, 1.242, -1.475, 0, 0, 0, 113 [SEP] 53, Drawer, 0.376, 0.572, -1.509, 0, 0, 0, [SEP] 54, Drawer, 3.020, 0.769, -0.783, 0, 180, 0, [SEP] 55, Drawer, -0.860, 0.577, 1.429, 0, 0, 0, [SEP] 56, StoveBurner, -0.600, 0.897, -1.090, 0, 135, 0, [SEP] 57, Drawer, 0.376, 0.191, -1.509, 0, 0, 0, [SEP] 58, Cabinet, 1.402, 1.874, -1.259, 0, 0, 0, [SEP] 59, Cabinet, -0.202, 1.963, -1.328, 0, 0, 0, [SEP] 60, Drawer, -0.860, 0.765, 1.429, 0, 0, 0, [SEP] 61, Drawer, -0.677, 0.765, -0.700, 0, 0, 0, [SEP] 62, StoveBurner, -0.420, 0.897, -0.920, 0, 135, 0, [SEP] 63, Drawer, 3.020, 0.769, -0.407, 0, 180, 0, [SEP] 64, Drawer, -0.860, 0.577, 0.663, 0, 0, 0, [SEP] 65, Cabinet, 2.819, 1.768, -1.850, 0, 0, 0, [SEP] 66, CounterTop, 3.111, 0.936, 0.019, 0, 0, 0, [SEP] 67, CounterTop, -1.007, 0.935, -0.039, 0, 0, 0, [SEP] 68, Drawer, -0.860, 0.385, 0.663, 0, 0, 0, [SEP] 69, StoveBurner, -0.419, 0.897, -1.269, 0, 315, 0, [SEP] 70, Drawer, -0.047, 0.573, -1.324, 0, 0, 0, [SEP] 71, Drawer, -0.860, 0.765, 0.663, 0, 0, 0, [SEP] 72, Drawer, -0.860, 0.385, -0.100, 0, 0, 0, [SEP] 73, Drawer, 0.376, 0.380, -1.509, 0, 0, 0, [SEP] 74, Drawer, -0.860, 0.765, -0.100, 0, 0, 0, [SEP] 75, Drawer, 0.376, 0.765, -1.509, 0, 0, 0, [SEP] 76, Cabinet, 2.849, 0.419, 0.409, 0, 0, 0, [SEP] 77, Drawer, -0.047, 0.765, -1.324, 0, 0, 0, [SEP] 78, Cabinet, 2.849, 0.419, -0.610, 0, 0, 0, [SEP] 79, Cabinet, 2.849, 0.419, -0.959, 0, 0, 0, [SEP] 80, Cabinet, 3.069, 1.666, -0.709, 0, 0, 0, [SEP] 81, Cabinet, 2.819, 1.768, -1.047, 0, 0, 0, [SEP] 82, Cabinet, 0.620, 1.874, -1.259, 0, 0, 0, [SEP] 83, Cabinet, 0.140, 1.666, -1.559, 0, 0, 0, [SEP] 84, Cabinet, -0.189, 1.666, -1.340, 0, 0, 0, [SEP] 85, Cabinet, -0.709, 1.963, -0.819, 0, 0, 0, [SEP] 86, Cabinet, -0.920, 1.665, -0.620, 0, 0, 0, [SEP] 87, Drawer, -0.860, 0.190, -0.100, 0, 0, 0, [SEP] 88, CounterTop, 0.133, 0.935, -1.457, 0, 0, 0, [SEP] 89, Drawer, 3.020, 0.769, 0.695, 0, 180, 0, [SEP] 90, Drawer, -0.677, 0.577, -0.700, 0, 0, 0, [SEP] 91, Drawer, -0.860, 0.190, 1.429, 0, 0, 0, [SEP] 92, Drawer, -0.047, 0.192, -1.324, 0, 0, 0, [SEP] 93, Drawer, -0.677, 0.193, -0.700, 0, 0, 0, [SEP] 94, Drawer, -0.860, 0.577, -0.100, 0, 0, 0, [SEP] 95, Sink, 3.078, 0.887, 0.086, 0, 0, 0, [SEP] 96, StoveBurner, -0.239, 0.897, -1.089, 0, 315, 0, [SEP] 97, Drawer, -0.860, 0.190, 0.663, 0, 0, 0, [SEP] 98, CounterTop, 1.210, 0.937, 0.463, 0, 0, 0, [SEP] 99, Drawer, -0.047, 0.381, -1.324, 0, 0, 0, [SEP] 100, Drawer, -0.677, 0.387, -0.700, 0, 0, 0, [SEP] 101, Mirror, -1.295, 1.630, 0.045, 0, 0, 0, [SEP] 102, Drawer, -0.860, 0.385, 1.429, 0, 0, 0, [SEP] 103, HousePlant, 3.196, 0.891, -0.368, 0, 0, 0, [SEP] 104, StoveKnob, -0.090, 0.790, -1.009, 270, 45, 0, [SEP] 105, StoveKnob, -0.280, 0.790, -0.819, 270, 45, 0, [SEP] 106, StoveKnob, -0.180, 0.790, -0.920, 270, 45, 0, [SEP] 107, StoveKnob, -0.370, 0.790, -0.720, 270, 45, 0, [SEP] 108, GarbageCan, 3.137, 0.025, 1.545, 0, 225, 0, [SEP] 109, Window, 3.703, 1.675, 0.046, 90, 90, 0, [SEP] 110, CoffeeMachine, 3.214, 0.890, 0.697, 0, 270, 0, [SEP] 111, LightSwitch, 2.592, 1.309, -1.880, 0, 0, 0, [SEP] 112, SinkBasin, 3.069, 0.736, 0.108, 0, 90, 0, [SEP] 113, Fridge, 1.008, 0.029, -1.467, 0, 0, 0, [SEP] 114, Toaster, -1.035, 0.873, -0.396, 0, 90, 0, [SEP] 115, Microwave, -1.034, 0.874, 1.428, 0, 90, 0, [SEP] 116, Faucet, 3.305, 0.886, 0.094, 270, 180, 0, [SEP] 117, NorthWall, , , , , , , [SEP] 118, EastWall, , , , , , , [SEP] 119, SouthWall, , , , , , , [SEP] 120, WestWall, , , , , , , ", "output": ["STEP 1: Turn around, go to the counter | STEP 2: Pick up the knife on the counter | STEP 3: Turn right, go forward, turn right at the table | STEP 4: Slice the bread on the table | STEP 5: Turn right, go forward, turn right and go to the fridge | STEP 6: Put the knife in the fridge | STEP 7: Turn right, go forward, turn right and go to the table | STEP 8: Pick up a bread slice from the table | STEP 9: Turn right, go forward, turn right and go to the fridge | STEP 10: Put the bread slice in the fridge, wait, pick up the bread slice from the fridge | STEP 11: Turn left, go forward, turn left go forward, turn right in front of the bin | STEP 12: Put the bread slice in the bin | END"]} +{"id": "trial_T20190907_210644_547725-1", "input": "Put a clean apple on the top shelf of the refrigerator. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.900, 2.75, 0, 270, 0, [SEP] 1, Potato, -2.710, 1.451, 2.165, 0, 90, 0, 83 [SEP] 2, Potato, -1.468, 0.740, 3.691, 0, 180, 0, 86 [SEP] 3, DishSponge, 0.725, 0.822, 1.072, 0, 0, 0, 51 [SEP] 4, DishSponge, -2.136, 1.398, 3.818, 0, 0, 0, 52 [SEP] 5, Pot, 0.642, 0.850, 1.375, 0, 0, 0, 68 [SEP] 6, Spatula, 1.099, 0.838, 1.072, 0, 270, 0, 51 [SEP] 7, Spatula, 0.875, 0.838, 1.072, 0, 270, 0, 51 [SEP] 8, Spoon, -0.921, 0.901, 1.349, 0, 180, 0, 92 [SEP] 9, Spoon, -1.317, 0.901, 1.349, 0, 90, 0, 92 [SEP] 10, Fork, 1.025, 0.813, 2.458, 0, 0, 0, 48 [SEP] 11, Fork, 0.635, 0.691, 0.944, 0, 90, 0, 62 [SEP] 12, Cup, -0.657, 0.900, 0.937, 0, 90, 0, 92 [SEP] 13, Knife, 1.024, 0.846, 2.198, 0, 0, 0, 56 [SEP] 14, Knife, -1.698, 0.846, 3.556, 0, 0, 0, 74 [SEP] 15, SoapBottle, -0.921, 0.900, 1.555, 0, 90, 0, 92 [SEP] 16, PepperShaker, -2.619, 1.845, 1.526, 0, 0, 0, 69 [SEP] 17, PepperShaker, -2.473, 0.123, 3.273, 0, 0, 0, 75 [SEP] 18, SaltShaker, -0.657, 0.896, 1.555, 0, 90, 0, 92 [SEP] 19, SaltShaker, -2.175, 1.395, 3.897, 0, 0, 0, 49 [SEP] 20, Lettuce, -2.677, 1.483, 2.333, 0, 90, 0, 83 [SEP] 21, Mug, -0.524, 0.895, 1.555, 0, 90, 0, 92 [SEP] 22, Apple, 0.902, 0.085, 2.918, 0, 0, 0, 85 [SEP] 23, Plate, -1.697, 1.687, 3.897, 0, 0, 0, 46 [SEP] 24, Fork, 0.725, 0.823, 0.939, 0, 0, 0, 51 [SEP] 25, Bread, 0.830, 0.862, 2.443, 0, 358.596, 0, 51 [SEP] 26, Spatula, 1.024, 0.838, 1.072, 0, 270, 0, 51 [SEP] 27, PaperTowelRoll, -2.923, 0.927, 3.331, 0, 0, 0, 74 [SEP] 28, Potato, -2.577, 0.810, 2.165, 0, 90, 0, 83 [SEP] 29, SoapBottle, -0.524, 0.900, 1.143, 0, 90, 0, 92 [SEP] 30, Egg, -0.789, 0.936, 1.555, 0, 90, 0, 92 [SEP] 31, Cup, -0.657, 0.900, 1.246, 0, 90, 0, 92 [SEP] 32, Pot, 0.642, 0.850, 1.768, 0, 0, 0, 78 [SEP] 33, SaltShaker, -1.185, 0.896, 1.452, 0, 90, 0, 92 [SEP] 34, Pan, -2.667, 0.812, 3.74, 0, 137.145, 0, 74 [SEP] 35, PepperShaker, -1.053, 0.896, 1.349, 0, 90, 0, 92 [SEP] 36, ButterKnife, -2.851, 0.823, 3.554, 0, 0, 0, 74 [SEP] 37, Tomato, -0.524, 0.969, 1.349, 0, 90, 0, 92 [SEP] 38, DishSponge, -2.541, 1.848, 1.288, 0, 0, 0, 69 [SEP] 39, Lettuce, -1.317, 0.976, 1.246, 0, 90, 0, 92 [SEP] 40, Spoon, -1.053, 0.901, 1.452, 0, 180, 0, 92 [SEP] 41, Apple, -1.486, 1.420, 3.934, 0, 180, 0, 80 [SEP] 42, Knife, -0.789, 0.923, 1.349, 0, 270, 0, 92 [SEP] 43, Mug, -2.465, 1.844, 1.956, 0, 0, 0, 76 [SEP] 44, Bowl, -2.577, 0.993, 2.165, 0, 90, 0, 83 [SEP] 45, Drawer, 0.729, 0.703, 2.199, 0, 0, 0, [SEP] 46, Cabinet, -1.962, 1.926, 3.733, 0, 0, 0, [SEP] 47, Cabinet, -2.377, 2.014, 1.058, 0, 0, 0, [SEP] 48, Drawer, 0.729, 0.703, 2.532, 0, 0, 0, [SEP] 49, Cabinet, -2.622, 1.925, 3.733, 0, 0, 0, [SEP] 50, StoveBurner, 0.913, 0.843, 1.375, 0, 0, 0, [SEP] 51, CounterTop, 0.864, 0.858, 0.984, 0, 0, 0, [SEP] 52, Cabinet, -1.976, 1.779, 3.734, 0, 0, 0, [SEP] 53, Cabinet, 0.580, 0.385, 0.819, 0, 0, 0, [SEP] 54, Cabinet, -2.379, 1.408, 1.677, 0, 0, 0, [SEP] 55, Cabinet, -0.419, 1.703, 3.736, 0, 0, 0, [SEP] 56, CounterTop, 0.864, 0.858, 2.371, 0, 0, 0, [SEP] 57, Sink, -1.702, 0.726, 3.828, 0, 180, 0, [SEP] 58, Cabinet, 0.580, 0.385, 2.694, 0, 0, 0, [SEP] 59, Cabinet, -2.379, 0.637, 1.677, 0, 0, 0, [SEP] 60, Cabinet, -0.419, 0.674, 3.736, 0, 0, 0, [SEP] 61, Cabinet, -2.377, 2.014, 2.558, 0, 0, 0, [SEP] 62, Drawer, 0.729, 0.703, 0.980, 0, 0, 0, [SEP] 63, Drawer, -2.114, 0.706, 3.657, 0, 0, 0, [SEP] 64, Cabinet, -2.377, 1.691, 2.572, 0, 0, 0, [SEP] 65, Cabinet, -2.951, 1.925, 3.733, 0, 0, 0, [SEP] 66, Cabinet, 0.580, 0.385, 2.360, 0, 0, 0, [SEP] 67, Cabinet, -2.426, 0.435, 3.421, 0, 0, 0, [SEP] 68, StoveBurner, 0.642, 0.843, 1.375, 0, 0, 0, [SEP] 69, Cabinet, -2.377, 1.927, 1.686, 0, 0, 0, [SEP] 70, Cabinet, -2.377, 2.013, 3.177, 0, 0, 0, [SEP] 71, Cabinet, -1.136, 0.385, 3.516, 0, 0, 0, [SEP] 72, StoveBurner, 0.913, 0.843, 1.768, 0, 0, 0, [SEP] 73, Cabinet, -1.974, 0.385, 3.516, 0, 0, 0, [SEP] 74, CounterTop, -2.081, 0.858, 3.799, 0, 0, 0, [SEP] 75, Cabinet, -2.426, 0.435, 3.174, 0, 0, 0, [SEP] 76, Cabinet, -2.377, 2.014, 1.693, 0, 0, 0, [SEP] 77, Cabinet, -1.986, 0.385, 3.511, 0, 0, 0, [SEP] 78, StoveBurner, 0.642, 0.843, 1.768, 0, 0, 0, [SEP] 79, Cabinet, -1.098, 1.926, 3.729, 0, 0, 0, [SEP] 80, Microwave, -1.529, 1.250, 3.881, 1.622, 180, 0, [SEP] 81, CoffeeMachine, 1.000, 0.812, 2.492, 0, 270, 0, [SEP] 82, LightSwitch, 0.825, 1.396, 4.082, 0, 180, 0, [SEP] 83, Fridge, -2.642, 0.0, 2.134, 0, 180, 0, [SEP] 84, Window, -1.131, 1.673, 0.808, 90, 0, 0, [SEP] 85, GarbageCan, 0.931, -0.000, 2.918, 0, 0, 0, [SEP] 86, SinkBasin, -1.601, 0.686, 3.774, 0, 0, 0, [SEP] 87, StoveKnob, 1.104, 1.002, 1.886, 0, 0, 70.346, [SEP] 88, StoveKnob, 1.104, 1.002, 1.733, 0, 0, 70.346, [SEP] 89, StoveKnob, 1.104, 1.002, 1.321, 0, 0, 70.346, [SEP] 90, StoveKnob, 1.104, 1.002, 1.481, 0, 0, 70.346, [SEP] 91, Toaster, -2.247, 0.812, 3.862, 0, 180, 0, [SEP] 92, DiningTable, -0.917, -0.000, 1.203, 0, 0, 0, [SEP] 93, Stool, -0.932, 0.000, 1.404, 1.196, 21.715, 0, [SEP] 94, Faucet, -1.842, 0.809, 3.984, 0, 180, 0, [SEP] 95, Faucet, -1.371, 0.809, 3.985, 0, 180, 0, [SEP] 96, NorthWall, , , , , , , [SEP] 97, EastWall, , , , , , , [SEP] 98, SouthWall, , , , , , , [SEP] 99, WestWall, , , , , , , ", "output": ["STEP 1: Turn to your right and walk up to the microwave above the sink. | STEP 2: Remove an apple from the microwave. | STEP 3: Step back from the microwave. | STEP 4: Place the apple in the larger, right sink, turn the water on, rinse the apple, turn the water off, and pick the apple back up. | STEP 5: Turn around and go to the refrigerator. | STEP 6: Place the apple in the refrigerator, on the top shelf. | END"]} +{"id": "trial_T20190907_210644_547725-2", "input": "Place a cleaned apple in a refrigerator. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.900, 2.75, 0, 270, 0, [SEP] 1, Potato, -2.710, 1.451, 2.165, 0, 90, 0, 83 [SEP] 2, Potato, -1.468, 0.740, 3.691, 0, 180, 0, 86 [SEP] 3, DishSponge, 0.725, 0.822, 1.072, 0, 0, 0, 51 [SEP] 4, DishSponge, -2.136, 1.398, 3.818, 0, 0, 0, 52 [SEP] 5, Pot, 0.642, 0.850, 1.375, 0, 0, 0, 68 [SEP] 6, Spatula, 1.099, 0.838, 1.072, 0, 270, 0, 51 [SEP] 7, Spatula, 0.875, 0.838, 1.072, 0, 270, 0, 51 [SEP] 8, Spoon, -0.921, 0.901, 1.349, 0, 180, 0, 92 [SEP] 9, Spoon, -1.317, 0.901, 1.349, 0, 90, 0, 92 [SEP] 10, Fork, 1.025, 0.813, 2.458, 0, 0, 0, 48 [SEP] 11, Fork, 0.635, 0.691, 0.944, 0, 90, 0, 62 [SEP] 12, Cup, -0.657, 0.900, 0.937, 0, 90, 0, 92 [SEP] 13, Knife, 1.024, 0.846, 2.198, 0, 0, 0, 56 [SEP] 14, Knife, -1.698, 0.846, 3.556, 0, 0, 0, 74 [SEP] 15, SoapBottle, -0.921, 0.900, 1.555, 0, 90, 0, 92 [SEP] 16, PepperShaker, -2.619, 1.845, 1.526, 0, 0, 0, 69 [SEP] 17, PepperShaker, -2.473, 0.123, 3.273, 0, 0, 0, 75 [SEP] 18, SaltShaker, -0.657, 0.896, 1.555, 0, 90, 0, 92 [SEP] 19, SaltShaker, -2.175, 1.395, 3.897, 0, 0, 0, 49 [SEP] 20, Lettuce, -2.677, 1.483, 2.333, 0, 90, 0, 83 [SEP] 21, Mug, -0.524, 0.895, 1.555, 0, 90, 0, 92 [SEP] 22, Apple, 0.902, 0.085, 2.918, 0, 0, 0, 85 [SEP] 23, Plate, -1.697, 1.687, 3.897, 0, 0, 0, 46 [SEP] 24, Fork, 0.725, 0.823, 0.939, 0, 0, 0, 51 [SEP] 25, Bread, 0.830, 0.862, 2.443, 0, 358.596, 0, 51 [SEP] 26, Spatula, 1.024, 0.838, 1.072, 0, 270, 0, 51 [SEP] 27, PaperTowelRoll, -2.923, 0.927, 3.331, 0, 0, 0, 74 [SEP] 28, Potato, -2.577, 0.810, 2.165, 0, 90, 0, 83 [SEP] 29, SoapBottle, -0.524, 0.900, 1.143, 0, 90, 0, 92 [SEP] 30, Egg, -0.789, 0.936, 1.555, 0, 90, 0, 92 [SEP] 31, Cup, -0.657, 0.900, 1.246, 0, 90, 0, 92 [SEP] 32, Pot, 0.642, 0.850, 1.768, 0, 0, 0, 78 [SEP] 33, SaltShaker, -1.185, 0.896, 1.452, 0, 90, 0, 92 [SEP] 34, Pan, -2.667, 0.812, 3.74, 0, 137.145, 0, 74 [SEP] 35, PepperShaker, -1.053, 0.896, 1.349, 0, 90, 0, 92 [SEP] 36, ButterKnife, -2.851, 0.823, 3.554, 0, 0, 0, 74 [SEP] 37, Tomato, -0.524, 0.969, 1.349, 0, 90, 0, 92 [SEP] 38, DishSponge, -2.541, 1.848, 1.288, 0, 0, 0, 69 [SEP] 39, Lettuce, -1.317, 0.976, 1.246, 0, 90, 0, 92 [SEP] 40, Spoon, -1.053, 0.901, 1.452, 0, 180, 0, 92 [SEP] 41, Apple, -1.486, 1.420, 3.934, 0, 180, 0, 80 [SEP] 42, Knife, -0.789, 0.923, 1.349, 0, 270, 0, 92 [SEP] 43, Mug, -2.465, 1.844, 1.956, 0, 0, 0, 76 [SEP] 44, Bowl, -2.577, 0.993, 2.165, 0, 90, 0, 83 [SEP] 45, Drawer, 0.729, 0.703, 2.199, 0, 0, 0, [SEP] 46, Cabinet, -1.962, 1.926, 3.733, 0, 0, 0, [SEP] 47, Cabinet, -2.377, 2.014, 1.058, 0, 0, 0, [SEP] 48, Drawer, 0.729, 0.703, 2.532, 0, 0, 0, [SEP] 49, Cabinet, -2.622, 1.925, 3.733, 0, 0, 0, [SEP] 50, StoveBurner, 0.913, 0.843, 1.375, 0, 0, 0, [SEP] 51, CounterTop, 0.864, 0.858, 0.984, 0, 0, 0, [SEP] 52, Cabinet, -1.976, 1.779, 3.734, 0, 0, 0, [SEP] 53, Cabinet, 0.580, 0.385, 0.819, 0, 0, 0, [SEP] 54, Cabinet, -2.379, 1.408, 1.677, 0, 0, 0, [SEP] 55, Cabinet, -0.419, 1.703, 3.736, 0, 0, 0, [SEP] 56, CounterTop, 0.864, 0.858, 2.371, 0, 0, 0, [SEP] 57, Sink, -1.702, 0.726, 3.828, 0, 180, 0, [SEP] 58, Cabinet, 0.580, 0.385, 2.694, 0, 0, 0, [SEP] 59, Cabinet, -2.379, 0.637, 1.677, 0, 0, 0, [SEP] 60, Cabinet, -0.419, 0.674, 3.736, 0, 0, 0, [SEP] 61, Cabinet, -2.377, 2.014, 2.558, 0, 0, 0, [SEP] 62, Drawer, 0.729, 0.703, 0.980, 0, 0, 0, [SEP] 63, Drawer, -2.114, 0.706, 3.657, 0, 0, 0, [SEP] 64, Cabinet, -2.377, 1.691, 2.572, 0, 0, 0, [SEP] 65, Cabinet, -2.951, 1.925, 3.733, 0, 0, 0, [SEP] 66, Cabinet, 0.580, 0.385, 2.360, 0, 0, 0, [SEP] 67, Cabinet, -2.426, 0.435, 3.421, 0, 0, 0, [SEP] 68, StoveBurner, 0.642, 0.843, 1.375, 0, 0, 0, [SEP] 69, Cabinet, -2.377, 1.927, 1.686, 0, 0, 0, [SEP] 70, Cabinet, -2.377, 2.013, 3.177, 0, 0, 0, [SEP] 71, Cabinet, -1.136, 0.385, 3.516, 0, 0, 0, [SEP] 72, StoveBurner, 0.913, 0.843, 1.768, 0, 0, 0, [SEP] 73, Cabinet, -1.974, 0.385, 3.516, 0, 0, 0, [SEP] 74, CounterTop, -2.081, 0.858, 3.799, 0, 0, 0, [SEP] 75, Cabinet, -2.426, 0.435, 3.174, 0, 0, 0, [SEP] 76, Cabinet, -2.377, 2.014, 1.693, 0, 0, 0, [SEP] 77, Cabinet, -1.986, 0.385, 3.511, 0, 0, 0, [SEP] 78, StoveBurner, 0.642, 0.843, 1.768, 0, 0, 0, [SEP] 79, Cabinet, -1.098, 1.926, 3.729, 0, 0, 0, [SEP] 80, Microwave, -1.529, 1.250, 3.881, 1.622, 180, 0, [SEP] 81, CoffeeMachine, 1.000, 0.812, 2.492, 0, 270, 0, [SEP] 82, LightSwitch, 0.825, 1.396, 4.082, 0, 180, 0, [SEP] 83, Fridge, -2.642, 0.0, 2.134, 0, 180, 0, [SEP] 84, Window, -1.131, 1.673, 0.808, 90, 0, 0, [SEP] 85, GarbageCan, 0.931, -0.000, 2.918, 0, 0, 0, [SEP] 86, SinkBasin, -1.601, 0.686, 3.774, 0, 0, 0, [SEP] 87, StoveKnob, 1.104, 1.002, 1.886, 0, 0, 70.346, [SEP] 88, StoveKnob, 1.104, 1.002, 1.733, 0, 0, 70.346, [SEP] 89, StoveKnob, 1.104, 1.002, 1.321, 0, 0, 70.346, [SEP] 90, StoveKnob, 1.104, 1.002, 1.481, 0, 0, 70.346, [SEP] 91, Toaster, -2.247, 0.812, 3.862, 0, 180, 0, [SEP] 92, DiningTable, -0.917, -0.000, 1.203, 0, 0, 0, [SEP] 93, Stool, -0.932, 0.000, 1.404, 1.196, 21.715, 0, [SEP] 94, Faucet, -1.842, 0.809, 3.984, 0, 180, 0, [SEP] 95, Faucet, -1.371, 0.809, 3.985, 0, 180, 0, [SEP] 96, NorthWall, , , , , , , [SEP] 97, EastWall, , , , , , , [SEP] 98, SouthWall, , , , , , , [SEP] 99, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and walk forward to the microwave. | STEP 2: Open the microwave, take out the apple and close the microwave. | STEP 3: Walk slightly to the left and stand in between the two sink basins. | STEP 4: Put the apple in the right sink basin, rinse it off, and take it back out of the sink. | STEP 5: Turn around and walk to the refrigerator. | STEP 6: Open the refrigerator, put the apple in front of the bowl and close the refrigerator. | END"]} +{"id": "trial_T20190907_025942_948698-1", "input": "Place an apple slice in the fridge. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.900, 5.5, 0, 90, 0, [SEP] 1, Kettle, 1.317, 0.988, 4.294, 0, 0, 0, 48 [SEP] 2, Kettle, 1.32, 0.988, 3.848, 0, 0, 0, 52 [SEP] 3, Spoon, 1.238, 0.772, 4.717, 0, 0, 0, 43 [SEP] 4, Spoon, 0.871, 0.773, 0.563, 0, 0, 0, 45 [SEP] 5, Spatula, -0.384, 1.007, 0.486, 0, 0, 0, 53 [SEP] 6, Spatula, -0.345, 0.786, 0.620, 0, 270, 0, 49 [SEP] 7, Cup, 1.135, 0.988, 4.716, 0, 0, 0, 54 [SEP] 8, Plate, 1.406, 0.141, 3.143, 0, 0, 0, 64 [SEP] 9, Knife, -0.413, 0.801, 0.563, 0, 270, 0, 49 [SEP] 10, Knife, 1.403, 1.022, 3.231, 0, 0, 0, 53 [SEP] 11, SoapBottle, 1.225, 0.992, 3.044, 0, 270, 0, 53 [SEP] 12, PepperShaker, -0.621, 0.755, 6.604, 0, 270, 0, 89 [SEP] 13, SaltShaker, 0.046, 1.574, 0.119, 0, 0, 0, 66 [SEP] 14, Bread, -0.687, 1.062, 0.303, 0, 0, 0, 53 [SEP] 15, Bread, -0.096, 0.829, 6.787, 0, 0, 0, 89 [SEP] 16, Mug, 1.493, 0.987, 0.440, 0, 0, 0, 53 [SEP] 17, Apple, 2.009, 1.590, 6.001, 0, 270, 0, 75 [SEP] 18, Bowl, 1.493, 0.991, 0.213, 0, 0, 0, 53 [SEP] 19, Bread, 0.150, 0.829, 6.479, 0, 270, 0, 89 [SEP] 20, Egg, 2.137, 1.565, 5.251, 0, 270, 0, 75 [SEP] 21, Knife, -0.377, 0.789, 6.261, 0, 225, 0, 89 [SEP] 22, Fork, 1.348, 0.772, 3.360, 0, 0, 0, 46 [SEP] 23, Apple, 1.497, 0.965, 2.474, 0, 90, 0, 76 [SEP] 24, Kettle, 1.228, 0.142, 4.763, 0, 0, 0, 55 [SEP] 25, Plate, 1.490, 0.141, 2.720, 0, 0, 0, 65 [SEP] 26, SaltShaker, 0.028, 0.755, 6.169, 0, 0, 0, 89 [SEP] 27, Lettuce, 1.449, 0.932, 2.050, 0, 0, 0, 76 [SEP] 28, SoapBottle, 1.135, 0.992, 3.231, 0, 0, 0, 53 [SEP] 29, Spatula, -0.034, 0.775, 6.014, 0, 0, 0, 89 [SEP] 30, PaperTowelRoll, 1.135, 1.096, 4.579, 0, 0, 0, 54 [SEP] 31, Pot, 0.734, 0.981, 0.38, 0, 0, 0, 53 [SEP] 32, Potato, 0.123, 0.794, 6.107, 0, 135, 0, 89 [SEP] 33, ButterKnife, -0.312, 0.760, 6.354, 0, 0, 0, 89 [SEP] 34, PepperShaker, -0.422, 0.755, 6.653, 0, 135, 0, 89 [SEP] 35, Pan, 1.559, 0.988, 4.294, 0, 0, 0, 51 [SEP] 36, Tomato, 1.966, 1.565, 5.876, 0, 270, 0, 75 [SEP] 37, DishSponge, -0.346, 0.759, 6.787, 0, 0, 0, 89 [SEP] 38, Cup, 0.847, 0.988, 0.120, 0, 0, 0, 53 [SEP] 39, Spoon, -0.549, 0.773, 0.563, 0, 0, 0, 49 [SEP] 40, Mug, 0.956, 0.138, 0.339, 0, 0, 0, 59 [SEP] 41, Cabinet, 1.307, 2.455, 4.360, 0, 0, 0, [SEP] 42, Cabinet, 1.054, 0.422, 1.710, 0, 0, 0, [SEP] 43, Drawer, 1.280, 0.808, 4.718, 0, 0, 0, [SEP] 44, Cabinet, 1.307, 2.455, 3.607, 0, 0, 0, [SEP] 45, Drawer, 0.736, 0.802, 0.521, 0, 0, 0, [SEP] 46, Drawer, 1.276, 0.802, 3.291, 0, 0, 0, [SEP] 47, StoveBurner, 1.562, 0.982, 3.848, 0, 0, 0, [SEP] 48, StoveBurner, 1.317, 0.982, 4.294, 0, 0, 0, [SEP] 49, Drawer, -0.482, 0.802, 0.521, 0, 0, 0, [SEP] 50, Drawer, 0.124, 0.802, 0.521, 0, 0, 0, [SEP] 51, StoveBurner, 1.559, 0.982, 4.294, 0, 0, 0, [SEP] 52, StoveBurner, 1.320, 0.982, 3.848, 0, 0, 0, [SEP] 53, CounterTop, 1.391, 1.028, 0.897, 0, 0, 0, [SEP] 54, CounterTop, 1.391, 1.028, 4.716, 0, 0, 0, [SEP] 55, Cabinet, 1.054, 0.422, 4.548, 0, 0, 0, [SEP] 56, Cabinet, 1.317, 2.134, 0.517, 0, 0, 0, [SEP] 57, Cabinet, 1.317, 2.134, 4.889, 0, 0, 0, [SEP] 58, Cabinet, 1.317, 2.134, 3.095, 0, 0, 0, [SEP] 59, Cabinet, 0.443, 0.422, 0.743, 0, 0, 0, [SEP] 60, Cabinet, 1.270, 2.134, 0.434, 0, 0, 0, [SEP] 61, Cabinet, -0.775, 0.422, 0.743, 0, 0, 0, [SEP] 62, Cabinet, -0.168, 0.422, 0.743, 0, 0, 0, [SEP] 63, Cabinet, 1.317, 2.134, 1.534, 0, 0, 0, [SEP] 64, Cabinet, 1.054, 0.422, 2.990, 0, 0, 0, [SEP] 65, Cabinet, 1.054, 0.422, 2.944, 0, 0, 0, [SEP] 66, Cabinet, -0.263, 2.134, 0.434, 0, 0, 0, [SEP] 67, Cabinet, 0.252, 2.134, 0.434, 0, 0, 0, [SEP] 68, Sink, 1.391, 1.006, 2.326, 0, 0, 0, [SEP] 69, Microwave, 0.108, 0.981, 0.262, 0, 0, 0, [SEP] 70, HousePlant, -0.165, 0.826, 6.444, 0, 0, 0, [SEP] 71, CoffeeMachine, 1.551, 0.982, 0.953, 0, 270, 0, [SEP] 72, Toaster, 1.473, 0.981, 4.715, 0, 270, 0, [SEP] 73, Window, -2.065, 1.916, 3.626, 90, 90, 0, [SEP] 74, Window, 1.763, 2.007, 2.299, 90, 270, 0, [SEP] 75, Fridge, 2.035, 0.0, 5.625, 0, 0, 0, [SEP] 76, SinkBasin, 1.387, 0.880, 2.338, 0, 90, 0, [SEP] 77, GarbageCan, 2.001, -0.044, 6.503, 0, 0, 0, [SEP] 78, StoveKnob, 1.140, 0.934, 3.987, 45, 270, 0, [SEP] 79, StoveKnob, 1.140, 0.934, 4.309, 45, 270, 0, [SEP] 80, StoveKnob, 1.140, 0.934, 4.140, 45, 270, 0, [SEP] 81, StoveKnob, 1.140, 0.934, 3.824, 45, 270, 0, [SEP] 82, Vase, -0.226, 0.834, 6.993, 0, 0, 0, [SEP] 83, Vase, 2.098, 0.043, 7.070, 0, 257.232, 0, [SEP] 84, Vase, -0.594, 0.835, 6.130, 0, 225, 0, [SEP] 85, LightSwitch, -2.0, 1.549, 6.045, 0, 90, 0, [SEP] 86, Safe, 2.046, 1.072, 7.054, 0, 257.232, 0, [SEP] 87, Faucet, 1.534, 1.025, 2.371, 0, 294.391, 0, [SEP] 88, Blinds, 1.738, 2.563, 2.312, 0, 90, 0, [SEP] 89, DiningTable, -0.156, 0.000, 6.474, 0, 0, 0, [SEP] 90, Chair, 0.291, 0.002, 6.142, 0, 310.162, 0, [SEP] 91, GarbageBag, -1.092, 0.318, 0.268, 270, 90, 83.492, [SEP] 92, NorthWall, , , , , , , [SEP] 93, EastWall, , , , , , , [SEP] 94, SouthWall, , , , , , , [SEP] 95, WestWall, , , , , , , ", "output": ["STEP 1: Move forward and face the grey table to your right. | STEP 2: Pick up the knife on the table. | STEP 3: Turn around and head to the sink on your left. | STEP 4: Cut the apple in the sink. | STEP 5: Go left to and face the stove. | STEP 6: Put the knife in the pan. | STEP 7: Turn right and head back to face the sink | STEP 8: Take a slice of the apple in the sink. | STEP 9: Turn left and face the stove on your right. | STEP 10: Put the apple in the pan. | STEP 11: Pick up the pan from the stove. | STEP 12: Turn left and head to the fridge. | STEP 13: Put the pan in the fridge and close it. | END"]} +{"id": "trial_T20190909_053707_736264-0", "input": "Put the two cd's in the vault SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.900, 0.25, 0, 90, 0, [SEP] 1, CD, -1.194, 0.792, -1.243, 0, 0, 0, 44 [SEP] 2, CD, 0.323, 0.676, -1.781, 0, 0, 0, 43 [SEP] 3, CD, -0.315, 0.836, -2.038, 0, 0, 0, 27 [SEP] 4, Pencil, 0.304, 0.677, 1.348, 0, 0, 0, 36 [SEP] 5, Pencil, 0.227, 0.684, 1.212, 0, 0, 0, 36 [SEP] 6, Pen, -0.315, 0.842, -1.968, 0, 0, 0, 27 [SEP] 7, Pen, 0.368, 0.679, -1.635, 0, 180, 0, 43 [SEP] 8, CreditCard, 0.486, 0.480, -1.546, 0, 0, 0, 42 [SEP] 9, Book, 1.098, 0.578, -0.166, 0, 0, 0, 45 [SEP] 10, Book, -1.265, 0.794, -0.600, 0, 180, 0, 44 [SEP] 11, Pencil, -0.981, 0.796, -0.385, 0, 0, 0, 44 [SEP] 12, Laptop, -1.005, 0.780, -1.477, 0, 31.363, 0, 44 [SEP] 13, Pen, 0.150, 0.679, 1.348, 0, 0, 0, 36 [SEP] 14, TennisRacket, -1.226, 0.301, -0.069, 15.000, 180, 180, [SEP] 15, TeddyBear, 1.629, 0.557, -1.064, 0, 118.287, 0, 45 [SEP] 16, Pillow, 1.215, 0.641, -1.663, 0, 0, 0, 23 [SEP] 17, CellPhone, -1.256, 1.461, -0.339, 0, 0, 0, 29 [SEP] 18, KeyChain, 0.305, 0.082, 1.262, 0, 0, 0, 37 [SEP] 19, AlarmClock, -0.585, 0.838, -2.107, 0, 0, 0, 27 [SEP] 20, CreditCard, -0.670, 0.793, -1.440, 0, 0, 0, 44 [SEP] 21, CD, -0.964, 0.792, -1.824, 0, 0, 0, 44 [SEP] 22, Bowl, -0.809, 0.824, -2.085, 0, 0, 0, 27 [SEP] 23, Bed, 1.242, -0.001, -0.881, 0, 180, 0, [SEP] 24, LightSwitch, 0.010, 1.315, 1.499, 0, 180, 0, [SEP] 25, GarbageCan, 0.840, 0.007, 1.337, 0, 180, 2.168, [SEP] 26, HousePlant, -0.083, 0.828, -2.045, 0, 0, 0, [SEP] 27, Shelf, -0.469, 0.828, -2.038, 0, 0, 0, [SEP] 28, Shelf, -1.286, 1.451, -1.343, 0, 0, 0, [SEP] 29, Shelf, -1.286, 1.451, -0.602, 0, 0, 0, [SEP] 30, Shelf, -1.286, 1.814, -0.602, 0, 0, 0, [SEP] 31, Shelf, -1.286, 1.814, -1.343, 0, 0, 0, [SEP] 32, Painting, 1.111, 1.628, -1.865, 90, 0, 0, [SEP] 33, DeskLamp, 0.473, 0.669, 1.350, 0, 0, 0, [SEP] 34, Mirror, -1.383, 1.565, 0.512, 0, 270, 0, [SEP] 35, Window, -0.472, 1.396, -2.252, 90, 0, 0, [SEP] 36, SideTable, 0.304, -0.001, 1.225, 0, 180, 0, [SEP] 37, Drawer, 0.304, 0.165, 1.159, 0, 180, 0, [SEP] 38, Drawer, 0.304, 0.457, 1.159, 0, 180, 0, [SEP] 39, Blinds, -0.453, 2.156, -2.242, 0, 0, 0, [SEP] 40, Safe, 1.623, 5.960, 0.448, 0, 270, 0, [SEP] 41, Chair, -0.683, 0.000, -1.326, 0, 217.223, 0, [SEP] 42, Drawer, 0.416, 0.532, -1.553, 0, 0, 0, [SEP] 43, SideTable, 0.413, 0.000, -1.684, 0, 0, 0, [SEP] 44, Desk, -0.788, 0.000, -1.032, 0, 90, 0, [SEP] 45, , , , , , , , [SEP] 46, NorthWall, , , , , , , [SEP] 47, EastWall, , , , , , , [SEP] 48, SouthWall, , , , , , , [SEP] 49, WestWall, , , , , , , ", "output": ["STEP 1: Turn right then head to the side table of the bed | STEP 2: Pick up the cd on the side table | STEP 3: Turn left then head to the vault | STEP 4: Open the vault and put in the cd then close the vault | STEP 5: Turn right then head t the left side of the desk | STEP 6: Pick up the cd behind the laptop | STEP 7: Turn right then head to the vault | STEP 8: Open the vault and put in the cd then close the vault | END"]} +{"id": "trial_T20190909_055404_570388-2", "input": "drop a candle stand on a rack SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.913, 0.5, 0, 180, 0, [SEP] 1, Candle, 0.073, 0.965, 2.330, 0, 270, 0, 42 [SEP] 2, SoapBar, -0.114, 0.965, 2.304, 0, 270, 0, 42 [SEP] 3, SprayBottle, -0.527, 0.959, -1.805, 0, 0, 0, 28 [SEP] 4, SprayBottle, -2.864, 0.240, 1.317, 0, 90, 0, 47 [SEP] 5, DishSponge, 2.204, 0.624, -2.389, 0, 0, 0, 36 [SEP] 6, SoapBottle, -2.808, 0.255, 1.551, 0, 90, 0, 47 [SEP] 7, SoapBottle, -0.048, 0.973, -1.993, 0, 0, 0, 28 [SEP] 8, ToiletPaper, -3.034, 0.243, 1.629, 0, 90, 0, 47 [SEP] 9, Candle, -0.208, 0.962, -2.087, 0, 0, 0, 28 [SEP] 10, HandTowel, -0.885, 1.617, -2.503, 0, 180, 0, 37 [SEP] 11, Towel, 0.465, 1.21, -1.095, 0, 270, 0, 33 [SEP] 12, SoapBottle, -0.368, 0.973, -1.805, 0, 0, 0, 28 [SEP] 13, SoapBar, -2.977, 0.874, 1.239, 0, 90, 0, 47 [SEP] 14, ToiletPaper, -0.208, 0.959, -1.899, 0, 0, 0, 28 [SEP] 15, Plunger, 0.506, 0.011, 2.268, 0, 0, 0, Floor|-00.35| [SEP] 16, SprayBottle, -0.527, 0.959, -2.369, 0, 0, 0, 28 [SEP] 17, TissueBox, 2.204, 0.624, -2.020, 0, 0, 0, 36 [SEP] 18, ToiletPaper, -3.034, 0.240, 1.707, 0, 90, 0, 47 [SEP] 19, ScrubBrush, 0.342, 0.012, 2.072, 0, 0, 0, Floor|-00.35| [SEP] 20, Cloth, -0.048, 0.961, -2.181, 0, 0, 0, 28 [SEP] 21, DishSponge, -2.879, 0.885, 0.839, 0, 90, 0, 44 [SEP] 22, Footstool, -0.325, 0.297, -1.98, 0, 0, 0, Floor|-00.35| [SEP] 23, Bathtub, -1.957, 0.494, -1.233, 0, 0, 0, [SEP] 24, ShowerDoor, 0.650, 1.413, 2.169, 0, 0, 0, [SEP] 25, ShowerGlass, 0.0, 0.0, 0.0, 0, 0, 0, [SEP] 26, Drawer, 0.300, 0.304, -1.820, 0, 0, 0, [SEP] 27, Mirror, -0.046, 1.512, -2.538, 0, 0, 0, [SEP] 28, CounterTop, 0.196, 0.430, -2.010, 0, 0, 0, [SEP] 29, Sink, -2.796, 0.328, 0.755, 0, 90, 0, [SEP] 30, Drawer, 0.300, 0.833, -1.820, 0, 0, 0, [SEP] 31, Drawer, 0.300, 0.682, -1.820, 0, 0, 0, [SEP] 32, Drawer, 0.300, 0.492, -1.820, 0, 0, 0, [SEP] 33, TowelHolder, 0.572, 1.195, -1.095, 0, 270, 0, [SEP] 34, GarbageCan, -0.564, 0.010, 2.061, 0, 195.0, 0, [SEP] 35, ToiletPaperHanger, -0.574, 0.926, 2.407, 0, 180, 0, [SEP] 36, Shelf, 1.536, 0.613, -2.242, 0, 0, 0, [SEP] 37, HandTowelHolder, -0.884, 1.718, -2.542, 0, 270, 0, [SEP] 38, Window, -3.170, 1.812, -1.697, 90, 90, 0, [SEP] 39, Window, -3.170, 1.812, 1.597, 90, 90, 0, [SEP] 40, Window, -2.144, 1.809, -2.573, 90, 0, 0, [SEP] 41, Window, -3.170, 1.812, -0.054, 90, 90, 0, [SEP] 42, Toilet, -0.064, 0.012, 1.838, 0, 180, 0, [SEP] 43, LightSwitch, -1.406, 1.472, 2.407, 0, 180, 0, [SEP] 44, SinkBasin, -2.796, 0.875, 0.765, 0, 90, 0, [SEP] 45, ShowerHead, 1.591, 1.700, -2.424, 0, 90, 0, [SEP] 46, Faucet, -2.676, 0.423, -0.312, 0, 99.958, 0, [SEP] 47, SideTable, -2.847, 0.013, 1.509, 0, 90, 0, [SEP] 48, Faucet, -3.106, 1.056, 0.757, 0, 90, 0, [SEP] 49, , , , , , , , [SEP] 50, NorthWall, , , , , , , [SEP] 51, EastWall, , , , , , , [SEP] 52, SouthWall, , , , , , , [SEP] 53, WestWall, , , , , , , ", "output": ["STEP 1: move to the table | STEP 2: pick up a candle stand | STEP 3: turn right and heard to the rack | STEP 4: drop the candle stand on the rack | END"]} +{"id": "trial_T20190908_122348_520607-1", "input": "put two remote controls on a coffee table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.0, 0.900, 0.75, 0, 90, 0, [SEP] 1, Watch, 1.456, 0.571, 0.662, 0, 270, 0, 28 [SEP] 2, Statue, 1.525, 0.770, 0.691, 0, 270, 0, 30 [SEP] 3, KeyChain, -1.428, 0.327, 0.44, 0, 90, 0, 38 [SEP] 4, KeyChain, -1.503, 0.489, 1.948, 0, 0, 0, 37 [SEP] 5, RemoteControl, -1.349, 0.329, 1.051, 0, 90, 0, 38 [SEP] 6, RemoteControl, 1.600, 0.762, 0.241, 0, 270, 0, 30 [SEP] 7, Laptop, -0.218, 0.475, -0.086, 0, 90, 0, 27 [SEP] 8, Box, -0.007, 0.65, 0.892, 0, 0, 0, 27 [SEP] 9, Laptop, -0.196, 0.470, 0.407, 0, 72.615, 0, 27 [SEP] 10, CreditCard, 1.901, 0.760, -0.208, 0, 270, 0, 30 [SEP] 11, KeyChain, -1.697, 0.489, 1.624, 0, 0, 0, 37 [SEP] 12, Vase, -1.438, 0.494, 1.818, 0, 0, 0, 37 [SEP] 13, Vase, -1.800, 1.616, -1.785, 0, 0, 0, 39 [SEP] 14, Pillow, -1.235, 0.461, -0.025, 0, 75.000, 0, 38 [SEP] 15, RemoteControl, 1.825, 0.762, 0.241, 0, 270, 0, 30 [SEP] 16, Watch, 1.525, 0.757, -0.058, 0, 270, 0, 30 [SEP] 17, Vase, -1.799, 1.315, -1.470, 0, 0, 0, 40 [SEP] 18, Statue, -1.568, 0.499, 1.624, 0, 0, 0, 37 [SEP] 19, Television, 1.826, 1.241, 0.248, 0, 270, 0, [SEP] 20, LightSwitch, -2.0, 1.332, 3.920, 0, 90, 0, [SEP] 21, Window, -0.216, 1.495, -1.878, 90, 0, 0, [SEP] 22, HousePlant, -1.780, 0.468, 1.965, 0, 0, 0, [SEP] 23, Painting, -2.0, 1.577, 0.418, 90, 270, 0, [SEP] 24, GarbageCan, 1.767, -0.001, 3.878, 0, 0, 0, [SEP] 25, FloorLamp, 1.228, 0.000, 3.744, 0, 0, 0, [SEP] 26, Painting, -0.096, 1.578, 4.050, 90, 0, 0, [SEP] 27, CoffeeTable, -0.150, 0.000, 0.421, 0, 270, 0, [SEP] 28, Shelf, 1.663, 0.474, 0.609, 0, 270, 0, [SEP] 29, Shelf, 1.663, 0.273, 0.609, 0, 270, 0, [SEP] 30, TVStand, 1.669, -0.000, 0.243, 0, 270, 0, [SEP] 31, Shelf, 1.663, 0.302, -0.124, 0, 270, 0, [SEP] 32, Shelf, 1.663, 0.442, 0.241, 0, 270, 0, [SEP] 33, Shelf, 1.663, 0.597, -0.124, 0, 270, 0, [SEP] 34, Shelf, 1.663, 0.643, 0.609, 0, 270, 0, [SEP] 35, Cabinet, -1.767, 0.729, -1.593, 0, 91.801, 0, [SEP] 36, Shelf, -1.769, 2.041, -1.593, 0, 91.801, 0, [SEP] 37, SideTable, -1.567, -0.002, 1.818, 0, 90, 0, [SEP] 38, Sofa, -1.445, 0.008, 0.420, 0, 90, 0, [SEP] 39, Shelf, -1.769, 1.744, -1.593, 0, 91.801, 0, [SEP] 40, Shelf, -1.768, 1.452, -1.593, 0, 91.801, 0, [SEP] 41, ArmChair, 0.396, 0.005, 2.194, 0, 180, 0, [SEP] 42, ArmChair, -0.633, 0.005, 2.194, 0, 180, 0, [SEP] 43, ShelvingUnit, -1.786, 0.001, -1.592, 0, 91.801, 0, [SEP] 44, NorthWall, , , , , , , [SEP] 45, EastWall, , , , , , , [SEP] 46, SouthWall, , , , , , , [SEP] 47, WestWall, , , , , , , ", "output": ["STEP 1: turn to face the television monitor and tv stand | STEP 2: pick up the remote closest to the edge of the tv stand | STEP 3: turn around to face the coffee table | STEP 4: put the remote on the coffee table in front of the right hand lap top computer | STEP 5: turn to face the television monitor and tv stand | STEP 6: pick up the remote from the tv stand | STEP 7: turn around to face the coffee table | STEP 8: put the remote on the coffee table to the right of the remote already there | END"]} +{"id": "trial_T20190908_122348_520607-2", "input": "Moving two remotes to the black coffee table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.0, 0.900, 0.75, 0, 90, 0, [SEP] 1, Watch, 1.456, 0.571, 0.662, 0, 270, 0, 28 [SEP] 2, Statue, 1.525, 0.770, 0.691, 0, 270, 0, 30 [SEP] 3, KeyChain, -1.428, 0.327, 0.44, 0, 90, 0, 38 [SEP] 4, KeyChain, -1.503, 0.489, 1.948, 0, 0, 0, 37 [SEP] 5, RemoteControl, -1.349, 0.329, 1.051, 0, 90, 0, 38 [SEP] 6, RemoteControl, 1.600, 0.762, 0.241, 0, 270, 0, 30 [SEP] 7, Laptop, -0.218, 0.475, -0.086, 0, 90, 0, 27 [SEP] 8, Box, -0.007, 0.65, 0.892, 0, 0, 0, 27 [SEP] 9, Laptop, -0.196, 0.470, 0.407, 0, 72.615, 0, 27 [SEP] 10, CreditCard, 1.901, 0.760, -0.208, 0, 270, 0, 30 [SEP] 11, KeyChain, -1.697, 0.489, 1.624, 0, 0, 0, 37 [SEP] 12, Vase, -1.438, 0.494, 1.818, 0, 0, 0, 37 [SEP] 13, Vase, -1.800, 1.616, -1.785, 0, 0, 0, 39 [SEP] 14, Pillow, -1.235, 0.461, -0.025, 0, 75.000, 0, 38 [SEP] 15, RemoteControl, 1.825, 0.762, 0.241, 0, 270, 0, 30 [SEP] 16, Watch, 1.525, 0.757, -0.058, 0, 270, 0, 30 [SEP] 17, Vase, -1.799, 1.315, -1.470, 0, 0, 0, 40 [SEP] 18, Statue, -1.568, 0.499, 1.624, 0, 0, 0, 37 [SEP] 19, Television, 1.826, 1.241, 0.248, 0, 270, 0, [SEP] 20, LightSwitch, -2.0, 1.332, 3.920, 0, 90, 0, [SEP] 21, Window, -0.216, 1.495, -1.878, 90, 0, 0, [SEP] 22, HousePlant, -1.780, 0.468, 1.965, 0, 0, 0, [SEP] 23, Painting, -2.0, 1.577, 0.418, 90, 270, 0, [SEP] 24, GarbageCan, 1.767, -0.001, 3.878, 0, 0, 0, [SEP] 25, FloorLamp, 1.228, 0.000, 3.744, 0, 0, 0, [SEP] 26, Painting, -0.096, 1.578, 4.050, 90, 0, 0, [SEP] 27, CoffeeTable, -0.150, 0.000, 0.421, 0, 270, 0, [SEP] 28, Shelf, 1.663, 0.474, 0.609, 0, 270, 0, [SEP] 29, Shelf, 1.663, 0.273, 0.609, 0, 270, 0, [SEP] 30, TVStand, 1.669, -0.000, 0.243, 0, 270, 0, [SEP] 31, Shelf, 1.663, 0.302, -0.124, 0, 270, 0, [SEP] 32, Shelf, 1.663, 0.442, 0.241, 0, 270, 0, [SEP] 33, Shelf, 1.663, 0.597, -0.124, 0, 270, 0, [SEP] 34, Shelf, 1.663, 0.643, 0.609, 0, 270, 0, [SEP] 35, Cabinet, -1.767, 0.729, -1.593, 0, 91.801, 0, [SEP] 36, Shelf, -1.769, 2.041, -1.593, 0, 91.801, 0, [SEP] 37, SideTable, -1.567, -0.002, 1.818, 0, 90, 0, [SEP] 38, Sofa, -1.445, 0.008, 0.420, 0, 90, 0, [SEP] 39, Shelf, -1.769, 1.744, -1.593, 0, 91.801, 0, [SEP] 40, Shelf, -1.768, 1.452, -1.593, 0, 91.801, 0, [SEP] 41, ArmChair, 0.396, 0.005, 2.194, 0, 180, 0, [SEP] 42, ArmChair, -0.633, 0.005, 2.194, 0, 180, 0, [SEP] 43, ShelvingUnit, -1.786, 0.001, -1.592, 0, 91.801, 0, [SEP] 44, NorthWall, , , , , , , [SEP] 45, EastWall, , , , , , , [SEP] 46, SouthWall, , , , , , , [SEP] 47, WestWall, , , , , , , ", "output": ["STEP 1: Move slightly to the right and face the TV stand | STEP 2: Grab the remote off of the TV stand | STEP 3: Turn around and face the black coffee table | STEP 4: Put the remote on the table | STEP 5: Turn around and face the TV stand | STEP 6: Grab the remote off of the TV stand | STEP 7: Turn around and face the coffee table | STEP 8: Put the remote on the table | END"]} +{"id": "trial_T20190909_003411_535762-2", "input": "Put a microwaved potato in the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, -1.5, 0, 0, 0, [SEP] 1, Pan, -0.036, 0.950, -2.576, 0, 270, 0, 66 [SEP] 2, Pan, -0.059, 1.111, 0.251, 0, 90, 0, 63 [SEP] 3, Statue, -0.197, 1.110, 0.757, 0, 270, 0, 63 [SEP] 4, Potato, -1.852, 0.800, -1.760, 0, 90, 0, 98 [SEP] 5, Potato, -2.040, 1.533, 1.092, 0, 90, 0, 96 [SEP] 6, Potato, 0.453, 0.941, -2.714, 0, 0, 0, 65 [SEP] 7, Plate, -2.080, 0.537, 0.920, 0, 90, 0, 96 [SEP] 8, Egg, 1.098, 0.945, -2.407, 0, 0, 0, 65 [SEP] 9, Egg, 1.098, 0.945, -2.253, 0, 0, 0, 65 [SEP] 10, Tomato, -0.197, 1.150, -0.001, 0, 0, 0, 63 [SEP] 11, SoapBottle, 0.324, 0.911, -2.253, 0, 0, 0, 65 [SEP] 12, SaltShaker, 0.840, 0.907, -2.637, 0, 0, 0, 65 [SEP] 13, SaltShaker, 0.969, 0.907, -2.407, 0, 0, 0, 65 [SEP] 14, Bread, -0.995, 0.983, -2.329, 0, 0, 0, 88 [SEP] 15, Bread, -0.335, 1.184, -0.506, 0, 0, 0, 63 [SEP] 16, Fork, -0.059, 1.112, -0.759, 0, 0, 0, 63 [SEP] 17, Fork, -1.963, 0.770, -1.242, 0, 180, 0, 98 [SEP] 18, Mug, -0.225, 1.785, -2.514, 0, 0, 0, 89 [SEP] 19, Mug, -1.963, 0.764, -1.328, 0, 90, 0, 98 [SEP] 20, Spatula, -2.018, 0.784, -1.673, 0, 180, 0, 98 [SEP] 21, Spatula, -1.611, 0.926, -2.695, 0, 90, 0, 88 [SEP] 22, Pot, -1.908, 0.774, -1.501, 0, 90, 0, 98 [SEP] 23, Pot, -2.040, 1.507, 0.925, 0, 90, 0, 96 [SEP] 24, Glassbottle, 1.891, 0.881, -2.563, 0, 180, 0, 90 [SEP] 25, WineBottle, -1.962, 0.048, 1.981, 0, 270, 0, 94 [SEP] 26, WineBottle, -0.782, 1.657, -2.640, 0, 0, 0, 77 [SEP] 27, DishSponge, 0.836, 0.314, -2.383, 0, 0, 0, 67 [SEP] 28, Book, 0.155, 1.1, 0.617, 0, 315, 0, 63 [SEP] 29, Glassbottle, -1.962, 0.048, 2.124, 0, 270, 0, 94 [SEP] 30, Knife, -0.335, 1.136, 0.251, 0, 0, 0, 63 [SEP] 31, Bread, 0.217, 1.184, -0.253, 0, 0, 0, 63 [SEP] 32, Fork, -1.693, 0.911, -0.513, 0, 0, 0, 88 [SEP] 33, Potato, 0.840, 0.941, -2.560, 0, 0, 0, 65 [SEP] 34, SoapBottle, 0.450, 0.141, -2.239, 0, 180, 0, 80 [SEP] 35, Kettle, -1.814, 0.130, 0.158, 0, 90, 0, 69 [SEP] 36, Pan, 0.721, 0.9, -2.415, 0, 0, 0, 65 [SEP] 37, Plate, -2.037, 0.795, 1.251, 0, 90, 0, 96 [SEP] 38, Tomato, 0.324, 0.949, -2.714, 0, 0, 0, 65 [SEP] 39, Vase, -0.912, 0.139, -2.453, 0, 0, 0, 81 [SEP] 40, Egg, -0.335, 1.146, -0.001, 0, 0, 0, 63 [SEP] 41, CreditCard, 1.007, 0.139, -2.286, 0, 0, 0, 83 [SEP] 42, Statue, -0.197, 1.110, -0.506, 0, 90, 0, 63 [SEP] 43, WineBottle, 1.993, 0.881, -2.509, 0, 180, 0, 90 [SEP] 44, Pot, -0.465, 0.950, -2.576, 0, 90, 0, 72 [SEP] 45, Spatula, -1.290, 0.926, -2.637, 0, 0, 0, 88 [SEP] 46, PaperTowelRoll, 1.685, 0.657, -2.718, 0, 180, 0, 93 [SEP] 47, Cup, -1.742, 0.767, -1.587, 0, 90, 0, 98 [SEP] 48, Vase, 0.453, 0.908, -2.407, 0, 0, 0, 65 [SEP] 49, Bowl, 2.100, 0.549, -2.562, 0, 180, 0, 93 [SEP] 50, SaltShaker, 1.122, 0.477, -2.331, 0, 0, 0, 71 [SEP] 51, PepperShaker, -1.438, 0.907, -2.253, 0, 0, 0, 88 [SEP] 52, Lettuce, -2.070, 1.388, 1.008, 0, 90, 0, 96 [SEP] 53, ButterKnife, -0.335, 1.111, 0.504, 0, 0, 0, 63 [SEP] 54, Apple, -0.335, 1.162, -0.253, 0, 0, 0, 63 [SEP] 55, DishSponge, 0.079, 1.111, -0.001, 0, 0, 0, 63 [SEP] 56, Spoon, 0.969, 0.911, -2.253, 0, 0, 0, 65 [SEP] 57, Mug, 0.582, 0.905, -2.253, 0, 0, 0, 65 [SEP] 58, StoveBurner, -0.036, 0.915, -2.372, 0, 0, 0, [SEP] 59, Drawer, 0.949, 0.832, -2.197, 0, 0, 0, [SEP] 60, Drawer, -1.560, 0.839, 0.204, 0, 90, 0, [SEP] 61, StoveBurner, -0.465, 0.915, -2.371, 0, 180, 0, [SEP] 62, Drawer, -1.560, 0.839, -0.197, 0, 90, 0, [SEP] 63, CounterTop, -0.079, 1.147, -0.001, 0, 0, 0, [SEP] 64, Cabinet, -1.549, 0.494, -1.964, 0, 90, 0, [SEP] 65, CounterTop, 0.693, 0.946, -2.483, 0, 0, 0, [SEP] 66, StoveBurner, -0.036, 0.915, -2.576, 0, 0, 0, [SEP] 67, Drawer, 0.949, 0.393, -2.200, 0, 0, 0, [SEP] 68, Drawer, 0.949, 0.708, -2.200, 0, 0, 0, [SEP] 69, Cabinet, -1.549, 0.494, 0.379, 0, 90, 0, [SEP] 70, StoveKnob, -0.022, 0.881, -2.187, 45, 0, 0, [SEP] 71, Drawer, 0.949, 0.560, -2.201, 0, 0, 0, [SEP] 72, StoveBurner, -0.465, 0.915, -2.575, 0, 180, 0, [SEP] 73, Window, -2.230, 1.429, -1.203, 0, 0, 0, [SEP] 74, StoveKnob, -0.483, 0.881, -2.187, 45, 0, 0, [SEP] 75, Sink, -1.899, 0.964, -1.5, 0, 90, 0, [SEP] 76, StoveKnob, -0.328, 0.881, -2.187, 45, 0, 0, [SEP] 77, Cabinet, -0.727, 2.015, -2.460, 0, 0, 0, [SEP] 78, Drawer, -1.560, 0.655, -0.196, 0, 90, 0, [SEP] 79, Cabinet, -1.685, 2.015, -2.461, 0, 0, 0, [SEP] 80, Cabinet, 0.680, 0.494, -2.200, 0, 0, 0, [SEP] 81, Cabinet, -1.179, 0.494, -2.200, 0, 0, 0, [SEP] 82, Cabinet, -1.849, 2.015, 0.379, 0, 90, 0, [SEP] 83, Drawer, 0.949, 0.221, -2.200, 0, 0, 0, [SEP] 84, StoveKnob, -0.183, 0.881, -2.187, 45, 0, 0, [SEP] 85, Cabinet, 0.719, 2.015, -2.460, 0, 0, 0, [SEP] 86, Drawer, -1.560, 0.331, -0.196, 0, 90, 0, [SEP] 87, Cabinet, 0.680, 2.015, -2.460, 0, 0, 0, [SEP] 88, CounterTop, -1.868, 0.946, -1.205, 0, 0, 0, [SEP] 89, Microwave, -0.236, 1.689, -2.525, 0, 0, 0, [SEP] 90, Shelf, 1.751, 0.880, -2.560, 0, 0, 0, [SEP] 91, HousePlant, -1.948, 0.889, -2.520, 0, 5.334, 0, [SEP] 92, Toaster, -1.835, 0.900, 0.134, 0, 90, 0, [SEP] 93, Shelf, 1.750, 0.552, -2.559, 0, 0, 0, [SEP] 94, GarbageCan, -1.935, -0.002, 2.029, 0, 270, 0, [SEP] 95, Shelf, 1.750, 0.172, -2.559, 0, 0, 0, [SEP] 96, Fridge, -2.096, 0.0, 1.088, 0, 0, 0, [SEP] 97, CoffeeMachine, -1.977, 0.900, -0.188, 0, 90, 0, [SEP] 98, SinkBasin, -1.908, 0.759, -1.488, 0, 90, 0, [SEP] 99, LightSwitch, 2.329, 1.309, -0.159, 0, 270, 0, [SEP] 100, ShelvingUnit, 1.750, 0.006, -2.559, 0, 0, 0, [SEP] 101, Stool, 0.702, 0.000, -0.514, 1.202, 65.108, 0, [SEP] 102, Stool, 0.743, 0.000, 0.563, 1.227, 106.706, 0, [SEP] 103, Faucet, -2.070, 1.132, -1.514, 0, 0, 0, [SEP] 104, NorthWall, , , , , , , [SEP] 105, EastWall, , , , , , , [SEP] 106, SouthWall, , , , , , , [SEP] 107, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and take a step then turn right and walk to the counter. | STEP 2: Pick up the potato that's in front of you in the sink to the left of the pot. | STEP 3: Turn around and take a step then turn right to face the stove. | STEP 4: Look up and cook the potato in the microwave then take it back out and close the door. | STEP 5: Turn right and walk to the sink then step to your right. | STEP 6: Put the potato in the sink. | END"]} +{"id": "trial_T20190909_013620_927181-0", "input": "Move an alarm clock to the nightstand. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.0, 0.900, -2.0, 0, 90, 0, [SEP] 1, CD, -1.085, 0.679, -2.464, 0, 0, 0, 35 [SEP] 2, CD, 1.082, 0.374, -2.399, 0, 0, 0, 39 [SEP] 3, CellPhone, -0.741, 0.619, 0.910, 0, 180, 0, 34 [SEP] 4, CellPhone, -0.121, 0.620, 0.599, 0, 180, 0, 34 [SEP] 5, Pen, 1.055, 0.681, -2.553, 0, 180, 0, 36 [SEP] 6, Pen, -1.204, 0.681, -2.374, 0, 0, 0, 35 [SEP] 7, CreditCard, -1.263, 0.675, -2.464, 0, 0, 0, 35 [SEP] 8, CreditCard, -1.204, 0.082, -2.399, 0, 0, 0, 38 [SEP] 9, Box, 2.453, 0.222, -0.041, 0, 0, 0, [SEP] 10, Book, 0.247, 0.555, -1.211, 0, 0, 0, 22 [SEP] 11, KeyChain, -0.276, 0.620, 1.066, 0, 270, 0, 34 [SEP] 12, Pillow, 0.192, 0.607, -2.307, 0, 0, 0, 22 [SEP] 13, BaseballBat, 0.419, 0.666, 1.044, 10.360, 0, 0, [SEP] 14, Pencil, -1.322, 0.685, -2.553, 0, 0, 0, 35 [SEP] 15, CellPhone, 0.188, 0.619, 1.066, 0, 180, 0, 34 [SEP] 16, CreditCard, -1.290, 0.374, -2.423, 0, 0, 0, 40 [SEP] 17, Pen, 1.114, 0.685, -2.374, 0, 0, 0, 36 [SEP] 18, Laptop, 0.247, 0.554, -1.657, 0, 0, 0, 22 [SEP] 19, AlarmClock, -0.121, 0.621, 0.988, 0, 180, 0, 34 [SEP] 20, CD, 0.909, 0.374, -2.423, 0, 0, 0, 39 [SEP] 21, Mug, -0.431, 0.618, 0.910, 0, 180, 0, 34 [SEP] 22, Bed, -0.118, -0.001, -1.699, 0, 180, 0, [SEP] 23, Mirror, 2.644, 1.347, 0.384, 0, 90, 0, [SEP] 24, GarbageCan, 2.467, -0.029, 0.936, 0, 271.107, 0, [SEP] 25, LightSwitch, 0.333, 1.256, 1.149, 0, 180, 0, [SEP] 26, DeskLamp, 0.915, 0.670, -2.435, 0, 0, 0, [SEP] 27, Painting, 0.003, 1.562, -2.687, 90, 180, 0, [SEP] 28, Window, -1.559, 1.414, -1.356, 90, 270, 0, [SEP] 29, Window, -1.559, 1.414, -0.057, 90, 270, 0, [SEP] 30, Shelf, -0.276, 0.351, 0.832, 0, 0, 0, [SEP] 31, Shelf, -0.276, 0.099, 0.832, 0, 0, 0, [SEP] 32, Blinds, -1.462, 2.157, -1.343, 0, 90, 0, [SEP] 33, Blinds, -1.462, 2.157, -0.046, 0, 90, 0, [SEP] 34, Desk, -0.276, -0.001, 0.833, 0, 0, 0, [SEP] 35, SideTable, -1.204, 0.002, -2.456, 0, 0, 0, [SEP] 36, SideTable, 0.948, 0.002, -2.456, 0, 0, 0, [SEP] 37, Drawer, 0.948, 0.166, -2.389, 0, 0, 0, [SEP] 38, Drawer, -1.204, 0.166, -2.389, 0, 0, 0, [SEP] 39, Drawer, 0.948, 0.458, -2.389, 0, 0, 0, [SEP] 40, Drawer, -1.204, 0.458, -2.389, 0, 0, 0, [SEP] 41, , , , , , , , [SEP] 42, NorthWall, , , , , , , [SEP] 43, EastWall, , , , , , , [SEP] 44, SouthWall, , , , , , , [SEP] 45, WestWall, , , , , , , ", "output": ["STEP 1: Turn left, walk to the edge of the bed, turn left again, walk a few steps, then turn right to face the table. | STEP 2: Pick up the alarm clock that is sitting on the table. | STEP 3: Turn to the left, walk to the window, then turn left again and walk up to the nightstand. | STEP 4: Place the alarm clock down on the nightstand, behind the CD. | END"]} +{"id": "trial_T20190909_013620_927181-1", "input": "To move an alarm clock to the night stand. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.0, 0.900, -2.0, 0, 90, 0, [SEP] 1, CD, -1.085, 0.679, -2.464, 0, 0, 0, 35 [SEP] 2, CD, 1.082, 0.374, -2.399, 0, 0, 0, 39 [SEP] 3, CellPhone, -0.741, 0.619, 0.910, 0, 180, 0, 34 [SEP] 4, CellPhone, -0.121, 0.620, 0.599, 0, 180, 0, 34 [SEP] 5, Pen, 1.055, 0.681, -2.553, 0, 180, 0, 36 [SEP] 6, Pen, -1.204, 0.681, -2.374, 0, 0, 0, 35 [SEP] 7, CreditCard, -1.263, 0.675, -2.464, 0, 0, 0, 35 [SEP] 8, CreditCard, -1.204, 0.082, -2.399, 0, 0, 0, 38 [SEP] 9, Box, 2.453, 0.222, -0.041, 0, 0, 0, [SEP] 10, Book, 0.247, 0.555, -1.211, 0, 0, 0, 22 [SEP] 11, KeyChain, -0.276, 0.620, 1.066, 0, 270, 0, 34 [SEP] 12, Pillow, 0.192, 0.607, -2.307, 0, 0, 0, 22 [SEP] 13, BaseballBat, 0.419, 0.666, 1.044, 10.360, 0, 0, [SEP] 14, Pencil, -1.322, 0.685, -2.553, 0, 0, 0, 35 [SEP] 15, CellPhone, 0.188, 0.619, 1.066, 0, 180, 0, 34 [SEP] 16, CreditCard, -1.290, 0.374, -2.423, 0, 0, 0, 40 [SEP] 17, Pen, 1.114, 0.685, -2.374, 0, 0, 0, 36 [SEP] 18, Laptop, 0.247, 0.554, -1.657, 0, 0, 0, 22 [SEP] 19, AlarmClock, -0.121, 0.621, 0.988, 0, 180, 0, 34 [SEP] 20, CD, 0.909, 0.374, -2.423, 0, 0, 0, 39 [SEP] 21, Mug, -0.431, 0.618, 0.910, 0, 180, 0, 34 [SEP] 22, Bed, -0.118, -0.001, -1.699, 0, 180, 0, [SEP] 23, Mirror, 2.644, 1.347, 0.384, 0, 90, 0, [SEP] 24, GarbageCan, 2.467, -0.029, 0.936, 0, 271.107, 0, [SEP] 25, LightSwitch, 0.333, 1.256, 1.149, 0, 180, 0, [SEP] 26, DeskLamp, 0.915, 0.670, -2.435, 0, 0, 0, [SEP] 27, Painting, 0.003, 1.562, -2.687, 90, 180, 0, [SEP] 28, Window, -1.559, 1.414, -1.356, 90, 270, 0, [SEP] 29, Window, -1.559, 1.414, -0.057, 90, 270, 0, [SEP] 30, Shelf, -0.276, 0.351, 0.832, 0, 0, 0, [SEP] 31, Shelf, -0.276, 0.099, 0.832, 0, 0, 0, [SEP] 32, Blinds, -1.462, 2.157, -1.343, 0, 90, 0, [SEP] 33, Blinds, -1.462, 2.157, -0.046, 0, 90, 0, [SEP] 34, Desk, -0.276, -0.001, 0.833, 0, 0, 0, [SEP] 35, SideTable, -1.204, 0.002, -2.456, 0, 0, 0, [SEP] 36, SideTable, 0.948, 0.002, -2.456, 0, 0, 0, [SEP] 37, Drawer, 0.948, 0.166, -2.389, 0, 0, 0, [SEP] 38, Drawer, -1.204, 0.166, -2.389, 0, 0, 0, [SEP] 39, Drawer, 0.948, 0.458, -2.389, 0, 0, 0, [SEP] 40, Drawer, -1.204, 0.458, -2.389, 0, 0, 0, [SEP] 41, , , , , , , , [SEP] 42, NorthWall, , , , , , , [SEP] 43, EastWall, , , , , , , [SEP] 44, SouthWall, , , , , , , [SEP] 45, WestWall, , , , , , , ", "output": ["STEP 1: Turn left, turn left after the led and turn right to face the right side of the dresser. | STEP 2: Pick up the alarm clock to the right of the keys. | STEP 3: Turn left, turn left at the window, walk up to the night stand to the right of the bed. | STEP 4: Put the alarm clock on the night stand behind the CD. | END"]} +{"id": "trial_T20190909_053747_027840-0", "input": "Move two DVDs from the desk to the safe by the bed. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.900, -0.25, 0, 270, 0, [SEP] 1, Bowl, -1.283, 1.824, -1.256, 0, 0, 0, 34 [SEP] 2, Bowl, -1.283, 1.824, -0.603, 0, 0, 0, 33 [SEP] 3, CD, -0.911, 0.792, -0.814, 0, 0, 0, 47 [SEP] 4, CD, 0.504, 0.673, -1.586, 0, 0, 0, 46 [SEP] 5, CD, -1.309, 1.822, -0.778, 0, 0, 0, 33 [SEP] 6, Pencil, 0.414, 0.677, -1.684, 0, 0, 0, 46 [SEP] 7, Pen, -1.259, 0.798, -1.632, 0, 0, 0, 47 [SEP] 8, CreditCard, 0.190, 0.082, 1.286, 0, 0, 0, 40 [SEP] 9, KeyChain, -1.052, 0.793, -1.243, 0, 0, 0, 47 [SEP] 10, Book, -0.964, 0.794, -1.568, 0, 0, 0, 47 [SEP] 11, AlarmClock, -1.259, 0.794, -1.440, 0, 0, 0, 47 [SEP] 12, AlarmClock, 0.301, 0.673, 1.301, 0, 0, 0, 39 [SEP] 13, Book, 1.676, 0.578, -1.615, 0, 0, 0, 48 [SEP] 14, Pencil, 0.227, 0.684, 1.167, 0, 0, 0, 39 [SEP] 15, Laptop, 1.098, 0.574, -0.408, 0, 0, 0, 48 [SEP] 16, Pen, -1.194, 0.798, -0.385, 0, 0, 0, 47 [SEP] 17, TennisRacket, -1.226, 0.301, -0.069, 15.000, 180, 180, [SEP] 18, TeddyBear, 1.629, 0.557, -1.064, 0, 118.287, 0, 48 [SEP] 19, Pillow, 1.215, 0.641, -1.663, 0, 0, 0, 26 [SEP] 20, CellPhone, -1.230, 1.461, -0.339, 0, 0, 0, 32 [SEP] 21, KeyChain, -0.670, 0.793, -1.632, 0, 0, 0, 47 [SEP] 22, AlarmClock, -1.265, 0.794, -0.385, 0, 0, 0, 47 [SEP] 23, CreditCard, -0.450, 0.836, -2.038, 0, 0, 0, 30 [SEP] 24, CD, -0.523, 0.792, -1.824, 0, 0, 0, 47 [SEP] 25, Bowl, -1.283, 1.460, -0.515, 0, 0, 0, 32 [SEP] 26, Bed, 1.242, -0.001, -0.881, 0, 180, 0, [SEP] 27, LightSwitch, 0.010, 1.315, 1.499, 0, 180, 0, [SEP] 28, GarbageCan, 0.840, 0.007, 1.337, 0, 180, 2.168, [SEP] 29, HousePlant, -0.083, 0.828, -2.045, 0, 0, 0, [SEP] 30, Shelf, -0.469, 0.828, -2.038, 0, 0, 0, [SEP] 31, Shelf, -1.286, 1.451, -1.343, 0, 0, 0, [SEP] 32, Shelf, -1.286, 1.451, -0.602, 0, 0, 0, [SEP] 33, Shelf, -1.286, 1.814, -0.602, 0, 0, 0, [SEP] 34, Shelf, -1.286, 1.814, -1.343, 0, 0, 0, [SEP] 35, Painting, 1.111, 1.628, -1.865, 90, 0, 0, [SEP] 36, DeskLamp, 0.473, 0.669, 1.350, 0, 0, 0, [SEP] 37, Mirror, -1.383, 1.565, 0.512, 0, 270, 0, [SEP] 38, Window, -0.472, 1.396, -2.252, 90, 0, 0, [SEP] 39, SideTable, 0.304, -0.001, 1.225, 0, 180, 0, [SEP] 40, Drawer, 0.304, 0.165, 1.159, 0, 180, 0, [SEP] 41, Drawer, 0.304, 0.457, 1.159, 0, 180, 0, [SEP] 42, Blinds, -0.453, 2.156, -2.242, 0, 0, 0, [SEP] 43, Safe, 1.623, 5.960, 0.448, 0, 270, 0, [SEP] 44, Chair, -0.683, 0.000, -1.326, 0, 217.223, 0, [SEP] 45, Drawer, 0.416, 0.532, -1.553, 0, 0, 0, [SEP] 46, SideTable, 0.413, 0.000, -1.684, 0, 0, 0, [SEP] 47, Desk, -0.788, 0.000, -1.032, 0, 90, 0, [SEP] 48, , , , , , , , [SEP] 49, NorthWall, , , , , , , [SEP] 50, EastWall, , , , , , , [SEP] 51, SouthWall, , , , , , , [SEP] 52, WestWall, , , , , , , ", "output": ["STEP 1: Turn and go to the desk. | STEP 2: Pick up a DVD on the desk. | STEP 3: Turn and go to the safe by the bed. | STEP 4: Put the DVD in the safe by the bed. | STEP 5: Turn and go to the desk. | STEP 6: Pick up a DVD on the desk. | STEP 7: Turn and go to the safe by the bed. | STEP 8: Put the DVD in the safe by the bed. | END"]} +{"id": "trial_T20190909_053747_027840-1", "input": "Retrieve two discs and put them into the safe. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.900, -0.25, 0, 270, 0, [SEP] 1, Bowl, -1.283, 1.824, -1.256, 0, 0, 0, 34 [SEP] 2, Bowl, -1.283, 1.824, -0.603, 0, 0, 0, 33 [SEP] 3, CD, -0.911, 0.792, -0.814, 0, 0, 0, 47 [SEP] 4, CD, 0.504, 0.673, -1.586, 0, 0, 0, 46 [SEP] 5, CD, -1.309, 1.822, -0.778, 0, 0, 0, 33 [SEP] 6, Pencil, 0.414, 0.677, -1.684, 0, 0, 0, 46 [SEP] 7, Pen, -1.259, 0.798, -1.632, 0, 0, 0, 47 [SEP] 8, CreditCard, 0.190, 0.082, 1.286, 0, 0, 0, 40 [SEP] 9, KeyChain, -1.052, 0.793, -1.243, 0, 0, 0, 47 [SEP] 10, Book, -0.964, 0.794, -1.568, 0, 0, 0, 47 [SEP] 11, AlarmClock, -1.259, 0.794, -1.440, 0, 0, 0, 47 [SEP] 12, AlarmClock, 0.301, 0.673, 1.301, 0, 0, 0, 39 [SEP] 13, Book, 1.676, 0.578, -1.615, 0, 0, 0, 48 [SEP] 14, Pencil, 0.227, 0.684, 1.167, 0, 0, 0, 39 [SEP] 15, Laptop, 1.098, 0.574, -0.408, 0, 0, 0, 48 [SEP] 16, Pen, -1.194, 0.798, -0.385, 0, 0, 0, 47 [SEP] 17, TennisRacket, -1.226, 0.301, -0.069, 15.000, 180, 180, [SEP] 18, TeddyBear, 1.629, 0.557, -1.064, 0, 118.287, 0, 48 [SEP] 19, Pillow, 1.215, 0.641, -1.663, 0, 0, 0, 26 [SEP] 20, CellPhone, -1.230, 1.461, -0.339, 0, 0, 0, 32 [SEP] 21, KeyChain, -0.670, 0.793, -1.632, 0, 0, 0, 47 [SEP] 22, AlarmClock, -1.265, 0.794, -0.385, 0, 0, 0, 47 [SEP] 23, CreditCard, -0.450, 0.836, -2.038, 0, 0, 0, 30 [SEP] 24, CD, -0.523, 0.792, -1.824, 0, 0, 0, 47 [SEP] 25, Bowl, -1.283, 1.460, -0.515, 0, 0, 0, 32 [SEP] 26, Bed, 1.242, -0.001, -0.881, 0, 180, 0, [SEP] 27, LightSwitch, 0.010, 1.315, 1.499, 0, 180, 0, [SEP] 28, GarbageCan, 0.840, 0.007, 1.337, 0, 180, 2.168, [SEP] 29, HousePlant, -0.083, 0.828, -2.045, 0, 0, 0, [SEP] 30, Shelf, -0.469, 0.828, -2.038, 0, 0, 0, [SEP] 31, Shelf, -1.286, 1.451, -1.343, 0, 0, 0, [SEP] 32, Shelf, -1.286, 1.451, -0.602, 0, 0, 0, [SEP] 33, Shelf, -1.286, 1.814, -0.602, 0, 0, 0, [SEP] 34, Shelf, -1.286, 1.814, -1.343, 0, 0, 0, [SEP] 35, Painting, 1.111, 1.628, -1.865, 90, 0, 0, [SEP] 36, DeskLamp, 0.473, 0.669, 1.350, 0, 0, 0, [SEP] 37, Mirror, -1.383, 1.565, 0.512, 0, 270, 0, [SEP] 38, Window, -0.472, 1.396, -2.252, 90, 0, 0, [SEP] 39, SideTable, 0.304, -0.001, 1.225, 0, 180, 0, [SEP] 40, Drawer, 0.304, 0.165, 1.159, 0, 180, 0, [SEP] 41, Drawer, 0.304, 0.457, 1.159, 0, 180, 0, [SEP] 42, Blinds, -0.453, 2.156, -2.242, 0, 0, 0, [SEP] 43, Safe, 1.623, 5.960, 0.448, 0, 270, 0, [SEP] 44, Chair, -0.683, 0.000, -1.326, 0, 217.223, 0, [SEP] 45, Drawer, 0.416, 0.532, -1.553, 0, 0, 0, [SEP] 46, SideTable, 0.413, 0.000, -1.684, 0, 0, 0, [SEP] 47, Desk, -0.788, 0.000, -1.032, 0, 90, 0, [SEP] 48, , , , , , , , [SEP] 49, NorthWall, , , , , , , [SEP] 50, EastWall, , , , , , , [SEP] 51, SouthWall, , , , , , , [SEP] 52, WestWall, , , , , , , ", "output": ["STEP 1: Turn left, walk over to the desk | STEP 2: Pick up the disc from the desk | STEP 3: Turn right, walk to the safe on the floor | STEP 4: Put the disc into the safe | STEP 5: Move back to the left side of the desk | STEP 6: Pick up the disc from the desk | STEP 7: Move back to the safe with the disc | STEP 8: Put the disc into the safe | END"]} +{"id": "trial_T20190908_032123_869207-2", "input": "Examine a box by the light of a floor lamp SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.998, -1.5, 0, 0, 0, [SEP] 1, Vase, -1.222, 0.459, -0.578, 0, 0, 0, 29 [SEP] 2, CreditCard, 0.254, 0.860, -2.457, 0, 90, 0, 36 [SEP] 3, CreditCard, -0.345, 0.972, -2.533, 0, 90, 0, 37 [SEP] 4, Laptop, -0.557, 0.523, 0.897, 0, 0, 0, 33 [SEP] 5, Box, -2.863, 1.03, -0.958, 0, 0, 0, 28 [SEP] 6, Pillow, 0.629, 0.482, -1.667, 0, 0, 0, 25 [SEP] 7, CreditCard, -0.906, 0.524, 0.835, 0, 0, 0, 33 [SEP] 8, Plate, -3.429, 0.885, -0.992, 0, 0, 0, 28 [SEP] 9, Laptop, -1.091, 0.452, -0.817, 0, 0, 0, 29 [SEP] 10, RemoteControl, -0.695, 0.455, -0.578, 0, 0, 0, 29 [SEP] 11, Vase, -4.094, 0.886, -1.287, 0, 0, 0, 28 [SEP] 12, Statue, 0.257, 0.965, -2.518, 0, 0, 0, 37 [SEP] 13, KeyChain, -0.240, 0.972, -2.572, 0, 90, 0, 37 [SEP] 14, Pen, -0.827, 0.459, -0.498, 0, 0, 0, 29 [SEP] 15, Curtains, -3.013, 1.557, -3.082, 0, 0, 0, [SEP] 16, Television, -1.063, 0.939, -2.439, 0, 0, 0, [SEP] 17, HousePlant, 0.753, 0.855, -2.467, 0, 215.129, 0, [SEP] 18, HousePlant, 0.739, 0.855, -1.159, 0, 310.776, 0, [SEP] 19, FloorLamp, -2.186, 0.096, 1.111, 0, 0, 0, [SEP] 20, GarbageCan, -1.946, 0.097, -2.899, 0, 216.243, 0, [SEP] 21, Painting, -4.326, 1.817, -1.223, 90, 270, 0, [SEP] 22, Window, 0.010, 1.087, 0.001, 90, 270, 0, [SEP] 23, Window, -2.983, 1.544, -3.220, 90, 180, 0, [SEP] 24, LightSwitch, -3.907, 1.371, 1.386, 0, 180, 0, [SEP] 25, ArmChair, 0.662, 0.103, -1.781, 0, 270, 0, [SEP] 26, Stool, 0.765, 0.108, -1.148, 0, 0, 0, [SEP] 27, Stool, 0.765, 0.108, -2.460, 0, 35.380, 0, [SEP] 28, DiningTable, -3.428, 0.099, -1.188, 0, 0, 0, [SEP] 29, CoffeeTable, -1.090, 0.097, -0.737, 0, 0, 0, [SEP] 30, Chair, -3.793, 0.098, -0.841, 0, 164.999, 0, [SEP] 31, Chair, -3.073, 0.098, -1.515, 0, 11.313, 0, [SEP] 32, Chair, -3.810, 0.098, -1.549, 0, 352.857, 0, [SEP] 33, Sofa, -0.905, 0.099, 0.959, 0, 180, 0, [SEP] 34, CoffeeTable, -1.046, 0.096, -2.473, 0, 180, 0, [SEP] 35, Chair, -3.068, 0.098, -0.882, 0, 180, 0, [SEP] 36, Drawer, -0.031, 0.872, -2.487, 0, 0, 0, [SEP] 37, SideTable, -0.030, 0.097, -2.552, 0, 0, 0, [SEP] 38, NorthWall, , , , , , , [SEP] 39, EastWall, , , , , , , [SEP] 40, SouthWall, , , , , , , [SEP] 41, WestWall, , , , , , , ", "output": ["STEP 1: tale a few steps forward and turn to the left and go to the table | STEP 2: pick up the box from the table | STEP 3: turn to the right and go to the floor lamp | STEP 4: turn on the floor lamp | END"]} +{"id": "trial_T20190907_142356_491136-0", "input": "Put a cleaned tomato on the table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.900, 2.5, 0, 90, 0, [SEP] 1, Potato, -0.415, 1.259, 0.344, 0, 0, 0, 68 [SEP] 2, Potato, -1.465, 0.962, 0.290, 0, 0, 0, 67 [SEP] 3, ButterKnife, -0.415, 1.047, 2.144, 0, 0, 0, 45 [SEP] 4, Pot, -3.000, 1.133, 0.227, 0, 270, 0, 59 [SEP] 5, Pot, -3.572, 1.291, 2.920, 0, 90, 0, 62 [SEP] 6, Fork, -0.662, 1.047, 2.593, 0, 0, 0, 45 [SEP] 7, Fork, -0.538, 1.048, 2.144, 0, 0, 0, 45 [SEP] 8, Spoon, -2.648, 0.903, 0.544, 0, 90, 0, 54 [SEP] 9, Spoon, -1.465, 0.932, 0.498, 0, 0, 0, 67 [SEP] 10, Spatula, -0.659, 1.139, 0.296, 0, 0, 0, 57 [SEP] 11, Egg, -0.538, 1.077, 3.042, 0, 0, 0, 45 [SEP] 12, Egg, -3.814, 1.155, 0.662, 0, 0, 0, 52 [SEP] 13, Knife, -1.465, 0.963, 0.359, 0, 0, 0, 67 [SEP] 14, SoapBottle, -3.747, 0.113, 2.008, 0, 0, 0, 66 [SEP] 15, Bowl, -1.522, 0.046, 0.495, 0, 0, 0, 60 [SEP] 16, Lettuce, -0.662, 1.125, 3.042, 0, 0, 0, 45 [SEP] 17, Apple, -3.572, 0.979, 2.849, 0, 90, 0, 62 [SEP] 18, Fork, -0.715, 1.125, 0.569, 0, 0, 0, 57 [SEP] 19, SoapBottle, -1.948, 0.487, 0.579, 0, 0, 0, 46 [SEP] 20, Pot, -3.373, 1.564, 2.920, 0, 90, 0, 62 [SEP] 21, Ladle, -3.778, 1.164, 0.190, 0, 90, 0, 52 [SEP] 22, Potato, -3.639, 1.317, 3.203, 0, 90, 0, 62 [SEP] 23, Plate, -1.193, 0.921, 0.403, 0, 0, 0, 67 [SEP] 24, Bread, -2.639, 1.211, 0.567, 0, 0, 0, 55 [SEP] 25, Lettuce, -0.785, 1.125, 2.593, 0, 0, 0, 45 [SEP] 26, Spatula, -0.415, 1.063, 2.817, 0, 0, 0, 45 [SEP] 27, Pan, -0.266, 1.038, 2.561, 0, 0, 0, 45 [SEP] 28, Egg, -1.642, 0.961, 0.567, 0, 0, 0, 67 [SEP] 29, Cup, -3.373, 0.909, 2.920, 0, 90, 0, 62 [SEP] 30, SaltShaker, -0.785, 1.044, 2.144, 0, 0, 0, 45 [SEP] 31, Knife, -2.262, 1.157, 0.284, 0, 0, 0, 55 [SEP] 32, Bowl, -1.235, 0.047, 0.437, 0, 0, 0, 49 [SEP] 33, PepperShaker, -1.948, 0.091, 0.512, 0, 0, 0, 47 [SEP] 34, ButterKnife, -0.538, 1.048, 3.266, 0, 0, 0, 45 [SEP] 35, Apple, -0.785, 1.114, 2.817, 0, 0, 0, 45 [SEP] 36, Tomato, -0.785, 1.087, 3.266, 0, 0, 0, 45 [SEP] 37, DishSponge, -0.908, 1.046, 1.920, 0, 0, 0, 45 [SEP] 38, Spoon, -2.137, 1.126, 0.567, 0, 0, 0, 55 [SEP] 39, Mug, -0.377, 1.094, 3.194, 0, 270, 0, 61 [SEP] 40, StoveKnob, -3.322, 1.053, 0.709, 45, 0, 0, [SEP] 41, StoveBurner, -3.474, 1.097, 0.227, 0, 180, 0, [SEP] 42, Sink, -1.394, 0.982, 0.439, 0, 0, 0, [SEP] 43, StoveBurner, -3.474, 1.097, 0.479, 0, 180, 0, [SEP] 44, StoveKnob, -3.164, 1.053, 0.709, 45, 0, 0, [SEP] 45, DiningTable, -0.620, 0.017, 2.486, 0, 0, 0, [SEP] 46, Drawer, -2.043, 0.608, 0.594, 0, 0, 0, [SEP] 47, Drawer, -2.043, 0.216, 0.594, 0, 0, 0, [SEP] 48, Drawer, -2.498, 0.216, 0.594, 0, 0, 0, [SEP] 49, Cabinet, -1.001, 0.393, 0.734, 0, 0, 0, [SEP] 50, StoveBurner, -3.000, 1.097, 0.480, 0, 0, 0, [SEP] 51, StoveKnob, -3.492, 1.053, 0.709, 45, 0, 0, [SEP] 52, CounterTop, -3.856, 1.160, 0.379, 0, 0, 0, [SEP] 53, Drawer, -2.043, 0.937, 0.599, 0, 0, 0, [SEP] 54, Drawer, -2.509, 0.937, 0.599, 0, 0, 0, [SEP] 55, CounterTop, -2.280, 1.160, 0.379, 0, 0, 0, [SEP] 56, StoveKnob, -2.985, 1.053, 0.709, 45, 0, 0, [SEP] 57, CounterTop, -0.514, 1.160, 0.492, 0, 0, 0, [SEP] 58, Drawer, -2.498, 0.608, 0.594, 0, 0, 0, [SEP] 59, StoveBurner, -3.000, 1.097, 0.227, 0, 0, 0, [SEP] 60, Cabinet, -1.733, 0.393, 0.734, 0, 0, 0, [SEP] 61, CoffeeMachine, -0.153, 1.038, 3.193, 0, 270, 0, [SEP] 62, Fridge, -3.519, 0.0, 2.717, 0, 90, 0, [SEP] 63, Window, -1.394, 1.924, 0.014, 90, 0, 0, [SEP] 64, Window, -3.266, 1.924, 0.014, 90, 0, 0, [SEP] 65, Toaster, -0.225, 1.038, 2.865, 0, 270, 0, [SEP] 66, GarbageCan, -3.696, 0.002, 2.008, 0, 0, 0, [SEP] 67, SinkBasin, -1.389, 0.921, 0.428, 0, 0, 0, [SEP] 68, Microwave, -0.366, 1.113, 0.430, 0, 0, 0, [SEP] 69, HousePlant, -2.155, 1.101, 0.169, 0, 332.897, 0, [SEP] 70, LightSwitch, -2.584, 1.299, 3.5, 0, 180, 0, [SEP] 71, Faucet, -1.393, 1.373, 0.168, 0, 270, 0, [SEP] 72, NorthWall, , , , , , , [SEP] 73, SouthWall, , , , , , , [SEP] 74, SouthWall, , , , , , , ", "output": ["STEP 1: Head to to the left side of the table by the tomato. | STEP 2: Pick up the tomato on the table. | STEP 3: Bring the tomato to the sink on the right. | STEP 4: Wash the tomato in the sink. | STEP 5: Bring the tomato back to the table behind you. | STEP 6: Put the tomato on the table in front of the lettuce. | END"]} +{"id": "trial_T20190907_001809_887455-1", "input": "place keys on the left chair in the living room SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 13.0, 0.902, 3.0, 0, 90, 0, [SEP] 1, Statue, 10.651, 0.597, 0.863, 0, 0, 0, 43 [SEP] 2, Statue, 14.038, 0.761, 1.303, 0, 0, 0, 36 [SEP] 3, KeyChain, 14.331, 0.755, 1.303, 0, 0, 0, 36 [SEP] 4, KeyChain, 14.039, 0.348, 0.933, 0, 90, 0, 35 [SEP] 5, KeyChain, 11.232, 0.591, 0.771, 0, 0, 0, 43 [SEP] 6, Book, 8.273, 0.398, -0.143, 0, 90, 0, 54 [SEP] 7, Box, 10.807, 0.706, 3.304, 0, 0, 0, Floor|+09.92| [SEP] 8, Box, 14.526, 1.001, 1.825, 0, 0, 0, 36 [SEP] 9, Laptop, 9.499, 0.427, 3.216, 0, 0, 0, 44 [SEP] 10, Book, 14.135, 0.755, 2.086, 0, 0, 0, 32 [SEP] 11, Box, 11.661, 0.706, 3.230, 0, 0, 0, Floor|+09.92| [SEP] 12, CreditCard, 12.088, 0.456, 3.304, 0, 0, 0, 51 [SEP] 13, KeyChain, 14.331, 0.752, 1.042, 0, 0, 0, 36 [SEP] 14, Pillow, 11.234, 0.528, 3.155, 0, 0, 0, 51 [SEP] 15, Statue, 14.233, 0.758, 0.780, 0, 0, 0, 36 [SEP] 16, Laptop, 11.232, 0.588, 1.049, 0, 0, 0, 43 [SEP] 17, RemoteControl, 14.428, 0.757, 2.086, 0, 0, 0, 36 [SEP] 18, Watch, 11.510, 0.488, -1.249, 0, 90, 0, 45 [SEP] 19, FloorLamp, 7.864, 0.006, 3.396, 0, 0, 0, [SEP] 20, GarbageCan, 7.785, -0.027, -1.145, 0, 0, 0, [SEP] 21, Painting, 7.492, 1.835, -0.495, 90, 270, 0, [SEP] 22, Painting, 7.492, 1.835, 2.792, 90, 270, 0, [SEP] 23, Television, 14.459, 1.218, 0.925, 358.945, 270, 0, [SEP] 24, LightSwitch, 12.979, 1.399, 3.767, 0, 180, 0, [SEP] 25, Painting, 7.492, 1.779, 1.116, 90, 270, 0, [SEP] 26, Painting, 14.763, 1.753, 1.126, 90, 270, 0, [SEP] 27, HousePlant, 11.374, 0.467, -1.143, 0, 0, 0, [SEP] 28, Window, 12.029, 1.687, -1.595, 90, 180, 0, [SEP] 29, Window, 10.227, 1.687, -1.594, 90, 180, 0, [SEP] 30, Drawer, 14.183, 0.374, 0.556, 0, 270, 0, [SEP] 31, Drawer, 14.183, 0.580, 1.069, 0, 270, 0, [SEP] 32, Drawer, 14.183, 0.580, 2.095, 0, 270, 0, [SEP] 33, Drawer, 14.183, 0.374, 1.582, 0, 270, 0, [SEP] 34, Drawer, 14.183, 0.169, 1.069, 0, 270, 0, [SEP] 35, Drawer, 14.183, 0.374, 1.069, 0, 270, 0, [SEP] 36, Dresser, 14.330, 0.002, 1.323, 0, 270, 0, [SEP] 37, Drawer, 14.183, 0.169, 2.095, 0, 270, 0, [SEP] 38, Drawer, 14.183, 0.374, 2.095, 0, 270, 0, [SEP] 39, Drawer, 14.183, 0.580, 0.556, 0, 270, 0, [SEP] 40, Drawer, 14.183, 0.169, 0.556, 0, 270, 0, [SEP] 41, Drawer, 14.183, 0.169, 1.582, 0, 270, 0, [SEP] 42, Drawer, 14.183, 0.580, 1.582, 0, 270, 0, [SEP] 43, CoffeeTable, 10.821, -0.011, 0.928, 0, 0, 0, [SEP] 44, ArmChair, 9.499, 0.001, 3.265, 0, 180, 0, [SEP] 45, SideTable, 11.377, 0.001, -1.160, 0, 90, 0, [SEP] 46, SideTable, 14.615, -0.001, -0.776, 0, 270, 0, [SEP] 47, SideTable, 14.331, 0.003, 0.069, 0, 0, 0, [SEP] 48, SideTable, 14.331, 0.003, 2.585, 0, 0, 0, [SEP] 49, SideTable, 12.308, 0.001, -1.154, 0, 0, 0, [SEP] 50, Chair, 8.154, 0.006, 1.499, 0, 90, 0, [SEP] 51, Sofa, 11.450, 0.002, 3.211, 0, 180, 0, [SEP] 52, Shelf, 10.794, 0.231, 0.928, 0, 0, 0, [SEP] 53, ArmChair, 8.231, 0.006, 0.769, 0, 90, 0, [SEP] 54, ArmChair, 8.224, 0.006, -0.082, 0, 90, 0, [SEP] 55, NorthWall, , , , , , , [SEP] 56, EastWall, , , , , , , [SEP] 57, SouthWall, , , , , , , [SEP] 58, WestWall, , , , , , , ", "output": ["STEP 1: turn right and walk over to the living room table | STEP 2: grab the keys off of the living room table | STEP 3: turn around and walk over to the living room chairs | STEP 4: place the keys on the left chair | END"]} +{"id": "trial_T20190909_031943_191883-1", "input": "Put a box on the dining table with a pencil inside. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.25, 0.902, 4.25, 0, 270, 0, [SEP] 1, Plate, -2.241, 0.348, 5.042, 0, 0, 0, 46 [SEP] 2, TissueBox, -2.114, 0.749, -0.028, 0, 0, 0, 52 [SEP] 3, TissueBox, -2.003, 0.725, 6.134, 0, 0, 0, 49 [SEP] 4, Newspaper, -2.933, 0.481, 3.346, 0, 0, 0, 50 [SEP] 5, Watch, -0.252, 0.704, 3.200, 0, 0, 0, 40 [SEP] 6, Statue, -2.393, 0.753, -0.159, 0, 0, 0, 52 [SEP] 7, KeyChain, -2.396, 0.349, 4.887, 0, 0, 0, 46 [SEP] 8, KeyChain, -2.933, 0.480, 3.705, 0, 0, 0, 50 [SEP] 9, Book, -2.396, 0.100, 4.887, 0, 0, 0, 48 [SEP] 10, CreditCard, -2.368, 0.648, -0.077, 0, 0, 0, 53 [SEP] 11, RemoteControl, -2.318, 0.606, 4.731, 0, 0, 0, 45 [SEP] 12, RemoteControl, -1.859, 0.651, -0.077, 0, 0, 0, 53 [SEP] 13, Box, -2.404, 0.678, 3.525, 0, 90, 0, 50 [SEP] 14, Book, -1.872, 0.680, 1.167, 0, 0, 0, 54 [SEP] 15, Box, -1.609, 0.678, 3.525, 0, 90, 0, 50 [SEP] 16, Statue, -2.259, 0.243, 6.119, 0, 0, 0, 47 [SEP] 17, Laptop, -1.698, 0.680, 1.659, 0, 329.236, 0, 56 [SEP] 18, TissueBox, -1.834, 0.749, -0.159, 0, 0, 0, 52 [SEP] 19, CreditCard, -4.291, 0.444, 5.801, 0, 59.999, 0, 42 [SEP] 20, Plate, -2.767, 0.723, 6.134, 0, 0, 0, 49 [SEP] 21, KeyChain, -2.473, 0.604, 4.887, 0, 0, 0, 45 [SEP] 22, Vase, -0.265, 0.698, 3.414, 0, 0, 0, 40 [SEP] 23, Pencil, -0.294, 0.618, 3.139, 0, 0, 0, 41 [SEP] 24, Pillow, -3.271, 0.661, 3.44, 0, 0, 331.220, 50 [SEP] 25, Bowl, -2.180, 0.596, 4.894, 0, 0, 0, 45 [SEP] 26, RemoteControl, -1.139, 0.435, 5.978, 0, 135, 0, 43 [SEP] 27, Watch, -2.257, 0.724, 6.053, 0, 180, 0, 49 [SEP] 28, Pen, -2.510, 0.243, 6.156, 0, 0, 0, 47 [SEP] 29, Newspaper, -2.008, 0.239, 6.083, 0, 0, 0, 47 [SEP] 30, Painting, -2.048, 1.615, -0.303, 0, 0, 0, [SEP] 31, Curtains, -0.083, 2.420, 0.969, 0, 0, 0, [SEP] 32, Television, -2.357, 1.205, 6.245, 0, 180, 0, [SEP] 33, HousePlant, -2.933, 0.595, -0.093, 0, 0, 0, [SEP] 34, GarbageCan, -4.864, -0.001, 0.267, 0, 90, 0, [SEP] 35, FloorLamp, -0.566, 0.002, 0.024, 0, 316.932, 0, [SEP] 36, DeskLamp, -0.273, 0.700, 3.612, 0, 0, 0, [SEP] 37, Window, -0.057, 0.925, 1.764, 90, 270, 0, [SEP] 38, Window, -0.057, 1.130, 4.886, 90, 270, 0, [SEP] 39, LightSwitch, -3.305, 1.340, -0.314, 0, 0, 0, [SEP] 40, SideTable, -0.255, 0.001, 3.369, 0, 270, 0, [SEP] 41, Drawer, -0.306, 0.626, 3.369, 0, 270, 0, [SEP] 42, ArmChair, -4.376, -8.374, 6.016, 0, 152.639, 0, [SEP] 43, ArmChair, -0.847, -8.106, 5.983, 0, 231.318, 0, [SEP] 44, DiningTable, -2.268, -0.016, 1.422, 0, 0, 0, [SEP] 45, CoffeeTable, -2.326, 0.002, 4.922, 0, 0, 0, [SEP] 46, Shelf, -2.326, 0.338, 4.922, 0, 0, 0, [SEP] 47, Shelf, -2.385, 0.238, 6.296, 0, 0, 0, [SEP] 48, Shelf, -2.326, 0.089, 4.922, 0, 0, 0, [SEP] 49, TVStand, -2.385, 0.006, 6.296, 0, 0, 0, [SEP] 50, Sofa, -2.404, -0.003, 3.417, 0, 0, 0, [SEP] 51, SideTable, -2.935, 0.004, -0.103, 0, 0, 0, [SEP] 52, SideTable, -2.113, 0.002, -0.139, 0, 0, 0, [SEP] 53, Drawer, -2.113, 0.654, -0.069, 0, 0, 0, [SEP] 54, Chair, -1.862, 0.020, 1.035, 0, 0, 0, [SEP] 55, Chair, -3.122, 0.020, 1.410, 0, 104.999, 0, [SEP] 56, Chair, -1.864, 0.020, 1.838, 0, 185.032, 0, [SEP] 57, Chair, -2.507, 0.020, 0.991, 0, 6.189, 0, [SEP] 58, Chair, -2.519, 0.020, 1.882, 0, 164.977, 0, [SEP] 59, Chair, -1.335, 0.020, 1.430, 0, 270, 0, [SEP] 60, NorthWall, , , , , , , [SEP] 61, EastWall, , , , , , , [SEP] 62, SouthWall, , , , , , , [SEP] 63, WestWall, , , , , , , ", "output": ["STEP 1: Move to the end table in between to two windows | STEP 2: Pick up a pencil from the end table | STEP 3: Move to the couch behind you | STEP 4: Place the pencil in a box on the couch | STEP 5: Pick up the box that has the pencil inside | STEP 6: Move to the dining table on the other side of the couch from you | STEP 7: Place the box on the table | END"]} +{"id": "trial_T20190909_031943_191883-2", "input": "Put away the pencil in the box and on the dining table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.25, 0.902, 4.25, 0, 270, 0, [SEP] 1, Plate, -2.241, 0.348, 5.042, 0, 0, 0, 46 [SEP] 2, TissueBox, -2.114, 0.749, -0.028, 0, 0, 0, 52 [SEP] 3, TissueBox, -2.003, 0.725, 6.134, 0, 0, 0, 49 [SEP] 4, Newspaper, -2.933, 0.481, 3.346, 0, 0, 0, 50 [SEP] 5, Watch, -0.252, 0.704, 3.200, 0, 0, 0, 40 [SEP] 6, Statue, -2.393, 0.753, -0.159, 0, 0, 0, 52 [SEP] 7, KeyChain, -2.396, 0.349, 4.887, 0, 0, 0, 46 [SEP] 8, KeyChain, -2.933, 0.480, 3.705, 0, 0, 0, 50 [SEP] 9, Book, -2.396, 0.100, 4.887, 0, 0, 0, 48 [SEP] 10, CreditCard, -2.368, 0.648, -0.077, 0, 0, 0, 53 [SEP] 11, RemoteControl, -2.318, 0.606, 4.731, 0, 0, 0, 45 [SEP] 12, RemoteControl, -1.859, 0.651, -0.077, 0, 0, 0, 53 [SEP] 13, Box, -2.404, 0.678, 3.525, 0, 90, 0, 50 [SEP] 14, Book, -1.872, 0.680, 1.167, 0, 0, 0, 54 [SEP] 15, Box, -1.609, 0.678, 3.525, 0, 90, 0, 50 [SEP] 16, Statue, -2.259, 0.243, 6.119, 0, 0, 0, 47 [SEP] 17, Laptop, -1.698, 0.680, 1.659, 0, 329.236, 0, 56 [SEP] 18, TissueBox, -1.834, 0.749, -0.159, 0, 0, 0, 52 [SEP] 19, CreditCard, -4.291, 0.444, 5.801, 0, 59.999, 0, 42 [SEP] 20, Plate, -2.767, 0.723, 6.134, 0, 0, 0, 49 [SEP] 21, KeyChain, -2.473, 0.604, 4.887, 0, 0, 0, 45 [SEP] 22, Vase, -0.265, 0.698, 3.414, 0, 0, 0, 40 [SEP] 23, Pencil, -0.294, 0.618, 3.139, 0, 0, 0, 41 [SEP] 24, Pillow, -3.271, 0.661, 3.44, 0, 0, 331.220, 50 [SEP] 25, Bowl, -2.180, 0.596, 4.894, 0, 0, 0, 45 [SEP] 26, RemoteControl, -1.139, 0.435, 5.978, 0, 135, 0, 43 [SEP] 27, Watch, -2.257, 0.724, 6.053, 0, 180, 0, 49 [SEP] 28, Pen, -2.510, 0.243, 6.156, 0, 0, 0, 47 [SEP] 29, Newspaper, -2.008, 0.239, 6.083, 0, 0, 0, 47 [SEP] 30, Painting, -2.048, 1.615, -0.303, 0, 0, 0, [SEP] 31, Curtains, -0.083, 2.420, 0.969, 0, 0, 0, [SEP] 32, Television, -2.357, 1.205, 6.245, 0, 180, 0, [SEP] 33, HousePlant, -2.933, 0.595, -0.093, 0, 0, 0, [SEP] 34, GarbageCan, -4.864, -0.001, 0.267, 0, 90, 0, [SEP] 35, FloorLamp, -0.566, 0.002, 0.024, 0, 316.932, 0, [SEP] 36, DeskLamp, -0.273, 0.700, 3.612, 0, 0, 0, [SEP] 37, Window, -0.057, 0.925, 1.764, 90, 270, 0, [SEP] 38, Window, -0.057, 1.130, 4.886, 90, 270, 0, [SEP] 39, LightSwitch, -3.305, 1.340, -0.314, 0, 0, 0, [SEP] 40, SideTable, -0.255, 0.001, 3.369, 0, 270, 0, [SEP] 41, Drawer, -0.306, 0.626, 3.369, 0, 270, 0, [SEP] 42, ArmChair, -4.376, -8.374, 6.016, 0, 152.639, 0, [SEP] 43, ArmChair, -0.847, -8.106, 5.983, 0, 231.318, 0, [SEP] 44, DiningTable, -2.268, -0.016, 1.422, 0, 0, 0, [SEP] 45, CoffeeTable, -2.326, 0.002, 4.922, 0, 0, 0, [SEP] 46, Shelf, -2.326, 0.338, 4.922, 0, 0, 0, [SEP] 47, Shelf, -2.385, 0.238, 6.296, 0, 0, 0, [SEP] 48, Shelf, -2.326, 0.089, 4.922, 0, 0, 0, [SEP] 49, TVStand, -2.385, 0.006, 6.296, 0, 0, 0, [SEP] 50, Sofa, -2.404, -0.003, 3.417, 0, 0, 0, [SEP] 51, SideTable, -2.935, 0.004, -0.103, 0, 0, 0, [SEP] 52, SideTable, -2.113, 0.002, -0.139, 0, 0, 0, [SEP] 53, Drawer, -2.113, 0.654, -0.069, 0, 0, 0, [SEP] 54, Chair, -1.862, 0.020, 1.035, 0, 0, 0, [SEP] 55, Chair, -3.122, 0.020, 1.410, 0, 104.999, 0, [SEP] 56, Chair, -1.864, 0.020, 1.838, 0, 185.032, 0, [SEP] 57, Chair, -2.507, 0.020, 0.991, 0, 6.189, 0, [SEP] 58, Chair, -2.519, 0.020, 1.882, 0, 164.977, 0, [SEP] 59, Chair, -1.335, 0.020, 1.430, 0, 270, 0, [SEP] 60, NorthWall, , , , , , , [SEP] 61, EastWall, , , , , , , [SEP] 62, SouthWall, , , , , , , [SEP] 63, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk to the end table with the lamp on it. | STEP 2: Open the drawer and grab the pencil from inside. | STEP 3: Turn around and go to the second box on the couch. | STEP 4: Put the pencil in the box. | STEP 5: Pick up the box with the pencil in it. | STEP 6: Go around the couch to the dining table. | STEP 7: Set the box with the pencil in it on the dining table. | END"]} +{"id": "trial_T20190912_012211_730225-1", "input": "Put a piece of chilled sliced potato in the microwave. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.900, 7.25, 0, 180, 0, [SEP] 1, Pan, 1.573, 0.138, 2.646, 0, 90, 0, 72 [SEP] 2, Potato, -0.284, 0.794, 6.014, 0, 0, 0, 96 [SEP] 3, Potato, -0.138, 0.794, 6.282, 0, 135, 0, 96 [SEP] 4, Potato, 0.212, 0.794, 6.196, 0, 135, 0, 96 [SEP] 5, DishSponge, -0.034, 0.759, 6.014, 0, 0, 0, 96 [SEP] 6, Spatula, 0.999, 1.007, 0.120, 0, 90, 0, 60 [SEP] 7, Fork, 1.405, 0.771, 4.717, 0, 0, 0, 50 [SEP] 8, Fork, 0.871, 0.772, 0.619, 0, 270, 0, 52 [SEP] 9, Egg, -0.509, 0.810, 6.393, 0, 225, 0, 96 [SEP] 10, Plate, -0.687, 0.993, 0.395, 0, 0, 0, 60 [SEP] 11, Plate, 1.322, 0.141, 3.291, 0, 0, 0, 71 [SEP] 12, Knife, -0.158, 0.789, 6.604, 0, 0, 0, 96 [SEP] 13, Knife, -0.413, 0.801, 0.507, 0, 0, 0, 56 [SEP] 14, Tomato, 2.009, 1.565, 5.876, 0, 270, 0, 82 [SEP] 15, SoapBottle, 1.135, 0.992, 4.808, 0, 0, 0, 61 [SEP] 16, SoapBottle, -0.621, 0.760, 6.416, 0, 270, 0, 96 [SEP] 17, Bowl, 0.674, 0.142, 0.418, 0, 0, 0, 66 [SEP] 18, Bowl, 0.150, 0.759, 6.354, 0, 270, 0, 96 [SEP] 19, Bread, -0.459, 1.062, 0.486, 0, 0, 0, 60 [SEP] 20, Lettuce, -0.575, 0.848, 6.719, 0, 135, 0, 96 [SEP] 21, Mug, 2.094, 1.510, 6.001, 0, 270, 0, 82 [SEP] 22, Mug, 1.314, 0.987, 1.350, 0, 0, 0, 60 [SEP] 23, Apple, 0.064, 1.171, 0.213, 0, 0, 0, 76 [SEP] 24, Apple, 2.094, 1.590, 5.626, 0, 270, 0, 82 [SEP] 25, Bowl, -0.483, 0.143, 0.506, 0, 0, 0, 68 [SEP] 26, Bread, 0.150, 0.829, 6.604, 0, 270, 0, 96 [SEP] 27, Egg, 0.168, 1.135, 0.245, 0, 0, 0, 76 [SEP] 28, Knife, 0.600, 0.802, 0.563, 0, 270, 0, 52 [SEP] 29, Fork, -0.284, 0.760, 6.478, 0, 270, 0, 96 [SEP] 30, Apple, 1.956, 0.155, 6.528, 0, 0, 0, 84 [SEP] 31, Kettle, 0.620, 0.993, 0.303, 0, 0, 0, 60 [SEP] 32, Plate, 0.055, 0.144, 0.353, 0, 0, 0, 69 [SEP] 33, SaltShaker, 1.225, 0.987, 0.440, 0, 0, 0, 60 [SEP] 34, Lettuce, -0.159, 0.848, 6.787, 0, 0, 0, 96 [SEP] 35, SoapBottle, 0.124, 0.144, 0.658, 0, 90, 0, 69 [SEP] 36, Spatula, -0.096, 0.775, 6.169, 0, 0, 0, 96 [SEP] 37, PaperTowelRoll, 1.314, 1.096, 2.950, 0, 0, 0, 60 [SEP] 38, Pot, 1.32, 0.988, 3.848, 0, 0, 0, 59 [SEP] 39, Potato, 1.442, 0.925, 1.983, 0, 90, 0, 83 [SEP] 40, ButterKnife, -0.621, 0.760, 6.541, 0, 270, 0, 96 [SEP] 41, PepperShaker, -0.459, 0.987, 0.120, 0, 90, 0, 60 [SEP] 42, Pan, 1.486, 0.139, 4.724, 0, 90, 0, 62 [SEP] 43, Tomato, 1.442, 0.940, 2.627, 0, 90, 0, 83 [SEP] 44, DishSponge, -0.535, 0.992, 0.120, 0, 0, 0, 60 [SEP] 45, Cup, 0.107, 1.575, 0.251, 0, 0, 0, 73 [SEP] 46, Spoon, 1.332, 0.897, 2.525, 0, 90, 0, 83 [SEP] 47, Mug, -0.013, 1.574, 0.338, 0, 0, 0, 73 [SEP] 48, Cabinet, 1.307, 2.455, 4.360, 0, 0, 0, [SEP] 49, Cabinet, 1.054, 0.422, 1.710, 0, 0, 0, [SEP] 50, Drawer, 1.280, 0.808, 4.718, 0, 0, 0, [SEP] 51, Cabinet, 1.307, 2.455, 3.607, 0, 0, 0, [SEP] 52, Drawer, 0.736, 0.802, 0.521, 0, 0, 0, [SEP] 53, Drawer, 1.276, 0.802, 3.291, 0, 0, 0, [SEP] 54, StoveBurner, 1.562, 0.982, 3.848, 0, 0, 0, [SEP] 55, StoveBurner, 1.317, 0.982, 4.294, 0, 0, 0, [SEP] 56, Drawer, -0.482, 0.802, 0.521, 0, 0, 0, [SEP] 57, Drawer, 0.124, 0.802, 0.521, 0, 0, 0, [SEP] 58, StoveBurner, 1.559, 0.982, 4.294, 0, 0, 0, [SEP] 59, StoveBurner, 1.320, 0.982, 3.848, 0, 0, 0, [SEP] 60, CounterTop, 1.391, 1.028, 0.897, 0, 0, 0, [SEP] 61, CounterTop, 1.391, 1.028, 4.716, 0, 0, 0, [SEP] 62, Cabinet, 1.054, 0.422, 4.548, 0, 0, 0, [SEP] 63, Cabinet, 1.317, 2.134, 0.517, 0, 0, 0, [SEP] 64, Cabinet, 1.317, 2.134, 4.889, 0, 0, 0, [SEP] 65, Cabinet, 1.317, 2.134, 3.095, 0, 0, 0, [SEP] 66, Cabinet, 0.443, 0.422, 0.743, 0, 0, 0, [SEP] 67, Cabinet, 1.270, 2.134, 0.434, 0, 0, 0, [SEP] 68, Cabinet, -0.775, 0.422, 0.743, 0, 0, 0, [SEP] 69, Cabinet, -0.168, 0.422, 0.743, 0, 0, 0, [SEP] 70, Cabinet, 1.317, 2.134, 1.534, 0, 0, 0, [SEP] 71, Cabinet, 1.054, 0.422, 2.990, 0, 0, 0, [SEP] 72, Cabinet, 1.054, 0.422, 2.944, 0, 0, 0, [SEP] 73, Cabinet, -0.263, 2.134, 0.434, 0, 0, 0, [SEP] 74, Cabinet, 0.252, 2.134, 0.434, 0, 0, 0, [SEP] 75, Sink, 1.391, 1.006, 2.326, 0, 0, 0, [SEP] 76, Microwave, 0.108, 0.981, 0.262, 0, 0, 0, [SEP] 77, HousePlant, -0.165, 0.826, 6.444, 0, 0, 0, [SEP] 78, CoffeeMachine, 1.551, 0.982, 0.953, 0, 270, 0, [SEP] 79, Toaster, 1.473, 0.981, 4.715, 0, 270, 0, [SEP] 80, Window, -2.065, 1.916, 3.626, 90, 90, 0, [SEP] 81, Window, 1.763, 2.007, 2.299, 90, 270, 0, [SEP] 82, Fridge, 2.035, 0.0, 5.625, 0, 0, 0, [SEP] 83, SinkBasin, 1.387, 0.880, 2.338, 0, 90, 0, [SEP] 84, GarbageCan, 2.001, -0.044, 6.503, 0, 0, 0, [SEP] 85, StoveKnob, 1.140, 0.934, 3.987, 45, 270, 0, [SEP] 86, StoveKnob, 1.140, 0.934, 4.309, 45, 270, 0, [SEP] 87, StoveKnob, 1.140, 0.934, 4.140, 45, 270, 0, [SEP] 88, StoveKnob, 1.140, 0.934, 3.824, 45, 270, 0, [SEP] 89, Vase, -0.226, 0.834, 6.993, 0, 0, 0, [SEP] 90, Vase, 2.098, 0.043, 7.070, 0, 257.232, 0, [SEP] 91, Vase, -0.594, 0.835, 6.130, 0, 225, 0, [SEP] 92, LightSwitch, -2.0, 1.549, 6.045, 0, 90, 0, [SEP] 93, Safe, 2.046, 1.072, 7.054, 0, 257.232, 0, [SEP] 94, Faucet, 1.534, 1.025, 2.371, 0, 294.391, 0, [SEP] 95, Blinds, 1.738, 2.563, 2.312, 0, 90, 0, [SEP] 96, DiningTable, -0.156, 0.000, 6.474, 0, 0, 0, [SEP] 97, Chair, 0.291, 0.002, 6.142, 0, 310.162, 0, [SEP] 98, GarbageBag, -1.092, 0.318, 0.268, 270, 90, 83.492, [SEP] 99, NorthWall, , , , , , , [SEP] 100, EastWall, , , , , , , [SEP] 101, SouthWall, , , , , , , [SEP] 102, WestWall, , , , , , , ", "output": ["STEP 1: Turn right towards the round black table. | STEP 2: Pick up the sharp knife from the table. | STEP 3: Make your way clock wise around a quarter of the round black table and face it again. | STEP 4: Slice the potato next to the sponge. | STEP 5: Turn around to face the opposite direction and walk all the way across the room to the microwave on the counter. | STEP 6: Open the microwave, place the sharp knife inside, and close the door. | STEP 7: Turn around again and return to the black round table. | STEP 8: Pick up the end slice of the potato. | STEP 9: Turn to your right and approach the refrigerator just a step away. | STEP 10: Put the potato slice in the refrigerator to chill for a moment before removing it. | STEP 11: Take the potato slice to the microwave where the sharp knife was placed. | STEP 12: Put the potato slice into the microwave. | END"]} +{"id": "trial_T20190912_012211_730225-2", "input": "place a cold potato slice in the oven SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.900, 7.25, 0, 180, 0, [SEP] 1, Pan, 1.573, 0.138, 2.646, 0, 90, 0, 72 [SEP] 2, Potato, -0.284, 0.794, 6.014, 0, 0, 0, 96 [SEP] 3, Potato, -0.138, 0.794, 6.282, 0, 135, 0, 96 [SEP] 4, Potato, 0.212, 0.794, 6.196, 0, 135, 0, 96 [SEP] 5, DishSponge, -0.034, 0.759, 6.014, 0, 0, 0, 96 [SEP] 6, Spatula, 0.999, 1.007, 0.120, 0, 90, 0, 60 [SEP] 7, Fork, 1.405, 0.771, 4.717, 0, 0, 0, 50 [SEP] 8, Fork, 0.871, 0.772, 0.619, 0, 270, 0, 52 [SEP] 9, Egg, -0.509, 0.810, 6.393, 0, 225, 0, 96 [SEP] 10, Plate, -0.687, 0.993, 0.395, 0, 0, 0, 60 [SEP] 11, Plate, 1.322, 0.141, 3.291, 0, 0, 0, 71 [SEP] 12, Knife, -0.158, 0.789, 6.604, 0, 0, 0, 96 [SEP] 13, Knife, -0.413, 0.801, 0.507, 0, 0, 0, 56 [SEP] 14, Tomato, 2.009, 1.565, 5.876, 0, 270, 0, 82 [SEP] 15, SoapBottle, 1.135, 0.992, 4.808, 0, 0, 0, 61 [SEP] 16, SoapBottle, -0.621, 0.760, 6.416, 0, 270, 0, 96 [SEP] 17, Bowl, 0.674, 0.142, 0.418, 0, 0, 0, 66 [SEP] 18, Bowl, 0.150, 0.759, 6.354, 0, 270, 0, 96 [SEP] 19, Bread, -0.459, 1.062, 0.486, 0, 0, 0, 60 [SEP] 20, Lettuce, -0.575, 0.848, 6.719, 0, 135, 0, 96 [SEP] 21, Mug, 2.094, 1.510, 6.001, 0, 270, 0, 82 [SEP] 22, Mug, 1.314, 0.987, 1.350, 0, 0, 0, 60 [SEP] 23, Apple, 0.064, 1.171, 0.213, 0, 0, 0, 76 [SEP] 24, Apple, 2.094, 1.590, 5.626, 0, 270, 0, 82 [SEP] 25, Bowl, -0.483, 0.143, 0.506, 0, 0, 0, 68 [SEP] 26, Bread, 0.150, 0.829, 6.604, 0, 270, 0, 96 [SEP] 27, Egg, 0.168, 1.135, 0.245, 0, 0, 0, 76 [SEP] 28, Knife, 0.600, 0.802, 0.563, 0, 270, 0, 52 [SEP] 29, Fork, -0.284, 0.760, 6.478, 0, 270, 0, 96 [SEP] 30, Apple, 1.956, 0.155, 6.528, 0, 0, 0, 84 [SEP] 31, Kettle, 0.620, 0.993, 0.303, 0, 0, 0, 60 [SEP] 32, Plate, 0.055, 0.144, 0.353, 0, 0, 0, 69 [SEP] 33, SaltShaker, 1.225, 0.987, 0.440, 0, 0, 0, 60 [SEP] 34, Lettuce, -0.159, 0.848, 6.787, 0, 0, 0, 96 [SEP] 35, SoapBottle, 0.124, 0.144, 0.658, 0, 90, 0, 69 [SEP] 36, Spatula, -0.096, 0.775, 6.169, 0, 0, 0, 96 [SEP] 37, PaperTowelRoll, 1.314, 1.096, 2.950, 0, 0, 0, 60 [SEP] 38, Pot, 1.32, 0.988, 3.848, 0, 0, 0, 59 [SEP] 39, Potato, 1.442, 0.925, 1.983, 0, 90, 0, 83 [SEP] 40, ButterKnife, -0.621, 0.760, 6.541, 0, 270, 0, 96 [SEP] 41, PepperShaker, -0.459, 0.987, 0.120, 0, 90, 0, 60 [SEP] 42, Pan, 1.486, 0.139, 4.724, 0, 90, 0, 62 [SEP] 43, Tomato, 1.442, 0.940, 2.627, 0, 90, 0, 83 [SEP] 44, DishSponge, -0.535, 0.992, 0.120, 0, 0, 0, 60 [SEP] 45, Cup, 0.107, 1.575, 0.251, 0, 0, 0, 73 [SEP] 46, Spoon, 1.332, 0.897, 2.525, 0, 90, 0, 83 [SEP] 47, Mug, -0.013, 1.574, 0.338, 0, 0, 0, 73 [SEP] 48, Cabinet, 1.307, 2.455, 4.360, 0, 0, 0, [SEP] 49, Cabinet, 1.054, 0.422, 1.710, 0, 0, 0, [SEP] 50, Drawer, 1.280, 0.808, 4.718, 0, 0, 0, [SEP] 51, Cabinet, 1.307, 2.455, 3.607, 0, 0, 0, [SEP] 52, Drawer, 0.736, 0.802, 0.521, 0, 0, 0, [SEP] 53, Drawer, 1.276, 0.802, 3.291, 0, 0, 0, [SEP] 54, StoveBurner, 1.562, 0.982, 3.848, 0, 0, 0, [SEP] 55, StoveBurner, 1.317, 0.982, 4.294, 0, 0, 0, [SEP] 56, Drawer, -0.482, 0.802, 0.521, 0, 0, 0, [SEP] 57, Drawer, 0.124, 0.802, 0.521, 0, 0, 0, [SEP] 58, StoveBurner, 1.559, 0.982, 4.294, 0, 0, 0, [SEP] 59, StoveBurner, 1.320, 0.982, 3.848, 0, 0, 0, [SEP] 60, CounterTop, 1.391, 1.028, 0.897, 0, 0, 0, [SEP] 61, CounterTop, 1.391, 1.028, 4.716, 0, 0, 0, [SEP] 62, Cabinet, 1.054, 0.422, 4.548, 0, 0, 0, [SEP] 63, Cabinet, 1.317, 2.134, 0.517, 0, 0, 0, [SEP] 64, Cabinet, 1.317, 2.134, 4.889, 0, 0, 0, [SEP] 65, Cabinet, 1.317, 2.134, 3.095, 0, 0, 0, [SEP] 66, Cabinet, 0.443, 0.422, 0.743, 0, 0, 0, [SEP] 67, Cabinet, 1.270, 2.134, 0.434, 0, 0, 0, [SEP] 68, Cabinet, -0.775, 0.422, 0.743, 0, 0, 0, [SEP] 69, Cabinet, -0.168, 0.422, 0.743, 0, 0, 0, [SEP] 70, Cabinet, 1.317, 2.134, 1.534, 0, 0, 0, [SEP] 71, Cabinet, 1.054, 0.422, 2.990, 0, 0, 0, [SEP] 72, Cabinet, 1.054, 0.422, 2.944, 0, 0, 0, [SEP] 73, Cabinet, -0.263, 2.134, 0.434, 0, 0, 0, [SEP] 74, Cabinet, 0.252, 2.134, 0.434, 0, 0, 0, [SEP] 75, Sink, 1.391, 1.006, 2.326, 0, 0, 0, [SEP] 76, Microwave, 0.108, 0.981, 0.262, 0, 0, 0, [SEP] 77, HousePlant, -0.165, 0.826, 6.444, 0, 0, 0, [SEP] 78, CoffeeMachine, 1.551, 0.982, 0.953, 0, 270, 0, [SEP] 79, Toaster, 1.473, 0.981, 4.715, 0, 270, 0, [SEP] 80, Window, -2.065, 1.916, 3.626, 90, 90, 0, [SEP] 81, Window, 1.763, 2.007, 2.299, 90, 270, 0, [SEP] 82, Fridge, 2.035, 0.0, 5.625, 0, 0, 0, [SEP] 83, SinkBasin, 1.387, 0.880, 2.338, 0, 90, 0, [SEP] 84, GarbageCan, 2.001, -0.044, 6.503, 0, 0, 0, [SEP] 85, StoveKnob, 1.140, 0.934, 3.987, 45, 270, 0, [SEP] 86, StoveKnob, 1.140, 0.934, 4.309, 45, 270, 0, [SEP] 87, StoveKnob, 1.140, 0.934, 4.140, 45, 270, 0, [SEP] 88, StoveKnob, 1.140, 0.934, 3.824, 45, 270, 0, [SEP] 89, Vase, -0.226, 0.834, 6.993, 0, 0, 0, [SEP] 90, Vase, 2.098, 0.043, 7.070, 0, 257.232, 0, [SEP] 91, Vase, -0.594, 0.835, 6.130, 0, 225, 0, [SEP] 92, LightSwitch, -2.0, 1.549, 6.045, 0, 90, 0, [SEP] 93, Safe, 2.046, 1.072, 7.054, 0, 257.232, 0, [SEP] 94, Faucet, 1.534, 1.025, 2.371, 0, 294.391, 0, [SEP] 95, Blinds, 1.738, 2.563, 2.312, 0, 90, 0, [SEP] 96, DiningTable, -0.156, 0.000, 6.474, 0, 0, 0, [SEP] 97, Chair, 0.291, 0.002, 6.142, 0, 310.162, 0, [SEP] 98, GarbageBag, -1.092, 0.318, 0.268, 270, 90, 83.492, [SEP] 99, NorthWall, , , , , , , [SEP] 100, EastWall, , , , , , , [SEP] 101, SouthWall, , , , , , , [SEP] 102, WestWall, , , , , , , ", "output": ["STEP 1: turn right to the table | STEP 2: pick up the knife | STEP 3: turn around the table | STEP 4: slice the potato on the table | STEP 5: turn around to the oven | STEP 6: place the knife in the oven | STEP 7: turn around to the table | STEP 8: pick up an slice | STEP 9: head to the fridge | STEP 10: place the slice to cool and then take it out | STEP 11: turn left to the oven | STEP 12: place the slice in the oven | END"]} +{"id": "trial_T20190919_012436_072996-0", "input": "get the rag below the counter and toss it in the tub SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.25, 0.904, 0.0, 0, 180, 0, [SEP] 1, Cloth, -3.053, 1.869, 1.164, 0, 0, 0, 26 [SEP] 2, SprayBottle, -3.072, 0.050, 0.846, 0, 0, 0, 30 [SEP] 3, Candle, -3.231, 0.110, -0.223, 0, 0, 0, 24 [SEP] 4, SoapBottle, -3.231, 0.111, -0.022, 0, 0, 0, 24 [SEP] 5, SoapBottle, -3.193, 1.050, 1.329, 0, 90, 0, 36 [SEP] 6, Towel, -1.615, 1.398, 1.800, 0, 180, 0, 31 [SEP] 7, HandTowel, -3.321, 1.464, 0.763, 0, 270, 0, 33 [SEP] 8, SoapBar, -3.103, 0.883, 0.145, 0, 90, 0, 23 [SEP] 9, ToiletPaper, -3.231, 0.105, 0.337, 0, 0, 0, 18 [SEP] 10, ToiletPaper, -3.061, 0.668, 0.690, 347.055, 0, 90, 35 [SEP] 11, Candle, -3.193, 1.050, 1.066, 0, 90, 0, 36 [SEP] 12, ScrubBrush, -3.236, 0.003, 1.79, 0, 0, 0, Floor|-01.69| [SEP] 13, Plunger, -3.043, 0.003, 1.683, 0, 0, 0, Floor|-01.69| [SEP] 14, SoapBottle, -3.100, 0.111, -0.022, 0, 0, 0, 24 [SEP] 15, Cloth, -2.970, 0.108, -0.494, 0, 0, 0, 19 [SEP] 16, SprayBottle, -3.140, 1.870, 1.775, 0, 0, 0, 20 [SEP] 17, Faucet, -0.618, 0.667, 1.805, 0, 0, 0, [SEP] 18, Cabinet, -2.761, 0.446, 0.599, 0, 0, 0, [SEP] 19, Cabinet, -2.756, 0.421, -0.759, 0, 0, 0, [SEP] 20, Cabinet, -2.905, 2.098, 1.878, 0, 0, 0, [SEP] 21, Sink, -3.016, 0.865, 0.207, 0, 90, 0, [SEP] 22, Bathtub, -0.603, 0.286, 0.832, 0, 0, 0, [SEP] 23, SinkBasin, -3.016, 0.874, 0.217, 0, 90, 0, [SEP] 24, Cabinet, -2.756, 0.421, -0.272, 0, 0, 0, [SEP] 25, Faucet, -3.313, 0.989, 0.207, 0, 90, 0, [SEP] 26, Cabinet, -2.900, 2.053, 1.005, 0, 0, 0, [SEP] 27, BathtubBasin, -0.558, 0.023, 0.811, 0, 0, 0, [SEP] 28, Mirror, -3.348, 1.476, 0.020, 0, 0, 0, [SEP] 29, CounterTop, -3.049, 1.039, -0.442, 0, 0, 0, [SEP] 30, GarbageCan, -3.080, -0.007, 0.899, 0, 0, 0, [SEP] 31, TowelHolder, -1.615, 1.383, 1.907, 0, 180, 0, [SEP] 32, HandTowelHolder, -2.960, 1.695, -0.766, 0, 270, 0, [SEP] 33, HandTowelHolder, -3.359, 1.565, 0.763, 0, 0, 0, [SEP] 34, LightSwitch, -2.313, 1.426, -0.766, 0, 0, 0, [SEP] 35, ToiletPaperHanger, -3.105, 0.828, 0.625, 347.055, 0, 0, [SEP] 36, Toilet, -2.931, 0.003, 1.364, 0, 180, 0, [SEP] 37, ShowerCurtain, -1.171, 1.866, -0.108, 0, 0, 0, [SEP] 38, NorthWall, , , , , , , [SEP] 39, EastWall, , , , , , , [SEP] 40, SouthWall, , , , , , , [SEP] 41, WestWall, , , , , , , ", "output": ["STEP 1: turn right and approach the counter | STEP 2: get the red rag from under the counter | STEP 3: walk the rag over to the bathtub | STEP 4: toss the rag in to the bath basin | END"]} +{"id": "trial_T20190919_012436_072996-3", "input": "Put the red cloth in the tub. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.25, 0.904, 0.0, 0, 180, 0, [SEP] 1, Cloth, -3.053, 1.869, 1.164, 0, 0, 0, 26 [SEP] 2, SprayBottle, -3.072, 0.050, 0.846, 0, 0, 0, 30 [SEP] 3, Candle, -3.231, 0.110, -0.223, 0, 0, 0, 24 [SEP] 4, SoapBottle, -3.231, 0.111, -0.022, 0, 0, 0, 24 [SEP] 5, SoapBottle, -3.193, 1.050, 1.329, 0, 90, 0, 36 [SEP] 6, Towel, -1.615, 1.398, 1.800, 0, 180, 0, 31 [SEP] 7, HandTowel, -3.321, 1.464, 0.763, 0, 270, 0, 33 [SEP] 8, SoapBar, -3.103, 0.883, 0.145, 0, 90, 0, 23 [SEP] 9, ToiletPaper, -3.231, 0.105, 0.337, 0, 0, 0, 18 [SEP] 10, ToiletPaper, -3.061, 0.668, 0.690, 347.055, 0, 90, 35 [SEP] 11, Candle, -3.193, 1.050, 1.066, 0, 90, 0, 36 [SEP] 12, ScrubBrush, -3.236, 0.003, 1.79, 0, 0, 0, Floor|-01.69| [SEP] 13, Plunger, -3.043, 0.003, 1.683, 0, 0, 0, Floor|-01.69| [SEP] 14, SoapBottle, -3.100, 0.111, -0.022, 0, 0, 0, 24 [SEP] 15, Cloth, -2.970, 0.108, -0.494, 0, 0, 0, 19 [SEP] 16, SprayBottle, -3.140, 1.870, 1.775, 0, 0, 0, 20 [SEP] 17, Faucet, -0.618, 0.667, 1.805, 0, 0, 0, [SEP] 18, Cabinet, -2.761, 0.446, 0.599, 0, 0, 0, [SEP] 19, Cabinet, -2.756, 0.421, -0.759, 0, 0, 0, [SEP] 20, Cabinet, -2.905, 2.098, 1.878, 0, 0, 0, [SEP] 21, Sink, -3.016, 0.865, 0.207, 0, 90, 0, [SEP] 22, Bathtub, -0.603, 0.286, 0.832, 0, 0, 0, [SEP] 23, SinkBasin, -3.016, 0.874, 0.217, 0, 90, 0, [SEP] 24, Cabinet, -2.756, 0.421, -0.272, 0, 0, 0, [SEP] 25, Faucet, -3.313, 0.989, 0.207, 0, 90, 0, [SEP] 26, Cabinet, -2.900, 2.053, 1.005, 0, 0, 0, [SEP] 27, BathtubBasin, -0.558, 0.023, 0.811, 0, 0, 0, [SEP] 28, Mirror, -3.348, 1.476, 0.020, 0, 0, 0, [SEP] 29, CounterTop, -3.049, 1.039, -0.442, 0, 0, 0, [SEP] 30, GarbageCan, -3.080, -0.007, 0.899, 0, 0, 0, [SEP] 31, TowelHolder, -1.615, 1.383, 1.907, 0, 180, 0, [SEP] 32, HandTowelHolder, -2.960, 1.695, -0.766, 0, 270, 0, [SEP] 33, HandTowelHolder, -3.359, 1.565, 0.763, 0, 0, 0, [SEP] 34, LightSwitch, -2.313, 1.426, -0.766, 0, 0, 0, [SEP] 35, ToiletPaperHanger, -3.105, 0.828, 0.625, 347.055, 0, 0, [SEP] 36, Toilet, -2.931, 0.003, 1.364, 0, 180, 0, [SEP] 37, ShowerCurtain, -1.171, 1.866, -0.108, 0, 0, 0, [SEP] 38, NorthWall, , , , , , , [SEP] 39, EastWall, , , , , , , [SEP] 40, SouthWall, , , , , , , [SEP] 41, WestWall, , , , , , , ", "output": ["STEP 1: Turn to the right. | STEP 2: Open the cabinet and pull out the red cloth in it. | STEP 3: Move over to the bath tub. | STEP 4: Put the cloth in the tub. | END"]} +{"id": "trial_T20190919_012436_072996-4", "input": "Put the red rag in the bathtub. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.25, 0.904, 0.0, 0, 180, 0, [SEP] 1, Cloth, -3.053, 1.869, 1.164, 0, 0, 0, 26 [SEP] 2, SprayBottle, -3.072, 0.050, 0.846, 0, 0, 0, 30 [SEP] 3, Candle, -3.231, 0.110, -0.223, 0, 0, 0, 24 [SEP] 4, SoapBottle, -3.231, 0.111, -0.022, 0, 0, 0, 24 [SEP] 5, SoapBottle, -3.193, 1.050, 1.329, 0, 90, 0, 36 [SEP] 6, Towel, -1.615, 1.398, 1.800, 0, 180, 0, 31 [SEP] 7, HandTowel, -3.321, 1.464, 0.763, 0, 270, 0, 33 [SEP] 8, SoapBar, -3.103, 0.883, 0.145, 0, 90, 0, 23 [SEP] 9, ToiletPaper, -3.231, 0.105, 0.337, 0, 0, 0, 18 [SEP] 10, ToiletPaper, -3.061, 0.668, 0.690, 347.055, 0, 90, 35 [SEP] 11, Candle, -3.193, 1.050, 1.066, 0, 90, 0, 36 [SEP] 12, ScrubBrush, -3.236, 0.003, 1.79, 0, 0, 0, Floor|-01.69| [SEP] 13, Plunger, -3.043, 0.003, 1.683, 0, 0, 0, Floor|-01.69| [SEP] 14, SoapBottle, -3.100, 0.111, -0.022, 0, 0, 0, 24 [SEP] 15, Cloth, -2.970, 0.108, -0.494, 0, 0, 0, 19 [SEP] 16, SprayBottle, -3.140, 1.870, 1.775, 0, 0, 0, 20 [SEP] 17, Faucet, -0.618, 0.667, 1.805, 0, 0, 0, [SEP] 18, Cabinet, -2.761, 0.446, 0.599, 0, 0, 0, [SEP] 19, Cabinet, -2.756, 0.421, -0.759, 0, 0, 0, [SEP] 20, Cabinet, -2.905, 2.098, 1.878, 0, 0, 0, [SEP] 21, Sink, -3.016, 0.865, 0.207, 0, 90, 0, [SEP] 22, Bathtub, -0.603, 0.286, 0.832, 0, 0, 0, [SEP] 23, SinkBasin, -3.016, 0.874, 0.217, 0, 90, 0, [SEP] 24, Cabinet, -2.756, 0.421, -0.272, 0, 0, 0, [SEP] 25, Faucet, -3.313, 0.989, 0.207, 0, 90, 0, [SEP] 26, Cabinet, -2.900, 2.053, 1.005, 0, 0, 0, [SEP] 27, BathtubBasin, -0.558, 0.023, 0.811, 0, 0, 0, [SEP] 28, Mirror, -3.348, 1.476, 0.020, 0, 0, 0, [SEP] 29, CounterTop, -3.049, 1.039, -0.442, 0, 0, 0, [SEP] 30, GarbageCan, -3.080, -0.007, 0.899, 0, 0, 0, [SEP] 31, TowelHolder, -1.615, 1.383, 1.907, 0, 180, 0, [SEP] 32, HandTowelHolder, -2.960, 1.695, -0.766, 0, 270, 0, [SEP] 33, HandTowelHolder, -3.359, 1.565, 0.763, 0, 0, 0, [SEP] 34, LightSwitch, -2.313, 1.426, -0.766, 0, 0, 0, [SEP] 35, ToiletPaperHanger, -3.105, 0.828, 0.625, 347.055, 0, 0, [SEP] 36, Toilet, -2.931, 0.003, 1.364, 0, 180, 0, [SEP] 37, ShowerCurtain, -1.171, 1.866, -0.108, 0, 0, 0, [SEP] 38, NorthWall, , , , , , , [SEP] 39, EastWall, , , , , , , [SEP] 40, SouthWall, , , , , , , [SEP] 41, WestWall, , , , , , , ", "output": ["STEP 1: Turn to the right. | STEP 2: Open the end cabinet under the counter, grab the red rag out of the cabinet. | STEP 3: Turn around, walk to the bathtub. | STEP 4: Place the rag in the bathtub. | END"]} +{"id": "trial_T20190919_012436_072996-5", "input": "Move a red cloth from a cabinet to a bath tub. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.25, 0.904, 0.0, 0, 180, 0, [SEP] 1, Cloth, -3.053, 1.869, 1.164, 0, 0, 0, 26 [SEP] 2, SprayBottle, -3.072, 0.050, 0.846, 0, 0, 0, 30 [SEP] 3, Candle, -3.231, 0.110, -0.223, 0, 0, 0, 24 [SEP] 4, SoapBottle, -3.231, 0.111, -0.022, 0, 0, 0, 24 [SEP] 5, SoapBottle, -3.193, 1.050, 1.329, 0, 90, 0, 36 [SEP] 6, Towel, -1.615, 1.398, 1.800, 0, 180, 0, 31 [SEP] 7, HandTowel, -3.321, 1.464, 0.763, 0, 270, 0, 33 [SEP] 8, SoapBar, -3.103, 0.883, 0.145, 0, 90, 0, 23 [SEP] 9, ToiletPaper, -3.231, 0.105, 0.337, 0, 0, 0, 18 [SEP] 10, ToiletPaper, -3.061, 0.668, 0.690, 347.055, 0, 90, 35 [SEP] 11, Candle, -3.193, 1.050, 1.066, 0, 90, 0, 36 [SEP] 12, ScrubBrush, -3.236, 0.003, 1.79, 0, 0, 0, Floor|-01.69| [SEP] 13, Plunger, -3.043, 0.003, 1.683, 0, 0, 0, Floor|-01.69| [SEP] 14, SoapBottle, -3.100, 0.111, -0.022, 0, 0, 0, 24 [SEP] 15, Cloth, -2.970, 0.108, -0.494, 0, 0, 0, 19 [SEP] 16, SprayBottle, -3.140, 1.870, 1.775, 0, 0, 0, 20 [SEP] 17, Faucet, -0.618, 0.667, 1.805, 0, 0, 0, [SEP] 18, Cabinet, -2.761, 0.446, 0.599, 0, 0, 0, [SEP] 19, Cabinet, -2.756, 0.421, -0.759, 0, 0, 0, [SEP] 20, Cabinet, -2.905, 2.098, 1.878, 0, 0, 0, [SEP] 21, Sink, -3.016, 0.865, 0.207, 0, 90, 0, [SEP] 22, Bathtub, -0.603, 0.286, 0.832, 0, 0, 0, [SEP] 23, SinkBasin, -3.016, 0.874, 0.217, 0, 90, 0, [SEP] 24, Cabinet, -2.756, 0.421, -0.272, 0, 0, 0, [SEP] 25, Faucet, -3.313, 0.989, 0.207, 0, 90, 0, [SEP] 26, Cabinet, -2.900, 2.053, 1.005, 0, 0, 0, [SEP] 27, BathtubBasin, -0.558, 0.023, 0.811, 0, 0, 0, [SEP] 28, Mirror, -3.348, 1.476, 0.020, 0, 0, 0, [SEP] 29, CounterTop, -3.049, 1.039, -0.442, 0, 0, 0, [SEP] 30, GarbageCan, -3.080, -0.007, 0.899, 0, 0, 0, [SEP] 31, TowelHolder, -1.615, 1.383, 1.907, 0, 180, 0, [SEP] 32, HandTowelHolder, -2.960, 1.695, -0.766, 0, 270, 0, [SEP] 33, HandTowelHolder, -3.359, 1.565, 0.763, 0, 0, 0, [SEP] 34, LightSwitch, -2.313, 1.426, -0.766, 0, 0, 0, [SEP] 35, ToiletPaperHanger, -3.105, 0.828, 0.625, 347.055, 0, 0, [SEP] 36, Toilet, -2.931, 0.003, 1.364, 0, 180, 0, [SEP] 37, ShowerCurtain, -1.171, 1.866, -0.108, 0, 0, 0, [SEP] 38, NorthWall, , , , , , , [SEP] 39, EastWall, , , , , , , [SEP] 40, SouthWall, , , , , , , [SEP] 41, WestWall, , , , , , , ", "output": ["STEP 1: Turn right towards the counter top. | STEP 2: Open the cabinet on the bottom left and take out the red cloth, then close the cabinet. | STEP 3: Turn around and walk forward to the bath tub. | STEP 4: Put the cloth in the bath tub basin. | END"]} +{"id": "trial_T20190908_231519_766442-0", "input": "Move the smartphone from the black side table to the bed. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 2.0, 0.900, -2.5, 0, 0, 0, [SEP] 1, TissueBox, 3.239, 0.779, -1.500, 0, 0, 0, 37 [SEP] 2, CD, 2.930, 0.777, -1.411, 0, 0, 0, 37 [SEP] 3, CellPhone, 0.291, 0.704, -1.271, 0, 180, 0, 32 [SEP] 4, Pencil, 3.084, 0.784, -1.679, 0, 0, 0, 37 [SEP] 5, CreditCard, 0.313, 0.616, 1.223, 0, 180, 0, 33 [SEP] 6, CreditCard, 0.333, 0.615, -1.093, 0, 180, 0, 34 [SEP] 7, KeyChain, 0.694, 0.441, -1.948, 0, 330.000, 0, 35 [SEP] 8, AlarmClock, 3.701, 0.778, -1.59, 0, 0, 0, 37 [SEP] 9, Laptop, 1.374, 0.594, 0.145, 0, 0, 0, 24 [SEP] 10, Book, 1.374, 0.596, -0.238, 0, 0, 0, 24 [SEP] 11, KeyChain, 0.934, 0.434, -2.024, 0, 150.000, 0, 35 [SEP] 12, Pillow, 0.463, 0.638, 0.408, 0, 101.363, 0, 24 [SEP] 13, Pillow, 0.968, 0.677, 0.145, 0, 0, 0, 24 [SEP] 14, CreditCard, 2.930, 0.777, -1.322, 0, 0, 0, 37 [SEP] 15, Pen, 0.226, 0.711, 1.380, 0, 90, 0, 31 [SEP] 16, Pencil, 3.084, 0.782, -1.411, 0, 0, 0, 37 [SEP] 17, TissueBox, 3.393, 0.781, -1.322, 0, 0, 0, 37 [SEP] 18, Laptop, 3.452, 0.773, -1.667, 0, 210.000, 0, 37 [SEP] 19, CellPhone, 3.084, 0.779, -1.768, 0, 0, 0, 37 [SEP] 20, AlarmClock, 0.260, 0.704, -0.933, 0, 180, 0, 32 [SEP] 21, CD, 3.084, 0.779, -1.59, 0, 0, 0, 37 [SEP] 22, Chair, 3.232, 0.002, -1.873, 0, 350.846, 0, [SEP] 23, Mirror, 1.083, 1.228, 1.700, 0, 0, 0, [SEP] 24, Bed, 0.898, -0.002, 0.141, 0, 270, 0, [SEP] 25, GarbageCan, 3.633, 8.165, -0.982, 0, 209.052, 0, [SEP] 26, DeskLamp, 3.681, 0.785, -1.386, 0, 0, 0, [SEP] 27, DeskLamp, 0.347, 0.698, -0.979, 0, 0, 0, [SEP] 28, Painting, 0.100, 1.432, -2.053, 90, 270, 0, [SEP] 29, Window, 2.270, 1.547, -2.915, 90, 0, 0, [SEP] 30, LightSwitch, 1.809, 1.169, 1.700, 0, 180, 0, [SEP] 31, SideTable, 0.277, 0.000, 1.299, 0, 90, 0, [SEP] 32, SideTable, 0.276, 0.000, -1.017, 0, 90, 0, [SEP] 33, Drawer, 0.328, 0.624, 1.299, 0, 90, 0, [SEP] 34, Drawer, 0.328, 0.624, -1.017, 0, 90, 0, [SEP] 35, ArmChair, 0.849, -0.001, -2.141, 0, 66.451, 0, [SEP] 36, Blinds, 2.299, 2.525, -2.892, 0, 0, 0, [SEP] 37, Desk, 3.238, 0.003, -1.590, 0, 0, 0, [SEP] 38, NorthWall, , , , , , , [SEP] 39, EastWall, , , , , , , [SEP] 40, SouthWall, , , , , , , [SEP] 41, WestWall, , , , , , , ", "output": ["STEP 1: Make a left to to walk to the black side table next to the bed. | STEP 2: Pick up the smartphone on the black table. | STEP 3: Make a right and stand next to the bed. | STEP 4: Put the smartphone down on the bed. | END"]} +{"id": "trial_T20190907_235651_940710-0", "input": "Put a knife and two slices of bread in a garbage can. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.899, 4.0, 0, 270, 0, [SEP] 1, Pan, -0.401, 1.070, 3.726, 0, 180, 0, 106 [SEP] 2, Pencil, -4.095, 0.745, 4.735, 0, 90, 0, 80 [SEP] 3, Pencil, -3.712, 0.068, 6.292, 0, 270, 0, 99 [SEP] 4, Fork, -3.979, 0.924, 2.965, 0, 90, 0, 73 [SEP] 5, Fork, -2.109, 0.924, 1.875, 0, 270, 0, 55 [SEP] 6, Spoon, -4.377, 0.924, 1.648, 0, 0, 0, 73 [SEP] 7, Spatula, -1.777, 0.938, 1.8, 0, 0, 0, 55 [SEP] 8, Plate, -0.259, 1.581, 3.228, 0, 270, 0, 106 [SEP] 9, Plate, -0.181, 0.925, 4.944, 0, 0, 0, 58 [SEP] 10, Knife, -0.334, 0.954, 5.273, 0, 0, 0, 58 [SEP] 11, Knife, -1.777, 0.953, 1.648, 0, 90, 0, 55 [SEP] 12, SoapBottle, -4.242, 0.923, 2.300, 0, 0, 0, 73 [SEP] 13, SoapBottle, -1.829, 1.452, 1.703, 0, 180, 0, 92 [SEP] 14, Bowl, -0.454, 1.067, 3.231, 0, 270, 0, 106 [SEP] 15, PepperShaker, -0.503, 0.742, 4.849, 0, 270, 0, 63 [SEP] 16, PepperShaker, -4.123, 0.080, 3.220, 0, 0, 0, 86 [SEP] 17, Lettuce, -4.196, 0.886, 3.285, 0, 270, 0, 105 [SEP] 18, Bread, -0.565, 1.004, 5.603, 0, 0, 0, 58 [SEP] 19, Bread, -1.693, 1.003, 1.8, 0, 0, 0, 55 [SEP] 20, Mug, -0.301, 1.680, 3.975, 0, 270, 0, 106 [SEP] 21, Apple, -3.639, 0.122, 6.416, 0, 270, 0, 99 [SEP] 22, Apple, -0.411, 0.978, 4.944, 0, 0, 0, 58 [SEP] 23, Egg, -0.181, 0.960, 5.932, 0, 0, 0, 58 [SEP] 24, Apple, -3.748, 0.122, 6.416, 0, 270, 0, 99 [SEP] 25, Knife, -4.184, 0.953, 4.640, 0, 270, 0, 73 [SEP] 26, Potato, -0.242, 1.104, 3.231, 0, 270, 0, 106 [SEP] 27, Fork, -4.159, 0.791, 3.472, 0, 0, 0, 105 [SEP] 28, Bowl, -0.301, 1.577, 3.470, 0, 270, 0, 106 [SEP] 29, Plate, -4.184, 0.924, 4.122, 0, 90, 0, 73 [SEP] 30, Lettuce, -4.312, 1.018, 2.766, 0, 0, 0, 73 [SEP] 31, Bread, -0.401, 1.150, 3.479, 0, 270, 0, 106 [SEP] 32, Tomato, -0.411, 0.982, 5.603, 0, 0, 0, 58 [SEP] 33, WineBottle, -1.860, 0.924, 1.573, 0, 0, 0, 55 [SEP] 34, Spatula, -1.943, 0.938, 2.026, 0, 0, 0, 55 [SEP] 35, PaperTowelRoll, -1.943, 1.027, 1.875, 0, 0, 0, 55 [SEP] 36, Cup, -3.613, 0.922, 5.182, 0, 90, 0, 73 [SEP] 37, Pencil, -3.798, 0.746, 1.985, 0, 0, 0, 50 [SEP] 38, Pan, -2.924, 0.930, 1.712, 0, 180, 0, 70 [SEP] 39, Pot, -4.335, 0.924, 5.159, 0, 180, 0, 73 [SEP] 40, SaltShaker, -3.925, 1.455, 5.511, 0, 90, 0, 77 [SEP] 41, SoapBottle, -4.244, 0.077, 4.813, 0, 90, 0, 66 [SEP] 42, PepperShaker, -0.104, 0.921, 5.932, 0, 0, 0, 58 [SEP] 43, ButterKnife, -4.204, 0.923, 1.799, 0, 0, 0, 73 [SEP] 44, DishSponge, -1.860, 0.923, 1.951, 0, 0, 0, 55 [SEP] 45, Spoon, -4.159, 0.792, 3.222, 0, 270, 0, 105 [SEP] 46, Mug, -3.525, 1.448, 1.573, 0, 0, 0, 47 [SEP] 47, Cabinet, -3.203, 1.931, 1.777, 0, 0, 0, [SEP] 48, Cabinet, -3.187, 0.390, 2.089, 0, 0, 0, [SEP] 49, Cabinet, -0.637, 0.387, 6.882, 0, 180, 0, [SEP] 50, Drawer, -3.797, 0.781, 1.961, 0, 0, 0, [SEP] 51, Cabinet, -3.036, 0.387, 5.029, 0, 90, 0, [SEP] 52, Drawer, -0.509, 0.775, 5.268, 0, 270, 0, [SEP] 53, Drawer, -4.125, 0.798, 2.499, 0, 0, 0, [SEP] 54, Cabinet, -0.331, 2.249, 4.308, 0, 180, 0, [SEP] 55, CounterTop, -1.872, 0.958, 1.799, 0, 0, 0, [SEP] 56, StoveBurner, -2.924, 0.924, 2.012, 0, 0, 0, [SEP] 57, Cabinet, -0.331, 2.249, 6.806, 0, 180, 0, [SEP] 58, CounterTop, -0.345, 0.960, 5.603, 0, 0, 0, [SEP] 59, Cabinet, -3.039, 1.935, 5.321, 0, 90, 0, [SEP] 60, Cabinet, -3.922, 0.397, 2.088, 0, 0, 0, [SEP] 61, StoveBurner, -2.467, 0.924, 2.012, 0, 0, 0, [SEP] 62, Cabinet, -0.331, 2.249, 5.505, 0, 180, 0, [SEP] 63, Drawer, -0.509, 0.775, 4.617, 0, 270, 0, [SEP] 64, Drawer, -3.509, 0.777, 5.157, 0, 180, 0, [SEP] 65, Cabinet, -3.961, 0.388, 2.878, 0, 0, 0, [SEP] 66, Cabinet, -3.961, 0.388, 4.342, 0, 0, 0, [SEP] 67, Cabinet, -0.637, 0.387, 5.582, 0, 180, 0, [SEP] 68, Cabinet, -0.637, 0.388, 4.299, 0, 180, 0, [SEP] 69, Cabinet, -0.637, 0.388, 5.599, 0, 180, 0, [SEP] 70, StoveBurner, -2.924, 0.924, 1.712, 0, 180, 0, [SEP] 71, Drawer, -1.859, 0.775, 1.961, 0, 0, 0, [SEP] 72, Cabinet, -0.331, 2.249, 5.609, 0, 180, 0, [SEP] 73, CounterTop, -4.260, 0.958, 4.943, 0, 90, 0, [SEP] 74, Cabinet, -4.284, 1.931, 2.226, 0, 0, 0, [SEP] 75, Cabinet, -0.331, 2.249, 3.010, 0, 180, 0, [SEP] 76, Drawer, -3.801, 0.777, 5.157, 0, 180, 0, [SEP] 77, Cabinet, -4.112, 1.935, 5.321, 0, 90, 0, [SEP] 78, Cabinet, -3.968, 0.388, 3.662, 0, 0, 0, [SEP] 79, Drawer, -3.418, 0.777, 1.961, 0, 0, 0, [SEP] 80, Drawer, -4.090, 0.777, 4.661, 0, 90, 0, [SEP] 81, Faucet, -4.441, 0.909, 3.288, 270, 0, 0, [SEP] 82, Cabinet, -0.331, 2.249, 4.207, 0, 180, 0, [SEP] 83, Cabinet, -3.961, 0.388, 2.119, 0, 0, 0, [SEP] 84, Drawer, -0.509, 0.775, 5.920, 0, 270, 0, [SEP] 85, Drawer, -3.193, 0.777, 5.157, 0, 180, 0, [SEP] 86, Cabinet, -3.968, 0.388, 2.894, 0, 0, 0, [SEP] 87, Cabinet, -3.667, 0.387, 5.029, 0, 90, 0, [SEP] 88, StoveBurner, -2.469, 0.924, 1.712, 0, 270, 0, [SEP] 89, Cabinet, -1.539, 0.388, 2.090, 0, 0, 0, [SEP] 90, Sink, -4.190, 0.921, 3.279, 0, 0, 0, [SEP] 91, Cabinet, -3.641, 0.387, 5.029, 0, 90, 0, [SEP] 92, Cabinet, -1.583, 1.931, 1.777, 0, 0, 0, [SEP] 93, Drawer, -0.509, 0.775, 6.568, 0, 270, 0, [SEP] 94, CoffeeMachine, -0.279, 0.912, 6.556, 0, 270, 0, [SEP] 95, StoveKnob, -2.347, 1.095, 1.560, 288.012, 180, 180, [SEP] 96, StoveKnob, -2.788, 1.095, 1.560, 288.012, 180, 180, [SEP] 97, StoveKnob, -2.965, 1.095, 1.560, 288.012, 180, 180, [SEP] 98, StoveKnob, -2.512, 1.095, 1.560, 288.012, 180, 180, [SEP] 99, GarbageCan, -3.711, -0.030, 6.376, 0, 270, 0, [SEP] 100, Toaster, -3.578, 0.912, 1.763, 0, 0, 0, [SEP] 101, Curtains, -4.522, 2.252, 3.391, 90, 90, 0, [SEP] 102, Window, -4.868, 1.629, 3.309, 90, 270, 0, [SEP] 103, Microwave, -2.693, 1.430, 1.689, 0, 0, 0, [SEP] 104, LightSwitch, -1.588, 1.169, 1.506, 0, 0, 0, [SEP] 105, SinkBasin, -4.196, 0.780, 3.276, 0, 270, 0, [SEP] 106, Fridge, -0.324, -0.001, 3.602, 0, 0, 0, [SEP] 107, NorthWall, , , , , , , [SEP] 108, EastWall, , , , , , , [SEP] 109, SouthWall, , , , , , , [SEP] 110, WestWall, , , , , , , ", "output": ["STEP 1: Turn to the left, go forward to the counter on the right where the yellow handled knife is. | STEP 2: Pick up the knife from the counter. | STEP 3: Use the knife to cut the bread into slices. | STEP 4: Turn to the right, go forward to the counter on the right where the bread and tomato are. | STEP 5: Use the knife to cut the bread into slices. | STEP 6: Turn to the left, go forward to the wall, turn to the left, go forward to the garbage can. | STEP 7: Put the knife in to the garbage can. | STEP 8: Turn around, go forward, go to the right, go forward, hang a left and go to the counter where the bread and tomato are. | STEP 9: Pick up a slice of bread from the counter. | STEP 10: Turn to the left, go forward to the wall, turn to the left, go forward to the garbage can. | STEP 11: Put the bread in to the garbage can. | STEP 12: Turn around, go forward to the counter, turn to the right, go forward to the counter on the right where the bread is. | STEP 13: Pick up a slice of bread from the counter. | STEP 14: Turn to the right, go forward to the wall, turn to the left, go forward to the garbage can. | STEP 15: Put the bread in to the garbage can. | END"]} +{"id": "trial_T20190907_002848_074445-1", "input": "Put a bottle that has been in the refrigerator on the counter above the dishwasher. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.908, 3.25, 0, 270, 0, [SEP] 1, Pan, -1.263, 1.287, 1.197, 0, 0, 0, 87 [SEP] 2, SprayBottle, -0.211, 0.116, -0.490, 0, 0, 0, 62 [SEP] 3, SprayBottle, -1.135, 0.911, -0.817, 0, 0, 0, 73 [SEP] 4, CellPhone, 1.200, 0.884, 2.477, 0, 0, 0, 99 [SEP] 5, WineBottle, -1.290, 0.749, 2.459, 0, 0, 0, 48 [SEP] 6, WineBottle, -1.475, 0.750, 2.273, 0, 0, 0, 48 [SEP] 7, WineBottle, -1.383, 0.749, 2.459, 0, 0, 0, 48 [SEP] 8, Spoon, 0.103, 0.759, -0.573, 0, 270, 0, 94 [SEP] 9, Fork, 1.200, 0.886, 2.261, 0, 0, 0, 99 [SEP] 10, Pot, 0.502, 0.939, -0.469, 0, 0, 0, 80 [SEP] 11, Egg, 1.357, 0.120, 1.377, 0, 0, 0, 88 [SEP] 12, Egg, -0.144, 0.793, -0.494, 0, 0, 0, 94 [SEP] 13, Knife, -1.105, 0.771, 2.830, 0, 0, 0, 48 [SEP] 14, Tomato, -1.378, 0.800, 1.197, 0, 90, 0, 87 [SEP] 15, Tomato, -1.149, 1.686, 1.086, 0, 90, 0, 87 [SEP] 16, Bread, 1.128, 0.974, -0.144, 0, 0, 0, 67 [SEP] 17, Bread, -1.105, 0.813, 2.273, 0, 0, 0, 48 [SEP] 18, Lettuce, 1.034, 0.957, 2.261, 0, 0, 0, 99 [SEP] 19, Mug, 1.215, 0.943, -0.633, 0, 320.314, 0, 86 [SEP] 20, Apple, 1.444, 0.971, -0.144, 0, 0, 0, 67 [SEP] 21, Apple, -1.149, 1.481, 0.883, 0, 90, 0, 87 [SEP] 22, Bread, 1.286, 0.974, 0.139, 0, 0, 0, 67 [SEP] 23, Glassbottle, -0.020, 0.759, -0.533, 0, 0, 0, 94 [SEP] 24, Fork, -0.968, 0.912, -0.430, 0, 180, 0, 73 [SEP] 25, Kettle, -1.357, 0.739, 3.024, 0, 240.000, 0, 48 [SEP] 26, Tomato, 1.117, 0.936, 2.800, 0, 0, 0, 99 [SEP] 27, Plate, 1.444, 0.912, 0.422, 0, 0, 0, 67 [SEP] 28, CellPhone, -0.813, 0.909, -0.907, 0, 0, 0, 73 [SEP] 29, Lettuce, -0.919, 0.820, 1.902, 0, 0, 0, 48 [SEP] 30, Pot, 0.802, 0.939, -0.740, 0, 90, 0, 76 [SEP] 31, SoapBottle, 1.207, 0.912, 0.706, 0, 0, 0, 67 [SEP] 32, WineBottle, 1.301, 0.087, 1.503, 0, 0, 0, 88 [SEP] 33, Spatula, -1.286, 0.927, -0.477, 0, 180, 0, 73 [SEP] 34, Bowl, -1.433, 0.910, -0.669, 0, 0, 0, 73 [SEP] 35, Apple, 1.470, 0.146, 1.409, 0, 0, 0, 88 [SEP] 36, Cup, -1.296, 1.014, -0.109, 0, 90, 0, 93 [SEP] 37, Knife, 1.367, 0.908, 2.477, 0, 90, 0, 99 [SEP] 38, Egg, -1.361, 1.049, 0.046, 0, 90, 0, 93 [SEP] 39, SaltShaker, 1.200, 0.882, 2.153, 0, 0, 0, 99 [SEP] 40, PepperShaker, 1.358, 1.656, 0.016, 0, 0, 0, 49 [SEP] 41, Potato, -0.020, 0.803, -0.691, 0, 0, 0, 94 [SEP] 42, ButterKnife, 1.034, 0.886, 2.800, 0, 0, 0, 99 [SEP] 43, DishSponge, -1.475, 0.749, 1.902, 0, 0, 0, 48 [SEP] 44, Pan, 0.502, 0.939, -0.740, 0, 90, 0, 74 [SEP] 45, Spoon, 1.042, 0.777, -0.014, 0, 90, 0, 68 [SEP] 46, SprayBottle, 1.131, 0.115, 0.694, 0, 0, 0, 59 [SEP] 47, Mug, 1.034, 0.881, 2.477, 0, 270, 0, 99 [SEP] 48, DiningTable, -1.182, 0.006, 2.414, 0, 90, 0, [SEP] 49, Cabinet, 1.184, 2.059, 0.375, 0, 0, 0, [SEP] 50, Cabinet, 1.184, 2.059, -0.635, 0, 0, 0, [SEP] 51, Cabinet, 0.591, 2.309, -0.645, 0, 0, 0, [SEP] 52, Cabinet, -0.574, 2.059, -0.644, 0, 0, 0, [SEP] 53, Cabinet, -1.103, 2.059, -0.644, 0, 0, 0, [SEP] 54, Cabinet, -1.185, 2.059, -0.331, 0, 0, 0, [SEP] 55, Cabinet, -1.185, 2.059, -0.281, 0, 0, 0, [SEP] 56, Cabinet, -1.185, 2.059, 0.375, 0, 0, 0, [SEP] 57, Cabinet, 1.184, 2.309, 1.174, 0, 0, 0, [SEP] 58, Cabinet, 1.184, 2.309, 0.424, 0, 0, 0, [SEP] 59, Cabinet, 0.988, 0.402, 0.581, 0, 0, 0, [SEP] 60, Cabinet, 0.988, 0.402, 0.531, 0, 0, 0, [SEP] 61, Cabinet, 0.988, 0.402, -0.178, 0, 0, 0, [SEP] 62, Cabinet, 0.335, 0.402, -0.348, 0, 0, 0, [SEP] 63, Cabinet, -0.374, 0.402, -0.348, 0, 0, 0, [SEP] 64, Cabinet, 0.988, 0.402, 1.231, 0, 0, 0, [SEP] 65, Cabinet, -1.185, 2.309, 1.374, 0, 0, 0, [SEP] 66, Cabinet, -1.185, 2.309, 0.424, 0, 0, 0, [SEP] 67, CounterTop, 1.274, 0.947, 0.064, 0, 0, 0, [SEP] 68, Drawer, 1.116, 0.792, -0.015, 0, 0, 0, [SEP] 69, Drawer, -1.116, 0.792, 0.210, 0, 180, 0, [SEP] 70, Cabinet, -0.990, 0.402, 0.374, 0, 180, 0, [SEP] 71, Drawer, -1.116, 0.792, -0.170, 0, 180, 0, [SEP] 72, Cabinet, -0.990, 0.402, -0.335, 0, 180, 0, [SEP] 73, CounterTop, -1.001, 0.947, -0.669, 0, 0, 0, [SEP] 74, StoveBurner, 0.502, 0.932, -0.740, 0, 90, 0, [SEP] 75, StoveBurner, 0.801, 0.932, -0.473, 0, 0, 0, [SEP] 76, StoveBurner, 0.801, 0.932, -0.740, 0, 90, 0, [SEP] 77, Drawer, 1.116, 0.792, 1.081, 0, 0, 0, [SEP] 78, Sink, -0.013, 0.912, -0.615, 0, 0, 0, [SEP] 79, Drawer, 1.116, 0.792, 0.732, 0, 0, 0, [SEP] 80, StoveBurner, 0.502, 0.932, -0.469, 0, 0, 0, [SEP] 81, Drawer, 1.116, 0.792, 0.367, 0, 0, 0, [SEP] 82, StoveKnob, 0.550, 1.085, -0.912, 287.970, 180, 0, [SEP] 83, StoveKnob, 0.884, 1.085, -0.912, 287.970, 180, 0, [SEP] 84, StoveKnob, 0.432, 1.085, -0.912, 287.970, 180, 0, [SEP] 85, StoveKnob, 0.777, 1.085, -0.912, 287.970, 180, 0, [SEP] 86, CoffeeMachine, 1.304, 0.900, -0.741, 0, 320.314, 0, [SEP] 87, Fridge, -1.300, 0.008, 0.987, 0, 90, 0, [SEP] 88, GarbageCan, 1.296, -0.024, 1.465, 0, 0, 0, [SEP] 89, Window, -0.012, 1.641, -0.972, 90, 0, 0, [SEP] 90, Window, 1.598, 1.646, 2.489, 90, 270, 0, [SEP] 91, Toaster, 1.356, 0.900, 1.044, 0, 270, 0, [SEP] 92, LightSwitch, 0.118, 1.353, 3.799, 0, 180, 0, [SEP] 93, Microwave, -1.343, 0.900, 0.053, 0, 90, 0, [SEP] 94, SinkBasin, -0.029, 0.748, -0.612, 0, 0, 0, [SEP] 95, Faucet, -0.026, 0.927, -0.808, 0, 0, 0, [SEP] 96, Shelf, -1.182, 0.127, 2.414, 0, 90, 0, [SEP] 97, Stool, 1.140, 0.007, 3.262, 1.206, 20.753, 0, [SEP] 98, Shelf, -1.182, 0.435, 2.414, 0, 90, 0, [SEP] 99, DiningTable, 1.169, 0.014, 2.569, 0, 0, 1.896, [SEP] 100, NorthWall, , , , , , , [SEP] 101, EastWall, , , , , , , [SEP] 102, SouthWall, , , , , , , [SEP] 103, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and go to the red trash can. | STEP 2: Take the bottle from the trash can. | STEP 3: Turn around and go to the refrigerator. | STEP 4: Open the refrigerator, put the bottle in the top refrigerator shelf, close the refrigerator. Open the refrigerator, take the bottle from the refrigerator. | STEP 5: Turn left, go to the dishwasher. | STEP 6: Put the bottle on the counter above the dishwasher. | END"]} +{"id": "trial_T20190908_215507_775236-1", "input": "Rinse a head of lettuce in the sink to put back on the white table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.869, -3.25, 0, 90, 0, [SEP] 1, Potato, -2.054, 0.832, -3.673, 0, 0, 0, 59 [SEP] 2, Potato, 0.785, 0.698, -2.190, 0, 270, 0, 57 [SEP] 3, DishSponge, -1.578, 0.699, -3.276, 0, 0, 0, 64 [SEP] 4, DishSponge, 0.720, 0.760, -0.124, 0, 0, 0, 36 [SEP] 5, ButterKnife, 0.721, 0.664, 0.630, 0, 0, 0, 42 [SEP] 6, Spatula, 0.781, 0.680, 0.326, 0, 0, 0, 42 [SEP] 7, Spatula, -1.056, 0.915, 1.272, 0, 270, 0, 63 [SEP] 8, Pot, -2.097, 0.930, 0.785, 0, 0, 0, 39 [SEP] 9, Plate, 0.676, 0.019, -0.119, 0, 0, 0, 47 [SEP] 10, Knife, 0.623, 0.783, -0.252, 0, 90, 0, 36 [SEP] 11, SoapBottle, -1.056, 0.899, 0.843, 0, 270, 0, 63 [SEP] 12, Lettuce, 0.149, 0.987, 1.101, 0, 270, 0, 63 [SEP] 13, Mug, 0.961, 0.660, 0.448, 0, 0, 0, 42 [SEP] 14, Apple, -1.578, 0.753, -3.698, 0, 0, 0, 64 [SEP] 15, Pot, -1.555, 0.930, 1.049, 0, 0, 0, 46 [SEP] 16, Plate, -2.023, 0.692, -1.447, 0, 0, 0, 73 [SEP] 17, Fork, -1.803, 0.702, -0.875, 0, 0, 0, 73 [SEP] 18, SoapBottle, -0.252, 0.899, 1.187, 0, 270, 0, 63 [SEP] 19, Apple, 0.841, 0.718, 0.448, 0, 0, 0, 42 [SEP] 20, Pan, 0.746, 0.464, -2.035, 0, 180, 0, 57 [SEP] 21, Egg, 0.708, 1.195, -1.880, 0, 270, 0, 57 [SEP] 22, Spatula, 0.866, 0.774, -0.252, 0, 90, 0, 36 [SEP] 23, Potato, -1.535, 0.733, -3.614, 0, 0, 0, 64 [SEP] 24, Cup, 1.024, 0.882, -0.176, 0, 0, 0, 37 [SEP] 25, SaltShaker, 0.877, 0.879, 0.029, 0, 0, 0, 37 [SEP] 26, PepperShaker, -1.620, 0.692, -3.614, 0, 0, 0, 64 [SEP] 27, ButterKnife, 0.781, 0.664, 0.448, 0, 0, 0, 42 [SEP] 28, DishSponge, 0.949, 1.463, 0.473, 0, 0, 0, 49 [SEP] 29, Bread, 0.149, 0.944, 0.843, 0, 270, 0, 63 [SEP] 30, Lettuce, -1.260, 0.138, -3.611, 0, 270, 0, 52 [SEP] 31, Tomato, 0.746, 0.713, -1.725, 0, 270, 0, 57 [SEP] 32, Spoon, 0.609, 0.872, -0.196, 0, 60.148, 0, 37 [SEP] 33, Knife, 0.817, 0.782, -0.252, 0, 90, 0, 36 [SEP] 34, Mug, -2.002, 0.794, -3.771, 0, 90, 0, 59 [SEP] 35, Bowl, -2.038, 0.691, -1.003, 0, 0, 0, 73 [SEP] 36, Drawer, 0.706, 0.766, -0.125, 0, 0, 0, [SEP] 37, CounterTop, 0.792, 0.919, -0.108, 0, 0, 0, [SEP] 38, Mirror, 1.093, 1.602, -0.643, 0, 0, 0, [SEP] 39, StoveBurner, -2.096, 0.890, 0.785, 0, 0, 0, [SEP] 40, Cabinet, 0.507, 0.345, -0.426, 0, 0, 0, [SEP] 41, StoveBurner, -1.552, 0.890, 0.785, 0, 0, 0, [SEP] 42, SideTable, 0.770, -0.030, 0.443, 0, 0, 0, [SEP] 43, Sink, 0.753, 0.882, -0.680, 0, 0, 0, [SEP] 44, StoveBurner, -2.096, 0.890, 1.049, 0, 0, 0, [SEP] 45, GarbageBag, -0.770, 0.287, -3.541, 270, 73.521, 83.489, [SEP] 46, StoveBurner, -1.554, 0.890, 1.049, 0, 0, 0, [SEP] 47, Cabinet, 0.507, 0.345, 0.156, 0, 0, 0, [SEP] 48, Cabinet, 0.717, 1.822, -0.398, 0, 0, 0, [SEP] 49, Cabinet, 0.717, 1.822, 0.669, 0, 0, 0, [SEP] 50, CoffeeMachine, 0.873, 0.865, -1.256, 0, 270, 0, [SEP] 51, Toaster, -0.522, 0.886, 1.081, 0, 180, 0, [SEP] 52, GarbageCan, -1.261, -0.031, -3.610, 0, 270, 0, [SEP] 53, StoveKnob, -1.898, 0.866, 0.519, 311.864, 0, 180, [SEP] 54, StoveKnob, -1.754, 0.866, 0.519, 311.864, 0, 180, [SEP] 55, StoveKnob, -2.058, 0.866, 0.519, 311.864, 0, 180, [SEP] 56, StoveKnob, -1.600, 0.866, 0.519, 311.864, 0, 180, [SEP] 57, Fridge, 0.680, -0.031, -1.957, 0, 0, 0, [SEP] 58, Window, -2.424, 1.639, -2.453, 90, 270, 0, [SEP] 59, Microwave, -1.994, 0.690, -3.651, 0, 0, 0, [SEP] 60, SinkBasin, 0.757, 0.762, -0.688, 0, 270, 0, [SEP] 61, LightSwitch, 1.102, 1.368, -3.737, 0, 270, 0, [SEP] 62, Shelf, -0.350, 0.124, 0.857, 0, 0, 0, [SEP] 63, DiningTable, -0.350, -0.025, 0.857, 0, 0, 0, [SEP] 64, DiningTable, -1.909, -0.032, -3.507, 0, 0, 0, [SEP] 65, Blinds, -2.343, 2.151, -2.437, 0, 270, 0, [SEP] 66, AluminumFoil, 0.762, 0.224, 0.337, 0, 184.594, 0, [SEP] 67, AluminumFoil, 0.751, 0.225, 0.287, 0, 0, 0, [SEP] 68, AluminumFoil, 0.839, 0.224, 0.392, 0, 195.128, 0, [SEP] 69, Shelf, 0.771, 0.226, 0.445, 0, 0, 0, [SEP] 70, Shelf, 0.771, 0.456, 0.446, 0, 0, 0, [SEP] 71, Faucet, 1.025, 0.873, -0.678, 270, 180, 0, [SEP] 72, Shelf, -0.350, 0.497, 0.857, 0, 0, 0, [SEP] 73, DiningTable, -1.929, -0.035, -1.398, 0, 90, 0, [SEP] 74, Chair, -1.610, -0.024, -1.424, 358.454, 297.426, 0, [SEP] 75, NorthWall, , , , , , , [SEP] 76, EastWall, , , , , , , [SEP] 77, SouthWall, , , , , , , [SEP] 78, WestWall, , , , , , , ", "output": ["STEP 1: Turn left, walking forward across the room towards the white table. | STEP 2: Pick up the head of lettuce from the table. | STEP 3: Make a right and walk towards the sink. | STEP 4: Rinse the head of lettuce in the sink, removing it afterwards. | STEP 5: Turn left, heading back to the white table. | STEP 6: Set the head of lettuce down on the white table next to the bottle of lotion. | END"]} +{"id": "trial_T20190909_011730_726564-1", "input": "Place a rinsed fork on a counter. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.5, 0.900, -0.25, 0, 180, 0, [SEP] 1, Glassbottle, -0.344, 0.082, -2.201, 0, 0, 0, 48 [SEP] 2, Pencil, -2.324, 0.923, -0.963, 0, 0, 0, 68 [SEP] 3, Pencil, -0.690, 0.747, -3.527, 0, 90, 0, 42 [SEP] 4, Pen, -0.026, 0.918, -2.201, 0, 90, 0, 43 [SEP] 5, Pen, -2.780, 0.926, -2.345, 0, 0, 0, 68 [SEP] 6, WineBottle, -0.499, 0.081, -3.299, 0, 0, 0, 49 [SEP] 7, Plate, -0.460, 0.083, -1.758, 0, 0, 0, 38 [SEP] 8, Egg, -1.881, 0.059, -3.763, 0, 0, 0, 59 [SEP] 9, Bread, -0.392, 1.443, -0.769, 0, 270, 0, 60 [SEP] 10, SaltShaker, -2.666, 0.919, -2.115, 0, 0, 0, 68 [SEP] 11, Mug, -2.210, 0.918, -1.654, 0, 0, 0, 68 [SEP] 12, Apple, -0.228, 1.764, -0.874, 0, 270, 0, 60 [SEP] 13, Apple, -1.257, 1.703, -3.804, 0, 0, 0, 56 [SEP] 14, Lettuce, -2.562, 1.002, -1.677, 36.385, 0, 0, 68 [SEP] 15, Glassbottle, -0.385, 0.916, -3.909, 0, 0, 0, 43 [SEP] 16, Egg, -0.600, 0.948, -3.555, 0, 0, 0, 43 [SEP] 17, Pen, -0.222, 0.918, -3.771, 0, 0, 0, 43 [SEP] 18, Fork, -2.552, 0.924, -0.963, 0, 0, 0, 68 [SEP] 19, SoapBottle, -2.096, 0.922, -1.193, 0, 0, 0, 68 [SEP] 20, Pencil, -1.943, 0.027, -3.727, 0, 0, 0, 59 [SEP] 21, WineBottle, -0.685, 0.083, -3.662, 0, 0, 0, 47 [SEP] 22, Spatula, -0.3, 0.915, -2.544, 0, 22.903, 0, 43 [SEP] 23, Bread, -0.415, 0.952, -3.625, 0, 0, 0, 43 [SEP] 24, Tomato, -2.552, 0.987, -2.115, 0, 0, 0, 68 [SEP] 25, Pan, -1.129, 0.935, -3.498, 0, 0, 0, 41 [SEP] 26, Cup, -2.780, 0.922, -1.654, 0, 0, 0, 68 [SEP] 27, Pot, -1.515, 0.935, -3.497, 0, 0, 0, 40 [SEP] 28, SaltShaker, -0.420, 0.743, -3.297, 0, 0, 0, 54 [SEP] 29, Potato, -2.324, 0.954, -2.345, 0, 0, 0, 68 [SEP] 30, PepperShaker, -0.343, 0.077, -3.330, 0, 0, 0, 49 [SEP] 31, ButterKnife, -0.365, 0.915, -2.764, 0, 90, 0, 43 [SEP] 32, DishSponge, -2.096, 0.923, -2.115, 0, 0, 0, 68 [SEP] 33, Spoon, -0.350, 0.798, -2.008, 0, 270, 0, 61 [SEP] 34, Plate, -0.363, 1.533, -3.706, 0, 45, 0, 51 [SEP] 35, Knife, -0.600, 0.938, -3.839, 0, 90, 0, 43 [SEP] 36, Mug, -0.351, 0.962, -3.144, 0, 270, 0, 57 [SEP] 37, Bowl, -2.754, 0.913, -1.174, 0, 18.855, 0, 68 [SEP] 38, Cabinet, -0.582, 0.388, -1.804, 0, 0, 0, [SEP] 39, StoveBurner, -1.515, 0.928, -3.752, 0, 90, 0, [SEP] 40, StoveBurner, -1.515, 0.928, -3.497, 0, 0, 0, [SEP] 41, StoveBurner, -1.129, 0.928, -3.498, 0, 0, 0, [SEP] 42, Drawer, -0.749, 0.779, -3.551, 0, 0, 0, [SEP] 43, CounterTop, -0.303, 0.951, -2.793, 0, 0, 0, [SEP] 44, Cabinet, -0.883, 2.140, -3.687, 0, 0, 0, [SEP] 45, Cabinet, -0.312, 2.140, -1.543, 0, 0, 0, [SEP] 46, Sink, -0.349, 0.907, -2.014, 0, 0, 0, [SEP] 47, Cabinet, -0.877, 0.388, -3.422, 0, 0, 0, [SEP] 48, Cabinet, -0.582, 0.388, -2.197, 0, 0, 0, [SEP] 49, Cabinet, -0.584, 0.388, -3.396, 0, 0, 0, [SEP] 50, Cabinet, -0.312, 2.140, -2.481, 0, 0, 0, [SEP] 51, Cabinet, -0.330, 1.921, -3.390, 0, 0, 0, [SEP] 52, Cabinet, -1.764, 2.140, -3.687, 0, 0, 0, [SEP] 53, StoveBurner, -1.129, 0.928, -3.752, 0, 90, 0, [SEP] 54, Drawer, -0.454, 0.779, -3.268, 0, 0, 0, [SEP] 55, Cabinet, -0.302, 1.916, -2.501, 0, 0, 0, [SEP] 56, Microwave, -1.317, 1.517, -3.801, 0, 1.440, 0, [SEP] 57, CoffeeMachine, -0.153, 0.903, -3.144, 0, 270, 0, [SEP] 58, LightSwitch, -4.323, 1.319, 0.0, 0, 180, 0, [SEP] 59, GarbageCan, -1.943, -7.152, -3.763, 0, 0, 0, [SEP] 60, Fridge, -0.330, 0.0, -0.769, 0, 270, 0, [SEP] 61, SinkBasin, -0.350, 0.786, -2.018, 0, 270, 0, [SEP] 62, StoveKnob, -1.582, 1.082, -3.958, 72.287, 0, 0, [SEP] 63, StoveKnob, -1.177, 1.082, -3.958, 72.287, 0, 0, [SEP] 64, StoveKnob, -1.424, 1.082, -3.958, 72.287, 0, 0, [SEP] 65, StoveKnob, -1.028, 1.082, -3.958, 72.287, 0, 0, [SEP] 66, Toaster, -0.181, 0.903, -2.764, 0, 270, 0, [SEP] 67, Window, -2.503, 1.782, -4.185, 90, 180, 0, [SEP] 68, DiningTable, -2.432, 0.000, -1.694, 0, 270, 0, [SEP] 69, Shelf, -2.432, 0.150, -1.694, 0, 270, 0, [SEP] 70, Blinds, -2.536, 2.699, -3.959, 0, 0, 0, [SEP] 71, Faucet, -0.079, 0.904, -2.034, 270, 180, 0, [SEP] 72, Chair, -3.264, 0.002, -2.094, 0, 53.280, 0, [SEP] 73, Chair, -3.240, 0.002, -1.253, 0, 117.257, 0, [SEP] 74, Shelf, -2.432, 0.523, -1.694, 0, 270, 0, [SEP] 75, NorthWall, , , , , , , [SEP] 76, EastWall, , , , , , , [SEP] 77, SouthWall, , , , , , , [SEP] 78, WestWall, , , , , , , ", "output": ["STEP 1: Walk to the green table ahead. | STEP 2: Pick up the silver fork to the right side of the table. | STEP 3: Turn left, hang a right at the fridge and walk to the sink on the left. | STEP 4: Put the fork in the sink, rinse it for a few seconds and pick it back up. | STEP 5: Turn right to face the white stove. | STEP 6: Put the rinsed fork in front of the coffee maker on the counter to the left. | END"]} +{"id": "trial_T20190907_014614_905434-0", "input": "Put the chilled pan on the back of the stove. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.0, 0.900, 1.0, 0, 270, 0, [SEP] 1, Potato, -0.047, 0.959, 0.762, 0, 0, 0, 84 [SEP] 2, ButterKnife, 0.066, 0.930, 1.448, 0, 0, 0, 84 [SEP] 3, ButterKnife, 1.850, 0.913, -2.002, 0, 0, 0, 67 [SEP] 4, WineBottle, 1.850, 0.914, -2.252, 0, 0, 0, 67 [SEP] 5, Spatula, 1.738, 0.928, -1.797, 0, 0, 0, 67 [SEP] 6, Spatula, 1.153, 0.928, -1.751, 0, 0, 0, 67 [SEP] 7, Spoon, -0.047, 0.931, 0.305, 0, 0, 0, 84 [SEP] 8, Egg, -1.036, 0.967, -2.260, 0, 0, 0, 67 [SEP] 9, Egg, -1.186, 1.069, -1.846, 0, 90, 0, 73 [SEP] 10, Plate, 1.572, 0.123, -1.266, 0, 270, 0, 61 [SEP] 11, Knife, 0.180, 0.953, 0.305, 0, 0, 0, 84 [SEP] 12, Knife, -0.113, 0.936, -1.762, 0, 0, 0, 67 [SEP] 13, Tomato, -0.064, 0.816, -1.936, 0, 0, 0, 79 [SEP] 14, Tomato, 2.009, 0.965, -1.446, 0, 0, 0, 67 [SEP] 15, SoapBottle, 0.408, 0.929, 0.534, 0, 0, 0, 84 [SEP] 16, SoapBottle, -1.254, 2.146, -0.910, 0, 90, 0, 51 [SEP] 17, Bowl, 1.670, 0.549, 2.431, 0, 0, 0, 93 [SEP] 18, Bowl, 1.919, 0.910, -1.212, 0, 0, 0, 67 [SEP] 19, SaltShaker, -0.346, 0.909, -1.713, 0, 0, 0, 67 [SEP] 20, PepperShaker, 0.522, 0.926, 0.534, 0, 0, 0, 84 [SEP] 21, Mug, -0.137, 0.759, -2.071, 0, 0, 0, 79 [SEP] 22, Mug, 1.261, 0.951, -1.934, 0, 0, 0, 77 [SEP] 23, Apple, 1.872, 0.157, 0.083, 0, 0, 0, 68 [SEP] 24, Apple, -0.356, 0.835, -1.936, 0, 0, 0, 79 [SEP] 25, Apple, -0.772, 0.984, -2.167, 0, 0, 0, 67 [SEP] 26, Potato, 0.522, 0.956, 0.991, 0, 0, 0, 84 [SEP] 27, Bowl, -0.617, 0.108, -1.873, 0, 0, 0, 60 [SEP] 28, SoapBottle, -0.160, 0.925, 0.991, 0, 0, 0, 84 [SEP] 29, Fork, 1.738, 0.914, -1.446, 0, 0, 0, 67 [SEP] 30, Ladle, 0.481, 0.947, 1.420, 0, 0, 346.772, 84 [SEP] 31, Bread, 0.399, 0.964, 0.110, 0, 0, 1.601, 84 [SEP] 32, Lettuce, 0.066, 1.008, 0.991, 0, 0, 0, 84 [SEP] 33, WineBottle, 0.180, 0.927, 1.220, 0, 0, 0, 84 [SEP] 34, Spatula, 0.294, 0.941, 0.991, 0, 0, 0, 84 [SEP] 35, Plate, 0.384, 1.662, -2.162, 0, 0, 0, 56 [SEP] 36, SaltShaker, 1.833, 1.653, -1.866, 0, 270, 0, 57 [SEP] 37, Pot, 1.567, 0.948, -0.757, 0, 0, 0, 49 [SEP] 38, Cup, -0.941, 0.126, -1.538, 0, 90, 0, 62 [SEP] 39, PepperShaker, -0.897, 0.122, -1.426, 0, 90, 0, 60 [SEP] 40, Pan, 1.845, 0.948, -0.355, 0, 0, 0, 48 [SEP] 41, ButterKnife, -0.791, 0.9, -2.186, 0, 164.999, 0, 67 [SEP] 42, Tomato, -0.283, 0.816, -2.071, 0, 0, 0, 79 [SEP] 43, DishSponge, 1.833, 1.657, -1.673, 0, 270, 0, 57 [SEP] 44, Egg, 1.871, 0.140, 0.283, 0, 0, 0, 68 [SEP] 45, Spoon, 0.522, 0.931, 0.762, 0, 0, 0, 84 [SEP] 46, Knife, 0.180, 0.950, 0.534, 0, 0, 0, 84 [SEP] 47, Mug, 1.566, 0.875, 2.510, 0, 0, 0, 88 [SEP] 48, StoveBurner, 1.845, 0.940, -0.355, 0, 0, 0, [SEP] 49, StoveBurner, 1.567, 0.940, -0.757, 0, 0, 0, [SEP] 50, Cabinet, -1.149, 2.019, -1.979, 0, 90, 0, [SEP] 51, Cabinet, -1.149, 2.265, -0.834, 0, 90, 0, [SEP] 52, Cabinet, -0.459, 2.265, -2.0, 0, 0, 0, [SEP] 53, Cabinet, -1.100, 2.019, -2.0, 0, 0, 0, [SEP] 54, Cabinet, 1.719, 2.019, -2.0, 0, 0, 0, [SEP] 55, Cabinet, 1.179, 2.019, -2.0, 0, 0, 0, [SEP] 56, Cabinet, 0.199, 2.019, -2.0, 0, 0, 0, [SEP] 57, Cabinet, 1.75, 2.019, -1.399, 0, 270, 0, [SEP] 58, Cabinet, 1.75, 2.019, -1.029, 0, 270, 0, [SEP] 59, Cabinet, 1.379, 0.469, -1.689, 0, 0, 0, [SEP] 60, Cabinet, -0.819, 0.469, -1.689, 0, 0, 0, [SEP] 61, Cabinet, 1.389, 0.469, -1.059, 0, 270, 0, [SEP] 62, Cabinet, -0.839, 0.469, -1.665, 0, 90, 0, [SEP] 63, StoveBurner, 1.567, 0.940, -0.355, 0, 0, 0, [SEP] 64, StoveBurner, 1.845, 0.940, -0.757, 0, 0, 0, [SEP] 65, Sink, -0.109, 0.893, -2.009, 0, 0, 0, [SEP] 66, Drawer, -0.819, 0.75, -1.690, 0, 0, 0, [SEP] 67, CounterTop, 0.232, 0.949, -2.002, 0, 0, 0, [SEP] 68, GarbageCan, 1.855, -0.034, 0.141, 0, 358.959, 0, [SEP] 69, Vase, 0.251, 0.546, 0.475, 0, 270, 0, [SEP] 70, Toaster, 0.780, 0.900, -2.080, 0, 0, 0, [SEP] 71, LightSwitch, 0.108, 1.315, 2.75, 0, 180, 0, [SEP] 72, Vase, 0.400, 0.925, 0.218, 0, 180, 0, [SEP] 73, Microwave, -1.233, 0.900, -1.680, 0, 90, 0, [SEP] 74, Vase, 1.465, 1.662, -2.200, 0, 0, 0, [SEP] 75, Fridge, -1.495, 0.0, -0.703, 0, 0, 0, [SEP] 76, Window, 2.114, 1.495, 1.072, 90, 270, 0, [SEP] 77, CoffeeMachine, 1.374, 0.899, -2.112, 0, 0, 0, [SEP] 78, Vase, 0.333, 0.546, 1.272, 0, 270, 0, [SEP] 79, SinkBasin, -0.148, 0.753, -2.026, 0, 0, 0, [SEP] 80, StoveKnob, 2.037, 1.089, -0.405, 0, 0, 74.477, [SEP] 81, StoveKnob, 2.037, 1.089, -0.251, 0, 0, 74.477, [SEP] 82, StoveKnob, 2.037, 1.089, -0.649, 0, 0, 74.477, [SEP] 83, StoveKnob, 2.037, 1.089, -0.814, 0, 0, 74.477, [SEP] 84, DiningTable, 0.170, 0.005, 0.678, 0, 270, 0, [SEP] 85, Shelf, 0.170, 0.155, 0.678, 0, 270, 0, [SEP] 86, Shelf, 1.605, 0.172, 2.480, 0, 0, 0, [SEP] 87, Shelf, 1.605, 0.552, 2.480, 0, 0, 0, [SEP] 88, Shelf, 1.604, 0.880, 2.479, 0, 0, 0, [SEP] 89, ShelvingUnit, 1.605, 0.006, 2.480, 0, 0, 0, [SEP] 90, Faucet, -0.143, 1.028, -2.223, 0, 270, 0, [SEP] 91, Stool, -0.553, 0.000, 0.871, 1.233, 280.376, 0, [SEP] 92, Shelf, 0.170, 0.528, 0.678, 0, 270, 0, [SEP] 93, , , , , , , , [SEP] 94, NorthWall, , , , , , , [SEP] 95, EastWall, , , , , , , [SEP] 96, SouthWall, , , , , , , [SEP] 97, WestWall, , , , , , , ", "output": ["STEP 1: Turn around to face the stove. | STEP 2: Pick up the round pan from the stove. | STEP 3: Bring the pan to the fridge. | STEP 4: Chill the pan in the fridge for 5 seconds. | STEP 5: Bring the pan back to the stove. | STEP 6: Put the pan down at the back right of the stove. | END"]} +{"id": "trial_T20190907_014614_905434-2", "input": "Place a cold pan on the stove top. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.0, 0.900, 1.0, 0, 270, 0, [SEP] 1, Potato, -0.047, 0.959, 0.762, 0, 0, 0, 84 [SEP] 2, ButterKnife, 0.066, 0.930, 1.448, 0, 0, 0, 84 [SEP] 3, ButterKnife, 1.850, 0.913, -2.002, 0, 0, 0, 67 [SEP] 4, WineBottle, 1.850, 0.914, -2.252, 0, 0, 0, 67 [SEP] 5, Spatula, 1.738, 0.928, -1.797, 0, 0, 0, 67 [SEP] 6, Spatula, 1.153, 0.928, -1.751, 0, 0, 0, 67 [SEP] 7, Spoon, -0.047, 0.931, 0.305, 0, 0, 0, 84 [SEP] 8, Egg, -1.036, 0.967, -2.260, 0, 0, 0, 67 [SEP] 9, Egg, -1.186, 1.069, -1.846, 0, 90, 0, 73 [SEP] 10, Plate, 1.572, 0.123, -1.266, 0, 270, 0, 61 [SEP] 11, Knife, 0.180, 0.953, 0.305, 0, 0, 0, 84 [SEP] 12, Knife, -0.113, 0.936, -1.762, 0, 0, 0, 67 [SEP] 13, Tomato, -0.064, 0.816, -1.936, 0, 0, 0, 79 [SEP] 14, Tomato, 2.009, 0.965, -1.446, 0, 0, 0, 67 [SEP] 15, SoapBottle, 0.408, 0.929, 0.534, 0, 0, 0, 84 [SEP] 16, SoapBottle, -1.254, 2.146, -0.910, 0, 90, 0, 51 [SEP] 17, Bowl, 1.670, 0.549, 2.431, 0, 0, 0, 93 [SEP] 18, Bowl, 1.919, 0.910, -1.212, 0, 0, 0, 67 [SEP] 19, SaltShaker, -0.346, 0.909, -1.713, 0, 0, 0, 67 [SEP] 20, PepperShaker, 0.522, 0.926, 0.534, 0, 0, 0, 84 [SEP] 21, Mug, -0.137, 0.759, -2.071, 0, 0, 0, 79 [SEP] 22, Mug, 1.261, 0.951, -1.934, 0, 0, 0, 77 [SEP] 23, Apple, 1.872, 0.157, 0.083, 0, 0, 0, 68 [SEP] 24, Apple, -0.356, 0.835, -1.936, 0, 0, 0, 79 [SEP] 25, Apple, -0.772, 0.984, -2.167, 0, 0, 0, 67 [SEP] 26, Potato, 0.522, 0.956, 0.991, 0, 0, 0, 84 [SEP] 27, Bowl, -0.617, 0.108, -1.873, 0, 0, 0, 60 [SEP] 28, SoapBottle, -0.160, 0.925, 0.991, 0, 0, 0, 84 [SEP] 29, Fork, 1.738, 0.914, -1.446, 0, 0, 0, 67 [SEP] 30, Ladle, 0.481, 0.947, 1.420, 0, 0, 346.772, 84 [SEP] 31, Bread, 0.399, 0.964, 0.110, 0, 0, 1.601, 84 [SEP] 32, Lettuce, 0.066, 1.008, 0.991, 0, 0, 0, 84 [SEP] 33, WineBottle, 0.180, 0.927, 1.220, 0, 0, 0, 84 [SEP] 34, Spatula, 0.294, 0.941, 0.991, 0, 0, 0, 84 [SEP] 35, Plate, 0.384, 1.662, -2.162, 0, 0, 0, 56 [SEP] 36, SaltShaker, 1.833, 1.653, -1.866, 0, 270, 0, 57 [SEP] 37, Pot, 1.567, 0.948, -0.757, 0, 0, 0, 49 [SEP] 38, Cup, -0.941, 0.126, -1.538, 0, 90, 0, 62 [SEP] 39, PepperShaker, -0.897, 0.122, -1.426, 0, 90, 0, 60 [SEP] 40, Pan, 1.845, 0.948, -0.355, 0, 0, 0, 48 [SEP] 41, ButterKnife, -0.791, 0.9, -2.186, 0, 164.999, 0, 67 [SEP] 42, Tomato, -0.283, 0.816, -2.071, 0, 0, 0, 79 [SEP] 43, DishSponge, 1.833, 1.657, -1.673, 0, 270, 0, 57 [SEP] 44, Egg, 1.871, 0.140, 0.283, 0, 0, 0, 68 [SEP] 45, Spoon, 0.522, 0.931, 0.762, 0, 0, 0, 84 [SEP] 46, Knife, 0.180, 0.950, 0.534, 0, 0, 0, 84 [SEP] 47, Mug, 1.566, 0.875, 2.510, 0, 0, 0, 88 [SEP] 48, StoveBurner, 1.845, 0.940, -0.355, 0, 0, 0, [SEP] 49, StoveBurner, 1.567, 0.940, -0.757, 0, 0, 0, [SEP] 50, Cabinet, -1.149, 2.019, -1.979, 0, 90, 0, [SEP] 51, Cabinet, -1.149, 2.265, -0.834, 0, 90, 0, [SEP] 52, Cabinet, -0.459, 2.265, -2.0, 0, 0, 0, [SEP] 53, Cabinet, -1.100, 2.019, -2.0, 0, 0, 0, [SEP] 54, Cabinet, 1.719, 2.019, -2.0, 0, 0, 0, [SEP] 55, Cabinet, 1.179, 2.019, -2.0, 0, 0, 0, [SEP] 56, Cabinet, 0.199, 2.019, -2.0, 0, 0, 0, [SEP] 57, Cabinet, 1.75, 2.019, -1.399, 0, 270, 0, [SEP] 58, Cabinet, 1.75, 2.019, -1.029, 0, 270, 0, [SEP] 59, Cabinet, 1.379, 0.469, -1.689, 0, 0, 0, [SEP] 60, Cabinet, -0.819, 0.469, -1.689, 0, 0, 0, [SEP] 61, Cabinet, 1.389, 0.469, -1.059, 0, 270, 0, [SEP] 62, Cabinet, -0.839, 0.469, -1.665, 0, 90, 0, [SEP] 63, StoveBurner, 1.567, 0.940, -0.355, 0, 0, 0, [SEP] 64, StoveBurner, 1.845, 0.940, -0.757, 0, 0, 0, [SEP] 65, Sink, -0.109, 0.893, -2.009, 0, 0, 0, [SEP] 66, Drawer, -0.819, 0.75, -1.690, 0, 0, 0, [SEP] 67, CounterTop, 0.232, 0.949, -2.002, 0, 0, 0, [SEP] 68, GarbageCan, 1.855, -0.034, 0.141, 0, 358.959, 0, [SEP] 69, Vase, 0.251, 0.546, 0.475, 0, 270, 0, [SEP] 70, Toaster, 0.780, 0.900, -2.080, 0, 0, 0, [SEP] 71, LightSwitch, 0.108, 1.315, 2.75, 0, 180, 0, [SEP] 72, Vase, 0.400, 0.925, 0.218, 0, 180, 0, [SEP] 73, Microwave, -1.233, 0.900, -1.680, 0, 90, 0, [SEP] 74, Vase, 1.465, 1.662, -2.200, 0, 0, 0, [SEP] 75, Fridge, -1.495, 0.0, -0.703, 0, 0, 0, [SEP] 76, Window, 2.114, 1.495, 1.072, 90, 270, 0, [SEP] 77, CoffeeMachine, 1.374, 0.899, -2.112, 0, 0, 0, [SEP] 78, Vase, 0.333, 0.546, 1.272, 0, 270, 0, [SEP] 79, SinkBasin, -0.148, 0.753, -2.026, 0, 0, 0, [SEP] 80, StoveKnob, 2.037, 1.089, -0.405, 0, 0, 74.477, [SEP] 81, StoveKnob, 2.037, 1.089, -0.251, 0, 0, 74.477, [SEP] 82, StoveKnob, 2.037, 1.089, -0.649, 0, 0, 74.477, [SEP] 83, StoveKnob, 2.037, 1.089, -0.814, 0, 0, 74.477, [SEP] 84, DiningTable, 0.170, 0.005, 0.678, 0, 270, 0, [SEP] 85, Shelf, 0.170, 0.155, 0.678, 0, 270, 0, [SEP] 86, Shelf, 1.605, 0.172, 2.480, 0, 0, 0, [SEP] 87, Shelf, 1.605, 0.552, 2.480, 0, 0, 0, [SEP] 88, Shelf, 1.604, 0.880, 2.479, 0, 0, 0, [SEP] 89, ShelvingUnit, 1.605, 0.006, 2.480, 0, 0, 0, [SEP] 90, Faucet, -0.143, 1.028, -2.223, 0, 270, 0, [SEP] 91, Stool, -0.553, 0.000, 0.871, 1.233, 280.376, 0, [SEP] 92, Shelf, 0.170, 0.528, 0.678, 0, 270, 0, [SEP] 93, , , , , , , , [SEP] 94, NorthWall, , , , , , , [SEP] 95, EastWall, , , , , , , [SEP] 96, SouthWall, , , , , , , [SEP] 97, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and walk to the stove and turn left to face it. | STEP 2: Pick up the burner from the top left burner. | STEP 3: Turn right and make your way over to the fridge. | STEP 4: Open the fridge and put the pan on the bottom shelf and close the fridge letting the pan chill for a while before picking it back up and closing the fridge again. | STEP 5: Turn around and walk back to the stove. | STEP 6: Put the pan on the top right burner. | END"]} +{"id": "trial_T20190909_045741_191891-0", "input": "Move a sponge to the wire shelf SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.901, 3.25, 0, 0, 0, [SEP] 1, SoapBar, -0.962, 0.042, 3.805, 0, 0, 0, 33 [SEP] 2, SoapBar, -3.376, 1.041, 1.801, 0, 0, 0, 38 [SEP] 3, SprayBottle, -2.293, 1.544, 3.818, 0, 0, 0, 32 [SEP] 4, DishSponge, 0.355, 1.048, 2.903, 0, 270, 0, 36 [SEP] 5, Towel, -1.304, 1.059, -0.183, 0, 0, 0, 27 [SEP] 6, HandTowel, -3.419, 1.338, 2.102, 0, 270, 0, 34 [SEP] 7, Plunger, 0.362, 0.000, 2.468, 0, 0, 0, Floor|-01.44| [SEP] 8, SoapBar, -0.867, 0.042, 3.86, 0, 0, 0, 33 [SEP] 9, ToiletPaper, -0.540, 0.627, 1.976, 0, 227.956, 0, 24 [SEP] 10, SoapBottle, -3.150, 0.866, 0.156, 0, 270, 0, 40 [SEP] 11, ToiletPaper, -2.310, 0.777, 3.875, 0, 0, 0, 29 [SEP] 12, Cloth, 0.025, 0.053, 0.193, 0, 0, 0, 21 [SEP] 13, PaperTowelRoll, -0.771, 0.149, 3.914, 0, 0, 0, 33 [SEP] 14, Candle, -3.206, 0.864, 0.234, 0, 270, 0, 40 [SEP] 15, SprayBottle, 0.355, 1.048, 3.231, 0, 270, 0, 36 [SEP] 16, ScrubBrush, 0.397, 0.000, 2.694, 0, 0, 0, Floor|-01.44| [SEP] 17, DishSponge, 0.385, 1.048, 3.034, 0, 270, 0, 36 [SEP] 18, Faucet, -0.141, 0.524, -0.211, 0, 0, 0, [SEP] 19, Window, -1.507, 1.322, -0.364, 0, 0, 0, [SEP] 20, Faucet, -3.401, 1.017, 1.531, 0, 90, 0, [SEP] 21, BathtubBasin, -0.155, 0.042, 0.884, 0, 0, 0, [SEP] 22, ShowerCurtain, -0.886, 2.196, -0.169, 0, 0, 0, [SEP] 23, ShowerHead, -0.126, 1.447, 2.047, 0, 270, 0, [SEP] 24, Bathtub, -0.205, 0.359, 0.924, 0, 0, 0, [SEP] 25, Mirror, -3.447, 1.575, 1.516, 0, 0, 0, [SEP] 26, TowelHolder, -2.049, 1.045, -0.290, 0, 0, 0, [SEP] 27, TowelHolder, -1.304, 1.045, -0.290, 0, 0, 0, [SEP] 28, ToiletPaperHanger, -0.425, 0.783, 2.278, 0, 0, 0, [SEP] 29, Shelf, -2.587, 0.778, 3.909, 0, 0, 0, [SEP] 30, Shelf, -2.587, 1.287, 3.941, 0, 0, 0, [SEP] 31, Shelf, -2.587, 1.032, 3.941, 0, 0, 0, [SEP] 32, Shelf, -2.587, 1.534, 3.909, 0, 0, 0, [SEP] 33, GarbageCan, 0.047, -0.002, 3.878, 0, 0, 0, [SEP] 34, HandTowelHolder, -3.459, 1.458, 2.098, 0, 0, 0, [SEP] 35, HandTowelHolder, -3.459, 1.458, 0.816, 0, 0, 0, [SEP] 36, Toilet, 0.063, 0.002, 3.096, 0, 0, 0, [SEP] 37, LightSwitch, -3.459, 1.437, 2.496, 0, 90, 0, [SEP] 38, Sink, -3.115, -0.013, 1.531, 0, 90, 0, [SEP] 39, SinkBasin, -3.081, 0.935, 1.537, 0, 90, 0, [SEP] 40, SideTable, -3.171, 0.002, 0.170, 0, 270, 0, [SEP] 41, NorthWall, , , , , , , [SEP] 42, EastWall, , , , , , , [SEP] 43, SouthWall, , , , , , , [SEP] 44, WestWall, , , , , , , ", "output": ["STEP 1: Move to face the back of the toilet against the wall | STEP 2: Pick up the sponge on top of the toilet tank on the left | STEP 3: Carry the sponge over to the wire shelving rack in the corner of the room | STEP 4: Place the sponge on the second shelf from the top on the shelving unit | END"]} +{"id": "trial_T20190907_000413_141930-2", "input": "Look at a pen in the light from the lamp. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.5, 0.900, 0.25, 0, 270, 0, [SEP] 1, TissueBox, 1.183, 0.475, 0.512, 0, 180, 0, 35 [SEP] 2, TissueBox, 1.466, 0.479, 0.186, 0, 180, 0, 35 [SEP] 3, Pencil, 1.183, 0.480, 0.349, 0, 180, 0, 35 [SEP] 4, Pen, -0.606, 0.463, -0.691, 0, 0, 0, 41 [SEP] 5, Pen, 2.009, 0.070, -0.653, 0, 0, 0, 40 [SEP] 6, KeyChain, 3.827, 0.767, 1.151, 0, 180, 0, 45 [SEP] 7, KeyChain, 4.007, 0.878, 0.549, 0, 90, 0, 44 [SEP] 8, RemoteControl, 1.174, 0.337, 1.892, 0, 0, 0, 43 [SEP] 9, Box, 1.586, 0.582, 1.819, 0, 0, 0, 43 [SEP] 10, Laptop, -0.273, 0.321, 1.739, 0, 181.372, 0, 42 [SEP] 11, Box, -0.29, 1.074, -0.714, 0, 270, 0, Floor|+00.00| [SEP] 12, Newspaper, 2.033, 0.476, 0.186, 0, 180, 0, 35 [SEP] 13, Laptop, 1.805, 0.47, 0.499, 0, 0, 0, 35 [SEP] 14, WateringCan, 1.621, 0.056, -0.697, 0, 0, 0, 40 [SEP] 15, TissueBox, 1.904, 0.067, -0.767, 0, 0, 0, 40 [SEP] 16, KeyChain, 3.827, 0.766, 0.578, 0, 90, 0, 45 [SEP] 17, Pen, 1.183, 0.483, 0.186, 0, 180, 0, 35 [SEP] 18, Boots, 4.005, 0.001, 1.707, 1.563, 246.167, 0, [SEP] 19, Pencil, 3.852, 0.769, 0.960, 0, 0, 0, 45 [SEP] 20, RemoteControl, 1.904, 0.454, -0.767, 0, 0, 0, 36 [SEP] 21, CreditCard, 1.466, 0.477, 0.676, 0, 180, 0, 35 [SEP] 22, Pillow, 0.651, 0.395, 1.708, 0, 0, 0, 25 [SEP] 23, Statue, -0.532, 0.443, -0.738, 0, 92.244, 0, 41 [SEP] 24, Statue, 1.324, 0.487, 0.512, 0, 90, 0, 35 [SEP] 25, Sofa, 1.174, 0.0, 1.865, 0, 0, 0, [SEP] 26, FloorLamp, 3.608, 0.000, 2.163, 0, 0, 0, [SEP] 27, GarbageCan, 3.833, -0.029, -0.495, 0, 0, 0, [SEP] 28, Television, 1.897, 1.281, -0.838, 0, 0, 0, [SEP] 29, Painting, 4.070, 1.950, 0.848, 90, 270, 0, [SEP] 30, HousePlant, 0.387, 0.801, -0.725, 0, 90, 0, [SEP] 31, Window, 0.023, 2.072, 2.484, 90, 180, 0, [SEP] 32, Window, 1.570, 2.072, 2.484, 90, 180, 0, [SEP] 33, LightSwitch, -1.399, 1.289, 1.835, 0, 90, 0, [SEP] 34, ArmChair, 2.655, 0.000, 1.858, 0, 180, 0, [SEP] 35, CoffeeTable, 1.591, -0.000, 0.446, 0, 180, 0, [SEP] 36, Shelf, 1.905, 0.588, -0.730, 0, 0, 0, [SEP] 37, TVStand, 1.904, -0.000, -0.770, 0, 0, 0, [SEP] 38, Shelf, -0.289, 0.200, -0.732, 0, 0, 0, [SEP] 39, TVStand, -0.290, -0.000, -0.772, 0, 0, 0, [SEP] 40, Shelf, 1.905, 0.200, -0.730, 0, 0, 0, [SEP] 41, Shelf, -0.289, 0.588, -0.732, 0, 0, 0, [SEP] 42, ArmChair, -0.270, 0.000, 1.870, 0, 181.372, 0, [SEP] 43, Sofa, 1.193, 0.008, 1.865, 0, 180, 0, [SEP] 44, SideTable, 3.946, 0.000, 0.865, 0, 270, 0, [SEP] 45, Drawer, 3.882, 0.774, 0.864, 0, 270, 0, [SEP] 46, NorthWall, , , , , , , [SEP] 47, EastWall, , , , , , , [SEP] 48, SouthWall, , , , , , , [SEP] 49, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and go to the TV stand to your right. | STEP 2: Pick up the blue pen on the bottom shelf. | STEP 3: Turn around and go to the lamp in the right corner. | STEP 4: Turn on the lamp. | END"]} +{"id": "trial_T20190909_033231_419824-1", "input": "Pick up keys and turn on the lamp. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.75, 0.916, 1.75, 0, 180, 0, [SEP] 1, Statue, 3.160, 0.597, 0.298, 0, 270, 0, 44 [SEP] 2, KeyChain, 3.160, 0.590, 0.166, 0, 180, 0, 44 [SEP] 3, KeyChain, -0.046, 0.160, 1.891, 0, 0, 0, 68 [SEP] 4, KeyChain, -2.739, 0.563, 1.600, 0, 270, 0, 56 [SEP] 5, CreditCard, 3.103, 0.331, 1.497, 0, 180, 0, 43 [SEP] 6, CreditCard, 0.003, 0.663, 1.411, 0, 0, 0, 69 [SEP] 7, Box, -2.885, 0.754, 1.806, 0, 270, 0, 56 [SEP] 8, Box, -3.299, 0.782, -0.423, 0, 0, 0, 51 [SEP] 9, Book, 0.116, 0.902, 1.073, 0, 29.999, 0, 61 [SEP] 10, Box, 3.173, 0.206, -0.048, 0, 19.470, 0, 47 [SEP] 11, Statue, 0.158, 0.912, 2.431, 0, 0, 0, 61 [SEP] 12, CreditCard, -2.643, 0.358, -1.804, 0, 29.999, 0, 38 [SEP] 13, Laptop, -2.780, 0.365, -1.874, 0, 0, 0, 38 [SEP] 14, WateringCan, 2.893, 0.014, -1.916, 0, 328.832, 0, [SEP] 15, Newspaper, -0.170, 0.546, -2.291, 0, 0, 0, 39 [SEP] 16, Vase, -2.168, 1.195, -2.183, 0, 0, 0, [SEP] 17, CellPhone, -0.113, 0.906, 1.217, 0, 0, 0, 61 [SEP] 18, RemoteControl, 3.160, 0.591, 1.334, 0, 270, 0, 42 [SEP] 19, Vase, -1.046, 1.195, -2.151, 0, 0, 0, [SEP] 20, Pillow, -2.893, 0.616, 0.818, 0, 0, 0, 56 [SEP] 21, KeyChain, 3.043, 0.590, -0.706, 0, 180, 0, 47 [SEP] 22, Cabinet, 0.333, 0.514, -2.015, 0, 0, 0, [SEP] 23, DeskLamp, 3.143, 0.591, 1.457, 0, 270, 0, [SEP] 24, LightSwitch, -0.927, 1.316, 2.846, 0, 180, 0, [SEP] 25, HousePlant, 0.491, 0.874, -1.581, 0, 0, 0, [SEP] 26, Television, 0.069, 1.406, 1.698, 0, 270, 0, [SEP] 27, GarbageCan, 3.164, 0.026, 0.891, 0, 0, 0, [SEP] 28, Painting, -1.561, 1.408, -2.318, 90, 180, 0, [SEP] 29, Painting, 3.367, 1.789, -0.949, 90, 270, 0, [SEP] 30, Painting, -3.488, 1.386, -0.507, 90, 270, 0, [SEP] 31, FloorLamp, 3.103, 0.025, -2.341, 0, 135, 0, [SEP] 32, Window, 1.133, 1.218, -2.740, 90, 0, 0, [SEP] 33, Window, -3.368, 1.180, -1.539, 90, 90, 0, [SEP] 34, Window, 2.898, 1.218, -2.740, 90, 0, 0, [SEP] 35, Window, 2.006, 1.218, -2.740, 90, 0, 0, [SEP] 36, Window, -0.193, 1.157, -2.563, 90, 0, 0, [SEP] 37, Window, -2.970, 1.157, -2.563, 90, 0, 0, [SEP] 38, ArmChair, -2.859, 0.026, -2.036, 0, 29.994, 0, [SEP] 39, SideTable, -0.170, 0.027, -2.279, 0, 0, 0, [SEP] 40, Drawer, -0.173, 0.465, -2.135, 0, 0, 0, [SEP] 41, Drawer, 3.104, 0.167, 1.400, 0, 270, 0, [SEP] 42, SideTable, 3.163, 0.032, 1.400, 0, 270, 0, [SEP] 43, Drawer, 3.103, 0.418, 1.401, 0, 270, 0, [SEP] 44, SideTable, 3.163, 0.032, 0.364, 0, 270, 0, [SEP] 45, Drawer, -3.241, 0.418, -0.490, 0, 90, 0, [SEP] 46, Drawer, 3.104, 0.167, -0.574, 0, 270, 0, [SEP] 47, SideTable, 3.163, 0.032, -0.574, 0, 270, 0, [SEP] 48, Drawer, 3.104, 0.167, 0.364, 0, 270, 0, [SEP] 49, Drawer, 3.104, 0.419, -0.574, 0, 270, 0, [SEP] 50, Drawer, -3.241, 0.167, -0.489, 0, 90, 0, [SEP] 51, SideTable, -3.300, 0.032, -0.489, 0, 90, 0, [SEP] 52, Drawer, 3.104, 0.419, 0.364, 0, 270, 0, [SEP] 53, Chair, 1.049, 0.031, -2.190, 0, 29.997, 0, [SEP] 54, DogBed, 2.739, 0.032, 2.260, 0, 45, 0, [SEP] 55, Chair, 2.037, 0.031, -2.232, 0, 350.485, 0, [SEP] 56, Sofa, -2.957, 0.032, 1.393, 0, 90, 0, [SEP] 57, Drawer, -0.189, 0.232, 0.954, 0, 270, 0, [SEP] 58, Drawer, -0.415, 0.854, 1.921, 0, 270, 0, [SEP] 59, Drawer, -0.415, 0.351, 1.414, 0, 270, 0, [SEP] 60, Drawer, -0.415, 0.603, 1.414, 0, 270, 0, [SEP] 61, Dresser, -0.052, 0.028, 1.667, 0, 270, 0, [SEP] 62, Drawer, -0.190, 0.484, 0.954, 0, 270, 0, [SEP] 63, Drawer, -0.190, 0.736, 0.954, 0, 270, 0, [SEP] 64, Drawer, -0.415, 0.603, 1.921, 0, 270, 0, [SEP] 65, Drawer, -0.415, 0.603, 2.384, 0, 270, 0, [SEP] 66, Drawer, -0.415, 0.351, 2.384, 0, 270, 0, [SEP] 67, Drawer, -0.415, 0.854, 2.384, 0, 270, 0, [SEP] 68, Drawer, -0.415, 0.351, 1.921, 0, 270, 0, [SEP] 69, Drawer, -0.415, 0.854, 1.414, 0, 270, 0, [SEP] 70, Stool, 3.135, 0.029, -1.625, 0, 330.001, 0, [SEP] 71, Chair, 1.631, 0.029, 2.210, 0, 161.562, 0, [SEP] 72, NorthWall, , , , , , , [SEP] 73, EastWall, , , , , , , [SEP] 74, SouthWall, , , , , , , [SEP] 75, WestWall, , , , , , , ", "output": ["STEP 1: Move forward and turn left to locate the small black table on the floor. | STEP 2: Pick up the keys from the top of the table. | STEP 3: Hold the keys and take a few steps to the right, to the lamp in the corner. | STEP 4: Hold the keys and turn on the lamp. | END"]} +{"id": "trial_T20190908_000741_543888-0", "input": "Throwing two slices of bread into the trash SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.899, 5.0, 0, 270, 0, [SEP] 1, Potato, -0.401, 1.104, 3.479, 0, 270, 0, 103 [SEP] 2, Pot, -2.469, 0.930, 1.712, 0, 270, 0, 85 [SEP] 3, Spatula, -4.184, 0.938, 3.863, 0, 90, 0, 70 [SEP] 4, Spatula, -0.334, 0.940, 5.603, 0, 0, 0, 55 [SEP] 5, Cup, -0.383, 1.334, 3.355, 0, 270, 0, 103 [SEP] 6, Cup, -0.383, 1.684, 3.854, 0, 270, 0, 103 [SEP] 7, Plate, -4.196, 0.791, 3.285, 0, 270, 0, 102 [SEP] 8, Plate, -0.342, 1.581, 3.228, 0, 270, 0, 103 [SEP] 9, Knife, -0.334, 0.954, 4.615, 0, 0, 0, 55 [SEP] 10, Knife, -3.852, 0.953, 5.182, 0, 90, 0, 70 [SEP] 11, SoapBottle, -1.855, 0.081, 1.892, 0, 0, 0, 86 [SEP] 12, Tomato, -0.258, 0.982, 4.944, 0, 0, 0, 55 [SEP] 13, SaltShaker, -0.473, 0.743, 4.460, 0, 270, 0, 60 [SEP] 14, SaltShaker, -0.532, 0.742, 6.722, 0, 270, 0, 90 [SEP] 15, PepperShaker, -3.859, 0.919, 1.799, 0, 0, 0, 70 [SEP] 16, PepperShaker, -0.258, 2.131, 6.070, 0, 180, 0, 69 [SEP] 17, Lettuce, -3.494, 1.018, 5.182, 0, 90, 0, 70 [SEP] 18, Bread, -0.488, 1.004, 4.944, 0, 0, 0, 55 [SEP] 19, Apple, -3.639, 0.122, 6.457, 0, 270, 0, 96 [SEP] 20, Egg, -4.159, 0.826, 3.097, 0, 270, 0, 102 [SEP] 21, Apple, -3.712, 0.122, 6.333, 0, 270, 0, 96 [SEP] 22, Knife, -1.943, 0.953, 1.951, 0, 0, 0, 52 [SEP] 23, Potato, -0.259, 1.369, 3.231, 0, 270, 0, 103 [SEP] 24, Fork, -4.033, 0.924, 4.122, 0, 90, 0, 70 [SEP] 25, Bowl, -4.26, 0.920, 4.381, 0, 90, 0, 70 [SEP] 26, Plate, -0.259, 1.336, 3.726, 0, 270, 0, 103 [SEP] 27, Lettuce, -1.777, 1.018, 1.8, 0, 0, 0, 52 [SEP] 28, Bread, -4.381, 1.003, 2.766, 0, 0, 0, 70 [SEP] 29, Tomato, -4.335, 0.980, 5.418, 0, 90, 0, 70 [SEP] 30, WineBottle, -2.026, 0.924, 1.573, 0, 0, 0, 52 [SEP] 31, Spatula, -0.411, 0.940, 5.273, 0, 0, 0, 55 [SEP] 32, PaperTowelRoll, -1.610, 1.027, 1.875, 0, 0, 0, 52 [SEP] 33, Cup, -3.613, 0.922, 5.566, 0, 90, 0, 70 [SEP] 34, Pencil, -0.258, 0.925, 5.603, 0, 0, 0, 55 [SEP] 35, Pan, -2.454, 0.933, 2.023, 0, 240.000, 0, 58 [SEP] 36, Pot, -2.924, 0.930, 1.712, 0, 180, 0, 67 [SEP] 37, SaltShaker, -4.312, 0.919, 2.416, 0, 0, 0, 70 [SEP] 38, SoapBottle, -3.474, 0.082, 5.229, 0, 90, 0, 88 [SEP] 39, PepperShaker, -3.251, 0.741, 1.986, 0, 0, 0, 76 [SEP] 40, ButterKnife, -4.411, 0.923, 4.640, 0, 270, 0, 70 [SEP] 41, DishSponge, -2.109, 0.923, 1.724, 0, 0, 0, 52 [SEP] 42, Spoon, -4.132, 0.755, 2.501, 0, 0, 0, 50 [SEP] 43, Mug, -0.409, 0.955, 6.557, 0, 270, 0, 91 [SEP] 44, Cabinet, -3.203, 1.931, 1.777, 0, 0, 0, [SEP] 45, Cabinet, -3.187, 0.390, 2.089, 0, 0, 0, [SEP] 46, Cabinet, -0.637, 0.387, 6.882, 0, 180, 0, [SEP] 47, Drawer, -3.797, 0.781, 1.961, 0, 0, 0, [SEP] 48, Cabinet, -3.036, 0.387, 5.029, 0, 90, 0, [SEP] 49, Drawer, -0.509, 0.775, 5.268, 0, 270, 0, [SEP] 50, Drawer, -4.125, 0.798, 2.499, 0, 0, 0, [SEP] 51, Cabinet, -0.331, 2.249, 4.308, 0, 180, 0, [SEP] 52, CounterTop, -1.872, 0.958, 1.799, 0, 0, 0, [SEP] 53, StoveBurner, -2.924, 0.924, 2.012, 0, 0, 0, [SEP] 54, Cabinet, -0.331, 2.249, 6.806, 0, 180, 0, [SEP] 55, CounterTop, -0.345, 0.960, 5.603, 0, 0, 0, [SEP] 56, Cabinet, -3.039, 1.935, 5.321, 0, 90, 0, [SEP] 57, Cabinet, -3.922, 0.397, 2.088, 0, 0, 0, [SEP] 58, StoveBurner, -2.467, 0.924, 2.012, 0, 0, 0, [SEP] 59, Cabinet, -0.331, 2.249, 5.505, 0, 180, 0, [SEP] 60, Drawer, -0.509, 0.775, 4.617, 0, 270, 0, [SEP] 61, Drawer, -3.509, 0.777, 5.157, 0, 180, 0, [SEP] 62, Cabinet, -3.961, 0.388, 2.878, 0, 0, 0, [SEP] 63, Cabinet, -3.961, 0.388, 4.342, 0, 0, 0, [SEP] 64, Cabinet, -0.637, 0.387, 5.582, 0, 180, 0, [SEP] 65, Cabinet, -0.637, 0.388, 4.299, 0, 180, 0, [SEP] 66, Cabinet, -0.637, 0.388, 5.599, 0, 180, 0, [SEP] 67, StoveBurner, -2.924, 0.924, 1.712, 0, 180, 0, [SEP] 68, Drawer, -1.859, 0.775, 1.961, 0, 0, 0, [SEP] 69, Cabinet, -0.331, 2.249, 5.609, 0, 180, 0, [SEP] 70, CounterTop, -4.260, 0.958, 4.943, 0, 90, 0, [SEP] 71, Cabinet, -4.284, 1.931, 2.226, 0, 0, 0, [SEP] 72, Cabinet, -0.331, 2.249, 3.010, 0, 180, 0, [SEP] 73, Drawer, -3.801, 0.777, 5.157, 0, 180, 0, [SEP] 74, Cabinet, -4.112, 1.935, 5.321, 0, 90, 0, [SEP] 75, Cabinet, -3.968, 0.388, 3.662, 0, 0, 0, [SEP] 76, Drawer, -3.418, 0.777, 1.961, 0, 0, 0, [SEP] 77, Drawer, -4.090, 0.777, 4.661, 0, 90, 0, [SEP] 78, Faucet, -4.441, 0.909, 3.288, 270, 0, 0, [SEP] 79, Cabinet, -0.331, 2.249, 4.207, 0, 180, 0, [SEP] 80, Cabinet, -3.961, 0.388, 2.119, 0, 0, 0, [SEP] 81, Drawer, -0.509, 0.775, 5.920, 0, 270, 0, [SEP] 82, Drawer, -3.193, 0.777, 5.157, 0, 180, 0, [SEP] 83, Cabinet, -3.968, 0.388, 2.894, 0, 0, 0, [SEP] 84, Cabinet, -3.667, 0.387, 5.029, 0, 90, 0, [SEP] 85, StoveBurner, -2.469, 0.924, 1.712, 0, 270, 0, [SEP] 86, Cabinet, -1.539, 0.388, 2.090, 0, 0, 0, [SEP] 87, Sink, -4.190, 0.921, 3.279, 0, 0, 0, [SEP] 88, Cabinet, -3.641, 0.387, 5.029, 0, 90, 0, [SEP] 89, Cabinet, -1.583, 1.931, 1.777, 0, 0, 0, [SEP] 90, Drawer, -0.509, 0.775, 6.568, 0, 270, 0, [SEP] 91, CoffeeMachine, -0.279, 0.912, 6.556, 0, 270, 0, [SEP] 92, StoveKnob, -2.347, 1.095, 1.560, 288.012, 180, 180, [SEP] 93, StoveKnob, -2.788, 1.095, 1.560, 288.012, 180, 180, [SEP] 94, StoveKnob, -2.965, 1.095, 1.560, 288.012, 180, 180, [SEP] 95, StoveKnob, -2.512, 1.095, 1.560, 288.012, 180, 180, [SEP] 96, GarbageCan, -3.711, -0.030, 6.376, 0, 270, 0, [SEP] 97, Toaster, -3.578, 0.912, 1.763, 0, 0, 0, [SEP] 98, Curtains, -4.522, 2.252, 3.391, 90, 90, 0, [SEP] 99, Window, -4.868, 1.629, 3.309, 90, 270, 0, [SEP] 100, Microwave, -2.693, 1.430, 1.689, 0, 0, 0, [SEP] 101, LightSwitch, -1.588, 1.169, 1.506, 0, 0, 0, [SEP] 102, SinkBasin, -4.196, 0.780, 3.276, 0, 270, 0, [SEP] 103, Fridge, -0.324, -0.001, 3.602, 0, 0, 0, [SEP] 104, NorthWall, , , , , , , [SEP] 105, EastWall, , , , , , , [SEP] 106, SouthWall, , , , , , , [SEP] 107, WestWall, , , , , , , ", "output": ["STEP 1: Move around the counter keeping it on the right until you're in front of it | STEP 2: Pick up the knife on the counter | STEP 3: Turn around and move to the sink on the right | STEP 4: Slice the bread to the left of the sink | STEP 5: Turn around and move to the counter on the far left of the wall | STEP 6: Slice the second loaf of bread that is below the tomato | STEP 7: Turn left and move to the trash can in the small area ahead | STEP 8: Put the knife in the trash can | STEP 9: Turn around and turn right and move towards the counter with the sink | STEP 10: Pick up a slice of bread from the middle of the loaf to the left of the sink | STEP 11: Turn to the left and move to the wall before turning left into the small area with the trash can | STEP 12: Put the slice in the trash can | STEP 13: Turn around and return to the second loaf of bread that is below the tomato | STEP 14: Pick up a slice of bread from the middle of the loaf that sits below the tomato | STEP 15: Turn around and go back to the small room with the trash can | STEP 16: Put the second slice of bread in the trash beneath the first one | END"]} +{"id": "trial_T20190908_133706_349398-0", "input": "Move a coffee cup from the round table to the small table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.900, -2.5, 0, 90, 0, [SEP] 1, Pan, -0.222, 0.961, -2.243, 0, 0, 0, 64 [SEP] 2, Pan, -2.761, 0.892, -0.290, 0, 270, 0, 82 [SEP] 3, Potato, -0.321, 1.520, -0.762, 0, 270, 0, 75 [SEP] 4, DishSponge, -3.364, 0.894, -0.462, 0, 270, 0, 82 [SEP] 5, DishSponge, -0.524, 0.746, -1.375, 0, 0, 0, 49 [SEP] 6, Spoon, -1.694, 0.943, -3.829, 0, 0, 0, 45 [SEP] 7, Spoon, -3.565, 0.895, -0.548, 0, 270, 0, 82 [SEP] 8, Spatula, -3.329, 0.775, -3.421, 0, 109.125, 0, 81 [SEP] 9, Spatula, -0.078, 0.956, -1.494, 0, 0, 0, 63 [SEP] 10, Cup, -3.409, 0.760, -2.902, 0, 199.125, 0, 81 [SEP] 11, Cup, -0.315, 0.942, -1.494, 0, 0, 0, 63 [SEP] 12, Plate, -3.676, 0.774, -3.348, 0, 334.125, 0, 81 [SEP] 13, SoapBottle, -0.135, 1.500, -1.409, 0, 0, 0, 56 [SEP] 14, SoapBottle, -0.552, 0.939, -1.406, 0, 0, 0, 63 [SEP] 15, Tomato, -0.417, 1.337, -0.413, 0, 270, 0, 75 [SEP] 16, Tomato, -2.387, 0.150, -3.505, 0, 0, 0, 70 [SEP] 17, Bowl, -2.962, 0.892, -0.376, 0, 270, 0, 82 [SEP] 18, Bread, -0.473, 1.023, -2.729, 0, 0, 0, 45 [SEP] 19, Lettuce, -3.942, 0.781, -0.187, 0, 0, 0, 80 [SEP] 20, Lettuce, -3.314, 0.851, -3.241, 0, 244.125, 0, 81 [SEP] 21, SaltShaker, -1.154, 0.749, -3.505, 0, 0, 0, 51 [SEP] 22, Mug, -1.248, 0.937, -3.439, 0, 0, 0, 45 [SEP] 23, Mug, -0.509, 0.075, -2.793, 0, 0, 0, 58 [SEP] 24, SoapBottle, -0.168, 0.940, -2.906, 0, 0, 0, 45 [SEP] 25, Pot, -0.437, 0.961, -1.845, 0, 180, 0, 46 [SEP] 26, Fork, -0.508, 0.814, -3.357, 0, 315, 0, 74 [SEP] 27, Cup, -0.234, 1.576, -2.043, 0, 270, 0, 77 [SEP] 28, Tomato, -0.359, 1.539, -0.297, 0, 270, 0, 75 [SEP] 29, Pan, -0.217, 0.958, -2.215, 0, 45, 0, 64 [SEP] 30, Plate, -0.321, 1.502, -0.994, 0, 270, 0, 75 [SEP] 31, Bread, -1.248, 1.023, -3.673, 0, 0, 0, 45 [SEP] 32, Spatula, -0.818, 0.828, -3.510, 0, 225, 0, 74 [SEP] 33, Knife, -3.163, 0.920, -0.462, 0, 180, 0, 82 [SEP] 34, SaltShaker, -4.122, 0.686, -0.187, 0, 0, 0, 80 [SEP] 35, PepperShaker, -0.243, 0.938, -3.070, 0, 45, 0, 45 [SEP] 36, ButterKnife, -0.157, 0.941, -1.319, 0, 0, 0, 63 [SEP] 37, Apple, -0.376, 1.348, -0.994, 0, 270, 0, 75 [SEP] 38, DishSponge, -3.882, 0.690, -0.369, 0, 0, 0, 80 [SEP] 39, Potato, -4.182, 0.722, -0.491, 0, 0, 0, 80 [SEP] 40, Egg, -4.062, 0.732, -0.430, 0, 0, 0, 80 [SEP] 41, Spoon, -3.982, 0.761, -3.635, 0, 244.125, 0, 81 [SEP] 42, Lettuce, -2.359, 0.985, -0.290, 0, 270, 0, 82 [SEP] 43, Mug, -3.870, 0.755, -3.511, 0, 244.125, 0, 81 [SEP] 44, Bowl, -3.710, 0.758, -2.850, 0, 334.125, 0, 81 [SEP] 45, CounterTop, -1.937, 0.977, -3.673, 0, 0, 0, [SEP] 46, StoveBurner, -0.437, 0.924, -1.845, 0, 180, 0, [SEP] 47, StoveBurner, -0.222, 0.924, -1.845, 0, 180, 0, [SEP] 48, StoveBurner, -0.437, 0.924, -2.243, 0, 0, 0, [SEP] 49, Drawer, -0.500, 0.779, -1.450, 0, 0, 0, [SEP] 50, Drawer, -0.481, 0.777, -2.739, 0, 0, 0, [SEP] 51, Drawer, -1.154, 0.782, -3.499, 0, 0, 0, [SEP] 52, Cabinet, -0.337, 2.110, -0.390, 0, 0, 0, [SEP] 53, Cabinet, -0.337, 2.110, -1.272, 0, 0, 0, [SEP] 54, Cabinet, -0.337, 2.110, -1.631, 0, 0, 0, [SEP] 55, Cabinet, -0.337, 2.110, -2.497, 0, 0, 0, [SEP] 56, Cabinet, -0.337, 1.891, -1.286, 0, 0, 0, [SEP] 57, Cabinet, -0.346, 1.891, -3.293, 0, 0, 0, [SEP] 58, Cabinet, -0.629, 0.388, -2.513, 0, 0, 0, [SEP] 59, Cabinet, -0.633, 0.388, -3.008, 0, 0, 0, [SEP] 60, Cabinet, -1.010, 0.388, -3.368, 0, 0, 0, [SEP] 61, Cabinet, -0.629, 0.388, -1.614, 0, 0, 0, [SEP] 62, Cabinet, -0.327, 1.886, -2.513, 0, 0, 0, [SEP] 63, CounterTop, -0.326, 0.976, -1.450, 0, 0, 0, [SEP] 64, StoveBurner, -0.222, 0.924, -2.243, 0, 0, 0, [SEP] 65, Sink, -0.600, 0.929, -3.388, 0, 0, 0, [SEP] 66, StoveKnob, -0.617, 0.899, -1.833, 315, 90, 180, [SEP] 67, StoveKnob, -0.617, 0.899, -2.129, 315, 90, 180, [SEP] 68, StoveKnob, -0.617, 0.899, -2.289, 315, 90, 180, [SEP] 69, StoveKnob, -0.617, 0.899, -1.975, 315, 90, 180, [SEP] 70, GarbageCan, -2.418, -0.032, -3.541, 0, 0, 0, [SEP] 71, CoffeeMachine, -2.513, 0.930, -3.797, 0, 0, 0, [SEP] 72, Window, -1.389, 1.610, -4.113, 90, 0, 0, [SEP] 73, LightSwitch, -4.372, 1.493, -1.031, 0, 90, 0, [SEP] 74, SinkBasin, -0.614, 0.802, -3.384, 0, 315, 0, [SEP] 75, Fridge, -0.314, 0.0, -0.646, 0, 0, 0, [SEP] 76, Toaster, -1.970, 0.930, -3.763, 0, 0, 0, [SEP] 77, Microwave, -0.216, 1.470, -2.054, 0, 270, 0, [SEP] 78, Blinds, -1.373, 2.205, -3.961, 0, 0, 0, [SEP] 79, Faucet, -0.393, 0.930, -3.614, 270, 225, 0, [SEP] 80, SideTable, -4.030, 0.002, -0.301, 0, 185.034, 0, [SEP] 81, DiningTable, -3.586, 0.000, -3.258, 0, 0, 0, [SEP] 82, DiningTable, -3.224, -0.003, -0.453, 0, 0, 0, [SEP] 83, Shelf, -4.030, 0.259, -0.301, 0, 185.034, 0, [SEP] 84, Shelf, -4.030, 0.489, -0.301, 0, 185.034, 0, [SEP] 85, EastWall, , , , , , , [SEP] 86, EastWall, , , , , , , [SEP] 87, SouthWall, , , , , , , ", "output": ["STEP 1: Turn and go to the counter by the refrigerator. | STEP 2: Pick up the knife on the counter. | STEP 3: Turn and go to the round table. | STEP 4: Put the knife in the coffee cup on the round table. | STEP 5: Pick up the coffee cup on the round table. | STEP 6: Turn and go to the small table in the corner. | STEP 7: Put the coffee cup on the small table. | END"]} +{"id": "trial_T20190908_032235_790554-1", "input": "Put a heated slice of potato on the table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.25, 0.900, 0.5, 0, 90, 0, [SEP] 1, Pan, 0.974, 0.957, -1.688, 0, 180, 0, 47 [SEP] 2, Book, -1.961, 0.908, -0.614, 0, 0, 0, 48 [SEP] 3, ButterKnife, 0.179, 0.928, -1.718, 0, 270, 0, 45 [SEP] 4, Kettle, -3.165, 0.875, 3.370, 0, 270, 0, 50 [SEP] 5, Kettle, -2.912, 0.875, 3.685, 0, 135, 0, 50 [SEP] 6, Spatula, 0.014, 0.943, -1.429, 0, 270, 0, 45 [SEP] 7, Fork, -2.490, 0.879, 3.147, 0, 270, 0, 50 [SEP] 8, Spoon, -1.649, 0.718, -0.788, 0, 0, 0, 63 [SEP] 9, Plate, -2.183, 0.916, -1.265, 0, 0, 0, 48 [SEP] 10, SoapBottle, 3.716, 0.881, 1.656, 0, 270, 0, 69 [SEP] 11, SoapBottle, -2.912, 0.879, 2.758, 0, 225, 0, 50 [SEP] 12, Lettuce, -1.738, 0.977, 0.363, 0, 0, 0, 48 [SEP] 13, Mug, -2.472, 0.873, 3.513, 0, 225, 0, 50 [SEP] 14, Mug, -0.149, 0.383, 1.967, 0, 180, 0, 73 [SEP] 15, Apple, 0.525, 0.967, -1.572, 0, 0, 0, 48 [SEP] 16, Book, -1.516, 0.908, 0.363, 0, 0, 0, 48 [SEP] 17, Fork, -2.726, 0.879, 3.393, 0, 135, 0, 50 [SEP] 18, Tomato, -2.436, 0.922, 2.884, 0, 0, 0, 50 [SEP] 19, Egg, -0.149, 0.414, 2.112, 0, 180, 0, 73 [SEP] 20, Kettle, 1.328, 0.957, -1.688, 0, 180, 0, 51 [SEP] 21, Vase, -1.738, 0.913, -1.265, 0, 0, 0, 48 [SEP] 22, Cup, -2.584, 0.873, 3.728, 0, 0, 0, 50 [SEP] 23, WineBottle, 0.700, 1.654, -1.749, 0, 0, 0, 59 [SEP] 24, Plate, -1.388, 1.661, -1.710, 0, 0, 0, 61 [SEP] 25, Spatula, 0.179, 0.943, -1.501, 0, 270, 0, 45 [SEP] 26, Potato, 0.069, 0.965, -1.501, 0, 270, 0, 45 [SEP] 27, Pot, -1.602, 0.901, -0.172, 0, 308.119, 0, 48 [SEP] 28, Knife, 1.760, 0.932, -1.437, 0, 90, 0, 68 [SEP] 29, SaltShaker, -1.583, 0.716, -1.073, 0, 0, 0, 63 [SEP] 30, PepperShaker, 1.631, 1.651, -1.709, 0, 0, 0, 58 [SEP] 31, Lettuce, -2.490, 0.943, 3.221, 0, 270, 0, 50 [SEP] 32, ButterKnife, -2.644, 0.874, 2.997, 0, 135, 0, 50 [SEP] 33, Bread, -1.516, 0.995, -1.265, 0, 0, 0, 48 [SEP] 34, Vase, -2.013, 0.120, -1.726, 0, 0, 0, 49 [SEP] 35, DishSponge, 0.663, 0.911, -1.572, 0, 0, 0, 48 [SEP] 36, Apple, -2.152, 0.933, 3.296, 0, 270, 0, 50 [SEP] 37, Pan, -0.149, 1.571, 2.040, 0, 180, 0, 73 [SEP] 38, Spoon, -1.269, 0.913, -1.471, 0, 0, 0, 48 [SEP] 39, SoapBottle, -2.088, 0.120, -1.580, 0, 0, 0, 49 [SEP] 40, Mug, -2.001, 1.652, -1.747, 0, 0, 0, 44 [SEP] 41, Statue, 3.676, 0.168, 1.410, 0, 334.521, 0, 71 [SEP] 42, Statue, 3.668, 0.540, 1.800, 0, 0, 0, 71 [SEP] 43, Bowl, 0.193, 1.570, 2.160, 0, 180, 0, 73 [SEP] 44, Cabinet, -2.171, 2.009, -1.538, 0, 0, 0, [SEP] 45, Sink, 0.024, 0.771, -1.708, 0, 270, 0, [SEP] 46, Cabinet, 1.444, 2.259, -1.542, 0, 0, 0, [SEP] 47, StoveBurner, 0.974, 0.957, -1.688, 0, 180, 0, [SEP] 48, CounterTop, -1.866, 0.947, -0.614, 0, 0, 0, [SEP] 49, Cabinet, -2.217, 0.373, -1.874, 0, 0, 0, [SEP] 50, DiningTable, -2.663, 0.002, 3.208, 0, 0, 0, [SEP] 51, StoveBurner, 1.328, 0.957, -1.688, 0, 180, 0, [SEP] 52, StoveBurner, 1.328, 0.957, -1.420, 0, 180, 0, [SEP] 53, Cabinet, -1.478, 0.373, -1.235, 0, 0, 0, [SEP] 54, Cabinet, 1.775, 0.372, -1.242, 0, 0, 0, [SEP] 55, Cabinet, 0.774, 0.372, -1.242, 0, 0, 0, [SEP] 56, Cabinet, 0.375, 0.372, -1.242, 0, 0, 0, [SEP] 57, Cabinet, -0.574, 0.372, -1.238, 0, 0, 0, [SEP] 58, Cabinet, 1.775, 2.009, -1.542, 0, 0, 0, [SEP] 59, Cabinet, 0.524, 2.009, -1.542, 0, 0, 0, [SEP] 60, Cabinet, -0.714, 2.009, -1.542, 0, 0, 0, [SEP] 61, Cabinet, -1.671, 2.009, -1.538, 0, 0, 0, [SEP] 62, Cabinet, 0.854, 2.259, -1.542, 0, 0, 0, [SEP] 63, Drawer, -1.636, 0.683, -0.930, 0, 0, 0, [SEP] 64, Drawer, 1.650, 0.682, -1.396, 0, 0, 0, [SEP] 65, Drawer, 0.600, 0.682, -1.396, 0, 0, 0, [SEP] 66, StoveBurner, 0.974, 0.957, -1.419, 0, 180, 0, [SEP] 67, Drawer, -2.062, 0.683, -1.579, 0, 0, 0, [SEP] 68, CounterTop, 1.645, 0.945, -1.527, 0, 0, 0, [SEP] 69, Shelf, 3.725, 0.880, 1.671, 0, 90, 0, [SEP] 70, LightSwitch, 2.830, 1.266, -0.748, 0, 0, 0, [SEP] 71, Shelf, 3.726, 0.552, 1.671, 0, 90, 0, [SEP] 72, Microwave, 1.150, 1.655, -1.614, 0, 0, 0, [SEP] 73, Fridge, -0.035, 0.0, 2.177, 0, 180, 0, [SEP] 74, Window, -0.115, 1.802, -1.896, 90, 0, 0, [SEP] 75, Window, -4.009, 1.799, 0.310, 90, 90, 0, [SEP] 76, Shelf, 3.726, 0.172, 1.671, 0, 90, 0, [SEP] 77, SinkBasin, -0.330, 0.686, -1.581, 0, 270, 0, [SEP] 78, GarbageCan, -0.870, -0.001, 2.136, 0, 90, 0, [SEP] 79, StoveKnob, 1.089, 0.913, -1.243, 45, 0, 0, [SEP] 80, StoveKnob, 1.208, 0.913, -1.243, 45, 0, 0, [SEP] 81, StoveKnob, 1.340, 0.913, -1.243, 45, 0, 0, [SEP] 82, StoveKnob, 0.961, 0.913, -1.243, 45, 0, 0, [SEP] 83, Toaster, 1.637, 0.900, -1.673, 0, 0, 0, [SEP] 84, Chair, -3.505, 0.002, 3.290, 0, 105.736, 0, [SEP] 85, CoffeeMachine, -1.111, 0.900, -1.726, 0, 0, 0, [SEP] 86, HousePlant, -2.663, 0.835, 3.209, 0, 0, 0, [SEP] 87, Faucet, -0.187, 0.922, -1.75, 0, 311.166, 0, [SEP] 88, ShelvingUnit, 3.726, 0.006, 1.671, 0, 90, 0, [SEP] 89, Stool, -2.501, -0.000, 0.062, 1.223, 91.243, 0, [SEP] 90, Stool, -2.475, -0.000, -0.802, 1.209, 69.808, 0, [SEP] 91, Chair, -2.934, 0.002, 2.437, 0, 28.531, 0, [SEP] 92, Chair, -1.698, 0.002, 3.235, 0, 245.204, 0, [SEP] 93, NorthWall, , , , , , , [SEP] 94, EastWall, , , , , , , [SEP] 95, SouthWall, , , , , , , [SEP] 96, WestWall, , , , , , , ", "output": ["STEP 1: Go around the counter to go to the front of the Sink. | STEP 2: Pick up the gray knife on the counter. | STEP 3: Move over to the right. | STEP 4: Slice the potato on the counter. | STEP 5: Place the knife in the sink. | STEP 6: Pick up one slice of potato. | STEP 7: Turn left and go to the microwave above the stove. | STEP 8: Microwave the slice of potato, and take it out. | STEP 9: Turn around and go to the table on the opposite side. | STEP 10: Place the potato slice on the table on the right of the tea kettle. | END"]} +{"id": "trial_T20190909_061223_722848-0", "input": "To cool a lettuce slice and place it on the counter to the left of the fridge. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.900, 2.5, 0, 90, 0, [SEP] 1, Potato, 0.061, 0.951, -1.263, 0, 90, 0, 47 [SEP] 2, Potato, 1.726, 0.951, -1.460, 0, 90, 0, 47 [SEP] 3, ButterKnife, 1.757, 0.910, 1.004, 0, 90, 0, 43 [SEP] 4, ButterKnife, 0.220, 0.910, 1.180, 0, 90, 0, 43 [SEP] 5, DishSponge, 1.757, 0.910, 1.269, 0, 90, 0, 43 [SEP] 6, DishSponge, 1.800, 0.069, 1.588, 0, 270, 0, 61 [SEP] 7, Pot, 1.807, 0.909, -0.320, 0, 180, 0, 45 [SEP] 8, Spoon, 0.894, 0.761, -1.654, 0, 90, 0, 62 [SEP] 9, Spatula, 1.796, 0.926, -1.802, 0, 90, 0, 47 [SEP] 10, Egg, -0.644, 0.785, -1.489, 0, 0, 0, 70 [SEP] 11, Egg, 1.101, 0.795, -1.654, 0, 0, 0, 62 [SEP] 12, Cup, 1.451, 0.908, 0.467, 0, 90, 0, 43 [SEP] 13, Cup, -0.692, 1.387, -1.594, 0, 0, 0, 70 [SEP] 14, Plate, 1.805, 1.647, -1.724, 0, 0, 0, 57 [SEP] 15, SoapBottle, 1.769, 1.652, -0.353, 0, 0, 0, 54 [SEP] 16, Tomato, 0.356, 0.975, -1.263, 0, 90, 0, 47 [SEP] 17, SaltShaker, 1.501, 0.905, 1.180, 0, 90, 0, 43 [SEP] 18, PepperShaker, 1.757, 0.905, 1.092, 0, 90, 0, 43 [SEP] 19, PepperShaker, 1.012, 0.906, -1.264, 0, 90, 0, 47 [SEP] 20, Mug, -0.887, 0.741, -1.559, 0, 180, 0, 70 [SEP] 21, Plate, 1.802, 1.647, -0.000, 0, 0, 0, 53 [SEP] 22, SoapBottle, 1.877, 1.652, -0.449, 0, 0, 0, 54 [SEP] 23, Cup, -0.838, 0.458, -1.348, 0, 0, 0, 70 [SEP] 24, Egg, 1.77, 0.105, 1.731, 0, 270, 0, 61 [SEP] 25, Fork, 0.732, 0.911, 0.915, 0, 90, 0, 43 [SEP] 26, Ladle, 1.201, 0.926, 0.743, 3.373, 0, 346.986, 43 [SEP] 27, Apple, 1.239, 0.817, -1.544, 0, 0, 0, 62 [SEP] 28, SaltShaker, 1.935, 0.906, -1.288, 0, 90, 0, 47 [SEP] 29, Pan, 1.281, 0.900, 1.190, 0, 0, 0, 43 [SEP] 30, Tomato, 1.684, 0.974, 0.570, 0, 90, 0, 43 [SEP] 31, Spatula, 0.732, 0.925, 1.004, 0, 180, 0, 43 [SEP] 32, Potato, -0.741, 0.786, -1.594, 0, 90, 0, 70 [SEP] 33, Knife, 1.501, 0.943, 0.915, 0, 90, 0, 43 [SEP] 34, ButterKnife, 0.989, 0.910, 0.827, 0, 90, 0, 43 [SEP] 35, Bread, 1.615, 0.977, 0.761, 0, 50.525, 0, 43 [SEP] 36, Lettuce, 0.856, 0.989, 1.120, 0, 270, 1.892, 43 [SEP] 37, PepperShaker, 1.842, 2.132, 0.767, 0, 0, 0, 51 [SEP] 38, Pot, 1.548, 0.909, 0.075, 0, 180, 0, 49 [SEP] 39, DishSponge, 1.586, 0.910, -1.374, 0, 90, 0, 47 [SEP] 40, Spoon, 1.839, 0.911, 0.467, 0, 90, 0, 43 [SEP] 41, Bowl, 0.220, 0.909, 0.827, 0, 90, 0, 43 [SEP] 42, Mug, 1.771, 1.010, -0.676, 0, 270, 0, 67 [SEP] 43, CounterTop, 0.989, 0.946, 1.016, 0, 90, 0, [SEP] 44, StoveBurner, 1.807, 0.907, 0.075, 0, 180, 0, [SEP] 45, StoveBurner, 1.807, 0.907, -0.320, 0, 180, 0, [SEP] 46, StoveBurner, 1.543, 0.907, -0.320, 0, 90, 0, [SEP] 47, CounterTop, 0.989, 0.946, -1.516, 0, 90, 0, [SEP] 48, Sink, 1.100, 0.906, -1.599, 0, 0, 0, [SEP] 49, StoveBurner, 1.548, 0.907, 0.075, 0, 180, 0, [SEP] 50, Cabinet, 1.658, 2.299, 1.313, 0, 0, 0, [SEP] 51, Cabinet, 1.658, 2.299, 0.686, 0, 0, 0, [SEP] 52, Cabinet, 1.658, 2.049, 0.673, 0, 0, 0, [SEP] 53, Cabinet, 1.658, 2.059, 0.193, 0, 0, 0, [SEP] 54, Cabinet, 1.658, 2.059, -0.593, 0, 0, 0, [SEP] 55, Cabinet, 1.658, 2.049, -0.606, 0, 0, 0, [SEP] 56, Cabinet, 1.658, 2.049, -1.206, 0, 0, 0, [SEP] 57, Cabinet, 1.658, 2.049, -1.893, 0, 0, 0, [SEP] 58, Toaster, 0.131, 0.900, -1.589, 0, 0, 0, [SEP] 59, Window, -0.372, 1.588, 3.349, 90, 0, 0, [SEP] 60, Window, 0.782, 1.741, -1.893, 90, 0, 0, [SEP] 61, GarbageCan, 1.770, -0.029, 1.685, 0, 270, 0, [SEP] 62, SinkBasin, 1.091, 0.740, -1.599, 0, 0, 0, [SEP] 63, StoveKnob, 1.364, 0.821, 0.086, 48.421, 270, 0, [SEP] 64, StoveKnob, 1.364, 0.821, -0.180, 48.421, 270, 0, [SEP] 65, StoveKnob, 1.364, 0.821, -0.317, 48.421, 270, 0, [SEP] 66, StoveKnob, 1.364, 0.821, -0.054, 48.421, 270, 0, [SEP] 67, Microwave, 1.752, 0.900, -0.843, 0, 270, 0, [SEP] 68, LightSwitch, 2.0, 1.261, 3.094, 0, 270, 0, [SEP] 69, CoffeeMachine, 0.501, 0.900, -1.600, 0, 0, 0, [SEP] 70, Fridge, -0.533, 0.0, -1.554, 0, 0, 0, [SEP] 71, Chair, 1.068, 0.000, 1.752, 0, 191.622, 0, [SEP] 72, Faucet, 1.110, 1.138, -1.764, 0, 270, 0, [SEP] 73, Chair, 0.357, 0.000, 1.710, 0, 178.899, 0, [SEP] 74, NorthWall, , , , , , , [SEP] 75, EastWall, , , , , , , [SEP] 76, SouthWall, , , , , , , [SEP] 77, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and walk around to face the opposite side of the counter. | STEP 2: Pick up the lettuce on the counter. | STEP 3: Step left to face the end of the counter. | STEP 4: Place the lettuce on the end of the counter. | STEP 5: Pick up the knife on the counter. | STEP 6: Cut the lettuce on the counter into slices. | STEP 7: Place the knife on the counter. | STEP 8: Pick up a slice of lettuce on the counter. | STEP 9: Turn around to face the fridge. | STEP 10: Cool the lettuce slice in the fridge and remove it. | STEP 11: Take a step to the left to face the counter. | STEP 12: Place the lettuce slice on the counter. | END"]} +{"id": "trial_T20190909_061223_722848-2", "input": "Put a frozen slice of lettuce on the counter. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.900, 2.5, 0, 90, 0, [SEP] 1, Potato, 0.061, 0.951, -1.263, 0, 90, 0, 47 [SEP] 2, Potato, 1.726, 0.951, -1.460, 0, 90, 0, 47 [SEP] 3, ButterKnife, 1.757, 0.910, 1.004, 0, 90, 0, 43 [SEP] 4, ButterKnife, 0.220, 0.910, 1.180, 0, 90, 0, 43 [SEP] 5, DishSponge, 1.757, 0.910, 1.269, 0, 90, 0, 43 [SEP] 6, DishSponge, 1.800, 0.069, 1.588, 0, 270, 0, 61 [SEP] 7, Pot, 1.807, 0.909, -0.320, 0, 180, 0, 45 [SEP] 8, Spoon, 0.894, 0.761, -1.654, 0, 90, 0, 62 [SEP] 9, Spatula, 1.796, 0.926, -1.802, 0, 90, 0, 47 [SEP] 10, Egg, -0.644, 0.785, -1.489, 0, 0, 0, 70 [SEP] 11, Egg, 1.101, 0.795, -1.654, 0, 0, 0, 62 [SEP] 12, Cup, 1.451, 0.908, 0.467, 0, 90, 0, 43 [SEP] 13, Cup, -0.692, 1.387, -1.594, 0, 0, 0, 70 [SEP] 14, Plate, 1.805, 1.647, -1.724, 0, 0, 0, 57 [SEP] 15, SoapBottle, 1.769, 1.652, -0.353, 0, 0, 0, 54 [SEP] 16, Tomato, 0.356, 0.975, -1.263, 0, 90, 0, 47 [SEP] 17, SaltShaker, 1.501, 0.905, 1.180, 0, 90, 0, 43 [SEP] 18, PepperShaker, 1.757, 0.905, 1.092, 0, 90, 0, 43 [SEP] 19, PepperShaker, 1.012, 0.906, -1.264, 0, 90, 0, 47 [SEP] 20, Mug, -0.887, 0.741, -1.559, 0, 180, 0, 70 [SEP] 21, Plate, 1.802, 1.647, -0.000, 0, 0, 0, 53 [SEP] 22, SoapBottle, 1.877, 1.652, -0.449, 0, 0, 0, 54 [SEP] 23, Cup, -0.838, 0.458, -1.348, 0, 0, 0, 70 [SEP] 24, Egg, 1.77, 0.105, 1.731, 0, 270, 0, 61 [SEP] 25, Fork, 0.732, 0.911, 0.915, 0, 90, 0, 43 [SEP] 26, Ladle, 1.201, 0.926, 0.743, 3.373, 0, 346.986, 43 [SEP] 27, Apple, 1.239, 0.817, -1.544, 0, 0, 0, 62 [SEP] 28, SaltShaker, 1.935, 0.906, -1.288, 0, 90, 0, 47 [SEP] 29, Pan, 1.281, 0.900, 1.190, 0, 0, 0, 43 [SEP] 30, Tomato, 1.684, 0.974, 0.570, 0, 90, 0, 43 [SEP] 31, Spatula, 0.732, 0.925, 1.004, 0, 180, 0, 43 [SEP] 32, Potato, -0.741, 0.786, -1.594, 0, 90, 0, 70 [SEP] 33, Knife, 1.501, 0.943, 0.915, 0, 90, 0, 43 [SEP] 34, ButterKnife, 0.989, 0.910, 0.827, 0, 90, 0, 43 [SEP] 35, Bread, 1.615, 0.977, 0.761, 0, 50.525, 0, 43 [SEP] 36, Lettuce, 0.856, 0.989, 1.120, 0, 270, 1.892, 43 [SEP] 37, PepperShaker, 1.842, 2.132, 0.767, 0, 0, 0, 51 [SEP] 38, Pot, 1.548, 0.909, 0.075, 0, 180, 0, 49 [SEP] 39, DishSponge, 1.586, 0.910, -1.374, 0, 90, 0, 47 [SEP] 40, Spoon, 1.839, 0.911, 0.467, 0, 90, 0, 43 [SEP] 41, Bowl, 0.220, 0.909, 0.827, 0, 90, 0, 43 [SEP] 42, Mug, 1.771, 1.010, -0.676, 0, 270, 0, 67 [SEP] 43, CounterTop, 0.989, 0.946, 1.016, 0, 90, 0, [SEP] 44, StoveBurner, 1.807, 0.907, 0.075, 0, 180, 0, [SEP] 45, StoveBurner, 1.807, 0.907, -0.320, 0, 180, 0, [SEP] 46, StoveBurner, 1.543, 0.907, -0.320, 0, 90, 0, [SEP] 47, CounterTop, 0.989, 0.946, -1.516, 0, 90, 0, [SEP] 48, Sink, 1.100, 0.906, -1.599, 0, 0, 0, [SEP] 49, StoveBurner, 1.548, 0.907, 0.075, 0, 180, 0, [SEP] 50, Cabinet, 1.658, 2.299, 1.313, 0, 0, 0, [SEP] 51, Cabinet, 1.658, 2.299, 0.686, 0, 0, 0, [SEP] 52, Cabinet, 1.658, 2.049, 0.673, 0, 0, 0, [SEP] 53, Cabinet, 1.658, 2.059, 0.193, 0, 0, 0, [SEP] 54, Cabinet, 1.658, 2.059, -0.593, 0, 0, 0, [SEP] 55, Cabinet, 1.658, 2.049, -0.606, 0, 0, 0, [SEP] 56, Cabinet, 1.658, 2.049, -1.206, 0, 0, 0, [SEP] 57, Cabinet, 1.658, 2.049, -1.893, 0, 0, 0, [SEP] 58, Toaster, 0.131, 0.900, -1.589, 0, 0, 0, [SEP] 59, Window, -0.372, 1.588, 3.349, 90, 0, 0, [SEP] 60, Window, 0.782, 1.741, -1.893, 90, 0, 0, [SEP] 61, GarbageCan, 1.770, -0.029, 1.685, 0, 270, 0, [SEP] 62, SinkBasin, 1.091, 0.740, -1.599, 0, 0, 0, [SEP] 63, StoveKnob, 1.364, 0.821, 0.086, 48.421, 270, 0, [SEP] 64, StoveKnob, 1.364, 0.821, -0.180, 48.421, 270, 0, [SEP] 65, StoveKnob, 1.364, 0.821, -0.317, 48.421, 270, 0, [SEP] 66, StoveKnob, 1.364, 0.821, -0.054, 48.421, 270, 0, [SEP] 67, Microwave, 1.752, 0.900, -0.843, 0, 270, 0, [SEP] 68, LightSwitch, 2.0, 1.261, 3.094, 0, 270, 0, [SEP] 69, CoffeeMachine, 0.501, 0.900, -1.600, 0, 0, 0, [SEP] 70, Fridge, -0.533, 0.0, -1.554, 0, 0, 0, [SEP] 71, Chair, 1.068, 0.000, 1.752, 0, 191.622, 0, [SEP] 72, Faucet, 1.110, 1.138, -1.764, 0, 270, 0, [SEP] 73, Chair, 0.357, 0.000, 1.710, 0, 178.899, 0, [SEP] 74, NorthWall, , , , , , , [SEP] 75, EastWall, , , , , , , [SEP] 76, SouthWall, , , , , , , [SEP] 77, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and go around the counter on the left to the other side. | STEP 2: Pick up the lettuce on the counter. | STEP 3: Move over to the right side of the counter. | STEP 4: Place the lettuce back on the counter on the left of the fork and spatula. | STEP 5: Pick up the gray knife from the counter. | STEP 6: Cut the lettuce on the counter. | STEP 7: Throw the knife back on the counter on top of the golden ladle. | STEP 8: Pick up one slice of the lettuce from the counter. . | STEP 9: Turn around and go to the front of the refrigerator. | STEP 10: Remove the lettuce after freezing it in the freezer. | STEP 11: Turn left to go to the front of the counter with the coffee machine. | STEP 12: Place the slice of the lettuce on the counter in front of the coffee machine. | END"]} +{"id": "trial_T20190907_052323_939906-1", "input": "Put a vase and a lid on a small dresser. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.900, 2.0, 0, 270, 0, [SEP] 1, Vase, -1.730, 1.147, -1.959, 0, 90, 0, 43 [SEP] 2, Vase, -1.583, 0.973, 0.464, 0, 0, 0, 48 [SEP] 3, CellPhone, -1.436, 0.972, -0.339, 0, 0, 0, 48 [SEP] 4, CellPhone, 0.296, 0.775, -0.106, 0, 0, 0, 30 [SEP] 5, Pen, -1.636, 1.152, -1.959, 0, 90, 0, 43 [SEP] 6, Pencil, -1.794, 0.670, -2.177, 0, 0, 0, 44 [SEP] 7, Pencil, -1.605, 1.151, -1.845, 0, 90, 0, 43 [SEP] 8, CreditCard, 2.132, 0.435, 1.845, 0, 90, 0, 64 [SEP] 9, CreditCard, 2.411, 0.445, 1.925, 0, 90, 0, 64 [SEP] 10, Book, 0.537, 0.774, -0.106, 0, 0, 0, 30 [SEP] 11, Book, 1.261, 0.774, 0.188, 0, 0, 0, 30 [SEP] 12, AlarmClock, -1.699, 1.637, -1.959, 0, 90, 0, 42 [SEP] 13, Pillow, 1.743, 0.836, -0.401, 0, 0, 0, 30 [SEP] 14, Book, -1.720, 0.035, -0.536, 0, 180, 0, 56 [SEP] 15, KeyChain, -1.437, 0.038, -0.255, 0, 0, 0, 56 [SEP] 16, AlarmClock, 2.289, 0.673, -1.636, 0, 0, 0, 61 [SEP] 17, Pillow, 1.261, 0.836, -0.695, 0, 0, 0, 30 [SEP] 18, Pillow, 0.652, 0.794, -1.531, 0, 0, 0, 30 [SEP] 19, Vase, -1.583, 0.971, -0.339, 0, 0, 0, 48 [SEP] 20, Laptop, 1.502, 0.773, -1.284, 0, 0, 0, 30 [SEP] 21, Vase, -1.650, 1.626, -2.316, 0, 0, 0, 42 [SEP] 22, Pencil, -1.668, 1.643, -2.415, 0, 90, 0, 42 [SEP] 23, CreditCard, 1.519, 0.082, 2.153, 0, 0, 0, 59 [SEP] 24, Boots, -1.842, 0.000, -1.077, 0, 135, 0, [SEP] 25, Pen, -1.657, 0.977, -0.540, 0, 0, 0, 48 [SEP] 26, CellPhone, 1.743, 0.775, -1.579, 0, 0, 0, 30 [SEP] 27, CD, -1.730, 1.145, -2.073, 0, 90, 0, 43 [SEP] 28, Bowl, -1.583, 0.972, 0.062, 0, 0, 0, 48 [SEP] 29, Statue, -1.657, 0.982, -0.742, 0, 90, 0, 48 [SEP] 30, Bed, 1.017, 0.003, -0.686, 0, 180, 0, [SEP] 31, HousePlant, -1.749, 0.971, 0.463, 0, 0, 0, [SEP] 32, GarbageCan, -1.665, -0.000, 0.953, 0, 45, 0, [SEP] 33, Painting, 0.381, 1.976, -1.895, 90, 0, 0, [SEP] 34, Painting, 0.879, 1.976, -1.895, 90, 0, 0, [SEP] 35, Painting, 1.373, 1.976, -1.895, 90, 0, 0, [SEP] 36, LightSwitch, -0.164, 1.085, 2.450, 0, 180, 0, [SEP] 37, Mirror, -1.950, 1.735, -0.206, 0, 270, 0, [SEP] 38, Window, -1.098, 1.570, -3.230, 90, 0, 0, [SEP] 39, DeskLamp, 1.404, 0.668, 2.209, 0, 0, 0, [SEP] 40, DeskLamp, 2.596, 0.668, -1.710, 0, 0, 0, [SEP] 41, Blinds, -1.062, 2.361, -3.173, 0, 0, 0, [SEP] 42, Shelf, -1.675, 1.871, -2.053, 0, 90, 0, [SEP] 43, Shelf, -1.675, 1.383, -2.053, 0, 90, 0, [SEP] 44, Drawer, -1.715, 0.832, -2.053, 0, 90, 0, [SEP] 45, ShelvingUnit, -1.723, 0.007, -2.053, 0, 90, 0, [SEP] 46, Drawer, -1.713, 0.339, -2.053, 0, 90, 0, [SEP] 47, Drawer, -1.629, 0.104, 0.243, 0, 90, 0, [SEP] 48, Dresser, -1.674, 0.000, -0.153, 0, 90, 0, [SEP] 49, Drawer, -1.630, 0.868, -0.550, 0, 90, 0, [SEP] 50, Drawer, -1.630, 0.680, 0.243, 0, 90, 0, [SEP] 51, Drawer, -1.629, 0.104, -0.550, 0, 90, 0, [SEP] 52, Drawer, -1.630, 0.680, -0.550, 0, 90, 0, [SEP] 53, Drawer, -1.630, 0.868, 0.243, 0, 90, 0, [SEP] 54, Drawer, -1.629, 0.486, -0.550, 0, 90, 0, [SEP] 55, Drawer, -1.629, 0.291, 0.243, 0, 90, 0, [SEP] 56, Drawer, -1.629, 0.291, -0.550, 0, 90, 0, [SEP] 57, Drawer, -1.630, 0.486, 0.243, 0, 90, 0, [SEP] 58, SideTable, 1.576, -0.001, 2.137, 0, 180, 0, [SEP] 59, Drawer, 1.576, 0.163, 2.070, 0, 180, 0, [SEP] 60, Drawer, 1.576, 0.455, 2.070, 0, 180, 0, [SEP] 61, SideTable, 2.437, -0.001, -1.603, 0, 0, 0, [SEP] 62, Drawer, 2.438, 0.163, -1.536, 0, 0, 0, [SEP] 63, Drawer, 2.438, 0.455, -1.536, 0, 0, 0, [SEP] 64, ArmChair, 2.393, -0.001, 1.943, 0, 180, 0, [SEP] 65, NorthWall, , , , , , , [SEP] 66, EastWall, , , , , , , [SEP] 67, SouthWall, , , , , , , [SEP] 68, WestWall, , , , , , , ", "output": ["STEP 1: Cross the room to the window, then turn to the bookcase on the right. | STEP 2: Pick up the vase on the shelf. | STEP 3: Cross the room to the door, turn right, then turn to the dresser on the left. | STEP 4: Place the vase on the dresser. | STEP 5: Turn left, then left again at the door, then turn to the large dresser on the right. | STEP 6: Pick up the gold lid on the dresser. | STEP 7: Head toward the door, then turn right, then turn back to the small dresser on the left. | STEP 8: Place the lid to the right of the vase. | END"]} +{"id": "trial_T20190907_052323_939906-2", "input": "Put two items from the shelf to the end table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.900, 2.0, 0, 270, 0, [SEP] 1, Vase, -1.730, 1.147, -1.959, 0, 90, 0, 43 [SEP] 2, Vase, -1.583, 0.973, 0.464, 0, 0, 0, 48 [SEP] 3, CellPhone, -1.436, 0.972, -0.339, 0, 0, 0, 48 [SEP] 4, CellPhone, 0.296, 0.775, -0.106, 0, 0, 0, 30 [SEP] 5, Pen, -1.636, 1.152, -1.959, 0, 90, 0, 43 [SEP] 6, Pencil, -1.794, 0.670, -2.177, 0, 0, 0, 44 [SEP] 7, Pencil, -1.605, 1.151, -1.845, 0, 90, 0, 43 [SEP] 8, CreditCard, 2.132, 0.435, 1.845, 0, 90, 0, 64 [SEP] 9, CreditCard, 2.411, 0.445, 1.925, 0, 90, 0, 64 [SEP] 10, Book, 0.537, 0.774, -0.106, 0, 0, 0, 30 [SEP] 11, Book, 1.261, 0.774, 0.188, 0, 0, 0, 30 [SEP] 12, AlarmClock, -1.699, 1.637, -1.959, 0, 90, 0, 42 [SEP] 13, Pillow, 1.743, 0.836, -0.401, 0, 0, 0, 30 [SEP] 14, Book, -1.720, 0.035, -0.536, 0, 180, 0, 56 [SEP] 15, KeyChain, -1.437, 0.038, -0.255, 0, 0, 0, 56 [SEP] 16, AlarmClock, 2.289, 0.673, -1.636, 0, 0, 0, 61 [SEP] 17, Pillow, 1.261, 0.836, -0.695, 0, 0, 0, 30 [SEP] 18, Pillow, 0.652, 0.794, -1.531, 0, 0, 0, 30 [SEP] 19, Vase, -1.583, 0.971, -0.339, 0, 0, 0, 48 [SEP] 20, Laptop, 1.502, 0.773, -1.284, 0, 0, 0, 30 [SEP] 21, Vase, -1.650, 1.626, -2.316, 0, 0, 0, 42 [SEP] 22, Pencil, -1.668, 1.643, -2.415, 0, 90, 0, 42 [SEP] 23, CreditCard, 1.519, 0.082, 2.153, 0, 0, 0, 59 [SEP] 24, Boots, -1.842, 0.000, -1.077, 0, 135, 0, [SEP] 25, Pen, -1.657, 0.977, -0.540, 0, 0, 0, 48 [SEP] 26, CellPhone, 1.743, 0.775, -1.579, 0, 0, 0, 30 [SEP] 27, CD, -1.730, 1.145, -2.073, 0, 90, 0, 43 [SEP] 28, Bowl, -1.583, 0.972, 0.062, 0, 0, 0, 48 [SEP] 29, Statue, -1.657, 0.982, -0.742, 0, 90, 0, 48 [SEP] 30, Bed, 1.017, 0.003, -0.686, 0, 180, 0, [SEP] 31, HousePlant, -1.749, 0.971, 0.463, 0, 0, 0, [SEP] 32, GarbageCan, -1.665, -0.000, 0.953, 0, 45, 0, [SEP] 33, Painting, 0.381, 1.976, -1.895, 90, 0, 0, [SEP] 34, Painting, 0.879, 1.976, -1.895, 90, 0, 0, [SEP] 35, Painting, 1.373, 1.976, -1.895, 90, 0, 0, [SEP] 36, LightSwitch, -0.164, 1.085, 2.450, 0, 180, 0, [SEP] 37, Mirror, -1.950, 1.735, -0.206, 0, 270, 0, [SEP] 38, Window, -1.098, 1.570, -3.230, 90, 0, 0, [SEP] 39, DeskLamp, 1.404, 0.668, 2.209, 0, 0, 0, [SEP] 40, DeskLamp, 2.596, 0.668, -1.710, 0, 0, 0, [SEP] 41, Blinds, -1.062, 2.361, -3.173, 0, 0, 0, [SEP] 42, Shelf, -1.675, 1.871, -2.053, 0, 90, 0, [SEP] 43, Shelf, -1.675, 1.383, -2.053, 0, 90, 0, [SEP] 44, Drawer, -1.715, 0.832, -2.053, 0, 90, 0, [SEP] 45, ShelvingUnit, -1.723, 0.007, -2.053, 0, 90, 0, [SEP] 46, Drawer, -1.713, 0.339, -2.053, 0, 90, 0, [SEP] 47, Drawer, -1.629, 0.104, 0.243, 0, 90, 0, [SEP] 48, Dresser, -1.674, 0.000, -0.153, 0, 90, 0, [SEP] 49, Drawer, -1.630, 0.868, -0.550, 0, 90, 0, [SEP] 50, Drawer, -1.630, 0.680, 0.243, 0, 90, 0, [SEP] 51, Drawer, -1.629, 0.104, -0.550, 0, 90, 0, [SEP] 52, Drawer, -1.630, 0.680, -0.550, 0, 90, 0, [SEP] 53, Drawer, -1.630, 0.868, 0.243, 0, 90, 0, [SEP] 54, Drawer, -1.629, 0.486, -0.550, 0, 90, 0, [SEP] 55, Drawer, -1.629, 0.291, 0.243, 0, 90, 0, [SEP] 56, Drawer, -1.629, 0.291, -0.550, 0, 90, 0, [SEP] 57, Drawer, -1.630, 0.486, 0.243, 0, 90, 0, [SEP] 58, SideTable, 1.576, -0.001, 2.137, 0, 180, 0, [SEP] 59, Drawer, 1.576, 0.163, 2.070, 0, 180, 0, [SEP] 60, Drawer, 1.576, 0.455, 2.070, 0, 180, 0, [SEP] 61, SideTable, 2.437, -0.001, -1.603, 0, 0, 0, [SEP] 62, Drawer, 2.438, 0.163, -1.536, 0, 0, 0, [SEP] 63, Drawer, 2.438, 0.455, -1.536, 0, 0, 0, [SEP] 64, ArmChair, 2.393, -0.001, 1.943, 0, 180, 0, [SEP] 65, NorthWall, , , , , , , [SEP] 66, EastWall, , , , , , , [SEP] 67, SouthWall, , , , , , , [SEP] 68, WestWall, , , , , , , ", "output": ["STEP 1: Move to the shelf across from the door to the right. | STEP 2: Pick up a clear vase from the shelf. | STEP 3: Move to the end table to the right of the door. | STEP 4: Place the vase on the end table | STEP 5: Move to the shelf across from the door to the right. | STEP 6: Pick up a golden disc from the shelf. | STEP 7: Move to the end table to the right of the door. | STEP 8: Place the disk on the end table | END"]} +{"id": "trial_T20190907_052323_939906-3", "input": "Gather the earn with it's lid to put them on the night stand. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.900, 2.0, 0, 270, 0, [SEP] 1, Vase, -1.730, 1.147, -1.959, 0, 90, 0, 43 [SEP] 2, Vase, -1.583, 0.973, 0.464, 0, 0, 0, 48 [SEP] 3, CellPhone, -1.436, 0.972, -0.339, 0, 0, 0, 48 [SEP] 4, CellPhone, 0.296, 0.775, -0.106, 0, 0, 0, 30 [SEP] 5, Pen, -1.636, 1.152, -1.959, 0, 90, 0, 43 [SEP] 6, Pencil, -1.794, 0.670, -2.177, 0, 0, 0, 44 [SEP] 7, Pencil, -1.605, 1.151, -1.845, 0, 90, 0, 43 [SEP] 8, CreditCard, 2.132, 0.435, 1.845, 0, 90, 0, 64 [SEP] 9, CreditCard, 2.411, 0.445, 1.925, 0, 90, 0, 64 [SEP] 10, Book, 0.537, 0.774, -0.106, 0, 0, 0, 30 [SEP] 11, Book, 1.261, 0.774, 0.188, 0, 0, 0, 30 [SEP] 12, AlarmClock, -1.699, 1.637, -1.959, 0, 90, 0, 42 [SEP] 13, Pillow, 1.743, 0.836, -0.401, 0, 0, 0, 30 [SEP] 14, Book, -1.720, 0.035, -0.536, 0, 180, 0, 56 [SEP] 15, KeyChain, -1.437, 0.038, -0.255, 0, 0, 0, 56 [SEP] 16, AlarmClock, 2.289, 0.673, -1.636, 0, 0, 0, 61 [SEP] 17, Pillow, 1.261, 0.836, -0.695, 0, 0, 0, 30 [SEP] 18, Pillow, 0.652, 0.794, -1.531, 0, 0, 0, 30 [SEP] 19, Vase, -1.583, 0.971, -0.339, 0, 0, 0, 48 [SEP] 20, Laptop, 1.502, 0.773, -1.284, 0, 0, 0, 30 [SEP] 21, Vase, -1.650, 1.626, -2.316, 0, 0, 0, 42 [SEP] 22, Pencil, -1.668, 1.643, -2.415, 0, 90, 0, 42 [SEP] 23, CreditCard, 1.519, 0.082, 2.153, 0, 0, 0, 59 [SEP] 24, Boots, -1.842, 0.000, -1.077, 0, 135, 0, [SEP] 25, Pen, -1.657, 0.977, -0.540, 0, 0, 0, 48 [SEP] 26, CellPhone, 1.743, 0.775, -1.579, 0, 0, 0, 30 [SEP] 27, CD, -1.730, 1.145, -2.073, 0, 90, 0, 43 [SEP] 28, Bowl, -1.583, 0.972, 0.062, 0, 0, 0, 48 [SEP] 29, Statue, -1.657, 0.982, -0.742, 0, 90, 0, 48 [SEP] 30, Bed, 1.017, 0.003, -0.686, 0, 180, 0, [SEP] 31, HousePlant, -1.749, 0.971, 0.463, 0, 0, 0, [SEP] 32, GarbageCan, -1.665, -0.000, 0.953, 0, 45, 0, [SEP] 33, Painting, 0.381, 1.976, -1.895, 90, 0, 0, [SEP] 34, Painting, 0.879, 1.976, -1.895, 90, 0, 0, [SEP] 35, Painting, 1.373, 1.976, -1.895, 90, 0, 0, [SEP] 36, LightSwitch, -0.164, 1.085, 2.450, 0, 180, 0, [SEP] 37, Mirror, -1.950, 1.735, -0.206, 0, 270, 0, [SEP] 38, Window, -1.098, 1.570, -3.230, 90, 0, 0, [SEP] 39, DeskLamp, 1.404, 0.668, 2.209, 0, 0, 0, [SEP] 40, DeskLamp, 2.596, 0.668, -1.710, 0, 0, 0, [SEP] 41, Blinds, -1.062, 2.361, -3.173, 0, 0, 0, [SEP] 42, Shelf, -1.675, 1.871, -2.053, 0, 90, 0, [SEP] 43, Shelf, -1.675, 1.383, -2.053, 0, 90, 0, [SEP] 44, Drawer, -1.715, 0.832, -2.053, 0, 90, 0, [SEP] 45, ShelvingUnit, -1.723, 0.007, -2.053, 0, 90, 0, [SEP] 46, Drawer, -1.713, 0.339, -2.053, 0, 90, 0, [SEP] 47, Drawer, -1.629, 0.104, 0.243, 0, 90, 0, [SEP] 48, Dresser, -1.674, 0.000, -0.153, 0, 90, 0, [SEP] 49, Drawer, -1.630, 0.868, -0.550, 0, 90, 0, [SEP] 50, Drawer, -1.630, 0.680, 0.243, 0, 90, 0, [SEP] 51, Drawer, -1.629, 0.104, -0.550, 0, 90, 0, [SEP] 52, Drawer, -1.630, 0.680, -0.550, 0, 90, 0, [SEP] 53, Drawer, -1.630, 0.868, 0.243, 0, 90, 0, [SEP] 54, Drawer, -1.629, 0.486, -0.550, 0, 90, 0, [SEP] 55, Drawer, -1.629, 0.291, 0.243, 0, 90, 0, [SEP] 56, Drawer, -1.629, 0.291, -0.550, 0, 90, 0, [SEP] 57, Drawer, -1.630, 0.486, 0.243, 0, 90, 0, [SEP] 58, SideTable, 1.576, -0.001, 2.137, 0, 180, 0, [SEP] 59, Drawer, 1.576, 0.163, 2.070, 0, 180, 0, [SEP] 60, Drawer, 1.576, 0.455, 2.070, 0, 180, 0, [SEP] 61, SideTable, 2.437, -0.001, -1.603, 0, 0, 0, [SEP] 62, Drawer, 2.438, 0.163, -1.536, 0, 0, 0, [SEP] 63, Drawer, 2.438, 0.455, -1.536, 0, 0, 0, [SEP] 64, ArmChair, 2.393, -0.001, 1.943, 0, 180, 0, [SEP] 65, NorthWall, , , , , , , [SEP] 66, EastWall, , , , , , , [SEP] 67, SouthWall, , , , , , , [SEP] 68, WestWall, , , , , , , ", "output": ["STEP 1: Turn left, walk behind the couch to the far corner then turn right and approach book shelf. | STEP 2: Pick up the earn from the top shelf. | STEP 3: Walk to the right and go to the night stand. | STEP 4: Put the earn on top of the night stand. | STEP 5: Turn on the lamp then walk over to the dresser. | STEP 6: Pick up the lid for the candy dish from the dresser. | STEP 7: Walk back over to the night stand. | STEP 8: Place the lid on the night stand next to the earn. | END"]} +{"id": "trial_T20190907_052323_939906-4", "input": "Put a gold disk and a vase on the end table at the foot of the bed. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.900, 2.0, 0, 270, 0, [SEP] 1, Vase, -1.730, 1.147, -1.959, 0, 90, 0, 43 [SEP] 2, Vase, -1.583, 0.973, 0.464, 0, 0, 0, 48 [SEP] 3, CellPhone, -1.436, 0.972, -0.339, 0, 0, 0, 48 [SEP] 4, CellPhone, 0.296, 0.775, -0.106, 0, 0, 0, 30 [SEP] 5, Pen, -1.636, 1.152, -1.959, 0, 90, 0, 43 [SEP] 6, Pencil, -1.794, 0.670, -2.177, 0, 0, 0, 44 [SEP] 7, Pencil, -1.605, 1.151, -1.845, 0, 90, 0, 43 [SEP] 8, CreditCard, 2.132, 0.435, 1.845, 0, 90, 0, 64 [SEP] 9, CreditCard, 2.411, 0.445, 1.925, 0, 90, 0, 64 [SEP] 10, Book, 0.537, 0.774, -0.106, 0, 0, 0, 30 [SEP] 11, Book, 1.261, 0.774, 0.188, 0, 0, 0, 30 [SEP] 12, AlarmClock, -1.699, 1.637, -1.959, 0, 90, 0, 42 [SEP] 13, Pillow, 1.743, 0.836, -0.401, 0, 0, 0, 30 [SEP] 14, Book, -1.720, 0.035, -0.536, 0, 180, 0, 56 [SEP] 15, KeyChain, -1.437, 0.038, -0.255, 0, 0, 0, 56 [SEP] 16, AlarmClock, 2.289, 0.673, -1.636, 0, 0, 0, 61 [SEP] 17, Pillow, 1.261, 0.836, -0.695, 0, 0, 0, 30 [SEP] 18, Pillow, 0.652, 0.794, -1.531, 0, 0, 0, 30 [SEP] 19, Vase, -1.583, 0.971, -0.339, 0, 0, 0, 48 [SEP] 20, Laptop, 1.502, 0.773, -1.284, 0, 0, 0, 30 [SEP] 21, Vase, -1.650, 1.626, -2.316, 0, 0, 0, 42 [SEP] 22, Pencil, -1.668, 1.643, -2.415, 0, 90, 0, 42 [SEP] 23, CreditCard, 1.519, 0.082, 2.153, 0, 0, 0, 59 [SEP] 24, Boots, -1.842, 0.000, -1.077, 0, 135, 0, [SEP] 25, Pen, -1.657, 0.977, -0.540, 0, 0, 0, 48 [SEP] 26, CellPhone, 1.743, 0.775, -1.579, 0, 0, 0, 30 [SEP] 27, CD, -1.730, 1.145, -2.073, 0, 90, 0, 43 [SEP] 28, Bowl, -1.583, 0.972, 0.062, 0, 0, 0, 48 [SEP] 29, Statue, -1.657, 0.982, -0.742, 0, 90, 0, 48 [SEP] 30, Bed, 1.017, 0.003, -0.686, 0, 180, 0, [SEP] 31, HousePlant, -1.749, 0.971, 0.463, 0, 0, 0, [SEP] 32, GarbageCan, -1.665, -0.000, 0.953, 0, 45, 0, [SEP] 33, Painting, 0.381, 1.976, -1.895, 90, 0, 0, [SEP] 34, Painting, 0.879, 1.976, -1.895, 90, 0, 0, [SEP] 35, Painting, 1.373, 1.976, -1.895, 90, 0, 0, [SEP] 36, LightSwitch, -0.164, 1.085, 2.450, 0, 180, 0, [SEP] 37, Mirror, -1.950, 1.735, -0.206, 0, 270, 0, [SEP] 38, Window, -1.098, 1.570, -3.230, 90, 0, 0, [SEP] 39, DeskLamp, 1.404, 0.668, 2.209, 0, 0, 0, [SEP] 40, DeskLamp, 2.596, 0.668, -1.710, 0, 0, 0, [SEP] 41, Blinds, -1.062, 2.361, -3.173, 0, 0, 0, [SEP] 42, Shelf, -1.675, 1.871, -2.053, 0, 90, 0, [SEP] 43, Shelf, -1.675, 1.383, -2.053, 0, 90, 0, [SEP] 44, Drawer, -1.715, 0.832, -2.053, 0, 90, 0, [SEP] 45, ShelvingUnit, -1.723, 0.007, -2.053, 0, 90, 0, [SEP] 46, Drawer, -1.713, 0.339, -2.053, 0, 90, 0, [SEP] 47, Drawer, -1.629, 0.104, 0.243, 0, 90, 0, [SEP] 48, Dresser, -1.674, 0.000, -0.153, 0, 90, 0, [SEP] 49, Drawer, -1.630, 0.868, -0.550, 0, 90, 0, [SEP] 50, Drawer, -1.630, 0.680, 0.243, 0, 90, 0, [SEP] 51, Drawer, -1.629, 0.104, -0.550, 0, 90, 0, [SEP] 52, Drawer, -1.630, 0.680, -0.550, 0, 90, 0, [SEP] 53, Drawer, -1.630, 0.868, 0.243, 0, 90, 0, [SEP] 54, Drawer, -1.629, 0.486, -0.550, 0, 90, 0, [SEP] 55, Drawer, -1.629, 0.291, 0.243, 0, 90, 0, [SEP] 56, Drawer, -1.629, 0.291, -0.550, 0, 90, 0, [SEP] 57, Drawer, -1.630, 0.486, 0.243, 0, 90, 0, [SEP] 58, SideTable, 1.576, -0.001, 2.137, 0, 180, 0, [SEP] 59, Drawer, 1.576, 0.163, 2.070, 0, 180, 0, [SEP] 60, Drawer, 1.576, 0.455, 2.070, 0, 180, 0, [SEP] 61, SideTable, 2.437, -0.001, -1.603, 0, 0, 0, [SEP] 62, Drawer, 2.438, 0.163, -1.536, 0, 0, 0, [SEP] 63, Drawer, 2.438, 0.455, -1.536, 0, 0, 0, [SEP] 64, ArmChair, 2.393, -0.001, 1.943, 0, 180, 0, [SEP] 65, NorthWall, , , , , , , [SEP] 66, EastWall, , , , , , , [SEP] 67, SouthWall, , , , , , , [SEP] 68, WestWall, , , , , , , ", "output": ["STEP 1: Move to the shelf to the right of the bed | STEP 2: Pick up a vase from the shelf | STEP 3: Move to the end table at the foot of the bed | STEP 4: Place the vase on the end table | STEP 5: Move to the dresser to the right of the bed | STEP 6: Pick up a gold disk from the dresser | STEP 7: Move to the end table at the foot of the bed | STEP 8: Place the disk on the end table | END"]} +{"id": "trial_T20190907_052323_939906-5", "input": "drop a vase with the lid on a bed lamp stand SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.900, 2.0, 0, 270, 0, [SEP] 1, Vase, -1.730, 1.147, -1.959, 0, 90, 0, 43 [SEP] 2, Vase, -1.583, 0.973, 0.464, 0, 0, 0, 48 [SEP] 3, CellPhone, -1.436, 0.972, -0.339, 0, 0, 0, 48 [SEP] 4, CellPhone, 0.296, 0.775, -0.106, 0, 0, 0, 30 [SEP] 5, Pen, -1.636, 1.152, -1.959, 0, 90, 0, 43 [SEP] 6, Pencil, -1.794, 0.670, -2.177, 0, 0, 0, 44 [SEP] 7, Pencil, -1.605, 1.151, -1.845, 0, 90, 0, 43 [SEP] 8, CreditCard, 2.132, 0.435, 1.845, 0, 90, 0, 64 [SEP] 9, CreditCard, 2.411, 0.445, 1.925, 0, 90, 0, 64 [SEP] 10, Book, 0.537, 0.774, -0.106, 0, 0, 0, 30 [SEP] 11, Book, 1.261, 0.774, 0.188, 0, 0, 0, 30 [SEP] 12, AlarmClock, -1.699, 1.637, -1.959, 0, 90, 0, 42 [SEP] 13, Pillow, 1.743, 0.836, -0.401, 0, 0, 0, 30 [SEP] 14, Book, -1.720, 0.035, -0.536, 0, 180, 0, 56 [SEP] 15, KeyChain, -1.437, 0.038, -0.255, 0, 0, 0, 56 [SEP] 16, AlarmClock, 2.289, 0.673, -1.636, 0, 0, 0, 61 [SEP] 17, Pillow, 1.261, 0.836, -0.695, 0, 0, 0, 30 [SEP] 18, Pillow, 0.652, 0.794, -1.531, 0, 0, 0, 30 [SEP] 19, Vase, -1.583, 0.971, -0.339, 0, 0, 0, 48 [SEP] 20, Laptop, 1.502, 0.773, -1.284, 0, 0, 0, 30 [SEP] 21, Vase, -1.650, 1.626, -2.316, 0, 0, 0, 42 [SEP] 22, Pencil, -1.668, 1.643, -2.415, 0, 90, 0, 42 [SEP] 23, CreditCard, 1.519, 0.082, 2.153, 0, 0, 0, 59 [SEP] 24, Boots, -1.842, 0.000, -1.077, 0, 135, 0, [SEP] 25, Pen, -1.657, 0.977, -0.540, 0, 0, 0, 48 [SEP] 26, CellPhone, 1.743, 0.775, -1.579, 0, 0, 0, 30 [SEP] 27, CD, -1.730, 1.145, -2.073, 0, 90, 0, 43 [SEP] 28, Bowl, -1.583, 0.972, 0.062, 0, 0, 0, 48 [SEP] 29, Statue, -1.657, 0.982, -0.742, 0, 90, 0, 48 [SEP] 30, Bed, 1.017, 0.003, -0.686, 0, 180, 0, [SEP] 31, HousePlant, -1.749, 0.971, 0.463, 0, 0, 0, [SEP] 32, GarbageCan, -1.665, -0.000, 0.953, 0, 45, 0, [SEP] 33, Painting, 0.381, 1.976, -1.895, 90, 0, 0, [SEP] 34, Painting, 0.879, 1.976, -1.895, 90, 0, 0, [SEP] 35, Painting, 1.373, 1.976, -1.895, 90, 0, 0, [SEP] 36, LightSwitch, -0.164, 1.085, 2.450, 0, 180, 0, [SEP] 37, Mirror, -1.950, 1.735, -0.206, 0, 270, 0, [SEP] 38, Window, -1.098, 1.570, -3.230, 90, 0, 0, [SEP] 39, DeskLamp, 1.404, 0.668, 2.209, 0, 0, 0, [SEP] 40, DeskLamp, 2.596, 0.668, -1.710, 0, 0, 0, [SEP] 41, Blinds, -1.062, 2.361, -3.173, 0, 0, 0, [SEP] 42, Shelf, -1.675, 1.871, -2.053, 0, 90, 0, [SEP] 43, Shelf, -1.675, 1.383, -2.053, 0, 90, 0, [SEP] 44, Drawer, -1.715, 0.832, -2.053, 0, 90, 0, [SEP] 45, ShelvingUnit, -1.723, 0.007, -2.053, 0, 90, 0, [SEP] 46, Drawer, -1.713, 0.339, -2.053, 0, 90, 0, [SEP] 47, Drawer, -1.629, 0.104, 0.243, 0, 90, 0, [SEP] 48, Dresser, -1.674, 0.000, -0.153, 0, 90, 0, [SEP] 49, Drawer, -1.630, 0.868, -0.550, 0, 90, 0, [SEP] 50, Drawer, -1.630, 0.680, 0.243, 0, 90, 0, [SEP] 51, Drawer, -1.629, 0.104, -0.550, 0, 90, 0, [SEP] 52, Drawer, -1.630, 0.680, -0.550, 0, 90, 0, [SEP] 53, Drawer, -1.630, 0.868, 0.243, 0, 90, 0, [SEP] 54, Drawer, -1.629, 0.486, -0.550, 0, 90, 0, [SEP] 55, Drawer, -1.629, 0.291, 0.243, 0, 90, 0, [SEP] 56, Drawer, -1.629, 0.291, -0.550, 0, 90, 0, [SEP] 57, Drawer, -1.630, 0.486, 0.243, 0, 90, 0, [SEP] 58, SideTable, 1.576, -0.001, 2.137, 0, 180, 0, [SEP] 59, Drawer, 1.576, 0.163, 2.070, 0, 180, 0, [SEP] 60, Drawer, 1.576, 0.455, 2.070, 0, 180, 0, [SEP] 61, SideTable, 2.437, -0.001, -1.603, 0, 0, 0, [SEP] 62, Drawer, 2.438, 0.163, -1.536, 0, 0, 0, [SEP] 63, Drawer, 2.438, 0.455, -1.536, 0, 0, 0, [SEP] 64, ArmChair, 2.393, -0.001, 1.943, 0, 180, 0, [SEP] 65, NorthWall, , , , , , , [SEP] 66, EastWall, , , , , , , [SEP] 67, SouthWall, , , , , , , [SEP] 68, WestWall, , , , , , , ", "output": ["STEP 1: move left towards the shelf | STEP 2: pick up the vase from the shelf | STEP 3: turn right and head towards the bed lamp | STEP 4: drop the vase on the bed lamp | STEP 5: turn around and head for the cupboard | STEP 6: pick up the vase lid | STEP 7: turn around and head for the bad lamp stand | STEP 8: drop the vase lid on the bed lamp stand | END"]} +{"id": "trial_T20190909_005232_712180-2", "input": "Chill an egg and place it on the counter. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.901, -1.25, 0, 0, 0, [SEP] 1, Potato, -0.158, 1.056, -0.802, 0, 270, 0, 77 [SEP] 2, DishSponge, -2.439, 0.713, -0.371, 0, 270, 0, 84 [SEP] 3, DishSponge, -3.300, 0.713, -0.665, 0, 225, 0, 84 [SEP] 4, Spatula, -0.471, 0.761, -0.837, 0, 90, 0, 66 [SEP] 5, Spatula, -3.477, 0.928, -3.428, 0, 90, 0, 40 [SEP] 6, Spoon, -1.638, 0.791, -3.747, 0, 0, 0, 82 [SEP] 7, Fork, -3.111, 0.747, -3.078, 0, 90, 0, 62 [SEP] 8, Fork, -1.058, 0.914, -3.581, 0, 0, 0, 40 [SEP] 9, Plate, -2.877, 0.715, -0.684, 0, 225, 0, 84 [SEP] 10, Plate, -3.130, 1.397, -2.002, 0, 90, 0, 81 [SEP] 11, Knife, -0.338, 0.948, -0.455, 0, 0, 0, 67 [SEP] 12, Tomato, -3.234, 1.063, -1.879, 0, 90, 0, 81 [SEP] 13, Tomato, -0.176, 0.965, -1.616, 0, 0, 0, 67 [SEP] 14, SoapBottle, -0.014, 0.915, -1.616, 0, 0, 0, 67 [SEP] 15, SaltShaker, -2.270, 0.910, -3.729, 0, 0, 0, 40 [SEP] 16, PepperShaker, -2.678, 0.710, -0.638, 0, 0, 0, 84 [SEP] 17, Mug, -2.930, 0.763, -0.358, 0, 135, 0, 80 [SEP] 18, Mug, -2.708, 0.711, -0.741, 0, 135, 0, 84 [SEP] 19, Pot, -0.376, 0.975, -2.031, 0, 180, 0, 69 [SEP] 20, Egg, -3.225, 0.949, -2.825, 0, 0, 0, 40 [SEP] 21, Cup, -3.225, 0.914, -3.026, 0, 0, 0, 40 [SEP] 22, Bread, -0.327, 0.948, -3.681, 0, 298.222, 0, 40 [SEP] 23, Fork, -3.167, 0.914, -3.581, 0, 0, 0, 40 [SEP] 24, Pan, -0.394, 0.973, -2.414, 0, 0, 0, 65 [SEP] 25, Potato, -3.098, 0.760, -0.463, 0, 225, 0, 84 [SEP] 26, Lettuce, -3.346, 1.001, -3.878, 0, 0, 0, 40 [SEP] 27, Tomato, -3.130, 0.690, -2.002, 0, 90, 0, 81 [SEP] 28, Apple, -2.581, 0.759, -0.496, 0, 270, 0, 84 [SEP] 29, SoapBottle, -0.243, 0.913, -3.878, 0, 0, 0, 40 [SEP] 30, Spatula, -0.076, 0.928, -3.012, 0, 0, 0, 40 [SEP] 31, SaltShaker, -0.441, 0.742, -2.968, 0, 0, 0, 70 [SEP] 32, Knife, -0.530, 0.779, -0.685, 0, 90, 0, 66 [SEP] 33, PepperShaker, -1.867, 0.078, -3.713, 0, 0, 0, 61 [SEP] 34, ButterKnife, -2.564, 0.713, -0.194, 0, 225, 0, 84 [SEP] 35, Plate, -0.650, 0.911, -3.729, 0, 0, 0, 40 [SEP] 36, DishSponge, -0.419, 0.915, -1.493, 0, 0, 0, 67 [SEP] 37, Spoon, -0.338, 0.917, -1.432, 0, 0, 0, 67 [SEP] 38, Mug, -1.983, 0.785, -3.747, 0, 180, 0, 82 [SEP] 39, Bowl, -2.928, 0.714, -0.922, 0, 0, 0, 84 [SEP] 40, CounterTop, -1.789, 0.949, -3.803, 0, 0, 0, [SEP] 41, Cabinet, -0.577, 0.388, -3.476, 0, 0, 0, [SEP] 42, Cabinet, -0.605, 0.388, -3.511, 0, 0, 0, [SEP] 43, Cabinet, -2.976, 0.388, -3.201, 0, 0, 0, [SEP] 44, Cabinet, -0.577, 0.388, -0.447, 0, 0, 0, [SEP] 45, Cabinet, -0.577, 0.388, -1.725, 0, 0, 0, [SEP] 46, Cabinet, -0.226, 1.803, -1.743, 0, 0, 0, [SEP] 47, Cabinet, -0.228, 1.799, -0.447, 0, 0, 0, [SEP] 48, Cabinet, -6.010, 1.139, -6.019, 0, 0, 0, [SEP] 49, Cabinet, -3.022, 2.098, -2.681, 0, 0, 0, [SEP] 50, Cabinet, -3.022, 2.098, -1.743, 0, 0, 0, [SEP] 51, Cabinet, -0.577, 0.388, -2.736, 0, 0, 0, [SEP] 52, Cabinet, -3.232, 1.803, -3.343, 0, 0, 0, [SEP] 53, Cabinet, -2.811, 1.810, -3.764, 0, 0, 0, [SEP] 54, Cabinet, -1.233, 1.810, -3.764, 0, 0, 0, [SEP] 55, Cabinet, -1.364, 0.388, -3.511, 0, 0, 0, [SEP] 56, Cabinet, -1.380, 0.388, -3.511, 0, 0, 0, [SEP] 57, Cabinet, -0.226, 1.803, -2.725, 0, 0, 0, [SEP] 58, Cabinet, -0.236, 2.098, -1.767, 0, 0, 0, [SEP] 59, Cabinet, -0.236, 2.098, -2.705, 0, 0, 0, [SEP] 60, Cabinet, -0.193, 1.210, -4.239, 0, 0, 0, [SEP] 61, Cabinet, -2.148, 0.388, -3.511, 0, 0, 0, [SEP] 62, Drawer, -3.104, 0.797, -2.968, 0, 0, 0, [SEP] 63, Drawer, -0.449, 0.797, -1.410, 0, 0, 0, [SEP] 64, Sink, -1.786, 0.902, -3.748, 0, 0, 0, [SEP] 65, StoveBurner, -0.376, 0.936, -2.451, 0, 0, 0, [SEP] 66, Drawer, -0.449, 0.797, -0.762, 0, 0, 0, [SEP] 67, CounterTop, -0.268, 0.951, -1.089, 0, 0, 0, [SEP] 68, Drawer, -0.449, 0.797, -3.348, 0, 0, 0, [SEP] 69, StoveBurner, -0.376, 0.936, -2.031, 0, 180, 0, [SEP] 70, Drawer, -0.449, 0.797, -2.968, 0, 0, 0, [SEP] 71, StoveBurner, -0.165, 0.936, -2.030, 0, 180, 0, [SEP] 72, StoveBurner, -0.165, 0.936, -2.450, 0, 0, 0, [SEP] 73, StoveKnob, -0.568, 0.903, -2.313, 45, 270, 0, [SEP] 74, StoveKnob, -0.568, 0.903, -2.470, 45, 270, 0, [SEP] 75, StoveKnob, -0.568, 0.903, -2.166, 45, 270, 0, [SEP] 76, StoveKnob, -0.568, 0.903, -2.003, 45, 270, 0, [SEP] 77, Microwave, -0.143, 0.903, -0.908, 0, 270, 0, [SEP] 78, LightSwitch, -1.108, 1.457, 0.338, 0, 180, 0, [SEP] 79, GarbageCan, -0.283, -0.032, -0.035, 0, 270, 0, [SEP] 80, CoffeeMachine, -3.104, 0.837, -0.185, 0, 135, 0, [SEP] 81, Fridge, -3.188, 0.0, -2.184, 0, 0, 0, [SEP] 82, SinkBasin, -1.786, 0.779, -3.747, 0, 0, 0, [SEP] 83, Toaster, -0.230, 0.903, -3.406, 0, 270, 0, [SEP] 84, DiningTable, -2.800, 0.003, -0.505, 0, 0, 0, [SEP] 85, Chair, -3.044, 0.003, -1.223, 0, 32.194, 0, [SEP] 86, Faucet, -1.791, 1.136, -3.913, 0, 270, 0, [SEP] 87, NorthWall, , , , , , , [SEP] 88, EastWall, , , , , , , [SEP] 89, SouthWall, , , , , , , [SEP] 90, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and move to the counter. Turn right to the other side of the counter. | STEP 2: Pick up the egg from the right side of the counter. | STEP 3: Carry the egg and turn around. Face the fridge on the left side. | STEP 4: Open the fridge and place the egg inside. Shut the door and then open it again. Take out the egg and shut the door. | STEP 5: Carry the egg and turn to the left and then left again. Turn around so the sink is on the left. | STEP 6: Place the egg on the counter, to the left of the sink. | END"]} +{"id": "trial_T20190907_012541_743790-1", "input": "Put a frying pan with a slice of potato and a knife in the fridge. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.900, 1.75, 0, 180, 0, [SEP] 1, Potato, 1.687, 0.221, 0.651, 0, 0, 0, 82 [SEP] 2, Potato, -2.635, 1.051, 2.278, 0, 90, 0, 83 [SEP] 3, Potato, 1.426, 0.947, 0.346, 0, 0, 0, 52 [SEP] 4, ButterKnife, 1.684, 0.911, 0.494, 0, 0, 0, 52 [SEP] 5, Fork, -2.538, 0.911, 0.631, 0, 0, 0, 71 [SEP] 6, Fork, 0.048, 0.911, 0.423, 0, 0, 0, 43 [SEP] 7, Spoon, -0.341, 0.912, 1.094, 0, 0, 0, 43 [SEP] 8, Spatula, -2.227, 0.788, 1.274, 0, 90, 0, 74 [SEP] 9, Spatula, -2.348, 0.788, 0.809, 0, 90, 0, 48 [SEP] 10, Cup, -2.704, 0.908, 0.031, 0, 0, 0, 71 [SEP] 11, SoapBottle, 1.318, 0.922, -1.204, 0, 135, 0, 57 [SEP] 12, SoapBottle, 1.769, 0.913, 0.435, 0, 0, 0, 52 [SEP] 13, Bowl, 1.772, 1.660, -0.550, 0, 0, 0, 63 [SEP] 14, PepperShaker, -0.081, 0.905, 1.317, 0, 0, 0, 43 [SEP] 15, PepperShaker, -2.564, 1.532, 0.125, 0, 0, 0, 66 [SEP] 16, SaltShaker, 1.855, 0.905, -0.810, 0, 0, 0, 53 [SEP] 17, SaltShaker, -2.685, 1.532, 2.477, 0, 0, 0, 47 [SEP] 18, Lettuce, -0.471, 0.994, 1.764, 0, 0, 0, 43 [SEP] 19, Lettuce, -0.211, 0.994, 1.540, 0, 0, 0, 43 [SEP] 20, Pan, 1.412, 0.929, -0.335, 0, 0, 0, 44 [SEP] 21, Knife, -0.211, 0.936, 0.423, 0, 0, 0, 43 [SEP] 22, Apple, 1.855, 0.972, -0.642, 0, 0, 0, 53 [SEP] 23, Bowl, -2.289, 0.908, 0.631, 0, 0, 0, 71 [SEP] 24, Fork, 1.418, 0.919, -1.034, 0, 225, 0, 57 [SEP] 25, Bread, -2.466, 0.680, -0.962, 0, 90, 0, 75 [SEP] 26, Plate, -2.485, 1.302, -0.602, 0, 90, 0, 75 [SEP] 27, Egg, -2.506, 1.046, 2.431, 0, 90, 0, 83 [SEP] 28, Kettle, -0.601, 0.911, 0.423, 0, 0, 0, 43 [SEP] 29, Potato, -0.471, 0.947, 0.870, 0, 0, 0, 43 [SEP] 30, SaltShaker, -2.704, 0.905, 0.631, 0, 0, 0, 71 [SEP] 31, Lettuce, -2.485, 1.172, -0.602, 0, 90, 0, 75 [SEP] 32, Cup, -2.635, 1.013, 2.481, 0, 90, 0, 83 [SEP] 33, SoapBottle, 1.598, 0.913, 0.376, 0, 0, 0, 52 [SEP] 34, Spatula, -2.372, 0.925, 0.931, 0, 0, 0, 71 [SEP] 35, PaperTowelRoll, 1.426, 1.015, 0.465, 0, 0, 0, 52 [SEP] 36, ButterKnife, 0.683, 0.910, -1.539, 0, 0, 0, 53 [SEP] 37, PepperShaker, 0.984, 0.905, -1.106, 0, 45, 0, 57 [SEP] 38, DishSponge, -2.241, 0.114, 0.541, 0, 0, 0, 68 [SEP] 39, Pot, 1.411, 0.929, 0.064, 0, 0, 0, 72 [SEP] 40, Spoon, 0.683, 0.912, -1.539, 0, 0, 0, 53 [SEP] 41, Tomato, 0.879, 0.953, -1.874, 0, 0, 0, 53 [SEP] 42, Mug, 0.464, 0.955, -1.593, 0, 0, 0, 53 [SEP] 43, CounterTop, -0.360, 0.946, 1.093, 0, 0, 0, [SEP] 44, StoveBurner, 1.412, 0.923, -0.335, 0, 0, 0, [SEP] 45, StoveKnob, 1.878, 1.093, 0.018, 287.989, 90, 0, [SEP] 46, StoveKnob, 1.878, 1.093, -0.306, 287.989, 90, 0, [SEP] 47, Cabinet, -2.446, 1.948, 2.924, 0, 0, 0, [SEP] 48, Drawer, -2.276, 0.792, 0.902, 0, 0, 0, [SEP] 49, Cabinet, -2.145, 0.402, 1.578, 0, 0, 0, [SEP] 50, Cabinet, 0.149, 2.008, -1.603, 0, 90, 0, [SEP] 51, StoveBurner, 1.691, 0.923, -0.335, 0, 0, 0, [SEP] 52, CounterTop, 1.585, 0.946, 0.405, 0, 0, 0, [SEP] 53, CounterTop, 0.474, 0.946, -1.625, 0, 0, 0, [SEP] 54, StoveBurner, 1.691, 0.923, 0.064, 0, 0, 0, [SEP] 55, Cabinet, -2.446, 1.948, 1.687, 0, 0, 0, [SEP] 56, Cabinet, -2.446, 1.948, 1.640, 0, 0, 0, [SEP] 57, Sink, 1.381, 0.810, -1.271, 0, 225, 0, [SEP] 58, StoveKnob, 1.878, 1.093, 0.150, 287.989, 90, 0, [SEP] 59, Cabinet, -2.145, 0.402, -0.236, 0, 0, 0, [SEP] 60, Drawer, -2.276, 0.792, 0.437, 0, 0, 0, [SEP] 61, Drawer, -2.276, 0.792, -0.027, 0, 0, 0, [SEP] 62, Cabinet, 1.572, 2.008, 0.474, 0, 0, 0, [SEP] 63, Cabinet, 1.572, 2.008, -0.775, 0, 0, 0, [SEP] 64, Cabinet, -2.445, 2.148, -1.275, 0, 0, 0, [SEP] 65, Cabinet, -2.446, 2.148, -0.284, 0, 0, 0, [SEP] 66, Cabinet, -2.446, 1.948, 0.355, 0, 0, 0, [SEP] 67, Cabinet, -2.446, 1.948, 0.405, 0, 0, 0, [SEP] 68, Cabinet, -2.145, 0.402, 0.644, 0, 0, 0, [SEP] 69, Cabinet, -2.145, 0.402, 0.695, 0, 0, 0, [SEP] 70, Cabinet, -2.285, 1.968, -1.325, 0, 180, 0, [SEP] 71, CounterTop, -1.485, 0.946, 1.319, 0, 0, 0, [SEP] 72, StoveBurner, 1.411, 0.923, 0.064, 0, 0, 0, [SEP] 73, StoveKnob, 1.878, 1.093, -0.441, 287.989, 90, 0, [SEP] 74, Drawer, -2.276, 0.792, 1.368, 0, 0, 0, [SEP] 75, Fridge, -2.475, 0.0, -0.782, 0, 90, 0, [SEP] 76, LightSwitch, -0.929, 1.350, -1.950, 0, 0, 0, [SEP] 77, Toaster, -2.564, 0.900, 1.876, 0, 90, 0, [SEP] 78, CoffeeMachine, 0.464, 0.900, -1.810, 0, 0, 0, [SEP] 79, Window, 1.508, 1.534, -1.496, 90, 135, 0, [SEP] 80, Window, 1.973, 1.521, 1.121, 90, 90, 0, [SEP] 81, SinkBasin, 1.149, 0.753, -1.380, 0, 225, 0, [SEP] 82, GarbageCan, 1.646, -0.000, 0.679, 0, 0, 0, [SEP] 83, Microwave, -2.580, 0.900, 2.440, 0, 90, 0, [SEP] 84, Stool, 0.439, 0.010, 0.747, 0, 0, 0, [SEP] 85, Stool, -2.303, 0.010, 1.839, 0, 0, 0, [SEP] 86, Faucet, 1.235, 1.138, -1.473, 0, 225, 0, [SEP] 87, NorthWall, , , , , , , [SEP] 88, EastWall, , , , , , , [SEP] 89, SouthWall, , , , , , , [SEP] 90, WestWall, , , , , , , ", "output": ["STEP 1: Walk forward until your past the island on your right then turn right and take a step then turn right so you are facing the isle. | STEP 2: Pick up the yellow handled knife. | STEP 3: Turn left and walk over to the microwave and stand facing it. | STEP 4: Cut the potato in the microwave into slices then close the microwave. | STEP 5: Turn left and walk across the room and then move to stand in front of the stove. | STEP 6: Put the knife in the frying pan on the bottom right burner. | STEP 7: Walk across the room back to the microwave. | STEP 8: Take a slice of potato out of the microwave then close the microwave. | STEP 9: Walk back over to the stove. | STEP 10: Put the slice of potato in the pan with the knife. | STEP 11: Now pick all of it up. | STEP 12: Turn to your right and walk over to the fridge and stand in front of it facing it. | STEP 13: Put the pan in the top section of the fridge to the left of the lettuce. | END"]} +{"id": "trial_T20190907_163216_451970-0", "input": "Put a pot with a knife in it in the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.75, 0.900, 1.25, 0, 180, 0, [SEP] 1, Potato, -0.473, 1.142, -0.759, 0, 0, 0, 61 [SEP] 2, CreditCard, -1.694, 0.475, -0.148, 0, 90, 0, 76 [SEP] 3, Plate, -0.335, 1.108, -0.506, 0, 0, 0, 61 [SEP] 4, Plate, -0.912, 0.133, -2.402, 0, 0, 0, 79 [SEP] 5, Egg, -1.999, 0.261, 1.168, 0, 90, 0, 94 [SEP] 6, Tomato, -2.070, 1.345, 0.841, 0, 90, 0, 94 [SEP] 7, SaltShaker, 0.779, 0.311, -2.479, 0, 0, 0, 65 [SEP] 8, SaltShaker, 1.478, 0.549, -2.562, 0, 180, 0, 91 [SEP] 9, PepperShaker, -2.100, 0.907, -2.366, 0, 0, 0, 86 [SEP] 10, PepperShaker, 0.324, 0.907, -2.330, 0, 0, 0, 63 [SEP] 11, Bread, -0.197, 1.184, 0.251, 0, 0, 0, 61 [SEP] 12, Bread, 0.079, 1.184, -0.506, 0, 0, 0, 61 [SEP] 13, Lettuce, -0.059, 1.191, -0.001, 0, 0, 0, 61 [SEP] 14, Lettuce, -2.080, 0.620, 1.168, 0, 90, 0, 94 [SEP] 15, Apple, -2.081, 1.553, 1.343, 0, 90, 0, 94 [SEP] 16, Knife, -1.856, 0.936, -0.513, 0, 0, 0, 86 [SEP] 17, Knife, 0.355, 1.136, -0.506, 0, 90, 0, 61 [SEP] 18, Knife, -0.473, 1.136, -0.253, 0, 180, 0, 61 [SEP] 19, Fork, 1.007, 0.646, -2.333, 0, 0, 0, 66 [SEP] 20, Fork, -1.739, 0.794, 0.331, 0, 180, 0, 58 [SEP] 21, Mug, -0.173, 1.785, -2.578, 0, 180, 0, 87 [SEP] 22, Pot, -0.335, 1.115, 0.757, 0, 0, 0, 61 [SEP] 23, ButterKnife, 0.840, 0.910, -2.637, 0, 0, 0, 63 [SEP] 24, WineBottle, 0.505, 1.660, -2.560, 0, 0, 0, 85 [SEP] 25, DishSponge, -1.907, 0.047, 2.076, 0, 270, 0, 92 [SEP] 26, Book, 0.155, 1.1, 0.617, 0, 315, 0, 61 [SEP] 27, Glassbottle, -1.962, 0.048, 1.981, 0, 270, 0, 92 [SEP] 28, Knife, -1.609, 0.936, -1.309, 0, 90, 0, 86 [SEP] 29, Bread, -1.856, 0.983, -0.698, 0, 0, 0, 86 [SEP] 30, Fork, 0.969, 0.911, -2.330, 0, 0, 0, 63 [SEP] 31, Potato, 0.582, 0.941, -2.714, 0, 0, 0, 63 [SEP] 32, SoapBottle, -1.655, 0.137, -1.156, 0, 90, 0, 62 [SEP] 33, Kettle, -0.465, 0.950, -2.576, 0, 90, 0, 70 [SEP] 34, Pan, 0.721, 0.9, -2.415, 0, 0, 0, 63 [SEP] 35, Plate, -2.081, 1.499, 1.176, 0, 90, 0, 94 [SEP] 36, Tomato, -2.100, 0.950, -0.698, 0, 0, 0, 86 [SEP] 37, Vase, 0.079, 1.113, -0.253, 0, 0, 0, 61 [SEP] 38, Egg, 0.453, 0.945, -2.637, 0, 0, 0, 63 [SEP] 39, CreditCard, -1.651, 0.475, -0.342, 0, 90, 0, 76 [SEP] 40, Statue, -1.290, 0.910, -2.406, 0, 0, 0, 86 [SEP] 41, WineBottle, 0.453, 0.911, -2.253, 0, 0, 0, 63 [SEP] 42, Pot, -0.036, 0.950, -2.372, 0, 270, 0, 56 [SEP] 43, Spatula, -1.654, 0.808, -0.104, 0, 0, 0, 60 [SEP] 44, PaperTowelRoll, 1.893, 0.657, -2.666, 0, 180, 0, 91 [SEP] 45, Cup, -2.026, 1.307, 1.008, 0, 90, 0, 94 [SEP] 46, Vase, 0.450, 0.138, -2.436, 0, 0, 0, 78 [SEP] 47, Bowl, 0.324, 0.907, -2.484, 0, 0, 0, 63 [SEP] 48, SaltShaker, -1.608, 0.474, -0.148, 0, 90, 0, 76 [SEP] 49, PepperShaker, 0.779, 0.311, -2.383, 0, 0, 0, 65 [SEP] 50, Lettuce, -0.059, 1.191, -0.759, 0, 0, 0, 61 [SEP] 51, ButterKnife, 0.217, 1.111, -0.001, 0, 0, 0, 61 [SEP] 52, Apple, -2.037, 0.849, 1.168, 0, 90, 0, 94 [SEP] 53, DishSponge, -1.586, 0.910, -2.406, 0, 0, 0, 86 [SEP] 54, Spoon, -1.693, 0.912, -2.366, 0, 0, 0, 86 [SEP] 55, Mug, -0.277, 1.785, -2.482, 0, 0, 0, 87 [SEP] 56, StoveBurner, -0.036, 0.915, -2.372, 0, 0, 0, [SEP] 57, Drawer, 0.949, 0.832, -2.197, 0, 0, 0, [SEP] 58, Drawer, -1.560, 0.839, 0.204, 0, 90, 0, [SEP] 59, StoveBurner, -0.465, 0.915, -2.371, 0, 180, 0, [SEP] 60, Drawer, -1.560, 0.839, -0.197, 0, 90, 0, [SEP] 61, CounterTop, -0.079, 1.147, -0.001, 0, 0, 0, [SEP] 62, Cabinet, -1.549, 0.494, -1.964, 0, 90, 0, [SEP] 63, CounterTop, 0.693, 0.946, -2.483, 0, 0, 0, [SEP] 64, StoveBurner, -0.036, 0.915, -2.576, 0, 0, 0, [SEP] 65, Drawer, 0.949, 0.393, -2.200, 0, 0, 0, [SEP] 66, Drawer, 0.949, 0.708, -2.200, 0, 0, 0, [SEP] 67, Cabinet, -1.549, 0.494, 0.379, 0, 90, 0, [SEP] 68, StoveKnob, -0.022, 0.881, -2.187, 45, 0, 0, [SEP] 69, Drawer, 0.949, 0.560, -2.201, 0, 0, 0, [SEP] 70, StoveBurner, -0.465, 0.915, -2.575, 0, 180, 0, [SEP] 71, Window, -2.230, 1.429, -1.203, 0, 0, 0, [SEP] 72, StoveKnob, -0.483, 0.881, -2.187, 45, 0, 0, [SEP] 73, Sink, -1.899, 0.964, -1.5, 0, 90, 0, [SEP] 74, StoveKnob, -0.328, 0.881, -2.187, 45, 0, 0, [SEP] 75, Cabinet, -0.727, 2.015, -2.460, 0, 0, 0, [SEP] 76, Drawer, -1.560, 0.655, -0.196, 0, 90, 0, [SEP] 77, Cabinet, -1.685, 2.015, -2.461, 0, 0, 0, [SEP] 78, Cabinet, 0.680, 0.494, -2.200, 0, 0, 0, [SEP] 79, Cabinet, -1.179, 0.494, -2.200, 0, 0, 0, [SEP] 80, Cabinet, -1.849, 2.015, 0.379, 0, 90, 0, [SEP] 81, Drawer, 0.949, 0.221, -2.200, 0, 0, 0, [SEP] 82, StoveKnob, -0.183, 0.881, -2.187, 45, 0, 0, [SEP] 83, Cabinet, 0.719, 2.015, -2.460, 0, 0, 0, [SEP] 84, Drawer, -1.560, 0.331, -0.196, 0, 90, 0, [SEP] 85, Cabinet, 0.680, 2.015, -2.460, 0, 0, 0, [SEP] 86, CounterTop, -1.868, 0.946, -1.205, 0, 0, 0, [SEP] 87, Microwave, -0.236, 1.689, -2.525, 0, 0, 0, [SEP] 88, Shelf, 1.751, 0.880, -2.560, 0, 0, 0, [SEP] 89, HousePlant, -1.948, 0.889, -2.520, 0, 5.334, 0, [SEP] 90, Toaster, -1.835, 0.900, 0.134, 0, 90, 0, [SEP] 91, Shelf, 1.750, 0.552, -2.559, 0, 0, 0, [SEP] 92, GarbageCan, -1.935, -0.002, 2.029, 0, 270, 0, [SEP] 93, Shelf, 1.750, 0.172, -2.559, 0, 0, 0, [SEP] 94, Fridge, -2.096, 0.0, 1.088, 0, 0, 0, [SEP] 95, CoffeeMachine, -1.977, 0.900, -0.188, 0, 90, 0, [SEP] 96, SinkBasin, -1.908, 0.759, -1.488, 0, 90, 0, [SEP] 97, LightSwitch, 2.329, 1.309, -0.159, 0, 270, 0, [SEP] 98, ShelvingUnit, 1.750, 0.006, -2.559, 0, 0, 0, [SEP] 99, Stool, 0.702, 0.000, -0.514, 1.202, 65.108, 0, [SEP] 100, Stool, 0.743, 0.000, 0.563, 1.227, 106.706, 0, [SEP] 101, Faucet, -2.070, 1.132, -1.514, 0, 0, 0, [SEP] 102, NorthWall, , , , , , , [SEP] 103, EastWall, , , , , , , [SEP] 104, SouthWall, , , , , , , [SEP] 105, WestWall, , , , , , , ", "output": ["STEP 1: Move forward, then turn right, move forward, then turn right to face the kitchen island. | STEP 2: Pick up the knife on the counter, to the right of the bread. | STEP 3: Turn around, to face the stove. | STEP 4: Put the knife in the pot on the stove. | STEP 5: Pick up the pot with a knife in it from the stove. | STEP 6: Turn around, move forward, then go left to approach the sink. | STEP 7: Put the pot in the center of the sink. | END"]} +{"id": "trial_T20190908_105102_987185-1", "input": "Place a chilled section of apple in the microwave. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.899, 5.0, 0, 180, 0, [SEP] 1, Pan, -2.924, 0.930, 1.712, 0, 180, 0, 69 [SEP] 2, Pencil, -1.777, 0.923, 1.951, 0, 0, 0, 70 [SEP] 3, DishSponge, -4.121, 0.790, 3.285, 0, 270, 0, 104 [SEP] 4, DishSponge, -0.237, 2.134, 6.143, 0, 180, 0, 71 [SEP] 5, WineBottle, -0.104, 0.926, 5.603, 0, 0, 0, 57 [SEP] 6, Pot, -4.184, 0.924, 4.640, 0, 90, 0, 72 [SEP] 7, Spoon, -1.943, 0.924, 1.8, 0, 0, 0, 54 [SEP] 8, Egg, -3.733, 0.959, 5.182, 0, 90, 0, 72 [SEP] 9, Egg, -0.242, 1.106, 3.850, 0, 270, 0, 105 [SEP] 10, Plate, -3.494, 0.924, 5.259, 0, 90, 0, 72 [SEP] 11, Plate, -4.086, 0.085, 2.625, 0, 0, 0, 64 [SEP] 12, Knife, -0.411, 0.954, 5.603, 0, 0, 0, 57 [SEP] 13, SoapBottle, -3.807, 0.079, 5.310, 0, 180, 0, 86 [SEP] 14, SoapBottle, -1.610, 0.923, 1.875, 0, 90, 0, 54 [SEP] 15, Tomato, -3.712, 0.125, 6.457, 0, 270, 0, 98 [SEP] 16, Bowl, -0.342, 1.577, 3.289, 0, 270, 0, 105 [SEP] 17, SaltShaker, -4.486, 0.919, 4.122, 0, 90, 0, 72 [SEP] 18, SaltShaker, -1.626, 0.743, 2.015, 0, 0, 0, 70 [SEP] 19, Mug, -2.688, 1.541, 1.601, 0, 90, 0, 102 [SEP] 20, Mug, -2.530, 1.541, 1.666, 0, 0, 0, 102 [SEP] 21, Apple, -4.159, 0.844, 3.472, 0, 270, 0, 104 [SEP] 22, Egg, -3.852, 0.959, 5.412, 0, 90, 0, 72 [SEP] 23, Apple, -3.712, 0.122, 6.292, 0, 270, 0, 98 [SEP] 24, Knife, -4.312, 0.953, 2.533, 0, 0, 0, 72 [SEP] 25, Potato, -4.242, 0.956, 2.300, 0, 0, 0, 72 [SEP] 26, Fork, -0.334, 0.925, 5.273, 0, 0, 0, 57 [SEP] 27, Bowl, -0.342, 1.682, 3.854, 0, 270, 0, 105 [SEP] 28, Plate, -0.295, 1.071, 3.602, 0, 270, 0, 105 [SEP] 29, Lettuce, -1.777, 1.018, 1.648, 0, 0, 0, 54 [SEP] 30, Bread, -0.411, 1.004, 4.615, 0, 0, 0, 57 [SEP] 31, Tomato, -1.777, 0.980, 1.8, 0, 0, 0, 54 [SEP] 32, WineBottle, -2.109, 0.924, 2.026, 0, 0, 0, 54 [SEP] 33, Spatula, -4.26, 0.938, 3.863, 0, 270, 0, 72 [SEP] 34, PaperTowelRoll, -1.943, 1.027, 1.724, 0, 0, 0, 54 [SEP] 35, Cup, -0.259, 1.579, 3.470, 0, 270, 0, 105 [SEP] 36, Pencil, -3.675, 0.068, 6.375, 0, 270, 0, 98 [SEP] 37, Pan, -2.454, 0.933, 2.023, 0, 240.000, 0, 60 [SEP] 38, Pot, -2.469, 0.930, 1.712, 0, 270, 0, 87 [SEP] 39, SaltShaker, -0.562, 0.742, 5.500, 0, 270, 0, 51 [SEP] 40, SoapBottle, -0.488, 0.924, 4.944, 0, 0, 0, 57 [SEP] 41, PepperShaker, -4.240, 0.081, 2.525, 0, 0, 0, 64 [SEP] 42, ButterKnife, -3.255, 0.923, 5.182, 0, 90, 0, 72 [SEP] 43, DishSponge, -2.026, 0.923, 1.648, 0, 0, 0, 54 [SEP] 44, Spoon, -4.196, 0.792, 3.159, 0, 270, 0, 104 [SEP] 45, Mug, -4.233, 0.785, 3.285, 0, 270, 0, 104 [SEP] 46, Cabinet, -3.203, 1.931, 1.777, 0, 0, 0, [SEP] 47, Cabinet, -3.187, 0.390, 2.089, 0, 0, 0, [SEP] 48, Cabinet, -0.637, 0.387, 6.882, 0, 180, 0, [SEP] 49, Drawer, -3.797, 0.781, 1.961, 0, 0, 0, [SEP] 50, Cabinet, -3.036, 0.387, 5.029, 0, 90, 0, [SEP] 51, Drawer, -0.509, 0.775, 5.268, 0, 270, 0, [SEP] 52, Drawer, -4.125, 0.798, 2.499, 0, 0, 0, [SEP] 53, Cabinet, -0.331, 2.249, 4.308, 0, 180, 0, [SEP] 54, CounterTop, -1.872, 0.958, 1.799, 0, 0, 0, [SEP] 55, StoveBurner, -2.924, 0.924, 2.012, 0, 0, 0, [SEP] 56, Cabinet, -0.331, 2.249, 6.806, 0, 180, 0, [SEP] 57, CounterTop, -0.345, 0.960, 5.603, 0, 0, 0, [SEP] 58, Cabinet, -3.039, 1.935, 5.321, 0, 90, 0, [SEP] 59, Cabinet, -3.922, 0.397, 2.088, 0, 0, 0, [SEP] 60, StoveBurner, -2.467, 0.924, 2.012, 0, 0, 0, [SEP] 61, Cabinet, -0.331, 2.249, 5.505, 0, 180, 0, [SEP] 62, Drawer, -0.509, 0.775, 4.617, 0, 270, 0, [SEP] 63, Drawer, -3.509, 0.777, 5.157, 0, 180, 0, [SEP] 64, Cabinet, -3.961, 0.388, 2.878, 0, 0, 0, [SEP] 65, Cabinet, -3.961, 0.388, 4.342, 0, 0, 0, [SEP] 66, Cabinet, -0.637, 0.387, 5.582, 0, 180, 0, [SEP] 67, Cabinet, -0.637, 0.388, 4.299, 0, 180, 0, [SEP] 68, Cabinet, -0.637, 0.388, 5.599, 0, 180, 0, [SEP] 69, StoveBurner, -2.924, 0.924, 1.712, 0, 180, 0, [SEP] 70, Drawer, -1.859, 0.775, 1.961, 0, 0, 0, [SEP] 71, Cabinet, -0.331, 2.249, 5.609, 0, 180, 0, [SEP] 72, CounterTop, -4.260, 0.958, 4.943, 0, 90, 0, [SEP] 73, Cabinet, -4.284, 1.931, 2.226, 0, 0, 0, [SEP] 74, Cabinet, -0.331, 2.249, 3.010, 0, 180, 0, [SEP] 75, Drawer, -3.801, 0.777, 5.157, 0, 180, 0, [SEP] 76, Cabinet, -4.112, 1.935, 5.321, 0, 90, 0, [SEP] 77, Cabinet, -3.968, 0.388, 3.662, 0, 0, 0, [SEP] 78, Drawer, -3.418, 0.777, 1.961, 0, 0, 0, [SEP] 79, Drawer, -4.090, 0.777, 4.661, 0, 90, 0, [SEP] 80, Faucet, -4.441, 0.909, 3.288, 270, 0, 0, [SEP] 81, Cabinet, -0.331, 2.249, 4.207, 0, 180, 0, [SEP] 82, Cabinet, -3.961, 0.388, 2.119, 0, 0, 0, [SEP] 83, Drawer, -0.509, 0.775, 5.920, 0, 270, 0, [SEP] 84, Drawer, -3.193, 0.777, 5.157, 0, 180, 0, [SEP] 85, Cabinet, -3.968, 0.388, 2.894, 0, 0, 0, [SEP] 86, Cabinet, -3.667, 0.387, 5.029, 0, 90, 0, [SEP] 87, StoveBurner, -2.469, 0.924, 1.712, 0, 270, 0, [SEP] 88, Cabinet, -1.539, 0.388, 2.090, 0, 0, 0, [SEP] 89, Sink, -4.190, 0.921, 3.279, 0, 0, 0, [SEP] 90, Cabinet, -3.641, 0.387, 5.029, 0, 90, 0, [SEP] 91, Cabinet, -1.583, 1.931, 1.777, 0, 0, 0, [SEP] 92, Drawer, -0.509, 0.775, 6.568, 0, 270, 0, [SEP] 93, CoffeeMachine, -0.279, 0.912, 6.556, 0, 270, 0, [SEP] 94, StoveKnob, -2.347, 1.095, 1.560, 288.012, 180, 180, [SEP] 95, StoveKnob, -2.788, 1.095, 1.560, 288.012, 180, 180, [SEP] 96, StoveKnob, -2.965, 1.095, 1.560, 288.012, 180, 180, [SEP] 97, StoveKnob, -2.512, 1.095, 1.560, 288.012, 180, 180, [SEP] 98, GarbageCan, -3.711, -0.030, 6.376, 0, 270, 0, [SEP] 99, Toaster, -3.578, 0.912, 1.763, 0, 0, 0, [SEP] 100, Curtains, -4.522, 2.252, 3.391, 90, 90, 0, [SEP] 101, Window, -4.868, 1.629, 3.309, 90, 270, 0, [SEP] 102, Microwave, -2.693, 1.430, 1.689, 0, 0, 0, [SEP] 103, LightSwitch, -1.588, 1.169, 1.506, 0, 0, 0, [SEP] 104, SinkBasin, -4.196, 0.780, 3.276, 0, 270, 0, [SEP] 105, Fridge, -0.324, -0.001, 3.602, 0, 0, 0, [SEP] 106, NorthWall, , , , , , , [SEP] 107, EastWall, , , , , , , [SEP] 108, SouthWall, , , , , , , [SEP] 109, WestWall, , , , , , , ", "output": ["STEP 1: Turn right, move to the counter that is left of the sink. | STEP 2: Pick up the knife from the counter. | STEP 3: Turn right, move to in front of the sink. | STEP 4: Slice the apple in the sink. | STEP 5: Put the knife in the sink. | STEP 6: Pick up a apple section from the sink. | STEP 7: Turn left, move to in front of the refrigerator. | STEP 8: Put the apple section in the refrigerator, chill it, pick it back up. | STEP 9: Turn right, move to in front of the microwave. | STEP 10: Put the apple section in the microwave. | END"]} +{"id": "trial_T20190908_105102_987185-2", "input": "Put a chilled slice of apple in a microwave SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.899, 5.0, 0, 180, 0, [SEP] 1, Pan, -2.924, 0.930, 1.712, 0, 180, 0, 69 [SEP] 2, Pencil, -1.777, 0.923, 1.951, 0, 0, 0, 70 [SEP] 3, DishSponge, -4.121, 0.790, 3.285, 0, 270, 0, 104 [SEP] 4, DishSponge, -0.237, 2.134, 6.143, 0, 180, 0, 71 [SEP] 5, WineBottle, -0.104, 0.926, 5.603, 0, 0, 0, 57 [SEP] 6, Pot, -4.184, 0.924, 4.640, 0, 90, 0, 72 [SEP] 7, Spoon, -1.943, 0.924, 1.8, 0, 0, 0, 54 [SEP] 8, Egg, -3.733, 0.959, 5.182, 0, 90, 0, 72 [SEP] 9, Egg, -0.242, 1.106, 3.850, 0, 270, 0, 105 [SEP] 10, Plate, -3.494, 0.924, 5.259, 0, 90, 0, 72 [SEP] 11, Plate, -4.086, 0.085, 2.625, 0, 0, 0, 64 [SEP] 12, Knife, -0.411, 0.954, 5.603, 0, 0, 0, 57 [SEP] 13, SoapBottle, -3.807, 0.079, 5.310, 0, 180, 0, 86 [SEP] 14, SoapBottle, -1.610, 0.923, 1.875, 0, 90, 0, 54 [SEP] 15, Tomato, -3.712, 0.125, 6.457, 0, 270, 0, 98 [SEP] 16, Bowl, -0.342, 1.577, 3.289, 0, 270, 0, 105 [SEP] 17, SaltShaker, -4.486, 0.919, 4.122, 0, 90, 0, 72 [SEP] 18, SaltShaker, -1.626, 0.743, 2.015, 0, 0, 0, 70 [SEP] 19, Mug, -2.688, 1.541, 1.601, 0, 90, 0, 102 [SEP] 20, Mug, -2.530, 1.541, 1.666, 0, 0, 0, 102 [SEP] 21, Apple, -4.159, 0.844, 3.472, 0, 270, 0, 104 [SEP] 22, Egg, -3.852, 0.959, 5.412, 0, 90, 0, 72 [SEP] 23, Apple, -3.712, 0.122, 6.292, 0, 270, 0, 98 [SEP] 24, Knife, -4.312, 0.953, 2.533, 0, 0, 0, 72 [SEP] 25, Potato, -4.242, 0.956, 2.300, 0, 0, 0, 72 [SEP] 26, Fork, -0.334, 0.925, 5.273, 0, 0, 0, 57 [SEP] 27, Bowl, -0.342, 1.682, 3.854, 0, 270, 0, 105 [SEP] 28, Plate, -0.295, 1.071, 3.602, 0, 270, 0, 105 [SEP] 29, Lettuce, -1.777, 1.018, 1.648, 0, 0, 0, 54 [SEP] 30, Bread, -0.411, 1.004, 4.615, 0, 0, 0, 57 [SEP] 31, Tomato, -1.777, 0.980, 1.8, 0, 0, 0, 54 [SEP] 32, WineBottle, -2.109, 0.924, 2.026, 0, 0, 0, 54 [SEP] 33, Spatula, -4.26, 0.938, 3.863, 0, 270, 0, 72 [SEP] 34, PaperTowelRoll, -1.943, 1.027, 1.724, 0, 0, 0, 54 [SEP] 35, Cup, -0.259, 1.579, 3.470, 0, 270, 0, 105 [SEP] 36, Pencil, -3.675, 0.068, 6.375, 0, 270, 0, 98 [SEP] 37, Pan, -2.454, 0.933, 2.023, 0, 240.000, 0, 60 [SEP] 38, Pot, -2.469, 0.930, 1.712, 0, 270, 0, 87 [SEP] 39, SaltShaker, -0.562, 0.742, 5.500, 0, 270, 0, 51 [SEP] 40, SoapBottle, -0.488, 0.924, 4.944, 0, 0, 0, 57 [SEP] 41, PepperShaker, -4.240, 0.081, 2.525, 0, 0, 0, 64 [SEP] 42, ButterKnife, -3.255, 0.923, 5.182, 0, 90, 0, 72 [SEP] 43, DishSponge, -2.026, 0.923, 1.648, 0, 0, 0, 54 [SEP] 44, Spoon, -4.196, 0.792, 3.159, 0, 270, 0, 104 [SEP] 45, Mug, -4.233, 0.785, 3.285, 0, 270, 0, 104 [SEP] 46, Cabinet, -3.203, 1.931, 1.777, 0, 0, 0, [SEP] 47, Cabinet, -3.187, 0.390, 2.089, 0, 0, 0, [SEP] 48, Cabinet, -0.637, 0.387, 6.882, 0, 180, 0, [SEP] 49, Drawer, -3.797, 0.781, 1.961, 0, 0, 0, [SEP] 50, Cabinet, -3.036, 0.387, 5.029, 0, 90, 0, [SEP] 51, Drawer, -0.509, 0.775, 5.268, 0, 270, 0, [SEP] 52, Drawer, -4.125, 0.798, 2.499, 0, 0, 0, [SEP] 53, Cabinet, -0.331, 2.249, 4.308, 0, 180, 0, [SEP] 54, CounterTop, -1.872, 0.958, 1.799, 0, 0, 0, [SEP] 55, StoveBurner, -2.924, 0.924, 2.012, 0, 0, 0, [SEP] 56, Cabinet, -0.331, 2.249, 6.806, 0, 180, 0, [SEP] 57, CounterTop, -0.345, 0.960, 5.603, 0, 0, 0, [SEP] 58, Cabinet, -3.039, 1.935, 5.321, 0, 90, 0, [SEP] 59, Cabinet, -3.922, 0.397, 2.088, 0, 0, 0, [SEP] 60, StoveBurner, -2.467, 0.924, 2.012, 0, 0, 0, [SEP] 61, Cabinet, -0.331, 2.249, 5.505, 0, 180, 0, [SEP] 62, Drawer, -0.509, 0.775, 4.617, 0, 270, 0, [SEP] 63, Drawer, -3.509, 0.777, 5.157, 0, 180, 0, [SEP] 64, Cabinet, -3.961, 0.388, 2.878, 0, 0, 0, [SEP] 65, Cabinet, -3.961, 0.388, 4.342, 0, 0, 0, [SEP] 66, Cabinet, -0.637, 0.387, 5.582, 0, 180, 0, [SEP] 67, Cabinet, -0.637, 0.388, 4.299, 0, 180, 0, [SEP] 68, Cabinet, -0.637, 0.388, 5.599, 0, 180, 0, [SEP] 69, StoveBurner, -2.924, 0.924, 1.712, 0, 180, 0, [SEP] 70, Drawer, -1.859, 0.775, 1.961, 0, 0, 0, [SEP] 71, Cabinet, -0.331, 2.249, 5.609, 0, 180, 0, [SEP] 72, CounterTop, -4.260, 0.958, 4.943, 0, 90, 0, [SEP] 73, Cabinet, -4.284, 1.931, 2.226, 0, 0, 0, [SEP] 74, Cabinet, -0.331, 2.249, 3.010, 0, 180, 0, [SEP] 75, Drawer, -3.801, 0.777, 5.157, 0, 180, 0, [SEP] 76, Cabinet, -4.112, 1.935, 5.321, 0, 90, 0, [SEP] 77, Cabinet, -3.968, 0.388, 3.662, 0, 0, 0, [SEP] 78, Drawer, -3.418, 0.777, 1.961, 0, 0, 0, [SEP] 79, Drawer, -4.090, 0.777, 4.661, 0, 90, 0, [SEP] 80, Faucet, -4.441, 0.909, 3.288, 270, 0, 0, [SEP] 81, Cabinet, -0.331, 2.249, 4.207, 0, 180, 0, [SEP] 82, Cabinet, -3.961, 0.388, 2.119, 0, 0, 0, [SEP] 83, Drawer, -0.509, 0.775, 5.920, 0, 270, 0, [SEP] 84, Drawer, -3.193, 0.777, 5.157, 0, 180, 0, [SEP] 85, Cabinet, -3.968, 0.388, 2.894, 0, 0, 0, [SEP] 86, Cabinet, -3.667, 0.387, 5.029, 0, 90, 0, [SEP] 87, StoveBurner, -2.469, 0.924, 1.712, 0, 270, 0, [SEP] 88, Cabinet, -1.539, 0.388, 2.090, 0, 0, 0, [SEP] 89, Sink, -4.190, 0.921, 3.279, 0, 0, 0, [SEP] 90, Cabinet, -3.641, 0.387, 5.029, 0, 90, 0, [SEP] 91, Cabinet, -1.583, 1.931, 1.777, 0, 0, 0, [SEP] 92, Drawer, -0.509, 0.775, 6.568, 0, 270, 0, [SEP] 93, CoffeeMachine, -0.279, 0.912, 6.556, 0, 270, 0, [SEP] 94, StoveKnob, -2.347, 1.095, 1.560, 288.012, 180, 180, [SEP] 95, StoveKnob, -2.788, 1.095, 1.560, 288.012, 180, 180, [SEP] 96, StoveKnob, -2.965, 1.095, 1.560, 288.012, 180, 180, [SEP] 97, StoveKnob, -2.512, 1.095, 1.560, 288.012, 180, 180, [SEP] 98, GarbageCan, -3.711, -0.030, 6.376, 0, 270, 0, [SEP] 99, Toaster, -3.578, 0.912, 1.763, 0, 0, 0, [SEP] 100, Curtains, -4.522, 2.252, 3.391, 90, 90, 0, [SEP] 101, Window, -4.868, 1.629, 3.309, 90, 270, 0, [SEP] 102, Microwave, -2.693, 1.430, 1.689, 0, 0, 0, [SEP] 103, LightSwitch, -1.588, 1.169, 1.506, 0, 0, 0, [SEP] 104, SinkBasin, -4.196, 0.780, 3.276, 0, 270, 0, [SEP] 105, Fridge, -0.324, -0.001, 3.602, 0, 0, 0, [SEP] 106, NorthWall, , , , , , , [SEP] 107, EastWall, , , , , , , [SEP] 108, SouthWall, , , , , , , [SEP] 109, WestWall, , , , , , , ", "output": ["STEP 1: Go to the counter left of the sink | STEP 2: Pick up the knife | STEP 3: Go to the sink | STEP 4: Cut the apple in the sink | STEP 5: Put the knife in the sink | STEP 6: Pick up an apple slice | STEP 7: Go to the fridge | STEP 8: Chill the apple | STEP 9: Go to the microwave | STEP 10: Put the apple in the microwave | END"]} +{"id": "trial_T20190908_062304_008535-0", "input": "Heat a plate to sterilize it and put it in the drawer. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.5, 0.900, 0.0, 0, 0, 0, [SEP] 1, Pan, -0.465, 0.950, -2.576, 0, 90, 0, 68 [SEP] 2, Potato, -2.018, 0.800, -1.242, 0, 90, 0, 94 [SEP] 3, Potato, -1.852, 0.800, -1.587, 0, 90, 0, 94 [SEP] 4, CreditCard, -1.609, 0.151, -0.293, 0, 90, 0, 82 [SEP] 5, Cup, -1.908, 0.767, -1.242, 0, 90, 0, 94 [SEP] 6, Egg, -0.197, 1.146, 0.504, 0, 0, 0, 59 [SEP] 7, Tomato, 0.324, 0.949, -2.407, 0, 0, 0, 61 [SEP] 8, Tomato, -1.962, 0.087, 2.076, 0, 270, 0, 90 [SEP] 9, SaltShaker, 1.121, 0.138, -2.431, 0, 0, 0, 79 [SEP] 10, PepperShaker, 1.478, 0.549, -2.666, 0, 180, 0, 89 [SEP] 11, PepperShaker, -0.912, 0.133, -2.554, 0, 0, 0, 77 [SEP] 12, Bread, 0.079, 1.184, 0.251, 0, 0, 0, 59 [SEP] 13, Lettuce, -0.059, 1.191, -0.001, 0, 0, 0, 59 [SEP] 14, Knife, -1.937, 0.936, -0.698, 0, 180, 0, 84 [SEP] 15, Fork, 1.006, 0.777, -2.334, 0, 0, 0, 55 [SEP] 16, Spoon, -2.019, 0.912, -0.513, 0, 0, 0, 84 [SEP] 17, Mug, 0.355, 1.106, -0.506, 0, 0, 0, 59 [SEP] 18, Spatula, -1.963, 0.784, -1.414, 0, 180, 0, 94 [SEP] 19, Spatula, 0.969, 0.925, -2.560, 0, 270, 0, 61 [SEP] 20, ButterKnife, 0.969, 0.910, -2.407, 0, 0, 0, 61 [SEP] 21, Kettle, -0.036, 0.950, -2.372, 0, 270, 0, 54 [SEP] 22, Kettle, 0.582, 0.911, -2.637, 0, 0, 0, 61 [SEP] 23, DishSponge, 2.096, 0.880, -2.590, 0, 180, 0, 89 [SEP] 24, Book, 0.155, 1.1, 0.617, 0, 315, 0, 59 [SEP] 25, Glassbottle, 1.891, 0.881, -2.590, 0, 180, 0, 86 [SEP] 26, Knife, -0.848, 0.936, -2.329, 0, 0, 0, 84 [SEP] 27, Bread, -0.522, 1.170, -0.028, 0, 0, 0, 59 [SEP] 28, Fork, 1.007, 0.646, -2.417, 0, 0, 0, 64 [SEP] 29, Potato, -1.733, 0.941, -2.253, 0, 0, 0, 84 [SEP] 30, SoapBottle, 0.393, 0.141, -2.239, 0, 180, 0, 76 [SEP] 31, Kettle, -0.335, 1.112, -0.253, 0, 0, 0, 59 [SEP] 32, Pan, -2.081, 1.502, 0.925, 0, 180, 0, 92 [SEP] 33, Plate, -2.078, 0.795, 1.003, 0, 90, 0, 92 [SEP] 34, Tomato, -1.935, 0.087, 1.933, 0, 270, 0, 90 [SEP] 35, Vase, 1.098, 0.912, -2.560, 0, 0, 0, 61 [SEP] 36, Egg, -1.143, 0.946, -2.560, 0, 0, 0, 84 [SEP] 37, CreditCard, 0.453, 0.907, -2.407, 0, 0, 0, 61 [SEP] 38, Statue, 1.955, 0.168, -2.543, 0, 0, 0, 91 [SEP] 39, WineBottle, 1.007, 1.661, -2.600, 0, 0, 0, 81 [SEP] 40, Pot, 0.217, 1.115, -0.253, 0, 0, 0, 59 [SEP] 41, Spatula, -2.018, 0.784, -1.760, 0, 180, 0, 94 [SEP] 42, PaperTowelRoll, -0.197, 1.215, -0.253, 0, 90, 0, 59 [SEP] 43, Cup, 0.324, 0.908, -2.714, 0, 0, 0, 61 [SEP] 44, Vase, 2.100, 0.550, -2.562, 0, 180, 0, 89 [SEP] 45, Bowl, 1.478, 0.549, -2.511, 0, 180, 0, 89 [SEP] 46, SaltShaker, 1.996, 0.549, -2.718, 0, 180, 0, 89 [SEP] 47, PepperShaker, -1.574, 0.907, -1.122, 0, 0, 0, 84 [SEP] 48, Lettuce, -0.197, 1.191, -0.506, 0, 0, 0, 59 [SEP] 49, ButterKnife, 0.582, 0.910, -2.330, 0, 0, 0, 61 [SEP] 50, Apple, -0.335, 1.162, 0.251, 0, 0, 0, 59 [SEP] 51, DishSponge, -1.852, 0.769, -1.328, 0, 90, 0, 94 [SEP] 52, Spoon, -0.473, 1.112, 0.757, 0, 0, 0, 59 [SEP] 53, Mug, -1.982, 1.301, 0.841, 0, 90, 0, 92 [SEP] 54, StoveBurner, -0.036, 0.915, -2.372, 0, 0, 0, [SEP] 55, Drawer, 0.949, 0.832, -2.197, 0, 0, 0, [SEP] 56, Drawer, -1.560, 0.839, 0.204, 0, 90, 0, [SEP] 57, StoveBurner, -0.465, 0.915, -2.371, 0, 180, 0, [SEP] 58, Drawer, -1.560, 0.839, -0.197, 0, 90, 0, [SEP] 59, CounterTop, -0.079, 1.147, -0.001, 0, 0, 0, [SEP] 60, Cabinet, -1.549, 0.494, -1.964, 0, 90, 0, [SEP] 61, CounterTop, 0.693, 0.946, -2.483, 0, 0, 0, [SEP] 62, StoveBurner, -0.036, 0.915, -2.576, 0, 0, 0, [SEP] 63, Drawer, 0.949, 0.393, -2.200, 0, 0, 0, [SEP] 64, Drawer, 0.949, 0.708, -2.200, 0, 0, 0, [SEP] 65, Cabinet, -1.549, 0.494, 0.379, 0, 90, 0, [SEP] 66, StoveKnob, -0.022, 0.881, -2.187, 45, 0, 0, [SEP] 67, Drawer, 0.949, 0.560, -2.201, 0, 0, 0, [SEP] 68, StoveBurner, -0.465, 0.915, -2.575, 0, 180, 0, [SEP] 69, Window, -2.230, 1.429, -1.203, 0, 0, 0, [SEP] 70, StoveKnob, -0.483, 0.881, -2.187, 45, 0, 0, [SEP] 71, Sink, -1.899, 0.964, -1.5, 0, 90, 0, [SEP] 72, StoveKnob, -0.328, 0.881, -2.187, 45, 0, 0, [SEP] 73, Cabinet, -0.727, 2.015, -2.460, 0, 0, 0, [SEP] 74, Drawer, -1.560, 0.655, -0.196, 0, 90, 0, [SEP] 75, Cabinet, -1.685, 2.015, -2.461, 0, 0, 0, [SEP] 76, Cabinet, 0.680, 0.494, -2.200, 0, 0, 0, [SEP] 77, Cabinet, -1.179, 0.494, -2.200, 0, 0, 0, [SEP] 78, Cabinet, -1.849, 2.015, 0.379, 0, 90, 0, [SEP] 79, Drawer, 0.949, 0.221, -2.200, 0, 0, 0, [SEP] 80, StoveKnob, -0.183, 0.881, -2.187, 45, 0, 0, [SEP] 81, Cabinet, 0.719, 2.015, -2.460, 0, 0, 0, [SEP] 82, Drawer, -1.560, 0.331, -0.196, 0, 90, 0, [SEP] 83, Cabinet, 0.680, 2.015, -2.460, 0, 0, 0, [SEP] 84, CounterTop, -1.868, 0.946, -1.205, 0, 0, 0, [SEP] 85, Microwave, -0.236, 1.689, -2.525, 0, 0, 0, [SEP] 86, Shelf, 1.751, 0.880, -2.560, 0, 0, 0, [SEP] 87, HousePlant, -1.948, 0.889, -2.520, 0, 5.334, 0, [SEP] 88, Toaster, -1.835, 0.900, 0.134, 0, 90, 0, [SEP] 89, Shelf, 1.750, 0.552, -2.559, 0, 0, 0, [SEP] 90, GarbageCan, -1.935, -0.002, 2.029, 0, 270, 0, [SEP] 91, Shelf, 1.750, 0.172, -2.559, 0, 0, 0, [SEP] 92, Fridge, -2.096, 0.0, 1.088, 0, 0, 0, [SEP] 93, CoffeeMachine, -1.977, 0.900, -0.188, 0, 90, 0, [SEP] 94, SinkBasin, -1.908, 0.759, -1.488, 0, 90, 0, [SEP] 95, LightSwitch, 2.329, 1.309, -0.159, 0, 270, 0, [SEP] 96, ShelvingUnit, 1.750, 0.006, -2.559, 0, 0, 0, [SEP] 97, Stool, 0.702, 0.000, -0.514, 1.202, 65.108, 0, [SEP] 98, Stool, 0.743, 0.000, 0.563, 1.227, 106.706, 0, [SEP] 99, Faucet, -2.070, 1.132, -1.514, 0, 0, 0, [SEP] 100, NorthWall, , , , , , , [SEP] 101, EastWall, , , , , , , [SEP] 102, SouthWall, , , , , , , [SEP] 103, WestWall, , , , , , , ", "output": ["STEP 1: Walk around the room to the fridge, and open it. | STEP 2: Grab the plate from the top shelf of the fridge. | STEP 3: Walk around the island to the microwave. | STEP 4: Place the plate in the microwave. | STEP 5: Grab the plate out of the microwave and go to the cabinet next to it. | STEP 6: Place the plate in the cabinet. | END"]} +{"id": "trial_T20190907_233839_144519-1", "input": "Move a phone from the drawer to the bed. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.25, 0.902, 0.0, 0, 90, 0, [SEP] 1, Mug, 0.318, 0.186, -2.598, 0, 90, 0, 55 [SEP] 2, Mug, 1.781, 0.798, -2.219, 0, 0, 0, 45 [SEP] 3, CellPhone, 1.633, 0.500, -1.726, 0, 0, 0, 39 [SEP] 4, Pen, 1.586, 0.020, -1.464, 0, 0, 0, 42 [SEP] 5, CreditCard, 1.493, 0.500, -1.949, 0, 0, 0, 47 [SEP] 6, CreditCard, 1.680, 0.656, -1.376, 0, 0, 0, 38 [SEP] 7, KeyChain, 1.680, 0.656, -1.638, 0, 0, 0, 38 [SEP] 8, Book, -0.574, 0.694, -0.36, 0, 0, 0, 25 [SEP] 9, Book, -1.061, 0.694, -0.36, 0, 0, 0, 25 [SEP] 10, Book, -1.061, 0.694, -1.001, 0, 180, 0, 25 [SEP] 11, KeyChain, 1.536, 0.801, -1.655, 0, 90, 0, 45 [SEP] 12, AlarmClock, 0.069, 0.665, -2.578, 0, 0, 0, 50 [SEP] 13, CreditCard, 1.474, 0.799, -2.219, 0, 0, 0, 45 [SEP] 14, Laptop, -0.574, 0.693, -0.787, 0, 0, 0, 25 [SEP] 15, Pen, 1.658, 0.807, -2.407, 0, 0, 0, 45 [SEP] 16, Pencil, 1.536, 0.804, -1.279, 0, 0, 0, 45 [SEP] 17, BaseballBat, -1.844, 0.678, -2.203, 0, 0, 8.760, Floor|+00.01| [SEP] 18, Pillow, -1.489, 0.685, -0.854, 0, 345.000, 0, 25 [SEP] 19, Pillow, -0.088, 0.755, 0.067, 0, 0, 0, 25 [SEP] 20, TennisRacket, -1.597, 0.001, -1.367, 90, 37.792, 0, Floor|+00.01| [SEP] 21, CellPhone, 1.536, 0.800, -1.467, 0, 0, 0, 45 [SEP] 22, CD, 1.781, 0.801, -1.843, 0, 0, 0, 45 [SEP] 23, Mug, 0.427, 0.671, -2.570, 0, 0, 0, 50 [SEP] 24, Mirror, 3.534, 1.661, -0.277, 0, 90, 0, [SEP] 25, Bed, -0.842, -0.000, -0.361, 0, 270, 0, [SEP] 26, DeskLamp, 1.742, 0.819, -1.394, 0, 358.556, 0, [SEP] 27, Painting, 0.246, 1.564, -2.665, 90, 0, 0, [SEP] 28, Painting, 1.894, 1.549, -2.424, 90, 270, 0, [SEP] 29, Painting, 1.894, 1.549, -1.289, 90, 270, 0, [SEP] 30, GarbageCan, 3.378, 0.000, 0.220, 0, 0, 0, [SEP] 31, LightSwitch, -0.078, 1.219, 1.298, 0, 180, 0, [SEP] 32, Window, -0.486, 1.409, -2.691, 90, 0, 0, [SEP] 33, Window, 0.987, 1.409, -2.691, 90, 0, 0, [SEP] 34, VacuumCleaner, -1.649, 0.010, -2.440, 0, 42.426, 0, [SEP] 35, Blinds, -0.490, 2.130, -2.638, 0, 0, 0, [SEP] 36, Blinds, 1.011, 2.130, -2.638, 0, 0, 0, [SEP] 37, Drawer, 1.596, 0.411, -1.459, 0, 270, 0, [SEP] 38, Drawer, 1.597, 0.732, -1.459, 0, 270, 0, [SEP] 39, Drawer, 1.597, 0.574, -1.459, 0, 270, 0, [SEP] 40, Drawer, 1.597, 0.732, -2.202, 0, 270, 0, [SEP] 41, Drawer, 1.596, 0.247, -1.459, 0, 270, 0, [SEP] 42, Drawer, 1.596, 0.090, -1.459, 0, 270, 0, [SEP] 43, Drawer, 1.596, 0.247, -2.202, 0, 270, 0, [SEP] 44, Drawer, 1.596, 0.411, -2.202, 0, 270, 0, [SEP] 45, Dresser, 1.634, 0.003, -1.830, 0, 270, 0, [SEP] 46, Drawer, 1.596, 0.090, -2.202, 0, 270, 0, [SEP] 47, Drawer, 1.597, 0.574, -2.202, 0, 270, 0, [SEP] 48, ShelvingUnit, 0.249, 0.003, -2.519, 0, 0, 0, [SEP] 49, Shelf, 0.017, 0.178, -2.511, 0, 0, 0, [SEP] 50, Shelf, 0.249, 0.665, -2.519, 0, 0, 0, [SEP] 51, Shelf, 0.243, 0.344, -2.511, 0, 0, 0, [SEP] 52, Shelf, 0.474, 0.344, -2.511, 0, 0, 0, [SEP] 53, Shelf, 0.355, 0.011, -2.511, 0, 0, 0, [SEP] 54, Shelf, 0.016, 0.011, -2.511, 0, 0, 0, [SEP] 55, Shelf, 0.357, 0.178, -2.511, 0, 0, 0, [SEP] 56, NorthWall, , , , , , , [SEP] 57, EastWall, , , , , , , [SEP] 58, SouthWall, , , , , , , [SEP] 59, WestWall, , , , , , , ", "output": ["STEP 1: Walk to the drawers on your right. | STEP 2: Open a drawer and take the phone out of the drawer. | STEP 3: Move to the front of your bed. | STEP 4: Place the phone on the bed. | END"]} +{"id": "trial_T20190909_130251_926330-1", "input": "Grab the remote control and turn on the lamp. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 2.25, 0.900, -0.25, 0, 0, 0, [SEP] 1, TissueBox, -0.290, 0.459, -0.653, 0, 0, 0, 40 [SEP] 2, TissueBox, 3.838, 0.068, -0.495, 0, 0, 0, 26 [SEP] 3, Pencil, 1.183, 0.476, 0.512, 0, 180, 0, 34 [SEP] 4, Pencil, 1.592, 0.456, -0.691, 0, 0, 0, 35 [SEP] 5, Pen, 3.926, 0.770, 1.151, 0, 90, 0, 44 [SEP] 6, Pen, 1.466, 0.483, 0.594, 0, 180, 0, 34 [SEP] 7, KeyChain, 4.007, 0.877, 1.181, 0, 90, 0, 43 [SEP] 8, KeyChain, 1.183, 0.478, 0.186, 0, 180, 0, 34 [SEP] 9, RemoteControl, -0.130, 0.324, 1.663, 0, 91.372, 0, 41 [SEP] 10, Box, 2.656, 0.569, 1.798, 0, 0, 0, 33 [SEP] 11, Newspaper, 1.324, 0.476, 0.594, 0, 90, 0, 34 [SEP] 12, Laptop, 1.805, 0.47, 0.499, 0, 0, 0, 34 [SEP] 13, WateringCan, 1.621, 0.056, -0.697, 0, 0, 0, 39 [SEP] 14, TissueBox, -0.067, 0.841, -0.818, 0, 0, 0, 38 [SEP] 15, KeyChain, -0.29, 0.840, -0.672, 0, 0, 0, 38 [SEP] 16, Pen, -0.606, 0.463, -0.653, 0, 0, 0, 40 [SEP] 17, Boots, 4.005, 0.001, 1.707, 1.563, 246.167, 0, [SEP] 18, Pencil, 1.904, 0.456, -0.691, 0, 0, 0, 35 [SEP] 19, RemoteControl, 1.800, 0.454, -0.729, 0, 0, 0, 35 [SEP] 20, CreditCard, 4.007, 0.876, 0.760, 0, 0, 0, 43 [SEP] 21, Pillow, 0.651, 0.395, 1.708, 0, 0, 0, 24 [SEP] 22, Statue, -0.532, 0.443, -0.738, 0, 92.244, 0, 40 [SEP] 23, Statue, 1.324, 0.487, 0.349, 0, 180, 0, 34 [SEP] 24, Sofa, 1.174, 0.0, 1.865, 0, 0, 0, [SEP] 25, FloorLamp, 3.608, 0.000, 2.163, 0, 0, 0, [SEP] 26, GarbageCan, 3.833, -0.029, -0.495, 0, 0, 0, [SEP] 27, Television, 1.897, 1.281, -0.838, 0, 0, 0, [SEP] 28, Painting, 4.070, 1.950, 0.848, 90, 270, 0, [SEP] 29, HousePlant, 0.387, 0.801, -0.725, 0, 90, 0, [SEP] 30, Window, 0.023, 2.072, 2.484, 90, 180, 0, [SEP] 31, Window, 1.570, 2.072, 2.484, 90, 180, 0, [SEP] 32, LightSwitch, -1.399, 1.289, 1.835, 0, 90, 0, [SEP] 33, ArmChair, 2.655, 0.000, 1.858, 0, 180, 0, [SEP] 34, CoffeeTable, 1.591, -0.000, 0.446, 0, 180, 0, [SEP] 35, Shelf, 1.905, 0.588, -0.730, 0, 0, 0, [SEP] 36, TVStand, 1.904, -0.000, -0.770, 0, 0, 0, [SEP] 37, Shelf, -0.289, 0.200, -0.732, 0, 0, 0, [SEP] 38, TVStand, -0.290, -0.000, -0.772, 0, 0, 0, [SEP] 39, Shelf, 1.905, 0.200, -0.730, 0, 0, 0, [SEP] 40, Shelf, -0.289, 0.588, -0.732, 0, 0, 0, [SEP] 41, ArmChair, -0.270, 0.000, 1.870, 0, 181.372, 0, [SEP] 42, Sofa, 1.193, 0.008, 1.865, 0, 180, 0, [SEP] 43, SideTable, 3.946, 0.000, 0.865, 0, 270, 0, [SEP] 44, Drawer, 3.882, 0.774, 0.864, 0, 270, 0, [SEP] 45, NorthWall, , , , , , , [SEP] 46, EastWall, , , , , , , [SEP] 47, SouthWall, , , , , , , [SEP] 48, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and face the television and television stand. | STEP 2: Grab the remote control between the pencils sitting in the television stand shelf. | STEP 3: Look up, turn left and walk to the lamp in the corner of the room to your left. | STEP 4: Turn on the lamp. | END"]} +{"id": "trial_T20190918_170351_028009-1", "input": "Place a slice of cooked tomato onto the island. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.5, 0.900, -1.75, 0, 0, 0, [SEP] 1, Pen, -2.210, 0.926, -1.423, 0, 0, 0, 73 [SEP] 2, Potato, -0.246, 1.422, -0.770, 0, 270, 0, 65 [SEP] 3, Potato, -2.552, 0.954, -1.884, 0, 0, 0, 73 [SEP] 4, DishSponge, -2.666, 0.923, -2.115, 0, 0, 0, 73 [SEP] 5, DishSponge, -0.528, 0.915, -3.839, 0, 0, 0, 48 [SEP] 6, ButterKnife, -0.600, 0.915, -3.485, 0, 0, 0, 48 [SEP] 7, WineBottle, -2.780, 0.924, -1.654, 0, 0, 0, 73 [SEP] 8, Knife, -2.552, 0.946, -2.345, 0, 0, 0, 73 [SEP] 9, Plate, -2.780, 0.925, -1.193, 0, 0, 0, 73 [SEP] 10, SoapBottle, -0.815, 0.914, -3.555, 0, 0, 0, 48 [SEP] 11, Tomato, -2.552, 0.987, -1.423, 0, 0, 0, 73 [SEP] 12, Tomato, -0.600, 0.979, -3.697, 0, 0, 0, 48 [SEP] 13, Bowl, -0.363, 1.529, -3.706, 0, 45, 0, 56 [SEP] 14, Bread, -0.295, 1.151, -0.560, 0, 270, 0, 65 [SEP] 15, PepperShaker, -0.420, 0.743, -3.327, 0, 0, 0, 59 [SEP] 16, Mug, -0.351, 0.962, -3.144, 0, 270, 0, 62 [SEP] 17, Mug, -0.499, 0.076, -1.758, 0, 0, 0, 43 [SEP] 18, Apple, -2.666, 0.996, -1.654, 0, 0, 0, 73 [SEP] 19, Lettuce, -0.308, 1.783, -0.874, 0, 270, 0, 65 [SEP] 20, Glassbottle, -2.324, 0.924, -2.115, 0, 0, 0, 73 [SEP] 21, Egg, -0.743, 0.948, -3.697, 0, 0, 0, 48 [SEP] 22, Pen, -0.457, 0.918, -3.555, 0, 0, 0, 48 [SEP] 23, Fork, -2.780, 0.924, -0.963, 0, 90, 0, 73 [SEP] 24, SoapBottle, -1.912, 0.025, -3.763, 0, 0, 0, 64 [SEP] 25, Pencil, -2.438, 0.923, -2.345, 0, 0, 0, 73 [SEP] 26, WineBottle, -0.499, 0.082, -2.201, 0, 0, 0, 53 [SEP] 27, Spatula, -2.096, 0.938, -1.884, 0, 0, 0, 73 [SEP] 28, Bread, -0.343, 1.151, -0.979, 0, 270, 0, 65 [SEP] 29, Tomato, -0.671, 0.979, -3.555, 0, 0, 0, 48 [SEP] 30, Pan, -2.174, 0.913, -1.099, 0, 0, 0, 73 [SEP] 31, Cup, -2.780, 0.922, -2.115, 0, 0, 0, 73 [SEP] 32, Pot, -1.515, 0.935, -3.497, 0, 0, 0, 45 [SEP] 33, SaltShaker, -0.205, 1.966, -1.663, 0, 0, 0, 50 [SEP] 34, Potato, -2.210, 0.954, -2.115, 0, 0, 0, 73 [SEP] 35, PepperShaker, -0.171, 1.527, -3.624, 0, 45, 0, 56 [SEP] 36, ButterKnife, -2.438, 0.923, -0.963, 0, 0, 0, 73 [SEP] 37, DishSponge, -1.496, 1.969, -3.890, 0, 0, 0, 57 [SEP] 38, Spoon, -2.324, 0.924, -1.884, 0, 0, 0, 73 [SEP] 39, Plate, -0.382, 0.083, -3.267, 0, 0, 0, 54 [SEP] 40, Knife, -2.666, 0.946, -1.193, 0, 180, 0, 73 [SEP] 41, Mug, -0.302, 0.792, -2.008, 0, 270, 0, 66 [SEP] 42, Bowl, -0.295, 1.389, -0.979, 0, 270, 0, 65 [SEP] 43, Cabinet, -0.582, 0.388, -1.804, 0, 0, 0, [SEP] 44, StoveBurner, -1.515, 0.928, -3.752, 0, 90, 0, [SEP] 45, StoveBurner, -1.515, 0.928, -3.497, 0, 0, 0, [SEP] 46, StoveBurner, -1.129, 0.928, -3.498, 0, 0, 0, [SEP] 47, Drawer, -0.749, 0.779, -3.551, 0, 0, 0, [SEP] 48, CounterTop, -0.303, 0.951, -2.793, 0, 0, 0, [SEP] 49, Cabinet, -0.883, 2.140, -3.687, 0, 0, 0, [SEP] 50, Cabinet, -0.312, 2.140, -1.543, 0, 0, 0, [SEP] 51, Sink, -0.349, 0.907, -2.014, 0, 0, 0, [SEP] 52, Cabinet, -0.877, 0.388, -3.422, 0, 0, 0, [SEP] 53, Cabinet, -0.582, 0.388, -2.197, 0, 0, 0, [SEP] 54, Cabinet, -0.584, 0.388, -3.396, 0, 0, 0, [SEP] 55, Cabinet, -0.312, 2.140, -2.481, 0, 0, 0, [SEP] 56, Cabinet, -0.330, 1.921, -3.390, 0, 0, 0, [SEP] 57, Cabinet, -1.764, 2.140, -3.687, 0, 0, 0, [SEP] 58, StoveBurner, -1.129, 0.928, -3.752, 0, 90, 0, [SEP] 59, Drawer, -0.454, 0.779, -3.268, 0, 0, 0, [SEP] 60, Cabinet, -0.302, 1.916, -2.501, 0, 0, 0, [SEP] 61, Microwave, -1.317, 1.517, -3.801, 0, 1.440, 0, [SEP] 62, CoffeeMachine, -0.153, 0.903, -3.144, 0, 270, 0, [SEP] 63, LightSwitch, -4.323, 1.319, 0.0, 0, 180, 0, [SEP] 64, GarbageCan, -1.943, -7.152, -3.763, 0, 0, 0, [SEP] 65, Fridge, -0.330, 0.0, -0.769, 0, 270, 0, [SEP] 66, SinkBasin, -0.350, 0.786, -2.018, 0, 270, 0, [SEP] 67, StoveKnob, -1.582, 1.082, -3.958, 72.287, 0, 0, [SEP] 68, StoveKnob, -1.177, 1.082, -3.958, 72.287, 0, 0, [SEP] 69, StoveKnob, -1.424, 1.082, -3.958, 72.287, 0, 0, [SEP] 70, StoveKnob, -1.028, 1.082, -3.958, 72.287, 0, 0, [SEP] 71, Toaster, -0.181, 0.903, -2.764, 0, 270, 0, [SEP] 72, Window, -2.503, 1.782, -4.185, 90, 180, 0, [SEP] 73, DiningTable, -2.432, 0.000, -1.694, 0, 270, 0, [SEP] 74, Shelf, -2.432, 0.150, -1.694, 0, 270, 0, [SEP] 75, Blinds, -2.536, 2.699, -3.959, 0, 0, 0, [SEP] 76, Faucet, -0.079, 0.904, -2.034, 270, 180, 0, [SEP] 77, Chair, -3.264, 0.002, -2.094, 0, 53.280, 0, [SEP] 78, Chair, -3.240, 0.002, -1.253, 0, 117.257, 0, [SEP] 79, Shelf, -2.432, 0.523, -1.694, 0, 270, 0, [SEP] 80, NorthWall, , , , , , , [SEP] 81, EastWall, , , , , , , [SEP] 82, SouthWall, , , , , , , [SEP] 83, WestWall, , , , , , , ", "output": ["STEP 1: Move to the island, near the left most chair. | STEP 2: Pick up the knife that is on the plate. | STEP 3: Turn left, move to the counter left of the stove. | STEP 4: Slice the tomato on the left, far from the edge. | STEP 5: Turn right, move to the island opposite the chairs. | STEP 6: Place the knife onto the island, left of the pan. | STEP 7: Turn left, move to the counter left of the stove. | STEP 8: Pick up a slice of tomato. | STEP 9: Turn right, move to in front of the stove. | STEP 10: Place the tomato slice in to the microwave, cook it, pick it back up. | STEP 11: Turn right, move to the island opposite the chairs. | STEP 12: Place the tomato slice on to the island. | END"]} +{"id": "trial_T20190918_170351_028009-3", "input": "place a cooked tomato slice on the table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.5, 0.900, -1.75, 0, 0, 0, [SEP] 1, Pen, -2.210, 0.926, -1.423, 0, 0, 0, 73 [SEP] 2, Potato, -0.246, 1.422, -0.770, 0, 270, 0, 65 [SEP] 3, Potato, -2.552, 0.954, -1.884, 0, 0, 0, 73 [SEP] 4, DishSponge, -2.666, 0.923, -2.115, 0, 0, 0, 73 [SEP] 5, DishSponge, -0.528, 0.915, -3.839, 0, 0, 0, 48 [SEP] 6, ButterKnife, -0.600, 0.915, -3.485, 0, 0, 0, 48 [SEP] 7, WineBottle, -2.780, 0.924, -1.654, 0, 0, 0, 73 [SEP] 8, Knife, -2.552, 0.946, -2.345, 0, 0, 0, 73 [SEP] 9, Plate, -2.780, 0.925, -1.193, 0, 0, 0, 73 [SEP] 10, SoapBottle, -0.815, 0.914, -3.555, 0, 0, 0, 48 [SEP] 11, Tomato, -2.552, 0.987, -1.423, 0, 0, 0, 73 [SEP] 12, Tomato, -0.600, 0.979, -3.697, 0, 0, 0, 48 [SEP] 13, Bowl, -0.363, 1.529, -3.706, 0, 45, 0, 56 [SEP] 14, Bread, -0.295, 1.151, -0.560, 0, 270, 0, 65 [SEP] 15, PepperShaker, -0.420, 0.743, -3.327, 0, 0, 0, 59 [SEP] 16, Mug, -0.351, 0.962, -3.144, 0, 270, 0, 62 [SEP] 17, Mug, -0.499, 0.076, -1.758, 0, 0, 0, 43 [SEP] 18, Apple, -2.666, 0.996, -1.654, 0, 0, 0, 73 [SEP] 19, Lettuce, -0.308, 1.783, -0.874, 0, 270, 0, 65 [SEP] 20, Glassbottle, -2.324, 0.924, -2.115, 0, 0, 0, 73 [SEP] 21, Egg, -0.743, 0.948, -3.697, 0, 0, 0, 48 [SEP] 22, Pen, -0.457, 0.918, -3.555, 0, 0, 0, 48 [SEP] 23, Fork, -2.780, 0.924, -0.963, 0, 90, 0, 73 [SEP] 24, SoapBottle, -1.912, 0.025, -3.763, 0, 0, 0, 64 [SEP] 25, Pencil, -2.438, 0.923, -2.345, 0, 0, 0, 73 [SEP] 26, WineBottle, -0.499, 0.082, -2.201, 0, 0, 0, 53 [SEP] 27, Spatula, -2.096, 0.938, -1.884, 0, 0, 0, 73 [SEP] 28, Bread, -0.343, 1.151, -0.979, 0, 270, 0, 65 [SEP] 29, Tomato, -0.671, 0.979, -3.555, 0, 0, 0, 48 [SEP] 30, Pan, -2.174, 0.913, -1.099, 0, 0, 0, 73 [SEP] 31, Cup, -2.780, 0.922, -2.115, 0, 0, 0, 73 [SEP] 32, Pot, -1.515, 0.935, -3.497, 0, 0, 0, 45 [SEP] 33, SaltShaker, -0.205, 1.966, -1.663, 0, 0, 0, 50 [SEP] 34, Potato, -2.210, 0.954, -2.115, 0, 0, 0, 73 [SEP] 35, PepperShaker, -0.171, 1.527, -3.624, 0, 45, 0, 56 [SEP] 36, ButterKnife, -2.438, 0.923, -0.963, 0, 0, 0, 73 [SEP] 37, DishSponge, -1.496, 1.969, -3.890, 0, 0, 0, 57 [SEP] 38, Spoon, -2.324, 0.924, -1.884, 0, 0, 0, 73 [SEP] 39, Plate, -0.382, 0.083, -3.267, 0, 0, 0, 54 [SEP] 40, Knife, -2.666, 0.946, -1.193, 0, 180, 0, 73 [SEP] 41, Mug, -0.302, 0.792, -2.008, 0, 270, 0, 66 [SEP] 42, Bowl, -0.295, 1.389, -0.979, 0, 270, 0, 65 [SEP] 43, Cabinet, -0.582, 0.388, -1.804, 0, 0, 0, [SEP] 44, StoveBurner, -1.515, 0.928, -3.752, 0, 90, 0, [SEP] 45, StoveBurner, -1.515, 0.928, -3.497, 0, 0, 0, [SEP] 46, StoveBurner, -1.129, 0.928, -3.498, 0, 0, 0, [SEP] 47, Drawer, -0.749, 0.779, -3.551, 0, 0, 0, [SEP] 48, CounterTop, -0.303, 0.951, -2.793, 0, 0, 0, [SEP] 49, Cabinet, -0.883, 2.140, -3.687, 0, 0, 0, [SEP] 50, Cabinet, -0.312, 2.140, -1.543, 0, 0, 0, [SEP] 51, Sink, -0.349, 0.907, -2.014, 0, 0, 0, [SEP] 52, Cabinet, -0.877, 0.388, -3.422, 0, 0, 0, [SEP] 53, Cabinet, -0.582, 0.388, -2.197, 0, 0, 0, [SEP] 54, Cabinet, -0.584, 0.388, -3.396, 0, 0, 0, [SEP] 55, Cabinet, -0.312, 2.140, -2.481, 0, 0, 0, [SEP] 56, Cabinet, -0.330, 1.921, -3.390, 0, 0, 0, [SEP] 57, Cabinet, -1.764, 2.140, -3.687, 0, 0, 0, [SEP] 58, StoveBurner, -1.129, 0.928, -3.752, 0, 90, 0, [SEP] 59, Drawer, -0.454, 0.779, -3.268, 0, 0, 0, [SEP] 60, Cabinet, -0.302, 1.916, -2.501, 0, 0, 0, [SEP] 61, Microwave, -1.317, 1.517, -3.801, 0, 1.440, 0, [SEP] 62, CoffeeMachine, -0.153, 0.903, -3.144, 0, 270, 0, [SEP] 63, LightSwitch, -4.323, 1.319, 0.0, 0, 180, 0, [SEP] 64, GarbageCan, -1.943, -7.152, -3.763, 0, 0, 0, [SEP] 65, Fridge, -0.330, 0.0, -0.769, 0, 270, 0, [SEP] 66, SinkBasin, -0.350, 0.786, -2.018, 0, 270, 0, [SEP] 67, StoveKnob, -1.582, 1.082, -3.958, 72.287, 0, 0, [SEP] 68, StoveKnob, -1.177, 1.082, -3.958, 72.287, 0, 0, [SEP] 69, StoveKnob, -1.424, 1.082, -3.958, 72.287, 0, 0, [SEP] 70, StoveKnob, -1.028, 1.082, -3.958, 72.287, 0, 0, [SEP] 71, Toaster, -0.181, 0.903, -2.764, 0, 270, 0, [SEP] 72, Window, -2.503, 1.782, -4.185, 90, 180, 0, [SEP] 73, DiningTable, -2.432, 0.000, -1.694, 0, 270, 0, [SEP] 74, Shelf, -2.432, 0.150, -1.694, 0, 270, 0, [SEP] 75, Blinds, -2.536, 2.699, -3.959, 0, 0, 0, [SEP] 76, Faucet, -0.079, 0.904, -2.034, 270, 180, 0, [SEP] 77, Chair, -3.264, 0.002, -2.094, 0, 53.280, 0, [SEP] 78, Chair, -3.240, 0.002, -1.253, 0, 117.257, 0, [SEP] 79, Shelf, -2.432, 0.523, -1.694, 0, 270, 0, [SEP] 80, NorthWall, , , , , , , [SEP] 81, EastWall, , , , , , , [SEP] 82, SouthWall, , , , , , , [SEP] 83, WestWall, , , , , , , ", "output": ["STEP 1: move right towards the table | STEP 2: pick up the knife | STEP 3: head for the sink | STEP 4: slice the tomato by the sink | STEP 5: turn right and head for the table | STEP 6: drop the knife on the table | STEP 7: turn left and head for the sink | STEP 8: pick up the tomato slice | STEP 9: head left to the oven | STEP 10: place the tomato to cook in the oven | STEP 11: turn around and head towards the table | STEP 12: place the cooked slice on the table | END"]} +{"id": "trial_T20190918_170351_028009-4", "input": "Place microwaved tomato slice on green counter to the right of spatula SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.5, 0.900, -1.75, 0, 0, 0, [SEP] 1, Pen, -2.210, 0.926, -1.423, 0, 0, 0, 73 [SEP] 2, Potato, -0.246, 1.422, -0.770, 0, 270, 0, 65 [SEP] 3, Potato, -2.552, 0.954, -1.884, 0, 0, 0, 73 [SEP] 4, DishSponge, -2.666, 0.923, -2.115, 0, 0, 0, 73 [SEP] 5, DishSponge, -0.528, 0.915, -3.839, 0, 0, 0, 48 [SEP] 6, ButterKnife, -0.600, 0.915, -3.485, 0, 0, 0, 48 [SEP] 7, WineBottle, -2.780, 0.924, -1.654, 0, 0, 0, 73 [SEP] 8, Knife, -2.552, 0.946, -2.345, 0, 0, 0, 73 [SEP] 9, Plate, -2.780, 0.925, -1.193, 0, 0, 0, 73 [SEP] 10, SoapBottle, -0.815, 0.914, -3.555, 0, 0, 0, 48 [SEP] 11, Tomato, -2.552, 0.987, -1.423, 0, 0, 0, 73 [SEP] 12, Tomato, -0.600, 0.979, -3.697, 0, 0, 0, 48 [SEP] 13, Bowl, -0.363, 1.529, -3.706, 0, 45, 0, 56 [SEP] 14, Bread, -0.295, 1.151, -0.560, 0, 270, 0, 65 [SEP] 15, PepperShaker, -0.420, 0.743, -3.327, 0, 0, 0, 59 [SEP] 16, Mug, -0.351, 0.962, -3.144, 0, 270, 0, 62 [SEP] 17, Mug, -0.499, 0.076, -1.758, 0, 0, 0, 43 [SEP] 18, Apple, -2.666, 0.996, -1.654, 0, 0, 0, 73 [SEP] 19, Lettuce, -0.308, 1.783, -0.874, 0, 270, 0, 65 [SEP] 20, Glassbottle, -2.324, 0.924, -2.115, 0, 0, 0, 73 [SEP] 21, Egg, -0.743, 0.948, -3.697, 0, 0, 0, 48 [SEP] 22, Pen, -0.457, 0.918, -3.555, 0, 0, 0, 48 [SEP] 23, Fork, -2.780, 0.924, -0.963, 0, 90, 0, 73 [SEP] 24, SoapBottle, -1.912, 0.025, -3.763, 0, 0, 0, 64 [SEP] 25, Pencil, -2.438, 0.923, -2.345, 0, 0, 0, 73 [SEP] 26, WineBottle, -0.499, 0.082, -2.201, 0, 0, 0, 53 [SEP] 27, Spatula, -2.096, 0.938, -1.884, 0, 0, 0, 73 [SEP] 28, Bread, -0.343, 1.151, -0.979, 0, 270, 0, 65 [SEP] 29, Tomato, -0.671, 0.979, -3.555, 0, 0, 0, 48 [SEP] 30, Pan, -2.174, 0.913, -1.099, 0, 0, 0, 73 [SEP] 31, Cup, -2.780, 0.922, -2.115, 0, 0, 0, 73 [SEP] 32, Pot, -1.515, 0.935, -3.497, 0, 0, 0, 45 [SEP] 33, SaltShaker, -0.205, 1.966, -1.663, 0, 0, 0, 50 [SEP] 34, Potato, -2.210, 0.954, -2.115, 0, 0, 0, 73 [SEP] 35, PepperShaker, -0.171, 1.527, -3.624, 0, 45, 0, 56 [SEP] 36, ButterKnife, -2.438, 0.923, -0.963, 0, 0, 0, 73 [SEP] 37, DishSponge, -1.496, 1.969, -3.890, 0, 0, 0, 57 [SEP] 38, Spoon, -2.324, 0.924, -1.884, 0, 0, 0, 73 [SEP] 39, Plate, -0.382, 0.083, -3.267, 0, 0, 0, 54 [SEP] 40, Knife, -2.666, 0.946, -1.193, 0, 180, 0, 73 [SEP] 41, Mug, -0.302, 0.792, -2.008, 0, 270, 0, 66 [SEP] 42, Bowl, -0.295, 1.389, -0.979, 0, 270, 0, 65 [SEP] 43, Cabinet, -0.582, 0.388, -1.804, 0, 0, 0, [SEP] 44, StoveBurner, -1.515, 0.928, -3.752, 0, 90, 0, [SEP] 45, StoveBurner, -1.515, 0.928, -3.497, 0, 0, 0, [SEP] 46, StoveBurner, -1.129, 0.928, -3.498, 0, 0, 0, [SEP] 47, Drawer, -0.749, 0.779, -3.551, 0, 0, 0, [SEP] 48, CounterTop, -0.303, 0.951, -2.793, 0, 0, 0, [SEP] 49, Cabinet, -0.883, 2.140, -3.687, 0, 0, 0, [SEP] 50, Cabinet, -0.312, 2.140, -1.543, 0, 0, 0, [SEP] 51, Sink, -0.349, 0.907, -2.014, 0, 0, 0, [SEP] 52, Cabinet, -0.877, 0.388, -3.422, 0, 0, 0, [SEP] 53, Cabinet, -0.582, 0.388, -2.197, 0, 0, 0, [SEP] 54, Cabinet, -0.584, 0.388, -3.396, 0, 0, 0, [SEP] 55, Cabinet, -0.312, 2.140, -2.481, 0, 0, 0, [SEP] 56, Cabinet, -0.330, 1.921, -3.390, 0, 0, 0, [SEP] 57, Cabinet, -1.764, 2.140, -3.687, 0, 0, 0, [SEP] 58, StoveBurner, -1.129, 0.928, -3.752, 0, 90, 0, [SEP] 59, Drawer, -0.454, 0.779, -3.268, 0, 0, 0, [SEP] 60, Cabinet, -0.302, 1.916, -2.501, 0, 0, 0, [SEP] 61, Microwave, -1.317, 1.517, -3.801, 0, 1.440, 0, [SEP] 62, CoffeeMachine, -0.153, 0.903, -3.144, 0, 270, 0, [SEP] 63, LightSwitch, -4.323, 1.319, 0.0, 0, 180, 0, [SEP] 64, GarbageCan, -1.943, -7.152, -3.763, 0, 0, 0, [SEP] 65, Fridge, -0.330, 0.0, -0.769, 0, 270, 0, [SEP] 66, SinkBasin, -0.350, 0.786, -2.018, 0, 270, 0, [SEP] 67, StoveKnob, -1.582, 1.082, -3.958, 72.287, 0, 0, [SEP] 68, StoveKnob, -1.177, 1.082, -3.958, 72.287, 0, 0, [SEP] 69, StoveKnob, -1.424, 1.082, -3.958, 72.287, 0, 0, [SEP] 70, StoveKnob, -1.028, 1.082, -3.958, 72.287, 0, 0, [SEP] 71, Toaster, -0.181, 0.903, -2.764, 0, 270, 0, [SEP] 72, Window, -2.503, 1.782, -4.185, 90, 180, 0, [SEP] 73, DiningTable, -2.432, 0.000, -1.694, 0, 270, 0, [SEP] 74, Shelf, -2.432, 0.150, -1.694, 0, 270, 0, [SEP] 75, Blinds, -2.536, 2.699, -3.959, 0, 0, 0, [SEP] 76, Faucet, -0.079, 0.904, -2.034, 270, 180, 0, [SEP] 77, Chair, -3.264, 0.002, -2.094, 0, 53.280, 0, [SEP] 78, Chair, -3.240, 0.002, -1.253, 0, 117.257, 0, [SEP] 79, Shelf, -2.432, 0.523, -1.694, 0, 270, 0, [SEP] 80, NorthWall, , , , , , , [SEP] 81, EastWall, , , , , , , [SEP] 82, SouthWall, , , , , , , [SEP] 83, WestWall, , , , , , , ", "output": ["STEP 1: turn left, go to end of green counter | STEP 2: pick up yellow handled knife from counter | STEP 3: go to counter to the left of stove | STEP 4: slice tomato in the back | STEP 5: turn right, go to green counter to the right | STEP 6: place knife on pencil on the counter next to square pan | STEP 7: turn left, go to counter to the left of stove | STEP 8: pick up tomato slice from counter behind whole tomato | STEP 9: go to microwave above stove to the right | STEP 10: place tomato slice in microwave, turn on microwave, open microwave door, pick up tomato slice from microwave | STEP 11: turn around, go to green counter | STEP 12: place tomato slice on green counter in between spatula and yellow handled knife | END"]} +{"id": "trial_T20190911_082512_678680-0", "input": "To move two credit cards to the television stand. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.25, 0.901, 3.25, 0, 90, 0, [SEP] 1, Watch, -4.587, 0.887, 3.470, 0, 0, 0, 30 [SEP] 2, Watch, 0.132, 0.707, 4.578, 0, 0, 0, 40 [SEP] 3, RemoteControl, -4.569, 0.990, 3.447, 0, 0, 0, 32 [SEP] 4, CreditCard, -0.129, 0.707, 4.598, 0, 0, 0, 40 [SEP] 5, Box, -2.180, 0.670, 2.428, 0, 350.086, 0, 35 [SEP] 6, WateringCan, -0.277, -0.000, 4.860, 0, 0, 0, Floor|+00.38| [SEP] 7, CreditCard, -1.990, 0.520, 0.662, 0, 0, 0, 38 [SEP] 8, KeyChain, -4.569, 0.985, 2.879, 0, 0, 0, 32 [SEP] 9, Pillow, -0.417, 0.611, 1.714, 0, 0, 0, 37 [SEP] 10, Laptop, -4.873, 0.981, 3.44, 0, 83.878, 0, 32 [SEP] 11, RemoteControl, -2.465, 0.459, 0.662, 0, 0, 0, 38 [SEP] 12, Watch, -4.567, 0.887, 3.318, 0, 0, 0, 30 [SEP] 13, Statue, -2.658, 0.554, 2.359, 0, 0, 0, 35 [SEP] 14, Curtains, -2.535, 2.596, 0.111, 0, 0, 0, [SEP] 15, FloorLamp, -4.661, 0.009, 0.422, 0, 0, 0, [SEP] 16, Television, -4.883, 1.472, 2.434, 0, 90, 0, [SEP] 17, GarbageCan, -4.810, -0.032, 1.236, 0, 180, 0, [SEP] 18, Painting, -0.293, 1.820, 0.016, 90, 0, 0, [SEP] 19, LightSwitch, -1.016, 1.243, 5.0, 0, 180, 0, [SEP] 20, Painting, -5.118, 1.480, 4.396, 90, 270, 0, [SEP] 21, Painting, -5.118, 1.480, 0.656, 90, 270, 0, [SEP] 22, Window, -1.715, 1.554, 0.006, 90, 180, 0, [SEP] 23, Window, -3.244, 1.554, 0.006, 90, 180, 0, [SEP] 24, DeskLamp, 0.015, 0.704, 4.676, 0, 0, 0, [SEP] 25, HousePlant, -4.824, 0.984, 1.572, 0, 0, 0, [SEP] 26, Drawer, -4.497, 0.901, 2.854, 0, 90, 0, [SEP] 27, Drawer, -4.497, 0.901, 2.339, 0, 90, 0, [SEP] 28, Cabinet, -4.409, 0.498, 2.603, 0, 90, 0, [SEP] 29, Cabinet, -4.409, 0.498, 3.622, 0, 90, 0, [SEP] 30, Drawer, -4.497, 0.901, 3.372, 0, 90, 0, [SEP] 31, Cabinet, -4.409, 0.498, 1.569, 0, 90, 0, [SEP] 32, Dresser, -4.744, 4.321, 2.595, 0, 90, 0, [SEP] 33, Drawer, -4.497, 0.901, 1.818, 0, 90, 0, [SEP] 34, Cabinet, -4.409, 0.498, 2.588, 0, 90, 0, [SEP] 35, CoffeeTable, -2.405, -0.000, 2.546, 0, 0, 0, [SEP] 36, ArmChair, -0.298, 0.002, 3.310, 0, 270, 0, [SEP] 37, ArmChair, -0.298, 0.002, 1.713, 0, 270, 0, [SEP] 38, Sofa, -2.464, -0.002, 0.700, 0, 0, 0, [SEP] 39, Chair, -4.735, 0.011, 4.609, 1.215, 90, 0, [SEP] 40, SideTable, -0.041, 0.002, 4.619, 0, 0, 0, [SEP] 41, NorthWall, , , , , , , [SEP] 42, EastWall, , , , , , , [SEP] 43, SouthWall, , , , , , , [SEP] 44, WestWall, , , , , , , ", "output": ["STEP 1: Walk over to the left side of the couch. | STEP 2: Pick up the credit card from the couch. | STEP 3: Walk over to the TV stand. | STEP 4: Put the credit card down in front of the television. | STEP 5: Walk over to the side table to the left of the tan chair. | STEP 6: Pick up the credit card next to the lamp. | STEP 7: Walk back over to the television stand. | STEP 8: Put the credit card down on the TV stand to the left of the first credit card. | END"]} +{"id": "trial_T20190911_082512_678680-1", "input": "Retrieve two credit cards and put them on the cabinet with keys on it SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.25, 0.901, 3.25, 0, 90, 0, [SEP] 1, Watch, -4.587, 0.887, 3.470, 0, 0, 0, 30 [SEP] 2, Watch, 0.132, 0.707, 4.578, 0, 0, 0, 40 [SEP] 3, RemoteControl, -4.569, 0.990, 3.447, 0, 0, 0, 32 [SEP] 4, CreditCard, -0.129, 0.707, 4.598, 0, 0, 0, 40 [SEP] 5, Box, -2.180, 0.670, 2.428, 0, 350.086, 0, 35 [SEP] 6, WateringCan, -0.277, -0.000, 4.860, 0, 0, 0, Floor|+00.38| [SEP] 7, CreditCard, -1.990, 0.520, 0.662, 0, 0, 0, 38 [SEP] 8, KeyChain, -4.569, 0.985, 2.879, 0, 0, 0, 32 [SEP] 9, Pillow, -0.417, 0.611, 1.714, 0, 0, 0, 37 [SEP] 10, Laptop, -4.873, 0.981, 3.44, 0, 83.878, 0, 32 [SEP] 11, RemoteControl, -2.465, 0.459, 0.662, 0, 0, 0, 38 [SEP] 12, Watch, -4.567, 0.887, 3.318, 0, 0, 0, 30 [SEP] 13, Statue, -2.658, 0.554, 2.359, 0, 0, 0, 35 [SEP] 14, Curtains, -2.535, 2.596, 0.111, 0, 0, 0, [SEP] 15, FloorLamp, -4.661, 0.009, 0.422, 0, 0, 0, [SEP] 16, Television, -4.883, 1.472, 2.434, 0, 90, 0, [SEP] 17, GarbageCan, -4.810, -0.032, 1.236, 0, 180, 0, [SEP] 18, Painting, -0.293, 1.820, 0.016, 90, 0, 0, [SEP] 19, LightSwitch, -1.016, 1.243, 5.0, 0, 180, 0, [SEP] 20, Painting, -5.118, 1.480, 4.396, 90, 270, 0, [SEP] 21, Painting, -5.118, 1.480, 0.656, 90, 270, 0, [SEP] 22, Window, -1.715, 1.554, 0.006, 90, 180, 0, [SEP] 23, Window, -3.244, 1.554, 0.006, 90, 180, 0, [SEP] 24, DeskLamp, 0.015, 0.704, 4.676, 0, 0, 0, [SEP] 25, HousePlant, -4.824, 0.984, 1.572, 0, 0, 0, [SEP] 26, Drawer, -4.497, 0.901, 2.854, 0, 90, 0, [SEP] 27, Drawer, -4.497, 0.901, 2.339, 0, 90, 0, [SEP] 28, Cabinet, -4.409, 0.498, 2.603, 0, 90, 0, [SEP] 29, Cabinet, -4.409, 0.498, 3.622, 0, 90, 0, [SEP] 30, Drawer, -4.497, 0.901, 3.372, 0, 90, 0, [SEP] 31, Cabinet, -4.409, 0.498, 1.569, 0, 90, 0, [SEP] 32, Dresser, -4.744, 4.321, 2.595, 0, 90, 0, [SEP] 33, Drawer, -4.497, 0.901, 1.818, 0, 90, 0, [SEP] 34, Cabinet, -4.409, 0.498, 2.588, 0, 90, 0, [SEP] 35, CoffeeTable, -2.405, -0.000, 2.546, 0, 0, 0, [SEP] 36, ArmChair, -0.298, 0.002, 3.310, 0, 270, 0, [SEP] 37, ArmChair, -0.298, 0.002, 1.713, 0, 270, 0, [SEP] 38, Sofa, -2.464, -0.002, 0.700, 0, 0, 0, [SEP] 39, Chair, -4.735, 0.011, 4.609, 1.215, 90, 0, [SEP] 40, SideTable, -0.041, 0.002, 4.619, 0, 0, 0, [SEP] 41, NorthWall, , , , , , , [SEP] 42, EastWall, , , , , , , [SEP] 43, SouthWall, , , , , , , [SEP] 44, WestWall, , , , , , , ", "output": ["STEP 1: Turn right, walk to couch | STEP 2: Pick up credit card from couch | STEP 3: Turn around, walk to cabinet | STEP 4: Put credit on cabinet to the left of the keys | STEP 5: Turn around, walk to table to the left of the couch | STEP 6: Pick up credit card from the table | STEP 7: Turn around, walk to the cabinet | STEP 8: Place credit card to the left of the card on the cabinet | END"]} +{"id": "trial_T20190908_045238_098735-1", "input": "Put a dispenser in a bin. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.900, 3.25, 0, 0, 0, [SEP] 1, Cloth, -0.358, 0.206, 3.012, 0, 0, 0, 19 [SEP] 2, Cloth, -0.246, 0.206, 2.439, 0, 0, 0, 27 [SEP] 3, SoapBar, -0.302, 0.512, 2.090, 0, 0, 0, 21 [SEP] 4, SoapBottle, -0.417, 0.813, 2.350, 0, 0, 0, 20 [SEP] 5, HandTowel, -0.036, 1.658, 3.443, 0, 90, 0, 34 [SEP] 6, SoapBar, -0.215, 0.953, 3.846, 0, 0, 0, 35 [SEP] 7, ToiletPaper, -0.180, 0.945, 3.719, 0, 0, 0, 35 [SEP] 8, Plunger, -0.139, -0.000, 3.369, 0, 0, 0, Floor|+00.00| [SEP] 9, Candle, -0.190, 0.510, 1.630, 0, 0, 0, 21 [SEP] 10, SoapBottle, -0.289, 0.813, 1.345, 0, 0, 0, 20 [SEP] 11, ToiletPaper, -0.482, 0.809, 3.143, 0, 0, 0, 20 [SEP] 12, SprayBottle, -0.353, 0.813, 2.083, 0, 0, 0, 20 [SEP] 13, Towel, -1.106, 1.151, 1.289, 0, 0, 0, 32 [SEP] 14, Cloth, -0.302, 0.205, 1.463, 0, 0, 0, 26 [SEP] 15, ScrubBrush, -0.346, -0.000, 3.341, 0, 0, 0, Floor|+00.00| [SEP] 16, DishSponge, -0.225, 0.813, 2.243, 0, 0, 0, 20 [SEP] 17, Sink, -0.299, 0.807, 2.754, 0, 270, 0, [SEP] 18, Drawer, -0.319, 0.615, 3.012, 0, 0, 0, [SEP] 19, Drawer, -0.319, 0.316, 3.012, 0, 0, 0, [SEP] 20, CounterTop, -0.349, 0.004, 1.453, 0, 0, 0, [SEP] 21, Drawer, -0.319, 0.615, 1.978, 0, 0, 0, [SEP] 22, Drawer, -0.319, 0.316, 1.978, 0, 0, 0, [SEP] 23, Drawer, -0.319, 0.316, 1.463, 0, 0, 0, [SEP] 24, Drawer, -0.319, 0.615, 2.495, 0, 0, 0, [SEP] 25, ShowerDoor, -1.514, 0.910, 1.167, 0, 0, 0, [SEP] 26, Drawer, -0.319, 0.615, 1.463, 0, 0, 0, [SEP] 27, Drawer, -0.319, 0.316, 2.495, 0, 0, 0, [SEP] 28, Faucet, -0.076, 0.805, 2.757, 0, 0, 0, [SEP] 29, Mirror, -0.228, 0.465, 1.453, 0, 0, 0, [SEP] 30, ShowerGlass, -0.766, 0.541, 0.485, 0, 0, 0, [SEP] 31, ToiletPaperHanger, -1.200, 0.897, 4.0, 0, 180, 0, [SEP] 32, TowelHolder, -1.105, 1.136, 1.183, 0, 0, 0, [SEP] 33, GarbageCan, -2.041, -0.000, 3.724, 0, 45, 0, [SEP] 34, HandTowelHolder, 0.001, 1.759, 3.443, 0, 180, 0, [SEP] 35, Toilet, -0.600, -0.000, 3.671, 0, 270, 0, [SEP] 36, LightSwitch, -2.312, 1.386, 3.296, 0, 90, 0, [SEP] 37, Faucet, -0.076, 0.805, 1.733, 0, 0, 0, [SEP] 38, SinkBasin, -0.304, 0.819, 2.753, 0, 0, 0, [SEP] 39, Sink, -0.298, 0.807, 1.725, 0, 270, 0, [SEP] 40, ShowerHead, -0.083, 1.248, 0.522, 0, 0, 0, [SEP] 41, SinkBasin, -0.304, 0.819, 1.723, 0, 0, 0, [SEP] 42, NorthWall, , , , , , , [SEP] 43, SouthWall, , , , , , , [SEP] 44, SouthWall, , , , , , , ", "output": ["STEP 1: move to the sink to the left of the shower | STEP 2: pick up a dispenser from the counter | STEP 3: move to the bin behind you | STEP 4: put the dispenser in the bin | END"]} +{"id": "trial_T20190909_091707_157817-1", "input": "Wash the tomato and put it in the fridge SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.5, 0.900, 2.25, 0, 90, 0, [SEP] 1, Egg, 0.008, 0.818, -1.936, 0, 0, 0, 70 [SEP] 2, Egg, 0.522, 0.980, 1.220, 0, 0, 0, 75 [SEP] 3, Cup, 0.180, 0.930, 0.076, 0, 0, 0, 75 [SEP] 4, Cup, -0.283, 0.764, -2.116, 0, 0, 0, 70 [SEP] 5, Plate, -1.316, 1.663, -1.667, 0, 90, 0, 41 [SEP] 6, Plate, 0.180, 0.934, 1.220, 0, 0, 0, 75 [SEP] 7, SoapBottle, 1.464, 0.879, 2.510, 0, 0, 0, 79 [SEP] 8, SoapBottle, 1.829, 0.085, 0.006, 0, 0, 0, 59 [SEP] 9, Bowl, -1.495, 1.180, -0.599, 0, 90, 0, 66 [SEP] 10, Lettuce, -0.047, 1.008, 0.305, 0, 0, 0, 75 [SEP] 11, Lettuce, -0.160, 1.011, 0.762, 0, 0, 0, 75 [SEP] 12, SaltShaker, 1.669, 0.877, 2.456, 0, 0, 0, 84 [SEP] 13, PepperShaker, 1.514, 0.116, -1.135, 0, 270, 0, 50 [SEP] 14, Mug, -1.284, 1.010, -1.846, 0, 90, 0, 64 [SEP] 15, Apple, -1.495, 1.575, -0.910, 0, 90, 0, 66 [SEP] 16, Apple, -1.553, 1.254, -0.806, 0, 90, 0, 66 [SEP] 17, Potato, 0.066, 0.956, 0.534, 0, 0, 0, 75 [SEP] 18, Bowl, 0.180, 0.927, 0.305, 0, 90, 0, 75 [SEP] 19, SoapBottle, 1.850, 0.912, -2.252, 0, 0, 0, 58 [SEP] 20, Fork, 1.919, 0.914, -1.446, 0, 0, 0, 58 [SEP] 21, Ladle, 1.738, 0.957, -1.563, 0, 0, 0, 58 [SEP] 22, Bread, 0.399, 0.964, 0.110, 0, 0, 1.601, 75 [SEP] 23, Lettuce, 1.850, 0.994, -1.834, 0, 0, 0, 58 [SEP] 24, WineBottle, 1.631, 0.121, -1.463, 0, 270, 0, 52 [SEP] 25, Spatula, 0.408, 0.945, 1.448, 0, 0, 0, 75 [SEP] 26, Plate, 1.566, 0.556, 2.534, 0, 0, 0, 78 [SEP] 27, SaltShaker, 1.738, 0.909, -1.212, 0, 0, 0, 58 [SEP] 28, Pot, 1.567, 0.948, -0.757, 0, 0, 0, 40 [SEP] 29, Cup, -0.047, 0.930, 0.991, 0, 0, 0, 75 [SEP] 30, PepperShaker, 1.566, 0.877, 2.429, 0, 0, 0, 79 [SEP] 31, Pan, 1.824, 0.945, -0.346, 0, 0, 0, 39 [SEP] 32, ButterKnife, 1.647, 0.913, -1.797, 0, 0, 0, 58 [SEP] 33, Tomato, -0.160, 0.982, 1.220, 0, 0, 0, 75 [SEP] 34, DishSponge, 1.828, 0.913, -1.329, 0, 0, 0, 58 [SEP] 35, Egg, 0.180, 0.984, 1.448, 0, 0, 0, 75 [SEP] 36, Spoon, -0.064, 0.765, -1.981, 0, 0, 0, 70 [SEP] 37, Knife, 1.605, 0.906, -1.582, 270, 225, 0, 58 [SEP] 38, Mug, -0.720, 0.908, -2.167, 0, 0, 0, 58 [SEP] 39, StoveBurner, 1.845, 0.940, -0.355, 0, 0, 0, [SEP] 40, StoveBurner, 1.567, 0.940, -0.757, 0, 0, 0, [SEP] 41, Cabinet, -1.149, 2.019, -1.979, 0, 90, 0, [SEP] 42, Cabinet, -1.149, 2.265, -0.834, 0, 90, 0, [SEP] 43, Cabinet, -0.459, 2.265, -2.0, 0, 0, 0, [SEP] 44, Cabinet, -1.100, 2.019, -2.0, 0, 0, 0, [SEP] 45, Cabinet, 1.719, 2.019, -2.0, 0, 0, 0, [SEP] 46, Cabinet, 1.179, 2.019, -2.0, 0, 0, 0, [SEP] 47, Cabinet, 0.199, 2.019, -2.0, 0, 0, 0, [SEP] 48, Cabinet, 1.75, 2.019, -1.399, 0, 270, 0, [SEP] 49, Cabinet, 1.75, 2.019, -1.029, 0, 270, 0, [SEP] 50, Cabinet, 1.379, 0.469, -1.689, 0, 0, 0, [SEP] 51, Cabinet, -0.819, 0.469, -1.689, 0, 0, 0, [SEP] 52, Cabinet, 1.389, 0.469, -1.059, 0, 270, 0, [SEP] 53, Cabinet, -0.839, 0.469, -1.665, 0, 90, 0, [SEP] 54, StoveBurner, 1.567, 0.940, -0.355, 0, 0, 0, [SEP] 55, StoveBurner, 1.845, 0.940, -0.757, 0, 0, 0, [SEP] 56, Sink, -0.109, 0.893, -2.009, 0, 0, 0, [SEP] 57, Drawer, -0.819, 0.75, -1.690, 0, 0, 0, [SEP] 58, CounterTop, 0.232, 0.949, -2.002, 0, 0, 0, [SEP] 59, GarbageCan, 1.855, -0.034, 0.141, 0, 358.959, 0, [SEP] 60, Vase, 0.251, 0.546, 0.475, 0, 270, 0, [SEP] 61, Toaster, 0.780, 0.900, -2.080, 0, 0, 0, [SEP] 62, LightSwitch, 0.108, 1.315, 2.75, 0, 180, 0, [SEP] 63, Vase, 0.400, 0.925, 0.218, 0, 180, 0, [SEP] 64, Microwave, -1.233, 0.900, -1.680, 0, 90, 0, [SEP] 65, Vase, 1.465, 1.662, -2.200, 0, 0, 0, [SEP] 66, Fridge, -1.495, 0.0, -0.703, 0, 0, 0, [SEP] 67, Window, 2.114, 1.495, 1.072, 90, 270, 0, [SEP] 68, CoffeeMachine, 1.374, 0.899, -2.112, 0, 0, 0, [SEP] 69, Vase, 0.333, 0.546, 1.272, 0, 270, 0, [SEP] 70, SinkBasin, -0.148, 0.753, -2.026, 0, 0, 0, [SEP] 71, StoveKnob, 2.037, 1.089, -0.405, 0, 0, 74.477, [SEP] 72, StoveKnob, 2.037, 1.089, -0.251, 0, 0, 74.477, [SEP] 73, StoveKnob, 2.037, 1.089, -0.649, 0, 0, 74.477, [SEP] 74, StoveKnob, 2.037, 1.089, -0.814, 0, 0, 74.477, [SEP] 75, DiningTable, 0.170, 0.005, 0.678, 0, 270, 0, [SEP] 76, Shelf, 0.170, 0.155, 0.678, 0, 270, 0, [SEP] 77, Shelf, 1.605, 0.172, 2.480, 0, 0, 0, [SEP] 78, Shelf, 1.605, 0.552, 2.480, 0, 0, 0, [SEP] 79, Shelf, 1.604, 0.880, 2.479, 0, 0, 0, [SEP] 80, ShelvingUnit, 1.605, 0.006, 2.480, 0, 0, 0, [SEP] 81, Faucet, -0.143, 1.028, -2.223, 0, 270, 0, [SEP] 82, Stool, -0.553, 0.000, 0.871, 1.233, 280.376, 0, [SEP] 83, Shelf, 0.170, 0.528, 0.678, 0, 270, 0, [SEP] 84, , , , , , , , [SEP] 85, NorthWall, , , , , , , [SEP] 86, EastWall, , , , , , , [SEP] 87, SouthWall, , , , , , , [SEP] 88, WestWall, , , , , , , ", "output": ["STEP 1: Walk over to the table. | STEP 2: Grab the tomato | STEP 3: Walk over to the sink | STEP 4: Wash the tomato | STEP 5: Grab the tomato and walk over to the fridge | STEP 6: Place the tomato in the fridge | END"]} +{"id": "trial_T20190908_035727_209529-2", "input": " place a cold bread slice in the oven SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.0, 0.900, 1.0, 0, 270, 0, [SEP] 1, Potato, 2.893, 0.806, 4.307, 0, 225, 0, 60 [SEP] 2, Potato, 1.895, 1.903, -1.843, 0, 0, 0, 105 [SEP] 3, Ladle, 2.650, 0.074, 0.119, 0, 90, 0, 86 [SEP] 4, Ladle, 2.222, 2.318, -1.871, 0, 0, 0, 87 [SEP] 5, ButterKnife, -0.661, 0.802, 0.454, 0, 0, 0, 61 [SEP] 6, ButterKnife, 2.370, 1.026, 1.550, 0, 136.999, 0, 59 [SEP] 7, WineBottle, 2.231, 1.027, 1.699, 0, 136.999, 0, 59 [SEP] 8, Glassbottle, 2.194, 1.027, 1.107, 0, 136.999, 0, 59 [SEP] 9, Glassbottle, 1.170, 1.027, -1.774, 0, 90, 0, 59 [SEP] 10, Spatula, 2.626, 0.779, 3.821, 0, 0, 0, 60 [SEP] 11, Spoon, -0.669, 1.028, 1.943, 0, 0, 0, 62 [SEP] 12, Fork, 2.801, 0.765, 3.970, 0, 270, 0, 60 [SEP] 13, Egg, 2.414, 0.808, 3.736, 0, 329.999, 0, 60 [SEP] 14, Cup, 1.774, 2.279, -1.795, 0, 0, 0, 75 [SEP] 15, Cup, 1.409, 1.025, -1.987, 0, 90, 0, 59 [SEP] 16, Knife, -0.794, 1.052, 2.556, 0, 0, 0, 62 [SEP] 17, Tomato, -0.858, 0.388, -0.738, 0, 90, 0, 103 [SEP] 18, Tomato, -0.877, 1.495, -0.073, 0, 90, 0, 103 [SEP] 19, SoapBottle, 2.726, 0.763, 3.492, 0, 329.999, 0, 60 [SEP] 20, SoapBottle, 1.350, 1.025, -1.454, 0, 90, 0, 59 [SEP] 21, Bowl, 1.926, 0.762, 3.821, 0, 270, 0, 60 [SEP] 22, Bowl, 2.959, 1.025, -1.151, 0, 0, 0, 59 [SEP] 23, SaltShaker, -0.661, 0.797, 2.325, 0, 0, 0, 65 [SEP] 24, SaltShaker, 1.230, 1.023, -1.454, 0, 90, 0, 59 [SEP] 25, PepperShaker, 2.815, 0.028, -0.169, 0, 0, 0, 85 [SEP] 26, PepperShaker, 2.478, 0.760, 3.682, 0, 225, 0, 60 [SEP] 27, Lettuce, -0.782, 0.874, 1.492, 0, 90, 0, 116 [SEP] 28, Lettuce, -0.782, 0.874, 1.181, 0, 90, 0, 116 [SEP] 29, Mug, -0.715, 0.044, 0.444, 0, 0, 0, 92 [SEP] 30, Apple, -0.997, 0.127, 2.842, 0, 0, 0, 114 [SEP] 31, Pan, 1.836, 1.027, -1.84, 0, 90, 0, 57 [SEP] 32, Glassbottle, -1.013, 1.442, -0.073, 0, 90, 0, 103 [SEP] 33, Knife, 2.451, 0.789, 4.145, 0, 0, 0, 60 [SEP] 34, SoapBottle, 2.626, 0.763, 3.970, 0, 270, 0, 60 [SEP] 35, Egg, -0.360, 1.071, 1.540, 0, 0, 0, 62 [SEP] 36, Fork, -0.661, 0.800, 0.777, 0, 0, 0, 61 [SEP] 37, Potato, -0.418, 1.069, 2.556, 0, 0, 0, 62 [SEP] 38, Ladle, 1.350, 1.066, -1.667, 0, 90, 0, 59 [SEP] 39, Tomato, 2.570, 0.818, 3.614, 0, 329.999, 0, 60 [SEP] 40, Pot, 2.578, 1.029, 0.907, 0, 136.999, 0, 59 [SEP] 41, WineBottle, 2.790, 1.027, -0.236, 0, 0, 0, 59 [SEP] 42, Plate, -1.028, 0.786, -0.406, 0, 90, 0, 103 [SEP] 43, Spatula, 2.605, 0.779, 4.334, 0, 225, 0, 60 [SEP] 44, PaperTowelRoll, -0.347, 1.131, 1.263, 0, 0, 0, 62 [SEP] 45, Lettuce, 2.998, 1.085, 1.298, 0, 136.999, 0, 59 [SEP] 46, Apple, 2.302, 0.814, 4.145, 0, 0, 0, 60 [SEP] 47, SaltShaker, 2.451, 0.760, 3.97, 0, 329.999, 0, 60 [SEP] 48, PepperShaker, -0.803, 0.797, 2.556, 0, 0, 0, 65 [SEP] 49, ButterKnife, 2.580, 0.764, 4.099, 0, 225, 0, 60 [SEP] 50, Bread, -0.418, 1.095, 0.416, 0, 0, 0, 62 [SEP] 51, Cup, 2.175, 0.763, 4.447, 0, 329.999, 0, 60 [SEP] 52, DishSponge, 2.788, 0.764, 4.412, 0, 225, 0, 60 [SEP] 53, Bowl, 2.815, 0.762, 4.124, 0, 225, 0, 60 [SEP] 54, Spoon, 2.302, 0.765, 4.32, 0, 0, 0, 60 [SEP] 55, Mug, -0.803, 1.070, 0.646, 0, 90, 0, 112 [SEP] 56, Sink, -0.716, 1.023, 1.333, 0, 0, 0, [SEP] 57, StoveBurner, 1.835, 1.018, -1.840, 0, 90, 0, [SEP] 58, StoveBurner, 2.177, 1.018, -1.599, 0, 0, 0, [SEP] 59, CounterTop, 2.812, 0.992, 0.675, 0, 0, 0, [SEP] 60, DiningTable, 2.419, 0.003, 3.930, 0, 0, 0, [SEP] 61, Drawer, -0.643, 0.828, 0.616, 0, 0, 0, [SEP] 62, CounterTop, -0.813, 1.062, 2.188, 0, 0, 0, [SEP] 63, StoveBurner, 2.115, 1.018, -1.840, 0, 270, 0, [SEP] 64, Drawer, -0.643, 0.831, 1.953, 0, 0, 0, [SEP] 65, Drawer, -0.643, 0.833, 2.418, 0, 0, 0, [SEP] 66, Drawer, 1.347, 0.836, -1.539, 0, 0, 0, [SEP] 67, Drawer, 2.693, 0.833, -1.131, 0, 0, 0, [SEP] 68, Drawer, 2.693, 0.833, -0.699, 0, 0, 0, [SEP] 69, Drawer, 2.693, 0.833, -0.267, 0, 0, 0, [SEP] 70, Drawer, 2.693, 0.833, 0.163, 0, 0, 0, [SEP] 71, Drawer, 2.524, 0.833, 0.720, 0, 2.000, 0, [SEP] 72, Drawer, 2.232, 0.833, 1.036, 0, 2.000, 0, [SEP] 73, Drawer, 1.936, 0.833, 1.354, 0, 2.000, 0, [SEP] 74, Drawer, 1.646, 0.833, 1.670, 0, 2.000, 0, [SEP] 75, Cabinet, 1.504, 2.475, -1.710, 0, 0, 0, [SEP] 76, Cabinet, -0.823, 2.220, 1.621, 0, 0, 0, [SEP] 77, Cabinet, -0.823, 2.220, 0.615, 0, 0, 0, [SEP] 78, Cabinet, 1.136, 0.388, -1.355, 0, 0, 0, [SEP] 79, Cabinet, -0.356, 0.383, 2.626, 0, 0, 0, [SEP] 80, Cabinet, 2.745, 2.220, -1.690, 0, 0, 0, [SEP] 81, Cabinet, 1.882, 0.383, 1.017, 0, 0, 0, [SEP] 82, Cabinet, 1.307, 0.473, 1.640, 0, 0, 0, [SEP] 83, Cabinet, 1.892, 0.383, 1.006, 0, 0, 0, [SEP] 84, Cabinet, 2.467, 0.383, 0.383, 0, 0, 0, [SEP] 85, Cabinet, 2.466, 0.383, -0.475, 0, 0, 0, [SEP] 86, Cabinet, 2.466, 0.473, 0.371, 0, 0, 0, [SEP] 87, Cabinet, 2.386, 2.475, -1.710, 0, 0, 0, [SEP] 88, Cabinet, -0.356, 0.383, 1.712, 0, 0, 0, [SEP] 89, Cabinet, 2.745, 2.220, 0.019, 0, 0, 0, [SEP] 90, Cabinet, -0.663, 2.496, 0.157, 0, 0, 0, [SEP] 91, Cabinet, -0.663, 2.496, -0.868, 0, 0, 0, [SEP] 92, Cabinet, -0.356, 0.383, 0.269, 0, 0, 0, [SEP] 93, Cabinet, -0.823, 2.220, 1.603, 0, 0, 0, [SEP] 94, Cabinet, -0.662, 2.234, 0.586, 0, 0, 0, [SEP] 95, Cabinet, 2.745, 2.220, -0.843, 0, 0, 0, [SEP] 96, Cabinet, 2.745, 2.220, -0.827, 0, 0, 0, [SEP] 97, Cabinet, -0.823, 2.220, 2.608, 0, 0, 0, [SEP] 98, Cabinet, 2.732, 2.226, -1.709, 0, 0, 0, [SEP] 99, Cabinet, 1.137, 2.226, -1.709, 0, 0, 0, [SEP] 100, Cabinet, 2.466, 0.383, -0.491, 0, 0, 0, [SEP] 101, Cabinet, 2.466, 0.383, -1.339, 0, 0, 0, [SEP] 102, StoveBurner, 1.761, 1.018, -1.599, 0, 0, 0, [SEP] 103, Fridge, -0.908, 0.0, -0.405, 0, 0, 0, [SEP] 104, HousePlant, 2.517, 1.016, 1.822, 0, 0, 0, [SEP] 105, Microwave, 1.939, 1.745, -1.826, 0, 0, 0, [SEP] 106, StoveKnob, 2.017, 1.041, -1.514, 0, 180, 180, [SEP] 107, StoveKnob, 1.934, 1.041, -1.514, 0, 180, 180, [SEP] 108, StoveKnob, 2.017, 1.041, -1.589, 0, 180, 180, [SEP] 109, StoveKnob, 1.934, 1.041, -1.589, 0, 180, 180, [SEP] 110, Window, 1.756, 1.608, 4.762, 90, 0, 0, [SEP] 111, HousePlant, 2.171, 1.004, 2.091, 0, 0, 0, [SEP] 112, CoffeeMachine, -0.942, 1.018, 0.645, 0, 90, 0, [SEP] 113, LightSwitch, -0.099, 1.410, -2.066, 0, 0, 0, [SEP] 114, GarbageCan, -0.951, -0.029, 2.826, 0, 0, 0, [SEP] 115, Toaster, -1.007, 1.018, 2.238, 0, 90, 0, [SEP] 116, SinkBasin, -0.714, 0.805, 1.348, 0, 90, 0, [SEP] 117, Chair, 1.615, 0.004, 4.310, 0, 107.976, 0, [SEP] 118, Faucet, -1.120, 1.013, 1.334, 0, 90, 0, [SEP] 119, Chair, 2.759, 0.004, 3.086, 0, 358.967, 0, [SEP] 120, , , , , , , , [SEP] 121, NorthWall, , , , , , , [SEP] 122, EastWall, , , , , , , [SEP] 123, SouthWall, , , , , , , [SEP] 124, WestWall, , , , , , , ", "output": ["STEP 1: turn around and head for the table | STEP 2: pick up the knife on the table | STEP 3: head straight for the coffee maker | STEP 4: slice the bread by the maker | STEP 5: move left to the fridge | STEP 6: place the knife in the fridge | STEP 7: move right to the bread | STEP 8: pick up a slice from the bread | STEP 9: head left to the fridge | STEP 10: place the bread to cool and then take it out | STEP 11: turn around and head for the oven | STEP 12: place the bread in the oven | END"]} +{"id": "trial_T20190909_113038_150002-0", "input": "Wash the plate and put it in the fridge SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.5, 0.900, 0.75, 0, 180, 0, [SEP] 1, Potato, -1.404, 0.941, -1.891, 0, 0, 0, 82 [SEP] 2, Potato, 2.000, 1.129, -0.830, 0, 270, 0, 89 [SEP] 3, Ladle, -1.045, 1.168, 0.662, 0, 0, 0, 78 [SEP] 4, DishSponge, -1.259, 0.910, -1.845, 0, 0, 0, 82 [SEP] 5, DishSponge, 1.746, 0.116, -1.266, 0, 0, 0, 56 [SEP] 6, Kettle, -0.634, 0.914, 0.294, 0, 180, 0, 75 [SEP] 7, Spatula, -1.330, 0.928, -0.353, 0, 90, 0, 75 [SEP] 8, Spatula, -1.247, 0.907, -0.109, 358.832, 0, 0, 75 [SEP] 9, Fork, -0.252, 0.697, 0.139, 0, 90, 0, 81 [SEP] 10, Fork, -0.375, 1.132, 0.485, 0, 0, 0, 78 [SEP] 11, Spoon, -0.611, 0.693, 0.190, 0, 180, 0, 76 [SEP] 12, Egg, 0.071, 1.165, 0.706, 0, 0, 0, 78 [SEP] 13, Egg, -0.822, 1.165, 0.485, 0, 0, 0, 78 [SEP] 14, Plate, -1.028, 0.134, -0.296, 0, 0, 0, 69 [SEP] 15, Plate, 0.504, 1.659, -2.161, 0, 0, 0, 62 [SEP] 16, Plate, -1.313, 1.660, 0.094, 0, 0, 0, 66 [SEP] 17, Bowl, 1.836, 1.424, -0.737, 0, 270, 0, 89 [SEP] 18, Bowl, -0.420, 0.910, 0.294, 0, 0, 0, 75 [SEP] 19, SaltShaker, -1.200, 1.654, -1.726, 0, 0, 0, 64 [SEP] 20, Lettuce, -0.152, 1.208, 0.529, 0, 0, 0, 78 [SEP] 21, Lettuce, 1.891, 1.175, -0.644, 0, 270, 0, 89 [SEP] 22, Mug, 1.781, 1.010, -1.297, 0, 270, 0, 87 [SEP] 23, Apple, 2.055, 1.147, -0.458, 0, 270, 0, 89 [SEP] 24, Pan, -1.056, 0.956, -1.127, 0, 0, 0, 79 [SEP] 25, Knife, -0.691, 0.717, -1.846, 0, 270, 0, 52 [SEP] 26, Bowl, 1.891, 0.814, -0.644, 0, 270, 0, 89 [SEP] 27, Fork, -0.598, 1.132, 0.441, 0, 0, 0, 78 [SEP] 28, Cup, 0.101, 0.750, -1.938, 0, 0, 0, 92 [SEP] 29, Ladle, -1.322, 0.948, -1.638, 0, 0, 0, 82 [SEP] 30, Apple, 1.924, 0.111, 0.166, 0, 0, 0, 85 [SEP] 31, Kettle, 1.000, 1.658, -2.126, 0, 0, 0, 61 [SEP] 32, Vase, 1.950, 1.654, -1.802, 0, 0, 0, 60 [SEP] 33, Potato, 1.836, 1.129, -0.830, 0, 270, 0, 89 [SEP] 34, Pot, 1.945, 1.429, -0.365, 0, 270, 0, 89 [SEP] 35, Bread, -1.147, 0.982, -0.190, 0, 0, 0, 75 [SEP] 36, Plate, 1.911, 1.658, -1.197, 0, 0, 0, 59 [SEP] 37, Spatula, -0.623, 0.709, -1.802, 0, 270, 0, 52 [SEP] 38, PaperTowelRoll, 2.591, 0.656, 0.090, 0, 180, 0, 88 [SEP] 39, Vase, -0.697, 0.118, -1.832, 0, 0, 0, 67 [SEP] 40, Egg, 1.813, 1.049, -1.402, 0, 270, 0, 87 [SEP] 41, SoapBottle, 3.002, 0.879, 0.195, 0, 180, 0, 86 [SEP] 42, SaltShaker, 2.694, 0.548, -0.013, 0, 180, 0, 88 [SEP] 43, Lettuce, -1.157, 0.987, -1.384, 0, 90, 0, 82 [SEP] 44, PepperShaker, -1.160, 0.125, -1.465, 0, 0, 0, 68 [SEP] 45, ButterKnife, -0.993, 0.911, -1.553, 0, 0, 0, 82 [SEP] 46, DishSponge, -0.997, 0.913, -0.353, 0, 0, 0, 75 [SEP] 47, Vase, 2.979, 0.539, 0.128, 0, 0, 0, 88 [SEP] 48, Spoon, -0.777, 0.912, -1.929, 0, 90, 0, 82 [SEP] 49, Tomato, 1.836, 1.148, -0.458, 0, 270, 0, 89 [SEP] 50, Mug, 0.501, 0.955, -1.900, 0, 0, 0, 98 [SEP] 51, Statue, -0.598, 1.138, 0.573, 0, 0, 0, 78 [SEP] 52, Drawer, -0.819, 0.75, -1.690, 0, 0, 0, [SEP] 53, Cabinet, -1.149, 2.264, -0.838, 0, 90, 0, [SEP] 54, StoveBurner, -1.056, 0.949, -0.671, 0, 180, 0, [SEP] 55, Cabinet, 1.738, 2.019, -2.000, 0, 0, 0, [SEP] 56, Cabinet, 1.389, 0.469, -1.059, 0, 0, 0, [SEP] 57, StoveBurner, -1.289, 0.949, -0.755, 0, 180, 0, [SEP] 58, Faucet, -0.157, 1.052, -2.196, 0, 270, 0, [SEP] 59, Cabinet, 1.75, 2.019, -1.029, 0, 0, 0, [SEP] 60, Cabinet, 1.75, 2.019, -1.399, 0, 0, 0, [SEP] 61, Cabinet, 1.179, 2.019, -2.0, 0, 0, 0, [SEP] 62, Cabinet, 0.199, 2.019, -2.0, 0, 0, 0, [SEP] 63, Cabinet, -1.100, 2.019, -2.0, 0, 0, 0, [SEP] 64, Cabinet, -1.149, 2.019, -1.979, 0, 0, 0, [SEP] 65, Cabinet, -1.149, 2.019, -0.770, 0, 0, 0, [SEP] 66, Cabinet, -1.149, 2.019, 0.380, 0, 0, 0, [SEP] 67, Cabinet, -0.819, 0.469, -1.689, 0, 0, 0, [SEP] 68, Cabinet, -0.839, 0.469, -1.664, 0, 0, 0, [SEP] 69, Cabinet, -0.839, 0.469, -0.049, 0, 0, 0, [SEP] 70, Cabinet, -0.414, 0.370, -0.009, 0, 0, 0, [SEP] 71, Sink, -0.118, 0.875, -2.009, 0, 0, 0, [SEP] 72, StoveBurner, -1.289, 0.949, -1.019, 0, 0, 0, [SEP] 73, Cabinet, 0.119, 2.264, -2.0, 0, 0, 0, [SEP] 74, Cabinet, -0.459, 2.264, -2.0, 0, 0, 0, [SEP] 75, CounterTop, -0.665, 0.949, 0.188, 0, 0, 0, [SEP] 76, Drawer, -0.449, 0.75, -0.010, 0, 180, 0, [SEP] 77, Cabinet, -0.450, 0.469, -0.009, 0, 0, 0, [SEP] 78, CounterTop, -0.630, 1.167, 0.573, 0, 0, 0, [SEP] 79, StoveBurner, -1.056, 0.949, -1.126, 0, 0, 0, [SEP] 80, Cabinet, 1.376, 0.460, -1.685, 0, 0, 0, [SEP] 81, Drawer, -0.070, 0.75, -0.009, 0, 180, 0, [SEP] 82, CounterTop, 1.159, 0.946, -2.013, 0, 0, 0, [SEP] 83, Cabinet, -1.150, 2.264, -1.418, 0, 90, 0, [SEP] 84, HousePlant, -1.246, 1.108, 0.606, 0, 0, 0, [SEP] 85, GarbageCan, 1.923, -0.010, 0.137, 0, 0, 0, [SEP] 86, Shelf, 2.759, 0.880, 0.144, 0, 0, 0, [SEP] 87, Microwave, 1.827, 0.900, -1.354, 0, 270, 0, [SEP] 88, Shelf, 2.759, 0.552, 0.145, 0, 0, 0, [SEP] 89, Fridge, 1.975, 0.0, -0.537, 0, 0, 0, [SEP] 90, LightSwitch, 0.404, 1.297, 2.0, 0, 180, 0, [SEP] 91, Shelf, 2.760, 0.172, 0.145, 0, 0, 0, [SEP] 92, SinkBasin, -0.129, 0.752, -2.007, 0, 0, 0, [SEP] 93, StoveKnob, -0.873, 0.903, -0.827, 45, 90, 0, [SEP] 94, StoveKnob, -0.873, 0.903, -0.676, 45, 90, 0, [SEP] 95, StoveKnob, -0.873, 0.903, -0.966, 45, 90, 0, [SEP] 96, StoveKnob, -0.873, 0.903, -1.123, 45, 90, 0, [SEP] 97, Toaster, 0.840, 0.900, -2.057, 0, 0, 0, [SEP] 98, CoffeeMachine, 0.501, 0.900, -2.125, 0, 0, 0, [SEP] 99, ShelvingUnit, 2.760, 0.006, 0.144, 0, 0, 0, [SEP] 100, Stool, -0.826, 0.010, 0.908, 0, 347.513, 0, [SEP] 101, Stool, -0.132, 0.010, 0.883, 0, 71.555, 0, [SEP] 102, NorthWall, , , , , , , [SEP] 103, EastWall, , , , , , , [SEP] 104, SouthWall, , , , , , , [SEP] 105, WestWall, , , , , , , ", "output": ["STEP 1: Walk over to the microwave | STEP 2: Grab the plate out of the cabinet | STEP 3: Walk over to the sink | STEP 4: Clean the plate | STEP 5: Walk over to the fridge | STEP 6: Put the plate in the fridge | END"]} +{"id": "trial_T20190909_113038_150002-2", "input": "Put a cleaned plate in the fridge. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.5, 0.900, 0.75, 0, 180, 0, [SEP] 1, Potato, -1.404, 0.941, -1.891, 0, 0, 0, 82 [SEP] 2, Potato, 2.000, 1.129, -0.830, 0, 270, 0, 89 [SEP] 3, Ladle, -1.045, 1.168, 0.662, 0, 0, 0, 78 [SEP] 4, DishSponge, -1.259, 0.910, -1.845, 0, 0, 0, 82 [SEP] 5, DishSponge, 1.746, 0.116, -1.266, 0, 0, 0, 56 [SEP] 6, Kettle, -0.634, 0.914, 0.294, 0, 180, 0, 75 [SEP] 7, Spatula, -1.330, 0.928, -0.353, 0, 90, 0, 75 [SEP] 8, Spatula, -1.247, 0.907, -0.109, 358.832, 0, 0, 75 [SEP] 9, Fork, -0.252, 0.697, 0.139, 0, 90, 0, 81 [SEP] 10, Fork, -0.375, 1.132, 0.485, 0, 0, 0, 78 [SEP] 11, Spoon, -0.611, 0.693, 0.190, 0, 180, 0, 76 [SEP] 12, Egg, 0.071, 1.165, 0.706, 0, 0, 0, 78 [SEP] 13, Egg, -0.822, 1.165, 0.485, 0, 0, 0, 78 [SEP] 14, Plate, -1.028, 0.134, -0.296, 0, 0, 0, 69 [SEP] 15, Plate, 0.504, 1.659, -2.161, 0, 0, 0, 62 [SEP] 16, Plate, -1.313, 1.660, 0.094, 0, 0, 0, 66 [SEP] 17, Bowl, 1.836, 1.424, -0.737, 0, 270, 0, 89 [SEP] 18, Bowl, -0.420, 0.910, 0.294, 0, 0, 0, 75 [SEP] 19, SaltShaker, -1.200, 1.654, -1.726, 0, 0, 0, 64 [SEP] 20, Lettuce, -0.152, 1.208, 0.529, 0, 0, 0, 78 [SEP] 21, Lettuce, 1.891, 1.175, -0.644, 0, 270, 0, 89 [SEP] 22, Mug, 1.781, 1.010, -1.297, 0, 270, 0, 87 [SEP] 23, Apple, 2.055, 1.147, -0.458, 0, 270, 0, 89 [SEP] 24, Pan, -1.056, 0.956, -1.127, 0, 0, 0, 79 [SEP] 25, Knife, -0.691, 0.717, -1.846, 0, 270, 0, 52 [SEP] 26, Bowl, 1.891, 0.814, -0.644, 0, 270, 0, 89 [SEP] 27, Fork, -0.598, 1.132, 0.441, 0, 0, 0, 78 [SEP] 28, Cup, 0.101, 0.750, -1.938, 0, 0, 0, 92 [SEP] 29, Ladle, -1.322, 0.948, -1.638, 0, 0, 0, 82 [SEP] 30, Apple, 1.924, 0.111, 0.166, 0, 0, 0, 85 [SEP] 31, Kettle, 1.000, 1.658, -2.126, 0, 0, 0, 61 [SEP] 32, Vase, 1.950, 1.654, -1.802, 0, 0, 0, 60 [SEP] 33, Potato, 1.836, 1.129, -0.830, 0, 270, 0, 89 [SEP] 34, Pot, 1.945, 1.429, -0.365, 0, 270, 0, 89 [SEP] 35, Bread, -1.147, 0.982, -0.190, 0, 0, 0, 75 [SEP] 36, Plate, 1.911, 1.658, -1.197, 0, 0, 0, 59 [SEP] 37, Spatula, -0.623, 0.709, -1.802, 0, 270, 0, 52 [SEP] 38, PaperTowelRoll, 2.591, 0.656, 0.090, 0, 180, 0, 88 [SEP] 39, Vase, -0.697, 0.118, -1.832, 0, 0, 0, 67 [SEP] 40, Egg, 1.813, 1.049, -1.402, 0, 270, 0, 87 [SEP] 41, SoapBottle, 3.002, 0.879, 0.195, 0, 180, 0, 86 [SEP] 42, SaltShaker, 2.694, 0.548, -0.013, 0, 180, 0, 88 [SEP] 43, Lettuce, -1.157, 0.987, -1.384, 0, 90, 0, 82 [SEP] 44, PepperShaker, -1.160, 0.125, -1.465, 0, 0, 0, 68 [SEP] 45, ButterKnife, -0.993, 0.911, -1.553, 0, 0, 0, 82 [SEP] 46, DishSponge, -0.997, 0.913, -0.353, 0, 0, 0, 75 [SEP] 47, Vase, 2.979, 0.539, 0.128, 0, 0, 0, 88 [SEP] 48, Spoon, -0.777, 0.912, -1.929, 0, 90, 0, 82 [SEP] 49, Tomato, 1.836, 1.148, -0.458, 0, 270, 0, 89 [SEP] 50, Mug, 0.501, 0.955, -1.900, 0, 0, 0, 98 [SEP] 51, Statue, -0.598, 1.138, 0.573, 0, 0, 0, 78 [SEP] 52, Drawer, -0.819, 0.75, -1.690, 0, 0, 0, [SEP] 53, Cabinet, -1.149, 2.264, -0.838, 0, 90, 0, [SEP] 54, StoveBurner, -1.056, 0.949, -0.671, 0, 180, 0, [SEP] 55, Cabinet, 1.738, 2.019, -2.000, 0, 0, 0, [SEP] 56, Cabinet, 1.389, 0.469, -1.059, 0, 0, 0, [SEP] 57, StoveBurner, -1.289, 0.949, -0.755, 0, 180, 0, [SEP] 58, Faucet, -0.157, 1.052, -2.196, 0, 270, 0, [SEP] 59, Cabinet, 1.75, 2.019, -1.029, 0, 0, 0, [SEP] 60, Cabinet, 1.75, 2.019, -1.399, 0, 0, 0, [SEP] 61, Cabinet, 1.179, 2.019, -2.0, 0, 0, 0, [SEP] 62, Cabinet, 0.199, 2.019, -2.0, 0, 0, 0, [SEP] 63, Cabinet, -1.100, 2.019, -2.0, 0, 0, 0, [SEP] 64, Cabinet, -1.149, 2.019, -1.979, 0, 0, 0, [SEP] 65, Cabinet, -1.149, 2.019, -0.770, 0, 0, 0, [SEP] 66, Cabinet, -1.149, 2.019, 0.380, 0, 0, 0, [SEP] 67, Cabinet, -0.819, 0.469, -1.689, 0, 0, 0, [SEP] 68, Cabinet, -0.839, 0.469, -1.664, 0, 0, 0, [SEP] 69, Cabinet, -0.839, 0.469, -0.049, 0, 0, 0, [SEP] 70, Cabinet, -0.414, 0.370, -0.009, 0, 0, 0, [SEP] 71, Sink, -0.118, 0.875, -2.009, 0, 0, 0, [SEP] 72, StoveBurner, -1.289, 0.949, -1.019, 0, 0, 0, [SEP] 73, Cabinet, 0.119, 2.264, -2.0, 0, 0, 0, [SEP] 74, Cabinet, -0.459, 2.264, -2.0, 0, 0, 0, [SEP] 75, CounterTop, -0.665, 0.949, 0.188, 0, 0, 0, [SEP] 76, Drawer, -0.449, 0.75, -0.010, 0, 180, 0, [SEP] 77, Cabinet, -0.450, 0.469, -0.009, 0, 0, 0, [SEP] 78, CounterTop, -0.630, 1.167, 0.573, 0, 0, 0, [SEP] 79, StoveBurner, -1.056, 0.949, -1.126, 0, 0, 0, [SEP] 80, Cabinet, 1.376, 0.460, -1.685, 0, 0, 0, [SEP] 81, Drawer, -0.070, 0.75, -0.009, 0, 180, 0, [SEP] 82, CounterTop, 1.159, 0.946, -2.013, 0, 0, 0, [SEP] 83, Cabinet, -1.150, 2.264, -1.418, 0, 90, 0, [SEP] 84, HousePlant, -1.246, 1.108, 0.606, 0, 0, 0, [SEP] 85, GarbageCan, 1.923, -0.010, 0.137, 0, 0, 0, [SEP] 86, Shelf, 2.759, 0.880, 0.144, 0, 0, 0, [SEP] 87, Microwave, 1.827, 0.900, -1.354, 0, 270, 0, [SEP] 88, Shelf, 2.759, 0.552, 0.145, 0, 0, 0, [SEP] 89, Fridge, 1.975, 0.0, -0.537, 0, 0, 0, [SEP] 90, LightSwitch, 0.404, 1.297, 2.0, 0, 180, 0, [SEP] 91, Shelf, 2.760, 0.172, 0.145, 0, 0, 0, [SEP] 92, SinkBasin, -0.129, 0.752, -2.007, 0, 0, 0, [SEP] 93, StoveKnob, -0.873, 0.903, -0.827, 45, 90, 0, [SEP] 94, StoveKnob, -0.873, 0.903, -0.676, 45, 90, 0, [SEP] 95, StoveKnob, -0.873, 0.903, -0.966, 45, 90, 0, [SEP] 96, StoveKnob, -0.873, 0.903, -1.123, 45, 90, 0, [SEP] 97, Toaster, 0.840, 0.900, -2.057, 0, 0, 0, [SEP] 98, CoffeeMachine, 0.501, 0.900, -2.125, 0, 0, 0, [SEP] 99, ShelvingUnit, 2.760, 0.006, 0.144, 0, 0, 0, [SEP] 100, Stool, -0.826, 0.010, 0.908, 0, 347.513, 0, [SEP] 101, Stool, -0.132, 0.010, 0.883, 0, 71.555, 0, [SEP] 102, NorthWall, , , , , , , [SEP] 103, EastWall, , , , , , , [SEP] 104, SouthWall, , , , , , , [SEP] 105, WestWall, , , , , , , ", "output": ["STEP 1: Head past the fridge, turn left to face the microwave. | STEP 2: Take the dirty plate out of the cabinet above the microwave. | STEP 3: Turn around, bring the dirty plate to the sink on the left. | STEP 4: Wash the plate in the sink. | STEP 5: Bring the cleaned plate to the fridge on the left. | STEP 6: Put the cleaned plate in the fridge. | END"]} +{"id": "trial_T20190909_060639_691393-1", "input": "To put a cell phone on a plate and put the plate on the coffee table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.900, 2.0, 0, 270, 0, [SEP] 1, Plate, -3.216, 0.554, 1.822, 0, 0, 0, 32 [SEP] 2, Newspaper, 0.636, 0.548, 6.469, 0, 0, 0, 33 [SEP] 3, Newspaper, 0.909, 0.981, 3.921, 0, 0, 0, 48 [SEP] 4, CellPhone, 0.847, 0.986, 3.506, 0, 0, 0, 48 [SEP] 5, CellPhone, -1.127, 0.316, 2.685, 0, 39.022, 0, 35 [SEP] 6, CellPhone, 0.753, 0.102, 4.096, 0, 0, 0, 47 [SEP] 7, RemoteControl, -5.885, 0.788, 5.353, 0, 0, 0, 36 [SEP] 8, RemoteControl, -5.269, 0.788, 5.575, 0, 0, 0, 36 [SEP] 9, Box, -5.639, 0.977, 4.689, 0, 0, 0, 36 [SEP] 10, Box, -1.591, 0.498, 2.277, 0, 26.831, 0, 35 [SEP] 11, CellPhone, 0.446, 0.552, 6.731, 0, 0, 0, 33 [SEP] 12, WateringCan, 0.829, -0.001, 2.339, 0, 45, 0, Floor|-03.10| [SEP] 13, Newspaper, -1.885, 0.308, 2.308, 0, 39.022, 0, 35 [SEP] 14, KeyChain, 0.784, 0.983, 3.506, 0, 0, 0, 48 [SEP] 15, Plate, -5.807, 0.781, 4.222, 0, 0, 0, 36 [SEP] 16, Pillow, -2.719, 0.609, 2.768, 0, 320.647, 0, 44 [SEP] 17, RemoteControl, -5.639, 0.788, 4.910, 0, 0, 0, 36 [SEP] 18, CreditCard, 0.718, 0.099, 4.345, 0, 0, 0, 47 [SEP] 19, Laptop, -5.464, 0.779, 5.252, 0, 306.871, 0, 36 [SEP] 20, Statue, -3.216, 0.560, 1.473, 0, 0, 0, 32 [SEP] 21, Curtains, -1.046, 3.500, 2.880, 0, 0, 0, [SEP] 22, HousePlant, -3.580, 0.548, 1.659, 0, 0, 0, [SEP] 23, Television, 0.852, 1.460, 3.726, 357.954, 270, 0, [SEP] 24, Painting, -3.813, 1.809, 1.008, 90, 90, 0, [SEP] 25, DeskLamp, 0.890, 0.545, 6.822, 0, 0, 0, [SEP] 26, GarbageCan, -7.102, -0.044, 2.295, 0, 90, 0, [SEP] 27, FloorLamp, -3.494, 0.006, 0.390, 0, 0, 0, [SEP] 28, LightSwitch, -5.234, 1.391, 7.031, 0, 180, 0, [SEP] 29, Window, -1.985, 1.646, -0.009, 90, 180, 0, [SEP] 30, Window, -4.909, 0.990, 2.015, 90, 180, 0, [SEP] 31, Window, -5.796, 1.072, 1.871, 90, 180, 0, [SEP] 32, SideTable, -3.407, 0.005, 1.656, 0, 270, 0, [SEP] 33, SideTable, 0.732, 0.005, 6.634, 0, 270, 0, [SEP] 34, Chair, -0.139, 0.005, 6.412, 0, 149.999, 0, [SEP] 35, CoffeeTable, -1.546, 0.004, 2.528, 0, 39.022, 0, [SEP] 36, DiningTable, -5.639, -0.003, 4.910, 0, 270, 0, [SEP] 37, Chair, -3.159, 0.005, 0.869, 0, 97.469, 0, [SEP] 38, Chair, -5.192, 0.002, 4.682, 0, 281.219, 0, [SEP] 39, Chair, -5.181, 0.002, 5.293, 0, 266.218, 0, [SEP] 40, Chair, -6.046, 0.002, 4.560, 0, 86.218, 0, [SEP] 41, Chair, -5.624, 0.002, 5.750, 0, 180, 0, [SEP] 42, Chair, -6.036, 0.002, 5.235, 0, 93.544, 0, [SEP] 43, Chair, -5.580, 0.002, 4.099, 0, 357.508, 0, [SEP] 44, Sofa, -2.465, 0.004, 3.281, 0, 128.001, 0, [SEP] 45, Drawer, 0.748, 0.237, 3.330, 0, 270, 0, [SEP] 46, Drawer, 0.748, 0.668, 3.330, 0, 270, 0, [SEP] 47, Drawer, 0.748, 0.235, 4.097, 0, 270, 0, [SEP] 48, Dresser, 0.846, 0.002, 3.713, 0, 270, 0, [SEP] 49, Drawer, 0.748, 0.665, 4.097, 0, 270, 0, [SEP] 50, NorthWall, , , , , , , [SEP] 51, EastWall, , , , , , , [SEP] 52, SouthWall, , , , , , , [SEP] 53, WestWall, , , , , , , ", "output": ["STEP 1: Walk over to the table in the corner or the room. | STEP 2: Pick up the cell phone from the table. | STEP 3: Turn and walk to the dining table. | STEP 4: Put the cell phone down on the black plate. | STEP 5: Pick up the plate from the table. | STEP 6: Turn and walk to the coffee table. | STEP 7: Put the plate down on the table to the left of the cell phone. | END"]} +{"id": "trial_T20190909_060639_691393-2", "input": "Put a smartphone on a plate to set on the coffee table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.900, 2.0, 0, 270, 0, [SEP] 1, Plate, -3.216, 0.554, 1.822, 0, 0, 0, 32 [SEP] 2, Newspaper, 0.636, 0.548, 6.469, 0, 0, 0, 33 [SEP] 3, Newspaper, 0.909, 0.981, 3.921, 0, 0, 0, 48 [SEP] 4, CellPhone, 0.847, 0.986, 3.506, 0, 0, 0, 48 [SEP] 5, CellPhone, -1.127, 0.316, 2.685, 0, 39.022, 0, 35 [SEP] 6, CellPhone, 0.753, 0.102, 4.096, 0, 0, 0, 47 [SEP] 7, RemoteControl, -5.885, 0.788, 5.353, 0, 0, 0, 36 [SEP] 8, RemoteControl, -5.269, 0.788, 5.575, 0, 0, 0, 36 [SEP] 9, Box, -5.639, 0.977, 4.689, 0, 0, 0, 36 [SEP] 10, Box, -1.591, 0.498, 2.277, 0, 26.831, 0, 35 [SEP] 11, CellPhone, 0.446, 0.552, 6.731, 0, 0, 0, 33 [SEP] 12, WateringCan, 0.829, -0.001, 2.339, 0, 45, 0, Floor|-03.10| [SEP] 13, Newspaper, -1.885, 0.308, 2.308, 0, 39.022, 0, 35 [SEP] 14, KeyChain, 0.784, 0.983, 3.506, 0, 0, 0, 48 [SEP] 15, Plate, -5.807, 0.781, 4.222, 0, 0, 0, 36 [SEP] 16, Pillow, -2.719, 0.609, 2.768, 0, 320.647, 0, 44 [SEP] 17, RemoteControl, -5.639, 0.788, 4.910, 0, 0, 0, 36 [SEP] 18, CreditCard, 0.718, 0.099, 4.345, 0, 0, 0, 47 [SEP] 19, Laptop, -5.464, 0.779, 5.252, 0, 306.871, 0, 36 [SEP] 20, Statue, -3.216, 0.560, 1.473, 0, 0, 0, 32 [SEP] 21, Curtains, -1.046, 3.500, 2.880, 0, 0, 0, [SEP] 22, HousePlant, -3.580, 0.548, 1.659, 0, 0, 0, [SEP] 23, Television, 0.852, 1.460, 3.726, 357.954, 270, 0, [SEP] 24, Painting, -3.813, 1.809, 1.008, 90, 90, 0, [SEP] 25, DeskLamp, 0.890, 0.545, 6.822, 0, 0, 0, [SEP] 26, GarbageCan, -7.102, -0.044, 2.295, 0, 90, 0, [SEP] 27, FloorLamp, -3.494, 0.006, 0.390, 0, 0, 0, [SEP] 28, LightSwitch, -5.234, 1.391, 7.031, 0, 180, 0, [SEP] 29, Window, -1.985, 1.646, -0.009, 90, 180, 0, [SEP] 30, Window, -4.909, 0.990, 2.015, 90, 180, 0, [SEP] 31, Window, -5.796, 1.072, 1.871, 90, 180, 0, [SEP] 32, SideTable, -3.407, 0.005, 1.656, 0, 270, 0, [SEP] 33, SideTable, 0.732, 0.005, 6.634, 0, 270, 0, [SEP] 34, Chair, -0.139, 0.005, 6.412, 0, 149.999, 0, [SEP] 35, CoffeeTable, -1.546, 0.004, 2.528, 0, 39.022, 0, [SEP] 36, DiningTable, -5.639, -0.003, 4.910, 0, 270, 0, [SEP] 37, Chair, -3.159, 0.005, 0.869, 0, 97.469, 0, [SEP] 38, Chair, -5.192, 0.002, 4.682, 0, 281.219, 0, [SEP] 39, Chair, -5.181, 0.002, 5.293, 0, 266.218, 0, [SEP] 40, Chair, -6.046, 0.002, 4.560, 0, 86.218, 0, [SEP] 41, Chair, -5.624, 0.002, 5.750, 0, 180, 0, [SEP] 42, Chair, -6.036, 0.002, 5.235, 0, 93.544, 0, [SEP] 43, Chair, -5.580, 0.002, 4.099, 0, 357.508, 0, [SEP] 44, Sofa, -2.465, 0.004, 3.281, 0, 128.001, 0, [SEP] 45, Drawer, 0.748, 0.237, 3.330, 0, 270, 0, [SEP] 46, Drawer, 0.748, 0.668, 3.330, 0, 270, 0, [SEP] 47, Drawer, 0.748, 0.235, 4.097, 0, 270, 0, [SEP] 48, Dresser, 0.846, 0.002, 3.713, 0, 270, 0, [SEP] 49, Drawer, 0.748, 0.665, 4.097, 0, 270, 0, [SEP] 50, NorthWall, , , , , , , [SEP] 51, EastWall, , , , , , , [SEP] 52, SouthWall, , , , , , , [SEP] 53, WestWall, , , , , , , ", "output": ["STEP 1: Turn left to walk to the far corner with the small wooden table. | STEP 2: Pick up the smartphone on the small wooden table. | STEP 3: Turn around, walking across the room to reach the wooden table with chairs around it. | STEP 4: Set the smartphone down on the plate on the wooden table with chairs around it. | STEP 5: Pick up the plate with the smartphone on it. | STEP 6: Turn right, then hang another right around the couches to reach the coffee table. | STEP 7: Set the plate with the smartphone on it down next to the other smartphone on the coffee table. | END"]} +{"id": "trial_T20190907_235512_702279-0", "input": "Put a microwaved potato in the fridge. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.901, -2.0, 0, 90, 0, [SEP] 1, Pan, -0.376, 0.975, -2.451, 0, 0, 0, 71 [SEP] 2, Pan, -0.376, 0.975, -2.031, 0, 180, 0, 75 [SEP] 3, Potato, -0.095, 0.959, -1.616, 0, 0, 0, 73 [SEP] 4, DishSponge, -2.821, 0.716, -0.540, 0, 225, 0, 90 [SEP] 5, DishSponge, -1.845, 0.790, -3.747, 0, 0, 0, 88 [SEP] 6, Spoon, -1.058, 0.914, -3.581, 0, 0, 0, 46 [SEP] 7, Spoon, -0.176, 0.917, -0.472, 0, 0, 0, 73 [SEP] 8, Fork, -2.439, 0.717, -0.496, 0, 90, 0, 90 [SEP] 9, Fork, -2.922, 0.717, -0.640, 0, 225, 0, 90 [SEP] 10, Egg, -3.199, 0.752, -0.427, 0, 135, 0, 90 [SEP] 11, Egg, -2.608, 0.752, -0.150, 0, 225, 0, 90 [SEP] 12, Plate, -0.452, 0.078, -1.414, 0, 0, 0, 51 [SEP] 13, Knife, -0.530, 0.778, -1.563, 0, 90, 0, 69 [SEP] 14, Knife, -2.009, 0.946, -3.526, 0, 0, 0, 46 [SEP] 15, Tomato, -0.338, 0.965, -1.616, 0, 0, 0, 73 [SEP] 16, Tomato, -2.740, 0.763, -0.069, 0, 0, 0, 90 [SEP] 17, SoapBottle, -0.334, 0.080, -2.853, 0, 0, 0, 57 [SEP] 18, SoapBottle, -3.292, 0.716, -0.495, 0, 270, 0, 90 [SEP] 19, Bowl, -0.813, 0.079, -3.675, 0, 0, 0, 48 [SEP] 20, SaltShaker, -2.740, 0.710, -0.638, 0, 0, 0, 90 [SEP] 21, PepperShaker, -0.441, 0.743, -1.331, 0, 0, 0, 69 [SEP] 22, Bread, -3.155, 0.754, -0.608, 0, 225, 0, 90 [SEP] 23, Mug, -2.053, 0.076, -3.596, 0, 0, 0, 67 [SEP] 24, Apple, -0.500, 0.958, -0.490, 0, 0, 0, 73 [SEP] 25, Pot, -2.836, 0.903, -3.745, 0, 92.628, 0, 46 [SEP] 26, Egg, -0.223, 0.115, 0.097, 0, 270, 0, 85 [SEP] 27, Cup, -3.182, 0.641, -2.002, 0, 90, 0, 87 [SEP] 28, Bread, -2.676, 0.757, -0.508, 0, 135, 0, 90 [SEP] 29, Fork, -0.039, 0.914, -3.878, 0, 0, 0, 46 [SEP] 30, Pan, -3.167, 0.912, -3.804, 0, 90, 0, 46 [SEP] 31, Potato, -1.707, 0.834, -3.790, 0, 0, 0, 88 [SEP] 32, Lettuce, -0.160, 1.001, -3.112, 0, 0, 0, 46 [SEP] 33, Tomato, -2.865, 0.763, -0.922, 0, 0, 0, 90 [SEP] 34, Apple, -3.286, 1.056, -2.064, 0, 90, 0, 87 [SEP] 35, SoapBottle, -2.439, 0.716, -0.558, 0, 270, 0, 90 [SEP] 36, Spatula, -3.393, 0.928, -3.428, 0, 0, 0, 46 [SEP] 37, SaltShaker, -1.821, 0.078, -3.558, 0, 0, 0, 67 [SEP] 38, Knife, -0.650, 0.946, -3.581, 0, 0, 0, 46 [SEP] 39, PepperShaker, -1.477, 0.079, -3.555, 0, 0, 0, 62 [SEP] 40, ButterKnife, -0.419, 0.916, -0.524, 0, 0, 0, 73 [SEP] 41, Plate, -3.226, 1.866, -1.974, 0, 0, 0, 56 [SEP] 42, DishSponge, -0.328, 0.913, -2.911, 0, 0, 0, 46 [SEP] 43, Spoon, -0.338, 0.917, -1.370, 0, 0, 0, 73 [SEP] 44, Mug, -0.447, 0.908, -4.026, 0, 0, 0, 46 [SEP] 45, Bowl, -0.411, 0.079, -3.348, 0, 0, 0, 47 [SEP] 46, CounterTop, -1.789, 0.949, -3.803, 0, 0, 0, [SEP] 47, Cabinet, -0.577, 0.388, -3.476, 0, 0, 0, [SEP] 48, Cabinet, -0.605, 0.388, -3.511, 0, 0, 0, [SEP] 49, Cabinet, -2.976, 0.388, -3.201, 0, 0, 0, [SEP] 50, Cabinet, -0.577, 0.388, -0.447, 0, 0, 0, [SEP] 51, Cabinet, -0.577, 0.388, -1.725, 0, 0, 0, [SEP] 52, Cabinet, -0.226, 1.803, -1.743, 0, 0, 0, [SEP] 53, Cabinet, -0.228, 1.799, -0.447, 0, 0, 0, [SEP] 54, Cabinet, -6.010, 1.139, -6.019, 0, 0, 0, [SEP] 55, Cabinet, -3.022, 2.098, -2.681, 0, 0, 0, [SEP] 56, Cabinet, -3.022, 2.098, -1.743, 0, 0, 0, [SEP] 57, Cabinet, -0.577, 0.388, -2.736, 0, 0, 0, [SEP] 58, Cabinet, -3.232, 1.803, -3.343, 0, 0, 0, [SEP] 59, Cabinet, -2.811, 1.810, -3.764, 0, 0, 0, [SEP] 60, Cabinet, -1.233, 1.810, -3.764, 0, 0, 0, [SEP] 61, Cabinet, -1.364, 0.388, -3.511, 0, 0, 0, [SEP] 62, Cabinet, -1.380, 0.388, -3.511, 0, 0, 0, [SEP] 63, Cabinet, -0.226, 1.803, -2.725, 0, 0, 0, [SEP] 64, Cabinet, -0.236, 2.098, -1.767, 0, 0, 0, [SEP] 65, Cabinet, -0.236, 2.098, -2.705, 0, 0, 0, [SEP] 66, Cabinet, -0.193, 1.210, -4.239, 0, 0, 0, [SEP] 67, Cabinet, -2.148, 0.388, -3.511, 0, 0, 0, [SEP] 68, Drawer, -3.104, 0.797, -2.968, 0, 0, 0, [SEP] 69, Drawer, -0.449, 0.797, -1.410, 0, 0, 0, [SEP] 70, Sink, -1.786, 0.902, -3.748, 0, 0, 0, [SEP] 71, StoveBurner, -0.376, 0.936, -2.451, 0, 0, 0, [SEP] 72, Drawer, -0.449, 0.797, -0.762, 0, 0, 0, [SEP] 73, CounterTop, -0.268, 0.951, -1.089, 0, 0, 0, [SEP] 74, Drawer, -0.449, 0.797, -3.348, 0, 0, 0, [SEP] 75, StoveBurner, -0.376, 0.936, -2.031, 0, 180, 0, [SEP] 76, Drawer, -0.449, 0.797, -2.968, 0, 0, 0, [SEP] 77, StoveBurner, -0.165, 0.936, -2.030, 0, 180, 0, [SEP] 78, StoveBurner, -0.165, 0.936, -2.450, 0, 0, 0, [SEP] 79, StoveKnob, -0.568, 0.903, -2.313, 45, 270, 0, [SEP] 80, StoveKnob, -0.568, 0.903, -2.470, 45, 270, 0, [SEP] 81, StoveKnob, -0.568, 0.903, -2.166, 45, 270, 0, [SEP] 82, StoveKnob, -0.568, 0.903, -2.003, 45, 270, 0, [SEP] 83, Microwave, -0.143, 0.903, -0.908, 0, 270, 0, [SEP] 84, LightSwitch, -1.108, 1.457, 0.338, 0, 180, 0, [SEP] 85, GarbageCan, -0.283, -0.032, -0.035, 0, 270, 0, [SEP] 86, CoffeeMachine, -3.104, 0.837, -0.185, 0, 135, 0, [SEP] 87, Fridge, -3.188, 0.0, -2.184, 0, 0, 0, [SEP] 88, SinkBasin, -1.786, 0.779, -3.747, 0, 0, 0, [SEP] 89, Toaster, -0.230, 0.903, -3.406, 0, 270, 0, [SEP] 90, DiningTable, -2.800, 0.003, -0.505, 0, 0, 0, [SEP] 91, Chair, -3.044, 0.003, -1.223, 0, 32.194, 0, [SEP] 92, Faucet, -1.791, 1.136, -3.913, 0, 270, 0, [SEP] 93, NorthWall, , , , , , , [SEP] 94, EastWall, , , , , , , [SEP] 95, SouthWall, , , , , , , [SEP] 96, WestWall, , , , , , , ", "output": ["STEP 1: Take a step to your left. | STEP 2: Pick up the potato that's above the tomato. | STEP 3: Take another step to your left. | STEP 4: Cook the potato in the microwave and then get it back out and close the door. | STEP 5: Turn right and walk to the stove then turn left and walk to the fridge. | STEP 6: Put the potato in the fridge by the tomato and close the door. | END"]} +{"id": "trial_T20190907_235512_702279-1", "input": "place a cooked potato in the fridge SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.901, -2.0, 0, 90, 0, [SEP] 1, Pan, -0.376, 0.975, -2.451, 0, 0, 0, 71 [SEP] 2, Pan, -0.376, 0.975, -2.031, 0, 180, 0, 75 [SEP] 3, Potato, -0.095, 0.959, -1.616, 0, 0, 0, 73 [SEP] 4, DishSponge, -2.821, 0.716, -0.540, 0, 225, 0, 90 [SEP] 5, DishSponge, -1.845, 0.790, -3.747, 0, 0, 0, 88 [SEP] 6, Spoon, -1.058, 0.914, -3.581, 0, 0, 0, 46 [SEP] 7, Spoon, -0.176, 0.917, -0.472, 0, 0, 0, 73 [SEP] 8, Fork, -2.439, 0.717, -0.496, 0, 90, 0, 90 [SEP] 9, Fork, -2.922, 0.717, -0.640, 0, 225, 0, 90 [SEP] 10, Egg, -3.199, 0.752, -0.427, 0, 135, 0, 90 [SEP] 11, Egg, -2.608, 0.752, -0.150, 0, 225, 0, 90 [SEP] 12, Plate, -0.452, 0.078, -1.414, 0, 0, 0, 51 [SEP] 13, Knife, -0.530, 0.778, -1.563, 0, 90, 0, 69 [SEP] 14, Knife, -2.009, 0.946, -3.526, 0, 0, 0, 46 [SEP] 15, Tomato, -0.338, 0.965, -1.616, 0, 0, 0, 73 [SEP] 16, Tomato, -2.740, 0.763, -0.069, 0, 0, 0, 90 [SEP] 17, SoapBottle, -0.334, 0.080, -2.853, 0, 0, 0, 57 [SEP] 18, SoapBottle, -3.292, 0.716, -0.495, 0, 270, 0, 90 [SEP] 19, Bowl, -0.813, 0.079, -3.675, 0, 0, 0, 48 [SEP] 20, SaltShaker, -2.740, 0.710, -0.638, 0, 0, 0, 90 [SEP] 21, PepperShaker, -0.441, 0.743, -1.331, 0, 0, 0, 69 [SEP] 22, Bread, -3.155, 0.754, -0.608, 0, 225, 0, 90 [SEP] 23, Mug, -2.053, 0.076, -3.596, 0, 0, 0, 67 [SEP] 24, Apple, -0.500, 0.958, -0.490, 0, 0, 0, 73 [SEP] 25, Pot, -2.836, 0.903, -3.745, 0, 92.628, 0, 46 [SEP] 26, Egg, -0.223, 0.115, 0.097, 0, 270, 0, 85 [SEP] 27, Cup, -3.182, 0.641, -2.002, 0, 90, 0, 87 [SEP] 28, Bread, -2.676, 0.757, -0.508, 0, 135, 0, 90 [SEP] 29, Fork, -0.039, 0.914, -3.878, 0, 0, 0, 46 [SEP] 30, Pan, -3.167, 0.912, -3.804, 0, 90, 0, 46 [SEP] 31, Potato, -1.707, 0.834, -3.790, 0, 0, 0, 88 [SEP] 32, Lettuce, -0.160, 1.001, -3.112, 0, 0, 0, 46 [SEP] 33, Tomato, -2.865, 0.763, -0.922, 0, 0, 0, 90 [SEP] 34, Apple, -3.286, 1.056, -2.064, 0, 90, 0, 87 [SEP] 35, SoapBottle, -2.439, 0.716, -0.558, 0, 270, 0, 90 [SEP] 36, Spatula, -3.393, 0.928, -3.428, 0, 0, 0, 46 [SEP] 37, SaltShaker, -1.821, 0.078, -3.558, 0, 0, 0, 67 [SEP] 38, Knife, -0.650, 0.946, -3.581, 0, 0, 0, 46 [SEP] 39, PepperShaker, -1.477, 0.079, -3.555, 0, 0, 0, 62 [SEP] 40, ButterKnife, -0.419, 0.916, -0.524, 0, 0, 0, 73 [SEP] 41, Plate, -3.226, 1.866, -1.974, 0, 0, 0, 56 [SEP] 42, DishSponge, -0.328, 0.913, -2.911, 0, 0, 0, 46 [SEP] 43, Spoon, -0.338, 0.917, -1.370, 0, 0, 0, 73 [SEP] 44, Mug, -0.447, 0.908, -4.026, 0, 0, 0, 46 [SEP] 45, Bowl, -0.411, 0.079, -3.348, 0, 0, 0, 47 [SEP] 46, CounterTop, -1.789, 0.949, -3.803, 0, 0, 0, [SEP] 47, Cabinet, -0.577, 0.388, -3.476, 0, 0, 0, [SEP] 48, Cabinet, -0.605, 0.388, -3.511, 0, 0, 0, [SEP] 49, Cabinet, -2.976, 0.388, -3.201, 0, 0, 0, [SEP] 50, Cabinet, -0.577, 0.388, -0.447, 0, 0, 0, [SEP] 51, Cabinet, -0.577, 0.388, -1.725, 0, 0, 0, [SEP] 52, Cabinet, -0.226, 1.803, -1.743, 0, 0, 0, [SEP] 53, Cabinet, -0.228, 1.799, -0.447, 0, 0, 0, [SEP] 54, Cabinet, -6.010, 1.139, -6.019, 0, 0, 0, [SEP] 55, Cabinet, -3.022, 2.098, -2.681, 0, 0, 0, [SEP] 56, Cabinet, -3.022, 2.098, -1.743, 0, 0, 0, [SEP] 57, Cabinet, -0.577, 0.388, -2.736, 0, 0, 0, [SEP] 58, Cabinet, -3.232, 1.803, -3.343, 0, 0, 0, [SEP] 59, Cabinet, -2.811, 1.810, -3.764, 0, 0, 0, [SEP] 60, Cabinet, -1.233, 1.810, -3.764, 0, 0, 0, [SEP] 61, Cabinet, -1.364, 0.388, -3.511, 0, 0, 0, [SEP] 62, Cabinet, -1.380, 0.388, -3.511, 0, 0, 0, [SEP] 63, Cabinet, -0.226, 1.803, -2.725, 0, 0, 0, [SEP] 64, Cabinet, -0.236, 2.098, -1.767, 0, 0, 0, [SEP] 65, Cabinet, -0.236, 2.098, -2.705, 0, 0, 0, [SEP] 66, Cabinet, -0.193, 1.210, -4.239, 0, 0, 0, [SEP] 67, Cabinet, -2.148, 0.388, -3.511, 0, 0, 0, [SEP] 68, Drawer, -3.104, 0.797, -2.968, 0, 0, 0, [SEP] 69, Drawer, -0.449, 0.797, -1.410, 0, 0, 0, [SEP] 70, Sink, -1.786, 0.902, -3.748, 0, 0, 0, [SEP] 71, StoveBurner, -0.376, 0.936, -2.451, 0, 0, 0, [SEP] 72, Drawer, -0.449, 0.797, -0.762, 0, 0, 0, [SEP] 73, CounterTop, -0.268, 0.951, -1.089, 0, 0, 0, [SEP] 74, Drawer, -0.449, 0.797, -3.348, 0, 0, 0, [SEP] 75, StoveBurner, -0.376, 0.936, -2.031, 0, 180, 0, [SEP] 76, Drawer, -0.449, 0.797, -2.968, 0, 0, 0, [SEP] 77, StoveBurner, -0.165, 0.936, -2.030, 0, 180, 0, [SEP] 78, StoveBurner, -0.165, 0.936, -2.450, 0, 0, 0, [SEP] 79, StoveKnob, -0.568, 0.903, -2.313, 45, 270, 0, [SEP] 80, StoveKnob, -0.568, 0.903, -2.470, 45, 270, 0, [SEP] 81, StoveKnob, -0.568, 0.903, -2.166, 45, 270, 0, [SEP] 82, StoveKnob, -0.568, 0.903, -2.003, 45, 270, 0, [SEP] 83, Microwave, -0.143, 0.903, -0.908, 0, 270, 0, [SEP] 84, LightSwitch, -1.108, 1.457, 0.338, 0, 180, 0, [SEP] 85, GarbageCan, -0.283, -0.032, -0.035, 0, 270, 0, [SEP] 86, CoffeeMachine, -3.104, 0.837, -0.185, 0, 135, 0, [SEP] 87, Fridge, -3.188, 0.0, -2.184, 0, 0, 0, [SEP] 88, SinkBasin, -1.786, 0.779, -3.747, 0, 0, 0, [SEP] 89, Toaster, -0.230, 0.903, -3.406, 0, 270, 0, [SEP] 90, DiningTable, -2.800, 0.003, -0.505, 0, 0, 0, [SEP] 91, Chair, -3.044, 0.003, -1.223, 0, 32.194, 0, [SEP] 92, Faucet, -1.791, 1.136, -3.913, 0, 270, 0, [SEP] 93, NorthWall, , , , , , , [SEP] 94, EastWall, , , , , , , [SEP] 95, SouthWall, , , , , , , [SEP] 96, WestWall, , , , , , , ", "output": ["STEP 1: move left towards the shelf | STEP 2: pick up the potato | STEP 3: move left towards the microwave | STEP 4: place the potato in the microwave and allow to cook and then take it out | STEP 5: turn around towards the fridge | STEP 6: place the potato in the fridge | END"]} +{"id": "trial_T20190910_182022_316506-2", "input": "Put the two wrist watch on the center table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.901, 4.5, 0, 270, 0, [SEP] 1, Statue, -2.658, 0.554, 2.359, 0, 0, 0, 36 [SEP] 2, Statue, -2.532, 0.554, 2.744, 0, 0, 0, 36 [SEP] 3, Watch, 0.132, 0.707, 4.578, 0, 0, 0, 41 [SEP] 4, KeyChain, -2.939, 0.457, 0.752, 0, 0, 0, 39 [SEP] 5, KeyChain, -5.094, 0.989, 2.310, 0, 180, 0, 33 [SEP] 6, Box, -4.668, 0.405, 3.375, 0, 90, 0, 30 [SEP] 7, WateringCan, -0.277, -0.000, 4.860, 0, 0, 0, Floor|+00.38| [SEP] 8, CreditCard, -0.240, 0.467, 3.449, 0, 0, 0, 37 [SEP] 9, KeyChain, -2.279, 0.453, 2.840, 0, 0, 0, 36 [SEP] 10, Pillow, -3.294, 0.624, 0.801, 0, 0, 338.090, 39 [SEP] 11, Laptop, -4.873, 0.981, 3.44, 0, 83.878, 0, 33 [SEP] 12, RemoteControl, -2.405, 0.455, 2.359, 0, 0, 0, 36 [SEP] 13, Watch, -4.744, 0.988, 2.595, 0, 0, 0, 33 [SEP] 14, Statue, -2.785, 0.554, 2.552, 0, 0, 0, 36 [SEP] 15, Curtains, -2.535, 2.596, 0.111, 0, 0, 0, [SEP] 16, FloorLamp, -4.661, 0.009, 0.422, 0, 0, 0, [SEP] 17, Television, -4.883, 1.472, 2.434, 0, 90, 0, [SEP] 18, GarbageCan, -4.810, -0.032, 1.236, 0, 180, 0, [SEP] 19, Painting, -0.293, 1.820, 0.016, 90, 0, 0, [SEP] 20, LightSwitch, -1.016, 1.243, 5.0, 0, 180, 0, [SEP] 21, Painting, -5.118, 1.480, 4.396, 90, 270, 0, [SEP] 22, Painting, -5.118, 1.480, 0.656, 90, 270, 0, [SEP] 23, Window, -1.715, 1.554, 0.006, 90, 180, 0, [SEP] 24, Window, -3.244, 1.554, 0.006, 90, 180, 0, [SEP] 25, DeskLamp, 0.015, 0.704, 4.676, 0, 0, 0, [SEP] 26, HousePlant, -4.824, 0.984, 1.572, 0, 0, 0, [SEP] 27, Drawer, -4.497, 0.901, 2.854, 0, 90, 0, [SEP] 28, Drawer, -4.497, 0.901, 2.339, 0, 90, 0, [SEP] 29, Cabinet, -4.409, 0.498, 2.603, 0, 90, 0, [SEP] 30, Cabinet, -4.409, 0.498, 3.622, 0, 90, 0, [SEP] 31, Drawer, -4.497, 0.901, 3.372, 0, 90, 0, [SEP] 32, Cabinet, -4.409, 0.498, 1.569, 0, 90, 0, [SEP] 33, Dresser, -4.744, 4.321, 2.595, 0, 90, 0, [SEP] 34, Drawer, -4.497, 0.901, 1.818, 0, 90, 0, [SEP] 35, Cabinet, -4.409, 0.498, 2.588, 0, 90, 0, [SEP] 36, CoffeeTable, -2.405, -0.000, 2.546, 0, 0, 0, [SEP] 37, ArmChair, -0.298, 0.002, 3.310, 0, 270, 0, [SEP] 38, ArmChair, -0.298, 0.002, 1.713, 0, 270, 0, [SEP] 39, Sofa, -2.464, -0.002, 0.700, 0, 0, 0, [SEP] 40, Chair, -4.735, 0.011, 4.609, 1.215, 90, 0, [SEP] 41, SideTable, -0.041, 0.002, 4.619, 0, 0, 0, [SEP] 42, NorthWall, , , , , , , [SEP] 43, EastWall, , , , , , , [SEP] 44, SouthWall, , , , , , , [SEP] 45, WestWall, , , , , , , ", "output": ["STEP 1: Turn left then head to the tv stand | STEP 2: Pick up the wrist watch on the stand | STEP 3: Turn right then head to the center table | STEP 4: Put the wrist watch on the center table | STEP 5: Turn left then head to the side table with lamp | STEP 6: Pick up the wrist watch beside the lamp | STEP 7: Turn right and head to the center table | STEP 8: Put the wrist watch on the center table | END"]} +{"id": "trial_T20190909_041707_562433-2", "input": "To move two CD's to a drawer. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 3.0, 0.900, -1.0, 0, 90, 0, [SEP] 1, Mug, 1.394, 0.515, -1.591, 0, 0, 0, 37 [SEP] 2, Mug, 1.240, 0.513, -1.591, 0, 180, 0, 37 [SEP] 3, CD, 1.909, 0.797, -1.358, 0, 0, 0, 35 [SEP] 4, CellPhone, 1.240, 0.059, -1.614, 0, 180, 0, 38 [SEP] 5, CreditCard, 2.506, 0.798, -1.358, 0, 0, 0, 35 [SEP] 6, CreditCard, 1.296, 0.283, -1.635, 0, 180, 0, 36 [SEP] 7, Pillow, 0.064, 0.674, -0.905, 0, 0, 0, 22 [SEP] 8, Book, 2.881, 0.791, -1.623, 0, 39.196, 0, 35 [SEP] 9, KeyChain, 2.307, 0.799, -1.420, 0, 0, 0, 35 [SEP] 10, TissueBox, 3.067, 0.536, -1.421, 0, 0, 0, 34 [SEP] 11, TeddyBear, -0.075, 0.562, -0.274, 353.177, 297.143, 5.348, 22 [SEP] 12, Pencil, 3.162, 0.083, -0.267, 0, 270, 0, 24 [SEP] 13, CreditCard, 2.875, 0.545, -1.397, 0, 0, 0, 34 [SEP] 14, TennisRacket, -0.921, 0.344, 0.390, 13.911, 273.938, 195.992, Floor|+00.39| [SEP] 15, Laptop, 0.552, 0.568, -0.236, 0, 0, 0, 22 [SEP] 16, AlarmClock, 1.108, 0.510, -1.673, 0, 345.196, 0, 37 [SEP] 17, Pen, 2.307, 0.804, -1.728, 0, 0, 0, 35 [SEP] 18, Pillow, 0.299, 0.643, -1.557, 0, 0, 0, 22 [SEP] 19, CellPhone, 0.390, 0.570, -1.129, 0, 0, 0, 22 [SEP] 20, CD, 1.317, 0.515, -1.712, 0, 0, 0, 37 [SEP] 21, Mug, 2.059, 0.791, -1.681, 0, 18.478, 0, 35 [SEP] 22, Bed, 0.227, -0.003, -0.947, 0, 180, 0, [SEP] 23, Mirror, 0.615, 1.264, 1.029, 0, 0, 0, [SEP] 24, GarbageCan, 3.166, -0.011, -0.264, 4.636, 271.335, 0, [SEP] 25, DeskLamp, 3.164, 0.794, -1.664, 0, 315, 0, [SEP] 26, HousePlant, -0.833, 0.000, 0.843, 0, 0, 0, [SEP] 27, LightSwitch, 2.010, 1.126, 1.029, 0, 180, 0, [SEP] 28, Window, 1.794, 1.677, -1.939, 90, 180, 0, [SEP] 29, Window, 0.691, 1.361, -1.938, 90, 180, 0, [SEP] 30, Dumbbell, 2.628, 0.001, -1.613, 0, 346.954, 0, [SEP] 31, Blinds, 1.776, 1.993, -1.858, 0, 0, 0, [SEP] 32, Blinds, 0.670, 1.993, -1.858, 0, 0, 0, [SEP] 33, Chair, 2.255, 0.004, -1.501, 0, 167.716, 0, [SEP] 34, Shelf, 3.034, 0.637, -1.580, 0, 0, 0, [SEP] 35, Desk, 2.500, 0.002, -1.596, 0, 0, 0, [SEP] 36, Drawer, 1.240, 0.354, -1.553, 0, 0, 0, [SEP] 37, SideTable, 1.239, 0.003, -1.551, 0, 0, 0, [SEP] 38, Drawer, 1.240, 0.126, -1.553, 0, 0, 0, [SEP] 39, NorthWall, , , , , , , [SEP] 40, EastWall, , , , , , , [SEP] 41, SouthWall, , , , , , , [SEP] 42, WestWall, , , , , , , ", "output": ["STEP 1: Walk to the desk with the black chair. | STEP 2: Pick up the CD from the desk. | STEP 3: Move to look at the drawers below the night stand. | STEP 4: Open the bottom drawer, put the CD inside the drawer, close the drawer. | STEP 5: Move closer to the night stand. | STEP 6: Pick up the CD from behind the mugs. | STEP 7: Move further away from the night stand and look at the drawers. | STEP 8: Open the bottom drawer, put the CD in the drawer to the left of the other one, and close the drawer. | END"]} +{"id": "trial_T20190907_095133_965547-1", "input": "Placing a plate in the fridge with an egg on it. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.908, 0.5, 0, 0, 0, [SEP] 1, SprayBottle, -0.754, 1.655, -0.847, 0, 270, 0, 62 [SEP] 2, Potato, -1.475, 0.793, 2.830, 0, 0, 0, 58 [SEP] 3, Potato, -1.361, 1.060, 0.098, 0, 90, 0, 103 [SEP] 4, CellPhone, 1.523, 0.909, 0.706, 0, 0, 0, 77 [SEP] 5, CellPhone, 1.286, 0.909, -0.428, 0, 0, 0, 77 [SEP] 6, Glassbottle, -1.325, 2.154, 0.538, 0, 0, 0, 76 [SEP] 7, Glassbottle, 0.103, 0.759, -0.533, 0, 0, 0, 104 [SEP] 8, WineBottle, -0.919, 0.749, 2.644, 0, 0, 0, 58 [SEP] 9, WineBottle, -1.099, 0.342, 1.197, 0, 90, 0, 97 [SEP] 10, Kettle, 1.128, 0.912, 0.422, 0, 0, 0, 77 [SEP] 11, Fork, -1.060, 0.912, -0.817, 0, 90, 0, 83 [SEP] 12, Spatula, -1.135, 0.927, -0.732, 0, 270, 0, 83 [SEP] 13, Spatula, 1.117, 0.901, 2.369, 0, 180, 0, 109 [SEP] 14, Pot, 0.502, 0.939, -0.740, 0, 90, 0, 84 [SEP] 15, Egg, -1.378, 1.322, 0.987, 0, 90, 0, 97 [SEP] 16, Egg, -0.919, 0.783, 3.015, 0, 0, 0, 58 [SEP] 17, Egg, 1.367, 0.920, 2.584, 0, 0, 0, 109 [SEP] 18, Tomato, 1.049, 0.961, -0.144, 0, 0, 0, 77 [SEP] 19, Tomato, -1.194, 0.391, 0.988, 0, 90, 0, 97 [SEP] 20, SoapBottle, 0.951, 0.887, 2.261, 0, 0, 0, 109 [SEP] 21, SoapBottle, 1.450, 0.887, 2.584, 0, 90, 0, 109 [SEP] 22, Bowl, 1.286, 0.909, 0.139, 0, 0, 0, 77 [SEP] 23, Bowl, -1.012, 0.748, 2.273, 0, 0, 0, 58 [SEP] 24, Lettuce, 1.284, 0.957, 2.369, 0, 0, 0, 109 [SEP] 25, Lettuce, -1.105, 0.820, 2.644, 0, 0, 0, 58 [SEP] 26, SaltShaker, -0.211, 0.112, -0.577, 0, 0, 0, 83 [SEP] 27, SaltShaker, -1.475, 0.745, 2.459, 0, 0, 0, 58 [SEP] 28, PepperShaker, -1.325, 2.149, 1.037, 0, 0, 0, 76 [SEP] 29, PepperShaker, -1.012, 0.745, 2.459, 0, 0, 0, 58 [SEP] 30, Mug, -1.206, 1.416, 0.778, 0, 90, 0, 97 [SEP] 31, Apple, 0.951, 0.946, 2.153, 0, 0, 0, 109 [SEP] 32, Bread, 1.069, 0.935, 2.683, 0, 0, 0, 109 [SEP] 33, Glassbottle, -1.197, 0.749, 1.902, 0, 0, 0, 58 [SEP] 34, Fork, -1.197, 0.749, 3.015, 0, 0, 0, 58 [SEP] 35, Kettle, -1.357, 0.739, 3.024, 0, 240.000, 0, 58 [SEP] 36, Tomato, -1.263, 0.800, 0.883, 0, 90, 0, 97 [SEP] 37, Plate, 1.131, 0.116, 0.732, 0, 0, 0, 74 [SEP] 38, CellPhone, 1.155, 0.774, 1.114, 0, 0, 0, 87 [SEP] 39, Lettuce, 1.049, 0.982, 0.139, 0, 0, 0, 77 [SEP] 40, Pot, 0.802, 0.939, -0.740, 0, 90, 0, 86 [SEP] 41, SoapBottle, 1.293, 1.657, -0.453, 0, 0, 0, 59 [SEP] 42, WineBottle, -1.475, 0.750, 1.902, 0, 0, 0, 58 [SEP] 43, Spatula, 1.444, 0.926, -0.428, 0, 90, 0, 77 [SEP] 44, Bowl, -0.082, 0.756, -0.612, 0, 0, 0, 104 [SEP] 45, Apple, -1.378, 0.811, 0.673, 0, 90, 0, 97 [SEP] 46, Cup, 0.103, 0.757, -0.691, 0, 0, 0, 104 [SEP] 47, Knife, -1.012, 0.771, 2.830, 0, 90, 0, 58 [SEP] 48, Egg, -1.130, 0.375, 0.883, 0, 90, 0, 97 [SEP] 49, SaltShaker, -1.325, 1.652, 0.108, 0, 0, 0, 66 [SEP] 50, PepperShaker, 1.450, 0.882, 2.692, 0, 0, 0, 109 [SEP] 51, Potato, -1.378, 1.681, 0.883, 0, 90, 0, 97 [SEP] 52, ButterKnife, -1.105, 0.749, 2.830, 0, 0, 0, 58 [SEP] 53, DishSponge, -1.383, 0.748, 2.644, 0, 0, 0, 58 [SEP] 54, Pan, -1.332, 0.9, -0.699, 0, 345.0, 0, 83 [SEP] 55, Spoon, 0.238, 0.913, -0.359, 0, 0, 0, 83 [SEP] 56, SprayBottle, 1.523, 0.910, 0.422, 0, 0, 0, 77 [SEP] 57, Mug, -1.427, 1.010, -0.057, 0, 180, 0, 103 [SEP] 58, DiningTable, -1.182, 0.006, 2.414, 0, 90, 0, [SEP] 59, Cabinet, 1.184, 2.059, 0.375, 0, 0, 0, [SEP] 60, Cabinet, 1.184, 2.059, -0.635, 0, 0, 0, [SEP] 61, Cabinet, 0.591, 2.309, -0.645, 0, 0, 0, [SEP] 62, Cabinet, -0.574, 2.059, -0.644, 0, 0, 0, [SEP] 63, Cabinet, -1.103, 2.059, -0.644, 0, 0, 0, [SEP] 64, Cabinet, -1.185, 2.059, -0.331, 0, 0, 0, [SEP] 65, Cabinet, -1.185, 2.059, -0.281, 0, 0, 0, [SEP] 66, Cabinet, -1.185, 2.059, 0.375, 0, 0, 0, [SEP] 67, Cabinet, 1.184, 2.309, 1.174, 0, 0, 0, [SEP] 68, Cabinet, 1.184, 2.309, 0.424, 0, 0, 0, [SEP] 69, Cabinet, 0.988, 0.402, 0.581, 0, 0, 0, [SEP] 70, Cabinet, 0.988, 0.402, 0.531, 0, 0, 0, [SEP] 71, Cabinet, 0.988, 0.402, -0.178, 0, 0, 0, [SEP] 72, Cabinet, 0.335, 0.402, -0.348, 0, 0, 0, [SEP] 73, Cabinet, -0.374, 0.402, -0.348, 0, 0, 0, [SEP] 74, Cabinet, 0.988, 0.402, 1.231, 0, 0, 0, [SEP] 75, Cabinet, -1.185, 2.309, 1.374, 0, 0, 0, [SEP] 76, Cabinet, -1.185, 2.309, 0.424, 0, 0, 0, [SEP] 77, CounterTop, 1.274, 0.947, 0.064, 0, 0, 0, [SEP] 78, Drawer, 1.116, 0.792, -0.015, 0, 0, 0, [SEP] 79, Drawer, -1.116, 0.792, 0.210, 0, 180, 0, [SEP] 80, Cabinet, -0.990, 0.402, 0.374, 0, 180, 0, [SEP] 81, Drawer, -1.116, 0.792, -0.170, 0, 180, 0, [SEP] 82, Cabinet, -0.990, 0.402, -0.335, 0, 180, 0, [SEP] 83, CounterTop, -1.001, 0.947, -0.669, 0, 0, 0, [SEP] 84, StoveBurner, 0.502, 0.932, -0.740, 0, 90, 0, [SEP] 85, StoveBurner, 0.801, 0.932, -0.473, 0, 0, 0, [SEP] 86, StoveBurner, 0.801, 0.932, -0.740, 0, 90, 0, [SEP] 87, Drawer, 1.116, 0.792, 1.081, 0, 0, 0, [SEP] 88, Sink, -0.013, 0.912, -0.615, 0, 0, 0, [SEP] 89, Drawer, 1.116, 0.792, 0.732, 0, 0, 0, [SEP] 90, StoveBurner, 0.502, 0.932, -0.469, 0, 0, 0, [SEP] 91, Drawer, 1.116, 0.792, 0.367, 0, 0, 0, [SEP] 92, StoveKnob, 0.550, 1.085, -0.912, 287.970, 180, 0, [SEP] 93, StoveKnob, 0.884, 1.085, -0.912, 287.970, 180, 0, [SEP] 94, StoveKnob, 0.432, 1.085, -0.912, 287.970, 180, 0, [SEP] 95, StoveKnob, 0.777, 1.085, -0.912, 287.970, 180, 0, [SEP] 96, CoffeeMachine, 1.304, 0.900, -0.741, 0, 320.314, 0, [SEP] 97, Fridge, -1.300, 0.008, 0.987, 0, 90, 0, [SEP] 98, GarbageCan, 1.296, -0.024, 1.465, 0, 0, 0, [SEP] 99, Window, -0.012, 1.641, -0.972, 90, 0, 0, [SEP] 100, Window, 1.598, 1.646, 2.489, 90, 270, 0, [SEP] 101, Toaster, 1.356, 0.900, 1.044, 0, 270, 0, [SEP] 102, LightSwitch, 0.118, 1.353, 3.799, 0, 180, 0, [SEP] 103, Microwave, -1.343, 0.900, 0.053, 0, 90, 0, [SEP] 104, SinkBasin, -0.029, 0.748, -0.612, 0, 0, 0, [SEP] 105, Faucet, -0.026, 0.927, -0.808, 0, 0, 0, [SEP] 106, Shelf, -1.182, 0.127, 2.414, 0, 90, 0, [SEP] 107, Stool, 1.140, 0.007, 3.262, 1.206, 20.753, 0, [SEP] 108, Shelf, -1.182, 0.435, 2.414, 0, 90, 0, [SEP] 109, DiningTable, 1.169, 0.014, 2.569, 0, 0, 1.896, [SEP] 110, NorthWall, , , , , , , [SEP] 111, EastWall, , , , , , , [SEP] 112, SouthWall, , , , , , , [SEP] 113, WestWall, , , , , , , ", "output": ["STEP 1: Turn around, and to the right to find the microwave. | STEP 2: Pick up the plate from the counter, on the left side of the microwave. | STEP 3: Take a step to the right and face the fridge. | STEP 4: Open the fridge, and place the plate inside. | STEP 5: Take the egg out of the fridge. | STEP 6: Place the egg on the plate inside the fridge. | END"]} +{"id": "trial_T20190907_095133_965547-2", "input": "Put an egg in a pan in the fridge. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.908, 0.5, 0, 0, 0, [SEP] 1, SprayBottle, -0.754, 1.655, -0.847, 0, 270, 0, 62 [SEP] 2, Potato, -1.475, 0.793, 2.830, 0, 0, 0, 58 [SEP] 3, Potato, -1.361, 1.060, 0.098, 0, 90, 0, 103 [SEP] 4, CellPhone, 1.523, 0.909, 0.706, 0, 0, 0, 77 [SEP] 5, CellPhone, 1.286, 0.909, -0.428, 0, 0, 0, 77 [SEP] 6, Glassbottle, -1.325, 2.154, 0.538, 0, 0, 0, 76 [SEP] 7, Glassbottle, 0.103, 0.759, -0.533, 0, 0, 0, 104 [SEP] 8, WineBottle, -0.919, 0.749, 2.644, 0, 0, 0, 58 [SEP] 9, WineBottle, -1.099, 0.342, 1.197, 0, 90, 0, 97 [SEP] 10, Kettle, 1.128, 0.912, 0.422, 0, 0, 0, 77 [SEP] 11, Fork, -1.060, 0.912, -0.817, 0, 90, 0, 83 [SEP] 12, Spatula, -1.135, 0.927, -0.732, 0, 270, 0, 83 [SEP] 13, Spatula, 1.117, 0.901, 2.369, 0, 180, 0, 109 [SEP] 14, Pot, 0.502, 0.939, -0.740, 0, 90, 0, 84 [SEP] 15, Egg, -1.378, 1.322, 0.987, 0, 90, 0, 97 [SEP] 16, Egg, -0.919, 0.783, 3.015, 0, 0, 0, 58 [SEP] 17, Egg, 1.367, 0.920, 2.584, 0, 0, 0, 109 [SEP] 18, Tomato, 1.049, 0.961, -0.144, 0, 0, 0, 77 [SEP] 19, Tomato, -1.194, 0.391, 0.988, 0, 90, 0, 97 [SEP] 20, SoapBottle, 0.951, 0.887, 2.261, 0, 0, 0, 109 [SEP] 21, SoapBottle, 1.450, 0.887, 2.584, 0, 90, 0, 109 [SEP] 22, Bowl, 1.286, 0.909, 0.139, 0, 0, 0, 77 [SEP] 23, Bowl, -1.012, 0.748, 2.273, 0, 0, 0, 58 [SEP] 24, Lettuce, 1.284, 0.957, 2.369, 0, 0, 0, 109 [SEP] 25, Lettuce, -1.105, 0.820, 2.644, 0, 0, 0, 58 [SEP] 26, SaltShaker, -0.211, 0.112, -0.577, 0, 0, 0, 83 [SEP] 27, SaltShaker, -1.475, 0.745, 2.459, 0, 0, 0, 58 [SEP] 28, PepperShaker, -1.325, 2.149, 1.037, 0, 0, 0, 76 [SEP] 29, PepperShaker, -1.012, 0.745, 2.459, 0, 0, 0, 58 [SEP] 30, Mug, -1.206, 1.416, 0.778, 0, 90, 0, 97 [SEP] 31, Apple, 0.951, 0.946, 2.153, 0, 0, 0, 109 [SEP] 32, Bread, 1.069, 0.935, 2.683, 0, 0, 0, 109 [SEP] 33, Glassbottle, -1.197, 0.749, 1.902, 0, 0, 0, 58 [SEP] 34, Fork, -1.197, 0.749, 3.015, 0, 0, 0, 58 [SEP] 35, Kettle, -1.357, 0.739, 3.024, 0, 240.000, 0, 58 [SEP] 36, Tomato, -1.263, 0.800, 0.883, 0, 90, 0, 97 [SEP] 37, Plate, 1.131, 0.116, 0.732, 0, 0, 0, 74 [SEP] 38, CellPhone, 1.155, 0.774, 1.114, 0, 0, 0, 87 [SEP] 39, Lettuce, 1.049, 0.982, 0.139, 0, 0, 0, 77 [SEP] 40, Pot, 0.802, 0.939, -0.740, 0, 90, 0, 86 [SEP] 41, SoapBottle, 1.293, 1.657, -0.453, 0, 0, 0, 59 [SEP] 42, WineBottle, -1.475, 0.750, 1.902, 0, 0, 0, 58 [SEP] 43, Spatula, 1.444, 0.926, -0.428, 0, 90, 0, 77 [SEP] 44, Bowl, -0.082, 0.756, -0.612, 0, 0, 0, 104 [SEP] 45, Apple, -1.378, 0.811, 0.673, 0, 90, 0, 97 [SEP] 46, Cup, 0.103, 0.757, -0.691, 0, 0, 0, 104 [SEP] 47, Knife, -1.012, 0.771, 2.830, 0, 90, 0, 58 [SEP] 48, Egg, -1.130, 0.375, 0.883, 0, 90, 0, 97 [SEP] 49, SaltShaker, -1.325, 1.652, 0.108, 0, 0, 0, 66 [SEP] 50, PepperShaker, 1.450, 0.882, 2.692, 0, 0, 0, 109 [SEP] 51, Potato, -1.378, 1.681, 0.883, 0, 90, 0, 97 [SEP] 52, ButterKnife, -1.105, 0.749, 2.830, 0, 0, 0, 58 [SEP] 53, DishSponge, -1.383, 0.748, 2.644, 0, 0, 0, 58 [SEP] 54, Pan, -1.332, 0.9, -0.699, 0, 345.0, 0, 83 [SEP] 55, Spoon, 0.238, 0.913, -0.359, 0, 0, 0, 83 [SEP] 56, SprayBottle, 1.523, 0.910, 0.422, 0, 0, 0, 77 [SEP] 57, Mug, -1.427, 1.010, -0.057, 0, 180, 0, 103 [SEP] 58, DiningTable, -1.182, 0.006, 2.414, 0, 90, 0, [SEP] 59, Cabinet, 1.184, 2.059, 0.375, 0, 0, 0, [SEP] 60, Cabinet, 1.184, 2.059, -0.635, 0, 0, 0, [SEP] 61, Cabinet, 0.591, 2.309, -0.645, 0, 0, 0, [SEP] 62, Cabinet, -0.574, 2.059, -0.644, 0, 0, 0, [SEP] 63, Cabinet, -1.103, 2.059, -0.644, 0, 0, 0, [SEP] 64, Cabinet, -1.185, 2.059, -0.331, 0, 0, 0, [SEP] 65, Cabinet, -1.185, 2.059, -0.281, 0, 0, 0, [SEP] 66, Cabinet, -1.185, 2.059, 0.375, 0, 0, 0, [SEP] 67, Cabinet, 1.184, 2.309, 1.174, 0, 0, 0, [SEP] 68, Cabinet, 1.184, 2.309, 0.424, 0, 0, 0, [SEP] 69, Cabinet, 0.988, 0.402, 0.581, 0, 0, 0, [SEP] 70, Cabinet, 0.988, 0.402, 0.531, 0, 0, 0, [SEP] 71, Cabinet, 0.988, 0.402, -0.178, 0, 0, 0, [SEP] 72, Cabinet, 0.335, 0.402, -0.348, 0, 0, 0, [SEP] 73, Cabinet, -0.374, 0.402, -0.348, 0, 0, 0, [SEP] 74, Cabinet, 0.988, 0.402, 1.231, 0, 0, 0, [SEP] 75, Cabinet, -1.185, 2.309, 1.374, 0, 0, 0, [SEP] 76, Cabinet, -1.185, 2.309, 0.424, 0, 0, 0, [SEP] 77, CounterTop, 1.274, 0.947, 0.064, 0, 0, 0, [SEP] 78, Drawer, 1.116, 0.792, -0.015, 0, 0, 0, [SEP] 79, Drawer, -1.116, 0.792, 0.210, 0, 180, 0, [SEP] 80, Cabinet, -0.990, 0.402, 0.374, 0, 180, 0, [SEP] 81, Drawer, -1.116, 0.792, -0.170, 0, 180, 0, [SEP] 82, Cabinet, -0.990, 0.402, -0.335, 0, 180, 0, [SEP] 83, CounterTop, -1.001, 0.947, -0.669, 0, 0, 0, [SEP] 84, StoveBurner, 0.502, 0.932, -0.740, 0, 90, 0, [SEP] 85, StoveBurner, 0.801, 0.932, -0.473, 0, 0, 0, [SEP] 86, StoveBurner, 0.801, 0.932, -0.740, 0, 90, 0, [SEP] 87, Drawer, 1.116, 0.792, 1.081, 0, 0, 0, [SEP] 88, Sink, -0.013, 0.912, -0.615, 0, 0, 0, [SEP] 89, Drawer, 1.116, 0.792, 0.732, 0, 0, 0, [SEP] 90, StoveBurner, 0.502, 0.932, -0.469, 0, 0, 0, [SEP] 91, Drawer, 1.116, 0.792, 0.367, 0, 0, 0, [SEP] 92, StoveKnob, 0.550, 1.085, -0.912, 287.970, 180, 0, [SEP] 93, StoveKnob, 0.884, 1.085, -0.912, 287.970, 180, 0, [SEP] 94, StoveKnob, 0.432, 1.085, -0.912, 287.970, 180, 0, [SEP] 95, StoveKnob, 0.777, 1.085, -0.912, 287.970, 180, 0, [SEP] 96, CoffeeMachine, 1.304, 0.900, -0.741, 0, 320.314, 0, [SEP] 97, Fridge, -1.300, 0.008, 0.987, 0, 90, 0, [SEP] 98, GarbageCan, 1.296, -0.024, 1.465, 0, 0, 0, [SEP] 99, Window, -0.012, 1.641, -0.972, 90, 0, 0, [SEP] 100, Window, 1.598, 1.646, 2.489, 90, 270, 0, [SEP] 101, Toaster, 1.356, 0.900, 1.044, 0, 270, 0, [SEP] 102, LightSwitch, 0.118, 1.353, 3.799, 0, 180, 0, [SEP] 103, Microwave, -1.343, 0.900, 0.053, 0, 90, 0, [SEP] 104, SinkBasin, -0.029, 0.748, -0.612, 0, 0, 0, [SEP] 105, Faucet, -0.026, 0.927, -0.808, 0, 0, 0, [SEP] 106, Shelf, -1.182, 0.127, 2.414, 0, 90, 0, [SEP] 107, Stool, 1.140, 0.007, 3.262, 1.206, 20.753, 0, [SEP] 108, Shelf, -1.182, 0.435, 2.414, 0, 90, 0, [SEP] 109, DiningTable, 1.169, 0.014, 2.569, 0, 0, 1.896, [SEP] 110, NorthWall, , , , , , , [SEP] 111, EastWall, , , , , , , [SEP] 112, SouthWall, , , , , , , [SEP] 113, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and stand in front of the microwave. | STEP 2: Pick up the pan to the left of the microwave. | STEP 3: Go to the fridge. | STEP 4: Put the pan in the fridge. | STEP 5: Pick up an egg from the fridge. | STEP 6: Put the egg in the pan. | END"]} +{"id": "trial_T20190907_095133_965547-3", "input": "Put an egg into the cooking pan in the fridge. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.908, 0.5, 0, 0, 0, [SEP] 1, SprayBottle, -0.754, 1.655, -0.847, 0, 270, 0, 62 [SEP] 2, Potato, -1.475, 0.793, 2.830, 0, 0, 0, 58 [SEP] 3, Potato, -1.361, 1.060, 0.098, 0, 90, 0, 103 [SEP] 4, CellPhone, 1.523, 0.909, 0.706, 0, 0, 0, 77 [SEP] 5, CellPhone, 1.286, 0.909, -0.428, 0, 0, 0, 77 [SEP] 6, Glassbottle, -1.325, 2.154, 0.538, 0, 0, 0, 76 [SEP] 7, Glassbottle, 0.103, 0.759, -0.533, 0, 0, 0, 104 [SEP] 8, WineBottle, -0.919, 0.749, 2.644, 0, 0, 0, 58 [SEP] 9, WineBottle, -1.099, 0.342, 1.197, 0, 90, 0, 97 [SEP] 10, Kettle, 1.128, 0.912, 0.422, 0, 0, 0, 77 [SEP] 11, Fork, -1.060, 0.912, -0.817, 0, 90, 0, 83 [SEP] 12, Spatula, -1.135, 0.927, -0.732, 0, 270, 0, 83 [SEP] 13, Spatula, 1.117, 0.901, 2.369, 0, 180, 0, 109 [SEP] 14, Pot, 0.502, 0.939, -0.740, 0, 90, 0, 84 [SEP] 15, Egg, -1.378, 1.322, 0.987, 0, 90, 0, 97 [SEP] 16, Egg, -0.919, 0.783, 3.015, 0, 0, 0, 58 [SEP] 17, Egg, 1.367, 0.920, 2.584, 0, 0, 0, 109 [SEP] 18, Tomato, 1.049, 0.961, -0.144, 0, 0, 0, 77 [SEP] 19, Tomato, -1.194, 0.391, 0.988, 0, 90, 0, 97 [SEP] 20, SoapBottle, 0.951, 0.887, 2.261, 0, 0, 0, 109 [SEP] 21, SoapBottle, 1.450, 0.887, 2.584, 0, 90, 0, 109 [SEP] 22, Bowl, 1.286, 0.909, 0.139, 0, 0, 0, 77 [SEP] 23, Bowl, -1.012, 0.748, 2.273, 0, 0, 0, 58 [SEP] 24, Lettuce, 1.284, 0.957, 2.369, 0, 0, 0, 109 [SEP] 25, Lettuce, -1.105, 0.820, 2.644, 0, 0, 0, 58 [SEP] 26, SaltShaker, -0.211, 0.112, -0.577, 0, 0, 0, 83 [SEP] 27, SaltShaker, -1.475, 0.745, 2.459, 0, 0, 0, 58 [SEP] 28, PepperShaker, -1.325, 2.149, 1.037, 0, 0, 0, 76 [SEP] 29, PepperShaker, -1.012, 0.745, 2.459, 0, 0, 0, 58 [SEP] 30, Mug, -1.206, 1.416, 0.778, 0, 90, 0, 97 [SEP] 31, Apple, 0.951, 0.946, 2.153, 0, 0, 0, 109 [SEP] 32, Bread, 1.069, 0.935, 2.683, 0, 0, 0, 109 [SEP] 33, Glassbottle, -1.197, 0.749, 1.902, 0, 0, 0, 58 [SEP] 34, Fork, -1.197, 0.749, 3.015, 0, 0, 0, 58 [SEP] 35, Kettle, -1.357, 0.739, 3.024, 0, 240.000, 0, 58 [SEP] 36, Tomato, -1.263, 0.800, 0.883, 0, 90, 0, 97 [SEP] 37, Plate, 1.131, 0.116, 0.732, 0, 0, 0, 74 [SEP] 38, CellPhone, 1.155, 0.774, 1.114, 0, 0, 0, 87 [SEP] 39, Lettuce, 1.049, 0.982, 0.139, 0, 0, 0, 77 [SEP] 40, Pot, 0.802, 0.939, -0.740, 0, 90, 0, 86 [SEP] 41, SoapBottle, 1.293, 1.657, -0.453, 0, 0, 0, 59 [SEP] 42, WineBottle, -1.475, 0.750, 1.902, 0, 0, 0, 58 [SEP] 43, Spatula, 1.444, 0.926, -0.428, 0, 90, 0, 77 [SEP] 44, Bowl, -0.082, 0.756, -0.612, 0, 0, 0, 104 [SEP] 45, Apple, -1.378, 0.811, 0.673, 0, 90, 0, 97 [SEP] 46, Cup, 0.103, 0.757, -0.691, 0, 0, 0, 104 [SEP] 47, Knife, -1.012, 0.771, 2.830, 0, 90, 0, 58 [SEP] 48, Egg, -1.130, 0.375, 0.883, 0, 90, 0, 97 [SEP] 49, SaltShaker, -1.325, 1.652, 0.108, 0, 0, 0, 66 [SEP] 50, PepperShaker, 1.450, 0.882, 2.692, 0, 0, 0, 109 [SEP] 51, Potato, -1.378, 1.681, 0.883, 0, 90, 0, 97 [SEP] 52, ButterKnife, -1.105, 0.749, 2.830, 0, 0, 0, 58 [SEP] 53, DishSponge, -1.383, 0.748, 2.644, 0, 0, 0, 58 [SEP] 54, Pan, -1.332, 0.9, -0.699, 0, 345.0, 0, 83 [SEP] 55, Spoon, 0.238, 0.913, -0.359, 0, 0, 0, 83 [SEP] 56, SprayBottle, 1.523, 0.910, 0.422, 0, 0, 0, 77 [SEP] 57, Mug, -1.427, 1.010, -0.057, 0, 180, 0, 103 [SEP] 58, DiningTable, -1.182, 0.006, 2.414, 0, 90, 0, [SEP] 59, Cabinet, 1.184, 2.059, 0.375, 0, 0, 0, [SEP] 60, Cabinet, 1.184, 2.059, -0.635, 0, 0, 0, [SEP] 61, Cabinet, 0.591, 2.309, -0.645, 0, 0, 0, [SEP] 62, Cabinet, -0.574, 2.059, -0.644, 0, 0, 0, [SEP] 63, Cabinet, -1.103, 2.059, -0.644, 0, 0, 0, [SEP] 64, Cabinet, -1.185, 2.059, -0.331, 0, 0, 0, [SEP] 65, Cabinet, -1.185, 2.059, -0.281, 0, 0, 0, [SEP] 66, Cabinet, -1.185, 2.059, 0.375, 0, 0, 0, [SEP] 67, Cabinet, 1.184, 2.309, 1.174, 0, 0, 0, [SEP] 68, Cabinet, 1.184, 2.309, 0.424, 0, 0, 0, [SEP] 69, Cabinet, 0.988, 0.402, 0.581, 0, 0, 0, [SEP] 70, Cabinet, 0.988, 0.402, 0.531, 0, 0, 0, [SEP] 71, Cabinet, 0.988, 0.402, -0.178, 0, 0, 0, [SEP] 72, Cabinet, 0.335, 0.402, -0.348, 0, 0, 0, [SEP] 73, Cabinet, -0.374, 0.402, -0.348, 0, 0, 0, [SEP] 74, Cabinet, 0.988, 0.402, 1.231, 0, 0, 0, [SEP] 75, Cabinet, -1.185, 2.309, 1.374, 0, 0, 0, [SEP] 76, Cabinet, -1.185, 2.309, 0.424, 0, 0, 0, [SEP] 77, CounterTop, 1.274, 0.947, 0.064, 0, 0, 0, [SEP] 78, Drawer, 1.116, 0.792, -0.015, 0, 0, 0, [SEP] 79, Drawer, -1.116, 0.792, 0.210, 0, 180, 0, [SEP] 80, Cabinet, -0.990, 0.402, 0.374, 0, 180, 0, [SEP] 81, Drawer, -1.116, 0.792, -0.170, 0, 180, 0, [SEP] 82, Cabinet, -0.990, 0.402, -0.335, 0, 180, 0, [SEP] 83, CounterTop, -1.001, 0.947, -0.669, 0, 0, 0, [SEP] 84, StoveBurner, 0.502, 0.932, -0.740, 0, 90, 0, [SEP] 85, StoveBurner, 0.801, 0.932, -0.473, 0, 0, 0, [SEP] 86, StoveBurner, 0.801, 0.932, -0.740, 0, 90, 0, [SEP] 87, Drawer, 1.116, 0.792, 1.081, 0, 0, 0, [SEP] 88, Sink, -0.013, 0.912, -0.615, 0, 0, 0, [SEP] 89, Drawer, 1.116, 0.792, 0.732, 0, 0, 0, [SEP] 90, StoveBurner, 0.502, 0.932, -0.469, 0, 0, 0, [SEP] 91, Drawer, 1.116, 0.792, 0.367, 0, 0, 0, [SEP] 92, StoveKnob, 0.550, 1.085, -0.912, 287.970, 180, 0, [SEP] 93, StoveKnob, 0.884, 1.085, -0.912, 287.970, 180, 0, [SEP] 94, StoveKnob, 0.432, 1.085, -0.912, 287.970, 180, 0, [SEP] 95, StoveKnob, 0.777, 1.085, -0.912, 287.970, 180, 0, [SEP] 96, CoffeeMachine, 1.304, 0.900, -0.741, 0, 320.314, 0, [SEP] 97, Fridge, -1.300, 0.008, 0.987, 0, 90, 0, [SEP] 98, GarbageCan, 1.296, -0.024, 1.465, 0, 0, 0, [SEP] 99, Window, -0.012, 1.641, -0.972, 90, 0, 0, [SEP] 100, Window, 1.598, 1.646, 2.489, 90, 270, 0, [SEP] 101, Toaster, 1.356, 0.900, 1.044, 0, 270, 0, [SEP] 102, LightSwitch, 0.118, 1.353, 3.799, 0, 180, 0, [SEP] 103, Microwave, -1.343, 0.900, 0.053, 0, 90, 0, [SEP] 104, SinkBasin, -0.029, 0.748, -0.612, 0, 0, 0, [SEP] 105, Faucet, -0.026, 0.927, -0.808, 0, 0, 0, [SEP] 106, Shelf, -1.182, 0.127, 2.414, 0, 90, 0, [SEP] 107, Stool, 1.140, 0.007, 3.262, 1.206, 20.753, 0, [SEP] 108, Shelf, -1.182, 0.435, 2.414, 0, 90, 0, [SEP] 109, DiningTable, 1.169, 0.014, 2.569, 0, 0, 1.896, [SEP] 110, NorthWall, , , , , , , [SEP] 111, EastWall, , , , , , , [SEP] 112, SouthWall, , , , , , , [SEP] 113, WestWall, , , , , , , ", "output": ["STEP 1: Look down and turn around and go towards the sink and then turn right and walk to the microwave. | STEP 2: Pick up the cooking pan to the left of the microwave. | STEP 3: Turn right and then turn left at the fridge | STEP 4: open the fridge and put the pan inside of it | STEP 5: Pick up the egg from the bottom shelf | STEP 6: Put the egg into the pan in the fridge | END"]} +{"id": "trial_T20190908_173555_697145-0", "input": "Put a chilled head of lettuce in the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -4.25, 0.900, -1.25, 0, 0, 0, [SEP] 1, Glassbottle, -0.382, 0.081, -3.299, 0, 0, 0, 53 [SEP] 2, Glassbottle, -2.096, 0.924, -1.884, 0, 0, 0, 72 [SEP] 3, Pen, -2.666, 0.926, -1.193, 0, 0, 0, 72 [SEP] 4, DishSponge, -2.324, 0.923, -1.423, 0, 0, 0, 72 [SEP] 5, ButterKnife, -2.438, 0.923, -1.654, 0, 0, 0, 72 [SEP] 6, Pot, -1.129, 0.935, -3.498, 0, 0, 0, 45 [SEP] 7, Spatula, -2.438, 0.938, -2.345, 0, 180, 0, 72 [SEP] 8, Fork, -0.600, 0.916, -3.839, 0, 0, 0, 47 [SEP] 9, Cup, -0.457, 0.914, -3.697, 0, 0, 0, 47 [SEP] 10, Egg, -0.508, 0.948, -3.167, 0, 0, 0, 47 [SEP] 11, Tomato, -0.365, 0.979, -3.368, 0, 0, 0, 47 [SEP] 12, Tomato, -2.552, 0.987, -2.115, 0, 0, 0, 72 [SEP] 13, SaltShaker, -0.528, 0.912, -3.909, 0, 0, 0, 47 [SEP] 14, PepperShaker, -0.391, 0.743, -3.267, 0, 0, 0, 58 [SEP] 15, PepperShaker, -2.438, 0.919, -1.423, 0, 0, 0, 72 [SEP] 16, Apple, -0.815, 0.989, -3.485, 0, 0, 0, 47 [SEP] 17, Apple, -1.309, 1.703, -3.837, 0, 0, 0, 60 [SEP] 18, Lettuce, -2.780, 1.016, -0.963, 0, 0, 0, 72 [SEP] 19, Glassbottle, -0.743, 0.916, -3.697, 0, 0, 0, 47 [SEP] 20, Egg, -1.151, 1.663, -3.936, 0, 0, 0, 60 [SEP] 21, Pen, -0.528, 0.918, -3.555, 0, 0, 0, 47 [SEP] 22, Fork, -0.295, 0.788, -1.858, 0, 0, 0, 65 [SEP] 23, SoapBottle, -2.438, 0.922, -1.193, 0, 0, 0, 72 [SEP] 24, Pencil, -2.096, 0.923, -1.423, 0, 0, 0, 72 [SEP] 25, WineBottle, -2.324, 0.924, -1.884, 0, 0, 0, 72 [SEP] 26, Spatula, -0.3, 0.915, -2.544, 0, 22.903, 0, 47 [SEP] 27, Bread, -2.666, 0.976, -2.345, 0, 0, 0, 72 [SEP] 28, Tomato, -2.006, 0.090, -3.763, 0, 0, 0, 63 [SEP] 29, Pan, -2.174, 0.913, -1.099, 0, 0, 0, 72 [SEP] 30, Cup, -0.685, 0.081, -3.545, 0, 0, 0, 53 [SEP] 31, Pot, -1.515, 0.935, -3.497, 0, 0, 0, 44 [SEP] 32, SaltShaker, -0.807, 0.743, -3.497, 0, 0, 0, 46 [SEP] 33, Potato, -2.780, 0.954, -1.654, 0, 0, 0, 72 [SEP] 34, PepperShaker, -0.499, 0.077, -3.205, 0, 0, 0, 53 [SEP] 35, ButterKnife, -0.365, 0.915, -2.764, 0, 90, 0, 47 [SEP] 36, DishSponge, -0.205, 1.970, -1.718, 0, 0, 0, 49 [SEP] 37, Spoon, -0.436, 0.916, -2.764, 0, 0, 0, 47 [SEP] 38, Plate, -2.121, 0.913, -2.422, 0, 0, 0, 72 [SEP] 39, Knife, -0.365, 0.938, -3.570, 0, 270, 0, 47 [SEP] 40, Mug, -0.351, 0.962, -3.144, 0, 270, 0, 61 [SEP] 41, Bowl, -2.666, 0.922, -1.423, 0, 0, 0, 72 [SEP] 42, Cabinet, -0.582, 0.388, -1.804, 0, 0, 0, [SEP] 43, StoveBurner, -1.515, 0.928, -3.752, 0, 90, 0, [SEP] 44, StoveBurner, -1.515, 0.928, -3.497, 0, 0, 0, [SEP] 45, StoveBurner, -1.129, 0.928, -3.498, 0, 0, 0, [SEP] 46, Drawer, -0.749, 0.779, -3.551, 0, 0, 0, [SEP] 47, CounterTop, -0.303, 0.951, -2.793, 0, 0, 0, [SEP] 48, Cabinet, -0.883, 2.140, -3.687, 0, 0, 0, [SEP] 49, Cabinet, -0.312, 2.140, -1.543, 0, 0, 0, [SEP] 50, Sink, -0.349, 0.907, -2.014, 0, 0, 0, [SEP] 51, Cabinet, -0.877, 0.388, -3.422, 0, 0, 0, [SEP] 52, Cabinet, -0.582, 0.388, -2.197, 0, 0, 0, [SEP] 53, Cabinet, -0.584, 0.388, -3.396, 0, 0, 0, [SEP] 54, Cabinet, -0.312, 2.140, -2.481, 0, 0, 0, [SEP] 55, Cabinet, -0.330, 1.921, -3.390, 0, 0, 0, [SEP] 56, Cabinet, -1.764, 2.140, -3.687, 0, 0, 0, [SEP] 57, StoveBurner, -1.129, 0.928, -3.752, 0, 90, 0, [SEP] 58, Drawer, -0.454, 0.779, -3.268, 0, 0, 0, [SEP] 59, Cabinet, -0.302, 1.916, -2.501, 0, 0, 0, [SEP] 60, Microwave, -1.317, 1.517, -3.801, 0, 1.440, 0, [SEP] 61, CoffeeMachine, -0.153, 0.903, -3.144, 0, 270, 0, [SEP] 62, LightSwitch, -4.323, 1.319, 0.0, 0, 180, 0, [SEP] 63, GarbageCan, -1.943, -7.152, -3.763, 0, 0, 0, [SEP] 64, Fridge, -0.330, 0.0, -0.769, 0, 270, 0, [SEP] 65, SinkBasin, -0.350, 0.786, -2.018, 0, 270, 0, [SEP] 66, StoveKnob, -1.582, 1.082, -3.958, 72.287, 0, 0, [SEP] 67, StoveKnob, -1.177, 1.082, -3.958, 72.287, 0, 0, [SEP] 68, StoveKnob, -1.424, 1.082, -3.958, 72.287, 0, 0, [SEP] 69, StoveKnob, -1.028, 1.082, -3.958, 72.287, 0, 0, [SEP] 70, Toaster, -0.181, 0.903, -2.764, 0, 270, 0, [SEP] 71, Window, -2.503, 1.782, -4.185, 90, 180, 0, [SEP] 72, DiningTable, -2.432, 0.000, -1.694, 0, 270, 0, [SEP] 73, Shelf, -2.432, 0.150, -1.694, 0, 270, 0, [SEP] 74, Blinds, -2.536, 2.699, -3.959, 0, 0, 0, [SEP] 75, Faucet, -0.079, 0.904, -2.034, 270, 180, 0, [SEP] 76, Chair, -3.264, 0.002, -2.094, 0, 53.280, 0, [SEP] 77, Chair, -3.240, 0.002, -1.253, 0, 117.257, 0, [SEP] 78, Shelf, -2.432, 0.523, -1.694, 0, 270, 0, [SEP] 79, NorthWall, , , , , , , [SEP] 80, EastWall, , , , , , , [SEP] 81, SouthWall, , , , , , , [SEP] 82, WestWall, , , , , , , ", "output": ["STEP 1: Walk over to the wall, then turn right and walk over to the end of the kitchen island. | STEP 2: Pick up the head of lettuce off of the island. | STEP 3: Turn left and walk over to the fridge. | STEP 4: Open the fridge door and put the head of lettuce inside then close the door, after a couple seconds open the fridge back up and take out the now chilled head of lettuce, then close the fridge. | STEP 5: Turn right and walk forward, then turn left to face the sink. | STEP 6: Put the chilled head of lettuce on top of the fork in the sink basin. | END"]} +{"id": "trial_T20190909_043449_781045-0", "input": "To wash a slice of lettuce and place it in the fridge. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.900, -0.25, 0, 270, 0, [SEP] 1, Potato, -0.598, 0.933, -1.119, 0, 47.530, 0, 71 [SEP] 2, DishSponge, -2.848, 1.794, -0.696, 0, 0, 0, 42 [SEP] 3, Kettle, -2.622, 0.928, -0.396, 0, 0, 0, 65 [SEP] 4, Spoon, -2.671, 0.747, -0.027, 0, 90, 0, 69 [SEP] 5, Fork, -0.021, 1.112, 1.910, 0, 315, 0, 64 [SEP] 6, Spatula, -2.521, 0.926, 0.190, 0, 90, 0, 63 [SEP] 7, Plate, -0.443, 1.664, -1.322, 0, 0, 0, 59 [SEP] 8, Plate, -2.774, 2.045, 0.861, 0, 0, 0, 61 [SEP] 9, Knife, 0.221, 1.134, 1.499, 0, 45, 0, 64 [SEP] 10, Knife, 0.413, 1.134, 0.998, 0, 45, 0, 64 [SEP] 11, SoapBottle, -2.728, 0.038, 1.431, 0, 0, 0, 82 [SEP] 12, SoapBottle, -2.884, 1.666, -0.099, 0, 0, 0, 57 [SEP] 13, Bowl, -2.680, 1.672, 0.690, 0, 90, 0, 83 [SEP] 14, Bowl, -2.860, 1.672, 1.013, 0, 90, 0, 83 [SEP] 15, SaltShaker, 0.759, 1.108, 0.652, 0, 315, 0, 64 [SEP] 16, Bread, -2.800, 0.432, 0.932, 0, 90, 0, 83 [SEP] 17, Bread, -2.800, 0.874, 0.690, 0, 90, 0, 83 [SEP] 18, Mug, 0.398, 1.000, -1.414, 0, 90, 0, 84 [SEP] 19, Apple, -2.800, 0.430, 0.609, 0, 90, 0, 83 [SEP] 20, Pan, -2.59, 0.9, -1.147, 0, 0, 0, 71 [SEP] 21, Apple, 0.765, 0.963, -0.948, 0, 0, 0, 71 [SEP] 22, Fork, 0.254, 0.748, -1.095, 0, 90, 0, 72 [SEP] 23, Kettle, -2.236, 0.912, -1.282, 0, 0, 0, 71 [SEP] 24, CreditCard, 0.997, 0.9, -0.982, 0, 334.941, 0, 71 [SEP] 25, Bread, 0.765, 0.965, -1.282, 0, 0, 0, 71 [SEP] 26, Plate, -0.103, 1.664, -1.322, 0, 0, 0, 58 [SEP] 27, SoapBottle, 0.663, 1.112, 0.902, 0, 315, 0, 64 [SEP] 28, Spatula, 1.317, 1.126, 0.864, 0, 45, 0, 64 [SEP] 29, Lettuce, -2.660, 0.874, 0.983, 31.046, 0, 0, 83 [SEP] 30, SaltShaker, -2.885, 1.791, -0.483, 0, 0, 0, 43 [SEP] 31, Tomato, 0.203, 1.152, 1.056, 0, 0, 0, 64 [SEP] 32, PepperShaker, -2.830, 0.9, -0.112, 0, 0, 0, 63 [SEP] 33, ButterKnife, -2.222, 0.9, -0.997, 0, 323.977, 0, 71 [SEP] 34, Pot, 1.463, 1.100, 0.61, 0, 0, 0, 64 [SEP] 35, DishSponge, -2.060, 1.662, -1.284, 0, 0, 0, 46 [SEP] 36, Egg, 0.136, 1.136, 1.274, 0, 0, 0, 64 [SEP] 37, Spoon, 0.997, 0.912, -1.282, 0, 0, 0, 71 [SEP] 38, Knife, -1.332, 0.872, -1.25, 0, 90, 0, 81 [SEP] 39, Cup, -1.119, 0.841, -1.241, 0, 0, 0, 81 [SEP] 40, Mug, -2.680, 1.668, 1.094, 0, 180, 0, 83 [SEP] 41, Bowl, 0.990, 1.110, 0.883, 0, 315, 0, 64 [SEP] 42, Cabinet, -2.647, 2.075, -0.875, 0, 0, 0, [SEP] 43, Cabinet, -2.647, 2.075, -0.234, 0, 0, 0, [SEP] 44, Cabinet, -0.824, 0.469, -0.907, 0, 0, 0, [SEP] 45, Cabinet, -1.764, 2.009, -1.197, 0, 0, 0, [SEP] 46, Cabinet, -1.834, 2.009, -1.197, 0, 0, 0, [SEP] 47, Cabinet, -1.850, 0.389, -0.897, 0, 0, 0, [SEP] 48, Cabinet, -1.801, 0.469, -0.907, 0, 0, 0, [SEP] 49, Cabinet, 1.115, 2.009, -1.197, 0, 0, 0, [SEP] 50, Cabinet, 0.235, 2.009, -1.197, 0, 0, 0, [SEP] 51, Cabinet, 1.125, 0.470, -0.897, 0, 0, 0, [SEP] 52, Cabinet, -2.387, 0.389, 0.375, 0, 0, 0, [SEP] 53, Cabinet, 0.484, 0.389, -0.897, 0, 0, 0, [SEP] 54, Cabinet, -2.625, 2.009, -1.197, 0, 0, 0, [SEP] 55, Cabinet, -2.647, 2.009, -0.945, 0, 0, 0, [SEP] 56, Cabinet, -2.647, 2.200, 1.664, 0, 0, 0, [SEP] 57, Cabinet, -2.647, 2.009, 0.364, 0, 0, 0, [SEP] 58, Cabinet, 0.164, 2.009, -1.197, 0, 0, 0, [SEP] 59, Cabinet, -0.765, 2.009, -1.197, 0, 0, 0, [SEP] 60, Cabinet, -0.834, 2.009, -1.197, 0, 0, 0, [SEP] 61, Cabinet, -2.647, 2.200, 0.434, 0, 0, 0, [SEP] 62, StoveBurner, -2.622, 0.886, -0.711, 0, 0, 0, [SEP] 63, CounterTop, -2.699, 0.946, 0.106, 0, 0, 0, [SEP] 64, CounterTop, 0.908, 1.147, 0.788, 0, 315, 0, [SEP] 65, StoveBurner, -2.622, 0.886, -0.396, 0, 0, 0, [SEP] 66, Drawer, -2.026, 0.779, -1.082, 0, 0, 0, [SEP] 67, Sink, -1.328, 0.916, -1.225, 0, 0, 0, [SEP] 68, StoveBurner, -2.822, 0.886, -0.711, 0, 0, 0, [SEP] 69, Drawer, -2.572, 0.779, 0.099, 0, 0, 0, [SEP] 70, StoveBurner, -2.822, 0.886, -0.396, 0, 0, 0, [SEP] 71, CounterTop, 0.071, 0.946, -1.199, 0, 0, 0, [SEP] 72, Drawer, 0.254, 0.779, -1.082, 0, 0, 0, [SEP] 73, LightSwitch, -1.167, 1.307, 3.0, 0, 180, 0, [SEP] 74, CoffeeMachine, 1.124, 1.100, 0.312, 0, 227.685, 0, [SEP] 75, StoveKnob, -2.429, 0.863, -0.621, 311.864, 270, 180, [SEP] 76, StoveKnob, -2.429, 0.863, -0.477, 311.864, 270, 180, [SEP] 77, StoveKnob, -2.429, 0.863, -0.782, 311.864, 270, 180, [SEP] 78, StoveKnob, -2.429, 0.863, -0.324, 311.864, 270, 180, [SEP] 79, Window, 0.321, 1.449, 3.088, 90, 0, 0, [SEP] 80, Toaster, -2.823, 0.899, 0.246, 0, 90, 0, [SEP] 81, SinkBasin, -1.344, 0.838, -1.25, 0, 0, 0, [SEP] 82, GarbageCan, -2.757, 1.886, 1.466, 0, 0, 0, [SEP] 83, Fridge, -2.855, 0.0, 0.851, 0, 0, 0, [SEP] 84, Microwave, 0.283, 0.900, -1.331, 0, 0, 0, [SEP] 85, Stool, 1.541, 0.010, 1.328, 0, 45, 0, [SEP] 86, Stool, 0.983, 0.010, 1.793, 0, 47.459, 0, [SEP] 87, Faucet, -1.392, 1.136, -1.399, 0, 270, 0, [SEP] 88, NorthWall, , , , , , , [SEP] 89, EastWall, , , , , , , [SEP] 90, SouthWall, , , , , , , [SEP] 91, WestWall, , , , , , , ", "output": ["STEP 1: Turn left to face the counter. | STEP 2: Pick up the knife on the counter. | STEP 3: Turn around and walk forward and turn left to face the fridge. | STEP 4: Cut the lettuce in the fridge into slices. | STEP 5: Look up to face the fridge. | STEP 6: Place the knife in the fridge. | STEP 7: Look up to face the fridge. | STEP 8: Pick up the slice of lettuce in the fridge. | STEP 9: Turn left and walk forward to face the sink. | STEP 10: Wash the lettuce slice in the sink and remove it. | STEP 11: Turn around and walk to face the fridge. | STEP 12: Place the slice of lettuce in the fridge. | END"]} +{"id": "trial_T20190908_010308_664031-2", "input": "Put two heads of lettuce in the fridge. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.900, -1.0, 0, 0, 0, [SEP] 1, Pan, 1.691, 0.929, -0.335, 0, 0, 0, 52 [SEP] 2, Potato, -2.439, 1.125, -0.696, 0, 90, 0, 76 [SEP] 3, Potato, -2.613, 0.214, -1.123, 0, 90, 0, 76 [SEP] 4, ButterKnife, 1.283, 0.919, -1.169, 0, 225, 0, 58 [SEP] 5, Kettle, -2.564, 1.538, 2.477, 0, 270, 0, 48 [SEP] 6, Cup, -2.638, 1.535, 0.918, 0, 0, 0, 68 [SEP] 7, Plate, -0.341, 0.913, 1.094, 0, 0, 0, 44 [SEP] 8, Plate, -2.372, 0.913, 0.931, 0, 0, 0, 72 [SEP] 9, Knife, -0.341, 0.936, 0.647, 0, 0, 0, 44 [SEP] 10, Knife, -2.196, 0.799, 0.391, 0, 90, 0, 61 [SEP] 11, Tomato, -2.485, 1.131, -1.074, 0, 90, 0, 76 [SEP] 12, Tomato, -2.439, 1.131, -0.507, 0, 90, 0, 76 [SEP] 13, SoapBottle, 1.399, 0.922, -1.123, 0, 135, 0, 58 [SEP] 14, PepperShaker, -0.211, 0.905, 1.317, 0, 0, 0, 44 [SEP] 15, SaltShaker, -2.313, 0.109, 1.216, 0, 0, 0, 50 [SEP] 16, Lettuce, -2.455, 0.994, 1.230, 0, 0, 0, 72 [SEP] 17, Lettuce, -0.471, 0.994, 1.764, 0, 0, 0, 44 [SEP] 18, Lettuce, -2.372, 0.994, 0.631, 0, 0, 0, 72 [SEP] 19, Bread, 0.048, 0.996, 0.647, 0, 0, 0, 44 [SEP] 20, Apple, 1.729, 0.246, 0.651, 0, 0, 0, 83 [SEP] 21, Pan, -2.621, 0.910, 0.031, 0, 270, 0, 72 [SEP] 22, Knife, -2.257, 0.799, 0.952, 0, 270, 0, 49 [SEP] 23, Apple, 1.562, 0.246, 0.651, 0, 0, 0, 83 [SEP] 24, Bowl, 1.697, 1.653, 0.239, 0, 0, 0, 63 [SEP] 25, Fork, -2.379, 0.774, -0.073, 0, 90, 0, 62 [SEP] 26, Bread, -0.081, 0.996, 1.540, 0, 0, 0, 44 [SEP] 27, Plate, -0.341, 0.913, 0.423, 0, 0, 0, 44 [SEP] 28, Egg, 1.256, 0.950, -1.196, 0, 225, 0, 58 [SEP] 29, Kettle, 1.412, 0.929, -0.335, 0, 0, 0, 45 [SEP] 30, Potato, -2.668, 1.051, 2.481, 0, 90, 0, 84 [SEP] 31, SaltShaker, -0.601, 0.905, 0.423, 0, 0, 0, 44 [SEP] 32, Lettuce, -2.455, 0.994, 1.530, 0, 0, 0, 72 [SEP] 33, Cup, -2.393, 1.087, -0.885, 0, 90, 0, 76 [SEP] 34, SoapBottle, 1.771, 1.658, 0.387, 0, 0, 0, 63 [SEP] 35, Spatula, -2.348, 0.788, 1.465, 0, 270, 0, 75 [SEP] 36, PaperTowelRoll, 1.599, 1.015, -0.768, 0, 0, 0, 54 [SEP] 37, ButterKnife, -2.289, 0.910, 1.530, 0, 0, 0, 75 [SEP] 38, PepperShaker, -2.277, 0.109, 1.319, 0, 0, 0, 50 [SEP] 39, DishSponge, -0.730, 0.910, 0.423, 0, 0, 0, 44 [SEP] 40, Pot, -2.311, 0.105, 0.895, 0, 270, 0, 70 [SEP] 41, Spoon, 1.598, 0.912, 0.435, 0, 0, 0, 53 [SEP] 42, Tomato, 1.855, 0.953, 0.406, 0, 0, 0, 53 [SEP] 43, Mug, -2.621, 0.905, 1.530, 0, 0, 0, 72 [SEP] 44, CounterTop, -0.360, 0.946, 1.093, 0, 0, 0, [SEP] 45, StoveBurner, 1.412, 0.923, -0.335, 0, 0, 0, [SEP] 46, StoveKnob, 1.878, 1.093, 0.018, 287.989, 90, 0, [SEP] 47, StoveKnob, 1.878, 1.093, -0.306, 287.989, 90, 0, [SEP] 48, Cabinet, -2.446, 1.948, 2.924, 0, 0, 0, [SEP] 49, Drawer, -2.276, 0.792, 0.902, 0, 0, 0, [SEP] 50, Cabinet, -2.145, 0.402, 1.578, 0, 0, 0, [SEP] 51, Cabinet, 0.149, 2.008, -1.603, 0, 90, 0, [SEP] 52, StoveBurner, 1.691, 0.923, -0.335, 0, 0, 0, [SEP] 53, CounterTop, 1.585, 0.946, 0.405, 0, 0, 0, [SEP] 54, CounterTop, 0.474, 0.946, -1.625, 0, 0, 0, [SEP] 55, StoveBurner, 1.691, 0.923, 0.064, 0, 0, 0, [SEP] 56, Cabinet, -2.446, 1.948, 1.687, 0, 0, 0, [SEP] 57, Cabinet, -2.446, 1.948, 1.640, 0, 0, 0, [SEP] 58, Sink, 1.381, 0.810, -1.271, 0, 225, 0, [SEP] 59, StoveKnob, 1.878, 1.093, 0.150, 287.989, 90, 0, [SEP] 60, Cabinet, -2.145, 0.402, -0.236, 0, 0, 0, [SEP] 61, Drawer, -2.276, 0.792, 0.437, 0, 0, 0, [SEP] 62, Drawer, -2.276, 0.792, -0.027, 0, 0, 0, [SEP] 63, Cabinet, 1.572, 2.008, 0.474, 0, 0, 0, [SEP] 64, Cabinet, 1.572, 2.008, -0.775, 0, 0, 0, [SEP] 65, Cabinet, -2.445, 2.148, -1.275, 0, 0, 0, [SEP] 66, Cabinet, -2.446, 2.148, -0.284, 0, 0, 0, [SEP] 67, Cabinet, -2.446, 1.948, 0.355, 0, 0, 0, [SEP] 68, Cabinet, -2.446, 1.948, 0.405, 0, 0, 0, [SEP] 69, Cabinet, -2.145, 0.402, 0.644, 0, 0, 0, [SEP] 70, Cabinet, -2.145, 0.402, 0.695, 0, 0, 0, [SEP] 71, Cabinet, -2.285, 1.968, -1.325, 0, 180, 0, [SEP] 72, CounterTop, -1.485, 0.946, 1.319, 0, 0, 0, [SEP] 73, StoveBurner, 1.411, 0.923, 0.064, 0, 0, 0, [SEP] 74, StoveKnob, 1.878, 1.093, -0.441, 287.989, 90, 0, [SEP] 75, Drawer, -2.276, 0.792, 1.368, 0, 0, 0, [SEP] 76, Fridge, -2.475, 0.0, -0.782, 0, 90, 0, [SEP] 77, LightSwitch, -0.929, 1.350, -1.950, 0, 0, 0, [SEP] 78, Toaster, -2.564, 0.900, 1.876, 0, 90, 0, [SEP] 79, CoffeeMachine, 0.464, 0.900, -1.810, 0, 0, 0, [SEP] 80, Window, 1.508, 1.534, -1.496, 90, 135, 0, [SEP] 81, Window, 1.973, 1.521, 1.121, 90, 90, 0, [SEP] 82, SinkBasin, 1.149, 0.753, -1.380, 0, 225, 0, [SEP] 83, GarbageCan, 1.646, -0.000, 0.679, 0, 0, 0, [SEP] 84, Microwave, -2.580, 0.900, 2.440, 0, 90, 0, [SEP] 85, Stool, 0.439, 0.010, 0.747, 0, 0, 0, [SEP] 86, Stool, -2.303, 0.010, 1.839, 0, 0, 0, [SEP] 87, Faucet, 1.235, 1.138, -1.473, 0, 225, 0, [SEP] 88, NorthWall, , , , , , , [SEP] 89, EastWall, , , , , , , [SEP] 90, SouthWall, , , , , , , [SEP] 91, WestWall, , , , , , , ", "output": ["STEP 1: move to the counter to the right of the fridge | STEP 2: pick up lettuce from the counter | STEP 3: move to the fridge to the left of you | STEP 4: put the lettuce in the fridge | STEP 5: move to the counter to the right of the fridge | STEP 6: pick up lettuce from the counter | STEP 7: move to the fridge to the left of you | STEP 8: put the lettuce in the fridge | END"]} +{"id": "trial_T20190907_052121_376681-0", "input": "Put the urn and vase on the table by the chair. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 2.25, 0.900, -1.0, 0, 0, 0, [SEP] 1, Bowl, -1.583, 0.972, -0.742, 0, 0, 0, 44 [SEP] 2, Statue, -1.509, 0.980, 0.062, 0, 90, 0, 44 [SEP] 3, CD, -1.436, 0.971, -0.339, 0, 0, 0, 44 [SEP] 4, CellPhone, -1.657, 0.972, 0.464, 0, 0, 0, 44 [SEP] 5, CellPhone, 2.592, 0.433, 1.584, 0, 90, 0, 60 [SEP] 6, CreditCard, -1.607, 0.036, -0.723, 0, 0, 0, 52 [SEP] 7, Book, -1.804, 0.971, 0.062, 0, 0, 0, 44 [SEP] 8, AlarmClock, -1.583, 0.970, 0.263, 0, 0, 0, 44 [SEP] 9, Laptop, 1.743, 0.773, -0.106, 0, 0, 0, 26 [SEP] 10, Book, -1.664, 0.604, -0.721, 0, 0, 0, 50 [SEP] 11, KeyChain, -1.509, 0.972, -0.339, 0, 0, 0, 44 [SEP] 12, AlarmClock, -1.583, 0.970, -0.138, 0, 0, 0, 44 [SEP] 13, Pillow, 1.413, 0.794, -1.505, 0, 0, 0, 26 [SEP] 14, Pillow, 0.652, 0.794, -1.531, 0, 0, 0, 26 [SEP] 15, Vase, -1.668, 1.147, -1.959, 0, 90, 0, 39 [SEP] 16, Laptop, 0.778, 0.773, -0.990, 0, 0, 0, 26 [SEP] 17, Vase, -1.650, 1.626, -2.316, 0, 0, 0, 38 [SEP] 18, Pencil, -1.878, 0.976, -0.138, 0, 90, 0, 44 [SEP] 19, CreditCard, -1.730, 1.146, -2.187, 0, 90, 0, 39 [SEP] 20, Boots, -1.842, 0.000, -1.077, 0, 135, 0, [SEP] 21, Pen, -1.605, 1.643, -2.187, 0, 90, 0, 38 [SEP] 22, CellPhone, 1.02, 0.775, -0.106, 0, 0, 0, 26 [SEP] 23, CD, 1.576, 0.082, 2.153, 0, 0, 0, 55 [SEP] 24, Bowl, -1.699, 1.637, -2.073, 0, 90, 0, 38 [SEP] 25, Statue, -1.764, 0.965, -0.758, 0, 59.718, 0, 44 [SEP] 26, Bed, 1.017, 0.003, -0.686, 0, 180, 0, [SEP] 27, HousePlant, -1.749, 0.971, 0.463, 0, 0, 0, [SEP] 28, GarbageCan, -1.665, -0.000, 0.953, 0, 45, 0, [SEP] 29, Painting, 0.381, 1.976, -1.895, 90, 0, 0, [SEP] 30, Painting, 0.879, 1.976, -1.895, 90, 0, 0, [SEP] 31, Painting, 1.373, 1.976, -1.895, 90, 0, 0, [SEP] 32, LightSwitch, -0.164, 1.085, 2.450, 0, 180, 0, [SEP] 33, Mirror, -1.950, 1.735, -0.206, 0, 270, 0, [SEP] 34, Window, -1.098, 1.570, -3.230, 90, 0, 0, [SEP] 35, DeskLamp, 1.404, 0.668, 2.209, 0, 0, 0, [SEP] 36, DeskLamp, 2.596, 0.668, -1.710, 0, 0, 0, [SEP] 37, Blinds, -1.062, 2.361, -3.173, 0, 0, 0, [SEP] 38, Shelf, -1.675, 1.871, -2.053, 0, 90, 0, [SEP] 39, Shelf, -1.675, 1.383, -2.053, 0, 90, 0, [SEP] 40, Drawer, -1.715, 0.832, -2.053, 0, 90, 0, [SEP] 41, ShelvingUnit, -1.723, 0.007, -2.053, 0, 90, 0, [SEP] 42, Drawer, -1.713, 0.339, -2.053, 0, 90, 0, [SEP] 43, Drawer, -1.629, 0.104, 0.243, 0, 90, 0, [SEP] 44, Dresser, -1.674, 0.000, -0.153, 0, 90, 0, [SEP] 45, Drawer, -1.630, 0.868, -0.550, 0, 90, 0, [SEP] 46, Drawer, -1.630, 0.680, 0.243, 0, 90, 0, [SEP] 47, Drawer, -1.629, 0.104, -0.550, 0, 90, 0, [SEP] 48, Drawer, -1.630, 0.680, -0.550, 0, 90, 0, [SEP] 49, Drawer, -1.630, 0.868, 0.243, 0, 90, 0, [SEP] 50, Drawer, -1.629, 0.486, -0.550, 0, 90, 0, [SEP] 51, Drawer, -1.629, 0.291, 0.243, 0, 90, 0, [SEP] 52, Drawer, -1.629, 0.291, -0.550, 0, 90, 0, [SEP] 53, Drawer, -1.630, 0.486, 0.243, 0, 90, 0, [SEP] 54, SideTable, 1.576, -0.001, 2.137, 0, 180, 0, [SEP] 55, Drawer, 1.576, 0.163, 2.070, 0, 180, 0, [SEP] 56, Drawer, 1.576, 0.455, 2.070, 0, 180, 0, [SEP] 57, SideTable, 2.437, -0.001, -1.603, 0, 0, 0, [SEP] 58, Drawer, 2.438, 0.163, -1.536, 0, 0, 0, [SEP] 59, Drawer, 2.438, 0.455, -1.536, 0, 0, 0, [SEP] 60, ArmChair, 2.393, -0.001, 1.943, 0, 180, 0, [SEP] 61, NorthWall, , , , , , , [SEP] 62, EastWall, , , , , , , [SEP] 63, SouthWall, , , , , , , [SEP] 64, WestWall, , , , , , , ", "output": ["STEP 1: Walk around the bed and go to the dresser closest to the window. | STEP 2: Pick up the urn on the shelf. | STEP 3: Turn around and walk to the small table by the chair. | STEP 4: Put the urn down next to the lamp. | STEP 5: Turn around and go back to the dresser by the window. | STEP 6: Pick up the yellow vase. | STEP 7: Turn around and return to the table by the chair. | STEP 8: Put the vase down next to the urn. | END"]} +{"id": "trial_T20190908_120920_075460-0", "input": "Move two pencils from the dresser to the nightstand. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.900, 2.0, 0, 270, 0, [SEP] 1, CD, -1.878, 0.971, 0.464, 0, 0, 0, 46 [SEP] 2, CD, 1.808, 0.680, 2.172, 0, 0, 0, 56 [SEP] 3, CellPhone, -1.720, 0.664, -2.177, 0, 0, 0, 42 [SEP] 4, CellPhone, -1.663, 0.800, -0.629, 0, 0, 0, 47 [SEP] 5, Pen, -1.657, 0.976, -0.339, 0, 0, 0, 46 [SEP] 6, Pencil, -1.730, 1.151, -2.073, 0, 90, 0, 41 [SEP] 7, Pencil, -1.636, 1.151, -1.959, 0, 90, 0, 41 [SEP] 8, KeyChain, 1.808, 0.682, 2.308, 0, 0, 0, 56 [SEP] 9, KeyChain, -1.636, 1.639, -1.959, 0, 90, 0, 40 [SEP] 10, AlarmClock, 1.653, 0.680, 2.308, 0, 0, 0, 56 [SEP] 11, AlarmClock, 1.576, 0.680, 2.082, 0, 0, 0, 56 [SEP] 12, Book, -1.509, 0.971, -0.742, 0, 0, 0, 46 [SEP] 13, KeyChain, -1.608, 0.606, -0.443, 0, 0, 0, 50 [SEP] 14, AlarmClock, -1.699, 1.637, -2.073, 0, 90, 0, 40 [SEP] 15, Pillow, 1.413, 0.794, -1.505, 0, 0, 0, 28 [SEP] 16, Pillow, 1.502, 0.836, 0.188, 0, 0, 0, 28 [SEP] 17, Vase, -1.668, 1.147, -2.415, 0, 90, 0, 41 [SEP] 18, Laptop, 1.02, 0.773, -0.990, 0, 0, 0, 28 [SEP] 19, Vase, -1.650, 1.626, -2.316, 0, 0, 0, 40 [SEP] 20, Pencil, -1.668, 1.643, -2.187, 0, 90, 0, 40 [SEP] 21, CreditCard, 2.133, 0.437, 1.929, 0, 90, 0, 62 [SEP] 22, Boots, -1.842, 0.000, -1.077, 0, 135, 0, [SEP] 23, Pen, -1.509, 0.977, -0.339, 0, 0, 0, 46 [SEP] 24, CellPhone, -1.552, 0.217, -0.257, 0, 0, 0, 54 [SEP] 25, CD, 2.689, 0.439, 1.837, 0, 90, 0, 62 [SEP] 26, Bowl, -1.509, 0.970, -0.138, 0, 0, 0, 46 [SEP] 27, Statue, 2.360, 0.691, -1.717, 0, 0, 0, 59 [SEP] 28, Bed, 1.017, 0.003, -0.686, 0, 180, 0, [SEP] 29, HousePlant, -1.749, 0.971, 0.463, 0, 0, 0, [SEP] 30, GarbageCan, -1.665, -0.000, 0.953, 0, 45, 0, [SEP] 31, Painting, 0.381, 1.976, -1.895, 90, 0, 0, [SEP] 32, Painting, 0.879, 1.976, -1.895, 90, 0, 0, [SEP] 33, Painting, 1.373, 1.976, -1.895, 90, 0, 0, [SEP] 34, LightSwitch, -0.164, 1.085, 2.450, 0, 180, 0, [SEP] 35, Mirror, -1.950, 1.735, -0.206, 0, 270, 0, [SEP] 36, Window, -1.098, 1.570, -3.230, 90, 0, 0, [SEP] 37, DeskLamp, 1.404, 0.668, 2.209, 0, 0, 0, [SEP] 38, DeskLamp, 2.596, 0.668, -1.710, 0, 0, 0, [SEP] 39, Blinds, -1.062, 2.361, -3.173, 0, 0, 0, [SEP] 40, Shelf, -1.675, 1.871, -2.053, 0, 90, 0, [SEP] 41, Shelf, -1.675, 1.383, -2.053, 0, 90, 0, [SEP] 42, Drawer, -1.715, 0.832, -2.053, 0, 90, 0, [SEP] 43, ShelvingUnit, -1.723, 0.007, -2.053, 0, 90, 0, [SEP] 44, Drawer, -1.713, 0.339, -2.053, 0, 90, 0, [SEP] 45, Drawer, -1.629, 0.104, 0.243, 0, 90, 0, [SEP] 46, Dresser, -1.674, 0.000, -0.153, 0, 90, 0, [SEP] 47, Drawer, -1.630, 0.868, -0.550, 0, 90, 0, [SEP] 48, Drawer, -1.630, 0.680, 0.243, 0, 90, 0, [SEP] 49, Drawer, -1.629, 0.104, -0.550, 0, 90, 0, [SEP] 50, Drawer, -1.630, 0.680, -0.550, 0, 90, 0, [SEP] 51, Drawer, -1.630, 0.868, 0.243, 0, 90, 0, [SEP] 52, Drawer, -1.629, 0.486, -0.550, 0, 90, 0, [SEP] 53, Drawer, -1.629, 0.291, 0.243, 0, 90, 0, [SEP] 54, Drawer, -1.629, 0.291, -0.550, 0, 90, 0, [SEP] 55, Drawer, -1.630, 0.486, 0.243, 0, 90, 0, [SEP] 56, SideTable, 1.576, -0.001, 2.137, 0, 180, 0, [SEP] 57, Drawer, 1.576, 0.163, 2.070, 0, 180, 0, [SEP] 58, Drawer, 1.576, 0.455, 2.070, 0, 180, 0, [SEP] 59, SideTable, 2.437, -0.001, -1.603, 0, 0, 0, [SEP] 60, Drawer, 2.438, 0.163, -1.536, 0, 0, 0, [SEP] 61, Drawer, 2.438, 0.455, -1.536, 0, 0, 0, [SEP] 62, ArmChair, 2.393, -0.001, 1.943, 0, 180, 0, [SEP] 63, NorthWall, , , , , , , [SEP] 64, EastWall, , , , , , , [SEP] 65, SouthWall, , , , , , , [SEP] 66, WestWall, , , , , , , ", "output": ["STEP 1: Turn and go to the dresser. | STEP 2: Pick up a pencil on the dresser. | STEP 3: Turn and go to the nightstand by the bed. | STEP 4: Put the pencil on the nightstand by the bed. | STEP 5: Turn and go to the dresser. | STEP 6: Pick up a pencil on the dresser. | STEP 7: Turn and go to the nightstand by the bed. | STEP 8: Put the pencil on the nightstand by the bed. | END"]} +{"id": "trial_T20190908_120920_075460-2", "input": "To move two pens to the night stand. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.900, 2.0, 0, 270, 0, [SEP] 1, CD, -1.878, 0.971, 0.464, 0, 0, 0, 46 [SEP] 2, CD, 1.808, 0.680, 2.172, 0, 0, 0, 56 [SEP] 3, CellPhone, -1.720, 0.664, -2.177, 0, 0, 0, 42 [SEP] 4, CellPhone, -1.663, 0.800, -0.629, 0, 0, 0, 47 [SEP] 5, Pen, -1.657, 0.976, -0.339, 0, 0, 0, 46 [SEP] 6, Pencil, -1.730, 1.151, -2.073, 0, 90, 0, 41 [SEP] 7, Pencil, -1.636, 1.151, -1.959, 0, 90, 0, 41 [SEP] 8, KeyChain, 1.808, 0.682, 2.308, 0, 0, 0, 56 [SEP] 9, KeyChain, -1.636, 1.639, -1.959, 0, 90, 0, 40 [SEP] 10, AlarmClock, 1.653, 0.680, 2.308, 0, 0, 0, 56 [SEP] 11, AlarmClock, 1.576, 0.680, 2.082, 0, 0, 0, 56 [SEP] 12, Book, -1.509, 0.971, -0.742, 0, 0, 0, 46 [SEP] 13, KeyChain, -1.608, 0.606, -0.443, 0, 0, 0, 50 [SEP] 14, AlarmClock, -1.699, 1.637, -2.073, 0, 90, 0, 40 [SEP] 15, Pillow, 1.413, 0.794, -1.505, 0, 0, 0, 28 [SEP] 16, Pillow, 1.502, 0.836, 0.188, 0, 0, 0, 28 [SEP] 17, Vase, -1.668, 1.147, -2.415, 0, 90, 0, 41 [SEP] 18, Laptop, 1.02, 0.773, -0.990, 0, 0, 0, 28 [SEP] 19, Vase, -1.650, 1.626, -2.316, 0, 0, 0, 40 [SEP] 20, Pencil, -1.668, 1.643, -2.187, 0, 90, 0, 40 [SEP] 21, CreditCard, 2.133, 0.437, 1.929, 0, 90, 0, 62 [SEP] 22, Boots, -1.842, 0.000, -1.077, 0, 135, 0, [SEP] 23, Pen, -1.509, 0.977, -0.339, 0, 0, 0, 46 [SEP] 24, CellPhone, -1.552, 0.217, -0.257, 0, 0, 0, 54 [SEP] 25, CD, 2.689, 0.439, 1.837, 0, 90, 0, 62 [SEP] 26, Bowl, -1.509, 0.970, -0.138, 0, 0, 0, 46 [SEP] 27, Statue, 2.360, 0.691, -1.717, 0, 0, 0, 59 [SEP] 28, Bed, 1.017, 0.003, -0.686, 0, 180, 0, [SEP] 29, HousePlant, -1.749, 0.971, 0.463, 0, 0, 0, [SEP] 30, GarbageCan, -1.665, -0.000, 0.953, 0, 45, 0, [SEP] 31, Painting, 0.381, 1.976, -1.895, 90, 0, 0, [SEP] 32, Painting, 0.879, 1.976, -1.895, 90, 0, 0, [SEP] 33, Painting, 1.373, 1.976, -1.895, 90, 0, 0, [SEP] 34, LightSwitch, -0.164, 1.085, 2.450, 0, 180, 0, [SEP] 35, Mirror, -1.950, 1.735, -0.206, 0, 270, 0, [SEP] 36, Window, -1.098, 1.570, -3.230, 90, 0, 0, [SEP] 37, DeskLamp, 1.404, 0.668, 2.209, 0, 0, 0, [SEP] 38, DeskLamp, 2.596, 0.668, -1.710, 0, 0, 0, [SEP] 39, Blinds, -1.062, 2.361, -3.173, 0, 0, 0, [SEP] 40, Shelf, -1.675, 1.871, -2.053, 0, 90, 0, [SEP] 41, Shelf, -1.675, 1.383, -2.053, 0, 90, 0, [SEP] 42, Drawer, -1.715, 0.832, -2.053, 0, 90, 0, [SEP] 43, ShelvingUnit, -1.723, 0.007, -2.053, 0, 90, 0, [SEP] 44, Drawer, -1.713, 0.339, -2.053, 0, 90, 0, [SEP] 45, Drawer, -1.629, 0.104, 0.243, 0, 90, 0, [SEP] 46, Dresser, -1.674, 0.000, -0.153, 0, 90, 0, [SEP] 47, Drawer, -1.630, 0.868, -0.550, 0, 90, 0, [SEP] 48, Drawer, -1.630, 0.680, 0.243, 0, 90, 0, [SEP] 49, Drawer, -1.629, 0.104, -0.550, 0, 90, 0, [SEP] 50, Drawer, -1.630, 0.680, -0.550, 0, 90, 0, [SEP] 51, Drawer, -1.630, 0.868, 0.243, 0, 90, 0, [SEP] 52, Drawer, -1.629, 0.486, -0.550, 0, 90, 0, [SEP] 53, Drawer, -1.629, 0.291, 0.243, 0, 90, 0, [SEP] 54, Drawer, -1.629, 0.291, -0.550, 0, 90, 0, [SEP] 55, Drawer, -1.630, 0.486, 0.243, 0, 90, 0, [SEP] 56, SideTable, 1.576, -0.001, 2.137, 0, 180, 0, [SEP] 57, Drawer, 1.576, 0.163, 2.070, 0, 180, 0, [SEP] 58, Drawer, 1.576, 0.455, 2.070, 0, 180, 0, [SEP] 59, SideTable, 2.437, -0.001, -1.603, 0, 0, 0, [SEP] 60, Drawer, 2.438, 0.163, -1.536, 0, 0, 0, [SEP] 61, Drawer, 2.438, 0.455, -1.536, 0, 0, 0, [SEP] 62, ArmChair, 2.393, -0.001, 1.943, 0, 180, 0, [SEP] 63, NorthWall, , , , , , , [SEP] 64, EastWall, , , , , , , [SEP] 65, SouthWall, , , , , , , [SEP] 66, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and walk to the black dresser on the right. | STEP 2: Pick up the pen from the dresser closest to the mirror. | STEP 3: Turn around and walk around the bed to the night stand to the left of the bed. | STEP 4: Put the pen down on the night stand in front of the lamp. | STEP 5: Turn around and walk back to the black dresser. | STEP 6: Pick up the remaining pen from the dresser. | STEP 7: Walk back over to the night stand to the left of the bed. | STEP 8: Put the pen down behind the first pen on the night stand. | END"]} +{"id": "trial_T20190908_133109_236471-1", "input": "Move a toilet paper roll and empty roll to the tank of the toilet. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.901, -1.5, 0, 270, 0, [SEP] 1, SoapBar, -2.613, 0.065, -2.320, 0, 0, 0, 21 [SEP] 2, Candle, -0.037, 1.054, -2.983, 0, 270, 0, 33 [SEP] 3, Candle, -0.160, 1.054, -2.852, 0, 270, 0, 33 [SEP] 4, SprayBottle, -2.796, 0.807, -3.765, 0, 0, 0, 24 [SEP] 5, SoapBottle, -0.160, 1.047, -2.983, 0, 270, 0, 33 [SEP] 6, Candle, -2.443, 0.815, -2.525, 0, 0, 0, 24 [SEP] 7, Cloth, -2.537, 0.066, -2.494, 0, 0, 0, 21 [SEP] 8, HandTowel, -2.962, 1.584, -3.550, 0, 270, 0, 27 [SEP] 9, Plunger, -0.125, 0.000, -3.493, 0, 0, 0, Floor|-00.04| [SEP] 10, SoapBar, -2.708, 0.806, -3.707, 0, 0, 0, 24 [SEP] 11, ToiletPaper, -2.532, 0.803, -2.525, 0, 0, 0, 24 [SEP] 12, ToiletPaper, -2.708, 0.803, -2.263, 0, 0, 0, 24 [SEP] 13, Towel, -1.291, 1.386, -0.63, 0, 270, 0, 25 [SEP] 14, SoapBottle, -2.387, 0.068, -3.139, 0, 0, 0, 17 [SEP] 15, SprayBottle, -2.443, 0.807, -3.765, 0, 0, 0, 24 [SEP] 16, ScrubBrush, -0.325, 0.000, -3.342, 0, 0, 0, Floor|-00.04| [SEP] 17, Cabinet, -2.293, 0.324, -3.254, 0, 0, 0, [SEP] 18, Mirror, -3.0, 1.659, -3.069, 0, 0, 0, [SEP] 19, Sink, -2.661, 0.785, -3.069, 0, 90, 0, [SEP] 20, ShowerGlass, -0.599, 1.097, -1.124, 0, 0, 0, [SEP] 21, Cabinet, -2.299, 0.345, -2.250, 0, 0, 0, [SEP] 22, Cabinet, -2.293, 0.324, -3.814, 0, 0, 0, [SEP] 23, ShowerDoor, -1.179, 1.090, -1.220, 0, 0, 0, [SEP] 24, CounterTop, -2.632, 0.843, -3.040, 0, 0, 0, [SEP] 25, TowelHolder, -1.184, 1.371, -0.629, 0, 270, 0, [SEP] 26, ToiletPaperHanger, 0.0, 0.943, -2.536, 0, 270, 0, [SEP] 27, HandTowelHolder, -3.000, 1.685, -3.550, 0, 0, 0, [SEP] 28, HandTowelHolder, -3.000, 1.685, -2.569, 0, 0, 0, [SEP] 29, Window, -0.567, 1.706, -4.002, 90, 0, 0, [SEP] 30, SinkBasin, -2.669, 0.863, -3.063, 0, 90, 0, [SEP] 31, GarbageCan, -0.459, -0.043, -3.769, 0, 0, 0, [SEP] 32, LightSwitch, -1.945, 1.503, 0.000, 0, 180, 0, [SEP] 33, Toilet, -0.452, 0.000, -3.052, 0, 0, 0, [SEP] 34, Faucet, -3.0, 1.167, -3.073, 0, 180, 0, [SEP] 35, ShowerHead, -0.614, 1.934, -0.013, 0, 0, 0, [SEP] 36, EastWall, , , , , , , [SEP] 37, EastWall, , , , , , , [SEP] 38, SouthWall, , , , , , , ", "output": ["STEP 1: Turn to the left and face the counter on the right. | STEP 2: Pick up the toilet paper from the counter. | STEP 3: Carry the toilet paper and turn around to the toilet. | STEP 4: Place the toilet paper on the tank of the toilet. | STEP 5: Look down and then turn around. Face the sort side of the white counter. | STEP 6: Pick up the empty paper roll from the counter. | STEP 7: Carry the paper roll and turn to the left and then left again back to the toilet. | STEP 8: Place the paper roll on the tank of the toilet. | END"]} +{"id": "trial_T20190909_000817_332107-1", "input": "Examine a bowl using the light of a lamp. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.900, 0.0, 0, 270, 0, [SEP] 1, Mug, 1.310, 1.136, 1.558, 0, 90, 0, 40 [SEP] 2, Mug, 1.278, 1.136, 0.933, 0, 270, 0, 40 [SEP] 3, CD, 1.356, 0.728, 1.727, 0, 0, 0, 43 [SEP] 4, CD, 1.152, 0.728, 0.901, 0, 0, 0, 43 [SEP] 5, CellPhone, 0.579, 0.782, 0.107, 0, 0, 0, 32 [SEP] 6, CellPhone, 0.829, 0.782, 0.107, 0, 0, 0, 32 [SEP] 7, Pen, 0.255, 0.698, -1.572, 0, 0, 0, 45 [SEP] 8, Pencil, 1.310, 1.142, 1.089, 0, 270, 0, 40 [SEP] 9, CreditCard, -0.213, 0.693, -1.616, 0, 0, 0, 45 [SEP] 10, Book, 0.829, 0.780, -1.537, 0, 0, 0, 32 [SEP] 11, Pillow, 1.205, 0.849, 0.107, 0, 0, 0, 32 [SEP] 12, Book, 1.145, 0.721, 1.806, 0, 0, 0, 42 [SEP] 13, Box, -1.233, 0.263, -1.435, 0, 312.675, 0, [SEP] 14, CellPhone, 0.955, 0.782, -0.714, 0, 0, 0, 32 [SEP] 15, BaseballBat, -1.717, 0.708, -0.677, 0, 0, 12.045, [SEP] 16, Bowl, 1.353, 0.721, 0.891, 0, 0, 0, 43 [SEP] 17, BasketBall, -1.64, 0.127, -1.652, 0, 0, 0, [SEP] 18, Laptop, 1.223, 0.721, 1.342, 0, 255.000, 0, 43 [SEP] 19, CreditCard, -0.180, 0.098, -1.687, 0, 0, 0, 46 [SEP] 20, KeyChain, 1.356, 0.729, 1.562, 0, 180, 0, 43 [SEP] 21, AlarmClock, 1.310, 1.139, 1.246, 0, 270, 0, 40 [SEP] 22, Pencil, 1.084, 0.732, 1.066, 0, 0, 0, 43 [SEP] 23, Pillow, 0.829, 0.849, -0.988, 0, 0, 0, 32 [SEP] 24, CD, 1.373, 1.138, 1.089, 0, 270, 0, 40 [SEP] 25, Pen, 1.310, 1.144, 1.402, 0, 270, 0, 40 [SEP] 26, Mug, 0.164, 0.686, -1.805, 0, 348.715, 0, 45 [SEP] 27, Poster, 0.978, 1.970, -1.868, 90, 0, 0, [SEP] 28, Mirror, -0.884, 1.350, 2.086, 0, 0, 0, [SEP] 29, Poster, 1.483, 1.978, -1.210, 90, 270, 0, [SEP] 30, Poster, 1.483, 1.503, -0.128, 90, 270, 0, [SEP] 31, Poster, 1.483, 2.138, -0.128, 90, 270, 0, [SEP] 32, Bed, 0.955, 0.002, -0.722, 0, 0, 0, [SEP] 33, GarbageCan, 1.133, 0.032, 0.581, 0, 0, 0, [SEP] 34, DeskLamp, -0.396, 0.664, -1.666, 0, 315, 0, [SEP] 35, LightSwitch, 0.554, 1.154, 2.079, 0, 180, 0, [SEP] 36, Window, -0.174, 1.006, -2.009, 90, 0, 0, [SEP] 37, LaundryHamper, -1.425, 0.006, 1.676, 0, 149.999, 0, [SEP] 38, Chair, 1.127, -8.434, 1.053, 0, 90, 0, [SEP] 39, Blinds, -0.145, 1.679, -1.986, 0, 0, 0, [SEP] 40, Shelf, 1.316, 1.174, 1.388, 0, 270, 0, [SEP] 41, Drawer, 1.099, 0.167, 1.724, 0, 270, 0, [SEP] 42, Drawer, 1.099, 0.622, 1.724, 0, 270, 0, [SEP] 43, Desk, 1.189, 0.002, 1.384, 0, 270, 0, [SEP] 44, Drawer, 1.099, 0.408, 1.724, 0, 270, 0, [SEP] 45, SideTable, -0.103, -0.000, -1.691, 0, 0, 0, [SEP] 46, Drawer, -0.104, 0.157, -1.618, 0, 0, 0, [SEP] 47, Drawer, -0.104, 0.456, -1.618, 0, 0, 0, [SEP] 48, NorthWall, , , , , , , [SEP] 49, EastWall, , , , , , , [SEP] 50, SouthWall, , , , , , , [SEP] 51, WestWall, , , , , , , ", "output": ["STEP 1: Turn right, walk a few steps, then turn right again and walk up to the desk. | STEP 2: Pick up the bowl that is sitting on the desk. | STEP 3: Turn around completely, walk a few steps forward, then turn left and walk up to the nightstand. | STEP 4: Turn on the lamp that is sitting on the nightstand. | END"]} +{"id": "trial_T20190909_060126_085267-0", "input": "turn on a lamp while holding a pair of keys SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.5, 0.907, 1.25, 0, 180, 0, [SEP] 1, Bowl, -4.842, 0.756, -0.008, 0, 0, 0, 45 [SEP] 2, Newspaper, 0.578, 0.558, 2.153, 0, 0, 0, 36 [SEP] 3, Vase, 0.492, 0.554, 2.454, 0, 0, 0, 36 [SEP] 4, Pencil, 0.664, 0.555, 2.454, 0, 0, 0, 36 [SEP] 5, Pencil, 0.319, 0.555, 2.153, 0, 0, 0, 36 [SEP] 6, Book, -4.295, 0.755, -0.626, 0, 0, 0, 51 [SEP] 7, CellPhone, -1.320, 0.450, 1.849, 0, 0, 0, 52 [SEP] 8, CellPhone, -1.340, 0.881, 0.101, 0, 90, 0, 53 [SEP] 9, RemoteControl, -1.204, 0.452, 2.795, 0, 0, 0, 52 [SEP] 10, Book, -0.970, 0.455, 1.849, 0, 0, 0, 52 [SEP] 11, Box, 0.957, 0.286, 6.189, 0, 327.955, 0, 44 [SEP] 12, Pillow, 0.438, 0.581, 5.162, 321.968, 0, 0, 44 [SEP] 13, Bowl, -3.747, 0.756, -0.379, 0, 0, 0, 51 [SEP] 14, WateringCan, -0.816, 0.005, 0.189, 0, 0, 0, [SEP] 15, TissueBox, 0.233, 0.553, 2.304, 0, 0, 0, 36 [SEP] 16, Newspaper, -1.437, 0.456, 3.031, 0, 0, 0, 52 [SEP] 17, CreditCard, -0.970, 0.453, 3.031, 0, 0, 0, 52 [SEP] 18, KeyChain, 0.386, 0.424, 4.434, 0, 90, 0, 43 [SEP] 19, Boots, -6.309, 0.006, 1.252, 0, 92.842, 0, [SEP] 20, Pencil, -4.842, 0.758, -0.131, 0, 0, 0, 51 [SEP] 21, Laptop, 0.379, 0.541, 2.834, 0, 301.058, 0, 36 [SEP] 22, Vase, -4.295, 0.757, -0.255, 0, 0, 0, 51 [SEP] 23, RemoteControl, 0.585, 0.042, 2.475, 0, 0, 0, 41 [SEP] 24, Watch, -0.936, 0.769, 0.254, 0, 90, 0, 54 [SEP] 25, CellPhone, 0.419, 0.431, 5.171, 0, 0, 0, 44 [SEP] 26, Plate, -4.659, 0.758, -0.626, 0, 0, 0, 49 [SEP] 27, Painting, -6.5, 1.759, -0.341, 0, 0, 0, [SEP] 28, Painting, 0.704, 1.778, 0.782, 0, 0, 0, [SEP] 29, Television, 1.5, 1.690, 2.562, 0, 270, 0, [SEP] 30, FloorLamp, 1.111, 0.007, 6.805, 0, 0, 0, [SEP] 31, GarbageCan, -6.128, -0.003, 2.800, 0, 0, 0, [SEP] 32, LightSwitch, -6.5, 1.498, 1.345, 0, 90, 0, [SEP] 33, HousePlant, -0.753, 0.874, 0.209, 0, 0, 0, [SEP] 34, Window, 1.496, 1.712, 4.454, 90, 90, 0, [SEP] 35, Window, -4.210, 1.577, -1.980, 90, 180, 0, [SEP] 36, CoffeeTable, 0.405, 0.008, 2.605, 0, 270, 0, [SEP] 37, Drawer, 0.597, 0.234, 2.604, 0, 270, 0, [SEP] 38, Drawer, 0.214, 0.393, 2.604, 0, 270, 0, [SEP] 39, Drawer, 0.214, 0.234, 2.609, 0, 270, 0, [SEP] 40, Drawer, 0.214, 0.075, 2.604, 0, 270, 0, [SEP] 41, Drawer, 0.597, 0.075, 2.604, 0, 270, 0, [SEP] 42, Drawer, 0.597, 0.393, 2.604, 0, 270, 0, [SEP] 43, Ottoman, 0.493, 0.006, 4.309, 0, 0, 0, [SEP] 44, ArmChair, 0.420, 0.014, 5.129, 0, 180, 0, [SEP] 45, Chair, -4.664, 0.008, 0.164, 0, 180, 0, [SEP] 46, Chair, -3.424, 0.008, -0.321, 0, 270, 0, [SEP] 47, Chair, -4.988, 0.008, -0.401, 0, 90, 0, [SEP] 48, Chair, -3.904, 0.008, -0.827, 0, 0, 0, [SEP] 49, Chair, -4.570, 0.008, -0.831, 0, 0, 0, [SEP] 50, Chair, -3.996, 0.008, 0.091, 0, 180, 0, [SEP] 51, DiningTable, -4.295, 0.006, -0.378, 0, 0, 0, [SEP] 52, Sofa, -1.527, 0.013, 2.559, 0, 90, 0, [SEP] 53, SideTable, -1.030, 0.006, 0.160, 0, 0, 0, [SEP] 54, Drawer, -1.030, 0.780, 0.225, 0, 0, 0, [SEP] 55, NorthWall, , , , , , , [SEP] 56, EastWall, , , , , , , [SEP] 57, SouthWall, , , , , , , [SEP] 58, WestWall, , , , , , , ", "output": ["STEP 1: turn around and walk over to the foot rest in front of the chair at the near end of the room on the right | STEP 2: grab the keys off of the foot rest | STEP 3: move around the chair in front of you to end up at the other side, but then face the wall with the lamp on it | STEP 4: turn on the lamp there | END"]} +{"id": "trial_T20190909_060126_085267-1", "input": "Examine the keys under the light of the floor lamp SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.5, 0.907, 1.25, 0, 180, 0, [SEP] 1, Bowl, -4.842, 0.756, -0.008, 0, 0, 0, 45 [SEP] 2, Newspaper, 0.578, 0.558, 2.153, 0, 0, 0, 36 [SEP] 3, Vase, 0.492, 0.554, 2.454, 0, 0, 0, 36 [SEP] 4, Pencil, 0.664, 0.555, 2.454, 0, 0, 0, 36 [SEP] 5, Pencil, 0.319, 0.555, 2.153, 0, 0, 0, 36 [SEP] 6, Book, -4.295, 0.755, -0.626, 0, 0, 0, 51 [SEP] 7, CellPhone, -1.320, 0.450, 1.849, 0, 0, 0, 52 [SEP] 8, CellPhone, -1.340, 0.881, 0.101, 0, 90, 0, 53 [SEP] 9, RemoteControl, -1.204, 0.452, 2.795, 0, 0, 0, 52 [SEP] 10, Book, -0.970, 0.455, 1.849, 0, 0, 0, 52 [SEP] 11, Box, 0.957, 0.286, 6.189, 0, 327.955, 0, 44 [SEP] 12, Pillow, 0.438, 0.581, 5.162, 321.968, 0, 0, 44 [SEP] 13, Bowl, -3.747, 0.756, -0.379, 0, 0, 0, 51 [SEP] 14, WateringCan, -0.816, 0.005, 0.189, 0, 0, 0, [SEP] 15, TissueBox, 0.233, 0.553, 2.304, 0, 0, 0, 36 [SEP] 16, Newspaper, -1.437, 0.456, 3.031, 0, 0, 0, 52 [SEP] 17, CreditCard, -0.970, 0.453, 3.031, 0, 0, 0, 52 [SEP] 18, KeyChain, 0.386, 0.424, 4.434, 0, 90, 0, 43 [SEP] 19, Boots, -6.309, 0.006, 1.252, 0, 92.842, 0, [SEP] 20, Pencil, -4.842, 0.758, -0.131, 0, 0, 0, 51 [SEP] 21, Laptop, 0.379, 0.541, 2.834, 0, 301.058, 0, 36 [SEP] 22, Vase, -4.295, 0.757, -0.255, 0, 0, 0, 51 [SEP] 23, RemoteControl, 0.585, 0.042, 2.475, 0, 0, 0, 41 [SEP] 24, Watch, -0.936, 0.769, 0.254, 0, 90, 0, 54 [SEP] 25, CellPhone, 0.419, 0.431, 5.171, 0, 0, 0, 44 [SEP] 26, Plate, -4.659, 0.758, -0.626, 0, 0, 0, 49 [SEP] 27, Painting, -6.5, 1.759, -0.341, 0, 0, 0, [SEP] 28, Painting, 0.704, 1.778, 0.782, 0, 0, 0, [SEP] 29, Television, 1.5, 1.690, 2.562, 0, 270, 0, [SEP] 30, FloorLamp, 1.111, 0.007, 6.805, 0, 0, 0, [SEP] 31, GarbageCan, -6.128, -0.003, 2.800, 0, 0, 0, [SEP] 32, LightSwitch, -6.5, 1.498, 1.345, 0, 90, 0, [SEP] 33, HousePlant, -0.753, 0.874, 0.209, 0, 0, 0, [SEP] 34, Window, 1.496, 1.712, 4.454, 90, 90, 0, [SEP] 35, Window, -4.210, 1.577, -1.980, 90, 180, 0, [SEP] 36, CoffeeTable, 0.405, 0.008, 2.605, 0, 270, 0, [SEP] 37, Drawer, 0.597, 0.234, 2.604, 0, 270, 0, [SEP] 38, Drawer, 0.214, 0.393, 2.604, 0, 270, 0, [SEP] 39, Drawer, 0.214, 0.234, 2.609, 0, 270, 0, [SEP] 40, Drawer, 0.214, 0.075, 2.604, 0, 270, 0, [SEP] 41, Drawer, 0.597, 0.075, 2.604, 0, 270, 0, [SEP] 42, Drawer, 0.597, 0.393, 2.604, 0, 270, 0, [SEP] 43, Ottoman, 0.493, 0.006, 4.309, 0, 0, 0, [SEP] 44, ArmChair, 0.420, 0.014, 5.129, 0, 180, 0, [SEP] 45, Chair, -4.664, 0.008, 0.164, 0, 180, 0, [SEP] 46, Chair, -3.424, 0.008, -0.321, 0, 270, 0, [SEP] 47, Chair, -4.988, 0.008, -0.401, 0, 90, 0, [SEP] 48, Chair, -3.904, 0.008, -0.827, 0, 0, 0, [SEP] 49, Chair, -4.570, 0.008, -0.831, 0, 0, 0, [SEP] 50, Chair, -3.996, 0.008, 0.091, 0, 180, 0, [SEP] 51, DiningTable, -4.295, 0.006, -0.378, 0, 0, 0, [SEP] 52, Sofa, -1.527, 0.013, 2.559, 0, 90, 0, [SEP] 53, SideTable, -1.030, 0.006, 0.160, 0, 0, 0, [SEP] 54, Drawer, -1.030, 0.780, 0.225, 0, 0, 0, [SEP] 55, NorthWall, , , , , , , [SEP] 56, EastWall, , , , , , , [SEP] 57, SouthWall, , , , , , , [SEP] 58, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and walk around the coffee table to the ottoman by the arm chair | STEP 2: Pick up the keys from the ottoman | STEP 3: Turn right and walk around the back of the chair to the floor lamp | STEP 4: Turn on the floor lamp | END"]} +{"id": "trial_T20190907_223417_330211-0", "input": "place a clean egg in the fridge SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.900, 1.5, 0, 0, 0, [SEP] 1, Potato, -2.844, 0.960, 1.178, 0, 90, 0, 58 [SEP] 2, DishSponge, -0.832, 0.710, 0.411, 0, 0, 0, 42 [SEP] 3, DishSponge, -2.881, 1.435, 0.640, 0, 0, 0, 48 [SEP] 4, Spoon, -1.133, 0.699, 0.444, 0, 270, 0, 43 [SEP] 5, Spoon, -2.258, 0.824, 0.129, 0, 0, 0, 39 [SEP] 6, Spatula, -2.608, 0.838, 0.352, 0, 0, 0, 39 [SEP] 7, Plate, -2.648, 0.126, 1.550, 0, 0, 0, 50 [SEP] 8, SoapBottle, -2.358, 1.433, 0.114, 0, 0, 0, 46 [SEP] 9, Bowl, -2.752, 1.431, 0.260, 0, 45, 0, 45 [SEP] 10, Lettuce, -2.837, 1.227, 2.221, 0, 90, 0, 57 [SEP] 11, Apple, -2.744, 0.994, 1.390, 0, 270, 0, 58 [SEP] 12, Fork, -2.664, 0.693, 1.547, 0, 270, 0, 44 [SEP] 13, Ladle, -0.371, 0.738, 0.879, 0, 45, 0, 41 [SEP] 14, Pan, -0.244, 0.829, 1.684, 0, 0, 0, 38 [SEP] 15, SoapBottle, -0.362, 0.054, 2.606, 0, 0, 0, 59 [SEP] 16, Pot, -0.518, 0.829, 2.075, 0, 180, 0, 36 [SEP] 17, Tomato, -2.671, 1.193, 1.957, 0, 90, 0, 57 [SEP] 18, Potato, -2.744, 0.960, 1.125, 0, 0, 0, 58 [SEP] 19, SaltShaker, -1.522, 0.120, 0.401, 0, 0, 0, 52 [SEP] 20, Plate, -2.057, 0.130, 0.440, 0, 0, 0, 51 [SEP] 21, Spatula, -2.504, 0.838, 0.625, 0, 90, 0, 39 [SEP] 22, Knife, -2.581, 0.849, 0.871, 0, 0, 0, 39 [SEP] 23, Egg, -2.504, 0.847, 0.462, 0, 0, 0, 39 [SEP] 24, Cup, -2.781, 1.445, 1.957, 0, 90, 0, 57 [SEP] 25, ButterKnife, -2.493, 0.812, 0.476, 0, 50.734, 0, 39 [SEP] 26, Lettuce, -2.726, 1.529, 2.221, 0, 90, 0, 57 [SEP] 27, PepperShaker, -0.323, 0.818, 1.326, 0, 0, 0, 39 [SEP] 28, DishSponge, -2.501, 1.848, 2.316, 0, 0, 0, 49 [SEP] 29, Bread, -0.979, 0.855, 0.249, 0, 29.999, 0, 39 [SEP] 30, Spoon, -0.400, 0.824, 0.881, 0, 270, 0, 39 [SEP] 31, Mug, -2.840, 0.818, 0.129, 0, 0, 0, 39 [SEP] 32, Bowl, -2.726, 0.821, 2.045, 0, 90, 0, 57 [SEP] 33, Cabinet, -2.377, 2.015, 1.720, 0, 0, 0, [SEP] 34, StoveBurner, -0.244, 0.820, 2.075, 0, 180, 0, [SEP] 35, Drawer, -0.402, 0.703, 1.252, 0, 0, 0, [SEP] 36, StoveBurner, -0.518, 0.820, 2.075, 0, 180, 0, [SEP] 37, Sink, -1.838, 0.726, 0.343, 0, 180, 0, [SEP] 38, StoveBurner, -0.244, 0.820, 1.684, 0, 0, 0, [SEP] 39, CounterTop, -1.557, 0.859, 0.277, 0, 0, 0, [SEP] 40, StoveBurner, -0.518, 0.820, 1.684, 0, 0, 0, [SEP] 41, Drawer, -0.404, 0.704, 0.912, 0, 0, 0, [SEP] 42, Drawer, -0.861, 0.709, 0.420, 0, 0, 0, [SEP] 43, Drawer, -1.133, 0.706, 0.418, 0, 0, 0, [SEP] 44, Drawer, -2.589, 0.703, 1.511, 0, 0, 0, [SEP] 45, Cabinet, -2.772, 1.803, 0.508, 0, 0, 0, [SEP] 46, Cabinet, -2.460, 1.803, 0.231, 0, 0, 0, [SEP] 47, Cabinet, -2.781, 1.798, 0.825, 0, 0, 0, [SEP] 48, Cabinet, -2.781, 1.798, 0.815, 0, 0, 0, [SEP] 49, Cabinet, -2.377, 2.009, 2.581, 0, 0, 0, [SEP] 50, Cabinet, -2.442, 0.385, 1.672, 0, 0, 0, [SEP] 51, Cabinet, -2.238, 0.385, 0.564, 0, 0, 0, [SEP] 52, Cabinet, -1.286, 0.385, 0.564, 0, 0, 0, [SEP] 53, Cabinet, -1.262, 0.385, 0.565, 0, 0, 0, [SEP] 54, Cabinet, -0.734, 0.385, 0.565, 0, 0, 0, [SEP] 55, Cabinet, -0.549, 0.385, 0.751, 0, 0, 0, [SEP] 56, Cabinet, -0.549, 0.385, 1.412, 0, 0, 0, [SEP] 57, Fridge, -2.782, 0.0, 2.221, 0, 0, 0, [SEP] 58, Microwave, -2.794, 0.812, 1.348, 0, 90, 0, [SEP] 59, GarbageCan, -0.329, 2.205, 2.606, 0, 0, 0, [SEP] 60, StoveKnob, -0.069, 0.998, 1.773, 0, 180, 107.470, [SEP] 61, StoveKnob, -0.069, 0.998, 1.613, 0, 180, 107.470, [SEP] 62, StoveKnob, -0.069, 0.998, 2.171, 0, 180, 107.470, [SEP] 63, StoveKnob, -0.069, 0.998, 2.024, 0, 180, 107.470, [SEP] 64, Window, -1.720, 1.342, -0.208, 90, 0, 0, [SEP] 65, Toaster, -0.171, 0.812, 0.735, 0, 270, 0, [SEP] 66, SinkBasin, -1.745, 0.687, 0.295, 0, 0, 0, [SEP] 67, CoffeeMachine, -0.539, 0.812, 0.185, 0, 0, 0, [SEP] 68, LightSwitch, -0.615, 1.378, 3.0, 0, 180, 0, [SEP] 69, Faucet, -1.686, 0.954, 0.176, 0, 236.223, 0, [SEP] 70, Stool, -1.008, 0.008, 1.955, 0, 18.279, 0, [SEP] 71, NorthWall, , , , , , , [SEP] 72, EastWall, , , , , , , [SEP] 73, SouthWall, , , , , , , [SEP] 74, WestWall, , , , , , , ", "output": ["STEP 1: turn around towards the sink | STEP 2: pick up the egg | STEP 3: turn to the sink at the left | STEP 4: wash the egg in the sink | STEP 5: turn around and head to the fridge | STEP 6: place the egg in the fridge | END"]} +{"id": "trial_T20190907_223417_330211-2", "input": "wash the egg in the sink, put the egg in the refrigerator SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.900, 1.5, 0, 0, 0, [SEP] 1, Potato, -2.844, 0.960, 1.178, 0, 90, 0, 58 [SEP] 2, DishSponge, -0.832, 0.710, 0.411, 0, 0, 0, 42 [SEP] 3, DishSponge, -2.881, 1.435, 0.640, 0, 0, 0, 48 [SEP] 4, Spoon, -1.133, 0.699, 0.444, 0, 270, 0, 43 [SEP] 5, Spoon, -2.258, 0.824, 0.129, 0, 0, 0, 39 [SEP] 6, Spatula, -2.608, 0.838, 0.352, 0, 0, 0, 39 [SEP] 7, Plate, -2.648, 0.126, 1.550, 0, 0, 0, 50 [SEP] 8, SoapBottle, -2.358, 1.433, 0.114, 0, 0, 0, 46 [SEP] 9, Bowl, -2.752, 1.431, 0.260, 0, 45, 0, 45 [SEP] 10, Lettuce, -2.837, 1.227, 2.221, 0, 90, 0, 57 [SEP] 11, Apple, -2.744, 0.994, 1.390, 0, 270, 0, 58 [SEP] 12, Fork, -2.664, 0.693, 1.547, 0, 270, 0, 44 [SEP] 13, Ladle, -0.371, 0.738, 0.879, 0, 45, 0, 41 [SEP] 14, Pan, -0.244, 0.829, 1.684, 0, 0, 0, 38 [SEP] 15, SoapBottle, -0.362, 0.054, 2.606, 0, 0, 0, 59 [SEP] 16, Pot, -0.518, 0.829, 2.075, 0, 180, 0, 36 [SEP] 17, Tomato, -2.671, 1.193, 1.957, 0, 90, 0, 57 [SEP] 18, Potato, -2.744, 0.960, 1.125, 0, 0, 0, 58 [SEP] 19, SaltShaker, -1.522, 0.120, 0.401, 0, 0, 0, 52 [SEP] 20, Plate, -2.057, 0.130, 0.440, 0, 0, 0, 51 [SEP] 21, Spatula, -2.504, 0.838, 0.625, 0, 90, 0, 39 [SEP] 22, Knife, -2.581, 0.849, 0.871, 0, 0, 0, 39 [SEP] 23, Egg, -2.504, 0.847, 0.462, 0, 0, 0, 39 [SEP] 24, Cup, -2.781, 1.445, 1.957, 0, 90, 0, 57 [SEP] 25, ButterKnife, -2.493, 0.812, 0.476, 0, 50.734, 0, 39 [SEP] 26, Lettuce, -2.726, 1.529, 2.221, 0, 90, 0, 57 [SEP] 27, PepperShaker, -0.323, 0.818, 1.326, 0, 0, 0, 39 [SEP] 28, DishSponge, -2.501, 1.848, 2.316, 0, 0, 0, 49 [SEP] 29, Bread, -0.979, 0.855, 0.249, 0, 29.999, 0, 39 [SEP] 30, Spoon, -0.400, 0.824, 0.881, 0, 270, 0, 39 [SEP] 31, Mug, -2.840, 0.818, 0.129, 0, 0, 0, 39 [SEP] 32, Bowl, -2.726, 0.821, 2.045, 0, 90, 0, 57 [SEP] 33, Cabinet, -2.377, 2.015, 1.720, 0, 0, 0, [SEP] 34, StoveBurner, -0.244, 0.820, 2.075, 0, 180, 0, [SEP] 35, Drawer, -0.402, 0.703, 1.252, 0, 0, 0, [SEP] 36, StoveBurner, -0.518, 0.820, 2.075, 0, 180, 0, [SEP] 37, Sink, -1.838, 0.726, 0.343, 0, 180, 0, [SEP] 38, StoveBurner, -0.244, 0.820, 1.684, 0, 0, 0, [SEP] 39, CounterTop, -1.557, 0.859, 0.277, 0, 0, 0, [SEP] 40, StoveBurner, -0.518, 0.820, 1.684, 0, 0, 0, [SEP] 41, Drawer, -0.404, 0.704, 0.912, 0, 0, 0, [SEP] 42, Drawer, -0.861, 0.709, 0.420, 0, 0, 0, [SEP] 43, Drawer, -1.133, 0.706, 0.418, 0, 0, 0, [SEP] 44, Drawer, -2.589, 0.703, 1.511, 0, 0, 0, [SEP] 45, Cabinet, -2.772, 1.803, 0.508, 0, 0, 0, [SEP] 46, Cabinet, -2.460, 1.803, 0.231, 0, 0, 0, [SEP] 47, Cabinet, -2.781, 1.798, 0.825, 0, 0, 0, [SEP] 48, Cabinet, -2.781, 1.798, 0.815, 0, 0, 0, [SEP] 49, Cabinet, -2.377, 2.009, 2.581, 0, 0, 0, [SEP] 50, Cabinet, -2.442, 0.385, 1.672, 0, 0, 0, [SEP] 51, Cabinet, -2.238, 0.385, 0.564, 0, 0, 0, [SEP] 52, Cabinet, -1.286, 0.385, 0.564, 0, 0, 0, [SEP] 53, Cabinet, -1.262, 0.385, 0.565, 0, 0, 0, [SEP] 54, Cabinet, -0.734, 0.385, 0.565, 0, 0, 0, [SEP] 55, Cabinet, -0.549, 0.385, 0.751, 0, 0, 0, [SEP] 56, Cabinet, -0.549, 0.385, 1.412, 0, 0, 0, [SEP] 57, Fridge, -2.782, 0.0, 2.221, 0, 0, 0, [SEP] 58, Microwave, -2.794, 0.812, 1.348, 0, 90, 0, [SEP] 59, GarbageCan, -0.329, 2.205, 2.606, 0, 0, 0, [SEP] 60, StoveKnob, -0.069, 0.998, 1.773, 0, 180, 107.470, [SEP] 61, StoveKnob, -0.069, 0.998, 1.613, 0, 180, 107.470, [SEP] 62, StoveKnob, -0.069, 0.998, 2.171, 0, 180, 107.470, [SEP] 63, StoveKnob, -0.069, 0.998, 2.024, 0, 180, 107.470, [SEP] 64, Window, -1.720, 1.342, -0.208, 90, 0, 0, [SEP] 65, Toaster, -0.171, 0.812, 0.735, 0, 270, 0, [SEP] 66, SinkBasin, -1.745, 0.687, 0.295, 0, 0, 0, [SEP] 67, CoffeeMachine, -0.539, 0.812, 0.185, 0, 0, 0, [SEP] 68, LightSwitch, -0.615, 1.378, 3.0, 0, 180, 0, [SEP] 69, Faucet, -1.686, 0.954, 0.176, 0, 236.223, 0, [SEP] 70, Stool, -1.008, 0.008, 1.955, 0, 18.279, 0, [SEP] 71, NorthWall, , , , , , , [SEP] 72, EastWall, , , , , , , [SEP] 73, SouthWall, , , , , , , [SEP] 74, WestWall, , , , , , , ", "output": ["STEP 1: turn around, walk to the sink | STEP 2: grab the egg on the counter | STEP 3: walk to the left a little | STEP 4: put the egg in the left sink, wash it with water, take the egg out | STEP 5: turn around, walk to the refrigerator on the left | STEP 6: open the refrigerator, put the egg in | END"]} +{"id": "trial_T20190909_030509_537882-1", "input": "Move a candle from a counter to the top of a toilet. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.902, 0.25, 0, 180, 0, [SEP] 1, Cloth, -3.948, 0.038, 0.224, 0, 0, 0, 44 [SEP] 2, Cloth, -1.942, 0.176, -0.586, 0, 90, 0, 28 [SEP] 3, TissueBox, -1.665, 0.704, -0.755, 0, 90, 0, 30 [SEP] 4, TissueBox, -1.396, 0.442, -0.586, 0, 90, 0, 24 [SEP] 5, SprayBottle, -2.120, 0.700, -0.642, 0, 90, 0, 30 [SEP] 6, SprayBottle, -0.607, 0.951, -0.748, 0, 90, 0, 42 [SEP] 7, SoapBar, -2.575, 0.703, -0.812, 0, 90, 0, 30 [SEP] 8, DishSponge, -0.794, 0.955, -0.722, 0, 90, 0, 42 [SEP] 9, SoapBottle, -2.347, 0.706, -0.528, 0, 90, 0, 30 [SEP] 10, Towel, -3.66, 1.567, -0.459, 0, 0, 0, 37 [SEP] 11, Candle, -2.575, 0.702, -0.755, 0, 90, 0, 30 [SEP] 12, HandTowel, -2.576, 1.683, 2.244, 0, 0, 0, 39 [SEP] 13, SoapBar, -2.246, 0.177, -0.635, 0, 90, 0, 27 [SEP] 14, ToiletPaper, -3.145, 0.609, -0.328, 0, 0, 0, 35 [SEP] 15, Plunger, -1.088, 0.000, -0.526, 0, 0, 0, Floor|-02.42| [SEP] 16, SprayBottle, -1.665, 0.700, -0.642, 0, 90, 0, 30 [SEP] 17, SoapBottle, -1.892, 0.706, -0.585, 0, 90, 0, 30 [SEP] 18, TissueBox, -2.391, 0.442, -0.586, 0, 90, 0, 26 [SEP] 19, ToiletPaper, -3.284, 0.609, -0.443, 0, 0, 0, 35 [SEP] 20, PaperTowelRoll, -0.544, 1.060, -0.695, 0, 90, 0, 42 [SEP] 21, ScrubBrush, -1.041, 0.001, -0.707, 0, 0, 0, Floor|-02.42| [SEP] 22, Cloth, -3.602, 0.038, 0.224, 0, 0, 0, 44 [SEP] 23, DishSponge, -3.250, 0.613, 1.723, 0, 0, 0, 35 [SEP] 24, Drawer, -1.444, 0.531, -0.620, 0, 90, 0, [SEP] 25, Sink, -1.919, 0.441, 2.032, 0, 180, 0, [SEP] 26, Drawer, -2.343, 0.531, -0.620, 0, 90, 0, [SEP] 27, Drawer, -2.343, 0.271, -0.620, 0, 90, 0, [SEP] 28, Drawer, -1.894, 0.271, -0.620, 0, 90, 0, [SEP] 29, Drawer, -2.791, 0.271, -0.620, 0, 90, 0, [SEP] 30, CounterTop, -2.799, 0.001, -0.593, 0, 90, 0, [SEP] 31, Drawer, -1.894, 0.531, -0.620, 0, 90, 0, [SEP] 32, Mirror, -1.909, 1.748, 2.280, 0, 0, 0, [SEP] 33, Drawer, -2.791, 0.531, -0.620, 0, 90, 0, [SEP] 34, Drawer, -1.444, 0.271, -0.620, 0, 90, 0, [SEP] 35, Bathtub, -3.706, 0.342, 0.636, 0, 0, 0, [SEP] 36, Faucet, -1.919, 1.064, 2.182, 0, 180, 0, [SEP] 37, TowelHolder, -3.660, 1.552, -0.558, 0, 0, 0, [SEP] 38, GarbageCan, -1.560, -0.000, 1.909, 0, 164.999, 0, [SEP] 39, HandTowelHolder, -2.575, 1.784, 2.282, 0, 90, 0, [SEP] 40, HandTowelHolder, -1.274, 1.784, 2.282, 0, 90, 0, [SEP] 41, LightSwitch, -0.558, 1.282, 2.281, 0, 180, 0, [SEP] 42, Toilet, -0.720, 0.001, -0.310, 0, 0, 0, [SEP] 43, ToiletPaperHanger, -0.427, 0.940, 0.187, 0, 270, 0, [SEP] 44, BathtubBasin, -3.788, 0.028, 0.595, 0, 0, 0, [SEP] 45, SinkBasin, -1.908, 1.011, 1.981, 0, 180, 0, [SEP] 46, ShowerHead, -3.740, 1.858, 1.827, 0, 0, 0, [SEP] 47, ShowerCurtain, -3.039, 2.229, 1.720, 0, 180, 0, [SEP] 48, NorthWall, , , , , , , [SEP] 49, EastWall, , , , , , , [SEP] 50, SouthWall, , , , , , , [SEP] 51, WestWall, , , , , , , ", "output": ["STEP 1: Walk to the right side of the counter in front of you. | STEP 2: Pick up the candle near the bar of soap. | STEP 3: Turn left and walk forward to the toilet. | STEP 4: Put the candle on the top of the toilet, in front of and to the left of the sponge. | END"]} +{"id": "trial_T20190909_030509_537882-2", "input": "Move a candlestick to the lid of the toilet tank. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.902, 0.25, 0, 180, 0, [SEP] 1, Cloth, -3.948, 0.038, 0.224, 0, 0, 0, 44 [SEP] 2, Cloth, -1.942, 0.176, -0.586, 0, 90, 0, 28 [SEP] 3, TissueBox, -1.665, 0.704, -0.755, 0, 90, 0, 30 [SEP] 4, TissueBox, -1.396, 0.442, -0.586, 0, 90, 0, 24 [SEP] 5, SprayBottle, -2.120, 0.700, -0.642, 0, 90, 0, 30 [SEP] 6, SprayBottle, -0.607, 0.951, -0.748, 0, 90, 0, 42 [SEP] 7, SoapBar, -2.575, 0.703, -0.812, 0, 90, 0, 30 [SEP] 8, DishSponge, -0.794, 0.955, -0.722, 0, 90, 0, 42 [SEP] 9, SoapBottle, -2.347, 0.706, -0.528, 0, 90, 0, 30 [SEP] 10, Towel, -3.66, 1.567, -0.459, 0, 0, 0, 37 [SEP] 11, Candle, -2.575, 0.702, -0.755, 0, 90, 0, 30 [SEP] 12, HandTowel, -2.576, 1.683, 2.244, 0, 0, 0, 39 [SEP] 13, SoapBar, -2.246, 0.177, -0.635, 0, 90, 0, 27 [SEP] 14, ToiletPaper, -3.145, 0.609, -0.328, 0, 0, 0, 35 [SEP] 15, Plunger, -1.088, 0.000, -0.526, 0, 0, 0, Floor|-02.42| [SEP] 16, SprayBottle, -1.665, 0.700, -0.642, 0, 90, 0, 30 [SEP] 17, SoapBottle, -1.892, 0.706, -0.585, 0, 90, 0, 30 [SEP] 18, TissueBox, -2.391, 0.442, -0.586, 0, 90, 0, 26 [SEP] 19, ToiletPaper, -3.284, 0.609, -0.443, 0, 0, 0, 35 [SEP] 20, PaperTowelRoll, -0.544, 1.060, -0.695, 0, 90, 0, 42 [SEP] 21, ScrubBrush, -1.041, 0.001, -0.707, 0, 0, 0, Floor|-02.42| [SEP] 22, Cloth, -3.602, 0.038, 0.224, 0, 0, 0, 44 [SEP] 23, DishSponge, -3.250, 0.613, 1.723, 0, 0, 0, 35 [SEP] 24, Drawer, -1.444, 0.531, -0.620, 0, 90, 0, [SEP] 25, Sink, -1.919, 0.441, 2.032, 0, 180, 0, [SEP] 26, Drawer, -2.343, 0.531, -0.620, 0, 90, 0, [SEP] 27, Drawer, -2.343, 0.271, -0.620, 0, 90, 0, [SEP] 28, Drawer, -1.894, 0.271, -0.620, 0, 90, 0, [SEP] 29, Drawer, -2.791, 0.271, -0.620, 0, 90, 0, [SEP] 30, CounterTop, -2.799, 0.001, -0.593, 0, 90, 0, [SEP] 31, Drawer, -1.894, 0.531, -0.620, 0, 90, 0, [SEP] 32, Mirror, -1.909, 1.748, 2.280, 0, 0, 0, [SEP] 33, Drawer, -2.791, 0.531, -0.620, 0, 90, 0, [SEP] 34, Drawer, -1.444, 0.271, -0.620, 0, 90, 0, [SEP] 35, Bathtub, -3.706, 0.342, 0.636, 0, 0, 0, [SEP] 36, Faucet, -1.919, 1.064, 2.182, 0, 180, 0, [SEP] 37, TowelHolder, -3.660, 1.552, -0.558, 0, 0, 0, [SEP] 38, GarbageCan, -1.560, -0.000, 1.909, 0, 164.999, 0, [SEP] 39, HandTowelHolder, -2.575, 1.784, 2.282, 0, 90, 0, [SEP] 40, HandTowelHolder, -1.274, 1.784, 2.282, 0, 90, 0, [SEP] 41, LightSwitch, -0.558, 1.282, 2.281, 0, 180, 0, [SEP] 42, Toilet, -0.720, 0.001, -0.310, 0, 0, 0, [SEP] 43, ToiletPaperHanger, -0.427, 0.940, 0.187, 0, 270, 0, [SEP] 44, BathtubBasin, -3.788, 0.028, 0.595, 0, 0, 0, [SEP] 45, SinkBasin, -1.908, 1.011, 1.981, 0, 180, 0, [SEP] 46, ShowerHead, -3.740, 1.858, 1.827, 0, 0, 0, [SEP] 47, ShowerCurtain, -3.039, 2.229, 1.720, 0, 180, 0, [SEP] 48, NorthWall, , , , , , , [SEP] 49, EastWall, , , , , , , [SEP] 50, SouthWall, , , , , , , [SEP] 51, WestWall, , , , , , , ", "output": ["STEP 1: Make a right to walk towards the right side of the dresser. | STEP 2: Pick up the candlestick in front of the soap. | STEP 3: Turn around to walk towards the toilet. | STEP 4: Set the candlestick down on the lid of the toilet tank. | END"]} +{"id": "trial_T20190908_105417_251841-2", "input": "Chill a slice of pepper and put it in the microwave SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.899, 3.25, 0, 0, 0, [SEP] 1, Pencil, -0.181, 0.925, 5.932, 0, 0, 0, 54 [SEP] 2, Potato, -4.458, 0.956, 3.082, 0, 0, 0, 69 [SEP] 3, WineBottle, -3.859, 0.924, 1.875, 0, 0, 0, 69 [SEP] 4, Pot, -2.469, 0.930, 1.712, 0, 270, 0, 84 [SEP] 5, Fork, -0.411, 0.925, 4.615, 0, 0, 0, 54 [SEP] 6, Egg, -3.374, 0.959, 5.106, 0, 90, 0, 69 [SEP] 7, Egg, -0.383, 1.721, 3.794, 0, 270, 0, 102 [SEP] 8, Knife, -1.860, 0.953, 1.724, 0, 180, 0, 51 [SEP] 9, SoapBottle, -3.639, 0.068, 6.292, 0, 270, 0, 95 [SEP] 10, Bowl, -0.454, 1.067, 3.355, 0, 270, 0, 102 [SEP] 11, Bowl, -4.159, 0.787, 3.410, 0, 270, 0, 101 [SEP] 12, SaltShaker, -0.334, 0.921, 4.944, 0, 0, 0, 54 [SEP] 13, SaltShaker, -4.517, 0.919, 3.665, 0, 0, 0, 69 [SEP] 14, PepperShaker, -0.532, 0.743, 4.538, 0, 270, 0, 59 [SEP] 15, Lettuce, -1.693, 1.018, 1.724, 0, 0, 0, 51 [SEP] 16, Lettuce, -1.943, 1.018, 1.875, 0, 0, 0, 51 [SEP] 17, Mug, -0.383, 1.575, 3.530, 0, 270, 0, 102 [SEP] 18, Apple, -2.688, 1.599, 1.666, 0, 0, 0, 99 [SEP] 19, Egg, -0.295, 1.106, 3.974, 0, 270, 0, 102 [SEP] 20, Apple, -3.784, 0.122, 6.416, 0, 270, 0, 95 [SEP] 21, Knife, -1.860, 0.953, 1.875, 0, 90, 0, 51 [SEP] 22, Potato, -0.565, 0.958, 5.603, 0, 0, 0, 54 [SEP] 23, Fork, -3.340, 0.924, 1.875, 0, 0, 0, 69 [SEP] 24, Bowl, -0.342, 1.332, 3.602, 0, 270, 0, 102 [SEP] 25, Plate, -0.342, 1.581, 3.349, 0, 270, 0, 102 [SEP] 26, Lettuce, -4.233, 0.886, 3.159, 0, 270, 0, 101 [SEP] 27, Bread, -0.411, 1.004, 5.273, 0, 0, 0, 54 [SEP] 28, Tomato, -0.383, 1.392, 3.231, 0, 270, 0, 102 [SEP] 29, WineBottle, -4.162, 1.457, 1.914, 0, 45, 0, 70 [SEP] 30, Spatula, -1.693, 0.938, 2.026, 0, 0, 0, 51 [SEP] 31, PaperTowelRoll, -3.639, 0.172, 6.498, 0, 270, 0, 95 [SEP] 32, Cup, -1.860, 0.922, 1.573, 0, 0, 0, 51 [SEP] 33, Pencil, -0.532, 0.747, 4.771, 0, 270, 0, 59 [SEP] 34, Pan, -2.454, 0.933, 2.023, 0, 240.000, 0, 57 [SEP] 35, Pot, -2.924, 0.930, 2.012, 0, 0, 0, 52 [SEP] 36, SaltShaker, -4.015, 0.073, 2.246, 0, 0, 0, 79 [SEP] 37, SoapBottle, -3.784, 0.068, 6.292, 0, 90, 0, 95 [SEP] 38, PepperShaker, -3.539, 0.079, 5.113, 0, 90, 0, 87 [SEP] 39, ButterKnife, -0.334, 0.925, 5.932, 0, 0, 0, 54 [SEP] 40, DishSponge, -0.565, 0.924, 5.932, 0, 0, 0, 54 [SEP] 41, Spoon, -3.374, 0.924, 5.259, 0, 90, 0, 69 [SEP] 42, Mug, -4.097, 0.075, 3.374, 0, 0, 0, 74 [SEP] 43, Cabinet, -3.203, 1.931, 1.777, 0, 0, 0, [SEP] 44, Cabinet, -3.187, 0.390, 2.089, 0, 0, 0, [SEP] 45, Cabinet, -0.637, 0.387, 6.882, 0, 180, 0, [SEP] 46, Drawer, -3.797, 0.781, 1.961, 0, 0, 0, [SEP] 47, Cabinet, -3.036, 0.387, 5.029, 0, 90, 0, [SEP] 48, Drawer, -0.509, 0.775, 5.268, 0, 270, 0, [SEP] 49, Drawer, -4.125, 0.798, 2.499, 0, 0, 0, [SEP] 50, Cabinet, -0.331, 2.249, 4.308, 0, 180, 0, [SEP] 51, CounterTop, -1.872, 0.958, 1.799, 0, 0, 0, [SEP] 52, StoveBurner, -2.924, 0.924, 2.012, 0, 0, 0, [SEP] 53, Cabinet, -0.331, 2.249, 6.806, 0, 180, 0, [SEP] 54, CounterTop, -0.345, 0.960, 5.603, 0, 0, 0, [SEP] 55, Cabinet, -3.039, 1.935, 5.321, 0, 90, 0, [SEP] 56, Cabinet, -3.922, 0.397, 2.088, 0, 0, 0, [SEP] 57, StoveBurner, -2.467, 0.924, 2.012, 0, 0, 0, [SEP] 58, Cabinet, -0.331, 2.249, 5.505, 0, 180, 0, [SEP] 59, Drawer, -0.509, 0.775, 4.617, 0, 270, 0, [SEP] 60, Drawer, -3.509, 0.777, 5.157, 0, 180, 0, [SEP] 61, Cabinet, -3.961, 0.388, 2.878, 0, 0, 0, [SEP] 62, Cabinet, -3.961, 0.388, 4.342, 0, 0, 0, [SEP] 63, Cabinet, -0.637, 0.387, 5.582, 0, 180, 0, [SEP] 64, Cabinet, -0.637, 0.388, 4.299, 0, 180, 0, [SEP] 65, Cabinet, -0.637, 0.388, 5.599, 0, 180, 0, [SEP] 66, StoveBurner, -2.924, 0.924, 1.712, 0, 180, 0, [SEP] 67, Drawer, -1.859, 0.775, 1.961, 0, 0, 0, [SEP] 68, Cabinet, -0.331, 2.249, 5.609, 0, 180, 0, [SEP] 69, CounterTop, -4.260, 0.958, 4.943, 0, 90, 0, [SEP] 70, Cabinet, -4.284, 1.931, 2.226, 0, 0, 0, [SEP] 71, Cabinet, -0.331, 2.249, 3.010, 0, 180, 0, [SEP] 72, Drawer, -3.801, 0.777, 5.157, 0, 180, 0, [SEP] 73, Cabinet, -4.112, 1.935, 5.321, 0, 90, 0, [SEP] 74, Cabinet, -3.968, 0.388, 3.662, 0, 0, 0, [SEP] 75, Drawer, -3.418, 0.777, 1.961, 0, 0, 0, [SEP] 76, Drawer, -4.090, 0.777, 4.661, 0, 90, 0, [SEP] 77, Faucet, -4.441, 0.909, 3.288, 270, 0, 0, [SEP] 78, Cabinet, -0.331, 2.249, 4.207, 0, 180, 0, [SEP] 79, Cabinet, -3.961, 0.388, 2.119, 0, 0, 0, [SEP] 80, Drawer, -0.509, 0.775, 5.920, 0, 270, 0, [SEP] 81, Drawer, -3.193, 0.777, 5.157, 0, 180, 0, [SEP] 82, Cabinet, -3.968, 0.388, 2.894, 0, 0, 0, [SEP] 83, Cabinet, -3.667, 0.387, 5.029, 0, 90, 0, [SEP] 84, StoveBurner, -2.469, 0.924, 1.712, 0, 270, 0, [SEP] 85, Cabinet, -1.539, 0.388, 2.090, 0, 0, 0, [SEP] 86, Sink, -4.190, 0.921, 3.279, 0, 0, 0, [SEP] 87, Cabinet, -3.641, 0.387, 5.029, 0, 90, 0, [SEP] 88, Cabinet, -1.583, 1.931, 1.777, 0, 0, 0, [SEP] 89, Drawer, -0.509, 0.775, 6.568, 0, 270, 0, [SEP] 90, CoffeeMachine, -0.279, 0.912, 6.556, 0, 270, 0, [SEP] 91, StoveKnob, -2.347, 1.095, 1.560, 288.012, 180, 180, [SEP] 92, StoveKnob, -2.788, 1.095, 1.560, 288.012, 180, 180, [SEP] 93, StoveKnob, -2.965, 1.095, 1.560, 288.012, 180, 180, [SEP] 94, StoveKnob, -2.512, 1.095, 1.560, 288.012, 180, 180, [SEP] 95, GarbageCan, -3.711, -0.030, 6.376, 0, 270, 0, [SEP] 96, Toaster, -3.578, 0.912, 1.763, 0, 0, 0, [SEP] 97, Curtains, -4.522, 2.252, 3.391, 90, 90, 0, [SEP] 98, Window, -4.868, 1.629, 3.309, 90, 270, 0, [SEP] 99, Microwave, -2.693, 1.430, 1.689, 0, 0, 0, [SEP] 100, LightSwitch, -1.588, 1.169, 1.506, 0, 0, 0, [SEP] 101, SinkBasin, -4.196, 0.780, 3.276, 0, 270, 0, [SEP] 102, Fridge, -0.324, -0.001, 3.602, 0, 0, 0, [SEP] 103, NorthWall, , , , , , , [SEP] 104, EastWall, , , , , , , [SEP] 105, SouthWall, , , , , , , [SEP] 106, WestWall, , , , , , , ", "output": ["STEP 1: Go to the right of the coffeemaker | STEP 2: pick up the knife | STEP 3: Go to the microwave | STEP 4: Cut the pepper in the microwave | STEP 5: Go to the fridge | STEP 6: Put the knife in the fridge | STEP 7: Go to the microwave | STEP 8: Take a slice of pepper out of the microwave | STEP 9: Go to the fridge | STEP 10: Chill the pepper slice | STEP 11: Go to the microwave | STEP 12: Put the slice of pepper back in the microwave | END"]} +{"id": "trial_T20190908_051013_004115-0", "input": "Clean off a towel in the tub. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.25, 0.901, 2.25, 0, 270, 0, [SEP] 1, Cloth, -2.962, 0.811, 0.279, 0, 0, 0, 28 [SEP] 2, Cloth, -3.653, 0.190, 1.273, 0, 270, 0, 42 [SEP] 3, Candle, -3.280, 0.544, 0.820, 0, 0, 0, 20 [SEP] 4, HandTowel, -0.034, 1.537, 2.309, 0, 90, 0, 37 [SEP] 5, HandTowel, -0.034, 1.537, 1.542, 0, 90, 0, 38 [SEP] 6, Towel, -1.513, 1.496, 0.109, 0, 0, 0, 32 [SEP] 7, Cloth, -0.348, 0.811, 3.000, 0, 0, 0, 31 [SEP] 8, SoapBar, -0.470, 0.518, 3.030, 0, 0, 0, 25 [SEP] 9, ToiletPaper, -2.286, 0.825, 3.221, 0, 180, 270, 43 [SEP] 10, Plunger, -2.530, 0.000, 3.026, 0, 0, 0, [SEP] 11, Candle, -0.147, 0.518, 2.894, 0, 0, 0, 21 [SEP] 12, SoapBottle, -0.309, 0.219, 2.638, 0, 0, 0, 19 [SEP] 13, ToiletPaper, -1.767, 0.014, 0.137, 0, 0, 0, 34 [SEP] 14, SprayBottle, -0.284, 0.813, 2.740, 0, 0, 0, 31 [SEP] 15, ScrubBrush, -2.332, 0.000, 3.163, 0, 0, 0, [SEP] 16, Drawer, -0.325, 0.319, 2.155, 0, 0, 0, [SEP] 17, Mirror, 0.0, 1.473, 1.917, 0, 270, 0, [SEP] 18, Drawer, -0.325, 0.319, 1.717, 0, 0, 0, [SEP] 19, Drawer, -0.325, 0.319, 2.592, 0, 0, 0, [SEP] 20, Bathtub, -3.589, 0.107, 1.521, 0, 0, 0, [SEP] 21, Drawer, -0.325, 0.619, 2.592, 0, 0, 0, [SEP] 22, Drawer, -2.249, 0.319, 0.280, 0, 0, 0, [SEP] 23, Drawer, -0.325, 0.319, 3.030, 0, 0, 0, [SEP] 24, Mirror, 0.0, 1.473, 2.700, 0, 270, 0, [SEP] 25, Drawer, -0.325, 0.619, 3.030, 0, 0, 0, [SEP] 26, ShowerGlass, -0.494, 1.490, 0.528, 0, 0, 0, [SEP] 27, Sink, -2.539, 0.661, 0.252, 0, 0, 0, [SEP] 28, CounterTop, -2.540, 0.805, 0.280, 0, 0, 0, [SEP] 29, Drawer, -2.844, 0.319, 0.280, 0, 0, 0, [SEP] 30, ShowerDoor, -1.074, 1.033, 0.519, 0, 0, 0, [SEP] 31, CounterTop, -0.277, 0.785, 1.931, 0, 0, 0, [SEP] 32, TowelHolder, -1.513, 1.481, 0.002, 0, 0, 0, [SEP] 33, LightSwitch, -0.776, 1.371, 3.300, 0, 180, 0, [SEP] 34, GarbageCan, -1.754, 0.001, 0.227, 0, 0, 0, [SEP] 35, HandTowelHolder, -3.210, 1.588, 0.340, 0, 0, 0, [SEP] 36, HandTowelHolder, 0.004, 1.639, 3.105, 0, 180, 0, [SEP] 37, HandTowelHolder, 0.004, 1.639, 2.309, 0, 180, 0, [SEP] 38, HandTowelHolder, 0.004, 1.639, 1.542, 0, 180, 0, [SEP] 39, Window, -4.127, 1.519, 1.495, 90, 270, 0, [SEP] 40, Toilet, -2.842, 0.000, 2.755, 0, 180, 0, [SEP] 41, SinkBasin, -2.542, 0.706, 0.269, 0, 0, 0, [SEP] 42, BathtubBasin, -3.606, 0.182, 1.536, 0, 270, 0, [SEP] 43, ToiletPaperHanger, -2.349, 0.824, 3.299, 0, 180, 0, [SEP] 44, Faucet, -2.540, 0.794, 0.111, 0, 0, 0, [SEP] 45, Faucet, -0.111, 0.794, 1.921, 0, 270, 0, [SEP] 46, ShowerHead, -3.612, 1.776, 2.299, 0, 0, 0, [SEP] 47, ShowerHead, -0.079, 1.151, 0.662, 0, 0, 0, [SEP] 48, ShowerCurtain, -3.213, 2.098, 2.186, 0, 180, 0, [SEP] 49, Sink, -0.260, 0.661, 1.922, 0, 270, 0, [SEP] 50, SinkBasin, -0.277, 0.706, 1.920, 0, 270, 0, [SEP] 51, NorthWall, , , , , , , [SEP] 52, SouthWall, , , , , , , [SEP] 53, SouthWall, , , , , , , ", "output": ["STEP 1: Walk to the tub with a towel in it. | STEP 2: Grab the towel from the tub. | STEP 3: Walk to the kitchen sink on your left. | STEP 4: Soak the towel in the sink to clean it. | STEP 5: Walk back to the tub. | STEP 6: Place the towel in the tub. | END"]} +{"id": "trial_T20190907_173320_166553-0", "input": "Heat the wineglass a little and put it away in the cupboard. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.900, 0.75, 0, 90, 0, [SEP] 1, Pan, -2.59, 0.9, -1.147, 0, 0, 0, 71 [SEP] 2, Potato, -0.598, 0.933, -1.119, 0, 47.530, 0, 71 [SEP] 3, DishSponge, 1.336, 1.111, 0.537, 0, 315, 0, 64 [SEP] 4, DishSponge, -0.103, 1.662, -1.435, 0, 0, 0, 59 [SEP] 5, ButterKnife, -2.236, 0.911, -1.199, 0, 0, 0, 71 [SEP] 6, Kettle, -0.239, 0.912, -1.365, 0, 0, 0, 71 [SEP] 7, Pot, 0.836, 1.112, 0.729, 0, 315, 0, 64 [SEP] 8, Spoon, 0.254, 0.747, -1.052, 0, 0, 0, 72 [SEP] 9, Spoon, -1.332, 0.850, -1.305, 0, 0, 0, 81 [SEP] 10, Fork, -2.026, 0.747, -1.051, 0, 0, 0, 66 [SEP] 11, Fork, -1.591, 0.852, -1.139, 0, 270, 0, 81 [SEP] 12, Cup, -2.438, 0.909, -0.062, 0, 0, 0, 63 [SEP] 13, Cup, -0.093, 1.110, 1.814, 0, 315, 0, 64 [SEP] 14, Cup, -1.246, 0.850, -1.360, 0, 0, 0, 81 [SEP] 15, Plate, -2.772, 1.666, -0.033, 0, 0, 0, 57 [SEP] 16, Egg, -2.521, 0.946, -0.147, 0, 0, 0, 63 [SEP] 17, Lettuce, -2.800, 0.457, 0.690, 0, 90, 0, 83 [SEP] 18, SaltShaker, -2.886, 2.039, 1.370, 0, 0, 0, 56 [SEP] 19, SaltShaker, -2.847, 1.661, 0.166, 0, 0, 0, 57 [SEP] 20, Bread, -2.800, 1.528, 0.932, 0, 90, 0, 83 [SEP] 21, Apple, 0.284, 1.154, 1.580, 0, 0, 0, 64 [SEP] 22, Fork, 0.997, 0.911, -1.115, 0, 180, 0, 71 [SEP] 23, Kettle, 0.625, 1.112, 1.556, 0, 315, 0, 64 [SEP] 24, CreditCard, 0.997, 0.9, -0.982, 0, 334.941, 0, 71 [SEP] 25, Bread, 0.842, 0.965, -1.032, 0, 0, 0, 71 [SEP] 26, Plate, -2.811, 2.045, 0.647, 0, 0, 0, 61 [SEP] 27, SoapBottle, -0.748, 0.899, -1.291, 0, 315, 0, 71 [SEP] 28, Spatula, -2.552, 0.922, 0.010, 0, 0, 0, 63 [SEP] 29, Lettuce, -2.660, 0.874, 0.983, 31.046, 0, 0, 83 [SEP] 30, SaltShaker, -2.388, 0.907, -1.365, 0, 0, 0, 71 [SEP] 31, Tomato, 0.203, 1.152, 1.056, 0, 0, 0, 64 [SEP] 32, PepperShaker, -2.830, 0.9, -0.112, 0, 0, 0, 63 [SEP] 33, ButterKnife, 0.413, 1.111, 0.998, 0, 315, 0, 64 [SEP] 34, Pot, -2.823, 0.928, -0.396, 0, 0, 0, 70 [SEP] 35, DishSponge, -2.542, 0.746, 0.226, 0, 0, 0, 69 [SEP] 36, Egg, -2.786, 0.071, 1.361, 0, 0, 0, 82 [SEP] 37, Spoon, -1.505, 0.850, -1.25, 0, 0, 0, 81 [SEP] 38, Knife, 0.060, 1.106, 1.587, 270, 209.997, 0, 64 [SEP] 39, Cup, -1.418, 0.848, -1.084, 0, 0, 0, 81 [SEP] 40, Mug, 0.372, 1.654, -1.353, 0, 0, 0, 50 [SEP] 41, Bowl, -2.046, 0.9, -1.163, 0, 0, 0, 71 [SEP] 42, Cabinet, -2.647, 2.075, -0.875, 0, 0, 0, [SEP] 43, Cabinet, -2.647, 2.075, -0.234, 0, 0, 0, [SEP] 44, Cabinet, -0.824, 0.469, -0.907, 0, 0, 0, [SEP] 45, Cabinet, -1.764, 2.009, -1.197, 0, 0, 0, [SEP] 46, Cabinet, -1.834, 2.009, -1.197, 0, 0, 0, [SEP] 47, Cabinet, -1.850, 0.389, -0.897, 0, 0, 0, [SEP] 48, Cabinet, -1.801, 0.469, -0.907, 0, 0, 0, [SEP] 49, Cabinet, 1.115, 2.009, -1.197, 0, 0, 0, [SEP] 50, Cabinet, 0.235, 2.009, -1.197, 0, 0, 0, [SEP] 51, Cabinet, 1.125, 0.470, -0.897, 0, 0, 0, [SEP] 52, Cabinet, -2.387, 0.389, 0.375, 0, 0, 0, [SEP] 53, Cabinet, 0.484, 0.389, -0.897, 0, 0, 0, [SEP] 54, Cabinet, -2.625, 2.009, -1.197, 0, 0, 0, [SEP] 55, Cabinet, -2.647, 2.009, -0.945, 0, 0, 0, [SEP] 56, Cabinet, -2.647, 2.200, 1.664, 0, 0, 0, [SEP] 57, Cabinet, -2.647, 2.009, 0.364, 0, 0, 0, [SEP] 58, Cabinet, 0.164, 2.009, -1.197, 0, 0, 0, [SEP] 59, Cabinet, -0.765, 2.009, -1.197, 0, 0, 0, [SEP] 60, Cabinet, -0.834, 2.009, -1.197, 0, 0, 0, [SEP] 61, Cabinet, -2.647, 2.200, 0.434, 0, 0, 0, [SEP] 62, StoveBurner, -2.622, 0.886, -0.711, 0, 0, 0, [SEP] 63, CounterTop, -2.699, 0.946, 0.106, 0, 0, 0, [SEP] 64, CounterTop, 0.908, 1.147, 0.788, 0, 315, 0, [SEP] 65, StoveBurner, -2.622, 0.886, -0.396, 0, 0, 0, [SEP] 66, Drawer, -2.026, 0.779, -1.082, 0, 0, 0, [SEP] 67, Sink, -1.328, 0.916, -1.225, 0, 0, 0, [SEP] 68, StoveBurner, -2.822, 0.886, -0.711, 0, 0, 0, [SEP] 69, Drawer, -2.572, 0.779, 0.099, 0, 0, 0, [SEP] 70, StoveBurner, -2.822, 0.886, -0.396, 0, 0, 0, [SEP] 71, CounterTop, 0.071, 0.946, -1.199, 0, 0, 0, [SEP] 72, Drawer, 0.254, 0.779, -1.082, 0, 0, 0, [SEP] 73, LightSwitch, -1.167, 1.307, 3.0, 0, 180, 0, [SEP] 74, CoffeeMachine, 1.124, 1.100, 0.312, 0, 227.685, 0, [SEP] 75, StoveKnob, -2.429, 0.863, -0.621, 311.864, 270, 180, [SEP] 76, StoveKnob, -2.429, 0.863, -0.477, 311.864, 270, 180, [SEP] 77, StoveKnob, -2.429, 0.863, -0.782, 311.864, 270, 180, [SEP] 78, StoveKnob, -2.429, 0.863, -0.324, 311.864, 270, 180, [SEP] 79, Window, 0.321, 1.449, 3.088, 90, 0, 0, [SEP] 80, Toaster, -2.823, 0.899, 0.246, 0, 90, 0, [SEP] 81, SinkBasin, -1.344, 0.838, -1.25, 0, 0, 0, [SEP] 82, GarbageCan, -2.757, 1.886, 1.466, 0, 0, 0, [SEP] 83, Fridge, -2.855, 0.0, 0.851, 0, 0, 0, [SEP] 84, Microwave, 0.283, 0.900, -1.331, 0, 0, 0, [SEP] 85, Stool, 1.541, 0.010, 1.328, 0, 45, 0, [SEP] 86, Stool, 0.983, 0.010, 1.793, 0, 47.459, 0, [SEP] 87, Faucet, -1.392, 1.136, -1.399, 0, 270, 0, [SEP] 88, NorthWall, , , , , , , [SEP] 89, EastWall, , , , , , , [SEP] 90, SouthWall, , , , , , , [SEP] 91, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and go to the sink. | STEP 2: Take the wineglass on the right out of the sink. | STEP 3: Turn left and go to the microwave. | STEP 4: Open the microwave, heat the glass and take it out. | STEP 5: Look up to the cupboards above the microwave. | STEP 6: Open the cupboard and put the wineglass in the cupboard. | END"]} +{"id": "trial_T20190907_173320_166553-2", "input": "Put the heated wine glass in the kitchen cupboard SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.900, 0.75, 0, 90, 0, [SEP] 1, Pan, -2.59, 0.9, -1.147, 0, 0, 0, 71 [SEP] 2, Potato, -0.598, 0.933, -1.119, 0, 47.530, 0, 71 [SEP] 3, DishSponge, 1.336, 1.111, 0.537, 0, 315, 0, 64 [SEP] 4, DishSponge, -0.103, 1.662, -1.435, 0, 0, 0, 59 [SEP] 5, ButterKnife, -2.236, 0.911, -1.199, 0, 0, 0, 71 [SEP] 6, Kettle, -0.239, 0.912, -1.365, 0, 0, 0, 71 [SEP] 7, Pot, 0.836, 1.112, 0.729, 0, 315, 0, 64 [SEP] 8, Spoon, 0.254, 0.747, -1.052, 0, 0, 0, 72 [SEP] 9, Spoon, -1.332, 0.850, -1.305, 0, 0, 0, 81 [SEP] 10, Fork, -2.026, 0.747, -1.051, 0, 0, 0, 66 [SEP] 11, Fork, -1.591, 0.852, -1.139, 0, 270, 0, 81 [SEP] 12, Cup, -2.438, 0.909, -0.062, 0, 0, 0, 63 [SEP] 13, Cup, -0.093, 1.110, 1.814, 0, 315, 0, 64 [SEP] 14, Cup, -1.246, 0.850, -1.360, 0, 0, 0, 81 [SEP] 15, Plate, -2.772, 1.666, -0.033, 0, 0, 0, 57 [SEP] 16, Egg, -2.521, 0.946, -0.147, 0, 0, 0, 63 [SEP] 17, Lettuce, -2.800, 0.457, 0.690, 0, 90, 0, 83 [SEP] 18, SaltShaker, -2.886, 2.039, 1.370, 0, 0, 0, 56 [SEP] 19, SaltShaker, -2.847, 1.661, 0.166, 0, 0, 0, 57 [SEP] 20, Bread, -2.800, 1.528, 0.932, 0, 90, 0, 83 [SEP] 21, Apple, 0.284, 1.154, 1.580, 0, 0, 0, 64 [SEP] 22, Fork, 0.997, 0.911, -1.115, 0, 180, 0, 71 [SEP] 23, Kettle, 0.625, 1.112, 1.556, 0, 315, 0, 64 [SEP] 24, CreditCard, 0.997, 0.9, -0.982, 0, 334.941, 0, 71 [SEP] 25, Bread, 0.842, 0.965, -1.032, 0, 0, 0, 71 [SEP] 26, Plate, -2.811, 2.045, 0.647, 0, 0, 0, 61 [SEP] 27, SoapBottle, -0.748, 0.899, -1.291, 0, 315, 0, 71 [SEP] 28, Spatula, -2.552, 0.922, 0.010, 0, 0, 0, 63 [SEP] 29, Lettuce, -2.660, 0.874, 0.983, 31.046, 0, 0, 83 [SEP] 30, SaltShaker, -2.388, 0.907, -1.365, 0, 0, 0, 71 [SEP] 31, Tomato, 0.203, 1.152, 1.056, 0, 0, 0, 64 [SEP] 32, PepperShaker, -2.830, 0.9, -0.112, 0, 0, 0, 63 [SEP] 33, ButterKnife, 0.413, 1.111, 0.998, 0, 315, 0, 64 [SEP] 34, Pot, -2.823, 0.928, -0.396, 0, 0, 0, 70 [SEP] 35, DishSponge, -2.542, 0.746, 0.226, 0, 0, 0, 69 [SEP] 36, Egg, -2.786, 0.071, 1.361, 0, 0, 0, 82 [SEP] 37, Spoon, -1.505, 0.850, -1.25, 0, 0, 0, 81 [SEP] 38, Knife, 0.060, 1.106, 1.587, 270, 209.997, 0, 64 [SEP] 39, Cup, -1.418, 0.848, -1.084, 0, 0, 0, 81 [SEP] 40, Mug, 0.372, 1.654, -1.353, 0, 0, 0, 50 [SEP] 41, Bowl, -2.046, 0.9, -1.163, 0, 0, 0, 71 [SEP] 42, Cabinet, -2.647, 2.075, -0.875, 0, 0, 0, [SEP] 43, Cabinet, -2.647, 2.075, -0.234, 0, 0, 0, [SEP] 44, Cabinet, -0.824, 0.469, -0.907, 0, 0, 0, [SEP] 45, Cabinet, -1.764, 2.009, -1.197, 0, 0, 0, [SEP] 46, Cabinet, -1.834, 2.009, -1.197, 0, 0, 0, [SEP] 47, Cabinet, -1.850, 0.389, -0.897, 0, 0, 0, [SEP] 48, Cabinet, -1.801, 0.469, -0.907, 0, 0, 0, [SEP] 49, Cabinet, 1.115, 2.009, -1.197, 0, 0, 0, [SEP] 50, Cabinet, 0.235, 2.009, -1.197, 0, 0, 0, [SEP] 51, Cabinet, 1.125, 0.470, -0.897, 0, 0, 0, [SEP] 52, Cabinet, -2.387, 0.389, 0.375, 0, 0, 0, [SEP] 53, Cabinet, 0.484, 0.389, -0.897, 0, 0, 0, [SEP] 54, Cabinet, -2.625, 2.009, -1.197, 0, 0, 0, [SEP] 55, Cabinet, -2.647, 2.009, -0.945, 0, 0, 0, [SEP] 56, Cabinet, -2.647, 2.200, 1.664, 0, 0, 0, [SEP] 57, Cabinet, -2.647, 2.009, 0.364, 0, 0, 0, [SEP] 58, Cabinet, 0.164, 2.009, -1.197, 0, 0, 0, [SEP] 59, Cabinet, -0.765, 2.009, -1.197, 0, 0, 0, [SEP] 60, Cabinet, -0.834, 2.009, -1.197, 0, 0, 0, [SEP] 61, Cabinet, -2.647, 2.200, 0.434, 0, 0, 0, [SEP] 62, StoveBurner, -2.622, 0.886, -0.711, 0, 0, 0, [SEP] 63, CounterTop, -2.699, 0.946, 0.106, 0, 0, 0, [SEP] 64, CounterTop, 0.908, 1.147, 0.788, 0, 315, 0, [SEP] 65, StoveBurner, -2.622, 0.886, -0.396, 0, 0, 0, [SEP] 66, Drawer, -2.026, 0.779, -1.082, 0, 0, 0, [SEP] 67, Sink, -1.328, 0.916, -1.225, 0, 0, 0, [SEP] 68, StoveBurner, -2.822, 0.886, -0.711, 0, 0, 0, [SEP] 69, Drawer, -2.572, 0.779, 0.099, 0, 0, 0, [SEP] 70, StoveBurner, -2.822, 0.886, -0.396, 0, 0, 0, [SEP] 71, CounterTop, 0.071, 0.946, -1.199, 0, 0, 0, [SEP] 72, Drawer, 0.254, 0.779, -1.082, 0, 0, 0, [SEP] 73, LightSwitch, -1.167, 1.307, 3.0, 0, 180, 0, [SEP] 74, CoffeeMachine, 1.124, 1.100, 0.312, 0, 227.685, 0, [SEP] 75, StoveKnob, -2.429, 0.863, -0.621, 311.864, 270, 180, [SEP] 76, StoveKnob, -2.429, 0.863, -0.477, 311.864, 270, 180, [SEP] 77, StoveKnob, -2.429, 0.863, -0.782, 311.864, 270, 180, [SEP] 78, StoveKnob, -2.429, 0.863, -0.324, 311.864, 270, 180, [SEP] 79, Window, 0.321, 1.449, 3.088, 90, 0, 0, [SEP] 80, Toaster, -2.823, 0.899, 0.246, 0, 90, 0, [SEP] 81, SinkBasin, -1.344, 0.838, -1.25, 0, 0, 0, [SEP] 82, GarbageCan, -2.757, 1.886, 1.466, 0, 0, 0, [SEP] 83, Fridge, -2.855, 0.0, 0.851, 0, 0, 0, [SEP] 84, Microwave, 0.283, 0.900, -1.331, 0, 0, 0, [SEP] 85, Stool, 1.541, 0.010, 1.328, 0, 45, 0, [SEP] 86, Stool, 0.983, 0.010, 1.793, 0, 47.459, 0, [SEP] 87, Faucet, -1.392, 1.136, -1.399, 0, 270, 0, [SEP] 88, NorthWall, , , , , , , [SEP] 89, EastWall, , , , , , , [SEP] 90, SouthWall, , , , , , , [SEP] 91, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and walk up to the kitchen sink | STEP 2: Pick up the left most wine glass from the sink | STEP 3: Turn left and walk over to the microwave | STEP 4: Warm the glass in the microwave then remove it | STEP 5: Look up to the cupboard above the microwave | STEP 6: Put the wine glass into the left cupboard above the microwave | END"]} +{"id": "trial_T20190908_234257_622674-1", "input": "Set a pan with an apple slice inside on the table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, 5.5, 0, 180, 0, [SEP] 1, Pan, 1.562, 0.988, 3.848, 0, 0, 0, 52 [SEP] 2, Pan, 0.885, 0.141, 0.497, 0, 90, 0, 64 [SEP] 3, Pan, 1.32, 0.988, 3.848, 0, 0, 0, 57 [SEP] 4, Potato, -0.181, 0.794, 6.721, 0, 225, 0, 94 [SEP] 5, Potato, 1.442, 0.925, 2.474, 0, 90, 0, 81 [SEP] 6, DishSponge, -0.221, 0.759, 6.941, 0, 0, 0, 94 [SEP] 7, DishSponge, -0.399, 0.759, 6.895, 0, 135, 0, 94 [SEP] 8, Spoon, 0.735, 0.773, 0.563, 0, 0, 0, 50 [SEP] 9, Spoon, 1.404, 0.772, 3.291, 0, 0, 0, 51 [SEP] 10, Spatula, 1.459, 0.786, 3.154, 0, 90, 0, 51 [SEP] 11, Fork, 1.292, 0.772, 3.154, 0, 0, 0, 51 [SEP] 12, Fork, 1.442, 0.891, 1.983, 0, 0, 0, 81 [SEP] 13, Egg, 0.064, 1.147, 0.278, 0, 0, 0, 74 [SEP] 14, Plate, -0.413, 0.144, 0.506, 0, 0, 0, 66 [SEP] 15, Knife, -0.345, 0.802, 0.563, 0, 270, 0, 54 [SEP] 16, Tomato, -0.312, 0.809, 6.479, 0, 270, 0, 94 [SEP] 17, Tomato, 0.083, 0.809, 6.456, 0, 225, 0, 94 [SEP] 18, SoapBottle, 1.135, 0.992, 2.950, 0, 0, 0, 58 [SEP] 19, SoapBottle, 0.014, 0.760, 6.217, 0, 135, 0, 94 [SEP] 20, SaltShaker, 0.544, 0.987, 0.670, 0, 0, 0, 58 [SEP] 21, SaltShaker, 0.107, 1.574, 0.295, 0, 0, 0, 71 [SEP] 22, Lettuce, 0.015, 0.848, 6.742, 0, 225, 0, 94 [SEP] 23, Bowl, 2.094, 1.514, 6.001, 0, 270, 0, 80 [SEP] 24, Bread, 1.099, 1.048, 0.434, 0, 0, 0, 58 [SEP] 25, Egg, -0.034, 0.810, 6.014, 0, 0, 0, 94 [SEP] 26, Knife, 0.124, 0.801, 0.563, 0, 270, 0, 55 [SEP] 27, Fork, 0.305, 0.760, 6.541, 0, 270, 0, 94 [SEP] 28, Apple, 2.137, 1.590, 5.751, 0, 270, 0, 80 [SEP] 29, Kettle, 1.593, 0.981, 3.25, 0, 255.000, 0, 58 [SEP] 30, Plate, 1.238, 0.141, 1.864, 0, 0, 0, 47 [SEP] 31, SaltShaker, 0.956, 0.138, 0.260, 0, 0, 0, 64 [SEP] 32, Lettuce, -0.575, 0.848, 6.719, 0, 135, 0, 94 [SEP] 33, SoapBottle, 0.771, 0.992, 0.670, 0, 0, 0, 58 [SEP] 34, Spatula, 1.442, 0.905, 2.188, 0, 0, 0, 81 [SEP] 35, PaperTowelRoll, 0.620, 1.096, 0.212, 0, 0, 0, 58 [SEP] 36, Pot, 1.317, 0.988, 4.294, 0, 0, 0, 53 [SEP] 37, Potato, 2.094, 1.550, 5.501, 0, 270, 0, 80 [SEP] 38, ButterKnife, 0.696, 0.992, 0.303, 0, 0, 0, 58 [SEP] 39, PepperShaker, 1.543, 1.572, 1.349, 0, 0, 0, 68 [SEP] 40, Pan, 1.559, 0.988, 4.294, 0, 0, 0, 56 [SEP] 41, Tomato, 1.671, 1.042, 3.417, 0, 0, 0, 58 [SEP] 42, DishSponge, 1.495, 2.206, 4.175, 0, 0, 0, 49 [SEP] 43, Cup, -0.135, 0.756, 6.237, 0, 225, 0, 94 [SEP] 44, Spoon, -0.459, 0.993, 0.212, 0, 0, 0, 58 [SEP] 45, Mug, 1.456, 1.572, 1.166, 0, 0, 0, 58 [SEP] 46, Cabinet, 1.307, 2.455, 4.360, 0, 0, 0, [SEP] 47, Cabinet, 1.054, 0.422, 1.710, 0, 0, 0, [SEP] 48, Drawer, 1.280, 0.808, 4.718, 0, 0, 0, [SEP] 49, Cabinet, 1.307, 2.455, 3.607, 0, 0, 0, [SEP] 50, Drawer, 0.736, 0.802, 0.521, 0, 0, 0, [SEP] 51, Drawer, 1.276, 0.802, 3.291, 0, 0, 0, [SEP] 52, StoveBurner, 1.562, 0.982, 3.848, 0, 0, 0, [SEP] 53, StoveBurner, 1.317, 0.982, 4.294, 0, 0, 0, [SEP] 54, Drawer, -0.482, 0.802, 0.521, 0, 0, 0, [SEP] 55, Drawer, 0.124, 0.802, 0.521, 0, 0, 0, [SEP] 56, StoveBurner, 1.559, 0.982, 4.294, 0, 0, 0, [SEP] 57, StoveBurner, 1.320, 0.982, 3.848, 0, 0, 0, [SEP] 58, CounterTop, 1.391, 1.028, 0.897, 0, 0, 0, [SEP] 59, CounterTop, 1.391, 1.028, 4.716, 0, 0, 0, [SEP] 60, Cabinet, 1.054, 0.422, 4.548, 0, 0, 0, [SEP] 61, Cabinet, 1.317, 2.134, 0.517, 0, 0, 0, [SEP] 62, Cabinet, 1.317, 2.134, 4.889, 0, 0, 0, [SEP] 63, Cabinet, 1.317, 2.134, 3.095, 0, 0, 0, [SEP] 64, Cabinet, 0.443, 0.422, 0.743, 0, 0, 0, [SEP] 65, Cabinet, 1.270, 2.134, 0.434, 0, 0, 0, [SEP] 66, Cabinet, -0.775, 0.422, 0.743, 0, 0, 0, [SEP] 67, Cabinet, -0.168, 0.422, 0.743, 0, 0, 0, [SEP] 68, Cabinet, 1.317, 2.134, 1.534, 0, 0, 0, [SEP] 69, Cabinet, 1.054, 0.422, 2.990, 0, 0, 0, [SEP] 70, Cabinet, 1.054, 0.422, 2.944, 0, 0, 0, [SEP] 71, Cabinet, -0.263, 2.134, 0.434, 0, 0, 0, [SEP] 72, Cabinet, 0.252, 2.134, 0.434, 0, 0, 0, [SEP] 73, Sink, 1.391, 1.006, 2.326, 0, 0, 0, [SEP] 74, Microwave, 0.108, 0.981, 0.262, 0, 0, 0, [SEP] 75, HousePlant, -0.165, 0.826, 6.444, 0, 0, 0, [SEP] 76, CoffeeMachine, 1.551, 0.982, 0.953, 0, 270, 0, [SEP] 77, Toaster, 1.473, 0.981, 4.715, 0, 270, 0, [SEP] 78, Window, -2.065, 1.916, 3.626, 90, 90, 0, [SEP] 79, Window, 1.763, 2.007, 2.299, 90, 270, 0, [SEP] 80, Fridge, 2.035, 0.0, 5.625, 0, 0, 0, [SEP] 81, SinkBasin, 1.387, 0.880, 2.338, 0, 90, 0, [SEP] 82, GarbageCan, 2.001, -0.044, 6.503, 0, 0, 0, [SEP] 83, StoveKnob, 1.140, 0.934, 3.987, 45, 270, 0, [SEP] 84, StoveKnob, 1.140, 0.934, 4.309, 45, 270, 0, [SEP] 85, StoveKnob, 1.140, 0.934, 4.140, 45, 270, 0, [SEP] 86, StoveKnob, 1.140, 0.934, 3.824, 45, 270, 0, [SEP] 87, Vase, -0.226, 0.834, 6.993, 0, 0, 0, [SEP] 88, Vase, 2.098, 0.043, 7.070, 0, 257.232, 0, [SEP] 89, Vase, -0.594, 0.835, 6.130, 0, 225, 0, [SEP] 90, LightSwitch, -2.0, 1.549, 6.045, 0, 90, 0, [SEP] 91, Safe, 2.046, 1.072, 7.054, 0, 257.232, 0, [SEP] 92, Faucet, 1.534, 1.025, 2.371, 0, 294.391, 0, [SEP] 93, Blinds, 1.738, 2.563, 2.312, 0, 90, 0, [SEP] 94, DiningTable, -0.156, 0.000, 6.474, 0, 0, 0, [SEP] 95, Chair, 0.291, 0.002, 6.142, 0, 310.162, 0, [SEP] 96, GarbageBag, -1.092, 0.318, 0.268, 270, 90, 83.492, [SEP] 97, NorthWall, , , , , , , [SEP] 98, EastWall, , , , , , , [SEP] 99, SouthWall, , , , , , , [SEP] 100, WestWall, , , , , , , ", "output": ["STEP 1: Go to the counter to the left of the microwave. | STEP 2: Pick up the butter knife on the counter. | STEP 3: Turn and go to the fridge. | STEP 4: Slice the apple on the shelf in the fridge. | STEP 5: Turn and go to the stove. | STEP 6: Put the butter knife in the pan on the back right burner. | STEP 7: Turn and go back to the fridge. | STEP 8: Pick up a slice of apple from the fridge. | STEP 9: Go back to the stove. | STEP 10: Set the apple slice down in the pan on the front right burner. | STEP 11: Pick up the pan with the apple slice in it. | STEP 12: Go to the round table. | STEP 13: Set the pan with the apple slice down on the table. | END"]} +{"id": "trial_T20190908_234257_622674-2", "input": "slice apple, put knife in pan on stove, place chilled apple slice in pan on table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, 5.5, 0, 180, 0, [SEP] 1, Pan, 1.562, 0.988, 3.848, 0, 0, 0, 52 [SEP] 2, Pan, 0.885, 0.141, 0.497, 0, 90, 0, 64 [SEP] 3, Pan, 1.32, 0.988, 3.848, 0, 0, 0, 57 [SEP] 4, Potato, -0.181, 0.794, 6.721, 0, 225, 0, 94 [SEP] 5, Potato, 1.442, 0.925, 2.474, 0, 90, 0, 81 [SEP] 6, DishSponge, -0.221, 0.759, 6.941, 0, 0, 0, 94 [SEP] 7, DishSponge, -0.399, 0.759, 6.895, 0, 135, 0, 94 [SEP] 8, Spoon, 0.735, 0.773, 0.563, 0, 0, 0, 50 [SEP] 9, Spoon, 1.404, 0.772, 3.291, 0, 0, 0, 51 [SEP] 10, Spatula, 1.459, 0.786, 3.154, 0, 90, 0, 51 [SEP] 11, Fork, 1.292, 0.772, 3.154, 0, 0, 0, 51 [SEP] 12, Fork, 1.442, 0.891, 1.983, 0, 0, 0, 81 [SEP] 13, Egg, 0.064, 1.147, 0.278, 0, 0, 0, 74 [SEP] 14, Plate, -0.413, 0.144, 0.506, 0, 0, 0, 66 [SEP] 15, Knife, -0.345, 0.802, 0.563, 0, 270, 0, 54 [SEP] 16, Tomato, -0.312, 0.809, 6.479, 0, 270, 0, 94 [SEP] 17, Tomato, 0.083, 0.809, 6.456, 0, 225, 0, 94 [SEP] 18, SoapBottle, 1.135, 0.992, 2.950, 0, 0, 0, 58 [SEP] 19, SoapBottle, 0.014, 0.760, 6.217, 0, 135, 0, 94 [SEP] 20, SaltShaker, 0.544, 0.987, 0.670, 0, 0, 0, 58 [SEP] 21, SaltShaker, 0.107, 1.574, 0.295, 0, 0, 0, 71 [SEP] 22, Lettuce, 0.015, 0.848, 6.742, 0, 225, 0, 94 [SEP] 23, Bowl, 2.094, 1.514, 6.001, 0, 270, 0, 80 [SEP] 24, Bread, 1.099, 1.048, 0.434, 0, 0, 0, 58 [SEP] 25, Egg, -0.034, 0.810, 6.014, 0, 0, 0, 94 [SEP] 26, Knife, 0.124, 0.801, 0.563, 0, 270, 0, 55 [SEP] 27, Fork, 0.305, 0.760, 6.541, 0, 270, 0, 94 [SEP] 28, Apple, 2.137, 1.590, 5.751, 0, 270, 0, 80 [SEP] 29, Kettle, 1.593, 0.981, 3.25, 0, 255.000, 0, 58 [SEP] 30, Plate, 1.238, 0.141, 1.864, 0, 0, 0, 47 [SEP] 31, SaltShaker, 0.956, 0.138, 0.260, 0, 0, 0, 64 [SEP] 32, Lettuce, -0.575, 0.848, 6.719, 0, 135, 0, 94 [SEP] 33, SoapBottle, 0.771, 0.992, 0.670, 0, 0, 0, 58 [SEP] 34, Spatula, 1.442, 0.905, 2.188, 0, 0, 0, 81 [SEP] 35, PaperTowelRoll, 0.620, 1.096, 0.212, 0, 0, 0, 58 [SEP] 36, Pot, 1.317, 0.988, 4.294, 0, 0, 0, 53 [SEP] 37, Potato, 2.094, 1.550, 5.501, 0, 270, 0, 80 [SEP] 38, ButterKnife, 0.696, 0.992, 0.303, 0, 0, 0, 58 [SEP] 39, PepperShaker, 1.543, 1.572, 1.349, 0, 0, 0, 68 [SEP] 40, Pan, 1.559, 0.988, 4.294, 0, 0, 0, 56 [SEP] 41, Tomato, 1.671, 1.042, 3.417, 0, 0, 0, 58 [SEP] 42, DishSponge, 1.495, 2.206, 4.175, 0, 0, 0, 49 [SEP] 43, Cup, -0.135, 0.756, 6.237, 0, 225, 0, 94 [SEP] 44, Spoon, -0.459, 0.993, 0.212, 0, 0, 0, 58 [SEP] 45, Mug, 1.456, 1.572, 1.166, 0, 0, 0, 58 [SEP] 46, Cabinet, 1.307, 2.455, 4.360, 0, 0, 0, [SEP] 47, Cabinet, 1.054, 0.422, 1.710, 0, 0, 0, [SEP] 48, Drawer, 1.280, 0.808, 4.718, 0, 0, 0, [SEP] 49, Cabinet, 1.307, 2.455, 3.607, 0, 0, 0, [SEP] 50, Drawer, 0.736, 0.802, 0.521, 0, 0, 0, [SEP] 51, Drawer, 1.276, 0.802, 3.291, 0, 0, 0, [SEP] 52, StoveBurner, 1.562, 0.982, 3.848, 0, 0, 0, [SEP] 53, StoveBurner, 1.317, 0.982, 4.294, 0, 0, 0, [SEP] 54, Drawer, -0.482, 0.802, 0.521, 0, 0, 0, [SEP] 55, Drawer, 0.124, 0.802, 0.521, 0, 0, 0, [SEP] 56, StoveBurner, 1.559, 0.982, 4.294, 0, 0, 0, [SEP] 57, StoveBurner, 1.320, 0.982, 3.848, 0, 0, 0, [SEP] 58, CounterTop, 1.391, 1.028, 0.897, 0, 0, 0, [SEP] 59, CounterTop, 1.391, 1.028, 4.716, 0, 0, 0, [SEP] 60, Cabinet, 1.054, 0.422, 4.548, 0, 0, 0, [SEP] 61, Cabinet, 1.317, 2.134, 0.517, 0, 0, 0, [SEP] 62, Cabinet, 1.317, 2.134, 4.889, 0, 0, 0, [SEP] 63, Cabinet, 1.317, 2.134, 3.095, 0, 0, 0, [SEP] 64, Cabinet, 0.443, 0.422, 0.743, 0, 0, 0, [SEP] 65, Cabinet, 1.270, 2.134, 0.434, 0, 0, 0, [SEP] 66, Cabinet, -0.775, 0.422, 0.743, 0, 0, 0, [SEP] 67, Cabinet, -0.168, 0.422, 0.743, 0, 0, 0, [SEP] 68, Cabinet, 1.317, 2.134, 1.534, 0, 0, 0, [SEP] 69, Cabinet, 1.054, 0.422, 2.990, 0, 0, 0, [SEP] 70, Cabinet, 1.054, 0.422, 2.944, 0, 0, 0, [SEP] 71, Cabinet, -0.263, 2.134, 0.434, 0, 0, 0, [SEP] 72, Cabinet, 0.252, 2.134, 0.434, 0, 0, 0, [SEP] 73, Sink, 1.391, 1.006, 2.326, 0, 0, 0, [SEP] 74, Microwave, 0.108, 0.981, 0.262, 0, 0, 0, [SEP] 75, HousePlant, -0.165, 0.826, 6.444, 0, 0, 0, [SEP] 76, CoffeeMachine, 1.551, 0.982, 0.953, 0, 270, 0, [SEP] 77, Toaster, 1.473, 0.981, 4.715, 0, 270, 0, [SEP] 78, Window, -2.065, 1.916, 3.626, 90, 90, 0, [SEP] 79, Window, 1.763, 2.007, 2.299, 90, 270, 0, [SEP] 80, Fridge, 2.035, 0.0, 5.625, 0, 0, 0, [SEP] 81, SinkBasin, 1.387, 0.880, 2.338, 0, 90, 0, [SEP] 82, GarbageCan, 2.001, -0.044, 6.503, 0, 0, 0, [SEP] 83, StoveKnob, 1.140, 0.934, 3.987, 45, 270, 0, [SEP] 84, StoveKnob, 1.140, 0.934, 4.309, 45, 270, 0, [SEP] 85, StoveKnob, 1.140, 0.934, 4.140, 45, 270, 0, [SEP] 86, StoveKnob, 1.140, 0.934, 3.824, 45, 270, 0, [SEP] 87, Vase, -0.226, 0.834, 6.993, 0, 0, 0, [SEP] 88, Vase, 2.098, 0.043, 7.070, 0, 257.232, 0, [SEP] 89, Vase, -0.594, 0.835, 6.130, 0, 225, 0, [SEP] 90, LightSwitch, -2.0, 1.549, 6.045, 0, 90, 0, [SEP] 91, Safe, 2.046, 1.072, 7.054, 0, 257.232, 0, [SEP] 92, Faucet, 1.534, 1.025, 2.371, 0, 294.391, 0, [SEP] 93, Blinds, 1.738, 2.563, 2.312, 0, 90, 0, [SEP] 94, DiningTable, -0.156, 0.000, 6.474, 0, 0, 0, [SEP] 95, Chair, 0.291, 0.002, 6.142, 0, 310.162, 0, [SEP] 96, GarbageBag, -1.092, 0.318, 0.268, 270, 90, 83.492, [SEP] 97, NorthWall, , , , , , , [SEP] 98, EastWall, , , , , , , [SEP] 99, SouthWall, , , , , , , [SEP] 100, WestWall, , , , , , , ", "output": ["STEP 1: go to counter to the left of microwave | STEP 2: pick up knife in front of paper towels from counter | STEP 3: turn around, go to white refrigerator to the right | STEP 4: open refrigerator, slice yellow apple on top shelf of refrigerator | STEP 5: go to stove to the right | STEP 6: place knife in pan on back right burner of stove | STEP 7: go to refrigerator to the left | STEP 8: pick up apple slice from top shelf of refrigerator, close refrigerator | STEP 9: go to stove to the right | STEP 10: place apple slice in pan on front right burner of stove | STEP 11: pick up pan with apple slice from stove | STEP 12: turn left, go to the right of chair by round dining table | STEP 13: place pan with apple slice in front of dispenser on table | END"]} +{"id": "trial_T20190909_055017_741681-2", "input": "Take an empty toilet paper roll from the dresser and place it on the toilet paper fixture SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.901, 1.5, 0, 90, 0, [SEP] 1, Cloth, -1.784, 0.199, 0.238, 0, 90, 0, 28 [SEP] 2, TissueBox, -0.805, 0.808, 0.417, 0, 90, 0, 26 [SEP] 3, TissueBox, -1.784, 0.508, 0.238, 0, 90, 0, 32 [SEP] 4, SoapBar, -3.066, 0.691, 0.125, 0, 0, 0, 27 [SEP] 5, SoapBar, -3.446, 0.220, 0.568, 0, 0, 0, 42 [SEP] 6, Candle, -0.697, 0.200, 0.350, 0, 90, 0, 25 [SEP] 7, Candle, -2.247, 0.953, 2.514, 0, 180, 0, 40 [SEP] 8, Towel, -2.554, 0.873, 0.106, 0, 0, 0, 34 [SEP] 9, Cloth, -0.863, 0.199, 0.182, 0, 270, 0, 25 [SEP] 10, Candle, -0.974, 0.506, 0.462, 0, 90, 0, 24 [SEP] 11, HandTowel, -0.038, 1.68, 2.956, 0, 90, 0, 37 [SEP] 12, SoapBar, -0.376, 0.982, 3.207, 0, 180, 0, 22 [SEP] 13, ToiletPaper, -3.057, 0.688, 0.943, 0, 0, 0, 27 [SEP] 14, Plunger, -2.307, 0.000, 3.231, 0, 0, 0, Floor|-00.08| [SEP] 15, SprayBottle, -2.301, 0.951, 2.452, 0, 180, 0, 40 [SEP] 16, TissueBox, -1.067, 0.808, 0.286, 0, 90, 0, 26 [SEP] 17, ToiletPaper, -0.543, 0.805, 0.155, 0, 90, 0, 26 [SEP] 18, ScrubBrush, -2.189, 0.000, 3.025, 0, 0, 0, Floor|-00.08| [SEP] 19, SoapBottle, -0.281, 0.809, 0.286, 0, 90, 0, 26 [SEP] 20, Drawer, -1.324, 0.312, 0.311, 0, 90, 0, [SEP] 21, Drawer, -0.290, 0.312, 0.311, 0, 90, 0, [SEP] 22, Sink, -0.463, -0.013, 3.046, 0, 180, 0, [SEP] 23, Mirror, -0.504, 1.741, 3.304, 0, 0, 0, [SEP] 24, Drawer, -0.808, 0.611, 0.311, 0, 90, 0, [SEP] 25, Drawer, -0.808, 0.312, 0.311, 0, 90, 0, [SEP] 26, CounterTop, -1.850, 0.001, 0.342, 0, 90, 0, [SEP] 27, Bathtub, -3.499, 0.148, 0.939, 0, 0, 0, [SEP] 28, Drawer, -1.840, 0.312, 0.311, 0, 90, 0, [SEP] 29, Faucet, -0.463, 0.969, 3.212, 0, 180, 0, [SEP] 30, Drawer, -0.290, 0.611, 0.311, 0, 90, 0, [SEP] 31, Drawer, -1.324, 0.611, 0.311, 0, 90, 0, [SEP] 32, Drawer, -1.840, 0.611, 0.311, 0, 90, 0, [SEP] 33, TowelHolder, -2.553, 1.582, 0.0, 0, 0, 0, [SEP] 34, TowelHolder, -2.553, 0.859, 0.0, 0, 0, 0, [SEP] 35, GarbageCan, -2.110, -0.001, 1.960, 0, 104.999, 0, [SEP] 36, ToiletPaperHanger, -1.628, 0.842, 3.305, 0, 180, 0, [SEP] 37, HandTowelHolder, 0.0, 1.781, 2.956, 0, 180, 0, [SEP] 38, LightSwitch, 0.0, 1.368, 1.993, 0, 270, 0, [SEP] 39, Window, -4.083, 1.735, 1.162, 90, 270, 0, [SEP] 40, Toilet, -1.835, 0.000, 2.503, 0, 90, 0, [SEP] 41, SinkBasin, -0.452, 0.888, 2.969, 0, 180, 0, [SEP] 42, BathtubBasin, -3.518, 0.210, 0.939, 0, 0, 0, [SEP] 43, ShowerHead, -3.540, 1.821, 1.820, 0, 0, 0, [SEP] 44, ShowerCurtain, -3.318, 2.572, 0.266, 0, 0, 8.184, [SEP] 45, NorthWall, , , , , , , [SEP] 46, SouthWall, , , , , , , [SEP] 47, SouthWall, , , , , , , ", "output": ["STEP 1: turn right and face the dresser with the green drawers | STEP 2: pick up the toilet paper roll on the dresser | STEP 3: turn around and walk to the toilet | STEP 4: place the toilet paper roll on the toilet paper fixture | END"]} +{"id": "trial_T20190909_052155_075560-1", "input": "Put a chilled potato in the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.900, 3.5, 0, 270, 0, [SEP] 1, ButterKnife, -0.921, 0.900, 1.555, 0, 180, 0, 90 [SEP] 2, Pot, 0.642, 0.850, 1.375, 0, 0, 0, 66 [SEP] 3, Spoon, 0.737, 0.692, 0.944, 0, 180, 0, 60 [SEP] 4, Fork, 0.703, 0.691, 1.016, 0, 270, 0, 60 [SEP] 5, Fork, 0.635, 0.691, 0.944, 0, 90, 0, 60 [SEP] 6, Cup, -1.309, 0.697, 3.816, 0, 0, 0, 84 [SEP] 7, Knife, -1.578, 0.846, 3.514, 0, 180, 0, 72 [SEP] 8, SoapBottle, -1.053, 0.900, 1.349, 0, 90, 0, 90 [SEP] 9, SoapBottle, -0.593, 0.158, 3.834, 0, 0, 0, 58 [SEP] 10, Tomato, 1.024, 0.891, 2.285, 0, 0, 0, 54 [SEP] 11, Bowl, -2.519, 0.993, 2.277, 0, 90, 0, 81 [SEP] 12, Bowl, -2.636, 0.765, 2.389, 0, 90, 0, 81 [SEP] 13, PepperShaker, -2.501, 1.395, 3.779, 0, 0, 0, 47 [SEP] 14, PepperShaker, -2.667, 0.123, 3.258, 0, 0, 0, 73 [SEP] 15, SaltShaker, -2.541, 1.845, 1.252, 0, 0, 0, 45 [SEP] 16, SaltShaker, -1.053, 0.896, 1.452, 0, 90, 0, 90 [SEP] 17, Lettuce, -2.636, 0.843, 2.165, 0, 90, 0, 81 [SEP] 18, Lettuce, -1.317, 0.976, 1.040, 0, 90, 0, 90 [SEP] 19, Mug, -1.109, 0.940, 1.203, 0, 0, 0, 90 [SEP] 20, Mug, -2.117, 0.122, 3.634, 0, 0, 0, 75 [SEP] 21, Plate, -2.136, 1.402, 3.897, 0, 0, 0, 50 [SEP] 22, Fork, -1.185, 0.901, 1.349, 0, 0, 0, 90 [SEP] 23, Bread, 0.827, 0.861, 2.449, 0, 0, 0, 49 [SEP] 24, Spatula, -2.492, 0.838, 3.331, 0, 90, 0, 72 [SEP] 25, PaperTowelRoll, -1.185, 1.004, 1.452, 0, 90, 0, 90 [SEP] 26, Potato, -0.657, 0.943, 1.555, 0, 90, 0, 90 [SEP] 27, SoapBottle, 0.931, 0.023, 2.889, 0, 0, 0, 83 [SEP] 28, Egg, 0.725, 0.859, 0.895, 0, 0, 0, 49 [SEP] 29, Cup, -1.836, 0.702, 3.774, 0, 0, 0, 84 [SEP] 30, Pot, 0.913, 0.850, 1.768, 0, 0, 0, 70 [SEP] 31, SaltShaker, -2.478, 0.153, 1.295, 0, 0, 0, 57 [SEP] 32, Pan, -2.667, 0.812, 3.74, 0, 137.145, 0, 72 [SEP] 33, PepperShaker, -1.317, 0.896, 1.452, 0, 90, 0, 90 [SEP] 34, ButterKnife, -0.657, 0.900, 1.246, 0, 90, 0, 90 [SEP] 35, Tomato, -0.882, 0.962, 1.502, 10.351, 349.774, 337.177, 90 [SEP] 36, DishSponge, -1.307, 1.683, 3.819, 0, 0, 0, 77 [SEP] 37, Lettuce, -0.580, 0.956, 1.358, 31.822, 0, 0, 90 [SEP] 38, Spoon, -0.921, 0.890, 1.349, 0, 90, 0, 90 [SEP] 39, Apple, -1.185, 0.961, 1.555, 0, 90, 0, 90 [SEP] 40, Knife, -1.698, 0.846, 3.545, 0, 0, 0, 72 [SEP] 41, Mug, 0.820, 0.120, 1.020, 0, 0, 0, 51 [SEP] 42, Bowl, -2.542, 1.847, 2.242, 0, 0, 0, 59 [SEP] 43, Drawer, 0.729, 0.703, 2.199, 0, 0, 0, [SEP] 44, Cabinet, -1.962, 1.926, 3.733, 0, 0, 0, [SEP] 45, Cabinet, -2.377, 2.014, 1.058, 0, 0, 0, [SEP] 46, Drawer, 0.729, 0.703, 2.532, 0, 0, 0, [SEP] 47, Cabinet, -2.622, 1.925, 3.733, 0, 0, 0, [SEP] 48, StoveBurner, 0.913, 0.843, 1.375, 0, 0, 0, [SEP] 49, CounterTop, 0.864, 0.858, 0.984, 0, 0, 0, [SEP] 50, Cabinet, -1.976, 1.779, 3.734, 0, 0, 0, [SEP] 51, Cabinet, 0.580, 0.385, 0.819, 0, 0, 0, [SEP] 52, Cabinet, -2.379, 1.408, 1.677, 0, 0, 0, [SEP] 53, Cabinet, -0.419, 1.703, 3.736, 0, 0, 0, [SEP] 54, CounterTop, 0.864, 0.858, 2.371, 0, 0, 0, [SEP] 55, Sink, -1.702, 0.726, 3.828, 0, 180, 0, [SEP] 56, Cabinet, 0.580, 0.385, 2.694, 0, 0, 0, [SEP] 57, Cabinet, -2.379, 0.637, 1.677, 0, 0, 0, [SEP] 58, Cabinet, -0.419, 0.674, 3.736, 0, 0, 0, [SEP] 59, Cabinet, -2.377, 2.014, 2.558, 0, 0, 0, [SEP] 60, Drawer, 0.729, 0.703, 0.980, 0, 0, 0, [SEP] 61, Drawer, -2.114, 0.706, 3.657, 0, 0, 0, [SEP] 62, Cabinet, -2.377, 1.691, 2.572, 0, 0, 0, [SEP] 63, Cabinet, -2.951, 1.925, 3.733, 0, 0, 0, [SEP] 64, Cabinet, 0.580, 0.385, 2.360, 0, 0, 0, [SEP] 65, Cabinet, -2.426, 0.435, 3.421, 0, 0, 0, [SEP] 66, StoveBurner, 0.642, 0.843, 1.375, 0, 0, 0, [SEP] 67, Cabinet, -2.377, 1.927, 1.686, 0, 0, 0, [SEP] 68, Cabinet, -2.377, 2.013, 3.177, 0, 0, 0, [SEP] 69, Cabinet, -1.136, 0.385, 3.516, 0, 0, 0, [SEP] 70, StoveBurner, 0.913, 0.843, 1.768, 0, 0, 0, [SEP] 71, Cabinet, -1.974, 0.385, 3.516, 0, 0, 0, [SEP] 72, CounterTop, -2.081, 0.858, 3.799, 0, 0, 0, [SEP] 73, Cabinet, -2.426, 0.435, 3.174, 0, 0, 0, [SEP] 74, Cabinet, -2.377, 2.014, 1.693, 0, 0, 0, [SEP] 75, Cabinet, -1.986, 0.385, 3.511, 0, 0, 0, [SEP] 76, StoveBurner, 0.642, 0.843, 1.768, 0, 0, 0, [SEP] 77, Cabinet, -1.098, 1.926, 3.729, 0, 0, 0, [SEP] 78, Microwave, -1.529, 1.250, 3.881, 1.622, 180, 0, [SEP] 79, CoffeeMachine, 1.000, 0.812, 2.492, 0, 270, 0, [SEP] 80, LightSwitch, 0.825, 1.396, 4.082, 0, 180, 0, [SEP] 81, Fridge, -2.642, 0.0, 2.134, 0, 180, 0, [SEP] 82, Window, -1.131, 1.673, 0.808, 90, 0, 0, [SEP] 83, GarbageCan, 0.931, -0.000, 2.918, 0, 0, 0, [SEP] 84, SinkBasin, -1.601, 0.686, 3.774, 0, 0, 0, [SEP] 85, StoveKnob, 1.104, 1.002, 1.886, 0, 0, 70.346, [SEP] 86, StoveKnob, 1.104, 1.002, 1.733, 0, 0, 70.346, [SEP] 87, StoveKnob, 1.104, 1.002, 1.321, 0, 0, 70.346, [SEP] 88, StoveKnob, 1.104, 1.002, 1.481, 0, 0, 70.346, [SEP] 89, Toaster, -2.247, 0.812, 3.862, 0, 180, 0, [SEP] 90, DiningTable, -0.917, -0.000, 1.203, 0, 0, 0, [SEP] 91, Stool, -0.932, 0.000, 1.404, 1.196, 21.715, 0, [SEP] 92, Faucet, -1.842, 0.809, 3.984, 0, 180, 0, [SEP] 93, Faucet, -1.371, 0.809, 3.985, 0, 180, 0, [SEP] 94, NorthWall, , , , , , , [SEP] 95, EastWall, , , , , , , [SEP] 96, SouthWall, , , , , , , [SEP] 97, WestWall, , , , , , , ", "output": ["STEP 1: Walk over to the white table against the wall on your left. | STEP 2: Pick up the potato off of the white table. | STEP 3: Turn around and walk forward, then hang a left and walk up to the fridge. | STEP 4: Put the potato in the fridge for a couple seconds to chill it then take it out. | STEP 5: Turn right and walk over to the sink. | STEP 6: Put the chilled potato in the left sink basin. | END"]} +{"id": "trial_T20190907_123030_356914-2", "input": "Put the plunger in the left cabinet. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.901, -0.25, 0, 270, 0, [SEP] 1, Candle, -0.679, 1.046, -3.826, 0, 0, 0, 32 [SEP] 2, Candle, -2.618, 0.080, -0.901, 0, 0, 0, 20 [SEP] 3, SoapBar, -2.871, 0.079, -1.871, 0, 0, 0, 18 [SEP] 4, SoapBar, -2.567, 0.078, -1.597, 0, 0, 0, 24 [SEP] 5, Towel, -1.051, 1.535, -2.887, 0, 90, 0, 25 [SEP] 6, HandTowel, -2.591, 1.635, -0.047, 0, 0, 0, 27 [SEP] 7, SoapBar, -2.821, 0.079, -2.086, 0, 0, 0, 18 [SEP] 8, ToiletPaper, -0.084, 0.902, -3.286, 0, 270, 90, 32 [SEP] 9, ToiletPaper, -0.679, 1.042, -3.918, 0, 0, 0, 32 [SEP] 10, SoapBottle, -2.821, 0.081, -0.573, 0, 0, 0, 22 [SEP] 11, Candle, -2.719, 0.080, -1.543, 0, 0, 0, 24 [SEP] 12, ScrubBrush, -1.048, 0.000, -3.830, 0, 0, 0, 28 [SEP] 13, Plunger, -1.066, 0.000, -3.527, 0, 0, 0, Floor|-00.04| [SEP] 14, Cloth, -2.669, 0.079, -1.978, 0, 0, 0, 18 [SEP] 15, SprayBottle, -0.482, 1.046, -3.826, 0, 0, 0, 32 [SEP] 16, ShowerDoor, -2.204, 1.044, -2.503, 0, 0, 0, [SEP] 17, Mirror, -2.947, 1.559, -1.194, 0, 0, 0, [SEP] 18, Cabinet, -2.504, 0.400, -2.208, 0, 0, 0, [SEP] 19, CounterTop, -2.744, 0.986, -1.243, 0, 0, 0, [SEP] 20, Cabinet, -2.504, 0.400, -1.238, 0, 0, 0, [SEP] 21, ShowerGlass, -2.079, 1.482, -3.264, 0, 0, 0, [SEP] 22, Cabinet, -2.508, 0.426, -0.290, 0, 0, 0, [SEP] 23, Sink, -2.907, 0.986, -1.761, 0, 90, 0, [SEP] 24, Cabinet, -2.508, 0.426, -1.260, 0, 0, 0, [SEP] 25, TowelHolder, -1.158, 1.521, -2.887, 0, 90, 0, [SEP] 26, ToiletPaperHanger, 0.0, 0.984, -2.651, 0, 270, 0, [SEP] 27, HandTowelHolder, -2.591, 1.737, -0.009, 0, 90, 0, [SEP] 28, GarbageCan, -0.908, -0.031, -3.646, 0, 90, 0, [SEP] 29, Window, -0.566, 1.730, -4.102, 90, 0, 0, [SEP] 30, LightSwitch, -1.332, 1.391, 0.001, 0, 180, 0, [SEP] 31, SinkBasin, -2.724, 0.916, -1.755, 351.180, 90, 0, [SEP] 32, Toilet, -0.319, 0.000, -3.533, 0, 90, 0, [SEP] 33, Faucet, -2.907, 0.993, -1.761, 0, 90, 0, [SEP] 34, SinkBasin, -2.724, 0.916, -0.726, 351.180, 90, 0, [SEP] 35, Sink, -2.907, 0.986, -0.732, 0, 90, 0, [SEP] 36, Faucet, -2.907, 0.993, -0.731, 0, 90, 0, [SEP] 37, ShowerHead, -2.868, 1.219, -3.223, 0, 180, 0, [SEP] 38, EastWall, , , , , , , [SEP] 39, EastWall, , , , , , , [SEP] 40, SouthWall, , , , , , , ", "output": ["STEP 1: Turn left and go to the toilet. | STEP 2: Pick up the plunger from the floor. | STEP 3: Turn around and then left to go to the sinks. | STEP 4: Open the cabinet under the left sink and put the plunger inside. | END"]} +{"id": "trial_T20190907_073056_273373-1", "input": "Throw a cooked potato in the garbage. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.901, -2.5, 0, 270, 0, [SEP] 1, Potato, -3.234, 0.685, -1.879, 0, 90, 0, 82 [SEP] 2, Potato, -1.845, 0.834, -3.747, 0, 0, 0, 83 [SEP] 3, DishSponge, -2.990, 0.713, -0.922, 0, 0, 0, 85 [SEP] 4, DishSponge, -1.707, 0.790, -3.704, 0, 0, 0, 83 [SEP] 5, ButterKnife, -0.328, 0.913, -3.112, 0, 0, 0, 41 [SEP] 6, ButterKnife, -3.393, 0.913, -3.227, 0, 0, 0, 41 [SEP] 7, Pot, -0.376, 0.975, -2.031, 0, 180, 0, 70 [SEP] 8, Spatula, -0.338, 0.930, -0.490, 0, 0, 0, 68 [SEP] 9, Spoon, -0.530, 0.747, -3.024, 0, 90, 0, 71 [SEP] 10, Fork, -3.292, 0.714, -0.370, 0, 270, 0, 85 [SEP] 11, Cup, -2.564, 0.714, -0.797, 0, 135, 0, 85 [SEP] 12, Cup, -2.978, 0.717, -0.785, 0, 225, 0, 85 [SEP] 13, Plate, -0.413, 0.078, -1.259, 0, 0, 0, 46 [SEP] 14, Tomato, -0.338, 0.965, -1.370, 0, 0, 0, 68 [SEP] 15, Tomato, -2.439, 0.766, -0.496, 0, 270, 0, 85 [SEP] 16, Bowl, -1.960, 0.079, -3.713, 0, 0, 0, 62 [SEP] 17, SaltShaker, -3.226, 1.864, -1.865, 0, 0, 0, 51 [SEP] 18, SaltShaker, -2.723, 0.710, -0.433, 0, 270, 0, 85 [SEP] 19, PepperShaker, -0.412, 0.742, -2.968, 0, 0, 0, 71 [SEP] 20, Pot, -1.058, 0.916, -3.729, 0, 0, 0, 41 [SEP] 21, Egg, -0.162, 0.115, -0.115, 0, 270, 0, 80 [SEP] 22, Cup, -3.130, 1.399, -1.941, 0, 90, 0, 82 [SEP] 23, Bread, -0.327, 0.948, -3.681, 0, 298.222, 0, 41 [SEP] 24, Fork, -2.629, 0.914, -3.952, 0, 0, 0, 41 [SEP] 25, Pan, -0.394, 0.973, -2.414, 0, 0, 0, 66 [SEP] 26, Potato, -0.500, 0.959, -1.432, 0, 0, 0, 68 [SEP] 27, Lettuce, -2.753, 0.801, -0.785, 0, 135, 0, 85 [SEP] 28, Tomato, -2.620, 0.763, -0.652, 0, 135, 0, 85 [SEP] 29, Apple, -3.079, 0.683, -2.064, 0, 90, 0, 82 [SEP] 30, SoapBottle, -2.966, 0.713, -0.596, 0, 225, 0, 85 [SEP] 31, Spatula, -3.309, 0.928, -3.327, 0, 0, 0, 41 [SEP] 32, SaltShaker, -3.167, 0.713, -0.797, 0, 225, 0, 85 [SEP] 33, Knife, -0.095, 0.948, -1.555, 0, 0, 0, 68 [SEP] 34, PepperShaker, -2.581, 0.710, -0.433, 0, 270, 0, 85 [SEP] 35, ButterKnife, -0.419, 0.916, -0.542, 0, 0, 0, 68 [SEP] 36, Plate, -0.413, 0.078, -1.492, 0, 0, 0, 46 [SEP] 37, DishSponge, -0.412, 0.745, -0.837, 0, 0, 0, 67 [SEP] 38, Spoon, -2.777, 0.718, -0.584, 0, 225, 0, 85 [SEP] 39, Mug, -1.164, 0.075, -3.673, 0, 0, 0, 56 [SEP] 40, Bowl, -1.614, 0.080, -3.673, 0, 0, 0, 57 [SEP] 41, CounterTop, -1.789, 0.949, -3.803, 0, 0, 0, [SEP] 42, Cabinet, -0.577, 0.388, -3.476, 0, 0, 0, [SEP] 43, Cabinet, -0.605, 0.388, -3.511, 0, 0, 0, [SEP] 44, Cabinet, -2.976, 0.388, -3.201, 0, 0, 0, [SEP] 45, Cabinet, -0.577, 0.388, -0.447, 0, 0, 0, [SEP] 46, Cabinet, -0.577, 0.388, -1.725, 0, 0, 0, [SEP] 47, Cabinet, -0.226, 1.803, -1.743, 0, 0, 0, [SEP] 48, Cabinet, -0.228, 1.799, -0.447, 0, 0, 0, [SEP] 49, Cabinet, -6.010, 1.139, -6.019, 0, 0, 0, [SEP] 50, Cabinet, -3.022, 2.098, -2.681, 0, 0, 0, [SEP] 51, Cabinet, -3.022, 2.098, -1.743, 0, 0, 0, [SEP] 52, Cabinet, -0.577, 0.388, -2.736, 0, 0, 0, [SEP] 53, Cabinet, -3.232, 1.803, -3.343, 0, 0, 0, [SEP] 54, Cabinet, -2.811, 1.810, -3.764, 0, 0, 0, [SEP] 55, Cabinet, -1.233, 1.810, -3.764, 0, 0, 0, [SEP] 56, Cabinet, -1.364, 0.388, -3.511, 0, 0, 0, [SEP] 57, Cabinet, -1.380, 0.388, -3.511, 0, 0, 0, [SEP] 58, Cabinet, -0.226, 1.803, -2.725, 0, 0, 0, [SEP] 59, Cabinet, -0.236, 2.098, -1.767, 0, 0, 0, [SEP] 60, Cabinet, -0.236, 2.098, -2.705, 0, 0, 0, [SEP] 61, Cabinet, -0.193, 1.210, -4.239, 0, 0, 0, [SEP] 62, Cabinet, -2.148, 0.388, -3.511, 0, 0, 0, [SEP] 63, Drawer, -3.104, 0.797, -2.968, 0, 0, 0, [SEP] 64, Drawer, -0.449, 0.797, -1.410, 0, 0, 0, [SEP] 65, Sink, -1.786, 0.902, -3.748, 0, 0, 0, [SEP] 66, StoveBurner, -0.376, 0.936, -2.451, 0, 0, 0, [SEP] 67, Drawer, -0.449, 0.797, -0.762, 0, 0, 0, [SEP] 68, CounterTop, -0.268, 0.951, -1.089, 0, 0, 0, [SEP] 69, Drawer, -0.449, 0.797, -3.348, 0, 0, 0, [SEP] 70, StoveBurner, -0.376, 0.936, -2.031, 0, 180, 0, [SEP] 71, Drawer, -0.449, 0.797, -2.968, 0, 0, 0, [SEP] 72, StoveBurner, -0.165, 0.936, -2.030, 0, 180, 0, [SEP] 73, StoveBurner, -0.165, 0.936, -2.450, 0, 0, 0, [SEP] 74, StoveKnob, -0.568, 0.903, -2.313, 45, 270, 0, [SEP] 75, StoveKnob, -0.568, 0.903, -2.470, 45, 270, 0, [SEP] 76, StoveKnob, -0.568, 0.903, -2.166, 45, 270, 0, [SEP] 77, StoveKnob, -0.568, 0.903, -2.003, 45, 270, 0, [SEP] 78, Microwave, -0.143, 0.903, -0.908, 0, 270, 0, [SEP] 79, LightSwitch, -1.108, 1.457, 0.338, 0, 180, 0, [SEP] 80, GarbageCan, -0.283, -0.032, -0.035, 0, 270, 0, [SEP] 81, CoffeeMachine, -3.104, 0.837, -0.185, 0, 135, 0, [SEP] 82, Fridge, -3.188, 0.0, -2.184, 0, 0, 0, [SEP] 83, SinkBasin, -1.786, 0.779, -3.747, 0, 0, 0, [SEP] 84, Toaster, -0.230, 0.903, -3.406, 0, 270, 0, [SEP] 85, DiningTable, -2.800, 0.003, -0.505, 0, 0, 0, [SEP] 86, Chair, -3.044, 0.003, -1.223, 0, 32.194, 0, [SEP] 87, Faucet, -1.791, 1.136, -3.913, 0, 270, 0, [SEP] 88, NorthWall, , , , , , , [SEP] 89, EastWall, , , , , , , [SEP] 90, SouthWall, , , , , , , [SEP] 91, WestWall, , , , , , , ", "output": ["STEP 1: Turn right, turn right again, cross room to face the microwave. | STEP 2: Pick up potato from counter to right of microwave. | STEP 3: Walk to microwave and face it, put potato in microwave, turn microwave on. | STEP 4: Remove potato from microwave. | STEP 5: Turn left, walk to garbage can, face garbage can. | STEP 6: Put potato in garbage can. | END"]} +{"id": "trial_T20190907_144205_767755-0", "input": "Examine a cell phone by the light of a floor lamp. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.916, 2.0, 0, 180, 0, [SEP] 1, Statue, -0.204, 0.912, 1.703, 0, 0, 0, 63 [SEP] 2, Newspaper, -0.204, 0.912, 0.974, 0, 0, 0, 63 [SEP] 3, Newspaper, 0.158, 0.916, 2.188, 0, 0, 0, 63 [SEP] 4, CellPhone, -0.046, 0.413, 2.051, 0, 0, 0, 66 [SEP] 5, CellPhone, -2.958, 0.564, 1.806, 0, 270, 0, 58 [SEP] 6, CreditCard, -3.038, 0.366, -1.917, 0, 29.999, 0, 40 [SEP] 7, CreditCard, -0.023, 0.906, 2.188, 0, 0, 0, 63 [SEP] 8, RemoteControl, -2.812, 0.564, 1.600, 0, 270, 0, 58 [SEP] 9, Box, 3.160, 0.782, 0.298, 0, 180, 0, 46 [SEP] 10, Laptop, -2.885, 0.561, 1.187, 0, 270, 0, 58 [SEP] 11, Book, 0.116, 0.902, 1.073, 0, 29.999, 0, 63 [SEP] 12, Box, 3.173, 0.206, -0.048, 0, 19.470, 0, 49 [SEP] 13, Statue, -0.204, 0.912, 1.946, 0, 0, 0, 63 [SEP] 14, CreditCard, 3.198, 0.589, -0.772, 0, 180, 0, 49 [SEP] 15, Laptop, -2.780, 0.365, -1.874, 0, 0, 0, 40 [SEP] 16, WateringCan, 2.893, 0.014, -1.916, 0, 328.832, 0, [SEP] 17, Newspaper, 3.18, 0.586, -0.543, 0, 259.747, 0, 57 [SEP] 18, Vase, -2.168, 1.195, -2.183, 0, 0, 0, [SEP] 19, CellPhone, -2.667, 0.368, -2.132, 0, 29.999, 0, 40 [SEP] 20, RemoteControl, -0.023, 0.907, 2.431, 0, 0, 0, 63 [SEP] 21, Vase, -1.046, 1.195, -2.151, 0, 0, 0, [SEP] 22, Pillow, -2.893, 0.616, 0.818, 0, 0, 0, 58 [SEP] 23, KeyChain, -0.113, 0.906, 1.946, 0, 180, 0, 63 [SEP] 24, Cabinet, 0.333, 0.514, -2.015, 0, 0, 0, [SEP] 25, DeskLamp, 3.143, 0.591, 1.457, 0, 270, 0, [SEP] 26, LightSwitch, -0.927, 1.316, 2.846, 0, 180, 0, [SEP] 27, HousePlant, 0.491, 0.874, -1.581, 0, 0, 0, [SEP] 28, Television, 0.069, 1.406, 1.698, 0, 270, 0, [SEP] 29, GarbageCan, 3.164, 0.026, 0.891, 0, 0, 0, [SEP] 30, Painting, -1.561, 1.408, -2.318, 90, 180, 0, [SEP] 31, Painting, 3.367, 1.789, -0.949, 90, 270, 0, [SEP] 32, Painting, -3.488, 1.386, -0.507, 90, 270, 0, [SEP] 33, FloorLamp, 3.103, 0.025, -2.341, 0, 135, 0, [SEP] 34, Window, 1.133, 1.218, -2.740, 90, 0, 0, [SEP] 35, Window, -3.368, 1.180, -1.539, 90, 90, 0, [SEP] 36, Window, 2.898, 1.218, -2.740, 90, 0, 0, [SEP] 37, Window, 2.006, 1.218, -2.740, 90, 0, 0, [SEP] 38, Window, -0.193, 1.157, -2.563, 90, 0, 0, [SEP] 39, Window, -2.970, 1.157, -2.563, 90, 0, 0, [SEP] 40, ArmChair, -2.859, 0.026, -2.036, 0, 29.994, 0, [SEP] 41, SideTable, -0.170, 0.027, -2.279, 0, 0, 0, [SEP] 42, Drawer, -0.173, 0.465, -2.135, 0, 0, 0, [SEP] 43, Drawer, 3.104, 0.167, 1.400, 0, 270, 0, [SEP] 44, SideTable, 3.163, 0.032, 1.400, 0, 270, 0, [SEP] 45, Drawer, 3.103, 0.418, 1.401, 0, 270, 0, [SEP] 46, SideTable, 3.163, 0.032, 0.364, 0, 270, 0, [SEP] 47, Drawer, -3.241, 0.418, -0.490, 0, 90, 0, [SEP] 48, Drawer, 3.104, 0.167, -0.574, 0, 270, 0, [SEP] 49, SideTable, 3.163, 0.032, -0.574, 0, 270, 0, [SEP] 50, Drawer, 3.104, 0.167, 0.364, 0, 270, 0, [SEP] 51, Drawer, 3.104, 0.419, -0.574, 0, 270, 0, [SEP] 52, Drawer, -3.241, 0.167, -0.489, 0, 90, 0, [SEP] 53, SideTable, -3.300, 0.032, -0.489, 0, 90, 0, [SEP] 54, Drawer, 3.104, 0.419, 0.364, 0, 270, 0, [SEP] 55, Chair, 1.049, 0.031, -2.190, 0, 29.997, 0, [SEP] 56, DogBed, 2.739, 0.032, 2.260, 0, 45, 0, [SEP] 57, Chair, 2.037, 0.031, -2.232, 0, 350.485, 0, [SEP] 58, Sofa, -2.957, 0.032, 1.393, 0, 90, 0, [SEP] 59, Drawer, -0.189, 0.232, 0.954, 0, 270, 0, [SEP] 60, Drawer, -0.415, 0.854, 1.921, 0, 270, 0, [SEP] 61, Drawer, -0.415, 0.351, 1.414, 0, 270, 0, [SEP] 62, Drawer, -0.415, 0.603, 1.414, 0, 270, 0, [SEP] 63, Dresser, -0.052, 0.028, 1.667, 0, 270, 0, [SEP] 64, Drawer, -0.190, 0.484, 0.954, 0, 270, 0, [SEP] 65, Drawer, -0.190, 0.736, 0.954, 0, 270, 0, [SEP] 66, Drawer, -0.415, 0.603, 1.921, 0, 270, 0, [SEP] 67, Drawer, -0.415, 0.603, 2.384, 0, 270, 0, [SEP] 68, Drawer, -0.415, 0.351, 2.384, 0, 270, 0, [SEP] 69, Drawer, -0.415, 0.854, 2.384, 0, 270, 0, [SEP] 70, Drawer, -0.415, 0.351, 1.921, 0, 270, 0, [SEP] 71, Drawer, -0.415, 0.854, 1.414, 0, 270, 0, [SEP] 72, Stool, 3.135, 0.029, -1.625, 0, 330.001, 0, [SEP] 73, Chair, 1.631, 0.029, 2.210, 0, 161.562, 0, [SEP] 74, NorthWall, , , , , , , [SEP] 75, EastWall, , , , , , , [SEP] 76, SouthWall, , , , , , , [SEP] 77, WestWall, , , , , , , ", "output": ["STEP 1: Walk to the chair on the right of the fire place that has a laptop on it. | STEP 2: Pick up the cell phone that is behind the laptop on the chair. | STEP 3: Turn around and walk to the floor lamp in the right corner of the other room. | STEP 4: Turn on the lamp. | END"]} +{"id": "trial_T20190909_061601_901195-1", "input": "Put a rinsed sponge in the cabinet. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.902, 3.0, 0, 90, 0, [SEP] 1, Cloth, -2.656, 0.746, 3.312, 0, 0, 0, 32 [SEP] 2, SoapBar, -0.379, 0.194, 1.754, 0, 0, 0, 43 [SEP] 3, SoapBar, -2.788, 0.937, 2.006, 0, 90, 0, 36 [SEP] 4, SprayBottle, -0.230, 0.052, 0.274, 0, 270, 0, 42 [SEP] 5, DishSponge, -2.546, 1.665, 3.149, 0, 0, 0, 30 [SEP] 6, SoapBottle, -2.800, 0.903, 3.364, 0, 0, 0, 28 [SEP] 7, SoapBottle, -2.549, 0.092, 2.709, 0, 0, 0, 35 [SEP] 8, Towel, -0.106, 1.510, 1.943, 0, 270, 0, 38 [SEP] 9, Candle, -2.549, 0.101, 2.804, 0, 0, 0, 35 [SEP] 10, SoapBottle, -2.902, 1.077, 0.652, 0, 90, 0, 46 [SEP] 11, HandTowel, -2.698, 1.521, 2.867, 0, 0, 0, 39 [SEP] 12, Plunger, -2.837, 0.001, 0.131, 0, 0, 0, Floor|-00.99| [SEP] 13, SoapBar, -2.788, 0.937, 2.455, 0, 90, 0, 44 [SEP] 14, ToiletPaper, -2.872, 1.074, 0.783, 0, 90, 0, 46 [SEP] 15, Cloth, -2.613, 0.094, 3.442, 0, 0, 0, 24 [SEP] 16, ToiletPaper, -2.328, 0.791, 0.079, 0, 0, 270, 41 [SEP] 17, SprayBottle, -2.792, 1.206, 1.400, 0, 270, 0, 37 [SEP] 18, PaperTowelRoll, -2.429, 1.311, 1.520, 0, 270, 0, 37 [SEP] 19, ScrubBrush, -2.831, 0.001, 0.295, 0, 0, 0, Floor|-00.99| [SEP] 20, DishSponge, -2.900, 0.930, 2.776, 0, 0, 0, 36 [SEP] 21, Cabinet, -2.410, 0.371, 2.862, 0, 0, 0, [SEP] 22, Mirror, -2.973, 1.613, 2.265, 0, 0, 0, [SEP] 23, Bathtub, -0.435, 0.182, 1.575, 0, 0, 0, [SEP] 24, Cabinet, -2.410, 0.371, 3.570, 0, 0, 0, [SEP] 25, Cabinet, -2.410, 0.371, 2.040, 0, 0, 0, [SEP] 26, Cabinet, -2.410, 1.261, 2.913, 0, 0, 0, [SEP] 27, Faucet, -0.769, 0.416, 1.0, 0, 9.958, 0, [SEP] 28, Cabinet, -2.410, 1.261, 3.570, 0, 0, 0, [SEP] 29, Sink, -2.723, 0.862, 2.231, 0, 90, 0, [SEP] 30, Cabinet, -2.410, 2.022, 2.913, 0, 0, 0, [SEP] 31, Cabinet, -2.410, 0.371, 1.585, 0, 0, 0, [SEP] 32, Drawer, -2.638, 0.767, 3.239, 0, 0, 0, [SEP] 33, Cabinet, -2.410, 2.022, 3.570, 0, 0, 0, [SEP] 34, Faucet, -2.928, 0.978, 2.231, 0, 90, 0, [SEP] 35, Cabinet, -2.410, 0.371, 2.913, 0, 0, 0, [SEP] 36, CounterTop, -2.688, 0.966, 2.260, 0, 0, 0, [SEP] 37, CounterTop, -2.611, 1.243, 1.455, 0, 270, 0, [SEP] 38, TowelHolder, 0.0, 1.496, 1.942, 0, 270, 0, [SEP] 39, HandTowelHolder, -2.698, 1.623, 2.906, 0, 90, 0, [SEP] 40, Window, -2.256, 1.656, -0.021, 90, 0, 0, [SEP] 41, ToiletPaperHanger, -2.288, 0.910, 0.000, 0, 0, 0, [SEP] 42, GarbageCan, -0.403, -0.027, 0.241, 0, 0, 0, [SEP] 43, BathtubBasin, -0.435, 0.185, 1.544, 0, 0, 0, [SEP] 44, SinkBasin, -2.736, 0.929, 2.241, 0, 90, 0, [SEP] 45, LightSwitch, -1.675, 1.442, 3.610, 0, 180, 0, [SEP] 46, Toilet, -2.579, 0.032, 0.656, 0, 180, 0, [SEP] 47, NorthWall, , , , , , , [SEP] 48, EastWall, , , , , , , [SEP] 49, SouthWall, , , , , , , [SEP] 50, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and head to the counter to the right of the sink. | STEP 2: Pick up the sponge on the counter. | STEP 3: Turn left and go to the sink. | STEP 4: Put the sponge in the sink, rinse it off and pick it back up. | STEP 5: Turn to the right and go to the tall cabinets. | STEP 6: Put the sponge in the bottom right cabinet. | END"]} +{"id": "trial_T20190909_061601_901195-2", "input": "Move green sponge from counter and place it in a cabinet. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.902, 3.0, 0, 90, 0, [SEP] 1, Cloth, -2.656, 0.746, 3.312, 0, 0, 0, 32 [SEP] 2, SoapBar, -0.379, 0.194, 1.754, 0, 0, 0, 43 [SEP] 3, SoapBar, -2.788, 0.937, 2.006, 0, 90, 0, 36 [SEP] 4, SprayBottle, -0.230, 0.052, 0.274, 0, 270, 0, 42 [SEP] 5, DishSponge, -2.546, 1.665, 3.149, 0, 0, 0, 30 [SEP] 6, SoapBottle, -2.800, 0.903, 3.364, 0, 0, 0, 28 [SEP] 7, SoapBottle, -2.549, 0.092, 2.709, 0, 0, 0, 35 [SEP] 8, Towel, -0.106, 1.510, 1.943, 0, 270, 0, 38 [SEP] 9, Candle, -2.549, 0.101, 2.804, 0, 0, 0, 35 [SEP] 10, SoapBottle, -2.902, 1.077, 0.652, 0, 90, 0, 46 [SEP] 11, HandTowel, -2.698, 1.521, 2.867, 0, 0, 0, 39 [SEP] 12, Plunger, -2.837, 0.001, 0.131, 0, 0, 0, Floor|-00.99| [SEP] 13, SoapBar, -2.788, 0.937, 2.455, 0, 90, 0, 44 [SEP] 14, ToiletPaper, -2.872, 1.074, 0.783, 0, 90, 0, 46 [SEP] 15, Cloth, -2.613, 0.094, 3.442, 0, 0, 0, 24 [SEP] 16, ToiletPaper, -2.328, 0.791, 0.079, 0, 0, 270, 41 [SEP] 17, SprayBottle, -2.792, 1.206, 1.400, 0, 270, 0, 37 [SEP] 18, PaperTowelRoll, -2.429, 1.311, 1.520, 0, 270, 0, 37 [SEP] 19, ScrubBrush, -2.831, 0.001, 0.295, 0, 0, 0, Floor|-00.99| [SEP] 20, DishSponge, -2.900, 0.930, 2.776, 0, 0, 0, 36 [SEP] 21, Cabinet, -2.410, 0.371, 2.862, 0, 0, 0, [SEP] 22, Mirror, -2.973, 1.613, 2.265, 0, 0, 0, [SEP] 23, Bathtub, -0.435, 0.182, 1.575, 0, 0, 0, [SEP] 24, Cabinet, -2.410, 0.371, 3.570, 0, 0, 0, [SEP] 25, Cabinet, -2.410, 0.371, 2.040, 0, 0, 0, [SEP] 26, Cabinet, -2.410, 1.261, 2.913, 0, 0, 0, [SEP] 27, Faucet, -0.769, 0.416, 1.0, 0, 9.958, 0, [SEP] 28, Cabinet, -2.410, 1.261, 3.570, 0, 0, 0, [SEP] 29, Sink, -2.723, 0.862, 2.231, 0, 90, 0, [SEP] 30, Cabinet, -2.410, 2.022, 2.913, 0, 0, 0, [SEP] 31, Cabinet, -2.410, 0.371, 1.585, 0, 0, 0, [SEP] 32, Drawer, -2.638, 0.767, 3.239, 0, 0, 0, [SEP] 33, Cabinet, -2.410, 2.022, 3.570, 0, 0, 0, [SEP] 34, Faucet, -2.928, 0.978, 2.231, 0, 90, 0, [SEP] 35, Cabinet, -2.410, 0.371, 2.913, 0, 0, 0, [SEP] 36, CounterTop, -2.688, 0.966, 2.260, 0, 0, 0, [SEP] 37, CounterTop, -2.611, 1.243, 1.455, 0, 270, 0, [SEP] 38, TowelHolder, 0.0, 1.496, 1.942, 0, 270, 0, [SEP] 39, HandTowelHolder, -2.698, 1.623, 2.906, 0, 90, 0, [SEP] 40, Window, -2.256, 1.656, -0.021, 90, 0, 0, [SEP] 41, ToiletPaperHanger, -2.288, 0.910, 0.000, 0, 0, 0, [SEP] 42, GarbageCan, -0.403, -0.027, 0.241, 0, 0, 0, [SEP] 43, BathtubBasin, -0.435, 0.185, 1.544, 0, 0, 0, [SEP] 44, SinkBasin, -2.736, 0.929, 2.241, 0, 90, 0, [SEP] 45, LightSwitch, -1.675, 1.442, 3.610, 0, 180, 0, [SEP] 46, Toilet, -2.579, 0.032, 0.656, 0, 180, 0, [SEP] 47, NorthWall, , , , , , , [SEP] 48, EastWall, , , , , , , [SEP] 49, SouthWall, , , , , , , [SEP] 50, WestWall, , , , , , , ", "output": ["STEP 1: Turn around, proceed to counter. | STEP 2: Pick up green sponge from counter. | STEP 3: Turn left then right to position self in front of sink. | STEP 4: Put sponge in sink, fill up sink with water and drain sink. Pick up sponge from sink. | STEP 5: Turn right then left to position self in front of counter. | STEP 6: Open lower cabinet, second from wall, place sponge in front part of cabinet, close door. | END"]} +{"id": "trial_T20190907_000105_330254-2", "input": "Put a head of lettuce on the counter. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.900, 1.5, 0, 0, 0, [SEP] 1, Pan, -0.244, 0.829, 1.684, 0, 0, 0, 44 [SEP] 2, Ladle, -2.375, 0.867, 0.352, 0, 0, 0, 45 [SEP] 3, Fork, -2.597, 0.693, 1.474, 0, 90, 0, 50 [SEP] 4, Spoon, -1.161, 0.699, 0.377, 0, 90, 0, 49 [SEP] 5, Spoon, -2.375, 0.824, 0.129, 0, 0, 0, 45 [SEP] 6, Spatula, -2.658, 0.838, 0.953, 0, 180, 0, 45 [SEP] 7, Spatula, -2.890, 0.838, 0.871, 0, 180, 0, 45 [SEP] 8, Cup, -0.092, 0.823, 1.326, 0, 0, 0, 45 [SEP] 9, Plate, -2.779, 1.439, 0.233, 0, 45, 0, 51 [SEP] 10, Tomato, -0.262, 0.106, 2.674, 0, 0, 0, 65 [SEP] 11, PepperShaker, -2.834, 1.430, 0.708, 0, 0, 0, 54 [SEP] 12, Lettuce, -2.837, 0.908, 2.045, 0, 90, 0, 63 [SEP] 13, Mug, -2.837, 1.440, 2.397, 0, 90, 0, 63 [SEP] 14, Mug, -0.646, 0.888, 0.367, 0, 0, 0, 73 [SEP] 15, Apple, -0.395, 0.129, 2.640, 0, 90, 0, 65 [SEP] 16, Apple, -2.744, 0.994, 1.231, 0, 270, 0, 64 [SEP] 17, Apple, -2.608, 0.896, 0.129, 0, 0, 0, 45 [SEP] 18, Fork, -0.147, 0.824, 0.426, 0, 0, 0, 45 [SEP] 19, Ladle, -2.609, 0.165, 1.471, 0, 0, 0, 56 [SEP] 20, Pan, -0.244, 0.829, 2.075, 0, 180, 0, 40 [SEP] 21, SoapBottle, -0.817, 0.821, 0.500, 0, 0, 0, 45 [SEP] 22, Pot, -0.531, 0.822, 2.096, 0, 0, 0, 42 [SEP] 23, Tomato, -2.671, 1.495, 2.133, 0, 90, 0, 63 [SEP] 24, Potato, -2.616, 1.484, 2.485, 0, 90, 0, 63 [SEP] 25, SaltShaker, -2.882, 1.429, 1.157, 0, 0, 0, 53 [SEP] 26, Plate, -2.000, 0.130, 0.440, 0, 0, 0, 57 [SEP] 27, Spatula, -0.341, 0.696, 1.194, 0, 45, 0, 41 [SEP] 28, Knife, -2.662, 0.819, 0.557, 90, 300.034, 0, 45 [SEP] 29, Egg, -0.329, 0.080, 2.539, 0, 0, 0, 65 [SEP] 30, Cup, -2.837, 1.445, 2.221, 0, 90, 0, 63 [SEP] 31, ButterKnife, -2.493, 0.812, 0.476, 0, 50.734, 0, 45 [SEP] 32, Lettuce, -2.837, 1.227, 2.221, 0, 90, 0, 63 [SEP] 33, PepperShaker, -2.957, 0.818, 0.203, 0, 0, 0, 45 [SEP] 34, DishSponge, -2.840, 0.823, 0.055, 0, 0, 0, 45 [SEP] 35, Bread, -0.979, 0.855, 0.249, 0, 29.999, 0, 45 [SEP] 36, Spoon, -0.400, 0.824, 0.658, 0, 0, 0, 45 [SEP] 37, Mug, -2.782, 0.819, 2.309, 0, 90, 0, 63 [SEP] 38, Bowl, -1.465, 0.121, 0.401, 0, 0, 0, 58 [SEP] 39, Cabinet, -2.377, 2.015, 1.720, 0, 0, 0, [SEP] 40, StoveBurner, -0.244, 0.820, 2.075, 0, 180, 0, [SEP] 41, Drawer, -0.402, 0.703, 1.252, 0, 0, 0, [SEP] 42, StoveBurner, -0.518, 0.820, 2.075, 0, 180, 0, [SEP] 43, Sink, -1.838, 0.726, 0.343, 0, 180, 0, [SEP] 44, StoveBurner, -0.244, 0.820, 1.684, 0, 0, 0, [SEP] 45, CounterTop, -1.557, 0.859, 0.277, 0, 0, 0, [SEP] 46, StoveBurner, -0.518, 0.820, 1.684, 0, 0, 0, [SEP] 47, Drawer, -0.404, 0.704, 0.912, 0, 0, 0, [SEP] 48, Drawer, -0.861, 0.709, 0.420, 0, 0, 0, [SEP] 49, Drawer, -1.133, 0.706, 0.418, 0, 0, 0, [SEP] 50, Drawer, -2.589, 0.703, 1.511, 0, 0, 0, [SEP] 51, Cabinet, -2.772, 1.803, 0.508, 0, 0, 0, [SEP] 52, Cabinet, -2.460, 1.803, 0.231, 0, 0, 0, [SEP] 53, Cabinet, -2.781, 1.798, 0.825, 0, 0, 0, [SEP] 54, Cabinet, -2.781, 1.798, 0.815, 0, 0, 0, [SEP] 55, Cabinet, -2.377, 2.009, 2.581, 0, 0, 0, [SEP] 56, Cabinet, -2.442, 0.385, 1.672, 0, 0, 0, [SEP] 57, Cabinet, -2.238, 0.385, 0.564, 0, 0, 0, [SEP] 58, Cabinet, -1.286, 0.385, 0.564, 0, 0, 0, [SEP] 59, Cabinet, -1.262, 0.385, 0.565, 0, 0, 0, [SEP] 60, Cabinet, -0.734, 0.385, 0.565, 0, 0, 0, [SEP] 61, Cabinet, -0.549, 0.385, 0.751, 0, 0, 0, [SEP] 62, Cabinet, -0.549, 0.385, 1.412, 0, 0, 0, [SEP] 63, Fridge, -2.782, 0.0, 2.221, 0, 0, 0, [SEP] 64, Microwave, -2.794, 0.812, 1.348, 0, 90, 0, [SEP] 65, GarbageCan, -0.329, 2.205, 2.606, 0, 0, 0, [SEP] 66, StoveKnob, -0.069, 0.998, 1.773, 0, 180, 107.470, [SEP] 67, StoveKnob, -0.069, 0.998, 1.613, 0, 180, 107.470, [SEP] 68, StoveKnob, -0.069, 0.998, 2.171, 0, 180, 107.470, [SEP] 69, StoveKnob, -0.069, 0.998, 2.024, 0, 180, 107.470, [SEP] 70, Window, -1.720, 1.342, -0.208, 90, 0, 0, [SEP] 71, Toaster, -0.171, 0.812, 0.735, 0, 270, 0, [SEP] 72, SinkBasin, -1.745, 0.687, 0.295, 0, 0, 0, [SEP] 73, CoffeeMachine, -0.539, 0.812, 0.185, 0, 0, 0, [SEP] 74, LightSwitch, -0.615, 1.378, 3.0, 0, 180, 0, [SEP] 75, Faucet, -1.686, 0.954, 0.176, 0, 236.223, 0, [SEP] 76, Stool, -1.008, 0.008, 1.955, 0, 18.279, 0, [SEP] 77, NorthWall, , , , , , , [SEP] 78, EastWall, , , , , , , [SEP] 79, SouthWall, , , , , , , [SEP] 80, WestWall, , , , , , , ", "output": ["STEP 1: Turn left to face refrigerator. | STEP 2: Take lettuce from the top shelf of the refrigerator. | STEP 3: Turn left, walk to the sink. | STEP 4: Place lettuce on counter to the right of the sink, to the right of the knife. | END"]} +{"id": "trial_T20190907_000105_330254-3", "input": "Grab lettuce from the fridge to place on the counter SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.900, 1.5, 0, 0, 0, [SEP] 1, Pan, -0.244, 0.829, 1.684, 0, 0, 0, 44 [SEP] 2, Ladle, -2.375, 0.867, 0.352, 0, 0, 0, 45 [SEP] 3, Fork, -2.597, 0.693, 1.474, 0, 90, 0, 50 [SEP] 4, Spoon, -1.161, 0.699, 0.377, 0, 90, 0, 49 [SEP] 5, Spoon, -2.375, 0.824, 0.129, 0, 0, 0, 45 [SEP] 6, Spatula, -2.658, 0.838, 0.953, 0, 180, 0, 45 [SEP] 7, Spatula, -2.890, 0.838, 0.871, 0, 180, 0, 45 [SEP] 8, Cup, -0.092, 0.823, 1.326, 0, 0, 0, 45 [SEP] 9, Plate, -2.779, 1.439, 0.233, 0, 45, 0, 51 [SEP] 10, Tomato, -0.262, 0.106, 2.674, 0, 0, 0, 65 [SEP] 11, PepperShaker, -2.834, 1.430, 0.708, 0, 0, 0, 54 [SEP] 12, Lettuce, -2.837, 0.908, 2.045, 0, 90, 0, 63 [SEP] 13, Mug, -2.837, 1.440, 2.397, 0, 90, 0, 63 [SEP] 14, Mug, -0.646, 0.888, 0.367, 0, 0, 0, 73 [SEP] 15, Apple, -0.395, 0.129, 2.640, 0, 90, 0, 65 [SEP] 16, Apple, -2.744, 0.994, 1.231, 0, 270, 0, 64 [SEP] 17, Apple, -2.608, 0.896, 0.129, 0, 0, 0, 45 [SEP] 18, Fork, -0.147, 0.824, 0.426, 0, 0, 0, 45 [SEP] 19, Ladle, -2.609, 0.165, 1.471, 0, 0, 0, 56 [SEP] 20, Pan, -0.244, 0.829, 2.075, 0, 180, 0, 40 [SEP] 21, SoapBottle, -0.817, 0.821, 0.500, 0, 0, 0, 45 [SEP] 22, Pot, -0.531, 0.822, 2.096, 0, 0, 0, 42 [SEP] 23, Tomato, -2.671, 1.495, 2.133, 0, 90, 0, 63 [SEP] 24, Potato, -2.616, 1.484, 2.485, 0, 90, 0, 63 [SEP] 25, SaltShaker, -2.882, 1.429, 1.157, 0, 0, 0, 53 [SEP] 26, Plate, -2.000, 0.130, 0.440, 0, 0, 0, 57 [SEP] 27, Spatula, -0.341, 0.696, 1.194, 0, 45, 0, 41 [SEP] 28, Knife, -2.662, 0.819, 0.557, 90, 300.034, 0, 45 [SEP] 29, Egg, -0.329, 0.080, 2.539, 0, 0, 0, 65 [SEP] 30, Cup, -2.837, 1.445, 2.221, 0, 90, 0, 63 [SEP] 31, ButterKnife, -2.493, 0.812, 0.476, 0, 50.734, 0, 45 [SEP] 32, Lettuce, -2.837, 1.227, 2.221, 0, 90, 0, 63 [SEP] 33, PepperShaker, -2.957, 0.818, 0.203, 0, 0, 0, 45 [SEP] 34, DishSponge, -2.840, 0.823, 0.055, 0, 0, 0, 45 [SEP] 35, Bread, -0.979, 0.855, 0.249, 0, 29.999, 0, 45 [SEP] 36, Spoon, -0.400, 0.824, 0.658, 0, 0, 0, 45 [SEP] 37, Mug, -2.782, 0.819, 2.309, 0, 90, 0, 63 [SEP] 38, Bowl, -1.465, 0.121, 0.401, 0, 0, 0, 58 [SEP] 39, Cabinet, -2.377, 2.015, 1.720, 0, 0, 0, [SEP] 40, StoveBurner, -0.244, 0.820, 2.075, 0, 180, 0, [SEP] 41, Drawer, -0.402, 0.703, 1.252, 0, 0, 0, [SEP] 42, StoveBurner, -0.518, 0.820, 2.075, 0, 180, 0, [SEP] 43, Sink, -1.838, 0.726, 0.343, 0, 180, 0, [SEP] 44, StoveBurner, -0.244, 0.820, 1.684, 0, 0, 0, [SEP] 45, CounterTop, -1.557, 0.859, 0.277, 0, 0, 0, [SEP] 46, StoveBurner, -0.518, 0.820, 1.684, 0, 0, 0, [SEP] 47, Drawer, -0.404, 0.704, 0.912, 0, 0, 0, [SEP] 48, Drawer, -0.861, 0.709, 0.420, 0, 0, 0, [SEP] 49, Drawer, -1.133, 0.706, 0.418, 0, 0, 0, [SEP] 50, Drawer, -2.589, 0.703, 1.511, 0, 0, 0, [SEP] 51, Cabinet, -2.772, 1.803, 0.508, 0, 0, 0, [SEP] 52, Cabinet, -2.460, 1.803, 0.231, 0, 0, 0, [SEP] 53, Cabinet, -2.781, 1.798, 0.825, 0, 0, 0, [SEP] 54, Cabinet, -2.781, 1.798, 0.815, 0, 0, 0, [SEP] 55, Cabinet, -2.377, 2.009, 2.581, 0, 0, 0, [SEP] 56, Cabinet, -2.442, 0.385, 1.672, 0, 0, 0, [SEP] 57, Cabinet, -2.238, 0.385, 0.564, 0, 0, 0, [SEP] 58, Cabinet, -1.286, 0.385, 0.564, 0, 0, 0, [SEP] 59, Cabinet, -1.262, 0.385, 0.565, 0, 0, 0, [SEP] 60, Cabinet, -0.734, 0.385, 0.565, 0, 0, 0, [SEP] 61, Cabinet, -0.549, 0.385, 0.751, 0, 0, 0, [SEP] 62, Cabinet, -0.549, 0.385, 1.412, 0, 0, 0, [SEP] 63, Fridge, -2.782, 0.0, 2.221, 0, 0, 0, [SEP] 64, Microwave, -2.794, 0.812, 1.348, 0, 90, 0, [SEP] 65, GarbageCan, -0.329, 2.205, 2.606, 0, 0, 0, [SEP] 66, StoveKnob, -0.069, 0.998, 1.773, 0, 180, 107.470, [SEP] 67, StoveKnob, -0.069, 0.998, 1.613, 0, 180, 107.470, [SEP] 68, StoveKnob, -0.069, 0.998, 2.171, 0, 180, 107.470, [SEP] 69, StoveKnob, -0.069, 0.998, 2.024, 0, 180, 107.470, [SEP] 70, Window, -1.720, 1.342, -0.208, 90, 0, 0, [SEP] 71, Toaster, -0.171, 0.812, 0.735, 0, 270, 0, [SEP] 72, SinkBasin, -1.745, 0.687, 0.295, 0, 0, 0, [SEP] 73, CoffeeMachine, -0.539, 0.812, 0.185, 0, 0, 0, [SEP] 74, LightSwitch, -0.615, 1.378, 3.0, 0, 180, 0, [SEP] 75, Faucet, -1.686, 0.954, 0.176, 0, 236.223, 0, [SEP] 76, Stool, -1.008, 0.008, 1.955, 0, 18.279, 0, [SEP] 77, NorthWall, , , , , , , [SEP] 78, EastWall, , , , , , , [SEP] 79, SouthWall, , , , , , , [SEP] 80, WestWall, , , , , , , ", "output": ["STEP 1: Turn to the left to face the fridge | STEP 2: Open the fridge and remove the head if lettuce on the top shelf, shut the fridge | STEP 3: Head toward the sink | STEP 4: Place the lettuce behind the dinner knife to the right of the sink | END"]} +{"id": "trial_T20190908_133119_538038-2", "input": "Put two bars of soap on the counter near the sinks. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.900, 2.75, 0, 0, 0, [SEP] 1, Cloth, -0.246, 0.512, 1.978, 0, 0, 0, 23 [SEP] 2, SoapBar, -0.394, 0.828, 1.772, 0, 0, 0, 43 [SEP] 3, Candle, -0.470, 0.510, 2.662, 0, 0, 0, 26 [SEP] 4, Candle, -0.482, 0.812, 3.172, 0, 0, 0, 22 [SEP] 5, SoapBottle, -0.417, 0.813, 2.243, 0, 0, 0, 22 [SEP] 6, ToiletPaper, -0.188, 0.949, 3.846, 0, 0, 0, 37 [SEP] 7, HandTowel, -0.036, 1.658, 3.443, 0, 90, 0, 36 [SEP] 8, SoapBar, -0.363, 0.828, 2.753, 0, 0, 0, 40 [SEP] 9, ToiletPaper, -2.170, 0.053, 3.843, 0, 90, 0, 35 [SEP] 10, Plunger, -0.139, -0.000, 3.369, 0, 0, 0, Floor|+00.00| [SEP] 11, Candle, -0.190, 0.206, 2.551, 0, 0, 0, 21 [SEP] 12, SoapBottle, -0.144, 0.804, 1.325, 0, 0, 0, 22 [SEP] 13, ToiletPaper, -1.156, 0.897, 3.925, 0, 180, 90, 33 [SEP] 14, SprayBottle, -0.289, 0.813, 2.243, 0, 0, 0, 22 [SEP] 15, Towel, -1.106, 1.151, 1.289, 0, 0, 0, 34 [SEP] 16, Cloth, -0.302, 0.206, 2.034, 0, 0, 0, 23 [SEP] 17, ScrubBrush, -0.346, -0.000, 3.341, 0, 0, 0, Floor|+00.00| [SEP] 18, DishSponge, -0.134, 0.954, 3.658, 0, 0, 0, 37 [SEP] 19, Sink, -0.299, 0.807, 2.754, 0, 270, 0, [SEP] 20, Drawer, -0.319, 0.615, 3.012, 0, 0, 0, [SEP] 21, Drawer, -0.319, 0.316, 3.012, 0, 0, 0, [SEP] 22, CounterTop, -0.349, 0.004, 1.453, 0, 0, 0, [SEP] 23, Drawer, -0.319, 0.615, 1.978, 0, 0, 0, [SEP] 24, Drawer, -0.319, 0.316, 1.978, 0, 0, 0, [SEP] 25, Drawer, -0.319, 0.316, 1.463, 0, 0, 0, [SEP] 26, Drawer, -0.319, 0.615, 2.495, 0, 0, 0, [SEP] 27, ShowerDoor, -1.514, 0.910, 1.167, 0, 0, 0, [SEP] 28, Drawer, -0.319, 0.615, 1.463, 0, 0, 0, [SEP] 29, Drawer, -0.319, 0.316, 2.495, 0, 0, 0, [SEP] 30, Faucet, -0.076, 0.805, 2.757, 0, 0, 0, [SEP] 31, Mirror, -0.228, 0.465, 1.453, 0, 0, 0, [SEP] 32, ShowerGlass, -0.766, 0.541, 0.485, 0, 0, 0, [SEP] 33, ToiletPaperHanger, -1.200, 0.897, 4.0, 0, 180, 0, [SEP] 34, TowelHolder, -1.105, 1.136, 1.183, 0, 0, 0, [SEP] 35, GarbageCan, -2.041, -0.000, 3.724, 0, 45, 0, [SEP] 36, HandTowelHolder, 0.001, 1.759, 3.443, 0, 180, 0, [SEP] 37, Toilet, -0.600, -0.000, 3.671, 0, 270, 0, [SEP] 38, LightSwitch, -2.312, 1.386, 3.296, 0, 90, 0, [SEP] 39, Faucet, -0.076, 0.805, 1.733, 0, 0, 0, [SEP] 40, SinkBasin, -0.304, 0.819, 2.753, 0, 0, 0, [SEP] 41, Sink, -0.298, 0.807, 1.725, 0, 270, 0, [SEP] 42, ShowerHead, -0.083, 1.248, 0.522, 0, 0, 0, [SEP] 43, SinkBasin, -0.304, 0.819, 1.723, 0, 0, 0, [SEP] 44, NorthWall, , , , , , , [SEP] 45, SouthWall, , , , , , , [SEP] 46, SouthWall, , , , , , , ", "output": ["STEP 1: Back up and turn right, walk to left-hand sink | STEP 2: Take bar of soap from sink. | STEP 3: Turn right, walk to right-hand sink, turn to face sink. | STEP 4: Put soap down to left of right-hand sink. | STEP 5: Pick up soap from the right-hand sink. | STEP 6: Put soap down to right of sink. | END"]} +{"id": "trial_T20190906_213432_097777-1", "input": "Put salt on the small black table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.869, -2.25, 0, 180, 0, [SEP] 1, Potato, -0.855, 0.933, 1.187, 0, 270, 0, 69 [SEP] 2, DishSponge, -1.599, 0.699, -3.698, 0, 0, 0, 70 [SEP] 3, DishSponge, -1.578, 0.699, -3.529, 0, 0, 0, 70 [SEP] 4, ButterKnife, 0.803, 0.883, -0.245, 0, 0, 0, 43 [SEP] 5, ButterKnife, 0.729, 0.883, -0.039, 0, 0, 0, 43 [SEP] 6, Spatula, 0.769, 0.774, 0.002, 0, 270, 0, 42 [SEP] 7, Spatula, 0.950, 0.898, -0.108, 0, 270, 0, 43 [SEP] 8, Spoon, 0.655, 0.884, -0.108, 0, 90, 0, 43 [SEP] 9, Spoon, 0.781, 0.666, 0.326, 0, 0, 0, 48 [SEP] 10, Fork, 0.866, 0.760, -0.124, 0, 90, 0, 42 [SEP] 11, Fork, 0.149, 0.901, 1.187, 0, 270, 0, 69 [SEP] 12, Cup, 0.901, 0.663, 0.387, 0, 0, 0, 48 [SEP] 13, Cup, 0.661, 0.663, 0.569, 0, 0, 0, 48 [SEP] 14, Tomato, 0.708, 1.207, -1.880, 0, 270, 0, 63 [SEP] 15, Tomato, -1.261, 0.100, -3.537, 0, 270, 0, 58 [SEP] 16, SaltShaker, 0.961, 0.660, 0.630, 0, 0, 0, 48 [SEP] 17, Bread, -1.719, 0.745, -1.199, 0, 0, 0, 79 [SEP] 18, Lettuce, -0.051, 0.987, 1.015, 0, 270, 0, 69 [SEP] 19, Apple, 0.715, 0.826, -0.790, 0, 270, 0, 66 [SEP] 20, Apple, 0.708, 0.519, -1.958, 0, 270, 0, 63 [SEP] 21, Pot, -2.071, 0.927, 0.772, 0, 266.284, 0, 45 [SEP] 22, Plate, 0.732, 0.019, -0.184, 0, 0, 0, 53 [SEP] 23, Fork, 0.950, 0.884, 0.029, 0, 0, 0, 43 [SEP] 24, SoapBottle, -0.051, 0.899, 1.187, 0, 270, 0, 69 [SEP] 25, Apple, -1.949, 0.852, -3.673, 0, 0, 0, 65 [SEP] 26, Pan, -1.555, 0.930, 1.049, 0, 0, 0, 52 [SEP] 27, Egg, -0.855, 0.937, 1.101, 0, 270, 0, 69 [SEP] 28, Spatula, 0.574, 0.775, 0.002, 0, 270, 0, 42 [SEP] 29, Potato, 0.721, 0.698, 0.448, 0, 0, 0, 48 [SEP] 30, Cup, 0.757, 0.771, -0.680, 0, 270, 0, 66 [SEP] 31, SaltShaker, 0.901, 0.661, 0.569, 0, 0, 0, 48 [SEP] 32, PepperShaker, -1.719, 0.698, -1.416, 0, 0, 0, 79 [SEP] 33, ButterKnife, -2.054, 0.701, -0.875, 0, 0, 0, 79 [SEP] 34, DishSponge, 0.671, 0.760, 0.002, 0, 0, 0, 42 [SEP] 35, Bread, -0.252, 0.944, 0.929, 0, 270, 0, 69 [SEP] 36, Lettuce, 0.746, 1.461, -1.880, 0, 270, 0, 63 [SEP] 37, Tomato, 0.669, 0.713, -2.113, 0, 270, 0, 63 [SEP] 38, Spoon, -1.719, 0.702, -0.875, 0, 0, 0, 79 [SEP] 39, Knife, -1.886, 0.724, -1.091, 0, 0, 0, 79 [SEP] 40, Mug, 0.708, 0.660, -1.880, 0, 270, 0, 63 [SEP] 41, Bowl, -1.056, 0.899, 1.187, 0, 270, 0, 69 [SEP] 42, Drawer, 0.706, 0.766, -0.125, 0, 0, 0, [SEP] 43, CounterTop, 0.792, 0.919, -0.108, 0, 0, 0, [SEP] 44, Mirror, 1.093, 1.602, -0.643, 0, 0, 0, [SEP] 45, StoveBurner, -2.096, 0.890, 0.785, 0, 0, 0, [SEP] 46, Cabinet, 0.507, 0.345, -0.426, 0, 0, 0, [SEP] 47, StoveBurner, -1.552, 0.890, 0.785, 0, 0, 0, [SEP] 48, SideTable, 0.770, -0.030, 0.443, 0, 0, 0, [SEP] 49, Sink, 0.753, 0.882, -0.680, 0, 0, 0, [SEP] 50, StoveBurner, -2.096, 0.890, 1.049, 0, 0, 0, [SEP] 51, GarbageBag, -0.770, 0.287, -3.541, 270, 73.521, 83.489, [SEP] 52, StoveBurner, -1.554, 0.890, 1.049, 0, 0, 0, [SEP] 53, Cabinet, 0.507, 0.345, 0.156, 0, 0, 0, [SEP] 54, Cabinet, 0.717, 1.822, -0.398, 0, 0, 0, [SEP] 55, Cabinet, 0.717, 1.822, 0.669, 0, 0, 0, [SEP] 56, CoffeeMachine, 0.873, 0.865, -1.256, 0, 270, 0, [SEP] 57, Toaster, -0.522, 0.886, 1.081, 0, 180, 0, [SEP] 58, GarbageCan, -1.261, -0.031, -3.610, 0, 270, 0, [SEP] 59, StoveKnob, -1.898, 0.866, 0.519, 311.864, 0, 180, [SEP] 60, StoveKnob, -1.754, 0.866, 0.519, 311.864, 0, 180, [SEP] 61, StoveKnob, -2.058, 0.866, 0.519, 311.864, 0, 180, [SEP] 62, StoveKnob, -1.600, 0.866, 0.519, 311.864, 0, 180, [SEP] 63, Fridge, 0.680, -0.031, -1.957, 0, 0, 0, [SEP] 64, Window, -2.424, 1.639, -2.453, 90, 270, 0, [SEP] 65, Microwave, -1.994, 0.690, -3.651, 0, 0, 0, [SEP] 66, SinkBasin, 0.757, 0.762, -0.688, 0, 270, 0, [SEP] 67, LightSwitch, 1.102, 1.368, -3.737, 0, 270, 0, [SEP] 68, Shelf, -0.350, 0.124, 0.857, 0, 0, 0, [SEP] 69, DiningTable, -0.350, -0.025, 0.857, 0, 0, 0, [SEP] 70, DiningTable, -1.909, -0.032, -3.507, 0, 0, 0, [SEP] 71, Blinds, -2.343, 2.151, -2.437, 0, 270, 0, [SEP] 72, AluminumFoil, 0.762, 0.224, 0.337, 0, 184.594, 0, [SEP] 73, AluminumFoil, 0.751, 0.225, 0.287, 0, 0, 0, [SEP] 74, AluminumFoil, 0.839, 0.224, 0.392, 0, 195.128, 0, [SEP] 75, Shelf, 0.771, 0.226, 0.445, 0, 0, 0, [SEP] 76, Shelf, 0.771, 0.456, 0.446, 0, 0, 0, [SEP] 77, Faucet, 1.025, 0.873, -0.678, 270, 180, 0, [SEP] 78, Shelf, -0.350, 0.497, 0.857, 0, 0, 0, [SEP] 79, DiningTable, -1.929, -0.035, -1.398, 0, 90, 0, [SEP] 80, Chair, -1.610, -0.024, -1.424, 358.454, 297.426, 0, [SEP] 81, NorthWall, , , , , , , [SEP] 82, EastWall, , , , , , , [SEP] 83, SouthWall, , , , , , , [SEP] 84, WestWall, , , , , , , ", "output": ["STEP 1: Move to the table near the stove. | STEP 2: Pick up the salt from the table. | STEP 3: Bring the salt to the small black table. | STEP 4: Put the salt on the small black table. | END"]} +{"id": "trial_T20190911_141220_977244-0", "input": "slice a potato heat it up put it inside the refrigerator SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.900, -0.25, 0, 180, 0, [SEP] 1, Pan, -0.601, 0.910, 1.094, 0, 0, 0, 41 [SEP] 2, Potato, -2.455, 0.947, 0.931, 0, 0, 0, 69 [SEP] 3, DishSponge, -2.273, 0.114, 0.076, 0, 0, 0, 57 [SEP] 4, ButterKnife, -0.211, 0.910, 1.094, 0, 0, 0, 41 [SEP] 5, ButterKnife, 1.318, 0.918, -1.204, 0, 225, 0, 55 [SEP] 6, Spoon, 1.372, 0.919, -1.150, 0, 225, 0, 55 [SEP] 7, Spatula, 1.593, 0.925, -0.742, 0, 225, 0, 51 [SEP] 8, Pot, -0.211, 0.914, 1.764, 0, 0, 0, 41 [SEP] 9, Pot, 1.691, 0.929, 0.064, 0, 0, 0, 52 [SEP] 10, Cup, 0.516, 1.661, -1.729, 0, 90, 0, 48 [SEP] 11, Plate, -0.081, 0.913, 0.423, 0, 0, 0, 41 [SEP] 12, SoapBottle, 1.562, 0.187, 0.651, 0, 0, 0, 80 [SEP] 13, SaltShaker, -2.605, 1.532, -0.165, 0, 0, 0, 64 [SEP] 14, Lettuce, -0.081, 0.994, 1.317, 0, 0, 0, 41 [SEP] 15, Mug, 0.301, 1.658, -1.766, 0, 90, 0, 48 [SEP] 16, Mug, -2.578, 1.295, -0.507, 0, 180, 0, 73 [SEP] 17, Apple, -2.439, 1.150, -0.979, 0, 90, 0, 73 [SEP] 18, Pan, 1.691, 0.929, -0.335, 0, 0, 0, 49 [SEP] 19, Knife, -2.318, 0.798, 0.486, 0, 270, 0, 58 [SEP] 20, Apple, -2.485, 1.362, -0.790, 0, 90, 0, 73 [SEP] 21, Bowl, 1.772, 1.660, -0.550, 0, 0, 0, 61 [SEP] 22, Fork, -0.601, 0.911, 0.423, 0, 180, 0, 41 [SEP] 23, Bread, -0.601, 0.996, 1.540, 0, 0, 0, 41 [SEP] 24, Plate, -2.372, 0.913, 1.530, 0, 0, 0, 69 [SEP] 25, Egg, 1.491, 0.941, -0.740, 0, 45, 0, 51 [SEP] 26, Kettle, 0.854, 0.900, -1.790, 0, 0, 0, 51 [SEP] 27, Potato, -2.289, 0.947, 0.031, 0, 0, 0, 69 [SEP] 28, SaltShaker, -2.638, 1.533, 0.629, 0, 0, 0, 65 [SEP] 29, Lettuce, 1.442, 1.006, -1.220, 0, 225, 0, 55 [SEP] 30, Cup, -2.313, 0.112, 0.437, 0, 0, 0, 66 [SEP] 31, SoapBottle, 1.697, 1.658, 0.313, 0, 0, 0, 60 [SEP] 32, Spatula, -2.348, 0.788, 0.857, 0, 90, 0, 46 [SEP] 33, PaperTowelRoll, -0.730, 1.015, 0.870, 0, 0, 0, 41 [SEP] 34, ButterKnife, -2.621, 0.910, 0.331, 0, 0, 0, 69 [SEP] 35, PepperShaker, -2.685, 1.532, -0.019, 0, 0, 0, 64 [SEP] 36, DishSponge, -2.318, 0.773, -0.025, 0, 0, 0, 59 [SEP] 37, Pot, 1.411, 0.929, 0.064, 0, 0, 0, 70 [SEP] 38, Spoon, -2.379, 0.775, 0.486, 0, 90, 0, 58 [SEP] 39, Tomato, 0.048, 0.953, 1.094, 0, 0, 0, 41 [SEP] 40, Mug, -2.466, 0.589, -0.872, 0, 90, 0, 73 [SEP] 41, CounterTop, -0.360, 0.946, 1.093, 0, 0, 0, [SEP] 42, StoveBurner, 1.412, 0.923, -0.335, 0, 0, 0, [SEP] 43, StoveKnob, 1.878, 1.093, 0.018, 287.989, 90, 0, [SEP] 44, StoveKnob, 1.878, 1.093, -0.306, 287.989, 90, 0, [SEP] 45, Cabinet, -2.446, 1.948, 2.924, 0, 0, 0, [SEP] 46, Drawer, -2.276, 0.792, 0.902, 0, 0, 0, [SEP] 47, Cabinet, -2.145, 0.402, 1.578, 0, 0, 0, [SEP] 48, Cabinet, 0.149, 2.008, -1.603, 0, 90, 0, [SEP] 49, StoveBurner, 1.691, 0.923, -0.335, 0, 0, 0, [SEP] 50, CounterTop, 1.585, 0.946, 0.405, 0, 0, 0, [SEP] 51, CounterTop, 0.474, 0.946, -1.625, 0, 0, 0, [SEP] 52, StoveBurner, 1.691, 0.923, 0.064, 0, 0, 0, [SEP] 53, Cabinet, -2.446, 1.948, 1.687, 0, 0, 0, [SEP] 54, Cabinet, -2.446, 1.948, 1.640, 0, 0, 0, [SEP] 55, Sink, 1.381, 0.810, -1.271, 0, 225, 0, [SEP] 56, StoveKnob, 1.878, 1.093, 0.150, 287.989, 90, 0, [SEP] 57, Cabinet, -2.145, 0.402, -0.236, 0, 0, 0, [SEP] 58, Drawer, -2.276, 0.792, 0.437, 0, 0, 0, [SEP] 59, Drawer, -2.276, 0.792, -0.027, 0, 0, 0, [SEP] 60, Cabinet, 1.572, 2.008, 0.474, 0, 0, 0, [SEP] 61, Cabinet, 1.572, 2.008, -0.775, 0, 0, 0, [SEP] 62, Cabinet, -2.445, 2.148, -1.275, 0, 0, 0, [SEP] 63, Cabinet, -2.446, 2.148, -0.284, 0, 0, 0, [SEP] 64, Cabinet, -2.446, 1.948, 0.355, 0, 0, 0, [SEP] 65, Cabinet, -2.446, 1.948, 0.405, 0, 0, 0, [SEP] 66, Cabinet, -2.145, 0.402, 0.644, 0, 0, 0, [SEP] 67, Cabinet, -2.145, 0.402, 0.695, 0, 0, 0, [SEP] 68, Cabinet, -2.285, 1.968, -1.325, 0, 180, 0, [SEP] 69, CounterTop, -1.485, 0.946, 1.319, 0, 0, 0, [SEP] 70, StoveBurner, 1.411, 0.923, 0.064, 0, 0, 0, [SEP] 71, StoveKnob, 1.878, 1.093, -0.441, 287.989, 90, 0, [SEP] 72, Drawer, -2.276, 0.792, 1.368, 0, 0, 0, [SEP] 73, Fridge, -2.475, 0.0, -0.782, 0, 90, 0, [SEP] 74, LightSwitch, -0.929, 1.350, -1.950, 0, 0, 0, [SEP] 75, Toaster, -2.564, 0.900, 1.876, 0, 90, 0, [SEP] 76, CoffeeMachine, 0.464, 0.900, -1.810, 0, 0, 0, [SEP] 77, Window, 1.508, 1.534, -1.496, 90, 135, 0, [SEP] 78, Window, 1.973, 1.521, 1.121, 90, 90, 0, [SEP] 79, SinkBasin, 1.149, 0.753, -1.380, 0, 225, 0, [SEP] 80, GarbageCan, 1.646, -0.000, 0.679, 0, 0, 0, [SEP] 81, Microwave, -2.580, 0.900, 2.440, 0, 90, 0, [SEP] 82, Stool, 0.439, 0.010, 0.747, 0, 0, 0, [SEP] 83, Stool, -2.303, 0.010, 1.839, 0, 0, 0, [SEP] 84, Faucet, 1.235, 1.138, -1.473, 0, 225, 0, [SEP] 85, NorthWall, , , , , , , [SEP] 86, EastWall, , , , , , , [SEP] 87, SouthWall, , , , , , , [SEP] 88, WestWall, , , , , , , ", "output": ["STEP 1: turn to the right across the room | STEP 2: pick up the knife from the counter | STEP 3: turn to the right | STEP 4: slice the potato that is in the counter | STEP 5: turn to the left across the room | STEP 6: face the refrigerator put the knife inside | STEP 7: turn to the right and across the room | STEP 8: pick up a slice of potato | STEP 9: turn all the way around face the microwave | STEP 10: put the slice of potato inside the microwave get it back out | STEP 11: turn left and across the room face the refrigerator | STEP 12: open the refrigerator door and put the slice of potato inside the refrigerator | END"]} +{"id": "trial_T20190909_093925_523920-2", "input": "Put two sponges on the metal shelf. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.901, 2.75, 0, 180, 0, [SEP] 1, Cloth, 0.385, 1.047, 3.034, 0, 270, 0, 39 [SEP] 2, SoapBar, -0.503, 0.630, 2.010, 0, 227.956, 0, 27 [SEP] 3, SoapBar, 0.025, 0.052, 0.193, 0, 0, 0, 24 [SEP] 4, Candle, -3.376, 0.234, 0.000, 0, 270, 0, 43 [SEP] 5, Candle, 0.289, 0.632, 1.914, 0, 317.956, 0, 27 [SEP] 6, DishSponge, -0.819, 0.044, 3.887, 0, 0, 0, 36 [SEP] 7, DishSponge, -3.007, 0.856, 1.531, 0, 90, 0, 42 [SEP] 8, Towel, -1.304, 1.059, -0.183, 0, 0, 0, 30 [SEP] 9, HandTowel, -3.419, 1.338, 2.102, 0, 270, 0, 37 [SEP] 10, Plunger, 0.362, 0.000, 2.468, 0, 0, 0, Floor|-01.44| [SEP] 11, SoapBar, 0.416, 1.046, 2.903, 0, 270, 0, 39 [SEP] 12, ToiletPaper, -0.482, 0.784, 2.361, 0, 0, 270, 31 [SEP] 13, SoapBottle, -2.574, 1.545, 3.940, 0, 0, 0, 35 [SEP] 14, ToiletPaper, -2.310, 0.777, 3.875, 0, 0, 0, 32 [SEP] 15, Cloth, -0.058, 0.053, 0.423, 0, 0, 0, 24 [SEP] 16, PaperTowelRoll, -0.962, 0.149, 3.805, 0, 0, 0, 36 [SEP] 17, Candle, 0.294, 1.048, 3.297, 0, 270, 0, 39 [SEP] 18, SprayBottle, -3.263, 0.236, -0.077, 0, 270, 0, 43 [SEP] 19, ScrubBrush, 0.397, 0.000, 2.694, 0, 0, 0, Floor|-01.44| [SEP] 20, DishSponge, 0.109, 0.054, 0.423, 0, 0, 0, 24 [SEP] 21, Faucet, -0.141, 0.524, -0.211, 0, 0, 0, [SEP] 22, Window, -1.507, 1.322, -0.364, 0, 0, 0, [SEP] 23, Faucet, -3.401, 1.017, 1.531, 0, 90, 0, [SEP] 24, BathtubBasin, -0.155, 0.042, 0.884, 0, 0, 0, [SEP] 25, ShowerCurtain, -0.886, 2.196, -0.169, 0, 0, 0, [SEP] 26, ShowerHead, -0.126, 1.447, 2.047, 0, 270, 0, [SEP] 27, Bathtub, -0.205, 0.359, 0.924, 0, 0, 0, [SEP] 28, Mirror, -3.447, 1.575, 1.516, 0, 0, 0, [SEP] 29, TowelHolder, -2.049, 1.045, -0.290, 0, 0, 0, [SEP] 30, TowelHolder, -1.304, 1.045, -0.290, 0, 0, 0, [SEP] 31, ToiletPaperHanger, -0.425, 0.783, 2.278, 0, 0, 0, [SEP] 32, Shelf, -2.587, 0.778, 3.909, 0, 0, 0, [SEP] 33, Shelf, -2.587, 1.287, 3.941, 0, 0, 0, [SEP] 34, Shelf, -2.587, 1.032, 3.941, 0, 0, 0, [SEP] 35, Shelf, -2.587, 1.534, 3.909, 0, 0, 0, [SEP] 36, GarbageCan, 0.047, -0.002, 3.878, 0, 0, 0, [SEP] 37, HandTowelHolder, -3.459, 1.458, 2.098, 0, 0, 0, [SEP] 38, HandTowelHolder, -3.459, 1.458, 0.816, 0, 0, 0, [SEP] 39, Toilet, 0.063, 0.002, 3.096, 0, 0, 0, [SEP] 40, LightSwitch, -3.459, 1.437, 2.496, 0, 90, 0, [SEP] 41, Sink, -3.115, -0.013, 1.531, 0, 90, 0, [SEP] 42, SinkBasin, -3.081, 0.935, 1.537, 0, 90, 0, [SEP] 43, SideTable, -3.171, 0.002, 0.170, 0, 270, 0, [SEP] 44, NorthWall, , , , , , , [SEP] 45, EastWall, , , , , , , [SEP] 46, SouthWall, , , , , , , [SEP] 47, WestWall, , , , , , , ", "output": ["STEP 1: Walk forward and turn right to get to the sink. | STEP 2: Pick up the sponge in the sink. | STEP 3: Turn left to walk to the metal shelf. | STEP 4: Set the sponge down on the metal shelf. | STEP 5: Turn around to walk to the bathtub. | STEP 6: Pick up the sponge from the bathtub. | STEP 7: Turn around to walk to the metal shelf. | STEP 8: Put the sponge next to the other sponge on the metal shelf. | END"]} +{"id": "trial_T20190909_075937_250444-1", "input": "move the spray bottle from the dresser to the toilet SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.900, -0.75, 0, 0, 0, [SEP] 1, Candle, -2.480, 0.356, -2.296, 0, 0, 0, 24 [SEP] 2, Candle, -2.576, 0.356, -2.714, 0, 0, 0, 24 [SEP] 3, SprayBottle, -2.768, 0.993, -2.923, 0, 0, 0, 26 [SEP] 4, SprayBottle, -2.915, 0.993, -2.125, 0, 0, 0, 26 [SEP] 5, SoapBar, -2.649, 0.080, -0.391, 0, 90, 0, 32 [SEP] 6, SoapBar, -2.512, 0.093, -2.296, 0, 0, 0, 25 [SEP] 7, SoapBottle, -0.191, 0.045, -2.772, 0, 90, 0, 34 [SEP] 8, SoapBottle, -2.512, 0.095, -3.549, 0, 0, 0, 25 [SEP] 9, HandTowel, -0.038, 1.481, -1.549, 0, 90, 0, 30 [SEP] 10, SoapBar, -0.334, 0.868, -2.077, 0, 0, 0, 31 [SEP] 11, ToiletPaper, -0.104, 1.035, -0.385, 0, 0, 0, 35 [SEP] 12, ToiletPaper, -2.640, 0.354, -2.923, 0, 0, 0, 24 [SEP] 13, Towel, -1.338, 1.193, -0.106, 0, 180, 0, 27 [SEP] 14, SoapBottle, -0.116, 1.166, -3.104, 0, 90, 0, 40 [SEP] 15, ScrubBrush, -0.136, -0.000, -0.105, 0, 0, 0, Floor|-01.15| [SEP] 16, Cloth, -2.587, 0.085, -0.678, 0, 90, 0, 32 [SEP] 17, Plunger, -0.370, -0.000, -0.097, 0, 0, 0, Floor|-01.15| [SEP] 18, Candle, -0.091, 0.093, -3.471, 0, 90, 0, 36 [SEP] 19, SprayBottle, -0.245, 1.162, -3.693, 0, 90, 0, 40 [SEP] 20, Bathtub, -2.104, 0.524, -0.828, 0, 0, 0, [SEP] 21, Faucet, -0.040, 1.017, -2.076, 0, 270, 0, [SEP] 22, Sink, -0.307, 0.0, -2.076, 0, 270, 0, [SEP] 23, Mirror, -2.983, 1.565, -2.900, 0, 0, 0, [SEP] 24, Shelf, -2.581, 0.395, -2.923, 0, 0, 0, [SEP] 25, Shelf, -2.539, 0.130, -2.923, 0, 0, 0, [SEP] 26, CounterTop, -2.704, 1.029, -2.923, 0, 0, 0, [SEP] 27, TowelHolder, -1.338, 1.179, 0.0, 0, 180, 0, [SEP] 28, LightSwitch, -0.363, 1.330, -3.999, 0, 0, 0, [SEP] 29, HandTowelHolder, 0.0, 1.582, -2.661, 0, 180, 0, [SEP] 30, HandTowelHolder, 0.0, 1.582, -1.549, 0, 180, 0, [SEP] 31, SinkBasin, -0.310, 0.859, -2.076, 0, 0, 0, [SEP] 32, BathtubBasin, -2.586, 0.071, -0.801, 0, 90, 0, [SEP] 33, ToiletPaperHanger, 0.0, 0.866, -0.968, 0, 270, 0, [SEP] 34, GarbageCan, -0.266, -0.034, -2.751, 0, 0, 0, [SEP] 35, Toilet, -0.411, -0.000, -0.547, 0, 0, 0, [SEP] 36, Drawer, -0.229, 0.161, -3.398, 0, 270, 0, [SEP] 37, Drawer, -0.229, 0.420, -3.398, 0, 270, 0, [SEP] 38, Drawer, -0.229, 0.680, -3.398, 0, 270, 0, [SEP] 39, Drawer, -0.229, 0.940, -3.398, 0, 270, 0, [SEP] 40, Dresser, -0.205, 0.000, -3.398, 0, 270, 0, [SEP] 41, ShowerHead, -2.579, 1.261, -0.064, 0, 270, 0, [SEP] 42, ShowerCurtain, -2.188, 1.915, -1.560, 0, 0, 0, [SEP] 43, EastWall, , , , , , , [SEP] 44, EastWall, , , , , , , [SEP] 45, SouthWall, , , , , , , ", "output": ["STEP 1: go to the white dresser | STEP 2: pick up the spray bottle from the top | STEP 3: take the bottle to the toilet | STEP 4: put the spray bottle on the back of the toilet | END"]} +{"id": "trial_T20190908_033816_974928-0", "input": "Place a washed ice cream scoop in the cabinet below the right sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.900, 1.75, 0, 270, 0, [SEP] 1, Pan, -0.244, 0.829, 1.684, 0, 0, 0, 40 [SEP] 2, ButterKnife, -1.876, 0.823, 0.518, 0, 0, 0, 41 [SEP] 3, ButterKnife, -1.542, 0.823, 0.549, 0, 0, 0, 41 [SEP] 4, Plate, -2.726, 0.829, 2.045, 0, 90, 0, 59 [SEP] 5, Knife, -2.044, 0.849, 0.528, 0, 0, 0, 41 [SEP] 6, Knife, -2.504, 0.849, 0.544, 0, 90, 0, 41 [SEP] 7, Tomato, -2.671, 1.495, 2.485, 0, 90, 0, 59 [SEP] 8, Tomato, -2.724, 0.873, 0.129, 0, 0, 0, 41 [SEP] 9, Bowl, -2.540, 1.845, 1.978, 0, 0, 0, 35 [SEP] 10, SaltShaker, -1.885, 0.120, 0.323, 0, 0, 0, 53 [SEP] 11, Mug, -0.646, 0.888, 0.367, 0, 0, 0, 69 [SEP] 12, Apple, -0.169, 0.896, 1.214, 0, 0, 0, 41 [SEP] 13, Apple, -2.813, 0.896, 0.871, 0, 90, 0, 41 [SEP] 14, Fork, -2.698, 0.692, 1.474, 0, 90, 0, 46 [SEP] 15, Ladle, -2.840, 0.867, 0.352, 0, 0, 0, 41 [SEP] 16, Pan, -0.244, 0.829, 2.075, 0, 180, 0, 36 [SEP] 17, SoapBottle, -2.375, 0.821, 0.500, 0, 0, 0, 41 [SEP] 18, Pot, -0.531, 0.822, 2.096, 0, 0, 0, 38 [SEP] 19, Tomato, -0.395, 0.106, 2.674, 0, 0, 0, 61 [SEP] 20, Potato, -2.658, 0.862, 0.871, 0, 0, 0, 41 [SEP] 21, SaltShaker, -2.115, 0.120, 0.479, 0, 0, 0, 53 [SEP] 22, Plate, -2.837, 1.148, 2.309, 0, 90, 0, 59 [SEP] 23, Spatula, -0.341, 0.696, 1.194, 0, 45, 0, 37 [SEP] 24, Knife, -1.151, 0.849, 0.352, 0, 270, 0, 41 [SEP] 25, Egg, -2.837, 1.469, 2.045, 0, 90, 0, 59 [SEP] 26, Cup, -2.844, 0.921, 1.231, 0, 90, 0, 60 [SEP] 27, ButterKnife, -0.817, 0.813, 0.203, 0, 0, 0, 41 [SEP] 28, Lettuce, -1.836, 0.741, 0.238, 0, 55.910, 0, 68 [SEP] 29, PepperShaker, -2.608, 0.818, 0.426, 0, 0, 0, 41 [SEP] 30, DishSponge, -2.501, 1.848, 1.823, 0, 0, 0, 35 [SEP] 31, Bread, -0.982, 0.855, 0.249, 0, 29.806, 0, 41 [SEP] 32, Spoon, -1.133, 0.699, 0.444, 0, 270, 0, 45 [SEP] 33, Mug, -2.671, 1.440, 2.221, 0, 90, 0, 59 [SEP] 34, Bowl, -2.540, 1.845, 2.368, 0, 0, 0, 51 [SEP] 35, Cabinet, -2.377, 2.015, 1.720, 0, 0, 0, [SEP] 36, StoveBurner, -0.244, 0.820, 2.075, 0, 180, 0, [SEP] 37, Drawer, -0.402, 0.703, 1.252, 0, 0, 0, [SEP] 38, StoveBurner, -0.518, 0.820, 2.075, 0, 180, 0, [SEP] 39, Sink, -1.838, 0.726, 0.343, 0, 180, 0, [SEP] 40, StoveBurner, -0.244, 0.820, 1.684, 0, 0, 0, [SEP] 41, CounterTop, -1.557, 0.859, 0.277, 0, 0, 0, [SEP] 42, StoveBurner, -0.518, 0.820, 1.684, 0, 0, 0, [SEP] 43, Drawer, -0.404, 0.704, 0.912, 0, 0, 0, [SEP] 44, Drawer, -0.861, 0.709, 0.420, 0, 0, 0, [SEP] 45, Drawer, -1.133, 0.706, 0.418, 0, 0, 0, [SEP] 46, Drawer, -2.589, 0.703, 1.511, 0, 0, 0, [SEP] 47, Cabinet, -2.772, 1.803, 0.508, 0, 0, 0, [SEP] 48, Cabinet, -2.460, 1.803, 0.231, 0, 0, 0, [SEP] 49, Cabinet, -2.781, 1.798, 0.825, 0, 0, 0, [SEP] 50, Cabinet, -2.781, 1.798, 0.815, 0, 0, 0, [SEP] 51, Cabinet, -2.377, 2.009, 2.581, 0, 0, 0, [SEP] 52, Cabinet, -2.442, 0.385, 1.672, 0, 0, 0, [SEP] 53, Cabinet, -2.238, 0.385, 0.564, 0, 0, 0, [SEP] 54, Cabinet, -1.286, 0.385, 0.564, 0, 0, 0, [SEP] 55, Cabinet, -1.262, 0.385, 0.565, 0, 0, 0, [SEP] 56, Cabinet, -0.734, 0.385, 0.565, 0, 0, 0, [SEP] 57, Cabinet, -0.549, 0.385, 0.751, 0, 0, 0, [SEP] 58, Cabinet, -0.549, 0.385, 1.412, 0, 0, 0, [SEP] 59, Fridge, -2.782, 0.0, 2.221, 0, 0, 0, [SEP] 60, Microwave, -2.794, 0.812, 1.348, 0, 90, 0, [SEP] 61, GarbageCan, -0.329, 2.205, 2.606, 0, 0, 0, [SEP] 62, StoveKnob, -0.069, 0.998, 1.773, 0, 180, 107.470, [SEP] 63, StoveKnob, -0.069, 0.998, 1.613, 0, 180, 107.470, [SEP] 64, StoveKnob, -0.069, 0.998, 2.171, 0, 180, 107.470, [SEP] 65, StoveKnob, -0.069, 0.998, 2.024, 0, 180, 107.470, [SEP] 66, Window, -1.720, 1.342, -0.208, 90, 0, 0, [SEP] 67, Toaster, -0.171, 0.812, 0.735, 0, 270, 0, [SEP] 68, SinkBasin, -1.745, 0.687, 0.295, 0, 0, 0, [SEP] 69, CoffeeMachine, -0.539, 0.812, 0.185, 0, 0, 0, [SEP] 70, LightSwitch, -0.615, 1.378, 3.0, 0, 180, 0, [SEP] 71, Faucet, -1.686, 0.954, 0.176, 0, 236.223, 0, [SEP] 72, Stool, -1.008, 0.008, 1.955, 0, 18.279, 0, [SEP] 73, NorthWall, , , , , , , [SEP] 74, EastWall, , , , , , , [SEP] 75, SouthWall, , , , , , , [SEP] 76, WestWall, , , , , , , ", "output": ["STEP 1: Turn left towards the sink and then turn right towards the metal bowl on the counter. | STEP 2: Pick up the ice cream scoop to the left of the metal bowl. | STEP 3: Take a step to the left to face the sink. | STEP 4: Place the scoop in the left sink, wash it, and pick it back up. | STEP 5: Take a step backwards to find the cabinet below the right sink. | STEP 6: Place the scoop in the cabinet and close the door. | END"]} +{"id": "trial_T20190909_042550_491536-1", "input": "Place a sponge in a skillet onto a kitchen island. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.25, 0.900, 1.5, 0, 270, 0, [SEP] 1, Pan, 1.850, 0.913, -1.918, 0, 0, 0, 63 [SEP] 2, Potato, -1.438, 1.212, -0.910, 0, 90, 0, 71 [SEP] 3, WineBottle, 1.557, 0.914, -1.563, 0, 0, 0, 63 [SEP] 4, WineBottle, -0.963, 0.914, -2.188, 0, 0, 0, 63 [SEP] 5, Spatula, -0.346, 0.928, -1.713, 0, 0, 0, 63 [SEP] 6, Fork, -0.047, 0.931, 0.534, 0, 0, 0, 80 [SEP] 7, Fork, -0.137, 0.765, -2.071, 0, 180, 0, 75 [SEP] 8, Cup, 1.877, 0.553, 2.586, 0, 0, 0, 89 [SEP] 9, Plate, 0.408, 0.934, 0.076, 0, 0, 0, 80 [SEP] 10, Plate, 1.359, 0.556, 2.431, 0, 0, 0, 83 [SEP] 11, Knife, -0.356, 0.787, -1.981, 0, 270, 0, 75 [SEP] 12, Tomato, -1.553, 0.911, -0.703, 0, 90, 0, 71 [SEP] 13, Tomato, -1.553, 1.235, -0.910, 0, 90, 0, 71 [SEP] 14, Lettuce, 0.180, 1.011, 1.448, 0, 0, 0, 80 [SEP] 15, Lettuce, -1.572, 1.585, -0.495, 0, 90, 0, 71 [SEP] 16, SaltShaker, -0.564, 0.909, -2.167, 0, 0, 0, 63 [SEP] 17, Bread, 0.408, 0.972, 0.534, 0, 0, 0, 80 [SEP] 18, Bread, -1.495, 1.228, -0.703, 0, 90, 0, 71 [SEP] 19, Mug, -1.072, 0.121, -1.575, 0, 90, 0, 58 [SEP] 20, Mug, -0.047, 0.921, 1.220, 0, 0, 0, 80 [SEP] 21, Apple, -1.380, 0.930, -0.495, 0, 90, 0, 71 [SEP] 22, Potato, -0.047, 0.956, 1.448, 0, 0, 0, 80 [SEP] 23, Bowl, -0.697, 0.108, -1.917, 0, 0, 0, 56 [SEP] 24, SoapBottle, 1.514, 0.119, -1.397, 0, 270, 0, 55 [SEP] 25, Fork, -0.668, 0.914, -2.167, 0, 0, 0, 63 [SEP] 26, Ladle, 1.919, 0.957, -1.446, 0, 0, 0, 63 [SEP] 27, Bread, 0.066, 0.972, 0.762, 0, 0, 0, 80 [SEP] 28, Lettuce, 1.872, 0.167, 0.083, 0, 0, 0, 64 [SEP] 29, WineBottle, -0.160, 0.931, 1.448, 0, 0, 0, 80 [SEP] 30, Spatula, 1.919, 0.928, -1.212, 0, 0, 0, 63 [SEP] 31, Plate, 1.909, 1.661, -1.608, 0, 270, 0, 53 [SEP] 32, SaltShaker, 1.362, 0.877, 2.483, 0, 0, 0, 84 [SEP] 33, Pot, 1.567, 0.948, -0.757, 0, 0, 0, 45 [SEP] 34, Cup, 1.988, 1.658, -1.281, 0, 270, 0, 53 [SEP] 35, PepperShaker, 0.522, 0.926, 0.305, 0, 0, 0, 80 [SEP] 36, Pan, 1.824, 0.945, -0.346, 0, 0, 0, 44 [SEP] 37, ButterKnife, -0.791, 0.9, -2.186, 0, 164.999, 0, 63 [SEP] 38, Tomato, -1.610, 0.911, -1.013, 0, 90, 0, 71 [SEP] 39, DishSponge, 1.557, 0.913, -1.680, 0, 0, 0, 63 [SEP] 40, Egg, 1.557, 0.967, -1.095, 0, 0, 0, 63 [SEP] 41, Spoon, -0.047, 0.928, 0.076, 0, 0, 0, 80 [SEP] 42, Knife, 0.066, 0.953, 1.220, 0, 0, 0, 80 [SEP] 43, Mug, -0.210, 0.759, -2.116, 0, 180, 0, 75 [SEP] 44, StoveBurner, 1.845, 0.940, -0.355, 0, 0, 0, [SEP] 45, StoveBurner, 1.567, 0.940, -0.757, 0, 0, 0, [SEP] 46, Cabinet, -1.149, 2.019, -1.979, 0, 90, 0, [SEP] 47, Cabinet, -1.149, 2.265, -0.834, 0, 90, 0, [SEP] 48, Cabinet, -0.459, 2.265, -2.0, 0, 0, 0, [SEP] 49, Cabinet, -1.100, 2.019, -2.0, 0, 0, 0, [SEP] 50, Cabinet, 1.719, 2.019, -2.0, 0, 0, 0, [SEP] 51, Cabinet, 1.179, 2.019, -2.0, 0, 0, 0, [SEP] 52, Cabinet, 0.199, 2.019, -2.0, 0, 0, 0, [SEP] 53, Cabinet, 1.75, 2.019, -1.399, 0, 270, 0, [SEP] 54, Cabinet, 1.75, 2.019, -1.029, 0, 270, 0, [SEP] 55, Cabinet, 1.379, 0.469, -1.689, 0, 0, 0, [SEP] 56, Cabinet, -0.819, 0.469, -1.689, 0, 0, 0, [SEP] 57, Cabinet, 1.389, 0.469, -1.059, 0, 270, 0, [SEP] 58, Cabinet, -0.839, 0.469, -1.665, 0, 90, 0, [SEP] 59, StoveBurner, 1.567, 0.940, -0.355, 0, 0, 0, [SEP] 60, StoveBurner, 1.845, 0.940, -0.757, 0, 0, 0, [SEP] 61, Sink, -0.109, 0.893, -2.009, 0, 0, 0, [SEP] 62, Drawer, -0.819, 0.75, -1.690, 0, 0, 0, [SEP] 63, CounterTop, 0.232, 0.949, -2.002, 0, 0, 0, [SEP] 64, GarbageCan, 1.855, -0.034, 0.141, 0, 358.959, 0, [SEP] 65, Vase, 0.251, 0.546, 0.475, 0, 270, 0, [SEP] 66, Toaster, 0.780, 0.900, -2.080, 0, 0, 0, [SEP] 67, LightSwitch, 0.108, 1.315, 2.75, 0, 180, 0, [SEP] 68, Vase, 0.400, 0.925, 0.218, 0, 180, 0, [SEP] 69, Microwave, -1.233, 0.900, -1.680, 0, 90, 0, [SEP] 70, Vase, 1.465, 1.662, -2.200, 0, 0, 0, [SEP] 71, Fridge, -1.495, 0.0, -0.703, 0, 0, 0, [SEP] 72, Window, 2.114, 1.495, 1.072, 90, 270, 0, [SEP] 73, CoffeeMachine, 1.374, 0.899, -2.112, 0, 0, 0, [SEP] 74, Vase, 0.333, 0.546, 1.272, 0, 270, 0, [SEP] 75, SinkBasin, -0.148, 0.753, -2.026, 0, 0, 0, [SEP] 76, StoveKnob, 2.037, 1.089, -0.405, 0, 0, 74.477, [SEP] 77, StoveKnob, 2.037, 1.089, -0.251, 0, 0, 74.477, [SEP] 78, StoveKnob, 2.037, 1.089, -0.649, 0, 0, 74.477, [SEP] 79, StoveKnob, 2.037, 1.089, -0.814, 0, 0, 74.477, [SEP] 80, DiningTable, 0.170, 0.005, 0.678, 0, 270, 0, [SEP] 81, Shelf, 0.170, 0.155, 0.678, 0, 270, 0, [SEP] 82, Shelf, 1.605, 0.172, 2.480, 0, 0, 0, [SEP] 83, Shelf, 1.605, 0.552, 2.480, 0, 0, 0, [SEP] 84, Shelf, 1.604, 0.880, 2.479, 0, 0, 0, [SEP] 85, ShelvingUnit, 1.605, 0.006, 2.480, 0, 0, 0, [SEP] 86, Faucet, -0.143, 1.028, -2.223, 0, 270, 0, [SEP] 87, Stool, -0.553, 0.000, 0.871, 1.233, 280.376, 0, [SEP] 88, Shelf, 0.170, 0.528, 0.678, 0, 270, 0, [SEP] 89, , , , , , , , [SEP] 90, NorthWall, , , , , , , [SEP] 91, EastWall, , , , , , , [SEP] 92, SouthWall, , , , , , , [SEP] 93, WestWall, , , , , , , ", "output": ["STEP 1: Face left, then go to the counter to the right of the stove. | STEP 2: Pick up the sponge on the right of the wine bottle. | STEP 3: Move left, to face the left half of the stove. | STEP 4: Put the sponge in the skillet that is on the back left burner. | STEP 5: Pick up the skillet. | STEP 6: Turn to your right and go to face the center of the kitchen island on your right. | STEP 7: Put the skillet holding the sponge onto the top of the island, to the right of the fork. | END"]} +{"id": "trial_T20190908_230638_121501-0", "input": "Move a salt shaker to the drawer SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.75, 0.899, 3.0, 0, 90, 0, [SEP] 1, Pencil, -3.830, 0.747, 5.133, 0, 180, 0, 76 [SEP] 2, Pencil, -3.748, 0.068, 6.375, 0, 270, 0, 99 [SEP] 3, Potato, -0.242, 1.104, 3.479, 0, 270, 0, 106 [SEP] 4, Potato, -0.565, 0.958, 5.603, 0, 0, 0, 58 [SEP] 5, DishSponge, -0.202, 2.133, 3.326, 0, 180, 0, 75 [SEP] 6, DishSponge, -0.532, 0.745, 6.074, 0, 270, 0, 84 [SEP] 7, ButterKnife, -0.488, 0.925, 4.944, 0, 0, 0, 58 [SEP] 8, ButterKnife, -0.334, 0.925, 4.615, 0, 0, 0, 58 [SEP] 9, WineBottle, -4.033, 0.924, 4.640, 0, 90, 0, 73 [SEP] 10, Fork, -0.181, 0.925, 5.932, 0, 0, 0, 58 [SEP] 11, Fork, -4.159, 0.791, 3.097, 0, 0, 0, 105 [SEP] 12, Cup, -0.334, 0.923, 4.944, 0, 0, 0, 58 [SEP] 13, Cup, -2.688, 1.545, 1.633, 0, 0, 0, 103 [SEP] 14, Plate, -4.102, 0.924, 2.183, 0, 0, 0, 73 [SEP] 15, Knife, -3.255, 0.953, 5.182, 0, 90, 0, 73 [SEP] 16, SoapBottle, -4.312, 0.923, 2.300, 0, 90, 0, 73 [SEP] 17, SoapBottle, -1.777, 0.923, 1.724, 0, 0, 0, 55 [SEP] 18, Bowl, -0.301, 1.332, 3.231, 0, 270, 0, 106 [SEP] 19, SaltShaker, -3.251, 0.078, 1.812, 0, 0, 0, 48 [SEP] 20, PepperShaker, -1.943, 0.919, 1.573, 0, 0, 0, 55 [SEP] 21, Lettuce, -0.258, 1.020, 5.603, 0, 0, 0, 58 [SEP] 22, Bread, -0.488, 1.004, 5.273, 0, 0, 0, 58 [SEP] 23, Egg, -2.688, 1.582, 1.731, 0, 0, 0, 103 [SEP] 24, Apple, -2.583, 1.599, 1.731, 0, 0, 0, 103 [SEP] 25, Knife, -1.860, 0.953, 1.875, 0, 0, 0, 55 [SEP] 26, Potato, -1.943, 0.956, 1.951, 0, 0, 0, 55 [SEP] 27, Fork, -4.249, 0.754, 2.590, 0, 90, 0, 53 [SEP] 28, Bowl, -3.258, 1.456, 5.512, 0, 90, 0, 59 [SEP] 29, Plate, -4.159, 0.791, 3.347, 0, 270, 0, 105 [SEP] 30, Lettuce, -3.675, 0.164, 6.416, 0, 0, 0, 99 [SEP] 31, Bread, -0.301, 1.415, 3.479, 0, 270, 0, 106 [SEP] 32, Tomato, -0.342, 1.742, 3.733, 0, 270, 0, 106 [SEP] 33, WineBottle, -3.340, 0.924, 2.026, 0, 0, 0, 73 [SEP] 34, Spatula, -0.181, 0.940, 5.273, 0, 0, 0, 58 [SEP] 35, PaperTowelRoll, -2.109, 1.027, 2.026, 0, 0, 0, 55 [SEP] 36, Cup, -1.610, 0.922, 1.724, 0, 0, 0, 55 [SEP] 37, Pencil, -4.108, 0.923, 4.122, 0, 90, 0, 73 [SEP] 38, Pan, -2.924, 0.930, 1.712, 0, 180, 0, 70 [SEP] 39, Pot, -2.469, 0.930, 1.712, 0, 270, 0, 88 [SEP] 40, SaltShaker, -4.094, 0.751, 2.413, 0, 0, 0, 53 [SEP] 41, SoapBottle, -0.181, 0.924, 4.615, 0, 0, 0, 58 [SEP] 42, PepperShaker, -3.475, 0.078, 1.850, 0, 0, 0, 48 [SEP] 43, ButterKnife, -1.693, 0.923, 1.724, 0, 0, 0, 55 [SEP] 44, DishSponge, -0.532, 0.745, 5.919, 0, 270, 0, 84 [SEP] 45, Spoon, -4.335, 0.924, 4.381, 0, 90, 0, 73 [SEP] 46, Mug, -0.409, 0.955, 6.557, 0, 270, 0, 94 [SEP] 47, Cabinet, -3.203, 1.931, 1.777, 0, 0, 0, [SEP] 48, Cabinet, -3.187, 0.390, 2.089, 0, 0, 0, [SEP] 49, Cabinet, -0.637, 0.387, 6.882, 0, 180, 0, [SEP] 50, Drawer, -3.797, 0.781, 1.961, 0, 0, 0, [SEP] 51, Cabinet, -3.036, 0.387, 5.029, 0, 90, 0, [SEP] 52, Drawer, -0.509, 0.775, 5.268, 0, 270, 0, [SEP] 53, Drawer, -4.125, 0.798, 2.499, 0, 0, 0, [SEP] 54, Cabinet, -0.331, 2.249, 4.308, 0, 180, 0, [SEP] 55, CounterTop, -1.872, 0.958, 1.799, 0, 0, 0, [SEP] 56, StoveBurner, -2.924, 0.924, 2.012, 0, 0, 0, [SEP] 57, Cabinet, -0.331, 2.249, 6.806, 0, 180, 0, [SEP] 58, CounterTop, -0.345, 0.960, 5.603, 0, 0, 0, [SEP] 59, Cabinet, -3.039, 1.935, 5.321, 0, 90, 0, [SEP] 60, Cabinet, -3.922, 0.397, 2.088, 0, 0, 0, [SEP] 61, StoveBurner, -2.467, 0.924, 2.012, 0, 0, 0, [SEP] 62, Cabinet, -0.331, 2.249, 5.505, 0, 180, 0, [SEP] 63, Drawer, -0.509, 0.775, 4.617, 0, 270, 0, [SEP] 64, Drawer, -3.509, 0.777, 5.157, 0, 180, 0, [SEP] 65, Cabinet, -3.961, 0.388, 2.878, 0, 0, 0, [SEP] 66, Cabinet, -3.961, 0.388, 4.342, 0, 0, 0, [SEP] 67, Cabinet, -0.637, 0.387, 5.582, 0, 180, 0, [SEP] 68, Cabinet, -0.637, 0.388, 4.299, 0, 180, 0, [SEP] 69, Cabinet, -0.637, 0.388, 5.599, 0, 180, 0, [SEP] 70, StoveBurner, -2.924, 0.924, 1.712, 0, 180, 0, [SEP] 71, Drawer, -1.859, 0.775, 1.961, 0, 0, 0, [SEP] 72, Cabinet, -0.331, 2.249, 5.609, 0, 180, 0, [SEP] 73, CounterTop, -4.260, 0.958, 4.943, 0, 90, 0, [SEP] 74, Cabinet, -4.284, 1.931, 2.226, 0, 0, 0, [SEP] 75, Cabinet, -0.331, 2.249, 3.010, 0, 180, 0, [SEP] 76, Drawer, -3.801, 0.777, 5.157, 0, 180, 0, [SEP] 77, Cabinet, -4.112, 1.935, 5.321, 0, 90, 0, [SEP] 78, Cabinet, -3.968, 0.388, 3.662, 0, 0, 0, [SEP] 79, Drawer, -3.418, 0.777, 1.961, 0, 0, 0, [SEP] 80, Drawer, -4.090, 0.777, 4.661, 0, 90, 0, [SEP] 81, Faucet, -4.441, 0.909, 3.288, 270, 0, 0, [SEP] 82, Cabinet, -0.331, 2.249, 4.207, 0, 180, 0, [SEP] 83, Cabinet, -3.961, 0.388, 2.119, 0, 0, 0, [SEP] 84, Drawer, -0.509, 0.775, 5.920, 0, 270, 0, [SEP] 85, Drawer, -3.193, 0.777, 5.157, 0, 180, 0, [SEP] 86, Cabinet, -3.968, 0.388, 2.894, 0, 0, 0, [SEP] 87, Cabinet, -3.667, 0.387, 5.029, 0, 90, 0, [SEP] 88, StoveBurner, -2.469, 0.924, 1.712, 0, 270, 0, [SEP] 89, Cabinet, -1.539, 0.388, 2.090, 0, 0, 0, [SEP] 90, Sink, -4.190, 0.921, 3.279, 0, 0, 0, [SEP] 91, Cabinet, -3.641, 0.387, 5.029, 0, 90, 0, [SEP] 92, Cabinet, -1.583, 1.931, 1.777, 0, 0, 0, [SEP] 93, Drawer, -0.509, 0.775, 6.568, 0, 270, 0, [SEP] 94, CoffeeMachine, -0.279, 0.912, 6.556, 0, 270, 0, [SEP] 95, StoveKnob, -2.347, 1.095, 1.560, 288.012, 180, 180, [SEP] 96, StoveKnob, -2.788, 1.095, 1.560, 288.012, 180, 180, [SEP] 97, StoveKnob, -2.965, 1.095, 1.560, 288.012, 180, 180, [SEP] 98, StoveKnob, -2.512, 1.095, 1.560, 288.012, 180, 180, [SEP] 99, GarbageCan, -3.711, -0.030, 6.376, 0, 270, 0, [SEP] 100, Toaster, -3.578, 0.912, 1.763, 0, 0, 0, [SEP] 101, Curtains, -4.522, 2.252, 3.391, 90, 90, 0, [SEP] 102, Window, -4.868, 1.629, 3.309, 90, 270, 0, [SEP] 103, Microwave, -2.693, 1.430, 1.689, 0, 0, 0, [SEP] 104, LightSwitch, -1.588, 1.169, 1.506, 0, 0, 0, [SEP] 105, SinkBasin, -4.196, 0.780, 3.276, 0, 270, 0, [SEP] 106, Fridge, -0.324, -0.001, 3.602, 0, 0, 0, [SEP] 107, NorthWall, , , , , , , [SEP] 108, EastWall, , , , , , , [SEP] 109, SouthWall, , , , , , , [SEP] 110, WestWall, , , , , , , ", "output": ["STEP 1: Turn around then face the cupboard under the toaster to the right of the oven | STEP 2: Open the cupboard and remove the salt inside then shut the cupboard door | STEP 3: Move to face the drawer directly above the cupboard | STEP 4: Place the salt inside the drawer, shut the drawer | END"]} +{"id": "trial_T20190908_093943_381070-2", "input": "Put a cooked slice of potato on the small black table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.869, 0.0, 0, 90, 0, [SEP] 1, DishSponge, 0.601, 0.664, 0.508, 0, 0, 0, 42 [SEP] 2, ButterKnife, 0.841, 0.664, 0.326, 0, 0, 0, 42 [SEP] 3, ButterKnife, -1.719, 0.701, -0.983, 0, 90, 0, 73 [SEP] 4, Spatula, -0.654, 0.915, 1.272, 0, 0, 0, 63 [SEP] 5, Spatula, -0.051, 0.915, 1.015, 0, 0, 0, 63 [SEP] 6, Egg, 0.630, 0.809, -0.625, 0, 270, 0, 60 [SEP] 7, Cup, 0.785, 1.373, -1.958, 0, 270, 0, 57 [SEP] 8, SoapBottle, -1.187, 0.051, -3.611, 0, 270, 0, 52 [SEP] 9, SoapBottle, -1.578, 0.695, -3.614, 0, 0, 0, 64 [SEP] 10, PepperShaker, -1.535, 0.692, -3.276, 0, 0, 0, 64 [SEP] 11, PepperShaker, -0.051, 0.896, 0.929, 0, 270, 0, 63 [SEP] 12, SaltShaker, 0.566, 0.012, -0.637, 0, 0, 0, 40 [SEP] 13, SaltShaker, 0.621, 0.012, -0.898, 0, 0, 0, 40 [SEP] 14, Lettuce, 0.715, 0.859, -0.790, 0, 270, 0, 60 [SEP] 15, Pot, -2.071, 0.927, 0.772, 0, 266.284, 0, 39 [SEP] 16, Plate, 0.732, 0.019, -0.119, 0, 0, 0, 47 [SEP] 17, Fork, 0.729, 0.884, -0.108, 0, 0, 0, 37 [SEP] 18, SoapBottle, 0.901, 0.664, 0.508, 0, 0, 0, 42 [SEP] 19, Apple, -1.297, 0.105, -3.647, 0, 270, 0, 52 [SEP] 20, Pan, -1.552, 0.930, 0.785, 0, 0, 0, 41 [SEP] 21, Egg, -0.252, 0.937, 1.272, 0, 270, 0, 63 [SEP] 22, Spatula, 0.817, 0.775, -0.188, 0, 0, 0, 36 [SEP] 23, Potato, 0.841, 0.805, -0.515, 0, 270, 0, 60 [SEP] 24, Cup, 0.961, 0.664, 0.326, 0, 0, 0, 42 [SEP] 25, SaltShaker, 0.858, 1.460, -0.331, 0, 0, 0, 48 [SEP] 26, PepperShaker, 0.729, 0.879, -0.314, 0, 0, 0, 37 [SEP] 27, ButterKnife, 0.754, 0.755, -0.743, 0, 45, 0, 60 [SEP] 28, DishSponge, 0.799, 0.772, -0.625, 0, 270, 0, 60 [SEP] 29, Bread, -0.873, 0.931, 0.978, 0, 24.231, 0, 63 [SEP] 30, Lettuce, 0.721, 0.751, 0.387, 0, 0, 0, 42 [SEP] 31, Tomato, 0.746, 1.207, -1.802, 0, 270, 0, 57 [SEP] 32, Spoon, 0.769, 0.761, -0.061, 0, 0, 0, 36 [SEP] 33, Knife, 0.149, 0.923, 1.015, 0, 270, 0, 63 [SEP] 34, Mug, -2.002, 0.794, -3.640, 0, 0, 0, 59 [SEP] 35, Bowl, 0.903, 1.462, -0.146, 0, 0, 0, 48 [SEP] 36, Drawer, 0.706, 0.766, -0.125, 0, 0, 0, [SEP] 37, CounterTop, 0.792, 0.919, -0.108, 0, 0, 0, [SEP] 38, Mirror, 1.093, 1.602, -0.643, 0, 0, 0, [SEP] 39, StoveBurner, -2.096, 0.890, 0.785, 0, 0, 0, [SEP] 40, Cabinet, 0.507, 0.345, -0.426, 0, 0, 0, [SEP] 41, StoveBurner, -1.552, 0.890, 0.785, 0, 0, 0, [SEP] 42, SideTable, 0.770, -0.030, 0.443, 0, 0, 0, [SEP] 43, Sink, 0.753, 0.882, -0.680, 0, 0, 0, [SEP] 44, StoveBurner, -2.096, 0.890, 1.049, 0, 0, 0, [SEP] 45, GarbageBag, -0.770, 0.287, -3.541, 270, 73.521, 83.489, [SEP] 46, StoveBurner, -1.554, 0.890, 1.049, 0, 0, 0, [SEP] 47, Cabinet, 0.507, 0.345, 0.156, 0, 0, 0, [SEP] 48, Cabinet, 0.717, 1.822, -0.398, 0, 0, 0, [SEP] 49, Cabinet, 0.717, 1.822, 0.669, 0, 0, 0, [SEP] 50, CoffeeMachine, 0.873, 0.865, -1.256, 0, 270, 0, [SEP] 51, Toaster, -0.522, 0.886, 1.081, 0, 180, 0, [SEP] 52, GarbageCan, -1.261, -0.031, -3.610, 0, 270, 0, [SEP] 53, StoveKnob, -1.898, 0.866, 0.519, 311.864, 0, 180, [SEP] 54, StoveKnob, -1.754, 0.866, 0.519, 311.864, 0, 180, [SEP] 55, StoveKnob, -2.058, 0.866, 0.519, 311.864, 0, 180, [SEP] 56, StoveKnob, -1.600, 0.866, 0.519, 311.864, 0, 180, [SEP] 57, Fridge, 0.680, -0.031, -1.957, 0, 0, 0, [SEP] 58, Window, -2.424, 1.639, -2.453, 90, 270, 0, [SEP] 59, Microwave, -1.994, 0.690, -3.651, 0, 0, 0, [SEP] 60, SinkBasin, 0.757, 0.762, -0.688, 0, 270, 0, [SEP] 61, LightSwitch, 1.102, 1.368, -3.737, 0, 270, 0, [SEP] 62, Shelf, -0.350, 0.124, 0.857, 0, 0, 0, [SEP] 63, DiningTable, -0.350, -0.025, 0.857, 0, 0, 0, [SEP] 64, DiningTable, -1.909, -0.032, -3.507, 0, 0, 0, [SEP] 65, Blinds, -2.343, 2.151, -2.437, 0, 270, 0, [SEP] 66, AluminumFoil, 0.762, 0.224, 0.337, 0, 184.594, 0, [SEP] 67, AluminumFoil, 0.751, 0.225, 0.287, 0, 0, 0, [SEP] 68, AluminumFoil, 0.839, 0.224, 0.392, 0, 195.128, 0, [SEP] 69, Shelf, 0.771, 0.226, 0.445, 0, 0, 0, [SEP] 70, Shelf, 0.771, 0.456, 0.446, 0, 0, 0, [SEP] 71, Faucet, 1.025, 0.873, -0.678, 270, 180, 0, [SEP] 72, Shelf, -0.350, 0.497, 0.857, 0, 0, 0, [SEP] 73, DiningTable, -1.929, -0.035, -1.398, 0, 90, 0, [SEP] 74, Chair, -1.610, -0.024, -1.424, 358.454, 297.426, 0, [SEP] 75, NorthWall, , , , , , , [SEP] 76, EastWall, , , , , , , [SEP] 77, SouthWall, , , , , , , [SEP] 78, WestWall, , , , , , , ", "output": ["STEP 1: Go to the white table | STEP 2: Pick up the knife | STEP 3: Go to the sink | STEP 4: Cut the potato in the sink | STEP 5: Put the knife in the sink | STEP 6: Pick up a potato slice | STEP 7: Go to the microwave | STEP 8: Heat the potato slice | STEP 9: Go to the small black table | STEP 10: Put the potato down on the black table | END"]} +{"id": "trial_T20190907_163603_149188-1", "input": "Put a bowl with a pencil on the dresser. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.900, -2.5, 0, 0, 0, [SEP] 1, Bowl, -1.699, 1.146, -1.959, 0, 90, 0, 40 [SEP] 2, Statue, -1.657, 0.982, -0.742, 0, 90, 0, 45 [SEP] 3, Statue, -1.730, 0.982, -0.339, 0, 0, 0, 45 [SEP] 4, CellPhone, -1.804, 0.972, -0.540, 0, 0, 0, 45 [SEP] 5, Pen, -1.720, 0.670, -2.074, 0, 0, 0, 41 [SEP] 6, Pen, -1.605, 1.643, -2.073, 0, 90, 0, 39 [SEP] 7, KeyChain, -1.663, 0.802, -0.349, 0, 0, 0, 46 [SEP] 8, Book, -1.664, 0.409, 0.349, 0, 0, 0, 54 [SEP] 9, Book, 1.02, 0.774, -0.990, 0, 0, 0, 27 [SEP] 10, Pillow, 0.778, 0.836, -1.579, 0, 0, 0, 27 [SEP] 11, Book, -1.607, 0.035, -0.723, 0, 0, 0, 53 [SEP] 12, KeyChain, 1.576, 0.682, 2.262, 0, 0, 0, 55 [SEP] 13, AlarmClock, 2.438, 0.680, -1.581, 0, 0, 0, 58 [SEP] 14, Pillow, 1.02, 0.836, -0.106, 0, 0, 0, 27 [SEP] 15, Pillow, 1.502, 0.836, -0.106, 0, 0, 0, 27 [SEP] 16, Vase, -1.730, 1.638, -1.959, 0, 90, 0, 39 [SEP] 17, Laptop, -1.628, 0.965, 0.084, 0, 104.999, 0, 45 [SEP] 18, Vase, -1.650, 1.626, -2.316, 0, 0, 0, 39 [SEP] 19, Pencil, -1.583, 0.976, -0.742, 0, 0, 0, 45 [SEP] 20, CreditCard, 2.592, 0.432, 1.584, 0, 90, 0, 61 [SEP] 21, Boots, -1.842, 0.000, -1.077, 0, 135, 0, [SEP] 22, Pen, -1.494, 0.805, -0.442, 0, 0, 0, 46 [SEP] 23, CellPhone, -1.721, 0.606, 0.535, 0, 0, 0, 47 [SEP] 24, CD, 1.405, 0.082, 2.177, 0, 0, 0, 56 [SEP] 25, Bowl, -1.684, 1.135, -2.300, 0, 346.900, 0, 40 [SEP] 26, Statue, -1.583, 0.982, 0.464, 0, 90, 0, 45 [SEP] 27, Bed, 1.017, 0.003, -0.686, 0, 180, 0, [SEP] 28, HousePlant, -1.749, 0.971, 0.463, 0, 0, 0, [SEP] 29, GarbageCan, -1.665, -0.000, 0.953, 0, 45, 0, [SEP] 30, Painting, 0.381, 1.976, -1.895, 90, 0, 0, [SEP] 31, Painting, 0.879, 1.976, -1.895, 90, 0, 0, [SEP] 32, Painting, 1.373, 1.976, -1.895, 90, 0, 0, [SEP] 33, LightSwitch, -0.164, 1.085, 2.450, 0, 180, 0, [SEP] 34, Mirror, -1.950, 1.735, -0.206, 0, 270, 0, [SEP] 35, Window, -1.098, 1.570, -3.230, 90, 0, 0, [SEP] 36, DeskLamp, 1.404, 0.668, 2.209, 0, 0, 0, [SEP] 37, DeskLamp, 2.596, 0.668, -1.710, 0, 0, 0, [SEP] 38, Blinds, -1.062, 2.361, -3.173, 0, 0, 0, [SEP] 39, Shelf, -1.675, 1.871, -2.053, 0, 90, 0, [SEP] 40, Shelf, -1.675, 1.383, -2.053, 0, 90, 0, [SEP] 41, Drawer, -1.715, 0.832, -2.053, 0, 90, 0, [SEP] 42, ShelvingUnit, -1.723, 0.007, -2.053, 0, 90, 0, [SEP] 43, Drawer, -1.713, 0.339, -2.053, 0, 90, 0, [SEP] 44, Drawer, -1.629, 0.104, 0.243, 0, 90, 0, [SEP] 45, Dresser, -1.674, 0.000, -0.153, 0, 90, 0, [SEP] 46, Drawer, -1.630, 0.868, -0.550, 0, 90, 0, [SEP] 47, Drawer, -1.630, 0.680, 0.243, 0, 90, 0, [SEP] 48, Drawer, -1.629, 0.104, -0.550, 0, 90, 0, [SEP] 49, Drawer, -1.630, 0.680, -0.550, 0, 90, 0, [SEP] 50, Drawer, -1.630, 0.868, 0.243, 0, 90, 0, [SEP] 51, Drawer, -1.629, 0.486, -0.550, 0, 90, 0, [SEP] 52, Drawer, -1.629, 0.291, 0.243, 0, 90, 0, [SEP] 53, Drawer, -1.629, 0.291, -0.550, 0, 90, 0, [SEP] 54, Drawer, -1.630, 0.486, 0.243, 0, 90, 0, [SEP] 55, SideTable, 1.576, -0.001, 2.137, 0, 180, 0, [SEP] 56, Drawer, 1.576, 0.163, 2.070, 0, 180, 0, [SEP] 57, Drawer, 1.576, 0.455, 2.070, 0, 180, 0, [SEP] 58, SideTable, 2.437, -0.001, -1.603, 0, 0, 0, [SEP] 59, Drawer, 2.438, 0.163, -1.536, 0, 0, 0, [SEP] 60, Drawer, 2.438, 0.455, -1.536, 0, 0, 0, [SEP] 61, ArmChair, 2.393, -0.001, 1.943, 0, 180, 0, [SEP] 62, NorthWall, , , , , , , [SEP] 63, EastWall, , , , , , , [SEP] 64, SouthWall, , , , , , , [SEP] 65, WestWall, , , , , , , ", "output": ["STEP 1: Move to the left of the dresser to the right of the bed | STEP 2: Pick up a pencil from the dresser | STEP 3: Move to the shelf behind you | STEP 4: Place the pencil in a bowl on the shelf | STEP 5: Pick up the bowl from the shelf | STEP 6: Move to the dresser to the right of you | STEP 7: Place the bowl on the dresser | END"]} +{"id": "trial_T20190907_163603_149188-2", "input": "Put the pencil in the bowl, put the bowl on the dresser SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.900, -2.5, 0, 0, 0, [SEP] 1, Bowl, -1.699, 1.146, -1.959, 0, 90, 0, 40 [SEP] 2, Statue, -1.657, 0.982, -0.742, 0, 90, 0, 45 [SEP] 3, Statue, -1.730, 0.982, -0.339, 0, 0, 0, 45 [SEP] 4, CellPhone, -1.804, 0.972, -0.540, 0, 0, 0, 45 [SEP] 5, Pen, -1.720, 0.670, -2.074, 0, 0, 0, 41 [SEP] 6, Pen, -1.605, 1.643, -2.073, 0, 90, 0, 39 [SEP] 7, KeyChain, -1.663, 0.802, -0.349, 0, 0, 0, 46 [SEP] 8, Book, -1.664, 0.409, 0.349, 0, 0, 0, 54 [SEP] 9, Book, 1.02, 0.774, -0.990, 0, 0, 0, 27 [SEP] 10, Pillow, 0.778, 0.836, -1.579, 0, 0, 0, 27 [SEP] 11, Book, -1.607, 0.035, -0.723, 0, 0, 0, 53 [SEP] 12, KeyChain, 1.576, 0.682, 2.262, 0, 0, 0, 55 [SEP] 13, AlarmClock, 2.438, 0.680, -1.581, 0, 0, 0, 58 [SEP] 14, Pillow, 1.02, 0.836, -0.106, 0, 0, 0, 27 [SEP] 15, Pillow, 1.502, 0.836, -0.106, 0, 0, 0, 27 [SEP] 16, Vase, -1.730, 1.638, -1.959, 0, 90, 0, 39 [SEP] 17, Laptop, -1.628, 0.965, 0.084, 0, 104.999, 0, 45 [SEP] 18, Vase, -1.650, 1.626, -2.316, 0, 0, 0, 39 [SEP] 19, Pencil, -1.583, 0.976, -0.742, 0, 0, 0, 45 [SEP] 20, CreditCard, 2.592, 0.432, 1.584, 0, 90, 0, 61 [SEP] 21, Boots, -1.842, 0.000, -1.077, 0, 135, 0, [SEP] 22, Pen, -1.494, 0.805, -0.442, 0, 0, 0, 46 [SEP] 23, CellPhone, -1.721, 0.606, 0.535, 0, 0, 0, 47 [SEP] 24, CD, 1.405, 0.082, 2.177, 0, 0, 0, 56 [SEP] 25, Bowl, -1.684, 1.135, -2.300, 0, 346.900, 0, 40 [SEP] 26, Statue, -1.583, 0.982, 0.464, 0, 90, 0, 45 [SEP] 27, Bed, 1.017, 0.003, -0.686, 0, 180, 0, [SEP] 28, HousePlant, -1.749, 0.971, 0.463, 0, 0, 0, [SEP] 29, GarbageCan, -1.665, -0.000, 0.953, 0, 45, 0, [SEP] 30, Painting, 0.381, 1.976, -1.895, 90, 0, 0, [SEP] 31, Painting, 0.879, 1.976, -1.895, 90, 0, 0, [SEP] 32, Painting, 1.373, 1.976, -1.895, 90, 0, 0, [SEP] 33, LightSwitch, -0.164, 1.085, 2.450, 0, 180, 0, [SEP] 34, Mirror, -1.950, 1.735, -0.206, 0, 270, 0, [SEP] 35, Window, -1.098, 1.570, -3.230, 90, 0, 0, [SEP] 36, DeskLamp, 1.404, 0.668, 2.209, 0, 0, 0, [SEP] 37, DeskLamp, 2.596, 0.668, -1.710, 0, 0, 0, [SEP] 38, Blinds, -1.062, 2.361, -3.173, 0, 0, 0, [SEP] 39, Shelf, -1.675, 1.871, -2.053, 0, 90, 0, [SEP] 40, Shelf, -1.675, 1.383, -2.053, 0, 90, 0, [SEP] 41, Drawer, -1.715, 0.832, -2.053, 0, 90, 0, [SEP] 42, ShelvingUnit, -1.723, 0.007, -2.053, 0, 90, 0, [SEP] 43, Drawer, -1.713, 0.339, -2.053, 0, 90, 0, [SEP] 44, Drawer, -1.629, 0.104, 0.243, 0, 90, 0, [SEP] 45, Dresser, -1.674, 0.000, -0.153, 0, 90, 0, [SEP] 46, Drawer, -1.630, 0.868, -0.550, 0, 90, 0, [SEP] 47, Drawer, -1.630, 0.680, 0.243, 0, 90, 0, [SEP] 48, Drawer, -1.629, 0.104, -0.550, 0, 90, 0, [SEP] 49, Drawer, -1.630, 0.680, -0.550, 0, 90, 0, [SEP] 50, Drawer, -1.630, 0.868, 0.243, 0, 90, 0, [SEP] 51, Drawer, -1.629, 0.486, -0.550, 0, 90, 0, [SEP] 52, Drawer, -1.629, 0.291, 0.243, 0, 90, 0, [SEP] 53, Drawer, -1.629, 0.291, -0.550, 0, 90, 0, [SEP] 54, Drawer, -1.630, 0.486, 0.243, 0, 90, 0, [SEP] 55, SideTable, 1.576, -0.001, 2.137, 0, 180, 0, [SEP] 56, Drawer, 1.576, 0.163, 2.070, 0, 180, 0, [SEP] 57, Drawer, 1.576, 0.455, 2.070, 0, 180, 0, [SEP] 58, SideTable, 2.437, -0.001, -1.603, 0, 0, 0, [SEP] 59, Drawer, 2.438, 0.163, -1.536, 0, 0, 0, [SEP] 60, Drawer, 2.438, 0.455, -1.536, 0, 0, 0, [SEP] 61, ArmChair, 2.393, -0.001, 1.943, 0, 180, 0, [SEP] 62, NorthWall, , , , , , , [SEP] 63, EastWall, , , , , , , [SEP] 64, SouthWall, , , , , , , [SEP] 65, WestWall, , , , , , , ", "output": ["STEP 1: Walk to the black dresser | STEP 2: Take the pencil from the dresser | STEP 3: Turn around, head to the black shelf | STEP 4: Put the pencil in the bowl | STEP 5: Take the bowl from the shelf | STEP 6: Turn to the right, head to the black dresser | STEP 7: Put the bowl on the dresser | END"]} +{"id": "trial_T20190907_121949_710962-2", "input": "Put a chilled pan on the stove. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.914, 1.75, 0, 180, 0, [SEP] 1, Pan, -3.424, 0.966, 1.971, 0, 0, 0, 48 [SEP] 2, Potato, -3.654, 0.948, 1.607, 0, 0, 0, 49 [SEP] 3, Potato, -3.654, 0.947, 2.844, 0, 0, 0, 40 [SEP] 4, Kettle, -3.143, 0.966, 1.971, 0, 0, 0, 60 [SEP] 5, Fork, -3.463, 0.916, 1.524, 0, 0, 0, 49 [SEP] 6, Fork, -1.857, 0.790, 3.662, 0, 90, 0, 70 [SEP] 7, Egg, -1.224, 0.121, 3.852, 0, 270, 0, 72 [SEP] 8, Egg, -3.410, 1.581, 2.068, 0, 90, 0, 71 [SEP] 9, Cup, -2.800, 0.080, 3.701, 0, 0, 0, 52 [SEP] 10, Cup, -3.492, 1.994, 2.054, 0, 0, 0, 54 [SEP] 11, Knife, -1.127, 0.915, 0.152, 0, 180, 0, 76 [SEP] 12, SaltShaker, -1.504, 0.911, 4.231, 0, 0, 0, 40 [SEP] 13, PepperShaker, -3.538, 1.451, 3.805, 0, 0, 0, 57 [SEP] 14, PepperShaker, -1.127, 0.887, 0.358, 0, 90, 0, 76 [SEP] 15, Apple, -3.081, 0.975, 1.273, 0, 0, 0, 49 [SEP] 16, Apple, -3.537, 1.606, 2.120, 0, 90, 0, 71 [SEP] 17, Egg, -1.602, 0.824, 3.662, 0, 0, 0, 70 [SEP] 18, Knife, -1.259, 0.915, 0.049, 0, 90, 0, 76 [SEP] 19, Fork, -1.523, 0.892, 0.049, 0, 90, 0, 76 [SEP] 20, Bread, -3.559, 0.997, 1.357, 0, 0, 0, 49 [SEP] 21, Potato, -1.127, 0.923, 0.461, 0, 90, 0, 76 [SEP] 22, Plate, -3.005, 0.904, 3.677, 0, 0, 0, 40 [SEP] 23, Pot, -3.424, 0.966, 2.374, 0, 0, 0, 46 [SEP] 24, Kettle, -1.787, 0.892, 0.358, 0, 90, 0, 76 [SEP] 25, WineBottle, -0.994, 0.892, 0.255, 0, 90, 0, 76 [SEP] 26, Bowl, -1.787, 0.890, 0.049, 0, 90, 0, 76 [SEP] 27, Tomato, -2.022, 0.984, 4.188, 0, 0, 0, 40 [SEP] 28, Cup, -1.608, 0.915, 4.146, 0, 0, 0, 40 [SEP] 29, Spatula, -2.126, 0.930, 4.231, 0, 270, 0, 40 [SEP] 30, SoapBottle, -3.272, 0.915, 1.440, 0, 0, 0, 49 [SEP] 31, Lettuce, -1.523, 0.977, 0.358, 0, 90, 0, 76 [SEP] 32, Pan, -2.614, 0.902, 3.620, 0, 0, 0, 40 [SEP] 33, Apple, -1.192, 0.147, 3.756, 0, 270, 0, 72 [SEP] 34, SaltShaker, -3.508, 1.455, 2.846, 0, 0, 0, 47 [SEP] 35, PepperShaker, -1.259, 0.887, 0.049, 0, 90, 0, 76 [SEP] 36, ButterKnife, -1.840, 0.779, 3.674, 0, 0, 0, 70 [SEP] 37, DishSponge, -1.259, 0.891, 0.461, 0, 90, 0, 76 [SEP] 38, Spoon, -3.463, 0.916, 1.189, 0, 0, 0, 49 [SEP] 39, Mug, -3.424, 0.945, 3.275, 0, 90, 0, 40 [SEP] 40, CounterTop, -3.381, 0.950, 3.335, 0, 0, 0, [SEP] 41, Drawer, -3.121, 0.775, 1.357, 0, 0, 0, [SEP] 42, Drawer, -3.121, 0.777, 2.916, 0, 0, 0, [SEP] 43, StoveBurner, -3.148, 0.958, 2.374, 0, 0, 0, [SEP] 44, Sink, -1.797, 0.917, 3.660, 0, 0, 0, [SEP] 45, Cabinet, -1.421, 0.388, 3.459, 0, 0, 0, [SEP] 46, StoveBurner, -3.424, 0.958, 2.374, 0, 0, 0, [SEP] 47, Cabinet, -3.365, 1.931, 2.676, 0, 0, 0, [SEP] 48, StoveBurner, -3.424, 0.958, 1.971, 0, 0, 0, [SEP] 49, CounterTop, -3.381, 0.951, 1.356, 0, 0, 0, [SEP] 50, Drawer, -3.121, 0.781, 3.295, 0, 0, 0, [SEP] 51, Cabinet, -2.205, 0.388, 3.459, 0, 0, 0, [SEP] 52, Cabinet, -2.963, 0.388, 3.459, 0, 0, 0, [SEP] 53, Cabinet, -2.992, 0.388, 2.683, 0, 0, 0, [SEP] 54, Cabinet, -3.352, 2.205, 1.715, 0, 0, 0, [SEP] 55, Cabinet, -3.352, 2.205, 2.653, 0, 0, 0, [SEP] 56, Cabinet, -2.189, 0.388, 3.466, 0, 0, 0, [SEP] 57, Cabinet, -3.365, 1.931, 3.963, 0, 0, 0, [SEP] 58, Cabinet, -3.365, 1.931, 1.056, 0, 0, 0, [SEP] 59, Cabinet, -2.992, 0.388, 1.037, 0, 0, 0, [SEP] 60, StoveBurner, -3.143, 0.958, 1.971, 0, 0, 0, [SEP] 61, StoveKnob, -3.599, 1.110, 2.017, 0, 0, 105.000, [SEP] 62, StoveKnob, -3.599, 1.110, 1.867, 0, 0, 105.000, [SEP] 63, StoveKnob, -3.599, 1.110, 2.267, 0, 0, 105.000, [SEP] 64, StoveKnob, -3.599, 1.110, 2.427, 0, 0, 105.000, [SEP] 65, Toaster, -2.654, 0.902, 4.064, 0, 180, 0, [SEP] 66, Fridge, -0.439, 0.014, 3.996, 0, 0, 0, [SEP] 67, LightSwitch, 0.25, 1.383, 2.085, 0, 270, 0, [SEP] 68, Window, -1.430, 1.338, -0.347, 90, 0, 0, [SEP] 69, CoffeeMachine, -3.550, 0.902, 3.274, 0, 90, 0, [SEP] 70, SinkBasin, -1.802, 0.778, 3.700, 0, 0, 0, [SEP] 71, Microwave, -3.484, 1.430, 2.182, 0, 90, 0, [SEP] 72, GarbageCan, -1.184, -0.020, 3.794, 0, 270, 0, [SEP] 73, Blinds, -1.404, 2.092, -0.296, 0, 0, 0, [SEP] 74, Stool, -1.373, 0.014, 1.048, 1.214, 20.754, 0, [SEP] 75, Faucet, -1.788, 0.903, 3.931, 270, 90, 0, [SEP] 76, DiningTable, -1.399, 0.010, 0.238, 0, 0, 0, [SEP] 77, GarbageBag, -0.291, 0.336, -0.034, 272.372, 348.812, 147.313, [SEP] 78, NorthWall, , , , , , , [SEP] 79, EastWall, , , , , , , [SEP] 80, SouthWall, , , , , , , [SEP] 81, WestWall, , , , , , , ", "output": ["STEP 1: Go to the stove in front of you. | STEP 2: Pick up the frying pan. | STEP 3: Turn around and go to the fridge. | STEP 4: Put the pan in the fridge, leave it for a few moments, then take it out again. | STEP 5: Go back to the stove. | STEP 6: Put the pan on the back left burner of the stove. | END"]} +{"id": "trial_T20190909_041532_466311-0", "input": "To move two salt shakers to the small black table at the end of the counter. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.869, -2.75, 0, 90, 0, [SEP] 1, Pan, 0.746, 0.664, -1.880, 0, 0, 0, 65 [SEP] 2, Potato, -0.855, 0.933, 1.187, 0, 270, 0, 71 [SEP] 3, DishSponge, 0.621, 0.015, 0.011, 0, 0, 0, 55 [SEP] 4, ButterKnife, -1.719, 0.701, -0.875, 0, 0, 0, 81 [SEP] 5, Spoon, 0.623, 0.760, -0.124, 0, 180, 0, 44 [SEP] 6, Fork, 0.574, 0.761, 0.002, 0, 270, 0, 44 [SEP] 7, Egg, 0.961, 0.701, 0.387, 0, 0, 0, 50 [SEP] 8, Egg, -1.578, 0.736, -3.614, 0, 0, 0, 72 [SEP] 9, Cup, -1.056, 0.899, 0.758, 0, 270, 0, 71 [SEP] 10, Tomato, 0.785, 1.423, -1.725, 0, 270, 0, 65 [SEP] 11, SoapBottle, -1.803, 0.701, -1.199, 0, 0, 0, 81 [SEP] 12, SoapBottle, 0.149, 0.899, 1.015, 0, 270, 0, 71 [SEP] 13, Bowl, -1.719, 0.700, -1.416, 0, 0, 0, 81 [SEP] 14, Bowl, 0.721, 0.663, 0.387, 0, 0, 0, 50 [SEP] 15, PepperShaker, 0.803, 0.879, 0.098, 0, 0, 0, 45 [SEP] 16, PepperShaker, 0.732, 0.012, -0.571, 0, 0, 0, 48 [SEP] 17, SaltShaker, -1.556, 0.696, -3.361, 0, 0, 0, 72 [SEP] 18, SaltShaker, -1.599, 0.696, -3.529, 0, 0, 0, 72 [SEP] 19, Bread, 0.149, 0.944, 0.843, 0, 270, 0, 71 [SEP] 20, Lettuce, -0.252, 0.987, 1.101, 0, 270, 0, 71 [SEP] 21, Apple, 0.961, 0.718, 0.508, 0, 0, 0, 50 [SEP] 22, Apple, 0.757, 0.826, -0.790, 0, 270, 0, 68 [SEP] 23, Pot, -2.097, 0.930, 1.049, 0, 0, 0, 52 [SEP] 24, Plate, -2.023, 0.692, -1.447, 0, 0, 0, 81 [SEP] 25, Fork, -1.970, 0.702, -0.983, 0, 0, 0, 81 [SEP] 26, SoapBottle, 0.842, 0.014, -0.250, 0, 0, 0, 55 [SEP] 27, Apple, -1.297, 0.105, -3.647, 0, 270, 0, 60 [SEP] 28, Pan, -1.555, 0.930, 1.049, 0, 0, 0, 54 [SEP] 29, Egg, 0.630, 1.411, -1.880, 0, 270, 0, 65 [SEP] 30, Spatula, 0.866, 0.774, 0.002, 0, 270, 0, 44 [SEP] 31, Potato, 1.024, 0.916, -0.314, 0, 0, 0, 45 [SEP] 32, Cup, 0.746, 1.373, -1.958, 0, 270, 0, 65 [SEP] 33, SaltShaker, 0.803, 0.879, -0.245, 0, 0, 0, 45 [SEP] 34, PepperShaker, 0.949, 1.460, 0.411, 0, 0, 0, 57 [SEP] 35, ButterKnife, 0.754, 0.755, -0.743, 0, 45, 0, 68 [SEP] 36, DishSponge, 0.715, 0.772, -0.570, 0, 270, 0, 68 [SEP] 37, Bread, -0.873, 0.931, 0.978, 0, 24.231, 0, 71 [SEP] 38, Lettuce, -0.051, 0.987, 1.015, 0, 270, 0, 71 [SEP] 39, Tomato, -0.051, 0.949, 1.187, 0, 270, 0, 71 [SEP] 40, Spoon, 0.671, 0.760, 0.002, 0, 0, 0, 44 [SEP] 41, Knife, 0.877, 0.906, -0.176, 0, 90, 0, 45 [SEP] 42, Mug, -1.719, 0.696, -1.091, 0, 90, 0, 81 [SEP] 43, Bowl, 0.949, 1.462, -0.084, 0, 0, 0, 56 [SEP] 44, Drawer, 0.706, 0.766, -0.125, 0, 0, 0, [SEP] 45, CounterTop, 0.792, 0.919, -0.108, 0, 0, 0, [SEP] 46, Mirror, 1.093, 1.602, -0.643, 0, 0, 0, [SEP] 47, StoveBurner, -2.096, 0.890, 0.785, 0, 0, 0, [SEP] 48, Cabinet, 0.507, 0.345, -0.426, 0, 0, 0, [SEP] 49, StoveBurner, -1.552, 0.890, 0.785, 0, 0, 0, [SEP] 50, SideTable, 0.770, -0.030, 0.443, 0, 0, 0, [SEP] 51, Sink, 0.753, 0.882, -0.680, 0, 0, 0, [SEP] 52, StoveBurner, -2.096, 0.890, 1.049, 0, 0, 0, [SEP] 53, GarbageBag, -0.770, 0.287, -3.541, 270, 73.521, 83.489, [SEP] 54, StoveBurner, -1.554, 0.890, 1.049, 0, 0, 0, [SEP] 55, Cabinet, 0.507, 0.345, 0.156, 0, 0, 0, [SEP] 56, Cabinet, 0.717, 1.822, -0.398, 0, 0, 0, [SEP] 57, Cabinet, 0.717, 1.822, 0.669, 0, 0, 0, [SEP] 58, CoffeeMachine, 0.873, 0.865, -1.256, 0, 270, 0, [SEP] 59, Toaster, -0.522, 0.886, 1.081, 0, 180, 0, [SEP] 60, GarbageCan, -1.261, -0.031, -3.610, 0, 270, 0, [SEP] 61, StoveKnob, -1.898, 0.866, 0.519, 311.864, 0, 180, [SEP] 62, StoveKnob, -1.754, 0.866, 0.519, 311.864, 0, 180, [SEP] 63, StoveKnob, -2.058, 0.866, 0.519, 311.864, 0, 180, [SEP] 64, StoveKnob, -1.600, 0.866, 0.519, 311.864, 0, 180, [SEP] 65, Fridge, 0.680, -0.031, -1.957, 0, 0, 0, [SEP] 66, Window, -2.424, 1.639, -2.453, 90, 270, 0, [SEP] 67, Microwave, -1.994, 0.690, -3.651, 0, 0, 0, [SEP] 68, SinkBasin, 0.757, 0.762, -0.688, 0, 270, 0, [SEP] 69, LightSwitch, 1.102, 1.368, -3.737, 0, 270, 0, [SEP] 70, Shelf, -0.350, 0.124, 0.857, 0, 0, 0, [SEP] 71, DiningTable, -0.350, -0.025, 0.857, 0, 0, 0, [SEP] 72, DiningTable, -1.909, -0.032, -3.507, 0, 0, 0, [SEP] 73, Blinds, -2.343, 2.151, -2.437, 0, 270, 0, [SEP] 74, AluminumFoil, 0.762, 0.224, 0.337, 0, 184.594, 0, [SEP] 75, AluminumFoil, 0.751, 0.225, 0.287, 0, 0, 0, [SEP] 76, AluminumFoil, 0.839, 0.224, 0.392, 0, 195.128, 0, [SEP] 77, Shelf, 0.771, 0.226, 0.445, 0, 0, 0, [SEP] 78, Shelf, 0.771, 0.456, 0.446, 0, 0, 0, [SEP] 79, Faucet, 1.025, 0.873, -0.678, 270, 180, 0, [SEP] 80, Shelf, -0.350, 0.497, 0.857, 0, 0, 0, [SEP] 81, DiningTable, -1.929, -0.035, -1.398, 0, 90, 0, [SEP] 82, Chair, -1.610, -0.024, -1.424, 358.454, 297.426, 0, [SEP] 83, NorthWall, , , , , , , [SEP] 84, EastWall, , , , , , , [SEP] 85, SouthWall, , , , , , , [SEP] 86, WestWall, , , , , , , ", "output": ["STEP 1: Turn around to face the salt on the end of the table. | STEP 2: Pick up the salt on the table. | STEP 3: Turn right and cross the room and turn right to face the small black table. | STEP 4: Place the salt on the small black table. | STEP 5: Take a step to the right to face the salt on the counter. | STEP 6: Pick up the salt on the counter. | STEP 7: Take a step to the left to face the small black table. | STEP 8: Place the salt on the table. | END"]} +{"id": "trial_T20190909_041532_466311-2", "input": "put two salt shakers on kitchen shelves SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.869, -2.75, 0, 90, 0, [SEP] 1, Pan, 0.746, 0.664, -1.880, 0, 0, 0, 65 [SEP] 2, Potato, -0.855, 0.933, 1.187, 0, 270, 0, 71 [SEP] 3, DishSponge, 0.621, 0.015, 0.011, 0, 0, 0, 55 [SEP] 4, ButterKnife, -1.719, 0.701, -0.875, 0, 0, 0, 81 [SEP] 5, Spoon, 0.623, 0.760, -0.124, 0, 180, 0, 44 [SEP] 6, Fork, 0.574, 0.761, 0.002, 0, 270, 0, 44 [SEP] 7, Egg, 0.961, 0.701, 0.387, 0, 0, 0, 50 [SEP] 8, Egg, -1.578, 0.736, -3.614, 0, 0, 0, 72 [SEP] 9, Cup, -1.056, 0.899, 0.758, 0, 270, 0, 71 [SEP] 10, Tomato, 0.785, 1.423, -1.725, 0, 270, 0, 65 [SEP] 11, SoapBottle, -1.803, 0.701, -1.199, 0, 0, 0, 81 [SEP] 12, SoapBottle, 0.149, 0.899, 1.015, 0, 270, 0, 71 [SEP] 13, Bowl, -1.719, 0.700, -1.416, 0, 0, 0, 81 [SEP] 14, Bowl, 0.721, 0.663, 0.387, 0, 0, 0, 50 [SEP] 15, PepperShaker, 0.803, 0.879, 0.098, 0, 0, 0, 45 [SEP] 16, PepperShaker, 0.732, 0.012, -0.571, 0, 0, 0, 48 [SEP] 17, SaltShaker, -1.556, 0.696, -3.361, 0, 0, 0, 72 [SEP] 18, SaltShaker, -1.599, 0.696, -3.529, 0, 0, 0, 72 [SEP] 19, Bread, 0.149, 0.944, 0.843, 0, 270, 0, 71 [SEP] 20, Lettuce, -0.252, 0.987, 1.101, 0, 270, 0, 71 [SEP] 21, Apple, 0.961, 0.718, 0.508, 0, 0, 0, 50 [SEP] 22, Apple, 0.757, 0.826, -0.790, 0, 270, 0, 68 [SEP] 23, Pot, -2.097, 0.930, 1.049, 0, 0, 0, 52 [SEP] 24, Plate, -2.023, 0.692, -1.447, 0, 0, 0, 81 [SEP] 25, Fork, -1.970, 0.702, -0.983, 0, 0, 0, 81 [SEP] 26, SoapBottle, 0.842, 0.014, -0.250, 0, 0, 0, 55 [SEP] 27, Apple, -1.297, 0.105, -3.647, 0, 270, 0, 60 [SEP] 28, Pan, -1.555, 0.930, 1.049, 0, 0, 0, 54 [SEP] 29, Egg, 0.630, 1.411, -1.880, 0, 270, 0, 65 [SEP] 30, Spatula, 0.866, 0.774, 0.002, 0, 270, 0, 44 [SEP] 31, Potato, 1.024, 0.916, -0.314, 0, 0, 0, 45 [SEP] 32, Cup, 0.746, 1.373, -1.958, 0, 270, 0, 65 [SEP] 33, SaltShaker, 0.803, 0.879, -0.245, 0, 0, 0, 45 [SEP] 34, PepperShaker, 0.949, 1.460, 0.411, 0, 0, 0, 57 [SEP] 35, ButterKnife, 0.754, 0.755, -0.743, 0, 45, 0, 68 [SEP] 36, DishSponge, 0.715, 0.772, -0.570, 0, 270, 0, 68 [SEP] 37, Bread, -0.873, 0.931, 0.978, 0, 24.231, 0, 71 [SEP] 38, Lettuce, -0.051, 0.987, 1.015, 0, 270, 0, 71 [SEP] 39, Tomato, -0.051, 0.949, 1.187, 0, 270, 0, 71 [SEP] 40, Spoon, 0.671, 0.760, 0.002, 0, 0, 0, 44 [SEP] 41, Knife, 0.877, 0.906, -0.176, 0, 90, 0, 45 [SEP] 42, Mug, -1.719, 0.696, -1.091, 0, 90, 0, 81 [SEP] 43, Bowl, 0.949, 1.462, -0.084, 0, 0, 0, 56 [SEP] 44, Drawer, 0.706, 0.766, -0.125, 0, 0, 0, [SEP] 45, CounterTop, 0.792, 0.919, -0.108, 0, 0, 0, [SEP] 46, Mirror, 1.093, 1.602, -0.643, 0, 0, 0, [SEP] 47, StoveBurner, -2.096, 0.890, 0.785, 0, 0, 0, [SEP] 48, Cabinet, 0.507, 0.345, -0.426, 0, 0, 0, [SEP] 49, StoveBurner, -1.552, 0.890, 0.785, 0, 0, 0, [SEP] 50, SideTable, 0.770, -0.030, 0.443, 0, 0, 0, [SEP] 51, Sink, 0.753, 0.882, -0.680, 0, 0, 0, [SEP] 52, StoveBurner, -2.096, 0.890, 1.049, 0, 0, 0, [SEP] 53, GarbageBag, -0.770, 0.287, -3.541, 270, 73.521, 83.489, [SEP] 54, StoveBurner, -1.554, 0.890, 1.049, 0, 0, 0, [SEP] 55, Cabinet, 0.507, 0.345, 0.156, 0, 0, 0, [SEP] 56, Cabinet, 0.717, 1.822, -0.398, 0, 0, 0, [SEP] 57, Cabinet, 0.717, 1.822, 0.669, 0, 0, 0, [SEP] 58, CoffeeMachine, 0.873, 0.865, -1.256, 0, 270, 0, [SEP] 59, Toaster, -0.522, 0.886, 1.081, 0, 180, 0, [SEP] 60, GarbageCan, -1.261, -0.031, -3.610, 0, 270, 0, [SEP] 61, StoveKnob, -1.898, 0.866, 0.519, 311.864, 0, 180, [SEP] 62, StoveKnob, -1.754, 0.866, 0.519, 311.864, 0, 180, [SEP] 63, StoveKnob, -2.058, 0.866, 0.519, 311.864, 0, 180, [SEP] 64, StoveKnob, -1.600, 0.866, 0.519, 311.864, 0, 180, [SEP] 65, Fridge, 0.680, -0.031, -1.957, 0, 0, 0, [SEP] 66, Window, -2.424, 1.639, -2.453, 90, 270, 0, [SEP] 67, Microwave, -1.994, 0.690, -3.651, 0, 0, 0, [SEP] 68, SinkBasin, 0.757, 0.762, -0.688, 0, 270, 0, [SEP] 69, LightSwitch, 1.102, 1.368, -3.737, 0, 270, 0, [SEP] 70, Shelf, -0.350, 0.124, 0.857, 0, 0, 0, [SEP] 71, DiningTable, -0.350, -0.025, 0.857, 0, 0, 0, [SEP] 72, DiningTable, -1.909, -0.032, -3.507, 0, 0, 0, [SEP] 73, Blinds, -2.343, 2.151, -2.437, 0, 270, 0, [SEP] 74, AluminumFoil, 0.762, 0.224, 0.337, 0, 184.594, 0, [SEP] 75, AluminumFoil, 0.751, 0.225, 0.287, 0, 0, 0, [SEP] 76, AluminumFoil, 0.839, 0.224, 0.392, 0, 195.128, 0, [SEP] 77, Shelf, 0.771, 0.226, 0.445, 0, 0, 0, [SEP] 78, Shelf, 0.771, 0.456, 0.446, 0, 0, 0, [SEP] 79, Faucet, 1.025, 0.873, -0.678, 270, 180, 0, [SEP] 80, Shelf, -0.350, 0.497, 0.857, 0, 0, 0, [SEP] 81, DiningTable, -1.929, -0.035, -1.398, 0, 90, 0, [SEP] 82, Chair, -1.610, -0.024, -1.424, 358.454, 297.426, 0, [SEP] 83, NorthWall, , , , , , , [SEP] 84, EastWall, , , , , , , [SEP] 85, SouthWall, , , , , , , [SEP] 86, WestWall, , , , , , , ", "output": ["STEP 1: turn to face table next to garbage can | STEP 2: pick up salt shaker from table | STEP 3: walk forward to face small black shelves | STEP 4: put shaker on shelves | STEP 5: move slightly right to face counter to right of shelves | STEP 6: pick up salt shaker from counter | STEP 7: move left to face black shelves | STEP 8: put shaker on shelves | END"]} +{"id": "trial_T20190906_192900_649370-1", "input": "Grab the tissue box near TV, turn on the lamp on side table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.25, 0.906, 3.5, 0, 90, 0, [SEP] 1, TissueBox, -1.816, 0.197, 2.872, 0, 0, 0, 37 [SEP] 2, TissueBox, -0.178, 0.766, 3.128, 0, 270, 0, 44 [SEP] 3, TissueBox, -2.121, 0.200, 2.757, 0, 0, 0, 37 [SEP] 4, Watch, -0.553, 0.762, 2.528, 0, 270, 0, 44 [SEP] 5, Watch, -0.270, 0.184, 2.744, 0, 270, 0, 42 [SEP] 6, KeyChain, -0.361, 0.183, 2.414, 0, 270, 0, 43 [SEP] 7, CreditCard, -0.328, 0.765, 3.128, 0, 270, 0, 44 [SEP] 8, RemoteControl, -2.121, 0.199, 2.986, 0, 0, 0, 37 [SEP] 9, RemoteControl, -1.969, 0.196, 2.643, 0, 0, 0, 37 [SEP] 10, Box, -4.661, 0.521, 2.640, 0, 270, 0, 46 [SEP] 11, Box, -1.384, 0.521, 4.649, 0, 0, 0, 47 [SEP] 12, CreditCard, -0.478, 0.761, 3.128, 0, 270, 0, 44 [SEP] 13, TissueBox, -0.178, 0.763, 2.678, 0, 270, 0, 44 [SEP] 14, Laptop, -0.335, 0.758, 2.38, 0, 33.790, 0, 44 [SEP] 15, Vase, -2.880, 1.518, 0.144, 0, 0, 0, [SEP] 16, RemoteControl, -1.878, 0.420, 4.491, 0, 0, 0, 47 [SEP] 17, Pillow, -2.371, 0.484, 4.412, 0, 0, 0, 47 [SEP] 18, KeyChain, -0.102, 0.762, 2.978, 0, 270, 0, 44 [SEP] 19, Watch, -4.653, 0.512, 3.476, 0, 0, 0, 35 [SEP] 20, Newspaper, -1.892, 0.197, 2.413, 0, 180, 0, 37 [SEP] 21, Statue, -0.403, 0.769, 2.828, 0, 270, 0, 44 [SEP] 22, Statue, -1.869, 1.518, 0.145, 0, 0, 0, Floor|+00.00| [SEP] 23, Curtains, -1.030, 2.113, 0.0, 0, 0, 0, [SEP] 24, Curtains, -3.927, 2.113, 0.0, 0, 0, 0, [SEP] 25, HousePlant, -3.127, 1.507, 0.118, 0, 0, 0, [SEP] 26, Television, 0.0, 1.376, 2.661, 0, 270, 0, [SEP] 27, GarbageCan, -0.227, 0.005, 4.778, 0, 0, 0, [SEP] 28, DeskLamp, -4.658, 0.508, 3.318, 0, 270, 0, [SEP] 29, Painting, -2.507, 1.817, 0.108, 90, 0, 0, [SEP] 30, FloorLamp, -4.596, 0.006, 0.399, 0, 65.211, 0, [SEP] 31, LightSwitch, -3.233, 1.343, 5.0, 0, 180, 0, [SEP] 32, Window, -1.011, 1.391, 0.029, 90, 180, 0, [SEP] 33, Window, -3.900, 1.391, 0.029, 90, 180, 0, [SEP] 34, Drawer, -4.433, 0.473, 3.344, 0, 90, 0, [SEP] 35, SideTable, -4.612, 0.009, 3.346, 0, 90, 0, [SEP] 36, Chair, -4.572, 0.005, 3.862, 0, 113.899, 0, [SEP] 37, CoffeeTable, -1.972, 0.002, 2.615, 0, 270, 0, [SEP] 38, ArmChair, -0.875, 0.005, 0.566, 0, 0, 0, [SEP] 39, Shelf, -0.340, 0.480, 3.046, 0, 270, 0, [SEP] 40, Shelf, -0.340, 0.649, 3.046, 0, 270, 0, [SEP] 41, Shelf, -0.340, 0.603, 2.312, 0, 270, 0, [SEP] 42, Shelf, -0.340, 0.448, 2.678, 0, 270, 0, [SEP] 43, Shelf, -0.340, 0.308, 2.312, 0, 270, 0, [SEP] 44, TVStand, -0.335, 0.005, 2.679, 0, 270, 0, [SEP] 45, Shelf, -0.340, 0.279, 3.046, 0, 270, 0, [SEP] 46, Sofa, -4.566, 0.009, 1.880, 0, 90, 0, [SEP] 47, Sofa, -2.124, 0.009, 4.558, 0, 180, 0, [SEP] 48, NorthWall, , , , , , , [SEP] 49, SouthWall, , , , , , , [SEP] 50, SouthWall, , , , , , , ", "output": ["STEP 1: Walk straight to the tv cabinet, turn around, facing the white shelf on the floor | STEP 2: Grab the tissue box near the edge | STEP 3: Walk across the room to the side table by the sofa | STEP 4: Turn on the lamp on the side table | END"]} +{"id": "trial_T20190906_192900_649370-2", "input": "Examine a tissue box in the light of the lamp on the table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.25, 0.906, 3.5, 0, 90, 0, [SEP] 1, TissueBox, -1.816, 0.197, 2.872, 0, 0, 0, 37 [SEP] 2, TissueBox, -0.178, 0.766, 3.128, 0, 270, 0, 44 [SEP] 3, TissueBox, -2.121, 0.200, 2.757, 0, 0, 0, 37 [SEP] 4, Watch, -0.553, 0.762, 2.528, 0, 270, 0, 44 [SEP] 5, Watch, -0.270, 0.184, 2.744, 0, 270, 0, 42 [SEP] 6, KeyChain, -0.361, 0.183, 2.414, 0, 270, 0, 43 [SEP] 7, CreditCard, -0.328, 0.765, 3.128, 0, 270, 0, 44 [SEP] 8, RemoteControl, -2.121, 0.199, 2.986, 0, 0, 0, 37 [SEP] 9, RemoteControl, -1.969, 0.196, 2.643, 0, 0, 0, 37 [SEP] 10, Box, -4.661, 0.521, 2.640, 0, 270, 0, 46 [SEP] 11, Box, -1.384, 0.521, 4.649, 0, 0, 0, 47 [SEP] 12, CreditCard, -0.478, 0.761, 3.128, 0, 270, 0, 44 [SEP] 13, TissueBox, -0.178, 0.763, 2.678, 0, 270, 0, 44 [SEP] 14, Laptop, -0.335, 0.758, 2.38, 0, 33.790, 0, 44 [SEP] 15, Vase, -2.880, 1.518, 0.144, 0, 0, 0, [SEP] 16, RemoteControl, -1.878, 0.420, 4.491, 0, 0, 0, 47 [SEP] 17, Pillow, -2.371, 0.484, 4.412, 0, 0, 0, 47 [SEP] 18, KeyChain, -0.102, 0.762, 2.978, 0, 270, 0, 44 [SEP] 19, Watch, -4.653, 0.512, 3.476, 0, 0, 0, 35 [SEP] 20, Newspaper, -1.892, 0.197, 2.413, 0, 180, 0, 37 [SEP] 21, Statue, -0.403, 0.769, 2.828, 0, 270, 0, 44 [SEP] 22, Statue, -1.869, 1.518, 0.145, 0, 0, 0, Floor|+00.00| [SEP] 23, Curtains, -1.030, 2.113, 0.0, 0, 0, 0, [SEP] 24, Curtains, -3.927, 2.113, 0.0, 0, 0, 0, [SEP] 25, HousePlant, -3.127, 1.507, 0.118, 0, 0, 0, [SEP] 26, Television, 0.0, 1.376, 2.661, 0, 270, 0, [SEP] 27, GarbageCan, -0.227, 0.005, 4.778, 0, 0, 0, [SEP] 28, DeskLamp, -4.658, 0.508, 3.318, 0, 270, 0, [SEP] 29, Painting, -2.507, 1.817, 0.108, 90, 0, 0, [SEP] 30, FloorLamp, -4.596, 0.006, 0.399, 0, 65.211, 0, [SEP] 31, LightSwitch, -3.233, 1.343, 5.0, 0, 180, 0, [SEP] 32, Window, -1.011, 1.391, 0.029, 90, 180, 0, [SEP] 33, Window, -3.900, 1.391, 0.029, 90, 180, 0, [SEP] 34, Drawer, -4.433, 0.473, 3.344, 0, 90, 0, [SEP] 35, SideTable, -4.612, 0.009, 3.346, 0, 90, 0, [SEP] 36, Chair, -4.572, 0.005, 3.862, 0, 113.899, 0, [SEP] 37, CoffeeTable, -1.972, 0.002, 2.615, 0, 270, 0, [SEP] 38, ArmChair, -0.875, 0.005, 0.566, 0, 0, 0, [SEP] 39, Shelf, -0.340, 0.480, 3.046, 0, 270, 0, [SEP] 40, Shelf, -0.340, 0.649, 3.046, 0, 270, 0, [SEP] 41, Shelf, -0.340, 0.603, 2.312, 0, 270, 0, [SEP] 42, Shelf, -0.340, 0.448, 2.678, 0, 270, 0, [SEP] 43, Shelf, -0.340, 0.308, 2.312, 0, 270, 0, [SEP] 44, TVStand, -0.335, 0.005, 2.679, 0, 270, 0, [SEP] 45, Shelf, -0.340, 0.279, 3.046, 0, 270, 0, [SEP] 46, Sofa, -4.566, 0.009, 1.880, 0, 90, 0, [SEP] 47, Sofa, -2.124, 0.009, 4.558, 0, 180, 0, [SEP] 48, NorthWall, , , , , , , [SEP] 49, SouthWall, , , , , , , [SEP] 50, SouthWall, , , , , , , ", "output": ["STEP 1: Move to the coffee table. | STEP 2: Pick up the tissue box closest to the TV from the coffee table. | STEP 3: Bring the tissue box to the lamp on the side table. | STEP 4: Turn on the lamp on the table. | END"]} +{"id": "trial_T20190907_143446_086680-0", "input": "Examine the baseball bat under the light of the table lamp SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, -0.25, 0, 270, 0, [SEP] 1, Bowl, 1.152, 0.729, 0.901, 0, 0, 0, 41 [SEP] 2, CD, 1.341, 1.138, 1.558, 0, 270, 0, 38 [SEP] 3, CD, 1.288, 0.728, 1.066, 0, 0, 0, 41 [SEP] 4, CellPhone, -0.213, 0.696, -1.794, 0, 0, 0, 43 [SEP] 5, Pen, -0.213, 0.695, -1.572, 0, 0, 0, 43 [SEP] 6, Pencil, 1.356, 0.732, 1.562, 0, 0, 0, 41 [SEP] 7, CreditCard, 0.255, 0.690, -1.616, 0, 0, 0, 43 [SEP] 8, KeyChain, 0.078, 0.389, -1.617, 0, 180, 0, 45 [SEP] 9, Pillow, 0.704, 0.849, -0.988, 0, 0, 0, 30 [SEP] 10, Book, 1.145, 0.721, 1.806, 0, 0, 0, 40 [SEP] 11, Box, -1.233, 0.263, -1.435, 0, 312.675, 0, [SEP] 12, CellPhone, 1.098, 0.319, 1.666, 0, 0, 0, 42 [SEP] 13, BaseballBat, -1.717, 0.708, -0.677, 0, 0, 12.045, [SEP] 14, Bowl, 1.353, 0.721, 0.891, 0, 0, 0, 41 [SEP] 15, BasketBall, -1.64, 0.127, -1.652, 0, 0, 0, [SEP] 16, Laptop, 1.223, 0.721, 1.342, 0, 255.000, 0, 41 [SEP] 17, CreditCard, 1.016, 0.728, 1.231, 0, 0, 0, 41 [SEP] 18, KeyChain, 1.310, 1.139, 1.402, 0, 270, 0, 38 [SEP] 19, AlarmClock, 1.278, 1.139, 1.089, 0, 270, 0, 38 [SEP] 20, Pencil, 1.247, 1.142, 1.246, 0, 270, 0, 38 [SEP] 21, Pillow, 0.872, 0.816, -1.513, 0, 0, 0, 30 [SEP] 22, CD, 1.405, 1.138, 1.402, 0, 270, 0, 38 [SEP] 23, Pen, 1.084, 0.734, 1.231, 0, 180, 0, 41 [SEP] 24, Mug, 0.138, 0.691, -1.660, 0, 0, 0, 43 [SEP] 25, Poster, 0.978, 1.970, -1.868, 90, 0, 0, [SEP] 26, Mirror, -0.884, 1.350, 2.086, 0, 0, 0, [SEP] 27, Poster, 1.483, 1.978, -1.210, 90, 270, 0, [SEP] 28, Poster, 1.483, 1.503, -0.128, 90, 270, 0, [SEP] 29, Poster, 1.483, 2.138, -0.128, 90, 270, 0, [SEP] 30, Bed, 0.955, 0.002, -0.722, 0, 0, 0, [SEP] 31, GarbageCan, 1.133, 0.032, 0.581, 0, 0, 0, [SEP] 32, DeskLamp, -0.396, 0.664, -1.666, 0, 315, 0, [SEP] 33, LightSwitch, 0.554, 1.154, 2.079, 0, 180, 0, [SEP] 34, Window, -0.174, 1.006, -2.009, 90, 0, 0, [SEP] 35, LaundryHamper, -1.425, 0.006, 1.676, 0, 149.999, 0, [SEP] 36, Chair, 1.127, -8.434, 1.053, 0, 90, 0, [SEP] 37, Blinds, -0.145, 1.679, -1.986, 0, 0, 0, [SEP] 38, Shelf, 1.316, 1.174, 1.388, 0, 270, 0, [SEP] 39, Drawer, 1.099, 0.167, 1.724, 0, 270, 0, [SEP] 40, Drawer, 1.099, 0.622, 1.724, 0, 270, 0, [SEP] 41, Desk, 1.189, 0.002, 1.384, 0, 270, 0, [SEP] 42, Drawer, 1.099, 0.408, 1.724, 0, 270, 0, [SEP] 43, SideTable, -0.103, -0.000, -1.691, 0, 0, 0, [SEP] 44, Drawer, -0.104, 0.157, -1.618, 0, 0, 0, [SEP] 45, Drawer, -0.104, 0.456, -1.618, 0, 0, 0, [SEP] 46, NorthWall, , , , , , , [SEP] 47, EastWall, , , , , , , [SEP] 48, SouthWall, , , , , , , [SEP] 49, WestWall, , , , , , , ", "output": ["STEP 1: Walk forward to the baseball bat leaning on the wall | STEP 2: Pick up the baseball bat from the ground | STEP 3: Turn right and approach the small wooden dresser by the window | STEP 4: Turn on the table lamp on the dresser | END"]} +{"id": "trial_T20190907_143446_086680-2", "input": "Hold a baseball bat while turning on a lamp. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, -0.25, 0, 270, 0, [SEP] 1, Bowl, 1.152, 0.729, 0.901, 0, 0, 0, 41 [SEP] 2, CD, 1.341, 1.138, 1.558, 0, 270, 0, 38 [SEP] 3, CD, 1.288, 0.728, 1.066, 0, 0, 0, 41 [SEP] 4, CellPhone, -0.213, 0.696, -1.794, 0, 0, 0, 43 [SEP] 5, Pen, -0.213, 0.695, -1.572, 0, 0, 0, 43 [SEP] 6, Pencil, 1.356, 0.732, 1.562, 0, 0, 0, 41 [SEP] 7, CreditCard, 0.255, 0.690, -1.616, 0, 0, 0, 43 [SEP] 8, KeyChain, 0.078, 0.389, -1.617, 0, 180, 0, 45 [SEP] 9, Pillow, 0.704, 0.849, -0.988, 0, 0, 0, 30 [SEP] 10, Book, 1.145, 0.721, 1.806, 0, 0, 0, 40 [SEP] 11, Box, -1.233, 0.263, -1.435, 0, 312.675, 0, [SEP] 12, CellPhone, 1.098, 0.319, 1.666, 0, 0, 0, 42 [SEP] 13, BaseballBat, -1.717, 0.708, -0.677, 0, 0, 12.045, [SEP] 14, Bowl, 1.353, 0.721, 0.891, 0, 0, 0, 41 [SEP] 15, BasketBall, -1.64, 0.127, -1.652, 0, 0, 0, [SEP] 16, Laptop, 1.223, 0.721, 1.342, 0, 255.000, 0, 41 [SEP] 17, CreditCard, 1.016, 0.728, 1.231, 0, 0, 0, 41 [SEP] 18, KeyChain, 1.310, 1.139, 1.402, 0, 270, 0, 38 [SEP] 19, AlarmClock, 1.278, 1.139, 1.089, 0, 270, 0, 38 [SEP] 20, Pencil, 1.247, 1.142, 1.246, 0, 270, 0, 38 [SEP] 21, Pillow, 0.872, 0.816, -1.513, 0, 0, 0, 30 [SEP] 22, CD, 1.405, 1.138, 1.402, 0, 270, 0, 38 [SEP] 23, Pen, 1.084, 0.734, 1.231, 0, 180, 0, 41 [SEP] 24, Mug, 0.138, 0.691, -1.660, 0, 0, 0, 43 [SEP] 25, Poster, 0.978, 1.970, -1.868, 90, 0, 0, [SEP] 26, Mirror, -0.884, 1.350, 2.086, 0, 0, 0, [SEP] 27, Poster, 1.483, 1.978, -1.210, 90, 270, 0, [SEP] 28, Poster, 1.483, 1.503, -0.128, 90, 270, 0, [SEP] 29, Poster, 1.483, 2.138, -0.128, 90, 270, 0, [SEP] 30, Bed, 0.955, 0.002, -0.722, 0, 0, 0, [SEP] 31, GarbageCan, 1.133, 0.032, 0.581, 0, 0, 0, [SEP] 32, DeskLamp, -0.396, 0.664, -1.666, 0, 315, 0, [SEP] 33, LightSwitch, 0.554, 1.154, 2.079, 0, 180, 0, [SEP] 34, Window, -0.174, 1.006, -2.009, 90, 0, 0, [SEP] 35, LaundryHamper, -1.425, 0.006, 1.676, 0, 149.999, 0, [SEP] 36, Chair, 1.127, -8.434, 1.053, 0, 90, 0, [SEP] 37, Blinds, -0.145, 1.679, -1.986, 0, 0, 0, [SEP] 38, Shelf, 1.316, 1.174, 1.388, 0, 270, 0, [SEP] 39, Drawer, 1.099, 0.167, 1.724, 0, 270, 0, [SEP] 40, Drawer, 1.099, 0.622, 1.724, 0, 270, 0, [SEP] 41, Desk, 1.189, 0.002, 1.384, 0, 270, 0, [SEP] 42, Drawer, 1.099, 0.408, 1.724, 0, 270, 0, [SEP] 43, SideTable, -0.103, -0.000, -1.691, 0, 0, 0, [SEP] 44, Drawer, -0.104, 0.157, -1.618, 0, 0, 0, [SEP] 45, Drawer, -0.104, 0.456, -1.618, 0, 0, 0, [SEP] 46, NorthWall, , , , , , , [SEP] 47, EastWall, , , , , , , [SEP] 48, SouthWall, , , , , , , [SEP] 49, WestWall, , , , , , , ", "output": ["STEP 1: Go left towards the baseball bat. | STEP 2: Pick up the baseball bat. | STEP 3: Turn towards the dresser and walk towards it. | STEP 4: Turn the lamp on the dresser. | END"]} +{"id": "trial_T20190908_124231_030934-1", "input": "Heat a bowl and place it in a cabinet SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.25, 0.899, 2.5, 0, 90, 0, [SEP] 1, Pan, -2.469, 0.930, 1.712, 0, 270, 0, 93 [SEP] 2, Pencil, -0.488, 0.925, 6.261, 0, 0, 0, 63 [SEP] 3, Potato, -0.259, 1.369, 3.231, 0, 270, 0, 111 [SEP] 4, ButterKnife, -3.859, 0.923, 1.875, 0, 0, 0, 78 [SEP] 5, ButterKnife, -0.181, 0.925, 5.932, 0, 0, 0, 63 [SEP] 6, WineBottle, -4.341, 1.457, 2.048, 0, 45, 0, 79 [SEP] 7, Fork, -4.184, 0.924, 4.640, 0, 90, 0, 78 [SEP] 8, Fork, -3.135, 0.924, 5.182, 0, 90, 0, 78 [SEP] 9, Spoon, -4.033, 0.924, 4.381, 0, 90, 0, 78 [SEP] 10, Spatula, -2.026, 0.938, 1.8, 0, 90, 0, 60 [SEP] 11, Cup, -3.135, 0.922, 5.566, 0, 90, 0, 78 [SEP] 12, Cup, -4.411, 0.922, 5.159, 0, 90, 0, 78 [SEP] 13, Cup, -3.374, 0.922, 5.106, 0, 90, 0, 78 [SEP] 14, Plate, -2.583, 1.547, 1.666, 0, 0, 0, 108 [SEP] 15, Knife, -0.258, 0.954, 5.932, 0, 90, 0, 63 [SEP] 16, SoapBottle, -4.006, 0.080, 3.510, 0, 270, 0, 83 [SEP] 17, Tomato, -4.271, 0.848, 3.347, 0, 270, 0, 110 [SEP] 18, Tomato, -0.259, 1.742, 3.854, 0, 270, 0, 111 [SEP] 19, Bowl, -0.259, 1.577, 3.228, 0, 270, 0, 111 [SEP] 20, Bowl, -3.507, 0.079, 5.152, 0, 90, 0, 96 [SEP] 21, SaltShaker, -3.454, 1.456, 5.440, 0, 90, 0, 64 [SEP] 22, SaltShaker, -2.109, 0.919, 1.875, 0, 0, 0, 60 [SEP] 23, PepperShaker, -1.610, 0.919, 1.724, 0, 0, 0, 60 [SEP] 24, PepperShaker, -4.335, 0.919, 4.900, 0, 90, 0, 78 [SEP] 25, Lettuce, -0.295, 1.165, 3.974, 0, 270, 0, 111 [SEP] 26, Lettuce, -0.401, 1.165, 3.726, 0, 270, 0, 111 [SEP] 27, Mug, -0.342, 1.575, 3.530, 0, 270, 0, 111 [SEP] 28, Egg, -4.271, 0.826, 3.472, 0, 270, 0, 110 [SEP] 29, Apple, -4.121, 0.844, 3.347, 0, 270, 0, 110 [SEP] 30, Knife, -0.411, 0.954, 4.615, 0, 0, 0, 63 [SEP] 31, Potato, -3.675, 0.102, 6.457, 0, 270, 0, 104 [SEP] 32, Fork, -3.733, 0.924, 5.106, 0, 180, 0, 78 [SEP] 33, Bowl, -4.312, 0.920, 2.533, 0, 0, 0, 78 [SEP] 34, Plate, -0.258, 0.925, 4.944, 0, 0, 0, 63 [SEP] 35, Lettuce, -3.733, 1.018, 5.182, 0, 180, 0, 78 [SEP] 36, Bread, -0.401, 1.150, 3.355, 0, 270, 0, 111 [SEP] 37, Tomato, -0.342, 1.392, 3.602, 0, 270, 0, 111 [SEP] 38, WineBottle, -3.675, 0.069, 6.292, 0, 270, 0, 104 [SEP] 39, Spatula, -0.258, 0.940, 5.932, 0, 180, 0, 63 [SEP] 40, PaperTowelRoll, -0.258, 1.029, 5.273, 0, 0, 0, 63 [SEP] 41, Cup, -4.032, 0.922, 2.533, 0, 0, 0, 78 [SEP] 42, Pencil, -3.859, 0.923, 1.724, 0, 0, 0, 78 [SEP] 43, Pan, -2.924, 0.930, 2.012, 0, 0, 0, 61 [SEP] 44, Pot, -2.924, 0.930, 1.712, 0, 180, 0, 75 [SEP] 45, SaltShaker, -4.204, 0.919, 1.951, 0, 0, 0, 78 [SEP] 46, SoapBottle, -1.693, 0.923, 1.648, 0, 0, 0, 60 [SEP] 47, PepperShaker, -4.055, 0.750, 2.501, 0, 0, 0, 58 [SEP] 48, ButterKnife, -4.242, 0.923, 2.882, 0, 0, 0, 78 [SEP] 49, DishSponge, -4.035, 1.455, 1.832, 0, 45, 0, 79 [SEP] 50, Spoon, -0.488, 0.926, 5.273, 0, 0, 0, 63 [SEP] 51, Mug, -0.409, 0.955, 6.557, 0, 270, 0, 99 [SEP] 52, Cabinet, -3.203, 1.931, 1.777, 0, 0, 0, [SEP] 53, Cabinet, -3.187, 0.390, 2.089, 0, 0, 0, [SEP] 54, Cabinet, -0.637, 0.387, 6.882, 0, 180, 0, [SEP] 55, Drawer, -3.797, 0.781, 1.961, 0, 0, 0, [SEP] 56, Cabinet, -3.036, 0.387, 5.029, 0, 90, 0, [SEP] 57, Drawer, -0.509, 0.775, 5.268, 0, 270, 0, [SEP] 58, Drawer, -4.125, 0.798, 2.499, 0, 0, 0, [SEP] 59, Cabinet, -0.331, 2.249, 4.308, 0, 180, 0, [SEP] 60, CounterTop, -1.872, 0.958, 1.799, 0, 0, 0, [SEP] 61, StoveBurner, -2.924, 0.924, 2.012, 0, 0, 0, [SEP] 62, Cabinet, -0.331, 2.249, 6.806, 0, 180, 0, [SEP] 63, CounterTop, -0.345, 0.960, 5.603, 0, 0, 0, [SEP] 64, Cabinet, -3.039, 1.935, 5.321, 0, 90, 0, [SEP] 65, Cabinet, -3.922, 0.397, 2.088, 0, 0, 0, [SEP] 66, StoveBurner, -2.467, 0.924, 2.012, 0, 0, 0, [SEP] 67, Cabinet, -0.331, 2.249, 5.505, 0, 180, 0, [SEP] 68, Drawer, -0.509, 0.775, 4.617, 0, 270, 0, [SEP] 69, Drawer, -3.509, 0.777, 5.157, 0, 180, 0, [SEP] 70, Cabinet, -3.961, 0.388, 2.878, 0, 0, 0, [SEP] 71, Cabinet, -3.961, 0.388, 4.342, 0, 0, 0, [SEP] 72, Cabinet, -0.637, 0.387, 5.582, 0, 180, 0, [SEP] 73, Cabinet, -0.637, 0.388, 4.299, 0, 180, 0, [SEP] 74, Cabinet, -0.637, 0.388, 5.599, 0, 180, 0, [SEP] 75, StoveBurner, -2.924, 0.924, 1.712, 0, 180, 0, [SEP] 76, Drawer, -1.859, 0.775, 1.961, 0, 0, 0, [SEP] 77, Cabinet, -0.331, 2.249, 5.609, 0, 180, 0, [SEP] 78, CounterTop, -4.260, 0.958, 4.943, 0, 90, 0, [SEP] 79, Cabinet, -4.284, 1.931, 2.226, 0, 0, 0, [SEP] 80, Cabinet, -0.331, 2.249, 3.010, 0, 180, 0, [SEP] 81, Drawer, -3.801, 0.777, 5.157, 0, 180, 0, [SEP] 82, Cabinet, -4.112, 1.935, 5.321, 0, 90, 0, [SEP] 83, Cabinet, -3.968, 0.388, 3.662, 0, 0, 0, [SEP] 84, Drawer, -3.418, 0.777, 1.961, 0, 0, 0, [SEP] 85, Drawer, -4.090, 0.777, 4.661, 0, 90, 0, [SEP] 86, Faucet, -4.441, 0.909, 3.288, 270, 0, 0, [SEP] 87, Cabinet, -0.331, 2.249, 4.207, 0, 180, 0, [SEP] 88, Cabinet, -3.961, 0.388, 2.119, 0, 0, 0, [SEP] 89, Drawer, -0.509, 0.775, 5.920, 0, 270, 0, [SEP] 90, Drawer, -3.193, 0.777, 5.157, 0, 180, 0, [SEP] 91, Cabinet, -3.968, 0.388, 2.894, 0, 0, 0, [SEP] 92, Cabinet, -3.667, 0.387, 5.029, 0, 90, 0, [SEP] 93, StoveBurner, -2.469, 0.924, 1.712, 0, 270, 0, [SEP] 94, Cabinet, -1.539, 0.388, 2.090, 0, 0, 0, [SEP] 95, Sink, -4.190, 0.921, 3.279, 0, 0, 0, [SEP] 96, Cabinet, -3.641, 0.387, 5.029, 0, 90, 0, [SEP] 97, Cabinet, -1.583, 1.931, 1.777, 0, 0, 0, [SEP] 98, Drawer, -0.509, 0.775, 6.568, 0, 270, 0, [SEP] 99, CoffeeMachine, -0.279, 0.912, 6.556, 0, 270, 0, [SEP] 100, StoveKnob, -2.347, 1.095, 1.560, 288.012, 180, 180, [SEP] 101, StoveKnob, -2.788, 1.095, 1.560, 288.012, 180, 180, [SEP] 102, StoveKnob, -2.965, 1.095, 1.560, 288.012, 180, 180, [SEP] 103, StoveKnob, -2.512, 1.095, 1.560, 288.012, 180, 180, [SEP] 104, GarbageCan, -3.711, -0.030, 6.376, 0, 270, 0, [SEP] 105, Toaster, -3.578, 0.912, 1.763, 0, 0, 0, [SEP] 106, Curtains, -4.522, 2.252, 3.391, 90, 90, 0, [SEP] 107, Window, -4.868, 1.629, 3.309, 90, 270, 0, [SEP] 108, Microwave, -2.693, 1.430, 1.689, 0, 0, 0, [SEP] 109, LightSwitch, -1.588, 1.169, 1.506, 0, 0, 0, [SEP] 110, SinkBasin, -4.196, 0.780, 3.276, 0, 270, 0, [SEP] 111, Fridge, -0.324, -0.001, 3.602, 0, 0, 0, [SEP] 112, NorthWall, , , , , , , [SEP] 113, EastWall, , , , , , , [SEP] 114, SouthWall, , , , , , , [SEP] 115, WestWall, , , , , , , ", "output": ["STEP 1: Turn to the counter | STEP 2: Pick up the black bowl | STEP 3: Go to the microwave | STEP 4: Heat the bowl in the microwave | STEP 5: Go to the cabinet | STEP 6: Place the bowl in the cabinet | END"]} +{"id": "trial_T20190908_124231_030934-2", "input": "Place a heated glass in a cabinet. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.25, 0.899, 2.5, 0, 90, 0, [SEP] 1, Pan, -2.469, 0.930, 1.712, 0, 270, 0, 93 [SEP] 2, Pencil, -0.488, 0.925, 6.261, 0, 0, 0, 63 [SEP] 3, Potato, -0.259, 1.369, 3.231, 0, 270, 0, 111 [SEP] 4, ButterKnife, -3.859, 0.923, 1.875, 0, 0, 0, 78 [SEP] 5, ButterKnife, -0.181, 0.925, 5.932, 0, 0, 0, 63 [SEP] 6, WineBottle, -4.341, 1.457, 2.048, 0, 45, 0, 79 [SEP] 7, Fork, -4.184, 0.924, 4.640, 0, 90, 0, 78 [SEP] 8, Fork, -3.135, 0.924, 5.182, 0, 90, 0, 78 [SEP] 9, Spoon, -4.033, 0.924, 4.381, 0, 90, 0, 78 [SEP] 10, Spatula, -2.026, 0.938, 1.8, 0, 90, 0, 60 [SEP] 11, Cup, -3.135, 0.922, 5.566, 0, 90, 0, 78 [SEP] 12, Cup, -4.411, 0.922, 5.159, 0, 90, 0, 78 [SEP] 13, Cup, -3.374, 0.922, 5.106, 0, 90, 0, 78 [SEP] 14, Plate, -2.583, 1.547, 1.666, 0, 0, 0, 108 [SEP] 15, Knife, -0.258, 0.954, 5.932, 0, 90, 0, 63 [SEP] 16, SoapBottle, -4.006, 0.080, 3.510, 0, 270, 0, 83 [SEP] 17, Tomato, -4.271, 0.848, 3.347, 0, 270, 0, 110 [SEP] 18, Tomato, -0.259, 1.742, 3.854, 0, 270, 0, 111 [SEP] 19, Bowl, -0.259, 1.577, 3.228, 0, 270, 0, 111 [SEP] 20, Bowl, -3.507, 0.079, 5.152, 0, 90, 0, 96 [SEP] 21, SaltShaker, -3.454, 1.456, 5.440, 0, 90, 0, 64 [SEP] 22, SaltShaker, -2.109, 0.919, 1.875, 0, 0, 0, 60 [SEP] 23, PepperShaker, -1.610, 0.919, 1.724, 0, 0, 0, 60 [SEP] 24, PepperShaker, -4.335, 0.919, 4.900, 0, 90, 0, 78 [SEP] 25, Lettuce, -0.295, 1.165, 3.974, 0, 270, 0, 111 [SEP] 26, Lettuce, -0.401, 1.165, 3.726, 0, 270, 0, 111 [SEP] 27, Mug, -0.342, 1.575, 3.530, 0, 270, 0, 111 [SEP] 28, Egg, -4.271, 0.826, 3.472, 0, 270, 0, 110 [SEP] 29, Apple, -4.121, 0.844, 3.347, 0, 270, 0, 110 [SEP] 30, Knife, -0.411, 0.954, 4.615, 0, 0, 0, 63 [SEP] 31, Potato, -3.675, 0.102, 6.457, 0, 270, 0, 104 [SEP] 32, Fork, -3.733, 0.924, 5.106, 0, 180, 0, 78 [SEP] 33, Bowl, -4.312, 0.920, 2.533, 0, 0, 0, 78 [SEP] 34, Plate, -0.258, 0.925, 4.944, 0, 0, 0, 63 [SEP] 35, Lettuce, -3.733, 1.018, 5.182, 0, 180, 0, 78 [SEP] 36, Bread, -0.401, 1.150, 3.355, 0, 270, 0, 111 [SEP] 37, Tomato, -0.342, 1.392, 3.602, 0, 270, 0, 111 [SEP] 38, WineBottle, -3.675, 0.069, 6.292, 0, 270, 0, 104 [SEP] 39, Spatula, -0.258, 0.940, 5.932, 0, 180, 0, 63 [SEP] 40, PaperTowelRoll, -0.258, 1.029, 5.273, 0, 0, 0, 63 [SEP] 41, Cup, -4.032, 0.922, 2.533, 0, 0, 0, 78 [SEP] 42, Pencil, -3.859, 0.923, 1.724, 0, 0, 0, 78 [SEP] 43, Pan, -2.924, 0.930, 2.012, 0, 0, 0, 61 [SEP] 44, Pot, -2.924, 0.930, 1.712, 0, 180, 0, 75 [SEP] 45, SaltShaker, -4.204, 0.919, 1.951, 0, 0, 0, 78 [SEP] 46, SoapBottle, -1.693, 0.923, 1.648, 0, 0, 0, 60 [SEP] 47, PepperShaker, -4.055, 0.750, 2.501, 0, 0, 0, 58 [SEP] 48, ButterKnife, -4.242, 0.923, 2.882, 0, 0, 0, 78 [SEP] 49, DishSponge, -4.035, 1.455, 1.832, 0, 45, 0, 79 [SEP] 50, Spoon, -0.488, 0.926, 5.273, 0, 0, 0, 63 [SEP] 51, Mug, -0.409, 0.955, 6.557, 0, 270, 0, 99 [SEP] 52, Cabinet, -3.203, 1.931, 1.777, 0, 0, 0, [SEP] 53, Cabinet, -3.187, 0.390, 2.089, 0, 0, 0, [SEP] 54, Cabinet, -0.637, 0.387, 6.882, 0, 180, 0, [SEP] 55, Drawer, -3.797, 0.781, 1.961, 0, 0, 0, [SEP] 56, Cabinet, -3.036, 0.387, 5.029, 0, 90, 0, [SEP] 57, Drawer, -0.509, 0.775, 5.268, 0, 270, 0, [SEP] 58, Drawer, -4.125, 0.798, 2.499, 0, 0, 0, [SEP] 59, Cabinet, -0.331, 2.249, 4.308, 0, 180, 0, [SEP] 60, CounterTop, -1.872, 0.958, 1.799, 0, 0, 0, [SEP] 61, StoveBurner, -2.924, 0.924, 2.012, 0, 0, 0, [SEP] 62, Cabinet, -0.331, 2.249, 6.806, 0, 180, 0, [SEP] 63, CounterTop, -0.345, 0.960, 5.603, 0, 0, 0, [SEP] 64, Cabinet, -3.039, 1.935, 5.321, 0, 90, 0, [SEP] 65, Cabinet, -3.922, 0.397, 2.088, 0, 0, 0, [SEP] 66, StoveBurner, -2.467, 0.924, 2.012, 0, 0, 0, [SEP] 67, Cabinet, -0.331, 2.249, 5.505, 0, 180, 0, [SEP] 68, Drawer, -0.509, 0.775, 4.617, 0, 270, 0, [SEP] 69, Drawer, -3.509, 0.777, 5.157, 0, 180, 0, [SEP] 70, Cabinet, -3.961, 0.388, 2.878, 0, 0, 0, [SEP] 71, Cabinet, -3.961, 0.388, 4.342, 0, 0, 0, [SEP] 72, Cabinet, -0.637, 0.387, 5.582, 0, 180, 0, [SEP] 73, Cabinet, -0.637, 0.388, 4.299, 0, 180, 0, [SEP] 74, Cabinet, -0.637, 0.388, 5.599, 0, 180, 0, [SEP] 75, StoveBurner, -2.924, 0.924, 1.712, 0, 180, 0, [SEP] 76, Drawer, -1.859, 0.775, 1.961, 0, 0, 0, [SEP] 77, Cabinet, -0.331, 2.249, 5.609, 0, 180, 0, [SEP] 78, CounterTop, -4.260, 0.958, 4.943, 0, 90, 0, [SEP] 79, Cabinet, -4.284, 1.931, 2.226, 0, 0, 0, [SEP] 80, Cabinet, -0.331, 2.249, 3.010, 0, 180, 0, [SEP] 81, Drawer, -3.801, 0.777, 5.157, 0, 180, 0, [SEP] 82, Cabinet, -4.112, 1.935, 5.321, 0, 90, 0, [SEP] 83, Cabinet, -3.968, 0.388, 3.662, 0, 0, 0, [SEP] 84, Drawer, -3.418, 0.777, 1.961, 0, 0, 0, [SEP] 85, Drawer, -4.090, 0.777, 4.661, 0, 90, 0, [SEP] 86, Faucet, -4.441, 0.909, 3.288, 270, 0, 0, [SEP] 87, Cabinet, -0.331, 2.249, 4.207, 0, 180, 0, [SEP] 88, Cabinet, -3.961, 0.388, 2.119, 0, 0, 0, [SEP] 89, Drawer, -0.509, 0.775, 5.920, 0, 270, 0, [SEP] 90, Drawer, -3.193, 0.777, 5.157, 0, 180, 0, [SEP] 91, Cabinet, -3.968, 0.388, 2.894, 0, 0, 0, [SEP] 92, Cabinet, -3.667, 0.387, 5.029, 0, 90, 0, [SEP] 93, StoveBurner, -2.469, 0.924, 1.712, 0, 270, 0, [SEP] 94, Cabinet, -1.539, 0.388, 2.090, 0, 0, 0, [SEP] 95, Sink, -4.190, 0.921, 3.279, 0, 0, 0, [SEP] 96, Cabinet, -3.641, 0.387, 5.029, 0, 90, 0, [SEP] 97, Cabinet, -1.583, 1.931, 1.777, 0, 0, 0, [SEP] 98, Drawer, -0.509, 0.775, 6.568, 0, 270, 0, [SEP] 99, CoffeeMachine, -0.279, 0.912, 6.556, 0, 270, 0, [SEP] 100, StoveKnob, -2.347, 1.095, 1.560, 288.012, 180, 180, [SEP] 101, StoveKnob, -2.788, 1.095, 1.560, 288.012, 180, 180, [SEP] 102, StoveKnob, -2.965, 1.095, 1.560, 288.012, 180, 180, [SEP] 103, StoveKnob, -2.512, 1.095, 1.560, 288.012, 180, 180, [SEP] 104, GarbageCan, -3.711, -0.030, 6.376, 0, 270, 0, [SEP] 105, Toaster, -3.578, 0.912, 1.763, 0, 0, 0, [SEP] 106, Curtains, -4.522, 2.252, 3.391, 90, 90, 0, [SEP] 107, Window, -4.868, 1.629, 3.309, 90, 270, 0, [SEP] 108, Microwave, -2.693, 1.430, 1.689, 0, 0, 0, [SEP] 109, LightSwitch, -1.588, 1.169, 1.506, 0, 0, 0, [SEP] 110, SinkBasin, -4.196, 0.780, 3.276, 0, 270, 0, [SEP] 111, Fridge, -0.324, -0.001, 3.602, 0, 0, 0, [SEP] 112, NorthWall, , , , , , , [SEP] 113, EastWall, , , , , , , [SEP] 114, SouthWall, , , , , , , [SEP] 115, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk to the counter ahead. | STEP 2: Pick up the black glass on the counter in front of the gray bowl. | STEP 3: Turn around and walk to the white stove on the right. | STEP 4: Put the glass inside the microwave above the stove, heat it for a few seconds, remove it and close the door. | STEP 5: Turn right and walk to the cabinets under the counter ahead. | STEP 6: Open the lower left cabinet, put the heated glass inside and close the door. | END"]} +{"id": "trial_T20190907_165415_289495-2", "input": "To pick up the racket and turn on the lamp. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.5, 0.901, -0.5, 0, 90, 0, [SEP] 1, CellPhone, -1.582, 0.599, -0.250, 0, 0, 0, 45 [SEP] 2, CellPhone, 0.269, 0.415, -2.550, 0, 0, 0, 40 [SEP] 3, Pencil, 0.651, 0.734, -2.764, 0, 180, 0, 38 [SEP] 4, KeyChain, 1.787, 0.356, -2.282, 0, 0, 0, 53 [SEP] 5, Laptop, -0.333, 0.415, -1.733, 0, 0, 0, 44 [SEP] 6, AlarmClock, -1.582, 0.599, -0.392, 0, 0, 0, 45 [SEP] 7, Box, 1.996, 0.316, -1.042, 0, 254.839, 0, [SEP] 8, Book, 0.339, 0.723, -2.65, 0, 165.000, 0, 38 [SEP] 9, Pillow, -1.548, 0.457, -1.831, 0, 90, 0, 44 [SEP] 10, CellPhone, -1.780, 0.599, -0.250, 0, 0, 0, 45 [SEP] 11, Vase, -1.714, 0.599, -0.533, 0, 0, 0, 45 [SEP] 12, BaseballBat, -1.629, 0.649, 0.416, 14.491, 0, 0, [SEP] 13, CreditCard, 1.194, 1.178, -2.256, 0, 0, 0, 26 [SEP] 14, TennisRacket, 2.244, 0.279, -1.901, 335.402, 251.974, 201.714, [SEP] 15, KeyChain, 2.045, 1.179, -2.298, 0, 0, 0, 27 [SEP] 16, AlarmClock, 0.076, 0.730, -2.647, 0, 180, 0, 38 [SEP] 17, Cloth, 2.176, 0.0, -0.571, 0, 335.474, 0, [SEP] 18, Laptop, -1.024, 0.415, -1.610, 0, 0, 0, 44 [SEP] 19, CD, -1.846, 0.598, 0.031, 0, 0, 0, 45 [SEP] 20, CD, -1.912, 0.598, -0.109, 0, 0, 0, 45 [SEP] 21, Pen, -1.582, 0.604, -0.675, 0, 0, 0, 45 [SEP] 22, Pencil, -1.791, 0.512, -1.232, 0, 0, 0, 47 [SEP] 23, Mug, -1.828, 0.506, -1.107, 0, 0, 0, 47 [SEP] 24, Shelf, 1.311, 0.969, -2.298, 0, 0, 0, [SEP] 25, Shelf, 1.843, 0.969, -2.298, 0, 0, 0, [SEP] 26, Shelf, 1.311, 1.171, -2.298, 0, 0, 0, [SEP] 27, Shelf, 1.843, 1.171, -2.298, 0, 0, 0, [SEP] 28, Shelf, 1.311, 1.368, -2.298, 0, 0, 0, [SEP] 29, Shelf, 1.843, 1.570, -2.298, 0, 0, 0, [SEP] 30, Shelf, 1.843, 1.368, -2.298, 0, 0, 0, [SEP] 31, Shelf, 1.311, 1.570, -2.298, 0, 0, 0, [SEP] 32, DeskLamp, -1.848, 0.592, -0.786, 0, 90, 0, [SEP] 33, GarbageCan, 2.197, -0.007, 0.298, 0, 232.025, 0, [SEP] 34, LightSwitch, -0.638, 1.149, 0.499, 0, 180, 0, [SEP] 35, Poster, 0.001, 1.495, -2.642, 90, 90, 0, [SEP] 36, Mirror, -1.072, 1.469, 0.497, 0, 0, 0, [SEP] 37, Window, 0.435, 1.398, -2.855, 90, 0, 0, [SEP] 38, SideTable, 0.435, 0.036, -2.647, 0, 0, 0, [SEP] 39, Drawer, 0.433, 0.203, -2.445, 0, 0, 0, [SEP] 40, Drawer, 0.433, 0.505, -2.445, 0, 0, 0, [SEP] 41, Dumbbell, -1.656, 0.602, -0.534, 0, 90, 0, [SEP] 42, Blinds, 0.449, 2.164, -2.845, 0, 0, 0, [SEP] 43, GarbageBag, 1.730, 0.318, 0.222, 270, 90, 83.412, [SEP] 44, Bed, -1.047, -0.000, -1.851, 0, 270, 0, [SEP] 45, Desk, -1.710, 0.000, -0.374, 0, 90, 0, [SEP] 46, Drawer, -1.790, 0.245, -1.144, 0, 90, 0, [SEP] 47, SideTable, -1.824, 0.000, -1.144, 0, 90, 0, [SEP] 48, Drawer, -1.790, 0.392, -1.144, 0, 90, 0, [SEP] 49, Drawer, -1.790, 0.097, -1.144, 0, 90, 0, [SEP] 50, Chair, -1.453, 0.005, -0.311, 0, 286.095, 0, [SEP] 51, Shelf, 1.591, 0.606, -2.305, 0, 0, 0, [SEP] 52, ShelvingUnit, 1.588, 0.004, -2.326, 0, 0, 0, [SEP] 53, Shelf, 1.854, 0.453, -2.298, 0, 0, 0, [SEP] 54, Shelf, 1.321, 0.155, -2.296, 0, 0, 0, [SEP] 55, Shelf, 1.323, 0.456, -2.300, 0, 0, 0, [SEP] 56, Shelf, 1.852, 0.152, -2.294, 0, 0, 0, [SEP] 57, NorthWall, , , , , , , [SEP] 58, EastWall, , , , , , , [SEP] 59, SouthWall, , , , , , , [SEP] 60, WestWall, , , , , , , ", "output": ["STEP 1: Move in front of the book shelf on the right, turn left to face the racket on the floor. | STEP 2: Pick up the racket with the orange handle. | STEP 3: Turn around and walk to the lamp across the room on the left side of the desk. | STEP 4: Turn on the lamp. | END"]} +{"id": "trial_T20190907_232246_844099-1", "input": "Place warm bread into a trash bin. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.900, 3.5, 0, 180, 0, [SEP] 1, Ladle, -0.669, 1.066, 1.821, 0, 0, 0, 54 [SEP] 2, ButterKnife, 2.398, 0.764, 4.022, 0, 225, 0, 52 [SEP] 3, Glassbottle, 2.228, 0.765, 3.445, 0, 0, 0, 52 [SEP] 4, Pot, 2.683, 1.029, 1.004, 0, 136.999, 0, 51 [SEP] 5, Spatula, 2.710, 0.779, 4.229, 0, 315, 0, 52 [SEP] 6, Spatula, 2.451, 0.779, 4.044, 0, 0, 0, 52 [SEP] 7, Egg, -1.101, 0.367, -0.295, 0, 90, 0, 95 [SEP] 8, Egg, 2.228, 0.808, 3.795, 0, 0, 0, 52 [SEP] 9, Cup, 1.848, 1.025, 1.900, 0, 136.999, 0, 51 [SEP] 10, Cup, 2.685, 0.763, 3.994, 0, 225, 0, 52 [SEP] 11, Knife, 2.033, 0.789, 3.867, 0, 315, 0, 52 [SEP] 12, Knife, 2.013, 0.827, 1.489, 0, 227.0, 0, 65 [SEP] 13, Tomato, -1.059, 1.495, -0.184, 0, 90, 0, 95 [SEP] 14, Tomato, 2.621, 1.080, -0.846, 0, 0, 0, 51 [SEP] 15, Bowl, 1.301, 1.779, -1.911, 0, 0, 0, 91 [SEP] 16, Bowl, -0.858, 0.332, -0.516, 0, 90, 0, 95 [SEP] 17, PepperShaker, 2.763, 0.760, 4.177, 0, 225, 0, 52 [SEP] 18, PepperShaker, 2.801, 0.760, 4.044, 0, 270, 0, 52 [SEP] 19, Bread, 2.239, 0.832, 4.484, 0, 329.999, 0, 52 [SEP] 20, Bread, 2.726, 0.832, 3.492, 0, 329.999, 0, 52 [SEP] 21, Lettuce, 2.605, 0.822, 4.334, 0, 225, 0, 52 [SEP] 22, Mug, 2.763, 0.759, 3.726, 0, 329.999, 0, 52 [SEP] 23, Pan, 1.836, 1.027, -1.84, 0, 90, 0, 49 [SEP] 24, Glassbottle, -0.916, 0.077, 2.811, 0, 0, 0, 106 [SEP] 25, Knife, -0.782, 0.841, 1.570, 0, 180, 0, 108 [SEP] 26, SoapBottle, -1.159, 1.026, 1.612, 0, 0, 0, 54 [SEP] 27, Egg, -0.851, 0.860, 1.181, 0, 90, 0, 108 [SEP] 28, Fork, 2.788, 0.765, 4.412, 0, 225, 0, 52 [SEP] 29, Potato, -0.669, 1.069, 2.434, 0, 0, 0, 54 [SEP] 30, Ladle, -1.045, 1.066, 2.556, 0, 0, 0, 54 [SEP] 31, Tomato, -0.851, 0.870, 1.414, 0, 90, 0, 108 [SEP] 32, Pot, 1.761, 1.027, -1.599, 0, 0, 0, 94 [SEP] 33, WineBottle, -0.418, 1.028, 0.785, 0, 0, 0, 54 [SEP] 34, Plate, 2.737, 0.033, -1.228, 0, 0, 0, 93 [SEP] 35, Spatula, 2.302, 0.779, 3.62, 0, 90, 0, 52 [SEP] 36, PaperTowelRoll, 2.868, 0.868, 4.072, 0, 135, 0, 52 [SEP] 37, Lettuce, 2.451, 0.822, 3.895, 0, 270, 0, 52 [SEP] 38, Apple, -0.577, 0.866, 1.492, 0, 90, 0, 108 [SEP] 39, SaltShaker, 1.563, 0.797, 1.784, 0, 317.0, 0, 66 [SEP] 40, PepperShaker, 2.595, 0.797, -0.175, 0, 0, 0, 61 [SEP] 41, ButterKnife, -0.590, 0.800, 0.615, 0, 0, 0, 53 [SEP] 42, Bread, 1.290, 1.094, -1.454, 0, 90, 0, 51 [SEP] 43, Cup, -0.891, 0.044, 1.895, 0, 0, 0, 80 [SEP] 44, DishSponge, -0.544, 1.027, 0.508, 0, 0, 0, 54 [SEP] 45, Bowl, -0.627, 0.044, 2.012, 0, 0, 0, 80 [SEP] 46, Spoon, -0.669, 1.028, 0.416, 0, 180, 0, 54 [SEP] 47, Mug, -1.069, 0.781, -0.627, 0, 90, 0, 95 [SEP] 48, Sink, -0.716, 1.023, 1.333, 0, 0, 0, [SEP] 49, StoveBurner, 1.835, 1.018, -1.840, 0, 90, 0, [SEP] 50, StoveBurner, 2.177, 1.018, -1.599, 0, 0, 0, [SEP] 51, CounterTop, 2.812, 0.992, 0.675, 0, 0, 0, [SEP] 52, DiningTable, 2.419, 0.003, 3.930, 0, 0, 0, [SEP] 53, Drawer, -0.643, 0.828, 0.616, 0, 0, 0, [SEP] 54, CounterTop, -0.813, 1.062, 2.188, 0, 0, 0, [SEP] 55, StoveBurner, 2.115, 1.018, -1.840, 0, 270, 0, [SEP] 56, Drawer, -0.643, 0.831, 1.953, 0, 0, 0, [SEP] 57, Drawer, -0.643, 0.833, 2.418, 0, 0, 0, [SEP] 58, Drawer, 1.347, 0.836, -1.539, 0, 0, 0, [SEP] 59, Drawer, 2.693, 0.833, -1.131, 0, 0, 0, [SEP] 60, Drawer, 2.693, 0.833, -0.699, 0, 0, 0, [SEP] 61, Drawer, 2.693, 0.833, -0.267, 0, 0, 0, [SEP] 62, Drawer, 2.693, 0.833, 0.163, 0, 0, 0, [SEP] 63, Drawer, 2.524, 0.833, 0.720, 0, 2.000, 0, [SEP] 64, Drawer, 2.232, 0.833, 1.036, 0, 2.000, 0, [SEP] 65, Drawer, 1.936, 0.833, 1.354, 0, 2.000, 0, [SEP] 66, Drawer, 1.646, 0.833, 1.670, 0, 2.000, 0, [SEP] 67, Cabinet, 1.504, 2.475, -1.710, 0, 0, 0, [SEP] 68, Cabinet, -0.823, 2.220, 1.621, 0, 0, 0, [SEP] 69, Cabinet, -0.823, 2.220, 0.615, 0, 0, 0, [SEP] 70, Cabinet, 1.136, 0.388, -1.355, 0, 0, 0, [SEP] 71, Cabinet, -0.356, 0.383, 2.626, 0, 0, 0, [SEP] 72, Cabinet, 2.745, 2.220, -1.690, 0, 0, 0, [SEP] 73, Cabinet, 1.882, 0.383, 1.017, 0, 0, 0, [SEP] 74, Cabinet, 1.307, 0.473, 1.640, 0, 0, 0, [SEP] 75, Cabinet, 1.892, 0.383, 1.006, 0, 0, 0, [SEP] 76, Cabinet, 2.467, 0.383, 0.383, 0, 0, 0, [SEP] 77, Cabinet, 2.466, 0.383, -0.475, 0, 0, 0, [SEP] 78, Cabinet, 2.466, 0.473, 0.371, 0, 0, 0, [SEP] 79, Cabinet, 2.386, 2.475, -1.710, 0, 0, 0, [SEP] 80, Cabinet, -0.356, 0.383, 1.712, 0, 0, 0, [SEP] 81, Cabinet, 2.745, 2.220, 0.019, 0, 0, 0, [SEP] 82, Cabinet, -0.663, 2.496, 0.157, 0, 0, 0, [SEP] 83, Cabinet, -0.663, 2.496, -0.868, 0, 0, 0, [SEP] 84, Cabinet, -0.356, 0.383, 0.269, 0, 0, 0, [SEP] 85, Cabinet, -0.823, 2.220, 1.603, 0, 0, 0, [SEP] 86, Cabinet, -0.662, 2.234, 0.586, 0, 0, 0, [SEP] 87, Cabinet, 2.745, 2.220, -0.843, 0, 0, 0, [SEP] 88, Cabinet, 2.745, 2.220, -0.827, 0, 0, 0, [SEP] 89, Cabinet, -0.823, 2.220, 2.608, 0, 0, 0, [SEP] 90, Cabinet, 2.732, 2.226, -1.709, 0, 0, 0, [SEP] 91, Cabinet, 1.137, 2.226, -1.709, 0, 0, 0, [SEP] 92, Cabinet, 2.466, 0.383, -0.491, 0, 0, 0, [SEP] 93, Cabinet, 2.466, 0.383, -1.339, 0, 0, 0, [SEP] 94, StoveBurner, 1.761, 1.018, -1.599, 0, 0, 0, [SEP] 95, Fridge, -0.908, 0.0, -0.405, 0, 0, 0, [SEP] 96, HousePlant, 2.517, 1.016, 1.822, 0, 0, 0, [SEP] 97, Microwave, 1.939, 1.745, -1.826, 0, 0, 0, [SEP] 98, StoveKnob, 2.017, 1.041, -1.514, 0, 180, 180, [SEP] 99, StoveKnob, 1.934, 1.041, -1.514, 0, 180, 180, [SEP] 100, StoveKnob, 2.017, 1.041, -1.589, 0, 180, 180, [SEP] 101, StoveKnob, 1.934, 1.041, -1.589, 0, 180, 180, [SEP] 102, Window, 1.756, 1.608, 4.762, 90, 0, 0, [SEP] 103, HousePlant, 2.171, 1.004, 2.091, 0, 0, 0, [SEP] 104, CoffeeMachine, -0.942, 1.018, 0.645, 0, 90, 0, [SEP] 105, LightSwitch, -0.099, 1.410, -2.066, 0, 0, 0, [SEP] 106, GarbageCan, -0.951, -0.029, 2.826, 0, 0, 0, [SEP] 107, Toaster, -1.007, 1.018, 2.238, 0, 90, 0, [SEP] 108, SinkBasin, -0.714, 0.805, 1.348, 0, 90, 0, [SEP] 109, Chair, 1.615, 0.004, 4.310, 0, 107.976, 0, [SEP] 110, Faucet, -1.120, 1.013, 1.334, 0, 90, 0, [SEP] 111, Chair, 2.759, 0.004, 3.086, 0, 358.967, 0, [SEP] 112, , , , , , , , [SEP] 113, NorthWall, , , , , , , [SEP] 114, EastWall, , , , , , , [SEP] 115, SouthWall, , , , , , , [SEP] 116, WestWall, , , , , , , ", "output": ["STEP 1: Back up, turn to the left and walk to the table in the corner of the room. | STEP 2: Pick up the knife from the edge of the table. | STEP 3: Walk forward and closer to the table. | STEP 4: Slice the bread that is at the back, left side of the table. | STEP 5: Turn to the right and walk to the trash can. | STEP 6: Place the knife into the trash bin. | STEP 7: Turn to the left and walk back to the table. | STEP 8: Grab two slices of bread that you had cut prior. | STEP 9: Turn to the right and walk over to the stove. | STEP 10: Open the microwave door above the stove, place the bread inside, close the door, warm the bread, remove the bread | STEP 11: Close the microwave door, turn right and walk over to the trash bin. | STEP 12: Toss the bread into the trash bin. | END"]} +{"id": "trial_T20190908_101054_642838-2", "input": "clean off the dish from the table and put it in the microwave SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.900, -1.0, 0, 180, 0, [SEP] 1, Glassbottle, -2.552, 0.924, -1.884, 0, 0, 0, 78 [SEP] 2, Glassbottle, -2.324, 0.924, -1.423, 0, 0, 0, 78 [SEP] 3, Potato, -0.308, 1.722, -0.979, 0, 270, 0, 70 [SEP] 4, Potato, -2.096, 0.954, -2.345, 0, 0, 0, 78 [SEP] 5, DishSponge, -2.438, 0.923, -1.884, 0, 0, 0, 78 [SEP] 6, ButterKnife, -0.600, 0.915, -3.839, 0, 0, 0, 53 [SEP] 7, WineBottle, -1.943, 0.027, -3.799, 0, 0, 0, 69 [SEP] 8, Pot, -1.515, 0.935, -3.497, 0, 0, 0, 50 [SEP] 9, Spatula, -2.666, 0.938, -2.345, 0, 270, 0, 78 [SEP] 10, Spoon, -2.552, 0.924, -1.423, 0, 0, 0, 78 [SEP] 11, Knife, -2.096, 0.946, -1.884, 0, 90, 0, 78 [SEP] 12, Plate, -0.295, 1.533, -3.637, 0, 45, 0, 61 [SEP] 13, Plate, -2.780, 0.925, -1.654, 0, 0, 0, 78 [SEP] 14, Egg, -0.508, 0.948, -2.764, 0, 0, 0, 53 [SEP] 15, Tomato, -0.222, 0.979, -3.368, 0, 0, 0, 53 [SEP] 16, Bowl, -0.348, 1.689, -0.665, 0, 270, 0, 70 [SEP] 17, Bowl, -2.438, 0.922, -1.193, 0, 0, 0, 78 [SEP] 18, Lettuce, -0.392, 1.483, -0.665, 0, 270, 0, 70 [SEP] 19, SaltShaker, -2.552, 0.919, -2.345, 0, 0, 0, 78 [SEP] 20, SaltShaker, -0.749, 0.743, -3.527, 0, 0, 0, 52 [SEP] 21, Mug, -0.351, 0.962, -3.144, 0, 270, 0, 67 [SEP] 22, Mug, -0.197, 1.093, -0.560, 0, 0, 0, 70 [SEP] 23, Apple, -2.324, 0.996, -2.345, 0, 90, 0, 78 [SEP] 24, Lettuce, -2.780, 1.016, -2.345, 0, 0, 0, 78 [SEP] 25, Glassbottle, -2.210, 0.924, -2.345, 0, 0, 0, 78 [SEP] 26, Egg, -0.246, 1.423, -0.770, 0, 270, 0, 70 [SEP] 27, Pen, -2.780, 0.926, -2.115, 0, 0, 0, 78 [SEP] 28, Fork, -2.210, 0.924, -1.884, 0, 0, 0, 78 [SEP] 29, SoapBottle, -2.666, 0.922, -0.963, 0, 0, 0, 78 [SEP] 30, Pencil, -2.210, 0.923, -1.654, 0, 0, 0, 78 [SEP] 31, WineBottle, -2.666, 0.924, -1.884, 0, 0, 0, 78 [SEP] 32, Spatula, -2.666, 0.938, -1.193, 0, 0, 0, 78 [SEP] 33, Bread, -0.405, 0.972, -3.622, 6.286, 358.675, 354.861, 53 [SEP] 34, Tomato, -2.666, 0.987, -2.115, 0, 0, 0, 78 [SEP] 35, Pan, -2.174, 0.913, -1.099, 0, 0, 0, 78 [SEP] 36, Cup, -0.421, 0.080, -3.205, 0, 0, 0, 59 [SEP] 37, Pot, -1.129, 0.935, -3.498, 0, 0, 0, 51 [SEP] 38, SaltShaker, -0.690, 0.742, -3.586, 0, 0, 0, 52 [SEP] 39, Potato, -1.943, 0.058, -3.690, 0, 0, 0, 69 [SEP] 40, PepperShaker, -2.438, 0.919, -0.963, 0, 0, 0, 78 [SEP] 41, ButterKnife, -2.438, 0.923, -1.654, 0, 0, 0, 78 [SEP] 42, DishSponge, -2.210, 0.923, -2.115, 0, 0, 0, 78 [SEP] 43, Spoon, -2.210, 0.924, -1.654, 0, 0, 0, 78 [SEP] 44, Plate, -0.343, 1.101, -0.874, 0, 270, 0, 70 [SEP] 45, Knife, -0.525, 0.924, -3.709, 332.383, 3.109, 355.571, 53 [SEP] 46, Mug, -0.743, 0.903, -3.697, 0, 90, 0, 53 [SEP] 47, Bowl, -2.552, 0.922, -1.654, 0, 0, 0, 78 [SEP] 48, Cabinet, -0.582, 0.388, -1.804, 0, 0, 0, [SEP] 49, StoveBurner, -1.515, 0.928, -3.752, 0, 90, 0, [SEP] 50, StoveBurner, -1.515, 0.928, -3.497, 0, 0, 0, [SEP] 51, StoveBurner, -1.129, 0.928, -3.498, 0, 0, 0, [SEP] 52, Drawer, -0.749, 0.779, -3.551, 0, 0, 0, [SEP] 53, CounterTop, -0.303, 0.951, -2.793, 0, 0, 0, [SEP] 54, Cabinet, -0.883, 2.140, -3.687, 0, 0, 0, [SEP] 55, Cabinet, -0.312, 2.140, -1.543, 0, 0, 0, [SEP] 56, Sink, -0.349, 0.907, -2.014, 0, 0, 0, [SEP] 57, Cabinet, -0.877, 0.388, -3.422, 0, 0, 0, [SEP] 58, Cabinet, -0.582, 0.388, -2.197, 0, 0, 0, [SEP] 59, Cabinet, -0.584, 0.388, -3.396, 0, 0, 0, [SEP] 60, Cabinet, -0.312, 2.140, -2.481, 0, 0, 0, [SEP] 61, Cabinet, -0.330, 1.921, -3.390, 0, 0, 0, [SEP] 62, Cabinet, -1.764, 2.140, -3.687, 0, 0, 0, [SEP] 63, StoveBurner, -1.129, 0.928, -3.752, 0, 90, 0, [SEP] 64, Drawer, -0.454, 0.779, -3.268, 0, 0, 0, [SEP] 65, Cabinet, -0.302, 1.916, -2.501, 0, 0, 0, [SEP] 66, Microwave, -1.317, 1.517, -3.801, 0, 1.440, 0, [SEP] 67, CoffeeMachine, -0.153, 0.903, -3.144, 0, 270, 0, [SEP] 68, LightSwitch, -4.323, 1.319, 0.0, 0, 180, 0, [SEP] 69, GarbageCan, -1.943, -7.152, -3.763, 0, 0, 0, [SEP] 70, Fridge, -0.330, 0.0, -0.769, 0, 270, 0, [SEP] 71, SinkBasin, -0.350, 0.786, -2.018, 0, 270, 0, [SEP] 72, StoveKnob, -1.582, 1.082, -3.958, 72.287, 0, 0, [SEP] 73, StoveKnob, -1.177, 1.082, -3.958, 72.287, 0, 0, [SEP] 74, StoveKnob, -1.424, 1.082, -3.958, 72.287, 0, 0, [SEP] 75, StoveKnob, -1.028, 1.082, -3.958, 72.287, 0, 0, [SEP] 76, Toaster, -0.181, 0.903, -2.764, 0, 270, 0, [SEP] 77, Window, -2.503, 1.782, -4.185, 90, 180, 0, [SEP] 78, DiningTable, -2.432, 0.000, -1.694, 0, 270, 0, [SEP] 79, Shelf, -2.432, 0.150, -1.694, 0, 270, 0, [SEP] 80, Blinds, -2.536, 2.699, -3.959, 0, 0, 0, [SEP] 81, Faucet, -0.079, 0.904, -2.034, 270, 180, 0, [SEP] 82, Chair, -3.264, 0.002, -2.094, 0, 53.280, 0, [SEP] 83, Chair, -3.240, 0.002, -1.253, 0, 117.257, 0, [SEP] 84, Shelf, -2.432, 0.523, -1.694, 0, 270, 0, [SEP] 85, NorthWall, , , , , , , [SEP] 86, EastWall, , , , , , , [SEP] 87, SouthWall, , , , , , , [SEP] 88, WestWall, , , , , , , ", "output": ["STEP 1: look down at the floor and walk forward and stop mid table turn right | STEP 2: pick up the square dish from the table | STEP 3: turning to the right turn around and walk towards the sink | STEP 4: place the dish into the sink and rinse with water pick the clean dish back up | STEP 5: turn to the right turn all the way around then back to the left walk towards the stove and open the microwave | STEP 6: place the dish in the microwave | END"]} +{"id": "trial_T20190908_232537_339575-1", "input": "Put a cold egg in a microwave. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.930, 0.25, 0, 90, 0, [SEP] 1, Potato, -1.052, 1.036, 1.417, 0, 180, 0, 112 [SEP] 2, Ladle, -0.868, 0.168, -0.011, 0, 0, 0, 84 [SEP] 3, DishSponge, 1.360, 0.907, 0.747, 0, 0, 0, 95 [SEP] 4, DishSponge, 3.029, 0.712, 0.761, 0, 180, 0, 86 [SEP] 5, Glassbottle, -0.904, 0.901, -0.928, 0, 45, 0, 64 [SEP] 6, Kettle, -0.420, 0.902, -0.920, 0, 135, 0, 59 [SEP] 7, Kettle, 3.198, 0.176, -0.404, 0, 0, 0, 75 [SEP] 8, Pot, -0.862, 0.900, 0.623, 0, 0, 0, 64 [SEP] 9, Spatula, -0.950, 0.721, 1.168, 0, 90, 0, 57 [SEP] 10, Spatula, -0.950, 0.341, 0.489, 0, 90, 0, 65 [SEP] 11, Spoon, 3.122, 0.901, -0.798, 0, 0, 0, 63 [SEP] 12, Spoon, 3.111, 0.748, 0.298, 0, 0, 0, 109 [SEP] 13, Fork, -0.868, 0.326, 0.076, 0, 0, 0, 69 [SEP] 14, Fork, -0.053, 0.900, -1.682, 0, 45, 0, 85 [SEP] 15, CellPhone, -0.717, 0.897, -0.270, 0, 0, 0, 64 [SEP] 16, Mug, 0.808, 1.669, -1.759, 0, 0, 0, 79 [SEP] 17, Apple, 1.360, 0.981, 0.889, 0, 0, 0, 95 [SEP] 18, Apple, -0.574, 0.974, -0.652, 0, 45, 0, 64 [SEP] 19, SaltShaker, 0.054, 0.896, -1.481, 0, 45, 0, 85 [SEP] 20, Tomato, -0.702, 0.937, -0.726, 0, 45, 0, 64 [SEP] 21, Tomato, 0.929, 1.110, -1.503, 0, 0, 0, 110 [SEP] 22, Egg, 0.842, 0.960, 0.650, 0, 36.810, 0, 95 [SEP] 23, Cup, -1.018, 0.995, 1.311, 0, 90, 0, 112 [SEP] 24, Plate, 0.808, 1.687, -1.480, 0, 0, 0, 79 [SEP] 25, Plate, 0.661, 0.923, 0.176, 0, 36.810, 0, 95 [SEP] 26, Glassbottle, 0.179, 0.901, -1.445, 0, 0, 0, 85 [SEP] 27, SoapBottle, 3.122, 0.909, -0.897, 0, 0, 0, 63 [SEP] 28, Potato, 1.008, 0.751, -1.459, 0, 0, 0, 110 [SEP] 29, Fork, 3.152, 0.713, -0.744, 0, 270, 0, 51 [SEP] 30, Ladle, -0.991, 0.168, 0.576, 0, 90, 0, 94 [SEP] 31, Pot, 0.423, 0.900, 0.869, 0, 0, 0, 95 [SEP] 32, Kettle, -0.600, 0.902, -1.090, 0, 135, 0, 53 [SEP] 33, Spatula, 0.836, 0.925, 0.322, 0, 180, 0, 95 [SEP] 34, Knife, 0.798, 0.936, 0.827, 0, 0, 0, 95 [SEP] 35, Lettuce, 0.356, 0.973, 0.426, 0, 0, 0, 95 [SEP] 36, Cup, 3.279, 1.262, -0.885, 0, 0, 0, 77 [SEP] 37, SaltShaker, 3.179, 1.260, -0.885, 0, 0, 0, 77 [SEP] 38, Egg, 3.028, 0.799, -0.100, 0, 90, 0, 109 [SEP] 39, PepperShaker, 0.783, 0.907, 0.572, 0, 36.810, 0, 95 [SEP] 40, ButterKnife, -0.868, 0.706, -0.011, 0, 0, 0, 71 [SEP] 41, Apple, 1.098, 0.984, 0.464, 0, 0, 0, 95 [SEP] 42, Pan, 0.341, 0.873, -1.649, 0, 167.065, 0, 85 [SEP] 43, Bread, 1.534, 0.972, 0.486, 0, 289.287, 0, 95 [SEP] 44, CellPhone, 3.355, 0.898, -0.698, 0, 0, 0, 63 [SEP] 45, DishSponge, 3.101, 0.100, 1.573, 0, 225, 0, 105 [SEP] 46, Tomato, 3.208, 0.137, 1.680, 0, 225, 0, 105 [SEP] 47, Spoon, 0.063, 0.901, -1.286, 0, 45, 0, 85 [SEP] 48, Bowl, 3.249, 1.461, -1.599, 0, 0, 0, 62 [SEP] 49, Mug, 3.044, 0.895, -0.399, 0, 90, 0, 63 [SEP] 50, Drawer, 0.376, 0.572, -1.509, 0, 0, 0, [SEP] 51, Drawer, 3.020, 0.769, -0.783, 0, 180, 0, [SEP] 52, Drawer, -0.860, 0.577, 1.429, 0, 0, 0, [SEP] 53, StoveBurner, -0.600, 0.897, -1.090, 0, 135, 0, [SEP] 54, Drawer, 0.376, 0.191, -1.509, 0, 0, 0, [SEP] 55, Cabinet, 1.402, 1.874, -1.259, 0, 0, 0, [SEP] 56, Cabinet, -0.202, 1.963, -1.328, 0, 0, 0, [SEP] 57, Drawer, -0.860, 0.765, 1.429, 0, 0, 0, [SEP] 58, Drawer, -0.677, 0.765, -0.700, 0, 0, 0, [SEP] 59, StoveBurner, -0.420, 0.897, -0.920, 0, 135, 0, [SEP] 60, Drawer, 3.020, 0.769, -0.407, 0, 180, 0, [SEP] 61, Drawer, -0.860, 0.577, 0.663, 0, 0, 0, [SEP] 62, Cabinet, 2.819, 1.768, -1.850, 0, 0, 0, [SEP] 63, CounterTop, 3.111, 0.936, 0.019, 0, 0, 0, [SEP] 64, CounterTop, -1.007, 0.935, -0.039, 0, 0, 0, [SEP] 65, Drawer, -0.860, 0.385, 0.663, 0, 0, 0, [SEP] 66, StoveBurner, -0.419, 0.897, -1.269, 0, 315, 0, [SEP] 67, Drawer, -0.047, 0.573, -1.324, 0, 0, 0, [SEP] 68, Drawer, -0.860, 0.765, 0.663, 0, 0, 0, [SEP] 69, Drawer, -0.860, 0.385, -0.100, 0, 0, 0, [SEP] 70, Drawer, 0.376, 0.380, -1.509, 0, 0, 0, [SEP] 71, Drawer, -0.860, 0.765, -0.100, 0, 0, 0, [SEP] 72, Drawer, 0.376, 0.765, -1.509, 0, 0, 0, [SEP] 73, Cabinet, 2.849, 0.419, 0.409, 0, 0, 0, [SEP] 74, Drawer, -0.047, 0.765, -1.324, 0, 0, 0, [SEP] 75, Cabinet, 2.849, 0.419, -0.610, 0, 0, 0, [SEP] 76, Cabinet, 2.849, 0.419, -0.959, 0, 0, 0, [SEP] 77, Cabinet, 3.069, 1.666, -0.709, 0, 0, 0, [SEP] 78, Cabinet, 2.819, 1.768, -1.047, 0, 0, 0, [SEP] 79, Cabinet, 0.620, 1.874, -1.259, 0, 0, 0, [SEP] 80, Cabinet, 0.140, 1.666, -1.559, 0, 0, 0, [SEP] 81, Cabinet, -0.189, 1.666, -1.340, 0, 0, 0, [SEP] 82, Cabinet, -0.709, 1.963, -0.819, 0, 0, 0, [SEP] 83, Cabinet, -0.920, 1.665, -0.620, 0, 0, 0, [SEP] 84, Drawer, -0.860, 0.190, -0.100, 0, 0, 0, [SEP] 85, CounterTop, 0.133, 0.935, -1.457, 0, 0, 0, [SEP] 86, Drawer, 3.020, 0.769, 0.695, 0, 180, 0, [SEP] 87, Drawer, -0.677, 0.577, -0.700, 0, 0, 0, [SEP] 88, Drawer, -0.860, 0.190, 1.429, 0, 0, 0, [SEP] 89, Drawer, -0.047, 0.192, -1.324, 0, 0, 0, [SEP] 90, Drawer, -0.677, 0.193, -0.700, 0, 0, 0, [SEP] 91, Drawer, -0.860, 0.577, -0.100, 0, 0, 0, [SEP] 92, Sink, 3.078, 0.887, 0.086, 0, 0, 0, [SEP] 93, StoveBurner, -0.239, 0.897, -1.089, 0, 315, 0, [SEP] 94, Drawer, -0.860, 0.190, 0.663, 0, 0, 0, [SEP] 95, CounterTop, 1.210, 0.937, 0.463, 0, 0, 0, [SEP] 96, Drawer, -0.047, 0.381, -1.324, 0, 0, 0, [SEP] 97, Drawer, -0.677, 0.387, -0.700, 0, 0, 0, [SEP] 98, Mirror, -1.295, 1.630, 0.045, 0, 0, 0, [SEP] 99, Drawer, -0.860, 0.385, 1.429, 0, 0, 0, [SEP] 100, HousePlant, 3.196, 0.891, -0.368, 0, 0, 0, [SEP] 101, StoveKnob, -0.090, 0.790, -1.009, 270, 45, 0, [SEP] 102, StoveKnob, -0.280, 0.790, -0.819, 270, 45, 0, [SEP] 103, StoveKnob, -0.180, 0.790, -0.920, 270, 45, 0, [SEP] 104, StoveKnob, -0.370, 0.790, -0.720, 270, 45, 0, [SEP] 105, GarbageCan, 3.137, 0.025, 1.545, 0, 225, 0, [SEP] 106, Window, 3.703, 1.675, 0.046, 90, 90, 0, [SEP] 107, CoffeeMachine, 3.214, 0.890, 0.697, 0, 270, 0, [SEP] 108, LightSwitch, 2.592, 1.309, -1.880, 0, 0, 0, [SEP] 109, SinkBasin, 3.069, 0.736, 0.108, 0, 90, 0, [SEP] 110, Fridge, 1.008, 0.029, -1.467, 0, 0, 0, [SEP] 111, Toaster, -1.035, 0.873, -0.396, 0, 90, 0, [SEP] 112, Microwave, -1.034, 0.874, 1.428, 0, 90, 0, [SEP] 113, Faucet, 3.305, 0.886, 0.094, 270, 180, 0, [SEP] 114, NorthWall, , , , , , , [SEP] 115, EastWall, , , , , , , [SEP] 116, SouthWall, , , , , , , [SEP] 117, WestWall, , , , , , , ", "output": ["STEP 1: Go to the left a step and face the counter with the pot. | STEP 2: Take the egg next to the salt on the counter. | STEP 3: Turn right, go forward to the stove top, turn left, go forward, turn right at the fridge, go to the fridge. | STEP 4: Put the egg on the lowest shelf in the fridge in front of the potato. Close and then open the fridge. Take the egg from the fridge. | STEP 5: Turn right, go forward to the stove top, turn right, go forward to the wall, turn left, go forward to the microwave. | STEP 6: Put the egg in the microwave. | END"]} +{"id": "trial_T20190908_232537_339575-2", "input": "To chill an egg and place it in the microwave. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.930, 0.25, 0, 90, 0, [SEP] 1, Potato, -1.052, 1.036, 1.417, 0, 180, 0, 112 [SEP] 2, Ladle, -0.868, 0.168, -0.011, 0, 0, 0, 84 [SEP] 3, DishSponge, 1.360, 0.907, 0.747, 0, 0, 0, 95 [SEP] 4, DishSponge, 3.029, 0.712, 0.761, 0, 180, 0, 86 [SEP] 5, Glassbottle, -0.904, 0.901, -0.928, 0, 45, 0, 64 [SEP] 6, Kettle, -0.420, 0.902, -0.920, 0, 135, 0, 59 [SEP] 7, Kettle, 3.198, 0.176, -0.404, 0, 0, 0, 75 [SEP] 8, Pot, -0.862, 0.900, 0.623, 0, 0, 0, 64 [SEP] 9, Spatula, -0.950, 0.721, 1.168, 0, 90, 0, 57 [SEP] 10, Spatula, -0.950, 0.341, 0.489, 0, 90, 0, 65 [SEP] 11, Spoon, 3.122, 0.901, -0.798, 0, 0, 0, 63 [SEP] 12, Spoon, 3.111, 0.748, 0.298, 0, 0, 0, 109 [SEP] 13, Fork, -0.868, 0.326, 0.076, 0, 0, 0, 69 [SEP] 14, Fork, -0.053, 0.900, -1.682, 0, 45, 0, 85 [SEP] 15, CellPhone, -0.717, 0.897, -0.270, 0, 0, 0, 64 [SEP] 16, Mug, 0.808, 1.669, -1.759, 0, 0, 0, 79 [SEP] 17, Apple, 1.360, 0.981, 0.889, 0, 0, 0, 95 [SEP] 18, Apple, -0.574, 0.974, -0.652, 0, 45, 0, 64 [SEP] 19, SaltShaker, 0.054, 0.896, -1.481, 0, 45, 0, 85 [SEP] 20, Tomato, -0.702, 0.937, -0.726, 0, 45, 0, 64 [SEP] 21, Tomato, 0.929, 1.110, -1.503, 0, 0, 0, 110 [SEP] 22, Egg, 0.842, 0.960, 0.650, 0, 36.810, 0, 95 [SEP] 23, Cup, -1.018, 0.995, 1.311, 0, 90, 0, 112 [SEP] 24, Plate, 0.808, 1.687, -1.480, 0, 0, 0, 79 [SEP] 25, Plate, 0.661, 0.923, 0.176, 0, 36.810, 0, 95 [SEP] 26, Glassbottle, 0.179, 0.901, -1.445, 0, 0, 0, 85 [SEP] 27, SoapBottle, 3.122, 0.909, -0.897, 0, 0, 0, 63 [SEP] 28, Potato, 1.008, 0.751, -1.459, 0, 0, 0, 110 [SEP] 29, Fork, 3.152, 0.713, -0.744, 0, 270, 0, 51 [SEP] 30, Ladle, -0.991, 0.168, 0.576, 0, 90, 0, 94 [SEP] 31, Pot, 0.423, 0.900, 0.869, 0, 0, 0, 95 [SEP] 32, Kettle, -0.600, 0.902, -1.090, 0, 135, 0, 53 [SEP] 33, Spatula, 0.836, 0.925, 0.322, 0, 180, 0, 95 [SEP] 34, Knife, 0.798, 0.936, 0.827, 0, 0, 0, 95 [SEP] 35, Lettuce, 0.356, 0.973, 0.426, 0, 0, 0, 95 [SEP] 36, Cup, 3.279, 1.262, -0.885, 0, 0, 0, 77 [SEP] 37, SaltShaker, 3.179, 1.260, -0.885, 0, 0, 0, 77 [SEP] 38, Egg, 3.028, 0.799, -0.100, 0, 90, 0, 109 [SEP] 39, PepperShaker, 0.783, 0.907, 0.572, 0, 36.810, 0, 95 [SEP] 40, ButterKnife, -0.868, 0.706, -0.011, 0, 0, 0, 71 [SEP] 41, Apple, 1.098, 0.984, 0.464, 0, 0, 0, 95 [SEP] 42, Pan, 0.341, 0.873, -1.649, 0, 167.065, 0, 85 [SEP] 43, Bread, 1.534, 0.972, 0.486, 0, 289.287, 0, 95 [SEP] 44, CellPhone, 3.355, 0.898, -0.698, 0, 0, 0, 63 [SEP] 45, DishSponge, 3.101, 0.100, 1.573, 0, 225, 0, 105 [SEP] 46, Tomato, 3.208, 0.137, 1.680, 0, 225, 0, 105 [SEP] 47, Spoon, 0.063, 0.901, -1.286, 0, 45, 0, 85 [SEP] 48, Bowl, 3.249, 1.461, -1.599, 0, 0, 0, 62 [SEP] 49, Mug, 3.044, 0.895, -0.399, 0, 90, 0, 63 [SEP] 50, Drawer, 0.376, 0.572, -1.509, 0, 0, 0, [SEP] 51, Drawer, 3.020, 0.769, -0.783, 0, 180, 0, [SEP] 52, Drawer, -0.860, 0.577, 1.429, 0, 0, 0, [SEP] 53, StoveBurner, -0.600, 0.897, -1.090, 0, 135, 0, [SEP] 54, Drawer, 0.376, 0.191, -1.509, 0, 0, 0, [SEP] 55, Cabinet, 1.402, 1.874, -1.259, 0, 0, 0, [SEP] 56, Cabinet, -0.202, 1.963, -1.328, 0, 0, 0, [SEP] 57, Drawer, -0.860, 0.765, 1.429, 0, 0, 0, [SEP] 58, Drawer, -0.677, 0.765, -0.700, 0, 0, 0, [SEP] 59, StoveBurner, -0.420, 0.897, -0.920, 0, 135, 0, [SEP] 60, Drawer, 3.020, 0.769, -0.407, 0, 180, 0, [SEP] 61, Drawer, -0.860, 0.577, 0.663, 0, 0, 0, [SEP] 62, Cabinet, 2.819, 1.768, -1.850, 0, 0, 0, [SEP] 63, CounterTop, 3.111, 0.936, 0.019, 0, 0, 0, [SEP] 64, CounterTop, -1.007, 0.935, -0.039, 0, 0, 0, [SEP] 65, Drawer, -0.860, 0.385, 0.663, 0, 0, 0, [SEP] 66, StoveBurner, -0.419, 0.897, -1.269, 0, 315, 0, [SEP] 67, Drawer, -0.047, 0.573, -1.324, 0, 0, 0, [SEP] 68, Drawer, -0.860, 0.765, 0.663, 0, 0, 0, [SEP] 69, Drawer, -0.860, 0.385, -0.100, 0, 0, 0, [SEP] 70, Drawer, 0.376, 0.380, -1.509, 0, 0, 0, [SEP] 71, Drawer, -0.860, 0.765, -0.100, 0, 0, 0, [SEP] 72, Drawer, 0.376, 0.765, -1.509, 0, 0, 0, [SEP] 73, Cabinet, 2.849, 0.419, 0.409, 0, 0, 0, [SEP] 74, Drawer, -0.047, 0.765, -1.324, 0, 0, 0, [SEP] 75, Cabinet, 2.849, 0.419, -0.610, 0, 0, 0, [SEP] 76, Cabinet, 2.849, 0.419, -0.959, 0, 0, 0, [SEP] 77, Cabinet, 3.069, 1.666, -0.709, 0, 0, 0, [SEP] 78, Cabinet, 2.819, 1.768, -1.047, 0, 0, 0, [SEP] 79, Cabinet, 0.620, 1.874, -1.259, 0, 0, 0, [SEP] 80, Cabinet, 0.140, 1.666, -1.559, 0, 0, 0, [SEP] 81, Cabinet, -0.189, 1.666, -1.340, 0, 0, 0, [SEP] 82, Cabinet, -0.709, 1.963, -0.819, 0, 0, 0, [SEP] 83, Cabinet, -0.920, 1.665, -0.620, 0, 0, 0, [SEP] 84, Drawer, -0.860, 0.190, -0.100, 0, 0, 0, [SEP] 85, CounterTop, 0.133, 0.935, -1.457, 0, 0, 0, [SEP] 86, Drawer, 3.020, 0.769, 0.695, 0, 180, 0, [SEP] 87, Drawer, -0.677, 0.577, -0.700, 0, 0, 0, [SEP] 88, Drawer, -0.860, 0.190, 1.429, 0, 0, 0, [SEP] 89, Drawer, -0.047, 0.192, -1.324, 0, 0, 0, [SEP] 90, Drawer, -0.677, 0.193, -0.700, 0, 0, 0, [SEP] 91, Drawer, -0.860, 0.577, -0.100, 0, 0, 0, [SEP] 92, Sink, 3.078, 0.887, 0.086, 0, 0, 0, [SEP] 93, StoveBurner, -0.239, 0.897, -1.089, 0, 315, 0, [SEP] 94, Drawer, -0.860, 0.190, 0.663, 0, 0, 0, [SEP] 95, CounterTop, 1.210, 0.937, 0.463, 0, 0, 0, [SEP] 96, Drawer, -0.047, 0.381, -1.324, 0, 0, 0, [SEP] 97, Drawer, -0.677, 0.387, -0.700, 0, 0, 0, [SEP] 98, Mirror, -1.295, 1.630, 0.045, 0, 0, 0, [SEP] 99, Drawer, -0.860, 0.385, 1.429, 0, 0, 0, [SEP] 100, HousePlant, 3.196, 0.891, -0.368, 0, 0, 0, [SEP] 101, StoveKnob, -0.090, 0.790, -1.009, 270, 45, 0, [SEP] 102, StoveKnob, -0.280, 0.790, -0.819, 270, 45, 0, [SEP] 103, StoveKnob, -0.180, 0.790, -0.920, 270, 45, 0, [SEP] 104, StoveKnob, -0.370, 0.790, -0.720, 270, 45, 0, [SEP] 105, GarbageCan, 3.137, 0.025, 1.545, 0, 225, 0, [SEP] 106, Window, 3.703, 1.675, 0.046, 90, 90, 0, [SEP] 107, CoffeeMachine, 3.214, 0.890, 0.697, 0, 270, 0, [SEP] 108, LightSwitch, 2.592, 1.309, -1.880, 0, 0, 0, [SEP] 109, SinkBasin, 3.069, 0.736, 0.108, 0, 90, 0, [SEP] 110, Fridge, 1.008, 0.029, -1.467, 0, 0, 0, [SEP] 111, Toaster, -1.035, 0.873, -0.396, 0, 90, 0, [SEP] 112, Microwave, -1.034, 0.874, 1.428, 0, 90, 0, [SEP] 113, Faucet, 3.305, 0.886, 0.094, 270, 180, 0, [SEP] 114, NorthWall, , , , , , , [SEP] 115, EastWall, , , , , , , [SEP] 116, SouthWall, , , , , , , [SEP] 117, WestWall, , , , , , , ", "output": ["STEP 1: Move over a bit to the left facing the counter. | STEP 2: Pick up the egg from the counter. | STEP 3: Turn right and walk to the fridge on the right. | STEP 4: Open the fridge door, put the egg down on the third shelf, close the door, open the door, take the egg out of the fridge, close the door. | STEP 5: Turn and walk to the microwave on the other side of the room. | STEP 6: Put the egg down in the microwave and close the drawer. | END"]} +{"id": "trial_T20190909_010952_786146-2", "input": "Move two remote controls to the armchair. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.0, 0.920, 6.0, 0, 90, 0, [SEP] 1, Newspaper, -0.240, 0.286, 6.739, 0, 270, 0, 30 [SEP] 2, WateringCan, -0.437, 0.617, 0.997, 0, 0, 0, 43 [SEP] 3, Vase, -2.525, 0.447, 3.836, 0, 0, 0, 46 [SEP] 4, KeyChain, -4.305, 0.474, 6.450, 0, 0, 0, 47 [SEP] 5, CreditCard, -0.674, 1.461, 5.989, 0, 270, 0, 29 [SEP] 6, CreditCard, -2.494, 0.536, 0.601, 0, 0, 0, 45 [SEP] 7, RemoteControl, -0.563, 1.462, 5.742, 0, 270, 0, 29 [SEP] 8, RemoteControl, -0.319, 0.281, 6.244, 0, 270, 0, 30 [SEP] 9, RemoteControl, -0.319, 0.281, 6.492, 0, 270, 0, 30 [SEP] 10, Box, -4.508, 0.661, 2.022, 0, 180, 0, 44 [SEP] 11, Box, -4.279, 0.663, 3.232, 0, 0, 0, 44 [SEP] 12, Plate, -0.555, 0.285, 5.255, 0, 270, 0, 30 [SEP] 13, Vase, -0.750, 0.617, 0.842, 0, 0, 0, 43 [SEP] 14, WateringCan, -2.280, 0.448, 3.836, 0, 0, 0, 46 [SEP] 15, Newspaper, -4.508, 0.543, 2.627, 0, 90, 0, 44 [SEP] 16, Vase, -3.015, 0.454, 4.279, 0, 0, 0, 46 [SEP] 17, KeyChain, -0.555, 0.281, 5.997, 0, 270, 0, 30 [SEP] 18, Pillow, -2.796, 0.606, 0.793, 0, 0, 0, 45 [SEP] 19, Statue, -3.015, 0.455, 3.614, 0, 0, 0, 46 [SEP] 20, RemoteControl, -2.893, 0.450, 4.058, 0, 0, 0, 46 [SEP] 21, CreditCard, -4.049, 0.539, 2.627, 0, 90, 0, 44 [SEP] 22, Statue, -0.525, 1.453, 5.351, 0, 294.738, 0, 29 [SEP] 23, Laptop, -2.648, 0.447, 4.722, 0, 0, 0, 46 [SEP] 24, Statue, -0.598, 1.452, 6.794, 0, 284.797, 0, 29 [SEP] 25, Curtains, -2.827, 2.473, 0.039, 357.605, 0, 0, [SEP] 26, Curtains, -2.184, 2.473, 0.039, 357.605, 0, 0, [SEP] 27, Curtains, -0.046, 2.474, 2.633, 0, 0, 357.064, [SEP] 28, DeskLamp, -0.484, 0.612, 0.691, 0, 0, 1.144, [SEP] 29, Shelf, -0.391, 1.452, 5.953, 0, 270, 0, [SEP] 30, Shelf, -0.398, 0.270, 5.961, 0, 270, 0, [SEP] 31, Television, -0.75, 1.661, 3.936, 0, 270, 0, [SEP] 32, GarbageCan, -0.525, -0.009, 2.822, 0, 0, 0, [SEP] 33, Painting, -2.670, 1.574, 7.000, 90, 180, 0, [SEP] 34, Bowl, -2.400, 0.464, 3.442, 0, 0, 0, [SEP] 35, LightSwitch, -5.0, 1.246, 5.857, 0, 90, 0, [SEP] 36, Window, -1.373, 1.565, 0.008, 90, 180, 0, [SEP] 37, Window, -0.014, 1.567, 1.496, 90, 270, 0, [SEP] 38, Window, -3.726, 1.565, 0.008, 90, 180, 0, [SEP] 39, FloorLamp, -4.514, 0.027, 0.663, 0, 0, 0, [SEP] 40, HousePlant, -2.659, 0.466, 4.165, 0, 0, 0, [SEP] 41, Shelf, -0.594, 0.104, 0.841, 0, 0, 0, [SEP] 42, Shelf, -0.594, 0.359, 0.841, 0, 0, 0, [SEP] 43, SideTable, -0.594, 0.018, 0.841, 0, 0, 0, [SEP] 44, Sofa, -4.360, 0.028, 2.929, 0, 90, 0, [SEP] 45, Sofa, -2.493, 0.028, 0.725, 0, 0, 0, [SEP] 46, CoffeeTable, -2.648, 0.019, 4.058, 0, 270, 0, [SEP] 47, ArmChair, -4.446, 0.017, 6.450, 0, 90, 0, [SEP] 48, NorthWall, , , , , , , [SEP] 49, SouthWall, , , , , , , [SEP] 50, SouthWall, , , , , , , ", "output": ["STEP 1: Turn and go to the shelf by the wall. | STEP 2: Pick up the remote control on the shelf. | STEP 3: Turn around and go to the armchair. | STEP 4: Put the remote control on the armchair. | STEP 5: Turn and go to the shelf by the wall. | STEP 6: Pick up the remote control on the shelf. | STEP 7: Turn around and go to the armchair. | STEP 8: Put the remote control on the armchair. | END"]} +{"id": "trial_T20190909_151119_705109-0", "input": "Rinse a tea kettle to put on the table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.914, 1.25, 0, 0, 0, [SEP] 1, Kettle, -3.148, 0.966, 2.374, 0, 0, 0, 41 [SEP] 2, Fork, -2.402, 0.916, 3.675, 0, 0, 0, 38 [SEP] 3, Pot, -3.424, 0.966, 2.374, 0, 0, 0, 44 [SEP] 4, Egg, -0.673, 1.021, 3.988, 0, 180, 0, 64 [SEP] 5, Cup, -3.473, 1.546, 2.224, 0, 90, 0, 69 [SEP] 6, Knife, -3.272, 0.939, 1.189, 0, 90, 0, 47 [SEP] 7, Knife, -1.919, 0.939, 4.146, 0, 0, 0, 38 [SEP] 8, SoapBottle, -1.612, 0.080, 3.625, 0, 0, 0, 43 [SEP] 9, Bowl, -0.790, 0.985, 3.988, 0, 180, 0, 64 [SEP] 10, SaltShaker, -3.540, 1.455, 3.224, 0, 0, 0, 45 [SEP] 11, PepperShaker, -3.492, 1.991, 2.537, 0, 0, 0, 53 [SEP] 12, PepperShaker, -2.905, 0.911, 3.998, 0, 0, 0, 38 [SEP] 13, Lettuce, -3.463, 1.001, 1.273, 0, 0, 0, 47 [SEP] 14, Bread, -3.463, 0.996, 2.844, 0, 0, 0, 38 [SEP] 15, Egg, -1.161, 0.121, 3.884, 0, 270, 0, 70 [SEP] 16, Knife, -3.081, 0.939, 1.189, 0, 90, 0, 47 [SEP] 17, Fork, -3.368, 0.916, 1.189, 0, 90, 0, 47 [SEP] 18, Bread, -3.368, 0.996, 3.827, 0, 0, 0, 38 [SEP] 19, Potato, -3.568, 1.578, 2.120, 0, 90, 0, 69 [SEP] 20, Plate, -3.006, 0.904, 3.677, 0, 0, 0, 38 [SEP] 21, Pot, -3.424, 0.966, 1.971, 0, 0, 0, 46 [SEP] 22, Kettle, -3.143, 0.966, 1.971, 0, 0, 0, 58 [SEP] 23, WineBottle, -1.256, 0.088, 3.852, 0, 270, 0, 70 [SEP] 24, Bowl, -3.654, 0.914, 1.440, 0, 0, 0, 47 [SEP] 25, Tomato, -0.790, 1.342, 4.027, 0, 180, 0, 64 [SEP] 26, Cup, -0.44, 0.986, 3.988, 0, 180, 0, 64 [SEP] 27, Spatula, -3.368, 0.930, 1.607, 0, 270, 0, 47 [SEP] 28, SoapBottle, -3.654, 0.915, 2.844, 0, 0, 0, 38 [SEP] 29, Lettuce, -1.759, 0.974, 0.085, 0, 0, 0, 74 [SEP] 30, Pan, -2.614, 0.902, 3.620, 0, 0, 0, 38 [SEP] 31, Apple, -3.081, 0.975, 1.524, 0, 0, 0, 47 [SEP] 32, SaltShaker, -3.272, 0.911, 3.499, 0, 0, 0, 38 [SEP] 33, PepperShaker, -3.098, 0.743, 3.296, 0, 0, 0, 48 [SEP] 34, ButterKnife, -1.840, 0.779, 3.674, 0, 0, 0, 68 [SEP] 35, DishSponge, -3.126, 0.746, 3.027, 0, 0, 0, 40 [SEP] 36, Spoon, -3.272, 0.916, 3.336, 0, 90, 0, 38 [SEP] 37, Mug, -3.424, 0.945, 3.275, 0, 90, 0, 38 [SEP] 38, CounterTop, -3.381, 0.950, 3.335, 0, 0, 0, [SEP] 39, Drawer, -3.121, 0.775, 1.357, 0, 0, 0, [SEP] 40, Drawer, -3.121, 0.777, 2.916, 0, 0, 0, [SEP] 41, StoveBurner, -3.148, 0.958, 2.374, 0, 0, 0, [SEP] 42, Sink, -1.797, 0.917, 3.660, 0, 0, 0, [SEP] 43, Cabinet, -1.421, 0.388, 3.459, 0, 0, 0, [SEP] 44, StoveBurner, -3.424, 0.958, 2.374, 0, 0, 0, [SEP] 45, Cabinet, -3.365, 1.931, 2.676, 0, 0, 0, [SEP] 46, StoveBurner, -3.424, 0.958, 1.971, 0, 0, 0, [SEP] 47, CounterTop, -3.381, 0.951, 1.356, 0, 0, 0, [SEP] 48, Drawer, -3.121, 0.781, 3.295, 0, 0, 0, [SEP] 49, Cabinet, -2.205, 0.388, 3.459, 0, 0, 0, [SEP] 50, Cabinet, -2.963, 0.388, 3.459, 0, 0, 0, [SEP] 51, Cabinet, -2.992, 0.388, 2.683, 0, 0, 0, [SEP] 52, Cabinet, -3.352, 2.205, 1.715, 0, 0, 0, [SEP] 53, Cabinet, -3.352, 2.205, 2.653, 0, 0, 0, [SEP] 54, Cabinet, -2.189, 0.388, 3.466, 0, 0, 0, [SEP] 55, Cabinet, -3.365, 1.931, 3.963, 0, 0, 0, [SEP] 56, Cabinet, -3.365, 1.931, 1.056, 0, 0, 0, [SEP] 57, Cabinet, -2.992, 0.388, 1.037, 0, 0, 0, [SEP] 58, StoveBurner, -3.143, 0.958, 1.971, 0, 0, 0, [SEP] 59, StoveKnob, -3.599, 1.110, 2.017, 0, 0, 105.000, [SEP] 60, StoveKnob, -3.599, 1.110, 1.867, 0, 0, 105.000, [SEP] 61, StoveKnob, -3.599, 1.110, 2.267, 0, 0, 105.000, [SEP] 62, StoveKnob, -3.599, 1.110, 2.427, 0, 0, 105.000, [SEP] 63, Toaster, -2.654, 0.902, 4.064, 0, 180, 0, [SEP] 64, Fridge, -0.439, 0.014, 3.996, 0, 0, 0, [SEP] 65, LightSwitch, 0.25, 1.383, 2.085, 0, 270, 0, [SEP] 66, Window, -1.430, 1.338, -0.347, 90, 0, 0, [SEP] 67, CoffeeMachine, -3.550, 0.902, 3.274, 0, 90, 0, [SEP] 68, SinkBasin, -1.802, 0.778, 3.700, 0, 0, 0, [SEP] 69, Microwave, -3.484, 1.430, 2.182, 0, 90, 0, [SEP] 70, GarbageCan, -1.184, -0.020, 3.794, 0, 270, 0, [SEP] 71, Blinds, -1.404, 2.092, -0.296, 0, 0, 0, [SEP] 72, Stool, -1.373, 0.014, 1.048, 1.214, 20.754, 0, [SEP] 73, Faucet, -1.788, 0.903, 3.931, 270, 90, 0, [SEP] 74, DiningTable, -1.399, 0.010, 0.238, 0, 0, 0, [SEP] 75, GarbageBag, -0.291, 0.336, -0.034, 272.372, 348.812, 147.313, [SEP] 76, NorthWall, , , , , , , [SEP] 77, EastWall, , , , , , , [SEP] 78, SouthWall, , , , , , , [SEP] 79, WestWall, , , , , , , ", "output": ["STEP 1: Make a left to walk to the stove. | STEP 2: Pick up the rightmost tea kettle from the stove. | STEP 3: Turn right to walk to the sink. | STEP 4: Rinse the tea kettle in the sink. | STEP 5: Turn right and hang another right to reach the table. | STEP 6: Set the tea kettle down on the table. | END"]} +{"id": "trial_T20190909_151119_705109-1", "input": "Fill the tea pot with water and place it on the table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.914, 1.25, 0, 0, 0, [SEP] 1, Kettle, -3.148, 0.966, 2.374, 0, 0, 0, 41 [SEP] 2, Fork, -2.402, 0.916, 3.675, 0, 0, 0, 38 [SEP] 3, Pot, -3.424, 0.966, 2.374, 0, 0, 0, 44 [SEP] 4, Egg, -0.673, 1.021, 3.988, 0, 180, 0, 64 [SEP] 5, Cup, -3.473, 1.546, 2.224, 0, 90, 0, 69 [SEP] 6, Knife, -3.272, 0.939, 1.189, 0, 90, 0, 47 [SEP] 7, Knife, -1.919, 0.939, 4.146, 0, 0, 0, 38 [SEP] 8, SoapBottle, -1.612, 0.080, 3.625, 0, 0, 0, 43 [SEP] 9, Bowl, -0.790, 0.985, 3.988, 0, 180, 0, 64 [SEP] 10, SaltShaker, -3.540, 1.455, 3.224, 0, 0, 0, 45 [SEP] 11, PepperShaker, -3.492, 1.991, 2.537, 0, 0, 0, 53 [SEP] 12, PepperShaker, -2.905, 0.911, 3.998, 0, 0, 0, 38 [SEP] 13, Lettuce, -3.463, 1.001, 1.273, 0, 0, 0, 47 [SEP] 14, Bread, -3.463, 0.996, 2.844, 0, 0, 0, 38 [SEP] 15, Egg, -1.161, 0.121, 3.884, 0, 270, 0, 70 [SEP] 16, Knife, -3.081, 0.939, 1.189, 0, 90, 0, 47 [SEP] 17, Fork, -3.368, 0.916, 1.189, 0, 90, 0, 47 [SEP] 18, Bread, -3.368, 0.996, 3.827, 0, 0, 0, 38 [SEP] 19, Potato, -3.568, 1.578, 2.120, 0, 90, 0, 69 [SEP] 20, Plate, -3.006, 0.904, 3.677, 0, 0, 0, 38 [SEP] 21, Pot, -3.424, 0.966, 1.971, 0, 0, 0, 46 [SEP] 22, Kettle, -3.143, 0.966, 1.971, 0, 0, 0, 58 [SEP] 23, WineBottle, -1.256, 0.088, 3.852, 0, 270, 0, 70 [SEP] 24, Bowl, -3.654, 0.914, 1.440, 0, 0, 0, 47 [SEP] 25, Tomato, -0.790, 1.342, 4.027, 0, 180, 0, 64 [SEP] 26, Cup, -0.44, 0.986, 3.988, 0, 180, 0, 64 [SEP] 27, Spatula, -3.368, 0.930, 1.607, 0, 270, 0, 47 [SEP] 28, SoapBottle, -3.654, 0.915, 2.844, 0, 0, 0, 38 [SEP] 29, Lettuce, -1.759, 0.974, 0.085, 0, 0, 0, 74 [SEP] 30, Pan, -2.614, 0.902, 3.620, 0, 0, 0, 38 [SEP] 31, Apple, -3.081, 0.975, 1.524, 0, 0, 0, 47 [SEP] 32, SaltShaker, -3.272, 0.911, 3.499, 0, 0, 0, 38 [SEP] 33, PepperShaker, -3.098, 0.743, 3.296, 0, 0, 0, 48 [SEP] 34, ButterKnife, -1.840, 0.779, 3.674, 0, 0, 0, 68 [SEP] 35, DishSponge, -3.126, 0.746, 3.027, 0, 0, 0, 40 [SEP] 36, Spoon, -3.272, 0.916, 3.336, 0, 90, 0, 38 [SEP] 37, Mug, -3.424, 0.945, 3.275, 0, 90, 0, 38 [SEP] 38, CounterTop, -3.381, 0.950, 3.335, 0, 0, 0, [SEP] 39, Drawer, -3.121, 0.775, 1.357, 0, 0, 0, [SEP] 40, Drawer, -3.121, 0.777, 2.916, 0, 0, 0, [SEP] 41, StoveBurner, -3.148, 0.958, 2.374, 0, 0, 0, [SEP] 42, Sink, -1.797, 0.917, 3.660, 0, 0, 0, [SEP] 43, Cabinet, -1.421, 0.388, 3.459, 0, 0, 0, [SEP] 44, StoveBurner, -3.424, 0.958, 2.374, 0, 0, 0, [SEP] 45, Cabinet, -3.365, 1.931, 2.676, 0, 0, 0, [SEP] 46, StoveBurner, -3.424, 0.958, 1.971, 0, 0, 0, [SEP] 47, CounterTop, -3.381, 0.951, 1.356, 0, 0, 0, [SEP] 48, Drawer, -3.121, 0.781, 3.295, 0, 0, 0, [SEP] 49, Cabinet, -2.205, 0.388, 3.459, 0, 0, 0, [SEP] 50, Cabinet, -2.963, 0.388, 3.459, 0, 0, 0, [SEP] 51, Cabinet, -2.992, 0.388, 2.683, 0, 0, 0, [SEP] 52, Cabinet, -3.352, 2.205, 1.715, 0, 0, 0, [SEP] 53, Cabinet, -3.352, 2.205, 2.653, 0, 0, 0, [SEP] 54, Cabinet, -2.189, 0.388, 3.466, 0, 0, 0, [SEP] 55, Cabinet, -3.365, 1.931, 3.963, 0, 0, 0, [SEP] 56, Cabinet, -3.365, 1.931, 1.056, 0, 0, 0, [SEP] 57, Cabinet, -2.992, 0.388, 1.037, 0, 0, 0, [SEP] 58, StoveBurner, -3.143, 0.958, 1.971, 0, 0, 0, [SEP] 59, StoveKnob, -3.599, 1.110, 2.017, 0, 0, 105.000, [SEP] 60, StoveKnob, -3.599, 1.110, 1.867, 0, 0, 105.000, [SEP] 61, StoveKnob, -3.599, 1.110, 2.267, 0, 0, 105.000, [SEP] 62, StoveKnob, -3.599, 1.110, 2.427, 0, 0, 105.000, [SEP] 63, Toaster, -2.654, 0.902, 4.064, 0, 180, 0, [SEP] 64, Fridge, -0.439, 0.014, 3.996, 0, 0, 0, [SEP] 65, LightSwitch, 0.25, 1.383, 2.085, 0, 270, 0, [SEP] 66, Window, -1.430, 1.338, -0.347, 90, 0, 0, [SEP] 67, CoffeeMachine, -3.550, 0.902, 3.274, 0, 90, 0, [SEP] 68, SinkBasin, -1.802, 0.778, 3.700, 0, 0, 0, [SEP] 69, Microwave, -3.484, 1.430, 2.182, 0, 90, 0, [SEP] 70, GarbageCan, -1.184, -0.020, 3.794, 0, 270, 0, [SEP] 71, Blinds, -1.404, 2.092, -0.296, 0, 0, 0, [SEP] 72, Stool, -1.373, 0.014, 1.048, 1.214, 20.754, 0, [SEP] 73, Faucet, -1.788, 0.903, 3.931, 270, 90, 0, [SEP] 74, DiningTable, -1.399, 0.010, 0.238, 0, 0, 0, [SEP] 75, GarbageBag, -0.291, 0.336, -0.034, 272.372, 348.812, 147.313, [SEP] 76, NorthWall, , , , , , , [SEP] 77, EastWall, , , , , , , [SEP] 78, SouthWall, , , , , , , [SEP] 79, WestWall, , , , , , , ", "output": ["STEP 1: Walk over to the oven | STEP 2: Grab the tea pot | STEP 3: Walk over to the sink | STEP 4: Fill the pot with water | STEP 5: Walk over to the table | STEP 6: Place the pot on the table | END"]} +{"id": "trial_T20190907_045002_769926-2", "input": "To use the light to see the laptop. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 2.0, 0.900, -1.25, 0, 0, 0, [SEP] 1, CreditCard, -1.480, 0.711, 2.656, 0, 0, 0, 34 [SEP] 2, CreditCard, -3.602, 0.532, 0.723, 0, 0, 0, 32 [SEP] 3, RemoteControl, -1.862, 0.233, 2.825, 0, 0, 0, 33 [SEP] 4, Laptop, -3.341, 0.582, 0.468, 0, 0, 0, 32 [SEP] 5, Laptop, 2.548, 0.782, -0.045, 0, 0, 0, 37 [SEP] 6, Box, 1.27, 0.155, -0.293, 0, 9.804, 0, 37 [SEP] 7, Candle, -1.747, 0.233, 2.900, 0, 0, 0, 33 [SEP] 8, Vase, 1.662, 0.784, 0.077, 0, 0, 0, 37 [SEP] 9, CreditCard, -0.378, 0.290, 1.842, 0, 270, 0, 29 [SEP] 10, Vase, -2.184, 0.458, 0.018, 0, 0, 0, 38 [SEP] 11, WateringCan, -3.252, -0.000, -1.861, 0, 0, 0, [SEP] 12, Laptop, 2.105, 0.782, -0.292, 0, 0, 0, 37 [SEP] 13, RemoteControl, -1.774, 0.450, 0.018, 0, 0, 0, 38 [SEP] 14, Statue, -3.592, 0.705, 1.431, 0, 90, 0, 35 [SEP] 15, KeyChain, -1.480, 0.711, 2.744, 0, 90, 0, 34 [SEP] 16, Pillow, -1.921, 0.36, -1.500, 0, 0, 0, 31 [SEP] 17, Plate, 2.548, 0.789, -0.538, 0, 0, 0, 37 [SEP] 18, Statue, -2.020, 0.457, -0.237, 0, 0, 0, 38 [SEP] 19, LightSwitch, -3.900, 1.284, 1.684, 0, 90, 0, [SEP] 20, GarbageCan, 0.299, 5.066, 1.253, 0, 2.215, 0, [SEP] 21, FloorLamp, -0.331, 0.001, 2.728, 0, 0, 0, [SEP] 22, Painting, -0.056, 1.601, 1.733, 90, 270, 0, [SEP] 23, Painting, 4.136, 1.590, -0.296, 90, 270, 0, [SEP] 24, Television, -1.859, 1.200, 2.702, 358.970, 180, 0, [SEP] 25, HousePlant, -3.580, 0.604, -1.617, 0, 0, 0, [SEP] 26, Window, 1.478, 1.506, -1.927, 90, 0, 0, [SEP] 27, Window, -2.003, 1.506, -1.927, 90, 0, 0, [SEP] 28, Window, 3.480, 1.506, -1.927, 90, 0, 0, [SEP] 29, ArmChair, -0.437, 0.005, 1.923, 0, 270, 0, [SEP] 30, ArmChair, -0.430, 0.005, 1.062, 0, 270, 0, [SEP] 31, ArmChair, -2.004, 0.005, -1.578, 0, 0, 0, [SEP] 32, Sofa, -3.419, 0.009, -0.042, 0, 90, 0, [SEP] 33, DiningTable, -1.857, 0.231, 2.787, 0, 0, 0, [SEP] 34, TVStand, -1.857, 0.000, 2.788, 0, 0, 0, [SEP] 35, SideTable, -3.597, 0.004, 1.437, 0, 0, 0, [SEP] 36, SideTable, -3.597, 0.004, -1.607, 0, 0, 0, [SEP] 37, DiningTable, 1.883, 0.000, -0.291, 0, 0, 0, [SEP] 38, CoffeeTable, -2.023, 0.005, 0.018, 0, 270, 0, [SEP] 39, Chair, 1.462, -0.001, 0.195, 0, 164.999, 0, [SEP] 40, Chair, 2.288, -0.001, -0.780, 0, 0, 0, [SEP] 41, Chair, 2.223, -0.001, 0.149, 0, 186.648, 0, [SEP] 42, Chair, 1.638, -0.001, -0.847, 0, 0, 0, [SEP] 43, NorthWall, , , , , , , [SEP] 44, EastWall, , , , , , , [SEP] 45, SouthWall, , , , , , , [SEP] 46, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and walk across the room to the white couch. | STEP 2: Close the laptop on the white couch and pick it up. | STEP 3: Turn to the right and walk across the room, then turn right again and walk to the lamp on the other side of the room. | STEP 4: Turn on the lamp to the left of the white chair. | END"]} +{"id": "trial_T20190909_143336_258724-2", "input": "Throw away a chilled slice of potato. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.5, 0.900, 3.0, 0, 90, 0, [SEP] 1, Potato, 0.476, 0.950, 0.827, 0, 0, 0, 40 [SEP] 2, Potato, 0.220, 0.950, 1.180, 0, 90, 0, 40 [SEP] 3, Egg, 1.835, 1.050, -0.888, 0, 270, 0, 64 [SEP] 4, Cup, 1.809, 2.134, 1.236, 0, 0, 0, 47 [SEP] 5, Cup, 1.917, 0.908, 0.415, 0, 90, 0, 40 [SEP] 6, Knife, 1.501, 0.943, 0.827, 0, 90, 0, 40 [SEP] 7, Knife, 0.732, 0.943, 1.004, 0, 180, 0, 40 [SEP] 8, SoapBottle, 1.762, 0.908, 0.363, 0, 90, 0, 40 [SEP] 9, Tomato, 0.455, 0.975, -1.263, 0, 90, 0, 44 [SEP] 10, Tomato, 1.77, 0.134, 1.684, 0, 270, 0, 58 [SEP] 11, Bowl, 1.805, 1.644, -1.724, 0, 0, 0, 54 [SEP] 12, Bowl, 1.805, 1.631, -0.901, 0, 0, 0, 52 [SEP] 13, SaltShaker, 1.355, 0.906, -1.247, 0, 90, 0, 44 [SEP] 14, Bread, 0.220, 0.987, 0.827, 0, 90, 0, 40 [SEP] 15, Bread, 1.656, 0.988, -1.374, 0, 90, 0, 44 [SEP] 16, Apple, -0.692, 0.517, -1.541, 0, 0, 0, 67 [SEP] 17, Apple, 0.988, 0.967, 1.269, 0, 90, 0, 40 [SEP] 18, Plate, 1.802, 1.647, -0.000, 0, 0, 0, 50 [SEP] 19, SoapBottle, 1.865, 0.909, -1.545, 0, 90, 0, 44 [SEP] 20, Cup, 0.963, 0.758, -1.599, 0, 0, 0, 59 [SEP] 21, Egg, 1.800, 0.105, 1.540, 0, 270, 0, 58 [SEP] 22, Fork, 1.757, 0.911, 0.915, 0, 90, 0, 40 [SEP] 23, Ladle, 1.762, 0.954, 0.518, 0, 90, 0, 40 [SEP] 24, Apple, 1.771, 1.064, -0.782, 0, 270, 0, 64 [SEP] 25, SaltShaker, 1.757, 0.905, 1.092, 0, 90, 0, 40 [SEP] 26, Pan, 1.543, 0.909, -0.320, 0, 90, 0, 43 [SEP] 27, Tomato, -0.838, 0.524, -1.605, 0, 0, 0, 67 [SEP] 28, Spatula, 1.239, 0.775, -1.710, 0, 90, 0, 59 [SEP] 29, Potato, 1.529, 0.950, 0.311, 0, 90, 0, 40 [SEP] 30, Knife, 0.476, 0.943, 1.092, 0, 90, 0, 40 [SEP] 31, ButterKnife, 0.296, 0.9, -1.296, 0, 14.568, 0, 44 [SEP] 32, Bread, 1.726, 0.988, -1.717, 0, 90, 0, 44 [SEP] 33, Lettuce, 0.856, 0.989, 1.120, 0, 270, 1.420, 40 [SEP] 34, PepperShaker, 1.451, 0.905, 0.467, 0, 90, 0, 40 [SEP] 35, Pot, 1.807, 0.909, 0.075, 0, 180, 0, 41 [SEP] 36, DishSponge, 1.805, 1.634, -1.378, 0, 0, 0, 53 [SEP] 37, Spoon, 0.894, 0.761, -1.654, 0, 90, 0, 59 [SEP] 38, Bowl, -0.741, 0.745, -1.594, 0, 0, 0, 67 [SEP] 39, Mug, -0.374, 1.059, -1.382, 0, 0, 0, 67 [SEP] 40, CounterTop, 0.989, 0.946, 1.016, 0, 90, 0, [SEP] 41, StoveBurner, 1.807, 0.907, 0.075, 0, 180, 0, [SEP] 42, StoveBurner, 1.807, 0.907, -0.320, 0, 180, 0, [SEP] 43, StoveBurner, 1.543, 0.907, -0.320, 0, 90, 0, [SEP] 44, CounterTop, 0.989, 0.946, -1.516, 0, 90, 0, [SEP] 45, Sink, 1.100, 0.906, -1.599, 0, 0, 0, [SEP] 46, StoveBurner, 1.548, 0.907, 0.075, 0, 180, 0, [SEP] 47, Cabinet, 1.658, 2.299, 1.313, 0, 0, 0, [SEP] 48, Cabinet, 1.658, 2.299, 0.686, 0, 0, 0, [SEP] 49, Cabinet, 1.658, 2.049, 0.673, 0, 0, 0, [SEP] 50, Cabinet, 1.658, 2.059, 0.193, 0, 0, 0, [SEP] 51, Cabinet, 1.658, 2.059, -0.593, 0, 0, 0, [SEP] 52, Cabinet, 1.658, 2.049, -0.606, 0, 0, 0, [SEP] 53, Cabinet, 1.658, 2.049, -1.206, 0, 0, 0, [SEP] 54, Cabinet, 1.658, 2.049, -1.893, 0, 0, 0, [SEP] 55, Toaster, 0.131, 0.900, -1.589, 0, 0, 0, [SEP] 56, Window, -0.372, 1.588, 3.349, 90, 0, 0, [SEP] 57, Window, 0.782, 1.741, -1.893, 90, 0, 0, [SEP] 58, GarbageCan, 1.770, -0.029, 1.685, 0, 270, 0, [SEP] 59, SinkBasin, 1.091, 0.740, -1.599, 0, 0, 0, [SEP] 60, StoveKnob, 1.364, 0.821, 0.086, 48.421, 270, 0, [SEP] 61, StoveKnob, 1.364, 0.821, -0.180, 48.421, 270, 0, [SEP] 62, StoveKnob, 1.364, 0.821, -0.317, 48.421, 270, 0, [SEP] 63, StoveKnob, 1.364, 0.821, -0.054, 48.421, 270, 0, [SEP] 64, Microwave, 1.752, 0.900, -0.843, 0, 270, 0, [SEP] 65, LightSwitch, 2.0, 1.261, 3.094, 0, 270, 0, [SEP] 66, CoffeeMachine, 0.501, 0.900, -1.600, 0, 0, 0, [SEP] 67, Fridge, -0.533, 0.0, -1.554, 0, 0, 0, [SEP] 68, Chair, 1.068, 0.000, 1.752, 0, 191.622, 0, [SEP] 69, Faucet, 1.110, 1.138, -1.764, 0, 270, 0, [SEP] 70, Chair, 0.357, 0.000, 1.710, 0, 178.899, 0, [SEP] 71, NorthWall, , , , , , , [SEP] 72, EastWall, , , , , , , [SEP] 73, SouthWall, , , , , , , [SEP] 74, WestWall, , , , , , , ", "output": ["STEP 1: Walk to the stove and turn left to face the counter. | STEP 2: Pick up the knife from the counter. | STEP 3: Walk over to the left to the potato. | STEP 4: Slice the potato with the knife. | STEP 5: Go back to where the knife came from. | STEP 6: Put the knife back on the counter. | STEP 7: Walk back to the potato slices. | STEP 8: Pick up a potato slice off of the counter. | STEP 9: Walk over to the fridge. | STEP 10: Place the potato in the fridge and take it back out. | STEP 11: Take the slice of potato to the black trash can by the door. | STEP 12: Place the potato in the trash can. | END"]} +{"id": "trial_T20190911_082932_280904-1", "input": "Put the clean spoon in the drawer SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 2.75, 0.900, 1.0, 0, 90, 0, [SEP] 1, DishSponge, -0.117, 0.762, -2.118, 0, 0, 0, 86 [SEP] 2, ButterKnife, -0.203, 0.763, -2.008, 0, 0, 0, 86 [SEP] 3, Kettle, -1.289, 0.957, -1.02, 0, 0, 0, 66 [SEP] 4, Kettle, -1.056, 0.956, -0.672, 0, 180, 0, 48 [SEP] 5, Egg, 1.891, 0.850, -0.830, 0, 270, 0, 83 [SEP] 6, Egg, -0.152, 1.165, 0.706, 0, 0, 0, 72 [SEP] 7, Plate, 1.571, 0.115, -1.266, 0, 0, 0, 50 [SEP] 8, Knife, -0.993, 0.934, -1.638, 0, 90, 0, 76 [SEP] 9, Knife, -1.278, 0.937, 0.241, 0, 270, 0, 69 [SEP] 10, SoapBottle, 2.798, 0.552, 0.193, 0, 180, 0, 82 [SEP] 11, SoapBottle, -1.080, 0.913, -0.414, 0, 0, 0, 69 [SEP] 12, Bowl, -1.03, 0.125, -1.465, 0, 0, 0, 62 [SEP] 13, Bowl, 2.491, 0.876, 0.141, 0, 180, 0, 80 [SEP] 14, SaltShaker, 3.105, 0.876, 0.087, 0, 180, 0, 80 [SEP] 15, PepperShaker, 2.900, 0.876, 0.087, 0, 180, 0, 80 [SEP] 16, Lettuce, 1.945, 0.893, -0.458, 0, 270, 0, 83 [SEP] 17, Mug, -0.910, 0.906, -1.638, 0, 0, 0, 76 [SEP] 18, Pan, 1.743, 0.9, -1.969, 0, 308.846, 0, 76 [SEP] 19, Knife, -0.375, 1.155, 0.441, 0, 0, 0, 72 [SEP] 20, Bowl, 1.945, 1.095, -0.365, 0, 270, 0, 83 [SEP] 21, Fork, -0.031, 0.763, -1.952, 0, 180, 0, 86 [SEP] 22, Cup, 0.101, 0.750, -1.938, 0, 0, 0, 86 [SEP] 23, Ladle, -0.152, 1.168, 0.485, 0, 0, 0, 72 [SEP] 24, Apple, -0.598, 1.180, 0.573, 0, 0, 0, 72 [SEP] 25, Kettle, -1.322, 0.912, -1.806, 0, 0, 0, 76 [SEP] 26, Vase, -0.634, 0.915, 0.294, 0, 0, 0, 69 [SEP] 27, Potato, 1.836, 1.129, -0.737, 0, 270, 0, 83 [SEP] 28, Pot, -1.056, 0.956, -1.127, 0, 0, 0, 73 [SEP] 29, Bread, -1.148, 0.982, -0.194, 0, 0, 0, 69 [SEP] 30, Plate, 1.194, 0.909, -2.183, 0, 0, 0, 76 [SEP] 31, Spatula, -1.247, 0.907, -0.292, 0, 0, 0, 69 [SEP] 32, PaperTowelRoll, 2.002, 0.167, 0.109, 0, 180, 0, 79 [SEP] 33, Vase, -0.375, 1.137, 0.618, 0, 0, 0, 72 [SEP] 34, Egg, 1.891, 1.461, -0.271, 0, 270, 0, 83 [SEP] 35, SoapBottle, 1.924, 0.063, 0.109, 0, 0, 0, 79 [SEP] 36, SaltShaker, 2.900, 0.876, 0.168, 0, 180, 0, 80 [SEP] 37, Lettuce, 1.945, 1.504, -0.551, 0, 270, 0, 83 [SEP] 38, PepperShaker, -0.589, 0.688, -1.846, 0, 0, 0, 46 [SEP] 39, ButterKnife, 0.071, 1.131, 0.706, 0, 0, 0, 72 [SEP] 40, DishSponge, 0.055, 0.762, -2.063, 0, 0, 0, 86 [SEP] 41, Vase, 2.979, 0.539, 0.128, 0, 0, 0, 82 [SEP] 42, Spoon, -0.420, 0.914, 0.083, 0, 0, 0, 69 [SEP] 43, Tomato, -1.138, 0.960, -2.098, 0, 0, 0, 76 [SEP] 44, Mug, -0.849, 0.908, 0.241, 0, 0, 0, 69 [SEP] 45, Statue, 0.071, 1.138, 0.485, 0, 0, 0, 72 [SEP] 46, Drawer, -0.819, 0.75, -1.690, 0, 0, 0, [SEP] 47, Cabinet, -1.149, 2.264, -0.838, 0, 90, 0, [SEP] 48, StoveBurner, -1.056, 0.949, -0.671, 0, 180, 0, [SEP] 49, Cabinet, 1.738, 2.019, -2.000, 0, 0, 0, [SEP] 50, Cabinet, 1.389, 0.469, -1.059, 0, 0, 0, [SEP] 51, StoveBurner, -1.289, 0.949, -0.755, 0, 180, 0, [SEP] 52, Faucet, -0.157, 1.052, -2.196, 0, 270, 0, [SEP] 53, Cabinet, 1.75, 2.019, -1.029, 0, 0, 0, [SEP] 54, Cabinet, 1.75, 2.019, -1.399, 0, 0, 0, [SEP] 55, Cabinet, 1.179, 2.019, -2.0, 0, 0, 0, [SEP] 56, Cabinet, 0.199, 2.019, -2.0, 0, 0, 0, [SEP] 57, Cabinet, -1.100, 2.019, -2.0, 0, 0, 0, [SEP] 58, Cabinet, -1.149, 2.019, -1.979, 0, 0, 0, [SEP] 59, Cabinet, -1.149, 2.019, -0.770, 0, 0, 0, [SEP] 60, Cabinet, -1.149, 2.019, 0.380, 0, 0, 0, [SEP] 61, Cabinet, -0.819, 0.469, -1.689, 0, 0, 0, [SEP] 62, Cabinet, -0.839, 0.469, -1.664, 0, 0, 0, [SEP] 63, Cabinet, -0.839, 0.469, -0.049, 0, 0, 0, [SEP] 64, Cabinet, -0.414, 0.370, -0.009, 0, 0, 0, [SEP] 65, Sink, -0.118, 0.875, -2.009, 0, 0, 0, [SEP] 66, StoveBurner, -1.289, 0.949, -1.019, 0, 0, 0, [SEP] 67, Cabinet, 0.119, 2.264, -2.0, 0, 0, 0, [SEP] 68, Cabinet, -0.459, 2.264, -2.0, 0, 0, 0, [SEP] 69, CounterTop, -0.665, 0.949, 0.188, 0, 0, 0, [SEP] 70, Drawer, -0.449, 0.75, -0.010, 0, 180, 0, [SEP] 71, Cabinet, -0.450, 0.469, -0.009, 0, 0, 0, [SEP] 72, CounterTop, -0.630, 1.167, 0.573, 0, 0, 0, [SEP] 73, StoveBurner, -1.056, 0.949, -1.126, 0, 0, 0, [SEP] 74, Cabinet, 1.376, 0.460, -1.685, 0, 0, 0, [SEP] 75, Drawer, -0.070, 0.75, -0.009, 0, 180, 0, [SEP] 76, CounterTop, 1.159, 0.946, -2.013, 0, 0, 0, [SEP] 77, Cabinet, -1.150, 2.264, -1.418, 0, 90, 0, [SEP] 78, HousePlant, -1.246, 1.108, 0.606, 0, 0, 0, [SEP] 79, GarbageCan, 1.923, -0.010, 0.137, 0, 0, 0, [SEP] 80, Shelf, 2.759, 0.880, 0.144, 0, 0, 0, [SEP] 81, Microwave, 1.827, 0.900, -1.354, 0, 270, 0, [SEP] 82, Shelf, 2.759, 0.552, 0.145, 0, 0, 0, [SEP] 83, Fridge, 1.975, 0.0, -0.537, 0, 0, 0, [SEP] 84, LightSwitch, 0.404, 1.297, 2.0, 0, 180, 0, [SEP] 85, Shelf, 2.760, 0.172, 0.145, 0, 0, 0, [SEP] 86, SinkBasin, -0.129, 0.752, -2.007, 0, 0, 0, [SEP] 87, StoveKnob, -0.873, 0.903, -0.827, 45, 90, 0, [SEP] 88, StoveKnob, -0.873, 0.903, -0.676, 45, 90, 0, [SEP] 89, StoveKnob, -0.873, 0.903, -0.966, 45, 90, 0, [SEP] 90, StoveKnob, -0.873, 0.903, -1.123, 45, 90, 0, [SEP] 91, Toaster, 0.840, 0.900, -2.057, 0, 0, 0, [SEP] 92, CoffeeMachine, 0.501, 0.900, -2.125, 0, 0, 0, [SEP] 93, ShelvingUnit, 2.760, 0.006, 0.144, 0, 0, 0, [SEP] 94, Stool, -0.826, 0.010, 0.908, 0, 347.513, 0, [SEP] 95, Stool, -0.132, 0.010, 0.883, 0, 71.555, 0, [SEP] 96, NorthWall, , , , , , , [SEP] 97, EastWall, , , , , , , [SEP] 98, SouthWall, , , , , , , [SEP] 99, WestWall, , , , , , , ", "output": ["STEP 1: Turn around to your left then cross the room, head to the right side of the counter | STEP 2: Pick up the spoon on the counter | STEP 3: Turn to your right then walk towards the sink | STEP 4: Put the spoon in the sink then rinse it | STEP 5: Turn to your right facing the drawer | STEP 6: Open the drawer put the spoon inside then close the drawer | END"]} +{"id": "trial_T20190911_082932_280904-2", "input": "Place a clean spoon inside the drawer to the right of the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 2.75, 0.900, 1.0, 0, 90, 0, [SEP] 1, DishSponge, -0.117, 0.762, -2.118, 0, 0, 0, 86 [SEP] 2, ButterKnife, -0.203, 0.763, -2.008, 0, 0, 0, 86 [SEP] 3, Kettle, -1.289, 0.957, -1.02, 0, 0, 0, 66 [SEP] 4, Kettle, -1.056, 0.956, -0.672, 0, 180, 0, 48 [SEP] 5, Egg, 1.891, 0.850, -0.830, 0, 270, 0, 83 [SEP] 6, Egg, -0.152, 1.165, 0.706, 0, 0, 0, 72 [SEP] 7, Plate, 1.571, 0.115, -1.266, 0, 0, 0, 50 [SEP] 8, Knife, -0.993, 0.934, -1.638, 0, 90, 0, 76 [SEP] 9, Knife, -1.278, 0.937, 0.241, 0, 270, 0, 69 [SEP] 10, SoapBottle, 2.798, 0.552, 0.193, 0, 180, 0, 82 [SEP] 11, SoapBottle, -1.080, 0.913, -0.414, 0, 0, 0, 69 [SEP] 12, Bowl, -1.03, 0.125, -1.465, 0, 0, 0, 62 [SEP] 13, Bowl, 2.491, 0.876, 0.141, 0, 180, 0, 80 [SEP] 14, SaltShaker, 3.105, 0.876, 0.087, 0, 180, 0, 80 [SEP] 15, PepperShaker, 2.900, 0.876, 0.087, 0, 180, 0, 80 [SEP] 16, Lettuce, 1.945, 0.893, -0.458, 0, 270, 0, 83 [SEP] 17, Mug, -0.910, 0.906, -1.638, 0, 0, 0, 76 [SEP] 18, Pan, 1.743, 0.9, -1.969, 0, 308.846, 0, 76 [SEP] 19, Knife, -0.375, 1.155, 0.441, 0, 0, 0, 72 [SEP] 20, Bowl, 1.945, 1.095, -0.365, 0, 270, 0, 83 [SEP] 21, Fork, -0.031, 0.763, -1.952, 0, 180, 0, 86 [SEP] 22, Cup, 0.101, 0.750, -1.938, 0, 0, 0, 86 [SEP] 23, Ladle, -0.152, 1.168, 0.485, 0, 0, 0, 72 [SEP] 24, Apple, -0.598, 1.180, 0.573, 0, 0, 0, 72 [SEP] 25, Kettle, -1.322, 0.912, -1.806, 0, 0, 0, 76 [SEP] 26, Vase, -0.634, 0.915, 0.294, 0, 0, 0, 69 [SEP] 27, Potato, 1.836, 1.129, -0.737, 0, 270, 0, 83 [SEP] 28, Pot, -1.056, 0.956, -1.127, 0, 0, 0, 73 [SEP] 29, Bread, -1.148, 0.982, -0.194, 0, 0, 0, 69 [SEP] 30, Plate, 1.194, 0.909, -2.183, 0, 0, 0, 76 [SEP] 31, Spatula, -1.247, 0.907, -0.292, 0, 0, 0, 69 [SEP] 32, PaperTowelRoll, 2.002, 0.167, 0.109, 0, 180, 0, 79 [SEP] 33, Vase, -0.375, 1.137, 0.618, 0, 0, 0, 72 [SEP] 34, Egg, 1.891, 1.461, -0.271, 0, 270, 0, 83 [SEP] 35, SoapBottle, 1.924, 0.063, 0.109, 0, 0, 0, 79 [SEP] 36, SaltShaker, 2.900, 0.876, 0.168, 0, 180, 0, 80 [SEP] 37, Lettuce, 1.945, 1.504, -0.551, 0, 270, 0, 83 [SEP] 38, PepperShaker, -0.589, 0.688, -1.846, 0, 0, 0, 46 [SEP] 39, ButterKnife, 0.071, 1.131, 0.706, 0, 0, 0, 72 [SEP] 40, DishSponge, 0.055, 0.762, -2.063, 0, 0, 0, 86 [SEP] 41, Vase, 2.979, 0.539, 0.128, 0, 0, 0, 82 [SEP] 42, Spoon, -0.420, 0.914, 0.083, 0, 0, 0, 69 [SEP] 43, Tomato, -1.138, 0.960, -2.098, 0, 0, 0, 76 [SEP] 44, Mug, -0.849, 0.908, 0.241, 0, 0, 0, 69 [SEP] 45, Statue, 0.071, 1.138, 0.485, 0, 0, 0, 72 [SEP] 46, Drawer, -0.819, 0.75, -1.690, 0, 0, 0, [SEP] 47, Cabinet, -1.149, 2.264, -0.838, 0, 90, 0, [SEP] 48, StoveBurner, -1.056, 0.949, -0.671, 0, 180, 0, [SEP] 49, Cabinet, 1.738, 2.019, -2.000, 0, 0, 0, [SEP] 50, Cabinet, 1.389, 0.469, -1.059, 0, 0, 0, [SEP] 51, StoveBurner, -1.289, 0.949, -0.755, 0, 180, 0, [SEP] 52, Faucet, -0.157, 1.052, -2.196, 0, 270, 0, [SEP] 53, Cabinet, 1.75, 2.019, -1.029, 0, 0, 0, [SEP] 54, Cabinet, 1.75, 2.019, -1.399, 0, 0, 0, [SEP] 55, Cabinet, 1.179, 2.019, -2.0, 0, 0, 0, [SEP] 56, Cabinet, 0.199, 2.019, -2.0, 0, 0, 0, [SEP] 57, Cabinet, -1.100, 2.019, -2.0, 0, 0, 0, [SEP] 58, Cabinet, -1.149, 2.019, -1.979, 0, 0, 0, [SEP] 59, Cabinet, -1.149, 2.019, -0.770, 0, 0, 0, [SEP] 60, Cabinet, -1.149, 2.019, 0.380, 0, 0, 0, [SEP] 61, Cabinet, -0.819, 0.469, -1.689, 0, 0, 0, [SEP] 62, Cabinet, -0.839, 0.469, -1.664, 0, 0, 0, [SEP] 63, Cabinet, -0.839, 0.469, -0.049, 0, 0, 0, [SEP] 64, Cabinet, -0.414, 0.370, -0.009, 0, 0, 0, [SEP] 65, Sink, -0.118, 0.875, -2.009, 0, 0, 0, [SEP] 66, StoveBurner, -1.289, 0.949, -1.019, 0, 0, 0, [SEP] 67, Cabinet, 0.119, 2.264, -2.0, 0, 0, 0, [SEP] 68, Cabinet, -0.459, 2.264, -2.0, 0, 0, 0, [SEP] 69, CounterTop, -0.665, 0.949, 0.188, 0, 0, 0, [SEP] 70, Drawer, -0.449, 0.75, -0.010, 0, 180, 0, [SEP] 71, Cabinet, -0.450, 0.469, -0.009, 0, 0, 0, [SEP] 72, CounterTop, -0.630, 1.167, 0.573, 0, 0, 0, [SEP] 73, StoveBurner, -1.056, 0.949, -1.126, 0, 0, 0, [SEP] 74, Cabinet, 1.376, 0.460, -1.685, 0, 0, 0, [SEP] 75, Drawer, -0.070, 0.75, -0.009, 0, 180, 0, [SEP] 76, CounterTop, 1.159, 0.946, -2.013, 0, 0, 0, [SEP] 77, Cabinet, -1.150, 2.264, -1.418, 0, 90, 0, [SEP] 78, HousePlant, -1.246, 1.108, 0.606, 0, 0, 0, [SEP] 79, GarbageCan, 1.923, -0.010, 0.137, 0, 0, 0, [SEP] 80, Shelf, 2.759, 0.880, 0.144, 0, 0, 0, [SEP] 81, Microwave, 1.827, 0.900, -1.354, 0, 270, 0, [SEP] 82, Shelf, 2.759, 0.552, 0.145, 0, 0, 0, [SEP] 83, Fridge, 1.975, 0.0, -0.537, 0, 0, 0, [SEP] 84, LightSwitch, 0.404, 1.297, 2.0, 0, 180, 0, [SEP] 85, Shelf, 2.760, 0.172, 0.145, 0, 0, 0, [SEP] 86, SinkBasin, -0.129, 0.752, -2.007, 0, 0, 0, [SEP] 87, StoveKnob, -0.873, 0.903, -0.827, 45, 90, 0, [SEP] 88, StoveKnob, -0.873, 0.903, -0.676, 45, 90, 0, [SEP] 89, StoveKnob, -0.873, 0.903, -0.966, 45, 90, 0, [SEP] 90, StoveKnob, -0.873, 0.903, -1.123, 45, 90, 0, [SEP] 91, Toaster, 0.840, 0.900, -2.057, 0, 0, 0, [SEP] 92, CoffeeMachine, 0.501, 0.900, -2.125, 0, 0, 0, [SEP] 93, ShelvingUnit, 2.760, 0.006, 0.144, 0, 0, 0, [SEP] 94, Stool, -0.826, 0.010, 0.908, 0, 347.513, 0, [SEP] 95, Stool, -0.132, 0.010, 0.883, 0, 71.555, 0, [SEP] 96, NorthWall, , , , , , , [SEP] 97, EastWall, , , , , , , [SEP] 98, SouthWall, , , , , , , [SEP] 99, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk to the counter on the other side of the two black stools. | STEP 2: Pick up the spoon from the counter. | STEP 3: Turn around and walk to the sink. | STEP 4: Rinse the spoon in the sink and pick up the clean spoon. | STEP 5: Turn right to face the drawer to the right of the sink. | STEP 6: Place the clean spoon in the drawer to the right of the sink and then close it. | END"]} +{"id": "trial_T20190911_082932_280904-3", "input": "Put a clean spoon in a drawer. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 2.75, 0.900, 1.0, 0, 90, 0, [SEP] 1, DishSponge, -0.117, 0.762, -2.118, 0, 0, 0, 86 [SEP] 2, ButterKnife, -0.203, 0.763, -2.008, 0, 0, 0, 86 [SEP] 3, Kettle, -1.289, 0.957, -1.02, 0, 0, 0, 66 [SEP] 4, Kettle, -1.056, 0.956, -0.672, 0, 180, 0, 48 [SEP] 5, Egg, 1.891, 0.850, -0.830, 0, 270, 0, 83 [SEP] 6, Egg, -0.152, 1.165, 0.706, 0, 0, 0, 72 [SEP] 7, Plate, 1.571, 0.115, -1.266, 0, 0, 0, 50 [SEP] 8, Knife, -0.993, 0.934, -1.638, 0, 90, 0, 76 [SEP] 9, Knife, -1.278, 0.937, 0.241, 0, 270, 0, 69 [SEP] 10, SoapBottle, 2.798, 0.552, 0.193, 0, 180, 0, 82 [SEP] 11, SoapBottle, -1.080, 0.913, -0.414, 0, 0, 0, 69 [SEP] 12, Bowl, -1.03, 0.125, -1.465, 0, 0, 0, 62 [SEP] 13, Bowl, 2.491, 0.876, 0.141, 0, 180, 0, 80 [SEP] 14, SaltShaker, 3.105, 0.876, 0.087, 0, 180, 0, 80 [SEP] 15, PepperShaker, 2.900, 0.876, 0.087, 0, 180, 0, 80 [SEP] 16, Lettuce, 1.945, 0.893, -0.458, 0, 270, 0, 83 [SEP] 17, Mug, -0.910, 0.906, -1.638, 0, 0, 0, 76 [SEP] 18, Pan, 1.743, 0.9, -1.969, 0, 308.846, 0, 76 [SEP] 19, Knife, -0.375, 1.155, 0.441, 0, 0, 0, 72 [SEP] 20, Bowl, 1.945, 1.095, -0.365, 0, 270, 0, 83 [SEP] 21, Fork, -0.031, 0.763, -1.952, 0, 180, 0, 86 [SEP] 22, Cup, 0.101, 0.750, -1.938, 0, 0, 0, 86 [SEP] 23, Ladle, -0.152, 1.168, 0.485, 0, 0, 0, 72 [SEP] 24, Apple, -0.598, 1.180, 0.573, 0, 0, 0, 72 [SEP] 25, Kettle, -1.322, 0.912, -1.806, 0, 0, 0, 76 [SEP] 26, Vase, -0.634, 0.915, 0.294, 0, 0, 0, 69 [SEP] 27, Potato, 1.836, 1.129, -0.737, 0, 270, 0, 83 [SEP] 28, Pot, -1.056, 0.956, -1.127, 0, 0, 0, 73 [SEP] 29, Bread, -1.148, 0.982, -0.194, 0, 0, 0, 69 [SEP] 30, Plate, 1.194, 0.909, -2.183, 0, 0, 0, 76 [SEP] 31, Spatula, -1.247, 0.907, -0.292, 0, 0, 0, 69 [SEP] 32, PaperTowelRoll, 2.002, 0.167, 0.109, 0, 180, 0, 79 [SEP] 33, Vase, -0.375, 1.137, 0.618, 0, 0, 0, 72 [SEP] 34, Egg, 1.891, 1.461, -0.271, 0, 270, 0, 83 [SEP] 35, SoapBottle, 1.924, 0.063, 0.109, 0, 0, 0, 79 [SEP] 36, SaltShaker, 2.900, 0.876, 0.168, 0, 180, 0, 80 [SEP] 37, Lettuce, 1.945, 1.504, -0.551, 0, 270, 0, 83 [SEP] 38, PepperShaker, -0.589, 0.688, -1.846, 0, 0, 0, 46 [SEP] 39, ButterKnife, 0.071, 1.131, 0.706, 0, 0, 0, 72 [SEP] 40, DishSponge, 0.055, 0.762, -2.063, 0, 0, 0, 86 [SEP] 41, Vase, 2.979, 0.539, 0.128, 0, 0, 0, 82 [SEP] 42, Spoon, -0.420, 0.914, 0.083, 0, 0, 0, 69 [SEP] 43, Tomato, -1.138, 0.960, -2.098, 0, 0, 0, 76 [SEP] 44, Mug, -0.849, 0.908, 0.241, 0, 0, 0, 69 [SEP] 45, Statue, 0.071, 1.138, 0.485, 0, 0, 0, 72 [SEP] 46, Drawer, -0.819, 0.75, -1.690, 0, 0, 0, [SEP] 47, Cabinet, -1.149, 2.264, -0.838, 0, 90, 0, [SEP] 48, StoveBurner, -1.056, 0.949, -0.671, 0, 180, 0, [SEP] 49, Cabinet, 1.738, 2.019, -2.000, 0, 0, 0, [SEP] 50, Cabinet, 1.389, 0.469, -1.059, 0, 0, 0, [SEP] 51, StoveBurner, -1.289, 0.949, -0.755, 0, 180, 0, [SEP] 52, Faucet, -0.157, 1.052, -2.196, 0, 270, 0, [SEP] 53, Cabinet, 1.75, 2.019, -1.029, 0, 0, 0, [SEP] 54, Cabinet, 1.75, 2.019, -1.399, 0, 0, 0, [SEP] 55, Cabinet, 1.179, 2.019, -2.0, 0, 0, 0, [SEP] 56, Cabinet, 0.199, 2.019, -2.0, 0, 0, 0, [SEP] 57, Cabinet, -1.100, 2.019, -2.0, 0, 0, 0, [SEP] 58, Cabinet, -1.149, 2.019, -1.979, 0, 0, 0, [SEP] 59, Cabinet, -1.149, 2.019, -0.770, 0, 0, 0, [SEP] 60, Cabinet, -1.149, 2.019, 0.380, 0, 0, 0, [SEP] 61, Cabinet, -0.819, 0.469, -1.689, 0, 0, 0, [SEP] 62, Cabinet, -0.839, 0.469, -1.664, 0, 0, 0, [SEP] 63, Cabinet, -0.839, 0.469, -0.049, 0, 0, 0, [SEP] 64, Cabinet, -0.414, 0.370, -0.009, 0, 0, 0, [SEP] 65, Sink, -0.118, 0.875, -2.009, 0, 0, 0, [SEP] 66, StoveBurner, -1.289, 0.949, -1.019, 0, 0, 0, [SEP] 67, Cabinet, 0.119, 2.264, -2.0, 0, 0, 0, [SEP] 68, Cabinet, -0.459, 2.264, -2.0, 0, 0, 0, [SEP] 69, CounterTop, -0.665, 0.949, 0.188, 0, 0, 0, [SEP] 70, Drawer, -0.449, 0.75, -0.010, 0, 180, 0, [SEP] 71, Cabinet, -0.450, 0.469, -0.009, 0, 0, 0, [SEP] 72, CounterTop, -0.630, 1.167, 0.573, 0, 0, 0, [SEP] 73, StoveBurner, -1.056, 0.949, -1.126, 0, 0, 0, [SEP] 74, Cabinet, 1.376, 0.460, -1.685, 0, 0, 0, [SEP] 75, Drawer, -0.070, 0.75, -0.009, 0, 180, 0, [SEP] 76, CounterTop, 1.159, 0.946, -2.013, 0, 0, 0, [SEP] 77, Cabinet, -1.150, 2.264, -1.418, 0, 90, 0, [SEP] 78, HousePlant, -1.246, 1.108, 0.606, 0, 0, 0, [SEP] 79, GarbageCan, 1.923, -0.010, 0.137, 0, 0, 0, [SEP] 80, Shelf, 2.759, 0.880, 0.144, 0, 0, 0, [SEP] 81, Microwave, 1.827, 0.900, -1.354, 0, 270, 0, [SEP] 82, Shelf, 2.759, 0.552, 0.145, 0, 0, 0, [SEP] 83, Fridge, 1.975, 0.0, -0.537, 0, 0, 0, [SEP] 84, LightSwitch, 0.404, 1.297, 2.0, 0, 180, 0, [SEP] 85, Shelf, 2.760, 0.172, 0.145, 0, 0, 0, [SEP] 86, SinkBasin, -0.129, 0.752, -2.007, 0, 0, 0, [SEP] 87, StoveKnob, -0.873, 0.903, -0.827, 45, 90, 0, [SEP] 88, StoveKnob, -0.873, 0.903, -0.676, 45, 90, 0, [SEP] 89, StoveKnob, -0.873, 0.903, -0.966, 45, 90, 0, [SEP] 90, StoveKnob, -0.873, 0.903, -1.123, 45, 90, 0, [SEP] 91, Toaster, 0.840, 0.900, -2.057, 0, 0, 0, [SEP] 92, CoffeeMachine, 0.501, 0.900, -2.125, 0, 0, 0, [SEP] 93, ShelvingUnit, 2.760, 0.006, 0.144, 0, 0, 0, [SEP] 94, Stool, -0.826, 0.010, 0.908, 0, 347.513, 0, [SEP] 95, Stool, -0.132, 0.010, 0.883, 0, 71.555, 0, [SEP] 96, NorthWall, , , , , , , [SEP] 97, EastWall, , , , , , , [SEP] 98, SouthWall, , , , , , , [SEP] 99, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and cross the room to face the counter where the spoon is. | STEP 2: Pick the spoon up from the counter. | STEP 3: Turn around and stand in front of the sink. | STEP 4: Put the spoon in the sink, turn the water on and then turn the water off and then pick up the spoon. | STEP 5: Turn to the right. | STEP 6: Open the drawer and put the spoon in and then shut the drawer. | END"]} +{"id": "trial_T20190911_082932_280904-4", "input": "Put the clean spoon on the cabinet drawer SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 2.75, 0.900, 1.0, 0, 90, 0, [SEP] 1, DishSponge, -0.117, 0.762, -2.118, 0, 0, 0, 86 [SEP] 2, ButterKnife, -0.203, 0.763, -2.008, 0, 0, 0, 86 [SEP] 3, Kettle, -1.289, 0.957, -1.02, 0, 0, 0, 66 [SEP] 4, Kettle, -1.056, 0.956, -0.672, 0, 180, 0, 48 [SEP] 5, Egg, 1.891, 0.850, -0.830, 0, 270, 0, 83 [SEP] 6, Egg, -0.152, 1.165, 0.706, 0, 0, 0, 72 [SEP] 7, Plate, 1.571, 0.115, -1.266, 0, 0, 0, 50 [SEP] 8, Knife, -0.993, 0.934, -1.638, 0, 90, 0, 76 [SEP] 9, Knife, -1.278, 0.937, 0.241, 0, 270, 0, 69 [SEP] 10, SoapBottle, 2.798, 0.552, 0.193, 0, 180, 0, 82 [SEP] 11, SoapBottle, -1.080, 0.913, -0.414, 0, 0, 0, 69 [SEP] 12, Bowl, -1.03, 0.125, -1.465, 0, 0, 0, 62 [SEP] 13, Bowl, 2.491, 0.876, 0.141, 0, 180, 0, 80 [SEP] 14, SaltShaker, 3.105, 0.876, 0.087, 0, 180, 0, 80 [SEP] 15, PepperShaker, 2.900, 0.876, 0.087, 0, 180, 0, 80 [SEP] 16, Lettuce, 1.945, 0.893, -0.458, 0, 270, 0, 83 [SEP] 17, Mug, -0.910, 0.906, -1.638, 0, 0, 0, 76 [SEP] 18, Pan, 1.743, 0.9, -1.969, 0, 308.846, 0, 76 [SEP] 19, Knife, -0.375, 1.155, 0.441, 0, 0, 0, 72 [SEP] 20, Bowl, 1.945, 1.095, -0.365, 0, 270, 0, 83 [SEP] 21, Fork, -0.031, 0.763, -1.952, 0, 180, 0, 86 [SEP] 22, Cup, 0.101, 0.750, -1.938, 0, 0, 0, 86 [SEP] 23, Ladle, -0.152, 1.168, 0.485, 0, 0, 0, 72 [SEP] 24, Apple, -0.598, 1.180, 0.573, 0, 0, 0, 72 [SEP] 25, Kettle, -1.322, 0.912, -1.806, 0, 0, 0, 76 [SEP] 26, Vase, -0.634, 0.915, 0.294, 0, 0, 0, 69 [SEP] 27, Potato, 1.836, 1.129, -0.737, 0, 270, 0, 83 [SEP] 28, Pot, -1.056, 0.956, -1.127, 0, 0, 0, 73 [SEP] 29, Bread, -1.148, 0.982, -0.194, 0, 0, 0, 69 [SEP] 30, Plate, 1.194, 0.909, -2.183, 0, 0, 0, 76 [SEP] 31, Spatula, -1.247, 0.907, -0.292, 0, 0, 0, 69 [SEP] 32, PaperTowelRoll, 2.002, 0.167, 0.109, 0, 180, 0, 79 [SEP] 33, Vase, -0.375, 1.137, 0.618, 0, 0, 0, 72 [SEP] 34, Egg, 1.891, 1.461, -0.271, 0, 270, 0, 83 [SEP] 35, SoapBottle, 1.924, 0.063, 0.109, 0, 0, 0, 79 [SEP] 36, SaltShaker, 2.900, 0.876, 0.168, 0, 180, 0, 80 [SEP] 37, Lettuce, 1.945, 1.504, -0.551, 0, 270, 0, 83 [SEP] 38, PepperShaker, -0.589, 0.688, -1.846, 0, 0, 0, 46 [SEP] 39, ButterKnife, 0.071, 1.131, 0.706, 0, 0, 0, 72 [SEP] 40, DishSponge, 0.055, 0.762, -2.063, 0, 0, 0, 86 [SEP] 41, Vase, 2.979, 0.539, 0.128, 0, 0, 0, 82 [SEP] 42, Spoon, -0.420, 0.914, 0.083, 0, 0, 0, 69 [SEP] 43, Tomato, -1.138, 0.960, -2.098, 0, 0, 0, 76 [SEP] 44, Mug, -0.849, 0.908, 0.241, 0, 0, 0, 69 [SEP] 45, Statue, 0.071, 1.138, 0.485, 0, 0, 0, 72 [SEP] 46, Drawer, -0.819, 0.75, -1.690, 0, 0, 0, [SEP] 47, Cabinet, -1.149, 2.264, -0.838, 0, 90, 0, [SEP] 48, StoveBurner, -1.056, 0.949, -0.671, 0, 180, 0, [SEP] 49, Cabinet, 1.738, 2.019, -2.000, 0, 0, 0, [SEP] 50, Cabinet, 1.389, 0.469, -1.059, 0, 0, 0, [SEP] 51, StoveBurner, -1.289, 0.949, -0.755, 0, 180, 0, [SEP] 52, Faucet, -0.157, 1.052, -2.196, 0, 270, 0, [SEP] 53, Cabinet, 1.75, 2.019, -1.029, 0, 0, 0, [SEP] 54, Cabinet, 1.75, 2.019, -1.399, 0, 0, 0, [SEP] 55, Cabinet, 1.179, 2.019, -2.0, 0, 0, 0, [SEP] 56, Cabinet, 0.199, 2.019, -2.0, 0, 0, 0, [SEP] 57, Cabinet, -1.100, 2.019, -2.0, 0, 0, 0, [SEP] 58, Cabinet, -1.149, 2.019, -1.979, 0, 0, 0, [SEP] 59, Cabinet, -1.149, 2.019, -0.770, 0, 0, 0, [SEP] 60, Cabinet, -1.149, 2.019, 0.380, 0, 0, 0, [SEP] 61, Cabinet, -0.819, 0.469, -1.689, 0, 0, 0, [SEP] 62, Cabinet, -0.839, 0.469, -1.664, 0, 0, 0, [SEP] 63, Cabinet, -0.839, 0.469, -0.049, 0, 0, 0, [SEP] 64, Cabinet, -0.414, 0.370, -0.009, 0, 0, 0, [SEP] 65, Sink, -0.118, 0.875, -2.009, 0, 0, 0, [SEP] 66, StoveBurner, -1.289, 0.949, -1.019, 0, 0, 0, [SEP] 67, Cabinet, 0.119, 2.264, -2.0, 0, 0, 0, [SEP] 68, Cabinet, -0.459, 2.264, -2.0, 0, 0, 0, [SEP] 69, CounterTop, -0.665, 0.949, 0.188, 0, 0, 0, [SEP] 70, Drawer, -0.449, 0.75, -0.010, 0, 180, 0, [SEP] 71, Cabinet, -0.450, 0.469, -0.009, 0, 0, 0, [SEP] 72, CounterTop, -0.630, 1.167, 0.573, 0, 0, 0, [SEP] 73, StoveBurner, -1.056, 0.949, -1.126, 0, 0, 0, [SEP] 74, Cabinet, 1.376, 0.460, -1.685, 0, 0, 0, [SEP] 75, Drawer, -0.070, 0.75, -0.009, 0, 180, 0, [SEP] 76, CounterTop, 1.159, 0.946, -2.013, 0, 0, 0, [SEP] 77, Cabinet, -1.150, 2.264, -1.418, 0, 90, 0, [SEP] 78, HousePlant, -1.246, 1.108, 0.606, 0, 0, 0, [SEP] 79, GarbageCan, 1.923, -0.010, 0.137, 0, 0, 0, [SEP] 80, Shelf, 2.759, 0.880, 0.144, 0, 0, 0, [SEP] 81, Microwave, 1.827, 0.900, -1.354, 0, 270, 0, [SEP] 82, Shelf, 2.759, 0.552, 0.145, 0, 0, 0, [SEP] 83, Fridge, 1.975, 0.0, -0.537, 0, 0, 0, [SEP] 84, LightSwitch, 0.404, 1.297, 2.0, 0, 180, 0, [SEP] 85, Shelf, 2.760, 0.172, 0.145, 0, 0, 0, [SEP] 86, SinkBasin, -0.129, 0.752, -2.007, 0, 0, 0, [SEP] 87, StoveKnob, -0.873, 0.903, -0.827, 45, 90, 0, [SEP] 88, StoveKnob, -0.873, 0.903, -0.676, 45, 90, 0, [SEP] 89, StoveKnob, -0.873, 0.903, -0.966, 45, 90, 0, [SEP] 90, StoveKnob, -0.873, 0.903, -1.123, 45, 90, 0, [SEP] 91, Toaster, 0.840, 0.900, -2.057, 0, 0, 0, [SEP] 92, CoffeeMachine, 0.501, 0.900, -2.125, 0, 0, 0, [SEP] 93, ShelvingUnit, 2.760, 0.006, 0.144, 0, 0, 0, [SEP] 94, Stool, -0.826, 0.010, 0.908, 0, 347.513, 0, [SEP] 95, Stool, -0.132, 0.010, 0.883, 0, 71.555, 0, [SEP] 96, NorthWall, , , , , , , [SEP] 97, EastWall, , , , , , , [SEP] 98, SouthWall, , , , , , , [SEP] 99, WestWall, , , , , , , ", "output": ["STEP 1: Turn around to your right, then head to the counter beside the stove and turn to your right | STEP 2: Pick up the spoon on the counter top | STEP 3: Turn around to your right and head to the sink | STEP 4: Put the spoon on the sink , rinse it then pick it up | STEP 5: Turn to your left and face the stove | STEP 6: Pull the cabinet drawer then put in the spoon in and close the drawer | END"]} +{"id": "trial_T20190908_135917_098236-0", "input": "Put a bowl with a pen in it on a night stand. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.900, 1.0, 0, 0, 0, [SEP] 1, Bowl, -1.699, 1.146, -1.731, 0, 90, 0, 43 [SEP] 2, Statue, -1.509, 0.982, -0.742, 0, 0, 0, 48 [SEP] 3, Statue, 1.731, 0.691, 2.082, 0, 0, 0, 58 [SEP] 4, CellPhone, 2.128, 0.433, 1.590, 0, 90, 0, 64 [SEP] 5, CellPhone, -1.608, 0.410, 0.534, 0, 0, 0, 57 [SEP] 6, Pen, 2.360, 0.686, -1.717, 0, 0, 0, 61 [SEP] 7, Pen, -1.668, 1.152, -1.959, 0, 90, 0, 43 [SEP] 8, CreditCard, 2.283, 0.680, -1.536, 0, 0, 0, 61 [SEP] 9, CreditCard, 1.498, 0.680, 2.353, 0, 0, 0, 58 [SEP] 10, KeyChain, -1.762, 1.147, -2.073, 0, 180, 0, 43 [SEP] 11, Book, 1.743, 0.774, -0.990, 0, 0, 0, 30 [SEP] 12, Book, -1.664, 0.605, 0.350, 0, 0, 0, 50 [SEP] 13, Pillow, 0.778, 0.836, 0.188, 0, 0, 0, 30 [SEP] 14, Book, -1.552, 0.216, 0.162, 0, 0, 0, 55 [SEP] 15, KeyChain, 2.408, 0.437, 1.671, 0, 270, 0, 64 [SEP] 16, AlarmClock, -1.699, 1.146, -2.415, 0, 90, 0, 43 [SEP] 17, Pillow, 0.296, 0.836, -0.695, 0, 0, 0, 30 [SEP] 18, Pillow, 0.778, 0.836, -0.990, 0, 0, 0, 30 [SEP] 19, Vase, -1.699, 1.147, -2.187, 0, 90, 0, 43 [SEP] 20, Laptop, -1.628, 0.965, 0.084, 0, 104.999, 0, 48 [SEP] 21, Vase, -1.650, 1.626, -2.316, 0, 0, 0, 42 [SEP] 22, Pencil, 1.731, 0.686, 2.308, 0, 0, 0, 58 [SEP] 23, CreditCard, 2.323, 0.082, -1.568, 0, 180, 0, 62 [SEP] 24, Boots, -1.842, 0.000, -1.077, 0, 135, 0, [SEP] 25, Pen, 2.515, 0.686, -1.762, 0, 0, 0, 61 [SEP] 26, CellPhone, 1.576, 0.681, 2.172, 0, 0, 0, 58 [SEP] 27, CD, 2.360, 0.680, -1.626, 0, 0, 0, 61 [SEP] 28, Bowl, -1.699, 1.637, -2.073, 0, 90, 0, 42 [SEP] 29, Statue, -1.764, 0.965, -0.758, 0, 59.718, 0, 48 [SEP] 30, Bed, 1.017, 0.003, -0.686, 0, 180, 0, [SEP] 31, HousePlant, -1.749, 0.971, 0.463, 0, 0, 0, [SEP] 32, GarbageCan, -1.665, -0.000, 0.953, 0, 45, 0, [SEP] 33, Painting, 0.381, 1.976, -1.895, 90, 0, 0, [SEP] 34, Painting, 0.879, 1.976, -1.895, 90, 0, 0, [SEP] 35, Painting, 1.373, 1.976, -1.895, 90, 0, 0, [SEP] 36, LightSwitch, -0.164, 1.085, 2.450, 0, 180, 0, [SEP] 37, Mirror, -1.950, 1.735, -0.206, 0, 270, 0, [SEP] 38, Window, -1.098, 1.570, -3.230, 90, 0, 0, [SEP] 39, DeskLamp, 1.404, 0.668, 2.209, 0, 0, 0, [SEP] 40, DeskLamp, 2.596, 0.668, -1.710, 0, 0, 0, [SEP] 41, Blinds, -1.062, 2.361, -3.173, 0, 0, 0, [SEP] 42, Shelf, -1.675, 1.871, -2.053, 0, 90, 0, [SEP] 43, Shelf, -1.675, 1.383, -2.053, 0, 90, 0, [SEP] 44, Drawer, -1.715, 0.832, -2.053, 0, 90, 0, [SEP] 45, ShelvingUnit, -1.723, 0.007, -2.053, 0, 90, 0, [SEP] 46, Drawer, -1.713, 0.339, -2.053, 0, 90, 0, [SEP] 47, Drawer, -1.629, 0.104, 0.243, 0, 90, 0, [SEP] 48, Dresser, -1.674, 0.000, -0.153, 0, 90, 0, [SEP] 49, Drawer, -1.630, 0.868, -0.550, 0, 90, 0, [SEP] 50, Drawer, -1.630, 0.680, 0.243, 0, 90, 0, [SEP] 51, Drawer, -1.629, 0.104, -0.550, 0, 90, 0, [SEP] 52, Drawer, -1.630, 0.680, -0.550, 0, 90, 0, [SEP] 53, Drawer, -1.630, 0.868, 0.243, 0, 90, 0, [SEP] 54, Drawer, -1.629, 0.486, -0.550, 0, 90, 0, [SEP] 55, Drawer, -1.629, 0.291, 0.243, 0, 90, 0, [SEP] 56, Drawer, -1.629, 0.291, -0.550, 0, 90, 0, [SEP] 57, Drawer, -1.630, 0.486, 0.243, 0, 90, 0, [SEP] 58, SideTable, 1.576, -0.001, 2.137, 0, 180, 0, [SEP] 59, Drawer, 1.576, 0.163, 2.070, 0, 180, 0, [SEP] 60, Drawer, 1.576, 0.455, 2.070, 0, 180, 0, [SEP] 61, SideTable, 2.437, -0.001, -1.603, 0, 0, 0, [SEP] 62, Drawer, 2.438, 0.163, -1.536, 0, 0, 0, [SEP] 63, Drawer, 2.438, 0.455, -1.536, 0, 0, 0, [SEP] 64, ArmChair, 2.393, -0.001, 1.943, 0, 180, 0, [SEP] 65, NorthWall, , , , , , , [SEP] 66, EastWall, , , , , , , [SEP] 67, SouthWall, , , , , , , [SEP] 68, WestWall, , , , , , , ", "output": ["STEP 1: Turn right, go forward to the wall, turn right, go forward to the night stand. | STEP 2: Take the pen from the night stand. | STEP 3: Turn around, go forward, after passing the end of the bed turn left, go forward, after passing the end of the bed turn left, go forward to the top of the bed, turn right, go to the dresser. | STEP 4: Put the pen in the bowl on the shelf of the dresser. | STEP 5: Take the bowl from the shelf of the dresser. | STEP 6: Turn right, go around the bed back to the night stand where the pen came from. | STEP 7: Put the bowl behind the CD on the night stand. | END"]} +{"id": "trial_T20190909_100946_496614-0", "input": "move the cell phone to the night stand SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.5, 0.901, 1.25, 0, 180, 0, [SEP] 1, CD, 0.000, 0.970, -1.852, 0, 270, 0, 36 [SEP] 2, CellPhone, 1.640, 0.418, 0.585, 0, 0, 0, 46 [SEP] 3, Pen, -0.487, 0.042, -1.655, 0, 270, 0, 37 [SEP] 4, CreditCard, 0.604, 0.972, -1.557, 0, 270, 0, 36 [SEP] 5, CreditCard, 2.298, 0.572, 1.240, 0, 180, 0, 34 [SEP] 6, KeyChain, 1.591, 0.041, -2.027, 0, 88.075, 0, 49 [SEP] 7, Book, 0.897, 0.417, -0.413, 0, 0, 0, 46 [SEP] 8, Book, 0.304, 0.038, -1.598, 0, 270, 0, 42 [SEP] 9, Pillow, 1.392, 0.477, 0.419, 0, 0, 0, 46 [SEP] 10, Box, -1.751, 0.252, 1.499, 0, 340.773, 0, Floor|+00.00| [SEP] 11, Book, 0.212, 0.219, -1.712, 0, 270, 0, 43 [SEP] 12, Cloth, -1.146, 0.000, -2.123, 0, 0, 0, Floor|+00.00| [SEP] 13, CellPhone, 1.750, 0.043, -1.970, 0, 88.075, 0, 49 [SEP] 14, Pencil, 0.304, 0.804, -1.711, 0, 270, 0, 41 [SEP] 15, AlarmClock, 2.153, 0.565, 1.23, 0, 213.033, 0, 34 [SEP] 16, TeddyBear, -2.236, 0.000, 1.457, 0, 319.128, 0, Floor|+00.00| [SEP] 17, CreditCard, 0.201, 0.972, -1.852, 0, 270, 0, 36 [SEP] 18, KeyChain, 2.068, 0.573, 1.512, 0, 270, 0, 34 [SEP] 19, Pillow, 0.649, 0.477, 0.419, 0, 0, 0, 46 [SEP] 20, Pillow, 2.15, 0.433, -0.241, 0, 282.078, 0, 46 [SEP] 21, Laptop, -0.5, 0.965, -1.715, 0, 24.156, 0, 36 [SEP] 22, Bowl, 0.471, 0.965, -1.856, 0, 0, 0, 36 [SEP] 23, Cloth, -1.288, 0.000, -1.936, 0, 357.341, 356.936, Floor|+00.00| [SEP] 24, CD, 1.648, 0.040, -2.130, 0, 88.075, 0, 49 [SEP] 25, Pen, -0.487, 0.042, -1.768, 0, 270, 0, 37 [SEP] 26, DeskLamp, 2.302, 0.561, 1.435, 0, 315, 0, [SEP] 27, GarbageCan, -2.208, -0.023, -1.742, 0, 77.663, 0, [SEP] 28, Poster, 2.439, 1.508, 0.014, 90, 270, 0, [SEP] 29, LightSwitch, -2.457, 1.274, -0.096, 0, 90, 0, [SEP] 30, Mirror, 2.454, 1.322, -1.414, 0, 90, 0, [SEP] 31, Window, -1.440, 1.815, -2.354, 90, 0, 0, [SEP] 32, Window, 1.401, 1.815, -2.354, 90, 0, 0, [SEP] 33, Drawer, 2.251, 0.468, 1.333, 0, 270, 0, [SEP] 34, SideTable, 2.243, -0.001, 1.331, 0, 270, 0, [SEP] 35, Drawer, -0.385, 0.681, -1.631, 0, 0, 0, [SEP] 36, Dresser, 0.011, 0.001, -1.676, 0, 0, 0, [SEP] 37, Drawer, -0.385, 0.105, -1.631, 0, 0, 0, [SEP] 38, Drawer, 0.408, 0.868, -1.632, 0, 0, 0, [SEP] 39, Drawer, -0.385, 0.487, -1.631, 0, 0, 0, [SEP] 40, Drawer, -0.385, 0.868, -1.632, 0, 0, 0, [SEP] 41, Drawer, 0.408, 0.681, -1.631, 0, 0, 0, [SEP] 42, Drawer, 0.408, 0.105, -1.631, 0, 0, 0, [SEP] 43, Drawer, 0.408, 0.292, -1.631, 0, 0, 0, [SEP] 44, Drawer, -0.385, 0.292, -1.631, 0, 0, 0, [SEP] 45, Drawer, 0.408, 0.487, -1.631, 0, 0, 0, [SEP] 46, Bed, 1.377, 0.004, 0.072, 0, 90, 0, [SEP] 47, Blinds, 1.422, 3.115, -2.339, 0, 0, 0, [SEP] 48, Blinds, -1.422, 3.115, -2.339, 0, 0, 0, [SEP] 49, Safe, 1.640, 0.000, -2.040, 0, 355.244, 0, [SEP] 50, LaundryHamper, -1.564, 0.001, -1.927, 0, 45, 0, [SEP] 51, NorthWall, , , , , , , [SEP] 52, EastWall, , , , , , , [SEP] 53, SouthWall, , , , , , , [SEP] 54, WestWall, , , , , , , ", "output": ["STEP 1: Turn towards the bed | STEP 2: pick up the cell phone sitting on the bed | STEP 3: move over towards the nightstand next to the bed | STEP 4: place the cell phone on the nightstand | END"]} +{"id": "trial_T20190909_100946_496614-2", "input": "take the phone from the bed to the nightstand SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.5, 0.901, 1.25, 0, 180, 0, [SEP] 1, CD, 0.000, 0.970, -1.852, 0, 270, 0, 36 [SEP] 2, CellPhone, 1.640, 0.418, 0.585, 0, 0, 0, 46 [SEP] 3, Pen, -0.487, 0.042, -1.655, 0, 270, 0, 37 [SEP] 4, CreditCard, 0.604, 0.972, -1.557, 0, 270, 0, 36 [SEP] 5, CreditCard, 2.298, 0.572, 1.240, 0, 180, 0, 34 [SEP] 6, KeyChain, 1.591, 0.041, -2.027, 0, 88.075, 0, 49 [SEP] 7, Book, 0.897, 0.417, -0.413, 0, 0, 0, 46 [SEP] 8, Book, 0.304, 0.038, -1.598, 0, 270, 0, 42 [SEP] 9, Pillow, 1.392, 0.477, 0.419, 0, 0, 0, 46 [SEP] 10, Box, -1.751, 0.252, 1.499, 0, 340.773, 0, Floor|+00.00| [SEP] 11, Book, 0.212, 0.219, -1.712, 0, 270, 0, 43 [SEP] 12, Cloth, -1.146, 0.000, -2.123, 0, 0, 0, Floor|+00.00| [SEP] 13, CellPhone, 1.750, 0.043, -1.970, 0, 88.075, 0, 49 [SEP] 14, Pencil, 0.304, 0.804, -1.711, 0, 270, 0, 41 [SEP] 15, AlarmClock, 2.153, 0.565, 1.23, 0, 213.033, 0, 34 [SEP] 16, TeddyBear, -2.236, 0.000, 1.457, 0, 319.128, 0, Floor|+00.00| [SEP] 17, CreditCard, 0.201, 0.972, -1.852, 0, 270, 0, 36 [SEP] 18, KeyChain, 2.068, 0.573, 1.512, 0, 270, 0, 34 [SEP] 19, Pillow, 0.649, 0.477, 0.419, 0, 0, 0, 46 [SEP] 20, Pillow, 2.15, 0.433, -0.241, 0, 282.078, 0, 46 [SEP] 21, Laptop, -0.5, 0.965, -1.715, 0, 24.156, 0, 36 [SEP] 22, Bowl, 0.471, 0.965, -1.856, 0, 0, 0, 36 [SEP] 23, Cloth, -1.288, 0.000, -1.936, 0, 357.341, 356.936, Floor|+00.00| [SEP] 24, CD, 1.648, 0.040, -2.130, 0, 88.075, 0, 49 [SEP] 25, Pen, -0.487, 0.042, -1.768, 0, 270, 0, 37 [SEP] 26, DeskLamp, 2.302, 0.561, 1.435, 0, 315, 0, [SEP] 27, GarbageCan, -2.208, -0.023, -1.742, 0, 77.663, 0, [SEP] 28, Poster, 2.439, 1.508, 0.014, 90, 270, 0, [SEP] 29, LightSwitch, -2.457, 1.274, -0.096, 0, 90, 0, [SEP] 30, Mirror, 2.454, 1.322, -1.414, 0, 90, 0, [SEP] 31, Window, -1.440, 1.815, -2.354, 90, 0, 0, [SEP] 32, Window, 1.401, 1.815, -2.354, 90, 0, 0, [SEP] 33, Drawer, 2.251, 0.468, 1.333, 0, 270, 0, [SEP] 34, SideTable, 2.243, -0.001, 1.331, 0, 270, 0, [SEP] 35, Drawer, -0.385, 0.681, -1.631, 0, 0, 0, [SEP] 36, Dresser, 0.011, 0.001, -1.676, 0, 0, 0, [SEP] 37, Drawer, -0.385, 0.105, -1.631, 0, 0, 0, [SEP] 38, Drawer, 0.408, 0.868, -1.632, 0, 0, 0, [SEP] 39, Drawer, -0.385, 0.487, -1.631, 0, 0, 0, [SEP] 40, Drawer, -0.385, 0.868, -1.632, 0, 0, 0, [SEP] 41, Drawer, 0.408, 0.681, -1.631, 0, 0, 0, [SEP] 42, Drawer, 0.408, 0.105, -1.631, 0, 0, 0, [SEP] 43, Drawer, 0.408, 0.292, -1.631, 0, 0, 0, [SEP] 44, Drawer, -0.385, 0.292, -1.631, 0, 0, 0, [SEP] 45, Drawer, 0.408, 0.487, -1.631, 0, 0, 0, [SEP] 46, Bed, 1.377, 0.004, 0.072, 0, 90, 0, [SEP] 47, Blinds, 1.422, 3.115, -2.339, 0, 0, 0, [SEP] 48, Blinds, -1.422, 3.115, -2.339, 0, 0, 0, [SEP] 49, Safe, 1.640, 0.000, -2.040, 0, 355.244, 0, [SEP] 50, LaundryHamper, -1.564, 0.001, -1.927, 0, 45, 0, [SEP] 51, NorthWall, , , , , , , [SEP] 52, EastWall, , , , , , , [SEP] 53, SouthWall, , , , , , , [SEP] 54, WestWall, , , , , , , ", "output": ["STEP 1: go to the bed | STEP 2: pick up the phone | STEP 3: take the phone to the nightstand | STEP 4: stand the phone up on the stand | END"]} +{"id": "trial_T20190907_043932_996593-2", "input": "Place a cooled egg on the small black table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.869, -2.75, 0, 90, 0, [SEP] 1, Potato, -1.620, 0.729, -3.782, 0, 0, 0, 69 [SEP] 2, DishSponge, 0.757, 0.772, -0.570, 0, 270, 0, 65 [SEP] 3, Spatula, 0.961, 0.680, 0.326, 0, 90, 0, 47 [SEP] 4, Spoon, -0.855, 0.901, 1.101, 0, 270, 0, 68 [SEP] 5, Egg, -2.054, 0.738, -1.416, 0, 0, 0, 78 [SEP] 6, Plate, 0.676, 0.019, -0.119, 0, 0, 0, 52 [SEP] 7, Knife, 0.574, 0.783, -0.188, 0, 90, 0, 41 [SEP] 8, Knife, 0.671, 0.782, -0.252, 0, 90, 0, 41 [SEP] 9, Tomato, 0.721, 0.712, 0.326, 0, 0, 0, 47 [SEP] 10, Tomato, -0.051, 0.949, 0.758, 0, 270, 0, 68 [SEP] 11, SoapBottle, 0.661, 0.664, 0.508, 0, 0, 0, 47 [SEP] 12, SoapBottle, 0.149, 0.899, 0.758, 0, 270, 0, 68 [SEP] 13, Bowl, -0.855, 0.899, 0.929, 0, 270, 0, 68 [SEP] 14, SaltShaker, 0.803, 0.879, -0.245, 0, 0, 0, 42 [SEP] 15, Bread, 0.841, 0.708, 0.508, 0, 0, 0, 47 [SEP] 16, Mug, 0.698, 0.941, -1.360, 0, 270, 0, 55 [SEP] 17, Mug, -1.719, 0.696, -1.416, 0, 0, 0, 78 [SEP] 18, Apple, 0.672, 0.826, -0.790, 0, 270, 0, 65 [SEP] 19, Apple, 0.746, 0.718, -2.190, 0, 270, 0, 62 [SEP] 20, Pot, -2.097, 0.930, 0.785, 0, 0, 0, 44 [SEP] 21, Plate, -1.886, 0.705, -1.091, 0, 0, 0, 78 [SEP] 22, Fork, -1.635, 0.702, -1.307, 0, 90, 0, 78 [SEP] 23, SoapBottle, -1.187, 0.051, -3.611, 0, 270, 0, 57 [SEP] 24, Apple, -1.949, 0.852, -3.738, 0, 0, 0, 64 [SEP] 25, Pan, -1.552, 0.930, 0.785, 0, 0, 0, 46 [SEP] 26, Egg, -0.252, 0.937, 1.101, 0, 270, 0, 68 [SEP] 27, Spatula, 0.841, 0.787, -0.680, 0, 0, 0, 65 [SEP] 28, Potato, 0.961, 0.697, 0.630, 0, 90, 0, 47 [SEP] 29, Cup, 0.785, 0.663, -1.880, 0, 270, 0, 62 [SEP] 30, SaltShaker, 0.621, 0.012, -0.768, 0, 0, 0, 45 [SEP] 31, PepperShaker, -1.620, 0.692, -3.614, 0, 0, 0, 69 [SEP] 32, ButterKnife, 0.720, 0.759, -0.124, 0, 0, 0, 41 [SEP] 33, DishSponge, 0.994, 1.463, -0.207, 0, 0, 0, 53 [SEP] 34, Bread, 0.149, 0.944, 1.015, 0, 270, 0, 68 [SEP] 35, Lettuce, 0.785, 1.461, -1.880, 0, 270, 0, 62 [SEP] 36, Tomato, -1.556, 0.744, -3.361, 0, 0, 0, 69 [SEP] 37, Spoon, 0.720, 0.761, -0.061, 0, 0, 0, 41 [SEP] 38, Knife, -1.719, 0.724, -0.875, 0, 0, 0, 78 [SEP] 39, Mug, -1.719, 0.696, -1.524, 0, 0, 0, 78 [SEP] 40, Bowl, 0.746, 1.373, -2.113, 0, 270, 0, 62 [SEP] 41, Drawer, 0.706, 0.766, -0.125, 0, 0, 0, [SEP] 42, CounterTop, 0.792, 0.919, -0.108, 0, 0, 0, [SEP] 43, Mirror, 1.093, 1.602, -0.643, 0, 0, 0, [SEP] 44, StoveBurner, -2.096, 0.890, 0.785, 0, 0, 0, [SEP] 45, Cabinet, 0.507, 0.345, -0.426, 0, 0, 0, [SEP] 46, StoveBurner, -1.552, 0.890, 0.785, 0, 0, 0, [SEP] 47, SideTable, 0.770, -0.030, 0.443, 0, 0, 0, [SEP] 48, Sink, 0.753, 0.882, -0.680, 0, 0, 0, [SEP] 49, StoveBurner, -2.096, 0.890, 1.049, 0, 0, 0, [SEP] 50, GarbageBag, -0.770, 0.287, -3.541, 270, 73.521, 83.489, [SEP] 51, StoveBurner, -1.554, 0.890, 1.049, 0, 0, 0, [SEP] 52, Cabinet, 0.507, 0.345, 0.156, 0, 0, 0, [SEP] 53, Cabinet, 0.717, 1.822, -0.398, 0, 0, 0, [SEP] 54, Cabinet, 0.717, 1.822, 0.669, 0, 0, 0, [SEP] 55, CoffeeMachine, 0.873, 0.865, -1.256, 0, 270, 0, [SEP] 56, Toaster, -0.522, 0.886, 1.081, 0, 180, 0, [SEP] 57, GarbageCan, -1.261, -0.031, -3.610, 0, 270, 0, [SEP] 58, StoveKnob, -1.898, 0.866, 0.519, 311.864, 0, 180, [SEP] 59, StoveKnob, -1.754, 0.866, 0.519, 311.864, 0, 180, [SEP] 60, StoveKnob, -2.058, 0.866, 0.519, 311.864, 0, 180, [SEP] 61, StoveKnob, -1.600, 0.866, 0.519, 311.864, 0, 180, [SEP] 62, Fridge, 0.680, -0.031, -1.957, 0, 0, 0, [SEP] 63, Window, -2.424, 1.639, -2.453, 90, 270, 0, [SEP] 64, Microwave, -1.994, 0.690, -3.651, 0, 0, 0, [SEP] 65, SinkBasin, 0.757, 0.762, -0.688, 0, 270, 0, [SEP] 66, LightSwitch, 1.102, 1.368, -3.737, 0, 270, 0, [SEP] 67, Shelf, -0.350, 0.124, 0.857, 0, 0, 0, [SEP] 68, DiningTable, -0.350, -0.025, 0.857, 0, 0, 0, [SEP] 69, DiningTable, -1.909, -0.032, -3.507, 0, 0, 0, [SEP] 70, Blinds, -2.343, 2.151, -2.437, 0, 270, 0, [SEP] 71, AluminumFoil, 0.762, 0.224, 0.337, 0, 184.594, 0, [SEP] 72, AluminumFoil, 0.751, 0.225, 0.287, 0, 0, 0, [SEP] 73, AluminumFoil, 0.839, 0.224, 0.392, 0, 195.128, 0, [SEP] 74, Shelf, 0.771, 0.226, 0.445, 0, 0, 0, [SEP] 75, Shelf, 0.771, 0.456, 0.446, 0, 0, 0, [SEP] 76, Faucet, 1.025, 0.873, -0.678, 270, 180, 0, [SEP] 77, Shelf, -0.350, 0.497, 0.857, 0, 0, 0, [SEP] 78, DiningTable, -1.929, -0.035, -1.398, 0, 90, 0, [SEP] 79, Chair, -1.610, -0.024, -1.424, 358.454, 297.426, 0, [SEP] 80, NorthWall, , , , , , , [SEP] 81, EastWall, , , , , , , [SEP] 82, SouthWall, , , , , , , [SEP] 83, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk towards the dining table. | STEP 2: Pick up the egg from the table. | STEP 3: Turn around and walk towards the fridge. | STEP 4: Place the egg on the top shelf inside the fridge, let it cool and take it back out. | STEP 5: Turn left towards the white table, and then turn right to face a small black table. | STEP 6: Place the egg on the right corner of the table. | END"]} +{"id": "trial_T20190907_164025_737491-0", "input": "Put a cooked apple on the counter in front of the microwave. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.0, 1.124, 0.0, 0, 180, 0, [SEP] 1, Pan, -1.660, 1.322, -2.981, 0, 0, 0, 47 [SEP] 2, Kettle, -0.630, 1.331, -3.301, 0, 180, 0, 44 [SEP] 3, Spoon, -1.165, 1.324, -2.981, 0, 0, 0, 47 [SEP] 4, Spatula, 0.563, 1.337, -3.232, 0, 0, 0, 47 [SEP] 5, Spatula, -1.730, 0.435, -0.364, 0, 270, 0, 51 [SEP] 6, Cup, -1.614, 0.341, 0.110, 0, 0, 0, 45 [SEP] 7, Cup, 0.976, 0.342, -2.371, 0, 180, 0, 46 [SEP] 8, Plate, -1.660, 1.323, -1.941, 0, 0, 0, 47 [SEP] 9, Knife, 0.206, 1.352, -3.121, 0, 90, 0, 47 [SEP] 10, SoapBottle, -1.789, 0.344, -2.362, 0, 0, 0, 43 [SEP] 11, Tomato, -1.826, 1.097, -0.496, 0, 0, 0, 65 [SEP] 12, Tomato, -1.954, 1.084, -0.496, 0, 0, 0, 65 [SEP] 13, SaltShaker, 0.824, 0.339, -2.061, 0, 180, 0, 46 [SEP] 14, PepperShaker, 0.896, 1.318, -2.794, 0, 0, 0, 47 [SEP] 15, Lettuce, -1.790, 1.399, 0.445, 0, 90, 0, 47 [SEP] 16, Lettuce, -1.530, 1.399, 1.744, 0, 0, 0, 47 [SEP] 17, Mug, 0.965, 1.371, -1.534, 0, 270, 0, 68 [SEP] 18, Mug, -1.682, 0.338, 1.110, 0, 0, 0, 48 [SEP] 19, Bread, -1.513, 1.380, 0.662, 0, 0, 0, 47 [SEP] 20, Pot, -1.727, 0.350, -1.963, 0, 0, 0, 43 [SEP] 21, Knife, -1.915, 1.358, -1.186, 0, 180, 0, 54 [SEP] 22, Bowl, 1.056, 1.755, 2.112, 0, 270, 0, 60 [SEP] 23, Potato, -1.698, 1.090, -0.587, 0, 0, 0, 65 [SEP] 24, SoapBottle, -1.645, 0.422, -0.298, 0, 0, 0, 51 [SEP] 25, Fork, 0.981, 0.740, 1.054, 0, 270, 0, 71 [SEP] 26, Cup, 1.213, 1.307, 1.016, 0, 270, 0, 72 [SEP] 27, Kettle, -0.239, 1.331, -3.301, 0, 180, 0, 42 [SEP] 28, Egg, -1.586, 0.321, 2.234, 0, 270, 0, 62 [SEP] 29, Pan, -2.049, 1.322, 1.744, 0, 180, 0, 47 [SEP] 30, SaltShaker, 1.129, 0.339, -1.751, 0, 180, 0, 46 [SEP] 31, WineBottle, 0.976, 0.345, -2.061, 0, 180, 0, 46 [SEP] 32, Lettuce, 1.155, 1.399, -2.424, 0, 0, 0, 47 [SEP] 33, Spatula, -1.530, 1.337, -2.721, 0, 0, 0, 47 [SEP] 34, PaperTowelRoll, 1.110, 1.312, 1.254, 0, 0, 0, 77 [SEP] 35, Tomato, 0.634, 1.356, -2.900, 0, 0, 0, 47 [SEP] 36, Plate, -1.920, 1.323, 1.419, 0, 0, 0, 47 [SEP] 37, PepperShaker, 1.193, 1.202, 1.238, 0, 0, 0, 72 [SEP] 38, DishSponge, -1.401, 1.322, -2.981, 0, 0, 0, 47 [SEP] 39, Spoon, -1.915, 1.336, -1.049, 0, 0, 0, 54 [SEP] 40, Apple, -1.915, 1.384, -1.255, 0, 0, 0, 54 [SEP] 41, Mug, -2.093, 1.329, -1.117, 0, 0, 0, 54 [SEP] 42, StoveBurner, -0.239, 1.325, -3.301, 0, 180, 0, [SEP] 43, Cabinet, -1.461, 0.775, -2.002, 0, 0, 0, [SEP] 44, StoveBurner, -0.630, 1.325, -3.301, 0, 180, 0, [SEP] 45, Cabinet, -1.461, 0.775, 0.470, 0, 0, 0, [SEP] 46, Cabinet, 0.578, 0.776, -2.054, 0, 0, 0, [SEP] 47, CounterTop, -1.809, 1.358, 1.182, 0, 0, 0, [SEP] 48, Cabinet, -1.461, 0.775, 1.310, 0, 0, 0, [SEP] 49, Faucet, -2.063, 1.362, -0.726, 0, 39.391, 0, [SEP] 50, StoveBurner, -0.749, 1.325, -2.973, 0, 0, 0, [SEP] 51, Drawer, -1.610, 0.681, -0.430, 0, 0, 0, [SEP] 52, Window, -2.566, 1.799, -0.822, 270, 0, 0, [SEP] 53, Drawer, -1.610, 0.681, -1.217, 0, 0, 0, [SEP] 54, Sink, -1.990, 1.143, -0.975, 0, 0, 0, [SEP] 55, StoveBurner, -0.125, 1.325, -2.973, 0, 0, 0, [SEP] 56, StoveKnob, -0.185, 1.338, -2.741, 0, 270, 180, [SEP] 57, StoveKnob, -0.336, 1.338, -2.741, 0, 270, 180, [SEP] 58, StoveKnob, -0.569, 1.338, -2.741, 0, 270, 180, [SEP] 59, StoveKnob, -0.707, 1.338, -2.741, 0, 270, 180, [SEP] 60, Fridge, 1.013, 0.227, 1.917, 0, 270, 0, [SEP] 61, Microwave, 0.994, 1.310, -2.163, 0, 270, 0, [SEP] 62, GarbageCan, -1.633, 0.212, 2.192, 0, 270, 0, [SEP] 63, LightSwitch, 1.386, 1.565, -0.657, 0, 270, 0, [SEP] 64, HousePlant, -2.027, 1.311, -0.026, 0, 284.058, 0, [SEP] 65, SinkBasin, -1.835, 1.039, -0.542, 0, 0, 0, [SEP] 66, ButterKnife, 0.873, 0.468, 0.651, 0, 0, 0, [SEP] 67, Toaster, -1.885, 1.310, -2.512, 0, 90, 0, [SEP] 68, CoffeeMachine, 1.129, 1.310, -1.426, 0, 270, 0, [SEP] 69, Drawer, 0.647, 1.061, 0.680, 0, 270, 0, [SEP] 70, Drawer, 0.648, 1.061, 1.020, 0, 270, 0, [SEP] 71, Drawer, 0.648, 0.843, 1.020, 0, 270, 0, [SEP] 72, SideTable, 0.975, 0.220, 0.869, 0, 270, 0, [SEP] 73, Drawer, 0.648, 0.602, 0.680, 0, 270, 0, [SEP] 74, Drawer, 0.648, 0.596, 1.020, 0, 270, 0, [SEP] 75, Drawer, 0.648, 0.843, 0.680, 0, 270, 0, [SEP] 76, Stool, 0.606, 0.222, -1.084, 1.233, 280.489, 0, [SEP] 77, , , , , , , , [SEP] 78, NorthWall, , , , , , , [SEP] 79, EastWall, , , , , , , [SEP] 80, SouthWall, , , , , , , [SEP] 81, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and go to the sink. | STEP 2: Pick up the apple to the left of the sink. | STEP 3: Turn around and go to the microwave. | STEP 4: Heat the apple in the microwave and take it out. | STEP 5: Move slightly to your left. | STEP 6: Put the apple on the table in front of the microwave. | END"]} +{"id": "trial_T20190909_145819_249505-0", "input": "put two pump bottles on the back of the toilet SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.903, 1.5, 0, 90, 0, [SEP] 1, SoapBar, -2.163, 0.704, 0.572, 0, 0, 0, 20 [SEP] 2, SoapBar, -0.167, 0.151, 1.315, 0, 90, 0, 31 [SEP] 3, Candle, -0.093, 0.713, 0.426, 0, 0, 0, 20 [SEP] 4, SoapBottle, 0.234, 0.101, 2.448, 0, 0, 0, 25 [SEP] 5, ToiletPaper, -0.167, 0.148, 1.416, 0, 90, 0, 31 [SEP] 6, Towel, -2.393, 1.478, 0.580, 0, 90, 0, 26 [SEP] 7, Candle, -2.177, 0.713, 0.048, 0, 0, 0, 20 [SEP] 8, Cloth, -0.858, 0.164, 0.465, 0, 0, 0, 29 [SEP] 9, HandTowel, 0.397, 1.656, 2.039, 0, 180, 0, 30 [SEP] 10, Plunger, 0.480, 0.002, 4.793, 0, 0, 0, [SEP] 11, SoapBar, 0.597, 0.097, 2.738, 0, 0, 0, 25 [SEP] 12, ToiletPaper, 0.160, 0.094, 3.655, 0, 0, 0, 19 [SEP] 13, ToiletPaper, -1.925, 0.701, 0.717, 0, 0, 0, 20 [SEP] 14, SoapBottle, -2.243, 0.707, 0.426, 0, 0, 0, 20 [SEP] 15, SprayBottle, 0.306, 0.098, 2.738, 0, 0, 0, 25 [SEP] 16, ScrubBrush, 0.688, 0.002, 4.867, 0, 0, 0, [SEP] 17, Sink, 0.426, 1.037, 2.947, 0, 270, 0, [SEP] 18, Window, -2.548, 1.673, 2.405, 0, 0, 0, [SEP] 19, Cabinet, 0.068, 0.366, 3.772, 0, 0, 0, [SEP] 20, Bathtub, -1.042, 0.155, 0.558, 0, 0, 0, [SEP] 21, SinkBasin, 0.404, 0.926, 2.926, 0, 270, 0, [SEP] 22, Mirror, 0.858, 1.863, 2.972, 0, 0, 0, [SEP] 23, CounterTop, 0.487, 1.015, 3.090, 0, 0, 0, [SEP] 24, Faucet, -0.207, 0.687, 0.546, 0, 0, 0, [SEP] 25, Cabinet, 0.074, 0.379, 2.045, 0, 0, 0, [SEP] 26, TowelHolder, -2.5, 1.463, 0.579, 0, 90, 0, [SEP] 27, ToiletPaperHanger, -0.081, 0.971, 5.0, 0, 180, 0, [SEP] 28, LightSwitch, -1.121, 1.333, 5.000, 0, 180, 0, [SEP] 29, BathtubBasin, -1.062, 0.153, 0.556, 0, 0, 0, [SEP] 30, HandTowelHolder, 0.398, 1.758, 2.000, 0, 270, 0, [SEP] 31, GarbageCan, -0.229, 0.001, 1.445, 0, 270, 0, [SEP] 32, Toilet, 0.376, 0.002, 4.470, 0, 0, 0, [SEP] 33, Faucet, 0.661, 1.043, 3.371, 0, 270, 0, [SEP] 34, Faucet, 0.661, 1.043, 2.520, 0, 270, 0, [SEP] 35, NorthWall, , , , , , , [SEP] 36, EastWall, , , , , , , [SEP] 37, SouthWall, , , , , , , [SEP] 38, WestWall, , , , , , , ", "output": ["STEP 1: go to the sink | STEP 2: pick up the pump bottle from the counter | STEP 3: take the pump bottle to the toilet | STEP 4: put the bottle on the back of the toilet | STEP 5: go to the right side of the sink | STEP 6: pick up the second bottle | STEP 7: take the bottle to the toilet | STEP 8: put the bottle on the back of the toilet next to the first bottle | END"]} +{"id": "trial_T20190908_175334_837253-2", "input": "Move a pillow from an armchair to a sofa. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.75, 0.998, 0.25, 0, 270, 0, [SEP] 1, Pen, 0.254, 0.867, -2.531, 0, 180, 0, 37 [SEP] 2, CreditCard, -3.650, 0.878, -0.893, 0, 0, 0, 29 [SEP] 3, RemoteControl, -2.763, 0.882, -1.385, 0, 0, 0, 29 [SEP] 4, RemoteControl, -0.906, 0.526, 0.835, 0, 0, 0, 34 [SEP] 5, Laptop, -3.872, 0.879, -1.385, 0, 0, 0, 29 [SEP] 6, Box, -2.863, 1.03, -0.958, 0, 0, 0, 29 [SEP] 7, Pillow, 0.629, 0.482, -1.667, 0, 0, 0, 26 [SEP] 8, CreditCard, 0.833, 0.304, -1.782, 0, 0, 0, 26 [SEP] 9, Plate, -3.851, 0.875, -1.011, 0, 0, 0, 29 [SEP] 10, Laptop, -0.193, 0.966, -2.505, 0, 0, 0, 26 [SEP] 11, RemoteControl, -1.428, 0.526, 0.897, 0, 0, 0, 34 [SEP] 12, Vase, -1.222, 0.459, -0.738, 0, 0, 0, 30 [SEP] 13, Statue, 0.257, 0.965, -2.518, 0, 0, 0, 38 [SEP] 14, KeyChain, -0.316, 0.861, -2.433, 0, 180, 0, 37 [SEP] 15, Pen, -4.094, 0.884, -1.090, 0, 0, 0, 29 [SEP] 16, Curtains, -3.013, 1.557, -3.082, 0, 0, 0, [SEP] 17, Television, -1.063, 0.939, -2.439, 0, 0, 0, [SEP] 18, HousePlant, 0.753, 0.855, -2.467, 0, 215.129, 0, [SEP] 19, HousePlant, 0.739, 0.855, -1.159, 0, 310.776, 0, [SEP] 20, FloorLamp, -2.186, 0.096, 1.111, 0, 0, 0, [SEP] 21, GarbageCan, -1.946, 0.097, -2.899, 0, 216.243, 0, [SEP] 22, Painting, -4.326, 1.817, -1.223, 90, 270, 0, [SEP] 23, Window, 0.010, 1.087, 0.001, 90, 270, 0, [SEP] 24, Window, -2.983, 1.544, -3.220, 90, 180, 0, [SEP] 25, LightSwitch, -3.907, 1.371, 1.386, 0, 180, 0, [SEP] 26, ArmChair, 0.662, 0.103, -1.781, 0, 270, 0, [SEP] 27, Stool, 0.765, 0.108, -1.148, 0, 0, 0, [SEP] 28, Stool, 0.765, 0.108, -2.460, 0, 35.380, 0, [SEP] 29, DiningTable, -3.428, 0.099, -1.188, 0, 0, 0, [SEP] 30, CoffeeTable, -1.090, 0.097, -0.737, 0, 0, 0, [SEP] 31, Chair, -3.793, 0.098, -0.841, 0, 164.999, 0, [SEP] 32, Chair, -3.073, 0.098, -1.515, 0, 11.313, 0, [SEP] 33, Chair, -3.810, 0.098, -1.549, 0, 352.857, 0, [SEP] 34, Sofa, -0.905, 0.099, 0.959, 0, 180, 0, [SEP] 35, CoffeeTable, -1.046, 0.096, -2.473, 0, 180, 0, [SEP] 36, Chair, -3.068, 0.098, -0.882, 0, 180, 0, [SEP] 37, Drawer, -0.031, 0.872, -2.487, 0, 0, 0, [SEP] 38, SideTable, -0.030, 0.097, -2.552, 0, 0, 0, [SEP] 39, NorthWall, , , , , , , [SEP] 40, EastWall, , , , , , , [SEP] 41, SouthWall, , , , , , , [SEP] 42, WestWall, , , , , , , ", "output": ["STEP 1: Turn around, walk to the coffee table, then turn right and walk to the TV, then turn left and walk to the armchair containing the purple pillow. | STEP 2: Pick up the pillow from the armchair. | STEP 3: Turn around and walk forward slightly, then turn right and walk to the blue sofa. | STEP 4: Put the pillow on the seat of the sofa which is on your left. | END"]} +{"id": "trial_T20190908_095904_372388-1", "input": "To heat a glass and put it in the fridge. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.5, 0.900, -1.25, 0, 270, 0, [SEP] 1, Pan, -0.924, 1.498, 0.042, 0, 90, 0, 74 [SEP] 2, Potato, -0.964, 0.847, 0.118, 0, 90, 0, 74 [SEP] 3, DishSponge, 1.729, 0.937, 1.458, 0, 0, 0, 47 [SEP] 4, ButterKnife, -1.043, 0.937, 1.076, 0, 0, 0, 67 [SEP] 5, ButterKnife, -0.876, 0.937, 0.765, 0, 0, 0, 67 [SEP] 6, Spatula, -0.960, 0.952, 0.921, 0, 0, 0, 67 [SEP] 7, Spatula, -0.896, 0.761, 1.050, 0, 270, 0, 65 [SEP] 8, Pot, -1.109, 0.930, 1.470, 0, 0, 0, 44 [SEP] 9, Egg, 1.597, 0.979, 1.798, 0, 180, 0, 69 [SEP] 10, Egg, -0.946, 0.235, -0.126, 0, 90, 0, 74 [SEP] 11, Plate, -1.078, 1.506, 0.887, 0, 0, 0, 53 [SEP] 12, Tomato, 1.550, 1.005, 1.631, 0, 180, 0, 69 [SEP] 13, SoapBottle, -0.795, 0.937, 2.159, 0, 0, 0, 42 [SEP] 14, SoapBottle, 1.430, 0.081, 2.321, 0, 0, 0, 51 [SEP] 15, Bowl, -1.113, 1.946, 1.830, 0, 0, 0, 57 [SEP] 16, Bowl, -0.829, 0.080, 0.845, 0, 0, 0, 54 [SEP] 17, PepperShaker, -1.127, 0.934, 2.386, 0, 0, 0, 43 [SEP] 18, PepperShaker, -1.001, 1.497, 2.524, 0, 180, 0, 64 [SEP] 19, Lettuce, -1.126, 1.028, 0.765, 0, 0, 0, 67 [SEP] 20, Lettuce, -1.126, 1.028, 0.998, 0, 0, 0, 67 [SEP] 21, Lettuce, -0.961, 1.028, 2.310, 0, 0, 0, 42 [SEP] 22, SoapBottle, 1.489, 0.069, 2.879, 0, 0, 0, 80 [SEP] 23, Bread, -0.971, 1.387, 0.118, 0, 90, 0, 74 [SEP] 24, Fork, -1.127, 0.938, 2.159, 0, 0, 0, 42 [SEP] 25, Tomato, -0.971, 1.560, 0.348, 0, 90, 0, 74 [SEP] 26, Bowl, 1.666, 1.500, 0.965, 0, 0, 0, 49 [SEP] 27, Pot, -1.109, 0.930, 1.865, 0, 0, 0, 66 [SEP] 28, Spatula, 1.503, 0.959, 1.631, 0, 0, 0, 69 [SEP] 29, Knife, -0.689, 0.768, 0.779, 0, 90, 0, 65 [SEP] 30, SaltShaker, -0.677, 0.080, 0.985, 0, 0, 0, 54 [SEP] 31, Apple, 1.456, 0.892, 1.398, 0, 180, 0, 84 [SEP] 32, PepperShaker, -1.153, 1.824, 0.197, 0, 0, 0, 56 [SEP] 33, ButterKnife, 1.456, 0.944, 1.589, 0, 180, 0, 69 [SEP] 34, Potato, -0.710, 0.970, 0.921, 0, 0, 0, 67 [SEP] 35, Plate, -0.804, 0.086, 2.528, 0, 0, 0, 63 [SEP] 36, DishSponge, 1.315, 0.944, 1.714, 0, 180, 0, 69 [SEP] 37, Egg, 1.556, 0.105, 2.977, 0, 0, 0, 80 [SEP] 38, Cup, 1.503, 0.943, 1.756, 0, 180, 0, 69 [SEP] 39, Pan, 1.378, 1.737, 0.392, 0, 270, 0, 50 [SEP] 40, Spoon, 1.409, 0.945, 1.798, 0, 180, 0, 69 [SEP] 41, Mug, 1.528, 1.002, 2.345, 0, 270, 0, 47 [SEP] 42, CounterTop, -0.973, 0.973, 2.386, 0, 0, 0, [SEP] 43, Drawer, -0.783, 0.774, 2.381, 0, 180, 0, [SEP] 44, StoveBurner, -1.108, 0.922, 1.470, 0, 0, 0, [SEP] 45, Drawer, 1.370, 0.774, 2.391, 0, 0, 0, [SEP] 46, Stool, -0.748, 0.008, 3.116, 0, 0, 0, [SEP] 47, CounterTop, 1.504, 0.973, 2.309, 0, 0, 0, [SEP] 48, Cabinet, 1.219, 1.388, 0.591, 0, 0, 0, [SEP] 49, Cabinet, 1.500, 2.113, 1.164, 0, 0, 0, [SEP] 50, Cabinet, 1.219, 2.010, 0.591, 0, 0, 0, [SEP] 51, Cabinet, 1.219, 0.388, 2.105, 0, 0, 0, [SEP] 52, Cabinet, 1.219, 0.553, 0.591, 0, 0, 0, [SEP] 53, Cabinet, -0.913, 2.113, 1.164, 0, 0, 0, [SEP] 54, Cabinet, -0.633, 0.388, 0.627, 0, 0, 0, [SEP] 55, Cabinet, -0.913, 2.050, -0.329, 0, 0, 0, [SEP] 56, Cabinet, -0.913, 2.113, 0.583, 0, 0, 0, [SEP] 57, Cabinet, -0.913, 2.113, 2.082, 0, 0, 0, [SEP] 58, Cabinet, -0.913, 2.113, 1.207, 0, 0, 0, [SEP] 59, Cabinet, 1.500, 2.113, 2.082, 0, 0, 0, [SEP] 60, Cabinet, 1.500, 2.113, 1.207, 0, 0, 0, [SEP] 61, Cabinet, 1.500, 1.810, 2.691, 0, 0, 0, [SEP] 62, Cabinet, 1.500, 1.810, 2.101, 0, 0, 0, [SEP] 63, Cabinet, -0.633, 0.388, 2.105, 0, 0, 0, [SEP] 64, Cabinet, -0.911, 1.810, 2.700, 0, 180, 0, [SEP] 65, Drawer, -0.783, 0.774, 0.915, 0, 180, 0, [SEP] 66, StoveBurner, -1.108, 0.922, 1.865, 0, 0, 0, [SEP] 67, CounterTop, -0.972, 0.973, 0.921, 0, 0, 0, [SEP] 68, Cabinet, 1.219, 0.388, 0.631, 0, 0, 0, [SEP] 69, Sink, 1.544, 0.869, 1.639, 0, 180, 0, [SEP] 70, StoveBurner, -0.832, 0.922, 1.865, 0, 0, 0, [SEP] 71, StoveBurner, -0.831, 0.922, 1.470, 0, 0, 0, [SEP] 72, Drawer, 1.370, 0.774, 0.916, 0, 0, 0, [SEP] 73, Cabinet, -0.911, 1.810, 2.111, 0, 180, 0, [SEP] 74, Fridge, -1.001, 0.0, 0.119, 0, 0, 0, [SEP] 75, StoveKnob, -0.648, 0.926, 1.923, 0, 270, 0, [SEP] 76, StoveKnob, -0.648, 0.926, 1.363, 0, 270, 0, [SEP] 77, StoveKnob, -0.648, 0.926, 1.513, 0, 270, 0, [SEP] 78, StoveKnob, -0.648, 0.926, 1.763, 0, 270, 0, [SEP] 79, Toaster, -1.002, 0.926, 2.561, 0, 90, 0, [SEP] 80, GarbageCan, 1.451, -0.029, 2.912, 0, 0, 0, [SEP] 81, Microwave, 1.632, 1.480, 1.645, 0, 270, 0, [SEP] 82, Window, 0.224, 1.601, 3.509, 90, 0, 0, [SEP] 83, CoffeeMachine, 1.692, 0.926, 2.453, 0, 270, 0, [SEP] 84, SinkBasin, 1.461, 0.833, 1.369, 0, 180, 0, [SEP] 85, LightSwitch, 0.451, 1.412, -1.674, 0, 0, 0, [SEP] 86, Faucet, 1.707, 0.925, 1.363, 0, 270, 0, [SEP] 87, NorthWall, , , , , , , [SEP] 88, EastWall, , , , , , , [SEP] 89, SouthWall, , , , , , , [SEP] 90, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and walk to the sink on the right. | STEP 2: Pick up the glass that's behind the spoon. | STEP 3: Move to the right side of the sink and look up at the microwave. | STEP 4: Open the microwave door, place the glass inside of the microwave, close the door, heat up the glass, open the door, remove the glass, close the door. | STEP 5: Turn around and walk to the fridge. | STEP 6: Open the fridge door and place the glass on the left side of the second shelf. | END"]} +{"id": "trial_T20190908_095904_372388-2", "input": "Place a heated cup in a fridge. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.5, 0.900, -1.25, 0, 270, 0, [SEP] 1, Pan, -0.924, 1.498, 0.042, 0, 90, 0, 74 [SEP] 2, Potato, -0.964, 0.847, 0.118, 0, 90, 0, 74 [SEP] 3, DishSponge, 1.729, 0.937, 1.458, 0, 0, 0, 47 [SEP] 4, ButterKnife, -1.043, 0.937, 1.076, 0, 0, 0, 67 [SEP] 5, ButterKnife, -0.876, 0.937, 0.765, 0, 0, 0, 67 [SEP] 6, Spatula, -0.960, 0.952, 0.921, 0, 0, 0, 67 [SEP] 7, Spatula, -0.896, 0.761, 1.050, 0, 270, 0, 65 [SEP] 8, Pot, -1.109, 0.930, 1.470, 0, 0, 0, 44 [SEP] 9, Egg, 1.597, 0.979, 1.798, 0, 180, 0, 69 [SEP] 10, Egg, -0.946, 0.235, -0.126, 0, 90, 0, 74 [SEP] 11, Plate, -1.078, 1.506, 0.887, 0, 0, 0, 53 [SEP] 12, Tomato, 1.550, 1.005, 1.631, 0, 180, 0, 69 [SEP] 13, SoapBottle, -0.795, 0.937, 2.159, 0, 0, 0, 42 [SEP] 14, SoapBottle, 1.430, 0.081, 2.321, 0, 0, 0, 51 [SEP] 15, Bowl, -1.113, 1.946, 1.830, 0, 0, 0, 57 [SEP] 16, Bowl, -0.829, 0.080, 0.845, 0, 0, 0, 54 [SEP] 17, PepperShaker, -1.127, 0.934, 2.386, 0, 0, 0, 43 [SEP] 18, PepperShaker, -1.001, 1.497, 2.524, 0, 180, 0, 64 [SEP] 19, Lettuce, -1.126, 1.028, 0.765, 0, 0, 0, 67 [SEP] 20, Lettuce, -1.126, 1.028, 0.998, 0, 0, 0, 67 [SEP] 21, Lettuce, -0.961, 1.028, 2.310, 0, 0, 0, 42 [SEP] 22, SoapBottle, 1.489, 0.069, 2.879, 0, 0, 0, 80 [SEP] 23, Bread, -0.971, 1.387, 0.118, 0, 90, 0, 74 [SEP] 24, Fork, -1.127, 0.938, 2.159, 0, 0, 0, 42 [SEP] 25, Tomato, -0.971, 1.560, 0.348, 0, 90, 0, 74 [SEP] 26, Bowl, 1.666, 1.500, 0.965, 0, 0, 0, 49 [SEP] 27, Pot, -1.109, 0.930, 1.865, 0, 0, 0, 66 [SEP] 28, Spatula, 1.503, 0.959, 1.631, 0, 0, 0, 69 [SEP] 29, Knife, -0.689, 0.768, 0.779, 0, 90, 0, 65 [SEP] 30, SaltShaker, -0.677, 0.080, 0.985, 0, 0, 0, 54 [SEP] 31, Apple, 1.456, 0.892, 1.398, 0, 180, 0, 84 [SEP] 32, PepperShaker, -1.153, 1.824, 0.197, 0, 0, 0, 56 [SEP] 33, ButterKnife, 1.456, 0.944, 1.589, 0, 180, 0, 69 [SEP] 34, Potato, -0.710, 0.970, 0.921, 0, 0, 0, 67 [SEP] 35, Plate, -0.804, 0.086, 2.528, 0, 0, 0, 63 [SEP] 36, DishSponge, 1.315, 0.944, 1.714, 0, 180, 0, 69 [SEP] 37, Egg, 1.556, 0.105, 2.977, 0, 0, 0, 80 [SEP] 38, Cup, 1.503, 0.943, 1.756, 0, 180, 0, 69 [SEP] 39, Pan, 1.378, 1.737, 0.392, 0, 270, 0, 50 [SEP] 40, Spoon, 1.409, 0.945, 1.798, 0, 180, 0, 69 [SEP] 41, Mug, 1.528, 1.002, 2.345, 0, 270, 0, 47 [SEP] 42, CounterTop, -0.973, 0.973, 2.386, 0, 0, 0, [SEP] 43, Drawer, -0.783, 0.774, 2.381, 0, 180, 0, [SEP] 44, StoveBurner, -1.108, 0.922, 1.470, 0, 0, 0, [SEP] 45, Drawer, 1.370, 0.774, 2.391, 0, 0, 0, [SEP] 46, Stool, -0.748, 0.008, 3.116, 0, 0, 0, [SEP] 47, CounterTop, 1.504, 0.973, 2.309, 0, 0, 0, [SEP] 48, Cabinet, 1.219, 1.388, 0.591, 0, 0, 0, [SEP] 49, Cabinet, 1.500, 2.113, 1.164, 0, 0, 0, [SEP] 50, Cabinet, 1.219, 2.010, 0.591, 0, 0, 0, [SEP] 51, Cabinet, 1.219, 0.388, 2.105, 0, 0, 0, [SEP] 52, Cabinet, 1.219, 0.553, 0.591, 0, 0, 0, [SEP] 53, Cabinet, -0.913, 2.113, 1.164, 0, 0, 0, [SEP] 54, Cabinet, -0.633, 0.388, 0.627, 0, 0, 0, [SEP] 55, Cabinet, -0.913, 2.050, -0.329, 0, 0, 0, [SEP] 56, Cabinet, -0.913, 2.113, 0.583, 0, 0, 0, [SEP] 57, Cabinet, -0.913, 2.113, 2.082, 0, 0, 0, [SEP] 58, Cabinet, -0.913, 2.113, 1.207, 0, 0, 0, [SEP] 59, Cabinet, 1.500, 2.113, 2.082, 0, 0, 0, [SEP] 60, Cabinet, 1.500, 2.113, 1.207, 0, 0, 0, [SEP] 61, Cabinet, 1.500, 1.810, 2.691, 0, 0, 0, [SEP] 62, Cabinet, 1.500, 1.810, 2.101, 0, 0, 0, [SEP] 63, Cabinet, -0.633, 0.388, 2.105, 0, 0, 0, [SEP] 64, Cabinet, -0.911, 1.810, 2.700, 0, 180, 0, [SEP] 65, Drawer, -0.783, 0.774, 0.915, 0, 180, 0, [SEP] 66, StoveBurner, -1.108, 0.922, 1.865, 0, 0, 0, [SEP] 67, CounterTop, -0.972, 0.973, 0.921, 0, 0, 0, [SEP] 68, Cabinet, 1.219, 0.388, 0.631, 0, 0, 0, [SEP] 69, Sink, 1.544, 0.869, 1.639, 0, 180, 0, [SEP] 70, StoveBurner, -0.832, 0.922, 1.865, 0, 0, 0, [SEP] 71, StoveBurner, -0.831, 0.922, 1.470, 0, 0, 0, [SEP] 72, Drawer, 1.370, 0.774, 0.916, 0, 0, 0, [SEP] 73, Cabinet, -0.911, 1.810, 2.111, 0, 180, 0, [SEP] 74, Fridge, -1.001, 0.0, 0.119, 0, 0, 0, [SEP] 75, StoveKnob, -0.648, 0.926, 1.923, 0, 270, 0, [SEP] 76, StoveKnob, -0.648, 0.926, 1.363, 0, 270, 0, [SEP] 77, StoveKnob, -0.648, 0.926, 1.513, 0, 270, 0, [SEP] 78, StoveKnob, -0.648, 0.926, 1.763, 0, 270, 0, [SEP] 79, Toaster, -1.002, 0.926, 2.561, 0, 90, 0, [SEP] 80, GarbageCan, 1.451, -0.029, 2.912, 0, 0, 0, [SEP] 81, Microwave, 1.632, 1.480, 1.645, 0, 270, 0, [SEP] 82, Window, 0.224, 1.601, 3.509, 90, 0, 0, [SEP] 83, CoffeeMachine, 1.692, 0.926, 2.453, 0, 270, 0, [SEP] 84, SinkBasin, 1.461, 0.833, 1.369, 0, 180, 0, [SEP] 85, LightSwitch, 0.451, 1.412, -1.674, 0, 0, 0, [SEP] 86, Faucet, 1.707, 0.925, 1.363, 0, 270, 0, [SEP] 87, NorthWall, , , , , , , [SEP] 88, EastWall, , , , , , , [SEP] 89, SouthWall, , , , , , , [SEP] 90, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and veer right to the sink. | STEP 2: Pick up the glass to the left of the sink. | STEP 3: Take a step right. | STEP 4: Heat the glass in the microwave. | STEP 5: Turn around and veer left to the fridge. | STEP 6: Place the glass on the second to bottom shelf of the fridge. | END"]} +{"id": "trial_T20190909_015926_122467-2", "input": "Chill and egg and place it in the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.0, 0.900, -0.5, 0, 90, 0, [SEP] 1, Potato, 1.669, 0.970, 0.873, 0, 0, 0, 44 [SEP] 2, DishSponge, 1.409, 0.936, 1.797, 0, 180, 1.212, 66 [SEP] 3, DishSponge, -1.081, 1.500, 2.583, 0, 180, 0, 61 [SEP] 4, Fork, -0.861, 0.747, 2.381, 0, 270, 0, 40 [SEP] 5, Fork, -1.126, 0.938, 0.921, 0, 90, 0, 64 [SEP] 6, Spoon, -0.792, 0.747, 2.449, 0, 90, 0, 40 [SEP] 7, Spatula, -0.793, 0.952, 1.154, 0, 0, 0, 64 [SEP] 8, Egg, 1.597, 0.979, 1.798, 0, 180, 0, 66 [SEP] 9, Egg, 1.523, 0.105, 2.912, 0, 0, 0, 77 [SEP] 10, Cup, -0.937, 0.564, 0.195, 0, 90, 0, 71 [SEP] 11, Knife, -0.896, 0.768, 2.245, 0, 90, 0, 40 [SEP] 12, Tomato, 1.592, 0.999, 1.007, 0, 0, 0, 44 [SEP] 13, SoapBottle, -1.043, 0.937, 1.154, 0, 0, 0, 64 [SEP] 14, SaltShaker, -0.792, 0.743, 2.313, 0, 180, 0, 40 [SEP] 15, PepperShaker, -0.712, 0.934, 2.159, 0, 0, 0, 40 [SEP] 16, Lettuce, -1.126, 1.028, 0.765, 0, 0, 0, 64 [SEP] 17, Apple, -1.065, 1.368, 0.042, 0, 90, 0, 71 [SEP] 18, Lettuce, 1.461, 1.013, 1.680, 7.896, 60.883, 2.157, 66 [SEP] 19, SoapBottle, -0.724, 0.081, 2.313, 0, 0, 0, 60 [SEP] 20, Bread, -0.923, 0.990, 2.265, 0, 302.470, 0, 39 [SEP] 21, Fork, 1.315, 0.945, 1.756, 0, 270, 0, 66 [SEP] 22, Tomato, 1.423, 0.131, 2.945, 0, 0, 0, 77 [SEP] 23, Bowl, -0.971, 1.495, 0.042, 0, 90, 0, 71 [SEP] 24, Pot, -1.109, 0.930, 1.470, 0, 0, 0, 41 [SEP] 25, Spatula, -0.861, 0.761, 0.779, 0, 90, 0, 62 [SEP] 26, Knife, 1.275, 0.768, 0.780, 0, 90, 0, 69 [SEP] 27, SaltShaker, -0.961, 1.497, 2.216, 0, 180, 0, 70 [SEP] 28, Apple, -1.209, 0.987, 0.998, 0, 0, 0, 64 [SEP] 29, PepperShaker, 1.362, 0.934, 1.074, 0, 0, 0, 44 [SEP] 30, ButterKnife, -0.960, 0.937, 0.843, 0, 0, 0, 64 [SEP] 31, Potato, 1.652, 1.629, 1.598, 0, 270, 0, 78 [SEP] 32, Plate, -1.076, 1.832, 0.356, 0, 0, 0, 53 [SEP] 33, DishSponge, -1.211, 0.937, 2.310, 0, 0, 0, 39 [SEP] 34, Egg, -1.211, 0.973, 2.159, 0, 0, 0, 39 [SEP] 35, Cup, 1.746, 0.936, 2.022, 0, 0, 0, 44 [SEP] 36, Pan, -1.109, 0.930, 1.865, 0, 0, 0, 63 [SEP] 37, Spoon, -1.127, 0.939, 2.159, 0, 0, 0, 39 [SEP] 38, Mug, 1.528, 1.002, 2.345, 0, 270, 0, 44 [SEP] 39, CounterTop, -0.973, 0.973, 2.386, 0, 0, 0, [SEP] 40, Drawer, -0.783, 0.774, 2.381, 0, 180, 0, [SEP] 41, StoveBurner, -1.108, 0.922, 1.470, 0, 0, 0, [SEP] 42, Drawer, 1.370, 0.774, 2.391, 0, 0, 0, [SEP] 43, Stool, -0.748, 0.008, 3.116, 0, 0, 0, [SEP] 44, CounterTop, 1.504, 0.973, 2.309, 0, 0, 0, [SEP] 45, Cabinet, 1.219, 1.388, 0.591, 0, 0, 0, [SEP] 46, Cabinet, 1.500, 2.113, 1.164, 0, 0, 0, [SEP] 47, Cabinet, 1.219, 2.010, 0.591, 0, 0, 0, [SEP] 48, Cabinet, 1.219, 0.388, 2.105, 0, 0, 0, [SEP] 49, Cabinet, 1.219, 0.553, 0.591, 0, 0, 0, [SEP] 50, Cabinet, -0.913, 2.113, 1.164, 0, 0, 0, [SEP] 51, Cabinet, -0.633, 0.388, 0.627, 0, 0, 0, [SEP] 52, Cabinet, -0.913, 2.050, -0.329, 0, 0, 0, [SEP] 53, Cabinet, -0.913, 2.113, 0.583, 0, 0, 0, [SEP] 54, Cabinet, -0.913, 2.113, 2.082, 0, 0, 0, [SEP] 55, Cabinet, -0.913, 2.113, 1.207, 0, 0, 0, [SEP] 56, Cabinet, 1.500, 2.113, 2.082, 0, 0, 0, [SEP] 57, Cabinet, 1.500, 2.113, 1.207, 0, 0, 0, [SEP] 58, Cabinet, 1.500, 1.810, 2.691, 0, 0, 0, [SEP] 59, Cabinet, 1.500, 1.810, 2.101, 0, 0, 0, [SEP] 60, Cabinet, -0.633, 0.388, 2.105, 0, 0, 0, [SEP] 61, Cabinet, -0.911, 1.810, 2.700, 0, 180, 0, [SEP] 62, Drawer, -0.783, 0.774, 0.915, 0, 180, 0, [SEP] 63, StoveBurner, -1.108, 0.922, 1.865, 0, 0, 0, [SEP] 64, CounterTop, -0.972, 0.973, 0.921, 0, 0, 0, [SEP] 65, Cabinet, 1.219, 0.388, 0.631, 0, 0, 0, [SEP] 66, Sink, 1.544, 0.869, 1.639, 0, 180, 0, [SEP] 67, StoveBurner, -0.832, 0.922, 1.865, 0, 0, 0, [SEP] 68, StoveBurner, -0.831, 0.922, 1.470, 0, 0, 0, [SEP] 69, Drawer, 1.370, 0.774, 0.916, 0, 0, 0, [SEP] 70, Cabinet, -0.911, 1.810, 2.111, 0, 180, 0, [SEP] 71, Fridge, -1.001, 0.0, 0.119, 0, 0, 0, [SEP] 72, StoveKnob, -0.648, 0.926, 1.923, 0, 270, 0, [SEP] 73, StoveKnob, -0.648, 0.926, 1.363, 0, 270, 0, [SEP] 74, StoveKnob, -0.648, 0.926, 1.513, 0, 270, 0, [SEP] 75, StoveKnob, -0.648, 0.926, 1.763, 0, 270, 0, [SEP] 76, Toaster, -1.002, 0.926, 2.561, 0, 90, 0, [SEP] 77, GarbageCan, 1.451, -0.029, 2.912, 0, 0, 0, [SEP] 78, Microwave, 1.632, 1.480, 1.645, 0, 270, 0, [SEP] 79, Window, 0.224, 1.601, 3.509, 90, 0, 0, [SEP] 80, CoffeeMachine, 1.692, 0.926, 2.453, 0, 270, 0, [SEP] 81, SinkBasin, 1.461, 0.833, 1.369, 0, 180, 0, [SEP] 82, LightSwitch, 0.451, 1.412, -1.674, 0, 0, 0, [SEP] 83, Faucet, 1.707, 0.925, 1.363, 0, 270, 0, [SEP] 84, NorthWall, , , , , , , [SEP] 85, EastWall, , , , , , , [SEP] 86, SouthWall, , , , , , , [SEP] 87, WestWall, , , , , , , ", "output": ["STEP 1: Turn to the left and then face the sink on the right. | STEP 2: Pick up the egg from the left of the sink. | STEP 3: Carry the egg and turn to the right. Then turn right again and face the fridge. | STEP 4: Open the fridge and place the egg inside. Shut the door and then open door and take out the egg. Shut the door. | STEP 5: Carry the egg and turn to the right, then turn right again to move to the sink. | STEP 6: Place the egg in the sink. | END"]} +{"id": "trial_T20190909_101726_033701-1", "input": "Slice the apple while it is still in the pot. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.5, 0.900, 1.0, 0, 0, 0, [SEP] 1, Potato, -0.203, 1.259, 0.410, 0, 0, 0, 72 [SEP] 2, Ladle, -0.662, 1.086, 2.369, 0, 0, 0, 49 [SEP] 3, Ladle, -2.514, 1.164, 0.567, 0, 0, 0, 59 [SEP] 4, DishSponge, -1.199, 0.931, 0.290, 0, 0, 0, 71 [SEP] 5, DishSponge, -2.450, 0.487, 0.613, 0, 0, 0, 62 [SEP] 6, ButterKnife, -0.415, 1.048, 2.369, 0, 0, 0, 49 [SEP] 7, Fork, -0.292, 1.047, 2.144, 0, 0, 0, 49 [SEP] 8, Fork, -0.538, 1.047, 3.042, 0, 0, 0, 49 [SEP] 9, Egg, -3.742, 1.155, 0.190, 0, 0, 0, 56 [SEP] 10, Plate, -0.908, 1.045, 2.144, 0, 0, 0, 49 [SEP] 11, Plate, -1.235, 0.047, 0.608, 0, 0, 0, 53 [SEP] 12, Knife, -1.376, 0.963, 0.290, 0, 90, 0, 71 [SEP] 13, Knife, -1.642, 0.963, 0.567, 0, 270, 0, 71 [SEP] 14, SoapBottle, -1.640, 0.049, 0.325, 0, 0, 0, 64 [SEP] 15, SoapBottle, -0.785, 1.048, 2.593, 0, 0, 0, 49 [SEP] 16, Tomato, -3.593, 0.153, 1.978, 0, 0, 0, 70 [SEP] 17, Tomato, -3.798, 0.153, 2.008, 0, 0, 0, 70 [SEP] 18, Bowl, -0.908, 1.045, 3.266, 0, 0, 0, 49 [SEP] 19, SaltShaker, -1.522, 0.045, 0.381, 0, 0, 0, 64 [SEP] 20, Apple, -0.908, 1.114, 2.369, 0, 0, 0, 49 [SEP] 21, Apple, -3.506, 1.354, 3.061, 0, 90, 0, 66 [SEP] 22, Fork, -1.288, 0.932, 0.428, 0, 0, 0, 71 [SEP] 23, SoapBottle, -1.562, 0.049, 0.608, 0, 0, 0, 64 [SEP] 24, Pot, -3.475, 1.133, 0.227, 0, 90, 0, 45 [SEP] 25, Ladle, -0.538, 1.086, 2.144, 0, 0, 0, 49 [SEP] 26, Potato, -1.288, 0.962, 0.567, 0, 0, 0, 71 [SEP] 27, Plate, -0.538, 1.045, 2.593, 0, 0, 0, 49 [SEP] 28, Bread, -0.183, 1.119, 1.892, 0, 0, 0, 49 [SEP] 29, Lettuce, -3.339, 0.969, 3.081, 0, 228.265, 312.447, 66 [SEP] 30, Spatula, -1.111, 0.946, 0.498, 0, 270, 0, 71 [SEP] 31, Pan, -3.000, 1.133, 0.227, 0, 270, 0, 63 [SEP] 32, Egg, -0.309, 1.258, 0.508, 0, 0, 0, 72 [SEP] 33, Cup, -3.440, 1.560, 2.920, 0, 90, 0, 66 [SEP] 34, SaltShaker, -0.538, 1.044, 2.369, 0, 0, 0, 49 [SEP] 35, Knife, -0.662, 1.079, 2.817, 0, 0, 0, 49 [SEP] 36, Bowl, -3.44, 0.909, 2.849, 0, 90, 0, 66 [SEP] 37, PepperShaker, -1.076, 0.045, 0.437, 0, 0, 0, 53 [SEP] 38, ButterKnife, -1.465, 0.931, 0.498, 0, 0, 0, 71 [SEP] 39, Apple, -1.885, 1.192, 0.095, 0, 0, 0, 59 [SEP] 40, Tomato, -2.137, 1.165, 0.379, 0, 0, 0, 59 [SEP] 41, DishSponge, -1.562, 0.048, 0.495, 0, 0, 0, 64 [SEP] 42, Spoon, -1.568, 1.155, 0.121, 0, 0, 0, 46 [SEP] 43, Mug, -1.553, 0.926, 0.221, 0, 90, 0, 71 [SEP] 44, StoveKnob, -3.322, 1.053, 0.709, 45, 0, 0, [SEP] 45, StoveBurner, -3.474, 1.097, 0.227, 0, 180, 0, [SEP] 46, Sink, -1.394, 0.982, 0.439, 0, 0, 0, [SEP] 47, StoveBurner, -3.474, 1.097, 0.479, 0, 180, 0, [SEP] 48, StoveKnob, -3.164, 1.053, 0.709, 45, 0, 0, [SEP] 49, DiningTable, -0.620, 0.017, 2.486, 0, 0, 0, [SEP] 50, Drawer, -2.043, 0.608, 0.594, 0, 0, 0, [SEP] 51, Drawer, -2.043, 0.216, 0.594, 0, 0, 0, [SEP] 52, Drawer, -2.498, 0.216, 0.594, 0, 0, 0, [SEP] 53, Cabinet, -1.001, 0.393, 0.734, 0, 0, 0, [SEP] 54, StoveBurner, -3.000, 1.097, 0.480, 0, 0, 0, [SEP] 55, StoveKnob, -3.492, 1.053, 0.709, 45, 0, 0, [SEP] 56, CounterTop, -3.856, 1.160, 0.379, 0, 0, 0, [SEP] 57, Drawer, -2.043, 0.937, 0.599, 0, 0, 0, [SEP] 58, Drawer, -2.509, 0.937, 0.599, 0, 0, 0, [SEP] 59, CounterTop, -2.280, 1.160, 0.379, 0, 0, 0, [SEP] 60, StoveKnob, -2.985, 1.053, 0.709, 45, 0, 0, [SEP] 61, CounterTop, -0.514, 1.160, 0.492, 0, 0, 0, [SEP] 62, Drawer, -2.498, 0.608, 0.594, 0, 0, 0, [SEP] 63, StoveBurner, -3.000, 1.097, 0.227, 0, 0, 0, [SEP] 64, Cabinet, -1.733, 0.393, 0.734, 0, 0, 0, [SEP] 65, CoffeeMachine, -0.153, 1.038, 3.193, 0, 270, 0, [SEP] 66, Fridge, -3.519, 0.0, 2.717, 0, 90, 0, [SEP] 67, Window, -1.394, 1.924, 0.014, 90, 0, 0, [SEP] 68, Window, -3.266, 1.924, 0.014, 90, 0, 0, [SEP] 69, Toaster, -0.225, 1.038, 2.865, 0, 270, 0, [SEP] 70, GarbageCan, -3.696, 0.002, 2.008, 0, 0, 0, [SEP] 71, SinkBasin, -1.389, 0.921, 0.428, 0, 0, 0, [SEP] 72, Microwave, -0.366, 1.113, 0.430, 0, 0, 0, [SEP] 73, HousePlant, -2.155, 1.101, 0.169, 0, 332.897, 0, [SEP] 74, LightSwitch, -2.584, 1.299, 3.5, 0, 180, 0, [SEP] 75, Faucet, -1.393, 1.373, 0.168, 0, 270, 0, [SEP] 76, NorthWall, , , , , , , [SEP] 77, SouthWall, , , , , , , [SEP] 78, SouthWall, , , , , , , ", "output": ["STEP 1: Turn around and face the stove. | STEP 2: Grab the big pot off the stove. | STEP 3: Turn around and walk straight, then turn right to the table. | STEP 4: Place the pot to the left of the fork. | STEP 5: Move right further down the table. | STEP 6: Grab the apple off of the table. | STEP 7: Walk back to where the pot is | STEP 8: Place the apple inside the pot | STEP 9: Head back to where the apple used to be. | STEP 10: Grab the knife from the table. | STEP 11: Head back to where the pot is once more. | STEP 12: Slice the apple that's in the pot. | END"]} +{"id": "trial_T20190909_101726_033701-2", "input": "To Put an apple in a pot and cut the apple into three pieces. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.5, 0.900, 1.0, 0, 0, 0, [SEP] 1, Potato, -0.203, 1.259, 0.410, 0, 0, 0, 72 [SEP] 2, Ladle, -0.662, 1.086, 2.369, 0, 0, 0, 49 [SEP] 3, Ladle, -2.514, 1.164, 0.567, 0, 0, 0, 59 [SEP] 4, DishSponge, -1.199, 0.931, 0.290, 0, 0, 0, 71 [SEP] 5, DishSponge, -2.450, 0.487, 0.613, 0, 0, 0, 62 [SEP] 6, ButterKnife, -0.415, 1.048, 2.369, 0, 0, 0, 49 [SEP] 7, Fork, -0.292, 1.047, 2.144, 0, 0, 0, 49 [SEP] 8, Fork, -0.538, 1.047, 3.042, 0, 0, 0, 49 [SEP] 9, Egg, -3.742, 1.155, 0.190, 0, 0, 0, 56 [SEP] 10, Plate, -0.908, 1.045, 2.144, 0, 0, 0, 49 [SEP] 11, Plate, -1.235, 0.047, 0.608, 0, 0, 0, 53 [SEP] 12, Knife, -1.376, 0.963, 0.290, 0, 90, 0, 71 [SEP] 13, Knife, -1.642, 0.963, 0.567, 0, 270, 0, 71 [SEP] 14, SoapBottle, -1.640, 0.049, 0.325, 0, 0, 0, 64 [SEP] 15, SoapBottle, -0.785, 1.048, 2.593, 0, 0, 0, 49 [SEP] 16, Tomato, -3.593, 0.153, 1.978, 0, 0, 0, 70 [SEP] 17, Tomato, -3.798, 0.153, 2.008, 0, 0, 0, 70 [SEP] 18, Bowl, -0.908, 1.045, 3.266, 0, 0, 0, 49 [SEP] 19, SaltShaker, -1.522, 0.045, 0.381, 0, 0, 0, 64 [SEP] 20, Apple, -0.908, 1.114, 2.369, 0, 0, 0, 49 [SEP] 21, Apple, -3.506, 1.354, 3.061, 0, 90, 0, 66 [SEP] 22, Fork, -1.288, 0.932, 0.428, 0, 0, 0, 71 [SEP] 23, SoapBottle, -1.562, 0.049, 0.608, 0, 0, 0, 64 [SEP] 24, Pot, -3.475, 1.133, 0.227, 0, 90, 0, 45 [SEP] 25, Ladle, -0.538, 1.086, 2.144, 0, 0, 0, 49 [SEP] 26, Potato, -1.288, 0.962, 0.567, 0, 0, 0, 71 [SEP] 27, Plate, -0.538, 1.045, 2.593, 0, 0, 0, 49 [SEP] 28, Bread, -0.183, 1.119, 1.892, 0, 0, 0, 49 [SEP] 29, Lettuce, -3.339, 0.969, 3.081, 0, 228.265, 312.447, 66 [SEP] 30, Spatula, -1.111, 0.946, 0.498, 0, 270, 0, 71 [SEP] 31, Pan, -3.000, 1.133, 0.227, 0, 270, 0, 63 [SEP] 32, Egg, -0.309, 1.258, 0.508, 0, 0, 0, 72 [SEP] 33, Cup, -3.440, 1.560, 2.920, 0, 90, 0, 66 [SEP] 34, SaltShaker, -0.538, 1.044, 2.369, 0, 0, 0, 49 [SEP] 35, Knife, -0.662, 1.079, 2.817, 0, 0, 0, 49 [SEP] 36, Bowl, -3.44, 0.909, 2.849, 0, 90, 0, 66 [SEP] 37, PepperShaker, -1.076, 0.045, 0.437, 0, 0, 0, 53 [SEP] 38, ButterKnife, -1.465, 0.931, 0.498, 0, 0, 0, 71 [SEP] 39, Apple, -1.885, 1.192, 0.095, 0, 0, 0, 59 [SEP] 40, Tomato, -2.137, 1.165, 0.379, 0, 0, 0, 59 [SEP] 41, DishSponge, -1.562, 0.048, 0.495, 0, 0, 0, 64 [SEP] 42, Spoon, -1.568, 1.155, 0.121, 0, 0, 0, 46 [SEP] 43, Mug, -1.553, 0.926, 0.221, 0, 90, 0, 71 [SEP] 44, StoveKnob, -3.322, 1.053, 0.709, 45, 0, 0, [SEP] 45, StoveBurner, -3.474, 1.097, 0.227, 0, 180, 0, [SEP] 46, Sink, -1.394, 0.982, 0.439, 0, 0, 0, [SEP] 47, StoveBurner, -3.474, 1.097, 0.479, 0, 180, 0, [SEP] 48, StoveKnob, -3.164, 1.053, 0.709, 45, 0, 0, [SEP] 49, DiningTable, -0.620, 0.017, 2.486, 0, 0, 0, [SEP] 50, Drawer, -2.043, 0.608, 0.594, 0, 0, 0, [SEP] 51, Drawer, -2.043, 0.216, 0.594, 0, 0, 0, [SEP] 52, Drawer, -2.498, 0.216, 0.594, 0, 0, 0, [SEP] 53, Cabinet, -1.001, 0.393, 0.734, 0, 0, 0, [SEP] 54, StoveBurner, -3.000, 1.097, 0.480, 0, 0, 0, [SEP] 55, StoveKnob, -3.492, 1.053, 0.709, 45, 0, 0, [SEP] 56, CounterTop, -3.856, 1.160, 0.379, 0, 0, 0, [SEP] 57, Drawer, -2.043, 0.937, 0.599, 0, 0, 0, [SEP] 58, Drawer, -2.509, 0.937, 0.599, 0, 0, 0, [SEP] 59, CounterTop, -2.280, 1.160, 0.379, 0, 0, 0, [SEP] 60, StoveKnob, -2.985, 1.053, 0.709, 45, 0, 0, [SEP] 61, CounterTop, -0.514, 1.160, 0.492, 0, 0, 0, [SEP] 62, Drawer, -2.498, 0.608, 0.594, 0, 0, 0, [SEP] 63, StoveBurner, -3.000, 1.097, 0.227, 0, 0, 0, [SEP] 64, Cabinet, -1.733, 0.393, 0.734, 0, 0, 0, [SEP] 65, CoffeeMachine, -0.153, 1.038, 3.193, 0, 270, 0, [SEP] 66, Fridge, -3.519, 0.0, 2.717, 0, 90, 0, [SEP] 67, Window, -1.394, 1.924, 0.014, 90, 0, 0, [SEP] 68, Window, -3.266, 1.924, 0.014, 90, 0, 0, [SEP] 69, Toaster, -0.225, 1.038, 2.865, 0, 270, 0, [SEP] 70, GarbageCan, -3.696, 0.002, 2.008, 0, 0, 0, [SEP] 71, SinkBasin, -1.389, 0.921, 0.428, 0, 0, 0, [SEP] 72, Microwave, -0.366, 1.113, 0.430, 0, 0, 0, [SEP] 73, HousePlant, -2.155, 1.101, 0.169, 0, 332.897, 0, [SEP] 74, LightSwitch, -2.584, 1.299, 3.5, 0, 180, 0, [SEP] 75, Faucet, -1.393, 1.373, 0.168, 0, 270, 0, [SEP] 76, NorthWall, , , , , , , [SEP] 77, SouthWall, , , , , , , [SEP] 78, SouthWall, , , , , , , ", "output": ["STEP 1: Turn around and step forward to face the stove. | STEP 2: Pick up the pot on the stove. | STEP 3: Turn left and walk across the room to face the left end of the table. | STEP 4: Place the pot on the table. | STEP 5: Step to the right to face the table. | STEP 6: Pick up the apple on the table. | STEP 7: Step to the left to face the pot on the table. | STEP 8: Place the apple in the pot on the table. | STEP 9: Look right to face the knife on the table. | STEP 10: Pick up the knife on the table. | STEP 11: Step left to face the pot on the table. | STEP 12: Cut the apple in the pot into three pieces. | END"]} +{"id": "trial_T20190908_155858_033016-2", "input": "Pick up a cup and turn on the lamp. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.75, 0.900, 1.0, 0, 270, 0, [SEP] 1, Mug, 2.591, 0.793, -1.217, 0, 180, 0, 56 [SEP] 2, TissueBox, -1.294, 0.677, -0.543, 0, 0, 0, 50 [SEP] 3, Watch, -1.264, 0.106, -0.881, 0, 0, 0, 49 [SEP] 4, CD, 2.839, 0.039, 0.218, 0, 270, 0, 34 [SEP] 5, CellPhone, -0.806, 0.566, 0.113, 0, 0, 0, 32 [SEP] 6, CellPhone, -0.462, 0.566, 0.602, 0, 0, 0, 32 [SEP] 7, Pen, -1.422, 1.240, -0.649, 0, 90, 0, 51 [SEP] 8, CreditCard, 2.706, 1.278, -1.387, 0, 0, 0, 42 [SEP] 9, CreditCard, 1.559, 0.349, -1.246, 0, 0, 0, 64 [SEP] 10, KeyChain, -1.266, 0.968, -0.615, 0, 0, 0, 55 [SEP] 11, KeyChain, -1.213, 1.233, -0.936, 0, 90, 0, 51 [SEP] 12, Laptop, -0.806, 0.561, 0.602, 0, 0, 0, 32 [SEP] 13, Book, -0.902, 0.574, 1.179, 0, 332.922, 0, 32 [SEP] 14, Box, 2.734, 0.195, 0.89, 0, 0, 0, [SEP] 15, Laptop, -0.5, 0.56, 0.286, 0, 63.464, 0, 32 [SEP] 16, CellPhone, -1.151, 0.566, 0.113, 0, 0, 0, 32 [SEP] 17, BaseballBat, 2.847, 0.643, 1.838, 0, 0, 335.111, [SEP] 18, BasketBall, 1.019, 0.330, -0.977, 346.775, 295.617, 1.021, [SEP] 19, TissueBox, 1.665, 0.570, -1.218, 0, 0, 0, 60 [SEP] 20, CreditCard, 2.411, 1.278, -1.402, 0, 0, 0, 41 [SEP] 21, AlarmClock, -1.269, 1.227, -0.473, 0, 228.191, 0, 51 [SEP] 22, Pencil, 2.587, 1.048, -1.368, 0, 0, 0, 40 [SEP] 23, Boots, -1.279, 0.000, -1.343, 0, 27.143, 0, [SEP] 24, Pillow, -0.634, 0.63, 1.611, 0, 0, 0, 32 [SEP] 25, KeyChain, -1.318, 1.235, -0.745, 0, 0, 0, 51 [SEP] 26, Bowl, 2.451, 0.788, -1.207, 0, 0, 0, 56 [SEP] 27, Watch, -1.352, 1.233, -0.553, 0, 0, 0, 51 [SEP] 28, CD, -1.318, 1.233, -0.649, 0, 0, 0, 51 [SEP] 29, Pen, 1.839, 0.801, -1.153, 0, 0, 0, 56 [SEP] 30, Mug, 2.821, 0.788, -1.223, 0, 0, 0, 56 [SEP] 31, Statue, 2.215, 0.805, -1.217, 0, 0, 0, 56 [SEP] 32, Bed, -0.640, 0.008, 0.871, 0, 0, 0, [SEP] 33, DeskLamp, -1.319, 1.238, -0.994, 0, 90, 0, [SEP] 34, GarbageCan, 2.838, 0.007, 0.215, 0, 270, 0, [SEP] 35, Blinds, 0.111, 2.337, -1.436, 0, 0, 0, [SEP] 36, Mirror, 1.985, 1.381, 1.875, 0, 0, 0, [SEP] 37, Window, 0.118, 1.496, -1.588, 90, 180, 0, [SEP] 38, LightSwitch, 2.654, 1.276, 1.899, 0, 180, 0, [SEP] 39, Chair, 2.457, 0.011, -0.997, 0, 189.124, 0, [SEP] 40, Shelf, 2.476, 0.919, -1.384, 0, 0, 0, [SEP] 41, Shelf, 2.251, 1.503, -1.383, 0, 0, 0, [SEP] 42, Shelf, 2.700, 1.510, -1.380, 0, 0, 0, [SEP] 43, Shelf, 2.476, 1.153, -1.384, 0, 0, 0, [SEP] 44, Shelf, 1.803, 1.386, -1.384, 0, 0, 0, [SEP] 45, Shelf, 1.803, 0.919, -1.381, 0, 0, 0, [SEP] 46, DogBed, 0.920, 0.013, -1.044, 0, 0, 0, [SEP] 47, Drawer, -1.305, 0.454, -0.918, 0, 90, 0, [SEP] 48, Drawer, -1.305, 0.752, -0.919, 0, 90, 0, [SEP] 49, Drawer, -1.305, 0.178, -0.918, 0, 90, 0, [SEP] 50, Drawer, -1.305, 0.752, -0.579, 0, 90, 0, [SEP] 51, Dresser, -1.328, 0.011, -0.744, 0, 90, 0, [SEP] 52, Drawer, -1.306, 1.031, -0.579, 0, 90, 0, [SEP] 53, Drawer, -1.305, 0.454, -0.578, 0, 90, 0, [SEP] 54, Drawer, -1.305, 0.178, -0.578, 0, 90, 0, [SEP] 55, Drawer, -1.305, 1.031, -0.919, 0, 90, 0, [SEP] 56, Desk, 2.211, 0.009, -1.259, 0, 0, 0, [SEP] 57, Drawer, 2.817, 0.189, -1.176, 0, 0, 0, [SEP] 58, Drawer, 1.940, 0.632, -1.176, 0, 0, 0, [SEP] 59, Drawer, 1.940, 0.189, -1.176, 0, 0, 0, [SEP] 60, Drawer, 1.623, 0.632, -1.176, 0, 0, 0, [SEP] 61, Drawer, 2.817, 0.632, -1.176, 0, 0, 0, [SEP] 62, Drawer, 2.817, 0.411, -1.176, 0, 0, 0, [SEP] 63, Drawer, 1.623, 0.189, -1.176, 0, 0, 0, [SEP] 64, Drawer, 1.623, 0.410, -1.176, 0, 0, 0, [SEP] 65, Drawer, 1.940, 0.410, -1.176, 0, 0, 0, [SEP] 66, NorthWall, , , , , , , [SEP] 67, EastWall, , , , , , , [SEP] 68, SouthWall, , , , , , , [SEP] 69, WestWall, , , , , , , ", "output": ["STEP 1: Turn left then walk towards the desk. | STEP 2: Pick up the white cup closest to the wall. | STEP 3: Turn right then walk towards the dresser. | STEP 4: Turn on the lamp on top of the dresser. | END"]} +{"id": "trial_T20190907_155441_973789-1", "input": "Place newspaper next to blue plate, place newspaper on top of blue plate SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.900, 1.5, 0, 270, 0, [SEP] 1, Plate, 0.003, 0.339, 0.651, 0, 0, 0, 41 [SEP] 2, Newspaper, -2.042, 0.591, 0.031, 0, 0, 0, 42 [SEP] 3, Newspaper, -1.809, 0.595, 1.096, 0, 0, 0, 38 [SEP] 4, KeyChain, -1.587, 0.291, -1.478, 0, 240.000, 0, 20 [SEP] 5, KeyChain, -2.042, 0.593, 1.096, 0, 0, 0, 42 [SEP] 6, CellPhone, -1.439, 0.306, -1.572, 0, 240.000, 0, 20 [SEP] 7, Pillow, 1.416, 0.552, 0.784, 0, 0, 0, 35 [SEP] 8, Box, 0.167, 0.419, 0.397, 0, 0, 0, 41 [SEP] 9, Newspaper, 1.229, 0.480, 0.980, 0, 90, 0, 35 [SEP] 10, CreditCard, -1.964, 0.592, 0.919, 0, 0, 0, 42 [SEP] 11, Vase, 3.381, 0.644, -0.983, 0, 0, 0, 37 [SEP] 12, KeyChain, -1.964, 0.597, 0.208, 0, 180, 0, 38 [SEP] 13, Plate, 0.250, 0.339, 0.777, 0, 0, 0, 41 [SEP] 14, Laptop, 3.525, 0.631, -1.438, 0, 271.146, 0, 37 [SEP] 15, CellPhone, -1.697, 0.291, -1.451, 0, 240.000, 0, 20 [SEP] 16, RemoteControl, 3.887, 0.642, -0.983, 0, 0, 0, 37 [SEP] 17, Pillow, 1.435, 0.515, -0.125, 0, 0, 0, 35 [SEP] 18, Vase, 0.021, 0.555, 1.979, 0, 0, 0, 32 [SEP] 19, Statue, -0.289, 0.561, 1.979, 0, 0, 0, 32 [SEP] 20, ArmChair, -1.761, 0.0, -1.488, 0, 240.000, 0, [SEP] 21, Television, -2.035, 1.081, 0.555, 0, 90, 0, [SEP] 22, LightSwitch, 2.099, 1.353, -0.828, 0, 90, 0, [SEP] 23, HousePlant, -0.804, 0.000, -2.187, 0, 0, 0, [SEP] 24, FloorLamp, 1.689, 0.002, 1.776, 0, 90, 0, [SEP] 25, Painting, 1.983, 1.585, 0.326, 90, 270, 0, [SEP] 26, GarbageCan, -1.891, -0.029, -0.409, 0, 0, 0, [SEP] 27, Window, 2.775, 1.281, -2.018, 90, 180, 0, [SEP] 28, Window, -0.013, 1.289, -2.450, 90, 180, 0, [SEP] 29, SideTable, 1.566, 0.000, -0.689, 0, 180, 0, [SEP] 30, Drawer, 1.566, 0.624, -0.741, 0, 180, 0, [SEP] 31, Shelf, -0.147, 0.172, 1.925, 0, 0, 0, [SEP] 32, Shelf, -0.147, 0.552, 1.925, 0, 0, 0, [SEP] 33, Shelf, -0.147, 0.880, 1.924, 0, 0, 0, [SEP] 34, ShelvingUnit, -0.147, 0.006, 1.924, 0, 0, 0, [SEP] 35, Sofa, 1.556, -0.004, 0.424, 0, 270, 0, [SEP] 36, Shelf, 0.167, 0.104, 0.200, 0, 270, 0, [SEP] 37, DiningTable, 3.583, 0.000, -1.164, 0, 270, 0, [SEP] 38, TVStand, -1.965, 0.000, 0.563, 0, 270, 0, [SEP] 39, Shelf, -1.964, 0.082, 0.563, 0, 270, 0, [SEP] 40, Shelf, -1.964, 0.333, 0.563, 0, 270, 0, [SEP] 41, CoffeeTable, 0.167, 0.001, 0.216, 0, 270, 0, [SEP] 42, , , , , , , , [SEP] 43, NorthWall, , , , , , , [SEP] 44, EastWall, , , , , , , [SEP] 45, SouthWall, , , , , , , [SEP] 46, WestWall, , , , , , , ", "output": ["STEP 1: turn left, go to left side of television stand | STEP 2: pick up newspaper from under left side of television | STEP 3: turn around, face coffee table with rug underneath | STEP 4: place newspaper touching right side of square blue place toward front of coffee table | STEP 5: turn around, go to right end of television stand | STEP 6: pick up newspaper from television stand | STEP 7: go to coffee table to the left | STEP 8: place newspaper on top of blue plate with newspaper touching it | END"]} +{"id": "trial_T20190907_155441_973789-2", "input": "Put two papers on the coffee table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.900, 1.5, 0, 270, 0, [SEP] 1, Plate, 0.003, 0.339, 0.651, 0, 0, 0, 41 [SEP] 2, Newspaper, -2.042, 0.591, 0.031, 0, 0, 0, 42 [SEP] 3, Newspaper, -1.809, 0.595, 1.096, 0, 0, 0, 38 [SEP] 4, KeyChain, -1.587, 0.291, -1.478, 0, 240.000, 0, 20 [SEP] 5, KeyChain, -2.042, 0.593, 1.096, 0, 0, 0, 42 [SEP] 6, CellPhone, -1.439, 0.306, -1.572, 0, 240.000, 0, 20 [SEP] 7, Pillow, 1.416, 0.552, 0.784, 0, 0, 0, 35 [SEP] 8, Box, 0.167, 0.419, 0.397, 0, 0, 0, 41 [SEP] 9, Newspaper, 1.229, 0.480, 0.980, 0, 90, 0, 35 [SEP] 10, CreditCard, -1.964, 0.592, 0.919, 0, 0, 0, 42 [SEP] 11, Vase, 3.381, 0.644, -0.983, 0, 0, 0, 37 [SEP] 12, KeyChain, -1.964, 0.597, 0.208, 0, 180, 0, 38 [SEP] 13, Plate, 0.250, 0.339, 0.777, 0, 0, 0, 41 [SEP] 14, Laptop, 3.525, 0.631, -1.438, 0, 271.146, 0, 37 [SEP] 15, CellPhone, -1.697, 0.291, -1.451, 0, 240.000, 0, 20 [SEP] 16, RemoteControl, 3.887, 0.642, -0.983, 0, 0, 0, 37 [SEP] 17, Pillow, 1.435, 0.515, -0.125, 0, 0, 0, 35 [SEP] 18, Vase, 0.021, 0.555, 1.979, 0, 0, 0, 32 [SEP] 19, Statue, -0.289, 0.561, 1.979, 0, 0, 0, 32 [SEP] 20, ArmChair, -1.761, 0.0, -1.488, 0, 240.000, 0, [SEP] 21, Television, -2.035, 1.081, 0.555, 0, 90, 0, [SEP] 22, LightSwitch, 2.099, 1.353, -0.828, 0, 90, 0, [SEP] 23, HousePlant, -0.804, 0.000, -2.187, 0, 0, 0, [SEP] 24, FloorLamp, 1.689, 0.002, 1.776, 0, 90, 0, [SEP] 25, Painting, 1.983, 1.585, 0.326, 90, 270, 0, [SEP] 26, GarbageCan, -1.891, -0.029, -0.409, 0, 0, 0, [SEP] 27, Window, 2.775, 1.281, -2.018, 90, 180, 0, [SEP] 28, Window, -0.013, 1.289, -2.450, 90, 180, 0, [SEP] 29, SideTable, 1.566, 0.000, -0.689, 0, 180, 0, [SEP] 30, Drawer, 1.566, 0.624, -0.741, 0, 180, 0, [SEP] 31, Shelf, -0.147, 0.172, 1.925, 0, 0, 0, [SEP] 32, Shelf, -0.147, 0.552, 1.925, 0, 0, 0, [SEP] 33, Shelf, -0.147, 0.880, 1.924, 0, 0, 0, [SEP] 34, ShelvingUnit, -0.147, 0.006, 1.924, 0, 0, 0, [SEP] 35, Sofa, 1.556, -0.004, 0.424, 0, 270, 0, [SEP] 36, Shelf, 0.167, 0.104, 0.200, 0, 270, 0, [SEP] 37, DiningTable, 3.583, 0.000, -1.164, 0, 270, 0, [SEP] 38, TVStand, -1.965, 0.000, 0.563, 0, 270, 0, [SEP] 39, Shelf, -1.964, 0.082, 0.563, 0, 270, 0, [SEP] 40, Shelf, -1.964, 0.333, 0.563, 0, 270, 0, [SEP] 41, CoffeeTable, 0.167, 0.001, 0.216, 0, 270, 0, [SEP] 42, , , , , , , , [SEP] 43, NorthWall, , , , , , , [SEP] 44, EastWall, , , , , , , [SEP] 45, SouthWall, , , , , , , [SEP] 46, WestWall, , , , , , , ", "output": ["STEP 1: Move to the left of the TV before the bin | STEP 2: Pick up a paper from the stand | STEP 3: Move to the coffee table behind you | STEP 4: Put the paper on the coffee table | STEP 5: Move to the right of the TV stand behind you | STEP 6: Pick up a paper from the stand | STEP 7: Move to the coffee table behind you | STEP 8: Put the paper on the coffee table | END"]} +{"id": "trial_T20190908_061832_568265-2", "input": "Examine a pencil by the light of a lamp SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.901, 0.0, 0, 0, 0, [SEP] 1, Pen, -0.708, 0.668, 0.556, 0, 180, 0, 31 [SEP] 2, Pen, -0.560, 0.668, 0.600, 0, 180, 0, 31 [SEP] 3, Pen, -0.634, 0.668, 0.427, 0, 180, 0, 31 [SEP] 4, KeyChain, 0.287, 0.693, -2.036, 0, 99.090, 0, 28 [SEP] 5, AlarmClock, 1.698, 0.695, -1.774, 0, 18.354, 0, 28 [SEP] 6, Box, -0.015, 0.239, -2.091, 0, 0, 0, [SEP] 7, Book, -1.171, 0.629, -1.297, 0, 0, 0, 19 [SEP] 8, BaseballBat, 1.798, 0.639, 0.425, 0, 0, 342.316, [SEP] 9, Pen, 0.845, 0.698, -2.055, 0, 90, 0, 28 [SEP] 10, Pencil, -0.670, 0.373, 0.503, 0, 0, 0, 30 [SEP] 11, KeyChain, 0.109, 0.694, -2.406, 0, 180, 0, 28 [SEP] 12, Pillow, -1.696, 0.703, -0.748, 0, 0, 0, 19 [SEP] 13, CreditCard, -0.487, 0.663, 0.686, 0, 180, 0, 31 [SEP] 14, CellPhone, -2.046, 0.631, -1.023, 0, 0, 0, 19 [SEP] 15, Laptop, -1.696, 0.628, 0.076, 0, 0, 0, 19 [SEP] 16, CD, 0.661, 0.692, -2.055, 0, 90, 0, 28 [SEP] 17, Bowl, 1.029, 0.695, -2.336, 0, 90, 0, 28 [SEP] 18, AlarmClock, 1.622, 0.694, -1.409, 0, 0, 0, 28 [SEP] 19, Bed, -1.696, 0.004, -0.446, 0, 0, 0, [SEP] 20, Chair, 0.956, -0.000, -1.747, 0, 110.225, 0, [SEP] 21, DeskLamp, -0.440, 0.688, -2.276, 0, 0, 0, [SEP] 22, LightSwitch, 0.625, 1.338, 0.734, 0, 180, 0, [SEP] 23, GarbageCan, 1.660, -0.019, -0.389, 0, 345.008, 0, [SEP] 24, Mirror, 1.300, 1.422, 0.765, 0, 0, 0, [SEP] 25, HousePlant, -0.867, 0.000, -2.286, 0, 0, 0, [SEP] 26, Window, 0.819, 1.496, -2.553, 90, 180, 0, [SEP] 27, Shelf, 1.616, 0.561, -0.802, 0, 0, 0, [SEP] 28, Desk, 0.617, -0.000, -1.511, 0, 0, 0, [SEP] 29, Blinds, 0.796, 2.217, -2.476, 0, 0, 0, [SEP] 30, Drawer, -0.558, 0.456, 0.462, 0, 180, 0, [SEP] 31, SideTable, -0.557, -0.000, 0.529, 0, 180, 0, [SEP] 32, Drawer, -0.558, 0.164, 0.462, 0, 180, 0, [SEP] 33, Desktop, 1.455, 0.692, -1.886, 358.180, 309.674, 0, [SEP] 34, NorthWall, , , , , , , [SEP] 35, EastWall, , , , , , , [SEP] 36, SouthWall, , , , , , , [SEP] 37, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and move to the chair on your left | STEP 2: Pick up the pencil from the desk | STEP 3: Turn around and move to the lamp on your left | STEP 4: Turn the lamp on | END"]} +{"id": "trial_T20190908_162557_481100-0", "input": "Heat a cup and place it with the coffee machine. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.869, -2.5, 0, 0, 0, [SEP] 1, Potato, 0.877, 0.916, -0.314, 0, 0, 0, 42 [SEP] 2, DishSponge, 0.817, 0.759, -0.252, 0, 0, 0, 41 [SEP] 3, Spatula, 0.149, 0.915, 1.101, 0, 90, 0, 68 [SEP] 4, Spoon, 0.799, 0.773, -0.570, 0, 270, 0, 65 [SEP] 5, Spoon, 0.841, 0.666, 0.326, 0, 0, 0, 47 [SEP] 6, Pot, -2.097, 0.930, 0.785, 0, 0, 0, 44 [SEP] 7, Egg, 0.630, 0.809, -0.515, 0, 270, 0, 65 [SEP] 8, Knife, -1.886, 0.724, -1.091, 0, 0, 0, 78 [SEP] 9, Knife, 0.769, 0.782, -0.188, 0, 0, 0, 41 [SEP] 10, Tomato, 0.824, 1.207, -1.880, 0, 270, 0, 62 [SEP] 11, Tomato, 0.901, 0.712, 0.508, 0, 0, 0, 47 [SEP] 12, SoapBottle, -2.054, 0.701, -1.199, 0, 0, 0, 78 [SEP] 13, Bowl, 0.858, 1.462, -0.084, 0, 0, 0, 53 [SEP] 14, PepperShaker, -0.252, 0.896, 0.843, 0, 270, 0, 68 [SEP] 15, Bread, -1.056, 0.944, 0.929, 0, 270, 0, 68 [SEP] 16, Lettuce, 0.785, 1.461, -1.880, 0, 270, 0, 62 [SEP] 17, Lettuce, 0.149, 0.987, 0.843, 0, 270, 0, 68 [SEP] 18, Mug, 0.715, 0.767, -0.680, 0, 270, 0, 65 [SEP] 19, Apple, -0.654, 0.954, 0.758, 0, 270, 0, 68 [SEP] 20, Pot, -1.552, 0.930, 0.785, 0, 0, 0, 46 [SEP] 21, Plate, -2.023, 0.692, -1.447, 0, 0, 0, 78 [SEP] 22, Fork, 0.721, 0.665, 0.508, 0, 0, 0, 47 [SEP] 23, SoapBottle, 0.781, 0.664, 0.508, 0, 0, 0, 47 [SEP] 24, Apple, -1.297, 0.105, -3.537, 0, 270, 0, 57 [SEP] 25, Pan, 0.740, -0.007, -0.596, 0, 0, 0, 45 [SEP] 26, Egg, -1.896, 0.836, -3.738, 0, 0, 0, 64 [SEP] 27, Spatula, -1.535, 0.715, -3.782, 0, 90, 0, 69 [SEP] 28, Potato, 0.669, 1.407, -2.190, 0, 270, 0, 62 [SEP] 29, Cup, 0.746, 0.663, -1.958, 0, 270, 0, 62 [SEP] 30, SaltShaker, 0.787, 0.012, -0.184, 0, 0, 0, 52 [SEP] 31, PepperShaker, 0.842, 0.012, 0.011, 0, 0, 0, 52 [SEP] 32, ButterKnife, 0.729, 0.883, 0.098, 0, 0, 0, 42 [SEP] 33, DishSponge, 0.720, 0.759, -0.124, 0, 0, 0, 41 [SEP] 34, Bread, -0.051, 0.944, 1.015, 0, 270, 0, 68 [SEP] 35, Lettuce, -1.719, 0.788, -1.199, 0, 0, 0, 78 [SEP] 36, Tomato, 0.661, 0.712, 0.326, 0, 0, 0, 47 [SEP] 37, Spoon, 0.720, 0.761, -0.061, 0, 0, 0, 41 [SEP] 38, Knife, 0.574, 0.783, -0.124, 0, 90, 0, 41 [SEP] 39, Mug, 0.566, 0.010, 0.076, 0, 180, 0, 52 [SEP] 40, Bowl, 0.746, 0.464, -1.802, 0, 270, 0, 62 [SEP] 41, Drawer, 0.706, 0.766, -0.125, 0, 0, 0, [SEP] 42, CounterTop, 0.792, 0.919, -0.108, 0, 0, 0, [SEP] 43, Mirror, 1.093, 1.602, -0.643, 0, 0, 0, [SEP] 44, StoveBurner, -2.096, 0.890, 0.785, 0, 0, 0, [SEP] 45, Cabinet, 0.507, 0.345, -0.426, 0, 0, 0, [SEP] 46, StoveBurner, -1.552, 0.890, 0.785, 0, 0, 0, [SEP] 47, SideTable, 0.770, -0.030, 0.443, 0, 0, 0, [SEP] 48, Sink, 0.753, 0.882, -0.680, 0, 0, 0, [SEP] 49, StoveBurner, -2.096, 0.890, 1.049, 0, 0, 0, [SEP] 50, GarbageBag, -0.770, 0.287, -3.541, 270, 73.521, 83.489, [SEP] 51, StoveBurner, -1.554, 0.890, 1.049, 0, 0, 0, [SEP] 52, Cabinet, 0.507, 0.345, 0.156, 0, 0, 0, [SEP] 53, Cabinet, 0.717, 1.822, -0.398, 0, 0, 0, [SEP] 54, Cabinet, 0.717, 1.822, 0.669, 0, 0, 0, [SEP] 55, CoffeeMachine, 0.873, 0.865, -1.256, 0, 270, 0, [SEP] 56, Toaster, -0.522, 0.886, 1.081, 0, 180, 0, [SEP] 57, GarbageCan, -1.261, -0.031, -3.610, 0, 270, 0, [SEP] 58, StoveKnob, -1.898, 0.866, 0.519, 311.864, 0, 180, [SEP] 59, StoveKnob, -1.754, 0.866, 0.519, 311.864, 0, 180, [SEP] 60, StoveKnob, -2.058, 0.866, 0.519, 311.864, 0, 180, [SEP] 61, StoveKnob, -1.600, 0.866, 0.519, 311.864, 0, 180, [SEP] 62, Fridge, 0.680, -0.031, -1.957, 0, 0, 0, [SEP] 63, Window, -2.424, 1.639, -2.453, 90, 270, 0, [SEP] 64, Microwave, -1.994, 0.690, -3.651, 0, 0, 0, [SEP] 65, SinkBasin, 0.757, 0.762, -0.688, 0, 270, 0, [SEP] 66, LightSwitch, 1.102, 1.368, -3.737, 0, 270, 0, [SEP] 67, Shelf, -0.350, 0.124, 0.857, 0, 0, 0, [SEP] 68, DiningTable, -0.350, -0.025, 0.857, 0, 0, 0, [SEP] 69, DiningTable, -1.909, -0.032, -3.507, 0, 0, 0, [SEP] 70, Blinds, -2.343, 2.151, -2.437, 0, 270, 0, [SEP] 71, AluminumFoil, 0.762, 0.224, 0.337, 0, 184.594, 0, [SEP] 72, AluminumFoil, 0.751, 0.225, 0.287, 0, 0, 0, [SEP] 73, AluminumFoil, 0.839, 0.224, 0.392, 0, 195.128, 0, [SEP] 74, Shelf, 0.771, 0.226, 0.445, 0, 0, 0, [SEP] 75, Shelf, 0.771, 0.456, 0.446, 0, 0, 0, [SEP] 76, Faucet, 1.025, 0.873, -0.678, 270, 180, 0, [SEP] 77, Shelf, -0.350, 0.497, 0.857, 0, 0, 0, [SEP] 78, DiningTable, -1.929, -0.035, -1.398, 0, 90, 0, [SEP] 79, Chair, -1.610, -0.024, -1.424, 358.454, 297.426, 0, [SEP] 80, NorthWall, , , , , , , [SEP] 81, EastWall, , , , , , , [SEP] 82, SouthWall, , , , , , , [SEP] 83, WestWall, , , , , , , ", "output": ["STEP 1: Take a step to the right, and turn right to find the sink. | STEP 2: Pick up the cup from inside the sink. | STEP 3: Carry the cup and turn around and then left to find the microwave. | STEP 4: Open the microwave and place the cup inside. Shut the door. Open the door, take out the cup and then shut the door. | STEP 5: Carry the cup and turn to the left, then left again and locate the coffee machine on the right. | STEP 6: Place the cup on the coffee machine. | END"]} +{"id": "trial_T20190908_162557_481100-2", "input": "Put the heated mug on the coffee maker SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.869, -2.5, 0, 0, 0, [SEP] 1, Potato, 0.877, 0.916, -0.314, 0, 0, 0, 42 [SEP] 2, DishSponge, 0.817, 0.759, -0.252, 0, 0, 0, 41 [SEP] 3, Spatula, 0.149, 0.915, 1.101, 0, 90, 0, 68 [SEP] 4, Spoon, 0.799, 0.773, -0.570, 0, 270, 0, 65 [SEP] 5, Spoon, 0.841, 0.666, 0.326, 0, 0, 0, 47 [SEP] 6, Pot, -2.097, 0.930, 0.785, 0, 0, 0, 44 [SEP] 7, Egg, 0.630, 0.809, -0.515, 0, 270, 0, 65 [SEP] 8, Knife, -1.886, 0.724, -1.091, 0, 0, 0, 78 [SEP] 9, Knife, 0.769, 0.782, -0.188, 0, 0, 0, 41 [SEP] 10, Tomato, 0.824, 1.207, -1.880, 0, 270, 0, 62 [SEP] 11, Tomato, 0.901, 0.712, 0.508, 0, 0, 0, 47 [SEP] 12, SoapBottle, -2.054, 0.701, -1.199, 0, 0, 0, 78 [SEP] 13, Bowl, 0.858, 1.462, -0.084, 0, 0, 0, 53 [SEP] 14, PepperShaker, -0.252, 0.896, 0.843, 0, 270, 0, 68 [SEP] 15, Bread, -1.056, 0.944, 0.929, 0, 270, 0, 68 [SEP] 16, Lettuce, 0.785, 1.461, -1.880, 0, 270, 0, 62 [SEP] 17, Lettuce, 0.149, 0.987, 0.843, 0, 270, 0, 68 [SEP] 18, Mug, 0.715, 0.767, -0.680, 0, 270, 0, 65 [SEP] 19, Apple, -0.654, 0.954, 0.758, 0, 270, 0, 68 [SEP] 20, Pot, -1.552, 0.930, 0.785, 0, 0, 0, 46 [SEP] 21, Plate, -2.023, 0.692, -1.447, 0, 0, 0, 78 [SEP] 22, Fork, 0.721, 0.665, 0.508, 0, 0, 0, 47 [SEP] 23, SoapBottle, 0.781, 0.664, 0.508, 0, 0, 0, 47 [SEP] 24, Apple, -1.297, 0.105, -3.537, 0, 270, 0, 57 [SEP] 25, Pan, 0.740, -0.007, -0.596, 0, 0, 0, 45 [SEP] 26, Egg, -1.896, 0.836, -3.738, 0, 0, 0, 64 [SEP] 27, Spatula, -1.535, 0.715, -3.782, 0, 90, 0, 69 [SEP] 28, Potato, 0.669, 1.407, -2.190, 0, 270, 0, 62 [SEP] 29, Cup, 0.746, 0.663, -1.958, 0, 270, 0, 62 [SEP] 30, SaltShaker, 0.787, 0.012, -0.184, 0, 0, 0, 52 [SEP] 31, PepperShaker, 0.842, 0.012, 0.011, 0, 0, 0, 52 [SEP] 32, ButterKnife, 0.729, 0.883, 0.098, 0, 0, 0, 42 [SEP] 33, DishSponge, 0.720, 0.759, -0.124, 0, 0, 0, 41 [SEP] 34, Bread, -0.051, 0.944, 1.015, 0, 270, 0, 68 [SEP] 35, Lettuce, -1.719, 0.788, -1.199, 0, 0, 0, 78 [SEP] 36, Tomato, 0.661, 0.712, 0.326, 0, 0, 0, 47 [SEP] 37, Spoon, 0.720, 0.761, -0.061, 0, 0, 0, 41 [SEP] 38, Knife, 0.574, 0.783, -0.124, 0, 90, 0, 41 [SEP] 39, Mug, 0.566, 0.010, 0.076, 0, 180, 0, 52 [SEP] 40, Bowl, 0.746, 0.464, -1.802, 0, 270, 0, 62 [SEP] 41, Drawer, 0.706, 0.766, -0.125, 0, 0, 0, [SEP] 42, CounterTop, 0.792, 0.919, -0.108, 0, 0, 0, [SEP] 43, Mirror, 1.093, 1.602, -0.643, 0, 0, 0, [SEP] 44, StoveBurner, -2.096, 0.890, 0.785, 0, 0, 0, [SEP] 45, Cabinet, 0.507, 0.345, -0.426, 0, 0, 0, [SEP] 46, StoveBurner, -1.552, 0.890, 0.785, 0, 0, 0, [SEP] 47, SideTable, 0.770, -0.030, 0.443, 0, 0, 0, [SEP] 48, Sink, 0.753, 0.882, -0.680, 0, 0, 0, [SEP] 49, StoveBurner, -2.096, 0.890, 1.049, 0, 0, 0, [SEP] 50, GarbageBag, -0.770, 0.287, -3.541, 270, 73.521, 83.489, [SEP] 51, StoveBurner, -1.554, 0.890, 1.049, 0, 0, 0, [SEP] 52, Cabinet, 0.507, 0.345, 0.156, 0, 0, 0, [SEP] 53, Cabinet, 0.717, 1.822, -0.398, 0, 0, 0, [SEP] 54, Cabinet, 0.717, 1.822, 0.669, 0, 0, 0, [SEP] 55, CoffeeMachine, 0.873, 0.865, -1.256, 0, 270, 0, [SEP] 56, Toaster, -0.522, 0.886, 1.081, 0, 180, 0, [SEP] 57, GarbageCan, -1.261, -0.031, -3.610, 0, 270, 0, [SEP] 58, StoveKnob, -1.898, 0.866, 0.519, 311.864, 0, 180, [SEP] 59, StoveKnob, -1.754, 0.866, 0.519, 311.864, 0, 180, [SEP] 60, StoveKnob, -2.058, 0.866, 0.519, 311.864, 0, 180, [SEP] 61, StoveKnob, -1.600, 0.866, 0.519, 311.864, 0, 180, [SEP] 62, Fridge, 0.680, -0.031, -1.957, 0, 0, 0, [SEP] 63, Window, -2.424, 1.639, -2.453, 90, 270, 0, [SEP] 64, Microwave, -1.994, 0.690, -3.651, 0, 0, 0, [SEP] 65, SinkBasin, 0.757, 0.762, -0.688, 0, 270, 0, [SEP] 66, LightSwitch, 1.102, 1.368, -3.737, 0, 270, 0, [SEP] 67, Shelf, -0.350, 0.124, 0.857, 0, 0, 0, [SEP] 68, DiningTable, -0.350, -0.025, 0.857, 0, 0, 0, [SEP] 69, DiningTable, -1.909, -0.032, -3.507, 0, 0, 0, [SEP] 70, Blinds, -2.343, 2.151, -2.437, 0, 270, 0, [SEP] 71, AluminumFoil, 0.762, 0.224, 0.337, 0, 184.594, 0, [SEP] 72, AluminumFoil, 0.751, 0.225, 0.287, 0, 0, 0, [SEP] 73, AluminumFoil, 0.839, 0.224, 0.392, 0, 195.128, 0, [SEP] 74, Shelf, 0.771, 0.226, 0.445, 0, 0, 0, [SEP] 75, Shelf, 0.771, 0.456, 0.446, 0, 0, 0, [SEP] 76, Faucet, 1.025, 0.873, -0.678, 270, 180, 0, [SEP] 77, Shelf, -0.350, 0.497, 0.857, 0, 0, 0, [SEP] 78, DiningTable, -1.929, -0.035, -1.398, 0, 90, 0, [SEP] 79, Chair, -1.610, -0.024, -1.424, 358.454, 297.426, 0, [SEP] 80, NorthWall, , , , , , , [SEP] 81, EastWall, , , , , , , [SEP] 82, SouthWall, , , , , , , [SEP] 83, WestWall, , , , , , , ", "output": ["STEP 1: Turn right then head to the sink on your right | STEP 2: Pick up the mug in the sink | STEP 3: Turn around to the right walk forward then head to the microwave | STEP 4: Open the microwave heat the mug then take it out and close the microwave | STEP 5: Turn left then heat to the coffee maker on your right | STEP 6: Put the mug on the coffee maker | END"]} +{"id": "trial_T20190908_133250_885504-1", "input": "Put both bars of soap next to the sink on the right SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.900, 3.5, 0, 270, 0, [SEP] 1, Cloth, -0.246, 0.205, 1.463, 0, 0, 0, 27 [SEP] 2, SoapBar, -0.205, 0.828, 2.753, 0, 0, 0, 39 [SEP] 3, Candle, -0.353, 0.812, 1.401, 0, 0, 0, 21 [SEP] 4, SprayBottle, -0.161, 0.813, 3.260, 0, 0, 0, 21 [SEP] 5, SoapBottle, -0.417, 0.813, 2.350, 0, 0, 0, 21 [SEP] 6, HandTowel, -0.036, 1.658, 3.443, 0, 90, 0, 35 [SEP] 7, SoapBar, -0.299, 0.828, 1.772, 0, 0, 0, 42 [SEP] 8, ToiletPaper, -0.180, 0.945, 3.719, 0, 0, 0, 36 [SEP] 9, Plunger, -0.139, -0.000, 3.369, 0, 0, 0, Floor|+00.00| [SEP] 10, Candle, -0.134, 0.953, 3.846, 0, 0, 0, 36 [SEP] 11, SoapBottle, -0.144, 0.804, 1.325, 0, 0, 0, 21 [SEP] 12, ToiletPaper, -0.289, 0.809, 1.316, 0, 0, 0, 21 [SEP] 13, SprayBottle, -2.146, 0.057, 3.843, 0, 90, 0, 34 [SEP] 14, Towel, -1.106, 1.151, 1.289, 0, 0, 0, 33 [SEP] 15, Cloth, -0.246, 0.512, 1.463, 0, 0, 0, 27 [SEP] 16, ScrubBrush, -0.346, -0.000, 3.341, 0, 0, 0, Floor|+00.00| [SEP] 17, DishSponge, -0.300, 0.829, 2.656, 0, 0, 0, 39 [SEP] 18, Sink, -0.299, 0.807, 2.754, 0, 270, 0, [SEP] 19, Drawer, -0.319, 0.615, 3.012, 0, 0, 0, [SEP] 20, Drawer, -0.319, 0.316, 3.012, 0, 0, 0, [SEP] 21, CounterTop, -0.349, 0.004, 1.453, 0, 0, 0, [SEP] 22, Drawer, -0.319, 0.615, 1.978, 0, 0, 0, [SEP] 23, Drawer, -0.319, 0.316, 1.978, 0, 0, 0, [SEP] 24, Drawer, -0.319, 0.316, 1.463, 0, 0, 0, [SEP] 25, Drawer, -0.319, 0.615, 2.495, 0, 0, 0, [SEP] 26, ShowerDoor, -1.514, 0.910, 1.167, 0, 0, 0, [SEP] 27, Drawer, -0.319, 0.615, 1.463, 0, 0, 0, [SEP] 28, Drawer, -0.319, 0.316, 2.495, 0, 0, 0, [SEP] 29, Faucet, -0.076, 0.805, 2.757, 0, 0, 0, [SEP] 30, Mirror, -0.228, 0.465, 1.453, 0, 0, 0, [SEP] 31, ShowerGlass, -0.766, 0.541, 0.485, 0, 0, 0, [SEP] 32, ToiletPaperHanger, -1.200, 0.897, 4.0, 0, 180, 0, [SEP] 33, TowelHolder, -1.105, 1.136, 1.183, 0, 0, 0, [SEP] 34, GarbageCan, -2.041, -0.000, 3.724, 0, 45, 0, [SEP] 35, HandTowelHolder, 0.001, 1.759, 3.443, 0, 180, 0, [SEP] 36, Toilet, -0.600, -0.000, 3.671, 0, 270, 0, [SEP] 37, LightSwitch, -2.312, 1.386, 3.296, 0, 90, 0, [SEP] 38, Faucet, -0.076, 0.805, 1.733, 0, 0, 0, [SEP] 39, SinkBasin, -0.304, 0.819, 2.753, 0, 0, 0, [SEP] 40, Sink, -0.298, 0.807, 1.725, 0, 270, 0, [SEP] 41, ShowerHead, -0.083, 1.248, 0.522, 0, 0, 0, [SEP] 42, SinkBasin, -0.304, 0.819, 1.723, 0, 0, 0, [SEP] 43, NorthWall, , , , , , , [SEP] 44, SouthWall, , , , , , , [SEP] 45, SouthWall, , , , , , , ", "output": ["STEP 1: Head to the left, stand in front of the sink | STEP 2: Take the soap out of the sink | STEP 3: put the soap on the counter next to the sink | STEP 4: Turn to the left | STEP 5: head to the other sink | STEP 6: Take the soap from the counter | STEP 7: Head back to the right | STEP 8: Face the sink, put the soap on the counter | END"]} +{"id": "trial_T20190908_133250_885504-2", "input": "Put two pink sponges on the counter around the right sink SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.900, 3.5, 0, 270, 0, [SEP] 1, Cloth, -0.246, 0.205, 1.463, 0, 0, 0, 27 [SEP] 2, SoapBar, -0.205, 0.828, 2.753, 0, 0, 0, 39 [SEP] 3, Candle, -0.353, 0.812, 1.401, 0, 0, 0, 21 [SEP] 4, SprayBottle, -0.161, 0.813, 3.260, 0, 0, 0, 21 [SEP] 5, SoapBottle, -0.417, 0.813, 2.350, 0, 0, 0, 21 [SEP] 6, HandTowel, -0.036, 1.658, 3.443, 0, 90, 0, 35 [SEP] 7, SoapBar, -0.299, 0.828, 1.772, 0, 0, 0, 42 [SEP] 8, ToiletPaper, -0.180, 0.945, 3.719, 0, 0, 0, 36 [SEP] 9, Plunger, -0.139, -0.000, 3.369, 0, 0, 0, Floor|+00.00| [SEP] 10, Candle, -0.134, 0.953, 3.846, 0, 0, 0, 36 [SEP] 11, SoapBottle, -0.144, 0.804, 1.325, 0, 0, 0, 21 [SEP] 12, ToiletPaper, -0.289, 0.809, 1.316, 0, 0, 0, 21 [SEP] 13, SprayBottle, -2.146, 0.057, 3.843, 0, 90, 0, 34 [SEP] 14, Towel, -1.106, 1.151, 1.289, 0, 0, 0, 33 [SEP] 15, Cloth, -0.246, 0.512, 1.463, 0, 0, 0, 27 [SEP] 16, ScrubBrush, -0.346, -0.000, 3.341, 0, 0, 0, Floor|+00.00| [SEP] 17, DishSponge, -0.300, 0.829, 2.656, 0, 0, 0, 39 [SEP] 18, Sink, -0.299, 0.807, 2.754, 0, 270, 0, [SEP] 19, Drawer, -0.319, 0.615, 3.012, 0, 0, 0, [SEP] 20, Drawer, -0.319, 0.316, 3.012, 0, 0, 0, [SEP] 21, CounterTop, -0.349, 0.004, 1.453, 0, 0, 0, [SEP] 22, Drawer, -0.319, 0.615, 1.978, 0, 0, 0, [SEP] 23, Drawer, -0.319, 0.316, 1.978, 0, 0, 0, [SEP] 24, Drawer, -0.319, 0.316, 1.463, 0, 0, 0, [SEP] 25, Drawer, -0.319, 0.615, 2.495, 0, 0, 0, [SEP] 26, ShowerDoor, -1.514, 0.910, 1.167, 0, 0, 0, [SEP] 27, Drawer, -0.319, 0.615, 1.463, 0, 0, 0, [SEP] 28, Drawer, -0.319, 0.316, 2.495, 0, 0, 0, [SEP] 29, Faucet, -0.076, 0.805, 2.757, 0, 0, 0, [SEP] 30, Mirror, -0.228, 0.465, 1.453, 0, 0, 0, [SEP] 31, ShowerGlass, -0.766, 0.541, 0.485, 0, 0, 0, [SEP] 32, ToiletPaperHanger, -1.200, 0.897, 4.0, 0, 180, 0, [SEP] 33, TowelHolder, -1.105, 1.136, 1.183, 0, 0, 0, [SEP] 34, GarbageCan, -2.041, -0.000, 3.724, 0, 45, 0, [SEP] 35, HandTowelHolder, 0.001, 1.759, 3.443, 0, 180, 0, [SEP] 36, Toilet, -0.600, -0.000, 3.671, 0, 270, 0, [SEP] 37, LightSwitch, -2.312, 1.386, 3.296, 0, 90, 0, [SEP] 38, Faucet, -0.076, 0.805, 1.733, 0, 0, 0, [SEP] 39, SinkBasin, -0.304, 0.819, 2.753, 0, 0, 0, [SEP] 40, Sink, -0.298, 0.807, 1.725, 0, 270, 0, [SEP] 41, ShowerHead, -0.083, 1.248, 0.522, 0, 0, 0, [SEP] 42, SinkBasin, -0.304, 0.819, 1.723, 0, 0, 0, [SEP] 43, NorthWall, , , , , , , [SEP] 44, SouthWall, , , , , , , [SEP] 45, SouthWall, , , , , , , ", "output": ["STEP 1: Turn around and go to the bathroom sink on the right. | STEP 2: Pick up the pink sponge in the sink. | STEP 3: Move back slightly from the counter. | STEP 4: Place the pink sponge on the counter space on the left of the sink. | STEP 5: Move forward and then to the left sink. | STEP 6: Pick up the pink sponge in the sink. | STEP 7: Go back to the sink on the right. | STEP 8: Place the pink sponge on the counter space on the right of the sink. | END"]} +{"id": "trial_T20190909_001010_314590-2", "input": "Move a pot with a sponge to the table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.914, 2.25, 0, 180, 0, [SEP] 1, Potato, -0.089, 1.574, 4.067, 0, 180, 0, 69 [SEP] 2, Potato, -0.790, 1.306, 4.027, 0, 180, 0, 69 [SEP] 3, DishSponge, -1.921, 0.789, 3.737, 0, 0, 0, 73 [SEP] 4, DishSponge, -3.492, 1.994, 1.835, 0, 0, 0, 57 [SEP] 5, DishSponge, -1.815, 0.915, 4.062, 0, 0, 0, 43 [SEP] 6, WineBottle, -3.272, 0.916, 3.827, 0, 0, 0, 43 [SEP] 7, Spatula, -2.302, 0.930, 3.998, 0, 0, 0, 43 [SEP] 8, Fork, -1.666, 0.790, 3.737, 0, 270, 0, 73 [SEP] 9, Cup, -3.654, 0.915, 1.357, 0, 0, 0, 52 [SEP] 10, Plate, -3.176, 0.919, 1.440, 0, 0, 0, 52 [SEP] 11, Knife, -3.463, 0.939, 1.189, 0, 90, 0, 52 [SEP] 12, Tomato, -3.081, 0.984, 1.189, 0, 0, 0, 52 [SEP] 13, Bowl, -0.440, 1.272, 4.062, 0, 180, 0, 69 [SEP] 14, Bowl, -2.126, 0.914, 4.146, 0, 0, 0, 43 [SEP] 15, SaltShaker, -3.186, 0.742, 3.296, 0, 0, 0, 53 [SEP] 16, SaltShaker, -3.540, 1.455, 2.998, 0, 0, 0, 50 [SEP] 17, Mug, -1.793, 0.784, 3.625, 0, 0, 0, 73 [SEP] 18, Apple, -3.505, 1.606, 2.120, 0, 90, 0, 74 [SEP] 19, Apple, -0.790, 0.782, 3.817, 0, 180, 0, 69 [SEP] 20, Egg, -0.673, 0.758, 3.817, 0, 180, 0, 69 [SEP] 21, Knife, -1.449, 0.939, 4.106, 0, 90, 0, 43 [SEP] 22, Fork, -1.608, 0.916, 4.146, 0, 0, 0, 43 [SEP] 23, Bread, -1.192, 0.167, 3.788, 0, 270, 0, 75 [SEP] 24, Potato, -3.559, 0.948, 1.273, 0, 0, 0, 52 [SEP] 25, Plate, -3.005, 0.904, 3.677, 0, 0, 0, 43 [SEP] 26, Pot, -3.424, 0.966, 2.374, 0, 0, 0, 49 [SEP] 27, Kettle, -3.505, 1.456, 3.579, 0, 0, 0, 60 [SEP] 28, WineBottle, -3.272, 0.916, 1.189, 0, 0, 0, 52 [SEP] 29, Bowl, -0.44, 0.985, 3.988, 0, 180, 0, 69 [SEP] 30, Tomato, -3.559, 0.984, 1.106, 0, 0, 0, 52 [SEP] 31, Cup, -0.790, 1.541, 4.033, 0, 180, 0, 69 [SEP] 32, Spatula, -3.368, 0.930, 1.273, 0, 90, 0, 52 [SEP] 33, SoapBottle, -3.191, 0.083, 1.591, 0, 0, 0, 62 [SEP] 34, Lettuce, -1.759, 0.974, 0.085, 0, 0, 0, 79 [SEP] 35, Pan, -2.614, 0.902, 3.620, 0, 0, 0, 43 [SEP] 36, Apple, -0.673, 1.046, 4.051, 0, 180, 0, 69 [SEP] 37, SaltShaker, -3.463, 0.912, 1.440, 0, 0, 0, 52 [SEP] 38, PepperShaker, -2.905, 0.911, 3.998, 0, 0, 0, 43 [SEP] 39, ButterKnife, -1.840, 0.779, 3.674, 0, 0, 0, 73 [SEP] 40, DishSponge, -3.654, 0.915, 1.607, 0, 0, 0, 52 [SEP] 41, Spoon, -3.272, 0.916, 2.844, 0, 0, 0, 43 [SEP] 42, Mug, -0.089, 0.717, 3.843, 0, 180, 0, 69 [SEP] 43, CounterTop, -3.381, 0.950, 3.335, 0, 0, 0, [SEP] 44, Drawer, -3.121, 0.775, 1.357, 0, 0, 0, [SEP] 45, Drawer, -3.121, 0.777, 2.916, 0, 0, 0, [SEP] 46, StoveBurner, -3.148, 0.958, 2.374, 0, 0, 0, [SEP] 47, Sink, -1.797, 0.917, 3.660, 0, 0, 0, [SEP] 48, Cabinet, -1.421, 0.388, 3.459, 0, 0, 0, [SEP] 49, StoveBurner, -3.424, 0.958, 2.374, 0, 0, 0, [SEP] 50, Cabinet, -3.365, 1.931, 2.676, 0, 0, 0, [SEP] 51, StoveBurner, -3.424, 0.958, 1.971, 0, 0, 0, [SEP] 52, CounterTop, -3.381, 0.951, 1.356, 0, 0, 0, [SEP] 53, Drawer, -3.121, 0.781, 3.295, 0, 0, 0, [SEP] 54, Cabinet, -2.205, 0.388, 3.459, 0, 0, 0, [SEP] 55, Cabinet, -2.963, 0.388, 3.459, 0, 0, 0, [SEP] 56, Cabinet, -2.992, 0.388, 2.683, 0, 0, 0, [SEP] 57, Cabinet, -3.352, 2.205, 1.715, 0, 0, 0, [SEP] 58, Cabinet, -3.352, 2.205, 2.653, 0, 0, 0, [SEP] 59, Cabinet, -2.189, 0.388, 3.466, 0, 0, 0, [SEP] 60, Cabinet, -3.365, 1.931, 3.963, 0, 0, 0, [SEP] 61, Cabinet, -3.365, 1.931, 1.056, 0, 0, 0, [SEP] 62, Cabinet, -2.992, 0.388, 1.037, 0, 0, 0, [SEP] 63, StoveBurner, -3.143, 0.958, 1.971, 0, 0, 0, [SEP] 64, StoveKnob, -3.599, 1.110, 2.017, 0, 0, 105.000, [SEP] 65, StoveKnob, -3.599, 1.110, 1.867, 0, 0, 105.000, [SEP] 66, StoveKnob, -3.599, 1.110, 2.267, 0, 0, 105.000, [SEP] 67, StoveKnob, -3.599, 1.110, 2.427, 0, 0, 105.000, [SEP] 68, Toaster, -2.654, 0.902, 4.064, 0, 180, 0, [SEP] 69, Fridge, -0.439, 0.014, 3.996, 0, 0, 0, [SEP] 70, LightSwitch, 0.25, 1.383, 2.085, 0, 270, 0, [SEP] 71, Window, -1.430, 1.338, -0.347, 90, 0, 0, [SEP] 72, CoffeeMachine, -3.550, 0.902, 3.274, 0, 90, 0, [SEP] 73, SinkBasin, -1.802, 0.778, 3.700, 0, 0, 0, [SEP] 74, Microwave, -3.484, 1.430, 2.182, 0, 90, 0, [SEP] 75, GarbageCan, -1.184, -0.020, 3.794, 0, 270, 0, [SEP] 76, Blinds, -1.404, 2.092, -0.296, 0, 0, 0, [SEP] 77, Stool, -1.373, 0.014, 1.048, 1.214, 20.754, 0, [SEP] 78, Faucet, -1.788, 0.903, 3.931, 270, 90, 0, [SEP] 79, DiningTable, -1.399, 0.010, 0.238, 0, 0, 0, [SEP] 80, GarbageBag, -0.291, 0.336, -0.034, 272.372, 348.812, 147.313, [SEP] 81, NorthWall, , , , , , , [SEP] 82, EastWall, , , , , , , [SEP] 83, SouthWall, , , , , , , [SEP] 84, WestWall, , , , , , , ", "output": ["STEP 1: Turn and go to the sink. | STEP 2: Pick up a sponge in the sink. | STEP 3: Turn and go to the stove. | STEP 4: Put the sponge in the pot on the stove. | STEP 5: Pick up the pot on the stove. | STEP 6: Turn and go to the table. | STEP 7: Put the pot on the table. | END"]} +{"id": "trial_T20190906_235957_360315-0", "input": "Put a clean cloth on top of the dresser. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.900, -1.25, 0, 270, 0, [SEP] 1, Cloth, -2.620, 0.997, -3.720, 0, 0, 0, 24 [SEP] 2, Cloth, -2.620, 0.997, -2.923, 0, 0, 0, 24 [SEP] 3, Candle, -0.114, 0.616, -3.254, 0, 90, 0, 36 [SEP] 4, Candle, -0.179, 1.043, -0.347, 0, 270, 0, 33 [SEP] 5, SprayBottle, -0.180, 1.162, -3.300, 0, 90, 0, 38 [SEP] 6, SprayBottle, -0.149, 1.045, -0.544, 0, 270, 0, 33 [SEP] 7, HandTowel, -0.038, 1.481, -2.661, 0, 90, 0, 27 [SEP] 8, SoapBar, -2.462, 0.080, -0.391, 0, 90, 0, 30 [SEP] 9, ToiletPaper, -0.148, 1.161, -3.104, 0, 90, 0, 38 [SEP] 10, ToiletPaper, -0.103, 0.866, -1.033, 0, 270, 270, 31 [SEP] 11, Towel, -1.338, 1.193, -0.106, 0, 180, 0, 25 [SEP] 12, SoapBottle, -2.620, 0.994, -2.125, 0, 0, 0, 24 [SEP] 13, ScrubBrush, -0.136, -0.000, -0.105, 0, 0, 0, Floor|-01.15| [SEP] 14, Cloth, -2.547, 0.997, -2.391, 0, 0, 0, 24 [SEP] 15, Plunger, -0.370, -0.000, -0.097, 0, 0, 0, Floor|-01.15| [SEP] 16, Candle, -0.114, 0.616, -3.616, 0, 90, 0, 36 [SEP] 17, SprayBottle, -2.544, 0.358, -2.505, 0, 0, 0, 22 [SEP] 18, Bathtub, -2.104, 0.524, -0.828, 0, 0, 0, [SEP] 19, Faucet, -0.040, 1.017, -2.076, 0, 270, 0, [SEP] 20, Sink, -0.307, 0.0, -2.076, 0, 270, 0, [SEP] 21, Mirror, -2.983, 1.565, -2.900, 0, 0, 0, [SEP] 22, Shelf, -2.581, 0.395, -2.923, 0, 0, 0, [SEP] 23, Shelf, -2.539, 0.130, -2.923, 0, 0, 0, [SEP] 24, CounterTop, -2.704, 1.029, -2.923, 0, 0, 0, [SEP] 25, TowelHolder, -1.338, 1.179, 0.0, 0, 180, 0, [SEP] 26, LightSwitch, -0.363, 1.330, -3.999, 0, 0, 0, [SEP] 27, HandTowelHolder, 0.0, 1.582, -2.661, 0, 180, 0, [SEP] 28, HandTowelHolder, 0.0, 1.582, -1.549, 0, 180, 0, [SEP] 29, SinkBasin, -0.310, 0.859, -2.076, 0, 0, 0, [SEP] 30, BathtubBasin, -2.586, 0.071, -0.801, 0, 90, 0, [SEP] 31, ToiletPaperHanger, 0.0, 0.866, -0.968, 0, 270, 0, [SEP] 32, GarbageCan, -0.266, -0.034, -2.751, 0, 0, 0, [SEP] 33, Toilet, -0.411, -0.000, -0.547, 0, 0, 0, [SEP] 34, Drawer, -0.229, 0.161, -3.398, 0, 270, 0, [SEP] 35, Drawer, -0.229, 0.420, -3.398, 0, 270, 0, [SEP] 36, Drawer, -0.229, 0.680, -3.398, 0, 270, 0, [SEP] 37, Drawer, -0.229, 0.940, -3.398, 0, 270, 0, [SEP] 38, Dresser, -0.205, 0.000, -3.398, 0, 270, 0, [SEP] 39, ShowerHead, -2.579, 1.261, -0.064, 0, 270, 0, [SEP] 40, ShowerCurtain, -2.188, 1.915, -1.560, 0, 0, 0, [SEP] 41, EastWall, , , , , , , [SEP] 42, EastWall, , , , , , , [SEP] 43, SouthWall, , , , , , , ", "output": ["STEP 1: Walk across the room to the vanity to the left of the tub. | STEP 2: Pick up the dirty cloth on the vanity. | STEP 3: Turn and walk across the room to the sink. | STEP 4: Clean the cloth in the sink. | STEP 5: Go to the dresser next to the door. | STEP 6: Put the cloth down on the dresser next to the bottle of cleaner. | END"]} +{"id": "trial_T20190906_235957_360315-2", "input": "place a clean wash cloth on top of the tall white cabinet SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.900, -1.25, 0, 270, 0, [SEP] 1, Cloth, -2.620, 0.997, -3.720, 0, 0, 0, 24 [SEP] 2, Cloth, -2.620, 0.997, -2.923, 0, 0, 0, 24 [SEP] 3, Candle, -0.114, 0.616, -3.254, 0, 90, 0, 36 [SEP] 4, Candle, -0.179, 1.043, -0.347, 0, 270, 0, 33 [SEP] 5, SprayBottle, -0.180, 1.162, -3.300, 0, 90, 0, 38 [SEP] 6, SprayBottle, -0.149, 1.045, -0.544, 0, 270, 0, 33 [SEP] 7, HandTowel, -0.038, 1.481, -2.661, 0, 90, 0, 27 [SEP] 8, SoapBar, -2.462, 0.080, -0.391, 0, 90, 0, 30 [SEP] 9, ToiletPaper, -0.148, 1.161, -3.104, 0, 90, 0, 38 [SEP] 10, ToiletPaper, -0.103, 0.866, -1.033, 0, 270, 270, 31 [SEP] 11, Towel, -1.338, 1.193, -0.106, 0, 180, 0, 25 [SEP] 12, SoapBottle, -2.620, 0.994, -2.125, 0, 0, 0, 24 [SEP] 13, ScrubBrush, -0.136, -0.000, -0.105, 0, 0, 0, Floor|-01.15| [SEP] 14, Cloth, -2.547, 0.997, -2.391, 0, 0, 0, 24 [SEP] 15, Plunger, -0.370, -0.000, -0.097, 0, 0, 0, Floor|-01.15| [SEP] 16, Candle, -0.114, 0.616, -3.616, 0, 90, 0, 36 [SEP] 17, SprayBottle, -2.544, 0.358, -2.505, 0, 0, 0, 22 [SEP] 18, Bathtub, -2.104, 0.524, -0.828, 0, 0, 0, [SEP] 19, Faucet, -0.040, 1.017, -2.076, 0, 270, 0, [SEP] 20, Sink, -0.307, 0.0, -2.076, 0, 270, 0, [SEP] 21, Mirror, -2.983, 1.565, -2.900, 0, 0, 0, [SEP] 22, Shelf, -2.581, 0.395, -2.923, 0, 0, 0, [SEP] 23, Shelf, -2.539, 0.130, -2.923, 0, 0, 0, [SEP] 24, CounterTop, -2.704, 1.029, -2.923, 0, 0, 0, [SEP] 25, TowelHolder, -1.338, 1.179, 0.0, 0, 180, 0, [SEP] 26, LightSwitch, -0.363, 1.330, -3.999, 0, 0, 0, [SEP] 27, HandTowelHolder, 0.0, 1.582, -2.661, 0, 180, 0, [SEP] 28, HandTowelHolder, 0.0, 1.582, -1.549, 0, 180, 0, [SEP] 29, SinkBasin, -0.310, 0.859, -2.076, 0, 0, 0, [SEP] 30, BathtubBasin, -2.586, 0.071, -0.801, 0, 90, 0, [SEP] 31, ToiletPaperHanger, 0.0, 0.866, -0.968, 0, 270, 0, [SEP] 32, GarbageCan, -0.266, -0.034, -2.751, 0, 0, 0, [SEP] 33, Toilet, -0.411, -0.000, -0.547, 0, 0, 0, [SEP] 34, Drawer, -0.229, 0.161, -3.398, 0, 270, 0, [SEP] 35, Drawer, -0.229, 0.420, -3.398, 0, 270, 0, [SEP] 36, Drawer, -0.229, 0.680, -3.398, 0, 270, 0, [SEP] 37, Drawer, -0.229, 0.940, -3.398, 0, 270, 0, [SEP] 38, Dresser, -0.205, 0.000, -3.398, 0, 270, 0, [SEP] 39, ShowerHead, -2.579, 1.261, -0.064, 0, 270, 0, [SEP] 40, ShowerCurtain, -2.188, 1.915, -1.560, 0, 0, 0, [SEP] 41, EastWall, , , , , , , [SEP] 42, EastWall, , , , , , , [SEP] 43, SouthWall, , , , , , , ", "output": ["STEP 1: walk over to the bathroom cabinets | STEP 2: pick up a dirty cloth off of the cabinets | STEP 3: walk over to the bathroom sink | STEP 4: wash the cloth in the sink and pick it back up | STEP 5: walk over to the tall white cabinet | STEP 6: place the wash cloth on top | END"]} +{"id": "trial_T20190908_214707_663766-2", "input": "Put a rag in the bathtub. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.900, 2.5, 0, 90, 0, [SEP] 1, Cloth, -2.372, 0.831, 1.439, 0, 0, 0, 22 [SEP] 2, Cloth, -2.874, 0.887, 1.827, 0, 0, 0, 48 [SEP] 3, Cloth, -1.117, 0.542, 1.935, 0, 0, 0, 23 [SEP] 4, SoapBar, -0.967, 0.826, 1.968, 0, 0, 0, 22 [SEP] 5, Candle, -1.079, 1.053, 4.526, 0, 270, 0, 42 [SEP] 6, SprayBottle, -1.065, 0.121, 3.734, 0, 90, 0, 41 [SEP] 7, SoapBottle, -0.987, 1.046, 4.591, 0, 270, 0, 42 [SEP] 8, SoapBottle, -0.987, 1.046, 4.460, 0, 270, 0, 42 [SEP] 9, Towel, -4.739, 1.522, 2.425, 0, 90, 0, 35 [SEP] 10, ToiletPaper, -0.968, 0.888, 3.960, 0, 270, 270, 43 [SEP] 11, Candle, -1.306, 0.546, 1.883, 0, 0, 0, 23 [SEP] 12, HandTowel, -3.726, 1.646, 1.330, 0, 180, 0, 40 [SEP] 13, Plunger, -1.064, -0.000, 4.838, 0, 0, 0, Floor|-03.84| [SEP] 14, SoapBar, -3.028, 0.537, 1.728, 0, 0, 0, 29 [SEP] 15, ToiletPaper, -2.933, 0.534, 1.832, 0, 0, 0, 29 [SEP] 16, Cloth, -1.401, 0.274, 1.883, 0, 0, 0, 24 [SEP] 17, ToiletPaper, -1.086, 0.115, 3.640, 0, 90, 0, 41 [SEP] 18, Towel, -4.739, 1.522, 3.359, 0, 90, 0, 34 [SEP] 19, ScrubBrush, -1.065, -0.000, 4.052, 0, 0, 0, Floor|-03.84| [SEP] 20, SoapBottle, -2.372, 0.828, 1.651, 0, 0, 0, 22 [SEP] 21, SprayBottle, -1.086, 0.121, 3.797, 0, 0, 0, 41 [SEP] 22, CounterTop, -2.177, 0.782, 1.889, 0, 0, 0, [SEP] 23, Drawer, -1.307, 0.606, 1.890, 0, 0, 0, [SEP] 24, Drawer, -1.307, 0.337, 1.890, 0, 0, 0, [SEP] 25, Faucet, -4.646, 0.448, 1.689, 0, 0, 0, [SEP] 26, ShowerDoor, -4.873, 1.235, 3.947, 0, 0, 0, [SEP] 27, Drawer, -3.029, 0.337, 1.890, 0, 0, 0, [SEP] 28, Drawer, -2.169, 0.606, 1.890, 0, 0, 0, [SEP] 29, Drawer, -3.029, 0.606, 1.890, 0, 0, 0, [SEP] 30, Bathtub, -4.080, 0.297, 2.480, 0, 345.000, 0, [SEP] 31, Drawer, -2.169, 0.337, 1.890, 0, 0, 0, [SEP] 32, Mirror, -2.177, 1.856, 1.390, 0, 0, 0, [SEP] 33, Sink, -1.421, 0.837, 1.776, 0, 0, 0, [SEP] 34, TowelHolder, -4.846, 1.508, 3.358, 0, 90, 0, [SEP] 35, TowelHolder, -4.846, 1.508, 2.424, 0, 90, 0, [SEP] 36, LightSwitch, -2.165, 1.450, 4.972, 0, 180, 0, [SEP] 37, BathtubBasin, -4.309, 0.192, 2.328, 0, 270, 0, [SEP] 38, SinkBasin, -1.442, 0.874, 1.785, 0, 0, 0, [SEP] 39, HandTowelHolder, -0.884, 1.692, 2.017, 0, 180, 0, [SEP] 40, HandTowelHolder, -3.726, 1.748, 1.292, 0, 270, 0, [SEP] 41, GarbageCan, -1.116, -0.037, 3.598, 0, 270, 0, [SEP] 42, Toilet, -1.340, -0.000, 4.456, 0, 0, 0, [SEP] 43, ToiletPaperHanger, -0.884, 0.888, 3.911, 0, 270, 0, [SEP] 44, Faucet, -1.421, 0.954, 1.507, 0, 0, 0, [SEP] 45, ShowerHead, -5.257, 1.733, 4.030, 0, 90, 0, [SEP] 46, Faucet, -2.944, 0.954, 1.507, 0, 0, 0, [SEP] 47, Sink, -2.943, 0.837, 1.776, 0, 0, 0, [SEP] 48, SinkBasin, -2.964, 0.874, 1.785, 0, 0, 0, [SEP] 49, NorthWall, , , , , , , [SEP] 50, EastWall, , , , , , , [SEP] 51, SouthWall, , , , , , , [SEP] 52, WestWall, , , , , , , ", "output": ["STEP 1: Turn to the empty counter space between the two sinks, on your right. | STEP 2: Pick up the yellow rag on the counter. | STEP 3: Turn to the bathtub on your right. | STEP 4: Place the yellow rag inside the bathtub. | END"]} +{"id": "trial_T20190909_103054_508610-1", "input": "Put a heated apple in the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.900, 2.5, 0, 270, 0, [SEP] 1, Potato, -2.726, 1.484, 1.957, 0, 90, 0, 63 [SEP] 2, Ladle, -2.540, 1.893, 2.420, 0, 0, 0, 55 [SEP] 3, Spoon, -1.709, 0.824, 0.539, 0, 0, 0, 45 [SEP] 4, Spatula, -1.207, 0.838, 0.528, 0, 0, 0, 45 [SEP] 5, Tomato, -2.782, 1.495, 2.397, 0, 90, 0, 63 [SEP] 6, Tomato, -2.892, 1.495, 1.957, 0, 90, 0, 63 [SEP] 7, SoapBottle, -0.362, 0.054, 2.539, 0, 0, 0, 65 [SEP] 8, Bowl, -2.000, 0.121, 0.401, 0, 0, 0, 57 [SEP] 9, SaltShaker, -0.323, 0.818, 1.326, 0, 0, 0, 45 [SEP] 10, SaltShaker, -0.817, 0.818, 0.203, 0, 0, 0, 45 [SEP] 11, PepperShaker, -2.840, 0.818, 0.055, 0, 0, 0, 45 [SEP] 12, PepperShaker, -2.929, 1.430, 0.640, 0, 0, 0, 54 [SEP] 13, Mug, -2.840, 0.818, 0.203, 0, 0, 0, 45 [SEP] 14, Mug, -2.782, 0.819, 2.221, 0, 90, 0, 63 [SEP] 15, Apple, -2.837, 1.216, 2.133, 0, 90, 0, 63 [SEP] 16, Apple, -2.504, 0.896, 0.707, 0, 0, 0, 45 [SEP] 17, Apple, -2.726, 1.518, 2.221, 0, 90, 0, 63 [SEP] 18, Fork, -0.497, 0.697, 0.875, 0, 90, 0, 47 [SEP] 19, Ladle, -2.540, 1.893, 1.875, 0, 0, 0, 39 [SEP] 20, Pan, -0.244, 0.829, 1.684, 0, 0, 0, 44 [SEP] 21, SoapBottle, -0.262, 0.054, 2.674, 0, 0, 0, 65 [SEP] 22, Pot, -0.518, 0.829, 2.075, 0, 180, 0, 42 [SEP] 23, Tomato, -2.669, 1.181, 2.373, 0, 0, 0, 63 [SEP] 24, Potato, -2.726, 0.863, 2.045, 0, 90, 0, 63 [SEP] 25, SaltShaker, -0.147, 0.818, 0.426, 0, 0, 0, 45 [SEP] 26, Plate, -1.465, 0.130, 0.401, 0, 0, 0, 58 [SEP] 27, Spatula, -2.375, 0.838, 0.203, 0, 0, 0, 45 [SEP] 28, Knife, -0.314, 0.849, 0.352, 0, 180, 0, 45 [SEP] 29, Egg, -0.295, 0.080, 2.505, 0, 0, 0, 65 [SEP] 30, Cup, -2.726, 1.144, 1.957, 0, 90, 0, 63 [SEP] 31, ButterKnife, -2.493, 0.812, 0.476, 0, 50.734, 0, 45 [SEP] 32, Lettuce, -1.836, 0.741, 0.238, 0, 55.910, 0, 72 [SEP] 33, PepperShaker, -2.957, 0.818, 0.203, 0, 0, 0, 45 [SEP] 34, DishSponge, -2.631, 0.692, 1.511, 0, 0, 0, 50 [SEP] 35, Bread, -0.979, 0.855, 0.249, 0, 29.999, 0, 45 [SEP] 36, Spoon, -0.888, 0.712, 0.445, 0, 270, 0, 48 [SEP] 37, Mug, -2.837, 0.819, 2.397, 0, 90, 0, 63 [SEP] 38, Bowl, -2.752, 1.431, 0.260, 0, 45, 0, 51 [SEP] 39, Cabinet, -2.377, 2.015, 1.720, 0, 0, 0, [SEP] 40, StoveBurner, -0.244, 0.820, 2.075, 0, 180, 0, [SEP] 41, Drawer, -0.402, 0.703, 1.252, 0, 0, 0, [SEP] 42, StoveBurner, -0.518, 0.820, 2.075, 0, 180, 0, [SEP] 43, Sink, -1.838, 0.726, 0.343, 0, 180, 0, [SEP] 44, StoveBurner, -0.244, 0.820, 1.684, 0, 0, 0, [SEP] 45, CounterTop, -1.557, 0.859, 0.277, 0, 0, 0, [SEP] 46, StoveBurner, -0.518, 0.820, 1.684, 0, 0, 0, [SEP] 47, Drawer, -0.404, 0.704, 0.912, 0, 0, 0, [SEP] 48, Drawer, -0.861, 0.709, 0.420, 0, 0, 0, [SEP] 49, Drawer, -1.133, 0.706, 0.418, 0, 0, 0, [SEP] 50, Drawer, -2.589, 0.703, 1.511, 0, 0, 0, [SEP] 51, Cabinet, -2.772, 1.803, 0.508, 0, 0, 0, [SEP] 52, Cabinet, -2.460, 1.803, 0.231, 0, 0, 0, [SEP] 53, Cabinet, -2.781, 1.798, 0.825, 0, 0, 0, [SEP] 54, Cabinet, -2.781, 1.798, 0.815, 0, 0, 0, [SEP] 55, Cabinet, -2.377, 2.009, 2.581, 0, 0, 0, [SEP] 56, Cabinet, -2.442, 0.385, 1.672, 0, 0, 0, [SEP] 57, Cabinet, -2.238, 0.385, 0.564, 0, 0, 0, [SEP] 58, Cabinet, -1.286, 0.385, 0.564, 0, 0, 0, [SEP] 59, Cabinet, -1.262, 0.385, 0.565, 0, 0, 0, [SEP] 60, Cabinet, -0.734, 0.385, 0.565, 0, 0, 0, [SEP] 61, Cabinet, -0.549, 0.385, 0.751, 0, 0, 0, [SEP] 62, Cabinet, -0.549, 0.385, 1.412, 0, 0, 0, [SEP] 63, Fridge, -2.782, 0.0, 2.221, 0, 0, 0, [SEP] 64, Microwave, -2.794, 0.812, 1.348, 0, 90, 0, [SEP] 65, GarbageCan, -0.329, 2.205, 2.606, 0, 0, 0, [SEP] 66, StoveKnob, -0.069, 0.998, 1.773, 0, 180, 107.470, [SEP] 67, StoveKnob, -0.069, 0.998, 1.613, 0, 180, 107.470, [SEP] 68, StoveKnob, -0.069, 0.998, 2.171, 0, 180, 107.470, [SEP] 69, StoveKnob, -0.069, 0.998, 2.024, 0, 180, 107.470, [SEP] 70, Window, -1.720, 1.342, -0.208, 90, 0, 0, [SEP] 71, Toaster, -0.171, 0.812, 0.735, 0, 270, 0, [SEP] 72, SinkBasin, -1.745, 0.687, 0.295, 0, 0, 0, [SEP] 73, CoffeeMachine, -0.539, 0.812, 0.185, 0, 0, 0, [SEP] 74, LightSwitch, -0.615, 1.378, 3.0, 0, 180, 0, [SEP] 75, Faucet, -1.686, 0.954, 0.176, 0, 236.223, 0, [SEP] 76, Stool, -1.008, 0.008, 1.955, 0, 18.279, 0, [SEP] 77, NorthWall, , , , , , , [SEP] 78, EastWall, , , , , , , [SEP] 79, SouthWall, , , , , , , [SEP] 80, WestWall, , , , , , , ", "output": ["STEP 1: Go left and then right to face the counter to the left of the microwave. | STEP 2: Pick the apple up from the counter. | STEP 3: Move to the right and face the microwave. | STEP 4: Put the apple in the microwave and shut the door and then open the door and take the apple out again. | STEP 5: Turn and face the sink to the left. | STEP 6: Put the apple in the sink on the left side. | END"]} +{"id": "trial_T20190909_103054_508610-2", "input": "Place a heated apple in a sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.900, 2.5, 0, 270, 0, [SEP] 1, Potato, -2.726, 1.484, 1.957, 0, 90, 0, 63 [SEP] 2, Ladle, -2.540, 1.893, 2.420, 0, 0, 0, 55 [SEP] 3, Spoon, -1.709, 0.824, 0.539, 0, 0, 0, 45 [SEP] 4, Spatula, -1.207, 0.838, 0.528, 0, 0, 0, 45 [SEP] 5, Tomato, -2.782, 1.495, 2.397, 0, 90, 0, 63 [SEP] 6, Tomato, -2.892, 1.495, 1.957, 0, 90, 0, 63 [SEP] 7, SoapBottle, -0.362, 0.054, 2.539, 0, 0, 0, 65 [SEP] 8, Bowl, -2.000, 0.121, 0.401, 0, 0, 0, 57 [SEP] 9, SaltShaker, -0.323, 0.818, 1.326, 0, 0, 0, 45 [SEP] 10, SaltShaker, -0.817, 0.818, 0.203, 0, 0, 0, 45 [SEP] 11, PepperShaker, -2.840, 0.818, 0.055, 0, 0, 0, 45 [SEP] 12, PepperShaker, -2.929, 1.430, 0.640, 0, 0, 0, 54 [SEP] 13, Mug, -2.840, 0.818, 0.203, 0, 0, 0, 45 [SEP] 14, Mug, -2.782, 0.819, 2.221, 0, 90, 0, 63 [SEP] 15, Apple, -2.837, 1.216, 2.133, 0, 90, 0, 63 [SEP] 16, Apple, -2.504, 0.896, 0.707, 0, 0, 0, 45 [SEP] 17, Apple, -2.726, 1.518, 2.221, 0, 90, 0, 63 [SEP] 18, Fork, -0.497, 0.697, 0.875, 0, 90, 0, 47 [SEP] 19, Ladle, -2.540, 1.893, 1.875, 0, 0, 0, 39 [SEP] 20, Pan, -0.244, 0.829, 1.684, 0, 0, 0, 44 [SEP] 21, SoapBottle, -0.262, 0.054, 2.674, 0, 0, 0, 65 [SEP] 22, Pot, -0.518, 0.829, 2.075, 0, 180, 0, 42 [SEP] 23, Tomato, -2.669, 1.181, 2.373, 0, 0, 0, 63 [SEP] 24, Potato, -2.726, 0.863, 2.045, 0, 90, 0, 63 [SEP] 25, SaltShaker, -0.147, 0.818, 0.426, 0, 0, 0, 45 [SEP] 26, Plate, -1.465, 0.130, 0.401, 0, 0, 0, 58 [SEP] 27, Spatula, -2.375, 0.838, 0.203, 0, 0, 0, 45 [SEP] 28, Knife, -0.314, 0.849, 0.352, 0, 180, 0, 45 [SEP] 29, Egg, -0.295, 0.080, 2.505, 0, 0, 0, 65 [SEP] 30, Cup, -2.726, 1.144, 1.957, 0, 90, 0, 63 [SEP] 31, ButterKnife, -2.493, 0.812, 0.476, 0, 50.734, 0, 45 [SEP] 32, Lettuce, -1.836, 0.741, 0.238, 0, 55.910, 0, 72 [SEP] 33, PepperShaker, -2.957, 0.818, 0.203, 0, 0, 0, 45 [SEP] 34, DishSponge, -2.631, 0.692, 1.511, 0, 0, 0, 50 [SEP] 35, Bread, -0.979, 0.855, 0.249, 0, 29.999, 0, 45 [SEP] 36, Spoon, -0.888, 0.712, 0.445, 0, 270, 0, 48 [SEP] 37, Mug, -2.837, 0.819, 2.397, 0, 90, 0, 63 [SEP] 38, Bowl, -2.752, 1.431, 0.260, 0, 45, 0, 51 [SEP] 39, Cabinet, -2.377, 2.015, 1.720, 0, 0, 0, [SEP] 40, StoveBurner, -0.244, 0.820, 2.075, 0, 180, 0, [SEP] 41, Drawer, -0.402, 0.703, 1.252, 0, 0, 0, [SEP] 42, StoveBurner, -0.518, 0.820, 2.075, 0, 180, 0, [SEP] 43, Sink, -1.838, 0.726, 0.343, 0, 180, 0, [SEP] 44, StoveBurner, -0.244, 0.820, 1.684, 0, 0, 0, [SEP] 45, CounterTop, -1.557, 0.859, 0.277, 0, 0, 0, [SEP] 46, StoveBurner, -0.518, 0.820, 1.684, 0, 0, 0, [SEP] 47, Drawer, -0.404, 0.704, 0.912, 0, 0, 0, [SEP] 48, Drawer, -0.861, 0.709, 0.420, 0, 0, 0, [SEP] 49, Drawer, -1.133, 0.706, 0.418, 0, 0, 0, [SEP] 50, Drawer, -2.589, 0.703, 1.511, 0, 0, 0, [SEP] 51, Cabinet, -2.772, 1.803, 0.508, 0, 0, 0, [SEP] 52, Cabinet, -2.460, 1.803, 0.231, 0, 0, 0, [SEP] 53, Cabinet, -2.781, 1.798, 0.825, 0, 0, 0, [SEP] 54, Cabinet, -2.781, 1.798, 0.815, 0, 0, 0, [SEP] 55, Cabinet, -2.377, 2.009, 2.581, 0, 0, 0, [SEP] 56, Cabinet, -2.442, 0.385, 1.672, 0, 0, 0, [SEP] 57, Cabinet, -2.238, 0.385, 0.564, 0, 0, 0, [SEP] 58, Cabinet, -1.286, 0.385, 0.564, 0, 0, 0, [SEP] 59, Cabinet, -1.262, 0.385, 0.565, 0, 0, 0, [SEP] 60, Cabinet, -0.734, 0.385, 0.565, 0, 0, 0, [SEP] 61, Cabinet, -0.549, 0.385, 0.751, 0, 0, 0, [SEP] 62, Cabinet, -0.549, 0.385, 1.412, 0, 0, 0, [SEP] 63, Fridge, -2.782, 0.0, 2.221, 0, 0, 0, [SEP] 64, Microwave, -2.794, 0.812, 1.348, 0, 90, 0, [SEP] 65, GarbageCan, -0.329, 2.205, 2.606, 0, 0, 0, [SEP] 66, StoveKnob, -0.069, 0.998, 1.773, 0, 180, 107.470, [SEP] 67, StoveKnob, -0.069, 0.998, 1.613, 0, 180, 107.470, [SEP] 68, StoveKnob, -0.069, 0.998, 2.171, 0, 180, 107.470, [SEP] 69, StoveKnob, -0.069, 0.998, 2.024, 0, 180, 107.470, [SEP] 70, Window, -1.720, 1.342, -0.208, 90, 0, 0, [SEP] 71, Toaster, -0.171, 0.812, 0.735, 0, 270, 0, [SEP] 72, SinkBasin, -1.745, 0.687, 0.295, 0, 0, 0, [SEP] 73, CoffeeMachine, -0.539, 0.812, 0.185, 0, 0, 0, [SEP] 74, LightSwitch, -0.615, 1.378, 3.0, 0, 180, 0, [SEP] 75, Faucet, -1.686, 0.954, 0.176, 0, 236.223, 0, [SEP] 76, Stool, -1.008, 0.008, 1.955, 0, 18.279, 0, [SEP] 77, NorthWall, , , , , , , [SEP] 78, EastWall, , , , , , , [SEP] 79, SouthWall, , , , , , , [SEP] 80, WestWall, , , , , , , ", "output": ["STEP 1: Walk ahead and veer left to the counter to the left of the microwave. | STEP 2: Pick up the red apple on the counter. | STEP 3: Take a step right. | STEP 4: Heat the apple in the microwave. | STEP 5: Turn left and walk to the sink. | STEP 6: Place the apple in the left basin of the sink. | END"]} +{"id": "trial_T20190907_222331_696550-2", "input": "Put a cleaned bar of soap in a garbage bin. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.900, -1.0, 0, 180, 0, [SEP] 1, Candle, -1.799, 0.907, -1.739, 0, 0, 0, 34 [SEP] 2, Candle, -1.969, 0.907, -1.350, 0, 0, 0, 19 [SEP] 3, SprayBottle, -0.254, 0.018, -1.536, 0, 0, 0, 22 [SEP] 4, Towel, 0.89, 1.368, -1.755, 0, 0, 0, 29 [SEP] 5, HandTowel, -2.028, 1.492, -1.482, 0, 270, 0, 35 [SEP] 6, SoapBar, 0.753, 0.171, -0.818, 0, 270, 0, 33 [SEP] 7, ToiletPaper, -1.199, 0.919, 0.680, 0, 180, 270, 30 [SEP] 8, ToiletPaper, -1.933, 1.041, 0.140, 0, 90, 0, 37 [SEP] 9, Cloth, 0.938, 0.171, -1.392, 0, 270, 0, 33 [SEP] 10, SprayBottle, -1.932, 1.045, 0.272, 0, 90, 0, 37 [SEP] 11, ScrubBrush, -1.648, -0.000, 0.649, 0, 0, 0, Floor|-00.27| [SEP] 12, Plunger, -1.885, -0.001, 0.609, 0, 0, 0, Floor|-00.27| [SEP] 13, Candle, -1.989, 0.907, -1.486, 0, 0, 0, 19 [SEP] 14, SoapBottle, -1.901, 0.018, -1.486, 0, 0, 0, 25 [SEP] 15, Cabinet, -1.052, 0.340, -1.327, 0, 0, 0, [SEP] 16, Cabinet, -1.039, 0.340, -1.327, 0, 0, 0, [SEP] 17, ShowerGlass, 0.919, 1.417, -0.206, 0, 0, 0, [SEP] 18, Sink, -1.560, 0.811, -1.598, 0, 0, 0, [SEP] 19, CounterTop, -1.041, 0.884, -1.531, 0, 0, 0, [SEP] 20, ShowerDoor, 0.451, 0.926, 0.696, 0, 0, 0, [SEP] 21, Faucet, -0.505, 0.898, -1.779, 0, 0, 0, [SEP] 22, Cabinet, -0.071, 0.340, -1.327, 0, 0, 0, [SEP] 23, Mirror, -1.014, 1.501, -1.840, 0, 0, 0, [SEP] 24, Bathtub, 0.883, 0.392, -1.154, 0, 0, 0, [SEP] 25, Cabinet, -2.020, 0.340, -1.327, 0, 0, 0, [SEP] 26, Sink, -0.526, 0.811, -1.598, 0, 0, 0, [SEP] 27, Window, 1.532, 1.672, -1.037, 0, 0, 0, [SEP] 28, ShowerCurtain, 0.460, 1.777, -1.522, 0, 0, 0, [SEP] 29, TowelHolder, 0.889, 1.353, -1.861, 0, 0, 0, [SEP] 30, ToiletPaperHanger, -1.182, 0.919, 0.768, 0, 180, 0, [SEP] 31, LightSwitch, 0.224, 1.333, 0.762, 0, 180, 0, [SEP] 32, SinkBasin, -0.536, 0.917, -1.532, 347.851, 0, 0, [SEP] 33, BathtubBasin, 0.938, 0.160, -1.126, 0, 270, 0, [SEP] 34, SinkBasin, -1.571, 0.917, -1.532, 347.851, 0, 0, [SEP] 35, HandTowelHolder, -2.066, 1.594, -1.482, 0, 0, 0, [SEP] 36, GarbageCan, 0.122, -0.002, -1.558, 0, 270, 0, [SEP] 37, Toilet, -1.610, -0.000, 0.209, 0, 180, 0, [SEP] 38, Faucet, -1.537, 0.898, -1.779, 0, 0, 0, [SEP] 39, Faucet, 0.929, 0.509, -1.978, 0, 0, 0, [SEP] 40, Faucet, 0.890, 1.689, 0.724, 0, 0, 0, [SEP] 41, NorthWall, , , , , , , [SEP] 42, EastWall, , , , , , , [SEP] 43, SouthWall, , , , , , , [SEP] 44, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and walk to the bath tub. | STEP 2: Pick up the bar of soap from the bath tub. | STEP 3: Turn right and walk to the sink on the left. | STEP 4: Put the bar of soap in the sink, rinse it off, and take it out of the sink. | STEP 5: Walk backwards and slightly to the left towards the garbage bin on the floor. | STEP 6: Put the bar of soap in the garbage bin. | END"]} +{"id": "trial_T20190908_102013_922247-2", "input": "place a cold tomato slice in the microwave SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.25, 0.901, 0.25, 0, 270, 0, [SEP] 1, Potato, 2.059, 0.378, -0.460, 0, 270, 0, 77 [SEP] 2, WineBottle, 0.637, 0.082, 2.484, 0, 0, 0, 63 [SEP] 3, DishSponge, 2.206, 1.500, 1.916, 0, 0, 0, 59 [SEP] 4, ButterKnife, -0.272, 0.791, 1.217, 0, 0, 0, 83 [SEP] 5, ButterKnife, -0.042, 0.791, 1.386, 0, 0, 0, 83 [SEP] 6, Spatula, 1.223, 0.810, 2.750, 0, 270, 0, 80 [SEP] 7, Fork, 2.227, 0.938, 2.063, 0, 90, 0, 56 [SEP] 8, Cup, -0.115, 0.079, 2.265, 0, 0, 0, 50 [SEP] 9, Cup, 0.288, 0.935, 2.688, 0, 0, 0, 56 [SEP] 10, Plate, 2.164, 0.606, -0.369, 0, 270, 0, 77 [SEP] 11, Knife, 2.024, 0.771, 2.197, 0, 270, 0, 71 [SEP] 12, Knife, -0.042, 0.816, 1.217, 0, 0, 0, 83 [SEP] 13, SoapBottle, 0.288, 0.938, 2.478, 0, 0, 0, 56 [SEP] 14, Tomato, 0.033, 0.837, 1.049, 0, 0, 0, 83 [SEP] 15, Bowl, 1.227, 0.078, 2.484, 0, 0, 0, 62 [SEP] 16, SaltShaker, 2.225, 0.933, 0.806, 0, 0, 0, 67 [SEP] 17, SaltShaker, -0.042, 0.785, 0.545, 0, 0, 0, 83 [SEP] 18, PepperShaker, 0.495, 0.076, 2.445, 0, 0, 0, 63 [SEP] 19, PepperShaker, 0.033, 0.785, 0.377, 0, 0, 0, 83 [SEP] 20, Bread, 2.112, 1.371, -0.279, 0, 270, 0, 77 [SEP] 21, Lettuce, 2.059, 0.400, -0.188, 0, 0, 0, 77 [SEP] 22, Mug, 2.064, 0.989, 2.462, 0, 225, 0, 82 [SEP] 23, Apple, -0.396, 0.987, 2.548, 0, 0, 0, 56 [SEP] 24, Apple, -0.395, 1.085, 2.068, 0, 90, 0, 81 [SEP] 25, Egg, -0.349, 0.833, 0.881, 0, 0, 0, 83 [SEP] 26, Lettuce, 0.033, 0.852, 0.713, 0, 0, 0, 83 [SEP] 27, Fork, 0.002, 0.747, 2.061, 0, 0, 0, 55 [SEP] 28, SoapBottle, -0.042, 0.782, 0.881, 0, 0, 0, 83 [SEP] 29, Ladle, -0.282, 0.982, 2.548, 0, 0, 0, 56 [SEP] 30, Ladle, -0.096, 0.942, 2.546, 6.838, 45, 340.406, 56 [SEP] 31, Bread, -0.201, 0.823, 0.813, 0, 0, 1.093, 83 [SEP] 32, SaltShaker, 0.174, 0.932, 2.827, 0, 0, 0, 56 [SEP] 33, Potato, 2.207, 0.642, -0.097, 0, 270, 0, 77 [SEP] 34, Pan, 2.140, 0.935, 1.504, 0, 180, 0, 51 [SEP] 35, WineBottle, 1.840, 0.939, 0.583, 0, 0, 0, 67 [SEP] 36, Spatula, 1.118, 0.810, 2.584, 0, 90, 0, 80 [SEP] 37, Knife, -0.138, 0.772, 2.197, 0, 270, 0, 55 [SEP] 38, Tomato, -0.349, 0.837, 1.217, 0, 0, 0, 83 [SEP] 39, Apple, 1.840, 0.988, 0.731, 0, 0, 0, 67 [SEP] 40, ButterKnife, -0.272, 0.791, 1.386, 0, 0, 0, 83 [SEP] 41, Pot, 1.854, 0.937, 1.497, 0, 0, 0, 60 [SEP] 42, PepperShaker, 1.925, 0.077, 1.915, 0, 0, 0, 52 [SEP] 43, Cup, 0.576, 0.793, 2.529, 0, 0, 0, 80 [SEP] 44, DishSponge, 2.203, 1.503, 0.725, 0, 0, 0, 64 [SEP] 45, Plate, -0.312, 0.781, 0.409, 0, 0, 0, 83 [SEP] 46, Spoon, 1.954, 0.746, 2.060, 0, 0, 0, 71 [SEP] 47, Mug, 2.096, 0.333, -0.007, 0, 270, 0, 77 [SEP] 48, Bowl, 2.165, 1.500, 0.388, 0, 0, 0, 54 [SEP] 49, Cabinet, 2.041, 2.113, 2.618, 0, 0, 0, [SEP] 50, Cabinet, 0.126, 0.388, 1.774, 0, 0, 0, [SEP] 51, StoveBurner, 2.140, 0.929, 1.504, 0, 180, 0, [SEP] 52, Cabinet, 1.760, 0.388, 2.346, 0, 0, 0, [SEP] 53, Cabinet, 1.760, 0.388, 0.869, 0, 0, 0, [SEP] 54, Cabinet, 2.041, 1.810, 0.283, 0, 0, 0, [SEP] 55, Drawer, -0.024, 0.774, 2.061, 0, 0, 0, [SEP] 56, CounterTop, 1.065, 0.973, 2.666, 0, 0, 0, [SEP] 57, Cabinet, 1.969, 2.113, 2.618, 0, 0, 0, [SEP] 58, StoveBurner, 2.140, 0.929, 1.106, 0, 0, 0, [SEP] 59, Cabinet, 2.041, 2.113, 1.809, 0, 0, 0, [SEP] 60, StoveBurner, 1.866, 0.929, 1.504, 0, 180, 0, [SEP] 61, Cabinet, 2.041, 2.113, 1.766, 0, 0, 0, [SEP] 62, Cabinet, 1.514, 0.388, 2.360, 0, 0, 0, [SEP] 63, Cabinet, 0.351, 0.388, 2.360, 0, 0, 0, [SEP] 64, Cabinet, 2.041, 1.810, 0.872, 0, 0, 0, [SEP] 65, Drawer, 2.167, 0.774, 0.582, 0, 0, 0, [SEP] 66, Cabinet, 2.041, 2.113, 0.892, 0, 0, 0, [SEP] 67, CounterTop, 2.060, 0.973, 0.583, 0, 0, 0, [SEP] 68, Sink, 0.935, 0.936, 2.646, 0, 0, 0, [SEP] 69, Curtains, 0.964, 2.061, 2.989, 0, 0, 0, [SEP] 70, StoveBurner, 1.863, 0.929, 1.106, 0, 0, 0, [SEP] 71, Drawer, 1.911, 0.774, 2.060, 0, 0, 0, [SEP] 72, StoveKnob, 2.326, 1.092, 1.610, 288.013, 90, 0, [SEP] 73, StoveKnob, 2.326, 1.092, 1.460, 288.013, 90, 0, [SEP] 74, StoveKnob, 2.326, 1.092, 1.210, 288.013, 90, 0, [SEP] 75, StoveKnob, 2.326, 1.092, 1.050, 288.013, 90, 0, [SEP] 76, Toaster, 2.126, 0.926, 0.572, 0, 270, 0, [SEP] 77, Fridge, 2.104, 0.0, -0.279, 0, 270, 0, [SEP] 78, GarbageCan, -0.309, -0.001, -0.807, 0, 91.471, 0, [SEP] 79, LightSwitch, 0.354, 1.518, -1.031, 0, 0, 0, [SEP] 80, SinkBasin, 0.903, 0.784, 2.640, 0, 0, 0, [SEP] 81, Microwave, -0.310, 0.926, 2.077, 0, 90, 0, [SEP] 82, CoffeeMachine, 2.084, 0.927, 2.667, 0, 225, 0, [SEP] 83, DiningTable, -0.153, -0.000, 1.073, 0, 270, 0, [SEP] 84, Faucet, 1.175, 0.926, 2.950, 270, 90, 0, [SEP] 85, Faucet, 0.686, 0.926, 2.950, 270, 90, 0, [SEP] 86, Chair, -0.077, 0.002, 0.196, 0, 15.000, 0, [SEP] 87, NorthWall, , , , , , , [SEP] 88, EastWall, , , , , , , [SEP] 89, SouthWall, , , , , , , [SEP] 90, WestWall, , , , , , , ", "output": ["STEP 1: turn right to the table | STEP 2: pick up the knife | STEP 3: turn around to the tomato | STEP 4: slice the tomato with the knife | STEP 5: turn around to the cupboard | STEP 6: drop the knife in it | STEP 7: turn around to the slice | STEP 8: pick up a tomato slice | STEP 9: lead to the fridge | STEP 10: place the tomato to cool and then take it out | STEP 11: turn around and head to the microwave | STEP 12: place the tomato in the microwave | END"]} +{"id": "trial_T20190906_212015_252242-0", "input": "Grab the box on the table, turn off the floor lamp SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.901, 5.25, 0, 90, 0, [SEP] 1, Watch, -1.310, 0.756, 0.852, 0, 0, 0, 38 [SEP] 2, KeyChain, -0.437, 0.626, 3.524, 0, 0, 0, 36 [SEP] 3, CreditCard, -2.014, 0.755, 0.852, 0, 0, 0, 38 [SEP] 4, Box, -1.873, 0.867, 1.133, 0, 180, 0, 38 [SEP] 5, Statue, -1.732, 0.761, 0.993, 0, 0, 0, 38 [SEP] 6, Watch, -3.104, 0.066, 6.748, 0, 0, 0, 26 [SEP] 7, WateringCan, -0.208, -0.000, 3.225, 0, 63.928, 0, [SEP] 8, Laptop, -4.380, 0.475, 5.787, 0, 0, 0, 29 [SEP] 9, CreditCard, -1.169, 0.755, 1.554, 0, 0, 0, 38 [SEP] 10, KeyChain, -4.228, 0.484, 3.664, 0, 0, 0, 22 [SEP] 11, Pillow, -4.335, 0.465, 4.398, 0, 0, 0, 29 [SEP] 12, RemoteControl, -4.304, 0.486, 3.549, 0, 0, 0, 22 [SEP] 13, Curtains, -0.037, 2.148, 0.999, 0, 0, 0, [SEP] 14, Painting, -0.016, 2.061, 5.380, 0, 0, 0, [SEP] 15, GarbageCan, -0.256, -0.010, 6.799, 0, 0, 0, [SEP] 16, FloorLamp, -4.721, -0.001, 3.687, 0, 0, 0, [SEP] 17, Television, -3.192, 1.184, 6.767, 0, 180, 0, [SEP] 18, HousePlant, -0.173, 0.610, 3.994, 0, 0, 0, [SEP] 19, LightSwitch, -3.483, 1.470, 0.001, 0, 0, 0, [SEP] 20, DeskLamp, -0.258, 0.611, 3.312, 0, 0, 0, [SEP] 21, Window, -0.008, 1.340, 1.725, 90, 270, 0, [SEP] 22, SideTable, -4.190, 0.000, 3.587, 0, 0, 0, [SEP] 23, Drawer, -2.925, 0.475, 6.717, 0, 180, 0, [SEP] 24, Drawer, -3.476, 0.475, 6.717, 0, 180, 0, [SEP] 25, Dresser, -3.201, -0.001, 6.791, 0, 180, 0, [SEP] 26, Drawer, -2.925, 0.165, 6.719, 0, 180, 0, [SEP] 27, Drawer, -3.476, 0.165, 6.719, 0, 180, 0, [SEP] 28, ArmChair, -2.448, 0.002, 3.501, 0, 0, 0, [SEP] 29, Sofa, -4.425, 0.014, 5.062, 0, 90, 0, [SEP] 30, Ottoman, -2.374, 0.000, 4.483, 0, 0, 0, [SEP] 31, Chair, -2.151, 0.004, 1.284, 0, 90, 0, [SEP] 32, Chair, -1.549, 0.004, 1.780, 0, 195.000, 0, [SEP] 33, Chair, -1.626, 0.004, 0.778, 0, 10.166, 0, [SEP] 34, Chair, -1.076, 0.004, 1.292, 0, 265.171, 0, [SEP] 35, SideTable, -2.071, 0.000, 6.699, 0, 0, 0, [SEP] 36, SideTable, -0.244, -0.000, 3.524, 0, 270, 0, [SEP] 37, ArmChair, -3.545, 0.005, 3.579, 0, 0, 0, [SEP] 38, DiningTable, -1.592, 0.006, 1.274, 0, 0, 0, [SEP] 39, NorthWall, , , , , , , [SEP] 40, SouthWall, , , , , , , [SEP] 41, SouthWall, , , , , , , ", "output": ["STEP 1: Turn right, and walk to the dining table, turn right, and turn left to the side of dining table | STEP 2: Grab the box on the table | STEP 3: Turn left and walk to the floor lamp | STEP 4: Turn off the floor lamp by the sofa | END"]} +{"id": "trial_T20190906_212015_252242-1", "input": "Turn off the lamp next to the couch. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.901, 5.25, 0, 90, 0, [SEP] 1, Watch, -1.310, 0.756, 0.852, 0, 0, 0, 38 [SEP] 2, KeyChain, -0.437, 0.626, 3.524, 0, 0, 0, 36 [SEP] 3, CreditCard, -2.014, 0.755, 0.852, 0, 0, 0, 38 [SEP] 4, Box, -1.873, 0.867, 1.133, 0, 180, 0, 38 [SEP] 5, Statue, -1.732, 0.761, 0.993, 0, 0, 0, 38 [SEP] 6, Watch, -3.104, 0.066, 6.748, 0, 0, 0, 26 [SEP] 7, WateringCan, -0.208, -0.000, 3.225, 0, 63.928, 0, [SEP] 8, Laptop, -4.380, 0.475, 5.787, 0, 0, 0, 29 [SEP] 9, CreditCard, -1.169, 0.755, 1.554, 0, 0, 0, 38 [SEP] 10, KeyChain, -4.228, 0.484, 3.664, 0, 0, 0, 22 [SEP] 11, Pillow, -4.335, 0.465, 4.398, 0, 0, 0, 29 [SEP] 12, RemoteControl, -4.304, 0.486, 3.549, 0, 0, 0, 22 [SEP] 13, Curtains, -0.037, 2.148, 0.999, 0, 0, 0, [SEP] 14, Painting, -0.016, 2.061, 5.380, 0, 0, 0, [SEP] 15, GarbageCan, -0.256, -0.010, 6.799, 0, 0, 0, [SEP] 16, FloorLamp, -4.721, -0.001, 3.687, 0, 0, 0, [SEP] 17, Television, -3.192, 1.184, 6.767, 0, 180, 0, [SEP] 18, HousePlant, -0.173, 0.610, 3.994, 0, 0, 0, [SEP] 19, LightSwitch, -3.483, 1.470, 0.001, 0, 0, 0, [SEP] 20, DeskLamp, -0.258, 0.611, 3.312, 0, 0, 0, [SEP] 21, Window, -0.008, 1.340, 1.725, 90, 270, 0, [SEP] 22, SideTable, -4.190, 0.000, 3.587, 0, 0, 0, [SEP] 23, Drawer, -2.925, 0.475, 6.717, 0, 180, 0, [SEP] 24, Drawer, -3.476, 0.475, 6.717, 0, 180, 0, [SEP] 25, Dresser, -3.201, -0.001, 6.791, 0, 180, 0, [SEP] 26, Drawer, -2.925, 0.165, 6.719, 0, 180, 0, [SEP] 27, Drawer, -3.476, 0.165, 6.719, 0, 180, 0, [SEP] 28, ArmChair, -2.448, 0.002, 3.501, 0, 0, 0, [SEP] 29, Sofa, -4.425, 0.014, 5.062, 0, 90, 0, [SEP] 30, Ottoman, -2.374, 0.000, 4.483, 0, 0, 0, [SEP] 31, Chair, -2.151, 0.004, 1.284, 0, 90, 0, [SEP] 32, Chair, -1.549, 0.004, 1.780, 0, 195.000, 0, [SEP] 33, Chair, -1.626, 0.004, 0.778, 0, 10.166, 0, [SEP] 34, Chair, -1.076, 0.004, 1.292, 0, 265.171, 0, [SEP] 35, SideTable, -2.071, 0.000, 6.699, 0, 0, 0, [SEP] 36, SideTable, -0.244, -0.000, 3.524, 0, 270, 0, [SEP] 37, ArmChair, -3.545, 0.005, 3.579, 0, 0, 0, [SEP] 38, DiningTable, -1.592, 0.006, 1.274, 0, 0, 0, [SEP] 39, NorthWall, , , , , , , [SEP] 40, SouthWall, , , , , , , [SEP] 41, SouthWall, , , , , , , ", "output": ["STEP 1: Move to the dining table. | STEP 2: Pick up the box from the table. | STEP 3: Bring the box to the lamp next to the couch. | STEP 4: Turn off the lamp next to the couch. | END"]} +{"id": "trial_T20190907_171916_941174-1", "input": "place a clean cup under a coffee maker SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.75, 0.899, 5.25, 0, 270, 0, [SEP] 1, Pencil, -0.258, 0.925, 5.603, 0, 0, 0, 57 [SEP] 2, Potato, -0.295, 1.104, 3.850, 0, 270, 0, 105 [SEP] 3, Potato, -0.242, 1.104, 3.479, 0, 270, 0, 105 [SEP] 4, DishSponge, -0.334, 0.924, 5.932, 0, 0, 0, 57 [SEP] 5, DishSponge, -3.784, 0.068, 6.457, 0, 270, 0, 98 [SEP] 6, WineBottle, -4.242, 0.924, 2.882, 0, 0, 0, 72 [SEP] 7, Fork, -4.033, 0.924, 5.159, 0, 90, 0, 72 [SEP] 8, Spoon, -4.159, 0.792, 3.285, 0, 270, 0, 104 [SEP] 9, Spoon, -1.943, 0.924, 2.026, 0, 0, 0, 54 [SEP] 10, Spatula, -3.494, 0.938, 5.182, 0, 90, 0, 72 [SEP] 11, Egg, -3.639, 0.104, 6.498, 0, 270, 0, 98 [SEP] 12, Plate, -0.488, 0.925, 5.273, 0, 0, 0, 57 [SEP] 13, Knife, -3.686, 0.953, 1.875, 0, 0, 0, 72 [SEP] 14, Knife, -0.411, 0.954, 4.944, 0, 0, 0, 57 [SEP] 15, Tomato, -0.301, 1.637, 3.470, 0, 270, 0, 105 [SEP] 16, SaltShaker, -4.033, 0.919, 4.122, 0, 90, 0, 72 [SEP] 17, SaltShaker, -3.568, 0.743, 5.103, 0, 180, 0, 63 [SEP] 18, PepperShaker, -3.389, 1.456, 5.367, 0, 90, 0, 58 [SEP] 19, Bread, -0.301, 1.415, 3.850, 0, 270, 0, 105 [SEP] 20, Mug, -4.103, 1.451, 1.764, 0, 45, 0, 46 [SEP] 21, Mug, -1.693, 0.918, 1.724, 0, 0, 0, 54 [SEP] 22, Egg, -3.852, 0.959, 5.259, 0, 90, 0, 72 [SEP] 23, Apple, -0.181, 0.978, 5.932, 0, 0, 0, 57 [SEP] 24, Knife, -0.411, 0.954, 5.603, 0, 0, 0, 57 [SEP] 25, Potato, -2.635, 1.579, 1.698, 0, 0, 0, 102 [SEP] 26, Fork, -3.195, 0.914, 5.462, 0, 0, 0, 72 [SEP] 27, Bowl, -3.531, 0.079, 1.966, 0, 0, 0, 47 [SEP] 28, Plate, -2.026, 0.924, 1.724, 0, 0, 0, 54 [SEP] 29, Lettuce, -0.181, 1.020, 4.615, 0, 0, 0, 57 [SEP] 30, Bread, -3.859, 1.003, 1.951, 0, 0, 0, 72 [SEP] 31, Tomato, -0.259, 1.392, 3.355, 0, 270, 0, 105 [SEP] 32, WineBottle, -4.086, 0.085, 2.776, 0, 0, 0, 64 [SEP] 33, Spatula, -1.777, 0.938, 1.875, 0, 0, 0, 54 [SEP] 34, PaperTowelRoll, -4.478, 1.027, 2.965, 0, 0, 0, 72 [SEP] 35, Cup, -0.348, 1.069, 3.231, 0, 270, 0, 105 [SEP] 36, Pencil, -4.094, 0.755, 2.501, 0, 0, 0, 52 [SEP] 37, Pan, -2.454, 0.933, 2.023, 0, 240.000, 0, 60 [SEP] 38, Pot, -2.469, 0.930, 1.712, 0, 270, 0, 87 [SEP] 39, SaltShaker, -3.417, 0.741, 1.927, 0, 0, 0, 78 [SEP] 40, SoapBottle, -3.712, 0.068, 6.333, 0, 270, 0, 98 [SEP] 41, PepperShaker, -3.583, 0.741, 2.015, 0, 0, 0, 78 [SEP] 42, ButterKnife, -0.181, 0.925, 5.273, 0, 0, 0, 57 [SEP] 43, DishSponge, -4.047, 0.084, 2.625, 0, 0, 0, 64 [SEP] 44, Spoon, -3.852, 0.924, 5.412, 0, 90, 0, 72 [SEP] 45, Mug, -2.026, 0.918, 1.875, 0, 0, 0, 54 [SEP] 46, Cabinet, -3.203, 1.931, 1.777, 0, 0, 0, [SEP] 47, Cabinet, -3.187, 0.390, 2.089, 0, 0, 0, [SEP] 48, Cabinet, -0.637, 0.387, 6.882, 0, 180, 0, [SEP] 49, Drawer, -3.797, 0.781, 1.961, 0, 0, 0, [SEP] 50, Cabinet, -3.036, 0.387, 5.029, 0, 90, 0, [SEP] 51, Drawer, -0.509, 0.775, 5.268, 0, 270, 0, [SEP] 52, Drawer, -4.125, 0.798, 2.499, 0, 0, 0, [SEP] 53, Cabinet, -0.331, 2.249, 4.308, 0, 180, 0, [SEP] 54, CounterTop, -1.872, 0.958, 1.799, 0, 0, 0, [SEP] 55, StoveBurner, -2.924, 0.924, 2.012, 0, 0, 0, [SEP] 56, Cabinet, -0.331, 2.249, 6.806, 0, 180, 0, [SEP] 57, CounterTop, -0.345, 0.960, 5.603, 0, 0, 0, [SEP] 58, Cabinet, -3.039, 1.935, 5.321, 0, 90, 0, [SEP] 59, Cabinet, -3.922, 0.397, 2.088, 0, 0, 0, [SEP] 60, StoveBurner, -2.467, 0.924, 2.012, 0, 0, 0, [SEP] 61, Cabinet, -0.331, 2.249, 5.505, 0, 180, 0, [SEP] 62, Drawer, -0.509, 0.775, 4.617, 0, 270, 0, [SEP] 63, Drawer, -3.509, 0.777, 5.157, 0, 180, 0, [SEP] 64, Cabinet, -3.961, 0.388, 2.878, 0, 0, 0, [SEP] 65, Cabinet, -3.961, 0.388, 4.342, 0, 0, 0, [SEP] 66, Cabinet, -0.637, 0.387, 5.582, 0, 180, 0, [SEP] 67, Cabinet, -0.637, 0.388, 4.299, 0, 180, 0, [SEP] 68, Cabinet, -0.637, 0.388, 5.599, 0, 180, 0, [SEP] 69, StoveBurner, -2.924, 0.924, 1.712, 0, 180, 0, [SEP] 70, Drawer, -1.859, 0.775, 1.961, 0, 0, 0, [SEP] 71, Cabinet, -0.331, 2.249, 5.609, 0, 180, 0, [SEP] 72, CounterTop, -4.260, 0.958, 4.943, 0, 90, 0, [SEP] 73, Cabinet, -4.284, 1.931, 2.226, 0, 0, 0, [SEP] 74, Cabinet, -0.331, 2.249, 3.010, 0, 180, 0, [SEP] 75, Drawer, -3.801, 0.777, 5.157, 0, 180, 0, [SEP] 76, Cabinet, -4.112, 1.935, 5.321, 0, 90, 0, [SEP] 77, Cabinet, -3.968, 0.388, 3.662, 0, 0, 0, [SEP] 78, Drawer, -3.418, 0.777, 1.961, 0, 0, 0, [SEP] 79, Drawer, -4.090, 0.777, 4.661, 0, 90, 0, [SEP] 80, Faucet, -4.441, 0.909, 3.288, 270, 0, 0, [SEP] 81, Cabinet, -0.331, 2.249, 4.207, 0, 180, 0, [SEP] 82, Cabinet, -3.961, 0.388, 2.119, 0, 0, 0, [SEP] 83, Drawer, -0.509, 0.775, 5.920, 0, 270, 0, [SEP] 84, Drawer, -3.193, 0.777, 5.157, 0, 180, 0, [SEP] 85, Cabinet, -3.968, 0.388, 2.894, 0, 0, 0, [SEP] 86, Cabinet, -3.667, 0.387, 5.029, 0, 90, 0, [SEP] 87, StoveBurner, -2.469, 0.924, 1.712, 0, 270, 0, [SEP] 88, Cabinet, -1.539, 0.388, 2.090, 0, 0, 0, [SEP] 89, Sink, -4.190, 0.921, 3.279, 0, 0, 0, [SEP] 90, Cabinet, -3.641, 0.387, 5.029, 0, 90, 0, [SEP] 91, Cabinet, -1.583, 1.931, 1.777, 0, 0, 0, [SEP] 92, Drawer, -0.509, 0.775, 6.568, 0, 270, 0, [SEP] 93, CoffeeMachine, -0.279, 0.912, 6.556, 0, 270, 0, [SEP] 94, StoveKnob, -2.347, 1.095, 1.560, 288.012, 180, 180, [SEP] 95, StoveKnob, -2.788, 1.095, 1.560, 288.012, 180, 180, [SEP] 96, StoveKnob, -2.965, 1.095, 1.560, 288.012, 180, 180, [SEP] 97, StoveKnob, -2.512, 1.095, 1.560, 288.012, 180, 180, [SEP] 98, GarbageCan, -3.711, -0.030, 6.376, 0, 270, 0, [SEP] 99, Toaster, -3.578, 0.912, 1.763, 0, 0, 0, [SEP] 100, Curtains, -4.522, 2.252, 3.391, 90, 90, 0, [SEP] 101, Window, -4.868, 1.629, 3.309, 90, 270, 0, [SEP] 102, Microwave, -2.693, 1.430, 1.689, 0, 0, 0, [SEP] 103, LightSwitch, -1.588, 1.169, 1.506, 0, 0, 0, [SEP] 104, SinkBasin, -4.196, 0.780, 3.276, 0, 270, 0, [SEP] 105, Fridge, -0.324, -0.001, 3.602, 0, 0, 0, [SEP] 106, NorthWall, , , , , , , [SEP] 107, EastWall, , , , , , , [SEP] 108, SouthWall, , , , , , , [SEP] 109, WestWall, , , , , , , ", "output": ["STEP 1: move left towards the table, then right towards the table under the shelf | STEP 2: pick up the mug | STEP 3: move right and then left towards the sink | STEP 4: rinse the mug in the sink | STEP 5: turn right towards the wall and then right towards the coffee maker | STEP 6: place the mug under the coffee maker | END"]} +{"id": "trial_T20190909_100159_289642-0", "input": "Pick up both credit cards and move them to the chair SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -5.0, 0.908, 8.75, 0, 180, 0, [SEP] 1, TissueBox, -3.026, 0.457, 6.973, 0, 0, 0, 54 [SEP] 2, TissueBox, -3.227, 0.457, 7.182, 0, 0, 0, 54 [SEP] 3, Newspaper, -3.155, 0.781, 2.371, 0, 180, 0, 57 [SEP] 4, Watch, -2.926, 0.456, 6.764, 0, 0, 0, 54 [SEP] 5, KeyChain, -1.928, 0.456, 5.549, 0, 0, 0, 50 [SEP] 6, KeyChain, -2.047, 0.783, 2.061, 0, 180, 0, 57 [SEP] 7, CreditCard, -3.155, 0.781, 2.681, 0, 0, 0, 57 [SEP] 8, CreditCard, -2.047, 0.782, 2.681, 0, 0, 0, 57 [SEP] 9, CreditCard, -3.427, 0.455, 6.347, 0, 0, 0, 54 [SEP] 10, RemoteControl, -3.709, 0.782, 2.526, 0, 0, 0, 57 [SEP] 11, Laptop, -1.852, 0.453, 5.847, 0, 0, 0, 50 [SEP] 12, Pillow, -1.852, 0.516, 7.334, 0, 0, 0, 50 [SEP] 13, Box, -3.646, 0.904, 2.251, 0, 348.673, 0, 57 [SEP] 14, KeyChain, -0.589, 0.677, 0.315, 0, 239.437, 0, 52 [SEP] 15, Plate, -2.601, 0.798, 2.371, 0, 0, 0, 57 [SEP] 16, Candle, -0.333, 0.676, 8.563, 0, 239.437, 0, 53 [SEP] 17, Pillow, -1.775, 0.516, 6.441, 0, 0, 0, 50 [SEP] 18, Candle, -0.624, 0.667, 8.444, 0, 0, 0, 53 [SEP] 19, TissueBox, -3.126, 0.457, 5.930, 0, 0, 0, 54 [SEP] 20, Laptop, -2.324, 0.780, 2.061, 0, 0, 0, 57 [SEP] 21, Newspaper, -3.155, 0.781, 2.061, 0, 0, 0, 57 [SEP] 22, CreditCard, -2.810, 0.533, 8.346, 0, 180, 0, 63 [SEP] 23, RemoteControl, -1.852, 0.456, 6.739, 0, 0, 0, 50 [SEP] 24, Boots, -5.786, 0.007, 4.817, 0, 167.028, 0, Floor|-02.99| [SEP] 25, Candle, -3.608, 0.536, 8.596, 0, 180, 0, 63 [SEP] 26, Statue, -2.047, 0.883, 1.751, 0, 0, 0, 57 [SEP] 27, Watch, -3.432, 0.782, 2.216, 0, 0, 0, 57 [SEP] 28, Statue, -3.327, 0.467, 6.347, 0, 90, 0, 54 [SEP] 29, Mirror, -5.489, 1.825, 6.505, 0, 0, 0, [SEP] 30, FloorLamp, -5.645, 0.013, 8.526, 0, 0, 0, [SEP] 31, HousePlant, -3.203, 0.452, 6.798, 0, 0, 0, [SEP] 32, HousePlant, -5.358, 1.476, 5.442, 0, 343.031, 0, [SEP] 33, GarbageCan, -5.711, 0.005, 0.300, 0, 34.872, 0, [SEP] 34, Television, -3.114, 0.996, 8.693, 1.686, 180, 0, [SEP] 35, LightSwitch, -6.0, 1.338, 3.433, 0, 90, 0, [SEP] 36, Painting, -5.954, 1.526, 1.153, 90, 270, 0, [SEP] 37, Window, 0.157, 1.203, 6.895, 90, 90, 0, [SEP] 38, Window, -4.855, 1.203, -0.158, 90, 180, 0, [SEP] 39, Window, 0.157, 1.203, 4.923, 90, 90, 0, [SEP] 40, Window, 0.157, 1.203, 2.986, 90, 90, 0, [SEP] 41, Window, 0.157, 1.203, 1.088, 90, 90, 0, [SEP] 42, Window, -2.942, 1.203, -0.158, 90, 180, 0, [SEP] 43, Window, -1.057, 1.203, -0.158, 90, 180, 0, [SEP] 44, DeskLamp, -0.432, 0.684, 8.644, 0, 0, 0, [SEP] 45, DeskLamp, -0.346, 0.684, 0.335, 0, 0, 0, [SEP] 46, Chair, -3.326, 0.015, 2.739, 358.826, 189.525, 358.738, [SEP] 47, Chair, -2.352, 0.015, 2.744, 358.824, 163.801, 358.735, [SEP] 48, Chair, -2.476, 0.015, 1.628, 358.826, 21.693, 358.736, [SEP] 49, Chair, -3.327, 0.015, 1.701, 358.828, 0, 358.738, [SEP] 50, Sofa, -1.706, 0.002, 6.448, 0, 270, 0, [SEP] 51, Chair, -0.328, 0.016, 0.998, 0, 246.550, 0, [SEP] 52, SideTable, -0.396, 0.008, 0.357, 0, 329.435, 0, [SEP] 53, SideTable, -0.527, 0.008, 8.521, 0, 329.431, 0, [SEP] 54, CoffeeTable, -3.236, 0.010, 6.598, 0, 270, 0, [SEP] 55, ArmChair, -3.663, 0.012, 4.562, 0, 0, 0, [SEP] 56, ArmChair, -2.691, 0.012, 4.618, 0, 0, 0, [SEP] 57, DiningTable, -2.903, 0.010, 2.225, 0, 0, 0, [SEP] 58, RoomDecor, -0.189, 0.009, 3.909, 0, 0, 0, [SEP] 59, RoomDecor, -0.189, 0.009, 2.097, 0, 0, 0, [SEP] 60, RoomDecor, -0.190, 0.009, 5.855, 0, 0, 0, [SEP] 61, RoomDecor, -3.957, 0.009, 0.254, 0, 0, 0, [SEP] 62, RoomDecor, -2.036, 0.009, 0.254, 0, 0, 0, [SEP] 63, CoffeeTable, -3.129, 0.016, 8.533, 0, 0, 0, [SEP] 64, NorthWall, , , , , , , [SEP] 65, EastWall, , , , , , , [SEP] 66, SouthWall, , , , , , , [SEP] 67, WestWall, , , , , , , ", "output": ["STEP 1: cross the living room to the coffee table | STEP 2: pick up the card sitting on the coffee table | STEP 3: take the card to the chair beside coffee table | STEP 4: set the card down on the chair | STEP 5: cross the room to the tv stand | STEP 6: pick up the card sitting on the tv stand | STEP 7: turn around and go back to the chair by the couch | STEP 8: set the credit card next to the first one | END"]} +{"id": "trial_T20190909_100159_289642-2", "input": "To move two credit cards to the chair. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -5.0, 0.908, 8.75, 0, 180, 0, [SEP] 1, TissueBox, -3.026, 0.457, 6.973, 0, 0, 0, 54 [SEP] 2, TissueBox, -3.227, 0.457, 7.182, 0, 0, 0, 54 [SEP] 3, Newspaper, -3.155, 0.781, 2.371, 0, 180, 0, 57 [SEP] 4, Watch, -2.926, 0.456, 6.764, 0, 0, 0, 54 [SEP] 5, KeyChain, -1.928, 0.456, 5.549, 0, 0, 0, 50 [SEP] 6, KeyChain, -2.047, 0.783, 2.061, 0, 180, 0, 57 [SEP] 7, CreditCard, -3.155, 0.781, 2.681, 0, 0, 0, 57 [SEP] 8, CreditCard, -2.047, 0.782, 2.681, 0, 0, 0, 57 [SEP] 9, CreditCard, -3.427, 0.455, 6.347, 0, 0, 0, 54 [SEP] 10, RemoteControl, -3.709, 0.782, 2.526, 0, 0, 0, 57 [SEP] 11, Laptop, -1.852, 0.453, 5.847, 0, 0, 0, 50 [SEP] 12, Pillow, -1.852, 0.516, 7.334, 0, 0, 0, 50 [SEP] 13, Box, -3.646, 0.904, 2.251, 0, 348.673, 0, 57 [SEP] 14, KeyChain, -0.589, 0.677, 0.315, 0, 239.437, 0, 52 [SEP] 15, Plate, -2.601, 0.798, 2.371, 0, 0, 0, 57 [SEP] 16, Candle, -0.333, 0.676, 8.563, 0, 239.437, 0, 53 [SEP] 17, Pillow, -1.775, 0.516, 6.441, 0, 0, 0, 50 [SEP] 18, Candle, -0.624, 0.667, 8.444, 0, 0, 0, 53 [SEP] 19, TissueBox, -3.126, 0.457, 5.930, 0, 0, 0, 54 [SEP] 20, Laptop, -2.324, 0.780, 2.061, 0, 0, 0, 57 [SEP] 21, Newspaper, -3.155, 0.781, 2.061, 0, 0, 0, 57 [SEP] 22, CreditCard, -2.810, 0.533, 8.346, 0, 180, 0, 63 [SEP] 23, RemoteControl, -1.852, 0.456, 6.739, 0, 0, 0, 50 [SEP] 24, Boots, -5.786, 0.007, 4.817, 0, 167.028, 0, Floor|-02.99| [SEP] 25, Candle, -3.608, 0.536, 8.596, 0, 180, 0, 63 [SEP] 26, Statue, -2.047, 0.883, 1.751, 0, 0, 0, 57 [SEP] 27, Watch, -3.432, 0.782, 2.216, 0, 0, 0, 57 [SEP] 28, Statue, -3.327, 0.467, 6.347, 0, 90, 0, 54 [SEP] 29, Mirror, -5.489, 1.825, 6.505, 0, 0, 0, [SEP] 30, FloorLamp, -5.645, 0.013, 8.526, 0, 0, 0, [SEP] 31, HousePlant, -3.203, 0.452, 6.798, 0, 0, 0, [SEP] 32, HousePlant, -5.358, 1.476, 5.442, 0, 343.031, 0, [SEP] 33, GarbageCan, -5.711, 0.005, 0.300, 0, 34.872, 0, [SEP] 34, Television, -3.114, 0.996, 8.693, 1.686, 180, 0, [SEP] 35, LightSwitch, -6.0, 1.338, 3.433, 0, 90, 0, [SEP] 36, Painting, -5.954, 1.526, 1.153, 90, 270, 0, [SEP] 37, Window, 0.157, 1.203, 6.895, 90, 90, 0, [SEP] 38, Window, -4.855, 1.203, -0.158, 90, 180, 0, [SEP] 39, Window, 0.157, 1.203, 4.923, 90, 90, 0, [SEP] 40, Window, 0.157, 1.203, 2.986, 90, 90, 0, [SEP] 41, Window, 0.157, 1.203, 1.088, 90, 90, 0, [SEP] 42, Window, -2.942, 1.203, -0.158, 90, 180, 0, [SEP] 43, Window, -1.057, 1.203, -0.158, 90, 180, 0, [SEP] 44, DeskLamp, -0.432, 0.684, 8.644, 0, 0, 0, [SEP] 45, DeskLamp, -0.346, 0.684, 0.335, 0, 0, 0, [SEP] 46, Chair, -3.326, 0.015, 2.739, 358.826, 189.525, 358.738, [SEP] 47, Chair, -2.352, 0.015, 2.744, 358.824, 163.801, 358.735, [SEP] 48, Chair, -2.476, 0.015, 1.628, 358.826, 21.693, 358.736, [SEP] 49, Chair, -3.327, 0.015, 1.701, 358.828, 0, 358.738, [SEP] 50, Sofa, -1.706, 0.002, 6.448, 0, 270, 0, [SEP] 51, Chair, -0.328, 0.016, 0.998, 0, 246.550, 0, [SEP] 52, SideTable, -0.396, 0.008, 0.357, 0, 329.435, 0, [SEP] 53, SideTable, -0.527, 0.008, 8.521, 0, 329.431, 0, [SEP] 54, CoffeeTable, -3.236, 0.010, 6.598, 0, 270, 0, [SEP] 55, ArmChair, -3.663, 0.012, 4.562, 0, 0, 0, [SEP] 56, ArmChair, -2.691, 0.012, 4.618, 0, 0, 0, [SEP] 57, DiningTable, -2.903, 0.010, 2.225, 0, 0, 0, [SEP] 58, RoomDecor, -0.189, 0.009, 3.909, 0, 0, 0, [SEP] 59, RoomDecor, -0.189, 0.009, 2.097, 0, 0, 0, [SEP] 60, RoomDecor, -0.190, 0.009, 5.855, 0, 0, 0, [SEP] 61, RoomDecor, -3.957, 0.009, 0.254, 0, 0, 0, [SEP] 62, RoomDecor, -2.036, 0.009, 0.254, 0, 0, 0, [SEP] 63, CoffeeTable, -3.129, 0.016, 8.533, 0, 0, 0, [SEP] 64, NorthWall, , , , , , , [SEP] 65, EastWall, , , , , , , [SEP] 66, SouthWall, , , , , , , [SEP] 67, WestWall, , , , , , , ", "output": ["STEP 1: Walk over to the coffee table in front of the couch. | STEP 2: Pick up the credit card in front of the sculpture. | STEP 3: walk over to the chair to the right of the couch. | STEP 4: Put the credit card down on the chair. | STEP 5: Walk over to the television stand. | STEP 6: Pick up the credit card in front of the television. | STEP 7: Turn around and walk back to the chair. | STEP 8: Put the credit card on the chair to the right of the other credit card. | END"]} +{"id": "trial_T20190909_025040_790264-1", "input": "Put two credit cards on the chair. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.902, -0.5, 0, 0, 0, [SEP] 1, Watch, -2.257, 0.588, -2.987, 0, 0, 0, 41 [SEP] 2, Statue, -5.217, 0.488, -5.087, 0, 0, 0, 42 [SEP] 3, Statue, -2.933, 0.711, -5.188, 0, 0, 0, 44 [SEP] 4, KeyChain, -2.864, 0.076, -5.001, 0, 180, 0, 47 [SEP] 5, Book, -2.151, 0.587, -2.657, 0, 0, 0, 41 [SEP] 6, Book, -4.412, 0.334, -3.520, 0, 90, 0, 38 [SEP] 7, CreditCard, -1.883, 0.482, -5.032, 0, 0, 0, 40 [SEP] 8, CreditCard, -2.148, 0.482, -4.989, 0, 0, 0, 40 [SEP] 9, CreditCard, -2.257, 0.587, -2.326, 0, 0, 0, 41 [SEP] 10, RemoteControl, -4.076, 0.343, -2.500, 0, 0, 0, Floor|-04.47| [SEP] 11, Laptop, -3.503, 0.701, -5.093, 0, 0, 0, 44 [SEP] 12, Pillow, -4.262, 0.442, -3.520, 0, 90, 0, 38 [SEP] 13, Box, -2.362, 0.261, -1.647, 0, 76.161, 0, Floor|-04.47| [SEP] 14, Book, -2.469, 0.587, -1.996, 0, 0, 0, 41 [SEP] 15, Newspaper, -4.265, 0.34, -2.164, 0, 0, 0, 43 [SEP] 16, Watch, -4.358, 0.705, -5.046, 0, 0, 0, 44 [SEP] 17, Pen, -5.418, 0.487, -5.087, 0, 0, 0, 42 [SEP] 18, WateringCan, -7.991, 0.000, -4.629, 0, 296.796, 0, Floor|-04.47| [SEP] 19, Pillow, -4.282, 0.454, -1.736, 0, 270, 0, 43 [SEP] 20, CreditCard, -2.933, 0.704, -5.046, 0, 0, 0, 44 [SEP] 21, Vase, -4.477, 0.697, -5.076, 0, 0, 0, 44 [SEP] 22, KeyChain, -4.230, 0.332, -1.462, 0, 0, 0, 43 [SEP] 23, Vase, -4.218, 0.697, -5.046, 0, 0, 0, 44 [SEP] 24, Laptop, -2.568, 0.580, -2.514, 0, 300.000, 0, 41 [SEP] 25, Statue, -2.020, 0.475, -5.094, 0, 0, 0, 40 [SEP] 26, Vase, -2.786, 0.592, -2.987, 0, 0, 0, 41 [SEP] 27, RemoteControl, -2.151, 0.590, -2.326, 0, 0, 0, 41 [SEP] 28, Vase, -3.218, 0.704, -5.093, 0, 0, 0, 44 [SEP] 29, Mirror, -3.402, 2.028, 0.000, 0, 0, 0, [SEP] 30, FloorLamp, -4.821, 0.000, -5.118, 0, 0, 0, [SEP] 31, LightSwitch, -5.763, 1.330, 0.010, 0, 180, 0, [SEP] 32, GarbageCan, -0.969, -0.027, -5.058, 0, 0, 0, [SEP] 33, HousePlant, -5.629, 0.478, -5.126, 0, 0, 0, [SEP] 34, Painting, -3.372, 1.800, -5.392, 90, 180, 0, [SEP] 35, Television, -0.606, 1.674, -2.602, 0, 270, 0, [SEP] 36, Window, -8.237, 1.411, -1.509, 90, 270, 0, [SEP] 37, Window, -8.237, 1.411, -4.081, 90, 270, 0, [SEP] 38, ArmChair, -4.334, 0.001, -3.528, 0, 90, 0, [SEP] 39, Shelf, -2.475, 0.124, -2.486, 0, 90, 0, [SEP] 40, SideTable, -2.016, 0.002, -5.075, 0, 180, 0, [SEP] 41, CoffeeTable, -2.474, 0.001, -2.489, 0, 90, 0, [SEP] 42, SideTable, -5.428, 0.002, -5.123, 0, 180, 0, [SEP] 43, Sofa, -4.354, 0.009, -2.089, 0, 90, 0, [SEP] 44, Dresser, -3.505, 0.003, -5.101, 0, 0, 0, [SEP] 45, Drawer, -2.981, 0.481, -5.031, 0, 0, 0, [SEP] 46, Drawer, -4.022, 0.169, -5.013, 0, 0, 0, [SEP] 47, Drawer, -2.978, 0.169, -5.013, 0, 0, 0, [SEP] 48, Drawer, -4.022, 0.477, -5.013, 0, 0, 0, [SEP] 49, NorthWall, , , , , , , [SEP] 50, EastWall, , , , , , , [SEP] 51, SouthWall, , , , , , , [SEP] 52, WestWall, , , , , , , ", "output": ["STEP 1: Turn around, walk straight back, turn right, then face the statue on the left. | STEP 2: Pick up the credit card in front of the statue. | STEP 3: Turn around and walk forward then face the chair on the left. | STEP 4: Place the card on the chair. | STEP 5: Turn around and walk to the far wall, turn right and walk in between the bin and the table. | STEP 6: Grab the card on the table. | STEP 7: Turn to the right, walk forward, then turn to the left and face the chair. | STEP 8: Put the card next to the other on the chair. | END"]} +{"id": "trial_T20190909_025040_790264-2", "input": "place two credit cards on gray chair SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.902, -0.5, 0, 0, 0, [SEP] 1, Watch, -2.257, 0.588, -2.987, 0, 0, 0, 41 [SEP] 2, Statue, -5.217, 0.488, -5.087, 0, 0, 0, 42 [SEP] 3, Statue, -2.933, 0.711, -5.188, 0, 0, 0, 44 [SEP] 4, KeyChain, -2.864, 0.076, -5.001, 0, 180, 0, 47 [SEP] 5, Book, -2.151, 0.587, -2.657, 0, 0, 0, 41 [SEP] 6, Book, -4.412, 0.334, -3.520, 0, 90, 0, 38 [SEP] 7, CreditCard, -1.883, 0.482, -5.032, 0, 0, 0, 40 [SEP] 8, CreditCard, -2.148, 0.482, -4.989, 0, 0, 0, 40 [SEP] 9, CreditCard, -2.257, 0.587, -2.326, 0, 0, 0, 41 [SEP] 10, RemoteControl, -4.076, 0.343, -2.500, 0, 0, 0, Floor|-04.47| [SEP] 11, Laptop, -3.503, 0.701, -5.093, 0, 0, 0, 44 [SEP] 12, Pillow, -4.262, 0.442, -3.520, 0, 90, 0, 38 [SEP] 13, Box, -2.362, 0.261, -1.647, 0, 76.161, 0, Floor|-04.47| [SEP] 14, Book, -2.469, 0.587, -1.996, 0, 0, 0, 41 [SEP] 15, Newspaper, -4.265, 0.34, -2.164, 0, 0, 0, 43 [SEP] 16, Watch, -4.358, 0.705, -5.046, 0, 0, 0, 44 [SEP] 17, Pen, -5.418, 0.487, -5.087, 0, 0, 0, 42 [SEP] 18, WateringCan, -7.991, 0.000, -4.629, 0, 296.796, 0, Floor|-04.47| [SEP] 19, Pillow, -4.282, 0.454, -1.736, 0, 270, 0, 43 [SEP] 20, CreditCard, -2.933, 0.704, -5.046, 0, 0, 0, 44 [SEP] 21, Vase, -4.477, 0.697, -5.076, 0, 0, 0, 44 [SEP] 22, KeyChain, -4.230, 0.332, -1.462, 0, 0, 0, 43 [SEP] 23, Vase, -4.218, 0.697, -5.046, 0, 0, 0, 44 [SEP] 24, Laptop, -2.568, 0.580, -2.514, 0, 300.000, 0, 41 [SEP] 25, Statue, -2.020, 0.475, -5.094, 0, 0, 0, 40 [SEP] 26, Vase, -2.786, 0.592, -2.987, 0, 0, 0, 41 [SEP] 27, RemoteControl, -2.151, 0.590, -2.326, 0, 0, 0, 41 [SEP] 28, Vase, -3.218, 0.704, -5.093, 0, 0, 0, 44 [SEP] 29, Mirror, -3.402, 2.028, 0.000, 0, 0, 0, [SEP] 30, FloorLamp, -4.821, 0.000, -5.118, 0, 0, 0, [SEP] 31, LightSwitch, -5.763, 1.330, 0.010, 0, 180, 0, [SEP] 32, GarbageCan, -0.969, -0.027, -5.058, 0, 0, 0, [SEP] 33, HousePlant, -5.629, 0.478, -5.126, 0, 0, 0, [SEP] 34, Painting, -3.372, 1.800, -5.392, 90, 180, 0, [SEP] 35, Television, -0.606, 1.674, -2.602, 0, 270, 0, [SEP] 36, Window, -8.237, 1.411, -1.509, 90, 270, 0, [SEP] 37, Window, -8.237, 1.411, -4.081, 90, 270, 0, [SEP] 38, ArmChair, -4.334, 0.001, -3.528, 0, 90, 0, [SEP] 39, Shelf, -2.475, 0.124, -2.486, 0, 90, 0, [SEP] 40, SideTable, -2.016, 0.002, -5.075, 0, 180, 0, [SEP] 41, CoffeeTable, -2.474, 0.001, -2.489, 0, 90, 0, [SEP] 42, SideTable, -5.428, 0.002, -5.123, 0, 180, 0, [SEP] 43, Sofa, -4.354, 0.009, -2.089, 0, 90, 0, [SEP] 44, Dresser, -3.505, 0.003, -5.101, 0, 0, 0, [SEP] 45, Drawer, -2.981, 0.481, -5.031, 0, 0, 0, [SEP] 46, Drawer, -4.022, 0.169, -5.013, 0, 0, 0, [SEP] 47, Drawer, -2.978, 0.169, -5.013, 0, 0, 0, [SEP] 48, Drawer, -4.022, 0.477, -5.013, 0, 0, 0, [SEP] 49, NorthWall, , , , , , , [SEP] 50, EastWall, , , , , , , [SEP] 51, SouthWall, , , , , , , [SEP] 52, WestWall, , , , , , , ", "output": ["STEP 1: turn around, go to dresser with laptop | STEP 2: pick up red credit card in front of black statue on dresser | STEP 3: turn right, go to gray chair with brown pillow | STEP 4: place credit card on gray chair with brown pillow | STEP 5: turn around, go to small table with black statue next to the dresser | STEP 6: pick up red credit card to the left of black statue | STEP 7: go to gray chair with brown pillow | STEP 8: place red credit card to the right of credit card on gray chair | END"]} +{"id": "trial_T20190919_040146_329866-0", "input": "Place a bowl with a credit card in it on a desk. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.5, 0.900, 0.25, 0, 90, 0, [SEP] 1, Pen, 1.467, 0.829, -1.260, 0, 270, 0, 45 [SEP] 2, Pen, 0.146, 0.811, -2.507, 0, 0, 0, 47 [SEP] 3, Pencil, -1.493, 0.375, -2.287, 0, 0, 0, 52 [SEP] 4, CreditCard, -1.580, 0.088, -2.287, 0, 0, 0, 51 [SEP] 5, CreditCard, -1.594, 0.861, -2.561, 0, 0, 0, 54 [SEP] 6, CreditCard, 1.411, 0.823, -1.363, 0, 270, 0, 45 [SEP] 7, Book, 0.241, 0.774, 1.335, 0, 0, 0, 25 [SEP] 8, Book, 0.528, 0.774, 1.657, 0, 0, 0, 25 [SEP] 9, Cloth, 1.303, 0.0, -0.696, 0, 303.212, 0, [SEP] 10, Cloth, 1.273, 0.0, -0.969, 0, 0, 0, [SEP] 11, CellPhone, -0.386, 0.861, -2.561, 0, 0, 0, 54 [SEP] 12, Pencil, 0.459, 0.816, -2.169, 0, 0, 0, 47 [SEP] 13, Laptop, -0.998, 0.855, -2.401, 0, 13.355, 0, 54 [SEP] 14, AlarmClock, -0.062, 0.804, -2.506, 0, 358.366, 0, 47 [SEP] 15, CreditCard, 0.459, 0.811, -2.304, 0, 0, 0, 47 [SEP] 16, KeyChain, 1.522, 0.824, -1.570, 0, 270, 0, 45 [SEP] 17, TennisRacket, -1.704, 0.345, 1.743, 345.000, 90, 180, [SEP] 18, RemoteControl, -1.406, 0.089, -2.363, 0, 0, 0, 51 [SEP] 19, Pillow, 1.073, 0.876, 1.326, 0, 262.063, 0, 25 [SEP] 20, CD, 1.521, 0.817, -1.727, 0, 0, 0, 45 [SEP] 21, CD, 0.527, 0.806, -2.485, 0, 0, 0, 47 [SEP] 22, CD, 0.251, 0.812, -2.169, 0, 0, 0, 47 [SEP] 23, Pen, 0.042, 0.817, -2.304, 0, 0, 0, 47 [SEP] 24, Bowl, 0.459, 0.813, -2.507, 0, 0, 0, 47 [SEP] 25, Bed, 0.270, 0.001, 1.331, 0, 90, 0, [SEP] 26, LaundryHamper, -1.329, 0.001, 1.829, 0, 180, 0, [SEP] 27, Television, -1.664, 1.479, -0.912, 0, 90, 0, [SEP] 28, DeskLamp, 0.049, 0.815, -2.481, 0, 0, 0, [SEP] 29, LightSwitch, -1.799, 1.213, 0.680, 0, 90, 0, [SEP] 30, Painting, 0.492, 1.684, -2.629, 90, 0, 0, [SEP] 31, Poster, -1.799, 1.690, -1.491, 90, 270, 0, [SEP] 32, GarbageCan, 1.306, -0.001, -2.451, 0, 317.376, 0, [SEP] 33, Mirror, 1.5, 1.361, -0.542, 0, 90, 0, [SEP] 34, Window, 1.721, 1.365, -1.597, 90, 270, 0, [SEP] 35, Shelf, -1.605, 0.435, -0.686, 0, 90, 0, [SEP] 36, Shelf, -1.613, 1.154, -0.904, 0, 90, 0, [SEP] 37, ShelvingUnit, -1.611, 0.005, -0.904, 0, 90, 0, [SEP] 38, Shelf, -1.605, 0.719, -1.122, 0, 90, 0, [SEP] 39, Shelf, -1.605, 0.435, -1.122, 0, 90, 0, [SEP] 40, Shelf, -1.605, 1.006, -1.122, 0, 90, 0, [SEP] 41, Shelf, -1.605, 0.148, -0.686, 0, 90, 0, [SEP] 42, Shelf, -1.605, 0.149, -1.122, 0, 90, 0, [SEP] 43, Shelf, -1.605, 1.006, -0.686, 0, 90, 0, [SEP] 44, Shelf, -1.605, 0.719, -0.686, 0, 90, 0, [SEP] 45, SideTable, 1.484, 0.001, -1.481, 0, 270, 0, [SEP] 46, Blinds, 1.699, 2.096, -1.575, 0, 270, 0, [SEP] 47, Desk, 0.244, 0.004, -2.356, 0, 0, 0, [SEP] 48, Chair, -0.626, 1.439, -2.199, 0, 171.006, 0, [SEP] 49, Chair, 0.220, 1.466, -2.214, 0, 188.269, 0, [SEP] 50, Shelf, -0.978, 1.387, -2.479, 0, 0, 0, [SEP] 51, Drawer, -1.389, 0.197, -2.261, 0, 0, 0, [SEP] 52, Drawer, -1.389, 0.480, -2.261, 0, 0, 0, [SEP] 53, Drawer, -1.389, 0.731, -2.261, 0, 0, 0, [SEP] 54, Desk, -0.973, 1.162, -2.351, 0, 0, 0, [SEP] 55, NorthWall, , , , , , , [SEP] 56, EastWall, , , , , , , [SEP] 57, SouthWall, , , , , , , [SEP] 58, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and veer left to the right side of the desk. | STEP 2: Pick up the red credit card on the desk. | STEP 3: Place the card in the bowl. | STEP 4: Pick up the bowl. | STEP 5: Walk right and straight around the desk. | STEP 6: Place the bowl on the desk to the right of the laptop. | END"]} +{"id": "trial_T20190908_082621_259220-0", "input": "Move the laptop between the remote controls to the red lounge chair. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.901, 2.5, 0, 90, 0, [SEP] 1, Watch, -3.356, 0.376, 6.723, 0, 0, 0, 28 [SEP] 2, Watch, -2.014, 0.756, 0.993, 0, 0, 0, 42 [SEP] 3, KeyChain, -4.380, 0.480, 4.863, 0, 0, 0, 33 [SEP] 4, RemoteControl, -2.014, 0.758, 1.554, 0, 0, 0, 42 [SEP] 5, RemoteControl, -4.300, 0.481, 4.631, 0, 0, 0, 33 [SEP] 6, Laptop, -2.005, 0.839, 6.632, 0, 0, 0, 39 [SEP] 7, Laptop, -1.732, 0.753, 0.993, 0, 0, 0, 42 [SEP] 8, Box, -1.607, 0.151, 6.854, 0, 0, 0, 39 [SEP] 9, Statue, -1.440, 0.747, 1.229, 0, 0, 0, 42 [SEP] 10, Watch, -0.379, 0.626, 3.840, 0, 22.813, 0, 40 [SEP] 11, WateringCan, -0.208, -0.000, 3.225, 0, 63.928, 0, [SEP] 12, Laptop, -1.683, 0.747, 1.489, 0, 338.703, 0, 42 [SEP] 13, CreditCard, -4.380, 0.479, 5.325, 0, 0, 0, 33 [SEP] 14, KeyChain, -4.300, 0.478, 5.787, 0, 0, 0, 33 [SEP] 15, Pillow, -4.335, 0.465, 4.398, 0, 0, 0, 33 [SEP] 16, RemoteControl, -1.310, 0.758, 1.554, 0, 0, 0, 42 [SEP] 17, Curtains, -0.037, 2.148, 0.999, 0, 0, 0, [SEP] 18, Painting, -0.016, 2.061, 5.380, 0, 0, 0, [SEP] 19, GarbageCan, -0.256, -0.010, 6.799, 0, 0, 0, [SEP] 20, FloorLamp, -4.721, -0.001, 3.687, 0, 0, 0, [SEP] 21, Television, -3.192, 1.184, 6.767, 0, 180, 0, [SEP] 22, HousePlant, -0.173, 0.610, 3.994, 0, 0, 0, [SEP] 23, LightSwitch, -3.483, 1.470, 0.001, 0, 0, 0, [SEP] 24, DeskLamp, -0.258, 0.611, 3.312, 0, 0, 0, [SEP] 25, Window, -0.008, 1.340, 1.725, 90, 270, 0, [SEP] 26, SideTable, -4.190, 0.000, 3.587, 0, 0, 0, [SEP] 27, Drawer, -2.925, 0.475, 6.717, 0, 180, 0, [SEP] 28, Drawer, -3.476, 0.475, 6.717, 0, 180, 0, [SEP] 29, Dresser, -3.201, -0.001, 6.791, 0, 180, 0, [SEP] 30, Drawer, -2.925, 0.165, 6.719, 0, 180, 0, [SEP] 31, Drawer, -3.476, 0.165, 6.719, 0, 180, 0, [SEP] 32, ArmChair, -2.448, 0.002, 3.501, 0, 0, 0, [SEP] 33, Sofa, -4.425, 0.014, 5.062, 0, 90, 0, [SEP] 34, Ottoman, -2.374, 0.000, 4.483, 0, 0, 0, [SEP] 35, Chair, -2.151, 0.004, 1.284, 0, 90, 0, [SEP] 36, Chair, -1.549, 0.004, 1.780, 0, 195.000, 0, [SEP] 37, Chair, -1.626, 0.004, 0.778, 0, 10.166, 0, [SEP] 38, Chair, -1.076, 0.004, 1.292, 0, 265.171, 0, [SEP] 39, SideTable, -2.071, 0.000, 6.699, 0, 0, 0, [SEP] 40, SideTable, -0.244, -0.000, 3.524, 0, 270, 0, [SEP] 41, ArmChair, -3.545, 0.005, 3.579, 0, 0, 0, [SEP] 42, DiningTable, -1.592, 0.006, 1.274, 0, 0, 0, [SEP] 43, NorthWall, , , , , , , [SEP] 44, SouthWall, , , , , , , [SEP] 45, SouthWall, , , , , , , ", "output": ["STEP 1: Turn right and go to the glass table. | STEP 2: Close the laptop nearest to you and pick it up. | STEP 3: Turn around and move to the red lounge chair in the center of the room. | STEP 4: Set the laptop down on the seat of the red lounge chair. | END"]} +{"id": "trial_T20190908_060001_516672-0", "input": "retrieve a box of tissues from the cabinet and put the on the toilet SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.25, 0.900, 3.0, 0, 90, 0, [SEP] 1, TissueBox, -3.770, 0.541, 1.109, 0, 90, 0, 40 [SEP] 2, TissueBox, -3.828, 0.541, 1.477, 0, 90, 0, 25 [SEP] 3, TissueBox, -0.294, 0.040, 4.769, 0, 0, 0, 24 [SEP] 4, Cloth, -3.470, 0.185, 3.547, 0, 347.395, 0, 23 [SEP] 5, SoapBar, -1.008, 0.963, 4.734, 0, 0, 0, 30 [SEP] 6, SoapBar, -3.144, 0.676, 3.944, 0, 270, 0, 25 [SEP] 7, Candle, -3.597, 0.550, 0.373, 0, 90, 0, 40 [SEP] 8, Candle, -0.194, 0.048, 5.006, 0, 0, 0, 24 [SEP] 9, HandTowel, -2.094, 1.442, 5.107, 0, 0, 0, 41 [SEP] 10, ToiletPaper, -3.268, 0.673, 3.944, 0, 270, 0, 25 [SEP] 11, Candle, -3.540, 0.550, 0.925, 0, 90, 0, 40 [SEP] 12, SoapBottle, -3.770, 0.546, 0.557, 0, 90, 0, 40 [SEP] 13, HandTowel, -0.112, 1.467, 4.811, 0, 270, 0, 42 [SEP] 14, Towel, -0.181, 1.419, 2.425, 0, 270, 0, 38 [SEP] 15, SoapBar, -0.255, 1.044, 3.354, 0, 270, 0, 44 [SEP] 16, ToiletPaper, -3.885, 0.538, 0.741, 0, 90, 0, 40 [SEP] 17, TissueBox, -1.095, 0.964, 4.800, 0, 0, 0, 30 [SEP] 18, Cloth, -3.701, 0.185, 2.428, 0, 0, 0, 23 [SEP] 19, ToiletPaper, -0.153, 1.126, 3.705, 0, 270, 270, 43 [SEP] 20, SprayBottle, -3.828, 0.542, 0.373, 0, 90, 0, 40 [SEP] 21, ScrubBrush, -0.231, -0.000, 3.857, 0, 0, 0, Floor|+00.00| [SEP] 22, Plunger, -0.212, -0.000, 3.536, 0, 0, 0, Floor|+00.00| [SEP] 23, BathtubBasin, -3.404, 0.166, 2.904, 0, 0, 0, [SEP] 24, Cabinet, -0.124, 0.364, 4.634, 0, 0, 0, [SEP] 25, Bathtub, -2.896, 0.667, 2.860, 0, 0, 0, [SEP] 26, Faucet, -3.475, 0.711, 3.811, 0, 0, 0, [SEP] 27, ShowerGlass, 0.0, 0.0, 0.0, 0, 0, 0, [SEP] 28, ShowerDoor, -0.282, 1.228, 1.730, 0, 0, 0, [SEP] 29, Faucet, -1.524, 1.047, 5.096, 0, 180, 0, [SEP] 30, CounterTop, -1.023, 0.954, 4.884, 0, 0, 0, [SEP] 31, Mirror, -0.975, 1.577, 5.145, 0, 0, 0, [SEP] 32, Cabinet, -1.962, 0.364, 4.634, 0, 0, 0, [SEP] 33, Cabinet, -1.027, 0.364, 4.634, 0, 0, 0, [SEP] 34, Cabinet, -1.059, 0.364, 4.634, 0, 0, 0, [SEP] 35, Window, -1.993, 1.888, 0.144, 0, 0, 0, [SEP] 36, LightSwitch, -2.496, 1.366, 5.146, 0, 180, 0, [SEP] 37, TowelHolder, -1.720, 1.213, 1.740, 0, 0, 0, [SEP] 38, TowelHolder, -0.074, 1.404, 2.424, 0, 270, 0, [SEP] 39, GarbageCan, -2.346, 0.002, 4.878, 0, 180, 0, [SEP] 40, Shelf, -3.713, 0.531, 0.951, 0, 90, 0, [SEP] 41, HandTowelHolder, -2.094, 1.544, 5.145, 0, 90, 0, [SEP] 42, HandTowelHolder, -0.074, 1.569, 4.810, 0, 180, 0, [SEP] 43, ToiletPaperHanger, -0.074, 1.126, 3.686, 0, 270, 0, [SEP] 44, Toilet, -0.517, -0.000, 3.220, 0, 0, 0, [SEP] 45, ShowerHead, -0.182, 1.256, 0.875, 0, 0, 0, [SEP] 46, SinkBasin, -0.569, 0.986, 4.886, 0, 180, 0, [SEP] 47, Sink, -0.579, 0.926, 4.874, 0, 180, 0, [SEP] 48, Sink, -1.524, 0.926, 4.874, 0, 180, 0, [SEP] 49, SinkBasin, -1.514, 0.986, 4.886, 0, 180, 0, [SEP] 50, Faucet, -0.583, 1.047, 5.096, 0, 180, 0, [SEP] 51, NorthWall, , , , , , , [SEP] 52, EastWall, , , , , , , [SEP] 53, SouthWall, , , , , , , [SEP] 54, WestWall, , , , , , , ", "output": ["STEP 1: walk toward the toilet. walk around to the left side of the toilet and face the sink | STEP 2: open the cabinet and retrieve the box of tissues | STEP 3: turn around and walk to the far side of the toilet | STEP 4: place the box of tissues on the back side of the toilet | END"]} +{"id": "trial_T20190908_060001_516672-1", "input": "Move the tissue box to the back of the toilet SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.25, 0.900, 3.0, 0, 90, 0, [SEP] 1, TissueBox, -3.770, 0.541, 1.109, 0, 90, 0, 40 [SEP] 2, TissueBox, -3.828, 0.541, 1.477, 0, 90, 0, 25 [SEP] 3, TissueBox, -0.294, 0.040, 4.769, 0, 0, 0, 24 [SEP] 4, Cloth, -3.470, 0.185, 3.547, 0, 347.395, 0, 23 [SEP] 5, SoapBar, -1.008, 0.963, 4.734, 0, 0, 0, 30 [SEP] 6, SoapBar, -3.144, 0.676, 3.944, 0, 270, 0, 25 [SEP] 7, Candle, -3.597, 0.550, 0.373, 0, 90, 0, 40 [SEP] 8, Candle, -0.194, 0.048, 5.006, 0, 0, 0, 24 [SEP] 9, HandTowel, -2.094, 1.442, 5.107, 0, 0, 0, 41 [SEP] 10, ToiletPaper, -3.268, 0.673, 3.944, 0, 270, 0, 25 [SEP] 11, Candle, -3.540, 0.550, 0.925, 0, 90, 0, 40 [SEP] 12, SoapBottle, -3.770, 0.546, 0.557, 0, 90, 0, 40 [SEP] 13, HandTowel, -0.112, 1.467, 4.811, 0, 270, 0, 42 [SEP] 14, Towel, -0.181, 1.419, 2.425, 0, 270, 0, 38 [SEP] 15, SoapBar, -0.255, 1.044, 3.354, 0, 270, 0, 44 [SEP] 16, ToiletPaper, -3.885, 0.538, 0.741, 0, 90, 0, 40 [SEP] 17, TissueBox, -1.095, 0.964, 4.800, 0, 0, 0, 30 [SEP] 18, Cloth, -3.701, 0.185, 2.428, 0, 0, 0, 23 [SEP] 19, ToiletPaper, -0.153, 1.126, 3.705, 0, 270, 270, 43 [SEP] 20, SprayBottle, -3.828, 0.542, 0.373, 0, 90, 0, 40 [SEP] 21, ScrubBrush, -0.231, -0.000, 3.857, 0, 0, 0, Floor|+00.00| [SEP] 22, Plunger, -0.212, -0.000, 3.536, 0, 0, 0, Floor|+00.00| [SEP] 23, BathtubBasin, -3.404, 0.166, 2.904, 0, 0, 0, [SEP] 24, Cabinet, -0.124, 0.364, 4.634, 0, 0, 0, [SEP] 25, Bathtub, -2.896, 0.667, 2.860, 0, 0, 0, [SEP] 26, Faucet, -3.475, 0.711, 3.811, 0, 0, 0, [SEP] 27, ShowerGlass, 0.0, 0.0, 0.0, 0, 0, 0, [SEP] 28, ShowerDoor, -0.282, 1.228, 1.730, 0, 0, 0, [SEP] 29, Faucet, -1.524, 1.047, 5.096, 0, 180, 0, [SEP] 30, CounterTop, -1.023, 0.954, 4.884, 0, 0, 0, [SEP] 31, Mirror, -0.975, 1.577, 5.145, 0, 0, 0, [SEP] 32, Cabinet, -1.962, 0.364, 4.634, 0, 0, 0, [SEP] 33, Cabinet, -1.027, 0.364, 4.634, 0, 0, 0, [SEP] 34, Cabinet, -1.059, 0.364, 4.634, 0, 0, 0, [SEP] 35, Window, -1.993, 1.888, 0.144, 0, 0, 0, [SEP] 36, LightSwitch, -2.496, 1.366, 5.146, 0, 180, 0, [SEP] 37, TowelHolder, -1.720, 1.213, 1.740, 0, 0, 0, [SEP] 38, TowelHolder, -0.074, 1.404, 2.424, 0, 270, 0, [SEP] 39, GarbageCan, -2.346, 0.002, 4.878, 0, 180, 0, [SEP] 40, Shelf, -3.713, 0.531, 0.951, 0, 90, 0, [SEP] 41, HandTowelHolder, -2.094, 1.544, 5.145, 0, 90, 0, [SEP] 42, HandTowelHolder, -0.074, 1.569, 4.810, 0, 180, 0, [SEP] 43, ToiletPaperHanger, -0.074, 1.126, 3.686, 0, 270, 0, [SEP] 44, Toilet, -0.517, -0.000, 3.220, 0, 0, 0, [SEP] 45, ShowerHead, -0.182, 1.256, 0.875, 0, 0, 0, [SEP] 46, SinkBasin, -0.569, 0.986, 4.886, 0, 180, 0, [SEP] 47, Sink, -0.579, 0.926, 4.874, 0, 180, 0, [SEP] 48, Sink, -1.524, 0.926, 4.874, 0, 180, 0, [SEP] 49, SinkBasin, -1.514, 0.986, 4.886, 0, 180, 0, [SEP] 50, Faucet, -0.583, 1.047, 5.096, 0, 180, 0, [SEP] 51, NorthWall, , , , , , , [SEP] 52, EastWall, , , , , , , [SEP] 53, SouthWall, , , , , , , [SEP] 54, WestWall, , , , , , , ", "output": ["STEP 1: Move to the right side of the sink cupboard closest to the wall | STEP 2: Open the cupboard to remove the tissue box then shut the door | STEP 3: Carry the tissue box to the back of the toilet | STEP 4: Place the tissue box on the back of the toilet | END"]} +{"id": "trial_T20190908_131436_364370-2", "input": "Take out the green candle and put it on the toilet. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.904, 0.25, 0, 180, 0, [SEP] 1, Cloth, -3.053, 1.869, 1.164, 0, 0, 0, 25 [SEP] 2, Cloth, -0.404, 0.033, 1.040, 0, 0, 0, 26 [SEP] 3, Candle, -3.034, 0.110, -0.173, 0, 0, 0, 23 [SEP] 4, HandTowel, -3.321, 1.464, 0.762, 0, 270, 0, 32 [SEP] 5, Towel, -1.615, 1.398, 1.800, 0, 180, 0, 30 [SEP] 6, HandTowel, -2.96, 1.593, -0.728, 0, 180, 0, 31 [SEP] 7, SoapBar, -3.016, 0.883, 0.019, 0, 90, 0, 22 [SEP] 8, ToiletPaper, -3.072, 0.046, 0.869, 0, 0, 0, 29 [SEP] 9, ToiletPaper, -3.061, 0.668, 0.690, 347.055, 0, 90, 34 [SEP] 10, Candle, -2.965, 1.870, 1.624, 0, 0, 0, 19 [SEP] 11, ScrubBrush, -3.236, 0.003, 1.79, 0, 0, 0, Floor|-01.69| [SEP] 12, Plunger, -3.043, 0.003, 1.683, 0, 0, 0, Floor|-01.69| [SEP] 13, SoapBottle, -3.035, 0.110, -0.654, 0, 0, 0, 18 [SEP] 14, Cloth, -2.969, 0.109, 0.387, 0, 0, 0, 17 [SEP] 15, SprayBottle, -3.193, 1.049, 1.329, 0, 90, 0, 35 [SEP] 16, Faucet, -0.618, 0.667, 1.805, 0, 0, 0, [SEP] 17, Cabinet, -2.761, 0.446, 0.599, 0, 0, 0, [SEP] 18, Cabinet, -2.756, 0.421, -0.759, 0, 0, 0, [SEP] 19, Cabinet, -2.905, 2.098, 1.878, 0, 0, 0, [SEP] 20, Sink, -3.016, 0.865, 0.207, 0, 90, 0, [SEP] 21, Bathtub, -0.603, 0.286, 0.832, 0, 0, 0, [SEP] 22, SinkBasin, -3.016, 0.874, 0.217, 0, 90, 0, [SEP] 23, Cabinet, -2.756, 0.421, -0.272, 0, 0, 0, [SEP] 24, Faucet, -3.313, 0.989, 0.207, 0, 90, 0, [SEP] 25, Cabinet, -2.900, 2.053, 1.005, 0, 0, 0, [SEP] 26, BathtubBasin, -0.558, 0.023, 0.811, 0, 0, 0, [SEP] 27, Mirror, -3.348, 1.476, 0.020, 0, 0, 0, [SEP] 28, CounterTop, -3.049, 1.039, -0.442, 0, 0, 0, [SEP] 29, GarbageCan, -3.080, -0.007, 0.899, 0, 0, 0, [SEP] 30, TowelHolder, -1.615, 1.383, 1.907, 0, 180, 0, [SEP] 31, HandTowelHolder, -2.960, 1.695, -0.766, 0, 270, 0, [SEP] 32, HandTowelHolder, -3.359, 1.565, 0.763, 0, 0, 0, [SEP] 33, LightSwitch, -2.313, 1.426, -0.766, 0, 0, 0, [SEP] 34, ToiletPaperHanger, -3.105, 0.828, 0.625, 347.055, 0, 0, [SEP] 35, Toilet, -2.931, 0.003, 1.364, 0, 180, 0, [SEP] 36, ShowerCurtain, -1.171, 1.866, -0.108, 0, 0, 0, [SEP] 37, NorthWall, , , , , , , [SEP] 38, EastWall, , , , , , , [SEP] 39, SouthWall, , , , , , , [SEP] 40, WestWall, , , , , , , ", "output": ["STEP 1: Turn right at the white door and turn right at the metal sink. Look above the toilet at the white cabinet above it. | STEP 2: Take out the green candle in the white cabinet. | STEP 3: Look back down to the top of the toilet. | STEP 4: Put the green candle next to the purple spray bottle on the toilet. | END"]} +{"id": "trial_T20190907_143326_990366-2", "input": "Placing a clean mug on the coffeemaker. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.869, -3.5, 0, 180, 0, [SEP] 1, DishSponge, 0.672, 0.772, -0.735, 0, 270, 0, 68 [SEP] 2, DishSponge, 0.858, 1.463, -0.084, 0, 0, 0, 56 [SEP] 3, ButterKnife, -1.056, 0.900, 1.187, 0, 270, 0, 71 [SEP] 4, Spatula, 0.720, 0.775, -0.252, 0, 90, 0, 44 [SEP] 5, Spatula, 0.574, 0.774, -0.252, 0, 90, 0, 44 [SEP] 6, Spoon, 0.950, 0.884, -0.176, 0, 0, 0, 45 [SEP] 7, Spoon, 0.721, 0.665, 0.569, 0, 180, 0, 50 [SEP] 8, Fork, -0.453, 0.901, 0.843, 0, 270, 0, 71 [SEP] 9, Egg, 0.601, 0.701, 0.387, 0, 0, 0, 50 [SEP] 10, Egg, -2.002, 0.836, -3.607, 0, 0, 0, 67 [SEP] 11, Cup, -0.051, 0.899, 0.758, 0, 270, 0, 71 [SEP] 12, Cup, 0.661, 0.664, 0.569, 0, 0, 0, 50 [SEP] 13, Plate, 0.732, 0.019, -0.119, 0, 0, 0, 55 [SEP] 14, Tomato, -1.260, 0.100, -3.611, 0, 270, 0, 60 [SEP] 15, Tomato, 0.746, 1.423, -2.113, 0, 270, 0, 65 [SEP] 16, SoapBottle, 0.781, 0.663, 0.326, 0, 0, 0, 50 [SEP] 17, PepperShaker, 0.961, 0.661, 0.387, 0, 0, 0, 50 [SEP] 18, Bread, 0.149, 0.944, 1.101, 0, 270, 0, 71 [SEP] 19, Lettuce, 0.708, 1.461, -1.880, 0, 270, 0, 65 [SEP] 20, Mug, 0.949, 1.458, -0.331, 0, 90, 0, 56 [SEP] 21, Mug, 0.698, 0.941, -1.360, 0, 270, 0, 58 [SEP] 22, Apple, 0.841, 0.826, -0.845, 0, 270, 0, 68 [SEP] 23, Pot, -2.097, 0.930, 1.049, 0, 0, 0, 52 [SEP] 24, Plate, -1.719, 0.705, -1.091, 0, 0, 0, 81 [SEP] 25, Fork, 0.757, 0.773, -0.625, 0, 270, 0, 68 [SEP] 26, SoapBottle, 0.803, 0.882, 0.098, 0, 0, 0, 45 [SEP] 27, Apple, -1.556, 0.750, -3.445, 0, 0, 0, 72 [SEP] 28, Pan, -1.555, 0.930, 1.049, 0, 0, 0, 54 [SEP] 29, Egg, 1.055, 0.920, -0.913, 0, 0, 0, 45 [SEP] 30, Spatula, -0.252, 0.915, 0.929, 0, 180, 0, 71 [SEP] 31, Potato, -2.054, 0.832, -3.705, 0, 0, 0, 67 [SEP] 32, Cup, 0.785, 0.663, -1.958, 0, 270, 0, 65 [SEP] 33, SaltShaker, 0.898, 0.012, -0.315, 0, 0, 0, 55 [SEP] 34, PepperShaker, 0.582, 0.879, -0.314, 0, 0, 0, 45 [SEP] 35, ButterKnife, 0.655, 0.883, 0.029, 0, 0, 0, 45 [SEP] 36, DishSponge, 0.950, 0.883, -0.039, 0, 0, 0, 45 [SEP] 37, Bread, -0.873, 0.931, 0.978, 0, 24.231, 0, 71 [SEP] 38, Lettuce, 0.841, 0.751, 0.508, 0, 0, 0, 50 [SEP] 39, Tomato, 0.669, 0.514, -2.035, 0, 270, 0, 65 [SEP] 40, Spoon, -1.719, 0.702, -1.524, 0, 0, 0, 81 [SEP] 41, Knife, -0.051, 0.923, 1.015, 0, 270, 0, 71 [SEP] 42, Mug, 0.621, 0.010, -0.898, 0, 0, 0, 48 [SEP] 43, Bowl, -2.038, 0.691, -1.003, 0, 0, 0, 81 [SEP] 44, Drawer, 0.706, 0.766, -0.125, 0, 0, 0, [SEP] 45, CounterTop, 0.792, 0.919, -0.108, 0, 0, 0, [SEP] 46, Mirror, 1.093, 1.602, -0.643, 0, 0, 0, [SEP] 47, StoveBurner, -2.096, 0.890, 0.785, 0, 0, 0, [SEP] 48, Cabinet, 0.507, 0.345, -0.426, 0, 0, 0, [SEP] 49, StoveBurner, -1.552, 0.890, 0.785, 0, 0, 0, [SEP] 50, SideTable, 0.770, -0.030, 0.443, 0, 0, 0, [SEP] 51, Sink, 0.753, 0.882, -0.680, 0, 0, 0, [SEP] 52, StoveBurner, -2.096, 0.890, 1.049, 0, 0, 0, [SEP] 53, GarbageBag, -0.770, 0.287, -3.541, 270, 73.521, 83.489, [SEP] 54, StoveBurner, -1.554, 0.890, 1.049, 0, 0, 0, [SEP] 55, Cabinet, 0.507, 0.345, 0.156, 0, 0, 0, [SEP] 56, Cabinet, 0.717, 1.822, -0.398, 0, 0, 0, [SEP] 57, Cabinet, 0.717, 1.822, 0.669, 0, 0, 0, [SEP] 58, CoffeeMachine, 0.873, 0.865, -1.256, 0, 270, 0, [SEP] 59, Toaster, -0.522, 0.886, 1.081, 0, 180, 0, [SEP] 60, GarbageCan, -1.261, -0.031, -3.610, 0, 270, 0, [SEP] 61, StoveKnob, -1.898, 0.866, 0.519, 311.864, 0, 180, [SEP] 62, StoveKnob, -1.754, 0.866, 0.519, 311.864, 0, 180, [SEP] 63, StoveKnob, -2.058, 0.866, 0.519, 311.864, 0, 180, [SEP] 64, StoveKnob, -1.600, 0.866, 0.519, 311.864, 0, 180, [SEP] 65, Fridge, 0.680, -0.031, -1.957, 0, 0, 0, [SEP] 66, Window, -2.424, 1.639, -2.453, 90, 270, 0, [SEP] 67, Microwave, -1.994, 0.690, -3.651, 0, 0, 0, [SEP] 68, SinkBasin, 0.757, 0.762, -0.688, 0, 270, 0, [SEP] 69, LightSwitch, 1.102, 1.368, -3.737, 0, 270, 0, [SEP] 70, Shelf, -0.350, 0.124, 0.857, 0, 0, 0, [SEP] 71, DiningTable, -0.350, -0.025, 0.857, 0, 0, 0, [SEP] 72, DiningTable, -1.909, -0.032, -3.507, 0, 0, 0, [SEP] 73, Blinds, -2.343, 2.151, -2.437, 0, 270, 0, [SEP] 74, AluminumFoil, 0.762, 0.224, 0.337, 0, 184.594, 0, [SEP] 75, AluminumFoil, 0.751, 0.225, 0.287, 0, 0, 0, [SEP] 76, AluminumFoil, 0.839, 0.224, 0.392, 0, 195.128, 0, [SEP] 77, Shelf, 0.771, 0.226, 0.445, 0, 0, 0, [SEP] 78, Shelf, 0.771, 0.456, 0.446, 0, 0, 0, [SEP] 79, Faucet, 1.025, 0.873, -0.678, 270, 180, 0, [SEP] 80, Shelf, -0.350, 0.497, 0.857, 0, 0, 0, [SEP] 81, DiningTable, -1.929, -0.035, -1.398, 0, 90, 0, [SEP] 82, Chair, -1.610, -0.024, -1.424, 358.454, 297.426, 0, [SEP] 83, NorthWall, , , , , , , [SEP] 84, EastWall, , , , , , , [SEP] 85, SouthWall, , , , , , , [SEP] 86, WestWall, , , , , , , ", "output": ["STEP 1: Turn around to the left and walk to the coffee maker. | STEP 2: Grab the mug from the coffeemaker. | STEP 3: Turn to the left and walk to the sink. | STEP 4: Place the mug into the sink and rinse it with water. Remove the mug from the sink. | STEP 5: Turn to the right and walk back to the coffeemaker. | STEP 6: Place the mug on the coffeemaker. | END"]} +{"id": "trial_T20190908_122402_482968-1", "input": "Put a spray bottle in the garbage. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.900, 2.5, 0, 180, 0, [SEP] 1, Cloth, -4.309, 0.207, 2.074, 0, 270, 0, 35 [SEP] 2, Cloth, -2.192, 0.831, 1.862, 0, 0, 0, 20 [SEP] 3, Candle, -0.956, 1.053, 4.263, 0, 270, 0, 40 [SEP] 4, Candle, -3.028, 0.278, 1.780, 0, 0, 0, 25 [SEP] 5, SprayBottle, -1.109, 1.045, 4.460, 0, 270, 0, 40 [SEP] 6, SprayBottle, -1.109, 1.045, 4.263, 0, 270, 0, 40 [SEP] 7, SprayBottle, -1.018, 1.045, 4.263, 0, 270, 0, 40 [SEP] 8, Towel, -4.739, 1.522, 3.359, 0, 90, 0, 32 [SEP] 9, Candle, -1.211, 0.278, 2.039, 0, 0, 0, 22 [SEP] 10, HandTowel, -0.923, 1.59, 2.018, 0, 90, 0, 37 [SEP] 11, Plunger, -1.064, -0.000, 4.838, 0, 0, 0, Floor|-03.84| [SEP] 12, SoapBar, -1.043, 0.118, 3.640, 0, 90, 0, 39 [SEP] 13, ToiletPaper, -2.282, 0.823, 2.074, 0, 0, 0, 20 [SEP] 14, Cloth, -2.168, 0.274, 1.883, 0, 0, 0, 29 [SEP] 15, ToiletPaper, -0.968, 0.888, 3.960, 0, 270, 270, 41 [SEP] 16, Towel, -4.739, 1.522, 2.425, 0, 90, 0, 33 [SEP] 17, ScrubBrush, -1.065, -0.000, 4.052, 0, 0, 0, Floor|-03.84| [SEP] 18, SoapBottle, -2.378, 0.807, 1.517, 0, 330.000, 0, 20 [SEP] 19, SprayBottle, -1.230, 0.827, 2.148, 0, 0, 0, 20 [SEP] 20, CounterTop, -2.177, 0.782, 1.889, 0, 0, 0, [SEP] 21, Drawer, -1.307, 0.606, 1.890, 0, 0, 0, [SEP] 22, Drawer, -1.307, 0.337, 1.890, 0, 0, 0, [SEP] 23, Faucet, -4.646, 0.448, 1.689, 0, 0, 0, [SEP] 24, ShowerDoor, -4.873, 1.235, 3.947, 0, 0, 0, [SEP] 25, Drawer, -3.029, 0.337, 1.890, 0, 0, 0, [SEP] 26, Drawer, -2.169, 0.606, 1.890, 0, 0, 0, [SEP] 27, Drawer, -3.029, 0.606, 1.890, 0, 0, 0, [SEP] 28, Bathtub, -4.080, 0.297, 2.480, 0, 345.000, 0, [SEP] 29, Drawer, -2.169, 0.337, 1.890, 0, 0, 0, [SEP] 30, Mirror, -2.177, 1.856, 1.390, 0, 0, 0, [SEP] 31, Sink, -1.421, 0.837, 1.776, 0, 0, 0, [SEP] 32, TowelHolder, -4.846, 1.508, 3.358, 0, 90, 0, [SEP] 33, TowelHolder, -4.846, 1.508, 2.424, 0, 90, 0, [SEP] 34, LightSwitch, -2.165, 1.450, 4.972, 0, 180, 0, [SEP] 35, BathtubBasin, -4.309, 0.192, 2.328, 0, 270, 0, [SEP] 36, SinkBasin, -1.442, 0.874, 1.785, 0, 0, 0, [SEP] 37, HandTowelHolder, -0.884, 1.692, 2.017, 0, 180, 0, [SEP] 38, HandTowelHolder, -3.726, 1.748, 1.292, 0, 270, 0, [SEP] 39, GarbageCan, -1.116, -0.037, 3.598, 0, 270, 0, [SEP] 40, Toilet, -1.340, -0.000, 4.456, 0, 0, 0, [SEP] 41, ToiletPaperHanger, -0.884, 0.888, 3.911, 0, 270, 0, [SEP] 42, Faucet, -1.421, 0.954, 1.507, 0, 0, 0, [SEP] 43, ShowerHead, -5.257, 1.733, 4.030, 0, 90, 0, [SEP] 44, Faucet, -2.944, 0.954, 1.507, 0, 0, 0, [SEP] 45, Sink, -2.943, 0.837, 1.776, 0, 0, 0, [SEP] 46, SinkBasin, -2.964, 0.874, 1.785, 0, 0, 0, [SEP] 47, NorthWall, , , , , , , [SEP] 48, EastWall, , , , , , , [SEP] 49, SouthWall, , , , , , , [SEP] 50, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk to the toilet then turn to your right and walk to the toilet brush. | STEP 2: Pick up the spray bottle closest to you on the back of the toilet. | STEP 3: Take a step to your right. | STEP 4: Put the spray bottle in the garbage. | END"]} +{"id": "trial_T20190908_161100_723861-0", "input": "Put a pan with a piece of lettuce in it into the fridge. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.5, 0.901, -0.25, 0, 180, 0, [SEP] 1, Potato, 2.158, 0.901, -0.188, 0, 270, 0, 67 [SEP] 2, WineBottle, -0.042, 0.791, 1.217, 0, 0, 0, 73 [SEP] 3, ButterKnife, -0.349, 0.791, 0.545, 0, 0, 0, 73 [SEP] 4, Spatula, -0.282, 0.952, 2.618, 0, 0, 0, 46 [SEP] 5, Spoon, 1.884, 0.746, 2.197, 0, 90, 0, 61 [SEP] 6, Spoon, -0.349, 0.792, 1.217, 0, 0, 0, 73 [SEP] 7, Egg, 2.279, 1.363, -0.007, 0, 270, 0, 67 [SEP] 8, Cup, -0.425, 0.789, 0.713, 0, 0, 0, 73 [SEP] 9, Knife, -0.196, 0.816, 1.386, 0, 0, 0, 73 [SEP] 10, Knife, 1.850, 0.771, 1.922, 0, 90, 0, 61 [SEP] 11, Tomato, 0.033, 0.837, 1.049, 0, 0, 0, 73 [SEP] 12, Tomato, 2.231, 1.565, -0.188, 0, 270, 0, 67 [SEP] 13, Bowl, -0.328, 1.032, 2.068, 0, 90, 0, 71 [SEP] 14, PepperShaker, -0.041, 0.932, 2.425, 0, 0, 0, 46 [SEP] 15, Egg, 2.056, 1.363, -0.279, 0, 270, 0, 67 [SEP] 16, Lettuce, -0.053, 0.999, 2.827, 0, 0, 0, 46 [SEP] 17, Fork, -0.119, 0.791, 0.545, 0, 180, 0, 73 [SEP] 18, SoapBottle, -0.004, 0.082, 1.993, 0, 0, 0, 40 [SEP] 19, Ladle, 1.997, 0.982, 2.162, 0, 0, 0, 46 [SEP] 20, Ladle, 1.923, 0.126, 0.442, 0, 0, 0, 43 [SEP] 21, Bread, -0.199, 0.823, 0.813, 0, 0, 0, 73 [SEP] 22, SaltShaker, 2.002, 0.077, 2.199, 0, 0, 0, 42 [SEP] 23, Potato, 2.225, 0.978, 0.806, 0, 0, 0, 57 [SEP] 24, Pan, 2.140, 0.935, 1.504, 0, 180, 0, 41 [SEP] 25, WineBottle, -0.078, 0.082, 2.265, 0, 0, 0, 40 [SEP] 26, Spatula, 1.906, 0.760, 0.446, 0, 90, 0, 55 [SEP] 27, Knife, -0.196, 0.816, 0.377, 0, 180, 0, 73 [SEP] 28, Tomato, -0.272, 0.983, 2.451, 0, 0, 0, 46 [SEP] 29, Apple, -0.272, 0.840, 1.049, 0, 0, 0, 73 [SEP] 30, ButterKnife, 1.917, 0.938, 0.583, 0, 180, 0, 57 [SEP] 31, Pot, 1.863, 0.935, 1.106, 0, 0, 0, 60 [SEP] 32, PepperShaker, 1.830, 1.498, 2.730, 0, 0, 0, 47 [SEP] 33, Cup, 1.276, 0.793, 2.695, 0, 0, 0, 70 [SEP] 34, DishSponge, 0.174, 0.937, 2.688, 0, 0, 0, 46 [SEP] 35, Plate, 2.206, 1.505, 2.425, 0, 0, 0, 39 [SEP] 36, Spoon, 1.802, 0.747, 0.652, 0, 90, 0, 55 [SEP] 37, Mug, 2.064, 0.989, 2.462, 0, 225, 0, 72 [SEP] 38, Bowl, 0.174, 0.934, 2.827, 0, 0, 0, 46 [SEP] 39, Cabinet, 2.041, 2.113, 2.618, 0, 0, 0, [SEP] 40, Cabinet, 0.126, 0.388, 1.774, 0, 0, 0, [SEP] 41, StoveBurner, 2.140, 0.929, 1.504, 0, 180, 0, [SEP] 42, Cabinet, 1.760, 0.388, 2.346, 0, 0, 0, [SEP] 43, Cabinet, 1.760, 0.388, 0.869, 0, 0, 0, [SEP] 44, Cabinet, 2.041, 1.810, 0.283, 0, 0, 0, [SEP] 45, Drawer, -0.024, 0.774, 2.061, 0, 0, 0, [SEP] 46, CounterTop, 1.065, 0.973, 2.666, 0, 0, 0, [SEP] 47, Cabinet, 1.969, 2.113, 2.618, 0, 0, 0, [SEP] 48, StoveBurner, 2.140, 0.929, 1.106, 0, 0, 0, [SEP] 49, Cabinet, 2.041, 2.113, 1.809, 0, 0, 0, [SEP] 50, StoveBurner, 1.866, 0.929, 1.504, 0, 180, 0, [SEP] 51, Cabinet, 2.041, 2.113, 1.766, 0, 0, 0, [SEP] 52, Cabinet, 1.514, 0.388, 2.360, 0, 0, 0, [SEP] 53, Cabinet, 0.351, 0.388, 2.360, 0, 0, 0, [SEP] 54, Cabinet, 2.041, 1.810, 0.872, 0, 0, 0, [SEP] 55, Drawer, 2.167, 0.774, 0.582, 0, 0, 0, [SEP] 56, Cabinet, 2.041, 2.113, 0.892, 0, 0, 0, [SEP] 57, CounterTop, 2.060, 0.973, 0.583, 0, 0, 0, [SEP] 58, Sink, 0.935, 0.936, 2.646, 0, 0, 0, [SEP] 59, Curtains, 0.964, 2.061, 2.989, 0, 0, 0, [SEP] 60, StoveBurner, 1.863, 0.929, 1.106, 0, 0, 0, [SEP] 61, Drawer, 1.911, 0.774, 2.060, 0, 0, 0, [SEP] 62, StoveKnob, 2.326, 1.092, 1.610, 288.013, 90, 0, [SEP] 63, StoveKnob, 2.326, 1.092, 1.460, 288.013, 90, 0, [SEP] 64, StoveKnob, 2.326, 1.092, 1.210, 288.013, 90, 0, [SEP] 65, StoveKnob, 2.326, 1.092, 1.050, 288.013, 90, 0, [SEP] 66, Toaster, 2.126, 0.926, 0.572, 0, 270, 0, [SEP] 67, Fridge, 2.104, 0.0, -0.279, 0, 270, 0, [SEP] 68, GarbageCan, -0.309, -0.001, -0.807, 0, 91.471, 0, [SEP] 69, LightSwitch, 0.354, 1.518, -1.031, 0, 0, 0, [SEP] 70, SinkBasin, 0.903, 0.784, 2.640, 0, 0, 0, [SEP] 71, Microwave, -0.310, 0.926, 2.077, 0, 90, 0, [SEP] 72, CoffeeMachine, 2.084, 0.927, 2.667, 0, 225, 0, [SEP] 73, DiningTable, -0.153, -0.000, 1.073, 0, 270, 0, [SEP] 74, Faucet, 1.175, 0.926, 2.950, 270, 90, 0, [SEP] 75, Faucet, 0.686, 0.926, 2.950, 270, 90, 0, [SEP] 76, Chair, -0.077, 0.002, 0.196, 0, 15.000, 0, [SEP] 77, NorthWall, , , , , , , [SEP] 78, EastWall, , , , , , , [SEP] 79, SouthWall, , , , , , , [SEP] 80, WestWall, , , , , , , ", "output": ["STEP 1: Go to the counter with the toaster on it. | STEP 2: Pick up the butter knife in front of the toaster. | STEP 3: Turn and go to the counter to the left of the sink. | STEP 4: Slice the lettuce on the counter. | STEP 5: Turn and go to the refrigerator. | STEP 6: Put the knife in the fridge. | STEP 7: Go back to the counter to the left of the sink. | STEP 8: Pick up a piece of lettuce. | STEP 9: Go to the stove across the room. | STEP 10: Put the lettuce in the pan on the back left burner. | STEP 11: Pick up the pan with the lettuce on it. | STEP 12: Turn right and go across the room to the fridge. | STEP 13: Put the pan with lettuce in it into the fridge. | END"]} +{"id": "trial_T20190908_165356_409247-1", "input": "To cool a slice of tomato plus store it in the microwave. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.5, 0.900, 1.25, 0, 90, 0, [SEP] 1, Potato, -1.065, 1.531, 0.195, 0, 90, 0, 76 [SEP] 2, Potato, -0.710, 0.970, 0.843, 0, 0, 0, 69 [SEP] 3, DishSponge, -1.211, 0.937, 2.159, 0, 0, 0, 44 [SEP] 4, Spoon, 1.669, 0.939, 0.873, 0, 0, 0, 49 [SEP] 5, Spoon, -0.792, 0.747, 0.779, 0, 180, 0, 67 [SEP] 6, Spatula, 1.439, 0.952, 0.739, 0, 90, 0, 49 [SEP] 7, Spatula, -0.896, 0.761, 1.050, 0, 270, 0, 67 [SEP] 8, Pot, -1.109, 0.930, 1.470, 0, 0, 0, 46 [SEP] 9, Egg, 1.550, 0.979, 1.840, 0, 180, 0, 71 [SEP] 10, Cup, -0.999, 1.948, 1.830, 0, 0, 0, 59 [SEP] 11, Cup, -1.012, 0.813, 0.195, 0, 90, 0, 76 [SEP] 12, Knife, -0.876, 0.959, 1.076, 0, 0, 0, 69 [SEP] 13, Tomato, -1.209, 0.999, 0.998, 0, 0, 0, 69 [SEP] 14, SoapBottle, 1.418, 0.100, 0.272, 0, 0, 0, 54 [SEP] 15, SoapBottle, -0.868, 0.083, 0.845, 0, 0, 0, 56 [SEP] 16, Bowl, -0.976, 0.562, 0.042, 0, 90, 0, 76 [SEP] 17, Bowl, -1.038, 1.824, 0.356, 0, 0, 0, 58 [SEP] 18, SaltShaker, 1.787, 0.934, 1.780, 0, 0, 0, 49 [SEP] 19, SaltShaker, -1.209, 0.934, 1.154, 0, 0, 0, 69 [SEP] 20, Mug, 1.528, 1.002, 2.345, 0, 270, 0, 49 [SEP] 21, Mug, -1.065, 1.314, 0.118, 0, 90, 0, 76 [SEP] 22, Apple, 1.587, 1.645, 1.598, 0, 270, 0, 83 [SEP] 23, Lettuce, 1.456, 1.014, 1.681, 3.862, 59.981, 0, 71 [SEP] 24, SoapBottle, 1.489, 0.069, 2.912, 0, 0, 0, 82 [SEP] 25, Bread, -0.923, 0.990, 2.265, 0, 302.470, 0, 44 [SEP] 26, Fork, -0.793, 0.938, 0.921, 0, 0, 0, 69 [SEP] 27, Tomato, -1.126, 0.999, 0.687, 0, 0, 0, 69 [SEP] 28, Bowl, -0.971, 1.495, 0.042, 0, 90, 0, 76 [SEP] 29, Pot, -1.109, 0.930, 1.865, 0, 0, 0, 68 [SEP] 30, Spatula, -0.876, 0.952, 0.765, 0, 0, 0, 69 [SEP] 31, Knife, 1.448, 0.768, 1.052, 0, 270, 0, 74 [SEP] 32, SaltShaker, -1.154, 1.825, -0.035, 0, 0, 0, 57 [SEP] 33, Apple, -0.971, 1.368, -0.034, 0, 90, 0, 76 [SEP] 34, PepperShaker, 1.344, 0.743, 2.188, 0, 0, 0, 47 [SEP] 35, ButterKnife, -0.793, 0.937, 1.154, 0, 0, 0, 69 [SEP] 36, Potato, -0.840, 0.232, -0.044, 0, 90, 0, 76 [SEP] 37, Plate, 1.391, 0.086, 2.321, 0, 0, 0, 53 [SEP] 38, DishSponge, -0.764, 0.081, 2.313, 0, 0, 0, 65 [SEP] 39, Egg, 1.597, 0.979, 1.589, 0, 180, 0, 71 [SEP] 40, Cup, -1.211, 0.936, 2.386, 0, 0, 0, 44 [SEP] 41, Pan, 1.378, 1.737, 0.392, 0, 270, 0, 52 [SEP] 42, Spoon, -0.960, 0.939, 0.921, 0, 0, 0, 69 [SEP] 43, Mug, 1.422, 0.838, 1.341, 0, 0, 0, 86 [SEP] 44, CounterTop, -0.973, 0.973, 2.386, 0, 0, 0, [SEP] 45, Drawer, -0.783, 0.774, 2.381, 0, 180, 0, [SEP] 46, StoveBurner, -1.108, 0.922, 1.470, 0, 0, 0, [SEP] 47, Drawer, 1.370, 0.774, 2.391, 0, 0, 0, [SEP] 48, Stool, -0.748, 0.008, 3.116, 0, 0, 0, [SEP] 49, CounterTop, 1.504, 0.973, 2.309, 0, 0, 0, [SEP] 50, Cabinet, 1.219, 1.388, 0.591, 0, 0, 0, [SEP] 51, Cabinet, 1.500, 2.113, 1.164, 0, 0, 0, [SEP] 52, Cabinet, 1.219, 2.010, 0.591, 0, 0, 0, [SEP] 53, Cabinet, 1.219, 0.388, 2.105, 0, 0, 0, [SEP] 54, Cabinet, 1.219, 0.553, 0.591, 0, 0, 0, [SEP] 55, Cabinet, -0.913, 2.113, 1.164, 0, 0, 0, [SEP] 56, Cabinet, -0.633, 0.388, 0.627, 0, 0, 0, [SEP] 57, Cabinet, -0.913, 2.050, -0.329, 0, 0, 0, [SEP] 58, Cabinet, -0.913, 2.113, 0.583, 0, 0, 0, [SEP] 59, Cabinet, -0.913, 2.113, 2.082, 0, 0, 0, [SEP] 60, Cabinet, -0.913, 2.113, 1.207, 0, 0, 0, [SEP] 61, Cabinet, 1.500, 2.113, 2.082, 0, 0, 0, [SEP] 62, Cabinet, 1.500, 2.113, 1.207, 0, 0, 0, [SEP] 63, Cabinet, 1.500, 1.810, 2.691, 0, 0, 0, [SEP] 64, Cabinet, 1.500, 1.810, 2.101, 0, 0, 0, [SEP] 65, Cabinet, -0.633, 0.388, 2.105, 0, 0, 0, [SEP] 66, Cabinet, -0.911, 1.810, 2.700, 0, 180, 0, [SEP] 67, Drawer, -0.783, 0.774, 0.915, 0, 180, 0, [SEP] 68, StoveBurner, -1.108, 0.922, 1.865, 0, 0, 0, [SEP] 69, CounterTop, -0.972, 0.973, 0.921, 0, 0, 0, [SEP] 70, Cabinet, 1.219, 0.388, 0.631, 0, 0, 0, [SEP] 71, Sink, 1.544, 0.869, 1.639, 0, 180, 0, [SEP] 72, StoveBurner, -0.832, 0.922, 1.865, 0, 0, 0, [SEP] 73, StoveBurner, -0.831, 0.922, 1.470, 0, 0, 0, [SEP] 74, Drawer, 1.370, 0.774, 0.916, 0, 0, 0, [SEP] 75, Cabinet, -0.911, 1.810, 2.111, 0, 180, 0, [SEP] 76, Fridge, -1.001, 0.0, 0.119, 0, 0, 0, [SEP] 77, StoveKnob, -0.648, 0.926, 1.923, 0, 270, 0, [SEP] 78, StoveKnob, -0.648, 0.926, 1.363, 0, 270, 0, [SEP] 79, StoveKnob, -0.648, 0.926, 1.513, 0, 270, 0, [SEP] 80, StoveKnob, -0.648, 0.926, 1.763, 0, 270, 0, [SEP] 81, Toaster, -1.002, 0.926, 2.561, 0, 90, 0, [SEP] 82, GarbageCan, 1.451, -0.029, 2.912, 0, 0, 0, [SEP] 83, Microwave, 1.632, 1.480, 1.645, 0, 270, 0, [SEP] 84, Window, 0.224, 1.601, 3.509, 90, 0, 0, [SEP] 85, CoffeeMachine, 1.692, 0.926, 2.453, 0, 270, 0, [SEP] 86, SinkBasin, 1.461, 0.833, 1.369, 0, 180, 0, [SEP] 87, LightSwitch, 0.451, 1.412, -1.674, 0, 0, 0, [SEP] 88, Faucet, 1.707, 0.925, 1.363, 0, 270, 0, [SEP] 89, NorthWall, , , , , , , [SEP] 90, EastWall, , , , , , , [SEP] 91, SouthWall, , , , , , , [SEP] 92, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk forward to face the counter. | STEP 2: Pick up the knife on the counter. | STEP 3: Look up to face the tomato on the right side of the counter. | STEP 4: Cut the tomato on the counter into slices. | STEP 5: Look down to face the edge of the counter. | STEP 6: Place the knife on the counter. | STEP 7: Look up to face the tomato on the counter. | STEP 8: Pick up the slice of tomato on the counter. | STEP 9: Take a step to the left to face the fridge. | STEP 10: Cool the tomato in the fridge and then remove it. | STEP 11: Turn around and walk across the room to face the microwave. | STEP 12: Place the tomato slice in the microwave. | END"]} +{"id": "trial_T20190907_074457_868143-0", "input": "Examine an empty box by the light of a desk lamp. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -4.25, 0.901, 2.5, 0, 0, 0, [SEP] 1, Statue, -2.005, 0.847, 6.565, 0, 0, 0, 40 [SEP] 2, Statue, -4.191, 0.489, 3.549, 0, 0, 0, 27 [SEP] 3, KeyChain, -1.169, 0.756, 0.993, 0, 0, 0, 43 [SEP] 4, KeyChain, -4.219, 0.480, 5.325, 0, 90, 0, 34 [SEP] 5, CreditCard, -4.139, 0.477, 4.863, 0, 0, 0, 34 [SEP] 6, RemoteControl, -4.300, 0.480, 4.631, 0, 0, 0, 34 [SEP] 7, RemoteControl, -3.544, 0.399, 3.628, 0, 0, 0, 42 [SEP] 8, Pillow, -4.300, 0.548, 5.556, 0, 0, 0, 34 [SEP] 9, Box, -1.732, 0.867, 0.993, 0, 90, 0, 43 [SEP] 10, Statue, -1.451, 0.761, 0.852, 0, 0, 0, 43 [SEP] 11, Watch, -0.349, 0.626, 3.918, 0, 48.401, 0, 41 [SEP] 12, WateringCan, -0.208, -0.000, 3.225, 0, 63.928, 0, [SEP] 13, Laptop, -1.683, 0.747, 1.489, 0, 338.703, 0, 43 [SEP] 14, CreditCard, -2.749, 0.066, 6.772, 0, 0, 0, 31 [SEP] 15, KeyChain, -1.873, 0.756, 1.695, 0, 0, 0, 43 [SEP] 16, Pillow, -4.335, 0.465, 4.398, 0, 0, 0, 34 [SEP] 17, RemoteControl, -2.202, 0.844, 6.699, 0, 0, 0, 40 [SEP] 18, Curtains, -0.037, 2.148, 0.999, 0, 0, 0, [SEP] 19, Painting, -0.016, 2.061, 5.380, 0, 0, 0, [SEP] 20, GarbageCan, -0.256, -0.010, 6.799, 0, 0, 0, [SEP] 21, FloorLamp, -4.721, -0.001, 3.687, 0, 0, 0, [SEP] 22, Television, -3.192, 1.184, 6.767, 0, 180, 0, [SEP] 23, HousePlant, -0.173, 0.610, 3.994, 0, 0, 0, [SEP] 24, LightSwitch, -3.483, 1.470, 0.001, 0, 0, 0, [SEP] 25, DeskLamp, -0.258, 0.611, 3.312, 0, 0, 0, [SEP] 26, Window, -0.008, 1.340, 1.725, 90, 270, 0, [SEP] 27, SideTable, -4.190, 0.000, 3.587, 0, 0, 0, [SEP] 28, Drawer, -2.925, 0.475, 6.717, 0, 180, 0, [SEP] 29, Drawer, -3.476, 0.475, 6.717, 0, 180, 0, [SEP] 30, Dresser, -3.201, -0.001, 6.791, 0, 180, 0, [SEP] 31, Drawer, -2.925, 0.165, 6.719, 0, 180, 0, [SEP] 32, Drawer, -3.476, 0.165, 6.719, 0, 180, 0, [SEP] 33, ArmChair, -2.448, 0.002, 3.501, 0, 0, 0, [SEP] 34, Sofa, -4.425, 0.014, 5.062, 0, 90, 0, [SEP] 35, Ottoman, -2.374, 0.000, 4.483, 0, 0, 0, [SEP] 36, Chair, -2.151, 0.004, 1.284, 0, 90, 0, [SEP] 37, Chair, -1.549, 0.004, 1.780, 0, 195.000, 0, [SEP] 38, Chair, -1.626, 0.004, 0.778, 0, 10.166, 0, [SEP] 39, Chair, -1.076, 0.004, 1.292, 0, 265.171, 0, [SEP] 40, SideTable, -2.071, 0.000, 6.699, 0, 0, 0, [SEP] 41, SideTable, -0.244, -0.000, 3.524, 0, 270, 0, [SEP] 42, ArmChair, -3.545, 0.005, 3.579, 0, 0, 0, [SEP] 43, DiningTable, -1.592, 0.006, 1.274, 0, 0, 0, [SEP] 44, NorthWall, , , , , , , [SEP] 45, SouthWall, , , , , , , [SEP] 46, SouthWall, , , , , , , ", "output": ["STEP 1: Turn right and walk to the dining table. | STEP 2: Pick up the empty box from the dining table. | STEP 3: Turn right and walk around the table towards the lamp on a desk. | STEP 4: Turn on the lamp. | END"]} +{"id": "trial_T20190909_013350_472755-1", "input": "Move the two perfume bottles on the vanity to the right-most cupboard underneath the vanity. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.901, 1.75, 0, 90, 0, [SEP] 1, SoapBar, -1.831, 0.953, 1.946, 0, 180, 0, 32 [SEP] 2, Candle, -1.755, 0.917, 3.097, 0, 0, 0, 20 [SEP] 3, Candle, -1.519, 0.917, 3.072, 0, 0, 0, 20 [SEP] 4, SprayBottle, -1.694, 0.037, 2.870, 0, 0, 0, 18 [SEP] 5, SoapBottle, -1.643, 0.040, 3.272, 0, 0, 0, 23 [SEP] 6, Candle, -1.938, 0.953, 1.884, 0, 180, 0, 32 [SEP] 7, HandTowel, -1.670, 1.496, 3.962, 0, 0, 0, 30 [SEP] 8, SoapBottle, -1.542, 0.041, 3.678, 0, 270, 0, 26 [SEP] 9, Towel, 0.833, 1.160, 2.357, 0, 0, 0, 27 [SEP] 10, Cloth, -1.695, 0.031, 3.040, 0, 0, 0, 23 [SEP] 11, SoapBar, -1.694, 0.040, 3.678, 0, 0, 0, 26 [SEP] 12, ToiletPaper, -1.610, 0.031, 2.582, 0, 0, 0, 17 [SEP] 13, Plunger, -1.876, 0.000, 2.276, 0, 0, 0, Floor|-02.00| [SEP] 14, SprayBottle, -1.912, 0.950, 2.071, 0, 180, 0, 32 [SEP] 15, ToiletPaper, -1.140, 1.013, 1.256, 0, 0, 90, 28 [SEP] 16, ScrubBrush, -1.703, 0.000, 2.217, 0, 0, 0, Floor|-02.00| [SEP] 17, Cabinet, -1.479, 0.348, 2.362, 0, 0, 0, [SEP] 18, Cabinet, -1.483, 0.372, 3.152, 0, 0, 0, [SEP] 19, Sink, -1.746, 0.884, 3.553, 0, 90, 0, [SEP] 20, CounterTop, -1.758, 0.669, 3.164, 0, 0, 0, [SEP] 21, Faucet, -1.894, 1.006, 2.730, 0, 0, 0, [SEP] 22, Mirror, -1.943, 1.532, 3.443, 0, 0, 0, [SEP] 23, Cabinet, -1.479, 0.348, 3.170, 0, 0, 0, [SEP] 24, ShowerDoor, 0.527, 1.039, 2.098, 0, 0, 0, [SEP] 25, Painting, -0.566, 1.591, 1.173, 0, 0, 0, [SEP] 26, Cabinet, -1.483, 0.372, 3.960, 0, 0, 0, [SEP] 27, TowelHolder, 0.833, 1.146, 2.250, 0, 0, 0, [SEP] 28, ToiletPaperHanger, -1.200, 1.013, 1.164, 0, 0, 0, [SEP] 29, GarbageCan, -1.704, -0.032, 1.429, 0, 2.393, 0, [SEP] 30, HandTowelHolder, -1.670, 1.598, 4.000, 0, 90, 0, [SEP] 31, LightSwitch, 1.249, 1.322, 3.635, 0, 270, 0, [SEP] 32, Toilet, -1.447, 0.000, 1.961, 0, 90, 0, [SEP] 33, SinkBasin, -1.671, 0.935, 3.571, 0, 0, 10.090, [SEP] 34, ShowerHead, 0.871, 1.097, 2.009, 0, 270, 0, [SEP] 35, Faucet, -1.894, 1.006, 3.560, 0, 0, 0, [SEP] 36, SinkBasin, -1.671, 0.935, 2.741, 0, 0, 10.090, [SEP] 37, Sink, -1.746, 0.884, 2.723, 0, 90, 0, [SEP] 38, NorthWall, , , , , , , [SEP] 39, EastWall, , , , , , , [SEP] 40, SouthWall, , , , , , , [SEP] 41, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and move to the vanity underneath the mirror. | STEP 2: Pick up the perfume bottle nearest to you. | STEP 3: Move a few feet backwards, facing towards the vanity. | STEP 4: Open up the right-most cupboard underneath the sink on the right hand side, place the perfume into the cupboard, and close it. | STEP 5: Approach the vanity underneath the mirror again. | STEP 6: Pick up the last perfume bottle on the vanity. | STEP 7: Move a few feet backwards again, facing towards the vanity. | STEP 8: Open up the right-most cupboard underneath the sink on the right hand side, place the perfume into the cupboard, and close it. | END"]} +{"id": "trial_T20190909_041655_003868-2", "input": "Slice the small potato above the dishwasher, chill it in the refrigerator, and throw the potato slice into the garbage can by the refrigerator. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.900, 0.25, 0, 0, 0, [SEP] 1, Potato, -0.598, 0.933, -1.119, 0, 47.530, 0, 76 [SEP] 2, DishSponge, -2.604, 0.910, -0.062, 0, 0, 0, 68 [SEP] 3, ButterKnife, 0.102, 1.111, 1.617, 0, 315, 0, 69 [SEP] 4, ButterKnife, 0.375, 1.101, 1.652, 0, 315, 0, 69 [SEP] 5, Pot, -2.823, 0.928, -0.396, 0, 0, 0, 75 [SEP] 6, Spoon, 0.307, 0.748, -1.095, 0, 0, 0, 77 [SEP] 7, Spoon, 0.688, 0.912, -0.948, 0, 0, 0, 76 [SEP] 8, Fork, -2.585, 0.747, 0.163, 0, 0, 0, 74 [SEP] 9, Cup, 0.756, 0.115, -0.976, 0, 0, 0, 56 [SEP] 10, Cup, -0.123, 1.110, 1.390, 0, 315, 0, 69 [SEP] 11, Egg, -2.920, 0.854, 1.013, 0, 90, 0, 88 [SEP] 12, Egg, -2.815, 0.072, 1.501, 0, 0, 0, 87 [SEP] 13, Knife, -2.388, 0.934, -1.115, 0, 270, 0, 76 [SEP] 14, Knife, -2.236, 0.934, -0.948, 0, 0, 0, 76 [SEP] 15, SoapBottle, 0.198, 0.116, -1.130, 0, 0, 0, 58 [SEP] 16, SoapBottle, -2.025, 0.117, -1.019, 0, 0, 0, 52 [SEP] 17, Tomato, 0.187, 1.161, 1.835, 0, 315, 0, 69 [SEP] 18, Tomato, -2.757, 0.085, 1.396, 0, 0, 0, 87 [SEP] 19, Bowl, -2.860, 1.672, 0.851, 0, 90, 0, 88 [SEP] 20, Bowl, 0.997, 0.910, -1.282, 0, 0, 0, 76 [SEP] 21, Lettuce, -2.740, 0.899, 0.690, 0, 90, 0, 88 [SEP] 22, PepperShaker, 0.842, 0.907, -0.948, 0, 0, 0, 76 [SEP] 23, PepperShaker, -2.773, 1.791, -0.376, 0, 0, 0, 48 [SEP] 24, Mug, 0.451, 1.000, -1.347, 0, 0, 0, 89 [SEP] 25, Pan, -2.59, 0.9, -1.147, 0, 0, 0, 76 [SEP] 26, Apple, 0.210, 1.145, 1.654, 38.826, 69.604, 126.180, 69 [SEP] 27, Fork, -1.933, 0.911, -1.365, 0, 0, 0, 76 [SEP] 28, Kettle, -2.620, 0.922, -0.724, 0, 0, 0, 67 [SEP] 29, CreditCard, 0.997, 0.9, -0.982, 0, 334.941, 0, 76 [SEP] 30, Bread, -0.401, 0.948, -1.291, 0, 0, 0, 76 [SEP] 31, Plate, -1.458, 0.843, -1.235, 0, 0, 0, 86 [SEP] 32, SoapBottle, -2.773, 1.796, -0.731, 0, 0, 0, 47 [SEP] 33, Spatula, -2.552, 0.922, 0.010, 0, 0, 0, 68 [SEP] 34, Lettuce, -2.860, 0.457, 0.690, 0, 90, 0, 88 [SEP] 35, SaltShaker, -2.695, 0.9, -0.132, 0, 0, 0, 68 [SEP] 36, Tomato, -2.920, 0.869, 0.690, 0, 90, 0, 88 [SEP] 37, PepperShaker, -2.811, 2.039, 1.444, 0, 0, 0, 61 [SEP] 38, ButterKnife, -2.085, 0.911, -1.032, 0, 0, 0, 76 [SEP] 39, Pot, -2.236, 0.912, -1.365, 0, 0, 0, 76 [SEP] 40, DishSponge, -2.499, 0.746, 0.036, 0, 0, 0, 74 [SEP] 41, Egg, -2.619, 1.509, 1.094, 0, 90, 0, 88 [SEP] 42, Spoon, -1.332, 0.850, -1.194, 0, 90, 0, 86 [SEP] 43, Knife, -2.521, 0.934, 0.190, 0, 0, 0, 68 [SEP] 44, Cup, 0.540, 1.661, -1.435, 0, 0, 0, 55 [SEP] 45, Mug, -2.774, 2.038, 0.718, 0, 0, 0, 66 [SEP] 46, Bowl, -2.740, 1.472, 0.852, 0, 90, 0, 88 [SEP] 47, Cabinet, -2.647, 2.075, -0.875, 0, 0, 0, [SEP] 48, Cabinet, -2.647, 2.075, -0.234, 0, 0, 0, [SEP] 49, Cabinet, -0.824, 0.469, -0.907, 0, 0, 0, [SEP] 50, Cabinet, -1.764, 2.009, -1.197, 0, 0, 0, [SEP] 51, Cabinet, -1.834, 2.009, -1.197, 0, 0, 0, [SEP] 52, Cabinet, -1.850, 0.389, -0.897, 0, 0, 0, [SEP] 53, Cabinet, -1.801, 0.469, -0.907, 0, 0, 0, [SEP] 54, Cabinet, 1.115, 2.009, -1.197, 0, 0, 0, [SEP] 55, Cabinet, 0.235, 2.009, -1.197, 0, 0, 0, [SEP] 56, Cabinet, 1.125, 0.470, -0.897, 0, 0, 0, [SEP] 57, Cabinet, -2.387, 0.389, 0.375, 0, 0, 0, [SEP] 58, Cabinet, 0.484, 0.389, -0.897, 0, 0, 0, [SEP] 59, Cabinet, -2.625, 2.009, -1.197, 0, 0, 0, [SEP] 60, Cabinet, -2.647, 2.009, -0.945, 0, 0, 0, [SEP] 61, Cabinet, -2.647, 2.200, 1.664, 0, 0, 0, [SEP] 62, Cabinet, -2.647, 2.009, 0.364, 0, 0, 0, [SEP] 63, Cabinet, 0.164, 2.009, -1.197, 0, 0, 0, [SEP] 64, Cabinet, -0.765, 2.009, -1.197, 0, 0, 0, [SEP] 65, Cabinet, -0.834, 2.009, -1.197, 0, 0, 0, [SEP] 66, Cabinet, -2.647, 2.200, 0.434, 0, 0, 0, [SEP] 67, StoveBurner, -2.622, 0.886, -0.711, 0, 0, 0, [SEP] 68, CounterTop, -2.699, 0.946, 0.106, 0, 0, 0, [SEP] 69, CounterTop, 0.908, 1.147, 0.788, 0, 315, 0, [SEP] 70, StoveBurner, -2.622, 0.886, -0.396, 0, 0, 0, [SEP] 71, Drawer, -2.026, 0.779, -1.082, 0, 0, 0, [SEP] 72, Sink, -1.328, 0.916, -1.225, 0, 0, 0, [SEP] 73, StoveBurner, -2.822, 0.886, -0.711, 0, 0, 0, [SEP] 74, Drawer, -2.572, 0.779, 0.099, 0, 0, 0, [SEP] 75, StoveBurner, -2.822, 0.886, -0.396, 0, 0, 0, [SEP] 76, CounterTop, 0.071, 0.946, -1.199, 0, 0, 0, [SEP] 77, Drawer, 0.254, 0.779, -1.082, 0, 0, 0, [SEP] 78, LightSwitch, -1.167, 1.307, 3.0, 0, 180, 0, [SEP] 79, CoffeeMachine, 1.124, 1.100, 0.312, 0, 227.685, 0, [SEP] 80, StoveKnob, -2.429, 0.863, -0.621, 311.864, 270, 180, [SEP] 81, StoveKnob, -2.429, 0.863, -0.477, 311.864, 270, 180, [SEP] 82, StoveKnob, -2.429, 0.863, -0.782, 311.864, 270, 180, [SEP] 83, StoveKnob, -2.429, 0.863, -0.324, 311.864, 270, 180, [SEP] 84, Window, 0.321, 1.449, 3.088, 90, 0, 0, [SEP] 85, Toaster, -2.823, 0.899, 0.246, 0, 90, 0, [SEP] 86, SinkBasin, -1.344, 0.838, -1.25, 0, 0, 0, [SEP] 87, GarbageCan, -2.757, 1.886, 1.466, 0, 0, 0, [SEP] 88, Fridge, -2.855, 0.0, 0.851, 0, 0, 0, [SEP] 89, Microwave, 0.283, 0.900, -1.331, 0, 0, 0, [SEP] 90, Stool, 1.541, 0.010, 1.328, 0, 45, 0, [SEP] 91, Stool, 0.983, 0.010, 1.793, 0, 47.459, 0, [SEP] 92, Faucet, -1.392, 1.136, -1.399, 0, 270, 0, [SEP] 93, NorthWall, , , , , , , [SEP] 94, EastWall, , , , , , , [SEP] 95, SouthWall, , , , , , , [SEP] 96, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and walk forward to the counter. | STEP 2: Turn left again and walk forward to the other counter. | STEP 3: Pick up the butter knife from the counter top. | STEP 4: Turn left, move forward, and then turn right and move to the dishwasher. | STEP 5: Slice the small potato above the dishwasher with the butter knife. | STEP 6: Turn around, move forward, and then turn and move towards the refrigerator on the left. | STEP 7: Open the refrigerator, put the knife on the top shelf inside the refrigerator, and close the refrigerator. | STEP 8: Turn around, move forward, then turn right and move to the dishwasher. | STEP 9: Pick up one slice of potato from the counter top above the dishwasher, turn around, move forward, and then turn and move towards the refrigerator on the left. | STEP 10: Place the potato slice in the refrigerator next to the butter knife on the top shelf, close the door, wait until it is chilled, then take the potato slice out of the refrigerator and close the refrigerator. | STEP 11: Move to the garbage can on the right side of the refrigerator. | STEP 12: Put the slice of potato into the garbage can. | END"]} +{"id": "trial_T20190908_200150_943867-1", "input": "Slice a potato, wash a slice and put it in the microwave SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.908, 2.5, 0, 90, 0, [SEP] 1, CellPhone, 1.128, 0.909, 0.706, 0, 0, 0, 69 [SEP] 2, CellPhone, 1.523, 0.909, 0.422, 0, 0, 0, 69 [SEP] 3, DishSponge, -1.475, 0.749, 2.644, 0, 0, 0, 50 [SEP] 4, ButterKnife, 1.367, 0.886, 2.477, 0, 0, 0, 101 [SEP] 5, ButterKnife, -1.123, 0.912, -0.748, 0, 90, 0, 75 [SEP] 6, Glassbottle, 1.034, 0.887, 2.153, 0, 0, 0, 101 [SEP] 7, WineBottle, -1.089, 0.117, 0.289, 0, 180, 0, 72 [SEP] 8, Spoon, 1.042, 0.777, 0.403, 0, 270, 0, 83 [SEP] 9, Spoon, -0.144, 0.759, -0.612, 0, 90, 0, 96 [SEP] 10, Spatula, -0.919, 0.764, 2.459, 0, 0, 0, 50 [SEP] 11, Spatula, 1.523, 0.926, 0.139, 0, 0, 0, 69 [SEP] 12, Pot, -1.206, 1.421, 1.197, 0, 90, 0, 89 [SEP] 13, Plate, 1.324, 2.155, 0.957, 0, 0, 0, 60 [SEP] 14, Plate, 1.034, 0.887, 2.692, 0, 0, 0, 101 [SEP] 15, Knife, -1.105, 0.770, 2.273, 0, 0, 0, 50 [SEP] 16, Knife, 1.117, 0.908, 2.477, 0, 0, 0, 101 [SEP] 17, Bread, -1.290, 0.812, 2.459, 0, 0, 0, 50 [SEP] 18, Bread, -1.206, 0.814, 0.988, 0, 90, 0, 89 [SEP] 19, SaltShaker, 1.200, 0.882, 2.800, 0, 0, 0, 101 [SEP] 20, PepperShaker, 1.286, 0.907, 0.706, 0, 0, 0, 69 [SEP] 21, Mug, -0.813, 0.907, -0.589, 0, 0, 0, 75 [SEP] 22, Apple, -0.206, 0.818, -0.573, 0, 90, 0, 96 [SEP] 23, Apple, -0.020, 0.818, -0.533, 0, 0, 0, 96 [SEP] 24, Bread, -1.263, 1.700, 1.086, 0, 90, 0, 89 [SEP] 25, Glassbottle, -1.437, 0.912, -0.902, 0, 0, 0, 75 [SEP] 26, Fork, 0.951, 0.886, 2.369, 0, 270, 0, 101 [SEP] 27, Kettle, -0.658, 0.913, -0.509, 0, 0, 0, 75 [SEP] 28, Tomato, -1.378, 1.338, 1.092, 0, 90, 0, 89 [SEP] 29, Plate, -1.012, 0.749, 2.087, 0, 0, 0, 50 [SEP] 30, CellPhone, -1.156, 0.773, 0.174, 0, 180, 0, 71 [SEP] 31, Lettuce, -1.012, 0.820, 2.830, 0, 0, 0, 50 [SEP] 32, Pot, 0.802, 0.939, -0.740, 0, 90, 0, 78 [SEP] 33, SoapBottle, -1.286, 0.913, -0.902, 0, 0, 0, 75 [SEP] 34, WineBottle, -1.060, 0.913, -0.817, 0, 0, 0, 75 [SEP] 35, Spatula, 1.365, 0.926, 0.422, 0, 90, 0, 69 [SEP] 36, Bowl, 1.286, 0.909, -0.144, 0, 0, 0, 69 [SEP] 37, Apple, 1.200, 0.946, 2.692, 0, 0, 0, 101 [SEP] 38, Cup, 1.450, 0.885, 2.261, 0, 0, 0, 101 [SEP] 39, Knife, -1.197, 0.770, 1.902, 0, 90, 0, 50 [SEP] 40, Egg, 0.165, 0.792, -0.691, 0, 0, 0, 96 [SEP] 41, SaltShaker, 1.131, 0.112, 0.808, 0, 0, 0, 61 [SEP] 42, PepperShaker, -1.388, 2.149, 1.206, 0, 0, 0, 68 [SEP] 43, Potato, 1.189, 0.131, 1.409, 0, 0, 0, 90 [SEP] 44, ButterKnife, -1.383, 0.749, 2.087, 0, 0, 0, 50 [SEP] 45, DishSponge, 1.200, 0.885, 2.369, 0, 0, 0, 101 [SEP] 46, Pan, 0.502, 0.939, -0.740, 0, 90, 0, 76 [SEP] 47, Spoon, 1.200, 0.887, 2.261, 0, 0, 0, 101 [SEP] 48, SprayBottle, -1.294, 2.152, 1.262, 0, 0, 0, 68 [SEP] 49, Mug, 1.215, 0.943, -0.633, 0, 320.314, 0, 88 [SEP] 50, DiningTable, -1.182, 0.006, 2.414, 0, 90, 0, [SEP] 51, Cabinet, 1.184, 2.059, 0.375, 0, 0, 0, [SEP] 52, Cabinet, 1.184, 2.059, -0.635, 0, 0, 0, [SEP] 53, Cabinet, 0.591, 2.309, -0.645, 0, 0, 0, [SEP] 54, Cabinet, -0.574, 2.059, -0.644, 0, 0, 0, [SEP] 55, Cabinet, -1.103, 2.059, -0.644, 0, 0, 0, [SEP] 56, Cabinet, -1.185, 2.059, -0.331, 0, 0, 0, [SEP] 57, Cabinet, -1.185, 2.059, -0.281, 0, 0, 0, [SEP] 58, Cabinet, -1.185, 2.059, 0.375, 0, 0, 0, [SEP] 59, Cabinet, 1.184, 2.309, 1.174, 0, 0, 0, [SEP] 60, Cabinet, 1.184, 2.309, 0.424, 0, 0, 0, [SEP] 61, Cabinet, 0.988, 0.402, 0.581, 0, 0, 0, [SEP] 62, Cabinet, 0.988, 0.402, 0.531, 0, 0, 0, [SEP] 63, Cabinet, 0.988, 0.402, -0.178, 0, 0, 0, [SEP] 64, Cabinet, 0.335, 0.402, -0.348, 0, 0, 0, [SEP] 65, Cabinet, -0.374, 0.402, -0.348, 0, 0, 0, [SEP] 66, Cabinet, 0.988, 0.402, 1.231, 0, 0, 0, [SEP] 67, Cabinet, -1.185, 2.309, 1.374, 0, 0, 0, [SEP] 68, Cabinet, -1.185, 2.309, 0.424, 0, 0, 0, [SEP] 69, CounterTop, 1.274, 0.947, 0.064, 0, 0, 0, [SEP] 70, Drawer, 1.116, 0.792, -0.015, 0, 0, 0, [SEP] 71, Drawer, -1.116, 0.792, 0.210, 0, 180, 0, [SEP] 72, Cabinet, -0.990, 0.402, 0.374, 0, 180, 0, [SEP] 73, Drawer, -1.116, 0.792, -0.170, 0, 180, 0, [SEP] 74, Cabinet, -0.990, 0.402, -0.335, 0, 180, 0, [SEP] 75, CounterTop, -1.001, 0.947, -0.669, 0, 0, 0, [SEP] 76, StoveBurner, 0.502, 0.932, -0.740, 0, 90, 0, [SEP] 77, StoveBurner, 0.801, 0.932, -0.473, 0, 0, 0, [SEP] 78, StoveBurner, 0.801, 0.932, -0.740, 0, 90, 0, [SEP] 79, Drawer, 1.116, 0.792, 1.081, 0, 0, 0, [SEP] 80, Sink, -0.013, 0.912, -0.615, 0, 0, 0, [SEP] 81, Drawer, 1.116, 0.792, 0.732, 0, 0, 0, [SEP] 82, StoveBurner, 0.502, 0.932, -0.469, 0, 0, 0, [SEP] 83, Drawer, 1.116, 0.792, 0.367, 0, 0, 0, [SEP] 84, StoveKnob, 0.550, 1.085, -0.912, 287.970, 180, 0, [SEP] 85, StoveKnob, 0.884, 1.085, -0.912, 287.970, 180, 0, [SEP] 86, StoveKnob, 0.432, 1.085, -0.912, 287.970, 180, 0, [SEP] 87, StoveKnob, 0.777, 1.085, -0.912, 287.970, 180, 0, [SEP] 88, CoffeeMachine, 1.304, 0.900, -0.741, 0, 320.314, 0, [SEP] 89, Fridge, -1.300, 0.008, 0.987, 0, 90, 0, [SEP] 90, GarbageCan, 1.296, -0.024, 1.465, 0, 0, 0, [SEP] 91, Window, -0.012, 1.641, -0.972, 90, 0, 0, [SEP] 92, Window, 1.598, 1.646, 2.489, 90, 270, 0, [SEP] 93, Toaster, 1.356, 0.900, 1.044, 0, 270, 0, [SEP] 94, LightSwitch, 0.118, 1.353, 3.799, 0, 180, 0, [SEP] 95, Microwave, -1.343, 0.900, 0.053, 0, 90, 0, [SEP] 96, SinkBasin, -0.029, 0.748, -0.612, 0, 0, 0, [SEP] 97, Faucet, -0.026, 0.927, -0.808, 0, 0, 0, [SEP] 98, Shelf, -1.182, 0.127, 2.414, 0, 90, 0, [SEP] 99, Stool, 1.140, 0.007, 3.262, 1.206, 20.753, 0, [SEP] 100, Shelf, -1.182, 0.435, 2.414, 0, 90, 0, [SEP] 101, DiningTable, 1.169, 0.014, 2.569, 0, 0, 1.896, [SEP] 102, NorthWall, , , , , , , [SEP] 103, EastWall, , , , , , , [SEP] 104, SouthWall, , , , , , , [SEP] 105, WestWall, , , , , , , ", "output": ["STEP 1: Turn around, go to the counter | STEP 2: Pick up the knife nearest to the wall | STEP 3: Turn around, go to the basket | STEP 4: Slice the potato in the basket | STEP 5: Put the knife in the basket | STEP 6: Pick up a potato slice | STEP 7: Turn around, go forward, turn left and go to the sink | STEP 8: Put the potato slice in the sink, wash the potato slice with water, pick up the potato slice | STEP 9: Turn right, go to the microwave | STEP 10: Put the potato slice in the microwave | END"]} +{"id": "trial_T20190908_200150_943867-2", "input": "Put a washed slice of potato in a microwave. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.908, 2.5, 0, 90, 0, [SEP] 1, CellPhone, 1.128, 0.909, 0.706, 0, 0, 0, 69 [SEP] 2, CellPhone, 1.523, 0.909, 0.422, 0, 0, 0, 69 [SEP] 3, DishSponge, -1.475, 0.749, 2.644, 0, 0, 0, 50 [SEP] 4, ButterKnife, 1.367, 0.886, 2.477, 0, 0, 0, 101 [SEP] 5, ButterKnife, -1.123, 0.912, -0.748, 0, 90, 0, 75 [SEP] 6, Glassbottle, 1.034, 0.887, 2.153, 0, 0, 0, 101 [SEP] 7, WineBottle, -1.089, 0.117, 0.289, 0, 180, 0, 72 [SEP] 8, Spoon, 1.042, 0.777, 0.403, 0, 270, 0, 83 [SEP] 9, Spoon, -0.144, 0.759, -0.612, 0, 90, 0, 96 [SEP] 10, Spatula, -0.919, 0.764, 2.459, 0, 0, 0, 50 [SEP] 11, Spatula, 1.523, 0.926, 0.139, 0, 0, 0, 69 [SEP] 12, Pot, -1.206, 1.421, 1.197, 0, 90, 0, 89 [SEP] 13, Plate, 1.324, 2.155, 0.957, 0, 0, 0, 60 [SEP] 14, Plate, 1.034, 0.887, 2.692, 0, 0, 0, 101 [SEP] 15, Knife, -1.105, 0.770, 2.273, 0, 0, 0, 50 [SEP] 16, Knife, 1.117, 0.908, 2.477, 0, 0, 0, 101 [SEP] 17, Bread, -1.290, 0.812, 2.459, 0, 0, 0, 50 [SEP] 18, Bread, -1.206, 0.814, 0.988, 0, 90, 0, 89 [SEP] 19, SaltShaker, 1.200, 0.882, 2.800, 0, 0, 0, 101 [SEP] 20, PepperShaker, 1.286, 0.907, 0.706, 0, 0, 0, 69 [SEP] 21, Mug, -0.813, 0.907, -0.589, 0, 0, 0, 75 [SEP] 22, Apple, -0.206, 0.818, -0.573, 0, 90, 0, 96 [SEP] 23, Apple, -0.020, 0.818, -0.533, 0, 0, 0, 96 [SEP] 24, Bread, -1.263, 1.700, 1.086, 0, 90, 0, 89 [SEP] 25, Glassbottle, -1.437, 0.912, -0.902, 0, 0, 0, 75 [SEP] 26, Fork, 0.951, 0.886, 2.369, 0, 270, 0, 101 [SEP] 27, Kettle, -0.658, 0.913, -0.509, 0, 0, 0, 75 [SEP] 28, Tomato, -1.378, 1.338, 1.092, 0, 90, 0, 89 [SEP] 29, Plate, -1.012, 0.749, 2.087, 0, 0, 0, 50 [SEP] 30, CellPhone, -1.156, 0.773, 0.174, 0, 180, 0, 71 [SEP] 31, Lettuce, -1.012, 0.820, 2.830, 0, 0, 0, 50 [SEP] 32, Pot, 0.802, 0.939, -0.740, 0, 90, 0, 78 [SEP] 33, SoapBottle, -1.286, 0.913, -0.902, 0, 0, 0, 75 [SEP] 34, WineBottle, -1.060, 0.913, -0.817, 0, 0, 0, 75 [SEP] 35, Spatula, 1.365, 0.926, 0.422, 0, 90, 0, 69 [SEP] 36, Bowl, 1.286, 0.909, -0.144, 0, 0, 0, 69 [SEP] 37, Apple, 1.200, 0.946, 2.692, 0, 0, 0, 101 [SEP] 38, Cup, 1.450, 0.885, 2.261, 0, 0, 0, 101 [SEP] 39, Knife, -1.197, 0.770, 1.902, 0, 90, 0, 50 [SEP] 40, Egg, 0.165, 0.792, -0.691, 0, 0, 0, 96 [SEP] 41, SaltShaker, 1.131, 0.112, 0.808, 0, 0, 0, 61 [SEP] 42, PepperShaker, -1.388, 2.149, 1.206, 0, 0, 0, 68 [SEP] 43, Potato, 1.189, 0.131, 1.409, 0, 0, 0, 90 [SEP] 44, ButterKnife, -1.383, 0.749, 2.087, 0, 0, 0, 50 [SEP] 45, DishSponge, 1.200, 0.885, 2.369, 0, 0, 0, 101 [SEP] 46, Pan, 0.502, 0.939, -0.740, 0, 90, 0, 76 [SEP] 47, Spoon, 1.200, 0.887, 2.261, 0, 0, 0, 101 [SEP] 48, SprayBottle, -1.294, 2.152, 1.262, 0, 0, 0, 68 [SEP] 49, Mug, 1.215, 0.943, -0.633, 0, 320.314, 0, 88 [SEP] 50, DiningTable, -1.182, 0.006, 2.414, 0, 90, 0, [SEP] 51, Cabinet, 1.184, 2.059, 0.375, 0, 0, 0, [SEP] 52, Cabinet, 1.184, 2.059, -0.635, 0, 0, 0, [SEP] 53, Cabinet, 0.591, 2.309, -0.645, 0, 0, 0, [SEP] 54, Cabinet, -0.574, 2.059, -0.644, 0, 0, 0, [SEP] 55, Cabinet, -1.103, 2.059, -0.644, 0, 0, 0, [SEP] 56, Cabinet, -1.185, 2.059, -0.331, 0, 0, 0, [SEP] 57, Cabinet, -1.185, 2.059, -0.281, 0, 0, 0, [SEP] 58, Cabinet, -1.185, 2.059, 0.375, 0, 0, 0, [SEP] 59, Cabinet, 1.184, 2.309, 1.174, 0, 0, 0, [SEP] 60, Cabinet, 1.184, 2.309, 0.424, 0, 0, 0, [SEP] 61, Cabinet, 0.988, 0.402, 0.581, 0, 0, 0, [SEP] 62, Cabinet, 0.988, 0.402, 0.531, 0, 0, 0, [SEP] 63, Cabinet, 0.988, 0.402, -0.178, 0, 0, 0, [SEP] 64, Cabinet, 0.335, 0.402, -0.348, 0, 0, 0, [SEP] 65, Cabinet, -0.374, 0.402, -0.348, 0, 0, 0, [SEP] 66, Cabinet, 0.988, 0.402, 1.231, 0, 0, 0, [SEP] 67, Cabinet, -1.185, 2.309, 1.374, 0, 0, 0, [SEP] 68, Cabinet, -1.185, 2.309, 0.424, 0, 0, 0, [SEP] 69, CounterTop, 1.274, 0.947, 0.064, 0, 0, 0, [SEP] 70, Drawer, 1.116, 0.792, -0.015, 0, 0, 0, [SEP] 71, Drawer, -1.116, 0.792, 0.210, 0, 180, 0, [SEP] 72, Cabinet, -0.990, 0.402, 0.374, 0, 180, 0, [SEP] 73, Drawer, -1.116, 0.792, -0.170, 0, 180, 0, [SEP] 74, Cabinet, -0.990, 0.402, -0.335, 0, 180, 0, [SEP] 75, CounterTop, -1.001, 0.947, -0.669, 0, 0, 0, [SEP] 76, StoveBurner, 0.502, 0.932, -0.740, 0, 90, 0, [SEP] 77, StoveBurner, 0.801, 0.932, -0.473, 0, 0, 0, [SEP] 78, StoveBurner, 0.801, 0.932, -0.740, 0, 90, 0, [SEP] 79, Drawer, 1.116, 0.792, 1.081, 0, 0, 0, [SEP] 80, Sink, -0.013, 0.912, -0.615, 0, 0, 0, [SEP] 81, Drawer, 1.116, 0.792, 0.732, 0, 0, 0, [SEP] 82, StoveBurner, 0.502, 0.932, -0.469, 0, 0, 0, [SEP] 83, Drawer, 1.116, 0.792, 0.367, 0, 0, 0, [SEP] 84, StoveKnob, 0.550, 1.085, -0.912, 287.970, 180, 0, [SEP] 85, StoveKnob, 0.884, 1.085, -0.912, 287.970, 180, 0, [SEP] 86, StoveKnob, 0.432, 1.085, -0.912, 287.970, 180, 0, [SEP] 87, StoveKnob, 0.777, 1.085, -0.912, 287.970, 180, 0, [SEP] 88, CoffeeMachine, 1.304, 0.900, -0.741, 0, 320.314, 0, [SEP] 89, Fridge, -1.300, 0.008, 0.987, 0, 90, 0, [SEP] 90, GarbageCan, 1.296, -0.024, 1.465, 0, 0, 0, [SEP] 91, Window, -0.012, 1.641, -0.972, 90, 0, 0, [SEP] 92, Window, 1.598, 1.646, 2.489, 90, 270, 0, [SEP] 93, Toaster, 1.356, 0.900, 1.044, 0, 270, 0, [SEP] 94, LightSwitch, 0.118, 1.353, 3.799, 0, 180, 0, [SEP] 95, Microwave, -1.343, 0.900, 0.053, 0, 90, 0, [SEP] 96, SinkBasin, -0.029, 0.748, -0.612, 0, 0, 0, [SEP] 97, Faucet, -0.026, 0.927, -0.808, 0, 0, 0, [SEP] 98, Shelf, -1.182, 0.127, 2.414, 0, 90, 0, [SEP] 99, Stool, 1.140, 0.007, 3.262, 1.206, 20.753, 0, [SEP] 100, Shelf, -1.182, 0.435, 2.414, 0, 90, 0, [SEP] 101, DiningTable, 1.169, 0.014, 2.569, 0, 0, 1.896, [SEP] 102, NorthWall, , , , , , , [SEP] 103, EastWall, , , , , , , [SEP] 104, SouthWall, , , , , , , [SEP] 105, WestWall, , , , , , , ", "output": ["STEP 1: Turn right, go forward a step, turn right, go forward to the white table. | STEP 2: Take the small knife closest to the wall from the table. | STEP 3: Turn around, go forward to the red bin. | STEP 4: Cut the potato in the bin into slices. | STEP 5: Put the knife in the bin. | STEP 6: Take a slice of potato from the bin. | STEP 7: Turn around, go forward, turn left to the sink, go to the sink. | STEP 8: Wash the slice of potato in the sink then take the potato out. | STEP 9: Turn right, go forward to the microwave. | STEP 10: Put the potato in the microwave. | END"]} +{"id": "trial_T20190908_115259_655381-1", "input": "Chill a tomato slice and put it in a microwave SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.908, 2.0, 0, 270, 0, [SEP] 1, CellPhone, -1.383, 0.746, 2.830, 0, 0, 0, 44 [SEP] 2, ButterKnife, -0.658, 0.912, -0.509, 0, 0, 0, 69 [SEP] 3, Glassbottle, 1.175, 0.116, 0.732, 0, 0, 0, 55 [SEP] 4, Spoon, -0.919, 0.750, 2.273, 0, 0, 0, 44 [SEP] 5, Spoon, -0.082, 0.759, -0.651, 0, 0, 0, 90 [SEP] 6, Fork, -1.105, 0.749, 2.644, 0, 90, 0, 44 [SEP] 7, Fork, 1.367, 0.886, 2.153, 0, 90, 0, 95 [SEP] 8, Knife, 1.200, 0.908, 2.153, 0, 0, 0, 95 [SEP] 9, Knife, 1.128, 0.933, -0.144, 0, 270, 0, 63 [SEP] 10, Bread, -1.105, 0.813, 2.273, 0, 0, 0, 44 [SEP] 11, Bread, 1.365, 0.974, 0.706, 0, 0, 0, 63 [SEP] 12, Lettuce, -1.197, 0.819, 2.830, 0, 0, 0, 44 [SEP] 13, Lettuce, -1.383, 0.820, 2.459, 0, 0, 0, 44 [SEP] 14, SaltShaker, 1.131, 0.112, 1.157, 0, 0, 0, 55 [SEP] 15, PepperShaker, 1.306, 0.112, 0.808, 0, 0, 0, 55 [SEP] 16, Mug, -0.020, 0.753, -0.533, 0, 0, 0, 90 [SEP] 17, Mug, 1.215, 0.943, -0.633, 0, 320.314, 0, 82 [SEP] 18, Bread, 1.128, 0.974, 0.139, 0, 0, 0, 63 [SEP] 19, Glassbottle, -1.290, 0.749, 2.644, 0, 0, 0, 44 [SEP] 20, Fork, -1.197, 0.750, 1.902, 0, 0, 0, 44 [SEP] 21, Kettle, -1.357, 0.739, 3.024, 0, 240.000, 0, 44 [SEP] 22, Tomato, 0.951, 0.936, 2.369, 0, 0, 0, 95 [SEP] 23, Plate, 1.200, 0.887, 2.477, 0, 0, 0, 95 [SEP] 24, CellPhone, 1.286, 0.909, -0.428, 0, 0, 0, 63 [SEP] 25, Lettuce, -1.012, 0.820, 1.902, 0, 0, 0, 44 [SEP] 26, Pot, 0.802, 0.939, -0.740, 0, 90, 0, 72 [SEP] 27, SoapBottle, -1.475, 0.750, 2.273, 0, 180, 0, 44 [SEP] 28, WineBottle, -1.012, 0.749, 2.644, 0, 0, 0, 44 [SEP] 29, Spatula, 1.284, 0.901, 2.692, 0, 180, 0, 95 [SEP] 30, Bowl, 1.444, 0.909, 0.422, 0, 0, 0, 63 [SEP] 31, Apple, 1.367, 0.946, 2.369, 0, 0, 0, 95 [SEP] 32, Cup, -1.176, 0.116, 0.165, 0, 180, 0, 66 [SEP] 33, Knife, 1.286, 0.933, 0.706, 0, 0, 0, 63 [SEP] 34, Egg, -0.919, 0.783, 2.459, 0, 0, 0, 44 [SEP] 35, SaltShaker, 1.450, 0.882, 2.261, 0, 0, 0, 95 [SEP] 36, PepperShaker, -1.263, 1.652, -0.443, 0, 0, 0, 50 [SEP] 37, Potato, 1.200, 0.931, 2.261, 0, 0, 0, 95 [SEP] 38, ButterKnife, 1.117, 0.886, 2.692, 0, 0, 0, 95 [SEP] 39, DishSponge, 1.523, 0.911, 0.139, 0, 0, 0, 63 [SEP] 40, Pan, 0.502, 0.939, -0.469, 0, 0, 0, 76 [SEP] 41, Spoon, 0.041, 0.759, -0.612, 0, 180, 0, 90 [SEP] 42, SprayBottle, 1.365, 0.910, 0.139, 0, 0, 0, 63 [SEP] 43, Mug, -1.123, 0.907, -0.828, 0, 0, 0, 69 [SEP] 44, DiningTable, -1.182, 0.006, 2.414, 0, 90, 0, [SEP] 45, Cabinet, 1.184, 2.059, 0.375, 0, 0, 0, [SEP] 46, Cabinet, 1.184, 2.059, -0.635, 0, 0, 0, [SEP] 47, Cabinet, 0.591, 2.309, -0.645, 0, 0, 0, [SEP] 48, Cabinet, -0.574, 2.059, -0.644, 0, 0, 0, [SEP] 49, Cabinet, -1.103, 2.059, -0.644, 0, 0, 0, [SEP] 50, Cabinet, -1.185, 2.059, -0.331, 0, 0, 0, [SEP] 51, Cabinet, -1.185, 2.059, -0.281, 0, 0, 0, [SEP] 52, Cabinet, -1.185, 2.059, 0.375, 0, 0, 0, [SEP] 53, Cabinet, 1.184, 2.309, 1.174, 0, 0, 0, [SEP] 54, Cabinet, 1.184, 2.309, 0.424, 0, 0, 0, [SEP] 55, Cabinet, 0.988, 0.402, 0.581, 0, 0, 0, [SEP] 56, Cabinet, 0.988, 0.402, 0.531, 0, 0, 0, [SEP] 57, Cabinet, 0.988, 0.402, -0.178, 0, 0, 0, [SEP] 58, Cabinet, 0.335, 0.402, -0.348, 0, 0, 0, [SEP] 59, Cabinet, -0.374, 0.402, -0.348, 0, 0, 0, [SEP] 60, Cabinet, 0.988, 0.402, 1.231, 0, 0, 0, [SEP] 61, Cabinet, -1.185, 2.309, 1.374, 0, 0, 0, [SEP] 62, Cabinet, -1.185, 2.309, 0.424, 0, 0, 0, [SEP] 63, CounterTop, 1.274, 0.947, 0.064, 0, 0, 0, [SEP] 64, Drawer, 1.116, 0.792, -0.015, 0, 0, 0, [SEP] 65, Drawer, -1.116, 0.792, 0.210, 0, 180, 0, [SEP] 66, Cabinet, -0.990, 0.402, 0.374, 0, 180, 0, [SEP] 67, Drawer, -1.116, 0.792, -0.170, 0, 180, 0, [SEP] 68, Cabinet, -0.990, 0.402, -0.335, 0, 180, 0, [SEP] 69, CounterTop, -1.001, 0.947, -0.669, 0, 0, 0, [SEP] 70, StoveBurner, 0.502, 0.932, -0.740, 0, 90, 0, [SEP] 71, StoveBurner, 0.801, 0.932, -0.473, 0, 0, 0, [SEP] 72, StoveBurner, 0.801, 0.932, -0.740, 0, 90, 0, [SEP] 73, Drawer, 1.116, 0.792, 1.081, 0, 0, 0, [SEP] 74, Sink, -0.013, 0.912, -0.615, 0, 0, 0, [SEP] 75, Drawer, 1.116, 0.792, 0.732, 0, 0, 0, [SEP] 76, StoveBurner, 0.502, 0.932, -0.469, 0, 0, 0, [SEP] 77, Drawer, 1.116, 0.792, 0.367, 0, 0, 0, [SEP] 78, StoveKnob, 0.550, 1.085, -0.912, 287.970, 180, 0, [SEP] 79, StoveKnob, 0.884, 1.085, -0.912, 287.970, 180, 0, [SEP] 80, StoveKnob, 0.432, 1.085, -0.912, 287.970, 180, 0, [SEP] 81, StoveKnob, 0.777, 1.085, -0.912, 287.970, 180, 0, [SEP] 82, CoffeeMachine, 1.304, 0.900, -0.741, 0, 320.314, 0, [SEP] 83, Fridge, -1.300, 0.008, 0.987, 0, 90, 0, [SEP] 84, GarbageCan, 1.296, -0.024, 1.465, 0, 0, 0, [SEP] 85, Window, -0.012, 1.641, -0.972, 90, 0, 0, [SEP] 86, Window, 1.598, 1.646, 2.489, 90, 270, 0, [SEP] 87, Toaster, 1.356, 0.900, 1.044, 0, 270, 0, [SEP] 88, LightSwitch, 0.118, 1.353, 3.799, 0, 180, 0, [SEP] 89, Microwave, -1.343, 0.900, 0.053, 0, 90, 0, [SEP] 90, SinkBasin, -0.029, 0.748, -0.612, 0, 0, 0, [SEP] 91, Faucet, -0.026, 0.927, -0.808, 0, 0, 0, [SEP] 92, Shelf, -1.182, 0.127, 2.414, 0, 90, 0, [SEP] 93, Stool, 1.140, 0.007, 3.262, 1.206, 20.753, 0, [SEP] 94, Shelf, -1.182, 0.435, 2.414, 0, 90, 0, [SEP] 95, DiningTable, 1.169, 0.014, 2.569, 0, 0, 1.896, [SEP] 96, NorthWall, , , , , , , [SEP] 97, EastWall, , , , , , , [SEP] 98, SouthWall, , , , , , , [SEP] 99, WestWall, , , , , , , ", "output": ["STEP 1: Turn to the white table | STEP 2: Pick up the knife | STEP 3: Look down at the tomato | STEP 4: Cut the tomato into slices | STEP 5: Go to the refrigerator | STEP 6: Put the knife in the refrigerator | STEP 7: Go to the white table | STEP 8: Pick up a tomato slice | STEP 9: Go to the refrigerator | STEP 10: Chill the tomato slice | STEP 11: Go to the microwave | STEP 12: Put the tomato slice in the microwave | END"]} +{"id": "trial_T20190908_115259_655381-2", "input": "Put a cold slice of tomato in the fridge. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.908, 2.0, 0, 270, 0, [SEP] 1, CellPhone, -1.383, 0.746, 2.830, 0, 0, 0, 44 [SEP] 2, ButterKnife, -0.658, 0.912, -0.509, 0, 0, 0, 69 [SEP] 3, Glassbottle, 1.175, 0.116, 0.732, 0, 0, 0, 55 [SEP] 4, Spoon, -0.919, 0.750, 2.273, 0, 0, 0, 44 [SEP] 5, Spoon, -0.082, 0.759, -0.651, 0, 0, 0, 90 [SEP] 6, Fork, -1.105, 0.749, 2.644, 0, 90, 0, 44 [SEP] 7, Fork, 1.367, 0.886, 2.153, 0, 90, 0, 95 [SEP] 8, Knife, 1.200, 0.908, 2.153, 0, 0, 0, 95 [SEP] 9, Knife, 1.128, 0.933, -0.144, 0, 270, 0, 63 [SEP] 10, Bread, -1.105, 0.813, 2.273, 0, 0, 0, 44 [SEP] 11, Bread, 1.365, 0.974, 0.706, 0, 0, 0, 63 [SEP] 12, Lettuce, -1.197, 0.819, 2.830, 0, 0, 0, 44 [SEP] 13, Lettuce, -1.383, 0.820, 2.459, 0, 0, 0, 44 [SEP] 14, SaltShaker, 1.131, 0.112, 1.157, 0, 0, 0, 55 [SEP] 15, PepperShaker, 1.306, 0.112, 0.808, 0, 0, 0, 55 [SEP] 16, Mug, -0.020, 0.753, -0.533, 0, 0, 0, 90 [SEP] 17, Mug, 1.215, 0.943, -0.633, 0, 320.314, 0, 82 [SEP] 18, Bread, 1.128, 0.974, 0.139, 0, 0, 0, 63 [SEP] 19, Glassbottle, -1.290, 0.749, 2.644, 0, 0, 0, 44 [SEP] 20, Fork, -1.197, 0.750, 1.902, 0, 0, 0, 44 [SEP] 21, Kettle, -1.357, 0.739, 3.024, 0, 240.000, 0, 44 [SEP] 22, Tomato, 0.951, 0.936, 2.369, 0, 0, 0, 95 [SEP] 23, Plate, 1.200, 0.887, 2.477, 0, 0, 0, 95 [SEP] 24, CellPhone, 1.286, 0.909, -0.428, 0, 0, 0, 63 [SEP] 25, Lettuce, -1.012, 0.820, 1.902, 0, 0, 0, 44 [SEP] 26, Pot, 0.802, 0.939, -0.740, 0, 90, 0, 72 [SEP] 27, SoapBottle, -1.475, 0.750, 2.273, 0, 180, 0, 44 [SEP] 28, WineBottle, -1.012, 0.749, 2.644, 0, 0, 0, 44 [SEP] 29, Spatula, 1.284, 0.901, 2.692, 0, 180, 0, 95 [SEP] 30, Bowl, 1.444, 0.909, 0.422, 0, 0, 0, 63 [SEP] 31, Apple, 1.367, 0.946, 2.369, 0, 0, 0, 95 [SEP] 32, Cup, -1.176, 0.116, 0.165, 0, 180, 0, 66 [SEP] 33, Knife, 1.286, 0.933, 0.706, 0, 0, 0, 63 [SEP] 34, Egg, -0.919, 0.783, 2.459, 0, 0, 0, 44 [SEP] 35, SaltShaker, 1.450, 0.882, 2.261, 0, 0, 0, 95 [SEP] 36, PepperShaker, -1.263, 1.652, -0.443, 0, 0, 0, 50 [SEP] 37, Potato, 1.200, 0.931, 2.261, 0, 0, 0, 95 [SEP] 38, ButterKnife, 1.117, 0.886, 2.692, 0, 0, 0, 95 [SEP] 39, DishSponge, 1.523, 0.911, 0.139, 0, 0, 0, 63 [SEP] 40, Pan, 0.502, 0.939, -0.469, 0, 0, 0, 76 [SEP] 41, Spoon, 0.041, 0.759, -0.612, 0, 180, 0, 90 [SEP] 42, SprayBottle, 1.365, 0.910, 0.139, 0, 0, 0, 63 [SEP] 43, Mug, -1.123, 0.907, -0.828, 0, 0, 0, 69 [SEP] 44, DiningTable, -1.182, 0.006, 2.414, 0, 90, 0, [SEP] 45, Cabinet, 1.184, 2.059, 0.375, 0, 0, 0, [SEP] 46, Cabinet, 1.184, 2.059, -0.635, 0, 0, 0, [SEP] 47, Cabinet, 0.591, 2.309, -0.645, 0, 0, 0, [SEP] 48, Cabinet, -0.574, 2.059, -0.644, 0, 0, 0, [SEP] 49, Cabinet, -1.103, 2.059, -0.644, 0, 0, 0, [SEP] 50, Cabinet, -1.185, 2.059, -0.331, 0, 0, 0, [SEP] 51, Cabinet, -1.185, 2.059, -0.281, 0, 0, 0, [SEP] 52, Cabinet, -1.185, 2.059, 0.375, 0, 0, 0, [SEP] 53, Cabinet, 1.184, 2.309, 1.174, 0, 0, 0, [SEP] 54, Cabinet, 1.184, 2.309, 0.424, 0, 0, 0, [SEP] 55, Cabinet, 0.988, 0.402, 0.581, 0, 0, 0, [SEP] 56, Cabinet, 0.988, 0.402, 0.531, 0, 0, 0, [SEP] 57, Cabinet, 0.988, 0.402, -0.178, 0, 0, 0, [SEP] 58, Cabinet, 0.335, 0.402, -0.348, 0, 0, 0, [SEP] 59, Cabinet, -0.374, 0.402, -0.348, 0, 0, 0, [SEP] 60, Cabinet, 0.988, 0.402, 1.231, 0, 0, 0, [SEP] 61, Cabinet, -1.185, 2.309, 1.374, 0, 0, 0, [SEP] 62, Cabinet, -1.185, 2.309, 0.424, 0, 0, 0, [SEP] 63, CounterTop, 1.274, 0.947, 0.064, 0, 0, 0, [SEP] 64, Drawer, 1.116, 0.792, -0.015, 0, 0, 0, [SEP] 65, Drawer, -1.116, 0.792, 0.210, 0, 180, 0, [SEP] 66, Cabinet, -0.990, 0.402, 0.374, 0, 180, 0, [SEP] 67, Drawer, -1.116, 0.792, -0.170, 0, 180, 0, [SEP] 68, Cabinet, -0.990, 0.402, -0.335, 0, 180, 0, [SEP] 69, CounterTop, -1.001, 0.947, -0.669, 0, 0, 0, [SEP] 70, StoveBurner, 0.502, 0.932, -0.740, 0, 90, 0, [SEP] 71, StoveBurner, 0.801, 0.932, -0.473, 0, 0, 0, [SEP] 72, StoveBurner, 0.801, 0.932, -0.740, 0, 90, 0, [SEP] 73, Drawer, 1.116, 0.792, 1.081, 0, 0, 0, [SEP] 74, Sink, -0.013, 0.912, -0.615, 0, 0, 0, [SEP] 75, Drawer, 1.116, 0.792, 0.732, 0, 0, 0, [SEP] 76, StoveBurner, 0.502, 0.932, -0.469, 0, 0, 0, [SEP] 77, Drawer, 1.116, 0.792, 0.367, 0, 0, 0, [SEP] 78, StoveKnob, 0.550, 1.085, -0.912, 287.970, 180, 0, [SEP] 79, StoveKnob, 0.884, 1.085, -0.912, 287.970, 180, 0, [SEP] 80, StoveKnob, 0.432, 1.085, -0.912, 287.970, 180, 0, [SEP] 81, StoveKnob, 0.777, 1.085, -0.912, 287.970, 180, 0, [SEP] 82, CoffeeMachine, 1.304, 0.900, -0.741, 0, 320.314, 0, [SEP] 83, Fridge, -1.300, 0.008, 0.987, 0, 90, 0, [SEP] 84, GarbageCan, 1.296, -0.024, 1.465, 0, 0, 0, [SEP] 85, Window, -0.012, 1.641, -0.972, 90, 0, 0, [SEP] 86, Window, 1.598, 1.646, 2.489, 90, 270, 0, [SEP] 87, Toaster, 1.356, 0.900, 1.044, 0, 270, 0, [SEP] 88, LightSwitch, 0.118, 1.353, 3.799, 0, 180, 0, [SEP] 89, Microwave, -1.343, 0.900, 0.053, 0, 90, 0, [SEP] 90, SinkBasin, -0.029, 0.748, -0.612, 0, 0, 0, [SEP] 91, Faucet, -0.026, 0.927, -0.808, 0, 0, 0, [SEP] 92, Shelf, -1.182, 0.127, 2.414, 0, 90, 0, [SEP] 93, Stool, 1.140, 0.007, 3.262, 1.206, 20.753, 0, [SEP] 94, Shelf, -1.182, 0.435, 2.414, 0, 90, 0, [SEP] 95, DiningTable, 1.169, 0.014, 2.569, 0, 0, 1.896, [SEP] 96, NorthWall, , , , , , , [SEP] 97, EastWall, , , , , , , [SEP] 98, SouthWall, , , , , , , [SEP] 99, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and take a step then turn right and walk to the table. | STEP 2: Pick up the yellow handled knife that's in front of you. | STEP 3: Look down at the tomato. | STEP 4: Slice the tomato into slices with the knife. | STEP 5: Turn right and walk until you're even with the fridge then turn right and walk to it when you are. | STEP 6: Open the fridge and put the knife in there then close the door. | STEP 7: Walk back over to thee sliced tomato. | STEP 8: Pick up a slice of the tomato please. | STEP 9: Walk back over the the fridge and face it please. | STEP 10: Chill the slice of tomato in the fridge then get it back out and close the door. | STEP 11: Turn left and walk to the counter then turn right and walk to the microwave. | STEP 12: Put the slice of tomato in the microwave then close the door. | END"]} +{"id": "trial_T20190908_045222_151120-2", "input": "Move a bottle of soap from a counter top to a garbage can. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.900, 2.5, 0, 180, 0, [SEP] 1, Cloth, -0.246, 0.206, 2.495, 0, 0, 0, 33 [SEP] 2, Cloth, -0.246, 0.511, 1.408, 0, 0, 0, 32 [SEP] 3, SoapBar, -0.246, 0.512, 2.957, 0, 0, 0, 24 [SEP] 4, SoapBar, -0.414, 0.510, 1.463, 0, 0, 0, 32 [SEP] 5, Candle, -0.215, 0.952, 3.533, 0, 0, 0, 41 [SEP] 6, Candle, -0.289, 0.812, 2.403, 0, 0, 0, 26 [SEP] 7, SprayBottle, -0.417, 0.813, 3.230, 0, 0, 0, 26 [SEP] 8, DishSponge, -0.188, 0.954, 3.783, 0, 0, 0, 41 [SEP] 9, DishSponge, -0.161, 0.954, 3.658, 0, 0, 0, 41 [SEP] 10, ToiletPaper, -0.302, 0.507, 3.012, 0, 0, 0, 24 [SEP] 11, HandTowel, -0.036, 1.658, 3.443, 0, 90, 0, 40 [SEP] 12, SoapBar, -0.414, 0.206, 1.630, 0, 0, 0, 29 [SEP] 13, ToiletPaper, -0.289, 0.809, 1.288, 0, 0, 0, 26 [SEP] 14, Plunger, -0.139, -0.000, 3.369, 0, 0, 0, Floor|+00.00| [SEP] 15, Candle, -0.353, 0.812, 2.243, 0, 0, 0, 26 [SEP] 16, SoapBottle, -0.144, 0.804, 1.325, 0, 0, 0, 26 [SEP] 17, ToiletPaper, -1.156, 0.897, 3.925, 0, 180, 90, 37 [SEP] 18, SprayBottle, -0.482, 0.813, 2.137, 0, 0, 0, 26 [SEP] 19, Towel, -1.106, 1.151, 1.289, 0, 0, 0, 38 [SEP] 20, Cloth, -0.358, 0.205, 1.408, 0, 0, 0, 32 [SEP] 21, ScrubBrush, -0.346, -0.000, 3.341, 0, 0, 0, Floor|+00.00| [SEP] 22, DishSponge, -0.363, 0.829, 2.850, 0, 0, 0, 44 [SEP] 23, Sink, -0.299, 0.807, 2.754, 0, 270, 0, [SEP] 24, Drawer, -0.319, 0.615, 3.012, 0, 0, 0, [SEP] 25, Drawer, -0.319, 0.316, 3.012, 0, 0, 0, [SEP] 26, CounterTop, -0.349, 0.004, 1.453, 0, 0, 0, [SEP] 27, Drawer, -0.319, 0.615, 1.978, 0, 0, 0, [SEP] 28, Drawer, -0.319, 0.316, 1.978, 0, 0, 0, [SEP] 29, Drawer, -0.319, 0.316, 1.463, 0, 0, 0, [SEP] 30, Drawer, -0.319, 0.615, 2.495, 0, 0, 0, [SEP] 31, ShowerDoor, -1.514, 0.910, 1.167, 0, 0, 0, [SEP] 32, Drawer, -0.319, 0.615, 1.463, 0, 0, 0, [SEP] 33, Drawer, -0.319, 0.316, 2.495, 0, 0, 0, [SEP] 34, Faucet, -0.076, 0.805, 2.757, 0, 0, 0, [SEP] 35, Mirror, -0.228, 0.465, 1.453, 0, 0, 0, [SEP] 36, ShowerGlass, -0.766, 0.541, 0.485, 0, 0, 0, [SEP] 37, ToiletPaperHanger, -1.200, 0.897, 4.0, 0, 180, 0, [SEP] 38, TowelHolder, -1.105, 1.136, 1.183, 0, 0, 0, [SEP] 39, GarbageCan, -2.041, -0.000, 3.724, 0, 45, 0, [SEP] 40, HandTowelHolder, 0.001, 1.759, 3.443, 0, 180, 0, [SEP] 41, Toilet, -0.600, -0.000, 3.671, 0, 270, 0, [SEP] 42, LightSwitch, -2.312, 1.386, 3.296, 0, 90, 0, [SEP] 43, Faucet, -0.076, 0.805, 1.733, 0, 0, 0, [SEP] 44, SinkBasin, -0.304, 0.819, 2.753, 0, 0, 0, [SEP] 45, Sink, -0.298, 0.807, 1.725, 0, 270, 0, [SEP] 46, ShowerHead, -0.083, 1.248, 0.522, 0, 0, 0, [SEP] 47, SinkBasin, -0.304, 0.819, 1.723, 0, 0, 0, [SEP] 48, NorthWall, , , , , , , [SEP] 49, SouthWall, , , , , , , [SEP] 50, SouthWall, , , , , , , ", "output": ["STEP 1: Walk forward to the towel, then turn left and walk forward to the sink. | STEP 2: Pick up the bottle of soap from the counter near the toilet paper. | STEP 3: Turn around, walk to the wall, then turn right and walk to the garbage can on the floor in the corner. | STEP 4: Put the bottle of soap in the garbage can. | END"]} +{"id": "trial_T20190908_132517_128346-0", "input": "Place two CDs in a trash bin SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 3.25, 0.900, 0.0, 0, 270, 0, [SEP] 1, CD, 0.814, 0.432, -1.986, 0, 330.000, 0, 37 [SEP] 2, CD, 3.084, 0.777, -1.500, 0, 0, 0, 39 [SEP] 3, Pen, 0.291, 0.710, 1.296, 0, 90, 0, 33 [SEP] 4, Pen, 3.239, 0.785, -1.768, 0, 0, 0, 39 [SEP] 5, Pencil, 3.084, 0.784, -1.411, 0, 0, 0, 39 [SEP] 6, CreditCard, 0.961, 0.432, -1.901, 0, 330.000, 0, 37 [SEP] 7, CreditCard, 2.930, 0.779, -1.500, 0, 0, 0, 39 [SEP] 8, KeyChain, 0.313, 0.616, -0.864, 0, 180, 0, 36 [SEP] 9, KeyChain, 0.357, 0.706, 1.130, 0, 90, 0, 33 [SEP] 10, AlarmClock, 0.226, 0.704, 1.463, 0, 90, 0, 33 [SEP] 11, AlarmClock, 3.084, 0.779, -1.857, 0, 0, 0, 39 [SEP] 12, Book, 1.374, 0.596, 0.722, 0, 0, 0, 26 [SEP] 13, KeyChain, 2.776, 0.779, -1.59, 0, 0, 0, 39 [SEP] 14, Pillow, 0.463, 0.638, 0.408, 0, 101.363, 0, 26 [SEP] 15, Pillow, 1.374, 0.677, 0.145, 0, 0, 0, 26 [SEP] 16, CreditCard, 0.258, 0.705, 1.213, 0, 90, 0, 33 [SEP] 17, Pen, 2.930, 0.785, -1.679, 0, 0, 0, 39 [SEP] 18, Pencil, 3.547, 0.784, -1.411, 0, 0, 0, 39 [SEP] 19, TissueBox, 0.303, 0.698, -0.783, 0, 0, 0, 34 [SEP] 20, Laptop, 3.452, 0.773, -1.667, 0, 210.000, 0, 39 [SEP] 21, CellPhone, 0.291, 0.704, 1.463, 0, 90, 0, 33 [SEP] 22, AlarmClock, 3.701, 0.779, -1.679, 0, 0, 0, 39 [SEP] 23, CD, 3.547, 0.779, -1.322, 0, 0, 0, 39 [SEP] 24, Chair, 3.232, 0.002, -1.873, 0, 350.846, 0, [SEP] 25, Mirror, 1.083, 1.228, 1.700, 0, 0, 0, [SEP] 26, Bed, 0.898, -0.002, 0.141, 0, 270, 0, [SEP] 27, GarbageCan, 3.633, 8.165, -0.982, 0, 209.052, 0, [SEP] 28, DeskLamp, 3.681, 0.785, -1.386, 0, 0, 0, [SEP] 29, DeskLamp, 0.347, 0.698, -0.979, 0, 0, 0, [SEP] 30, Painting, 0.100, 1.432, -2.053, 90, 270, 0, [SEP] 31, Window, 2.270, 1.547, -2.915, 90, 0, 0, [SEP] 32, LightSwitch, 1.809, 1.169, 1.700, 0, 180, 0, [SEP] 33, SideTable, 0.277, 0.000, 1.299, 0, 90, 0, [SEP] 34, SideTable, 0.276, 0.000, -1.017, 0, 90, 0, [SEP] 35, Drawer, 0.328, 0.624, 1.299, 0, 90, 0, [SEP] 36, Drawer, 0.328, 0.624, -1.017, 0, 90, 0, [SEP] 37, ArmChair, 0.849, -0.001, -2.141, 0, 66.451, 0, [SEP] 38, Blinds, 2.299, 2.525, -2.892, 0, 0, 0, [SEP] 39, Desk, 3.238, 0.003, -1.590, 0, 0, 0, [SEP] 40, NorthWall, , , , , , , [SEP] 41, EastWall, , , , , , , [SEP] 42, SouthWall, , , , , , , [SEP] 43, WestWall, , , , , , , ", "output": ["STEP 1: Go to the table | STEP 2: Pick up a CD from the table | STEP 3: Look at the trash bin | STEP 4: Place the CD in the trash bin | STEP 5: Go back to the table | STEP 6: Pick up another CD from the table | STEP 7: Look at the trash bin | STEP 8: Place the CD in the trash bin next to the other one | END"]} +{"id": "trial_T20190908_122759_897195-0", "input": "Put a pencil in a mug and put the mug on the nightstand. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.0, 0.900, -0.25, 0, 0, 0, [SEP] 1, Mug, 1.479, 0.701, -1.521, 0, 180, 0, 47 [SEP] 2, Mug, 0.987, 0.699, -1.326, 0, 180, 0, 47 [SEP] 3, TissueBox, 0.248, 0.703, -1.716, 0, 180, 0, 47 [SEP] 4, CD, 1.233, 0.703, -1.423, 0, 180, 0, 47 [SEP] 5, CellPhone, 0.987, 0.707, -1.521, 0, 180, 0, 47 [SEP] 6, Pen, 0.018, 0.086, -1.372, 0, 180, 0, 43 [SEP] 7, Pencil, 0.987, 0.705, -1.423, 0, 180, 0, 47 [SEP] 8, CreditCard, 1.600, 0.708, -0.385, 0, 0, 0, 39 [SEP] 9, Book, -1.923, 0.527, -0.814, 0, 0, 0, 30 [SEP] 10, KeyChain, 1.550, 1.412, 0.264, 0, 270, 0, 39 [SEP] 11, AlarmClock, 1.480, 0.489, -0.464, 0, 270, 0, 40 [SEP] 12, AlarmClock, 0.494, 0.702, -1.716, 0, 180, 0, 47 [SEP] 13, Box, 1.537, 1.652, 0.692, 0, 0, 0, 33 [SEP] 14, Book, 0.387, 0.497, -1.532, 0, 180, 0, 48 [SEP] 15, AlarmClock, 1.541, 0.489, -0.604, 0, 270, 0, 40 [SEP] 16, CellPhone, 1.638, 0.711, -0.623, 0, 0, 0, 39 [SEP] 17, TissueBox, 1.480, 0.490, -0.324, 0, 270, 0, 40 [SEP] 18, TeddyBear, -2.204, 0.500, 0.181, 355.000, 297.467, 9.162, 30 [SEP] 19, CreditCard, 1.479, 0.701, -1.326, 0, 180, 0, 47 [SEP] 20, KeyChain, 1.600, 0.709, -0.544, 0, 0, 0, 39 [SEP] 21, BaseballBat, -2.202, 0.04, -1.343, 0, 45, 90, Floor|+00.00| [SEP] 22, TennisRacket, -2.254, 0.324, -1.806, 15.000, 180, 180, Floor|+00.00| [SEP] 23, Pillow, -2.039, 0.545, 0.677, 0, 0, 0, 30 [SEP] 24, Laptop, -1.483, 0.525, -0.082, 0, 0, 0, 30 [SEP] 25, CD, 0.741, 0.701, -1.423, 0, 180, 0, 47 [SEP] 26, Pen, 0.494, 0.707, -1.423, 0, 180, 0, 47 [SEP] 27, Pencil, 1.562, 0.712, -0.703, 0, 0, 0, 39 [SEP] 28, Mug, 0.494, 0.701, -1.521, 0, 180, 0, 47 [SEP] 29, Mirror, -0.689, 1.495, 0.954, 0, 0, 0, [SEP] 30, Bed, -1.742, 0.000, -0.071, 0, 0, 0, [SEP] 31, Chair, 0.891, -0.001, -1.251, 0, 175.104, 0, [SEP] 32, GarbageCan, -0.606, -0.021, 0.799, 0, 0, 0, [SEP] 33, ShelvingUnit, 1.550, 1.402, 0.374, 0, 270, 0, [SEP] 34, Painting, -2.401, 1.700, -0.859, 90, 90, 0, [SEP] 35, DeskLamp, 1.291, 0.699, -1.717, 0, 0, 0, [SEP] 36, LightSwitch, 0.231, 1.287, 0.954, 0, 180, 0, [SEP] 37, HousePlant, 1.488, 1.394, 0.035, 0, 122.291, 0, [SEP] 38, Window, 0.046, 1.559, -2.079, 90, 180, 0, [SEP] 39, SideTable, 1.561, 0.000, -0.465, 0, 270, 0, [SEP] 40, Shelf, 1.541, 0.493, -0.475, 0, 270, 0, [SEP] 41, Blinds, 0.007, 2.152, -2.014, 0, 0, 0, [SEP] 42, Drawer, -0.156, 0.547, -1.430, 0, 0, 0, [SEP] 43, Drawer, 0.270, 0.159, -1.430, 0, 0, 0, [SEP] 44, Drawer, -0.156, 0.159, -1.430, 0, 0, 0, [SEP] 45, Drawer, 0.270, 0.353, -1.430, 0, 0, 0, [SEP] 46, Drawer, -0.156, 0.353, -1.430, 0, 0, 0, [SEP] 47, Desk, 0.634, 0.002, -1.557, 0, 0, 0, [SEP] 48, Drawer, 0.270, 0.547, -1.430, 0, 0, 0, [SEP] 49, Shelf, 1.406, 0.571, -1.514, 0, 0, 0, [SEP] 50, Shelf, 1.406, 0.183, -1.514, 0, 0, 0, [SEP] 51, Shelf, 1.584, 0.183, -1.514, 0, 0, 0, [SEP] 52, Shelf, 1.406, 0.377, -1.514, 0, 0, 0, [SEP] 53, Shelf, 1.584, 0.377, -1.514, 0, 0, 0, [SEP] 54, Shelf, 1.584, 0.571, -1.514, 0, 0, 0, [SEP] 55, NorthWall, , , , , , , [SEP] 56, EastWall, , , , , , , [SEP] 57, SouthWall, , , , , , , [SEP] 58, WestWall, , , , , , , ", "output": ["STEP 1: Turn around, and walk to the desk. | STEP 2: Pick up the pencil behind the mug. | STEP 3: Put the pencil in the mug on the left. | STEP 4: Pick up the mug on the left. | STEP 5: Turn around and face the safe. | STEP 6: Put the mug on the nightstand. | END"]} +{"id": "trial_T20190908_122759_897195-2", "input": "Move a coffee mug from the desk to the small bookshelf. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.0, 0.900, -0.25, 0, 0, 0, [SEP] 1, Mug, 1.479, 0.701, -1.521, 0, 180, 0, 47 [SEP] 2, Mug, 0.987, 0.699, -1.326, 0, 180, 0, 47 [SEP] 3, TissueBox, 0.248, 0.703, -1.716, 0, 180, 0, 47 [SEP] 4, CD, 1.233, 0.703, -1.423, 0, 180, 0, 47 [SEP] 5, CellPhone, 0.987, 0.707, -1.521, 0, 180, 0, 47 [SEP] 6, Pen, 0.018, 0.086, -1.372, 0, 180, 0, 43 [SEP] 7, Pencil, 0.987, 0.705, -1.423, 0, 180, 0, 47 [SEP] 8, CreditCard, 1.600, 0.708, -0.385, 0, 0, 0, 39 [SEP] 9, Book, -1.923, 0.527, -0.814, 0, 0, 0, 30 [SEP] 10, KeyChain, 1.550, 1.412, 0.264, 0, 270, 0, 39 [SEP] 11, AlarmClock, 1.480, 0.489, -0.464, 0, 270, 0, 40 [SEP] 12, AlarmClock, 0.494, 0.702, -1.716, 0, 180, 0, 47 [SEP] 13, Box, 1.537, 1.652, 0.692, 0, 0, 0, 33 [SEP] 14, Book, 0.387, 0.497, -1.532, 0, 180, 0, 48 [SEP] 15, AlarmClock, 1.541, 0.489, -0.604, 0, 270, 0, 40 [SEP] 16, CellPhone, 1.638, 0.711, -0.623, 0, 0, 0, 39 [SEP] 17, TissueBox, 1.480, 0.490, -0.324, 0, 270, 0, 40 [SEP] 18, TeddyBear, -2.204, 0.500, 0.181, 355.000, 297.467, 9.162, 30 [SEP] 19, CreditCard, 1.479, 0.701, -1.326, 0, 180, 0, 47 [SEP] 20, KeyChain, 1.600, 0.709, -0.544, 0, 0, 0, 39 [SEP] 21, BaseballBat, -2.202, 0.04, -1.343, 0, 45, 90, Floor|+00.00| [SEP] 22, TennisRacket, -2.254, 0.324, -1.806, 15.000, 180, 180, Floor|+00.00| [SEP] 23, Pillow, -2.039, 0.545, 0.677, 0, 0, 0, 30 [SEP] 24, Laptop, -1.483, 0.525, -0.082, 0, 0, 0, 30 [SEP] 25, CD, 0.741, 0.701, -1.423, 0, 180, 0, 47 [SEP] 26, Pen, 0.494, 0.707, -1.423, 0, 180, 0, 47 [SEP] 27, Pencil, 1.562, 0.712, -0.703, 0, 0, 0, 39 [SEP] 28, Mug, 0.494, 0.701, -1.521, 0, 180, 0, 47 [SEP] 29, Mirror, -0.689, 1.495, 0.954, 0, 0, 0, [SEP] 30, Bed, -1.742, 0.000, -0.071, 0, 0, 0, [SEP] 31, Chair, 0.891, -0.001, -1.251, 0, 175.104, 0, [SEP] 32, GarbageCan, -0.606, -0.021, 0.799, 0, 0, 0, [SEP] 33, ShelvingUnit, 1.550, 1.402, 0.374, 0, 270, 0, [SEP] 34, Painting, -2.401, 1.700, -0.859, 90, 90, 0, [SEP] 35, DeskLamp, 1.291, 0.699, -1.717, 0, 0, 0, [SEP] 36, LightSwitch, 0.231, 1.287, 0.954, 0, 180, 0, [SEP] 37, HousePlant, 1.488, 1.394, 0.035, 0, 122.291, 0, [SEP] 38, Window, 0.046, 1.559, -2.079, 90, 180, 0, [SEP] 39, SideTable, 1.561, 0.000, -0.465, 0, 270, 0, [SEP] 40, Shelf, 1.541, 0.493, -0.475, 0, 270, 0, [SEP] 41, Blinds, 0.007, 2.152, -2.014, 0, 0, 0, [SEP] 42, Drawer, -0.156, 0.547, -1.430, 0, 0, 0, [SEP] 43, Drawer, 0.270, 0.159, -1.430, 0, 0, 0, [SEP] 44, Drawer, -0.156, 0.159, -1.430, 0, 0, 0, [SEP] 45, Drawer, 0.270, 0.353, -1.430, 0, 0, 0, [SEP] 46, Drawer, -0.156, 0.353, -1.430, 0, 0, 0, [SEP] 47, Desk, 0.634, 0.002, -1.557, 0, 0, 0, [SEP] 48, Drawer, 0.270, 0.547, -1.430, 0, 0, 0, [SEP] 49, Shelf, 1.406, 0.571, -1.514, 0, 0, 0, [SEP] 50, Shelf, 1.406, 0.183, -1.514, 0, 0, 0, [SEP] 51, Shelf, 1.584, 0.183, -1.514, 0, 0, 0, [SEP] 52, Shelf, 1.406, 0.377, -1.514, 0, 0, 0, [SEP] 53, Shelf, 1.584, 0.377, -1.514, 0, 0, 0, [SEP] 54, Shelf, 1.584, 0.571, -1.514, 0, 0, 0, [SEP] 55, NorthWall, , , , , , , [SEP] 56, EastWall, , , , , , , [SEP] 57, SouthWall, , , , , , , [SEP] 58, WestWall, , , , , , , ", "output": ["STEP 1: Turn and go to the desk. | STEP 2: Pick up the pencil on the desk. | STEP 3: Put the pencil in a coffee mug on the desk. | STEP 4: Pick up the coffee mug on the desk. | STEP 5: Turn and go to the small bookshelf. | STEP 6: Put the coffee mug on the small bookshelf. | END"]} +{"id": "trial_T20190908_023604_668325-2", "input": "Move a pencil from the trash to a desk. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.0, 0.900, -1.25, 0, 180, 0, [SEP] 1, CellPhone, -0.705, 1.779, -2.281, 0, 0, 0, 36 [SEP] 2, CellPhone, -0.244, 0.839, -1.861, 0, 0, 0, 36 [SEP] 3, KeyChain, -1.033, 1.347, -2.271, 0, 90, 0, 39 [SEP] 4, AlarmClock, -0.705, 1.777, -2.101, 0, 0, 0, 36 [SEP] 5, AlarmClock, -1.165, 0.837, -2.293, 0, 90, 0, 36 [SEP] 6, Laptop, 0.300, 0.643, 0.238, 0, 0, 0, 23 [SEP] 7, Laptop, -1.165, 1.775, -2.101, 0, 0, 0, 36 [SEP] 8, Book, -0.935, 0.839, -1.861, 0, 0, 0, 36 [SEP] 9, Box, -0.424, 2.065, -2.027, 0, 352.503, 0, 36 [SEP] 10, Pillow, 1.152, 0.739, 0.777, 0, 0, 0, 23 [SEP] 11, AlarmClock, 1.672, 0.673, -0.855, 0, 0, 0, 31 [SEP] 12, BasketBall, -0.337, 0.120, 1.031, 0, 0, 0, Floor|-00.16| [SEP] 13, BaseballBat, -1.602, 0.022, 0.356, 90, 8.736, 0, Floor|-00.16| [SEP] 14, Pen, -0.935, 1.783, -2.221, 0, 0, 0, 36 [SEP] 15, CellPhone, 2.004, 0.647, 0.239, 0, 0, 0, 23 [SEP] 16, TennisRacket, -1.667, 0.0, 0.818, 90, 29.999, 0, Floor|-00.16| [SEP] 17, Laptop, 1.152, 0.643, -0.120, 0, 0, 0, 23 [SEP] 18, Pencil, 0.101, 0.146, -2.118, 0, 90, 0, 26 [SEP] 19, KeyChain, 1.592, 0.374, -0.988, 0, 180, 0, 29 [SEP] 20, CreditCard, -1.000, 1.347, -1.976, 0, 0, 0, 39 [SEP] 21, CD, 1.626, 0.680, -1.065, 0, 270, 0, 31 [SEP] 22, Mirror, 0.883, 1.582, -2.399, 0, 180, 0, [SEP] 23, Bed, 1.176, -0.002, 0.238, 0, 90, 0, [SEP] 24, LightSwitch, 1.899, 1.297, -1.302, 0, 270, 0, [SEP] 25, Poster, -1.927, 1.411, -1.455, 90, 90, 0, [SEP] 26, GarbageCan, 0.128, -0.030, -2.146, 0, 90, 0, [SEP] 27, Window, -2.028, 1.388, -0.270, 90, 270, 0, [SEP] 28, DeskLamp, -1.673, 1.774, -2.190, 0, 0, 0, [SEP] 29, Drawer, 1.624, 0.453, -0.987, 0, 270, 0, [SEP] 30, Drawer, 1.624, 0.163, -0.987, 0, 270, 0, [SEP] 31, SideTable, 1.691, 0.002, -0.988, 0, 270, 0, [SEP] 32, Chair, -1.089, 0.009, -1.570, 0, 166.824, 0, [SEP] 33, Blinds, -1.949, 2.158, -0.252, 0, 90, 0, [SEP] 34, Cabinet, -0.241, 1.534, -2.101, 0, 0, 0, [SEP] 35, Cabinet, -1.301, 1.534, -2.101, 0, 0, 0, [SEP] 36, Desk, -0.962, 0.003, -1.942, 0, 0, 0, [SEP] 37, Cabinet, -1.683, 1.534, -2.101, 0, 0, 0, [SEP] 38, Cabinet, -0.623, 1.534, -2.101, 0, 0, 0, [SEP] 39, Shelf, -0.962, 1.534, -2.101, 0, 0, 0, [SEP] 40, NorthWall, , , , , , , [SEP] 41, EastWall, , , , , , , [SEP] 42, SouthWall, , , , , , , [SEP] 43, WestWall, , , , , , , ", "output": ["STEP 1: Turn to the right to find the trash can. | STEP 2: Pick up the pencil from inside the trash can. | STEP 3: Hold the pencil and turn to the right, then left to go to the front of the desk. | STEP 4: Place the pencil on the top right shelf of the desk. | END"]} +{"id": "trial_T20190908_172141_392705-0", "input": "Move two toilet rolls from the top shelf to the bottom shelf. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, -1.0, 0, 90, 0, [SEP] 1, Candle, -0.118, 1.043, -0.544, 0, 270, 0, 31 [SEP] 2, Candle, -2.547, 0.991, -2.657, 0, 0, 0, 22 [SEP] 3, SprayBottle, -0.148, 1.166, -3.497, 0, 90, 0, 36 [SEP] 4, ToiletPaper, -2.768, 0.989, -3.454, 0, 0, 0, 22 [SEP] 5, HandTowel, -0.038, 1.481, -1.549, 0, 90, 0, 26 [SEP] 6, SoapBar, -2.524, 0.080, -0.678, 0, 90, 0, 28 [SEP] 7, ToiletPaper, -2.915, 0.989, -2.125, 0, 0, 0, 22 [SEP] 8, ToiletPaper, -2.620, 0.989, -2.923, 0, 0, 0, 22 [SEP] 9, Towel, -1.338, 1.193, -0.106, 0, 180, 0, 23 [SEP] 10, SoapBottle, -0.138, 0.355, -3.399, 0, 90, 0, 33 [SEP] 11, ScrubBrush, -0.136, -0.000, -0.105, 0, 0, 0, Floor|-01.15| [SEP] 12, Cloth, -2.649, 0.085, -0.822, 0, 90, 0, 28 [SEP] 13, Plunger, -0.370, -0.000, -0.097, 0, 0, 0, Floor|-01.15| [SEP] 14, Candle, -2.544, 0.356, -2.714, 0, 0, 0, 20 [SEP] 15, SprayBottle, -2.576, 0.358, -3.131, 0, 0, 0, 20 [SEP] 16, Bathtub, -2.104, 0.524, -0.828, 0, 0, 0, [SEP] 17, Faucet, -0.040, 1.017, -2.076, 0, 270, 0, [SEP] 18, Sink, -0.307, 0.0, -2.076, 0, 270, 0, [SEP] 19, Mirror, -2.983, 1.565, -2.900, 0, 0, 0, [SEP] 20, Shelf, -2.581, 0.395, -2.923, 0, 0, 0, [SEP] 21, Shelf, -2.539, 0.130, -2.923, 0, 0, 0, [SEP] 22, CounterTop, -2.704, 1.029, -2.923, 0, 0, 0, [SEP] 23, TowelHolder, -1.338, 1.179, 0.0, 0, 180, 0, [SEP] 24, LightSwitch, -0.363, 1.330, -3.999, 0, 0, 0, [SEP] 25, HandTowelHolder, 0.0, 1.582, -2.661, 0, 180, 0, [SEP] 26, HandTowelHolder, 0.0, 1.582, -1.549, 0, 180, 0, [SEP] 27, SinkBasin, -0.310, 0.859, -2.076, 0, 0, 0, [SEP] 28, BathtubBasin, -2.586, 0.071, -0.801, 0, 90, 0, [SEP] 29, ToiletPaperHanger, 0.0, 0.866, -0.968, 0, 270, 0, [SEP] 30, GarbageCan, -0.266, -0.034, -2.751, 0, 0, 0, [SEP] 31, Toilet, -0.411, -0.000, -0.547, 0, 0, 0, [SEP] 32, Drawer, -0.229, 0.161, -3.398, 0, 270, 0, [SEP] 33, Drawer, -0.229, 0.420, -3.398, 0, 270, 0, [SEP] 34, Drawer, -0.229, 0.680, -3.398, 0, 270, 0, [SEP] 35, Drawer, -0.229, 0.940, -3.398, 0, 270, 0, [SEP] 36, Dresser, -0.205, 0.000, -3.398, 0, 270, 0, [SEP] 37, ShowerHead, -2.579, 1.261, -0.064, 0, 270, 0, [SEP] 38, ShowerCurtain, -2.188, 1.915, -1.560, 0, 0, 0, [SEP] 39, EastWall, , , , , , , [SEP] 40, EastWall, , , , , , , [SEP] 41, SouthWall, , , , , , , ", "output": ["STEP 1: Turn and go to the shelves by the door. | STEP 2: Pick up a toilet roll on the top shelf. | STEP 3: Turn and go to the shelves by the door. | STEP 4: Put the toilet roll on the bottom shelf. | STEP 5: Turn and go to the shelves by the door. | STEP 6: Pick up a toilet roll on the top shelf. | STEP 7: Turn and go to the shelves by the door. | STEP 8: Put the toilet roll on the bottom shelf. | END"]} +{"id": "trial_T20190909_102158_210566-1", "input": "Put a cardboard box on the couch SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 2.0, 0.900, -0.25, 0, 270, 0, [SEP] 1, KeyChain, 0.133, 0.554, 0.997, 0, 180, 0, 33 [SEP] 2, RemoteControl, 0.353, 0.550, 0.997, 0, 180, 0, 33 [SEP] 3, Laptop, -0.115, 0.475, -1.120, 0, 180, 0, 36 [SEP] 4, Box, 2.513, 0.144, -1.093, 0, 318.382, 0, 46 [SEP] 5, Bowl, -1.871, 0.757, -1.290, 0, 90, 0, 40 [SEP] 6, KeyChain, 0.794, 0.546, 0.906, 0, 180, 0, 33 [SEP] 7, Vase, -1.588, 0.168, -0.531, 0, 0, 0, 41 [SEP] 8, Statue, -1.743, 0.761, -0.350, 0, 270, 0, 40 [SEP] 9, Pillow, -0.495, 0.593, 0.955, 0, 0, 0, 33 [SEP] 10, Laptop, -1.732, 0.753, -0.696, 0, 73.105, 0, 40 [SEP] 11, Vase, -1.640, 0.569, -1.715, 0, 90, 0, 44 [SEP] 12, Statue, 0.336, 0.575, -1.182, 0, 180, 0, 36 [SEP] 13, RemoteControl, 0.573, 0.549, 0.906, 0, 180, 0, 33 [SEP] 14, Vase, 0.009, 0.168, -2.264, 0, 0, 0, 30 [SEP] 15, CreditCard, 2.405, 0.452, -2.225, 0, 270, 0, 46 [SEP] 16, Vase, -0.471, 0.481, -2.222, 0, 0, 0, 31 [SEP] 17, Statue, -1.616, 0.767, -1.055, 0, 90, 0, 40 [SEP] 18, Painting, 0.172, 1.781, 1.934, 0, 0, 0, [SEP] 19, HousePlant, -1.646, 0.755, -1.792, 0, 0, 0, [SEP] 20, LightSwitch, 1.406, 1.294, 1.651, 0, 180, 0, [SEP] 21, Television, -0.035, 1.239, -2.439, 0, 0, 0, [SEP] 22, FloorLamp, -1.573, -0.003, 1.302, 0, 0, 0, [SEP] 23, GarbageCan, 0.742, -0.000, -2.522, 0, 270, 0, [SEP] 24, Window, -0.816, 1.534, -2.719, 90, 0, 0, [SEP] 25, Window, 0.791, 1.534, -2.718, 90, 0, 0, [SEP] 26, Shelf, 0.340, 0.474, -2.377, 0, 0, 0, [SEP] 27, Shelf, 0.341, 0.273, -2.377, 0, 0, 0, [SEP] 28, TVStand, -0.025, -0.000, -2.385, 0, 0, 0, [SEP] 29, Shelf, -0.393, 0.302, -2.382, 0, 0, 0, [SEP] 30, Shelf, -0.026, 0.442, -2.380, 0, 0, 0, [SEP] 31, Shelf, -0.393, 0.597, -2.382, 0, 0, 0, [SEP] 32, Shelf, 0.340, 0.643, -2.377, 0, 0, 0, [SEP] 33, Sofa, 0.124, 0.008, 1.032, 0, 180, 0, [SEP] 34, Cabinet, -1.827, 0.729, -2.357, 0, 90, 0, [SEP] 35, Shelf, -1.827, 2.041, -2.356, 0, 90, 0, [SEP] 36, CoffeeTable, 0.017, -0.000, -1.108, 0, 180, 0, [SEP] 37, Shelf, -1.827, 1.744, -2.356, 0, 90, 0, [SEP] 38, Shelf, -1.827, 1.452, -2.356, 0, 90, 0, [SEP] 39, Shelf, -1.730, 0.278, -1.635, 0, 90, 0, [SEP] 40, TVStand, -1.733, -0.000, -1.058, 0, 90, 0, [SEP] 41, Shelf, -1.730, 0.302, -0.479, 0, 90, 0, [SEP] 42, Shelf, -1.732, 0.446, -1.056, 0, 90, 0, [SEP] 43, Shelf, -1.731, 0.596, -0.478, 0, 90, 0, [SEP] 44, Shelf, -1.733, 0.648, -1.635, 0, 90, 0, [SEP] 45, Shelf, -1.730, 0.477, -1.635, 0, 90, 0, [SEP] 46, ArmChair, 2.344, 0.002, -2.041, 0, 270, 0, [SEP] 47, ShelvingUnit, -1.847, 0.001, -2.357, 0, 90, 0, [SEP] 48, NorthWall, , , , , , , [SEP] 49, EastWall, , , , , , , [SEP] 50, SouthWall, , , , , , , [SEP] 51, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and go to the box on the floor by the chair | STEP 2: Pick up the box from the floor | STEP 3: Turn left and go to the blue couch on the right | STEP 4: Put the box on the couch between the pillow and keys | END"]} +{"id": "trial_T20190909_102158_210566-2", "input": "Place a box on a couch. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 2.0, 0.900, -0.25, 0, 270, 0, [SEP] 1, KeyChain, 0.133, 0.554, 0.997, 0, 180, 0, 33 [SEP] 2, RemoteControl, 0.353, 0.550, 0.997, 0, 180, 0, 33 [SEP] 3, Laptop, -0.115, 0.475, -1.120, 0, 180, 0, 36 [SEP] 4, Box, 2.513, 0.144, -1.093, 0, 318.382, 0, 46 [SEP] 5, Bowl, -1.871, 0.757, -1.290, 0, 90, 0, 40 [SEP] 6, KeyChain, 0.794, 0.546, 0.906, 0, 180, 0, 33 [SEP] 7, Vase, -1.588, 0.168, -0.531, 0, 0, 0, 41 [SEP] 8, Statue, -1.743, 0.761, -0.350, 0, 270, 0, 40 [SEP] 9, Pillow, -0.495, 0.593, 0.955, 0, 0, 0, 33 [SEP] 10, Laptop, -1.732, 0.753, -0.696, 0, 73.105, 0, 40 [SEP] 11, Vase, -1.640, 0.569, -1.715, 0, 90, 0, 44 [SEP] 12, Statue, 0.336, 0.575, -1.182, 0, 180, 0, 36 [SEP] 13, RemoteControl, 0.573, 0.549, 0.906, 0, 180, 0, 33 [SEP] 14, Vase, 0.009, 0.168, -2.264, 0, 0, 0, 30 [SEP] 15, CreditCard, 2.405, 0.452, -2.225, 0, 270, 0, 46 [SEP] 16, Vase, -0.471, 0.481, -2.222, 0, 0, 0, 31 [SEP] 17, Statue, -1.616, 0.767, -1.055, 0, 90, 0, 40 [SEP] 18, Painting, 0.172, 1.781, 1.934, 0, 0, 0, [SEP] 19, HousePlant, -1.646, 0.755, -1.792, 0, 0, 0, [SEP] 20, LightSwitch, 1.406, 1.294, 1.651, 0, 180, 0, [SEP] 21, Television, -0.035, 1.239, -2.439, 0, 0, 0, [SEP] 22, FloorLamp, -1.573, -0.003, 1.302, 0, 0, 0, [SEP] 23, GarbageCan, 0.742, -0.000, -2.522, 0, 270, 0, [SEP] 24, Window, -0.816, 1.534, -2.719, 90, 0, 0, [SEP] 25, Window, 0.791, 1.534, -2.718, 90, 0, 0, [SEP] 26, Shelf, 0.340, 0.474, -2.377, 0, 0, 0, [SEP] 27, Shelf, 0.341, 0.273, -2.377, 0, 0, 0, [SEP] 28, TVStand, -0.025, -0.000, -2.385, 0, 0, 0, [SEP] 29, Shelf, -0.393, 0.302, -2.382, 0, 0, 0, [SEP] 30, Shelf, -0.026, 0.442, -2.380, 0, 0, 0, [SEP] 31, Shelf, -0.393, 0.597, -2.382, 0, 0, 0, [SEP] 32, Shelf, 0.340, 0.643, -2.377, 0, 0, 0, [SEP] 33, Sofa, 0.124, 0.008, 1.032, 0, 180, 0, [SEP] 34, Cabinet, -1.827, 0.729, -2.357, 0, 90, 0, [SEP] 35, Shelf, -1.827, 2.041, -2.356, 0, 90, 0, [SEP] 36, CoffeeTable, 0.017, -0.000, -1.108, 0, 180, 0, [SEP] 37, Shelf, -1.827, 1.744, -2.356, 0, 90, 0, [SEP] 38, Shelf, -1.827, 1.452, -2.356, 0, 90, 0, [SEP] 39, Shelf, -1.730, 0.278, -1.635, 0, 90, 0, [SEP] 40, TVStand, -1.733, -0.000, -1.058, 0, 90, 0, [SEP] 41, Shelf, -1.730, 0.302, -0.479, 0, 90, 0, [SEP] 42, Shelf, -1.732, 0.446, -1.056, 0, 90, 0, [SEP] 43, Shelf, -1.731, 0.596, -0.478, 0, 90, 0, [SEP] 44, Shelf, -1.733, 0.648, -1.635, 0, 90, 0, [SEP] 45, Shelf, -1.730, 0.477, -1.635, 0, 90, 0, [SEP] 46, ArmChair, 2.344, 0.002, -2.041, 0, 270, 0, [SEP] 47, ShelvingUnit, -1.847, 0.001, -2.357, 0, 90, 0, [SEP] 48, NorthWall, , , , , , , [SEP] 49, EastWall, , , , , , , [SEP] 50, SouthWall, , , , , , , [SEP] 51, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and walk to the blue chair. | STEP 2: Pick up the box on the floor. | STEP 3: Turn and face the coffee table, then walk ahead and veer right to the couch. | STEP 4: Place the box on the couch, to the right of the blue pillow. | END"]} +{"id": "trial_T20190908_184758_224801-1", "input": "Move two credit cards to the night stand between the beds. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.899, 0.0, 0, 0, 0, [SEP] 1, Bowl, -2.948, 1.413, -1.497, 0, 90, 0, 43 [SEP] 2, Bowl, 0.891, 1.413, -2.025, 0, 270, 0, 44 [SEP] 3, Watch, -1.523, 0.075, 0.414, 0, 90, 0, 68 [SEP] 4, Watch, 0.954, 1.141, -1.607, 0, 270, 0, 48 [SEP] 5, Pen, 2.993, 0.546, -0.552, 0, 270, 0, 63 [SEP] 6, Pen, 3.086, 0.797, -0.838, 0, 0, 0, 65 [SEP] 7, Pencil, -1.383, 0.619, 0.462, 0, 180, 0, 69 [SEP] 8, Pencil, 2.993, 0.547, -2.311, 0, 270, 0, 64 [SEP] 9, CreditCard, 3.209, 0.791, -1.121, 0, 0, 0, 65 [SEP] 10, KeyChain, -1.523, 0.339, 0.393, 0, 0, 0, 67 [SEP] 11, KeyChain, -2.979, 1.414, -2.390, 0, 180, 0, 46 [SEP] 12, Book, -0.479, 0.614, -0.317, 0, 0, 0, 38 [SEP] 13, Book, -2.003, 0.599, -0.035, 0, 0, 0, 37 [SEP] 14, AlarmClock, 3.271, 0.794, -2.250, 0, 0, 0, 65 [SEP] 15, Laptop, -0.936, 0.614, -0.879, 0, 0, 0, 38 [SEP] 16, Book, 3.18, 0.785, -1.541, 0, 21.311, 0, 65 [SEP] 17, Laptop, -2.46, 0.598, -1.160, 0, 0, 0, 37 [SEP] 18, KeyChain, -1.523, 0.615, 0.381, 0, 180, 0, 69 [SEP] 19, Cloth, 0.970, -0.001, -2.404, 0, 0, 0, [SEP] 20, BaseballBat, -2.982, 0.015, -2.698, 270, 350.597, 0, [SEP] 21, BasketBall, -2.718, 0.118, -1.925, 0, 0, 0, [SEP] 22, Pillow, -0.327, 0.693, -1.160, 0, 0, 0, 38 [SEP] 23, Pillow, -0.626, 0.650, 0.129, 0, 0, 0, 38 [SEP] 24, TennisRacket, -3.018, 0.301, -2.199, 19.103, 272.232, 184.978, [SEP] 25, Pencil, -1.592, 0.619, 0.503, 0, 180, 0, 69 [SEP] 26, CreditCard, 3.271, 0.792, -1.968, 0, 0, 0, 65 [SEP] 27, Cloth, 0.911, 0.025, -2.702, 0, 0, 0, [SEP] 28, TeddyBear, -2.645, 0.624, -0.402, 0, 286.876, 0, 37 [SEP] 29, Pen, 0.922, 1.147, -2.653, 0, 270, 0, 47 [SEP] 30, Cloth, 0.705, -0.001, -2.75, 0, 270, 0, [SEP] 31, AlarmClock, 3.024, 0.794, -2.250, 0, 0, 0, 65 [SEP] 32, Watch, -1.731, 0.614, 0.340, 0, 180, 0, 69 [SEP] 33, CellPhone, -0.175, 0.616, -0.035, 0, 0, 0, 38 [SEP] 34, CD, -3.011, 1.413, -1.765, 0, 90, 0, 53 [SEP] 35, Mug, 0.985, 1.411, -2.519, 0, 270, 0, 44 [SEP] 36, Bowl, -2.916, 1.413, -2.744, 0, 90, 0, 49 [SEP] 37, Bed, -2.455, -0.000, -0.572, 0, 0, 0, [SEP] 38, Bed, -0.634, -0.000, -0.567, 0, 0, 0, [SEP] 39, Chair, 2.828, -0.002, -0.004, 0, 245.795, 0, [SEP] 40, Chair, 2.727, -0.002, -1.210, 0, 95.225, 0, [SEP] 41, GarbageCan, 1.707, -0.003, -2.785, 0, 59.967, 0, [SEP] 42, Shelf, 0.922, 1.133, -2.163, 0, 270, 0, [SEP] 43, Shelf, -2.948, 1.405, -1.621, 0, 90, 0, [SEP] 44, Shelf, 0.922, 1.405, -2.163, 0, 270, 0, [SEP] 45, Shelf, -2.948, 1.133, -2.188, 0, 90, 0, [SEP] 46, Shelf, -2.948, 1.405, -2.188, 0, 90, 0, [SEP] 47, Shelf, 0.922, 1.133, -2.729, 0, 270, 0, [SEP] 48, Shelf, 0.922, 1.133, -1.616, 0, 270, 0, [SEP] 49, Shelf, -2.948, 1.405, -2.735, 0, 90, 0, [SEP] 50, Shelf, 0.922, 1.405, -1.616, 0, 270, 0, [SEP] 51, Shelf, -2.948, 1.133, -2.735, 0, 90, 0, [SEP] 52, Shelf, 0.922, 1.405, -2.729, 0, 270, 0, [SEP] 53, Shelf, -2.948, 1.133, -1.621, 0, 90, 0, [SEP] 54, LightSwitch, -0.142, 1.328, 0.600, 0, 180, 0, [SEP] 55, Poster, 3.400, 1.863, -1.976, 90, 90, 0, [SEP] 56, Poster, 3.400, 1.702, -0.792, 90, 90, 0, [SEP] 57, DeskLamp, 3.126, 0.789, -0.638, 0, 3.649, 0, [SEP] 58, Mirror, 0.453, 1.491, 0.616, 0, 0, 0, [SEP] 59, Window, 2.278, 0.925, -3.184, 90, 0, 0, [SEP] 60, Window, -1.019, 0.925, -3.184, 90, 0, 0, [SEP] 61, Blinds, -1.003, 2.072, -3.177, 0, 0, 0, [SEP] 62, Blinds, 2.292, 2.072, -3.177, 0, 0, 0, [SEP] 63, Shelf, 3.124, 0.633, -0.564, 0, 270, 0, [SEP] 64, Shelf, 3.124, 0.633, -2.267, 0, 270, 0, [SEP] 65, Desk, 3.141, -0.000, -1.414, 0, 270, 0, [SEP] 66, Desktop, 3.101, 0.792, -1.236, 358.565, 270, 0, [SEP] 67, Drawer, -1.523, 0.408, 0.346, 0, 180, 0, [SEP] 68, Drawer, -1.523, 0.141, 0.346, 0, 180, 0, [SEP] 69, SideTable, -1.522, -0.001, 0.411, 0, 180, 0, [SEP] 70, NorthWall, , , , , , , [SEP] 71, EastWall, , , , , , , [SEP] 72, SouthWall, , , , , , , [SEP] 73, WestWall, , , , , , , ", "output": ["STEP 1: Walk forward and walk around the left side of the bed. Go forward to the desk. | STEP 2: Pick up the credit card from the desk. | STEP 3: Turn around completely and walk around the bed to the right. Walk forward to the night stand. | STEP 4: Set the credit card on the night stand. | STEP 5: Walk forward and walk around the left side of the bed. Go forward to the desk. | STEP 6: Pick up the credit card from the desk. | STEP 7: Turn around completely and walk around the bed to the right. Walk forward to the night stand. | STEP 8: Set the credit card on the night stand. | END"]} +{"id": "trial_T20190907_072717_015321-0", "input": "Move two towels from the wall behind the sink to the back of the toilet SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.901, -3.75, 0, 0, 0, [SEP] 1, Cloth, -2.764, 0.066, -3.568, 0, 0, 0, 24 [SEP] 2, Cloth, -2.708, 0.806, -3.532, 0, 0, 0, 26 [SEP] 3, SoapBar, -2.355, 0.806, -2.263, 0, 0, 0, 26 [SEP] 4, SoapBottle, -0.068, 1.047, -3.048, 0, 270, 0, 35 [SEP] 5, SoapBottle, -2.708, 0.808, -3.707, 0, 0, 0, 26 [SEP] 6, HandTowel, -2.962, 1.584, -2.569, 0, 270, 0, 30 [SEP] 7, ToiletPaper, -2.613, 0.063, -3.081, 0, 0, 0, 19 [SEP] 8, Candle, -0.190, 1.054, -3.048, 0, 270, 0, 35 [SEP] 9, Cloth, -2.688, 0.066, -2.494, 0, 0, 0, 23 [SEP] 10, HandTowel, -2.962, 1.584, -3.550, 0, 270, 0, 29 [SEP] 11, Plunger, -0.125, 0.000, -3.493, 0, 0, 0, Floor|-00.04| [SEP] 12, SoapBar, -0.160, 1.045, -2.983, 0, 270, 0, 35 [SEP] 13, ToiletPaper, -2.689, 0.063, -3.382, 0, 0, 0, 24 [SEP] 14, ToiletPaper, -2.355, 0.803, -3.765, 0, 0, 0, 26 [SEP] 15, Towel, -1.291, 1.386, -0.63, 0, 270, 0, 27 [SEP] 16, SoapBottle, -2.839, 0.068, -3.198, 0, 0, 0, 19 [SEP] 17, SprayBottle, -2.387, 0.067, -2.494, 0, 0, 0, 23 [SEP] 18, ScrubBrush, -0.325, 0.000, -3.342, 0, 0, 0, Floor|-00.04| [SEP] 19, Cabinet, -2.293, 0.324, -3.254, 0, 0, 0, [SEP] 20, Mirror, -3.0, 1.659, -3.069, 0, 0, 0, [SEP] 21, Sink, -2.661, 0.785, -3.069, 0, 90, 0, [SEP] 22, ShowerGlass, -0.599, 1.097, -1.124, 0, 0, 0, [SEP] 23, Cabinet, -2.299, 0.345, -2.250, 0, 0, 0, [SEP] 24, Cabinet, -2.293, 0.324, -3.814, 0, 0, 0, [SEP] 25, ShowerDoor, -1.179, 1.090, -1.220, 0, 0, 0, [SEP] 26, CounterTop, -2.632, 0.843, -3.040, 0, 0, 0, [SEP] 27, TowelHolder, -1.184, 1.371, -0.629, 0, 270, 0, [SEP] 28, ToiletPaperHanger, 0.0, 0.943, -2.536, 0, 270, 0, [SEP] 29, HandTowelHolder, -3.000, 1.685, -3.550, 0, 0, 0, [SEP] 30, HandTowelHolder, -3.000, 1.685, -2.569, 0, 0, 0, [SEP] 31, Window, -0.567, 1.706, -4.002, 90, 0, 0, [SEP] 32, SinkBasin, -2.669, 0.863, -3.063, 0, 90, 0, [SEP] 33, GarbageCan, -0.459, -0.043, -3.769, 0, 0, 0, [SEP] 34, LightSwitch, -1.945, 1.503, 0.000, 0, 180, 0, [SEP] 35, Toilet, -0.452, 0.000, -3.052, 0, 0, 0, [SEP] 36, Faucet, -3.0, 1.167, -3.073, 0, 180, 0, [SEP] 37, ShowerHead, -0.614, 1.934, -0.013, 0, 0, 0, [SEP] 38, EastWall, , , , , , , [SEP] 39, EastWall, , , , , , , [SEP] 40, SouthWall, , , , , , , ", "output": ["STEP 1: Turn to your left and stand in front of the left side of the sink. | STEP 2: Take the towel from its holder hanging on the wall to the left of the mirror. | STEP 3: Turn around to face the side of the toilet nearest the shower. | STEP 4: Place the towel on the left side of the back of the toilet nearest the flusher handle. | STEP 5: Turn around and walk to the towel rack to the right of the sink. | STEP 6: Remove the towel from the rack. | STEP 7: Turn around and walk to the toilet. | STEP 8: Place the towel on the end of the back of the toilet to the right of the soap dispenser. | END"]} +{"id": "trial_T20190907_072717_015321-2", "input": "Place two towels, one on the left, one on the right on the back of the toilet. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.901, -3.75, 0, 0, 0, [SEP] 1, Cloth, -2.764, 0.066, -3.568, 0, 0, 0, 24 [SEP] 2, Cloth, -2.708, 0.806, -3.532, 0, 0, 0, 26 [SEP] 3, SoapBar, -2.355, 0.806, -2.263, 0, 0, 0, 26 [SEP] 4, SoapBottle, -0.068, 1.047, -3.048, 0, 270, 0, 35 [SEP] 5, SoapBottle, -2.708, 0.808, -3.707, 0, 0, 0, 26 [SEP] 6, HandTowel, -2.962, 1.584, -2.569, 0, 270, 0, 30 [SEP] 7, ToiletPaper, -2.613, 0.063, -3.081, 0, 0, 0, 19 [SEP] 8, Candle, -0.190, 1.054, -3.048, 0, 270, 0, 35 [SEP] 9, Cloth, -2.688, 0.066, -2.494, 0, 0, 0, 23 [SEP] 10, HandTowel, -2.962, 1.584, -3.550, 0, 270, 0, 29 [SEP] 11, Plunger, -0.125, 0.000, -3.493, 0, 0, 0, Floor|-00.04| [SEP] 12, SoapBar, -0.160, 1.045, -2.983, 0, 270, 0, 35 [SEP] 13, ToiletPaper, -2.689, 0.063, -3.382, 0, 0, 0, 24 [SEP] 14, ToiletPaper, -2.355, 0.803, -3.765, 0, 0, 0, 26 [SEP] 15, Towel, -1.291, 1.386, -0.63, 0, 270, 0, 27 [SEP] 16, SoapBottle, -2.839, 0.068, -3.198, 0, 0, 0, 19 [SEP] 17, SprayBottle, -2.387, 0.067, -2.494, 0, 0, 0, 23 [SEP] 18, ScrubBrush, -0.325, 0.000, -3.342, 0, 0, 0, Floor|-00.04| [SEP] 19, Cabinet, -2.293, 0.324, -3.254, 0, 0, 0, [SEP] 20, Mirror, -3.0, 1.659, -3.069, 0, 0, 0, [SEP] 21, Sink, -2.661, 0.785, -3.069, 0, 90, 0, [SEP] 22, ShowerGlass, -0.599, 1.097, -1.124, 0, 0, 0, [SEP] 23, Cabinet, -2.299, 0.345, -2.250, 0, 0, 0, [SEP] 24, Cabinet, -2.293, 0.324, -3.814, 0, 0, 0, [SEP] 25, ShowerDoor, -1.179, 1.090, -1.220, 0, 0, 0, [SEP] 26, CounterTop, -2.632, 0.843, -3.040, 0, 0, 0, [SEP] 27, TowelHolder, -1.184, 1.371, -0.629, 0, 270, 0, [SEP] 28, ToiletPaperHanger, 0.0, 0.943, -2.536, 0, 270, 0, [SEP] 29, HandTowelHolder, -3.000, 1.685, -3.550, 0, 0, 0, [SEP] 30, HandTowelHolder, -3.000, 1.685, -2.569, 0, 0, 0, [SEP] 31, Window, -0.567, 1.706, -4.002, 90, 0, 0, [SEP] 32, SinkBasin, -2.669, 0.863, -3.063, 0, 90, 0, [SEP] 33, GarbageCan, -0.459, -0.043, -3.769, 0, 0, 0, [SEP] 34, LightSwitch, -1.945, 1.503, 0.000, 0, 180, 0, [SEP] 35, Toilet, -0.452, 0.000, -3.052, 0, 0, 0, [SEP] 36, Faucet, -3.0, 1.167, -3.073, 0, 180, 0, [SEP] 37, ShowerHead, -0.614, 1.934, -0.013, 0, 0, 0, [SEP] 38, EastWall, , , , , , , [SEP] 39, EastWall, , , , , , , [SEP] 40, SouthWall, , , , , , , ", "output": ["STEP 1: Turn left and walk towards the sink. | STEP 2: Remove the towel on the left side of the mirror. | STEP 3: Turn right and walk towards the shower, turn right and walk towards the toilet. | STEP 4: Place the towel next to the pink bar of soap on the toilet. | STEP 5: Turn all the way around and walk towards the sink. | STEP 6: Remove the towel on the right side of the mirror. | STEP 7: Turn all the way around and walk towards the toilet. | STEP 8: Place the towel on the right side of the bottle of lotion on the toilet. | END"]} +{"id": "trial_T20190907_072717_015321-3", "input": "Put two rags on the handle to the left of the toilet. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.901, -3.75, 0, 0, 0, [SEP] 1, Cloth, -2.764, 0.066, -3.568, 0, 0, 0, 24 [SEP] 2, Cloth, -2.708, 0.806, -3.532, 0, 0, 0, 26 [SEP] 3, SoapBar, -2.355, 0.806, -2.263, 0, 0, 0, 26 [SEP] 4, SoapBottle, -0.068, 1.047, -3.048, 0, 270, 0, 35 [SEP] 5, SoapBottle, -2.708, 0.808, -3.707, 0, 0, 0, 26 [SEP] 6, HandTowel, -2.962, 1.584, -2.569, 0, 270, 0, 30 [SEP] 7, ToiletPaper, -2.613, 0.063, -3.081, 0, 0, 0, 19 [SEP] 8, Candle, -0.190, 1.054, -3.048, 0, 270, 0, 35 [SEP] 9, Cloth, -2.688, 0.066, -2.494, 0, 0, 0, 23 [SEP] 10, HandTowel, -2.962, 1.584, -3.550, 0, 270, 0, 29 [SEP] 11, Plunger, -0.125, 0.000, -3.493, 0, 0, 0, Floor|-00.04| [SEP] 12, SoapBar, -0.160, 1.045, -2.983, 0, 270, 0, 35 [SEP] 13, ToiletPaper, -2.689, 0.063, -3.382, 0, 0, 0, 24 [SEP] 14, ToiletPaper, -2.355, 0.803, -3.765, 0, 0, 0, 26 [SEP] 15, Towel, -1.291, 1.386, -0.63, 0, 270, 0, 27 [SEP] 16, SoapBottle, -2.839, 0.068, -3.198, 0, 0, 0, 19 [SEP] 17, SprayBottle, -2.387, 0.067, -2.494, 0, 0, 0, 23 [SEP] 18, ScrubBrush, -0.325, 0.000, -3.342, 0, 0, 0, Floor|-00.04| [SEP] 19, Cabinet, -2.293, 0.324, -3.254, 0, 0, 0, [SEP] 20, Mirror, -3.0, 1.659, -3.069, 0, 0, 0, [SEP] 21, Sink, -2.661, 0.785, -3.069, 0, 90, 0, [SEP] 22, ShowerGlass, -0.599, 1.097, -1.124, 0, 0, 0, [SEP] 23, Cabinet, -2.299, 0.345, -2.250, 0, 0, 0, [SEP] 24, Cabinet, -2.293, 0.324, -3.814, 0, 0, 0, [SEP] 25, ShowerDoor, -1.179, 1.090, -1.220, 0, 0, 0, [SEP] 26, CounterTop, -2.632, 0.843, -3.040, 0, 0, 0, [SEP] 27, TowelHolder, -1.184, 1.371, -0.629, 0, 270, 0, [SEP] 28, ToiletPaperHanger, 0.0, 0.943, -2.536, 0, 270, 0, [SEP] 29, HandTowelHolder, -3.000, 1.685, -3.550, 0, 0, 0, [SEP] 30, HandTowelHolder, -3.000, 1.685, -2.569, 0, 0, 0, [SEP] 31, Window, -0.567, 1.706, -4.002, 90, 0, 0, [SEP] 32, SinkBasin, -2.669, 0.863, -3.063, 0, 90, 0, [SEP] 33, GarbageCan, -0.459, -0.043, -3.769, 0, 0, 0, [SEP] 34, LightSwitch, -1.945, 1.503, 0.000, 0, 180, 0, [SEP] 35, Toilet, -0.452, 0.000, -3.052, 0, 0, 0, [SEP] 36, Faucet, -3.0, 1.167, -3.073, 0, 180, 0, [SEP] 37, ShowerHead, -0.614, 1.934, -0.013, 0, 0, 0, [SEP] 38, EastWall, , , , , , , [SEP] 39, EastWall, , , , , , , [SEP] 40, SouthWall, , , , , , , ", "output": ["STEP 1: Move to the sink ahead of the toilet | STEP 2: Pick up a rag from the towel ring on the wall | STEP 3: Move to the left side of the toilet behind you | STEP 4: Put the rag on the wall handle | STEP 5: Move to the sink ahead of the toilet | STEP 6: Pick up a rag from the towel ring on the wall | STEP 7: Move to the left side of the toilet behind you | STEP 8: Put the rag on the wall handle | END"]} +{"id": "trial_T20190907_072717_015321-4", "input": "Move two hand towels to the back of the toilet SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.901, -3.75, 0, 0, 0, [SEP] 1, Cloth, -2.764, 0.066, -3.568, 0, 0, 0, 24 [SEP] 2, Cloth, -2.708, 0.806, -3.532, 0, 0, 0, 26 [SEP] 3, SoapBar, -2.355, 0.806, -2.263, 0, 0, 0, 26 [SEP] 4, SoapBottle, -0.068, 1.047, -3.048, 0, 270, 0, 35 [SEP] 5, SoapBottle, -2.708, 0.808, -3.707, 0, 0, 0, 26 [SEP] 6, HandTowel, -2.962, 1.584, -2.569, 0, 270, 0, 30 [SEP] 7, ToiletPaper, -2.613, 0.063, -3.081, 0, 0, 0, 19 [SEP] 8, Candle, -0.190, 1.054, -3.048, 0, 270, 0, 35 [SEP] 9, Cloth, -2.688, 0.066, -2.494, 0, 0, 0, 23 [SEP] 10, HandTowel, -2.962, 1.584, -3.550, 0, 270, 0, 29 [SEP] 11, Plunger, -0.125, 0.000, -3.493, 0, 0, 0, Floor|-00.04| [SEP] 12, SoapBar, -0.160, 1.045, -2.983, 0, 270, 0, 35 [SEP] 13, ToiletPaper, -2.689, 0.063, -3.382, 0, 0, 0, 24 [SEP] 14, ToiletPaper, -2.355, 0.803, -3.765, 0, 0, 0, 26 [SEP] 15, Towel, -1.291, 1.386, -0.63, 0, 270, 0, 27 [SEP] 16, SoapBottle, -2.839, 0.068, -3.198, 0, 0, 0, 19 [SEP] 17, SprayBottle, -2.387, 0.067, -2.494, 0, 0, 0, 23 [SEP] 18, ScrubBrush, -0.325, 0.000, -3.342, 0, 0, 0, Floor|-00.04| [SEP] 19, Cabinet, -2.293, 0.324, -3.254, 0, 0, 0, [SEP] 20, Mirror, -3.0, 1.659, -3.069, 0, 0, 0, [SEP] 21, Sink, -2.661, 0.785, -3.069, 0, 90, 0, [SEP] 22, ShowerGlass, -0.599, 1.097, -1.124, 0, 0, 0, [SEP] 23, Cabinet, -2.299, 0.345, -2.250, 0, 0, 0, [SEP] 24, Cabinet, -2.293, 0.324, -3.814, 0, 0, 0, [SEP] 25, ShowerDoor, -1.179, 1.090, -1.220, 0, 0, 0, [SEP] 26, CounterTop, -2.632, 0.843, -3.040, 0, 0, 0, [SEP] 27, TowelHolder, -1.184, 1.371, -0.629, 0, 270, 0, [SEP] 28, ToiletPaperHanger, 0.0, 0.943, -2.536, 0, 270, 0, [SEP] 29, HandTowelHolder, -3.000, 1.685, -3.550, 0, 0, 0, [SEP] 30, HandTowelHolder, -3.000, 1.685, -2.569, 0, 0, 0, [SEP] 31, Window, -0.567, 1.706, -4.002, 90, 0, 0, [SEP] 32, SinkBasin, -2.669, 0.863, -3.063, 0, 90, 0, [SEP] 33, GarbageCan, -0.459, -0.043, -3.769, 0, 0, 0, [SEP] 34, LightSwitch, -1.945, 1.503, 0.000, 0, 180, 0, [SEP] 35, Toilet, -0.452, 0.000, -3.052, 0, 0, 0, [SEP] 36, Faucet, -3.0, 1.167, -3.073, 0, 180, 0, [SEP] 37, ShowerHead, -0.614, 1.934, -0.013, 0, 0, 0, [SEP] 38, EastWall, , , , , , , [SEP] 39, EastWall, , , , , , , [SEP] 40, SouthWall, , , , , , , ", "output": ["STEP 1: Turn directly to your left and face the bathroom counter | STEP 2: Pick up a hand towel off of the rack | STEP 3: Turn around so you are facing the left of the toilet | STEP 4: Place the hand towel on the back of the toilet on the left side | STEP 5: Turn around and walk to the bathroom counter behind you | STEP 6: Pick up a hand towel off of the rack | STEP 7: Turn around and walk to the left side of the toilet again | STEP 8: Place this hand towel on the back of the toilet on the right side | END"]} +{"id": "trial_T20190909_132758_221972-2", "input": "Place a heated potato in a trash bin. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.900, -0.25, 0, 180, 0, [SEP] 1, Potato, -0.211, 0.947, 1.540, 0, 0, 0, 45 [SEP] 2, DishSponge, -2.455, 0.910, 1.230, 0, 0, 0, 73 [SEP] 3, ButterKnife, -2.289, 0.910, 0.631, 0, 0, 0, 73 [SEP] 4, ButterKnife, 1.684, 0.910, -0.851, 0, 0, 0, 55 [SEP] 5, Fork, -2.379, 0.773, -0.073, 0, 90, 0, 63 [SEP] 6, Fork, -2.621, 0.911, 0.631, 0, 0, 0, 73 [SEP] 7, Spoon, -2.289, 0.912, 0.631, 0, 0, 0, 73 [SEP] 8, Spoon, -2.318, 0.775, 0.905, 0, 90, 0, 50 [SEP] 9, Spatula, -0.471, 0.925, 0.647, 0, 0, 0, 45 [SEP] 10, Spatula, -0.471, 0.925, 1.094, 0, 90, 0, 45 [SEP] 11, Pot, 1.691, 0.929, -0.335, 0, 0, 0, 53 [SEP] 12, Egg, -2.455, 0.941, 1.530, 0, 0, 0, 73 [SEP] 13, Cup, -2.485, 1.298, -0.507, 0, 90, 0, 77 [SEP] 14, Knife, -2.348, 0.798, 0.952, 0, 270, 0, 50 [SEP] 15, Knife, -2.348, 0.798, 0.391, 0, 90, 0, 62 [SEP] 16, SoapBottle, 1.646, 0.187, 0.651, 0, 0, 0, 84 [SEP] 17, SoapBottle, -2.645, 1.539, 2.768, 0, 0, 0, 49 [SEP] 18, SaltShaker, -2.638, 1.533, 1.984, 0, 0, 0, 57 [SEP] 19, Bread, 0.048, 0.996, 1.764, 0, 0, 0, 45 [SEP] 20, Mug, 0.195, 0.905, -1.795, 0, 0, 0, 55 [SEP] 21, Mug, 1.521, 0.905, -0.918, 0, 45, 0, 55 [SEP] 22, Pan, -0.730, 0.910, 1.094, 0, 0, 0, 45 [SEP] 23, Knife, -2.287, 0.799, 0.857, 0, 90, 0, 50 [SEP] 24, Apple, -2.621, 0.972, 0.331, 0, 0, 0, 73 [SEP] 25, Bowl, 1.599, 0.908, -0.684, 0, 0, 0, 55 [SEP] 26, Fork, 1.598, 0.911, 0.465, 0, 0, 0, 54 [SEP] 27, Bread, -2.538, 0.996, 0.631, 0, 0, 0, 73 [SEP] 28, Plate, -0.211, 0.913, 1.764, 0, 0, 0, 45 [SEP] 29, Egg, 1.221, 0.949, -1.161, 0, 225, 0, 59 [SEP] 30, Kettle, -0.471, 0.911, 1.540, 0, 0, 0, 45 [SEP] 31, Potato, 1.418, 0.954, -1.034, 0, 315, 0, 59 [SEP] 32, SaltShaker, -2.524, 1.532, 0.125, 0, 0, 0, 68 [SEP] 33, Lettuce, -2.289, 0.994, 0.931, 0, 0, 0, 73 [SEP] 34, Cup, -2.241, 0.112, 0.541, 0, 0, 0, 70 [SEP] 35, SoapBottle, 1.434, 0.924, -1.158, 0, 225, 0, 59 [SEP] 36, Spatula, 0.966, 0.925, -1.585, 0, 45, 0, 55 [SEP] 37, PaperTowelRoll, 0.985, 1.015, -1.775, 0, 0, 0, 55 [SEP] 38, ButterKnife, -2.621, 0.910, 0.931, 0, 0, 0, 73 [SEP] 39, PepperShaker, 1.662, 1.658, -0.335, 0, 0, 0, 65 [SEP] 40, DishSponge, -2.645, 1.537, -0.019, 0, 0, 0, 68 [SEP] 41, Pot, 1.412, 0.929, -0.335, 0, 0, 0, 46 [SEP] 42, Spoon, -0.601, 0.912, 0.423, 0, 0, 0, 45 [SEP] 43, Tomato, 1.341, 0.953, 0.376, 0, 0, 0, 54 [SEP] 44, Mug, -2.448, 1.578, -1.412, 0, 180, 0, 72 [SEP] 45, CounterTop, -0.360, 0.946, 1.093, 0, 0, 0, [SEP] 46, StoveBurner, 1.412, 0.923, -0.335, 0, 0, 0, [SEP] 47, StoveKnob, 1.878, 1.093, 0.018, 287.989, 90, 0, [SEP] 48, StoveKnob, 1.878, 1.093, -0.306, 287.989, 90, 0, [SEP] 49, Cabinet, -2.446, 1.948, 2.924, 0, 0, 0, [SEP] 50, Drawer, -2.276, 0.792, 0.902, 0, 0, 0, [SEP] 51, Cabinet, -2.145, 0.402, 1.578, 0, 0, 0, [SEP] 52, Cabinet, 0.149, 2.008, -1.603, 0, 90, 0, [SEP] 53, StoveBurner, 1.691, 0.923, -0.335, 0, 0, 0, [SEP] 54, CounterTop, 1.585, 0.946, 0.405, 0, 0, 0, [SEP] 55, CounterTop, 0.474, 0.946, -1.625, 0, 0, 0, [SEP] 56, StoveBurner, 1.691, 0.923, 0.064, 0, 0, 0, [SEP] 57, Cabinet, -2.446, 1.948, 1.687, 0, 0, 0, [SEP] 58, Cabinet, -2.446, 1.948, 1.640, 0, 0, 0, [SEP] 59, Sink, 1.381, 0.810, -1.271, 0, 225, 0, [SEP] 60, StoveKnob, 1.878, 1.093, 0.150, 287.989, 90, 0, [SEP] 61, Cabinet, -2.145, 0.402, -0.236, 0, 0, 0, [SEP] 62, Drawer, -2.276, 0.792, 0.437, 0, 0, 0, [SEP] 63, Drawer, -2.276, 0.792, -0.027, 0, 0, 0, [SEP] 64, Cabinet, 1.572, 2.008, 0.474, 0, 0, 0, [SEP] 65, Cabinet, 1.572, 2.008, -0.775, 0, 0, 0, [SEP] 66, Cabinet, -2.445, 2.148, -1.275, 0, 0, 0, [SEP] 67, Cabinet, -2.446, 2.148, -0.284, 0, 0, 0, [SEP] 68, Cabinet, -2.446, 1.948, 0.355, 0, 0, 0, [SEP] 69, Cabinet, -2.446, 1.948, 0.405, 0, 0, 0, [SEP] 70, Cabinet, -2.145, 0.402, 0.644, 0, 0, 0, [SEP] 71, Cabinet, -2.145, 0.402, 0.695, 0, 0, 0, [SEP] 72, Cabinet, -2.285, 1.968, -1.325, 0, 180, 0, [SEP] 73, CounterTop, -1.485, 0.946, 1.319, 0, 0, 0, [SEP] 74, StoveBurner, 1.411, 0.923, 0.064, 0, 0, 0, [SEP] 75, StoveKnob, 1.878, 1.093, -0.441, 287.989, 90, 0, [SEP] 76, Drawer, -2.276, 0.792, 1.368, 0, 0, 0, [SEP] 77, Fridge, -2.475, 0.0, -0.782, 0, 90, 0, [SEP] 78, LightSwitch, -0.929, 1.350, -1.950, 0, 0, 0, [SEP] 79, Toaster, -2.564, 0.900, 1.876, 0, 90, 0, [SEP] 80, CoffeeMachine, 0.464, 0.900, -1.810, 0, 0, 0, [SEP] 81, Window, 1.508, 1.534, -1.496, 90, 135, 0, [SEP] 82, Window, 1.973, 1.521, 1.121, 90, 90, 0, [SEP] 83, SinkBasin, 1.149, 0.753, -1.380, 0, 225, 0, [SEP] 84, GarbageCan, 1.646, -0.000, 0.679, 0, 0, 0, [SEP] 85, Microwave, -2.580, 0.900, 2.440, 0, 90, 0, [SEP] 86, Stool, 0.439, 0.010, 0.747, 0, 0, 0, [SEP] 87, Stool, -2.303, 0.010, 1.839, 0, 0, 0, [SEP] 88, Faucet, 1.235, 1.138, -1.473, 0, 225, 0, [SEP] 89, NorthWall, , , , , , , [SEP] 90, EastWall, , , , , , , [SEP] 91, SouthWall, , , , , , , [SEP] 92, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk along the kitchen island, turning left at the end and turning to face the island. | STEP 2: Pick up the potato next to the kettle on the counter. | STEP 3: Turn right and walk to the microwave. | STEP 4: Heat the potato in the microwave. | STEP 5: Turn around and walk to the white door, then turn right and walk to the gray trash bin. | STEP 6: Place the potato in the trash bin. | END"]} +{"id": "trial_T20190908_062903_522160-0", "input": "Move a book while turning on a lamp SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.900, -0.75, 0, 180, 0, [SEP] 1, Pen, -1.594, 0.867, -2.436, 0, 0, 0, 54 [SEP] 2, Pencil, 0.459, 0.815, -2.169, 0, 0, 0, 47 [SEP] 3, Pencil, -1.232, 0.656, -2.363, 0, 0, 0, 53 [SEP] 4, KeyChain, -1.232, 0.372, -2.211, 0, 270, 0, 52 [SEP] 5, Laptop, 0.528, 0.772, 1.496, 0, 0, 0, 25 [SEP] 6, AlarmClock, 0.042, 0.813, -2.169, 0, 0, 0, 47 [SEP] 7, AlarmClock, 0.355, 0.813, -2.440, 0, 0, 0, 47 [SEP] 8, Book, -0.621, 0.774, 0.850, 0, 0, 0, 25 [SEP] 9, Cloth, 1.303, 0.0, -0.696, 0, 303.212, 0, [SEP] 10, Cloth, 1.273, 0.0, -0.969, 0, 0, 0, [SEP] 11, CellPhone, -1.406, 0.371, -2.287, 0, 0, 0, 52 [SEP] 12, Pencil, -1.319, 0.091, -2.325, 0, 0, 0, 51 [SEP] 13, Laptop, -0.046, 0.772, 1.819, 0, 0, 0, 25 [SEP] 14, AlarmClock, -0.587, 0.862, -2.248, 0, 0, 0, 54 [SEP] 15, CreditCard, -0.990, 0.862, -2.311, 0, 0, 0, 54 [SEP] 16, KeyChain, 1.494, 0.824, -1.363, 0, 270, 0, 45 [SEP] 17, TennisRacket, -1.704, 0.345, 1.743, 345.000, 90, 180, [SEP] 18, RemoteControl, -1.580, 0.373, -2.325, 0, 0, 0, 52 [SEP] 19, Pillow, 1.073, 0.876, 1.326, 0, 262.063, 0, 25 [SEP] 20, CD, -1.192, 0.861, -2.436, 0, 0, 0, 54 [SEP] 21, CD, -1.145, 0.371, -2.363, 0, 0, 0, 52 [SEP] 22, CD, 1.313, 0.151, -2.510, 0, 315, 0, 32 [SEP] 23, Pen, -0.061, 0.818, -2.372, 0, 0, 0, 47 [SEP] 24, Bowl, -0.990, 0.863, -2.436, 0, 0, 0, 54 [SEP] 25, Bed, 0.270, 0.001, 1.331, 0, 90, 0, [SEP] 26, LaundryHamper, -1.329, 0.001, 1.829, 0, 180, 0, [SEP] 27, Television, -1.664, 1.479, -0.912, 0, 90, 0, [SEP] 28, DeskLamp, 0.049, 0.815, -2.481, 0, 0, 0, [SEP] 29, LightSwitch, -1.799, 1.213, 0.680, 0, 90, 0, [SEP] 30, Painting, 0.492, 1.684, -2.629, 90, 0, 0, [SEP] 31, Poster, -1.799, 1.690, -1.491, 90, 270, 0, [SEP] 32, GarbageCan, 1.306, -0.001, -2.451, 0, 317.376, 0, [SEP] 33, Mirror, 1.5, 1.361, -0.542, 0, 90, 0, [SEP] 34, Window, 1.721, 1.365, -1.597, 90, 270, 0, [SEP] 35, Shelf, -1.605, 0.435, -0.686, 0, 90, 0, [SEP] 36, Shelf, -1.613, 1.154, -0.904, 0, 90, 0, [SEP] 37, ShelvingUnit, -1.611, 0.005, -0.904, 0, 90, 0, [SEP] 38, Shelf, -1.605, 0.719, -1.122, 0, 90, 0, [SEP] 39, Shelf, -1.605, 0.435, -1.122, 0, 90, 0, [SEP] 40, Shelf, -1.605, 1.006, -1.122, 0, 90, 0, [SEP] 41, Shelf, -1.605, 0.148, -0.686, 0, 90, 0, [SEP] 42, Shelf, -1.605, 0.149, -1.122, 0, 90, 0, [SEP] 43, Shelf, -1.605, 1.006, -0.686, 0, 90, 0, [SEP] 44, Shelf, -1.605, 0.719, -0.686, 0, 90, 0, [SEP] 45, SideTable, 1.484, 0.001, -1.481, 0, 270, 0, [SEP] 46, Blinds, 1.699, 2.096, -1.575, 0, 270, 0, [SEP] 47, Desk, 0.244, 0.004, -2.356, 0, 0, 0, [SEP] 48, Chair, -0.626, 1.439, -2.199, 0, 171.006, 0, [SEP] 49, Chair, 0.220, 1.466, -2.214, 0, 188.269, 0, [SEP] 50, Shelf, -0.978, 1.387, -2.479, 0, 0, 0, [SEP] 51, Drawer, -1.389, 0.197, -2.261, 0, 0, 0, [SEP] 52, Drawer, -1.389, 0.480, -2.261, 0, 0, 0, [SEP] 53, Drawer, -1.389, 0.731, -2.261, 0, 0, 0, [SEP] 54, Desk, -0.973, 1.162, -2.351, 0, 0, 0, [SEP] 55, NorthWall, , , , , , , [SEP] 56, EastWall, , , , , , , [SEP] 57, SouthWall, , , , , , , [SEP] 58, WestWall, , , , , , , ", "output": ["STEP 1: Move to the left side of the end of the bed | STEP 2: Pick up the book on the edge of the bed | STEP 3: Carry the book to the small desk top where the lamp is | STEP 4: Turn on the lamp | END"]} +{"id": "trial_T20190908_062903_522160-1", "input": "Examine the book by the light of the lamp SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.900, -0.75, 0, 180, 0, [SEP] 1, Pen, -1.594, 0.867, -2.436, 0, 0, 0, 54 [SEP] 2, Pencil, 0.459, 0.815, -2.169, 0, 0, 0, 47 [SEP] 3, Pencil, -1.232, 0.656, -2.363, 0, 0, 0, 53 [SEP] 4, KeyChain, -1.232, 0.372, -2.211, 0, 270, 0, 52 [SEP] 5, Laptop, 0.528, 0.772, 1.496, 0, 0, 0, 25 [SEP] 6, AlarmClock, 0.042, 0.813, -2.169, 0, 0, 0, 47 [SEP] 7, AlarmClock, 0.355, 0.813, -2.440, 0, 0, 0, 47 [SEP] 8, Book, -0.621, 0.774, 0.850, 0, 0, 0, 25 [SEP] 9, Cloth, 1.303, 0.0, -0.696, 0, 303.212, 0, [SEP] 10, Cloth, 1.273, 0.0, -0.969, 0, 0, 0, [SEP] 11, CellPhone, -1.406, 0.371, -2.287, 0, 0, 0, 52 [SEP] 12, Pencil, -1.319, 0.091, -2.325, 0, 0, 0, 51 [SEP] 13, Laptop, -0.046, 0.772, 1.819, 0, 0, 0, 25 [SEP] 14, AlarmClock, -0.587, 0.862, -2.248, 0, 0, 0, 54 [SEP] 15, CreditCard, -0.990, 0.862, -2.311, 0, 0, 0, 54 [SEP] 16, KeyChain, 1.494, 0.824, -1.363, 0, 270, 0, 45 [SEP] 17, TennisRacket, -1.704, 0.345, 1.743, 345.000, 90, 180, [SEP] 18, RemoteControl, -1.580, 0.373, -2.325, 0, 0, 0, 52 [SEP] 19, Pillow, 1.073, 0.876, 1.326, 0, 262.063, 0, 25 [SEP] 20, CD, -1.192, 0.861, -2.436, 0, 0, 0, 54 [SEP] 21, CD, -1.145, 0.371, -2.363, 0, 0, 0, 52 [SEP] 22, CD, 1.313, 0.151, -2.510, 0, 315, 0, 32 [SEP] 23, Pen, -0.061, 0.818, -2.372, 0, 0, 0, 47 [SEP] 24, Bowl, -0.990, 0.863, -2.436, 0, 0, 0, 54 [SEP] 25, Bed, 0.270, 0.001, 1.331, 0, 90, 0, [SEP] 26, LaundryHamper, -1.329, 0.001, 1.829, 0, 180, 0, [SEP] 27, Television, -1.664, 1.479, -0.912, 0, 90, 0, [SEP] 28, DeskLamp, 0.049, 0.815, -2.481, 0, 0, 0, [SEP] 29, LightSwitch, -1.799, 1.213, 0.680, 0, 90, 0, [SEP] 30, Painting, 0.492, 1.684, -2.629, 90, 0, 0, [SEP] 31, Poster, -1.799, 1.690, -1.491, 90, 270, 0, [SEP] 32, GarbageCan, 1.306, -0.001, -2.451, 0, 317.376, 0, [SEP] 33, Mirror, 1.5, 1.361, -0.542, 0, 90, 0, [SEP] 34, Window, 1.721, 1.365, -1.597, 90, 270, 0, [SEP] 35, Shelf, -1.605, 0.435, -0.686, 0, 90, 0, [SEP] 36, Shelf, -1.613, 1.154, -0.904, 0, 90, 0, [SEP] 37, ShelvingUnit, -1.611, 0.005, -0.904, 0, 90, 0, [SEP] 38, Shelf, -1.605, 0.719, -1.122, 0, 90, 0, [SEP] 39, Shelf, -1.605, 0.435, -1.122, 0, 90, 0, [SEP] 40, Shelf, -1.605, 1.006, -1.122, 0, 90, 0, [SEP] 41, Shelf, -1.605, 0.148, -0.686, 0, 90, 0, [SEP] 42, Shelf, -1.605, 0.149, -1.122, 0, 90, 0, [SEP] 43, Shelf, -1.605, 1.006, -0.686, 0, 90, 0, [SEP] 44, Shelf, -1.605, 0.719, -0.686, 0, 90, 0, [SEP] 45, SideTable, 1.484, 0.001, -1.481, 0, 270, 0, [SEP] 46, Blinds, 1.699, 2.096, -1.575, 0, 270, 0, [SEP] 47, Desk, 0.244, 0.004, -2.356, 0, 0, 0, [SEP] 48, Chair, -0.626, 1.439, -2.199, 0, 171.006, 0, [SEP] 49, Chair, 0.220, 1.466, -2.214, 0, 188.269, 0, [SEP] 50, Shelf, -0.978, 1.387, -2.479, 0, 0, 0, [SEP] 51, Drawer, -1.389, 0.197, -2.261, 0, 0, 0, [SEP] 52, Drawer, -1.389, 0.480, -2.261, 0, 0, 0, [SEP] 53, Drawer, -1.389, 0.731, -2.261, 0, 0, 0, [SEP] 54, Desk, -0.973, 1.162, -2.351, 0, 0, 0, [SEP] 55, NorthWall, , , , , , , [SEP] 56, EastWall, , , , , , , [SEP] 57, SouthWall, , , , , , , [SEP] 58, WestWall, , , , , , , ", "output": ["STEP 1: Turn left move forward then turn left head to the end of the bed | STEP 2: Pick up the book on the bed | STEP 3: Turn right walk forward head to the table with lamp | STEP 4: Turn on the lamp | END"]} +{"id": "trial_T20190908_230120_967022-2", "input": "put a slice of tomato inside a microwave SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.930, 1.0, 0, 180, 0, [SEP] 1, Potato, 0.851, 0.751, -1.459, 0, 0, 0, 116 [SEP] 2, Potato, 1.086, 1.111, -1.531, 0, 0, 0, 116 [SEP] 3, Ladle, 0.605, 0.947, 0.218, 0, 36.810, 0, 101 [SEP] 4, Ladle, 0.967, 0.945, 0.038, 0, 0, 0, 101 [SEP] 5, DishSponge, 0.404, 1.259, -1.741, 0, 0, 0, 86 [SEP] 6, ButterKnife, 0.054, 0.900, -1.481, 0, 45, 0, 91 [SEP] 7, Kettle, -0.239, 0.902, -1.089, 0, 315, 0, 99 [SEP] 8, Kettle, -0.419, 0.902, -1.269, 0, 315, 0, 72 [SEP] 9, Pot, -0.862, 0.900, 0.846, 0, 0, 0, 70 [SEP] 10, Spatula, 2.988, 0.727, -0.501, 0, 90, 0, 66 [SEP] 11, Spatula, -0.786, 0.341, 0.163, 0, 270, 0, 75 [SEP] 12, Fork, -0.827, 0.326, -0.186, 0, 0, 0, 75 [SEP] 13, Fork, -0.827, 0.518, 1.343, 0, 0, 0, 58 [SEP] 14, Mug, -0.033, 0.895, -1.291, 0, 45, 0, 91 [SEP] 15, Bread, 0.494, 0.986, 0.301, 0, 36.810, 0, 101 [SEP] 16, Lettuce, 0.798, 0.976, 0.426, 0, 0, 0, 101 [SEP] 17, Lettuce, 0.022, 0.965, -1.731, 0, 0, 0, 91 [SEP] 18, SaltShaker, -0.868, 0.322, 1.605, 0, 0, 0, 105 [SEP] 19, SaltShaker, 3.373, 0.897, -0.151, 0, 0, 0, 69 [SEP] 20, PepperShaker, 3.146, 1.260, -0.854, 0, 0, 0, 83 [SEP] 21, SoapBottle, 0.731, 0.917, 0.733, 0, 36.810, 0, 101 [SEP] 22, SoapBottle, -0.090, 0.909, -1.440, 0, 45, 0, 91 [SEP] 23, Egg, -1.018, 1.050, 1.523, 0, 90, 0, 118 [SEP] 24, Egg, -0.985, 1.050, 1.364, 0, 90, 0, 118 [SEP] 25, Cup, 0.887, 0.908, 0.727, 0, 0, 0, 101 [SEP] 26, Cup, 0.889, 0.908, 0.249, 0, 36.810, 0, 101 [SEP] 27, Plate, 3.173, 1.477, -1.235, 0, 0, 0, 84 [SEP] 28, Plate, 3.140, 0.190, 0.700, 0, 0, 0, 79 [SEP] 29, Knife, 3.122, 0.926, -0.300, 0, 0, 0, 69 [SEP] 30, Knife, -1.008, 0.925, 0.176, 0, 0, 0, 70 [SEP] 31, Plate, 0.808, 1.687, -1.480, 0, 0, 0, 85 [SEP] 32, Glassbottle, -0.717, 0.901, -0.494, 0, 0, 0, 70 [SEP] 33, SoapBottle, 3.128, 0.110, 1.653, 0, 225, 0, 111 [SEP] 34, Potato, 1.086, 0.924, -1.531, 0, 0, 0, 116 [SEP] 35, Fork, 3.069, 0.747, 0.032, 0, 270, 0, 115 [SEP] 36, Ladle, 3.028, 0.212, -0.786, 0, 0, 0, 82 [SEP] 37, Pot, 1.098, 0.908, 0.464, 0, 270, 0, 101 [SEP] 38, Kettle, -0.420, 0.902, -0.920, 0, 135, 0, 65 [SEP] 39, Spatula, -0.868, 0.533, 0.926, 0, 270, 0, 67 [SEP] 40, Knife, -0.936, 0.925, -0.695, 0, 135, 0, 70 [SEP] 41, Lettuce, -0.775, 0.965, -0.854, 0, 45, 0, 70 [SEP] 42, Cup, 3.044, 0.898, -0.499, 0, 0, 0, 69 [SEP] 43, SaltShaker, -0.705, 0.896, -0.621, 0, 45, 0, 70 [SEP] 44, Egg, 0.773, 0.938, -1.559, 0, 0, 0, 116 [SEP] 45, PepperShaker, -0.006, 0.318, -1.328, 0, 45, 0, 95 [SEP] 46, ButterKnife, 0.151, 0.900, -1.476, 0, 135, 0, 91 [SEP] 47, Apple, 2.888, 0.974, -0.399, 0, 0, 0, 69 [SEP] 48, Pan, 0.341, 0.873, -1.649, 0, 167.065, 0, 91 [SEP] 49, Bread, -0.935, 0.979, 0.399, 0, 0, 0, 70 [SEP] 50, CellPhone, -1.153, 0.897, 0.399, 0, 0, 0, 74 [SEP] 51, DishSponge, -0.731, 0.517, -0.707, 0, 45, 0, 93 [SEP] 52, Tomato, -0.935, 0.937, 0.623, 0, 0, 0, 70 [SEP] 53, Spoon, -0.868, 0.707, 1.343, 0, 0, 0, 63 [SEP] 54, Bowl, 2.971, 0.172, -0.404, 0, 0, 0, 81 [SEP] 55, Mug, 0.622, 0.905, 0.627, 0, 0, 0, 101 [SEP] 56, Drawer, 0.376, 0.572, -1.509, 0, 0, 0, [SEP] 57, Drawer, 3.020, 0.769, -0.783, 0, 180, 0, [SEP] 58, Drawer, -0.860, 0.577, 1.429, 0, 0, 0, [SEP] 59, StoveBurner, -0.600, 0.897, -1.090, 0, 135, 0, [SEP] 60, Drawer, 0.376, 0.191, -1.509, 0, 0, 0, [SEP] 61, Cabinet, 1.402, 1.874, -1.259, 0, 0, 0, [SEP] 62, Cabinet, -0.202, 1.963, -1.328, 0, 0, 0, [SEP] 63, Drawer, -0.860, 0.765, 1.429, 0, 0, 0, [SEP] 64, Drawer, -0.677, 0.765, -0.700, 0, 0, 0, [SEP] 65, StoveBurner, -0.420, 0.897, -0.920, 0, 135, 0, [SEP] 66, Drawer, 3.020, 0.769, -0.407, 0, 180, 0, [SEP] 67, Drawer, -0.860, 0.577, 0.663, 0, 0, 0, [SEP] 68, Cabinet, 2.819, 1.768, -1.850, 0, 0, 0, [SEP] 69, CounterTop, 3.111, 0.936, 0.019, 0, 0, 0, [SEP] 70, CounterTop, -1.007, 0.935, -0.039, 0, 0, 0, [SEP] 71, Drawer, -0.860, 0.385, 0.663, 0, 0, 0, [SEP] 72, StoveBurner, -0.419, 0.897, -1.269, 0, 315, 0, [SEP] 73, Drawer, -0.047, 0.573, -1.324, 0, 0, 0, [SEP] 74, Drawer, -0.860, 0.765, 0.663, 0, 0, 0, [SEP] 75, Drawer, -0.860, 0.385, -0.100, 0, 0, 0, [SEP] 76, Drawer, 0.376, 0.380, -1.509, 0, 0, 0, [SEP] 77, Drawer, -0.860, 0.765, -0.100, 0, 0, 0, [SEP] 78, Drawer, 0.376, 0.765, -1.509, 0, 0, 0, [SEP] 79, Cabinet, 2.849, 0.419, 0.409, 0, 0, 0, [SEP] 80, Drawer, -0.047, 0.765, -1.324, 0, 0, 0, [SEP] 81, Cabinet, 2.849, 0.419, -0.610, 0, 0, 0, [SEP] 82, Cabinet, 2.849, 0.419, -0.959, 0, 0, 0, [SEP] 83, Cabinet, 3.069, 1.666, -0.709, 0, 0, 0, [SEP] 84, Cabinet, 2.819, 1.768, -1.047, 0, 0, 0, [SEP] 85, Cabinet, 0.620, 1.874, -1.259, 0, 0, 0, [SEP] 86, Cabinet, 0.140, 1.666, -1.559, 0, 0, 0, [SEP] 87, Cabinet, -0.189, 1.666, -1.340, 0, 0, 0, [SEP] 88, Cabinet, -0.709, 1.963, -0.819, 0, 0, 0, [SEP] 89, Cabinet, -0.920, 1.665, -0.620, 0, 0, 0, [SEP] 90, Drawer, -0.860, 0.190, -0.100, 0, 0, 0, [SEP] 91, CounterTop, 0.133, 0.935, -1.457, 0, 0, 0, [SEP] 92, Drawer, 3.020, 0.769, 0.695, 0, 180, 0, [SEP] 93, Drawer, -0.677, 0.577, -0.700, 0, 0, 0, [SEP] 94, Drawer, -0.860, 0.190, 1.429, 0, 0, 0, [SEP] 95, Drawer, -0.047, 0.192, -1.324, 0, 0, 0, [SEP] 96, Drawer, -0.677, 0.193, -0.700, 0, 0, 0, [SEP] 97, Drawer, -0.860, 0.577, -0.100, 0, 0, 0, [SEP] 98, Sink, 3.078, 0.887, 0.086, 0, 0, 0, [SEP] 99, StoveBurner, -0.239, 0.897, -1.089, 0, 315, 0, [SEP] 100, Drawer, -0.860, 0.190, 0.663, 0, 0, 0, [SEP] 101, CounterTop, 1.210, 0.937, 0.463, 0, 0, 0, [SEP] 102, Drawer, -0.047, 0.381, -1.324, 0, 0, 0, [SEP] 103, Drawer, -0.677, 0.387, -0.700, 0, 0, 0, [SEP] 104, Mirror, -1.295, 1.630, 0.045, 0, 0, 0, [SEP] 105, Drawer, -0.860, 0.385, 1.429, 0, 0, 0, [SEP] 106, HousePlant, 3.196, 0.891, -0.368, 0, 0, 0, [SEP] 107, StoveKnob, -0.090, 0.790, -1.009, 270, 45, 0, [SEP] 108, StoveKnob, -0.280, 0.790, -0.819, 270, 45, 0, [SEP] 109, StoveKnob, -0.180, 0.790, -0.920, 270, 45, 0, [SEP] 110, StoveKnob, -0.370, 0.790, -0.720, 270, 45, 0, [SEP] 111, GarbageCan, 3.137, 0.025, 1.545, 0, 225, 0, [SEP] 112, Window, 3.703, 1.675, 0.046, 90, 90, 0, [SEP] 113, CoffeeMachine, 3.214, 0.890, 0.697, 0, 270, 0, [SEP] 114, LightSwitch, 2.592, 1.309, -1.880, 0, 0, 0, [SEP] 115, SinkBasin, 3.069, 0.736, 0.108, 0, 90, 0, [SEP] 116, Fridge, 1.008, 0.029, -1.467, 0, 0, 0, [SEP] 117, Toaster, -1.035, 0.873, -0.396, 0, 90, 0, [SEP] 118, Microwave, -1.034, 0.874, 1.428, 0, 90, 0, [SEP] 119, Faucet, 3.305, 0.886, 0.094, 270, 180, 0, [SEP] 120, NorthWall, , , , , , , [SEP] 121, EastWall, , , , , , , [SEP] 122, SouthWall, , , , , , , [SEP] 123, WestWall, , , , , , , ", "output": ["STEP 1: go forward turn to the right | STEP 2: pick up a knife from the counter | STEP 3: turn to the right go left | STEP 4: slice the tomato that is on the counter | STEP 5: turn to the left go left turn to the left go forward towards the sink | STEP 6: put the knife inside the sink | STEP 7: turn to the right go right turn to the right go left towards the counter | STEP 8: pick up a slice of tomato from the counter | STEP 9: turn to the left go left turn to the left go right towards the sink | STEP 10: put the slice of tomato inside the sink | STEP 11: rinse off the slice of tomato turn to the right go right turn to the right go left towards the microwave | STEP 12: put the slice of tomato inside the microwave | END"]} +{"id": "trial_T20190909_035150_535934-1", "input": "Wash a head of lettuce and return it to the counter. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.25, 0.899, 3.5, 0, 270, 0, [SEP] 1, Pencil, -0.473, 0.746, 5.189, 0, 270, 0, 55 [SEP] 2, Pencil, -1.610, 0.923, 1.875, 0, 0, 0, 74 [SEP] 3, Potato, -0.383, 1.369, 3.726, 0, 270, 0, 109 [SEP] 4, DishSponge, -1.693, 0.923, 1.875, 0, 0, 0, 58 [SEP] 5, DishSponge, -3.229, 0.744, 5.162, 0, 180, 0, 88 [SEP] 6, WineBottle, -3.255, 0.924, 5.259, 0, 90, 0, 76 [SEP] 7, WineBottle, -0.334, 0.926, 4.944, 0, 0, 0, 61 [SEP] 8, Fork, -4.242, 0.924, 2.183, 0, 0, 0, 76 [SEP] 9, Fork, -4.033, 0.924, 4.900, 0, 90, 0, 76 [SEP] 10, Spoon, -4.249, 0.756, 2.501, 0, 90, 0, 56 [SEP] 11, Spatula, -0.411, 0.940, 5.273, 0, 0, 0, 61 [SEP] 12, Cup, -0.237, 2.134, 5.852, 0, 180, 0, 60 [SEP] 13, Cup, -2.530, 1.545, 1.698, 0, 0, 0, 106 [SEP] 14, Knife, -0.565, 0.954, 4.615, 0, 90, 0, 61 [SEP] 15, SoapBottle, -3.454, 1.459, 5.367, 0, 0, 0, 62 [SEP] 16, SoapBottle, -3.639, 0.068, 6.333, 0, 270, 0, 102 [SEP] 17, Bowl, -0.259, 1.577, 3.228, 0, 270, 0, 109 [SEP] 18, Bowl, -0.259, 1.682, 3.794, 0, 270, 0, 109 [SEP] 19, SaltShaker, -1.860, 0.919, 1.573, 0, 0, 0, 58 [SEP] 20, SaltShaker, -4.054, 0.073, 2.286, 0, 0, 0, 86 [SEP] 21, PepperShaker, -4.242, 0.919, 2.882, 0, 0, 0, 76 [SEP] 22, Lettuce, -0.342, 1.431, 3.355, 0, 270, 0, 109 [SEP] 23, Lettuce, -0.348, 1.165, 3.355, 0, 270, 0, 109 [SEP] 24, Lettuce, -1.943, 1.018, 1.875, 0, 0, 0, 58 [SEP] 25, Mug, -0.409, 0.955, 6.557, 0, 270, 0, 97 [SEP] 26, Egg, -0.295, 1.106, 3.231, 0, 270, 0, 109 [SEP] 27, Apple, -0.508, 1.124, 3.355, 0, 270, 0, 109 [SEP] 28, Knife, -3.686, 0.953, 1.875, 0, 0, 0, 76 [SEP] 29, Potato, -3.494, 0.956, 5.106, 0, 90, 0, 76 [SEP] 30, Fork, -2.026, 0.924, 1.724, 0, 0, 0, 58 [SEP] 31, Bowl, -0.259, 1.577, 3.470, 0, 270, 0, 109 [SEP] 32, Plate, -1.905, 1.454, 1.638, 0, 0, 0, 95 [SEP] 33, Lettuce, -0.295, 1.165, 3.850, 0, 270, 0, 109 [SEP] 34, Bread, -0.334, 1.004, 5.932, 0, 0, 0, 61 [SEP] 35, Tomato, -3.135, 0.980, 5.106, 0, 90, 0, 76 [SEP] 36, WineBottle, -0.334, 0.926, 4.615, 0, 0, 0, 61 [SEP] 37, Spatula, -0.181, 0.940, 5.273, 0, 0, 0, 61 [SEP] 38, PaperTowelRoll, -3.748, 0.172, 6.292, 0, 270, 0, 102 [SEP] 39, Cup, -4.064, 0.082, 2.992, 0, 0, 0, 89 [SEP] 40, Pencil, -0.104, 0.925, 5.603, 0, 0, 0, 61 [SEP] 41, Pan, -2.924, 0.930, 2.012, 0, 0, 0, 59 [SEP] 42, Pot, -2.469, 0.930, 1.712, 0, 270, 0, 91 [SEP] 43, SaltShaker, -1.943, 0.919, 1.648, 0, 0, 0, 58 [SEP] 44, SoapBottle, -3.748, 0.068, 6.416, 0, 270, 0, 102 [SEP] 45, PepperShaker, -0.411, 0.921, 5.273, 0, 0, 0, 55 [SEP] 46, ButterKnife, -0.411, 0.925, 4.615, 0, 0, 0, 61 [SEP] 47, DishSponge, -2.109, 0.923, 2.026, 0, 0, 0, 58 [SEP] 48, Spoon, -0.488, 0.926, 5.603, 0, 0, 0, 61 [SEP] 49, Mug, -2.635, 1.541, 1.601, 0, 90, 0, 106 [SEP] 50, Cabinet, -3.203, 1.931, 1.777, 0, 0, 0, [SEP] 51, Cabinet, -3.187, 0.390, 2.089, 0, 0, 0, [SEP] 52, Cabinet, -0.637, 0.387, 6.882, 0, 180, 0, [SEP] 53, Drawer, -3.797, 0.781, 1.961, 0, 0, 0, [SEP] 54, Cabinet, -3.036, 0.387, 5.029, 0, 90, 0, [SEP] 55, Drawer, -0.509, 0.775, 5.268, 0, 270, 0, [SEP] 56, Drawer, -4.125, 0.798, 2.499, 0, 0, 0, [SEP] 57, Cabinet, -0.331, 2.249, 4.308, 0, 180, 0, [SEP] 58, CounterTop, -1.872, 0.958, 1.799, 0, 0, 0, [SEP] 59, StoveBurner, -2.924, 0.924, 2.012, 0, 0, 0, [SEP] 60, Cabinet, -0.331, 2.249, 6.806, 0, 180, 0, [SEP] 61, CounterTop, -0.345, 0.960, 5.603, 0, 0, 0, [SEP] 62, Cabinet, -3.039, 1.935, 5.321, 0, 90, 0, [SEP] 63, Cabinet, -3.922, 0.397, 2.088, 0, 0, 0, [SEP] 64, StoveBurner, -2.467, 0.924, 2.012, 0, 0, 0, [SEP] 65, Cabinet, -0.331, 2.249, 5.505, 0, 180, 0, [SEP] 66, Drawer, -0.509, 0.775, 4.617, 0, 270, 0, [SEP] 67, Drawer, -3.509, 0.777, 5.157, 0, 180, 0, [SEP] 68, Cabinet, -3.961, 0.388, 2.878, 0, 0, 0, [SEP] 69, Cabinet, -3.961, 0.388, 4.342, 0, 0, 0, [SEP] 70, Cabinet, -0.637, 0.387, 5.582, 0, 180, 0, [SEP] 71, Cabinet, -0.637, 0.388, 4.299, 0, 180, 0, [SEP] 72, Cabinet, -0.637, 0.388, 5.599, 0, 180, 0, [SEP] 73, StoveBurner, -2.924, 0.924, 1.712, 0, 180, 0, [SEP] 74, Drawer, -1.859, 0.775, 1.961, 0, 0, 0, [SEP] 75, Cabinet, -0.331, 2.249, 5.609, 0, 180, 0, [SEP] 76, CounterTop, -4.260, 0.958, 4.943, 0, 90, 0, [SEP] 77, Cabinet, -4.284, 1.931, 2.226, 0, 0, 0, [SEP] 78, Cabinet, -0.331, 2.249, 3.010, 0, 180, 0, [SEP] 79, Drawer, -3.801, 0.777, 5.157, 0, 180, 0, [SEP] 80, Cabinet, -4.112, 1.935, 5.321, 0, 90, 0, [SEP] 81, Cabinet, -3.968, 0.388, 3.662, 0, 0, 0, [SEP] 82, Drawer, -3.418, 0.777, 1.961, 0, 0, 0, [SEP] 83, Drawer, -4.090, 0.777, 4.661, 0, 90, 0, [SEP] 84, Faucet, -4.441, 0.909, 3.288, 270, 0, 0, [SEP] 85, Cabinet, -0.331, 2.249, 4.207, 0, 180, 0, [SEP] 86, Cabinet, -3.961, 0.388, 2.119, 0, 0, 0, [SEP] 87, Drawer, -0.509, 0.775, 5.920, 0, 270, 0, [SEP] 88, Drawer, -3.193, 0.777, 5.157, 0, 180, 0, [SEP] 89, Cabinet, -3.968, 0.388, 2.894, 0, 0, 0, [SEP] 90, Cabinet, -3.667, 0.387, 5.029, 0, 90, 0, [SEP] 91, StoveBurner, -2.469, 0.924, 1.712, 0, 270, 0, [SEP] 92, Cabinet, -1.539, 0.388, 2.090, 0, 0, 0, [SEP] 93, Sink, -4.190, 0.921, 3.279, 0, 0, 0, [SEP] 94, Cabinet, -3.641, 0.387, 5.029, 0, 90, 0, [SEP] 95, Cabinet, -1.583, 1.931, 1.777, 0, 0, 0, [SEP] 96, Drawer, -0.509, 0.775, 6.568, 0, 270, 0, [SEP] 97, CoffeeMachine, -0.279, 0.912, 6.556, 0, 270, 0, [SEP] 98, StoveKnob, -2.347, 1.095, 1.560, 288.012, 180, 180, [SEP] 99, StoveKnob, -2.788, 1.095, 1.560, 288.012, 180, 180, [SEP] 100, StoveKnob, -2.965, 1.095, 1.560, 288.012, 180, 180, [SEP] 101, StoveKnob, -2.512, 1.095, 1.560, 288.012, 180, 180, [SEP] 102, GarbageCan, -3.711, -0.030, 6.376, 0, 270, 0, [SEP] 103, Toaster, -3.578, 0.912, 1.763, 0, 0, 0, [SEP] 104, Curtains, -4.522, 2.252, 3.391, 90, 90, 0, [SEP] 105, Window, -4.868, 1.629, 3.309, 90, 270, 0, [SEP] 106, Microwave, -2.693, 1.430, 1.689, 0, 0, 0, [SEP] 107, LightSwitch, -1.588, 1.169, 1.506, 0, 0, 0, [SEP] 108, SinkBasin, -4.196, 0.780, 3.276, 0, 270, 0, [SEP] 109, Fridge, -0.324, -0.001, 3.602, 0, 0, 0, [SEP] 110, NorthWall, , , , , , , [SEP] 111, EastWall, , , , , , , [SEP] 112, SouthWall, , , , , , , [SEP] 113, WestWall, , , , , , , ", "output": ["STEP 1: Turn to the left and walk to the counter with the sponges. | STEP 2: Pick up the head of lettuce. | STEP 3: Turn right and move to the front of the sink. | STEP 4: Wash the lettuce in the sink with clean water and remove it. | STEP 5: Turn right and move next to the fork on the counter. | STEP 6: Place the lettuce on the counter. | END"]} +{"id": "trial_T20190909_035150_535934-2", "input": "Put a clean head of lettuce on the counter. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.25, 0.899, 3.5, 0, 270, 0, [SEP] 1, Pencil, -0.473, 0.746, 5.189, 0, 270, 0, 55 [SEP] 2, Pencil, -1.610, 0.923, 1.875, 0, 0, 0, 74 [SEP] 3, Potato, -0.383, 1.369, 3.726, 0, 270, 0, 109 [SEP] 4, DishSponge, -1.693, 0.923, 1.875, 0, 0, 0, 58 [SEP] 5, DishSponge, -3.229, 0.744, 5.162, 0, 180, 0, 88 [SEP] 6, WineBottle, -3.255, 0.924, 5.259, 0, 90, 0, 76 [SEP] 7, WineBottle, -0.334, 0.926, 4.944, 0, 0, 0, 61 [SEP] 8, Fork, -4.242, 0.924, 2.183, 0, 0, 0, 76 [SEP] 9, Fork, -4.033, 0.924, 4.900, 0, 90, 0, 76 [SEP] 10, Spoon, -4.249, 0.756, 2.501, 0, 90, 0, 56 [SEP] 11, Spatula, -0.411, 0.940, 5.273, 0, 0, 0, 61 [SEP] 12, Cup, -0.237, 2.134, 5.852, 0, 180, 0, 60 [SEP] 13, Cup, -2.530, 1.545, 1.698, 0, 0, 0, 106 [SEP] 14, Knife, -0.565, 0.954, 4.615, 0, 90, 0, 61 [SEP] 15, SoapBottle, -3.454, 1.459, 5.367, 0, 0, 0, 62 [SEP] 16, SoapBottle, -3.639, 0.068, 6.333, 0, 270, 0, 102 [SEP] 17, Bowl, -0.259, 1.577, 3.228, 0, 270, 0, 109 [SEP] 18, Bowl, -0.259, 1.682, 3.794, 0, 270, 0, 109 [SEP] 19, SaltShaker, -1.860, 0.919, 1.573, 0, 0, 0, 58 [SEP] 20, SaltShaker, -4.054, 0.073, 2.286, 0, 0, 0, 86 [SEP] 21, PepperShaker, -4.242, 0.919, 2.882, 0, 0, 0, 76 [SEP] 22, Lettuce, -0.342, 1.431, 3.355, 0, 270, 0, 109 [SEP] 23, Lettuce, -0.348, 1.165, 3.355, 0, 270, 0, 109 [SEP] 24, Lettuce, -1.943, 1.018, 1.875, 0, 0, 0, 58 [SEP] 25, Mug, -0.409, 0.955, 6.557, 0, 270, 0, 97 [SEP] 26, Egg, -0.295, 1.106, 3.231, 0, 270, 0, 109 [SEP] 27, Apple, -0.508, 1.124, 3.355, 0, 270, 0, 109 [SEP] 28, Knife, -3.686, 0.953, 1.875, 0, 0, 0, 76 [SEP] 29, Potato, -3.494, 0.956, 5.106, 0, 90, 0, 76 [SEP] 30, Fork, -2.026, 0.924, 1.724, 0, 0, 0, 58 [SEP] 31, Bowl, -0.259, 1.577, 3.470, 0, 270, 0, 109 [SEP] 32, Plate, -1.905, 1.454, 1.638, 0, 0, 0, 95 [SEP] 33, Lettuce, -0.295, 1.165, 3.850, 0, 270, 0, 109 [SEP] 34, Bread, -0.334, 1.004, 5.932, 0, 0, 0, 61 [SEP] 35, Tomato, -3.135, 0.980, 5.106, 0, 90, 0, 76 [SEP] 36, WineBottle, -0.334, 0.926, 4.615, 0, 0, 0, 61 [SEP] 37, Spatula, -0.181, 0.940, 5.273, 0, 0, 0, 61 [SEP] 38, PaperTowelRoll, -3.748, 0.172, 6.292, 0, 270, 0, 102 [SEP] 39, Cup, -4.064, 0.082, 2.992, 0, 0, 0, 89 [SEP] 40, Pencil, -0.104, 0.925, 5.603, 0, 0, 0, 61 [SEP] 41, Pan, -2.924, 0.930, 2.012, 0, 0, 0, 59 [SEP] 42, Pot, -2.469, 0.930, 1.712, 0, 270, 0, 91 [SEP] 43, SaltShaker, -1.943, 0.919, 1.648, 0, 0, 0, 58 [SEP] 44, SoapBottle, -3.748, 0.068, 6.416, 0, 270, 0, 102 [SEP] 45, PepperShaker, -0.411, 0.921, 5.273, 0, 0, 0, 55 [SEP] 46, ButterKnife, -0.411, 0.925, 4.615, 0, 0, 0, 61 [SEP] 47, DishSponge, -2.109, 0.923, 2.026, 0, 0, 0, 58 [SEP] 48, Spoon, -0.488, 0.926, 5.603, 0, 0, 0, 61 [SEP] 49, Mug, -2.635, 1.541, 1.601, 0, 90, 0, 106 [SEP] 50, Cabinet, -3.203, 1.931, 1.777, 0, 0, 0, [SEP] 51, Cabinet, -3.187, 0.390, 2.089, 0, 0, 0, [SEP] 52, Cabinet, -0.637, 0.387, 6.882, 0, 180, 0, [SEP] 53, Drawer, -3.797, 0.781, 1.961, 0, 0, 0, [SEP] 54, Cabinet, -3.036, 0.387, 5.029, 0, 90, 0, [SEP] 55, Drawer, -0.509, 0.775, 5.268, 0, 270, 0, [SEP] 56, Drawer, -4.125, 0.798, 2.499, 0, 0, 0, [SEP] 57, Cabinet, -0.331, 2.249, 4.308, 0, 180, 0, [SEP] 58, CounterTop, -1.872, 0.958, 1.799, 0, 0, 0, [SEP] 59, StoveBurner, -2.924, 0.924, 2.012, 0, 0, 0, [SEP] 60, Cabinet, -0.331, 2.249, 6.806, 0, 180, 0, [SEP] 61, CounterTop, -0.345, 0.960, 5.603, 0, 0, 0, [SEP] 62, Cabinet, -3.039, 1.935, 5.321, 0, 90, 0, [SEP] 63, Cabinet, -3.922, 0.397, 2.088, 0, 0, 0, [SEP] 64, StoveBurner, -2.467, 0.924, 2.012, 0, 0, 0, [SEP] 65, Cabinet, -0.331, 2.249, 5.505, 0, 180, 0, [SEP] 66, Drawer, -0.509, 0.775, 4.617, 0, 270, 0, [SEP] 67, Drawer, -3.509, 0.777, 5.157, 0, 180, 0, [SEP] 68, Cabinet, -3.961, 0.388, 2.878, 0, 0, 0, [SEP] 69, Cabinet, -3.961, 0.388, 4.342, 0, 0, 0, [SEP] 70, Cabinet, -0.637, 0.387, 5.582, 0, 180, 0, [SEP] 71, Cabinet, -0.637, 0.388, 4.299, 0, 180, 0, [SEP] 72, Cabinet, -0.637, 0.388, 5.599, 0, 180, 0, [SEP] 73, StoveBurner, -2.924, 0.924, 1.712, 0, 180, 0, [SEP] 74, Drawer, -1.859, 0.775, 1.961, 0, 0, 0, [SEP] 75, Cabinet, -0.331, 2.249, 5.609, 0, 180, 0, [SEP] 76, CounterTop, -4.260, 0.958, 4.943, 0, 90, 0, [SEP] 77, Cabinet, -4.284, 1.931, 2.226, 0, 0, 0, [SEP] 78, Cabinet, -0.331, 2.249, 3.010, 0, 180, 0, [SEP] 79, Drawer, -3.801, 0.777, 5.157, 0, 180, 0, [SEP] 80, Cabinet, -4.112, 1.935, 5.321, 0, 90, 0, [SEP] 81, Cabinet, -3.968, 0.388, 3.662, 0, 0, 0, [SEP] 82, Drawer, -3.418, 0.777, 1.961, 0, 0, 0, [SEP] 83, Drawer, -4.090, 0.777, 4.661, 0, 90, 0, [SEP] 84, Faucet, -4.441, 0.909, 3.288, 270, 0, 0, [SEP] 85, Cabinet, -0.331, 2.249, 4.207, 0, 180, 0, [SEP] 86, Cabinet, -3.961, 0.388, 2.119, 0, 0, 0, [SEP] 87, Drawer, -0.509, 0.775, 5.920, 0, 270, 0, [SEP] 88, Drawer, -3.193, 0.777, 5.157, 0, 180, 0, [SEP] 89, Cabinet, -3.968, 0.388, 2.894, 0, 0, 0, [SEP] 90, Cabinet, -3.667, 0.387, 5.029, 0, 90, 0, [SEP] 91, StoveBurner, -2.469, 0.924, 1.712, 0, 270, 0, [SEP] 92, Cabinet, -1.539, 0.388, 2.090, 0, 0, 0, [SEP] 93, Sink, -4.190, 0.921, 3.279, 0, 0, 0, [SEP] 94, Cabinet, -3.641, 0.387, 5.029, 0, 90, 0, [SEP] 95, Cabinet, -1.583, 1.931, 1.777, 0, 0, 0, [SEP] 96, Drawer, -0.509, 0.775, 6.568, 0, 270, 0, [SEP] 97, CoffeeMachine, -0.279, 0.912, 6.556, 0, 270, 0, [SEP] 98, StoveKnob, -2.347, 1.095, 1.560, 288.012, 180, 180, [SEP] 99, StoveKnob, -2.788, 1.095, 1.560, 288.012, 180, 180, [SEP] 100, StoveKnob, -2.965, 1.095, 1.560, 288.012, 180, 180, [SEP] 101, StoveKnob, -2.512, 1.095, 1.560, 288.012, 180, 180, [SEP] 102, GarbageCan, -3.711, -0.030, 6.376, 0, 270, 0, [SEP] 103, Toaster, -3.578, 0.912, 1.763, 0, 0, 0, [SEP] 104, Curtains, -4.522, 2.252, 3.391, 90, 90, 0, [SEP] 105, Window, -4.868, 1.629, 3.309, 90, 270, 0, [SEP] 106, Microwave, -2.693, 1.430, 1.689, 0, 0, 0, [SEP] 107, LightSwitch, -1.588, 1.169, 1.506, 0, 0, 0, [SEP] 108, SinkBasin, -4.196, 0.780, 3.276, 0, 270, 0, [SEP] 109, Fridge, -0.324, -0.001, 3.602, 0, 0, 0, [SEP] 110, NorthWall, , , , , , , [SEP] 111, EastWall, , , , , , , [SEP] 112, SouthWall, , , , , , , [SEP] 113, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and walk to the stove then take a step to your left. | STEP 2: Pick up the head of lettuce that's in front of you. | STEP 3: Turn right and walk to the sink. | STEP 4: Wash the lettuce in the sink and then pick it back up and shut off the water. | STEP 5: Move about three steps to your right. | STEP 6: Put the lettuce on the counter above the dish washer.. | END"]} +{"id": "trial_T20190908_201611_659235-2", "input": "get the laptop and examine it under the lamp SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.5, 0.900, 0.25, 0, 90, 0, [SEP] 1, Mug, 2.705, 0.796, -1.728, 0, 0, 0, 36 [SEP] 2, TissueBox, 1.394, 0.519, -1.591, 0, 0, 0, 38 [SEP] 3, CellPhone, 2.904, 0.798, -1.666, 0, 0, 0, 36 [SEP] 4, Pen, 2.904, 0.804, -1.358, 0, 0, 0, 36 [SEP] 5, KeyChain, 2.904, 0.799, -1.543, 0, 0, 0, 36 [SEP] 6, Book, 0.715, 0.569, -0.459, 0, 90, 0, 23 [SEP] 7, Book, -0.097, 0.569, -1.352, 0, 0, 0, 23 [SEP] 8, Pillow, 0.552, 0.674, -0.905, 0, 0, 0, 23 [SEP] 9, Book, -0.097, 0.569, -0.682, 0, 0, 0, 23 [SEP] 10, KeyChain, 1.240, 0.519, -1.631, 0, 180, 0, 38 [SEP] 11, TissueBox, 1.909, 0.800, -1.482, 0, 0, 0, 36 [SEP] 12, TeddyBear, -0.075, 0.562, -0.274, 353.177, 297.143, 5.348, 23 [SEP] 13, Pencil, 2.108, 0.803, -1.728, 0, 0, 0, 36 [SEP] 14, CreditCard, 2.931, 0.545, -1.464, 0, 0, 0, 35 [SEP] 15, TennisRacket, -0.921, 0.344, 0.390, 13.911, 273.938, 195.992, Floor|+00.39| [SEP] 16, Laptop, 2.362, 0.791, -1.54, 0, 0, 0, 36 [SEP] 17, AlarmClock, 1.108, 0.510, -1.673, 0, 345.197, 0, 38 [SEP] 18, Pen, 2.108, 0.804, -1.543, 0, 0, 0, 36 [SEP] 19, Pillow, 0.390, 0.674, -0.459, 0, 0, 0, 23 [SEP] 20, CellPhone, 1.296, 0.059, -1.614, 0, 180, 0, 39 [SEP] 21, CD, 1.317, 0.515, -1.712, 0, 0, 0, 38 [SEP] 22, Mug, 3.154, 0.543, -1.464, 0, 0, 0, 35 [SEP] 23, Bed, 0.227, -0.003, -0.947, 0, 180, 0, [SEP] 24, Mirror, 0.615, 1.264, 1.029, 0, 0, 0, [SEP] 25, GarbageCan, 3.166, -0.011, -0.264, 4.636, 271.335, 0, [SEP] 26, DeskLamp, 3.164, 0.794, -1.664, 0, 315, 0, [SEP] 27, HousePlant, -0.833, 0.000, 0.843, 0, 0, 0, [SEP] 28, LightSwitch, 2.010, 1.126, 1.029, 0, 180, 0, [SEP] 29, Window, 1.794, 1.677, -1.939, 90, 180, 0, [SEP] 30, Window, 0.691, 1.361, -1.938, 90, 180, 0, [SEP] 31, Dumbbell, 2.628, 0.001, -1.613, 0, 346.954, 0, [SEP] 32, Blinds, 1.776, 1.993, -1.858, 0, 0, 0, [SEP] 33, Blinds, 0.670, 1.993, -1.858, 0, 0, 0, [SEP] 34, Chair, 2.255, 0.004, -1.501, 0, 167.716, 0, [SEP] 35, Shelf, 3.034, 0.637, -1.580, 0, 0, 0, [SEP] 36, Desk, 2.500, 0.002, -1.596, 0, 0, 0, [SEP] 37, Drawer, 1.240, 0.354, -1.553, 0, 0, 0, [SEP] 38, SideTable, 1.239, 0.003, -1.551, 0, 0, 0, [SEP] 39, Drawer, 1.240, 0.126, -1.553, 0, 0, 0, [SEP] 40, NorthWall, , , , , , , [SEP] 41, EastWall, , , , , , , [SEP] 42, SouthWall, , , , , , , [SEP] 43, WestWall, , , , , , , ", "output": ["STEP 1: approach the middle of the desk | STEP 2: close the computer and pick it up | STEP 3: take the computer to the the far left side of the desk | STEP 4: turn on the lamp to examine the computer | END"]} +{"id": "trial_T20190909_004424_399073-0", "input": "Put a metal pan with a sponge in it in the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.900, 2.25, 0, 180, 0, [SEP] 1, Potato, -1.783, 0.863, 0.107, 0, 90, 0, 92 [SEP] 2, Ladle, -0.213, 0.969, 0.738, 0, 0, 0, 77 [SEP] 3, Kettle, 1.765, 0.938, 0.819, 0, 180, 0, 66 [SEP] 4, DishSponge, -0.751, 0.671, -1.270, 0, 0, 0, 60 [SEP] 5, DishSponge, -1.796, 0.041, 1.288, 0, 270, 0, 83 [SEP] 6, ButterKnife, -0.106, 0.925, 0.970, 0, 0, 0, 77 [SEP] 7, ButterKnife, 0.107, 0.925, 0.041, 0, 0, 0, 77 [SEP] 8, Spatula, 0.889, 0.926, -1.513, 0, 0, 0, 69 [SEP] 9, Spatula, 1.769, 0.598, 0.125, 0, 0, 0, 54 [SEP] 10, Pot, -1.750, 1.473, -0.175, 0, 90, 0, 92 [SEP] 11, Pot, -1.874, 0.915, -1.415, 0, 0, 0, 69 [SEP] 12, Knife, 0.107, 0.947, 0.273, 0, 0, 0, 77 [SEP] 13, SoapBottle, 0.321, 0.929, -0.190, 0, 0, 0, 77 [SEP] 14, Bowl, 2.030, 0.909, -1.318, 0, 0, 0, 69 [SEP] 15, Bowl, 2.001, 1.657, -0.977, 0, 270, 0, 57 [SEP] 16, SaltShaker, -1.902, 0.907, -1.113, 0, 0, 0, 69 [SEP] 17, Bread, 1.802, 0.992, -1.318, 0, 0, 0, 69 [SEP] 18, Bread, 0.214, 1.006, 0.738, 0, 0, 0, 77 [SEP] 19, Lettuce, 0.214, 1.002, 0.273, 0, 0, 0, 77 [SEP] 20, Lettuce, -1.462, 0.988, -1.707, 0, 0, 0, 69 [SEP] 21, Mug, 1.355, 0.955, -1.362, 0, 0, 0, 91 [SEP] 22, Mug, 2.020, 1.001, -0.704, 0, 0, 0, 90 [SEP] 23, Apple, -0.844, 0.964, -1.318, 0, 0, 0, 69 [SEP] 24, SoapBottle, 0.107, 0.929, 0.506, 0, 0, 0, 77 [SEP] 25, Cup, -1.645, 1.675, 0.201, 0, 90, 0, 92 [SEP] 26, Pot, -1.197, 0.117, -1.487, 0, 0, 0, 81 [SEP] 27, Fork, 1.769, 0.583, -0.238, 0, 0, 0, 54 [SEP] 28, Ladle, -1.050, 0.955, -1.610, 0, 0, 0, 69 [SEP] 29, Kettle, 1.975, 0.938, 0.384, 0, 180, 0, 55 [SEP] 30, Egg, -1.855, 1.733, 0.201, 0, 90, 0, 92 [SEP] 31, Plate, 0.250, 0.111, -1.408, 0, 0, 0, 58 [SEP] 32, Pan, -1.286, 0.9, -1.348, 0, 79.769, 0, 69 [SEP] 33, Lettuce, 0.000, 1.002, 0.970, 0, 0, 0, 77 [SEP] 34, Spatula, 1.559, 0.474, 0.736, 0, 270, 0, 73 [SEP] 35, Apple, 1.988, 1.059, -0.808, 0, 270, 0, 90 [SEP] 36, Knife, 0.107, 0.947, 0.738, 0, 90, 0, 77 [SEP] 37, SaltShaker, 0.321, 0.921, 0.506, 0, 0, 0, 77 [SEP] 38, PepperShaker, -0.320, 0.921, 0.041, 0, 0, 0, 77 [SEP] 39, CellPhone, -0.320, 0.923, 0.273, 0, 0, 0, 77 [SEP] 40, ButterKnife, 1.660, 0.695, 0.543, 0, 0, 0, 70 [SEP] 41, Bread, -0.320, 1.006, -0.190, 0, 0, 0, 77 [SEP] 42, Tomato, 1.553, 0.966, 1.258, 0, 0, 0, 69 [SEP] 43, Potato, -0.106, 0.949, 0.506, 0, 0, 0, 77 [SEP] 44, DishSponge, -1.050, 0.911, -1.221, 0, 0, 0, 69 [SEP] 45, Spoon, 1.712, 0.546, 1.088, 0, 0, 0, 67 [SEP] 46, Mug, 1.956, 1.001, -0.547, 0, 270, 0, 90 [SEP] 47, Bowl, -0.106, 0.924, 0.273, 0, 0, 0, 77 [SEP] 48, Cabinet, -0.495, 0.474, -1.149, 0, 0, 0, [SEP] 49, Window, -0.010, 1.582, -1.821, 0, 0, 0, [SEP] 50, Drawer, 0.805, 0.475, -1.159, 0, 0, 0, [SEP] 51, StoveBurner, 1.764, 0.902, 0.601, 0, 270, 0, [SEP] 52, Drawer, 1.5, 0.196, -0.019, 0, 0, 0, [SEP] 53, Drawer, 1.5, 0.629, -0.018, 0, 0, 0, [SEP] 54, Drawer, 1.5, 0.602, -0.019, 0, 270, 0, [SEP] 55, StoveBurner, 1.975, 0.902, 0.384, 0, 270, 0, [SEP] 56, Cabinet, -1.703, 2.022, -1.453, 0, 90, 0, [SEP] 57, Cabinet, 1.789, 2.019, -0.819, 0, 270, 0, [SEP] 58, Cabinet, 0.494, 0.474, -1.149, 0, 0, 0, [SEP] 59, Cabinet, 0.409, 0.475, 0.444, 0, 0, 0, [SEP] 60, Drawer, -0.696, 0.475, -1.159, 0, 0, 0, [SEP] 61, Drawer, 1.5, 0.140, 0.599, 0, 270, 0, [SEP] 62, Cabinet, 1.389, 0.474, -1.149, 0, 0, 0, [SEP] 63, Drawer, 1.5, 0.305, 0.600, 0, 0, 0, [SEP] 64, StoveBurner, 1.975, 0.902, 0.601, 0, 270, 0, [SEP] 65, Drawer, 1.5, 0.429, -0.019, 0, 0, 0, [SEP] 66, StoveBurner, 1.764, 0.902, 0.819, 0, 270, 0, [SEP] 67, Drawer, 1.5, 0.519, 1.220, 0, 0, 0, [SEP] 68, Cabinet, 1.705, 2.019, -1.449, 0, 0, 0, [SEP] 69, CounterTop, 0.002, 0.947, -1.513, 0, 0, 0, [SEP] 70, Drawer, 1.5, 0.629, 0.605, 0, 0, 0, [SEP] 71, Cabinet, -0.627, 2.019, -1.449, 0, 0, 0, [SEP] 72, StoveBurner, 1.764, 0.902, 0.384, 0, 270, 0, [SEP] 73, Drawer, 1.5, 0.538, 0.600, 0, 0, 0, [SEP] 74, Sink, 0.0, 0.893, -1.434, 0, 0, 0, [SEP] 75, Drawer, 1.5, 0.782, 1.220, 0, 270, 0, [SEP] 76, Window, 2.217, 1.565, -0.384, 0, 0, 0, [SEP] 77, CounterTop, -0.014, 0.961, 0.505, 0, 0, 0, [SEP] 78, Drawer, 1.5, 0.200, 1.220, 0, 0, 0, [SEP] 79, StoveBurner, 1.975, 0.902, 0.819, 0, 270, 0, [SEP] 80, Window, -3.240, 1.616, 2.693, 0, 270, 0, [SEP] 81, Cabinet, -1.389, 0.474, -1.149, 0, 0, 0, [SEP] 82, LightSwitch, -0.153, 1.291, 3.700, 0, 180, 0, [SEP] 83, GarbageCan, -1.796, 0.009, 1.330, 0, 270, 358.295, [SEP] 84, StoveKnob, 1.602, 0.917, 0.570, 0, 270, 180, [SEP] 85, StoveKnob, 1.602, 0.917, 0.625, 0, 270, 180, [SEP] 86, StoveKnob, 1.602, 0.917, 0.739, 0, 270, 180, [SEP] 87, StoveKnob, 1.602, 0.917, 0.680, 0, 270, 180, [SEP] 88, StoveKnob, 1.602, 0.917, 0.462, 0, 270, 180, [SEP] 89, StoveKnob, 1.602, 0.917, 0.517, 0, 270, 180, [SEP] 90, Microwave, 1.932, 0.899, -0.766, 0, 270, 0, [SEP] 91, CoffeeMachine, 1.355, 0.899, -1.596, 0, 0, 0, [SEP] 92, Fridge, -1.764, 0.0, 0.014, 0, 90, 0, [SEP] 93, SinkBasin, -0.014, 0.736, -1.435, 0, 0, 0, [SEP] 94, Toaster, 1.977, 0.900, -0.336, 0, 270, 0, [SEP] 95, Faucet, -0.020, 1.137, -1.605, 0, 270, 0, [SEP] 96, Chair, -9.354, 0.000, 1.242, 0, 180, 0, [SEP] 97, NorthWall, , , , , , , [SEP] 98, EastWall, , , , , , , [SEP] 99, SouthWall, , , , , , , [SEP] 100, WestWall, , , , , , , ", "output": ["STEP 1: Walk over to the section of counter to the right of the sink. | STEP 2: Pick up the sponge off of the counter in front of you. | STEP 3: Look up to face the counter. | STEP 4: Put the sponge into the metal pan on the counter. | STEP 5: Pick up the metal pan with sponge in it off of the counter. | STEP 6: Turn left and walk over to the sink. | STEP 7: Put the metal pan with the sponge in it into the sink. | END"]} +{"id": "trial_T20190909_004424_399073-1", "input": "Put a frying pan with a sponge in it in the sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.900, 2.25, 0, 180, 0, [SEP] 1, Potato, -1.783, 0.863, 0.107, 0, 90, 0, 92 [SEP] 2, Ladle, -0.213, 0.969, 0.738, 0, 0, 0, 77 [SEP] 3, Kettle, 1.765, 0.938, 0.819, 0, 180, 0, 66 [SEP] 4, DishSponge, -0.751, 0.671, -1.270, 0, 0, 0, 60 [SEP] 5, DishSponge, -1.796, 0.041, 1.288, 0, 270, 0, 83 [SEP] 6, ButterKnife, -0.106, 0.925, 0.970, 0, 0, 0, 77 [SEP] 7, ButterKnife, 0.107, 0.925, 0.041, 0, 0, 0, 77 [SEP] 8, Spatula, 0.889, 0.926, -1.513, 0, 0, 0, 69 [SEP] 9, Spatula, 1.769, 0.598, 0.125, 0, 0, 0, 54 [SEP] 10, Pot, -1.750, 1.473, -0.175, 0, 90, 0, 92 [SEP] 11, Pot, -1.874, 0.915, -1.415, 0, 0, 0, 69 [SEP] 12, Knife, 0.107, 0.947, 0.273, 0, 0, 0, 77 [SEP] 13, SoapBottle, 0.321, 0.929, -0.190, 0, 0, 0, 77 [SEP] 14, Bowl, 2.030, 0.909, -1.318, 0, 0, 0, 69 [SEP] 15, Bowl, 2.001, 1.657, -0.977, 0, 270, 0, 57 [SEP] 16, SaltShaker, -1.902, 0.907, -1.113, 0, 0, 0, 69 [SEP] 17, Bread, 1.802, 0.992, -1.318, 0, 0, 0, 69 [SEP] 18, Bread, 0.214, 1.006, 0.738, 0, 0, 0, 77 [SEP] 19, Lettuce, 0.214, 1.002, 0.273, 0, 0, 0, 77 [SEP] 20, Lettuce, -1.462, 0.988, -1.707, 0, 0, 0, 69 [SEP] 21, Mug, 1.355, 0.955, -1.362, 0, 0, 0, 91 [SEP] 22, Mug, 2.020, 1.001, -0.704, 0, 0, 0, 90 [SEP] 23, Apple, -0.844, 0.964, -1.318, 0, 0, 0, 69 [SEP] 24, SoapBottle, 0.107, 0.929, 0.506, 0, 0, 0, 77 [SEP] 25, Cup, -1.645, 1.675, 0.201, 0, 90, 0, 92 [SEP] 26, Pot, -1.197, 0.117, -1.487, 0, 0, 0, 81 [SEP] 27, Fork, 1.769, 0.583, -0.238, 0, 0, 0, 54 [SEP] 28, Ladle, -1.050, 0.955, -1.610, 0, 0, 0, 69 [SEP] 29, Kettle, 1.975, 0.938, 0.384, 0, 180, 0, 55 [SEP] 30, Egg, -1.855, 1.733, 0.201, 0, 90, 0, 92 [SEP] 31, Plate, 0.250, 0.111, -1.408, 0, 0, 0, 58 [SEP] 32, Pan, -1.286, 0.9, -1.348, 0, 79.769, 0, 69 [SEP] 33, Lettuce, 0.000, 1.002, 0.970, 0, 0, 0, 77 [SEP] 34, Spatula, 1.559, 0.474, 0.736, 0, 270, 0, 73 [SEP] 35, Apple, 1.988, 1.059, -0.808, 0, 270, 0, 90 [SEP] 36, Knife, 0.107, 0.947, 0.738, 0, 90, 0, 77 [SEP] 37, SaltShaker, 0.321, 0.921, 0.506, 0, 0, 0, 77 [SEP] 38, PepperShaker, -0.320, 0.921, 0.041, 0, 0, 0, 77 [SEP] 39, CellPhone, -0.320, 0.923, 0.273, 0, 0, 0, 77 [SEP] 40, ButterKnife, 1.660, 0.695, 0.543, 0, 0, 0, 70 [SEP] 41, Bread, -0.320, 1.006, -0.190, 0, 0, 0, 77 [SEP] 42, Tomato, 1.553, 0.966, 1.258, 0, 0, 0, 69 [SEP] 43, Potato, -0.106, 0.949, 0.506, 0, 0, 0, 77 [SEP] 44, DishSponge, -1.050, 0.911, -1.221, 0, 0, 0, 69 [SEP] 45, Spoon, 1.712, 0.546, 1.088, 0, 0, 0, 67 [SEP] 46, Mug, 1.956, 1.001, -0.547, 0, 270, 0, 90 [SEP] 47, Bowl, -0.106, 0.924, 0.273, 0, 0, 0, 77 [SEP] 48, Cabinet, -0.495, 0.474, -1.149, 0, 0, 0, [SEP] 49, Window, -0.010, 1.582, -1.821, 0, 0, 0, [SEP] 50, Drawer, 0.805, 0.475, -1.159, 0, 0, 0, [SEP] 51, StoveBurner, 1.764, 0.902, 0.601, 0, 270, 0, [SEP] 52, Drawer, 1.5, 0.196, -0.019, 0, 0, 0, [SEP] 53, Drawer, 1.5, 0.629, -0.018, 0, 0, 0, [SEP] 54, Drawer, 1.5, 0.602, -0.019, 0, 270, 0, [SEP] 55, StoveBurner, 1.975, 0.902, 0.384, 0, 270, 0, [SEP] 56, Cabinet, -1.703, 2.022, -1.453, 0, 90, 0, [SEP] 57, Cabinet, 1.789, 2.019, -0.819, 0, 270, 0, [SEP] 58, Cabinet, 0.494, 0.474, -1.149, 0, 0, 0, [SEP] 59, Cabinet, 0.409, 0.475, 0.444, 0, 0, 0, [SEP] 60, Drawer, -0.696, 0.475, -1.159, 0, 0, 0, [SEP] 61, Drawer, 1.5, 0.140, 0.599, 0, 270, 0, [SEP] 62, Cabinet, 1.389, 0.474, -1.149, 0, 0, 0, [SEP] 63, Drawer, 1.5, 0.305, 0.600, 0, 0, 0, [SEP] 64, StoveBurner, 1.975, 0.902, 0.601, 0, 270, 0, [SEP] 65, Drawer, 1.5, 0.429, -0.019, 0, 0, 0, [SEP] 66, StoveBurner, 1.764, 0.902, 0.819, 0, 270, 0, [SEP] 67, Drawer, 1.5, 0.519, 1.220, 0, 0, 0, [SEP] 68, Cabinet, 1.705, 2.019, -1.449, 0, 0, 0, [SEP] 69, CounterTop, 0.002, 0.947, -1.513, 0, 0, 0, [SEP] 70, Drawer, 1.5, 0.629, 0.605, 0, 0, 0, [SEP] 71, Cabinet, -0.627, 2.019, -1.449, 0, 0, 0, [SEP] 72, StoveBurner, 1.764, 0.902, 0.384, 0, 270, 0, [SEP] 73, Drawer, 1.5, 0.538, 0.600, 0, 0, 0, [SEP] 74, Sink, 0.0, 0.893, -1.434, 0, 0, 0, [SEP] 75, Drawer, 1.5, 0.782, 1.220, 0, 270, 0, [SEP] 76, Window, 2.217, 1.565, -0.384, 0, 0, 0, [SEP] 77, CounterTop, -0.014, 0.961, 0.505, 0, 0, 0, [SEP] 78, Drawer, 1.5, 0.200, 1.220, 0, 0, 0, [SEP] 79, StoveBurner, 1.975, 0.902, 0.819, 0, 270, 0, [SEP] 80, Window, -3.240, 1.616, 2.693, 0, 270, 0, [SEP] 81, Cabinet, -1.389, 0.474, -1.149, 0, 0, 0, [SEP] 82, LightSwitch, -0.153, 1.291, 3.700, 0, 180, 0, [SEP] 83, GarbageCan, -1.796, 0.009, 1.330, 0, 270, 358.295, [SEP] 84, StoveKnob, 1.602, 0.917, 0.570, 0, 270, 180, [SEP] 85, StoveKnob, 1.602, 0.917, 0.625, 0, 270, 180, [SEP] 86, StoveKnob, 1.602, 0.917, 0.739, 0, 270, 180, [SEP] 87, StoveKnob, 1.602, 0.917, 0.680, 0, 270, 180, [SEP] 88, StoveKnob, 1.602, 0.917, 0.462, 0, 270, 180, [SEP] 89, StoveKnob, 1.602, 0.917, 0.517, 0, 270, 180, [SEP] 90, Microwave, 1.932, 0.899, -0.766, 0, 270, 0, [SEP] 91, CoffeeMachine, 1.355, 0.899, -1.596, 0, 0, 0, [SEP] 92, Fridge, -1.764, 0.0, 0.014, 0, 90, 0, [SEP] 93, SinkBasin, -0.014, 0.736, -1.435, 0, 0, 0, [SEP] 94, Toaster, 1.977, 0.900, -0.336, 0, 270, 0, [SEP] 95, Faucet, -0.020, 1.137, -1.605, 0, 270, 0, [SEP] 96, Chair, -9.354, 0.000, 1.242, 0, 180, 0, [SEP] 97, NorthWall, , , , , , , [SEP] 98, EastWall, , , , , , , [SEP] 99, SouthWall, , , , , , , [SEP] 100, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and take two steps then turn left and walk to the counter with the sponge on it. | STEP 2: Pick up the sponge that's in front of you. | STEP 3: Look at the frying pan. | STEP 4: Put the sponge in the frying pan to your right please. | STEP 5: Pick up the frying pan with the sponge in it. | STEP 6: Move to your left until you're in front of the sink. | STEP 7: Put the frying pan with the sponge in it in the sink. | END"]} +{"id": "trial_T20190908_062503_838284-1", "input": "place chilled lettuce on white dining table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.900, 3.0, 0, 270, 0, [SEP] 1, Potato, 0.650, 0.866, 2.285, 0, 0, 0, 50 [SEP] 2, Potato, 0.650, 0.866, 2.631, 0, 0, 0, 50 [SEP] 3, ButterKnife, 0.950, 0.823, 2.198, 0, 0, 0, 50 [SEP] 4, Pot, 0.913, 0.850, 1.375, 0, 0, 0, 44 [SEP] 5, Spatula, 0.800, 0.838, 0.895, 0, 90, 0, 45 [SEP] 6, Plate, -1.393, 0.131, 3.674, 0, 0, 0, 65 [SEP] 7, Cup, -1.482, 0.822, 4.012, 0, 0, 0, 68 [SEP] 8, Cup, 1.099, 0.822, 2.285, 0, 0, 0, 50 [SEP] 9, Knife, -2.374, 0.846, 3.650, 0, 0, 0, 68 [SEP] 10, SoapBottle, -1.317, 0.900, 0.937, 0, 90, 0, 86 [SEP] 11, SoapBottle, 1.024, 0.812, 2.458, 0, 0, 0, 50 [SEP] 12, Tomato, -2.636, 1.259, 2.333, 0, 90, 0, 77 [SEP] 13, Bowl, -2.461, 0.765, 2.389, 0, 270, 0, 77 [SEP] 14, SaltShaker, -2.501, 0.153, 1.521, 0, 0, 0, 53 [SEP] 15, Mug, -1.362, 0.697, 3.774, 0, 0, 0, 80 [SEP] 16, Apple, -1.486, 1.420, 3.967, 0, 180, 0, 74 [SEP] 17, Plate, 0.742, 0.129, 0.981, 0, 0, 0, 47 [SEP] 18, Fork, -0.657, 0.901, 0.937, 0, 180, 0, 86 [SEP] 19, Bread, 0.818, 0.863, 2.447, 0, 1.672, 1.255, 45 [SEP] 20, Spatula, 0.875, 0.838, 0.895, 0, 90, 0, 45 [SEP] 21, PaperTowelRoll, 0.989, 0.128, 2.947, 0, 0, 0, 79 [SEP] 22, Potato, 0.902, 0.067, 2.918, 0, 0, 0, 79 [SEP] 23, SoapBottle, -0.921, 0.900, 1.452, 0, 90, 0, 86 [SEP] 24, Egg, -1.362, 0.733, 3.857, 0, 0, 0, 80 [SEP] 25, Cup, -2.541, 1.634, 2.687, 0, 0, 0, 58 [SEP] 26, Pot, 0.913, 0.850, 1.768, 0, 0, 0, 66 [SEP] 27, SaltShaker, -2.465, 1.845, 1.853, 0, 0, 0, 70 [SEP] 28, Pan, -2.667, 0.812, 3.74, 0, 137.145, 0, 68 [SEP] 29, PepperShaker, -0.674, 1.237, 3.810, 0, 0, 0, 49 [SEP] 30, ButterKnife, -1.317, 0.900, 1.452, 0, 90, 0, 86 [SEP] 31, Tomato, -1.317, 0.969, 1.349, 0, 90, 0, 86 [SEP] 32, DishSponge, -0.524, 0.900, 1.143, 0, 90, 0, 86 [SEP] 33, Lettuce, -0.580, 0.956, 1.358, 31.822, 0, 0, 86 [SEP] 34, Spoon, -0.789, 0.901, 1.349, 0, 90, 0, 86 [SEP] 35, Apple, -0.789, 0.961, 1.246, 0, 90, 0, 86 [SEP] 36, Knife, -0.921, 0.923, 1.349, 0, 270, 0, 86 [SEP] 37, Mug, 0.800, 0.818, 2.198, 0, 0, 0, 50 [SEP] 38, Bowl, -2.636, 0.993, 2.333, 0, 90, 0, 77 [SEP] 39, Drawer, 0.729, 0.703, 2.199, 0, 0, 0, [SEP] 40, Cabinet, -1.962, 1.926, 3.733, 0, 0, 0, [SEP] 41, Cabinet, -2.377, 2.014, 1.058, 0, 0, 0, [SEP] 42, Drawer, 0.729, 0.703, 2.532, 0, 0, 0, [SEP] 43, Cabinet, -2.622, 1.925, 3.733, 0, 0, 0, [SEP] 44, StoveBurner, 0.913, 0.843, 1.375, 0, 0, 0, [SEP] 45, CounterTop, 0.864, 0.858, 0.984, 0, 0, 0, [SEP] 46, Cabinet, -1.976, 1.779, 3.734, 0, 0, 0, [SEP] 47, Cabinet, 0.580, 0.385, 0.819, 0, 0, 0, [SEP] 48, Cabinet, -2.379, 1.408, 1.677, 0, 0, 0, [SEP] 49, Cabinet, -0.419, 1.703, 3.736, 0, 0, 0, [SEP] 50, CounterTop, 0.864, 0.858, 2.371, 0, 0, 0, [SEP] 51, Sink, -1.702, 0.726, 3.828, 0, 180, 0, [SEP] 52, Cabinet, 0.580, 0.385, 2.694, 0, 0, 0, [SEP] 53, Cabinet, -2.379, 0.637, 1.677, 0, 0, 0, [SEP] 54, Cabinet, -0.419, 0.674, 3.736, 0, 0, 0, [SEP] 55, Cabinet, -2.377, 2.014, 2.558, 0, 0, 0, [SEP] 56, Drawer, 0.729, 0.703, 0.980, 0, 0, 0, [SEP] 57, Drawer, -2.114, 0.706, 3.657, 0, 0, 0, [SEP] 58, Cabinet, -2.377, 1.691, 2.572, 0, 0, 0, [SEP] 59, Cabinet, -2.951, 1.925, 3.733, 0, 0, 0, [SEP] 60, Cabinet, 0.580, 0.385, 2.360, 0, 0, 0, [SEP] 61, Cabinet, -2.426, 0.435, 3.421, 0, 0, 0, [SEP] 62, StoveBurner, 0.642, 0.843, 1.375, 0, 0, 0, [SEP] 63, Cabinet, -2.377, 1.927, 1.686, 0, 0, 0, [SEP] 64, Cabinet, -2.377, 2.013, 3.177, 0, 0, 0, [SEP] 65, Cabinet, -1.136, 0.385, 3.516, 0, 0, 0, [SEP] 66, StoveBurner, 0.913, 0.843, 1.768, 0, 0, 0, [SEP] 67, Cabinet, -1.974, 0.385, 3.516, 0, 0, 0, [SEP] 68, CounterTop, -2.081, 0.858, 3.799, 0, 0, 0, [SEP] 69, Cabinet, -2.426, 0.435, 3.174, 0, 0, 0, [SEP] 70, Cabinet, -2.377, 2.014, 1.693, 0, 0, 0, [SEP] 71, Cabinet, -1.986, 0.385, 3.511, 0, 0, 0, [SEP] 72, StoveBurner, 0.642, 0.843, 1.768, 0, 0, 0, [SEP] 73, Cabinet, -1.098, 1.926, 3.729, 0, 0, 0, [SEP] 74, Microwave, -1.529, 1.250, 3.881, 1.622, 180, 0, [SEP] 75, CoffeeMachine, 1.000, 0.812, 2.492, 0, 270, 0, [SEP] 76, LightSwitch, 0.825, 1.396, 4.082, 0, 180, 0, [SEP] 77, Fridge, -2.642, 0.0, 2.134, 0, 180, 0, [SEP] 78, Window, -1.131, 1.673, 0.808, 90, 0, 0, [SEP] 79, GarbageCan, 0.931, -0.000, 2.918, 0, 0, 0, [SEP] 80, SinkBasin, -1.601, 0.686, 3.774, 0, 0, 0, [SEP] 81, StoveKnob, 1.104, 1.002, 1.886, 0, 0, 70.346, [SEP] 82, StoveKnob, 1.104, 1.002, 1.733, 0, 0, 70.346, [SEP] 83, StoveKnob, 1.104, 1.002, 1.321, 0, 0, 70.346, [SEP] 84, StoveKnob, 1.104, 1.002, 1.481, 0, 0, 70.346, [SEP] 85, Toaster, -2.247, 0.812, 3.862, 0, 180, 0, [SEP] 86, DiningTable, -0.917, -0.000, 1.203, 0, 0, 0, [SEP] 87, Stool, -0.932, 0.000, 1.404, 1.196, 21.715, 0, [SEP] 88, Faucet, -1.842, 0.809, 3.984, 0, 180, 0, [SEP] 89, Faucet, -1.371, 0.809, 3.985, 0, 180, 0, [SEP] 90, NorthWall, , , , , , , [SEP] 91, EastWall, , , , , , , [SEP] 92, SouthWall, , , , , , , [SEP] 93, WestWall, , , , , , , ", "output": ["STEP 1: turn left, go to left side of white dining table | STEP 2: pick up lettuce from white dining table | STEP 3: go to the refrigerator to the right | STEP 4: open refrigerator, put lettuce on left side of second shelf, close refrigerator, open refrigerator, pick up lettuce, close refrigerator | STEP 5: turn around, go to front of dining table by white dispenser | STEP 6: place lettuce to the left of knife on white dining table | END"]} +{"id": "trial_T20190909_005000_968164-2", "input": "Move the salt to a different table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 0.869, -3.5, 0, 180, 0, [SEP] 1, Potato, 0.715, 0.805, -0.790, 0, 270, 0, 67 [SEP] 2, Potato, 0.601, 0.697, 0.265, 0, 0, 0, 49 [SEP] 3, DishSponge, 0.769, 0.759, 0.002, 0, 0, 0, 43 [SEP] 4, DishSponge, 0.729, 0.883, 0.029, 0, 0, 0, 44 [SEP] 5, ButterKnife, -1.719, 0.701, -0.983, 0, 0, 0, 80 [SEP] 6, Spatula, 0.950, 0.898, -0.176, 0, 90, 0, 44 [SEP] 7, Spatula, -1.970, 0.716, -0.983, 0, 270, 0, 80 [SEP] 8, Spoon, 0.769, 0.761, -0.124, 0, 0, 0, 43 [SEP] 9, Pot, -2.097, 0.930, 0.785, 0, 0, 0, 46 [SEP] 10, Cup, 0.785, 1.373, -1.725, 0, 270, 0, 64 [SEP] 11, Knife, 0.574, 0.783, -0.124, 0, 90, 0, 43 [SEP] 12, Knife, 0.817, 0.782, -0.252, 0, 90, 0, 43 [SEP] 13, Tomato, 0.824, 1.207, -1.802, 0, 270, 0, 64 [SEP] 14, SoapBottle, -1.578, 0.695, -3.782, 0, 0, 0, 71 [SEP] 15, PepperShaker, 0.812, 1.460, 0.349, 0, 0, 0, 56 [SEP] 16, SaltShaker, 0.661, 0.660, 0.569, 0, 0, 0, 49 [SEP] 17, SaltShaker, 0.949, 1.460, -0.207, 0, 0, 0, 55 [SEP] 18, Bread, -0.051, 0.944, 0.929, 0, 270, 0, 70 [SEP] 19, Lettuce, 0.746, 1.461, -1.958, 0, 270, 0, 64 [SEP] 20, Lettuce, -1.056, 0.987, 1.187, 0, 270, 0, 70 [SEP] 21, Mug, -2.054, 0.794, -3.705, 0, 0, 0, 66 [SEP] 22, Pot, -1.552, 0.930, 0.785, 0, 0, 0, 48 [SEP] 23, Plate, -2.023, 0.692, -1.447, 0, 0, 0, 80 [SEP] 24, Fork, 0.729, 0.884, -0.245, 0, 0, 0, 44 [SEP] 25, SoapBottle, -1.260, 0.051, -3.647, 0, 270, 0, 59 [SEP] 26, Apple, 0.715, 0.826, -0.570, 0, 270, 0, 67 [SEP] 27, Pan, 0.740, -0.007, -0.596, 0, 0, 0, 47 [SEP] 28, Egg, -1.949, 0.836, -3.771, 0, 0, 0, 66 [SEP] 29, Spatula, -1.970, 0.716, -0.875, 0, 0, 0, 80 [SEP] 30, Potato, -1.843, 0.832, -3.673, 0, 0, 0, 66 [SEP] 31, Cup, 0.721, 0.664, 0.387, 0, 0, 0, 49 [SEP] 32, SaltShaker, 1.040, 1.460, -0.022, 0, 0, 0, 55 [SEP] 33, PepperShaker, 0.877, 0.879, -0.245, 0, 0, 0, 44 [SEP] 34, ButterKnife, 0.769, 0.759, -0.124, 0, 0, 0, 43 [SEP] 35, DishSponge, 0.720, 0.759, -0.252, 0, 0, 0, 43 [SEP] 36, Bread, -0.873, 0.931, 0.978, 0, 24.231, 0, 70 [SEP] 37, Lettuce, 0.841, 0.752, 0.569, 0, 0, 0, 49 [SEP] 38, Tomato, 0.901, 0.712, 0.326, 0, 0, 0, 49 [SEP] 39, Spoon, 0.841, 0.666, 0.326, 0, 0, 0, 49 [SEP] 40, Knife, 0.781, 0.687, 0.569, 0, 0, 0, 49 [SEP] 41, Mug, 0.841, 0.767, -0.680, 0, 270, 0, 67 [SEP] 42, Bowl, 0.746, 0.663, -2.113, 0, 270, 0, 64 [SEP] 43, Drawer, 0.706, 0.766, -0.125, 0, 0, 0, [SEP] 44, CounterTop, 0.792, 0.919, -0.108, 0, 0, 0, [SEP] 45, Mirror, 1.093, 1.602, -0.643, 0, 0, 0, [SEP] 46, StoveBurner, -2.096, 0.890, 0.785, 0, 0, 0, [SEP] 47, Cabinet, 0.507, 0.345, -0.426, 0, 0, 0, [SEP] 48, StoveBurner, -1.552, 0.890, 0.785, 0, 0, 0, [SEP] 49, SideTable, 0.770, -0.030, 0.443, 0, 0, 0, [SEP] 50, Sink, 0.753, 0.882, -0.680, 0, 0, 0, [SEP] 51, StoveBurner, -2.096, 0.890, 1.049, 0, 0, 0, [SEP] 52, GarbageBag, -0.770, 0.287, -3.541, 270, 73.521, 83.489, [SEP] 53, StoveBurner, -1.554, 0.890, 1.049, 0, 0, 0, [SEP] 54, Cabinet, 0.507, 0.345, 0.156, 0, 0, 0, [SEP] 55, Cabinet, 0.717, 1.822, -0.398, 0, 0, 0, [SEP] 56, Cabinet, 0.717, 1.822, 0.669, 0, 0, 0, [SEP] 57, CoffeeMachine, 0.873, 0.865, -1.256, 0, 270, 0, [SEP] 58, Toaster, -0.522, 0.886, 1.081, 0, 180, 0, [SEP] 59, GarbageCan, -1.261, -0.031, -3.610, 0, 270, 0, [SEP] 60, StoveKnob, -1.898, 0.866, 0.519, 311.864, 0, 180, [SEP] 61, StoveKnob, -1.754, 0.866, 0.519, 311.864, 0, 180, [SEP] 62, StoveKnob, -2.058, 0.866, 0.519, 311.864, 0, 180, [SEP] 63, StoveKnob, -1.600, 0.866, 0.519, 311.864, 0, 180, [SEP] 64, Fridge, 0.680, -0.031, -1.957, 0, 0, 0, [SEP] 65, Window, -2.424, 1.639, -2.453, 90, 270, 0, [SEP] 66, Microwave, -1.994, 0.690, -3.651, 0, 0, 0, [SEP] 67, SinkBasin, 0.757, 0.762, -0.688, 0, 270, 0, [SEP] 68, LightSwitch, 1.102, 1.368, -3.737, 0, 270, 0, [SEP] 69, Shelf, -0.350, 0.124, 0.857, 0, 0, 0, [SEP] 70, DiningTable, -0.350, -0.025, 0.857, 0, 0, 0, [SEP] 71, DiningTable, -1.909, -0.032, -3.507, 0, 0, 0, [SEP] 72, Blinds, -2.343, 2.151, -2.437, 0, 270, 0, [SEP] 73, AluminumFoil, 0.762, 0.224, 0.337, 0, 184.594, 0, [SEP] 74, AluminumFoil, 0.751, 0.225, 0.287, 0, 0, 0, [SEP] 75, AluminumFoil, 0.839, 0.224, 0.392, 0, 195.128, 0, [SEP] 76, Shelf, 0.771, 0.226, 0.445, 0, 0, 0, [SEP] 77, Shelf, 0.771, 0.456, 0.446, 0, 0, 0, [SEP] 78, Faucet, 1.025, 0.873, -0.678, 270, 180, 0, [SEP] 79, Shelf, -0.350, 0.497, 0.857, 0, 0, 0, [SEP] 80, DiningTable, -1.929, -0.035, -1.398, 0, 90, 0, [SEP] 81, Chair, -1.610, -0.024, -1.424, 358.454, 297.426, 0, [SEP] 82, NorthWall, , , , , , , [SEP] 83, EastWall, , , , , , , [SEP] 84, SouthWall, , , , , , , [SEP] 85, WestWall, , , , , , , ", "output": ["STEP 1: Turn around then face the sink to your right. | STEP 2: Take the salt from the counter in front of you. | STEP 3: Turn left and face the table in front of you. | STEP 4: Place the salt on the table in front of you. | STEP 5: Turn right and face the cabinet above the brown table in front of you. | STEP 6: Open the cabinet in front of you, take the salt out and close it. | STEP 7: Turn left and face the table and front of you. | STEP 8: Place the salt on the table in front of you. | END"]} +{"id": "trial_T20190907_152448_895790-2", "input": "Move a spray bottle from the top of a toilet to a counter top. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.900, 1.75, 0, 0, 0, [SEP] 1, Cloth, -0.302, 0.206, 2.034, 0, 0, 0, 22 [SEP] 2, SoapBar, -0.470, 0.206, 1.519, 0, 0, 0, 24 [SEP] 3, SprayBottle, -2.170, 0.057, 3.818, 0, 90, 0, 34 [SEP] 4, DishSponge, -0.414, 0.513, 1.867, 0, 0, 0, 22 [SEP] 5, SoapBottle, -0.417, 0.813, 2.190, 0, 0, 0, 21 [SEP] 6, HandTowel, -0.036, 1.658, 3.443, 0, 90, 0, 35 [SEP] 7, SoapBar, -0.188, 0.953, 3.533, 0, 0, 0, 36 [SEP] 8, ToiletPaper, -0.180, 0.945, 3.719, 0, 0, 0, 36 [SEP] 9, Plunger, -0.139, -0.000, 3.369, 0, 0, 0, Floor|+00.00| [SEP] 10, Candle, -0.190, 0.510, 2.551, 0, 0, 0, 25 [SEP] 11, SoapBottle, -0.144, 0.804, 1.325, 0, 0, 0, 21 [SEP] 12, ToiletPaper, -0.161, 0.809, 2.190, 0, 0, 0, 21 [SEP] 13, SprayBottle, -0.161, 0.954, 3.596, 0, 0, 0, 36 [SEP] 14, Towel, -1.106, 1.151, 1.289, 0, 0, 0, 33 [SEP] 15, Cloth, -0.246, 0.205, 2.439, 0, 0, 0, 28 [SEP] 16, ScrubBrush, -0.346, -0.000, 3.341, 0, 0, 0, Floor|+00.00| [SEP] 17, DishSponge, -0.268, 0.829, 1.675, 0, 0, 0, 42 [SEP] 18, Sink, -0.299, 0.807, 2.754, 0, 270, 0, [SEP] 19, Drawer, -0.319, 0.615, 3.012, 0, 0, 0, [SEP] 20, Drawer, -0.319, 0.316, 3.012, 0, 0, 0, [SEP] 21, CounterTop, -0.349, 0.004, 1.453, 0, 0, 0, [SEP] 22, Drawer, -0.319, 0.615, 1.978, 0, 0, 0, [SEP] 23, Drawer, -0.319, 0.316, 1.978, 0, 0, 0, [SEP] 24, Drawer, -0.319, 0.316, 1.463, 0, 0, 0, [SEP] 25, Drawer, -0.319, 0.615, 2.495, 0, 0, 0, [SEP] 26, ShowerDoor, -1.514, 0.910, 1.167, 0, 0, 0, [SEP] 27, Drawer, -0.319, 0.615, 1.463, 0, 0, 0, [SEP] 28, Drawer, -0.319, 0.316, 2.495, 0, 0, 0, [SEP] 29, Faucet, -0.076, 0.805, 2.757, 0, 0, 0, [SEP] 30, Mirror, -0.228, 0.465, 1.453, 0, 0, 0, [SEP] 31, ShowerGlass, -0.766, 0.541, 0.485, 0, 0, 0, [SEP] 32, ToiletPaperHanger, -1.200, 0.897, 4.0, 0, 180, 0, [SEP] 33, TowelHolder, -1.105, 1.136, 1.183, 0, 0, 0, [SEP] 34, GarbageCan, -2.041, -0.000, 3.724, 0, 45, 0, [SEP] 35, HandTowelHolder, 0.001, 1.759, 3.443, 0, 180, 0, [SEP] 36, Toilet, -0.600, -0.000, 3.671, 0, 270, 0, [SEP] 37, LightSwitch, -2.312, 1.386, 3.296, 0, 90, 0, [SEP] 38, Faucet, -0.076, 0.805, 1.733, 0, 0, 0, [SEP] 39, SinkBasin, -0.304, 0.819, 2.753, 0, 0, 0, [SEP] 40, Sink, -0.298, 0.807, 1.725, 0, 270, 0, [SEP] 41, ShowerHead, -0.083, 1.248, 0.522, 0, 0, 0, [SEP] 42, SinkBasin, -0.304, 0.819, 1.723, 0, 0, 0, [SEP] 43, NorthWall, , , , , , , [SEP] 44, SouthWall, , , , , , , [SEP] 45, SouthWall, , , , , , , ", "output": ["STEP 1: Walk forward to the toilet. | STEP 2: Pick up the spray bottle from the top of the toilet. | STEP 3: Turn right and walk to the right side of the counter top. | STEP 4: Put the spray bottle on the counter top, immediately to the right of the soap bottle on the left. | END"]} +{"id": "trial_T20190907_122255_542893-2", "input": "Put the vase on the kitchen counter SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.0, 0.900, -3.25, 0, 180, 0, [SEP] 1, Pan, -0.308, 1.690, -0.665, 0, 0, 0, 71 [SEP] 2, Glassbottle, -0.350, 0.797, -2.155, 0, 270, 0, 72 [SEP] 3, Glassbottle, -0.211, 1.528, -3.020, 0, 0, 0, 66 [SEP] 4, Glassbottle, -0.162, 1.528, -2.809, 0, 0, 0, 66 [SEP] 5, Pencil, -0.449, 0.747, -3.267, 0, 0, 0, 65 [SEP] 6, Pen, -2.324, 0.926, -1.193, 0, 0, 0, 79 [SEP] 7, Pen, -2.666, 0.926, -2.345, 0, 0, 0, 79 [SEP] 8, Potato, -0.295, 1.130, -0.560, 0, 270, 0, 71 [SEP] 9, DishSponge, -2.780, 0.923, -1.654, 0, 0, 0, 79 [SEP] 10, DishSponge, -1.881, 0.026, -3.763, 0, 0, 0, 70 [SEP] 11, WineBottle, -0.377, 1.531, -3.555, 0, 45, 0, 62 [SEP] 12, Spatula, -2.666, 0.938, -1.193, 0, 180, 0, 79 [SEP] 13, Fork, -2.324, 0.924, -1.654, 0, 90, 0, 79 [SEP] 14, Fork, -2.210, 0.924, -1.654, 0, 90, 0, 79 [SEP] 15, Spoon, -2.324, 0.924, -1.193, 0, 0, 0, 79 [SEP] 16, Plate, -0.422, 0.083, -2.201, 0, 0, 0, 59 [SEP] 17, Egg, -1.943, 0.059, -3.690, 0, 0, 0, 70 [SEP] 18, SoapBottle, -2.780, 0.922, -2.115, 0, 0, 0, 79 [SEP] 19, SoapBottle, -2.552, 0.922, -1.884, 0, 0, 0, 79 [SEP] 20, PepperShaker, -2.324, 0.919, -1.423, 0, 0, 0, 79 [SEP] 21, PepperShaker, -1.707, 1.965, -3.812, 0, 0, 0, 63 [SEP] 22, Apple, -0.743, 0.989, -3.626, 0, 0, 0, 54 [SEP] 23, Apple, -2.006, 0.100, -3.763, 0, 0, 0, 70 [SEP] 24, Apple, -0.246, 1.464, -0.979, 0, 270, 0, 71 [SEP] 25, Lettuce, -2.562, 1.002, -1.677, 36.385, 0, 0, 79 [SEP] 26, Glassbottle, -0.447, 0.797, -1.860, 0, 270, 0, 72 [SEP] 27, Egg, -1.098, 1.663, -3.870, 0, 0, 0, 67 [SEP] 28, Pen, -2.552, 0.926, -2.115, 0, 0, 0, 79 [SEP] 29, Fork, -2.552, 0.924, -1.423, 0, 0, 0, 79 [SEP] 30, SoapBottle, -2.552, 0.922, -0.963, 0, 0, 0, 79 [SEP] 31, Pencil, -2.780, 0.923, -0.963, 0, 0, 0, 79 [SEP] 32, WineBottle, -0.499, 0.081, -3.299, 0, 0, 0, 60 [SEP] 33, Spatula, -0.600, 0.930, -3.768, 0, 90, 0, 54 [SEP] 34, Bread, -0.414, 0.952, -3.625, 0, 0, 0, 54 [SEP] 35, Tomato, -2.096, 0.987, -1.654, 0, 0, 0, 79 [SEP] 36, Pan, -1.515, 0.935, -3.752, 0, 90, 0, 50 [SEP] 37, Cup, -0.995, 1.968, -3.773, 0, 0, 0, 55 [SEP] 38, Pot, -1.129, 0.935, -3.498, 0, 0, 0, 52 [SEP] 39, SaltShaker, -2.780, 0.919, -1.884, 0, 0, 0, 79 [SEP] 40, Potato, -2.210, 0.954, -1.423, 0, 0, 0, 79 [SEP] 41, PepperShaker, -0.499, 0.077, -1.895, 0, 0, 0, 59 [SEP] 42, ButterKnife, -2.666, 0.923, -1.884, 0, 0, 0, 79 [SEP] 43, DishSponge, -0.720, 0.746, -3.527, 0, 0, 0, 53 [SEP] 44, Spoon, -0.302, 0.798, -1.934, 0, 270, 0, 72 [SEP] 45, Plate, -0.747, 0.084, -3.545, 0, 0, 0, 60 [SEP] 46, Knife, -2.210, 0.946, -0.963, 0, 0, 0, 79 [SEP] 47, Mug, -2.324, 0.918, -2.115, 0, 0, 0, 79 [SEP] 48, Bowl, -2.096, 0.922, -2.115, 0, 0, 0, 79 [SEP] 49, Cabinet, -0.582, 0.388, -1.804, 0, 0, 0, [SEP] 50, StoveBurner, -1.515, 0.928, -3.752, 0, 90, 0, [SEP] 51, StoveBurner, -1.515, 0.928, -3.497, 0, 0, 0, [SEP] 52, StoveBurner, -1.129, 0.928, -3.498, 0, 0, 0, [SEP] 53, Drawer, -0.749, 0.779, -3.551, 0, 0, 0, [SEP] 54, CounterTop, -0.303, 0.951, -2.793, 0, 0, 0, [SEP] 55, Cabinet, -0.883, 2.140, -3.687, 0, 0, 0, [SEP] 56, Cabinet, -0.312, 2.140, -1.543, 0, 0, 0, [SEP] 57, Sink, -0.349, 0.907, -2.014, 0, 0, 0, [SEP] 58, Cabinet, -0.877, 0.388, -3.422, 0, 0, 0, [SEP] 59, Cabinet, -0.582, 0.388, -2.197, 0, 0, 0, [SEP] 60, Cabinet, -0.584, 0.388, -3.396, 0, 0, 0, [SEP] 61, Cabinet, -0.312, 2.140, -2.481, 0, 0, 0, [SEP] 62, Cabinet, -0.330, 1.921, -3.390, 0, 0, 0, [SEP] 63, Cabinet, -1.764, 2.140, -3.687, 0, 0, 0, [SEP] 64, StoveBurner, -1.129, 0.928, -3.752, 0, 90, 0, [SEP] 65, Drawer, -0.454, 0.779, -3.268, 0, 0, 0, [SEP] 66, Cabinet, -0.302, 1.916, -2.501, 0, 0, 0, [SEP] 67, Microwave, -1.317, 1.517, -3.801, 0, 1.440, 0, [SEP] 68, CoffeeMachine, -0.153, 0.903, -3.144, 0, 270, 0, [SEP] 69, LightSwitch, -4.323, 1.319, 0.0, 0, 180, 0, [SEP] 70, GarbageCan, -1.943, -7.152, -3.763, 0, 0, 0, [SEP] 71, Fridge, -0.330, 0.0, -0.769, 0, 270, 0, [SEP] 72, SinkBasin, -0.350, 0.786, -2.018, 0, 270, 0, [SEP] 73, StoveKnob, -1.582, 1.082, -3.958, 72.287, 0, 0, [SEP] 74, StoveKnob, -1.177, 1.082, -3.958, 72.287, 0, 0, [SEP] 75, StoveKnob, -1.424, 1.082, -3.958, 72.287, 0, 0, [SEP] 76, StoveKnob, -1.028, 1.082, -3.958, 72.287, 0, 0, [SEP] 77, Toaster, -0.181, 0.903, -2.764, 0, 270, 0, [SEP] 78, Window, -2.503, 1.782, -4.185, 90, 180, 0, [SEP] 79, DiningTable, -2.432, 0.000, -1.694, 0, 270, 0, [SEP] 80, Shelf, -2.432, 0.150, -1.694, 0, 270, 0, [SEP] 81, Blinds, -2.536, 2.699, -3.959, 0, 0, 0, [SEP] 82, Faucet, -0.079, 0.904, -2.034, 270, 180, 0, [SEP] 83, Chair, -3.264, 0.002, -2.094, 0, 53.280, 0, [SEP] 84, Chair, -3.240, 0.002, -1.253, 0, 117.257, 0, [SEP] 85, Shelf, -2.432, 0.523, -1.694, 0, 270, 0, [SEP] 86, NorthWall, , , , , , , [SEP] 87, EastWall, , , , , , , [SEP] 88, SouthWall, , , , , , , [SEP] 89, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and walk over to the kitchen sink | STEP 2: Pick up the left most vase from the sink | STEP 3: Turn right and look up slightly | STEP 4: Put the vase down on the counter just right of the sink | END"]} +{"id": "trial_T20190907_102500_200675-0", "input": "Putting a tomato slice on the counter SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.5, 0.900, 1.75, 0, 90, 0, [SEP] 1, Pan, -1.109, 0.930, 1.470, 0, 0, 0, 39 [SEP] 2, DishSponge, 1.729, 0.937, 1.887, 0, 0, 0, 42 [SEP] 3, Fork, 1.275, 0.747, 0.780, 0, 90, 0, 67 [SEP] 4, Fork, -0.861, 0.747, 2.245, 0, 90, 0, 38 [SEP] 5, Spoon, -0.960, 0.939, 0.843, 0, 0, 0, 62 [SEP] 6, Spatula, -0.689, 0.761, 2.449, 0, 270, 0, 38 [SEP] 7, Spatula, -0.758, 0.761, 0.779, 0, 90, 0, 60 [SEP] 8, Egg, 1.422, 0.878, 1.426, 0, 180, 0, 79 [SEP] 9, Knife, 1.362, 0.959, 0.806, 0, 90, 0, 42 [SEP] 10, Knife, -0.896, 0.768, 2.245, 0, 90, 0, 38 [SEP] 11, Tomato, -1.018, 1.380, -0.110, 0, 90, 0, 69 [SEP] 12, SoapBottle, -1.154, 1.828, -0.220, 0, 0, 0, 50 [SEP] 13, SoapBottle, 1.346, 0.100, 0.272, 0, 0, 0, 47 [SEP] 14, Mug, 1.662, 1.943, 1.783, 0, 0, 0, 54 [SEP] 15, Apple, -1.043, 0.987, 0.998, 0, 0, 0, 62 [SEP] 16, Lettuce, 1.460, 1.014, 1.678, 4.936, 59.364, 356.547, 64 [SEP] 17, SoapBottle, -0.960, 0.937, 1.154, 0, 0, 0, 62 [SEP] 18, Bread, -0.923, 0.990, 2.265, 0, 302.470, 0, 37 [SEP] 19, Fork, -1.126, 0.938, 0.921, 0, 90, 0, 62 [SEP] 20, Tomato, -1.209, 0.999, 0.843, 0, 0, 0, 62 [SEP] 21, Bowl, -0.764, 0.078, 2.456, 0, 0, 0, 58 [SEP] 22, Pot, -0.818, 0.927, 0.816, 0, 270, 0, 62 [SEP] 23, Spatula, 1.669, 0.952, 0.940, 0, 0, 0, 42 [SEP] 24, Knife, -0.827, 0.768, 2.245, 0, 90, 0, 38 [SEP] 25, SaltShaker, 1.666, 1.500, 1.058, 0, 0, 0, 44 [SEP] 26, Apple, -0.860, 0.615, 0.119, 0, 90, 0, 69 [SEP] 27, PepperShaker, -0.792, 0.743, 1.050, 0, 180, 0, 60 [SEP] 28, ButterKnife, -1.126, 0.937, 0.687, 0, 0, 0, 62 [SEP] 29, Potato, 1.490, 0.876, 1.341, 0, 180, 0, 79 [SEP] 30, Plate, 1.391, 0.086, 0.918, 0, 0, 0, 63 [SEP] 31, DishSponge, -1.211, 0.937, 2.234, 0, 0, 0, 37 [SEP] 32, Egg, 1.550, 0.979, 1.840, 0, 180, 0, 64 [SEP] 33, Cup, -0.988, 0.813, 0.272, 0, 90, 0, 69 [SEP] 34, Pan, -0.924, 1.498, 0.119, 0, 90, 0, 69 [SEP] 35, Spoon, -0.827, 0.747, 0.779, 0, 180, 0, 60 [SEP] 36, Mug, -1.075, 1.944, 1.782, 0, 0, 0, 53 [SEP] 37, CounterTop, -0.973, 0.973, 2.386, 0, 0, 0, [SEP] 38, Drawer, -0.783, 0.774, 2.381, 0, 180, 0, [SEP] 39, StoveBurner, -1.108, 0.922, 1.470, 0, 0, 0, [SEP] 40, Drawer, 1.370, 0.774, 2.391, 0, 0, 0, [SEP] 41, Stool, -0.748, 0.008, 3.116, 0, 0, 0, [SEP] 42, CounterTop, 1.504, 0.973, 2.309, 0, 0, 0, [SEP] 43, Cabinet, 1.219, 1.388, 0.591, 0, 0, 0, [SEP] 44, Cabinet, 1.500, 2.113, 1.164, 0, 0, 0, [SEP] 45, Cabinet, 1.219, 2.010, 0.591, 0, 0, 0, [SEP] 46, Cabinet, 1.219, 0.388, 2.105, 0, 0, 0, [SEP] 47, Cabinet, 1.219, 0.553, 0.591, 0, 0, 0, [SEP] 48, Cabinet, -0.913, 2.113, 1.164, 0, 0, 0, [SEP] 49, Cabinet, -0.633, 0.388, 0.627, 0, 0, 0, [SEP] 50, Cabinet, -0.913, 2.050, -0.329, 0, 0, 0, [SEP] 51, Cabinet, -0.913, 2.113, 0.583, 0, 0, 0, [SEP] 52, Cabinet, -0.913, 2.113, 2.082, 0, 0, 0, [SEP] 53, Cabinet, -0.913, 2.113, 1.207, 0, 0, 0, [SEP] 54, Cabinet, 1.500, 2.113, 2.082, 0, 0, 0, [SEP] 55, Cabinet, 1.500, 2.113, 1.207, 0, 0, 0, [SEP] 56, Cabinet, 1.500, 1.810, 2.691, 0, 0, 0, [SEP] 57, Cabinet, 1.500, 1.810, 2.101, 0, 0, 0, [SEP] 58, Cabinet, -0.633, 0.388, 2.105, 0, 0, 0, [SEP] 59, Cabinet, -0.911, 1.810, 2.700, 0, 180, 0, [SEP] 60, Drawer, -0.783, 0.774, 0.915, 0, 180, 0, [SEP] 61, StoveBurner, -1.108, 0.922, 1.865, 0, 0, 0, [SEP] 62, CounterTop, -0.972, 0.973, 0.921, 0, 0, 0, [SEP] 63, Cabinet, 1.219, 0.388, 0.631, 0, 0, 0, [SEP] 64, Sink, 1.544, 0.869, 1.639, 0, 180, 0, [SEP] 65, StoveBurner, -0.832, 0.922, 1.865, 0, 0, 0, [SEP] 66, StoveBurner, -0.831, 0.922, 1.470, 0, 0, 0, [SEP] 67, Drawer, 1.370, 0.774, 0.916, 0, 0, 0, [SEP] 68, Cabinet, -0.911, 1.810, 2.111, 0, 180, 0, [SEP] 69, Fridge, -1.001, 0.0, 0.119, 0, 0, 0, [SEP] 70, StoveKnob, -0.648, 0.926, 1.923, 0, 270, 0, [SEP] 71, StoveKnob, -0.648, 0.926, 1.363, 0, 270, 0, [SEP] 72, StoveKnob, -0.648, 0.926, 1.513, 0, 270, 0, [SEP] 73, StoveKnob, -0.648, 0.926, 1.763, 0, 270, 0, [SEP] 74, Toaster, -1.002, 0.926, 2.561, 0, 90, 0, [SEP] 75, GarbageCan, 1.451, -0.029, 2.912, 0, 0, 0, [SEP] 76, Microwave, 1.632, 1.480, 1.645, 0, 270, 0, [SEP] 77, Window, 0.224, 1.601, 3.509, 90, 0, 0, [SEP] 78, CoffeeMachine, 1.692, 0.926, 2.453, 0, 270, 0, [SEP] 79, SinkBasin, 1.461, 0.833, 1.369, 0, 180, 0, [SEP] 80, LightSwitch, 0.451, 1.412, -1.674, 0, 0, 0, [SEP] 81, Faucet, 1.707, 0.925, 1.363, 0, 270, 0, [SEP] 82, NorthWall, , , , , , , [SEP] 83, EastWall, , , , , , , [SEP] 84, SouthWall, , , , , , , [SEP] 85, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and stop at the counter to the right of the fridge | STEP 2: Grab the knife that's on the counter | STEP 3: Stand up straight in front of the counter | STEP 4: Cut the tomato on the counter into slices | STEP 5: Turn slightly to the right | STEP 6: Put the knife down in the bowl | STEP 7: Turn slightly to the right | STEP 8: Grab one of the tomato slices | STEP 9: Turn around and head to the microwave | STEP 10: Heat the tomato in the microwave. Take the tomato out of the microwave. | STEP 11: Turn left and stop at the coffee maker | STEP 12: Put the tomato on the counter in front of the coffee maker | END"]} +{"id": "trial_T20190907_102500_200675-2", "input": "Cut plus heat a tomato slice as well as place it on the counter. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.5, 0.900, 1.75, 0, 90, 0, [SEP] 1, Pan, -1.109, 0.930, 1.470, 0, 0, 0, 39 [SEP] 2, DishSponge, 1.729, 0.937, 1.887, 0, 0, 0, 42 [SEP] 3, Fork, 1.275, 0.747, 0.780, 0, 90, 0, 67 [SEP] 4, Fork, -0.861, 0.747, 2.245, 0, 90, 0, 38 [SEP] 5, Spoon, -0.960, 0.939, 0.843, 0, 0, 0, 62 [SEP] 6, Spatula, -0.689, 0.761, 2.449, 0, 270, 0, 38 [SEP] 7, Spatula, -0.758, 0.761, 0.779, 0, 90, 0, 60 [SEP] 8, Egg, 1.422, 0.878, 1.426, 0, 180, 0, 79 [SEP] 9, Knife, 1.362, 0.959, 0.806, 0, 90, 0, 42 [SEP] 10, Knife, -0.896, 0.768, 2.245, 0, 90, 0, 38 [SEP] 11, Tomato, -1.018, 1.380, -0.110, 0, 90, 0, 69 [SEP] 12, SoapBottle, -1.154, 1.828, -0.220, 0, 0, 0, 50 [SEP] 13, SoapBottle, 1.346, 0.100, 0.272, 0, 0, 0, 47 [SEP] 14, Mug, 1.662, 1.943, 1.783, 0, 0, 0, 54 [SEP] 15, Apple, -1.043, 0.987, 0.998, 0, 0, 0, 62 [SEP] 16, Lettuce, 1.460, 1.014, 1.678, 4.936, 59.364, 356.547, 64 [SEP] 17, SoapBottle, -0.960, 0.937, 1.154, 0, 0, 0, 62 [SEP] 18, Bread, -0.923, 0.990, 2.265, 0, 302.470, 0, 37 [SEP] 19, Fork, -1.126, 0.938, 0.921, 0, 90, 0, 62 [SEP] 20, Tomato, -1.209, 0.999, 0.843, 0, 0, 0, 62 [SEP] 21, Bowl, -0.764, 0.078, 2.456, 0, 0, 0, 58 [SEP] 22, Pot, -0.818, 0.927, 0.816, 0, 270, 0, 62 [SEP] 23, Spatula, 1.669, 0.952, 0.940, 0, 0, 0, 42 [SEP] 24, Knife, -0.827, 0.768, 2.245, 0, 90, 0, 38 [SEP] 25, SaltShaker, 1.666, 1.500, 1.058, 0, 0, 0, 44 [SEP] 26, Apple, -0.860, 0.615, 0.119, 0, 90, 0, 69 [SEP] 27, PepperShaker, -0.792, 0.743, 1.050, 0, 180, 0, 60 [SEP] 28, ButterKnife, -1.126, 0.937, 0.687, 0, 0, 0, 62 [SEP] 29, Potato, 1.490, 0.876, 1.341, 0, 180, 0, 79 [SEP] 30, Plate, 1.391, 0.086, 0.918, 0, 0, 0, 63 [SEP] 31, DishSponge, -1.211, 0.937, 2.234, 0, 0, 0, 37 [SEP] 32, Egg, 1.550, 0.979, 1.840, 0, 180, 0, 64 [SEP] 33, Cup, -0.988, 0.813, 0.272, 0, 90, 0, 69 [SEP] 34, Pan, -0.924, 1.498, 0.119, 0, 90, 0, 69 [SEP] 35, Spoon, -0.827, 0.747, 0.779, 0, 180, 0, 60 [SEP] 36, Mug, -1.075, 1.944, 1.782, 0, 0, 0, 53 [SEP] 37, CounterTop, -0.973, 0.973, 2.386, 0, 0, 0, [SEP] 38, Drawer, -0.783, 0.774, 2.381, 0, 180, 0, [SEP] 39, StoveBurner, -1.108, 0.922, 1.470, 0, 0, 0, [SEP] 40, Drawer, 1.370, 0.774, 2.391, 0, 0, 0, [SEP] 41, Stool, -0.748, 0.008, 3.116, 0, 0, 0, [SEP] 42, CounterTop, 1.504, 0.973, 2.309, 0, 0, 0, [SEP] 43, Cabinet, 1.219, 1.388, 0.591, 0, 0, 0, [SEP] 44, Cabinet, 1.500, 2.113, 1.164, 0, 0, 0, [SEP] 45, Cabinet, 1.219, 2.010, 0.591, 0, 0, 0, [SEP] 46, Cabinet, 1.219, 0.388, 2.105, 0, 0, 0, [SEP] 47, Cabinet, 1.219, 0.553, 0.591, 0, 0, 0, [SEP] 48, Cabinet, -0.913, 2.113, 1.164, 0, 0, 0, [SEP] 49, Cabinet, -0.633, 0.388, 0.627, 0, 0, 0, [SEP] 50, Cabinet, -0.913, 2.050, -0.329, 0, 0, 0, [SEP] 51, Cabinet, -0.913, 2.113, 0.583, 0, 0, 0, [SEP] 52, Cabinet, -0.913, 2.113, 2.082, 0, 0, 0, [SEP] 53, Cabinet, -0.913, 2.113, 1.207, 0, 0, 0, [SEP] 54, Cabinet, 1.500, 2.113, 2.082, 0, 0, 0, [SEP] 55, Cabinet, 1.500, 2.113, 1.207, 0, 0, 0, [SEP] 56, Cabinet, 1.500, 1.810, 2.691, 0, 0, 0, [SEP] 57, Cabinet, 1.500, 1.810, 2.101, 0, 0, 0, [SEP] 58, Cabinet, -0.633, 0.388, 2.105, 0, 0, 0, [SEP] 59, Cabinet, -0.911, 1.810, 2.700, 0, 180, 0, [SEP] 60, Drawer, -0.783, 0.774, 0.915, 0, 180, 0, [SEP] 61, StoveBurner, -1.108, 0.922, 1.865, 0, 0, 0, [SEP] 62, CounterTop, -0.972, 0.973, 0.921, 0, 0, 0, [SEP] 63, Cabinet, 1.219, 0.388, 0.631, 0, 0, 0, [SEP] 64, Sink, 1.544, 0.869, 1.639, 0, 180, 0, [SEP] 65, StoveBurner, -0.832, 0.922, 1.865, 0, 0, 0, [SEP] 66, StoveBurner, -0.831, 0.922, 1.470, 0, 0, 0, [SEP] 67, Drawer, 1.370, 0.774, 0.916, 0, 0, 0, [SEP] 68, Cabinet, -0.911, 1.810, 2.111, 0, 180, 0, [SEP] 69, Fridge, -1.001, 0.0, 0.119, 0, 0, 0, [SEP] 70, StoveKnob, -0.648, 0.926, 1.923, 0, 270, 0, [SEP] 71, StoveKnob, -0.648, 0.926, 1.363, 0, 270, 0, [SEP] 72, StoveKnob, -0.648, 0.926, 1.513, 0, 270, 0, [SEP] 73, StoveKnob, -0.648, 0.926, 1.763, 0, 270, 0, [SEP] 74, Toaster, -1.002, 0.926, 2.561, 0, 90, 0, [SEP] 75, GarbageCan, 1.451, -0.029, 2.912, 0, 0, 0, [SEP] 76, Microwave, 1.632, 1.480, 1.645, 0, 270, 0, [SEP] 77, Window, 0.224, 1.601, 3.509, 90, 0, 0, [SEP] 78, CoffeeMachine, 1.692, 0.926, 2.453, 0, 270, 0, [SEP] 79, SinkBasin, 1.461, 0.833, 1.369, 0, 180, 0, [SEP] 80, LightSwitch, 0.451, 1.412, -1.674, 0, 0, 0, [SEP] 81, Faucet, 1.707, 0.925, 1.363, 0, 270, 0, [SEP] 82, NorthWall, , , , , , , [SEP] 83, EastWall, , , , , , , [SEP] 84, SouthWall, , , , , , , [SEP] 85, WestWall, , , , , , , ", "output": ["STEP 1: Turn around to face the counter to the left of the fridge. | STEP 2: Pick up the knife on the counter. | STEP 3: Face the tomato on the counter. | STEP 4: Cut the tomato on the counter into slices. | STEP 5: Take a step to the right and face the pan on the counter. | STEP 6: Put the knife on the pan on the counter. | STEP 7: Step to the left and face the tomato on the counter. | STEP 8: Pick up a slice of a tomato on the counter. | STEP 9: Turn around and walk across the room to face the microwave. | STEP 10: Heat the tomato slice in the microwave and then remove it. | STEP 11: Take a step to the left and face the counter to the left of the sink. | STEP 12: Place the tomato slice on the counter. | END"]} +{"id": "trial_T20190908_012244_364797-2", "input": "Put a blue plate with a phone on it down on the end table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.900, -1.25, 0, 180, 0, [SEP] 1, Plate, -1.810, 0.348, 0.232, 0, 0, 0, 43 [SEP] 2, Newspaper, 3.482, 0.638, -1.346, 0, 0, 0, 40 [SEP] 3, Newspaper, 0.003, 0.334, 0.524, 0, 0, 0, 44 [SEP] 4, Statue, -1.809, 0.603, 0.031, 0, 90, 0, 41 [SEP] 5, CellPhone, 0.414, 0.336, 0.524, 0, 0, 0, 44 [SEP] 6, CellPhone, 1.416, 0.482, 0.784, 0, 0, 0, 38 [SEP] 7, CellPhone, 1.479, 0.482, 0.194, 0, 0, 0, 38 [SEP] 8, RemoteControl, -1.964, 0.599, 0.919, 0, 0, 0, 45 [SEP] 9, RemoteControl, 1.229, 0.484, 0.194, 0, 0, 0, 38 [SEP] 10, Laptop, 0.167, 0.333, 0.144, 0, 0, 0, 44 [SEP] 11, Box, -0.221, 0.122, -2.044, 0, 0, 0, 44 [SEP] 12, Newspaper, 1.368, 0.614, -0.791, 0, 180, 0, 33 [SEP] 13, CreditCard, 1.750, 0.616, -0.771, 0, 270, 0, 33 [SEP] 14, Vase, 3.685, 0.644, -1.708, 0, 0, 0, 40 [SEP] 15, KeyChain, 1.604, 0.482, 0.784, 0, 0, 0, 38 [SEP] 16, Plate, 0.085, 0.339, 0.777, 0, 0, 0, 44 [SEP] 17, Laptop, 1.354, 0.480, 0.587, 0, 0, 0, 38 [SEP] 18, CellPhone, 3.280, 0.640, -1.527, 0, 0, 0, 40 [SEP] 19, RemoteControl, -1.697, 0.293, -1.451, 0, 240.000, 0, 23 [SEP] 20, Pillow, 1.435, 0.515, -0.125, 0, 0, 0, 38 [SEP] 21, Vase, 1.605, 0.709, -0.710, 0, 270, 0, 32 [SEP] 22, Statue, -1.809, 0.606, 0.919, 0, 90, 0, 45 [SEP] 23, ArmChair, -1.761, 0.0, -1.488, 0, 240.000, 0, [SEP] 24, Television, -2.035, 1.081, 0.555, 0, 90, 0, [SEP] 25, LightSwitch, 2.099, 1.353, -0.828, 0, 90, 0, [SEP] 26, HousePlant, -0.804, 0.000, -2.187, 0, 0, 0, [SEP] 27, FloorLamp, 1.689, 0.002, 1.776, 0, 90, 0, [SEP] 28, Painting, 1.983, 1.585, 0.326, 90, 270, 0, [SEP] 29, GarbageCan, -1.891, -0.029, -0.409, 0, 0, 0, [SEP] 30, Window, 2.775, 1.281, -2.018, 90, 180, 0, [SEP] 31, Window, -0.013, 1.289, -2.450, 90, 180, 0, [SEP] 32, SideTable, 1.566, 0.000, -0.689, 0, 180, 0, [SEP] 33, Drawer, 1.566, 0.624, -0.741, 0, 180, 0, [SEP] 34, Shelf, -0.147, 0.172, 1.925, 0, 0, 0, [SEP] 35, Shelf, -0.147, 0.552, 1.925, 0, 0, 0, [SEP] 36, Shelf, -0.147, 0.880, 1.924, 0, 0, 0, [SEP] 37, ShelvingUnit, -0.147, 0.006, 1.924, 0, 0, 0, [SEP] 38, Sofa, 1.556, -0.004, 0.424, 0, 270, 0, [SEP] 39, Shelf, 0.167, 0.104, 0.200, 0, 270, 0, [SEP] 40, DiningTable, 3.583, 0.000, -1.164, 0, 270, 0, [SEP] 41, TVStand, -1.965, 0.000, 0.563, 0, 270, 0, [SEP] 42, Shelf, -1.964, 0.082, 0.563, 0, 270, 0, [SEP] 43, Shelf, -1.964, 0.333, 0.563, 0, 270, 0, [SEP] 44, CoffeeTable, 0.167, 0.001, 0.216, 0, 270, 0, [SEP] 45, , , , , , , , [SEP] 46, NorthWall, , , , , , , [SEP] 47, EastWall, , , , , , , [SEP] 48, SouthWall, , , , , , , [SEP] 49, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and face the coffee table so that you are between it and the sofa. | STEP 2: Pick up the white phone on the edge of the table. | STEP 3: Move to the right and then face the smaller end of the coffee table. | STEP 4: Put the phone down on the blue plate. | STEP 5: Pick up the plate from the edge of the table. | STEP 6: Bringing the plate with you, go between the couch and the coffee table and then face the black end table with the blue vase. | STEP 7: Put the plate down to the left of the blue vase. | END"]} +{"id": "trial_T20190906_201605_780519-1", "input": "Put bars of soap in a bath tub.", "output": ["STEP 1: Go to the sink to the left. | STEP 2: Take the bar of soap to the left of the faucet. | STEP 3: Turn left to the bath tub. | STEP 4: Put the bar of soap in the middle of the bath tub. | STEP 5: Turn right to the sink. | STEP 6: Take the bar of soap to the right of the faucet. | STEP 7: Turn left to the bath tub. | STEP 8: Put the bar of soap to the right of the bar of soap in the bath tub. | END"]} +{"id": "trial_T20190906_201605_780519-2", "input": "Place two bars of soap into the bathtub.", "output": ["STEP 1: Turn left then right and face the sink. | STEP 2: Pick up the soap on the left side of the faucet. | STEP 3: Turn left and face the bathtub. | STEP 4: Place the soap in the bathtub. | STEP 5: Turn right and face the sink. | STEP 6: Pick up the soap from the sink. | STEP 7: Face the bathtub on the left again. | STEP 8: Place the soap to the right of the first soap. | END"]} +{"id": "trial_T20190908_025628_290178-1", "input": "Place a washed kettle on the counter near the coffee maker. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.900, 2.5, 0, 270, 0, [SEP] 1, Pan, 0.193, 0.142, 0.277, 0, 90, 0, 67 [SEP] 2, Potato, 1.966, 1.550, 6.001, 0, 270, 0, 80 [SEP] 3, Potato, 0.064, 1.132, 0.278, 0, 0, 0, 74 [SEP] 4, ButterKnife, -0.224, 0.760, 6.633, 0, 135, 0, 94 [SEP] 5, ButterKnife, -0.611, 0.992, 0.486, 0, 0, 0, 58 [SEP] 6, Pot, 1.559, 0.988, 4.294, 0, 0, 0, 56 [SEP] 7, Spatula, -0.034, 0.775, 6.478, 0, 90, 0, 94 [SEP] 8, Fork, -0.346, 0.760, 6.478, 0, 270, 0, 94 [SEP] 9, Fork, -0.079, 0.772, 0.618, 0, 270, 0, 55 [SEP] 10, Egg, 2.094, 1.565, 5.876, 0, 270, 0, 80 [SEP] 11, Plate, 1.486, 0.142, 4.724, 0, 0, 0, 60 [SEP] 12, Plate, 1.490, 0.141, 2.159, 0, 0, 0, 47 [SEP] 13, Tomato, -0.399, 0.809, 6.895, 0, 135, 0, 94 [SEP] 14, SoapBottle, 0.332, 0.144, 0.658, 0, 180, 0, 67 [SEP] 15, SoapBottle, -0.621, 0.760, 6.354, 0, 270, 0, 94 [SEP] 16, Bowl, 0.745, 0.142, 0.260, 0, 0, 0, 64 [SEP] 17, PepperShaker, 1.322, 0.135, 2.424, 0, 0, 0, 70 [SEP] 18, PepperShaker, 1.155, 0.135, 2.867, 0, 0, 0, 70 [SEP] 19, SaltShaker, -0.074, 1.574, 0.119, 0, 0, 0, 71 [SEP] 20, Lettuce, 0.150, 0.848, 6.416, 0, 0, 0, 94 [SEP] 21, Mug, 1.493, 0.987, 0.213, 0, 0, 0, 58 [SEP] 22, Apple, 2.137, 1.590, 5.501, 0, 270, 0, 80 [SEP] 23, Bowl, -0.159, 0.759, 6.787, 0, 0, 0, 94 [SEP] 24, Bread, -0.459, 1.062, 0.303, 0, 0, 0, 58 [SEP] 25, Egg, -0.467, 0.810, 6.541, 0, 270, 0, 94 [SEP] 26, Knife, 0.871, 0.802, 0.451, 0, 90, 0, 50 [SEP] 27, Fork, -0.443, 0.760, 6.851, 0, 315, 0, 94 [SEP] 28, Apple, 1.135, 1.067, 2.950, 0, 0, 0, 58 [SEP] 29, Kettle, 1.562, 0.988, 3.848, 0, 0, 0, 52 [SEP] 30, Plate, 0.124, 0.144, 0.582, 0, 0, 0, 67 [SEP] 31, SaltShaker, -0.621, 0.139, 0.429, 0, 0, 0, 66 [SEP] 32, Lettuce, 0.123, 0.848, 6.107, 0, 135, 0, 94 [SEP] 33, SoapBottle, 1.135, 0.992, 1.122, 0, 90, 0, 58 [SEP] 34, Spatula, -0.685, 0.786, 0.507, 0, 90, 0, 54 [SEP] 35, PaperTowelRoll, -0.421, 0.864, 6.305, 0, 225, 0, 94 [SEP] 36, Pot, 1.32, 0.988, 3.848, 0, 0, 0, 57 [SEP] 37, Potato, 2.006, 0.115, 6.498, 0, 0, 0, 82 [SEP] 38, ButterKnife, -0.221, 0.760, 6.014, 0, 0, 0, 94 [SEP] 39, PepperShaker, -0.346, 0.755, 6.632, 0, 0, 0, 94 [SEP] 40, Pan, 1.313, 0.985, 4.284, 0, 0, 0, 53 [SEP] 41, Tomato, 1.582, 1.042, 0.440, 0, 0, 0, 58 [SEP] 42, DishSponge, 0.604, 0.143, 0.655, 0, 0, 0, 64 [SEP] 43, Cup, -0.013, 1.575, 0.338, 0, 0, 0, 71 [SEP] 44, Spoon, 0.124, 0.773, 0.618, 0, 0, 0, 55 [SEP] 45, Mug, 0.148, 0.755, 6.609, 0, 225, 0, 94 [SEP] 46, Cabinet, 1.307, 2.455, 4.360, 0, 0, 0, [SEP] 47, Cabinet, 1.054, 0.422, 1.710, 0, 0, 0, [SEP] 48, Drawer, 1.280, 0.808, 4.718, 0, 0, 0, [SEP] 49, Cabinet, 1.307, 2.455, 3.607, 0, 0, 0, [SEP] 50, Drawer, 0.736, 0.802, 0.521, 0, 0, 0, [SEP] 51, Drawer, 1.276, 0.802, 3.291, 0, 0, 0, [SEP] 52, StoveBurner, 1.562, 0.982, 3.848, 0, 0, 0, [SEP] 53, StoveBurner, 1.317, 0.982, 4.294, 0, 0, 0, [SEP] 54, Drawer, -0.482, 0.802, 0.521, 0, 0, 0, [SEP] 55, Drawer, 0.124, 0.802, 0.521, 0, 0, 0, [SEP] 56, StoveBurner, 1.559, 0.982, 4.294, 0, 0, 0, [SEP] 57, StoveBurner, 1.320, 0.982, 3.848, 0, 0, 0, [SEP] 58, CounterTop, 1.391, 1.028, 0.897, 0, 0, 0, [SEP] 59, CounterTop, 1.391, 1.028, 4.716, 0, 0, 0, [SEP] 60, Cabinet, 1.054, 0.422, 4.548, 0, 0, 0, [SEP] 61, Cabinet, 1.317, 2.134, 0.517, 0, 0, 0, [SEP] 62, Cabinet, 1.317, 2.134, 4.889, 0, 0, 0, [SEP] 63, Cabinet, 1.317, 2.134, 3.095, 0, 0, 0, [SEP] 64, Cabinet, 0.443, 0.422, 0.743, 0, 0, 0, [SEP] 65, Cabinet, 1.270, 2.134, 0.434, 0, 0, 0, [SEP] 66, Cabinet, -0.775, 0.422, 0.743, 0, 0, 0, [SEP] 67, Cabinet, -0.168, 0.422, 0.743, 0, 0, 0, [SEP] 68, Cabinet, 1.317, 2.134, 1.534, 0, 0, 0, [SEP] 69, Cabinet, 1.054, 0.422, 2.990, 0, 0, 0, [SEP] 70, Cabinet, 1.054, 0.422, 2.944, 0, 0, 0, [SEP] 71, Cabinet, -0.263, 2.134, 0.434, 0, 0, 0, [SEP] 72, Cabinet, 0.252, 2.134, 0.434, 0, 0, 0, [SEP] 73, Sink, 1.391, 1.006, 2.326, 0, 0, 0, [SEP] 74, Microwave, 0.108, 0.981, 0.262, 0, 0, 0, [SEP] 75, HousePlant, -0.165, 0.826, 6.444, 0, 0, 0, [SEP] 76, CoffeeMachine, 1.551, 0.982, 0.953, 0, 270, 0, [SEP] 77, Toaster, 1.473, 0.981, 4.715, 0, 270, 0, [SEP] 78, Window, -2.065, 1.916, 3.626, 90, 90, 0, [SEP] 79, Window, 1.763, 2.007, 2.299, 90, 270, 0, [SEP] 80, Fridge, 2.035, 0.0, 5.625, 0, 0, 0, [SEP] 81, SinkBasin, 1.387, 0.880, 2.338, 0, 90, 0, [SEP] 82, GarbageCan, 2.001, -0.044, 6.503, 0, 0, 0, [SEP] 83, StoveKnob, 1.140, 0.934, 3.987, 45, 270, 0, [SEP] 84, StoveKnob, 1.140, 0.934, 4.309, 45, 270, 0, [SEP] 85, StoveKnob, 1.140, 0.934, 4.140, 45, 270, 0, [SEP] 86, StoveKnob, 1.140, 0.934, 3.824, 45, 270, 0, [SEP] 87, Vase, -0.226, 0.834, 6.993, 0, 0, 0, [SEP] 88, Vase, 2.098, 0.043, 7.070, 0, 257.232, 0, [SEP] 89, Vase, -0.594, 0.835, 6.130, 0, 225, 0, [SEP] 90, LightSwitch, -2.0, 1.549, 6.045, 0, 90, 0, [SEP] 91, Safe, 2.046, 1.072, 7.054, 0, 257.232, 0, [SEP] 92, Faucet, 1.534, 1.025, 2.371, 0, 294.391, 0, [SEP] 93, Blinds, 1.738, 2.563, 2.312, 0, 90, 0, [SEP] 94, DiningTable, -0.156, 0.000, 6.474, 0, 0, 0, [SEP] 95, Chair, 0.291, 0.002, 6.142, 0, 310.162, 0, [SEP] 96, GarbageBag, -1.092, 0.318, 0.268, 270, 90, 83.492, [SEP] 97, NorthWall, , , , , , , [SEP] 98, EastWall, , , , , , , [SEP] 99, SouthWall, , , , , , , [SEP] 100, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk to the stove. | STEP 2: Grab the kettle from the stove. | STEP 3: Turn to your right and walk to the sink. | STEP 4: place the kettle in the sink and turn the faucet on and off before removing the kettle. | STEP 5: Move to the coffee maker on your right. | STEP 6: Place the kettle on the counter near the coffee maker. | END"]} +{"id": "trial_T20190908_080632_962198-1", "input": "Wash a knife and bring it to the table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, 1.25, 0, 180, 0, [SEP] 1, Ladle, -0.662, 1.086, 2.593, 0, 180, 0, 51 [SEP] 2, Ladle, -0.715, 1.164, 0.569, 0, 0, 0, 63 [SEP] 3, DishSponge, -1.640, 0.048, 0.608, 0, 0, 0, 66 [SEP] 4, ButterKnife, -0.415, 1.047, 2.593, 0, 0, 0, 51 [SEP] 5, Pot, -3.572, 1.291, 2.849, 0, 90, 0, 68 [SEP] 6, Fork, -1.885, 1.125, 0.567, 0, 0, 0, 61 [SEP] 7, Spoon, -2.137, 0.488, 0.613, 0, 270, 0, 52 [SEP] 8, Spoon, -2.370, 0.904, 0.612, 0, 270, 0, 60 [SEP] 9, Spatula, -1.111, 0.946, 0.567, 0, 270, 0, 73 [SEP] 10, Spatula, -0.538, 1.062, 3.042, 0, 90, 0, 51 [SEP] 11, Cup, -1.553, 0.929, 0.221, 0, 0, 0, 73 [SEP] 12, Plate, -1.235, 0.047, 0.494, 0, 0, 0, 55 [SEP] 13, Knife, -0.939, 1.157, 0.478, 0, 90, 0, 63 [SEP] 14, Knife, -1.376, 0.963, 0.498, 0, 180, 0, 73 [SEP] 15, SoapBottle, -0.939, 1.125, 0.296, 0, 0, 0, 63 [SEP] 16, SoapBottle, -1.601, 0.049, 0.495, 0, 0, 0, 66 [SEP] 17, Bowl, -0.785, 1.044, 3.042, 0, 0, 0, 51 [SEP] 18, Bowl, -0.538, 1.045, 2.817, 0, 0, 0, 51 [SEP] 19, SaltShaker, -3.742, 1.121, 0.284, 0, 0, 0, 58 [SEP] 20, PepperShaker, -2.137, 1.121, 0.567, 0, 0, 0, 61 [SEP] 21, Bread, -2.262, 1.211, 0.473, 0, 0, 0, 61 [SEP] 22, Lettuce, -0.785, 1.124, 2.144, 0, 0, 0, 51 [SEP] 23, Apple, -1.642, 0.998, 0.498, 0, 0, 0, 73 [SEP] 24, Fork, -1.376, 0.932, 0.359, 0, 0, 0, 73 [SEP] 25, SoapBottle, -0.908, 1.047, 3.266, 0, 0, 0, 51 [SEP] 26, Pot, -3.475, 1.133, 0.227, 0, 90, 0, 47 [SEP] 27, Ladle, -0.883, 1.164, 0.569, 0, 90, 0, 63 [SEP] 28, Potato, -3.778, 1.155, 0.473, 0, 0, 0, 58 [SEP] 29, Plate, -0.168, 1.046, 1.920, 0, 0, 0, 51 [SEP] 30, Bread, -3.44, 0.998, 2.991, 0, 90, 0, 68 [SEP] 31, Lettuce, -0.785, 1.125, 2.593, 0, 0, 0, 51 [SEP] 32, Spatula, -0.662, 1.063, 1.920, 0, 90, 0, 51 [SEP] 33, Pan, -3.000, 1.133, 0.480, 0, 270, 0, 56 [SEP] 34, Egg, -1.376, 0.961, 0.636, 0, 0, 0, 73 [SEP] 35, Cup, -1.199, 0.929, 0.636, 0, 0, 0, 73 [SEP] 36, SaltShaker, -2.011, 1.121, 0.662, 0, 0, 0, 61 [SEP] 37, Knife, -0.538, 1.080, 2.369, 0, 0, 0, 51 [SEP] 38, Bowl, -3.307, 1.558, 2.849, 0, 90, 0, 68 [SEP] 39, PepperShaker, -2.089, 0.091, 0.646, 0, 0, 0, 53 [SEP] 40, ButterKnife, -0.771, 1.124, 0.206, 0, 0, 0, 63 [SEP] 41, Apple, -3.593, 0.179, 2.038, 0, 0, 0, 72 [SEP] 42, Tomato, -3.44, 1.327, 3.061, 0, 90, 0, 68 [SEP] 43, DishSponge, -2.042, 0.487, 0.545, 0, 0, 0, 52 [SEP] 44, Spoon, -0.662, 1.049, 3.042, 0, 90, 0, 51 [SEP] 45, Mug, -3.320, 0.917, 2.338, 0, 90, 0, 68 [SEP] 46, StoveKnob, -3.322, 1.053, 0.709, 45, 0, 0, [SEP] 47, StoveBurner, -3.474, 1.097, 0.227, 0, 180, 0, [SEP] 48, Sink, -1.394, 0.982, 0.439, 0, 0, 0, [SEP] 49, StoveBurner, -3.474, 1.097, 0.479, 0, 180, 0, [SEP] 50, StoveKnob, -3.164, 1.053, 0.709, 45, 0, 0, [SEP] 51, DiningTable, -0.620, 0.017, 2.486, 0, 0, 0, [SEP] 52, Drawer, -2.043, 0.608, 0.594, 0, 0, 0, [SEP] 53, Drawer, -2.043, 0.216, 0.594, 0, 0, 0, [SEP] 54, Drawer, -2.498, 0.216, 0.594, 0, 0, 0, [SEP] 55, Cabinet, -1.001, 0.393, 0.734, 0, 0, 0, [SEP] 56, StoveBurner, -3.000, 1.097, 0.480, 0, 0, 0, [SEP] 57, StoveKnob, -3.492, 1.053, 0.709, 45, 0, 0, [SEP] 58, CounterTop, -3.856, 1.160, 0.379, 0, 0, 0, [SEP] 59, Drawer, -2.043, 0.937, 0.599, 0, 0, 0, [SEP] 60, Drawer, -2.509, 0.937, 0.599, 0, 0, 0, [SEP] 61, CounterTop, -2.280, 1.160, 0.379, 0, 0, 0, [SEP] 62, StoveKnob, -2.985, 1.053, 0.709, 45, 0, 0, [SEP] 63, CounterTop, -0.514, 1.160, 0.492, 0, 0, 0, [SEP] 64, Drawer, -2.498, 0.608, 0.594, 0, 0, 0, [SEP] 65, StoveBurner, -3.000, 1.097, 0.227, 0, 0, 0, [SEP] 66, Cabinet, -1.733, 0.393, 0.734, 0, 0, 0, [SEP] 67, CoffeeMachine, -0.153, 1.038, 3.193, 0, 270, 0, [SEP] 68, Fridge, -3.519, 0.0, 2.717, 0, 90, 0, [SEP] 69, Window, -1.394, 1.924, 0.014, 90, 0, 0, [SEP] 70, Window, -3.266, 1.924, 0.014, 90, 0, 0, [SEP] 71, Toaster, -0.225, 1.038, 2.865, 0, 270, 0, [SEP] 72, GarbageCan, -3.696, 0.002, 2.008, 0, 0, 0, [SEP] 73, SinkBasin, -1.389, 0.921, 0.428, 0, 0, 0, [SEP] 74, Microwave, -0.366, 1.113, 0.430, 0, 0, 0, [SEP] 75, HousePlant, -2.155, 1.101, 0.169, 0, 332.897, 0, [SEP] 76, LightSwitch, -2.584, 1.299, 3.5, 0, 180, 0, [SEP] 77, Faucet, -1.393, 1.373, 0.168, 0, 270, 0, [SEP] 78, NorthWall, , , , , , , [SEP] 79, SouthWall, , , , , , , [SEP] 80, SouthWall, , , , , , , ", "output": ["STEP 1: Turn right, go forward a bit, turn right and go to the table | STEP 2: Pick up the knife on the table | STEP 3: Turn right and go to the sink | STEP 4: Put the knife in the sink, open the water, wait, pick up the knife | STEP 5: Turn around, go to the table, turn right | STEP 6: Put the knife in the bowl on the table | END"]} +{"id": "trial_T20190908_080632_962198-2", "input": "Clean a knife and put it back on the table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, 1.25, 0, 180, 0, [SEP] 1, Ladle, -0.662, 1.086, 2.593, 0, 180, 0, 51 [SEP] 2, Ladle, -0.715, 1.164, 0.569, 0, 0, 0, 63 [SEP] 3, DishSponge, -1.640, 0.048, 0.608, 0, 0, 0, 66 [SEP] 4, ButterKnife, -0.415, 1.047, 2.593, 0, 0, 0, 51 [SEP] 5, Pot, -3.572, 1.291, 2.849, 0, 90, 0, 68 [SEP] 6, Fork, -1.885, 1.125, 0.567, 0, 0, 0, 61 [SEP] 7, Spoon, -2.137, 0.488, 0.613, 0, 270, 0, 52 [SEP] 8, Spoon, -2.370, 0.904, 0.612, 0, 270, 0, 60 [SEP] 9, Spatula, -1.111, 0.946, 0.567, 0, 270, 0, 73 [SEP] 10, Spatula, -0.538, 1.062, 3.042, 0, 90, 0, 51 [SEP] 11, Cup, -1.553, 0.929, 0.221, 0, 0, 0, 73 [SEP] 12, Plate, -1.235, 0.047, 0.494, 0, 0, 0, 55 [SEP] 13, Knife, -0.939, 1.157, 0.478, 0, 90, 0, 63 [SEP] 14, Knife, -1.376, 0.963, 0.498, 0, 180, 0, 73 [SEP] 15, SoapBottle, -0.939, 1.125, 0.296, 0, 0, 0, 63 [SEP] 16, SoapBottle, -1.601, 0.049, 0.495, 0, 0, 0, 66 [SEP] 17, Bowl, -0.785, 1.044, 3.042, 0, 0, 0, 51 [SEP] 18, Bowl, -0.538, 1.045, 2.817, 0, 0, 0, 51 [SEP] 19, SaltShaker, -3.742, 1.121, 0.284, 0, 0, 0, 58 [SEP] 20, PepperShaker, -2.137, 1.121, 0.567, 0, 0, 0, 61 [SEP] 21, Bread, -2.262, 1.211, 0.473, 0, 0, 0, 61 [SEP] 22, Lettuce, -0.785, 1.124, 2.144, 0, 0, 0, 51 [SEP] 23, Apple, -1.642, 0.998, 0.498, 0, 0, 0, 73 [SEP] 24, Fork, -1.376, 0.932, 0.359, 0, 0, 0, 73 [SEP] 25, SoapBottle, -0.908, 1.047, 3.266, 0, 0, 0, 51 [SEP] 26, Pot, -3.475, 1.133, 0.227, 0, 90, 0, 47 [SEP] 27, Ladle, -0.883, 1.164, 0.569, 0, 90, 0, 63 [SEP] 28, Potato, -3.778, 1.155, 0.473, 0, 0, 0, 58 [SEP] 29, Plate, -0.168, 1.046, 1.920, 0, 0, 0, 51 [SEP] 30, Bread, -3.44, 0.998, 2.991, 0, 90, 0, 68 [SEP] 31, Lettuce, -0.785, 1.125, 2.593, 0, 0, 0, 51 [SEP] 32, Spatula, -0.662, 1.063, 1.920, 0, 90, 0, 51 [SEP] 33, Pan, -3.000, 1.133, 0.480, 0, 270, 0, 56 [SEP] 34, Egg, -1.376, 0.961, 0.636, 0, 0, 0, 73 [SEP] 35, Cup, -1.199, 0.929, 0.636, 0, 0, 0, 73 [SEP] 36, SaltShaker, -2.011, 1.121, 0.662, 0, 0, 0, 61 [SEP] 37, Knife, -0.538, 1.080, 2.369, 0, 0, 0, 51 [SEP] 38, Bowl, -3.307, 1.558, 2.849, 0, 90, 0, 68 [SEP] 39, PepperShaker, -2.089, 0.091, 0.646, 0, 0, 0, 53 [SEP] 40, ButterKnife, -0.771, 1.124, 0.206, 0, 0, 0, 63 [SEP] 41, Apple, -3.593, 0.179, 2.038, 0, 0, 0, 72 [SEP] 42, Tomato, -3.44, 1.327, 3.061, 0, 90, 0, 68 [SEP] 43, DishSponge, -2.042, 0.487, 0.545, 0, 0, 0, 52 [SEP] 44, Spoon, -0.662, 1.049, 3.042, 0, 90, 0, 51 [SEP] 45, Mug, -3.320, 0.917, 2.338, 0, 90, 0, 68 [SEP] 46, StoveKnob, -3.322, 1.053, 0.709, 45, 0, 0, [SEP] 47, StoveBurner, -3.474, 1.097, 0.227, 0, 180, 0, [SEP] 48, Sink, -1.394, 0.982, 0.439, 0, 0, 0, [SEP] 49, StoveBurner, -3.474, 1.097, 0.479, 0, 180, 0, [SEP] 50, StoveKnob, -3.164, 1.053, 0.709, 45, 0, 0, [SEP] 51, DiningTable, -0.620, 0.017, 2.486, 0, 0, 0, [SEP] 52, Drawer, -2.043, 0.608, 0.594, 0, 0, 0, [SEP] 53, Drawer, -2.043, 0.216, 0.594, 0, 0, 0, [SEP] 54, Drawer, -2.498, 0.216, 0.594, 0, 0, 0, [SEP] 55, Cabinet, -1.001, 0.393, 0.734, 0, 0, 0, [SEP] 56, StoveBurner, -3.000, 1.097, 0.480, 0, 0, 0, [SEP] 57, StoveKnob, -3.492, 1.053, 0.709, 45, 0, 0, [SEP] 58, CounterTop, -3.856, 1.160, 0.379, 0, 0, 0, [SEP] 59, Drawer, -2.043, 0.937, 0.599, 0, 0, 0, [SEP] 60, Drawer, -2.509, 0.937, 0.599, 0, 0, 0, [SEP] 61, CounterTop, -2.280, 1.160, 0.379, 0, 0, 0, [SEP] 62, StoveKnob, -2.985, 1.053, 0.709, 45, 0, 0, [SEP] 63, CounterTop, -0.514, 1.160, 0.492, 0, 0, 0, [SEP] 64, Drawer, -2.498, 0.608, 0.594, 0, 0, 0, [SEP] 65, StoveBurner, -3.000, 1.097, 0.227, 0, 0, 0, [SEP] 66, Cabinet, -1.733, 0.393, 0.734, 0, 0, 0, [SEP] 67, CoffeeMachine, -0.153, 1.038, 3.193, 0, 270, 0, [SEP] 68, Fridge, -3.519, 0.0, 2.717, 0, 90, 0, [SEP] 69, Window, -1.394, 1.924, 0.014, 90, 0, 0, [SEP] 70, Window, -3.266, 1.924, 0.014, 90, 0, 0, [SEP] 71, Toaster, -0.225, 1.038, 2.865, 0, 270, 0, [SEP] 72, GarbageCan, -3.696, 0.002, 2.008, 0, 0, 0, [SEP] 73, SinkBasin, -1.389, 0.921, 0.428, 0, 0, 0, [SEP] 74, Microwave, -0.366, 1.113, 0.430, 0, 0, 0, [SEP] 75, HousePlant, -2.155, 1.101, 0.169, 0, 332.897, 0, [SEP] 76, LightSwitch, -2.584, 1.299, 3.5, 0, 180, 0, [SEP] 77, Faucet, -1.393, 1.373, 0.168, 0, 270, 0, [SEP] 78, NorthWall, , , , , , , [SEP] 79, SouthWall, , , , , , , [SEP] 80, SouthWall, , , , , , , ", "output": ["STEP 1: Walk to the dining table behind you. | STEP 2: Grab the knife above the lettuce. | STEP 3: Walk to the kitchen sink to your right. | STEP 4: Put the knife in the sink, rinse the knife, then grab the knife. | STEP 5: Move back to the dining table. | STEP 6: Stand the knife in front of a bowl. | END"]} +{"id": "trial_T20190909_113349_028976-1", "input": "put a mug full of water under the coffee machine SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.900, 1.75, 0, 180, 0, [SEP] 1, ButterKnife, 1.769, 0.911, 0.435, 0, 180, 0, 48 [SEP] 2, Kettle, 1.428, 0.911, -0.684, 0, 0, 0, 49 [SEP] 3, Fork, 1.598, 0.911, 0.494, 0, 0, 0, 48 [SEP] 4, Fork, -2.621, 0.911, 0.331, 0, 0, 0, 67 [SEP] 5, Spoon, 1.380, 0.919, -1.212, 0, 45, 0, 53 [SEP] 6, Spoon, -2.455, 0.912, 1.230, 0, 0, 0, 67 [SEP] 7, Tomato, -2.206, 0.953, 0.631, 0, 0, 0, 67 [SEP] 8, SoapBottle, -2.524, 1.539, 1.192, 0, 0, 0, 52 [SEP] 9, PepperShaker, 1.684, 0.906, 0.376, 0, 270, 0, 48 [SEP] 10, PepperShaker, -2.206, 0.905, 1.230, 0, 0, 0, 67 [SEP] 11, SaltShaker, -2.384, 0.109, 1.216, 0, 0, 0, 45 [SEP] 12, Lettuce, -0.081, 0.994, 1.317, 0, 0, 0, 39 [SEP] 13, Lettuce, -0.211, 0.994, 0.423, 0, 0, 0, 39 [SEP] 14, Bread, -2.372, 0.996, 0.631, 0, 0, 0, 67 [SEP] 15, Apple, -2.420, 0.656, -0.962, 0, 90, 0, 71 [SEP] 16, Pan, -2.289, 0.910, 1.530, 0, 0, 0, 67 [SEP] 17, Knife, -2.257, 0.798, 1.322, 0, 90, 0, 70 [SEP] 18, Apple, 1.855, 0.972, -0.810, 0, 0, 0, 49 [SEP] 19, Bowl, -2.645, 1.534, 1.483, 0, 0, 0, 52 [SEP] 20, Fork, -0.081, 0.911, 0.423, 0, 0, 0, 39 [SEP] 21, Bread, -0.081, 0.996, 1.540, 0, 0, 0, 39 [SEP] 22, Plate, -0.341, 0.913, 1.764, 0, 0, 0, 39 [SEP] 23, Egg, 1.520, 0.215, 0.596, 0, 0, 0, 78 [SEP] 24, Kettle, 1.691, 0.929, 0.064, 0, 0, 0, 50 [SEP] 25, Potato, -2.613, 0.214, -1.012, 0, 90, 0, 71 [SEP] 26, SaltShaker, -2.599, 1.533, 0.774, 0, 0, 0, 63 [SEP] 27, Lettuce, -2.289, 0.994, 0.931, 0, 0, 0, 67 [SEP] 28, Cup, -2.420, 0.592, -0.514, 0, 90, 0, 71 [SEP] 29, SoapBottle, 1.855, 0.913, 0.465, 0, 0, 0, 48 [SEP] 30, Spatula, -2.348, 0.788, 0.391, 0, 90, 0, 56 [SEP] 31, PaperTowelRoll, 1.687, 0.289, 0.651, 0, 0, 0, 78 [SEP] 32, ButterKnife, -0.471, 0.910, 1.094, 0, 0, 0, 39 [SEP] 33, PepperShaker, 1.770, 0.905, -0.642, 0, 0, 0, 49 [SEP] 34, DishSponge, 1.341, 0.910, 0.376, 0, 0, 0, 48 [SEP] 35, Pot, 1.691, 0.929, -0.335, 0, 0, 0, 47 [SEP] 36, Spoon, -2.379, 0.774, 0.809, 0, 90, 0, 44 [SEP] 37, Tomato, 1.562, 0.227, 0.679, 0, 0, 0, 78 [SEP] 38, Mug, 0.464, 0.955, -1.593, 0, 0, 0, 49 [SEP] 39, CounterTop, -0.360, 0.946, 1.093, 0, 0, 0, [SEP] 40, StoveBurner, 1.412, 0.923, -0.335, 0, 0, 0, [SEP] 41, StoveKnob, 1.878, 1.093, 0.018, 287.989, 90, 0, [SEP] 42, StoveKnob, 1.878, 1.093, -0.306, 287.989, 90, 0, [SEP] 43, Cabinet, -2.446, 1.948, 2.924, 0, 0, 0, [SEP] 44, Drawer, -2.276, 0.792, 0.902, 0, 0, 0, [SEP] 45, Cabinet, -2.145, 0.402, 1.578, 0, 0, 0, [SEP] 46, Cabinet, 0.149, 2.008, -1.603, 0, 90, 0, [SEP] 47, StoveBurner, 1.691, 0.923, -0.335, 0, 0, 0, [SEP] 48, CounterTop, 1.585, 0.946, 0.405, 0, 0, 0, [SEP] 49, CounterTop, 0.474, 0.946, -1.625, 0, 0, 0, [SEP] 50, StoveBurner, 1.691, 0.923, 0.064, 0, 0, 0, [SEP] 51, Cabinet, -2.446, 1.948, 1.687, 0, 0, 0, [SEP] 52, Cabinet, -2.446, 1.948, 1.640, 0, 0, 0, [SEP] 53, Sink, 1.381, 0.810, -1.271, 0, 225, 0, [SEP] 54, StoveKnob, 1.878, 1.093, 0.150, 287.989, 90, 0, [SEP] 55, Cabinet, -2.145, 0.402, -0.236, 0, 0, 0, [SEP] 56, Drawer, -2.276, 0.792, 0.437, 0, 0, 0, [SEP] 57, Drawer, -2.276, 0.792, -0.027, 0, 0, 0, [SEP] 58, Cabinet, 1.572, 2.008, 0.474, 0, 0, 0, [SEP] 59, Cabinet, 1.572, 2.008, -0.775, 0, 0, 0, [SEP] 60, Cabinet, -2.445, 2.148, -1.275, 0, 0, 0, [SEP] 61, Cabinet, -2.446, 2.148, -0.284, 0, 0, 0, [SEP] 62, Cabinet, -2.446, 1.948, 0.355, 0, 0, 0, [SEP] 63, Cabinet, -2.446, 1.948, 0.405, 0, 0, 0, [SEP] 64, Cabinet, -2.145, 0.402, 0.644, 0, 0, 0, [SEP] 65, Cabinet, -2.145, 0.402, 0.695, 0, 0, 0, [SEP] 66, Cabinet, -2.285, 1.968, -1.325, 0, 180, 0, [SEP] 67, CounterTop, -1.485, 0.946, 1.319, 0, 0, 0, [SEP] 68, StoveBurner, 1.411, 0.923, 0.064, 0, 0, 0, [SEP] 69, StoveKnob, 1.878, 1.093, -0.441, 287.989, 90, 0, [SEP] 70, Drawer, -2.276, 0.792, 1.368, 0, 0, 0, [SEP] 71, Fridge, -2.475, 0.0, -0.782, 0, 90, 0, [SEP] 72, LightSwitch, -0.929, 1.350, -1.950, 0, 0, 0, [SEP] 73, Toaster, -2.564, 0.900, 1.876, 0, 90, 0, [SEP] 74, CoffeeMachine, 0.464, 0.900, -1.810, 0, 0, 0, [SEP] 75, Window, 1.508, 1.534, -1.496, 90, 135, 0, [SEP] 76, Window, 1.973, 1.521, 1.121, 90, 90, 0, [SEP] 77, SinkBasin, 1.149, 0.753, -1.380, 0, 225, 0, [SEP] 78, GarbageCan, 1.646, -0.000, 0.679, 0, 0, 0, [SEP] 79, Microwave, -2.580, 0.900, 2.440, 0, 90, 0, [SEP] 80, Stool, 0.439, 0.010, 0.747, 0, 0, 0, [SEP] 81, Stool, -2.303, 0.010, 1.839, 0, 0, 0, [SEP] 82, Faucet, 1.235, 1.138, -1.473, 0, 225, 0, [SEP] 83, NorthWall, , , , , , , [SEP] 84, EastWall, , , , , , , [SEP] 85, SouthWall, , , , , , , [SEP] 86, WestWall, , , , , , , ", "output": ["STEP 1: go to the coffee pot | STEP 2: pick up the mug from the machine | STEP 3: take the mug to the sink | STEP 4: fill the mug with water | STEP 5: take the full mug back to the machine | STEP 6: put the mug back under the coffee machine | END"]} +{"id": "trial_T20190909_113349_028976-2", "input": "Fill the coffee machine mug with water and replace it. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.900, 1.75, 0, 180, 0, [SEP] 1, ButterKnife, 1.769, 0.911, 0.435, 0, 180, 0, 48 [SEP] 2, Kettle, 1.428, 0.911, -0.684, 0, 0, 0, 49 [SEP] 3, Fork, 1.598, 0.911, 0.494, 0, 0, 0, 48 [SEP] 4, Fork, -2.621, 0.911, 0.331, 0, 0, 0, 67 [SEP] 5, Spoon, 1.380, 0.919, -1.212, 0, 45, 0, 53 [SEP] 6, Spoon, -2.455, 0.912, 1.230, 0, 0, 0, 67 [SEP] 7, Tomato, -2.206, 0.953, 0.631, 0, 0, 0, 67 [SEP] 8, SoapBottle, -2.524, 1.539, 1.192, 0, 0, 0, 52 [SEP] 9, PepperShaker, 1.684, 0.906, 0.376, 0, 270, 0, 48 [SEP] 10, PepperShaker, -2.206, 0.905, 1.230, 0, 0, 0, 67 [SEP] 11, SaltShaker, -2.384, 0.109, 1.216, 0, 0, 0, 45 [SEP] 12, Lettuce, -0.081, 0.994, 1.317, 0, 0, 0, 39 [SEP] 13, Lettuce, -0.211, 0.994, 0.423, 0, 0, 0, 39 [SEP] 14, Bread, -2.372, 0.996, 0.631, 0, 0, 0, 67 [SEP] 15, Apple, -2.420, 0.656, -0.962, 0, 90, 0, 71 [SEP] 16, Pan, -2.289, 0.910, 1.530, 0, 0, 0, 67 [SEP] 17, Knife, -2.257, 0.798, 1.322, 0, 90, 0, 70 [SEP] 18, Apple, 1.855, 0.972, -0.810, 0, 0, 0, 49 [SEP] 19, Bowl, -2.645, 1.534, 1.483, 0, 0, 0, 52 [SEP] 20, Fork, -0.081, 0.911, 0.423, 0, 0, 0, 39 [SEP] 21, Bread, -0.081, 0.996, 1.540, 0, 0, 0, 39 [SEP] 22, Plate, -0.341, 0.913, 1.764, 0, 0, 0, 39 [SEP] 23, Egg, 1.520, 0.215, 0.596, 0, 0, 0, 78 [SEP] 24, Kettle, 1.691, 0.929, 0.064, 0, 0, 0, 50 [SEP] 25, Potato, -2.613, 0.214, -1.012, 0, 90, 0, 71 [SEP] 26, SaltShaker, -2.599, 1.533, 0.774, 0, 0, 0, 63 [SEP] 27, Lettuce, -2.289, 0.994, 0.931, 0, 0, 0, 67 [SEP] 28, Cup, -2.420, 0.592, -0.514, 0, 90, 0, 71 [SEP] 29, SoapBottle, 1.855, 0.913, 0.465, 0, 0, 0, 48 [SEP] 30, Spatula, -2.348, 0.788, 0.391, 0, 90, 0, 56 [SEP] 31, PaperTowelRoll, 1.687, 0.289, 0.651, 0, 0, 0, 78 [SEP] 32, ButterKnife, -0.471, 0.910, 1.094, 0, 0, 0, 39 [SEP] 33, PepperShaker, 1.770, 0.905, -0.642, 0, 0, 0, 49 [SEP] 34, DishSponge, 1.341, 0.910, 0.376, 0, 0, 0, 48 [SEP] 35, Pot, 1.691, 0.929, -0.335, 0, 0, 0, 47 [SEP] 36, Spoon, -2.379, 0.774, 0.809, 0, 90, 0, 44 [SEP] 37, Tomato, 1.562, 0.227, 0.679, 0, 0, 0, 78 [SEP] 38, Mug, 0.464, 0.955, -1.593, 0, 0, 0, 49 [SEP] 39, CounterTop, -0.360, 0.946, 1.093, 0, 0, 0, [SEP] 40, StoveBurner, 1.412, 0.923, -0.335, 0, 0, 0, [SEP] 41, StoveKnob, 1.878, 1.093, 0.018, 287.989, 90, 0, [SEP] 42, StoveKnob, 1.878, 1.093, -0.306, 287.989, 90, 0, [SEP] 43, Cabinet, -2.446, 1.948, 2.924, 0, 0, 0, [SEP] 44, Drawer, -2.276, 0.792, 0.902, 0, 0, 0, [SEP] 45, Cabinet, -2.145, 0.402, 1.578, 0, 0, 0, [SEP] 46, Cabinet, 0.149, 2.008, -1.603, 0, 90, 0, [SEP] 47, StoveBurner, 1.691, 0.923, -0.335, 0, 0, 0, [SEP] 48, CounterTop, 1.585, 0.946, 0.405, 0, 0, 0, [SEP] 49, CounterTop, 0.474, 0.946, -1.625, 0, 0, 0, [SEP] 50, StoveBurner, 1.691, 0.923, 0.064, 0, 0, 0, [SEP] 51, Cabinet, -2.446, 1.948, 1.687, 0, 0, 0, [SEP] 52, Cabinet, -2.446, 1.948, 1.640, 0, 0, 0, [SEP] 53, Sink, 1.381, 0.810, -1.271, 0, 225, 0, [SEP] 54, StoveKnob, 1.878, 1.093, 0.150, 287.989, 90, 0, [SEP] 55, Cabinet, -2.145, 0.402, -0.236, 0, 0, 0, [SEP] 56, Drawer, -2.276, 0.792, 0.437, 0, 0, 0, [SEP] 57, Drawer, -2.276, 0.792, -0.027, 0, 0, 0, [SEP] 58, Cabinet, 1.572, 2.008, 0.474, 0, 0, 0, [SEP] 59, Cabinet, 1.572, 2.008, -0.775, 0, 0, 0, [SEP] 60, Cabinet, -2.445, 2.148, -1.275, 0, 0, 0, [SEP] 61, Cabinet, -2.446, 2.148, -0.284, 0, 0, 0, [SEP] 62, Cabinet, -2.446, 1.948, 0.355, 0, 0, 0, [SEP] 63, Cabinet, -2.446, 1.948, 0.405, 0, 0, 0, [SEP] 64, Cabinet, -2.145, 0.402, 0.644, 0, 0, 0, [SEP] 65, Cabinet, -2.145, 0.402, 0.695, 0, 0, 0, [SEP] 66, Cabinet, -2.285, 1.968, -1.325, 0, 180, 0, [SEP] 67, CounterTop, -1.485, 0.946, 1.319, 0, 0, 0, [SEP] 68, StoveBurner, 1.411, 0.923, 0.064, 0, 0, 0, [SEP] 69, StoveKnob, 1.878, 1.093, -0.441, 287.989, 90, 0, [SEP] 70, Drawer, -2.276, 0.792, 1.368, 0, 0, 0, [SEP] 71, Fridge, -2.475, 0.0, -0.782, 0, 90, 0, [SEP] 72, LightSwitch, -0.929, 1.350, -1.950, 0, 0, 0, [SEP] 73, Toaster, -2.564, 0.900, 1.876, 0, 90, 0, [SEP] 74, CoffeeMachine, 0.464, 0.900, -1.810, 0, 0, 0, [SEP] 75, Window, 1.508, 1.534, -1.496, 90, 135, 0, [SEP] 76, Window, 1.973, 1.521, 1.121, 90, 90, 0, [SEP] 77, SinkBasin, 1.149, 0.753, -1.380, 0, 225, 0, [SEP] 78, GarbageCan, 1.646, -0.000, 0.679, 0, 0, 0, [SEP] 79, Microwave, -2.580, 0.900, 2.440, 0, 90, 0, [SEP] 80, Stool, 0.439, 0.010, 0.747, 0, 0, 0, [SEP] 81, Stool, -2.303, 0.010, 1.839, 0, 0, 0, [SEP] 82, Faucet, 1.235, 1.138, -1.473, 0, 225, 0, [SEP] 83, NorthWall, , , , , , , [SEP] 84, EastWall, , , , , , , [SEP] 85, SouthWall, , , , , , , [SEP] 86, WestWall, , , , , , , ", "output": ["STEP 1: Walk forward to the coffee machine | STEP 2: Pick up the mug | STEP 3: Turn around until you're facing the sink | STEP 4: Put the mug in the sink, fill it with water, and take it back out | STEP 5: Turn right, walk ahead a step, then turn left to face the coffee machine | STEP 6: Place the filled mug where you picked it up from | END"]} +{"id": "trial_T20190912_203338_656658-0", "input": "Putting a sliced apple in the trash can SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.900, 1.25, 0, 270, 0, [SEP] 1, Potato, -2.671, 0.863, 2.485, 0, 90, 0, 59 [SEP] 2, Ladle, -2.840, 0.867, 0.352, 0, 0, 0, 41 [SEP] 3, Spoon, -2.597, 0.693, 1.474, 0, 90, 0, 46 [SEP] 4, Plate, -1.885, 0.130, 0.401, 0, 0, 0, 53 [SEP] 5, Tomato, -2.608, 0.873, 0.129, 0, 0, 0, 41 [SEP] 6, Tomato, -2.782, 0.874, 2.397, 0, 90, 0, 59 [SEP] 7, Bowl, -2.609, 0.118, 1.510, 0, 0, 0, 52 [SEP] 8, PepperShaker, -2.375, 0.818, 0.055, 0, 0, 0, 41 [SEP] 9, Mug, -0.646, 0.888, 0.367, 0, 0, 0, 69 [SEP] 10, Apple, -2.844, 0.994, 1.231, 0, 90, 0, 60 [SEP] 11, Apple, -0.262, 0.129, 2.640, 0, 0, 0, 61 [SEP] 12, Apple, -0.395, 0.129, 2.640, 0, 90, 0, 61 [SEP] 13, Apple, -0.092, 0.896, 1.214, 0, 0, 0, 41 [SEP] 14, Fork, -2.530, 0.692, 1.547, 0, 270, 0, 46 [SEP] 15, Ladle, -2.540, 1.893, 2.368, 0, 0, 0, 51 [SEP] 16, Pan, -0.244, 0.829, 1.684, 0, 0, 0, 40 [SEP] 17, SoapBottle, -0.477, 0.821, 0.658, 0, 0, 0, 41 [SEP] 18, Pot, -0.531, 0.822, 2.096, 0, 0, 0, 38 [SEP] 19, Tomato, -2.671, 1.495, 2.485, 0, 90, 0, 59 [SEP] 20, Potato, -1.967, 0.736, 0.381, 0, 0, 0, 68 [SEP] 21, SaltShaker, -2.724, 0.818, 0.278, 0, 0, 0, 41 [SEP] 22, Plate, -2.782, 1.148, 2.309, 0, 90, 0, 59 [SEP] 23, Spatula, -2.375, 0.838, 0.203, 0, 0, 0, 41 [SEP] 24, Knife, -2.662, 0.819, 0.557, 90, 300.034, 0, 41 [SEP] 25, Egg, -1.481, 0.721, 0.338, 0, 0, 0, 68 [SEP] 26, Cup, -2.726, 1.144, 1.957, 0, 90, 0, 59 [SEP] 27, ButterKnife, -1.374, 0.823, 0.508, 0, 0, 0, 41 [SEP] 28, Lettuce, -2.837, 1.529, 2.045, 0, 90, 0, 59 [SEP] 29, PepperShaker, -2.840, 0.818, 0.129, 0, 0, 0, 41 [SEP] 30, DishSponge, -0.477, 0.823, 1.214, 0, 0, 0, 41 [SEP] 31, Bread, -0.979, 0.855, 0.249, 0, 29.999, 0, 41 [SEP] 32, Spoon, -0.363, 0.698, 0.912, 0, 90, 0, 43 [SEP] 33, Mug, -2.782, 1.440, 2.309, 0, 90, 0, 59 [SEP] 34, Bowl, -2.540, 1.845, 1.926, 0, 0, 0, 35 [SEP] 35, Cabinet, -2.377, 2.015, 1.720, 0, 0, 0, [SEP] 36, StoveBurner, -0.244, 0.820, 2.075, 0, 180, 0, [SEP] 37, Drawer, -0.402, 0.703, 1.252, 0, 0, 0, [SEP] 38, StoveBurner, -0.518, 0.820, 2.075, 0, 180, 0, [SEP] 39, Sink, -1.838, 0.726, 0.343, 0, 180, 0, [SEP] 40, StoveBurner, -0.244, 0.820, 1.684, 0, 0, 0, [SEP] 41, CounterTop, -1.557, 0.859, 0.277, 0, 0, 0, [SEP] 42, StoveBurner, -0.518, 0.820, 1.684, 0, 0, 0, [SEP] 43, Drawer, -0.404, 0.704, 0.912, 0, 0, 0, [SEP] 44, Drawer, -0.861, 0.709, 0.420, 0, 0, 0, [SEP] 45, Drawer, -1.133, 0.706, 0.418, 0, 0, 0, [SEP] 46, Drawer, -2.589, 0.703, 1.511, 0, 0, 0, [SEP] 47, Cabinet, -2.772, 1.803, 0.508, 0, 0, 0, [SEP] 48, Cabinet, -2.460, 1.803, 0.231, 0, 0, 0, [SEP] 49, Cabinet, -2.781, 1.798, 0.825, 0, 0, 0, [SEP] 50, Cabinet, -2.781, 1.798, 0.815, 0, 0, 0, [SEP] 51, Cabinet, -2.377, 2.009, 2.581, 0, 0, 0, [SEP] 52, Cabinet, -2.442, 0.385, 1.672, 0, 0, 0, [SEP] 53, Cabinet, -2.238, 0.385, 0.564, 0, 0, 0, [SEP] 54, Cabinet, -1.286, 0.385, 0.564, 0, 0, 0, [SEP] 55, Cabinet, -1.262, 0.385, 0.565, 0, 0, 0, [SEP] 56, Cabinet, -0.734, 0.385, 0.565, 0, 0, 0, [SEP] 57, Cabinet, -0.549, 0.385, 0.751, 0, 0, 0, [SEP] 58, Cabinet, -0.549, 0.385, 1.412, 0, 0, 0, [SEP] 59, Fridge, -2.782, 0.0, 2.221, 0, 0, 0, [SEP] 60, Microwave, -2.794, 0.812, 1.348, 0, 90, 0, [SEP] 61, GarbageCan, -0.329, 2.205, 2.606, 0, 0, 0, [SEP] 62, StoveKnob, -0.069, 0.998, 1.773, 0, 180, 107.470, [SEP] 63, StoveKnob, -0.069, 0.998, 1.613, 0, 180, 107.470, [SEP] 64, StoveKnob, -0.069, 0.998, 2.171, 0, 180, 107.470, [SEP] 65, StoveKnob, -0.069, 0.998, 2.024, 0, 180, 107.470, [SEP] 66, Window, -1.720, 1.342, -0.208, 90, 0, 0, [SEP] 67, Toaster, -0.171, 0.812, 0.735, 0, 270, 0, [SEP] 68, SinkBasin, -1.745, 0.687, 0.295, 0, 0, 0, [SEP] 69, CoffeeMachine, -0.539, 0.812, 0.185, 0, 0, 0, [SEP] 70, LightSwitch, -0.615, 1.378, 3.0, 0, 180, 0, [SEP] 71, Faucet, -1.686, 0.954, 0.176, 0, 236.223, 0, [SEP] 72, Stool, -1.008, 0.008, 1.955, 0, 18.279, 0, [SEP] 73, NorthWall, , , , , , , [SEP] 74, EastWall, , , , , , , [SEP] 75, SouthWall, , , , , , , [SEP] 76, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and go to the left sink | STEP 2: Grab the knife out of the sink | STEP 3: Turn right and go to the microwave | STEP 4: Cut the apple in the microwave into three slices | STEP 5: Put the knife in the microwave | STEP 6: Grab a slice of apple out of the microwave | STEP 7: Turn right and go to the fridge | STEP 8: Leave the apple in the fridge. Take the apple out after some time | STEP 9: Turn around and go to the trash can | STEP 10: Put the apple in the trash can | END"]} +{"id": "trial_T20190918_182425_185158-1", "input": "Get utensils out of the cabinet to the table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.900, -0.75, 0, 90, 0, [SEP] 1, Potato, -1.013, 1.484, -0.184, 0, 90, 0, 97 [SEP] 2, Potato, 1.777, 1.068, 1.555, 0, 136.999, 0, 53 [SEP] 3, WineBottle, 2.126, 1.027, 1.601, 0, 136.999, 0, 53 [SEP] 4, Glassbottle, 1.638, 1.027, 1.704, 0, 136.999, 0, 53 [SEP] 5, Pot, 1.761, 1.027, -1.599, 0, 0, 0, 96 [SEP] 6, Pot, 2.116, 1.027, -1.84, 0, 270, 0, 57 [SEP] 7, Spatula, 2.368, 1.041, 0.711, 0, 136.999, 0, 53 [SEP] 8, Spatula, 1.623, 0.815, 1.524, 0, 47.0, 0, 68 [SEP] 9, Fork, 2.761, 0.800, -0.699, 0, 0, 0, 62 [SEP] 10, Fork, 2.275, 0.765, 4.192, 0, 0, 0, 54 [SEP] 11, Cup, 2.555, 0.763, 3.865, 0, 225, 0, 54 [SEP] 12, Cup, -0.577, 0.815, 1.492, 0, 90, 0, 110 [SEP] 13, Knife, -0.874, 0.826, 2.372, 0, 90, 0, 59 [SEP] 14, Knife, -0.920, 1.052, 1.821, 0, 0, 0, 56 [SEP] 15, Tomato, -0.714, 0.878, 1.337, 0, 90, 0, 110 [SEP] 16, SoapBottle, 2.386, 0.763, 3.932, 0, 329.999, 0, 54 [SEP] 17, SoapBottle, -1.061, 1.779, 1.801, 0, 0, 0, 70 [SEP] 18, Bowl, 2.822, 0.031, -1.074, 0, 0, 0, 95 [SEP] 19, SaltShaker, 2.302, 0.760, 3.62, 0, 0, 0, 54 [SEP] 20, Bread, 2.976, 0.832, 3.970, 0, 270, 0, 54 [SEP] 21, Bread, 2.626, 0.832, 4.118, 0, 270, 0, 54 [SEP] 22, Lettuce, 2.331, 0.822, 4.325, 0, 329.999, 0, 54 [SEP] 23, Lettuce, 2.788, 0.822, 4.412, 0, 225, 0, 54 [SEP] 24, Apple, 2.998, 0.814, 4.202, 0, 225, 0, 54 [SEP] 25, Pan, 2.614, 1.026, 1.499, 0, 136.999, 0, 53 [SEP] 26, Glassbottle, -0.714, 0.817, 1.570, 0, 90, 0, 110 [SEP] 27, Knife, -0.645, 0.841, 1.181, 0, 0, 0, 110 [SEP] 28, SoapBottle, 2.875, 1.025, -1.456, 0, 0, 0, 53 [SEP] 29, Egg, 2.000, 1.895, -1.809, 0, 0, 0, 99 [SEP] 30, Fork, 2.566, 0.801, 0.697, 0, 317.0, 0, 65 [SEP] 31, Potato, -0.968, 1.484, -0.516, 0, 90, 0, 97 [SEP] 32, Ladle, 2.651, 0.840, -0.267, 0, 0, 0, 63 [SEP] 33, Tomato, 2.855, 0.818, 3.567, 0, 329.999, 0, 54 [SEP] 34, Pot, 2.790, 1.029, -0.541, 0, 0, 0, 53 [SEP] 35, WineBottle, 1.956, 0.765, 3.685, 0, 225, 0, 54 [SEP] 36, Plate, -0.807, 2.290, -0.676, 0, 0, 0, 85 [SEP] 37, Spatula, 2.525, 0.779, 4.495, 0, 0, 0, 54 [SEP] 38, PaperTowelRoll, 2.790, 1.131, -1.762, 0, 0, 0, 53 [SEP] 39, Lettuce, 2.294, 0.822, 4.091, 0, 329.999, 0, 54 [SEP] 40, Apple, 2.893, 1.077, 1.200, 0, 136.999, 0, 53 [SEP] 41, SaltShaker, -0.544, 1.023, 2.189, 0, 0, 0, 56 [SEP] 42, PepperShaker, 1.787, 0.798, 1.342, 0, 317.0, 0, 68 [SEP] 43, ButterKnife, -0.802, 0.800, 0.615, 0, 0, 0, 55 [SEP] 44, Bread, 1.409, 1.094, -1.454, 0, 90, 0, 53 [SEP] 45, Cup, -0.947, 0.784, -0.516, 0, 90, 0, 97 [SEP] 46, DishSponge, 2.698, 0.764, 3.688, 0, 329.999, 0, 54 [SEP] 47, Bowl, -0.984, 1.779, 1.975, 0, 0, 0, 70 [SEP] 48, Spoon, 2.945, 0.765, 4.254, 0, 315, 0, 54 [SEP] 49, Mug, -0.714, 0.811, 1.103, 0, 90, 0, 110 [SEP] 50, Sink, -0.716, 1.023, 1.333, 0, 0, 0, [SEP] 51, StoveBurner, 1.835, 1.018, -1.840, 0, 90, 0, [SEP] 52, StoveBurner, 2.177, 1.018, -1.599, 0, 0, 0, [SEP] 53, CounterTop, 2.812, 0.992, 0.675, 0, 0, 0, [SEP] 54, DiningTable, 2.419, 0.003, 3.930, 0, 0, 0, [SEP] 55, Drawer, -0.643, 0.828, 0.616, 0, 0, 0, [SEP] 56, CounterTop, -0.813, 1.062, 2.188, 0, 0, 0, [SEP] 57, StoveBurner, 2.115, 1.018, -1.840, 0, 270, 0, [SEP] 58, Drawer, -0.643, 0.831, 1.953, 0, 0, 0, [SEP] 59, Drawer, -0.643, 0.833, 2.418, 0, 0, 0, [SEP] 60, Drawer, 1.347, 0.836, -1.539, 0, 0, 0, [SEP] 61, Drawer, 2.693, 0.833, -1.131, 0, 0, 0, [SEP] 62, Drawer, 2.693, 0.833, -0.699, 0, 0, 0, [SEP] 63, Drawer, 2.693, 0.833, -0.267, 0, 0, 0, [SEP] 64, Drawer, 2.693, 0.833, 0.163, 0, 0, 0, [SEP] 65, Drawer, 2.524, 0.833, 0.720, 0, 2.000, 0, [SEP] 66, Drawer, 2.232, 0.833, 1.036, 0, 2.000, 0, [SEP] 67, Drawer, 1.936, 0.833, 1.354, 0, 2.000, 0, [SEP] 68, Drawer, 1.646, 0.833, 1.670, 0, 2.000, 0, [SEP] 69, Cabinet, 1.504, 2.475, -1.710, 0, 0, 0, [SEP] 70, Cabinet, -0.823, 2.220, 1.621, 0, 0, 0, [SEP] 71, Cabinet, -0.823, 2.220, 0.615, 0, 0, 0, [SEP] 72, Cabinet, 1.136, 0.388, -1.355, 0, 0, 0, [SEP] 73, Cabinet, -0.356, 0.383, 2.626, 0, 0, 0, [SEP] 74, Cabinet, 2.745, 2.220, -1.690, 0, 0, 0, [SEP] 75, Cabinet, 1.882, 0.383, 1.017, 0, 0, 0, [SEP] 76, Cabinet, 1.307, 0.473, 1.640, 0, 0, 0, [SEP] 77, Cabinet, 1.892, 0.383, 1.006, 0, 0, 0, [SEP] 78, Cabinet, 2.467, 0.383, 0.383, 0, 0, 0, [SEP] 79, Cabinet, 2.466, 0.383, -0.475, 0, 0, 0, [SEP] 80, Cabinet, 2.466, 0.473, 0.371, 0, 0, 0, [SEP] 81, Cabinet, 2.386, 2.475, -1.710, 0, 0, 0, [SEP] 82, Cabinet, -0.356, 0.383, 1.712, 0, 0, 0, [SEP] 83, Cabinet, 2.745, 2.220, 0.019, 0, 0, 0, [SEP] 84, Cabinet, -0.663, 2.496, 0.157, 0, 0, 0, [SEP] 85, Cabinet, -0.663, 2.496, -0.868, 0, 0, 0, [SEP] 86, Cabinet, -0.356, 0.383, 0.269, 0, 0, 0, [SEP] 87, Cabinet, -0.823, 2.220, 1.603, 0, 0, 0, [SEP] 88, Cabinet, -0.662, 2.234, 0.586, 0, 0, 0, [SEP] 89, Cabinet, 2.745, 2.220, -0.843, 0, 0, 0, [SEP] 90, Cabinet, 2.745, 2.220, -0.827, 0, 0, 0, [SEP] 91, Cabinet, -0.823, 2.220, 2.608, 0, 0, 0, [SEP] 92, Cabinet, 2.732, 2.226, -1.709, 0, 0, 0, [SEP] 93, Cabinet, 1.137, 2.226, -1.709, 0, 0, 0, [SEP] 94, Cabinet, 2.466, 0.383, -0.491, 0, 0, 0, [SEP] 95, Cabinet, 2.466, 0.383, -1.339, 0, 0, 0, [SEP] 96, StoveBurner, 1.761, 1.018, -1.599, 0, 0, 0, [SEP] 97, Fridge, -0.908, 0.0, -0.405, 0, 0, 0, [SEP] 98, HousePlant, 2.517, 1.016, 1.822, 0, 0, 0, [SEP] 99, Microwave, 1.939, 1.745, -1.826, 0, 0, 0, [SEP] 100, StoveKnob, 2.017, 1.041, -1.514, 0, 180, 180, [SEP] 101, StoveKnob, 1.934, 1.041, -1.514, 0, 180, 180, [SEP] 102, StoveKnob, 2.017, 1.041, -1.589, 0, 180, 180, [SEP] 103, StoveKnob, 1.934, 1.041, -1.589, 0, 180, 180, [SEP] 104, Window, 1.756, 1.608, 4.762, 90, 0, 0, [SEP] 105, HousePlant, 2.171, 1.004, 2.091, 0, 0, 0, [SEP] 106, CoffeeMachine, -0.942, 1.018, 0.645, 0, 90, 0, [SEP] 107, LightSwitch, -0.099, 1.410, -2.066, 0, 0, 0, [SEP] 108, GarbageCan, -0.951, -0.029, 2.826, 0, 0, 0, [SEP] 109, Toaster, -1.007, 1.018, 2.238, 0, 90, 0, [SEP] 110, SinkBasin, -0.714, 0.805, 1.348, 0, 90, 0, [SEP] 111, Chair, 1.615, 0.004, 4.310, 0, 107.976, 0, [SEP] 112, Faucet, -1.120, 1.013, 1.334, 0, 90, 0, [SEP] 113, Chair, 2.759, 0.004, 3.086, 0, 358.967, 0, [SEP] 114, , , , , , , , [SEP] 115, NorthWall, , , , , , , [SEP] 116, EastWall, , , , , , , [SEP] 117, SouthWall, , , , , , , [SEP] 118, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk across the room to the table | STEP 2: Place the spatula on the table | STEP 3: Pick the spatula up from the table and walk across the room to the cabinets to the right of the sink | STEP 4: Open the upper cabinet to the right of the sink | STEP 5: Take the bowl out of the upper cabinet to the right of the sink | STEP 6: Take the bowl and spatula to the table | STEP 7: Place the bowl and spatula on the table | END"]} +{"id": "trial_T20190918_182425_185158-2", "input": "Place a bowl containing a spatula on the kitchen table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.900, -0.75, 0, 90, 0, [SEP] 1, Potato, -1.013, 1.484, -0.184, 0, 90, 0, 97 [SEP] 2, Potato, 1.777, 1.068, 1.555, 0, 136.999, 0, 53 [SEP] 3, WineBottle, 2.126, 1.027, 1.601, 0, 136.999, 0, 53 [SEP] 4, Glassbottle, 1.638, 1.027, 1.704, 0, 136.999, 0, 53 [SEP] 5, Pot, 1.761, 1.027, -1.599, 0, 0, 0, 96 [SEP] 6, Pot, 2.116, 1.027, -1.84, 0, 270, 0, 57 [SEP] 7, Spatula, 2.368, 1.041, 0.711, 0, 136.999, 0, 53 [SEP] 8, Spatula, 1.623, 0.815, 1.524, 0, 47.0, 0, 68 [SEP] 9, Fork, 2.761, 0.800, -0.699, 0, 0, 0, 62 [SEP] 10, Fork, 2.275, 0.765, 4.192, 0, 0, 0, 54 [SEP] 11, Cup, 2.555, 0.763, 3.865, 0, 225, 0, 54 [SEP] 12, Cup, -0.577, 0.815, 1.492, 0, 90, 0, 110 [SEP] 13, Knife, -0.874, 0.826, 2.372, 0, 90, 0, 59 [SEP] 14, Knife, -0.920, 1.052, 1.821, 0, 0, 0, 56 [SEP] 15, Tomato, -0.714, 0.878, 1.337, 0, 90, 0, 110 [SEP] 16, SoapBottle, 2.386, 0.763, 3.932, 0, 329.999, 0, 54 [SEP] 17, SoapBottle, -1.061, 1.779, 1.801, 0, 0, 0, 70 [SEP] 18, Bowl, 2.822, 0.031, -1.074, 0, 0, 0, 95 [SEP] 19, SaltShaker, 2.302, 0.760, 3.62, 0, 0, 0, 54 [SEP] 20, Bread, 2.976, 0.832, 3.970, 0, 270, 0, 54 [SEP] 21, Bread, 2.626, 0.832, 4.118, 0, 270, 0, 54 [SEP] 22, Lettuce, 2.331, 0.822, 4.325, 0, 329.999, 0, 54 [SEP] 23, Lettuce, 2.788, 0.822, 4.412, 0, 225, 0, 54 [SEP] 24, Apple, 2.998, 0.814, 4.202, 0, 225, 0, 54 [SEP] 25, Pan, 2.614, 1.026, 1.499, 0, 136.999, 0, 53 [SEP] 26, Glassbottle, -0.714, 0.817, 1.570, 0, 90, 0, 110 [SEP] 27, Knife, -0.645, 0.841, 1.181, 0, 0, 0, 110 [SEP] 28, SoapBottle, 2.875, 1.025, -1.456, 0, 0, 0, 53 [SEP] 29, Egg, 2.000, 1.895, -1.809, 0, 0, 0, 99 [SEP] 30, Fork, 2.566, 0.801, 0.697, 0, 317.0, 0, 65 [SEP] 31, Potato, -0.968, 1.484, -0.516, 0, 90, 0, 97 [SEP] 32, Ladle, 2.651, 0.840, -0.267, 0, 0, 0, 63 [SEP] 33, Tomato, 2.855, 0.818, 3.567, 0, 329.999, 0, 54 [SEP] 34, Pot, 2.790, 1.029, -0.541, 0, 0, 0, 53 [SEP] 35, WineBottle, 1.956, 0.765, 3.685, 0, 225, 0, 54 [SEP] 36, Plate, -0.807, 2.290, -0.676, 0, 0, 0, 85 [SEP] 37, Spatula, 2.525, 0.779, 4.495, 0, 0, 0, 54 [SEP] 38, PaperTowelRoll, 2.790, 1.131, -1.762, 0, 0, 0, 53 [SEP] 39, Lettuce, 2.294, 0.822, 4.091, 0, 329.999, 0, 54 [SEP] 40, Apple, 2.893, 1.077, 1.200, 0, 136.999, 0, 53 [SEP] 41, SaltShaker, -0.544, 1.023, 2.189, 0, 0, 0, 56 [SEP] 42, PepperShaker, 1.787, 0.798, 1.342, 0, 317.0, 0, 68 [SEP] 43, ButterKnife, -0.802, 0.800, 0.615, 0, 0, 0, 55 [SEP] 44, Bread, 1.409, 1.094, -1.454, 0, 90, 0, 53 [SEP] 45, Cup, -0.947, 0.784, -0.516, 0, 90, 0, 97 [SEP] 46, DishSponge, 2.698, 0.764, 3.688, 0, 329.999, 0, 54 [SEP] 47, Bowl, -0.984, 1.779, 1.975, 0, 0, 0, 70 [SEP] 48, Spoon, 2.945, 0.765, 4.254, 0, 315, 0, 54 [SEP] 49, Mug, -0.714, 0.811, 1.103, 0, 90, 0, 110 [SEP] 50, Sink, -0.716, 1.023, 1.333, 0, 0, 0, [SEP] 51, StoveBurner, 1.835, 1.018, -1.840, 0, 90, 0, [SEP] 52, StoveBurner, 2.177, 1.018, -1.599, 0, 0, 0, [SEP] 53, CounterTop, 2.812, 0.992, 0.675, 0, 0, 0, [SEP] 54, DiningTable, 2.419, 0.003, 3.930, 0, 0, 0, [SEP] 55, Drawer, -0.643, 0.828, 0.616, 0, 0, 0, [SEP] 56, CounterTop, -0.813, 1.062, 2.188, 0, 0, 0, [SEP] 57, StoveBurner, 2.115, 1.018, -1.840, 0, 270, 0, [SEP] 58, Drawer, -0.643, 0.831, 1.953, 0, 0, 0, [SEP] 59, Drawer, -0.643, 0.833, 2.418, 0, 0, 0, [SEP] 60, Drawer, 1.347, 0.836, -1.539, 0, 0, 0, [SEP] 61, Drawer, 2.693, 0.833, -1.131, 0, 0, 0, [SEP] 62, Drawer, 2.693, 0.833, -0.699, 0, 0, 0, [SEP] 63, Drawer, 2.693, 0.833, -0.267, 0, 0, 0, [SEP] 64, Drawer, 2.693, 0.833, 0.163, 0, 0, 0, [SEP] 65, Drawer, 2.524, 0.833, 0.720, 0, 2.000, 0, [SEP] 66, Drawer, 2.232, 0.833, 1.036, 0, 2.000, 0, [SEP] 67, Drawer, 1.936, 0.833, 1.354, 0, 2.000, 0, [SEP] 68, Drawer, 1.646, 0.833, 1.670, 0, 2.000, 0, [SEP] 69, Cabinet, 1.504, 2.475, -1.710, 0, 0, 0, [SEP] 70, Cabinet, -0.823, 2.220, 1.621, 0, 0, 0, [SEP] 71, Cabinet, -0.823, 2.220, 0.615, 0, 0, 0, [SEP] 72, Cabinet, 1.136, 0.388, -1.355, 0, 0, 0, [SEP] 73, Cabinet, -0.356, 0.383, 2.626, 0, 0, 0, [SEP] 74, Cabinet, 2.745, 2.220, -1.690, 0, 0, 0, [SEP] 75, Cabinet, 1.882, 0.383, 1.017, 0, 0, 0, [SEP] 76, Cabinet, 1.307, 0.473, 1.640, 0, 0, 0, [SEP] 77, Cabinet, 1.892, 0.383, 1.006, 0, 0, 0, [SEP] 78, Cabinet, 2.467, 0.383, 0.383, 0, 0, 0, [SEP] 79, Cabinet, 2.466, 0.383, -0.475, 0, 0, 0, [SEP] 80, Cabinet, 2.466, 0.473, 0.371, 0, 0, 0, [SEP] 81, Cabinet, 2.386, 2.475, -1.710, 0, 0, 0, [SEP] 82, Cabinet, -0.356, 0.383, 1.712, 0, 0, 0, [SEP] 83, Cabinet, 2.745, 2.220, 0.019, 0, 0, 0, [SEP] 84, Cabinet, -0.663, 2.496, 0.157, 0, 0, 0, [SEP] 85, Cabinet, -0.663, 2.496, -0.868, 0, 0, 0, [SEP] 86, Cabinet, -0.356, 0.383, 0.269, 0, 0, 0, [SEP] 87, Cabinet, -0.823, 2.220, 1.603, 0, 0, 0, [SEP] 88, Cabinet, -0.662, 2.234, 0.586, 0, 0, 0, [SEP] 89, Cabinet, 2.745, 2.220, -0.843, 0, 0, 0, [SEP] 90, Cabinet, 2.745, 2.220, -0.827, 0, 0, 0, [SEP] 91, Cabinet, -0.823, 2.220, 2.608, 0, 0, 0, [SEP] 92, Cabinet, 2.732, 2.226, -1.709, 0, 0, 0, [SEP] 93, Cabinet, 1.137, 2.226, -1.709, 0, 0, 0, [SEP] 94, Cabinet, 2.466, 0.383, -0.491, 0, 0, 0, [SEP] 95, Cabinet, 2.466, 0.383, -1.339, 0, 0, 0, [SEP] 96, StoveBurner, 1.761, 1.018, -1.599, 0, 0, 0, [SEP] 97, Fridge, -0.908, 0.0, -0.405, 0, 0, 0, [SEP] 98, HousePlant, 2.517, 1.016, 1.822, 0, 0, 0, [SEP] 99, Microwave, 1.939, 1.745, -1.826, 0, 0, 0, [SEP] 100, StoveKnob, 2.017, 1.041, -1.514, 0, 180, 180, [SEP] 101, StoveKnob, 1.934, 1.041, -1.514, 0, 180, 180, [SEP] 102, StoveKnob, 2.017, 1.041, -1.589, 0, 180, 180, [SEP] 103, StoveKnob, 1.934, 1.041, -1.589, 0, 180, 180, [SEP] 104, Window, 1.756, 1.608, 4.762, 90, 0, 0, [SEP] 105, HousePlant, 2.171, 1.004, 2.091, 0, 0, 0, [SEP] 106, CoffeeMachine, -0.942, 1.018, 0.645, 0, 90, 0, [SEP] 107, LightSwitch, -0.099, 1.410, -2.066, 0, 0, 0, [SEP] 108, GarbageCan, -0.951, -0.029, 2.826, 0, 0, 0, [SEP] 109, Toaster, -1.007, 1.018, 2.238, 0, 90, 0, [SEP] 110, SinkBasin, -0.714, 0.805, 1.348, 0, 90, 0, [SEP] 111, Chair, 1.615, 0.004, 4.310, 0, 107.976, 0, [SEP] 112, Faucet, -1.120, 1.013, 1.334, 0, 90, 0, [SEP] 113, Chair, 2.759, 0.004, 3.086, 0, 358.967, 0, [SEP] 114, , , , , , , , [SEP] 115, NorthWall, , , , , , , [SEP] 116, EastWall, , , , , , , [SEP] 117, SouthWall, , , , , , , [SEP] 118, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and move to the white table to the right of the window. | STEP 2: Pick up the spatula near the edge of the table. | STEP 3: Walk to the counter space to the right of the sink. | STEP 4: Open the cabinet door closest to the kitchen sink and place the spatula inside of the bronze bowl. | STEP 5: Lift the bowl out of the cabinet. | STEP 6: Carry the bowl back to the white kitchen table on the opposite side of the room. | STEP 7: Place the bowl containing the spatula down on the table to the left of the salt. | END"]} +{"id": "trial_T20190918_182425_185158-4", "input": "Get the spatula off the table, put the spatula in the bowl, put the bowl on the table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.900, -0.75, 0, 90, 0, [SEP] 1, Potato, -1.013, 1.484, -0.184, 0, 90, 0, 97 [SEP] 2, Potato, 1.777, 1.068, 1.555, 0, 136.999, 0, 53 [SEP] 3, WineBottle, 2.126, 1.027, 1.601, 0, 136.999, 0, 53 [SEP] 4, Glassbottle, 1.638, 1.027, 1.704, 0, 136.999, 0, 53 [SEP] 5, Pot, 1.761, 1.027, -1.599, 0, 0, 0, 96 [SEP] 6, Pot, 2.116, 1.027, -1.84, 0, 270, 0, 57 [SEP] 7, Spatula, 2.368, 1.041, 0.711, 0, 136.999, 0, 53 [SEP] 8, Spatula, 1.623, 0.815, 1.524, 0, 47.0, 0, 68 [SEP] 9, Fork, 2.761, 0.800, -0.699, 0, 0, 0, 62 [SEP] 10, Fork, 2.275, 0.765, 4.192, 0, 0, 0, 54 [SEP] 11, Cup, 2.555, 0.763, 3.865, 0, 225, 0, 54 [SEP] 12, Cup, -0.577, 0.815, 1.492, 0, 90, 0, 110 [SEP] 13, Knife, -0.874, 0.826, 2.372, 0, 90, 0, 59 [SEP] 14, Knife, -0.920, 1.052, 1.821, 0, 0, 0, 56 [SEP] 15, Tomato, -0.714, 0.878, 1.337, 0, 90, 0, 110 [SEP] 16, SoapBottle, 2.386, 0.763, 3.932, 0, 329.999, 0, 54 [SEP] 17, SoapBottle, -1.061, 1.779, 1.801, 0, 0, 0, 70 [SEP] 18, Bowl, 2.822, 0.031, -1.074, 0, 0, 0, 95 [SEP] 19, SaltShaker, 2.302, 0.760, 3.62, 0, 0, 0, 54 [SEP] 20, Bread, 2.976, 0.832, 3.970, 0, 270, 0, 54 [SEP] 21, Bread, 2.626, 0.832, 4.118, 0, 270, 0, 54 [SEP] 22, Lettuce, 2.331, 0.822, 4.325, 0, 329.999, 0, 54 [SEP] 23, Lettuce, 2.788, 0.822, 4.412, 0, 225, 0, 54 [SEP] 24, Apple, 2.998, 0.814, 4.202, 0, 225, 0, 54 [SEP] 25, Pan, 2.614, 1.026, 1.499, 0, 136.999, 0, 53 [SEP] 26, Glassbottle, -0.714, 0.817, 1.570, 0, 90, 0, 110 [SEP] 27, Knife, -0.645, 0.841, 1.181, 0, 0, 0, 110 [SEP] 28, SoapBottle, 2.875, 1.025, -1.456, 0, 0, 0, 53 [SEP] 29, Egg, 2.000, 1.895, -1.809, 0, 0, 0, 99 [SEP] 30, Fork, 2.566, 0.801, 0.697, 0, 317.0, 0, 65 [SEP] 31, Potato, -0.968, 1.484, -0.516, 0, 90, 0, 97 [SEP] 32, Ladle, 2.651, 0.840, -0.267, 0, 0, 0, 63 [SEP] 33, Tomato, 2.855, 0.818, 3.567, 0, 329.999, 0, 54 [SEP] 34, Pot, 2.790, 1.029, -0.541, 0, 0, 0, 53 [SEP] 35, WineBottle, 1.956, 0.765, 3.685, 0, 225, 0, 54 [SEP] 36, Plate, -0.807, 2.290, -0.676, 0, 0, 0, 85 [SEP] 37, Spatula, 2.525, 0.779, 4.495, 0, 0, 0, 54 [SEP] 38, PaperTowelRoll, 2.790, 1.131, -1.762, 0, 0, 0, 53 [SEP] 39, Lettuce, 2.294, 0.822, 4.091, 0, 329.999, 0, 54 [SEP] 40, Apple, 2.893, 1.077, 1.200, 0, 136.999, 0, 53 [SEP] 41, SaltShaker, -0.544, 1.023, 2.189, 0, 0, 0, 56 [SEP] 42, PepperShaker, 1.787, 0.798, 1.342, 0, 317.0, 0, 68 [SEP] 43, ButterKnife, -0.802, 0.800, 0.615, 0, 0, 0, 55 [SEP] 44, Bread, 1.409, 1.094, -1.454, 0, 90, 0, 53 [SEP] 45, Cup, -0.947, 0.784, -0.516, 0, 90, 0, 97 [SEP] 46, DishSponge, 2.698, 0.764, 3.688, 0, 329.999, 0, 54 [SEP] 47, Bowl, -0.984, 1.779, 1.975, 0, 0, 0, 70 [SEP] 48, Spoon, 2.945, 0.765, 4.254, 0, 315, 0, 54 [SEP] 49, Mug, -0.714, 0.811, 1.103, 0, 90, 0, 110 [SEP] 50, Sink, -0.716, 1.023, 1.333, 0, 0, 0, [SEP] 51, StoveBurner, 1.835, 1.018, -1.840, 0, 90, 0, [SEP] 52, StoveBurner, 2.177, 1.018, -1.599, 0, 0, 0, [SEP] 53, CounterTop, 2.812, 0.992, 0.675, 0, 0, 0, [SEP] 54, DiningTable, 2.419, 0.003, 3.930, 0, 0, 0, [SEP] 55, Drawer, -0.643, 0.828, 0.616, 0, 0, 0, [SEP] 56, CounterTop, -0.813, 1.062, 2.188, 0, 0, 0, [SEP] 57, StoveBurner, 2.115, 1.018, -1.840, 0, 270, 0, [SEP] 58, Drawer, -0.643, 0.831, 1.953, 0, 0, 0, [SEP] 59, Drawer, -0.643, 0.833, 2.418, 0, 0, 0, [SEP] 60, Drawer, 1.347, 0.836, -1.539, 0, 0, 0, [SEP] 61, Drawer, 2.693, 0.833, -1.131, 0, 0, 0, [SEP] 62, Drawer, 2.693, 0.833, -0.699, 0, 0, 0, [SEP] 63, Drawer, 2.693, 0.833, -0.267, 0, 0, 0, [SEP] 64, Drawer, 2.693, 0.833, 0.163, 0, 0, 0, [SEP] 65, Drawer, 2.524, 0.833, 0.720, 0, 2.000, 0, [SEP] 66, Drawer, 2.232, 0.833, 1.036, 0, 2.000, 0, [SEP] 67, Drawer, 1.936, 0.833, 1.354, 0, 2.000, 0, [SEP] 68, Drawer, 1.646, 0.833, 1.670, 0, 2.000, 0, [SEP] 69, Cabinet, 1.504, 2.475, -1.710, 0, 0, 0, [SEP] 70, Cabinet, -0.823, 2.220, 1.621, 0, 0, 0, [SEP] 71, Cabinet, -0.823, 2.220, 0.615, 0, 0, 0, [SEP] 72, Cabinet, 1.136, 0.388, -1.355, 0, 0, 0, [SEP] 73, Cabinet, -0.356, 0.383, 2.626, 0, 0, 0, [SEP] 74, Cabinet, 2.745, 2.220, -1.690, 0, 0, 0, [SEP] 75, Cabinet, 1.882, 0.383, 1.017, 0, 0, 0, [SEP] 76, Cabinet, 1.307, 0.473, 1.640, 0, 0, 0, [SEP] 77, Cabinet, 1.892, 0.383, 1.006, 0, 0, 0, [SEP] 78, Cabinet, 2.467, 0.383, 0.383, 0, 0, 0, [SEP] 79, Cabinet, 2.466, 0.383, -0.475, 0, 0, 0, [SEP] 80, Cabinet, 2.466, 0.473, 0.371, 0, 0, 0, [SEP] 81, Cabinet, 2.386, 2.475, -1.710, 0, 0, 0, [SEP] 82, Cabinet, -0.356, 0.383, 1.712, 0, 0, 0, [SEP] 83, Cabinet, 2.745, 2.220, 0.019, 0, 0, 0, [SEP] 84, Cabinet, -0.663, 2.496, 0.157, 0, 0, 0, [SEP] 85, Cabinet, -0.663, 2.496, -0.868, 0, 0, 0, [SEP] 86, Cabinet, -0.356, 0.383, 0.269, 0, 0, 0, [SEP] 87, Cabinet, -0.823, 2.220, 1.603, 0, 0, 0, [SEP] 88, Cabinet, -0.662, 2.234, 0.586, 0, 0, 0, [SEP] 89, Cabinet, 2.745, 2.220, -0.843, 0, 0, 0, [SEP] 90, Cabinet, 2.745, 2.220, -0.827, 0, 0, 0, [SEP] 91, Cabinet, -0.823, 2.220, 2.608, 0, 0, 0, [SEP] 92, Cabinet, 2.732, 2.226, -1.709, 0, 0, 0, [SEP] 93, Cabinet, 1.137, 2.226, -1.709, 0, 0, 0, [SEP] 94, Cabinet, 2.466, 0.383, -0.491, 0, 0, 0, [SEP] 95, Cabinet, 2.466, 0.383, -1.339, 0, 0, 0, [SEP] 96, StoveBurner, 1.761, 1.018, -1.599, 0, 0, 0, [SEP] 97, Fridge, -0.908, 0.0, -0.405, 0, 0, 0, [SEP] 98, HousePlant, 2.517, 1.016, 1.822, 0, 0, 0, [SEP] 99, Microwave, 1.939, 1.745, -1.826, 0, 0, 0, [SEP] 100, StoveKnob, 2.017, 1.041, -1.514, 0, 180, 180, [SEP] 101, StoveKnob, 1.934, 1.041, -1.514, 0, 180, 180, [SEP] 102, StoveKnob, 2.017, 1.041, -1.589, 0, 180, 180, [SEP] 103, StoveKnob, 1.934, 1.041, -1.589, 0, 180, 180, [SEP] 104, Window, 1.756, 1.608, 4.762, 90, 0, 0, [SEP] 105, HousePlant, 2.171, 1.004, 2.091, 0, 0, 0, [SEP] 106, CoffeeMachine, -0.942, 1.018, 0.645, 0, 90, 0, [SEP] 107, LightSwitch, -0.099, 1.410, -2.066, 0, 0, 0, [SEP] 108, GarbageCan, -0.951, -0.029, 2.826, 0, 0, 0, [SEP] 109, Toaster, -1.007, 1.018, 2.238, 0, 90, 0, [SEP] 110, SinkBasin, -0.714, 0.805, 1.348, 0, 90, 0, [SEP] 111, Chair, 1.615, 0.004, 4.310, 0, 107.976, 0, [SEP] 112, Faucet, -1.120, 1.013, 1.334, 0, 90, 0, [SEP] 113, Chair, 2.759, 0.004, 3.086, 0, 358.967, 0, [SEP] 114, , , , , , , , [SEP] 115, NorthWall, , , , , , , [SEP] 116, EastWall, , , , , , , [SEP] 117, SouthWall, , , , , , , [SEP] 118, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and walk toward the table, turn right and walk toward the wall, turn left and walk to the table. | STEP 2: Pick up the spatula at the back of the table. | STEP 3: Turn left and walk to the counter. | STEP 4: Find the brown bowl a put the spatula in it. | STEP 5: Pick up the brown bowl with the spatula in it. | STEP 6: Turn around and walk to the table. | STEP 7: Set the bowl down next to the salt shaker. | END"]} +{"id": "trial_T20190908_010924_228202-2", "input": "Place a tomato on a table SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.901, 3.75, 0, 0, 0, [SEP] 1, Potato, -0.921, 0.822, 0.447, 0, 0, 0, 66 [SEP] 2, DishSponge, -2.170, 0.927, 0.602, 0, 0, 0, 48 [SEP] 3, ButterKnife, -0.486, 0.900, 2.932, 0, 0, 0, 71 [SEP] 4, ButterKnife, -1.094, 0.795, 0.337, 0, 0, 0, 66 [SEP] 5, Fork, -0.486, 0.901, 3.133, 0, 0, 0, 71 [SEP] 6, Egg, -1.352, 0.961, 0.659, 0, 0, 0, 48 [SEP] 7, Plate, -0.572, 0.904, 2.329, 0, 0, 0, 71 [SEP] 8, Knife, -1.662, 0.688, 0.409, 0, 90, 0, 51 [SEP] 9, SoapBottle, -2.866, 0.053, 0.351, 0, 26.101, 0, 62 [SEP] 10, SaltShaker, -2.377, 0.896, 2.573, 0, 0, 0, 69 [SEP] 11, SaltShaker, -0.486, 0.896, 2.731, 0, 0, 0, 71 [SEP] 12, PepperShaker, -0.433, 0.658, 0.245, 0, 0, 0, 37 [SEP] 13, Lettuce, -2.847, 1.266, 4.501, 0, 90, 0, 65 [SEP] 14, Mug, -2.789, 0.895, 2.441, 0, 0, 0, 69 [SEP] 15, Apple, -0.143, 0.956, 2.731, 0, 0, 0, 71 [SEP] 16, Egg, -0.191, 1.051, 0.140, 0, 0, 0, 67 [SEP] 17, Plate, -1.904, 0.932, 0.348, 0, 0, 0, 48 [SEP] 18, Fork, -1.770, 0.662, 0.519, 0, 270, 0, 51 [SEP] 19, Bread, -2.870, 0.940, 1.982, 0, 0, 2.210, 69 [SEP] 20, Apple, -0.350, 1.074, 0.235, 0, 0, 0, 67 [SEP] 21, Lettuce, -2.892, 0.980, 2.309, 0, 90, 0, 69 [SEP] 22, Spatula, -2.706, 0.950, 3.209, 0, 0, 0, 55 [SEP] 23, Knife, -2.377, 0.688, 0.355, 0, 90, 0, 56 [SEP] 24, Potato, -2.805, 1.212, 4.204, 0, 90, 0, 65 [SEP] 25, Tomato, -2.549, 0.999, 3.673, 0, 0, 0, 55 [SEP] 26, Cup, -2.789, 0.900, 2.573, 0, 0, 0, 69 [SEP] 27, SaltShaker, -2.377, 0.896, 2.441, 0, 0, 0, 69 [SEP] 28, PepperShaker, -1.986, 0.658, 0.355, 0, 0, 0, 51 [SEP] 29, ButterKnife, -0.380, 0.662, 0.409, 0, 0, 0, 37 [SEP] 30, SoapBottle, -2.686, 0.889, 1.913, 0, 0, 0, 69 [SEP] 31, Pan, -0.536, 0.928, 4.672, 0, 0, 0, 54 [SEP] 32, DishSponge, -2.628, 0.935, 3.488, 0, 0, 0, 55 [SEP] 33, Pot, -2.785, 0.298, 4.575, 0, 0, 0, 65 [SEP] 34, Spoon, -1.266, 0.797, 0.392, 0, 0, 0, 66 [SEP] 35, Mug, -2.480, 0.895, 2.573, 0, 0, 0, 69 [SEP] 36, Bowl, -2.377, 0.897, 2.045, 0, 0, 0, 69 [SEP] 37, Drawer, -0.325, 0.696, 0.413, 0, 0, 0, [SEP] 38, Cabinet, -0.595, 0.490, 0.648, 0, 0, 0, [SEP] 39, Cabinet, -0.555, 0.490, 0.646, 0, 0, 0, [SEP] 40, Cabinet, -1.591, 0.490, 0.646, 0, 0, 0, [SEP] 41, Cabinet, -1.554, 0.490, 0.646, 0, 0, 0, [SEP] 42, Cabinet, -2.550, 0.490, 0.646, 0, 0, 0, [SEP] 43, Cabinet, -1.514, 2.046, 0.392, 0, 0, 0, [SEP] 44, Cabinet, -2.474, 2.046, 0.392, 0, 0, 0, [SEP] 45, Cabinet, -1.478, 2.046, 0.392, 0, 0, 0, [SEP] 46, Cabinet, -0.518, 2.046, 0.392, 0, 0, 0, [SEP] 47, Cabinet, -0.479, 2.046, 0.392, 0, 0, 0, [SEP] 48, CounterTop, -1.366, 0.952, 0.349, 0, 0, 0, [SEP] 49, Sink, -1.108, 0.926, 0.340, 0, 0, 0, [SEP] 50, StoveBurner, -0.254, 0.922, 4.672, 0, 0, 0, [SEP] 51, Drawer, -1.824, 0.696, 0.413, 0, 0, 0, [SEP] 52, StoveBurner, -0.535, 0.922, 4.274, 0, 0, 0, [SEP] 53, StoveBurner, -0.254, 0.922, 4.274, 0, 0, 0, [SEP] 54, StoveBurner, -0.536, 0.922, 4.672, 0, 0, 0, [SEP] 55, CounterTop, -2.780, 0.971, 3.487, 0, 0, 0, [SEP] 56, Drawer, -2.323, 0.696, 0.413, 0, 0, 0, [SEP] 57, StoveKnob, -0.064, 1.090, 4.632, 0, 0, 73.865, [SEP] 58, StoveKnob, -0.064, 1.090, 4.782, 0, 0, 73.865, [SEP] 59, StoveKnob, -0.064, 1.090, 4.382, 0, 0, 73.865, [SEP] 60, StoveKnob, -0.064, 1.090, 4.222, 0, 0, 73.865, [SEP] 61, Toaster, -0.286, 0.861, 3.520, 0, 270, 0, [SEP] 62, GarbageCan, -2.816, -0.014, 0.370, 358.702, 26.614, 2.400, [SEP] 63, LightSwitch, -0.064, 1.447, 1.996, 0, 270, 0, [SEP] 64, Window, -3.075, 1.593, 1.361, 90, 90, 0, [SEP] 65, Fridge, -2.802, 0.0, 4.427, 0, 0, 0, [SEP] 66, SinkBasin, -1.106, 0.785, 0.337, 0, 0, 0, [SEP] 67, Microwave, -0.358, 0.917, 0.224, 0, 0, 0, [SEP] 68, CoffeeMachine, -2.938, 0.925, 3.605, 0, 90, 0, [SEP] 69, DiningTable, -2.733, -0.003, 2.607, 0, 270, 0, [SEP] 70, Faucet, -1.077, 0.920, 0.028, 270, 270, 0, [SEP] 71, DiningTable, -0.488, -0.003, 3.182, 0, 270, 0, [SEP] 72, NorthWall, , , , , , , [SEP] 73, EastWall, , , , , , , [SEP] 74, SouthWall, , , , , , , [SEP] 75, WestWall, , , , , , , ", "output": ["STEP 1: Turn left to face the coffee machine | STEP 2: Pick up the tomato that is in front of the coffee machine | STEP 3: turn left and head forward, then turn right at the white table so that you are facing the white table | STEP 4: Place to tomato on the table to the left of the salt shakers | END"]} +{"id": "trial_T20190909_074728_844604-1", "input": "put two wine bottles in cabinet SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 1.124, 1.0, 0, 90, 0, [SEP] 1, Pan, -1.790, 1.322, 2.069, 0, 270, 0, 50 [SEP] 2, Pan, -1.886, 0.343, 1.317, 0, 0, 0, 51 [SEP] 3, DishSponge, -1.561, 0.422, -1.086, 0, 0, 0, 56 [SEP] 4, WineBottle, -2.179, 1.323, -2.721, 0, 0, 0, 50 [SEP] 5, Kettle, -1.530, 1.324, 0.120, 0, 0, 0, 50 [SEP] 6, Fork, 0.766, 1.323, -2.794, 0, 0, 0, 50 [SEP] 7, Fork, -1.826, 1.064, -0.542, 0, 0, 0, 68 [SEP] 8, Spoon, -2.049, 1.324, 1.744, 0, 0, 0, 50 [SEP] 9, Spoon, -1.603, 0.421, -1.217, 0, 0, 0, 56 [SEP] 10, Egg, -1.657, 0.321, 2.275, 0, 270, 0, 65 [SEP] 11, Cup, 1.115, 1.307, 0.810, 0, 270, 0, 75 [SEP] 12, Plate, 0.900, 0.345, -1.957, 0, 180, 0, 49 [SEP] 13, Knife, -1.790, 1.352, -1.681, 0, 0, 0, 50 [SEP] 14, Tomato, 1.006, 1.980, 1.788, 0, 270, 0, 63 [SEP] 15, Tomato, 0.977, 1.709, 1.545, 0, 270, 0, 63 [SEP] 16, Bowl, -1.602, 0.342, -2.063, 0, 0, 0, 46 [SEP] 17, SaltShaker, -1.681, 0.338, 0.512, 0, 0, 0, 48 [SEP] 18, SaltShaker, -1.363, 1.318, -1.503, 0, 0, 0, 50 [SEP] 19, Mug, 0.492, 1.318, -3.343, 0, 0, 0, 50 [SEP] 20, Apple, -1.698, 1.099, -0.496, 0, 0, 0, 68 [SEP] 21, Apple, 1.213, 1.359, 0.965, 0, 270, 0, 75 [SEP] 22, Bread, -1.513, 1.380, 0.662, 0, 0, 0, 50 [SEP] 23, Pot, -1.790, 1.329, 0.770, 0, 0, 0, 50 [SEP] 24, Knife, 0.277, 1.352, -3.121, 0, 90, 0, 50 [SEP] 25, Bowl, 0.492, 1.321, -2.678, 0, 0, 0, 50 [SEP] 26, Potato, -1.660, 1.362, -2.201, 0, 0, 0, 50 [SEP] 27, SoapBottle, 1.110, 1.207, 1.238, 0, 0, 0, 75 [SEP] 28, Fork, -1.401, 1.323, -1.941, 0, 0, 0, 50 [SEP] 29, Cup, -2.049, 1.320, 2.069, 0, 0, 0, 50 [SEP] 30, Kettle, -1.790, 1.324, -1.941, 0, 0, 0, 50 [SEP] 31, Egg, -2.179, 1.363, -2.201, 0, 0, 0, 50 [SEP] 32, Pan, -0.239, 1.331, -3.301, 0, 180, 0, 45 [SEP] 33, SaltShaker, 0.861, 1.202, 1.238, 0, 0, 0, 75 [SEP] 34, WineBottle, 0.492, 1.323, -3.121, 0, 0, 0, 50 [SEP] 35, Lettuce, -1.891, 1.400, -1.072, 1.503, 0, 355.747, 57 [SEP] 36, Spatula, -2.179, 1.337, 0.770, 0, 90, 0, 50 [SEP] 37, PaperTowelRoll, 0.563, 1.427, -3.232, 0, 0, 0, 50 [SEP] 38, Tomato, -1.380, 1.356, -3.203, 0, 0, 0, 50 [SEP] 39, Plate, -1.750, 0.344, 1.523, 0, 0, 0, 51 [SEP] 40, PepperShaker, -1.884, 0.338, 0.613, 0, 0, 0, 48 [SEP] 41, DishSponge, 0.898, 0.953, 0.711, 0, 0, 0, 72 [SEP] 42, Spoon, -1.308, 1.324, -3.314, 0, 90, 0, 50 [SEP] 43, Apple, -1.610, 0.329, 2.110, 0, 270, 0, 65 [SEP] 44, Mug, 0.920, 1.519, 1.786, 0, 270, 0, 63 [SEP] 45, StoveBurner, -0.239, 1.325, -3.301, 0, 180, 0, [SEP] 46, Cabinet, -1.461, 0.775, -2.002, 0, 0, 0, [SEP] 47, StoveBurner, -0.630, 1.325, -3.301, 0, 180, 0, [SEP] 48, Cabinet, -1.461, 0.775, 0.470, 0, 0, 0, [SEP] 49, Cabinet, 0.578, 0.776, -2.054, 0, 0, 0, [SEP] 50, CounterTop, -1.809, 1.358, 1.182, 0, 0, 0, [SEP] 51, Cabinet, -1.461, 0.775, 1.310, 0, 0, 0, [SEP] 52, Faucet, -2.063, 1.362, -0.726, 0, 39.391, 0, [SEP] 53, StoveBurner, -0.749, 1.325, -2.973, 0, 0, 0, [SEP] 54, Drawer, -1.610, 0.681, -0.430, 0, 0, 0, [SEP] 55, Window, -2.566, 1.799, -0.822, 270, 0, 0, [SEP] 56, Drawer, -1.610, 0.681, -1.217, 0, 0, 0, [SEP] 57, Sink, -1.990, 1.143, -0.975, 0, 0, 0, [SEP] 58, StoveBurner, -0.125, 1.325, -2.973, 0, 0, 0, [SEP] 59, StoveKnob, -0.185, 1.338, -2.741, 0, 270, 180, [SEP] 60, StoveKnob, -0.336, 1.338, -2.741, 0, 270, 180, [SEP] 61, StoveKnob, -0.569, 1.338, -2.741, 0, 270, 180, [SEP] 62, StoveKnob, -0.707, 1.338, -2.741, 0, 270, 180, [SEP] 63, Fridge, 1.013, 0.227, 1.917, 0, 270, 0, [SEP] 64, Microwave, 0.994, 1.310, -2.163, 0, 270, 0, [SEP] 65, GarbageCan, -1.633, 0.212, 2.192, 0, 270, 0, [SEP] 66, LightSwitch, 1.386, 1.565, -0.657, 0, 270, 0, [SEP] 67, HousePlant, -2.027, 1.311, -0.026, 0, 284.058, 0, [SEP] 68, SinkBasin, -1.835, 1.039, -0.542, 0, 0, 0, [SEP] 69, ButterKnife, 0.873, 0.468, 0.651, 0, 0, 0, [SEP] 70, Toaster, -1.885, 1.310, -2.512, 0, 90, 0, [SEP] 71, CoffeeMachine, 1.129, 1.310, -1.426, 0, 270, 0, [SEP] 72, Drawer, 0.647, 1.061, 0.680, 0, 270, 0, [SEP] 73, Drawer, 0.648, 1.061, 1.020, 0, 270, 0, [SEP] 74, Drawer, 0.648, 0.843, 1.020, 0, 270, 0, [SEP] 75, SideTable, 0.975, 0.220, 0.869, 0, 270, 0, [SEP] 76, Drawer, 0.648, 0.602, 0.680, 0, 270, 0, [SEP] 77, Drawer, 0.648, 0.596, 1.020, 0, 270, 0, [SEP] 78, Drawer, 0.648, 0.843, 0.680, 0, 270, 0, [SEP] 79, Stool, 0.606, 0.222, -1.084, 1.233, 280.489, 0, [SEP] 80, NorthWall, , , , , , , [SEP] 81, EastWall, , , , , , , [SEP] 82, SouthWall, , , , , , , [SEP] 83, WestWall, , , , , , , ", "output": ["STEP 1: walk to face stove | STEP 2: pick up wine bottle from counter to left of stove | STEP 3: turn left and gaze down at cabinet below counter | STEP 4: put wine bottle in cabinet | STEP 5: turn left to face counter to right of stove | STEP 6: pick up wine bottle from counter | STEP 7: turn left and gaze down at cabinet below counter | STEP 8: put wine bottle in cabinet | END"]} +{"id": "trial_T20190909_074728_844604-2", "input": "Put two bottles of wine in the cabinet. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 1.124, 1.0, 0, 90, 0, [SEP] 1, Pan, -1.790, 1.322, 2.069, 0, 270, 0, 50 [SEP] 2, Pan, -1.886, 0.343, 1.317, 0, 0, 0, 51 [SEP] 3, DishSponge, -1.561, 0.422, -1.086, 0, 0, 0, 56 [SEP] 4, WineBottle, -2.179, 1.323, -2.721, 0, 0, 0, 50 [SEP] 5, Kettle, -1.530, 1.324, 0.120, 0, 0, 0, 50 [SEP] 6, Fork, 0.766, 1.323, -2.794, 0, 0, 0, 50 [SEP] 7, Fork, -1.826, 1.064, -0.542, 0, 0, 0, 68 [SEP] 8, Spoon, -2.049, 1.324, 1.744, 0, 0, 0, 50 [SEP] 9, Spoon, -1.603, 0.421, -1.217, 0, 0, 0, 56 [SEP] 10, Egg, -1.657, 0.321, 2.275, 0, 270, 0, 65 [SEP] 11, Cup, 1.115, 1.307, 0.810, 0, 270, 0, 75 [SEP] 12, Plate, 0.900, 0.345, -1.957, 0, 180, 0, 49 [SEP] 13, Knife, -1.790, 1.352, -1.681, 0, 0, 0, 50 [SEP] 14, Tomato, 1.006, 1.980, 1.788, 0, 270, 0, 63 [SEP] 15, Tomato, 0.977, 1.709, 1.545, 0, 270, 0, 63 [SEP] 16, Bowl, -1.602, 0.342, -2.063, 0, 0, 0, 46 [SEP] 17, SaltShaker, -1.681, 0.338, 0.512, 0, 0, 0, 48 [SEP] 18, SaltShaker, -1.363, 1.318, -1.503, 0, 0, 0, 50 [SEP] 19, Mug, 0.492, 1.318, -3.343, 0, 0, 0, 50 [SEP] 20, Apple, -1.698, 1.099, -0.496, 0, 0, 0, 68 [SEP] 21, Apple, 1.213, 1.359, 0.965, 0, 270, 0, 75 [SEP] 22, Bread, -1.513, 1.380, 0.662, 0, 0, 0, 50 [SEP] 23, Pot, -1.790, 1.329, 0.770, 0, 0, 0, 50 [SEP] 24, Knife, 0.277, 1.352, -3.121, 0, 90, 0, 50 [SEP] 25, Bowl, 0.492, 1.321, -2.678, 0, 0, 0, 50 [SEP] 26, Potato, -1.660, 1.362, -2.201, 0, 0, 0, 50 [SEP] 27, SoapBottle, 1.110, 1.207, 1.238, 0, 0, 0, 75 [SEP] 28, Fork, -1.401, 1.323, -1.941, 0, 0, 0, 50 [SEP] 29, Cup, -2.049, 1.320, 2.069, 0, 0, 0, 50 [SEP] 30, Kettle, -1.790, 1.324, -1.941, 0, 0, 0, 50 [SEP] 31, Egg, -2.179, 1.363, -2.201, 0, 0, 0, 50 [SEP] 32, Pan, -0.239, 1.331, -3.301, 0, 180, 0, 45 [SEP] 33, SaltShaker, 0.861, 1.202, 1.238, 0, 0, 0, 75 [SEP] 34, WineBottle, 0.492, 1.323, -3.121, 0, 0, 0, 50 [SEP] 35, Lettuce, -1.891, 1.400, -1.072, 1.503, 0, 355.747, 57 [SEP] 36, Spatula, -2.179, 1.337, 0.770, 0, 90, 0, 50 [SEP] 37, PaperTowelRoll, 0.563, 1.427, -3.232, 0, 0, 0, 50 [SEP] 38, Tomato, -1.380, 1.356, -3.203, 0, 0, 0, 50 [SEP] 39, Plate, -1.750, 0.344, 1.523, 0, 0, 0, 51 [SEP] 40, PepperShaker, -1.884, 0.338, 0.613, 0, 0, 0, 48 [SEP] 41, DishSponge, 0.898, 0.953, 0.711, 0, 0, 0, 72 [SEP] 42, Spoon, -1.308, 1.324, -3.314, 0, 90, 0, 50 [SEP] 43, Apple, -1.610, 0.329, 2.110, 0, 270, 0, 65 [SEP] 44, Mug, 0.920, 1.519, 1.786, 0, 270, 0, 63 [SEP] 45, StoveBurner, -0.239, 1.325, -3.301, 0, 180, 0, [SEP] 46, Cabinet, -1.461, 0.775, -2.002, 0, 0, 0, [SEP] 47, StoveBurner, -0.630, 1.325, -3.301, 0, 180, 0, [SEP] 48, Cabinet, -1.461, 0.775, 0.470, 0, 0, 0, [SEP] 49, Cabinet, 0.578, 0.776, -2.054, 0, 0, 0, [SEP] 50, CounterTop, -1.809, 1.358, 1.182, 0, 0, 0, [SEP] 51, Cabinet, -1.461, 0.775, 1.310, 0, 0, 0, [SEP] 52, Faucet, -2.063, 1.362, -0.726, 0, 39.391, 0, [SEP] 53, StoveBurner, -0.749, 1.325, -2.973, 0, 0, 0, [SEP] 54, Drawer, -1.610, 0.681, -0.430, 0, 0, 0, [SEP] 55, Window, -2.566, 1.799, -0.822, 270, 0, 0, [SEP] 56, Drawer, -1.610, 0.681, -1.217, 0, 0, 0, [SEP] 57, Sink, -1.990, 1.143, -0.975, 0, 0, 0, [SEP] 58, StoveBurner, -0.125, 1.325, -2.973, 0, 0, 0, [SEP] 59, StoveKnob, -0.185, 1.338, -2.741, 0, 270, 180, [SEP] 60, StoveKnob, -0.336, 1.338, -2.741, 0, 270, 180, [SEP] 61, StoveKnob, -0.569, 1.338, -2.741, 0, 270, 180, [SEP] 62, StoveKnob, -0.707, 1.338, -2.741, 0, 270, 180, [SEP] 63, Fridge, 1.013, 0.227, 1.917, 0, 270, 0, [SEP] 64, Microwave, 0.994, 1.310, -2.163, 0, 270, 0, [SEP] 65, GarbageCan, -1.633, 0.212, 2.192, 0, 270, 0, [SEP] 66, LightSwitch, 1.386, 1.565, -0.657, 0, 270, 0, [SEP] 67, HousePlant, -2.027, 1.311, -0.026, 0, 284.058, 0, [SEP] 68, SinkBasin, -1.835, 1.039, -0.542, 0, 0, 0, [SEP] 69, ButterKnife, 0.873, 0.468, 0.651, 0, 0, 0, [SEP] 70, Toaster, -1.885, 1.310, -2.512, 0, 90, 0, [SEP] 71, CoffeeMachine, 1.129, 1.310, -1.426, 0, 270, 0, [SEP] 72, Drawer, 0.647, 1.061, 0.680, 0, 270, 0, [SEP] 73, Drawer, 0.648, 1.061, 1.020, 0, 270, 0, [SEP] 74, Drawer, 0.648, 0.843, 1.020, 0, 270, 0, [SEP] 75, SideTable, 0.975, 0.220, 0.869, 0, 270, 0, [SEP] 76, Drawer, 0.648, 0.602, 0.680, 0, 270, 0, [SEP] 77, Drawer, 0.648, 0.596, 1.020, 0, 270, 0, [SEP] 78, Drawer, 0.648, 0.843, 0.680, 0, 270, 0, [SEP] 79, Stool, 0.606, 0.222, -1.084, 1.233, 280.489, 0, [SEP] 80, NorthWall, , , , , , , [SEP] 81, EastWall, , , , , , , [SEP] 82, SouthWall, , , , , , , [SEP] 83, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and move forward, then turn left to go to the stove. | STEP 2: Pick up the bottle of wine on the counter, to the left of the stove. | STEP 3: Go to the counter to your left and look down at the cabinet beneath the counter. | STEP 4: Open the cabinet, put the bottle of wine inside, and close it. | STEP 5: Turn around and go to the counter in front of you. | STEP 6: Pick up the bottle of wine from the counter. | STEP 7: Turn around and move forward, then look down at the cabinet under the counter. | STEP 8: Open the cabinet, put the bottle of wine inside, and close it. | END"]} +{"id": "trial_T20190908_135226_283490-0", "input": "take the air freshener out of the cabinet, put it on the counter SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.901, -2.0, 0, 90, 0, [SEP] 1, Candle, -0.745, 1.046, -3.918, 0, 0, 0, 33 [SEP] 2, SoapBar, -2.726, 0.924, -1.723, 351.180, 90, 0, 32 [SEP] 3, SprayBottle, -2.740, 0.996, -0.277, 0, 0, 0, 20 [SEP] 4, SoapBottle, -2.719, 0.082, -0.955, 0, 0, 0, 21 [SEP] 5, ToiletPaper, -2.821, 0.075, -1.597, 0, 0, 0, 25 [SEP] 6, Towel, -1.051, 1.535, -2.887, 0, 90, 0, 26 [SEP] 7, HandTowel, -2.591, 1.635, -0.047, 0, 0, 0, 28 [SEP] 8, SoapBar, -2.550, 0.995, -0.307, 0, 0, 0, 20 [SEP] 9, ToiletPaper, -2.770, 0.075, -0.519, 0, 0, 0, 23 [SEP] 10, ToiletPaper, -0.679, 1.042, -3.856, 0, 0, 0, 33 [SEP] 11, SoapBottle, -2.567, 0.082, -2.086, 0, 270, 0, 19 [SEP] 12, Candle, -2.557, 0.996, -1.285, 0, 0, 0, 20 [SEP] 13, ScrubBrush, -1.048, 0.000, -3.830, 0, 0, 0, 29 [SEP] 14, Plunger, -1.066, 0.000, -3.527, 0, 0, 0, Floor|-00.04| [SEP] 15, Cloth, -2.719, 0.079, -2.032, 0, 0, 0, 19 [SEP] 16, SprayBottle, -2.770, 0.079, -1.381, 0, 0, 0, 25 [SEP] 17, ShowerDoor, -2.204, 1.044, -2.503, 0, 0, 0, [SEP] 18, Mirror, -2.947, 1.559, -1.194, 0, 0, 0, [SEP] 19, Cabinet, -2.504, 0.400, -2.208, 0, 0, 0, [SEP] 20, CounterTop, -2.744, 0.986, -1.243, 0, 0, 0, [SEP] 21, Cabinet, -2.504, 0.400, -1.238, 0, 0, 0, [SEP] 22, ShowerGlass, -2.079, 1.482, -3.264, 0, 0, 0, [SEP] 23, Cabinet, -2.508, 0.426, -0.290, 0, 0, 0, [SEP] 24, Sink, -2.907, 0.986, -1.761, 0, 90, 0, [SEP] 25, Cabinet, -2.508, 0.426, -1.260, 0, 0, 0, [SEP] 26, TowelHolder, -1.158, 1.521, -2.887, 0, 90, 0, [SEP] 27, ToiletPaperHanger, 0.0, 0.984, -2.651, 0, 270, 0, [SEP] 28, HandTowelHolder, -2.591, 1.737, -0.009, 0, 90, 0, [SEP] 29, GarbageCan, -0.908, -0.031, -3.646, 0, 90, 0, [SEP] 30, Window, -0.566, 1.730, -4.102, 90, 0, 0, [SEP] 31, LightSwitch, -1.332, 1.391, 0.001, 0, 180, 0, [SEP] 32, SinkBasin, -2.724, 0.916, -1.755, 351.180, 90, 0, [SEP] 33, Toilet, -0.319, 0.000, -3.533, 0, 90, 0, [SEP] 34, Faucet, -2.907, 0.993, -1.761, 0, 90, 0, [SEP] 35, SinkBasin, -2.724, 0.916, -0.726, 351.180, 90, 0, [SEP] 36, Sink, -2.907, 0.986, -0.732, 0, 90, 0, [SEP] 37, Faucet, -2.907, 0.993, -0.731, 0, 90, 0, [SEP] 38, ShowerHead, -2.868, 1.219, -3.223, 0, 180, 0, [SEP] 39, EastWall, , , , , , , [SEP] 40, EastWall, , , , , , , [SEP] 41, SouthWall, , , , , , , ", "output": ["STEP 1: turn around, head to the sink | STEP 2: open the cabinet, take the air freshener from the cabinet, close the cabinet | STEP 3: take a few steps to the left | STEP 4: put the air freshener on the counter | END"]} +{"id": "trial_T20190908_185956_956216-1", "input": "move the clock from the dresser to the desk SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.25, 0.900, 1.0, 0, 0, 0, [SEP] 1, CD, -0.509, 0.924, -0.391, 0, 0, 0, 36 [SEP] 2, CD, 2.253, 0.049, 2.606, 0, 0, 0, 27 [SEP] 3, Pen, -0.603, 0.930, -1.032, 0, 0, 0, 36 [SEP] 4, Pen, -0.414, 0.930, -1.032, 0, 0, 0, 36 [SEP] 5, KeyChain, 2.190, 0.843, -0.090, 0, 0, 0, 31 [SEP] 6, KeyChain, -0.603, 0.925, -1.245, 0, 90, 0, 36 [SEP] 7, Book, -0.351, 0.668, -0.469, 0, 0, 0, 37 [SEP] 8, Laptop, 0.172, 0.548, 1.555, 0, 0, 0, 21 [SEP] 9, Box, 2.15, 0.14, 0.494, 0, 12.243, 0, [SEP] 10, Book, -0.131, 0.926, -1.245, 0, 0, 0, 36 [SEP] 11, BasketBall, -0.235, 0.120, 0.166, 0, 0, 0, [SEP] 12, Pen, 2.238, 0.848, -0.090, 0, 0, 0, 31 [SEP] 13, Pillow, -0.025, 0.561, 2.458, 0, 0, 0, 21 [SEP] 14, Pencil, -0.225, 0.928, -1.245, 0, 0, 0, 36 [SEP] 15, CellPhone, 0.012, 0.552, 0.971, 0, 0, 0, 21 [SEP] 16, KeyChain, 2.195, 0.094, -0.679, 0, 0, 0, 30 [SEP] 17, CreditCard, 2.380, 0.842, -0.090, 0, 0, 0, 31 [SEP] 18, AlarmClock, 2.303, 0.836, -0.829, 0, 285.000, 0, 31 [SEP] 19, CD, 2.238, 0.842, -0.484, 0, 0, 0, 29 [SEP] 20, Laptop, -0.509, 0.923, -1.459, 0, 0, 0, 36 [SEP] 21, Bed, 0.009, -0.004, 1.577, 0, 0, 0, [SEP] 22, DeskLamp, -0.669, 0.923, -0.062, 0, 90, 0, [SEP] 23, Painting, -0.787, 1.809, -0.215, 90, 270, 0, [SEP] 24, Painting, -0.787, 1.809, 1.023, 90, 270, 0, [SEP] 25, Mirror, 2.118, 1.277, 2.749, 0, 0, 0, [SEP] 26, LightSwitch, 0.726, 1.200, 2.75, 0, 180, 0, [SEP] 27, GarbageCan, 2.257, -0.008, 2.603, 353.970, 0, 0, [SEP] 28, Window, 0.665, 1.356, -1.911, 90, 0, 0, [SEP] 29, Drawer, 2.119, 0.576, -0.491, 4.458, 270, 0, [SEP] 30, Drawer, 2.147, 0.213, -0.491, 4.458, 270, 0, [SEP] 31, SideTable, 2.226, 0.013, -0.492, 4.458, 270, 0, [SEP] 32, Chair, 0.170, 0.011, -1.214, 0, 261.719, 0, [SEP] 33, Blinds, 0.695, 1.983, -1.867, 0, 0, 0, [SEP] 34, Drawer, -0.079, 0.513, -0.394, 0, 90, 0, [SEP] 35, Drawer, -0.079, 0.226, -0.394, 0, 90, 0, [SEP] 36, Desk, -0.391, 0.001, -0.811, 0, 90, 0, [SEP] 37, Drawer, -0.079, 0.762, -0.394, 0, 90, 0, [SEP] 38, NorthWall, , , , , , , [SEP] 39, EastWall, , , , , , , [SEP] 40, SouthWall, , , , , , , [SEP] 41, WestWall, , , , , , , ", "output": ["STEP 1: turn around, walk across the room, turn left, walk to the dresser | STEP 2: pick up the clock that is on the dresser | STEP 3: turn around, walk to the desk | STEP 4: put the clock on the desk | END"]} +{"id": "trial_T20190908_185956_956216-2", "input": "Move a clock to the desk. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.25, 0.900, 1.0, 0, 0, 0, [SEP] 1, CD, -0.509, 0.924, -0.391, 0, 0, 0, 36 [SEP] 2, CD, 2.253, 0.049, 2.606, 0, 0, 0, 27 [SEP] 3, Pen, -0.603, 0.930, -1.032, 0, 0, 0, 36 [SEP] 4, Pen, -0.414, 0.930, -1.032, 0, 0, 0, 36 [SEP] 5, KeyChain, 2.190, 0.843, -0.090, 0, 0, 0, 31 [SEP] 6, KeyChain, -0.603, 0.925, -1.245, 0, 90, 0, 36 [SEP] 7, Book, -0.351, 0.668, -0.469, 0, 0, 0, 37 [SEP] 8, Laptop, 0.172, 0.548, 1.555, 0, 0, 0, 21 [SEP] 9, Box, 2.15, 0.14, 0.494, 0, 12.243, 0, [SEP] 10, Book, -0.131, 0.926, -1.245, 0, 0, 0, 36 [SEP] 11, BasketBall, -0.235, 0.120, 0.166, 0, 0, 0, [SEP] 12, Pen, 2.238, 0.848, -0.090, 0, 0, 0, 31 [SEP] 13, Pillow, -0.025, 0.561, 2.458, 0, 0, 0, 21 [SEP] 14, Pencil, -0.225, 0.928, -1.245, 0, 0, 0, 36 [SEP] 15, CellPhone, 0.012, 0.552, 0.971, 0, 0, 0, 21 [SEP] 16, KeyChain, 2.195, 0.094, -0.679, 0, 0, 0, 30 [SEP] 17, CreditCard, 2.380, 0.842, -0.090, 0, 0, 0, 31 [SEP] 18, AlarmClock, 2.303, 0.836, -0.829, 0, 285.000, 0, 31 [SEP] 19, CD, 2.238, 0.842, -0.484, 0, 0, 0, 29 [SEP] 20, Laptop, -0.509, 0.923, -1.459, 0, 0, 0, 36 [SEP] 21, Bed, 0.009, -0.004, 1.577, 0, 0, 0, [SEP] 22, DeskLamp, -0.669, 0.923, -0.062, 0, 90, 0, [SEP] 23, Painting, -0.787, 1.809, -0.215, 90, 270, 0, [SEP] 24, Painting, -0.787, 1.809, 1.023, 90, 270, 0, [SEP] 25, Mirror, 2.118, 1.277, 2.749, 0, 0, 0, [SEP] 26, LightSwitch, 0.726, 1.200, 2.75, 0, 180, 0, [SEP] 27, GarbageCan, 2.257, -0.008, 2.603, 353.970, 0, 0, [SEP] 28, Window, 0.665, 1.356, -1.911, 90, 0, 0, [SEP] 29, Drawer, 2.119, 0.576, -0.491, 4.458, 270, 0, [SEP] 30, Drawer, 2.147, 0.213, -0.491, 4.458, 270, 0, [SEP] 31, SideTable, 2.226, 0.013, -0.492, 4.458, 270, 0, [SEP] 32, Chair, 0.170, 0.011, -1.214, 0, 261.719, 0, [SEP] 33, Blinds, 0.695, 1.983, -1.867, 0, 0, 0, [SEP] 34, Drawer, -0.079, 0.513, -0.394, 0, 90, 0, [SEP] 35, Drawer, -0.079, 0.226, -0.394, 0, 90, 0, [SEP] 36, Desk, -0.391, 0.001, -0.811, 0, 90, 0, [SEP] 37, Drawer, -0.079, 0.762, -0.394, 0, 90, 0, [SEP] 38, NorthWall, , , , , , , [SEP] 39, EastWall, , , , , , , [SEP] 40, SouthWall, , , , , , , [SEP] 41, WestWall, , , , , , , ", "output": ["STEP 1: Turn around, move to face the shelf on the left. | STEP 2: Pick up the clock on the shelf. | STEP 3: Turn around, bring the clock over to the desk in the corner. | STEP 4: Put the clock on the desk, right of the book. | END"]} +{"id": "trial_T20190908_164930_885766-1", "input": "Place two cleaners on the top of the flush tank SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, 1.75, 0, 180, 0, [SEP] 1, Cloth, -2.064, 0.850, 0.276, 0, 0, 0, 39 [SEP] 2, Cloth, -3.449, 0.219, 0.449, 0, 0, 0, 38 [SEP] 3, SprayBottle, -0.812, 1.135, 0.407, 0, 0, 0, 29 [SEP] 4, SoapBottle, -0.753, 1.137, 0.169, 0, 0, 0, 29 [SEP] 5, HandTowel, -1.296, 1.765, 0.040, 0, 180, 0, 35 [SEP] 6, SoapBar, -2.089, 1.104, 2.096, 0, 0, 0, 30 [SEP] 7, ToiletPaper, -0.921, 1.124, 0.210, 0, 0, 0, 29 [SEP] 8, Plunger, -0.735, -0.000, 2.732, 0, 0, 0, Floor|-00.08| [SEP] 9, Candle, -3.041, 0.689, 1.322, 0, 0, 0, 22 [SEP] 10, TissueBox, -0.813, 0.860, 0.374, 0, 270, 0, 18 [SEP] 11, ToiletPaper, -2.117, 1.297, 2.236, 0, 0, 0, 31 [SEP] 12, SoapBottle, -1.542, 0.815, 0.348, 0, 0, 0, 23 [SEP] 13, SprayBottle, -0.254, 0.028, 0.240, 0, 0, 0, 40 [SEP] 14, Towel, -2.760, 1.569, 0.107, 0, 0, 0, 32 [SEP] 15, Cloth, -3.574, 0.219, 0.941, 0, 0, 0, 38 [SEP] 16, ScrubBrush, -0.657, -0.000, 2.560, 0, 0, 0, Floor|-00.08| [SEP] 17, Cabinet, -2.344, 0.457, 0.524, 0, 0, 0, [SEP] 18, Drawer, -0.813, 0.956, 0.384, 0, 270, 0, [SEP] 19, Cabinet, -1.891, 0.443, 1.982, 0, 0, 0, [SEP] 20, Cabinet, -0.605, 0.457, 0.524, 0, 0, 0, [SEP] 21, Drawer, -2.032, 0.942, 2.190, 0, 0, 0, [SEP] 22, Bathtub, -3.450, 0.178, 1.029, 0, 0, 0, [SEP] 23, CounterTop, -1.919, 0.0, 0.288, 0, 0, 0, [SEP] 24, Sink, -1.924, 0.772, 0.326, 0, 0, 0, [SEP] 25, Mirror, -1.934, 1.666, 0.107, 0, 0, 0, [SEP] 26, Faucet, -1.925, 0.958, 0.179, 0, 0, 0, [SEP] 27, Cabinet, -1.891, 1.884, 2.391, 0, 0, 0, [SEP] 28, Cabinet, -0.605, 1.988, 0.524, 0, 0, 0, [SEP] 29, CounterTop, -0.812, 0.093, 0.288, 0, 0, 0, [SEP] 30, Shelf, -2.029, 1.183, 2.189, 0, 0, 0, [SEP] 31, Shelf, -2.123, 1.393, 2.189, 0, 0, 0, [SEP] 32, TowelHolder, -2.760, 1.555, 0.000, 0, 0, 0, [SEP] 33, LightSwitch, 0.0, 1.427, 1.993, 0, 270, 0, [SEP] 34, ToiletPaperHanger, 0.0, 1.014, 2.237, 0, 270, 0, [SEP] 35, HandTowelHolder, -1.297, 1.866, 0.002, 0, 270, 0, [SEP] 36, Window, -4.149, 1.717, 1.154, 90, 270, 0, [SEP] 37, Toilet, -0.456, -0.000, 2.257, 0, 180, 0, [SEP] 38, BathtubBasin, -3.520, 0.210, 0.940, 0, 0, 0, [SEP] 39, SinkBasin, -1.931, 0.841, 0.320, 0, 0, 0, [SEP] 40, GarbageCan, -0.257, -0.000, 0.259, 0, 0, 0, [SEP] 41, ShowerHead, -3.522, 1.719, 1.776, 0, 0, 0, [SEP] 42, ShowerCurtain, -3.391, 2.442, 0.266, 0, 0, 6.838, [SEP] 43, NorthWall, , , , , , , [SEP] 44, SouthWall, , , , , , , [SEP] 45, SouthWall, , , , , , , ", "output": ["STEP 1: Go to the small blue bin at the corner by the door | STEP 2: Pick up the toilet cleaner from the bin | STEP 3: Go to the flush toilet | STEP 4: Put the cleaner on the top flush tank | STEP 5: Turn around and go to the cabinet to the right of the blue bin | STEP 6: Pick the cleaner from the top of the cabinet | STEP 7: Turn around and go back to the flush toilet | STEP 8: Place the cleaner to the right of the first cleaner on the flush tank | END"]} +{"id": "trial_T20190907_193302_048858-1", "input": "Put the cooked potato in the fridge SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.930, -0.75, 0, 0, 0, [SEP] 1, Pan, 3.084, 0.176, 0.841, 0, 0, 0, 73 [SEP] 2, Potato, -0.789, 0.938, 0.399, 0, 0, 0, 64 [SEP] 3, Potato, 2.987, 0.785, -0.034, 0, 90, 0, 109 [SEP] 4, Potato, 3.155, 0.139, 1.680, 0, 225, 0, 105 [SEP] 5, Ladle, -0.991, 0.555, 0.576, 0, 90, 0, 61 [SEP] 6, DishSponge, -0.917, 1.257, -0.811, 0, 45, 0, 83 [SEP] 7, DishSponge, 3.208, 0.100, 1.573, 0, 225, 0, 105 [SEP] 8, ButterKnife, 3.044, 0.900, -0.300, 0, 0, 0, 63 [SEP] 9, Glassbottle, 0.897, 0.908, 0.608, 0, 36.810, 0, 95 [SEP] 10, Spoon, 0.422, 0.706, -1.515, 0, 90, 0, 72 [SEP] 11, Spoon, -0.827, 0.707, 0.839, 0, 0, 0, 68 [SEP] 12, CellPhone, -0.909, 0.515, 1.605, 0, 0, 0, 52 [SEP] 13, CellPhone, -0.290, 0.897, -1.547, 0, 45, 0, 85 [SEP] 14, Mug, -1.119, 0.992, 1.523, 0, 180, 0, 112 [SEP] 15, Mug, 1.164, 0.881, -1.475, 0, 0, 0, 110 [SEP] 16, Bread, -0.862, 0.979, 0.623, 0, 0, 0, 64 [SEP] 17, Lettuce, 0.967, 0.976, 0.747, 0, 0, 0, 95 [SEP] 18, Lettuce, -0.752, 0.965, -0.776, 0, 45, 0, 64 [SEP] 19, PepperShaker, 2.907, 1.460, -1.550, 0, 0, 0, 62 [SEP] 20, Bowl, 2.960, 1.461, -1.186, 0, 0, 0, 78 [SEP] 21, Egg, 0.022, 0.952, -1.803, 0, 0, 0, 85 [SEP] 22, Egg, 0.101, 0.952, -1.373, 0, 0, 0, 85 [SEP] 23, Plate, 3.113, 1.477, -1.648, 0, 0, 0, 62 [SEP] 24, Knife, -0.099, 0.925, -1.635, 0, 135, 0, 85 [SEP] 25, Plate, 0.719, 0.923, 0.254, 0, 36.810, 0, 95 [SEP] 26, Glassbottle, 0.710, 0.908, 0.727, 0, 0, 0, 95 [SEP] 27, SoapBottle, 0.017, 0.909, -1.239, 0, 45, 0, 85 [SEP] 28, Potato, 3.152, 0.785, -0.100, 0, 90, 0, 109 [SEP] 29, Fork, 2.988, 0.713, 0.761, 0, 180, 0, 86 [SEP] 30, Ladle, 0.669, 0.947, 0.535, 0, 216.810, 0, 95 [SEP] 31, Pot, 0.423, 0.900, 0.869, 0, 0, 0, 95 [SEP] 32, Kettle, -0.600, 0.902, -1.090, 0, 135, 0, 53 [SEP] 33, Spatula, -0.868, 0.721, 1.168, 0, 90, 0, 57 [SEP] 34, Knife, 0.179, 0.925, -1.660, 0, 0, 0, 85 [SEP] 35, Lettuce, -1.008, 0.965, 0.846, 0, 0, 0, 64 [SEP] 36, Cup, -0.234, 0.898, -1.398, 0, 45, 0, 85 [SEP] 37, SaltShaker, 3.111, 0.708, -0.902, 0, 180, 0, 51 [SEP] 38, Egg, 1.008, 0.763, -1.407, 0, 0, 0, 110 [SEP] 39, PepperShaker, -0.987, 0.896, -0.746, 0, 45, 0, 64 [SEP] 40, ButterKnife, -1.008, 0.900, 0.623, 0, 0, 0, 64 [SEP] 41, Apple, -1.080, 0.974, 0.176, 0, 0, 0, 64 [SEP] 42, Pan, 0.341, 0.873, -1.649, 0, 167.065, 0, 85 [SEP] 43, Bread, -0.789, 0.979, -0.047, 0, 0, 0, 64 [SEP] 44, CellPhone, -0.909, 0.323, 0.489, 0, 0, 0, 65 [SEP] 45, DishSponge, -0.703, 0.899, -0.517, 0, 45, 0, 64 [SEP] 46, Tomato, 0.773, 0.923, -1.531, 0, 0, 0, 110 [SEP] 47, Spoon, 3.277, 0.901, -0.599, 0, 0, 0, 63 [SEP] 48, Bowl, 1.160, 1.671, -1.410, 0, 0, 0, 55 [SEP] 49, Mug, 0.713, 1.669, -1.480, 0, 0, 0, 79 [SEP] 50, Drawer, 0.376, 0.572, -1.509, 0, 0, 0, [SEP] 51, Drawer, 3.020, 0.769, -0.783, 0, 180, 0, [SEP] 52, Drawer, -0.860, 0.577, 1.429, 0, 0, 0, [SEP] 53, StoveBurner, -0.600, 0.897, -1.090, 0, 135, 0, [SEP] 54, Drawer, 0.376, 0.191, -1.509, 0, 0, 0, [SEP] 55, Cabinet, 1.402, 1.874, -1.259, 0, 0, 0, [SEP] 56, Cabinet, -0.202, 1.963, -1.328, 0, 0, 0, [SEP] 57, Drawer, -0.860, 0.765, 1.429, 0, 0, 0, [SEP] 58, Drawer, -0.677, 0.765, -0.700, 0, 0, 0, [SEP] 59, StoveBurner, -0.420, 0.897, -0.920, 0, 135, 0, [SEP] 60, Drawer, 3.020, 0.769, -0.407, 0, 180, 0, [SEP] 61, Drawer, -0.860, 0.577, 0.663, 0, 0, 0, [SEP] 62, Cabinet, 2.819, 1.768, -1.850, 0, 0, 0, [SEP] 63, CounterTop, 3.111, 0.936, 0.019, 0, 0, 0, [SEP] 64, CounterTop, -1.007, 0.935, -0.039, 0, 0, 0, [SEP] 65, Drawer, -0.860, 0.385, 0.663, 0, 0, 0, [SEP] 66, StoveBurner, -0.419, 0.897, -1.269, 0, 315, 0, [SEP] 67, Drawer, -0.047, 0.573, -1.324, 0, 0, 0, [SEP] 68, Drawer, -0.860, 0.765, 0.663, 0, 0, 0, [SEP] 69, Drawer, -0.860, 0.385, -0.100, 0, 0, 0, [SEP] 70, Drawer, 0.376, 0.380, -1.509, 0, 0, 0, [SEP] 71, Drawer, -0.860, 0.765, -0.100, 0, 0, 0, [SEP] 72, Drawer, 0.376, 0.765, -1.509, 0, 0, 0, [SEP] 73, Cabinet, 2.849, 0.419, 0.409, 0, 0, 0, [SEP] 74, Drawer, -0.047, 0.765, -1.324, 0, 0, 0, [SEP] 75, Cabinet, 2.849, 0.419, -0.610, 0, 0, 0, [SEP] 76, Cabinet, 2.849, 0.419, -0.959, 0, 0, 0, [SEP] 77, Cabinet, 3.069, 1.666, -0.709, 0, 0, 0, [SEP] 78, Cabinet, 2.819, 1.768, -1.047, 0, 0, 0, [SEP] 79, Cabinet, 0.620, 1.874, -1.259, 0, 0, 0, [SEP] 80, Cabinet, 0.140, 1.666, -1.559, 0, 0, 0, [SEP] 81, Cabinet, -0.189, 1.666, -1.340, 0, 0, 0, [SEP] 82, Cabinet, -0.709, 1.963, -0.819, 0, 0, 0, [SEP] 83, Cabinet, -0.920, 1.665, -0.620, 0, 0, 0, [SEP] 84, Drawer, -0.860, 0.190, -0.100, 0, 0, 0, [SEP] 85, CounterTop, 0.133, 0.935, -1.457, 0, 0, 0, [SEP] 86, Drawer, 3.020, 0.769, 0.695, 0, 180, 0, [SEP] 87, Drawer, -0.677, 0.577, -0.700, 0, 0, 0, [SEP] 88, Drawer, -0.860, 0.190, 1.429, 0, 0, 0, [SEP] 89, Drawer, -0.047, 0.192, -1.324, 0, 0, 0, [SEP] 90, Drawer, -0.677, 0.193, -0.700, 0, 0, 0, [SEP] 91, Drawer, -0.860, 0.577, -0.100, 0, 0, 0, [SEP] 92, Sink, 3.078, 0.887, 0.086, 0, 0, 0, [SEP] 93, StoveBurner, -0.239, 0.897, -1.089, 0, 315, 0, [SEP] 94, Drawer, -0.860, 0.190, 0.663, 0, 0, 0, [SEP] 95, CounterTop, 1.210, 0.937, 0.463, 0, 0, 0, [SEP] 96, Drawer, -0.047, 0.381, -1.324, 0, 0, 0, [SEP] 97, Drawer, -0.677, 0.387, -0.700, 0, 0, 0, [SEP] 98, Mirror, -1.295, 1.630, 0.045, 0, 0, 0, [SEP] 99, Drawer, -0.860, 0.385, 1.429, 0, 0, 0, [SEP] 100, HousePlant, 3.196, 0.891, -0.368, 0, 0, 0, [SEP] 101, StoveKnob, -0.090, 0.790, -1.009, 270, 45, 0, [SEP] 102, StoveKnob, -0.280, 0.790, -0.819, 270, 45, 0, [SEP] 103, StoveKnob, -0.180, 0.790, -0.920, 270, 45, 0, [SEP] 104, StoveKnob, -0.370, 0.790, -0.720, 270, 45, 0, [SEP] 105, GarbageCan, 3.137, 0.025, 1.545, 0, 225, 0, [SEP] 106, Window, 3.703, 1.675, 0.046, 90, 90, 0, [SEP] 107, CoffeeMachine, 3.214, 0.890, 0.697, 0, 270, 0, [SEP] 108, LightSwitch, 2.592, 1.309, -1.880, 0, 0, 0, [SEP] 109, SinkBasin, 3.069, 0.736, 0.108, 0, 90, 0, [SEP] 110, Fridge, 1.008, 0.029, -1.467, 0, 0, 0, [SEP] 111, Toaster, -1.035, 0.873, -0.396, 0, 90, 0, [SEP] 112, Microwave, -1.034, 0.874, 1.428, 0, 90, 0, [SEP] 113, Faucet, 3.305, 0.886, 0.094, 270, 180, 0, [SEP] 114, NorthWall, , , , , , , [SEP] 115, EastWall, , , , , , , [SEP] 116, SouthWall, , , , , , , [SEP] 117, WestWall, , , , , , , ", "output": ["STEP 1: Walk forward and turn left to face the kitchen counter below the mirror | STEP 2: Pick up the potato from the kitchen counter | STEP 3: Turn right and walk to the microwave on the right side of the counter | STEP 4: Put the potato in the microwave, cook it, and remove it | STEP 5: Turn left and walk around to the fridge | STEP 6: Open the fridge and put the potato on the lower shelf next to the egg | END"]} +{"id": "trial_T20190908_053533_031439-0", "input": "Grab a towel and put it in a tub. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.902, -0.75, 0, 270, 0, [SEP] 1, Candle, -0.173, 0.558, 0.178, 0, 0, 0, 19 [SEP] 2, Candle, -1.254, 1.087, 0.784, 0, 180, 0, 33 [SEP] 3, SoapBar, -2.890, 0.182, -1.56, 0, 0, 0, 28 [SEP] 4, SoapBottle, -2.541, 0.083, 0.567, 0, 0, 0, 18 [SEP] 5, Towel, -0.490, 1.367, 0.902, 0, 180, 0, 27 [SEP] 6, Candle, -2.138, 0.122, 0.502, 0, 0, 0, 21 [SEP] 7, HandTowel, -3.096, 1.587, 0.744, 0, 270, 0, 31 [SEP] 8, SoapBar, -2.804, 0.970, 0.645, 0, 180, 0, 36 [SEP] 9, ToiletPaper, -0.860, 1.042, 0.814, 0, 180, 0, 33 [SEP] 10, Cloth, 0.419, 0.034, 0.561, 0, 270, 0, 29 [SEP] 11, ToiletPaper, -0.865, 1.038, 0.946, 357.597, 0, 0, 33 [SEP] 12, SprayBottle, -0.991, 1.047, 0.784, 0, 180, 0, 33 [SEP] 13, ScrubBrush, -0.485, 0.001, 0.873, 0, 0, 0, Floor|-00.81| [SEP] 14, SoapBottle, -2.858, 0.083, 0.502, 0, 0, 0, 16 [SEP] 15, Plunger, -0.710, 0.000, 0.828, 0, 0, 0, Floor|-00.81| [SEP] 16, Cabinet, -3.094, 0.390, 0.421, 0, 0, 0, [SEP] 17, CounterTop, -2.298, 0.953, 0.689, 0, 0, 0, [SEP] 18, Cabinet, -2.305, 0.415, 0.425, 0, 0, 0, [SEP] 19, Bathtub, 0.286, 0.290, -0.077, 0, 0, 0, [SEP] 20, Cabinet, -1.496, 0.415, 0.425, 0, 0, 0, [SEP] 21, Cabinet, -2.286, 0.390, 0.421, 0, 0, 0, [SEP] 22, Sink, -1.924, 0.930, 0.675, 0, 180, 0, [SEP] 23, Faucet, -1.922, 1.015, 0.887, 0, 0, 0, [SEP] 24, Mirror, -2.306, 1.526, 1.001, 0, 0, 0, [SEP] 25, Faucet, -2.681, 1.015, 0.887, 0, 0, 0, [SEP] 26, LightSwitch, -1.389, 1.263, -1.693, 0, 0, 0, [SEP] 27, TowelHolder, -0.490, 1.353, 1.009, 0, 180, 0, [SEP] 28, GarbageCan, -2.857, 0.016, -1.487, 0, 0, 0, [SEP] 29, BathtubBasin, 0.349, 0.023, -0.135, 0, 270, 0, [SEP] 30, SinkBasin, -1.908, 0.961, 0.669, 0, 180, 0, [SEP] 31, HandTowelHolder, -3.134, 1.689, 0.744, 0, 0, 0, [SEP] 32, ToiletPaperHanger, -1.485, 0.805, 0.691, 0, 90, 0, [SEP] 33, Toilet, -1.054, 0.001, 0.552, 0, 270, 0, [SEP] 34, ShowerCurtain, -0.292, 1.886, -1.033, 0, 0, 0, [SEP] 35, Faucet, 0.270, 0.670, 0.906, 0, 0, 0, [SEP] 36, SinkBasin, -2.666, 0.961, 0.669, 0, 180, 0, [SEP] 37, Sink, -2.681, 0.930, 0.675, 0, 180, 0, [SEP] 38, NorthWall, , , , , , , [SEP] 39, EastWall, , , , , , , [SEP] 40, SouthWall, , , , , , , [SEP] 41, WestWall, , , , , , , ", "output": ["STEP 1: Walk to the left kitchen sink. | STEP 2: Grab the green towel off the rack. | STEP 3: Walk to the tub on your right. | STEP 4: Place the towel inside the tub. | END"]} +{"id": "trial_T20190908_010816_119279-1", "input": "Place a warmed plate next to the tomato inside the fridge. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.900, -1.25, 0, 90, 0, [SEP] 1, Book, -1.937, 0.910, -2.146, 0, 270, 0, 86 [SEP] 2, Pan, -0.036, 0.950, -2.576, 0, 270, 0, 64 [SEP] 3, CreditCard, 0.779, 0.312, -2.286, 0, 0, 0, 81 [SEP] 4, Plate, -1.856, 0.908, -0.513, 0, 0, 0, 86 [SEP] 5, Plate, -1.586, 0.908, -2.329, 0, 0, 0, 86 [SEP] 6, Cup, 0.453, 0.908, -2.484, 0, 0, 0, 63 [SEP] 7, Egg, 0.969, 0.945, -2.484, 0, 0, 0, 63 [SEP] 8, Tomato, -1.997, 0.579, 1.334, 0, 90, 0, 94 [SEP] 9, Tomato, -1.611, 0.950, -2.695, 0, 0, 0, 86 [SEP] 10, SoapBottle, -0.197, 1.112, -0.001, 0, 0, 0, 61 [SEP] 11, SaltShaker, -0.059, 1.107, 0.757, 0, 0, 0, 61 [SEP] 12, Bread, -0.848, 0.983, -2.329, 0, 0, 0, 86 [SEP] 13, Fork, 0.079, 1.112, 0.251, 0, 0, 0, 61 [SEP] 14, Fork, -1.740, 0.155, -0.197, 0, 90, 0, 84 [SEP] 15, Spoon, -0.473, 1.112, -0.759, 0, 0, 0, 61 [SEP] 16, Mug, 0.217, 1.106, -0.001, 0, 0, 0, 61 [SEP] 17, Mug, -2.080, 0.535, 0.837, 0, 90, 0, 94 [SEP] 18, Spatula, -0.335, 1.126, -0.001, 0, 0, 0, 61 [SEP] 19, Spatula, 1.122, 0.496, -2.282, 0, 270, 0, 69 [SEP] 20, ButterKnife, -1.963, 0.769, -1.587, 0, 270, 0, 96 [SEP] 21, ButterKnife, 1.008, 0.315, -2.383, 0, 0, 0, 65 [SEP] 22, Kettle, -0.465, 0.950, -2.372, 0, 90, 0, 59 [SEP] 23, WineBottle, 0.840, 0.911, -2.637, 0, 0, 0, 63 [SEP] 24, WineBottle, -1.962, 0.048, 2.124, 0, 270, 0, 92 [SEP] 25, DishSponge, -1.696, 0.153, -0.293, 0, 90, 0, 84 [SEP] 26, Book, 0.155, 1.1, 0.617, 0, 315, 0, 61 [SEP] 27, Glassbottle, 0.969, 0.911, -2.253, 0, 0, 0, 63 [SEP] 28, Knife, 0.355, 1.136, -0.506, 0, 0, 0, 61 [SEP] 29, Bread, -0.473, 1.184, -0.506, 0, 0, 0, 61 [SEP] 30, Fork, 0.217, 1.112, -0.253, 0, 0, 0, 61 [SEP] 31, Potato, -2.162, 0.828, 1.251, 0, 90, 0, 94 [SEP] 32, SoapBottle, -1.071, 1.657, -2.604, 0, 0, 0, 75 [SEP] 33, Kettle, -0.465, 0.950, -2.576, 0, 90, 0, 70 [SEP] 34, Pan, 0.721, 0.9, -2.415, 0, 0, 0, 63 [SEP] 35, Plate, -0.059, 1.108, -0.253, 0, 0, 0, 61 [SEP] 36, Tomato, -1.797, 0.808, -1.328, 0, 90, 0, 96 [SEP] 37, Vase, 2.042, 0.540, -2.495, 0, 0, 0, 91 [SEP] 38, Egg, 0.324, 0.945, -2.253, 0, 0, 0, 63 [SEP] 39, CreditCard, -0.197, 1.108, -0.759, 0, 0, 0, 61 [SEP] 40, Statue, -0.335, 1.110, 0.251, 0, 90, 0, 61 [SEP] 41, WineBottle, -1.935, 0.048, 2.029, 0, 270, 0, 92 [SEP] 42, Pot, -2.040, 1.507, 0.925, 0, 90, 0, 94 [SEP] 43, Spatula, -1.852, 0.784, -1.760, 0, 0, 0, 96 [SEP] 44, PaperTowelRoll, -1.693, 1.015, -0.698, 0, 0, 0, 86 [SEP] 45, Cup, -2.078, 0.796, 1.003, 0, 90, 0, 94 [SEP] 46, Vase, 0.393, 0.138, -2.485, 0, 0, 0, 78 [SEP] 47, Bowl, 0.453, 0.907, -2.330, 0, 0, 0, 63 [SEP] 48, SaltShaker, 0.393, 0.136, -2.239, 0, 0, 0, 78 [SEP] 49, PepperShaker, 1.685, 0.549, -2.407, 0, 180, 0, 91 [SEP] 50, Lettuce, -0.197, 1.191, -0.506, 0, 0, 0, 61 [SEP] 51, ButterKnife, -1.908, 0.769, -1.414, 0, 90, 0, 96 [SEP] 52, Apple, -1.982, 1.359, 1.008, 0, 90, 0, 94 [SEP] 53, DishSponge, 1.098, 0.910, -2.253, 0, 0, 0, 63 [SEP] 54, Spoon, 0.079, 1.112, -0.506, 0, 0, 0, 61 [SEP] 55, Mug, -2.163, 1.497, 1.176, 0, 90, 0, 94 [SEP] 56, StoveBurner, -0.036, 0.915, -2.372, 0, 0, 0, [SEP] 57, Drawer, 0.949, 0.832, -2.197, 0, 0, 0, [SEP] 58, Drawer, -1.560, 0.839, 0.204, 0, 90, 0, [SEP] 59, StoveBurner, -0.465, 0.915, -2.371, 0, 180, 0, [SEP] 60, Drawer, -1.560, 0.839, -0.197, 0, 90, 0, [SEP] 61, CounterTop, -0.079, 1.147, -0.001, 0, 0, 0, [SEP] 62, Cabinet, -1.549, 0.494, -1.964, 0, 90, 0, [SEP] 63, CounterTop, 0.693, 0.946, -2.483, 0, 0, 0, [SEP] 64, StoveBurner, -0.036, 0.915, -2.576, 0, 0, 0, [SEP] 65, Drawer, 0.949, 0.393, -2.200, 0, 0, 0, [SEP] 66, Drawer, 0.949, 0.708, -2.200, 0, 0, 0, [SEP] 67, Cabinet, -1.549, 0.494, 0.379, 0, 90, 0, [SEP] 68, StoveKnob, -0.022, 0.881, -2.187, 45, 0, 0, [SEP] 69, Drawer, 0.949, 0.560, -2.201, 0, 0, 0, [SEP] 70, StoveBurner, -0.465, 0.915, -2.575, 0, 180, 0, [SEP] 71, Window, -2.230, 1.429, -1.203, 0, 0, 0, [SEP] 72, StoveKnob, -0.483, 0.881, -2.187, 45, 0, 0, [SEP] 73, Sink, -1.899, 0.964, -1.5, 0, 90, 0, [SEP] 74, StoveKnob, -0.328, 0.881, -2.187, 45, 0, 0, [SEP] 75, Cabinet, -0.727, 2.015, -2.460, 0, 0, 0, [SEP] 76, Drawer, -1.560, 0.655, -0.196, 0, 90, 0, [SEP] 77, Cabinet, -1.685, 2.015, -2.461, 0, 0, 0, [SEP] 78, Cabinet, 0.680, 0.494, -2.200, 0, 0, 0, [SEP] 79, Cabinet, -1.179, 0.494, -2.200, 0, 0, 0, [SEP] 80, Cabinet, -1.849, 2.015, 0.379, 0, 90, 0, [SEP] 81, Drawer, 0.949, 0.221, -2.200, 0, 0, 0, [SEP] 82, StoveKnob, -0.183, 0.881, -2.187, 45, 0, 0, [SEP] 83, Cabinet, 0.719, 2.015, -2.460, 0, 0, 0, [SEP] 84, Drawer, -1.560, 0.331, -0.196, 0, 90, 0, [SEP] 85, Cabinet, 0.680, 2.015, -2.460, 0, 0, 0, [SEP] 86, CounterTop, -1.868, 0.946, -1.205, 0, 0, 0, [SEP] 87, Microwave, -0.236, 1.689, -2.525, 0, 0, 0, [SEP] 88, Shelf, 1.751, 0.880, -2.560, 0, 0, 0, [SEP] 89, HousePlant, -1.948, 0.889, -2.520, 0, 5.334, 0, [SEP] 90, Toaster, -1.835, 0.900, 0.134, 0, 90, 0, [SEP] 91, Shelf, 1.750, 0.552, -2.559, 0, 0, 0, [SEP] 92, GarbageCan, -1.935, -0.002, 2.029, 0, 270, 0, [SEP] 93, Shelf, 1.750, 0.172, -2.559, 0, 0, 0, [SEP] 94, Fridge, -2.096, 0.0, 1.088, 0, 0, 0, [SEP] 95, CoffeeMachine, -1.977, 0.900, -0.188, 0, 90, 0, [SEP] 96, SinkBasin, -1.908, 0.759, -1.488, 0, 90, 0, [SEP] 97, LightSwitch, 2.329, 1.309, -0.159, 0, 270, 0, [SEP] 98, ShelvingUnit, 1.750, 0.006, -2.559, 0, 0, 0, [SEP] 99, Stool, 0.702, 0.000, -0.514, 1.202, 65.108, 0, [SEP] 100, Stool, 0.743, 0.000, 0.563, 1.227, 106.706, 0, [SEP] 101, Faucet, -2.070, 1.132, -1.514, 0, 0, 0, [SEP] 102, NorthWall, , , , , , , [SEP] 103, EastWall, , , , , , , [SEP] 104, SouthWall, , , , , , , [SEP] 105, WestWall, , , , , , , ", "output": ["STEP 1: Turn around, head towards the sink, and then turn right towards the middle of the kitchen island on your left. | STEP 2: Pick up the plate from the island. | STEP 3: Turn right towards the microwave above the stove. | STEP 4: Warm up the plate and take the plate out of the microwave. | STEP 5: Turn around and head towards the fridge on your left. | STEP 6: Place the plate to the left of the tomato inside the fridge. | END"]} +{"id": "trial_T20190908_064522_624362-2", "input": "Preparing a slice of potato and putting it in the microwave SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.869, -3.0, 0, 90, 0, [SEP] 1, Potato, -2.054, 0.832, -3.705, 0, 0, 0, 66 [SEP] 2, Potato, -0.855, 0.933, 0.843, 0, 270, 0, 70 [SEP] 3, DishSponge, 0.623, 0.760, -0.061, 0, 0, 0, 43 [SEP] 4, DishSponge, 0.582, 0.883, -0.108, 0, 0, 0, 44 [SEP] 5, ButterKnife, -1.056, 0.900, 0.843, 0, 270, 0, 70 [SEP] 6, ButterKnife, -2.137, 0.701, -1.091, 0, 90, 0, 80 [SEP] 7, Spoon, 0.961, 0.666, 0.387, 0, 90, 0, 49 [SEP] 8, Spoon, 0.721, 0.665, 0.387, 0, 180, 0, 49 [SEP] 9, Fork, 0.720, 0.761, -0.188, 0, 0, 0, 43 [SEP] 10, Cup, 0.732, 0.014, -0.119, 0, 0, 0, 54 [SEP] 11, Knife, -1.719, 0.724, -1.307, 0, 90, 0, 80 [SEP] 12, Knife, -1.056, 0.923, 1.015, 0, 90, 0, 70 [SEP] 13, Tomato, 0.877, 0.931, -0.314, 0, 0, 0, 44 [SEP] 14, Tomato, 0.746, 0.514, -2.113, 0, 270, 0, 64 [SEP] 15, SoapBottle, 0.661, 0.664, 0.508, 0, 0, 0, 49 [SEP] 16, SoapBottle, 0.842, 0.014, 0.011, 0, 0, 0, 54 [SEP] 17, Bowl, 0.903, 1.462, 0.349, 0, 0, 0, 56 [SEP] 18, SaltShaker, 0.621, 0.012, 0.076, 0, 0, 0, 54 [SEP] 19, SaltShaker, 0.721, 0.661, 0.630, 0, 0, 0, 49 [SEP] 20, Bread, 0.841, 0.708, 0.508, 0, 0, 0, 49 [SEP] 21, Mug, 0.746, 1.369, -1.958, 0, 270, 0, 64 [SEP] 22, Pot, -1.552, 0.930, 0.785, 0, 0, 0, 48 [SEP] 23, Plate, -2.023, 0.692, -1.447, 0, 0, 0, 80 [SEP] 24, Fork, -1.970, 0.702, -0.983, 0, 0, 0, 80 [SEP] 25, SoapBottle, 0.661, 0.663, 0.326, 0, 0, 0, 49 [SEP] 26, Apple, 1.040, 0.937, -0.460, 0, 0, 0, 44 [SEP] 27, Pan, -2.097, 0.930, 0.785, 0, 0, 0, 46 [SEP] 28, Egg, 0.883, 0.809, -0.735, 0, 270, 0, 67 [SEP] 29, Spatula, 0.672, 0.787, -0.845, 0, 180, 0, 67 [SEP] 30, Potato, -1.260, 0.085, -3.684, 0, 270, 0, 59 [SEP] 31, Cup, 0.715, 0.771, -0.735, 0, 270, 0, 67 [SEP] 32, SaltShaker, 0.877, 0.879, -0.108, 0, 0, 0, 44 [SEP] 33, PepperShaker, -1.635, 0.698, -1.199, 0, 0, 0, 80 [SEP] 34, ButterKnife, 0.754, 0.755, -0.743, 0, 45, 0, 67 [SEP] 35, DishSponge, -1.261, 0.051, -3.574, 0, 270, 0, 59 [SEP] 36, Bread, -0.051, 0.944, 1.101, 0, 270, 0, 70 [SEP] 37, Lettuce, 0.785, 0.751, -1.880, 0, 270, 0, 64 [SEP] 38, Tomato, 0.669, 0.514, -1.957, 0, 270, 0, 64 [SEP] 39, Spoon, 0.769, 0.760, 0.002, 0, 0, 0, 43 [SEP] 40, Knife, 0.149, 0.923, 0.929, 0, 270, 0, 70 [SEP] 41, Mug, 0.708, 1.153, -2.190, 0, 270, 0, 64 [SEP] 42, Bowl, 0.858, 1.462, -0.146, 0, 0, 0, 55 [SEP] 43, Drawer, 0.706, 0.766, -0.125, 0, 0, 0, [SEP] 44, CounterTop, 0.792, 0.919, -0.108, 0, 0, 0, [SEP] 45, Mirror, 1.093, 1.602, -0.643, 0, 0, 0, [SEP] 46, StoveBurner, -2.096, 0.890, 0.785, 0, 0, 0, [SEP] 47, Cabinet, 0.507, 0.345, -0.426, 0, 0, 0, [SEP] 48, StoveBurner, -1.552, 0.890, 0.785, 0, 0, 0, [SEP] 49, SideTable, 0.770, -0.030, 0.443, 0, 0, 0, [SEP] 50, Sink, 0.753, 0.882, -0.680, 0, 0, 0, [SEP] 51, StoveBurner, -2.096, 0.890, 1.049, 0, 0, 0, [SEP] 52, GarbageBag, -0.770, 0.287, -3.541, 270, 73.521, 83.489, [SEP] 53, StoveBurner, -1.554, 0.890, 1.049, 0, 0, 0, [SEP] 54, Cabinet, 0.507, 0.345, 0.156, 0, 0, 0, [SEP] 55, Cabinet, 0.717, 1.822, -0.398, 0, 0, 0, [SEP] 56, Cabinet, 0.717, 1.822, 0.669, 0, 0, 0, [SEP] 57, CoffeeMachine, 0.873, 0.865, -1.256, 0, 270, 0, [SEP] 58, Toaster, -0.522, 0.886, 1.081, 0, 180, 0, [SEP] 59, GarbageCan, -1.261, -0.031, -3.610, 0, 270, 0, [SEP] 60, StoveKnob, -1.898, 0.866, 0.519, 311.864, 0, 180, [SEP] 61, StoveKnob, -1.754, 0.866, 0.519, 311.864, 0, 180, [SEP] 62, StoveKnob, -2.058, 0.866, 0.519, 311.864, 0, 180, [SEP] 63, StoveKnob, -1.600, 0.866, 0.519, 311.864, 0, 180, [SEP] 64, Fridge, 0.680, -0.031, -1.957, 0, 0, 0, [SEP] 65, Window, -2.424, 1.639, -2.453, 90, 270, 0, [SEP] 66, Microwave, -1.994, 0.690, -3.651, 0, 0, 0, [SEP] 67, SinkBasin, 0.757, 0.762, -0.688, 0, 270, 0, [SEP] 68, LightSwitch, 1.102, 1.368, -3.737, 0, 270, 0, [SEP] 69, Shelf, -0.350, 0.124, 0.857, 0, 0, 0, [SEP] 70, DiningTable, -0.350, -0.025, 0.857, 0, 0, 0, [SEP] 71, DiningTable, -1.909, -0.032, -3.507, 0, 0, 0, [SEP] 72, Blinds, -2.343, 2.151, -2.437, 0, 270, 0, [SEP] 73, AluminumFoil, 0.762, 0.224, 0.337, 0, 184.594, 0, [SEP] 74, AluminumFoil, 0.751, 0.225, 0.287, 0, 0, 0, [SEP] 75, AluminumFoil, 0.839, 0.224, 0.392, 0, 195.128, 0, [SEP] 76, Shelf, 0.771, 0.226, 0.445, 0, 0, 0, [SEP] 77, Shelf, 0.771, 0.456, 0.446, 0, 0, 0, [SEP] 78, Faucet, 1.025, 0.873, -0.678, 270, 180, 0, [SEP] 79, Shelf, -0.350, 0.497, 0.857, 0, 0, 0, [SEP] 80, DiningTable, -1.929, -0.035, -1.398, 0, 90, 0, [SEP] 81, Chair, -1.610, -0.024, -1.424, 358.454, 297.426, 0, [SEP] 82, NorthWall, , , , , , , [SEP] 83, EastWall, , , , , , , [SEP] 84, SouthWall, , , , , , , [SEP] 85, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and go to the small table just to the right | STEP 2: Pick up the knife from behind the salt shaker | STEP 3: Move to the microwave to the left of the table | STEP 4: Open the microwave and cut the potato in the microwave | STEP 5: Put the knife in the microwave | STEP 6: Take a slice of potato and then close the microwave | STEP 7: Turn to the left and go to the fridge | STEP 8: Open the fridge and put the the slice in the fridge, close the fridge, wait, open the fridge and remove the potato slice, close the fridge | STEP 9: Turn around and move to the microwave to the left | STEP 10: Open the microwave, put the slice inside behind the knife and close the microwave | END"]} +{"id": "trial_T20190906_202203_193951-1", "input": "Put the empty toilet paper roll in the trash can. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.901, 1.25, 0, 90, 0, [SEP] 1, SoapBar, -1.621, 0.641, 3.443, 0, 270, 0, 37 [SEP] 2, SoapBar, -1.674, 0.641, 2.362, 0, 270, 0, 34 [SEP] 3, Candle, -1.823, 1.087, 0.616, 0, 90, 0, 35 [SEP] 4, SprayBottle, -1.702, 0.046, 1.273, 0, 180, 0, 32 [SEP] 5, SoapBottle, -1.887, 0.731, 2.776, 0, 0, 0, 21 [SEP] 6, HandTowel, -1.513, 1.461, 3.962, 0, 0, 0, 27 [SEP] 7, ToiletPaper, -1.612, 0.235, 2.132, 0, 0, 0, 23 [SEP] 8, ToiletPaper, -1.529, 0.236, 3.596, 0, 0, 0, 20 [SEP] 9, Candle, -1.873, 1.087, 0.879, 0, 90, 0, 35 [SEP] 10, HandTowel, -1.961, 1.588, 1.323, 0, 270, 0, 28 [SEP] 11, Plunger, -1.685, 0.000, 0.327, 0, 0, 0, Floor|-02.00| [SEP] 12, Towel, 0.871, 1.172, 2.356, 0, 0, 0, 26 [SEP] 13, SoapBottle, -1.458, 0.731, 2.726, 0, 0, 0, 21 [SEP] 14, SoapBar, -1.887, 0.731, 2.927, 0, 0, 0, 21 [SEP] 15, ToiletPaper, -1.372, 0.728, 2.927, 0, 0, 0, 21 [SEP] 16, Cloth, -1.767, 0.720, 1.632, 0, 0, 0, 23 [SEP] 17, ToiletPaper, -1.848, 1.042, 0.748, 0, 90, 0, 35 [SEP] 18, ScrubBrush, -1.849, 0.000, 0.137, 0, 0, 0, Floor|-02.00| [SEP] 19, SprayBottle, -1.372, 0.732, 2.776, 0, 0, 0, 21 [SEP] 20, Drawer, -1.335, 0.301, 3.329, 0, 0, 0, [SEP] 21, CounterTop, -1.608, 0.701, 2.831, 0, 0, 0, [SEP] 22, ShowerDoor, 0.564, 1.018, 1.115, 0, 0, 0, [SEP] 23, Drawer, -1.335, 0.301, 2.132, 0, 0, 0, [SEP] 24, Mirror, -1.924, 1.414, 2.759, 0, 0, 0, [SEP] 25, Sink, -1.695, 0.616, 2.283, 0, 90, 0, [SEP] 26, TowelHolder, 0.870, 1.157, 2.25, 0, 0, 0, [SEP] 27, HandTowelHolder, -1.513, 1.562, 4.000, 0, 90, 0, [SEP] 28, HandTowelHolder, -2.0, 1.690, 1.323, 0, 0, 0, [SEP] 29, Window, -1.037, 1.399, 0.019, 90, 0, 0, [SEP] 30, Window, -1.986, 1.396, 0.707, 90, 90, 0, [SEP] 31, ToiletPaperHanger, -1.498, 0.721, 0.000, 0, 0, 0, [SEP] 32, GarbageCan, -1.739, -0.031, 1.268, 0, 90, 0, [SEP] 33, LightSwitch, 1.25, 1.273, 3.634, 0, 270, 0, [SEP] 34, SinkBasin, -1.674, 0.633, 2.274, 0, 270, 0, [SEP] 35, Toilet, -1.547, 0.000, 0.685, 0, 180, 0, [SEP] 36, Sink, -1.695, 0.616, 3.365, 0, 90, 0, [SEP] 37, SinkBasin, -1.674, 0.633, 3.355, 0, 270, 0, [SEP] 38, ShowerHead, 0.853, 1.797, 1.108, 0, 180, 0, [SEP] 39, Faucet, -1.926, 0.721, 2.285, 0, 90, 0, [SEP] 40, Faucet, -1.926, 0.721, 3.368, 0, 90, 0, [SEP] 41, NorthWall, , , , , , , [SEP] 42, EastWall, , , , , , , [SEP] 43, SouthWall, , , , , , , [SEP] 44, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and face the toilet. | STEP 2: Take the empty toilet paper roll off the back of the toilet. | STEP 3: Go to the trash can on your right. | STEP 4: Throw the empty roll into the trash can. | END"]} +{"id": "trial_T20190909_035311_875468-1", "input": "Place an apple slice in a pot inside of the fridge. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.869, -2.25, 0, 180, 0, [SEP] 1, Potato, -0.252, 0.933, 0.843, 0, 270, 0, 71 [SEP] 2, Potato, 1.040, 0.916, -0.460, 0, 0, 0, 45 [SEP] 3, ButterKnife, 0.950, 0.883, 0.098, 0, 0, 0, 45 [SEP] 4, ButterKnife, -0.855, 0.900, 0.843, 0, 270, 0, 71 [SEP] 5, Spatula, -1.803, 0.716, -0.875, 0, 180, 0, 81 [SEP] 6, Spoon, -1.056, 0.901, 0.843, 0, 270, 0, 71 [SEP] 7, Spoon, 0.901, 0.665, 0.569, 0, 0, 0, 50 [SEP] 8, Fork, 0.817, 0.760, 0.002, 0, 270, 0, 44 [SEP] 9, Fork, -0.453, 0.901, 0.843, 0, 270, 0, 71 [SEP] 10, Egg, -1.790, 0.836, -3.640, 0, 0, 0, 67 [SEP] 11, Egg, 0.630, 0.809, -0.570, 0, 270, 0, 68 [SEP] 12, Cup, 0.149, 0.899, 1.187, 0, 270, 0, 71 [SEP] 13, Cup, 0.746, 1.373, -1.880, 0, 270, 0, 65 [SEP] 14, Knife, 1.070, 0.906, -0.838, 0, 90, 0, 45 [SEP] 15, Tomato, 0.841, 0.820, -0.790, 0, 270, 0, 68 [SEP] 16, Tomato, 0.661, 0.712, 0.326, 0, 0, 0, 50 [SEP] 17, Bowl, 0.949, 1.462, -0.146, 0, 0, 0, 56 [SEP] 18, Bowl, -0.855, 0.899, 1.101, 0, 270, 0, 71 [SEP] 19, PepperShaker, -1.056, 0.896, 1.272, 0, 270, 0, 71 [SEP] 20, PepperShaker, -2.137, 0.698, -1.199, 0, 0, 0, 81 [SEP] 21, Apple, -1.578, 0.750, -3.276, 0, 0, 0, 72 [SEP] 22, Apple, 0.746, 1.212, -1.958, 0, 270, 0, 65 [SEP] 23, Pot, -2.097, 0.930, 1.049, 0, 0, 0, 52 [SEP] 24, Plate, 0.676, 0.019, -0.768, 0, 0, 0, 48 [SEP] 25, Fork, 0.799, 0.773, -0.515, 0, 0, 0, 68 [SEP] 26, SoapBottle, -1.635, 0.701, -0.983, 0, 0, 0, 81 [SEP] 27, Apple, 0.149, 0.954, 0.758, 0, 270, 0, 71 [SEP] 28, Pan, -1.552, 0.930, 0.785, 0, 0, 0, 49 [SEP] 29, Egg, -1.599, 0.736, -3.782, 0, 0, 0, 72 [SEP] 30, Spatula, 0.623, 0.774, -0.252, 0, 90, 0, 44 [SEP] 31, Potato, 0.901, 0.697, 0.448, 0, 0, 0, 50 [SEP] 32, Cup, 0.672, 0.771, -0.680, 0, 270, 0, 68 [SEP] 33, SaltShaker, 0.903, 1.460, 0.039, 0, 0, 0, 56 [SEP] 34, PepperShaker, -0.252, 0.896, 1.015, 0, 270, 0, 71 [SEP] 35, ButterKnife, -1.719, 0.701, -1.307, 0, 0, 0, 81 [SEP] 36, DishSponge, 0.621, 0.015, 0.011, 0, 0, 0, 55 [SEP] 37, Bread, -0.051, 0.944, 1.015, 0, 270, 0, 71 [SEP] 38, Lettuce, -1.970, 0.788, -1.307, 0, 0, 0, 81 [SEP] 39, Tomato, 0.824, 1.423, -2.113, 0, 270, 0, 65 [SEP] 40, Spoon, 0.950, 0.884, -0.245, 0, 0, 0, 45 [SEP] 41, Knife, 0.720, 0.783, -0.252, 0, 90, 0, 44 [SEP] 42, Mug, 0.655, 0.878, -0.314, 0, 0, 0, 45 [SEP] 43, Bowl, -2.038, 0.691, -1.003, 0, 0, 0, 81 [SEP] 44, Drawer, 0.706, 0.766, -0.125, 0, 0, 0, [SEP] 45, CounterTop, 0.792, 0.919, -0.108, 0, 0, 0, [SEP] 46, Mirror, 1.093, 1.602, -0.643, 0, 0, 0, [SEP] 47, StoveBurner, -2.096, 0.890, 0.785, 0, 0, 0, [SEP] 48, Cabinet, 0.507, 0.345, -0.426, 0, 0, 0, [SEP] 49, StoveBurner, -1.552, 0.890, 0.785, 0, 0, 0, [SEP] 50, SideTable, 0.770, -0.030, 0.443, 0, 0, 0, [SEP] 51, Sink, 0.753, 0.882, -0.680, 0, 0, 0, [SEP] 52, StoveBurner, -2.096, 0.890, 1.049, 0, 0, 0, [SEP] 53, GarbageBag, -0.770, 0.287, -3.541, 270, 73.521, 83.489, [SEP] 54, StoveBurner, -1.554, 0.890, 1.049, 0, 0, 0, [SEP] 55, Cabinet, 0.507, 0.345, 0.156, 0, 0, 0, [SEP] 56, Cabinet, 0.717, 1.822, -0.398, 0, 0, 0, [SEP] 57, Cabinet, 0.717, 1.822, 0.669, 0, 0, 0, [SEP] 58, CoffeeMachine, 0.873, 0.865, -1.256, 0, 270, 0, [SEP] 59, Toaster, -0.522, 0.886, 1.081, 0, 180, 0, [SEP] 60, GarbageCan, -1.261, -0.031, -3.610, 0, 270, 0, [SEP] 61, StoveKnob, -1.898, 0.866, 0.519, 311.864, 0, 180, [SEP] 62, StoveKnob, -1.754, 0.866, 0.519, 311.864, 0, 180, [SEP] 63, StoveKnob, -2.058, 0.866, 0.519, 311.864, 0, 180, [SEP] 64, StoveKnob, -1.600, 0.866, 0.519, 311.864, 0, 180, [SEP] 65, Fridge, 0.680, -0.031, -1.957, 0, 0, 0, [SEP] 66, Window, -2.424, 1.639, -2.453, 90, 270, 0, [SEP] 67, Microwave, -1.994, 0.690, -3.651, 0, 0, 0, [SEP] 68, SinkBasin, 0.757, 0.762, -0.688, 0, 270, 0, [SEP] 69, LightSwitch, 1.102, 1.368, -3.737, 0, 270, 0, [SEP] 70, Shelf, -0.350, 0.124, 0.857, 0, 0, 0, [SEP] 71, DiningTable, -0.350, -0.025, 0.857, 0, 0, 0, [SEP] 72, DiningTable, -1.909, -0.032, -3.507, 0, 0, 0, [SEP] 73, Blinds, -2.343, 2.151, -2.437, 0, 270, 0, [SEP] 74, AluminumFoil, 0.762, 0.224, 0.337, 0, 184.594, 0, [SEP] 75, AluminumFoil, 0.751, 0.225, 0.287, 0, 0, 0, [SEP] 76, AluminumFoil, 0.839, 0.224, 0.392, 0, 195.128, 0, [SEP] 77, Shelf, 0.771, 0.226, 0.445, 0, 0, 0, [SEP] 78, Shelf, 0.771, 0.456, 0.446, 0, 0, 0, [SEP] 79, Faucet, 1.025, 0.873, -0.678, 270, 180, 0, [SEP] 80, Shelf, -0.350, 0.497, 0.857, 0, 0, 0, [SEP] 81, DiningTable, -1.929, -0.035, -1.398, 0, 90, 0, [SEP] 82, Chair, -1.610, -0.024, -1.424, 358.454, 297.426, 0, [SEP] 83, NorthWall, , , , , , , [SEP] 84, EastWall, , , , , , , [SEP] 85, SouthWall, , , , , , , [SEP] 86, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and head to the counter by the sink to your right. | STEP 2: Pick up the knife from the counter in front of you. | STEP 3: Turn right then face the fridge on your left. | STEP 4: Open the fridge, slice the apple inside then close the fridge. | STEP 5: Turn around then face the stove to your right. | STEP 6: Place the knife in the right pot on the stove. | STEP 7: Turn around then face the fridge on your left. | STEP 8: Open the fridge and take out an apple slice inside then close the fridge. | STEP 9: Turn around then face the stove on your right. | STEP 10: Place the apple slice inside the pot with the knife on the stove. | STEP 11: Pick up the pot with the apple slice from the stove in front of you. | STEP 12: Turn around then face the fridge on your left. | STEP 13: Place the pot with the apple inside of the fridge then close it. | END"]} +{"id": "trial_T20190909_035311_875468-3", "input": "Put a pan with a chunk of apple in it in the fridge. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.869, -2.25, 0, 180, 0, [SEP] 1, Potato, -0.252, 0.933, 0.843, 0, 270, 0, 71 [SEP] 2, Potato, 1.040, 0.916, -0.460, 0, 0, 0, 45 [SEP] 3, ButterKnife, 0.950, 0.883, 0.098, 0, 0, 0, 45 [SEP] 4, ButterKnife, -0.855, 0.900, 0.843, 0, 270, 0, 71 [SEP] 5, Spatula, -1.803, 0.716, -0.875, 0, 180, 0, 81 [SEP] 6, Spoon, -1.056, 0.901, 0.843, 0, 270, 0, 71 [SEP] 7, Spoon, 0.901, 0.665, 0.569, 0, 0, 0, 50 [SEP] 8, Fork, 0.817, 0.760, 0.002, 0, 270, 0, 44 [SEP] 9, Fork, -0.453, 0.901, 0.843, 0, 270, 0, 71 [SEP] 10, Egg, -1.790, 0.836, -3.640, 0, 0, 0, 67 [SEP] 11, Egg, 0.630, 0.809, -0.570, 0, 270, 0, 68 [SEP] 12, Cup, 0.149, 0.899, 1.187, 0, 270, 0, 71 [SEP] 13, Cup, 0.746, 1.373, -1.880, 0, 270, 0, 65 [SEP] 14, Knife, 1.070, 0.906, -0.838, 0, 90, 0, 45 [SEP] 15, Tomato, 0.841, 0.820, -0.790, 0, 270, 0, 68 [SEP] 16, Tomato, 0.661, 0.712, 0.326, 0, 0, 0, 50 [SEP] 17, Bowl, 0.949, 1.462, -0.146, 0, 0, 0, 56 [SEP] 18, Bowl, -0.855, 0.899, 1.101, 0, 270, 0, 71 [SEP] 19, PepperShaker, -1.056, 0.896, 1.272, 0, 270, 0, 71 [SEP] 20, PepperShaker, -2.137, 0.698, -1.199, 0, 0, 0, 81 [SEP] 21, Apple, -1.578, 0.750, -3.276, 0, 0, 0, 72 [SEP] 22, Apple, 0.746, 1.212, -1.958, 0, 270, 0, 65 [SEP] 23, Pot, -2.097, 0.930, 1.049, 0, 0, 0, 52 [SEP] 24, Plate, 0.676, 0.019, -0.768, 0, 0, 0, 48 [SEP] 25, Fork, 0.799, 0.773, -0.515, 0, 0, 0, 68 [SEP] 26, SoapBottle, -1.635, 0.701, -0.983, 0, 0, 0, 81 [SEP] 27, Apple, 0.149, 0.954, 0.758, 0, 270, 0, 71 [SEP] 28, Pan, -1.552, 0.930, 0.785, 0, 0, 0, 49 [SEP] 29, Egg, -1.599, 0.736, -3.782, 0, 0, 0, 72 [SEP] 30, Spatula, 0.623, 0.774, -0.252, 0, 90, 0, 44 [SEP] 31, Potato, 0.901, 0.697, 0.448, 0, 0, 0, 50 [SEP] 32, Cup, 0.672, 0.771, -0.680, 0, 270, 0, 68 [SEP] 33, SaltShaker, 0.903, 1.460, 0.039, 0, 0, 0, 56 [SEP] 34, PepperShaker, -0.252, 0.896, 1.015, 0, 270, 0, 71 [SEP] 35, ButterKnife, -1.719, 0.701, -1.307, 0, 0, 0, 81 [SEP] 36, DishSponge, 0.621, 0.015, 0.011, 0, 0, 0, 55 [SEP] 37, Bread, -0.051, 0.944, 1.015, 0, 270, 0, 71 [SEP] 38, Lettuce, -1.970, 0.788, -1.307, 0, 0, 0, 81 [SEP] 39, Tomato, 0.824, 1.423, -2.113, 0, 270, 0, 65 [SEP] 40, Spoon, 0.950, 0.884, -0.245, 0, 0, 0, 45 [SEP] 41, Knife, 0.720, 0.783, -0.252, 0, 90, 0, 44 [SEP] 42, Mug, 0.655, 0.878, -0.314, 0, 0, 0, 45 [SEP] 43, Bowl, -2.038, 0.691, -1.003, 0, 0, 0, 81 [SEP] 44, Drawer, 0.706, 0.766, -0.125, 0, 0, 0, [SEP] 45, CounterTop, 0.792, 0.919, -0.108, 0, 0, 0, [SEP] 46, Mirror, 1.093, 1.602, -0.643, 0, 0, 0, [SEP] 47, StoveBurner, -2.096, 0.890, 0.785, 0, 0, 0, [SEP] 48, Cabinet, 0.507, 0.345, -0.426, 0, 0, 0, [SEP] 49, StoveBurner, -1.552, 0.890, 0.785, 0, 0, 0, [SEP] 50, SideTable, 0.770, -0.030, 0.443, 0, 0, 0, [SEP] 51, Sink, 0.753, 0.882, -0.680, 0, 0, 0, [SEP] 52, StoveBurner, -2.096, 0.890, 1.049, 0, 0, 0, [SEP] 53, GarbageBag, -0.770, 0.287, -3.541, 270, 73.521, 83.489, [SEP] 54, StoveBurner, -1.554, 0.890, 1.049, 0, 0, 0, [SEP] 55, Cabinet, 0.507, 0.345, 0.156, 0, 0, 0, [SEP] 56, Cabinet, 0.717, 1.822, -0.398, 0, 0, 0, [SEP] 57, Cabinet, 0.717, 1.822, 0.669, 0, 0, 0, [SEP] 58, CoffeeMachine, 0.873, 0.865, -1.256, 0, 270, 0, [SEP] 59, Toaster, -0.522, 0.886, 1.081, 0, 180, 0, [SEP] 60, GarbageCan, -1.261, -0.031, -3.610, 0, 270, 0, [SEP] 61, StoveKnob, -1.898, 0.866, 0.519, 311.864, 0, 180, [SEP] 62, StoveKnob, -1.754, 0.866, 0.519, 311.864, 0, 180, [SEP] 63, StoveKnob, -2.058, 0.866, 0.519, 311.864, 0, 180, [SEP] 64, StoveKnob, -1.600, 0.866, 0.519, 311.864, 0, 180, [SEP] 65, Fridge, 0.680, -0.031, -1.957, 0, 0, 0, [SEP] 66, Window, -2.424, 1.639, -2.453, 90, 270, 0, [SEP] 67, Microwave, -1.994, 0.690, -3.651, 0, 0, 0, [SEP] 68, SinkBasin, 0.757, 0.762, -0.688, 0, 270, 0, [SEP] 69, LightSwitch, 1.102, 1.368, -3.737, 0, 270, 0, [SEP] 70, Shelf, -0.350, 0.124, 0.857, 0, 0, 0, [SEP] 71, DiningTable, -0.350, -0.025, 0.857, 0, 0, 0, [SEP] 72, DiningTable, -1.909, -0.032, -3.507, 0, 0, 0, [SEP] 73, Blinds, -2.343, 2.151, -2.437, 0, 270, 0, [SEP] 74, AluminumFoil, 0.762, 0.224, 0.337, 0, 184.594, 0, [SEP] 75, AluminumFoil, 0.751, 0.225, 0.287, 0, 0, 0, [SEP] 76, AluminumFoil, 0.839, 0.224, 0.392, 0, 195.128, 0, [SEP] 77, Shelf, 0.771, 0.226, 0.445, 0, 0, 0, [SEP] 78, Shelf, 0.771, 0.456, 0.446, 0, 0, 0, [SEP] 79, Faucet, 1.025, 0.873, -0.678, 270, 180, 0, [SEP] 80, Shelf, -0.350, 0.497, 0.857, 0, 0, 0, [SEP] 81, DiningTable, -1.929, -0.035, -1.398, 0, 90, 0, [SEP] 82, Chair, -1.610, -0.024, -1.424, 358.454, 297.426, 0, [SEP] 83, NorthWall, , , , , , , [SEP] 84, EastWall, , , , , , , [SEP] 85, SouthWall, , , , , , , [SEP] 86, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk to the counter tot he left of the sink and face it. | STEP 2: Take the butter knife off of the edge of the counter. | STEP 3: Turn right and walk over to the fridge then turn left to face it. | STEP 4: Cut the apple in the freezer into three chunks. | STEP 5: Turn left and walk to the sink and then turn left and walk to the wall then turn right and walk to the stove. | STEP 6: Put the knife in the pan on the back left burner. | STEP 7: Go back to the fridge. | STEP 8: Get a chunk of apple out of the freezer. | STEP 9: Walk back over to the stove. | STEP 10: Put the apple chunk in the pan on the back left burner. | STEP 11: Pick up the pan with the chunk of apple and knife in it. | STEP 12: Pick up the pan on the back left burner. | STEP 13: Walk back to the fridge and put the pan in it and close the door. | END"]} +{"id": "trial_T20190909_035311_875468-4", "input": "put an apple in a bowl with a knife and put it in the fridge SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.869, -2.25, 0, 180, 0, [SEP] 1, Potato, -0.252, 0.933, 0.843, 0, 270, 0, 71 [SEP] 2, Potato, 1.040, 0.916, -0.460, 0, 0, 0, 45 [SEP] 3, ButterKnife, 0.950, 0.883, 0.098, 0, 0, 0, 45 [SEP] 4, ButterKnife, -0.855, 0.900, 0.843, 0, 270, 0, 71 [SEP] 5, Spatula, -1.803, 0.716, -0.875, 0, 180, 0, 81 [SEP] 6, Spoon, -1.056, 0.901, 0.843, 0, 270, 0, 71 [SEP] 7, Spoon, 0.901, 0.665, 0.569, 0, 0, 0, 50 [SEP] 8, Fork, 0.817, 0.760, 0.002, 0, 270, 0, 44 [SEP] 9, Fork, -0.453, 0.901, 0.843, 0, 270, 0, 71 [SEP] 10, Egg, -1.790, 0.836, -3.640, 0, 0, 0, 67 [SEP] 11, Egg, 0.630, 0.809, -0.570, 0, 270, 0, 68 [SEP] 12, Cup, 0.149, 0.899, 1.187, 0, 270, 0, 71 [SEP] 13, Cup, 0.746, 1.373, -1.880, 0, 270, 0, 65 [SEP] 14, Knife, 1.070, 0.906, -0.838, 0, 90, 0, 45 [SEP] 15, Tomato, 0.841, 0.820, -0.790, 0, 270, 0, 68 [SEP] 16, Tomato, 0.661, 0.712, 0.326, 0, 0, 0, 50 [SEP] 17, Bowl, 0.949, 1.462, -0.146, 0, 0, 0, 56 [SEP] 18, Bowl, -0.855, 0.899, 1.101, 0, 270, 0, 71 [SEP] 19, PepperShaker, -1.056, 0.896, 1.272, 0, 270, 0, 71 [SEP] 20, PepperShaker, -2.137, 0.698, -1.199, 0, 0, 0, 81 [SEP] 21, Apple, -1.578, 0.750, -3.276, 0, 0, 0, 72 [SEP] 22, Apple, 0.746, 1.212, -1.958, 0, 270, 0, 65 [SEP] 23, Pot, -2.097, 0.930, 1.049, 0, 0, 0, 52 [SEP] 24, Plate, 0.676, 0.019, -0.768, 0, 0, 0, 48 [SEP] 25, Fork, 0.799, 0.773, -0.515, 0, 0, 0, 68 [SEP] 26, SoapBottle, -1.635, 0.701, -0.983, 0, 0, 0, 81 [SEP] 27, Apple, 0.149, 0.954, 0.758, 0, 270, 0, 71 [SEP] 28, Pan, -1.552, 0.930, 0.785, 0, 0, 0, 49 [SEP] 29, Egg, -1.599, 0.736, -3.782, 0, 0, 0, 72 [SEP] 30, Spatula, 0.623, 0.774, -0.252, 0, 90, 0, 44 [SEP] 31, Potato, 0.901, 0.697, 0.448, 0, 0, 0, 50 [SEP] 32, Cup, 0.672, 0.771, -0.680, 0, 270, 0, 68 [SEP] 33, SaltShaker, 0.903, 1.460, 0.039, 0, 0, 0, 56 [SEP] 34, PepperShaker, -0.252, 0.896, 1.015, 0, 270, 0, 71 [SEP] 35, ButterKnife, -1.719, 0.701, -1.307, 0, 0, 0, 81 [SEP] 36, DishSponge, 0.621, 0.015, 0.011, 0, 0, 0, 55 [SEP] 37, Bread, -0.051, 0.944, 1.015, 0, 270, 0, 71 [SEP] 38, Lettuce, -1.970, 0.788, -1.307, 0, 0, 0, 81 [SEP] 39, Tomato, 0.824, 1.423, -2.113, 0, 270, 0, 65 [SEP] 40, Spoon, 0.950, 0.884, -0.245, 0, 0, 0, 45 [SEP] 41, Knife, 0.720, 0.783, -0.252, 0, 90, 0, 44 [SEP] 42, Mug, 0.655, 0.878, -0.314, 0, 0, 0, 45 [SEP] 43, Bowl, -2.038, 0.691, -1.003, 0, 0, 0, 81 [SEP] 44, Drawer, 0.706, 0.766, -0.125, 0, 0, 0, [SEP] 45, CounterTop, 0.792, 0.919, -0.108, 0, 0, 0, [SEP] 46, Mirror, 1.093, 1.602, -0.643, 0, 0, 0, [SEP] 47, StoveBurner, -2.096, 0.890, 0.785, 0, 0, 0, [SEP] 48, Cabinet, 0.507, 0.345, -0.426, 0, 0, 0, [SEP] 49, StoveBurner, -1.552, 0.890, 0.785, 0, 0, 0, [SEP] 50, SideTable, 0.770, -0.030, 0.443, 0, 0, 0, [SEP] 51, Sink, 0.753, 0.882, -0.680, 0, 0, 0, [SEP] 52, StoveBurner, -2.096, 0.890, 1.049, 0, 0, 0, [SEP] 53, GarbageBag, -0.770, 0.287, -3.541, 270, 73.521, 83.489, [SEP] 54, StoveBurner, -1.554, 0.890, 1.049, 0, 0, 0, [SEP] 55, Cabinet, 0.507, 0.345, 0.156, 0, 0, 0, [SEP] 56, Cabinet, 0.717, 1.822, -0.398, 0, 0, 0, [SEP] 57, Cabinet, 0.717, 1.822, 0.669, 0, 0, 0, [SEP] 58, CoffeeMachine, 0.873, 0.865, -1.256, 0, 270, 0, [SEP] 59, Toaster, -0.522, 0.886, 1.081, 0, 180, 0, [SEP] 60, GarbageCan, -1.261, -0.031, -3.610, 0, 270, 0, [SEP] 61, StoveKnob, -1.898, 0.866, 0.519, 311.864, 0, 180, [SEP] 62, StoveKnob, -1.754, 0.866, 0.519, 311.864, 0, 180, [SEP] 63, StoveKnob, -2.058, 0.866, 0.519, 311.864, 0, 180, [SEP] 64, StoveKnob, -1.600, 0.866, 0.519, 311.864, 0, 180, [SEP] 65, Fridge, 0.680, -0.031, -1.957, 0, 0, 0, [SEP] 66, Window, -2.424, 1.639, -2.453, 90, 270, 0, [SEP] 67, Microwave, -1.994, 0.690, -3.651, 0, 0, 0, [SEP] 68, SinkBasin, 0.757, 0.762, -0.688, 0, 270, 0, [SEP] 69, LightSwitch, 1.102, 1.368, -3.737, 0, 270, 0, [SEP] 70, Shelf, -0.350, 0.124, 0.857, 0, 0, 0, [SEP] 71, DiningTable, -0.350, -0.025, 0.857, 0, 0, 0, [SEP] 72, DiningTable, -1.909, -0.032, -3.507, 0, 0, 0, [SEP] 73, Blinds, -2.343, 2.151, -2.437, 0, 270, 0, [SEP] 74, AluminumFoil, 0.762, 0.224, 0.337, 0, 184.594, 0, [SEP] 75, AluminumFoil, 0.751, 0.225, 0.287, 0, 0, 0, [SEP] 76, AluminumFoil, 0.839, 0.224, 0.392, 0, 195.128, 0, [SEP] 77, Shelf, 0.771, 0.226, 0.445, 0, 0, 0, [SEP] 78, Shelf, 0.771, 0.456, 0.446, 0, 0, 0, [SEP] 79, Faucet, 1.025, 0.873, -0.678, 270, 180, 0, [SEP] 80, Shelf, -0.350, 0.497, 0.857, 0, 0, 0, [SEP] 81, DiningTable, -1.929, -0.035, -1.398, 0, 90, 0, [SEP] 82, Chair, -1.610, -0.024, -1.424, 358.454, 297.426, 0, [SEP] 83, NorthWall, , , , , , , [SEP] 84, EastWall, , , , , , , [SEP] 85, SouthWall, , , , , , , [SEP] 86, WestWall, , , , , , , ", "output": ["STEP 1: go to counter to left of sink near tomato | STEP 2: pick up the knife from the counter | STEP 3: take the knife to the fridge | STEP 4: put the knife in the fridge and take it back out | STEP 5: take the knife to the stove | STEP 6: put the knife in the bowl on the back left burner | STEP 7: walk back over to the fridge | STEP 8: take the apple out of the fridge | STEP 9: take the apple to the stove | STEP 10: put the apple in the bowl with the knife on the stove | STEP 11: pick up the bowl with the apple and knife | STEP 12: take the bowl the fridge | STEP 13: put the bowl with the apple and the knife in fridge | END"]} +{"id": "trial_T20190919_025204_596754-2", "input": "Put an egg in the fridge. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.75, 0.900, 2.0, 0, 0, 0, [SEP] 1, Pan, 0.974, 0.957, -1.688, 0, 180, 0, 54 [SEP] 2, Book, -2.793, 0.871, 3.565, 0, 135, 0, 57 [SEP] 3, DishSponge, -1.649, 0.717, -1.001, 0, 0, 0, 70 [SEP] 4, ButterKnife, -2.828, 0.878, 3.073, 0, 270, 0, 57 [SEP] 5, ButterKnife, -2.248, 0.874, 2.916, 0, 135, 0, 57 [SEP] 6, Kettle, 1.328, 0.957, -1.688, 0, 180, 0, 58 [SEP] 7, WineBottle, 0.617, 0.913, -1.776, 0, 0, 0, 55 [SEP] 8, Pot, -2.152, 0.880, 3.147, 0, 270, 0, 57 [SEP] 9, Spoon, 1.687, 0.911, -1.346, 0, 0, 0, 75 [SEP] 10, Spoon, -2.964, 0.875, 3.632, 0, 135, 0, 57 [SEP] 11, Cup, -1.612, 0.117, -0.766, 0, 0, 0, 60 [SEP] 12, Cup, -0.040, 0.927, -1.429, 0, 270, 0, 52 [SEP] 13, Plate, -0.149, 0.807, 2.194, 0, 180, 0, 80 [SEP] 14, Plate, -0.377, 0.807, 2.023, 0, 180, 0, 80 [SEP] 15, SoapBottle, -2.525, 0.875, 3.565, 0, 225, 0, 57 [SEP] 16, SoapBottle, 0.630, 1.653, -1.749, 0, 0, 0, 66 [SEP] 17, SaltShaker, 3.637, 0.549, 1.449, 0, 270, 0, 78 [SEP] 18, PepperShaker, 1.649, 0.716, -1.377, 0, 0, 0, 71 [SEP] 19, Bread, -0.149, 1.655, 2.160, 0, 180, 0, 80 [SEP] 20, Lettuce, -2.950, 0.939, 3.408, 0, 135, 0, 57 [SEP] 21, Mug, -2.072, 0.907, -0.939, 0, 0, 0, 55 [SEP] 22, Mug, -2.300, 0.873, 2.863, 0, 135, 0, 57 [SEP] 23, Book, -2.490, 0.875, 3.370, 0, 270, 0, 57 [SEP] 24, Fork, -0.367, 0.708, -1.573, 0, 270, 0, 84 [SEP] 25, Tomato, -2.458, 0.925, 2.706, 0, 135, 0, 57 [SEP] 26, Egg, -1.568, 0.929, -0.469, 0, 0, 0, 55 [SEP] 27, Kettle, -0.292, 0.122, -1.413, 0, 0, 0, 64 [SEP] 28, Vase, -1.961, 0.913, -1.265, 0, 0, 0, 55 [SEP] 29, Cup, 0.663, 0.910, -1.267, 0, 0, 0, 55 [SEP] 30, WineBottle, -3.165, 0.879, 3.073, 0, 270, 0, 57 [SEP] 31, Plate, 3.689, 0.885, 1.861, 0, 270, 0, 76 [SEP] 32, Spatula, -2.845, 0.893, 2.930, 0, 225, 0, 57 [SEP] 33, Potato, -0.255, 0.733, -1.626, 0, 270, 0, 84 [SEP] 34, Pot, 1.328, 0.957, -1.420, 0, 180, 0, 59 [SEP] 35, Knife, -0.040, 0.950, -1.646, 0, 270, 0, 52 [SEP] 36, SaltShaker, -2.539, 0.871, 3.102, 0, 135, 0, 57 [SEP] 37, PepperShaker, -1.269, 0.908, -1.267, 0, 0, 0, 55 [SEP] 38, Lettuce, -2.659, 0.943, 2.884, 0, 0, 0, 57 [SEP] 39, ButterKnife, 0.179, 0.928, -1.573, 0, 270, 0, 52 [SEP] 40, Bread, -2.248, 0.961, 3.527, 0, 225, 0, 57 [SEP] 41, Vase, 3.793, 0.553, 1.449, 0, 270, 0, 78 [SEP] 42, DishSponge, -1.616, 0.719, -0.788, 0, 0, 0, 70 [SEP] 43, Apple, -2.510, 0.929, 2.884, 0, 0, 0, 57 [SEP] 44, Pan, 0.972, 0.959, -1.426, 0, 0, 0, 73 [SEP] 45, Spoon, -2.148, 0.719, -1.441, 0, 90, 0, 74 [SEP] 46, SoapBottle, -0.897, 0.193, 2.058, 0, 90, 0, 85 [SEP] 47, Mug, 1.316, 1.756, -1.596, 0, 0, 0, 79 [SEP] 48, Statue, 3.676, 0.168, 1.410, 0, 334.521, 0, 78 [SEP] 49, Statue, 3.668, 0.540, 1.800, 0, 0, 0, 78 [SEP] 50, Bowl, -1.961, 0.910, -0.614, 0, 0, 0, 55 [SEP] 51, Cabinet, -2.171, 2.009, -1.538, 0, 0, 0, [SEP] 52, Sink, 0.024, 0.771, -1.708, 0, 270, 0, [SEP] 53, Cabinet, 1.444, 2.259, -1.542, 0, 0, 0, [SEP] 54, StoveBurner, 0.974, 0.957, -1.688, 0, 180, 0, [SEP] 55, CounterTop, -1.866, 0.947, -0.614, 0, 0, 0, [SEP] 56, Cabinet, -2.217, 0.373, -1.874, 0, 0, 0, [SEP] 57, DiningTable, -2.663, 0.002, 3.208, 0, 0, 0, [SEP] 58, StoveBurner, 1.328, 0.957, -1.688, 0, 180, 0, [SEP] 59, StoveBurner, 1.328, 0.957, -1.420, 0, 180, 0, [SEP] 60, Cabinet, -1.478, 0.373, -1.235, 0, 0, 0, [SEP] 61, Cabinet, 1.775, 0.372, -1.242, 0, 0, 0, [SEP] 62, Cabinet, 0.774, 0.372, -1.242, 0, 0, 0, [SEP] 63, Cabinet, 0.375, 0.372, -1.242, 0, 0, 0, [SEP] 64, Cabinet, -0.574, 0.372, -1.238, 0, 0, 0, [SEP] 65, Cabinet, 1.775, 2.009, -1.542, 0, 0, 0, [SEP] 66, Cabinet, 0.524, 2.009, -1.542, 0, 0, 0, [SEP] 67, Cabinet, -0.714, 2.009, -1.542, 0, 0, 0, [SEP] 68, Cabinet, -1.671, 2.009, -1.538, 0, 0, 0, [SEP] 69, Cabinet, 0.854, 2.259, -1.542, 0, 0, 0, [SEP] 70, Drawer, -1.636, 0.683, -0.930, 0, 0, 0, [SEP] 71, Drawer, 1.650, 0.682, -1.396, 0, 0, 0, [SEP] 72, Drawer, 0.600, 0.682, -1.396, 0, 0, 0, [SEP] 73, StoveBurner, 0.974, 0.957, -1.419, 0, 180, 0, [SEP] 74, Drawer, -2.062, 0.683, -1.579, 0, 0, 0, [SEP] 75, CounterTop, 1.645, 0.945, -1.527, 0, 0, 0, [SEP] 76, Shelf, 3.725, 0.880, 1.671, 0, 90, 0, [SEP] 77, LightSwitch, 2.830, 1.266, -0.748, 0, 0, 0, [SEP] 78, Shelf, 3.726, 0.552, 1.671, 0, 90, 0, [SEP] 79, Microwave, 1.150, 1.655, -1.614, 0, 0, 0, [SEP] 80, Fridge, -0.035, 0.0, 2.177, 0, 180, 0, [SEP] 81, Window, -0.115, 1.802, -1.896, 90, 0, 0, [SEP] 82, Window, -4.009, 1.799, 0.310, 90, 90, 0, [SEP] 83, Shelf, 3.726, 0.172, 1.671, 0, 90, 0, [SEP] 84, SinkBasin, -0.330, 0.686, -1.581, 0, 270, 0, [SEP] 85, GarbageCan, -0.870, -0.001, 2.136, 0, 90, 0, [SEP] 86, StoveKnob, 1.089, 0.913, -1.243, 45, 0, 0, [SEP] 87, StoveKnob, 1.208, 0.913, -1.243, 45, 0, 0, [SEP] 88, StoveKnob, 1.340, 0.913, -1.243, 45, 0, 0, [SEP] 89, StoveKnob, 0.961, 0.913, -1.243, 45, 0, 0, [SEP] 90, Toaster, 1.637, 0.900, -1.673, 0, 0, 0, [SEP] 91, Chair, -3.505, 0.002, 3.290, 0, 105.736, 0, [SEP] 92, CoffeeMachine, -1.111, 0.900, -1.726, 0, 0, 0, [SEP] 93, HousePlant, -2.663, 0.835, 3.209, 0, 0, 0, [SEP] 94, Faucet, -0.187, 0.922, -1.75, 0, 311.166, 0, [SEP] 95, ShelvingUnit, 3.726, 0.006, 1.671, 0, 90, 0, [SEP] 96, Stool, -2.501, -0.000, 0.062, 1.223, 91.243, 0, [SEP] 97, Stool, -2.475, -0.000, -0.802, 1.209, 69.808, 0, [SEP] 98, Chair, -2.934, 0.002, 2.437, 0, 28.531, 0, [SEP] 99, Chair, -1.698, 0.002, 3.235, 0, 245.204, 0, [SEP] 100, NorthWall, , , , , , , [SEP] 101, EastWall, , , , , , , [SEP] 102, SouthWall, , , , , , , [SEP] 103, WestWall, , , , , , , ", "output": ["STEP 1: Go right, and then right again and turn to face the counter with the egg on it. | STEP 2: Pick the egg up from the counter. | STEP 3: Turn around and go left to face the fridge. | STEP 4: Open the fridge and put the egg on the shelf and shut the door. | END"]} +{"id": "trial_T20190919_025204_596754-3", "input": "Put the egg in the fridge. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.75, 0.900, 2.0, 0, 0, 0, [SEP] 1, Pan, 0.974, 0.957, -1.688, 0, 180, 0, 54 [SEP] 2, Book, -2.793, 0.871, 3.565, 0, 135, 0, 57 [SEP] 3, DishSponge, -1.649, 0.717, -1.001, 0, 0, 0, 70 [SEP] 4, ButterKnife, -2.828, 0.878, 3.073, 0, 270, 0, 57 [SEP] 5, ButterKnife, -2.248, 0.874, 2.916, 0, 135, 0, 57 [SEP] 6, Kettle, 1.328, 0.957, -1.688, 0, 180, 0, 58 [SEP] 7, WineBottle, 0.617, 0.913, -1.776, 0, 0, 0, 55 [SEP] 8, Pot, -2.152, 0.880, 3.147, 0, 270, 0, 57 [SEP] 9, Spoon, 1.687, 0.911, -1.346, 0, 0, 0, 75 [SEP] 10, Spoon, -2.964, 0.875, 3.632, 0, 135, 0, 57 [SEP] 11, Cup, -1.612, 0.117, -0.766, 0, 0, 0, 60 [SEP] 12, Cup, -0.040, 0.927, -1.429, 0, 270, 0, 52 [SEP] 13, Plate, -0.149, 0.807, 2.194, 0, 180, 0, 80 [SEP] 14, Plate, -0.377, 0.807, 2.023, 0, 180, 0, 80 [SEP] 15, SoapBottle, -2.525, 0.875, 3.565, 0, 225, 0, 57 [SEP] 16, SoapBottle, 0.630, 1.653, -1.749, 0, 0, 0, 66 [SEP] 17, SaltShaker, 3.637, 0.549, 1.449, 0, 270, 0, 78 [SEP] 18, PepperShaker, 1.649, 0.716, -1.377, 0, 0, 0, 71 [SEP] 19, Bread, -0.149, 1.655, 2.160, 0, 180, 0, 80 [SEP] 20, Lettuce, -2.950, 0.939, 3.408, 0, 135, 0, 57 [SEP] 21, Mug, -2.072, 0.907, -0.939, 0, 0, 0, 55 [SEP] 22, Mug, -2.300, 0.873, 2.863, 0, 135, 0, 57 [SEP] 23, Book, -2.490, 0.875, 3.370, 0, 270, 0, 57 [SEP] 24, Fork, -0.367, 0.708, -1.573, 0, 270, 0, 84 [SEP] 25, Tomato, -2.458, 0.925, 2.706, 0, 135, 0, 57 [SEP] 26, Egg, -1.568, 0.929, -0.469, 0, 0, 0, 55 [SEP] 27, Kettle, -0.292, 0.122, -1.413, 0, 0, 0, 64 [SEP] 28, Vase, -1.961, 0.913, -1.265, 0, 0, 0, 55 [SEP] 29, Cup, 0.663, 0.910, -1.267, 0, 0, 0, 55 [SEP] 30, WineBottle, -3.165, 0.879, 3.073, 0, 270, 0, 57 [SEP] 31, Plate, 3.689, 0.885, 1.861, 0, 270, 0, 76 [SEP] 32, Spatula, -2.845, 0.893, 2.930, 0, 225, 0, 57 [SEP] 33, Potato, -0.255, 0.733, -1.626, 0, 270, 0, 84 [SEP] 34, Pot, 1.328, 0.957, -1.420, 0, 180, 0, 59 [SEP] 35, Knife, -0.040, 0.950, -1.646, 0, 270, 0, 52 [SEP] 36, SaltShaker, -2.539, 0.871, 3.102, 0, 135, 0, 57 [SEP] 37, PepperShaker, -1.269, 0.908, -1.267, 0, 0, 0, 55 [SEP] 38, Lettuce, -2.659, 0.943, 2.884, 0, 0, 0, 57 [SEP] 39, ButterKnife, 0.179, 0.928, -1.573, 0, 270, 0, 52 [SEP] 40, Bread, -2.248, 0.961, 3.527, 0, 225, 0, 57 [SEP] 41, Vase, 3.793, 0.553, 1.449, 0, 270, 0, 78 [SEP] 42, DishSponge, -1.616, 0.719, -0.788, 0, 0, 0, 70 [SEP] 43, Apple, -2.510, 0.929, 2.884, 0, 0, 0, 57 [SEP] 44, Pan, 0.972, 0.959, -1.426, 0, 0, 0, 73 [SEP] 45, Spoon, -2.148, 0.719, -1.441, 0, 90, 0, 74 [SEP] 46, SoapBottle, -0.897, 0.193, 2.058, 0, 90, 0, 85 [SEP] 47, Mug, 1.316, 1.756, -1.596, 0, 0, 0, 79 [SEP] 48, Statue, 3.676, 0.168, 1.410, 0, 334.521, 0, 78 [SEP] 49, Statue, 3.668, 0.540, 1.800, 0, 0, 0, 78 [SEP] 50, Bowl, -1.961, 0.910, -0.614, 0, 0, 0, 55 [SEP] 51, Cabinet, -2.171, 2.009, -1.538, 0, 0, 0, [SEP] 52, Sink, 0.024, 0.771, -1.708, 0, 270, 0, [SEP] 53, Cabinet, 1.444, 2.259, -1.542, 0, 0, 0, [SEP] 54, StoveBurner, 0.974, 0.957, -1.688, 0, 180, 0, [SEP] 55, CounterTop, -1.866, 0.947, -0.614, 0, 0, 0, [SEP] 56, Cabinet, -2.217, 0.373, -1.874, 0, 0, 0, [SEP] 57, DiningTable, -2.663, 0.002, 3.208, 0, 0, 0, [SEP] 58, StoveBurner, 1.328, 0.957, -1.688, 0, 180, 0, [SEP] 59, StoveBurner, 1.328, 0.957, -1.420, 0, 180, 0, [SEP] 60, Cabinet, -1.478, 0.373, -1.235, 0, 0, 0, [SEP] 61, Cabinet, 1.775, 0.372, -1.242, 0, 0, 0, [SEP] 62, Cabinet, 0.774, 0.372, -1.242, 0, 0, 0, [SEP] 63, Cabinet, 0.375, 0.372, -1.242, 0, 0, 0, [SEP] 64, Cabinet, -0.574, 0.372, -1.238, 0, 0, 0, [SEP] 65, Cabinet, 1.775, 2.009, -1.542, 0, 0, 0, [SEP] 66, Cabinet, 0.524, 2.009, -1.542, 0, 0, 0, [SEP] 67, Cabinet, -0.714, 2.009, -1.542, 0, 0, 0, [SEP] 68, Cabinet, -1.671, 2.009, -1.538, 0, 0, 0, [SEP] 69, Cabinet, 0.854, 2.259, -1.542, 0, 0, 0, [SEP] 70, Drawer, -1.636, 0.683, -0.930, 0, 0, 0, [SEP] 71, Drawer, 1.650, 0.682, -1.396, 0, 0, 0, [SEP] 72, Drawer, 0.600, 0.682, -1.396, 0, 0, 0, [SEP] 73, StoveBurner, 0.974, 0.957, -1.419, 0, 180, 0, [SEP] 74, Drawer, -2.062, 0.683, -1.579, 0, 0, 0, [SEP] 75, CounterTop, 1.645, 0.945, -1.527, 0, 0, 0, [SEP] 76, Shelf, 3.725, 0.880, 1.671, 0, 90, 0, [SEP] 77, LightSwitch, 2.830, 1.266, -0.748, 0, 0, 0, [SEP] 78, Shelf, 3.726, 0.552, 1.671, 0, 90, 0, [SEP] 79, Microwave, 1.150, 1.655, -1.614, 0, 0, 0, [SEP] 80, Fridge, -0.035, 0.0, 2.177, 0, 180, 0, [SEP] 81, Window, -0.115, 1.802, -1.896, 90, 0, 0, [SEP] 82, Window, -4.009, 1.799, 0.310, 90, 90, 0, [SEP] 83, Shelf, 3.726, 0.172, 1.671, 0, 90, 0, [SEP] 84, SinkBasin, -0.330, 0.686, -1.581, 0, 270, 0, [SEP] 85, GarbageCan, -0.870, -0.001, 2.136, 0, 90, 0, [SEP] 86, StoveKnob, 1.089, 0.913, -1.243, 45, 0, 0, [SEP] 87, StoveKnob, 1.208, 0.913, -1.243, 45, 0, 0, [SEP] 88, StoveKnob, 1.340, 0.913, -1.243, 45, 0, 0, [SEP] 89, StoveKnob, 0.961, 0.913, -1.243, 45, 0, 0, [SEP] 90, Toaster, 1.637, 0.900, -1.673, 0, 0, 0, [SEP] 91, Chair, -3.505, 0.002, 3.290, 0, 105.736, 0, [SEP] 92, CoffeeMachine, -1.111, 0.900, -1.726, 0, 0, 0, [SEP] 93, HousePlant, -2.663, 0.835, 3.209, 0, 0, 0, [SEP] 94, Faucet, -0.187, 0.922, -1.75, 0, 311.166, 0, [SEP] 95, ShelvingUnit, 3.726, 0.006, 1.671, 0, 90, 0, [SEP] 96, Stool, -2.501, -0.000, 0.062, 1.223, 91.243, 0, [SEP] 97, Stool, -2.475, -0.000, -0.802, 1.209, 69.808, 0, [SEP] 98, Chair, -2.934, 0.002, 2.437, 0, 28.531, 0, [SEP] 99, Chair, -1.698, 0.002, 3.235, 0, 245.204, 0, [SEP] 100, NorthWall, , , , , , , [SEP] 101, EastWall, , , , , , , [SEP] 102, SouthWall, , , , , , , [SEP] 103, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk back all the way till you get to the counter and then turn right. | STEP 2: Pick up the egg. | STEP 3: Turn around and head towards the fridge. | STEP 4: Open the fridge door, put the egg inside, and close the door. | END"]} +{"id": "trial_T20190919_025204_596754-4", "input": "Put an egg in the fridge. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.75, 0.900, 2.0, 0, 0, 0, [SEP] 1, Pan, 0.974, 0.957, -1.688, 0, 180, 0, 54 [SEP] 2, Book, -2.793, 0.871, 3.565, 0, 135, 0, 57 [SEP] 3, DishSponge, -1.649, 0.717, -1.001, 0, 0, 0, 70 [SEP] 4, ButterKnife, -2.828, 0.878, 3.073, 0, 270, 0, 57 [SEP] 5, ButterKnife, -2.248, 0.874, 2.916, 0, 135, 0, 57 [SEP] 6, Kettle, 1.328, 0.957, -1.688, 0, 180, 0, 58 [SEP] 7, WineBottle, 0.617, 0.913, -1.776, 0, 0, 0, 55 [SEP] 8, Pot, -2.152, 0.880, 3.147, 0, 270, 0, 57 [SEP] 9, Spoon, 1.687, 0.911, -1.346, 0, 0, 0, 75 [SEP] 10, Spoon, -2.964, 0.875, 3.632, 0, 135, 0, 57 [SEP] 11, Cup, -1.612, 0.117, -0.766, 0, 0, 0, 60 [SEP] 12, Cup, -0.040, 0.927, -1.429, 0, 270, 0, 52 [SEP] 13, Plate, -0.149, 0.807, 2.194, 0, 180, 0, 80 [SEP] 14, Plate, -0.377, 0.807, 2.023, 0, 180, 0, 80 [SEP] 15, SoapBottle, -2.525, 0.875, 3.565, 0, 225, 0, 57 [SEP] 16, SoapBottle, 0.630, 1.653, -1.749, 0, 0, 0, 66 [SEP] 17, SaltShaker, 3.637, 0.549, 1.449, 0, 270, 0, 78 [SEP] 18, PepperShaker, 1.649, 0.716, -1.377, 0, 0, 0, 71 [SEP] 19, Bread, -0.149, 1.655, 2.160, 0, 180, 0, 80 [SEP] 20, Lettuce, -2.950, 0.939, 3.408, 0, 135, 0, 57 [SEP] 21, Mug, -2.072, 0.907, -0.939, 0, 0, 0, 55 [SEP] 22, Mug, -2.300, 0.873, 2.863, 0, 135, 0, 57 [SEP] 23, Book, -2.490, 0.875, 3.370, 0, 270, 0, 57 [SEP] 24, Fork, -0.367, 0.708, -1.573, 0, 270, 0, 84 [SEP] 25, Tomato, -2.458, 0.925, 2.706, 0, 135, 0, 57 [SEP] 26, Egg, -1.568, 0.929, -0.469, 0, 0, 0, 55 [SEP] 27, Kettle, -0.292, 0.122, -1.413, 0, 0, 0, 64 [SEP] 28, Vase, -1.961, 0.913, -1.265, 0, 0, 0, 55 [SEP] 29, Cup, 0.663, 0.910, -1.267, 0, 0, 0, 55 [SEP] 30, WineBottle, -3.165, 0.879, 3.073, 0, 270, 0, 57 [SEP] 31, Plate, 3.689, 0.885, 1.861, 0, 270, 0, 76 [SEP] 32, Spatula, -2.845, 0.893, 2.930, 0, 225, 0, 57 [SEP] 33, Potato, -0.255, 0.733, -1.626, 0, 270, 0, 84 [SEP] 34, Pot, 1.328, 0.957, -1.420, 0, 180, 0, 59 [SEP] 35, Knife, -0.040, 0.950, -1.646, 0, 270, 0, 52 [SEP] 36, SaltShaker, -2.539, 0.871, 3.102, 0, 135, 0, 57 [SEP] 37, PepperShaker, -1.269, 0.908, -1.267, 0, 0, 0, 55 [SEP] 38, Lettuce, -2.659, 0.943, 2.884, 0, 0, 0, 57 [SEP] 39, ButterKnife, 0.179, 0.928, -1.573, 0, 270, 0, 52 [SEP] 40, Bread, -2.248, 0.961, 3.527, 0, 225, 0, 57 [SEP] 41, Vase, 3.793, 0.553, 1.449, 0, 270, 0, 78 [SEP] 42, DishSponge, -1.616, 0.719, -0.788, 0, 0, 0, 70 [SEP] 43, Apple, -2.510, 0.929, 2.884, 0, 0, 0, 57 [SEP] 44, Pan, 0.972, 0.959, -1.426, 0, 0, 0, 73 [SEP] 45, Spoon, -2.148, 0.719, -1.441, 0, 90, 0, 74 [SEP] 46, SoapBottle, -0.897, 0.193, 2.058, 0, 90, 0, 85 [SEP] 47, Mug, 1.316, 1.756, -1.596, 0, 0, 0, 79 [SEP] 48, Statue, 3.676, 0.168, 1.410, 0, 334.521, 0, 78 [SEP] 49, Statue, 3.668, 0.540, 1.800, 0, 0, 0, 78 [SEP] 50, Bowl, -1.961, 0.910, -0.614, 0, 0, 0, 55 [SEP] 51, Cabinet, -2.171, 2.009, -1.538, 0, 0, 0, [SEP] 52, Sink, 0.024, 0.771, -1.708, 0, 270, 0, [SEP] 53, Cabinet, 1.444, 2.259, -1.542, 0, 0, 0, [SEP] 54, StoveBurner, 0.974, 0.957, -1.688, 0, 180, 0, [SEP] 55, CounterTop, -1.866, 0.947, -0.614, 0, 0, 0, [SEP] 56, Cabinet, -2.217, 0.373, -1.874, 0, 0, 0, [SEP] 57, DiningTable, -2.663, 0.002, 3.208, 0, 0, 0, [SEP] 58, StoveBurner, 1.328, 0.957, -1.688, 0, 180, 0, [SEP] 59, StoveBurner, 1.328, 0.957, -1.420, 0, 180, 0, [SEP] 60, Cabinet, -1.478, 0.373, -1.235, 0, 0, 0, [SEP] 61, Cabinet, 1.775, 0.372, -1.242, 0, 0, 0, [SEP] 62, Cabinet, 0.774, 0.372, -1.242, 0, 0, 0, [SEP] 63, Cabinet, 0.375, 0.372, -1.242, 0, 0, 0, [SEP] 64, Cabinet, -0.574, 0.372, -1.238, 0, 0, 0, [SEP] 65, Cabinet, 1.775, 2.009, -1.542, 0, 0, 0, [SEP] 66, Cabinet, 0.524, 2.009, -1.542, 0, 0, 0, [SEP] 67, Cabinet, -0.714, 2.009, -1.542, 0, 0, 0, [SEP] 68, Cabinet, -1.671, 2.009, -1.538, 0, 0, 0, [SEP] 69, Cabinet, 0.854, 2.259, -1.542, 0, 0, 0, [SEP] 70, Drawer, -1.636, 0.683, -0.930, 0, 0, 0, [SEP] 71, Drawer, 1.650, 0.682, -1.396, 0, 0, 0, [SEP] 72, Drawer, 0.600, 0.682, -1.396, 0, 0, 0, [SEP] 73, StoveBurner, 0.974, 0.957, -1.419, 0, 180, 0, [SEP] 74, Drawer, -2.062, 0.683, -1.579, 0, 0, 0, [SEP] 75, CounterTop, 1.645, 0.945, -1.527, 0, 0, 0, [SEP] 76, Shelf, 3.725, 0.880, 1.671, 0, 90, 0, [SEP] 77, LightSwitch, 2.830, 1.266, -0.748, 0, 0, 0, [SEP] 78, Shelf, 3.726, 0.552, 1.671, 0, 90, 0, [SEP] 79, Microwave, 1.150, 1.655, -1.614, 0, 0, 0, [SEP] 80, Fridge, -0.035, 0.0, 2.177, 0, 180, 0, [SEP] 81, Window, -0.115, 1.802, -1.896, 90, 0, 0, [SEP] 82, Window, -4.009, 1.799, 0.310, 90, 90, 0, [SEP] 83, Shelf, 3.726, 0.172, 1.671, 0, 90, 0, [SEP] 84, SinkBasin, -0.330, 0.686, -1.581, 0, 270, 0, [SEP] 85, GarbageCan, -0.870, -0.001, 2.136, 0, 90, 0, [SEP] 86, StoveKnob, 1.089, 0.913, -1.243, 45, 0, 0, [SEP] 87, StoveKnob, 1.208, 0.913, -1.243, 45, 0, 0, [SEP] 88, StoveKnob, 1.340, 0.913, -1.243, 45, 0, 0, [SEP] 89, StoveKnob, 0.961, 0.913, -1.243, 45, 0, 0, [SEP] 90, Toaster, 1.637, 0.900, -1.673, 0, 0, 0, [SEP] 91, Chair, -3.505, 0.002, 3.290, 0, 105.736, 0, [SEP] 92, CoffeeMachine, -1.111, 0.900, -1.726, 0, 0, 0, [SEP] 93, HousePlant, -2.663, 0.835, 3.209, 0, 0, 0, [SEP] 94, Faucet, -0.187, 0.922, -1.75, 0, 311.166, 0, [SEP] 95, ShelvingUnit, 3.726, 0.006, 1.671, 0, 90, 0, [SEP] 96, Stool, -2.501, -0.000, 0.062, 1.223, 91.243, 0, [SEP] 97, Stool, -2.475, -0.000, -0.802, 1.209, 69.808, 0, [SEP] 98, Chair, -2.934, 0.002, 2.437, 0, 28.531, 0, [SEP] 99, Chair, -1.698, 0.002, 3.235, 0, 245.204, 0, [SEP] 100, NorthWall, , , , , , , [SEP] 101, EastWall, , , , , , , [SEP] 102, SouthWall, , , , , , , [SEP] 103, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk to the closest corner where the counter bends. Look on the right hand counter. | STEP 2: Pick the egg up off the counter. | STEP 3: Turn around and walk to the fridge. | STEP 4: Put the egg in the fridge. | END"]} +{"id": "trial_T20190919_025204_596754-5", "input": "Plan an egg inside the refrigerator. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.75, 0.900, 2.0, 0, 0, 0, [SEP] 1, Pan, 0.974, 0.957, -1.688, 0, 180, 0, 54 [SEP] 2, Book, -2.793, 0.871, 3.565, 0, 135, 0, 57 [SEP] 3, DishSponge, -1.649, 0.717, -1.001, 0, 0, 0, 70 [SEP] 4, ButterKnife, -2.828, 0.878, 3.073, 0, 270, 0, 57 [SEP] 5, ButterKnife, -2.248, 0.874, 2.916, 0, 135, 0, 57 [SEP] 6, Kettle, 1.328, 0.957, -1.688, 0, 180, 0, 58 [SEP] 7, WineBottle, 0.617, 0.913, -1.776, 0, 0, 0, 55 [SEP] 8, Pot, -2.152, 0.880, 3.147, 0, 270, 0, 57 [SEP] 9, Spoon, 1.687, 0.911, -1.346, 0, 0, 0, 75 [SEP] 10, Spoon, -2.964, 0.875, 3.632, 0, 135, 0, 57 [SEP] 11, Cup, -1.612, 0.117, -0.766, 0, 0, 0, 60 [SEP] 12, Cup, -0.040, 0.927, -1.429, 0, 270, 0, 52 [SEP] 13, Plate, -0.149, 0.807, 2.194, 0, 180, 0, 80 [SEP] 14, Plate, -0.377, 0.807, 2.023, 0, 180, 0, 80 [SEP] 15, SoapBottle, -2.525, 0.875, 3.565, 0, 225, 0, 57 [SEP] 16, SoapBottle, 0.630, 1.653, -1.749, 0, 0, 0, 66 [SEP] 17, SaltShaker, 3.637, 0.549, 1.449, 0, 270, 0, 78 [SEP] 18, PepperShaker, 1.649, 0.716, -1.377, 0, 0, 0, 71 [SEP] 19, Bread, -0.149, 1.655, 2.160, 0, 180, 0, 80 [SEP] 20, Lettuce, -2.950, 0.939, 3.408, 0, 135, 0, 57 [SEP] 21, Mug, -2.072, 0.907, -0.939, 0, 0, 0, 55 [SEP] 22, Mug, -2.300, 0.873, 2.863, 0, 135, 0, 57 [SEP] 23, Book, -2.490, 0.875, 3.370, 0, 270, 0, 57 [SEP] 24, Fork, -0.367, 0.708, -1.573, 0, 270, 0, 84 [SEP] 25, Tomato, -2.458, 0.925, 2.706, 0, 135, 0, 57 [SEP] 26, Egg, -1.568, 0.929, -0.469, 0, 0, 0, 55 [SEP] 27, Kettle, -0.292, 0.122, -1.413, 0, 0, 0, 64 [SEP] 28, Vase, -1.961, 0.913, -1.265, 0, 0, 0, 55 [SEP] 29, Cup, 0.663, 0.910, -1.267, 0, 0, 0, 55 [SEP] 30, WineBottle, -3.165, 0.879, 3.073, 0, 270, 0, 57 [SEP] 31, Plate, 3.689, 0.885, 1.861, 0, 270, 0, 76 [SEP] 32, Spatula, -2.845, 0.893, 2.930, 0, 225, 0, 57 [SEP] 33, Potato, -0.255, 0.733, -1.626, 0, 270, 0, 84 [SEP] 34, Pot, 1.328, 0.957, -1.420, 0, 180, 0, 59 [SEP] 35, Knife, -0.040, 0.950, -1.646, 0, 270, 0, 52 [SEP] 36, SaltShaker, -2.539, 0.871, 3.102, 0, 135, 0, 57 [SEP] 37, PepperShaker, -1.269, 0.908, -1.267, 0, 0, 0, 55 [SEP] 38, Lettuce, -2.659, 0.943, 2.884, 0, 0, 0, 57 [SEP] 39, ButterKnife, 0.179, 0.928, -1.573, 0, 270, 0, 52 [SEP] 40, Bread, -2.248, 0.961, 3.527, 0, 225, 0, 57 [SEP] 41, Vase, 3.793, 0.553, 1.449, 0, 270, 0, 78 [SEP] 42, DishSponge, -1.616, 0.719, -0.788, 0, 0, 0, 70 [SEP] 43, Apple, -2.510, 0.929, 2.884, 0, 0, 0, 57 [SEP] 44, Pan, 0.972, 0.959, -1.426, 0, 0, 0, 73 [SEP] 45, Spoon, -2.148, 0.719, -1.441, 0, 90, 0, 74 [SEP] 46, SoapBottle, -0.897, 0.193, 2.058, 0, 90, 0, 85 [SEP] 47, Mug, 1.316, 1.756, -1.596, 0, 0, 0, 79 [SEP] 48, Statue, 3.676, 0.168, 1.410, 0, 334.521, 0, 78 [SEP] 49, Statue, 3.668, 0.540, 1.800, 0, 0, 0, 78 [SEP] 50, Bowl, -1.961, 0.910, -0.614, 0, 0, 0, 55 [SEP] 51, Cabinet, -2.171, 2.009, -1.538, 0, 0, 0, [SEP] 52, Sink, 0.024, 0.771, -1.708, 0, 270, 0, [SEP] 53, Cabinet, 1.444, 2.259, -1.542, 0, 0, 0, [SEP] 54, StoveBurner, 0.974, 0.957, -1.688, 0, 180, 0, [SEP] 55, CounterTop, -1.866, 0.947, -0.614, 0, 0, 0, [SEP] 56, Cabinet, -2.217, 0.373, -1.874, 0, 0, 0, [SEP] 57, DiningTable, -2.663, 0.002, 3.208, 0, 0, 0, [SEP] 58, StoveBurner, 1.328, 0.957, -1.688, 0, 180, 0, [SEP] 59, StoveBurner, 1.328, 0.957, -1.420, 0, 180, 0, [SEP] 60, Cabinet, -1.478, 0.373, -1.235, 0, 0, 0, [SEP] 61, Cabinet, 1.775, 0.372, -1.242, 0, 0, 0, [SEP] 62, Cabinet, 0.774, 0.372, -1.242, 0, 0, 0, [SEP] 63, Cabinet, 0.375, 0.372, -1.242, 0, 0, 0, [SEP] 64, Cabinet, -0.574, 0.372, -1.238, 0, 0, 0, [SEP] 65, Cabinet, 1.775, 2.009, -1.542, 0, 0, 0, [SEP] 66, Cabinet, 0.524, 2.009, -1.542, 0, 0, 0, [SEP] 67, Cabinet, -0.714, 2.009, -1.542, 0, 0, 0, [SEP] 68, Cabinet, -1.671, 2.009, -1.538, 0, 0, 0, [SEP] 69, Cabinet, 0.854, 2.259, -1.542, 0, 0, 0, [SEP] 70, Drawer, -1.636, 0.683, -0.930, 0, 0, 0, [SEP] 71, Drawer, 1.650, 0.682, -1.396, 0, 0, 0, [SEP] 72, Drawer, 0.600, 0.682, -1.396, 0, 0, 0, [SEP] 73, StoveBurner, 0.974, 0.957, -1.419, 0, 180, 0, [SEP] 74, Drawer, -2.062, 0.683, -1.579, 0, 0, 0, [SEP] 75, CounterTop, 1.645, 0.945, -1.527, 0, 0, 0, [SEP] 76, Shelf, 3.725, 0.880, 1.671, 0, 90, 0, [SEP] 77, LightSwitch, 2.830, 1.266, -0.748, 0, 0, 0, [SEP] 78, Shelf, 3.726, 0.552, 1.671, 0, 90, 0, [SEP] 79, Microwave, 1.150, 1.655, -1.614, 0, 0, 0, [SEP] 80, Fridge, -0.035, 0.0, 2.177, 0, 180, 0, [SEP] 81, Window, -0.115, 1.802, -1.896, 90, 0, 0, [SEP] 82, Window, -4.009, 1.799, 0.310, 90, 90, 0, [SEP] 83, Shelf, 3.726, 0.172, 1.671, 0, 90, 0, [SEP] 84, SinkBasin, -0.330, 0.686, -1.581, 0, 270, 0, [SEP] 85, GarbageCan, -0.870, -0.001, 2.136, 0, 90, 0, [SEP] 86, StoveKnob, 1.089, 0.913, -1.243, 45, 0, 0, [SEP] 87, StoveKnob, 1.208, 0.913, -1.243, 45, 0, 0, [SEP] 88, StoveKnob, 1.340, 0.913, -1.243, 45, 0, 0, [SEP] 89, StoveKnob, 0.961, 0.913, -1.243, 45, 0, 0, [SEP] 90, Toaster, 1.637, 0.900, -1.673, 0, 0, 0, [SEP] 91, Chair, -3.505, 0.002, 3.290, 0, 105.736, 0, [SEP] 92, CoffeeMachine, -1.111, 0.900, -1.726, 0, 0, 0, [SEP] 93, HousePlant, -2.663, 0.835, 3.209, 0, 0, 0, [SEP] 94, Faucet, -0.187, 0.922, -1.75, 0, 311.166, 0, [SEP] 95, ShelvingUnit, 3.726, 0.006, 1.671, 0, 90, 0, [SEP] 96, Stool, -2.501, -0.000, 0.062, 1.223, 91.243, 0, [SEP] 97, Stool, -2.475, -0.000, -0.802, 1.209, 69.808, 0, [SEP] 98, Chair, -2.934, 0.002, 2.437, 0, 28.531, 0, [SEP] 99, Chair, -1.698, 0.002, 3.235, 0, 245.204, 0, [SEP] 100, NorthWall, , , , , , , [SEP] 101, EastWall, , , , , , , [SEP] 102, SouthWall, , , , , , , [SEP] 103, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and make your way to the dishwasher so you face it and then turn to your right. | STEP 2: Pick the egg up off of the counter. | STEP 3: Walk to the refrigerator and face it. | STEP 4: Open the fridge and place the egg on the top shelf before closing the door. | END"]} +{"id": "trial_T20190909_012109_099253-0", "input": "To put s pen in a bowl and move the bowl to the night stand. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, 0.5, 0, 180, 0, [SEP] 1, CD, 1.016, 0.728, 1.066, 0, 0, 0, 38 [SEP] 2, Pen, 1.356, 0.734, 1.066, 0, 270, 0, 38 [SEP] 3, Pencil, 1.102, 0.080, 0.588, 0, 0, 0, 28 [SEP] 4, KeyChain, 1.084, 0.729, 0.901, 0, 0, 0, 38 [SEP] 5, KeyChain, -0.094, 0.099, -1.593, 0, 270, 0, 41 [SEP] 6, AlarmClock, 1.220, 0.729, 0.901, 0, 0, 0, 38 [SEP] 7, Book, 1.205, 0.780, -0.714, 0, 0, 0, 27 [SEP] 8, Box, -1.233, 0.263, -1.435, 0, 312.675, 0, [SEP] 9, CellPhone, 1.205, 0.782, 0.107, 0, 0, 0, 27 [SEP] 10, BaseballBat, -1.717, 0.708, -0.677, 0, 0, 12.045, [SEP] 11, Bowl, 1.288, 0.729, 1.396, 0, 0, 0, 38 [SEP] 12, BasketBall, -1.64, 0.127, -1.652, 0, 0, 0, [SEP] 13, Laptop, 0.829, 0.776, -0.988, 0, 0, 0, 27 [SEP] 14, CreditCard, 1.016, 0.728, 1.231, 0, 0, 0, 38 [SEP] 15, KeyChain, 0.021, 0.694, -1.838, 0, 0, 0, 40 [SEP] 16, AlarmClock, 1.342, 1.131, 0.960, 0, 270, 0, 35 [SEP] 17, Pencil, 1.211, 0.555, 1.595, 0, 0, 0, 37 [SEP] 18, Pillow, 0.872, 0.816, -1.513, 0, 0, 0, 27 [SEP] 19, CD, 1.356, 0.728, 1.727, 0, 0, 0, 38 [SEP] 20, Pen, 1.310, 1.144, 1.246, 0, 270, 0, 35 [SEP] 21, Mug, 1.373, 1.136, 1.558, 0, 270, 0, 35 [SEP] 22, Poster, 0.978, 1.970, -1.868, 90, 0, 0, [SEP] 23, Mirror, -0.884, 1.350, 2.086, 0, 0, 0, [SEP] 24, Poster, 1.483, 1.978, -1.210, 90, 270, 0, [SEP] 25, Poster, 1.483, 1.503, -0.128, 90, 270, 0, [SEP] 26, Poster, 1.483, 2.138, -0.128, 90, 270, 0, [SEP] 27, Bed, 0.955, 0.002, -0.722, 0, 0, 0, [SEP] 28, GarbageCan, 1.133, 0.032, 0.581, 0, 0, 0, [SEP] 29, DeskLamp, -0.396, 0.664, -1.666, 0, 315, 0, [SEP] 30, LightSwitch, 0.554, 1.154, 2.079, 0, 180, 0, [SEP] 31, Window, -0.174, 1.006, -2.009, 90, 0, 0, [SEP] 32, LaundryHamper, -1.425, 0.006, 1.676, 0, 149.999, 0, [SEP] 33, Chair, 1.127, -8.434, 1.053, 0, 90, 0, [SEP] 34, Blinds, -0.145, 1.679, -1.986, 0, 0, 0, [SEP] 35, Shelf, 1.316, 1.174, 1.388, 0, 270, 0, [SEP] 36, Drawer, 1.099, 0.167, 1.724, 0, 270, 0, [SEP] 37, Drawer, 1.099, 0.622, 1.724, 0, 270, 0, [SEP] 38, Desk, 1.189, 0.002, 1.384, 0, 270, 0, [SEP] 39, Drawer, 1.099, 0.408, 1.724, 0, 270, 0, [SEP] 40, SideTable, -0.103, -0.000, -1.691, 0, 0, 0, [SEP] 41, Drawer, -0.104, 0.157, -1.618, 0, 0, 0, [SEP] 42, Drawer, -0.104, 0.456, -1.618, 0, 0, 0, [SEP] 43, NorthWall, , , , , , , [SEP] 44, EastWall, , , , , , , [SEP] 45, SouthWall, , , , , , , [SEP] 46, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk to the desk on the left side of the bed. | STEP 2: Pick up the pen behind the CD. | STEP 3: Move over to the left side of the desk. | STEP 4: Put the pen down in the bowl on the desk. | STEP 5: Pick up the bowl from the desk. | STEP 6: Walk to the night stand to the right of the bed. | STEP 7: Put the bowl down on the night stand to the left of the lamp. | END"]} +{"id": "trial_T20190907_040632_415432-1", "input": "Place the two bats from the floor on to the bed. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.25, 0.901, -0.25, 0, 270, 0, [SEP] 1, Mug, 3.082, 0.983, 0.439, 0, 180, 0, 37 [SEP] 2, Mug, 2.546, 0.178, 1.082, 0, 180, 0, 40 [SEP] 3, CD, -1.562, 0.356, -1.306, 0, 0, 0, 48 [SEP] 4, CD, 2.371, 0.448, -0.588, 0, 119.999, 0, 50 [SEP] 5, Pen, -1.603, 0.668, -1.405, 0, 0, 0, 47 [SEP] 6, CreditCard, 2.557, 0.985, 1.292, 0, 180, 0, 37 [SEP] 7, KeyChain, 2.820, 0.986, 0.155, 0, 0, 0, 37 [SEP] 8, KeyChain, 2.995, 0.989, 1.292, 0, 180, 0, 37 [SEP] 9, Pencil, 2.732, 0.989, 1.007, 0, 180, 0, 37 [SEP] 10, Pencil, 2.644, 0.992, 0.155, 0, 180, 0, 37 [SEP] 11, Pillow, -0.448, 0.779, 0.782, 0, 0, 0, 29 [SEP] 12, Laptop, 0.086, 0.691, -0.109, 0, 0, 0, 29 [SEP] 13, Book, 2.914, 0.981, 0.798, 0, 287.688, 0, 37 [SEP] 14, KeyChain, 2.437, 0.450, -0.737, 0, 119.999, 0, 50 [SEP] 15, Laptop, 2.750, 0.981, 1.710, 0, 240.000, 0, 37 [SEP] 16, Cloth, 1.763, 0.000, -1.732, 0, 70.590, 0, [SEP] 17, CreditCard, 2.644, 0.988, 0.723, 0, 180, 0, 37 [SEP] 18, Pen, -1.558, 0.668, 1.556, 0, 0, 0, 49 [SEP] 19, Pencil, 2.820, 0.989, 0.439, 0, 180, 0, 37 [SEP] 20, BaseballBat, 3.076, 0.629, -1.762, 0, 0, 338.300, [SEP] 21, AlarmClock, 2.819, 0.984, 1.292, 0, 180, 0, 37 [SEP] 22, BaseballBat, 0.808, 0.05, 2.151, 0, 0, 270, [SEP] 23, Pillow, -0.181, 0.779, 0.336, 0, 0, 0, 29 [SEP] 24, Pillow, 0.086, 0.779, 0.782, 0, 0, 0, 29 [SEP] 25, CellPhone, 2.557, 0.988, 1.007, 0, 180, 0, 37 [SEP] 26, CD, -1.558, 0.662, -1.172, 0, 0, 0, 47 [SEP] 27, Mug, 2.547, 0.178, 0.349, 0, 180, 0, 43 [SEP] 28, Curtains, -0.020, 2.923, -1.853, 0, 0, 0, [SEP] 29, Bed, -0.750, -0.018, 0.113, 1.247, 270, 0, [SEP] 30, LightSwitch, 1.317, 1.297, 2.197, 0, 180, 0, [SEP] 31, DeskLamp, -1.618, 0.669, 1.486, 0, 0, 0, [SEP] 32, DeskLamp, -1.631, 0.669, -1.308, 0, 0, 0, [SEP] 33, Painting, 1.524, 1.516, -1.853, 90, 0, 0, [SEP] 34, GarbageCan, 1.352, 0.000, -1.685, 0, 0, 0, [SEP] 35, Mirror, 0.575, 1.351, 2.197, 0, 0, 0, [SEP] 36, Window, -0.013, 1.687, -1.919, 90, 0, 0, [SEP] 37, Dresser, 2.819, 0.000, 1.008, 0, 270, 0, [SEP] 38, Drawer, 2.572, 0.901, 1.784, 0, 270, 0, [SEP] 39, Cabinet, 2.484, 0.499, 1.014, 0, 270, 0, [SEP] 40, Cabinet, 2.484, 0.499, 0.999, 0, 270, 0, [SEP] 41, Drawer, 2.572, 0.901, 1.263, 0, 270, 0, [SEP] 42, Drawer, 2.572, 0.901, 0.748, 0, 270, 0, [SEP] 43, Cabinet, 2.484, 0.499, -0.019, 0, 270, 0, [SEP] 44, Drawer, 2.572, 0.901, 0.230, 0, 270, 0, [SEP] 45, Cabinet, 2.484, 0.499, 2.033, 0, 270, 0, [SEP] 46, Drawer, -1.533, 0.459, 1.478, 0, 90, 0, [SEP] 47, SideTable, -1.599, 0.001, -1.249, 0, 90, 0, [SEP] 48, Drawer, -1.533, 0.459, -1.250, 0, 90, 0, [SEP] 49, SideTable, -1.599, 0.001, 1.479, 0, 90, 0, [SEP] 50, ArmChair, 2.574, 0.002, -0.817, 0, 299.998, 0, [SEP] 51, Shelf, -1.552, 0.040, -1.400, 0, 90, 0, [SEP] 52, Shelf, -1.552, 0.040, -1.133, 0, 90, 0, [SEP] 53, Shelf, -1.552, 0.040, 1.328, 0, 90, 0, [SEP] 54, Shelf, -1.552, 0.040, 1.595, 0, 90, 0, [SEP] 55, NorthWall, , , , , , , [SEP] 56, EastWall, , , , , , , [SEP] 57, SouthWall, , , , , , , [SEP] 58, WestWall, , , , , , , ", "output": ["STEP 1: Turn left towards the blue bin and then turn left towards the baseball bat on the floor. | STEP 2: Pick up the bat from the floor. | STEP 3: Turn around and head towards the bed. | STEP 4: Place the bat behind the laptop lid on the bed. | STEP 5: Turn right towards the mirror and look down to find a baseball bat. | STEP 6: Pick up the baseball bat on the ground. | STEP 7: Turn around and head towards the bed. | STEP 8: Place the bat beside the pillow closest to the lap top. | END"]} +{"id": "trial_T20190907_040632_415432-2", "input": "Put two bats on the bed. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.25, 0.901, -0.25, 0, 270, 0, [SEP] 1, Mug, 3.082, 0.983, 0.439, 0, 180, 0, 37 [SEP] 2, Mug, 2.546, 0.178, 1.082, 0, 180, 0, 40 [SEP] 3, CD, -1.562, 0.356, -1.306, 0, 0, 0, 48 [SEP] 4, CD, 2.371, 0.448, -0.588, 0, 119.999, 0, 50 [SEP] 5, Pen, -1.603, 0.668, -1.405, 0, 0, 0, 47 [SEP] 6, CreditCard, 2.557, 0.985, 1.292, 0, 180, 0, 37 [SEP] 7, KeyChain, 2.820, 0.986, 0.155, 0, 0, 0, 37 [SEP] 8, KeyChain, 2.995, 0.989, 1.292, 0, 180, 0, 37 [SEP] 9, Pencil, 2.732, 0.989, 1.007, 0, 180, 0, 37 [SEP] 10, Pencil, 2.644, 0.992, 0.155, 0, 180, 0, 37 [SEP] 11, Pillow, -0.448, 0.779, 0.782, 0, 0, 0, 29 [SEP] 12, Laptop, 0.086, 0.691, -0.109, 0, 0, 0, 29 [SEP] 13, Book, 2.914, 0.981, 0.798, 0, 287.688, 0, 37 [SEP] 14, KeyChain, 2.437, 0.450, -0.737, 0, 119.999, 0, 50 [SEP] 15, Laptop, 2.750, 0.981, 1.710, 0, 240.000, 0, 37 [SEP] 16, Cloth, 1.763, 0.000, -1.732, 0, 70.590, 0, [SEP] 17, CreditCard, 2.644, 0.988, 0.723, 0, 180, 0, 37 [SEP] 18, Pen, -1.558, 0.668, 1.556, 0, 0, 0, 49 [SEP] 19, Pencil, 2.820, 0.989, 0.439, 0, 180, 0, 37 [SEP] 20, BaseballBat, 3.076, 0.629, -1.762, 0, 0, 338.300, [SEP] 21, AlarmClock, 2.819, 0.984, 1.292, 0, 180, 0, 37 [SEP] 22, BaseballBat, 0.808, 0.05, 2.151, 0, 0, 270, [SEP] 23, Pillow, -0.181, 0.779, 0.336, 0, 0, 0, 29 [SEP] 24, Pillow, 0.086, 0.779, 0.782, 0, 0, 0, 29 [SEP] 25, CellPhone, 2.557, 0.988, 1.007, 0, 180, 0, 37 [SEP] 26, CD, -1.558, 0.662, -1.172, 0, 0, 0, 47 [SEP] 27, Mug, 2.547, 0.178, 0.349, 0, 180, 0, 43 [SEP] 28, Curtains, -0.020, 2.923, -1.853, 0, 0, 0, [SEP] 29, Bed, -0.750, -0.018, 0.113, 1.247, 270, 0, [SEP] 30, LightSwitch, 1.317, 1.297, 2.197, 0, 180, 0, [SEP] 31, DeskLamp, -1.618, 0.669, 1.486, 0, 0, 0, [SEP] 32, DeskLamp, -1.631, 0.669, -1.308, 0, 0, 0, [SEP] 33, Painting, 1.524, 1.516, -1.853, 90, 0, 0, [SEP] 34, GarbageCan, 1.352, 0.000, -1.685, 0, 0, 0, [SEP] 35, Mirror, 0.575, 1.351, 2.197, 0, 0, 0, [SEP] 36, Window, -0.013, 1.687, -1.919, 90, 0, 0, [SEP] 37, Dresser, 2.819, 0.000, 1.008, 0, 270, 0, [SEP] 38, Drawer, 2.572, 0.901, 1.784, 0, 270, 0, [SEP] 39, Cabinet, 2.484, 0.499, 1.014, 0, 270, 0, [SEP] 40, Cabinet, 2.484, 0.499, 0.999, 0, 270, 0, [SEP] 41, Drawer, 2.572, 0.901, 1.263, 0, 270, 0, [SEP] 42, Drawer, 2.572, 0.901, 0.748, 0, 270, 0, [SEP] 43, Cabinet, 2.484, 0.499, -0.019, 0, 270, 0, [SEP] 44, Drawer, 2.572, 0.901, 0.230, 0, 270, 0, [SEP] 45, Cabinet, 2.484, 0.499, 2.033, 0, 270, 0, [SEP] 46, Drawer, -1.533, 0.459, 1.478, 0, 90, 0, [SEP] 47, SideTable, -1.599, 0.001, -1.249, 0, 90, 0, [SEP] 48, Drawer, -1.533, 0.459, -1.250, 0, 90, 0, [SEP] 49, SideTable, -1.599, 0.001, 1.479, 0, 90, 0, [SEP] 50, ArmChair, 2.574, 0.002, -0.817, 0, 299.998, 0, [SEP] 51, Shelf, -1.552, 0.040, -1.400, 0, 90, 0, [SEP] 52, Shelf, -1.552, 0.040, -1.133, 0, 90, 0, [SEP] 53, Shelf, -1.552, 0.040, 1.328, 0, 90, 0, [SEP] 54, Shelf, -1.552, 0.040, 1.595, 0, 90, 0, [SEP] 55, NorthWall, , , , , , , [SEP] 56, EastWall, , , , , , , [SEP] 57, SouthWall, , , , , , , [SEP] 58, WestWall, , , , , , , ", "output": ["STEP 1: Go to the corner behind the chair. | STEP 2: Pick up the bat in the corner. | STEP 3: Go across the room to the bed. | STEP 4: Put the bat on the bed to the left of the laptop. | STEP 5: Go to the mirror with a bat under it. | STEP 6: Pick up the bat on the floor. | STEP 7: Go back to the bed. | STEP 8: Set the bat on the bed to the right of the laptop. | END"]} +{"id": "trial_T20190907_040632_415432-3", "input": "Place two baseball bats on the bed SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.25, 0.901, -0.25, 0, 270, 0, [SEP] 1, Mug, 3.082, 0.983, 0.439, 0, 180, 0, 37 [SEP] 2, Mug, 2.546, 0.178, 1.082, 0, 180, 0, 40 [SEP] 3, CD, -1.562, 0.356, -1.306, 0, 0, 0, 48 [SEP] 4, CD, 2.371, 0.448, -0.588, 0, 119.999, 0, 50 [SEP] 5, Pen, -1.603, 0.668, -1.405, 0, 0, 0, 47 [SEP] 6, CreditCard, 2.557, 0.985, 1.292, 0, 180, 0, 37 [SEP] 7, KeyChain, 2.820, 0.986, 0.155, 0, 0, 0, 37 [SEP] 8, KeyChain, 2.995, 0.989, 1.292, 0, 180, 0, 37 [SEP] 9, Pencil, 2.732, 0.989, 1.007, 0, 180, 0, 37 [SEP] 10, Pencil, 2.644, 0.992, 0.155, 0, 180, 0, 37 [SEP] 11, Pillow, -0.448, 0.779, 0.782, 0, 0, 0, 29 [SEP] 12, Laptop, 0.086, 0.691, -0.109, 0, 0, 0, 29 [SEP] 13, Book, 2.914, 0.981, 0.798, 0, 287.688, 0, 37 [SEP] 14, KeyChain, 2.437, 0.450, -0.737, 0, 119.999, 0, 50 [SEP] 15, Laptop, 2.750, 0.981, 1.710, 0, 240.000, 0, 37 [SEP] 16, Cloth, 1.763, 0.000, -1.732, 0, 70.590, 0, [SEP] 17, CreditCard, 2.644, 0.988, 0.723, 0, 180, 0, 37 [SEP] 18, Pen, -1.558, 0.668, 1.556, 0, 0, 0, 49 [SEP] 19, Pencil, 2.820, 0.989, 0.439, 0, 180, 0, 37 [SEP] 20, BaseballBat, 3.076, 0.629, -1.762, 0, 0, 338.300, [SEP] 21, AlarmClock, 2.819, 0.984, 1.292, 0, 180, 0, 37 [SEP] 22, BaseballBat, 0.808, 0.05, 2.151, 0, 0, 270, [SEP] 23, Pillow, -0.181, 0.779, 0.336, 0, 0, 0, 29 [SEP] 24, Pillow, 0.086, 0.779, 0.782, 0, 0, 0, 29 [SEP] 25, CellPhone, 2.557, 0.988, 1.007, 0, 180, 0, 37 [SEP] 26, CD, -1.558, 0.662, -1.172, 0, 0, 0, 47 [SEP] 27, Mug, 2.547, 0.178, 0.349, 0, 180, 0, 43 [SEP] 28, Curtains, -0.020, 2.923, -1.853, 0, 0, 0, [SEP] 29, Bed, -0.750, -0.018, 0.113, 1.247, 270, 0, [SEP] 30, LightSwitch, 1.317, 1.297, 2.197, 0, 180, 0, [SEP] 31, DeskLamp, -1.618, 0.669, 1.486, 0, 0, 0, [SEP] 32, DeskLamp, -1.631, 0.669, -1.308, 0, 0, 0, [SEP] 33, Painting, 1.524, 1.516, -1.853, 90, 0, 0, [SEP] 34, GarbageCan, 1.352, 0.000, -1.685, 0, 0, 0, [SEP] 35, Mirror, 0.575, 1.351, 2.197, 0, 0, 0, [SEP] 36, Window, -0.013, 1.687, -1.919, 90, 0, 0, [SEP] 37, Dresser, 2.819, 0.000, 1.008, 0, 270, 0, [SEP] 38, Drawer, 2.572, 0.901, 1.784, 0, 270, 0, [SEP] 39, Cabinet, 2.484, 0.499, 1.014, 0, 270, 0, [SEP] 40, Cabinet, 2.484, 0.499, 0.999, 0, 270, 0, [SEP] 41, Drawer, 2.572, 0.901, 1.263, 0, 270, 0, [SEP] 42, Drawer, 2.572, 0.901, 0.748, 0, 270, 0, [SEP] 43, Cabinet, 2.484, 0.499, -0.019, 0, 270, 0, [SEP] 44, Drawer, 2.572, 0.901, 0.230, 0, 270, 0, [SEP] 45, Cabinet, 2.484, 0.499, 2.033, 0, 270, 0, [SEP] 46, Drawer, -1.533, 0.459, 1.478, 0, 90, 0, [SEP] 47, SideTable, -1.599, 0.001, -1.249, 0, 90, 0, [SEP] 48, Drawer, -1.533, 0.459, -1.250, 0, 90, 0, [SEP] 49, SideTable, -1.599, 0.001, 1.479, 0, 90, 0, [SEP] 50, ArmChair, 2.574, 0.002, -0.817, 0, 299.998, 0, [SEP] 51, Shelf, -1.552, 0.040, -1.400, 0, 90, 0, [SEP] 52, Shelf, -1.552, 0.040, -1.133, 0, 90, 0, [SEP] 53, Shelf, -1.552, 0.040, 1.328, 0, 90, 0, [SEP] 54, Shelf, -1.552, 0.040, 1.595, 0, 90, 0, [SEP] 55, NorthWall, , , , , , , [SEP] 56, EastWall, , , , , , , [SEP] 57, SouthWall, , , , , , , [SEP] 58, WestWall, , , , , , , ", "output": ["STEP 1: turn left, cross the room to the trashcan, then turn left, and move into the nearest corner | STEP 2: take the baseball bat from the corner | STEP 3: cross the room to the center of the foot of the bed | STEP 4: precariously balance the bat on the bed to the left of the laptop, in defiance of physics | STEP 5: turn right and cross the room the mirror, then look down at the floor | STEP 6: take the baseball bat from the floor | STEP 7: turn around, and return to the center of the foot of the bed, then turn to face the bed | STEP 8: place the bat on the bed in front of the pillow closest to the center of the bed | END"]} +{"id": "trial_T20190906_210600_563322-1", "input": "Put a cleaned knife on the table next to the microwave. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.5, 1.124, -1.0, 0, 0, 0, [SEP] 1, Pan, 1.021, 1.524, 1.601, 0, 180, 0, 66 [SEP] 2, Potato, -1.826, 1.372, -0.911, 0, 0, 0, 60 [SEP] 3, Potato, -1.698, 1.090, -0.587, 0, 0, 0, 71 [SEP] 4, DishSponge, -2.049, 1.322, -3.241, 0, 0, 0, 53 [SEP] 5, WineBottle, -1.345, 1.323, -0.801, 0, 0, 0, 53 [SEP] 6, Kettle, -2.049, 1.324, -1.681, 0, 0, 0, 53 [SEP] 7, Kettle, 0.900, 0.346, -2.164, 0, 180, 0, 52 [SEP] 8, Fork, 0.944, 1.208, 1.206, 0, 0, 0, 78 [SEP] 9, Fork, 0.896, 1.323, -0.942, 0, 0, 0, 53 [SEP] 10, Spatula, -1.826, 1.078, -0.496, 0, 180, 0, 71 [SEP] 11, Pot, -0.125, 1.332, -2.973, 0, 0, 0, 61 [SEP] 12, Pot, -0.239, 1.331, -3.301, 0, 180, 0, 48 [SEP] 13, Cup, -1.530, 1.320, 0.770, 0, 0, 0, 53 [SEP] 14, Tomato, -2.004, 1.370, -1.255, 0, 0, 0, 60 [SEP] 15, Tomato, -1.915, 1.369, -1.117, 0, 0, 0, 60 [SEP] 16, SaltShaker, -1.789, 0.338, -2.362, 0, 0, 0, 49 [SEP] 17, SaltShaker, -1.920, 1.318, -3.241, 0, 0, 0, 53 [SEP] 18, PepperShaker, -1.750, 0.338, 1.110, 0, 0, 0, 54 [SEP] 19, PepperShaker, 0.420, 1.318, -2.900, 0, 0, 0, 53 [SEP] 20, Bread, -2.049, 1.397, -2.721, 0, 0, 0, 53 [SEP] 21, Lettuce, 1.017, 1.833, 2.053, 0, 270, 0, 66 [SEP] 22, Mug, -1.790, 1.318, -2.721, 0, 0, 0, 53 [SEP] 23, Mug, -1.237, 1.318, -3.425, 0, 0, 0, 53 [SEP] 24, Apple, -1.451, 1.371, -2.981, 0, 0, 0, 53 [SEP] 25, Bread, -2.049, 1.397, 2.069, 0, 0, 0, 53 [SEP] 26, Pot, 0.824, 0.351, -1.854, 0, 180, 0, 52 [SEP] 27, Knife, -1.737, 1.358, -1.186, 0, 180, 0, 60 [SEP] 28, Bowl, -2.093, 1.332, -1.117, 0, 0, 0, 60 [SEP] 29, Potato, 0.634, 1.362, -3.121, 0, 0, 0, 53 [SEP] 30, SoapBottle, 0.634, 1.323, -2.678, 0, 0, 0, 53 [SEP] 31, Fork, 0.563, 1.323, -3.232, 0, 0, 0, 53 [SEP] 32, Cup, 1.148, 1.307, 0.810, 0, 270, 0, 78 [SEP] 33, Kettle, -0.749, 1.332, -2.973, 0, 0, 0, 56 [SEP] 34, Egg, 0.933, 1.986, 1.553, 0, 270, 0, 66 [SEP] 35, Pan, -1.749, 0.343, 0.412, 0, 180, 0, 51 [SEP] 36, SaltShaker, -1.451, 1.318, -3.425, 0, 0, 0, 53 [SEP] 37, WineBottle, 1.053, 0.345, -2.061, 0, 180, 0, 52 [SEP] 38, Lettuce, -1.920, 1.399, -2.201, 0, 0, 0, 53 [SEP] 39, Spatula, -1.954, 1.066, -0.587, 0, 90, 0, 71 [SEP] 40, PaperTowelRoll, -1.345, 1.427, -0.332, 0, 0, 0, 53 [SEP] 41, Tomato, 1.017, 1.709, 1.663, 0, 270, 0, 66 [SEP] 42, Plate, -1.660, 1.323, -3.241, 0, 0, 0, 53 [SEP] 43, PepperShaker, -1.750, 0.338, 1.523, 0, 0, 0, 54 [SEP] 44, DishSponge, -1.634, 0.279, 2.193, 0, 270, 0, 68 [SEP] 45, Spoon, -1.603, 0.421, -0.430, 0, 0, 0, 57 [SEP] 46, Apple, -1.790, 1.371, -1.681, 0, 0, 0, 53 [SEP] 47, Mug, -1.817, 0.338, 0.311, 0, 0, 0, 51 [SEP] 48, StoveBurner, -0.239, 1.325, -3.301, 0, 180, 0, [SEP] 49, Cabinet, -1.461, 0.775, -2.002, 0, 0, 0, [SEP] 50, StoveBurner, -0.630, 1.325, -3.301, 0, 180, 0, [SEP] 51, Cabinet, -1.461, 0.775, 0.470, 0, 0, 0, [SEP] 52, Cabinet, 0.578, 0.776, -2.054, 0, 0, 0, [SEP] 53, CounterTop, -1.809, 1.358, 1.182, 0, 0, 0, [SEP] 54, Cabinet, -1.461, 0.775, 1.310, 0, 0, 0, [SEP] 55, Faucet, -2.063, 1.362, -0.726, 0, 39.391, 0, [SEP] 56, StoveBurner, -0.749, 1.325, -2.973, 0, 0, 0, [SEP] 57, Drawer, -1.610, 0.681, -0.430, 0, 0, 0, [SEP] 58, Window, -2.566, 1.799, -0.822, 270, 0, 0, [SEP] 59, Drawer, -1.610, 0.681, -1.217, 0, 0, 0, [SEP] 60, Sink, -1.990, 1.143, -0.975, 0, 0, 0, [SEP] 61, StoveBurner, -0.125, 1.325, -2.973, 0, 0, 0, [SEP] 62, StoveKnob, -0.185, 1.338, -2.741, 0, 270, 180, [SEP] 63, StoveKnob, -0.336, 1.338, -2.741, 0, 270, 180, [SEP] 64, StoveKnob, -0.569, 1.338, -2.741, 0, 270, 180, [SEP] 65, StoveKnob, -0.707, 1.338, -2.741, 0, 270, 180, [SEP] 66, Fridge, 1.013, 0.227, 1.917, 0, 270, 0, [SEP] 67, Microwave, 0.994, 1.310, -2.163, 0, 270, 0, [SEP] 68, GarbageCan, -1.633, 0.212, 2.192, 0, 270, 0, [SEP] 69, LightSwitch, 1.386, 1.565, -0.657, 0, 270, 0, [SEP] 70, HousePlant, -2.027, 1.311, -0.026, 0, 284.058, 0, [SEP] 71, SinkBasin, -1.835, 1.039, -0.542, 0, 0, 0, [SEP] 72, ButterKnife, 0.873, 0.468, 0.651, 0, 0, 0, [SEP] 73, Toaster, -1.885, 1.310, -2.512, 0, 90, 0, [SEP] 74, CoffeeMachine, 1.129, 1.310, -1.426, 0, 270, 0, [SEP] 75, Drawer, 0.647, 1.061, 0.680, 0, 270, 0, [SEP] 76, Drawer, 0.648, 1.061, 1.020, 0, 270, 0, [SEP] 77, Drawer, 0.648, 0.843, 1.020, 0, 270, 0, [SEP] 78, SideTable, 0.975, 0.220, 0.869, 0, 270, 0, [SEP] 79, Drawer, 0.648, 0.602, 0.680, 0, 270, 0, [SEP] 80, Drawer, 0.648, 0.596, 1.020, 0, 270, 0, [SEP] 81, Drawer, 0.648, 0.843, 0.680, 0, 270, 0, [SEP] 82, Stool, 0.606, 0.222, -1.084, 1.233, 280.489, 0, [SEP] 83, NorthWall, , , , , , , [SEP] 84, EastWall, , , , , , , [SEP] 85, SouthWall, , , , , , , [SEP] 86, WestWall, , , , , , , ", "output": ["STEP 1: Go to the counter left of the sink. | STEP 2: Pick up the knife from the counter. | STEP 3: Bring the knife to the sink. | STEP 4: Wash the knife in the sink. | STEP 5: Bring the knife to the table with the microwave. | STEP 6: Stand the knife on the table. | END"]} +{"id": "trial_T20190909_042755_916077-1", "input": "To wash a piece of apple and place it in the fridge. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.900, -1.75, 0, 0, 0, [SEP] 1, Glassbottle, -2.210, 0.924, -2.345, 0, 0, 0, 79 [SEP] 2, Pencil, -0.361, 0.747, -3.297, 0, 270, 0, 65 [SEP] 3, Pen, -2.324, 0.926, -1.884, 0, 0, 0, 79 [SEP] 4, Pen, -0.743, 0.918, -3.555, 0, 0, 0, 54 [SEP] 5, DishSponge, -2.552, 0.923, -0.963, 0, 0, 0, 79 [SEP] 6, ButterKnife, -2.552, 0.923, -1.423, 0, 0, 0, 79 [SEP] 7, WineBottle, -2.096, 0.924, -2.345, 0, 0, 0, 79 [SEP] 8, WineBottle, -0.260, 1.531, -3.603, 0, 45, 0, 62 [SEP] 9, Pot, -1.515, 0.935, -3.497, 0, 0, 0, 51 [SEP] 10, Pot, -1.129, 0.935, -3.498, 0, 0, 0, 52 [SEP] 11, Fork, -2.324, 0.924, -2.115, 0, 270, 0, 79 [SEP] 12, Spoon, -2.324, 0.924, -1.423, 0, 0, 0, 79 [SEP] 13, Knife, -2.780, 0.946, -1.423, 0, 270, 0, 79 [SEP] 14, Knife, -2.096, 0.946, -1.884, 0, 90, 0, 79 [SEP] 15, Plate, -0.460, 0.083, -1.849, 0, 0, 0, 49 [SEP] 16, Plate, -2.438, 0.925, -1.193, 0, 0, 0, 79 [SEP] 17, Cup, -0.422, 0.080, -2.201, 0, 0, 0, 59 [SEP] 18, Cup, -1.549, 1.968, -3.773, 0, 0, 0, 63 [SEP] 19, Tomato, -1.912, 0.090, -3.763, 0, 0, 0, 70 [SEP] 20, SaltShaker, -0.460, 0.077, -3.267, 0, 0, 0, 60 [SEP] 21, SaltShaker, -0.343, 1.527, -3.795, 0, 45, 0, 62 [SEP] 22, PepperShaker, -0.211, 1.524, -2.914, 0, 0, 0, 66 [SEP] 23, PepperShaker, -0.747, 0.078, -3.662, 0, 0, 0, 58 [SEP] 24, Apple, -1.151, 1.703, -3.837, 0, 0, 0, 67 [SEP] 25, Lettuce, -2.096, 1.016, -2.115, 0, 0, 0, 79 [SEP] 26, Glassbottle, -0.743, 0.916, -3.626, 0, 0, 0, 54 [SEP] 27, Egg, -0.447, 0.830, -1.934, 0, 270, 0, 72 [SEP] 28, Pen, -2.780, 0.926, -2.345, 0, 0, 0, 79 [SEP] 29, Fork, -2.438, 0.924, -0.963, 0, 90, 0, 79 [SEP] 30, SoapBottle, -2.552, 0.922, -1.654, 0, 0, 0, 79 [SEP] 31, Pencil, -0.720, 0.747, -3.586, 0, 270, 0, 53 [SEP] 32, WineBottle, -0.211, 1.528, -2.598, 0, 0, 0, 66 [SEP] 33, Spatula, -0.350, 0.812, -1.860, 0, 270, 0, 72 [SEP] 34, Bread, -0.414, 0.952, -3.625, 0, 0, 0, 54 [SEP] 35, Tomato, -2.096, 0.987, -1.423, 0, 0, 0, 79 [SEP] 36, Pan, -2.174, 0.913, -1.099, 0, 0, 0, 79 [SEP] 37, Cup, -2.666, 0.922, -2.115, 0, 0, 0, 79 [SEP] 38, Pot, -0.343, 1.098, -0.560, 0, 270, 0, 71 [SEP] 39, SaltShaker, -0.671, 0.912, -3.839, 0, 0, 0, 54 [SEP] 40, Potato, -0.081, 0.947, -1.700, 0, 0, 0, 72 [SEP] 41, PepperShaker, -0.436, 0.912, -2.563, 0, 0, 0, 54 [SEP] 42, ButterKnife, -2.438, 0.923, -2.115, 0, 0, 0, 79 [SEP] 43, DishSponge, -0.778, 0.081, -3.506, 0, 0, 0, 58 [SEP] 44, Spoon, -2.438, 0.924, -1.884, 0, 0, 0, 79 [SEP] 45, Plate, -0.343, 1.101, -0.979, 0, 270, 0, 71 [SEP] 46, Knife, -2.438, 0.946, -2.345, 0, 0, 0, 79 [SEP] 47, Mug, -0.351, 0.962, -3.144, 0, 270, 0, 68 [SEP] 48, Bowl, -1.100, 1.968, -3.851, 0, 0, 0, 55 [SEP] 49, Cabinet, -0.582, 0.388, -1.804, 0, 0, 0, [SEP] 50, StoveBurner, -1.515, 0.928, -3.752, 0, 90, 0, [SEP] 51, StoveBurner, -1.515, 0.928, -3.497, 0, 0, 0, [SEP] 52, StoveBurner, -1.129, 0.928, -3.498, 0, 0, 0, [SEP] 53, Drawer, -0.749, 0.779, -3.551, 0, 0, 0, [SEP] 54, CounterTop, -0.303, 0.951, -2.793, 0, 0, 0, [SEP] 55, Cabinet, -0.883, 2.140, -3.687, 0, 0, 0, [SEP] 56, Cabinet, -0.312, 2.140, -1.543, 0, 0, 0, [SEP] 57, Sink, -0.349, 0.907, -2.014, 0, 0, 0, [SEP] 58, Cabinet, -0.877, 0.388, -3.422, 0, 0, 0, [SEP] 59, Cabinet, -0.582, 0.388, -2.197, 0, 0, 0, [SEP] 60, Cabinet, -0.584, 0.388, -3.396, 0, 0, 0, [SEP] 61, Cabinet, -0.312, 2.140, -2.481, 0, 0, 0, [SEP] 62, Cabinet, -0.330, 1.921, -3.390, 0, 0, 0, [SEP] 63, Cabinet, -1.764, 2.140, -3.687, 0, 0, 0, [SEP] 64, StoveBurner, -1.129, 0.928, -3.752, 0, 90, 0, [SEP] 65, Drawer, -0.454, 0.779, -3.268, 0, 0, 0, [SEP] 66, Cabinet, -0.302, 1.916, -2.501, 0, 0, 0, [SEP] 67, Microwave, -1.317, 1.517, -3.801, 0, 1.440, 0, [SEP] 68, CoffeeMachine, -0.153, 0.903, -3.144, 0, 270, 0, [SEP] 69, LightSwitch, -4.323, 1.319, 0.0, 0, 180, 0, [SEP] 70, GarbageCan, -1.943, -7.152, -3.763, 0, 0, 0, [SEP] 71, Fridge, -0.330, 0.0, -0.769, 0, 270, 0, [SEP] 72, SinkBasin, -0.350, 0.786, -2.018, 0, 270, 0, [SEP] 73, StoveKnob, -1.582, 1.082, -3.958, 72.287, 0, 0, [SEP] 74, StoveKnob, -1.177, 1.082, -3.958, 72.287, 0, 0, [SEP] 75, StoveKnob, -1.424, 1.082, -3.958, 72.287, 0, 0, [SEP] 76, StoveKnob, -1.028, 1.082, -3.958, 72.287, 0, 0, [SEP] 77, Toaster, -0.181, 0.903, -2.764, 0, 270, 0, [SEP] 78, Window, -2.503, 1.782, -4.185, 90, 180, 0, [SEP] 79, DiningTable, -2.432, 0.000, -1.694, 0, 270, 0, [SEP] 80, Shelf, -2.432, 0.150, -1.694, 0, 270, 0, [SEP] 81, Blinds, -2.536, 2.699, -3.959, 0, 0, 0, [SEP] 82, Faucet, -0.079, 0.904, -2.034, 270, 180, 0, [SEP] 83, Chair, -3.264, 0.002, -2.094, 0, 53.280, 0, [SEP] 84, Chair, -3.240, 0.002, -1.253, 0, 117.257, 0, [SEP] 85, Shelf, -2.432, 0.523, -1.694, 0, 270, 0, [SEP] 86, NorthWall, , , , , , , [SEP] 87, EastWall, , , , , , , [SEP] 88, SouthWall, , , , , , , [SEP] 89, WestWall, , , , , , , ", "output": ["STEP 1: Turn left to face the center table. | STEP 2: Pick up the knife on the center table. | STEP 3: Turn left and cross the room to face the microwave. | STEP 4: Cut the apple in the microwave into three pieces. | STEP 5: Look up to face the microwave. | STEP 6: Place the knife in the microwave. | STEP 7: Look up to face the microwave. | STEP 8: Pick up an apple piece in the microwave. | STEP 9: Turn left and step forward to face the sink. | STEP 10: Wash the apple piece in the sink and remove it. | STEP 11: Take a step to the left to face the fridge. | STEP 12: Place the piece of apple in the fridge. | END"]} +{"id": "trial_T20190909_042755_916077-2", "input": "Put a clean slice of apple in the fridge. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.900, -1.75, 0, 0, 0, [SEP] 1, Glassbottle, -2.210, 0.924, -2.345, 0, 0, 0, 79 [SEP] 2, Pencil, -0.361, 0.747, -3.297, 0, 270, 0, 65 [SEP] 3, Pen, -2.324, 0.926, -1.884, 0, 0, 0, 79 [SEP] 4, Pen, -0.743, 0.918, -3.555, 0, 0, 0, 54 [SEP] 5, DishSponge, -2.552, 0.923, -0.963, 0, 0, 0, 79 [SEP] 6, ButterKnife, -2.552, 0.923, -1.423, 0, 0, 0, 79 [SEP] 7, WineBottle, -2.096, 0.924, -2.345, 0, 0, 0, 79 [SEP] 8, WineBottle, -0.260, 1.531, -3.603, 0, 45, 0, 62 [SEP] 9, Pot, -1.515, 0.935, -3.497, 0, 0, 0, 51 [SEP] 10, Pot, -1.129, 0.935, -3.498, 0, 0, 0, 52 [SEP] 11, Fork, -2.324, 0.924, -2.115, 0, 270, 0, 79 [SEP] 12, Spoon, -2.324, 0.924, -1.423, 0, 0, 0, 79 [SEP] 13, Knife, -2.780, 0.946, -1.423, 0, 270, 0, 79 [SEP] 14, Knife, -2.096, 0.946, -1.884, 0, 90, 0, 79 [SEP] 15, Plate, -0.460, 0.083, -1.849, 0, 0, 0, 49 [SEP] 16, Plate, -2.438, 0.925, -1.193, 0, 0, 0, 79 [SEP] 17, Cup, -0.422, 0.080, -2.201, 0, 0, 0, 59 [SEP] 18, Cup, -1.549, 1.968, -3.773, 0, 0, 0, 63 [SEP] 19, Tomato, -1.912, 0.090, -3.763, 0, 0, 0, 70 [SEP] 20, SaltShaker, -0.460, 0.077, -3.267, 0, 0, 0, 60 [SEP] 21, SaltShaker, -0.343, 1.527, -3.795, 0, 45, 0, 62 [SEP] 22, PepperShaker, -0.211, 1.524, -2.914, 0, 0, 0, 66 [SEP] 23, PepperShaker, -0.747, 0.078, -3.662, 0, 0, 0, 58 [SEP] 24, Apple, -1.151, 1.703, -3.837, 0, 0, 0, 67 [SEP] 25, Lettuce, -2.096, 1.016, -2.115, 0, 0, 0, 79 [SEP] 26, Glassbottle, -0.743, 0.916, -3.626, 0, 0, 0, 54 [SEP] 27, Egg, -0.447, 0.830, -1.934, 0, 270, 0, 72 [SEP] 28, Pen, -2.780, 0.926, -2.345, 0, 0, 0, 79 [SEP] 29, Fork, -2.438, 0.924, -0.963, 0, 90, 0, 79 [SEP] 30, SoapBottle, -2.552, 0.922, -1.654, 0, 0, 0, 79 [SEP] 31, Pencil, -0.720, 0.747, -3.586, 0, 270, 0, 53 [SEP] 32, WineBottle, -0.211, 1.528, -2.598, 0, 0, 0, 66 [SEP] 33, Spatula, -0.350, 0.812, -1.860, 0, 270, 0, 72 [SEP] 34, Bread, -0.414, 0.952, -3.625, 0, 0, 0, 54 [SEP] 35, Tomato, -2.096, 0.987, -1.423, 0, 0, 0, 79 [SEP] 36, Pan, -2.174, 0.913, -1.099, 0, 0, 0, 79 [SEP] 37, Cup, -2.666, 0.922, -2.115, 0, 0, 0, 79 [SEP] 38, Pot, -0.343, 1.098, -0.560, 0, 270, 0, 71 [SEP] 39, SaltShaker, -0.671, 0.912, -3.839, 0, 0, 0, 54 [SEP] 40, Potato, -0.081, 0.947, -1.700, 0, 0, 0, 72 [SEP] 41, PepperShaker, -0.436, 0.912, -2.563, 0, 0, 0, 54 [SEP] 42, ButterKnife, -2.438, 0.923, -2.115, 0, 0, 0, 79 [SEP] 43, DishSponge, -0.778, 0.081, -3.506, 0, 0, 0, 58 [SEP] 44, Spoon, -2.438, 0.924, -1.884, 0, 0, 0, 79 [SEP] 45, Plate, -0.343, 1.101, -0.979, 0, 270, 0, 71 [SEP] 46, Knife, -2.438, 0.946, -2.345, 0, 0, 0, 79 [SEP] 47, Mug, -0.351, 0.962, -3.144, 0, 270, 0, 68 [SEP] 48, Bowl, -1.100, 1.968, -3.851, 0, 0, 0, 55 [SEP] 49, Cabinet, -0.582, 0.388, -1.804, 0, 0, 0, [SEP] 50, StoveBurner, -1.515, 0.928, -3.752, 0, 90, 0, [SEP] 51, StoveBurner, -1.515, 0.928, -3.497, 0, 0, 0, [SEP] 52, StoveBurner, -1.129, 0.928, -3.498, 0, 0, 0, [SEP] 53, Drawer, -0.749, 0.779, -3.551, 0, 0, 0, [SEP] 54, CounterTop, -0.303, 0.951, -2.793, 0, 0, 0, [SEP] 55, Cabinet, -0.883, 2.140, -3.687, 0, 0, 0, [SEP] 56, Cabinet, -0.312, 2.140, -1.543, 0, 0, 0, [SEP] 57, Sink, -0.349, 0.907, -2.014, 0, 0, 0, [SEP] 58, Cabinet, -0.877, 0.388, -3.422, 0, 0, 0, [SEP] 59, Cabinet, -0.582, 0.388, -2.197, 0, 0, 0, [SEP] 60, Cabinet, -0.584, 0.388, -3.396, 0, 0, 0, [SEP] 61, Cabinet, -0.312, 2.140, -2.481, 0, 0, 0, [SEP] 62, Cabinet, -0.330, 1.921, -3.390, 0, 0, 0, [SEP] 63, Cabinet, -1.764, 2.140, -3.687, 0, 0, 0, [SEP] 64, StoveBurner, -1.129, 0.928, -3.752, 0, 90, 0, [SEP] 65, Drawer, -0.454, 0.779, -3.268, 0, 0, 0, [SEP] 66, Cabinet, -0.302, 1.916, -2.501, 0, 0, 0, [SEP] 67, Microwave, -1.317, 1.517, -3.801, 0, 1.440, 0, [SEP] 68, CoffeeMachine, -0.153, 0.903, -3.144, 0, 270, 0, [SEP] 69, LightSwitch, -4.323, 1.319, 0.0, 0, 180, 0, [SEP] 70, GarbageCan, -1.943, -7.152, -3.763, 0, 0, 0, [SEP] 71, Fridge, -0.330, 0.0, -0.769, 0, 270, 0, [SEP] 72, SinkBasin, -0.350, 0.786, -2.018, 0, 270, 0, [SEP] 73, StoveKnob, -1.582, 1.082, -3.958, 72.287, 0, 0, [SEP] 74, StoveKnob, -1.177, 1.082, -3.958, 72.287, 0, 0, [SEP] 75, StoveKnob, -1.424, 1.082, -3.958, 72.287, 0, 0, [SEP] 76, StoveKnob, -1.028, 1.082, -3.958, 72.287, 0, 0, [SEP] 77, Toaster, -0.181, 0.903, -2.764, 0, 270, 0, [SEP] 78, Window, -2.503, 1.782, -4.185, 90, 180, 0, [SEP] 79, DiningTable, -2.432, 0.000, -1.694, 0, 270, 0, [SEP] 80, Shelf, -2.432, 0.150, -1.694, 0, 270, 0, [SEP] 81, Blinds, -2.536, 2.699, -3.959, 0, 0, 0, [SEP] 82, Faucet, -0.079, 0.904, -2.034, 270, 180, 0, [SEP] 83, Chair, -3.264, 0.002, -2.094, 0, 53.280, 0, [SEP] 84, Chair, -3.240, 0.002, -1.253, 0, 117.257, 0, [SEP] 85, Shelf, -2.432, 0.523, -1.694, 0, 270, 0, [SEP] 86, NorthWall, , , , , , , [SEP] 87, EastWall, , , , , , , [SEP] 88, SouthWall, , , , , , , [SEP] 89, WestWall, , , , , , , ", "output": ["STEP 1: Go to the left side of the island behind you. | STEP 2: Pick up the knife to the right of the lettuce. | STEP 3: Go to the microwave above the stove. | STEP 4: Slice the apple in the microwave. | STEP 5: Look at the stove and then back to the microwave. | STEP 6: Put the knife in the microwave. | STEP 7: Look at the stove and then back to the microwave. | STEP 8: Pick up a slice of apple in the microwave. | STEP 9: Go to the sink. | STEP 10: Rinse the apple in the sink. | STEP 11: Go to the fridge. | STEP 12: Put the washed apple slice in the fridge. | END"]} +{"id": "trial_T20190909_102031_866740-1", "input": "Pick up a remote and turn a lamp on. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.75, 0.998, -2.75, 0, 0, 0, [SEP] 1, Vase, -3.207, 0.883, -1.385, 0, 0, 0, 32 [SEP] 2, Vase, -0.030, 0.977, -2.493, 0, 90, 0, 41 [SEP] 3, Pen, -1.846, 0.183, -2.981, 0, 225, 0, 24 [SEP] 4, Pen, 0.254, 0.866, -2.408, 0, 180, 0, 40 [SEP] 5, KeyChain, -3.872, 0.878, -1.287, 0, 0, 0, 32 [SEP] 6, KeyChain, -0.126, 0.861, -2.433, 0, 270, 0, 40 [SEP] 7, RemoteControl, -1.254, 0.526, 0.897, 0, 0, 0, 37 [SEP] 8, Laptop, -1.222, 0.452, -0.578, 0, 0, 0, 33 [SEP] 9, Box, -2.863, 1.03, -0.958, 0, 0, 0, 32 [SEP] 10, Pillow, 0.629, 0.482, -1.667, 0, 0, 0, 29 [SEP] 11, CreditCard, -3.650, 0.881, -0.992, 0, 0, 0, 32 [SEP] 12, Plate, -3.851, 0.874, -1.011, 0, 0, 0, 32 [SEP] 13, Laptop, -1.222, 0.452, -0.897, 0, 0, 0, 33 [SEP] 14, RemoteControl, -1.080, 0.526, 0.897, 0, 0, 0, 37 [SEP] 15, Vase, -0.827, 0.459, -0.658, 0, 0, 0, 33 [SEP] 16, Statue, 0.257, 0.965, -2.518, 0, 0, 0, 41 [SEP] 17, KeyChain, -0.316, 0.860, -2.506, 0, 90, 0, 40 [SEP] 18, Pen, -3.429, 0.884, -0.992, 0, 0, 0, 32 [SEP] 19, Curtains, -3.013, 1.557, -3.082, 0, 0, 0, [SEP] 20, Television, -1.063, 0.939, -2.439, 0, 0, 0, [SEP] 21, HousePlant, 0.753, 0.855, -2.467, 0, 215.129, 0, [SEP] 22, HousePlant, 0.739, 0.855, -1.159, 0, 310.776, 0, [SEP] 23, FloorLamp, -2.186, 0.096, 1.111, 0, 0, 0, [SEP] 24, GarbageCan, -1.946, 0.097, -2.899, 0, 216.243, 0, [SEP] 25, Painting, -4.326, 1.817, -1.223, 90, 270, 0, [SEP] 26, Window, 0.010, 1.087, 0.001, 90, 270, 0, [SEP] 27, Window, -2.983, 1.544, -3.220, 90, 180, 0, [SEP] 28, LightSwitch, -3.907, 1.371, 1.386, 0, 180, 0, [SEP] 29, ArmChair, 0.662, 0.103, -1.781, 0, 270, 0, [SEP] 30, Stool, 0.765, 0.108, -1.148, 0, 0, 0, [SEP] 31, Stool, 0.765, 0.108, -2.460, 0, 35.380, 0, [SEP] 32, DiningTable, -3.428, 0.099, -1.188, 0, 0, 0, [SEP] 33, CoffeeTable, -1.090, 0.097, -0.737, 0, 0, 0, [SEP] 34, Chair, -3.793, 0.098, -0.841, 0, 164.999, 0, [SEP] 35, Chair, -3.073, 0.098, -1.515, 0, 11.313, 0, [SEP] 36, Chair, -3.810, 0.098, -1.549, 0, 352.857, 0, [SEP] 37, Sofa, -0.905, 0.099, 0.959, 0, 180, 0, [SEP] 38, CoffeeTable, -1.046, 0.096, -2.473, 0, 180, 0, [SEP] 39, Chair, -3.068, 0.098, -0.882, 0, 180, 0, [SEP] 40, Drawer, -0.031, 0.872, -2.487, 0, 0, 0, [SEP] 41, SideTable, -0.030, 0.097, -2.552, 0, 0, 0, [SEP] 42, NorthWall, , , , , , , [SEP] 43, EastWall, , , , , , , [SEP] 44, SouthWall, , , , , , , [SEP] 45, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and then left to face the couch with two remote controls on it. | STEP 2: Pick the remote on the left up from the couch | STEP 3: Move to the left to face the lamp. | STEP 4: Turn the lamp on. | END"]} +{"id": "trial_T20190907_200451_080199-0", "input": "Put a clean tea kettle on a shelf. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 3.5, 0.900, 1.0, 0, 270, 0, [SEP] 1, Vase, -2.584, 0.875, 3.728, 0, 0, 0, 60 [SEP] 2, Book, -2.050, 0.116, -1.580, 0, 0, 0, 59 [SEP] 3, Book, 0.599, 0.715, -1.410, 0, 0, 0, 75 [SEP] 4, DishSponge, -1.616, 0.719, -0.859, 0, 0, 0, 73 [SEP] 5, DishSponge, -1.576, 0.119, -0.916, 0, 0, 0, 63 [SEP] 6, ButterKnife, -3.165, 0.874, 3.296, 0, 270, 0, 60 [SEP] 7, WineBottle, -2.458, 0.879, 2.706, 0, 135, 0, 60 [SEP] 8, Spatula, -2.659, 0.889, 3.559, 0, 180, 0, 60 [SEP] 9, Spatula, -2.152, 0.893, 3.370, 0, 270, 0, 60 [SEP] 10, Pot, 0.974, 0.957, -1.688, 0, 180, 0, 57 [SEP] 11, Fork, -2.584, 0.879, 2.884, 0, 90, 0, 60 [SEP] 12, Spoon, -2.554, 0.879, 3.116, 0, 225, 0, 60 [SEP] 13, Egg, -0.035, 0.414, 2.083, 0, 180, 0, 83 [SEP] 14, Egg, -0.377, 0.414, 1.996, 0, 180, 0, 83 [SEP] 15, Cup, -2.659, 0.876, 2.999, 0, 270, 0, 60 [SEP] 16, Knife, -2.248, 0.900, 2.916, 0, 135, 0, 60 [SEP] 17, Knife, -2.584, 0.896, 3.390, 0, 0, 0, 60 [SEP] 18, SoapBottle, -2.315, 0.875, 3.355, 0, 135, 0, 60 [SEP] 19, SoapBottle, -0.871, 0.193, 2.058, 0, 90, 0, 88 [SEP] 20, Tomato, -0.377, 0.850, 2.194, 0, 180, 0, 83 [SEP] 21, PepperShaker, 1.578, 0.906, -1.255, 0, 0, 0, 78 [SEP] 22, Bread, -2.964, 0.961, 2.811, 0, 225, 0, 60 [SEP] 23, Lettuce, -2.881, 0.939, 3.559, 0, 0, 0, 60 [SEP] 24, Lettuce, 0.079, 1.637, 2.100, 0, 180, 0, 83 [SEP] 25, Apple, -0.871, 0.247, 2.174, 0, 90, 0, 88 [SEP] 26, Book, 0.663, 0.908, -1.369, 0, 0, 0, 58 [SEP] 27, Fork, -2.996, 0.879, 3.296, 0, 270, 0, 60 [SEP] 28, Tomato, -3.122, 0.925, 3.475, 0, 135, 0, 60 [SEP] 29, Egg, -0.377, 1.169, 2.206, 0, 180, 0, 83 [SEP] 30, Kettle, -0.833, 0.900, -1.757, 0, 0, 0, 58 [SEP] 31, Vase, -1.331, 1.658, -1.747, 0, 0, 0, 71 [SEP] 32, Cup, -1.649, 0.117, -1.066, 0, 0, 0, 63 [SEP] 33, WineBottle, -1.269, 0.913, -1.267, 0, 0, 0, 58 [SEP] 34, Plate, -2.321, 0.882, 3.147, 0, 270, 0, 60 [SEP] 35, Spatula, -1.627, 0.927, -0.614, 0, 0, 0, 58 [SEP] 36, Potato, 1.210, 1.798, -1.663, 0, 0, 0, 82 [SEP] 37, Pot, 1.328, 0.957, -1.688, 0, 180, 0, 61 [SEP] 38, Knife, -2.828, 0.900, 3.370, 0, 270, 0, 60 [SEP] 39, SaltShaker, -2.898, 0.874, 2.983, 0, 225, 0, 60 [SEP] 40, PepperShaker, -0.181, 0.118, -1.413, 0, 0, 0, 67 [SEP] 41, Lettuce, -2.248, 0.943, 3.527, 0, 225, 0, 60 [SEP] 42, ButterKnife, -1.738, 0.912, -0.939, 0, 0, 0, 58 [SEP] 43, Bread, -2.183, 0.995, 0.037, 0, 0, 0, 58 [SEP] 44, Vase, -0.943, 1.655, -1.674, 0, 0, 0, 70 [SEP] 45, DishSponge, -0.348, 0.121, -1.452, 0, 0, 0, 67 [SEP] 46, Apple, -0.377, 1.627, 2.219, 0, 180, 0, 83 [SEP] 47, Pan, 0.974, 0.957, -1.419, 0, 180, 0, 76 [SEP] 48, Spoon, -1.616, 0.720, -1.073, 0, 0, 0, 73 [SEP] 49, SoapBottle, -2.697, 0.879, 3.498, 0, 315, 0, 60 [SEP] 50, Mug, -2.510, 0.869, 2.884, 0, 90, 0, 60 [SEP] 51, Statue, 3.676, 0.168, 1.410, 0, 334.521, 0, 81 [SEP] 52, Statue, 3.668, 0.540, 1.800, 0, 0, 0, 81 [SEP] 53, Bowl, 0.150, 0.112, -1.415, 0, 0, 0, 66 [SEP] 54, Cabinet, -2.171, 2.009, -1.538, 0, 0, 0, [SEP] 55, Sink, 0.024, 0.771, -1.708, 0, 270, 0, [SEP] 56, Cabinet, 1.444, 2.259, -1.542, 0, 0, 0, [SEP] 57, StoveBurner, 0.974, 0.957, -1.688, 0, 180, 0, [SEP] 58, CounterTop, -1.866, 0.947, -0.614, 0, 0, 0, [SEP] 59, Cabinet, -2.217, 0.373, -1.874, 0, 0, 0, [SEP] 60, DiningTable, -2.663, 0.002, 3.208, 0, 0, 0, [SEP] 61, StoveBurner, 1.328, 0.957, -1.688, 0, 180, 0, [SEP] 62, StoveBurner, 1.328, 0.957, -1.420, 0, 180, 0, [SEP] 63, Cabinet, -1.478, 0.373, -1.235, 0, 0, 0, [SEP] 64, Cabinet, 1.775, 0.372, -1.242, 0, 0, 0, [SEP] 65, Cabinet, 0.774, 0.372, -1.242, 0, 0, 0, [SEP] 66, Cabinet, 0.375, 0.372, -1.242, 0, 0, 0, [SEP] 67, Cabinet, -0.574, 0.372, -1.238, 0, 0, 0, [SEP] 68, Cabinet, 1.775, 2.009, -1.542, 0, 0, 0, [SEP] 69, Cabinet, 0.524, 2.009, -1.542, 0, 0, 0, [SEP] 70, Cabinet, -0.714, 2.009, -1.542, 0, 0, 0, [SEP] 71, Cabinet, -1.671, 2.009, -1.538, 0, 0, 0, [SEP] 72, Cabinet, 0.854, 2.259, -1.542, 0, 0, 0, [SEP] 73, Drawer, -1.636, 0.683, -0.930, 0, 0, 0, [SEP] 74, Drawer, 1.650, 0.682, -1.396, 0, 0, 0, [SEP] 75, Drawer, 0.600, 0.682, -1.396, 0, 0, 0, [SEP] 76, StoveBurner, 0.974, 0.957, -1.419, 0, 180, 0, [SEP] 77, Drawer, -2.062, 0.683, -1.579, 0, 0, 0, [SEP] 78, CounterTop, 1.645, 0.945, -1.527, 0, 0, 0, [SEP] 79, Shelf, 3.725, 0.880, 1.671, 0, 90, 0, [SEP] 80, LightSwitch, 2.830, 1.266, -0.748, 0, 0, 0, [SEP] 81, Shelf, 3.726, 0.552, 1.671, 0, 90, 0, [SEP] 82, Microwave, 1.150, 1.655, -1.614, 0, 0, 0, [SEP] 83, Fridge, -0.035, 0.0, 2.177, 0, 180, 0, [SEP] 84, Window, -0.115, 1.802, -1.896, 90, 0, 0, [SEP] 85, Window, -4.009, 1.799, 0.310, 90, 90, 0, [SEP] 86, Shelf, 3.726, 0.172, 1.671, 0, 90, 0, [SEP] 87, SinkBasin, -0.330, 0.686, -1.581, 0, 270, 0, [SEP] 88, GarbageCan, -0.870, -0.001, 2.136, 0, 90, 0, [SEP] 89, StoveKnob, 1.089, 0.913, -1.243, 45, 0, 0, [SEP] 90, StoveKnob, 1.208, 0.913, -1.243, 45, 0, 0, [SEP] 91, StoveKnob, 1.340, 0.913, -1.243, 45, 0, 0, [SEP] 92, StoveKnob, 0.961, 0.913, -1.243, 45, 0, 0, [SEP] 93, Toaster, 1.637, 0.900, -1.673, 0, 0, 0, [SEP] 94, Chair, -3.505, 0.002, 3.290, 0, 105.736, 0, [SEP] 95, CoffeeMachine, -1.111, 0.900, -1.726, 0, 0, 0, [SEP] 96, HousePlant, -2.663, 0.835, 3.209, 0, 0, 0, [SEP] 97, Faucet, -0.187, 0.922, -1.75, 0, 311.166, 0, [SEP] 98, ShelvingUnit, 3.726, 0.006, 1.671, 0, 90, 0, [SEP] 99, Stool, -2.501, -0.000, 0.062, 1.223, 91.243, 0, [SEP] 100, Stool, -2.475, -0.000, -0.802, 1.209, 69.808, 0, [SEP] 101, Chair, -2.934, 0.002, 2.437, 0, 28.531, 0, [SEP] 102, Chair, -1.698, 0.002, 3.235, 0, 245.204, 0, [SEP] 103, NorthWall, , , , , , , [SEP] 104, EastWall, , , , , , , [SEP] 105, SouthWall, , , , , , , [SEP] 106, WestWall, , , , , , , ", "output": ["STEP 1: Go forward and then left to stand to the right of the sink. | STEP 2: Pick the tea kettle up from the counter. | STEP 3: Move to the left and face the sink. | STEP 4: Put the tea kettle in the sink, turn the water on and then off and pick the tea kettle up out of the sink. | STEP 5: Cross the room and turn to face the brown shelves. | STEP 6: Put the tea kettle on the shelf. | END"]} +{"id": "trial_T20190918_163627_108580-0", "input": "Place a slice of cooked potato on the counter. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.25, 0.899, 5.5, 0, 180, 0, [SEP] 1, Pencil, -3.494, 0.923, 5.566, 0, 90, 0, 65 [SEP] 2, Pencil, -2.109, 0.923, 1.875, 0, 0, 0, 63 [SEP] 3, Potato, -0.104, 0.958, 4.944, 0, 0, 0, 50 [SEP] 4, DishSponge, -4.086, 0.084, 2.726, 0, 0, 0, 57 [SEP] 5, WineBottle, -3.639, 0.069, 6.292, 0, 270, 0, 91 [SEP] 6, Fork, -4.233, 0.791, 3.097, 0, 180, 0, 97 [SEP] 7, Spatula, -0.411, 0.940, 5.273, 0, 0, 0, 50 [SEP] 8, Spatula, -4.517, 0.938, 2.965, 0, 90, 0, 65 [SEP] 9, Cup, -3.733, 0.922, 5.412, 0, 90, 0, 65 [SEP] 10, Knife, -4.031, 0.953, 1.951, 0, 0, 0, 65 [SEP] 11, Tomato, -3.340, 0.980, 2.026, 0, 0, 0, 65 [SEP] 12, Tomato, -0.301, 1.742, 3.733, 0, 270, 0, 98 [SEP] 13, Bowl, -0.181, 0.922, 4.615, 0, 0, 0, 50 [SEP] 14, PepperShaker, -0.473, 0.742, 6.567, 0, 270, 0, 76 [SEP] 15, Egg, -2.688, 1.582, 1.731, 0, 0, 0, 95 [SEP] 16, Apple, -3.639, 0.122, 6.457, 0, 270, 0, 91 [SEP] 17, Knife, -3.494, 0.953, 5.336, 0, 90, 0, 65 [SEP] 18, Potato, -4.312, 0.956, 2.766, 0, 0, 0, 65 [SEP] 19, Fork, -1.860, 0.924, 1.648, 0, 0, 0, 47 [SEP] 20, Bowl, -1.693, 0.920, 1.648, 0, 0, 0, 47 [SEP] 21, Plate, -4.171, 0.078, 2.286, 0, 0, 0, 75 [SEP] 22, Lettuce, -0.454, 1.165, 3.231, 0, 270, 0, 98 [SEP] 23, Bread, -4.234, 0.990, 3.985, 0, 0, 0, 65 [SEP] 24, Tomato, -4.121, 0.848, 3.347, 0, 270, 0, 97 [SEP] 25, WineBottle, -3.784, 0.069, 6.333, 0, 270, 0, 91 [SEP] 26, Spatula, -0.411, 0.940, 4.944, 0, 0, 0, 50 [SEP] 27, PaperTowelRoll, -4.478, 1.027, 3.548, 0, 0, 0, 65 [SEP] 28, Cup, -0.342, 1.579, 3.228, 0, 270, 0, 98 [SEP] 29, Pencil, -3.712, 0.068, 6.457, 0, 270, 0, 91 [SEP] 30, Pan, -2.469, 0.930, 1.712, 0, 270, 0, 80 [SEP] 31, Pot, -0.396, 0.912, 5.933, 0, 0, 0, 50 [SEP] 32, SaltShaker, -3.739, 0.743, 1.985, 0, 0, 0, 42 [SEP] 33, SoapBottle, -3.539, 0.082, 5.152, 0, 90, 0, 83 [SEP] 34, PepperShaker, -3.251, 0.741, 1.986, 0, 0, 0, 71 [SEP] 35, ButterKnife, -0.334, 0.925, 5.603, 0, 0, 0, 50 [SEP] 36, DishSponge, -3.827, 0.745, 1.985, 0, 0, 0, 42 [SEP] 37, Spoon, -0.181, 0.926, 5.273, 0, 0, 0, 50 [SEP] 38, Mug, -0.218, 1.680, 3.975, 0, 270, 0, 98 [SEP] 39, Cabinet, -3.203, 1.931, 1.777, 0, 0, 0, [SEP] 40, Cabinet, -3.187, 0.390, 2.089, 0, 0, 0, [SEP] 41, Cabinet, -0.637, 0.387, 6.882, 0, 180, 0, [SEP] 42, Drawer, -3.797, 0.781, 1.961, 0, 0, 0, [SEP] 43, Cabinet, -3.036, 0.387, 5.029, 0, 90, 0, [SEP] 44, Drawer, -0.509, 0.775, 5.268, 0, 270, 0, [SEP] 45, Drawer, -4.125, 0.798, 2.499, 0, 0, 0, [SEP] 46, Cabinet, -0.331, 2.249, 4.308, 0, 180, 0, [SEP] 47, CounterTop, -1.872, 0.958, 1.799, 0, 0, 0, [SEP] 48, StoveBurner, -2.924, 0.924, 2.012, 0, 0, 0, [SEP] 49, Cabinet, -0.331, 2.249, 6.806, 0, 180, 0, [SEP] 50, CounterTop, -0.345, 0.960, 5.603, 0, 0, 0, [SEP] 51, Cabinet, -3.039, 1.935, 5.321, 0, 90, 0, [SEP] 52, Cabinet, -3.922, 0.397, 2.088, 0, 0, 0, [SEP] 53, StoveBurner, -2.467, 0.924, 2.012, 0, 0, 0, [SEP] 54, Cabinet, -0.331, 2.249, 5.505, 0, 180, 0, [SEP] 55, Drawer, -0.509, 0.775, 4.617, 0, 270, 0, [SEP] 56, Drawer, -3.509, 0.777, 5.157, 0, 180, 0, [SEP] 57, Cabinet, -3.961, 0.388, 2.878, 0, 0, 0, [SEP] 58, Cabinet, -3.961, 0.388, 4.342, 0, 0, 0, [SEP] 59, Cabinet, -0.637, 0.387, 5.582, 0, 180, 0, [SEP] 60, Cabinet, -0.637, 0.388, 4.299, 0, 180, 0, [SEP] 61, Cabinet, -0.637, 0.388, 5.599, 0, 180, 0, [SEP] 62, StoveBurner, -2.924, 0.924, 1.712, 0, 180, 0, [SEP] 63, Drawer, -1.859, 0.775, 1.961, 0, 0, 0, [SEP] 64, Cabinet, -0.331, 2.249, 5.609, 0, 180, 0, [SEP] 65, CounterTop, -4.260, 0.958, 4.943, 0, 90, 0, [SEP] 66, Cabinet, -4.284, 1.931, 2.226, 0, 0, 0, [SEP] 67, Cabinet, -0.331, 2.249, 3.010, 0, 180, 0, [SEP] 68, Drawer, -3.801, 0.777, 5.157, 0, 180, 0, [SEP] 69, Cabinet, -4.112, 1.935, 5.321, 0, 90, 0, [SEP] 70, Cabinet, -3.968, 0.388, 3.662, 0, 0, 0, [SEP] 71, Drawer, -3.418, 0.777, 1.961, 0, 0, 0, [SEP] 72, Drawer, -4.090, 0.777, 4.661, 0, 90, 0, [SEP] 73, Faucet, -4.441, 0.909, 3.288, 270, 0, 0, [SEP] 74, Cabinet, -0.331, 2.249, 4.207, 0, 180, 0, [SEP] 75, Cabinet, -3.961, 0.388, 2.119, 0, 0, 0, [SEP] 76, Drawer, -0.509, 0.775, 5.920, 0, 270, 0, [SEP] 77, Drawer, -3.193, 0.777, 5.157, 0, 180, 0, [SEP] 78, Cabinet, -3.968, 0.388, 2.894, 0, 0, 0, [SEP] 79, Cabinet, -3.667, 0.387, 5.029, 0, 90, 0, [SEP] 80, StoveBurner, -2.469, 0.924, 1.712, 0, 270, 0, [SEP] 81, Cabinet, -1.539, 0.388, 2.090, 0, 0, 0, [SEP] 82, Sink, -4.190, 0.921, 3.279, 0, 0, 0, [SEP] 83, Cabinet, -3.641, 0.387, 5.029, 0, 90, 0, [SEP] 84, Cabinet, -1.583, 1.931, 1.777, 0, 0, 0, [SEP] 85, Drawer, -0.509, 0.775, 6.568, 0, 270, 0, [SEP] 86, CoffeeMachine, -0.279, 0.912, 6.556, 0, 270, 0, [SEP] 87, StoveKnob, -2.347, 1.095, 1.560, 288.012, 180, 180, [SEP] 88, StoveKnob, -2.788, 1.095, 1.560, 288.012, 180, 180, [SEP] 89, StoveKnob, -2.965, 1.095, 1.560, 288.012, 180, 180, [SEP] 90, StoveKnob, -2.512, 1.095, 1.560, 288.012, 180, 180, [SEP] 91, GarbageCan, -3.711, -0.030, 6.376, 0, 270, 0, [SEP] 92, Toaster, -3.578, 0.912, 1.763, 0, 0, 0, [SEP] 93, Curtains, -4.522, 2.252, 3.391, 90, 90, 0, [SEP] 94, Window, -4.868, 1.629, 3.309, 90, 270, 0, [SEP] 95, Microwave, -2.693, 1.430, 1.689, 0, 0, 0, [SEP] 96, LightSwitch, -1.588, 1.169, 1.506, 0, 0, 0, [SEP] 97, SinkBasin, -4.196, 0.780, 3.276, 0, 270, 0, [SEP] 98, Fridge, -0.324, -0.001, 3.602, 0, 0, 0, [SEP] 99, NorthWall, , , , , , , [SEP] 100, EastWall, , , , , , , [SEP] 101, SouthWall, , , , , , , [SEP] 102, WestWall, , , , , , , ", "output": ["STEP 1: Turn right, move to the counter opposite the stove. | STEP 2: Pick up the knife from the counter. | STEP 3: Turn right, move to the counter left of the refrigerator. | STEP 4: Slice the potato on the counter. | STEP 5: Turn right, move to the counter, right of the dishwasher. | STEP 6: Put the knife on the counter. | STEP 7: Turn left, move to the counter left of the refrigerator. | STEP 8: Pick up a slice of potato. | STEP 9: Turn right, move to in front of the stove. | STEP 10: Put the potato slice into the microwave, cook it, pick it back up. | STEP 11: Turn right, move to the counter, right of the dishwasher. | STEP 12: Put the potato slice on the counter, right of the knife. | END"]} +{"id": "trial_T20190918_163627_108580-2", "input": "Place a knife and a cooked potato slice on a countertop SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.25, 0.899, 5.5, 0, 180, 0, [SEP] 1, Pencil, -3.494, 0.923, 5.566, 0, 90, 0, 65 [SEP] 2, Pencil, -2.109, 0.923, 1.875, 0, 0, 0, 63 [SEP] 3, Potato, -0.104, 0.958, 4.944, 0, 0, 0, 50 [SEP] 4, DishSponge, -4.086, 0.084, 2.726, 0, 0, 0, 57 [SEP] 5, WineBottle, -3.639, 0.069, 6.292, 0, 270, 0, 91 [SEP] 6, Fork, -4.233, 0.791, 3.097, 0, 180, 0, 97 [SEP] 7, Spatula, -0.411, 0.940, 5.273, 0, 0, 0, 50 [SEP] 8, Spatula, -4.517, 0.938, 2.965, 0, 90, 0, 65 [SEP] 9, Cup, -3.733, 0.922, 5.412, 0, 90, 0, 65 [SEP] 10, Knife, -4.031, 0.953, 1.951, 0, 0, 0, 65 [SEP] 11, Tomato, -3.340, 0.980, 2.026, 0, 0, 0, 65 [SEP] 12, Tomato, -0.301, 1.742, 3.733, 0, 270, 0, 98 [SEP] 13, Bowl, -0.181, 0.922, 4.615, 0, 0, 0, 50 [SEP] 14, PepperShaker, -0.473, 0.742, 6.567, 0, 270, 0, 76 [SEP] 15, Egg, -2.688, 1.582, 1.731, 0, 0, 0, 95 [SEP] 16, Apple, -3.639, 0.122, 6.457, 0, 270, 0, 91 [SEP] 17, Knife, -3.494, 0.953, 5.336, 0, 90, 0, 65 [SEP] 18, Potato, -4.312, 0.956, 2.766, 0, 0, 0, 65 [SEP] 19, Fork, -1.860, 0.924, 1.648, 0, 0, 0, 47 [SEP] 20, Bowl, -1.693, 0.920, 1.648, 0, 0, 0, 47 [SEP] 21, Plate, -4.171, 0.078, 2.286, 0, 0, 0, 75 [SEP] 22, Lettuce, -0.454, 1.165, 3.231, 0, 270, 0, 98 [SEP] 23, Bread, -4.234, 0.990, 3.985, 0, 0, 0, 65 [SEP] 24, Tomato, -4.121, 0.848, 3.347, 0, 270, 0, 97 [SEP] 25, WineBottle, -3.784, 0.069, 6.333, 0, 270, 0, 91 [SEP] 26, Spatula, -0.411, 0.940, 4.944, 0, 0, 0, 50 [SEP] 27, PaperTowelRoll, -4.478, 1.027, 3.548, 0, 0, 0, 65 [SEP] 28, Cup, -0.342, 1.579, 3.228, 0, 270, 0, 98 [SEP] 29, Pencil, -3.712, 0.068, 6.457, 0, 270, 0, 91 [SEP] 30, Pan, -2.469, 0.930, 1.712, 0, 270, 0, 80 [SEP] 31, Pot, -0.396, 0.912, 5.933, 0, 0, 0, 50 [SEP] 32, SaltShaker, -3.739, 0.743, 1.985, 0, 0, 0, 42 [SEP] 33, SoapBottle, -3.539, 0.082, 5.152, 0, 90, 0, 83 [SEP] 34, PepperShaker, -3.251, 0.741, 1.986, 0, 0, 0, 71 [SEP] 35, ButterKnife, -0.334, 0.925, 5.603, 0, 0, 0, 50 [SEP] 36, DishSponge, -3.827, 0.745, 1.985, 0, 0, 0, 42 [SEP] 37, Spoon, -0.181, 0.926, 5.273, 0, 0, 0, 50 [SEP] 38, Mug, -0.218, 1.680, 3.975, 0, 270, 0, 98 [SEP] 39, Cabinet, -3.203, 1.931, 1.777, 0, 0, 0, [SEP] 40, Cabinet, -3.187, 0.390, 2.089, 0, 0, 0, [SEP] 41, Cabinet, -0.637, 0.387, 6.882, 0, 180, 0, [SEP] 42, Drawer, -3.797, 0.781, 1.961, 0, 0, 0, [SEP] 43, Cabinet, -3.036, 0.387, 5.029, 0, 90, 0, [SEP] 44, Drawer, -0.509, 0.775, 5.268, 0, 270, 0, [SEP] 45, Drawer, -4.125, 0.798, 2.499, 0, 0, 0, [SEP] 46, Cabinet, -0.331, 2.249, 4.308, 0, 180, 0, [SEP] 47, CounterTop, -1.872, 0.958, 1.799, 0, 0, 0, [SEP] 48, StoveBurner, -2.924, 0.924, 2.012, 0, 0, 0, [SEP] 49, Cabinet, -0.331, 2.249, 6.806, 0, 180, 0, [SEP] 50, CounterTop, -0.345, 0.960, 5.603, 0, 0, 0, [SEP] 51, Cabinet, -3.039, 1.935, 5.321, 0, 90, 0, [SEP] 52, Cabinet, -3.922, 0.397, 2.088, 0, 0, 0, [SEP] 53, StoveBurner, -2.467, 0.924, 2.012, 0, 0, 0, [SEP] 54, Cabinet, -0.331, 2.249, 5.505, 0, 180, 0, [SEP] 55, Drawer, -0.509, 0.775, 4.617, 0, 270, 0, [SEP] 56, Drawer, -3.509, 0.777, 5.157, 0, 180, 0, [SEP] 57, Cabinet, -3.961, 0.388, 2.878, 0, 0, 0, [SEP] 58, Cabinet, -3.961, 0.388, 4.342, 0, 0, 0, [SEP] 59, Cabinet, -0.637, 0.387, 5.582, 0, 180, 0, [SEP] 60, Cabinet, -0.637, 0.388, 4.299, 0, 180, 0, [SEP] 61, Cabinet, -0.637, 0.388, 5.599, 0, 180, 0, [SEP] 62, StoveBurner, -2.924, 0.924, 1.712, 0, 180, 0, [SEP] 63, Drawer, -1.859, 0.775, 1.961, 0, 0, 0, [SEP] 64, Cabinet, -0.331, 2.249, 5.609, 0, 180, 0, [SEP] 65, CounterTop, -4.260, 0.958, 4.943, 0, 90, 0, [SEP] 66, Cabinet, -4.284, 1.931, 2.226, 0, 0, 0, [SEP] 67, Cabinet, -0.331, 2.249, 3.010, 0, 180, 0, [SEP] 68, Drawer, -3.801, 0.777, 5.157, 0, 180, 0, [SEP] 69, Cabinet, -4.112, 1.935, 5.321, 0, 90, 0, [SEP] 70, Cabinet, -3.968, 0.388, 3.662, 0, 0, 0, [SEP] 71, Drawer, -3.418, 0.777, 1.961, 0, 0, 0, [SEP] 72, Drawer, -4.090, 0.777, 4.661, 0, 90, 0, [SEP] 73, Faucet, -4.441, 0.909, 3.288, 270, 0, 0, [SEP] 74, Cabinet, -0.331, 2.249, 4.207, 0, 180, 0, [SEP] 75, Cabinet, -3.961, 0.388, 2.119, 0, 0, 0, [SEP] 76, Drawer, -0.509, 0.775, 5.920, 0, 270, 0, [SEP] 77, Drawer, -3.193, 0.777, 5.157, 0, 180, 0, [SEP] 78, Cabinet, -3.968, 0.388, 2.894, 0, 0, 0, [SEP] 79, Cabinet, -3.667, 0.387, 5.029, 0, 90, 0, [SEP] 80, StoveBurner, -2.469, 0.924, 1.712, 0, 270, 0, [SEP] 81, Cabinet, -1.539, 0.388, 2.090, 0, 0, 0, [SEP] 82, Sink, -4.190, 0.921, 3.279, 0, 0, 0, [SEP] 83, Cabinet, -3.641, 0.387, 5.029, 0, 90, 0, [SEP] 84, Cabinet, -1.583, 1.931, 1.777, 0, 0, 0, [SEP] 85, Drawer, -0.509, 0.775, 6.568, 0, 270, 0, [SEP] 86, CoffeeMachine, -0.279, 0.912, 6.556, 0, 270, 0, [SEP] 87, StoveKnob, -2.347, 1.095, 1.560, 288.012, 180, 180, [SEP] 88, StoveKnob, -2.788, 1.095, 1.560, 288.012, 180, 180, [SEP] 89, StoveKnob, -2.965, 1.095, 1.560, 288.012, 180, 180, [SEP] 90, StoveKnob, -2.512, 1.095, 1.560, 288.012, 180, 180, [SEP] 91, GarbageCan, -3.711, -0.030, 6.376, 0, 270, 0, [SEP] 92, Toaster, -3.578, 0.912, 1.763, 0, 0, 0, [SEP] 93, Curtains, -4.522, 2.252, 3.391, 90, 90, 0, [SEP] 94, Window, -4.868, 1.629, 3.309, 90, 270, 0, [SEP] 95, Microwave, -2.693, 1.430, 1.689, 0, 0, 0, [SEP] 96, LightSwitch, -1.588, 1.169, 1.506, 0, 0, 0, [SEP] 97, SinkBasin, -4.196, 0.780, 3.276, 0, 270, 0, [SEP] 98, Fridge, -0.324, -0.001, 3.602, 0, 0, 0, [SEP] 99, NorthWall, , , , , , , [SEP] 100, EastWall, , , , , , , [SEP] 101, SouthWall, , , , , , , [SEP] 102, WestWall, , , , , , , ", "output": ["STEP 1: Go to the end of the counter | STEP 2: Pick up the knife | STEP 3: Go to the counter left of the fridge | STEP 4: Cut the potato on the counter | STEP 5: Go to the counter right of the dishwasher | STEP 6: Put the knife down | STEP 7: Go to the sliced potato | STEP 8: Take a potato slice | STEP 9: Go to the microwave | STEP 10: Heat the potato slice | STEP 11: Go to the counter right of the dishwasher | STEP 12: Put the potato slice down | END"]} +{"id": "trial_T20190907_210144_215419-1", "input": "Put a pot with a spoon in it on a table. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.901, 1.75, 0, 0, 0, [SEP] 1, Potato, -1.180, 0.822, 0.226, 0, 0, 0, 67 [SEP] 2, DishSponge, -1.878, 0.661, 0.519, 0, 0, 0, 52 [SEP] 3, DishSponge, -2.815, 0.053, 0.284, 0, 26.101, 0, 63 [SEP] 4, Spatula, -2.583, 0.915, 2.045, 0, 90, 0, 70 [SEP] 5, Spatula, -0.272, 0.677, 0.519, 0, 270, 0, 38 [SEP] 6, Fork, -2.583, 0.901, 1.913, 0, 0, 0, 70 [SEP] 7, Egg, -0.244, 1.056, 0.140, 0, 0, 0, 68 [SEP] 8, Egg, -0.572, 0.933, 3.133, 0, 0, 0, 72 [SEP] 9, Cup, -2.764, 1.186, 4.278, 0, 90, 0, 66 [SEP] 10, Cup, -1.007, 0.795, 0.447, 0, 0, 0, 67 [SEP] 11, Knife, -2.706, 0.961, 3.766, 0, 180, 0, 56 [SEP] 12, Knife, -0.164, 0.688, 0.464, 0, 270, 0, 38 [SEP] 13, Tomato, -0.314, 0.964, 3.334, 0, 0, 0, 72 [SEP] 14, Tomato, -2.831, 0.362, 4.352, 0, 90, 0, 66 [SEP] 15, PepperShaker, -0.486, 0.896, 2.329, 0, 0, 0, 72 [SEP] 16, Lettuce, -2.377, 0.980, 2.441, 0, 0, 0, 70 [SEP] 17, Egg, -2.722, 0.665, 4.427, 0, 90, 0, 66 [SEP] 18, Plate, -1.691, 1.777, 0.160, 0, 0, 0, 44 [SEP] 19, Fork, -2.037, 0.928, 0.433, 0, 0, 0, 49 [SEP] 20, Bread, -2.864, 0.940, 1.983, 0, 0, 0, 70 [SEP] 21, Apple, -0.350, 1.079, 0.140, 0, 0, 0, 68 [SEP] 22, Lettuce, -0.572, 0.980, 2.530, 0, 0, 0, 72 [SEP] 23, Spatula, -0.486, 0.915, 3.133, 0, 90, 0, 72 [SEP] 24, Knife, -0.486, 0.926, 2.329, 0, 180, 0, 72 [SEP] 25, Potato, -0.350, 1.044, 0.267, 0, 0, 0, 68 [SEP] 26, Tomato, -2.878, 0.362, 4.501, 0, 90, 0, 66 [SEP] 27, Cup, -0.657, 0.900, 2.932, 0, 0, 0, 72 [SEP] 28, SaltShaker, -1.716, 0.658, 0.245, 0, 0, 0, 52 [SEP] 29, PepperShaker, -2.583, 0.896, 2.309, 0, 0, 0, 70 [SEP] 30, ButterKnife, -2.583, 0.900, 2.706, 0, 0, 0, 70 [SEP] 31, SoapBottle, -0.314, 0.900, 3.133, 0, 0, 0, 72 [SEP] 32, Pan, -0.250, 0.926, 4.651, 0, 0, 0, 51 [SEP] 33, DishSponge, -2.785, 0.935, 3.302, 0, 0, 0, 56 [SEP] 34, Pot, -0.535, 0.928, 4.274, 0, 0, 0, 53 [SEP] 35, Spoon, -1.353, 0.798, 0.281, 0, 90, 0, 67 [SEP] 36, Mug, -2.778, 1.001, 3.714, 0, 90, 0, 69 [SEP] 37, Bowl, -2.764, 1.182, 4.501, 0, 90, 0, 66 [SEP] 38, Drawer, -0.325, 0.696, 0.413, 0, 0, 0, [SEP] 39, Cabinet, -0.595, 0.490, 0.648, 0, 0, 0, [SEP] 40, Cabinet, -0.555, 0.490, 0.646, 0, 0, 0, [SEP] 41, Cabinet, -1.591, 0.490, 0.646, 0, 0, 0, [SEP] 42, Cabinet, -1.554, 0.490, 0.646, 0, 0, 0, [SEP] 43, Cabinet, -2.550, 0.490, 0.646, 0, 0, 0, [SEP] 44, Cabinet, -1.514, 2.046, 0.392, 0, 0, 0, [SEP] 45, Cabinet, -2.474, 2.046, 0.392, 0, 0, 0, [SEP] 46, Cabinet, -1.478, 2.046, 0.392, 0, 0, 0, [SEP] 47, Cabinet, -0.518, 2.046, 0.392, 0, 0, 0, [SEP] 48, Cabinet, -0.479, 2.046, 0.392, 0, 0, 0, [SEP] 49, CounterTop, -1.366, 0.952, 0.349, 0, 0, 0, [SEP] 50, Sink, -1.108, 0.926, 0.340, 0, 0, 0, [SEP] 51, StoveBurner, -0.254, 0.922, 4.672, 0, 0, 0, [SEP] 52, Drawer, -1.824, 0.696, 0.413, 0, 0, 0, [SEP] 53, StoveBurner, -0.535, 0.922, 4.274, 0, 0, 0, [SEP] 54, StoveBurner, -0.254, 0.922, 4.274, 0, 0, 0, [SEP] 55, StoveBurner, -0.536, 0.922, 4.672, 0, 0, 0, [SEP] 56, CounterTop, -2.780, 0.971, 3.487, 0, 0, 0, [SEP] 57, Drawer, -2.323, 0.696, 0.413, 0, 0, 0, [SEP] 58, StoveKnob, -0.064, 1.090, 4.632, 0, 0, 73.865, [SEP] 59, StoveKnob, -0.064, 1.090, 4.782, 0, 0, 73.865, [SEP] 60, StoveKnob, -0.064, 1.090, 4.382, 0, 0, 73.865, [SEP] 61, StoveKnob, -0.064, 1.090, 4.222, 0, 0, 73.865, [SEP] 62, Toaster, -0.286, 0.861, 3.520, 0, 270, 0, [SEP] 63, GarbageCan, -2.816, -0.014, 0.370, 358.702, 26.614, 2.400, [SEP] 64, LightSwitch, -0.064, 1.447, 1.996, 0, 270, 0, [SEP] 65, Window, -3.075, 1.593, 1.361, 90, 90, 0, [SEP] 66, Fridge, -2.802, 0.0, 4.427, 0, 0, 0, [SEP] 67, SinkBasin, -1.106, 0.785, 0.337, 0, 0, 0, [SEP] 68, Microwave, -0.358, 0.917, 0.224, 0, 0, 0, [SEP] 69, CoffeeMachine, -2.938, 0.925, 3.605, 0, 90, 0, [SEP] 70, DiningTable, -2.733, -0.003, 2.607, 0, 270, 0, [SEP] 71, Faucet, -1.077, 0.920, 0.028, 270, 270, 0, [SEP] 72, DiningTable, -0.488, -0.003, 3.182, 0, 270, 0, [SEP] 73, NorthWall, , , , , , , [SEP] 74, EastWall, , , , , , , [SEP] 75, SouthWall, , , , , , , [SEP] 76, WestWall, , , , , , , ", "output": ["STEP 1: Go right and the right again to face the sink. | STEP 2: Pick the spoon up from the sink. | STEP 3: Cross the room and turn to face the stove. | STEP 4: Put the spoon in the pot. | STEP 5: Pick the pot up from the stove. | STEP 6: Cross the room and turn left to face the white table. | STEP 7: Put the pot down on the table. | END"]} +{"id": "trial_T20190907_210144_215419-2", "input": "drop a pot on the table with a spoon in it SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.901, 1.75, 0, 0, 0, [SEP] 1, Potato, -1.180, 0.822, 0.226, 0, 0, 0, 67 [SEP] 2, DishSponge, -1.878, 0.661, 0.519, 0, 0, 0, 52 [SEP] 3, DishSponge, -2.815, 0.053, 0.284, 0, 26.101, 0, 63 [SEP] 4, Spatula, -2.583, 0.915, 2.045, 0, 90, 0, 70 [SEP] 5, Spatula, -0.272, 0.677, 0.519, 0, 270, 0, 38 [SEP] 6, Fork, -2.583, 0.901, 1.913, 0, 0, 0, 70 [SEP] 7, Egg, -0.244, 1.056, 0.140, 0, 0, 0, 68 [SEP] 8, Egg, -0.572, 0.933, 3.133, 0, 0, 0, 72 [SEP] 9, Cup, -2.764, 1.186, 4.278, 0, 90, 0, 66 [SEP] 10, Cup, -1.007, 0.795, 0.447, 0, 0, 0, 67 [SEP] 11, Knife, -2.706, 0.961, 3.766, 0, 180, 0, 56 [SEP] 12, Knife, -0.164, 0.688, 0.464, 0, 270, 0, 38 [SEP] 13, Tomato, -0.314, 0.964, 3.334, 0, 0, 0, 72 [SEP] 14, Tomato, -2.831, 0.362, 4.352, 0, 90, 0, 66 [SEP] 15, PepperShaker, -0.486, 0.896, 2.329, 0, 0, 0, 72 [SEP] 16, Lettuce, -2.377, 0.980, 2.441, 0, 0, 0, 70 [SEP] 17, Egg, -2.722, 0.665, 4.427, 0, 90, 0, 66 [SEP] 18, Plate, -1.691, 1.777, 0.160, 0, 0, 0, 44 [SEP] 19, Fork, -2.037, 0.928, 0.433, 0, 0, 0, 49 [SEP] 20, Bread, -2.864, 0.940, 1.983, 0, 0, 0, 70 [SEP] 21, Apple, -0.350, 1.079, 0.140, 0, 0, 0, 68 [SEP] 22, Lettuce, -0.572, 0.980, 2.530, 0, 0, 0, 72 [SEP] 23, Spatula, -0.486, 0.915, 3.133, 0, 90, 0, 72 [SEP] 24, Knife, -0.486, 0.926, 2.329, 0, 180, 0, 72 [SEP] 25, Potato, -0.350, 1.044, 0.267, 0, 0, 0, 68 [SEP] 26, Tomato, -2.878, 0.362, 4.501, 0, 90, 0, 66 [SEP] 27, Cup, -0.657, 0.900, 2.932, 0, 0, 0, 72 [SEP] 28, SaltShaker, -1.716, 0.658, 0.245, 0, 0, 0, 52 [SEP] 29, PepperShaker, -2.583, 0.896, 2.309, 0, 0, 0, 70 [SEP] 30, ButterKnife, -2.583, 0.900, 2.706, 0, 0, 0, 70 [SEP] 31, SoapBottle, -0.314, 0.900, 3.133, 0, 0, 0, 72 [SEP] 32, Pan, -0.250, 0.926, 4.651, 0, 0, 0, 51 [SEP] 33, DishSponge, -2.785, 0.935, 3.302, 0, 0, 0, 56 [SEP] 34, Pot, -0.535, 0.928, 4.274, 0, 0, 0, 53 [SEP] 35, Spoon, -1.353, 0.798, 0.281, 0, 90, 0, 67 [SEP] 36, Mug, -2.778, 1.001, 3.714, 0, 90, 0, 69 [SEP] 37, Bowl, -2.764, 1.182, 4.501, 0, 90, 0, 66 [SEP] 38, Drawer, -0.325, 0.696, 0.413, 0, 0, 0, [SEP] 39, Cabinet, -0.595, 0.490, 0.648, 0, 0, 0, [SEP] 40, Cabinet, -0.555, 0.490, 0.646, 0, 0, 0, [SEP] 41, Cabinet, -1.591, 0.490, 0.646, 0, 0, 0, [SEP] 42, Cabinet, -1.554, 0.490, 0.646, 0, 0, 0, [SEP] 43, Cabinet, -2.550, 0.490, 0.646, 0, 0, 0, [SEP] 44, Cabinet, -1.514, 2.046, 0.392, 0, 0, 0, [SEP] 45, Cabinet, -2.474, 2.046, 0.392, 0, 0, 0, [SEP] 46, Cabinet, -1.478, 2.046, 0.392, 0, 0, 0, [SEP] 47, Cabinet, -0.518, 2.046, 0.392, 0, 0, 0, [SEP] 48, Cabinet, -0.479, 2.046, 0.392, 0, 0, 0, [SEP] 49, CounterTop, -1.366, 0.952, 0.349, 0, 0, 0, [SEP] 50, Sink, -1.108, 0.926, 0.340, 0, 0, 0, [SEP] 51, StoveBurner, -0.254, 0.922, 4.672, 0, 0, 0, [SEP] 52, Drawer, -1.824, 0.696, 0.413, 0, 0, 0, [SEP] 53, StoveBurner, -0.535, 0.922, 4.274, 0, 0, 0, [SEP] 54, StoveBurner, -0.254, 0.922, 4.274, 0, 0, 0, [SEP] 55, StoveBurner, -0.536, 0.922, 4.672, 0, 0, 0, [SEP] 56, CounterTop, -2.780, 0.971, 3.487, 0, 0, 0, [SEP] 57, Drawer, -2.323, 0.696, 0.413, 0, 0, 0, [SEP] 58, StoveKnob, -0.064, 1.090, 4.632, 0, 0, 73.865, [SEP] 59, StoveKnob, -0.064, 1.090, 4.782, 0, 0, 73.865, [SEP] 60, StoveKnob, -0.064, 1.090, 4.382, 0, 0, 73.865, [SEP] 61, StoveKnob, -0.064, 1.090, 4.222, 0, 0, 73.865, [SEP] 62, Toaster, -0.286, 0.861, 3.520, 0, 270, 0, [SEP] 63, GarbageCan, -2.816, -0.014, 0.370, 358.702, 26.614, 2.400, [SEP] 64, LightSwitch, -0.064, 1.447, 1.996, 0, 270, 0, [SEP] 65, Window, -3.075, 1.593, 1.361, 90, 90, 0, [SEP] 66, Fridge, -2.802, 0.0, 4.427, 0, 0, 0, [SEP] 67, SinkBasin, -1.106, 0.785, 0.337, 0, 0, 0, [SEP] 68, Microwave, -0.358, 0.917, 0.224, 0, 0, 0, [SEP] 69, CoffeeMachine, -2.938, 0.925, 3.605, 0, 90, 0, [SEP] 70, DiningTable, -2.733, -0.003, 2.607, 0, 270, 0, [SEP] 71, Faucet, -1.077, 0.920, 0.028, 270, 270, 0, [SEP] 72, DiningTable, -0.488, -0.003, 3.182, 0, 270, 0, [SEP] 73, NorthWall, , , , , , , [SEP] 74, EastWall, , , , , , , [SEP] 75, SouthWall, , , , , , , [SEP] 76, WestWall, , , , , , , ", "output": ["STEP 1: turn around and head towards the sink | STEP 2: pick up the table spoon from the sink | STEP 3: turn around and head towards the gas | STEP 4: drop the spoon in the pot on the gas | STEP 5: pick up the pot | STEP 6: turn right towards the table | STEP 7: drop the pot on the table | END"]} +{"id": "trial_T20190908_163958_896566-1", "input": "Examine a phone by the light of a tall lamp. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.907, 0.75, 0, 180, 0, [SEP] 1, Newspaper, -1.554, 0.456, 2.086, 0, 0, 0, 53 [SEP] 2, Newspaper, -3.747, 0.761, -0.502, 0, 0, 0, 49 [SEP] 3, Watch, 0.258, 0.037, 2.734, 0, 180, 0, 40 [SEP] 4, Pencil, -3.747, 0.758, -0.255, 0, 0, 0, 52 [SEP] 5, Pencil, -4.842, 0.758, -0.749, 0, 0, 0, 52 [SEP] 6, KeyChain, 0.193, 0.360, 2.863, 0, 180, 0, 39 [SEP] 7, KeyChain, 0.233, 0.552, 2.153, 0, 0, 0, 37 [SEP] 8, CellPhone, 0.628, 0.432, 4.787, 0, 0, 0, 45 [SEP] 9, CreditCard, 0.732, 0.431, 4.883, 0, 0, 0, 45 [SEP] 10, RemoteControl, -1.087, 0.452, 2.086, 0, 0, 0, 53 [SEP] 11, Book, 0.319, 0.552, 2.755, 0, 0, 0, 37 [SEP] 12, Box, 0.957, 0.286, 6.189, 0, 327.955, 0, 45 [SEP] 13, Pillow, 0.438, 0.581, 5.162, 321.968, 0, 0, 45 [SEP] 14, Bowl, -1.132, 0.880, 0.140, 0, 90, 0, 54 [SEP] 15, WateringCan, -0.816, 0.005, 0.189, 0, 0, 0, [SEP] 16, TissueBox, -4.477, 0.756, -0.379, 0, 0, 0, 52 [SEP] 17, Newspaper, 0.492, 0.558, 2.304, 0, 0, 0, 37 [SEP] 18, CreditCard, -0.970, 0.449, 2.086, 0, 0, 0, 53 [SEP] 19, KeyChain, -4.112, 0.755, -0.626, 0, 0, 0, 52 [SEP] 20, Boots, -6.309, 0.006, 1.252, 0, 92.842, 0, [SEP] 21, Pencil, 0.585, 0.360, 2.993, 0, 0, 0, 43 [SEP] 22, Laptop, -1.087, 0.451, 1.849, 0, 0, 0, 53 [SEP] 23, Vase, -4.477, 0.757, -0.749, 0, 0, 0, 50 [SEP] 24, RemoteControl, -4.842, 0.757, -0.008, 0, 0, 0, 46 [SEP] 25, Watch, 0.405, 0.552, 3.056, 0, 0, 0, 37 [SEP] 26, CellPhone, -0.970, 0.453, 3.031, 0, 0, 0, 53 [SEP] 27, Plate, -4.044, 0.748, -0.078, 0, 0, 0, 51 [SEP] 28, Painting, -6.5, 1.759, -0.341, 0, 0, 0, [SEP] 29, Painting, 0.704, 1.778, 0.782, 0, 0, 0, [SEP] 30, Television, 1.5, 1.690, 2.562, 0, 270, 0, [SEP] 31, FloorLamp, 1.111, 0.007, 6.805, 0, 0, 0, [SEP] 32, GarbageCan, -6.128, -0.003, 2.800, 0, 0, 0, [SEP] 33, LightSwitch, -6.5, 1.498, 1.345, 0, 90, 0, [SEP] 34, HousePlant, -0.753, 0.874, 0.209, 0, 0, 0, [SEP] 35, Window, 1.496, 1.712, 4.454, 90, 90, 0, [SEP] 36, Window, -4.210, 1.577, -1.980, 90, 180, 0, [SEP] 37, CoffeeTable, 0.405, 0.008, 2.605, 0, 270, 0, [SEP] 38, Drawer, 0.597, 0.234, 2.604, 0, 270, 0, [SEP] 39, Drawer, 0.214, 0.393, 2.604, 0, 270, 0, [SEP] 40, Drawer, 0.214, 0.234, 2.609, 0, 270, 0, [SEP] 41, Drawer, 0.214, 0.075, 2.604, 0, 270, 0, [SEP] 42, Drawer, 0.597, 0.075, 2.604, 0, 270, 0, [SEP] 43, Drawer, 0.597, 0.393, 2.604, 0, 270, 0, [SEP] 44, Ottoman, 0.493, 0.006, 4.309, 0, 0, 0, [SEP] 45, ArmChair, 0.420, 0.014, 5.129, 0, 180, 0, [SEP] 46, Chair, -4.664, 0.008, 0.164, 0, 180, 0, [SEP] 47, Chair, -3.424, 0.008, -0.321, 0, 270, 0, [SEP] 48, Chair, -4.988, 0.008, -0.401, 0, 90, 0, [SEP] 49, Chair, -3.904, 0.008, -0.827, 0, 0, 0, [SEP] 50, Chair, -4.570, 0.008, -0.831, 0, 0, 0, [SEP] 51, Chair, -3.996, 0.008, 0.091, 0, 180, 0, [SEP] 52, DiningTable, -4.295, 0.006, -0.378, 0, 0, 0, [SEP] 53, Sofa, -1.527, 0.013, 2.559, 0, 90, 0, [SEP] 54, SideTable, -1.030, 0.006, 0.160, 0, 0, 0, [SEP] 55, Drawer, -1.030, 0.780, 0.225, 0, 0, 0, [SEP] 56, NorthWall, , , , , , , [SEP] 57, EastWall, , , , , , , [SEP] 58, SouthWall, , , , , , , [SEP] 59, WestWall, , , , , , , ", "output": ["STEP 1: Turn left, head past the coffee table to the purple chair. | STEP 2: Pick up the phone on the purple chair. | STEP 3: Turn left, bring the phone around to the the back of the chair, near the tall lamp on the floor. | STEP 4: Turn on the lamp on the floor. | END"]} +{"id": "trial_T20190909_112630_295924-2", "input": "Chill a tomato slice in the fridge to put in the microwave. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.0, 0.899, 2.5, 0, 270, 0, [SEP] 1, Pencil, -3.613, 0.923, 5.489, 0, 90, 0, 70 [SEP] 2, DishSponge, -4.438, 0.923, 3.082, 0, 0, 0, 70 [SEP] 3, WineBottle, -3.784, 0.069, 6.333, 0, 270, 0, 96 [SEP] 4, Fork, -0.411, 0.925, 5.603, 0, 0, 0, 55 [SEP] 5, Spoon, -4.196, 0.792, 3.347, 0, 0, 0, 102 [SEP] 6, Spatula, -1.860, 0.938, 2.026, 0, 180, 0, 52 [SEP] 7, Cup, -3.135, 0.922, 5.259, 0, 90, 0, 70 [SEP] 8, Plate, -4.184, 0.924, 5.418, 0, 90, 0, 70 [SEP] 9, Knife, -0.411, 0.954, 5.273, 0, 0, 0, 55 [SEP] 10, Bowl, -0.295, 1.067, 3.602, 0, 270, 0, 103 [SEP] 11, SaltShaker, -1.776, 0.078, 1.813, 0, 0, 0, 86 [SEP] 12, PepperShaker, -1.610, 0.919, 1.573, 0, 0, 0, 52 [SEP] 13, PepperShaker, -0.181, 0.921, 5.603, 0, 0, 0, 55 [SEP] 14, Lettuce, -0.181, 1.020, 5.273, 0, 0, 0, 55 [SEP] 15, Lettuce, -0.301, 1.431, 3.231, 0, 270, 0, 103 [SEP] 16, Bread, -1.777, 1.003, 1.648, 0, 0, 0, 52 [SEP] 17, Bread, -0.181, 1.004, 4.944, 0, 0, 0, 55 [SEP] 18, Apple, -4.159, 0.844, 3.285, 0, 270, 0, 102 [SEP] 19, Apple, -2.740, 1.599, 1.601, 0, 0, 0, 100 [SEP] 20, Egg, -0.218, 1.616, 3.289, 0, 270, 0, 103 [SEP] 21, Apple, -1.693, 0.976, 1.8, 0, 0, 0, 52 [SEP] 22, Knife, -0.565, 0.954, 4.615, 0, 90, 0, 55 [SEP] 23, Potato, -0.383, 1.719, 3.915, 0, 270, 0, 103 [SEP] 24, Fork, -1.610, 0.924, 1.951, 0, 90, 0, 52 [SEP] 25, Bowl, -0.258, 0.922, 4.615, 0, 0, 0, 55 [SEP] 26, Plate, -4.163, 0.085, 2.625, 0, 0, 0, 62 [SEP] 27, Lettuce, -0.301, 1.431, 3.974, 0, 270, 0, 103 [SEP] 28, Bread, -1.943, 1.003, 1.951, 0, 0, 0, 52 [SEP] 29, Tomato, -4.108, 0.980, 4.122, 0, 90, 0, 70 [SEP] 30, WineBottle, -3.675, 0.069, 6.375, 0, 270, 0, 96 [SEP] 31, Spatula, -0.258, 0.940, 4.944, 0, 0, 0, 55 [SEP] 32, PaperTowelRoll, -3.639, 0.172, 6.498, 0, 270, 0, 96 [SEP] 33, Cup, -2.688, 1.545, 1.731, 0, 0, 0, 100 [SEP] 34, Pencil, -1.693, 0.923, 1.648, 0, 0, 0, 68 [SEP] 35, Pan, -2.924, 0.930, 2.012, 0, 0, 0, 53 [SEP] 36, Pot, -4.335, 0.924, 4.900, 0, 180, 0, 70 [SEP] 37, SaltShaker, -3.859, 0.741, 5.162, 0, 180, 0, 73 [SEP] 38, SoapBottle, -4.031, 0.923, 2.026, 0, 0, 0, 70 [SEP] 39, PepperShaker, -0.258, 0.921, 5.603, 0, 0, 0, 55 [SEP] 40, ButterKnife, -1.777, 0.923, 1.951, 0, 0, 0, 52 [SEP] 41, DishSponge, -0.227, 2.133, 4.066, 0, 180, 0, 79 [SEP] 42, Spoon, -4.517, 0.924, 3.548, 0, 90, 0, 70 [SEP] 43, Mug, -3.277, 0.074, 5.155, 0, 90, 0, 48 [SEP] 44, Cabinet, -3.203, 1.931, 1.777, 0, 0, 0, [SEP] 45, Cabinet, -3.187, 0.390, 2.089, 0, 0, 0, [SEP] 46, Cabinet, -0.637, 0.387, 6.882, 0, 180, 0, [SEP] 47, Drawer, -3.797, 0.781, 1.961, 0, 0, 0, [SEP] 48, Cabinet, -3.036, 0.387, 5.029, 0, 90, 0, [SEP] 49, Drawer, -0.509, 0.775, 5.268, 0, 270, 0, [SEP] 50, Drawer, -4.125, 0.798, 2.499, 0, 0, 0, [SEP] 51, Cabinet, -0.331, 2.249, 4.308, 0, 180, 0, [SEP] 52, CounterTop, -1.872, 0.958, 1.799, 0, 0, 0, [SEP] 53, StoveBurner, -2.924, 0.924, 2.012, 0, 0, 0, [SEP] 54, Cabinet, -0.331, 2.249, 6.806, 0, 180, 0, [SEP] 55, CounterTop, -0.345, 0.960, 5.603, 0, 0, 0, [SEP] 56, Cabinet, -3.039, 1.935, 5.321, 0, 90, 0, [SEP] 57, Cabinet, -3.922, 0.397, 2.088, 0, 0, 0, [SEP] 58, StoveBurner, -2.467, 0.924, 2.012, 0, 0, 0, [SEP] 59, Cabinet, -0.331, 2.249, 5.505, 0, 180, 0, [SEP] 60, Drawer, -0.509, 0.775, 4.617, 0, 270, 0, [SEP] 61, Drawer, -3.509, 0.777, 5.157, 0, 180, 0, [SEP] 62, Cabinet, -3.961, 0.388, 2.878, 0, 0, 0, [SEP] 63, Cabinet, -3.961, 0.388, 4.342, 0, 0, 0, [SEP] 64, Cabinet, -0.637, 0.387, 5.582, 0, 180, 0, [SEP] 65, Cabinet, -0.637, 0.388, 4.299, 0, 180, 0, [SEP] 66, Cabinet, -0.637, 0.388, 5.599, 0, 180, 0, [SEP] 67, StoveBurner, -2.924, 0.924, 1.712, 0, 180, 0, [SEP] 68, Drawer, -1.859, 0.775, 1.961, 0, 0, 0, [SEP] 69, Cabinet, -0.331, 2.249, 5.609, 0, 180, 0, [SEP] 70, CounterTop, -4.260, 0.958, 4.943, 0, 90, 0, [SEP] 71, Cabinet, -4.284, 1.931, 2.226, 0, 0, 0, [SEP] 72, Cabinet, -0.331, 2.249, 3.010, 0, 180, 0, [SEP] 73, Drawer, -3.801, 0.777, 5.157, 0, 180, 0, [SEP] 74, Cabinet, -4.112, 1.935, 5.321, 0, 90, 0, [SEP] 75, Cabinet, -3.968, 0.388, 3.662, 0, 0, 0, [SEP] 76, Drawer, -3.418, 0.777, 1.961, 0, 0, 0, [SEP] 77, Drawer, -4.090, 0.777, 4.661, 0, 90, 0, [SEP] 78, Faucet, -4.441, 0.909, 3.288, 270, 0, 0, [SEP] 79, Cabinet, -0.331, 2.249, 4.207, 0, 180, 0, [SEP] 80, Cabinet, -3.961, 0.388, 2.119, 0, 0, 0, [SEP] 81, Drawer, -0.509, 0.775, 5.920, 0, 270, 0, [SEP] 82, Drawer, -3.193, 0.777, 5.157, 0, 180, 0, [SEP] 83, Cabinet, -3.968, 0.388, 2.894, 0, 0, 0, [SEP] 84, Cabinet, -3.667, 0.387, 5.029, 0, 90, 0, [SEP] 85, StoveBurner, -2.469, 0.924, 1.712, 0, 270, 0, [SEP] 86, Cabinet, -1.539, 0.388, 2.090, 0, 0, 0, [SEP] 87, Sink, -4.190, 0.921, 3.279, 0, 0, 0, [SEP] 88, Cabinet, -3.641, 0.387, 5.029, 0, 90, 0, [SEP] 89, Cabinet, -1.583, 1.931, 1.777, 0, 0, 0, [SEP] 90, Drawer, -0.509, 0.775, 6.568, 0, 270, 0, [SEP] 91, CoffeeMachine, -0.279, 0.912, 6.556, 0, 270, 0, [SEP] 92, StoveKnob, -2.347, 1.095, 1.560, 288.012, 180, 180, [SEP] 93, StoveKnob, -2.788, 1.095, 1.560, 288.012, 180, 180, [SEP] 94, StoveKnob, -2.965, 1.095, 1.560, 288.012, 180, 180, [SEP] 95, StoveKnob, -2.512, 1.095, 1.560, 288.012, 180, 180, [SEP] 96, GarbageCan, -3.711, -0.030, 6.376, 0, 270, 0, [SEP] 97, Toaster, -3.578, 0.912, 1.763, 0, 0, 0, [SEP] 98, Curtains, -4.522, 2.252, 3.391, 90, 90, 0, [SEP] 99, Window, -4.868, 1.629, 3.309, 90, 270, 0, [SEP] 100, Microwave, -2.693, 1.430, 1.689, 0, 0, 0, [SEP] 101, LightSwitch, -1.588, 1.169, 1.506, 0, 0, 0, [SEP] 102, SinkBasin, -4.196, 0.780, 3.276, 0, 270, 0, [SEP] 103, Fridge, -0.324, -0.001, 3.602, 0, 0, 0, [SEP] 104, NorthWall, , , , , , , [SEP] 105, EastWall, , , , , , , [SEP] 106, SouthWall, , , , , , , [SEP] 107, WestWall, , , , , , , ", "output": ["STEP 1: Turn around to walk across the room to the counter to the left of the fridge. | STEP 2: Pick up the knife from the countertop. | STEP 3: Turn around to walk to the dishwasher. | STEP 4: Slice the tomato on the counter above the dishwasher. | STEP 5: Turn around to walk to the fridge. | STEP 6: Set the knife down in the fridge. | STEP 7: Turn around to walk to the tomato on the counter. | STEP 8: Pick up a slice of tomato. | STEP 9: Turn around and walk to the fridge. | STEP 10: Chill the tomato slice in the fridge, removing it afterwards. | STEP 11: Turn around to walk to the microwave. | STEP 12: Set the tomato slice down in the microwave. | END"]} +{"id": "trial_T20190907_182525_640577-1", "input": "Move a hand towel to the bath tub SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.900, 1.25, 0, 0, 0, [SEP] 1, Cloth, -3.449, 0.219, 0.941, 0, 0, 0, 42 [SEP] 2, Cloth, -3.511, 0.219, 0.613, 0, 0, 0, 42 [SEP] 3, TissueBox, -2.042, 0.846, 2.236, 0, 0, 0, 25 [SEP] 4, Candle, -2.121, 1.104, 2.143, 0, 0, 0, 34 [SEP] 5, SprayBottle, -0.767, 1.655, 0.262, 0, 0, 0, 32 [SEP] 6, SprayBottle, -0.178, 0.028, 0.300, 0, 90, 0, 44 [SEP] 7, SoapBottle, -2.132, 1.586, 2.288, 0, 0, 0, 31 [SEP] 8, SoapBottle, -2.031, 0.111, 2.146, 0, 0, 0, 23 [SEP] 9, HandTowel, -1.296, 1.765, 0.040, 0, 180, 0, 39 [SEP] 10, SoapBar, -0.631, 0.952, 2.749, 0, 270, 0, 41 [SEP] 11, ToiletPaper, -0.443, 0.949, 2.723, 0, 270, 0, 41 [SEP] 12, Plunger, -0.735, -0.000, 2.732, 0, 0, 0, Floor|-00.08| [SEP] 13, Candle, -2.208, 1.300, 2.096, 0, 0, 0, 35 [SEP] 14, TissueBox, -0.812, 1.134, 0.110, 0, 0, 0, 33 [SEP] 15, ToiletPaper, -2.075, 0.843, 2.097, 0, 0, 0, 25 [SEP] 16, SoapBottle, -0.229, 0.030, 0.179, 0, 0, 0, 44 [SEP] 17, SprayBottle, -0.858, 0.119, 0.213, 0, 0, 0, 24 [SEP] 18, Towel, -2.760, 1.569, 0.107, 0, 0, 0, 36 [SEP] 19, Cloth, -3.574, 0.219, 1.432, 0, 0, 0, 42 [SEP] 20, ScrubBrush, -0.657, -0.000, 2.560, 0, 0, 0, Floor|-00.08| [SEP] 21, Cabinet, -2.344, 0.457, 0.524, 0, 0, 0, [SEP] 22, Drawer, -0.813, 0.956, 0.384, 0, 270, 0, [SEP] 23, Cabinet, -1.891, 0.443, 1.982, 0, 0, 0, [SEP] 24, Cabinet, -0.605, 0.457, 0.524, 0, 0, 0, [SEP] 25, Drawer, -2.032, 0.942, 2.190, 0, 0, 0, [SEP] 26, Bathtub, -3.450, 0.178, 1.029, 0, 0, 0, [SEP] 27, CounterTop, -1.919, 0.0, 0.288, 0, 0, 0, [SEP] 28, Sink, -1.924, 0.772, 0.326, 0, 0, 0, [SEP] 29, Mirror, -1.934, 1.666, 0.107, 0, 0, 0, [SEP] 30, Faucet, -1.925, 0.958, 0.179, 0, 0, 0, [SEP] 31, Cabinet, -1.891, 1.884, 2.391, 0, 0, 0, [SEP] 32, Cabinet, -0.605, 1.988, 0.524, 0, 0, 0, [SEP] 33, CounterTop, -0.812, 0.093, 0.288, 0, 0, 0, [SEP] 34, Shelf, -2.029, 1.183, 2.189, 0, 0, 0, [SEP] 35, Shelf, -2.123, 1.393, 2.189, 0, 0, 0, [SEP] 36, TowelHolder, -2.760, 1.555, 0.000, 0, 0, 0, [SEP] 37, LightSwitch, 0.0, 1.427, 1.993, 0, 270, 0, [SEP] 38, ToiletPaperHanger, 0.0, 1.014, 2.237, 0, 270, 0, [SEP] 39, HandTowelHolder, -1.297, 1.866, 0.002, 0, 270, 0, [SEP] 40, Window, -4.149, 1.717, 1.154, 90, 270, 0, [SEP] 41, Toilet, -0.456, -0.000, 2.257, 0, 180, 0, [SEP] 42, BathtubBasin, -3.520, 0.210, 0.940, 0, 0, 0, [SEP] 43, SinkBasin, -1.931, 0.841, 0.320, 0, 0, 0, [SEP] 44, GarbageCan, -0.257, -0.000, 0.259, 0, 0, 0, [SEP] 45, ShowerHead, -3.522, 1.719, 1.776, 0, 0, 0, [SEP] 46, ShowerCurtain, -3.391, 2.442, 0.266, 0, 0, 6.838, [SEP] 47, NorthWall, , , , , , , [SEP] 48, SouthWall, , , , , , , [SEP] 49, SouthWall, , , , , , , ", "output": ["STEP 1: Move to the wall to the left of the sink | STEP 2: Pick up the hand towel that is on the towel holder | STEP 3: Carry the hand towel to the bath tub | STEP 4: Place the hand towel inside of the bath tub | END"]} +{"id": "trial_T20190907_233148_972810-1", "input": "Put a cleaned mug on the coffee machine. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.901, 3.0, 0, 180, 0, [SEP] 1, Potato, -0.138, 1.044, 0.267, 0, 0, 0, 72 [SEP] 2, ButterKnife, -0.400, 0.900, 2.530, 0, 0, 0, 76 [SEP] 3, Spatula, -0.486, 0.915, 3.334, 0, 0, 0, 76 [SEP] 4, Spatula, -1.007, 0.810, 0.447, 0, 270, 0, 71 [SEP] 5, Spoon, -2.377, 0.901, 2.441, 0, 90, 0, 74 [SEP] 6, Egg, -0.314, 0.933, 3.334, 0, 0, 0, 76 [SEP] 7, Cup, -0.657, 0.900, 2.932, 0, 0, 0, 76 [SEP] 8, Cup, -0.228, 0.900, 3.133, 0, 0, 0, 76 [SEP] 9, Knife, -2.686, 0.926, 1.913, 0, 0, 0, 74 [SEP] 10, SoapBottle, -1.358, 1.773, 0.297, 0, 0, 0, 50 [SEP] 11, Bowl, -2.480, 0.897, 2.573, 0, 0, 0, 74 [SEP] 12, SaltShaker, -0.228, 0.896, 2.731, 0, 0, 0, 76 [SEP] 13, SaltShaker, -2.549, 0.931, 3.673, 0, 0, 0, 60 [SEP] 14, PepperShaker, -2.628, 0.931, 3.209, 0, 0, 0, 60 [SEP] 15, PepperShaker, -2.037, 0.924, 0.433, 0, 0, 0, 53 [SEP] 16, Bread, -2.805, 1.243, 4.352, 0, 90, 0, 70 [SEP] 17, Lettuce, -2.831, 0.378, 4.575, 0, 90, 0, 70 [SEP] 18, Lettuce, -0.572, 0.980, 2.329, 0, 0, 0, 76 [SEP] 19, Mug, -2.628, 0.930, 3.488, 0, 0, 0, 60 [SEP] 20, Mug, -0.350, 1.018, 0.267, 0, 0, 0, 72 [SEP] 21, Egg, -0.138, 1.056, 0.140, 0, 0, 0, 72 [SEP] 22, Plate, -2.738, 0.303, 4.352, 0, 90, 0, 70 [SEP] 23, Fork, -0.486, 0.901, 2.731, 0, 0, 0, 76 [SEP] 24, Bread, -2.583, 0.957, 2.309, 0, 0, 0, 74 [SEP] 25, Apple, -2.628, 0.991, 3.395, 0, 90, 0, 60 [SEP] 26, Lettuce, -2.785, 1.015, 3.302, 0, 180, 0, 60 [SEP] 27, Spatula, -2.892, 0.915, 2.441, 0, 90, 0, 74 [SEP] 28, Knife, -2.431, 0.688, 0.464, 0, 270, 0, 61 [SEP] 29, Potato, -2.764, 0.658, 4.204, 0, 90, 0, 70 [SEP] 30, Tomato, -2.888, 0.696, 4.427, 0, 90, 0, 70 [SEP] 31, Cup, -0.244, 1.023, 0.267, 0, 0, 0, 72 [SEP] 32, SaltShaker, -2.377, 0.658, 0.355, 0, 0, 0, 61 [SEP] 33, PepperShaker, -2.943, 0.931, 3.302, 0, 0, 0, 60 [SEP] 34, ButterKnife, -2.789, 0.900, 2.441, 0, 0, 0, 74 [SEP] 35, SoapBottle, -2.892, 0.900, 2.309, 0, 0, 0, 74 [SEP] 36, Pan, -0.535, 0.928, 4.274, 0, 0, 0, 57 [SEP] 37, DishSponge, -2.480, 0.900, 2.045, 0, 0, 0, 74 [SEP] 38, Pot, -1.770, 0.927, 0.348, 0, 180, 0, 53 [SEP] 39, Spoon, -1.353, 0.797, 0.337, 0, 90, 0, 71 [SEP] 40, Mug, -2.722, 1.181, 4.575, 0, 90, 0, 70 [SEP] 41, Bowl, -0.359, 1.770, 0.297, 0, 90, 0, 52 [SEP] 42, Drawer, -0.325, 0.696, 0.413, 0, 0, 0, [SEP] 43, Cabinet, -0.595, 0.490, 0.648, 0, 0, 0, [SEP] 44, Cabinet, -0.555, 0.490, 0.646, 0, 0, 0, [SEP] 45, Cabinet, -1.591, 0.490, 0.646, 0, 0, 0, [SEP] 46, Cabinet, -1.554, 0.490, 0.646, 0, 0, 0, [SEP] 47, Cabinet, -2.550, 0.490, 0.646, 0, 0, 0, [SEP] 48, Cabinet, -1.514, 2.046, 0.392, 0, 0, 0, [SEP] 49, Cabinet, -2.474, 2.046, 0.392, 0, 0, 0, [SEP] 50, Cabinet, -1.478, 2.046, 0.392, 0, 0, 0, [SEP] 51, Cabinet, -0.518, 2.046, 0.392, 0, 0, 0, [SEP] 52, Cabinet, -0.479, 2.046, 0.392, 0, 0, 0, [SEP] 53, CounterTop, -1.366, 0.952, 0.349, 0, 0, 0, [SEP] 54, Sink, -1.108, 0.926, 0.340, 0, 0, 0, [SEP] 55, StoveBurner, -0.254, 0.922, 4.672, 0, 0, 0, [SEP] 56, Drawer, -1.824, 0.696, 0.413, 0, 0, 0, [SEP] 57, StoveBurner, -0.535, 0.922, 4.274, 0, 0, 0, [SEP] 58, StoveBurner, -0.254, 0.922, 4.274, 0, 0, 0, [SEP] 59, StoveBurner, -0.536, 0.922, 4.672, 0, 0, 0, [SEP] 60, CounterTop, -2.780, 0.971, 3.487, 0, 0, 0, [SEP] 61, Drawer, -2.323, 0.696, 0.413, 0, 0, 0, [SEP] 62, StoveKnob, -0.064, 1.090, 4.632, 0, 0, 73.865, [SEP] 63, StoveKnob, -0.064, 1.090, 4.782, 0, 0, 73.865, [SEP] 64, StoveKnob, -0.064, 1.090, 4.382, 0, 0, 73.865, [SEP] 65, StoveKnob, -0.064, 1.090, 4.222, 0, 0, 73.865, [SEP] 66, Toaster, -0.286, 0.861, 3.520, 0, 270, 0, [SEP] 67, GarbageCan, -2.816, -0.014, 0.370, 358.702, 26.614, 2.400, [SEP] 68, LightSwitch, -0.064, 1.447, 1.996, 0, 270, 0, [SEP] 69, Window, -3.075, 1.593, 1.361, 90, 90, 0, [SEP] 70, Fridge, -2.802, 0.0, 4.427, 0, 0, 0, [SEP] 71, SinkBasin, -1.106, 0.785, 0.337, 0, 0, 0, [SEP] 72, Microwave, -0.358, 0.917, 0.224, 0, 0, 0, [SEP] 73, CoffeeMachine, -2.938, 0.925, 3.605, 0, 90, 0, [SEP] 74, DiningTable, -2.733, -0.003, 2.607, 0, 270, 0, [SEP] 75, Faucet, -1.077, 0.920, 0.028, 270, 270, 0, [SEP] 76, DiningTable, -0.488, -0.003, 3.182, 0, 270, 0, [SEP] 77, NorthWall, , , , , , , [SEP] 78, EastWall, , , , , , , [SEP] 79, SouthWall, , , , , , , [SEP] 80, WestWall, , , , , , , ", "output": ["STEP 1: Turn around, move to the coffee machine on your left. | STEP 2: Pick up the dirty mug on the coffee machine. | STEP 3: Turn left, bring the mug to the sink. | STEP 4: Wash the mug in the sink with water. | STEP 5: Take the mug back to the coffee machine next to the fridge. | STEP 6: Put the cleaned mug on the coffee machine. | END"]} +{"id": "trial_T20190911_111120_037082-2", "input": "put both CDs inside the safe on the ground SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.901, 0.75, 0, 0, 0, [SEP] 1, CD, 0.000, 0.971, -1.484, 0, 270, 0, 32 [SEP] 2, Pencil, 0.604, 0.974, -1.557, 0, 270, 0, 32 [SEP] 3, CreditCard, 0.000, 0.972, -1.926, 0, 270, 0, 32 [SEP] 4, KeyChain, 2.208, 0.470, 1.332, 0, 0, 0, 30 [SEP] 5, Pillow, 0.649, 0.477, 0.419, 0, 0, 0, 42 [SEP] 6, Box, -1.751, 0.252, 1.499, 0, 340.773, 0, Floor|+00.00| [SEP] 7, Book, 1.392, 0.417, 0.252, 0, 0, 0, 42 [SEP] 8, Cloth, -1.146, 0.000, -2.123, 0, 0, 0, Floor|+00.00| [SEP] 9, CellPhone, -0.300, 0.039, -1.542, 0, 270, 0, 33 [SEP] 10, Pencil, 0.402, 0.975, -1.631, 0, 270, 0, 32 [SEP] 11, AlarmClock, 2.153, 0.565, 1.23, 0, 213.033, 0, 30 [SEP] 12, TeddyBear, -2.236, 0.000, 1.457, 0, 319.128, 0, Floor|+00.00| [SEP] 13, CreditCard, 0.491, 0.036, -1.824, 0, 270, 0, 38 [SEP] 14, KeyChain, 1.753, 0.041, -2.074, 0, 88.075, 0, 45 [SEP] 15, Pillow, 1.640, 0.477, -0.080, 0, 0, 0, 42 [SEP] 16, Pillow, 2.15, 0.433, -0.241, 0, 282.078, 0, 42 [SEP] 17, Laptop, -0.5, 0.965, -1.715, 0, 24.156, 0, 32 [SEP] 18, Bowl, 0.471, 0.965, -1.856, 0, 0, 0, 32 [SEP] 19, Cloth, -1.288, 0.000, -1.936, 0, 357.341, 356.936, Floor|+00.00| [SEP] 20, CD, 0.675, 0.409, -1.488, 0, 270, 0, 41 [SEP] 21, Pen, 0.604, 0.976, -1.705, 0, 270, 0, 32 [SEP] 22, DeskLamp, 2.302, 0.561, 1.435, 0, 315, 0, [SEP] 23, GarbageCan, -2.208, -0.023, -1.742, 0, 77.663, 0, [SEP] 24, Poster, 2.439, 1.508, 0.014, 90, 270, 0, [SEP] 25, LightSwitch, -2.457, 1.274, -0.096, 0, 90, 0, [SEP] 26, Mirror, 2.454, 1.322, -1.414, 0, 90, 0, [SEP] 27, Window, -1.440, 1.815, -2.354, 90, 0, 0, [SEP] 28, Window, 1.401, 1.815, -2.354, 90, 0, 0, [SEP] 29, Drawer, 2.251, 0.468, 1.333, 0, 270, 0, [SEP] 30, SideTable, 2.243, -0.001, 1.331, 0, 270, 0, [SEP] 31, Drawer, -0.385, 0.681, -1.631, 0, 0, 0, [SEP] 32, Dresser, 0.011, 0.001, -1.676, 0, 0, 0, [SEP] 33, Drawer, -0.385, 0.105, -1.631, 0, 0, 0, [SEP] 34, Drawer, 0.408, 0.868, -1.632, 0, 0, 0, [SEP] 35, Drawer, -0.385, 0.487, -1.631, 0, 0, 0, [SEP] 36, Drawer, -0.385, 0.868, -1.632, 0, 0, 0, [SEP] 37, Drawer, 0.408, 0.681, -1.631, 0, 0, 0, [SEP] 38, Drawer, 0.408, 0.105, -1.631, 0, 0, 0, [SEP] 39, Drawer, 0.408, 0.292, -1.631, 0, 0, 0, [SEP] 40, Drawer, -0.385, 0.292, -1.631, 0, 0, 0, [SEP] 41, Drawer, 0.408, 0.487, -1.631, 0, 0, 0, [SEP] 42, Bed, 1.377, 0.004, 0.072, 0, 90, 0, [SEP] 43, Blinds, 1.422, 3.115, -2.339, 0, 0, 0, [SEP] 44, Blinds, -1.422, 3.115, -2.339, 0, 0, 0, [SEP] 45, Safe, 1.640, 0.000, -2.040, 0, 355.244, 0, [SEP] 46, LaundryHamper, -1.564, 0.001, -1.927, 0, 45, 0, [SEP] 47, NorthWall, , , , , , , [SEP] 48, EastWall, , , , , , , [SEP] 49, SouthWall, , , , , , , [SEP] 50, WestWall, , , , , , , ", "output": ["STEP 1: turn and walk to face the left side of the dresser drawers | STEP 2: grab a CD out of the top left drawer | STEP 3: take the CD over to the white safe on the floor | STEP 4: put the CD inside the safe on the floor | STEP 5: walk back over to the dresser drawers | STEP 6: grab the CD off the top of the dresser | STEP 7: walk over to the white safe on the ground again | STEP 8: put the CD inside the safe | END"]} +{"id": "trial_T20190909_035124_112502-2", "input": "Removed soap bottle from trash and put in cupboard under sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.900, 1.75, 0, 90, 0, [SEP] 1, Cloth, -1.721, 0.074, 0.718, 0, 0, 0, 21 [SEP] 2, SoapBar, -1.320, 0.073, 0.679, 0, 315, 0, 21 [SEP] 3, SoapBar, -1.791, 0.770, 3.098, 0, 0, 0, 20 [SEP] 4, Candle, 0.060, 0.617, 3.815, 0, 0, 0, 43 [SEP] 5, Candle, -1.695, 0.772, 3.122, 0, 0, 0, 20 [SEP] 6, SprayBottle, -1.782, 0.069, 2.891, 0, 0, 0, 28 [SEP] 7, SoapBottle, -1.795, 0.015, 2.193, 0, 0, 0, 22 [SEP] 8, Towel, -0.07, 1.284, 0.106, 0, 0, 0, 30 [SEP] 9, HandTowel, -1.731, 1.333, 3.961, 0, 0, 0, 32 [SEP] 10, SoapBar, -1.537, 0.073, 0.470, 0, 90, 0, 21 [SEP] 11, ToiletPaper, -0.089, 1.159, 3.797, 0, 0, 0, 49 [SEP] 12, ToiletPaper, 0.349, 0.089, 3.815, 0, 0, 0, 41 [SEP] 13, Cloth, -1.786, 0.074, 0.213, 0, 0, 0, 21 [SEP] 14, SprayBottle, 0.204, 1.160, 3.829, 0, 0, 0, 49 [SEP] 15, Candle, 0.204, 1.160, 3.926, 0, 0, 0, 49 [SEP] 16, ScrubBrush, -1.664, -0.000, 3.897, 0, 0, 0, Floor|-02.00| [SEP] 17, Plunger, -1.888, -0.000, 3.885, 0, 0, 0, Floor|-02.00| [SEP] 18, SoapBottle, -0.414, 0.447, 0.163, 0, 0, 0, 19 [SEP] 19, Bathtub, -1.414, -0.002, 0.563, 0, 0, 0, [SEP] 20, CounterTop, -1.799, 0.746, 3.122, 0, 0, 0, [SEP] 21, BathtubBasin, -1.613, 0.052, 0.540, 0, 0, 0, [SEP] 22, Cabinet, -1.613, 0.309, 2.493, 0, 0, 0, [SEP] 23, ShowerDoor, 0.527, 1.037, 2.115, 0, 0, 0, [SEP] 24, Mirror, -1.993, 1.424, 3.107, 0, 0, 0, [SEP] 25, Cabinet, -1.613, 0.309, 3.754, 0, 0, 0, [SEP] 26, Faucet, -1.873, 0.461, 0.641, 0, 0, 0, [SEP] 27, Sink, -1.834, 0.685, 2.777, 0, 90, 0, [SEP] 28, Cabinet, -1.613, 0.309, 3.105, 0, 0, 0, [SEP] 29, Cabinet, -1.613, 0.309, 3.140, 0, 0, 0, [SEP] 30, TowelHolder, -0.070, 1.269, 0.0, 0, 0, 0, [SEP] 31, GarbageCan, 0.932, -0.029, 3.761, 0, 0, 0, [SEP] 32, HandTowelHolder, -1.730, 1.434, 4.0, 0, 90, 0, [SEP] 33, Window, -1.039, 1.393, 0.018, 90, 0, 0, [SEP] 34, Window, -1.986, 1.392, 0.706, 90, 90, 0, [SEP] 35, ToiletPaperHanger, -1.776, 0.681, 2.474, 0, 180, 0, [SEP] 36, SinkBasin, -1.795, 0.694, 2.781, 0, 90, 0, [SEP] 37, LightSwitch, 1.250, 1.330, 3.621, 0, 270, 0, [SEP] 38, Toilet, -1.567, -0.000, 1.815, 0, 180, 0, [SEP] 39, Drawer, 0.204, 0.940, 3.807, 0, 180, 0, [SEP] 40, Dresser, 0.204, 0.000, 3.832, 0, 180, 0, [SEP] 41, Drawer, 0.204, 0.160, 3.807, 0, 180, 0, [SEP] 42, Drawer, 0.204, 0.420, 3.807, 0, 180, 0, [SEP] 43, Drawer, 0.204, 0.680, 3.807, 0, 180, 0, [SEP] 44, SinkBasin, -1.795, 0.694, 3.476, 0, 90, 0, [SEP] 45, Sink, -1.833, 0.685, 3.472, 0, 90, 0, [SEP] 46, Faucet, -1.988, 0.947, 3.472, 0, 180, 0, [SEP] 47, ShowerHead, 0.972, 1.222, 2.015, 0, 270, 0, [SEP] 48, Faucet, -1.988, 0.947, 2.776, 0, 180, 0, [SEP] 49, , , , , , , , [SEP] 50, NorthWall, , , , , , , [SEP] 51, EastWall, , , , , , , [SEP] 52, SouthWall, , , , , , , [SEP] 53, WestWall, , , , , , , ", "output": ["STEP 1: Turn around from shower and go to the trash can next to the toilet. | STEP 2: Take the soap bottle from the trash can. | STEP 3: Go to the right cupboard under the left sink. | STEP 4: Place soap bottle in the third cupboard from the left. | END"]} +{"id": "trial_T20190907_233149_432926-1", "input": "Place a cooled loaf of bread on the counter to the right of the oven. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.900, 3.0, 0, 0, 0, [SEP] 1, Ladle, -0.662, 1.086, 2.817, 0, 0, 0, 48 [SEP] 2, DishSponge, -1.948, 0.095, 0.613, 0, 0, 0, 50 [SEP] 3, Pot, -3.000, 1.133, 0.227, 0, 270, 0, 62 [SEP] 4, Fork, -0.662, 1.039, 2.369, 0, 180, 0, 48 [SEP] 5, Fork, -0.662, 1.048, 3.266, 0, 0, 0, 48 [SEP] 6, Spoon, -1.376, 0.932, 0.428, 0, 270, 0, 70 [SEP] 7, Spoon, -1.568, 1.154, 0.121, 0, 0, 0, 45 [SEP] 8, Egg, -3.644, 0.142, 2.068, 0, 0, 0, 69 [SEP] 9, Cup, -0.203, 1.226, 0.443, 0, 0, 0, 71 [SEP] 10, Cup, -1.663, 1.152, 0.095, 0, 0, 0, 45 [SEP] 11, Knife, -0.415, 1.080, 2.144, 0, 180, 0, 48 [SEP] 12, SoapBottle, -1.522, 0.049, 0.325, 0, 0, 0, 63 [SEP] 13, SoapBottle, -3.542, 0.113, 2.008, 0, 0, 0, 69 [SEP] 14, SaltShaker, -1.274, 0.045, 0.437, 0, 0, 0, 52 [SEP] 15, SaltShaker, -1.116, 0.045, 0.324, 0, 0, 0, 52 [SEP] 16, PepperShaker, -1.314, 0.045, 0.324, 0, 0, 0, 52 [SEP] 17, Bread, -0.168, 1.134, 2.144, 0, 0, 0, 48 [SEP] 18, Bread, -0.908, 1.133, 3.266, 0, 0, 0, 48 [SEP] 19, Bread, -0.908, 1.134, 2.593, 0, 0, 0, 48 [SEP] 20, Mug, -0.785, 1.043, 1.920, 0, 0, 0, 48 [SEP] 21, Fork, -1.553, 0.932, 0.359, 0, 0, 0, 70 [SEP] 22, SoapBottle, -1.640, 0.049, 0.551, 0, 0, 0, 63 [SEP] 23, Pot, -3.475, 1.133, 0.48, 0, 90, 0, 46 [SEP] 24, Ladle, -1.922, 1.139, 0.377, 350.995, 45, 351.750, 58 [SEP] 25, Potato, -0.415, 1.259, 0.443, 0, 0, 0, 71 [SEP] 26, Plate, -1.193, 0.921, 0.403, 0, 0, 0, 70 [SEP] 27, Bread, -0.785, 1.133, 2.144, 0, 0, 0, 48 [SEP] 28, Lettuce, -0.908, 1.125, 3.042, 0, 0, 0, 48 [SEP] 29, Spatula, -0.662, 1.063, 2.144, 0, 270, 0, 48 [SEP] 30, Pan, -0.266, 1.038, 2.561, 0, 0, 0, 48 [SEP] 31, Egg, -3.644, 0.142, 2.008, 0, 0, 0, 69 [SEP] 32, Cup, -1.640, 0.047, 0.325, 0, 0, 0, 63 [SEP] 33, SaltShaker, -2.592, 0.091, 0.579, 0, 0, 0, 51 [SEP] 34, Knife, -0.538, 1.079, 3.042, 0, 0, 0, 48 [SEP] 35, Bowl, -0.495, 1.038, 2.223, 0, 0, 0, 48 [SEP] 36, PepperShaker, -1.314, 0.045, 0.664, 0, 0, 0, 52 [SEP] 37, ButterKnife, -2.6, 1.113, 0.577, 0, 315, 0, 58 [SEP] 38, Apple, -0.415, 1.115, 1.920, 0, 0, 0, 48 [SEP] 39, Tomato, -0.739, 1.086, 2.413, 6.775, 344.995, 347.549, 48 [SEP] 40, DishSponge, -1.553, 0.931, 0.428, 0, 0, 0, 70 [SEP] 41, Spoon, -1.111, 0.932, 0.567, 0, 90, 0, 70 [SEP] 42, Mug, -1.116, 0.044, 0.437, 0, 0, 0, 52 [SEP] 43, StoveKnob, -3.322, 1.053, 0.709, 45, 0, 0, [SEP] 44, StoveBurner, -3.474, 1.097, 0.227, 0, 180, 0, [SEP] 45, Sink, -1.394, 0.982, 0.439, 0, 0, 0, [SEP] 46, StoveBurner, -3.474, 1.097, 0.479, 0, 180, 0, [SEP] 47, StoveKnob, -3.164, 1.053, 0.709, 45, 0, 0, [SEP] 48, DiningTable, -0.620, 0.017, 2.486, 0, 0, 0, [SEP] 49, Drawer, -2.043, 0.608, 0.594, 0, 0, 0, [SEP] 50, Drawer, -2.043, 0.216, 0.594, 0, 0, 0, [SEP] 51, Drawer, -2.498, 0.216, 0.594, 0, 0, 0, [SEP] 52, Cabinet, -1.001, 0.393, 0.734, 0, 0, 0, [SEP] 53, StoveBurner, -3.000, 1.097, 0.480, 0, 0, 0, [SEP] 54, StoveKnob, -3.492, 1.053, 0.709, 45, 0, 0, [SEP] 55, CounterTop, -3.856, 1.160, 0.379, 0, 0, 0, [SEP] 56, Drawer, -2.043, 0.937, 0.599, 0, 0, 0, [SEP] 57, Drawer, -2.509, 0.937, 0.599, 0, 0, 0, [SEP] 58, CounterTop, -2.280, 1.160, 0.379, 0, 0, 0, [SEP] 59, StoveKnob, -2.985, 1.053, 0.709, 45, 0, 0, [SEP] 60, CounterTop, -0.514, 1.160, 0.492, 0, 0, 0, [SEP] 61, Drawer, -2.498, 0.608, 0.594, 0, 0, 0, [SEP] 62, StoveBurner, -3.000, 1.097, 0.227, 0, 0, 0, [SEP] 63, Cabinet, -1.733, 0.393, 0.734, 0, 0, 0, [SEP] 64, CoffeeMachine, -0.153, 1.038, 3.193, 0, 270, 0, [SEP] 65, Fridge, -3.519, 0.0, 2.717, 0, 90, 0, [SEP] 66, Window, -1.394, 1.924, 0.014, 90, 0, 0, [SEP] 67, Window, -3.266, 1.924, 0.014, 90, 0, 0, [SEP] 68, Toaster, -0.225, 1.038, 2.865, 0, 270, 0, [SEP] 69, GarbageCan, -3.696, 0.002, 2.008, 0, 0, 0, [SEP] 70, SinkBasin, -1.389, 0.921, 0.428, 0, 0, 0, [SEP] 71, Microwave, -0.366, 1.113, 0.430, 0, 0, 0, [SEP] 72, HousePlant, -2.155, 1.101, 0.169, 0, 332.897, 0, [SEP] 73, LightSwitch, -2.584, 1.299, 3.5, 0, 180, 0, [SEP] 74, Faucet, -1.393, 1.373, 0.168, 0, 270, 0, [SEP] 75, NorthWall, , , , , , , [SEP] 76, SouthWall, , , , , , , [SEP] 77, SouthWall, , , , , , , ", "output": ["STEP 1: Turn around and walk to the table on your left. | STEP 2: Grab the bread from the table | STEP 3: Turn around and walk to the fridge. | STEP 4: Place the bread in the fridge, wait a little while, and remove the bread from the fridge. | STEP 5: Turn to your left and approach the oven | STEP 6: Place the bread on the counter to the right of the oven. | END"]} +{"id": "trial_T20190907_233149_432926-2", "input": "Place a cooled loaf of bread on the counter to the right of the stove. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.900, 3.0, 0, 0, 0, [SEP] 1, Ladle, -0.662, 1.086, 2.817, 0, 0, 0, 48 [SEP] 2, DishSponge, -1.948, 0.095, 0.613, 0, 0, 0, 50 [SEP] 3, Pot, -3.000, 1.133, 0.227, 0, 270, 0, 62 [SEP] 4, Fork, -0.662, 1.039, 2.369, 0, 180, 0, 48 [SEP] 5, Fork, -0.662, 1.048, 3.266, 0, 0, 0, 48 [SEP] 6, Spoon, -1.376, 0.932, 0.428, 0, 270, 0, 70 [SEP] 7, Spoon, -1.568, 1.154, 0.121, 0, 0, 0, 45 [SEP] 8, Egg, -3.644, 0.142, 2.068, 0, 0, 0, 69 [SEP] 9, Cup, -0.203, 1.226, 0.443, 0, 0, 0, 71 [SEP] 10, Cup, -1.663, 1.152, 0.095, 0, 0, 0, 45 [SEP] 11, Knife, -0.415, 1.080, 2.144, 0, 180, 0, 48 [SEP] 12, SoapBottle, -1.522, 0.049, 0.325, 0, 0, 0, 63 [SEP] 13, SoapBottle, -3.542, 0.113, 2.008, 0, 0, 0, 69 [SEP] 14, SaltShaker, -1.274, 0.045, 0.437, 0, 0, 0, 52 [SEP] 15, SaltShaker, -1.116, 0.045, 0.324, 0, 0, 0, 52 [SEP] 16, PepperShaker, -1.314, 0.045, 0.324, 0, 0, 0, 52 [SEP] 17, Bread, -0.168, 1.134, 2.144, 0, 0, 0, 48 [SEP] 18, Bread, -0.908, 1.133, 3.266, 0, 0, 0, 48 [SEP] 19, Bread, -0.908, 1.134, 2.593, 0, 0, 0, 48 [SEP] 20, Mug, -0.785, 1.043, 1.920, 0, 0, 0, 48 [SEP] 21, Fork, -1.553, 0.932, 0.359, 0, 0, 0, 70 [SEP] 22, SoapBottle, -1.640, 0.049, 0.551, 0, 0, 0, 63 [SEP] 23, Pot, -3.475, 1.133, 0.48, 0, 90, 0, 46 [SEP] 24, Ladle, -1.922, 1.139, 0.377, 350.995, 45, 351.750, 58 [SEP] 25, Potato, -0.415, 1.259, 0.443, 0, 0, 0, 71 [SEP] 26, Plate, -1.193, 0.921, 0.403, 0, 0, 0, 70 [SEP] 27, Bread, -0.785, 1.133, 2.144, 0, 0, 0, 48 [SEP] 28, Lettuce, -0.908, 1.125, 3.042, 0, 0, 0, 48 [SEP] 29, Spatula, -0.662, 1.063, 2.144, 0, 270, 0, 48 [SEP] 30, Pan, -0.266, 1.038, 2.561, 0, 0, 0, 48 [SEP] 31, Egg, -3.644, 0.142, 2.008, 0, 0, 0, 69 [SEP] 32, Cup, -1.640, 0.047, 0.325, 0, 0, 0, 63 [SEP] 33, SaltShaker, -2.592, 0.091, 0.579, 0, 0, 0, 51 [SEP] 34, Knife, -0.538, 1.079, 3.042, 0, 0, 0, 48 [SEP] 35, Bowl, -0.495, 1.038, 2.223, 0, 0, 0, 48 [SEP] 36, PepperShaker, -1.314, 0.045, 0.664, 0, 0, 0, 52 [SEP] 37, ButterKnife, -2.6, 1.113, 0.577, 0, 315, 0, 58 [SEP] 38, Apple, -0.415, 1.115, 1.920, 0, 0, 0, 48 [SEP] 39, Tomato, -0.739, 1.086, 2.413, 6.775, 344.995, 347.549, 48 [SEP] 40, DishSponge, -1.553, 0.931, 0.428, 0, 0, 0, 70 [SEP] 41, Spoon, -1.111, 0.932, 0.567, 0, 90, 0, 70 [SEP] 42, Mug, -1.116, 0.044, 0.437, 0, 0, 0, 52 [SEP] 43, StoveKnob, -3.322, 1.053, 0.709, 45, 0, 0, [SEP] 44, StoveBurner, -3.474, 1.097, 0.227, 0, 180, 0, [SEP] 45, Sink, -1.394, 0.982, 0.439, 0, 0, 0, [SEP] 46, StoveBurner, -3.474, 1.097, 0.479, 0, 180, 0, [SEP] 47, StoveKnob, -3.164, 1.053, 0.709, 45, 0, 0, [SEP] 48, DiningTable, -0.620, 0.017, 2.486, 0, 0, 0, [SEP] 49, Drawer, -2.043, 0.608, 0.594, 0, 0, 0, [SEP] 50, Drawer, -2.043, 0.216, 0.594, 0, 0, 0, [SEP] 51, Drawer, -2.498, 0.216, 0.594, 0, 0, 0, [SEP] 52, Cabinet, -1.001, 0.393, 0.734, 0, 0, 0, [SEP] 53, StoveBurner, -3.000, 1.097, 0.480, 0, 0, 0, [SEP] 54, StoveKnob, -3.492, 1.053, 0.709, 45, 0, 0, [SEP] 55, CounterTop, -3.856, 1.160, 0.379, 0, 0, 0, [SEP] 56, Drawer, -2.043, 0.937, 0.599, 0, 0, 0, [SEP] 57, Drawer, -2.509, 0.937, 0.599, 0, 0, 0, [SEP] 58, CounterTop, -2.280, 1.160, 0.379, 0, 0, 0, [SEP] 59, StoveKnob, -2.985, 1.053, 0.709, 45, 0, 0, [SEP] 60, CounterTop, -0.514, 1.160, 0.492, 0, 0, 0, [SEP] 61, Drawer, -2.498, 0.608, 0.594, 0, 0, 0, [SEP] 62, StoveBurner, -3.000, 1.097, 0.227, 0, 0, 0, [SEP] 63, Cabinet, -1.733, 0.393, 0.734, 0, 0, 0, [SEP] 64, CoffeeMachine, -0.153, 1.038, 3.193, 0, 270, 0, [SEP] 65, Fridge, -3.519, 0.0, 2.717, 0, 90, 0, [SEP] 66, Window, -1.394, 1.924, 0.014, 90, 0, 0, [SEP] 67, Window, -3.266, 1.924, 0.014, 90, 0, 0, [SEP] 68, Toaster, -0.225, 1.038, 2.865, 0, 270, 0, [SEP] 69, GarbageCan, -3.696, 0.002, 2.008, 0, 0, 0, [SEP] 70, SinkBasin, -1.389, 0.921, 0.428, 0, 0, 0, [SEP] 71, Microwave, -0.366, 1.113, 0.430, 0, 0, 0, [SEP] 72, HousePlant, -2.155, 1.101, 0.169, 0, 332.897, 0, [SEP] 73, LightSwitch, -2.584, 1.299, 3.5, 0, 180, 0, [SEP] 74, Faucet, -1.393, 1.373, 0.168, 0, 270, 0, [SEP] 75, NorthWall, , , , , , , [SEP] 76, SouthWall, , , , , , , [SEP] 77, SouthWall, , , , , , , ", "output": ["STEP 1: Turn around and find the loaf of bread to the left of the tomato on the table. | STEP 2: Pick up the loaf of bread from the table. | STEP 3: Turn around and head towards the fridge. | STEP 4: Place the loaf on the top right, let it cool, and take it back out. | STEP 5: Turn left and walk towards the stove. | STEP 6: Place the loaf of bread on the counter to the right of the stove. | END"]} +{"id": "trial_T20190909_033053_131154-0", "input": "place two blue credit cards on black chair SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.5, 0.920, 1.5, 0, 270, 0, [SEP] 1, Plate, -2.893, 0.453, 3.836, 0, 0, 0, 44 [SEP] 2, Newspaper, -3.400, 0.543, 0.793, 0, 0, 0, 43 [SEP] 3, WateringCan, -2.280, 0.448, 4.058, 0, 0, 0, 44 [SEP] 4, Vase, -2.893, 0.449, 4.279, 0, 0, 0, 44 [SEP] 5, CreditCard, -2.525, 0.447, 3.836, 0, 0, 0, 44 [SEP] 6, RemoteControl, -2.770, 0.450, 4.279, 0, 0, 0, 44 [SEP] 7, Box, -0.397, 0.405, 5.997, 0, 180, 0, 28 [SEP] 8, Laptop, -4.305, 0.471, 6.450, 0, 0, 0, 45 [SEP] 9, Box, -2.525, 0.573, 4.501, 0, 180, 0, 44 [SEP] 10, Plate, -0.594, 0.621, 0.997, 0, 0, 0, 41 [SEP] 11, Vase, -2.280, 0.449, 4.501, 0, 0, 0, 44 [SEP] 12, WateringCan, -0.240, 0.281, 5.503, 0, 270, 0, 28 [SEP] 13, Newspaper, -0.600, 1.467, 6.236, 0, 270, 0, 27 [SEP] 14, Vase, -0.600, 1.466, 5.742, 0, 270, 0, 27 [SEP] 15, KeyChain, -0.750, 0.617, 0.608, 0, 90, 0, 41 [SEP] 16, Pillow, -1.578, 0.608, 0.667, 0, 0, 0, 43 [SEP] 17, Statue, -0.461, 0.270, 5.703, 0, 285.188, 0, 28 [SEP] 18, RemoteControl, -0.828, 0.617, 0.764, 0, 0, 0, 41 [SEP] 19, CreditCard, -0.634, 0.280, 5.997, 0, 270, 0, 28 [SEP] 20, Statue, -0.525, 1.453, 5.351, 0, 294.738, 0, 27 [SEP] 21, Laptop, -4.279, 0.538, 2.929, 0, 90, 0, 42 [SEP] 22, Statue, -0.598, 1.452, 6.794, 0, 284.797, 0, 27 [SEP] 23, Curtains, -2.827, 2.473, 0.039, 357.605, 0, 0, [SEP] 24, Curtains, -2.184, 2.473, 0.039, 357.605, 0, 0, [SEP] 25, Curtains, -0.046, 2.474, 2.633, 0, 0, 357.064, [SEP] 26, DeskLamp, -0.484, 0.612, 0.691, 0, 0, 1.144, [SEP] 27, Shelf, -0.391, 1.452, 5.953, 0, 270, 0, [SEP] 28, Shelf, -0.398, 0.270, 5.961, 0, 270, 0, [SEP] 29, Television, -0.75, 1.661, 3.936, 0, 270, 0, [SEP] 30, GarbageCan, -0.525, -0.009, 2.822, 0, 0, 0, [SEP] 31, Painting, -2.670, 1.574, 7.000, 90, 180, 0, [SEP] 32, Bowl, -2.400, 0.464, 3.442, 0, 0, 0, [SEP] 33, LightSwitch, -5.0, 1.246, 5.857, 0, 90, 0, [SEP] 34, Window, -1.373, 1.565, 0.008, 90, 180, 0, [SEP] 35, Window, -0.014, 1.567, 1.496, 90, 270, 0, [SEP] 36, Window, -3.726, 1.565, 0.008, 90, 180, 0, [SEP] 37, FloorLamp, -4.514, 0.027, 0.663, 0, 0, 0, [SEP] 38, HousePlant, -2.659, 0.466, 4.165, 0, 0, 0, [SEP] 39, Shelf, -0.594, 0.104, 0.841, 0, 0, 0, [SEP] 40, Shelf, -0.594, 0.359, 0.841, 0, 0, 0, [SEP] 41, SideTable, -0.594, 0.018, 0.841, 0, 0, 0, [SEP] 42, Sofa, -4.360, 0.028, 2.929, 0, 90, 0, [SEP] 43, Sofa, -2.493, 0.028, 0.725, 0, 0, 0, [SEP] 44, CoffeeTable, -2.648, 0.019, 4.058, 0, 270, 0, [SEP] 45, ArmChair, -4.446, 0.017, 6.450, 0, 90, 0, [SEP] 46, NorthWall, , , , , , , [SEP] 47, SouthWall, , , , , , , [SEP] 48, SouthWall, , , , , , , ", "output": ["STEP 1: turn around, go to side of coffee table with teapot | STEP 2: pick up blue credit card from center of coffee table | STEP 3: go to black chair with laptop in the corner to the right | STEP 4: place blue credit card on black chair to the left of laptop | STEP 5: turn around, go to black shelf with box and black statue | STEP 6: pick up blue credit card in front of box on shelf | STEP 7: turn around, go to black chair with laptop in the corner | STEP 8: place blue credit card to the right of blue credit card on black chair | END"]} +{"id": "trial_T20190908_123824_383107-0", "input": "Put a warm wine glass in the cupboard. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.25, 0.901, 1.0, 0, 90, 0, [SEP] 1, Potato, 2.223, 1.361, -0.188, 0, 270, 0, 74 [SEP] 2, WineBottle, 2.304, 0.938, 2.260, 0, 0, 0, 53 [SEP] 3, DishSponge, 0.034, 0.937, 2.478, 0, 0, 0, 53 [SEP] 4, Pot, 1.866, 0.935, 1.504, 0, 180, 0, 57 [SEP] 5, Spatula, 0.735, 0.810, 2.695, 0, 270, 0, 77 [SEP] 6, Spoon, 1.276, 0.796, 2.64, 0, 0, 0, 77 [SEP] 7, Egg, -0.261, 1.078, 1.961, 0, 90, 0, 78 [SEP] 8, Egg, 2.158, 0.903, -0.550, 0, 270, 0, 74 [SEP] 9, Cup, 0.033, 0.789, 1.386, 0, 0, 0, 80 [SEP] 10, Plate, 2.206, 1.505, 2.010, 0, 0, 0, 56 [SEP] 11, Knife, 1.976, 0.771, 0.721, 0, 270, 0, 62 [SEP] 12, Knife, 1.872, 0.772, 0.446, 0, 90, 0, 62 [SEP] 13, SoapBottle, -0.358, 0.038, -0.801, 0, 90, 0, 75 [SEP] 14, Bowl, 2.056, 1.320, -0.279, 0, 270, 0, 74 [SEP] 15, Bowl, -0.362, 1.032, 2.068, 0, 90, 0, 78 [SEP] 16, SaltShaker, -0.196, 0.785, 1.217, 0, 90, 0, 80 [SEP] 17, SaltShaker, 2.074, 0.932, 2.162, 0, 0, 0, 53 [SEP] 18, PepperShaker, 2.301, 0.933, 0.806, 0, 0, 0, 64 [SEP] 19, Lettuce, 2.056, 1.385, -0.460, 0, 270, 0, 74 [SEP] 20, Lettuce, -0.042, 0.852, 0.377, 0, 0, 0, 80 [SEP] 21, Mug, 2.158, 0.855, -0.278, 0, 270, 0, 74 [SEP] 22, Egg, -0.349, 0.833, 0.881, 0, 0, 0, 80 [SEP] 23, Lettuce, 0.033, 0.852, 0.713, 0, 0, 0, 80 [SEP] 24, Fork, 1.673, 0.938, 2.434, 0, 180, 0, 53 [SEP] 25, SoapBottle, 2.241, 1.504, 0.388, 0, 0, 0, 51 [SEP] 26, Ladle, 1.954, 0.791, 2.197, 0, 270, 0, 68 [SEP] 27, Ladle, 1.085, 0.125, 2.523, 0, 0, 0, 59 [SEP] 28, Bread, -0.199, 0.823, 0.814, 0, 0, 0, 80 [SEP] 29, SaltShaker, -0.272, 0.785, 1.217, 0, 0, 0, 80 [SEP] 30, Potato, 0.288, 0.977, 2.478, 0, 0, 0, 53 [SEP] 31, Pan, 1.928, 0.070, 0.640, 0, 0, 0, 50 [SEP] 32, WineBottle, 2.127, 1.504, 0.725, 0, 0, 0, 61 [SEP] 33, Spatula, -0.042, 0.805, 1.217, 0, 0, 0, 80 [SEP] 34, Knife, -0.053, 0.963, 2.827, 0, 270, 0, 53 [SEP] 35, Tomato, 2.132, 0.384, -0.278, 0, 270, 0, 74 [SEP] 36, Apple, 1.840, 0.988, 0.509, 0, 0, 0, 64 [SEP] 37, ButterKnife, 1.917, 0.938, 0.361, 0, 180, 0, 64 [SEP] 38, Pot, 2.150, 0.937, 1.964, 0, 90, 0, 48 [SEP] 39, PepperShaker, 2.150, 0.932, 2.260, 0, 0, 0, 53 [SEP] 40, Cup, -0.196, 0.789, 0.377, 0, 0, 0, 80 [SEP] 41, DishSponge, -0.119, 0.790, 1.386, 0, 0, 0, 80 [SEP] 42, Plate, 1.925, 0.086, 2.057, 0, 0, 0, 49 [SEP] 43, Spoon, -0.042, 0.781, 0.881, 0, 0, 0, 80 [SEP] 44, Mug, 0.174, 0.932, 2.757, 0, 0, 0, 53 [SEP] 45, Bowl, 2.243, 1.945, 1.050, 0, 0, 0, 63 [SEP] 46, Cabinet, 2.041, 2.113, 2.618, 0, 0, 0, [SEP] 47, Cabinet, 0.126, 0.388, 1.774, 0, 0, 0, [SEP] 48, StoveBurner, 2.140, 0.929, 1.504, 0, 180, 0, [SEP] 49, Cabinet, 1.760, 0.388, 2.346, 0, 0, 0, [SEP] 50, Cabinet, 1.760, 0.388, 0.869, 0, 0, 0, [SEP] 51, Cabinet, 2.041, 1.810, 0.283, 0, 0, 0, [SEP] 52, Drawer, -0.024, 0.774, 2.061, 0, 0, 0, [SEP] 53, CounterTop, 1.065, 0.973, 2.666, 0, 0, 0, [SEP] 54, Cabinet, 1.969, 2.113, 2.618, 0, 0, 0, [SEP] 55, StoveBurner, 2.140, 0.929, 1.106, 0, 0, 0, [SEP] 56, Cabinet, 2.041, 2.113, 1.809, 0, 0, 0, [SEP] 57, StoveBurner, 1.866, 0.929, 1.504, 0, 180, 0, [SEP] 58, Cabinet, 2.041, 2.113, 1.766, 0, 0, 0, [SEP] 59, Cabinet, 1.514, 0.388, 2.360, 0, 0, 0, [SEP] 60, Cabinet, 0.351, 0.388, 2.360, 0, 0, 0, [SEP] 61, Cabinet, 2.041, 1.810, 0.872, 0, 0, 0, [SEP] 62, Drawer, 2.167, 0.774, 0.582, 0, 0, 0, [SEP] 63, Cabinet, 2.041, 2.113, 0.892, 0, 0, 0, [SEP] 64, CounterTop, 2.060, 0.973, 0.583, 0, 0, 0, [SEP] 65, Sink, 0.935, 0.936, 2.646, 0, 0, 0, [SEP] 66, Curtains, 0.964, 2.061, 2.989, 0, 0, 0, [SEP] 67, StoveBurner, 1.863, 0.929, 1.106, 0, 0, 0, [SEP] 68, Drawer, 1.911, 0.774, 2.060, 0, 0, 0, [SEP] 69, StoveKnob, 2.326, 1.092, 1.610, 288.013, 90, 0, [SEP] 70, StoveKnob, 2.326, 1.092, 1.460, 288.013, 90, 0, [SEP] 71, StoveKnob, 2.326, 1.092, 1.210, 288.013, 90, 0, [SEP] 72, StoveKnob, 2.326, 1.092, 1.050, 288.013, 90, 0, [SEP] 73, Toaster, 2.126, 0.926, 0.572, 0, 270, 0, [SEP] 74, Fridge, 2.104, 0.0, -0.279, 0, 270, 0, [SEP] 75, GarbageCan, -0.309, -0.001, -0.807, 0, 91.471, 0, [SEP] 76, LightSwitch, 0.354, 1.518, -1.031, 0, 0, 0, [SEP] 77, SinkBasin, 0.903, 0.784, 2.640, 0, 0, 0, [SEP] 78, Microwave, -0.310, 0.926, 2.077, 0, 90, 0, [SEP] 79, CoffeeMachine, 2.084, 0.927, 2.667, 0, 225, 0, [SEP] 80, DiningTable, -0.153, -0.000, 1.073, 0, 270, 0, [SEP] 81, Faucet, 1.175, 0.926, 2.950, 270, 90, 0, [SEP] 82, Faucet, 0.686, 0.926, 2.950, 270, 90, 0, [SEP] 83, Chair, -0.077, 0.002, 0.196, 0, 15.000, 0, [SEP] 84, NorthWall, , , , , , , [SEP] 85, EastWall, , , , , , , [SEP] 86, SouthWall, , , , , , , [SEP] 87, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and take a step then turn left and walk to the table. | STEP 2: Pick up the wine glass that's in front of you. | STEP 3: Take a step to your right. | STEP 4: Warm the wine glass in the microwave then take it back out and close the door. | STEP 5: Turn left and take a step then turn left and take a small step. | STEP 6: Open the cupboard to the left of the stove and put the wine glass down there and close the door. | END"]} +{"id": "trial_T20190908_123824_383107-2", "input": "To heat a glass and place it in the cabinet. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 1.25, 0.901, 1.0, 0, 90, 0, [SEP] 1, Potato, 2.223, 1.361, -0.188, 0, 270, 0, 74 [SEP] 2, WineBottle, 2.304, 0.938, 2.260, 0, 0, 0, 53 [SEP] 3, DishSponge, 0.034, 0.937, 2.478, 0, 0, 0, 53 [SEP] 4, Pot, 1.866, 0.935, 1.504, 0, 180, 0, 57 [SEP] 5, Spatula, 0.735, 0.810, 2.695, 0, 270, 0, 77 [SEP] 6, Spoon, 1.276, 0.796, 2.64, 0, 0, 0, 77 [SEP] 7, Egg, -0.261, 1.078, 1.961, 0, 90, 0, 78 [SEP] 8, Egg, 2.158, 0.903, -0.550, 0, 270, 0, 74 [SEP] 9, Cup, 0.033, 0.789, 1.386, 0, 0, 0, 80 [SEP] 10, Plate, 2.206, 1.505, 2.010, 0, 0, 0, 56 [SEP] 11, Knife, 1.976, 0.771, 0.721, 0, 270, 0, 62 [SEP] 12, Knife, 1.872, 0.772, 0.446, 0, 90, 0, 62 [SEP] 13, SoapBottle, -0.358, 0.038, -0.801, 0, 90, 0, 75 [SEP] 14, Bowl, 2.056, 1.320, -0.279, 0, 270, 0, 74 [SEP] 15, Bowl, -0.362, 1.032, 2.068, 0, 90, 0, 78 [SEP] 16, SaltShaker, -0.196, 0.785, 1.217, 0, 90, 0, 80 [SEP] 17, SaltShaker, 2.074, 0.932, 2.162, 0, 0, 0, 53 [SEP] 18, PepperShaker, 2.301, 0.933, 0.806, 0, 0, 0, 64 [SEP] 19, Lettuce, 2.056, 1.385, -0.460, 0, 270, 0, 74 [SEP] 20, Lettuce, -0.042, 0.852, 0.377, 0, 0, 0, 80 [SEP] 21, Mug, 2.158, 0.855, -0.278, 0, 270, 0, 74 [SEP] 22, Egg, -0.349, 0.833, 0.881, 0, 0, 0, 80 [SEP] 23, Lettuce, 0.033, 0.852, 0.713, 0, 0, 0, 80 [SEP] 24, Fork, 1.673, 0.938, 2.434, 0, 180, 0, 53 [SEP] 25, SoapBottle, 2.241, 1.504, 0.388, 0, 0, 0, 51 [SEP] 26, Ladle, 1.954, 0.791, 2.197, 0, 270, 0, 68 [SEP] 27, Ladle, 1.085, 0.125, 2.523, 0, 0, 0, 59 [SEP] 28, Bread, -0.199, 0.823, 0.814, 0, 0, 0, 80 [SEP] 29, SaltShaker, -0.272, 0.785, 1.217, 0, 0, 0, 80 [SEP] 30, Potato, 0.288, 0.977, 2.478, 0, 0, 0, 53 [SEP] 31, Pan, 1.928, 0.070, 0.640, 0, 0, 0, 50 [SEP] 32, WineBottle, 2.127, 1.504, 0.725, 0, 0, 0, 61 [SEP] 33, Spatula, -0.042, 0.805, 1.217, 0, 0, 0, 80 [SEP] 34, Knife, -0.053, 0.963, 2.827, 0, 270, 0, 53 [SEP] 35, Tomato, 2.132, 0.384, -0.278, 0, 270, 0, 74 [SEP] 36, Apple, 1.840, 0.988, 0.509, 0, 0, 0, 64 [SEP] 37, ButterKnife, 1.917, 0.938, 0.361, 0, 180, 0, 64 [SEP] 38, Pot, 2.150, 0.937, 1.964, 0, 90, 0, 48 [SEP] 39, PepperShaker, 2.150, 0.932, 2.260, 0, 0, 0, 53 [SEP] 40, Cup, -0.196, 0.789, 0.377, 0, 0, 0, 80 [SEP] 41, DishSponge, -0.119, 0.790, 1.386, 0, 0, 0, 80 [SEP] 42, Plate, 1.925, 0.086, 2.057, 0, 0, 0, 49 [SEP] 43, Spoon, -0.042, 0.781, 0.881, 0, 0, 0, 80 [SEP] 44, Mug, 0.174, 0.932, 2.757, 0, 0, 0, 53 [SEP] 45, Bowl, 2.243, 1.945, 1.050, 0, 0, 0, 63 [SEP] 46, Cabinet, 2.041, 2.113, 2.618, 0, 0, 0, [SEP] 47, Cabinet, 0.126, 0.388, 1.774, 0, 0, 0, [SEP] 48, StoveBurner, 2.140, 0.929, 1.504, 0, 180, 0, [SEP] 49, Cabinet, 1.760, 0.388, 2.346, 0, 0, 0, [SEP] 50, Cabinet, 1.760, 0.388, 0.869, 0, 0, 0, [SEP] 51, Cabinet, 2.041, 1.810, 0.283, 0, 0, 0, [SEP] 52, Drawer, -0.024, 0.774, 2.061, 0, 0, 0, [SEP] 53, CounterTop, 1.065, 0.973, 2.666, 0, 0, 0, [SEP] 54, Cabinet, 1.969, 2.113, 2.618, 0, 0, 0, [SEP] 55, StoveBurner, 2.140, 0.929, 1.106, 0, 0, 0, [SEP] 56, Cabinet, 2.041, 2.113, 1.809, 0, 0, 0, [SEP] 57, StoveBurner, 1.866, 0.929, 1.504, 0, 180, 0, [SEP] 58, Cabinet, 2.041, 2.113, 1.766, 0, 0, 0, [SEP] 59, Cabinet, 1.514, 0.388, 2.360, 0, 0, 0, [SEP] 60, Cabinet, 0.351, 0.388, 2.360, 0, 0, 0, [SEP] 61, Cabinet, 2.041, 1.810, 0.872, 0, 0, 0, [SEP] 62, Drawer, 2.167, 0.774, 0.582, 0, 0, 0, [SEP] 63, Cabinet, 2.041, 2.113, 0.892, 0, 0, 0, [SEP] 64, CounterTop, 2.060, 0.973, 0.583, 0, 0, 0, [SEP] 65, Sink, 0.935, 0.936, 2.646, 0, 0, 0, [SEP] 66, Curtains, 0.964, 2.061, 2.989, 0, 0, 0, [SEP] 67, StoveBurner, 1.863, 0.929, 1.106, 0, 0, 0, [SEP] 68, Drawer, 1.911, 0.774, 2.060, 0, 0, 0, [SEP] 69, StoveKnob, 2.326, 1.092, 1.610, 288.013, 90, 0, [SEP] 70, StoveKnob, 2.326, 1.092, 1.460, 288.013, 90, 0, [SEP] 71, StoveKnob, 2.326, 1.092, 1.210, 288.013, 90, 0, [SEP] 72, StoveKnob, 2.326, 1.092, 1.050, 288.013, 90, 0, [SEP] 73, Toaster, 2.126, 0.926, 0.572, 0, 270, 0, [SEP] 74, Fridge, 2.104, 0.0, -0.279, 0, 270, 0, [SEP] 75, GarbageCan, -0.309, -0.001, -0.807, 0, 91.471, 0, [SEP] 76, LightSwitch, 0.354, 1.518, -1.031, 0, 0, 0, [SEP] 77, SinkBasin, 0.903, 0.784, 2.640, 0, 0, 0, [SEP] 78, Microwave, -0.310, 0.926, 2.077, 0, 90, 0, [SEP] 79, CoffeeMachine, 2.084, 0.927, 2.667, 0, 225, 0, [SEP] 80, DiningTable, -0.153, -0.000, 1.073, 0, 270, 0, [SEP] 81, Faucet, 1.175, 0.926, 2.950, 270, 90, 0, [SEP] 82, Faucet, 0.686, 0.926, 2.950, 270, 90, 0, [SEP] 83, Chair, -0.077, 0.002, 0.196, 0, 15.000, 0, [SEP] 84, NorthWall, , , , , , , [SEP] 85, EastWall, , , , , , , [SEP] 86, SouthWall, , , , , , , [SEP] 87, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk to the white table to the left of the microwave. | STEP 2: Pick up the wine glass in front of the sponge. | STEP 3: Walk to the microwave to the right of the table. | STEP 4: Open the microwave door, put the glass in the microwave, close the door, open the door, take the glass out of the microwave, and close the door. | STEP 5: Turn around and face the cabinet below the counter to the left of the stove. | STEP 6: Open the cabinet door, place the glass in the cabinet, close the door. | END"]} +{"id": "trial_T20190919_072045_250979-0", "input": "To move two pens into the desk drawer. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.5, 0.900, -0.5, 0, 0, 0, [SEP] 1, CellPhone, -0.333, 0.774, 1.335, 0, 0, 0, 30 [SEP] 2, CellPhone, -0.046, 0.774, 0.850, 0, 0, 0, 30 [SEP] 3, Pen, 1.467, 0.829, -1.673, 0, 270, 0, 50 [SEP] 4, Pen, 0.355, 0.817, -2.440, 0, 0, 0, 52 [SEP] 5, Pen, 0.459, 0.818, -2.372, 0, 90, 0, 52 [SEP] 6, Pencil, 0.563, 0.815, -2.440, 0, 0, 0, 52 [SEP] 7, Pencil, -1.192, 0.865, -2.498, 0, 180, 0, 59 [SEP] 8, Book, -0.333, 0.774, 1.012, 0, 0, 0, 30 [SEP] 9, RemoteControl, -0.061, 0.813, -2.304, 0, 0, 0, 52 [SEP] 10, RemoteControl, -1.319, 0.089, -2.287, 0, 0, 0, 56 [SEP] 11, Pillow, 0.241, 0.902, 1.173, 0, 0, 0, 30 [SEP] 12, AlarmClock, -1.594, 0.862, -2.373, 0, 0, 0, 59 [SEP] 13, Book, 0.816, 0.774, 0.850, 0, 0, 0, 30 [SEP] 14, Cloth, 1.303, 0.0, -0.696, 0, 303.212, 0, [SEP] 15, Cloth, 1.273, 0.0, -0.969, 0, 0, 0, [SEP] 16, CellPhone, -1.232, 0.371, -2.363, 0, 0, 0, 57 [SEP] 17, Pencil, 0.146, 0.815, -2.169, 0, 0, 0, 52 [SEP] 18, Laptop, -0.046, 0.772, 1.819, 0, 0, 0, 30 [SEP] 19, AlarmClock, -0.587, 0.862, -2.248, 0, 0, 0, 59 [SEP] 20, CreditCard, 0.042, 0.812, -2.236, 0, 0, 0, 52 [SEP] 21, KeyChain, -1.319, 0.372, -2.287, 0, 0, 0, 57 [SEP] 22, TennisRacket, -1.704, 0.345, 1.743, 345.000, 90, 180, [SEP] 23, RemoteControl, -1.580, 0.373, -2.363, 0, 0, 0, 57 [SEP] 24, Pillow, 1.073, 0.876, 1.326, 0, 262.063, 0, 30 [SEP] 25, CD, 1.521, 0.817, -1.727, 0, 0, 0, 50 [SEP] 26, CD, 0.527, 0.806, -2.485, 0, 0, 0, 52 [SEP] 27, CD, 1.357, 0.151, -2.466, 0, 315, 0, 37 [SEP] 28, Pen, 0.146, 0.817, -2.304, 0, 0, 0, 52 [SEP] 29, Bowl, -0.674, 0.855, -2.499, 0, 323.153, 0, 59 [SEP] 30, Bed, 0.270, 0.001, 1.331, 0, 90, 0, [SEP] 31, LaundryHamper, -1.329, 0.001, 1.829, 0, 180, 0, [SEP] 32, Television, -1.664, 1.479, -0.912, 0, 90, 0, [SEP] 33, DeskLamp, 0.049, 0.815, -2.481, 0, 0, 0, [SEP] 34, LightSwitch, -1.799, 1.213, 0.680, 0, 90, 0, [SEP] 35, Painting, 0.492, 1.684, -2.629, 90, 0, 0, [SEP] 36, Poster, -1.799, 1.690, -1.491, 90, 270, 0, [SEP] 37, GarbageCan, 1.306, -0.001, -2.451, 0, 317.376, 0, [SEP] 38, Mirror, 1.5, 1.361, -0.542, 0, 90, 0, [SEP] 39, Window, 1.721, 1.365, -1.597, 90, 270, 0, [SEP] 40, Shelf, -1.605, 0.435, -0.686, 0, 90, 0, [SEP] 41, Shelf, -1.613, 1.154, -0.904, 0, 90, 0, [SEP] 42, ShelvingUnit, -1.611, 0.005, -0.904, 0, 90, 0, [SEP] 43, Shelf, -1.605, 0.719, -1.122, 0, 90, 0, [SEP] 44, Shelf, -1.605, 0.435, -1.122, 0, 90, 0, [SEP] 45, Shelf, -1.605, 1.006, -1.122, 0, 90, 0, [SEP] 46, Shelf, -1.605, 0.148, -0.686, 0, 90, 0, [SEP] 47, Shelf, -1.605, 0.149, -1.122, 0, 90, 0, [SEP] 48, Shelf, -1.605, 1.006, -0.686, 0, 90, 0, [SEP] 49, Shelf, -1.605, 0.719, -0.686, 0, 90, 0, [SEP] 50, SideTable, 1.484, 0.001, -1.481, 0, 270, 0, [SEP] 51, Blinds, 1.699, 2.096, -1.575, 0, 270, 0, [SEP] 52, Desk, 0.244, 0.004, -2.356, 0, 0, 0, [SEP] 53, Chair, -0.626, 1.439, -2.199, 0, 171.006, 0, [SEP] 54, Chair, 0.220, 1.466, -2.214, 0, 188.269, 0, [SEP] 55, Shelf, -0.978, 1.387, -2.479, 0, 0, 0, [SEP] 56, Drawer, -1.389, 0.197, -2.261, 0, 0, 0, [SEP] 57, Drawer, -1.389, 0.480, -2.261, 0, 0, 0, [SEP] 58, Drawer, -1.389, 0.731, -2.261, 0, 0, 0, [SEP] 59, Desk, -0.973, 1.162, -2.351, 0, 0, 0, [SEP] 60, NorthWall, , , , , , , [SEP] 61, EastWall, , , , , , , [SEP] 62, SouthWall, , , , , , , [SEP] 63, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk to the wooden desk on the left. | STEP 2: Pick up the pen to the left of the lamp. | STEP 3: Walk over to the desk on the right. | STEP 4: Open the bottom drawer of the desk, put the pen inside the drawer, close the drawer. | STEP 5: Walk back over to the small desk on the left. | STEP 6: Pick up the pen to the left of the remote. | STEP 7: Walk back over to the desk on the right. | STEP 8: Open the bottom drawer, put the pen inside the drawer, close the drawer. | END"]} +{"id": "trial_T20190908_140351_635006-1", "input": "Bake a potato and chill it for later. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.900, 1.0, 0, 270, 0, [SEP] 1, Statue, 1.419, 0.918, -1.844, 0, 0, 0, 83 [SEP] 2, Potato, 2.055, 1.458, -0.644, 0, 270, 0, 90 [SEP] 3, Potato, 1.836, 0.847, -0.737, 0, 270, 0, 90 [SEP] 4, Potato, 2.055, 0.847, -0.271, 0, 270, 0, 90 [SEP] 5, DishSponge, -1.278, 0.913, 0.188, 0, 0, 0, 76 [SEP] 6, DishSponge, 0.012, 0.695, 0.222, 0, 180, 0, 82 [SEP] 7, Pot, -1.056, 0.956, -1.127, 0, 0, 0, 80 [SEP] 8, Spoon, -0.375, 1.132, 0.573, 0, 0, 0, 79 [SEP] 9, Spoon, -1.138, 0.912, -1.845, 0, 0, 0, 83 [SEP] 10, Plate, -0.598, 1.129, 0.573, 0, 0, 0, 79 [SEP] 11, Plate, -1.03, 0.127, -1.501, 0, 0, 0, 69 [SEP] 12, Knife, -0.117, 0.786, -2.063, 0, 90, 0, 93 [SEP] 13, SoapBottle, -1.404, 0.911, -1.722, 0, 0, 0, 83 [SEP] 14, Tomato, -1.413, 0.963, -0.109, 0, 0, 0, 76 [SEP] 15, Bowl, 1.836, 1.424, -0.365, 0, 270, 0, 90 [SEP] 16, Bowl, -1.080, 0.910, -0.170, 0, 0, 0, 76 [SEP] 17, SaltShaker, -0.589, 0.688, -1.891, 0, 0, 0, 53 [SEP] 18, SaltShaker, 2.694, 0.548, 0.142, 0, 180, 0, 89 [SEP] 19, PepperShaker, -1.247, 0.909, -0.292, 0, 0, 0, 76 [SEP] 20, PepperShaker, -1.386, 1.658, 0.025, 0, 0, 0, 67 [SEP] 21, Lettuce, 1.924, 0.139, 0.109, 0, 270, 0, 86 [SEP] 22, Mug, 3.109, 0.547, 0.245, 0, 180, 0, 89 [SEP] 23, Apple, 0.141, 0.811, -2.118, 0, 0, 0, 93 [SEP] 24, Apple, -0.031, 0.811, -2.063, 0, 0, 0, 93 [SEP] 25, Pan, 1.743, 0.9, -1.969, 0, 308.846, 0, 83 [SEP] 26, Knife, -0.290, 0.786, -2.063, 0, 90, 0, 93 [SEP] 27, Bowl, 1.891, 0.814, -0.551, 0, 270, 0, 90 [SEP] 28, Fork, -0.759, 0.692, -1.935, 0, 90, 0, 53 [SEP] 29, Cup, 0.101, 0.750, -1.938, 0, 0, 0, 93 [SEP] 30, Ladle, -0.822, 1.168, 0.485, 0, 0, 0, 79 [SEP] 31, Apple, -1.330, 0.962, -0.353, 0, 0, 0, 76 [SEP] 32, Kettle, -1.289, 0.957, -1.02, 0, 0, 0, 73 [SEP] 33, Vase, -0.420, 0.915, 0.083, 0, 0, 0, 76 [SEP] 34, Potato, 1.836, 1.129, -0.458, 0, 270, 0, 90 [SEP] 35, Pot, -1.289, 0.957, -0.756, 0, 180, 0, 58 [SEP] 36, Bread, 0.071, 1.213, 0.573, 0, 0, 0, 79 [SEP] 37, Plate, -1.028, 0.134, -0.296, 0, 0, 0, 70 [SEP] 38, Spatula, -1.138, 0.926, -2.182, 0, 0, 0, 83 [SEP] 39, PaperTowelRoll, 3.109, 0.656, 0.090, 0, 180, 0, 89 [SEP] 40, Vase, 1.914, 1.658, -1.671, 0, 0, 0, 61 [SEP] 41, Egg, 1.945, 0.850, -0.365, 0, 270, 0, 90 [SEP] 42, SoapBottle, -0.152, 1.131, 0.662, 0, 0, 0, 79 [SEP] 43, SaltShaker, -0.645, 0.690, 0.234, 0, 180, 0, 77 [SEP] 44, Lettuce, 2.000, 1.175, -0.551, 0, 270, 0, 90 [SEP] 45, PepperShaker, -0.543, 0.690, 0.146, 0, 180, 0, 77 [SEP] 46, ButterKnife, 0.008, 0.913, 0.030, 0, 0, 0, 76 [SEP] 47, DishSponge, -0.657, 0.910, -2.182, 0, 0, 0, 83 [SEP] 48, Vase, 2.979, 0.539, 0.128, 0, 0, 0, 89 [SEP] 49, Spoon, -0.053, 0.696, 0.139, 0, 180, 0, 82 [SEP] 50, Tomato, -0.031, 0.812, -1.897, 0, 0, 0, 93 [SEP] 51, Mug, 1.846, 1.010, -1.297, 0, 270, 0, 88 [SEP] 52, Statue, 3.002, 0.886, 0.141, 0, 180, 0, 87 [SEP] 53, Drawer, -0.819, 0.75, -1.690, 0, 0, 0, [SEP] 54, Cabinet, -1.149, 2.264, -0.838, 0, 90, 0, [SEP] 55, StoveBurner, -1.056, 0.949, -0.671, 0, 180, 0, [SEP] 56, Cabinet, 1.738, 2.019, -2.000, 0, 0, 0, [SEP] 57, Cabinet, 1.389, 0.469, -1.059, 0, 0, 0, [SEP] 58, StoveBurner, -1.289, 0.949, -0.755, 0, 180, 0, [SEP] 59, Faucet, -0.157, 1.052, -2.196, 0, 270, 0, [SEP] 60, Cabinet, 1.75, 2.019, -1.029, 0, 0, 0, [SEP] 61, Cabinet, 1.75, 2.019, -1.399, 0, 0, 0, [SEP] 62, Cabinet, 1.179, 2.019, -2.0, 0, 0, 0, [SEP] 63, Cabinet, 0.199, 2.019, -2.0, 0, 0, 0, [SEP] 64, Cabinet, -1.100, 2.019, -2.0, 0, 0, 0, [SEP] 65, Cabinet, -1.149, 2.019, -1.979, 0, 0, 0, [SEP] 66, Cabinet, -1.149, 2.019, -0.770, 0, 0, 0, [SEP] 67, Cabinet, -1.149, 2.019, 0.380, 0, 0, 0, [SEP] 68, Cabinet, -0.819, 0.469, -1.689, 0, 0, 0, [SEP] 69, Cabinet, -0.839, 0.469, -1.664, 0, 0, 0, [SEP] 70, Cabinet, -0.839, 0.469, -0.049, 0, 0, 0, [SEP] 71, Cabinet, -0.414, 0.370, -0.009, 0, 0, 0, [SEP] 72, Sink, -0.118, 0.875, -2.009, 0, 0, 0, [SEP] 73, StoveBurner, -1.289, 0.949, -1.019, 0, 0, 0, [SEP] 74, Cabinet, 0.119, 2.264, -2.0, 0, 0, 0, [SEP] 75, Cabinet, -0.459, 2.264, -2.0, 0, 0, 0, [SEP] 76, CounterTop, -0.665, 0.949, 0.188, 0, 0, 0, [SEP] 77, Drawer, -0.449, 0.75, -0.010, 0, 180, 0, [SEP] 78, Cabinet, -0.450, 0.469, -0.009, 0, 0, 0, [SEP] 79, CounterTop, -0.630, 1.167, 0.573, 0, 0, 0, [SEP] 80, StoveBurner, -1.056, 0.949, -1.126, 0, 0, 0, [SEP] 81, Cabinet, 1.376, 0.460, -1.685, 0, 0, 0, [SEP] 82, Drawer, -0.070, 0.75, -0.009, 0, 180, 0, [SEP] 83, CounterTop, 1.159, 0.946, -2.013, 0, 0, 0, [SEP] 84, Cabinet, -1.150, 2.264, -1.418, 0, 90, 0, [SEP] 85, HousePlant, -1.246, 1.108, 0.606, 0, 0, 0, [SEP] 86, GarbageCan, 1.923, -0.010, 0.137, 0, 0, 0, [SEP] 87, Shelf, 2.759, 0.880, 0.144, 0, 0, 0, [SEP] 88, Microwave, 1.827, 0.900, -1.354, 0, 270, 0, [SEP] 89, Shelf, 2.759, 0.552, 0.145, 0, 0, 0, [SEP] 90, Fridge, 1.975, 0.0, -0.537, 0, 0, 0, [SEP] 91, LightSwitch, 0.404, 1.297, 2.0, 0, 180, 0, [SEP] 92, Shelf, 2.760, 0.172, 0.145, 0, 0, 0, [SEP] 93, SinkBasin, -0.129, 0.752, -2.007, 0, 0, 0, [SEP] 94, StoveKnob, -0.873, 0.903, -0.827, 45, 90, 0, [SEP] 95, StoveKnob, -0.873, 0.903, -0.676, 45, 90, 0, [SEP] 96, StoveKnob, -0.873, 0.903, -0.966, 45, 90, 0, [SEP] 97, StoveKnob, -0.873, 0.903, -1.123, 45, 90, 0, [SEP] 98, Toaster, 0.840, 0.900, -2.057, 0, 0, 0, [SEP] 99, CoffeeMachine, 0.501, 0.900, -2.125, 0, 0, 0, [SEP] 100, ShelvingUnit, 2.760, 0.006, 0.144, 0, 0, 0, [SEP] 101, Stool, -0.826, 0.010, 0.908, 0, 347.513, 0, [SEP] 102, Stool, -0.132, 0.010, 0.883, 0, 71.555, 0, [SEP] 103, NorthWall, , , , , , , [SEP] 104, EastWall, , , , , , , [SEP] 105, SouthWall, , , , , , , [SEP] 106, WestWall, , , , , , , ", "output": ["STEP 1: Walk to the fridge on your right. | STEP 2: Grab a potato from the fridge. | STEP 3: Walk to the microwave next to the fridge. | STEP 4: Place a potato inside the microwave and remove it. | STEP 5: Go back to the fridge on the left. | STEP 6: Place the potato in the fridge. | END"]} +{"id": "trial_T20190909_043031_375861-0", "input": "To put a spoon in a pan on the cabinet top SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.900, -0.5, 0, 270, 0, [SEP] 1, Pan, -1.431, 0.949, -1.525, 0, 0, 0, 87 [SEP] 2, SprayBottle, 0.589, 0.116, -1.489, 0, 90, 0, 73 [SEP] 3, Pen, -2.079, 0.913, 0.118, 0, 0, 0, 81 [SEP] 4, Potato, 1.494, 1.203, -0.659, 0, 0, 0, 85 [SEP] 5, Ladle, -2.201, 0.954, 0.549, 0, 0, 0, 81 [SEP] 6, Ladle, -1.962, 0.954, -1.448, 0, 0, 0, 77 [SEP] 7, Kettle, 1.375, 1.163, -1.345, 0, 0, 0, 85 [SEP] 8, DishSponge, 0.110, 0.114, -1.583, 0, 90, 0, 76 [SEP] 9, Fork, 0.903, 0.775, 0.323, 0, 90, 0, 56 [SEP] 10, Spatula, 1.454, 1.177, -1.688, 0, 90, 0, 85 [SEP] 11, Pot, -1.081, 0.949, -1.81, 0, 0, 0, 75 [SEP] 12, Egg, 1.381, 0.243, 0.993, 0, 0, 0, 96 [SEP] 13, Egg, -0.017, 0.805, -1.781, 0, 270, 0, 100 [SEP] 14, Cup, -1.886, 0.910, -1.707, 0, 0, 0, 77 [SEP] 15, Cup, 1.356, 1.720, 1.650, 0, 270, 0, 98 [SEP] 16, Plate, 1.426, 1.368, 2.351, 0, 270, 0, 98 [SEP] 17, Knife, 1.068, 0.803, 0.485, 0, 270, 0, 56 [SEP] 18, SoapBottle, 1.580, 1.655, -0.894, 0, 270, 0, 67 [SEP] 19, SoapBottle, 0.726, 1.655, -1.876, 0, 0, 0, 68 [SEP] 20, Tomato, 0.569, 0.951, -1.704, 0, 0, 0, 79 [SEP] 21, Tomato, 1.420, 1.760, 1.775, 0, 270, 0, 98 [SEP] 22, Bowl, -2.201, 0.911, 0.118, 0, 0, 0, 81 [SEP] 23, PepperShaker, -0.374, 0.111, -1.489, 0, 0, 0, 65 [SEP] 24, Bread, 1.454, 1.240, -1.002, 0, 0, 0, 85 [SEP] 25, Bread, -2.323, 0.988, 0.377, 0, 0, 0, 81 [SEP] 26, Mug, 1.207, 0.109, -0.736, 0, 0, 0, 63 [SEP] 27, Mug, 1.070, 0.957, -1.641, 0, 0, 0, 95 [SEP] 28, Apple, 1.441, 1.300, 0.188, 0, 270, 0, 101 [SEP] 29, Apple, 1.420, 1.754, 2.026, 0, 270, 0, 98 [SEP] 30, Tomato, 1.420, 0.254, 1.137, 0, 0, 0, 96 [SEP] 31, Glassbottle, -2.041, 0.112, -1.681, 0, 0, 0, 82 [SEP] 32, Knife, -1.886, 0.940, -1.793, 0, 0, 0, 77 [SEP] 33, Plate, 1.461, 1.656, -1.421, 0, 0, 0, 71 [SEP] 34, Fork, 0.251, 0.920, -1.657, 0, 270, 0, 58 [SEP] 35, Ladle, 1.093, 0.955, -0.990, 0, 0, 0, 79 [SEP] 36, Potato, -1.835, 0.952, 0.118, 0, 0, 0, 81 [SEP] 37, Lettuce, 1.375, 1.231, -1.688, 0, 0, 0, 85 [SEP] 38, Kettle, 0.770, 0.9, -1.836, 0, 0, 0, 79 [SEP] 39, Pen, -2.445, 0.913, 0.032, 0, 0, 0, 81 [SEP] 40, SaltShaker, -2.079, 0.905, 0.463, 0, 0, 0, 81 [SEP] 41, Cup, -2.173, 0.112, -1.487, 0, 0, 0, 82 [SEP] 42, Egg, 0.149, 0.948, -1.859, 0, 270, 0, 58 [SEP] 43, Spatula, 0.969, 0.790, 0.323, 0, 90, 0, 56 [SEP] 44, Bowl, -0.603, 1.656, -1.839, 0, 0, 0, 61 [SEP] 45, SprayBottle, 1.461, 1.655, -0.736, 0, 0, 0, 67 [SEP] 46, Pan, 1.375, 1.367, 1.851, 0, 270, 0, 98 [SEP] 47, SoapBottle, -1.957, 0.910, 0.204, 0, 0, 0, 81 [SEP] 48, Pot, -1.431, 0.949, -1.81, 0, 0, 0, 89 [SEP] 49, ButterKnife, -0.703, 0.911, -1.874, 0, 0, 0, 79 [SEP] 50, PepperShaker, -0.438, 0.111, -1.732, 0, 0, 0, 65 [SEP] 51, DishSponge, 0.528, 0.772, -1.500, 0, 0, 0, 83 [SEP] 52, Bread, 1.164, 0.975, -0.160, 0, 300.000, 0, 79 [SEP] 53, Apple, 0.217, 0.954, -1.758, 0, 270, 0, 58 [SEP] 54, Spoon, -1.835, 0.911, 0.463, 0, 0, 0, 81 [SEP] 55, Mug, -0.619, 0.106, -1.729, 0, 90, 0, 66 [SEP] 56, Drawer, 0.860, 0.75, 0.430, 0, 0, 0, [SEP] 57, Drawer, 0.871, 0.75, -1.134, 0, 0, 0, [SEP] 58, Sink, 0.156, 0.817, -1.801, 0, 270, 0, [SEP] 59, Cabinet, -0.868, 2.005, -1.690, 0, 0, 0, [SEP] 60, Cabinet, -1.661, 2.059, -1.684, 0, 90, 0, [SEP] 61, Cabinet, -0.817, 2.059, -1.689, 0, 0, 0, [SEP] 62, Cabinet, 0.860, 0.402, 0.665, 0, 0, 0, [SEP] 63, Cabinet, 0.860, 0.402, -0.552, 0, 0, 0, [SEP] 64, Cabinet, 0.860, 0.402, -1.365, 0, 0, 0, [SEP] 65, Cabinet, -0.244, 0.402, -1.389, 0, 0, 0, [SEP] 66, Cabinet, -0.815, 0.402, -1.389, 0, 0, 0, [SEP] 67, Cabinet, 1.159, 2.059, -0.334, 0, 0, 0, [SEP] 68, Cabinet, 0.488, 2.059, -1.689, 0, 0, 0, [SEP] 69, Cabinet, -0.193, 2.059, -1.689, 0, 0, 0, [SEP] 70, Drawer, 0.860, 0.75, -0.699, 0, 0, 0, [SEP] 71, Cabinet, 1.159, 2.059, -1.019, 0, 0, 0, [SEP] 72, Cabinet, -1.611, 2.005, -1.690, 0, 0, 0, [SEP] 73, Cabinet, 0.832, 0.401, -1.393, 0, 90, 0, [SEP] 74, Drawer, -2.105, 0.75, -1.389, 0, 0, 0, [SEP] 75, StoveBurner, -1.081, 0.941, -1.809, 0, 0, 0, [SEP] 76, Cabinet, -0.202, 0.401, -1.391, 0, 90, 0, [SEP] 77, CounterTop, -1.973, 0.945, -1.707, 0, 0, 0, [SEP] 78, Drawer, -0.375, 0.75, -1.389, 0, 0, 0, [SEP] 79, CounterTop, 1.164, 0.946, -0.649, 0, 0, 0, [SEP] 80, StoveBurner, -1.081, 0.941, -1.527, 0, 0, 0, [SEP] 81, CounterTop, -2.096, 0.945, 0.291, 0, 0, 0, [SEP] 82, Cabinet, -2.237, 0.402, -1.389, 0, 0, 0, [SEP] 83, Drawer, 0.584, 0.75, -1.389, 0, 0, 0, [SEP] 84, Drawer, -1.795, 0.75, -1.389, 0, 0, 0, [SEP] 85, CounterTop, 1.5, 1.197, -0.654, 0, 0, 0, [SEP] 86, Cabinet, -1.667, 0.402, -1.389, 0, 0, 0, [SEP] 87, StoveBurner, -1.430, 0.941, -1.525, 0, 0, 0, [SEP] 88, Drawer, -0.685, 0.75, -1.389, 0, 0, 0, [SEP] 89, StoveBurner, -1.430, 0.941, -1.809, 0, 0, 0, [SEP] 90, LightSwitch, -2.539, 1.289, 2.568, 0, 90, 0, [SEP] 91, StoveKnob, -1.362, 1.095, -1.983, 287.970, 180, 0, [SEP] 92, StoveKnob, -0.962, 1.095, -1.983, 287.970, 180, 0, [SEP] 93, StoveKnob, -1.522, 1.095, -1.983, 287.970, 180, 0, [SEP] 94, StoveKnob, -1.112, 1.095, -1.983, 287.970, 180, 0, [SEP] 95, CoffeeMachine, 1.082, 0.900, -1.848, 0, 0, 0, [SEP] 96, GarbageCan, 1.343, 0.015, 1.041, 0, 0, 0, [SEP] 97, HousePlant, 1.440, 1.153, 0.593, 0, 0, 0, [SEP] 98, Fridge, 1.417, 0.0, 2.101, 0, 0, 0, [SEP] 99, Window, -0.486, 1.452, 3.302, 90, 0, 0, [SEP] 100, SinkBasin, -0.063, 0.765, -1.713, 0, 270, 0, [SEP] 101, Microwave, 1.422, 1.150, 0.022, 0, 270, 0, [SEP] 102, Toaster, -2.066, 0.900, -1.848, 0, 0, 0, [SEP] 103, Stool, -1.994, 0.010, 0.882, 0, 0, 0, [SEP] 104, Faucet, -0.096, 1.041, -1.867, 0, 270, 0, [SEP] 105, NorthWall, , , , , , , [SEP] 106, EastWall, , , , , , , [SEP] 107, SouthWall, , , , , , , [SEP] 108, WestWall, , , , , , , ", "output": ["STEP 1: Go to the stove on your left | STEP 2: Pick up the pan from the stove | STEP 3: Turn left and go to the cabinet at the end of the room | STEP 4: Put the pan on the cabinet top | STEP 5: Pick up the kitchen spoon from the cabinet top | STEP 6: Put the spoon on the pan | END"]} +{"id": "trial_T20190909_043031_375861-1", "input": "Move a pot from the stove to the counter by the coffee machine. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.900, -0.5, 0, 270, 0, [SEP] 1, Pan, -1.431, 0.949, -1.525, 0, 0, 0, 87 [SEP] 2, SprayBottle, 0.589, 0.116, -1.489, 0, 90, 0, 73 [SEP] 3, Pen, -2.079, 0.913, 0.118, 0, 0, 0, 81 [SEP] 4, Potato, 1.494, 1.203, -0.659, 0, 0, 0, 85 [SEP] 5, Ladle, -2.201, 0.954, 0.549, 0, 0, 0, 81 [SEP] 6, Ladle, -1.962, 0.954, -1.448, 0, 0, 0, 77 [SEP] 7, Kettle, 1.375, 1.163, -1.345, 0, 0, 0, 85 [SEP] 8, DishSponge, 0.110, 0.114, -1.583, 0, 90, 0, 76 [SEP] 9, Fork, 0.903, 0.775, 0.323, 0, 90, 0, 56 [SEP] 10, Spatula, 1.454, 1.177, -1.688, 0, 90, 0, 85 [SEP] 11, Pot, -1.081, 0.949, -1.81, 0, 0, 0, 75 [SEP] 12, Egg, 1.381, 0.243, 0.993, 0, 0, 0, 96 [SEP] 13, Egg, -0.017, 0.805, -1.781, 0, 270, 0, 100 [SEP] 14, Cup, -1.886, 0.910, -1.707, 0, 0, 0, 77 [SEP] 15, Cup, 1.356, 1.720, 1.650, 0, 270, 0, 98 [SEP] 16, Plate, 1.426, 1.368, 2.351, 0, 270, 0, 98 [SEP] 17, Knife, 1.068, 0.803, 0.485, 0, 270, 0, 56 [SEP] 18, SoapBottle, 1.580, 1.655, -0.894, 0, 270, 0, 67 [SEP] 19, SoapBottle, 0.726, 1.655, -1.876, 0, 0, 0, 68 [SEP] 20, Tomato, 0.569, 0.951, -1.704, 0, 0, 0, 79 [SEP] 21, Tomato, 1.420, 1.760, 1.775, 0, 270, 0, 98 [SEP] 22, Bowl, -2.201, 0.911, 0.118, 0, 0, 0, 81 [SEP] 23, PepperShaker, -0.374, 0.111, -1.489, 0, 0, 0, 65 [SEP] 24, Bread, 1.454, 1.240, -1.002, 0, 0, 0, 85 [SEP] 25, Bread, -2.323, 0.988, 0.377, 0, 0, 0, 81 [SEP] 26, Mug, 1.207, 0.109, -0.736, 0, 0, 0, 63 [SEP] 27, Mug, 1.070, 0.957, -1.641, 0, 0, 0, 95 [SEP] 28, Apple, 1.441, 1.300, 0.188, 0, 270, 0, 101 [SEP] 29, Apple, 1.420, 1.754, 2.026, 0, 270, 0, 98 [SEP] 30, Tomato, 1.420, 0.254, 1.137, 0, 0, 0, 96 [SEP] 31, Glassbottle, -2.041, 0.112, -1.681, 0, 0, 0, 82 [SEP] 32, Knife, -1.886, 0.940, -1.793, 0, 0, 0, 77 [SEP] 33, Plate, 1.461, 1.656, -1.421, 0, 0, 0, 71 [SEP] 34, Fork, 0.251, 0.920, -1.657, 0, 270, 0, 58 [SEP] 35, Ladle, 1.093, 0.955, -0.990, 0, 0, 0, 79 [SEP] 36, Potato, -1.835, 0.952, 0.118, 0, 0, 0, 81 [SEP] 37, Lettuce, 1.375, 1.231, -1.688, 0, 0, 0, 85 [SEP] 38, Kettle, 0.770, 0.9, -1.836, 0, 0, 0, 79 [SEP] 39, Pen, -2.445, 0.913, 0.032, 0, 0, 0, 81 [SEP] 40, SaltShaker, -2.079, 0.905, 0.463, 0, 0, 0, 81 [SEP] 41, Cup, -2.173, 0.112, -1.487, 0, 0, 0, 82 [SEP] 42, Egg, 0.149, 0.948, -1.859, 0, 270, 0, 58 [SEP] 43, Spatula, 0.969, 0.790, 0.323, 0, 90, 0, 56 [SEP] 44, Bowl, -0.603, 1.656, -1.839, 0, 0, 0, 61 [SEP] 45, SprayBottle, 1.461, 1.655, -0.736, 0, 0, 0, 67 [SEP] 46, Pan, 1.375, 1.367, 1.851, 0, 270, 0, 98 [SEP] 47, SoapBottle, -1.957, 0.910, 0.204, 0, 0, 0, 81 [SEP] 48, Pot, -1.431, 0.949, -1.81, 0, 0, 0, 89 [SEP] 49, ButterKnife, -0.703, 0.911, -1.874, 0, 0, 0, 79 [SEP] 50, PepperShaker, -0.438, 0.111, -1.732, 0, 0, 0, 65 [SEP] 51, DishSponge, 0.528, 0.772, -1.500, 0, 0, 0, 83 [SEP] 52, Bread, 1.164, 0.975, -0.160, 0, 300.000, 0, 79 [SEP] 53, Apple, 0.217, 0.954, -1.758, 0, 270, 0, 58 [SEP] 54, Spoon, -1.835, 0.911, 0.463, 0, 0, 0, 81 [SEP] 55, Mug, -0.619, 0.106, -1.729, 0, 90, 0, 66 [SEP] 56, Drawer, 0.860, 0.75, 0.430, 0, 0, 0, [SEP] 57, Drawer, 0.871, 0.75, -1.134, 0, 0, 0, [SEP] 58, Sink, 0.156, 0.817, -1.801, 0, 270, 0, [SEP] 59, Cabinet, -0.868, 2.005, -1.690, 0, 0, 0, [SEP] 60, Cabinet, -1.661, 2.059, -1.684, 0, 90, 0, [SEP] 61, Cabinet, -0.817, 2.059, -1.689, 0, 0, 0, [SEP] 62, Cabinet, 0.860, 0.402, 0.665, 0, 0, 0, [SEP] 63, Cabinet, 0.860, 0.402, -0.552, 0, 0, 0, [SEP] 64, Cabinet, 0.860, 0.402, -1.365, 0, 0, 0, [SEP] 65, Cabinet, -0.244, 0.402, -1.389, 0, 0, 0, [SEP] 66, Cabinet, -0.815, 0.402, -1.389, 0, 0, 0, [SEP] 67, Cabinet, 1.159, 2.059, -0.334, 0, 0, 0, [SEP] 68, Cabinet, 0.488, 2.059, -1.689, 0, 0, 0, [SEP] 69, Cabinet, -0.193, 2.059, -1.689, 0, 0, 0, [SEP] 70, Drawer, 0.860, 0.75, -0.699, 0, 0, 0, [SEP] 71, Cabinet, 1.159, 2.059, -1.019, 0, 0, 0, [SEP] 72, Cabinet, -1.611, 2.005, -1.690, 0, 0, 0, [SEP] 73, Cabinet, 0.832, 0.401, -1.393, 0, 90, 0, [SEP] 74, Drawer, -2.105, 0.75, -1.389, 0, 0, 0, [SEP] 75, StoveBurner, -1.081, 0.941, -1.809, 0, 0, 0, [SEP] 76, Cabinet, -0.202, 0.401, -1.391, 0, 90, 0, [SEP] 77, CounterTop, -1.973, 0.945, -1.707, 0, 0, 0, [SEP] 78, Drawer, -0.375, 0.75, -1.389, 0, 0, 0, [SEP] 79, CounterTop, 1.164, 0.946, -0.649, 0, 0, 0, [SEP] 80, StoveBurner, -1.081, 0.941, -1.527, 0, 0, 0, [SEP] 81, CounterTop, -2.096, 0.945, 0.291, 0, 0, 0, [SEP] 82, Cabinet, -2.237, 0.402, -1.389, 0, 0, 0, [SEP] 83, Drawer, 0.584, 0.75, -1.389, 0, 0, 0, [SEP] 84, Drawer, -1.795, 0.75, -1.389, 0, 0, 0, [SEP] 85, CounterTop, 1.5, 1.197, -0.654, 0, 0, 0, [SEP] 86, Cabinet, -1.667, 0.402, -1.389, 0, 0, 0, [SEP] 87, StoveBurner, -1.430, 0.941, -1.525, 0, 0, 0, [SEP] 88, Drawer, -0.685, 0.75, -1.389, 0, 0, 0, [SEP] 89, StoveBurner, -1.430, 0.941, -1.809, 0, 0, 0, [SEP] 90, LightSwitch, -2.539, 1.289, 2.568, 0, 90, 0, [SEP] 91, StoveKnob, -1.362, 1.095, -1.983, 287.970, 180, 0, [SEP] 92, StoveKnob, -0.962, 1.095, -1.983, 287.970, 180, 0, [SEP] 93, StoveKnob, -1.522, 1.095, -1.983, 287.970, 180, 0, [SEP] 94, StoveKnob, -1.112, 1.095, -1.983, 287.970, 180, 0, [SEP] 95, CoffeeMachine, 1.082, 0.900, -1.848, 0, 0, 0, [SEP] 96, GarbageCan, 1.343, 0.015, 1.041, 0, 0, 0, [SEP] 97, HousePlant, 1.440, 1.153, 0.593, 0, 0, 0, [SEP] 98, Fridge, 1.417, 0.0, 2.101, 0, 0, 0, [SEP] 99, Window, -0.486, 1.452, 3.302, 90, 0, 0, [SEP] 100, SinkBasin, -0.063, 0.765, -1.713, 0, 270, 0, [SEP] 101, Microwave, 1.422, 1.150, 0.022, 0, 270, 0, [SEP] 102, Toaster, -2.066, 0.900, -1.848, 0, 0, 0, [SEP] 103, Stool, -1.994, 0.010, 0.882, 0, 0, 0, [SEP] 104, Faucet, -0.096, 1.041, -1.867, 0, 270, 0, [SEP] 105, NorthWall, , , , , , , [SEP] 106, EastWall, , , , , , , [SEP] 107, SouthWall, , , , , , , [SEP] 108, WestWall, , , , , , , ", "output": ["STEP 1: Turn and go to the stove. | STEP 2: Pick up a pot on the stove. | STEP 3: Turn and go to the counter by the coffee machine. | STEP 4: Put the pot on the counter. | STEP 5: Pick up a ladle on the counter. | STEP 6: Put the ladle in the pot on the counter. | END"]} +{"id": "trial_T20190909_075104_529646-1", "input": "Move a pencil from one desk to an adjacent desk. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.5, 0.900, -0.75, 0, 180, 0, [SEP] 1, Bowl, 0.459, 0.813, -2.507, 0, 0, 0, 48 [SEP] 2, Pen, -0.587, 0.867, -2.311, 0, 0, 0, 55 [SEP] 3, Pencil, -0.061, 0.815, -2.236, 0, 0, 0, 48 [SEP] 4, CreditCard, -1.187, 1.362, -2.435, 0, 0, 0, 51 [SEP] 5, CreditCard, -1.232, 0.372, -2.287, 0, 0, 0, 53 [SEP] 6, KeyChain, -1.406, 0.372, -2.287, 0, 0, 0, 53 [SEP] 7, Laptop, -0.046, 0.772, 1.173, 0, 0, 0, 26 [SEP] 8, AlarmClock, -1.594, 0.862, -2.498, 0, 0, 0, 55 [SEP] 9, Book, 0.189, 0.805, -2.27, 0, 195.000, 0, 48 [SEP] 10, Cloth, 1.303, 0.0, -0.696, 0, 303.212, 0, [SEP] 11, Cloth, 1.273, 0.0, -0.969, 0, 0, 0, [SEP] 12, CellPhone, -0.587, 0.861, -2.561, 0, 0, 0, 55 [SEP] 13, Pencil, 0.355, 0.816, -2.304, 0, 0, 0, 48 [SEP] 14, Laptop, -0.621, 0.772, 1.657, 0, 0, 0, 26 [SEP] 15, AlarmClock, 1.494, 0.824, -1.363, 0, 270, 0, 46 [SEP] 16, CreditCard, 1.494, 0.823, -1.673, 0, 270, 0, 46 [SEP] 17, KeyChain, 0.146, 0.813, -2.507, 0, 90, 0, 48 [SEP] 18, TennisRacket, -1.704, 0.345, 1.743, 345.000, 90, 180, [SEP] 19, RemoteControl, -1.192, 0.863, -2.436, 0, 0, 0, 55 [SEP] 20, Pillow, 0.528, 0.902, 1.657, 0, 0, 0, 26 [SEP] 21, CD, 1.521, 0.817, -1.727, 0, 0, 0, 46 [SEP] 22, CD, 0.527, 0.806, -2.485, 0, 0, 0, 48 [SEP] 23, CD, -1.319, 0.651, -2.363, 0, 0, 0, 54 [SEP] 24, Pen, 1.494, 0.829, -1.467, 0, 270, 0, 46 [SEP] 25, Bowl, -0.990, 0.863, -2.436, 0, 0, 0, 55 [SEP] 26, Bed, 0.270, 0.001, 1.331, 0, 90, 0, [SEP] 27, LaundryHamper, -1.329, 0.001, 1.829, 0, 180, 0, [SEP] 28, Television, -1.664, 1.479, -0.912, 0, 90, 0, [SEP] 29, DeskLamp, 0.049, 0.815, -2.481, 0, 0, 0, [SEP] 30, LightSwitch, -1.799, 1.213, 0.680, 0, 90, 0, [SEP] 31, Painting, 0.492, 1.684, -2.629, 90, 0, 0, [SEP] 32, Poster, -1.799, 1.690, -1.491, 90, 270, 0, [SEP] 33, GarbageCan, 1.306, -0.001, -2.451, 0, 317.376, 0, [SEP] 34, Mirror, 1.5, 1.361, -0.542, 0, 90, 0, [SEP] 35, Window, 1.721, 1.365, -1.597, 90, 270, 0, [SEP] 36, Shelf, -1.605, 0.435, -0.686, 0, 90, 0, [SEP] 37, Shelf, -1.613, 1.154, -0.904, 0, 90, 0, [SEP] 38, ShelvingUnit, -1.611, 0.005, -0.904, 0, 90, 0, [SEP] 39, Shelf, -1.605, 0.719, -1.122, 0, 90, 0, [SEP] 40, Shelf, -1.605, 0.435, -1.122, 0, 90, 0, [SEP] 41, Shelf, -1.605, 1.006, -1.122, 0, 90, 0, [SEP] 42, Shelf, -1.605, 0.148, -0.686, 0, 90, 0, [SEP] 43, Shelf, -1.605, 0.149, -1.122, 0, 90, 0, [SEP] 44, Shelf, -1.605, 1.006, -0.686, 0, 90, 0, [SEP] 45, Shelf, -1.605, 0.719, -0.686, 0, 90, 0, [SEP] 46, SideTable, 1.484, 0.001, -1.481, 0, 270, 0, [SEP] 47, Blinds, 1.699, 2.096, -1.575, 0, 270, 0, [SEP] 48, Desk, 0.244, 0.004, -2.356, 0, 0, 0, [SEP] 49, Chair, -0.626, 1.439, -2.199, 0, 171.006, 0, [SEP] 50, Chair, 0.220, 1.466, -2.214, 0, 188.269, 0, [SEP] 51, Shelf, -0.978, 1.387, -2.479, 0, 0, 0, [SEP] 52, Drawer, -1.389, 0.197, -2.261, 0, 0, 0, [SEP] 53, Drawer, -1.389, 0.480, -2.261, 0, 0, 0, [SEP] 54, Drawer, -1.389, 0.731, -2.261, 0, 0, 0, [SEP] 55, Desk, -0.973, 1.162, -2.351, 0, 0, 0, [SEP] 56, NorthWall, , , , , , , [SEP] 57, EastWall, , , , , , , [SEP] 58, SouthWall, , , , , , , [SEP] 59, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and walk slightly forward, then turn left and walk towards the lamp on the desk. | STEP 2: Pick up the pencil on the desk near the lamp. | STEP 3: Turn right and walk to the center of the desk on the right. | STEP 4: Put the pencil on the front of the desk, in front of the remote control. | END"]}